diff --git a/.gitattributes b/.gitattributes
index 9d09b139583bdad1337ac84575564057c31ad2d4..680bb06a172fb2c40a6c8ba6367a2cfd05d7a3dd 100644
--- a/.gitattributes
+++ b/.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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9359cfc3c499dc1b4f0fd82528d0793131ecee5d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,663,636,880,788,803,652,631,653,0.400977627889,-0.00536871994178,0.0598486869131,0.999999939173,0.000238322188686,-0.000253967632662,1.8910896458e-05,1793239398908661504
+1,0.016666667,BASELINE,766,745,715,679,663,636,880,788,803.591019809,652.591019809,631.591019809,653,0.400976858645,-0.00536838333973,0.0598480515806,0.999999938986,0.000238127859815,-0.000254879702807,1.89541937254e-05,1793239398925328384
+2,0.033333333,BASELINE,766,745,715,679.178492722,663,635.821507278,879.821507278,788,803.821507278,653,631.821507278,653,0.400976965728,-0.00536803071847,0.059847906123,0.999999938919,0.000238432399441,-0.000254851845809,1.90185269333e-05,1793239398941995008
+3,0.050000000,BASELINE,766,745,715,679.757997099,663,635.242002901,879.242002901,788,803.242002901,653,631.242002901,653,0.400979041615,-0.0053676421075,0.0598488612452,0.999999939119,0.000239857724672,-0.000252712296512,1.91301206606e-05,1793239398958661632
+4,0.066666667,BASELINE,766.334957195,745.334957195,715,679.665042805,663,635.334957195,879,788,803.334957195,652.665042805,631,653,0.400979884317,-0.00536731223287,0.0598495472735,0.999999939237,0.000240613690328,-0.000251536271519,1.9005732633e-05,1793239398975328000
+5,0.083333333,BASELINE,766.910092897,745.910092897,715,679.089907103,663,635.910092897,879,788,803.910092897,652.089907103,631,653,0.400979842771,-0.00536702447469,0.0598500403499,0.999999939298,0.000240889696709,-0.000251051134426,1.87121356771e-05,1793239398991994880
+6,0.100000000,BASELINE,766.514433565,745.514433565,715,679,663,636,879.485566435,788,804,652.485566435,631.485566435,653,0.400980053196,-0.00536677785306,0.0598501308262,0.999999939171,0.000241307097939,-0.000251144560673,1.88334483982e-05,1793239399008661504
+7,0.116666667,BASELINE,766,745,715,679,663,636,879.937124354,788,803.937124354,653,632,653,0.400980096164,-0.00536664795906,0.059850049123,0.999999939002,0.000241611735056,-0.000251514424056,1.89976283823e-05,1793239399025328128
+8,0.133333333,BASELINE,766,745,715,679,663,636,879.344887275,788,803.344887275,653,632,653,0.40097833622,-0.00536743664412,0.0598491458551,0.99999993876,0.000240746418372,-0.000253309117727,1.88754671647e-05,1793239399041994752
+9,0.150000000,BASELINE,766,745,715,679,663,636,879,788,803,652.759277332,631.759277332,652.759277332,0.40097776473,-0.00536782820224,0.0598488548967,0.999999938739,0.000240240906698,-0.000253866546182,1.89070808475e-05,1793239399058661376
+10,0.166666667,BASELINE,766,745,715,679,663,636,879,788,803,652.182907853,631.182907853,652.182907853,0.400978850337,-0.00536766603434,0.0598494176996,0.999999939031,0.000240237081977,-0.000252698818612,1.91531074811e-05,1793239399075328000
+11,0.183333333,BASELINE,766,745.391707534,715,679,663,636,879,788,803.391707534,652.391707534,631,652,0.400979300056,-0.00536800228128,0.0598496655507,0.999999939484,0.000238987771677,-0.00025208255345,1.92455707752e-05,1793239399091994880
+12,0.200000000,BASELINE,766,745.96550755,715,679,663,636,879,788,803.96550755,652.96550755,631,652,0.400979454169,-0.00536857022554,0.0598497669907,0.99999994001,0.000237159474399,-0.000251722645668,1.92666473361e-05,1793239399108661760
+13,0.216666667,BASELINE,766.540286369,746,715,679.540286369,663,636,879.540286369,788,803.459713631,653,631,652.540286369,0.400979591961,-0.00536662685831,0.0598497013067,0.999999939149,0.000240341775857,-0.000252160276491,1.88011104965e-05,1793239399125328128
+14,0.233333333,BASELINE,766.88053529,746,715,679.88053529,663,636,879.88053529,788,803.11946471,652.88053529,631.11946471,653,0.400979483438,-0.00536552079056,0.0598496412036,0.999999938478,0.000242670551898,-0.00025260978196,1.85471898653e-05,1793239399141994752
+15,0.250000000,BASELINE,766.28403913,746,715,679.28403913,663,636,879.28403913,788,803.71596087,652.28403913,631.71596087,653,0.400978395525,-0.00536839947172,0.0598496460666,0.99999993896,0.000240311508331,-0.000252903024757,1.92625419348e-05,1793239399158661376
+16,0.266666667,BASELINE,766,745.699792463,715,679,663.300207537,636,879,787.699792463,803.699792463,652,631.699792463,653,0.400978889691,-0.00536882899766,0.0598501033148,0.999999939299,0.000239901937685,-0.00025193327425,1.94634854819e-05,1793239399175328000
+17,0.283333333,BASELINE,766,745.126681233,715,679,663.873318767,636,879,787.126681233,803.126681233,652,631.126681233,653,0.400980822045,-0.00536703211862,0.0598509718039,0.999999939508,0.000241264535736,-0.000249815399534,1.91968058673e-05,1793239399191994880
+18,0.300000000,BASELINE,766.45037154,745.45037154,715,679.45037154,663.54962846,636,879.45037154,787.45037154,803,652,631,653,0.400979550868,-0.00536622844993,0.0598504019797,0.999999939199,0.000241388543785,-0.000250952742818,1.88946007995e-05,1793239399208661760
+19,0.316666667,BASELINE,766.97097386,746,715,679.97097386,663,636,880,788,803.02902614,652.02902614,631.02902614,653,0.400977467317,-0.00536582228548,0.0598494539874,0.999999938774,0.000241086720288,-0.000252946925623,1.86079509585e-05,1793239399225328384
+20,0.333333333,BASELINE,766.383011487,746,715,679.383011487,663,636,880,788,803.616988513,652.616988513,631.616988513,653,0.400977245412,-0.00536764341784,0.0598490832011,0.999999939008,0.000239352940344,-0.000253653293421,1.88149578041e-05,1793239399241995008
+21,0.350000000,BASELINE,766,746,715,679.201948195,663,636,879.798051805,787.798051805,804,653,631.798051805,652.798051805,0.400977104655,-0.0053684656657,0.0598488086566,0.999999939097,0.000238734661883,-0.000253880963386,1.88952278412e-05,1793239399258661632
+22,0.366666667,BASELINE,766,746,715,679.781296395,663,636,879.218703605,787.218703605,804,653,631.218703605,652.218703605,0.400977115546,-0.00536742120188,0.0598487139684,0.999999938917,0.000240201028468,-0.000253214044617,1.8738652598e-05,1793239399275328256
+23,0.383333333,BASELINE,766,745.642007016,715,679.642007016,663.357992984,636,879,787.357992984,803.642007016,652.642007016,631,652,0.40097872336,-0.00536731897548,0.059850279117,0.999999939469,0.00024018030891,-0.000251030722331,1.89277851601e-05,1793239399291994880
+24,0.400000000,BASELINE,766,745.066918371,715,679.066918371,663.933081629,636,879,787.933081629,803.066918371,652.066918371,631,652,0.400981299588,-0.00536778814468,0.059852850831,0.999999940457,0.000239257784254,-0.000247927815974,1.93265633349e-05,1793239399308661504
+25,0.416666667,BASELINE,766.505855169,745,715,679,664,636,879,788,803,652,631.505855169,652,0.400980145301,-0.00536687057991,0.0598516763033,0.999999939847,0.00023976038089,-0.000249930448859,1.88366177156e-05,1793239399325328128
+26,0.433333333,BASELINE,766.918203287,745,715,679,663.918203287,636,879,788,803,652,631.918203287,652.081796713,0.400978751481,-0.00536610822534,0.059850191728,0.999999939137,0.000240467598851,-0.00025212068902,1.83523123218e-05,1793239399341994752
+27,0.450000000,BASELINE,766.320351178,745,715,679,663.320351178,636,879,788,803,652,631.320351178,652.679648822,0.400978945761,-0.0053674771901,0.0598498634394,0.999999939154,0.000241281781882,-0.000251252861622,1.86419427234e-05,1793239399358661376
+28,0.466666667,BASELINE,766,745,715,679,663,636,879,788,803,652.266463406,631,652.733536594,0.400979388085,-0.00536884895967,0.0598498418495,0.999999939499,0.000240500101944,-0.000250610795644,1.88924657866e-05,1793239399375328000
+29,0.483333333,BASELINE,766,745,715,679,663,636,879,788,803,652.840536074,631,652.159463926,0.400980116757,-0.00537022396708,0.0598501743169,0.999999940218,0.000237876134348,-0.000250229352008,1.90978427475e-05,1793239399391994624
+30,0.500000000,BASELINE,766,745,715,679,663.414893405,636,879,788,803,652.585106595,631,652.414893405,0.400981228346,-0.00536865089743,0.059851336215,0.999999940478,0.000238574044401,-0.000248520846553,1.9052609765e-05,1793239399408661504
+31,0.516666667,BASELINE,766,745,715,679,663.989360209,636,879,788,803,652.010639791,631,652.989360209,0.400982487211,-0.00536594395898,0.0598528171229,0.999999940557,0.000240549591846,-0.000246301935876,1.89109889351e-05,1793239399425328128
+32,0.533333333,BASELINE,766,745,715.580190139,679.580190139,663.419809861,636,879,788,803,652,631.580190139,653,0.400979578314,-0.00536652959323,0.0598510267875,0.999999939605,0.000241258058604,-0.000249467185233,1.87471705841e-05,1793239399441994752
+33,0.550000000,BASELINE,766,745,715.832101446,679.832101446,663,636,879,787.832101446,803.167898554,652.167898554,631.832101446,653,0.400977840481,-0.00536713894238,0.059849838457,0.999999939046,0.000241450015585,-0.000251517969492,1.86763704509e-05,1793239399458661376
+34,0.566666667,BASELINE,766,745,715.252798433,679.252798433,663,636,879,787.252798433,803.747201567,652.747201567,631.252798433,653,0.400979164836,-0.00536765415483,0.0598502764882,0.999999939521,0.000240434949126,-0.000250589003326,1.88345207324e-05,1793239399475328000
+35,0.583333333,BASELINE,766,745,715,679,663,636,879,787.323395262,804,653,631,652.676604738,0.400979068092,-0.00536758533889,0.0598500155691,0.999999939265,0.000240792102897,-0.000251252766151,1.89979367193e-05,1793239399491994880
+36,0.600000000,BASELINE,766,745,715,679,663,636,879,787.897181609,804,653,631,652.102818391,0.400977871051,-0.00536706433487,0.0598492134826,0.999999938441,0.00024221170784,-0.000253149710638,1.91654297329e-05,1793239399508661504
+37,0.616666667,BASELINE,766,745.472425772,715,679,663.472425772,636,879.472425772,787.527574228,804,652.527574228,631,652.472425772,0.400979150502,-0.00536763853139,0.0598497387686,0.999999938959,0.0002415565482,-0.000251721502738,1.92025928515e-05,1793239399525328384
+38,0.633333333,BASELINE,766,745.950514238,715,679,663.950514238,636,879.950514238,787.049485762,803.950514238,652,631.049485762,653,0.400980771837,-0.00536847306002,0.0598505192367,0.999999939728,0.000240403611531,-0.000249761858074,1.92128645967e-05,1793239399541995008
+39,0.650000000,BASELINE,766,745.356989827,715,679,663.356989827,636,879.356989827,787.643010173,803.356989827,652,631.643010173,653,0.400980207964,-0.00536954105084,0.0598509193138,0.999999940077,0.000238757829945,-0.000249940370995,1.9240301334e-05,1793239399558661888
+40,0.666666667,BASELINE,766,745.23048813,715,679.23048813,663.23048813,636,879,787.76951187,803.23048813,652,631.76951187,653,0.4009796874,-0.00536984101274,0.059851176067,0.999999939978,0.000238893731563,-0.000250204847723,1.92758590995e-05,1793239399575328256
+41,0.683333333,BASELINE,766,745.808840442,715,679.808840442,663.808840442,636,879,787.191159558,803.808840442,652,631.191159558,653,0.400979232199,-0.00536898182702,0.0598512165086,0.999999939199,0.000241718638429,-0.000250599065303,1.93236735242e-05,1793239399591994880
+42,0.700000000,BASELINE,766,745.616553644,715,680,664,636,879,787.383446356,803.616553644,652.383446356,631.383446356,653,0.400980030241,-0.00536840755678,0.0598510625073,0.999999939411,0.000241240290809,-0.000250229391217,1.912086077e-05,1793239399608661504
+43,0.716666667,BASELINE,766,745.043797366,715,680,664,636,879,787.956202634,803.043797366,652.956202634,631.956202634,653,0.400981447017,-0.00536797395117,0.0598508125081,0.999999940111,0.000239131105216,-0.000249482578913,1.87943117716e-05,1793239399625328128
+44,0.733333333,BASELINE,766,745,715,679.472376398,663.472376398,636,879,788,803,653,631.472376398,653,0.400980583923,-0.00536959250277,0.059850941496,0.999999940183,0.000238341413317,-0.000249912648192,1.92763654869e-05,1793239399641994496
+45,0.750000000,BASELINE,766,745.103567868,715,679,663,636,879.103567868,788,803,652.896432132,631,653,0.400979841449,-0.00537048530544,0.0598510698569,0.999999940091,0.000238368450398,-0.000250228746473,1.9598627891e-05,1793239399658661120
+46,0.766666667,BASELINE,766,745.701637064,715,679,663,636,879.701637064,788,803,652.298362936,631,653,0.400980576212,-0.00536710160773,0.0598510453964,0.999999939461,0.000241773444766,-0.000249535405928,1.88382696671e-05,1793239399675328000
+47,0.783333333,BASELINE,766,745.71050769,715,679,663,636,879.71050769,788,803,652,631.28949231,652.71050769,0.40097980722,-0.00536688233469,0.0598508402425,0.999999939275,0.00024216446753,-0.000249900328918,1.88639284877e-05,1793239399691994880
+48,0.800000000,BASELINE,766,745.132820544,715,679,663,636,879.132820544,788,803,652,631.867179456,652.132820544,0.400977541212,-0.00536981330327,0.0598504552049,0.999999939533,0.000239555027397,-0.000251318772337,1.9672081417e-05,1793239399708661760
+49,0.816666667,BASELINE,766,745,715,679,663,636,879.442117966,787.557882034,803.442117966,652,632,652.442117966,0.40097864554,-0.00536995239528,0.059851422796,0.99999994001,0.000239164910901,-0.000249787972546,1.96556795935e-05,1793239399725328384
+50,0.833333333,BASELINE,766,745,715,679,663,636,879.98335102,787.01664898,804,652,632,653,0.400980703961,-0.00536923976141,0.0598527561252,0.999999940548,0.000239392910282,-0.000247424083226,1.93898366522e-05,1793239399741995008
+51,0.850000000,BASELINE,766,745,715,679,663,636,879.39462263,787.60537737,804,652,632,653,0.400980970014,-0.00536790258165,0.0598527800792,0.999999941047,0.000238092137023,-0.000246690432762,1.90119796302e-05,1793239399758661632
+52,0.866666667,BASELINE,766,745.191051206,715,679,663,636,879,787.808948794,804,652,631.808948794,653,0.400980713662,-0.00536697751692,0.0598523580232,0.999999941099,0.000237478762679,-0.000247097133029,1.86925702704e-05,1793239399775328256
+53,0.883333333,BASELINE,766,745.77051501,715,679,663,636,879,787.22948499,804,652,631.22948499,653,0.400979395245,-0.00536689029402,0.0598510292159,0.999999940239,0.000238262890184,-0.000249822199188,1.84919867125e-05,1793239399791995136
+54,0.900000000,BASELINE,766,745.651788093,715,679,663,636,879,787,803.651788093,652,631.348211907,653,0.400978734239,-0.00536743477217,0.0598504997191,0.99999993962,0.000239323345173,-0.000251261803138,1.87450770601e-05,1793239399808662016
+55,0.916666667,BASELINE,766,745.0752498,715,679,663,636,879,787,803.0752498,652,631.9247502,653,0.400978504304,-0.00536839346366,0.0598504943392,0.999999939162,0.000240564991109,-0.000251858515236,1.92956463977e-05,1793239399825328896
+56,0.933333333,BASELINE,766,745,715,679,663,636,879.495065109,787,803,652,631.504934891,652.504934891,0.400977611479,-0.00536786033346,0.059850096179,0.999999939299,0.000240325209922,-0.000251539043337,1.93150779848e-05,1793239399841995520
+57,0.950000000,BASELINE,766,745,715,679,663.067556693,636,880,787.067556693,803,652,631.067556693,652.067556693,0.400977149909,-0.00536732254783,0.059849977345,0.999999939637,0.000239755667117,-0.000250741108479,1.92737479918e-05,1793239399858662400
+58,0.966666667,BASELINE,766,745,715,679,663.664421833,636,880,787.664421833,803,652,631.664421833,652.664421833,0.400980846874,-0.0053685028746,0.0598525090025,0.999999940836,0.000238344795523,-0.000247271962371,1.9381040434e-05,1793239399875328768
+59,0.983333333,BASELINE,766,745,715,679.252811575,663.747188425,636,879.747188425,787.747188425,803.252811575,652,631.747188425,653,0.400981827436,-0.00536949424007,0.0598529533937,0.999999941294,0.000237310986083,-0.00024641087686,1.94257642797e-05,1793239399891995392
+60,1.000000000,BASELINE,766,745,715,679.830316207,663.169683793,636,879.169683793,787.169683793,803.830316207,652,631.169683793,653,0.400979319245,-0.00537024291738,0.0598507170501,0.999999940809,0.000236761448041,-0.000248899396851,1.9390129522e-05,1793239399908662016
+61,1.016666667,BASELINE,766,745,715,679.595784951,663.404215049,636,879.404215049,787.404215049,804,652,631.404215049,652.595784951,0.400978098387,-0.0053696993128,0.0598501486426,0.999999940507,0.000236800930466,-0.000250094031607,1.90879805058e-05,1793239399925328128
+62,1.033333333,BASELINE,766,745,715,679.023386419,663.976613581,636,879.976613581,787.976613581,804,652,631.976613581,652.023386419,0.400977413155,-0.00536861802294,0.0598502742205,0.999999940283,0.000237085489187,-0.000250750313855,1.86749417652e-05,1793239399941994496
+63,1.050000000,BASELINE,766,745,715,679,664,636,879.431660366,788,803.431660366,652,632,652.568339634,0.400979693636,-0.00536844717616,0.0598512822243,0.99999994069,0.000237925924578,-0.000248328300031,1.85810581514e-05,1793239399958661632
+64,1.066666667,BASELINE,766,745,715,679.157274977,663.842725023,636,879,788,803,652,632,653,0.400981279746,-0.00536813928975,0.0598519055992,0.999999940806,0.000238985378135,-0.000246835600279,1.85860478383e-05,1793239399975328512
+65,1.083333333,BASELINE,766,745,715,679.736514011,663.263485989,636,879,788,803,652,632,653,0.400980663937,-0.00536735967812,0.0598513961759,0.999999940088,0.000240568921246,-0.000248188032374,1.88198362879e-05,1793239399991995136
+66,1.100000000,BASELINE,766,745.314358855,715,679.685641145,663.314358855,636,879,788,803.314358855,652,632,652.685641145,0.400980482838,-0.00536747502672,0.0598515893306,0.99999994,0.000240815778424,-0.000248282831746,1.90743691973e-05,1793239400008661760
+67,1.116666667,BASELINE,766,745.89104026,715,679.10895974,663.89104026,636,879,788,803.89104026,652,632,652.10895974,0.400980664491,-0.00536833719144,0.0598523687645,0.99999994044,0.000239947213266,-0.000247328176203,1.93462126926e-05,1793239400025328384
+68,1.133333333,BASELINE,766.475573022,745.524426978,715,679,663.524426978,635.524426978,879,788,804,652,631.524426978,652.475573022,0.400980898723,-0.00536879979831,0.0598524960463,0.999999940466,0.000239862185182,-0.000247321696957,1.91437808736e-05,1793239400041994752
+69,1.150000000,BASELINE,766.938792626,745,715,679.061207374,663,635.061207374,879,788,804,652,631.061207374,653,0.400981134148,-0.00536901538434,0.0598525259172,0.999999940405,0.000239983963869,-0.000247474379862,1.88340917167e-05,1793239400058661632
+70,1.166666667,BASELINE,766.35931825,745,715,679.64068175,663,635.64068175,879,788,804,652,631.64068175,653,0.400981275968,-0.00536792749555,0.0598530173757,0.999999940423,0.000240311289727,-0.000247104424697,1.85517450728e-05,1793239400075328512
+71,1.183333333,BASELINE,766,745.219902759,715,679.780097241,663,636,879,787.780097241,804,652,631.780097241,653,0.40098120205,-0.00536760674329,0.0598532044556,0.999999940342,0.000240746041872,-0.000247003532541,1.86418135826e-05,1793239400091995136
+72,1.200000000,BASELINE,766,745.798710338,715,679.201289662,663,636,879,787.201289662,804,652,631.201289662,653,0.400980776023,-0.00536853803972,0.0598528947574,0.999999940098,0.000241356125258,-0.000247341779928,1.93397034065e-05,1793239400108661760
+73,1.216666667,BASELINE,766,745.625353096,715,679.374646904,663,636,879,787.374646904,803.625353096,652,631,653,0.400980187907,-0.0053684070204,0.0598521255054,0.999999939894,0.000241254498448,-0.000248279640854,1.91256550577e-05,1793239400125328128
+74,1.233333333,BASELINE,766,745.050947366,715,679.949052634,663,636,879,787.949052634,803.050947366,652,631,653,0.400979513367,-0.0053677095825,0.059851111223,0.99999993971,0.000240773393242,-0.000249537211049,1.84253683015e-05,1793239400141994752
+75,1.250000000,BASELINE,766,745,715,680,663.523332252,636,879.523332252,788,803.523332252,652,631.523332252,653,0.400979249453,-0.00536955675822,0.0598512848913,0.999999940278,0.000238580090669,-0.000249345816555,1.87273007303e-05,1793239400158661376
+76,1.266666667,BASELINE,766.100444343,745,715,680,663.899555657,636,879.899555657,787.899555657,803.899555657,652.100444343,632,653,0.400979094699,-0.00537101097856,0.0598515590314,0.999999940765,0.000236830363925,-0.000249035849944,1.90385124183e-05,1793239400175328000
+77,1.283333333,BASELINE,766.691449907,745,715,680,663.308550093,636,879.308550093,787.308550093,803.308550093,652.691449907,632,653,0.40097927789,-0.00536933647489,0.059851759182,0.999999940525,0.00023806090354,-0.000248835543264,1.8918645049e-05,1793239400191994624
+78,1.300000000,BASELINE,766.723257117,745,715,679.723257117,663,636,879,787,803,652.723257117,631.723257117,652.723257117,0.400978948951,-0.00536833199978,0.0598515391134,0.999999940115,0.000239399106568,-0.000249199960472,1.88826893075e-05,1793239400208661504
+79,1.316666667,BASELINE,766.144204522,745,715,679.144204522,663,636,879,787,803,652.144204522,631.144204522,652.144204522,0.400978060569,-0.00536805945377,0.0598508600039,0.99999993952,0.000240854919392,-0.000250181273469,1.89383973581e-05,1793239400225328896
+80,1.333333333,BASELINE,766,745.431443931,715,679,663.431443931,636,879,787.431443931,803,652,631.431443931,652,0.40097869084,-0.00536824266976,0.0598511966092,0.999999939661,0.000240924141195,-0.000249559952361,1.88133179013e-05,1793239400241995520
+81,1.350000000,BASELINE,766,745.993892936,714.993892936,679,663.993892936,636,879,787.993892936,803,652,631.993892936,652.006107064,0.400979828855,-0.00536856706085,0.0598518772403,0.999999940045,0.000240543741866,-0.000248398372573,1.86321697083e-05,1793239400258662144
+82,1.366666667,BASELINE,766,745.405547215,714.405547215,679,663.405547215,636,879,787.405547215,803,652,631.405547215,652.594452785,0.400981360426,-0.00536794140809,0.0598532437348,0.999999940393,0.000241135878284,-0.000246398546451,1.88213276157e-05,1793239400275329024
+83,1.383333333,BASELINE,766,745,714,679,663,635.819858262,879,787.180141738,803,652,631,653,0.400981643303,-0.00536768918633,0.0598534653762,0.999999940432,0.000241271642069,-0.000246103666993,1.88863882234e-05,1793239400291995648
+84,1.400000000,BASELINE,766,745,714,679,663,635.240063365,879,787.759936635,803,652,631,653,0.400979155892,-0.00536826543923,0.0598511471058,0.999999939783,0.000240394921203,-0.000249591293803,1.8676133005e-05,1793239400308662016
+85,1.416666667,BASELINE,766,745,714.336960166,679,663,635.336960166,879,788,803,652,631.336960166,653,0.400979008616,-0.00536887047215,0.0598508993703,0.999999939847,0.000239748923728,-0.000249961866237,1.85654989415e-05,1793239400325328384
+86,1.433333333,BASELINE,766,745,714.912025341,679,663,635.912025341,879,788,803,652,631.912025341,653,0.40098051494,-0.00536949584177,0.05985211473,0.99999994042,0.000239265961586,-0.000248129844992,1.85252598469e-05,1793239400341995008
+87,1.450000000,BASELINE,765.502450237,745,715,679,663.497549763,635.502450237,879,788,803,652.497549763,632,652.502450237,0.400980963503,-0.00536932346972,0.0598527790136,0.999999940291,0.000240907631513,-0.000247042627215,1.8759576225e-05,1793239400358661376
+88,1.466666667,BASELINE,765.083784528,745,715,679,663.916215472,635.083784528,879,787.916215472,803.083784528,652.916215472,632,652,0.40098102422,-0.00536916732968,0.0598531756925,0.999999940169,0.000242048157768,-0.000246402668746,1.89748392052e-05,1793239400375328256
+89,1.483333333,BASELINE,765.663048606,745,715,679,663.336951394,635.663048606,879,787.336951394,803.663048606,652.336951394,632,652,0.400979921111,-0.00536995924523,0.0598525784297,0.999999940856,0.000237955744242,-0.000247612162844,1.87841741393e-05,1793239400391995392
+90,1.500000000,BASELINE,766.242400338,745,715,679,663,636,879,787.242400338,803.757599662,652,631.757599662,652.242400338,0.400979946354,-0.0053704330487,0.0598525162446,0.999999941239,0.000236288572012,-0.000247658448334,1.88412058524e-05,1793239400408662272
+91,1.516666667,BASELINE,766.821873908,745,715,679,663,636,879,787.821873908,803.178126092,652,631.178126092,652.821873908,0.40098154064,-0.00537046449685,0.0598531981195,0.999999941215,0.00023799385386,-0.000246087217475,1.92426758564e-05,1793239400425329152
+92,1.533333333,BASELINE,766.602419159,745,715,679,663,636,879,788,803,652,631.397580841,653,0.400982403292,-0.00536973474722,0.0598537612776,0.99999994121,0.000239306897192,-0.000244834968283,1.92041911878e-05,1793239400441995520
+93,1.550000000,BASELINE,766.028383885,745,715,679,663,636,879,788,803,652,631.971616115,653,0.40098294123,-0.00536866716259,0.0598542717469,0.999999941212,0.000240445857272,-0.00024372428948,1.8970445756e-05,1793239400458661888
+94,1.566666667,BASELINE,766,745,715,679,663.543380452,636,879,788,803.543380452,652,631.456619548,653,0.400982393774,-0.00536793349196,0.0598531039519,0.999999940829,0.000240171546801,-0.000245583685318,1.8637939354e-05,1793239400475328256
+95,1.583333333,BASELINE,766,745.120193557,715,679.120193557,664,636,879,788,803.879806443,652,631,653,0.400981845657,-0.00536724658107,0.059852156506,0.999999940494,0.000239961303485,-0.000247172032171,1.83645963428e-05,1793239400491994880
+96,1.600000000,BASELINE,766,745.717517798,715,679.717517798,664,636,879,788,803.282482202,652,631,653,0.400981519044,-0.00536667633935,0.0598524303319,0.999999940438,0.000240297222002,-0.000247071090182,1.83465071124e-05,1793239400508662016
+97,1.616666667,BASELINE,766,745.697525229,715,679.697525229,663.697525229,636,879,787.697525229,803,652,631,653,0.400981567268,-0.00536660371699,0.059852965571,0.999999940434,0.000241147668925,-0.000246252721487,1.84011993163e-05,1793239400525328640
+98,1.633333333,BASELINE,766,745.123664435,715,679.123664435,663.123664435,636,879,787.123664435,803,652,631,653,0.400981951803,-0.00536697756807,0.0598537353551,0.999999940474,0.000242459760335,-0.000244790664134,1.85211923854e-05,1793239400541995264
+99,1.650000000,BASELINE,766,745,715,679,663,635.549222796,879,787.450777204,803,652,631,652.549222796,0.400982418935,-0.00536735807473,0.0598534376595,0.999999940716,0.000241517938145,-0.000244726266912,1.86011845343e-05,1793239400558662144
+100,1.666666667,BASELINE,766,745,715,679.026226616,663,635.026226616,879,787.973773384,803.026226616,652.026226616,631.026226616,652,0.400982858666,-0.00536775174912,0.059852857511,0.999999940964,0.000240106446234,-0.000245092827481,1.86927974086e-05,1793239400575328768
+101,1.683333333,BASELINE,766,745,715,679.62003283,663,635.62003283,879,787.37996717,803.62003283,652.62003283,631.62003283,652,0.400982214388,-0.00536839082631,0.0598525105078,0.999999940174,0.000241929423504,-0.000246477279447,1.92736906371e-05,1793239400591995392
+102,1.700000000,BASELINE,766,745,715,679.791927146,663.208072854,636,879,787.208072854,804,652.791927146,631.791927146,652.208072854,0.400981434723,-0.0053687491965,0.0598521667255,0.999999939968,0.000241634673842,-0.000247591970805,1.93585807969e-05,1793239400608662016
+103,1.716666667,BASELINE,766,745,715,679.214133035,663.785866965,636,879,787.785866965,804,652.214133035,631.214133035,652.785866965,0.400980414494,-0.00536860878295,0.0598518286666,0.999999940798,0.000237576969572,-0.000248227328794,1.85621311381e-05,1793239400625328384
+104,1.733333333,BASELINE,766.362173866,745,715,679,664,636,879,788,804,652.362173866,631,652.637826134,0.400979930088,-0.0053691711088,0.0598516509547,0.99999994111,0.000235988665529,-0.000248498430985,1.83972752888e-05,1793239400641994752
+105,1.750000000,BASELINE,766.937605116,745,715,679,664,636,879,788,804,652.937605116,631,652.062394884,0.400979761189,-0.00537014722587,0.0598515676592,0.999999941123,0.000235854408119,-0.00024855504996,1.86043182101e-05,1793239400658661376
+106,1.766666667,BASELINE,766.47789681,745.52210319,715,679.52210319,663.47789681,636,879,788,804,652.47789681,631,652.52210319,0.400981064123,-0.00536938084859,0.0598529027812,0.999999941005,0.00023806348449,-0.000246910912152,1.87199328947e-05,1793239400675328256
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,746,715,680,664,636,880,788,803,653,631,653,0.400980823544,-0.00537150771447,0.0598541580076,0.999999941838,0.000235763826217,-0.00024568924983,1.94081924709e-05,1793239400717665536
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.423461288,746,715,679.423461288,663.423461288,636,879.423461288,788,803.576538712,652.423461288,631.576538712,652.423461288,0.400980077259,-0.00537033539418,0.0598524887044,0.999999941259,0.000236018236184,-0.000247833197612,1.88493407767e-05,1793239400734332416
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.847536842,715,679.152463158,663.152463158,636,879,788,803.847536842,652,632,652.152463158,0.400979853797,-0.00536924491577,0.0598514897546,0.999999940746,0.000237029433701,-0.00024896320744,1.85220285371e-05,1793239400750999040
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.273311526,715,679.726688474,663.726688474,636,879,788,803.273311526,652,632,652.726688474,0.40098107663,-0.00536838083807,0.059852345218,0.999999940415,0.000240134149171,-0.000247288339079,1.88352288144e-05,1793239400767664640
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.690420349,745,715,679.690420349,663.690420349,636,879,788,803,652,631.690420349,653,0.400981418809,-0.00536790956482,0.0598525489051,0.999999940213,0.000241477797925,-0.000246794341031,1.88343409835e-05,1793239400784331008
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.09965825,745,715,679.09965825,663.09965825,636,879,788,803,652,631.09965825,653,0.400980961116,-0.0053677950648,0.0598521606021,0.999999940137,0.000241221919363,-0.000247372894218,1.85481757815e-05,1793239400800997376
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.481908334,745,715,679,663,636,879.481908334,788,803,652,631,653,0.400980250608,-0.00536797113807,0.0598517806641,0.999999940374,0.0002395446046,-0.000248057459322,1.83953861359e-05,1793239400817664256
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.06112987,715,679,663.06112987,636,880,788,803.06112987,652,631,653,0.4009796355,-0.00536826513677,0.0598514768117,0.999999940621,0.000237819164991,-0.000248726048283,1.83338350036e-05,1793239400834330880
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.636323095,715,679,663.636323095,636,880,788,803.636323095,652,631,653,0.400980254071,-0.0053690549536,0.0598517985163,0.999999940453,0.000238114688924,-0.000249079380079,1.88119380614e-05,1793239400850998272
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.789066259,715,679,663.789066259,635.789066259,879.789066259,787.789066259,803.789066259,652,631,653,0.400984492056,-0.00536902924992,0.0598538764084,0.99999994104,0.000238601513846,-0.000246224789245,1.90274658127e-05,1793239400867665152
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.215457347,715,679,663.215457347,635.215457347,879.215457347,787.215457347,803.215457347,652,631,653,0.400994953184,-0.00536760135682,0.0598589738533,0.999999942876,0.000239417257748,-0.000237854561608,1.87915268859e-05,1793239400884331776
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.370337248,879,787.370337248,803,652.370337248,631.370337248,653,0.401022273389,-0.00536866257321,0.0598701711429,0.999999947489,0.000238976554761,-0.000218032638547,1.93581200225e-05,1793239400900998144
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.963462579,879,787.963462579,803,652.963462579,631.963462579,653,0.401059735705,-0.005371221192,0.0598850379876,0.99999995322,0.00023777999636,-0.000191321585006,2.04075016693e-05,1793239400917664512
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.542146893,663,636,879,788,803.542146893,652.457853107,631.457853107,653,0.401118650748,-0.00537252666149,0.0599035043317,0.999999958771,0.00023700206724,-0.000160710014597,2.14494819489e-05,1793239400934330880
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.880920549,663.119079451,636,878.880920549,788,803.880920549,652,631.119079451,653,0.401182869769,-0.00537408252389,0.0599213017926,0.999999963194,0.000236135840439,-0.000131715653353,2.24177143206e-05,1793239400950997504
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.307057547,663.692942453,636,878.307057547,788,803.307057547,652,631.692942453,653,0.401261967129,-0.00537690885478,0.0599356422551,0.999999966125,0.000234827436405,-0.000109875564644,2.31061475467e-05,1793239400967664384
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.725538827,636,878.274461173,788,803,652.274461173,631.725538827,653,0.40134365314,-0.0053790563373,0.0599447568287,0.999999967824,0.000234023510564,-9.51600917634e-05,2.30277697726e-05,1793239400984331008
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.135209429,636,878.864790571,788,803,652.864790571,631.135209429,653,0.40142831834,-0.00538042255565,0.0599478571,0.999999968496,0.000233800172047,-8.86441033426e-05,2.20668947206e-05,1793239401000997888
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.446722106,636,879.446722106,788,803.446722106,652.553277894,631.446722106,653,0.40153135282,-0.00538363813559,0.0599508142394,0.99999996927,0.000232651035231,-8.28997128932e-05,2.14936672235e-05,1793239401017664768
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.974156352,636,879.974156352,788,803.974156352,652,631.974156352,652.974156352,0.401640961962,-0.00538731184481,0.0599537028982,0.999999970057,0.000231225323892,-7.7333749722e-05,2.09927233586e-05,1793239401034331392
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.401699448,636,879.401699448,788,803.401699448,652,631.401699448,652.401699448,0.401774205435,-0.00538905472669,0.0599560425237,0.999999970913,0.000229767177345,-7.06932598478e-05,1.95848184099e-05,1793239401050997760
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.17225481,663.17225481,636,879,788,803.17225481,652,631,652.17225481,0.401915560486,-0.00539188598689,0.0599568273289,0.999999971798,0.000227371352287,-6.61906781454e-05,1.80388514806e-05,1793239401067664384
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.749731447,663.749731447,636,879,788,803.749731447,652,631,652.749731447,0.402075997648,-0.00539727760872,0.0599539544878,0.999999972831,0.000222769680195,-6.67174318818e-05,1.61681000428e-05,1793239401084331008
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,636,879.335505098,788,804,652,631,653,0.402253085065,-0.0054027660679,0.0599528053464,0.999999974029,0.000217641652061,-6.60709891053e-05,1.44635540425e-05,1793239401100997888
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,636,879.92762487,788,804,652,631,653,0.402442907626,-0.00540832859476,0.059952974595,0.99999997534,0.00021211103437,-6.45272144459e-05,1.28861318559e-05,1793239401117664512
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.495526826,664,636,879.495526826,788,803.495526826,652.504473174,631.504473174,653,0.402671638695,-0.00541313344044,0.059955539822,0.99999997643,0.000209757883269,-5.49977567464e-05,1.08263877168e-05,1793239401134331136
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.079641726,715,679.079641726,663.920358274,636,879,787.920358274,803,652.920358274,632,653,0.402910634686,-0.00541834902045,0.0599583740665,0.999999977614,0.000206628079921,-4.47339609325e-05,8.65760494191e-06,1793239401150998016
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.657606309,715,679.657606309,663.342393691,636,879,787.342393691,803,652.342393691,632,653,0.403179957868,-0.0054267947611,0.059960803946,0.99999998012,0.000195870180244,-3.68333186336e-05,6.22680906143e-06,1793239401167664640
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.765009283,715.234990717,679.765009283,663.234990717,636,879,787.234990717,803.234990717,652,632,653,0.40346108334,-0.00543392995762,0.0599595164322,0.999999981999,0.000186197248739,-3.63584772009e-05,3.26775366969e-06,1793239401184331008
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.188468172,715.811531828,679.188468172,663.811531828,636,879,787.811531828,803.811531828,652,632,653,0.403759362995,-0.00543916032579,0.0599528258235,0.999999983051,0.000178101279365,-4.66767655996e-05,-4.5910741093e-07,1793239401200997376
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.398961346,715.601038654,679,664,636,879,787.601038654,804,652,631.601038654,653,0.404075161738,-0.00544701212335,0.0599454883838,0.999999984066,0.000168854942849,-5.77886786171e-05,-3.98754973554e-06,1793239401217664000
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.991678816,715.008321184,679,664,636,879,787.008321184,804,652,631.008321184,653,0.404399468643,-0.00545613702153,0.0599378368101,0.999999984924,0.000159049929165,-6.92860162099e-05,-7.41962960993e-06,1793239401234330880
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,679,663.433660308,636,879,787,804,652.566339692,631,653,0.404748047797,-0.00546374807659,0.0599235878725,0.999999983991,0.000149977184397,-9.68877563433e-05,-1.17421515709e-05,1793239401250997504
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,679.141149496,663,636,879,787.141149496,804,652.858850504,631,653,0.405117258162,-0.00547201105391,0.0599140277347,0.999999983356,0.00014004816625,-0.000115859272304,-1.58262594984e-05,1793239401267663872
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,679.717210273,663,636,879,787.717210273,804,652.282789727,631,653,0.405548972658,-0.00548234915649,0.0599192042249,0.999999985914,0.000127448664836,-0.000107532696544,-1.91366963485e-05,1793239401284330496
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.700849293,715,680,663,636,879,787.700849293,803.700849293,652,631.299150707,653,0.406013226487,-0.00549091115206,0.0599356369551,0.999999990063,0.000112803803828,-8.16023466991e-05,-2.21636851141e-05,1793239401300997120
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.113239266,715,680,663,636,879,787.113239266,803.113239266,652,631.886760734,653,0.406508856774,-0.00549776051837,0.0599629236375,0.999999994315,9.61866809638e-05,-3.86973653454e-05,-2.49173563442e-05,1793239401317664000
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.470075681,715,679.529924319,663,636,879,787.470075681,803.470075681,652,631.529924319,652.529924319,0.407042235327,-0.00550771678147,0.0599897895925,0.999999999545,1.25801580659e-05,5.40551857049e-06,-2.68886782925e-05,1793239401334330624
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.94836834,715,678.94836834,663.05163166,636,879,787.94836834,804,652,631.05163166,652.05163166,0.407582332757,-0.00551614716693,0.0600137567696,0.999999995762,-7.53950204289e-05,4.43741412923e-05,-2.86948795419e-05,1793239401350997248
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.374236548,715,678.374236548,663.625763452,636,879,787.374236548,804,652,631.625763452,652.625763452,0.408099234157,-0.00550163059788,0.060009405387,0.999999998076,-4.57513222623e-05,2.84914740307e-05,-3.07200516583e-05,1793239401367663872
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678.402098277,663.798950862,636,879.201049138,787.201049138,804,652,631.798950862,653,0.408631624231,-0.00549209636437,0.0600015997494,0.999999999115,-2.42080870265e-05,8.07739171699e-06,-3.34428649928e-05,1793239401384330496
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.556990139,663.22150493,636,879.77849507,787.77849507,804,652,631.22150493,653,0.409193011599,-0.00549188987681,0.0599873271829,0.999999998922,-1.7830242e-05,-2.08202379828e-05,-3.74717764359e-05,1793239401400997120
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.637608542,663.362391458,636,879.637608542,788,804,652,631,653,0.409799560686,-0.00550540569718,0.0599860787062,0.999999998155,-3.9228202176e-05,-2.22377501365e-05,-4.07134546408e-05,1793239401417664000
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.049698005,663.950301995,636,879.049698005,788,804,652,631,653,0.410434214249,-0.00552746101866,0.0599929352243,0.999999995999,-7.79112665002e-05,-6.55416600907e-06,-4.34652311629e-05,1793239401434330880
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.468894973,636,879.531105027,788,804,652,631,653,0.411111401704,-0.00553622697892,0.0600012470973,0.999999993596,-0.000101846862768,1.13954459318e-05,-4.80180947062e-05,1793239401450997760
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.10996607,663.10996607,636,879.89003393,788,804,652,631.10996607,653,0.411788397729,-0.005542070821,0.06000516897,0.999999990904,-0.000122417818212,2.14123831551e-05,-5.24191613747e-05,1793239401467664384
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679.683408135,663.683408135,636,879.316591865,788,804,652,631.683408135,653,0.412448033282,-0.00554077074778,0.0599900218266,0.999999989405,-0.000134547216342,-2.8865723514e-06,-5.54794936197e-05,1793239401484330752
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.73632186,663.73632186,636,879,787.73632186,804,652,631.73632186,652.73632186,0.413108325038,-0.00553231048074,0.0599639970698,0.999999993128,-9.30071917551e-05,-5.40043361441e-05,-4.66638086309e-05,1793239401500997888
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.147635703,663.147635703,636,879,787.147635703,804,652,631.147635703,652.147635703,0.413769425717,-0.0055150246037,0.0599245646329,0.999999990076,1.46854254414e-05,-0.000138178797044,-2.3209819262e-05,1793239401517665536
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.43427674,715,679,663,636,879.43427674,787,804.43427674,652,631.43427674,652.43427674,0.414530314553,-0.00551047117507,0.059931856822,0.999999991512,3.89491146561e-05,-0.000122442686403,-2.16154998666e-05,1793239401534331648
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.986189287,715,679,663.013810713,636,880,787.013810713,804.986189287,652,632,652.986189287,0.415325506746,-0.00551051641705,0.0599553235109,0.9999999964,3.46340080888e-05,-7.2524252065e-05,-2.72244810749e-05,1793239401550997760
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.411166972,715,679,663.588833028,636,880,787.588833028,804.411166972,652,632,652.411166972,0.416157298227,-0.00552424195132,0.0600004922992,0.999999999568,3.82078702176e-06,7.40822697648e-06,-2.82038322546e-05,1793239401567664384
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.164043942,715,679.164043942,663.835956058,636,880,788,804,652,631.835956058,652.164043942,0.416972733656,-0.00553528811037,0.0600297918726,0.999999997739,-2.2483137137e-05,5.6193862163e-05,-2.9320966341e-05,1793239401584331008
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.739728079,715,679.739728079,663.260271921,636,880,788,804,652,631.260271921,652.739728079,0.417747126323,-0.00553961083502,0.0600192703645,0.999999998464,-3.74717505652e-05,2.68218188039e-05,-3.07838434174e-05,1793239401600997376
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.67550047,715,679.67550047,663.32449953,636,880,788,804,652,631,652.67550047,0.418552738662,-0.00553901727041,0.0600052993373,0.999999998662,-3.91799501853e-05,4.45575068108e-06,-3.34737791819e-05,1793239401617664000
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.083230376,715,679.083230376,663.916769624,636,880,788,804,652,631,652.083230376,0.419384112816,-0.00553436688141,0.0599884818359,0.999999998788,-2.9929415538e-05,-1.21291244484e-05,-3.71762593281e-05,1793239401634330624
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.495673641,664.495673641,636,880,788,804,652,631,652.495673641,0.420195430597,-0.00553080742866,0.0599655915393,0.999999997637,-3.30170936573e-05,-4.54671095324e-05,-3.96099374777e-05,1793239401650996992
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.927781604,636,880,787.927781604,804,652,631.072218396,652.927781604,0.421001161831,-0.0055280323485,0.0599408877146,0.999999994802,-3.7168524522e-05,-8.53057703871e-05,-4.16825454293e-05,1793239401667663872
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.352448243,636,880,787.352448243,804,652,631.647551757,652.352448243,0.421790819127,-0.00552947901094,0.0599104671454,0.999999987035,-3.46766065861e-05,-0.000151348938877,-4.26849809669e-05,1793239401684330496
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.224617811,715,679.775382189,663.775382189,636,880,787.224617811,804,652,631.775382189,652.224617811,0.422618756617,-0.00553202172423,0.0599042635238,0.999999984709,-3.49055061873e-05,-0.000165779718514,-4.33657514776e-05,1793239401700997120
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.804423862,715,679.195576138,663.195576138,636,880,787.804423862,804,652,631.195576138,652.804423862,0.423507226715,-0.00553629762342,0.0599363541668,0.999999993414,-3.94368354311e-05,-9.85958159756e-05,-4.35378732003e-05,1793239401717664000
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679,663.77683192,636,880,788,804,652,631.38841596,653,0.424443534487,-0.005539827162,0.0599849236792,0.99999999782,-4.68497500678e-05,-2.06746340867e-05,-4.16856596825e-05,1793239401734330624
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679,664.949077509,636,880,788,804,652,631.974538754,653,0.425404191966,-0.0055429767968,0.0600418810662,0.999999995728,-5.57294142667e-05,6.27119049811e-05,-3.88030431277e-05,1793239401750997248
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,679.554529909,664.445470091,636,880,788,804.554529909,652,632,653,0.426283438957,-0.00554406730835,0.0600400169962,0.999999995738,-4.90663980629e-05,6.6989497986e-05,-4.03701093174e-05,1793239401767664128
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880,788,804.868092579,651.868092579,632,653,0.427151968092,-0.0055454195005,0.060031223837,0.99999999624,-4.54519441172e-05,6.05751616031e-05,-4.22460988877e-05,1793239401784330752
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880,788,804.298464167,651.298464167,632,653,0.427997199487,-0.0055479503577,0.060008301486,0.999999997069,-5.42960740323e-05,3.06023218764e-05,-4.44766607195e-05,1793239401800997376
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880,788,804.282360551,651.282360551,632,653,0.428821194574,-0.00554972555951,0.0599841609265,0.999999996855,-6.4287851556e-05,-4.0074768279e-06,-4.62726796439e-05,1793239401817664000
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880,788,804.875508743,651.875508743,632,653,0.4296218153,-0.00555066902896,0.0599586795149,0.999999995058,-7.55428172867e-05,-4.37210655982e-05,-4.75904072073e-05,1793239401834330624
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,679.541865486,664,636,880.458134514,787.541865486,805,652,632,653,0.430467412019,-0.00554777533405,0.0599406979872,0.999999993799,-6.66131979848e-05,-7.43204166822e-05,-4.94057853132e-05,1793239401850997248
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,679.037586585,664,636,881,787.037586585,804.962413415,651.962413415,631.962413415,652.962413415,0.431328568018,-0.00554448056502,0.0599291901696,0.999999992808,-5.36804519582e-05,-9.42993034093e-05,-5.10940081378e-05,1793239401867663872
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,679.611634591,664,636,881,787.611634591,804.388365409,651.388365409,631.388365409,652.388365409,0.432241277775,-0.00555000928058,0.0599816451898,0.999999996983,-6.01384049171e-05,2.74945406197e-06,-4.90806338571e-05,1793239401884331776
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880.809641367,787.809641367,804.190358633,651.190358633,631.190358633,652.190358633,0.433114958989,-0.00555435157924,0.0600179386302,0.999999994326,-6.90727734952e-05,6.5514519642e-05,-4.78035461413e-05,1793239401900998912
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,636,880.221137032,787.221137032,804.778862968,651.778862968,631.778862968,652.778862968,0.433907009996,-0.00555621242177,0.0600204292345,0.999999993785,-8.31867057285e-05,5.65733485694e-05,-4.80664432945e-05,1793239401917664768
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.638070701,715,680,664,636,880,787.361929299,804.638070701,651.638070701,631.638070701,652.638070701,0.434696490891,-0.00555672061048,0.0600018562977,0.999999994976,-8.36519996545e-05,2.42053958367e-05,-4.96361233706e-05,1793239401934331136
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.058277815,715,680,664,636,880,787.941722185,804.058277815,651.058277815,631.058277815,652.058277815,0.435484424657,-0.00555641456822,0.0599706041478,0.99999999552,-7.5901485533e-05,-2.22643234668e-05,-5.19924222115e-05,1793239401950997504
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,636,880.519246695,788,804.519246695,651,631,652,0.4362574988,-0.00555523266188,0.0599470789229,0.999999993429,-7.73581303147e-05,-6.52290394871e-05,-5.38835367782e-05,1793239401967664128
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.096340524,714.903659476,679.903659476,664,636,880.903659476,787.903659476,804.903659476,651,631,652.096340524,0.437019855085,-0.00555399294593,0.0599272821243,0.99999998983,-7.97549848175e-05,-0.000104406904895,-5.54750495474e-05,1793239401984330752
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.672551731,714.327448269,679.327448269,664,636,880.327448269,787.327448269,804.327448269,651,631,652.672551731,0.437737096883,-0.0055529527966,0.0599217556717,0.99999998708,-8.17102062504e-05,-0.000126673446965,-5.58331772255e-05,1793239402000997376
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,714.254025339,679.254025339,664,636,880,787.254025339,804.254025339,651.254025339,631.254025339,652.745974661,0.438448962917,-0.00555186606165,0.0599177531756,0.999999985498,-7.93076947816e-05,-0.000140006921945,-5.57909408669e-05,1793239402017664256
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,714.842425833,679.842425833,664,636,880,787.842425833,804.842425833,651.842425833,631.842425833,652.157574167,0.439153752743,-0.00555071800583,0.0599157566734,0.99999998592,-7.11690719021e-05,-0.000141581742691,-5.52217027998e-05,1793239402034331392
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,679.575951905,664,636,880.424048095,788,805,652,631.575951905,652,0.43988211117,-0.00555327883811,0.0599375166396,0.999999989733,-7.6954403818e-05,-0.000108423514384,-5.3446390534e-05,1793239402050998016
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.996832417,715,679,663.996832417,635.996832417,881,788,805,652,631.003167583,652,0.440618464198,-0.005557185631,0.0599676358161,0.999999992844,-8.77699280629e-05,-6.31009250104e-05,-5.12487266899e-05,1793239402067664640
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.421988915,715,679,663.421988915,635.421988915,881,788,805,652,631.578011085,652,0.44124190286,-0.00555918646193,0.0599382536127,0.99999998819,-8.7309841978e-05,-0.000115093391271,-5.24383941849e-05,1793239402084331008
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.156340382,715,679.156340382,663,635,881,787.843659618,805,652,631.843659618,652,0.441841440272,-0.00555950430882,0.0599008230141,0.999999979105,-8.66673296752e-05,-0.000176924298381,-5.45509466953e-05,1793239402100997632
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.744293125,715,679.744293125,663,635,881,787.255706875,805,652,631.255706875,652,0.442374993117,-0.00555517590481,0.0598411730262,0.999999959234,-8.55211892907e-05,-0.000265916419107,-5.9211328678e-05,1793239402117664256
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662.672728684,635,880.672728684,787,805,652,631,652,0.44291507157,-0.00554973091785,0.0597991644982,0.999999940451,-8.19734731392e-05,-0.000329238736989,-6.30913718454e-05,1793239402134330624
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662.093579098,635,880.093579098,787,805,652,631,652,0.443460172304,-0.0055434265739,0.0597707333947,0.999999925374,-7.65774292758e-05,-0.000372804764987,-6.6370841678e-05,1793239402150997248
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,714.517300682,679.517300682,661.517300682,634.517300682,880,787,804.517300682,652,631.482699318,652,0.444011803872,-0.00554516778081,0.0597734934441,0.999999927323,-8.03454970131e-05,-0.000366559242848,-6.7324332096e-05,1793239402167664896
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.941370073,746,714.058629927,679.058629927,661.058629927,634.058629927,880,787,804.058629927,651.941370073,631.941370073,652.058629927,0.444558907516,-0.00554827413226,0.0597806394652,0.999999931327,-8.56667060333e-05,-0.000354092046157,-6.8012838027e-05,1793239402184332544
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.36361968,746,714.63638032,679.63638032,661.63638032,634.63638032,880,787,804.63638032,651.36361968,631.36361968,652.63638032,0.445054776002,-0.00554973897691,0.0597733957971,0.999999924539,-8.9102279106e-05,-0.000371534323008,-7.03241224464e-05,1793239402200998912
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.21278776,745.78721224,714.78721224,680,661.78721224,634.78721224,880,787,804.78721224,651.21278776,631.21278776,653,0.445513875491,-0.00555179853994,0.0597545069347,0.999999910329,-9.30755717764e-05,-0.000406646370747,-7.29208383995e-05,1793239402217665280
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.786914647,745.213085353,714.213085353,680,661.213085353,634.213085353,880,787,804.213085353,651.786914647,631.786914647,653,0.445910536763,-0.00555486800595,0.0597158431369,0.999999881033,-9.79619762135e-05,-0.000471763805163,-7.60022509029e-05,1793239402234331392
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.626710695,745.373289305,714.373289305,680,661,634,879.626710695,786.626710695,804,651.626710695,631.626710695,652.626710695,0.446307243183,-0.00555915647024,0.0596909119952,0.999999862311,-0.000103778203974,-0.000508371122088,-7.85236436873e-05,1793239402250997760
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.033107392,745.966892608,714.966892608,680,661,634,879.033107392,786.033107392,804,651.033107392,631.033107392,652.033107392,0.446703976288,-0.00556416438319,0.0596740858136,0.999999851205,-0.000110143210697,-0.000528151877702,-8.07145152592e-05,1793239402267664128
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.540867007,746,715,680,661,633.459132993,879.540867007,786,804.540867007,651.540867007,631,652,0.447099166213,-0.00556960741605,0.0596846290822,0.999999860698,-0.000114951752375,-0.000508832578593,-8.0501391194e-05,1793239402284331008
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,680,661,633.113851017,880,786,805,652,631,652,0.447486422892,-0.00557300463668,0.0596954673516,0.999999869868,-0.000116954168031,-0.000490130046396,-7.97414851384e-05,1793239402300997888
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,680,661,633.687517956,880,786,805,652,631,652,0.447842007424,-0.0055680355299,0.0597009677736,0.999999874414,-0.000107994652694,-0.000483246228434,-7.73467625615e-05,1793239402317664512
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715,680,661,633.730062704,880.269937296,786,804.730062704,652,631,652,0.448167626126,-0.00556119420974,0.0597017997521,0.999999877428,-9.90802983874e-05,-0.000480340088171,-6.78231307963e-05,1793239402334331136
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680,661,633.137172014,880.862827986,786,804.137172014,652,631,652,0.448457393639,-0.00555211297094,0.0596970463973,0.999999878437,-9.02199753288e-05,-0.000482192847922,-4.97704613042e-05,1793239402350997760
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745.55742754,715,680,660.55742754,633,880.55742754,786,804.44257246,652,631,652.44257246,0.448693479162,-0.00554187789837,0.0596725664831,0.999999859574,-7.87390528337e-05,-0.000521750020424,-4.92893555421e-05,1793239402367664384
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.018379493,633,880,786,804.981620507,652,631,653,0.448913038288,-0.00553177519491,0.0596425779094,0.999999832817,-6.69581233045e-05,-0.000571811428794,-5.39904345177e-05,1793239402384330752
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.594781608,633,880,786,804.405218392,652,631,653,0.449121423481,-0.00553623596758,0.0596256162219,0.999999818271,-7.00176459434e-05,-0.000596222288529,-5.54464391953e-05,1793239402400997632
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.175239273,715,680.175239273,660.824760727,632.824760727,880,785.824760727,804.175239273,652,631,653,0.449326336962,-0.00554038761709,0.0596132839155,0.999999807549,-7.37789799493e-05,-0.000613346717888,-5.71274136583e-05,1793239402417664256
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.765296968,715,680.765296968,660.234703032,632.234703032,880,785.234703032,804.765296968,652,631,653,0.449523032337,-0.00554380752372,0.0596119100715,0.999999807082,-7.92016095029e-05,-0.000613223038442,-5.93409262092e-05,1793239402434330880
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,714.651366222,680.651366222,660,632.348633778,880.348633778,785.348633778,805,652,631,652.651366222,0.449700864859,-0.0055465569083,0.0596124187732,0.999999807478,-8.07311485899e-05,-0.00061225764745,-6.05608197323e-05,1793239402450997504
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,714.072468335,680.072468335,660,632.927531665,880.927531665,785.927531665,805,652,631,652.072468335,0.449866238948,-0.00554886342977,0.0596141708502,0.999999808457,-7.96893968917e-05,-0.000610736326503,-6.11244523364e-05,1793239402467664128
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.4944264,746,714.5055736,680.5055736,660,632.4944264,881,786,805,652,631,652.5055736,0.450000644242,-0.00555095253424,0.0596111050988,0.999999806101,-8.11753968169e-05,-0.000614302708396,-6.1965787538e-05,1793239402484331008
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,715,681,659.917224004,632,881,786,805,652,631,652.917224004,0.450127830813,-0.00555291645631,0.0596081148397,0.999999803953,-8.31816614663e-05,-0.000617444219492,-6.27462018213e-05,1793239402500997888
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659.344267599,632,881,786,805,652,631,652.344267599,0.450238512312,-0.00555432331376,0.0596096541818,0.999999805961,-8.61268360952e-05,-0.000613758502165,-6.29305357901e-05,1793239402517664256
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.230074972,745.769925028,715,681,659.230074972,632,880.769925028,785.769925028,805,652,631,652.230074972,0.450339811064,-0.00555529408105,0.059611385522,0.999999807723,-8.65674123374e-05,-0.00061082219783,-6.28995654248e-05,1793239402534330624
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.806504239,745.193495761,715,681,659.806504239,632,880.193495761,785.193495761,805,652,631,652.806504239,0.450426985048,-0.00555560835919,0.0596134058955,0.999999809131,-8.32375721835e-05,-0.000609014058194,-6.25444764371e-05,1793239402550997248
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.394229053,715,681,659.605770947,632,880.394229053,785.394229053,804.605770947,652,631,652.605770947,0.450499897555,-0.00555705249456,0.0596150242061,0.999999810479,-8.51035994238e-05,-0.000606518506777,-6.27207176782e-05,1793239402567663872
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.987661472,715,681,659.012338528,632,880.987661472,785.987661472,804.012338528,652,631,652.012338528,0.450565603757,-0.00555906754512,0.0596164393548,0.999999811779,-8.95950909998e-05,-0.000603675607229,-6.31654393205e-05,1793239402584330752
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.435905836,746,715,680.435905836,659,632,880.435905836,786,804.564094164,652,631,652,0.450608307615,-0.00555834306175,0.0596131311371,0.999999808978,-8.56873243851e-05,-0.000608867726968,-6.31088049974e-05,1793239402600997376
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,715,680,659,632,880.139860749,785.860139251,805.139860749,652,631,652.139860749,0.450648261537,-0.00555823095507,0.0596106800998,0.999999806705,-8.36329363486e-05,-0.00061287323518,-6.31064618407e-05,1793239402617664256
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,715,680,659,632,880.714678239,785.285321761,805.714678239,652,631,652.714678239,0.45068118229,-0.00556020419767,0.0596112067339,0.999999806458,-8.78970576282e-05,-0.000612657882994,-6.33060667891e-05,1793239402634330880
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,715,680,659.29884078,632,881,785,805.70115922,652,631,653,0.450707849463,-0.00556030665807,0.0596103133636,0.999999805845,-8.90060746932e-05,-0.000613477050982,-6.35097257008e-05,1793239402650997504
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,715,680,659.892213704,632,881,785,805.107786296,652,631,653,0.450728353222,-0.00555856530913,0.0596080204623,0.999999804878,-8.70054778024e-05,-0.000615315823589,-6.37173801504e-05,1793239402667664128
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714.527953673,680,660,632,880.527953673,785,805,652,631,652.527953673,0.450742885589,-0.00555711042269,0.0596070464508,0.999999804252,-8.4547638291e-05,-0.000616673344139,-6.37330749781e-05,1793239402684331008
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.048627155,746,714.048627155,680,659.951372845,632,880.048627155,785.048627155,805,652,631,652,0.450755575429,-0.00555591853778,0.0596064805039,0.999999803767,-8.22982665859e-05,-0.000617770181105,-6.36563211193e-05,1793239402700997376
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.622548432,746,714.622548432,680,659.377451568,632,880.622548432,785.622548432,805,652,631,652,0.450762679881,-0.00555688083023,0.059607160179,0.999999804064,-8.33972588889e-05,-0.000617204954732,-6.30411804678e-05,1793239402717664256
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680.201378713,659,632,880.798621287,785.798621287,805,652,631,652,0.450767899393,-0.00555732092949,0.0596069574571,0.999999803741,-8.38853480042e-05,-0.000617700895204,-6.26579730674e-05,1793239402734330880
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680.789639984,659,632,880.210360016,785.210360016,805,652,631,652,0.45076949762,-0.00555675780731,0.0596050595012,0.999999802226,-8.31997887296e-05,-0.000620235516655,-6.27203486975e-05,1793239402750997504
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,715,681.373444031,659.373444031,632,880,785,805,652,631,652.373444031,0.450770982692,-0.00555589775472,0.0596037623106,0.999999801148,-8.32639170251e-05,-0.000621923495826,-6.31103465415e-05,1793239402767664384
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,715,681.954766929,659.954766929,632,880,785,805,652,631,652.954766929,0.450772404776,-0.00555487241486,0.0596027995381,0.999999800314,-8.37453614322e-05,-0.000623140188662,-6.36827163822e-05,1793239402784331008
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745.471070765,715,681.471070765,660,632,880.528929235,785.528929235,805,652,631,653,0.450773245881,-0.00555621795623,0.0596024328291,0.999999800112,-8.34797256657e-05,-0.000623551625585,-6.31728518159e-05,1793239402800997632
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.897539243,745,715,681,659.897539243,632,880.897539243,785.897539243,805,652,630.897539243,653,0.450774048286,-0.00555739881067,0.0596021344015,0.999999799903,-8.32774940953e-05,-0.000623963121914,-6.26782753072e-05,1793239402817664512
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.324130164,745,715,681,659.324130164,632,880.324130164,785.324130164,805,652,630.324130164,653,0.450774898135,-0.00555690321772,0.0596019186535,0.99999979942,-8.36564275436e-05,-0.000624687188417,-6.26736846726e-05,1793239402834331136
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.257959268,745.257959268,715,680.742040732,659,632,880.515918536,785,805.257959268,652,630.257959268,653,0.450775367131,-0.00555636275674,0.0596018994154,0.999999799187,-8.3895766747e-05,-0.000625018267404,-6.27623786471e-05,1793239402850997760
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.851335593,745.851335593,715,680.148664407,659,632,881.702671187,785,805.851335593,652,630.851335593,653,0.450775340915,-0.00555576395508,0.0596021356937,0.999999799282,-8.39535955991e-05,-0.000624838356065,-6.29723679302e-05,1793239402867664128
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680.432684151,659,632,881.567315849,785,805.567315849,652,630.567315849,652.567315849,0.450776272588,-0.00555505233662,0.059602537816,0.999999799822,-8.18082711329e-05,-0.000624286468533,-6.26887281278e-05,1793239402884331008
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681,659,632,880.990055369,785,804.990055369,652,630,652.009944631,0.450777494022,-0.00555434117265,0.0596029779805,0.999999800479,-7.90041476439e-05,-0.000623639672992,-6.22407342676e-05,1793239402900997632
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,659,632,880.41660478,785,804.41660478,652,630,652.58339522,0.450776989743,-0.00555579279592,0.0596024322772,0.999999799739,-8.06029083887e-05,-0.000624661147304,-6.18303102319e-05,1793239402917664256
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,681,659,632,880.161770569,785,804,652,630.161770569,653,0.450776571844,-0.0055564261436,0.0596016675776,0.999999799081,-8.19472421343e-05,-0.000625549524781,-6.17321070927e-05,1793239402934331136
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,681,659,632,880.753226743,785,804,652,630.753226743,653,0.450776383378,-0.00555488603502,0.0596003211929,0.999999798646,-8.26157815405e-05,-0.000626084378109,-6.24632070226e-05,1793239402950997504
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,681,659,632,880.662370463,785,804.337629537,652,630.662370463,653,0.450777807801,-0.00555421543159,0.0596007302277,0.999999799209,-8.20181827622e-05,-0.000625248164228,-6.26109133909e-05,1793239402967664128
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,681,659,632,880.083017511,785,804.916982489,652,630.083017511,653,0.450780386958,-0.00555416734412,0.0596023960423,0.999999800483,-8.05141015122e-05,-0.000623430344705,-6.23409433419e-05,1793239402984330752
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.507166812,746,715,681,659,632,880,785.492833188,804.507166812,652,630,653,0.450778945538,-0.00555583333232,0.0596019050669,0.999999800023,-8.09519042479e-05,-0.000624195626547,-6.14939600138e-05,1793239403000997376
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.067930715,746,715,681,659,632,880.067930715,786,804.067930715,652,630,653,0.45077712633,-0.00555739420822,0.059601148278,0.99999979934,-8.15316696821e-05,-0.000625288795655,-6.07164276698e-05,1793239403017664256
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.641781348,746,715,681,659,632,880.641781348,786,804.641781348,652,630,653,0.450777501913,-0.00555603704308,0.0596010985124,0.999999799177,-8.07497286405e-05,-0.000625606189333,-6.11749177987e-05,1793239403034330880
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715,680.777043417,659,632,880.777043417,786,805,652,630.222956583,653,0.450778016566,-0.00555530781615,0.059601334718,0.99999979918,-8.10381618479e-05,-0.00062553528936,-6.14619022274e-05,1793239403050997504
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680.183700088,659,632,880.183700088,786,805,652,630.816299912,653,0.450778762253,-0.00555562175168,0.0596020459937,0.999999799458,-8.31047547322e-05,-0.000624819336401,-6.14639727917e-05,1793239403067664128
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.600893324,746,715,680.399106676,659,632,880.399106676,785.600893324,805,652,631,652.600893324,0.45077915368,-0.00555511339262,0.0596016008491,0.999999799243,-8.33160922352e-05,-0.000625107647779,-6.17428830804e-05,1793239403084330752
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.022811603,746,715,680.977188397,659,632,880.977188397,785.022811603,805,652,631,652.022811603,0.450779386244,-0.00555423628449,0.0596006371206,0.999999798808,-8.26954605344e-05,-0.000625846310609,-6.21459391296e-05,1793239403100997632
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659.551453111,631.448546889,880.448546889,785,805,652,630.448546889,652.551453111,0.450778910303,-0.00555404875644,0.0596005447088,0.999999798742,-8.25562169693e-05,-0.000625974666965,-6.21046276258e-05,1793239403117664256
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.125806502,746,714.874193498,680.874193498,659.874193498,631.125806502,880,785,805,651.874193498,630,653,0.450778962859,-0.00555396633787,0.059600809882,0.999999798952,-8.25464634292e-05,-0.000625651436589,-6.19897738166e-05,1793239403134330880
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.70103683,746,714.29896317,680.29896317,659.29896317,631.70103683,880,785,805,651.29896317,630,653,0.450781007367,-0.0055541582043,0.0596022245976,0.999999800093,-8.29286445229e-05,-0.00062380455196,-6.16774166592e-05,1793239403150997504
+254,4.233333333,POSE1_TO_POSE2_PRESS,766,745.716046485,714.283953515,680,659,632,880,785,805,651.283953515,630.283953515,652.716046485,0.450780832977,-0.00555501668435,0.0596015919774,0.999999799357,-8.36018193872e-05,-0.000624930098931,-6.13132652958e-05,1793239403167664128
+255,4.250000000,POSE1_TO_POSE2_PRESS,766,745.124812027,714.875187973,680,659,632,880,785,805,651.875187973,630.875187973,652.124812027,0.450778257402,-0.00555659654184,0.0595987438282,0.999999796576,-8.45898937963e-05,-0.000629272269627,-6.08930647337e-05,1793239403184330752
+256,4.266666667,HOLD_POSE2,766,746,715,680,659,632,881,785,805,652,631,652,0.45077984151,-0.00555316338145,0.0596012608959,0.999999798814,-7.88012042701e-05,-0.000626376230466,-6.17714551231e-05,1793239403216664576
+257,4.283333333,HOLD_POSE2,765.426862347,746,715,680.573137653,659,631.426862347,880.426862347,785,805,652,631,652.573137653,0.450780794458,-0.00555461231132,0.0596010765325,0.999999799003,-8.02579371715e-05,-0.000625901079463,-6.16504558785e-05,1793239403233331456
+258,4.300000000,HOLD_POSE2,765,746,715,681,659,631.150696862,880.150696862,785,805,652,631,652.849303138,0.450781415095,-0.00555573953637,0.059600903369,0.999999799008,-8.12716676254e-05,-0.000625779381716,-6.14736138862e-05,1793239403249998336
+259,4.316666667,HOLD_POSE2,765,746,715,681,659,631.741159246,880.741159246,785,805,652,631,652.258840754,0.450781065982,-0.00555592795864,0.0596007628894,0.999999798482,-8.09926229777e-05,-0.000626689135701,-6.11338108414e-05,1793239403266664704
+260,4.333333333,HOLD_POSE2,765.325446402,746,715,681,659,632,880.674553598,785.325446402,805,651.674553598,630.674553598,652,0.450781426721,-0.00555482202518,0.0596008166359,0.999999798691,-7.99903557454e-05,-0.000626494995167,-6.10217060964e-05,1793239403283331328
+261,4.350000000,HOLD_POSE2,765.904913571,746,715,681,659,632,880.095086429,785.904913571,805,651.095086429,630.095086429,652,0.450782341523,-0.00555270580789,0.0596010219816,0.999999799472,-7.84235914145e-05,-0.000625439231497,-6.10873267857e-05,1793239403299997952
+262,4.366666667,HOLD_POSE2,766,745.519105628,715,681,659,632,880,786,805,651.480894372,630.480894372,652,0.450782534616,-0.00555496082148,0.0596013178028,0.99999979965,-8.27838133878e-05,-0.000624624705299,-6.0759352961e-05,1793239403316664576
+263,4.383333333,HOLD_POSE2,765.943938563,745.056061437,715,681,659.056061437,632,880.056061437,785.943938563,804.943938563,652,630.943938563,652.056061437,0.45078257658,-0.00555749577621,0.0596016369122,0.999999799691,-8.73362741484e-05,-0.000623968310759,-6.04467823845e-05,1793239403333331200
+264,4.400000000,HOLD_POSE2,765.369966386,745.630033614,715,681,659.630033614,632,880.630033614,785.369966386,804.369966386,652,630.369966386,652.630033614,0.450782531205,-0.00555468958842,0.0596020070846,0.999999799805,-8.29159807563e-05,-0.000624335290406,-6.09903027181e-05,1793239403349998080
+265,4.416666667,HOLD_POSE2,765.210708461,746,715,681,659.789291539,631.789291539,880.789291539,785,804.210708461,652,630.210708461,653,0.450782185265,-0.00555285921827,0.0596020289693,0.999999799629,-8.01816805364e-05,-0.000624942257422,-6.13207760895e-05,1793239403366664704
+266,4.433333333,HOLD_POSE2,765.803538598,746,715,681,659.196461402,631.196461402,880.196461402,785,804.803538598,652,630.803538598,653,0.45078129425,-0.0055527985024,0.0596014192308,0.999999798955,-8.05049444698e-05,-0.000625984443645,-6.12648868355e-05,1793239403383331072
+267,4.450000000,HOLD_POSE2,766,746,715,681,659,631.387667674,880,785,805,652,631,653,0.450781690465,-0.00555205963816,0.0596011816534,0.999999799188,-7.9367373499e-05,-0.000625743706521,-6.1391534426e-05,1793239403399997952
+268,4.466666667,HOLD_POSE2,766,746,715,681,659,631.967484093,880,785,805,652,631,653,0.450782724701,-0.00555098464746,0.0596011285388,0.999999799869,-7.75057349775e-05,-0.000624867084353,-6.16086569928e-05,1793239403416664576
+269,4.483333333,HOLD_POSE2,766,746,715,680.456857078,659,632,880,785.543142922,805,652,631,653,0.450781811094,-0.00555144175148,0.0596009709524,0.999999799449,-7.7661060588e-05,-0.000625562552997,-6.11778662353e-05,1793239403433331200
+270,4.500000000,HOLD_POSE2,766,746,715,680.120927179,659,632,880,785.879072821,805,652,631,652.879072821,0.450781044689,-0.00555205451384,0.0596007946026,0.999999799002,-7.82286434036e-05,-0.000626233825771,-6.08910043754e-05,1793239403449997824
+271,4.516666667,HOLD_POSE2,766,746,715,680.707853921,659,632,880,785.292146079,805,652,631,652.292146079,0.450781291484,-0.00555291634859,0.0596005698652,0.999999798706,-7.99231078858e-05,-0.000626451935952,-6.13071170038e-05,1793239403466664448
+272,4.533333333,HOLD_POSE2,766,746,715,680.708889786,659,631.708889786,880,785,805,651.708889786,630.708889786,652,0.450782031045,-0.00555298861731,0.0596007567905,0.999999799113,-7.94574933058e-05,-0.000625861654837,-6.13011916896e-05,1793239403483331072
+273,4.550000000,HOLD_POSE2,766,746,715,680.129271174,659,631.129271174,880,785,805,651.129271174,630.129271174,652,0.450783258968,-0.00555227837676,0.0596013516993,0.999999800212,-7.68511054005e-05,-0.000624470207457,-6.0877000398e-05,1793239403499997696
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,659,631,880,785,805,651,631,652,0.450784535785,-0.00555550692859,0.0596020307622,0.999999800663,-8.13949839814e-05,-0.000623206045394,-6.05177728143e-05,1793239403532788736
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.420719438,745.579280562,714.579280562,681.420719438,659.579280562,631,880,785,805,651,631,652.579280562,0.45078547481,-0.00555466191073,0.0596028494231,0.999999801366,-8.10708344851e-05,-0.000622112190207,-6.05972146372e-05,1793239403549455360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.161432972,746,715,681,659.838567028,631,880.161432972,785,805,651.161432972,630.838567028,653,0.450785501773,-0.0055541436351,0.0596031301346,0.999999801294,-8.13685268922e-05,-0.000622179809764,-6.06950162773e-05,1793239403566121728
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.751205551,746,715,681,659.248794449,631,880.751205551,785,805,651.751205551,630.248794449,653,0.450783108709,-0.00555449232367,0.0596019834737,0.99999979916,-8.33161889574e-05,-0.000625329238393,-6.08415331186e-05,1793239403582788352
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,714.665323868,681,659,631.334676132,881,785.334676132,805,652,630.334676132,653,0.45078216511,-0.00555406674115,0.0596009149028,0.999999798258,-8.33934981344e-05,-0.000626754000254,-6.09038956948e-05,1793239403599454976
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,746,714.086451571,681,659,631.913548429,881,785.913548429,805,652,630.913548429,653,0.450782279113,-0.00555307621234,0.0595999033103,0.99999979826,-8.21061057432e-05,-0.000626920360238,-6.0904855172e-05,1793239403616121600
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.511277755,746,714.488722245,680.511277755,659,632,881,785.511277755,804.511277755,651.511277755,630.511277755,652.511277755,0.450781463789,-0.00555319750233,0.059599832958,0.999999798056,-8.09219793282e-05,-0.000627401668264,-6.08753052977e-05,1793239403632789248
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.063258642,746,715,680.126517284,659,631.936741358,880.936741358,785,804.063258642,651.063258642,630,652,0.450779924919,-0.00555341975112,0.0595995915345,0.99999979755,-7.99012642876e-05,-0.000628342295064,-6.08440100063e-05,1793239403649456896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.63789127,746,715,681.27578254,659,631.36210873,880.36210873,785,804.63789127,651.63789127,630,652,0.450773855925,-0.00555288020093,0.0595966313524,0.999999794886,-8.00549848022e-05,-0.000632549004064,-6.08419050476e-05,1793239403666123264
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.780227204,746,715,681.560454408,659,631,880.219772796,785,804.780227204,652,630.219772796,652,0.450762322026,-0.00555245249011,0.0595912875731,0.999999789904,-8.06808272723e-05,-0.000640269801184,-6.11282851714e-05,1793239403682789376
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.185994708,746,715,680.371989416,659,631,880.814005292,785,804.185994708,652,630.814005292,652,0.450741476756,-0.00555221533675,0.0595818825037,0.999999780869,-8.21110943283e-05,-0.000653978073996,-6.19062003628e-05,1793239403699455488
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,631.396342359,880.603657641,785,804.396342359,651.603657641,630.603657641,652.396342359,0.450705141514,-0.00555113508178,0.0595681025915,0.999999768126,-8.11875828645e-05,-0.000673225776039,-6.26360694624e-05,1793239403716122112
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,631.973259874,880.026740126,785,804.973259874,651.026740126,630.026740126,652.973259874,0.450661748979,-0.00554967070633,0.0595523294826,0.999999753347,-7.91916806411e-05,-0.000694997265038,-6.33440486178e-05,1793239403732788736
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.547391259,746,715,680.547391259,659,631.452608741,880,785.547391259,805,651.547391259,630.547391259,653,0.450598189096,-0.00554706499343,0.0595377067837,0.999999740981,-7.77273685794e-05,-0.000712656435354,-6.41582391927e-05,1793239403749455104
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,659,631.124315631,880,785.875684369,805,652,631,652.875684369,0.45053036991,-0.00554473174352,0.0595248534611,0.99999972951,-7.64846107588e-05,-0.000728658082851,-6.47062905618e-05,1793239403766121728
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,659,631.712159108,880,785.287840892,805,652,631,652.287840892,0.450450324073,-0.00554362124377,0.0595183890163,0.999999721824,-7.59716121047e-05,-0.000739224677655,-6.42427579239e-05,1793239403782788864
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,659,632,880.295939142,785,805,651.704060858,630.704060858,652.295939142,0.450362663112,-0.00554117623236,0.0595147324862,0.999999717987,-7.42058040021e-05,-0.000744613206559,-6.37953354343e-05,1793239403799455488
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,659,632,880.875820425,785,805,651.124179575,630.124179575,652.875820425,0.450267695739,-0.00553745080879,0.0595137700419,0.999999717918,-7.12379738125e-05,-0.000745033581288,-6.33633700403e-05,1793239403816122112
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.547354353,659,632,880.547354353,785,805,651,630,652.547354353,0.450152618012,-0.00553202903349,0.0595140692469,0.999999717873,-6.64547480654e-05,-0.000745561459487,-6.3046699153e-05,1793239403832788992
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.028544438,659,631.971455562,880,785.028544438,805,651.028544438,630.028544438,652.028544438,0.450030286811,-0.00552628969962,0.0595144896118,0.999999717524,-6.13638403427e-05,-0.000746494830258,-6.27049091295e-05,1793239403849455360
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.602653472,659,631.397346528,880,785.602653472,805,651.602653472,630.602653472,652.602653472,0.44987406157,-0.00552331599761,0.0595106546626,0.999999711607,-5.98473478553e-05,-0.000754618398414,-6.12825357398e-05,1793239403866121984
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.817755501,745.817755501,715,681,659.182244499,631.182244499,880,785.817755501,805,652,631,653,0.449708328016,-0.00552014152372,0.0595070183837,0.999999706745,-5.8370597767e-05,-0.000761250472182,-6.00119713124e-05,1793239403882788608
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.22584152,745.22584152,715,681,659.77415848,631.77415848,880,785.22584152,805,652,631,653,0.449521220639,-0.00551651573284,0.0595038286983,0.999999704378,-5.69831852818e-05,-0.000764529797739,-5.90826601793e-05,1793239403899455488
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.357444155,745.357444155,715,681,660,632,880,785.357444155,805,652,631,652.642555845,0.449316680152,-0.00551084478346,0.0595045037725,0.999999705535,-5.15372724847e-05,-0.000763520487384,-5.75370460173e-05,1793239403916122112
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.935406814,745.935406814,715,681,660,632,880,785.935406814,805,652,631,652.064593186,0.449101384615,-0.00550391211134,0.0595075631377,0.999999708806,-4.35875434857e-05,-0.000759865383372,-5.5611215104e-05,1793239403932788736
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.488990848,745.488990848,715,681,659.488990848,632,880,786,805,652,630.488990848,652.511009152,0.448857069751,-0.00549558862557,0.059512080065,0.999999712504,-3.60626356012e-05,-0.000755506294117,-5.38633722297e-05,1793239403949455872
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.08639022,745.08639022,714.91360978,680.91360978,659.08639022,632.08639022,880,786,805,652,630.08639022,653,0.448603644578,-0.00548722566274,0.0595170509217,0.999999716812,-2.88635109432e-05,-0.000750225918958,-5.19933779733e-05,1793239403966122752
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.662200429,745.662200429,714.337799571,680.337799571,659.662200429,632.662200429,880,786,805,652,630.662200429,653,0.448319292625,-0.00547963043599,0.0595235544268,0.999999724546,-2.32072016637e-05,-0.000740228058524,-4.93044963911e-05,1793239403982789120
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,714.245290493,680,660,633,880,786,805,652.245290493,631,652.754709507,0.44802073236,-0.00547205071153,0.0595330030568,0.999999735327,-1.5791761317e-05,-0.000725911614198,-4.6347273071e-05,1793239403999455232
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,746,714.838712544,680,660,633,880,786,805,652.838712544,631,652.161287456,0.447702006788,-0.00546449298935,0.0595466315913,0.999999750217,-5.87965282833e-06,-0.000705465966825,-4.30092025793e-05,1793239404016121856
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.418842837,660,633,880.418842837,786,805,652.581157163,631,652,0.447356162597,-0.00545531189903,0.0595641260047,0.999999769228,3.50649328575e-06,-0.000678177046561,-4.01042808173e-05,1793239404032788736
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.994012177,660,633,880.994012177,786,805,652.005987823,631,652,0.447000196814,-0.00544552491225,0.0595830632962,0.999999789053,1.26963319893e-05,-0.000648333982273,-3.73610250533e-05,1793239404049455360
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.430685055,746,715,681,660,633,880.430685055,786,805.569314945,652,631.569314945,652,0.446588070631,-0.00543653046936,0.0595919926432,0.999999794237,2.43544834783e-05,-0.000640177278322,-3.32441898443e-05,1793239404066121984
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.147868617,746,715,681,660,633,880.147868617,786,805.852131383,652,631.852131383,652,0.446159763922,-0.00542751750302,0.0595974732774,0.999999796197,3.48664440854e-05,-0.000636807379315,-2.94328196156e-05,1793239404082788608
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.736099404,746,715,681,660,633,880.736099404,786,805.263900596,652,631.263900596,652,0.445685030124,-0.00541842454431,0.0595929969661,0.999999789456,4.18876422842e-05,-0.000647013471553,-2.65741777662e-05,1793239404099455232
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.679747405,660,633,880.679747405,786,805.320252595,652,631,652.320252595,0.445189519369,-0.00541244617396,0.0595865612663,0.999999783557,4.69273925943e-05,-0.000655809861806,-2.44325502794e-05,1793239404116121856
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.098912004,660,633,880.098912004,786,805.901087996,652,631,652.901087996,0.444677102789,-0.00540900207769,0.0595785312526,0.999999778381,5.03548811644e-05,-0.000663459208316,-2.2874342001e-05,1793239404132788224
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745.523061746,715,680,660.476938254,633.476938254,880.476938254,786.476938254,805.523061746,652,631,652.523061746,0.444176902314,-0.00541641938546,0.0596028840601,0.999999804729,3.95223920397e-05,-0.000623328057667,-2.10274862607e-05,1793239404149455104
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.051530947,661,634,881,786.948469053,805,652,631,652,0.443676037599,-0.00542476551607,0.0596345920359,0.999999835958,2.7486800205e-05,-0.000571817343935,-1.88008273703e-05,1793239404166121728
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.623755609,661,634,881,786.376244391,805,652,631,652,0.443143125909,-0.00541997160002,0.0596734618968,0.999999872155,3.28680557945e-05,-0.000504413354911,-1.33350745358e-05,1793239404182788352
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.7964844,661.2035156,634,880.7964844,786.2035156,805,651.7964844,631.2035156,652,0.442572997717,-0.00541269901447,0.0597017902106,0.999999893705,4.06008782518e-05,-0.000459212506953,-8.14194123915e-06,1793239404199454976
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.202258063,661.797741937,634,880.202258063,786.797741937,805,651.202258063,631.797741937,652,0.441931421042,-0.00540066786134,0.0597098807829,0.999999894339,5.28482558977e-05,-0.000456637419238,-3.47218534596e-06,1793239404216121600
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634.381708218,880,787,804.618291782,651.381708218,631.618291782,652,0.4412660568,-0.00539183039513,0.059710071829,0.999999891227,6.04293313743e-05,-0.000462486382426,8.04912501898e-07,1793239404232788480
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634.960380226,880,787,804.039619774,651.960380226,631.039619774,652,0.440588418048,-0.00538464089142,0.0597061866707,0.999999886122,6.56025658065e-05,-0.00047268220782,4.87939623504e-06,1793239404249455104
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745.534084871,715,680,662,635,880.534084871,787,804.534084871,651.465915129,631.534084871,652.534084871,0.439918977767,-0.00538558484975,0.0597323630544,0.999999886544,0.000203530436283,-0.000430572931889,9.756984335e-06,1793239404266121728
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745.889356741,715,680,662.221286518,635,880.889356741,787,805,651.110643259,632,653,0.439251251134,-0.00538891515103,0.0597660630833,0.999999877752,0.00031978796567,-0.000376825761115,1.53286564119e-05,1793239404282788096
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.298837955,715,680,663.402324091,635,880.298837955,787,805,651.701162045,632,653,0.438588343551,-0.00540000261272,0.059822811343,0.999999912958,0.000299739213082,-0.000289277016264,2.36546588184e-05,1793239404299454720
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.286334214,664,635,880,787,805,652,632,653,0.437840875203,-0.00540452878001,0.0598413890329,0.999999924511,0.000283521879445,-0.000264043345838,2.95777635641e-05,1793239404316121344
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.866028643,664,635,880,787,805,652,632,653,0.437006771078,-0.00540233265477,0.0598208595396,0.999999916872,0.000271229978273,-0.000302653813039,3.30390100529e-05,1793239404332788224
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.557388945,663.114777891,635,880.442611055,787,804.557388945,652,632,652.557388945,0.436185915941,-0.00539553404339,0.0597897247183,0.999999904878,0.00026679532457,-0.000343301434947,3.47596395067e-05,1793239404349454848
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.981786656,680,662.036426689,635,880.981786656,787,804,651.981786656,632,652,0.435369464294,-0.00538752118685,0.0597568590656,0.999999891306,0.000264619910799,-0.000382192438038,3.59668186253e-05,1793239404366121472
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.407549113,680,663.184901775,635,880.407549113,787,804,651.407549113,632,652,0.43456587055,-0.00538467151996,0.0597684677532,0.999999904857,0.000259317799138,-0.000348763955127,3.74709931532e-05,1793239404382788096
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.171932699,679.828067301,663.828067301,635,880,787,804,651.171932699,631.828067301,652,0.433754565721,-0.00538494822712,0.0597807242447,0.999999921198,0.000232292441623,-0.000320389284386,3.15347091668e-05,1793239404399454720
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,714.764236581,679.235763419,663.235763419,635,880,787,804,651.764236581,631.235763419,652,0.432924407525,-0.0053928688415,0.0597945645999,0.999999942076,0.000152154286434,-0.000304371060377,7.40668844116e-06,1793239404416121344
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.652833621,679.347166379,663,635,880,787,804,651.652833621,631.347166379,652.347166379,0.432066335074,-0.00539803638002,0.0598064205353,0.999999950918,0.000126320974177,-0.000286708776222,2.35075068724e-06,1793239404432788224
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.076102486,679.923897514,663,635,880,787,804,651.076102486,631.923897514,652.923897514,0.431189804274,-0.00540138343899,0.0598169642669,0.999999954748,0.000136396897266,-0.000267959354145,9.90628298048e-06,1793239404449454848
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766.500625842,745,714.500625842,680,663.500625842,635.500625842,880,787,804,651.500625842,632,653,0.430325512348,-0.00539957256284,0.0598335872307,0.999999957444,0.000156093161913,-0.000245933051536,1.62590070799e-05,1793239404466121472
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.921435799,745.078564201,715,680,663.921435799,635.921435799,880,787,804.078564201,652,632,653,0.429454957598,-0.00539600268115,0.0598427091809,0.999999956086,0.000175946299486,-0.000237507501088,2.1475941547e-05,1793239404482788352
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.335683325,745.664316675,715,680,663.335683325,635.335683325,880,787,804.664316675,652,632,653,0.428531961481,-0.00538613894118,0.0597974407944,0.999999931003,0.000187371151913,-0.000320100366409,2.05409224331e-05,1793239404499454976
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745.75253729,715,679.75253729,663.24746271,635,880,787,804.75253729,652,632,652.75253729,0.427627077564,-0.00538159973726,0.0597700267791,0.999999917041,0.000188155934534,-0.000360782362718,1.87317682867e-05,1793239404516121600
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.172889957,715,679.172889957,663.827110043,635,880,787,804.172889957,652,632,652.172889957,0.426746506653,-0.00538420798865,0.0597665797931,0.99999992504,0.000174657891043,-0.000345204800607,1.57492082019e-05,1793239404532788224
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,664,635,880,787.40561734,804.40561734,652,631.59438266,652,0.425849196319,-0.00538874272183,0.0597877860728,0.999999933746,0.000175526505364,-0.00031840635172,1.77890317819e-05,1793239404549454848
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,664,635,880,787.983640038,804.983640038,652,631.016359962,652,0.424944771042,-0.00539409629506,0.0598194710839,0.999999941967,0.00018250158703,-0.000286838529041,2.19635913064e-05,1793239404566121472
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.558233885,663.441766115,635,880,788,805,651.441766115,631,652,0.424067397486,-0.0053927110552,0.0598324118482,0.999999947498,0.000175278745398,-0.000271465917252,2.42556908994e-05,1793239404582788352
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.136383421,635,880,788,805,651.136383421,631.136383421,652.136383421,0.423199805543,-0.00539103118192,0.0598446383932,0.999999952828,0.000170501461615,-0.000254155526406,2.60508911561e-05,1793239404599454720
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.72669996,635,880,788,805,651.72669996,631.72669996,652.72669996,0.422362147783,-0.00538902397425,0.059856304968,0.999999958117,0.000175240329434,-0.000228825423751,2.63747313778e-05,1793239404616121344
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745.310982686,715,680,663.689017314,635,880,788,804.689017314,652,632,652.689017314,0.421459588974,-0.00538590060258,0.0598377575546,0.999999946927,0.000187463083315,-0.000265188556121,2.6042428933e-05,1793239404632788224
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.890063628,715,680,663.109936372,635,880,788,804.109936372,652,632,652.109936372,0.420501078996,-0.00538181498571,0.0597931626532,0.999999915518,0.000206137696024,-0.000354737442751,2.5144465545e-05,1793239404649454848
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.534028178,715,680,662.534028178,635,880,787.534028178,804,652,631.534028178,652,0.41959692066,-0.00537987611211,0.0597547668206,0.99999989792,0.000198077357954,-0.000405509454989,2.20953676165e-05,1793239404666121472
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.082379113,635,880,787,804,652,631.041189556,652,0.418712954654,-0.00537869897785,0.0597232142359,0.999999885982,0.000185463884847,-0.000439635586183,1.89891297088e-05,1793239404682788096
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.234190141,635,880,787,804,652,631.617095071,652,0.417925780882,-0.00538088005178,0.0597616415229,0.999999910189,0.000195072264884,-0.000375630007752,2.16850385852e-05,1793239404699454976
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.801945805,745,715,680,663.801945805,635,880,787,804,652,631.801945805,652.198054195,0.417146196632,-0.00538195552913,0.0597991730254,0.999999929226,0.000202083532235,-0.000316406765017,2.44470610387e-05,1793239404716121600
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.210960429,745,715,680,663.210960429,635,880,787,804,652,631.210960429,652.789039571,0.416381669534,-0.0053808375498,0.0598349273359,0.999999943273,0.000203942240135,-0.000266671465452,2.73402506404e-05,1793239404732788224
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.741848061,745,715,679.629075969,663,635.370924031,879.629075969,787,804,652,631.370924031,653,0.41559656499,-0.00538085480927,0.0598447247932,0.999999945085,0.00020258027386,-0.000260717807317,2.85795584948e-05,1793239404749454848
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.895512662,745,715,679.052243669,663,635.947756331,879.052243669,787,804,652,631.947756331,653,0.414800037488,-0.00538150226539,0.0598401130155,0.999999940757,0.000199430438954,-0.000279068325917,2.89007592484e-05,1793239404766121472
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.477317154,745,715,679.522682846,663,636,879,787.522682846,804,652,632,652.477317154,0.414026992412,-0.00538059195084,0.0598415078455,0.999999939983,0.000208336377897,-0.000275263897178,2.93197380406e-05,1793239404782788352
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.900210441,663,635.900210441,879.099789559,787.900210441,804,652,632,652,0.413256324742,-0.00537910570608,0.0598365915923,0.999999936444,0.000216397070812,-0.00028182251681,2.93465286547e-05,1793239404799454720
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.311491715,663,635.311491715,879.688508285,787.311491715,804,652,632,652,0.412485847177,-0.00537555774694,0.0597978226136,0.999999915395,0.000214433774311,-0.000349966467659,2.74040422005e-05,1793239404816121344
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.272948771,715,679,663,635,879.727051229,787,804,652,632,652.272948771,0.411753343984,-0.00537233971682,0.0597688976196,0.999999898921,0.000214609813868,-0.000394282947091,2.53368611589e-05,1793239404832788224
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.852582194,715,679,663,635,879.147417806,787,804,652,632,652.852582194,0.411063508764,-0.00536949239448,0.0597510333083,0.999999891346,0.000217189607763,-0.000411826927576,2.31295737795e-05,1793239404849454848
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.569570263,715,679.430429737,663.430429737,635.430429737,879.430429737,787,804,652,631.569570263,653,0.410434754059,-0.00536765377721,0.0597780726435,0.999999908674,0.000222806492013,-0.000363910579648,2.40680518739e-05,1793239404866121472
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.992223418,663.992223418,635.992223418,879.992223418,787.007776582,804,652,631,653,0.40982709929,-0.00536625154817,0.0598202740618,0.999999930169,0.000229187243715,-0.000294030002168,2.60963169669e-05,1793239404882788352
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.406826954,663.406826954,635.406826954,879.406826954,787.593173046,804,652,631,653,0.409239273977,-0.00537170838305,0.0598510801117,0.999999944856,0.000215364193391,-0.000251085074796,2.93758469771e-05,1793239404899454976
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.176828027,745,715,679,663,635,879,788,803.823171973,652,631,652.823171973,0.408650657694,-0.00537632093018,0.0598690944497,0.999999952551,0.00020593714009,-0.000226950304908,3.13296909639e-05,1793239404916121344
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.756515581,745,715,679,663,635,879,788,803.243484419,652,631,652.243484419,0.408060239261,-0.00537900997472,0.0598579659981,0.999999948039,0.000206525291801,-0.000245669883078,3.0263283468e-05,1793239404932788224
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.66516057,745.33483943,715,679,663,635.33483943,879.33483943,788,803.33483943,652,631.33483943,652.33483943,0.407494771968,-0.00537718288248,0.0598430401046,0.999999939523,0.000218157513019,-0.000269291678917,2.90283800588e-05,1793239404949454848
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.087824374,745.912175626,715,679,663,635.912175626,879.912175626,788,803.912175626,652,631.912175626,652.912175626,0.406947374779,-0.00537208512223,0.0598253640355,0.9999999274,0.000237788048731,-0.000296463748054,2.76714489081e-05,1793239404966121472
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.512719661,715,679,663.487280339,636,880,788,804,652,631.512719661,653,0.406462038602,-0.00536823634653,0.0598278804826,0.999999930001,0.00023830452586,-0.000287152287555,2.74209075262e-05,1793239404982788352
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.063641379,715,679,664,636,879.936358621,788,804,652,631.063641379,653,0.405991350257,-0.00536453705142,0.0598339518578,0.999999934614,0.000236840124417,-0.000271890617523,2.74623360719e-05,1793239404999455232
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.653706038,715,679,664,636,879.346293962,788,804,652,631.653706038,653,0.40554972317,-0.00536022066623,0.0598394619582,0.999999934802,0.000247356605773,-0.000261553755137,2.82769229575e-05,1793239405016121600
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.760618672,715,679.239381328,663.760618672,636,879,788,803.760618672,652,632,652.760618672,0.405112763798,-0.00535490203175,0.059835023412,0.999999930888,0.000256393097708,-0.000267738000329,2.83476744295e-05,1793239405032788224
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745.181178847,715,679.818821153,663.181178847,636,879,788,803.181178847,652,632,652.181178847,0.404682435292,-0.00534815963001,0.059816452093,0.999999920734,0.000263327156581,-0.000297391675029,2.73617537938e-05,1793239405049454848
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,636,879.39532058,787.60467942,803.39532058,652.39532058,632,652.39532058,0.404285730596,-0.0053417444967,0.0597967744848,0.999999907752,0.000272694841328,-0.000330776151343,2.6853300065e-05,1793239405066121472
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,636,879.970482397,787.029517603,803.970482397,652.970482397,632,652.970482397,0.403904322177,-0.00533547824541,0.0597765935964,0.999999892629,0.000283169643832,-0.000365857865093,2.65620578863e-05,1793239405082788096
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.454230481,663.545769519,636,880,787.545769519,804,652.454230481,632,652.454230481,0.403606685798,-0.00533468101715,0.0597869889862,0.999999899447,0.000287414073158,-0.00034306385998,2.84131885384e-05,1793239405099454976
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.87620825,636,880,788,804,652.12379175,632,652.12379175,0.403322715013,-0.00533510237432,0.05980113271,0.999999907905,0.00028960223938,-0.000315263755912,3.04908628203e-05,1793239405116121600
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.287949144,636,880,788,804,652.712050856,632,652.712050856,0.403073014193,-0.00533898581519,0.059823134095,0.999999919427,0.0002853398842,-0.000280427853407,3.29836901099e-05,1793239405132788224
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.296351677,663,636,879.703648323,787.703648323,804,652.703648323,631.703648323,653,0.402833834086,-0.00534926579767,0.0598400673536,0.999999929762,0.000273449905362,-0.000253883898397,3.5269031862e-05,1793239405149454848
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.876857101,663,636,879.123142899,787.123142899,804,652.123142899,631.123142899,653,0.40260474167,-0.00536567903785,0.0598521410902,0.999999939301,0.000254246258628,-0.000235290593893,3.73554281082e-05,1793239405166121472
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.451780957,745,715,679.548219043,663,635.548219043,879.451780957,787.451780957,804,652,631.451780957,652.548219043,0.402386663306,-0.00537364132254,0.0598491571878,0.999999939994,0.000243651076582,-0.000243205951897,3.86854072586e-05,1793239405182789120
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.974153558,745,715,679,663.025846442,635.025846442,879.974153558,788,804,652,632,652.025846442,0.402173121039,-0.00537869813771,0.0598422657857,0.999999938069,0.000236068641053,-0.000257985049121,3.97141332585e-05,1793239405199456768
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.386069384,745,715,679,663.613930616,635.613930616,879.386069384,788,804,652,632,652.613930616,0.401993744246,-0.00537004869221,0.0598385656583,0.999999933988,0.000243603547214,-0.000266812431461,3.86199603869e-05,1793239405216122624
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.199118882,715,679,664,635.800881118,879.199118882,787.800881118,803.800881118,652,632,653,0.401829721803,-0.00536520472116,0.0598368718185,0.999999935727,0.000231723752032,-0.000271742630963,3.17125570427e-05,1793239405232788736
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.778772727,715,679,664,635.221227273,879.778772727,787.221227273,803.221227273,652,632,653,0.401695042992,-0.00536763337169,0.0598390121841,0.999999946968,0.000182740630345,-0.000269224945074,1.36955220925e-05,1793239405249455616
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.35737749,746,715,679,663.64262251,635.35737749,879.64262251,787,803.35737749,652,632,653,0.401574264173,-0.0053730291789,0.0598401990558,0.999999947086,0.000184071776918,-0.000268093401766,8.4566163132e-06,1793239405266122496
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.935334797,746,715,679,663.064665203,635.935334797,879.064665203,787,803.935334797,652,632,653,0.401462064664,-0.00538025636884,0.0598407974141,0.999999940648,0.000216457790588,-0.000267817410445,1.11046000628e-05,1793239405282789376
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.488239351,746,715,679,663,636,879,787.511760649,804,652,631.488239351,653,0.401377867731,-0.00537490426611,0.0598444002607,0.99999994057,0.000225271574337,-0.000260745250572,1.11551222846e-05,1793239405299455744
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.089779473,663,636,879.089779473,788,804,652,631.089779473,653,0.401298668772,-0.00536930315428,0.0598469958805,0.999999940907,0.000230083327217,-0.000255193991937,1.1101732454e-05,1793239405316122368
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.677707784,663,636,879.677707784,788,804,652,631.677707784,653,0.401227627158,-0.00537111353948,0.0598419026311,0.999999939125,0.000229166887163,-0.00026283221818,1.22874492882e-05,1793239405332788736
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.747564695,715,679.747564695,663,636,880,788,803.747564695,652.252435305,632,653,0.401165412006,-0.00537010775357,0.0598378792006,0.999999937067,0.000230247856137,-0.00026960662997,1.28292973164e-05,1793239405349455360
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.188853524,715,679.188853524,663,636,880,788,803.188853524,652.811146476,632,653,0.401113905869,-0.00536568515052,0.0598351537653,0.999999934697,0.000233752250778,-0.000275332988536,1.258994917e-05,1793239405366121984
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,880,788,803.395871613,652.604128387,632,653,0.401074966462,-0.00536534110825,0.0598336704282,0.999999934131,0.000233263000534,-0.000277782459287,1.27470431065e-05,1793239405382788864
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,880,788,803.993879758,652.006120242,632,653,0.401042443772,-0.00536707962548,0.0598328213205,0.999999934497,0.000230734549841,-0.000278558713804,1.31065648713e-05,1793239405399455488
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.433066733,788,803.433066733,652,631.433066733,652.433066733,0.401024468856,-0.00536767430893,0.059834687118,0.999999935557,0.000229552098554,-0.000275673575708,1.39877209153e-05,1793239405416122368
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.144821075,745,715,679,663,636,879,788,803,652.144821075,631.144821075,652.144821075,0.401008751412,-0.00536768938536,0.0598364908408,0.999999936422,0.000229230193029,-0.000272757114568,1.46101577487e-05,1793239405432788992
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.738491637,745,715,679,663,636,879,788,803,652.738491637,631.738491637,652.738491637,0.400999564421,-0.00536594472083,0.0598380151663,0.99999993668,0.000231532273767,-0.000269860912819,1.44140188569e-05,1793239405449455616
+390,6.500000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,663,635.676041392,879,787.676041392,803,653,631.676041392,653,0.400991664298,-0.00536642911972,0.0598388888567,0.999999937044,0.000231678764645,-0.000268368153698,1.46748239039e-05,1793239405466121984
+391,6.516666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,663,635.097032973,879,787.097032973,803,653,631.097032973,653,0.400984777316,-0.00536866844077,0.0598392503078,0.999999937497,0.000230128178517,-0.000267980312511,1.52953769406e-05,1793239405482788608
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.521700494,745,715,679,663,635.478299506,879,787,803,653,631.478299506,652.521700494,0.400981293275,-0.00536842692606,0.0598400495987,0.999999937775,0.000229446551902,-0.000267522665664,1.535606564e-05,1793239405499455232
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.054191095,663.054191095,636,879,787,803.054191095,652.945808905,632,652.054191095,0.400978807965,-0.00536764657868,0.0598409393061,0.999999938011,0.000229189958916,-0.00026686207213,1.52845009001e-05,1793239405516121856
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.64289738,663.64289738,636,879,787,803.64289738,652.35710262,632,652.64289738,0.400979416239,-0.0053664777838,0.0598418513961,0.999999938177,0.000231400150957,-0.000264338325906,1.50202067753e-05,1793239405532788480
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.772424906,663.772424906,636,879,787.227575094,804,652,631.772424906,653,0.400979520677,-0.0053655414509,0.0598427313124,0.999999938283,0.000233066176338,-0.000262469652634,1.49342177018e-05,1793239405549455360
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.193958758,663.193958758,636,879,787.806041242,804,652,631.193958758,653,0.400978848265,-0.00536496354406,0.0598435616212,0.999999938312,0.000233893167716,-0.000261611016399,1.51231517321e-05,1793239405566122496
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.382963148,663,636,879,788,804,652,631,653,0.400977546721,-0.00536615605984,0.0598433001666,0.999999938639,0.000232051449896,-0.000261995243252,1.52436852703e-05,1793239405582789120
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.959106068,663,636,879,788,804,652,631,653,0.400975927821,-0.00536824163765,0.059842487989,0.999999939107,0.000228863543419,-0.00026300641298,1.53297152438e-05,1793239405599455488
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,636,879.531742903,787.468257097,803.468257097,652.531742903,631,653,0.400977268843,-0.00537043407491,0.059843859637,0.999999940025,0.000226582595102,-0.000261445010154,1.60278603306e-05,1793239405616122112
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.89238247,663,636,879.89238247,787,803,652.89238247,631.10761753,652.89238247,0.400978582673,-0.00537147568997,0.0598451335397,0.999999940596,0.000225709002733,-0.000259981376401,1.64998249389e-05,1793239405632788736
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.300740825,663,636,879.300740825,787,803,652.300740825,631.699259175,652.300740825,0.400978757097,-0.00536730460915,0.0598452173986,0.999999939471,0.000230853525913,-0.00025984147734,1.57441734929e-05,1793239405649455360
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.284920996,663,636,879.284920996,787.284920996,803,652.284920996,631.715079004,652.284920996,0.40097809293,-0.00536590442407,0.0598450818371,0.999999938938,0.000233026332819,-0.000259963138556,1.55388962889e-05,1793239405666121984
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.864400792,663,636,879.864400792,787.864400792,803,652.864400792,631.135599208,652.864400792,0.400976561806,-0.00536736886318,0.0598447194328,0.99999993904,0.000232126902123,-0.000260355207638,1.59026103211e-05,1793239405682788608
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.558279833,663,636,880,787.558279833,803,653,631.441720167,653,0.400976510191,-0.0053669218834,0.0598448968921,0.999999939349,0.000231433484791,-0.000259810448477,1.54490334411e-05,1793239405699455232
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.018683395,745.018683395,715,679.018683395,663,636,879.981316605,787.018683395,803.018683395,653,632,653,0.400976907996,-0.00536597416956,0.0598452490378,0.999999939722,0.000230786285504,-0.000258988149772,1.47845849456e-05,1793239405716122112
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.604876583,745.604876583,715,679.604876583,663,636,879.395123417,787.604876583,803.604876583,653,632,653,0.400977228375,-0.00536755297012,0.0598458978189,0.999999940125,0.000229631331796,-0.000258428538299,1.52986623936e-05,1793239405732788992
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.811046456,745.811046456,715,679.811046456,663,636,879.188953544,788,804,653,632,653,0.400977776747,-0.00536869187435,0.0598463998506,0.999999940409,0.000229042989247,-0.000257834726438,1.5597920084e-05,1793239405749455872
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.231345791,745.231345791,715,679.231345791,663,636,879.768654209,788,804,653,632,653,0.400978796598,-0.00536892109341,0.0598465984116,0.999999940448,0.000229626372241,-0.000257170189802,1.54529404977e-05,1793239405766122240
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.653176182,788,804,653,632,653,0.400979209309,-0.00536869756546,0.0598473775246,0.999999940701,0.000229735513227,-0.000256070414374,1.57387446945e-05,1793239405782788608
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.076023385,788,804,653,632,653,0.400979218811,-0.00536817336395,0.0598485421877,0.999999941094,0.000229529705586,-0.000254681592772,1.63106364839e-05,1793239405799455232
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,803.500750411,653,632,653,0.400978584181,-0.00536939636069,0.0598479206839,0.999999941354,0.000227748593212,-0.000255265242468,1.61739774125e-05,1793239405816122112
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.07611903,663,636,879.07611903,787.92388097,803,652.92388097,632,653,0.400978061703,-0.00537066760364,0.0598471978048,0.99999994155,0.000226131803544,-0.000255949707969,1.5973090146e-05,1793239405832788736
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.665680378,663,636,879.665680378,787.334319622,803,652.334319622,632,653,0.400978954847,-0.0053704764008,0.0598476188782,0.999999941465,0.000227235395871,-0.000255295805294,1.6064015383e-05,1793239405849455872
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745.250670424,715,680,663.250670424,635.749329576,879.749329576,787.250670424,803.250670424,652.250670424,631.749329576,653,0.400978358243,-0.00537026663262,0.0598473421741,0.999999940992,0.000228441508673,-0.000256067625124,1.6091120192e-05,1793239405866123008
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745.829672989,715,680,663.829672989,635.170327011,879.170327011,787.829672989,803.829672989,652.829672989,631.170327011,653,0.400975810343,-0.00537003254722,0.05984615151,0.999999940007,0.000229781904587,-0.00025870687906,1.60346319933e-05,1793239405882789632
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745.593412433,715,679.593412433,663.593412433,635.406587567,879,788,803.593412433,652.593412433,631,653,0.40097609786,-0.00536901361224,0.0598466025241,0.999999940025,0.000230770717793,-0.000257767163196,1.58404720272e-05,1793239405899456000
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745.017368117,715,679.017368117,663.017368117,635.982631883,879,788,803.017368117,652.017368117,631,653,0.400977567115,-0.00536766756924,0.0598477377536,0.999999940458,0.000231612998981,-0.000255335811333,1.55889335019e-05,1793239405916122368
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766.554584858,745,715,679,663.554584858,636,879,788,803,652,631.554584858,653,0.40097878562,-0.0053677473306,0.059848624071,0.999999940498,0.000233244358066,-0.000253686490691,1.56588578115e-05,1793239405932788736
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7fdbb710b1fac3bc40fe64a33c59a9356d92ced5
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2f7c6c2eacb412062f26938fdadc194beb28590e
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f9668d8a8b3c2b88fa288128d2bde8317d0a2aa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/franka_data.csv
@@ -0,0 +1,421 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,663,636,879,788,804,652,632,653,0.400980227681,-0.0053707372081,0.0598502929647,0.999999942075,0.000228739065419,-0.000251540278434,1.60251641461e-05,1793239406088804352
+1,0.016666667,BASELINE,766,745,715,679.578216889,663.578216889,636,879,788,804,652,632,653,0.400979300883,-0.0053689456453,0.0598496059989,0.999999941236,0.000231048795464,-0.000252753273129,1.61104006725e-05,1793239406105470976
+2,0.033333333,BASELINE,766.154682493,745,715,680,663.845317507,636,879,788,804,652.154682493,631.845317507,653,0.400978333285,-0.00536785170181,0.0598489054077,0.999999940569,0.000232612302537,-0.000253959121268,1.60748256258e-05,1793239406122137856
+3,0.050000000,BASELINE,766.726426338,745,715,680,663.273573662,636,879,788,804,652.726426338,631.273573662,653,0.400977255682,-0.00536863870801,0.0598481680791,0.999999940377,0.000232163812799,-0.00025514570084,1.57135134241e-05,1793239406138804736
+4,0.066666667,BASELINE,766.691062165,745,715,680,663,636,879,788,803.691062165,653,631,652.691062165,0.400977466517,-0.00536909698317,0.0598483984778,0.999999940658,0.00023146688233,-0.000254669307111,1.58322950287e-05,1793239406155471872
+5,0.083333333,BASELINE,766.098671293,745,715,680,663,636,879,788,803.098671293,653,631,652.098671293,0.400978859504,-0.00536925364482,0.0598495167745,0.999999941371,0.000230542005448,-0.000252667121457,1.63915667202e-05,1793239406172138752
+6,0.100000000,BASELINE,766,745,715,679.517787954,663,636,879,788,803.482212046,653,631.482212046,652.482212046,0.400980018104,-0.00536971511105,0.059850443523,0.999999942207,0.000228483591542,-0.00025122030875,1.64098455651e-05,1793239406188805120
+7,0.116666667,BASELINE,766.060512185,745,715,679.060512185,663,636,879,788,803.939487815,652.939487815,632,652.939487815,0.400980850312,-0.00537009229768,0.0598511027644,0.999999942833,0.000226769940421,-0.00025028718992,1.63200070859e-05,1793239406205471488
+8,0.133333333,BASELINE,766.63639878,745,715,679.63639878,663,636,879,788,803.36360122,652.36360122,632,652.36360122,0.400979301641,-0.00536923287151,0.0598498097211,0.999999941486,0.000229922006449,-0.000252783822928,1.62301828231e-05,1793239406222138112
+9,0.150000000,BASELINE,766.783082677,745.216917323,715,679.783082677,663.216917323,636,879,788,803.216917323,652,632,652.216917323,0.40097821663,-0.00536852372811,0.059849057229,0.999999940692,0.000231899536332,-0.000254118399009,1.62020119323e-05,1793239406238804736
+10,0.166666667,BASELINE,766.19463062,745.80536938,715,679.19463062,663.80536938,636,879,788,803.80536938,652,632,652.80536938,0.40097792577,-0.00536807198825,0.0598492305898,0.999999940865,0.000231865327194,-0.000253462610471,1.62794405893e-05,1793239406255471360
+11,0.183333333,BASELINE,766,745.612241888,715,679,663.612241888,636,879,787.612241888,803.612241888,652,631.612241888,653,0.400979183718,-0.00536833033297,0.0598503846188,0.999999941261,0.000232158608824,-0.000251619307376,1.63705093619e-05,1793239406272138496
+12,0.200000000,BASELINE,766,745.032849661,715,679,663.032849661,636,879,787.032849661,803.032849661,652,631.032849661,653,0.400981207103,-0.00536893960886,0.0598520233043,0.999999941762,0.000232613739812,-0.000249189122109,1.64683192291e-05,1793239406288805376
+13,0.216666667,BASELINE,766,745,715,679,663,636,879.5432361,787.5432361,803,652,631.5432361,653,0.400980757291,-0.0053696173143,0.0598514465143,0.999999941839,0.000231484844737,-0.000249929168166,1.65219319043e-05,1793239406305472000
+14,0.233333333,BASELINE,766,745,715,679,663,635.881098446,879.881098446,788,803,652,631.881098446,652.881098446,0.400980193746,-0.00536976585194,0.0598508072884,0.999999941799,0.000230734102529,-0.000250783491584,1.64499680231e-05,1793239406322138624
+15,0.250000000,BASELINE,766,745,715,679,663,635.306282423,879.306282423,788,803,652,631.306282423,652.306282423,0.400979764086,-0.00536786958557,0.0598504392454,0.999999941421,0.00023179840477,-0.000251345375197,1.59066810054e-05,1793239406338804992
+16,0.266666667,BASELINE,765.723476524,745,715,679.276523476,663,635.276523476,879,787.723476524,803,652,631,652.276523476,0.400979008617,-0.00536762765008,0.0598497277239,0.999999941008,0.000232394232254,-0.000252440960643,1.5850908933e-05,1793239406355471360
+17,0.283333333,BASELINE,765.131557617,745,715,679.868442383,663,635.868442383,879,787.131557617,803,652,631,652.868442383,0.400977881538,-0.00536927260116,0.0598486244398,0.999999940554,0.000232455729641,-0.000254145272387,1.63511836667e-05,1793239406372137984
+18,0.300000000,BASELINE,765.448889825,745.448889825,715,679.551110175,663.448889825,636,879,787.448889825,803.448889825,652.448889825,631,653,0.400978230313,-0.0053698161399,0.0598496355788,0.999999940955,0.000232027324566,-0.00025295281149,1.640512432e-05,1793239406388804864
+19,0.316666667,BASELINE,766,745.974055147,715,679,664,636,879,787.974055147,803.974055147,652.974055147,631,653,0.400978930821,-0.00536999704823,0.0598511252256,0.999999941549,0.000231491807931,-0.000251089269772,1.63319378134e-05,1793239406405471232
+20,0.333333333,BASELINE,766,745.399415288,715,679,664,636,879,787.399415288,803.399415288,652.399415288,631,653,0.400978150451,-0.00536916537851,0.0598499558359,0.999999941148,0.000231651824397,-0.000252540354149,1.62676737496e-05,1793239406422138112
+21,0.350000000,BASELINE,766,745,715,679,664,635.824357642,879.175642358,787.175642358,803.175642358,652,631,652.824357642,0.400977656629,-0.00536877362497,0.0598491630759,0.999999940994,0.000231355014544,-0.000253425525887,1.61894008941e-05,1793239406438805248
+22,0.366666667,BASELINE,766,745,715,679,664,635.248347753,879.751652247,787.751652247,803.751652247,652,631,652.248347753,0.400977815978,-0.00536938463739,0.0598492288239,0.999999941407,0.000230016893065,-0.000253020729286,1.60791957417e-05,1793239406455472128
+23,0.383333333,BASELINE,766,745,715.335946502,679.335946502,664,635.335946502,879.664053498,788,803.664053498,652,631.335946502,652.335946502,0.400977788068,-0.00536888375474,0.0598492622773,0.999999941284,0.00023044851803,-0.000253122164457,1.59294374256e-05,1793239406472138752
+24,0.400000000,BASELINE,766,745,715.92651986,679.92651986,664,635.92651986,879.07348014,788,803.07348014,652,631.92651986,652.92651986,0.400977618225,-0.00536754012383,0.0598492712533,0.999999940754,0.000232221502177,-0.000253607292238,1.57497002241e-05,1793239406488804864
+25,0.416666667,BASELINE,766,745,715.493927605,679.493927605,663.493927605,636,879,788,804.01214479,652,632,652.493927605,0.400977873057,-0.00536774831829,0.0598490014982,0.999999940657,0.000232698334779,-0.000253554416558,1.574080121e-05,1793239406505471488
+26,0.433333333,BASELINE,766,745,715,679,663,636,878.916171293,788,804.916171293,652,632,652.083828707,0.400978306017,-0.00536813920123,0.0598488580525,0.999999940645,0.000233028087536,-0.000253295971627,1.57906834609e-05,1793239406522138112
+27,0.450000000,BASELINE,766,745,715,679,663,636,878.339767031,788,804.339767031,652,632,652.660232969,0.400979431059,-0.00536830779913,0.059849689536,0.99999994077,0.000233575876073,-0.000252278833897,1.6043314922e-05,1793239406538804480
+28,0.466666667,BASELINE,766.24119997,745,715,679,663,636,878.48239994,788,803.75880003,652,632,652.75880003,0.400979851559,-0.00536839500179,0.0598500710799,0.999999940692,0.000234340684024,-0.000251874693417,1.61170239981e-05,1793239406555471104
+29,0.483333333,BASELINE,766.828718178,745,715,679,663,636,879.657436356,788,803.171281822,652,632,652.171281822,0.400979260465,-0.00536836533602,0.0598498065943,0.999999940322,0.000235417091408,-0.000252350702892,1.59338338347e-05,1793239406572138240
+30,0.500000000,BASELINE,766.589695782,745,714.589695782,679,663,636,879.589695782,787.589695782,803.410304218,652,631.589695782,652,0.400979520621,-0.00536899547559,0.0598501199476,0.999999940693,0.000234364758419,-0.000251854305552,1.60203534459e-05,1793239406588805120
+31,0.516666667,BASELINE,766.010550851,745,714.010550851,679,663,636,879.010550851,787.010550851,803.989449149,652,631.010550851,652,0.400980131067,-0.0053698971259,0.0598506710824,0.999999941365,0.000232436446004,-0.000250957761545,1.62178589804e-05,1793239406605471744
+32,0.533333333,BASELINE,766,745,714.56650102,679,663,636,879,787,804,652,631.56650102,652,0.400979371969,-0.00536927933704,0.0598503153074,0.999999941369,0.000232434634675,-0.000250930930516,1.644598071e-05,1793239406622138624
+33,0.550000000,BASELINE,765.854337941,745,715,679.145662059,663,636,879,787,804.145662059,652,632,652,0.400978853737,-0.00536884569741,0.0598499676716,0.999999941364,0.000232185642859,-0.000251175857217,1.65156547916e-05,1793239406638804992
+34,0.566666667,BASELINE,765.268688731,745,715,679.731311269,663,636,879,787,804.731311269,652,632,652,0.400979139829,-0.00536905346468,0.059849695454,0.99999994137,0.000231082035948,-0.00025219290818,1.61050054529e-05,1793239406655471360
+35,0.583333333,BASELINE,765.313529968,745,715,679.686470032,663,636,879,787,804.372940064,652,632,652.313529968,0.400979105759,-0.00536886699654,0.0598499054859,0.99999994141,0.000230852980487,-0.000252255436091,1.59474706292e-05,1793239406672137984
+36,0.600000000,BASELINE,765.892840672,745,715,679.107159328,663,636,879,787,803.214318656,652,632,652.892840672,0.400978800286,-0.00536834633335,0.0598505243228,0.999999941479,0.000231365286023,-0.000251508810715,1.60045020504e-05,1793239406688804864
+37,0.616666667,BASELINE,766.471618086,745,715,679,663,636,879,787.471618086,803,652.471618086,632,653,0.400979492439,-0.00536838606497,0.0598509223499,0.999999941413,0.000232178391031,-0.000251014927638,1.60724243414e-05,1793239406705471488
+38,0.633333333,BASELINE,767,745,715,679.049862618,663,636,879,787.950137382,803.049862618,652.950137382,631.950137382,653,0.400980296038,-0.00536872109842,0.0598512239206,0.999999941368,0.000232788575112,-0.000250622296019,1.61584535672e-05,1793239406722137856
+39,0.650000000,BASELINE,767,745,715,679.623779073,663,636,879,787.376220927,803.623779073,652.376220927,631.376220927,653,0.400979891274,-0.00537082301067,0.0598510384464,0.999999941866,0.000230548562388,-0.000250690937017,1.64088075168e-05,1793239406738804992
+40,0.666666667,BASELINE,767,745.202965495,715,679.797034505,663.202965495,636,879.202965495,787,803.797034505,652,631.202965495,653,0.40097939023,-0.00537143118141,0.0598508149793,0.99999994188,0.000230122146658,-0.00025101790793,1.65230097088e-05,1793239406755471872
+41,0.683333333,BASELINE,767,745.792180797,715,679.207819203,663.792180797,636,879.792180797,787,803.207819203,652,631.792180797,653,0.400978705965,-0.0053691967143,0.0598505192107,0.999999940976,0.000233147063963,-0.000251836488906,1.63781107507e-05,1793239406772138496
+42,0.700000000,BASELINE,766.624845371,745.624845371,715,679,663.624845371,636,879.624845371,787.375154629,803,652,631.624845371,653,0.400978755525,-0.00536827512764,0.0598505448215,0.999999940868,0.000234104915807,-0.000251387877658,1.62383716411e-05,1793239406788804864
+43,0.716666667,BASELINE,766.045272478,745.045272478,715,679,663.045272478,636,879.045272478,787.954727522,803,652,631.045272478,653,0.40097920494,-0.00536806891741,0.059850745549,0.999999941195,0.000233936442824,-0.000250248785136,1.61014440896e-05,1793239406805471488
+44,0.733333333,BASELINE,766,745,715,679.531137986,663,636,879,788,803.531137986,652,631.531137986,653,0.400979135011,-0.00536937544911,0.0598510520454,0.99999994142,0.000232740545551,-0.000250443477574,1.64318027821e-05,1793239406822138112
+45,0.750000000,BASELINE,766,745,715,680,663,636,879.106660314,788,804,652.106660314,631.893339686,653,0.400978866536,-0.0053704336706,0.0598512163414,0.999999941607,0.000231566718917,-0.000250769905492,1.66817576551e-05,1793239406838804736
+46,0.766666667,BASELINE,766,745,715,680,663,636,879.679472044,788,804,652.679472044,631.320527956,653,0.400977922651,-0.00536984647624,0.0598507199922,0.99999994167,0.000230869822854,-0.000251178151603,1.6407269433e-05,1793239406855471616
+47,0.783333333,BASELINE,766,745,715,679.738880707,663,636,879.738880707,787.738880707,803.738880707,653,631.261119293,652.738880707,0.400978530899,-0.00536950810606,0.0598508952405,0.999999941868,0.000230870489521,-0.000250405808016,1.61401592226e-05,1793239406872138496
+48,0.800000000,BASELINE,766,745,715,679.146007803,663,636,879.146007803,787.146007803,803.146007803,653,631.853992197,652.146007803,0.40098111114,-0.00536948586838,0.0598519237572,0.999999942233,0.000231757413682,-0.000248133518261,1.58824227822e-05,1793239406888805120
+49,0.816666667,BASELINE,766,745,715,679.436448797,663,636,879,787.436448797,803.436448797,652.563551203,631.563551203,652.436448797,0.400980850587,-0.00536908143967,0.0598512270199,0.999999941789,0.000232295855093,-0.000249420757321,1.57900403347e-05,1793239406905471744
+50,0.833333333,BASELINE,766,745,715,679.984635843,663.015364157,636,879,788,803.984635843,652,631,653.015364157,0.4009796727,-0.00536855207313,0.0598499884908,0.99999994109,0.000232738761809,-0.000251803276315,1.5752866929e-05,1793239406922138368
+51,0.850000000,BASELINE,766,745,715,679.410730079,663.589269921,636,879,788,803.410730079,652,631,653.589269921,0.400978889649,-0.00536802047012,0.0598495466181,0.999999940851,0.000233847952191,-0.000251722726573,1.57586491959e-05,1793239406938804736
+52,0.866666667,BASELINE,766,745,715,679.167161004,663.832838996,636,879.167161004,787.832838996,803.167161004,652.167161004,631,653.832838996,0.400978494057,-0.00536794223333,0.0598494127914,0.999999940932,0.000233792699072,-0.000251455228021,1.57338509431e-05,1793239406955471616
+53,0.883333333,BASELINE,766,745,715,679.755083513,663.244916487,636,879.755083513,787.244916487,803.755083513,652.755083513,631,653.244916487,0.400979073738,-0.00536900516614,0.0598500543482,0.999999941812,0.000230806421366,-0.000250717160018,1.56320783637e-05,1793239406972137984
+54,0.900000000,BASELINE,766,745,715,679.661538888,663,636,880,787.338461112,803.661538888,652.661538888,631,653,0.400979417831,-0.00537019576533,0.0598503653329,0.9999999422,0.000229450663278,-0.00025040224632,1.58260737268e-05,1793239406988804608
+55,0.916666667,BASELINE,766,745,715,679.081406517,663,636,880,787.918593483,803.081406517,652.081406517,631,653,0.400979593707,-0.00537147752205,0.0598504402791,0.999999942241,0.000229259144627,-0.000250389477363,1.62312561669e-05,1793239407005471232
+56,0.933333333,BASELINE,766,745,715,678.503694924,663,636,879.503694924,788,803,652,631,653,0.40098015106,-0.00537020467835,0.0598512028129,0.999999941903,0.000231746295802,-0.000249447409909,1.62485506276e-05,1793239407022138112
+57,0.950000000,BASELINE,766,745,715,678.07310279,663.07310279,636,879,787.92689721,803,652,631,653,0.400980513852,-0.0053687214182,0.0598518104224,0.999999941519,0.000234176956648,-0.000248719931179,1.61917076949e-05,1793239407038805248
+58,0.966666667,BASELINE,766,745,715,678.646351191,663.646351191,636,879,787.353648809,803,652,631,653,0.400979119506,-0.00536865143288,0.0598505902195,0.999999941298,0.00023322969663,-0.000250498402797,1.60608184802e-05,1793239407055471872
+59,0.983333333,BASELINE,766.22656918,745.22656918,715,679,663.77343082,636,879,787.22656918,803,652,631.22656918,653,0.40097811846,-0.00536931472371,0.0598497717284,0.999999941434,0.000231386742725,-0.000251664820262,1.60210447006e-05,1793239407072138496
+60,1.000000000,BASELINE,766.818011263,745.818011263,715,679,663.181988737,636,879,787.818011263,803,652,631.818011263,653,0.400977750793,-0.0053711589015,0.0598496001644,0.999999942142,0.000228101339917,-0.000251845570066,1.61280055689e-05,1793239407088804864
+61,1.016666667,BASELINE,766.598880599,745.598880599,715,679,663,636,879,787.598880599,803,652,631.598880599,652.598880599,0.400979035478,-0.00537043453815,0.0598503442162,0.999999942511,0.000228543518355,-0.000249974106364,1.61039314708e-05,1793239407105471232
+62,1.033333333,BASELINE,766.019476664,745.019476664,715,679,663,636,879,787.019476664,803,652,631.019476664,652.019476664,0.400981054581,-0.00536856854166,0.0598514952295,0.999999942722,0.000230642485662,-0.000247190500466,1.60216165838e-05,1793239407122137856
+63,1.050000000,BASELINE,766,745,715,679,663,635.445819297,879,787,803.554180703,652,631,652,0.400982132455,-0.00536856861663,0.0598521637463,0.999999942831,0.000230906646007,-0.000246509326453,1.59355707436e-05,1793239407138804480
+64,1.066666667,BASELINE,766,745,715,679,663.127207584,635.127207584,879,787.127207584,804,652,631,652.127207584,0.400982667359,-0.00536892583258,0.0598525854178,0.999999942872,0.000230943279999,-0.000246307879938,1.59441224494e-05,1793239407155471360
+65,1.083333333,BASELINE,766,745,715,679,663.698730437,635.698730437,879,787.698730437,804,652,631,652.698730437,0.400981420114,-0.00537030376374,0.05985220352,0.999999942689,0.000230408122978,-0.00024752660648,1.62835411987e-05,1793239407172137728
+66,1.100000000,BASELINE,766,745,715,679.282494883,663.717505117,636,879,787.717505117,803.717505117,652,631.282494883,652.717505117,0.400979969741,-0.005370828588,0.0598514539107,0.999999942475,0.000229849709258,-0.000248901221523,1.63233760077e-05,1793239407188804352
+67,1.116666667,BASELINE,766,745,715,679.879905816,663.120094184,636,879,787.120094184,803.120094184,652,631.879905816,652.120094184,0.400978292928,-0.0053704023965,0.0598502943888,0.999999942228,0.000229265369766,-0.000250449615882,1.60292444212e-05,1793239407205471232
+68,1.133333333,BASELINE,766,745.459343018,715,679.540656982,663,635.540656982,879,787,803.459343018,652,631.540656982,652.459343018,0.400977918693,-0.00536982766993,0.0598494347603,0.999999941867,0.000229598211131,-0.000251599599725,1.57713523642e-05,1793239407222137856
+69,1.150000000,BASELINE,766,745.965808,715,679,663.034192,635,879,787,803.965808,652,631,652.965808,0.40097795232,-0.00536922143479,0.0598488102656,0.999999941517,0.000230218039908,-0.000252436726017,1.55527455915e-05,1793239407238804736
+70,1.166666667,BASELINE,766,745.39200099,715,679,663.60799901,635,879,787,803.39200099,652,631,652.39200099,0.400979250552,-0.0053687077339,0.0598507058244,0.999999941797,0.000231725162098,-0.000249918358725,1.58102370046e-05,1793239407255471360
+71,1.183333333,BASELINE,766.181988601,745,715,679,664,635.181988601,879,787.181988601,803.181988601,652,631,652.181988601,0.400979940047,-0.00536837886171,0.0598518946478,0.999999941939,0.000232746029598,-0.0002483885868,1.59574969375e-05,1793239407272137984
+72,1.200000000,BASELINE,766.756371976,745,715,679,664,635.756371976,879,787.756371976,803.756371976,652,631,652.756371976,0.400979317017,-0.0053684485079,0.059851559644,0.999999941797,0.000232718459202,-0.000248990374578,1.58670812829e-05,1793239407288804608
+73,1.216666667,BASELINE,766.657387434,745,715,679,663.657387434,636,879,788,804,652.342612566,631,653,0.400979503693,-0.00536889190083,0.0598513942262,0.99999994192,0.000232008841446,-0.000249148735527,1.60061559874e-05,1793239407305471488
+74,1.233333333,BASELINE,766.062413085,745,715,679,663.062413085,636,879,788,804,652.937586915,631,653,0.400980286784,-0.00536961058835,0.0598513537222,0.999999942238,0.000230796840809,-0.00024898047682,1.63142688533e-05,1793239407322138112
+75,1.250000000,BASELINE,766,745,715,679,663,636,879,787.484454507,804,652.484454507,631.515545493,653,0.400980163494,-0.00537004757824,0.0598511034391,0.999999942508,0.000230059255509,-0.000248587234375,1.61555194608e-05,1793239407338804992
+76,1.266666667,BASELINE,766,745,715,679,663,635.908760941,879.091239059,787,803.908760941,652,631.908760941,652.908760941,0.400980055931,-0.00537055184856,0.0598509889472,0.999999942761,0.000229402627131,-0.000248184299673,1.60011062004e-05,1793239407355471360
+77,1.283333333,BASELINE,766,745,715,679,663,635.334501331,879.665498669,787,803.334501331,652,631.334501331,652.334501331,0.400980593969,-0.00537158707507,0.0598517234874,0.999999942957,0.000228880245358,-0.00024786964013,1.61593025551e-05,1793239407372137984
+78,1.300000000,BASELINE,766,745.247535434,714.752464566,678.752464566,663,635,879.752464566,787,803.247535434,652,631,652.247535434,0.400980426207,-0.00537158387054,0.0598521213698,0.999999942777,0.000229505217852,-0.000248007722872,1.62660242284e-05,1793239407388804608
+79,1.316666667,BASELINE,766,745.840422532,714.159577468,678.159577468,663,635,879.159577468,787,803.840422532,652,631,652.840422532,0.40097927374,-0.00537013188795,0.0598520495603,0.999999942072,0.000231730933767,-0.000248777453804,1.63009304447e-05,1793239407405471232
+80,1.333333333,BASELINE,766,745.578714176,714.421285824,678.421285824,663,635.421285824,879,787.421285824,803.578714176,652,631,652.578714176,0.400980365301,-0.00536911709923,0.0598524188731,0.999999942207,0.000232018445109,-0.000247976141723,1.61807469191e-05,1793239407422137856
+81,1.350000000,BASELINE,766,745.002278914,714.997721086,678.997721086,663,635.997721086,879,787.997721086,803.002278914,652,631,652.002278914,0.400982283283,-0.00536826331839,0.0598529506406,0.99999994265,0.000231592162497,-0.000246596252344,1.60034475738e-05,1793239407438804480
+82,1.366666667,BASELINE,765.426069981,745,715,679.573930019,663,635.426069981,879,787.426069981,803,652.573930019,631,652.573930019,0.400981205198,-0.00536848890065,0.0598524298441,0.999999942437,0.000231770990264,-0.000247278838468,1.61871077548e-05,1793239407455471104
+83,1.383333333,BASELINE,765.307257446,745,715,679.846371277,663,635.153628723,879,787.153628723,803,652.846371277,631.153628723,653,0.400980318712,-0.00536875543795,0.0598519873504,0.999999942297,0.000231688648734,-0.000247914549716,1.62809644071e-05,1793239407472137984
+84,1.400000000,BASELINE,766.486467154,745,715,679.256766423,663,635.743233577,879,787.743233577,803,652.256766423,631.743233577,653,0.400980009705,-0.00536912604196,0.0598517789243,0.999999942373,0.00023085833061,-0.000248394005514,1.61159058513e-05,1793239407488804608
+85,1.416666667,BASELINE,766.673093608,745,715,679,663,635.673093608,879,787.673093608,803.326906392,652.326906392,632,653,0.400980451301,-0.00536979110841,0.0598516401001,0.999999942347,0.000230881192099,-0.000248467247509,1.62682465587e-05,1793239407505470976
+86,1.433333333,BASELINE,766.093997066,745,715,679,663,635.093997066,879,787.093997066,803.906002934,652.906002934,632,653,0.400981471947,-0.00537068333628,0.0598515549699,0.999999942242,0.000231562234386,-0.000248227118056,1.66654432023e-05,1793239407522137600
+87,1.450000000,BASELINE,766,745.481035062,715,679,663,635,879,787,803.518964938,653,631.518964938,653,0.400981297024,-0.00537070817209,0.0598519370339,0.999999942552,0.000230380733822,-0.000248081643363,1.66038902681e-05,1793239407538804224
+88,1.466666667,BASELINE,766,745.944615902,715,679,663,635.055384098,879,787,803,652.944615902,631.055384098,653,0.400980842914,-0.00537047278496,0.0598523109091,0.999999942885,0.000229064869079,-0.000247970099274,1.64202792094e-05,1793239407555471104
+89,1.483333333,BASELINE,766,745.369286151,715,679,663,635.630713849,879,787,803,652.369286151,631.630713849,653,0.40097994264,-0.00536937229814,0.0598517580345,0.999999942699,0.000229875744036,-0.000248004909159,1.59252979869e-05,1793239407572137984
+90,1.500000000,BASELINE,766,745,715,679.212179149,663.212179149,635.787820851,879,787.212179149,803.212179149,652,631.787820851,652.787820851,0.400979107826,-0.00536916903497,0.0598511012753,0.999999942441,0.000230367336147,-0.000248600772902,1.57286500045e-05,1793239407588804608
+91,1.516666667,BASELINE,766,745,715,679.804640959,663.804640959,635.195359041,879,787.804640959,803.804640959,652,631.195359041,652.195359041,0.400978390332,-0.00537057384036,0.0598502583266,0.999999942054,0.000230286686602,-0.000250202197527,1.60666962642e-05,1793239407605471488
+92,1.533333333,BASELINE,766,745,715,679.611632765,664,635.388367235,879,787.611632765,804,652,631,652.388367235,0.400978653706,-0.00537137334605,0.0598504643071,0.999999941998,0.000230392376915,-0.000250311321282,1.63590589534e-05,1793239407622138368
+93,1.550000000,BASELINE,766,745,715,679.032203979,664,635.967796021,879,787.032203979,804,652,631,652.967796021,0.400979399628,-0.00537187506799,0.0598511863198,0.999999942104,0.000230589739171,-0.000249686291282,1.66289471358e-05,1793239407638805248
+94,1.566666667,BASELINE,766,745.542342959,715,679,664,636,879,787.542342959,804,652,631.542342959,653,0.400978110971,-0.00537026238891,0.0598503661197,0.99999994171,0.000230928981274,-0.000250972971903,1.62314987448e-05,1793239407655471616
+95,1.583333333,BASELINE,766,745.880663179,715,679.119336821,663.880663179,636,879.119336821,787.880663179,804,652.119336821,632,653,0.40097718801,-0.00536882441,0.0598496881031,0.999999941321,0.000231535294279,-0.000251985102154,1.58732198791e-05,1793239407672137984
+96,1.600000000,BASELINE,766,745.292937528,715,679.707062472,663.292937528,636,879.707062472,787.292937528,804,652.707062472,632,653,0.400978170324,-0.00536856050279,0.0598499243689,0.999999941073,0.000233157070822,-0.00025147807308,1.58228204983e-05,1793239407688804352
+97,1.616666667,BASELINE,766,745,715,679.709474062,663.290525938,636,879.709474062,787.290525938,804,652.709474062,631.709474062,653,0.40097815652,-0.00536872871681,0.059849881343,0.999999941286,0.000232230075314,-0.000251489582597,1.58157903477e-05,1793239407705470976
+98,1.633333333,BASELINE,766,745,715,679.13024606,663.86975394,636,879.13024606,787.86975394,804,652.13024606,631.13024606,653,0.400977152853,-0.0053693263393,0.0598495607788,0.99999994195,0.000228770308421,-0.000252016375434,1.58518571656e-05,1793239407722137600
+99,1.650000000,BASELINE,766,745.447472474,715,679,663.552527526,636,879,788,803.552527526,652,631.447472474,653,0.400977179118,-0.00536995561043,0.0598503350066,0.999999942045,0.00022883902096,-0.000251562139935,1.61012801982e-05,1793239407738804736
+100,1.666666667,BASELINE,766,745.975385942,715,679,663.024614058,636,879,787.975385942,803,652,631.975385942,653,0.40097753334,-0.00537053177077,0.0598513734951,0.999999941975,0.000229934588259,-0.000250820061524,1.63985341494e-05,1793239407755472128
+101,1.683333333,BASELINE,766,745.401348291,715,679,663.598651709,636,879,787.401348291,803,652,631.401348291,653,0.400978538947,-0.00536971748254,0.0598512215861,0.99999994191,0.000231103173784,-0.000250005338264,1.638190259e-05,1793239407772138496
+102,1.700000000,BASELINE,766,745,715,679,663.822243345,636,879,787,803.177756655,652,631.177756655,653,0.400979401045,-0.00536912237803,0.059851455455,0.999999941942,0.000232049690149,-0.000249002313172,1.63096999507e-05,1793239407788805120
+103,1.716666667,BASELINE,766,745,715,679,663.231361556,636,879,787,803.768638444,652,631.768638444,653,0.40097992961,-0.00536903667958,0.0598525859119,0.999999942203,0.0002324800943,-0.000247561654965,1.61083442876e-05,1793239407805471488
+104,1.733333333,BASELINE,766,745,715,679,663,636,878.647558096,787.352441904,803.647558096,652.352441904,631.647558096,652.647558096,0.400980654647,-0.00536987169838,0.0598529394588,0.999999942721,0.000231145888264,-0.000246717586747,1.61132180142e-05,1793239407822137856
+105,1.750000000,BASELINE,766,745,715,679,663,636,878.068309686,787.931690314,803.068309686,652.931690314,631.068309686,652.068309686,0.400981506118,-0.00537129922522,0.0598527930419,0.9999999434,0.000228676104839,-0.000246257441208,1.62508062666e-05,1793239407838804480
+106,1.766666667,BASELINE,766,745,715,679,663,636,879.014450393,787.492774804,803.507225196,652.492774804,631,652,0.400981208055,-0.00537105561349,0.0598523087513,0.999999943036,0.000229342004494,-0.00024711491161,1.62428860658e-05,1793239407855471360
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,787,803,652,631,653,0.400978695032,-0.00536879320111,0.0598506655656,0.999999941615,0.000232584968596,-0.000249850283743,1.5810918805e-05,1793239407898775040
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.592783581,715,679,663,636,879.407216419,787,803,652,631,653,0.400978515659,-0.00536891700782,0.0598507111177,0.999999941678,0.000232136364447,-0.000250002754123,1.59687187496e-05,1793239407915442176
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.819373041,715,679,663,636,879,787,803,652,631.180626959,652.819373041,0.400978395389,-0.00536944236935,0.0598506565211,0.999999941888,0.000231056669194,-0.000250152422155,1.61481337085e-05,1793239407932109056
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.242370541,715,679,663,636,879,787,803,652,631.757629459,652.242370541,0.40097840482,-0.00537084892005,0.0598503821541,0.999999942415,0.000228592080492,-0.000250295940622,1.63749816115e-05,1793239407948775168
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.333359556,745,715,679,663,636,879,787,803.333359556,652,631.666640444,652,0.400978522946,-0.00537085152285,0.059850485071,0.999999942339,0.000228863641837,-0.000250356712015,1.62806360127e-05,1793239407965441536
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.908168031,745,715,679,663,636,879,787,803.908168031,652,631.091831969,652,0.400978719801,-0.00536983726046,0.0598508612508,0.999999941826,0.00023111696884,-0.000250357550537,1.59536532301e-05,1793239407982107904
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.50659288,745,715,679,663,636,879,787.49340712,804,652,631,652.49340712,0.400980318912,-0.00537021556458,0.0598519242443,0.999999942133,0.000231770063087,-0.000248496974082,1.62764470809e-05,1793239407998774528
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.920505799,803.920505799,652,631.079494201,652.920505799,0.400981991236,-0.00537074994859,0.0598529622219,0.999999942556,0.000231902214443,-0.000246642831685,1.66459358033e-05,1793239408015441152
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.34155152,803.34155152,652,631.65844848,652.34155152,0.400982448389,-0.00537060137762,0.0598530225371,0.999999942741,0.000230672979843,-0.000247052815492,1.65325649262e-05,1793239408032108032
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.237033528,636,879,787.237033528,803.237033528,652,631.762966472,652,0.400988340568,-0.00537051875896,0.0598555267796,0.999999943881,0.000229908776196,-0.000243115578092,1.65694185394e-05,1793239408048774912
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.815087315,636,879,787.815087315,803.815087315,652,631.184912685,652,0.401002052123,-0.00537053102595,0.0598615471017,0.999999946325,0.000229813612907,-0.000232923991281,1.68224002115e-05,1793239408065441792
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.607853826,636,879,787.607853826,803.607853826,652,631.392146174,652.392146174,0.401035754596,-0.00537068560136,0.0598752355791,0.99999995155,0.00023065522135,-0.00020831227845,1.74474447219e-05,1793239408082108416
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.031262876,636,879,787.031262876,803.031262876,652,631.968737124,652.968737124,0.401078859739,-0.0053709071111,0.0598925307509,0.999999957286,0.000231937437372,-0.000176918101569,1.82474878801e-05,1793239408098774784
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.444012845,745,715,679,663,636,879,787,803,652.555987155,631.444012845,652.444012845,0.401138850915,-0.00537423382782,0.0599096656168,0.999999962502,0.000228926786792,-0.000149075100497,1.91065856347e-05,1793239408115441408
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.141823002,745,715,679,663,636,879,787.141823002,803.141823002,652.858176998,631,652,0.401203941771,-0.00537722050676,0.059925509157,0.999999966462,0.000226625676882,-0.000123797215641,1.97879811098e-05,1793239408132108032
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.721407686,745,715,679,663,636,879,787.721407686,803.721407686,652.278592314,631,652,0.401281785639,-0.00537860811897,0.0599373951638,0.999999968377,0.000227274331858,-0.00010580861011,1.99104174441e-05,1793239408148774656
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.701038001,803.701038001,652.298961999,631,652.298961999,0.401364806338,-0.00538064752189,0.0599446841479,0.999999969761,0.000226396090822,-9.39770559125e-05,1.97591450093e-05,1793239408165441280
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.12536299,803.12536299,652.87463701,631,652.87463701,0.401452618599,-0.00538329020865,0.0599477182227,0.999999970843,0.000224104586583,-8.78443415255e-05,1.93545334245e-05,1793239408182108160
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.541100751,745,715,679,663,636,879,787,803.458899249,652.541100751,631,652.541100751,0.401556747319,-0.00538572326814,0.0599498758361,0.999999971677,0.000222256990817,-8.31115400125e-05,1.84412979877e-05,1793239408198775040
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.044984253,745,715,679,663,636,879,787,804,652,631,652.044984253,0.401667541604,-0.00538815418368,0.0599518197688,0.999999972418,0.000220572064952,-7.87951907829e-05,1.73907988515e-05,1793239408215441664
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.624324041,745,715,679,663,636,879,787,804,652,631,652.624324041,0.401803556862,-0.00539125285597,0.0599541238504,0.999999973011,0.000219351473477,-7.47963424913e-05,1.63917677481e-05,1793239408232108288
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678.796873918,663,636,879,787,804,652,631,652.796873918,0.401950766229,-0.00539526056223,0.0599552347861,0.999999973991,0.000216365371785,-7.05348521561e-05,1.51045426717e-05,1793239408248774912
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,678.219063862,663,636,879,787,804,652,631,652.219063862,0.402118624103,-0.00540094506151,0.0599541448587,0.999999975672,0.000210122630907,-6.57888958472e-05,1.3285718503e-05,1793239408265441536
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,714.642572484,678.714855032,663,636,879,787.357427516,803.642572484,652,631,652,0.402305783396,-0.00540474770563,0.0599550102685,0.999999976521,0.000207710001943,-6.07186257938e-05,1.1302492038e-05,1793239408282108160
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,714.066886284,679.866227432,663,636,879,787.933113716,803.066886284,652,631,652,0.402504728878,-0.00540740121876,0.0599570696806,0.999999976864,0.000207636182762,-5.54503171119e-05,9.21887517208e-06,1793239408298775040
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,714.520714071,679.479285929,663,636,879.520714071,787.479285929,803,652,631,652,0.402728158632,-0.00541345293952,0.0599557114848,0.999999978076,0.000202282818303,-5.36453604313e-05,7.13035982338e-06,1793239408315441664
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.891950025,787,803,652,631,652,0.402963293723,-0.0054200844756,0.0599546272582,0.999999979465,0.000195944757028,-5.14908672706e-05,4.96838013881e-06,1793239408332108288
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.312599106,787,803,652,631,652,0.403235446678,-0.00542729653911,0.0599566977349,0.999999981211,0.000188338898238,-4.58258243597e-05,2.48876605088e-06,1793239408348775168
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.264676179,715,679,663,636,879,787,803.264676179,652,631,652.264676179,0.403523375948,-0.00543442700481,0.0599558769127,0.999999982785,0.000180008563163,-4.50222385096e-05,-4.71899500943e-07,1793239408365441792
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.839519051,715,679,663,636,879,787,803.839519051,652,631,652.839519051,0.403829793027,-0.00544146184785,0.0599516678572,0.999999984155,0.000170829234825,-4.99156600652e-05,-3.99629580892e-06,1793239408382108160
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.585060616,745.585060616,715,679.414939384,663,636,879,787,803.585060616,652,631.414939384,653,0.404150036683,-0.00544970195692,0.059943952867,0.999999985177,0.000159753650151,-6.37811504407e-05,-7.4892383311e-06,1793239408398774528
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.009416649,745.009416649,715,679.990583351,663,636,879,787,803.009416649,652,631.990583351,653,0.404475635317,-0.00545840886119,0.0599348800406,0.999999985706,0.000147943652131,-8.11214918133e-05,-1.09699988265e-05,1793239408415441152
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.579315295,745,715,679.420684705,663,636,879,787.579315295,803.579315295,652,631.420684705,652.420684705,0.404828242599,-0.00546591074531,0.0599219696858,0.999999984654,0.000140697464705,-0.00010330541326,-1.49990738852e-05,1793239408432107776
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.165590602,635.834409398,879,788,804,652,631,652,0.405205913215,-0.005474196823,0.0599144137104,0.999999984324,0.000131764159377,-0.000116764015202,-1.88569086794e-05,1793239408448774400
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.74517972,635.25482028,879,788,804,652,631,652,0.405645122466,-0.00548449359061,0.059920403956,0.999999986886,0.000118423079926,-0.000108206766472,-2.22638213593e-05,1793239408465441280
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.676934839,635.323065161,879,788,804,652,631,652.323065161,0.406126843268,-0.00549378612469,0.0599404684786,0.999999991594,0.000101912234704,-7.61681534274e-05,-2.49697550938e-05,1793239408482107904
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.100386074,635.899613926,879,788,804,652,631,652.899613926,0.406641919558,-0.00550229071748,0.0599715759705,0.999999995864,8.29143240934e-05,-2.57055755425e-05,-2.71256865726e-05,1793239408498774528
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.483908144,745,715,679,663,635.516091856,879,787.516091856,803.516091856,652,631,652.516091856,0.407164641072,-0.00551130321045,0.0599950719447,0.999999999474,-5.51210815004e-06,1.22799141187e-05,-2.95240087505e-05,1793239408515440896
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.930928685,745.069071315,715,679.069071315,663,635.069071315,879,787.069071315,803,652,631,652,0.407688773368,-0.00551748895553,0.0600137939631,0.999999994348,-9.27022486324e-05,4.11180521253e-05,-3.19205207149e-05,1793239408532107776
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.351411049,745.648588951,715,679.648588951,663,635.648588951,879,787.648588951,803,652,631,652,0.408211420456,-0.00550199334364,0.0600090946429,0.999999997229,-6.25856924398e-05,2.1795486006e-05,-3.39260109777e-05,1793239408548774400
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.227160499,636,879.227160499,788,803.227160499,652,631.227160499,652.227160499,0.408753316286,-0.00549198638936,0.0600016917024,0.999999998544,-3.97619096306e-05,1.53869114332e-06,-3.64366422055e-05,1793239408565441024
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.804274511,636,879.804274511,788,803.804274511,652,631.804274511,652.804274511,0.409324865854,-0.0054904350215,0.0599901236832,0.999999998611,-2.81730559244e-05,-2.01573344117e-05,-3.9725471395e-05,1793239408582107904
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.620084898,636,880,788,804,652,632,653,0.409950898521,-0.0055063186206,0.0599909740462,0.999999997703,-5.01772038164e-05,-1.4771214972e-05,-4.30946236669e-05,1793239408598774528
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.045200471,636,880,788,804,652,632,653,0.410604891452,-0.00553114970225,0.0599981974216,0.99999999491,-8.94210057747e-05,4.51324055624e-06,-4.65049969269e-05,1793239408615441152
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.456620895,715,679.456620895,663,636,879.456620895,787.456620895,803.456620895,652,631.456620895,652.456620895,0.41126307192,-0.0055379206139,0.0600014093101,0.999999991945,-0.000115577002499,1.12478079134e-05,-5.12442675155e-05,1793239408632107776
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.13079254,663,636,879.13079254,787.13079254,803.13079254,652,631.13079254,652.13079254,0.411922542281,-0.00554188168488,0.0599996593141,0.999999990781,-0.000125264201967,7.87360614656e-06,-5.18155661218e-05,1793239408648774656
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679.710197537,663,636,879.710197537,787.710197537,803.710197537,652,631.710197537,652.710197537,0.412585211105,-0.00554149124083,0.0599820644198,0.999999995552,-8.22948993778e-05,-2.64999318514e-05,-3.77019486956e-05,1793239408665441280
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.71212943,663,636,880,787.71212943,804,652,631.71212943,653,0.413250966828,-0.00553066074078,0.0599555463337,0.999999996153,-2.83125799459e-05,-7.8421513465e-05,-2.72462345242e-05,1793239408682107904
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.136189486,663,636,880,787.136189486,804,652,631.136189486,653,0.413919811664,-0.00550938297481,0.0599200988911,0.99999998818,3.669036718e-05,-0.00014790326113,-2.0450947942e-05,1793239408698774528
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.562407158,787,803.562407158,652,631,653,0.414709183316,-0.00550504975929,0.0599368354515,0.999999991983,4.93515542393e-05,-0.000114388572699,-2.26825981322e-05,1793239408715441152
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.01103486,663.01103486,636,879,787.01103486,803,652,631.01103486,652.98896514,0.415535569958,-0.00550624383403,0.0599698359202,0.999999997401,4.51487936521e-05,-4.89512049316e-05,-2.76314573124e-05,1793239408732107776
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.601702256,663.601702256,636,879,787.601702256,803,652,631.601702256,652.398297744,0.416345579788,-0.00552212511983,0.0600082294131,0.999999999415,6.60092991175e-06,1.77980416314e-05,-2.84617630125e-05,1793239408748774656
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679.811206309,663.811206309,636,879,788,803.188793691,652,631.811206309,652.188793691,0.417147838083,-0.00553452828366,0.0600304606362,0.999999997845,-2.32875341785e-05,5.38324299575e-05,-2.94872045352e-05,1793239408765441024
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679.231518871,663.231518871,636,879,788,803.768481129,652,631.231518871,652.768481129,0.417934046924,-0.00553973006112,0.0600192281848,0.999999998556,-3.5246873522e-05,2.62722843384e-05,-3.09166712953e-05,1793239408782107648
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.345740015,787.654259985,804,652,631,653,0.418739203585,-0.00553936661608,0.060002883423,0.999999998838,-3.46958335401e-05,5.97821146461e-07,-3.3469901195e-05,1793239408798774528
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.921383983,787.078616017,804,652,631,653,0.419556959796,-0.00553530250967,0.0599831391699,0.999999998707,-2.58258669029e-05,-2.38227338854e-05,-3.67703907564e-05,1793239408815441152
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.507051171,663.507051171,635.492948829,880,787.507051171,804,652,631,652.492948829,0.420368668834,-0.00552910576488,0.05995820177,0.999999997083,-2.79214702597e-05,-5.90625017294e-05,-3.9577448259e-05,1793239408832107776
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679.90695923,664,635.09304077,880,788,803.90695923,652,631,652,0.421178483484,-0.00552419383065,0.0599321083309,0.999999993674,-3.09232529783e-05,-9.96629566358e-05,-4.19977890056e-05,1793239408848774400
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.327571777,664,635.672428223,880,788,803.327571777,652,631,652,0.421983395246,-0.00552776119063,0.0599042657215,0.999999985951,-2.95954700038e-05,-0.000159339635437,-4.28046384816e-05,1793239408865441024
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.250933423,745.250933423,715,679,664,636,880,787.749066577,803.250933423,652,631,652.250933423,0.422844603475,-0.00553308155588,0.059908656934,0.999999986361,-3.28977427139e-05,-0.00015605691813,-4.29083560158e-05,1793239408882107904
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.828291033,745.828291033,715,679,664,636,880,787.171708967,803.828291033,652,631,652.828291033,0.423779044502,-0.00554068230066,0.0599549791815,0.999999995711,-4.22229759718e-05,-7.08741194842e-05,-4.20974115646e-05,1793239408898774528
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.588657166,745.588657166,715,679.411342834,664,636,880,787.411342834,804,651.588657166,631,653,0.42470540693,-0.00554503728114,0.0600023989297,0.999999997914,-5.05159374257e-05,4.99162949342e-06,-3.99396641083e-05,1793239408915441152
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.003195078,745.003195078,715,679.996804922,664,636,880,787.996804922,804,651.003195078,631,653,0.425628349674,-0.00554801834625,0.0600502832413,0.999999994646,-5.83719429736e-05,7.69135152489e-05,-3.72118219924e-05,1793239408932107776
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.423698403,664,635.423698403,880,788,804,651,631.576301597,653,0.426507410474,-0.00554601796386,0.0600409672551,0.99999999531,-4.61845730554e-05,7.52288005991e-05,-3.98394923816e-05,1793239408948774400
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.155752296,715,679,664,635.155752296,880,787.844247704,804,651.155752296,631.844247704,652.844247704,0.427380184079,-0.00554531726041,0.0600274923999,0.999999996231,-4.17361823504e-05,6.32478203883e-05,-4.23759987745e-05,1793239408965441280
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.735166947,715,679,664,635.735166947,880,787.264833053,804,651.735166947,631.264833053,652.264833053,0.428236510793,-0.00554822617153,0.0600035587652,0.99999999699,-5.86377844549e-05,2.43585881516e-05,-4.45845928789e-05,1793239408982107904
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.688514912,715,679.311485088,664,635.688514912,880,787,804,651.688514912,631,652,0.429061506957,-0.00554874990687,0.0599766977337,0.999999996515,-6.65697642434e-05,-2.01045264809e-05,-4.62023968025e-05,1793239408998774528
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.11480362,715,679.88519638,664,635.11480362,880,787,804,651.11480362,631,652,0.429860127207,-0.00554726566282,0.0599473722511,0.999999994241,-6.69505951115e-05,-6.92600564198e-05,-4.73228391579e-05,1793239409015441152
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.471248355,715,679.528751645,663.528751645,635.471248355,880,787.471248355,804,651.471248355,631,652,0.430716406459,-0.00554405836053,0.0599382420989,0.999999994001,-5.69195277702e-05,-7.96688332857e-05,-4.91070534031e-05,1793239409032107776
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,679.059408357,663.118816715,636,880,787.940591643,804,651.940591643,631.059408357,652,0.431591676135,-0.00554148868348,0.0599396882159,0.999999995061,-4.68611033305e-05,-7.15319643981e-05,-5.06524040018e-05,1793239409048774400
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,679.638994069,664.277988138,636,880,787.361005931,804,651.361005931,631.638994069,652,0.432506925266,-0.0055482763117,0.0599895028083,0.999999996954,-5.93699346007e-05,1.41169009585e-05,-4.86523099795e-05,1793239409065441280
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.782360534,715,680,664.782360534,636,879.782360534,787,804,651.217639466,631.782360534,652,0.433384838807,-0.00555392895826,0.0600187129502,0.999999994409,-7.12358845742e-05,6.20609382872e-05,-4.75029425869e-05,1793239409082107904
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.205268069,715,680,664.205268069,636,879.205268069,787,804,651.794731931,631.205268069,652,0.434201089093,-0.00555770707198,0.0600138928221,0.999999994355,-8.20400553926e-05,4.77317547366e-05,-4.77586341174e-05,1793239409098774528
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.630707815,745,715,679.630707815,664,635.630707815,879.369292185,787,804,652,631,652.369292185,0.434989590139,-0.00555822447119,0.0599923227503,0.999999995438,-8.10561239782e-05,1.05958543408e-05,-4.94150991474e-05,1793239409115441152
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.05754552,745,715,679.05754552,664,635.05754552,879.94245448,787,804,652,631,652.94245448,0.435762771992,-0.00555694177187,0.0599615057652,0.999999995185,-7.35644945618e-05,-3.913063905e-05,-5.18448700303e-05,1793239409132107776
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.532809619,745,715,679.532809619,664,635.532809619,880,787.532809619,804,652,631.532809619,653,0.43654186122,-0.00555664246382,0.059946475118,0.999999993222,-7.94405126251e-05,-6.62566733171e-05,-5.3443419035e-05,1793239409148774656
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.878039507,745,715,680,664,635.878039507,880.121960493,787.878039507,804.121960493,652,631.878039507,652.878039507,0.437309117521,-0.00555603655322,0.0599338204716,0.999999990713,-8.40500087607e-05,-9.2325516152e-05,-5.46395332189e-05,1793239409165441024
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.30055342,745,715,680,664,635.30055342,880.69944658,787.30055342,804.69944658,652,631.30055342,652.30055342,0.438029715022,-0.00555387554919,0.0599234597411,0.999999987764,-7.83567307158e-05,-0.000123866685017,-5.46790364054e-05,1793239409182107904
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.276004619,745,715,680,663.723995381,635.276004619,880.723995381,787,804.723995381,652,631,652,0.438762113959,-0.00555293071027,0.059921967291,0.999999987148,-7.4396434206e-05,-0.000131201340896,-5.43554108767e-05,1793239409198774528
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.851555415,745,715,680,663.148444585,635.851555415,880.148444585,787,804.148444585,652,631,652,0.439507320877,-0.00555330576829,0.0599300995338,0.999999989645,-7.23169327006e-05,-0.000112264809729,-5.36376839349e-05,1793239409215441152
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.426237974,745,715,680,663.426237974,635.573762026,880,787.426237974,804,652,631.426237974,652.426237974,0.440223547235,-0.00555564494698,0.0599473871351,0.999999991492,-7.75888729859e-05,-9.12169526946e-05,-5.17267456589e-05,1793239409232108032
+188,3.133333333,POSE1_TO_POSE2_PRESS,766.999363314,745,715,680,663.999363314,635,880.000636686,787.999363314,804.000636686,652,631.999363314,652.999363314,0.440929600791,-0.00555866324662,0.0599677900522,0.999999992715,-8.54067599883e-05,-6.95318107521e-05,-4.94071955315e-05,1793239409248774656
+189,3.150000000,POSE1_TO_POSE2_PRESS,766.408394765,745,715,680,663.408394765,635,880.591605235,787.408394765,804.591605235,652,631.408394765,652.408394765,0.441542558405,-0.00555841132043,0.0599263374156,0.999999985584,-8.47748866586e-05,-0.000137346084425,-5.27431923315e-05,1793239409265441280
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.821323174,635,881,787,804.821323174,652,631.178676826,652,0.442138604841,-0.00555694509952,0.0598793068417,0.999999972775,-8.35348270709e-05,-0.000210412635151,-5.65470055193e-05,1793239409282107648
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.242968479,635,881,787,804.242968479,652,631.757031521,652,0.442696823194,-0.00555276265208,0.0598197991072,0.99999995126,-8.09343305797e-05,-0.000295227890831,-6.1397266712e-05,1793239409298774528
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.333827463,804.333827463,651.666172537,631.666172537,652,0.443259848392,-0.0055492587171,0.0597863479137,0.999999936046,-7.99344217537e-05,-0.000342586118758,-6.44521156462e-05,1793239409315441152
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.909494142,804.909494142,651.090505858,631.090505858,652,0.443826355846,-0.00554624632647,0.0597717732218,0.999999928786,-8.00940490745e-05,-0.000362808833301,-6.62062893259e-05,1793239409332107776
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634.50416432,880.50416432,787.50416432,805,651.49583568,631,652.49583568,0.444370823435,-0.0055465019012,0.0597750177767,0.999999930326,-8.11768447538e-05,-0.000358044300055,-6.75420933468e-05,1793239409348774656
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.082893014,715,680,661.917106986,634,880.082893014,786.917106986,805,651.917106986,631,653,0.444903184417,-0.00554779148274,0.0597779528807,0.999999930837,-8.30281988783e-05,-0.000355930588213,-6.88858224378e-05,1793239409365441280
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.662309719,715,680,661.337690281,634,880.662309719,786.337690281,805,651.337690281,631,653,0.445387655229,-0.00555162303589,0.0597591229684,0.999999914536,-8.84516087217e-05,-0.00039761615152,-7.07445130629e-05,1793239409382107904
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680,661,634,881,786,805,651,631,652.759799856,0.445845445374,-0.00555556840142,0.0597342220841,0.999999894986,-9.4074756649e-05,-0.000442543390327,-7.30265895405e-05,1793239409398774528
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,680,661,634,881,786,805,651,631,652.184041683,0.446265962761,-0.00555967276177,0.059700840093,0.99999987109,-9.99769369289e-05,-0.000491999225121,-7.59001331369e-05,1793239409415441152
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,660.60870205,634,881,786,805,651.39129795,631,652,0.446685380305,-0.00556189148367,0.05968549063,0.999999860273,-0.000104099892607,-0.000512356365881,-7.8151734421e-05,1793239409432107776
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680,660.033559009,634,881,786,805,651.966440991,631,652,0.447104281142,-0.00556322426883,0.0596786134592,0.999999856323,-0.000107386908626,-0.000519041954868,-8.01111263547e-05,1793239409448774400
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.442663855,745.442663855,715,680.557336145,660.557336145,634,881,786,804.442663855,651.442663855,631,652,0.447505461668,-0.00556636056239,0.0596912039686,0.99999986719,-0.000108152593924,-0.000497687715084,-7.89284082333e-05,1793239409465441280
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680.854318525,660.854318525,633.854318525,880.854318525,786,804.145681475,651.145681475,631,652,0.447894797043,-0.00556850212788,0.0597016256911,0.999999877965,-9.25228623811e-05,-0.000479847295623,-7.24971132189e-05,1793239409482107904
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680.276433581,660.276433581,633.276433581,880.276433581,786,804.723566419,651.723566419,631,652,0.44825224828,-0.00556736101727,0.0597020342915,0.999999884239,-2.87152030208e-05,-0.000477586257735,-5.10721242447e-05,1793239409498774784
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.299698085,745,715,680,660,633,880,786,805,651.700301915,631,652,0.448562796914,-0.00555952123349,0.059689140091,0.999999875324,-1.17683227095e-05,-0.000497346141683,-4.31204668964e-05,1793239409515441152
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.874221945,745,715,680,660,633,880,786,805,651.125778055,631,652,0.448830335429,-0.00554553870768,0.0596640471052,0.999999853811,-3.77931918963e-05,-0.000537299404962,-4.75239742443e-05,1793239409532107776
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.542123825,745,715,680,660,633,880.457876175,786,805,651,631,652,0.449070234269,-0.00553870684467,0.0596401898583,0.999999832669,-5.76416272728e-05,-0.000573350587419,-5.10725458767e-05,1793239409548774400
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.043838193,745.043838193,715,680,660,633,881,786,805,651.043838193,631,652,0.449302402141,-0.00553457495843,0.0596179196296,0.999999811868,-7.47242075761e-05,-0.000606408610577,-5.43025090443e-05,1793239409565441536
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.626709769,745.626709769,715,680,660,633,881,786,805,651.626709769,631,652,0.449534768026,-0.00553899777489,0.0596109044662,0.999999805477,-7.9084452751e-05,-0.000616111016802,-5.65613338608e-05,1793239409582108160
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.792922911,746,715,680,660,632.792922911,881,786,804.792922911,652,631,652,0.449758973907,-0.00554358429048,0.0596076451494,0.99999980285,-8.29630986207e-05,-0.000619689801961,-5.83162642157e-05,1793239409598774528
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.217016043,746,715,680,660,632.217016043,881,786,804.217016043,652,631,652,0.44996864579,-0.00554846237392,0.0596110754581,0.999999807059,-8.59839564061e-05,-0.000612361663466,-5.91736962908e-05,1793239409615441152
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.356543003,746,715,680.356543003,660,632,881,785.643456997,804,652,630.643456997,652,0.450150971008,-0.00555060980087,0.0596121122274,0.999999808659,-8.68379405861e-05,-0.000609520114051,-6.02177583662e-05,1793239409632107776
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.928682412,746,715,680.928682412,660,632,881,785.071317588,804,652,630.071317588,652,0.450316760112,-0.00555110603975,0.0596117016582,0.999999808707,-8.63816478802e-05,-0.000609391539576,-6.13746729919e-05,1793239409648774656
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.482739848,746,715,681.517260152,660,632,880.482739848,785.517260152,804.517260152,652,630.517260152,652,0.450461452686,-0.00555362766664,0.0596151055643,0.999999812632,-8.65086560175e-05,-0.000602843389512,-6.19082073806e-05,1793239409665441280
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.10663911,746,715,681.786721779,660,632,880,786,805,652,631,652,0.450597395096,-0.00555605552584,0.0596178786063,0.999999815768,-8.68912252744e-05,-0.000597520527741,-6.23084914312e-05,1793239409682107904
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.689147821,746,715,680.621704358,660,632,880,786,805,652,631,652,0.450707696453,-0.0055567779111,0.0596154125343,0.999999813122,-8.80435568302e-05,-0.000601744779165,-6.25102854234e-05,1793239409698774528
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680.267857825,659.732142175,632,880,785.732142175,805,652,631,652.267857825,0.450805173488,-0.00555722643327,0.0596127512318,0.999999809582,-8.76811186522e-05,-0.000607630081726,-6.27178957949e-05,1793239409715441152
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,715,680.842220995,659.157779005,632,880,785.157779005,805,652,631,652.842220995,0.450887975856,-0.00555736157833,0.0596098665302,0.999999804989,-8.55853540711e-05,-0.000615416097772,-6.29321617403e-05,1793239409732107520
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,715,680.575407455,659,632,880.424592545,785,805,652,631,653,0.450954830091,-0.00555873419878,0.0596051032388,0.99999980061,-8.62961238068e-05,-0.000622364274894,-6.3216828434e-05,1793239409748774400
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.990103608,715,680.009896392,659,632,880.990103608,785,805,652,631,653,0.451015451192,-0.00556054811785,0.0595996959108,0.999999796356,-8.80493689043e-05,-0.000628887859703,-6.35245335754e-05,1793239409765441024
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.410602732,715,680.589397268,659,632,880.410602732,785,805,652,631,653,0.451064971657,-0.00556078564382,0.0595981718849,0.999999796079,-8.86236019098e-05,-0.000629237605605,-6.36235696207e-05,1793239409782107648
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745.168390287,715,680.831609713,659,632,880,785,805,652,631,653,0.451110562166,-0.00556098487175,0.0595974747626,0.999999796128,-8.90636544981e-05,-0.000629096909324,-6.36263815336e-05,1793239409798774528
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745.746148585,715,680.253851415,659,632,880,785,805,652,631,653,0.451146598686,-0.00556109099454,0.0595987878984,0.99999979697,-8.91775054652e-05,-0.000627763915358,-6.33952661532e-05,1793239409815441152
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.678169095,746,715,680.321830905,659,632,880,785.321830905,805,652,630.678169095,653,0.451178005156,-0.00556034683127,0.0596010705441,0.999999799103,-8.77836174926e-05,-0.000624558198719,-6.3365121464e-05,1793239409832107776
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.104113694,746,715,680.895886306,659,632,880,785.895886306,805,652,630.104113694,653,0.451205782979,-0.00555893628399,0.0596041130116,0.999999802226,-8.52080882137e-05,-0.000619884796489,-6.34924809863e-05,1793239409848774400
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.483742356,745.516257644,715,681,659,631.516257644,880,785.516257644,805,652,630.483742356,653,0.451222986797,-0.00556104978176,0.0596051066207,0.999999802915,-8.76640923992e-05,-0.000618487417995,-6.29193245638e-05,1793239409865441024
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.927045329,745,715,681,659,631,880,785,805,652,631,653,0.451236846605,-0.00556320221726,0.0596053342937,0.999999802862,-9.01497015122e-05,-0.000618277846288,-6.23060847233e-05,1793239409882107648
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.349596902,745,715,681,659,631,880,785,805,652,631,653,0.451243781689,-0.00556022498119,0.0596034042979,0.99999980144,-8.51315878336e-05,-0.000621263198545,-6.24888706731e-05,1793239409898774784
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.227139923,714.772860077,681,659,631.227139923,880,785,805,652,630.772860077,652.772860077,0.451248699773,-0.00555914180775,0.0596018630376,0.999999799895,-8.36269310466e-05,-0.000623950009886,-6.24685782839e-05,1793239409915441664
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.80278489,714.19721511,681,659,631.80278489,880,785,805,652,630.19721511,652.19721511,0.451250523136,-0.00556096473031,0.0596009182217,0.99999979819,-8.75130373756e-05,-0.000626178764137,-6.2136698981e-05,1793239409932108032
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714.375847512,681,659,631.624152488,880,785,805,652,630.375847512,652.375847512,0.451252360134,-0.00556137956481,0.0596004244468,0.999999797477,-8.78739069768e-05,-0.000627301766845,-6.17726436809e-05,1793239409948774400
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714.947564351,681,659,631.052435649,880,785,805,652,630.947564351,652.947564351,0.451254204238,-0.00556106058766,0.0596001657278,0.999999797286,-8.63976331307e-05,-0.000627848517672,-6.13918201793e-05,1793239409965441024
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.539405147,746,715,681,659,631.539405147,880.539405147,785,805,652,631,652.460594853,0.451256672598,-0.0055602702035,0.0596008627789,0.999999798652,-8.5473161701e-05,-0.000625782511803,-6.15409778899e-05,1793239409982107904
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680.869899432,659,631.869899432,881,785,805,652,630.869899432,652.130100568,0.45125875617,-0.00555954988813,0.0596012707052,0.999999799669,-8.47050412045e-05,-0.0006242366631,-6.17635300064e-05,1793239409998774528
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680.290185041,659,631.290185041,881,785,805,652,630.290185041,652.709814959,0.451259292106,-0.00555923622887,0.0596003459143,0.99999979896,-8.4284692317e-05,-0.000625400189384,-6.20547793706e-05,1793239410015441152
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,715.287086446,680.287086446,659,631.287086446,881,785,805,651.712913554,630,652.712913554,0.451259613791,-0.00555907711793,0.0595994588113,0.999999798337,-8.42880320087e-05,-0.000626385601522,-6.21501955464e-05,1793239410032107776
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715.861909566,680.861909566,659,631.861909566,881,785,805,651.138090434,630,652.138090434,0.451259720738,-0.00555907290532,0.0595986094816,0.999999797801,-8.47160198505e-05,-0.00062719249624,-6.20493350218e-05,1793239410048774656
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.55345894,745.55345894,715.55345894,680.55345894,659,631.55345894,881,785,805.44654106,651.44654106,630,652,0.451259088806,-0.00555836162168,0.059598371991,0.999999797264,-8.24304605774e-05,-0.000628383897728,-6.1730258186e-05,1793239410065441280
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.033800978,745.033800978,715,680.033800978,659,631,880.966199022,785,805.966199022,652,630,652,0.451258349946,-0.00555750966742,0.0595983361987,0.999999796765,-7.96352897719e-05,-0.000629571322713,-6.13780871672e-05,1793239410082108160
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.61342531,745.61342531,715,680.61342531,659,631,880.38657469,785,805.38657469,652,630,652,0.451259657046,-0.00555799636252,0.0595984334843,0.999999797051,-8.24658813697e-05,-0.000628731289911,-6.16056925006e-05,1793239410098774784
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.808186025,745.808186025,715,681,659,631.191813975,880,785,805,652,630,652,0.451260364376,-0.0055582963354,0.0595984904133,0.999999796969,-8.43343804581e-05,-0.000628604360033,-6.16918473997e-05,1793239410115441664
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.232271769,745.232271769,715,681,659,631.767728231,880,785,805,652,630,652,0.451259870692,-0.00555822240399,0.0595984665296,0.999999796168,-8.42763252645e-05,-0.000629905392038,-6.1494753104e-05,1793239410132109312
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.344204153,745,715,681,659,632,880.344204153,785,805,652,630.344204153,652,0.451260496865,-0.00555742680174,0.059598974928,0.999999796507,-8.40333653792e-05,-0.00062938135507,-6.16803033237e-05,1793239410148775680
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.921059687,745,715,681,659,632,880.921059687,785,805,652,630.921059687,652,0.451261879963,-0.0055561434142,0.0595998431017,0.999999797615,-8.36654263766e-05,-0.00062762373381,-6.2124487198e-05,1793239410165441280
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.491073795,745,715,681,659,631.491073795,880.491073795,785,805,652,630.491073795,652,0.451261957053,-0.005557453092,0.0595995787166,0.999999797726,-8.32389718246e-05,-0.00062754641046,-6.16841724454e-05,1793239410182107904
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.096672621,745.096672621,714.903327379,680.903327379,659,631.096672621,880,785,805,652,630,652.096672621,0.45126192078,-0.00555884853077,0.0595991033775,0.999999797614,-8.28601709849e-05,-0.000627826522582,-6.11614224187e-05,1793239410198774528
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.675120474,745.675120474,714.324879526,680.324879526,659,631.675120474,880,785,805,652,630,652.675120474,0.45126235144,-0.00555862257314,0.0595984715733,0.999999797175,-8.27650895189e-05,-0.00062856033045,-6.09266963996e-05,1793239410215441408
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,714.251419492,680.251419492,659,631.748580508,880,785,805,652,630.251419492,653,0.451262860578,-0.00555857123506,0.059598383072,0.999999797058,-8.36615454707e-05,-0.000628640095521,-6.08044650399e-05,1793239410232108032
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,714.824965436,680.824965436,659,631.175034564,880,785,805,652,630.824965436,653,0.451263470266,-0.00555874362492,0.0595989906671,0.999999797349,-8.58283899079e-05,-0.000627881880772,-6.08263652952e-05,1793239410248774912
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.600978195,746,715,681,659,631.399021805,880,785,805,652,631,653,0.451264208236,-0.00555816224194,0.0595997249361,0.999999797673,-8.59814394577e-05,-0.000627335874297,-6.09088399975e-05,1793239410265441792
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.026697671,746,715,681,659,631.973302329,880,785,805,652,631,653,0.451265002551,-0.00555724978615,0.0596005148428,0.999999798013,-8.52499880604e-05,-0.00062688307418,-6.10179202621e-05,1793239410282108928
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,715,680.433461699,659.566538301,631.433461699,880.566538301,785,805,652,631,653,0.451263946263,-0.00555714420843,0.0595993400076,0.999999797088,-8.50273961099e-05,-0.000628403567398,-6.0860287407e-05,1793239410298775040
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,715,680.155955344,659.844044656,631.155955344,880.844044656,785,805,652,630.844044656,653,0.451263854184,-0.00555710227166,0.0595991395252,0.999999797044,-8.432410324e-05,-0.000628579997278,-6.07408898715e-05,1793239410315441408
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,715,680.732578476,659.267421524,631.732578476,880.267421524,785,805,652,630.267421524,653,0.451266606302,-0.00555712588404,0.0596018256094,0.999999799539,-8.225726601e-05,-0.000624871493625,-6.07597025321e-05,1793239410332108032
+254,4.233333333,POSE1_TO_POSE2_PRESS,765.309229844,746,715,681,659,631.690770156,880,785,805,652,630.309229844,652.690770156,0.451266992971,-0.00555716944219,0.0596022790179,0.999999800038,-8.168791228e-05,-0.000624145748827,-6.07679332254e-05,1793239410348774656
+255,4.250000000,POSE1_TO_POSE2_PRESS,765.885905603,746,715,681,659,631.114094397,880,785,805,652,630.885905603,652.114094397,0.451265333818,-0.005557230251,0.0596008014354,0.99999979882,-8.24136983482e-05,-0.000625999725057,-6.07670118132e-05,1793239410365441280
+256,4.266666667,POSE1_TO_POSE2_PRESS,765.52651028,745.52651028,715,681,659,631,880.47348972,785,805,651.52651028,630.52651028,652.47348972,0.451265917693,-0.00555796166999,0.0596003207149,0.999999798669,-8.30398237051e-05,-0.000626196654519,-6.03724961734e-05,1793239410382108160
+257,4.283333333,HOLD_POSE2,765,746,715,681,659,631,880,785,805,651,631,652,0.451266644359,-0.00555313414177,0.0596006674524,0.999999799347,-7.6836490513e-05,-0.000625839418896,-6.10487679978e-05,1793239410425856256
+258,4.300000000,HOLD_POSE2,765,745.426195262,715,681,659,631,880.573804738,785,805,651.573804738,630.426195262,652,0.451266191474,-0.00555422992344,0.0595996623366,0.999999798641,-7.82458532795e-05,-0.000626803438888,-6.09270424818e-05,1793239410442522624
+259,4.316666667,HOLD_POSE2,765,745,715,680.852216424,659,631,880.852216424,785,805,652,630.147783576,652.147783576,0.451265616086,-0.00555510001543,0.059599001065,0.999999797914,-7.99746755839e-05,-0.000627759708779,-6.07834048146e-05,1793239410459189248
+260,4.333333333,HOLD_POSE2,765,745,715,680.27773477,659,631,880.27773477,785,805,652,630.72226523,652.72226523,0.451264686992,-0.00555531846996,0.0595993325807,0.999999797124,-8.26258792751e-05,-0.000628693601891,-6.05764997844e-05,1793239410475855872
+261,4.350000000,HOLD_POSE2,765.306264917,745.306264917,715,680,659,631,880,785,805,652,631,652.693735083,0.4512645551,-0.0055546869361,0.0595994329685,0.999999797155,-8.17113064527e-05,-0.000628761422065,-6.05923877725e-05,1793239410492522496
+262,4.366666667,HOLD_POSE2,765.899172797,745.899172797,715,680,659,631,880,785,805,652,631,652.100827203,0.451265169335,-0.0055532598714,0.0595993170363,0.999999797947,-7.74594111561e-05,-0.00062801865729,-6.08167947608e-05,1793239410509189120
+263,4.383333333,HOLD_POSE2,765.520344845,746,715,680,659,631,880,785,805,652,631,652,0.451266646171,-0.00555565995429,0.0596001988748,0.999999798712,-7.96591044589e-05,-0.000626576104943,-6.02799503761e-05,1793239410525855744
+264,4.400000000,HOLD_POSE2,765.057200755,745.942799245,715,680.057200755,659,631,880.057200755,785,805,652,631,652,0.451267886806,-0.00555837364631,0.0596009851831,0.999999799186,-8.27363424397e-05,-0.000625479845625,-5.96505210891e-05,1793239410542522624
+265,4.416666667,HOLD_POSE2,765.63121573,745.36878427,715,680.63121573,659,631,880.63121573,785,805,652,631,652,0.451265396418,-0.00555683567242,0.0595990612048,0.999999797179,-8.17985279386e-05,-0.000628807885139,-5.95938743388e-05,1793239410559189504
+266,4.433333333,HOLD_POSE2,766,745,715,681,659,631,880.788772442,785,805,652,631,652,0.451264838185,-0.00555598042892,0.0595986165191,0.999999796593,-8.14684253103e-05,-0.000629774352975,-5.96760225314e-05,1793239410575856128
+267,4.450000000,HOLD_POSE2,766,745,715,681,659,631,880.197984781,785,805,652,631,652,0.451267751889,-0.00555635200095,0.0596008300116,0.999999798569,-8.22303355124e-05,-0.000626497252997,-6.00075748491e-05,1793239410592522240
+268,4.466666667,HOLD_POSE2,765.6147428,745.3852572,715,680.6147428,659,631,880,785,804.6147428,652,631,652,0.45126951856,-0.00555591866124,0.0596019169995,0.999999800041,-8.14819598866e-05,-0.000624219807434,-6.02360299433e-05,1793239410609189120
+269,4.483333333,HOLD_POSE2,765.035304022,745.964695978,715,680.035304022,659,631,880,785,804.035304022,652,631,652,0.451270707092,-0.00555507962109,0.0596024361944,0.999999801258,-7.99723534329e-05,-0.000622446218402,-6.04125208693e-05,1793239410625855744
+270,4.500000000,HOLD_POSE2,765.54061145,746,715,680,659,631,880,785,804.54061145,652,631,652,0.45126900134,-0.00555617597123,0.0596015983172,0.999999799633,-8.19837376852e-05,-0.000624796631669,-6.03471272094e-05,1793239410642522368
+271,4.516666667,HOLD_POSE2,765.883985168,746,715,680.116014832,659,631.116014832,880.116014832,785,805,651.883985168,631,652.116014832,0.451267395465,-0.00555691082352,0.0596006802004,0.999999798081,-8.36819283521e-05,-0.000627054200681,-6.03128326001e-05,1793239410659188736
+272,4.533333333,HOLD_POSE2,765.309701444,746,715,680.690298556,659,631.690298556,880.690298556,785,805,651.309701444,631,652.690298556,0.451266925878,-0.00555572171446,0.0595997929283,0.999999797586,-8.32405971987e-05,-0.000627888104123,-6.04633735722e-05,1793239410675855616
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,659,631,881,785,805,652,630,652,0.451265512427,-0.00555656619097,0.0595987508809,0.999999796654,-8.1558683258e-05,-0.000629582260761,-6.05482034103e-05,1793239410713145088
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.419084064,745.580915936,715,680.419084064,659,631,881,785,805,652,630.580915936,652,0.451265896366,-0.00555502410665,0.0595985406353,0.999999796883,-8.02903958485e-05,-0.000629379252752,-6.05715329502e-05,1793239410729811968
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.837874832,715,680,659,631,880.837874832,785,804.837874832,652,630.837874832,652,0.451266415455,-0.00555440841951,0.0595985831412,0.99999979714,-7.9992327518e-05,-0.00062901451737,-6.05206231148e-05,1793239410746479104
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.255905948,715,680,659,631,880.255905948,785,804.255905948,652,630.255905948,652,0.451267284527,-0.00555619175523,0.0595992801794,0.999999797467,-8.22067644633e-05,-0.000628230968368,-6.0277460992e-05,1793239410763146496
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.324750131,745.324750131,715,680,659,631,880.324750131,785,804.324750131,652,630,652.324750131,0.451267495278,-0.00555720455873,0.0595995924522,0.999999797508,-8.26755732675e-05,-0.000628116705998,-6.01433276525e-05,1793239410779813376
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.904375839,745.904375839,715,680,659,631,880.904375839,785,804.904375839,652,630,652.904375839,0.451267189353,-0.00555761262072,0.0595996027474,0.999999797327,-8.17743502231e-05,-0.000628527723885,-6.00947640364e-05,1793239410796479232
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.516042935,745.516042935,715,680.483957065,659,631,880.516042935,785,805,652,630,653,0.451266195279,-0.00555628250043,0.0595991152521,0.999999797034,-7.98991878895e-05,-0.000629221329426,-6.02356676136e-05,1793239410813145856
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.06328411,745.06328411,715,681,659,631,880.06328411,784.93671589,805,652,630,653,0.451265199295,-0.00555471800149,0.0595985300078,0.999999796735,-7.82366181167e-05,-0.000629886548059,-6.04346177959e-05,1793239410829812224
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.640617885,745.640617885,715,681,659,631,880.640617885,784.359382115,805,652,630,653,0.45126529216,-0.00555403917287,0.059597949633,0.999999796596,-7.9863928731e-05,-0.000629867675591,-6.08010097788e-05,1793239410846479360
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.782618589,746,715,681,659,631,880.782618589,784.217381411,805,652,630,653,0.45126175347,-0.00555366040684,0.0595961358658,0.999999795166,-8.06360151917e-05,-0.000632025397076,-6.09140942883e-05,1793239410863146240
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.206795409,746,715,681,659,631,880.206795409,784.793204591,805,652,630,653,0.451252226685,-0.00555377641624,0.0595922883489,0.999999791587,-7.99979162472e-05,-0.00063777211994,-6.06094982501e-05,1793239410879812864
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.622700264,659,631.377299736,880,785,805,652,630,652.622700264,0.451229095528,-0.00555429263764,0.0595821551404,0.999999781597,-8.03527345581e-05,-0.000653193867415,-6.07292535659e-05,1793239410896479488
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.033969628,659,631.966030372,880,785,805,652,630,652.033969628,0.451198340765,-0.00555503312951,0.0595684995612,0.999999767669,-8.1263962894e-05,-0.000674037297122,-6.10868064767e-05,1793239410913145856
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.545497957,746,715,680.545497957,659,631.454502043,880,785,805,651.454502043,630,652.545497957,0.451145281187,-0.00555298169111,0.0595516290796,0.999999752152,-7.96739169638e-05,-0.000696779655591,-6.20206742088e-05,1793239410929812224
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.876183446,745.876183446,715,681,659,631.123816554,880,785,805,651.123816554,630,652.876183446,0.451086924244,-0.0055506450662,0.059535347878,0.999999736817,-7.80554639361e-05,-0.000718550916697,-6.29060907556e-05,1793239410946478848
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.299990292,745.299990292,715,681,659,631.700009708,880,785,805,651.700009708,630,652.299990292,0.451014202863,-0.00554789109497,0.0595219389074,0.999999723923,-7.68928092271e-05,-0.000736349350634,-6.34855526538e-05,1793239410963145728
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.28117806,745.28117806,715,681,659,631.71882194,880.28117806,785,805,651.71882194,630,652.28117806,0.450936817532,-0.00554440369232,0.0595135333984,0.999999715954,-7.41901308104e-05,-0.000747353813468,-6.36451911232e-05,1793239410979812352
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.867750053,745.867750053,715,681,659,631.132249947,880.867750053,785,805,651.132249947,630,652.867750053,0.450854366583,-0.00554011969317,0.0595105622644,0.999999713571,-6.98147974389e-05,-0.000750979187694,-6.33488497257e-05,1793239410996479232
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.550951196,746,715,681,659,631,880.550951196,785,805,651.449048804,630.449048804,653,0.45075779704,-0.00553749458952,0.059510566531,0.999999714686,-6.75454308648e-05,-0.000749747858718,-6.28043878582e-05,1793239411013145856
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,631,880,785,805,651.97129399,631,652.97129399,0.450655706724,-0.00553528284549,0.0595115314182,0.999999716812,-6.58836754069e-05,-0.000747107906957,-6.21709649248e-05,1793239411029812480
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,659,631,880,785,805,651.393673888,631,652.393673888,0.450526636336,-0.00553174149313,0.0595143033754,0.999999718881,-6.41182599727e-05,-0.000744566036473,-6.12175375061e-05,1793239411046479104
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.817250937,715,680.817250937,659.182749063,631.182749063,880.182749063,785,804.817250937,651.182749063,631,652.182749063,0.450384162162,-0.00552795555885,0.0595154984661,0.999999718917,-6.19095543758e-05,-0.000744799347248,-6.00587179859e-05,1793239411063145472
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.243390148,715,680.243390148,659.756609852,631.756609852,880.756609852,785,804.243390148,651.756609852,631,652.756609852,0.450213001795,-0.00552364618125,0.0595133188143,0.999999714586,-5.87521383676e-05,-0.000750971982514,-5.84603272008e-05,1793239411079812096
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.659576848,632,881,785,804.340423152,652,630.659576848,653,0.450027671034,-0.00551843975257,0.0595108057824,0.999999711086,-5.36468793878e-05,-0.000756098305445,-5.71461295461e-05,1793239411096478976
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.068433507,632,881,785,804.931566493,652,630.068433507,653,0.449831903821,-0.00551257264915,0.0595080472172,0.999999708175,-4.71070420908e-05,-0.00076045402446,-5.60412387443e-05,1793239411113145856
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.512103584,745,715,680,659.512103584,632,881,785,805,652,630.512103584,653,0.449601360225,-0.00550574270621,0.0595028792699,0.999999702398,-4.31023367791e-05,-0.00076833791248,-5.47918668343e-05,1793239411129812480
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745.090421129,715,680.090421129,660,632,880.909578871,785.090421129,804.909578871,652,631,652.909578871,0.44936156165,-0.00549893510198,0.0594989478096,0.999999698047,-3.90955903128e-05,-0.000774294638198,-5.33369460191e-05,1793239411146479360
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745.664295967,715,680.664295967,660,632,880.335704033,785.664295967,804.335704033,652,631,652.335704033,0.449096622677,-0.00549292091325,0.0595033140072,0.99999970364,-3.33033568729e-05,-0.000767477738614,-5.08841541762e-05,1793239411163145984
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745.76146745,715,680.76146745,659.76146745,632,880,786,804.23853255,652,631,652.23853255,0.448814406758,-0.00548506715208,0.0595093154108,0.999999710329,-2.57838781355e-05,-0.000759159118406,-4.85238871899e-05,1793239411179812352
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745.186721019,715,680.186721019,659.186721019,632,880,786,804.813278981,652,631,652.813278981,0.448507838836,-0.00547462049656,0.0595176216521,0.999999718509,-1.58298311797e-05,-0.000748723809163,-4.62940350079e-05,1793239411196478976
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745.399002642,715,680,659,632.399002642,880,786,805,652,631,652.600997358,0.448188736186,-0.00546413458723,0.0595279729108,0.999999730178,-4.20880567418e-06,-0.000733277918174,-4.3936802114e-05,1793239411213145600
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.990008619,715,680,659,632.990008619,880,786,805,652,631,652.009991381,0.447863601729,-0.00545362978895,0.0595393082484,0.999999743191,8.21438325702e-06,-0.000715420894327,-4.15182726295e-05,1793239411229812480
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,659.568239988,633,880.568239988,786,805,652,631,652,0.447492257123,-0.00544875951018,0.0595560406859,0.999999761325,1.44678450385e-05,-0.000689743385941,-3.73364397472e-05,1793239411246478848
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.85386122,745.85386122,715,680,660,633,880.85386122,786,804.85386122,652,631,652,0.447106871035,-0.00544282662142,0.0595732673498,0.99999977808,2.14831378419e-05,-0.000665042640922,-3.31203188308e-05,1793239411263145472
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.27629583,745.27629583,715,680,660,633,880.27629583,786,804.27629583,652,631,652,0.44668237811,-0.00543347068088,0.0595916790578,0.999999791975,3.10607021151e-05,-0.000643622494785,-2.88924919056e-05,1793239411279812352
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.306123453,715,680,660,633,880.306123453,785.693876547,804.306123453,651.693876547,631,652,0.446228067101,-0.00542510489578,0.0595996264422,0.999999796171,4.03592350624e-05,-0.00063671650102,-2.49415828898e-05,1793239411296478720
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.892994332,715,680,660,633,880.892994332,785.107005668,804.892994332,651.107005668,631,652,0.445746409723,-0.00541764718636,0.0595979769426,0.999999791751,4.94018680257e-05,-0.000643121510349,-2.12446362648e-05,1793239411313145344
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.473771753,745.526228247,715,680.473771753,660,633,880.526228247,785.473771753,805,651.473771753,631,652.473771753,0.445217204083,-0.00541376843503,0.059587355479,0.99999978057,5.0786474731e-05,-0.000660204548203,-2.02565496416e-05,1793239411329811968
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745.052787165,714.947212835,681,660.052787165,633,880,786,805,652,631,653,0.44467965483,-0.00541224012307,0.0595779989777,0.9999997716,4.8725219413e-05,-0.000673822993436,-1.97110108592e-05,1793239411346478848
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745.627813765,714.372186235,681,660.627813765,633,880,786,805,652,631,653,0.444164456417,-0.00542606981305,0.0596009503401,0.999999801208,2.94675191911e-05,-0.000629608190179,-1.75676656773e-05,1793239411363145472
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,746,714.203470365,680.796529635,661,633.203470365,880,786,805,651.796529635,631,653,0.443635726987,-0.00543172150497,0.059630840522,0.999999833549,2.0695971366e-05,-0.000576430655546,-1.42223838278e-05,1793239411379812096
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,746,714.780282902,680.219717098,661,633.780282902,880,786,805,651.219717098,631,653,0.443082169894,-0.00542236761254,0.0596734625516,0.99999987105,3.11651770943e-05,-0.000506807654668,-8.67170160993e-06,1793239411396478976
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.636501774,745.636501774,714.636501774,680,661.363498226,634.363498226,880,786,804.636501774,651,631.363498226,652.636501774,0.442480458006,-0.00540931791084,0.0596997552939,0.999999889509,4.33599706208e-05,-0.000468064424481,-4.07980628769e-06,1793239411413145344
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.049346902,745.049346902,714.049346902,680,661.950653098,634.950653098,880,786,804.049346902,651,631.950653098,652.049346902,0.441849116998,-0.00539399421682,0.0597160007956,0.999999897901,5.6616499885e-05,-0.000448321196632,-7.78427013726e-08,1793239411429811968
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.53108668,745,714.53108668,680.53108668,662,635,880.53108668,786.53108668,804.53108668,651,632,652,0.441157487914,-0.00538557128352,0.0597143236339,0.99999989325,6.39198208072e-05,-0.000457600019343,4.08830514089e-06,1793239411446478848
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745.110410554,715,681,662.110410554,635,880.889589446,787,804.889589446,651.110410554,632,652,0.440461839614,-0.00538022638646,0.0597159609638,0.99999988916,9.89831385219e-05,-0.000460229243945,8.46422760637e-06,1793239411463145472
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745.687649846,715,681,662.687649846,635,880.312350154,787,804.312350154,651.687649846,632,652,0.439772586756,-0.0053852186147,0.0597385655119,0.999999878048,0.000253728535269,-0.00042348397431,1.36634046202e-05,1793239411479812096
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.736426753,714.736426753,680.736426753,663.263573247,635,880,787.263573247,804.263573247,651.736426753,631.736426753,652,0.439085753296,-0.00539320349898,0.0597773482927,0.9999998818,0.000325383061307,-0.000360720022315,2.01701308342e-05,1793239411496478720
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.162054938,714.162054938,680.162054938,663.837945062,635,880,787.837945062,804.837945062,651.162054938,631.162054938,652,0.438401772633,-0.00540471724438,0.0598352080184,0.999999919166,0.000299059065434,-0.000267275533702,2.82186852066e-05,1793239411513145344
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714.423990148,679.576009852,663.576009852,635,880,787.576009852,805,651.423990148,631,652.423990148,0.437609678049,-0.0054030519334,0.0598356778282,0.999999920708,0.00028801075327,-0.000273065268054,3.26985479479e-05,1793239411529811968
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.014339474,662.985660526,635,880,787.014339474,804.985660526,651.985660526,631,653,0.436775097789,-0.00539614063645,0.0598132880666,0.99999990883,0.000283046583968,-0.000317722265614,3.57283445796e-05,1793239411546478592
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.593512782,662.406487218,635,880,787.593512782,804.406487218,651.406487218,631,653,0.435940786199,-0.0053866234144,0.0597789500684,0.999999896028,0.00028124406295,-0.000357051720757,3.68892583988e-05,1793239411563145216
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.342773587,635,880,787.828613206,804,651.171386794,631,652.828613206,0.435114146256,-0.00537989256542,0.0597583698952,0.999999895344,0.000261215651837,-0.000374151059834,3.30037215697e-05,1793239411579812352
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.492404692,635,880,787.253797654,804,651.746202346,631,652.253797654,0.434305564714,-0.00537972058312,0.0597701743792,0.999999922759,0.00019828517064,-0.000338922746355,1.7239303665e-05,1793239411596479744
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,880.328424008,787,804.328424008,652,631.328424008,652,0.433468436376,-0.00538834032906,0.0597842831277,0.999999938947,0.000151935698458,-0.00031459195796,7.34033275536e-06,1793239411613146624
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,880.916500935,787,804.916500935,652,631.916500935,652,0.432608738902,-0.00540391083938,0.0598002136334,0.99999994829,0.000118695220658,-0.000298876785007,2.07860103563e-06,1793239411629812736
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.504074967,663.504074967,635,880.504074967,787,804.504074967,651.504074967,632,652.495925033,0.431748272031,-0.00540620910068,0.059810366415,0.999999952726,0.000125243702727,-0.000280742748134,6.74696074047e-06,1793239411646479104
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766.073767638,745.073767638,715,679.073767638,663.073767638,635,880,787,804.073767638,651.073767638,632,652.926232362,0.430885190407,-0.00540549212061,0.0598204574355,0.99999995564,0.00013970169168,-0.000262743683445,1.3015428592e-05,1793239411663145472
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.650589791,745.650589791,715,679.650589791,663.650589791,635,880,787,804.650589791,651.650589791,632,652.349410209,0.430005146296,-0.00539919062968,0.0598366474521,0.999999955653,0.000163196191624,-0.000248394758243,1.89896117347e-05,1793239411679812096
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.773090709,745.773090709,715,679.773090709,663.773090709,635,880,787,804.773090709,652,631.773090709,652.226909291,0.429099277069,-0.00539203322978,0.0598272372173,0.999999945853,0.00018210500989,-0.00027320144126,2.22114391351e-05,1793239411696478976
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766.197543431,745.197543431,715,679.197543431,663.197543431,635,880,787,804.197543431,652,631.197543431,652.802456569,0.428153728344,-0.00538356075549,0.0597784931168,0.999999916821,0.000193968095561,-0.000358169308658,2.12043714731e-05,1793239411713146368
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.611896655,679.388103345,663,635,880,787,804,652,631,653,0.427249977183,-0.0053829495844,0.0597653087868,0.999999915358,0.000186844684667,-0.000366093345643,1.8662632784e-05,1793239411729812992
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.020971954,679.979028046,663,635,880,787,804,652,631,653,0.426368069328,-0.00538644670144,0.0597707078627,0.999999929771,0.000169799001306,-0.000333754560644,1.53188808518e-05,1793239411746479616
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.55820425,679.44179575,663.55820425,635,880,787,804,652,631.55820425,652.44179575,0.425478892324,-0.00538919915958,0.0597996982427,0.999999936815,0.000178105848038,-0.000307044767191,1.92604417485e-05,1793239411763145984
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.863847455,745.136152545,715,679.136152545,663.727694911,635,880,787,804,652,632,652.136152545,0.424590452487,-0.0053915179781,0.0598252427925,0.999999942593,0.000183596320287,-0.00028385236126,2.31023093279e-05,1793239411779812352
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.288465845,745.711534155,715,679.711534155,662.576931689,635,880,787,804,652,632,652.711534155,0.423705253681,-0.00539252626601,0.0598368706866,0.999999947193,0.000176991701785,-0.000271338890434,2.57577696069e-05,1793239411796478976
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.293428076,745.706571924,715,680,662.586856152,635,880,787.293428076,804.293428076,652,631.706571924,653,0.422839616397,-0.00539079018006,0.0598462157832,0.999999951321,0.000177246686687,-0.000255393377843,2.676583339e-05,1793239411813145600
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.881869454,745.118130546,715,680,663.763738908,635,880,787.881869454,804.881869454,652,631.118130546,653,0.421993646367,-0.00538629489388,0.059853265749,0.99999995481,0.000184398333917,-0.000235997282822,2.61176005626e-05,1793239411829812224
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.462756054,714.537243946,680,663.537243946,635,879.537243946,788,804.537243946,652,631.462756054,652.537243946,0.421043068247,-0.00538240863718,0.0598168689352,0.999999932833,0.000198283990389,-0.000307200574536,2.54140261812e-05,1793239411846479104
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.958458906,745.958458906,714.041541094,680,662.958458906,635,879.041541094,787.958458906,804,652,631.958458906,652,0.420074645878,-0.00537893302805,0.0597709062904,0.999999898846,0.000211427040096,-0.000396240558261,2.45057725425e-05,1793239411863145984
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.382299634,745.382299634,714.617700366,680,662.382299634,635,879.617700366,787.382299634,804,652,631.382299634,652,0.419214724848,-0.00537877359338,0.0597422782285,0.999999892077,0.000193245116474,-0.000421966422836,2.11422708825e-05,1793239411879813120
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.193555171,745.193555171,715,679.806444829,662.387110342,635,880,787,804,652,631.193555171,652.193555171,0.418379492375,-0.00537918579639,0.0597377643715,0.999999895732,0.000186114996039,-0.000416527460803,2.00755006065e-05,1793239411896479744
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.768809656,745.768809656,715,679.231190344,663.537619313,635,880,787,804,652,631.768809656,652.768809656,0.417592946669,-0.00538072529406,0.0597808047823,0.999999918446,0.000200779514319,-0.000349630093227,2.35379850601e-05,1793239411913146112
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745.648713238,715,679,663.648713238,635.351286762,880,787,804,652,632,652.648713238,0.416815482479,-0.00538037201091,0.0598149123248,0.999999933123,0.000206449432078,-0.000300751573911,2.60980758991e-05,1793239411929812224
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745.061383001,715,679,663.061383001,635.938616999,880,787,804,652,632,652.061383001,0.416044120566,-0.00537874689336,0.0598430175169,0.99999994353,0.000206075521248,-0.00026398063603,2.8051812586e-05,1793239411946478848
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.521027045,663,636,879.478972955,787.521027045,804,652,632,652.521027045,0.415235535082,-0.00537963520779,0.0598418459454,0.999999941431,0.000203519347046,-0.000273667606915,2.86884869024e-05,1793239411963145472
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635.898256042,879.101743958,787.898256042,804,652.101743958,632,653,0.414433335465,-0.00538073953358,0.0598381777363,0.999999938299,0.000202753035924,-0.000285382734742,2.91410475712e-05,1793239411979812352
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635.322749222,879.677250778,787.322749222,804,652.677250778,632,653,0.41368110026,-0.00538148377891,0.0598387945386,0.999999937635,0.000211507031339,-0.000281294341096,2.94520527586e-05,1793239411996480000
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635,880,787,804,652.748611731,632,652.748611731,0.412916900554,-0.00537839227373,0.0598201714116,0.999999927512,0.000216451589485,-0.000311947472326,2.85159778194e-05,1793239412013147136
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635,880,787,804,652.176222797,632,652.176222797,0.412137423291,-0.00537040285315,0.0597769805907,0.999999901349,0.000216531830442,-0.000386962468157,2.5987491326e-05,1793239412029813504
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.590022114,662.590022114,635,879.590022114,787,804,652,631.590022114,652,0.411437439627,-0.00536720921735,0.0597576501572,0.999999891912,0.000218743381973,-0.000409581665023,2.38757969448e-05,1793239412046479616
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.002270918,662.004541837,635,879,787,804,652,631,652,0.410772988285,-0.00536615751884,0.0597491398746,0.999999891649,0.000221904953648,-0.000408628432578,2.19696185177e-05,1793239412063145728
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.581492273,663.162984545,635,879,787,804,652,631,652,0.410152236123,-0.00536730960753,0.0597931092069,0.999999916385,0.000225566770121,-0.000340169483112,2.51747359782e-05,1793239412079812096
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.84071833,663.84071833,635.15928167,879,787,804,652,631,652.15928167,0.409540908046,-0.0053691961073,0.059832093211,0.999999934726,0.000224985758995,-0.000281311786612,2.81515400208e-05,1793239412096478720
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.266657709,663.266657709,635.733342291,879,787,804,652,631,652.733342291,0.408954120712,-0.00537299505748,0.0598580951333,0.999999946156,0.00021335617517,-0.000247456313047,3.05338032661e-05,1793239412113145600
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787,803.684901897,652,631,653,0.408379092688,-0.00537662763907,0.0598633093696,0.99999994875,0.000209304746265,-0.000240278831725,3.09564463583e-05,1793239412129812480
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787,803.0964709,652,631,653,0.407814265352,-0.00538011590343,0.0598504912575,0.999999944294,0.000211827013775,-0.000256243265329,2.96792103332e-05,1793239412146479616
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.515323338,879,787,803,652,631,653,0.407264333597,-0.00537502879881,0.0598367050708,0.999999935367,0.000226916581517,-0.000277410332667,2.8592967302e-05,1793239412163146752
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.064124079,635.064124079,879,787.064124079,803.064124079,652,631.064124079,653,0.406724693305,-0.00536864724786,0.0598250168205,0.999999926574,0.000242589240916,-0.000295359320025,2.76558946871e-05,1793239412179813888
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.641395645,635.641395645,879,787.641395645,803.641395645,652,631.641395645,653,0.406244034905,-0.00536536375478,0.0598316362617,0.999999931014,0.000243207017163,-0.00027939175188,2.76128331883e-05,1793239412196480000
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.782130568,745,715,679,663.782130568,636,879,788,803.782130568,652,631.782130568,652.782130568,0.405780128262,-0.00536184496985,0.059836191022,0.999999933514,0.000245804309908,-0.000267925230134,2.77248791112e-05,1793239412213146368
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.206965159,745,715,679,663.206965159,636,879,788,803.206965159,652,631.206965159,652.206965159,0.405343693785,-0.0053579403173,0.0598373597989,0.999999933136,0.000251647919859,-0.000263840221806,2.8091294177e-05,1793239412229813248
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.377611118,745,715,679,663,635.622388882,879,787.622388882,803,652,631,652,0.404921287514,-0.0053508390998,0.0598260407441,0.999999925521,0.000261248910588,-0.000282712350427,2.79512886122e-05,1793239412246479872
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.967477293,745,715,679,663,635.032522707,879,787.032522707,803,652,631,652,0.40450676645,-0.00534194109407,0.0598077022843,0.999999912915,0.000272961923846,-0.000314488675828,2.75266242237e-05,1793239412263146752
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.547048005,663,635.547048005,879,787,803.547048005,652,631,652.547048005,0.404124313511,-0.00533824346789,0.0597888937765,0.999999900102,0.000281657255818,-0.000345972781247,2.77032584163e-05,1793239412279813376
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.874804117,663,635.874804117,879,787.125195883,804,652,631,653,0.40376241605,-0.00533502963236,0.0597768797712,0.999999891391,0.00028872388196,-0.000364779789837,2.8138023462e-05,1793239412296480000
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.299610858,663,635.299610858,879,787.700389142,804,652,631,653,0.403467675984,-0.00533246397336,0.0597893861442,0.999999900204,0.000290569310289,-0.000338082221018,2.93744832749e-05,1793239412313146624
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,879,788,803.718423328,652,631,652.718423328,0.403200948143,-0.00533393117714,0.0598066144415,0.999999910773,0.000288293344296,-0.000307211084438,3.10209297012e-05,1793239412329812992
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,879,788,803.130718914,652,631,652.130718914,0.402964674969,-0.00533978287488,0.0598289763735,0.999999922882,0.000281536633526,-0.000271802482282,3.31131099713e-05,1793239412346479104
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,879,787.549319165,803.450680835,652.450680835,631,652.450680835,0.402739378302,-0.0053544348043,0.059844218464,0.999999933973,0.000263364069786,-0.00024786983382,3.54217729185e-05,1793239412363145728
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.030131,715,678.969869,663,635.030131,879.030131,787,803.969869,652.969869,631,652.969869,0.402517415607,-0.00537102912603,0.0598563574723,0.99999994361,0.000242557338246,-0.000229180071803,3.77280528276e-05,1793239412379812352
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.606929543,715,678.393070457,663,635.606929543,879.606929543,787,803.393070457,652.393070457,631,652.393070457,0.402298975966,-0.00537719339765,0.0598491473204,0.999999941781,0.000233204156304,-0.000246054900349,3.88676089358e-05,1793239412396478976
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.81860412,715,678.18139588,663,636,879.81860412,787,803,652,631.18139588,652,0.402094176345,-0.00537797562398,0.0598425111483,0.99999993869,0.000230564112051,-0.000260643642908,3.90555831539e-05,1793239412413145600
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.249127411,715,678.750872589,663,636,879.249127411,787,803,652,631.750872589,652,0.401918558397,-0.00536724342808,0.059837102957,0.999999933414,0.000242286247858,-0.000270341499754,3.72077299141e-05,1793239412429812224
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.665092592,879,787,803.334907408,652,632,652.334907408,0.401768161465,-0.00536581895292,0.0598357536792,0.999999927631,0.000262923070717,-0.000272949732375,3.32794300184e-05,1793239412446478848
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.069736243,879,787,803.930263757,652,632,652.930263757,0.401637378254,-0.00537163285343,0.059837560914,0.99999992096,0.000290492619237,-0.000270044546125,2.7733219656e-05,1793239412463145728
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,879,787.510952864,804,652,632,653,0.40152798498,-0.00537523906992,0.0598387532781,0.999999931278,0.000255030795819,-0.000268478643601,1.79370654171e-05,1793239412479812352
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.089319276,745,715,679,663,635.089319276,879,787.910680724,804,652,631.910680724,653,0.401425377767,-0.00537741388353,0.0598400912582,0.999999940625,0.000218318732477,-0.000266461349019,9.22713575956e-06,1793239412496479232
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.665631874,745,715,679,663,635.665631874,879,787.334368126,804,652,631.334368126,653,0.401344297005,-0.00537338128196,0.0598426679601,0.999999941606,0.000220385414107,-0.000261014136053,9.51390766347e-06,1793239412513146368
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.506911623,745.246544188,715,678.753455812,663,635.753455812,879,787,804,652,631.246544188,653,0.401268413056,-0.0053707800857,0.0598428108539,0.999999941342,0.00022187722465,-0.000260739799504,1.00348131448e-05,1793239412529812992
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.332373418,745.833813291,715,678.166186709,663,635.166186709,879,787,804,652,631.833813291,653,0.401199711123,-0.00537015709671,0.0598395902162,0.999999939362,0.000222574561256,-0.000267614396235,1.0879292016e-05,1793239412546479360
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.41574224,746,715,678.41574224,663,635.41574224,879,787,803.58425776,652,631.58425776,653,0.401144198097,-0.00536951011318,0.0598358536539,0.999999937244,0.00022394126184,-0.000274297145882,1.10692496133e-05,1793239412563145984
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.995563601,746,715,678.995563601,663,635.995563601,879,787,803.004436399,652,631.004436399,653,0.401093890278,-0.00536885365986,0.0598319134742,0.999999935045,0.000225572137273,-0.000280904179935,1.10008902215e-05,1793239412579812352
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.428327915,715,679,663,636,879.571672085,787,803,652.571672085,631,652.428327915,0.401061557035,-0.00536813652123,0.0598315116454,0.999999934845,0.000225729316676,-0.000281464186745,1.15560490757e-05,1793239412596479488
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.85249817,787.14750183,803.14750183,652.85249817,631,652,0.401033104891,-0.00536783776586,0.0598314422407,0.999999934998,0.000225264721863,-0.000281273515359,1.20788307854e-05,1793239412613146368
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.277393591,787.722606409,803.722606409,652.277393591,631,652,0.401015502161,-0.00536875324579,0.0598322574333,0.999999936118,0.000223030564852,-0.000279041816286,1.24938153253e-05,1793239412629812736
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.695926405,879,787.695926405,804,652.304073595,631,652.304073595,0.40100193506,-0.00536828170364,0.0598337557811,0.999999936806,0.000222588358815,-0.000276919209081,1.25471697586e-05,1793239412646479104
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.108530764,879,787.108530764,804,652.891469236,631,652.891469236,0.400992128172,-0.00536651779705,0.0598358906621,0.999999937094,0.000223815811531,-0.000274898248494,1.22635736341e-05,1793239412663145728
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,879.472784329,787,804,652.527215671,631,653,0.400986819412,-0.00536834725813,0.0598377979915,0.999999938315,0.000222101429251,-0.000271791631741,1.30339407221e-05,1793239412679812096
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.052401469,745,715,679,663,635,879.947598531,787,804,652,631,653,0.400982614683,-0.00537060844921,0.0598394745163,0.999999939554,0.000220124873632,-0.00026878160587,1.39064964103e-05,1793239412696478976
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.628820504,745,715,679,663,635,879.371179496,787,804,652,631,653,0.400979255633,-0.00536904285033,0.0598393587114,0.999999938991,0.000222194030996,-0.000269198055343,1.34122108189e-05,1793239412713145600
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.795039716,745.204960284,715,679,663,635,879,787.204960284,804,652.204960284,631.204960284,653,0.400977516509,-0.00536839114674,0.0598398851411,0.999999938912,0.000223539300515,-0.000268381492904,1.329512998e-05,1793239412729812224
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.219405008,745.780594992,715,679,663,635,879,787.780594992,804,652.780594992,631.780594992,653,0.40097870705,-0.0053693922396,0.0598415730637,0.99999993971,0.000223575405492,-0.000265335005827,1.386023087e-05,1793239412746479104
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.634634638,715,679,663.365365362,635.365365362,879,788,804,652.634634638,631.634634638,653,0.400978906286,-0.00536912270462,0.059842786825,0.999999940121,0.000223975954134,-0.000263438080433,1.38719649647e-05,1793239412763145984
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.044237555,715,679,663.955762445,635.955762445,879,788,804,652.044237555,631.044237555,653,0.400978494969,-0.0053680705788,0.0598437085463,0.999999940298,0.000224600966815,-0.000262249180246,1.35428755905e-05,1793239412779812864
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.534683035,663.465316965,636,879,788,803.465316965,652,631,652.465316965,0.40097735612,-0.00536754333101,0.0598428932722,0.999999939733,0.000225749442012,-0.00026341571395,1.35058528832e-05,1793239412796479488
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.112143156,715,679.887856844,663,636,879,788,803.112143156,652,631.112143156,652.112143156,0.400976298987,-0.00536724821536,0.0598421499462,0.99999993928,0.000226520876776,-0.00026447247306,1.35078112046e-05,1793239412813145600
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.687410627,715,679.312589373,663,636,879,788,803.687410627,652,631.687410627,652.687410627,0.400975822683,-0.00536773617804,0.0598422847742,0.999999939545,0.00022556012642,-0.000264287995932,1.35730554552e-05,1793239412829812480
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.738025429,715,679,663,635.738025429,879.261974571,788,803.738025429,652,632,653,0.400975940802,-0.00536736543169,0.0598430090427,0.999999939825,0.000225690360693,-0.000263116130621,1.35492745704e-05,1793239412846479104
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.164298615,715,679,663,635.164298615,879.835701385,788,803.164298615,652,632,653,0.400976766288,-0.00536597281347,0.0598444347509,0.999999940118,0.000227118876978,-0.000260769263906,1.3419552932e-05,1793239412863145728
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.843511677,879.578244161,787.578244161,803.421755839,652.421755839,631.578244161,653,0.400976692245,-0.00536683127872,0.0598447264603,0.99999994017,0.000226902727053,-0.000260746997412,1.36073864381e-05,1793239412879812608
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636.987476582,879,787.012523418,803.987476582,652.987476582,631,653,0.400976247403,-0.0053685621129,0.0598445590199,0.999999940133,0.000226022753843,-0.000261635144119,1.39203870811e-05,1793239412896479232
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636.407305154,879,787.592694846,803.407305154,652.407305154,631,653,0.400975356983,-0.00536888945795,0.0598442062069,0.999999940402,0.000224968790569,-0.000261507021766,1.41307718219e-05,1793239412913146112
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.17084624,636,879,788,803.17084624,652,631.17084624,653,0.400975239011,-0.00536914593474,0.0598444020122,0.999999940708,0.000224378878536,-0.000260832321333,1.42729230959e-05,1793239412929812736
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.744238023,636,879,788,803.744238023,652,631.744238023,653,0.400976941073,-0.00536923543268,0.0598458904645,0.999999941106,0.000224882357676,-0.000258869781213,1.42543036085e-05,1793239412946479104
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,664,636,879,788,803.673714885,652,632,653,0.400977924082,-0.00536943136942,0.0598464997412,0.999999941414,0.000224669078287,-0.000257868193719,1.41657650993e-05,1793239412963145472
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,664,636,879,788,803.084698391,652,632,653,0.400978328093,-0.00536971301283,0.0598464010878,0.999999941652,0.0002238786504,-0.000257640384827,1.40209263796e-05,1793239412979812096
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,664,636,879,787.504949238,803,652,632,652.504949238,0.400977223172,-0.00536770213383,0.0598458573088,0.999999940995,0.000225583845188,-0.00025871289269,1.37888912299e-05,1793239412996478720
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745.07317332,715,679,663.92682668,636,879.07317332,787,803.07317332,652,632,652,0.400975950226,-0.00536587358816,0.0598453291327,0.999999940308,0.000227299479678,-0.000259875088949,1.35864391361e-05,1793239413013145088
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.650811774,715,679,663.349188226,636,879.650811774,787,803.650811774,652,632,652,0.400975265998,-0.00536795644722,0.0598454239096,0.999999940485,0.000226197550903,-0.000260150046223,1.36888957083e-05,1793239413029811712
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,663.231774639,635.768225361,879.768225361,787.231774639,803.768225361,652.231774639,631.768225361,652,0.400975187009,-0.00536894133522,0.0598455714029,0.999999940563,0.000225931769987,-0.000260076462454,1.37290069521e-05,1793239413046478592
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,679,663.817818987,635.182181013,879.182181013,787.817818987,803.182181013,652.817818987,631.182181013,652,0.400976033134,-0.0053682479645,0.0598457994736,0.999999940492,0.000226944048739,-0.000259470130476,1.36738227926e-05,1793239413063145216
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.399453196,745.600546804,715,679,663.600546804,635.399453196,879.399453196,787.600546804,803,652.600546804,631.399453196,652.399453196,0.400975283337,-0.00536836858163,0.0598453771174,0.999999940492,0.000226264755826,-0.000260063332174,1.36851192407e-05,1793239413079811840
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.979097974,745.020902026,715,679,663.020902026,635.979097974,879.979097974,787.020902026,803,652.020902026,631.979097974,652.979097974,0.400973813627,-0.00536885638515,0.0598446613565,0.999999940521,0.0002248224023,-0.000261197638281,1.37264048021e-05,1793239413096478464
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766.442633821,745.557366179,715,679,663,636,879.442633821,787.557366179,803,652,632,653,0.400974684597,-0.00536923353668,0.0598459400454,0.999999940658,0.00022613743642,-0.00025950762805,1.41713787958e-05,1793239413113145344
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745.865199327,715,679.134800673,663,636,879,788,803,652,631.865199327,653,0.400975610181,-0.00536934350332,0.0598469578397,0.999999940858,0.00022696856621,-0.000257994330694,1.44140333416e-05,1793239413129812224
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766,745.290318544,715,679.709681456,663,636,879,788,803,652,631.290318544,653,0.400976428198,-0.0053685947124,0.0598468803196,0.999999941263,0.000225883151594,-0.00025740287202,1.39468792691e-05,1793239413146478848
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2046b65ba8b40eb793ffb0b94ebdcb7f17b5d0e5
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b812c80176e0a8a6f5360d7386c25298f775fcf
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1910cb2aca657053faf4edd4b4815759cf2bd154
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,665,635,880,788,804,653,631,653,0.40093472204,-0.00543302656038,0.0499319973387,0.999999973066,7.09036474733e-05,-0.000219394567689,-2.65991153664e-05,1793239414504333824
+1,0.016666667,BASELINE,766,745.579484107,715,679,665.579484107,635.579484107,879.420515893,787.420515893,803.420515893,653,631.579484107,653,0.400936657644,-0.00543455502291,0.0499329789548,0.99999997367,6.98683033325e-05,-0.000216977366846,-2.64322273322e-05,1793239414521001216
+2,0.033333333,BASELINE,766.158448891,746,714.841551109,679,666,636,879,787.158448891,803,653,632,653,0.400937847203,-0.00543543359965,0.0499337156983,0.999999974022,6.97042811407e-05,-0.000215425221478,-2.62600710213e-05,1793239414537668096
+3,0.050000000,BASELINE,766.736040041,746,714.263959959,679,666,636,879,787.736040041,803,653,632,653,0.400937063258,-0.00543459304449,0.0499338046846,0.999999973716,7.18451524305e-05,-0.00021616139269,-2.60739785882e-05,1793239414554334464
+4,0.066666667,BASELINE,766.688056971,746,714.311943029,679,666,636,879.311943029,788,803.311943029,653,632,653,0.400936282568,-0.00543382761788,0.0499332102567,0.999999973552,7.2204772038e-05,-0.000216798372723,-2.61108402384e-05,1793239414571001088
+5,0.083333333,BASELINE,766.113574816,746,714.886425184,679,666,636,879.886425184,788,803.886425184,653,632,653,0.400935504618,-0.0054331254214,0.0499320406501,0.999999973507,7.10652451554e-05,-0.000217351870913,-2.63353456822e-05,1793239414587667200
+6,0.100000000,BASELINE,766,745.5264454,715,679,665.5264454,636,880,788,804,653,632,653,0.40093568948,-0.00543367902646,0.0499326214896,0.99999997364,6.97208360454e-05,-0.00021716140214,-2.64695409118e-05,1793239414604333824
+7,0.116666667,BASELINE,766.062463942,745,715,679,665,636,880,788,803.937536058,653,632,652.937536058,0.400936099804,-0.00543442711224,0.0499334920744,0.999999973806,6.85088151724e-05,-0.000216770088485,-2.65691264685e-05,1793239414621000192
+8,0.133333333,BASELINE,766.640344805,745,715,679,665,636,880,788,803.359655195,653,632,652.359655195,0.400936412847,-0.00543422654317,0.0499331943214,0.999999973901,6.88057700637e-05,-0.000216234212013,-2.65667588684e-05,1793239414637667328
+9,0.150000000,BASELINE,767,745,715,679,665.217419266,636,880,788,803.217419266,653,631.782580734,652.217419266,0.400936658268,-0.00543360477304,0.0499330697526,0.999999973876,7.00641352322e-05,-0.000215950405449,-2.6524909988e-05,1793239414654334208
+10,0.166666667,BASELINE,767,745,715,679,665.79316465,636,880,788,803.79316465,653,631.20683535,652.79316465,0.400936792244,-0.00543228882644,0.0499332306065,0.999999973648,7.29069892635e-05,-0.000216082032366,-2.64179924775e-05,1793239414671000832
+11,0.183333333,BASELINE,766.630568831,745,714.630568831,679,666,636,880.369431169,788,804,653,631.369431169,653,0.400937843853,-0.00543318154805,0.0499338206197,0.999999973941,7.19814924058e-05,-0.000215065975583,-2.61530845866e-05,1793239414687667200
+12,0.200000000,BASELINE,766.054010074,745,714.054010074,679,666,636,880.945989926,788,804,653,631.945989926,653,0.400939409947,-0.00543531259525,0.0499346512481,0.999999974519,6.89432086583e-05,-0.000213406451295,-2.57995968117e-05,1793239414704333824
+13,0.216666667,BASELINE,766,745.533079923,714.533079923,679,666,636,880.466920077,788,804,653,631.466920077,652.466920077,0.400939886153,-0.00543596590259,0.0499343662943,0.999999974581,6.88074707718e-05,-0.000213151265688,-2.59032024901e-05,1793239414721000448
+14,0.233333333,BASELINE,766,745.880508815,714.880508815,679,665.880508815,636,880,788,804,653,631.119491185,652.119491185,0.40094000747,-0.0054362658342,0.0499339163998,0.999999974503,6.89998271219e-05,-0.000213439928482,-2.60212631728e-05,1793239414737666816
+15,0.250000000,BASELINE,766,745.300902322,714.300902322,679,665.300902322,636,880,788,804,653,631.699097678,652.699097678,0.400939196012,-0.0054357931845,0.0499332753782,0.999999974091,6.93003482132e-05,-0.000215263824166,-2.60130632291e-05,1793239414754333440
+16,0.266666667,BASELINE,766,745,714,679,665.276375773,636,880,788,803.723624227,652.723624227,631.723624227,652.723624227,0.400938697401,-0.00543503740927,0.0499328714537,0.999999973893,7.0345956949e-05,-0.000215834971061,-2.60745477341e-05,1793239414771000576
+17,0.283333333,BASELINE,766,745,714,679,665.851139983,636,880,788,803.148860017,652.148860017,631.148860017,652.148860017,0.400938536555,-0.00543397595827,0.0499327235103,0.999999973926,7.21959977502e-05,-0.000215053590631,-2.62112668872e-05,1793239414787667456
+18,0.300000000,BASELINE,766.43583442,745,714.43583442,679,666,636,879.56416558,788,803,652.43583442,631,652.43583442,0.400937577996,-0.00543588800351,0.0499323943055,0.999999973985,6.95640681629e-05,-0.000215668227924,-2.60256093435e-05,1793239414804334080
+19,0.316666667,BASELINE,766.976375535,745,715,678.976375535,666,636,879,788,803,653,631.023624465,653,0.400936386793,-0.00543865377097,0.0499320059805,0.999999974028,6.56396404373e-05,-0.000216732520106,-2.57508136786e-05,1793239414821000448
+20,0.333333333,BASELINE,766.397404161,745,715,678.397404161,666,636,879,788,803,653,631.602595839,653,0.400936280865,-0.00543705752646,0.0499317171696,0.999999973816,6.81566505047e-05,-0.000216897080797,-2.60293194365e-05,1793239414837667072
+21,0.350000000,BASELINE,766,745,714.81977455,678.18022545,665.81977455,636,879,788,803,653,632,653,0.400936530995,-0.00543581927046,0.0499318047171,0.999999973739,7.00245661645e-05,-0.000216649067696,-2.61166240149e-05,1793239414854333440
+22,0.366666667,BASELINE,766,745,714.245081791,678.754918209,665.245081791,636,879,788,803,653,632,653,0.400937560448,-0.00543536455973,0.0499327160169,0.999999973965,7.04717802338e-05,-0.000215498036308,-2.57854381905e-05,1793239414871000064
+23,0.383333333,BASELINE,766,745,714,679,665,635.669937614,879,788,803,653,631.669937614,652.669937614,0.400938409945,-0.00543507956601,0.0499332838735,0.999999974178,7.03392782067e-05,-0.00021454578015,-2.58129139563e-05,1793239414887666944
+24,0.400000000,BASELINE,766,745,714,679,665,635.094457725,879,788,803,653,631.094457725,652.094457725,0.400939125637,-0.00543492076512,0.0499335963635,0.999999974382,6.97757289985e-05,-0.000213741322962,-2.61070720946e-05,1793239414904333824
+25,0.416666667,BASELINE,766,745,714,678.507461435,665,635,879.492538565,788,803,652.507461435,631.492538565,652.492538565,0.400939053933,-0.00543566289205,0.0499340411898,0.999999974541,6.79273765272e-05,-0.000213596746533,-2.61000274498e-05,1793239414921000448
+26,0.433333333,BASELINE,766,745,714.080444316,678.080444316,665.080444316,635.080444316,879.919555684,787.919555684,803.080444316,652.080444316,631.919555684,653,0.40093892172,-0.00543621795839,0.0499344330121,0.999999974635,6.67011816985e-05,-0.000213546085091,-2.60430429585e-05,1793239414937667072
+27,0.450000000,BASELINE,766,745,714.659962556,678.659962556,665.659962556,635.659962556,879.340037444,787.340037444,803.659962556,652.659962556,631.340037444,653,0.400939373357,-0.00543451493816,0.0499343347784,0.999999974405,7.09000631186e-05,-0.00021327415928,-2.60431781794e-05,1793239414954333696
+28,0.466666667,BASELINE,766,745,715,679,665.762230634,636,879.237769366,787.475538732,803.762230634,652.762230634,631,652.762230634,0.400940188951,-0.0054341979909,0.0499345195775,0.999999974425,7.27979266904e-05,-0.000212557308881,-2.58723976017e-05,1793239414971000320
+29,0.483333333,BASELINE,766,745,715,679,665.186853909,636,879.813146091,788.626292181,803.186853909,652.186853909,631,652.186853909,0.400941521323,-0.0054358491208,0.0499351062532,0.99999997482,7.14285879742e-05,-0.000211208712635,-2.54589346631e-05,1793239414987666944
+30,0.500000000,BASELINE,766,745,714.6122977,679,665.3877023,636,880,788.6122977,803.3877023,652.3877023,631,652.3877023,0.400940539592,-0.00543645493063,0.0499341525519,0.999999974789,6.97658694209e-05,-0.000211912789115,-2.54499450418e-05,1793239415004333568
+31,0.516666667,BASELINE,766,745,714.038136121,679,665.961863879,636,880,788.038136121,803.961863879,652.961863879,631,652.961863879,0.400938444928,-0.00543655801027,0.0499324580306,0.999999974549,6.7962054522e-05,-0.000213604066063,-2.56354804662e-05,1793239415021000704
+32,0.533333333,BASELINE,766,745,714.556353148,679,666,636,879.443646852,788,804,653,631,653,0.400937342904,-0.00543634874639,0.049932096507,0.999999974245,6.76585848879e-05,-0.000215113024624,-2.5666801166e-05,1793239415037667072
+33,0.550000000,BASELINE,766,745,714.853422572,679,665.853422572,636,879.146577428,788,803.853422572,653,631,653,0.400936983523,-0.00543604881309,0.0499320324135,0.999999974065,6.74889665496e-05,-0.000215984605389,-2.57865177005e-05,1793239415054333440
+34,0.566666667,BASELINE,766,745,714.279836321,679,665.279836321,636,879.720163679,788,803.279836321,653,631,653,0.400938581867,-0.00543554947912,0.0499325585121,0.999999974265,6.73983179507e-05,-0.000215037167004,-2.61957115887e-05,1793239415071000320
+35,0.583333333,BASELINE,766,745.295271607,714,679,665.295271607,636,880.295271607,788,803,653,631,652.704728393,0.400939015988,-0.00543569426517,0.0499328984729,0.999999974366,6.7412804858e-05,-0.000214553006824,-2.6292799706e-05,1793239415087667200
+36,0.600000000,BASELINE,766,745.871829207,714,679,665.871829207,636,880.871829207,788,803,653,631,652.128170793,0.400938341031,-0.00543645266227,0.0499330611124,0.999999974372,6.75274474912e-05,-0.000214510181447,-2.60925650697e-05,1793239415104333824
+37,0.616666667,BASELINE,766,745.541595993,714,678.541595993,666,636,880.541595993,788,803,653,631.458404007,652.458404007,0.400939023867,-0.00543594969993,0.0499332362038,0.999999974369,6.91570949602e-05,-0.000213990554874,-2.62148699749e-05,1793239415121000192
+38,0.633333333,BASELINE,766,745,714.04700294,678.04700294,666,635.95299706,879.95299706,788,803,653,631.95299706,653,0.400939856509,-0.0054351808398,0.049933343184,0.999999974336,7.10203262082e-05,-0.000213515709058,-2.63733638607e-05,1793239415137666560
+39,0.650000000,BASELINE,766,745,714.626101367,678.626101367,666,635.373898633,879.373898633,788,803,653,631.373898633,653,0.40093799128,-0.00543548357718,0.0499326388189,0.999999974039,7.06253691601e-05,-0.000215090703355,-2.58978148488e-05,1793239415154333440
+40,0.666666667,BASELINE,766,745.203991835,715,679,665.796008165,635.203991835,879,788,803,652.796008165,631,653,0.400937217878,-0.00543554786197,0.0499323682251,0.999999973922,7.04283474994e-05,-0.000215730932621,-2.55933418557e-05,1793239415171000064
+41,0.683333333,BASELINE,766,745.779681222,715,679,665.220318778,635.779681222,879,788,803,652.220318778,631,653,0.400938433918,-0.00543517765758,0.0499328880144,0.99999997414,7.05919878425e-05,-0.000214667907969,-2.5600589884e-05,1793239415187666944
+42,0.700000000,BASELINE,766,746,715,679,665.354792696,635.645207304,879.354792696,788,803,652.354792696,631,653,0.400938681906,-0.00543481709016,0.0499329949671,0.99999997424,7.02874041532e-05,-0.000214280191411,-2.57683907585e-05,1793239415204333824
+43,0.716666667,BASELINE,766,746,715,679,665.929545862,635.070454138,879.929545862,788,803,652.929545862,631,653,0.400938329731,-0.00543446249737,0.0499328459737,0.999999974268,6.96925360784e-05,-0.000214311144965,-2.6035729418e-05,1793239415221000448
+44,0.733333333,BASELINE,766,745.479723703,715,679,666,635.520276297,879.479723703,788,803.520276297,652.479723703,631,653,0.400938488584,-0.00543616023454,0.0499329191523,0.999999974275,6.90616999102e-05,-0.000214517895646,-2.57469850866e-05,1793239415237667840
+45,0.750000000,BASELINE,766,745,715,679,666,636,879.110322138,788,804,652.110322138,631,653,0.400938570151,-0.00543768512998,0.0499328435769,0.999999974222,6.873704439e-05,-0.000214901145897,-2.546996862e-05,1793239415254334976
+46,0.766666667,BASELINE,766,745,715,679,666,636,879.688011407,788,804,652.688011407,631,653,0.400938021846,-0.00543726312286,0.0499320063296,0.999999973929,6.97307762088e-05,-0.000215928070279,-2.55717554209e-05,1793239415271001600
+47,0.783333333,BASELINE,766,745.264332042,714.735667958,679,666,636,880,788,803.735667958,652.735667958,631,653,0.400937772399,-0.00543659093136,0.0499315695056,0.999999973784,7.06296728302e-05,-0.000216312848407,-2.55405255678e-05,1793239415287667968
+48,0.800000000,BASELINE,766,745.839045688,714.160954312,679,666,636,880,788,803.160954312,652.160954312,631,653,0.400937873872,-0.00543562497056,0.0499316028629,0.999999973813,7.14172130449e-05,-0.000215943611441,-2.5353106103e-05,1793239415304333824
+49,0.816666667,BASELINE,766.422469133,746,714.422469133,678.577530867,665.577530867,636,879.577530867,788,803.422469133,652.422469133,631.422469133,653,0.400939100402,-0.00543644690709,0.0499325720639,0.999999974355,6.91118023161e-05,-0.000214171760575,-2.53636874054e-05,1793239415321000448
+50,0.833333333,BASELINE,766.990831397,746,715,678.009168603,665.009168603,636,879.009168603,788,803.990831397,653,631.990831397,653,0.400940705003,-0.00543790977769,0.0499338603857,0.999999975058,6.57207502441e-05,-0.000211934506286,-2.54524065746e-05,1793239415337666816
+51,0.850000000,BASELINE,766.411107327,746,715,678.588892673,665.588892673,636,879.588892673,788,803.411107327,653,631.411107327,653,0.400938601955,-0.00543597703044,0.0499323529539,0.999999974201,6.96435540156e-05,-0.000214689271276,-2.5610489599e-05,1793239415354333696
+52,0.866666667,BASELINE,766,745.832850972,715,679,666,636,880,788,803,653,631,653,0.400937466858,-0.00543510132268,0.0499315113642,0.999999973731,7.19423284256e-05,-0.0002161084648,-2.56820256559e-05,1793239415371000320
+53,0.883333333,BASELINE,766,745.258173109,715,679,666,636,880,788,803,653,631,653,0.400938691737,-0.00543680280068,0.0499322931753,0.999999974248,7.02815295254e-05,-0.000214271379095,-2.55425500993e-05,1793239415387666688
+54,0.900000000,BASELINE,766,745,714.693879194,679,665.693879194,636,879.693879194,788,803,653,631.306120806,653,0.40093860267,-0.00543699652244,0.0499319043069,0.999999974236,6.92776529863e-05,-0.000214640553566,-2.56397850864e-05,1793239415404333568
+55,0.916666667,BASELINE,766,745,714.138055498,679,665.138055498,636,879.138055498,788,803,653,631.861944502,653,0.400937441817,-0.00543596036664,0.0499305605146,0.999999973793,6.88096284173e-05,-0.000216809375622,-2.59301049857e-05,1793239415421000192
+56,0.933333333,BASELINE,766,745,714.462098495,679,665,636,879,788,803.462098495,653,631.537901505,653,0.400938059567,-0.00543522193019,0.0499314663869,0.999999973987,6.88274558064e-05,-0.00021589525216,-2.60264686918e-05,1793239415437667072
+57,0.950000000,BASELINE,766,745,715,679,665.072498867,636,879.072498867,788,803.927501133,653,631,652.927501133,0.400939001845,-0.00543486224327,0.0499328466172,0.999999974319,6.8971447479e-05,-0.000214306068236,-2.60190753626e-05,1793239415454333696
+58,0.966666667,BASELINE,766,745,715,679,665.65210153,636,879.65210153,788,803.34789847,653,631,652.34789847,0.400938102935,-0.00543646361243,0.0499323448314,0.999999974158,6.88748922214e-05,-0.000215121143189,-2.57342579418e-05,1793239415471000320
+59,0.983333333,BASELINE,766,745.229940684,715,679,665.770059316,635.770059316,879.770059316,788,803,653,631.229940684,652,0.400937796555,-0.00543715955351,0.0499321440245,0.999999974129,6.8297444096e-05,-0.000215456658913,-2.56220478213e-05,1793239415487666688
+60,1.000000000,BASELINE,766,745.805132057,715,679,665.194867943,635.194867943,879.194867943,788,803,653,631.805132057,652,0.400938379842,-0.00543649601522,0.0499323951307,0.999999974296,6.69979462929e-05,-0.000215072127521,-2.57690035794e-05,1793239415504333568
+61,1.016666667,BASELINE,766,745.611625139,714.611625139,679,665.776749723,635.388374861,879.388374861,788,803,653,631.611625139,652.388374861,0.400939250987,-0.00543727147745,0.0499327708006,0.999999974596,6.62308809387e-05,-0.000213929541321,-2.5590849919e-05,1793239415521000448
+62,1.033333333,BASELINE,766,745.024257024,714.024257024,679,666.951485953,635.975742976,879.975742976,788,803,653,631.024257024,652.975742976,0.400940269624,-0.00543878424644,0.0499332102939,0.999999974964,6.57366203048e-05,-0.000212398547429,-2.52461185764e-05,1793239415537667328
+63,1.050000000,BASELINE,766,745.555577113,714.555577113,679,666.444422887,636,879.444422887,788,803,653,631.555577113,653,0.400938420011,-0.00543886476076,0.0499315102625,0.999999974381,6.5439694542e-05,-0.000215216943611,-2.52406470411e-05,1793239415554333952
+64,1.066666667,BASELINE,766,746,715,679,665.865578594,636,879,788,803.134421406,653,631.865578594,653,0.40093741581,-0.00543855649386,0.0499306369233,0.999999974038,6.56954762197e-05,-0.000216726292605,-2.52682112702e-05,1793239415571000576
+65,1.083333333,BASELINE,766,746,715,679,665.288923121,636,879,788,803.711076879,653,631.288923121,653,0.400939599423,-0.00543717214982,0.049932786536,0.999999974633,6.77416485282e-05,-0.000213312606619,-2.53563806643e-05,1793239415587667200
+66,1.100000000,BASELINE,766,745.712711773,715,679,665.287288227,636,879,788,803.712711773,653,631,653,0.400939910989,-0.00543627980942,0.0499334034082,0.99999997471,6.92140637901e-05,-0.000212449663318,-2.55665621266e-05,1793239415604333824
+67,1.116666667,BASELINE,766,745.13694642,715,679,665.86305358,636,879,788,803.13694642,653,631,653,0.400938342761,-0.00543588150882,0.0499324811968,0.999999974277,7.01103474781e-05,-0.000214148018764,-2.58992605801e-05,1793239415621000448
+68,1.133333333,BASELINE,766,745,715,679,666,636,879.447022376,788,803,653,631,653,0.400939239055,-0.00543575109367,0.0499325403644,0.999999974308,7.04527773111e-05,-0.00021389487925,-2.58889251109e-05,1793239415637667072
+69,1.150000000,BASELINE,765.966652224,745,715,678.966652224,665.966652224,636,879.966652224,788,803,653,631,652.966652224,0.400940730582,-0.00543569748956,0.0499328791249,0.999999974473,7.06521538133e-05,-0.000213068261051,-2.57751951488e-05,1793239415654333696
+70,1.166666667,BASELINE,765.383681956,745,715,678.383681956,665.383681956,636,879.383681956,788,803,653,631,652.383681956,0.400939356082,-0.00543553196704,0.0499327782306,0.999999974477,7.13425666816e-05,-0.000212827447201,-2.57217775844e-05,1793239415671000576
+71,1.183333333,BASELINE,765.195038826,745,714.804961174,678.195038826,665,636,879.195038826,788,803.195038826,652.804961174,631.195038826,652.195038826,0.400938345588,-0.00543529496204,0.0499324991393,0.999999974411,7.1658967853e-05,-0.000213041724837,-2.56310178376e-05,1793239415687667456
+72,1.200000000,BASELINE,765.765578339,745,714.234421661,678.765578339,665,636,879.765578339,788,803.765578339,652.234421661,631.765578339,652.765578339,0.4009380359,-0.0054349203346,0.049931876972,0.999999974211,7.12552989311e-05,-0.00021413217242,-2.5468364626e-05,1793239415704333824
+73,1.216666667,BASELINE,766,745,714.341101567,678.658898433,665,636,880,788,803.658898433,652.341101567,631.658898433,653,0.400938617807,-0.00543511240253,0.0499319146478,0.999999974323,7.01750405066e-05,-0.000213957381358,-2.55163925392e-05,1793239415721000448
+74,1.233333333,BASELINE,766,745,714.920100597,678.079899403,665,636,880,788,803.079899403,652.920100597,631.079899403,653,0.400939821547,-0.00543569970584,0.0499324125239,0.999999974652,6.86229023431e-05,-0.00021290016372,-2.57113576505e-05,1793239415737667328
+75,1.250000000,BASELINE,766,745,715,678.507710003,665.507710003,636,879.492289997,788,803.507710003,653,631,653,0.400939606713,-0.00543659065655,0.0499323328319,0.999999974495,6.78169699773e-05,-0.000213904567595,-2.55973198426e-05,1793239415754333696
+76,1.266666667,BASELINE,766,745.095474823,715,678.904525177,666,636,879.095474823,788,803.904525177,653,631.095474823,653,0.400939190463,-0.00543727552653,0.0499321143012,0.999999974289,6.75717530694e-05,-0.000214956424111,-2.54913989378e-05,1793239415771000064
+77,1.283333333,BASELINE,766,745.677013342,715,678.322986658,666,636,879.677013342,788,803.322986658,653,631.677013342,653,0.400938904951,-0.00543666376219,0.049931659662,0.99999997423,6.95729846978e-05,-0.000214569629541,-2.56786404255e-05,1793239415787666688
+78,1.300000000,BASELINE,766,746,715,678.254752171,665.745247829,636,880,788,803,652.745247829,631.745247829,653,0.400939040875,-0.00543609969923,0.0499318028895,0.999999974222,7.08870087578e-05,-0.000214170998753,-2.57294648451e-05,1793239415804333568
+79,1.316666667,BASELINE,766,746,715,678.827744328,665.172255672,636,880,788,803,652.172255672,631.172255672,653,0.400939703263,-0.00543559522555,0.0499326929805,0.999999974281,7.13425633292e-05,-0.000213757582023,-2.56098751346e-05,1793239415821000448
+80,1.333333333,BASELINE,766,746,715,679,665.41118064,636,880,787.58881936,803.41118064,652.41118064,631.41118064,652.58881936,0.400939380288,-0.00543627783463,0.0499325428485,0.999999974271,7.03019336529e-05,-0.000214169262854,-2.54250695148e-05,1793239415837667328
+81,1.350000000,BASELINE,766,746,715,679,665.9991064,636,880,787.0008936,803.9991064,652.9991064,631.9991064,652.0008936,0.400938633758,-0.00543747070867,0.0499319455789,0.999999974229,6.86181724159e-05,-0.000214935610073,-2.52122309656e-05,1793239415854334208
+82,1.366666667,BASELINE,766,745.421765442,714.421765442,679,665.421765442,636,879.421765442,787.578234558,803.421765442,652.421765442,631.421765442,652.578234558,0.400937548798,-0.00543692161903,0.0499313048654,0.999999973986,6.76390566675e-05,-0.000216370344021,-2.52432133469e-05,1793239415871000576
+83,1.383333333,BASELINE,766,745,714.157390109,679,665.157390109,636,879,788,803,652,631.157390109,653,0.400937089775,-0.00543633154056,0.049930920948,0.99999997388,6.7530848354e-05,-0.000216885972515,-2.52891983659e-05,1793239415887667200
+84,1.400000000,BASELINE,766,745,714.736655108,679,665.736655108,636,879,788,803,652,631.736655108,653,0.400938309918,-0.00543563870147,0.0499312255343,0.999999974147,6.97541806312e-05,-0.000214935266249,-2.5374402224e-05,1793239415904333568
+85,1.416666667,BASELINE,766,745,715,678.696745178,666,636,879,788,803.303254822,652.303254822,632,653,0.400938297362,-0.00543579405288,0.0499312993611,0.99999997426,6.94654622835e-05,-0.00021448859906,-2.54886560816e-05,1793239415921000448
+86,1.433333333,BASELINE,766,745,715,678.140703034,666,636,879,788,803.859296966,652.859296966,632,653,0.400937257253,-0.00543665643945,0.0499311808313,0.999999974245,6.70827472481e-05,-0.000215295669717,-2.56271254489e-05,1793239415937667072
+87,1.450000000,BASELINE,766,745.45539376,714.54460624,678.45539376,666,636,879,788,804,653,632,653,0.400936941877,-0.00543642613725,0.0499310307086,0.999999974094,6.83516734022e-05,-0.000215587815803,-2.57344795677e-05,1793239415954333952
+88,1.466666667,BASELINE,766,746,714.061841236,679,665.938158764,636,879.061841236,788,803.938158764,653,632,653,0.400936986077,-0.00543608479003,0.0499309019458,0.999999973949,7.02929525798e-05,-0.000215626842606,-2.57877080288e-05,1793239415971000832
+89,1.483333333,BASELINE,766,746,714.641347171,679,665.358652829,636,879.641347171,788,803.358652829,653,632,653,0.400937985057,-0.00543791251387,0.0499310415746,0.999999974283,6.7507194148e-05,-0.000215007249557,-2.54760935701e-05,1793239415987667456
+90,1.500000000,BASELINE,766,745.780887615,715,679,665.219112385,636,880,788,803.219112385,652.780887615,632,653,0.400939209414,-0.00543891628826,0.0499314967546,0.999999974644,6.54185232811e-05,-0.000213994773396,-2.52902787474e-05,1793239416004333824
+91,1.516666667,BASELINE,766,745.205949287,715,679,665.794050713,636,880,788,803.794050713,652.205949287,632,653,0.40094079977,-0.00543858201582,0.0499324643718,0.999999975057,6.44618829044e-05,-0.000212344277662,-2.5308755348e-05,1793239416021000448
+92,1.533333333,BASELINE,766.36686325,745.36686325,715,679,666,636,879.63313675,788,804,652.36686325,631.63313675,653,0.400940893574,-0.00543804840798,0.0499326247777,0.999999975002,6.55543999019e-05,-0.000212256081708,-2.54035220183e-05,1793239416037667072
+93,1.550000000,BASELINE,766.938489341,745.938489341,715,679,666,636,879.061510659,788,804,652.938489341,631.061510659,653,0.400940152085,-0.00543740354208,0.0499323346428,0.999999974683,6.77906434864e-05,-0.000213039875207,-2.55408696013e-05,1793239416054333696
+94,1.566666667,BASELINE,766.467650478,746,715,679,666,636,879,787.467650478,803.467650478,653,631.532349522,653,0.400939954498,-0.00543767138923,0.0499322196575,0.999999974687,6.70714985113e-05,-0.00021325305015,-2.55086745041e-05,1793239416071000576
+95,1.583333333,BASELINE,766,746,715,679,665.875512023,636,879.124487977,787.124487977,803.124487977,652.875512023,631.875512023,653,0.40093980541,-0.00543778686034,0.0499320545443,0.99999997469,6.64440834789e-05,-0.000213439063605,-2.54780381179e-05,1793239416087667456
+96,1.600000000,BASELINE,766,746,715,679,665.299347791,636,879.700652209,787.700652209,803.700652209,652.299347791,631.299347791,653,0.400939594331,-0.00543695015446,0.0499316309246,0.99999997455,6.74424828742e-05,-0.000213776175576,-2.55272327007e-05,1793239416104334336
+97,1.616666667,BASELINE,766,745.723398076,715,679,665.276601924,636,879.723398076,788,804,652.276601924,631.276601924,653,0.400939819059,-0.00543667819144,0.0499318498861,0.999999974638,6.7622720152e-05,-0.000213310496894,-2.54997808846e-05,1793239416121000960
+98,1.633333333,BASELINE,766,745.147680371,715,679,665.852319629,636,879.147680371,788,804,652.852319629,631.852319629,653,0.400940515066,-0.00543701693828,0.0499327637314,0.999999974972,6.69182014123e-05,-0.00021197668485,-2.53894440765e-05,1793239416137667328
+99,1.650000000,BASELINE,766,745,715,679,665.563391051,636,879.873217899,788,804,653,631.563391051,653,0.40094132253,-0.00543637738073,0.0499334692545,0.999999975096,6.76306237592e-05,-0.000211149540839,-2.54785364482e-05,1793239416154334208
+100,1.666666667,BASELINE,766.023545481,745.023545481,715,679,665.023545481,636,880.952909037,788,804,653,631.023545481,653,0.400942073877,-0.00543543770134,0.0499340406516,0.999999975133,6.88000764728e-05,-0.000210579501718,-2.56375805264e-05,1793239416171000832
+101,1.683333333,BASELINE,766.603157644,745.603157644,715,679,665.603157644,636,879.793684713,788,804,653,631.603157644,653,0.400940591754,-0.00543538152911,0.0499331418828,0.999999974809,6.92175949474e-05,-0.00021195301207,-2.58236693252e-05,1793239416187667712
+102,1.700000000,BASELINE,766.818857989,745.818857989,715,679,665.818857989,636,879,788,804,652.818857989,632,653,0.40093952341,-0.00543566986174,0.0499323210618,0.999999974604,6.9271187328e-05,-0.000212895454016,-2.58814166068e-05,1793239416204334336
+103,1.716666667,BASELINE,766.244408075,745.244408075,715,679,665.244408075,636,879,788,804,652.244408075,632,653,0.400939353494,-0.00543670620685,0.0499316694866,0.999999974659,6.85345984734e-05,-0.000212901930631,-2.56605e-05,1793239416221000960
+104,1.733333333,BASELINE,766,745,715,679,665.337682963,636.337682963,879.337682963,788,804,652,632,653,0.400939562148,-0.00543694536175,0.0499318794552,0.999999974758,6.84864118254e-05,-0.000212471920501,-2.54892923258e-05,1793239416237667840
+105,1.750000000,BASELINE,766,745,715,679,665.925432594,636.925432594,879.925432594,788,804,652,632,653,0.400940051147,-0.00543659416806,0.0499327274286,0.999999974889,6.89480122836e-05,-0.000211718675865,-2.53548959237e-05,1793239416254335232
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,653,631,653,0.400941291888,-0.00543636491421,0.0499338227443,0.99999997522,6.76182426463e-05,-0.000210630290833,-2.49715606708e-05,1793239416285184512
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.576620972,715,679.576620972,665.423379028,636,879.423379028,788,803.423379028,653,631.576620972,652.423379028,0.400939920234,-0.00543648320171,0.0499324514287,0.999999974821,6.73931611799e-05,-0.000212533691465,-2.54257948739e-05,1793239416301850880
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.84705228,715,679.84705228,665,636,879,788,803,653,632,652,0.400938841978,-0.00543677698281,0.0499313625739,0.999999974528,6.67994467545e-05,-0.000214060228608,-2.5672265224e-05,1793239416318517248
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.271538291,715,679.271538291,665,636,879,788,803,653,632,652,0.400938574327,-0.0054375556203,0.0499310541059,0.999999974539,6.51872675752e-05,-0.000214545562047,-2.5344722568e-05,1793239416335183360
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.311989428,665.311989428,636,879.311989428,788,803,653,631.688010572,652,0.400938768946,-0.00543769242319,0.0499310455768,0.99999997455,6.48170191945e-05,-0.000214619429457,-2.52395359003e-05,1793239416351849984
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.902675692,665.902675692,636,879.902675692,788,803,653,631.097324308,652,0.400939376506,-0.00543725588203,0.04993130498,0.999999974563,6.55561744796e-05,-0.000214325738613,-2.53329774908e-05,1793239416368516608
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.515982946,665.515982946,636,879.515982946,788,803,653,631.484017054,652.484017054,0.400941037624,-0.00543633000632,0.0499318925071,0.999999974706,6.83336690644e-05,-0.000212771057351,-2.54349151661e-05,1793239416385183488
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665.062858512,635.937141488,879,788,803.062858512,652.937141488,632,653,0.400943803853,-0.00543553735686,0.0499328028092,0.999999975043,7.07738548084e-05,-0.000210362300919,-2.55361117645e-05,1793239416401850368
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.636367062,635.363632938,879,788,803.636367062,652.363632938,632,653,0.400953859381,-0.0054366112,0.0499358094324,0.999999976802,6.72072449941e-05,-0.000203036023633,-2.56176725019e-05,1793239416418516736
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665.78944912,635.21055088,879.21055088,788,804,652,631.78944912,653,0.400968421703,-0.00543789856409,0.0499397135796,0.999999979009,6.45071756473e-05,-0.00019279788035,-2.55067907007e-05,1793239416435183104
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665.214095382,635.785904618,879.785904618,788,804,652,631.214095382,653,0.400990792545,-0.00543955587693,0.0499451727867,0.999999981926,6.33084845685e-05,-0.000177514605562,-2.50624807516e-05,1793239416451849728
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714.627103162,679,665,636,880,788,803.627103162,652.372896838,631,653,0.401021497282,-0.00544043375434,0.0499506793294,0.999999985039,6.4106693622e-05,-0.00015873481824,-2.48250784111e-05,1793239416468516352
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714.033213482,679,665,636,880,788,803.033213482,652.966786518,631,653,0.401057141002,-0.00544084970883,0.0499562139257,0.999999988005,6.6088341481e-05,-0.000137882863159,-2.4710297337e-05,1793239416485182976
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.544595824,714.544595824,678.455404176,665.544595824,636,879.455404176,788,803.544595824,653,631.544595824,652.455404176,0.40110659417,-0.00543978550501,0.0499618988757,0.99999999111,6.58483619637e-05,-0.00011308021335,-2.56230629951e-05,1793239416501849856
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.879437209,714.879437209,678.120562791,666,636,879.120562791,787.879437209,804,652.879437209,631.879437209,652.120562791,0.401158781526,-0.00543988872016,0.0499672508996,0.999999993459,6.48997156286e-05,-9.04636221085e-05,-2.62022689488e-05,1793239416518516480
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.306806383,714.306806383,678.693193617,666,636,879.693193617,787.306806383,804,652.306806383,631.306806383,652.693193617,0.401218153752,-0.00544469812191,0.049971321173,0.999999994813,6.17872918528e-05,-7.6921512858e-05,-2.5302502359e-05,1793239416535183104
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.273471285,745,714.273471285,679,666,636,879.726528715,787.273471285,804,652.273471285,631,653,0.401285937653,-0.00544840278892,0.0499748687622,0.999999995578,5.9555483407e-05,-6.85774139152e-05,-2.43944779692e-05,1793239416551849728
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.862574665,745,714.862574665,679,666,636,879.137425335,787.862574665,804,652.862574665,631,653,0.401363430045,-0.00545083240498,0.0499778130854,0.999999995829,5.83400541267e-05,-6.62326984708e-05,-2.34769227405e-05,1793239416568516352
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.554357914,745.445642086,714.554357914,679,666,636,879.445642086,788,804,653,631,652.554357914,0.401452918309,-0.00545308515464,0.0499781454051,0.999999995863,5.75642794182e-05,-6.65607173118e-05,-2.30272198097e-05,1793239416585183232
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.97328996,714.02671004,678.97328996,666,636,880,788,803.97328996,652.97328996,631,652.02671004,0.401547260109,-0.00545539397824,0.0499776392272,0.999999995837,5.68365857427e-05,-6.76824222433e-05,-2.26998990096e-05,1793239416601849856
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.395584246,714.604415754,678.395584246,666,636,880,788,803.395584246,652.395584246,631,652.604415754,0.40166643348,-0.00545996962614,0.0499762298742,0.999999995943,5.4341291727e-05,-6.84017245926e-05,-2.19607387962e-05,1793239416618516480
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,678.180075194,666,636,879.819924806,788,803.180075194,652.180075194,631,653,0.401795304973,-0.0054645734006,0.0499763431753,0.999999996139,5.24245312332e-05,-6.72994282731e-05,-2.10705162776e-05,1793239416635183104
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678.751289868,666,636,879.248710132,788,803.751289868,652.751289868,631,653,0.401945241642,-0.00546923826787,0.0499797638179,0.999999996526,5.17643977883e-05,-6.22404560904e-05,-1.98521729723e-05,1793239416651849728
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879,788,803.666074928,653,631,652.666074928,0.402112170457,-0.00547491497172,0.0499800123831,0.9999999967,4.89652920983e-05,-6.21012033743e-05,-1.85953330764e-05,1793239416668516352
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879,788,803.074632341,653,631,652.074632341,0.402292203352,-0.00548137198778,0.0499778146948,0.999999996697,4.45166461674e-05,-6.57559567531e-05,-1.7308805114e-05,1793239416685182976
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.495211939,665.495211939,636,879,788,803,652.495211939,631,652.504788061,0.402503541896,-0.00548889565037,0.0499783519589,0.999999997122,4.16826062429e-05,-6.14096473803e-05,-1.57571171037e-05,1793239416701849600
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.917928164,745,714.917928164,678.082071836,665.082071836,636,879,788,803,652.082071836,631.082071836,653,0.402724942,-0.00549655353089,0.0499796775711,0.999999997612,3.90168679315e-05,-5.52532601567e-05,-1.4202119784e-05,1793239416718516224
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.343049032,745,714.343049032,678.656950968,665.656950968,636,879,788,803,652.656950968,631.656950968,653,0.402979611945,-0.00550409242762,0.0499833653573,0.999999998251,3.59616535662e-05,-4.51659818425e-05,-1.28571762065e-05,1793239416735182848
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.237804285,745,714,679,666,636,879,787.762195715,803.237804285,652.762195715,631.762195715,652.762195715,0.403251215621,-0.00551262836395,0.0499887954106,0.999999998911,3.2013784353e-05,-3.20850771863e-05,-1.10844299028e-05,1793239416751849472
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.827497826,745,714,679,666,636,879,787.172502174,803.827497826,652.172502174,631.172502174,652.172502174,0.403547876852,-0.00552263966233,0.0499968035716,0.999999999498,2.67450154444e-05,-1.45743751302e-05,-8.67864553524e-06,1793239416768516096
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,714.409827355,678.590172645,666,635.590172645,879,787.409827355,803.590172645,652.409827355,631.409827355,652.409827355,0.403880283503,-0.00553354961629,0.0500033184101,0.999999999739,2.20645095259e-05,4.19163980945e-07,-5.9600675334e-06,1793239416785182720
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,714.989111964,678.010888036,666,635.010888036,879,787.989111964,803.010888036,652.989111964,631.989111964,652.989111964,0.404227470324,-0.00554483115015,0.0500092157826,0.999999999737,1.7627241358e-05,1.43718948225e-05,-3.11215427474e-06,1793239416801849344
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,678.564670018,666,635.564670018,879,788,803,653,631.435329982,653,0.40459912384,-0.00555182327995,0.0500136703941,0.99999999956,1.87647039453e-05,2.29908776833e-05,-2.41513795332e-08,1793239416818516224
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.140725651,745,715,678.859274349,666,636,879.140725651,788,803,652.859274349,631,653,0.404980546766,-0.00555700958976,0.050016808498,0.999999999328,2.21639257209e-05,2.90371461172e-05,3.06736676276e-06,1793239416835182848
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.718548387,745,715,678.281451613,666,636,879.718548387,788,803,652.281451613,631,653,0.405390857912,-0.00555684219131,0.0500159433396,0.999999999085,3.22565373451e-05,2.74098507736e-05,6.15551788929e-06,1793239416851849728
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.697860911,745,715,678.302139089,666,635.697860911,880,787.697860911,803,652,631,653,0.405797290342,-0.00555304866093,0.0500045212474,0.999999998858,4.68119277801e-05,5.02356247484e-06,8.23698996336e-06,1793239416868516352
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.108792538,745,715,678.891207462,666,635.108792538,880,787.108792538,803,652,631,653,0.406200039358,-0.00554581153956,0.0499830736615,0.999999997117,6.56054400481e-05,-3.70767028813e-05,9.36245996477e-06,1793239416885182976
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.527391286,745,715,678.527391286,666,635.472608714,879.527391286,787.472608714,803.472608714,652,631,653,0.406673588549,-0.00554424175785,0.0499678042546,0.999999995207,7.87863692807e-05,-5.69910158663e-05,1.14246313755e-05,1793239416901849600
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.05192504,745,714.94807496,678.05192504,666,636,879,787.94807496,804,652,631.05192504,652.94807496,0.407166902297,-0.00554450914036,0.0499553693689,0.999999993381,9.0092043118e-05,-7.02193294348e-05,1.37941711285e-05,1793239416918516224
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.627729082,745,714.372270918,678.627729082,666,636,879,787.372270918,804,652,631.627729082,652.372270918,0.407697816943,-0.00555035978267,0.0499574127352,0.999999993088,9.53050167386e-05,-6.6695479032e-05,1.71240557715e-05,1793239416935182848
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,714.202595795,679,666,635.797404205,879.202595795,787.202595795,804,652,632,652,0.408253006433,-0.00555547149521,0.0499680019756,0.999999993529,0.000100637761812,-4.87604412942e-05,2.08793661936e-05,1793239416951849472
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,714.775748058,679,666,635.224251942,879.775748058,787.775748058,804,652,632,652,0.408852595633,-0.0055592316729,0.0499942219892,0.999999994029,0.000106189573612,-4.46671904414e-06,2.54127985327e-05,1793239416968516096
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.359223347,715,679,666,635.359223347,880,788,804,652,631.640776653,652.359223347,0.409454848054,-0.00556130233542,0.0500095455724,0.999999994018,0.000104416606048,1.79674884445e-05,2.71904412296e-05,1793239416985182720
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.949333628,715,679,666,635.949333628,880,788,804,652,631.050666372,652.949333628,0.410058812208,-0.00556228708013,0.0500178655916,0.999999994487,9.79357153978e-05,2.63517268177e-05,2.71968296952e-05,1793239417001849344
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.471901821,715,679,666,636,879.471901821,788,804,652,631,652.471901821,0.410680045325,-0.00556074291336,0.0500037685752,0.999999994833,9.79466465628e-05,-2.3979897741e-06,2.7093539337e-05,1793239417018516224
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.895077659,745.104922341,714.895077659,679.104922341,666,636,879.104922341,787.895077659,804,652,631,652,0.411306497643,-0.0055591101145,0.0499862516474,0.999999994074,9.91756135483e-05,-3.59907482939e-05,2.68640152835e-05,1793239417035183104
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.322155484,745.677844516,714.322155484,679.677844516,666,636,879.677844516,787.322155484,804,652,631,652,0.411948995068,-0.0055581414387,0.0499628717944,0.999999991482,0.00010311787651,-7.56287185134e-05,2.6117382273e-05,1793239417051849984
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,746,714,679.741056101,666,636,880,787.258943899,803.741056101,652.258943899,631.258943899,652,0.412635981163,-0.00556064386813,0.0499609544893,0.999999991682,0.000102547603606,-7.34121732155e-05,2.70268570224e-05,1793239417068516608
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714,679.149451524,666,636,880,787.850548476,803.149451524,652.850548476,631.850548476,652,0.413380121158,-0.00556760556536,0.0499866097393,0.999999994771,9.61801555933e-05,-1.74258722345e-05,3.00639042059e-05,1793239417085183232
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.433017018,745.566982982,714.433017018,679.433017018,666,636,880,788,803.433017018,653,631.566982982,652.433017018,0.414121534323,-0.00557037632705,0.0499945131459,0.999999994997,9.46495011522e-05,-5.86379376274e-06,3.18271520567e-05,1793239417101849856
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.987629324,666,635.987629324,880.012370676,788,804,652.987629324,631,653,0.414862242589,-0.00557166376551,0.0499957241516,0.999999994912,9.47363992653e-05,-1.03001780428e-05,3.30935792332e-05,1793239417118516480
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.409500907,666,635.409500907,880.590499093,788,804,652.409500907,631,653,0.415612867708,-0.0055698984286,0.0499652816481,0.999999993308,9.40309500103e-05,-5.96789064106e-05,3.13294340708e-05,1793239417135183104
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.832848322,745.167151678,715,679,666,635.167151678,881,788,804,652.167151678,631,653,0.416375276363,-0.0055691096791,0.0499455364642,0.99999999119,9.23681066289e-05,-9.0428638281e-05,3.0176700463e-05,1793239417151849728
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.259779737,745.740220263,715,679,666,635.740220263,881,788,804,652.740220263,631,653,0.417166300518,-0.00557069250832,0.0499517690225,0.999999992746,8.83802947814e-05,-7.5939068833e-05,3.05087400563e-05,1793239417168516352
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.323509101,746,715,679.323509101,666,636,880.352981797,788,804,652.676490899,631,653,0.417977703614,-0.00557226050515,0.0499719852945,0.999999995062,8.58156717418e-05,-3.86668180773e-05,3.18707675908e-05,1793239417185182976
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.915272564,746,715,679.915272564,666,636,879.169454873,788,804,652.084727436,631,653,0.418806004926,-0.00557381620284,0.0500037968882,0.999999995702,8.44311595631e-05,1.74968746441e-05,3.40868629917e-05,1793239417201849600
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,679.506224915,666,636,879.493775085,788,804.493775085,652.493775085,631.493775085,652.506224915,0.41959523547,-0.00557105578312,0.0499898563357,0.999999995311,8.90023582895e-05,-1.59605438477e-05,3.46779038039e-05,1793239417218516224
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.929965477,714.929965477,679,666,636,880,787.929965477,804.929965477,652.929965477,632,652.070034523,0.42039168629,-0.0055684104369,0.0499722002573,0.999999993599,9.30550980162e-05,-5.4075075062e-05,3.48978347778e-05,1793239417235183104
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.353902391,714.353902391,679,666,636,880,787.353902391,804.353902391,652.353902391,632,652.646097609,0.421287479926,-0.0055718077897,0.0499829387205,0.99999999554,8.61708794228e-05,-1.76313930006e-05,3.43984200874e-05,1793239417251849728
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714.227392653,679.227392653,666.227392653,636,880,787,804,652.227392653,632,653,0.422164452669,-0.00557470739704,0.0499947485992,0.999999996033,8.08355361925e-05,1.40238956195e-05,3.46730058558e-05,1793239417268516352
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714.817022308,679.817022308,666.817022308,636,880,787,804,652.817022308,632,653,0.423011443827,-0.00557681409529,0.0500082652469,0.999999995582,7.7967553906e-05,3.80512684842e-05,3.61805760452e-05,1793239417285182976
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.399616916,715,679.600383084,666.600383084,636,880,787.399616916,804.399616916,652.600383084,632,653,0.423848201602,-0.00557752655774,0.0500000966666,0.999999996132,7.68152687196e-05,2.26655235117e-05,3.63518004774e-05,1793239417301849856
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.97904599,715,679.02095401,666.02095401,636,880,787.97904599,804.97904599,652.02095401,632,653,0.424680354701,-0.00557761166789,0.0499821705715,0.999999996379,7.64349809882e-05,-1.0454601648e-05,3.59217208838e-05,1793239417318516480
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.44414839,715,679.55585161,666,635.44414839,879.44414839,787.44414839,805,652.55585161,632,652.44414839,0.425565843441,-0.00557906534252,0.0499974532801,0.99999999634,7.53688299783e-05,1.55627275631e-05,3.73799174153e-05,1793239417335183104
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.132075169,715,679.867924831,666.132075169,635.132075169,879.264150337,787.132075169,805,652.867924831,632,652.132075169,0.426446175009,-0.00558072818584,0.0500108393075,0.999999995907,7.40597962133e-05,3.43214834355e-05,3.90153425591e-05,1793239417351849728
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.706678258,715,679.293321742,666.706678258,635.706678258,880.413356516,787.706678258,805,652.293321742,632,652.706678258,0.427302522012,-0.00558291981729,0.050013695555,0.999999996338,7.20231879431e-05,2.13254418537e-05,4.10072033584e-05,1793239417368516352
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.712295389,714.712295389,679,666.712295389,636,880.712295389,788,804.712295389,652,632,653,0.428120359292,-0.00558113250128,0.0499949846617,0.999999996233,7.46466846103e-05,-1.65830903479e-05,4.10631880754e-05,1793239417385182976
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.124570857,714.124570857,679,666.124570857,636,880.124570857,788,804.124570857,652,632,653,0.428898038373,-0.00557519591728,0.0499537834374,0.999999992625,8.2129763749e-05,-8.047050129e-05,3.91004305273e-05,1793239417401849856
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.458327072,714.458327072,679,666,635.541672928,880,788,804,652,632,652.541672928,0.429759104376,-0.00557810019155,0.0499569695432,0.999999994479,7.57590972228e-05,-6.17101877719e-05,3.86482156998e-05,1793239417418516480
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,635.039505652,880,788,804.039505652,652,631.960494348,652.039505652,0.430637408662,-0.00558306775798,0.0499705842213,0.999999996724,6.64974766031e-05,-2.51630695148e-05,3.86872975575e-05,1793239417435183104
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,635.614969705,880,788,804.614969705,652,631.385030295,652.614969705,0.431445305965,-0.00558376773309,0.0499637140394,0.999999995659,6.85664494916e-05,-4.88831996192e-05,3.98797833388e-05,1793239417451849728
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.811154115,715,679,666.188845885,635.811154115,880.188845885,788,804.811154115,652,631.188845885,653,0.432255875025,-0.00558428402881,0.0499565804635,0.999999994528,6.9174963549e-05,-6.72509092892e-05,4.04492477017e-05,1793239417468516096
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.240488288,715,679,666.759511712,635.240488288,880.759511712,788,804.240488288,652,631.759511712,653,0.433071846151,-0.00558442895063,0.0499489143409,0.999999994179,6.68306347319e-05,-7.47967784514e-05,3.97590502239e-05,1793239417485182976
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666.655965586,635.344034414,881,788,804.344034414,652,631.655965586,653,0.433860925898,-0.00558480235548,0.0499605680282,0.999999995488,6.64496344349e-05,-5.45139636419e-05,4.04542312137e-05,1793239417501849600
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666.061350119,635.938649881,881,788,804.938649881,652,631.061350119,653,0.434630418978,-0.00558534217832,0.0499862935011,0.999999996736,6.74986449904e-05,-1.39618362102e-05,4.21584670437e-05,1793239417518516480
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.517942056,666.517942056,636,881,788,804.482057944,652,631.517942056,652.482057944,0.435407252961,-0.00558381445428,0.0499905331627,0.999999996461,6.9577385265e-05,-1.86143738942e-05,4.34706220737e-05,1793239417535183104
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.904758303,666.904758303,636,880.904758303,788,804.095241697,652,632,652.095241697,0.436173135188,-0.00558218661251,0.049987496913,0.999999995802,7.1871974212e-05,-3.5355394048e-05,4.45006340248e-05,1793239417551849472
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.328618226,666.328618226,636,880.328618226,788,804.671381774,652,632,652.671381774,0.436879455025,-0.00558125428141,0.0499602038438,0.999999992457,7.4658269512e-05,-8.6874887721e-05,4.43337952658e-05,1793239417568516352
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666.246865232,635.753134768,880.246865232,788,805,652,632,653,0.437615574375,-0.0055825544103,0.0499563819731,0.99999999241,7.34175671097e-05,-8.84121808124e-05,4.44228972517e-05,1793239417585183232
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666.821476894,635.178523106,880.821476894,788,805,652,632,653,0.438391256487,-0.00558681842684,0.0499837212425,0.999999996483,6.68304893971e-05,-2.35914504922e-05,4.48517946196e-05,1793239417601849856
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666.590643138,635.409356862,881,788,804.590643138,652,632,653,0.439083253018,-0.00558896959334,0.0499909282865,0.999999996861,6.39374519364e-05,-1.11277305653e-05,4.5444765887e-05,1793239417618516224
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.996881653,745,714.996881653,679,666,636,880.996881653,788,804.003118347,652,632,652.996881653,0.439737203747,-0.00559015529131,0.0499888997692,0.999999996718,6.27167023271e-05,-2.24665545072e-05,4.60977969225e-05,1793239417635182848
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.42125194,745,714.42125194,679,666,636,880.42125194,788,804.57874806,652,632,652.42125194,0.440331027157,-0.00558892210547,0.0499571909099,0.999999994504,6.28413416827e-05,-7.1340552279e-05,4.42005295872e-05,1793239417651849472
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.153466236,745,714.153466236,679.153466236,666,635.846533764,880.153466236,788,805,652,632,652,0.440923037122,-0.00558800973222,0.0499317157194,0.999999990953,6.29772275697e-05,-0.000110906977162,4.27570389671e-05,1793239417668516352
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.725697225,745,714.725697225,679.725697225,666,635.274302775,880.725697225,788,805,652,632,652,0.441510098855,-0.00558797276301,0.0499232503922,0.999999989279,6.31438023475e-05,-0.000125075752379,4.25517729238e-05,1793239417685184256
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,881,788,805,652,632,652.307774136,0.442086855732,-0.00559004003031,0.0499181410374,0.9999999889,6.04666948659e-05,-0.00012939834111,4.24180697488e-05,1793239417701851648
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,881,788,805,652,632,652.898916164,0.442654124886,-0.00559404466982,0.0499161215296,0.999999989812,5.51714068733e-05,-0.000124655537313,4.23502545793e-05,1793239417718518016
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.480059878,715,680,666,635,881,787.519940122,804.519940122,652,632,653,0.443159658909,-0.0055908538084,0.0499006411475,0.999999986467,5.68769446967e-05,-0.0001489192622,4.06799133944e-05,1793239417735184640
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665.941130784,635,881,787,804.058869216,652,632,652.941130784,0.443644398612,-0.00558656233641,0.0498797145936,0.999999980506,5.97644690412e-05,-0.000184145636958,3.88056756775e-05,1793239417751851264
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665.364713,635,881,787,804.635287,652,632,652.364713,0.444058276452,-0.00558564326999,0.0498353181682,0.999999962832,6.03480309932e-05,-0.000263149282701,3.80449249833e-05,1793239417768517120
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634.784479284,881,787,805,652,632,652,0.444477436834,-0.00558555007666,0.049800185316,0.999999945799,5.96377611916e-05,-0.000321701270961,3.67815692296e-05,1793239417785183232
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,634.197671757,881,787,805,652,632,652,0.444905697631,-0.00558687965053,0.0497810112243,0.999999938273,5.66985522036e-05,-0.000345020302969,3.46523545115e-05,1793239417801849856
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,714.615459976,679.615459976,665,634,880.615459976,787.384540024,805,652,631.615459976,652.384540024,0.445328809459,-0.00559331377532,0.0497802510855,0.999999941592,4.82274193432e-05,-0.000336600650105,3.44850622996e-05,1793239417818516480
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,714.035582674,679.035582674,665,634,880.035582674,787.964417326,805,652,631.035582674,652.964417326,0.445749305771,-0.0056023408919,0.0497888447995,0.999999950004,3.69461991122e-05,-0.000312058494539,3.53143803229e-05,1793239417835183104
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,714.542060582,679,664.457939418,634.542060582,880.542060582,787.457939418,805,652,631,653,0.446120372122,-0.00559026136231,0.0497912613555,0.999999951288,5.09403119501e-05,-0.000305908334307,3.5335354428e-05,1793239417851849984
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.881399085,745.881399085,715,679.118600915,664,634.881399085,881,787,804.881399085,652.118600915,631,653,0.44647169194,-0.00557732165807,0.0497892658169,0.999999949861,6.57395091531e-05,-0.000307797936538,3.48825155011e-05,1793239417868517120
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.308523681,745.308523681,715,679.691476319,664,634.308523681,881,787,804.308523681,652.691476319,631,653,0.446759754423,-0.0055663723523,0.0497719174912,0.999999940068,7.72934569841e-05,-0.000335876702649,3.28172504348e-05,1793239417885184000
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.273210152,745.273210152,715,680,664,633.726789848,881,787,804.273210152,652.726789848,631.273210152,653,0.447024010884,-0.00556493469283,0.0497479892011,0.99999992703,7.78317478976e-05,-0.000372674151689,3.15728212092e-05,1793239417901850880
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.865282581,745.865282581,715,680,664,633.134717419,881,787,804.865282581,652.134717419,631.865282581,653,0.447260483432,-0.00557459803146,0.0497163814667,0.999999909313,6.5513716908e-05,-0.000419647132355,3.12863857107e-05,1793239417918516992
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.552283772,745.552283772,715,680,664,633.447716228,881,787,805,652,631.552283772,652.552283772,0.447500086923,-0.00557986072081,0.049697615253,0.99999989834,5.82738942181e-05,-0.000446101804987,3.0276514614e-05,1793239417935183360
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663.972922289,633.972922289,881,787,805,652,631,652,0.447739604565,-0.0055836571962,0.0496837360346,0.999999890077,5.28275148269e-05,-0.000464982424841,2.91129615786e-05,1793239417951849984
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663.398272146,633.398272146,881,787,805,652,631,652,0.447958736396,-0.00558401651525,0.0496921908178,0.999999895582,5.33996449159e-05,-0.000452918384515,2.91508438478e-05,1793239417968516608
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663.175786319,633,881,787,805,652,631,652,0.448166214416,-0.00558551683293,0.0496998296298,0.99999990069,5.19698870499e-05,-0.000441648785083,2.94242037009e-05,1793239417985183232
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663.748508665,633,881,787,805,652,631,652,0.448347377406,-0.0055895935937,0.0497056259289,0.999999905097,4.60197463271e-05,-0.000432173082452,3.02292860294e-05,1793239418001850112
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.334106834,745.334106834,715,679.665893166,663.665893166,633,881,786.665893166,804.665893166,652,631,652.334106834,0.448511459615,-0.00559122207168,0.0497073274737,0.999999906155,4.40609158399e-05,-0.00042990268418,3.05440962534e-05,1793239418018516736
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.929785531,745.929785531,715,679.070214469,663.070214469,633,881,786.070214469,804.070214469,652,631,652.929785531,0.448662169321,-0.00559093379227,0.0497058232405,0.99999990465,4.52268769899e-05,-0.000433273309558,3.04750730891e-05,1793239418035183616
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.491525591,745.491525591,715,679.508474409,663.508474409,633,881,786.508474409,804.508474409,652,631,652.491525591,0.448783064783,-0.00559049737325,0.049705237684,0.999999903585,4.57585332766e-05,-0.000435659199618,3.06274860091e-05,1793239418051850240
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.084634959,715,680,664,633,881,786.915365041,804.915365041,652,631,652.084634959,0.448896049972,-0.00559002773068,0.0497045555724,0.999999902451,4.61369327612e-05,-0.00043820006884,3.08112610601e-05,1793239418068516608
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.659301442,715,680,664,633,881,786.340698558,804.340698558,652,631,652.659301442,0.448986301681,-0.00558948033722,0.049702603656,0.999999900597,4.6118729226e-05,-0.000442400122966,3.10053018935e-05,1793239418085183232
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.239567735,746,715,679.760432265,663.760432265,633,881,786,804.239567735,652,631,652.760432265,0.449067943245,-0.00558683268101,0.0497009037178,0.999999899305,4.89014087796e-05,-0.000445020949541,3.09111750908e-05,1793239418101850112
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.827988303,746,715,679.172011697,663.172011697,633,881,786,804.827988303,652,631,652.172011697,0.449137046918,-0.00558112667225,0.0496995707044,0.999999898818,5.57626675998e-05,-0.000445342142303,3.03974254261e-05,1793239418118516992
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.589886956,745.589886956,715,679.410113044,663.410113044,633,880.589886956,786.410113044,805,652,631,652.410113044,0.449195008942,-0.00557852333911,0.0496971748637,0.999999896978,5.82096872988e-05,-0.000449164646203,3.01200143039e-05,1793239418135183616
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.010362932,745.010362932,715,679.989637068,663.989637068,633,880.010362932,786.989637068,805,652,631,652.989637068,0.449248368532,-0.00557720167058,0.0496943399866,0.999999894566,5.88332569667e-05,-0.000454433484359,2.9940230774e-05,1793239418151850240
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679.43504479,663.43504479,633,880.56495521,787,805,652,631,652.43504479,0.449285112419,-0.00557538786503,0.0496924691126,0.999999893764,5.94616370033e-05,-0.000456145907076,2.94331840274e-05,1793239418168517376
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.140255103,745,715,679.140255103,663,633,880.859744897,786.859744897,805,652,631,652.140255103,0.449319392978,-0.00557370176244,0.0496911943419,0.999999893099,6.06070943415e-05,-0.000457475221173,2.90877210432e-05,1793239418185184512
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.715735886,745,715,679.715735886,663,633,880.284264114,786.284264114,805,652,631,652.715735886,0.449346968351,-0.0055724397407,0.0496917148745,0.999999892767,6.33568226068e-05,-0.000457816645505,2.92621589623e-05,1793239418201851392
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.702427391,745.297572609,715,680,663,632.702427391,880,786.297572609,805,651.702427391,631,653,0.449367856469,-0.00557173405167,0.049691375641,0.999999892024,6.46456783358e-05,-0.000459252119119,2.93174777741e-05,1793239418218518016
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.114386401,745.885613599,715,680,663,632.114386401,880,786.885613599,805,651.114386401,631,653,0.449382216984,-0.00557157141337,0.0496901971675,0.999999890882,6.45085386291e-05,-0.000461755522793,2.92565213411e-05,1793239418235184640
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.469725544,746,715,680,663.469725544,632,880.469725544,787,805,651.469725544,631,653,0.449391459301,-0.00557007677963,0.0496894065125,0.999999890406,6.432529416e-05,-0.000462838267455,2.88239525074e-05,1793239418251851008
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.948040175,746,715,680,663.948040175,632.051959825,881,787,804.948040175,652,631,653,0.449399028175,-0.0055687210752,0.0496886255943,0.99999989,6.38247241114e-05,-0.000463810904176,2.83958076806e-05,1793239418268517632
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.37511798,746,715,680,663.37511798,632.62488202,881,787,804.37511798,652,631,653,0.449402211454,-0.00557198349069,0.0496870032673,0.999999888666,6.025420146e-05,-0.000467119434499,2.89118094565e-05,1793239418285184512
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.198527832,746,715.198527832,680,663,633,881,786.801472168,804.198527832,652,631,653,0.449405005819,-0.00557291342066,0.0496857215663,0.99999988769,5.9232537927e-05,-0.000469334053558,2.89384071881e-05,1793239418301851136
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.773545886,746,715.773545886,680,663,633,881,786.226454114,804.773545886,652,631,653,0.449407062643,-0.0055694200009,0.049685085832,0.999999887417,6.3044557263e-05,-0.00046947416786,2.80368940254e-05,1793239418318517760
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715.641346542,680,663.358653458,632.641346542,880.641346542,786.358653458,805,652,631,653,0.449407982133,-0.00556870645248,0.0496841104807,0.999999886732,6.38178801991e-05,-0.000470830434239,2.79669731655e-05,1793239418335184384
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,715.049684063,680,663.950315937,632.049684063,880.049684063,786.950315937,805,652,631,653,0.449408162722,-0.0055697989236,0.0496829144879,0.999999885782,6.26170308137e-05,-0.000472976807052,2.84373190104e-05,1793239418351851264
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.470631263,746,715,680,663.470631263,632,880.529368737,786.470631263,805,652,631,653,0.449409124194,-0.00556803455814,0.0496834119565,0.9999998855,6.51340300071e-05,-0.000473252333805,2.81154079826e-05,1793239418368517120
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.106454222,746,715,679.893545778,663,632,881,786.106454222,805,652,631,652.893545778,0.449409704088,-0.00556674263588,0.0496837140728,0.999999885217,6.67406543468e-05,-0.000473643585096,2.78122210933e-05,1793239418385183488
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.67997966,746,715,679.32002034,663,632,881,786.67997966,805,652,631,652.32002034,0.449408295719,-0.00556867262817,0.0496824779435,0.999999884682,6.28576155021e-05,-0.000475295058625,2.79098424987e-05,1793239418401850112
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,746,715,679.261002917,663,632,881,786.738997083,805.261002917,652,631,652.261002917,0.449407825643,-0.00556906548887,0.0496819296776,0.999999884313,6.22813330084e-05,-0.000476139576259,2.80240860658e-05,1793239418418516992
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,715,679.851491367,663,632,881,786.148508633,805.851491367,652,631,652.851491367,0.449408540052,-0.0055675179017,0.0496822497583,0.999999884162,6.58794415815e-05,-0.00047596540706,2.81593131735e-05,1793239418435183360
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715,679.565936849,663.434063151,632,881,786.434063151,806,652,631,653,0.449409367206,-0.00556649261266,0.0496822345751,0.999999884184,6.6928440407e-05,-0.000475789733078,2.78771804632e-05,1793239418451850240
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.986146263,746,715,679.013853737,664,632,881,787,805.986146263,652,631,653,0.449410254163,-0.00556570976548,0.0496821242431,0.999999884289,6.70502826669e-05,-0.000475574379894,2.74760369245e-05,1793239418468517120
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.411259933,746,715,679.588740067,664,632,881,787,805.411259933,652,631,653,0.449412028815,-0.00556763800399,0.0496827226987,0.999999885312,6.43115907494e-05,-0.000473772619719,2.79344497615e-05,1793239418485184000
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.164123042,746,715,680,663.835876958,632.164123042,881,787,805,652.164123042,631,653,0.449413769534,-0.00556865252714,0.0496835448022,0.999999886212,6.28399301139e-05,-0.000472051313137,2.8189067551e-05,1793239418501850880
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.740754254,746,715,680,663.259245746,632.740754254,881,787,805,652.740754254,631,653,0.449415424965,-0.00556737051065,0.0496849290241,0.999999886826,6.45528362148e-05,-0.000470532219379,2.79314652085e-05,1793239418518516736
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,633,880.674786446,787,805,652.674786446,631,653,0.449414920014,-0.00556797566017,0.0496841892576,0.999999886308,6.31988746422e-05,-0.000471827330545,2.77437442184e-05,1793239418535183104
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,633,880.083933061,787,805,652.083933061,631,653,0.449412650428,-0.00557012227827,0.0496817145821,0.999999884846,5.93398445602e-05,-0.000475421131073,2.76131034888e-05,1793239418551849728
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663,632.504189326,880.495810674,786.504189326,805,652.495810674,631,653,0.4494124843,-0.00556958299442,0.0496815707879,0.999999884609,6.11402152316e-05,-0.000475668373191,2.79764323346e-05,1793239418568516608
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.073382183,632.073382183,880.926617817,786.073382183,805,652.926617817,631,653,0.449412836511,-0.00556874502273,0.0496819158245,0.99999988469,6.32661508528e-05,-0.000475200768529,2.83259074764e-05,1793239418585183488
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.648677493,632.648677493,880.351322507,786.648677493,805,652.351322507,631,653,0.449414351873,-0.00556890584763,0.0496829646424,0.99999988557,6.12096870438e-05,-0.000473633733652,2.80212154095e-05,1793239418601850368
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.776478061,633,880.223521939,787,805,652,631,653,0.449414535261,-0.00556789651694,0.049682948502,0.999999885521,6.11876504976e-05,-0.00047376685493,2.75403391636e-05,1793239418618517248
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.202340751,633,880.797659249,787,805,652,631,653,0.449412629324,-0.00556505168621,0.0496812618737,0.999999884012,6.43568058431e-05,-0.000476566832222,2.67831012674e-05,1793239418635184128
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680.385217188,663.385217188,633,880.614782812,786.614782812,805,652,631,653,0.449413508892,-0.00556521036476,0.0496819327069,0.999999884469,6.49374908393e-05,-0.000475527363179,2.68004974219e-05,1793239418651850496
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680.980078924,663.980078924,633,880.019921076,786.019921076,805,652,631,653,0.449415904399,-0.00556700362617,0.0496838865282,0.999999885994,6.4109467222e-05,-0.000472398374033,2.72394682836e-05,1793239418668516608
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680.444779867,664,632.444779867,880.555220133,786,805,652,631,653,0.449414743214,-0.00556650060906,0.0496824016954,0.999999884801,6.47533085675e-05,-0.000474815788373,2.74605131186e-05,1793239418685183232
+251,4.183333333,HOLD_POSE2,766,745,715,680,663,632,881,787,805,652,631,652,0.449416874755,-0.00556517600264,0.049684213247,0.999999886015,6.5347679977e-05,-0.000472196983217,2.70085674682e-05,1793239418727181056
+252,4.200000000,HOLD_POSE2,766,745.589955895,715,680,663,632,880.410044105,787,805,652,631,652.589955895,0.449416415139,-0.00556606830232,0.0496836351687,0.999999885499,6.59427672357e-05,-0.000473190802825,2.72648451818e-05,1793239418743848192
+253,4.216666667,HOLD_POSE2,766,746,715,680,663,632,880,787,805,652,631,652.823222597,0.449416465518,-0.00556606478194,0.0496832699311,0.999999885246,6.69467477184e-05,-0.000473574371421,2.74429031766e-05,1793239418760514816
+254,4.233333333,HOLD_POSE2,766,746,715,680,663,632,880,787,805,652,631,652.243544681,0.449417678249,-0.00556401956209,0.049683389787,0.999999885591,6.88826533676e-05,-0.000472567092508,2.74426875046e-05,1793239418777181696
+255,4.250000000,HOLD_POSE2,766,746,715.333609685,680,663.333609685,632,880,787,805,652.333609685,631,652.333609685,0.449417337529,-0.00556436175393,0.049683069026,0.999999885403,6.83496484775e-05,-0.000473034941978,2.75588314012e-05,1793239418793848576
+256,4.266666667,HOLD_POSE2,766,746,715.908935584,680,663.908935584,632,880,787,805,652.908935584,631,652.908935584,0.44941587126,-0.00556643374015,0.0496824290169,0.999999884826,6.60277994068e-05,-0.000474571592752,2.77592833845e-05,1793239418810515200
+257,4.283333333,HOLD_POSE2,765.504779194,746,715.504779194,680,663.504779194,632.495220806,880.495220806,786.504779194,805,652.504779194,631,653,0.449416486781,-0.00556620931794,0.0496830097302,0.999999885113,6.56224640642e-05,-0.000474031215905,2.76223194745e-05,1793239418827181056
+258,4.300000000,HOLD_POSE2,765.082347866,746,715,680,663,632.917652134,881,786.082347866,805,652,631,653,0.449417120761,-0.00556555831755,0.0496835425657,0.999999885394,6.53331360026e-05,-0.000473492398571,2.7357170825e-05,1793239418843847168
+259,4.316666667,HOLD_POSE2,765.662111406,746,715,680,663,632.337888594,881,786.662111406,805,652,631,653,0.449415501556,-0.00556493907097,0.049682399594,0.999999884657,6.35675937132e-05,-0.000475322274196,2.6700999548e-05,1793239418860513792
+260,4.333333333,HOLD_POSE2,766,745.759767416,715,680,663,632,881,786.759767416,805,652,631,653,0.449415029749,-0.00556434086925,0.0496818316549,0.999999884371,6.30692563629e-05,-0.000476006589419,2.64193395547e-05,1793239418877180672
+261,4.350000000,HOLD_POSE2,766,745.183940596,715,680,663,632,881,786.183940596,805,652,631,653,0.449416160807,-0.0055637720663,0.0496820670108,0.999999884719,6.43411481096e-05,-0.000475090607552,2.66608552257e-05,1793239418893847552
+262,4.366666667,HOLD_POSE2,765.608148942,745.391851058,715,680,663,632,881,786.391851058,805,652,631,653,0.449415802214,-0.00556272160124,0.0496816447911,0.999999884299,6.65940106234e-05,-0.000475671989101,2.65207738895e-05,1793239418910514176
+263,4.383333333,HOLD_POSE2,765.032373743,745.967626257,715,680,663,632,881,786.967626257,805,652,631,653,0.44941474442,-0.00556144505714,0.0496809139234,0.999999883511,6.93073140237e-05,-0.000476956191888,2.62015814046e-05,1793239418927181056
+264,4.400000000,HOLD_POSE2,765,745.445842446,715,680,663,632,881,787,805,652,631,653,0.449413882286,-0.00556299517048,0.0496806553892,0.999999882974,6.77044948029e-05,-0.00047829562859,2.64882665437e-05,1793239418943847424
+265,4.416666667,HOLD_POSE2,765,745,715,680,663,632,880.859609,787,805,652,631,652.859609,0.449413734784,-0.00556440559585,0.0496807403042,0.999999882853,6.53860537298e-05,-0.000478858859422,2.67021911387e-05,1793239418960513792
+266,4.433333333,HOLD_POSE2,765,745,715,680,663,632,880.276336519,787,805,652,631,652.276336519,0.449415804908,-0.00556484411458,0.049681819903,0.999999884001,6.16212651757e-05,-0.000476963068579,2.65727143718e-05,1793239418977180672
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,880,787,804,652,631,653,0.449414111299,-0.00556478174008,0.049680355729,0.999999883327,6.47079891433e-05,-0.000477944661583,2.69815382268e-05,1793239419014072832
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,880,787,804.574912388,652,631,652.425087612,0.449417087717,-0.00556351664555,0.0496821109091,0.999999884687,6.70075116483e-05,-0.00047477768451,2.68751766004e-05,1793239419030739968
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.84651058,715,679.84651058,663,632,880,786.84651058,804.84651058,652,631,652.15348942,0.44941907205,-0.00556289145565,0.0496835302177,0.999999885593,6.83031514569e-05,-0.000472678384591,2.68997996202e-05,1793239419047406592
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.257535965,715,679.257535965,663,632,880,786.257535965,804.257535965,652,631,652.742464035,0.449418241605,-0.00556408182378,0.0496839965812,0.999999885247,6.6750543032e-05,-0.000473608332439,2.72960565316e-05,1793239419064073216
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.674591485,745.325408515,715,679.325408515,663,632,880.325408515,786.325408515,804.325408515,652,631,652.674591485,0.449417459855,-0.00556494157404,0.0496835553908,0.999999884848,6.54634576916e-05,-0.000474621785067,2.74312653533e-05,1793239419080739840
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.096332602,745.903667398,715,679.903667398,663,632,880.903667398,786.903667398,804.903667398,652,631,652.096332602,0.449416715941,-0.00556554442606,0.0496824090089,0.999999884408,6.43826903698e-05,-0.000475700122894,2.73636334062e-05,1793239419097406208
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.480786976,746,715,679.519213024,663,632,880.519213024,787,805,652,631,652,0.44941750649,-0.00556501097831,0.0496824438663,0.999999884521,6.58425660416e-05,-0.000475271505181,2.71934106655e-05,1793239419114072832
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.941204664,746,715,679.058795336,663,632,880,787,805,652,631,652,0.449418247721,-0.00556438586339,0.0496825805009,0.999999884659,6.74426351983e-05,-0.000474765784377,2.70284581399e-05,1793239419130739200
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.353145597,746,715,679.646854403,663,632,880,787,805,652,631,652,0.449415783944,-0.00556498020978,0.0496815078209,0.999999884052,6.57331256591e-05,-0.000476277576848,2.70955464372e-05,1793239419147405824
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.768546654,715,679.768546654,663,632.231453346,880,786.768546654,805,652,631,652.231453346,0.449410497845,-0.00556483043466,0.0496794666812,0.999999882497,6.47976169876e-05,-0.000479670990574,2.68912383172e-05,1793239419164072704
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.189149372,715,679.189149372,663,632.810850628,880,786.189149372,805,652,631,652.810850628,0.449400968948,-0.00556356202125,0.0496759696558,0.999999879495,6.5025664381e-05,-0.000485893046381,2.62789398136e-05,1793239419180739328
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.388773643,745.388773643,715,679.388773643,663,632.611226357,880.388773643,786,805,652,631,653,0.449372369257,-0.00556212551048,0.0496637052616,0.999999868782,6.56769612308e-05,-0.000507420055082,2.54410795134e-05,1793239419197405952
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.965982148,745.965982148,715,679.965982148,663,632.034017852,880.965982148,786,805,652,631,653,0.449334526133,-0.00556060752443,0.0496471914074,0.999999853643,6.65334030131e-05,-0.000536365228067,2.44938914987e-05,1793239419214072832
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.459895607,715,680,663,632,880.459895607,786.540104393,805,652,631,652.459895607,0.449276879419,-0.00555780524875,0.0496301643268,0.999999836765,6.78789382699e-05,-0.000566855639744,2.31567897509e-05,1793239419230739456
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.116897274,715,680,663.116897274,632.116897274,880.116897274,786.883102726,805,652.116897274,631,652.116897274,0.449214943761,-0.00555510497847,0.0496139226273,0.999999820751,6.92117232867e-05,-0.000594330269868,2.18693953832e-05,1793239419247406080
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.705240482,715,680,663.705240482,632.705240482,880.705240482,786.294759518,805,652.705240482,631,652.705240482,0.449140712603,-0.00555314046774,0.0496009779848,0.999999811712,7.03695568559e-05,-0.000609252002661,2.08809507994e-05,1793239419264072704
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.709695673,745.709695673,715,680,663.709695673,632.709695673,880.709695673,786,805,652.709695673,631,652.709695673,0.449061336031,-0.00555067542006,0.0495953733112,0.999999807477,7.24394888678e-05,-0.00061594066235,2.03769415008e-05,1793239419280739328
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.127924361,745.127924361,715,680,663.127924361,632.127924361,880.127924361,786,805,652.127924361,631,652.127924361,0.448976793442,-0.00554770783092,0.0495971380034,0.999999808227,7.54251721854e-05,-0.000614363274975,2.03593076955e-05,1793239419297405952
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.447141427,745.447141427,715,680,663,632,880.447141427,786.447141427,805,652,631,652,0.448877961875,-0.005543928703,0.0496001392526,0.999999809911,7.80477716019e-05,-0.000611302815075,1.98723425655e-05,1793239419314072576
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,881,787,805,652.020833394,631,652.020833394,0.448774032509,-0.00553996758629,0.0496034183381,0.999999811805,8.05206619038e-05,-0.000607893933169,1.9268075931e-05,1793239419330739456
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,881,787,805,652.608573311,631,652.608573311,0.448640981132,-0.00553727879335,0.0496047733635,0.999999812632,8.17046064531e-05,-0.000606379151293,1.9071637323e-05,1793239419347406080
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.806479568,746,715,680,663.193520432,632.193520432,881,787,804.806479568,653,631,652.806479568,0.448494055468,-0.00553293966336,0.0496047593183,0.999999812576,8.40714867861e-05,-0.000606163852494,1.8580994398e-05,1793239419364072960
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.227101037,746,715,680,663.772898963,632.772898963,881,787,804.227101037,653,631,652.227101037,0.448319466043,-0.00552530994622,0.0496020154993,0.999999810744,8.87970086259e-05,-0.000608539577784,1.75037409929e-05,1793239419380739584
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.648257069,715,680,663.648257069,633,880.648257069,786.648257069,804.351742931,652.648257069,630.648257069,652.351742931,0.448122474236,-0.0055173148821,0.0495964052982,0.99999980511,9.48821526091e-05,-0.000616861835844,1.61021322537e-05,1793239419397406208
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.069757656,715,680,663.069757656,633,880.069757656,786.069757656,804.930242344,652.069757656,630.069757656,652.930242344,0.447911040372,-0.0055090842907,0.0495889472397,0.999999796877,0.000101843798335,-0.000629017617699,1.44914227597e-05,1793239419414072576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.503833285,715,680,663.503833285,633,880,786.503833285,805,652,630.503833285,652.496166715,0.447678369225,-0.00550126832433,0.0495879671155,0.999999795238,0.000105948666369,-0.00063097348062,1.31129223891e-05,1793239419430739456
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.079172617,746,715,680,664,633,880.079172617,787,805,652,631,652.079172617,0.447438385834,-0.00549307664185,0.0495880345678,0.999999794687,0.000110195894936,-0.000631145231197,1.17316603375e-05,1793239419447406080
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.670165831,746,715,680,664,633,880.670165831,787,805,652,631,652.670165831,0.447169956541,-0.00548208856551,0.0495891320594,0.999999795289,0.000117895722909,-0.0006288247445,1.01267107495e-05,1793239419464072448
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.744059316,715,680,664,633,880.744059316,787,805.255940684,652,631.255940684,653,0.44687714011,-0.00547118764382,0.0495903119575,0.999999795435,0.000125566032537,-0.000627128804988,8.57416574019e-06,1793239419480739328
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.164875093,715,680,664,633,880.164875093,787,805.835124907,652,631.835124907,653,0.44655352365,-0.00546039679589,0.0495915959321,0.999999795027,0.000133199061141,-0.000626221645431,7.08780585563e-06,1793239419497406464
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.411375494,715,680,664,633,880,787,805.588624506,652,631.588624506,653,0.446222448549,-0.00545054308579,0.0496034413157,0.999999805378,0.000140608005777,-0.000607814191625,5.87958196477e-06,1793239419514073344
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.986458621,715,680,664,633,880,787,805.013541379,652,631.013541379,653,0.445888405277,-0.00544106231166,0.0496194896314,0.999999819428,0.000147927775522,-0.000582442463215,4.78204283598e-06,1793239419530739968
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633.562360204,880.562360204,787,805.562360204,652,631.562360204,653,0.44551614341,-0.00543558961252,0.0496436178952,0.99999984017,0.000147757277893,-0.000545721369818,4.07442694471e-06,1793239419547406592
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,634,881,787,805.858501328,652,632,652.858501328,0.445129939085,-0.00543258469131,0.04966554516,0.999999857392,0.000144818265607,-0.000514036801038,3.16497155907e-06,1793239419564073216
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,634,881,787,805.269181194,652,632,652.269181194,0.444702525911,-0.00543708401469,0.049679889943,0.999999866483,0.000133688982915,-0.000499158238086,1.58696687426e-06,1793239419580739328
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,634,880.685168513,787,805,652,632,652,0.444235571857,-0.00544741432324,0.0496898149971,0.999999874263,0.000116194804585,-0.000487822608234,9.2447057094e-07,1793239419597405952
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,634,880.105618414,787,805,652,632,652,0.443735370743,-0.00546264747834,0.0496960238282,0.999999880699,9.33488529577e-05,-0.000479465968169,1.03175767466e-06,1793239419614072576
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,714.530272852,680,664.469727148,634,880.469727148,787,805,652,632,652,0.44320920685,-0.00545262527298,0.0496923863688,0.999999877592,9.4910207178e-05,-0.000485592258328,-2.75516831715e-06,1793239419630739712
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.954784331,746,714.045215669,680,665,634.045215669,880.954784331,787,804.954784331,652,632,652.045215669,0.442679294102,-0.00543714249961,0.0496893793903,0.999999874824,0.000101963208315,-0.000489799569382,-7.21803909165e-06,1793239419647406848
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.366319995,746,714.633680005,680,665,634.633680005,880.366319995,787,804.366319995,652,632,652.633680005,0.442173855889,-0.0054236749838,0.0497203110846,0.999999900558,0.000109645033612,-0.000432172685477,-9.37527243628e-06,1793239419664073984
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.218689863,745.781310137,715,680,665,635,880,787,804,652,632,653,0.44164522376,-0.00541642436476,0.0497572999987,0.999999925882,0.000109084515556,-0.000369063175903,-1.13896739629e-05,1793239419680740608
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.79800319,745.20199681,715,680,665,635,880,787,804,652,632,653,0.44107834448,-0.00541942551959,0.049804277374,0.999999951329,9.49322266699e-05,-0.000296912723246,-1.31685431609e-05,1793239419697406208
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,714.625185223,680,665,635,880.374814777,787,804.374814777,652,632,652.625185223,0.440451245867,-0.00543362540843,0.0498274451612,0.999999963546,7.02102149497e-05,-0.000260382531416,-1.33641769752e-05,1793239419714072576
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,714.049712964,680,665,635,880.950287036,787,804.950287036,652,632,652.049712964,0.439791908788,-0.0054538205511,0.0498378664592,0.999999969621,3.98296916468e-05,-0.000242921685934,-1.27122240325e-05,1793239419730739456
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,665.524992302,635,881,787.524992302,804.475007698,652,632,652,0.439071121727,-0.00544866278574,0.0498106776674,0.999999957389,3.3154066438e-05,-0.000289462020106,-1.83041429739e-05,1793239419747406080
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766.102090439,745,714.102090439,679.897909561,666,635,880.897909561,788,804,652,632,652.102090439,0.43834569693,-0.00544045060431,0.0497839679244,0.999999942886,2.9636112177e-05,-0.000335803056012,-2.4197474383e-05,1793239419764072448
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766.690943279,745,714.690943279,679.309056721,666,635,880.309056721,788,804,652,632,652.690943279,0.437625863465,-0.00542910501352,0.0497764981023,0.999999937051,3.04868612686e-05,-0.000352340059666,-2.87129877825e-05,1793239419780739328
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766.723925867,745,715,679.276074133,666,635,880.276074133,788,804.276074133,652,632,652.723925867,0.436897252665,-0.0054209213179,0.0497894833102,0.999999942512,2.94942985348e-05,-0.000336315365613,-3.16070270584e-05,1793239419797406464
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766.142906163,745,715,679.857093837,666,635,880.857093837,788,804.857093837,652,632,652.142906163,0.436158946521,-0.0054162301825,0.0498250627048,0.999999958695,2.64656531162e-05,-0.000284323719563,-3.27100212815e-05,1793239419814073344
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.565015941,666,635,880.565015941,788,804.565015941,652,632,652,0.435340739032,-0.0054149906476,0.0498169124986,0.999999952283,1.8791612218e-05,-0.000306286083834,-3.56353443341e-05,1793239419830739712
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.988259144,635,880,788,804.023481712,652,632,652.011740856,0.434497681267,-0.00541505392086,0.0497949162092,0.999999937507,9.42123991758e-06,-0.000351236834752,-3.91238834994e-05,1793239419847406080
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.416869553,635,880,788,805.166260894,652,632,652.583130447,0.43371241041,-0.0054235516906,0.0497928381956,0.999999940595,-8.5802786753e-06,-0.000342118432295,-4.11252023833e-05,1793239419864072704
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.161139002,665.161139002,635,880,788,805.677721996,652,632.161139002,653,0.432924606267,-0.00542805985709,0.0497981265234,0.999999945753,-1.9141661716e-05,-0.000326105069749,-4.22368575396e-05,1793239419880739328
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.757004392,665.757004392,635,880,788,804.485991216,652,632.757004392,653,0.432129967785,-0.00542180473301,0.0498232880227,0.999999956632,-9.63078794203e-06,-0.000291490245345,-4.09483469213e-05,1793239419897405952
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,635,880,787.659097984,804.340902016,652,632.659097984,653,0.431285656328,-0.00541450974467,0.0498221925072,0.999999955956,2.07773133401e-05,-0.000293910791635,-3.56712298933e-05,1793239419914072832
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,635,880,787.083441709,804.916558291,652,632.083441709,653,0.430407138763,-0.0054064986782,0.0498030157069,0.999999945679,6.55758047815e-05,-0.000321834887118,-2.76474516526e-05,1793239419930739968
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.507844047,679.507844047,665.507844047,635,880,787,804.507844047,652,631.507844047,653,0.429506319282,-0.00540282590392,0.0497849261527,0.999999936349,6.4869030379e-05,-0.000349507699508,-3.06339497047e-05,1793239419947406848
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.069199132,679,665.069199132,635.069199132,880,787.069199132,804.069199132,652,631,653,0.428608268345,-0.00540044004834,0.0497715335019,0.999999928944,5.64439433061e-05,-0.000371081072077,-3.49880894085e-05,1793239419964073472
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.65715287,679,665.65715287,635.65715287,880,787.65715287,804.65715287,652,631,653,0.427759314525,-0.0054021883774,0.0497919697085,0.999999937924,4.79879623584e-05,-0.000347249028189,-3.56025448618e-05,1793239419980739840
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,636,880,788,804.758300576,652,631.241699424,653,0.426891671236,-0.00540205385295,0.0497975526184,0.999999939835,4.33377433183e-05,-0.000342206987256,-3.66903728822e-05,1793239419997406208
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,636,880,788,804.178519797,652,631.821480203,653,0.425997885597,-0.00539928565403,0.0497823592192,0.999999932246,4.40109000395e-05,-0.000363447792878,-3.84403392778e-05,1793239420014072576
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.600867135,679,666,635.600867135,880,788,804.399132865,652,631.600867135,652.600867135,0.425150120476,-0.00539937847208,0.0497998229992,0.999999946504,4.5028050701e-05,-0.000321703355105,-3.83658279893e-05,1793239420030739200
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.0241613,679,666,635.0241613,880,788,804.9758387,652,631.0241613,652.0241613,0.424322829792,-0.00540074414784,0.0498318158576,0.999999966494,4.61982429769e-05,-0.000251936975876,-3.74796119956e-05,1793239420047406080
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,714.551785887,679,665.448214113,635,880,788,805,652,631.551785887,652,0.423432029711,-0.00539772858903,0.0498447409694,0.999999970735,4.98053414449e-05,-0.000233798079813,-3.72608527323e-05,1793239420064072960
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.130912791,665,635.130912791,880,788,804.869087209,652,632,652,0.422537236988,-0.00539466710605,0.049845978343,0.999999969989,5.29812754971e-05,-0.000236220776118,-3.76050413902e-05,1793239420080739584
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.721316594,665,635.721316594,880,788,804.278683406,652,632,652,0.421638177861,-0.00539211685984,0.049809119397,0.999999951864,5.42698515298e-05,-0.000302888922457,-3.98226814214e-05,1793239420097405952
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745.305264901,714.694735099,679.694735099,665.305264901,635.694735099,880,788,804,652,631.694735099,652.305264901,0.420768620801,-0.0053916566944,0.0497993011064,0.999999945255,5.38541915002e-05,-0.000323927877685,-4.0739721197e-05,1793239420114072576
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.883441853,714.116558147,679.116558147,665.883441853,635.116558147,880,788,804,652,631.116558147,652.883441853,0.419925439141,-0.00539306509711,0.0498136576269,0.999999951572,5.19149153121e-05,-0.000304173551711,-4.04940020522e-05,1793239420130739200
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745.540874988,714,679,665.540874988,635,880,788,804,652.459125012,631,653,0.419054013521,-0.00539316883688,0.0498096322076,0.999999945612,5.3937826633e-05,-0.000322895306785,-4.00571498323e-05,1793239420147405824
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.035008992,679,665,635.035008992,879.964991008,788,803.964991008,652.964991008,631.035008992,652.964991008,0.418179414446,-0.00539279403923,0.0498010764998,0.999999936435,5.68784347495e-05,-0.000349738403162,-3.97214132178e-05,1793239420164072448
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.624034937,679,665,635.624034937,879.375965063,788,803.375965063,652.375965063,631.624034937,652.375965063,0.417367453445,-0.00539005954998,0.049794279391,0.99999993569,5.85095157414e-05,-0.00035135929851,-4.17495585705e-05,1793239420180739328
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.209705243,714.790294757,679.209705243,665.209705243,636,879.209705243,788,803.209705243,652,632,652.209705243,0.416574806071,-0.00538845870907,0.0498010832905,0.999999942422,5.86814642061e-05,-0.000331468917341,-4.29011620424e-05,1793239420197405696
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745.789454318,714.210545682,679.789454318,665.789454318,636,879.789454318,788,803.789454318,652,632,652.789454318,0.415816239203,-0.00538885829254,0.0498318873956,0.999999960079,5.6278641736e-05,-0.000273619946258,-4.25060284732e-05,1793239420214072320
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745.633633506,714.366366494,679.633633506,666,635.633633506,880,788,804,652,632,653,0.415043656228,-0.00539057826541,0.0498381462693,0.999999962863,5.59114182061e-05,-0.000263392197767,-4.20983625742e-05,1793239420230739456
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.058339163,714.941660837,679.058339163,666,635.058339163,880,788,804,652,632,653,0.414263080332,-0.0053930512168,0.0498304077303,0.999999958233,5.67050360407e-05,-0.000280321411217,-4.16835499316e-05,1793239420247406080
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.515396997,715,679.515396997,665.484603003,635,880,788,804,652.515396997,631.484603003,653,0.413479349549,-0.00539225821731,0.0498024546968,0.999999943524,5.75811502473e-05,-0.000328210721768,-4.37446837001e-05,1793239420264072704
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745.908491241,714.908491241,679.908491241,665,635.091508759,880.091508759,788,804,652.908491241,631.091508759,652.908491241,0.412710239466,-0.00539127963392,0.0497798824127,0.999999929986,5.84016847189e-05,-0.000366786356681,-4.56581629281e-05,1793239420280739072
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745.318480267,714.318480267,679.318480267,665,635.681519733,880.681519733,788,804,652.318480267,631.681519733,652.318480267,0.412022716511,-0.00539129786986,0.0497990494854,0.999999940933,5.88687280494e-05,-0.000335591608276,-4.52451468874e-05,1793239420297405696
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,714.266673673,679,665,635.733326327,880.733326327,788,804,652,632,652.266673673,0.411339470286,-0.00539167177646,0.049813624139,0.999999948318,6.08067689561e-05,-0.000312518035356,-4.47100981556e-05,1793239420314072576
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,714.846130723,679,665,635.153869277,880.153869277,788,804,652,632,652.846130723,0.410661240314,-0.00539246285162,0.0498228123114,0.999999952261,6.44701529945e-05,-0.000298969847171,-4.40319165077e-05,1793239420330739200
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745.422263909,714.577736091,679,665.422263909,635.422263909,880,788,804,652,632,653,0.410005625041,-0.00539241148801,0.049812610706,0.999999945198,6.67485416526e-05,-0.000321217002541,-4.43551217949e-05,1793239420347405824
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.997195415,714.002804585,679,665.997195415,635.997195415,880,788,804,652,632,653,0.409358185954,-0.00539205554456,0.0497953988153,0.999999933125,6.85261917587e-05,-0.000356405800182,-4.50403738743e-05,1793239420364072448
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.430698186,714.569301814,679,666,636,879.430698186,788,803.430698186,652.569301814,632,652.430698186,0.408789375592,-0.00539506949081,0.0498080598022,0.999999943322,6.67134529594e-05,-0.000326964342973,-4.47241459617e-05,1793239420380740096
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.852722005,745.147277995,715,679,665.852722005,636,879.147277995,788,803.147277995,653,631.852722005,652.147277995,0.40822595173,-0.0053978901273,0.0498218100155,0.999999952196,6.46346837428e-05,-0.00029911704724,-4.42628950544e-05,1793239420397407744
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.256823685,745.743176315,715,679,665.256823685,636,879.743176315,788,803.743176315,653,631.256823685,652.743176315,0.407677761352,-0.00540007160872,0.0498384320402,0.99999995876,6.1799176301e-05,-0.000277090743259,-4.33748468183e-05,1793239420414073600
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.328352961,745.671647039,715,679,665.328352961,635.671647039,879.671647039,788,804,653,631.328352961,653,0.407134350506,-0.00540097494017,0.0498358614473,0.999999956259,6.20490088701e-05,-0.000285908815743,-4.34493986993e-05,1793239420430739712
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.905408707,745.094591293,715,679,665.905408707,635.094591293,879.094591293,788,804,653,631.905408707,653,0.406594559832,-0.00540091016857,0.0498187538826,0.999999946342,6.46357556351e-05,-0.000318089195252,-4.42530481285e-05,1793239420447406080
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,714.518922999,679,665.518922999,635,879,788,804,652.518922999,632,652.518922999,0.406091119445,-0.0053977308373,0.049798929438,0.99999993408,7.24235115776e-05,-0.000352919790956,-4.52030269947e-05,1793239420464072704
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.942437855,745,714.057562145,679,665,635.057562145,879.057562145,788,804,652.057562145,631.942437855,652.057562145,0.405601177837,-0.00539418268634,0.0497809018956,0.999999921766,8.07530732203e-05,-0.000384478482489,-4.60758054049e-05,1793239420480739328
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.355947228,745,714.644052772,679,665,635.644052772,879.644052772,788,804,652.644052772,631.355947228,652.644052772,0.405169787335,-0.00539285654427,0.0497842803608,0.999999922701,8.46913263729e-05,-0.00038119773265,-4.5975583315e-05,1793239420497406208
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.228939826,745,714.771060174,679,665.228939826,636,879.771060174,788,804,653,631.228939826,652.771060174,0.404769680558,-0.00539489019074,0.0497953064432,0.999999929713,8.33288877503e-05,-0.00036272503493,-4.54071282363e-05,1793239420514073088
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.811350993,745,714.188649007,679,665.811350993,636,879.188649007,788,804,653,631.811350993,652.188649007,0.404417874288,-0.00540211117842,0.0498181400537,0.99999994485,7.3782452631e-05,-0.000320796749293,-4.41157454078e-05,1793239420530739968
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,636,879.387481433,787.612518567,804,653,632,652.387481433,0.404085726288,-0.00540705036449,0.0498392451505,0.999999955473,6.79148739284e-05,-0.000287382231141,-4.30543125583e-05,1793239420547406592
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,636,879.960602866,787.039397134,804,653,632,652.960602866,0.403762996415,-0.00541089635391,0.0498595221289,0.999999963784,6.38098121289e-05,-0.000258046603512,-4.21030472259e-05,1793239420564072960
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,714.537424534,678.462575466,665.462575466,636,879.462575466,787.537424534,803.462575466,653,632,653,0.403451435477,-0.00541086112314,0.0498577956555,0.999999961597,6.54305726643e-05,-0.000266067064347,-4.16215514636e-05,1793239420580739840
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.116963631,715,678.116963631,665.116963631,635.883036369,879.116963631,788,803,653,632,653,0.403145258954,-0.00541000543764,0.0498524404342,0.999999957734,6.8014198874e-05,-0.000279619653878,-4.14500946259e-05,1793239420597406464
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.706376091,715,678.706376091,665.706376091,635.293623909,879.706376091,788,803,653,632,653,0.402857501345,-0.00540699293632,0.0498389882665,0.999999950129,7.27798896434e-05,-0.000304379914046,-4.23909043961e-05,1793239420614072832
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,714.708541407,679,666,635.291458593,880,788,803.291458593,653,631.708541407,653,0.402595013146,-0.00540537519485,0.0498283732143,0.999999943326,7.64810579222e-05,-0.000325053447229,-4.28915809481e-05,1793239420630739200
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,714.127757208,679,666,635.872242792,880,788,803.872242792,653,631.127757208,653,0.402357609443,-0.00540514200612,0.0498205745154,0.999999937578,7.91254939624e-05,-0.000341670160005,-4.29553452735e-05,1793239420647405824
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714.44663881,679,666,635.55336119,879.55336119,788,803.55336119,653,631.44663881,653,0.402159179169,-0.00540592215868,0.0498176040045,0.999999936005,8.25768344059e-05,-0.000345542438917,-4.20970411912e-05,1793239420664072704
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.980268062,714.980268062,679,666,635,879.019731938,788,803.019731938,653,631.980268062,653,0.401973270024,-0.00540694569609,0.0498162481453,0.999999935797,8.62700396625e-05,-0.000345376060955,-4.09827740904e-05,1793239420680739584
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.392828647,714.392828647,679,666,635,879.607171353,788,803.607171353,653,631.392828647,653,0.401831389438,-0.00540674976311,0.0498221731983,0.999999939866,9.0374998626e-05,-0.000332417369165,-3.99855351382e-05,1793239420697405952
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.192334431,745.192334431,714.192334431,679,665.807665569,635.192334431,880,788,803.807665569,653,631,653,0.401698357983,-0.00540692299544,0.049828977727,0.999999944423,9.35511837806e-05,-0.000317591039317,-3.92192182356e-05,1793239420714072320
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.772902577,745.772902577,714.772902577,679,665.227097423,635.772902577,880,788,803.227097423,653,631,653,0.401583188821,-0.00540784140078,0.0498375575071,0.999999950045,9.48526063316e-05,-0.00029899481894,-3.89190256152e-05,1793239420730738944
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.647845132,745.647845132,715,679,665.352154868,635.647845132,880,788,803,653,631,653,0.401479094564,-0.00541081892251,0.0498418836383,0.999999952812,9.17317043692e-05,-0.000290620224816,-3.8745736858e-05,1793239420747405824
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.069438191,745.069438191,715,679,665.930561809,635.069438191,880,788,803,653,631,653,0.40138211569,-0.00541511938318,0.0498434768907,0.999999953868,8.57695523635e-05,-0.000288812808073,-3.86539811301e-05,1793239420764072448
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.504706742,715,679.504706742,665.495293258,635.504706742,880,788,803.504706742,653,631.504706742,653,0.401300681939,-0.00542112530527,0.0498414222888,0.999999953666,7.84368080033e-05,-0.00029167525916,-3.79508999237e-05,1793239420780738816
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.080579164,746,714.919420836,680,665,636,879.919420836,788,804,653,631.919420836,653,0.401224700193,-0.00542607563578,0.0498391029481,0.999999953211,7.24938571137e-05,-0.000294829000528,-3.73834094596e-05,1793239420797405440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.671062865,746,714.328937135,680,665,636,879.328937135,788,804,653,631.328937135,653,0.401169798201,-0.00542287382652,0.0498382576176,0.999999952595,7.65287730776e-05,-0.000295794421794,-3.82017076469e-05,1793239420814072320
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.743385,745.743385,714.256615,679.743385,665.256615,636,879.256615,788,804,653,631.256615,653,0.40112421371,-0.00542139638677,0.0498396099768,0.999999953363,7.88238915861e-05,-0.000292517280883,-3.86468604299e-05,1793239420830739200
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.164035144,745.164035144,714.835964856,679.164035144,665.835964856,636,879.835964856,788,804,653,631.835964856,653,0.401090347487,-0.00542208762072,0.0498437262862,0.999999955838,7.89309332195e-05,-0.00028390443193,-3.86227224775e-05,1793239420847405824
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715.411887426,679,666,636,880,788,804,653,631.588112574,653,0.401062995204,-0.00542285068657,0.0498461975986,0.999999957126,7.71260940748e-05,-0.000279860888094,-3.84339541177e-05,1793239420864072448
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715.98645632,679,666,636,880,788,804,653,631.01354368,653,0.401038215707,-0.00542364212355,0.0498480191931,0.999999957954,7.45661273063e-05,-0.000277622063956,-3.81801623695e-05,1793239420880739072
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715.426512152,679.573487848,666,636,879.426512152,788,804,653,631.573487848,653,0.401023392885,-0.00542254475959,0.0498482009688,0.999999958183,7.6175440226e-05,-0.000276360307783,-3.81574683026e-05,1793239420897406720
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.841305765,666,635.841305765,879.158694235,788,804,653,632,653,0.401010215631,-0.00542190882153,0.0498479953702,0.999999958263,7.77725628654e-05,-0.000275627693576,-3.81304348046e-05,1793239420914074112
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.26173785,666,635.26173785,879.73826215,788,804,653,632,653,0.401000765129,-0.00542261756252,0.0498468674026,0.999999957996,7.90704200605e-05,-0.000276235863207,-3.80770968148e-05,1793239420930740480
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.68312199,679,665.68312199,635,880,788,804,653,631.68312199,653,0.400995234426,-0.00542336256334,0.0498471344414,0.999999958228,7.86397834829e-05,-0.000275525202258,-3.80138546467e-05,1793239420947407104
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.105290098,679,665.105290098,635,880,788,804,653,631.105290098,653,0.400992931736,-0.00542413742475,0.0498485502891,0.999999958869,7.67857060273e-05,-0.000273728464251,-3.79424562304e-05,1793239420964073728
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.468792052,679,665.468792052,635.468792052,879.531207948,788,804,653,631.468792052,653,0.400991457603,-0.00542495750692,0.0498492361255,0.999999959473,7.48601594423e-05,-0.000272097333123,-3.75836909451e-05,1793239420980740352
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.043350005,745.043350005,715,679,665.956649995,636,879,788,804,653,632,652.956649995,0.400990202791,-0.00542557469997,0.0498498331336,0.999999960041,7.33815484926e-05,-0.000270461265333,-3.71961231686e-05,1793239420997406976
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.634478335,745.634478335,715,679,665.365521665,636,879,788,804,653,632,652.365521665,0.400989386515,-0.00542350082983,0.0498513630756,0.999999960292,7.77517184238e-05,-0.00026829654154,-3.7253697006e-05,1793239421014073344
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.778840702,745.778840702,714.778840702,678.778840702,665.221159298,636,879.221159298,788,804,653,632,652.221159298,0.400989119796,-0.00542263407684,0.0498522733831,0.999999960519,8.05746441334e-05,-0.000266619250332,-3.71906490372e-05,1793239421030739712
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.199365273,745.199365273,714.199365273,678.199365273,665.800634727,636,879.800634727,788,804,653,632,652.800634727,0.400989743456,-0.00542372306153,0.0498521797757,0.99999996074,8.08907676181e-05,-0.000265731683948,-3.69321729778e-05,1793239421047406336
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,714.376747662,678.376747662,666,636,880,788,804,653,631.623252338,653,0.400990295331,-0.00542479958104,0.0498531995597,0.999999961278,7.91436804644e-05,-0.000264248994197,-3.67808172323e-05,1793239421064072704
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714.951096972,678.951096972,666,636,880,788,804,653,631.048903028,653,0.400990809557,-0.0054258695626,0.0498548033102,0.999999961974,7.63144530126e-05,-0.000262454166213,-3.66856453884e-05,1793239421080739328
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.525982718,715,679,666,636,880,788,804,653,631.525982718,653,0.400989433866,-0.00542485837724,0.0498538301702,0.999999961482,7.77316823293e-05,-0.000263899746202,-3.67646301429e-05,1793239421097406208
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.896530636,715,679,666,636,880,788,804,653,632,653,0.400988284936,-0.00542409194675,0.0498530259725,0.99999996106,7.92292876523e-05,-0.000265045488022,-3.67850290198e-05,1793239421114073600
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.307062162,715,679,666,636,880,788,804,653,632,653,0.400989027291,-0.00542538492198,0.0498541417916,0.999999961515,7.92480799134e-05,-0.000263366332818,-3.64541153448e-05,1793239421130740224
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.278308649,715,679.278308649,665.721691351,636,879.721691351,788,803.721691351,653,632,653,0.400989019274,-0.00542607873745,0.0498546893969,0.999999961695,7.90729775012e-05,-0.000262758346882,-3.62746336545e-05,1793239421147406592
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.85922412,715,679.85922412,665.14077588,636,879.14077588,788,803.14077588,653,632,653,0.40098819537,-0.00542612108273,0.0498546191799,0.999999961579,7.86870521407e-05,-0.000263315050112,-3.62598049137e-05,1793239421164072704
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,714.566301637,679.566301637,665.433698363,636,879.867396726,788,803.433698363,652.566301637,632,653,0.400988900124,-0.00542625728601,0.0498550827029,0.99999996193,7.83437654802e-05,-0.00026209030306,-3.62070351425e-05,1793239421180739328
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,714.006149698,679,666.006149698,636,880.993850302,788,804,652.006149698,632,653,0.400990073433,-0.0054264186737,0.049855709294,0.999999962419,7.80353779382e-05,-0.000260318725884,-3.61407238415e-05,1793239421197405696
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,714.582057938,679,666.582057938,636,880.417942062,788,804,652.582057938,632,653,0.400989358893,-0.00542613206572,0.0498556275699,0.999999962203,7.96968192219e-05,-0.000260673929194,-3.59441182568e-05,1793239421214072576
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,666.837516813,636,880,788,804,653,631.837516813,653,0.400988935161,-0.00542602153927,0.0498557021443,0.999999962136,8.03084435456e-05,-0.00026076462189,-3.57890928453e-05,1793239421230739456
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,666.245140637,636,880,788,804,653,631.245140637,653,0.400989280838,-0.00542637688392,0.0498561902487,0.999999962468,7.81424945547e-05,-0.000260155480574,-3.57440789809e-05,1793239421247406592
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.339019465,745.660980535,715,679,666,636,880,788,804,653,631,653,0.400989991026,-0.00542677689434,0.0498566750273,0.999999962753,7.74080172142e-05,-0.000259287928534,-3.56669909055e-05,1793239421264073216
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.917379177,745.082620823,715,679,666,636,880,788,804,653,631,653,0.400990958552,-0.00542720843781,0.049857157458,0.999999963007,7.76841273005e-05,-0.000258237944263,-3.55672591483e-05,1793239421280739840
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.509546639,745,715,679,665.509546639,636,880,788,804,653,631,653,0.400989405412,-0.00542675665572,0.0498562311845,0.999999962536,7.76307880241e-05,-0.000260030245623,-3.58651273779e-05,1793239421297406720
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.064811477,636,880,788,804,653,631.064811477,653,0.400987719928,-0.00542623808848,0.0498552942605,0.999999962049,7.76706543707e-05,-0.000261846189611,-3.61489732045e-05,1793239421314073344
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.656777239,636,880,788,804,653,631.656777239,653,0.40098837495,-0.0054263737249,0.0498561803077,0.999999962446,7.89152153858e-05,-0.00026000151261,-3.57797902997e-05,1793239421330739968
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.243354856,666,636,880,788,804,653,631.756645144,653,0.400989074088,-0.00542696545728,0.0498565832866,0.999999962827,7.84383891051e-05,-0.000258697216285,-3.56333141387e-05,1793239421347406336
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.822497835,666,636,880,788,804,653,631.177502165,653,0.4009898341,-0.00542818652416,0.0498563197137,0.999999963185,7.55863426341e-05,-0.000258138552708,-3.57941351818e-05,1793239421364072704
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.600795144,666,636,880,788,804,653,631.399204856,653,0.40098997783,-0.00542756839169,0.04985660562,0.999999963244,7.63468997141e-05,-0.000257686923595,-3.57796628237e-05,1793239421380739328
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.02516471,666,636,880,788,804,653,631.97483529,653,0.400989849197,-0.00542613743884,0.0498571343644,0.999999963169,7.87040198752e-05,-0.000257282597592,-3.56877208584e-05,1793239421397406464
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745.561779933,715,679,665.438220067,636,879.438220067,788,803.438220067,653,631.438220067,653,0.400991631488,-0.00542611720655,0.0498585114673,0.999999963596,8.00244103477e-05,-0.00025522598009,-3.55501519599e-05,1793239421414073088
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..26e95a815bf7c3a2f1f9a0859dd05f683be8cdcb
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..836ae32bd53e0cc8cb31e9df1d5935d1faeefbf4
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..77b5bffc29cc9f5673b20449020b279ea5ed551d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/franka_data.csv
@@ -0,0 +1,414 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,714,679,666,635,879,788,803,653,631,653,0.400989639123,-0.0054299454217,0.0498572882302,0.999999963668,7.62382152628e-05,-0.000256183848604,-3.49412063092e-05,1793239421541387008
+1,0.016666667,BASELINE,766,745,714,679,666,635.57736143,879,788,803.57736143,653,631,653,0.400988840434,-0.00542915943754,0.049856741303,0.999999963281,7.71912208207e-05,-0.000257354006314,-3.5324545277e-05,1793239421558053888
+2,0.033333333,BASELINE,766,745,714.153979056,679,665.846020944,636,879.153979056,788,804,653,631,652.846020944,0.400988180751,-0.00542849469839,0.0498563101131,0.999999962973,7.76011948299e-05,-0.000258392627023,-3.55823602717e-05,1793239421574720768
+3,0.050000000,BASELINE,766,745,714.728565044,679,665.271434956,636,879.728565044,788,804,653,631,652.271434956,0.400987900779,-0.00542816115011,0.0498561950696,0.999999962883,7.65278320278e-05,-0.000259071943444,-3.54972959067e-05,1793239421591387392
+4,0.066666667,BASELINE,766,745,714.688717352,679,665.311282648,636,879.688717352,788,803.688717352,652.688717352,631,652.311282648,0.40098751438,-0.00542753262612,0.049856027419,0.999999962748,7.72250523479e-05,-0.000259393589662,-3.54199325099e-05,1793239421608054016
+5,0.083333333,BASELINE,766,745,714.098718909,679,665.901281091,636,879.098718909,788,803.098718909,652.098718909,631,652.901281091,0.400987032688,-0.00542663998724,0.0498558126654,0.999999962572,7.95076148163e-05,-0.000259394985622,-3.53494643997e-05,1793239421624720896
+6,0.100000000,BASELINE,766,745,714.4824803,678.5175197,665.5175197,635.5175197,879.964960599,787.5175197,803,652.4824803,631,653,0.400987205511,-0.00542619791306,0.0498562732908,0.999999962517,8.12447834269e-05,-0.000259054234038,-3.54325771854e-05,1793239421641387264
+7,0.116666667,BASELINE,766,745,714.938723776,678.061276224,665.061276224,635.061276224,880.877447553,787.061276224,803.061276224,652.938723776,631,653,0.400987646993,-0.00542596842313,0.0498568987861,0.999999962555,8.24299548873e-05,-0.000258522638306,-3.55189719162e-05,1793239421658053632
+8,0.133333333,BASELINE,766,745,714.365237033,678.634762967,665.634762967,635.634762967,879.730474066,787.634762967,803.634762967,652.365237033,631,653,0.400989234826,-0.0054267591264,0.0498577680121,0.999999963164,7.99170497067e-05,-0.000256970468891,-3.5374832842e-05,1793239421674720256
+9,0.150000000,BASELINE,766,745,714,679,665.78995212,636,879.21004788,788,804,652,631,653,0.400990363228,-0.00542705148965,0.0498582537998,0.99999996353,7.83133170694e-05,-0.000256037915654,-3.53766746368e-05,1793239421691386880
+10,0.166666667,BASELINE,766,745,714,679,665.211513562,636,879.788486438,788,804,652,631,653,0.400990685858,-0.00542646984344,0.0498580670973,0.999999963482,7.83041291836e-05,-0.000256192071113,-3.56345437449e-05,1793239421708053760
+11,0.183333333,BASELINE,766,745,714,679,665,635.627416079,879.627416079,788,803.627416079,652.372583921,631,652.627416079,0.400990089594,-0.00542629993401,0.0498578046127,0.999999963392,7.79879724071e-05,-0.000256637889479,-3.56556122113e-05,1793239421724720640
+12,0.200000000,BASELINE,766,745,714,679,665,635.040056457,879.040056457,788,803.040056457,652.959943543,631,652.040056457,0.400988963635,-0.00542636736986,0.0498574984435,0.999999963276,7.74948636604e-05,-0.000257251836706,-3.55401771631e-05,1793239421741387520
+13,0.216666667,BASELINE,765.459997596,745,714.540002404,679,665,635.540002404,879,788,803,652.459997596,631.540002404,652.540002404,0.400989565198,-0.00542745828793,0.0498578655315,0.999999963417,7.76836601221e-05,-0.000256667194935,-3.54046013423e-05,1793239421758053888
+14,0.233333333,BASELINE,765.118738039,745,714.881261961,679.118738039,665.118738039,636,879,788,803,652.118738039,631.881261961,653,0.400990323119,-0.00542795693264,0.0498583228347,0.999999963568,7.81792041798e-05,-0.000255931688654,-3.5368096173e-05,1793239421774720512
+15,0.250000000,BASELINE,765.694437801,745,714.305562199,679.694437801,665.694437801,636,879,788,803,652.694437801,631.305562199,653,0.400991196199,-0.0054258879415,0.0498589376963,0.999999963688,7.96631926887e-05,-0.000254953184012,-3.57185359869e-05,1793239421791387136
+16,0.266666667,BASELINE,766,745,714.26946286,680,665.73053714,635.73053714,879,788,803.26946286,653,631.26946286,653,0.4009912094,-0.00542591064528,0.0498590661183,0.99999996384,7.90554078951e-05,-0.000254547029764,-3.57233099531e-05,1793239421808054016
+17,0.283333333,BASELINE,766,745,714.843724705,680,665.156275295,635.156275295,879,788,803.843724705,653,631.843724705,653,0.400990249963,-0.00542829933939,0.0498586443111,0.999999964023,7.60815441463e-05,-0.000254788281376,-3.53370890159e-05,1793239421824720640
+18,0.300000000,BASELINE,766,745,715,679.568437917,665.431562083,635,879.431562083,788,803.568437917,653,632,653,0.400989270741,-0.00542834247853,0.0498581038449,0.999999963737,7.61353890018e-05,-0.000255896277676,-3.53196216128e-05,1793239421841387264
+19,0.316666667,BASELINE,766,745,715,679.023822241,666,635.023822241,880,788,803.023822241,653,632,653,0.400988365619,-0.00542756103842,0.0498575644211,0.999999963301,7.72859281177e-05,-0.000257237049541,-3.54231678615e-05,1793239421858054144
+20,0.333333333,BASELINE,766,745,715,679.600921445,666,635.600921445,880,788,803.600921445,653,632,653,0.400989353271,-0.00542799586453,0.0498580795677,0.999999963485,7.76167462085e-05,-0.000256457828105,-3.51352626711e-05,1793239421874720768
+21,0.350000000,BASELINE,766,745.177683376,715,679.822316624,666,636,880,788,803.822316624,653,631.822316624,653,0.40099028874,-0.00542825971866,0.0498585637027,0.999999963751,7.759051737e-05,-0.00025544926664,-3.49789992482e-05,1793239421891387136
+22,0.366666667,BASELINE,766,745.753689144,715,679.246310856,666,636,880,788,803.246310856,653,631.246310856,653,0.400991107226,-0.00542814029561,0.0498589783171,0.999999964198,7.67638771574e-05,-0.000253926581382,-3.51178443037e-05,1793239421908054016
+23,0.383333333,BASELINE,766,745.673213773,715,679,666,636,879.673213773,788,803.326786227,652.673213773,631,653,0.400991295387,-0.00542739739072,0.0498592434158,0.999999964145,7.83183593432e-05,-0.000253654759978,-3.51551604468e-05,1793239421924720640
+24,0.400000000,BASELINE,766,745.102289672,715,679,666,636,879.102289672,788,803.897710328,652.102289672,631,653,0.40099101264,-0.00542618869037,0.0498593968132,0.999999963711,8.16517479941e-05,-0.000254317443042,-3.51166256323e-05,1793239421941387008
+25,0.416666667,BASELINE,766,745,715,679,666,636,879,788,804,652.491016433,631.491016433,653,0.400990361588,-0.00542751198449,0.0498594572935,0.999999963929,7.98180468209e-05,-0.00025405774361,-3.5015625092e-05,1793239421958053888
+26,0.433333333,BASELINE,766,745,715,679,666,636,879.085664572,788.085664572,803.914335428,653,632,653,0.400989918277,-0.00542902476187,0.049859517992,0.999999964248,7.73380613047e-05,-0.000253573980936,-3.49583976014e-05,1793239421974721024
+27,0.450000000,BASELINE,766,745,715,679,666,636,879.660096192,788.660096192,803.339903808,653,632,653,0.400991118934,-0.00542846538518,0.049859695652,0.999999964374,7.76055767927e-05,-0.000252960511884,-3.52287141187e-05,1793239421991387136
+28,0.466666667,BASELINE,766,745,715,679,666,636,880,788.764457163,803,653,631.764457163,653,0.400991111362,-0.00542776549641,0.0498592414555,0.99999996414,7.81951817752e-05,-0.000253687648437,-3.53211400785e-05,1793239422008053504
+29,0.483333333,BASELINE,766,745,715,679,666,636,880,788.187539463,803,653,631.187539463,653,0.40098935269,-0.00542686196195,0.0498578715026,0.999999963382,7.92515946399e-05,-0.000256357739687,-3.51557472514e-05,1793239422024720128
+30,0.500000000,BASELINE,766,745.396544418,715,679,666,636,880,788,803.396544418,652.603455582,631,653,0.40099001335,-0.00542615256664,0.0498581847739,0.999999963531,8.09192379519e-05,-0.000255259393463,-3.51112951319e-05,1793239422041387008
+31,0.516666667,BASELINE,766,745.984079789,715,679,666,636,880,788,803.984079789,652.015920211,631,653,0.400991839253,-0.00542553667619,0.0498593087504,0.999999964109,8.28812731867e-05,-0.000252346023584,-3.51250926859e-05,1793239422058053376
+32,0.533333333,BASELINE,766,745.435071176,715,679,666,636,880,788,804,652.564928824,631.564928824,653,0.400992288038,-0.00542756720496,0.0498600941661,0.999999964595,7.90642749525e-05,-0.00025164534533,-3.51136380382e-05,1793239422074720000
+33,0.550000000,BASELINE,766,745,715,679,666,636,879.855720036,788,804,653,632,653,0.400992307189,-0.00542920909027,0.0498604730441,0.999999964851,7.63203331444e-05,-0.000251490475081,-3.50240320568e-05,1793239422091386880
+34,0.566666667,BASELINE,766,745,715,679,666,636,879.280288667,788,804,653,632,653,0.40099115708,-0.00542946933718,0.0498596652443,0.999999964463,7.7263980244e-05,-0.000252782483818,-3.47029883585e-05,1793239422108053504
+35,0.583333333,BASELINE,766,745,714.69950412,679,666,636,879,788,804,653,631.69950412,653,0.400990181131,-0.0054294627745,0.0498590912884,0.99999996421,7.72378639418e-05,-0.000253784924553,-3.47617740785e-05,1793239422124720640
+36,0.600000000,BASELINE,766,745,714.113635743,679,666,636,879,788,804,653,631.113635743,653,0.400989370577,-0.00542920283027,0.0498587394072,0.999999964083,7.62907906872e-05,-0.000254512370843,-3.51812730905e-05,1793239422141387776
+37,0.616666667,BASELINE,766,745,714.467590035,679.467590035,666,636,879,788,803.532409965,653,631,653,0.400990118942,-0.00542891291166,0.0498590630585,0.999999964255,7.5795784615e-05,-0.000253970635725,-3.52729282248e-05,1793239422158054400
+38,0.633333333,BASELINE,766,745.04758217,715,679.95241783,666,636,879,788,803.04758217,653,631,653,0.400991121319,-0.00542859610998,0.0498595027322,0.99999996446,7.5609957175e-05,-0.000253212806184,-3.52924191788e-05,1793239422174720768
+39,0.650000000,BASELINE,766,745.626274693,715,679.373725307,666,636,879,788,803.626274693,653,631,653,0.400990771785,-0.0054280597505,0.0498594229923,0.999999964239,7.76609352575e-05,-0.000253451908433,-3.53869917572e-05,1793239422191387392
+40,0.666666667,BASELINE,766,745.797575364,715,679,666,636,879.202424636,788,804,653,631.202424636,653,0.400991251926,-0.00542773889992,0.0498600206927,0.999999964357,7.90246340254e-05,-0.000252567559036,-3.53609168816e-05,1793239422208053760
+41,0.683333333,BASELINE,766,745.226061447,715,679,666,636,879.773938553,788,804,653,631.773938553,653,0.400993244848,-0.00542781099573,0.0498618535983,0.999999965094,7.9135187639e-05,-0.000249634773397,-3.5114860467e-05,1793239422224720384
+42,0.700000000,BASELINE,766,745,715,679,666,636,879.641817347,788,804,653,632,653,0.400992677396,-0.0054277240124,0.0498611714908,0.999999964873,7.89515482855e-05,-0.000250585270073,-3.50440258862e-05,1793239422241386752
+43,0.716666667,BASELINE,766,745,715,679,666,636,879.049242736,788,804,653,632,653,0.400990434454,-0.00542753292889,0.0498588435782,0.99999996402,7.85753913242e-05,-0.000254076956782,-3.50878551279e-05,1793239422258053632
+44,0.733333333,BASELINE,766,745,715,679,666,636,879,787.469141623,804,653,632,653,0.400991803605,-0.0054282113476,0.0498601180318,0.999999964465,7.95720721861e-05,-0.000252041799308,-3.4827544915e-05,1793239422274720512
+45,0.750000000,BASELINE,766,745,715,679,666,636,879.109033631,787.109033631,804,653,632,652.890966369,0.400992681872,-0.00542877263737,0.0498610372269,0.999999964809,7.99967284295e-05,-0.000250569567859,-3.46063549393e-05,1793239422291387136
+46,0.766666667,BASELINE,766,745,715,679,666,636,879.683811236,787.683811236,804,653,632,652.316188764,0.400990064924,-0.00542849698757,0.0498590443067,0.999999964233,7.74464702426e-05,-0.000253641552173,-3.46700129701e-05,1793239422308053760
+47,0.783333333,BASELINE,766,745,715,679,666,636,879.741977758,788,804,653,632,652.258022242,0.400988757947,-0.00542831315256,0.0498581383052,0.999999963885,7.68899640741e-05,-0.000255156851642,-3.48250513357e-05,1793239422324720640
+48,0.800000000,BASELINE,766,745,715,679,666,636,879.168459485,788,804,653,632,652.831540515,0.400989052733,-0.00542824158382,0.0498585613306,0.999999963828,7.87713127187e-05,-0.000254768719135,-3.50918247793e-05,1793239422341387264
+49,0.816666667,BASELINE,766,745,715,679,666,636,879,788,804,653,632,653,0.400989848033,-0.00542915933632,0.0498590946116,0.999999964096,7.78393540765e-05,-0.000254036244212,-3.48619732948e-05,1793239422358053888
+50,0.833333333,BASELINE,766,745,714.991206005,679,666,636,879,787.991206005,804,653,632,652.991206005,0.400990848759,-0.0054304527314,0.0498596711014,0.999999964491,7.57788009992e-05,-0.000253160174595,-3.44327853134e-05,1793239422374720512
+51,0.850000000,BASELINE,766,745,714.41114858,679,666,636,879,787.41114858,804,653,632,652.41114858,0.400991671965,-0.0054294202016,0.0498600757613,0.999999964669,7.64094966344e-05,-0.000252258995535,-3.44715937588e-05,1793239422391387136
+52,0.866666667,BASELINE,766,745,714.167231044,679,666,636,879,787.167231044,803.832768956,653,632,652.167231044,0.400992067847,-0.00542866264949,0.0498603310182,0.999999964748,7.71874217247e-05,-0.000251699834863,-3.45371120866e-05,1793239422408053504
+53,0.883333333,BASELINE,766,745,714.741526627,679,666,636,879,787.741526627,803.258473373,653,632,652.741526627,0.400991423559,-0.00542857443289,0.0498602226063,0.999999964587,7.83237245567e-05,-0.000251973196456,-3.46676461272e-05,1793239422424720384
+54,0.900000000,BASELINE,766,745.323669299,715,679,666,636,879.323669299,788,803,653,632,653,0.400991055568,-0.00542826944808,0.0498603370713,0.999999964509,7.87698862834e-05,-0.000252144232892,-3.46584476109e-05,1793239422441387264
+55,0.916666667,BASELINE,766,745.912234112,715,679,666,636,879.912234112,788,803,653,632,653,0.400990913702,-0.00542778705714,0.0498606339421,0.9999999645,7.86512267547e-05,-0.000252231524966,-3.45348899958e-05,1793239422458053632
+56,0.933333333,BASELINE,766,746,715,679,666,636,879.506824248,788,803,652.506824248,632,653,0.400991294101,-0.00542820749824,0.0498607477096,0.999999964707,7.83036050761e-05,-0.000251518492194,-3.45253052089e-05,1793239422474720512
+57,0.950000000,BASELINE,766,745.927721365,715,679,665.927721365,636,879.072278635,787.927721365,803.072278635,652.072278635,632,653,0.400991787484,-0.0054284321868,0.0498608414075,0.999999964881,7.83647124175e-05,-0.000250799676606,-3.4584548402e-05,1793239422491386880
+58,0.966666667,BASELINE,766,745.352119961,715,679,665.352119961,636,879.647880039,787.352119961,803.647880039,652.647880039,632,653,0.400992430278,-0.00542619191574,0.0498610188054,0.999999964558,8.15514871621e-05,-0.000251017301204,-3.49839938041e-05,1793239422508053504
+59,0.983333333,BASELINE,766,745,715,679,665.223617593,636,880,787.223617593,803.776382407,653,632,653,0.400992373306,-0.00542523318205,0.0498608258311,0.999999964338,8.28707545661e-05,-0.000251449621191,-3.50758238053e-05,1793239422524720384
+60,1.000000000,BASELINE,766,745,715,679,665.799569757,636,880,787.799569757,803.200430243,653,632,653,0.400991213776,-0.00542629365373,0.049860049294,0.99999996429,8.1247555422e-05,-0.000252220217857,-3.46829713406e-05,1793239422541387264
+61,1.016666667,BASELINE,766.383082311,745,715,679,666,636,879.616917689,788,803.383082311,653,631.616917689,653,0.400990759805,-0.0054265757802,0.0498601535719,0.999999964333,8.08479941964e-05,-0.000252190368806,-3.46116620949e-05,1793239422558053888
+62,1.033333333,BASELINE,766.970630095,745,715,679,666,636,879.029369905,788,803.970630095,653,631.029369905,653,0.400990682418,-0.00542644247443,0.0498607279739,0.999999964424,8.11015347644e-05,-0.000251733291648,-3.4711972613e-05,1793239422574720768
+63,1.050000000,BASELINE,766.446161674,745,714.446161674,679,665.446161674,636,879.553838326,788,803.446161674,653,631,653,0.400990937685,-0.0054269648589,0.0498602945435,0.999999964419,7.97227204317e-05,-0.000252183025291,-3.47934881627e-05,1793239422591387392
+64,1.066666667,BASELINE,766,745,714.134648105,679,665.134648105,636,880,788,803.134648105,652.865351895,631,653,0.40099115068,-0.00542778476503,0.0498599875743,0.999999964471,7.81631748596e-05,-0.000252467163347,-3.47713609982e-05,1793239422608054016
+65,1.083333333,BASELINE,766,745,714.708381145,679,665.708381145,636,880,788,803.708381145,652.291618855,631,653,0.400991168749,-0.00542946237734,0.0498602659209,0.999999964731,7.62943550919e-05,-0.000252055702547,-3.4414481815e-05,1793239422624720896
+66,1.100000000,BASELINE,766,745,715,679,666,636,880,788,804,652.287031513,631,653,0.400991376237,-0.00542923593199,0.0498603590028,0.999999964785,7.65287971015e-05,-0.000251757906772,-3.451429544e-05,1793239422641387264
+67,1.116666667,BASELINE,766,745,715,679,666,636,880,788,804,652.870764841,631,653,0.400991779525,-0.00542704127977,0.0498602605781,0.999999964623,7.89373614292e-05,-0.000251577605504,-3.50861882094e-05,1793239422658053632
+68,1.133333333,BASELINE,766,745,714.547082928,679,666,636,879.547082928,788,804,653,631,652.547082928,0.400990803882,-0.00542688677733,0.0498594377758,0.999999964217,7.98835582946e-05,-0.000252884947131,-3.51382607436e-05,1793239422674720000
+69,1.150000000,BASELINE,766,745,714.034537508,679,666,636,879.034537508,788,803.965462492,653,631,652.034537508,0.400989615467,-0.00542743389139,0.049858555196,0.999999963816,8.02099965373e-05,-0.000254374298209,-3.50299468346e-05,1793239422691386880
+70,1.166666667,BASELINE,766,745,714.61485802,679,666,636,879.61485802,788,803.38514198,653,631,652.61485802,0.400991260838,-0.00542990112037,0.0498599829131,0.999999964643,7.73136654218e-05,-0.000252055260121,-3.47228810767e-05,1793239422708053760
+71,1.183333333,BASELINE,766,745,715,679,665.807778716,636,880,788,803,653,631,653,0.400991939855,-0.00543121378865,0.0498608454709,0.99999996504,7.60784802894e-05,-0.000250887132631,-3.44657028252e-05,1793239422724720640
+72,1.200000000,BASELINE,766,745,715,679,665.236250831,636,880,788,803,653,631,653,0.400990711983,-0.00543024818473,0.049860592811,0.999999964611,7.81212023954e-05,-0.000251990074711,-3.43069665865e-05,1793239422741387008
+73,1.216666667,BASELINE,766,745.346462252,715,679,665.346462252,636,879.653537748,788,803.346462252,652.653537748,631,653,0.400989817586,-0.00542962518924,0.0498601523835,0.99999996435,7.87533433315e-05,-0.000252816730225,-3.43844492903e-05,1793239422758053632
+74,1.233333333,BASELINE,766,745.937056879,715,679,665.937056879,636,879.062943121,788,803.937056879,652.062943121,631,653,0.40098915817,-0.00542924361061,0.0498595796469,0.99999996421,7.83915272922e-05,-0.00025344870214,-3.46283821464e-05,1793239422774720256
+75,1.250000000,BASELINE,766,746,715,679,666,636,879,788,803.48200669,652.51799331,631,653,0.40099043696,-0.0054299484037,0.0498600989723,0.99999996463,7.51477694668e-05,-0.000252793171725,-3.44777798588e-05,1793239422791386880
+76,1.266666667,BASELINE,766,745.904399863,714.904399863,679,666,636,879.095600137,788,803.095600137,653,631.095600137,653,0.400991435505,-0.00543052337032,0.0498605298392,0.999999964936,7.25870185275e-05,-0.000252345039333,-3.4367519053e-05,1793239422808053504
+77,1.283333333,BASELINE,766,745.337527227,714.337527227,679,666,636,879.662472773,788,803.662472773,653,631.662472773,653,0.400989912783,-0.00542981949995,0.0498598824508,0.999999964403,7.5087960643e-05,-0.000253676417224,-3.4688133106e-05,1793239422824720128
+78,1.300000000,BASELINE,766,745.233325076,714.233325076,679,666,636,879.766674924,788,804,653,631.766674924,652.766674924,0.40098972841,-0.00542898191772,0.0498598101927,0.999999964239,7.70311061735e-05,-0.000253717847535,-3.48502086754e-05,1793239422841386752
+79,1.316666667,BASELINE,766,745.810034199,714.810034199,679,666,636,879.189965801,788,804,653,631.189965801,652.189965801,0.400991513682,-0.0054279475521,0.049860584353,0.999999964624,7.81533433675e-05,-0.000251860864464,-3.47789634484e-05,1793239422858053376
+80,1.333333333,BASELINE,766,745.597967082,715,678.597967082,666,636,879.804065836,788,804,653,631,652.402032918,0.400991121644,-0.00542871180057,0.0498608236325,0.999999964747,7.72823591579e-05,-0.000251677857043,-3.4535327333e-05,1793239422874720256
+81,1.350000000,BASELINE,766,745,715,678.001486704,666,636,880.998513296,788,804,653,631.001486704,653,0.400989664579,-0.00543035479172,0.0498607982889,0.999999964738,7.54383108263e-05,-0.000252315387968,-3.42087205635e-05,1793239422891386880
+82,1.366666667,BASELINE,766,745,715,678.579557031,666,636,880.420442969,788,804,653,631.579557031,653,0.400989935032,-0.00543016530533,0.0498600387233,0.999999964696,7.59186701327e-05,-0.000252290645883,-3.45440010485e-05,1793239422908053760
+83,1.383333333,BASELINE,766,745,715,679,666,636,880,788,804.15667144,653,631.84332856,653,0.400990534527,-0.00543003097762,0.0498597334811,0.999999964777,7.61547823203e-05,-0.000251871665684,-3.4740782355e-05,1793239422924720384
+84,1.400000000,BASELINE,766,745,715,679,666,636,880,788,804.731236234,653,631.268763766,653,0.400992011681,-0.00543004377589,0.0498606400665,0.999999965184,7.5739408627e-05,-0.000250401125043,-3.45681416743e-05,1793239422941387008
+85,1.416666667,BASELINE,766,745.305602574,715,679,666,636,880,788,804.694397426,653,631.305602574,653,0.400992352003,-0.00542995477854,0.0498610787964,0.999999965255,7.55947442273e-05,-0.000250190793966,-3.43578644552e-05,1793239422958053376
+86,1.433333333,BASELINE,766,745.879794462,715,679,666,636,880,788,804.120205538,653,631.879794462,653,0.400991693181,-0.00542977631461,0.0498611063352,0.999999965031,7.56880020088e-05,-0.000251088041415,-3.41145090825e-05,1793239422974720256
+87,1.450000000,BASELINE,766,746,715,679,666,636,880,788,804,653,632,653,0.400990380532,-0.00542840097799,0.0498603593073,0.999999964521,7.78882116567e-05,-0.000252393691697,-3.44934747453e-05,1793239422991386880
+88,1.466666667,BASELINE,766,745.938340033,715,679,666,636,880,788,804,653,631.938340033,653,0.400989121802,-0.00542704219317,0.0498595439153,0.999999964031,8.0052659434e-05,-0.000253588394583,-3.49615091751e-05,1793239423008054016
+89,1.483333333,BASELINE,766,745.362049489,715,679,666,636,880,788,804,653,631.362049489,653,0.400989757983,-0.00542846653125,0.0498598696576,0.999999964417,7.72624618195e-05,-0.000252954568717,-3.47976638485e-05,1793239423024720640
+90,1.500000000,BASELINE,766,745.212250083,715,679,666,636,880,788.212250083,804,653,631.212250083,653,0.40099027011,-0.00542894404606,0.0498601034651,0.999999964596,7.6593955678e-05,-0.000252450214131,-3.47839365022e-05,1793239423041387264
+91,1.516666667,BASELINE,766,745.783185019,715,679,666,636,880,788.783185019,804,653,631.783185019,653,0.400990572594,-0.00542782150877,0.0498601819104,0.999999964432,7.95109306191e-05,-0.000252164655224,-3.50238959801e-05,1793239423058053888
+92,1.533333333,BASELINE,766.368145497,746,715,679.368145497,666,636,880,788.631854503,803.631854503,653,632,653,0.40099112763,-0.00542860532181,0.0498603997086,0.999999964593,7.83041686593e-05,-0.000251917069851,-3.49452289044e-05,1793239423074720512
+93,1.550000000,BASELINE,766.961693371,746,715,679.961693371,666,636,880,788.038306629,803.038306629,653,632,653,0.400991837295,-0.00543055632516,0.0498607028274,0.999999964944,7.45725897423e-05,-0.000251692734293,-3.46714781606e-05,1793239423091387136
+94,1.566666667,BASELINE,767,745.458133547,715,679.458133547,666,636,880,788,803.541866453,653,632,653,0.400992168057,-0.00542937171075,0.0498610935348,0.99999996509,7.71508429568e-05,-0.00025035941637,-3.44698575667e-05,1793239423108053504
+95,1.583333333,BASELINE,766.879631995,745.120368005,715,679,666,636,880.120368005,788,804,653,632,653,0.400992338026,-0.00542827086,0.0498613218022,0.999999965191,7.92464861007e-05,-0.000249307379325,-3.44087494484e-05,1793239423124720384
+96,1.600000000,BASELINE,766.303962637,745.696037363,715,679,666,636,880.696037363,788,804,653,632,653,0.400991998663,-0.0054283051338,0.0498609127705,0.999999965208,7.78699827921e-05,-0.000249608712852,-3.48603173075e-05,1793239423141387008
+97,1.616666667,BASELINE,766,746,715,679,666,636,880.72285871,788,804,653,632,653,0.400991397511,-0.0054283744796,0.0498606679711,0.999999964973,7.8108329084e-05,-0.000250469947383,-3.48932730904e-05,1793239423158053888
+98,1.633333333,BASELINE,766,746,715,679,666,636,880.135675078,788,804,653,632,653,0.400990503492,-0.00542848306099,0.0498606069011,0.999999964453,8.01532332274e-05,-0.000251957551997,-3.44579209011e-05,1793239423174720768
+99,1.650000000,BASELINE,766,745.554156486,715,679,666,636,879.554156486,788,804,653,631.554156486,653,0.400990453583,-0.00542862609856,0.0498601988508,0.999999964348,8.00220336185e-05,-0.000252407073336,-3.4504774063e-05,1793239423191387392
+100,1.666666667,BASELINE,766.025500927,745,715,679,666,636,879.025500927,788,804,653,631.025500927,653,0.400990643827,-0.00542874695213,0.0498597082271,0.999999964368,7.9209053672e-05,-0.00025255822222,-3.46987872805e-05,1793239423208053760
+101,1.683333333,BASELINE,766.601727414,745,715,679,666,636,879.601727414,788,804,653,631.601727414,653,0.400990542617,-0.00542816510932,0.0498596860626,0.999999964359,7.77940381507e-05,-0.000253002305818,-3.49416256851e-05,1793239423224720384
+102,1.700000000,BASELINE,766.822057354,745,714.822057354,679,666,636,879.822057354,787.822057354,803.822057354,653,632,653,0.400989774918,-0.00542775216347,0.0498592656575,0.999999964161,7.7375069761e-05,-0.00025389035486,-3.50879909179e-05,1793239423241387008
+103,1.716666667,BASELINE,766.245867387,745,714.245867387,679,666,636,879.245867387,787.245867387,803.245867387,653,632,653,0.400987515571,-0.00542771722017,0.049857953964,0.999999963542,7.91853204057e-05,-0.000255772027642,-3.50184428285e-05,1793239423258053632
+104,1.733333333,BASELINE,766,745,714,679,666,636,879,787,803.33766254,652.66233746,631.66233746,652.66233746,0.40098743208,-0.00542758581502,0.0498579630708,0.999999963438,8.01449393777e-05,-0.000255904229092,-3.4842243612e-05,1793239423274720512
+105,1.750000000,BASELINE,766,745,714,679,666,636,879,787,803.926655846,652.073344154,631.073344154,652.073344154,0.400988968136,-0.00542738261088,0.0498589552825,0.999999963719,8.04714118792e-05,-0.000254734254997,-3.45866612579e-05,1793239423291387136
+106,1.766666667,BASELINE,766,745,714.507520058,678.492479942,666,635.492479942,879,787,804,652.507520058,631,652.507520058,0.400989333535,-0.00542851028097,0.0498591569325,0.999999963925,8.08028112947e-05,-0.000253822806657,-3.45638998516e-05,1793239423308054016
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,653,631,653,0.400990032868,-0.00542862757174,0.0498605880376,0.9999999646,7.92791330475e-05,-0.000251607663588,-3.47572099803e-05,1793239423351347968
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.577921935,715,679,666,636,880,788,803.422078065,653,631,653,0.400989717976,-0.00543132325064,0.049859790656,0.999999964561,7.6368604826e-05,-0.000252771399159,-3.39338082692e-05,1793239423368014336
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.840251825,714.840251825,679,665.840251825,636,880,788,803,653,631.159748175,652.840251825,0.400989677172,-0.00543263689398,0.0498594439351,0.999999964572,7.46453046134e-05,-0.000253298854404,-3.35335168582e-05,1793239423384680448
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.247851274,714.247851274,679,665.247851274,636,880,788,803,653,631.752148726,652.247851274,0.400990378692,-0.00543020751571,0.0498603177566,0.999999964736,7.61374208921e-05,-0.000252103046433,-3.42791518262e-05,1793239423401346816
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714.335954844,679,665.335954844,636,879.664045156,788,803.335954844,653,631.664045156,652.335954844,0.400991120245,-0.00542919186204,0.0498607133191,0.999999964873,7.66858035447e-05,-0.000251352371501,-3.4585972706e-05,1793239423418013696
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,714.913578529,679,665.913578529,636,879.086421471,788,803.913578529,653,631.086421471,652.913578529,0.400991890595,-0.00542919317014,0.0498607648463,0.999999964991,7.65553120998e-05,-0.000250921902729,-3.45771329875e-05,1793239423434680832
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.511720102,665.511720102,636,879.488279898,788,804,653,631.488279898,653,0.40099174362,-0.00542879887887,0.0498607050352,0.999999964995,7.79448281344e-05,-0.000250491356202,-3.4481998139e-05,1793239423451347456
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678,665.06390417,636,880,788,803.93609583,653,631.93609583,652.93609583,0.400991658911,-0.00542870368212,0.0498607597603,0.999999965035,7.90437998894e-05,-0.000250004483962,-3.43418988616e-05,1793239423468014080
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,678,665.651300541,636,880,788,803.348699459,653,631.348699459,652.348699459,0.400993406373,-0.00543162877895,0.049861913214,0.999999965553,7.55719557277e-05,-0.000249056313008,-3.39578322751e-05,1793239423484680448
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.236727029,714.763272971,678.236727029,666,636,880,788,803.236727029,652.763272971,631,652.236727029,0.400999093164,-0.00543281458519,0.0498643265696,0.999999966654,7.36173355915e-05,-0.0002452403521,-3.35959009062e-05,1793239423501347072
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.819275768,714.180724232,678.819275768,666,636,880,788,803.819275768,652.180724232,631,652.819275768,0.40101053471,-0.00543145955562,0.0498685804478,0.999999968577,7.38791462547e-05,-0.000237234992074,-3.32663057119e-05,1793239423518013696
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.60355909,714,679,666,636,879.60355909,788,803.60355909,652,631,653,0.401038201812,-0.00543035343426,0.0498781723196,0.999999973032,7.70058663986e-05,-0.00021660115221,-3.3026436372e-05,1793239423534680064
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.02881522,714,679,666,636,879.02881522,788,803.02881522,652,631,653,0.401073166511,-0.00542935926154,0.0498901650037,0.999999978042,8.14211060101e-05,-0.00019028753612,-3.28269220157e-05,1793239423551346688
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,714.545027595,679,666,636,879.545027595,788,803,652.545027595,631,652.454972405,0.40113466722,-0.00543228853189,0.049909174612,0.99999998512,7.90683639525e-05,-0.000150058586653,-3.14776592046e-05,1793239423568013312
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.877746195,788,803,653,631.122253805,652.122253805,0.401199278257,-0.00543559146027,0.0499272995959,0.999999990168,7.64100598902e-05,-0.000113681037383,-3.00404460205e-05,1793239423584679936
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.287382698,788,803,653,631.712617302,652.712617302,0.40127043577,-0.00543953218883,0.049940619223,0.99999999236,7.39495836802e-05,-9.48628056298e-05,-2.84988375418e-05,1793239423601347072
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,714.702227998,679,666,636,879,788,803.297772002,652.702227998,632,653,0.401347485703,-0.00544263965034,0.0499491248282,0.999999993584,7.19370839497e-05,-8.31211131266e-05,-2.73341985521e-05,1793239423618013952
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,714.122013968,679,666,636,879,788,803.877986032,652.122013968,632,653,0.401430124698,-0.00544495674305,0.0499530642473,0.999999994124,7.03494980235e-05,-7.80916448117e-05,-2.65271219107e-05,1793239423634680320
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714.453672412,679,666,636,879,788,803.546327588,652.453672412,632,653,0.401526898193,-0.00544735242999,0.0499520088646,0.999999993892,7.02010988724e-05,-8.13613403406e-05,-2.58534974832e-05,1793239423651346944
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714.971192125,679,666,636,879.028807875,788.028807875,803.028807875,653,631.971192125,653,0.401628602925,-0.00544992201287,0.0499497881853,0.999999993467,7.02315685653e-05,-8.65923507446e-05,-2.51948765031e-05,1793239423668013568
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714.383350715,679,666,636,879.616649285,788.616649285,803.616649285,653,631.383350715,653,0.401752961098,-0.00545546001167,0.0499507649211,0.999999993727,6.62960848665e-05,-8.69978319036e-05,-2.41377907743e-05,1793239423684680192
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.201618986,745,714.201618986,679,666,636,879.798381014,788.798381014,804,653,631,653,0.401890193786,-0.00546147604411,0.0499528545248,0.999999994196,6.21657475379e-05,-8.49599129306e-05,-2.28976960241e-05,1793239423701347072
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.781205141,745,714.781205141,679,666,636,879.218794859,788.218794859,804,653,631,653,0.402051561806,-0.00546838822675,0.0499570303779,0.999999995041,5.76701262279e-05,-7.83414479449e-05,-2.131452159e-05,1793239423718013440
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.641849085,745,714.641849085,679,665.641849085,636,879,788,803.641849085,652.641849085,631.358150915,653,0.402227373267,-0.00547368024847,0.049957029605,0.999999995113,5.61083105645e-05,-7.88972589232e-05,-2.00514161469e-05,1793239423734680320
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.066504463,745,714.066504463,679,665.066504463,636,879,788,803.066504463,652.066504463,631.933495537,653,0.402411943691,-0.00547798975557,0.0499544959983,0.999999994722,5.63256442497e-05,-8.3803770385e-05,-1.89824102105e-05,1793239423751347456
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,714.510613796,679,665.510613796,635.489386204,879.510613796,788,803,652.510613796,632,652.489386204,0.402635613537,-0.00548599242817,0.0499552428526,0.999999995231,5.14690822969e-05,-8.1115531859e-05,-1.75668125153e-05,1793239423768013824
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715.08934389,679,666,635.08934389,879.91065611,788,803.08934389,653,631.91065611,652.08934389,0.402870114206,-0.00549451691811,0.0499574020255,0.999999995932,4.63276343316e-05,-7.57303534474e-05,-1.59576361165e-05,1793239423784680192
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715.675751969,679,666,635.675751969,879.324248031,788,803.675751969,653,631.324248031,652.675751969,0.403136441493,-0.00550325909685,0.0499650332757,0.999999997119,4.32906465385e-05,-6.08631986541e-05,-1.35235053503e-05,1793239423801346816
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.482183128,679,665.741091564,636,879,788,804,653,631.258908436,652.741091564,0.403422893067,-0.00551302814561,0.0499729791791,0.999999998189,3.89555477511e-05,-4.44909020397e-05,-1.11740448502e-05,1793239423818013440
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,714.32391366,679,665.16195683,636,879,788,804,653,631.83804317,652.16195683,0.40373423499,-0.00552406725979,0.0499813142554,0.99999999907,3.30149036333e-05,-2.62569984071e-05,-8.92930740988e-06,1793239423834680064
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.415388762,714.415388762,679,665.415388762,636,879.415388762,788,803.584611238,652.584611238,632,652.415388762,0.404074123049,-0.00553390165084,0.049989022969,0.999999999446,3.00594659067e-05,-1.30157859832e-05,-5.8432445264e-06,1793239423851346944
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.99203976,714.99203976,679,665.99203976,636,879.99203976,788,803.00796024,652.00796024,632,652.99203976,0.404425093282,-0.00554326834399,0.0499964885159,0.999999999596,2.82629452204e-05,-1.71283669457e-06,-2.43056230984e-06,1793239423868013568
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,803,652.564419281,632,653,0.404820934398,-0.00555037586292,0.0500026998569,0.999999999492,2.91396737038e-05,1.29145742381e-05,-8.69683024868e-08,1793239423884680448
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665.858100763,636,879.858100763,788,803,653,631.858100763,653,0.405217935741,-0.00555510876504,0.0500044933861,0.999999999272,3.33604676388e-05,1.83372198736e-05,2.56229631051e-06,1793239423901347584
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,679,665.264183084,636,879.264183084,788,803,653,631.264183084,653,0.405616632156,-0.00555237808423,0.0499922699469,0.999999998807,4.81145476989e-05,-5.71004882467e-06,6.23294018546e-06,1793239423918013952
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.678625645,745.678625645,715,679,665.321374355,636,879,788.321374355,803.321374355,652.678625645,631.321374355,653,0.406030413036,-0.00554156026474,0.0499753996365,0.999999996689,7.14021697607e-05,-3.82793028798e-05,7.69602869503e-06,1793239423934680576
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.099766361,745.099766361,715,679,665.900233639,636,879,788.900233639,803.900233639,652.099766361,631.900233639,653,0.406456279622,-0.0055242630346,0.0499548062544,0.999999991802,0.000101526861714,-7.76763687013e-05,7.39042564171e-06,1793239423951346944
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.475227558,745,715,679,666,636,879,788.524772442,804,652.475227558,631.524772442,653,0.406936502099,-0.00552474244148,0.0499429824423,0.999999989208,0.000112650826759,-9.38180063899e-05,9.56097044708e-06,1793239423968013568
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.050731328,715,679,666,636,879.050731328,788,803.949268672,652.949268672,631.050731328,652.949268672,0.40743450233,-0.00552928917254,0.0499349895429,0.999999987624,0.000119353671364,-0.000101747044064,1.2381618336e-05,1793239423984680448
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.640197592,715,679,666,636,879.640197592,788,803.359802408,652.359802408,631.640197592,652.359802408,0.408001090021,-0.00553771745121,0.0499482856825,0.999999989796,0.000121124808548,-7.3889997761e-05,1.66302530645e-05,1793239424001347072
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,678.77431852,666,636,880,788,803,652.22568148,632,652.22568148,0.408587352191,-0.00554453289705,0.0499672539774,0.999999991043,0.000125754269649,-4.04886588722e-05,2.14706620049e-05,1793239424018013952
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,678.195073647,666,636,880,788,803,652.804926353,632,652.804926353,0.409204437305,-0.00554882160138,0.0499951085412,0.999999990534,0.000134861717442,1.5986320507e-06,2.72381724416e-05,1793239424034680832
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.617121432,715,678.382878568,666,636,880,788,803,652.617121432,631.617121432,652.617121432,0.409816579132,-0.00554953043347,0.0500044475965,0.999999989025,0.000144144869223,1.36986186245e-05,3.13675908228e-05,1793239424051347200
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.039825617,715,678.960174383,666,636,880,788,803,652.039825617,631.039825617,652.039825617,0.410426210848,-0.00554842148569,0.0500043848864,0.99999998756,0.000153517239394,1.05717157004e-05,3.46652222208e-05,1793239424068013824
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666.534366329,636,879.465633671,788,804.068732659,652,631,652.534366329,0.411031144377,-0.00554182530023,0.0499806879288,0.999999984868,0.000166101939549,-3.84813025291e-05,3.45541669026e-05,1793239424084680192
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.8883384,745,715,679,666.8883384,636,879.223323201,788,804.8883384,652,631,653,0.411652710189,-0.00553733435464,0.0499587618105,0.999999982493,0.000165306073794,-8.17047502059e-05,3.18249625302e-05,1793239424101347072
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.29671551,745,715,679,666.29671551,636,880.406568981,788,804.29671551,652,631,653,0.412347263682,-0.00554364017049,0.0499519749227,0.999999990573,0.000105972643025,-8.52431120099e-05,1.89276916869e-05,1793239424118013696
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.28751226,745,715,679,666,635.71248774,880.71248774,788,804,652.28751226,631,653,0.41307762766,-0.00555022866652,0.0499607637031,0.999999994602,8.06933620922e-05,-6.36017400705e-05,1.55013709866e-05,1793239424134680320
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.86429964,745,715,679,666,635.13570036,880.13570036,788,804,652.86429964,631,653,0.413844021776,-0.00555710157672,0.0499852236518,0.999999995607,8.96770242633e-05,-1.6626247411e-05,2.16040692678e-05,1793239424151346944
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.560479929,745,714.560479929,679,666,635.439520071,880,788,803.560479929,652.560479929,631.439520071,653,0.414574444348,-0.0055543389319,0.0499838542016,0.999999994144,0.000103362121411,-2.1028704255e-05,2.42261384483e-05,1793239424168013568
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.014222103,745,714.014222103,679,666,636,879.985777897,788,803.014222103,652,631.985777897,652.985777897,0.415294558081,-0.00554880298534,0.0499741906014,0.999999991845,0.000117975400092,-4.16026119374e-05,2.57205585017e-05,1793239424184680448
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.587497517,745,714.587497517,679,666,636,879.412502483,788,803.587497517,652,631.412502483,652.412502483,0.416044461785,-0.00555077796407,0.0499508577888,0.999999990463,0.000112218351881,-7.65255184833e-05,2.49809053641e-05,1793239424201347328
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714.83257154,679,666,635.83257154,879,788,804,652,631,652,0.416819859515,-0.00555232034684,0.0499410362855,0.999999990027,0.000107255113168,-8.85512604947e-05,2.45197362829e-05,1793239424218013952
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714.235564237,679,666,635.235564237,879,788,804,652,631,652,0.417660668384,-0.00555275279826,0.0499658813671,0.999999993376,0.000104328588222,-4.18287002006e-05,2.47730865369e-05,1793239424234680320
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,714,679.348981459,666,635.348981459,879.348981459,787.651018541,804,652.348981459,631.348981459,652,0.418487404955,-0.00555010625081,0.0499824184609,0.999999993902,0.000106404759606,-1.53999078869e-05,2.52434113464e-05,1793239424251346944
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,714,679.925405497,666,635.925405497,879.925405497,787.074594503,804,652.925405497,631.925405497,652,0.419304970118,-0.00554545301953,0.0499935409675,0.99999999342,0.000111741351275,-2.19722678487e-06,2.58551455491e-05,1793239424268013568
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,714.499388475,680,666,635.500611525,879.500611525,787.499388475,804,652.500611525,631.500611525,652.499388475,0.420099695083,-0.00554084770538,0.0499748034784,0.999999992443,0.000116091140236,-3.26565266493e-05,2.3898817071e-05,1793239424284680192
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,714.925139568,679.925139568,666,635.074860432,879.074860432,788,804,652.074860432,631.074860432,653,0.420906338462,-0.005536602676,0.0499583125248,0.999999990922,0.000119995459314,-5.72105129268e-05,2.19785596758e-05,1793239424301347072
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,714.336970103,679.336970103,666,635.663029897,879.663029897,788,804,652.663029897,631.663029897,653,0.421817984287,-0.00553477923915,0.0499876603596,0.999999992308,0.000121851033849,3.22965961643e-06,2.29231152266e-05,1793239424318014464
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.247580975,714.247580975,679,666,635.752419025,880,788,804,653,632,653,0.422702338121,-0.00553373167059,0.0500042603611,0.99999999152,0.000122732687733,3.65689627074e-05,2.36438590495e-05,1793239424334681344
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.827278268,714.827278268,679,666,635.172721732,880,788,804,653,632,653,0.42355008137,-0.00553372488659,0.0500037598466,0.999999991668,0.000122307881144,3.35539424565e-05,2.40643719203e-05,1793239424351347712
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666,635.403866141,880.403866141,788,804,653,631.596133859,653,0.424394895407,-0.00553636616411,0.0499911321243,0.999999992671,0.000118025188266,1.22419205136e-05,2.4057217822e-05,1793239424368014080
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,635.979134332,880.979134332,788,804,653,631.020865668,653,0.425238466228,-0.00554013128721,0.0499733575771,0.99999999329,0.000112105196347,-1.68354058673e-05,2.38685604844e-05,1793239424384680448
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.447103729,715,679,666,636,880.447103729,788,804,652.447103729,631.552896271,653,0.426114477193,-0.00554235200743,0.0499969102241,0.999999993479,0.000110087604528,1.49529477953e-05,2.64492319915e-05,1793239424401347072
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714.869124148,679,666,635.869124148,880,788,804,652,632,652.869124148,0.426980531476,-0.00554319652139,0.0500120545988,0.999999993117,0.000109751668541,2.99747294775e-05,2.86650691706e-05,1793239424418013696
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714.276049443,679,666,635.276049443,880,788,804,652,632,652.276049443,0.427807111064,-0.00553938612496,0.0499920114308,0.999999992731,0.0001148359485,-2.23060280678e-05,2.92243763583e-05,1793239424434680320
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,714.309079757,679,666,635,880,788,804,652,632,652.309079757,0.428642333954,-0.00553712392565,0.0499707912064,0.999999991066,0.000116617992147,-5.87822005664e-05,2.85207492055e-05,1793239424451346944
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,714.887290387,679,666,635,880,788,804,652,632,652.887290387,0.429485082945,-0.00553620981755,0.0499485460625,0.999999989649,0.000115524616891,-8.1496544575e-05,2.67174233157e-05,1793239424468014080
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.463056089,880,788,804.463056089,652,632,653,0.430346797518,-0.00553817456542,0.049955318793,0.999999991325,0.000112992297655,-6.2247568355e-05,2.65899432905e-05,1793239424484680704
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.039166575,715,679,666,636,880,788,805,652.039166575,632,653,0.431207457833,-0.00554079352632,0.0499670090921,0.999999992885,0.000110113251096,-3.71944459057e-05,2.68783410831e-05,1793239424501347072
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.628433431,715,679,666,636,880,788,805,652.628433431,632,653,0.431988814047,-0.00554281091544,0.0499490866559,0.999999991187,0.000107257769863,-7.33253663336e-05,2.73087772866e-05,1793239424518013696
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880.214053475,788,804.785946525,652.785946525,632,653,0.432796192005,-0.00554407314459,0.0499418262937,0.999999990292,0.000105805255402,-8.6304890867e-05,2.77977363996e-05,1793239424534680064
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880.793449307,788,804.206550693,652.206550693,632,653,0.433647983502,-0.00554404648152,0.0499527637514,0.999999992113,0.000106747297342,-5.97700638627e-05,2.83865813964e-05,1793239424551346944
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.629912864,715,679.370087136,666,636,881,788,804,652,632,653,0.43446989873,-0.00554434178017,0.04997224003,0.999999993367,0.000106532898276,-3.22167915253e-05,2.96555616079e-05,1793239424568013824
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.054802961,715,679.945197039,666,636,881,788,804,652,632,653,0.435275262899,-0.00554481544082,0.0499964466875,0.999999993918,0.000105677848004,-4.09931721148e-06,3.13013265601e-05,1793239424584680192
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,666,636,880.480047715,788,804.519952285,652,632,653,0.435997085769,-0.00554361455248,0.0499803869187,0.999999992429,0.000109244732372,-4.65653272335e-05,3.22521981113e-05,1793239424601347328
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.096950735,745,715,680,666,636,880,788,804.903049265,652,632,652.903049265,0.436712868568,-0.00554248294337,0.0499623310314,0.999999989398,0.000111667204402,-8.75851613952e-05,3.26087661429e-05,1793239424618014208
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.685513288,745,715,680,666,636,880,788,804.314486712,652,632,652.314486712,0.437442642416,-0.00554259699344,0.0499556593028,0.999999990438,0.000105924944467,-8.35737808339e-05,3.03229134122e-05,1793239424634681344
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.728990327,745,715,680,666.271009673,635.728990327,880,788,804,652,632,652.271009673,0.438192348753,-0.00554391000799,0.0499645683175,0.999999992688,0.000101390047263,-5.87835422909e-05,2.9814458703e-05,1793239424651347712
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.147012237,745,715,680,666.852987763,635.147012237,880,788,804,652,632,652.852987763,0.438964926456,-0.00554659876708,0.0499913553625,0.999999994632,9.82405313705e-05,-1.01507285547e-05,3.13454687485e-05,1793239424668013824
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.571479564,666.571479564,635,880.428520436,788,804.428520436,652,632,652.571479564,0.439637374958,-0.00554732763672,0.0499831128405,0.999999994281,9.97203652633e-05,-2.18136011219e-05,3.18993894659e-05,1793239424684680192
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.001874937,666,635,881,788,805,652,632,652.001874937,0.440275857268,-0.00554739227644,0.0499630166853,0.999999992753,0.000102758455244,-5.38848038038e-05,3.21207518766e-05,1793239424701347072
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.575302698,666,635,881,788,805,652,632,652.575302698,0.440876537675,-0.00554690353758,0.0499386104175,0.999999989607,0.000103846149576,-9.4871927139e-05,3.1636079518e-05,1793239424718013696
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.846266567,665.846266567,635,880.846266567,788,804.846266567,652,632,653,0.441474072425,-0.00554629109614,0.0499205766878,0.999999986059,0.000106089806213,-0.000125008475468,3.16102885389e-05,1793239424734680320
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.253549793,665.253549793,635,880.253549793,788,804.253549793,652,632,653,0.442062624942,-0.00554532542387,0.0499207396325,0.99999998552,0.000111634295279,-0.000124161391464,3.28948259695e-05,1793239424751347456
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.331686056,665.331686056,635,880.331686056,788,804.331686056,652,632,652.668313944,0.442636787628,-0.00554578938296,0.0499158475599,0.999999984472,0.000114272731812,-0.00012986061229,3.36618163598e-05,1793239424768014080
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.911329383,665.911329383,635,880.911329383,788,804.911329383,652,632,652.088670617,0.443200192926,-0.00554732208615,0.0499071765273,0.999999982974,0.000114738701486,-0.000140453629095,3.4041906019e-05,1793239424784680704
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665.513613646,635,881,788,805,652,632,652.486386354,0.443670053815,-0.00554563087462,0.0498719381012,0.999999972013,0.000118182418214,-0.000202226025142,3.33511816815e-05,1793239424801347072
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714.937952722,680,664.937952722,635,880.937952722,787.937952722,804.937952722,652,632,653,0.444119997716,-0.00554349886521,0.0498323792547,0.999999955184,0.000121889747296,-0.000271528918613,3.23488112901e-05,1793239424818013440
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714.35015572,680,664.35015572,635,880.35015572,787.35015572,804.35015572,652,632,653,0.44454432928,-0.00554256539158,0.0497968681532,0.999999938699,0.000123273897939,-0.000326320348281,3.0344423479e-05,1793239424834680064
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.235370618,714.235370618,680,664.235370618,635,880,787,804.235370618,652,632,653,0.444982878811,-0.00554468014602,0.0497775339557,0.999999930931,0.000118990068404,-0.000350927890364,2.87909484508e-05,1793239424851346688
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.817551164,714.817551164,680,664.817551164,635,880,787,804.817551164,652,632,653,0.445442377958,-0.00555128635224,0.0497820358326,0.999999939155,0.000106354679326,-0.000331060583166,2.79018770555e-05,1793239424868013312
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.605702856,634.605702856,880,787,804.605702856,652,632,652.605702856,0.445875409461,-0.00554974191271,0.0497862919543,0.999999946348,8.20955739622e-05,-0.000316443192719,2.07126748636e-05,1793239424884680192
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.031437316,634.031437316,880,787,804.031437316,652,632,652.031437316,0.446296360422,-0.00554447728794,0.0497904359067,0.999999952288,5.25310737377e-05,-0.000304222011151,1.06479142478e-05,1793239424901347072
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,634,880.541806406,787,804.541806406,652,632,652.541806406,0.446635328305,-0.00553540728452,0.0497786725925,0.999999946217,6.6126849881e-05,-0.000321085662493,9.82702332246e-06,1793239424918013696
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,634,880.881035384,787,805,652,632,653,0.446955485637,-0.00552902783214,0.0497613433013,0.99999993658,7.83780735357e-05,-0.000347279298274,9.70850282575e-06,1793239424934680576
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,634,880.288043509,787,805,652,632,653,0.447219609183,-0.00553424731123,0.0497255066032,0.999999915529,7.53119391413e-05,-0.000403937522126,1.02554976822e-05,1793239424951346944
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715,679.702561138,664,633.702561138,880,787,805,652,631.702561138,653,0.447483766195,-0.00553934748783,0.0496993857282,0.999999898912,7.32748910783e-05,-0.000443500241534,1.06730162911e-05,1793239424968013568
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715,679.124172017,664,633.124172017,880,787,805,652,631.124172017,653,0.447747954803,-0.00554433497519,0.0496824420791,0.999999888328,7.22098819957e-05,-0.000466915147669,1.09682361885e-05,1793239424984679936
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715,679.452408645,664,633,880,787,805,652,631,652.547591355,0.448008285558,-0.00554713840955,0.0496867468403,0.999999891464,7.01557818999e-05,-0.000460448323684,1.16940926092e-05,1793239425001346816
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633,880.029059855,787,805,652,631,652.029059855,0.448265401826,-0.00554947381092,0.0496967177547,0.999999898208,6.78283739594e-05,-0.000445899203761,1.25688370149e-05,1793239425018013440
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633,880.616567708,787,805,652,631,652.616567708,0.448481012099,-0.00555428889019,0.0497039473357,0.999999904009,6.54449632292e-05,-0.000433015237082,1.40424332723e-05,1793239425034680320
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633,880.798711543,787,805,652,631,653,0.448682528551,-0.00555725313963,0.0497096295598,0.999999907435,6.43350087164e-05,-0.000425152303327,1.53783584699e-05,1793239425051347200
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633,880.219227476,787,805,652,631,653,0.448857564469,-0.00555673991283,0.0497124044946,0.999999906665,6.56177180181e-05,-0.000426723258376,1.64556169571e-05,1793239425068013824
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.640922643,746,715,680,663.640922643,632.640922643,880.359077357,787,805,652,631,652.640922643,0.449013027305,-0.00555045367072,0.0497108276588,0.999999905128,7.37334193587e-05,-0.000428980744316,1.68487822209e-05,1793239425084680448
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.063335356,746,715,680,663.063335356,632.063335356,880.936664644,787,805,652,631,652.063335356,0.449156579318,-0.00554065436613,0.0497066026331,0.999999902996,8.60072126129e-05,-0.000431656006119,1.68256552206e-05,1793239425101347072
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.510267481,746,715,680,663.510267481,632.510267481,881,787,805,652,631,652,0.44926989846,-0.0055328901975,0.0497007008166,0.999999897824,9.37150682051e-05,-0.00044194085011,1.60627855274e-05,1793239425118013440
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.913937209,746,715,680.086062791,664,633,881,787,805,652,631,652,0.449376580526,-0.00552669662903,0.0496949049622,0.999999892508,9.96538255684e-05,-0.000452567077871,1.53904820098e-05,1793239425134680320
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.322381809,746,715,680.677618191,664,633,881,787,805,652,631,652,0.449466149562,-0.00552825584138,0.0496909444432,0.999999889365,9.85046618801e-05,-0.000459693779568,1.57852405199e-05,1793239425151346688
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.26313513,745.73686487,715,681,663.73686487,633,881,787,805,652,631.26313513,652.26313513,0.449549125206,-0.00553049544158,0.049689034311,0.999999888146,9.61621414158e-05,-0.000462816941846,1.61888034265e-05,1793239425168013312
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.841419935,745.158580065,715,681,663.158580065,633,881,787,805,652,631.841419935,652.841419935,0.449624204121,-0.00553354992342,0.0496895798706,0.999999889267,9.23903705798e-05,-0.000461145175147,1.66029110928e-05,1793239425184680192
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.582405578,745.417594422,715,680.582405578,663.417594422,632.582405578,881,787,805,652,631.582405578,653,0.449686886565,-0.00553438465116,0.049691155654,0.999999890151,9.20738921743e-05,-0.000459286855465,1.66042595521e-05,1793239425201347072
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.007028461,745.992971539,715,680.007028461,663.992971539,632.007028461,881,787,805,652,631.007028461,653,0.449744885161,-0.00553438067323,0.0496931206942,0.999999890946,9.30629517675e-05,-0.000457358049169,1.64496522314e-05,1793239425218013696
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.566612196,746,715,680,663.433387804,632,880.433387804,787,805,652,631,653,0.449783052682,-0.00553436471782,0.0496927058826,0.999999890485,9.1883070324e-05,-0.000458602171247,1.64741824417e-05,1793239425234680064
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.144686773,632,880.144686773,786.855313227,805,652,631,653,0.449817432754,-0.00553439206922,0.0496922505855,0.9999998901,9.13300274068e-05,-0.000459549623715,1.6495298521e-05,1793239425251346688
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.736530718,632,880.736530718,786.263469282,805,652,631,653,0.449840865557,-0.00553455371891,0.0496917611225,0.999999890007,9.27971351682e-05,-0.000459458947521,1.64990167421e-05,1793239425268013312
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745.67914652,715,680,664,632,881,786,805,652,631,652.67914652,0.449861695136,-0.00553355923597,0.04969158494,0.999999889668,9.47965000441e-05,-0.000459788948425,1.65008490566e-05,1793239425284679936
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745.100858269,715,680,664,632,881,786,805,652,631,652.100858269,0.449880436038,-0.00553163713729,0.049691660116,0.999999889128,9.72229182264e-05,-0.00046045647694,1.65011682262e-05,1793239425301346560
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.527905831,745.472094169,715,680.472094169,663.527905831,632,881,786.472094169,805.472094169,652,631,652.472094169,0.44989072822,-0.00553217043565,0.0496904569613,0.999999888891,9.56221359006e-05,-0.000461305272207,1.64987562705e-05,1793239425318013184
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,715,680.954514357,663,632,880.954514357,786.954514357,805.954514357,652,631,652.954514357,0.449898882508,-0.00553304579568,0.0496890833829,0.999999888682,9.34750014171e-05,-0.000462198661466,1.64618225495e-05,1793239425334680064
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,715,680.362296392,663,632,880.362296392,786.362296392,805.362296392,652,631,652.362296392,0.44990279281,-0.00553179787876,0.0496889073066,0.999999888098,9.49867662346e-05,-0.000463167788038,1.60168760461e-05,1793239425351346688
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.225044345,746,715,680,663,632,880.225044345,786,805,652,631,652.225044345,0.449906270451,-0.00553047912189,0.0496889500318,0.999999887682,9.62641487912e-05,-0.0004638099639,1.58108713817e-05,1793239425368013056
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.804699807,746,715,680,663,632,880.804699807,786,805,652,631,652.804699807,0.449909066329,-0.00552904873985,0.0496893375311,0.999999887532,9.71722060213e-05,-0.000463936950763,1.59813766841e-05,1793239425384679680
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.619546182,745.619546182,715,680,663,632,881,786.380453818,805,652,631,652.619546182,0.449911001917,-0.00552946018264,0.0496894755834,0.999999887541,9.68035224801e-05,-0.00046398767262,1.62226000925e-05,1793239425401347072
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.045774611,745.045774611,715,680,663,632,881,786.954225389,805,652,631,652.045774611,0.449912500371,-0.00553080750106,0.0496894868856,0.999999887629,9.57860961575e-05,-0.000463999642384,1.64997570696e-05,1793239425418014720
+232,3.866666667,POSE1_TO_POSE2_PRESS,766.083474292,745.541737146,715,680,663,632,880.458262854,787,805,652,631.541737146,652.541737146,0.449914147158,-0.00553069460366,0.0496897680533,0.99999988787,9.51559912131e-05,-0.000463614796383,1.6345401745e-05,1793239425434680576
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.871472668,746,715,680,663,632,880,786.871472668,805,652,631.871472668,653,0.449915236704,-0.00553018812262,0.0496896676053,0.999999887816,9.49448145648e-05,-0.000463782685224,1.60847079131e-05,1793239425451346688
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.291402585,746,715,680,663,632,880,786.291402585,805,652,631.291402585,653,0.449914323367,-0.00552874364967,0.0496881442686,0.999999886678,9.60874496068e-05,-0.000466013305303,1.55818538225e-05,1793239425468013568
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.713392565,745.713392565,715,680,663,632,880.286607435,786,805,652,631,652.713392565,0.449914682581,-0.00552881896366,0.0496878878106,0.999999886534,9.64940970493e-05,-0.000466238781747,1.55745468935e-05,1793239425484680448
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.137462055,745.137462055,715,680,663,632,880.862537945,786,805,652,631,652.137462055,0.449916326404,-0.00553042846456,0.0496889102349,0.999999887395,9.61577834618e-05,-0.000464440115856,1.60674824329e-05,1793239425501347584
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.438644922,745.438644922,715,680,663,632,880.561355078,786.438644922,805.438644922,652,631,652.438644922,0.449917760959,-0.00552880468645,0.0496898376322,0.99999988798,9.67972894771e-05,-0.000463062863735,1.5610623366e-05,1793239425518013952
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.015073381,632,880.015073381,787,805.984926619,652,631,653,0.449919061786,-0.00552627098014,0.0496906686684,0.999999888443,9.76603199148e-05,-0.000461902879682,1.48781280884e-05,1793239425534680320
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.601593578,632,880.601593578,787,805.398406422,652,631,653,0.44991778002,-0.00552766943146,0.0496889759828,0.999999887703,9.53994904807e-05,-0.000463971117649,1.4984569081e-05,1793239425551346944
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.820161998,632,881,787,804.820161998,652.179838002,631,653,0.449917065344,-0.00552792243202,0.0496880282122,0.999999887102,9.50894517153e-05,-0.000465325871173,1.50285590592e-05,1793239425568013568
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.259444877,632,881,787,804.259444877,652.740555123,631,653,0.449917551706,-0.00552574948099,0.049688658098,0.999999886805,9.89109949719e-05,-0.000465169535025,1.49402839528e-05,1793239425584679936
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,679.679728714,663.320271286,632,881,787,804.320271286,652.679728714,631,653,0.449917459049,-0.00552606226528,0.0496883269228,0.999999886424,9.9105270342e-05,-0.000465945452237,1.49865356611e-05,1793239425601346560
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,679.083651287,663.916348713,632,881,787,804.916348713,652.083651287,631,653,0.449916867762,-0.00552851567574,0.0496871681163,0.999999885971,9.61758725567e-05,-0.000467524192601,1.51486370399e-05,1793239425618013440
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,679.494635427,664,632,881,787,805,652,631,652.505364573,0.449917533571,-0.00552716861425,0.0496876003204,0.999999886241,9.81769008618e-05,-0.000466530019653,1.51103406692e-05,1793239425634680320
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.928093657,632,880.928093657,786.928093657,805,652,631,652.071906343,0.449918155364,-0.00552564717603,0.0496881427062,0.999999886505,0.000100262256879,-0.000465521234598,1.50550150625e-05,1793239425651346944
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.337192826,632,880.337192826,786.337192826,805,652,631,652.662807174,0.449916978292,-0.00552734504986,0.0496876057372,0.999999885918,9.71469918409e-05,-0.000467438516539,1.51128968529e-05,1793239425668013568
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,631.750799875,880.249200125,786.249200125,805.249200125,652,631,653,0.449916607672,-0.00552772227597,0.0496872813737,0.999999885714,9.57194672441e-05,-0.000468174405067,1.49393961662e-05,1793239425684680448
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,631.170398081,880.829601919,786.829601919,805.829601919,652,631,653,0.449917308872,-0.00552634428356,0.0496872395753,0.999999886033,9.65350488324e-05,-0.000467340152325,1.44583745249e-05,1793239425701346816
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663,631.404861574,880.595138426,787,806,652,631,653,0.449917572027,-0.00552613237255,0.04968722214,0.999999886256,9.65507333688e-05,-0.000466859397969,1.44286706464e-05,1793239425718013184
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,631.977984116,880.022015884,787,806,652,631,653,0.449917653131,-0.00552640508648,0.0496872148301,0.99999988644,9.62339796588e-05,-0.000466525558025,1.45865350136e-05,1793239425734679808
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,632,880.565584194,787,805.434415806,652,631,653,0.449917910021,-0.00552633769764,0.0496879053004,0.999999886218,9.66543410154e-05,-0.000466903846933,1.48982833607e-05,1793239425751346432
+252,4.200000000,HOLD_POSE2,766,745,715,679,663,632,881,787,805,652,631,653,0.449919978236,-0.00552397958328,0.0496887701817,0.999999886308,0.000101593801069,-0.000465666900258,1.47486955749e-05,1793239425792472064
+253,4.216666667,HOLD_POSE2,765.421794545,745.578205455,715,679.578205455,663.578205455,632,881,787,805,652,631,653,0.449918944949,-0.00552502416567,0.0496874865006,0.999999885467,0.000100604787768,-0.000467674463147,1.4981400797e-05,1793239425809138432
+254,4.233333333,HOLD_POSE2,765,745.845280742,715,680.154719258,663.845280742,632,881,787,805,652,631,653,0.449918534082,-0.00552549341954,0.0496867193212,0.999999885114,9.97732198215e-05,-0.000468604912029,1.50438184037e-05,1793239425825804544
+255,4.250000000,HOLD_POSE2,765,745.273328702,715,680.726671298,663.273328702,632,881,787,805,652,631,653,0.449919801702,-0.0055244111802,0.0496873449958,0.999999886084,9.93662359279e-05,-0.000466630698565,1.46470199541e-05,1793239425842470912
+256,4.266666667,HOLD_POSE2,765.309626831,745.309626831,715,680.690373169,663,632,880.690373169,786.690373169,805,652,631,653,0.449920288231,-0.00552461697012,0.0496875792204,0.99999988647,9.79058187444e-05,-0.000466117819403,1.44198433876e-05,1793239425859137280
+257,4.283333333,HOLD_POSE2,765.90265378,745.90265378,715,680.09734622,663,632,880.09734622,786.09734622,805,652,631,653,0.449920059832,-0.0055260016878,0.0496874551525,0.999999886321,9.54811985864e-05,-0.000466942493417,1.43479210314e-05,1793239425875803904
+258,4.300000000,HOLD_POSE2,766,746,715,680,663,632,880,786,805,652,631,653,0.449919320876,-0.00552584444336,0.049687138481,0.999999885711,9.77364571189e-05,-0.000467775002387,1.45904466555e-05,1793239425892470528
+259,4.316666667,HOLD_POSE2,766,746,715,680,663.061655603,632,880.061655603,786.061655603,805.061655603,652,631,653,0.449918665635,-0.00552562833297,0.0496869027466,0.999999885166,0.000100267454376,-0.00046839338905,1.48737283483e-05,1793239425909137152
+260,4.333333333,HOLD_POSE2,766,746,715,680,663.635649287,632,880.635649287,786.635649287,805.635649287,652,631,653,0.449919539222,-0.00552743943754,0.0496876538877,0.999999885992,9.74525234972e-05,-0.000467219702698,1.49825231369e-05,1793239425925803776
+261,4.350000000,HOLD_POSE2,766,746,715.210264413,680,663.789735587,632,881,787,805.789735587,652,631,652.789735587,0.449919989249,-0.00552785241576,0.0496880900279,0.999999886386,9.64002063715e-05,-0.000466594651061,1.49873842204e-05,1793239425942470912
+262,4.366666667,HOLD_POSE2,766,746,715.785959522,680,663.214040478,632,881,787,805.214040478,652,631,652.214040478,0.449919703148,-0.00552583550909,0.0496879787099,0.999999886039,9.84112380134e-05,-0.000466923103582,1.48116128907e-05,1793239425959137536
+263,4.383333333,HOLD_POSE2,766,746,715.629278746,679.629278746,663,632,881,787,805,652,631,652.370721254,0.449919427852,-0.00552480222015,0.0496880197986,0.999999885995,9.84676443022e-05,-0.000467012128224,1.46367781275e-05,1793239425975803904
+264,4.400000000,HOLD_POSE2,766,746,715.039150998,679.039150998,663,632,881,787,805,652,631,652.960849002,0.449919158951,-0.00552435107223,0.0496881510874,0.99999988613,9.73672314946e-05,-0.00046695945066,1.44624976424e-05,1793239425992470272
+265,4.416666667,HOLD_POSE2,765.460218567,746,715,679.539781433,663,632,880.460218567,786.460218567,805,652,631.539781433,653,0.449919626692,-0.00552474358896,0.0496877651862,0.999999885903,9.87979682496e-05,-0.000467137584554,1.46790639795e-05,1793239426009137152
+266,4.433333333,HOLD_POSE2,765,746,715,680,663,632,880,786.117546115,805,652,631.764907769,653,0.449919994159,-0.00552491990451,0.0496873549626,0.999999885667,9.99992415973e-05,-0.000467382424829,1.48549203273e-05,1793239426025803776
+267,4.450000000,HOLD_POSE2,765,746,715,680,663,632,880,786.693858176,805,652,630.612283649,653,0.449919765987,-0.00552401844628,0.0496869932432,0.999999885501,9.96029954385e-05,-0.000467823600486,1.47634989368e-05,1793239426042470400
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,663,632,881,786,805,652,631,653,0.449918663851,-0.00552378491492,0.0496861458914,0.999999885319,9.78913466568e-05,-0.000468588234459,1.42599524246e-05,1793239426079693056
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.579236512,746,715,680,663,632,881,786.579236512,805,652,631,652.420763488,0.449919353328,-0.00552403830088,0.0496867008715,0.999999885672,9.68294620132e-05,-0.000468060307414,1.41303580173e-05,1793239426096360448
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.842632805,746,715,680,663.157367195,632,881,787,805,652,631,652.157367195,0.449919701036,-0.00552440458143,0.0496872265469,0.999999885819,9.62112537032e-05,-0.00046787299504,1.41407196252e-05,1793239426113027328
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.267438097,746,715,680,663.732561903,632,881,787,805,652,631,652.732561903,0.449919141311,-0.00552507060982,0.0496876744151,0.999999885424,9.6771055477e-05,-0.000468590052621,1.45226800877e-05,1793239426129693184
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.307955941,745.692044059,715.307955941,680,664,632,881,787,805,652,631,652.692044059,0.449919367769,-0.00552481473373,0.0496876364619,0.999999885342,9.79173738032e-05,-0.000468527439085,1.44995000341e-05,1793239426146359296
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.883523159,745.116476841,715.883523159,680,664,632,881,787,805,652,631,652.116476841,0.449920277414,-0.00552375772989,0.0496871763337,0.99999988553,9.95733703443e-05,-0.000467787297466,1.41242560509e-05,1793239426163026176
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.472054436,715.527945564,680,664,632,881,786.527945564,804.527945564,652,631,652.472054436,0.449920498759,-0.00552350434801,0.0496868446037,0.999999885632,9.90188006513e-05,-0.000467689294375,1.40674472527e-05,1793239426179692800
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.937611458,715,680,663.937611458,632,880.937611458,786,804.062388542,652,631,653,0.449920428042,-0.00552346661581,0.0496866483449,0.999999885681,9.80271233227e-05,-0.000467790094622,1.41462318514e-05,1793239426196359680
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.359562137,715,680,663.359562137,632,880.359562137,786,804.640437863,652,631,653,0.449919386711,-0.00552352609166,0.0496873025443,0.999999885485,9.80581959715e-05,-0.000468187495152,1.46779762102e-05,1793239426213026816
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.782426704,680,663,632,880.217573296,786.217573296,805,652,631,653,0.449915626574,-0.00552368188647,0.0496859592391,0.999999884206,9.79548516144e-05,-0.00047092746278,1.4834224986e-05,1793239426229693440
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.206795301,680,663,632,880.793204699,786.793204699,805,652,631,653,0.449907392128,-0.00552399619238,0.0496813286612,0.999999881117,9.76302985859e-05,-0.000477522568611,1.43725245419e-05,1793239426246360064
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.622563073,745.377436927,714.377436927,680.377436927,663,632,881,786.622563073,805,652.377436927,631,653,0.449887690765,-0.00552381854373,0.0496722972434,0.999999873863,9.71612570496e-05,-0.000492592106871,1.3655273247e-05,1793239426263026432
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.033508565,745.966491435,714.966491435,680.966491435,663,632,881,786.033508565,805,652.966491435,631,653,0.449861560244,-0.00552336507094,0.0496607984059,0.999999863968,9.66112050742e-05,-0.000512413006036,1.27947421969e-05,1793239426279692800
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.546606012,746,715,680.453393988,663,632,880.453393988,786,804.453393988,652.453393988,631,652.453393988,0.449808297736,-0.00552125967723,0.0496425578414,0.999999845858,9.77753705658e-05,-0.000546428683525,1.18263241422e-05,1793239426296359168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.124994217,632,880.124994217,786,804.124994217,652,631,652.124994217,0.449749732824,-0.00551866803322,0.0496241927501,0.999999827302,9.96392922413e-05,-0.00057909501521,1.0772886783e-05,1793239426313025792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.699116932,632,880.699116932,786,804.699116932,652,631,652.699116932,0.44967799561,-0.00551468721565,0.0496068413309,0.999999812275,0.000103646054237,-0.000603836480105,9.43734053898e-06,1793239426329692672
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.720079869,663.720079869,632,881,786,805,652,631,652.720079869,0.449601763222,-0.00551245962604,0.0495958990555,0.999999802893,0.000104874598711,-0.000618985042313,8.4835308447e-06,1793239426346359296
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.13192036,663.13192036,632,881,786,805,652,631,652.13192036,0.449520580894,-0.00551216263701,0.0495920143316,0.999999800239,0.000103043855923,-0.000623570196066,7.95007769883e-06,1793239426363025920
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.550116643,746,715,679.449883357,663.449883357,632,880.550116643,786.449883357,805,652,631,652,0.449422401909,-0.00550815741914,0.049591151485,0.999999799739,0.000105883105605,-0.000623906236605,7.16060784941e-06,1793239426379692800
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.970234319,715,680,663.970234319,632,880.029765681,786.970234319,805,652.029765681,631,652.029765681,0.449318077539,-0.00550312050043,0.049591232142,0.999999799846,0.000109960278106,-0.000623037852434,6.31270781141e-06,1793239426396359424
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.391893186,715,680,663.391893186,632,880.608106814,786.391893186,805,652.608106814,631,652.608106814,0.449191068915,-0.0054988304268,0.0495925980123,0.99999979989,0.000111966065572,-0.000622615382538,5.75224554745e-06,1793239426413026048
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.1848728,745.1848728,715,680.1848728,663.1848728,632,881,786,805,652.8151272,631,652.8151272,0.449055178974,-0.00549423050372,0.0495944075675,0.999999799922,0.000114837835996,-0.000622046551515,5.19851244616e-06,1793239426429692416
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.758327927,745.758327927,715,680.758327927,663.758327927,632,881,786,805,652.241672073,631,652.241672073,0.448900621495,-0.00548897931167,0.0495971496995,0.999999799919,0.000119529807261,-0.000621170085518,4.65892337659e-06,1793239426446359040
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.668696558,663.668696558,632.331303442,880.668696558,786.331303442,805,652.331303442,631,652.331303442,0.448726290366,-0.00548312305599,0.0495999123511,0.999999801721,0.000124275934906,-0.000617330501462,4.16157489715e-06,1793239426463025664
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.096070335,663.096070335,632.903929665,880.096070335,786.903929665,805,652.903929665,631,652.903929665,0.448537556014,-0.00547682606897,0.0496026899496,0.999999804801,0.000129061510761,-0.000611332569998,3.69499457995e-06,1793239426479692544
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,633,880.497219912,787,805,653,631,653,0.448316901458,-0.00546682398649,0.0496013703945,0.99999980246,0.000136924279145,-0.000613454104162,2.20128555378e-06,1793239426496359424
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.908604304,715,680,663.091395696,633,881,787,805,653,631.091395696,653,0.448082784603,-0.00545630664176,0.0495982160872,0.999999798163,0.0001450571896,-0.000618573412857,5.2354617094e-07,1793239426513026048
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.331847863,715,680,663.668152137,633,881,787,805,653,631.668152137,653,0.447811348301,-0.00544701952842,0.0495897045314,0.999999789519,0.000151330359592,-0.000630920090368,-1.03188350246e-06,1793239426529692672
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.756367864,745.243632136,715,679.756367864,664,633,880.756367864,787,805,652.756367864,631.756367864,653,0.447529013156,-0.00543731079117,0.0495857736195,0.999999785648,0.000157838931664,-0.000635439560014,-2.73659790373e-06,1793239426546359552
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.182617462,745.817382538,715,679.182617462,664,633,880.182617462,787,805,652.182617462,631.182617462,653,0.447231910241,-0.00542703075975,0.0495880494188,0.999999788389,0.000164666470031,-0.000629353267707,-4.64359100876e-06,1793239426563025920
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,746,715,679.401234319,664,633.401234319,880,787,805,652,631,652.598765681,0.44690478393,-0.00541682880244,0.0495901466023,0.999999789415,0.000170695920629,-0.000626092367044,-6.41527451418e-06,1793239426579692800
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,715,679.989802353,664,633.989802353,880,787,805,652,631,652.010197647,0.446563639897,-0.0054066632977,0.0495921603912,0.999999789635,0.000176352749003,-0.000624150623679,-8.12378278705e-06,1793239426596359424
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.56917614,745.43082386,715,680,664,634,880,787,805.56917614,652,631.56917614,652.56917614,0.446193982205,-0.0053976814201,0.0496023258661,0.999999798703,0.000180054412408,-0.000608342728302,-9.63884375075e-06,1793239426613025792
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,634,880.146903958,787,806,652,632,653,0.44581743804,-0.00539018840088,0.0496167882006,0.999999811626,0.000182292971492,-0.000585999609022,-1.10425293883e-05,1793239426629692672
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,634,880.720323493,787,806,652,632,653,0.445422359651,-0.00538695748894,0.0496433085841,0.999999834931,0.000180383693542,-0.000545392187374,-1.21327545065e-05,1793239426646359808
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745.295393188,715,680,664.295393188,634,881,787,805.704606812,652,631.704606812,653,0.444994397736,-0.00539264610071,0.0496667324698,0.999999854127,0.00016791539848,-0.000513207249526,-1.30004218539e-05,1793239426663026432
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.872034091,715,680,664.872034091,634,881,787,805.127965909,652,631.127965909,653,0.444535126942,-0.00540682710718,0.0496872081427,0.999999869756,0.000145393725098,-0.000489041464004,-1.36561891712e-05,1793239426679692800
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.540244256,665,634,881,787,805,652,631.459755744,653,0.444026539233,-0.00541655040733,0.0496933153591,0.999999875597,0.000127068569204,-0.00048213155766,-1.44136833895e-05,1793239426696359424
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745.95053579,715,679.09892842,665,634,880.95053579,787.04946421,805,652,632,652.95053579,0.443500902556,-0.00542288383341,0.0496948702452,0.999999878032,0.00011221058969,-0.000480732774859,-1.54893413816e-05,1793239426713025792
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745.373346895,715,680.25330621,665,634,880.373346895,787.626653105,805,652,632,652.373346895,0.442943436532,-0.00540661538958,0.049691578023,0.999999874501,0.000121573953609,-0.000485624332983,-1.96498931087e-05,1793239426729692672
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745.203782049,714.796217951,680.592435902,665,634,880,787.796217951,804.796217951,652,631.796217951,652,0.442393549786,-0.00539339632999,0.0497033208835,0.99999988382,0.000127853364298,-0.00046420549652,-2.29621213393e-05,1793239426746359296
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745.780801154,714.219198846,679.438397692,665,634,880,787.219198846,804.219198846,652,631.219198846,652,0.4418575449,-0.00538576237175,0.0497426012534,0.999999913587,0.000128484358813,-0.000394597849226,-2.47206021637e-05,1793239426763025920
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745.645927915,714.354072085,679.354072085,665.354072085,634.354072085,880.354072085,787,804.354072085,652,631.354072085,652.354072085,0.441286475227,-0.00538705764982,0.0497833849668,0.999999938751,0.000118379136918,-0.000328330727405,-2.61436489664e-05,1793239426779692544
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745.074953116,714.925046884,679.925046884,665.925046884,634.925046884,880.925046884,787,804.925046884,652,631.925046884,652.925046884,0.440693925068,-0.00539382293175,0.049825089619,0.999999959577,0.000101696964659,-0.000264109996181,-2.73612105318e-05,1793239426796359424
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,635,880.47983266,787.52016734,805,652,632,653,0.440012475614,-0.00540588412356,0.0498302549799,0.999999963645,7.86426698973e-05,-0.000256366262238,-2.83078844367e-05,1793239426813026816
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,714.885774568,680,666,635,880,788,805,652,632,653,0.439305081758,-0.00541429002205,0.0498232521971,0.999999961793,5.8777321492e-05,-0.000268407670242,-3.02720009362e-05,1793239426829693440
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,714.310722433,680,666,635,880,788,805,652,632,653,0.43854721437,-0.00540472061463,0.0497894340438,0.999999944699,5.56619574334e-05,-0.000325839619348,-3.65059888123e-05,1793239426846359552
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745.264875037,714.264875037,680,665.735124963,635,880.264875037,788,804.735124963,652,632,652.735124963,0.437799353982,-0.00539638167762,0.0497741922047,0.999999935193,5.37963857471e-05,-0.000353599811706,-4.10843188592e-05,1793239426863025920
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745.841113632,714.841113632,680,665.158886368,635,880.841113632,788,804.158886368,652,632,652.158886368,0.437063256836,-0.00538948917101,0.0497807870256,0.999999937594,5.33999586772e-05,-0.000346480531911,-4.37164056076e-05,1793239426879692544
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745.574459603,715,680,665.425540397,635,881,788,804,652,632,652.425540397,0.436304683059,-0.00538425742845,0.0498053617052,0.999999949685,5.04769672521e-05,-0.000309849744062,-4.55557570459e-05,1793239426896359424
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,635,881,788,804.025862977,652,632,653,0.435535900955,-0.00537977260791,0.0498354470333,0.999999962908,4.6409389239e-05,-0.000264210174802,-4.7159541542e-05,1793239426913025792
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,635,881,788,805.187220961,652,632,653,0.434694610916,-0.00538032217394,0.0498069509892,0.999999948049,3.43195622042e-05,-0.000316313526055,-5.16710302308e-05,1793239426929692928
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.172119463,745.172119463,715,679.827880537,666,635,881,788,805.655761074,652,632,653,0.433865431034,-0.00538238957101,0.0497902061835,0.999999938152,1.99438745157e-05,-0.000346707017616,-5.56081428722e-05,1793239426946359808
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.745568617,745.745568617,715,679.254431383,666,635,881,788,804.508862766,652,632,653,0.433064488364,-0.00538799608358,0.0498008616563,0.999999945011,2.38263190582e-07,-0.000326479786868,-5.82059870873e-05,1793239426963026432
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766.680358736,746,715,679.319641264,666,635,880.680358736,788,804.319641264,652,632,653,0.432251626102,-0.00538948978392,0.0498138655021,0.999999951667,-1.25658632089e-05,-0.000304697462626,-6.05663688668e-05,1793239426979692800
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.105788851,746,715,679.894211149,666,635,880.105788851,788,804.894211149,652,632,653,0.431429257454,-0.00538770332695,0.0498287422829,0.999999958164,-1.98657367859e-05,-0.000281674880722,-6.27373632997e-05,1793239426996359168
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766.484173163,745.515826837,714.515826837,680.484173163,665.515826837,635,880,788,804.515826837,652,632,653,0.430525732136,-0.00538449469531,0.0498051895608,0.999999946701,4.2075700614e-05,-0.000320288682192,-4.73665886351e-05,1793239427013025792
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.924361584,745,714.075638416,680.848723168,665,635,880,788,804,652,632,653,0.429610592414,-0.00537996332715,0.0497776418101,0.99999992691,0.000111039792103,-0.000364550357453,-3.08616604364e-05,1793239427029692416
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.345992038,745,714.654007962,679.691984076,665,635,880,788,804,652,632,653,0.428739985091,-0.00536877350972,0.0497811816292,0.999999929285,0.000122824693424,-0.00035390203935,-3.31295417142e-05,1793239427046359296
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635,880,787.769728494,804,652,632,652.769728494,0.42785636907,-0.0053622484313,0.0497825482386,0.999999928919,0.000124090350574,-0.00035422333636,-3.58995526656e-05,1793239427063026176
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635,880,787.196600537,804,652,632,652.196600537,0.426953383974,-0.00536266878653,0.0497806791073,0.999999924432,0.000109693669072,-0.000370877539648,-3.94171961742e-05,1793239427079692800
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.388037749,635,880,787.388037749,804,652,632,652,0.426088573574,-0.00536384493775,0.04978107975,0.999999928579,9.76539998954e-05,-0.000362574728856,-4.29631905833e-05,1793239427096359424
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.978686019,635,880,787.978686019,804,652,632,652,0.425243695814,-0.0053654157212,0.0497826655356,0.999999936924,8.68450249504e-05,-0.000341240830035,-4.65239879426e-05,1793239427113026048
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.441431472,745,715,679,666,635,880,788,804,652,631.441431472,652.558568528,0.424389971635,-0.00536860966491,0.0498242293843,0.999999960113,7.952443317e-05,-0.000267178057933,-4.54593262771e-05,1793239427129692672
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.137276846,745,715,679,665.862723154,635.137276846,880,788,804.137276846,652,631.137276846,652.862723154,0.423525785815,-0.00537052151702,0.049854126527,0.999999973052,7.51922705163e-05,-0.00021505357329,-4.46514817216e-05,1793239427146359552
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.713519231,745,715,679,665.286480769,635.713519231,880,788,804.713519231,652,631.713519231,652.286480769,0.422629206209,-0.00536813935941,0.049841931662,0.999999967123,7.99985142122e-05,-0.000239392591043,-4.52185669683e-05,1793239427163026176
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635.705294414,880,788,804.705294414,652,632,652.294705586,0.42174084988,-0.00536640944873,0.0498214144093,0.999999956961,8.30825047407e-05,-0.000277541609037,-4.63142224413e-05,1793239427179692544
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635.119220102,880,788,804.119220102,652,632,652.880779898,0.420860623773,-0.00536532439994,0.0497926690015,0.99999994105,8.4463742231e-05,-0.000329344259007,-4.79324631965e-05,1793239427196359168
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.461497679,635,880,788,804,652,631.538502321,653,0.420004957289,-0.00536386249523,0.049805188743,0.999999944889,8.65497454482e-05,-0.000316975021569,-4.75273282309e-05,1793239427213025792
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.959207712,679,666,635,879.959207712,788,804,652,631.040792288,652.959207712,0.419151965455,-0.00536244035853,0.0498248043053,0.999999951778,8.87230140261e-05,-0.00029392236124,-4.67010791727e-05,1793239427229692416
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.38064243,679,666,635,879.38064243,788,804,652,631.61935757,652.38064243,0.418251552932,-0.00536281120906,0.0497990429991,0.999999934987,8.96740662612e-05,-0.000346067890404,-4.71350580208e-05,1793239427246359296
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.803709811,745,714.196290189,679,665.803709811,635.196290189,879.392580377,788,804,652,632,652.196290189,0.417394257503,-0.00536367544735,0.04978635563,0.999999926808,8.87892905642e-05,-0.000369069673056,-4.7828498488e-05,1793239427263026176
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.229917005,745,714.770082995,679,665.229917005,635.770082995,880.540165989,788,804,652,632,652.770082995,0.416619884126,-0.00536548856232,0.049798811874,0.999999938783,8.43738760794e-05,-0.000336022609709,-4.9020932253e-05,1793239427279692544
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.343016915,745.343016915,715,679,665.343016915,635.656983085,880.656983085,788,804,652,632,653,0.415857854608,-0.00536657675849,0.0498160064061,0.999999951233,8.3026600955e-05,-0.000297031751757,-4.91248626504e-05,1793239427296359168
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.915376545,745.915376545,715,679,665.915376545,635.084623455,880.084623455,788,804,652,632,653,0.415104078297,-0.00536718027043,0.0498363689791,0.999999963043,8.37306983644e-05,-0.00025406684659,-4.85010144789e-05,1793239427313026048
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745.493546023,715,679,665.493546023,635,880,788,804,652,632,653,0.414317956934,-0.00536631618122,0.0498184791945,0.999999952865,8.41538479415e-05,-0.000291100386557,-4.94827861422e-05,1793239427329692672
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.901804231,745.098195769,714.901804231,679,665.098195769,635.098195769,880,788,804,652,632,653,0.413530868997,-0.00536532706959,0.0497963524957,0.999999938733,8.47841462978e-05,-0.00033581161753,-5.07586112922e-05,1793239427346359296
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.322713303,745.677286697,714.322713303,679,665.677286697,635.677286697,880,788,804,652,632,653,0.412766530907,-0.00536497269871,0.0497859791757,0.999999933585,8.66676374879e-05,-0.000350148553197,-5.2110219856e-05,1793239427363026176
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.254001369,746,714.254001369,679.254001369,666,636,879.745998631,788,804,652.254001369,632,653,0.412044895466,-0.00536517860246,0.0497923156418,0.999999936338,8.8668843161e-05,-0.00034170530448,-5.19592750705e-05,1793239427379693056
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.827724905,746,714.827724905,679.827724905,666,636,879.172275095,788,804,652.827724905,632,653,0.411377011695,-0.0053660897474,0.0498196854167,0.999999948243,9.08182207746e-05,-0.00030458768167,-4.99170032728e-05,1793239427396359936
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.587571321,715,679.587571321,666,636,879.412428679,788,803.587571321,652.587571321,632,653,0.41070896941,-0.00536598707211,0.0498191497314,0.999999946205,9.45121654745e-05,-0.000310207743366,-4.92735674999e-05,1793239427413026048
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.998187566,636,880,788,803.001812434,652,632,653,0.41004099899,-0.00536545900254,0.049806655059,0.999999938084,9.88441786747e-05,-0.000334121935791,-4.92342189757e-05,1793239427429692928
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.419016754,636,880,788,803.580983246,652,632,653,0.409417608943,-0.00536801144767,0.0497993178612,0.99999993524,9.52894897086e-05,-0.000343364709668,-5.04051972284e-05,1793239427446359296
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.159221863,635.840778137,879.840778137,788,804,652,632,652.840778137,0.408812028164,-0.00537040275305,0.0498010383523,0.99999993736,9.26255346656e-05,-0.000337797870088,-5.0923428951e-05,1793239427463025920
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.735021668,635.264978332,879.264978332,788,804,652,632,652.264978332,0.408253042284,-0.00537237246322,0.049826456802,0.999999951438,9.22920382601e-05,-0.000293484102764,-4.97338564284e-05,1793239427479692544
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.68930038,745,715,679,665.68930038,635.31069962,879,788,803.68930038,652.31069962,631.68930038,652.31069962,0.407708388704,-0.00537442718918,0.0498396247378,0.999999957375,9.26550703022e-05,-0.000272554867601,-4.87667136057e-05,1793239427496359168
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.113726343,745,715,679,665.113726343,635.886273657,879,788,803.113726343,652.886273657,631.113726343,652.886273657,0.407175953581,-0.00537655439181,0.0498423489911,0.999999957594,9.36118996824e-05,-0.000271561174174,-4.79891943746e-05,1793239427513025536
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.47395255,745,715,679.47395255,665.47395255,635.52604745,879.47395255,788,803.47395255,652.52604745,631.47395255,653,0.406647244182,-0.00537506884481,0.0498223300031,0.999999945559,9.91334594734e-05,-0.000311004457723,-4.82817027339e-05,1793239427529692672
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.063237783,715,679.936762217,666,635.063237783,880,788,804,652.063237783,631.936762217,652.936762217,0.40612488482,-0.00537262112993,0.049797917507,0.999999929353,0.000105204222145,-0.000357523028342,-4.90151874971e-05,1793239427546359552
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745.641333339,715,679.358666661,666,635.641333339,880,788,804,652.641333339,631.358666661,652.358666661,0.405646755631,-0.00536958268474,0.0497833305982,0.999999920589,0.000106594974936,-0.000380577478264,-5.11937332448e-05,1793239427563026176
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.782676553,714.782676553,679.217323447,666,636,879.782676553,788,803.782676553,653,631.217323447,652.217323447,0.405198217191,-0.0053689421695,0.0497791479728,0.99999991871,0.000106048004579,-0.000385441596212,-5.26159626022e-05,1793239427579692800
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.210127954,714.210127954,679.789872046,666,636,879.210127954,788,803.210127954,653,631.789872046,652.789872046,0.404798046235,-0.00537222118114,0.0497919716278,0.999999928364,0.000102333736662,-0.000360572779183,-5.28019578936e-05,1793239427596359424
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.37418375,714.37418375,679.62581625,666,636,879.37418375,788,803.37418375,653,632,653,0.404442142235,-0.0053772471187,0.0498149100497,0.999999941385,9.36630835641e-05,-0.000325178551664,-5.21142541728e-05,1793239427613025792
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.965315644,714.965315644,679.034684356,666,636,879.965315644,788,803.965315644,653,632,653,0.404111903753,-0.00538328590744,0.0498437129174,0.999999955094,8.21187654854e-05,-0.000283681789494,-5.09199881104e-05,1793239427629692416
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.454555755,715,679,666,636,880,788,804,653,632,653,0.403794421732,-0.00538921590928,0.0498565794036,0.999999960901,7.50019487986e-05,-0.000264711532786,-5.00131639069e-05,1793239427646359040
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.875912639,635.875912639,879.875912639,788,803.875912639,652.875912639,632,653,0.40348068368,-0.00539311384687,0.0498643000418,0.99999996394,6.99254896456e-05,-0.000254490497628,-4.96549072941e-05,1793239427663025920
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.300179805,635.300179805,879.300179805,788,803.300179805,652.300179805,632,653,0.403177678538,-0.00538964028543,0.0498569066523,0.999999959427,7.12709224e-05,-0.000271003714006,-5.12280804217e-05,1793239427679692544
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.275027317,665.275027317,635.275027317,879,788,803.275027317,652.275027317,632,653,0.402890187208,-0.00538759685674,0.0498468875185,0.999999953878,7.20139157829e-05,-0.000290348995322,-5.24836749897e-05,1793239427696359424
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.849661708,665.849661708,635.849661708,879,788,803.849661708,652.849661708,632,653,0.402619596212,-0.00538711137491,0.0498340079728,0.99999994706,7.21006284568e-05,-0.000312779448013,-5.33933082467e-05,1793239427713026048
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,714.562665145,679.562665145,666,636,879,788,803.562665145,653,631.562665145,652.562665145,0.402386405533,-0.00538350870876,0.0498229310031,0.99999994025,7.78880713035e-05,-0.000332455876962,-5.39068904912e-05,1793239427729692672
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.028783321,714.028783321,679,665.971216679,636,879,788,803.028783321,652.971216679,631,652.028783321,0.402168966053,-0.00537884875845,0.0498131444109,0.999999933473,8.77414063411e-05,-0.000349948299841,-5.37791919569e-05,1793239427746359296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.60419171,714.60419171,679,665.39580829,636,879,788,803.60419171,652.39580829,631,652.60419171,0.401998992072,-0.00537508535558,0.0498157339235,0.999999930378,0.000136450149115,-0.000344495963533,-4.41379270388e-05,1793239427763025920
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,665,636,879.180390972,788,803.819609028,652.180390972,631.180390972,652.819609028,0.401840048845,-0.00537221534223,0.0498194902927,0.999999928445,0.00016843007169,-0.000336622275597,-3.77627033995e-05,1793239427779692544
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,665,636,879.758333108,788,803.241666892,652.758333108,631.758333108,652.241666892,0.401705415554,-0.00537131420864,0.0498258182163,0.999999933585,0.000163542500622,-0.000323412340837,-3.85852833282e-05,1793239427796359168
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.657464401,715,679,665.342535599,636,880,788,803,653,631.657464401,652.342535599,0.401588632593,-0.00537386738227,0.0498330739932,0.99999993937,0.000155462256418,-0.000309120700333,-3.91902527727e-05,1793239427813025792
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.068762795,715,679,665.931237205,636,880,788,803,653,631.068762795,652.931237205,0.401484677904,-0.00537890302192,0.0498409965802,0.999999945456,0.000145087571047,-0.000294051681744,-3.96388347428e-05,1793239427829692928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.510500475,715,679,666,636,879.489499525,788,803.510500475,653,631.510500475,653,0.401395456249,-0.00538715600679,0.0498429590979,0.999999948422,0.000133446647714,-0.000289371942949,-4.01467052578e-05,1793239427846359296
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.911565218,715,679,666,635.911565218,879,788,804,653,632,653,0.401311013061,-0.00539530398524,0.0498438267192,0.999999950556,0.000122448601215,-0.000286787606187,-4.05908819712e-05,1793239427863026176
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.334077115,715,679,666,635.334077115,879,788,804,653,632,653,0.40124222001,-0.00540051821615,0.0498429984409,0.999999950927,0.00011593180687,-0.000288192694812,-4.06394641343e-05,1793239427879692544
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,635.242673079,879,788,804,653,631.757326921,653,0.401182303078,-0.0054023181854,0.049842873659,0.999999951424,0.00011197582399,-0.000287996265954,-4.08941311446e-05,1793239427896359168
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,635.818410473,879,788,804,653,631.181589527,653,0.40113456846,-0.00539943214333,0.049843714413,0.999999952138,0.000111534507892,-0.000285601783888,-4.14316457957e-05,1793239427913026048
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.401714346,666,635.598285654,879,788,804,653,631,653,0.401100052301,-0.00539901665273,0.0498462180118,0.999999953542,0.000111763318729,-0.00028056260716,-4.1354035768e-05,1793239427929692672
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.988504189,666,635.011495811,879,788,804,653,631,653,0.401071626076,-0.0053997393803,0.0498494877069,0.999999955232,0.000112300866556,-0.000274304982155,-4.09930290618e-05,1793239427946359296
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.570637105,715,678.858725789,665.429362895,635.570637105,879,788,804,652.429362895,631.570637105,653,0.401049241968,-0.00540061278001,0.0498496008002,0.999999955418,0.00011233221544,-0.000273616924649,-4.09730502519e-05,1793239427963026176
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.849405288,715,678.150594712,665,635.849405288,879.150594712,788,803.849405288,652.150594712,631.849405288,653,0.401029657512,-0.0054011991863,0.0498498573278,0.999999955657,0.000112405687293,-0.000272714628244,-4.09679233104e-05,1793239427979693056
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.275303556,715,678.724696444,665,635.275303556,879.724696444,788,803.275303556,652.724696444,631.275303556,653,0.401017606786,-0.00540097003377,0.0498506946126,0.999999956125,0.000112626064681,-0.000270896858815,-4.0985399052e-05,1793239427996359680
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.701336146,665,635,880,788,803.298663854,653,631,652.701336146,0.401009357211,-0.00540022180183,0.0498520187142,0.999999956599,0.000113317003984,-0.000268840155431,-4.10578506748e-05,1793239428013026304
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.127492428,665,635,880,788,803.872507572,653,631,652.127492428,0.401004609901,-0.00539899530573,0.0498537913543,0.999999957076,0.000114441504861,-0.000266563305301,-4.11809554179e-05,1793239428029692672
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.459948245,665.459948245,635.459948245,880,788,803.540051755,653,631.459948245,652.459948245,0.401000960528,-0.00539868247517,0.0498543119506,0.999999957359,0.000115143481211,-0.000265218738665,-4.10234447564e-05,1793239428046359296
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.050169944,715,679,665.949830056,636,879.949830056,788,803.050169944,653,632,653,0.400997874974,-0.00539879057281,0.0498545097792,0.999999957646,0.000115421615868,-0.000264049072324,-4.07947683459e-05,1793239428063025664
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.628777305,715,679,665.371222695,636,879.371222695,788,803.628777305,653,632,653,0.400997424889,-0.0054005834749,0.0498550747506,0.999999958544,0.000112506635462,-0.000261916797442,-4.06607527097e-05,1793239428079692544
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,714.794644839,679,665.205355161,636,879.205355161,788,804,653,632,653,0.400996802412,-0.00540114026639,0.0498554610242,0.999999958963,0.000111751316761,-0.000260636285937,-4.06777416463e-05,1793239428096359424
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,714.221699872,679,665.778300128,636,879.778300128,788,804,653,632,653,0.400995871349,-0.00539948439534,0.0498555274251,0.999999958535,0.000114861835473,-0.000260880447878,-4.0965031768e-05,1793239428113026304
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.637434624,714.362565376,679,666,636,880,788,803.637434624,652.637434624,632,653,0.400995292333,-0.00539880251319,0.0498559569733,0.999999958573,0.000116154928344,-0.00026015028185,-4.10333375514e-05,1793239428129693184
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.04602423,714.95397577,679,666,636,880,788,803.04602423,652.04602423,632,653,0.400994935524,-0.00539873539612,0.0498566157338,0.999999958908,0.000116300893231,-0.000258805136791,-4.09634241839e-05,1793239428146359552
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.534356914,745,715,679,666,636,880,788,803,652.534356914,632,653,0.400994869137,-0.00540026831001,0.0498570414364,0.999999959317,0.000114659832506,-0.000258016453949,-4.05745201502e-05,1793239428163025920
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.886887559,745,715,679,666,636,879.886887559,788,803,652.886887559,632,653,0.400994840212,-0.00540169573428,0.049857449722,0.999999959666,0.000113190754079,-0.000257368359173,-4.02200457644e-05,1793239428179692544
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.310975279,745,715,679,666,636,879.310975279,788,803,652.310975279,632,653,0.400994864291,-0.00540213909628,0.0498578672148,0.999999959755,0.000113042357561,-0.000257103348484,-4.01165800118e-05,1793239428196359168
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.735352668,679,666,636,879.264647332,788,803.264647332,652.264647332,632,653,0.400994679727,-0.00540178739233,0.0498580820493,0.99999995969,0.000113836023047,-0.000257005947332,-4.01072612189e-05,1793239428213025792
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.160069987,679,666,636,879.839930013,788,803.839930013,652.839930013,632,653,0.400994250264,-0.00540050246311,0.0498580590094,0.999999959443,0.00011573545352,-0.000257105281346,-4.0208449378e-05,1793239428229692416
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,714.42673793,679,665.57326207,636,879.57326207,788,804,653,631.57326207,653,0.400994967654,-0.00540132308379,0.049858668503,0.999999959839,0.000115129529235,-0.000255885620576,-3.98703339493e-05,1793239428246359296
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.982417046,679,665.017582954,636,879.017582954,788,804,653,631,653,0.400996144269,-0.0054029077861,0.049859526758,0.999999960476,0.000113608707851,-0.000254145547476,-3.93779107912e-05,1793239428263026176
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.404509819,679,665.595490181,636,879.595490181,788,804,653,631,653,0.40099786576,-0.00540297446209,0.0498605415234,0.999999961002,0.000113711540759,-0.000252025534534,-3.93650798138e-05,1793239428279692800
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.172251445,745.172251445,714.172251445,679,665.827748555,636,880,788,804,653,631,653,0.40099811224,-0.00540274438594,0.0498606631007,0.999999961109,0.000113785858825,-0.000251541575607,-3.95063928202e-05,1793239428296359424
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.74633932,745.74633932,714.74633932,679,665.25366068,636,880,788,804,653,631,653,0.40099491774,-0.0054018220322,0.049858701006,0.999999960245,0.000113793656098,-0.000254874282044,-4.00073003023e-05,1793239428313025792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.670770407,746,715,678.670770407,665.329229593,636,879.670770407,788,804,653,631,653,0.40099466185,-0.00540128691561,0.0498587770377,0.999999960289,0.000114055073899,-0.000254557224548,-4.01630444906e-05,1793239428329692416
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.080911893,746,715,678.080911893,665.919088107,636,879.080911893,788,804,653,631,653,0.400996732259,-0.00540105834868,0.0498604665169,0.999999961052,0.000114517266011,-0.000251350894328,-4.00455460966e-05,1793239428346359296
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.499926643,715,678.500073357,666,636,879.500073357,788,804,652.499926643,631.500073357,653,0.400995762707,-0.00540124848184,0.0498601006344,0.999999960842,0.000113598013589,-0.000252586585263,-4.01468517091e-05,1793239428363026176
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.079239438,666,636,879.920760562,788,804,652.079239438,631.920760562,653,0.400994439138,-0.00540144390088,0.0498594842315,0.999999960472,0.000112964967505,-0.000254312451953,-4.02487463849e-05,1793239428379692800
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.655841199,666,636,879.344158801,788,804,652.655841199,631.344158801,653,0.400993926971,-0.00540125469166,0.04985934636,0.999999960092,0.000115506848402,-0.00025468246907,-4.01360015991e-05,1793239428396359424
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.230834035,715,679.769165965,666,636,879.230834035,788,804,653,631.230834035,653,0.400993708307,-0.0054010133645,0.0498591695287,0.999999959799,0.00011728137897,-0.000255023491688,-4.01217922378e-05,1793239428413026048
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.803444755,715,679.196555245,666,636,879.803444755,788,804,653,631.803444755,653,0.400993924209,-0.00540069487063,0.0498589350128,0.999999959643,0.000117919758348,-0.000255321584629,-4.02534760365e-05,1793239428429692928
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745.612417542,715,678.612417542,665.612417542,636,880,788,804,653,632,653,0.40099457127,-0.00540165416988,0.0498595307193,0.99999996001,0.000116900449273,-0.000254413723379,-3.98448247995e-05,1793239428446359552
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745.022254995,715,678.022254995,665.022254995,636,880,788,804,653,632,653,0.400995443687,-0.0054032813411,0.0498605603633,0.999999960646,0.000115014706018,-0.00025287553867,-3.91537533427e-05,1793239428463025920
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.558892302,665,636,879.441107698,788,803.441107698,653,632,653,0.400995686794,-0.00540219575378,0.0498604677819,0.999999960525,0.000116765277125,-0.000252484365393,-3.95924984597e-05,1793239428479692544
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efa663b49765bb6f26d37667012775949ce77f80
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b054684625501b37a05f293662719365e817080b
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2568e7ecd7905f16376151e5ef1ac2d0faab2785
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,714,678,665,636,880,788,803,653,632,653,0.400995894224,-0.00540546153713,0.0498611805748,0.999999961892,0.00010954718588,-0.00025038210556,-3.90338230203e-05,1793239428636324864
+1,0.016666667,BASELINE,766,745,714,678.58810907,665.58810907,636,880,788,803.58810907,653,632,653,0.400994418171,-0.00540241931268,0.0498602255967,0.99999996077,0.000113803202204,-0.000252852537859,-3.9670141094e-05,1793239428652991744
+2,0.033333333,BASELINE,766,745.173750841,714.173750841,679,666,636,879.826249159,788,804,653,631.826249159,653,0.400993555787,-0.00540064031282,0.0498596285987,0.9999999601,0.000116599507788,-0.000254172082224,-4.00058439198e-05,1793239428669658624
+3,0.050000000,BASELINE,766,745.753625682,714.753625682,679,666,636,879.246374318,788,804,653,631.246374318,653,0.400994127788,-0.00540181396471,0.0498598683405,0.999999960534,0.000115983896555,-0.000252801549688,-3.96388908973e-05,1793239428686325248
+4,0.066666667,BASELINE,765.668377651,745.668377651,715,679,666,636,879.331622349,788,803.668377651,653,631.331622349,653,0.400994679513,-0.00540285668421,0.0498604897341,0.999999960939,0.000114979483044,-0.00025167900834,-3.94814077117e-05,1793239428702991872
+5,0.083333333,BASELINE,765.091768523,745.091768523,715,679,666,636,879.908231477,788,803.091768523,653,631.908231477,653,0.400995216257,-0.00540380267704,0.0498613930738,0.999999961323,0.000113687840984,-0.000250739671139,-3.9478670875e-05,1793239428719658496
+6,0.100000000,BASELINE,765.482282565,745,715,679,665.517717435,635.517717435,880,788,803.482282565,653,632,653,0.400994421882,-0.00540260062435,0.0498608783529,0.999999960965,0.000114598449492,-0.000251725595552,-3.96371501427e-05,1793239428736325120
+7,0.116666667,BASELINE,766,745.057665122,715,679,665.057665122,635.057665122,880,788,804,653,632,653,0.400993484474,-0.00540131085311,0.0498601749072,0.999999960551,0.000115514809142,-0.000252924204548,-3.9794883721e-05,1793239428752991232
+8,0.133333333,BASELINE,766,745.649878506,715,679,665.649878506,635.649878506,880,788,804,653,632,653,0.400993556692,-0.00540297681876,0.0498602100796,0.999999960939,0.000112620498357,-0.000252716383468,-3.96628413836e-05,1793239428769658112
+9,0.150000000,BASELINE,766.236277575,746,715,679,666,636,880,788,804,653,632,653,0.400994606182,-0.00540386410435,0.0498608820849,0.999999961427,0.00011109415318,-0.000251481715648,-3.9501246884e-05,1793239428786324736
+10,0.166666667,BASELINE,766.814267733,746,715,679,666,636,880,788,804,653,632,653,0.400997069037,-0.00540362523648,0.0498624750992,0.999999962065,0.000111546206171,-0.000248761987522,-3.92969130639e-05,1793239428802991616
+11,0.183333333,BASELINE,766.60993679,745.60993679,715,679,666,636,879.60993679,788,803.60993679,653,632,653,0.400997026275,-0.0054034730425,0.0498627292778,0.999999962069,0.000112386407407,-0.000248396090448,-3.91139144762e-05,1793239428819658240
+12,0.200000000,BASELINE,766.035180434,745.035180434,715,679,666,636,879.035180434,788,803.035180434,653,632,653,0.400995797115,-0.00540336188819,0.0498623495239,0.999999961774,0.000113410395101,-0.000249144721374,-3.89410180054e-05,1793239428836324864
+13,0.216666667,BASELINE,766,745.541110498,715.541110498,679,666,636,879,788,803.541110498,653,632,653,0.400996823311,-0.00540327150928,0.0498628364957,0.999999962072,0.000113431693115,-0.000247907354452,-3.91360585318e-05,1793239428852991744
+14,0.233333333,BASELINE,766.120231941,746,715.879768059,679,666.120231941,636,879.120231941,788,803.879768059,653,632,653,0.400997382238,-0.00540270463229,0.0498628935354,0.999999962189,0.000113666203823,-0.000247285242911,-3.94073076132e-05,1793239428869658624
+15,0.250000000,BASELINE,766.710017064,746,715.289982936,679,666.710017064,636,879.710017064,788,803.289982936,653,632,653,0.400995542006,-0.00540027155213,0.0498610508251,0.99999996145,0.00011498871145,-0.000249571645321,-3.98824925868e-05,1793239428886324992
+16,0.266666667,BASELINE,766.703914422,746,715,679,666.703914422,636,879.703914422,788,803.296085578,653,632,653,0.400995219142,-0.00540029914578,0.0498608120635,0.999999961281,0.000114908563653,-0.000250278129488,-3.99274367667e-05,1793239428902991360
+17,0.283333333,BASELINE,766.121440823,746,715,679,666.121440823,636,879.121440823,788,803.878559177,653,632,653,0.400996363947,-0.00540270682005,0.0498621247172,0.999999961665,0.000113471700891,-0.000249456441624,-3.95562316063e-05,1793239428919657984
+18,0.300000000,BASELINE,766.450763456,745.549236544,715,679,666,636,879.450763456,788,804,653,632,653,0.40099594169,-0.00540297617424,0.0498618333161,0.999999961779,0.000113062048033,-0.000249195054748,-3.94964505887e-05,1793239428936324864
+19,0.316666667,BASELINE,767,745,715,679,665.979005756,636,879.979005756,788,803.979005756,653,632,653,0.400995197572,-0.00540269291998,0.0498611938473,0.999999961831,0.000112977730028,-0.000249023275374,-3.95078421637e-05,1793239428952991488
+20,0.333333333,BASELINE,767,745,715,679,665.38894536,636,879.38894536,788,803.38894536,653,632,653,0.400996917907,-0.00540269826883,0.0498625725983,0.999999962116,0.000114377647813,-0.000247279857242,-3.92248710201e-05,1793239428969658112
+21,0.350000000,BASELINE,767,745.19753622,715,679,665.19753622,636,879,788,803.19753622,653,632,653,0.400997358085,-0.0054029013398,0.0498631814341,0.999999962104,0.000115272728738,-0.000246949913978,-3.89920771772e-05,1793239428986324736
+22,0.366666667,BASELINE,767,745.777096497,715,679,665.777096497,636,879,788,803.777096497,653,632,653,0.400995322511,-0.00540348679437,0.0498623012965,0.999999961522,0.00011519148311,-0.000249353552657,-3.88563234749e-05,1793239429002991360
+23,0.383333333,BASELINE,766.645126241,745.645126241,715,679,665.645126241,636,879.354873759,788,804,653,631.645126241,653,0.400994519995,-0.00540319696634,0.0498621312849,0.999999961334,0.000114978464856,-0.000250194682288,-3.89087844527e-05,1793239429019658240
+24,0.400000000,BASELINE,766.068463272,745.068463272,715,679,665.068463272,636,879.931536728,788,804,653,631.068463272,653,0.400994488118,-0.00540236010374,0.0498624050882,0.999999961395,0.000114683091262,-0.000250059274335,-3.90788759381e-05,1793239429036324864
+25,0.416666667,BASELINE,766,745,714.483307442,679,665,636,879.483307442,788,804,653,631.516692558,653,0.400994856636,-0.00540230949025,0.0498620967119,0.999999961432,0.000115335029449,-0.00024962276936,-3.90061446779e-05,1793239429052991488
+26,0.433333333,BASELINE,766.101698335,745,714.101698335,679,665.101698335,636,879.101698335,788,804,653,631.898301665,653,0.40099541475,-0.00540262360398,0.0498619165932,0.999999961594,0.000115433829027,-0.000248943065348,-3.89206050234e-05,1793239429069658112
+27,0.450000000,BASELINE,766.680631151,745,714.680631151,679,665.680631151,636,879.680631151,788,804,653,631.319368849,653,0.40099660945,-0.00540415220264,0.0498627063847,0.999999962351,0.000112338071923,-0.000247312461439,-3.89284678961e-05,1793239429086324736
+28,0.466666667,BASELINE,767,745,715,679,666,636,879.740435672,788,804,653,631.259564328,653,0.400997504152,-0.00540366346526,0.0498632443206,0.999999962616,0.000112321132874,-0.000246210676967,-3.91509165501e-05,1793239429102991616
+29,0.483333333,BASELINE,767,745,715,679,666,636,879.161502087,788,804,653,631.838497913,653,0.400998029732,-0.00540069258732,0.0498634723723,0.999999962277,0.000116092387274,-0.000245759554698,-3.96373926309e-05,1793239429119658240
+30,0.500000000,BASELINE,766.586819288,745.413180712,715,679,665.586819288,636,879,788,803.586819288,653,632,653,0.400997935467,-0.00540007867829,0.0498632364862,0.999999961969,0.000118052411326,-0.000246109423214,-3.94342525598e-05,1793239429136325120
+31,0.516666667,BASELINE,766.013781109,745.986218891,715,679,665.013781109,636,879,788,803.013781109,653,632,653,0.400997601387,-0.00540037666832,0.0498628211051,0.999999961676,0.000119311679701,-0.000246769190905,-3.89643035788e-05,1793239429152991744
+32,0.533333333,BASELINE,766,746,715,679,665.57669906,636,879.57669906,788,803.57669906,653,631.42330094,653,0.400997100918,-0.00540171066684,0.0498631407132,0.999999962109,0.000116932038332,-0.000246153169007,-3.89620009118e-05,1793239429169658368
+33,0.550000000,BASELINE,766,745.835887766,715,679,666,636,879.835887766,788,804.164112234,653,631.164112234,653,0.400996554044,-0.00540245202171,0.0498632286299,0.99999996234,0.000115045482314,-0.000246084320101,-3.90794777813e-05,1793239429186324736
+34,0.566666667,BASELINE,766,745.257305935,715,679,666,636,879.257305935,788,804.742694065,653,631.742694065,653,0.400995900328,-0.00540163216539,0.0498626856629,0.999999962029,0.000114630688402,-0.000247476767416,-3.94703576196e-05,1793239429202991616
+35,0.583333333,BASELINE,766.319677533,745.319677533,715,679,666,636,879,788,804.360644933,653,631.680322467,653,0.400995567561,-0.00540232978163,0.0498625105496,0.999999961915,0.00011421680309,-0.00024812954533,-3.94608104998e-05,1793239429219658240
+36,0.600000000,BASELINE,766.895380954,745.895380954,715,679,666,636,879,788,803.209238092,653,631.104619046,653,0.400995491838,-0.00540424272329,0.0498626300456,0.99999996196,0.000113803645419,-0.000248189931073,-3.91305662926e-05,1793239429236324864
+37,0.616666667,BASELINE,766.530780358,746,715,679,666,636,879.469219642,788,803.469219642,653,631.469219642,653,0.400996149516,-0.00540331734995,0.049863407985,0.999999962151,0.000114734830646,-0.000246973415175,-3.92135508465e-05,1793239429252991744
+38,0.633333333,BASELINE,766.04393508,745.95606492,715,679,666,636,880,788.04393508,803.95606492,653,632,653,0.400996821979,-0.00540200595734,0.049864148903,0.999999962329,0.000115782525622,-0.000245740766282,-3.93503858967e-05,1793239429269658368
+39,0.650000000,BASELINE,766.634718113,745.365281887,715,679,666,636,880,788.634718113,803.365281887,653,632,653,0.400995651205,-0.0054037355169,0.0498626089659,0.999999961965,0.000114564373182,-0.000247836906536,-3.90152424694e-05,1793239429286324992
+40,0.666666667,BASELINE,766.778345074,745,715,679,666,636,880,788.778345074,803.221654926,653,632,653,0.400995341446,-0.00540436658308,0.0498619676956,0.99999996189,0.000113659434352,-0.00024856620706,-3.89332074941e-05,1793239429302991872
+41,0.683333333,BASELINE,766.197638662,745,715,679,666,636,880,788.197638662,803.802361338,653,632,653,0.400996426421,-0.00540321823604,0.049862782146,0.999999962291,0.000113261859969,-0.000247081408975,-3.92611745513e-05,1793239429319658752
+42,0.700000000,BASELINE,766,745.378564777,715,679,666,636,880.378564777,788,804,653,632,653,0.400996431762,-0.00540373025025,0.0498632509802,0.999999962444,0.00011274833874,-0.000246722897036,-3.90908440475e-05,1793239429336325376
+43,0.716666667,BASELINE,766,745.95244495,715,679,666,636,880.95244495,788,804,653,632,653,0.40099588008,-0.0054050989055,0.0498635414982,0.99999996247,0.000112174996312,-0.000246945477302,-3.86634236216e-05,1793239429352991744
+44,0.733333333,BASELINE,766,746,715,679,666,636,880.461127271,788.538872729,804,653,632,652.461127271,0.400995477291,-0.00540341222157,0.0498627005302,0.999999961945,0.000114874423996,-0.000247776188812,-3.89995844177e-05,1793239429369658112
+45,0.750000000,BASELINE,766,745.875409541,715,679,666,636,880,788.875409541,803.875409541,653,631.875409541,652.124590459,0.400995225042,-0.00540219675822,0.0498620181719,0.999999961584,0.00011660258195,-0.000248383078269,-3.9271564008e-05,1793239429386324736
+46,0.766666667,BASELINE,766,745.29641647,715,679,666,636,880,788.29641647,803.29641647,653,631.29641647,652.70358353,0.400995472779,-0.00540370675137,0.0498622871526,0.999999962027,0.000113709868253,-0.00024797325124,-3.90578387046e-05,1793239429402991616
+47,0.783333333,BASELINE,766,745.28194575,715,679,666,636,879.71805425,788,803,653,631.28194575,653,0.400995565199,-0.00540399966324,0.0498627626049,0.999999962204,0.000113023527147,-0.000247574538378,-3.90541316218e-05,1793239429419658240
+48,0.800000000,BASELINE,766,745.859646293,715,679,666,636,879.140353707,788,803,653,631.859646293,653,0.400995494695,-0.00540301588423,0.0498634546413,0.999999962106,0.00011465162123,-0.000247187483978,-3.92707289333e-05,1793239429436325120
+49,0.816666667,BASELINE,766,745.558171154,715,679,666,636,879,788,803.441828846,653,632,653,0.400996064283,-0.00540234223135,0.0498631571053,0.999999962076,0.000115026584959,-0.000247107292321,-3.94366131295e-05,1793239429452991744
+50,0.833333333,BASELINE,766.025343118,745,715,679,666,636,879,788,804,653,632,653,0.400996823761,-0.00540178727887,0.0498626012547,0.999999962075,0.000115070305115,-0.000247069640267,-3.95667760077e-05,1793239429469658624
+51,0.850000000,BASELINE,766.60651905,745,715,679,666,636,879,788,804,653,632,653,0.400997242634,-0.00540165286576,0.0498633451073,0.999999962213,0.000116669289562,-0.00024580511645,-3.92704343306e-05,1793239429486324992
+52,0.866666667,BASELINE,766.813318173,745,715,679,666,636,879.186681827,788,803.813318173,653,631.813318173,653,0.400997660059,-0.00540192602795,0.0498641577162,0.999999962408,0.000117121427497,-0.00024481719937,-3.91349073359e-05,1793239429502991616
+53,0.883333333,BASELINE,766.235279398,745,715,679,666,636,879.764720602,788,803.235279398,653,631.235279398,653,0.400998074447,-0.00540305362481,0.0498651144646,0.999999962726,0.000115169333712,-0.000244409156532,-3.93365098195e-05,1793239429519658240
+54,0.900000000,BASELINE,766,745,715,679,666,636,879.65912314,788,803,653,631.34087686,653,0.400997626116,-0.00540406496208,0.0498647154074,0.999999962794,0.000113697959195,-0.000244839448677,-3.92312458832e-05,1793239429536324864
+55,0.916666667,BASELINE,766,745,715,679,666,636,879.084259117,788,803,653,631.915740883,653,0.40099658559,-0.00540499649554,0.0498633856884,0.999999962688,0.00011255656356,-0.000245845196807,-3.89153404682e-05,1793239429552991744
+56,0.933333333,BASELINE,766.502706611,745,715,679,666,636,879,788,803.502706611,653,632,653,0.400995255625,-0.00540358071924,0.0498622747367,0.99999996219,0.000112846924366,-0.00024767573541,-3.92691312232e-05,1793239429569658368
+57,0.950000000,BASELINE,766.909723858,745,715,678.909723858,665.909723858,636,879.090276142,788,803.909723858,653,632,653,0.400994355285,-0.00540219380703,0.0498615440353,0.999999961781,0.000113307373795,-0.000249062832431,-3.95930200148e-05,1793239429586325248
+58,0.966666667,BASELINE,766.330146994,745,715,678.330146994,665.330146994,636,879.669853006,788,803.330146994,653,632,653,0.400996052961,-0.00540314837454,0.0498626706644,0.999999962236,0.000113356935368,-0.000247278684864,-3.91314402317e-05,1793239429602991872
+59,0.983333333,BASELINE,766,745,715,678,665.247894699,636,880,788,803.247894699,653,632,653,0.400996957625,-0.00540318659649,0.0498633185582,0.99999996241,0.000113808321892,-0.000246405517314,-3.88873253434e-05,1793239429619658240
+60,1.000000000,BASELINE,766,745,715,678,665.823904508,636,880,788,803.823904508,653,632,653,0.400996812652,-0.00540201193734,0.0498633327949,0.999999962214,0.000114791566661,-0.000246738128867,-3.89310484065e-05,1793239429636324864
+61,1.016666667,BASELINE,766,745,714.600545457,678.399454543,666,636,880,788,804,653,631.600545457,653,0.400996006216,-0.00540242394527,0.0498630170635,0.999999962075,0.000113775256162,-0.000247756768573,-3.90205924322e-05,1793239429652991488
+62,1.033333333,BASELINE,766,745,714.025197911,678.974802089,666,636,880,788,804,653,631.025197911,653,0.400994908516,-0.00540353461508,0.0498625560363,0.999999961956,0.000111878475502,-0.00024907748907,-3.91303129355e-05,1793239429669658112
+63,1.050000000,BASELINE,766,745,714,679,666,636,879.4357834,788.5642166,804,653,631,653,0.400997119748,-0.00540420526112,0.0498639991074,0.999999962665,0.000112167529233,-0.000246144020267,-3.87482597455e-05,1793239429686324736
+64,1.066666667,BASELINE,766,745.150968113,714.150968113,679,666,636,879,788.849031887,804.150968113,653,631,652.849031887,0.400998350661,-0.00540465772883,0.0498648486364,0.999999963064,0.000112552138145,-0.000244373207217,-3.85350533124e-05,1793239429702991360
+65,1.083333333,BASELINE,766,745.728377454,714.728377454,679,666,636,879,788.271622546,804.728377454,653,631,652.271622546,0.400996384355,-0.00540455083486,0.0498637752334,0.999999962503,0.000112923865689,-0.000246436955353,-3.88624144161e-05,1793239429719658240
+66,1.100000000,BASELINE,766,746,715,679,666,636,879.305526063,788,804.694473937,653,631.305526063,652.305526063,0.400996298439,-0.00540399995574,0.0498636269304,0.999999962366,0.000113844297068,-0.000246543758845,-3.90308237391e-05,1793239429736324864
+67,1.116666667,BASELINE,766,746,715,679,666,636,879.882443038,788,804.117556962,653,631.882443038,652.882443038,0.400997882826,-0.00540305469607,0.0498643003701,0.999999962605,0.000115252127875,-0.000244912258828,-3.90580402817e-05,1793239429752991744
+68,1.133333333,BASELINE,766,746,715,679,666,636,879.531571816,788,804,652.531571816,632,653,0.400996729442,-0.00540353543565,0.0498635750943,0.999999962615,0.000113782295442,-0.000245560577451,-3.90454350997e-05,1793239429769658368
+69,1.150000000,BASELINE,766,745.94414213,715,679,666,636,879.05585787,788,803.94414213,652.05585787,631.94414213,653,0.400995136667,-0.00540416782249,0.0498626152718,0.999999962534,0.000112009691005,-0.000246702704623,-3.9034507909e-05,1793239429786324736
+70,1.166666667,BASELINE,766,745.364921863,715,679,666,636,879.635078137,788,803.364921863,652.635078137,631.364921863,653,0.400995991632,-0.0054028018096,0.0498628117004,0.999999962196,0.000114300321128,-0.00024700503494,-3.91347873459e-05,1793239429802991616
+71,1.183333333,BASELINE,766,745.213441608,715,679.213441608,666,636,879.786558392,788,803.213441608,653,631.213441608,653,0.400996514861,-0.00540212309651,0.0498629167452,0.999999961981,0.000115719009249,-0.000247220264226,-3.9115139094e-05,1793239429819658240
+72,1.200000000,BASELINE,766,745.790346162,715,679.790346162,666,636,879.209653838,788,803.790346162,653,631.790346162,653,0.400996473184,-0.00540261476422,0.0498628661758,0.99999996198,0.000115652895354,-0.000247287171973,-3.88912698004e-05,1793239429836324864
+73,1.216666667,BASELINE,766,746,714.633639814,679.633639814,666,635.633639814,879.366360186,788,804,653,632,653,0.400996237043,-0.00540334265801,0.0498633124019,0.999999962219,0.000114273618589,-0.000246958618855,-3.89124468537e-05,1793239429852991488
+74,1.233333333,BASELINE,766,746,714.058134206,679.058134206,666,635.058134206,879.941865794,788,804,653,632,653,0.400995889887,-0.00540420540703,0.0498640422355,0.999999962591,0.000112144691584,-0.000246404307494,-3.90735144532e-05,1793239429869658368
+75,1.250000000,BASELINE,766.527482511,745.472517489,714.527482511,679.527482511,666,635,879.472517489,788,803.472517489,653,632,653,0.400996854332,-0.00540483176059,0.0498639257873,0.999999962844,0.000112469588732,-0.000245270496014,-3.87853029128e-05,1793239429886325248
+76,1.266666667,BASELINE,766.887063249,745,715,679.887063249,666,635.112936751,879.112936751,788,803.112936751,652.887063249,631.887063249,653,0.40099787294,-0.00540510525969,0.0498638078296,0.999999962999,0.000113084124361,-0.000244401199268,-3.84889555224e-05,1793239429902991616
+77,1.283333333,BASELINE,766.306980522,745,715,679.306980522,666,635.693019478,879.693019478,788,803.693019478,652.306980522,631.306980522,653,0.400998505984,-0.00540402910078,0.0498640769627,0.999999962807,0.000113756219878,-0.00024489536777,-3.83677709999e-05,1793239429919657984
+78,1.300000000,BASELINE,766,745,715,679,666,636,880,788,804,652.271492957,631.271492957,653,0.400998729948,-0.00540277518773,0.049864590083,0.999999962741,0.000114554874407,-0.000244746820325,-3.86511987375e-05,1793239429936324608
+79,1.316666667,BASELINE,766,745,715,679,666,636,880,788,804,652.848157522,631.848157522,653,0.400998494084,-0.00540132147025,0.0498653774572,0.999999962817,0.000115495787528,-0.000243875828105,-3.93894308203e-05,1793239429952991232
+80,1.333333333,BASELINE,766,745,714.568360053,679,666,636,880,788,804,653,632,653,0.40099725411,-0.00540236765133,0.0498648358298,0.999999962669,0.000114566052749,-0.000244923166949,-3.93599216667e-05,1793239429969658112
+81,1.350000000,BASELINE,766,745,714,679,665.982640514,636.017359486,880,788,803.982640514,652.982640514,631.982640514,653,0.400995723071,-0.00540426252635,0.0498638394551,0.999999962444,0.000113020613182,-0.000246601592896,-3.90616677232e-05,1793239429986324736
+82,1.366666667,BASELINE,766,745,714,679,665.403388561,636.596611439,880,788,803.403388561,652.403388561,631.403388561,653,0.400996387564,-0.00540470617829,0.0498634992654,0.999999962451,0.000113187883564,-0.000246513548786,-3.89468093814e-05,1793239430002991872
+83,1.383333333,BASELINE,766,745,714.175573204,679,665,636.824426796,880,788,803,652.175573204,631.175573204,653,0.400996771791,-0.00540472735949,0.0498633407874,0.999999962495,0.000113639401618,-0.000246142549135,-3.8868118191e-05,1793239430019658752
+84,1.400000000,BASELINE,766,745,714.753869461,679,665,636.246130539,880,788,803,652.753869461,631.753869461,653,0.400996513156,-0.00540377949367,0.0498635991126,0.999999962619,0.000114742916068,-0.000245122516946,-3.8872385797e-05,1793239430036325632
+85,1.416666667,BASELINE,766,745,715,679,665,635.670104039,880,788,803.329895961,653,632,653,0.400996576061,-0.00540398610231,0.0498637435369,0.999999962847,0.000113404186613,-0.000244819162373,-3.88402661679e-05,1793239430052992256
+86,1.433333333,BASELINE,766,745,715,679,665,635.095759434,880,788,803.904240566,653,632,653,0.400996877222,-0.00540504816165,0.0498638035621,0.999999963146,0.000110255785924,-0.000245046856711,-3.87811840674e-05,1793239430069658112
+87,1.450000000,BASELINE,766,745.48886878,715,679,665.48886878,635.48886878,879.51113122,788,804,653,631.51113122,652.51113122,0.400996328055,-0.00540413630858,0.0498633646242,0.999999962785,0.000111356849039,-0.000245968910479,-3.91063870715e-05,1793239430086324736
+88,1.466666667,BASELINE,766,745.925360026,715,679,666,636,879.074639974,788,804,653,631.074639974,652,0.400995713585,-0.00540303430826,0.0498629362031,0.999999962353,0.000113247266333,-0.00024681206262,-3.94130200173e-05,1793239430102991360
+89,1.483333333,BASELINE,766,745.345776505,715,679,666,636,879.654223495,788,804,653,631.654223495,652,0.400995808348,-0.00540331785969,0.0498632543305,0.999999962353,0.000114725589892,-0.00024618154879,-3.90738531911e-05,1793239430119657984
+90,1.500000000,BASELINE,766,745,715,679,666,636,880,788,804,653,631.766496162,652.233503838,0.400995643967,-0.00540291595891,0.0498634711884,0.999999962257,0.000116273866695,-0.000245861583789,-3.89752730513e-05,1793239430136324864
+91,1.516666667,BASELINE,766,745,715,679,666,636,880,788,804,653,631.18766424,652.81233576,0.400995096341,-0.00540150034501,0.049863538279,0.999999962019,0.000117925596999,-0.000246000888529,-3.92324958294e-05,1793239430152991488
+92,1.533333333,BASELINE,766,745,715,679.387303573,666,636,879.612696427,788,804,653,631,653,0.40099620555,-0.0054020566002,0.0498642116945,0.999999962461,0.000117029483838,-0.000244644129615,-3.91330194258e-05,1793239430169658368
+93,1.550000000,BASELINE,766,745,715,679.960417616,666,636,879.039582384,788,804,653,631,653,0.400998109634,-0.00540355886752,0.0498651759969,0.999999963223,0.00011491103253,-0.00024256962807,-3.88624151574e-05,1793239430186324992
+94,1.566666667,BASELINE,766,745,715,679.450327694,666,636,879.549672306,788,804,653,631,653,0.400998232939,-0.00540339840249,0.0498647997215,0.999999963068,0.000115197284234,-0.000243075796977,-3.88194781443e-05,1793239430202991616
+95,1.583333333,BASELINE,766,745,715,679,665.862532232,636,880,788,804,653,631.137467768,653,0.400997952821,-0.00540333219676,0.0498643193344,0.999999962867,0.000115418097961,-0.000243798870085,-3.88082996505e-05,1793239430219657984
+96,1.600000000,BASELINE,766,745,715,679,665.283274622,636,880,788,804,653,631.716725378,653,0.400996800778,-0.00540396536006,0.0498638239867,0.999999962734,0.000114855261507,-0.000244603720504,-3.88449035725e-05,1793239430236324864
+97,1.616666667,BASELINE,766,745.294485519,715,679,665.294485519,635.705514481,879.705514481,788,804,653,631.705514481,653,0.400996346218,-0.00540441957287,0.0498636538547,0.999999962682,0.000113835390271,-0.00024527733732,-3.89479738407e-05,1793239430252991488
+98,1.633333333,BASELINE,766,745.870812452,715,679,665.870812452,635.129187548,879.129187548,788,804,653,631.129187548,653,0.400996559193,-0.00540470251862,0.0498637949747,0.999999962706,0.000112378107647,-0.000245825355163,-3.91146566365e-05,1793239430269658112
+99,1.650000000,BASELINE,766,745.556134307,714.556134307,679.443865693,665.556134307,635.443865693,879,788,804,653,631,653,0.400997472137,-0.00540321201688,0.0498643743404,0.999999962806,0.000113823109749,-0.000244731622439,-3.92310024706e-05,1793239430286324992
+100,1.666666667,BASELINE,766.016579825,745,714.016579825,679.983420175,665.016579825,636,879,788,804,653,631.016579825,653,0.400998497339,-0.00540130300614,0.0498650274858,0.999999962904,0.000116008471295,-0.000243283685563,-3.93230219337e-05,1793239430302992128
+101,1.683333333,BASELINE,766.610418622,745,714.610418622,679.389581378,665.610418622,636,879,788,804,653,631.610418622,653,0.400996389835,-0.00540266245621,0.0498638409657,0.999999962387,0.000114775892186,-0.000246018327753,-3.90744268185e-05,1793239430319659008
+102,1.700000000,BASELINE,766.801433952,745,715,679,666,636,879.198566048,788,803.801433952,652.801433952,631.801433952,653,0.400995500022,-0.00540374117697,0.0498633664747,0.999999962245,0.00011398788972,-0.000246998710552,-3.8826184575e-05,1793239430336325376
+103,1.716666667,BASELINE,766.224141776,745,715,679,666,636,879.775858224,788,803.224141776,652.224141776,631.224141776,653,0.400996932714,-0.00540428446104,0.0498642500408,0.99999996283,0.000114047830896,-0.000244633184344,-3.85786153948e-05,1793239430352991744
+104,1.733333333,BASELINE,766,745.35015316,715,679,666.35015316,636,879.64984684,788,803.35015316,652.35015316,631.35015316,653,0.400997129912,-0.0054045906898,0.0498642965138,0.999999963069,0.00011329139285,-0.000243991176313,-3.86765257088e-05,1793239430369658368
+105,1.750000000,BASELINE,766,745.922545829,715,679,666.922545829,636,879.077454171,788,803.922545829,652.922545829,631.922545829,653,0.40099654295,-0.00540474646144,0.0498638116904,0.99999996309,0.000112016805216,-0.000244443071736,-3.89937091673e-05,1793239430386324736
+106,1.766666667,BASELINE,766,745.487640403,715,679,666.487640403,636,879.512359597,788,804,653,632,653,0.400995458393,-0.00540464581118,0.049862804629,0.999999962418,0.000113151889894,-0.000246656077507,-3.90178018138e-05,1793239430402991360
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665,636,879,788,804,653,632,653,0.400997217936,-0.00540337713386,0.0498650442065,0.999999962985,0.000115767621924,-0.000243186724273,-3.85794883371e-05,1793239430445498624
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.424726394,715,679,665.575273606,636,879.575273606,788,804,653,632,653,0.400995526843,-0.00540325902028,0.0498637256227,0.999999962425,0.000115048895724,-0.000245788590182,-3.87438692075e-05,1793239430462165760
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714.84602543,679,666,636,880,788,804,653,632,653,0.400994793362,-0.00540310720082,0.0498630639604,0.999999962162,0.000114452279372,-0.000247114193064,-3.88829349139e-05,1793239430478832640
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714.257655014,679,666,636,880,788,804,653,632,653,0.400996761512,-0.00540286028966,0.0498642556165,0.999999962747,0.000114200161372,-0.000244839180162,-3.89505810591e-05,1793239430495498752
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.325804123,714.325804123,679,666,635.674195877,880,787.674195877,803.674195877,653,632,653,0.400997682885,-0.00540313616033,0.0498642521456,0.999999962917,0.00011410732857,-0.00024417122195,-3.90715595681e-05,1793239430512165120
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.905436927,714.905436927,679,666,635.094563073,880,787.094563073,803.094563073,653,632,653,0.400997788731,-0.00540381932183,0.0498633175708,0.999999962764,0.000114138592283,-0.000244755293981,-3.9234088448e-05,1793239430528831488
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.518625742,715,679,666,635.481374258,879.518625742,787.481374258,803.481374258,653,631.518625742,653,0.400996893824,-0.00540361578244,0.0498631101387,0.999999962554,0.000113610961138,-0.000245840650047,-3.93403014769e-05,1793239430545498112
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.056575491,788,804,653,631,653,0.400996250747,-0.0054032914964,0.0498632752679,0.999999962436,0.000113111069496,-0.000246539345531,-3.9408515724e-05,1793239430562164480
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.631633087,788,804,653,631,653,0.400999703462,-0.00540344479946,0.049865555609,0.999999963272,0.000113863905785,-0.000242798932603,-3.92291056763e-05,1793239430578831104
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,652.788453239,631.211546761,653,0.401008565858,-0.00540401760788,0.0498697853477,0.999999965047,0.000114299541064,-0.000235243668997,-3.87560423976e-05,1793239430595497728
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,652.19988506,631.80011494,653,0.401027069457,-0.00540533806428,0.0498774893282,0.999999968374,0.00011416985644,-0.000220889528737,-3.77596264852e-05,1793239430612164608
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714.617204231,679,666,636,880,788,804,652.382795769,631.617204231,653,0.401062656698,-0.00540636296401,0.0498896534031,0.999999973679,0.000114440804726,-0.000195419177571,-3.68337995891e-05,1793239430628831232
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714.037550991,679,666,636,880,788,804,652.962449009,631.037550991,653,0.401107029415,-0.0054072358702,0.0499041111377,0.999999979265,0.000114917783355,-0.000164232175679,-3.59442738522e-05,1793239430645498112
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,714.540554291,679,666,636,879.459445709,788,804,653,631,653,0.401175820475,-0.00540880757214,0.0499227453383,0.999999984857,0.000115339936472,-0.000125576116855,-3.48366882257e-05,1793239430662164480
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.117764095,745,714.882235905,679,665.882235905,636,879.117764095,788,803.882235905,653,631.117764095,653,0.401246726691,-0.00541074298268,0.0499395680792,0.999999988498,0.000115174021564,-9.27568146228e-05,-3.37002224903e-05,1793239430678831104
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.691919226,745,714.308080774,679,665.308080774,636,879.691919226,788,803.308080774,653,631.691919226,653,0.401319275033,-0.00541390034267,0.0499482493958,0.999999989541,0.000112743786219,-8.45627404717e-05,-3.25103709604e-05,1793239430695497984
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.726284101,745,714.273715899,679,665.273715899,635.726284101,879.726284101,788,803.273715899,653,631.726284101,653,0.401399534633,-0.00541700522977,0.0499538281357,0.999999990312,0.000110222966189,-7.8923661075e-05,-3.15747619504e-05,1793239430712164864
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.135639515,745,714.864360485,679,665.864360485,635.135639515,879.135639515,788,803.864360485,653,631.135639515,653,0.401488722896,-0.00542004935965,0.0499558144804,0.999999990826,0.000107597260608,-7.62429457048e-05,-3.09335339697e-05,1793239430728831232
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635,879,788,803.554413171,653,631,653,0.401593754794,-0.00542424439169,0.0499552624239,0.999999990915,0.000106012143067,-7.77021521651e-05,-2.98979772127e-05,1793239430745497856
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.023859888,715,679,666,635.023859888,879.023859888,788,803.023859888,653,631,653,0.401704808623,-0.00542872658948,0.0499541122279,0.999999990894,0.000104715609799,-8.01250965856e-05,-2.87655246592e-05,1793239430762164736
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.598769227,715,679,666,635.598769227,879.598769227,788,803.598769227,653,631,653,0.401845859888,-0.00543191719952,0.049956624281,0.999999991398,0.000102919740124,-7.63031972751e-05,-2.81101215694e-05,1793239430778831616
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.826089275,715,679,666,636,880,788,804,653,631,653,0.401993325798,-0.00543599352504,0.0499578772561,0.999999991726,0.000100997259548,-7.48520945409e-05,-2.72796117555e-05,1793239430795497984
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.250411526,715,679,666,636,880,788,804,653,631,653,0.402155610741,-0.00544211602223,0.0499562215199,0.999999991671,9.87822838368e-05,-7.88779857049e-05,-2.60445720219e-05,1793239430812164352
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,653,631.334867211,653,0.402341514478,-0.0054495600528,0.0499548511739,0.999999991887,9.52176059061e-05,-8.09731168066e-05,-2.45379418006e-05,1793239430828831232
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,788,804,653,631.92753749,653,0.40254560155,-0.00545802148836,0.04995370054,0.999999992306,9.0613837139e-05,-8.15818207337e-05,-2.28222230142e-05,1793239430845498112
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.507295606,715,679,666,636,880,788,804,653,632,653,0.402780931564,-0.00546482390623,0.0499566764298,0.999999993037,8.840597222e-05,-7.51696848998e-05,-2.14287275038e-05,1793239430862164480
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,714.915492081,679,666.084507919,636,880,788,804,653,631.915492081,653,0.403026896811,-0.00547185275692,0.0499607855517,0.999999993879,8.59677636119e-05,-6.67551863135e-05,-1.99048665902e-05,1793239430878831104
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,714.342597734,679,666.657402266,636,880,788,804,653,631.342597734,653,0.403309174108,-0.00548152573643,0.0499681219228,0.999999995254,8.02696237461e-05,-5.24205360496e-05,-1.73682062449e-05,1793239430895497984
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,714.236579309,679,666.763420691,636,880,788,804,653,631.236579309,653,0.403606870696,-0.00549207298885,0.0499765552218,0.999999996448,7.45816451118e-05,-3.64289853922e-05,-1.46654937037e-05,1793239430912164864
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714.825102686,679,666.174897314,636,880,788,804,653,631.825102686,653,0.403927505569,-0.00550392084116,0.0499866203507,0.999999997396,6.89087830434e-05,-1.79725697336e-05,-1.17157559717e-05,1793239430928832000
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.59267588,715,679,666,636,880,788,803.59267588,653,631.59267588,653,0.404285593471,-0.00551326240868,0.0499942595897,0.999999997766,6.61160289954e-05,-3.99836995537e-06,-8.99921963407e-06,1793239430945498368
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.01311917,715,679,666,636,880,788,803.01311917,653,631.01311917,653,0.404659517973,-0.00552154422054,0.050000873067,0.999999997864,6.45410975553e-05,8.08057294115e-06,-6.38129005373e-06,1793239430962164480
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.564790697,745.564790697,715,679,666,636,880,788,804.129581395,652.435209303,631,653,0.405060332578,-0.00552649577748,0.0500037135381,0.999999997453,6.98308441727e-05,1.44833202384e-05,-2.96689568621e-06,1793239430978831360
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.858093354,746,715,679,666,636,880,788,804.858093354,652.141906646,631.141906646,653,0.405461606936,-0.00552734327523,0.0500010368563,0.999999996738,8.01874779921e-05,9.6788383012e-06,9.79350781748e-08,1793239430995497984
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.2832831,746,715,679,666,636,880,788,804.2832831,652.7167169,631.7167169,653,0.405862383829,-0.00551590613585,0.0499817960053,0.999999994013,0.000105516247063,-2.891361891e-05,2.04010440392e-06,1793239431012164352
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788.298972627,804,653,632,653,0.406285951792,-0.00550409223013,0.0499641744471,0.999999989776,0.000129726876147,-6.00862246961e-05,3.0164637709e-06,1793239431028831488
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788.888463347,804,653,632,653,0.406731666374,-0.00549191221115,0.0499481263881,0.999999984782,0.000152850987771,-8.40488068284e-05,3.05432518753e-06,1793239431045498624
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.531492331,715,679,666,636,880,788.531492331,804,652.531492331,632,653,0.40723990977,-0.00549494044784,0.0499410648584,0.999999982521,0.000161189947367,-9.45651642276e-05,5.76461675588e-06,1793239431062165504
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.04601619,715,679,666,636,879.95398381,788,804,652.04601619,631.95398381,653,0.407767904949,-0.00550179225604,0.0499383904931,0.999999981478,0.000165564787198,-9.77132285306e-05,9.22298012535e-06,1793239431078832896
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.61972521,715,679,666,636,879.38027479,788,804,652.61972521,631.38027479,653,0.408355071804,-0.00551179227645,0.0499619773067,0.999999985075,0.000164047412688,-5.23484616074e-05,1.41082102187e-05,1793239431095499520
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.199007168,745.800992832,715,679,666.199007168,636,879.199007168,788,803.800992832,652.800992832,631.199007168,653,0.408947727522,-0.00551871192775,0.0499842514172,0.999999985695,0.000167537247092,-1.33772700721e-05,1.90584724643e-05,1793239431112165888
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.789244997,745.210755003,715,679,666.789244997,636,879.789244997,788,803.210755003,652.210755003,631.789244997,653,0.409551173828,-0.00551957584259,0.0500039448668,0.999999983267,0.000180870816201,1.30247093815e-05,2.41365819711e-05,1793239431128831744
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.627442783,745,714.627442783,679,666.627442783,636,879.627442783,788,803,652,631.627442783,653,0.410165353783,-0.00551563775061,0.050007124321,0.999999979882,0.000198027824674,1.57739387203e-05,2.7777996677e-05,1793239431145497856
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.047976889,745,714.047976889,679,666.047976889,636,879.047976889,788,803,652,631.047976889,653,0.410785494909,-0.00550903274776,0.0500011323271,0.999999975905,0.00021730827238,5.38703929676e-06,3.06215079426e-05,1793239431162164480
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,714.528283795,679,666.528283795,635.471716205,879,788,803,652,631.528283795,652.471716205,0.411414160316,-0.00550548831297,0.0499711190606,0.999999970687,0.000232736906354,-5.82543801546e-05,3.26521013613e-05,1793239431178831616
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666.893743167,635.106256833,879,788,803.106256833,652,631.893743167,652.106256833,0.412058773931,-0.00550424903147,0.0499470057175,0.99999996378,0.000244329644342,-0.000107392506161,3.47852649181e-05,1793239431195499008
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666.306713413,635.693286587,879,788,803.693286587,652,631.306713413,652.693286587,0.412772065512,-0.00551218968079,0.0499593984408,0.999999968064,0.000240139577886,-6.91576584195e-05,3.77145430393e-05,1793239431212165376
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.276595847,788.276595847,804,652.276595847,631,653,0.413502951195,-0.00552144386317,0.0499728048617,0.999999980527,0.000190759384705,-4.06667238103e-05,3.00569651802e-05,1793239431228831744
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.855834333,788.855834333,804,652.855834333,631,653,0.414253087891,-0.00553213527386,0.0499873204409,0.999999995455,9.19335480028e-05,-2.28372730767e-05,1.08155764741e-05,1793239431245497856
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,714.566433575,679,666,636,880,788.566433575,804,652.566433575,631,653,0.414991112009,-0.00553524866842,0.0499763149035,0.999999995937,8.00097972633e-05,-4.05777681051e-05,8.81069137974e-06,1793239431262164480
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.010781422,714.010781422,679,666,635.989218578,880,788,804,652.010781422,631,653,0.415726280301,-0.00553576119059,0.0499570595978,0.999999992797,9.6870130368e-05,-6.97591489493e-05,1.24947316887e-05,1793239431278831104
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.587057494,714.587057494,679,666,635.412942506,880,788,804,652.587057494,631,653,0.416522178302,-0.00553156247348,0.0499486565837,0.999999990225,0.000113112694245,-8.08153776386e-05,1.49954933456e-05,1793239431295497728
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.83802404,715,679,666,635,879.83802404,788,804,652.83802404,631,653.16197596,0.41732743267,-0.00552837403934,0.0499508229354,0.999999989174,0.000125693531566,-7.44662000486e-05,1.75495218066e-05,1793239431312164608
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.266537931,715,679,666,635,879.266537931,788,804,652.266537931,631,653.733462069,0.418156341906,-0.0055277398186,0.0499797109228,0.999999991182,0.000129016733608,-2.41124020249e-05,2.02382200693e-05,1793239431328831488
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.318679019,715,679,666,635.318679019,879.318679019,788,804,652.318679019,631.318679019,653.681320981,0.418964274168,-0.0055279860493,0.04999030163,0.999999991135,0.000130776016721,-1.202202093e-05,2.1962382777e-05,1793239431345498112
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.915897288,715,679,666,635.915897288,879.915897288,788,804,652.915897288,631.915897288,653.084102712,0.419753871602,-0.00552900183268,0.0499848997211,0.99999999058,0.000131168367017,-3.33755244713e-05,2.28434995619e-05,1793239431362164736
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,804,652.505059936,631.505059936,653,0.420594095287,-0.00552939915439,0.0499777435272,0.999999990882,0.000128862072797,-3.39483412296e-05,2.18530609636e-05,1793239431378831104
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.070894676,745.929105324,715,679,666,636,880,788,804,652,631.070894676,653,0.421450273045,-0.00553016739901,0.049974214827,0.99999999153,0.000125851339454,-2.57166263402e-05,2.09809944477e-05,1793239431395497728
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.646073027,745.353926973,715,679,666,636,880,788,804,652,631.646073027,653,0.422360909481,-0.00553429512556,0.0499985342932,0.999999992196,0.000120976145966,2.09150307394e-05,2.31329459013e-05,1793239431412164352
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.774252119,745.225747881,715,679,666,636,880,788,804.225747881,652,632,653,0.423234844651,-0.00553641860232,0.0500068073877,0.999999992087,0.000117620954451,3.74832188177e-05,2.4223792871e-05,1793239431428831232
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.187384298,745.812615702,715,679,666,636,880,788,804.812615702,652,632,653,0.424050070403,-0.00553533596075,0.0499894117412,0.999999992894,0.00011669724936,5.96007426722e-06,2.36172334349e-05,1793239431445497856
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.605447536,715,679,666,635.605447536,880,788,804.605447536,652,631.605447536,653,0.424908926056,-0.00553739498607,0.0499891805596,0.999999993044,0.000115228253762,5.4906876687e-06,2.45998765343e-05,1793239431462164736
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.025823803,715,679,666,635.025823803,880,788,804.025823803,652,631.025823803,653,0.425788246977,-0.00554092766155,0.0499970006512,0.99999999302,0.000113503480828,1.95875746189e-05,2.63279610424e-05,1793239431478831616
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.550750239,880,788,804.550750239,652,631.550750239,653,0.426668681179,-0.00554178583916,0.0500127194682,0.999999992825,0.000111367785276,3.43511867697e-05,2.77019200366e-05,1793239431495498240
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880.127083078,787.872916922,804.872916922,652,631.872916922,653,0.427534394928,-0.00554143803007,0.0500160654539,0.999999993046,0.00011097571665,2.79442621855e-05,2.84961465532e-05,1793239431512164608
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880.703066198,787.296933802,804.296933802,652,631.296933802,653,0.428347927683,-0.00553727079748,0.0499744054225,0.999999991382,0.000116810407244,-5.33539165561e-05,2.73008926578e-05,1793239431528831232
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880.714064993,787.285935007,804,652,631.285935007,652.714064993,0.429187990625,-0.00553574914686,0.0499551120508,0.99999998933,0.000117496641567,-8.27011681714e-05,2.63762050295e-05,1793239431545497856
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880.123869223,787.876130777,804,652,631.876130777,652.123869223,0.43005628404,-0.00553704263549,0.0499596188348,0.999999991706,0.000112704452,-5.67679200501e-05,2.57394246391e-05,1793239431562164480
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880.457720241,788,804,652,632,652.457720241,0.430902203898,-0.0055394136582,0.0499632166754,0.999999992255,0.000110438763057,-5.07104562128e-05,2.68606580891e-05,1793239431578831104
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.036655602,715,679.036655602,666,636,880.963344398,788,804,652,632,653,0.431740372794,-0.00554184396736,0.049965319576,0.999999992344,0.000108930206099,-5.14508877204e-05,2.82724514956e-05,1793239431595497728
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.610199849,715,679.610199849,666,636,880.389800151,788,804,652,632,653,0.432552060344,-0.00554095037301,0.0499490626674,0.999999990957,0.000108681623981,-7.44301629846e-05,2.71002901599e-05,1793239431612164352
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.811165832,715,680,666,635.811165832,880,788,804,652,632,653,0.433372553579,-0.00554121268938,0.0499454734663,0.999999990796,0.000108113636045,-7.74164469135e-05,2.69602319565e-05,1793239431628831232
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.221733174,715,680,666,635.221733174,880,788,804,652,632,653,0.434211727615,-0.00554392718939,0.0499687579181,0.999999993147,0.000106868050929,-3.79890010775e-05,2.90097082056e-05,1793239431645498368
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.638482204,666,635.361517796,880,788,804,652,632,653,0.435016824035,-0.00554460860124,0.0499820400773,0.99999999369,0.000105792827845,-2.28411371727e-05,3.01045753219e-05,1793239431662164736
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.058959001,666,635.941040999,880,788,804,652,632,653,0.435801370643,-0.00554406400355,0.0499892905711,0.999999993788,0.000104820338006,-2.23345469264e-05,3.0623786159e-05,1793239431678831104
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.518252638,714.481747362,679.518252638,666.518252638,635.481747362,880,788,804.518252638,652,632,652.481747362,0.436523249605,-0.00554204398085,0.0499641768043,0.999999990748,0.000107287763231,-7.77879381879e-05,3.07059433719e-05,1793239431695497472
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.903434125,714,680,666.903434125,635,880.096565875,788,805,652,631.903434125,652,0.437250718657,-0.00554056530188,0.0499438647336,0.999999986466,0.000108977153905,-0.000119356454228,3.07464518343e-05,1793239431712164352
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.318221745,714,680,666.318221745,635,880.681778255,788,805,652,631.318221745,652,0.438042391088,-0.00554267155043,0.0499663990612,0.999999992321,0.000104758014177,-5.85922831537e-05,3.0826693032e-05,1793239431728830976
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,714.264305132,679.735694868,666,635,880.735694868,788,805,652,631.264305132,652.264305132,0.438797266556,-0.00554527294219,0.0499821202018,0.999999994035,0.00010199086919,-2.3086477513e-05,3.15422989977e-05,1793239431745497856
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,714.84363116,679.15636884,666,635,880.15636884,788,805,652,631.84363116,652.84363116,0.439508284279,-0.00554846448677,0.0499897208161,0.999999994203,0.000100954333265,-1.76857024973e-05,3.3015185773e-05,1793239431762164480
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.419948751,715,679,666,635.419948751,880,788,805,652,632,652.580051249,0.44015953294,-0.00554871264938,0.049969471503,0.999999992808,0.000103691619617,-5.05566933584e-05,3.27964521493e-05,1793239431778831616
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.995154159,715,679,666,635.995154159,880,788,805,652,632,652.004845841,0.440788684808,-0.00554787263271,0.0499389259659,0.999999988916,0.000107824102186,-9.75769016347e-05,3.19523200643e-05,1793239431795498496
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.429042621,715,679,666,635.429042621,880.570957379,788,805,652,632,652.570957379,0.4414002679,-0.00554621391648,0.0499286163134,0.999999986496,0.000110601377124,-0.000116945633166,3.31452341421e-05,1793239431812164864
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714.854596969,679.145403031,666,635,880.854596969,787.854596969,804.854596969,652,632,653,0.442006917625,-0.00554524566556,0.0499202504176,0.999999984478,0.000113650174513,-0.000130202993544,3.42705924264e-05,1793239431828831232
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.284134632,679.715865368,666,635,880.284134632,787.284134632,804.284134632,652,632,653,0.442599582047,-0.00554631619785,0.0499170641429,0.999999984503,0.000117526378221,-0.000126281652499,3.51478701486e-05,1793239431845497856
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.301638932,714.301638932,680,666,635,880,787,804.301638932,652.301638932,632,653,0.443160849447,-0.00554581470433,0.0499038821251,0.999999981655,0.000120970870234,-0.000144264406761,3.52595403394e-05,1793239431862164480
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.902606413,714.902606413,680,666,635,880,787,804.902606413,652.902606413,632,653,0.443690960273,-0.00554375322577,0.0498807809262,0.99999997479,0.000123986956842,-0.000183983483431,3.4611467025e-05,1793239431878831104
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.518030304,746,715,680,665.518030304,635,880.481969696,787,804.518030304,652.518030304,632,652.518030304,0.444154963982,-0.0055415378976,0.0498364016117,0.999999957328,0.000129233166605,-0.000259817771418,3.37401129299e-05,1793239431895497984
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,715,680,665,635,881,787,804.057143235,652,631.942856765,652.057143235,0.444607325139,-0.00553984258283,0.0497913867917,0.999999934293,0.000134102789197,-0.000335183502674,3.29116851395e-05,1793239431912164864
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,715,680,665,635,881,787,804.632213569,652,631.367786431,652.632213569,0.445070044997,-0.00554313018644,0.0497779115577,0.999999931972,0.000131649851803,-0.000342994040891,3.28637300436e-05,1793239431928832000
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,746,715,680,665,634.787451133,880.787451133,787,805,652,631,653,0.445533145408,-0.00554564660284,0.0497728609922,0.999999933369,0.000130708091949,-0.000339202916133,3.34623412157e-05,1793239431945498624
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,746,715,680,665,634.197774206,880.197774206,787,805,652,631,653,0.445996920988,-0.00554679469195,0.0497827584206,0.999999941051,0.000132447633147,-0.000314826817639,3.52081628356e-05,1793239431962165504
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.385035893,746,715,680,664.614964107,634,880.385035893,787,805,652,631,652.614964107,0.446411676887,-0.00554085799567,0.049783642823,0.999999942152,0.000137085786044,-0.000309387565951,3.4377601723e-05,1793239431978832640
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.964380689,746,715,680,664.035619311,634,880.964380689,787,805,652,631,652.035619311,0.446801694978,-0.00553134595261,0.0497799787901,0.999999940086,0.000143186727584,-0.000313504818439,3.22468656101e-05,1793239431995499264
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745.459412979,715,680,664.540587021,634,881,787,805,652,631.540587021,652.540587021,0.447108640606,-0.00553241423664,0.0497453942789,0.999999926239,9.23105206399e-05,-0.000372492205328,1.58085800039e-05,1793239432012165632
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.881126203,634,881,787,805.118873797,652,631.881126203,653,0.447406148989,-0.00553527422408,0.0497112983153,0.999999906811,4.77506193931e-05,-0.00042906195144,2.07952574912e-06,1793239432028832000
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.293831115,634,881,787,805.706168885,652,631.293831115,653,0.44768791444,-0.00554246319364,0.0496871092895,0.999999892386,4.27881737769e-05,-0.000461940820638,2.71953157203e-06,1793239432045498624
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,633.710215792,881,787,805.710215792,652,631,652.710215792,0.447974961344,-0.00554698651278,0.0496777424754,0.999999887053,4.25586984611e-05,-0.000473359976419,3.71610581544e-06,1793239432062165248
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,633.130284873,881,787,805.130284873,652,631,652.130284873,0.448267296289,-0.00554884084648,0.0496832164162,0.999999891559,4.70681144456e-05,-0.000463292572297,5.06969448941e-06,1793239432078831616
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.553035483,745.446964517,715,680,664,633,881,787,805.446964517,652,631.446964517,652.446964517,0.448533682535,-0.00555416410282,0.0496944550957,0.99999989999,4.58837517038e-05,-0.000444809182092,7.67317137318e-06,1793239432095498496
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.023301955,746,715,680,664,633,880.976698045,787,805.976698045,652,631.976698045,653,0.448790399544,-0.00556021920391,0.049707093776,0.999999908878,4.33723039445e-05,-0.000424559330473,1.0592681798e-05,1793239432112164864
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.596454533,746,715,680,664,633,880.403545467,787,805.403545467,652,631.403545467,653,0.448996369306,-0.00555982590098,0.0497133535189,0.999999910477,4.8475211313e-05,-0.000420168132369,1.24238782949e-05,1793239432128831232
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633,880.17440719,787,805,652,631,653,0.449188592175,-0.00555652945467,0.0497152319505,0.999999909954,5.54912845917e-05,-0.000420507934162,1.36652675124e-05,1793239432145497856
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633,880.763780569,787,805,652,631,653,0.4493481071,-0.00554632557337,0.0497066859482,0.999999904303,6.70593435935e-05,-0.000432104181865,1.35033308422e-05,1793239432162164224
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.652865856,715,680,663.652865856,633,880.652865856,787,805,652,631,653,0.449495913097,-0.00553797315911,0.0496975254906,0.999999897579,7.74560445813e-05,-0.000445721229564,1.32573997612e-05,1793239432178831104
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.073538781,715,680,663.073538781,633,880.073538781,787,805,652,631,653,0.449635887181,-0.00553085916296,0.0496879540321,0.999999890008,8.70692425413e-05,-0.000460689961809,1.29552860344e-05,1793239432195498240
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.503473096,715,680,663,632.496526904,880.503473096,787,805,652,631,652.496526904,0.449756441471,-0.00553292553774,0.0496875680853,0.999999888689,8.64669631422e-05,-0.000463626201669,1.40005938375e-05,1793239432212165120
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.920514298,746,715,680,663,632,881,787,805,652,631,652.079485702,0.449871657172,-0.00553591135397,0.0496891669611,0.999999888952,8.46296291122e-05,-0.000463363775716,1.50863967599e-05,1793239432228831744
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.348606653,746,715,680,663,632,881,787,805,652,631,652.651393347,0.449971291865,-0.00553632414183,0.0496947883208,0.999999893213,8.43424228912e-05,-0.000454123354751,1.52094046298e-05,1793239432245498112
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.232094443,745.767905557,715,680.232094443,663,632,880.767905557,787,805,652,631,653,0.450061428089,-0.00553668320998,0.0496997956672,0.999999896647,8.41854869189e-05,-0.00044651924421,1.54566257319e-05,1793239432262164736
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.826523412,745.173476588,715,680.826523412,663,632,880.173476588,787,805,652,631,653,0.45013673576,-0.00553695841351,0.0497038444457,0.999999898878,8.42319225297e-05,-0.000441469662295,1.58977624676e-05,1793239432278831360
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.408694403,715,680.591305597,663,632.408694403,880.408694403,787,805,652,631,653,0.4501969965,-0.00553797843355,0.0497038166501,0.999999898909,8.41155226029e-05,-0.000441409080892,1.62675995625e-05,1793239432295497728
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.985813805,715,680.014186195,663,632.985813805,880.985813805,787,805,652,631,653,0.450251056323,-0.00553930539618,0.0497021088779,0.999999898036,8.3932017339e-05,-0.00044340449158,1.66080537096e-05,1793239432312164608
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.436218903,715,680,663,632.436218903,880.436218903,786.436218903,805,652,631,653,0.450284801,-0.00553853593213,0.0496998908649,0.999999896062,8.31424263639e-05,-0.000447991523522,1.6307914733e-05,1793239432328831232
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.856005682,745,715,680,663,632,880,786,805,652,631,653,0.450315805499,-0.00553786815655,0.0496979982635,0.999999894374,8.25501652609e-05,-0.000451865478147,1.5963331626e-05,1793239432345497856
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.268947704,745,715,680,663,632,880,786,805,652,631,653,0.450339953848,-0.00553767583015,0.0496971465029,0.999999893706,8.26120752592e-05,-0.000453344370777,1.5531668158e-05,1793239432362164736
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,632,880,786,804.685865592,652,631,652.685865592,0.450360673174,-0.00553693675759,0.0496966098774,0.999999893452,8.38955422981e-05,-0.00045366733135,1.55792471897e-05,1793239432378831360
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663,632,880,786,804.106144829,652,631,652.106144829,0.450378493421,-0.00553573543602,0.0496963396844,0.999999893545,8.62117802629e-05,-0.000453013004103,1.60320039103e-05,1793239432395497728
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.470775025,745,715,680,663,632,880,786,804.470775025,652,630.529224975,652,0.450390324889,-0.00553623741164,0.0496978196155,0.999999894386,8.43688581879e-05,-0.000451507820195,1.57982329217e-05,1793239432412164608
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.046909653,715,679.953090347,663,632,880.046909653,786.046909653,805,652,630.046909653,652,0.450400219411,-0.0055369589423,0.0496994813757,0.999999895213,8.19492030003e-05,-0.000450131448957,1.54695789726e-05,1793239432428831232
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.621274382,715,679.378725618,663,632,880.621274382,786.621274382,805,652,630.621274382,652,0.450403427631,-0.00553585653974,0.0496987769971,0.999999894078,8.35265765029e-05,-0.000452347770705,1.58042318269e-05,1793239432445497856
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745.798695917,715,679.201304083,663,632,880.798695917,787,805,652,631,652.201304083,0.450405737968,-0.00553433041971,0.0496976621782,0.999999892859,8.53590430185e-05,-0.000454693310952,1.57909304861e-05,1793239432462164480
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745.207699784,715,679.792300216,663,632,880.207699784,787,805,652,631,652.792300216,0.450406310148,-0.00553198405146,0.0496957528135,0.999999891485,8.76853281352e-05,-0.00045728899712,1.51040462453e-05,1793239432478831104
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745.375962137,715,680,663,632,880,786.624037863,805,652,631,653,0.450406174499,-0.00553258765827,0.049693908755,0.999999890367,8.67303775981e-05,-0.000459908224677,1.51062479999e-05,1793239432495497728
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745.955649791,715,680,663,632,880,786.044350209,805,652,631,653,0.450405655292,-0.00553478979102,0.0496921000845,0.999999889381,8.39973983798e-05,-0.000462540208702,1.5481850148e-05,1793239432512164608
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745.468746229,715,680,663,632,880.531253771,786.531253771,805,652,631,652.468746229,0.450408083223,-0.00553231542072,0.0496933978163,0.999999890205,8.57912685956e-05,-0.000460442349242,1.49101764544e-05,1793239432528831232
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.894576878,745,715,680,663,632,880.894576878,786.894576878,805,652,631,652.105423122,0.450410147983,-0.00553037789666,0.0496945765547,0.999999890884,8.73978914538e-05,-0.000458675762785,1.45005330199e-05,1793239432545497856
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.325232104,745,715,680,663,632,880.325232104,786.325232104,805,652,631,652.674767896,0.450409540159,-0.00553250769862,0.0496940991634,0.9999998903,8.65301810176e-05,-0.000460091309262,1.51492600881e-05,1793239432562164480
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.256405232,745.256405232,715,680,663,632,880,786,805,652,630.743594768,653,0.450409240559,-0.00553398432695,0.0496936736823,0.999999890001,8.53664196955e-05,-0.000460948723865,1.5392517974e-05,1793239432578831104
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.854420072,745.854420072,715,680,663,632,880,786,805,652,630.145579928,653,0.450409351609,-0.00553459072999,0.0496933173613,0.999999890085,8.38082285984e-05,-0.000461062537574,1.50955679094e-05,1793239432595497984
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745.56431425,715,680,663,632,880,786,805,652,630.43568575,653,0.450411894156,-0.00553397364475,0.0496944468032,0.999999890976,8.42762028019e-05,-0.000459038978373,1.5097317855e-05,1793239432612164608
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.988475505,745,715,680,663,632,880,786,805,652,631,653,0.450415114488,-0.00553294884668,0.0496960003482,0.999999892078,8.54173522035e-05,-0.000456417243066,1.51824909427e-05,1793239432628831232
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.414468127,745,715,680,663,632,880,786,805,652,631,653,0.450413229722,-0.00553123921857,0.049694919728,0.999999891098,8.7594017988e-05,-0.000458167006791,1.46483191184e-05,1793239432645498112
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663,632,880,786,805,652,631,652.836362818,0.45041197251,-0.00552992259653,0.049694154364,0.999999890368,8.92666320517e-05,-0.000459445526427,1.43602328493e-05,1793239432662164736
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,632,880,786,805,652,631,652.247611504,0.45041234563,-0.00552962696771,0.0496942080059,0.999999890305,8.962976664e-05,-0.000459499797788,1.4711453927e-05,1793239432678831104
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663,632,880,786,805,652,631,652,0.450413660534,-0.00552913352017,0.0496947332994,0.999999890578,9.07942529734e-05,-0.000458669925239,1.4910025277e-05,1793239432695497472
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,663,632,880,786,805,652,631,652,0.450415659019,-0.00552849648876,0.0496956009344,0.999999891091,9.25403890527e-05,-0.000457198309408,1.4997797979e-05,1793239432712164096
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,632,880,786,805,652,631,652.492665861,0.450414429573,-0.0055287841533,0.0496947147973,0.999999890615,8.93019333351e-05,-0.000458889781213,1.46948930676e-05,1793239432728830976
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.068850925,715,680,663,632,880.068850925,786,805,652,631,653,0.450412787442,-0.0055293218897,0.0496934728259,0.999999889938,8.57842711159e-05,-0.000461041173753,1.43599217852e-05,1793239432745497856
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.641920393,715,680,663,632,880.641920393,786,805,652,631,653,0.450412150935,-0.00553053713928,0.0496918133398,0.999999889156,8.64417233642e-05,-0.000462613779668,1.42776102372e-05,1793239432762164224
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.222258543,746,715,680,663,632,881,786,805,652,631,653,0.450413138384,-0.00553094594448,0.0496919772169,0.999999889401,8.69114527276e-05,-0.000461994487767,1.43216640668e-05,1793239432778830848
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.814703252,746,715,680,663,632,881,786,805,652,631,653,0.450416830638,-0.00553001156391,0.0496951780248,0.999999891347,8.70685174306e-05,-0.000457724446684,1.45761876991e-05,1793239432795497472
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663,632,880.601842228,786,805,652,631,653,0.450417050553,-0.00552893732009,0.0496957215885,0.999999891503,8.78751965134e-05,-0.000457231913849,1.45106419942e-05,1793239432812164096
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,632,880.022479261,786,805,652,631,653,0.450415690174,-0.0055277994233,0.0496950558161,0.999999890847,8.89775209551e-05,-0.000458458559371,1.42994298295e-05,1793239432828830720
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663,632,880,786,805,652,631,653,0.450413903776,-0.00552932415596,0.049693293689,0.999999889791,8.62799359263e-05,-0.000461263299234,1.45221857973e-05,1793239432845497344
+252,4.200000000,HOLD_POSE2,766,746,715,680,663,631,881,787,805,652,631,652,0.450416229957,-0.00553181586241,0.049693728432,0.999999890456,8.60890053131e-05,-0.000459836281871,1.51051269812e-05,1793239432887588352
+253,4.216666667,HOLD_POSE2,766,746,715,680,663,631.595459533,881,786.404540467,805,652,631,652,0.450413815496,-0.00553143441022,0.0496929306692,0.999999889367,8.61360600537e-05,-0.000462184906235,1.51922980119e-05,1793239432904255232
+254,4.233333333,HOLD_POSE2,765.815274276,746,715,680.184725724,663,632,881,786.184725724,805.184725724,652,631,652,0.450412787117,-0.00553046434924,0.0496924794189,0.999999888711,8.69146919327e-05,-0.000463463365499,1.50343948877e-05,1793239432920922112
+255,4.250000000,HOLD_POSE2,765.239131117,746,715,680.760868883,663,632,881,786.760868883,805.760868883,652,631,652,0.450414695725,-0.00552824707832,0.0496927623976,0.999999888974,8.92434709325e-05,-0.000462474240213,1.4357201368e-05,1793239432937588736
+256,4.266666667,HOLD_POSE2,765.336433518,746,715,680.663566482,663,632,880.663566482,786.663566482,805.663566482,652,631,652.336433518,0.450416044054,-0.0055279467146,0.0496933263756,0.999999889473,8.95280670385e-05,-0.000461341856514,1.42282719246e-05,1793239432954255360
+257,4.283333333,HOLD_POSE2,765.911587619,746,715,680.088412381,663,632,880.088412381,786.088412381,805.088412381,652,631,652.911587619,0.450416994831,-0.00552900651635,0.0496940897402,0.999999890141,8.83621876281e-05,-0.000460107822086,1.44883701107e-05,1793239432970921984
+258,4.300000000,HOLD_POSE2,766,745.504839658,715,680,663,632,880.495160342,786,805,652,631,653,0.450416782596,-0.00552878147872,0.0496934358449,0.999999889812,8.89140168927e-05,-0.000460714932706,1.45818856615e-05,1793239432987588864
+259,4.316666667,HOLD_POSE2,766,745.079834036,715,680,663,632,880.920165964,786,805,652,631,653,0.45041629633,-0.00552837106202,0.0496926874304,0.999999889316,8.97855727511e-05,-0.00046162034022,1.46043240697e-05,1793239433004255488
+260,4.333333333,HOLD_POSE2,766,745.661814428,715,680,663,632,880.338185572,786,805,652,631,653,0.450415415192,-0.00552826256427,0.0496929637235,0.999999888923,9.07056853319e-05,-0.000462298488034,1.43700168124e-05,1793239433020922112
+261,4.350000000,HOLD_POSE2,766,746,715,680.242454457,663,632,880.242454457,786,804.757545543,652,631,653,0.4504144728,-0.00552820034086,0.0496927573991,0.999999888566,9.0352259928e-05,-0.000463144851434,1.41985271386e-05,1793239433037588480
+262,4.366666667,HOLD_POSE2,766,746,715,680.821235122,663,632,880.821235122,786,804.178764878,652,631,653,0.450413445438,-0.00552820230794,0.0496918816009,0.999999888256,8.82322172985e-05,-0.000464224558847,1.41141763221e-05,1793239433054255360
+263,4.383333333,HOLD_POSE2,765.606358977,746,715,680.606358977,663,632,880.606358977,786,804.393641023,652,631,653,0.450414602601,-0.00552921161578,0.0496922307054,0.999999888892,8.68487345806e-05,-0.000463111689052,1.41519904147e-05,1793239433070921984
+264,4.400000000,HOLD_POSE2,765.036801875,746,715,680.036801875,663,632,880.036801875,786,804.963198125,652,631,653,0.450416736015,-0.00553067109884,0.0496931272124,0.999999889949,8.57944163869e-05,-0.000461018968254,1.42443993482e-05,1793239433087588864
+265,4.416666667,HOLD_POSE2,765,746,715,680,663,632,880.555956702,786,805,652,631,653,0.45041635003,-0.00552889540791,0.0496924580017,0.999999889507,8.75575021832e-05,-0.000461646093579,1.42342870911e-05,1793239433104255488
+266,4.433333333,HOLD_POSE2,765.146221633,746,715,680,663,632,881,786,805,652,631,653,0.450416264428,-0.00552689571873,0.0496923536454,0.999999889296,8.95249275124e-05,-0.000461730842039,1.40812242019e-05,1793239433120922112
+267,4.450000000,HOLD_POSE2,765.724385929,746,715,680,663,632,881,786,805,652,631,653,0.450417580272,-0.00552489449996,0.0496942373835,0.999999890078,9.15210599379e-05,-0.000459658384471,1.35268016869e-05,1793239433137588736
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,880,786,805,652,630,652,0.450416425391,-0.00552955302712,0.0496938711767,0.999999890177,8.42843031527e-05,-0.000460809925493,1.39837438826e-05,1793239433174912768
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.402899986,745.402899986,715,680,663,632,880.597100014,786,805,652,630.597100014,652.597100014,0.450416110194,-0.00552788902812,0.0496937011334,0.999999889392,8.92983452871e-05,-0.00046156703863,1.40315094006e-05,1793239433191579392
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,663,632,880.811420985,786.188579015,805,652,630.811420985,653,0.450416151325,-0.00552700327216,0.0496934339909,0.999999888972,9.21171908523e-05,-0.000461920420399,1.4140914452e-05,1793239433208246016
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,663,632,880.231603598,786.768396402,805,652,630.231603598,653,0.450416931718,-0.00552773210985,0.0496929653999,0.999999889351,9.03817387969e-05,-0.000461436194795,1.43782009257e-05,1793239433224912896
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.342000017,745,715,680,663,632,880.342000017,786.657999983,805,652,630.342000017,652.657999983,0.45041745692,-0.00552796570944,0.0496935300289,0.999999889847,8.91477296004e-05,-0.000460600099956,1.43875608233e-05,1793239433241579520
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.911470699,745,715,680,663,632,880.911470699,786.088529301,805,652,630.911470699,652.088529301,0.450417812391,-0.00552786991678,0.049694781872,0.999999890421,8.82472396166e-05,-0.000459529970278,1.42453224394e-05,1793239433258246144
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.509283007,745.490716993,715,680,663,632,881,786,805,652,631,652,0.45041747201,-0.00552598219358,0.0496940541713,0.99999988986,9.03174497117e-05,-0.00046035705981,1.39418080338e-05,1793239433274913792
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.073065781,746,715,680,663,631.926934219,880.926934219,786,805,652,631,652.073065781,0.450416930562,-0.00552432574907,0.0496930605472,0.999999889173,9.22907432042e-05,-0.000461463288269,1.36912419233e-05,1793239433291581184
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.664662007,746,715,680,663,631.335337993,880.335337993,786,805,652,631,652.664662007,0.450415871208,-0.00552665149886,0.0496927656789,0.999999889124,8.96955082666e-05,-0.000462072092219,1.40271180263e-05,1793239433308246784
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.749145922,746,715,680,663,631.250854078,880,786,804.749145922,652,631,653,0.450412122874,-0.00552678152277,0.0496913420642,0.999999887951,8.96377544854e-05,-0.000464614842297,1.40374558369e-05,1793239433324912896
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.170025743,746,715,680,663,631.829974257,880,786,804.170025743,652,631,653,0.450404855759,-0.00552403823309,0.0496884413788,0.999999885288,9.29005331218e-05,-0.00046968834231,1.3621796216e-05,1793239433341579520
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.405305657,746,715,680,663,632,880.405305657,786,804.405305657,652,631,653,0.450382541433,-0.00552334141119,0.0496785273818,0.999999877256,9.22165433054e-05,-0.000486638059138,1.29570248114e-05,1793239433358246144
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.979062434,746,715,680,663,632,880.979062434,786,804.979062434,652,631,653,0.450353973259,-0.0055234951318,0.0496656985469,0.999999866587,8.98922174778e-05,-0.000508523710295,1.21887187673e-05,1793239433374913024
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.438379542,746,715,680,663,632,880.438379542,786,805,652,631,652.438379542,0.45030181065,-0.0055204613363,0.0496472553103,0.999999848569,9.30926627153e-05,-0.000542281708724,1.12013402694e-05,1793239433391579392
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.145174273,745.854825727,715.145174273,680,663,631.854825727,880,786,804.854825727,652,631,652.145174273,0.450243864301,-0.00551791500868,0.0496291391674,0.99999983108,9.57343516592e-05,-0.000573211617886,1.01838685603e-05,1793239433408246272
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.730737783,745.269262217,715.730737783,680,663,631.269262217,880,786,804.269262217,652,631,652.730737783,0.450171083651,-0.00551721364484,0.049612660316,0.99999981881,9.60462901438e-05,-0.000594198429279,9.10027793739e-06,1793239433424912896
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.688225614,745.311774386,715.688225614,680,663,631.311774386,880,786,804.311774386,652,630.688225614,652.688225614,0.450092507252,-0.0055149028182,0.0496022427053,0.999999810099,9.79286176163e-05,-0.000608394143273,8.33187131925e-06,1793239433441579776
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.11104273,745.88895727,715.11104273,680,663,631.88895727,880,786,804.88895727,652,630.11104273,652.11104273,0.450008997029,-0.00551122188193,0.0495969849319,0.999999804627,0.000101147791866,-0.000616808704627,7.83177581951e-06,1793239433458246912
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,663,631.537870255,880,786.462129745,805,652,630.462129745,652,0.449914824984,-0.00550854958912,0.0495976815895,0.999999805894,0.000101052378544,-0.000614779281192,6.86276102126e-06,1793239433474913280
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.035369875,746,715,680,663,631.035369875,880.035369875,787,805,652,631,652.035369875,0.4498164535,-0.00550596002935,0.049599825078,0.999999808594,0.000100473378465,-0.000610477495792,5.82016529209e-06,1793239433491579648
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.624630299,746,715,680,663,631.624630299,880.624630299,787,805,652,631,652.624630299,0.449692092641,-0.00550090334604,0.0496024130188,0.999999808729,0.000104686416353,-0.00060955164647,5.37458689757e-06,1793239433508246272
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,881,787,805,652,631,653,0.449550737689,-0.00549520151025,0.0496016274346,0.999999806823,0.000109158181473,-0.000611896656348,4.60610378727e-06,1793239433524912896
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,881,787,805,652,631,653,0.449379558799,-0.00548836745829,0.0495949214491,0.999999801298,0.000114084002063,-0.000619981892969,3.27093590306e-06,1793239433541579776
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.631385765,715,680,663,632,880.631385765,786.631385765,805,652,631,653,0.449191449455,-0.00548213027029,0.0495905197885,0.999999795049,0.000119271546538,-0.000629022010128,2.60500871641e-06,1793239433558246400
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.054220476,715,680,663,632,880.054220476,786.054220476,805,652,631,653,0.448993761345,-0.00547623076966,0.0495874218463,0.999999788327,0.000124607167121,-0.000638602371233,2.31771803852e-06,1793239433574912768
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.516620406,715,680,663.516620406,632.516620406,880,786.516620406,805,652,631,652.483379594,0.448781331968,-0.00546849997805,0.0495918663144,0.999999792877,0.000130352560565,-0.000630278542638,1.55928125392e-06,1793239433591579392
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.909613091,745.909613091,715,680,663.909613091,632.909613091,880.090386909,787,805,652,631,652.090386909,0.448560817604,-0.00546046019391,0.0495968769477,0.999999798056,0.000135899306675,-0.000620820360048,7.02523344636e-07,1793239433608246016
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.315903468,745.315903468,715,680,663.315903468,632.315903468,880.684096532,787,805,652,631,652.684096532,0.448303792667,-0.00545175708918,0.0496006855901,0.999999800837,0.000140103293,-0.000615382688351,-4.29717532531e-07,1793239433624912640
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.270539767,745,715,680,663.270539767,632.270539767,880.729460233,786.729460233,805.270539767,652,631,653,0.448017629059,-0.00544180203164,0.0495991911991,0.999999799378,0.000145546484199,-0.000616486454993,-2.31668482869e-06,1793239433641579264
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.848720094,745,715,680,663.848720094,632.848720094,880.151279906,786.151279906,805.848720094,652,631,653,0.447698330828,-0.0054304233338,0.0495916665369,0.999999793044,0.000152398819848,-0.000625028728184,-5.06187877973e-06,1793239433658246144
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.574639182,663.574639182,633,880.425360818,786.425360818,805.149278365,652,631,652.574639182,0.447360260765,-0.00541934293476,0.0495882651159,0.999999788575,0.000158812519713,-0.000630535681635,-7.33782161156e-06,1793239433674913024
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.00148615,663,633,880.99851385,787,804,652,631,652,0.447015474333,-0.00540837793,0.0495863362783,0.999999784757,0.000165063778575,-0.000634942242898,-9.44717845892e-06,1793239433691579904
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.589534034,663,633,880.410465966,787,804,652,631,652,0.446645334405,-0.00540123602892,0.0495889218498,0.999999787549,0.000168551322814,-0.000629571859248,-1.14388021435e-05,1793239433708246784
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,714.825322196,679.825322196,663.174677804,633,880.174677804,787,804.174677804,652,631,652,0.446266056459,-0.00539502089172,0.0495969818195,0.999999795903,0.000170577363706,-0.000615567805213,-1.31768362699e-05,1793239433724913920
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,714.246891127,679.246891127,663.753108873,633,880.753108873,787,804.753108873,652,631,652,0.44586565679,-0.0053909478934,0.0496176954067,0.999999816445,0.00016922526015,-0.000581607737996,-1.43287188656e-05,1793239433741580800
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.669540232,745.330459768,714.330459768,679.330459768,664,633.330459768,881.330459768,787,805,652,631,652,0.445433137548,-0.00539538885544,0.0496438021221,0.999999839008,0.000157768360888,-0.000544850416606,-1.51729316414e-05,1793239433758246912
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.092993662,745.907006338,714.907006338,679.907006338,664,633.907006338,881.907006338,787,805,652,631,652,0.444976699459,-0.00540616999363,0.0496739249949,0.999999862221,0.000138786621385,-0.00050601003177,-1.57880289415e-05,1793239433774912768
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.481750462,745.518249538,715,680,664,634,881.036499077,787,805,652,631.481750462,652.481750462,0.444477626332,-0.00541654248951,0.0496881046969,0.999999872424,0.000121693806216,-0.00048998101949,-1.61852029399e-05,1793239433791579648
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,634.057856747,880.057856747,787,805,652,632,652.942143253,0.443965250593,-0.00542463096628,0.0496974003415,0.99999987866,0.000106973212935,-0.000480573083701,-1.6903156238e-05,1793239433808246784
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,634.649735709,880.649735709,787,805,652,632,652.350264291,0.443405770449,-0.00541236314526,0.049689915958,0.999999872715,0.000110795432885,-0.000491786478894,-2.09687556884e-05,1793239433824913920
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,664.235458562,635,880.764541438,787,805,652,632,652.235458562,0.442841894725,-0.00540047604621,0.0496914433456,0.999999874755,0.000114378990693,-0.000486623958814,-2.45699591687e-05,1793239433841580800
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664.812256985,635,880.187743015,787,805,652,632,652.812256985,0.442271646845,-0.00538914087339,0.0497060349291,0.999999887951,0.000117616564192,-0.000457721580652,-2.74979362678e-05,1793239433858247168
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745.3892494,715,679.6107506,665.3892494,634.6107506,880.3892494,787.3892494,805,651.6107506,632,653,0.441688115665,-0.0053867869998,0.0497456305253,0.999999917138,0.00011169213696,-0.000390378711403,-2.91956739663e-05,1793239433874913536
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745.966335411,715,679.033664589,665.966335411,634.033664589,880.966335411,787.966335411,805,651.033664589,632,653,0.441098174496,-0.00538876715197,0.0497972920844,0.99999994805,0.000101346484004,-0.000304485955774,-3.02997457525e-05,1793239433891579648
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745.446774257,715,679.553225743,666,634.553225743,880.446774257,788,805,651.553225743,632,652.446774257,0.440471580605,-0.00540183460914,0.0498303086038,0.999999964837,7.74568555143e-05,-0.000251858557177,-2.99068749861e-05,1793239433908246528
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,635,880.139436363,788,804.860563637,652,632,652,0.439813160167,-0.00541165028948,0.0498478133241,0.999999972509,5.62788990249e-05,-0.000225543985392,-3.07354332387e-05,1793239433924913152
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,635,880.721560584,788,804.278439416,652,632,652,0.439060904546,-0.00540896146185,0.0498197376783,0.999999960136,4.637388357e-05,-0.000276225787511,-3.57362482326e-05,1793239433941579520
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.699542828,666,635,880.699542828,788,804.300457172,652,632,652.300457172,0.438291746315,-0.00540296027614,0.0497947379837,0.99999994684,4.27705748003e-05,-0.00032070154098,-4.05222264748e-05,1793239433958246144
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.123605492,666,635,880.123605492,788,804.876394508,652,632,652.876394508,0.437507090501,-0.00539392208841,0.0497725585331,0.999999933357,4.4945110662e-05,-0.000359487160681,-4.51112279436e-05,1793239433974913024
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.449996564,666,635,880.449996564,787.550003436,804.550003436,651.550003436,631.550003436,652.550003436,0.436735144007,-0.00538769948045,0.0497921553283,0.999999942478,4.14384319831e-05,-0.000333291220075,-4.7378863699e-05,1793239433991579904
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745.023660699,715,680,666,635,880.976339301,787,804,651.023660699,631,652.023660699,0.435964520575,-0.00538241793043,0.0498213008283,0.999999955393,3.61946502868e-05,-0.000292392810446,-4.91028955845e-05,1793239434008246528
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745.614099153,715,680,666,635,880.385900847,787,804,651.614099153,631,652.614099153,0.435142395884,-0.00538124849371,0.0498057189332,0.99999994554,2.65279679844e-05,-0.000324664911367,-5.30005331938e-05,1793239434024912896
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.800372175,714.800372175,680,665.800372175,635,880.199627825,787.199627825,804,652,631.199627825,652.800372175,0.43432489652,-0.0053818994246,0.0497937113984,0.99999993897,1.50954340423e-05,-0.000344406185087,-5.67229953161e-05,1793239434041579264
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.224106817,714.224106817,680,665.224106817,635,880.775893183,787.775893183,804,652,631.775893183,652.224106817,0.433516123804,-0.00538598484055,0.0497884476049,0.999999940221,3.31270947372e-07,-0.000340505563545,-6.01149539486e-05,1793239434058246144
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714.353294946,680,665.353294946,635,880.646705054,788,804,652,632,652,0.432698158104,-0.00538833896702,0.0498043383423,0.999999948703,-1.32594577746e-05,-0.000313900229417,-6.23257082796e-05,1793239434074912768
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.931419874,680,665.931419874,635,880.068580126,788,804,652,632,652,0.4318743422,-0.00538959133463,0.0498336914088,0.999999960403,-2.6103435271e-05,-0.000272846060744,-6.37847671197e-05,1793239434091579648
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.492318954,666,635,880.507681046,788,804.507681046,651.492318954,632,652.507681046,0.430970808698,-0.00538533800836,0.0498178828013,0.999999953018,-3.17985813237e-05,-0.000297277684184,-6.76650086467e-05,1793239434108246272
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,635.085803977,880.914196023,788,804.914196023,651.085803977,632,652.914196023,0.43006136591,-0.00537970359842,0.0497963200988,0.999999943178,-1.97178600338e-05,-0.000329670470043,-6.76189096163e-05,1793239434124913152
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,635.67635417,880.32364583,788,804.32364583,651.67635417,632,652.32364583,0.429180277269,-0.00537030396397,0.0497766648701,0.999999931188,9.12702964296e-05,-0.000357047582359,-4.25589698202e-05,1793239434141580032
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745.259826396,715,679,666,635.740173604,880,788,804.259826396,652,632,652.259826396,0.428299972998,-0.00536272242362,0.0497739477716,0.999999922221,0.000147400566061,-0.000364573904463,-3.0294386999e-05,1793239434158246400
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745.834716018,715,679,666,635.165283982,880,788,804.834716018,652,632,652.834716018,0.427420619729,-0.00535734548709,0.0497917696999,0.999999929489,0.000137010655498,-0.000348029339243,-3.35453398816e-05,1793239434174912768
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.586867632,715,679,666,635.413132368,880,787.586867632,804.586867632,652,632,653,0.42651761841,-0.00535758079594,0.0497841755069,0.999999928158,0.000121742158912,-0.000356889634612,-3.8639459071e-05,1793239434191579392
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745.007028211,715,679,666,635.992971789,880,787.007028211,804.007028211,652,632,653,0.425605074689,-0.00536008075671,0.0497663254069,0.999999922862,0.000104505057285,-0.000376001292707,-4.44773319751e-05,1793239434208246016
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745.580308075,715,679,665.419691925,635.419691925,880,787.580308075,804,652,632,653,0.424778367841,-0.00536704369757,0.0498060884103,0.999999950858,8.49803579891e-05,-0.000298330401104,-4.53924134302e-05,1793239434224912640
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745.83480844,715,679,665.16519156,635,880,788,804,652,632,653,0.423936096317,-0.00537127015497,0.0498377022571,0.999999967958,7.21893226727e-05,-0.000238227914233,-4.60497357557e-05,1793239434241579264
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745.256292275,715,679,665.743707725,635,880,788,804,652,632,653,0.423052245397,-0.00536851266359,0.0498471574411,0.999999970695,7.63167704445e-05,-0.000225054426734,-4.62132505193e-05,1793239434258246144
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.678194867,635,880,788,804,652,632,653,0.422149192267,-0.0053643787883,0.0498320048699,0.999999962386,8.33684788657e-05,-0.000257043189359,-4.69773864553e-05,1793239434274913024
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.10043056,635,880,788,804,652,632,653,0.421230866016,-0.0053591501572,0.0497972796438,0.999999941739,9.27461016539e-05,-0.000324953355823,-4.82192476581e-05,1793239434291579648
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635,880,787.525488797,803.525488797,652,631.525488797,652.525488797,0.42037156869,-0.00535882569583,0.0498049182237,0.99999994459,9.36668798375e-05,-0.000315827521212,-4.79553102007e-05,1793239434308246272
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635,879.95007183,787.04992817,803.04992817,652.04992817,631,652.04992817,0.419521550191,-0.00535949236291,0.0498188331208,0.999999950774,9.30170699659e-05,-0.000295891314447,-4.74108861895e-05,1793239434324912896
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635,879.363157323,787.636842677,803.636842677,652.636842677,631,652.636842677,0.418637752454,-0.00535972124929,0.0498043867446,0.999999938626,9.46121232644e-05,-0.000334010803474,-4.72572200487e-05,1793239434341579520
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.77855546,745,714.77855546,679,665,635,879.22144454,788,803.77855546,652.77855546,631.22144454,652.77855546,0.417781774062,-0.00535998431282,0.0497943375241,0.999999931413,9.48892977829e-05,-0.000354783467853,-4.79464022767e-05,1793239434358245888
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.197706922,745,714.197706922,679,665,635,879.802293078,788,803.197706922,652.197706922,631.802293078,652.197706922,0.416970946265,-0.00536030284583,0.0497914248751,0.999999934079,9.30275583769e-05,-0.000347402280729,-5.00035256121e-05,1793239434374912512
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.379285951,745,714.379285951,679,665.379285951,635,879.620714049,788,803,652,632,652,0.416199278508,-0.00536112593213,0.0498081592198,0.999999946091,9.12463823918e-05,-0.000311415903107,-5.01158625815e-05,1793239434391579392
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.954289206,745,714.954289206,679,665.954289206,635,879.045710794,788,803,652,632,652,0.415447817975,-0.00536220937556,0.0498350317114,0.999999960809,8.95067782726e-05,-0.000260668813032,-4.92246600545e-05,1793239434408246272
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,635.526528621,879.526528621,788,803,652,632,652.526528621,0.414661838771,-0.00536245623594,0.04982475555,0.99999995561,8.91043508176e-05,-0.000279921226544,-4.98420387921e-05,1793239434424913152
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,714.89712996,679,665.89712996,636,880,788,803.10287004,652,632,653,0.413873567978,-0.00536252205297,0.0498098464661,0.999999947412,8.92894503093e-05,-0.000307625547697,-5.0687560038e-05,1793239434441579520
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,714.299929852,679,665.299929852,636,880,788,803.700070148,652,632,653,0.413088610596,-0.00536206507158,0.0497880912105,0.999999934272,9.17429103952e-05,-0.000346894532019,-5.20033280652e-05,1793239434458246144
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745.286215949,714.286215949,679,665.286215949,636,880,788,804.286215949,652.286215949,632,653,0.412357221647,-0.00536264739965,0.0497887977203,0.999999933175,9.27495090024e-05,-0.000349761577918,-5.21058218732e-05,1793239434474912768
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745.861208506,714.861208506,679,665.861208506,636,880,788,804.861208506,652.861208506,632,653,0.411679880433,-0.00536427833551,0.0498121669532,0.999999944544,9.22963015163e-05,-0.000315901009447,-5.09841867164e-05,1793239434491579648
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.563256723,715,679.436743277,666,635.563256723,880,788,804.563256723,653,632,653,0.411003917678,-0.00536420577843,0.0498191764426,0.999999947572,9.37061050995e-05,-0.000305839924404,-5.03760669973e-05,1793239434508246016
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.987281986,666,635.012718014,879.987281986,788,804,652.987281986,632,653,0.41032885111,-0.00536357092966,0.0498205095565,0.999999947899,9.57755914482e-05,-0.000304190405854,-4.99673147821e-05,1793239434524912640
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.39921033,666,635.60078967,879.39921033,788,804,652.39921033,632,653,0.409674487761,-0.00536201907221,0.0498005352755,0.999999935634,0.000100871823957,-0.000340496194098,-5.11860887674e-05,1793239434541580544
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745.185744979,715,679.185744979,666,635.814255021,879,788,804,652,632,653,0.409050174437,-0.00536245842136,0.0497934110301,0.999999931281,0.000102884355001,-0.000352378241061,-5.17833671435e-05,1793239434558247936
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.76411314,715,679.76411314,666,635.23588686,879,788,804,652,632,653,0.408489379997,-0.00536710673392,0.0498134488715,0.999999944987,9.83786345706e-05,-0.000312633989646,-5.10669436314e-05,1793239434574914816
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.657837177,665.657837177,635.342162823,879.342162823,788,803.657837177,652.342162823,632,653,0.407944338602,-0.00536962203076,0.0498296674459,0.999999953316,9.73435627882e-05,-0.000285255851288,-5.02209416526e-05,1793239434591581184
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.080006883,665.080006883,635.919993117,879.919993117,788,803.080006883,652.919993117,632,653,0.407410147281,-0.00537066819511,0.0498432554675,0.999999958432,9.86989292479e-05,-0.000266394977978,-4.92856915025e-05,1793239434608247296
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.509031232,714.509031232,679,665,635.509031232,880,788,803.490968768,652.509031232,632,653,0.406877636904,-0.0053699731805,0.0498283061879,0.999999949256,0.000101801851176,-0.000297728355996,-4.98191775992e-05,1793239434624913152
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.06365393,714.06365393,679,665.06365393,635.06365393,879.93634607,788,804,652,632,652.93634607,0.406348704483,-0.0053688900715,0.0498089487034,0.999999936682,0.000105173319786,-0.000336167805125,-5.0654025195e-05,1793239434641579520
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745.659858086,714.659858086,679,665.659858086,635.659858086,879.340141914,788,804,652,632,652.340141914,0.40584744627,-0.00536690119253,0.0497910814394,0.99999992558,0.000108441809473,-0.000366568742563,-5.20353284488e-05,1793239434658246144
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.751544343,715,679,666,635.751544343,879,788,803.751544343,652.248455657,632,652,0.405382299988,-0.00536592786867,0.0497830246018,0.99999992056,0.000109099271547,-0.000379665233148,-5.32062572458e-05,1793239434674913024
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.173051074,715,679,666,635.173051074,879,788,803.173051074,652.826948926,632,652,0.404965123252,-0.00536630356389,0.0497879995066,0.999999924521,0.00010628835876,-0.000369775252502,-5.40977337672e-05,1793239434691579904
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.400313795,745,715,679,665.599686205,635.400313795,879,788,803.400313795,652.599686205,631.599686205,652.400313795,0.404599134382,-0.00537287318239,0.0498060766755,0.999999936178,9.57670134449e-05,-0.000339992974488,-5.36475132862e-05,1793239434708246272
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.971489807,745,715,679,665.028510193,635.971489807,879,788,803.971489807,652.028510193,631.028510193,652.971489807,0.404254993519,-0.00538208649564,0.0498297461624,0.999999949739,8.19546954912e-05,-0.000301720250722,-5.26246287438e-05,1793239434724912896
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.43698107,745,715,679,665.56301893,636,879,788,803.43698107,652.56301893,631,653,0.403939158906,-0.00538634886434,0.0498530989443,0.999999959846,7.62716200789e-05,-0.000268033907584,-5.14621446116e-05,1793239434741579776
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.848190147,636,879,788.151809853,803,653,631.151809853,652.848190147,0.403624832453,-0.00538871700882,0.0498690065693,0.999999965762,7.23838899781e-05,-0.000246250102016,-5.09595892902e-05,1793239434758246400
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.270090726,636,879,788.729909274,803,653,631.729909274,652.270090726,0.403310564969,-0.00538649647855,0.0498640545542,0.999999962935,7.23382918963e-05,-0.000257212586661,-5.2330741291e-05,1793239434774912768
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.307810161,745,715,679,665,635.692189839,879.307810161,788.692189839,803,653,631.692189839,652.307810161,0.403013981634,-0.00538503626381,0.0498538123273,0.999999957781,7.05561937454e-05,-0.000276690497829,-5.38701353357e-05,1793239434791579392
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.885536922,745,715,679,665,635.114463078,879.885536922,788.114463078,803,653,631.114463078,652.885536922,0.402732905425,-0.00538424276464,0.0498389311504,0.999999950098,6.72513706741e-05,-0.00030363552677,-5.55570595556e-05,1793239434808246016
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.542827286,745,715,679,665.457172714,635.457172714,880,788,803.457172714,652.542827286,631.457172714,653,0.402489695316,-0.00538149081345,0.0498260137459,0.999999942167,6.60919254404e-05,-0.000328666362082,-5.72395434477e-05,1793239434824912896
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,635.971468972,880,788,803.971468972,652,632,652.971468972,0.402258523252,-0.00537843587635,0.0498142198894,0.999999934261,6.54848390744e-05,-0.000351744540776,-5.8866918304e-05,1793239434841579520
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,635.3757068,880,788,803.3757068,652,632,652.3757068,0.402080674471,-0.00537897760588,0.0498151169894,0.999999936449,6.53206950441e-05,-0.000345404549747,-5.94204720881e-05,1793239434858246144
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.787623795,635.212376205,880,788,803.212376205,652,632,652.212376205,0.401914081582,-0.00537920452611,0.0498182745744,0.999999939412,6.65246876618e-05,-0.000336445740124,-5.96149737618e-05,1793239434874912768
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.212651709,635.787348291,880,788,803.787348291,652,632,652.787348291,0.401766706214,-0.00537889396347,0.0498252915491,0.999999943624,7.00645385589e-05,-0.000323015748312,-5.91964555841e-05,1793239434891579392
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.363508827,635.636491173,879.636491173,788,803.636491173,652.363508827,631.636491173,653,0.401643715472,-0.00537983494985,0.0498338996726,0.999999945511,0.00010985263534,-0.000307431640143,-4.89599780688e-05,1793239434908246016
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.940366936,635.059633064,879.059633064,788,803.059633064,652.940366936,631.059633064,653,0.401535036451,-0.0053815104908,0.0498434416682,0.999999942631,0.000170915421222,-0.000290583243479,-3.29611792261e-05,1793239434924912640
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.513221681,745,715,678.486778319,665.486778319,635.513221681,880.026443362,788,803.513221681,653,631.513221681,652.486778319,0.401441290258,-0.00538032017487,0.0498454320541,0.999999943339,0.000174329758725,-0.000286058392492,-3.31841032463e-05,1793239434941579264
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.911133901,745,715,678.088866099,665,636,880.911133901,788,804,653,631.911133901,652.088866099,0.401352036742,-0.00538069813142,0.0498464415004,0.999999944898,0.000169640474762,-0.000283216053653,-3.48514729649e-05,1793239434958246144
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.317003762,745,715,678.682996238,665,636,880.317003762,788,804,653,631.317003762,652.682996238,0.401278538251,-0.00539187142344,0.0498468239154,0.999999947423,0.000156666655804,-0.000281861532532,-3.40977375699e-05,1793239434974912768
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.272092796,745,715,679,665,636,879.727907204,788,804,653,631,653,0.401214944728,-0.00539731255277,0.0498471663379,0.999999949033,0.000148733635082,-0.000280434891553,-3.41840391165e-05,1793239434991579392
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.855431427,745,715,679,665,636,879.144568573,788,804,653,631,653,0.401162681459,-0.00539619668408,0.0498474630132,0.999999949739,0.000146566763581,-0.000278925753085,-3.52312555242e-05,1793239435008246272
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.570693278,745,715,679,665.429306722,636,879,788,804,653,631.429306722,653,0.401123704538,-0.00539344344924,0.0498492676368,0.99999995073,0.000148752654912,-0.000274073947521,-3.59972686111e-05,1793239435024912896
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.999934013,636,879.000065987,788,803.999934013,653,631.999934013,653,0.401089106455,-0.00539015137704,0.049851569011,0.999999951775,0.000152371997251,-0.000268121309917,-3.66704960774e-05,1793239435041579520
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.411181367,636,879.588818633,788,803.411181367,653,631.411181367,653,0.401064966004,-0.00539267354692,0.0498530024756,0.999999952549,0.000149539921914,-0.000266894524799,-3.61566731587e-05,1793239435058246400
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.174728222,745.174728222,715,679,665,636,879.825271778,788,803,652.825271778,631.174728222,653,0.401043483031,-0.00539402962664,0.0498538735794,0.999999953205,0.00014688678812,-0.0002659176792,-3.60859310838e-05,1793239435074913024
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.754054391,745.754054391,715,679,665,636,879.245945609,788,803,652.245945609,631.754054391,653,0.401028153679,-0.00539268552584,0.0498534424894,0.999999953602,0.000144648008964,-0.000265519589831,-3.70411801771e-05,1793239435091579648
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.669497252,745.669497252,715,679,665,636,879.330502748,788,803.330502748,652.330502748,632,653,0.401017871686,-0.00539267294122,0.049854004295,0.999999954259,0.000142913295455,-0.000263940158732,-3.73173564967e-05,1793239435108246016
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.09517189,745.09517189,715,679,665,636,879.90482811,788,803.90482811,652.90482811,632,653,0.401011313292,-0.00539364265921,0.0498552985918,0.999999955106,0.000141550447315,-0.000261489213419,-3.70925588697e-05,1793239435124912640
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,636,880,788,804,653,632,653,0.401008797771,-0.0053946860883,0.0498567649936,0.999999956129,0.000140718108799,-0.000258028195823,-3.68927925709e-05,1793239435141579520
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.056326975,715,679,665.056326975,635.943673025,879.943673025,788,803.943673025,653,631.943673025,653,0.401007010481,-0.00539554603095,0.0498580635866,0.999999957027,0.000140206030324,-0.000254830724721,-3.67349215537e-05,1793239435158246144
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.649513504,715,679,665.649513504,635.350486496,879.350486496,788,803.350486496,653,631.350486496,653,0.401004510405,-0.00539451759765,0.0498574369578,0.99999995649,0.000141742071781,-0.000256057335239,-3.69289723433e-05,1793239435174912768
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.763750865,715,679,666,635.236249135,879.236249135,788,803.236249135,653,631,653,0.401002411551,-0.00539431642515,0.0498574419396,0.999999956492,0.000141672326746,-0.00025606230925,-3.71159401847e-05,1793239435191579392
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.186331102,715,679,666,635.813668898,879.813668898,788,803.813668898,653,631,653,0.401000892108,-0.00539530991143,0.0498583590389,0.99999995727,0.000139283643235,-0.000254303101086,-3.72926794315e-05,1793239435208246016
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.612377847,636,880,788,804,653,631.387622153,653,0.400999546508,-0.00539620730331,0.0498579114803,0.999999957176,0.000138388060928,-0.000255178329403,-3.71686788628e-05,1793239435224912896
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.0400762,636,880,788,804,653,631.9599238,653,0.400998283734,-0.00539705891176,0.0498568137412,0.999999956665,0.000138203854894,-0.000257308714099,-3.69013931936e-05,1793239435241579520
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.551049071,745,714.448950929,679,665.551049071,636,880,788,804,653,632,653,0.400999118057,-0.00539663000355,0.0498580295891,0.999999957358,0.000138222565925,-0.000254580887257,-3.69697371055e-05,1793239435258246400
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.860269218,745.139730782,714.139730782,679,665.860269218,635.860269218,880,788,804,653,632,653,0.400999736776,-0.0053963278515,0.0498590694044,0.999999957939,0.000138002962864,-0.000252392054025,-3.70928078697e-05,1793239435274913280
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.283659238,745.716340762,714.716340762,679,665.283659238,635.283659238,880,788,804,653,632,653,0.400999187676,-0.00539672348349,0.0498590141544,0.999999957908,0.0001369904796,-0.000253032191496,-3.73079694146e-05,1793239435291579648
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.707897267,715,679.292102733,665.292102733,635.292102733,880,788,804,653,631.707897267,653,0.400998831493,-0.00539608902896,0.0498591843848,0.999999957645,0.000137906410337,-0.000253545214388,-3.75060934564e-05,1793239435308246528
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.13295634,715,679.86704366,665.86704366,635.86704366,880,788,804,653,631.13295634,653,0.400998662109,-0.00539445715893,0.0498595729439,0.999999957152,0.000140689591992,-0.000253935154434,-3.76877203939e-05,1793239435324913152
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.444308631,715,679.555691369,666,636,880,788,804,653,631.444308631,653,0.400999018541,-0.00539675715261,0.0498602910215,0.999999957943,0.000137933875709,-0.000252401212265,-3.7174537997e-05,1793239435341579776
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,679,666.022818255,636,879.977181745,788,804,653,632,653,0.400999427061,-0.00540003298989,0.0498610331133,0.999999959026,0.000133746212408,-0.000250455447218,-3.64924638744e-05,1793239435358246400
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,666.614939773,636,879.385060227,788,804,653,632,653,0.400997188776,-0.00539814612386,0.0498599012382,0.999999958233,0.00013540285282,-0.000252674069133,-3.68113242189e-05,1793239435374912768
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.799026961,715,679,666.598053922,636,879,788,804,653,632,653,0.400996085828,-0.00539670674927,0.0498591884849,0.999999957824,0.000136443194821,-0.0002536834657,-3.71382788276e-05,1793239435391579648
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.224315708,715,679,665.448631415,636,879,788,804,653,632,653,0.400997094202,-0.00539609954937,0.0498592551488,0.99999995814,0.000136337441365,-0.000252444134025,-3.7480285864e-05,1793239435408246272
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.35073014,636,879,788,804,653,631.64926986,653,0.400998252946,-0.00539593718609,0.0498600664145,0.99999995824,0.000138151492905,-0.000251103489125,-3.7165867012e-05,1793239435424912640
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.925990165,636,879,788,804,653,631.074009835,653,0.400999507955,-0.00539605959766,0.0498613543582,0.999999958194,0.000141194562277,-0.000249697985724,-3.64312184232e-05,1793239435441579520
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.501021876,665.501021876,636,879,788,804,653,631,653,0.400998933301,-0.00539584187116,0.0498613142517,0.99999995846,0.000139378027852,-0.000249594455069,-3.68356861881e-05,1793239435458246400
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.149082313,665,635.925458843,879.074541157,788.074541157,803.925458843,652.925458843,631,653,0.400998153587,-0.0053957296725,0.0498611197697,0.999999958745,0.000137055293411,-0.000249665974772,-3.73214782501e-05,1793239435474913024
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.340923526,665,635.329538237,879.670461763,788.670461763,803.329538237,652.329538237,631,653,0.400997829157,-0.00539670686584,0.0498612170412,0.999999958877,0.000136210661719,-0.000249617282765,-3.71996787311e-05,1793239435491579648
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.258045376,715,679.741954624,665,635,880,788.741954624,803.258045376,652.258045376,631,653,0.400998292851,-0.00539745569668,0.0498614026548,0.999999959096,0.000135358159471,-0.000249208017106,-3.71634465858e-05,1793239435508246272
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.835315477,715,679.164684523,665,635,880,788.164684523,803.835315477,652.835315477,631,653,0.400999731524,-0.00539792202324,0.0498616975553,0.999999959423,0.000134495920542,-0.00024835269026,-3.72330687583e-05,1793239435524912896
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745.589300992,715,679,665.410699008,635,879.589300992,788,803.589300992,653,631.410699008,653,0.401000579308,-0.00539814177051,0.0498623258946,0.999999959826,0.000133457643212,-0.000247282315571,-3.72606820843e-05,1793239435541579520
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745.014670523,715,679,665.985329477,635,879.014670523,788,803.014670523,653,631.985329477,653,0.401001191238,-0.00539826309504,0.0498630873267,0.999999960258,0.000132349099798,-0.00024612610409,-3.72715274778e-05,1793239435558245888
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.424277809,635.575722191,879,787.424277809,803.575722191,652.424277809,632,653,0.400999027546,-0.00539883642083,0.0498618925983,0.999999959754,0.000132164875755,-0.000248295419004,-3.70582394498e-05,1793239435574912768
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635.83677143,879.16322857,787.16322857,804,652.16322857,631.83677143,653,0.400997678177,-0.00539901751344,0.0498611819285,0.999999959369,0.000132684683518,-0.000249585802424,-3.69356168603e-05,1793239435591579648
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635.257670985,879.742329015,787.742329015,804,652.742329015,631.257670985,653,0.400998588807,-0.00539816910768,0.0498618351114,0.999999959354,0.000134936517009,-0.000248414874901,-3.70589515761e-05,1793239435608246272
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..75c9f64503fb4d9d3dffa76687156d66addc679e
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1fcf7546e849f18eee2e60f927daa4a52d9d4d7e
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44f8ed01f9b3b2ea7e006be2b16c02bb73fae0a4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,715,679,666,635,880,788,803,653,632,653,0.400998999514,-0.00539934240392,0.0498622695413,0.999999959966,0.000132272153942,-0.000247408360541,-3.68876345052e-05,1793239435730626560
+1,0.016666667,BASELINE,766,745.425962808,715,679,665.425962808,635.574037192,880,788,803.574037192,653,631.425962808,653,0.400996658634,-0.00539800987981,0.049860607907,0.999999959025,0.000134106628805,-0.000250140263635,-3.73622011893e-05,1793239435747293952
+2,0.033333333,BASELINE,766,745,715,679.151877452,665.151877452,636,879.848122548,788,804,653,631.151877452,653,0.400995645444,-0.00539718660812,0.0498599723616,0.999999958558,0.000135435948134,-0.00025124939705,-3.76052141878e-05,1793239435763961088
+3,0.050000000,BASELINE,766,745,715,679.740658065,665.740658065,636,879.259341935,788,804,653,631.740658065,653,0.400998451597,-0.00539782829351,0.0498622885476,0.999999959479,0.000135312095961,-0.000247690338454,-3.71821209315e-05,1793239435780626688
+4,0.066666667,BASELINE,766.324124394,745.324124394,715,679.351751212,665.675875606,636,879.324124394,788,804,653,632,653,0.40099998157,-0.00539845325132,0.0498635975971,0.999999960065,0.000135054359185,-0.000245504995205,-3.68555913454e-05,1793239435797292800
+5,0.083333333,BASELINE,766.903407156,745.903407156,715,678.193185688,665.096592844,636,879.903407156,788,804,653,632,653,0.401000506905,-0.00539906504075,0.0498641138047,0.999999960393,0.000134691225299,-0.000244401073297,-3.66050789838e-05,1793239435813959424
+6,0.100000000,BASELINE,766.518481158,746,715,678.481518842,665.481518842,635.518481158,880,788,804,653,631.518481158,652.518481158,0.400999106731,-0.00539952998919,0.0498630920299,0.999999960105,0.000134356541565,-0.000245761653922,-3.65905869172e-05,1793239435830626304
+7,0.116666667,BASELINE,766,745.940926038,715,679,665.940926038,635.059073962,880,788,804,653,631,652.059073962,0.400997583981,-0.00539984529045,0.0498619621617,0.999999959735,0.000134159484421,-0.000247367996292,-3.66173784836e-05,1793239435847293184
+8,0.133333333,BASELINE,766,745.36618359,715,679,665.36618359,635.63381641,880,788,804,653,631,652.63381641,0.400998354789,-0.00539911079791,0.049862575322,0.999999959744,0.000135114099772,-0.000246814569771,-3.65922553019e-05,1793239435863960064
+9,0.150000000,BASELINE,766,745,715,679.214141383,665,636,880.214141383,788,804,653,631.214141383,652.785858617,0.400998782373,-0.00539856361413,0.0498627158202,0.999999959782,0.000135418391084,-0.000246475508578,-3.67101475949e-05,1793239435880626944
+10,0.166666667,BASELINE,766,745,715,679.804267982,665,636,880.804267982,788,804,653,631.804267982,652.195732018,0.400998607331,-0.00539834530345,0.0498620264276,0.999999959872,0.000134580856176,-0.000246512825856,-3.70791436404e-05,1793239435897293568
+11,0.183333333,BASELINE,766,745,715,680,665.387299522,636,880.225400957,788,803.612700478,652.612700478,632,652.387299522,0.400998612041,-0.00539792812409,0.0498622415124,0.999999959835,0.000134709403879,-0.000246574800884,-3.72187309011e-05,1793239435913959936
+12,0.200000000,BASELINE,766,745,715,680,665.966809944,636,879.066380113,788,803.033190056,652.033190056,632,652.966809944,0.40099870596,-0.00539741224919,0.0498629054754,0.999999959733,0.00013531740371,-0.000246649013184,-3.72444660816e-05,1793239435930626304
+13,0.216666667,BASELINE,766,745.541901686,715,679.458098314,665.458098314,635.458098314,879.541901686,788,804.083803372,652.541901686,632,653,0.401000872388,-0.0053981304247,0.0498644668822,0.999999960558,0.000134535959603,-0.000243747233178,-3.70240068098e-05,1793239435947292928
+14,0.233333333,BASELINE,766,745.880587462,715,679,665.119412538,635.119412538,880,788,804.880587462,653,632,653,0.401002346104,-0.00539854478756,0.0498655908693,0.999999961156,0.00013407526167,-0.000241555759387,-3.69080128729e-05,1793239435963959552
+15,0.250000000,BASELINE,766,745.292528878,715,679,665.707471122,635.707471122,880,788,804.292528878,653,632,653,0.401000607062,-0.00539747257747,0.0498647841868,0.999999960675,0.000135204643936,-0.000242861507313,-3.7260702601e-05,1793239435980626432
+16,0.266666667,BASELINE,766,745.291120129,715,679.291120129,665.708879871,636,880,788,804,652.708879871,632,653,0.40099977645,-0.00539675162168,0.0498639896607,0.999999960211,0.000136586101651,-0.000243984077753,-3.73467875989e-05,1793239435997293312
+17,0.283333333,BASELINE,766,745.870404301,715,679.870404301,665.129595699,636,880,788,804,652.129595699,632,653,0.400999845044,-0.00539637835355,0.0498632071678,0.999999959763,0.000138217075125,-0.000244925330645,-3.71689749988e-05,1793239436013959936
+18,0.300000000,BASELINE,766,745.552980731,715,679.552980731,665.447019269,636,880,788,804.447019269,652.447019269,631.552980731,653,0.400999700829,-0.00539828270611,0.0498635124286,0.999999960233,0.000135502705702,-0.000244561997856,-3.69126210855e-05,1793239436030626560
+19,0.316666667,BASELINE,766,745,715,679,665.977102479,635.977102479,880,788,804.977102479,653,631,653,0.400999503753,-0.00540070055251,0.049864102743,0.999999960914,0.000131720327415,-0.000243884460165,-3.66462284711e-05,1793239436047293184
+20,0.333333333,BASELINE,766,745,715,679,665.40043753,635.40043753,880,788,804.40043753,653,631,653,0.400999511443,-0.00539966257632,0.0498640055839,0.999999960624,0.000132394572453,-0.000244700649997,-3.66844678301e-05,1793239436063959808
+21,0.350000000,BASELINE,766,745.180124747,715,679,665,635.180124747,880,788,804,653,631.180124747,653,0.400999669385,-0.00539902854247,0.0498641068106,0.999999960553,0.00013289608744,-0.000244704539052,-3.67780388343e-05,1793239436080626432
+22,0.366666667,BASELINE,766,745.769542752,715,679,665,635.769542752,880,788,804,653,631.769542752,653,0.401000168741,-0.00539931237751,0.0498646588249,0.999999960979,0.000133005111867,-0.000242862655914,-3.69973386383e-05,1793239436097293312
+23,0.383333333,BASELINE,766,746,715,679,665.351880546,636,880,788,804,653,632,653,0.400999823366,-0.00539977707664,0.0498645127246,0.999999960927,0.000132930725214,-0.000243114168756,-3.70320112634e-05,1793239436113959936
+24,0.400000000,BASELINE,766,746,715,679,665.929672814,636,880,788,804,653,632,653,0.400998935662,-0.00540035789282,0.049863918426,0.999999960566,0.000132738586358,-0.000244709667883,-3.6948150946e-05,1793239436130626560
+25,0.416666667,BASELINE,766.505898722,746,715,679,666,635.494101278,880,788,804,653,632,653,0.400998729945,-0.00539881750038,0.049863120908,0.999999960154,0.000134422235928,-0.000245501919894,-3.6754794913e-05,1793239436147293184
+26,0.433333333,BASELINE,766.919073208,746,715,679,665.919073208,635.080926792,879.919073208,788,803.919073208,653,631.919073208,653,0.400998652171,-0.00539728454854,0.0498625127983,0.999999959813,0.00013606975209,-0.000246004587006,-3.66084141411e-05,1793239436163959808
+27,0.450000000,BASELINE,766.349961281,746,715,679,665.349961281,635.650038719,879.349961281,788,803.349961281,653,631.349961281,653,0.400998776057,-0.00539756982353,0.0498632171735,0.999999959964,0.000135931126809,-0.000245431873329,-3.68369472674e-05,1793239436180626688
+28,0.466666667,BASELINE,766.229601,745.770399,715,679,665,636,879,788,803.229601,653,631,653,0.40099934872,-0.00539751695073,0.049863803464,0.999999960147,0.000135991694333,-0.000244618017736,-3.70827042354e-05,1793239436197293568
+29,0.483333333,BASELINE,766.825851398,745.174148602,715,679,665,636,879,788,803.825851398,653,631,653,0.401000638036,-0.00539692409033,0.0498642011852,0.999999960377,0.000136370352476,-0.000243419083114,-3.73559659095e-05,1793239436213959936
+30,0.500000000,BASELINE,766.589814583,745,715,679,665.410185417,635.589814583,879.410185417,788,803.589814583,653,631,653,0.401000328563,-0.00539791293225,0.0498643144617,0.999999960534,0.00013539096163,-0.00024334988416,-3.71829501985e-05,1793239436230626304
+31,0.516666667,BASELINE,766.010396977,745,715,679,665.989603023,635.010396977,879.989603023,788,803.010396977,653,631,653,0.40099935947,-0.00539955434479,0.0498643103834,0.999999960658,0.000133851273912,-0.000243746785765,-3.68258116537e-05,1793239436247292928
+32,0.533333333,BASELINE,766,745,715,679.56402404,666,635.56402404,880,788,803,653,631.56402404,653,0.400999395832,-0.00539790349335,0.0498636125079,0.999999960383,0.000135383225933,-0.00024399569924,-3.70233951726e-05,1793239436263959552
+33,0.550000000,BASELINE,766,745,715,679.858240909,665.858240909,635.858240909,880,788,803.141759091,653,632,653,0.400999784259,-0.00539682159926,0.0498634390675,0.999999960266,0.000136551325561,-0.00024380664028,-3.71375992807e-05,1793239436280626432
+34,0.566666667,BASELINE,766,745,715,679.269775201,665.269775201,635.269775201,880,788,803.730224799,653,632,653,0.40100122421,-0.00539772214465,0.0498649581571,0.999999960674,0.000136396008696,-0.000242245977588,-3.6957121532e-05,1793239436297293312
+35,0.583333333,BASELINE,766,745,715,679,665.313768408,635.313768408,879.686231592,788,803.686231592,653,632,653,0.401001779607,-0.005398498955,0.0498656058535,0.999999961066,0.000134508536961,-0.000241704177465,-3.67943059506e-05,1793239436313959936
+36,0.600000000,BASELINE,766,745,715,679,665.893145468,635.893145468,879.106854532,788,803.106854532,653,632,653,0.401001586218,-0.00539917102227,0.0498655159055,0.99999996144,0.00013115477571,-0.000242024856333,-3.66464415814e-05,1793239436330626816
+37,0.616666667,BASELINE,766,745,715,679.469510979,665.530489021,636,879.469510979,788,803.469510979,653,632,653,0.400999995523,-0.00539878761339,0.0498646955298,0.999999961044,0.000132082569397,-0.00024310192306,-3.69853119173e-05,1793239436347293440
+38,0.633333333,BASELINE,766,745.04516708,715,679.95483292,665,636,880,788.04516708,803.95483292,652.95483292,632,653,0.400998250284,-0.00539831421619,0.0498637837501,0.999999960526,0.000133708481289,-0.000244283591654,-3.73686880127e-05,1793239436363959552
+39,0.650000000,BASELINE,766,745.620490412,715,679.379509588,665,636,880,788.620490412,803.379509588,652.379509588,632,653,0.400998399937,-0.00539958613053,0.0498637378833,0.999999960647,0.000132164084063,-0.00024468535246,-3.69825116e-05,1793239436380626176
+40,0.666666667,BASELINE,766,745.799704042,715,679,665.200295958,636,880.200295958,789,803.200295958,652.200295958,631.799704042,653,0.40099843978,-0.00540012271214,0.0498636825038,0.999999960668,0.000131299030225,-0.000245099374049,-3.67559524277e-05,1793239436397293056
+41,0.683333333,BASELINE,766,745.211211483,715,679,665.788788517,636,880.788788517,789,803.788788517,652.788788517,631.211211483,653,0.400998266795,-0.00539923413427,0.0498636086874,0.999999960498,0.000131750622098,-0.000245537158422,-3.68387498483e-05,1793239436413959680
+42,0.700000000,BASELINE,766,745.3719281,715,679,666,635.6280719,880.256143799,788.6280719,804,653,631,653,0.400998165826,-0.00539933668186,0.0498633886484,0.999999960387,0.000132330638238,-0.000245664340612,-3.69223919953e-05,1793239436430626560
+43,0.716666667,BASELINE,766,745.952070932,715,679,666,635.047929068,879.095858135,788.047929068,804,653,631,653,0.400998105172,-0.00539999408651,0.0498630867503,0.999999960309,0.000132982549508,-0.00024561763985,-3.70065070385e-05,1793239436447293440
+44,0.733333333,BASELINE,766,746,714.473701101,679,666,635.526298899,879,788,804,652.473701101,631,653,0.400999727622,-0.00539759891425,0.0498642949608,0.999999960667,0.000133299637541,-0.000243910742646,-3.74898481518e-05,1793239436463959808
+45,0.750000000,BASELINE,766,745.897378998,714.102621002,679,665.897378998,636,879.102621002,788,804,652.102621002,631.102621002,653.102621002,0.401000853793,-0.00539587224726,0.0498652044251,0.999999960944,0.000133451887479,-0.000242641026366,-3.77781638364e-05,1793239436480626432
+46,0.766666667,BASELINE,766,745.308613152,714.691386848,679,665.308613152,636,879.691386848,788,804,652.691386848,631.691386848,653.691386848,0.400998910899,-0.00539861477424,0.0498640543988,0.999999960672,0.000132966095085,-0.000244150635726,-3.69722702304e-05,1793239436497293056
+47,0.783333333,BASELINE,766,745.275747612,715,679,665.275747612,635.724252388,880,788,804,653,631.724252388,653.724252388,0.400998142907,-0.00539969728013,0.0498636899654,0.999999960529,0.000132934030593,-0.000244817181341,-3.65383948604e-05,1793239436513959680
+48,0.800000000,BASELINE,766,745.855255857,715,679,665.855255857,635.144744143,880,788,804,653,631.144744143,653.144744143,0.400998669175,-0.0053989511248,0.0498641909328,0.999999960532,0.000133401787866,-0.000244555017098,-3.6514330718e-05,1793239436530626304
+49,0.816666667,BASELINE,766,745.568422262,715,679,666,635.431577738,879.568422262,788,803.568422262,653,631,653,0.400998539467,-0.00539892940618,0.0498642061311,0.999999960688,0.0001322375792,-0.000244492578963,-3.68904296215e-05,1793239436547293184
+50,0.833333333,BASELINE,766.006850993,745.006850993,715,679,665.993149007,636,879.006850993,788.006850993,803.006850993,653,631,652.993149007,0.400998220339,-0.00539916684456,0.0498640719578,0.999999960898,0.000130538692755,-0.000244469769597,-3.73860954471e-05,1793239436563959808
+51,0.850000000,BASELINE,766.583140994,745.583140994,715,679,665.416859006,636,879.583140994,788.583140994,803.583140994,653,631,652.416859006,0.401000309304,-0.00540089819244,0.0498649645667,0.999999961598,0.000129558402243,-0.000242213987156,-3.67465718473e-05,1793239436580626432
+52,0.866666667,BASELINE,767,745.836652026,715,679,665.163347974,636,879.836652026,788.836652026,803.836652026,653,631,652.163347974,0.401001347165,-0.00540159192112,0.0498651789192,0.999999961781,0.000129880430454,-0.000241352997077,-3.62999113865e-05,1793239436597293056
+53,0.883333333,BASELINE,767,745.246203484,715,679,665.753796516,636,879.246203484,788.246203484,803.246203484,653,631,652.753796516,0.400999636741,-0.00539957262096,0.0498636198569,0.999999960612,0.00013360758862,-0.000244138924803,-3.63575238638e-05,1793239436613959936
+54,0.900000000,BASELINE,767,745.337517634,715,679,665.662482366,636,879.337517634,788,803.337517634,653,631,653,0.400998624717,-0.00539888957926,0.0498629950783,0.999999960159,0.000134546441096,-0.000245456736254,-3.64661686213e-05,1793239436630626304
+55,0.916666667,BASELINE,767,745.916427285,715,679,665.083572715,636,879.916427285,788,803.916427285,653,631,653,0.400998112186,-0.00539916222735,0.0498630384978,0.99999996023,0.000133491102108,-0.000245724553419,-3.66113115735e-05,1793239436647292928
+56,0.933333333,BASELINE,766.508217968,746,715,679,665.491782032,636,880,788,804,653,631,652.508217968,0.400999953811,-0.0054002449832,0.0498647228506,0.99999996099,0.000132408144394,-0.000243236599985,-3.63878799416e-05,1793239436663959552
+57,0.950000000,BASELINE,766,745.93193799,715,679,665.93193799,635.93193799,880,788,804,653,631.06806201,652.06806201,0.401001892788,-0.00540130826786,0.0498663224086,0.999999961745,0.000131277708546,-0.000240763674136,-3.61698353833e-05,1793239436680626176
+58,0.966666667,BASELINE,766,745.344010115,715,679,665.344010115,635.344010115,880,788,804,653,631.655989885,652.655989885,0.401001541556,-0.00540117884635,0.0498651596286,0.999999961637,0.000129820221684,-0.000241956881743,-3.64679185294e-05,1793239436697292800
+59,0.983333333,BASELINE,766,745.240380651,715,679,665.240380651,635.240380651,880,788,804,653,632,653,0.40100108826,-0.00540085828209,0.0498645089386,0.999999961472,0.000129924894508,-0.000242551895229,-3.6673579147e-05,1793239436713959424
+60,1.000000000,BASELINE,766,745.819782928,715,679,665.819782928,635.819782928,880,788,804,653,632,653,0.40100049102,-0.00540026813902,0.049864580476,0.999999961227,0.000132232764078,-0.000242303243877,-3.67488913965e-05,1793239436730626304
+61,1.016666667,BASELINE,766,745.603467176,715,679,665.603467176,636,879.603467176,788,804,653,632,653,0.401000377324,-0.00539943078624,0.049864737498,0.999999961195,0.000132705276108,-0.000242154007245,-3.68751747315e-05,1793239436747293184
+62,1.033333333,BASELINE,766,745.027914765,715,679,665.027914765,636,879.027914765,788,804,653,632,653,0.401000481931,-0.00539848182766,0.049864933113,0.999999961262,0.000132349193415,-0.00024204965262,-3.70244695813e-05,1793239436763959808
+63,1.050000000,BASELINE,766,745,715,679,665.549465597,636,879.549465597,788,803.450534403,653,631.450534403,653,0.401000270357,-0.0053983321055,0.0498650901846,0.999999961095,0.000132423336891,-0.000242705716679,-3.69785455303e-05,1793239436780626432
+64,1.066666667,BASELINE,766,745,715,679,666,636,879.870527927,788,803.129472073,653,631.129472073,653,0.400999964023,-0.00539842693296,0.0498650770423,0.999999960957,0.000132402055623,-0.000243292120226,-3.69290841438e-05,1793239436797292800
+65,1.083333333,BASELINE,766,745,715,679,666,636,879.281531534,788,803.718468466,653,631.718468466,653,0.40099937857,-0.0053992451264,0.0498644667469,0.999999960967,0.000131964257257,-0.000243493712878,-3.69023858991e-05,1793239436813959424
+66,1.100000000,BASELINE,766,745.302191983,715,679,666,636,879.604383965,788,803.697808017,653,631.697808017,653,0.400999141928,-0.00540006501801,0.0498642540092,0.999999960969,0.000131945681222,-0.000243522234612,-3.67188696674e-05,1793239436830626048
+67,1.116666667,BASELINE,766,745.881087336,715,679,666,636,880.762174673,788,803.118912664,653,631.118912664,653,0.400999224679,-0.00540088646453,0.049864405297,0.999999960965,0.000132310967917,-0.000243392283216,-3.63917623821e-05,1793239436847292928
+68,1.133333333,BASELINE,766,745.543341287,715,679,666,635.543341287,880.086682574,788,803,652.543341287,631,653,0.400999920759,-0.00540064574609,0.0498651624727,0.99999996123,0.000132732237326,-0.000242054237967,-3.6489619831e-05,1793239436863959552
+69,1.150000000,BASELINE,766,745,714.968626338,679,665.968626338,635.031373662,879.031373662,788,803.031373662,652.031373662,631.031373662,653,0.401000710969,-0.00540020626548,0.0498660037719,0.999999961542,0.000133113071661,-0.000240522980026,-3.66727985448e-05,1793239436880626432
+70,1.166666667,BASELINE,766,745,714.39386239,679,665.39386239,635.60613761,879.60613761,788,803.60613761,652.60613761,631.60613761,653,0.401000385337,-0.0054010800528,0.0498655892379,0.999999961499,0.000132542910678,-0.000241054501282,-3.64309676682e-05,1793239436897293056
+71,1.183333333,BASELINE,766,745,714.186831851,679,665,636,880,788,804,652.813168149,631.813168149,653,0.40100008498,-0.00540126048514,0.0498651864237,0.999999961371,0.000132107265659,-0.000241825190309,-3.64279372137e-05,1793239436913959936
+72,1.200000000,BASELINE,766,745,714.780437753,679,665,636,880,788,804,652.219562247,631.219562247,653,0.400999839654,-0.0053999313313,0.0498648091261,0.999999961057,0.000131964491385,-0.000243116600304,-3.69448277822e-05,1793239436930626304
+73,1.216666667,BASELINE,766,745,715,679,665,636,879.636536417,788,803.636536417,652.363463583,631,653,0.400999748774,-0.00539994094252,0.0498648374293,0.999999961087,0.000131782548794,-0.000243106466149,-3.68674068157e-05,1793239436947293184
+74,1.233333333,BASELINE,766,745,715,679,665,636,879.059721085,788,803.059721085,652.940278915,631,653,0.400999748554,-0.00540073640385,0.0498651038188,0.999999961317,0.000131577614558,-0.000242332330426,-3.6441127196e-05,1793239436963959808
+75,1.250000000,BASELINE,766,745,715,679,665,636,879,788,803.513583112,653,631.513583112,653,0.40100000282,-0.00540131016431,0.049865108545,0.999999961659,0.000130192109083,-0.000241668326743,-3.64504648195e-05,1793239436980626176
+76,1.266666667,BASELINE,766,745,715,679,665.083381814,636,879.083381814,788,804,653,632,653,0.401000202802,-0.00540169501516,0.0498650512013,0.999999961901,0.000129169132366,-0.000241204902619,-3.65142429721e-05,1793239436997292800
+77,1.283333333,BASELINE,766,745,715,679,665.635744654,636,879.635744654,788,804,653,632,653,0.400999932153,-0.00540116135936,0.0498648147206,0.999999961523,0.00013095209057,-0.000241798097166,-3.66012475961e-05,1793239437013959680
+78,1.300000000,BASELINE,766,745.211391712,714.788608288,679,666,636,879.788608288,788,803.788608288,652.788608288,632,653,0.400999463063,-0.00540019796663,0.0498644140327,0.999999961142,0.000132505196321,-0.000242504165309,-3.67360964496e-05,1793239437030626560
+79,1.316666667,BASELINE,766,745.832126755,714.167873245,679,666,636,879.167873245,788,803.167873245,652.167873245,632,653,0.40099860971,-0.00539840242237,0.0498636953707,0.999999960762,0.000133613210766,-0.000243428804174,-3.69635918593e-05,1793239437047293184
+80,1.333333333,BASELINE,766,745.581099841,714.418900159,679,666,636,879.418900159,788,803.418900159,652.418900159,631.581099841,652.581099841,0.400999667484,-0.00539910145409,0.0498643630651,0.999999960997,0.000133015017242,-0.000242794710176,-3.69166841539e-05,1793239437063959552
+81,1.350000000,BASELINE,766,745.006915771,714.993084229,679,666,636,879.993084229,788,803.993084229,652.993084229,631.006915771,652.006915771,0.401001433704,-0.00540072521081,0.0498655446739,0.999999961459,0.000131784342208,-0.000241582802837,-3.67680567909e-05,1793239437080625920
+82,1.366666667,BASELINE,766,745,714.430068229,679,666,636,879.430068229,788,803.430068229,653,631,652.569931771,0.401000867575,-0.00539960394103,0.0498654832911,0.999999961368,0.00013246785553,-0.000241597304616,-3.66972647466e-05,1793239437097292800
+83,1.383333333,BASELINE,766,745.150046651,714.150046651,679,666,636,879.150046651,788.150046651,803.150046651,653,631.150046651,653,0.401000090574,-0.00539883808493,0.0498652822661,0.999999961298,0.000132603533179,-0.000241812430523,-3.66985771011e-05,1793239437113959424
+84,1.400000000,BASELINE,766,745.739637844,714.739637844,679,666,636,879.739637844,788.739637844,803.739637844,653,631.739637844,653,0.400998779141,-0.00539921140599,0.0498647165668,0.999999961309,0.000131066027136,-0.000242571462935,-3.69083312983e-05,1793239437130626048
+85,1.416666667,BASELINE,766,745.677033043,715,679.322966957,666,636,880,788.677033043,804,653,631.677033043,653,0.400998671457,-0.00539998403891,0.0498648209581,0.999999961477,0.000130360201175,-0.000242272210547,-3.68218737687e-05,1793239437147292672
+86,1.433333333,BASELINE,766,745.098656166,715,679.901343834,666,636,880,788.098656166,804,653,631.098656166,653,0.400999515725,-0.00540107245707,0.0498654552729,0.99999996177,0.000130312087618,-0.000241136041421,-3.65011649754e-05,1793239437163959296
+87,1.450000000,BASELINE,766,745,715,679.522362285,665.522362285,636,880,788,804,653,631.477637715,653,0.401000218865,-0.00540052631799,0.0498658530836,0.99999996176,0.000131245548092,-0.000240645258053,-3.66755493597e-05,1793239437180626432
+88,1.466666667,BASELINE,766.05328446,745,715,679.05328446,665,636,880,788,804,653,632,653,0.401000829695,-0.00539970384749,0.0498661392022,0.999999961691,0.0001321781052,-0.000240384644849,-3.69069005126e-05,1793239437197293056
+89,1.483333333,BASELINE,766.626795436,745,715,679.626795436,665,636,880,788,804,653,632,653,0.401000822635,-0.00539946541842,0.0498658097094,0.99999996167,0.000131131005484,-0.000241075400485,-3.6700364662e-05,1793239437213959680
+90,1.500000000,BASELINE,766.792710859,745,715,680,665.207289141,636,880,788,804,653,632,653,0.401000619614,-0.00539970708004,0.04986560876,0.99999996172,0.000130153875455,-0.00024141500194,-3.65826124466e-05,1793239437230626304
+91,1.516666667,BASELINE,766.199207224,745,715,680,665.800792776,636,880,788,804,653,632,653,0.401000051487,-0.00540084323128,0.0498656473087,0.999999961904,0.000129307110825,-0.000241100344084,-3.66302790823e-05,1793239437247293184
+92,1.533333333,BASELINE,766,745.384242867,714.615757133,679.615757133,666,636,880,788,803.615757133,653,631.615757133,653,0.401000193016,-0.00540058938353,0.0498658208408,0.999999961835,0.000130346385856,-0.000240815979463,-3.67131387551e-05,1793239437263959808
+93,1.550000000,BASELINE,766,745.962613737,714.037386263,679.037386263,666,636,880,788,803.037386263,653,631.037386263,653,0.401000693078,-0.00539963327762,0.0498660625696,0.999999961634,0.000132338529806,-0.000240546919624,-3.68137787337e-05,1793239437280626176
+94,1.566666667,BASELINE,766.533242951,746,714.533242951,679.533242951,666,636,880,788,803.533242951,653,631,653,0.401000909781,-0.00539915673768,0.0498658822762,0.999999961454,0.00013330738435,-0.000240749729979,-3.68750367283e-05,1793239437297293056
+95,1.583333333,BASELINE,766.892290064,745.892290064,714.892290064,679.892290064,666,636,880,788,804,653,631,653,0.401000916225,-0.00539904907318,0.0498656425833,0.999999961335,0.00013372506577,-0.000241016307405,-3.68589888538e-05,1793239437313959680
+96,1.600000000,BASELINE,766.298071741,745.298071741,714.298071741,679.298071741,666,636,880,788,804,653,631,653,0.401000061411,-0.0054004578633,0.0498652663261,0.999999961483,0.000131972606086,-0.000241423616744,-3.65060559138e-05,1793239437330626304
+97,1.616666667,BASELINE,766,745.288972629,714.288972629,679,666,636,880,788,803.711027371,652.711027371,631,653,0.400999562398,-0.00540045305762,0.0498649121294,0.999999961365,0.000131986524908,-0.000241885744555,-3.66072780168e-05,1793239437347293184
+98,1.633333333,BASELINE,766,745.868796376,714.868796376,679,666,636,880,788,803.131203624,652.131203624,631,653,0.400999421498,-0.00539902546686,0.0498645801367,0.999999960981,0.000133778304825,-0.000242403047166,-3.71656074551e-05,1793239437363959808
+99,1.650000000,BASELINE,766,745.553782068,715,679.446217932,665.553782068,636,879.553782068,788,803.446217932,652.446217932,631.446217932,653,0.400999198851,-0.00539991400682,0.0498643592701,0.999999961146,0.00013322985629,-0.000242073509702,-3.68605330959e-05,1793239437380626176
+100,1.666666667,BASELINE,766,745,715,679.977155368,665,636,879.022844632,788,804,653,632,653,0.400998955719,-0.00540141484963,0.0498642006218,0.999999961447,0.000132036938479,-0.000241565156859,-3.63238704473e-05,1793239437397292800
+101,1.683333333,BASELINE,766,745,715,679.402757201,665,636,879.597242799,788,804,653,632,653,0.400998795248,-0.00540134457468,0.0498647594834,0.999999961198,0.000131808678498,-0.000242719140197,-3.6292369205e-05,1793239437413959424
+102,1.700000000,BASELINE,766.176585839,745,714.823414161,679,665.176585839,636,879.823414161,788,803.823414161,652.823414161,631.823414161,653,0.40099870301,-0.00540099926534,0.0498650770221,0.999999961113,0.000131307547169,-0.000243322974411,-3.64217564327e-05,1793239437430626048
+103,1.716666667,BASELINE,766.767531989,745,714.232468011,679,665.767531989,636,879.232468011,788,803.232468011,652.232468011,631.232468011,653,0.400998770879,-0.00540000858532,0.0498648282944,0.99999996141,0.000130166120723,-0.000242635878441,-3.69286699523e-05,1793239437447292672
+104,1.733333333,BASELINE,766.297659306,745,714.351170347,679,666,635.648829653,879.351170347,788,803.351170347,652.351170347,631.351170347,652.648829653,0.400999668865,-0.00540054013619,0.0498654629438,0.99999996179,0.000129837718106,-0.000241273965065,-3.67357297843e-05,1793239437463959296
+105,1.750000000,BASELINE,765.139860475,745,714.930069762,679,666,635.069930238,879.930069762,788,803.930069762,652.930069762,631.930069762,652.069930238,0.40100110517,-0.00540205883245,0.0498666704509,0.99999996222,0.00013003654998,-0.000239474441948,-3.60889443186e-05,1793239437480625920
+106,1.766666667,BASELINE,765.505957397,745.505957397,714.494042603,679,665.494042603,635.505957397,879.494042603,788,804,653,632,652,0.401000855792,-0.00540077406155,0.0498661120261,0.999999961788,0.000132351484411,-0.000239979158388,-3.62859831959e-05,1793239437497292800
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879,788,804,653,632,653,0.400999895172,-0.0053982905688,0.0498651984014,0.999999961222,0.000133028738658,-0.000241880998932,-3.67945656309e-05,1793239437539994880
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.579489487,788,803.420510513,653,631.420510513,653,0.400999326174,-0.00539901901552,0.0498643465052,0.99999996127,0.000131410554086,-0.00024251498111,-3.71232007457e-05,1793239437556661504
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,714.841512159,678.841512159,665.841512159,636,879.841512159,788,803.158487841,653,631.158487841,653,0.400998871839,-0.00539980356577,0.049863799112,0.999999961298,0.000130393585512,-0.000242929410293,-3.72456475737e-05,1793239437573328384
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714.263812758,678.263812758,665.263812758,636,879.263812758,788,803.736187242,653,631.736187242,653,0.400998720797,-0.00540073651401,0.0498640571511,0.999999961279,0.000130966875458,-0.000242763106408,-3.68227118597e-05,1793239437589994752
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714,678.309932568,665,636,879.309932568,788,804,653,632,652.690067432,0.400999075317,-0.00540115927246,0.0498646558827,0.999999961473,0.000130896009747,-0.000242041574611,-3.65612265648e-05,1793239437606661376
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,714,678.880354573,665,636,879.880354573,788,804,653,632,652.119645427,0.400999854746,-0.00540115323099,0.0498655409567,0.999999961844,0.000130283749643,-0.000240853389686,-3.64354357434e-05,1793239437623328256
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714.470138044,679,665,635.529861956,880,788,804,653,632,652.470138044,0.400999804033,-0.00540077170091,0.0498656332225,0.99999996174,0.000130981231204,-0.000240910672931,-3.64082561083e-05,1793239437639994624
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.063256175,635.063256175,879.936743825,788,804.063256175,653,631.936743825,653,0.400999821253,-0.00540034039997,0.0498657130585,0.999999961622,0.000131811104201,-0.000240948435323,-3.64091364355e-05,1793239437656660736
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665.641680083,635.641680083,879.358319917,788,804.641680083,653,631.358319917,653,0.401002186188,-0.00540031542347,0.0498674054197,0.999999962417,0.000130888021681,-0.000238134981038,-3.64253808121e-05,1793239437673327104
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.218918124,715,679,665.781081876,636,879.218918124,788,804.781081876,653,631.218918124,653,0.401005880783,-0.00539986170766,0.0498692770813,0.999999963073,0.000131096340055,-0.000235240755645,-3.64568199128e-05,1793239437689993984
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.794225568,715,679,665.205774432,636,879.794225568,788,804.205774432,653,631.794225568,653,0.401011740007,-0.00539871002265,0.0498714406361,0.999999963507,0.000133146530663,-0.000232215038626,-3.65129953715e-05,1793239437706660608
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.63182971,715,679,665.36817029,636,880,788,803.63182971,652.63182971,632,653,0.401033303891,-0.00539941335199,0.0498788492419,0.999999966914,0.000133522292597,-0.000216903357615,-3.60191837345e-05,1793239437723327232
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.058643765,715,679,665.941356235,636,880,788,803.058643765,652.058643765,632,653,0.401063612916,-0.0054011496461,0.049889178555,0.999999971576,0.000132965648932,-0.000194750236245,-3.5219111732e-05,1793239437739994112
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.533117418,745,715,678.466882582,665.466882582,635.466882582,879.466882582,788,803.533117418,652.533117418,632,653,0.401118284236,-0.00540355082486,0.0499063150511,0.999999978234,0.000132147757578,-0.000157806467423,-3.41342267217e-05,1793239437756660992
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.876584336,745,715,678.123415664,665.123415664,635.123415664,879.123415664,788,803.876584336,653,632,653,0.401178919353,-0.0054061065196,0.0499237259131,0.999999983395,0.00013091755153,-0.000122433424102,-3.2860623514e-05,1793239437773327872
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.299447347,745,715,678.700552653,665.700552653,635.700552653,879.700552653,788,803.299447347,653,632,653,0.40125127166,-0.00540895168214,0.0499392932027,0.999999986387,0.000128280989724,-9.90322979491e-05,-3.10125609326e-05,1793239437789994496
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.277069515,715,679,666,636,879.722930485,788,803.277069515,653,632,653,0.401328827431,-0.00541138558392,0.0499501087118,0.999999988042,0.00012682918567,-8.3283633088e-05,-2.98925898899e-05,1793239437806660608
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.852917629,715,679,666,636,879.147082371,788,803.852917629,653,632,653,0.401411994364,-0.00541337600149,0.0499558001256,0.999999988671,0.000126654968283,-7.57870202697e-05,-2.95577582859e-05,1793239437823326976
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665.563964498,636,879,788,803.563964498,653,632,653,0.40150592141,-0.00541610570151,0.049957627457,0.999999988942,0.00012605018332,-7.35064828339e-05,-2.87016142447e-05,1793239437839993600
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714.978460977,679,665,636,879,788,803.021539023,653,632,653,0.401604274648,-0.00541917078418,0.0499579954383,0.999999989098,0.000125167722073,-7.32937743668e-05,-2.7674480033e-05,1793239437856660224
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714.395774697,679,665,636,879,788,803.604225303,653,632,653,0.401721778645,-0.00542436649165,0.0499548768488,0.999999989104,0.000120899054099,-8.03373327005e-05,-2.68515744115e-05,1793239437873326848
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.815871308,714.184128692,678.815871308,665,636,879.184128692,788,804,653,631.815871308,653,0.401851689986,-0.0054298524442,0.0499537394711,0.999999989323,0.00011703328527,-8.35890999809e-05,-2.5877794477e-05,1793239437889993728
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.241860609,714.758139391,678.241860609,665,636,879.758139391,788,804,653,631.241860609,653,0.402007873154,-0.00543595297347,0.0499567971969,0.999999990092,0.000114020632961,-7.88119649852e-05,-2.45845468933e-05,1793239437906660864
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.332608243,665,636,880,788,804,652.667391757,631,653,0.402181516385,-0.00544097414001,0.0499575761329,0.999999990287,0.000112888362095,-7.82818622672e-05,-2.35237832724e-05,1793239437923327744
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.907410766,665,636,880,788,804,652.092589234,631,653,0.40236787347,-0.00544520935107,0.0499566957301,0.999999990077,0.000113125322255,-8.08443069535e-05,-2.26323066208e-05,1793239437939994368
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.497984821,636,880,788,804,652.497984821,631.497984821,653,0.40257848173,-0.00545328975316,0.049957917947,0.99999999075,0.00010969567016,-7.772483312e-05,-2.06503246933e-05,1793239437956660480
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.089065149,715,679,666,636,880.089065149,788,804,653,632,653,0.402800218271,-0.0054621192137,0.0499597504594,0.99999999159,0.000105587564525,-7.29964204738e-05,-1.85066205995e-05,1793239437973326848
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.666321894,715,679,666,636,880.666321894,788,804,653,632,653,0.403057428901,-0.00547100758851,0.0499627152626,0.999999992558,0.000101619606013,-6.54289191323e-05,-1.66241786137e-05,1793239437989993472
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.242508876,745.757491124,715,679,665.757491124,636,880.514982248,788,803.757491124,653,632,653,0.403337217306,-0.00548025200511,0.049969277298,0.999999993828,9.73427579112e-05,-5.15824298214e-05,-1.44368147758e-05,1793239438006660096
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.817230355,745.182769645,715,679,665.182769645,636,879.36553929,788,803.182769645,653,632,653,0.403647934962,-0.00548998416236,0.0499807671773,0.999999995214,9.26427625581e-05,-2.91343632435e-05,-1.1831738986e-05,1793239438023326720
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.608651963,745.391348037,715,679,665.391348037,635.608651963,879,788,803.782696073,653,631.608651963,653,0.40398606605,-0.0054994094296,0.0499910452998,0.999999995891,8.952834413e-05,-1.10233769872e-05,-8.97445819621e-06,1793239438039993856
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.034815853,745.965184147,715,679,665.965184147,635.034815853,879,788,804.930368295,653,631.034815853,653,0.404336980186,-0.00550869159179,0.050000758372,0.999999996171,8.71532904136e-05,5.06520055368e-06,-5.99957268649e-06,1793239438056661248
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.440552985,715,679,666,635,879.559447015,788,803.881105971,653,631.559447015,653,0.404713055576,-0.00551616407785,0.0500046564083,0.999999995978,8.8387585665e-05,1.48741548976e-05,-3.32735423514e-06,1793239438073327616
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.149975664,666,635.149975664,879.850024336,788,803.149975664,653,632,653,0.405095668931,-0.00552123987804,0.0500046038906,0.999999995607,9.22606986943e-05,1.65723193322e-05,-5.10225409842e-07,1793239438089993984
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679.726143182,666,635.726143182,879.273856818,788,803.726143182,653,632,653,0.40549224305,-0.00551983708617,0.0499943922794,0.999999994688,0.00010297014672,-3.62564463972e-06,2.77425533133e-06,1793239438106660352
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665.698957693,636,879.301042307,788,804,652.698957693,632,653,0.405899383082,-0.00550988690558,0.0499780343229,0.999999991653,0.000124111728143,-3.56626102333e-05,4.23250815805e-06,1793239438123326720
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665.125207514,636,879.874792486,788,804,652.125207514,632,653,0.406316094598,-0.00549219382575,0.0499561085208,0.99999998495,0.000154703560072,-7.84242798124e-05,4.03642002417e-06,1793239438139993344
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.462888823,715,679.537111177,665.462888823,636,879.537111177,788,804,652.462888823,632,653,0.406791823605,-0.00548789102267,0.0499440590319,0.999999980961,0.000170974506296,-9.38904416833e-05,5.42348764775e-06,1793239438156660224
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.946445577,715,679,666,635.946445577,879,788,804,653,632,653,0.407289356019,-0.00548868199812,0.0499365037459,0.999999978587,0.000181421352511,-9.92816437379e-05,7.48566153324e-06,1793239438173326848
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.369799507,715,679,666,635.369799507,879,788,804,653,632,653,0.407838940549,-0.00550271745318,0.0499459174916,0.999999981532,0.000174027653478,-8.06877160938e-05,1.18254124779e-05,1793239438189993984
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678.793320882,665.793320882,635.206679118,879.206679118,788,804,652.793320882,632,653,0.408406702116,-0.00551257154292,0.0499606171773,0.99999998338,0.000173041674136,-5.50010324109e-05,1.64886768629e-05,1793239438206660864
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678.217141646,665.217141646,635.782858354,879.782858354,788,804,652.217141646,632,653,0.409006960485,-0.00551495020332,0.0499847670454,0.999999982787,0.000183511391282,-1.66339483979e-05,2.17303170384e-05,1793239438223327744
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.730068321,665.365034161,636,880,788,804,652.365034161,631.634965839,653,0.409622778482,-0.00551555236349,0.049999616561,0.99999998061,0.000195086667227,4.67957662873e-06,2.6436335415e-05,1793239438239994624
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.901673203,665.950836601,636,880,788,804,652.950836601,631.049163399,653,0.410248006734,-0.00551508011756,0.050008841334,0.999999977909,0.000207330571566,1.56793124205e-05,3.08184159743e-05,1793239438256661504
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.468661917,745,715,679.468661917,666,636,880,788,804,652.468661917,631,653,0.410852322897,-0.00550770324536,0.049987963059,0.99999997284,0.000229179885578,-2.65288183656e-05,3.30441564134e-05,1793239438273328128
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.110899457,745,715,679,666,635.889100543,880,788,804,652.110899457,631,652.889100543,0.411467677487,-0.00550199029828,0.0499659127865,0.999999966114,0.000248541662454,-6.89784562545e-05,3.52178488846e-05,1793239438289994752
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.688547921,745,715,679,666,635.311452079,880,788,804,652.688547921,631,652.311452079,0.412137553249,-0.00550594269242,0.0499505369753,0.999999962863,0.000253730346419,-9.19286790038e-05,3.8003923727e-05,1793239438306660864
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635,880.263343119,788,804,652.736656881,631,652.263343119,0.412847846274,-0.00551424949354,0.0499562790898,0.999999976101,0.000202456358974,-7.7374319457e-05,2.86797346406e-05,1793239438323327488
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635,880.834800046,788,804,652.165199954,631,652.834800046,0.413605427945,-0.00552765099034,0.0499867293645,0.999999996184,8.51205379407e-05,-1.89392644812e-05,5.18642819898e-06,1793239438339994368
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.421561829,715,679,666,635.421561829,880.578438171,788,804,652,631,653,0.414352419743,-0.00553432654135,0.0499891597211,0.99999999812,5.94897374747e-05,-1.47099715567e-05,2.11793495433e-06,1793239438356661504
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,715,679,665.985809751,636,880,788,804,652,631,653,0.415095122681,-0.00553806563564,0.0499797785809,0.999999996877,7.13966516958e-05,-3.30932596964e-05,7.30146156617e-06,1793239438373328128
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,715,679,665.407371876,636,880,788,804,652,631,653,0.415838519183,-0.0055337954889,0.0499537962054,0.999999992861,9.31199451707e-05,-7.41574743907e-05,1.03574006653e-05,1793239438389994240
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.829559626,715,679,665.170440374,635.829559626,880,788.170440374,804,652,631,653,0.416603473052,-0.00553006381149,0.049940728166,0.999999989204,0.000112540470173,-9.34975132834e-05,1.3588418476e-05,1793239438406660352
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.253237258,715,679,665.746762742,635.253237258,880,788.746762742,804,652,631,653,0.41741976299,-0.0055276144303,0.0499584139712,0.999999989986,0.000126477245011,-6.11041982209e-05,1.72363637431e-05,1793239438423326976
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.321784787,880,788.678215213,803.678215213,652,631,653,0.418241692344,-0.0055266252347,0.0499777093281,0.999999990607,0.000132910120821,-2.70147768292e-05,1.97997536966e-05,1793239438439993600
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.895787599,880,788.104212401,803.104212401,652,631,653,0.419068041889,-0.00552678054678,0.0499982662662,0.999999990827,0.0001334613674,8.40406755806e-06,2.15130585422e-05,1793239438456660480
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,880,787.514704928,803.485295072,652,631,653,0.4198799168,-0.00552606585177,0.0499819359946,0.999999990634,0.00013283019762,-2.49782948521e-05,2.15248001531e-05,1793239438473327104
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,678.923847509,666,635.923847509,880,787.076152491,804,652,631.076152491,653,0.420700663641,-0.00552597710169,0.04996357559,0.999999989365,0.000131176164151,-6.00550961685e-05,2.13502694378e-05,1793239438489994240
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,678.346735321,666,635.346735321,880,787.653264679,804,652,631.653264679,653,0.421600895295,-0.00553127562328,0.0499856884045,0.999999991979,0.000124518808686,-5.87939193184e-06,2.24334000889e-05,1793239438506660864
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.228822457,745,715,678.228822457,666,635.228822457,880,788,804,652,632,653,0.422482120098,-0.00553550946071,0.0500001342133,0.999999992235,0.000119079489059,2.8264915667e-05,2.34664199145e-05,1793239438523327488
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.802040811,745,715,678.802040811,666,635.802040811,880,788,804,652,632,653,0.423334738219,-0.00553814086506,0.0500030405756,0.999999992514,0.000115473409157,3.22603950315e-05,2.44240192274e-05,1793239438539993856
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.623713877,745,715,679,666,636,880,788,804,652,632,652.623713877,0.424181659906,-0.00553840975857,0.0499941091831,0.999999992961,0.000114892157193,1.69558006676e-05,2.42956467214e-05,1793239438556660480
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.048926851,745,715,679,666,636,880,788,804,652,632,652.048926851,0.425025576521,-0.00553743236486,0.0499789330611,0.999999992968,0.000115906582289,-8.53009433245e-06,2.35943952299e-05,1793239438573327104
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.545910287,666,635.454089713,880,788,804,652,631.454089713,652.545910287,0.425937549122,-0.00553966719154,0.0499977252733,0.999999993132,0.000113002518969,1.8055606274e-05,2.5312027655e-05,1793239438589993728
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.137187958,715,679.862812042,666,635.137187958,880,788,804.137187958,652,631,653,0.42683361305,-0.00554129833351,0.0500120967565,0.999999992906,0.000111223718389,3.28612649612e-05,2.71552036011e-05,1793239438606660096
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.711192138,715,679.288807862,666,635.711192138,880,788,804.711192138,652,631,653,0.427658860943,-0.00554005567691,0.0500023291715,0.999999993055,0.000114188690725,-5.26782937607e-06,2.86815223592e-05,1793239438623326976
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,804.715806562,652,631.284193438,653,0.428487288153,-0.00553872085696,0.049982155822,0.999999991744,0.000116903793987,-4.49157708806e-05,2.87701361261e-05,1793239438639994112
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,679,666,636,880,788,804.143820878,652,631.856179122,653,0.42931893489,-0.00553729270666,0.0499514449379,0.999999988794,0.000119365863828,-8.61017907248e-05,2.74028388096e-05,1793239438656660992
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.55573979,715,679,666,636,880,788,804,652,631.55573979,653,0.430188864427,-0.00553949107567,0.0499578315734,0.999999991019,0.000113872235406,-6.51067493501e-05,2.74825740048e-05,1793239438673327360
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.036892874,666.036892874,635.963107126,880,788.036892874,804,652,631.036892874,653,0.431068645963,-0.00554257760708,0.0499741799576,0.999999993531,0.000106523854715,-2.83952622433e-05,2.79996376103e-05,1793239438689993728
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.616938872,666.616938872,635.383061128,880,788.616938872,804,652,631.616938872,653,0.431904152822,-0.00554080590344,0.0499537319986,0.999999991131,0.000111212151005,-6.78020682878e-05,2.77992633662e-05,1793239438706660352
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.805394801,666.805394801,635,880,788.805394801,804,652,632,653,0.432737874518,-0.00554064985291,0.049942321323,0.999999989409,0.000112623733857,-8.79364810717e-05,2.76758500899e-05,1793239438723326976
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.232355933,666.232355933,635,880,788.232355933,804,652,632,653,0.433568124894,-0.00554363563763,0.0499484847496,0.999999991329,0.000107663346771,-7.05933694093e-05,2.77020968804e-05,1793239438739993600
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.342603371,880.342603371,788,804.342603371,652,632,653,0.43439901303,-0.00554514163491,0.0499658846432,0.9999999931,0.000104659320775,-4.49643285681e-05,2.87151146347e-05,1793239438756660224
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.918872435,880.918872435,788,804.918872435,652,632,653,0.435230336086,-0.00554563837293,0.0499909481414,0.999999994141,0.000102989591483,-1.36840384896e-05,3.04011395284e-05,1793239438773326848
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.511582145,715,679.511582145,666,636,880.488417855,788,805,652,632,653,0.435970370092,-0.00554306520177,0.0499752459083,0.999999992228,0.000106902521113,-5.61487521763e-05,3.10390253729e-05,1793239438789993216
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.896742959,745.896742959,715,680,666,636,880.206514083,788,805,652,631.896742959,653,0.436707422207,-0.00554105200245,0.0499567278888,0.999999988601,0.000110157000658,-9.83631246286e-05,3.14207995335e-05,1793239438806660096
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.322089983,745.322089983,715,680,666,636,881.355820034,788,805,652,631.322089983,653,0.437499145974,-0.00554389153549,0.0499558480785,0.999999990313,0.000106229616826,-8.42728927852e-05,3.14173705217e-05,1793239438823327744
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.25222165,745,715,679.74777835,666,636,881.74777835,788,805,652,631.25222165,652.74777835,0.438277224469,-0.00554668980081,0.049965340027,0.999999992461,0.000102889251371,-5.89149865111e-05,3.19597423534e-05,1793239438839994624
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.82609793,745,715,679.17390207,666,636,881.17390207,788,805,652,631.82609793,652.17390207,0.439037901283,-0.00554943543777,0.0499880589298,0.999999994235,0.000100297502184,-1.91875786814e-05,3.31981660935e-05,1793239438856660480
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.588401614,881,788,805,652,632,652.411598386,0.43972330009,-0.0055488790495,0.0499811723973,0.999999993825,0.00010211474818,-2.84178455681e-05,3.33902843245e-05,1793239438873327360
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.002113341,666,635,881,787.997886659,805,652,632,653,0.440375926735,-0.00554689475814,0.0499614014209,0.999999992111,0.000105843172556,-5.89666378098e-05,3.3129350436e-05,1793239438889993984
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.581819142,666,635,881,787.418180858,805,652,632,653,0.44101690912,-0.00554703193861,0.0499382151248,0.999999988769,0.000107992158472,-9.84110251617e-05,3.33778567755e-05,1793239438906660608
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,881,787.159945917,805,652,632,653,0.44165695629,-0.00554708247127,0.0499212571541,0.999999985408,0.000110392828202,-0.000125893800875,3.38930158951e-05,1793239438923327232
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,881,787.733984789,805,652,632,653,0.442294582367,-0.00554690867659,0.0499204240392,0.999999985457,0.000113445097106,-0.000122408498256,3.50985275198e-05,1793239438939994368
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.316043061,715,680,666,635,881,788,805.316043061,652,632,652.683956939,0.442885482436,-0.00554641216951,0.0499120471417,0.999999983758,0.000117215330501,-0.000132223584257,3.55048926481e-05,1793239438956661248
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.905027006,715,680,666,635,881,788,805.905027006,652,632,652.094972994,0.443436028985,-0.00554563696178,0.049897155288,0.999999980201,0.000121605611656,-0.000153525142615,3.52210993607e-05,1793239438973327616
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665.514479698,635,880.514479698,788,805.514479698,652,632,652,0.443925419638,-0.00554278027977,0.0498555477942,0.999999965561,0.000127707850542,-0.000226617585082,3.48305759898e-05,1793239438989993984
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,880.064232127,787.935767873,805,652,632,652.064232127,0.444403920314,-0.00554002057929,0.0498109473571,0.999999944193,0.000133584928,-0.000304279959371,3.43944675595e-05,1793239439006660608
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,880.641752052,787.358247948,805,652,632,652.641752052,0.444889350676,-0.00554123361211,0.0497834727693,0.999999932888,0.000135032658179,-0.000338895671992,3.37580522156e-05,1793239439023327232
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.782072914,745.782072914,715,679.782072914,664.782072914,634.782072914,881,787,805,652,631.782072914,653,0.44537838207,-0.00554319212573,0.0497689130091,0.999999928146,0.000136229891217,-0.000352130739329,3.39641527356e-05,1793239439039993856
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.208095227,745.208095227,715,679.208095227,664.208095227,634.208095227,881,787,805,652,631.208095227,653,0.445873296803,-0.00554636861028,0.0497754535756,0.999999935388,0.000137017860525,-0.000330433975204,3.55467609105e-05,1793239439056660992
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.374144147,715,679.374144147,664,634,881,787.374144147,805,652,631,653,0.446321783515,-0.00554360265001,0.0497790308952,0.999999939172,0.000140346751067,-0.000317284327295,3.59207752493e-05,1793239439073327872
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.961082402,715,679.961082402,664,634,881,787.961082402,805,652,631,653,0.446743864381,-0.00553745693052,0.0497809228719,0.999999941097,0.000145120788096,-0.000308995841145,3.56074032104e-05,1793239439089994752
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.543643188,746,715,680,664,634,881,787.456356812,805,652,631,653,0.447088962679,-0.00553281109587,0.0497510176435,0.999999924285,0.000145552235625,-0.000359389555048,3.29099713277e-05,1793239439106661376
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633.875155552,880.875155552,787,805.124844448,652,631.124844448,652.875155552,0.447423202226,-0.00553136372827,0.0497199788264,0.9999999064,0.00013116040799,-0.000411432164067,2.68416578058e-05,1793239439123327744
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,633.297755477,880.297755477,787,805.702244523,652,631.702244523,652.297755477,0.447737896661,-0.00554112455271,0.0496930162075,0.999999894685,6.41527555559e-05,-0.000454345658344,9.16776436997e-06,1793239439139993856
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.723303908,715,680,664,633,880.276696092,787,805.723303908,652,631.723303908,652,0.448052671127,-0.00554866347775,0.0496791850292,0.999999887483,2.92870116412e-05,-0.00047347131057,7.49208574331e-07,1793239439156660224
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.151991836,715,680,664,633,880.848008164,787,805.151991836,652,631.151991836,652,0.448367530788,-0.0055538366042,0.0496793357351,0.999999890417,2.86448125637e-05,-0.000467268529672,2.18540231408e-06,1793239439173326848
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745.433945344,715,680,664,633,881,787,805,652,631.433945344,652.433945344,0.448659093105,-0.00555494693429,0.0496902230351,0.999999897977,3.23969166023e-05,-0.000450531480013,4.18299124666e-06,1793239439189993728
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,714.97531437,680,664,633,881,787,805,652.02468563,631.97531437,653,0.448940152628,-0.00555460396682,0.0497046137697,0.99999990658,3.76428411073e-05,-0.00043056114857,6.37176235367e-06,1793239439206660352
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,714.395769323,680,664,633,881,787,805,652.604230677,631.395769323,653,0.449174950926,-0.00555469598052,0.049710277134,0.99999990936,4.06637392061e-05,-0.000423742014868,8.28389060441e-06,1793239439223327744
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,714.182334264,680,664,633,881,787,805,652.817665736,631,652.817665736,0.449396243956,-0.00555258804786,0.0497119078812,0.999999909434,4.59646512733e-05,-0.000422991108956,9.89558300411e-06,1793239439239994368
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,714.757333526,680,664,633,881,787,805,652.242666474,631,652.242666474,0.449588452754,-0.00554574243222,0.0497048542059,0.999999903616,5.61756750986e-05,-0.000435308404107,1.0860273101e-05,1793239439256660736
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.660412308,745.660412308,715,679.660412308,663.660412308,632.660412308,881,787,805,652,631,652.339587692,0.449765588431,-0.00554061694379,0.0496993090155,0.999999898764,6.46781051778e-05,-0.000445149226815,1.14408922052e-05,1793239439273327360
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.072860615,745.072860615,715,679.072860615,663.072860615,632.072860615,881,787,805,652,631,652.927139385,0.449931717865,-0.0055367474767,0.0496948653069,0.999999894657,7.19329359141e-05,-0.000453181752018,1.17410660861e-05,1793239439289993728
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.507558688,745.507558688,715,679.507558688,663,632,880.492441312,787,805,652,631,653,0.450076439042,-0.00553740365209,0.0496962875715,0.999999895379,7.37037499397e-05,-0.000451278443002,1.25826401265e-05,1793239439306660352
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.086386979,632,880.086386979,786.913613021,805.086386979,652,631,653,0.450214084889,-0.00553849903203,0.0496987128041,0.99999989675,7.46157122214e-05,-0.000448053350384,1.34278235761e-05,1793239439323326976
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.661923783,632,880.661923783,786.338076217,805.661923783,652,631,653,0.450328828234,-0.0055384537191,0.0497021151822,0.999999897937,7.50603970174e-05,-0.00044530814489,1.38594765019e-05,1793239439339993600
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.76292419,632,881,786.23707581,805.76292419,652,631,653,0.450431867441,-0.00553866939408,0.0497035067927,0.999999898151,7.60729116262e-05,-0.000444638432047,1.43819528288e-05,1793239439356660480
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.188320011,632,881,786.811679989,805.188320011,652,631,653,0.450518243283,-0.00553925664143,0.0497020356432,0.999999896983,7.78938539888e-05,-0.000446923629233,1.50337357616e-05,1793239439373327616
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.398142987,632,881,786.601857013,805.398142987,652,631,653,0.450592001355,-0.00553994656317,0.0497010521088,0.999999895642,7.80844567517e-05,-0.000449863545008,1.55540280668e-05,1793239439389994240
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.990387341,632,881,786.009612659,805.990387341,652,631,653,0.450659608049,-0.00554068654037,0.0497003062949,0.99999989421,7.74802416302e-05,-0.000453122646977,1.6010216472e-05,1793239439406660864
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.430145802,715,680,664,632,880.430145802,786.569854198,805.430145802,652,631,653,0.450708481435,-0.00553914730656,0.0496985533778,0.999999893209,7.96835308843e-05,-0.000454950278652,1.58787136269e-05,1793239439423327232
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745.147718555,715,680,664,632,880.147718555,787,805.147718555,652,631,653,0.450752699769,-0.00553812705388,0.0496969111553,0.999999892131,8.06162413945e-05,-0.000457157535073,1.57131384355e-05,1793239439439993856
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745.721568141,715,680,664,632,880.721568141,787,805.721568141,652,631,653,0.450784381041,-0.00553871241016,0.0496956361919,0.999999890815,7.7750028105e-05,-0.000460528043712,1.54772440045e-05,1793239439456660480
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663.696964609,632,881,786.696964609,805.696964609,652,631,652.696964609,0.450810462958,-0.00553849255981,0.0496934701121,0.999999889107,7.67482602005e-05,-0.000464397181277,1.52154661871e-05,1793239439473326848
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.108317624,632,881,786.108317624,805.108317624,652,631,652.108317624,0.450831267471,-0.00553751380032,0.0496904641526,0.999999887028,7.75037362754e-05,-0.00046873627821,1.49292931873e-05,1793239439489993472
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.527296482,745.527296482,715,680,663.472703518,632,881,786,805,652,631,652.472703518,0.45084565509,-0.00553707837659,0.0496884925537,0.999999885235,7.90623432508e-05,-0.000472286184822,1.49980244248e-05,1793239439506660864
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.051917529,745.051917529,715,680,663.948082471,632,881,786.051917529,805,652,631,653,0.450857956823,-0.00553676116473,0.0496868529355,0.99999988354,8.06366063466e-05,-0.000475592259515,1.51328160562e-05,1793239439523328000
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.630245231,745.630245231,715,680,663.369754769,632,881,786.630245231,805,652,631,653,0.450863781221,-0.00553640021,0.0496862143243,0.999999882291,8.05332587948e-05,-0.000478230518207,1.51259307134e-05,1793239439539994624
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663,632,880.793102045,787,805,652,631,653,0.450869199374,-0.00553613996018,0.0496857569493,0.99999988167,8.05244571565e-05,-0.000479522854734,1.52575062596e-05,1793239439556661248
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,632,880.219418731,787,805,652,631,653,0.450873897345,-0.00553605823841,0.0496856208668,0.999999882176,8.06832649965e-05,-0.000478429161987,1.56345430387e-05,1793239439573327872
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,715,679.643684103,663,632,880.356315897,786.643684103,805.356315897,652,631,653,0.450876655381,-0.00553509992966,0.049685141192,0.999999881644,8.1165802217e-05,-0.000479460678721,1.55303631902e-05,1793239439589994240
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,715,679.066678987,663,632,880.933321013,786.066678987,805.933321013,652,631,653,0.450878211893,-0.00553359869454,0.0496844487086,0.999999880466,8.18488457375e-05,-0.00048180847362,1.51281350983e-05,1793239439606660352
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.476138461,746,715,679.523861539,663.523861539,632,881,786.523861539,805.476138461,652,631,653,0.450878801162,-0.00553231300092,0.0496838679085,0.999999880225,8.17650890643e-05,-0.000482339714086,1.45896859395e-05,1793239439623326720
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.112600128,745.887399872,715,679.887399872,663.887399872,632,881,786.887399872,805,652.112600128,631,653,0.450878822865,-0.00553168761588,0.0496831431994,0.999999879884,8.16705199196e-05,-0.000483074012992,1.42097256345e-05,1793239439639993600
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.686704588,745.313295412,715,679.313295412,663.313295412,632,881,786.313295412,805,652.686704588,631,653,0.450877036317,-0.00553365315304,0.0496817688547,0.999999878627,8.19422737931e-05,-0.000485613376343,1.45522994498e-05,1793239439656660736
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.262401907,715,679.262401907,663,631.737598093,881,786.262401907,805.262401907,652.737598093,631,653,0.450876616186,-0.00553464590514,0.0496807267099,0.999999877906,8.14815744947e-05,-0.000487166053218,1.47653392965e-05,1793239439673327360
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.840012715,715,679.840012715,663,631.159987285,881,786.840012715,805.840012715,652.159987285,631,653,0.450877837457,-0.00553447010459,0.0496800836182,0.999999877834,8.01410197432e-05,-0.000487533478533,1.48227771954e-05,1793239439689993728
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.574837794,746,715,680,663,631.425162206,881,787,805.574837794,652,631,653,0.450879906492,-0.00553234478599,0.0496812256399,0.999999878735,8.30557226239e-05,-0.00048520414951,1.44618403382e-05,1793239439706660096
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.013012516,746,715,680,663,632,881,786.986987484,805,652,631,653,0.450882239988,-0.00552951761035,0.0496829878069,0.999999879938,8.74775480844e-05,-0.000481951682253,1.3951174009e-05,1793239439723326720
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.592713115,746,715,680,663,632,881,786.407286885,805,652,631,653,0.450881947052,-0.00552864942614,0.0496819753026,0.999999879278,8.65418025161e-05,-0.000483487934843,1.38997616497e-05,1793239439739993600
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663,632,881,786,805,652.171020299,631,653,0.45088172681,-0.00552831275065,0.0496811555879,0.999999878787,8.54320574522e-05,-0.000484703069616,1.37822300605e-05,1793239439756660224
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680,663,632,881,786,805,652.746035834,631,653,0.450881678292,-0.00552923163954,0.0496807912933,0.999999878698,8.39112795574e-05,-0.000485159638974,1.35085073434e-05,1793239439773326848
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.671665702,715,680,663,632,881,786,805,652.671665702,631,653,0.450882729561,-0.00552985458885,0.0496815333534,0.999999879211,8.39075495024e-05,-0.000484095535746,1.37276870097e-05,1793239439789993472
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.083606184,715,680,663,632,881,786,805,652.083606184,631,653,0.450884650805,-0.00553024343838,0.0496831505834,0.999999880197,8.51038634532e-05,-0.000481828521248,1.43367716739e-05,1793239439806660096
+244,4.066666667,POSE1_TO_POSE2_PRESS,766.496510218,745.496510218,715,680,663,632.496510218,881,786,805,652,631,653,0.450884498691,-0.0055300958744,0.0496828388707,0.999999879995,8.38562300712e-05,-0.00048246764116,1.42398359051e-05,1793239439823326720
+245,4.083333333,POSE1_TO_POSE2_PRESS,766.924892648,746,715,680.075107352,663.075107352,632.924892648,880.924892648,786,805,652.075107352,631,653,0.450883897203,-0.00552997960608,0.0496822402054,0.999999879615,8.23749920089e-05,-0.000483515415182,1.40361122115e-05,1793239439839993344
+246,4.100000000,POSE1_TO_POSE2_PRESS,766.347651657,746,715,680.652348343,663.652348343,632.347651657,880.347651657,786,805,652.652348343,631,653,0.450882588771,-0.00553066693245,0.0496818604445,0.999999879374,8.20399640654e-05,-0.000484075159922,1.39007498372e-05,1793239439856659968
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.770748802,746,715,680.770748802,663.770748802,632,880.229251198,786.229251198,805,652.770748802,631,653,0.450882308911,-0.00553091574243,0.0496816452872,0.999999879165,8.18529306487e-05,-0.000484535831083,1.39611237316e-05,1793239439873326848
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.194357875,746,715,680.194357875,663.194357875,632,880.805642125,786.805642125,805,652.194357875,631,653,0.450883586548,-0.00553050053653,0.0496816793778,0.999999879006,8.18899953771e-05,-0.000484846481843,1.43178879225e-05,1793239439889993728
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.388144473,746,715.388144473,680,663,631.611855527,881,787,805,652,631,653,0.450883457334,-0.00553093754455,0.0496815421525,0.999999878755,8.16093195312e-05,-0.000485412502322,1.43257858708e-05,1793239439906660096
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.973755949,746,715.973755949,680,663,631.026244051,881,787,805,652,631,653,0.45088261239,-0.00553180811314,0.0496813177709,0.999999878455,8.11669943918e-05,-0.000486108441141,1.41561994429e-05,1793239439923326720
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,716,680,663.555702729,631.555702729,881,787,805,652,631,653,0.450882625847,-0.00553006238841,0.0496810006955,0.999999878223,8.25577813772e-05,-0.000486366606285,1.36577609782e-05,1793239439939993600
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,745.86430324,715.86430324,680,663.86430324,631.86430324,880.86430324,786.86430324,805,652,630.86430324,653.13569676,0.450883039816,-0.00552843659021,0.0496810171505,0.999999878211,8.40056348666e-05,-0.000486150284999,1.33567495401e-05,1793239439956660224
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,745.290064425,715.290064425,680,663.290064425,631.290064425,880.290064425,786.290064425,805,652,630.290064425,653.709935575,0.450884617997,-0.00552759506797,0.0496821255571,0.999999878908,8.53599660584e-05,-0.000484466906164,1.3743641535e-05,1793239439973326848
+254,4.233333333,HOLD_POSE2,765,746,715,680,663,631,881,786,805,652,631,653,0.450883944346,-0.00553146064354,0.04968027613,0.999999878474,8.00657838409e-05,-0.000486267932358,1.35818132397e-05,1793239440011120384
+255,4.250000000,HOLD_POSE2,765.598546143,746,715,680,663,631.598546143,881,786,805,652,631,653,0.450884460626,-0.0055302408841,0.0496807778214,0.999999878515,8.19215825114e-05,-0.000485879747177,1.33974956272e-05,1793239440027786496
+256,4.266666667,HOLD_POSE2,766,745.809632941,715,680,663,631.809632941,881,786,805,652,631,653,0.450884487462,-0.00552948554238,0.0496809471651,0.999999878416,8.30244982822e-05,-0.00048589926878,1.33151546489e-05,1793239440044452608
+257,4.283333333,HOLD_POSE2,766,745.231510419,715,680,663,631.231510419,881,786,805,652,631,653,0.450883517357,-0.00552967616511,0.0496804395555,0.999999878036,8.25938798704e-05,-0.000486749241414,1.34405281286e-05,1793239440061118976
+258,4.300000000,HOLD_POSE2,766,745.346001471,715,680,663,631,880.653998529,786,805,652,631,653,0.450883999599,-0.00553033172972,0.0496807051686,0.999999878043,8.26891134243e-05,-0.000486712501514,1.36843828224e-05,1793239440077785600
+259,4.316666667,HOLD_POSE2,766,745.923105471,715,680,663,631,880.076894529,786,805,652,631,653,0.450885451898,-0.00553129783995,0.0496814872353,0.999999878308,8.31355759144e-05,-0.000486083505379,1.40073739014e-05,1793239440094452224
+260,4.333333333,HOLD_POSE2,766,746,715,680,663,631.508730725,880.508730725,786.508730725,805,652,630.491269275,652.491269275,0.450884145396,-0.00552884255669,0.049680853113,0.9999998775,8.63742991492e-05,-0.000487189192052,1.36641418403e-05,1793239440111119616
+261,4.350000000,HOLD_POSE2,766,746,715,680,663,632,880.905613826,786.905613826,805,652,630.094386174,652,0.450882925662,-0.00552655843553,0.0496802765676,0.99999987691,8.87653692745e-05,-0.00048798152947,1.32549002152e-05,1793239440127786752
+262,4.366666667,HOLD_POSE2,766,746,715,680,663,632,880.326530142,786.326530142,805,652,630.673469858,652,0.450884329352,-0.00552785417909,0.0496811136569,0.999999878338,8.45992651638e-05,-0.000485795350704,1.30326095668e-05,1793239440144453376
+263,4.383333333,HOLD_POSE2,765.747803402,746,715,680,663,631.747803402,880.252196598,786.252196598,805,652,631,652,0.450884527038,-0.00552823137269,0.0496810144793,0.999999878437,8.32206435218e-05,-0.000485828137528,1.30974044045e-05,1793239440161119744
+264,4.400000000,HOLD_POSE2,765.169538204,746,715,680,663,631.169538204,880.830461796,786.830461796,805,652,631,652,0.450883165465,-0.00552742095979,0.0496797047889,0.999999876829,8.54459982733e-05,-0.000488729856971,1.35333762025e-05,1793239440177785600
+265,4.416666667,HOLD_POSE2,765,746,715,680.404483118,663.404483118,631.404483118,880.595516882,786.595516882,805,652,630.595516882,652.404483118,0.45088384382,-0.00552878654064,0.0496800090873,0.999999877306,8.40388926712e-05,-0.000487988922186,1.38364995373e-05,1793239440194451968
+266,4.433333333,HOLD_POSE2,765,746,715,680.976744148,663.976744148,631.976744148,880.023255852,786.023255852,805,652,630.023255852,652.976744148,0.450885368328,-0.00553105471457,0.0496809828613,0.99999987864,8.11250578402e-05,-0.000485737029849,1.408451792e-05,1793239440211118592
+267,4.450000000,HOLD_POSE2,765,746,715,680.431320436,663.431320436,632,880.568679564,786.568679564,805,652.568679564,630.568679564,653,0.450886623851,-0.00552968945114,0.0496818413418,0.999999878998,8.26209636607e-05,-0.000484748789053,1.40469929664e-05,1793239440227785472
+268,4.466666667,HOLD_POSE2,765.157882778,745.842117222,715,680,663,632,881,786.842117222,805,652.842117222,630.842117222,653,0.450887555397,-0.00552844207777,0.0496824287582,0.999999879158,8.44151614938e-05,-0.000484109696188,1.40045936941e-05,1793239440244452352
+269,4.483333333,HOLD_POSE2,765.737560351,745.262439649,715,680,663,632,881,786.262439649,805,652.262439649,630.262439649,653,0.450887651856,-0.00552792084311,0.0496823050554,0.999999878906,8.65072275425e-05,-0.000484260371571,1.39814865972e-05,1793239440261119232
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,663,631,881,786,805,652,631,653,0.450886592163,-0.00552837593807,0.0496817254021,0.999999878304,8.75908802731e-05,-0.000485312555119,1.38316773929e-05,1793239440297737984
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.415513768,746,715,680.415513768,663,631.584486232,881,786,805.584486232,652,631,653,0.450887193034,-0.00552842845035,0.0496816909109,0.999999878731,8.53640330828e-05,-0.000484833716773,1.37136604017e-05,1793239440314404864
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.168945182,746,715,679.831054818,663,632,881,786,805.831054818,652,631,652.831054818,0.450887600638,-0.00552879905001,0.0496818637782,0.999999879032,8.37335325487e-05,-0.000484495374431,1.37246615751e-05,1793239440331071488
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.753337162,746,715,679.246662838,663,632,881,786,805.246662838,652,631,652.246662838,0.450887532991,-0.00552995184646,0.0496825465532,0.999999879038,8.35694853843e-05,-0.00048450252048,1.40529264829e-05,1793239440347737856
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,746,715.33278432,679.33278432,663.33278432,631.66721568,881,786.33278432,805,652,631,652.33278432,0.450886807097,-0.00553012605627,0.0496824835533,0.999999878791,8.3329703788e-05,-0.000485053155621,1.40519843745e-05,1793239440364404736
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,715.908619959,679.908619959,663.908619959,631.091380041,881,786.908619959,805,652,631,652.908619959,0.450885600448,-0.00552958554853,0.0496818758714,0.999999878359,8.30346090379e-05,-0.00048600073176,1.38106036359e-05,1793239440381071360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,715.516445753,680,663.516445753,631.483554247,880.516445753,786.516445753,805,652,630.516445753,653,0.45088566818,-0.00552967444899,0.0496812241569,0.999999878315,8.12206101646e-05,-0.00048641164637,1.33203545029e-05,1793239440397737472
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.059698862,631.940301138,880,786.059698862,805,652,630.059698862,653,0.450885593747,-0.00552978255119,0.0496803842781,0.999999878127,7.95828642143e-05,-0.000487079364916,1.28728347201e-05,1793239440414403840
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.64806727,631.35193273,880,786.64806727,805,652,630.64806727,653,0.450882131649,-0.00552900934468,0.0496779516424,0.999999876047,8.20430934684e-05,-0.0004909176671,1.3219414272e-05,1793239440431070208
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.767586221,746,715,680,663.767586221,631.232413779,880.232413779,787,805.232413779,652.232413779,630.767586221,653,0.450875373761,-0.00552873449999,0.0496746504084,0.999999873318,8.32691197287e-05,-0.000496241873656,1.31856609544e-05,1793239440447736832
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.189226328,746,715,680,663.189226328,631.810773672,880.810773672,787,805.810773672,652.810773672,630.189226328,653,0.450863710116,-0.00552920146308,0.0496700562726,0.999999869609,8.26580441563e-05,-0.000503777837026,1.25857850708e-05,1793239440464403456
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.38882058,745.61117942,715.38882058,680,663,631.61117942,881.38882058,786.61117942,805.61117942,652.61117942,630.38882058,653,0.450835810367,-0.00552847154086,0.0496585167214,0.999999859129,8.36457745285e-05,-0.000524028343316,1.18376441266e-05,1793239440481070080
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.966715343,745.033284657,715.966715343,680,663,631.033284657,881.966715343,786.033284657,805.033284657,652.033284657,630.966715343,653,0.450800015387,-0.00552715960186,0.0496435997797,0.999999844788,8.5410966033e-05,-0.000550461629239,1.10174053561e-05,1793239440497736704
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.538502612,715.461497388,680.538502612,663,631.538502612,880.922994777,786.538502612,805,652,631,653,0.450740562741,-0.00552309334536,0.0496247216541,0.999999826611,8.59541050492e-05,-0.000582494954022,9.49929319019e-06,1793239440514404352
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715.114203017,680.885796983,663,631.885796983,880.114203017,786.885796983,805,652,631,652.885796983,0.450678341728,-0.00551967507009,0.0496074487539,0.999999809893,8.65680580352e-05,-0.000610453173727,8.18885942037e-06,1793239440531071744
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,715.707900563,680.292099437,663,631.292099437,880.707900563,786.292099437,805,652,631,652.292099437,0.450610568051,-0.00551968418798,0.04959793203,0.999999803999,8.77929164179e-05,-0.000619864611402,7.92946442441e-06,1793239440547738112
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715.706092237,680,663,631,881,786,805,652,631,652.293907763,0.450535965923,-0.0055170757222,0.0495931686768,0.999999801144,8.97379251514e-05,-0.000624185573799,7.21515118604e-06,1793239440564404736
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715.127533216,680,663,631,881,786,805,652,631,652.872466784,0.450454750407,-0.00551193211246,0.0495930089894,0.999999801291,9.23804033259e-05,-0.000623576382825,6.06024718556e-06,1793239440581071616
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,631.448962778,881,786,805.448962778,652,631,653,0.450355980036,-0.00550822536363,0.0495963491065,0.99999980393,9.5993601285e-05,-0.000618783613336,5.64802322138e-06,1793239440597737984
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,881.025400555,786,805.974599445,652.025400555,631,653,0.450250896217,-0.00550490306741,0.0496004824905,0.99999980707,9.96977754329e-05,-0.000613099028956,5.43578862578e-06,1793239440614404096
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,632,881.613471097,786,805.386528903,652.613471097,631,653,0.450115916371,-0.00550109702005,0.0496002664253,0.999999806639,9.93369256071e-05,-0.000613863841166,5.00175279301e-06,1793239440631070720
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.801482645,746,715,680,663,632,881.801482645,786,805,652.801482645,631,653,0.449968428166,-0.00549577449919,0.0495992355121,0.999999804919,0.000101732444503,-0.000616273941243,4.26779247006e-06,1793239440647737088
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.222236611,746,715,680,663,632,881.222236611,786,805,652.222236611,631,653,0.449796950682,-0.00548754359352,0.0495966418339,0.999999800668,0.000109414295325,-0.000621839474519,2.95861873436e-06,1793239440664403712
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.355067006,746,715.355067006,680,663.355067006,632,881,786,805,652,631,653,0.449607086121,-0.00548038113589,0.0495942958041,0.999999797944,0.000115774796397,-0.000625063397674,1.84991144674e-06,1793239440681070592
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.931161533,746,715.931161533,680,663.931161533,632,881,786,805,652,631,653,0.449405775676,-0.00547388378129,0.049592103934,0.999999796183,0.000121312764286,-0.000626829680221,8.65993441529e-07,1793239440697737472
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746,715.494558958,680,663.494558958,632,881,786.505441042,805,652,631,652.494558958,0.449166742149,-0.0054647608948,0.0495894584879,0.999999790225,0.000128322842993,-0.000634889069262,9.65320048299e-08,1793239440714404352
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.918039029,715,680,663,632,881,786.918039029,805,652,631,652,0.448919212325,-0.00545577404022,0.0495876657975,0.999999785369,0.000134698472652,-0.000641184791855,-7.40108592786e-07,1793239440731071232
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.326044208,715,680,663,632,881,786.326044208,805,652,631,652,0.448650667768,-0.00544985093495,0.0495915627494,0.999999791565,0.000135882814168,-0.000631190940019,-2.17590481619e-06,1793239440747737856
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.259720176,715,680,663.259720176,632,880.740279824,786.259720176,805,652,631,652.259720176,0.448362917998,-0.00544138631346,0.049594602905,0.99999979569,0.000140259764808,-0.00062364489309,-3.83578620282e-06,1793239440764404736
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745.837846273,715,680,663.837846273,632,880.162153727,786.837846273,805,652,631,652.837846273,0.448051623467,-0.00542980590123,0.0495965926644,0.999999797307,0.000148550718758,-0.000619099751777,-5.77038640928e-06,1793239440781071104
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745.585874305,715,680,664,632.414125695,880.414125695,786.585874305,805,652,631,653,0.447707474666,-0.00541985447174,0.0495946301875,0.999999795462,0.000155182055017,-0.000620427852554,-7.9453350483e-06,1793239440797737728
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745.010314763,715,680,664,632.989685237,880.989685237,786.010314763,805,652,631,653,0.447350518672,-0.00541053805008,0.0495911270559,0.999999792244,0.000161166441443,-0.000624045451688,-1.0213975901e-05,1793239440814403840
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,633,881,786.563504607,805,652,631,653,0.446951783461,-0.00540283735092,0.049587683113,0.999999787351,0.000160924127807,-0.000631852357962,-1.28124048757e-05,1793239440831070976
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.857752125,745.142247875,715,680,664,633.142247875,881,787,805,652,631,653,0.446544787503,-0.00539753517344,0.0495873212219,0.999999786269,0.000158659924333,-0.000634080807512,-1.51517054031e-05,1793239440847737856
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.263253383,745.736746617,715,680,664,633.736746617,881,787,805,652,631,653,0.446113952019,-0.00539976491487,0.0495967547126,0.999999797396,0.000150328750677,-0.00061833053025,-1.66480209834e-05,1793239440864404480
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.679933323,715,680,664,633.679933323,881,787,805,652,631,652.679933323,0.44567696188,-0.00540707315805,0.0496198121899,0.999999820722,0.000136318360323,-0.000582814940867,-1.73412666674e-05,1793239440881071104
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.105497328,715,680,664,633.105497328,881,787,805,652,631,652.105497328,0.445235080354,-0.00541841748243,0.049653697175,0.999999851616,0.000117794476482,-0.000531591093569,-1.73962818923e-05,1793239440897737984
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.471215948,745.471215948,715,680,664,633,881,787,805,652,631.471215948,652.471215948,0.444737034258,-0.00542027320935,0.0496771918708,0.999999867245,0.00010961739975,-0.000503158119074,-1.80469531951e-05,1793239440914404096
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.950780952,746,715,680,664,633.098438096,881,787,805,652,631.950780952,652.950780952,0.444220663729,-0.00541922209224,0.0496965671829,0.999999878331,0.000104359157629,-0.00048175127349,-1.90412273024e-05,1793239440931070720
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.36429027,746,715,680,664,634.27141946,881,787,805,652,631.36429027,652.36429027,0.443642191397,-0.00540974180065,0.0496964916782,0.999999878465,0.00010555341627,-0.000481072197016,-2.23234567891e-05,1793239440947737600
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.219796793,745.780203207,715,680,664.219796793,634.780203207,881,787,805,652,631.219796793,652,0.443057021835,-0.00540028136078,0.0496979262923,0.99999988014,0.000106683105449,-0.000477151492822,-2.57877674236e-05,1793239440964404736
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.799943164,745.200056836,715,680,664.799943164,634.200056836,881,787,805,652,631.799943164,652,0.442460872421,-0.00539085346772,0.0497018366961,0.99999988429,0.000107706935053,-0.000467916247102,-2.95505938852e-05,1793239440981072128
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745.377006174,714.622993826,680,665,634.377006174,881,787,805,652,632,652.377006174,0.441872219917,-0.0053889668349,0.0497335073072,0.999999909342,0.000100406180891,-0.000412596779957,-3.1584217623e-05,1793239440997738752
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745.952446265,714.047553735,680,665,634.952446265,881,787,805,652,632,652.952446265,0.441287513365,-0.00539104947906,0.0497797892617,0.999999940078,8.87238539796e-05,-0.00033302128222,-3.27076902781e-05,1793239441014405376
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745.461720052,714.538279948,680,665.538279948,635,881,787.538279948,805,652,632,652.461720052,0.440661322978,-0.00540116030005,0.0498197980686,0.999999961007,6.96738077255e-05,-0.000268432679448,-3.2798522176e-05,1793239441031071232
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,635,881,788,805,652,632,652.123422115,0.440000826391,-0.00540932049649,0.0498464692511,0.999999972355,5.22520739944e-05,-0.000226786804824,-3.35804662025e-05,1793239441047737344
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,635,881,788,805,652,632,652.702553825,0.439227459764,-0.00540760815196,0.049825980648,0.999999963291,4.32931395191e-05,-0.000264867196103,-3.72576632645e-05,1793239441064403968
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,714.718711205,680,666,635,880.718711205,788,804.718711205,652,632,653,0.438444195828,-0.00540222185279,0.0498026664196,0.999999951388,3.83147130939e-05,-0.000306633313246,-4.1605803038e-05,1793239441081070592
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,714.140395103,680,666,635,880.140395103,788,804.140395103,652,632,653,0.437650480717,-0.0053929560357,0.0497763684658,0.999999936152,3.75395087725e-05,-0.000352291382501,-4.66624261727e-05,1793239441097736960
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766.434703798,745,714.434703798,680,666,635,880,788,804.434703798,652,632,652.565296202,0.436879951526,-0.00538702781931,0.0497911463338,0.999999942668,3.39438815145e-05,-0.000333276360947,-4.93779366473e-05,1793239441114403840
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766.990978976,745,715,680,666,635,880,788,804.990978976,652,632,652,0.436115825375,-0.00538219947471,0.0498184862982,0.999999954863,2.94003351644e-05,-0.000294569379386,-5.1365750771e-05,1793239441131070976
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.40056378,745,715,680,666,635,880,788,804.40056378,652,632,652,0.435285298524,-0.00537929523496,0.0498067323901,0.999999946086,2.20399248423e-05,-0.000323010359068,-5.48263400852e-05,1793239441147737344
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766.186342453,745,715,679.813657547,665.813657547,635.186342453,880.186342453,787.813657547,804,652,632,652,0.434448181908,-0.00537971105527,0.0497956825118,0.99999993937,9.78491510018e-06,-0.000343133452255,-5.85200085496e-05,1793239441164403968
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.765845164,745,715,679.234154836,665.234154836,635.765845164,880.765845164,787.234154836,804,652,632,652,0.43359716173,-0.00538713180481,0.049786118053,0.999999938196,-1.27971126768e-05,-0.000345706799921,-6.27054459596e-05,1793239441181070336
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766.656558744,745,715,679.343441256,665.343441256,635.656558744,881,787.343441256,804,652,632,652,0.432763209139,-0.00538909334537,0.0497992088452,0.99999994515,-2.73247727411e-05,-0.000323483001388,-6.5665255061e-05,1793239441197736960
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.080255413,745,715,679.919744587,665.919744587,635.080255413,881,787.919744587,804,652,632,652,0.431940828849,-0.00538735340037,0.0498276604855,0.999999956585,-3.63913617097e-05,-0.000284446094336,-6.77940561524e-05,1793239441214403584
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.494637209,745,715,679.505362791,666,635,880.505362791,788,804.494637209,652,632,652,0.431060123592,-0.00538223333883,0.0498165428934,0.99999995182,-4.04070860448e-05,-0.000299400306761,-7.13243351936e-05,1793239441231070464
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766.929072422,745,714.929072422,679,666,635,880,787.929072422,805,652,631.929072422,652,0.430169739425,-0.00537675972999,0.0497983856849,0.999999944292,-2.90625338944e-05,-0.000324823657056,-7.11450284649e-05,1793239441247737088
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.340925289,745,714.340925289,679,666,635,880,787.340925289,805,652,631.340925289,652,0.429277587083,-0.00537269586003,0.0497755780564,0.999999929361,8.83335072906e-05,-0.000362891224756,-4.22611294787e-05,1793239441264403712
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.755319529,745,714,679,665.755319529,635,880,787.244680471,805,652,631.244680471,652,0.42837392836,-0.00536672259839,0.0497707130714,0.999999917708,0.000152922783501,-0.000374783627215,-2.71306268006e-05,1793239441281070336
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.173218303,745,714,679,665.173218303,635,880,787.826781697,805,652,631.826781697,652,0.427454401908,-0.0053581162352,0.0497905914565,0.9999999276,0.000144690171183,-0.00035057980539,-3.09664130991e-05,1793239441297736704
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.403848175,745.403848175,714.403848175,679,665.403848175,635,880,788,804.596151825,652,632,652,0.426549240621,-0.00535666148676,0.0497864910954,0.999999928356,0.000128739344309,-0.000354106296368,-3.63790614448e-05,1793239441314403584
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.978781709,745.978781709,714.978781709,679,665.978781709,635,880,788,804.021218291,652,632,652,0.425650165014,-0.00535823643329,0.0497722324295,0.99999992488,0.00010951879033,-0.000369380397808,-4.24597279398e-05,1793239441331070464
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,746,715,679,666,635,880,787.4495388,804.5504612,652,632,652.5504612,0.424822954575,-0.00536534889182,0.0498062162047,0.999999949747,9.17204543598e-05,-0.000300204148159,-4.43917723686e-05,1793239441347736832
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.873262419,715,679.126737581,666,635,879.873262419,787,804.873262419,652,632,653,0.423988249887,-0.00537049120373,0.0498367092343,0.999999967123,7.83049292778e-05,-0.00023983736952,-4.58242017372e-05,1793239441364403456
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745.279590517,715,679.720409483,666,635,879.279590517,787,804.279590517,652,632,653,0.423115788525,-0.00536759319302,0.049847530559,0.99999997062,8.08360364373e-05,-0.000223849721282,-4.6001623529e-05,1793239441381070080
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766.306296377,745,714.693703623,679.693703623,665.693703623,635,879.306296377,787.306296377,804,652,631.693703623,653,0.422200667724,-0.00536374224288,0.0498337533109,0.999999963134,8.65543339048e-05,-0.000253105785295,-4.66689437562e-05,1793239441397736704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.885253145,745,714.114746855,679.114746855,665.114746855,635,879.885253145,787.885253145,804,652,631.114746855,653,0.421247572184,-0.00535904300067,0.0497980787857,0.999999942289,9.51098194186e-05,-0.000322637115934,-4.77723639667e-05,1793239441414403584
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766.539830103,745,714.460169897,679,665.460169897,635,880,787.539830103,803.539830103,652,631.460169897,653,0.420380931971,-0.00535934803023,0.0498023226595,0.999999943529,9.4550612745e-05,-0.000318936761117,-4.77580879637e-05,1793239441431070208
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,635,879.964993318,787.035006682,803.035006682,652.035006682,632,653,0.419534670433,-0.00536073294455,0.0498148234334,0.999999949466,9.19447728093e-05,-0.000300597699863,-4.74975360191e-05,1793239441447737088
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,635,879.375608789,787.624391211,803.624391211,652.624391211,632,653,0.418672700324,-0.00535962983568,0.0498018209248,0.999999937754,9.26076215278e-05,-0.000337103811431,-4.77121459291e-05,1793239441464403712
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.210189868,665.789810132,635,879.210189868,788,804,652.789810132,632,653,0.417828165624,-0.00535872983675,0.0497926698947,0.999999930663,9.3044556326e-05,-0.000357306348158,-4.84627540391e-05,1793239441481070336
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.78968816,665.21031184,635,879.78968816,788,804,652.21031184,632,653,0.417014265197,-0.00535818670644,0.0497902859987,0.999999933557,9.30845554613e-05,-0.000348863136159,-5.01551234199e-05,1793239441497736960
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745.365562981,715,679.634437019,665.365562981,635,879.634437019,788,804,652.365562981,632,653,0.41622422509,-0.00536002316245,0.0498072270077,0.999999945903,9.15162879059e-05,-0.00031197369774,-4.99187802814e-05,1793239441514403584
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745.939373611,715,679.060626389,665.939373611,635,879.060626389,788,804,652.939373611,632,653,0.415447777369,-0.00536321518042,0.0498351766974,0.999999961347,8.90318503542e-05,-0.000258879500725,-4.8583721059e-05,1793239441531070208
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745.473691789,715,679,666,635,879.526308211,788,804,653,632,653,0.414673106254,-0.00536406522642,0.0498256138677,0.999999956451,8.89520622388e-05,-0.000277049742731,-4.92935006314e-05,1793239441547738112
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.886966774,635,880,788,804,652.886966774,631.886966774,653,0.413898866223,-0.00536383785391,0.0498098510141,0.999999947773,8.97176738796e-05,-0.00030636030552,-5.04714274581e-05,1793239441564405760
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.30750446,635,880,788,804,652.30750446,631.30750446,653,0.41312553899,-0.00536030623158,0.04978679097,0.999999934142,9.27995603741e-05,-0.000346900277008,-5.25843100226e-05,1793239441581071872
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635,880,788,804,652.270719689,631.270719689,653,0.412393839289,-0.00536008771526,0.0497856686467,0.999999931945,9.39972880469e-05,-0.000352850768408,-5.26372623093e-05,1793239441597737984
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635,880,788,804,652.847543799,631.847543799,653,0.411709208146,-0.00536361534857,0.0498093514411,0.9999999433,9.30645855734e-05,-0.000319690718917,-5.03610386223e-05,1793239441614404096
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745.424961137,715,679,665.424961137,635,879.575038863,788,804,652.575038863,631.575038863,652.575038863,0.411014555507,-0.00536460773144,0.0498165784963,0.999999946508,9.43706437051e-05,-0.000309179710986,-4.98700788577e-05,1793239441631070720
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745.997364367,714.997364367,679,665.997364367,635,879,788,803.997364367,652,631.002635633,652.002635633,0.410316614716,-0.00536468690496,0.0498178139457,0.999999946984,9.64925257162e-05,-0.000306952100058,-5.00228868216e-05,1793239441647737088
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.409929411,714.409929411,679,665.409929411,635,879,788,803.409929411,652,631.590070589,652.590070589,0.409687940247,-0.00536423167714,0.0498013426013,0.999999936725,0.000101174532301,-0.000337256953925,-5.07088993129e-05,1793239441664403968
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,665.175033141,635,879,788.175033141,803.175033141,652,631.824966859,653,0.409080386897,-0.00536510410222,0.0497955334146,0.999999933357,0.000103860057768,-0.000346272652996,-5.09365198631e-05,1793239441681070848
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,665.75428606,635,879,788.75428606,803.75428606,652,631.24571394,653,0.408521610319,-0.00536904259548,0.0498143473047,0.999999946694,0.00010193493079,-0.000306123397905,-5.01055348414e-05,1793239441697738240
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.668599499,745,714.331400501,679,666,635,879.331400501,788.668599499,804,652,631,653,0.407974677361,-0.00537220991623,0.0498296060853,0.999999954496,9.98986345256e-05,-0.000280353402558,-4.92899145572e-05,1793239441714405376
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.093060484,745,714.906939516,679,666,635,879.906939516,788.093060484,804,652,631,653,0.407436469479,-0.00537480912381,0.049842245861,0.999999958885,9.77804414518e-05,-0.000265176426759,-4.84856133616e-05,1793239441731072000
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.483209996,745,715,679,666,635.483209996,879.516790004,788,803.516790004,652,631,653,0.406882367475,-0.00537419969066,0.0498257516666,0.999999948938,9.82867057231e-05,-0.000300080657591,-4.91454905045e-05,1793239441747738368
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,635.939242932,879,788,803.060757068,652.060757068,631.060757068,653,0.40633355855,-0.00537275867179,0.0498041806841,0.99999993498,9.96682624805e-05,-0.0003429105767,-5.01797100592e-05,1793239441764404224
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,635.351853454,879,788,803.648146546,652.648146546,631.648146546,653,0.405857201779,-0.0053694739784,0.0497873126401,0.9999999245,0.000104249007098,-0.000370710666523,-5.20107787113e-05,1793239441781070592
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.76718913,635,879,788,803.76718913,653,632,653,0.405403069113,-0.00536823561959,0.0497786357522,0.999999918835,0.000105525263261,-0.000385186825591,-5.31553128456e-05,1793239441797737216
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.186595805,635,879,788,803.186595805,653,632,653,0.404982135772,-0.00537005415985,0.0497821951518,0.999999921284,0.000101865138328,-0.000379759146667,-5.32742733605e-05,1793239441814403840
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.390178687,635.390178687,879,788,803,653,631.609821313,653,0.404613383276,-0.0053736394622,0.0498024249406,0.999999933997,9.60475113285e-05,-0.000346378935962,-5.29456838715e-05,1793239441831070464
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.965144644,635.965144644,879,788,803,653,631.034855356,653,0.404269343409,-0.0053780614971,0.049830549768,0.99999994972,8.92080983454e-05,-0.000299760502203,-5.24051361683e-05,1793239441847737088
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,714.449046783,679,666,636,879,788,803.550953217,652.449046783,631.550953217,653,0.403953052699,-0.00538464009556,0.0498548300732,0.999999961056,7.88272248892e-05,-0.000262785437168,-5.11577254498e-05,1793239441864403968
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,714.135870773,679,666,636,879,788,804,652,632,652.864129227,0.403638639643,-0.00538959967838,0.0498710724904,0.999999967602,7.05702139785e-05,-0.000239310055867,-5.04677402524e-05,1793239441881070848
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,714.71559202,679,666,636,879,788,804,652,632,652.28440798,0.403324510376,-0.0053888157759,0.0498618679363,0.999999962955,6.99978306101e-05,-0.00025790127622,-5.17477186127e-05,1793239441897737472
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.705790995,635.705790995,879,788,804,652,632,652.294209005,0.4030261051,-0.00538673784923,0.0498486019151,0.999999956147,6.97382281322e-05,-0.000282801573807,-5.35420126885e-05,1793239441914404096
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.128237528,635.128237528,879,788,804,652,632,652.871762472,0.402742843177,-0.00538341368412,0.0498314244091,0.999999946778,6.97798561799e-05,-0.000313777965916,-5.58316297382e-05,1793239441931070720
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.445894447,715,679,665,635.445894447,879,788,804,652,631.554105553,652.554105553,0.40249673943,-0.00538201412403,0.0498206469927,0.999999939367,6.99314113878e-05,-0.000336384970753,-5.67453240317e-05,1793239441947737344
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.980343469,715,679,665.019656531,636,879,788,803.980343469,652.019656531,631,652.019656531,0.402263132025,-0.00538114985285,0.0498120835765,0.999999932674,7.008450431e-05,-0.000355611982046,-5.72771378063e-05,1793239441964403968
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.38893628,715,679,665.61106372,636,879,788,803.38893628,652.61106372,631,652.61106372,0.402084533082,-0.00537987821184,0.0498147877671,0.999999936045,6.93697511994e-05,-0.000346004449496,-5.81235660349e-05,1793239441981070592
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.802189793,635.802189793,879.197810207,788,803,653,631,653,0.401918550014,-0.00537881997435,0.0498198940233,0.999999939976,7.01702272504e-05,-0.00033424984836,-5.83194066053e-05,1793239441997737216
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.224396343,635.224396343,879.775603657,788,803,653,631,653,0.40177680141,-0.00537817167418,0.0498296145238,0.999999944951,7.38813807436e-05,-0.000318370839891,-5.72655016141e-05,1793239442014404352
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.647265381,665,635,879.647265381,788,803.352734619,653,631,653,0.401655133397,-0.00537663514223,0.0498383995796,0.999999946583,0.000118161509187,-0.000301057261574,-4.72900448883e-05,1793239442031070976
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.070555021,665,635,879.070555021,788,803.929444979,653,631,653,0.401546215933,-0.0053745346101,0.0498465906575,0.999999941792,0.000188201701102,-0.00028283277223,-3.1649674199e-05,1793239442047737600
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.515951611,665,635.515951611,879,788,803.484048389,653,631.515951611,653,0.401449759422,-0.00537856594393,0.0498493812261,0.999999943569,0.000186163508463,-0.00027794439189,-3.08552289834e-05,1793239442064403968
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,714.897807199,679,665,636,879,788,803,653,631.897807199,653,0.401358446237,-0.00538428064927,0.0498507975653,0.999999946274,0.00017409895057,-0.000275910651322,-3.18572529956e-05,1793239442081070336
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,714.319169806,679,665,636,879,788,803,653,631.319169806,653,0.401283014123,-0.00539385858779,0.0498493166621,0.999999947571,0.000162131966383,-0.000278518916662,-3.15866620191e-05,1793239442097736960
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.259330373,714.259330373,679,665,636,879,788,803.259330373,653,631,653,0.401217338491,-0.00539805802646,0.0498485190508,0.999999948378,0.000155600548108,-0.000279297537124,-3.20189518845e-05,1793239442114403840
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.837661733,714.837661733,679,665,636,879,788,803.837661733,653,631,653,0.401163664264,-0.005395641399,0.0498485619533,0.999999948722,0.000155755392828,-0.000277825520521,-3.33158519542e-05,1793239442131070464
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.589266241,715,679,665.410733759,635.589266241,879,788,804,653,631.410733759,653,0.401126113489,-0.00539467142014,0.0498509061434,0.999999950445,0.000155037050861,-0.000271906981413,-3.37637221704e-05,1793239442147737600
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.018246645,715,679,665.981753355,635.018246645,879,788,804,653,631.981753355,653,0.401094854775,-0.00539426598535,0.0498541483941,0.999999952657,0.000153977954182,-0.000264253219534,-3.38802646816e-05,1793239442164404736
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.425485735,679,665.425485735,635.574514265,879.574514265,788,804,653,632,652.425485735,0.401069562451,-0.00539534033301,0.0498546646856,0.999999953306,0.000152110276519,-0.000262818603528,-3.43192203637e-05,1793239442181071104
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.163775789,679.163775789,665,635.836224211,879.836224211,788,804,652.836224211,632,652.163775789,0.401047189841,-0.0053962055823,0.0498550651657,0.999999953832,0.000150451398224,-0.000261714937817,-3.47310774303e-05,1793239442197737728
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.742356435,679.742356435,665,635.257643565,879.257643565,788,804,652.257643565,632,652.742356435,0.401031713352,-0.00539641751863,0.0498554002259,0.999999954185,0.000149388960155,-0.000260929540701,-3.5047344885e-05,1793239442214404096
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.680954975,665.319045025,635.319045025,879,788,803.680954975,652.319045025,632,653,0.401020329319,-0.00539610797666,0.0498556768891,0.999999954503,0.00014886044642,-0.000260005130224,-3.51092782791e-05,1793239442231070720
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.105785239,665.894214761,635.894214761,879,788,803.105785239,652.894214761,632,653,0.401012230648,-0.00539537979951,0.0498559066722,0.999999954791,0.000148760559268,-0.000258969121756,-3.49670360177e-05,1793239442247737344
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.479686289,715,679,665.520313711,636,879.479686289,788,803.479686289,652.520313711,631.520313711,653,0.401008677275,-0.00539662166388,0.0498567572185,0.999999955387,0.000147237475311,-0.000257565800618,-3.47363120818e-05,1793239442264403968
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,665,636,880,788,804,652.0664596,631.0664596,653,0.401006239144,-0.00539790781138,0.0498577307749,0.999999955982,0.000145853671659,-0.000256064583459,-3.45613566251e-05,1793239442281070592
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,715,679,665,636,880,788,804,652.645368828,631.645368828,653,0.40100450166,-0.00539611195418,0.0498585740879,0.999999956062,0.000148016989265,-0.000254446820527,-3.49701746176e-05,1793239442297737472
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.776327844,715,679,665,635.776327844,879.776327844,788,803.776327844,652.776327844,632,653,0.401003448084,-0.00539529232243,0.0498594291284,0.999999956397,0.000148524798981,-0.000252802054153,-3.51714626879e-05,1793239442314404352
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.198982609,715,679,665,635.198982609,879.198982609,788,803.198982609,652.198982609,632,653,0.401003475915,-0.00539601631011,0.0498603027126,0.999999957138,0.00014641489975,-0.000251114589713,-3.50446019463e-05,1793239442331071232
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.378371325,665.378371325,635.378371325,879,788,803.378371325,652,632,653,0.401004157303,-0.00539764947442,0.0498610429861,0.999999957939,0.000143983137658,-0.000249325545192,-3.50330923868e-05,1793239442347737600
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.955729815,665.955729815,635.955729815,879,788,803.955729815,652,632,653,0.4010051824,-0.00539976077876,0.049861713151,0.999999958766,0.000141382106518,-0.000247483079307,-3.50822465317e-05,1793239442364403968
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.459824485,666,636,879,788,803.459824485,652.540175515,632,653,0.401003420324,-0.00539780152683,0.0498610913358,0.999999958045,0.000143959472773,-0.000248898554852,-3.5157257355e-05,1793239442381070592
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.124474581,745,714.875525419,679,665.875525419,635.875525419,879,788,803.124474581,653,632,653,0.401002277712,-0.00539595473915,0.049860851151,0.999999957505,0.000146315263862,-0.000249680711779,-3.52284548626e-05,1793239442397737216
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.706073568,745,714.293926432,679,665.293926432,635.293926432,879,788,803.706073568,653,632,653,0.401004260056,-0.00539576239199,0.049862406501,0.999999958139,0.000146278046689,-0.000247143454347,-3.52777625401e-05,1793239442414403584
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.715604584,745,714.284395416,679,665.284395416,635.284395416,879.284395416,788,804,653,631.715604584,653,0.401005071574,-0.00539584872671,0.0498633289275,0.999999958485,0.000147016962454,-0.0002452973392,-3.52860094415e-05,1793239442431070464
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.140631049,745,714.859368951,679,665.859368951,635.859368951,879.859368951,788,804,653,631.140631049,653,0.401004686811,-0.00539621980177,0.0498636046711,0.999999958539,0.000148548884136,-0.00024415739133,-3.52523029196e-05,1793239442447737344
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.564107499,635.564107499,880,788,804,653,631,653,0.401004545153,-0.0053964453647,0.0498639105947,0.999999958828,0.000147239363894,-0.000243784204157,-3.5126223529e-05,1793239442464404224
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.013170452,714.986829548,679,665.013170452,635,880,788,804,653,631.013170452,652.986829548,0.401004454621,-0.00539664006219,0.0498642032612,0.999999959174,0.000145045755503,-0.000243703158943,-3.49737540945e-05,1793239442481070592
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.601477981,714.398522019,679,665.601477981,635,880,788,804,653,631.601477981,652.398522019,0.401003159382,-0.00539754430506,0.049863490292,0.999999958815,0.000144420353601,-0.000245538333495,-3.497492689e-05,1793239442497737216
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.813289222,714,679,665.813289222,635.186710778,879.813289222,788,804,653,632,652,0.401002510111,-0.00539749862528,0.0498630058674,0.999999958513,0.000144808317187,-0.000246518095514,-3.51087744609e-05,1793239442514403840
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.234512953,714,679,665.234512953,635.765487047,879.234512953,788,804,653,632,652,0.40100321728,-0.00539545824595,0.049863001353,0.999999958332,0.000147324201022,-0.000245701615458,-3.55212197731e-05,1793239442531070464
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,714.342237998,679,665.342237998,636,879,788,804,652.657762002,631.657762002,652.342237998,0.401003125966,-0.00539551885688,0.0498632103729,0.999999958474,0.000147094286484,-0.000245269430548,-3.54762238158e-05,1793239442547737088
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,714.917609274,679,665.917609274,636,879,788,804,652.082390726,631.082390726,652.917609274,0.401002490723,-0.00539701066709,0.0498635648526,0.999999958835,0.000144993927933,-0.000245099028373,-3.51196178397e-05,1793239442564403712
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.496426994,635.496426994,879.503573006,788,803.496426994,652.503573006,631,653,0.401002715342,-0.00539702642134,0.0498637486129,0.99999995883,0.000145553680701,-0.000244802406004,-3.50166019025e-05,1793239442581070336
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.089882667,745.089882667,715,679,665,635,879.910117333,788,803,653,631,653,0.401002924953,-0.00539701742492,0.0498637487698,0.999999958836,0.000145931464292,-0.000244557396932,-3.49694788297e-05,1793239442597737216
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.668447988,745.668447988,715,679,665,635,879.331552012,788,803,653,631,653,0.401002271641,-0.00539821508903,0.0498629058202,0.999999959236,0.000142902773906,-0.000244707694815,-3.49958133159e-05,1793239442614404352
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.753364919,746,715,679,665.246635081,635,879.246635081,788,803.246635081,653,631,653,0.401002691116,-0.00539885796397,0.0498632704037,0.999999959565,0.000141881199921,-0.000243972808868,-3.48904583989e-05,1793239442631070976
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766.175685422,746,715,679,665.824314578,635,879.824314578,788,803.824314578,653,631,653,0.401004550533,-0.00539875617676,0.049865255791,0.999999959803,0.000143553665135,-0.000242049790405,-3.46083441955e-05,1793239442647737600
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,665.600775953,635.399224047,879.600775953,787.600775953,803.600775953,652.600775953,631,653,0.401004930886,-0.00539831836835,0.0498658675175,0.999999959927,0.000143677127304,-0.000241459016664,-3.46368645843e-05,1793239442664403968
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,665.027077117,635.972922883,879.027077117,787.027077117,803.027077117,652.027077117,631,653,0.401004664837,-0.00539773370701,0.0498658789063,0.999999960003,0.000143123621186,-0.000241450480299,-3.48011431067e-05,1793239442681070336
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.439628122,745.439628122,715,679,665.560371878,636,879.560371878,787.560371878,803.560371878,652.560371878,631,653,0.401002559364,-0.0053981800489,0.04986442446,0.999999959637,0.000141670823266,-0.000243778414934,-3.50449187965e-05,1793239442697736960
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.146980949,745,714.853019051,679,666,636,880,788,804,652.853019051,631.146980949,653,0.401001465547,-0.00539845863675,0.0498635335993,0.999999959404,0.000141314374188,-0.000244911833678,-3.5212742186e-05,1793239442714403840
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.72908706,745,714.27091294,679,666,636,880,788,804,652.27091294,631.72908706,653,0.401003636402,-0.00539808941035,0.0498645261461,0.999999959644,0.000144335453976,-0.000242166352099,-3.51440570465e-05,1793239442731070464
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8b499aa6b752b8d921c292defd7d2bcf9b357f0
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a963d41bb9395b2950142751ddd1050313756472
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00d68ad091ad04cdf4eb6b5b6c6d51172c2ab3aa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,666,636,879,788,804,652,632,653,0.401001338139,-0.00539941979057,0.0498648458883,0.999999959945,0.00014135060228,-0.000242710659061,-3.49577653182e-05,1793239442853848064
+1,0.016666667,BASELINE,766.575123809,745,715,679.575123809,665.424876191,636,879,788,803.424876191,652.575123809,631.424876191,653,0.401002930809,-0.00539983051544,0.0498649497724,0.999999960192,0.000141295931729,-0.000241699878803,-3.51225498463e-05,1793239442870515456
+2,0.033333333,BASELINE,766.846472985,745.153527015,715,679.846472985,665.153527015,636,879.153527015,788,803.153527015,653,631,653,0.401003648813,-0.00539956433101,0.0498650415594,0.999999960266,0.000141539278221,-0.000241218764732,-3.53348970265e-05,1793239442887182592
+3,0.050000000,BASELINE,766.258796034,745.741203966,715,679.258796034,665.741203966,636,879.741203966,788,803.741203966,653,631,653,0.4010018934,-0.005397383955,0.0498650991378,0.999999959853,0.000142625369407,-0.000242235462004,-3.56817438452e-05,1793239442903849216
+4,0.066666667,BASELINE,766,746,715,679.326028366,666,636,879.673971634,788.326028366,803.673971634,653,631,653,0.401001173601,-0.00539688935752,0.0498648654468,0.999999959616,0.000143250230647,-0.000242850974117,-3.56475761938e-05,1793239442920515584
+5,0.083333333,BASELINE,766,746,715,679.908608063,666,636,879.091391937,788.908608063,803.091391937,653,631,653,0.401001268725,-0.00539772129728,0.0498644025564,0.999999959517,0.000143512150528,-0.000243150794052,-3.5313588692e-05,1793239442937181952
+6,0.100000000,BASELINE,766,745.514075854,715,679.514075854,666,636,879,788.514075854,803,653,631.485924146,653,0.401002913311,-0.00539649637395,0.0498655510689,0.999999959929,0.000143682162141,-0.000241315113406,-3.55572982825e-05,1793239442953848320
+7,0.116666667,BASELINE,766,745.061711242,715,679,665.938288758,636,879,788,803.123422483,653,632,653,0.401004483259,-0.00539510934272,0.0498667058024,0.999999960324,0.000143863339398,-0.000239520930915,-3.58517551421e-05,1793239442970514688
+8,0.133333333,BASELINE,766,745.632960222,715,679,665.367039778,636,879,788,804.265920444,653,632,653,0.40100305651,-0.00539554375043,0.0498654363233,0.999999959831,0.00014427790671,-0.000241350132834,-3.56777136979e-05,1793239442987181312
+9,0.150000000,BASELINE,766,745.788371389,714.788371389,679,665,635.788371389,879,788,804.788371389,653,631.788371389,653,0.401002318048,-0.00539653214974,0.0498648402633,0.999999959677,0.000143934063228,-0.00024220777141,-3.55451674945e-05,1793239443003848192
+10,0.166666667,BASELINE,766,745.196367631,714.196367631,679,665,635.196367631,879,788,804.196367631,653,631.196367631,653,0.401002816693,-0.00539851627748,0.0498654545876,0.999999960139,0.000142227074066,-0.000241319149926,-3.54872036558e-05,1793239443020514816
+11,0.183333333,BASELINE,766,745.386350457,714.386350457,679,665.386350457,635.386350457,879.386350457,788,804,653,631.386350457,653,0.40100332209,-0.00539933466709,0.0498657957887,0.999999960563,0.000141128822132,-0.000240219864023,-3.53722037245e-05,1793239443037181696
+12,0.200000000,BASELINE,766,745.964459804,714.964459804,679,665.964459804,635.964459804,879.964459804,788,804,653,631.964459804,653,0.401003830838,-0.00539957446134,0.0498660014296,0.999999960968,0.000140332707064,-0.000239016018114,-3.52288948326e-05,1793239443053848576
+13,0.216666667,BASELINE,766.541472086,745.458527914,715,679,666,635.458527914,880,788,804,653,632,653,0.40100301895,-0.00539898791562,0.049865655965,0.999999960706,0.000140906871955,-0.00023975175592,-3.53870155212e-05,1793239443070515200
+14,0.233333333,BASELINE,766.879516695,745,715,679,665.879516695,635.120483305,879.879516695,788,804,653,632,653,0.401002102178,-0.00539837215162,0.0498652086947,0.999999960372,0.000141469759641,-0.000240789016438,-3.55393883038e-05,1793239443087182080
+15,0.250000000,BASELINE,766.292486569,745,715,679,665.292486569,635.707513431,879.292486569,788,804,653,632,653,0.401001114243,-0.0053978528459,0.04986450699,0.999999959932,0.000141641408779,-0.000242501888509,-3.55930462542e-05,1793239443103848192
+16,0.266666667,BASELINE,766,745,715,678.709807203,665.290192797,636,879.290192797,788,804,652.709807203,631.709807203,653,0.401000948865,-0.00539736127695,0.0498644365205,0.999999959636,0.000142682162919,-0.000243112142597,-3.55779565924e-05,1793239443120514560
+17,0.283333333,BASELINE,766,745,715,678.131448249,665.868551751,636,879.868551751,788,804,652.131448249,631.131448249,653,0.401001600302,-0.0053968972511,0.0498649928777,0.999999959483,0.00014458595242,-0.000242627479025,-3.54945994325e-05,1793239443137181440
+18,0.300000000,BASELINE,766,745,715,678.446813803,665.553186197,636,879.553186197,788.446813803,803.553186197,652.446813803,631.446813803,653,0.401003059272,-0.0053977437067,0.0498658895636,0.999999960069,0.00014467360003,-0.000240187716456,-3.52200485837e-05,1793239443153848320
+19,0.316666667,BASELINE,766,745,715,679.024925773,665.024925773,636,879,788.975074227,803.024925773,652.975074227,632,653,0.401004606604,-0.0053988729646,0.0498667888048,0.999999960798,0.000144258362096,-0.000237431632277,-3.4917612446e-05,1793239443170514944
+20,0.333333333,BASELINE,766,745,715,679.600352776,665.600352776,636,879,788.399647224,803.600352776,652.399647224,632,653,0.401002859732,-0.00539773524558,0.0498655337192,0.99999996004,0.000144534178386,-0.000240389642854,-3.52412998267e-05,1793239443187181824
+21,0.350000000,BASELINE,766,745,715,679.820052682,665.820052682,636,879,788.179947318,804,652.179947318,632,653,0.401001830525,-0.00539730745607,0.0498647270035,0.999999959703,0.000144146074787,-0.000241995883709,-3.54085139899e-05,1793239443203848704
+22,0.366666667,BASELINE,766,745,715,679.230983039,665.230983039,636,879,788.769016961,804,652.769016961,632,653,0.401002432976,-0.0053984937392,0.0498649396872,0.999999960335,0.000142248504654,-0.000240528784824,-3.521997573e-05,1793239443220515328
+23,0.383333333,BASELINE,766,745,715,679,665.351692739,635.648307261,879.351692739,788.648307261,804,653,631.648307261,653,0.401002756427,-0.00539935373799,0.0498654344616,0.999999960701,0.000140639759068,-0.000239963381218,-3.51523443185e-05,1793239443237181696
+24,0.400000000,BASELINE,766,745,715,679,665.930244223,635.069755777,879.930244223,788.069755777,804,653,631.069755777,653,0.401002899908,-0.00540000326779,0.0498661111982,0.999999960896,0.00013921731903,-0.000239979614325,-3.51627036257e-05,1793239443253848320
+25,0.416666667,BASELINE,766,745.505904293,715,679,665.494095707,635.505904293,879.494095707,788,804,653,631,653,0.401002722398,-0.00539969739428,0.0498661177418,0.999999960965,0.000139276220064,-0.00023963414603,-3.53241403179e-05,1793239443270514944
+26,0.433333333,BASELINE,766.081212487,746,715,679,665,636,879.081212487,788,804,652.918787513,631.081212487,653,0.401002647899,-0.0053992554889,0.0498661481632,0.999999961006,0.0001397188019,-0.000239184792849,-3.54512541163e-05,1793239443287181568
+27,0.450000000,BASELINE,766.656792024,746,715,679,665,636,879.656792024,788,804,652.343207976,631.656792024,653,0.40100346836,-0.00539878286494,0.0498668832607,0.999999960983,0.000141260689992,-0.000238404923722,-3.52433484243e-05,1793239443303848192
+28,0.466666667,BASELINE,766.762359813,745.762359813,715,679,665,636,879.762359813,788,803.762359813,652.237640187,632,653,0.401004034442,-0.0053983078613,0.0498671825217,0.999999960983,0.00014249639973,-0.000237672060873,-3.52128692443e-05,1793239443320514816
+29,0.483333333,BASELINE,766.173730036,745.173730036,715,679,665,636,879.173730036,788,803.173730036,652.826269964,632,653,0.40100422481,-0.00539782934294,0.049866838061,0.999999961021,0.000143279890343,-0.000237008625362,-3.54444453274e-05,1793239443337181952
+30,0.500000000,BASELINE,766,745.409253679,715,679,665,636,879.818507359,788,803.409253679,653,632,653,0.40100387294,-0.0053981848758,0.0498665353243,0.999999960968,0.000142517259353,-0.000237703041741,-3.53506999102e-05,1793239443353848832
+31,0.516666667,BASELINE,766,745.989873217,715,679,665,636,880.979746435,788,803.989873217,653,632,653,0.401003294019,-0.00539888964902,0.0498662500586,0.999999960875,0.000141107224377,-0.000238966028357,-3.51207333583e-05,1793239443370515712
+32,0.533333333,BASELINE,766,746,715,679,665,636,879.869647366,788,804,653,632,653,0.401003403926,-0.0053981680211,0.0498657914799,0.999999960706,0.000141576392892,-0.000239344400123,-3.54772184417e-05,1793239443387181824
+33,0.550000000,BASELINE,766,745.856785701,715,679.143214299,665,636,879.143214299,788,804,653,632,653,0.401003535414,-0.00539760548212,0.0498656197957,0.999999960632,0.000141943647842,-0.000239404711183,-3.56890969524e-05,1793239443403847936
+34,0.566666667,BASELINE,766,745.2699846,715,679.7300154,665,636,879.7300154,788,804,653,632,653,0.40100369587,-0.00539761412474,0.0498663462573,0.999999960858,0.000141891918588,-0.000238528509534,-3.54208324418e-05,1793239443420514816
+35,0.583333333,BASELINE,766,745.31232173,715,679.68767827,665,636,879.68767827,788,803.68767827,653,632,653,0.401003412859,-0.00539806126063,0.0498663460083,0.999999960962,0.000141152056029,-0.000238554690375,-3.52791991501e-05,1793239443437181440
+36,0.600000000,BASELINE,766,745.890797771,715,679.109202229,665,636,879.109202229,788,803.109202229,653,632,653,0.401002751933,-0.00539888207169,0.0498657264713,0.999999960959,0.000139825780071,-0.000239349863367,-3.52454784119e-05,1793239443453848064
+37,0.616666667,BASELINE,766,745.530713939,715,679,665,636,879,788,803.469286061,653,632,653,0.401002650776,-0.00539936383963,0.0498656035664,0.999999960929,0.000139690291481,-0.000239562519647,-3.51915360758e-05,1793239443470514944
+38,0.633333333,BASELINE,766,745,715,679,665.047299212,636,879,788,803.952700788,652.952700788,631.952700788,653,0.401002782192,-0.00539977206529,0.0498656801181,0.999999960943,0.000139698812903,-0.000239506422034,-3.51445372621e-05,1793239443487182080
+39,0.650000000,BASELINE,766,745,715,679,665.620003236,636,879,788,803.379996764,652.379996764,631.379996764,653,0.401004050112,-0.00540023977135,0.0498666885051,0.999999961511,0.000138228935918,-0.000237970729808,-3.52269388102e-05,1793239443503848448
+40,0.666666667,BASELINE,766,745,715,679,665.800940672,636,879,788,803,652.199059328,631,653,0.401004413024,-0.00540025157127,0.0498671498026,0.999999961619,0.000138355445061,-0.000237423404479,-3.53420511331e-05,1793239443520515072
+41,0.683333333,BASELINE,766,745,715,679,665.20935906,636,879,788,803,652.79064094,631,653,0.401002991365,-0.00539936437629,0.0498665323018,0.999999960821,0.000141629845589,-0.000238825025982,-3.55216653662e-05,1793239443537181696
+42,0.700000000,BASELINE,766,745,715,679,665.374102237,636,879.374102237,788,803.374102237,653,631.374102237,653,0.401002177451,-0.00539978095129,0.049866004252,0.999999960785,0.000140383396671,-0.000239727012405,-3.53922402165e-05,1793239443553848320
+43,0.716666667,BASELINE,766,745,715,679,665.953115684,636,879.953115684,788,803.953115684,653,631.953115684,653,0.401001696423,-0.00540091165486,0.0498655251981,0.999999961161,0.000136660692114,-0.000240355328059,-3.50935414562e-05,1793239443570514688
+44,0.733333333,BASELINE,766,745,715,679,666,636,879.469689277,788,804,653,631.469689277,652.469689277,0.401002056755,-0.00540079547003,0.0498657000078,0.99999996125,0.000137034886241,-0.000239788178496,-3.49706455825e-05,1793239443587181312
+45,0.750000000,BASELINE,766,745,714.890965877,679,665.890965877,635.890965877,879,788,804,652.890965877,631.109034123,652.109034123,0.401002577018,-0.00540039301888,0.0498661162946,0.99999996136,0.000137809094885,-0.000238888401308,-3.49420715633e-05,1793239443603848192
+46,0.766666667,BASELINE,766,745,714.304854301,679,665.304854301,635.304854301,879,788,804,652.304854301,631.695145699,652.695145699,0.401003472707,-0.00539921870251,0.0498673370891,0.999999961669,0.000138754161516,-0.000236994081508,-3.52584276945e-05,1793239443620515072
+47,0.783333333,BASELINE,766,745,714.277702112,679,665,635,879.277702112,788,804,652,631.722297888,652.722297888,0.401003733308,-0.00539890884215,0.0498674656367,0.999999961697,0.000139055029275,-0.000236666795287,-3.54675571604e-05,1793239443637181952
+48,0.800000000,BASELINE,766,745,714.856405165,679,665,635,879.856405165,788,804,652,631.143594835,652.143594835,0.401003305538,-0.00539953596432,0.0498664102995,0.999999961424,0.000138657650878,-0.000238038014381,-3.556046383e-05,1793239443653848576
+49,0.816666667,BASELINE,766,745,715,679,665,635.43421455,879.56578545,788,803.56578545,652.43421455,631,652,0.401003195379,-0.00539947806442,0.0498661467142,0.999999961098,0.000140105800394,-0.000238591872736,-3.53271632564e-05,1793239443670515200
+50,0.833333333,BASELINE,766,745,714.988296832,679.011703168,665,635.988296832,879.011703168,788,803.011703168,653,631,652.011703168,0.401003194132,-0.00539919989276,0.0498661637665,0.999999960766,0.000142116993276,-0.000238844132524,-3.49891426742e-05,1793239443687181568
+51,0.850000000,BASELINE,766,745,714.412052918,679.587947082,665,635.412052918,879.587947082,788,803.587947082,653,631,652.587947082,0.401003390367,-0.00539920149658,0.0498671138926,0.999999961108,0.000141908288429,-0.000237559888901,-3.47927111654e-05,1793239443703848192
+52,0.866666667,BASELINE,766,745,714.167711543,679.832288457,665.167711543,635.167711543,880,788,804,653,631.167711543,652.832288457,0.401003326266,-0.00539920900411,0.0498675364293,0.999999961268,0.000141602960157,-0.000237068686929,-3.47893331698e-05,1793239443720514816
+53,0.883333333,BASELINE,766,745,714.756311115,679.243688885,665.756311115,635.756311115,880,788,804,653,631.756311115,652.243688885,0.401002608825,-0.00539923132756,0.0498666349301,0.999999960972,0.000141055146248,-0.000238567698307,-3.52704412946e-05,1793239443737181696
+54,0.900000000,BASELINE,766,745,715,679,665.660937466,635.660937466,879.660937466,788,804,653,632,652.339062534,0.401002952942,-0.00539930678583,0.0498668823543,0.999999961046,0.000140794949693,-0.000238403032284,-3.53325752486e-05,1793239443753848576
+55,0.916666667,BASELINE,766,745,715,679,665.082317952,635.082317952,879.082317952,788,804,653,632,652.917682048,0.401004047078,-0.00539941978533,0.0498679415244,0.999999961381,0.000140737962713,-0.000237062932486,-3.50986924395e-05,1793239443770515968
+56,0.933333333,BASELINE,766,745,715,679.492865064,665.492865064,635.492865064,879,788,803.507134936,653,632,653,0.401004193587,-0.00539982872493,0.0498680870439,0.999999961458,0.000140553008679,-0.000236877444192,-3.49028349807e-05,1793239443787182080
+57,0.950000000,BASELINE,766,745,715,679.93084592,666,636,879.06915408,788,803.06915408,653,632,653,0.401004221149,-0.0054001402326,0.0498681325659,0.999999961496,0.000140420539368,-0.000236817147362,-3.47563678879e-05,1793239443803848192
+58,0.966666667,BASELINE,766,745,715,679.341961247,666,636,879.658038753,788,803.658038753,653,632,653,0.401004536033,-0.00539935058198,0.0498685654634,0.999999961563,0.000140842038667,-0.000236258452691,-3.49336959407e-05,1793239443820514816
+59,0.983333333,BASELINE,766,745,715,679,666,636,879.757297125,788,804,653,631.757297125,653,0.401003738882,-0.00539858506948,0.0498677702647,0.999999961249,0.000141281393324,-0.000237280533199,-3.51990904517e-05,1793239443837181440
+60,1.000000000,BASELINE,766,745,715,679,666,636,879.178477907,788,804,653,631.178477907,653,0.401001401689,-0.00539785298544,0.0498652742903,0.999999960403,0.000141745475717,-0.000240491810478,-3.55864471846e-05,1793239443853848064
+61,1.016666667,BASELINE,766.398997281,745.398997281,715,679,666,635.601002719,879,788,803.601002719,653,631,653,0.401002236809,-0.00539812078113,0.049866001148,0.999999960874,0.000140393929856,-0.000239320018902,-3.55933340764e-05,1793239443870514688
+62,1.033333333,BASELINE,766.975873246,745.975873246,715,679,666,635.024126754,879,788,803.024126754,653,631,653,0.40100448619,-0.00539883433751,0.0498681647905,0.999999961924,0.000138232950973,-0.000236194192461,-3.54306020575e-05,1793239443887181568
+63,1.050000000,BASELINE,766.447915901,745.447915901,715,679.552084099,666,635.552084099,879.552084099,788,803.552084099,653,631,652.447915901,0.401003146807,-0.00540012434559,0.0498670714812,0.999999961758,0.000136148646591,-0.000238093206255,-3.5474156255e-05,1793239443903848192
+64,1.066666667,BASELINE,766,745.131179887,715,679.868820113,666,635.868820113,879.868820113,788,803.868820113,653,631,652.131179887,0.401002246975,-0.00540091597273,0.0498662892213,0.999999961588,0.000135113682417,-0.000239387947162,-3.55110160149e-05,1793239443920514816
+65,1.083333333,BASELINE,766,745.720451479,715,679.279548521,666,635.279548521,879.279548521,788,803.279548521,653,631,652.720451479,0.401003429113,-0.00539987934412,0.049867089614,0.999999961609,0.000137731419542,-0.000237806603096,-3.54930550512e-05,1793239443937181696
+66,1.100000000,BASELINE,766,746,715,679,665.69584849,635,879,788,803.30415151,653,631,652.69584849,0.401003178508,-0.00539935078831,0.0498669686706,0.999999961337,0.000139428236426,-0.000237965753147,-3.54741562272e-05,1793239443953848576
+67,1.116666667,BASELINE,766,746,715,679,665.117177244,635,879,788,803.882822756,653,631,652.117177244,0.401001634743,-0.00539928080668,0.0498660161516,0.999999960803,0.000140293853021,-0.000239695830826,-3.54544109149e-05,1793239443970514944
+68,1.133333333,BASELINE,766,745.541106967,715,679,665.458893033,635.458893033,879,788,804,653,631,652.458893033,0.401001737073,-0.00539899428719,0.0498660316357,0.999999960791,0.000140205420516,-0.00023978662706,-3.55230727898e-05,1793239443987181568
+69,1.150000000,BASELINE,766.034151219,745,715,679,666,636,879.034151219,788,804,653,631,653,0.401002196761,-0.00539866711116,0.0498662786354,0.9999999609,0.000139929789098,-0.000239485313905,-3.55994278451e-05,1793239444003848192
+70,1.166666667,BASELINE,766.60701601,745,715,679,666,636,879.60701601,788,804,653,631,653,0.401001700544,-0.00539856589155,0.0498663005549,0.999999960803,0.000140522414296,-0.000239564448437,-3.54430454659e-05,1793239444020514816
+71,1.183333333,BASELINE,766.814354524,745.185645476,715,679,665.814354524,636,880,788,804,653,631.185645476,653,0.40100177136,-0.00539893741547,0.0498664028763,0.999999960876,0.000140590933628,-0.000239252653226,-3.52211364438e-05,1793239444037181440
+72,1.200000000,BASELINE,766.223130909,745.776869091,715,679,665.223130909,636,880,788,804,653,631.776869091,653,0.401003080971,-0.00540034173827,0.0498666808511,0.999999961318,0.000139514443315,-0.00023808679705,-3.48560718769e-05,1793239444053848320
+73,1.216666667,BASELINE,766,745.63922118,715,679,665.36077882,636,880,788,804,653,632,653,0.401003875772,-0.00540072960749,0.0498672816407,0.999999961789,0.000138783575949,-0.000236546917532,-3.47239714089e-05,1793239444070515200
+74,1.233333333,BASELINE,766,745.059745025,715,679,665.940254975,636,880,788,804,653,632,653,0.401004358504,-0.00540050132159,0.0498680781148,0.999999962278,0.000138262218776,-0.00023478031217,-3.47330894176e-05,1793239444087182080
+75,1.250000000,BASELINE,766,745.51700158,715,679,665.48299842,636,879.48299842,788,803.48299842,653,631.48299842,653,0.401004206194,-0.00539962594923,0.0498675447759,0.99999996187,0.000139610232543,-0.000235676070495,-3.5020616962e-05,1793239444103848448
+76,1.266666667,BASELINE,766,745.904913024,715,679,665.095086976,636,879,788,803,653,631.095086976,653,0.40100384866,-0.00539891144134,0.0498669073107,0.999999961424,0.000140584138488,-0.000236943607889,-3.52957440032e-05,1793239444120514816
+77,1.283333333,BASELINE,766,745.318284914,715,679,665.681715086,636,879,788,803,653,631.681715086,653,0.401002807613,-0.00539941302843,0.0498665218043,0.999999961329,0.000138513282348,-0.000238550931297,-3.53413260004e-05,1793239444137181440
+78,1.300000000,BASELINE,766,745.264824539,715,679,666,636,879.264824539,788,803.264824539,653,632,653,0.401002425419,-0.00539957717461,0.0498665264256,0.999999961228,0.000138342155404,-0.00023906970996,-3.53806306034e-05,1793239444153848064
+79,1.316666667,BASELINE,766,745.843760432,715,679,666,636,879.843760432,788,803.843760432,653,632,653,0.401002824698,-0.0053993410783,0.0498669937816,0.999999961121,0.000140424318698,-0.000238297353387,-3.5412489516e-05,1793239444170514944
+80,1.333333333,BASELINE,766,746,715,679,666,636,880,788,804,652.579088972,632,653,0.401002752639,-0.00539973735949,0.0498675598182,0.999999961261,0.000140438938341,-0.000237739970916,-3.51374044229e-05,1793239444187181568
+81,1.350000000,BASELINE,766,746,715,679,666,636,880,788,804,652.002598221,632,653,0.401002506362,-0.00540036738393,0.0498681623296,0.999999961493,0.000139689339951,-0.000237262048434,-3.47488648007e-05,1793239444203848704
+82,1.366666667,BASELINE,766,745.427100364,714.427100364,679,666,636,879.427100364,788,804,652.572899636,632,653,0.401002835984,-0.00539829465896,0.0498675273013,0.999999961285,0.000140557431245,-0.000237552575178,-3.52425246896e-05,1793239444220515584
+83,1.383333333,BASELINE,766,745.152137499,714.152137499,679,666,636,879.152137499,788,803.847862501,653,632,653,0.401002822334,-0.0053967255896,0.0498668089571,0.999999960998,0.000141402657299,-0.000238206089956,-3.55986250763e-05,1793239444237181952
+84,1.400000000,BASELINE,766,745.742152811,714.742152811,679,666,636,879.742152811,788,803.257847189,653,632,653,0.401001813184,-0.0053966413452,0.0498658669414,0.999999960489,0.000142160994112,-0.000239894333322,-3.554731021e-05,1793239444253848320
+85,1.416666667,BASELINE,766,745.673914814,714.673914814,679,665.673914814,636,880,788,803.326085186,653,631.673914814,653,0.4010028382,-0.00539753772825,0.0498666392558,0.999999960881,0.000141351494668,-0.000238751538396,-3.54337907867e-05,1793239444270514688
+86,1.433333333,BASELINE,766,745.094704384,714.094704384,679,665.094704384,636,880,788,803.905295616,653,631.094704384,653,0.401005442248,-0.00539919532823,0.0498687423275,0.999999961963,0.000139324954506,-0.000235411135855,-3.527198477e-05,1793239444287181312
+87,1.450000000,BASELINE,766,745,714,679,665,636,879.517654941,788,803.517654941,653,631,653,0.401003752725,-0.00540007004547,0.0498679635927,0.999999961804,0.000137909423316,-0.000236909311794,-3.52999141192e-05,1793239444303847936
+88,1.466666667,BASELINE,766,745,714.059963176,679,665.059963176,636,879,788,803,652.940036824,631,653,0.401001639776,-0.00540047953933,0.0498667777482,0.999999961431,0.000137069912231,-0.000238952393304,-3.53736290073e-05,1793239444320514560
+89,1.483333333,BASELINE,766,745,714.646280925,679,665.646280925,636,879,788,803,652.353719075,631,653,0.401003176898,-0.00539814858334,0.0498669628896,0.999999961338,0.000140238320222,-0.000237476641524,-3.55237012531e-05,1793239444337181440
+90,1.500000000,BASELINE,766,745,715,679,665.770186516,636,879.229813484,788,803,652.229813484,631,653,0.401004076119,-0.0053973587014,0.0498674456466,0.999999961391,0.000141487760653,-0.000236516845613,-3.54927539124e-05,1793239444353848064
+91,1.516666667,BASELINE,766,745,715,679,665.190889524,636,879.809110476,788,803,652.809110476,631,653,0.401004005266,-0.00539891237217,0.0498683809956,0.999999961678,0.000139818975541,-0.000236341677716,-3.51865252357e-05,1793239444370514432
+92,1.533333333,BASELINE,766,745,715,679,665,636,879.612193138,788,803,653,631,653,0.401003977198,-0.00539908319658,0.0498684407215,0.999999961561,0.000140469318519,-0.000236476839308,-3.50056442626e-05,1793239444387181056
+93,1.550000000,BASELINE,766,745,715,679,665,636,879.033791878,788,803,653,631,653,0.401003970158,-0.00539857439734,0.0498680701073,0.999999961244,0.000142259437003,-0.000236764517685,-3.48863675617e-05,1793239444403847936
+94,1.566666667,BASELINE,766,745,715,679,665,636,879,788,803.540372041,653,631,653,0.401003836715,-0.00539641479612,0.0498676610774,0.99999996074,0.000145996928984,-0.000236517871388,-3.55545219378e-05,1793239444420514560
+95,1.583333333,BASELINE,766,745,715,679.117409544,665.117409544,636,879,788,804.117409544,653,631.117409544,653,0.401003998047,-0.00539506174402,0.0498674712703,0.999999960507,0.000148268233955,-0.000236015482777,-3.60423001138e-05,1793239444437180928
+96,1.600000000,BASELINE,766,745,715,679.707062834,665.707062834,636,879,788,804.707062834,653,631.707062834,653,0.40100537657,-0.00539736477518,0.0498681728067,0.999999961453,0.000144156250807,-0.00023461780005,-3.56080526576e-05,1793239444453847808
+97,1.616666667,BASELINE,766,745,715,679.70868137,665.70868137,636,879,788,804.70868137,653,632,653,0.401004954203,-0.00539877079107,0.0498679383555,0.999999961639,0.000141726522026,-0.000235349770782,-3.52858413564e-05,1793239444470514432
+98,1.633333333,BASELINE,766,745,715,679.12975436,665.12975436,636,879,788,804.12975436,653,632,653,0.401002753884,-0.00539929121599,0.0498667798374,0.999999961084,0.000140957622572,-0.000238184271669,-3.50742393371e-05,1793239444487180800
+99,1.650000000,BASELINE,766,745,715,679,665,636,879.447498317,788,804,653,632,653,0.401003914298,-0.00539914530496,0.0498674434593,0.999999961431,0.000140824011243,-0.000236801285598,-3.51035876187e-05,1793239444503847680
+100,1.666666667,BASELINE,766.02418694,745,715,679,665.02418694,636,880,788,804,653,632,653,0.401005899759,-0.00539885568171,0.0498685422794,0.999999962014,0.000140752005,-0.000234352655607,-3.52017965408e-05,1793239444520514560
+101,1.683333333,BASELINE,766.599045654,745,715,679,665.599045654,636,880,788,804,653,632,653,0.401004566122,-0.00539967653433,0.0498675653827,0.999999962167,0.000137904361622,-0.00023538011558,-3.52830741532e-05,1793239444537181184
+102,1.700000000,BASELINE,766.82127086,745,715,679,666,636,879.82127086,788,804,653,632,653,0.401003758495,-0.00540024074592,0.0498669861937,0.99999996222,0.000136256493465,-0.000236114596352,-3.5283089765e-05,1793239444553847808
+103,1.716666667,BASELINE,766.23046345,745,715,679,666,636,879.23046345,788,804,653,632,653,0.401004163639,-0.00540021324531,0.0498673239604,0.999999962059,0.000137374829903,-0.000236173583541,-3.50957475312e-05,1793239444570514432
+104,1.733333333,BASELINE,766,745,715,679,665.647846672,636,879,788,804,653,631.647846672,653,0.401004287939,-0.00540063950136,0.0498676321445,0.999999962072,0.000137178385371,-0.00023625997797,-3.49308784368e-05,1793239444587181312
+105,1.750000000,BASELINE,766,745,715,679,665.070468281,636,879,788,804,653,631.070468281,653,0.401004232621,-0.00540135596445,0.0498679214084,0.999999962194,0.000136141052612,-0.000236363901126,-3.4780382365e-05,1793239444603847936
+106,1.766666667,BASELINE,766,745,715,679,665.506870339,636,879,788,803.493129661,653,631.506870339,653,0.401003880592,-0.00540006736552,0.0498678080188,0.999999961766,0.00013878147981,-0.000236603813922,-3.50268600557e-05,1793239444620514560
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,880,788,804,652,632,653,0.401003190422,-0.00539836026768,0.0498674044473,0.999999961325,0.000140740730722,-0.000237236792025,-3.55036995701e-05,1793239444663153408
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.420313999,714.579686001,679,666,636,879.420313999,788,804,652,631.420313999,653,0.401003513262,-0.00539902487129,0.0498674908939,0.999999961616,0.000140092167189,-0.000236411158149,-3.53718424615e-05,1793239444679820032
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879,788,804,652.158056776,631.158056776,653,0.401003378103,-0.00539935476227,0.0498673289376,0.999999961698,0.000139881604264,-0.000236199219322,-3.53207952292e-05,1793239444696486912
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879,788,804,652.73295901,631.73295901,653,0.401002035058,-0.00539880191085,0.0498665118649,0.999999961226,0.000140826186642,-0.000237605787289,-3.54828690439e-05,1793239444713153536
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.691148945,636,879,788,804,653,632,653,0.401001835652,-0.00539841900556,0.0498667428469,0.999999961217,0.000140661735033,-0.000237737050772,-3.55255176902e-05,1793239444729819904
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665.114398367,636,879,788,804,653,632,653,0.401002628247,-0.00539818351275,0.0498678829188,0.999999961608,0.000139535299677,-0.000236762106311,-3.54645761161e-05,1793239444746486528
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,714.529464423,679,665.470535577,636,879.941071154,788,804,653,632,653,0.401003533999,-0.00539882227989,0.0498681285237,0.99999996193,0.000139047313633,-0.000235708089362,-3.53227738079e-05,1793239444763153408
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714.056925314,679,666,636,880.943074686,788,804,653,632,653,0.401004368532,-0.00539939129795,0.0498681464714,0.999999962151,0.000138990170432,-0.000234817311104,-3.52081744913e-05,1793239444779819776
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714.638075273,679,666,636,880.361924727,788,804,653,632,653,0.401004289381,-0.00539732595095,0.049868106015,0.999999961609,0.000141445914847,-0.000235609966976,-3.55283325952e-05,1793239444796486400
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665.782931996,636,880,788,803.782931996,653,632,653,0.401007276611,-0.00539689119461,0.0498692806662,0.999999961914,0.00014207310385,-0.000233928788025,-3.55549280015e-05,1793239444813153280
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,665.207500746,636,880,788,803.207500746,653,632,653,0.40101532621,-0.00539914842324,0.0498724613699,0.999999963599,0.00013968148265,-0.000228163490378,-3.50968730393e-05,1793239444829819904
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.36844294,715,679,665.36844294,636,880,788,803.36844294,653,632,653,0.401038785477,-0.00540111299099,0.0498814938353,0.999999967797,0.000137830325601,-0.000210303463382,-3.43803275388e-05,1793239444846486528
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.944675677,715,679,665.944675677,636,880,788,803.944675677,653,632,653,0.401070935294,-0.00540291250777,0.0498938265036,0.999999972924,0.00013628397241,-0.000185622402983,-3.35180017482e-05,1793239444863153152
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.467800533,715,679,665.467800533,636,880,788,804,653,632,653,0.40112876558,-0.00540325570125,0.049911643426,0.999999979109,0.000137669501589,-0.00014751624738,-3.26949053396e-05,1793239444879820032
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.119050512,745,715,679,665,635.880949488,880,788,804,653,632,653,0.40119166573,-0.00540425442996,0.0499290652802,0.999999983623,0.000138528173151,-0.000112081394917,-3.16480636362e-05,1793239444896486400
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.698659948,745,715,679,665,635.301340052,880,788,804,653,632,653,0.401263627742,-0.00540838752834,0.0499427054409,0.999999986013,0.00013614400974,-9.24967601281e-05,-2.97195222574e-05,1793239444913153024
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.724473977,745,715,678.724473977,665,635.275526023,880,788,804,653,631.724473977,653,0.401339598421,-0.00541173356897,0.0499518056198,0.999999987414,0.000134142979455,-7.98278196222e-05,-2.83587865407e-05,1793239444929819904
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.150578741,745,715,678.150578741,665,635.849421259,880,788,804,653,631.150578741,653,0.401419910111,-0.00541422729858,0.049955989417,0.999999988047,0.000132556847111,-7.46479379107e-05,-2.76129319901e-05,1793239444946486528
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678.434239755,665,636,880,788,804,653,631.434239755,653,0.401511488546,-0.00541726110396,0.0499573853421,0.999999988151,0.000132193305535,-7.42699860139e-05,-2.66012827351e-05,1793239444963153152
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,678.977417086,665,636,880,788,804,653,632,653,0.401608303838,-0.00542052332082,0.0499577232633,0.999999988076,0.000132191699099,-7.56390346715e-05,-2.55189622375e-05,1793239444979819776
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,678.397972219,665,636,880,788,804,653,632,653,0.40173542801,-0.00542468064586,0.0499564257187,0.999999988146,0.000130391127563,-7.79672195526e-05,-2.50253669329e-05,1793239444996486400
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.180626569,745,715,678.180626569,665,636,879.819373431,788,803.819373431,653,632,653,0.401872276248,-0.00542901594204,0.0499565806278,0.999999988408,0.00012854483423,-7.79096732653e-05,-2.42958848511e-05,1793239445013153280
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.757369818,745,715,678.757369818,665,636,879.242630182,788,803.242630182,653,632,653,0.402030449486,-0.00543374153098,0.0499599207892,0.999999989084,0.000126598272571,-7.26201837129e-05,-2.30490997196e-05,1793239445029819904
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.668310942,745,715,679,665.331689058,636,879.331689058,788,803.331689058,653,632,653,0.402199223399,-0.00544005155157,0.0499593086517,0.999999989338,0.000123601782019,-7.46767798454e-05,-2.16738610307e-05,1793239445046486784
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.095751937,745,715,679,665.904248063,636,879.904248063,788,803.904248063,653,632,653,0.402375695456,-0.00544751217425,0.0499558263866,0.999999989247,0.000119842841282,-8.20680441927e-05,-2.02053402643e-05,1793239445063153408
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.50616851,665.50616851,636,879.50616851,788,803.50616851,653,632,652.50616851,0.402585318726,-0.00545429802899,0.0499565715008,0.999999990007,0.000115274581973,-7.96255293445e-05,-1.89135107195e-05,1793239445079819776
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.084569352,665.084569352,636,879,788,803,652.915430648,632,652.084569352,0.40280987156,-0.0054612792524,0.0499587896227,0.999999990973,0.000110762392817,-7.40142905833e-05,-1.75349059343e-05,1793239445096486400
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678.662107924,665.662107924,636,879,788,803,652.337892076,632,652.662107924,0.403082644365,-0.00547018920504,0.0499646455525,0.999999992212,0.000107524439467,-6.14435222139e-05,-1.54436366675e-05,1793239445113153024
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.238387477,715,679,666,635.761612523,879,788,803.238387477,652.238387477,632,653,0.403370523112,-0.00547943906592,0.0499729809391,0.999999993524,0.000103980548872,-4.43701110719e-05,-1.31080465963e-05,1793239445129819904
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.81289183,715,679,666,635.18710817,879,788,803.81289183,652.81289183,632,653,0.403679700622,-0.00548916818339,0.049984812261,0.999999994726,0.000100005299082,-2.09481531686e-05,-1.04279740163e-05,1793239445146486272
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.602264304,715,679,666,635.397735696,879,788,803.602264304,653,631.602264304,653,0.404007039227,-0.00549717779012,0.0499934413474,0.999999995124,9.83196493983e-05,-4.95411161747e-06,-7.74239209682e-06,1793239445163153152
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.012426583,715,679,666,635.987573417,879,788,803.012426583,653,631.012426583,653,0.404343149435,-0.00550435689153,0.0500005237885,0.999999995183,9.77398518445e-05,7.45232624202e-06,-5.05414930442e-06,1793239445179819776
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.432776369,745.567223631,715,679,665.432776369,636,879.567223631,788,803,652.432776369,631.567223631,653,0.404723561985,-0.0055131462896,0.050004293933,0.999999995069,9.81891294157e-05,1.47224409026e-05,-1.95454172927e-06,1793239445196486656
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.145394144,745.854605856,715,679,665.145394144,636,880,787.854605856,803.145394144,652.145394144,631.854605856,653,0.40511286262,-0.00551871283052,0.0500048674857,0.999999994628,0.000102436171828,1.58102318098e-05,1.23917960562e-06,1793239445213153280
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.719844969,745.280155031,715,679,665.719844969,636,880,787.280155031,803.719844969,652.719844969,631.280155031,653,0.405525578249,-0.00551466648219,0.0499962182875,0.999999993047,0.000117825025205,-1.01975275882e-06,4.68450384316e-06,1793239445229819904
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,665.69947078,635.69947078,880,787,804,652.69947078,631,653,0.405933432725,-0.00550424909082,0.0499799907526,0.999999989673,0.000139962013444,-3.20578489937e-05,6.0364609036e-06,1793239445246486528
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,665.112852546,635.112852546,880,787,804,652.112852546,631,653,0.406336659671,-0.00548776677982,0.0499565490133,0.99999998285,0.000168522895237,-7.66213696015e-05,5.39563591813e-06,1793239445263153152
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.469000939,715,679,665,635.469000939,879.530999061,787.469000939,804,652,631,653,0.406808725299,-0.00548854125762,0.049945756065,0.999999980268,0.000176230477417,-9.13949182928e-05,7.36888047671e-06,1793239445279820032
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.952435487,715,679,665.047564513,636,879.047564513,788,803.952435487,652,631.047564513,653,0.407303266947,-0.00549385545913,0.0499397789668,0.999999979334,0.000178904115103,-9.60391020174e-05,1.01196904278e-05,1793239445296486656
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.396885994,715,679,665.603114006,636,879.603114006,788,803.396885994,652,631.603114006,653,0.407862725934,-0.00550375241399,0.0499530563263,0.999999981207,0.000180866259047,-6.82879499797e-05,1.45246654166e-05,1793239445313153280
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678.829401455,665.829401455,636,880,788,803,652,632,653,0.40844030544,-0.00551220228639,0.0499696681786,0.999999982055,0.000184679462841,-3.75733529492e-05,1.92969855007e-05,1793239445329820160
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678.232062243,665.232062243,636,880,788,803,652,632,653,0.40906321216,-0.00551703237976,0.0499946210375,0.999999981039,0.00019312296708,5.54098642292e-07,2.4988194124e-05,1793239445346486784
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.351328979,714.648671021,678.351328979,665.351328979,636,880,788,803.351328979,652,631.648671021,653,0.409679306741,-0.00551685298261,0.0500074288959,0.999999978411,0.000204896841457,1.78573313317e-05,2.95967920176e-05,1793239445363153408
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.925858954,714.074141046,678.925858954,665.925858954,636,880,788,803.925858954,652,631.074141046,653,0.410291073513,-0.00551349103177,0.0500125209761,0.999999975264,0.000218786515822,2.19308358462e-05,3.35176018882e-05,1793239445379820288
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.481194334,714.518805666,679,665.481194334,636,879.481194334,788,804,652,631.518805666,653,0.410891719597,-0.00550716369273,0.0499959746712,0.999999970772,0.000238673037773,-1.37927967746e-05,3.60762297965e-05,1793239445396486656
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.889543202,745.110456798,715,678.889543202,665.110456798,636,879,787.889543202,804,652.110456798,631.889543202,653,0.411503643923,-0.00550189451242,0.0499762270918,0.999999964775,0.000257332861293,-5.25180030938e-05,3.83718100845e-05,1793239445413153280
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.314807558,745.685192442,715,678.314807558,665.685192442,636,879,787.314807558,804,652.685192442,631.314807558,653,0.41216989927,-0.00550291984879,0.0499564997637,0.999999960385,0.000267101804808,-7.9074576231e-05,4.04100770846e-05,1793239445429819904
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.259839793,745.740160207,715,678.259839793,666,635.740160207,879,787,804,652.740160207,631,653,0.41288892755,-0.00551122986853,0.0499589350028,0.999999974265,0.000213711171139,-6.99102912082e-05,3.01714633019e-05,1793239445446486784
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.834380284,745.165619716,715,678.834380284,666,635.165619716,879,787,804,652.165619716,631,653,0.413671870989,-0.00552836261308,0.0499882120688,0.999999996321,8.38258505026e-05,-1.74832777274e-05,5.06390670654e-06,1793239445463153408
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666.419347117,635.419347117,879,787.419347117,804,652,631.419347117,652.580652883,0.414401659952,-0.00553786178764,0.0499891192399,0.999999998539,5.12449474926e-05,-1.71503338281e-05,1.61725263297e-06,1793239445479820032
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666.991556532,635.991556532,879.008443468,788,804,652,632,652.008443468,0.415110632063,-0.00554404157459,0.0499783628566,0.999999997546,5.8383000255e-05,-3.8093995453e-05,6.89813557393e-06,1793239445496486400
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666.408805489,635.408805489,879.591194511,788,804,652,632,652.591194511,0.415868008428,-0.00553473609014,0.049955820612,0.999999993685,8.65418951389e-05,-7.11205125837e-05,9.0849855663e-06,1793239445513153280
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666.17135955,635.17135955,879.82864045,788,804,652,631.82864045,652.82864045,0.416644164689,-0.0055279619515,0.0499455290237,0.999999990276,0.00011072193661,-8.39236132444e-05,1.20584572595e-05,1793239445529820160
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666.74544695,635.74544695,879.25455305,788,804,652,631.25455305,652.25455305,0.417464457265,-0.0055271369622,0.0499640288316,0.999999990766,0.000125550907021,-4.91977997641e-05,1.68806409034e-05,1793239445546486784
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666.679840462,636,879.320159538,788,804,652,631,652.320159538,0.418302750495,-0.00552760995397,0.0499829498337,0.999999990852,0.000132668320478,-1.68416793636e-05,2.0303959582e-05,1793239445563153408
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666.104629853,636,879.895370147,788,804,652,631,652.895370147,0.41915538368,-0.00552911696608,0.050002206374,0.999999990721,0.000133642418345,1.36266531611e-05,2.26128898434e-05,1793239445579820032
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,636,879.515425674,788,804,652,631.484574326,652.515425674,0.419954645749,-0.00552847587164,0.0499867612123,0.999999990842,0.000132523822656,-1.61834953308e-05,2.21661315912e-05,1793239445596486656
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.925084669,879.074915331,788,803.925084669,652,631.925084669,652,0.420757611076,-0.00552797497749,0.0499700624158,0.999999990208,0.00013048731848,-4.57992501887e-05,2.14564346042e-05,1793239445613153024
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.347980075,879.652019925,788,803.347980075,652,631.347980075,652,0.421664947639,-0.00553161555691,0.0499966812263,0.999999991745,0.00012541674643,1.57303386628e-05,2.30913714968e-05,1793239445629819904
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.22849341,880,788,803.22849341,652,631,652.22849341,0.422550987264,-0.00553438072025,0.0500117946324,0.99999999106,0.000121518528081,5.033174082e-05,2.40934084945e-05,1793239445646486784
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,666,635.804008492,880,788,803.804008492,652,631,652.804008492,0.423404682552,-0.00553581635628,0.0500094343454,0.999999991611,0.000119400807901,4.40362865178e-05,2.41342365975e-05,1793239445663153920
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.386334258,666,636,880.386334258,788,804,652,631,653,0.4242597921,-0.00553633096239,0.0499991509918,0.99999999231,0.000118787005313,2.63366988867e-05,2.39901523713e-05,1793239445679820800
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.972177126,666,636,880.972177126,788,804,652,631,653,0.425115631941,-0.00553636993522,0.0499847760521,0.99999999264,0.000118949847637,2.74785192478e-06,2.37505767256e-05,1793239445696487680
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.554553397,745.554553397,715,679.445446603,666,636,881,788,804,652,631,653,0.426013315681,-0.00553915681487,0.0500012930085,0.99999999277,0.000115046612624,2.35197784244e-05,2.59049538859e-05,1793239445713154048
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.865059008,745.865059008,715,679.134940992,666,636,880.865059008,788,804,652,631.134940992,652.865059008,0.426898963001,-0.00554103232065,0.0500136282186,0.999999992616,0.000113092742986,3.4560289597e-05,2.79923989353e-05,1793239445729820672
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.290586002,745.290586002,715,679.709413998,666,636,880.290586002,788,804,652,631.709413998,652.290586002,0.427738609399,-0.0055394930111,0.0500073255827,0.999999992564,0.000118148729043,6.69907145032e-06,2.94730421107e-05,1793239445746487552
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.716139438,666,636,880,787.716139438,804,652,632,652.283860562,0.428580601128,-0.00553778797082,0.0499884656914,0.99999999198,0.000120064633958,-2.78109852901e-05,2.91592317099e-05,1793239445763154176
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.141719975,666,636,880,787.141719975,804,652,632,652.858280025,0.42942499348,-0.0055359132891,0.0499567522281,0.999999990193,0.000118766359936,-6.91267734558e-05,2.70086233827e-05,1793239445779820544
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.445010714,745,715,679,666,636,880,787.445010714,804.445010714,652,632,653,0.430309591012,-0.00553888808827,0.0499623507309,0.999999991553,0.000115384933806,-5.31713652147e-05,2.74332491251e-05,1793239445796487168
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.964888587,745.035111413,715,679,666,635.964888587,880.035111413,788,805,652,632,653,0.431202770009,-0.00554303879416,0.0499778462849,0.999999993098,0.000111616014457,-2.30051789511e-05,2.85821609251e-05,1793239445813153792
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.385062324,745.614937676,715,679,666,635.385062324,880.614937676,788,805,652,632,653,0.432024789638,-0.00554079124796,0.049957294395,0.999999991284,0.000112420466707,-6.33804216322e-05,2.78823125452e-05,1793239445829820672
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.806663487,715,679,666,635,880.806663487,788.193336513,804.806663487,652,631.806663487,652.806663487,0.432855462431,-0.00554086467095,0.0499479330475,0.999999990273,0.00011109539689,-7.96735178232e-05,2.76303336418e-05,1793239445846487296
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.231086673,715,679,666,635,880.231086673,788.768913327,804.231086673,652,631.231086673,652.231086673,0.433703243304,-0.00554552681789,0.04996069621,0.99999999286,0.000105560107939,-4.83544719319e-05,2.82638250922e-05,1793239445863153920
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.350733957,666,635.350733957,880.350733957,788.649266043,804.350733957,652,631.350733957,652.350733957,0.434542650587,-0.00554715782774,0.0499775721411,0.9999999941,0.000102149300801,-2.24481507327e-05,2.93380103961e-05,1793239445879820544
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.936742952,666,635.936742952,880.936742952,788.063257048,804.936742952,652,631.936742952,652.936742952,0.435376440751,-0.00554675552721,0.0499972069483,0.999999994512,0.000100163612755,-1.72728805352e-07,3.07078164928e-05,1793239445896486912
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.516364191,715,680,666,635.483635809,881,788,805,652,632,653,0.43612254924,-0.00554330764674,0.0499765143871,0.999999992561,0.000105070359064,-5.35161267032e-05,3.1224385538e-05,1793239445913153792
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.904879156,715,679.904879156,666,635.095120844,881,788,805,652,632,653,0.436866760046,-0.00554029569558,0.0499555262247,0.999999988243,0.000109667002292,-0.000102434176526,3.15346386777e-05,1793239445929820416
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.326587889,715,679.326587889,666,635.673412111,881,788,805,652,632,653,0.437655226261,-0.00554137007507,0.0499578243319,0.999999990234,0.000108451932664,-8.23932995464e-05,3.13213560692e-05,1793239445946487296
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.250398454,666.250398454,636,880.749601546,788,805.250398454,652,632,653,0.438435397428,-0.00554439285563,0.0499686578731,0.999999992383,0.000106469374085,-5.36090644693e-05,3.19970566327e-05,1793239445963154176
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.8256916,666.8256916,636,880.1743084,788,805.8256916,652,632,653,0.439204805616,-0.00554994370746,0.0499905662314,0.999999993982,0.000103490990336,-1.34802295599e-05,3.38262224346e-05,1793239445979820800
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.589246045,666.589246045,635.589246045,880.410753955,788,806,652,632,653,0.439910647632,-0.00555042486777,0.0499794602416,0.999999993533,0.000104383041183,-2.93806505248e-05,3.42806098527e-05,1793239445996486912
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.999938107,745,715,679.000061893,666,635,880.999938107,788,805.999938107,652,631.999938107,653,0.44058885449,-0.00554870235971,0.0499540037911,0.999999991273,0.000106957527696,-6.96357059028e-05,3.41373579279e-05,1793239446013153536
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.421389133,745,715,679.578610867,666,635,880.421389133,788,805.421389133,652,631.421389133,653,0.441239511153,-0.00554820297928,0.0499370156172,0.999999988731,0.000109106011708,-9.74329892973e-05,3.37884910671e-05,1793239446029820160
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.155870769,745,715,680,666,635,880.155870769,787.844129231,805,652,631.155870769,652.844129231,0.441885083821,-0.00554767391022,0.0499242650737,0.999999986396,0.00011191611515,-0.000116346596593,3.38501015912e-05,1793239446046486528
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.72967444,745,715,680,666,635,880.72967444,787.27032556,805,652,631.72967444,652.27032556,0.442517025031,-0.00554706523755,0.0499228767928,0.999999986391,0.000116500205047,-0.000111440602709,3.50123161812e-05,1793239446063153408
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,881,787,804.696095746,652,632,652.303904254,0.443108505585,-0.00554681562578,0.0499120503536,0.999999984048,0.000120378317088,-0.000126951824249,3.60099044807e-05,1793239446079820288
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,666,635,881,787,804.121486377,652,632,652.878513623,0.443663945453,-0.00554688585038,0.0498928168004,0.999999978775,0.000123627573399,-0.00016064984198,3.68608505105e-05,1793239446096486912
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.532033817,745,715,680,665.532033817,635,881,787,804.467966183,652,632,653,0.444170831462,-0.00554480439496,0.0498452948731,0.999999961849,0.000127709048782,-0.000242370336687,3.5338891437e-05,1793239446113153792
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.059561455,745.059561455,715,680,665,635,881,787.059561455,805,652,631.940438545,653,0.444665772954,-0.00554269386223,0.0497942647126,0.999999936879,0.000131333430376,-0.000328447054587,3.34163268221e-05,1793239446129820672
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.635239666,745.635239666,715,680,665,635,881,787.635239666,805,652,631.364760334,653,0.445170014153,-0.00554533023616,0.0497785554129,0.999999933069,0.000129063529269,-0.000340703937885,3.35352335144e-05,1793239446146487040
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.789676392,715,680,665,634.789676392,880.789676392,788,805,652,631,652.789676392,0.445670187555,-0.00554587677469,0.0497713008123,0.999999932861,0.000129800615123,-0.000341010460817,3.37833816648e-05,1793239446163153664
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.21562024,715,680,665,634.21562024,880.21562024,788,805,652,631,652.21562024,0.446163326076,-0.00554280916257,0.0497786677257,0.999999938793,0.0001357379687,-0.000320650091818,3.42550393003e-05,1793239446179820288
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.641967164,634,880.358032836,787.641967164,805,652,631,652.358032836,0.446609736616,-0.00553830947472,0.0497763539268,0.999999938137,0.000140322883596,-0.000320763414658,3.38460530639e-05,1793239446196486912
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.068556507,634,880.931443493,787.068556507,805,652,631,652.931443493,0.447028037573,-0.00553294830876,0.0497682166105,0.999999933568,0.000144094227612,-0.000333192866044,3.29073077609e-05,1793239446213153536
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715.525613101,680,664,634,881,787,805,652,631,653,0.447388237645,-0.00553126761479,0.0497324509999,0.999999917444,0.000121484840238,-0.00038702923391,2.36937187873e-05,1793239446229820416
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.882223318,745,715.882223318,680,664,633.882223318,880.882223318,787,805,652,631,653,0.447737075414,-0.0055322864545,0.0496980101151,0.999999899314,9.22439156873e-05,-0.000438950590861,1.36398533734e-05,1793239446246487040
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.308729042,745,715.308729042,680,664,633.308729042,880.308729042,787,805,652,631,653,0.448072476974,-0.00554181684779,0.0496832119089,0.999999892092,5.12047042812e-05,-0.000461705493985,4.68256788243e-06,1793239446263153664
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.263461833,715,680,664,633,880.263461833,787,805,652,631,653,0.448397088332,-0.00554967091143,0.0496790718639,0.99999989028,2.87550971718e-05,-0.000467559208403,9.34142151416e-07,1793239446279820544
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.834132843,715,680,664,633,880.834132843,787,805,652,631,653,0.448709117773,-0.00555557029345,0.0496873597485,0.999999896679,2.79818659348e-05,-0.000453705322854,3.25949814585e-06,1793239446296487168
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,715,680,664,633,881,787,804.57428535,652,631,653,0.449017611527,-0.00555570342715,0.0497005603037,0.999999905437,3.2956359289e-05,-0.000433600551155,5.60031809202e-06,1793239446313153792
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.024874943,746,715,680,664,633,881,787,804.024874943,652,631,653,0.449321746092,-0.00555341999381,0.0497149235006,0.999999914109,4.02605413473e-05,-0.000412431216324,7.89552283081e-06,1793239446329820160
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.602061825,746,715,680,664,633,881,787,804.602061825,652,631,653,0.44956125845,-0.00554994058294,0.0497104068024,0.999999908757,4.70002223884e-05,-0.000424494334046,9.0372209289e-06,1793239446346486784
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,632.82163995,881,787,805,652,631,653,0.449789094443,-0.00554689719823,0.049705610831,0.999999903657,5.36035728525e-05,-0.000435553896351,1.02544508196e-05,1793239446363153664
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,632.247314647,881,787,805,652,631,653,0.449991008484,-0.0055448218066,0.0497001948642,0.999999899399,5.99042640103e-05,-0.000444385530722,1.16393636564e-05,1793239446379820288
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,632,880.664615065,787,805,652,631,652.664615065,0.450177243776,-0.00554281957972,0.0496985329333,0.999999898009,6.50792543064e-05,-0.000446749415748,1.26855104566e-05,1793239446396486912
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,632,880.075582042,787,805,652,631,652.075582042,0.450351621416,-0.00554087268635,0.0496997101395,0.999999898834,6.9402889586e-05,-0.000444221811146,1.34754522244e-05,1793239446413153792
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.495763575,715,680.504236425,664,632,880.504236425,787,805,652,631,652.504236425,0.450502403849,-0.0055417224017,0.0497006274839,0.999999898318,7.00328890144e-05,-0.00044527080485,1.3909434249e-05,1793239446429820416
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.082626776,715,680.917373224,664,632,880.917373224,787,805,652,631,652.917373224,0.450645808783,-0.00554270660809,0.0497013191179,0.999999897533,7.04356627622e-05,-0.000446953592877,1.43278863018e-05,1793239446446487040
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.660587571,715,680.339412429,664,632,880.339412429,787,805,652,631,652.339412429,0.450765808802,-0.00554202916045,0.0497008869738,0.999999896317,7.27357562557e-05,-0.00044927965583,1.49673605169e-05,1793239446463153664
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.762158658,715,679.762158658,664,632,880.237841342,787,804.762158658,652,630.762158658,652,0.450872156842,-0.00554043264293,0.0496989402017,0.999999893793,7.52772856559e-05,-0.000454439553024,1.52267120199e-05,1793239446479820288
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745.185910894,715,679.185910894,664,632,880.814089106,787,804.185910894,652,630.185910894,652,0.450959080511,-0.00553752845055,0.0496948383805,0.999999889357,7.81623357716e-05,-0.000463631498064,1.49452156802e-05,1793239446496487168
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.601261343,745.398738657,715,679.398738657,663.601261343,631.601261343,880.601261343,786.601261343,804.797477314,652,630,652,0.451031597415,-0.00553812185048,0.0496903282474,0.999999886221,7.77924180484e-05,-0.000470402423956,1.5111846661e-05,1793239446513153792
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.012610179,745.987389821,715,679.987389821,663.012610179,631.012610179,880.012610179,786.012610179,805.974779642,652,630,652,0.451097252618,-0.00554038109481,0.0496856236425,0.999999883704,7.58722138838e-05,-0.000476020258941,1.54919131449e-05,1793239446529820160
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.565932139,746,715,680,663,631.565932139,880.565932139,786,805.434067861,652,630,652.565932139,0.451145885209,-0.00554007303206,0.0496820755092,0.999999879692,7.54727274875e-05,-0.000484448939729,1.51539591073e-05,1793239446546487040
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.856430508,745.856430508,715,680,663,631.856430508,880.856430508,786,805,652,630.143569492,652.856430508,0.451192041618,-0.00553999859667,0.0496795972308,0.999999876549,7.50182037146e-05,-0.000490968210751,1.49845459925e-05,1793239446563153664
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.280850473,745.280850473,715,680,663,631.280850473,880.280850473,786,805,652,630.719149527,652.280850473,0.45123186833,-0.00554079627555,0.0496802620417,0.999999876308,7.42978962093e-05,-0.000491556778407,1.53695816124e-05,1793239446579820288
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.293409935,745.293409935,715,680,663.293409935,631,880.293409935,786.293409935,805.293409935,652,631,652,0.451265545748,-0.0055399730569,0.0496813611009,0.999999876557,7.58217291832e-05,-0.000490812399608,1.55185254682e-05,1793239446596487168
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.866412927,745.866412927,715,680,663.866412927,631,880.866412927,786.866412927,805.866412927,652,631,652,0.451293363454,-0.00553760527001,0.0496828739595,0.99999987726,7.94840244131e-05,-0.000488797843794,1.54424953307e-05,1793239446613153792
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.544563322,745.544563322,715,680,663.544563322,631,880.544563322,786.544563322,805.089126644,652,631,652,0.451313017544,-0.00553791864286,0.0496831185217,0.999999878006,7.85621896856e-05,-0.00048741836962,1.54755032018e-05,1793239446629820416
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,663,631,880.048080775,786,804.048080775,652,631,652,0.451329379903,-0.00553885442271,0.0496829282883,0.999999878588,7.66556688325e-05,-0.000486525827445,1.55292566376e-05,1793239446646486784
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,663,631,880.626925081,786,804.626925081,652,631,652,0.451336801726,-0.00553766305676,0.0496821947123,0.999999877239,7.92634085346e-05,-0.000488877209427,1.54460919e-05,1793239446663153408
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.203799253,745.203799253,715,680,663,631,881,786,804.796200747,652,630.796200747,652.203799253,0.451342887411,-0.00553648192382,0.0496813955778,0.999999875828,8.13469943792e-05,-0.000491418651112,1.53346326419e-05,1793239446679820032
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.777101392,745.777101392,715,680,663,631,881,786,804.222898608,652,630.222898608,652.777101392,0.451346550583,-0.00553531934411,0.0496804775813,0.999999874315,8.24802509548e-05,-0.000494304684741,1.5171873363e-05,1793239446696486656
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.640690888,745.640690888,715,680,663,631,881,786.359309112,804.359309112,652,630,652.640690888,0.451348656933,-0.00553482791557,0.0496787872649,0.99999987305,8.26451061068e-05,-0.000496831307225,1.51062586824e-05,1793239446713153280
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.052818175,745.052818175,715,680,663,631,881,786.947181825,804.947181825,652,630,652.052818175,0.451349772958,-0.00553476341955,0.0496766056607,0.999999871943,8.21939420014e-05,-0.000499129301093,1.51024395998e-05,1793239446729820160
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.530479263,715,680,663,631.530479263,881,787,805,652,630.530479263,652.530479263,0.451349881852,-0.00553451112871,0.0496754160374,0.999999870889,8.18729698917e-05,-0.000501304780944,1.45689646071e-05,1793239446746487296
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.111652681,746,715,680,663,631.888347319,881,786.888347319,805,652.111652681,630.888347319,653,0.451350388364,-0.00553422929015,0.0496749327176,0.999999870233,8.16090553717e-05,-0.000502666312745,1.41662487836e-05,1793239446763153920
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.685897089,746,715,680,663,631.314102911,881,786.314102911,805,652.685897089,630.314102911,653,0.451352954163,-0.00553390183803,0.0496769699949,0.999999871218,8.15282906368e-05,-0.000500705657407,1.45219101875e-05,1793239446779820288
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.739166291,715,680,663,631,881,786,805,652.739166291,630,653,0.451354452742,-0.00553318401078,0.0496778723224,0.999999871785,8.18179362355e-05,-0.000499524760612,1.448747593e-05,1793239446796486656
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.163393797,715,680,663,631,881,786,805,652.163393797,630,653,0.451354662729,-0.00553199483233,0.0496774042765,0.999999871852,8.25548268544e-05,-0.00049928536843,1.39820280083e-05,1793239446813153536
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663,631,881,786,805,652.421712912,630.421712912,653,0.451355329636,-0.00553327451747,0.0496776234729,0.999999872063,8.22448048411e-05,-0.000498898639768,1.44888689367e-05,1793239446829820672
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.010327959,715,680,663,631,881,786,805.010327959,652.989672041,631,652.989672041,0.451356146025,-0.00553545938683,0.0496780669208,0.999999872307,8.15303187921e-05,-0.000498499316622,1.53702363482e-05,1793239446846488064
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.588493659,715,680,663,631,881,786,805.588493659,652.411506341,631,652.411506341,0.451355227201,-0.00553362872208,0.0496758685777,0.99999987127,8.13846878286e-05,-0.000500617202019,1.47910280117e-05,1793239446863154432
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.834042392,746,715,680,663,631,880.834042392,786,805.834042392,652,631,652,0.451354794641,-0.00553235020856,0.0496745933648,0.999999870546,8.13069887472e-05,-0.000502083670714,1.44829697754e-05,1793239446879820800
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.258311204,746,715,680,663,631,880.258311204,786,805.258311204,652,631,652,0.451355562739,-0.00553243503723,0.0496755974951,0.999999870604,8.13970234173e-05,-0.000501941696274,1.48444207881e-05,1793239446896487168
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.324210846,745.675789154,715,680,663,631,880.324210846,786,805,652,631,652.324210846,0.451356812227,-0.00553198742566,0.0496760488185,0.999999870905,8.09466674284e-05,-0.00050142200638,1.46241156974e-05,1793239446913153792
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.912259159,745.087740841,715,680,663,631,880.912259159,786,805,652,631,652.912259159,0.451358453463,-0.00553110652296,0.0496760502765,0.999999871401,8.0056550382e-05,-0.000500594937852,1.3930387016e-05,1793239446929820416
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,631,881,786,805,652,630.524400674,653,0.451357829466,-0.00553215667502,0.0496760138074,0.999999871411,8.00711142351e-05,-0.000500566734593,1.4117336945e-05,1793239446946487040
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.9629563,745.0370437,715,680,663,631,880.9629563,786,805,652,630,653,0.451356813453,-0.0055333957152,0.0496758872424,0.999999871271,8.02702706413e-05,-0.000500805370105,1.44325050569e-05,1793239446963153408
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.364578332,745.635421668,715,680,663,631,880.364578332,786,805,652,630,653,0.451355876953,-0.00553236526896,0.0496744962184,0.999999870141,8.08624306036e-05,-0.000502964514983,1.4350204752e-05,1793239446979820032
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.224742485,746,715,680,663,631,880.224742485,786.224742485,805,652.224742485,630.224742485,653,0.451356012394,-0.00553159771351,0.0496740365466,0.999999869772,8.1603095859e-05,-0.000503582094413,1.42442310173e-05,1793239446996486912
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.799940012,746,715,680,663,631,880.799940012,786.799940012,805,652.799940012,630.799940012,653,0.451357819381,-0.0055312401,0.0496750291905,0.999999870592,8.25753348168e-05,-0.000501795814554,1.41013418069e-05,1793239447013153792
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.614886137,746,715,680,663,631,880.614886137,787,805,652.614886137,631,653,0.451358674846,-0.00553063418515,0.0496752937933,0.999999870697,8.34702355246e-05,-0.000501438694213,1.40753519251e-05,1793239447029820416
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.024391969,746,715,680,663,631,880.024391969,787,805,652.024391969,631,653,0.451359022867,-0.00552989585181,0.0496751701335,0.999999870422,8.43238918701e-05,-0.000501843741341,1.41117041848e-05,1793239447046487040
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.553862584,746,715,680,663,631,880.553862584,786.446137416,805,652.553862584,630.446137416,653,0.451358385915,-0.00553171457314,0.0496751131291,0.999999870589,8.28247030945e-05,-0.00050174996137,1.44588517471e-05,1793239447063153664
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.86857091,745.86857091,715,680,663,631,880.86857091,786,805,652.86857091,630,653,0.451357711702,-0.00553326167861,0.0496750504449,0.9999998706,8.13688147611e-05,-0.000501955511345,1.47937585489e-05,1793239447079820288
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.291549168,745.291549168,715,680,663,631,880.291549168,786,805,652.291549168,630,653,0.451357055049,-0.00553351436572,0.0496749587669,0.999999870025,8.04034406022e-05,-0.000503248769215,1.504176289e-05,1793239447096486912
+254,4.233333333,HOLD_POSE2,765,745,715,680,663,631,881,786,805,652,631,653,0.451361512409,-0.00553484948426,0.0496775127054,0.99999987239,7.79633280245e-05,-0.000498906576889,1.52993492964e-05,1793239447133300736
+255,4.250000000,HOLD_POSE2,765,745.578014654,715,680,663,631,880.421985346,786,805,652,630.421985346,653,0.451360809051,-0.00553270638248,0.0496765379908,0.999999871401,8.11259410142e-05,-0.000500401792935,1.46595973115e-05,1793239447149968128
+256,4.266666667,HOLD_POSE2,765.156112975,745.843887025,715,680,663,631,880,786,805,652,630,653,0.451360072919,-0.00553083424277,0.0496755174533,0.999999870532,8.37865823841e-05,-0.000501711252504,1.4186679675e-05,1793239447166635264
+257,4.283333333,HOLD_POSE2,765.734437707,745.265562293,715,680,663,631,880,786,805,652,630,653,0.451359248147,-0.00552969492681,0.0496743729863,0.999999870017,8.50896286576e-05,-0.000502518329008,1.41649698974e-05,1793239447183301376
+258,4.300000000,HOLD_POSE2,766,745,715,680.310373097,663,631,880.310373097,786,805,652,630,653,0.451358757806,-0.00553015763874,0.0496738745706,0.999999869653,8.47122588024e-05,-0.00050330069053,1.43368775786e-05,1793239447199967744
+259,4.316666667,HOLD_POSE2,766,745,715,680.884279696,663,631,880.884279696,786,805,652,630,653,0.451358551423,-0.00553198061047,0.0496739247081,0.999999869416,8.29080707888e-05,-0.000504062066851,1.46731831658e-05,1793239447216634112
+260,4.333333333,HOLD_POSE2,766,745.459531881,715,680.540468119,663,631,881,786,805,652,630.459531881,653,0.451358894076,-0.00553135685209,0.0496745432224,0.999999869736,8.2730157768e-05,-0.000503457120641,1.46572390703e-05,1793239447233300736
+261,4.350000000,HOLD_POSE2,766,745.963660952,715,680.036339048,663,631,880.963660952,786,805.036339048,652,630.963660952,653,0.451359450343,-0.00553023540095,0.0496753381158,0.999999870237,8.28508905743e-05,-0.000502444455232,1.45417944076e-05,1793239447249967104
+262,4.366666667,HOLD_POSE2,766,745.368155796,715,680.631844204,663,631,880.368155796,786,805.631844204,652,630.368155796,653,0.451361159895,-0.00553096440887,0.0496766381634,0.999999871364,8.1246858044e-05,-0.00050046794184,1.42642305127e-05,1793239447266633984
+263,4.383333333,HOLD_POSE2,766,745.219034081,715,681,663,631,880.219034081,786,805.780965919,652,630,653,0.451361266556,-0.00553093758498,0.0496767194421,0.99999987146,8.12700922847e-05,-0.000500276516139,1.41020968767e-05,1793239447283300864
+264,4.400000000,HOLD_POSE2,766,745.792758644,715,681,663,631,880.792758644,786,805.207241356,652,630,653,0.451358777593,-0.00552968681294,0.0496748271206,0.999999869886,8.39284236198e-05,-0.000502975753177,1.4126884016e-05,1793239447299967744
+265,4.416666667,HOLD_POSE2,766,746,715.367073245,680.632926755,663,631.367073245,881,786.367073245,805,652,630.367073245,653,0.451358214861,-0.00553016668584,0.0496740834789,0.999999869357,8.29561969563e-05,-0.000504187150621,1.40962645019e-05,1793239447316634624
+266,4.433333333,HOLD_POSE2,766,746,715.94172156,680.05827844,663,631.94172156,881,786.94172156,805,652,630.94172156,653,0.451358741386,-0.00553162521546,0.0496739894004,0.999999869418,7.99309379744e-05,-0.000504557194689,1.40343132598e-05,1793239447333301248
+267,4.450000000,HOLD_POSE2,766,746,715.468886378,680.531113622,663,631.468886378,881,786.468886378,805,652,631,653,0.451359318332,-0.0055303564027,0.0496742756649,0.999999869702,8.09778087487e-05,-0.000503835060246,1.37711921021e-05,1793239447349967616
+268,4.466666667,HOLD_POSE2,765.880541741,746,715,680.880541741,663,631,881,786,805.119458259,652,630.880541741,653,0.451359645429,-0.00552920903053,0.0496743982408,0.999999869777,8.22656485905e-05,-0.000503480529687,1.36327710268e-05,1793239447366634240
+269,4.483333333,HOLD_POSE2,765.302603393,746,715,680.302603393,663,631,881,786,805.697396607,652,630.302603393,653,0.451358991766,-0.00552970912991,0.0496737278304,0.999999868963,8.27144309038e-05,-0.000505009951699,1.40600874023e-05,1793239447383300864
+270,4.500000000,HOLD_POSE2,765,746,715.2749829,680,663,631.2749829,880.7250171,786,805.7250171,652,630,653,0.451358684164,-0.0055299268047,0.0496737340354,0.999999868697,8.22132732663e-05,-0.000505618195283,1.40721097418e-05,1793239447399967488
+271,4.516666667,HOLD_POSE2,765,746,715.852182234,680,663,631.852182234,880.147817766,786,805.147817766,652,630,653,0.451358756896,-0.00552983408431,0.049674483866,0.999999869033,8.06680962615e-05,-0.000505214029419,1.36277084626e-05,1793239447416634112
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,716,680,663,631,882,786,805,652,631,652,0.451363793387,-0.00553197751278,0.0496776552043,0.999999872589,7.86936275413e-05,-0.000498426795167,1.41738782869e-05,1793239447449340672
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,715.419852564,680,663,631,881.419852564,786,805,652.580147436,630.419852564,652,0.451361443156,-0.00553226026452,0.049675857366,0.999999871034,7.96092907173e-05,-0.00050138537245,1.43677738919e-05,1793239447466007040
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.840555451,715,680,663,631,881,786,805,652.840555451,630.159444549,652.159444549,0.451360316868,-0.00553220965054,0.0496750191067,0.999999870268,8.01575874597e-05,-0.000502822037601,1.44660516538e-05,1793239447482673152
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.263485425,715,680,663,631,881,786,805,652.263485425,630.736514575,652.736514575,0.451362396396,-0.00553128586777,0.0496766942262,0.999999871582,7.97436590817e-05,-0.000500272431787,1.43138822171e-05,1793239447499339264
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.313036513,715,680,663,631,881,786,805,652,631,652.686963487,0.451362855796,-0.00553007440418,0.049676957624,0.999999871725,8.10335827205e-05,-0.000499784017044,1.4123133471e-05,1793239447516005632
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.889097892,715,680,663,631,881,786,805,652,631,652.110902108,0.451361953905,-0.00552862122059,0.0496760348409,0.999999870882,8.37551459244e-05,-0.000501027491497,1.38999689699e-05,1793239447532672256
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.527205014,745.527205014,715,680,663,631,881,786,805,652,631,652.472794986,0.451361168391,-0.00552795693899,0.049675420849,0.999999870317,8.46037193254e-05,-0.000502011646761,1.38640092582e-05,1793239447549338880
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.058068596,715.058068596,680,663,631,880.941931404,786,805,652,630.941931404,652.941931404,0.451360002575,-0.00552771893534,0.049674674035,0.999999869708,8.48651079315e-05,-0.00050317935869,1.38764789754e-05,1793239447566005760
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.641136479,715.641136479,680,663,631,880.358863521,786,805,652,630.358863521,652.358863521,0.451355147596,-0.00552963441138,0.0496720607624,0.999999868083,8.38550466765e-05,-0.000506565582145,1.39232732106e-05,1793239447582672384
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,715.778809419,680,663,631,880.221190581,786.221190581,805,652,630.221190581,652,0.451346399072,-0.005530572125,0.0496679387035,0.999999864684,8.37160927827e-05,-0.000513255468433,1.38807669225e-05,1793239447599339264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,715.203579255,680,663,631,880.796420745,786.796420745,805,652,630.796420745,652,0.451331418506,-0.00552994482334,0.0496614016686,0.999999858361,8.49714410527e-05,-0.000525233226028,1.36953254285e-05,1793239447616006144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,715.370384426,680,663,631,880.629615574,786.629615574,804.629615574,652,631,652.370384426,0.451298651829,-0.0055277348189,0.0496477544974,0.9999998453,8.56756580467e-05,-0.000549456417419,1.25234333747e-05,1793239447632672512
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,715.943654417,680,663,631,880.056345583,786.056345583,804.056345583,652,631,652.943654417,0.451256142449,-0.00552465785694,0.0496302126046,0.999999827812,8.60779817825e-05,-0.000580387293734,1.08111930341e-05,1793239447649338880
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.535579129,746,715.464420871,680,663,631,880.535579129,786,804.535579129,652,631,652.464420871,0.45119265749,-0.0055239362771,0.0496100558061,0.999999808142,8.54043898877e-05,-0.000613453346199,9.8432757865e-06,1793239447666005504
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,631,881,786.125667898,805,652,631,652.125667898,0.45112522378,-0.00552317134286,0.0495919296662,0.999999790703,8.48887149402e-05,-0.000641333015511,8.90289110667e-06,1793239447682672128
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,631,881,786.701884359,805,652,631,652.701884359,0.451051830036,-0.00552133049904,0.0495821057971,0.999999785217,8.535967243e-05,-0.000649783891084,7.77033837956e-06,1793239447699338752
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715.277433889,680,663,631,880.722566111,786.722566111,805,652.277433889,631,653,0.450972269134,-0.00551843112539,0.0495768281877,0.999999782847,8.74044963928e-05,-0.000653160019976,6.96464807849e-06,1793239447716005632
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715.852268454,680,663,631,880.147731546,786.147731546,805,652.852268454,631,653,0.450886097234,-0.00551439704013,0.0495764240305,0.999999783863,9.11364572395e-05,-0.00065109617456,6.50934440794e-06,1793239447732672512
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746.436121508,715.563878492,680,663,631,880,786,805.436121508,652.563878492,631,653,0.450787638866,-0.00551007109265,0.0495799817898,0.999999787024,9.45448839952e-05,-0.000645737935557,6.05788393327e-06,1793239447749339136
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746.977062019,715,680,663,631.022937981,880.022937981,786.022937981,805.977062019,652,631,653,0.45068367479,-0.00550565476788,0.0495849813757,0.999999790981,9.78191814586e-05,-0.000639092008626,5.6316939668e-06,1793239447766006016
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746.394054407,715,680,663,631.605945593,880.605945593,786.605945593,805.394054407,652,631,653,0.450549045349,-0.00550149666075,0.0495917250757,0.999999797216,0.000100550906981,-0.00062882793284,5.79006817885e-06,1793239447782672384
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.813721529,746,715.186278471,680,663,632,880.813721529,786.813721529,805,652,631,653,0.450401669181,-0.00549624536029,0.0495972274364,0.999999802038,0.000104519688197,-0.000620459512499,5.46214068876e-06,1793239447799339008
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.238966778,746,715.761033222,680,663,632,880.238966778,786.238966778,805,652,631,653,0.450227710244,-0.00548871424953,0.0496001410329,0.999999804068,0.000111068299123,-0.000616044406948,4.12005048362e-06,1793239447816005632
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.665513034,715.665513034,680,663.334486966,631.665513034,880.334486966,786,805,652,631,653,0.45003099766,-0.00548194347696,0.0495979505916,0.999999800304,0.00011594878866,-0.000621240268533,2.96230754991e-06,1793239447832672256
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.092985106,715.092985106,680,663.907014894,631.092985106,880.907014894,786,805,652,631,653,0.449818092198,-0.00547571380582,0.0495921278116,0.999999792322,0.000119642143748,-0.000633275869573,1.93575703988e-06,1793239447849338880
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.495498058,715,680,664,631.495498058,881,786,805,652,631,652.504501942,0.449579325074,-0.00546621693457,0.0495879440906,0.999999787419,0.000125081576628,-0.000639934141824,2.88891337545e-07,1793239447866005760
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,663.914761585,632,880.914761585,786.085238415,805,652,631,652.085238415,0.449330051027,-0.00545607977788,0.049585096648,0.99999978401,0.000131235993938,-0.000644014683799,-1.37548846663e-06,1793239447882672640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,715,680,663.335661951,632,880.335661951,786.664338049,805,652,631,652.664338049,0.449048955424,-0.00544590343078,0.0495881500334,0.999999785968,0.000139571308957,-0.000639201351256,-2.44444760447e-06,1793239447899339008
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.242020458,745.757979542,715,680.242020458,663,632,880.242020458,787,805,652,631,653,0.448749370528,-0.00543613231954,0.0495912529671,0.999999788981,0.00014665547153,-0.000632863574231,-3.8243529996e-06,1793239447916005632
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.817748703,745.182251297,715,680.817748703,663,632,880.817748703,787,805,652,631,653,0.44842429185,-0.00542691996482,0.0495944242199,0.999999793477,0.000152014493027,-0.000624423830603,-5.63300385174e-06,1793239447932672256
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745.400919961,715,680.599080039,663.400919961,632.400919961,881,787,805,652,631,652.599080039,0.448085065625,-0.00541822290151,0.0495904818642,0.99999978998,0.000156397416211,-0.00062890352701,-7.75844230696e-06,1793239447949339136
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745.98753867,715,680.01246133,663.98753867,632.98753867,881,787,805,652,631,652.01246133,0.447739286526,-0.00540976451195,0.0495832446158,0.999999782702,0.00016032822846,-0.000639367270465,-1.00306108989e-05,1793239447966005760
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633,881,787,805,652.566046447,631,652.566046447,0.447324796247,-0.00540280990774,0.0495849564425,0.999999784446,0.000162642025302,-0.000636006046104,-1.23177872909e-05,1793239447982672384
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633,881,787,804.855621576,652.855621576,631,653,0.446900563085,-0.00539814761749,0.0495864261982,0.999999786159,0.000161663410106,-0.000633506878306,-1.47256887508e-05,1793239447999338752
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633,881,787,804.277288998,652.277288998,631,653,0.446451528404,-0.00540027717375,0.0495865845826,0.999999787167,0.000150894369123,-0.000634500630258,-1.74954706993e-05,1793239448016005632
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633.300168304,881,787,804.300168304,652,631,652.699831696,0.445990274973,-0.00540499609927,0.0495988568993,0.999999801719,0.000137607696231,-0.000614214791775,-1.91606103999e-05,1793239448032672512
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,633.876819461,881,787,804.876819461,652,631,652.123180539,0.445517766889,-0.00541210007434,0.0496222872717,0.999999827435,0.000122002049367,-0.000574328475732,-1.98082724086e-05,1793239448049339392
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745.537657137,715,680,664,633.537657137,880.537657137,787,805,652,631,652,0.445031135734,-0.00541491915931,0.0496555237933,0.999999852365,0.000111743353873,-0.000531387499866,-2.02715233637e-05,1793239448066006272
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745.049471995,715,680,664,633.049471995,880,787,805,652,631.049471995,652,0.444533280687,-0.00541586276069,0.0496887412839,0.999999873884,0.000103671376834,-0.000490968735381,-2.08514851756e-05,1793239448082673408
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745.628000083,715,680,664,633.628000083,880,787,805,652,631.628000083,652,0.443956422915,-0.0054091971376,0.0496932691324,0.999999876089,0.000103451772252,-0.000486396171867,-2.32152602213e-05,1793239448099339776
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.205826024,634,880.205826024,787,805,652,631.794173976,652,0.443363401897,-0.00540178487411,0.0496937581145,0.999999875647,0.000103132868363,-0.000487223613941,-2.61292272783e-05,1793239448116006400
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664.782387219,634,880.782387219,787,805,652,631.217612781,652,0.442741267567,-0.00539302775749,0.0496869722641,0.999999870391,0.000102635105926,-0.000497777581385,-3.00342036139e-05,1793239448132673280
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.634612509,745.634612509,715,679.634612509,665,634,880.634612509,787,805,652,631.365387491,652,0.442139422943,-0.00539058739296,0.0497114727117,0.9999998925,9.62222690063e-05,-0.000452435528964,-3.22913842761e-05,1793239448149340160
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.047708564,745.047708564,715,679.047708564,665,634,880.047708564,787,805,652,631.952291436,652,0.441549878992,-0.00539197656468,0.0497549405022,0.999999926078,8.6223413035e-05,-0.000373206467664,-3.35495872041e-05,1793239448166006784
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.531293965,745.531293965,715,679.531293965,665.531293965,634.531293965,880.531293965,787,805,652,632,652.531293965,0.440905419198,-0.00540024892961,0.0498011486934,0.999999951879,6.84926257346e-05,-0.000300707016061,-3.35517838495e-05,1793239448182673408
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745.890679155,715,680,666,635,881,787.109320845,804.890679155,652,632,652.890679155,0.440240209137,-0.00540722107839,0.0498377128438,0.999999968132,5.1786572192e-05,-0.000244720989394,-3.41525966522e-05,1793239448199340032
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745.313835021,715,680,666,635,881,787.686164979,804.313835021,652,632,652.313835021,0.43950703845,-0.00540602810313,0.0498319961545,0.999999965412,4.23886762726e-05,-0.000256810087879,-3.77887336819e-05,1793239448216006400
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745.262529575,715,680,666,635,881,788,804.262529575,652,631.737470425,652.262529575,0.438736605421,-0.00540118803662,0.0498135259771,0.99999995671,3.76090514521e-05,-0.000288790747925,-4.2029231563e-05,1793239448232672768
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.838322039,715,680,666,635,881,788,804.838322039,652,631.161677961,652.838322039,0.437921709078,-0.00539199608563,0.049779837725,0.999999938818,3.83401680641e-05,-0.000344506975012,-4.6990882215e-05,1793239448249339136
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.586553096,715,680,666,635,880.586553096,788,805,652,631.413446904,652.586553096,0.437118317864,-0.00538607642386,0.0497835429989,0.999999938536,3.28808036418e-05,-0.000345392920133,-5.05034503841e-05,1793239448266005504
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745.011688909,715,680,666,635,880.011688909,788,805,652,631.988311091,652.011688909,0.436319418512,-0.00538143432461,0.0498018473958,0.999999945488,2.50045614329e-05,-0.00032487211058,-5.34502697944e-05,1793239448282672384
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,666,635,880,788,805,652,632,652,0.435489195943,-0.00538305111602,0.0498018851582,0.999999943499,1.40082132866e-05,-0.000331231396613,-5.56043755597e-05,1793239448299339264
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,665.829062103,635,880.170937897,788,804.829062103,652,631.829062103,652.170937897,0.434655849156,-0.00538475147573,0.0497964890741,0.999999939944,1.74893607059e-06,-0.000341576607481,-5.85970430626e-05,1793239448316005888
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,665.253398983,635,880.746601017,788,804.253398983,652,631.253398983,652.746601017,0.433816644575,-0.00538634212378,0.0497791250709,0.999999933074,-1.33472168244e-05,-0.000360038248582,-6.36141067917e-05,1793239448332672512
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,665.322806078,635,880.677193922,788,804.322806078,652,631.322806078,652.677193922,0.432983909959,-0.00538769377442,0.0497895688745,0.999999938675,-2.66759231021e-05,-0.000342823503022,-6.64102565221e-05,1793239448349339136
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,665.899437245,635,880.100562755,788,804.899437245,652,631.899437245,652.100562755,0.432156262769,-0.00538885749934,0.0498218781874,0.999999952709,-3.86148707413e-05,-0.000297556118277,-6.74600828826e-05,1793239448366005760
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.514730093,679.514730093,666,635,880.485269907,788,805,652,631.514730093,652,0.431280349866,-0.00538475652925,0.0498205275633,0.999999952346,-4.55312127845e-05,-0.00029693621347,-7.11671784168e-05,1793239448382672384
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,665.927723656,635,880.927723656,788,804.927723656,652,631.072276344,652.072276344,0.430388895554,-0.00537910728865,0.0498093778982,0.999999948694,-3.51771848596e-05,-0.00031030782666,-7.13051058473e-05,1793239448399339008
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,665.346142791,635,880.346142791,788,804.346142791,652,631.653857209,652.653857209,0.429459770727,-0.00537038446835,0.0497792808921,0.999999931806,8.93985680766e-05,-0.000355814634782,-4.233708179e-05,1793239448416005632
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,744.768024404,714.231975596,679.231975596,665,635,880,787.768024404,804.231975596,652,631.768024404,652.768024404,0.428549559301,-0.00536279279566,0.0497687368124,0.999999917138,0.000160287074302,-0.000373256517938,-2.66879039027e-05,1793239448432672256
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,744.19499649,714.80500351,679.80500351,665,635,880,787.19499649,804.80500351,652,631.19499649,652.19499649,0.427667154364,-0.00535686414364,0.0497869395919,0.999999926889,0.000152244195582,-0.000349437145594,-3.06201932613e-05,1793239448449339136
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,744.759367194,715,679.620316403,665.379683597,635.379683597,880,787.379683597,804.620316403,652,631.379683597,652,0.426754931397,-0.00535650453257,0.049780950627,0.999999924727,0.000134390775074,-0.000362201547185,-3.59762679866e-05,1793239448466006016
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.91043175,715,679.044784125,665.955215875,635.955215875,880,787.955215875,804.044784125,652,631.955215875,652,0.425827327725,-0.00535901754879,0.0497624830572,0.999999915348,0.000111476873801,-0.000393836619826,-4.20667604845e-05,1793239448482672640
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745.455102874,715,679.544897126,666,635.455102874,880,788,804.544897126,652,631.455102874,652.544897126,0.424981158368,-0.00536331188705,0.0497926201709,0.999999940904,9.42087451368e-05,-0.000327614704348,-4.45662323904e-05,1793239448499339264
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.865965741,666,635,880,788,805,652,631.134034259,653,0.424139079777,-0.00536644816479,0.0498230420387,0.999999960822,8.12659647521e-05,-0.000263826076964,-4.63526527364e-05,1793239448516005888
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.282654326,666,635,880,788,805,652,631.717345674,653,0.423287680765,-0.00536519885118,0.0498406712523,0.99999996779,8.12247450615e-05,-0.000235871179728,-4.67646236619e-05,1793239448532672512
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.293507339,665.706492661,635,880,788,804.412985323,652.293507339,631.706492661,653,0.422383849827,-0.00536259735935,0.0498312884168,0.999999962002,8.56493277355e-05,-0.000257743487652,-4.72093752289e-05,1793239448549339136
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.862947333,665.137052667,635,880,788,803.274105334,652.862947333,631.137052667,653,0.421430726538,-0.00535872465532,0.0497965109632,0.999999941132,9.42723084313e-05,-0.000326459439563,-4.76849444239e-05,1793239448566005760
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,665,635,880,788,803.448223204,652.551776796,631.448223204,653,0.420542483944,-0.00535742188719,0.0497966708937,0.999999939585,9.58389744579e-05,-0.000330673171336,-4.79530831217e-05,1793239448582672384
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,665.03773195,635,879.96226805,788,804,652,632,652.96226805,0.419674032196,-0.00535700259675,0.0498066149054,0.999999943982,9.51902244211e-05,-0.000317267913496,-4.81228777053e-05,1793239448599339008
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,665.615972269,635,879.384027731,788,804,652,632,652.384027731,0.418794490818,-0.00535757018013,0.0497980807328,0.999999935071,9.48452393648e-05,-0.000344346538048,-4.78257437421e-05,1793239448616005888
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.194166322,745,715,679.805833678,665.805833678,635.194166322,879.194166322,788,804,652.194166322,632,652.194166322,0.417938857676,-0.00535830224797,0.0497921854608,0.999999929881,9.41225490853e-05,-0.000359254444136,-4.81142678881e-05,1793239448632672512
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.772268991,745,715,679.227731009,665.227731009,635.772268991,879.772268991,788,804,652.772268991,632,652.772268991,0.417130499518,-0.00535935956056,0.0497915082389,0.999999933196,9.26530003763e-05,-0.000350096486902,-4.95608478335e-05,1793239448649339136
+345,5.750000000,POSE2_TO_POSE3_RETREAT,767,745.355235488,715,679,665.355235488,636,880,788,804,653,632,653,0.416356884564,-0.00536055743613,0.0498057403831,0.999999943859,9.14720624153e-05,-0.000318512180064,-4.96495537063e-05,1793239448666005760
+346,5.766666667,POSE2_TO_POSE3_RETREAT,767,745.941363292,715,679,665.941363292,636,880,788,804,653,632,653,0.415605851688,-0.0053618466733,0.049829663164,0.999999957626,9.04787126397e-05,-0.000272351424812,-4.88556823632e-05,1793239448682672384
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.478872209,746,715,679,665.478872209,636,880,788,804,652.478872209,632,653,0.41480216985,-0.00536234224787,0.0498246924191,0.999999954968,9.1186496267e-05,-0.00028163065795,-4.9318188403e-05,1793239448699338752
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.899728015,715,679,665,635.899728015,880,788,804,652,632,653,0.413996629828,-0.00536251387712,0.0498130567083,0.999999948628,9.21855815787e-05,-0.000302870352924,-5.01606922945e-05,1793239448716005632
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.320167752,715,679,665,635.320167752,880,788,804,652,632,653,0.413210182376,-0.00536155878968,0.0497849155011,0.999999932363,9.36731760887e-05,-0.000351822221174,-5.21519788589e-05,1793239448732672256
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745.256892214,715,679,665.256892214,635,880,788,804,652.256892214,632,652.743107786,0.412471165432,-0.00536138515894,0.049779674108,0.999999927857,9.42263917347e-05,-0.000364194886841,-5.26336694049e-05,1793239448749339136
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745.830866027,715,679,665.830866027,635,880,788,804,652.830866027,632,652.169133973,0.411790691938,-0.00536217607887,0.0498026979163,0.999999939385,9.36263052614e-05,-0.000331417905457,-5.12520682321e-05,1793239448766006272
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,665.594953776,635,879.594953776,788,803.594953776,653,632,652,0.411114393167,-0.00536112369544,0.049810794561,0.999999942922,9.7448893007e-05,-0.000319511592232,-5.07082540047e-05,1793239448782672896
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,665.020687306,635,879.020687306,788,803.020687306,653,632,652,0.410439838454,-0.00535930121663,0.049812654936,0.999999943377,0.000103119185935,-0.000316324625813,-5.05144503735e-05,1793239448799339264
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.427000922,715,679,665,635.572999078,879,787.427000922,803.572999078,652.427000922,631.427000922,652.572999078,0.409783653073,-0.00536163710404,0.0498000424196,0.999999935263,0.000104698368963,-0.000340537062042,-5.04565160444e-05,1793239448816005632
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.161562504,665.161562504,635.838437496,879,787.161562504,804,652,631.161562504,653,0.409154592163,-0.00536393690201,0.0497949515209,0.999999932233,0.000105600272408,-0.000349065045115,-5.03665332704e-05,1793239448832672768
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.735208336,665.735208336,635.264791664,879,787.735208336,804,652,631.735208336,653,0.408592964223,-0.00536574828889,0.0498104248584,0.999999943606,0.00010516464931,-0.000314976454103,-5.01818567508e-05,1793239448849339648
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745.309683528,715,680,666,635,879,788,804,652,632,653,0.408046333429,-0.00536809933222,0.0498258852549,0.999999951785,0.000103946179813,-0.00028839221451,-4.95427281728e-05,1793239448866006528
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.884869725,715,680,666,635,879,788,804,652,632,653,0.407512560252,-0.00537091304204,0.0498413345557,0.999999957639,0.000102056548407,-0.000268241723652,-4.85139817631e-05,1793239448882673152
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.528205902,665.528205902,635,879.471794098,788,804,652.471794098,631.528205902,653,0.406981400307,-0.00537006358826,0.0498323287763,0.999999951531,0.000103727986783,-0.000289433260193,-4.90670826106e-05,1793239448899339776
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.939541907,715,679,665,635,879.939541907,788,804,653,631.060458093,653,0.406452439809,-0.00536831501902,0.0498160505068,0.999999941191,0.000106172223769,-0.000322229744512,-5.01294661392e-05,1793239448916006656
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.36114016,715,679,665,635,879.36114016,788,804,653,631.63885984,653,0.405936719359,-0.00536671724092,0.0497898984576,0.999999925941,0.000107602395836,-0.000365811986112,-5.21635262031e-05,1793239448932673536
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.216880111,635,879.216880111,788,804,653,632,653,0.40545520364,-0.00536531227652,0.0497748940061,0.999999916023,0.000108150136196,-0.000391642889476,-5.36102052037e-05,1793239448949339904
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.794266223,635,879.794266223,788,804,653,632,653,0.405030544318,-0.00536422781421,0.0497784194994,0.999999917529,0.000107231066648,-0.000387966870072,-5.40805179912e-05,1793239448966006528
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.622793779,635,879.622793779,788,804,653,632,653,0.404662884604,-0.00536708776288,0.0497967250977,0.999999929432,0.000102309634845,-0.000357422816201,-5.40140394595e-05,1793239448982673152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.036779288,635,879.036779288,788,804,653,632,653,0.404326777854,-0.00537213120042,0.0498232124493,0.999999945358,9.51726339809e-05,-0.000312005550259,-5.36504118397e-05,1793239448999340288
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.54204206,635.54204206,879,788,804,653,631.45795794,652.45795794,0.404009092794,-0.00538216913265,0.0498490425804,0.999999958465,7.97936098242e-05,-0.000271991203456,-5.21902322453e-05,1793239449016006400
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.120769613,666,635.879230387,879.120769613,787.879230387,803.879230387,653,631,652.120769613,0.403691562555,-0.00538971028151,0.0498678178605,0.999999966658,6.76580212457e-05,-0.000243874786782,-5.12928992096e-05,1793239449032672512
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.700972952,666,635.299027048,879.700972952,787.299027048,803.299027048,653,631,652.700972952,0.403369928321,-0.00538648079368,0.0498599223943,0.99999996245,6.99607948567e-05,-0.000259644278787,-5.28161000813e-05,1793239449049339392
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.721879086,665.721879086,635,880,787.278120914,803.278120914,653,631,653,0.403064739703,-0.00538297083714,0.0498475670652,0.999999955571,7.35306359453e-05,-0.000283711565113,-5.43976805744e-05,1793239449066006016
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.147980511,665.147980511,635,880,787.852019489,803.852019489,653,631,653,0.402777040784,-0.00537916260627,0.0498304687356,0.999999945234,7.84479852082e-05,-0.000316603437328,-5.60413468447e-05,1793239449082672640
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635,879.562496635,788,803.562496635,653,631.437503365,653,0.40253240318,-0.00537847078979,0.0498208317173,0.999999938536,7.85162047612e-05,-0.000336979748935,-5.66431263233e-05,1793239449099339264
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635.026535409,879,788,803,653,631.973464591,653,0.402304962537,-0.00537872326517,0.049814300098,0.99999993354,7.71379921355e-05,-0.000351760183912,-5.68738524679e-05,1793239449116005632
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635.605634465,879,788,803,653,631.394365535,653,0.402124078958,-0.00537609225468,0.0498184520234,0.99999993713,8.07229713111e-05,-0.000340563478021,-5.69158891591e-05,1793239449132672256
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.183837134,715,679,665.183837134,636,879,788,803,653,631,653,0.401953026983,-0.00537473718218,0.0498233192332,0.999999940723,8.30558788724e-05,-0.000329301819477,-5.67181474758e-05,1793239449149338624
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.760126138,715,679,665.760126138,636,879,788,803,653,631,653,0.401802963341,-0.00537610595714,0.0498297134175,0.99999994448,8.27158883153e-05,-0.000317901502786,-5.60085316731e-05,1793239449166005504
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.671242423,715,679.328757577,666,636,879.328757577,788,803.328757577,653,631,652.671242423,0.401676274219,-0.00537725573405,0.0498373035017,0.999999947344,0.000101795491393,-0.000303932182918,-5.07467686479e-05,1793239449182672128
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.108070995,715,679.891929005,666,636,879.891929005,788,803.891929005,653,631,652.108070995,0.401566251804,-0.00537824935903,0.0498457462982,0.999999948523,0.000134721837491,-0.000288131086505,-4.22391902331e-05,1793239449199338752
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.488212421,745,714.511787579,679.511787579,665.511787579,636,879.511787579,788,804,653,631,652.488212421,0.401466270998,-0.0053792883633,0.049847167967,0.999999945764,0.000163523105137,-0.000283622418992,-3.59355451925e-05,1793239449216005888
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.91163938,745,714.08836062,679,665,636,879,788,804,653,631,652.91163938,0.401371651071,-0.00538087700249,0.0498467961945,0.999999942431,0.000185664559967,-0.000282304537185,-3.11731763133e-05,1793239449232672768
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.333646155,745,714.666353845,679,665,636,879,788,804,653,631,652.333646155,0.401293523869,-0.00538545162023,0.0498457253305,0.999999943667,0.00017633008598,-0.000283808367365,-3.20513840237e-05,1793239449249338880
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,636,879,788,804,653,631.24359606,652.24359606,0.40122580412,-0.00538932484136,0.0498455954564,0.999999945115,0.000169097436906,-0.000283051291555,-3.25302333796e-05,1793239449266005504
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,636,879,788,804,653,631.819812765,652.819812765,0.401172295336,-0.00539224033328,0.0498467504663,0.999999946926,0.000164734745988,-0.000279207039266,-3.24637748762e-05,1793239449282672384
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635.596045449,879,788,803.596045449,653,632,653,0.401133587567,-0.00539151523332,0.0498496614647,0.999999948686,0.000163379708981,-0.000273575385427,-3.30464518663e-05,1793239449299338752
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635.00829789,879,788,803.00829789,653,632,653,0.40110161403,-0.00538913372089,0.0498533714104,0.999999950397,0.000163393107607,-0.000267130491917,-3.3924475361e-05,1793239449316005376
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.570974153,745,715,679,665.570974153,635.570974153,879,787.429025847,803.570974153,653,631.429025847,653,0.401076137449,-0.00539182768794,0.0498546337503,0.999999951782,0.000160520886375,-0.000263643666219,-3.40722704504e-05,1793239449332672256
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.850941796,745,715,679,665.850941796,635.850941796,879,787.149058204,804,652.850941796,631.149058204,653,0.401052997532,-0.00539384620784,0.0498552772944,0.999999952788,0.000158245831247,-0.000261178519217,-3.41911525843e-05,1793239449349339392
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.275906031,745,715,679,665.275906031,635.275906031,879,787.724093969,804,652.275906031,631.724093969,653,0.401036269437,-0.00539372672762,0.0498542526149,0.999999952769,0.000157795446428,-0.00026151206226,-3.42572916338e-05,1793239449366006272
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.299682056,665.299682056,635.299682056,879,788,803.700317944,652,631.700317944,652.700317944,0.401023923754,-0.00539353874465,0.0498545343758,0.999999953122,0.000156597309025,-0.000260881027219,-3.42814277953e-05,1793239449382672896
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.87577965,665.87577965,635.87577965,879,788,803.12422035,652,631.12422035,652.12422035,0.401015620244,-0.0053932875773,0.0498560211484,0.999999953811,0.000154709472512,-0.000259360301413,-3.42668220691e-05,1793239449399339008
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,714.536597933,679.536597933,665.536597933,636,879,787.536597933,803.463402067,652.463402067,631.463402067,652.463402067,0.40101217154,-0.00539412660374,0.0498564914596,0.999999954566,0.00015326278161,-0.000257292978108,-3.43424508009e-05,1793239449416005376
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714.053063778,679,665,636,879,787.053063778,803.946936222,653,631.946936222,653,0.401010063197,-0.00539510694457,0.0498567767041,0.999999955259,0.000152232815574,-0.000255188558732,-3.44293437939e-05,1793239449432672256
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,714.631548252,679,665,636,879,787.631548252,803.368451748,653,631.368451748,653,0.401008012109,-0.00539451907567,0.0498579962424,0.999999955221,0.000154128346645,-0.000254204639331,-3.43821576654e-05,1793239449449338880
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,714.79186666,679,665,636,879,787.79186666,803,652.79186666,631,653,0.401005863993,-0.00539374934936,0.0498585986137,0.999999955153,0.000155647745761,-0.00025353027898,-3.44899326734e-05,1793239449466005504
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.218613621,679,665,636,879,787.218613621,803,652.218613621,631,653,0.401003545666,-0.00539266059814,0.0498581183142,0.999999955039,0.000156507312052,-0.000253398965313,-3.48695495897e-05,1793239449482672384
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,665,636,879.354630524,787.354630524,803,652.354630524,631,653,0.401002681163,-0.0053924447289,0.0498582645306,0.999999955199,0.000156163606736,-0.000252942863123,-3.51448176666e-05,1793239449499339264
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,665,636,879.927869165,787.927869165,803,652.927869165,631,653,0.401002712855,-0.00539276693828,0.049858796956,0.999999955526,0.000155078157739,-0.000252286548599,-3.53557610259e-05,1793239449516005888
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.521363925,745,714.521363925,679,665,636,879.478636075,788,803.521363925,653,631,653,0.401004569562,-0.00539230395334,0.0498601204259,0.999999956129,0.00015581572352,-0.000249450474201,-3.51945099646e-05,1793239449532672768
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.886147873,745,715,679,665,636,879.113852127,788,804,652.886147873,631.113852127,652.886147873,0.401005876894,-0.00539221529605,0.049861189089,0.999999956663,0.000156095326557,-0.000247146982831,-3.50243734953e-05,1793239449549339392
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.309600006,745,715,679,665,636,879.690399994,788,804,652.309600006,631.690399994,652.309600006,0.401003883957,-0.00539410723505,0.049860759467,0.999999956791,0.000153447331083,-0.000248283038106,-3.50358545919e-05,1793239449566006016
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635.733508914,880,788.266491086,804,652.266491086,632,652.266491086,0.401002641308,-0.0053948122148,0.0498607461892,0.999999956815,0.000152294130865,-0.000248910779294,-3.4923227621e-05,1793239449582672640
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635.157947504,880,788.842052496,804,652.842052496,632,652.842052496,0.401002268823,-0.00539414058635,0.0498612157778,0.999999956726,0.000152874559976,-0.000248948989469,-3.4666662927e-05,1793239449599339008
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,635.425876267,879.574123733,788.574123733,804,653,632,653,0.40100257557,-0.00539453427783,0.0498615680849,0.999999957231,0.00015074306691,-0.000248245959352,-3.4469709933e-05,1793239449616005632
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,636,879.012627828,788,804,653,632,653,0.401003104658,-0.00539529792151,0.049861840275,0.999999957917,0.000147725729204,-0.000247317845629,-3.43048949485e-05,1793239449632672256
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,636,879.590555194,788,804,653,632,653,0.401002086881,-0.00539458576554,0.0498605116554,0.99999995704,0.000150968610089,-0.000248863686556,-3.45694774689e-05,1793239449649338880
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,636,880,788,804,653,631.831355676,653,0.401001463963,-0.00539428452839,0.0498599187204,0.999999956579,0.000152904734547,-0.000249510022713,-3.4739728493e-05,1793239449666005504
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,636,880,788,804,653,631.252873466,653,0.401001800629,-0.00539498190244,0.0498611136397,0.999999957153,0.000151665191351,-0.000247970390557,-3.46807359665e-05,1793239449682672128
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,636,879.677037502,788,803.677037502,652.677037502,631,653,0.401002246199,-0.0053955763199,0.0498616145596,0.999999957544,0.000150797517938,-0.0002469309806,-3.46110973512e-05,1793239449699339008
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,665,636,879.103256687,788,803.103256687,652.103256687,631,653,0.401002776346,-0.00539609077944,0.0498615765073,0.999999957794,0.000150218645154,-0.000246280052013,-3.45331908002e-05,1793239449716005376
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,665.484178423,636,879.484178423,788,803,652.484178423,631,653,0.40100210452,-0.00539544233893,0.0498609725079,0.999999957504,0.000150346907073,-0.000247358367382,-3.46742712891e-05,1793239449732672000
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,636,879.926794162,788,803.073205838,653,631,653,0.401001297675,-0.00539475168647,0.0498604515216,0.999999957181,0.000150578250094,-0.000248499341329,-3.48275833059e-05,1793239449749338624
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,666,636,879.347474638,788,803.652525362,653,631,653,0.401001380988,-0.00539553353411,0.0498613630985,0.999999957464,0.000150449396947,-0.00024744992533,-3.47332148134e-05,1793239449766005248
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,714.769699715,679,665.769699715,635.769699715,879.230300285,788,804,653,631,653,0.401001622276,-0.00539594324852,0.0498620866278,0.999999957649,0.000150347796306,-0.00024677709484,-3.46168358741e-05,1793239449782672128
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,714.194239656,679,665.194239656,635.194239656,879.805760344,788,804,653,631,653,0.401002100326,-0.00539579523284,0.0498625283233,0.99999995769,0.000150287040014,-0.00024666866718,-3.4467469029e-05,1793239449799338752
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,714.388922871,679,665,635.388922871,879.611077129,788,804,653,631,653,0.40100150713,-0.00539643765232,0.0498618446953,0.999999957708,0.000148828667341,-0.00024748385054,-3.44325023051e-05,1793239449816005376
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,714.976009931,679,665,635.976009931,879.023990069,788,804,653,631,653,0.401000368111,-0.00539748281476,0.0498605876919,0.999999957709,0.000146658180431,-0.000248769632682,-3.44558248005e-05,1793239449832672000
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745.555790689,715,679,665.555790689,635.444209311,879.555790689,788,804,653,631,653,0.40100154891,-0.0053964107447,0.0498616858785,0.999999957788,0.000148740960079,-0.000247187507639,-3.46283509186e-05,1793239449849338880
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745.865985633,715,679,665.865985633,635.134014367,880,788,804,653,631,653,0.401002713151,-0.00539542967905,0.0498627731219,0.999999957901,0.000150844515098,-0.000245427251078,-3.47851948105e-05,1793239449866005504
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745.291853341,715,679,665.291853341,635.708146659,880,788,804,653,631,653,0.401003498434,-0.00539504371575,0.0498634948985,0.999999958134,0.00015242120047,-0.000243483255918,-3.48696606309e-05,1793239449882672128
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..745dafd78ce8807e9e1a09704ae692692f5018ca
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5dae767f6cf81aa20c135008babf85951c335c25
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b92a9d5f4e079f6389e4e154f26c4a8535c5238
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,716,679,662,636,880,787,804,652,631,653,0.401029934209,-0.00549637218471,0.0698535708109,0.999999988065,3.36837606332e-05,-0.000150064618309,1.46964792011e-05,1793239451527999232
+1,0.016666667,BASELINE,766,745,716,679,662,636,880,787.572074013,804,652,631,653,0.401031180254,-0.00549626242308,0.0698549326949,0.999999988299,3.40831586366e-05,-0.00014839274906,1.48025635903e-05,1793239451544665856
+2,0.033333333,BASELINE,766,745,716,679.148393521,662,636,880,788,804,652,631.148393521,653,0.401031977511,-0.0054958965414,0.0698557811434,0.999999988406,3.48915092838e-05,-0.000147485066123,1.48104680069e-05,1793239451561332480
+3,0.050000000,BASELINE,766,745,716,679.737316585,662,636,880,788,804,652,631.737316585,653,0.401031442473,-0.00549477032695,0.0698551053784,0.999999988136,3.69139003708e-05,-0.000148845990235,1.45269097337e-05,1793239451577999104
+4,0.066666667,BASELINE,766,745,715.677133377,680,662,636,879.677133377,787.677133377,804,652,631.677133377,653,0.401031383215,-0.00549555733925,0.0698549774089,0.999999988185,3.52282687893e-05,-0.000148937292917,1.4347875997e-05,1793239451594665728
+5,0.083333333,BASELINE,766,745,715.094299284,680,662,636,879.094299284,787.094299284,804,652,631.094299284,653,0.401031707048,-0.00549788485373,0.0698552905163,0.999999988479,3.05569916294e-05,-0.000148006314967,1.42530039006e-05,1793239451611332352
+6,0.100000000,BASELINE,766,745,715,680,662,636,879,787,804,652.481265083,631.481265083,652.518734917,0.401031702514,-0.00549705238896,0.0698551234282,0.99999998838,3.19438467796e-05,-0.0001483772342,1.42597175749e-05,1793239451627998976
+7,0.116666667,BASELINE,766,745.05536286,715.05536286,680,662,635.94463714,879,787.05536286,804,652.94463714,631.94463714,652.05536286,0.401031552101,-0.00549571143933,0.0698548794197,0.999999988211,3.42462059399e-05,-0.000149003042054,1.42639414652e-05,1793239451644665600
+8,0.133333333,BASELINE,766,745.628867739,715.628867739,680,662,635.371132261,879,787.628867739,804,652.371132261,631.371132261,652.628867739,0.401030629597,-0.00549532014159,0.0698547829952,0.999999988118,3.41726365717e-05,-0.000149662451689,1.40613465246e-05,1793239451661332480
+9,0.150000000,BASELINE,766,746,715.791338608,680,662,635,879,788,804,652,631.208661392,653,0.40103039353,-0.00549528228948,0.0698550204032,0.99999998814,3.38199711278e-05,-0.000149593364607,1.40836051761e-05,1793239451677999104
+10,0.166666667,BASELINE,766,746,715.200011999,680,662,635,879,788,804,652,631.799988001,653,0.401031416323,-0.00549589262322,0.0698558700282,0.999999988372,3.29554699433e-05,-0.000148188283521,1.4518224025e-05,1793239451694665728
+11,0.183333333,BASELINE,765.616654118,746,715,679.616654118,662,635.383345882,879.383345882,788,804,652,632,653,0.401032258956,-0.00549518640323,0.0698569680309,0.999999988598,3.47474256956e-05,-0.000146237849255,1.45583184931e-05,1793239451711332352
+12,0.200000000,BASELINE,765.037369227,746,715,679.037369227,662,635.962630773,879.962630773,788,804,652,632,653,0.401033009506,-0.00549380725516,0.0698581929866,0.999999988809,3.78971722431e-05,-0.000144008669303,1.43967603417e-05,1793239451727998976
+13,0.216666667,BASELINE,765.538319929,745.461680071,715,679,661.461680071,636,880,788,803.461680071,652.538319929,631.461680071,653,0.4010316252,-0.00549574511388,0.0698566867671,0.999999988525,3.44215109444e-05,-0.000146815753826,1.45053944887e-05,1793239451744665600
+14,0.233333333,BASELINE,766,745.116019411,715,679,661.116019411,636,879.883980589,788,803.116019411,652.883980589,631.116019411,653,0.401030786066,-0.00549712245849,0.0698556488387,0.999999988306,3.19582923362e-05,-0.000148839483773,1.46129081235e-05,1793239451761332480
+15,0.250000000,BASELINE,766,745.702883905,715,679,661.702883905,636,879.297116095,788,803.702883905,652.297116095,631.702883905,653,0.401032756866,-0.00549529677842,0.0698572757172,0.999999988566,3.54580388584e-05,-0.000146274689959,1.46402602937e-05,1793239451777999360
+16,0.266666667,BASELINE,766,746,715.286256583,679.286256583,662,635.713743417,879,787.713743417,804,652.286256583,631.713743417,653,0.401033341189,-0.00549436658343,0.0698579271808,0.999999988664,3.65760762601e-05,-0.000145327657813,1.46034801078e-05,1793239451794665984
+17,0.283333333,BASELINE,766,746,715.866048622,679.866048622,662,635.133951378,879,787.133951378,804,652.866048622,631.133951378,653,0.40103250378,-0.00549435464384,0.0698575784268,0.99999998861,3.52518427357e-05,-0.000146039523594,1.45009368203e-05,1793239451811332352
+18,0.300000000,BASELINE,766,745.557887615,715.557887615,679.557887615,662,635.442112385,879,787.442112385,804,652.557887615,631.442112385,653,0.401032468958,-0.00549378630336,0.0698573438847,0.999999988575,3.62048173429e-05,-0.00014604707462,1.44831747734e-05,1793239451827999232
+19,0.316666667,BASELINE,766,745,715.016872936,679.016872936,661.983127064,636,879.016872936,788,804,652.016872936,632,653,0.401032674878,-0.00549314149431,0.0698571675511,0.999999988549,3.77208835596e-05,-0.00014583799907,1.44985151494e-05,1793239451844665856
+20,0.333333333,BASELINE,766,745,715.585645919,679.585645919,661.414354081,636,879.585645919,788,804,652.585645919,632,653,0.401032867964,-0.00549546341718,0.069857772766,0.999999988689,3.52762546453e-05,-0.000145464805181,1.47634323616e-05,1793239451861332736
+21,0.350000000,BASELINE,766,745.162613273,716,680,661.162613273,636,880,788,804,652.837386727,632,653,0.401032416266,-0.00549680774439,0.0698577929297,0.999999988691,3.37049878179e-05,-0.000145817065184,1.48300850653e-05,1793239451877999360
+22,0.366666667,BASELINE,766,745.761568582,716,680,661.761568582,636,880,788,804,652.238431418,632,653,0.401030234412,-0.00549552887775,0.0698562432185,0.999999988333,3.44772237672e-05,-0.000148115943898,1.43647323244e-05,1793239451894665984
+23,0.383333333,BASELINE,766,746,715.652808989,679.652808989,662,636,879.652808989,788,804.347191011,652.347191011,632,653,0.401029823535,-0.0054951515416,0.0698562101564,0.999999988223,3.55880460728e-05,-0.000148598319789,1.43462079616e-05,1793239451911332608
+24,0.400000000,BASELINE,766,746,715.076004163,679.076004163,662,636,879.076004163,788,804.923995837,652.923995837,632,653,0.40103058389,-0.00549537043002,0.0698571801258,0.999999988277,3.69227916051e-05,-0.000147879356793,1.46231922638e-05,1793239451927999232
+25,0.416666667,BASELINE,766,746,715.508181736,679,662,636,879,787.491818264,803.983636528,652.491818264,631.491818264,653,0.401031984988,-0.0054951746318,0.0698577898312,0.999999988427,3.62327591908e-05,-0.000147049644139,1.44914110063e-05,1793239451944665856
+26,0.433333333,BASELINE,766,745.907505378,716,679.092494622,661.907505378,636,879.092494622,787.092494622,803.092494622,652,631,653,0.40103309226,-0.00549496806537,0.0698582105464,0.999999988551,3.5330386036e-05,-0.000146436131038,1.43332299889e-05,1793239451961332480
+27,0.450000000,BASELINE,766,745.328417293,716,679.671582707,661.328417293,636,879.671582707,787.671582707,803.671582707,652,631,653,0.401032142198,-0.00549503593685,0.0698579246626,0.999999988475,3.49275246972e-05,-0.000147048417848,1.43625254157e-05,1793239451977999104
+28,0.466666667,BASELINE,766,745,716,680,661.250864051,636,879.749135949,788,804,652,631,653,0.401031499906,-0.00549540011314,0.0698574520982,0.999999988416,3.46651156263e-05,-0.000147513762445,1.4366762645e-05,1793239451994665984
+29,0.483333333,BASELINE,766,745,716,680,661.830398559,636,879.169601441,788,804,652,631,653,0.401031260842,-0.00549615249427,0.0698567349533,0.999999988379,3.45867206332e-05,-0.000147786590125,1.43381697829e-05,1793239452011332864
+30,0.500000000,BASELINE,766,745.407093047,716,680,661.592906953,636,879,788,804,652.407093047,631.407093047,653,0.401031202411,-0.00549537569448,0.0698565232104,0.999999988333,3.55964458208e-05,-0.000147865573422,1.42069702853e-05,1793239452027999488
+31,0.516666667,BASELINE,766,745.982612521,716,680,661.017387479,636,879,788,804,652.982612521,631.982612521,653,0.401031218712,-0.00549396622732,0.0698565205673,0.999999988283,3.70563584926e-05,-0.00014786435756,1.40333193901e-05,1793239452044666112
+32,0.533333333,BASELINE,766.558639705,746,715.441360295,679.441360295,661.558639705,636,879,788,804,652.441360295,631.441360295,653,0.40103260297,-0.00549343262161,0.0698574897252,0.999999988416,3.96417344972e-05,-0.000146254970392,1.43350463213e-05,1793239452061332480
+33,0.550000000,BASELINE,766.861904327,745.861904327,715.138095673,679.138095673,662,635.861904327,879,788,804,652,631,653,0.401033282529,-0.00549306536838,0.0698580721433,0.999999988475,4.13524525098e-05,-0.000145358080867,1.45522319864e-05,1793239452077999104
+34,0.566666667,BASELINE,766.271264059,745.271264059,715.728735941,679.728735941,662,635.271264059,879,788,804,652,631,653,0.401031513104,-0.00549315384223,0.0698572879903,0.999999988294,4.00819856355e-05,-0.000146960250025,1.4443841675e-05,1793239452094665728
+35,0.583333333,BASELINE,766,745.31305287,716,680,662,635.31305287,879.31305287,788,804,652.31305287,631.31305287,653,0.401031070479,-0.00549273358823,0.0698571663741,0.999999988287,3.93194898561e-05,-0.000147229868202,1.42528668195e-05,1793239452111332352
+36,0.600000000,BASELINE,766,745.8919991,716,680,662,635.8919991,879.8919991,788,804,652.8919991,631.8919991,653,0.401031754779,-0.00549188124314,0.0698576074875,0.99999998843,3.89884422733e-05,-0.00014636767628,1.39917482671e-05,1793239452127998976
+37,0.616666667,BASELINE,766,745.535093511,715.535093511,679.535093511,662,636,880,788,804,652.535093511,631.535093511,653,0.401032744203,-0.00549356210342,0.0698586077875,0.999999988664,3.70010985565e-05,-0.000145279848012,1.40084705963e-05,1793239452144665856
+38,0.633333333,BASELINE,766,745,715,679,661.963364048,635.963364048,880.036635952,787.963364048,804,652,631.036635952,653,0.401033646112,-0.00549565201557,0.0698595527944,0.999999988877,3.48271970444e-05,-0.000144342242789,1.40854247972e-05,1793239452161332736
+39,0.650000000,BASELINE,766,745,715,679,661.388594252,635.388594252,880.611405748,787.388594252,804,652,631.611405748,653,0.401032234737,-0.0054952171981,0.0698578019853,0.999999988558,3.54922792069e-05,-0.000146371276534,1.41111920721e-05,1793239452177999360
+40,0.666666667,BASELINE,766,745,715.192331746,679,661.192331746,635.192331746,880.615336509,787.192331746,803.807668254,652,632,653,0.401031846803,-0.00549469190979,0.0698574433144,0.999999988483,3.64196486982e-05,-0.000146656998401,1.41193476155e-05,1793239452194665984
+41,0.683333333,BASELINE,766,745,715.786107221,679,661.786107221,635.786107221,879.427785558,787.786107221,803.213892779,652,632,653,0.401033595041,-0.00549397778658,0.0698599903789,0.999999988915,3.78944764128e-05,-0.000143303998837,1.40907431352e-05,1793239452211332608
+42,0.700000000,BASELINE,766,745,716,679,662,636,879.369833344,788,803.369833344,652,631.630166656,653,0.401034056419,-0.00549425983983,0.0698598821221,0.999999988941,3.77601702023e-05,-0.000143154051802,1.41055179322e-05,1793239452227999232
+43,0.716666667,BASELINE,766,745,716,679,662,636,879.947901165,788,803.947901165,652,631.052098835,653,0.401033793231,-0.00549510278975,0.0698582787881,0.999999988741,3.6719841903e-05,-0.000144807581979,1.41447174101e-05,1793239452244666112
+44,0.733333333,BASELINE,766,745,715.478827921,679.521172079,662,636,879.478827921,787.478827921,804,652,631,653,0.401033547917,-0.00549413205316,0.0698582969831,0.999999988662,3.73697273285e-05,-0.000145193076059,1.40809859149e-05,1793239452261332736
+45,0.750000000,BASELINE,766,745,715,680,661.90609194,636,879,787.09390806,803.90609194,652,631.09390806,653,0.401033382811,-0.00549298674023,0.069858524847,0.999999988617,3.82521777542e-05,-0.000145286576071,1.39812493595e-05,1793239452277999360
+46,0.766666667,BASELINE,766,745,715,680,661.333660798,636,879,787.666339202,803.333660798,652,631.666339202,653,0.401033617384,-0.00549186728733,0.0698590026604,0.999999988682,3.94665801044e-05,-0.000144532203741,1.37499968621e-05,1793239452294665984
+47,0.783333333,BASELINE,766,745.248799572,715,679.751200428,661,636,879.248799572,788,803.248799572,652,631.751200428,653,0.401033443347,-0.00549216939758,0.0698590831535,0.99999998872,3.89317631217e-05,-0.000144421519615,1.3684819257e-05,1793239452311332608
+48,0.800000000,BASELINE,766,745.845275004,715,679.154724996,661,636,879.845275004,788,803.845275004,652,631.154724996,653,0.401032698314,-0.00549445801906,0.0698586084259,0.999999988715,3.59525637581e-05,-0.000145210333909,1.38517169e-05,1793239452327999488
+49,0.816666667,BASELINE,766,745.574405231,715,679,661.425594769,636,879.574405231,788,804,652,631.425594769,653,0.40103273874,-0.00549433634664,0.0698585873298,0.999999988724,3.58245284001e-05,-0.000145157799398,1.40311755857e-05,1793239452344666112
+50,0.833333333,BASELINE,766,745,715.000258123,679,662,636,879,787.999741877,804,652,631.999741877,653,0.401033053915,-0.00549337028553,0.0698587249595,0.999999988741,3.66959447596e-05,-0.000144811028472,1.42149486405e-05,1793239452361332480
+51,0.850000000,BASELINE,766,745,715.579892655,679,662,636,879,787.420107345,804,652,631.420107345,653,0.401032555081,-0.00549201612127,0.0698585023553,0.999999988541,3.94062841392e-05,-0.000145473444813,1.42075304122e-05,1793239452377999104
+52,0.866666667,BASELINE,766,745,716,679,662,636,879,787.161799067,803.838200933,652,631.161799067,653,0.401032229409,-0.00549144577114,0.0698584518635,0.999999988442,4.0706618941e-05,-0.000145806673554,1.41339231783e-05,1793239452394665728
+53,0.883333333,BASELINE,766,745,716,679,662,636,879,787.749688333,803.250311667,652,631.749688333,653,0.401032359747,-0.00549293955858,0.0698588546215,0.999999988618,3.82937731265e-05,-0.000145273002265,1.3886010325e-05,1793239452411332864
+54,0.900000000,BASELINE,766,745,715.667577087,679,662,635.667577087,879,788,803.332422913,652.332422913,631.667577087,653,0.401033246297,-0.0054939125371,0.0698594133901,0.9999999888,3.7730972952e-05,-0.000144150430496,1.4019335328e-05,1793239452427999488
+55,0.916666667,BASELINE,766,745,715.088664702,679,662,635.088664702,879,788,803.911335298,652.911335298,631.088664702,653,0.401034693574,-0.00549449933906,0.0698600878397,0.999999988987,3.8539969944e-05,-0.000142591192797,1.44353457844e-05,1793239452444666112
+56,0.933333333,BASELINE,766,745,715.487373545,679,661.512626455,635.487373545,878.512626455,788,804,652.512626455,631.487373545,653,0.401034456204,-0.00549400247126,0.0698599568328,0.999999988992,3.7966711652e-05,-0.000142727660309,1.42636874571e-05,1793239452461332480
+57,0.950000000,BASELINE,766,745.062871644,716,679.062871644,661.062871644,635.937128356,878.062871644,788,804,652,632,653,0.401033895166,-0.00549341576658,0.0698597446735,0.99999998895,3.73101502181e-05,-0.00014321934956,1.40040409029e-05,1793239452477999360
+58,0.966666667,BASELINE,766,745.638203614,716,679.638203614,661.638203614,635.361796386,878.638203614,788,804,652,632,653,0.401033179358,-0.00549369429906,0.0698600584107,0.999999988798,3.80122406742e-05,-0.000144106696676,1.38935213671e-05,1793239452494665984
+59,0.983333333,BASELINE,766,745.779769724,715.779769724,680,662,635.220230276,879.220230276,788,804,652.220230276,632,653,0.40103288187,-0.00549347591854,0.0698600040697,0.999999988675,3.95710707278e-05,-0.000144532628135,1.39317279376e-05,1793239452511332608
+60,1.000000000,BASELINE,766,745.186400053,715.186400053,680,662,635.813599947,879.813599947,788,804,652.813599947,632,653,0.401033293146,-0.00549241561104,0.0698593260884,0.999999988599,4.25814873879e-05,-0.000144176776408,1.42219233182e-05,1793239452527999232
+61,1.016666667,BASELINE,766.396890513,745.396890513,715,679.603109487,662,636,879.603109487,788,804,652.603109487,632,653,0.401033371561,-0.00549223934069,0.0698596207505,0.999999988612,4.30052870535e-05,-0.000143957479882,1.42292695241e-05,1793239452544665856
+62,1.033333333,BASELINE,766.975564617,745.975564617,715,679.024435383,662,636,879.024435383,788,804,652.024435383,632,653,0.401033297518,-0.00549246797666,0.0698603609022,0.999999988669,4.22443655394e-05,-0.000143800728319,1.41070652776e-05,1793239452561332480
+63,1.050000000,BASELINE,766.452233723,745.452233723,715,679.547766277,662,636,879,787.452233723,804.547766277,652,632,653,0.401033293147,-0.00549257218043,0.0698602066943,0.999999988775,4.10609418814e-05,-0.000143410176411,1.40641166019e-05,1793239452577999104
+64,1.066666667,BASELINE,766,745,715.122814197,680,662,636,879.122814197,787.122814197,804.877185803,652,631.877185803,653,0.401033319732,-0.00549307016851,0.0698600268888,0.999999988849,3.97177560927e-05,-0.000143275071111,1.40473407779e-05,1793239452594665728
+65,1.083333333,BASELINE,766,745,715.70969525,680,662,636,879.70969525,787.70969525,804.29030475,652,631.29030475,653,0.401033451682,-0.00549507684305,0.0698598993534,0.999999988796,3.78412772007e-05,-0.000144144148025,1.4116258587e-05,1793239452611332352
+66,1.100000000,BASELINE,766.295512704,745,716,679.704487296,661.704487296,636,879.704487296,788,804,652,631,653,0.401032840374,-0.00549534903033,0.0698592038323,0.999999988591,3.75566184214e-05,-0.000145635144845,1.40742742211e-05,1793239452627998720
+67,1.116666667,BASELINE,766.880289017,745,716,679.119710983,661.119710983,636,879.119710983,788,804,652,631,653,0.401031501526,-0.00549392340878,0.0698579523364,0.999999988236,3.88301182491e-05,-0.000147734910018,1.39237328819e-05,1793239452644665344
+68,1.133333333,BASELINE,766.542177432,745,715.542177432,679.457822568,661,635.542177432,879,788,804,652,631.457822568,653,0.401031480311,-0.00549298734107,0.0698582801542,0.999999988319,4.0489103006e-05,-0.000146735037398,1.3820729809e-05,1793239452661332224
+69,1.150000000,BASELINE,766,745.033102689,715,680,661.033102689,635.033102689,879.033102689,787.966897311,804,652,631.966897311,653,0.401031746746,-0.00549225052927,0.069858922051,0.999999988492,4.20934805998e-05,-0.000145103835548,1.3735462324e-05,1793239452677999104
+70,1.166666667,BASELINE,766,745.602083316,715,680,661.602083316,635.602083316,879.602083316,787.397916684,804,652,631.397916684,653,0.401031179187,-0.00549269937606,0.0698580673791,0.999999988374,4.12075436374e-05,-0.000146168621969,1.37392133058e-05,1793239452694666496
+71,1.183333333,BASELINE,766,746,715,680,662,636,879.82042936,787.17957064,804,652.17957064,631.17957064,653,0.401031010772,-0.00549303500009,0.0698578786434,0.999999988323,4.03228274128e-05,-0.000146770748316,1.36750150096e-05,1793239452711333888
+72,1.200000000,BASELINE,766,746,715,680,662,636,879.223154246,787.776845754,804,652.776845754,631.776845754,653,0.401031770816,-0.00549310725348,0.069859238961,0.99999998843,3.9440950605e-05,-0.000146296667851,1.34527579276e-05,1793239452728000768
+73,1.216666667,BASELINE,766,745.638406142,715,679.638406142,662,636,879.361593858,788,803.638406142,652.638406142,632,653,0.40103315638,-0.00549316882929,0.0698602259284,0.999999988635,3.95006958779e-05,-0.00014486013259,1.36405303475e-05,1793239452744667392
+74,1.233333333,BASELINE,766,745.061130137,715,679.061130137,662,636,879.938869863,788,803.061130137,652.061130137,632,653,0.401034915052,-0.00549322403619,0.0698609902012,0.999999988893,4.0122096406e-05,-0.000142849515935,1.40728756383e-05,1793239452761333760
+75,1.250000000,BASELINE,766,745,715,679.512629047,662,636,880,788,803,652,632,653,0.401033457071,-0.0054935240156,0.0698602999886,0.999999988786,3.92977471149e-05,-0.000143824068756,1.4062356966e-05,1793239452778000128
+76,1.266666667,BASELINE,766,745.088228599,715,679.911771401,662,636,880,788,803.088228599,652,631.911771401,653,0.40103196562,-0.00549372958861,0.0698595503036,0.999999988671,3.83192155344e-05,-0.000144893718606,1.39835954628e-05,1793239452794666240
+77,1.283333333,BASELINE,766,745.676622348,715,679.323377652,662,636,880,788,803.676622348,652,631.323377652,653,0.401032444117,-0.00549323563228,0.0698594400259,0.999999988764,3.74373184244e-05,-0.000144498201757,1.38153102157e-05,1793239452811332608
+78,1.300000000,BASELINE,766,746,715.261064266,679.261064266,662,636,879.738935734,788,804,652.261064266,631,653,0.401032502251,-0.00549314591091,0.0698593066823,0.999999988711,3.78115420966e-05,-0.000144766265492,1.38139967582e-05,1793239452827998976
+79,1.316666667,BASELINE,766,746,715.840684042,679.840684042,662,636,879.159315958,788,804,652.840684042,631,653,0.401032047452,-0.00549354944463,0.069859145193,0.999999988478,3.97185079529e-05,-0.000145844042718,1.40164254197e-05,1793239452844665856
+80,1.333333333,BASELINE,766,745.581545903,715.581545903,679.581545903,662,636,879,788,804,652.581545903,631,653,0.401031448602,-0.00549397622765,0.0698593070792,0.999999988447,3.9473280847e-05,-0.000146108002632,1.41619085205e-05,1793239452861333248
+81,1.350000000,BASELINE,766,745.004476936,715.004476936,679.004476936,662,636,879,788,804,652.004476936,631,653,0.401030795151,-0.00549441182334,0.0698595915406,0.999999988493,3.84122659584e-05,-0.000146063485487,1.42858064445e-05,1793239452878000640
+82,1.366666667,BASELINE,766,745.571922634,715,679.571922634,661.428077366,636,879.571922634,788,804,652,631.571922634,653,0.401030419668,-0.00549267931497,0.069858834657,0.999999988353,3.86405080157e-05,-0.000147021241143,1.3637766566e-05,1793239452894667264
+83,1.383333333,BASELINE,766,746,715,680,661,636,879.848453178,788,803.848453178,652,632,653,0.401030374111,-0.00549147827838,0.0698583464355,0.999999988249,3.92914628021e-05,-0.000147589933228,1.3271151247e-05,1793239452911333632
+84,1.400000000,BASELINE,766,746,715,680,661,636,879.259506744,788,803.259506744,652,632,653,0.401031274524,-0.00549186012025,0.0698586571351,0.999999988253,4.11333713467e-05,-0.000147013079029,1.3734213001e-05,1793239452927999232
+85,1.416666667,BASELINE,766,745.676098904,715,680,661,636,879.323901096,788,803.323901096,652,632,653,0.401031775633,-0.00549183343272,0.069858839353,0.999999988262,4.18104083547e-05,-0.000146762622113,1.3713747532e-05,1793239452944665600
+86,1.433333333,BASELINE,766,745.097053969,715,680,661,636,879.902946031,788,803.902946031,652,632,653,0.401031962201,-0.00549148493779,0.0698589203631,0.999999988277,4.15698509649e-05,-0.000146769275371,1.33123972737e-05,1793239452961332480
+87,1.450000000,BASELINE,766,745,715,679.520622994,661.479377006,636,879.520622994,788,803.520622994,652.479377006,632,653,0.401032968328,-0.00549211693335,0.0698592660449,0.999999988563,3.89585386239e-05,-0.000145532986591,1.33018114675e-05,1793239452977999104
+88,1.466666667,BASELINE,766,745,715,679,662,636,879.056346262,788,803.056346262,653,631.943653738,653,0.401033849827,-0.0054929377836,0.0698595084462,0.999999988827,3.61814420083e-05,-0.000144423945726,1.33582987132e-05,1793239452994665984
+89,1.483333333,BASELINE,766,745,715,679,662,636,879.643341867,788,803.643341867,653,631.356658133,653,0.401032003446,-0.00549367785475,0.0698582762796,0.999999988466,3.63388118835e-05,-0.000146870325623,1.33054329748e-05,1793239453011332864
+90,1.500000000,BASELINE,766,745.227121454,715,679.227121454,662,636,880,787.772878546,804,653,631.227121454,653,0.401031000381,-0.00549378834045,0.0698580202882,0.999999988274,3.7391997452e-05,-0.000147888419616,1.35084023386e-05,1793239453028000000
+91,1.516666667,BASELINE,766,745.805921254,715,679.805921254,662,636,880,787.194078746,804,653,631.805921254,653,0.401031303119,-0.00549292396631,0.0698592758219,0.999999988347,3.98322777808e-05,-0.000146694933557,1.41075107079e-05,1793239453044667136
+92,1.533333333,BASELINE,766,745.615511488,715.384488512,680,661.615511488,636,880,787.384488512,804,652.615511488,631.615511488,653,0.401031759109,-0.00549323541569,0.0698593713997,0.999999988437,3.88344580237e-05,-0.000146356059834,1.40353802742e-05,1793239453061333760
+93,1.550000000,BASELINE,766,745.037061487,715.962938513,680,661.037061487,636,880,787.962938513,804,652.037061487,631.037061487,653,0.401032292408,-0.00549414002829,0.0698588818188,0.999999988532,3.610223293e-05,-0.000146448309108,1.36246325533e-05,1793239453078000128
+94,1.566666667,BASELINE,766,745,715.462941579,680,661.537058421,636,880,788,804,652,631,653,0.401031834356,-0.00549380681235,0.0698591514554,0.999999988478,3.82500304342e-05,-0.000146249770758,1.38816135293e-05,1793239453094666496
+95,1.583333333,BASELINE,766,745,715,680,661.8865265,636,880,788,804,652,631,653,0.401031251289,-0.00549337261677,0.0698592239715,0.999999988376,4.01769279948e-05,-0.000146410616387,1.40348207988e-05,1793239453111332864
+96,1.600000000,BASELINE,766,745,715,680,661.299291111,636,880,788,804,652,631,653,0.401030429613,-0.00549287060764,0.0698582564995,0.999999988142,3.97867836763e-05,-0.000148155032212,1.35639193255e-05,1793239453127999232
+97,1.616666667,BASELINE,766,745,715,679.428295791,661.285852104,636,880,787.714147896,804,652,631.285852104,653,0.401030180346,-0.00549358107508,0.0698579843877,0.999999988134,3.80400996299e-05,-0.000148673555055,1.34516702563e-05,1793239453144665856
+98,1.633333333,BASELINE,766,745,715,678.262358669,661.868820666,636,880,787.131179334,804,652,631.868820666,653,0.401030526046,-0.00549555179825,0.0698584350377,0.999999988358,3.488341977e-05,-0.000147917876995,1.37122067563e-05,1793239453161332736
+99,1.650000000,BASELINE,766,745,715.44347052,678.44347052,662,636,880,787.44347052,804,652.44347052,631.55652948,653,0.401031565451,-0.00549503228994,0.0698589699409,0.999999988407,3.79890440852e-05,-0.000146794972526,1.3927550993e-05,1793239453177999616
+100,1.666666667,BASELINE,766,745,715.984166955,679,662,636,880,788,803.984166955,652.984166955,631,653,0.401032762602,-0.00549378450998,0.0698595022034,0.999999988385,4.27389437836e-05,-0.000145619138731,1.41134241936e-05,1793239453194666752
+101,1.683333333,BASELINE,766,745,715.407266509,679,662,636,880,788,803.407266509,652.407266509,631,653,0.401032412107,-0.00549235174769,0.0698590739959,0.999999988344,4.13222973723e-05,-0.000146346128526,1.37199383624e-05,1793239453211333376
+102,1.700000000,BASELINE,766,745,715,679.173425308,661.826574692,636,879.826574692,788,803.173425308,652,631,653,0.401031867861,-0.00549207356723,0.0698586287903,0.999999988323,3.93808765215e-05,-0.000147037985307,1.35614954946e-05,1793239453228000000
+103,1.716666667,BASELINE,766,745,715,679.763219572,661.236780428,636,879.236780428,788,803.763219572,652,631,653,0.401030858447,-0.00549456737015,0.0698581427745,0.999999988348,3.6179548722e-05,-0.000147645492725,1.39673566745e-05,1793239453244666112
+104,1.733333333,BASELINE,766,745,715.347422885,679.652577115,661.347422885,636,879,787.652577115,804,652,631.347422885,653,0.401030986872,-0.00549451179455,0.0698585774488,0.999999988336,3.768006691e-05,-0.000147336015975,1.41507124955e-05,1793239453261332480
+105,1.750000000,BASELINE,766,745,715.927876183,679.072123817,661.927876183,636,879,787.072123817,804,652,631.927876183,653,0.401031878494,-0.00549274624915,0.0698596296667,0.999999988285,4.2334300785e-05,-0.00014641148136,1.41848251205e-05,1793239453277999104
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679,662,636,879,788,804,652,631,653,0.401031721095,-0.00549270417781,0.0698596429536,0.999999988559,3.90870367545e-05,-0.000145478260013,1.37840957667e-05,1793239453309116416
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.425954149,715,679,661.425954149,636,879,788,804,652,631.574045851,653,0.401031548927,-0.00549223701158,0.0698592231115,0.999999988383,4.0209288276e-05,-0.000146379516808,1.37817661714e-05,1793239453325784064
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.153018742,787.846981258,803.846981258,652,632,653,0.40103148636,-0.00549234945788,0.0698589526327,0.999999988294,4.0377996486e-05,-0.000146941554137,1.37619126109e-05,1793239453342451200
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.746163345,787.253836655,803.253836655,652,632,653,0.40103173904,-0.00549412903628,0.0698591117653,0.999999988456,3.7804040454e-05,-0.000146527899037,1.3691655092e-05,1793239453359117568
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.329798201,661.329798201,636,880,787,803.329798201,652.329798201,632,653,0.401031454346,-0.00549413540591,0.0698589661527,0.999999988432,3.73863836681e-05,-0.000146809764603,1.3643354963e-05,1793239453375783936
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.906318771,661.906318771,636,880,787,803.906318771,652.906318771,632,653,0.401030767641,-0.00549281523617,0.0698585925599,0.999999988268,3.85818566838e-05,-0.000147611949908,1.36114811839e-05,1793239453392450560
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.51869144,636,879.51869144,787.48130856,804.48130856,652.51869144,631.51869144,653,0.401030389243,-0.00549393049143,0.0698583011392,0.99999998819,3.64111700171e-05,-0.000148671825151,1.38423891491e-05,1793239453409116672
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.942312531,661.057687469,636,879.057687469,787.942312531,804.942312531,652.057687469,631,653,0.401030215372,-0.00549522649872,0.0698581092872,0.999999988132,3.42424197156e-05,-0.000149553669396,1.40745110065e-05,1793239453425782784
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.350316504,661.649683496,636,879.649683496,787.350316504,804.350316504,652.649683496,631,653,0.4010313818,-0.00549382006927,0.0698586919861,0.999999988177,3.81407671583e-05,-0.000148323486196,1.38456437168e-05,1793239453442449664
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.235940392,715.235940392,679,662,636,879.764059608,787.235940392,804,653,631,653,0.401032359815,-0.00549322566521,0.0698594292794,0.999999987937,3.96011914551e-05,-0.000149558170133,1.37863302377e-05,1793239453459116544
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.813878319,715.813878319,679,662,636,879.186121681,787.813878319,804,653,631,653,0.401033064725,-0.00549380829874,0.0698603906586,0.999999987284,3.75278257865e-05,-0.000154365699338,1.39727864195e-05,1793239453475783168
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,715.610025346,679,661.610025346,636,879,788,804,653,631,653,0.401045179459,-0.00549498923033,0.0698663604981,0.999999987471,3.69923681351e-05,-0.000153228144691,1.44878960856e-05,1793239453492450048
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,746,715.034803758,679,661.034803758,636,879,788,804,653,631,653,0.401062714121,-0.00549645436731,0.0698747094715,0.999999988053,3.71874519925e-05,-0.000149266538852,1.51591237348e-05,1793239453509116672
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715,679.542320721,661.542320721,636,879,788,804,653,631.542320721,653,0.401103676389,-0.00549732086826,0.0698897053018,0.999999990077,3.87426297587e-05,-0.000134465676731,1.62361460519e-05,1793239453525783040
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.877367479,715,680,662,636,879,787.877367479,803.877367479,652.877367479,632,653,0.401150778468,-0.00549830867764,0.0699046616462,0.999999992076,3.93379159861e-05,-0.000118367458073,1.70065861138e-05,1793239453542449664
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.285324227,715,680,662,636,879,787.285324227,803.285324227,652.285324227,632,653,0.401215607165,-0.00549990840259,0.0699178283001,0.999999994221,3.59236618822e-05,-9.99752774164e-05,1.65034614499e-05,1793239453559116288
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.298218744,680,662,636,879,787.298218744,803.298218744,652.298218744,632,653,0.401288920972,-0.00550139055387,0.0699287197881,0.999999995679,3.45531027855e-05,-8.4856351925e-05,1.57468081257e-05,1793239453575782912
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.873854327,680,662,636,879,787.873854327,803.873854327,652.873854327,632,653,0.401370128017,-0.0055027633326,0.0699374948111,0.999999996627,3.50836833138e-05,-7.27823605708e-05,1.47543107735e-05,1793239453592449536
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.449425247,715.550574753,680,662,636,879.898850495,788,804,652.550574753,631.550574753,653,0.401459581592,-0.00550368914546,0.0699380628563,0.999999996651,3.41740875226e-05,-7.32522016232e-05,1.2846332729e-05,1793239453609116416
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.974498832,715.025501168,679.974498832,661.974498832,636,880.974498832,788,803.974498832,652,631,653,0.401552409028,-0.00550443809727,0.0699362475044,0.999999996404,3.29339029163e-05,-7.74268342321e-05,1.06500572948e-05,1793239453625783296
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.386891327,715.613108673,679.386891327,661.386891327,636,880.386891327,788,803.386891327,652,631,653,0.401668591254,-0.00550405354805,0.069932664886,0.999999995745,3.33157041757e-05,-8.56675681393e-05,7.76219703781e-06,1793239453642449920
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.197972645,745,715.802027355,679,661.197972645,636,880,788,803.197972645,652.197972645,631.197972645,652.802027355,0.401795638492,-0.00550497281929,0.0699306559914,0.999999995254,3.22647749412e-05,-9.18029666296e-05,4.89015883158e-06,1793239453659116544
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.777548239,745,715.222451761,679,661.777548239,636,880,788,803.777548239,652.777548239,631.777548239,652.222451761,0.401943628614,-0.00550840527482,0.0699316805345,0.999999995186,2.84521803692e-05,-9.38802166148e-05,2.0486188163e-06,1793239453675783168
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.64567411,745,715,679.35432589,662,636,880,788,804,652.64567411,632,652.35432589,0.402114944315,-0.00551041861958,0.0699347802735,0.999999995614,2.70360308217e-05,-8.96625383687e-05,-1.25832731104e-06,1793239453692449792
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.070639238,745,715,679.929360762,662,636,880,788,804,652.070639238,632,652.929360762,0.402300789493,-0.00551154800303,0.0699391726484,0.999999996298,2.71126223607e-05,-8.15237604171e-05,-4.85517437689e-06,1793239453709116672
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.50319628,679.49680372,661.49680372,636,880,788,804,652,631.49680372,653,0.402508300927,-0.00551070533568,0.0699418513276,0.999999996323,2.68060101707e-05,-8.09200555001e-05,-9.34408309661e-06,1793239453725783040
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.079253237,716,679.079253237,661,635.920746763,879.920746763,788,804,652,631.079253237,653,0.402725746024,-0.00551015980894,0.0699445628183,0.999999996363,2.54286462652e-05,-8.02027988326e-05,-1.39912108912e-05,1793239453742449664
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.670754198,716,679.670754198,661,635.329245802,879.329245802,788,804,652,631.670754198,653,0.402987784758,-0.00551331990141,0.0699490375983,0.999999997083,1.74774242987e-05,-7.19309677924e-05,-1.88534971155e-05,1793239453759116544
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.742478447,715.742478447,679.742478447,661.257521553,635.257521553,879,788,804,652.257521553,631.742478447,653,0.403268227212,-0.00551595445412,0.0699552075102,0.999999997903,4.87784064523e-06,-6.01822318544e-05,-2.34356873065e-05,1793239453775783424
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.161653889,715.161653889,679.161653889,661.838346111,635.838346111,879,788,804,652.838346111,631.161653889,653,0.403571774425,-0.0055179292227,0.0699635055595,0.999999998554,-1.35574843448e-05,-4.40684489534e-05,-2.76662332769e-05,1793239453792450048
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.415058369,715.415058369,679.415058369,662,636,879,788,804,652.584941631,631.415058369,653,0.403889111491,-0.00551939934731,0.0699667411095,0.999999998622,-1.77121391757e-05,-3.9904270322e-05,-2.91531972367e-05,1793239453809116672
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.990184699,715.990184699,679.990184699,662,636,879,788,804,652.009815301,631.990184699,653,0.404211766629,-0.00552067485507,0.069968024298,0.999999998615,-1.63594290319e-05,-4.03484771252e-05,-2.95820940698e-05,1793239453825783040
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.422605787,715.422605787,680,662,635.422605787,879,788,803.422605787,652,632,652.422605787,0.404570506705,-0.00551781808536,0.0699707921112,0.999999998733,-7.47533167892e-06,-3.96665239614e-05,-3.00744022288e-05,1793239453842449664
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.162602048,715,680,662,635.162602048,879,788,803.162602048,652.162602048,632,652.162602048,0.404947835788,-0.0055153903783,0.0699741557495,0.999999998849,-1.35315860258e-06,-3.67694827509e-05,-3.08025970439e-05,1793239453859116288
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.74213925,715,680,662,635.74213925,879,788,803.74213925,652.74213925,632,652.74213925,0.405371223201,-0.00551424682089,0.0699789810734,0.999999999081,-2.64826009986e-06,-2.82427727616e-05,-3.21328161736e-05,1793239453875782912
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.68113578,715.31886422,680,662,636,879,788,804,652.68113578,632,653,0.405803503257,-0.0055144273688,0.0699796523547,0.999999999152,-5.47354561205e-06,-2.39511115381e-05,-3.30645982573e-05,1793239453892449792
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.106665076,715.893334924,680,662,636,879,788,804,652.106665076,632,653,0.406242911838,-0.00551566933985,0.0699769936918,0.999999999122,-9.52545040233e-06,-2.30543298893e-05,-3.36769871964e-05,1793239453909116672
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.469437174,745,716,680,662,636,879.469437174,788,804,652,632,653,0.40669932309,-0.00552081879598,0.0699617675894,0.999999998009,-1.83176342321e-05,-4.98375421497e-05,-3.40855946785e-05,1793239453925783808
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.952873784,745.047126216,715.952873784,680,662,636,880.047126216,788,804,652,632,653,0.407165001983,-0.0055269002065,0.0699449482736,0.999999995809,-2.80355796942e-05,-8.00433284638e-05,-3.44938031977e-05,1793239453942450432
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.361146017,745.638853983,715.361146017,680,662,636,880.638853983,788,804,652,632,653,0.407692978984,-0.00553345545905,0.0699428320301,0.999999995771,-3.59614310989e-05,-7.68656826908e-05,-3.54343567356e-05,1793239453959117568
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.774544365,715,679.774544365,662,636,880.774544365,788,804,652.225455635,631.774544365,653,0.408255524701,-0.00553910651719,0.06994783573,0.999999996536,-4.24060698635e-05,-6.16541525402e-05,-3.64447607438e-05,1793239453975784448
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.195971466,715,679.195971466,662,636,880.195971466,788,804,652.804028534,631.195971466,653,0.408872213233,-0.00554334139096,0.0699639909587,0.999999997831,-4.65307760633e-05,-2.75946911773e-05,-3.75645671556e-05,1793239453992450816
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.379589852,662,636,880,788,804,652.620410148,631.379589852,653,0.409474199884,-0.00554457334483,0.0699687311994,0.999999998144,-4.49989872447e-05,-1.48041567984e-05,-3.83226512065e-05,1793239454009117184
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.953608598,662,636,880,788,804,652.046391402,631.953608598,653,0.410068656097,-0.0055442671795,0.0699676245934,0.999999998337,-4.05698972978e-05,-1.29077343386e-05,-3.88954582134e-05,1793239454025783552
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.539264687,745.539264687,715,680,662,636,880,788,804,652,631.460735313,653,0.410671732819,-0.00554525338629,0.0699588737772,0.999999997854,-4.27371848235e-05,-2.90669802083e-05,-4.02481310359e-05,1793239454042450176
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.874886457,746,715,679.874886457,662,636,880,788.125113543,803.874886457,652,631,652.874886457,0.411298177046,-0.00554574942644,0.0699548709357,0.999999997432,-4.52606951419e-05,-3.7066627392e-05,-4.13844420905e-05,1793239454059116800
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.292075707,746,715,679.292075707,662,636,880,788.707924293,803.292075707,652,631,652.292075707,0.412007332623,-0.00554403661988,0.0699706961603,0.999999997993,-4.69656308529e-05,-9.40876656782e-06,-4.14784021951e-05,1793239454075783936
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.713730496,715.286269504,679.286269504,662,636,880,788.713730496,803.572539009,652,631,652.286269504,0.412743822,-0.00554356888293,0.0699958196452,0.999999997556,-4.73855526888e-05,3.11539858824e-05,-4.0890785927e-05,1793239454092450560
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.139871347,715.860128653,679.860128653,662,636,880,788.139871347,804.720257306,652,631,652.860128653,0.413507771313,-0.00554435195706,0.0700302842716,0.999999994548,-4.65145349014e-05,8.46811445204e-05,-3.96184501243e-05,1793239454109116928
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.565488163,680,662,636,880,788,804.565488163,652,631.434511837,653,0.414236336292,-0.00554226923269,0.0700352949507,0.999999994509,-4.09255399062e-05,8.78645190572e-05,-3.9828535719e-05,1793239454125783296
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.009318665,745.009318665,715,680,662,636,880,788,804,652,631.990681335,653,0.414952955261,-0.00553930386092,0.0700299862117,0.99999999589,-3.41415761557e-05,7.35405679625e-05,-4.0579789029e-05,1793239454142449664
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.600021294,745.600021294,715,680,662,636,880,788,804,652,631.399978706,653,0.415635769612,-0.00553889519638,0.0699731059779,0.999999997623,-4.76717263744e-05,-2.07578269767e-05,-4.52860992806e-05,1793239454159116288
+158,2.633333333,POSE1_TO_POSE2_PRESS,767,746,715.186985016,680.186985016,662,636,880.186985016,787.813014984,804.186985016,652,631.186985016,653,0.416360561936,-0.00553853948666,0.0699344898983,0.99999999375,-5.47893690513e-05,-8.43234646432e-05,-4.88717292476e-05,1793239454175782912
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,746,715.766107615,680.766107615,662,636,880.766107615,787.233892385,804.766107615,652,631.766107615,653,0.417173388766,-0.00553829483174,0.0699341766844,0.99999999409,-4.84589543668e-05,-8.34375733975e-05,-5.0107113267e-05,1793239454192449792
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745.656776818,715.656776818,680.656776818,662,636,880.656776818,787.343223182,805,652,631.656776818,653,0.418009554621,-0.00553881953781,0.0699535873004,0.999999996197,-4.91104826673e-05,-5.23193399273e-05,-4.95599664807e-05,1793239454209116416
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745.081021032,715.081021032,680.081021032,662,636,880.081021032,787.918978968,805,652,631.081021032,653,0.418861532558,-0.0055398654835,0.0699863607479,0.999999997372,-5.44922550615e-05,-7.18791645586e-07,-4.78051606447e-05,1793239454225783296
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.494853961,745,715.505146039,680,662,636,880.505146039,788,804.494853961,652,631.505146039,653,0.419694806352,-0.00554324711208,0.0700060428422,0.99999999663,-6.07148910421e-05,2.76674456719e-05,-4.78396620709e-05,1793239454242449664
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.091550659,715.908449341,680,662.091550659,636,880.908449341,788,804,652,632,653,0.420529051244,-0.0055464181623,0.0700231538486,0.999999995306,-6.63723044105e-05,5.16635957215e-05,-4.80897836897e-05,1793239454259115776
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.670148157,715.329851843,680,662.670148157,636,880.329851843,788,804,652,632,653,0.421384757714,-0.00554643401499,0.0700379923624,0.999999993889,-6.82901590605e-05,7.25296874787e-05,-4.7928093824e-05,1793239454275782400
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.249065291,746,715,680,662.750934709,636,880,788,804,652,631.750934709,653,0.422219462378,-0.00554478997086,0.0700297598496,0.999999994818,-6.80719505942e-05,5.74767521118e-05,-4.92603787796e-05,1793239454292449024
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.828406362,746,715,680,662.171593638,636,880,788,804,652,631.171593638,653,0.423026317485,-0.00554094480222,0.0699909337492,0.999999996491,-6.50211921478e-05,-5.20700310184e-06,-5.25737654079e-05,1793239454309115648
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.597277679,746,715,680,662,636,880.402722321,788,804,652,631.402722321,653,0.42382340003,-0.00553817113176,0.0699284054183,0.9999999912,-6.55396505354e-05,-9.97967566395e-05,-5.78444320656e-05,1793239454325782528
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.025076489,746,715,680,662,636,880.974923511,788,804,652,631.974923511,653,0.424616369909,-0.00553584838339,0.0698559024074,0.99999997408,-6.75601529925e-05,-0.000207813604665,-6.39387861678e-05,1793239454342449152
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,881,788,804.562611099,652.562611099,631.437388901,653,0.425504743581,-0.00554098268665,0.0698938086814,0.99999998442,-8.18316228679e-05,-0.000143008490677,-6.33470876009e-05,1793239454359115776
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715.148679261,680.148679261,662.148679261,636,880.851320739,788,805,653,631,653,0.426397571288,-0.00554563711111,0.0699383794023,0.999999991416,-9.06307175672e-05,-7.20918071459e-05,-6.12979421779e-05,1793239454375782656
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715.728000925,680.728000925,662.728000925,636,880.271999075,788,805,653,631,653,0.427290634638,-0.00554791163762,0.0699875961269,0.999999995058,-8.19529761863e-05,-6.41602265335e-06,-5.59149705747e-05,1793239454392449280
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.693610604,715.693610604,681,662.693610604,636,880.306389396,788,804.693610604,652.693610604,631,653,0.428180208529,-0.0055491560098,0.070021667548,0.999999994409,-8.03126143924e-05,4.26585821811e-05,-5.39691580767e-05,1793239454409115904
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.116048096,715.116048096,681,662.116048096,636,880.883951904,788,804.116048096,652.116048096,631,653,0.429066693991,-0.00554948863309,0.0700423344588,0.999999991912,-8.49007589898e-05,7.704013733e-05,-5.50654392778e-05,1793239454425782528
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.4598364,745,715,680.5401636,662.9196728,636,880.5401636,788,804.4598364,652,631.4598364,653,0.429928607807,-0.00555056410314,0.0700404836836,0.999999992068,-8.44294590887e-05,7.54276064927e-05,-5.52026818344e-05,1793239454442449408
+175,2.916666667,POSE1_TO_POSE2_PRESS,767,745.036103802,715,680,663.963896198,636,880.036103802,788,805,652,631.963896198,652.963896198,0.430775424991,-0.0055515997675,0.070029348617,0.999999993329,-8.29922027769e-05,5.82606703231e-05,-5.5313665015e-05,1793239454459116032
+176,2.933333333,POSE1_TO_POSE2_PRESS,767,745.624686677,715,680,663.375313323,636,880.624686677,788,805,652,631.375313323,652.375313323,0.431485772189,-0.00554916795659,0.0699627847046,0.999999992851,-8.62412545421e-05,-5.84287679752e-05,-5.87130289729e-05,1793239454475782912
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.57954675,745.789773375,715,680.210226625,663,636,880.789773375,788,804.789773375,652,631,652.210226625,0.432229660353,-0.00554772290401,0.0699152822671,0.999999984905,-8.73296502175e-05,-0.00013706812509,-6.14553598932e-05,1793239454492449280
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.419176588,745.209588294,715,680.790411706,663,636,880.209588294,788,804.209588294,652,631,652.790411706,0.43303257429,-0.00554801435602,0.0699013243511,0.99999998337,-8.46157086705e-05,-0.000148746672965,-6.30414406609e-05,1793239454509115904
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.367173309,745.367173309,715,681,663,635.632826691,880.367173309,788,804.367173309,652,631.367173309,653,0.433877187307,-0.00555005931079,0.0699377355818,0.999999990756,-8.90308117274e-05,-8.18665267126e-05,-6.21283322813e-05,1793239454525782784
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.941998754,745.941998754,715,681,663,635.058001246,880.941998754,788,804.941998754,652,631.941998754,653,0.434745382882,-0.00555309594598,0.0700026327102,0.999999993028,-9.74776922542e-05,2.94419069138e-05,-5.98018253213e-05,1793239454542449408
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.471184864,746,715,680.471184864,663,635.528815136,881,788,805,652,631.471184864,652.471184864,0.435531793586,-0.00555565422581,0.0700254341655,0.999999992168,-9.25385489458e-05,6.17641687817e-05,-5.73290264167e-05,1793239454559116032
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.11499064,746,715,680,662.88500936,636,881,788,804.88500936,652,631,652.11499064,0.436299408662,-0.00555779077334,0.0700363004363,0.999999991601,-8.87088181882e-05,7.63091158671e-05,-5.57353708763e-05,1793239454575782400
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.693164188,746,715,680,662.306835812,636,881,788,804.306835812,652,631,652.693164188,0.437028285507,-0.00555844482041,0.0700181209837,0.999999992272,-9.53989319266e-05,5.49524821696e-05,-5.77490404311e-05,1793239454592449280
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662.272130379,636,881,788,804.272130379,652,631.272130379,653,0.437725581157,-0.00555951528394,0.069989956339,0.999999993057,-9.96779008128e-05,1.87382784804e-05,-5.99949110877e-05,1793239454609116160
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662.851992873,636,881,788,804.851992873,652,631.851992873,653,0.438387163919,-0.005561056642,0.0699505001805,0.999999992335,-0.000101230283734,-3.4277250612e-05,-6.25033605591e-05,1793239454625782784
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,680.432267154,662.567732846,636,880.567732846,788,805,652,631.567732846,653,0.43898900255,-0.00555859887155,0.0698951324503,0.999999985137,-9.76245699521e-05,-0.000126618987802,-6.45222720587e-05,1793239454642449408
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635.987332814,880.012667186,787.987332814,805,652,631.012667186,653,0.439570912088,-0.00555479321639,0.0698350732774,0.999999966875,-9.22881018259e-05,-0.000230933235236,-6.63515238868e-05,1793239454659116032
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635.407623282,880.592376718,787.407623282,805,652,631.592376718,653,0.44017728996,-0.00555200426769,0.0698091174837,0.999999957943,-8.86101486191e-05,-0.000267853121661,-6.72011947754e-05,1793239454675782656
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,881,787,805,652,632,653,0.440792061058,-0.00555081124415,0.0697987219401,0.999999954031,-8.68556133234e-05,-0.0002825659046,-6.74587421821e-05,1793239454692449536
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,881,787,805,652,632,653,0.441426713445,-0.005553398513,0.0698251842003,0.999999963849,-8.96571076437e-05,-0.000244676380911,-6.63137176987e-05,1793239454709116160
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.667891278,715,681,662,635,881,787,805,652,631.667891278,652.667891278,0.442016694843,-0.00555570483219,0.0698440665175,0.999999969198,-9.10931139267e-05,-0.000221398388227,-6.54868697745e-05,1793239454725782528
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.093452724,715,681,662,635,881,787,805,652,631.093452724,652.093452724,0.442574081114,-0.00555780615064,0.0698574179746,0.99999997191,-9.15327641927e-05,-0.000208781996459,-6.4892185908e-05,1793239454742449152
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.516175691,745,715,681,661.516175691,635,881,787,805,651.516175691,631.483824309,652.483824309,0.443061242521,-0.00555746228016,0.0698293189324,0.99999996115,-8.69638495474e-05,-0.000256856720703,-6.45058819534e-05,1793239454759116032
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.062595872,745,715,681,661,635,880.937404128,786.937404128,805,651,632,653,0.443531168082,-0.00555638676824,0.0697933162507,0.99999994466,-8.13341592732e-05,-0.000316141452821,-6.41798794176e-05,1793239454775782400
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.649262781,745,715,681,661,635,880.350737219,786.350737219,805,651,632,653,0.443971023997,-0.00555316329761,0.0697585689876,0.999999926485,-7.49707158358e-05,-0.000370554190236,-6.40197706321e-05,1793239454792449280
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.767026865,745,715,681.232973135,661,634.767026865,880.232973135,786.232973135,805,651.232973135,631.767026865,652.767026865,0.444407562609,-0.00555103817815,0.0697315025969,0.999999911115,-7.25267078078e-05,-0.000410272786823,-6.47049487622e-05,1793239454809115904
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.187711832,745,715,681.812288168,661,634.187711832,880.812288168,786.812288168,805,651.812288168,631.187711832,652.187711832,0.444839169623,-0.00555054588683,0.0697158547271,0.999999903243,-7.59094011761e-05,-0.000428146815482,-6.66467452925e-05,1793239454825782784
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.389686,715,681.610314,661,634,881,786.610314,805,651.610314,631,652.389686,0.445250014142,-0.00555100778307,0.0697087897986,0.99999990138,-8.06056251216e-05,-0.000431445580882,-6.78030659351e-05,1793239454842449408
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.966164887,715,681.033835113,661,634,881,786.033835113,805,651.033835113,631,652.966164887,0.445650906361,-0.00555192706149,0.0697058390334,0.999999902468,-8.59314798172e-05,-0.000427757811273,-6.85828751294e-05,1793239454859116032
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.553213462,745.446786538,715,681,661,634,881,786,805.553213462,651,631,653,0.446002880957,-0.00555232623128,0.0697025673156,0.999999896721,-8.70410045009e-05,-0.000440758284234,-6.86572520106e-05,1793239454875782656
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745.139042316,715,681,660.860957684,634,880.860957684,786,805.860957684,651,631,653,0.446341160984,-0.00555287707003,0.0696976196537,0.999999890048,-8.6868715208e-05,-0.000455705656243,-6.84871121062e-05,1793239454892449280
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745.718914736,715,681,660.281085264,634,880.281085264,786,805.281085264,651,631,653,0.446645693172,-0.00555401158987,0.069687421901,0.999999882113,-8.34659793787e-05,-0.000473526584865,-6.76811924846e-05,1793239454909115904
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.703719787,715,681,660,633.703719787,880.296280213,786,805,651.296280213,631,653,0.446925425008,-0.00555484137631,0.0696756164629,0.999999871028,-8.1850847132e-05,-0.00049673109311,-6.70954099967e-05,1793239454925782528
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.128712763,715,681,660,633.128712763,880.871287237,786,805,651.871287237,631,653,0.447181825796,-0.00555538448351,0.0696622985889,0.999999856607,-8.19174103787e-05,-0.000525000224462,-6.67167224332e-05,1793239454942449152
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,681.446739677,660,633,881,786,805,651.553260323,631,653,0.447419111156,-0.00555484905704,0.0696489309179,0.999999846454,-8.13975324985e-05,-0.000544020263348,-6.7137899558e-05,1793239454959116032
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.977191634,745.022808366,715,682,660,633,881,786,805,651.022808366,631,653,0.447650411546,-0.00555414750208,0.0696363757163,0.999999838014,-8.08916112488e-05,-0.000559319234626,-6.77495560381e-05,1793239454975782656
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.389031876,745.610968124,715,682,660,633,881,786,805,651.610968124,631,653,0.44787001215,-0.00555703818641,0.0696443151837,0.999999843697,-8.49239010727e-05,-0.000548502652368,-6.7364668028e-05,1793239454992449280
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.196865383,746,715,681.803134617,659.803134617,633,881,786,805,651.803134617,631,653,0.448077798857,-0.00555906673281,0.0696514195164,0.99999984881,-8.7491719638e-05,-0.000538756686862,-6.68377664872e-05,1793239455009116160
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.77834238,746,715,681.22165762,659.22165762,633,881,786,805,651.22165762,631,653,0.448262504985,-0.00555941093874,0.0696568922636,0.999999852983,-8.71984321238e-05,-0.000531102363365,-6.60334162596e-05,1793239455025782784
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.644793982,745.644793982,714.644793982,681,659,633,880.644793982,785.644793982,805,651,631,653,0.448422208917,-0.00556010318353,0.0696562448305,0.999999853019,-8.7981087549e-05,-0.000530952784025,-6.56613373878e-05,1793239455042449408
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.070772231,745.070772231,714.070772231,681,659,633,880.070772231,785.070772231,805,651,631,653,0.448566510893,-0.00556100982895,0.0696518272149,0.999999850512,-8.94265505283e-05,-0.0005354263128,-6.55555483332e-05,1793239455059116032
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.505923754,745,714.505923754,681,659,632.494076246,880.505923754,785,805,651,630.494076246,653,0.448678744692,-0.00556123290642,0.0696442183306,0.999999843245,-9.04528896655e-05,-0.000548585700421,-6.61956796442e-05,1793239455075782656
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.915207845,745.084792155,715,681.084792155,659,632.084792155,881,785.084792155,804.915207845,651,630.084792155,653,0.448784509073,-0.00556166197067,0.0696371517109,0.999999836177,-9.13797081595e-05,-0.000561114628197,-6.66779021486e-05,1793239455092449280
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.325645559,745.674354441,715,681.674354441,659,632.674354441,881,785.674354441,804.325645559,651,630.674354441,653,0.448878607623,-0.00556388954777,0.0696359848633,0.999999835341,-9.20649589153e-05,-0.000562618812375,-6.5595621715e-05,1793239455109116160
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.258606027,746,715,682,659,633,880.741393973,785.741393973,804.258606027,651,631,653,0.448965840013,-0.00556492127957,0.0696369527497,0.999999835819,-9.17488671086e-05,-0.000561920134402,-6.47364690098e-05,1793239455125782784
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.836304733,746,715,682,659,633,880.163695267,785.163695267,804.836304733,651,631,653,0.449044600279,-0.00556447746372,0.0696405546739,0.999999837911,-9.01972236996e-05,-0.000558503355789,-6.4152632553e-05,1793239455142449408
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,715,682,659,632.587860349,880.412139651,785,805,651.412139651,631,652.587860349,0.449106785055,-0.00556387464439,0.0696410941398,0.999999838921,-8.96112102275e-05,-0.000556833234181,-6.37599099938e-05,1793239455159116032
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,715,682,659,632.012762378,880.987237622,785,805,651.987237622,631,652.012762378,0.449162415949,-0.00556320895573,0.0696404227222,0.999999839504,-8.94070028914e-05,-0.000555853733641,-6.34427530967e-05,1793239455175782656
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.423801901,745.423801901,715,682,659,632.576198099,881,785,804.423801901,652,631,652.576198099,0.449199028073,-0.00556442218199,0.069640173276,0.999999838101,-9.19191584723e-05,-0.000558010873779,-6.30274645298e-05,1793239455192449280
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.162799898,745,715,682,659,633,881,785,804.162799898,652,631,653,0.449231619531,-0.00556551982467,0.0696391221319,0.999999836349,-9.41367366639e-05,-0.000560820185811,-6.26161084123e-05,1793239455209116160
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.742554902,745,715,682,659,633,881,785,804.742554902,652,631,653,0.449255018938,-0.00556621222617,0.069635993191,0.999999833831,-9.54419657115e-05,-0.000565117487434,-6.22205279693e-05,1793239455225783040
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,682,659,633,881,785,805,652,631,653,0.44927486858,-0.00556526844127,0.0696344677444,0.999999832689,-9.43821375799e-05,-0.000567319905665,-6.2138901291e-05,1793239455242449408
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715,682,659,633,881,785,805,652,631,653,0.449291882848,-0.00556301775195,0.069634223089,0.999999832653,-9.14332192707e-05,-0.000567849035459,-6.23080452593e-05,1793239455259116032
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,682,659,632.530008121,881,785,805,652,631,653,0.449302412726,-0.00556449887025,0.0696332761694,0.999999832182,-9.15728623286e-05,-0.000568681432021,-6.20664573087e-05,1793239455275782656
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745.046560653,714.953439347,682,659,632,880.953439347,785,805,652,631,652.953439347,0.44931093197,-0.00556644575849,0.0696321264881,0.99999983151,-9.22115548791e-05,-0.000569793054945,-6.17538997653e-05,1793239455292449280
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.637916992,714.362083008,682,659,632,880.362083008,785,805,652,631,652.362083008,0.449312926309,-0.00556405830238,0.0696304455662,0.999999829613,-9.05917895523e-05,-0.00057337672518,-6.16878175179e-05,1793239455309115904
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,714.224231421,682,659,632,880.224231421,785,805,652,631,652.224231421,0.449315653223,-0.0055633854506,0.0696295024257,0.999999828517,-9.138652879e-05,-0.000575171607948,-6.15819712356e-05,1793239455325782528
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,714.802583311,682,659,632,880.802583311,785,805,652,631,652.802583311,0.449319537067,-0.00556542041079,0.0696297244366,0.999999828687,-9.59944067444e-05,-0.000574141523975,-6.14133270737e-05,1793239455342449152
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.621083438,746,715,682,659,632,881,785.378916562,805,652,631,653,0.449321622456,-0.00556449378241,0.069629955458,0.999999828878,-9.49037405928e-05,-0.000573992097588,-6.14048367048e-05,1793239455359115776
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.045796349,746,715,682,659,632,881,785.954203651,805,652,631,653,0.449322775809,-0.00556203233397,0.0696301911489,0.999999829073,-9.08598486368e-05,-0.000574299065094,-6.14793447843e-05,1793239455375782400
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.539701805,745.460298195,715,682,659,632,881,785.460298195,805,652,631,653,0.449323510409,-0.00556281016862,0.0696300273946,0.99999982892,-9.25705560113e-05,-0.000574321619138,-6.12070125528e-05,1793239455392449280
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.875539203,745.124460797,715,682,659,632,880.875539203,785.124460797,805,652,630.875539203,653,0.44932415812,-0.00556353000939,0.0696297904759,0.999999828691,-9.39304275832e-05,-0.000574538028053,-6.08342009438e-05,1793239455409115904
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.296703079,745.703296921,715,682,659,632,880.296703079,785.703296921,805,652,630.296703079,653,0.449324620845,-0.00556301529847,0.0696294125809,0.999999828308,-9.21924226315e-05,-0.000575551958636,-6.0204081937e-05,1793239455425782528
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.718300554,714.718300554,682,659,632,880,785.718300554,805,652,630.281699446,653,0.449324629761,-0.00556238242375,0.0696287680071,0.999999827821,-9.11303558514e-05,-0.000576561318534,-6.024679643e-05,1793239455442449408
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.140353949,714.140353949,682,659,632,880,785.140353949,805,652,630.859646051,653,0.44932416143,-0.00556162528287,0.0696278429827,0.999999827228,-9.07791342852e-05,-0.000577565871829,-6.09970912683e-05,1793239455459116032
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.43676383,682,659,632,880.43676383,785,805,652,631,653,0.449323691893,-0.00556216220846,0.0696278013745,0.99999982675,-9.16094897281e-05,-0.00057827945436,-6.0839492902e-05,1793239455475782912
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681.986145437,659,632,881,785,804.986145437,652,630.986145437,653,0.44932326008,-0.00556310494922,0.069628046566,0.999999826325,-9.28149726383e-05,-0.000578868132275,-6.0397731485e-05,1793239455492449536
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,681.399175204,659,632,881,785,804.399175204,652,630.399175204,653,0.449324404744,-0.00556366525332,0.0696284345489,0.999999826651,-9.38610798992e-05,-0.000578150524716,-6.02470080327e-05,1793239455509116160
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681.185629186,659,632,880.814370814,785,804.185629186,651.814370814,630,653,0.449324691849,-0.00556333821024,0.0696281297227,0.999999826484,-9.39938511699e-05,-0.000578417558458,-6.02522422746e-05,1793239455525782528
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681.765829844,659,632,880.234170156,785,804.765829844,651.234170156,630,653,0.449323156136,-0.00556112503114,0.0696263522683,0.999999825264,-9.21852448633e-05,-0.000580777535584,-6.05889785839e-05,1793239455542449408
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.342778227,745,715,681.657221773,658.657221773,632.342778227,880,785,805.342778227,651.342778227,630,653,0.449324053037,-0.00556123824654,0.069626332848,0.999999825284,-9.1937973899e-05,-0.000580785901132,-6.05649465921e-05,1793239455559116032
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.917525664,745,715,681.082474336,658.082474336,632.917525664,880,785,805.917525664,651.917525664,630,653,0.449326596168,-0.00556292580909,0.0696275031466,0.999999826143,-9.27473095794e-05,-0.0005792028543,-6.02967709061e-05,1793239455575782656
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.49613138,745,715,681,658,632.49613138,880.50386862,785,805.49613138,651.49613138,630,653,0.449326218811,-0.00556084594906,0.0696275154067,0.999999826301,-9.10121259065e-05,-0.000579209124569,-6.02591957471e-05,1793239455592449536
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.090568177,715,681.090568177,658.090568177,632,881,785,805,651,630.090568177,652.909431823,0.449325573574,-0.00555866603572,0.0696274065363,0.999999826391,-8.92122562128e-05,-0.000579337394887,-6.02246262299e-05,1793239455609116160
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.668728502,715,681.668728502,658.668728502,632,881,785,805,651,630.668728502,652.331271498,0.449326120357,-0.0055593455816,0.0696276900552,0.999999826767,-8.93592261568e-05,-0.000578688955153,-5.99982426213e-05,1793239455625782784
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714.753681361,681.753681361,659,632,881,785,805,651,631,652.246318639,0.449327043659,-0.00556058897185,0.0696283922132,0.999999827303,-9.07772654545e-05,-0.000577575586092,-5.96599828251e-05,1793239455642449408
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714.176856213,681.176856213,659,632,881,785,805,651,631,652.823143787,0.449328472167,-0.00556258891978,0.0696296560947,0.999999828046,-9.39008058174e-05,-0.000575838382015,-5.9171609272e-05,1793239455659116032
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.399573617,745.600426383,714.399573617,681,659,632,881,785,805,651.399573617,631,652.600426383,0.449328510691,-0.00556236792029,0.0696287919673,0.999999827599,-9.46668868349e-05,-0.000576448189715,-5.95662193083e-05,1793239455675782912
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.975828614,745.024171386,714.975828614,681,659,632,881,785,805,651.975828614,631,652.024171386,0.449327934599,-0.00556116487373,0.0696269868878,0.999999826627,-9.43905585786e-05,-0.000578095786955,-6.03512624556e-05,1793239455692449536
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.43583808,745,714.43583808,681,659,632,880.43583808,785,805.56416192,652,631,652.56416192,0.449329254884,-0.00556036659636,0.0696289420558,0.999999827757,-9.13369207349e-05,-0.000576650757151,-6.01448446151e-05,1793239455709116160
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681.1506902,658.8493098,632,880,785,805.6986196,652,631,653,0.449329782376,-0.00556042917621,0.0696301179077,0.999999828203,-9.00911804978e-05,-0.000576100363059,-5.98758313687e-05,1793239455725782784
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681.730571281,658.269428719,632,880,785,804.538857438,652,631,653,0.449327815386,-0.00556289314718,0.0696286052389,0.999999826455,-9.43409621296e-05,-0.000578483687909,-5.95521699214e-05,1793239455742449408
+253,4.216666667,HOLD_POSE2,765,745,715,682,658,632,881,785,806,652,631,653,0.449327623435,-0.00556122889881,0.0696276186049,0.999999825865,-9.30288601169e-05,-0.000579739872462,-5.93036300558e-05,1793239455779233280
+254,4.233333333,HOLD_POSE2,765,745,715,681.424314118,658.575685882,632,881,785,804.848628236,651.424314118,631,653,0.449327017069,-0.0055617805511,0.069627576074,0.999999825835,-9.31077073036e-05,-0.000579729845247,-5.97856248719e-05,1793239455795899904
+255,4.250000000,HOLD_POSE2,765.15499921,745.15499921,714.84500079,681.15499921,659,632,881,785,804.15499921,651.15499921,631,653,0.449327028043,-0.00556235911255,0.0696277932332,0.999999826034,-9.31771575994e-05,-0.000579349751894,-6.00256940608e-05,1793239455812566528
+256,4.266666667,HOLD_POSE2,765.74448086,745.74448086,714.25551914,681.74448086,659,632,881,785,804.74448086,651.74448086,631,653,0.449328769501,-0.00556301310388,0.0696287383371,0.999999826877,-9.32202672368e-05,-0.00057793231623,-5.95876151482e-05,1793239455829233152
+257,4.283333333,HOLD_POSE2,766,746,714.328595638,682,659,632,881,785,805,652,631,653,0.449329212557,-0.00556205674354,0.0696285836807,0.999999827049,-9.20326896209e-05,-0.000577844819924,-5.93962005353e-05,1793239455845899776
+258,4.300000000,HOLD_POSE2,766,746,714.908604116,682,659,632,881,785,805,652,631,653,0.449328662189,-0.00555986828195,0.0696275875832,0.999999826705,-8.99034970161e-05,-0.000578774877775,-5.93935120445e-05,1793239455862566400
+259,4.316666667,HOLD_POSE2,765.515494333,745.515494333,715,682,658.515494333,632,881,785,805,651.515494333,631,653,0.449328839847,-0.00555889503574,0.0696273267307,0.999999826652,-8.87555725415e-05,-0.000579028923254,-5.95261104951e-05,1793239455879233024
+260,4.333333333,HOLD_POSE2,765,745,714.939135276,682,658,632,881,785,805,651.060864724,631,653,0.449328990896,-0.00555834098683,0.0696271838256,0.999999826563,-8.79400328092e-05,-0.000579294458982,-5.96590035567e-05,1793239455895899648
+261,4.350000000,HOLD_POSE2,765,745,714.352181636,682,658,632,881,785,805,651.647818364,631,653,0.449327734873,-0.00555944554552,0.0696268716668,0.99999982568,-8.84109748026e-05,-0.000580752286309,-5.95757116041e-05,1793239455912567296
+262,4.366666667,HOLD_POSE2,765,745.231504518,714.231504518,682,658,632,881,785,805,652,631,653,0.449326957835,-0.00556052304953,0.069626750535,0.99999982529,-8.94868114458e-05,-0.000581274951376,-5.94337311937e-05,1793239455929234176
+263,4.383333333,HOLD_POSE2,765,745.810289062,714.810289062,682,658,632,881,785,805,652,631,653,0.449326899322,-0.00556155996869,0.0696269159631,0.999999825635,-9.14700507704e-05,-0.000580394779003,-5.92037122102e-05,1793239455945900288
+264,4.400000000,HOLD_POSE2,765.389705171,746,714.610294829,682,658.389705171,632,880.610294829,785,805,651.610294829,631,652.610294829,0.449327522973,-0.00556191227555,0.069627851032,0.999999826271,-9.21619569941e-05,-0.00057919135235,-5.91717970617e-05,1793239455962566656
+265,4.416666667,HOLD_POSE2,765.969429282,746,714.030570718,682,658.969429282,632,880.030570718,785,805,651.030570718,631,652.030570718,0.449328479246,-0.00556193076784,0.0696291613751,0.999999827049,-9.22242136912e-05,-0.000577830307913,-5.92364766605e-05,1793239455979233792
+266,4.433333333,HOLD_POSE2,765.459342452,745.459342452,714,682,659,632,880.540657548,785,805,651,630.459342452,652.540657548,0.449327672142,-0.00556237753998,0.069627105564,0.999999825166,-9.36908709066e-05,-0.000580813779002,-5.95379974012e-05,1793239455995900160
+267,4.450000000,HOLD_POSE2,765,745,714,681.884437823,658.884437823,632,881,785,805,651.115562177,630.115562177,653,0.449327449908,-0.00556240974879,0.0696257163371,0.999999823999,-9.46476094168e-05,-0.000582639575315,-5.97938152341e-05,1793239456012566784
+268,4.466666667,HOLD_POSE2,765,745,714,681.292425864,658.292425864,632,881,785,805,651.707574136,630.707574136,653,0.449330043749,-0.00556063446281,0.0696278479482,0.999999826426,-9.31796785552e-05,-0.000578695273684,-5.98068463615e-05,1793239456029233408
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,632,881,785,805,651,631,653,0.449328312996,-0.00555838477021,0.0696260424942,0.999999825828,-8.80370464573e-05,-0.000580564825756,-5.94869088657e-05,1793239456066542336
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.581359762,745,714.581359762,682,658,632,881,785,805,651,631,653,0.449329812652,-0.00555940846109,0.069627624016,0.999999826572,-9.01027455864e-05,-0.000578942595516,-5.96825337699e-05,1793239456083209472
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.164732596,714.835267404,681.835267404,658.164732596,632,881,785,805,651.164732596,630.835267404,653,0.449330583332,-0.00555987986386,0.0696285435381,0.999999826871,-9.13919035131e-05,-0.000578216944827,-5.97466163673e-05,1793239456099876608
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745.75328473,714.24671527,681.24671527,658.75328473,632,881,785,805,651.75328473,630.24671527,653,0.449329478527,-0.00555893035505,0.0696277598854,0.999999826037,-9.06831978226e-05,-0.000579797989258,-5.94722705421e-05,1793239456116543232
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.663330542,745.663330542,714,681,658.663330542,632,881,785,805,652,630.336669458,653,0.44932976428,-0.00555904987188,0.0696279830118,0.999999826313,-9.10623965852e-05,-0.000579296363652,-5.91413019782e-05,1793239456133209856
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.083675342,745.083675342,714,681,658.083675342,632,881,785,805,652,630.916324658,653,0.449331053646,-0.00555994094075,0.0696289327649,0.999999827387,-9.22267728557e-05,-0.000577291604491,-5.87694668836e-05,1793239456149876224
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.494257617,658,632,880.505742383,785,805,651.505742383,630.505742383,652.505742383,0.449332875769,-0.00556098833023,0.0696298452999,0.999999828312,-9.33517693452e-05,-0.000575508018368,-5.87502348718e-05,1793239456166542592
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.071246989,745,714,682,658,632,880.071246989,785,805,651.071246989,630,652.071246989,0.449334186663,-0.00556165313285,0.069630317569,0.999999828903,-9.36941881258e-05,-0.000574417943365,-5.88146198376e-05,1793239456183209216
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.643642965,745,714,682,658,632,880.643642965,785,805,651.643642965,630,652.643642965,0.449331269379,-0.00555944132948,0.069627737188,0.999999827324,-8.85787121281e-05,-0.00057794354115,-5.9048736696e-05,1793239456199875840
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.223364861,714.223364861,681.776635139,658,632,881,785,805,652,630,653,0.44932679159,-0.00555807958918,0.0696249839082,0.999999825102,-8.64614747808e-05,-0.000582062030753,-5.93664197682e-05,1793239456216542464
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.815170832,714.815170832,681.184829168,658,632,881,785,805,652,630,653,0.449319739743,-0.00555812003107,0.0696219454315,0.999999821847,-8.9289842936e-05,-0.000587158497123,-5.98219455766e-05,1793239456233209088
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.601448002,746,715,681.398551998,658,632.398551998,881,785,805,651.601448002,630.398551998,653,0.449296339335,-0.00555823084926,0.0696104880762,0.999999810484,-9.01251854671e-05,-0.000606054295439,-6.00651587268e-05,1793239456249875712
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.021892924,746,715,681.978107076,658,632.978107076,881,785,805,651.021892924,630.978107076,653,0.449265514199,-0.00555837362898,0.0695952072723,0.999999794915,-9.00553921603e-05,-0.000631217084371,-6.02119497238e-05,1793239456266542592
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,715,681.446804623,658.553195377,632.446804623,880.446804623,785,805,651,630.446804623,652.446804623,0.449209305368,-0.00555650063336,0.0695746490959,0.999999771688,-8.89615276453e-05,-0.00066708487356,-6.08852475322e-05,1793239456283209472
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.127856281,746,714.872143719,681.127856281,658.872143719,632,880.127856281,785,805,651,630,652.127856281,0.449148998799,-0.00555456021167,0.0695550526537,0.999999749304,-8.77877210074e-05,-0.000699933243956,-6.14783445061e-05,1793239456299876096
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.701638301,746,714.298361699,681.701638301,658.298361699,632,880.701638301,785,805,651,630,652.701638301,0.449077876072,-0.00555266063068,0.0695395330446,0.999999734591,-8.64753172111e-05,-0.000720785017356,-6.17196342302e-05,1793239456316542464
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,714,681.71712039,658.28287961,632,880.71712039,785,804.71712039,651.28287961,630,652.71712039,0.449000196325,-0.00555032591833,0.0695301509329,0.99999972489,-8.45757316537e-05,-0.000734376290402,-6.13125369871e-05,1793239456333208832
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,714,681.1277985,658.8722015,632,880.1277985,785,804.1277985,651.8722015,630,652.1277985,0.44891541339,-0.00554751983015,0.0695274175471,0.999999720947,-8.20400546966e-05,-0.000740102293253,-6.02030449038e-05,1793239456349875456
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,658.546304036,632,880,785,804.453695964,651.546304036,630.453695964,652,0.448817644348,-0.00554555256777,0.0695287315664,0.9999997226,-7.96251829169e-05,-0.000738295077205,-5.81412595529e-05,1793239456366542336
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.9675828,745.9675828,714.0324172,681.0324172,658.0324172,632,880.0324172,785,805,651.0324172,630.9675828,652,0.448714733495,-0.005543759279,0.0695310813489,0.999999725594,-7.71950165196e-05,-0.00073466852475,-5.58076215966e-05,1793239456383209216
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.398882771,745.398882771,714.601117229,681.601117229,658.601117229,632,880.601117229,785,805,651.601117229,630.398882771,652,0.448586248841,-0.00554100148887,0.0695320251852,0.999999725397,-7.39584324107e-05,-0.00073545329611,-5.3339039225e-05,1793239456399875840
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.821975596,659,632,880.821975596,785,805,652,630.178024404,652,0.448447353298,-0.00553752329738,0.0695318119572,0.999999723802,-7.01099467722e-05,-0.000738167693829,-5.08755012733e-05,1793239456416542720
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.22579079,659,632,880.22579079,785,805,652,630.77420921,652,0.448284003703,-0.00553235296008,0.0695288809082,0.999999718905,-6.48241699405e-05,-0.000745414578619,-4.84238124742e-05,1793239456433209600
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.360238329,745,715,681.360238329,659,632.360238329,880.360238329,785,805,651.639761671,631,652.360238329,0.448097631,-0.00552803272994,0.0695274637842,0.999999715155,-6.10371908542e-05,-0.000750936839132,-4.53714864625e-05,1793239456449876224
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.940076635,745,715,681.940076635,659,632.940076635,880.940076635,785,805,651.059923365,631,652.940076635,0.447897223477,-0.00552423072153,0.0695269695432,0.999999712108,-5.81638729201e-05,-0.000755407775654,-4.19530139507e-05,1793239456466542592
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,714.482846156,682,659,633,881,785,805,651.517153844,631,653,0.447672243955,-0.00551971316182,0.0695292145186,0.999999712173,-5.31490176634e-05,-0.000755905573428,-3.78954149733e-05,1793239456483208960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.906413353,745.093586647,714.093586647,682,659,633,881,785,805,652,631,652.906413353,0.447438103754,-0.00551484543219,0.0695315650469,0.999999712818,-4.71548748531e-05,-0.00075564934263,-3.36763677442e-05,1793239456499875840
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.331657333,745.668342667,714.668342667,682,659,633,881,785,805,652,631,652.331657333,0.447171425377,-0.00550860134845,0.0695328350606,0.99999971472,-3.73948249455e-05,-0.000753870733336,-2.90059782366e-05,1793239456516542464
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.249763482,745.750236518,714.750236518,682,659,633,881,785.249763482,805.249763482,652,631,652,0.446889365788,-0.00550195062463,0.06953245292,0.99999971554,-2.77832760418e-05,-0.000753364475674,-2.42812662071e-05,1793239456533209088
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.840276981,745.159723019,714.159723019,682,659,633,881,785.840276981,805.840276981,652,631,652,0.44658632177,-0.00549474512587,0.0695298167606,0.999999714935,-1.83743262782e-05,-0.000754594075771,-1.94824427432e-05,1793239456549875712
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.577886699,745.422113301,714,681.577886699,659,633,881,786,805.155773399,651.577886699,631,652.422113301,0.446261953466,-0.00548726393599,0.0695411160559,0.999999730924,-5.42785125069e-06,-0.000733446866812,-1.33814605239e-05,1793239456566542592
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.000726635,746,714.000726635,681,659,633,880.999273365,786,804.000726635,651.000726635,631,652.999273365,0.445929637166,-0.00547967896274,0.0695575812553,0.999999752125,8.83612043865e-06,-0.000704006748021,-6.79939721454e-06,1793239456583209216
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.574796713,746,714.574796713,681,659,633,880.425203287,786,804.574796713,651.574796713,631,652.425203287,0.445564452362,-0.00547085813065,0.0695733312821,0.999999770131,2.77540963285e-05,-0.000677469542354,-1.57183706656e-06,1793239456599875840
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.851460732,746,714.851460732,681,659.148539268,633.148539268,880.148539268,786,805,652,631,652.148539268,0.445184361566,-0.00546283093612,0.069587054347,0.999999784358,5.22548399124e-05,-0.00065463040154,3.41451692527e-06,1793239456616542464
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.278653766,746,714.278653766,681,659.721346234,633.721346234,880.721346234,786,805,652,631,652.721346234,0.444761695348,-0.00545707058327,0.0695949878666,0.999999789364,9.27014511803e-05,-0.000642353924146,7.71192101486e-06,1793239456633209088
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.304766492,746,714.304766492,681,660,633.695233508,880.695233508,786,805,651.695233508,631,652.695233508,0.444311767517,-0.00545059078912,0.0696014618094,0.999999793005,9.8675241536e-05,-0.00063577694591,6.42571710539e-06,1793239456649875712
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.898240878,746,714.898240878,681,660,633.101759122,880.101759122,786,805,651.101759122,631,652.101759122,0.443836014477,-0.00544342946142,0.0696065530835,0.99999979605,7.19926397382e-05,-0.000634599150796,-1.49885723767e-07,1793239456666542592
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745.520656578,715,681.479343422,660,633.479343422,880.479343422,786.479343422,805,651.479343422,631,652.479343422,0.443313303232,-0.00543560367602,0.0696150849733,0.999999802222,7.46662823342e-05,-0.000624483063802,1.00979652162e-06,1793239456683209472
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.057241329,634,880.942758671,786.942758671,805,651.942758671,631,653,0.442781761099,-0.00542747216254,0.0696261617891,0.999999810808,8.52502532994e-05,-0.00060918175132,3.65484105209e-06,1793239456699876096
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,682,660.629344209,634,880.370655791,786.370655791,805,651.370655791,631,653,0.442258196679,-0.00541782757301,0.0696537247714,0.999999834696,0.000112340486449,-0.000563879284059,5.26160994807e-06,1793239456716543232
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.791562986,745,715,682,661,634.208437014,880.208437014,786.208437014,805,651,631,653,0.441726272215,-0.00541305283559,0.0696815751005,0.999999859412,0.000125212489704,-0.00051522520602,6.34949934479e-06,1793239456733210112
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.199608991,745,715,682,661,634.800391009,880.800391009,786.800391009,805,651,631,653,0.441178965585,-0.00541723846019,0.0697099541358,0.99999988773,0.000111923434539,-0.000460404282651,6.4826681121e-06,1793239456749875968
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.383735872,745,715,681.616264128,661,635,880.616264128,787,805,651.383735872,631,653,0.440586414252,-0.00541952831988,0.0697365936329,0.999999909032,0.000110801661821,-0.000411797287225,9.02424196189e-06,1793239456766542336
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.962700745,745,715,681.037299255,661,635,880.037299255,787,805,651.962700745,631,653,0.439970844297,-0.00542085369238,0.0697623481237,0.999999926098,0.000115870101417,-0.000366351683729,1.27911130725e-05,1793239456783208960
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.537203716,635,880,787,805,652,631,653,0.439259293857,-0.00541494799315,0.0697527137999,0.999999916406,0.000122868215947,-0.000389745155257,1.37827920104e-05,1793239456799875584
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745.114208706,714.885791294,681,661.885791294,635,880.114208706,787,805,652,631,653,0.438545722991,-0.00540948485787,0.0697399382878,0.999999906236,0.000126818935808,-0.00041383495791,1.35957233181e-05,1793239456816542464
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745.702884321,714.297115679,681,661.297115679,635,880.702884321,787,805,652,631,653,0.437851216032,-0.00540792891358,0.0697242368285,0.999999904374,0.000117557577868,-0.000421124638058,9.30558851345e-06,1793239456833209088
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,746,714.286841706,681,661.286841706,635,880.713158294,787,804.713158294,651.713158294,631.286841706,653,0.437150582877,-0.00540962212588,0.0697345945879,0.999999914062,0.000112413461763,-0.00039893661137,9.42947385249e-06,1793239456849875712
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,746,714.865991024,681,661.865991024,635,880.134008976,787,804.134008976,651.134008976,631.865991024,653,0.436443706706,-0.00541462640882,0.069771508135,0.999999933585,0.000111465042182,-0.00034670916603,1.405149008e-05,1793239456866542592
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745.55591026,715,681,662,635,880.44408974,787.44408974,804.44408974,651.44408974,631.55591026,653,0.435703336188,-0.00541751068439,0.0698114861467,0.99999995149,0.000109682748124,-0.000290979606318,1.79155242524e-05,1793239456883209472
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,635.021752094,881,787.978247906,804.978247906,652,631.021752094,653,0.434949592208,-0.00541957695367,0.0698505862017,0.99999996587,0.000107876782962,-0.000236991474584,2.1415638816e-05,1793239456899876352
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,635.596363379,881,787.403636621,804.403636621,652,631.596363379,653,0.434112226458,-0.00541707385761,0.0698439238947,0.999999961241,0.000111849634189,-0.000254060705557,2.14659966378e-05,1793239456916542720
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.82455205,662,635.82455205,881,787,804,651.82455205,632,652.82455205,0.433284145728,-0.00541459353586,0.0698383540745,0.999999957907,0.000115131150463,-0.000265465340532,2.1427827564e-05,1793239456933209088
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.234906993,662,635.234906993,881,787,804,651.234906993,632,652.234906993,0.432477985102,-0.00541216697981,0.0698353633948,0.999999958242,0.000116780564642,-0.000263497009787,2.11806644151e-05,1793239456949875712
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.349291733,662,635,880.650708267,787,804.349291733,651,631.650708267,652.349291733,0.431620725807,-0.00540964714739,0.069818884729,0.999999950487,0.000120078767899,-0.000290089431648,2.1318857676e-05,1793239456966542592
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.929883884,662,635,880.070116116,787,804.929883884,651,631.070116116,652.929883884,0.43072962909,-0.00540706554761,0.0697934743409,0.999999935706,0.000124468796348,-0.000335594737172,2.17122333008e-05,1793239456983209216
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,635,880.505093907,787.505093907,805,651,631.505093907,653,0.429827676581,-0.00540410873578,0.0697522657022,0.999999912093,0.00012956318229,-0.000398293054322,1.97235692296e-05,1793239456999875840
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.920371847,635.079628153,880.920371847,788,804.920371847,651.079628153,631.920371847,653,0.428934565271,-0.00540232594032,0.069723119301,0.99999989343,0.000132995309376,-0.000441723450923,1.82266379583e-05,1793239457016542720
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.345442979,635.654557021,880.345442979,788,804.345442979,651.654557021,631.345442979,653,0.428105722952,-0.00540816629767,0.0697824996107,0.999999930423,0.000125486122083,-0.000350614914921,2.18235077619e-05,1793239457033209344
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.76480115,661.23519885,635.76480115,880,788,804,651.76480115,631,653,0.427279522721,-0.0054110107764,0.0698345146155,0.999999955041,0.000124896036398,-0.000271407425786,2.56340848627e-05,1793239457049875968
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.175559565,661.824440435,635.175559565,880,788,804,651.175559565,631,653,0.42645729948,-0.00540934558658,0.0698754427012,0.999999968408,0.000134721212573,-0.000210114465506,2.97663543555e-05,1793239457066542336
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.406842281,662,635.406842281,880.406842281,788,804.406842281,651,631.406842281,653,0.42558029736,-0.00540618172199,0.0698703103222,0.99999996618,0.000137000974989,-0.000219054685178,2.9761442197e-05,1793239457083208960
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.986341425,662,635.986341425,880.986341425,788,804.986341425,651,631.986341425,653,0.424680048076,-0.00540238184572,0.0698456306721,0.999999957119,0.000136078593038,-0.000257800661352,2.80007810913e-05,1793239457099875840
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.43786602,661.43786602,635.43786602,881,787.43786602,804.43786602,651.56213398,632,653,0.42376580889,-0.00540040111783,0.0698179643224,0.999999943348,0.000137988251017,-0.000305827807062,2.70757895709e-05,1793239457116542464
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745.140680494,715,680,661,635,880.718639011,787,804,651.859319506,632,652.859319506,0.422840111157,-0.00539771487201,0.0697821260388,0.999999921566,0.000142037490887,-0.000368801549972,2.60625469129e-05,1793239457133209088
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.728259681,715,680,661,635,879.543480638,787,804,651.271740319,632,652.271740319,0.421879085953,-0.00539264791899,0.0697205570566,0.999999873539,0.000152666361538,-0.000478544347932,2.47048777423e-05,1793239457149875968
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745.689177718,715,680,661.310822282,635.310822282,879.310822282,787,804,651.310822282,631.689177718,652,0.421004498994,-0.00539185659565,0.069713906478,0.999999870892,0.000153136444954,-0.000483979830477,2.29750281892e-05,1793239457166542592
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745.1109313,715,680,661.8890687,635.8890687,879.8890687,787,804,651.8890687,631.1109313,652,0.420204281506,-0.0053947439232,0.0697545063975,0.999999909419,0.000144866147974,-0.000399671762186,2.09249635686e-05,1793239457183209216
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.549937934,635.549937934,880,787.450062066,804,652,631,652.450062066,0.419428873991,-0.00539620320996,0.0698201952236,0.999999945112,0.000148666950753,-0.000294944898081,2.61143110666e-05,1793239457199876096
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.992534672,745.007465328,715,680,661.007465328,635,880,787.992534672,804,652,631.007465328,653,0.418658534819,-0.00539729514695,0.0698908448324,0.999999969913,0.000155297676548,-0.000187007196119,3.29406756036e-05,1793239457216542720
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.395198485,745.604801515,715,680,661.604801515,635,880,787.395198485,804,652,631.604801515,653,0.417823325199,-0.00539614611423,0.0698828882791,0.999999965079,0.000159122225047,-0.000208352475318,3.33292817714e-05,1793239457233209344
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.194639481,745.805360519,715,680,662,635.194639481,880,787,804.194639481,652,632,653,0.416982797741,-0.005394721573,0.0698650721454,0.999999958753,0.000161272516634,-0.000235462708353,3.230033533e-05,1793239457249875712
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.769817812,745.230182188,715,680,662,635.769817812,880,787,804.769817812,652,632,653,0.41613187325,-0.005392758386,0.069827979585,0.999999949275,0.000160149476034,-0.000273843982723,2.8499937655e-05,1793239457266542336
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.356541286,635.643458714,879.643458714,787.356541286,805,652,632,653,0.415299242297,-0.00538901038207,0.0697964503056,0.999999934747,0.000163484442184,-0.000321048273247,2.66040719995e-05,1793239457283209216
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.950967668,635.049032332,879.049032332,787.950967668,805,652,632,653,0.414478816881,-0.00538407154465,0.0697686328614,0.999999915257,0.00016979379963,-0.000374139295896,2.59789143031e-05,1793239457299876352
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.470258017,661.940516035,635.529741983,879.529741983,788,804.470258017,652,632,653,0.413711737072,-0.00538332172122,0.0697599371014,0.99999990719,0.000176075765022,-0.000392343806823,2.6153404505e-05,1793239457316542720
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745.10635802,715,679.10635802,661,635.89364198,880,787.89364198,804,652,632,653,0.41297341626,-0.00538326361493,0.0697647824986,0.999999909338,0.000179820540756,-0.000385072184074,2.66035728078e-05,1793239457333209344
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745.679676291,715,679.679676291,661,635.320323709,880,787.320323709,804,652,632,653,0.412340304373,-0.00538458900283,0.0698215321728,0.999999945621,0.000172436706465,-0.000279718875236,2.79484619244e-05,1793239457349875712
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,635,880,787.259532161,804,652,632,653,0.411696657193,-0.00538567830133,0.069865440263,0.999999963969,0.000171957724259,-0.00020401132379,2.95198159256e-05,1793239457366542336
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,635,880,787.847665429,804,652,632,653,0.411039671025,-0.00538646868018,0.0698930892514,0.999999969517,0.000180221175432,-0.000165839126071,3.13779037839e-05,1793239457383208704
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745.570089713,715,680,661,635.429910287,879.570089713,787.570089713,804,652,631.570089713,653,0.410353849877,-0.00538408464784,0.0698742958657,0.999999963059,0.000180825774564,-0.00020066406006,3.02845434602e-05,1793239457399875328
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.010003575,787,804,652,631.010003575,653,0.409658883942,-0.00538058319627,0.0698392195155,0.999999949525,0.000178871198852,-0.000261081274716,2.81431119059e-05,1793239457416542208
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.584828539,787,804,652,631.584828539,653,0.409016688073,-0.00537664161066,0.0698013816831,0.999999929767,0.000183578993719,-0.00032578613405,2.50765756157e-05,1793239457433209088
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,880,787,804,652,631.84051892,652.84051892,0.408399128566,-0.0053739283054,0.0697759548333,0.999999914808,0.000187616757149,-0.000366960238281,2.28883876337e-05,1793239457449875968
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,880,787,804,652,631.266314634,652.266314634,0.407845634647,-0.00537440908577,0.0697828021642,0.999999921518,0.000189912137379,-0.000346943714202,2.29843035564e-05,1793239457466543104
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.319936432,715,679.680063568,661,636,880,787.319936432,804,652,631,652,0.407310658491,-0.00537606931129,0.0697965167152,0.9999999293,0.000188776977837,-0.000324356646469,2.35914011246e-05,1793239457483209472
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.916607537,715,679.083392463,661,636,880,787.916607537,804,652,631,652,0.406791699635,-0.00537874971873,0.069816171189,0.99999993778,0.000184674512082,-0.000299546142683,2.46406542843e-05,1793239457499875584
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.008821328,715,679.495589336,661.495589336,635.504410664,879.504410664,787.504410664,804,652,631,652,0.406295056906,-0.00537693391993,0.0698153860853,0.999999935412,0.000185178160022,-0.000307043393979,2.46747180025e-05,1793239457516542464
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,744.071340941,715,679.928659059,661.928659059,635.071340941,879.071340941,787.071340941,804,652,631.071340941,652.071340941,0.405810085268,-0.00537418007567,0.0698114848312,0.99999993161,0.000186700087767,-0.000318319199688,2.44085392529e-05,1793239457533209088
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,744.644586508,715,679.355413492,661.355413492,635.644586508,879.644586508,787.644586508,804,652,631.644586508,652.644586508,0.40538171529,-0.00536996608314,0.0698090234984,0.999999930698,0.000190121009228,-0.000319249661191,2.31904535001e-05,1793239457549875968
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.776421914,879.776421914,788,804,652,631.776421914,653,0.404975817285,-0.00536782786828,0.0698149681732,0.999999934377,0.000191962063403,-0.000306390873528,2.28442002929e-05,1793239457566542336
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.188055236,879.188055236,788,804,652,631.188055236,653,0.404606584451,-0.0053690764796,0.0698346280372,0.999999944701,0.000191225415598,-0.000271033633697,2.39204236584e-05,1793239457583208960
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.395975706,635,879,787.604024294,804,652,631,652.604024294,0.404254337162,-0.00537000964326,0.0698474477663,0.999999950606,0.000191079045665,-0.000248410423883,2.38732590268e-05,1793239457599875584
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.977969891,635,879,787.022030109,804,652,631,652.022030109,0.403910069182,-0.00537079461843,0.0698570541902,0.999999954589,0.000191209971982,-0.00023176930753,2.32983577573e-05,1793239457616542208
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635.551457523,879,787,803.448542477,652,631,652.551457523,0.403589654313,-0.00537011336545,0.06984915795,0.999999951514,0.000192753987214,-0.000243576332945,2.21226303963e-05,1793239457633209088
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.872101668,635.872101668,879,787,803,652,631,652.872101668,0.403277719331,-0.00536891809397,0.069840272897,0.999999947505,0.000194656458336,-0.000258167627376,2.1174059699e-05,1793239457649875712
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.283825931,635.283825931,879,787,803,652,631,652.283825931,0.402992930173,-0.00536608022125,0.0698303071724,0.999999941393,0.000197649099656,-0.000278752412312,2.11282374339e-05,1793239457666542080
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.299844284,879,787,803,652,631,652.299844284,0.402726284501,-0.00536358546529,0.0698214871805,0.999999936454,0.00019936502356,-0.000294833237509,2.04507189689e-05,1793239457683208704
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.879220927,879,787,803,652,631,652.879220927,0.402476553264,-0.00536141058299,0.0698137353083,0.999999932801,0.000199890716766,-0.000306715207143,1.91842964107e-05,1793239457699875328
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.543184697,745,715,679,661,636,879.456815303,787,803.456815303,652,631,653,0.402265760435,-0.00536076660416,0.069810087191,0.999999930894,0.000200043474878,-0.000312803798126,1.8681675463e-05,1793239457716542208
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.033682643,745,715,679.033682643,661,635.966317357,879.966317357,787,803.966317357,651.966317357,631,653,0.402067356021,-0.00536054210697,0.0698076632813,0.999999929559,0.000199987982881,-0.000317093178209,1.83856224397e-05,1793239457733209344
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.606426683,745,715,679.606426683,661,635.393573317,879.393573317,787,803.393573317,651.393573317,631,653,0.401903094099,-0.0053605783731,0.0698075346414,0.999999929952,0.000198171530364,-0.000317006532092,1.81761267428e-05,1793239457749875968
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.81471596,661.18528404,635.18528404,879,787,803,651.18528404,631,653,0.40174884228,-0.00536032186656,0.0698076733052,0.999999930292,0.000197058268345,-0.00031663970234,1.80066438847e-05,1793239457766542592
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.222429933,661.777570067,635.777570067,879,787,803,651.777570067,631,653,0.401616579058,-0.00535942224442,0.0698083991384,0.999999930518,0.00019748966162,-0.000315657410547,1.7925054782e-05,1793239457783209472
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.638433442,635.638433442,879,787,803,652,631.361566558,653,0.401499981954,-0.00535914105397,0.0698076461464,0.999999930931,0.000196304228313,-0.000315136368244,1.71017434862e-05,1793239457799876096
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.059422187,635.059422187,879,787,803,652,631.940577813,653,0.401392806379,-0.0053592317858,0.069806003795,0.99999993145,0.000194146441944,-0.000314892719462,1.58323633934e-05,1793239457816542464
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.516351438,661,635.516351438,879.516351438,787,803.516351438,652,631.483648562,653,0.401307034691,-0.00535894121958,0.0698045511918,0.999999929992,0.000196821872336,-0.00031787212603,1.52949572728e-05,1793239457833209088
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.091474421,745,715.091474421,679.908525579,661,635.908525579,879.908525579,787.091474421,804,652,631,653,0.401227977039,-0.00535859178288,0.0698037162797,0.999999928694,0.000200202353996,-0.000319855440386,1.49580307122e-05,1793239457849875712
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.66511974,745,715.66511974,679.33488026,661,635.33488026,879.33488026,787.66511974,804,652,631,653,0.40117140696,-0.00535816188916,0.0698060228946,0.999999929496,0.000204385658061,-0.000314645321066,1.5236601072e-05,1793239457866542336
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.754792561,745,715.754792561,679,661.245207439,635.245207439,879.245207439,787.754792561,804,652,631,653,0.401123515659,-0.0053580038615,0.069808969711,0.999999930733,0.00020724006503,-0.000308781703622,1.54903527391e-05,1793239457883209216
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.165669127,745,715.165669127,679,661.834330873,635.834330873,879.834330873,787.165669127,804,652,631,653,0.401087796793,-0.00535822713995,0.0698128144425,0.999999932594,0.000208230625504,-0.000302001521902,1.57092949018e-05,1793239457899876352
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.581556196,636,879.581556196,787,804,652,631,652.581556196,0.401057557218,-0.00535874439645,0.0698152294868,0.999999933845,0.000207442581938,-0.000298374471768,1.5829029414e-05,1793239457916542976
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715.000589457,679,661.000589457,635.999410543,879.000589457,787,804,652,631,652.000589457,0.401029473508,-0.00535937579027,0.0698170847941,0.999999934861,0.000205959698604,-0.000295980975574,1.59099235329e-05,1793239457933209600
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715.57591599,679,661.57591599,635.42408401,879.57591599,787,804,652,631,652.57591599,0.401013272167,-0.00535915261101,0.0698185533736,0.999999935684,0.000205459714088,-0.000293534855886,1.59643701411e-05,1793239457949875712
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.845972299,679,662,635.154027701,879.845972299,787,804,652,631,652.845972299,0.400999298737,-0.00535921779738,0.0698200275671,0.999999936443,0.000205110727772,-0.000291181979163,1.60469330801e-05,1793239457966542336
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715.260051051,679,662,635.739948949,879.260051051,787,804,652,631,652.260051051,0.400991572372,-0.00536009156078,0.0698215175022,0.999999937031,0.000205185140373,-0.000289090556057,1.6208334178e-05,1793239457983208960
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.67772582,635.67772582,879,787.32227418,804,652.32227418,631,652.32227418,0.400985272949,-0.00536010798707,0.0698224347418,0.999999937191,0.000206163199648,-0.000287830581719,1.63643809502e-05,1793239457999875584
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.098270221,635.098270221,879,787.901729779,804,652.901729779,631,652.901729779,0.400980112257,-0.00535944024082,0.0698228949589,0.999999937009,0.00020786238755,-0.000287234120358,1.6516154878e-05,1793239458016542208
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.478993451,635.478993451,879,787.521006549,804,652.521006549,631,653,0.400978234639,-0.00536013339926,0.0698242237118,0.999999937771,0.000206490916606,-0.00028557318521,1.63453205239e-05,1793239458033209088
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.05562766,715,679.05562766,662,636,879,787,804,652,631.05562766,652.94437234,0.400977298063,-0.00536100062906,0.0698257579182,0.999999938699,0.000204815618896,-0.000283534047148,1.61538875765e-05,1793239458049875968
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.630564898,715,679.630564898,662,636,879,787,804,652,631.630564898,652.369435102,0.400978887243,-0.00536089828091,0.0698275542341,0.999999939417,0.000206158280667,-0.000279993669041,1.63852215783e-05,1793239458066542848
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.788828835,715,679.788828835,662,636,879.211171165,787,804,652,631.788828835,652.211171165,0.400979303968,-0.005360224106,0.0698283533184,0.999999939813,0.000206933644049,-0.000278001180439,1.63708523827e-05,1793239458083209472
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.198031283,715,679.198031283,662,636,879.801968717,787,804,652,631.198031283,652.801968717,0.400977612949,-0.00535852194733,0.0698273596606,0.999999939651,0.000206689164335,-0.000278791362231,1.59147778986e-05,1793239458099875840
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.614964914,636,879.614964914,787,804,652.385035086,631,652.614964914,0.400977335471,-0.00535920533748,0.0698277194984,0.999999939993,0.000205769341557,-0.000278262209459,1.55612402903e-05,1793239458116542464
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.035796598,636,879.035796598,787,804,652.964203402,631,652.035796598,0.400977770695,-0.00536109151237,0.0698287617637,0.999999940588,0.00020450901337,-0.000277067853172,1.52594014e-05,1793239458133208832
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.539112741,636,879,787,803.460887259,652.460887259,631,652,0.400977359255,-0.00536065664744,0.0698288819547,0.9999999403,0.000205822037422,-0.000277122685031,1.55285585196e-05,1793239458149875456
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635.8835073,879,787,803.1164927,652,631.1164927,652.1164927,0.400977012087,-0.00536041770159,0.0698290685091,0.99999994008,0.000206834122061,-0.000277150470222,1.57435438046e-05,1793239458166542336
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635.294979482,879,787,803.705020518,652,631.705020518,652.705020518,0.400977151368,-0.00536159221908,0.0698297701138,0.999999940382,0.000205939841331,-0.000276735197331,1.55865976077e-05,1793239458183208960
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.289070559,662,635.289070559,879,787,804,652,631.710929441,652.710929441,0.400978276323,-0.00536231090658,0.0698308737805,0.999999940973,0.000205709735987,-0.000274756445779,1.57116399066e-05,1793239458199875584
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.868621062,662,635.868621062,879,787,804,652,631.131378938,652.131378938,0.400980391758,-0.00536257154179,0.0698323814694,0.999999941845,0.000206147044156,-0.000271206592653,1.61200455388e-05,1793239458216541952
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.554524608,661.554524608,635.554524608,879,787,804,652,631.445475392,652,0.400979070673,-0.00536230863428,0.0698320216037,0.999999941485,0.000205944370463,-0.000272694276057,1.59329360491e-05,1793239458233208576
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.021443872,879.021443872,787,804,652,632,652.021443872,0.40097683953,-0.00536190157693,0.0698311247452,0.99999994079,0.000205577632168,-0.000275525023287,1.55856416066e-05,1793239458249875200
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.59495512,879.59495512,787,804,652,632,652.59495512,0.400977114302,-0.00536173455564,0.0698304974387,0.999999940909,0.000205816987555,-0.000274914697459,1.56087341355e-05,1793239458266541824
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.825925963,787,804,652,631.825925963,653,0.400977114572,-0.00536177149612,0.0698300894755,0.999999941072,0.000205536112964,-0.000274533711344,1.55757664161e-05,1793239458283208704
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.233324524,787,804,652,631.233324524,653,0.400976454859,-0.00536229882333,0.0698302088811,0.999999941341,0.000204004445849,-0.00027470412831,1.54080126557e-05,1793239458299875328
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787,804,652,631,653,0.400977023057,-0.00536224113733,0.0698307641972,0.999999941679,0.000204002930073,-0.000273475775731,1.53588067524e-05,1793239458316541952
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787,804,652,631,653,0.400978388694,-0.00536180352733,0.0698316026058,0.999999942058,0.000204995137531,-0.000271339022994,1.53865891573e-05,1793239458333208576
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.506785958,661,636,879,787,804,652,631,652.493214042,0.400976214993,-0.00536060968647,0.0698304579552,0.999999941051,0.000206265643417,-0.000274088069825,1.50760062165e-05,1793239458349875456
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.917407586,661,636,879,787.082592414,804,652,631,652.082592414,0.400974330994,-0.00535968172837,0.0698295438564,0.999999940188,0.000207203294077,-0.000276534085243,1.48269194054e-05,1793239458366542080
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.34366746,661,636,879,787.65633254,804,652,631,652.65633254,0.400977050647,-0.00536095042712,0.0698316149093,0.99999994136,0.000205935047163,-0.000273201205393,1.52189461781e-05,1793239458383208704
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.237751144,661,636,879,787.762248856,804,652,631.237751144,653,0.400978153417,-0.00536147564606,0.0698324774667,0.999999941709,0.000205990167146,-0.000271863692123,1.54798509434e-05,1793239458399875328
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.830639445,661,636,879,787.169360555,804,652,631.830639445,653,0.400976840994,-0.00536089030351,0.0698315348526,0.99999994084,0.000208022046112,-0.000273506726834,1.55448942628e-05,1793239458416541952
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.588295911,661.411704089,636,879.411704089,787,803.588295911,652,631.588295911,653,0.400977033808,-0.00536137076198,0.0698319570024,0.999999941246,0.000206678580702,-0.000273050231757,1.53632889554e-05,1793239458433208832
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.011959353,661.988040647,636,879.988040647,787,803.011959353,652,631.011959353,653,0.400977828536,-0.0053622774136,0.0698329248947,0.999999942156,0.000203985380505,-0.000271754175392,1.50830536482e-05,1793239458449875200
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.562413674,662,636,879.437586326,787.562413674,803.562413674,652,631.562413674,653,0.400977543163,-0.00536082554223,0.0698322108028,0.999999941307,0.000207955793731,-0.000271866059038,1.51220436483e-05,1793239458466541824
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00a783c5811c04c342357a3f6bd081d77e4f4517
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffe9f15bbd2d4334932ba59499ab11fdcdff185a
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05ec8b83daca58587b71543e74372c64c134366a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,661,636,879,788,804,652,631,653,0.400980843619,-0.00536189287775,0.0698358409687,0.999999943518,0.00020491339813,-0.000265962787915,1.54243388578e-05,1793239458622630912
+1,0.016666667,BASELINE,766,745,715,679,661.57497044,636,879,787.42502956,804,652,631,652.42502956,0.400979229614,-0.00536147791491,0.0698348262618,0.999999942555,0.000207174091025,-0.000267835162881,1.52891934142e-05,1793239458639297536
+2,0.033333333,BASELINE,766,745,715,679,662,635.849045,879,787,804,652,631,652,0.400978081508,-0.00536127527421,0.0698340918103,0.999999941924,0.000208311145013,-0.000269310960401,1.51894342886e-05,1793239458655964160
+3,0.050000000,BASELINE,766,745,715,679,662,635.270185636,879,787,804,652,631,652,0.400978254064,-0.00536167449208,0.0698341517843,0.999999942253,0.000206263078175,-0.000269662600692,1.51899829058e-05,1793239458672630784
+4,0.066666667,BASELINE,766,745,715,679,662,635.30168915,879,787,803.69831085,652,631,652.30168915,0.400978857333,-0.00536225424733,0.0698346303845,0.999999942821,0.000204652670707,-0.000268782271255,1.52331995125e-05,1793239458689297408
+5,0.083333333,BASELINE,766,745,715,679,662,635.867450221,879,787,803.132549779,652,631,652.867450221,0.400979837611,-0.00536299202899,0.069835475413,0.999999943594,0.000203425351555,-0.000266823584773,1.53137638924e-05,1793239458705964032
+6,0.100000000,BASELINE,766,745,715,679,662,635.53768055,879.46231945,787.46231945,803.924638899,652,631.46231945,652.53768055,0.400979889827,-0.00536169359995,0.0698354629258,0.999999942868,0.00020702830522,-0.000266773958833,1.53508531767e-05,1793239458722630400
+7,0.116666667,BASELINE,765.936656961,745,715,679,662,635.063343039,879.936656961,787.936656961,804.936656961,652,632,652.063343039,0.400979508392,-0.00536003353198,0.0698350533794,0.999999941773,0.00021131545208,-0.000267516921844,1.53334279079e-05,1793239458739297024
+8,0.133333333,BASELINE,765.358019723,745,715,679,662,635.641980277,879.358019723,787.358019723,804.358019723,652,632,652.641980277,0.400977909215,-0.00536049979246,0.0698335481743,0.999999941579,0.00020914565041,-0.000269955809466,1.49807401586e-05,1793239458755963648
+9,0.150000000,BASELINE,765.218535434,745,715,679,662,636,879,787,804,652,631.781464566,653,0.400977144673,-0.00536096362566,0.0698329661517,0.999999941738,0.000206997039397,-0.000271031340095,1.47719072655e-05,1793239458772630528
+10,0.166666667,BASELINE,765.79171172,745,715,679,662,636,879,787,804,652,631.20828828,653,0.400977734581,-0.00536142351981,0.0698338822761,0.999999942481,0.00020488281695,-0.000269894405095,1.47965230882e-05,1793239458789297408
+11,0.183333333,BASELINE,766,745,715,679.375966398,662,636,879,787,804,652,631.375966398,653,0.400978619022,-0.00536143795788,0.0698345213876,0.99999994266,0.000205758146488,-0.000268552961148,1.490833537e-05,1793239458805964288
+12,0.200000000,BASELINE,766,745,715,679.966544987,662,636,879,787,804,652,631.966544987,653,0.400979671591,-0.00536119811714,0.0698350023725,0.999999942514,0.000208339996166,-0.000267094777634,1.50699218448e-05,1793239458822630912
+13,0.216666667,BASELINE,765.45098794,745,715,679.45098794,662,636,879.54901206,787,804,652,631.45098794,652.45098794,0.400979900371,-0.0053614620075,0.0698352632778,0.999999942544,0.000208616970004,-0.000266775387196,1.48996553605e-05,1793239458839297280
+14,0.233333333,BASELINE,765,745,715,679,662,636,879.871115207,787,804,652,631.128884793,652.128884793,0.400979749968,-0.00536152321877,0.0698351410151,0.999999942549,0.000208386060163,-0.000266946252773,1.47188606135e-05,1793239458855963648
+15,0.250000000,BASELINE,765,745,715,679,662,636,879.298497287,787,804,652,631.701502713,652.701502713,0.400978464404,-0.00536078249044,0.0698337450558,0.999999942429,0.000206883090569,-0.000268569567297,1.45704265355e-05,1793239458872630272
+16,0.266666667,BASELINE,765.281535541,745,715.281535541,679,662,636,879,787.281535541,803.718464459,652,631.718464459,653,0.400978272304,-0.00536078261265,0.0698335626974,0.999999942509,0.000206072159678,-0.000268901611393,1.44522407343e-05,1793239458889296896
+17,0.283333333,BASELINE,765.869642625,745,715.869642625,679,662,636,879,787.869642625,803.130357375,652,631.130357375,653,0.400979270906,-0.00536158946676,0.0698347018613,0.99999994281,0.000206014808235,-0.000267827556658,1.43669930958e-05,1793239458905963520
+18,0.300000000,BASELINE,766,745,715.549806786,679,661.549806786,636,879,787.549806786,803.450193214,652,631,653,0.400980026979,-0.00536185478,0.0698352061209,0.999999943008,0.000206142131693,-0.00026697501439,1.46338707066e-05,1793239458922630400
+19,0.316666667,BASELINE,766,745,715,679.028618452,661.028618452,636,879,787.028618452,804,652,631,653,0.400980629938,-0.00536199511309,0.0698355035336,0.999999943159,0.000206310467917,-0.000266256386116,1.49857231807e-05,1793239458939297024
+20,0.333333333,BASELINE,766,745,715,679.607554934,661.607554934,636,879,787.607554934,804,652,631,653,0.400979616721,-0.00536269770025,0.0698353002137,0.999999942998,0.000206256151482,-0.000266899819502,1.50433086451e-05,1793239458955963904
+21,0.350000000,BASELINE,766,745.184604565,715,680,662,636,879,788,804,652,631.184604565,653.184604565,0.400978517606,-0.00536277195262,0.0698347371626,0.999999942773,0.000206135848543,-0.000267835136063,1.50125430153e-05,1793239458972630784
+22,0.366666667,BASELINE,766,745.75768351,715,680,662,636,879,788,804,652,631.75768351,653.75768351,0.400977237734,-0.00536152396257,0.0698334171076,0.999999942414,0.000205876686277,-0.000269384679693,1.47958549085e-05,1793239458989297152
+23,0.383333333,BASELINE,766,745.659439121,715,680,662,636,879.340560879,787.659439121,804,652,631.659439121,653.659439121,0.400977885961,-0.00536038918013,0.0698334929541,0.99999994221,0.000207262771224,-0.000269082453402,1.4730051261e-05,1793239459005963776
+24,0.400000000,BASELINE,766,745.069383368,715,680,662,636,879.930616632,787.069383368,804,652,631.069383368,653.069383368,0.400979946714,-0.00535933733346,0.0698345914377,0.999999942114,0.000209854164126,-0.000267423620771,1.47747855341e-05,1793239459022630400
+25,0.416666667,BASELINE,765.487706395,745,715,679.487706395,662,636,879.487706395,787,803.487706395,652,631.512293605,652.487706395,0.400980167421,-0.00535991535711,0.0698350011588,0.999999942358,0.000209698124303,-0.000266638196101,1.46552246288e-05,1793239459039297024
+26,0.433333333,BASELINE,765.091847416,745,715,679,661.908152584,636,879.091847416,787.091847416,803.091847416,652,631.908152584,652.091847416,0.400979985779,-0.00536077548669,0.0698352345275,0.999999942602,0.000209050699335,-0.0002662371384,1.45311779127e-05,1793239459055963904
+27,0.450000000,BASELINE,765.666114222,745,715,679,661.333885778,636,879.666114222,787.666114222,803.666114222,652,631.333885778,652.666114222,0.400978978729,-0.00536197657031,0.0698350237021,0.999999942606,0.000207745306897,-0.000267243613568,1.44985634163e-05,1793239459072630784
+28,0.466666667,BASELINE,766,745,715,679.239276125,661,636,880,787.760723875,804,652,631,653,0.400978672975,-0.00536183443309,0.0698349562674,0.999999942442,0.000208389385676,-0.000267350447376,1.46279885738e-05,1793239459089297408
+29,0.483333333,BASELINE,766,745,715,679.810903299,661,636,880,787.189096701,804,652,631,653,0.400979341311,-0.00535982658162,0.0698350880005,0.999999942037,0.000211741251629,-0.000266207692391,1.49824844498e-05,1793239459105964288
+30,0.500000000,BASELINE,766,745,715,679.600394838,661.399605162,636,880,787,804,652,631.399605162,652.600394838,0.400979429292,-0.00535992902808,0.0698353540146,0.999999942059,0.000211589192241,-0.000266247488142,1.50033522092e-05,1793239459122630912
+31,0.516666667,BASELINE,766,745,715,679.003252443,661.996747557,636,880,787,804,652,631.996747557,652.003252443,0.400979230385,-0.00536107466035,0.0698356864082,0.999999942291,0.000209705033725,-0.000266871855453,1.48592972271e-05,1793239459139297024
+32,0.533333333,BASELINE,766,745,715,679,661.424423691,636,879.424423691,787,804,652,631.424423691,652,0.400978498656,-0.00536202679518,0.0698348426744,0.999999942048,0.000209562200849,-0.000267881694529,1.50636449155e-05,1793239459155963648
+33,0.550000000,BASELINE,766,745,715,679,661,635.847351915,879,787,803.847351915,652,631,652.152648085,0.4009778696,-0.00536260592727,0.0698342782599,0.999999941879,0.000209433804854,-0.000268606259012,1.51804191755e-05,1793239459172630272
+34,0.566666667,BASELINE,766,745,715,679,661,635.274837026,879,787,803.274837026,652,631,652.725162974,0.400977530979,-0.00536216200977,0.0698344998451,0.999999941923,0.000209318887963,-0.000268540353618,1.50510698144e-05,1793239459189296896
+35,0.583333333,BASELINE,766,745,715,679,661.299200526,635.299200526,879,787,803.299200526,652,631,653,0.400976860771,-0.00536220726154,0.0698340000197,0.99999994201,0.000207989196464,-0.000269251687394,1.49650523522e-05,1793239459205963520
+36,0.600000000,BASELINE,766,745,715,679,661.874643975,635.874643975,879,787,803.874643975,652,631,653,0.400975884419,-0.00536270414863,0.0698328341377,0.999999942132,0.000205537939785,-0.000270680622907,1.49190419247e-05,1793239459222630144
+37,0.616666667,BASELINE,765.538030543,745,715,679,662,636,879,787,804,652,631.461969457,653,0.400975373198,-0.00536193057285,0.0698324837252,0.999999941685,0.000206683607283,-0.000271464513652,1.48094095772e-05,1793239459239296768
+38,0.633333333,BASELINE,765.051646707,745,715,679,661.948353293,636,879,787,804,652,631.948353293,653,0.400975119203,-0.00536104580026,0.0698324434557,0.99999994122,0.000208391715244,-0.000271877171449,1.47200639773e-05,1793239459255963136
+39,0.650000000,BASELINE,765.631530587,745,715,679,661.368469413,636,879,787,804,652,631.368469413,653,0.400976171098,-0.0053626427847,0.069833252332,0.999999942211,0.000205606134028,-0.000270330385537,1.50194437765e-05,1793239459272630016
+40,0.666666667,BASELINE,766,745,715,679,661,636,879,787.207296059,804,652,631,653,0.400976747266,-0.00536349729533,0.0698338462004,0.999999942813,0.000203933863445,-0.000269362373643,1.51448588312e-05,1793239459289296640
+41,0.683333333,BASELINE,766,745,715,679,661,636,879,787.775883619,804,652,631,653,0.4009764943,-0.00536305776549,0.0698340653364,0.99999994275,0.00020420195635,-0.000269403093681,1.49670747431e-05,1793239459305963008
+42,0.700000000,BASELINE,766,745,715,679,661.360964409,636,879.360964409,787.639035591,803.639035591,652,631.360964409,653,0.400976921053,-0.00536270321722,0.0698345420998,0.999999942658,0.000205533622931,-0.000268725271727,1.50287012407e-05,1793239459322629888
+43,0.716666667,BASELINE,766,745,715,679,661.956775836,636,879.956775836,787.043224164,803.043224164,652,631.956775836,653,0.400977790038,-0.00536240395882,0.0698351864782,0.999999942544,0.00020755726106,-0.000267579959241,1.52460906415e-05,1793239459339296512
+44,0.733333333,BASELINE,766,745,715,679,662,636,879.462570005,787.537429995,803.537429995,652,632,653,0.400978225912,-0.00536226243361,0.0698345625354,0.999999942526,0.000207725741429,-0.00026752293686,1.5175980216e-05,1793239459355963136
+45,0.750000000,BASELINE,766,745,715,679,662,636,879,788,804,652,632,653,0.400978615878,-0.00536203579153,0.0698341763371,0.999999942545,0.000207836541907,-0.000267373515757,1.5002805213e-05,1793239459372630016
+46,0.766666667,BASELINE,766,745,715,679,662,636,879,788,804,652,632,653,0.400978958244,-0.00536142351817,0.0698351234746,0.999999942685,0.000208293317309,-0.000266521619375,1.45107896421e-05,1793239459389296640
+47,0.783333333,BASELINE,765.733784241,745,715,679,662,636,879,788,804,652,632,653,0.400978098798,-0.00536118419567,0.0698349932199,0.999999942443,0.000208587698186,-0.000267207274373,1.43650115244e-05,1793239459405963264
+48,0.800000000,BASELINE,765.159900195,745,715,679,662,636,879,788,804,652,632,653,0.400975850405,-0.00536137589622,0.069833617812,0.999999941756,0.000208694398102,-0.000269669893179,1.46193835234e-05,1793239459422629888
+49,0.816666667,BASELINE,765.427916756,745,715,679,662,636,879.427916756,788,804,652,631.572083244,653,0.400975909389,-0.00536256191756,0.0698334536105,0.999999941967,0.000207322728741,-0.000269927160586,1.49488571983e-05,1793239459439296512
+50,0.833333333,BASELINE,766,745,715,679.020531545,662,636,879.979468455,787.979468455,803.979468455,652,631.020531545,653,0.400976834136,-0.00536405771443,0.0698337533039,0.999999942496,0.000205459374084,-0.000269370840625,1.52973714399e-05,1793239459455963136
+51,0.850000000,BASELINE,766,745,715,679.597332597,662,636,879.402667403,787.402667403,803.402667403,652,631.597332597,653,0.40097706922,-0.00536354106185,0.0698339465073,0.999999942307,0.000205745363976,-0.000269850136044,1.53758391907e-05,1793239459472630016
+52,0.866666667,BASELINE,766,745,715,679.826373085,661.826373085,636,879,787.173626915,803.173626915,652,631.826373085,653,0.400977286206,-0.00536308653009,0.0698342203441,0.999999942354,0.000205541767888,-0.000269837704925,1.52364046893e-05,1793239459489296640
+53,0.883333333,BASELINE,766,745,715,679.251250581,661.251250581,636,879,787.748749419,803.748749419,652,631.251250581,653,0.400977461346,-0.00536277564678,0.0698346806382,0.999999942947,0.00020420605115,-0.000268688203308,1.45930921207e-05,1793239459505963264
+54,0.900000000,BASELINE,766,745,715,679,661.33237027,636,879,788,804,652,631.33237027,653,0.400978008065,-0.00536181475562,0.06983510778,0.999999942925,0.00020559386318,-0.000267729402708,1.42384809044e-05,1793239459522629632
+55,0.916666667,BASELINE,766,745,715,679,661.922583868,636,879,788,804,652,631.922583868,653,0.400978843045,-0.00536034960702,0.0698355092034,0.999999942417,0.000209094510817,-0.00026691854254,1.41078359511e-05,1793239459539296256
+56,0.933333333,BASELINE,766,745,715,679,662,636,879,787.496360669,804,652,631.496360669,652.496360669,0.400977944476,-0.00536112833632,0.0698348101539,0.999999942385,0.000207796624415,-0.000268048168812,1.41743868342e-05,1793239459555963136
+57,0.950000000,BASELINE,766,745,715.082463468,679,662,636,879,787.082463468,804,652,631,652.082463468,0.400977002848,-0.00536208218779,0.0698341599311,0.999999942472,0.000205913432978,-0.00026917005863,1.4261992908e-05,1793239459572629760
+58,0.966666667,BASELINE,766,745,715.656230713,679,662,636,879,787.656230713,804,652,631,652.656230713,0.40097736392,-0.00536206114539,0.0698347904234,0.999999942868,0.000204859103707,-0.000268500496542,1.42976757017e-05,1793239459589296384
+59,0.983333333,BASELINE,766,745,715.768981174,679.231018826,662,636,879,787.768981174,803.768981174,652,631,653,0.400977887162,-0.00536226612063,0.0698353015199,0.999999943087,0.000204748235379,-0.00026776320552,1.43607519795e-05,1793239459605963264
+60,1.000000000,BASELINE,766,745,715.192667121,679.807332879,662,636,879,787.192667121,803.192667121,652,631,653,0.400978652791,-0.00536280891601,0.0698356341601,0.999999943043,0.000206047522794,-0.000266924682485,1.44647722819e-05,1793239459622629888
+61,1.016666667,BASELINE,766,745,715,679.605626408,661.605626408,636,879,787,803.394373592,652,631,653,0.400978658918,-0.00536286290363,0.0698353323729,0.999999942836,0.00020681546887,-0.000267106642126,1.44788606183e-05,1793239459639296512
+62,1.033333333,BASELINE,766,745,715,679.013198813,661.013198813,636,879,787,803.986801187,652,631,653,0.400978283624,-0.00536267141246,0.0698347119768,0.999999942547,0.000207316575806,-0.000267801087145,1.44477852095e-05,1793239459655963136
+63,1.050000000,BASELINE,766,745,715,679,661,636,879,787.563255864,804,652,631.563255864,653,0.400979979444,-0.0053627140821,0.0698363238767,0.999999943486,0.000206386167232,-0.000264980791515,1.47696498013e-05,1793239459672630016
+64,1.066666667,BASELINE,766,745,715,679,661.138870975,636.138870975,879,788,804,652,631.861129025,653,0.400980868944,-0.00536275489569,0.0698373742271,0.999999944056,0.000205690455265,-0.000263357324785,1.49301342221e-05,1793239459689296640
+65,1.083333333,BASELINE,766,745,715,679,661.712995435,636.712995435,879,788,804,652,631.287004565,653,0.400979083328,-0.00536277316841,0.0698365051234,0.999999943403,0.000205832574172,-0.000265736014753,1.45596094342e-05,1793239459705963264
+66,1.100000000,BASELINE,766,745,715,679.294329513,662,636.411340973,879,787.705670487,804,652,631,652.705670487,0.400979060935,-0.00536259249165,0.0698363921736,0.999999943341,0.000205983782076,-0.000265862668582,1.4374846462e-05,1793239459722629888
+67,1.116666667,BASELINE,766,745,715,679.882870279,662,635.234259442,879,787.117129721,804,652,631,652.117129721,0.400980801055,-0.00536221294534,0.0698370350739,0.99999994387,0.000206144075315,-0.000263738190996,1.43757706887e-05,1793239459739296512
+68,1.133333333,BASELINE,766,745,715.464101321,680,661.535898679,635.464101321,879,787,804,652,631,652,0.400979884006,-0.00536253293375,0.0698362909384,0.999999943836,0.000205048781521,-0.000264722106185,1.43592272423e-05,1793239459755963136
+69,1.150000000,BASELINE,766,745.043450203,716,680,661.043450203,636,879.043450203,787.043450203,804,652,631.043450203,652,0.400978509371,-0.00536307698042,0.0698353559233,0.999999943717,0.000203677157155,-0.000266223073718,1.43657124268e-05,1793239459772630016
+70,1.166666667,BASELINE,766,745.621986484,716,680,661.621986484,636,879.621986484,787.621986484,804,652,631.621986484,652,0.400979630129,-0.00536423982106,0.0698363143552,0.999999944338,0.000202744442946,-0.000264580306425,1.47092418841e-05,1793239459789296640
+71,1.183333333,BASELINE,766,745.801305202,715.801305202,680,662,636,879.801305202,788,804,652,632,652.198694798,0.400980320844,-0.00536501533072,0.0698371263528,0.999999944827,0.000201987292729,-0.000263292247626,1.49730356259e-05,1793239459805963264
+72,1.200000000,BASELINE,766,745.228042762,715.228042762,680,662,636,879.228042762,788,804,652,632,652.771957238,0.400980200866,-0.00536506066719,0.0698376623013,0.999999945074,0.000201561105169,-0.000262672863942,1.50865163888e-05,1793239459822630144
+73,1.216666667,BASELINE,766,745,715,679.644472766,662,636,879,788,804,652,632,652.644472766,0.400980200788,-0.00536403798907,0.069837501163,0.999999944642,0.000203481650309,-0.000262850793847,1.48559848434e-05,1793239459839296512
+74,1.233333333,BASELINE,766,745,715,679.054093913,662,636,879,788,804,652,632,652.054093913,0.400980279913,-0.00536230980957,0.0698368795481,0.999999943751,0.000206952383251,-0.000263555407454,1.43982081186e-05,1793239459855963136
+75,1.250000000,BASELINE,766,745,715.52586287,679.52586287,662,636,879,787.47413713,804,652,631.47413713,652.52586287,0.400980654787,-0.00536264064175,0.0698373022436,0.999999944044,0.000206407110443,-0.000262870627076,1.44236534496e-05,1793239459872630528
+76,1.266666667,BASELINE,766,745,715.896125143,680,662,636,879,787.103874857,804,652,631,653,0.400980357601,-0.00536313910915,0.0698372025144,0.999999944176,0.000205511243289,-0.000263065027843,1.44641059081e-05,1793239459889297920
+77,1.283333333,BASELINE,766,745,715.322156979,680,662,636,879,787.677843021,804,652,631,653,0.40097688395,-0.00536345631426,0.0698342618015,0.999999943035,0.000204861981692,-0.000267872464981,1.43518906457e-05,1793239459905964288
+78,1.300000000,BASELINE,766,745,715,679.747014724,662,636,879,788,804,652,631,652.747014724,0.400975598993,-0.00536360896942,0.0698328565233,0.999999942604,0.000204472094174,-0.000269774742165,1.42757543714e-05,1793239459922630656
+79,1.316666667,BASELINE,766,745,715,679.17037043,662,636,879,788,804,652,631,652.17037043,0.400977114161,-0.00536355110606,0.0698334156178,0.999999943105,0.000204414039301,-0.000267960276121,1.42457760883e-05,1793239459939297280
+80,1.333333333,BASELINE,766,745,715,679,662,636,879.415134129,787.584865871,804,652,631,652.415134129,0.400978654425,-0.00536364937366,0.0698346276304,0.999999943666,0.000204166011762,-0.000266042412292,1.43331378581e-05,1793239459955963904
+81,1.350000000,BASELINE,765.99571437,745,715,679,662,636,879.99571437,787,804,652,631.00428563,653,0.400980191164,-0.005363819403,0.0698361013071,0.999999944247,0.000203832801414,-0.000264098964088,1.44689370039e-05,1793239459972630784
+82,1.366666667,BASELINE,765.415783597,745,715,679,662,636,879.415783597,787,804,652,631.584216403,653,0.400979840875,-0.00536483409235,0.0698359448266,0.999999944348,0.000202758416431,-0.000264543121126,1.45014390643e-05,1793239459989297408
+83,1.383333333,BASELINE,765.162508527,745,715.162508527,679.162508527,662,636,879,787.162508527,804.162508527,652,632,653,0.400979463748,-0.00536525163675,0.069835688989,0.999999944226,0.000202575791302,-0.000265140744364,1.45154823099e-05,1793239460005963776
+84,1.400000000,BASELINE,765.736650089,745,715.736650089,679.736650089,662,636,879,787.736650089,804.736650089,652,632,653,0.400979018644,-0.00536415661707,0.0698351814801,0.999999943542,0.000204651987824,-0.000266127096574,1.44827695051e-05,1793239460022630400
+85,1.416666667,BASELINE,766,745,715.681949227,679.681949227,662,636,879,788,804.363898454,652,632,653,0.400978443781,-0.00536278305001,0.0698349481482,0.999999942845,0.000206918592901,-0.000266994408249,1.44192590792e-05,1793239460039297024
+86,1.433333333,BASELINE,766,745,715.094397549,679.094397549,662,636,879,788,803.188795098,652,632,653,0.400977758967,-0.00536117345538,0.0698349471407,0.999999942136,0.000209346540894,-0.000267760850651,1.43296522347e-05,1793239460055963648
+87,1.450000000,BASELINE,766,745,715,679,662,635.512620804,879,787.512620804,803.487379196,652,632,652.512620804,0.400978622446,-0.00536192376005,0.0698354228861,0.999999942842,0.000207578445822,-0.000266498247813,1.43819605834e-05,1793239460072630016
+88,1.466666667,BASELINE,766,745,715,679,661.93233066,635.06766934,879,787.06766934,803.93233066,652,632,652.06766934,0.400979655579,-0.00536304043338,0.069835922941,0.999999943727,0.000205209674129,-0.000265001323809,1.44525188324e-05,1793239460089296896
+89,1.483333333,BASELINE,766,745,715,679,661.354911956,635.645088044,879,787.645088044,803.354911956,652,632,652.645088044,0.400979734194,-0.00536351414269,0.0698359186768,0.999999943989,0.000204366419988,-0.000264665003366,1.44559214427e-05,1793239460105964032
+90,1.500000000,BASELINE,766,745,715,679.225510078,661.225510078,636,879.225510078,788,803,652,632,652.774489922,0.400979572594,-0.00536364383749,0.069835702358,0.999999943874,0.000204617229217,-0.000264909080896,1.44117500475e-05,1793239460122630912
+91,1.516666667,BASELINE,766,745,715,679.810722555,661.810722555,636,879.810722555,788,803,652,632,652.189277445,0.400979027836,-0.00536322480802,0.0698351477992,0.999999943154,0.000206613136664,-0.000266078928799,1.42916951973e-05,1793239460139297536
+92,1.533333333,BASELINE,766,745,715,679.608698637,661.608698637,636,879.608698637,788,803,652,631.608698637,652.391301363,0.400978559648,-0.00536341630169,0.0698353414789,0.999999943199,0.000206342131285,-0.000266114689716,1.43931001461e-05,1793239460155963904
+93,1.550000000,BASELINE,766,745,715,679.030334911,661.030334911,636,879.030334911,788,803,652,631.030334911,652.969665089,0.400978128063,-0.00536389965708,0.0698358928555,0.99999994361,0.000204987424087,-0.000265608298293,1.46003743631e-05,1793239460172630272
+94,1.566666667,BASELINE,766,745.548138207,715,679,661,636,879.548138207,788,803,652,631.548138207,652.451861793,0.400977752572,-0.00536462300049,0.0698353341186,0.99999994363,0.000204281981595,-0.000266076011641,1.46039041722e-05,1793239460189297152
+95,1.583333333,BASELINE,766,745.874318189,715,679.125681811,661,636,879.874318189,787.874318189,803.125681811,652,631.874318189,652.125681811,0.400977804953,-0.00536490790457,0.0698350929673,0.999999943615,0.000204264648873,-0.000266143553795,1.46045730557e-05,1793239460205963776
+96,1.600000000,BASELINE,766,745.30011321,715,679.69988679,661,636,879.30011321,787.30011321,803.69988679,652,631.30011321,652.69988679,0.400979373212,-0.00536358073489,0.0698362044801,0.999999943552,0.000206574732147,-0.000264590574013,1.46352794629e-05,1793239460222630656
+97,1.616666667,BASELINE,766,745,715,680,661.281968967,636,879,787.281968967,804,652,631.281968967,653,0.400980037712,-0.00536249429463,0.069836647644,0.999999943539,0.000207810616359,-0.000263680310863,1.44755644914e-05,1793239460239297792
+98,1.633333333,BASELINE,766,745,715,680,661.872676146,636,879,787.872676146,804,652,631.872676146,653,0.400979712654,-0.00536167143797,0.069836359008,0.999999943586,0.000207870320305,-0.000263473781929,1.41073501351e-05,1793239460255965184
+99,1.650000000,BASELINE,766,745,715,680,662,636,879.454513484,787.545486516,804,652.454513484,632,653,0.400978289778,-0.00536176665744,0.0698355815834,0.999999943179,0.00020776176319,-0.00026509821636,1.41291365077e-05,1793239460272631808
+100,1.666666667,BASELINE,766,745,715,679.966331166,661.966331166,636,880,787.033668834,804,652.966331166,632,653,0.40097672208,-0.00536212091469,0.0698347644343,0.999999942698,0.000207592238174,-0.000267032632431,1.4261423947e-05,1793239460289298176
+101,1.683333333,BASELINE,766,745,715,679.391113564,661.391113564,636,880,787.608886436,804,652.391113564,632,653,0.400977676841,-0.00536258419273,0.0698354685642,0.999999943092,0.00020718571016,-0.000265860921378,1.4447442753e-05,1793239460305964544
+102,1.700000000,BASELINE,766,745,715,679.18797423,661.18797423,636,879.81202577,787.81202577,804,652,631.81202577,652.81202577,0.400978281077,-0.00536342080632,0.0698357957299,0.999999943398,0.000206320954724,-0.000265372414478,1.46074847413e-05,1793239460322630912
+103,1.716666667,BASELINE,766,745,715,679.775283846,661.775283846,636,879.224716154,787.224716154,804,652,631.224716154,652.224716154,0.400978140654,-0.00536505053969,0.0698353220668,0.999999943518,0.000204482733853,-0.000266335317289,1.47123411493e-05,1793239460339297024
+104,1.733333333,BASELINE,766,745,715,679.642356356,662,636,879,787,804,652,631.357643644,652,0.400978268548,-0.00536390571252,0.0698352472535,0.999999943359,0.000205274646795,-0.000266344921086,1.43308339772e-05,1793239460355963648
+105,1.750000000,BASELINE,766,745,715,679.063064136,662,636,879,787,804,652,631.936935864,652,0.400978562731,-0.00536104135992,0.0698354196262,0.999999943023,0.000207696577105,-0.000265763720768,1.36479044444e-05,1793239460372630528
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,788,804,652,632,652,0.400978307876,-0.00536307701192,0.0698352544383,0.999999943348,0.000205426015274,-0.000266268028808,1.43242552255e-05,1793239460403297280
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715.573988242,680,662,636,879,788,804,652,632,652.573988242,0.40097927018,-0.00536221858418,0.0698358363775,0.999999943349,0.000206887053448,-0.000265131610345,1.43247701021e-05,1793239460419964672
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.847641648,680,662,636,879.304716704,788,804,652,632,653,0.400979528634,-0.00536200695263,0.069835973051,0.999999943309,0.000207490311211,-0.000264810676092,1.43457343469e-05,1793239460436631808
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.256656376,680,662,636,880.486687247,788,804,652,632,653,0.400977760767,-0.00536365739289,0.0698348278416,0.999999943154,0.000205624091439,-0.000266837452237,1.44255706083e-05,1793239460453297920
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.327758943,679.672241057,662,635.672241057,880.344482114,787.672241057,803.672241057,652,631.672241057,653,0.40097798352,-0.00536418349669,0.0698353006203,0.999999943559,0.00020460090754,-0.000266100716907,1.44976914808e-05,1793239460469964032
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.907130631,679.092869369,662,635.092869369,879.185738738,787.092869369,803.092869369,652,631.092869369,653,0.400979734426,-0.00536384647402,0.0698370154901,0.999999944392,0.000204224902339,-0.000263242499424,1.45638894277e-05,1793239460486630144
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.51700508,745,715.51700508,679,662,635.48299492,879,787,803.48299492,652,631,653,0.400979443657,-0.00536329902866,0.069836650043,0.999999944163,0.000204519726982,-0.000263891500941,1.43880557904e-05,1793239460503296768
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.058143988,745,715,679,662,636,879,787.058143988,803.941856012,652,631,652.941856012,0.400978926487,-0.00536280705582,0.0698360452779,0.999999943793,0.000204907390127,-0.000265001526256,1.4217787469e-05,1793239460519963392
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.632887169,745,715,679,662,636,879,787.632887169,803.367112831,652,631,652.367112831,0.400979860548,-0.00536316483218,0.0698368425175,0.999999943969,0.0002049821519,-0.000264259278537,1.45074616209e-05,1793239460536630272
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.787263657,745,715,679.212736343,662,636,879,788,803.212736343,652,631.212736343,652.212736343,0.40098235123,-0.00536378397508,0.0698381557317,0.999999944404,0.000204886687346,-0.000262671776921,1.4750102846e-05,1793239460553297152
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.198386599,745,715,679.801613401,662,636,879,788,803.801613401,652,631.801613401,652.801613401,0.400987594187,-0.00536486524204,0.0698403812441,0.999999945287,0.000204490244346,-0.000259589775673,1.49095847725e-05,1793239460569964032
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.384714189,745,715,679.615285811,662,636,879,788,804.384714189,652,632,652.615285811,0.401006458749,-0.00536558074566,0.0698493523706,0.999999948937,0.000204546519982,-0.00024505692202,1.52631771675e-05,1793239460586630656
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.964880427,745,715,679.035119573,662,636,879,788,804.964880427,652,632,652.035119573,0.401032243697,-0.00536611042521,0.0698617505715,0.999999953652,0.000204832796867,-0.000224706521805,1.57153863889e-05,1793239460603297024
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.538855715,662,636,879.538855715,788,803.92228857,652,631.461144285,652,0.401084934576,-0.00536710657029,0.0698807601108,0.999999960798,0.000203599571448,-0.000191547505357,1.61746145581e-05,1793239460619963648
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.115444897,679.884555103,662,635.884555103,879.884555103,787.884555103,803.115444897,652,631,652,0.401140620541,-0.00536796613121,0.0698988991976,0.999999966244,0.000202851225091,-0.000161518090461,1.65925122895e-05,1793239460636630272
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.704391373,679.295608627,662,635.295608627,879.295608627,787.295608627,803.704391373,652,631,652,0.401201480318,-0.00536814221046,0.0699117208606,0.99999996804,0.000204493200959,-0.000147709889178,1.68390369251e-05,1793239460653296896
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.711285973,679,662,635,879,787.288714027,803.711285973,652,631.288714027,652.288714027,0.40127078963,-0.00537003247954,0.06992076778,0.999999970092,0.000202757260373,-0.000135798623558,1.62331638751e-05,1793239460669967104
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.13162297,679,662,635,879,787.86837703,803.13162297,652,631.86837703,652.86837703,0.401348613884,-0.00537365020806,0.0699260107347,0.999999972452,0.000197617254639,-0.000125798978705,1.47682946751e-05,1793239460686640640
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.554364248,745,715,679,662,635.445635752,879,787.554364248,803.445635752,652,631.554364248,652.554364248,0.401437187989,-0.00537446519055,0.0699251480007,0.999999972129,0.000198038978899,-0.000127903662922,1.27484245268e-05,1793239460703303680
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.022183647,745,715,679,662,636,879,787.022183647,804,652,631.022183647,652.022183647,0.401530056861,-0.00537453459527,0.0699225574948,0.999999971066,0.000199875710306,-0.000133437672951,1.05399935493e-05,1793239460719963904
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.598619114,745,715,679,662,636,879,787.598619114,804,652,631.598619114,652.598619114,0.401651326582,-0.00537654778482,0.0699216141523,0.999999971493,0.000196243535976,-0.000135808029103,7.69406673047e-06,1793239460736630528
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.177844054,662,636,879,788,804,652,631.822155946,653,0.401780634563,-0.00537866729945,0.0699216585183,0.999999971963,0.000193665193249,-0.000136174784705,4.82640841218e-06,1793239460753297152
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.763464866,662,636,879,788,804,652,631.236535134,653,0.401928373367,-0.00538103060549,0.0699239675909,0.999999972571,0.000193503170421,-0.000131947505377,1.90892255931e-06,1793239460769963520
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,788,804,652,631.346940996,652.653059004,0.402099815487,-0.00538464226727,0.0699277632138,0.999999974309,0.000189688897037,-0.000124085397013,-1.56086591145e-06,1793239460786630656
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,788,804,652,631.92896398,652.07103602,0.40228731863,-0.00538909979632,0.0699325661009,0.999999976697,0.000183399913692,-0.000113760382842,-5.40488660418e-06,1793239460803297792
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.504728948,715,679.495271052,661.495271052,636,879,788,803.495271052,652,631.495271052,652,0.402501113412,-0.00539330388322,0.0699363389036,0.999999978759,0.000176276018864,-0.000106354128846,-9.90715497495e-06,1793239460819964416
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.920291581,715,679.079708419,661.079708419,635.920291581,879,787.920291581,803.079708419,652,631,652,0.402724947772,-0.00539748409734,0.0699402026986,0.999999980818,0.000168571717,-9.86524135103e-05,-1.46561083904e-05,1793239460836631040
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.344786415,715,679.655213585,661.655213585,635.344786415,879,787.344786415,803.655213585,652,631,652,0.402988495187,-0.00540173497434,0.0699455231986,0.999999983565,0.000157979157366,-8.65890188785e-05,-2.03702864384e-05,1793239460853297664
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.763717562,662,635.236282438,879,787,804,652,631,652.236282438,0.403264424595,-0.00540697009194,0.0699520176999,0.999999985983,0.000148554147847,-7.29685505196e-05,-2.53270730692e-05,1793239460869964032
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.17433436,662,635.82566564,879,787,804,652,631,652.82566564,0.403558857653,-0.00541367605964,0.0699602666301,0.999999988027,0.000140873927298,-5.70211900243e-05,-2.91520127038e-05,1793239460886630400
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.591440108,745,715,679.408559892,661.591440108,636,879,787.408559892,803.591440108,652,631,653,0.403878296457,-0.00542015665162,0.0699647538458,0.999999993321,9.96399725533e-05,-4.89365146268e-05,-3.21703806707e-05,1793239460903297024
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.011271447,745,715,679.988728553,661.011271447,636,879,787.988728553,803.011271447,652,631,653,0.404208238499,-0.0054265425781,0.0699676610159,0.999999997436,4.43123312358e-05,-4.41544292654e-05,-3.48499614807e-05,1793239460919963392
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.56283664,745,715,679.43716336,661.56283664,636,879,787.43716336,803.56283664,652,631,653,0.404572563443,-0.00543167096545,0.0699703662231,0.999999995684,7.58428669733e-05,-4.46760937344e-05,-2.97267874082e-05,1793239460936630272
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.137088677,787,804,652,631.137088677,653,0.404951678147,-0.00543818169814,0.0699737539837,0.999999994022,9.73473014891e-05,-4.22860496216e-05,-2.62966476443e-05,1793239460953296896
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.712184187,787,804,652,631.712184187,653,0.405375870436,-0.00544918871522,0.0699793353288,0.999999995822,8.13193197239e-05,-3.02571718951e-05,-2.87697974921e-05,1793239460969964288
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.702685527,879.702685527,787,804,652,632,652.702685527,0.40580319889,-0.00546718459297,0.0699796635279,0.999999997761,5.33758853477e-05,-2.77827977064e-05,-2.9290198859e-05,1793239460986631168
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.107501666,879.107501666,787,804,652,632,652.107501666,0.406233669414,-0.00549218237688,0.0699747287768,0.999999998913,1.34947571444e-05,-3.48807583041e-05,-2.78542073657e-05,1793239461003297792
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879,787.471038213,804,652,631.528961787,652.471038213,0.406687600274,-0.00549844397629,0.0699593635828,0.999999997728,5.19516641703e-06,-6.04071458348e-05,-2.94777273274e-05,1793239461019964672
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.045803486,879,787.954196514,803.954196514,652,631.045803486,653,0.407152689048,-0.00550056669726,0.0699428624644,0.999999995658,3.94007933959e-06,-8.75406045989e-05,-3.17158389155e-05,1793239461036631296
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.619351206,879,787.380648794,803.380648794,652,631.619351206,653,0.407686753703,-0.00550258815305,0.0699397647674,0.999999995709,3.6397391476e-06,-8.63857145536e-05,-3.32646155951e-05,1793239461053297664
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.198787225,803.198787225,652,631.801212775,653,0.408244989618,-0.00550805363478,0.069943559152,0.999999996649,-3.07594153759e-06,-7.41159284061e-05,-3.46371096348e-05,1793239461069963776
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.78984263,803.78984263,652,631.21015737,653,0.408850922812,-0.00552031523616,0.0699609537284,0.999999998316,-2.24510571032e-05,-3.99130423963e-05,-3.56617438179e-05,1793239461086630144
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.372893192,662,636,879,788,804,652,631,653,0.409451769117,-0.00552596075448,0.0699647056488,0.999999998532,-2.80150302964e-05,-2.80845585065e-05,-3.69151767113e-05,1793239461103297024
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.95152713,662,636,879,788,804,652,631,653,0.410049808754,-0.00552795590312,0.0699609303459,0.999999998521,-2.59588189041e-05,-2.86009677064e-05,-3.82948473939e-05,1793239461119963648
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.526378945,787.473621055,804,652,631,653,0.410666906906,-0.00553383027189,0.0699539953812,0.999999997788,-3.40567151584e-05,-4.13970374696e-05,-3.9367639088e-05,1793239461136630528
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679.896564606,662,636,879.896564606,787.103435394,804,652,631.103435394,653,0.411301402491,-0.00553936961034,0.0699508794808,0.999999997134,-4.23195776472e-05,-4.82240683711e-05,-4.01868357346e-05,1793239461153297408
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.307534893,662,636,879.307534893,787.692465107,804,652,631.692465107,653,0.412009392384,-0.00554167099466,0.0699670490404,0.999999997861,-4.69983978946e-05,-2.17576066648e-05,-3.9947212064e-05,1793239461169964032
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679.276902625,662,636,879.276902625,788,804,652,631.723097375,653,0.412739113592,-0.00553113839363,0.0699920237751,0.999999998438,-3.48361290315e-05,1.83346005427e-05,-3.96715054323e-05,1793239461186630400
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.856323212,662,636,879.856323212,788,804,652,631.143676788,653,0.413492576496,-0.00550658457838,0.0700266182243,0.999999996529,-4.27485860117e-06,7.33130287923e-05,-3.93563778031e-05,1793239461203296768
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.56591698,662,636,880,787.56591698,804,652,631,652.56591698,0.414222315551,-0.00549612779852,0.0700307426828,0.999999996275,1.23964873012e-05,7.57977214376e-05,-3.93886252183e-05,1793239461219963648
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.011206699,662,635.988793301,879.988793301,787.011206699,804,652,631,652.011206699,0.414943578842,-0.00549074091473,0.0700238277428,0.999999997174,2.35867655366e-05,5.93886645281e-05,-3.96178182817e-05,1793239461236630272
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.583896869,662,635.416103131,879.416103131,787.583896869,804,652,631,652.583896869,0.415632109655,-0.00550648290523,0.0699671810878,0.999999998315,-1.03740379904e-05,-3.64385132922e-05,-4.39757803509e-05,1793239461253296896
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.161827496,715,680,662,635.161827496,879.161827496,788,804,652,631,653,0.416358538902,-0.00551820771364,0.0699272152424,0.999999992919,-3.38251469868e-05,-0.000103763323826,-4.74415032937e-05,1793239461269963520
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.753683701,715,680,662,635.753683701,879.753683701,788,804,652,631,653,0.417185676669,-0.00551925755136,0.0699315757801,0.999999993846,-2.93485504874e-05,-9.53479958168e-05,-4.85362551606e-05,1793239461286630144
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.661866928,715,680,662,636,880,788,804,652,631,653,0.418016684842,-0.00551990971405,0.0699506483242,0.999999996385,-2.88860504806e-05,-6.39542604593e-05,-4.80201974608e-05,1793239461303297280
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.082697504,715,680,662,636,880,788,804,652,631,653,0.418850451978,-0.00552027839618,0.0699802082431,0.999999998305,-3.12849778206e-05,-1.61804906127e-05,-4.63558826482e-05,1793239461319963904
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,788,804.493268238,652,631,653,0.419698980939,-0.00552175684217,0.0700012768568,0.999999998239,-3.48442895954e-05,1.28054648138e-05,-4.63023385636e-05,1793239461336630528
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,787.931529671,804.931529671,652,631,653,0.420549241606,-0.00552281599159,0.0700196888693,0.999999997482,-3.82541033487e-05,3.74010939078e-05,-4.66344885592e-05,1793239461353296896
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,787.358024442,804.358024442,652,631,653,0.421394138211,-0.00551941894719,0.070028938435,0.999999996702,-3.91355541757e-05,5.26968437556e-05,-4.78324843877e-05,1793239461369963520
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.778040637,745,715,680,662,636,880,787,804.221959363,652,631,652.778040637,0.422228174175,-0.00551757201725,0.0700210992379,0.999999997218,-4.02163521124e-05,3.87798266772e-05,-4.942582981e-05,1793239461386630144
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.18729249,745,715,680,662,636,880,787,804.81270751,652,631,652.18729249,0.423044165155,-0.00551830062499,0.0699848668086,0.999999997518,-4.16283682845e-05,-2.36746349996e-05,-5.16760545407e-05,1793239461403297024
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.395154267,745,715,680.395154267,662,635.604845733,880,787.395154267,805,651.604845733,631,652.395154267,0.423841531493,-0.00551879500308,0.0699254692973,0.999999991012,-4.58511033015e-05,-0.000112560581202,-5.66063100783e-05,1793239461419963904
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.973747312,745,715,680.973747312,662,635.026252688,880,787.973747312,805,651.026252688,631,652.973747312,0.424630251839,-0.00551918064688,0.0698553180784,0.999999973872,-5.13786316697e-05,-0.000213716564188,-6.27806907481e-05,1793239461436630528
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,714.450426564,680.450426564,662,635.549573436,880,787.450426564,805,651.549573436,631,652.450426564,0.42553950738,-0.0055229534299,0.0698945574475,0.999999985081,-6.30733873835e-05,-0.000148487126462,-6.17417003363e-05,1793239461453296896
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,714.127898241,680,662,636,879.872101759,787,804.872101759,652,631,652.127898241,0.426447036486,-0.00552629692153,0.0699400896506,0.999999992815,-7.00132942347e-05,-7.69516505708e-05,-5.95581553446e-05,1793239461469963264
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714.7156804,680,662,636,879.2843196,787,804.2843196,652,631,652.7156804,0.427327757931,-0.00552751793561,0.0699895537837,0.999999996724,-5.88021832668e-05,-1.11773796831e-05,-5.44919239531e-05,1793239461486630144
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680.299220882,662,636,879.299220882,787.299220882,804,652,631,653,0.428224497648,-0.00552962095322,0.0700235104161,0.999999996208,-5.75194817861e-05,3.88063744103e-05,-5.26360493651e-05,1793239461503296512
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680.878787225,662,636,879.878787225,787.878787225,804,652,631,653,0.429136245126,-0.00553255033583,0.0700429377875,0.999999993668,-6.55388876462e-05,7.39957037317e-05,-5.37880165851e-05,1793239461519963136
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680.543609442,662,636,880.456390558,788,804.456390558,652,631,653,0.429988497625,-0.00553549044894,0.0700386781981,0.999999993888,-6.82792883054e-05,6.77173750098e-05,-5.45533720243e-05,1793239461536629760
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.033367596,715,680,662.033367596,636,880.966632404,788,805.033367596,652,631.033367596,653,0.430818622128,-0.00553799666113,0.0700246111043,0.999999995071,-6.94939957519e-05,4.42818384332e-05,-5.53914917886e-05,1793239461553296384
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.608603537,715,680,662.608603537,636,880.391396463,788,805.608603537,652,631.608603537,653,0.431544904692,-0.00553341051436,0.0699530010416,0.999999992727,-6.86033205756e-05,-7.96912141247e-05,-5.90715760404e-05,1793239461569963264
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.811454043,715,680,663,635.811454043,880,787.811454043,805.622908085,652,631.811454043,653,0.432297228903,-0.00553043330871,0.0699021106354,0.999999982514,-6.74440424855e-05,-0.000163050467973,-6.1948688676e-05,1793239461586630144
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.221491361,715,680,663,635.221491361,880,787.221491361,804.442982721,652,631.221491361,653,0.433104996248,-0.00553088155816,0.0698953326262,0.999999983058,-6.57129071178e-05,-0.000159942457079,-6.31162669208e-05,1793239461603296768
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.361834016,715,680.361834016,663,635.361834016,880,787,804.361834016,651.638165984,631,652.638165984,0.433968054613,-0.00553507534002,0.0699351473831,0.999999991612,-7.23998922439e-05,-8.78847191611e-05,-6.17218158722e-05,1793239461619963136
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.941169615,715,680.941169615,663,635.941169615,880,787,804.941169615,651.058830385,631,652.058830385,0.434864348842,-0.00554152059406,0.0700029694585,0.999999994403,-8.41470823806e-05,2.56193019836e-05,-5.87873059408e-05,1793239461636630016
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680.483235666,663,635.483235666,880,787.516764334,805,651,631.516764334,652.516764334,0.435653128064,-0.00554492148091,0.07002018122,0.99999999383,-8.01997066041e-05,5.20204366225e-05,-5.65821434185e-05,1793239461653296640
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680.093844477,662.906155523,635.093844477,880,788,805,651,631.906155523,652.906155523,0.436419063977,-0.00554809381455,0.0700265610012,0.999999993589,-7.73399839514e-05,6.16476248155e-05,-5.51417558073e-05,1793239461669963264
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680.680954699,662.319045301,635.680954699,880,788,805,651,631.319045301,652.319045301,0.437128803872,-0.00555187343967,0.0700060725271,0.999999993745,-8.9521100025e-05,3.48540717288e-05,-5.72878866481e-05,1793239461686629888
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.735093176,715,681,662.264906824,635.735093176,880.264906824,787.735093176,805,651.264906824,631,652.264906824,0.437824785788,-0.00555265653484,0.0699762484414,0.999999993891,-9.29799696979e-05,-5.31957551617e-06,-5.95413386606e-05,1793239461703296768
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.154899794,715,681,662.845100206,635.154899794,880.845100206,787.154899794,805,651.845100206,631,652.845100206,0.438504393195,-0.00554987322252,0.0699353133075,0.999999992494,-8.60578032368e-05,-6.14179288783e-05,-6.19225218411e-05,1793239461719963392
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,635,880.577481961,787.422518039,804.577481961,651.577481961,631,653,0.439125585149,-0.00554548866894,0.0698755008298,0.999999981607,-8.06827313661e-05,-0.000161688121557,-6.42829417534e-05,1793239461736630016
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663,635,880.001074987,787.998925013,804.001074987,651.001074987,631,653,0.439725501163,-0.00554052091325,0.0698088128688,0.999999956247,-7.58711386896e-05,-0.000278046523115,-6.66357987827e-05,1793239461753296640
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.426321507,745.573678493,715,681,662.426321507,635,880.573678493,787.426321507,804,651.573678493,631,653,0.440349466447,-0.00553708898436,0.0697938035323,0.999999951881,-7.16552634326e-05,-0.000294194141366,-6.74829182019e-05,1793239461769963264
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.151721874,745.848278126,715,681,661.848278126,635.151721874,881,787,804,652,631,652.848278126,0.440975667012,-0.00553591889896,0.069792180086,0.999999952157,-7.07555054258e-05,-0.000293409086132,-6.77529927657e-05,1793239461786630144
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.739223612,745.260776388,715,681,661.260776388,635.739223612,881,787,804,652,631,652.260776388,0.441608158899,-0.00554123710143,0.0698287266276,0.99999996475,-7.93771952397e-05,-0.000244527326931,-6.63737436672e-05,1793239461803297024
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661.32370171,635.67629829,880.67629829,787,804.32370171,652,631,652.32370171,0.442206222673,-0.00554546630935,0.0698474353842,0.999999969568,-8.34897384674e-05,-0.000222849423378,-6.50488574845e-05,1793239461819963648
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661.90576645,635.09423355,880.09423355,787,804.90576645,652,631,652.90576645,0.442776807555,-0.00554882633422,0.0698519068822,0.9999999696,-8.40032988247e-05,-0.000222884323434,-6.37673613253e-05,1793239461836630272
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.517882551,745,715,681,661.517882551,635,880.482117449,787,805,652,631,653,0.443280028276,-0.00554825472006,0.0698182469802,0.999999956325,-7.58574577638e-05,-0.000278620003844,-6.29783758854e-05,1793239461853296896
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.058360799,745.058360799,715,681,661,634.941639201,881,787,805,652,631.058360799,653,0.443765449104,-0.00554702752806,0.0697780011617,0.999999936796,-6.73209832958e-05,-0.000343472427444,-6.247332307e-05,1793239461869963520
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.643596544,745.643596544,715,681,661,634.356403456,881,787,805,652,631.643596544,653,0.444207651013,-0.00554673824733,0.0697447958643,0.999999918079,-7.03590703799e-05,-0.000393493076246,-6.36726943328e-05,1793239461886629888
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.773624484,745.773624484,715,681.226375516,661,634,881,787,804.773624484,652,631.773624484,653,0.444650626232,-0.00554660624756,0.0697202092446,0.999999903621,-7.28732693788e-05,-0.000428032654875,-6.50866475606e-05,1793239461903296512
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.19467196,745.19467196,715,681.80532804,661,634,881,787,804.19467196,652,631.19467196,653,0.445094805829,-0.00554671921093,0.0697090461098,0.999999898862,-7.457151923e-05,-0.00043846065864,-6.68348095745e-05,1793239461919963136
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.383479738,714.616520262,682,661,634,881,787,804,652,631,653,0.445521183308,-0.00554618006007,0.0697044744603,0.999999897753,-7.84211704373e-05,-0.000440115310255,-6.81313453404e-05,1793239461936630784
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.961225799,714.038774201,682,661,634,881,787,804,652,631,653,0.445938542482,-0.00554531055582,0.0697032419788,0.999999898504,-8.33606964142e-05,-0.000437325485839,-6.91990927211e-05,1793239461953298688
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714.537365133,681.462634867,660.462634867,634,881,786.462634867,804.537365133,652,631,652.462634867,0.446305504478,-0.00554133467633,0.0697004662961,0.999999893392,-7.84321300099e-05,-0.000449963661168,-6.78034438263e-05,1793239461969965312
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.884281076,714.884281076,681.115718924,660,633.884281076,881,786,804.884281076,651.884281076,631,652.115718924,0.446655012089,-0.00553792702872,0.0696948192797,0.999999885928,-7.2498689833e-05,-0.000467403775589,-6.649639156e-05,1793239461986631680
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.296420348,714.296420348,681.703579652,660,633.296420348,881,786,804.296420348,651.296420348,631,652.703579652,0.446948097447,-0.00553774960632,0.0696779099756,0.999999870714,-6.53618184196e-05,-0.000499907661427,-6.62738876071e-05,1793239462003297792
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.287333536,682,660,633,881,786,804.287333536,651.287333536,631,653,0.447232171721,-0.00553982657313,0.0696607706653,0.999999855928,-6.34899383551e-05,-0.000528802028734,-6.6950876477e-05,1793239462019964672
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.866910365,682,660,633,881,786,804.866910365,651.866910365,631,653,0.44750708092,-0.00554419645061,0.0696433974197,0.999999841936,-6.69730146418e-05,-0.000554025198765,-6.85427281215e-05,1793239462036631296
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.444496235,745.444496235,715,682,660,633,880.555503765,786,805,652,631,653,0.447769484485,-0.00554745803032,0.0696404284082,0.999999839811,-7.32110801199e-05,-0.000556950194203,-6.94637161387e-05,1793239462053297664
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.978686162,745.978686162,715,681.978686162,659.978686162,633,880.021313838,785.978686162,805,652,631,653,0.448027181293,-0.00555036143657,0.0696420357002,0.999999841487,-8.01338068748e-05,-0.000552900339308,-7.00438550685e-05,1793239462069964032
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.406387085,745.406387085,715,681.406387085,659.406387085,633,880.593612915,785.406387085,805,652,631,653,0.448259568546,-0.00555254591955,0.0696509502001,0.99999984827,-8.35265636289e-05,-0.000540366840356,-6.69821759024e-05,1793239462086630400
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.828222262,681.171777738,659,633,881,785,804.828222262,652,631,653,0.448476915036,-0.00555471622219,0.0696563584759,0.999999852286,-8.65855675292e-05,-0.000532799693911,-6.36814307728e-05,1793239462103296768
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.23568989,681.76431011,659,633,881,785,804.23568989,652,631,653,0.448657420453,-0.00555685179099,0.069653178559,0.999999849869,-8.88270723653e-05,-0.000537397198124,-5.97951148263e-05,1793239462119963392
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.348647733,745,714,682,659,633,881,785,804.348647733,651.651352267,631,653,0.44882177723,-0.00555871320151,0.0696496207098,0.999999847181,-8.98639776453e-05,-0.000542280955504,-5.91144855355e-05,1793239462136630272
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.927572887,745,714,682,659,633,881,785,804.927572887,651.072427113,631,653,0.448975468054,-0.00556039353417,0.0696458132408,0.999999844309,-9.01052603649e-05,-0.000547353779942,-6.05511713808e-05,1793239462153297152
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,714.502289391,682,659.502289391,632.497710609,880.497710609,785,805,651.502289391,631,653,0.449102570588,-0.00556292858847,0.0696438737913,0.999999840322,-9.36846226278e-05,-0.000553931022306,-6.11454511485e-05,1793239462169964288
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.92159674,745.07840326,715,682,659.92159674,632.07840326,880.07840326,785,805,652,631,653,0.449222853339,-0.00556531097006,0.0696421641845,0.999999836471,-9.69293942009e-05,-0.000560243581869,-6.15667162522e-05,1793239462186631168
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.332459549,745.667540451,715,682,659.332459549,632.667540451,880.667540451,785,805,652,631,653,0.449323477818,-0.00556590263805,0.0696402117521,0.999999834871,-9.48851501958e-05,-0.000563430580956,-6.164563407e-05,1793239462203297536
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.252452814,746,715,682,659,632.747547186,881,785,805,652,631,653,0.449416159059,-0.00556630195331,0.0696389610769,0.999999834295,-9.43822413823e-05,-0.000564495828863,-6.20141262389e-05,1793239462219964160
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.831892967,746,715,682,659,632.168107033,881,785,805,652,631,653,0.449498551885,-0.00556645212531,0.0696386193467,0.999999835055,-9.58757338648e-05,-0.000562812896588,-6.27576870956e-05,1793239462236630272
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,714.5918732,682,658.5918732,632.4081268,880.5918732,785,805,651.5918732,631,653,0.449562457761,-0.00556713291397,0.06963638533,0.999999833682,-9.55780001962e-05,-0.000565306922221,-6.26802650135e-05,1793239462253296640
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,714.016949766,682,658.016949766,632.983050234,880.016949766,785,805,651.016949766,631,653,0.449618808235,-0.00556803055943,0.069633377958,0.999999831422,-9.45482133816e-05,-0.000569508021569,-6.22673168194e-05,1793239462269963520
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,714.5573249,682,658.5573249,632.4426751,880.5573249,785,805,651.5573249,631,653,0.449657520693,-0.00556883808608,0.0696306108312,0.999999827074,-9.81242045513e-05,-0.000576502742032,-6.2191859761e-05,1793239462286630400
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.864231551,745.864231551,714.864231551,682,659,632,881,785,804.864231551,652,631,653,0.449693627873,-0.0055691039354,0.0696279102902,0.99999982358,-0.000100600793558,-0.000582113972584,-6.21578089453e-05,1793239462303297536
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.27169642,745.27169642,714.27169642,682,659,632,881,785,804.27169642,652,631,653,0.449722772673,-0.00556755662596,0.0696254092122,0.999999823353,-9.8907951173e-05,-0.000582785213019,-6.22285702785e-05,1793239462319964160
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714.314038943,682,659,632,881,785,804.314038943,652,631,653,0.449745337535,-0.00556575967713,0.0696230052615,0.999999822514,-9.778308636e-05,-0.000584391750425,-6.24177392121e-05,1793239462336630784
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714.894016111,682,659,632,881,785,804.894016111,652,631,653,0.449762330298,-0.00556375132551,0.0696206835608,0.999999821154,-9.71392029384e-05,-0.000586790327305,-6.27071794978e-05,1793239462353297408
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.470863568,715,682,659,632,880.529136432,785,804.529136432,652,631,653,0.449772800757,-0.00556318841892,0.0696189471329,0.999999819125,-9.7286532558e-05,-0.00059023920537,-6.24770096616e-05,1793239462369963776
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.047797496,746,715,682,658.952202504,632,880.047797496,784.952202504,804.047797496,651.952202504,631,653,0.449781362483,-0.00556301595236,0.0696173687109,0.999999816954,-9.74530126699e-05,-0.000593919563915,-6.20892930285e-05,1793239462386630144
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.633581715,746,715,682,658.366418285,632,880.633581715,784.366418285,804.633581715,651.366418285,631,653,0.449784855188,-0.00556360032612,0.0696160957652,0.999999814992,-9.58437842773e-05,-0.000597562054485,-6.12360122706e-05,1793239462403297024
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,715,682,658.217118922,632,881,784.217118922,805,651.217118922,631,652.782881078,0.449788633427,-0.00556438498121,0.0696152106916,0.999999813584,-9.65749129784e-05,-0.000599838428359,-6.08238213777e-05,1793239462419963648
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,715,682,658.796902792,632,881,784.796902792,805,651.796902792,631,652.203097208,0.449792888608,-0.00556550417649,0.069614973501,0.999999813108,-0.000101215261099,-0.000599832906746,-6.1148405718e-05,1793239462436630016
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.626054083,746,715,682,659.373945917,632,881,785,805,652,631,652.373945917,0.449795453804,-0.00556490412305,0.0696150106829,0.999999813451,-0.000100295378335,-0.000599415364929,-6.11480632031e-05,1793239462453299200
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.050488698,746,715,682,659.949511302,632,881,785,805,652,631,652.949511302,0.449797107816,-0.00556337710661,0.0696151957975,0.999999814231,-9.63775998846e-05,-0.000598775675224,-6.09725306916e-05,1793239462469969408
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.533041001,745.466958999,715,682,658.933917998,632,880.466958999,785,805,652,631,653,0.449797409194,-0.00556268631457,0.0696148657587,0.99999981377,-9.68135840698e-05,-0.000599499155068,-6.07302602795e-05,1793239462486633216
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,681.883164528,658,632,880.116835472,785,805,651.883164528,630.883164528,652.883164528,0.449797562308,-0.00556220362084,0.0696145247225,0.999999813272,-9.73501066343e-05,-0.000600266451951,-6.04935720561e-05,1793239462503297280
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681.30136416,658,632,880.69863584,785,805,651.30136416,630.30136416,652.30136416,0.449797642984,-0.0055622290943,0.069614337051,0.999999813102,-9.66207116064e-05,-0.000600686490268,-6.03046372353e-05,1793239462519963648
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.720550208,745,714.720550208,681,658,632,880.720550208,785,805,651.279449792,630.279449792,652.279449792,0.449798161487,-0.00556179838468,0.0696140870417,0.999999813019,-9.49101899592e-05,-0.000601115324056,-6.01138238166e-05,1793239462536630272
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.140796212,745,714.140796212,681,658,632,880.140796212,785,805,651.859203788,630.859203788,652.859203788,0.44979915049,-0.00556087744855,0.0696137700426,0.999999813026,-9.2145323374e-05,-0.00060155360974,-5.99209915825e-05,1793239462553297152
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.435035585,632,880.435035585,785,804.564964415,652,631,653,0.449799937114,-0.00555987799383,0.0696143971877,0.999999813323,-9.23922764798e-05,-0.00060099532046,-6.01924687623e-05,1793239462569963520
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.009582046,714,681.009582046,659,632,880.990417954,785,804,651.990417954,630.990417954,653,0.449800644352,-0.00555889332529,0.0696152982541,0.9999998137,-9.35897872577e-05,-0.000600140449212,-6.06065908468e-05,1793239462586630400
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.582526318,714,681.582526318,659,632,880.417473682,785,804,651.417473682,630.417473682,653,0.449800500756,-0.00556025869452,0.0696144993638,0.999999813369,-9.38767705138e-05,-0.000600641976192,-6.06513222919e-05,1793239462603297024
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.838665347,714,682,658.838665347,632,880.161334653,785,804.161334653,651,630,652.838665347,0.449800449092,-0.00556099420267,0.0696139434758,0.999999813053,-9.42333648726e-05,-0.000601113461602,-6.06402198547e-05,1793239462619963648
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.244110716,714,682,658.244110716,632,880.755889284,785,804.755889284,651,630,652.244110716,0.449800644286,-0.00556003839147,0.0696140401035,0.999999812776,-9.47768807457e-05,-0.000601504278581,-6.04791908314e-05,1793239462636630528
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.340240929,745.340240929,714.340240929,681.659759071,658,632,881,785,805,651.340240929,630.340240929,652.340240929,0.449800401542,-0.00555995878818,0.0696135300376,0.9999998122,-9.53702075844e-05,-0.000602396767397,-6.01928306511e-05,1793239462653297152
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.917485398,745.917485398,714.917485398,681.082514602,658,632,881,785,805,651.917485398,630.917485398,652.917485398,0.449799853743,-0.00556048953002,0.0696125973637,0.999999811413,-9.5998231505e-05,-0.000603638708572,-5.98191678475e-05,1793239462669963776
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,681.492547549,658.492547549,632.492547549,881,785,805,652,631,652.507452451,0.449799411764,-0.0055606087034,0.0696116980918,0.999999810239,-9.6437755178e-05,-0.000605524087673,-5.96907118539e-05,1793239462686630400
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,714.931323882,682.068676118,658.931323882,632.931323882,880.931323882,785,805.068676118,652,631,652.068676118,0.449799246677,-0.0055606878642,0.0696110840823,0.999999809379,-9.66022200541e-05,-0.000606929609963,-5.95471885532e-05,1793239462703297024
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,714.344401481,682.655598519,658.344401481,632.344401481,880.344401481,785,805.655598519,652,631,652.655598519,0.449801037893,-0.00556098308701,0.0696125806916,0.999999811405,-9.49282751119e-05,-0.000603904176738,-5.89813426887e-05,1793239462719963648
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745.76064936,714.23935064,682.52129872,658,632,880.23935064,785,805.76064936,652,631,653,0.449802058497,-0.00556060793479,0.069613407848,0.999999812263,-9.38550309582e-05,-0.000602648978583,-5.89790819432e-05,1793239462736630528
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.181399239,714.818600761,681.362798477,658,632,880.818600761,785,805.181399239,652,631,653,0.449801984761,-0.00555928078965,0.0696132843212,0.999999811477,-9.36348358213e-05,-0.000603907673338,-5.97771627791e-05,1793239462753297664
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745.397098664,714.602901336,681.397098664,658,632,881,785,805.397098664,652,631,653,0.449802038761,-0.00555930085549,0.0696130237249,0.999999811308,-9.42891406349e-05,-0.000604083993522,-5.97959122272e-05,1793239462769964288
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745.975253559,714.024746441,681.975253559,658,632,881,785,805.975253559,652,631,653,0.449802151001,-0.00555993517919,0.0696127006322,0.99999981142,-9.53421717227e-05,-0.000603766807409,-5.94593272557e-05,1793239462786630656
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,714.546696042,682,658,632,881,785,806,652,630.453303958,653,0.449802478396,-0.00555883434905,0.0696135437216,0.999999812241,-9.36943225495e-05,-0.000602671275865,-5.93821778366e-05,1793239462803297024
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.877621358,746,715,681.877621358,658,632,881,785,805.877621358,652,630.122378642,653,0.449802907329,-0.0055581136178,0.0696141016031,0.999999812805,-9.26380509343e-05,-0.000601901606402,-5.93525027285e-05,1793239462819963392
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.284473138,746,715,681.284473138,658,632,881,785,805.284473138,652,630.715526862,653,0.44980368985,-0.00555915353647,0.0696133617362,0.999999812269,-9.43220720321e-05,-0.000602519360495,-5.94608259735e-05,1793239462836630272
+253,4.216666667,HOLD_POSE2,765,746,714,682,658,632,880,784,805,651,631,653,0.449803387873,-0.00555703992734,0.0696125651379,0.999999812446,-9.04041090042e-05,-0.000602814135688,-5.9590756776e-05,1793239462873427712
+254,4.233333333,HOLD_POSE2,765,746,714.575210113,682,658,632,880.575210113,784.575210113,805,651.575210113,630.424789887,653,0.449804245952,-0.00555908515956,0.0696129618645,0.999999812727,-9.2963727881e-05,-0.000601975374471,-5.94102437758e-05,1793239462890094848
+255,4.250000000,HOLD_POSE2,765.153829503,746,714.846170497,682,658,632,880.846170497,785,805,651.846170497,630,653,0.449804669171,-0.00556045717957,0.0696132334427,0.99999981277,-9.46735195213e-05,-0.000601665696853,-5.91236643968e-05,1793239462906761472
+256,4.266666667,HOLD_POSE2,765.742076899,746,714.257923101,682,658,632,880.257923101,785,805,651.257923101,630,653,0.449803864336,-0.00555992803395,0.0696131515991,0.999999812156,-9.39833809764e-05,-0.000602850162755,-5.85375511946e-05,1793239462923428352
+257,4.283333333,HOLD_POSE2,765.674484786,745.674484786,714,682,658,632,880.325515214,784.674484786,804.674484786,651,630.325515214,652.674484786,0.449802877892,-0.00555936764478,0.0696129033266,0.99999981153,-9.33362306738e-05,-0.000603999833622,-5.84112409055e-05,1793239462940094976
+258,4.300000000,HOLD_POSE2,765.094801521,745.094801521,714,682,658,632,880.905198479,784.094801521,804.094801521,651,630.905198479,652.094801521,0.449801749644,-0.00555878286012,0.0696125251034,0.999999810895,-9.27226463945e-05,-0.000605122335839,-5.86439529177e-05,1793239462956761088
+259,4.316666667,HOLD_POSE2,765.483048497,745.483048497,714.483048497,682,658,632,881,784.483048497,804.483048497,651.483048497,631,652.483048497,0.449803464964,-0.00556011367049,0.0696133012044,0.999999811672,-9.35749734669e-05,-0.000603705281729,-5.86507832185e-05,1793239462973427968
+260,4.333333333,HOLD_POSE2,766,745.939817106,715,681.939817106,658,632,881,785,805,651.939817106,630.939817106,652.939817106,0.449805368309,-0.00556168439964,0.0696141279892,0.999999812535,-9.46447841877e-05,-0.000602111293183,-5.8600149687e-05,1793239462990094592
+261,4.350000000,HOLD_POSE2,766,745.365732771,715,681.365732771,658,632,881,785,805,651.365732771,630.365732771,652.365732771,0.449804129868,-0.00556210570966,0.0696134604195,0.999999811815,-9.51243488124e-05,-0.000603246249778,-5.84359421275e-05,1793239463006760960
+262,4.366666667,HOLD_POSE2,765.78588455,745,714.78588455,681.21411545,658,632,880.78588455,785,805,651.21411545,630.21411545,652,0.449803815575,-0.00556218893609,0.06961341416,0.999999811706,-9.55140461694e-05,-0.00060337090827,-5.83842066233e-05,1793239463023427584
+263,4.383333333,HOLD_POSE2,765.195918673,745,714.195918673,681.804081327,658,632,880.195918673,785,805,651.804081327,630.804081327,652,0.449805123497,-0.00556167870292,0.0696144585255,0.999999812669,-9.57459937626e-05,-0.000601722126316,-5.85299004671e-05,1793239463040094976
+264,4.400000000,HOLD_POSE2,765,745.387364101,714.387364101,682,658,632,880.387364101,785,805,652,631,652.387364101,0.449805830523,-0.00556075143053,0.0696147176429,0.999999813022,-9.57486317029e-05,-0.000601121392673,-5.86631758384e-05,1793239463056761600
+265,4.416666667,HOLD_POSE2,765,745.967324114,714.967324114,682,658,632,880.967324114,785,805,652,631,652.967324114,0.449806238787,-0.00555961680782,0.0696145863382,0.999999813073,-9.56372578033e-05,-0.000601041744395,-5.8790276807e-05,1793239463073428480
+266,4.433333333,HOLD_POSE2,765,746,714.457998768,682,658.542001232,632,881,785,805,651.457998768,631,653,0.449805752275,-0.00555939783406,0.0696140482028,0.999999812584,-9.40084852337e-05,-0.000602140596522,-5.84817610586e-05,1793239463090095104
+267,4.450000000,HOLD_POSE2,765.116642561,746,714.116642561,681.883357439,659,632,880.883357439,785,804.883357439,651.116642561,631,653,0.449805258716,-0.00555934203969,0.0696136227147,0.999999812176,-9.26068058465e-05,-0.000603060673294,-5.82222709076e-05,1793239463106761472
+268,4.466666667,HOLD_POSE2,765.692384663,746,714.692384663,681.307615337,659,632,880.307615337,785,804.307615337,651.692384663,631,653,0.449804947688,-0.00555971333584,0.0696137362048,0.999999812224,-9.24555396446e-05,-0.000603000153828,-5.82581121614e-05,1793239463123427840
+269,4.483333333,HOLD_POSE2,766,746,714.724036485,681.275963515,658.724036485,632,880.275963515,785,804.275963515,652,631,653,0.449804389761,-0.00555927734127,0.0696133197025,0.999999811976,-9.24266854945e-05,-0.000603391218227,-5.8518821406e-05,1793239463140094208
+270,4.500000000,HOLD_POSE2,766,746,714.131466755,681.868533245,658.131466755,632,880.868533245,785,804.868533245,652,631,653,0.449803548574,-0.00555791516171,0.069612295153,0.999999811386,-9.25382717173e-05,-0.000604300373793,-5.90375162139e-05,1793239463156760832
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,682,658,632,882,785,805,653,631,653,0.44980538884,-0.00556063065802,0.0696131827379,0.999999812054,-9.5032840843e-05,-0.000602887486755,-5.82079383291e-05,1793239463189510144
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.422671149,745.422671149,715,682,658,632,881.422671149,785,805,652.422671149,631,652.422671149,0.449805452011,-0.00556000554349,0.0696129225527,0.999999811926,-9.19130384974e-05,-0.00060359199645,-5.81029061819e-05,1793239463206177024
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.157401799,745.157401799,715,681.842598201,658,632,881,785,805,652,630.842598201,652,0.449805342408,-0.00555982677744,0.0696128509589,0.999999811756,-9.08641854922e-05,-0.000604034946483,-5.80871545422e-05,1793239463222843648
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.744974351,745.744974351,715,681.255025649,658,632,881,785,805,652,630.255025649,652,0.449804760622,-0.00556086785791,0.0696132947756,0.999999811477,-9.54751262733e-05,-0.000603763068027,-5.83154017614e-05,1793239463239509760
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.67177379,715,681.32822621,658,632,881,785,805,652,630.32822621,652.32822621,0.449805819284,-0.00556046101127,0.0696139918277,0.999999812304,-9.49199912379e-05,-0.000602490188912,-5.82043046986e-05,1793239463256176384
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.091835444,715,681.908164556,658,632,881,785,805,652,630.908164556,652.908164556,0.449808135983,-0.00555894376932,0.0696148830824,0.999999813971,-9.04030639352e-05,-0.000600449656268,-5.78329691919e-05,1793239463272842752
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.485111632,715,682,658,632,880.514888368,785,804.514888368,652,631,653,0.449808477013,-0.00555969286219,0.0696147943926,0.999999813831,-9.33834986008e-05,-0.000600211934982,-5.80004727781e-05,1793239463289509376
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.938749859,715,682,658,632,880,785,804.061250141,652,630.938749859,653,0.449807867333,-0.00556063151112,0.0696142184555,0.999999813102,-9.71206333263e-05,-0.000600804979431,-5.82893668928e-05,1793239463306175744
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.364669064,715,682,658,632,880,785,804.635330936,652,630.364669064,653,0.449802409911,-0.00555958708273,0.0696111066467,0.999999810402,-9.53827467422e-05,-0.000605513812474,-5.87457924548e-05,1793239463322842880
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.216174821,715,682,658,632,880.216174821,784.783825179,805,651.783825179,630.216174821,653,0.449792412801,-0.00555858767742,0.0696059059434,0.999999805788,-9.34372056812e-05,-0.000613360648821,-5.90052442876e-05,1793239463339510272
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.808795871,715,682,658,632,880.808795871,784.191204129,805,651.191204129,630.808795871,653,0.449774510291,-0.0055576666753,0.069597067645,0.999999797753,-9.1130055867e-05,-0.000626671994814,-5.89216865654e-05,1793239463356176896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.609203858,746,714.609203858,682,658,632,881,784,805,651,630.609203858,653,0.449737614748,-0.00555625646197,0.0695805952775,0.999999780592,-9.00783966758e-05,-0.00065358923066,-5.93582072397e-05,1793239463372843264
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.032262459,746,714.032262459,682,658,632,881,784,805,651,630.032262459,653,0.449691672382,-0.00555461322593,0.069560486625,0.999999758205,-8.96247564773e-05,-0.000686987267732,-6.00424532461e-05,1793239463389509888
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.45626208,714.54373792,681.45626208,658,632,881,784.54373792,805,651.54373792,630,653,0.449627790142,-0.00555470767089,0.0695448463227,0.999999741122,-9.04627577923e-05,-0.000711324453441,-5.99124352128e-05,1793239463406176256
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.119731606,658,632,880.880268394,785,805,652,630.119731606,653,0.449559043351,-0.00555424842858,0.0695306694206,0.99999972546,-9.06787145701e-05,-0.000733004631947,-5.96734633288e-05,1793239463422842624
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.695912429,658,632,880.304087571,785,805,652,630.695912429,653,0.449475802543,-0.00555128599756,0.0695210623994,0.999999715648,-8.8231606183e-05,-0.000746601607858,-5.92029978321e-05,1793239463439509248
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.721641087,658,632,880.278358913,785,805,652,630.721641087,653,0.449388335988,-0.00554862902985,0.0695170802688,0.999999711364,-8.54448911788e-05,-0.000752723684102,-5.81238453416e-05,1793239463456175872
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.132192224,658,632,880.867807776,785,805,652,630.132192224,653,0.449296146802,-0.00554631344375,0.0695193844365,0.999999713408,-8.2278636826e-05,-0.000750491918451,-5.63644329907e-05,1793239463472842496
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.551609175,681,658,632,880.551609175,784.551609175,805,652,630.448390825,652.551609175,0.449184626068,-0.0055442969307,0.0695235071259,0.99999971659,-8.01363327516e-05,-0.000746647500949,-5.40005730985e-05,1793239463489518336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.02622579,745.02622579,714,681.02622579,658,632,880.02622579,784.02622579,805,652,631,652.02622579,0.449065973282,-0.00554228897757,0.0695280021259,0.999999719892,-7.82846665528e-05,-0.000742589357128,-5.1472627091e-05,1793239463506195456
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.600197235,745.600197235,714,681.600197235,658,632,880.600197235,784.600197235,805,652,631,652.600197235,0.448915086882,-0.00553865398823,0.0695292928012,0.999999719256,-7.63205373251e-05,-0.000743804637369,-4.91672971673e-05,1793239463522850560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.820623574,745.820623574,714.179376426,682,658,632,880.820623574,785,805,652,631,653,0.448753112541,-0.00553445994184,0.0695294670939,0.999999718319,-7.32074595729e-05,-0.000745536601505,-4.66764006396e-05,1793239463539509248
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.229490129,745.229490129,714.770509871,682,658,632,880.229490129,785,805,652,631,653,0.448565685951,-0.00552898258539,0.0695270787397,0.999999716675,-6.74569807786e-05,-0.000748454608836,-4.37595379082e-05,1793239463556175872
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.354229008,715,682,658.354229008,632.354229008,880.354229008,785,805,652,631,653,0.44835639896,-0.00552454380974,0.0695232853329,0.999999711592,-6.21635330117e-05,-0.000755872182914,-4.01159827922e-05,1793239463572842496
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.93324326,715,682,658.93324326,632.93324326,880.93324326,785,805,652,631,653,0.448133239864,-0.00552076409206,0.0695186003133,0.999999704229,-5.71601056184e-05,-0.000766145074494,-3.60112858038e-05,1793239463589509120
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.508723643,745.491276357,714.491276357,682,659,632.491276357,881,785,805,652,631,653,0.447884646483,-0.00551642757228,0.0695201596461,0.999999702718,-5.00162181506e-05,-0.000768809214156,-3.15387546101e-05,1793239463606177792
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.085538441,714.085538441,682,659,632.085538441,881,785.085538441,804.914461559,652,631,653,0.447627454547,-0.00551137692159,0.0695233043957,0.999999703126,-4.18789931337e-05,-0.000768941429157,-2.69040070449e-05,1793239463622845952
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.672883408,714.672883408,682,659,632.672883408,881,785.672883408,804.327116592,652,631,653,0.447339264261,-0.00550256253899,0.0695309760513,0.999999710502,-2.95508031671e-05,-0.000760037197239,-2.15988362786e-05,1793239463639511040
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,714.742845182,681.742845182,659,632.742845182,881,785.742845182,804.257154818,652,631,653,0.447030275895,-0.00549338197904,0.0695346691383,0.999999715217,-1.53959747889e-05,-0.00075436061753,-1.64231141432e-05,1793239463656176640
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,746,714.16243738,681.16243738,659,632.16243738,881,785.16243738,804.83756262,652,631,653,0.446695143602,-0.00548374112135,0.0695333610192,0.999999716625,1.05500394683e-06,-0.00075274131492,-1.14101139772e-05,1793239463672843008
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,714.414412138,681.414412138,659,632.414412138,880.585587862,785,805,652,631,653,0.446344236001,-0.00547846519023,0.0695398630417,0.999999727836,1.34190756996e-05,-0.000737642965748,-5.50709544563e-06,1793239463689509376
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,714.989878774,681.989878774,659,632.989878774,880.010121226,785,805,652,631,653,0.445987197594,-0.00547488561665,0.069549400348,0.999999742443,2.41948375278e-05,-0.000717306205386,7.41814047862e-07,1793239463706176000
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,746,715,682,659,633,880.56574856,785.56574856,805,652,631,652.43425144,0.44560048262,-0.0054699703813,0.0695678646278,0.999999762986,5.81089095386e-05,-0.000686009158354,6.53101662829e-06,1793239463722842624
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.854885541,745.854885541,715,681.854885541,659.145114459,633,881,786,805,652,631,652.145114459,0.445196428783,-0.00546450128586,0.069584780661,0.999999779546,8.95739395032e-05,-0.000657834676764,1.1735430322e-05,1793239463739509504
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.264822121,745.264822121,715,681.264822121,659.735177879,633,881,786,805,652,631,652.735177879,0.444740839756,-0.00545740726809,0.0695964594371,0.999999788889,0.000112259590827,-0.000639836239029,1.5172002084e-05,1793239463756175872
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.319172427,714.680827573,681,660,633,880.680827573,786,805,651.680827573,631,653,0.444254893153,-0.00545004843851,0.0696028870531,0.999999794688,0.00010295151368,-0.000632368652377,1.15758565877e-05,1793239463772842752
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.898225565,714.101774435,681,660,633,880.101774435,786,805,651.101774435,631,653,0.443744228362,-0.00544247398966,0.0696050390025,0.999999797067,6.75930906479e-05,-0.000633475629498,2.25344125476e-06,1793239463789509632
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.527390039,714.472609961,681.472609961,660,633.472609961,880.472609961,786,804.527390039,651.472609961,631,652.527390039,0.443210715369,-0.00544263257147,0.0696170872719,0.999999806151,6.63920411435e-05,-0.00061907069622,6.41678360929e-06,1793239463806176000
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.046049067,745,714.953950933,681.953950933,660,634,880.953950933,786.046049067,804.046049067,651.953950933,631.046049067,652.046049067,0.442671460754,-0.00544555264015,0.0696321534261,0.999999817817,7.20278091055e-05,-0.000599168333514,1.32013119154e-05,1793239463822842880
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.620064926,745,714.379935074,681.379935074,660,634,880.379935074,786.620064926,804.620064926,651.379935074,631.620064926,652.620064926,0.442122236723,-0.00546122790248,0.0696576255453,0.999999843676,7.25401149382e-05,-0.000554160541245,1.70678831022e-05,1793239463839509504
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,714.200262739,681,660.200262739,634,880,787,805,651.200262739,631.799737261,653,0.441560075702,-0.00547407108184,0.0696862842568,0.999999871657,6.60931394905e-05,-0.000501921248754,1.97956823713e-05,1793239463856175872
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.792562391,681,660.792562391,634,880,787,805,651.792562391,631.207437609,653,0.440972589094,-0.00548137013821,0.0697211810812,0.999999903894,4.60225855468e-05,-0.000435525481328,2.02942068627e-05,1793239463872842496
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.62649143,745,715,681.37350857,661,634,880.37350857,787,805,652,631,653,0.44035193644,-0.00547706649939,0.0697479840315,0.999999922413,5.38321627233e-05,-0.000389557991156,2.28384049904e-05,1793239463889509120
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.051664701,745,715,681.948335299,661,634,880.948335299,787,805,652,631,653,0.439713407569,-0.00546650909962,0.0697704244467,0.999999933839,7.66689101726e-05,-0.000354601182762,2.64852049764e-05,1793239463906176000
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.523983129,715,681.476016871,661.523983129,634.523983129,881,787,804.476016871,652,631,652.476016871,0.438984400464,-0.0054534576496,0.0697515749822,0.999999920003,8.75622476277e-05,-0.000389501213382,2.48218093293e-05,1793239463922842880
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.897538998,715,681,662,635,881,787,804.102461002,652,631.102461002,652,0.438251800544,-0.00543989395912,0.0697316624401,0.999999905776,9.61611144529e-05,-0.000422777848204,2.14400535779e-05,1793239463939509248
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.305938032,715,681,662,635,881,787,804.694061968,652,631.694061968,652,0.437544704697,-0.00542506069198,0.0697261408267,0.999999908713,9.94370512102e-05,-0.000415370771463,1.23584683567e-05,1793239463956175872
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.279849397,745,715,681.279849397,662,635,881,787,805,652,632,652.279849397,0.436817827178,-0.00541222338379,0.0697458213274,0.99999992241,0.000110589636344,-0.000377966076445,9.60054139108e-06,1793239463972842496
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.859410742,745,715,681.859410742,662,635,881,787,805,652,632,652.859410742,0.436069763879,-0.00540152369762,0.0697924926832,0.999999943868,0.00013017792177,-0.000308434653931,1.36150986162e-05,1793239463989509376
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.434065299,715,681.565934701,661.565934701,635,880.565934701,787,805,652,632,653,0.435304935439,-0.00540296727566,0.0698259116993,0.999999955592,0.00012968911307,-0.00026773520813,1.77198570294e-05,1793239464006176000
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.992790837,715,681,661,635,880,787.007209163,805,652,631.992790837,652.992790837,0.434533863582,-0.00540823332575,0.0698545711926,0.999999964147,0.000122869641289,-0.000236926160925,2.17959440751e-05,1793239464022842880
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745.414830684,715,681,661,635,880,787.585169316,805,652,631.414830684,652.414830684,0.433693588667,-0.00540822334145,0.0698424418436,0.999999958791,0.000123920655985,-0.000258084547301,2.13150105341e-05,1793239464039509504
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.166862462,661.166862462,635,880,787.833137538,804.833137538,651.833137538,631,652,0.432858499575,-0.00540756567417,0.0698341329462,0.999999955301,0.00012700776458,-0.000269848924441,2.11855344573e-05,1793239464056176128
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,681.758048397,661.758048397,635,880,787.241951603,804.241951603,651.241951603,631,652,0.432036597843,-0.00540526097924,0.0698355392805,0.999999957399,0.000135272565239,-0.000257724772251,2.19497984015e-05,1793239464072842752
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681.658647505,662,635,880,787,804,651.341352495,631,652.341352495,0.431135032666,-0.00540186382678,0.0698059331762,0.999999942821,0.000138092316762,-0.000307926226006,2.16607285731e-05,1793239464089509632
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.080804014,662,635,880,787,804,651.919195986,631,652.919195986,0.430178276224,-0.00539770981349,0.0697548414738,0.99999990986,0.000137139705254,-0.000401307220937,2.06419027929e-05,1793239464106176512
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.506916679,635,880,787,804.493083321,652,631.493083321,653,0.429306138164,-0.0053990315524,0.0697402599971,0.99999990417,0.000137810166595,-0.000415082310586,1.93797798331e-05,1793239464122842880
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.93332847,661.06667153,635,880.06667153,787,805,652,632,653,0.428452408874,-0.00540138209635,0.0697406801424,0.999999908575,0.000137891057676,-0.000404332067872,1.87747833468e-05,1793239464139509248
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.357111292,661.642888708,635,880.642888708,787,805,652,632,653,0.427634235889,-0.00540479197317,0.0698103893587,0.999999944556,0.000131449467102,-0.000305051526877,2.3494248626e-05,1793239464156175872
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.224613639,662,635,880.775386361,787.224613639,805,652,631.775386361,653,0.426804543076,-0.00540674244072,0.0698603842984,0.999999963714,0.000130405055875,-0.000234135489994,2.73493056659e-05,1793239464172842496
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.815315515,662,635,880.184684485,787.815315515,805,652,631.184684485,653,0.425956074453,-0.00540631427958,0.0698782477866,0.999999968078,0.000138157278792,-0.000209449542371,2.97955014571e-05,1793239464189509376
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.600055957,661.600055957,635,880.399944043,788,805,652,631.399944043,653,0.425045559529,-0.00540426874483,0.0698630418612,0.99999996269,0.000139645938874,-0.000232948496208,2.92396353256e-05,1793239464206176000
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.018190037,661.018190037,635,880.981809963,788,805,652,631.981809963,653,0.424106821758,-0.00540148751808,0.0698327937059,0.999999951322,0.000138285501943,-0.000278365236545,2.73182261263e-05,1793239464222842624
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.555229966,661.555229966,635.555229966,880.444770034,788,805,652,632,653,0.423165803211,-0.00539660058519,0.069786805929,0.999999925052,0.00014540644232,-0.000357925786479,2.53590156227e-05,1793239464239509760
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745.128920038,715,680.871079962,661.871079962,635.871079962,880,787.871079962,805,652,632,653,0.422232248892,-0.00539186118489,0.0697434135853,0.999999894709,0.000152728071818,-0.000432094269473,2.3475552051e-05,1793239464256176640
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745.704490019,715,680.295509981,661.295509981,635.295509981,880,787.295509981,805,652,632,653,0.421324809815,-0.00538786834182,0.0697107729801,0.99999986998,0.000159796763039,-0.000483764309176,2.18587443678e-05,1793239464272843264
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,635.289221087,880,787,804.710778913,652,632,653,0.420488569616,-0.00538834732801,0.0697274422075,0.999999884613,0.000157230355787,-0.000453418824441,2.15454735194e-05,1793239464289509888
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,635.883618588,880,787,804.116381412,652,632,653,0.41972745615,-0.00539354483907,0.0697961415226,0.999999932677,0.000144497313212,-0.000336533294908,2.26076510615e-05,1793239464306176000
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745.537871139,715,680,661.462128861,635.537871139,880,787.462128861,804,652,631.537871139,653,0.418931398379,-0.00539700044637,0.0698502923668,0.999999957157,0.000150176027581,-0.000249725772882,2.77387517079e-05,1793239464322842880
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745.036797731,715,680.036797731,661.963202269,635,880,788,804,652,631,653,0.418123966648,-0.00539964884912,0.0698958118148,0.999999970718,0.000159847270165,-0.000178599728296,3.3389629768e-05,1793239464339510016
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.611855381,715,680.611855381,661.388144619,635,880,788,804,652,631,653,0.417274611009,-0.00539669333228,0.0698668870943,0.999999959915,0.000162349010948,-0.000229737382272,3.21527883127e-05,1793239464356183040
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.808511134,715,680.808511134,661.191488866,635.191488866,880,788,804,652,631,653,0.416440522586,-0.00539367488728,0.069837076613,0.999999948623,0.000163393548594,-0.000274138687584,3.00734403195e-05,1793239464372851712
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745.219375337,715,680.219375337,661.780624663,635.780624663,880,788,804,652,631,653,0.415638137998,-0.00539052576473,0.0698054267499,0.999999940253,0.00016141205055,-0.0003045512611,2.62445380834e-05,1793239464389512448
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.635941295,636,880,788,804,652,631.364058705,653,0.414812758949,-0.00538620802363,0.0697769555404,0.999999923557,0.00016566455409,-0.000353292076515,2.50183476475e-05,1793239464406176768
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.055890083,636,880,788,804,652,631.944109917,653,0.413973737557,-0.00538119695264,0.0697503701972,0.999999899362,0.000173615630136,-0.000412906857757,2.53363211014e-05,1793239464422843136
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.480389343,661,635.480389343,880,788,804.519610657,652,632,653,0.413244686009,-0.00537817232708,0.0697685175409,0.999999912133,0.000180810301277,-0.000377296649428,2.62503446475e-05,1793239464439509248
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.096531093,661.096531093,635,880,788,804.903468907,652,632,653,0.41254445842,-0.00537538366712,0.0697970912518,0.999999929801,0.000187118180219,-0.00032347591155,2.73677034142e-05,1793239464456175872
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.683122142,661.683122142,635,880,788,804.316877858,652,632,653,0.41193103303,-0.00537271763786,0.0698543819812,0.999999955486,0.000189333531526,-0.000228752613123,2.9194683079e-05,1793239464472842496
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.735817582,661.735817582,635,880,788,804,652,631.735817582,653,0.411291021422,-0.00537018280942,0.0698850642249,0.999999964412,0.000193601020286,-0.000181004520722,3.0517723696e-05,1793239464489509376
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.161255284,661.161255284,635,880,788,804,652,631.161255284,653,0.410619774519,-0.00536780212501,0.069884484965,0.9999999617,0.000200279504235,-0.000188446176201,3.1248701776e-05,1793239464506176000
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.419169424,635.419169424,879.580830576,788,804,652,631,653,0.409935257376,-0.00536350927939,0.069854835786,0.999999950182,0.000203244804031,-0.00023976593354,2.89935954422e-05,1793239464522842880
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.001855147,661.998144853,636,879,787.998144853,804,652,631.001855147,652.998144853,0.409245767888,-0.00535848377939,0.0698138948439,0.999999931243,0.000204772174049,-0.000308103854665,2.55792641965e-05,1793239464539509760
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.576421209,661.423578791,636,879,787.423578791,804,652,631.576421209,652.423578791,0.408619630073,-0.00535759263608,0.069788426387,0.999999918165,0.000209634161886,-0.000345181490974,2.39622653188e-05,1793239464556176896
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.844773892,661,635.844773892,879.155226108,787,804,652,632,652,0.408020585898,-0.00536050274916,0.0697742521357,0.999999911514,0.000209455399681,-0.000364113235873,2.28289413738e-05,1793239464572843776
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.254077251,661,635.254077251,879.745922749,787,804,652,632,652,0.40749754994,-0.0053740768874,0.0697917625853,0.999999925537,0.000195135344558,-0.000332138598484,2.30525163247e-05,1793239464589509888
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.330032398,879.669967602,787.330032398,804,652,632,652.330032398,0.406988222747,-0.00538511254405,0.0698069188117,0.999999935203,0.000180148205869,-0.000310776511441,2.36351065889e-05,1793239464606176000
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.909170211,879.090829789,787.909170211,804,652,632,652.909170211,0.406489242834,-0.00539423217738,0.0698202980911,0.999999941913,0.000164657559574,-0.000297424681683,2.44886782989e-05,1793239464622842624
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.515175776,745,715,679,661,636,879.484824224,787.515175776,803.515175776,652,632,653,0.406000738442,-0.00538799465564,0.0698121924437,0.999999934757,0.000172007137109,-0.000316745831494,2.39002801343e-05,1793239464639509504
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.061109141,745,715,679,661,636,880,787,803.061109141,652,631.938890859,653,0.40552286577,-0.00537999428424,0.0698023489297,0.999999926179,0.00018207972345,-0.000337566927741,2.3169620908e-05,1793239464656176384
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.648406408,745,715,679,661,636,880,787,803.648406408,652,631.351593592,653,0.40511976069,-0.00538141155187,0.0698119527587,0.999999932828,0.000179016941926,-0.000318972626595,2.35235446446e-05,1793239464672843264
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.232832467,715,679,661,636,880,787,804.232832467,652,631,653,0.404738668127,-0.00538040432801,0.0698263596469,0.99999994109,0.000180117171319,-0.000291215846224,2.388094502e-05,1793239464689509888
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.812975561,715,679,661,636,880,787,804.812975561,652,631,653,0.404390411147,-0.00537578054796,0.0698479311428,0.999999950944,0.000187427264763,-0.000249791615928,2.42435313633e-05,1793239464706176512
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.391199021,661,636,879.608800979,787,804.608800979,652,631.391199021,652.608800979,0.404049434017,-0.00537261231791,0.0698553223549,0.999999953586,0.000191520335393,-0.000235756720816,2.37897091546e-05,1793239464722842880
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.968509274,661,636,879.031490726,787,804.031490726,652,631.968509274,652.031490726,0.403711920213,-0.00537013655901,0.0698559673605,0.999999953348,0.000194082922171,-0.000234752179198,2.29474841753e-05,1793239464739509248
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745.458355652,715,679.458355652,661.541644348,636,879.541644348,787,804,652,631.458355652,652,0.403400143286,-0.00536883913671,0.0698448981943,0.999999947885,0.000199063773975,-0.000253260177779,2.15380055192e-05,1793239464756175872
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879.882359267,787,804,652,631,652,0.403097218674,-0.00536705840873,0.0698340699819,0.999999942055,0.000203675605243,-0.000272014113462,2.0377001975e-05,1793239464772842496
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,636,879.293948469,787,804,652,631,652,0.402823776705,-0.00536307155335,0.0698269105635,0.999999937268,0.000206252379427,-0.000287247197954,2.03413030196e-05,1793239464789509120
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.709972111,636,879,787,803.709972111,652,631.290027889,652,0.402571147129,-0.00536053256412,0.0698184479214,0.999999932899,0.000205391486796,-0.000302689128974,1.99015631289e-05,1793239464806176256
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.13042249,636,879,787,803.13042249,652,631.86957751,652,0.402339293642,-0.00535943891447,0.0698086843302,0.999999928928,0.000201098926594,-0.000318339541121,1.90584874354e-05,1793239464822843392
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.447591334,636,879,787,803.447591334,652,631.552408666,652,0.402144148073,-0.00535976444032,0.0698065590434,0.999999927854,0.000200108801091,-0.000322281643782,1.9582729653e-05,1793239464839510272
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.974999441,745,715.025000559,679,662,636,879,787,804,652,631,652,0.40196105909,-0.00536034997591,0.0698067195902,0.999999927706,0.000200103401945,-0.000322690757862,2.04406858877e-05,1793239464856176640
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.401072724,745,715.598927276,679,662,636,879,787,804,652,631,652,0.40180864193,-0.00535759578581,0.0698083674437,0.999999928412,0.00020066292169,-0.000320179637733,1.9907851883e-05,1793239464872843008
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.177867295,745,715.822132705,679.177867295,662,636,879,787,804,652,631.177867295,652.177867295,0.401664493041,-0.00535577769251,0.0698088750045,0.999999928755,0.000201384862747,-0.000318727855556,1.86453973949e-05,1793239464889509632
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.768439586,745,715.231560414,679.768439586,662,636,879,787,804,652,631.768439586,652.768439586,0.401539529022,-0.00535613162241,0.0698067367472,0.999999928262,0.000202483669453,-0.00031973405267,1.5690006581e-05,1793239464906176000
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.647674392,661.647674392,636,879.352325608,787,804,652,631.647674392,653,0.401432649468,-0.00535702153869,0.0698052724966,0.999999927472,0.000206226750864,-0.000319920258512,1.33537835077e-05,1793239464922842368
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.068100914,661.068100914,636,879.931899086,787,804,652,631.068100914,653,0.401337434273,-0.00535825716296,0.069804242976,0.999999926467,0.000211675373447,-0.000319577575075,1.14169195616e-05,1793239464939509248
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.491861804,787,804,652,631,652.491861804,0.40126210177,-0.00535689095271,0.0698048182179,0.999999926641,0.000212850571346,-0.000318246159271,1.15170468059e-05,1793239464956176128
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.914454297,879,787,804,652,631.085545703,652.085545703,0.401192711954,-0.00535534995265,0.0698059257049,0.999999927135,0.000213283616985,-0.000316381826823,1.19341723437e-05,1793239464972843008
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.327597904,879,787,804,652,631.672402096,652.672402096,0.401142633485,-0.00535481476485,0.0698089000969,0.999999928576,0.000212701921464,-0.000312165990392,1.26195729068e-05,1793239464989509888
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.256042798,879,787,804,652,632,652.743957202,0.401100629148,-0.0053546359615,0.0698119206969,0.999999930108,0.000212975075605,-0.000306998645536,1.33282735615e-05,1793239465006176768
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.835620131,879,787,804,652,632,652.164379869,0.401068827251,-0.00535490748397,0.0698149996849,0.999999931744,0.000214328413988,-0.000300628979137,1.40664160665e-05,1793239465022843648
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.413359083,661,636,879,787,804,652,631.586640917,652.413359083,0.401043248029,-0.0053555940249,0.0698172319726,0.99999993335,0.0002122011151,-0.000296757459183,1.43545053621e-05,1793239465039509760
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.990370193,661,636,879,787,804,652,631.009629807,652.990370193,0.401020132412,-0.00535644487482,0.0698191290449,0.999999934937,0.000208695805235,-0.000293874974683,1.44644151285e-05,1793239465056175872
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879,787.562552693,803.437447307,652,631,652.437447307,0.401005671613,-0.00535653485063,0.0698203870547,0.999999934926,0.00021100739342,-0.00029223884775,1.48575492233e-05,1793239465072842752
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.139480287,787.860519713,803.139480287,652,631.139480287,652,0.400993386712,-0.00535654736861,0.0698218131038,0.999999935095,0.000212756875616,-0.000290371769457,1.51544064853e-05,1793239465089509376
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.732089369,787.267910631,803.732089369,652,631.732089369,652,0.40098769343,-0.00535635020287,0.0698238202982,0.999999935956,0.000212359514461,-0.000287685679423,1.51228732459e-05,1793239465106176256
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.317513801,679.682486199,661.317513801,636,879.682486199,787.317513801,804,652,632,652.317513801,0.400983204773,-0.00535658542503,0.0698245602461,0.999999936265,0.000212844631954,-0.000286250554192,1.50915907335e-05,1793239465122843136
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715.897010198,679.102989802,661.897010198,636,879.102989802,787.897010198,804,652,632,652.897010198,0.40097971006,-0.00535717741309,0.0698242545813,0.999999936122,0.000214057887983,-0.000285847607452,1.50605150938e-05,1793239465139509760
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715.526690839,679,661.526690839,636,879,787.526690839,804,652,631.526690839,653,0.400980212036,-0.00535688461912,0.0698261451828,0.99999993719,0.000212905171068,-0.000282966382507,1.48986487059e-05,1793239465156176128
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.049850754,787,804,652,631,653,0.400981442753,-0.00535634474744,0.0698284159182,0.99999993841,0.000211559546243,-0.000279653383173,1.47190060589e-05,1793239465172843008
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.63644603,787,804,652,631,653,0.400981219009,-0.00535520358786,0.0698296685641,0.999999938579,0.000213642808723,-0.000277458736854,1.46523332357e-05,1793239465189509632
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.220585149,661.220585149,636,879.779414851,787,803.779414851,652,631.220585149,653,0.400980374747,-0.00535467112073,0.0698302794513,0.999999938529,0.000215079970364,-0.000276530045253,1.45912918339e-05,1793239465206176256
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.800720737,661.800720737,636,879.199279263,787,803.199279263,652,631.800720737,653,0.400978519048,-0.00535513081309,0.0698298442815,0.999999938133,0.000215463997342,-0.00027766484073,1.45394295674e-05,1793239465222842880
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.620876365,662,636,879.379123635,787,803,652,632,652.620876365,0.40097911354,-0.00535535800751,0.0698305542877,0.999999938644,0.000215027767127,-0.000276168386506,1.43813557574e-05,1793239465239509504
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.043380098,662,636,879.956619902,787,803,652,632,652.043380098,0.400980990069,-0.0053554635497,0.0698318634958,0.999999939622,0.000214162345566,-0.000273295157284,1.41677078262e-05,1793239465256176384
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.466976537,636,880,787.533023463,803.533023463,652,632,652,0.400979716157,-0.00535520770344,0.0698320875081,0.999999939231,0.00021475772358,-0.000274256524776,1.4162155629e-05,1793239465272843264
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.888492743,745,715,679,661.111507257,636,880,787.888492743,804,652,631.888492743,652,0.400978355775,-0.00535518645553,0.069832120003,0.999999938829,0.000215321483116,-0.000275272068147,1.4256249132e-05,1793239465289509888
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.300745537,745,715,679,661.699254463,636,880,787.300745537,804,652,631.300745537,652,0.400977718899,-0.00535629251932,0.0698317109709,0.999999938863,0.000215243481977,-0.000275188853175,1.47037387214e-05,1793239465306176512
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.28297506,745,715,679,661.71702494,636,879.71702494,787,804,652,631.28297506,652,0.40097836019,-0.005357202635,0.0698320224565,0.999999939394,0.000214555239641,-0.00027378301404,1.48528696274e-05,1793239465322842880
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.862476293,745,715,679,661.137523707,636,879.137523707,787,804,652,631.862476293,652,0.400980340859,-0.00535790741912,0.0698330889639,0.999999940441,0.000213227532855,-0.000270991212879,1.46893540989e-05,1793239465339509760
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.439108715,661.439108715,636,879,787,804,652,631.560891285,652.439108715,0.400979990663,-0.00535784846496,0.0698332158778,0.99999994067,0.000212148221676,-0.000270989527158,1.47449657012e-05,1793239465356176384
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.014809464,715,679.985190536,661.985190536,635.985190536,879,787.014809464,804,652,631,652.985190536,0.40097892081,-0.00535750486986,0.069833048784,0.99999994062,0.000211256988415,-0.000271862516264,1.48520935425e-05,1793239465372842752
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.589037392,715,679.410962608,661.410962608,635.410962608,879,787.589037392,804,652,631,652.410962608,0.400978062593,-0.00535538589249,0.0698328194323,0.999999939622,0.000214550712258,-0.000272981617509,1.43296602115e-05,1793239465389509632
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.832493798,715,679,661,635.167506202,879,787.832493798,803.832493798,652,631,652.167506202,0.400977759224,-0.00535423018484,0.0698329743049,0.999999939139,0.000216466844151,-0.00027325255923,1.40105211323e-05,1793239465406176768
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.243350102,715,679,661,635.756649898,879,787.243350102,803.243350102,652,631,652.756649898,0.400978852486,-0.00535549916743,0.0698340963255,0.999999939979,0.000214915376398,-0.000271388559916,1.42031033074e-05,1793239465422843392
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.682816158,787,803.341408079,652,631.341408079,653,0.400979255347,-0.00535633713149,0.0698344009002,0.999999940514,0.00021334369798,-0.000270657145215,1.41512345066e-05,1793239465439510016
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880.846159913,787,803.923079957,652,631.923079957,653,0.400979172343,-0.00535687176891,0.0698341302024,0.999999940837,0.000211757796499,-0.000270722779928,1.3927334853e-05,1793239465456176384
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.49822086,661.49822086,635.50177914,880.003558279,787,804,652,632,653,0.400978115161,-0.00535802764466,0.0698341577165,0.999999940573,0.000211576820347,-0.000271821250783,1.42122915105e-05,1793239465472843008
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.92613402,635.07386598,879,787,803.92613402,652,632,653,0.40097727903,-0.0053590282249,0.0698342997992,0.999999940304,0.000211782667281,-0.000272632970683,1.45183291341e-05,1793239465489509888
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.34009198,635.65990802,879,787,803.34009198,652,632,653,0.400979005009,-0.00535829556835,0.0698349211749,0.999999940623,0.000213186157383,-0.000270365040619,1.44328494204e-05,1793239465506176256
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.756931934,661,636,879.243068066,787.243068066,803,652,631.756931934,652.756931934,0.400979254407,-0.00535763383629,0.0698345391783,0.999999940574,0.000213747120864,-0.000270108351104,1.4326555816e-05,1793239465522842880
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.177756935,661,636,879.822243065,787.822243065,803,652,631.177756935,652.177756935,0.400977462033,-0.00535707017628,0.0698327697499,0.99999994002,0.000213143065038,-0.000272632741903,1.41914814016e-05,1793239465539509760
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.600363102,745,715,679,661.399636898,636,879.600363102,788,803.399636898,652,631,652,0.400977978144,-0.005356940327,0.0698335922501,0.999999940469,0.000212585343929,-0.000271421327171,1.4166190809e-05,1793239465556176640
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.023758044,745,715,679,661.976241956,636,879.023758044,788,803.976241956,652,631,652,0.400979516503,-0.00535700257885,0.0698355625144,0.999999941356,0.000212048140904,-0.000268555614008,1.41895149572e-05,1793239465572843520
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.550943808,745,715,679,661.449056192,636,879,787.449056192,803.449056192,652,631,652.550943808,0.400977322945,-0.00535619944507,0.0698337995639,0.999999939916,0.000215221312357,-0.000271382839161,1.40920182483e-05,1793239465589509888
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1f2aba988c22aa6012e61b961ad817e9db01c100
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd95963dee3e2b04e67b2eefa9aa236ce94128a0
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..483b624a1aab8618a32939b68460d95cf3324d09
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,661,635,879,787,804,652,631,652,0.400977571731,-0.00535677105003,0.0698344399499,0.999999940729,0.000212266891113,-0.000270720014031,1.39879933805e-05,1793239465716850688
+1,0.016666667,BASELINE,766,745,715,679,661.579347455,635,879,787,804,652,631,652,0.400978335457,-0.00535753421538,0.069835615499,0.999999940946,0.000213098261758,-0.000269246344004,1.42937449815e-05,1793239465733517312
+2,0.033333333,BASELINE,766,745,715,679,661.841925521,635,879,787,804,652,631,652.158074479,0.400979133212,-0.00535785281419,0.0698364485854,0.999999941163,0.000213572029223,-0.000268054428712,1.43964301993e-05,1793239465750183936
+3,0.050000000,BASELINE,766,745,715,679,661.264842947,635,879,787,804,652,631,652.735157053,0.400980021166,-0.00535699300048,0.0698363739059,0.99999994139,0.000213097897952,-0.000267609360508,1.39608473257e-05,1793239465766850560
+4,0.066666667,BASELINE,766,745,715,679,661,635,879,787,804,652,631,653,0.400980025626,-0.00535675394784,0.0698360983208,0.999999941496,0.000212274445199,-0.000267873194095,1.38430224183e-05,1793239465783517184
+5,0.083333333,BASELINE,766,745,715,679,661,635,879,787,804,652,631,653,0.400979280705,-0.00535704142731,0.0698356523266,0.999999941499,0.000211154696584,-0.00026873832107,1.39947211275e-05,1793239465800183808
+6,0.100000000,BASELINE,766,745,715,679.474814876,661,635.474814876,879.474814876,787,804,652,631.474814876,652.525185124,0.400979787865,-0.00535710947447,0.0698359982053,0.999999941316,0.000212817188144,-0.000268110432421,1.39205431572e-05,1793239465816850432
+7,0.116666667,BASELINE,766,745,715,679.937621488,661.062378512,636,879.937621488,787,804,652,631.937621488,652.062378512,0.400980371821,-0.00535738614917,0.0698364068424,0.999999941188,0.000214384449442,-0.000267344118987,1.38327012453e-05,1793239465833517056
+8,0.133333333,BASELINE,766,745,715,679.35793651,661.64206349,636,879.35793651,787,804,652,631.35793651,652.64206349,0.40097910622,-0.00535982873467,0.0698357634021,0.999999941909,0.000209636877679,-0.000268394737041,1.40800990909e-05,1793239465850183680
+9,0.150000000,BASELINE,766,745,715,679,662,636,879,787.220431424,804,652,631,652.779568576,0.400978827135,-0.00536068002153,0.0698356028021,0.999999942235,0.000207825288831,-0.000268582192097,1.41932293671e-05,1793239465866850560
+10,0.166666667,BASELINE,766,745,715,679,662,636,879,787.796673385,804,652,631,652.203326615,0.40098014044,-0.00535896270511,0.0698362215814,0.999999941947,0.000210752832662,-0.000267376367976,1.40896309187e-05,1793239465883517184
+11,0.183333333,BASELINE,766,745,715,679.379075814,662,636,879,788,803.620924186,652,631.379075814,652.379075814,0.40097840628,-0.00535820821519,0.0698355065351,0.999999941236,0.000212066281981,-0.000269003550789,1.39257903049e-05,1793239465900184320
+12,0.200000000,BASELINE,766,745,715,679.964837202,662,636,879,788,803.035162798,652,631.964837202,652.964837202,0.400975010535,-0.00535797869225,0.0698340642399,0.999999940288,0.000212499670017,-0.00027217538931,1.3729103517e-05,1793239465916851968
+13,0.216666667,BASELINE,766,745,715,679.454883745,661.454883745,636,879.545116255,787.454883745,803.545116255,652,632,653,0.40097686144,-0.00535718940922,0.0698351326207,0.999999940562,0.000214393778262,-0.000269669033388,1.38049678759e-05,1793239465933518080
+14,0.233333333,BASELINE,766,745,715,679.12460753,661,636,879.87539247,787.12460753,804,652,631.87539247,652.87539247,0.400978533517,-0.0053568656895,0.0698360893272,0.999999940924,0.00021539406435,-0.000267514610533,1.3898617825e-05,1793239465950184192
+15,0.250000000,BASELINE,766,745,715,679.702506861,661,636,879.297493139,787.702506861,804,652,631.297493139,652.297493139,0.400978336172,-0.0053583656174,0.0698360565163,0.999999941358,0.000212803493136,-0.000267959577452,1.39936490406e-05,1793239465966850560
+16,0.266666667,BASELINE,766.278447719,745,715,680,661,635.721552281,879,787.721552281,804,652,631,652.278447719,0.400978430497,-0.00535913942219,0.0698361539123,0.999999941757,0.000210691695485,-0.000268146076943,1.38806112057e-05,1793239465983517184
+17,0.283333333,BASELINE,766.852310725,745,715,680,661,635.147689275,879,787.147689275,804,652,631,652.852310725,0.400978834263,-0.00535914285652,0.0698363894496,0.999999942122,0.000209087846235,-0.000268058358938,1.35468253602e-05,1793239466000184320
+18,0.300000000,BASELINE,766.563913721,745.436086279,715,679.563913721,661.436086279,635,879,787,804,652,631,652.563913721,0.400979443209,-0.00535948015997,0.0698363795975,0.999999942101,0.000209965815674,-0.000267438921172,1.37315160054e-05,1793239466016851200
+19,0.316666667,BASELINE,766,745.976999087,715,679,661.976999087,635.023000913,879,787,804,652,631,652,0.400980099646,-0.00535987842313,0.0698363080881,0.99999994195,0.000211638117749,-0.000266668012171,1.40831375465e-05,1793239466033517824
+20,0.333333333,BASELINE,766,745.397251055,715,679,661.397251055,635.602748945,879,787,804,652,631,652,0.4009801845,-0.00535895164026,0.069836802543,0.999999941926,0.000211719289515,-0.000266690913114,1.41262456549e-05,1793239466050184192
+21,0.350000000,BASELINE,766,745,715,679.181902743,661.181902743,636,879,787,804.181902743,652,631,652,0.400980635067,-0.00535815034446,0.0698374049138,0.999999941978,0.00021222991953,-0.000266090345682,1.40935171415e-05,1793239466066850560
+22,0.366666667,BASELINE,766,745,715,679.759762963,661.759762963,636,879,787,804.759762963,652,631,652,0.400981881703,-0.00535762220319,0.0698382421911,0.999999942192,0.000213675374386,-0.000264132641119,1.38957109715e-05,1793239466083517184
+23,0.383333333,BASELINE,766,745,715,680,661.664682174,636,879,787.335317826,804.664682174,652.335317826,631.335317826,652.335317826,0.400981655656,-0.00535794875829,0.0698380751814,0.999999942319,0.000213342747257,-0.000263919733683,1.38718818679e-05,1793239466100184064
+24,0.400000000,BASELINE,766,745,715,680,661.090767636,636,879,787.909232364,804.090767636,652.909232364,631.909232364,652.909232364,0.400980381716,-0.00535888347587,0.0698371935674,0.999999942386,0.000211744919082,-0.00026494834327,1.39718468063e-05,1793239466116850688
+25,0.416666667,BASELINE,766,745,715,680,661,636,879,787.503526579,804,652.503526579,631.503526579,652.503526579,0.400980018923,-0.00535783511337,0.0698370788115,0.999999941953,0.000213130605948,-0.000265473845444,1.38940121413e-05,1793239466133517568
+26,0.433333333,BASELINE,766,745,715,680,661.084779414,636,879,787,804,652,631,652,0.40097977485,-0.00535664618083,0.0698369970605,0.999999941449,0.000214911908998,-0.000265941548739,1.38078750295e-05,1793239466150184704
+27,0.450000000,BASELINE,766,745,715,680,661.664683511,636,879,787,804,652,631,652,0.400979224435,-0.00535681208356,0.069836266685,0.99999994109,0.000215730232816,-0.000266623694945,1.38683276378e-05,1793239466166851072
+28,0.466666667,BASELINE,766,745,715.242096873,680,661.757903127,636,879,787,804,652,631,652,0.400978584232,-0.00535722348877,0.0698358324538,0.999999941062,0.000215327056963,-0.000267054297638,1.38383818083e-05,1793239466183517440
+29,0.483333333,BASELINE,766,745,715.816095539,680,661.183904461,636,879,787,804,652,631,652,0.400977820933,-0.00535797146467,0.0698358042204,0.999999941487,0.000213249270713,-0.000267140047659,1.3684504579e-05,1793239466200184064
+30,0.500000000,BASELINE,766,745,715.609429212,679.609429212,661,636,879,787.390570788,804,652,631,652,0.400979269557,-0.00535808475919,0.0698372753336,0.99999994199,0.000213455831555,-0.000265078977365,1.37629747901e-05,1793239466216850688
+31,0.516666667,BASELINE,766,745,715.034729299,679.034729299,661,636,879,787.965270701,804,652,631,652,0.400981760959,-0.00535789884204,0.0698394532927,0.999999942523,0.000214739315876,-0.000262005818716,1.39509819501e-05,1793239466233517312
+32,0.533333333,BASELINE,766,745,715,679.557320881,661.557320881,636,879,787.442679119,804,652,631,652,0.400979798141,-0.00535849651376,0.069837074735,0.999999942158,0.000212384700595,-0.000265303616714,1.38379340164e-05,1793239466250184192
+33,0.550000000,BASELINE,766,745,715,680,662,636,879,787.146567785,804,652,631.146567785,652,0.400978399221,-0.00535870272564,0.0698354400078,0.999999941872,0.000210840258076,-0.000267605354638,1.37515371674e-05,1793239466266850816
+34,0.566666667,BASELINE,766,745,715,680,662,636,879,787.724285709,804,652,631.724285709,652,0.400979501821,-0.00535760914903,0.0698368554474,0.999999942038,0.000212367375442,-0.000265771668011,1.38004972649e-05,1793239466283517696
+35,0.583333333,BASELINE,766,745,715,679.69861144,661.69861144,636,878.69861144,787.69861144,804,652,631.69861144,652.30138856,0.400980408751,-0.00535704373319,0.0698375563445,0.999999942197,0.000212950308914,-0.000264708970403,1.37190659567e-05,1793239466300184320
+36,0.600000000,BASELINE,766,745,715,679.122070056,661.122070056,636,878.122070056,787.122070056,804,652,631.122070056,652.877929944,0.400981137045,-0.00535696050186,0.0698376048998,0.999999942354,0.000212671249438,-0.000264350147369,1.35185937598e-05,1793239466316850944
+37,0.616666667,BASELINE,766,745,715,679,661.463146836,636,878.463146836,787,804,652,631,653,0.400980945845,-0.00535765731159,0.069837661898,0.99999994231,0.000212838878605,-0.000264373475712,1.36277021094e-05,1793239466333517568
+38,0.633333333,BASELINE,766,745,715,679,662,636,879,787,804,652,631.049959147,653,0.400980541002,-0.00535843080071,0.0698377639051,0.999999942231,0.000213109658647,-0.000264444716826,1.38059527531e-05,1793239466350184192
+39,0.650000000,BASELINE,766,745,715,679,662,636,879,787,804,652,631.628990216,653,0.400980489142,-0.00535779752365,0.0698383185426,0.999999942345,0.000213202220726,-0.000263936338047,1.38358321377e-05,1793239466366850816
+40,0.666666667,BASELINE,766,745,715,679.207145291,661.792854709,636,879,787.207145291,804,652,631.792854709,653,0.400980504205,-0.00535717775198,0.0698382707538,0.999999942247,0.000213691465203,-0.00026391867207,1.37734682719e-05,1793239466383517440
+41,0.683333333,BASELINE,766,745,715,679.783737982,661.216262018,636,879,787.783737982,804,652,631.216262018,653,0.400980638628,-0.00535658206743,0.0698371485267,0.999999941767,0.000214888199952,-0.000264776201341,1.35465868876e-05,1793239466400184064
+42,0.700000000,BASELINE,766,745,715,679.640163583,661.359836417,636,879.359836417,788,804,652,631.359836417,652.640163583,0.400980524952,-0.00535648273218,0.0698371264132,0.999999941641,0.000214998986836,-0.000265158487656,1.35490202394e-05,1793239466416850432
+43,0.716666667,BASELINE,766,745,715,679.064361808,661.935638192,636,879.935638192,788,804,652,631.935638192,652.064361808,0.400980262373,-0.00535668129411,0.0698377645622,0.99999994173,0.000214458013304,-0.000265255544294,1.36890829121e-05,1793239466433517056
+44,0.733333333,BASELINE,766,745,715,679,661.475724002,636,879.475724002,787.475724002,804,652,631.475724002,652.524275998,0.400980309225,-0.00535674303959,0.0698375133458,0.99999994207,0.000212850727623,-0.000265281027651,1.344893184e-05,1793239466450183936
+45,0.750000000,BASELINE,766,745,715,679,661,636,879,787,804,652,631,653,0.400980453084,-0.00535697881561,0.0698373011727,0.999999942403,0.000211413645942,-0.000265183365482,1.32934668476e-05,1793239466466850304
+46,0.766666667,BASELINE,766,745,715,679,661,636,879,787,804,652,631,653,0.400980838135,-0.00535800898582,0.0698377160678,0.999999942585,0.000211240934225,-0.000264611602372,1.3688512421e-05,1793239466483516928
+47,0.783333333,BASELINE,766,745,715,679.266166164,661.266166164,636,879.266166164,787,804,652,631,653,0.400981176432,-0.0053587644401,0.0698380292048,0.999999942767,0.000211102868497,-0.000264018176533,1.39944558047e-05,1793239466500183808
+48,0.800000000,BASELINE,766,745,715,679.841700404,661.841700404,636,879.841700404,787,804,652,631,653,0.40098146039,-0.00535920058893,0.0698382240675,0.999999942948,0.00021100507219,-0.000263399571773,1.41968347119e-05,1793239466516850432
+49,0.816666667,BASELINE,765.573254574,745,715,679.573254574,662,636,880,787,804,652,631.426745426,652.573254574,0.400981258117,-0.00535939356524,0.0698383006172,0.99999994255,0.000212883025048,-0.000263399328177,1.42185456327e-05,1793239466533517056
+50,0.833333333,BASELINE,765.015160958,745,715,679,662,636,879.984839042,787,803.984839042,652,632,652,0.40098088094,-0.0053594404021,0.0698383341783,0.999999941946,0.000215421423694,-0.000263630064013,1.41607119188e-05,1793239466550183680
+51,0.850000000,BASELINE,765.594721578,745,715,679,662,636,879.405278422,787,803.405278422,652,632,652,0.400980860092,-0.00535748146258,0.0698384384587,0.999999942095,0.000214640761152,-0.000263725742588,1.36934213591e-05,1793239466566850304
+52,0.866666667,BASELINE,766.17316295,745,715,679.17316295,662,636,879,787,803,652,632,652.17316295,0.400980425319,-0.00535650094169,0.0698381171795,0.999999942121,0.000213866208835,-0.000264271581883,1.34170217882e-05,1793239466583517184
+53,0.883333333,BASELINE,766.749001574,745,715,679.749001574,662,636,879,787,803,652,632,652.749001574,0.400979028002,-0.00535779565,0.0698368062978,0.999999941859,0.000213105865377,-0.000265864231543,1.35845229611e-05,1793239466600183808
+54,0.900000000,BASELINE,766.676244862,745,715,679.676244862,662,636,879,787,803.323755138,652,631.676244862,652.676244862,0.400978144265,-0.00535810180311,0.0698362039935,0.999999941641,0.000212856003974,-0.000266878829534,1.3628190485e-05,1793239466616850432
+55,0.916666667,BASELINE,766.102329732,745,715,679.102329732,662,636,879,787,803.897670268,652,631.102329732,652.102329732,0.400977657362,-0.00535764411666,0.0698361491947,0.999999941459,0.000213000583257,-0.00026744677693,1.35761738831e-05,1793239466633517056
+56,0.933333333,BASELINE,766,745.486833646,715,679,662,636,879,787.486833646,804,652,631,652.486833646,0.400978842183,-0.00535760677215,0.0698370797462,0.999999941836,0.000212913927731,-0.00026609862347,1.36544536555e-05,1793239466650183680
+57,0.950000000,BASELINE,766,746,715,679.077317,662,636,879,788,804,652,631.077317,653,0.400980112492,-0.00535769982101,0.0698379180955,0.99999994227,0.000212611361772,-0.000264706254548,1.36931011807e-05,1793239466666850560
+58,0.966666667,BASELINE,766,746,715,679.654931391,662,636,879,788,804,652,631.654931391,653,0.40097958872,-0.00535804641248,0.0698367763093,0.999999942298,0.000211236372199,-0.000265718156859,1.32923513623e-05,1793239466683517184
+59,0.983333333,BASELINE,766,745.768766214,715,679.768766214,662,636,879.231233786,788,804,652,631.768766214,653,0.400979522198,-0.00535848147237,0.0698364014281,0.999999942417,0.000210342241637,-0.000265982240419,1.32164937066e-05,1793239466700183808
+60,1.000000000,BASELINE,766,745.194410571,715,679.194410571,662,636,879.805589429,788,804,652,631.194410571,653,0.400980134177,-0.00535904780831,0.0698371645373,0.999999942675,0.000210161645168,-0.000265136655148,1.3622735103e-05,1793239466716850432
+61,1.016666667,BASELINE,766,745.381034667,715,679,662,636,879.618965333,787.618965333,803.618965333,652,631,653,0.400980509007,-0.00535926880931,0.0698377192757,0.999999942761,0.000210535759802,-0.000264495735642,1.39343299959e-05,1793239466733517312
+62,1.033333333,BASELINE,766,745.957037395,715,679,662,636,879.042962605,787.042962605,803.042962605,652,631,653,0.400980762493,-0.00535931310907,0.0698381673948,0.999999942761,0.000211193709377,-0.000263959539694,1.41974960814e-05,1793239466750183936
+63,1.050000000,BASELINE,766,745.453554974,715,679,662,636,879,787,803.546445026,652,631,653,0.400980261267,-0.00535880890366,0.0698375222729,0.999999942718,0.000210566034385,-0.000264647074457,1.37358415689e-05,1793239466766850560
+64,1.066666667,BASELINE,766,745,715,679,662,636,879,787.134531348,804,652,631,653,0.400979993091,-0.00535833509275,0.0698371390975,0.999999942617,0.000210716409237,-0.000264921170377,1.34484158505e-05,1793239466783517184
+65,1.083333333,BASELINE,766,745,715,679,662,636,879,787.714662534,804,652,631,653,0.400980698308,-0.00535810838672,0.0698379154066,0.999999942335,0.000213787085449,-0.000263499166738,1.39315781784e-05,1793239466800183808
+66,1.100000000,BASELINE,766,745,715,679,662,636,879,788,804,652,631.290940335,653,0.400980736437,-0.00535795190132,0.0698381282878,0.999999942068,0.000215189946279,-0.000263363772477,1.403419212e-05,1793239466816850432
+67,1.116666667,BASELINE,766,745,715,679,662,636,879,788,804,652,631.863488325,653,0.400980128877,-0.00535786338408,0.0698377958146,0.999999941824,0.000214978491143,-0.000264473716281,1.37684647434e-05,1793239466833517056
+68,1.133333333,BASELINE,766,745,715.448873082,679,661.551126918,635.551126918,879,787.551126918,804,652,632,653,0.400980268021,-0.00535792503074,0.0698373816136,0.99999994186,0.000214658809798,-0.000264603158758,1.36389240088e-05,1793239466850183680
+69,1.150000000,BASELINE,766,745,715.962352139,679.037647861,661,635.037647861,879.037647861,787,804,652,631.962352139,653,0.400980639918,-0.00535800498914,0.0698370040266,0.999999941976,0.000214373402161,-0.000264402679788,1.35689928845e-05,1793239466866850560
+70,1.166666667,BASELINE,766,745,715.382632344,679.617367656,661,635.617367656,879.617367656,787,804,652,631.382632344,653,0.400980997119,-0.00535767170091,0.0698375220368,0.999999941964,0.0002150693453,-0.000263871728843,1.37434486888e-05,1793239466883517184
+71,1.183333333,BASELINE,766,745.196274525,715,679.803725475,661,636,879.803725475,787,804,652,631.196274525,653,0.40098083522,-0.00535728954714,0.0698375622288,0.999999941814,0.000215503117383,-0.00026408968916,1.36815785204e-05,1793239466900183552
+72,1.200000000,BASELINE,766,745.773603256,715,679.226396744,661,636,879.226396744,787,804,652,631.773603256,653,0.400979665523,-0.00535681252405,0.0698366747682,0.999999941394,0.000215427901564,-0.000265761611812,1.31608969019e-05,1793239466916850176
+73,1.216666667,BASELINE,766,745.650998495,715,679.349001505,661.349001505,636,879,787.349001505,804,652,632,653,0.400979916436,-0.00535649067736,0.0698370575446,0.999999941657,0.000214649716484,-0.000265408438258,1.30250270535e-05,1793239466933520640
+74,1.233333333,BASELINE,766,745.076845693,715,679.923154307,661.923154307,636,879,787.923154307,804,652,632,653,0.400981083827,-0.00535626893964,0.069838259789,0.999999942358,0.000213418024936,-0.000263748814541,1.31374108059e-05,1793239466950193408
+75,1.250000000,BASELINE,765.488624564,745,715,679.488624564,661.488624564,636,879,787.488624564,803.488624564,652,631.488624564,652.488624564,0.400980050789,-0.00535778135272,0.0698378794921,0.999999942333,0.000212367805735,-0.000264681737634,1.33146908851e-05,1793239466966855936
+76,1.266666667,BASELINE,765.099543522,745,715,679,661.099543522,636,879,787,803.099543522,652,631.099543522,652,0.400978873848,-0.00535898072741,0.0698372591624,0.999999942144,0.000211789428041,-0.000265850342168,1.3422659542e-05,1793239466983517440
+77,1.283333333,BASELINE,765.677019565,745,715,679,661.677019565,636,879,787,803.677019565,652,631.677019565,652,0.4009786385,-0.0053573905535,0.0698366604733,0.999999941718,0.000213341840241,-0.000266227086169,1.31497003739e-05,1793239467000184320
+78,1.300000000,BASELINE,766,745,715,679,661.747122434,636,879,787,804,652,632,652.252877566,0.40097849393,-0.0053570251065,0.0698365200271,0.999999941632,0.000213741561561,-0.000266227189014,1.31475178438e-05,1793239467016851200
+79,1.316666667,BASELINE,766,745,715,679,661.173317933,636,879,787,804,652,632,652.826682067,0.400978464566,-0.00535821396058,0.069836961137,0.999999941982,0.0002126784027,-0.000265749296516,1.34889779817e-05,1793239467033518080
+80,1.333333333,BASELINE,766,745,715,679,661.798552904,636,879,787.399276452,804,652,631.600723548,653,0.40097884233,-0.00535915901621,0.0698373591189,0.999999942423,0.00021127217725,-0.000265204541334,1.35609229809e-05,1793239467050184704
+81,1.350000000,BASELINE,766,745,715,679,662.942694371,636,879,787.971347186,804,652,631.028652814,653,0.400979396286,-0.00535999856365,0.0698377384363,0.999999942903,0.000209717483286,-0.000264630850045,1.35162303398e-05,1793239467066851072
+82,1.366666667,BASELINE,766,745.566311145,715,679,662.433688855,636,879,788,804,652.566311145,631.566311145,653,0.400980731318,-0.00535822285504,0.0698379678566,0.999999942648,0.000211698360232,-0.000264027613146,1.33164250806e-05,1793239467083517440
+83,1.383333333,BASELINE,766,745.84274906,715.15725094,679,661.84274906,636,879,787.84274906,803.84274906,652.84274906,631.84274906,653,0.400981342605,-0.00535681533668,0.0698380257055,0.999999942401,0.000213135217607,-0.000263812435793,1.32008073385e-05,1793239467100183808
+84,1.400000000,BASELINE,766,745.265772129,715.734227871,679,661.265772129,636,879,787.265772129,803.265772129,652.265772129,631.265772129,653,0.400979912184,-0.00535675863336,0.0698376467013,0.999999942291,0.000212622423896,-0.00026463720471,1.33317284381e-05,1793239467116850432
+85,1.416666667,BASELINE,765.69147774,745,715.69147774,679.30852226,661.30852226,636,879.30852226,787.61704452,803.30852226,652,631.30852226,653,0.400979504143,-0.00535710934324,0.0698379248958,0.999999942191,0.000213181064726,-0.000264555922512,1.35145024927e-05,1793239467133517056
+86,1.433333333,BASELINE,765.119474305,745,715.119474305,679.880525695,661.880525695,636,879.880525695,788.76105139,803.880525695,652,631.880525695,653,0.400979969224,-0.00535780798817,0.0698387643448,0.999999942098,0.000214654721676,-0.000263700863319,1.37415594949e-05,1793239467150183680
+87,1.450000000,BASELINE,765.435031773,745,715,679.564968227,662,636,880,788.564968227,804,652,631.564968227,653,0.400979513737,-0.00535847400322,0.0698379975827,0.999999942237,0.00021296788623,-0.000264547792588,1.36339871252e-05,1793239467166850560
+88,1.466666667,BASELINE,765.984918285,745,715,679.015081715,662,636,880,788.015081715,804,652,631.015081715,653,0.400978815205,-0.00535913140349,0.0698368067572,0.999999942429,0.000210446634633,-0.000265844071665,1.3438067713e-05,1793239467183517440
+89,1.483333333,BASELINE,766,745,715,679,662,636,879.417546432,788,804,652,631,653,0.400979314153,-0.00535860246849,0.0698375846624,0.999999942456,0.000211333111365,-0.000265041826814,1.33800185276e-05,1793239467200184064
+90,1.500000000,BASELINE,766,745,715,679.182372818,661.817627182,636,879,787.817627182,804,652.182372818,631.182372818,653,0.400979558265,-0.00535823803047,0.0698381966295,0.999999942408,0.000212280210416,-0.000264465594895,1.33664641482e-05,1793239467216850432
+91,1.516666667,BASELINE,766,745,715,679.784687325,661.215312675,636,879,787.215312675,804,652.784687325,631.784687325,653,0.400979137822,-0.00535832940796,0.0698382986568,0.999999942202,0.000213145617986,-0.000264546062281,1.344641325e-05,1793239467233517056
+92,1.533333333,BASELINE,766,745,715,680,661,636,879,787.366732004,804,653,631.633267996,653,0.400979664124,-0.00535806222311,0.0698380915269,0.999999942269,0.000213053284419,-0.000264371968405,1.33044924931e-05,1793239467250183680
+93,1.550000000,BASELINE,766,745,715,680,661,636,879,787.937499396,804,653,631.062500604,653,0.400980717157,-0.00535759554815,0.0698377123939,0.999999942489,0.000212428101104,-0.000264056246576,1.30391320041e-05,1793239467266850304
+94,1.566666667,BASELINE,766,745.531549896,715,679.468450104,661.531549896,636,879.531549896,787.468450104,804,652.468450104,631.531549896,653,0.400981284577,-0.00535857761403,0.0698386713844,0.999999942853,0.000212600406584,-0.000262517951553,1.3377593448e-05,1793239467283517440
+95,1.583333333,BASELINE,766,745.876010169,715.123989831,679,662,635.876010169,879.876010169,787.123989831,804,652,632,653,0.400981771264,-0.00535938032873,0.0698396115051,0.999999943171,0.000212718940683,-0.000261192486168,1.37111775117e-05,1793239467300184576
+96,1.600000000,BASELINE,766,745.2998835,715.7001165,679,662,635.2998835,879.2998835,787.7001165,804,652,632,653,0.400982181307,-0.00535887939684,0.0698398827874,0.999999943263,0.000212283791304,-0.000261191332496,1.37562155868e-05,1793239467316851456
+97,1.616666667,BASELINE,766,745.275989006,715.724010994,679,662,635.275989006,879.275989006,787.724010994,804,652,631.724010994,653,0.400981058585,-0.00535789127299,0.0698389493277,0.99999994261,0.000213296901918,-0.000262871596088,1.35441482166e-05,1793239467333518080
+98,1.633333333,BASELINE,766,745.851585564,715.148414436,679,662,635.851585564,879.851585564,787.148414436,804,652,631.148414436,653,0.400978271926,-0.00535637426437,0.0698367080267,0.999999941134,0.00021588221153,-0.00026637716902,1.30529728664e-05,1793239467350184448
+99,1.650000000,BASELINE,766,745.561660227,715,679.438339773,661.561660227,636,879.561660227,787,803.561660227,652,631,653,0.400976915391,-0.00535665726111,0.0698356141598,0.999999940891,0.000215053199455,-0.000267950510801,1.31305834424e-05,1793239467366850816
+100,1.666666667,BASELINE,765.971593206,745,715,680,661.028406794,636,879,787,803.028406794,652,631,653,0.40097618439,-0.00535765773433,0.06983502323,0.999999941128,0.000212997670811,-0.000268695413541,1.34008010776e-05,1793239467383517184
+101,1.683333333,BASELINE,765.392453703,745,715,680,661.607546297,636,879,787,803.607546297,652,631,653,0.400977947981,-0.00536044391407,0.0698364541678,0.999999942341,0.000210161017631,-0.000266393970624,1.35739985341e-05,1793239467400183808
+102,1.700000000,BASELINE,765.185569772,745,715.185569772,679.814430228,662,636,879,787,803.814430228,652.185569772,631,653,0.400979584077,-0.00536144991395,0.0698376868519,0.99999994304,0.000209582362293,-0.000264214404766,1.36332107703e-05,1793239467416850688
+103,1.716666667,BASELINE,765.761247044,745,715.761247044,679.238752956,662,636,879,787,803.238752956,652.761247044,631,653,0.400980952153,-0.0053587135932,0.0698385027638,0.999999942667,0.000213750503531,-0.000262291050943,1.34528015806e-05,1793239467433517312
+104,1.733333333,BASELINE,766,745,715.666826233,679,661.666826233,635.666826233,879,787,803.333173767,652.666826233,631.333173767,653,0.400980118488,-0.0053575360689,0.0698379295546,0.999999942053,0.000214983769833,-0.000263630694459,1.32507018683e-05,1793239467450184192
+105,1.750000000,BASELINE,766,745,715.097557183,679,661.097557183,635.097557183,879,787,803.902442817,652.097557183,631.902442817,653,0.400977724616,-0.00535746314654,0.0698363719795,0.999999941268,0.000214137310623,-0.000267282579476,1.30332316893e-05,1793239467466851328
+106,1.766666667,BASELINE,766,745,715,678.506897512,661,635.493102488,878.506897512,787,804,652,631.506897512,652.506897512,0.400977795325,-0.00535787485992,0.0698365693682,0.999999941432,0.000213877988878,-0.000266863108844,1.32583863875e-05,1793239467483517952
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,880,788,803,652,632,653,0.400979116658,-0.0053592964934,0.0698369497799,0.999999942827,0.000209575803151,-0.000265065764745,1.28305854069e-05,1793239467527476480
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.406413251,715,679.406413251,661.406413251,635.593586749,879.406413251,788,803.593586749,652,632,653,0.400980320053,-0.00535793175568,0.0698381238288,0.999999942817,0.000212065509779,-0.000263106655986,1.29659230865e-05,1793239467544143360
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.185284657,636,879,788,803.814715343,652,632,653,0.400981006766,-0.00535696028947,0.0698386558619,0.99999994274,0.000213620943248,-0.000262138775484,1.30487210661e-05,1793239467560810240
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.772881405,636,879,788,803.227118595,652,632,653,0.400980571599,-0.00535684274086,0.069837793874,0.99999994253,0.00021314777217,-0.000263323167318,1.30174386251e-05,1793239467577476352
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.356147384,662,635.643852616,879,788,803.356147384,652,631.643852616,653,0.400980869062,-0.00535782084734,0.0698386503869,0.999999942728,0.000212969334438,-0.000262695277389,1.34130262795e-05,1793239467594143488
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.936684736,662,635.063315264,879,788,803.936684736,652,631.063315264,653,0.400981628116,-0.00535948926919,0.0698405896378,0.99999994318,0.000212976592909,-0.000260925562781,1.40775626109e-05,1793239467610810880
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.485885643,662,635.514114357,879.514114357,787.485885643,803.485885643,652,631.514114357,653,0.400981413883,-0.00535874680493,0.0698399554343,0.999999942872,0.000213910989013,-0.000261352449591,1.38972776765e-05,1793239467627477248
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,744.908956689,715,678.908956689,662,636,879.908956689,787,803.091043311,651.908956689,632,652.908956689,0.400981093265,-0.00535800377644,0.0698390656913,0.999999942529,0.000214441804717,-0.000262240862376,1.36421915175e-05,1793239467644143360
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,744.332668597,715,678.332668597,662,636,879.332668597,787,803.667331403,651.332668597,632,652.332668597,0.400980840654,-0.00535883071232,0.0698384930063,0.999999942501,0.000212216701358,-0.000264155964612,1.35396278065e-05,1793239467660809728
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.248190342,715,678.248190342,662,636,879,787,804,651.248190342,632,652,0.400986286257,-0.00535929099414,0.0698411283245,0.999999943492,0.000211919042907,-0.000260612238508,1.36900755667e-05,1793239467677476352
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.835290838,715,678.835290838,662,636,879,787,804,651.835290838,632,652,0.400999512914,-0.00535925060056,0.0698481442517,0.999999945793,0.000214253359121,-0.000249614344842,1.41860168614e-05,1793239467694142976
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.417713608,661.582286392,636,879,787.417713608,804,652,631.582286392,652.417713608,0.401029013782,-0.00536106746945,0.0698610729025,0.999999951429,0.000211917279808,-0.000228071865561,1.46763629939e-05,1793239467710809600
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.998312374,661.001687626,636,879,787.998312374,804,652,631.001687626,652.998312374,0.401064860691,-0.00536360856777,0.0698763071883,0.999999957816,0.000207760005154,-0.000202417581233,1.51645273563e-05,1793239467727476224
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.429244878,661.570755122,636,879,788,804,652,631,652.429244878,0.401124774211,-0.00536352631079,0.0698957790675,0.999999963423,0.000209451717934,-0.000170417862832,1.5535496572e-05,1793239467744143360
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.852588199,745,715,679,662,636,879.147411801,788,803.852588199,652,631,652.147411801,0.401185742572,-0.00536436543392,0.0699123755124,0.999999967425,0.000209891885451,-0.00014438794209,1.57227512523e-05,1793239467760810496
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.26322647,745,715,679,662,636,879.73677353,788,803.26322647,652,631,652.73677353,0.401249663094,-0.0053679898408,0.0699203141916,0.999999969265,0.000206528722446,-0.000136311304403,1.53602425052e-05,1793239467777477376
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.321265805,745,715,679,661.678734195,636,880,788,803.321265805,652,631.321265805,653,0.401326158549,-0.00536910596327,0.0699256639199,0.999999970378,0.000206205450468,-0.000128532395575,1.42385632276e-05,1793239467794143744
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.901827868,745,715,679,661.098172132,636,880,788,803.901827868,652,631.901827868,653,0.401412803332,-0.00536819762864,0.0699289240843,0.9999999709,0.000208335699608,-0.000120993786629,1.25041512258e-05,1793239467810809856
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715.479324925,679,661.479324925,636,880,787.520675075,803.520675075,652,631.520675075,653,0.401508202641,-0.00537031984756,0.0699255221773,0.999999971065,0.000204369684514,-0.000126497875119,1.00677282021e-05,1793239467827476480
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,716,679.055933789,662,636,879.944066211,787.055933789,803.055933789,652,631,653,0.40160860408,-0.00537281715885,0.0699214134591,0.999999971086,0.000199736419931,-0.000133710583337,7.46920131468e-06,1793239467844143104
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,716,679.630092762,662,636,879.369907238,787.630092762,803.630092762,652,631,653,0.401738843188,-0.00537307548166,0.0699233177117,0.999999971172,0.000200415815755,-0.00013216116852,4.69245129656e-06,1793239467860809984
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.20974449,715.79025551,679.79025551,661.79025551,636,879,788,803.79025551,652,631.20974449,652.79025551,0.401880265327,-0.00537530462392,0.0699259258588,0.999999972105,0.000198213761716,-0.000128444144172,1.67562686637e-06,1793239467877476864
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.799343734,715.200656266,679.200656266,661.200656266,636,879,788,803.200656266,652,631.799343734,652.200656266,0.40204194032,-0.00538110299047,0.0699298087835,0.999999974501,0.000190793299118,-0.000120801501813,-1.77598058472e-06,1793239467894143744
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.383059983,745.616940017,715,679,661.383059983,635.616940017,879,787.616940017,803.383059983,652,631.616940017,652.383059983,0.402232295087,-0.00538404332338,0.0699351490313,0.999999976478,0.000186468961599,-0.000110643681354,-5.67925415101e-06,1793239467910810368
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.963741241,745.036258759,715,679,661.963741241,635.036258759,879,787.036258759,803.963741241,652,631.036258759,652.963741241,0.40243744581,-0.00538550919258,0.069941241115,0.999999978152,0.000183741919399,-9.91882756817e-05,-9.81554332074e-06,1793239467927477248
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.460848008,745,715,679.539151992,662,635.539151992,879,787.539151992,804,652,631,653,0.402660098579,-0.00538845905998,0.0699408293539,0.999999979182,0.000178342360388,-9.8030569092e-05,-1.48334730459e-05,1793239467944143872
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.88620361,745,715,679.88620361,662,636,879,787.88620361,804,652,631.11379639,652.88620361,0.402892304572,-0.00539176863093,0.0699407099551,0.999999980298,0.000172577961468,-9.60422433859e-05,-1.99056830824e-05,1793239467960810240
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.313234933,745,715,679.313234933,662,636,879,787.313234933,804,652,631.686765067,652.313234933,0.403158354809,-0.00539613081678,0.0699435180571,0.999999982034,0.00016605961801,-8.79349902477e-05,-2.49599899707e-05,1793239467977476864
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.269169976,745,715,679.269169976,662,636,878.730830024,787,804,652,631.730830024,652.269169976,0.403447431049,-0.00540084446236,0.0699508627649,0.999999984234,0.000159312746893,-7.25528267475e-05,-2.9787165482e-05,1793239467994143488
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.862954801,745,715,679.862954801,662,636,878.137045199,787,804,652,631.137045199,652.862954801,0.403764276276,-0.00540598196269,0.0699636785492,0.999999986643,0.000152290275269,-4.83972337285e-05,-3.43404237333e-05,1793239468010810112
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.443643756,680,662,636,878.443643756,787,804,652,631.443643756,653,0.404103253728,-0.00541268556835,0.0699677313873,0.999999993575,9.6624755367e-05,-4.58945105793e-05,-3.75206081164e-05,1793239468027476736
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.979621,679.979621,662,636,879.020379,787,804,652,631.979621,653,0.404450245915,-0.00541967358653,0.0699692217183,0.99999999751,3.05628692104e-05,-4.94736712165e-05,-3.99672859292e-05,1793239468044143360
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715.403547614,679.403547614,662,636,879.596452386,787,804,652,631.403547614,653,0.404834702803,-0.00542160342221,0.0699725342057,0.999999995443,7.90000977975e-05,-4.17343789744e-05,-3.36469193394e-05,1793239468060810240
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.176516607,679.176516607,662,636,879.823483393,787.176516607,804,652,631,653,0.405226153376,-0.00542493961756,0.0699757475747,0.999999992944,0.000109390917885,-3.48641727018e-05,-3.05013026659e-05,1793239468077477120
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.765915539,679.765915539,662,636,879.234084461,787.765915539,804,652,631,653,0.405633962521,-0.00543156536739,0.0699787290996,0.999999994184,9.75701616766e-05,-3.0026808936e-05,-3.47816066024e-05,1793239468094143488
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.349399477,716,679.650600523,662,636,879,787.650600523,804,652,631.349399477,652.650600523,0.406067350784,-0.00543930694233,0.0699750703234,0.999999995379,8.12899410037e-05,-3.53924135693e-05,-3.71744924741e-05,1793239468110809856
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.92898662,716,679.07101338,662,636,879,787.07101338,804,652,631.92898662,652.07101338,0.406517590851,-0.00544778363402,0.0699670368544,0.999999996212,6.20717819417e-05,-4.74798293767e-05,-3.83239299637e-05,1793239468127476480
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.49465208,715.49465208,679.50534792,662,636,879,787,804,652,631.49465208,652.50534792,0.40700626148,-0.00546565601602,0.0699499691094,0.999999995792,4.57472806069e-05,-7.08103682766e-05,-3.61946864082e-05,1793239468144143104
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.919529448,745,715,680,661.919529448,636,879,787,804,652,631.080470552,652.919529448,0.407509032454,-0.0054855228518,0.0699354161592,0.999999995035,2.713258839e-05,-8.96641980984e-05,-3.3962234118e-05,1793239468160809984
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.349204851,745,715,680,661.349204851,636,879,787,804,652,631.650795149,652.349204851,0.408064971902,-0.00550954439228,0.0699438507709,0.999999996824,-7.88294253781e-06,-7.1710063832e-05,-3.38883708772e-05,1793239468177476608
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.22940196,745,715,680,661.22940196,636,879,787,804.22940196,652,631.77059804,652.22940196,0.408637300115,-0.00552309854919,0.0699545793178,0.999999997853,-2.69750333828e-05,-4.87095885405e-05,-3.45507204672e-05,1793239468194143488
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.821088475,745,715,680,661.821088475,636,879,787,804.821088475,652,631.178911525,652.821088475,0.40923551036,-0.00552012202019,0.0699689305766,0.999999998962,-2.09199245096e-05,-1.77396471233e-05,-3.63757390665e-05,1793239468210810368
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.594491304,662,636,879.405508696,787.405508696,804.594491304,652,631,652.594491304,0.40983426671,-0.00552408027856,0.0699650792248,0.999999998814,-2.16678108921e-05,-2.26806381287e-05,-3.72628912091e-05,1793239468227476992
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.013220572,662,636,879.986779428,787.986779428,804.013220572,652,631,652.013220572,0.410433259746,-0.00553104432298,0.0699533382074,0.999999998033,-2.5364359966e-05,-4.31867181211e-05,-3.77435382864e-05,1793239468244143360
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715.560639267,679,662,636,879.439360733,788,804,652,631,652,0.411088814999,-0.00554138769427,0.0699496342102,0.999999996942,-4.2535501118e-05,-5.27986925268e-05,-3.89836776651e-05,1793239468260809984
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.862172452,679,662,636,879.137827548,788,804,652,631,652.137827548,0.411758873168,-0.00555034118214,0.0699534274374,0.999999996369,-5.76184508331e-05,-4.83522509268e-05,-4.00434653364e-05,1793239468277476864
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.273533347,679,662,636,879.726466653,788,804,652,631,652.726466653,0.412472062141,-0.00555449133616,0.069981131059,0.999999997078,-6.48455192981e-05,1.24768663708e-06,-4.0455535828e-05,1793239468294143488
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.689600496,745.310399504,715,679,662,636,880,787.689600496,804,651.689600496,631,653,0.413204154515,-0.00555129166932,0.0700082943631,0.999999996189,-6.35734225544e-05,4.48894641605e-05,-3.95540253325e-05,1793239468310810112
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.10975293,745.89024707,715,679,662,636,880,787.10975293,804,651.10975293,631,653,0.413952656416,-0.00554171185429,0.0700349886377,0.999999994314,-5.49234682705e-05,8.33591556196e-05,-3.7512236502e-05,1793239468327476480
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.46762643,745.53237357,715,679.46762643,662,636,880,787.46762643,804.46762643,651.46762643,631,653,0.414665845262,-0.00551356423634,0.0700161692493,0.999999998106,-1.67408585359e-05,4.44030653921e-05,-3.91918845786e-05,1793239468344143616
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.044269953,787.955730047,804.955730047,652,631.044269953,653,0.415374687112,-0.00548421204069,0.0699855223443,0.999999998759,2.35514300054e-05,-1.32909594951e-05,-4.18424982205e-05,1793239468360810752
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.619001693,787.380998307,804.380998307,652,631.619001693,653,0.416130231503,-0.00549237016703,0.0699404791463,0.99999999582,6.50413671369e-06,-7.89095850664e-05,-4.57167883065e-05,1793239468377477120
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.800884431,787,804.199115569,652,631.800884431,653,0.416907061208,-0.00550227907643,0.069918634327,0.999999992699,-1.17386301983e-05,-0.000110164292849,-4.82393535094e-05,1793239468394143744
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.210186025,787,804.789813975,652,631.210186025,653,0.417725750798,-0.00551563109429,0.0699424116938,0.999999995594,-3.23324274392e-05,-7.38385435147e-05,-4.81036019449e-05,1793239468410810112
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,787,804.626722322,652,631,653,0.418555079206,-0.00552299954776,0.0699679822568,0.999999997362,-4.09948293137e-05,-3.68600137159e-05,-4.72870022965e-05,1793239468427476736
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880,787,804.047254917,652,631,653,0.419390284217,-0.00552706282187,0.0699945433379,0.99999999801,-4.30666109591e-05,4.79095315101e-07,-4.60943183125e-05,1793239468444143104
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.47294263,662,636,880,787.52705737,804,652,631,653,0.42025340027,-0.00552739547498,0.070014942273,0.999999997282,-4.39830027807e-05,3.67163023203e-05,-4.64146972164e-05,1793239468460809728
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679.101350589,662,636,880,787.898649411,804,651.898649411,631,653,0.421118829394,-0.00552599808669,0.0700308756116,0.999999995889,-4.35601693155e-05,6.41189495997e-05,-4.70409232609e-05,1793239468477476608
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.677699459,662,636,880,787.322300541,804,651.322300541,631,653,0.421983484295,-0.00551804495808,0.0700284443456,0.999999996849,-3.73415997413e-05,5.05753211152e-05,-4.84709296413e-05,1793239468494143744
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715.261128118,680,662,636,880,787.261128118,804,651.261128118,631,653,0.422800640589,-0.00551289813118,0.0699968889945,0.999999998125,-3.37919034078e-05,-6.01015346498e-06,-5.07108245812e-05,1793239468510810624
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715.853538692,680,662,636,880,787.853538692,804,651.853538692,631,653,0.423557537477,-0.00551131154225,0.0699283851196,0.99999999111,-3.36280951504e-05,-0.00011720104194,-5.39781914368e-05,1793239468527476992
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.435004241,715.564995759,680,662,636,880,788,804,652,631.435004241,653,0.424375903682,-0.00551542769849,0.069885022806,0.999999982431,-4.6267335239e-05,-0.000171747825632,-5.91589419563e-05,1793239468544143360
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.987255878,715,680.012744122,662,636,880,787.987255878,804.012744122,652,632,652.987255878,0.425216344016,-0.00552142759378,0.0698520737266,0.999999974933,-6.28547764246e-05,-0.000204924572406,-6.47229119618e-05,1793239468560810240
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.415264777,715,680.584735223,662,636,880,787.415264777,804.584735223,652,632,652.415264777,0.42613954991,-0.00552790185946,0.0699137398318,0.999999989095,-6.81796636589e-05,-0.000116693511273,-5.95274899286e-05,1793239468577476608
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.837899925,745,715,681,662.162100075,636,880.162100075,787.162100075,804.837899925,652,631.837899925,652.162100075,0.427059287086,-0.00553210297917,0.0699699723266,0.999999995258,-7.05580474185e-05,-3.80833180015e-05,-5.5268636518e-05,1793239468594143232
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.246296727,745,715,681,662.753703273,636,880.753703273,787.753703273,804.246296727,652,631.246296727,652.753703273,0.427969833432,-0.00553028113218,0.0700118078312,0.999999996335,-6.512932613e-05,1.50352525818e-05,-5.34913325657e-05,1793239468610809856
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.338327026,745,715,680.661672974,662.661672974,636,881,787.661672974,804.338327026,651.661672974,631,652.661672974,0.428870166521,-0.00553084880928,0.0700383866185,0.999999995044,-6.24034668849e-05,5.71201654561e-05,-5.24964339221e-05,1793239468627476736
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.917972524,745,715,680.082027476,662.082027476,636,881,787.082027476,804.917972524,651.082027476,631,652.082027476,0.429763214762,-0.00553312086199,0.0700540832472,0.999999992576,-6.1605477958e-05,9.13351004774e-05,-5.20596015131e-05,1793239468644143616
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.505480609,787,804.505480609,651,631,652.494519391,0.430568598894,-0.0055338880089,0.0700234612808,0.999999995649,-6.47594389031e-05,3.98084357481e-05,-5.40751563661e-05,1793239468660810240
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.070132097,715,680.070132097,662,636,879.929867903,787.070132097,804,651.070132097,631,653,0.431353805642,-0.00553372331927,0.0699816471688,0.999999995644,-6.73335918636e-05,-3.11569758116e-05,-5.66328659892e-05,1793239468677476608
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.642711282,715,680.642711282,662,636,879.357288718,787.642711282,804,651.642711282,631,653,0.43209798342,-0.00552865991668,0.0699143498389,0.999999986505,-6.10867166015e-05,-0.000140129520786,-6.01785508763e-05,1793239468694143232
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662,636,879.22211852,788,804,652,631,652.77788148,0.432896692997,-0.00552763515316,0.069888323239,0.999999980603,-6.05232513303e-05,-0.000176867739573,-6.20383668848e-05,1793239468710809600
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662,636,879.812857454,788,804,652,631,652.187142546,0.43378590183,-0.00553331277821,0.0699307881417,0.999999991333,-6.93917815362e-05,-9.37283226225e-05,-6.11003729289e-05,1793239468727476224
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680.604097768,662.395902232,636,880,788,804.395902232,652,631.395902232,652.395902232,0.434644388049,-0.00553874992988,0.0699777534728,0.999999995167,-7.66358463165e-05,-1.78011701797e-05,-5.89512788218e-05,1793239468744143360
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680.024620706,662.975379294,636,880,788,804.975379294,652,631.975379294,652.975379294,0.43548862853,-0.00554407557676,0.0700268055927,0.999999993463,-8.31266664261e-05,5.47817419345e-05,-5.62406129032e-05,1793239468760810496
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680.55124284,662.44875716,636,880.55124284,788,804.44875716,652,632,652.44875716,0.436259799313,-0.00554523845269,0.0700276366034,0.99999999321,-8.37540018064e-05,5.82334942408e-05,-5.63376790285e-05,1793239468777477376
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.870654634,715,681,662.129345366,635.870654634,881,788,804.129345366,652,631.870654634,652.129345366,0.437017935738,-0.00554639689869,0.0700200776215,0.999999993557,-8.41946121079e-05,5.06315874877e-05,-5.68624521409e-05,1793239468794144512
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.284070481,715,681,662.715929519,635.284070481,881,788,804.715929519,652,631.284070481,652.715929519,0.437741457082,-0.00554819265686,0.0699904237888,0.999999994578,-8.48948909781e-05,1.47986582104e-05,-5.84587582555e-05,1793239468810810880
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663,635,880.701110135,788,805,652,631.298889865,653,0.438423055285,-0.0055482256822,0.0699463809988,0.999999993368,-8.51788548767e-05,-4.81441988735e-05,-6.0752888123e-05,1793239468827477248
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,681,663,635,880.1215527,788,805,652,631.8784473,653,0.439065286217,-0.00554660344242,0.0698888264989,0.99999998503,-8.50718846368e-05,-0.000136544181891,-6.37022974196e-05,1793239468844143616
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.454307909,715,681,662.545692091,635,880.454307909,787.545692091,804.545692091,652,631.545692091,652.545692091,0.439670575703,-0.00554172285305,0.0698327299703,0.999999968602,-7.72767980889e-05,-0.000229270951654,-6.52676526732e-05,1793239468860810240
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.971010756,745.971010756,715,681,662,635,881,787,804,651.971010756,631,652.028989244,0.440269091068,-0.00553615813096,0.0697806360014,0.999999945225,-6.79709714594e-05,-0.000317041985387,-6.64383862922e-05,1793239468877476608
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.400034882,745.400034882,715,681,662,635,881,787,804,651.400034882,631,652.599965118,0.440924254812,-0.00553397032585,0.0697961402001,0.999999953148,-6.85676937836e-05,-0.000290690836889,-6.70987404688e-05,1793239468894143232
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.17853454,745.17853454,714.82146546,681,662,635,881,787.17853454,804.17853454,651.17853454,631,653,0.441578421558,-0.0055345844726,0.0698171046245,0.999999961804,-7.12676244964e-05,-0.000258502727475,-6.70081039293e-05,1793239468910809856
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.774874449,745.774874449,714.225125551,681,662,635,881,787.774874449,804.774874449,651.774874449,631,653,0.442230255268,-0.00554175572841,0.0698508470364,0.999999972154,-7.88894699054e-05,-0.000212654994863,-6.51600039358e-05,1793239468927476480
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.639798115,714.360201885,681.360201885,662,635,881,787.639798115,805,652,631,653,0.442802587188,-0.00554593889825,0.0698471742669,0.999999969012,-7.98896219272e-05,-0.000226898315908,-6.41182289899e-05,1793239468944143104
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.061149306,714.938850694,681.938850694,662,635,881,787.061149306,805,652,631,653,0.443326704659,-0.00554830992226,0.0698208107999,0.999999956498,-7.68740016464e-05,-0.000277584274506,-6.35654554809e-05,1793239468960809728
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.513668753,714.486331247,681.486331247,661.486331247,634.486331247,880.486331247,787,805,652,631,652.486331247,0.443811432109,-0.00554810181823,0.069782248515,0.999999938164,-7.27753250598e-05,-0.000338282222782,-6.27730369258e-05,1793239468977476352
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.912168661,714.087831339,681,661,634,880,787,805,651.912168661,631,652.087831339,0.444288551315,-0.00554804335656,0.0697448432675,0.999999917476,-7.02819170286e-05,-0.000395224836354,-6.24947485708e-05,1793239468994143232
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.339126537,714.660873463,681,661,634,880,787,805,651.339126537,631,652.660873463,0.444749352692,-0.00555049515766,0.0697217929627,0.999999904617,-7.7363561191e-05,-0.000424886120911,-6.52131288254e-05,1793239469010809600
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,880,787,805,651.24346364,631,653,0.445210730513,-0.00555102919897,0.0697058688237,0.99999989609,-8.20267301764e-05,-0.00044334302292,-6.73714542879e-05,1793239469027476480
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,880,787,805,651.83989636,631,653,0.445672944012,-0.00554878290742,0.0697002760699,0.999999894919,-8.31836380858e-05,-0.000445556016396,-6.87178225137e-05,1793239469044143360
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.421318065,715,681.421318065,661,634,880.421318065,787,804.578681935,652,631,653,0.44608815001,-0.0055455313389,0.0696998078421,0.999999893392,-8.39224130844e-05,-0.000448886198816,-6.8364013699e-05,1793239469060809984
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.997231779,715,681.997231779,661,634,880.997231779,787,804.002768221,652,631,653,0.446486107427,-0.00554191090057,0.0697012199733,0.999999891723,-8.45077612684e-05,-0.000452626315291,-6.73863533418e-05,1793239469077476864
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745.42823603,715,682,660.42823603,634,881,786.42823603,804.57176397,652,631,653,0.446823799647,-0.00553841691889,0.0696888805868,0.999999879453,-7.14977254621e-05,-0.000481306485636,-6.57758495962e-05,1793239469094143488
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745.149907825,715,682,660,634,881,786,805,651.850092175,631,653,0.447150106397,-0.00553658918339,0.0696734980886,0.999999864703,-6.20959698705e-05,-0.000512346464018,-6.51087917278e-05,1793239469110809600
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.738643848,715,682,660,634,881,786,805,651.261356152,631,653,0.447443936373,-0.00553963729518,0.0696494018521,0.99999984451,-6.34490222926e-05,-0.000549941746348,-6.72124492318e-05,1793239469127476224
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715,682,659.676656448,633.676656448,881,786,805,651.323343552,631,653,0.447743684003,-0.00554281444897,0.069639439729,0.999999836865,-6.75914313782e-05,-0.0005629898479,-6.88812068663e-05,1793239469144142592
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715,682,659.09517908,633.09517908,881,786,805,651.90482092,631,653,0.448048155837,-0.00554609462025,0.0696407612484,0.999999839987,-7.39606585515e-05,-0.000556441275848,-7.02027722137e-05,1793239469160809216
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,714.517805441,682,659,633,881,786,805,652,631,653,0.448315922134,-0.00554911766977,0.0696474925329,0.999999845859,-7.78322222809e-05,-0.000545312036796,-6.96989408051e-05,1793239469177476096
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,714.058118754,682,659,633,881.058118754,785.941881246,805,652,631,653,0.448572458399,-0.00555202204169,0.0696549672101,0.999999851883,-8.11408381578e-05,-0.000533873811744,-6.80299589229e-05,1793239469194142976
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,714.628348503,682,659,633,881.628348503,785.371651497,805,652,631,653,0.448793343835,-0.00555432412136,0.06965966262,0.999999855547,-8.37965149509e-05,-0.000527612754765,-5.92423679477e-05,1793239469210809600
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,715,682.20685266,659,632.79314734,881.79314734,785,804.79314734,652,631,653,0.448997440656,-0.00555635671224,0.0696598030844,0.999999854708,-8.65324186115e-05,-0.000529299368903,-5.42037999279e-05,1793239469227476224
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,715,682.800842815,659,632.199157185,881.199157185,785,804.199157185,652,631,653,0.449170116527,-0.00555788493802,0.0696514186871,0.999999845442,-8.94184714977e-05,-0.00054586053981,-5.6181760294e-05,1793239469244142848
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.61584702,714.61584702,682.61584702,659,632.38415298,880.61584702,785,804.38415298,652,631,653,0.449332556186,-0.00555896241234,0.069645179884,0.999999840677,-8.90634269193e-05,-0.000554414444051,-5.77851759231e-05,1793239469260809728
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.037923882,714.037923882,682.037923882,659,632.962076118,880.037923882,785,804.962076118,652,631,653,0.449489832625,-0.00555981252378,0.0696400233367,0.999999838256,-8.70735444104e-05,-0.000558929413775,-5.91996680604e-05,1793239469277476608
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.461481391,745.538518609,714.538518609,682,659,632.461481391,880,785.538518609,805,652,630.461481391,653,0.449612743119,-0.00556150233054,0.0696367805992,0.999999835113,-9.01423652113e-05,-0.000563910402766,-6.04455163674e-05,1793239469294142976
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.88297009,714.88297009,681.88297009,659,632,880.11702991,785.88297009,805,652,630.11702991,653,0.449727928915,-0.00556319437159,0.069633709121,0.999999831828,-9.35794505108e-05,-0.000569032511351,-6.15482624251e-05,1793239469310809344
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.295728597,714.295728597,681.295728597,659,632,880.704271403,785.295728597,805,652,630.704271403,653,0.44982177503,-0.00556465845063,0.0696307857144,0.999999828282,-9.70687461485e-05,-0.000574590124198,-6.21236286738e-05,1793239469327476224
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.28784127,745.28784127,714.28784127,681.28784127,659,632.28784127,880.71215873,785,805,652,630.71215873,653,0.449904581523,-0.00556490197842,0.0696266010133,0.999999823963,-9.79910578593e-05,-0.000581867879429,-6.24662766605e-05,1793239469344142848
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.86768638,745.86768638,714.86768638,681.86768638,659,632.86768638,880.13231362,785,805,652,630.13231362,653,0.449976188742,-0.00556390730407,0.0696211367779,0.999999818829,-9.63092634162e-05,-0.000590890652248,-6.25728409319e-05,1793239469360809472
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,746,715,681.556185802,659,633,880.443814198,785,804.556185802,652,630.887628395,653,0.450033827309,-0.00556416016239,0.069616776265,0.999999814152,-9.54320747253e-05,-0.000598925099856,-6.22751115455e-05,1793239469377476096
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,715,681.018732161,658.981267839,632.981267839,881.018732161,785,804.037464323,652,631.981267839,653,0.450086825886,-0.0055647750964,0.0696128199275,0.999999809666,-9.4869386834e-05,-0.000606497147298,-6.18836632906e-05,1793239469394142720
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,715,681.590379079,658.409620921,632.409620921,881.590379079,785,805.180758158,652,631.409620921,653,0.450124767079,-0.00556519049794,0.0696111617011,0.999999807931,-9.65682053429e-05,-0.000609045435149,-6.2254086513e-05,1793239469410809856
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,715,682,658.168802253,632,881.831197747,785,805.831197747,652,631,653,0.450158806502,-0.00556549797228,0.0696089685756,0.999999805689,-9.77018029402e-05,-0.00061251512263,-6.24554639096e-05,1793239469427476736
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,715,682,658.764356514,632,881.235643486,785,805.235643486,652,631,653,0.450182981786,-0.00556553259387,0.0696054231622,0.999999802163,-9.74064551358e-05,-0.000618314216688,-6.22294734598e-05,1793239469444143360
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.651898363,746,715,682,659,632,881,785,805,652,631,653,0.450202656209,-0.00556505940445,0.0696030552416,0.999999799802,-9.76746777579e-05,-0.000622089923824,-6.21195616853e-05,1793239469460809984
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.07588495,746,715,682,659,632,881,785,805,652,631,653,0.450219383795,-0.00556425373712,0.0696014582577,0.999999798214,-9.83118855066e-05,-0.000624540864129,-6.20856498102e-05,1793239469477476352
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.498164386,746,715,682.498164386,659,632,881,785,805.498164386,652,631,653,0.450229751178,-0.00556466730805,0.0696002646985,0.999999796679,-9.78564571332e-05,-0.000627153790083,-6.1182708623e-05,1793239469494142976
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,714.925819247,682.925819247,658.925819247,632,881,785,805.925819247,652,631,653,0.450238624606,-0.00556509513324,0.0695990957408,0.999999795213,-9.72472222852e-05,-0.000629663977976,-6.03312404327e-05,1793239469510809856
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,714.333996885,682.333996885,658.333996885,632,881,785,805.333996885,652,631,653,0.450243807209,-0.00556433150277,0.0695976713102,0.999999794216,-9.67215863644e-05,-0.000631285739802,-6.07590802735e-05,1793239469527476736
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,746,714.252021527,682,658.252021527,632,881,785,805,652,631,653,0.450248048021,-0.00556404761607,0.0695966509547,0.999999793719,-9.64314201749e-05,-0.00063211973711,-6.07221515177e-05,1793239469544143360
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,746,714.830521246,682,658.830521246,632,881,785,805,652,631,653,0.450251068801,-0.00556438520757,0.0695961540533,0.999999793874,-9.64462903893e-05,-0.000631933234454,-6.00831439647e-05,1793239469560809984
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,715,682,658.593316002,631.593316002,881,785,805,652,630.593316002,652.593316002,0.450251588046,-0.00556360065474,0.069594637261,0.999999792546,-9.638395525e-05,-0.000634046221681,-6.00275839748e-05,1793239469577476608
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,715,682,658.018121592,631.018121592,881,785,805,652,630.018121592,652.018121592,0.450251070774,-0.00556235113891,0.0695926978745,0.999999790595,-9.62896299008e-05,-0.000637112007615,-6.02137767854e-05,1793239469594142976
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,715,682,658,631.556723023,881,785,805,652,630.556723023,652.556723023,0.450251906118,-0.00556192608781,0.0695935487146,0.999999790638,-9.62778658193e-05,-0.000637042810059,-6.02630427094e-05,1793239469610809600
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.864893547,746,714.864893547,682.135106453,658,632.135106453,881,785,805,652,631,653,0.450252636865,-0.00556156480559,0.0695940717227,0.999999790453,-9.64525363346e-05,-0.00063730493387,-6.02717165407e-05,1793239469627476224
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.274547908,746,714.274547908,682.725452092,658,632.725452092,881,785,805,652,631,653,0.450252866911,-0.00556132802265,0.0695931842709,0.999999789284,-9.72463459621e-05,-0.000639027063889,-6.01586243873e-05,1793239469644143104
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714.310083004,682.689916996,658,632.689916996,880.689916996,784.689916996,805,652,631,653,0.450253117096,-0.00556201460322,0.0695924780796,0.999999788621,-9.90366092119e-05,-0.000639776547357,-6.0304658135e-05,1793239469660809984
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714.889745719,682.110254281,658,632.110254281,880.110254281,784.110254281,805,652,631,653,0.450253384789,-0.00556350393678,0.0695919294723,0.999999788393,-0.000101693168591,-0.000639680432346,-6.06759705354e-05,1793239469677476608
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,715,682,658,632,880.467026534,784.467026534,805,651.532973466,631,653,0.450253238753,-0.0055627268338,0.0695919105417,0.9999997884,-9.96794044721e-05,-0.000639999499846,-6.05337623463e-05,1793239469694143232
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.043616176,746,715,681.956383824,658,632,881,785,805,651,631,653,0.450253117373,-0.00556141581094,0.069592062471,0.999999788534,-9.66510289634e-05,-0.000640279039869,-6.02692914551e-05,1793239469710809856
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.618601632,746,715,681.381398368,658,632,881,785,805,651,631,653,0.450254480241,-0.00556008552517,0.0695927802911,0.999999789634,-9.4625914572e-05,-0.000638888979144,-5.99847504152e-05,1793239469727476480
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.801256653,746,714.801256653,681.198743347,658,632,881,785,805,651.198743347,631,652.801256653,0.45025553343,-0.00555997690231,0.0695932322655,0.999999790211,-9.47287616528e-05,-0.000637988219149,-5.97896518698e-05,1793239469744143104
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.210956296,746,714.210956296,681.789043704,658,632,881,785,805,651.789043704,631,652.210956296,0.450255976497,-0.00556227515591,0.0695931604801,0.999999789756,-9.90240421668e-05,-0.000638051461972,-5.9770769734e-05,1793239469760809728
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.37189038,746,714.37189038,682,658,632,881,784.62810962,805,652,631,652.37189038,0.450257449149,-0.00556170331256,0.0695942665077,0.999999790872,-9.81996376593e-05,-0.000636422944205,-5.98297871874e-05,1793239469777476352
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.950591986,746,714.950591986,682,658,632,881,784.049408014,805,652,631,652.950591986,0.450259494362,-0.00555953538518,0.0695960275266,0.999999792851,-9.45281350779e-05,-0.000633853624791,-5.99321252276e-05,1793239469794143232
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,682,658,632,881,784.526129466,804.473870534,652,631,653,0.450258059467,-0.0055604883694,0.0695949531592,0.999999791526,-9.63864202898e-05,-0.000635683190126,-5.96951239734e-05,1793239469810809856
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.896396736,746,715,682,658,632,881,784.896396736,804.103603264,652,631,653,0.450256691396,-0.00556146989626,0.0695939242618,0.999999790219,-9.79863410498e-05,-0.000637518841996,-5.94145181337e-05,1793239469827476992
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.308490927,746,715,682,658,632,881,784.308490927,804.691509073,652,631,653,0.450257154282,-0.00556122300948,0.0695943451655,0.99999979047,-9.59655403453e-05,-0.000637463451667,-5.90781527216e-05,1793239469844143616
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,715,682.275230805,658,632,880.724769195,784.275230805,805,652,631,653,0.450256872711,-0.00556144467181,0.069593827829,0.99999978997,-9.54462306202e-05,-0.000638340611116,-5.8914143777e-05,1793239469860809984
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,715,682.854333135,658,632,880.145666865,784.854333135,805,652,631,653,0.450255769215,-0.00556218364077,0.0695922746183,0.99999978864,-9.65846578827e-05,-0.000640247362159,-5.8940426799e-05,1793239469877476608
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,715,682.568153473,658,632,880.431846527,785,805,652,630.568153473,653,0.450257277157,-0.00556078383785,0.0695930223104,0.999999789686,-9.64361105837e-05,-0.000638599169224,-5.93269051935e-05,1793239469894143232
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714.991041801,682.008958199,658,632,881,785,805,652,630.008958199,653,0.450259609611,-0.00555873338942,0.0695945029904,0.999999791468,-9.59057263139e-05,-0.000635835453894,-5.98209081427e-05,1793239469910809856
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714.405412264,682.594587736,658,632,881,785,805,652,630.594587736,653,0.450258522031,-0.0055610695055,0.0695933901736,0.999999789738,-9.86379939118e-05,-0.000638170484159,-5.94440584272e-05,1793239469927476480
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,714.178211364,682.821788636,658.178211364,632,881,785,805,652,630.821788636,653,0.450258312261,-0.00556270844753,0.0695929550789,0.999999788958,-0.000100264577986,-0.000639161715403,-5.91894102467e-05,1793239469944143104
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,714.757322513,682.242677487,658.757322513,632,881,785,805,652,630.242677487,653,0.45026007719,-0.00556277904426,0.0695940445708,0.999999790339,-9.94038441514e-05,-0.000637129970156,-5.92096635794e-05,1793239469960810240
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745.66355225,715,682,658.66355225,632,881,785,805,652,630.33644775,653,0.450259475935,-0.00556222514471,0.069593897812,0.999999790253,-9.84376222155e-05,-0.000637423714423,-5.91149335581e-05,1793239469977476864
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745.084416878,715,682,658.084416878,632,881,785,805,652,630.915583122,653,0.450257167897,-0.0055612207814,0.0695928593166,0.999999789107,-9.73953092851e-05,-0.000639394888699,-5.8937263356e-05,1793239469994143232
+256,4.266666667,HOLD_POSE2,765,745,715,682,658,632,880,785,805,652,630,653,0.450259722774,-0.00555918179491,0.0695937010951,0.999999790665,-9.4238627177e-05,-0.000637468619417,-5.85119888174e-05,1793239470025532160
+257,4.283333333,HOLD_POSE2,765,745,714.412744809,682,658,632,880.587255191,785,805,652,630.587255191,653,0.450258373782,-0.00555891962656,0.0695923999033,0.999999789136,-9.58898785899e-05,-0.00063955686491,-5.9166062159e-05,1793239470042198528
+258,4.300000000,HOLD_POSE2,765.172140063,745.172140063,714.172140063,682,658,632,880.827859937,785,805,652,630.827859937,653,0.450257560631,-0.00555891148233,0.069591635571,0.999999788219,-9.72262933292e-05,-0.000640749933122,-5.95652588852e-05,1793239470058864896
+259,4.316666667,HOLD_POSE2,765.751418874,745.751418874,714.751418874,682,658,632,880.248581126,785,805,652,630.248581126,653,0.450258014828,-0.00555950414564,0.0695921409966,0.999999788765,-9.78180693792e-05,-0.000639825764504,-5.93616318365e-05,1793239470075531776
+260,4.333333333,HOLD_POSE2,765.670596133,746,715,681.670596133,658,632,880.329403867,785,805,652,630.329403867,653,0.450258227013,-0.0055594277991,0.069591996333,0.999999788768,-9.78712389518e-05,-0.000639802279647,-5.94908516274e-05,1793239470092198400
+261,4.350000000,HOLD_POSE2,765.09358372,746,715,681.09358372,658,632,880.90641628,785,805,652,630.90641628,653,0.450258257278,-0.00555884856662,0.0695913630058,0.999999788361,-9.7519545098e-05,-0.00064045582696,-5.98702680137e-05,1793239470108865536
+262,4.366666667,HOLD_POSE2,765,746,715,681.481479036,658,632,880.518520964,785,804.518520964,652,631,653,0.450257973253,-0.00555826713486,0.0695916769875,0.999999788282,-9.70686369007e-05,-0.00064066939489,-5.96379283344e-05,1793239470125531904
+263,4.383333333,HOLD_POSE2,765,746,715,682,658,632,880.057702766,785,804,652,630.942297234,653,0.450257669649,-0.00555774432618,0.0695921323509,0.999999788255,-9.65387163722e-05,-0.000640819904803,-5.93376528028e-05,1793239470142198272
+264,4.400000000,HOLD_POSE2,765,746,715,682,658,632,880.648129304,785,804,652,630.351870696,653,0.450257746985,-0.00555776666834,0.0695921999482,0.999999788121,-9.54566537142e-05,-0.00064117458164,-5.95035104005e-05,1793239470158864640
+265,4.416666667,HOLD_POSE2,765.233949322,746,715,682,658,632,881,785,804.233949322,652,630.233949322,653,0.450258426082,-0.00555795854786,0.0695925464277,0.999999788503,-9.52770268234e-05,-0.000640595196188,-5.96167657652e-05,1793239470175531520
+266,4.433333333,HOLD_POSE2,765.812974658,746,715,682,658,632,881,785,804.812974658,652,630.812974658,653,0.45025999278,-0.00555840049553,0.0695933042593,0.999999789642,-9.64284957265e-05,-0.000638638065782,-5.96524326498e-05,1793239470192198144
+267,4.450000000,HOLD_POSE2,766,746,714.611997968,682.388002032,658,632,881,784.611997968,805,652,631,653,0.450260340122,-0.00555893140866,0.0695927735623,0.999999789427,-9.6166749615e-05,-0.000639030352922,-5.94779404461e-05,1793239470208864768
+268,4.466666667,HOLD_POSE2,766,746,714.038877994,682.961122006,658,632,881,784.038877994,805,652,631,653,0.450260105701,-0.00555950476776,0.0695916281012,0.999999788565,-9.52307508048e-05,-0.00064054356016,-5.92031801673e-05,1793239470225531392
+269,4.483333333,HOLD_POSE2,766,745.450636258,714.549363742,682.450636258,658,632,880.450636258,784,805,652,630.450636258,653,0.450261159394,-0.0055582660354,0.0695934535395,0.999999789938,-9.34649260871e-05,-0.000638699076757,-5.87490012351e-05,1793239470242198272
+270,4.500000000,HOLD_POSE2,766,745.136440122,715,682,658,632,880.136440122,784.136440122,805.136440122,652,630,653,0.450262018269,-0.00555754230371,0.0695948457137,0.999999790899,-9.29528998505e-05,-0.000637296462959,-5.84398252039e-05,1793239470258865152
+271,4.516666667,HOLD_POSE2,766,745.71615538,715,682,658,632,880.71615538,784.71615538,805.71615538,652,630,653,0.450261939663,-0.00555892016522,0.0695941278724,0.999999790003,-9.67104847169e-05,-0.000638123270812,-5.86441628936e-05,1793239470275531776
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,682,659,631,881,785,805,652,631,653,0.450258748018,-0.00555954494976,0.0695922448469,0.999999788043,-9.63470346843e-05,-0.000641308376414,-5.79179383337e-05,1793239470312596224
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.574100842,714.425899158,682,657.851798316,631.574100842,880.425899158,784.425899158,805,652,631,653,0.450260529859,-0.00555954208266,0.069593398283,0.999999789365,-9.66868956126e-05,-0.000639158299485,-5.8302771899e-05,1793239470329263104
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.851253478,714,682,657.148746522,632,880.148746522,784,805,651.851253478,631,653,0.450261788515,-0.00555987392793,0.0695940170366,0.999999790186,-9.68383218605e-05,-0.000637830798737,-5.8501193939e-05,1793239470345929984
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.275041918,714,682,657.724958082,632,880.724958082,784,805,651.275041918,631,653,0.450261543651,-0.00556116766349,0.0695930992298,0.999999789582,-9.64482280464e-05,-0.000638867201907,-5.81639100334e-05,1793239470362596608
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.310339479,745.310339479,714.310339479,682,658,632,880.689660521,784.310339479,805,651.310339479,630.689660521,653,0.45026065935,-0.00556110038214,0.0695921371034,0.999999788786,-9.61474639794e-05,-0.000640153283309,-5.82087443715e-05,1793239470379263232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.904095154,745.904095154,714.904095154,682,658,632,880.095904846,784.904095154,805,651.904095154,630.095904846,653,0.450259191087,-0.00555979015786,0.0695911345025,0.999999787813,-9.59282799436e-05,-0.000641667382222,-5.86025465753e-05,1793239470395930112
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.51752233,746,715,682,658,631.51752233,880.48247767,785,804.51752233,652,630.48247767,652.51752233,0.450259530073,-0.0055599220732,0.0695916463308,0.99999978815,-9.56179836555e-05,-0.000641194496799,-5.8545155052e-05,1793239470412596992
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.942237839,715,682,657.942237839,631.057762161,880.942237839,784.942237839,804.057762161,652,630.942237839,652,0.450260017453,-0.00556013563139,0.0695923110108,0.999999788661,-9.52303442638e-05,-0.000640463101851,-5.84425264987e-05,1793239470429263360
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.368174069,715,682,657.368174069,631.631825931,880.368174069,784.368174069,804.631825931,652,630.368174069,652,0.450258719384,-0.00555859576385,0.0695917342837,0.99999978849,-9.43082646622e-05,-0.000640842380538,-5.87124497626e-05,1793239470445929728
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.211194286,714.788805714,682,657.211194286,632,880,784,805,652,630.211194286,652.211194286,0.450254995776,-0.00555772930012,0.0695899339216,0.999999786927,-9.40080425288e-05,-0.000643309011864,-5.8834173183e-05,1793239470462596096
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.800048291,714.199951709,682,657.800048291,632,880,784,805,652,630.800048291,652.800048291,0.450246934796,-0.00555806702392,0.0695859454434,0.999999782852,-9.48198321858e-05,-0.000649508267825,-5.86908841425e-05,1793239470479262720
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714.383680163,682,657.616319837,632,880,784,805,652,631,652.616319837,0.450222889548,-0.00555725622866,0.0695753010251,0.999999771237,-9.38467057795e-05,-0.000667258266529,-5.90431355417e-05,1793239470495929344
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714.96462716,682,657.03537284,632,880,784,805,652,631,652.03537284,0.450190626084,-0.00555585492929,0.0695612344951,0.999999755289,-9.19558756063e-05,-0.000690947010009,-5.96501660208e-05,1793239470512595968
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.54024772,746,715,682,657,632,880.54024772,784.54024772,805,652,631,652.54024772,0.450134256056,-0.00555536399644,0.0695401579644,0.999999731485,-9.30162563119e-05,-0.000724392176411,-6.02886515377e-05,1793239470529263360
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.88202759,746,715,682,657.11797241,632,881,785,805,652,631,653,0.450074284955,-0.00555440660669,0.0695203263776,0.999999708862,-9.3459496771e-05,-0.00075487836463,-6.08235207029e-05,1793239470545930496
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.294554431,746,715,682,657.705445569,632,881,785,805,652,631,653,0.450006202706,-0.00555135793192,0.0695072581481,0.999999696756,-9.068516974e-05,-0.000771071110971,-6.09379066897e-05,1793239470562596864
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.289032543,746,715,681.710967457,658,632,881,785,805.289032543,652,630.710967457,653,0.44993153117,-0.00554858599571,0.069500762553,0.999999690828,-8.82509947283e-05,-0.000779036614141,-6.04708919362e-05,1793239470579263488
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.868711594,746,715,681.131288406,658,632,881,785,805.868711594,652,630.131288406,653,0.449850233555,-0.00554609234354,0.0695008762948,0.999999691314,-8.61588713383e-05,-0.000778728932169,-5.941922989e-05,1793239470595929856
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.55314547,746,715,681.44685453,658,632,881,785,805.55314547,652,630,653,0.449755371575,-0.00554479718844,0.0695074690564,0.999999698592,-8.4660014198e-05,-0.000769670952876,-5.70558336574e-05,1793239470612596480
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.024379917,746,715,682,658,632,881,785,805,652,630.024379917,653,0.449655299074,-0.00554380355349,0.0695157432484,0.99999970749,-8.33111978096e-05,-0.00075837288926,-5.43135122359e-05,1793239470629262848
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.598124907,746,715,682,658,632,881,785,805,652,630.598124907,653,0.449527310126,-0.00554169679007,0.0695191587406,0.999999710842,-8.14290781693e-05,-0.000754330510565,-5.16872260325e-05,1793239470645929472
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.823077596,746,715,682,658,632,880.823077596,785,804.823077596,651.823077596,631,653,0.449388852682,-0.00553910076543,0.0695219419,0.999999713019,-7.86371113963e-05,-0.000751925964044,-4.88506713183e-05,1793239470662596096
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.232466149,746,715,682,658,632,880.232466149,785,804.232466149,651.232466149,631,653,0.449225917284,-0.00553536072538,0.0695232465056,0.999999712478,-7.3717693638e-05,-0.00075335108134,-4.55224563528e-05,1793239470679262976
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714.648919508,682,658,632,880,785,804.351080492,651,631,653,0.449040441852,-0.00553157181997,0.0695251308594,0.99999971277,-6.92859544298e-05,-0.000753596153512,-4.18651811608e-05,1793239470695930112
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714.069958456,682,658,632,880,785,804.930041544,651,631,653,0.448840336038,-0.0055277511965,0.0695273915181,0.999999713593,-6.51707588402e-05,-0.000753075277983,-3.79943180717e-05,1793239470712596736
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.494633902,714,682,658,632,880.505366098,785,805,651.505366098,631,653,0.44860401075,-0.00552151012883,0.0695256047991,0.999999711972,-5.7436046214e-05,-0.000756035823126,-3.4166090357e-05,1793239470729263360
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.082050571,745,714.082050571,682,658,632,881,785,805,651.917949429,631,653,0.448358811161,-0.00551486191745,0.0695235328208,0.999999709776,-4.8908909895e-05,-0.00075969718598,-3.02659738518e-05,1793239470745929728
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.670206483,745,714.670206483,682,658,632,881,785,805,651.329793517,631,653,0.448089578784,-0.0055077543414,0.0695231325585,0.999999706515,-3.85624609776e-05,-0.000764729888912,-2.58862852809e-05,1793239470762596352
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.745672608,745.254327392,714.745672608,682,658,632.254327392,880.745672608,785,805,651.254327392,631,653,0.447800877174,-0.00550103527223,0.0695232091141,0.999999703612,-2.76925898959e-05,-0.0007691345309,-2.10034072973e-05,1793239470779262720
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.16670232,745.83329768,714.16670232,682,658,632.83329768,880.16670232,785,805,651.83329768,631,653,0.447487323566,-0.00549481212333,0.0695238943165,0.999999701188,-1.61545834328e-05,-0.000772737467673,-1.54782202017e-05,1793239470795929344
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.410101712,746,714.410101712,682,658.410101712,633,880,785,805,652,631,653,0.447144869505,-0.00548711494424,0.0695243171812,0.999999702693,-2.91238839947e-06,-0.000771040903024,-1.0109572315e-05,1793239470812596224
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.986029793,746,714.986029793,682,658.986029793,633,880,785,805,652,631,653,0.446790729432,-0.00547882173492,0.0695246339686,0.999999705629,1.10189022466e-05,-0.00076720146224,-4.80422185538e-06,1793239470829263360
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.438457609,714.438457609,682,659,633,880.561542391,785.561542391,805,651.438457609,631.561542391,653,0.446403272864,-0.0054725813007,0.0695335817363,0.999999717905,3.15915355161e-05,-0.000750460115731,9.58730667638e-07,1793239470845930240
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.859697585,745.140302415,714.140302415,682,659,633,881,786,805,651.140302415,631.859697585,653,0.446012760763,-0.00546678413987,0.0695447597021,0.999999732874,5.77911718464e-05,-0.000728608729789,6.36460207988e-06,1793239470862596864
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.270514887,745.729485113,714.729485113,682,659,633,881,786,805,651.729485113,631.270514887,653,0.445615122803,-0.00546224190906,0.0695623864354,0.999999755755,0.00010146548014,-0.000691434573555,1.05916394504e-05,1793239470879263232
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.313880144,746,714.686119856,682,659.313880144,633.313880144,881,786,805,652,631,652.686119856,0.445183666407,-0.00545791935465,0.0695803328963,0.999999774721,0.000117291899157,-0.000660765406703,1.37697564313e-05,1793239470895929344
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.894211022,746,714.105788978,682,659.894211022,633.894211022,881,786,805,652,631,652.105788978,0.444723501724,-0.00545378328153,0.0695985507738,0.999999791873,0.000109478437981,-0.000635618278334,1.60574524605e-05,1793239470912595968
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.529017212,745.529017212,714.470982788,682,660,634,880.529017212,786.470982788,805,651.529017212,631,652.470982788,0.444204682609,-0.00545132096565,0.0696050742782,0.999999796908,8.08194875231e-05,-0.000632092277246,1.05545455344e-05,1793239470929262592
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.046074772,745,715,682.046074772,660,634,880.046074772,786.953925228,805,651.046074772,631,653,0.443670227252,-0.00544979528417,0.0696096819733,0.999999799206,5.06725463558e-05,-0.000631665643446,4.39768296996e-06,1793239470945929216
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.61118239,745,715,682.61118239,660,634,880.61118239,786.38881761,805,651.61118239,631,653,0.44310692756,-0.00545461750267,0.0696220760629,0.999999811187,5.61124945719e-05,-0.000611856425263,1.04384893477e-05,1793239470962596352
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,682.812357079,660,634,881,786.187642921,805,652,631.187642921,653,0.442540312136,-0.0054620320309,0.069639418123,0.999999827662,6.08316457757e-05,-0.00058371083123,1.60536228469e-05,1793239470979263488
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,682.210857092,660,634,881,786.789142908,805,652,631.789142908,653,0.441966383711,-0.00547516404443,0.0696676732113,0.999999853459,6.39610380713e-05,-0.00053717889,2.0729910383e-05,1793239470995930368
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.6280588,745,715,681.6280588,660.3719412,634,881,787,805,652,632,653,0.441385079071,-0.00547951716719,0.069697726005,0.999999883239,5.63324894519e-05,-0.000479457466434,2.16490333695e-05,1793239471012596992
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.05535513,745,715,681.05535513,660.94464487,634,881,787,805,652,632,653,0.440799792994,-0.00547913171312,0.0697287491441,0.999999912467,4.28971335024e-05,-0.000415696303167,2.0540153773e-05,1793239471029263360
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.524163377,715,681,661,634.524163377,881,787,805,652,631.475836623,653,0.440141630002,-0.00547036772226,0.0697570899891,0.999999927643,6.20231377196e-05,-0.000374530657278,2.43863924841e-05,1793239471045929984
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.105843623,745.894156377,715,681,661,635,881,787,805,651.894156377,631,653,0.439459120401,-0.00546038063614,0.0697752573193,0.999999934845,8.17906168034e-05,-0.000350516345328,2.75457945752e-05,1793239471062596352
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.694052384,745.305947616,715,681,661,635,881,787,805,651.305947616,631,653,0.43870119187,-0.00544890507774,0.0697483684519,0.999999918279,8.86037774468e-05,-0.000393648331801,2.51588100414e-05,1793239471079263232
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.721614569,661,635,881,787,805,651.278385431,631.278385431,653,0.437955057436,-0.00543442360036,0.0697341062465,0.999999911159,9.70542557585e-05,-0.000409731073089,1.9588249806e-05,1793239471095929856
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.141482399,661,635,881,787,805,651.858517601,631.858517601,653,0.437221706729,-0.00541668395446,0.069733530293,0.999999915586,0.00010727945171,-0.000396494680019,1.05669570603e-05,1793239471112596224
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.434006405,715,680.434006405,661,635,880.565993595,787.434006405,804.565993595,652,632,653,0.436488889888,-0.00540839328298,0.0697681118195,0.999999934657,0.000118465697144,-0.000341340363972,1.17795724111e-05,1793239471129262848
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.991966293,745.991966293,715,681,661,635,880,787.991966293,804.008033707,651.991966293,631.991966293,652.991966293,0.435755311737,-0.00540325886923,0.0698137452765,0.999999954105,0.000129799933482,-0.000273270438492,1.62801766144e-05,1793239471145929728
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.41537642,745.41537642,715,681,661,635,880,787.41537642,804.58462358,651.41537642,631.41537642,652.41537642,0.434955665141,-0.00540580871593,0.0698390118466,0.999999960646,0.000129670242782,-0.000247990523473,1.98704792424e-05,1793239471162596352
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.165198271,745,715,681,661.165198271,635,880,787,804.834801729,651.165198271,631.165198271,652.165198271,0.434140860189,-0.00540734045615,0.0698540201042,0.999999963653,0.000129628250326,-0.000235352855451,2.23448768806e-05,1793239471179262976
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.756040058,745,715,681,661.756040058,635,880,787,804.243959942,651.756040058,631.756040058,652.756040058,0.433286998848,-0.0054062489822,0.0698425971865,0.999999958747,0.000129812217955,-0.000255288716902,2.19440764237e-05,1793239471195929600
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,635,880,787.340343107,804,651.659656893,631.659656893,652.659656893,0.432429967452,-0.00540583156452,0.0698372094821,0.999999956999,0.000131712252735,-0.000261075416393,2.22069506988e-05,1793239471212595968
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,635,880,787.920047476,804,651.079952524,631.079952524,652.079952524,0.43157070661,-0.00540588820661,0.0698360663076,0.999999957647,0.000134819187247,-0.000256911094469,2.29365834472e-05,1793239471229262592
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.504525342,745,715,680.504525342,661.504525342,635,880,787.504525342,804.495474658,651.495474658,631,652.495474658,0.430643560073,-0.00540260362127,0.0697857477682,0.999999931696,0.000137380830589,-0.000342415514507,2.20651508817e-05,1793239471245929472
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.07175623,635,880,787,805,651.92824377,631,653,0.42971406228,-0.00539911700842,0.0697352016957,0.99999989845,0.000139605964589,-0.000427989987519,2.08647201105e-05,1793239471262596096
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.659093145,635,880,787,805,651.340906855,631,653,0.428845706437,-0.00539801958786,0.0697395486275,0.999999905554,0.000140040049775,-0.000410992174043,1.91408325975e-05,1793239471279262720
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.243274341,745,715,680.243274341,662,635,880,787.243274341,805,651.243274341,631.243274341,653,0.427994457598,-0.0053974221123,0.069772057572,0.999999925607,0.000141247526001,-0.000358355037148,2.04035091393e-05,1793239471295929344
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.823090054,745,715,680.823090054,662,635,880,787.823090054,805,651.823090054,631.823090054,653,0.427166874158,-0.00539751625155,0.0698435253418,0.999999956493,0.000143524896626,-0.000256415092415,2.5797744605e-05,1793239471312595712
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,635.39978522,880,788,805,652,632,652.60021478,0.426302415979,-0.00540003239806,0.069868515182,0.999999964026,0.00014424232874,-0.000224302389812,2.88151705787e-05,1793239471329262848
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,662,635.975110165,880,788,805,652,632,652.024889835,0.425421766702,-0.00540361201182,0.0698730972523,0.999999964287,0.000144274815419,-0.000222849794182,3.07889747255e-05,1793239471345930240
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.451283883,635.451283883,880,787.451283883,804.451283883,651.451283883,631.451283883,652.548716117,0.424527929211,-0.00540408707348,0.069848523875,0.999999957264,0.000139533519284,-0.000255294442972,2.87747297553e-05,1793239471362596608
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745.126313382,715,680.873686618,661,635,880.126313382,787,804,651.126313382,631,653,0.423613099626,-0.00540230708918,0.0698153851698,0.99999994345,0.000138324698173,-0.000305376226498,2.66906992999e-05,1793239471379262976
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745.718932121,715,680.281067879,661,635,880.718932121,787,804,651.718932121,631,653,0.422622976045,-0.00539272050041,0.0697554931826,0.999999902219,0.000150953446127,-0.000414909713698,2.50147739015e-05,1793239471395929600
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.695203286,715,680,661.304796714,635,880.695203286,787,804,652,631,652.695203286,0.421689796443,-0.00538777542367,0.0697192123645,0.999999874478,0.000157719599571,-0.000475005475428,2.3207837307e-05,1793239471412596480
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745.115432026,715,680,661.884567974,635,880.115432026,787,804,652,631,652.115432026,0.420807989313,-0.00538701772087,0.0697042325354,0.999999866806,0.000159196771795,-0.000490500635533,2.12827083066e-05,1793239471429263360
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.460328395,661.539671605,635,880,787.460328395,804,652,631.460328395,652.460328395,0.420025209744,-0.00539105618124,0.0697653403925,0.99999991305,0.000153967749512,-0.000386840780712,2.34055237226e-05,1793239471445929984
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.035128893,715,680.964871107,661,635,880,788,804.035128893,652,631.964871107,653,0.419264667657,-0.00539615899886,0.0698425736482,0.999999955256,0.000147902928314,-0.00025865796155,2.66166033853e-05,1793239471462596608
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.610500031,715,680.389499969,661,635,880,788,804.610500031,652,631.389499969,653,0.418467521797,-0.00539929422443,0.0698769066194,0.999999965747,0.000154622933375,-0.000208881075469,3.10882724555e-05,1793239471479262976
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745.808754473,715,680,661,635.191245527,880,787.808754473,804.808754473,652,631,653,0.417646431976,-0.00539953047157,0.0698881213575,0.999999967778,0.000160143904769,-0.000194158482123,3.31716411683e-05,1793239471495929344
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745.216746699,715,680,661,635.783253301,880,787.216746699,804.216746699,652,631,653,0.41677516653,-0.00539369180013,0.0698508909683,0.999999954256,0.000163152257253,-0.000252893478823,3.02502368727e-05,1793239471512595968
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,880.367217792,787.367217792,804,652,631,653,0.41595412391,-0.00539032642943,0.0698207175923,0.999999942947,0.000164826075029,-0.000293520654224,2.80153939602e-05,1793239471529262592
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,880.946536536,787.946536536,804,652,631,653,0.415162089493,-0.00538838961034,0.0697946202714,0.999999933537,0.00016572908018,-0.000323688948139,2.61771015341e-05,1793239471545929216
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.480428716,879.960857432,788,804,652,631.519571284,652.480428716,0.414318051506,-0.0053841397652,0.0697650451096,0.999999911528,0.000172579772524,-0.000382732756329,2.60080699858e-05,1793239471562596352
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,788,804,652,632,652.091668113,0.41349904448,-0.00537944292227,0.0697458937177,0.999999893938,0.000180067560048,-0.000423105002727,2.61097798988e-05,1793239471579263232
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,788,804,652,632,652.662202826,0.412838416925,-0.00537363947889,0.0697830423605,0.999999920561,0.000187724586836,-0.000350602398746,2.67392545609e-05,1793239471595929856
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745.244430146,715,680,661,635.244430146,879.244430146,788,804,652,632,653,0.412180800028,-0.00536980082767,0.0698268986784,0.99999994361,0.00019410828556,-0.000272617541077,2.79537664917e-05,1793239471612596736
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745.84362816,715,680,661,635.84362816,879.84362816,788,804,652,632,653,0.411527552884,-0.00536881389199,0.0698804905663,0.999999962396,0.000198643865239,-0.000186675703431,3.0017406159e-05,1793239471629263104
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,635.574937043,879.574937043,787.574937043,804,652,631.574937043,652.574937043,0.410853158631,-0.00536494368536,0.0698854053348,0.999999961928,0.000202948615797,-0.000184479279173,3.03807839979e-05,1793239471645929472
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.999776058,715,679.999776058,661,635.000223942,879.000223942,787.000223942,804,652,631,652,0.410171302671,-0.00536005500271,0.0698731189115,0.999999955641,0.000207172296248,-0.000211872447873,3.01426138985e-05,1793239471662595840
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.427853694,715,679.427853694,661,635.572146306,879.572146306,787.572146306,804,652,631,652,0.40950442379,-0.00535432877038,0.0698296623014,0.999999936953,0.000212519980875,-0.000283199693336,2.69752135843e-05,1793239471679262720
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.149106337,661,636,880,788,804,652.149106337,631.149106337,652.149106337,0.408857638006,-0.00534932067128,0.0697929417403,0.999999917489,0.000218112124264,-0.000341855067533,2.41807161679e-05,1793239471695929600
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.741027319,661,636,880,788,804,652.741027319,631.741027319,652.741027319,0.408270524359,-0.00534644527635,0.0697762258263,0.999999908722,0.0002244302631,-0.000362877654118,2.24936619901e-05,1793239471712596736
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.673931118,661,636,880,787.673931118,804,652.673931118,632,653,0.407710582084,-0.00535276986999,0.069782201729,0.999999914126,0.000218787856479,-0.000351271319561,2.20834430506e-05,1793239471729263616
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.094240514,661,636,880,787.094240514,804,652.094240514,632,653,0.407171774182,-0.00536625036574,0.0698058276997,0.99999992958,0.000203842340949,-0.000314285673681,2.26663675691e-05,1793239471745930240
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.463248061,661.463248061,635.536751939,879.536751939,787,804,652,631.536751939,652.536751939,0.406667489094,-0.00538335582064,0.0698135037655,0.999999936359,0.000179539065349,-0.000307364387015,2.39621350418e-05,1793239471762596608
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.982764762,635.017235238,879.017235238,787.017235238,803.982764762,652,631.017235238,652.017235238,0.406171366966,-0.00540027945398,0.0698177260168,0.999999940658,0.000154737765987,-0.000306754637752,2.53145727133e-05,1793239471779262976
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.402352897,635.597647103,879.597647103,787.597647103,803.402352897,652,631.597647103,652.597647103,0.405722985457,-0.00538826743714,0.0698102680541,0.999999933008,0.000173022876758,-0.000321670443055,2.39969297232e-05,1793239471795929600
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.812632681,879.812632681,787.812632681,803.187367319,652,631.812632681,652.812632681,0.405290444067,-0.00537954084171,0.0698098017739,0.999999929865,0.000185923706352,-0.000324285085071,2.32647520815e-05,1793239471812596224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.20187883,879.20187883,787.20187883,803.79812117,652,631.20187883,652.20187883,0.404893696032,-0.0053782381849,0.0698251343237,0.999999937563,0.000186657886029,-0.000299103272375,2.38555275613e-05,1793239471829262848
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.613737484,661,635.386262516,879,787,804,652,631,652,0.404526745909,-0.00537850481943,0.0698410906134,0.999999946679,0.000184442617513,-0.000268415558849,2.39895669479e-05,1793239471845929728
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.036760832,661,635.963239168,879,787,804,652,631,652,0.404174508239,-0.00537954627932,0.0698573548714,0.999999955761,0.000180771081651,-0.000235009346842,2.38980964495e-05,1793239471862596864
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.537425899,661,636,879,787.537425899,803.462574101,652,631,652,0.403841946392,-0.00537297779626,0.0698552883022,0.999999952962,0.000193412369039,-0.000236935194759,2.30156736041e-05,1793239471879263488
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879,788,803.114426228,652,631,652.114426228,0.403517287609,-0.00536788259351,0.0698503549738,0.999999949249,0.000203222108986,-0.000244367920798,2.20612693166e-05,1793239471895930112
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879,788,803.703895619,652,631,652.703895619,0.403219879965,-0.0053710535902,0.0698386987692,0.999999945412,0.000196668170176,-0.000264681112211,2.10314797809e-05,1793239471912596736
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879,788,804,652,631.289071442,652.710928558,0.402937708461,-0.00536881432449,0.0698295789095,0.999999940802,0.000196171041213,-0.000281977105793,2.00566553241e-05,1793239471929262848
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879,788,804,652,631.86991357,652.13008643,0.402670915384,-0.00536111427716,0.0698230190788,0.999999935582,0.000201787278793,-0.000296227726881,1.91373092553e-05,1793239471945929472
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.553147342,879,787.553147342,804,652,632,652,0.40243410998,-0.00535810608546,0.0698149610675,0.999999931079,0.000204256843536,-0.000309414056193,1.95869406922e-05,1793239471962596096
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.97740805,661,635,879,787,804,652,632,652.02259195,0.402207908349,-0.00535656322998,0.0698067326833,0.999999926838,0.000205629895903,-0.000321904328396,2.04260372086e-05,1793239471979262976
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.403459731,661,635,879,787,804,652,632,652.596540269,0.402029282701,-0.00535773625921,0.0698048983225,0.999999926512,0.000202405190027,-0.000324903347418,2.11280567215e-05,1793239471995929856
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.17597873,745,715,679,661,635.17597873,879,787.17597873,804,652,631.82402127,653,0.401860863558,-0.00535781216547,0.0698041539866,0.999999926225,0.000201213038946,-0.000326483722077,2.17010807421e-05,1793239472012596480
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.768409477,745,715,679,661,635.768409477,879,787.768409477,804,652,631.231590523,653,0.401716598034,-0.00535529174029,0.0698059891845,0.999999926064,0.000204830910221,-0.000324706887709,2.1968838039e-05,1793239472029263104
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.649111545,745,715,679,661,636,879,787.649111545,803.649111545,652,631.350888455,653,0.40159055626,-0.00535525327716,0.0698074315363,0.999999927096,0.000206117217576,-0.000320858996889,1.9316350245e-05,1793239472045929728
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.073019647,745,715,679,661,636,879,787.073019647,803.073019647,652,631.926980353,653,0.401476210642,-0.0053568077599,0.0698086217562,0.999999928864,0.00020590710607,-0.000315681882766,1.47896222646e-05,1793239472062596352
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.503608385,661,635.496391615,879,787,803.503608385,652,631.496391615,652.496391615,0.401379958902,-0.00535799897477,0.0698079277101,0.999999927888,0.000210188151433,-0.000316081575902,1.17405654197e-05,1793239472079262976
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.917952926,661,635.082047074,879.082047074,787,804,652,631.082047074,652.082047074,0.401289858389,-0.00535883473076,0.0698069727319,0.999999926614,0.000214651856451,-0.000317187000217,9.44943900427e-06,1793239472095929856
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.328803968,661,635.671196032,879.671196032,787,804,652,631.671196032,652.671196032,0.401221544201,-0.00535779941865,0.0698060954088,0.999999926119,0.000216215491057,-0.000317651321113,1.05171715384e-05,1793239472112596224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.255825437,661,636,879.744174563,787.255825437,803.744174563,652,632,653,0.401161360711,-0.00535653800489,0.0698062742683,0.999999926125,0.000216765663334,-0.00031723275567,1.12553744653e-05,1793239472129263104
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.834746816,661,636,879.165253184,787.834746816,803.165253184,652,632,653,0.40111144593,-0.00535499103505,0.0698077870387,0.999999926764,0.000216035878488,-0.000315699144733,1.15773963571e-05,1793239472145929984
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.588371129,745,715,679.588371129,661,635.588371129,879,787.588371129,803,652,632,653,0.401078492276,-0.00535467503412,0.069811915291,0.999999929302,0.000215558067042,-0.000307858285164,1.24003489777e-05,1793239472162596608
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.012303762,745,715,679.012303762,661,635.012303762,879,787.012303762,803,652,632,653,0.401052314294,-0.00535485078366,0.0698170883823,0.999999932506,0.000215180914536,-0.000297497790686,1.3423414607e-05,1793239472179263232
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.56206373,745,715,679,661,635.56206373,879,787,803,652,631.43793627,653,0.401031178682,-0.00535471124233,0.0698195947047,0.999999933432,0.000216081335209,-0.000293698474943,1.36423701851e-05,1793239472195929856
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.140837895,661.140837895,635.859162105,879,787,803.140837895,652,631,652.859162105,0.401012329086,-0.00535482118283,0.069821776074,0.999999934254,0.000216470816659,-0.000290585486406,1.38534949546e-05,1793239472212596480
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.733880073,661.733880073,635.266119927,879,787,803.733880073,652,631,652.266119927,0.401000466125,-0.00535575425671,0.0698231009499,0.999999934937,0.000215130242661,-0.000289216400485,1.4095823507e-05,1793239472229262848
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.68194005,662,635.31805995,879,787,804,652,631,652.31805995,0.400991866595,-0.00535533515929,0.0698242989397,0.999999935293,0.000215579599824,-0.000287649141403,1.40804729764e-05,1793239472245929216
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.104974164,662,635.895025836,879,787,804,652,631,652.895025836,0.400985923549,-0.00535381537267,0.0698253936422,0.999999935379,0.00021748598971,-0.00028592056602,1.38553675373e-05,1793239472262596096
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.530668674,745,715,679,661.530668674,636,879,787,804,652,631.469331326,652.530668674,0.400983429229,-0.00535426649406,0.0698263864941,0.999999936535,0.00021555470354,-0.000283335446241,1.36831499753e-05,1793239472279262720
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.044116709,745,715.044116709,679,661.044116709,636,879,787,803.955883291,652,631.955883291,652.044116709,0.400981730024,-0.00535510232001,0.0698273143804,0.999999937797,0.000213127822431,-0.000280712335033,1.35567122281e-05,1793239472295929856
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.632113239,745,715.632113239,679,661.632113239,636,879,787,803.367886761,652,631.367886761,652.632113239,0.40098037716,-0.0053552768772,0.0698277206194,0.999999937576,0.000215113576848,-0.000279969394442,1.38496452649e-05,1793239472312596480
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.782968352,679,662,636,879,787,803.217031648,652,631.217031648,653,0.400979882952,-0.00535607065144,0.0698287554921,0.999999937959,0.000215128217029,-0.000278574659366,1.40956600464e-05,1793239472329263104
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.203194688,679,662,636,879,787,803.796805312,652,631.796805312,653,0.400980823883,-0.00535789937172,0.0698308410498,0.999999939345,0.000211848379249,-0.000276090529082,1.42632566497e-05,1793239472345929472
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.62486377,636,879.37513623,787,804,652,632,652.62486377,0.400980777327,-0.00535806655933,0.0698313291961,0.999999939443,0.000212246603622,-0.000275439541336,1.40999789804e-05,1793239472362596352
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.047311349,636,879.952688651,787,804,652,632,652.047311349,0.400980197942,-0.00535733721627,0.0698309554103,0.999999938846,0.000214629438674,-0.000275777681617,1.37581680039e-05,1793239472379262976
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.473347439,880,787.526652561,804,652,631.473347439,652.526652561,0.400978390479,-0.00535751735629,0.0698305639644,0.999999938274,0.000215335364473,-0.000277293967319,1.38248414899e-05,1793239472395929600
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.103210136,661,635.103210136,879.896789864,788,804,652,631,652.896789864,0.40097721448,-0.00535783979793,0.069830615952,0.999999938002,0.000215686076479,-0.000277991857475,1.39747309387e-05,1793239472412596480
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.693519435,661,635.693519435,879.306480565,788,804,652,631,652.306480565,0.400979535817,-0.0053584508457,0.0698327681566,0.999999939141,0.00021506650987,-0.000274331218837,1.43453437217e-05,1793239472429263104
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.721702828,661,636,879,787.721702828,804,652,631.278297172,652,0.400979582954,-0.00535761602197,0.0698330676057,0.999999939278,0.000215214585291,-0.000273726018303,1.4186159607e-05,1793239472445929984
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.142898043,661,636,879,787.142898043,804,652,631.857101957,652,0.400977174392,-0.00535521993419,0.0698313664341,0.999999938336,0.000216191566918,-0.000276420104921,1.34548964193e-05,1793239472462596608
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.433571567,661.433571567,636,879,787,804,652,631.566428433,652.433571567,0.40097847029,-0.00535566841424,0.0698323809766,0.99999993906,0.000215648223301,-0.000274202856854,1.37022231141e-05,1793239472479263232
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.009467675,715,679.990532325,661.990532325,635.990532325,879.009467675,787.009467675,804,652,631.009467675,652.990532325,0.400980944346,-0.00535706428524,0.069834253308,0.999999940306,0.000214582656717,-0.000270443802162,1.42626250311e-05,1793239472495930112
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.597091355,715,679.402908645,661.402908645,635.402908645,879.597091355,787.597091355,804,652,631.597091355,652.402908645,0.400981205931,-0.00535936947745,0.0698341427601,0.999999940732,0.000212061686716,-0.00027085048877,1.4351347946e-05,1793239472512596480
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.818055153,715.181944847,679.181944847,661.181944847,635.181944847,880,788,804,652,632,652.181944847,0.400981569648,-0.0053604321843,0.0698344419635,0.999999941051,0.000211059522781,-0.000270451115254,1.44013615737e-05,1793239472529262592
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.239244152,715.760755848,679.760755848,661.760755848,635.760755848,880,788,804,652,632,652.760755848,0.400982156139,-0.00535878472689,0.0698356349345,0.999999941143,0.000213370246032,-0.000268293527683,1.43669407851e-05,1793239472545929216
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.660832829,679.660832829,661.660832829,636,879.660832829,787.660832829,804,652,632,653,0.400982921882,-0.00535770683826,0.0698364355843,0.999999941316,0.000214521861019,-0.000266736435659,1.41534281317e-05,1793239472562596352
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715.082703129,679.082703129,661.082703129,636,879.082703129,787.082703129,804,652,632,653,0.400983813918,-0.00535703024324,0.0698369598214,0.999999941551,0.000214856818322,-0.000265602426939,1.38137350919e-05,1793239472579263232
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.488400479,661,636,879.488400479,787,804,652,631.511599521,653,0.400981023423,-0.00535700337386,0.0698354457653,0.999999940589,0.000215528841403,-0.000268650698405,1.39754069437e-05,1793239472595930112
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.939114619,745,715,679.939114619,661,636,880,787,804,652,631.060885381,653,0.40097796541,-0.00535699420813,0.0698338299722,0.999999939544,0.000216232653431,-0.000271948363575,1.41605309543e-05,1793239472612596992
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.344228366,745,715,679.344228366,661,636,880,787,804,652,631.655771634,653,0.400977952708,-0.00535618904862,0.0698343061567,0.999999939616,0.000216721773982,-0.000271310068798,1.38172943903e-05,1793239472629263104
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.244072852,745,715,679.244072852,661,636,879.755927148,787.244072852,804,652,632,653,0.40097831045,-0.00535659099938,0.0698346912387,0.999999939939,0.000215985454276,-0.00027071064626,1.36905313172e-05,1793239472645929472
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.823330925,745,715,679.823330925,661,636,879.176669075,787.823330925,804,652,632,653,0.400979176921,-0.00535865067439,0.0698349512096,0.999999940604,0.000213566237666,-0.000270164606872,1.38610512167e-05,1793239472662596352
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.399534892,745.399534892,715,680,661,636,879,787.600465108,804,652,631.600465108,652.600465108,0.400980287116,-0.00535977047425,0.0698356346649,0.999999941118,0.000212120279483,-0.000269390082413,1.40356531721e-05,1793239472679262976
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.974398582,745.974398582,715,680,661,636,879,787.025601418,804,652,631.025601418,652.025601418,0.400981504264,-0.00536047782644,0.0698365039588,0.999999941567,0.000211101418638,-0.000268515291364,1.42120464549e-05,1793239472695929344
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.438342231,746,715,679.438342231,661,636,879,787,804,652,631.561657769,652,0.400980647104,-0.00535967336426,0.069836285575,0.999999941227,0.000213207889257,-0.000268129289954,1.39946341566e-05,1793239472712596224
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca59cfbcb2e02eb9e3aa27e8661926f052744908
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..317f76932e9f63893658deaa382a7ade1c3c7baa
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d23f21a9c34ce36f3a0e6e7e38776167a3552d8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/franka_data.csv
@@ -0,0 +1,421 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,662,636,879,787,803,652,631,652,0.400979632355,-0.00535826373414,0.0698365695359,0.999999941007,0.000214330957653,-0.000268061231424,1.38512772678e-05,1793239472868669952
+1,0.016666667,BASELINE,766,745,715,679,661.42677234,636,879,787,803.57322766,652,631,652,0.400979330559,-0.00535867463893,0.0698360994044,0.999999940954,0.000213481257482,-0.000268927694484,1.39920771531e-05,1793239472885336832
+2,0.033333333,BASELINE,766,745,715,679,661.146787561,636,879,787,804,652,631,652.146787561,0.40097936259,-0.00535900675754,0.0698359383672,0.999999941011,0.00021286771077,-0.000269200657911,1.40289237964e-05,1793239472902003968
+3,0.050000000,BASELINE,766,745,715,679,661.721315753,636,879,787,804,652,631,652.721315753,0.400980367393,-0.00535910929243,0.0698366780342,0.99999994139,0.000212942317734,-0.000267744156823,1.37628495369e-05,1793239472918670592
+4,0.066666667,BASELINE,766,745.303929941,715,679.303929941,662,635.696070059,879,787,804,652,631,652.696070059,0.400979681875,-0.00535823966257,0.0698365651799,0.999999941105,0.000214477060977,-0.00026758905214,1.3590954481e-05,1793239472935336960
+5,0.083333333,BASELINE,766,745.894161082,715,679.894161082,662,635.105838918,879,787,804,652,631,652.105838918,0.400977404081,-0.00535645425608,0.0698356492527,0.999999940191,0.000217387248723,-0.000268659859509,1.35077760015e-05,1793239472952003328
+6,0.100000000,BASELINE,766,745.523676201,715,679.523676201,661.523676201,635,879,787.476323799,804.476323799,652,631.476323799,652.476323799,0.400979927712,-0.00535676158626,0.0698365066729,0.999999940953,0.000215914220974,-0.000267008822669,1.34731607533e-05,1793239472968669952
+7,0.116666667,BASELINE,766,745,715,679,661,635,879.055978166,787.944021834,804.944021834,652,632,653,0.400983035927,-0.0053575747314,0.0698376426487,0.999999941963,0.000213693811946,-0.000265004156349,1.34924850161e-05,1793239472985336576
+8,0.133333333,BASELINE,766,745,715,679,661,635,879.628750865,787.371249135,804.371249135,652,632,653,0.400981855652,-0.00535883614333,0.0698377730858,0.999999941958,0.000213415316139,-0.000265225242032,1.39118213796e-05,1793239473002003200
+9,0.150000000,BASELINE,765.797582049,745,715,679,661,635,879.797582049,787,804,652,631.797582049,652.797582049,0.40098114578,-0.00535954419621,0.0698379110765,0.999999941914,0.000213560686646,-0.000265262266797,1.41556895272e-05,1793239473018669824
+10,0.166666667,BASELINE,765.222267377,745,715,679,661,635,879.222267377,787,804,652,631.222267377,652.222267377,0.400981302486,-0.00535923284442,0.0698380629825,0.999999941797,0.000214486908676,-0.000264960212356,1.4076308024e-05,1793239473035336704
+11,0.183333333,BASELINE,765.36432924,745,715,679,661.36432924,635,879,787,804,652,631.36432924,652,0.400980912875,-0.00535820462071,0.0698375286966,0.999999941262,0.000216133432799,-0.000265657560558,1.37292990119e-05,1793239473052003328
+12,0.200000000,BASELINE,765.958028669,745,715,679,661.958028669,635,879,787,804,652,631.958028669,652,0.40098017932,-0.00535672507703,0.069836562406,0.99999994046,0.000218233436472,-0.000266984101088,1.321380016e-05,1793239473068669696
+13,0.216666667,BASELINE,765.464143431,745,715,679,661.464143431,635,879,787.535856569,804,652,631.464143431,652.535856569,0.400979588573,-0.00535794153849,0.0698360103387,0.999999940916,0.000214796836882,-0.000268053637879,1.33091960414e-05,1793239473085336320
+14,0.233333333,BASELINE,765.112074107,745,715,679.112074107,661,635.112074107,879,787.887925893,804,652,631.112074107,652.887925893,0.400979213646,-0.0053591168664,0.0698357505708,0.999999941338,0.000211957353674,-0.000268732040327,1.34319053367e-05,1793239473102002944
+15,0.250000000,BASELINE,765.686628918,745,715,679.686628918,661,635.686628918,879,787.313371082,804,652,631.686628918,652.313371082,0.400979684488,-0.00535927613054,0.0698365669617,0.999999941277,0.000213319945229,-0.000267877081208,1.34755544173e-05,1793239473118669824
+16,0.266666667,BASELINE,765.731752755,745.268247245,715,679.731752755,661.268247245,636,879.268247245,787,803.731752755,652,632,652.268247245,0.400980104545,-0.00535885912937,0.0698372129629,0.999999941337,0.000214020904798,-0.000267096245603,1.34751146395e-05,1793239473135336448
+17,0.283333333,BASELINE,765.141659579,745.858340421,715,679.141659579,661.858340421,636,879.858340421,787,803.141659579,652,632,652.858340421,0.400980463671,-0.00535775071886,0.0698376545287,0.999999941542,0.000213928031115,-0.000266404344237,1.34217765724e-05,1793239473152003328
+18,0.300000000,BASELINE,765,745.560525896,715,679,661.560525896,636,879.560525896,787.439474104,803.439474104,652,631.560525896,653,0.400980275024,-0.00535823672321,0.0698374348279,0.999999941494,0.000213687870065,-0.000266776544045,1.34262148535e-05,1793239473168669952
+19,0.316666667,BASELINE,765.017741908,745,715.017741908,679,661.017741908,636,879,787.982258092,803.982258092,652,631,653,0.400979935116,-0.00535920595289,0.0698370322403,0.999999941381,0.000213383500333,-0.00026744116538,1.34558645082e-05,1793239473185336576
+20,0.333333333,BASELINE,765.594887936,745,715.594887936,679,661.594887936,636,879,787.405112064,803.405112064,652,631,653,0.400980281949,-0.00535953044914,0.0698374496402,0.999999941752,0.000212521653154,-0.000266727082314,1.37049605669e-05,1793239473202003200
+21,0.350000000,BASELINE,765.829287338,745,715.829287338,679,661.829287338,636,879,787.170712662,803.170712662,652,631,653,0.400980226705,-0.00535974509109,0.0698375009463,0.999999941981,0.00021160066561,-0.000266593663038,1.38330444759e-05,1793239473218669824
+22,0.366666667,BASELINE,765.256574143,745,715.256574143,679,661.256574143,636,879,787.743425857,803.743425857,652,631,653,0.400979224634,-0.005359701044,0.0698366901614,0.999999941877,0.000210540412252,-0.000267827612575,1.36761644332e-05,1793239473235336192
+23,0.383333333,BASELINE,765.327852413,745,715,679,661.327852413,635.672147587,879,787.672147587,804,652,631.327852413,653,0.400979051545,-0.00535847073715,0.0698364907759,0.999999941483,0.000212469885359,-0.000267786216468,1.3428388604e-05,1793239473252003072
+24,0.400000000,BASELINE,765.921785437,745,715,679,661.921785437,635.078214563,879,787.078214563,804,652,631.921785437,653,0.400979551246,-0.00535627767781,0.0698367875938,0.99999994084,0.000216825780161,-0.000266709767108,1.3106842959e-05,1793239473268669696
+25,0.416666667,BASELINE,766,745,715,679.499570776,661.500429224,635,879,787,804,652,631.500429224,653,0.400979757395,-0.00535722972167,0.0698369054502,0.999999941344,0.000214051892223,-0.000267059053546,1.3164111404e-05,1793239473285336320
+26,0.433333333,BASELINE,766,745,715,679.925328046,661,635,879,787,803.925328046,652,631,652.925328046,0.400980019711,-0.00535840147539,0.0698371254824,0.999999941948,0.000210933460053,-0.000267275339263,1.32643881542e-05,1793239473302002944
+27,0.450000000,BASELINE,766,745,715,679.351797773,661,635,879,787,803.351797773,652,631,652.351797773,0.400980954688,-0.00535785442304,0.0698382094409,0.999999942129,0.000212737128529,-0.000265158538239,1.32681750767e-05,1793239473318669824
+28,0.466666667,BASELINE,766,745,715,679,661,635.229195527,879,787,803.229195527,652,631,652.229195527,0.400981775518,-0.0053575908397,0.0698390264165,0.999999942277,0.000214252077786,-0.000263374665675,1.32914088124e-05,1793239473335336704
+29,0.483333333,BASELINE,766,745,715,679,661,635.82202953,879,787,803.82202953,652,631,652.82202953,0.400982415244,-0.00535777700445,0.0698394198008,0.999999942379,0.00021530894899,-0.000262119012961,1.33454965944e-05,1793239473352003072
+30,0.500000000,BASELINE,766,745,715,679,661,636,879,787,804,652,631,652.594856066,0.400981186837,-0.00535769167714,0.0698387757797,0.999999941745,0.000216247680325,-0.000263760774964,1.33312901587e-05,1793239473368669696
+31,0.516666667,BASELINE,766,745,715,679,661,636,879,787,804,652,631,652.015911244,0.400979157027,-0.00535748988365,0.0698376867267,0.999999940788,0.000217135731336,-0.000266645486005,1.32877864899e-05,1793239473385336576
+32,0.533333333,BASELINE,765.445136772,745,715,679,661,635.445136772,879,787,803.445136772,652,631,652,0.400980388391,-0.00535703748888,0.0698381544183,0.999999941289,0.000216196948678,-0.000265530562807,1.3168585985e-05,1793239473402003200
+33,0.550000000,BASELINE,765.126958111,745,715,679,661,635.126958111,879,787.126958111,803.126958111,652,631,652,0.400981203804,-0.00535690555246,0.0698384826549,0.999999941682,0.000215218358991,-0.000264849912486,1.31204709647e-05,1793239473418669824
+34,0.566666667,BASELINE,765.70455929,745,715,679,661,635.70455929,879,787.70455929,803.70455929,652,631,652,0.400980215652,-0.005357936234,0.0698381597338,0.999999941545,0.000214281721605,-0.000266111933309,1.33322699514e-05,1793239473435336704
+35,0.583333333,BASELINE,766,745,715,679.291141505,661,635.708858495,879.291141505,787.708858495,804,652,631,652,0.400980385953,-0.00535855863529,0.0698381615224,0.99999994167,0.000213813148316,-0.000266020110646,1.33274504335e-05,1793239473452003072
+36,0.600000000,BASELINE,766,745,715,679.887127532,661,635.112872468,879.887127532,787.112872468,804,652,631,652,0.400981769232,-0.00535875354016,0.0698385033035,0.999999942069,0.000213834669158,-0.000264510723954,1.30958169574e-05,1793239473468669696
+37,0.616666667,BASELINE,766,745,715,680,661,635.466373575,879.533626425,787,803.533626425,652,631.466373575,652.466373575,0.400980527871,-0.00535856315818,0.0698376126079,0.999999941623,0.000213838172005,-0.00026618872379,1.30387320857e-05,1793239473485336320
+38,0.633333333,BASELINE,766,745,715,679.958313833,661,636,879,787,803.041686167,652,631.958313833,653,0.400978868825,-0.00535827220224,0.0698365498593,0.999999941012,0.000213978968467,-0.000268364392535,1.30383545174e-05,1793239473502003200
+39,0.650000000,BASELINE,766,745,715,679.383287312,661,636,879,787,803.616712688,652,631.383287312,653,0.400979711329,-0.00535784617431,0.0698369699197,0.999999940853,0.000215930183152,-0.000267379674559,1.32417441754e-05,1793239473518669568
+40,0.666666667,BASELINE,765.804066844,745,715,679,661.195933156,636,878.804066844,787,804,652,631,652.804066844,0.400980290867,-0.00535773433479,0.0698375907754,0.999999941024,0.000216589252893,-0.0002662005948,1.33460079858e-05,1793239473535336448
+41,0.683333333,BASELINE,765.216462695,745,715,679,661.783537305,636,878.216462695,787,804,652,631,652.216462695,0.400980344732,-0.00535825055892,0.0698386130217,0.999999941856,0.000214665320727,-0.000264632985293,1.32521189045e-05,1793239473552003072
+42,0.700000000,BASELINE,765.366689978,745,715,679,661.633310022,635.633310022,878.366689978,787,804,652,631,652.366689978,0.400980235167,-0.005358448014,0.0698386218682,0.999999942136,0.000213207489692,-0.000264766365046,1.30383787865e-05,1793239473568669696
+43,0.716666667,BASELINE,765.947246374,745,715,679,661.052753626,635.052753626,878.947246374,787,804,652,631,652.947246374,0.400980030282,-0.0053584595518,0.0698380396644,0.999999942093,0.000212021505203,-0.000265891821271,1.27547373563e-05,1793239473585336320
+44,0.733333333,BASELINE,766,745,715,679,661,635.524447546,879,787.524447546,804,652,631,653,0.400980452133,-0.00535801080655,0.069837708158,0.999999941477,0.000215182331177,-0.000265644992148,1.32420277022e-05,1793239473602002944
+45,0.750000000,BASELINE,765.899077663,745,715,679.100922337,661.100922337,636,879,787.899077663,803.899077663,652,631,653,0.400980975547,-0.00535793729314,0.0698375945898,0.999999941125,0.000217487885726,-0.00026506731102,1.37283151143e-05,1793239473618669824
+46,0.766666667,BASELINE,765.324438482,745,715,679.675561518,661.675561518,636,879,787.324438482,803.324438482,652,631,653,0.400981681647,-0.00535984101324,0.0698383863818,0.999999942324,0.000213739593672,-0.00026358046039,1.38482116822e-05,1793239473635336448
+47,0.783333333,BASELINE,765.257334456,745,715,679.742665544,662,635.742665544,879,787,803.257334456,652,631,653,0.400981519183,-0.00536009966381,0.0698385784506,0.999999942502,0.000212832501449,-0.000263638483797,1.38816455445e-05,1793239473652003072
+48,0.800000000,BASELINE,765.848357912,745,715,679.151642088,662,635.151642088,879,787,803.848357912,652,631,653,0.40098023044,-0.00535822513118,0.0698379928505,0.999999941363,0.000215609630187,-0.000265699765634,1.38029620874e-05,1793239473668669696
+49,0.816666667,BASELINE,766,745,715,679.430363768,661.569636232,635.430363768,879,787,804,652,631,653,0.400981146043,-0.00535872652204,0.0698388281382,0.999999941875,0.000215128283427,-0.000264164011885,1.36613137085e-05,1793239473685336320
+50,0.833333333,BASELINE,766,745,715,679.990792649,661,635.990792649,879.009207351,787,804,652,631.009207351,652.990792649,0.400982787822,-0.0053600176255,0.0698401301533,0.999999942931,0.00021355776087,-0.000261434793203,1.35000672819e-05,1793239473702002944
+51,0.850000000,BASELINE,766,745,715,679.415027336,661,635.415027336,879.584972664,787,804,652,631.584972664,652.415027336,0.400982300362,-0.00535944543347,0.069839976393,0.999999942743,0.000214166121491,-0.000261657118248,1.34700586685e-05,1793239473718669568
+52,0.866666667,BASELINE,766,745,715,679.163976745,661.163976745,635,879.836023255,787,804,652,631.836023255,652,0.400981748663,-0.00535910244163,0.0698397524188,0.999999942533,0.000214562507381,-0.000262136928051,1.34682281515e-05,1793239473735336192
+53,0.883333333,BASELINE,766,745,715,679.751343328,661.751343328,635,879.248656672,787,804,652,631.248656672,652,0.400981031098,-0.00535935124733,0.0698393471517,0.999999942264,0.000214411572044,-0.000263281566437,1.35391538042e-05,1793239473752003072
+54,0.900000000,BASELINE,766,745,715,679.665905395,661.665905395,635.334094605,879,787,803.665905395,652,631,652.334094605,0.40098091238,-0.00535924783789,0.0698390907782,0.999999942344,0.000213757135575,-0.000263517275261,1.3375551532e-05,1793239473768669952
+55,0.916666667,BASELINE,766,745,715,679.086542373,661.086542373,635.913457627,879,787,803.086542373,652,631,652.913457627,0.400981233293,-0.00535888585721,0.0698389437118,0.99999994268,0.00021273306451,-0.000263085712809,1.30397755904e-05,1793239473785336576
+56,0.933333333,BASELINE,766,745,715,679.49115158,661,636,879,787.49115158,803.49115158,652,631.49115158,652.50884842,0.400982132418,-0.00535904751721,0.0698391201107,0.999999942796,0.000213749332672,-0.000261812232816,1.31565287832e-05,1793239473802003456
+57,0.950000000,BASELINE,766,745,715,679.931835789,661.068164211,635.931835789,879,787.931835789,803.931835789,652,631.931835789,652.068164211,0.400982851913,-0.00535915354041,0.0698392949219,0.999999942773,0.000215141669552,-0.00026074962217,1.33333619009e-05,1793239473818669824
+58,0.966666667,BASELINE,766,745,715,679.357705144,661.642294856,635.357705144,879,787.357705144,803.357705144,652,631.357705144,652.642294856,0.400981484374,-0.0053581640285,0.069839036316,0.999999942025,0.000216665926333,-0.000262349669162,1.33662898541e-05,1793239473835336448
+59,0.983333333,BASELINE,765.784723583,745,715,679,661.784723583,635.215276417,879.215276417,787,803.215276417,652,631,653,0.40098091197,-0.00535792010302,0.069838857558,0.999999941707,0.000216986901494,-0.000263292636515,1.34111088045e-05,1793239473852003328
+60,1.000000000,BASELINE,765.213641122,745,715,679,661.213641122,635.786358878,879.786358878,787,803.786358878,652,631,653,0.400981653755,-0.00535890847287,0.0698388107714,0.999999942104,0.00021531910878,-0.000263149591494,1.34755810448e-05,1793239473868669952
+61,1.016666667,BASELINE,765,745,715,679,661,635.624659851,879.624659851,787,804,652,631.375340149,652.624659851,0.400981850965,-0.00535799528455,0.069839094556,0.999999941917,0.00021666754265,-0.000262754970649,1.34392652019e-05,1793239473885336576
+62,1.033333333,BASELINE,765,745,715,679,661,635.024980577,879.024980577,787,804,652,631.975019423,652.024980577,0.400981722684,-0.00535594554336,0.0698395759214,0.999999941374,0.000219818761741,-0.000262209984067,1.33427087691e-05,1793239473902003200
+63,1.050000000,BASELINE,765.550776073,745,715,679,661.550776073,635.550776073,879,787.550776073,804,652,631.449223927,652.550776073,0.400982136221,-0.00535919535673,0.069839546222,0.999999942286,0.000215830266391,-0.000262038675645,1.34682835325e-05,1793239473918669824
+64,1.066666667,BASELINE,766,745,715,679.124834415,662,636,879.124834415,787.875165585,803.875165585,652,631.124834415,652.875165585,0.400982362734,-0.00536153739796,0.0698395001855,0.999999942927,0.000212873036089,-0.000262005633589,1.35877755169e-05,1793239473935336704
+65,1.083333333,BASELINE,766,745,715,679.696535669,662,636,879.696535669,787.303464331,803.303464331,652,631.696535669,652.303464331,0.40098183545,-0.00535980530436,0.0698394751881,0.999999942425,0.000214718331887,-0.000262409396589,1.36509297814e-05,1793239473952003072
+66,1.100000000,BASELINE,766,745,715,680,661.722793086,636,879.722793086,787,803,652,631.722793086,652.277206914,0.400982038865,-0.00535924903096,0.0698395813631,0.999999942459,0.000214705712734,-0.00026229753742,1.35707785883e-05,1793239473968669696
+67,1.116666667,BASELINE,766,745,715,680,661.131973863,636,879.131973863,787,803,652,631.131973863,652.868026137,0.40098306894,-0.00536002299752,0.0698398359371,0.999999943096,0.00021259117981,-0.00026160233975,1.3328501726e-05,1793239473985336320
+68,1.133333333,BASELINE,766,745,715,679.546351686,661.453648314,635.546351686,879,787,803.453648314,652,631.453648314,652.546351686,0.400982338157,-0.00535974693891,0.0698390588614,0.999999942568,0.000213893773427,-0.00026255356391,1.33918532555e-05,1793239474002002944
+69,1.150000000,BASELINE,766,745,715,679.036967935,661.963032065,635.036967935,879,787,804,652,632,652.036967935,0.400981247945,-0.00535921660231,0.0698381447101,0.999999941792,0.000216007528664,-0.000263770743445,1.35129011393e-05,1793239474018669568
+70,1.166666667,BASELINE,766,745,715,679.608604045,661.391395955,635.608604045,879,787,804,652,632,652.608604045,0.400982284259,-0.00535937661525,0.0698395395694,0.999999942345,0.000215638298414,-0.00026198552464,1.31970354645e-05,1793239474035336448
+71,1.183333333,BASELINE,766,745,715,679.814588355,661,636,879,787,804,652,631.814588355,652.814588355,0.400982792435,-0.00535924141225,0.0698403622893,0.999999942646,0.000215469243471,-0.000260978098545,1.30912736248e-05,1793239474052003328
+72,1.200000000,BASELINE,766,745,715,679.226550623,661,636,879,787,804,652,631.226550623,652.226550623,0.400982153747,-0.00535846514033,0.0698399425943,0.999999942406,0.000215734874213,-0.000261659668694,1.34417575288e-05,1793239474068669952
+73,1.216666667,BASELINE,766,745,715,679,661,636,879,787,804,652,631.356487467,652,0.400981198792,-0.00535860867107,0.0698391107298,0.999999942172,0.00021532216091,-0.000262887214469,1.34852944526e-05,1793239474085336576
+74,1.233333333,BASELINE,766,745,715,679,661,636,879,787,804,652,631.936392154,652,0.400980045627,-0.00535932865901,0.0698380205512,0.999999941941,0.000214484316964,-0.000264456933121,1.3336462065e-05,1793239474102003200
+75,1.250000000,BASELINE,766,745,715,679,661.513686136,636,879,787.513686136,803.486313864,652,632,652.513686136,0.400980196776,-0.00535887763898,0.069837736355,0.999999941597,0.000215860578603,-0.000264649809082,1.30492702988e-05,1793239474118669824
+76,1.266666667,BASELINE,766,745,715,679,662,636,879.090503123,787.909496877,803,652,631.909496877,653,0.400980445108,-0.00535837541191,0.0698376428276,0.999999941358,0.000217039696248,-0.000264601509806,1.28099196392e-05,1793239474135336448
+77,1.283333333,BASELINE,766,745,715,679,662,636,879.666486741,787.333513259,803,652,631.333513259,653,0.400980352763,-0.00535837238808,0.0698380394398,0.999999941761,0.000215698038696,-0.000264169409774,1.29186384535e-05,1793239474152003072
+78,1.300000000,BASELINE,766,745,715,679,662,636,880,787.247933813,803.247933813,652,631,653,0.400981328317,-0.00535825220117,0.0698390795308,0.999999942272,0.000215068174406,-0.000262731090161,1.31562648028e-05,1793239474168669696
+79,1.316666667,BASELINE,766,745,715,679,662,636,880,787.836895711,803.836895711,652,631,653,0.400983772744,-0.00535797085872,0.0698410047142,0.999999942929,0.000215417367864,-0.00025990873533,1.35712009235e-05,1793239474185336576
+80,1.333333333,BASELINE,766,745,715,679,662,636,879.58093283,788,803.58093283,652,631,652.58093283,0.40098351086,-0.00535791494288,0.0698410729213,0.999999942862,0.000215645053178,-0.000259985375604,1.34715049307e-05,1793239474202003200
+81,1.350000000,BASELINE,766,745,715,679,662,636,879.001362072,788,803.001362072,652,631,652.001362072,0.400982212453,-0.00535794536588,0.0698404299028,0.999999942517,0.000215826200652,-0.000261172336722,1.31747038166e-05,1793239474218670080
+82,1.366666667,BASELINE,766,745,715,679,662,636,879,787.42741484,803.57258516,652,631,652.57258516,0.400981443947,-0.00535752637249,0.0698394962039,0.999999941975,0.000216677368414,-0.000262544205286,1.31135539579e-05,1793239474235336448
+83,1.383333333,BASELINE,765.849717586,745,715,679.150282414,662,636,879,787,804,652,631,652.849717586,0.400980508495,-0.00535752745434,0.0698384696945,0.999999941628,0.000216463201459,-0.000264041000521,1.30414707228e-05,1793239474252002816
+84,1.400000000,BASELINE,765.261042263,745,715,679.738957737,662,636,879,787,804,652,631,652.261042263,0.400979082398,-0.00535875703732,0.0698371744424,0.999999941851,0.000213136713632,-0.000265900952414,1.29358740739e-05,1793239474268669696
+85,1.416666667,BASELINE,765.322472683,745,715.322472683,679.677527317,662,636,879,787.322472683,804,652,631.322472683,652.322472683,0.400978777742,-0.00535907924328,0.0698373559232,0.999999942149,0.000211874094804,-0.000265788448736,1.29309486611e-05,1793239474285336320
+86,1.433333333,BASELINE,765.901876054,745,715.901876054,679.098123946,662,636,879,787.901876054,804,652,631.901876054,652.901876054,0.400979366597,-0.00535867849492,0.0698387139936,0.999999942514,0.000212255867493,-0.000264104387445,1.30062332423e-05,1793239474302002944
+87,1.450000000,BASELINE,765.52104838,745,715.52104838,679,661.52104838,636,879,787.52104838,804,652,632,653,0.400981264121,-0.00535860855534,0.0698392885641,0.999999942694,0.000213147271694,-0.000262688754896,1.3216833006e-05,1793239474318669824
+88,1.466666667,BASELINE,765.055549809,745,715.055549809,679.055549809,661.055549809,636,879,787.055549809,804,652,631.944450191,653,0.400983275365,-0.00535862675536,0.0698397483432,0.999999942839,0.000214093746069,-0.000261353743067,1.34180804525e-05,1793239474335336704
+89,1.483333333,BASELINE,765.632121934,745,715.632121934,679.632121934,661.632121934,636,879,787.632121934,804,652,631.367878066,653,0.400983850689,-0.00535883905046,0.0698406297231,0.999999943021,0.000214582186024,-0.000260261591982,1.32728485462e-05,1793239474352003328
+90,1.500000000,BASELINE,766,745,715.786751284,679.786751284,661.786751284,636,879,787.786751284,803.786751284,652,631,653,0.400984306961,-0.00535926676399,0.0698412322033,0.999999943323,0.000214257610584,-0.000259373559186,1.31664137162e-05,1793239474368669952
+91,1.516666667,BASELINE,766,745,715.197595786,679.197595786,661.197595786,636,879,787.197595786,803.197595786,652,631,653,0.400984553374,-0.00536007420896,0.0698413430497,0.999999943835,0.000212499882266,-0.000258845338516,1.31283689216e-05,1793239474385336576
+92,1.533333333,BASELINE,766,745,715,679,661,636,879,787,803.384160949,652,631,653,0.400984501566,-0.00535911066974,0.0698411958301,0.999999943592,0.000213474752419,-0.000258988499011,1.29961039362e-05,1793239474402002944
+93,1.550000000,BASELINE,766,745,715,679,661,636,879,787,803.962184042,652,631,653,0.400984299264,-0.005357253425,0.0698409183808,0.999999942964,0.000215828594947,-0.000259470463785,1.28162918756e-05,1793239474418669568
+94,1.566666667,BASELINE,766,745,715,679,661,635.464364211,879,787,804,652,631,652.464364211,0.400983555074,-0.00535815836964,0.0698412809313,0.999999943183,0.000214565507896,-0.000259660844754,1.31067624156e-05,1793239474435336448
+95,1.583333333,BASELINE,766,745,715,679.109699724,661.109699724,635.109699724,879,787,804,652,631,652,0.400982794498,-0.00535885443922,0.0698414797026,0.999999943271,0.00021369572024,-0.000260026515555,1.33612227122e-05,1793239474452002816
+96,1.600000000,BASELINE,766,745,715,679.687743687,661.687743687,635.687743687,879,787,804,652,631,652,0.400982125916,-0.00535783323215,0.0698407879734,0.999999942553,0.000215586028813,-0.000261227700481,1.33213927196e-05,1793239474468669696
+97,1.616666667,BASELINE,766,745,715,679.729232098,662,636,879,787.270767902,803.729232098,652,631.270767902,652,0.400980851052,-0.00535781916146,0.0698397574187,0.999999942019,0.000215938298503,-0.000262972399727,1.33260744901e-05,1793239474485336320
+98,1.633333333,BASELINE,766,745,715,679.140356949,662,636,879,787.859643051,803.140356949,652,631.859643051,652,0.400978863906,-0.00535898830855,0.0698383288005,0.999999941702,0.000214483628221,-0.000265355637823,1.33830501809e-05,1793239474502002944
+99,1.650000000,BASELINE,766,745,715,679,662,636,879.442925606,787.557074394,803.442925606,652,631.557074394,652.442925606,0.400980339025,-0.00535898223716,0.0698393147575,0.99999994228,0.000214261421238,-0.000263343665898,1.35302569236e-05,1793239474518669824
+100,1.666666667,BASELINE,766,745,715.024179452,679.024179452,662,636,879.975820548,787,804,652,631,653,0.400982776217,-0.00535861848731,0.0698409755268,0.999999943084,0.000214430318178,-0.000260124666218,1.36951929858e-05,1793239474535336704
+101,1.683333333,BASELINE,766,745,715.599088117,679.599088117,662,636,879.400911883,787,804,652,631,653,0.400982448579,-0.00535848451563,0.0698407961142,0.999999942861,0.000214722739899,-0.000260740958703,1.36208112166e-05,1793239474552003584
+102,1.700000000,BASELINE,766,745,715.822732318,679.822732318,662,636,879,787.177267682,804,652,631,652.822732318,0.400982126428,-0.00535859106763,0.0698405547775,0.99999994265,0.00021506352923,-0.00026127975926,1.34656116586e-05,1793239474568670208
+103,1.716666667,BASELINE,766,745,715.237016239,679.237016239,662,636,879,787.762983761,804,652,631,652.237016239,0.400981816924,-0.0053592518183,0.0698401707598,0.999999942463,0.000215515763953,-0.000261640007988,1.31241971403e-05,1793239474585336576
+104,1.733333333,BASELINE,766,745.344779979,715,679.344779979,661.655220021,636,879.344779979,787.655220021,804,652,631.344779979,652.344779979,0.400982154286,-0.00535934871884,0.0698403952465,0.999999942513,0.000215685333376,-0.000261304950312,1.31939354651e-05,1793239474602003200
+105,1.750000000,BASELINE,766,745.92391187,715,679.92391187,661.07608813,636,879.92391187,787.07608813,804,652,631.92391187,652.92391187,0.40098293133,-0.00535906236242,0.0698410333424,0.999999942724,0.000215662771173,-0.000260497282909,1.35431402576e-05,1793239474618669824
+106,1.766666667,BASELINE,766.501348958,745.498651042,715,679.498651042,661,636,880,787,804,652,631.498651042,653,0.400981104789,-0.00535982401897,0.0698399661726,0.999999942843,0.000212868375629,-0.000262336091308,1.34125084394e-05,1793239474635336704
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787,803,652,632,653,0.400983154983,-0.00535947114167,0.0698406554751,0.999999943417,0.000213640334421,-0.000259506953264,1.33808634039e-05,1793239474678650368
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.411930668,636,879.411930668,787,803.588069332,652,631.411930668,653,0.400983114591,-0.005359406271,0.0698403595311,0.999999943419,0.000213476768428,-0.000259639564456,1.33201021558e-05,1793239474695316736
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.173430408,636,879,787.173430408,804,652,631,653,0.400983125398,-0.00535937639856,0.0698402590783,0.999999943416,0.000213249006803,-0.000259841937936,1.32501713475e-05,1793239474711983360
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.752457876,636,879,787.752457876,804,652,631,653,0.400983255941,-0.0053594283755,0.0698406158159,0.999999943402,0.000212871112534,-0.000260207462644,1.31587959215e-05,1793239474728649728
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.33014655,788,804,652,631.33014655,653,0.400983069572,-0.0053596988431,0.0698406514441,0.999999943384,0.000212423943602,-0.000260648294138,1.30373093014e-05,1793239474745316096
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.906835424,788,804,652,631.906835424,653,0.400982646544,-0.00536013247215,0.0698404472788,0.999999943362,0.000211925042709,-0.000261145362182,1.28933366614e-05,1793239474761982976
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.474284404,679,662,636,879.525715596,788,804,652,632,652.525715596,0.400982619313,-0.00536017503339,0.0698407374107,0.999999943326,0.00021245267019,-0.000260846135561,1.3057990623e-05,1793239474778649856
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.957561077,745,715.957561077,679,662,636,879,788,803.957561077,652,632,652.042438923,0.400982771014,-0.00535998599963,0.0698411249114,0.999999943234,0.000213390860644,-0.000260423920252,1.32493121063e-05,1793239474795316480
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.356696661,745,715.356696661,679,662,636,879,788,803.356696661,652,632,652.643303339,0.400984273686,-0.00535774104509,0.0698415404205,0.999999942438,0.000217128794017,-0.000260402243368,1.3009065462e-05,1793239474811983104
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.235520526,745,715,679,662,636,879,787.764479474,803,652,632,652.764479474,0.400991459764,-0.0053575391425,0.0698451522548,0.999999943647,0.000217464807691,-0.000255424404482,1.31635929956e-05,1793239474828649728
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.81510521,745,715,679,662,636,879,787.18489479,803,652,632,652.18489479,0.401006948546,-0.00536032186724,0.0698534334951,0.99999994768,0.000212831068877,-0.000243206272185,1.38948331074e-05,1793239474845316352
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.388265357,787,803.388265357,652,632,652,0.401039707941,-0.00536037574055,0.0698667381642,0.999999953267,0.000212971594317,-0.000218875805976,1.42043530335e-05,1793239474861982976
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.958415942,787,803.958415942,652,632,652,0.401080557861,-0.00535915126734,0.0698823960892,0.999999958874,0.000215348651838,-0.00018887124328,1.43163156709e-05,1793239474878649600
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.450451219,787.549548781,803.450451219,652,631.450451219,652.549548781,0.401138863025,-0.00536142419382,0.069899695154,0.999999963808,0.000213269358322,-0.00016334687696,1.47620509935e-05,1793239474895316480
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.860979297,879,787.860979297,803.139020703,652,631,653,0.401200880661,-0.00536340770822,0.0699147916886,0.999999967441,0.000211498983355,-0.000142000226978,1.4920078908e-05,1793239474911983104
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.281987915,879,787.281987915,803.718012085,652,631,653,0.401270301416,-0.00536360449954,0.0699225090746,0.999999968655,0.000211815829153,-0.00013275964898,1.40844707231e-05,1793239474928649984
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879,787,804,652.295677024,631.295677024,652.704322976,0.401347592154,-0.00536535945061,0.0699266341161,0.999999969696,0.000210347187727,-0.000127265956792,1.28256772218e-05,1793239474945316608
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879,787,804,652.872082548,631.872082548,652.127917452,0.401432354987,-0.00536859378563,0.0699273484306,0.999999970621,0.000207183327833,-0.000125329719904,1.1165093408e-05,1793239474961983232
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.445966019,661.554033981,635.445966019,879,787,803.554033981,652.554033981,631.554033981,652.445966019,0.40152980987,-0.00536917700229,0.0699233482393,0.999999969731,0.000207749581866,-0.000131551977299,8.54513009206e-06,1793239474978649856
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.980238627,661.019761373,636,879,787,803.019761373,652,631.019761373,653,0.401632189063,-0.00536916361847,0.0699183063822,0.999999968368,0.000209143708177,-0.000139612051947,5.65500847375e-06,1793239474995316224
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.388162075,661.611837925,636,879,787,803.611837925,652,631.611837925,653,0.401772342314,-0.00537377100036,0.0699220398646,0.999999970337,0.000203702150802,-0.000133505917412,2.86553322433e-06,1793239475011983104
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.198991235,661.801008765,636,878.801008765,787,804,652,631.801008765,653,0.401922607389,-0.00537736346907,0.069926066288,0.999999972107,0.000199319217015,-0.000126723328845,-1.65464554435e-07,1793239475028649728
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.776772827,661.223227173,636,878.223227173,787,804,652,631.223227173,653,0.402092120842,-0.00537902399623,0.0699306503394,0.999999973559,0.00019695142994,-0.0001186530749,-3.65621294319e-06,1793239475045316096
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.352773041,636,878.352773041,787,804,652,631,653,0.402279741142,-0.00538208871232,0.069934744792,0.999999975533,0.000191458369972,-0.0001105472298,-7.50420325248e-06,1793239475061982976
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.927651757,636,878.927651757,787,804,652,631,653,0.402478761517,-0.005386037505,0.0699385309938,0.999999977761,0.000183997639994,-0.000102418975734,-1.15771131814e-05,1793239475078650112
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.484179231,662,636,879,787,804,652,631,652.484179231,0.402709164944,-0.00539000849042,0.069938319803,0.999999979263,0.000176259873136,-0.000100583818874,-1.69885980368e-05,1793239475095316992
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.103917564,787,804,652,631,652.103917564,0.402951269012,-0.00539392910533,0.0699384889754,0.999999980679,0.000168833604003,-9.81415649929e-05,-2.24789648667e-05,1793239475111983872
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.682936603,787,804,652,631,652.682936603,0.403226210832,-0.0053976048249,0.0699430282475,0.999999982395,0.000163013818872,-8.87815539502e-05,-2.74489142221e-05,1793239475128649984
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.261110128,662,636,879.738889872,787,804,652,631,653,0.403523431811,-0.00540256830886,0.0699515229136,0.999999984797,0.000155034701705,-7.29699336958e-05,-3.23353574635e-05,1793239475145316096
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.838260233,662,636,879.161739767,787,804,652,631,653,0.403847618807,-0.00540909046453,0.0699648050714,0.999999987662,0.000144441993202,-4.93494770117e-05,-3.71207270647e-05,1793239475161982720
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,878.586813813,787,804.413186187,652,631,653,0.404182117601,-0.00541406763407,0.0699679408243,0.999999994362,8.58573378249e-05,-4.66149657706e-05,-4.1615438644e-05,1793239475178649600
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,878.012753844,787,804.987246156,652,631,653,0.404520631279,-0.00541844326409,0.0699671260804,0.999999997553,8.58704797473e-06,-5.20123845516e-05,-4.59969823857e-05,1793239475195316224
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,878.573586237,787,803.852827526,652,631,652.426413763,0.404917886498,-0.00542128068902,0.0699717729885,0.999999996007,7.22132389852e-05,-3.94434847131e-05,-3.48711155777e-05,1793239475211982848
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715.159420169,679.840579831,662,636,879,787,803.159420169,652,631.159420169,652.159420169,0.405323256451,-0.00542465645991,0.0699755558041,0.999999992206,0.000117657358816,-3.08414827799e-05,-2.81803827063e-05,1793239475228649984
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.743164128,679.256835872,662,636,879,787,803.743164128,652,631.743164128,652.743164128,0.405746672526,-0.0054295581565,0.0699767083821,0.999999993202,0.000106185706726,-3.38846163743e-05,-3.42323654401e-05,1793239475245317120
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.32062908,745,715.67937092,679.32062908,662,636,879.32062908,787.32062908,803.67937092,652,631.67937092,653,0.406183208633,-0.00543748488965,0.0699713766282,0.999999994613,8.61955586931e-05,-4.37894962663e-05,-3.7775790638e-05,1793239475261983488
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.893160981,745,715.106839019,679.893160981,662,636,879.893160981,787.893160981,803.106839019,652,631.106839019,653,0.406630052564,-0.00544778824883,0.0699609504472,0.999999995709,5.95128375013e-05,-5.90853199494e-05,-3.93483636575e-05,1793239475278649856
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.534286593,745,715,680,662,636,880,788,803.465713407,652,631.465713407,652.534286593,0.407108756364,-0.00546189234815,0.0699457005055,0.999999994998,4.71714718016e-05,-7.9474849743e-05,-3.82342339433e-05,1793239475295316224
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.960125181,788,804,652,631.960125181,652.039874819,0.407601607095,-0.00547771837703,0.069931288689,0.999999993895,3.6004890637e-05,-9.78680878124e-05,-3.65322860559e-05,1793239475311983104
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.363566293,788,804,652,631.363566293,652.636433707,0.408189917374,-0.0055054106145,0.0699440276667,0.999999996771,-4.69438424707e-06,-7.20770127155e-05,-3.52291096865e-05,1793239475328649728
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787.774678542,804,652,631,653,0.408786034687,-0.00552194820085,0.0699559973254,0.999999997928,-2.80791494597e-05,-4.59941507342e-05,-3.52116480231e-05,1793239475345316352
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787.197761022,804,652,631,653,0.409394334213,-0.00552107984719,0.0699667665227,0.99999999882,-2.44460086906e-05,-1.9455980449e-05,-3.72004411944e-05,1793239475361983232
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.622893023,662,636,879,787,804,652,631,653,0.409993991806,-0.00552468301475,0.0699628337516,0.999999998599,-2.64715921598e-05,-2.49475266027e-05,-3.8458971123e-05,1793239475378650112
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.049094034,662,636,879,787,804,652,631,653,0.410589141907,-0.00553061844496,0.0699512327058,0.99999999762,-3.14486614556e-05,-4.71451802307e-05,-3.93366092055e-05,1793239475395316992
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.54048664,745,715,679,662,636,879,787.54048664,804,652,631,653,0.411229919592,-0.00554306988649,0.0699502400077,0.999999996525,-5.02560385198e-05,-5.30567606433e-05,-4.01277386775e-05,1793239475411983360
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.871116084,745,715,679,662,636,879,788,804,652,631,653,0.411900261883,-0.00555399949585,0.0699576572417,0.99999999607,-6.59262325727e-05,-4.32561116457e-05,-4.05294315485e-05,1793239475428649728
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.292010976,745,715,679,662,636,879,788,804,652,631,653,0.41265896689,-0.00555748327164,0.0699909850277,0.9999999969,-6.61171637309e-05,1.61079648793e-05,-3.95990073276e-05,1793239475445316352
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.284937593,662,636,879.284937593,788,804,652,631,652.715062407,0.413408791031,-0.0055524548398,0.070017480193,0.999999995642,-6.10583445987e-05,5.90202963538e-05,-3.8776641815e-05,1793239475461982976
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.85969276,662,636,879.85969276,788,804,652,631,652.14030724,0.4141495823,-0.0055387684165,0.0700370257227,0.999999994363,-5.06598655295e-05,8.51991293168e-05,-3.80641856484e-05,1793239475478649600
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.556100571,787.556100571,804,652,631.443899429,652.443899429,0.414839107213,-0.00551296356226,0.0700115940172,0.999999998315,-2.00223594696e-05,3.6509270015e-05,-4.04543644543e-05,1793239475495316224
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.969242128,745,715,679.969242128,661.969242128,636,879.030757872,787,804.030757872,652,631.969242128,652.969242128,0.41551677697,-0.00548528089186,0.0699717481684,0.999999998308,1.44732762081e-05,-3.5387568475e-05,-4.38332773204e-05,1793239475511982848
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.389533403,745,715,679.389533403,661.389533403,636,879.610466597,787,804.610466597,652,631.389533403,652.389533403,0.416278358951,-0.00549393380209,0.0699338921079,0.999999994852,1.17032794909e-06,-8.99321158695e-05,-4.69752154014e-05,1793239475528649728
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.189492701,745.189492701,715,679.189492701,661.189492701,636,880,787,804.810507299,652,631,652,0.417073163776,-0.00550305905942,0.0699189117375,0.999999992628,-1.35039163246e-05,-0.000110312681117,-4.892010136e-05,1793239475545316608
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.76712057,745.76712057,715,679.76712057,661.76712057,636,880,787,804.23287943,652,631,652,0.417936018428,-0.00551315181798,0.0699507873156,0.999999996505,-3.09869656341e-05,-6.07156514674e-05,-4.84130826977e-05,1793239475561983232
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.657678923,715,680,662,636,880,787.342321077,804,652,631,652.342321077,0.418781723522,-0.00552059143767,0.0699772516251,0.999999997751,-4.0968338992e-05,-2.31648779382e-05,-4.77877742461e-05,1793239475578649600
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.084118137,715,680,662,636,880,787.915881863,804,652,631,652.915881863,0.419615843964,-0.00552623884752,0.0700000605926,0.99999999782,-4.58822896041e-05,6.24858337838e-06,-4.70825604616e-05,1793239475595316224
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.495912906,787.495912906,804,652,631,653,0.420463376677,-0.00552845591045,0.0700178342091,0.999999996993,-4.8853862348e-05,3.72324135551e-05,-4.73482355617e-05,1793239475611982848
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.185911988,787.092955994,804.092955994,652,631,653,0.421313812886,-0.00552846103158,0.0700311730337,0.999999995768,-4.96352494886e-05,6.08716879656e-05,-4.79008235164e-05,1793239475628649728
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.344262509,787.672131255,804.672131255,652,631,653,0.422167378771,-0.0055199800431,0.0700258416581,0.999999996969,-4.07066941468e-05,4.46825237451e-05,-4.90813543619e-05,1793239475645316608
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.248684959,715,680.248684959,662,636,881,788,804.751315041,652,631,653,0.422990162702,-0.00551291572784,0.0699894531601,0.999999997889,-3.48199264321e-05,-1.77037935533e-05,-5.19213372156e-05,1793239475661983232
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.821818513,715,680.821818513,662,636,881,788,804.178181487,652,631,653,0.423772786856,-0.00550769968416,0.0699125457666,0.999999987988,-3.29016468928e-05,-0.000140361556367,-5.69263355256e-05,1793239475678649856
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.601683338,715.398316662,681,662,635.601683338,880.601683338,788,804,652,631,653,0.424620413747,-0.00551471043997,0.0698822376898,0.999999981387,-4.90705920054e-05,-0.00017652919278,-6.04567800807e-05,1793239475695316480
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.023667296,715.976332704,681,662,635.023667296,880.023667296,788,804,652,631,653,0.425497366381,-0.00552723728039,0.069872952761,0.99999998022,-7.3399535064e-05,-0.000173677058814,-6.33219840185e-05,1793239475711983104
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715.436410837,680.436410837,662.563589163,635.563589163,879.436410837,787.436410837,804,651.436410837,631,652.436410837,0.426397632086,-0.00552916009272,0.069931893057,0.999999991755,-7.06440615353e-05,-8.96927688442e-05,-5.87792300138e-05,1793239475728649728
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715.149467308,680.149467308,662.850532692,635.850532692,879.149467308,787,804.149467308,651.149467308,631,652.149467308,0.427301981937,-0.00552943180067,0.0699862921381,0.99999999613,-6.72331739946e-05,-1.39231023292e-05,-5.50026510697e-05,1793239475745316352
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715.730229852,680.730229852,662.269770148,635.269770148,879.730229852,787,804.730229852,651.730229852,631,652.730229852,0.428215244682,-0.00552624553207,0.0700191822936,0.999999995997,-6.52677305415e-05,2.8147762253e-05,-5.4349534423e-05,1793239475761982976
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.692163425,745,715.692163425,680.692163425,662,635.307836575,880,787,804.692163425,652,631,652.692163425,0.429123339848,-0.00552626035551,0.0700402707132,0.999999994753,-6.24846517501e-05,6.07139172565e-05,-5.38833145848e-05,1793239475778649600
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.117294247,745,715.117294247,680.117294247,662,635.882705753,880,787,804.117294247,652,631,652.117294247,0.430026952352,-0.00552905196399,0.0700511217244,0.999999993209,-5.89923159518e-05,8.50352169888e-05,-5.35792183114e-05,1793239475795316736
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.466226887,745.466226887,715,680,662.466226887,636,880.466226887,787.466226887,804.466226887,652,631,652.466226887,0.430813789332,-0.00553071330437,0.0700112934769,0.999999996403,-6.16207296291e-05,1.94111828546e-05,-5.49636844683e-05,1793239475811983616
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662.948536818,636,880.948536818,788,804.948536818,651.948536818,631,652.948536818,0.431571993761,-0.00553177214521,0.069958483007,0.999999993855,-6.53526677934e-05,-6.91106316976e-05,-5.69398071279e-05,1793239475828650496
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662.368464212,636,880.368464212,788,804.368464212,651.368464212,631,652.368464212,0.432343566665,-0.00552961835724,0.0699057634019,0.999999983931,-6.43035694808e-05,-0.000156002211297,-6.05471889081e-05,1793239475845316608
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,880,787.788604169,804.211395831,651.211395831,631.211395831,652,0.433166757664,-0.0055299493618,0.0698934208363,0.999999981241,-6.55339415473e-05,-0.000171345100998,-6.21634763113e-05,1793239475861982976
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662,636,880,787.209114158,804.790885842,651.790885842,631.790885842,652,0.43407982909,-0.00553460702497,0.0699513850091,0.999999993751,-7.07334542391e-05,-6.21034460935e-05,-6.03127601605e-05,1793239475878649344
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.634388337,745.634388337,715,680,662,635.634388337,880,787,805,651.634388337,631.634388337,652,0.434945638715,-0.00553735363298,0.06999358015,0.999999995745,-7.1247696853e-05,8.92697977812e-06,-5.7908686851e-05,1793239475895316224
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.06235241,745.06235241,715,680,662,635.06235241,880,787,805,651.06235241,631.06235241,652,0.435784764281,-0.0055390212594,0.0700268720956,0.999999994384,-6.91166369034e-05,5.83833475915e-05,-5.51921884811e-05,1793239475911982848
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.526391412,745,715,680,662,635.526391412,880.526391412,787.526391412,804.473608588,651.526391412,631,652,0.436555080052,-0.00554198309945,0.0700239112987,0.999999993941,-7.64023129876e-05,5.55508607047e-05,-5.65249285024e-05,1793239475928649728
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.114968553,715,680.114968553,662.114968553,636,881,788,804.114968553,651.885031447,631,652.114968553,0.437307021043,-0.00554498904121,0.070010793897,0.999999994069,-8.31999942503e-05,3.92935280307e-05,-5.82664903155e-05,1793239475945316608
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.694610791,715,680.694610791,662.694610791,636,881,788,804.694610791,651.305389209,631,652.694610791,0.438018718766,-0.00554753330786,0.0699745512183,0.999999994731,-8.33692265255e-05,-5.36943871235e-06,-5.96582631711e-05,1793239475961983744
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.726997587,715,681.273002413,662.726997587,635.726997587,880.726997587,787.726997587,805,651.273002413,631.273002413,652.726997587,0.438693064892,-0.00554859490812,0.0699262554022,0.999999991428,-8.4660495468e-05,-7.88022529117e-05,-6.13769169574e-05,1793239475978650368
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.149998603,715,681.850001397,662.149998603,635.149998603,880.149998603,787.149998603,805,651.850001397,631.850001397,652.149998603,0.439325818821,-0.00554800551366,0.0698645380499,0.999999977206,-8.72011861374e-05,-0.000184271172371,-6.34595622081e-05,1793239475995316736
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,681.577122235,662,635,880.422877765,787,805,652,631.577122235,652,0.439963894618,-0.00554135409399,0.0698175654029,0.999999961673,-7.73060777091e-05,-0.000257606137546,-6.57083368406e-05,1793239476011983104
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,681.005694031,662,635,880.994305969,787,805,652,631.005694031,652,0.440603839957,-0.00553257317828,0.0697757723384,0.999999944611,-6.30424649548e-05,-0.000319652948271,-6.8015470259e-05,1793239476028649472
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.41162806,745,715,681,662,635,880.41162806,787,805,652,631,652,0.441279929679,-0.00553339914789,0.0698065891249,0.999999957339,-6.77091748719e-05,-0.000276189121886,-6.67576830818e-05,1793239476045316352
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.176854778,745.176854778,714.823145222,681,661.823145222,635,880.176854778,787,805,651.823145222,631,652,0.441935186199,-0.00553517312431,0.0698327597938,0.999999966116,-7.14629201323e-05,-0.000241583044529,-6.55686397934e-05,1793239476061982976
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.752242978,745.752242978,714.247757022,681,661.247757022,635,880.752242978,787,805,651.247757022,631,652,0.442542676492,-0.00553886549664,0.0698468138365,0.999999968971,-7.27299944003e-05,-0.000229330504165,-6.46153621078e-05,1793239476078649856
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.671580788,714.328419212,681,661,634.671580788,880.671580788,787,805,651.328419212,631,652.328419212,0.443106226927,-0.00554320317889,0.069834141306,0.999999962807,-7.32603303703e-05,-0.00025494401312,-6.34272165434e-05,1793239476095316480
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.094808674,714.905191326,681,661,634.094808674,880.094808674,787,805,651.905191326,631,652.905191326,0.443636549695,-0.00554802884877,0.0698012579531,0.999999947593,-7.32335394508e-05,-0.000309192093397,-6.20614621628e-05,1793239476111983360
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.490245797,715,681,661,634,880,787,805,651.509754203,631,653,0.444137540869,-0.00554758486594,0.0697642752503,0.99999992856,-7.59006813094e-05,-0.000364824019277,-6.34253419624e-05,1793239476128649984
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,715,681.076455447,660.923544553,634,880.076455447,786.923544553,805,651.076455447,631,653,0.444631051676,-0.00554649308708,0.0697290456376,0.999999908008,-7.88496288369e-05,-0.000416533506937,-6.53138710966e-05,1793239476145316608
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,715,681.659523799,660.340476201,634,880.659523799,786.340476201,805,651.659523799,631,653,0.445113228626,-0.00554797769585,0.0697107758276,0.999999897538,-8.01544257666e-05,-0.00044044814068,-6.71208564657e-05,1793239476161983232
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,746,715,681.760526785,660,634,881,786,805,651.760526785,631,653,0.445583910942,-0.0055486992829,0.0697007451591,0.999999892233,-8.28787507679e-05,-0.000451642562597,-6.84451447216e-05,1793239476178649600
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,715,681.184954821,660,634,881,786,805,651.184954821,631,653,0.446038460589,-0.00554834997489,0.0697022780614,0.999999894771,-8.75953720469e-05,-0.000444984266801,-6.90919713119e-05,1793239476195316224
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.613103374,746,715,681,660,634,881,786,805,651.386896626,631,653,0.44644936666,-0.00554454649253,0.0696984862162,0.99999989075,-8.30803392704e-05,-0.000454970284791,-6.78255969847e-05,1793239476211983104
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.043013518,746,715,681,660,634,881,786,805,651.956986482,631,653,0.446839607799,-0.00553910747933,0.0696921731351,0.999999883305,-7.41941741264e-05,-0.000472837284675,-6.56533335478e-05,1793239476228650240
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.548390482,746,715,681.548390482,660,634,881,786,805.548390482,652,631,653,0.447185077505,-0.00553515382373,0.0696723179197,0.999999864591,-6.503407041e-05,-0.000512046657807,-6.63132707209e-05,1793239476245316608
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,682,660,633.861653753,880.861653753,786,805.861653753,652,631,653,0.447523253116,-0.00553333637341,0.0696532651937,0.999999846742,-5.98841197722e-05,-0.000546224032405,-6.75925619484e-05,1793239476261983232
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,682,660,633.281869021,880.281869021,786,805.281869021,652,631,653,0.447849812944,-0.00553794839545,0.0696402993817,0.999999839135,-6.76011911287e-05,-0.000558787731461,-7.01106096786e-05,1793239476278649856
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.704104726,745.704104726,715,682.295895274,660,633,880.295895274,786,805,652,631,653,0.448163303233,-0.00554337915003,0.0696382287112,0.999999838516,-7.53765344785e-05,-0.000558754290681,-7.1280719252e-05,1793239476295316736
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.128252076,745.128252076,715,682.871747924,660,633,880.871747924,786,805,652,631,653,0.448464427933,-0.00554958453722,0.0696464663345,0.999999844509,-8.3207010636e-05,-0.000546802232904,-7.11754949223e-05,1793239476311983104
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.447259692,745.447259692,715,682.105480615,660,632.552740308,880.552740308,785.552740308,805,652,631,653,0.448737323923,-0.00555178228414,0.0696532238641,0.999999849493,-8.90019531138e-05,-0.000536984043687,-6.88514174344e-05,1793239476328649472
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,714.976935537,681,659.976935537,632.023064463,880.023064463,785,805,652,631,653,0.449000221453,-0.00555281217504,0.0696591482655,0.999999853775,-9.35332110803e-05,-0.000528562741147,-6.57452352188e-05,1793239476345316352
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,714.391606686,681,659.391606686,632.608393314,880.608393314,785,805,652,631,653,0.449216556735,-0.00555336579089,0.0696551012758,0.999999849519,-8.14767826995e-05,-0.000539289444168,-5.90717930442e-05,1793239476361982976
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.807406749,714,681.192593251,659,632.807406749,880.807406749,785,805,652,631,652.807406749,0.449424160428,-0.00555520838949,0.0696508869996,0.999999845581,-7.64188335222e-05,-0.000547691724358,-5.50651702925e-05,1793239476378649344
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.225488969,714,681.774511031,659,632.225488969,880.225488969,785,805,652,631,652.225488969,0.449614113312,-0.00555965664843,0.0696463345566,0.999999842733,-8.55082124963e-05,-0.000551395215633,-5.64494860938e-05,1793239476395316224
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.352473985,714.352473985,682,659,632,880.352473985,785,805,652,631,652.352473985,0.449779849841,-0.00556247179412,0.0696407814513,0.999999838855,-8.94208221092e-05,-0.000557653416649,-5.7588231279e-05,1793239476411982592
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.927935037,714.927935037,682,659,632,880.927935037,785,805,652,631,652.927935037,0.449930266298,-0.00556425377708,0.0696345952924,0.999999834319,-9.00584317065e-05,-0.00056552781456,-5.85716202499e-05,1793239476428649216
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,715,682,658.482934829,632,881,785,804.482934829,652,631,653,0.450047272361,-0.00556360090024,0.069624868309,0.999999823198,-9.03016882288e-05,-0.000584717855975,-5.9614409512e-05,1793239476445315840
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,714.894133659,682,658,632,880.894133659,785,804,652,630.894133659,653,0.450155784366,-0.00556267280165,0.0696150280092,0.999999811669,-9.07612827042e-05,-0.000603932288016,-6.07441910801e-05,1793239476461982464
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,714.315539134,682,658,632,880.315539134,785,804,652,630.315539134,653,0.450247725086,-0.00556207222071,0.0696069451689,0.99999980405,-9.24389863769e-05,-0.000616022161688,-6.22244510773e-05,1793239476478649088
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.73844849,746,714,682,658,632,880.26155151,785,804,652,630.26155151,653,0.450332351313,-0.00556172035502,0.0696004740097,0.999999797694,-9.39681323258e-05,-0.00062592358018,-6.32650546517e-05,1793239476495315712
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.163161813,746,714,682,658,632,880.836838187,785,804,652,630.836838187,653,0.450408203684,-0.00556166682724,0.0695959360878,0.999999792952,-9.53190808464e-05,-0.000633199911444,-6.37782833184e-05,1793239476511982336
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.410830554,746,714.410830554,682,658,632,881,785,804.410830554,652,630.589169446,653,0.450470311758,-0.00556190008676,0.0695927311378,0.999999789476,-9.66422575028e-05,-0.000638437220611,-6.4084696714e-05,1793239476528648960
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.984310484,746,714.984310484,682,658,632,881,785,804.984310484,652,630.015689516,653,0.45052697841,-0.00556224688646,0.0695900539165,0.999999786495,-9.795443914e-05,-0.00064286727301,-6.43092311457e-05,1793239476545315840
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.425469695,746,715,682,658,631.425469695,880.425469695,785,805,652,630,652.425469695,0.450572549403,-0.00556186658805,0.0695900544455,0.999999785965,-9.86395322702e-05,-0.00064362456754,-6.39327183383e-05,1793239476561982464
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.837832467,714.837832467,682,658,631.162167533,880.162167533,784.837832467,805,652,630.162167533,652.162167533,0.45061340438,-0.00556192974803,0.0695896156033,0.999999785284,-9.94673765703e-05,-0.00064458881367,-6.35877958634e-05,1793239476578649088
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.258058444,714.258058444,682,658,631.741941556,880.741941556,784.258058444,805,652,630.741941556,652.741941556,0.450642918585,-0.00556318754857,0.069587851352,0.999999784036,-0.000100708249575,-0.000646352024235,-6.33677596361e-05,1793239476595315712
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.319528428,714,681.680471572,658,632,880.680471572,784.319528428,805,652,631,653,0.45066670754,-0.00556438259321,0.0695861672586,0.999999782577,-0.000102209795742,-0.000648382683265,-6.32346312745e-05,1793239476611982336
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.895360978,714,681.104639022,658,632,880.104639022,784.895360978,805,652,631,653,0.45068590409,-0.00556552729944,0.0695845474623,0.999999780947,-0.000103920436446,-0.000650627871577,-6.31712145086e-05,1793239476628648960
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.520867873,714,681.479132127,658,632,880.479132127,785,805,652,631,652.520867873,0.45069659159,-0.00556429962554,0.0695817762904,0.99999977865,-0.000103199594525,-0.000654241648967,-6.33790342209e-05,1793239476645315840
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.064074463,745.064074463,714.064074463,682,658.064074463,632,881,785,805,652,630.935925537,652.064074463,0.450705093536,-0.00556292165221,0.0695789836265,0.999999776282,-0.000102388891657,-0.000657961854287,-6.35456130011e-05,1793239476661982464
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.644250677,745.644250677,714.644250677,682,658.644250677,632,881,785,805,652,630.355749323,652.644250677,0.450711211857,-0.00556457660502,0.0695780773485,0.999999774628,-0.000105203648663,-0.000660091272887,-6.28948390979e-05,1793239476678649088
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.776903738,746,715,682,658.776903738,632,881,784.776903738,805,652,630.223096262,653,0.450715741134,-0.00556505498558,0.0695769614291,0.999999773063,-0.000106885471313,-0.000662221285712,-6.2543817035e-05,1793239476695315968
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.200167429,746,715,682,658.200167429,632,881,784.200167429,805,652,630.799832571,653,0.450717751548,-0.00556366832778,0.0695755131979,0.999999771654,-0.00010677142795,-0.000664352240353,-6.26679453073e-05,1793239476711983616
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.375670747,746,715,682,658,632,880.624329253,784,805,652,631,653,0.4507203375,-0.00556260595198,0.0695757706906,0.999999772048,-0.000105932026298,-0.000663909546784,-6.24983618817e-05,1793239476728650496
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.951031496,746,715,682,658,632,880.048968504,784,805,652,631,653,0.450723229384,-0.00556171595024,0.0695769348708,0.999999773398,-0.000104707056172,-0.000662098815251,-6.21726542656e-05,1793239476745316352
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,746,714.46075712,682,658,631.46075712,880.53924288,784,805,652,631,653,0.450723560199,-0.00555946696195,0.0695763099267,0.999999772727,-0.000103004695503,-0.00066335921047,-6.23808697606e-05,1793239476761982976
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.87354457,746,714,682,658,631.12645543,881,784,805,652,630.87354457,652.87354457,0.450723310438,-0.00555808165943,0.0695752548949,0.99999977154,-0.000102261610706,-0.000665247183371,-6.25226931878e-05,1793239476778649600
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.294190952,746,714,682,658,631.705809048,881,784,805,652,630.294190952,652.294190952,0.450721834627,-0.0055602424131,0.0695732555998,0.999999769186,-0.000105113212041,-0.000668359597738,-6.22488453506e-05,1793239476795316224
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.282621544,746,714,682,658,632,880.717378456,784,805,652,630.282621544,652.282621544,0.450721816564,-0.00556141454667,0.0695728402713,0.99999976848,-0.000107112215453,-0.000669090159343,-6.23373766028e-05,1793239476811983104
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.856812537,746,714,682,658,632,880.143187463,784,805,652,630.856812537,652.856812537,0.4507233024,-0.00556156676031,0.0695740590584,0.999999769484,-0.000108231627719,-0.000667363458216,-6.27997599709e-05,1793239476828650240
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.558544631,746,714,682,658,632,880,784.441455369,805,652,630.558544631,653,0.450724901112,-0.00556132014969,0.0695744836424,0.999999770265,-0.000107400627146,-0.000666366240066,-6.23831097465e-05,1793239476845316864
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714,682,658,632,880.029257305,785,805,652,630,653,0.450726451993,-0.00556096785237,0.0695746557823,0.999999770927,-0.000105949365934,-0.000665667666187,-6.17034888825e-05,1793239476861983232
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714,682,658,632,880.611144143,785,805,652,630,653,0.45072639112,-0.00556112196186,0.0695750433463,0.99999977079,-0.000105021376144,-0.000666032450343,-6.15727854225e-05,1793239476878649600
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714.191051744,682,658,631.808948256,881.191051744,785,804.808948256,652,630.191051744,653,0.450726790318,-0.00556108774285,0.0695753319155,0.999999771037,-0.000104316038925,-0.000665779626139,-6.1497942124e-05,1793239476895316224
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714.766972189,682,658,631.233027811,881.766972189,785,804.233027811,652,630.766972189,653,0.450728116317,-0.00556067414104,0.0695754210621,0.999999772057,-0.000104059229494,-0.000664282646153,-6.15356276561e-05,1793239476911982848
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,715,682,658,631.3409416,881.6590584,784.6590584,804.3409416,652,630.6590584,652.6590584,0.450728480472,-0.00555994064441,0.0695753683443,0.999999772324,-0.000103870783559,-0.00066391699617,-6.14654913912e-05,1793239476928649472
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,715,682,658,631.913585077,881.086414923,784.086414923,804.913585077,652,630.086414923,652.086414923,0.450728190962,-0.00555898974918,0.0695752192164,0.999999772079,-0.00010372879706,-0.000664320191363,-6.13220800751e-05,1793239476945316352
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.498248302,714.498248302,682,658,632,881,784,805,652,630,652.501751698,0.45072928379,-0.00556055036637,0.0695755615212,0.999999772252,-0.000104590652023,-0.000663968191812,-6.08561557414e-05,1793239476961982976
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.090895744,714.090895744,682,658,632,881,784.090895744,805,652,630,653,0.45073013305,-0.00556176050056,0.0695757648855,0.999999772334,-0.000105017422278,-0.000663807384466,-6.05238227884e-05,1793239476978649856
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.670462329,714.670462329,682,658,632,881,784.670462329,805,652,630,653,0.450728352055,-0.00555868668085,0.0695747517289,0.999999771533,-0.000102145953943,-0.000665396031572,-6.12178542411e-05,1793239476995316480
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714.752176325,682,658,632,881,784.752176325,805,652,630.247823675,652.752176325,0.450726889346,-0.00555736748804,0.0695735808707,0.999999770588,-0.000100864696837,-0.000666973104791,-6.16279344331e-05,1793239477011983104
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714.177721402,682,658,632,881,784.177721402,805,652,630.822278598,652.177721402,0.450725846136,-0.00555836089053,0.0695722021617,0.99999976946,-0.000101679335452,-0.000668534923869,-6.16637673675e-05,1793239477028649472
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714.396917197,682,658,632,880.603082803,784.396917197,805,652,631,652.396917197,0.45072623634,-0.0055589336698,0.0695724055611,0.999999769263,-0.000102735878561,-0.000668687285578,-6.14599931602e-05,1793239477045316352
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714.971638042,682,658,632,880.028361958,784.971638042,805,652,631,652.971638042,0.450727268659,-0.00555931802598,0.0695733176844,0.999999769482,-0.000103900785534,-0.000668208264468,-6.11488841612e-05,1793239477061982976
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.563470483,746,715,682,657.436529517,632,880.563470483,784.436529517,804.436529517,652,631,653,0.450728067784,-0.00555869518356,0.069573768446,0.999999769982,-0.000104314867784,-0.000667357261568,-6.15450555508e-05,1793239477078649600
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,746,715,682,657.152178886,632,880.847821114,784,804.152178886,652,630.847821114,653,0.450728913527,-0.00555863935702,0.0695743051412,0.999999770508,-0.00010482528568,-0.000666478485085,-6.16683660376e-05,1793239477095316224
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,746,715,682,657.729673477,632,880.270326523,784,804.729673477,652,630.270326523,653,0.450729923388,-0.00556031437636,0.0695751489426,0.999999771061,-0.00010571387789,-0.000665576053987,-6.09264597669e-05,1793239477111982848
+254,4.233333333,POSE1_TO_POSE2_PRESS,766,745.694308311,715,682,658,632,880,784.305691689,805,652,630.305691689,653,0.450729789279,-0.00556033821514,0.0695749151084,0.999999770832,-0.000105892209628,-0.000665893002154,-6.09040739149e-05,1793239477128649728
+255,4.250000000,POSE1_TO_POSE2_PRESS,766,745.119589433,715,682,658,632,880,784.880410567,805,652,630.880410567,653,0.450728648407,-0.00555890891501,0.0695737328896,0.999999769915,-0.000105445469115,-0.000667283077928,-6.15149096202e-05,1793239477145316352
+256,4.266666667,POSE1_TO_POSE2_PRESS,766,745.467476998,715,682,657.532523002,631.532523002,880.467476998,784.532523002,805,652,630.532523002,653,0.450728593656,-0.00555880662351,0.069573157522,0.999999769511,-0.000105519632137,-0.000667877507849,-6.15066869144e-05,1793239477161982976
+257,4.283333333,HOLD_POSE2,765,745,714,682,658,632,881,785,805,652,631,653,0.45073058013,-0.00555804500234,0.0695754352966,0.99999977181,-0.000104428855335,-0.000664678266509,-6.06380656538e-05,1793239477205867264
+258,4.300000000,HOLD_POSE2,765,745.575345436,714,682,658,632,881,784.424654564,805,651.424654564,630.424654564,653,0.450731134198,-0.0055582675126,0.0695745975042,0.999999771465,-0.000103842943625,-0.000665258492946,-6.09765836798e-05,1793239477222533888
+259,4.316666667,HOLD_POSE2,765.150376278,746,714,682,657.849623722,632,880.849623722,784,805,651.150376278,630,653,0.45073155644,-0.00555822567424,0.0695738493054,0.999999771138,-0.000103037969886,-0.000665847667225,-6.12747574652e-05,1793239477239200512
+260,4.333333333,HOLD_POSE2,765.724520708,746,714,682,657.275479292,632,880.275479292,784,805,651.724520708,630,653,0.45073160719,-0.00555743888777,0.0695733535859,0.999999770863,-0.000101615667845,-0.000666462057124,-6.1459239165e-05,1793239477255867136
+261,4.350000000,HOLD_POSE2,765.692419611,745.692419611,714.307580389,682,657.307580389,632,880.307580389,784,804.692419611,652,630,653,0.450731673354,-0.0055570116644,0.0695732263066,0.999999770799,-0.000101081011826,-0.00066663328403,-6.15144887612e-05,1793239477272533760
+262,4.366666667,HOLD_POSE2,765.10113682,745.10113682,714.89886318,682,657.89886318,632,880.89886318,784,804.10113682,652,630,653,0.450731753735,-0.00555691609067,0.0695734388648,0.999999770933,-0.000101365092451,-0.000666395751403,-6.145053875e-05,1793239477289200384
+263,4.383333333,HOLD_POSE2,765,745.48101449,714.51898551,682,658.48101449,631.51898551,881,784,804.48101449,652,630.48101449,653,0.450729653338,-0.00555791354112,0.0695726975643,0.999999769243,-0.000103733532432,-0.000668574050084,-6.13291403591e-05,1793239477305867008
+264,4.400000000,HOLD_POSE2,765.060383355,746,714,682,658.879233289,631,881,784,805,652,630.939616645,653,0.45072747377,-0.00555891721935,0.0695719513907,0.999999767495,-0.000105992605964,-0.000670842626052,-6.12036095108e-05,1793239477322533632
+265,4.416666667,HOLD_POSE2,765.632145055,746,714,682,657.735709891,631,881,784,805,652,630.367854945,653,0.450728434553,-0.00555806361628,0.069572830784,0.999999768537,-0.000103683121267,-0.000669654162983,-6.11434705914e-05,1793239477339200256
+266,4.433333333,HOLD_POSE2,765.791131589,746,714.208868411,682,657.208868411,631.208868411,881,784,805,652,630.208868411,653,0.450729399191,-0.00555738885836,0.0695736739956,0.999999769556,-0.00010178244367,-0.000668441688278,-6.09351783523e-05,1793239477355867136
+267,4.450000000,HOLD_POSE2,765.205457292,746,714.794542708,682,657.794542708,631.794542708,881,784,805,652,630.794542708,653,0.450730370785,-0.00555703674345,0.0695744519343,0.999999770542,-0.000100619268566,-0.00066718589588,-6.04596123733e-05,1793239477372533760
+268,4.466666667,HOLD_POSE2,765.378796491,745.621203509,715,682,657.621203509,631.621203509,881,784,805,652,630.621203509,653,0.450730315875,-0.00555689887535,0.0695744772581,0.999999770206,-0.000102234178352,-0.00066743094676,-6.0593328764e-05,1793239477389200384
+269,4.483333333,HOLD_POSE2,765.962282727,745.037717273,715,682,657.037717273,631.037717273,881,784,805,652,630.037717273,653,0.450729706273,-0.00555687677948,0.0695740958924,0.999999769149,-0.000105350277984,-0.000668487006162,-6.10562821957e-05,1793239477405867264
+270,4.500000000,HOLD_POSE2,765.460088383,745.539911617,715,682,657.539911617,631,881,784,805,652,630,653,0.450730243349,-0.00555783199897,0.0695737104295,0.999999769337,-0.000103372169278,-0.000668568313544,-6.04658847527e-05,1793239477422533888
+271,4.516666667,HOLD_POSE2,765,746,715,682,657.883694883,631.116305117,881,784,805,652,630.116305117,653,0.450730941801,-0.00555850563317,0.0695736401084,0.99999976972,-0.000101579760216,-0.000668313812192,-5.99829175303e-05,1793239477439200256
+272,4.533333333,HOLD_POSE2,765,746,715,682,657.310563655,631.689436345,881,784,805,652,630.689436345,653,0.450731962855,-0.00555780796168,0.0695748087208,0.999999770548,-0.00010189954893,-0.000667004905604,-6.02078451389e-05,1793239477455866880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,631,881,785,805,652,630,652,0.450732236514,-0.00555595676036,0.0695741638328,0.99999977078,-0.000100885047831,-0.000666753542927,-6.08350724049e-05,1793239477493073664
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,681.419741191,657.419741191,631.580258809,881,784.419741191,805,652,630.580258809,652.580258809,0.450730887946,-0.00555557976206,0.0695727529094,0.999999769506,-0.0001004367403,-0.000668709710809,-6.10526918882e-05,1793239477509740288
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714.159163567,681,657,632,881,784,805,652,630.840836433,653,0.450730034498,-0.00555568048567,0.0695719864015,0.999999768697,-0.000100591957808,-0.000669893278325,-6.10759958979e-05,1793239477526406912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714.734527713,681,657,632,881,784,805,652,630.265472287,653,0.450730475752,-0.00555703041553,0.0695729049901,0.999999769111,-0.00010232534713,-0.000669056555293,-6.05911798258e-05,1793239477543073536
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.315880435,746,714.684119565,681.315880435,657.315880435,631.684119565,880.684119565,784,805,652,630.315880435,653,0.450730875606,-0.00555744725165,0.069573516122,0.999999769385,-0.000103608049701,-0.000668461271367,-6.04507001342e-05,1793239477559740160
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.902363302,746,714.097636698,681.902363302,657.902363302,631.097636698,880.097636698,784,805,652,630.902363302,653,0.450731239997,-0.00555706474272,0.0695738638677,0.999999769542,-0.000104504666433,-0.000668072818942,-6.06051999997e-05,1793239477576406784
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.516876948,746,714,681.516876948,657.516876948,631,880,784.483123052,805,652,630.516876948,653,0.450731740929,-0.00555713260937,0.069573484574,0.999999769573,-0.000103979024491,-0.000668106217865,-6.06395481414e-05,1793239477593073664
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,714,681.063080056,657,631.063080056,880.063080056,785,805,652,630.063080056,653,0.450732075509,-0.00555733307035,0.0695730373548,0.999999769594,-0.000103238360375,-0.000668191405073,-6.0610905371e-05,1793239477609740032
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,681.645840824,657,631.645840824,880.645840824,785,805,652,630.645840824,653,0.45073081494,-0.00555788482892,0.0695732268444,0.999999769755,-0.000103066510145,-0.000668009110114,-6.02610202724e-05,1793239477626406912
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,881,785,805,652,631,653,0.450725433441,-0.00555720528026,0.069570845638,0.99999976757,-0.000102203582692,-0.000671392667174,-6.03913260098e-05,1793239477643073536
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,881,785,805,652,631,653,0.450713667624,-0.00555461813904,0.0695644818023,0.999999761692,-0.000100270009583,-0.000680300590905,-6.12655634495e-05,1793239477659740160
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.374432334,632,881,784.625567666,805,652,630.625567666,652.625567666,0.45068527221,-0.0055545413091,0.0695514196591,0.999999747156,-0.000100034643442,-0.000701360649577,-6.14325800967e-05,1793239477676406784
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.965160819,632,881,784.034839181,805,652,630.034839181,652.034839181,0.450647270472,-0.00555591459585,0.069534488143,0.999999727008,-0.000100780270416,-0.000729440561908,-6.11910606595e-05,1793239477693073408
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714.544688497,682,657.455311503,632,880.455311503,784,805.544688497,652,630.544688497,652.544688497,0.45058541729,-0.00555407137163,0.0695148142661,0.999999703924,-0.000100059433795,-0.000760484922428,-6.16581673342e-05,1793239477709741056
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.122856324,746,714.877143676,682,657.122856324,631.877143676,880.122856324,784,805.877143676,652,630.877143676,653,0.450519922268,-0.00555211395851,0.0694971030264,0.999999682732,-9.91766418946e-05,-0.000787943763773,-6.20036088479e-05,1793239477726408192
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.698599221,746,714.301400779,682,657.698599221,631.301400779,880.698599221,784,805.301400779,652,630.301400779,653,0.450446512711,-0.00555047872499,0.0694872602442,0.999999672087,-9.80356321348e-05,-0.00080150039712,-6.17368400214e-05,1793239477743073792
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745.724872658,714.275127342,682.275127342,657.724872658,631.275127342,881,784.275127342,805,652,630.275127342,653,0.450367544101,-0.00554871977468,0.0694824840815,0.99999966684,-9.67216814139e-05,-0.00080825338831,-6.07604372932e-05,1793239477759740160
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.147481899,714.852518101,682.852518101,657.147481899,631.852518101,881,784.852518101,805,652,630.852518101,653,0.450282468147,-0.00554682490535,0.0694832742645,0.999999667672,-9.52177324823e-05,-0.000807531686902,-5.9004408817e-05,1793239477776407040
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.561142534,745,714.561142534,682.561142534,657,632,881,785,804.561142534,652,630.561142534,653,0.45018150268,-0.00554401552512,0.0694882709611,0.999999673329,-9.31474797256e-05,-0.000800872299244,-5.71780658586e-05,1793239477793073664
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.027727582,631.972272418,881,785,804.027727582,652,630,653,0.45007374871,-0.00554089677024,0.0694945170513,0.999999680379,-9.08209599077e-05,-0.00079242454209,-5.5293634708e-05,1793239477809740032
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657.605895755,631.394104245,881,785,804.605895755,652,630,653,0.449939442116,-0.00553786440612,0.0694969185128,0.999999683611,-8.72637442772e-05,-0.000788911463137,-5.27349083367e-05,1793239477826406912
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.182720283,682,658,631.182720283,881,785,804.817279717,652,630,653,0.449796644501,-0.0055349315569,0.0695001412673,0.999999687585,-8.332984934e-05,-0.000784477220345,-4.98248367662e-05,1793239477843073792
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.756667827,682,658,631.756667827,881,785,804.243332173,652,630,653,0.449635666551,-0.00553221178209,0.0695051225135,0.999999693149,-7.8589436775e-05,-0.000778070649602,-4.61624909711e-05,1793239477859740672
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.331780667,714.668219333,682,658,632,881,785,804.331780667,652,630,653,0.449453739719,-0.00552785047604,0.0695107366466,0.999999698384,-7.36578096373e-05,-0.000772004693186,-4.26095447974e-05,1793239477876407552
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.907751222,714.092248778,682,658,632,881,785,804.907751222,652,630,653,0.449256394536,-0.0055222810061,0.0695168165835,0.999999703359,-6.85854484724e-05,-0.000766189427532,-3.91371161382e-05,1793239477893073920
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632,880.503784569,784.503784569,804.503784569,652,630.496215431,653,0.449018785818,-0.00551707226432,0.0695219068561,0.999999705708,-6.12353967342e-05,-0.000763979908042,-3.41755376984e-05,1793239477909740288
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.085046333,746,714,682,658,632,880,784.085046333,804,652,631,652.914953667,0.448768251453,-0.00551173698411,0.0695258886753,0.999999707147,-5.30268432838e-05,-0.00076292049722,-2.90860014044e-05,1793239477926406912
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.662212342,746,714,682,658,632,880,784.662212342,804,652,631,652.337787658,0.448487354478,-0.00550527141788,0.0695245485576,0.999999706534,-4.23640525181e-05,-0.000764537165043,-2.48993424953e-05,1793239477943073536
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.761344046,745.761344046,714.238655954,682,658,632,880.238655954,785,804,652,631,652.238655954,0.448190362733,-0.00549804217417,0.0695243526478,0.999999706108,-3.00013905668e-05,-0.0007658198439,-2.00858064834e-05,1793239477959740160
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.185919843,745.185919843,714.814080157,682,658,632,880.814080157,785,804,652,631,652.814080157,0.447870659618,-0.0054897353029,0.069525771334,0.999999705919,-1.52400351107e-05,-0.000766631229644,-1.43876822615e-05,1793239477976406784
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.398879815,745.398879815,714.601120185,682,658,632,881,785,804.398879815,652,630.601120185,652.601120185,0.447528323983,-0.0054824451733,0.0695281764692,0.999999707079,7.26037892864e-08,-0.00076535446474,-8.59705016521e-06,1793239477993073920
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.988154587,745.988154587,714.011845413,682,658,632,881,785,804.988154587,652,630.011845413,652.011845413,0.447175185309,-0.00547564035925,0.0695310524603,0.999999708727,1.56483831527e-05,-0.000763080975015,-2.76226199099e-06,1793239478009740800
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.431983548,745.431983548,714,682,659.136032904,632.568016452,881,785,805,652,630.568016452,652.568016452,0.44675584582,-0.00546856987484,0.0695240135992,0.99999970359,5.27856596395e-05,-0.000768133942913,2.06648282004e-06,1793239478026407424
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.145848051,714,682,659.854151949,633,881,785,805,651.854151949,631,652.854151949,0.446338221056,-0.00546186427039,0.0695237531672,0.999999705838,8.4549268358e-05,-0.000762316137826,6.99926898805e-06,1793239478043074048
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.718305776,714,682,659.281694224,633,881,785,805,651.281694224,631,652.281694224,0.445929584311,-0.00545624189276,0.0695439147656,0.999999732717,9.93009606668e-05,-0.000724261397512,1.2296745001e-05,1793239478059740672
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.292450613,745.707549387,714.292450613,682,659,633,881,785,805,651,631,652,0.44549761133,-0.00545030796768,0.069565350168,0.999999758515,0.000108999553008,-0.000686203976774,1.46101095627e-05,1793239478076407296
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.868230009,745.131769991,714.868230009,682,659,633,881,785,805,651,631,652,0.445043029945,-0.00544407221198,0.0695880196455,0.999999783381,0.00011380265844,-0.000648143954828,1.40324407589e-05,1793239478093073664
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.541865952,745.458134048,715,681.541865952,659.458134048,633,881,785.458134048,805,651,631,652.458134048,0.444538953697,-0.00544166744091,0.0696019855572,0.99999979828,9.30295918643e-05,-0.000628265779658,8.20378837851e-06,1793239478109740288
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,660.050902075,633.050902075,881,786,805,651.050902075,631,652.949097925,0.444013448021,-0.00544142109338,0.0696129021627,0.999999808931,6.66590659598e-05,-0.00061456582088,1.9860901009e-06,1793239478126407168
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,660.629894804,633.629894804,881,786,805,651.629894804,631,652.370105196,0.44341800977,-0.00545177234361,0.0696189808413,0.999999812681,6.09636959193e-05,-0.000608982306449,7.89949479131e-06,1793239478143073792
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,746,715,681.206378283,660.793621717,634,881,786,805,651.793621717,631,652.206378283,0.442826749712,-0.00546080244632,0.0696317720551,0.99999982259,6.02876846963e-05,-0.000592455045261,1.35198481775e-05,1793239478159740672
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,746,715,681.778415859,660.221584141,634,881,786,805,651.221584141,631,652.778415859,0.442242892574,-0.00546749175046,0.0696564564817,0.999999842613,6.85049311629e-05,-0.000556537746213,1.86209753832e-05,1793239478176407296
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.362149784,745.637850216,715,682,660,634,880.637850216,786.362149784,805,651.362149784,631,653,0.441652841469,-0.00546341835713,0.0696826584698,0.999999868285,7.32892519809e-05,-0.000507653268009,1.86146986252e-05,1793239478193073664
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.953279036,745.046720964,715,682,660,634,880.046720964,786.953279036,805,651.953279036,631,653,0.441058874074,-0.00545253994296,0.0697098199781,0.999999895494,7.59030077747e-05,-0.00045056992351,1.53791206882e-05,1793239478209740544
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,681.466231943,660.533768057,634,880,787,805,652,631,653,0.440411677531,-0.00543147735008,0.0697467642086,0.99999992,9.65384255272e-05,-0.000387911339367,1.43266836364e-05,1793239478226407168
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.887468674,745.112531326,715,681,661,634.112531326,880.112531326,787,804.887468674,652,631,653,0.439736071646,-0.00540970510727,0.0697739621523,0.999999933489,0.000120672717746,-0.000343913822634,1.35638689574e-05,1793239478243073536
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.312048173,745.687951827,715,681,661,634.687951827,880.687951827,787,804.312048173,652,631,653,0.438962396812,-0.00538860892565,0.069757616038,0.999999916547,0.000152837483047,-0.000378645362712,1.32217176102e-05,1793239478259740416
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.268360299,745.731639701,715,681,661,635,881,787,804,652,631,653,0.438205415231,-0.00538029817204,0.069740502759,0.999999905759,0.000160873583662,-0.000403068745884,1.17131307005e-05,1793239478276407296
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.854678682,745.145321318,715,681,661,635,881,787,804,652,631,653,0.437468212013,-0.00538713581955,0.0697224805275,0.999999903888,0.000140321615095,-0.000415278845482,8.82253004234e-06,1793239478293074432
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714.563189413,681,661.436810587,635,880.563189413,787,804.436810587,652,631,653,0.436721959137,-0.00540129974427,0.0697475115946,0.999999921877,0.000125763043276,-0.00037456846862,1.13477746761e-05,1793239478309741056
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.017442338,681,662,635,880,787,805,652,631,652.982557662,0.435971461385,-0.00541737908516,0.0697867341886,0.999999943267,0.000113570583228,-0.000316737747488,1.56499713775e-05,1793239478326407680
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.59420834,681,662,635,880,787,805,652,631,652.40579166,0.435180469477,-0.00541746328628,0.0698260920762,0.999999957104,0.000113919960243,-0.000269119873057,1.97044287588e-05,1793239478343074048
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.829811294,635,880,787,804.829811294,652,631,652.170188706,0.434367240844,-0.00541407318848,0.0698521370671,0.999999964115,0.000118764215213,-0.000239083255102,2.24640368962e-05,1793239478359740416
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.255695595,635,880,787,804.255695595,652,631,652.744304405,0.433501235469,-0.00540243716679,0.069846585139,0.999999959296,0.000134276643537,-0.000250774110837,2.2150441172e-05,1793239478376407040
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745.325635684,715,681,661,635,880,787.325635684,804.325635684,652,631,653,0.432652013944,-0.00539707853269,0.0698430288234,0.9999999576,0.000143586466882,-0.000252336783982,2.25701597688e-05,1793239478393073920
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745.912761143,715,681,661,635,880,787.912761143,804.912761143,652,631,653,0.431816270117,-0.00539676072467,0.0698410750116,0.999999958582,0.00014791551541,-0.000245766391609,2.3578739514e-05,1793239478409740544
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.506166126,715,681,661,635,880.493833874,787.506166126,804.506166126,651.506166126,631,653,0.430881944292,-0.00539619657998,0.0697949109966,0.999999934607,0.00014755021804,-0.000329360102906,2.31872175667e-05,1793239478426407168
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.0733967,635,880.9266033,787,804,651.0733967,631,653,0.429939081821,-0.00539598349489,0.0697466021221,0.999999902354,0.00014602488133,-0.000416497722304,2.23341917298e-05,1793239478443074048
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.649850305,635,880.350149695,787,804,651.649850305,631,653,0.429055627178,-0.00539847120421,0.0697364737574,0.999999901463,0.000142163765145,-0.000420076907953,1.99927517298e-05,1793239478459740672
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.774818791,661.774818791,635,880,787,804,652,631,652.774818791,0.428189309456,-0.00540096900477,0.0697591932858,0.999999918105,0.000138960861135,-0.00037955565507,2.0429362531e-05,1793239478476407296
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.201224901,661.201224901,635,880,787,804,652,631,652.201224901,0.42734950678,-0.00540348241945,0.0698327368688,0.999999953663,0.000136776377259,-0.000270799789347,2.51643249269e-05,1793239478493073920
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880,787,804,652,631,652.38418848,0.426493800179,-0.00540231656365,0.069868748037,0.999999965082,0.00014261713771,-0.000220635323786,2.85603868569e-05,1793239478509740288
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880,787,804,652,631,652.975988972,0.42562949929,-0.0053991624629,0.0698844770201,0.99999996741,0.000152794668969,-0.00020213313343,3.12329187913e-05,1793239478526406912
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.44364565,745,715,680.55635435,661,635,880,787,804,652,631.55635435,652.44364565,0.424721138363,-0.00539852676252,0.0698580279063,0.99999995998,0.000147879499553,-0.000239418944714,2.91619417021e-05,1793239478543073536
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.135075466,745,715,680.864924534,661,635,880,787,804,651.864924534,631.864924534,652.135075466,0.423797015905,-0.00539728216883,0.0698236100524,0.999999946475,0.000144644809696,-0.000292234668012,2.69566787382e-05,1793239478559740416
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.710016834,745,715,680.289983166,661,635,880,787,804,651.289983166,631.289983166,652.710016834,0.422827634458,-0.00539370793696,0.0697690508004,0.999999913345,0.000148960934462,-0.000387940105352,2.49673525024e-05,1793239478576407552
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.714749551,745,715,680.285250449,661,635,880.285250449,787,804,651.285250449,631,653,0.421880031849,-0.00539068356258,0.0697276940855,0.999999883229,0.000154411856397,-0.000457346351935,2.30942193404e-05,1793239478593074432
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.13921857,745,715,680.86078143,661,635,880.86078143,787,804,651.86078143,631,653,0.420954592185,-0.00538821874207,0.0696997727235,0.999999861814,0.000161017586997,-0.000499989646397,2.13393284521e-05,1793239478609741056
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.448616709,745,715,680.551383291,661,635,880.551383291,787,804,652,631.448616709,653,0.42016104004,-0.00539090766813,0.0697512792697,0.999999902705,0.00015568670876,-0.000412092380232,2.30530261291e-05,1793239478626407424
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880,787,804,652,631.960574796,653,0.419406955615,-0.00539512650338,0.0698260358059,0.999999947726,0.000147596130634,-0.000286508119036,2.60167626562e-05,1793239478643073536
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880,787,804,652,631.382778462,653,0.418617163497,-0.00539778111841,0.0698721994273,0.99999996456,0.000153830674335,-0.000215080296852,3.09370827352e-05,1793239478659740416
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.806276256,745,714.806276256,680,661,635,880,787.193723744,804,652,631,652.806276256,0.417804881229,-0.00539787940688,0.0698921390018,0.999999969255,0.000160702491121,-0.000185837555516,3.36111245919e-05,1793239478676407040
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.232314046,745,714.232314046,680,661,635,880,787.767685954,804,652,631,652.232314046,0.416948455447,-0.005392960171,0.0698606063635,0.999999956586,0.000168825141394,-0.000239395135373,3.18762016049e-05,1793239478693073664
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.35142916,745,714,680,661,635.35142916,879.64857084,788,804,652,631,652.35142916,0.416106339245,-0.0053908813533,0.0698290488997,0.999999945525,0.000169346054224,-0.000281766675676,2.96539847686e-05,1793239478709740288
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.941823217,745,714,680,661,635.941823217,879.058176783,788,804,652,631,652.941823217,0.415273953329,-0.00539073396424,0.0697974745568,0.999999935974,0.000164697935118,-0.000316531926592,2.71004178448e-05,1793239478726406912
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,714.522489546,679.477510454,661.522489546,635.477510454,879.522489546,787.477510454,804,652,631.522489546,652.477510454,0.414438551034,-0.00538487946677,0.0697676995109,0.999999914433,0.000169626722296,-0.00037639507927,2.62044586963e-05,1793239478743073536
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.898815965,635.101184035,880,787,804,652,631.898815965,652,0.41362997844,-0.00537881543576,0.0697484342658,0.999999896685,0.000176659030747,-0.000418041868708,2.57525313528e-05,1793239478759740160
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.324370758,635.675629242,880,787,804,652,631.324370758,652,0.412948436779,-0.00537468923671,0.0697774058695,0.99999991646,0.000188633620544,-0.000361654726741,2.65299602254e-05,1793239478776406784
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.249934653,661,636,879.750065347,787,803.750065347,652,631.249934653,652,0.412288283932,-0.00537111973639,0.0698178066738,0.999999938088,0.000197267467588,-0.000290042829115,2.80118331486e-05,1793239478793073408
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.824058693,661,636,879.175941307,787,803.175941307,652,631.824058693,652,0.411655874493,-0.00536827232841,0.0698730322531,0.999999959485,0.000201568047132,-0.000198682956516,3.04074379131e-05,1793239478809740032
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.411942176,787.411942176,803.411942176,652,631.588057824,652.411942176,0.410983443011,-0.00536463197985,0.0698862905118,0.999999961756,0.000205217717408,-0.000182727076613,3.13818928921e-05,1793239478826406912
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.994257611,661,635.994257611,879.994257611,788,804,652,631,652.994257611,0.41029345199,-0.00536061483509,0.0698806192161,0.99999995761,0.000208620845589,-0.000200633985346,3.1688643187e-05,1793239478843073792
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.416696605,661,635.416696605,879.416696605,788,804,652,631,652.416696605,0.409615877429,-0.00535396617272,0.069836526184,0.999999939049,0.000216113505441,-0.000272783763364,2.8036696822e-05,1793239478859740416
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787.840384053,804,652,631.159615947,652,0.40896049473,-0.00534812088944,0.0697988694313,0.999999919347,0.000222942488743,-0.00033314324532,2.48740805139e-05,1793239478876407040
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787.267305324,804,652,631.732694676,652,0.408362596793,-0.00534435664589,0.0697778849502,0.999999907861,0.00022805231482,-0.000362961633374,2.29790047879e-05,1793239478893073664
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.68658144,745.31341856,715,679.31341856,661,635,879,787.31341856,804,652,631.68658144,652.31341856,0.40780185768,-0.00534726661214,0.0697808391975,0.999999911069,0.000225984668147,-0.000355379863431,2.22976564984e-05,1793239478909740288
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.099174241,745.900825759,715,679.900825759,661,635,879,787.900825759,804,652,631.099174241,652.900825759,0.407273602624,-0.00535601113307,0.0698047205398,0.999999926414,0.00021764251707,-0.000315103096042,2.26773416041e-05,1793239478926406912
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.484124604,745.515875396,715,680,661,635.484124604,879,787.515875396,804,652,631.484124604,653,0.406762208006,-0.00537726546174,0.0698147793777,0.99999993486,0.000188420402941,-0.000306891906404,2.4377650894e-05,1793239478943073536
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.93417646,661,635.93417646,879,787,803.93417646,652,631.93417646,653,0.406258067529,-0.00539756102529,0.0698200851051,0.999999939594,0.000159872227893,-0.000307535617391,2.5957580345e-05,1793239478959740160
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.358407044,661,635.358407044,879,787,803.358407044,652,631.358407044,653,0.405783593243,-0.00539074252412,0.0698103198069,0.999999932108,0.000169403415668,-0.000326318962339,2.45266761141e-05,1793239478976406784
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.783251126,745,715,679,661,635.216748874,879.216748874,787,803.216748874,652,631,652.783251126,0.405342444781,-0.00538408882521,0.0698094730512,0.999999929807,0.000179084976677,-0.000328249122364,2.37976080864e-05,1793239478993073408
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.209106853,745,715,679,661,635.790893147,879.790893147,787,803.790893147,652,631,652.209106853,0.404956247038,-0.00537770686803,0.0698233320062,0.999999936123,0.000189014485914,-0.000302390205537,2.42257920208e-05,1793239479009740032
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.374986318,745,715,679,661,635.625013682,879.625013682,787,804,652,631,652.374986318,0.404590571195,-0.00537692086267,0.0698387597404,0.999999944578,0.00018893585136,-0.000273043676616,2.43892731383e-05,1793239479026406656
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.964778641,745,715,679,661,635.035221359,879.035221359,787,804,652,631,652.964778641,0.404236651017,-0.00537934042448,0.0698550861305,0.999999953726,0.000183124183458,-0.000241699312171,2.4401122739e-05,1793239479043073280
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.454853157,745,715,679.545146843,661,635,879,787,803.454853157,652,631,653,0.40389954603,-0.00537282695415,0.0698546192894,0.999999951447,0.000197439486563,-0.000239951478589,2.33861832259e-05,1793239479059739904
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.12377108,745,715,679.87622892,661,635.12377108,878.87622892,787.12377108,803.12377108,652,631,652.87622892,0.403569956228,-0.00536749629945,0.0698512188531,0.999999948264,0.000208387771785,-0.000244030934492,2.22634275464e-05,1793239479076406528
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.698224676,745,715,679.301775324,661,635.698224676,878.301775324,787.698224676,803.698224676,652,631,652.301775324,0.403263842381,-0.0053685384334,0.0698410200402,0.999999944844,0.000202421315245,-0.000262484565271,2.09855402707e-05,1793239479093073408
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.726672613,878.546654774,787.726672613,804,652,631,652,0.402978528843,-0.00536801368531,0.0698324698728,0.999999941568,0.000198154464118,-0.000277829477776,2.02521721565e-05,1793239479109740544
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.150851556,879.698296887,787.150851556,804,652,631,652,0.402716235199,-0.00536575485589,0.0698257442756,0.999999938662,0.00019576858069,-0.000289733945128,2.01214279615e-05,1793239479126408192
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.563848439,745,715,679,661.436151561,635.436151561,879.563848439,787,803.563848439,652,631,652,0.402479802622,-0.00536249169088,0.0698194772181,0.999999934693,0.000198749462321,-0.000301158788772,2.04161906085e-05,1793239479143074560
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.97344026,715,679.02655974,661.97344026,635.97344026,879,787,803,652,631,652.02655974,0.402254395089,-0.00535905230831,0.0698134359309,0.999999930345,0.000203375095267,-0.000312267566273,2.0902507418e-05,1793239479159740928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744.394761153,715,679.605238847,661.394761153,635.394761153,879,787,803,652,631,652.605238847,0.402067343786,-0.0053593607989,0.0698087043232,0.999999927921,0.000202589846285,-0.000320345192761,2.22309782111e-05,1793239479176407808
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.182461149,744.182461149,715,679.817538851,661,635.182461149,879,787,803,652,631,652.817538851,0.401892120889,-0.00535870449647,0.0698058014996,0.999999926032,0.000203707847222,-0.000325403742993,2.3497236668e-05,1793239479193074432
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.756556493,744.756556493,715,679.243443507,661,635.756556493,879,787,803,652,631,652.243443507,0.401742286481,-0.00535597736442,0.0698068239742,0.999999925393,0.000208910979586,-0.000323982153791,2.46299625392e-05,1793239479209740544
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.339086238,661,636,879.339086238,787,803.339086238,652,631,652.339086238,0.401611802171,-0.00535469993416,0.0698073963142,0.999999925471,0.000212205429368,-0.000321622924036,2.42134657128e-05,1793239479226407168
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.9278259,661,636,879.9278259,787,803.9278259,652,631,652.9278259,0.401495564422,-0.00535448985159,0.0698076372411,0.999999926081,0.000214094605495,-0.00031857335301,2.26563483983e-05,1793239479243073536
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.508509629,635.491490371,879.491490371,787,804,652,631,653,0.401399223648,-0.00535623617047,0.0698088414886,0.999999927157,0.000214388869125,-0.000315472637001,1.41563004667e-05,1793239479259740416
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.912470091,661.912470091,635,879.087529909,787,804,652,631,652.912470091,0.401309172084,-0.00535796665787,0.0698100032999,0.999999928108,0.000214377294363,-0.000312708070955,6.36676480426e-06,1793239479276407040
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.336451403,661.336451403,635,879.663548597,787,804,652,631,652.336451403,0.401238704819,-0.00535808329398,0.0698101771361,0.999999928463,0.000213902519508,-0.000311859376895,7.95620087191e-06,1793239479293073664
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.243737139,661.243737139,635,879.756262861,787,803.756262861,652,631,652,0.401175334814,-0.00535724122721,0.0698098402021,0.999999928158,0.000214467459593,-0.000312415671128,9.13236976627e-06,1793239479309740544
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.829781844,661.829781844,635,879.170218156,787,803.170218156,652,631,652,0.401121932297,-0.00535505274581,0.069808785936,0.999999926923,0.000216492588706,-0.000314945148995,9.72814084539e-06,1793239479326407424
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.588491635,661.588491635,635,879,787,803.411508365,652,631.411508365,652,0.401084097976,-0.00535622931486,0.0698111181361,0.999999928173,0.000215956681442,-0.000311283290723,1.09624473124e-05,1793239479343074048
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.008532772,661.008532772,635,879,787,803.991467228,652,631.991467228,652,0.401052636482,-0.00535878336367,0.0698148365825,0.999999930406,0.000214372416687,-0.00030508701571,1.24581375259e-05,1793239479359740416
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.42989711,745,715,679,661,635,879,787,803.42989711,652,631.42989711,652,0.401033761983,-0.00535744824069,0.0698189298409,0.999999932532,0.000215927080802,-0.000296896589864,1.27782733506e-05,1793239479376407040
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.147824456,745.147824456,715,679,661,635.147824456,879.147824456,787,803,652,631,652.147824456,0.401016686737,-0.00535664777215,0.0698224963332,0.999999934291,0.000216946614927,-0.00029014195967,1.30602618668e-05,1793239479393073408
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.722960689,745.722960689,715,679,661,635.722960689,879.722960689,787,803,652,631,652.722960689,0.40100426923,-0.00535756068849,0.0698245239395,0.999999935159,0.000216283773495,-0.000287623819841,1.32827214817e-05,1793239479409740032
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.695271153,715,679,661,636,879.695271153,787,803.304728847,652,631,652.695271153,0.400995173749,-0.00535736315513,0.0698260345131,0.999999935748,0.000216504781163,-0.000285403919553,1.32282734129e-05,1793239479426407168
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.107339482,715,679,661,636,879.107339482,787,803.892660518,652,631,652.107339482,0.400989165627,-0.00535613361425,0.0698270645774,0.999999936078,0.000217547202819,-0.000283461190897,1.29164784256e-05,1793239479443074048
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787.45786786,804,652,631,652,0.400985715775,-0.005357151202,0.0698277262327,0.999999936824,0.00021583372311,-0.000282131695399,1.2992889001e-05,1793239479459740672
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.019059391,635.980940609,879,788,804,652,631.019059391,652,0.400982945332,-0.00535859201159,0.0698283370612,0.999999937645,0.000213628254538,-0.000280890586759,1.31474672985e-05,1793239479476407552
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.612166908,635.387833092,879,788,804,652,631.612166908,652,0.400983428432,-0.00535766334848,0.0698298953342,0.999999938078,0.000215143588282,-0.000278186366387,1.30449099558e-05,1793239479493073664
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.801721051,635.198278949,879,787.801721051,803.801721051,652.198278949,631.801721051,652,0.400983429909,-0.00535717573181,0.0698312067704,0.999999938522,0.000215681156487,-0.00027616830323,1.29690777348e-05,1793239479509740032
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.228825871,635.771174129,879,787.228825871,803.228825871,652.771174129,631.228825871,652,0.400982521436,-0.00535752140161,0.0698320518479,0.999999939003,0.000214371393653,-0.000275446624094,1.29437383452e-05,1793239479526406912
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.356821544,636,879.356821544,787,803.356821544,652.643178456,631.356821544,652.356821544,0.400982528378,-0.0053581542891,0.069832697795,0.999999939345,0.000213918003381,-0.000274543135531,1.32678238165e-05,1793239479543073536
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.950949904,636,879.950949904,787,803.950949904,652.049050096,631.950949904,652.950949904,0.400983144123,-0.00535897819285,0.0698332113089,0.999999939593,0.000214034150092,-0.000273518733287,1.3824296886e-05,1793239479559740160
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.466431786,635.466431786,878.932863573,787,803.466431786,652,631.466431786,652.466431786,0.400981437051,-0.00535964428512,0.0698331260864,0.999999939632,0.000213322147663,-0.00027394245309,1.3625852952e-05,1793239479576407040
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.113330239,661.226660478,635,878.113330239,787,803,652,631,652.113330239,0.400979976417,-0.0053600263954,0.0698330526579,0.999999939648,0.000212785184199,-0.000274314348554,1.33788414801e-05,1793239479593073920
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.685717855,662.371435711,635,878.685717855,787,803,652,631,652.685717855,0.400980360682,-0.0053593157262,0.0698332452447,0.999999939649,0.000213259100316,-0.000273948477217,1.32102717711e-05,1793239479609740800
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.733907802,745,715,680,662.467815604,635,879.266092198,787,803,652,631,653,0.400980069785,-0.00535861626154,0.0698332460533,0.999999939548,0.000214059946653,-0.000273697207904,1.31204207937e-05,1793239479626407680
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.143808344,745,715,680,661.287616689,635,879.856191656,787,803,652,631,653,0.400978956775,-0.00535793044,0.0698330133432,0.999999939321,0.000215258879754,-0.000273585483737,1.31264216858e-05,1793239479643073792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.43827815,745,715,679.56172185,661,635,879.56172185,787,803,652,631,652.56172185,0.400980155192,-0.00535821166187,0.0698337963458,0.999999939761,0.000215000784869,-0.00027216940681,1.3271350406e-05,1793239479659740416
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.982339287,745,715,679,661,635.017660713,879,787,803,652,631,652,0.400982039821,-0.00535880527244,0.0698348732853,0.999999940406,0.000214238269921,-0.000270386892891,1.34447100462e-05,1793239479676406784
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.406806677,745,715,679,661,635.593193323,879,787,803,652,631,652,0.400982073461,-0.00535942347244,0.0698348965627,0.99999994083,0.000212372624694,-0.000270305862727,1.31020504957e-05,1793239479693073408
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.169119599,745,715,679,661,636,879,787,803.169119599,652,631,652.169119599,0.400982198792,-0.00535961190205,0.0698350881582,0.999999941046,0.000211831801854,-0.000269943432605,1.28789026612e-05,1793239479709740288
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.745994985,745,715,679,661,636,879,787,803.745994985,652,631,652.745994985,0.400982545195,-0.00535876413381,0.0698356855767,0.99999994076,0.000214485191979,-0.000268902533155,1.29439035563e-05,1793239479726407168
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.330030226,661,636,879,787,804,652,631,652.669969774,0.400982508668,-0.00535852464753,0.0698360430689,0.999999940612,0.000215594093196,-0.000268562895508,1.29940139275e-05,1793239479743073792
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.919698161,661,636,879,787,804,652,631,652.080301839,0.400982170887,-0.00535876370209,0.069836211809,0.999999940578,0.000215487931151,-0.000268774946798,1.30324097882e-05,1793239479759740672
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879,787,804,652,631,652,0.400981438186,-0.00535905377962,0.0698364266242,0.99999994048,0.000215776463456,-0.000268899671007,1.31698277177e-05,1793239479776407296
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.923709185,661.076290815,636,879,787,804,652,631.076290815,652.076290815,0.400980672805,-0.00535934656293,0.069836549388,0.999999940368,0.000216042296661,-0.000269098338287,1.32751258195e-05,1793239479793073920
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.348313933,661.651686067,636,879,787,804,652,631.651686067,652.651686067,0.400980100928,-0.00535960442419,0.0698360224186,0.999999940225,0.00021575255321,-0.000269870817278,1.30681633372e-05,1793239479809740288
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.774279044,635.774279044,879.225720956,787,803.774279044,652,631.774279044,652.774279044,0.400980351853,-0.00536006179176,0.0698362215671,0.999999940456,0.000215113992338,-0.000269523477613,1.31052626673e-05,1793239479826406912
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.202330694,635.202330694,879.797669306,787,803.202330694,652,631.202330694,652.202330694,0.40098186485,-0.00536082517683,0.0698375344884,0.999999941256,0.000213940389619,-0.000267458477901,1.35167219132e-05,1793239479843073536
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.38536098,661,635.38536098,879.61463902,787,803.38536098,652.38536098,631,652.38536098,0.400982505242,-0.00535966099629,0.0698377160865,0.999999941132,0.000215143695763,-0.000266960896041,1.34583251505e-05,1793239479859740160
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.981670598,661,635.981670598,879.018329402,787,803.981670598,652.981670598,631,652.981670598,0.400982667966,-0.00535744165609,0.0698372783922,0.999999940498,0.000217648134462,-0.000267321327128,1.31427266988e-05,1793239479876406784
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765.443807477,745,715,679.443807477,661,636,879,787,804,652.443807477,631,652.443807477,0.400982439574,-0.00535890152836,0.0698370505684,0.999999940976,0.000214874057117,-0.000267781632689,1.301026871e-05,1793239479893074176
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.868897847,879,787,804,652,631,652.131102153,0.400982366337,-0.00536007958613,0.0698369125897,0.99999994142,0.000212460296378,-0.00026805630332,1.29232177907e-05,1793239479909741056
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.290306489,879,787,804,652,631,652.709693511,0.400982865022,-0.00535989747365,0.069837058561,0.999999941648,0.000211847772835,-0.000267686537817,1.29713301653e-05,1793239479926407424
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dc834dcc48300ba54c6aa0ba14e49baa463bebc1
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44681c7e2effdafcbef9f6efd3793dd2654b6e49
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cd77c29a42f2e72bb58dd3072a005f1a40783bd8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/franka_data.csv
@@ -0,0 +1,423 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,661,636,879,787,803,652,632,653,0.40098246724,-0.00535764947926,0.0698373634203,0.99999994047,0.000218871247652,-0.000266434578147,1.29972240027e-05,1793239480049857024
+1,0.016666667,BASELINE,766,745,715,679,661.590242066,636,878.409757934,787,803,652,632,653,0.400982527038,-0.00535910962536,0.0698381479171,0.999999941153,0.000215559107151,-0.000266572639425,1.29349838162e-05,1793239480066523648
+2,0.033333333,BASELINE,766,745,715,679,661.822868097,636,878.177131903,787,803.177131903,652,632,652.822868097,0.400982405442,-0.00536027512144,0.0698384309491,0.999999941658,0.000212776962644,-0.000266914812656,1.29216751292e-05,1793239480083190016
+3,0.050000000,BASELINE,766,745,715,679,661.243588803,636,878.756411197,787,803.756411197,652,632,652.243588803,0.400981872021,-0.00536077166586,0.0698375754918,0.999999941776,0.000211198081848,-0.000267720386851,1.30194569482e-05,1793239480099856384
+4,0.066666667,BASELINE,766,745,715,679,661.334033372,635.665966628,879.334033372,787,803.665966628,652,631.665966628,652,0.400981437725,-0.00536055920596,0.0698371911577,0.999999941687,0.000211767653422,-0.000267598682676,1.30676367597e-05,1793239480116522752
+5,0.083333333,BASELINE,766,745,715,679,661.91045305,635.08954695,879.91045305,787,803.08954695,652,631.08954695,652,0.400981075356,-0.00535983226769,0.0698371486872,0.999999941446,0.000213896217325,-0.000266804112816,1.30798236127e-05,1793239480133189376
+6,0.100000000,BASELINE,766,745,715,679,661.504974607,635.495025393,879.504974607,787,803.495025393,652,631,652,0.40098180477,-0.0053586234024,0.0698376970744,0.999999941292,0.000216028250071,-0.000265667238918,1.29975190116e-05,1793239480149856000
+7,0.116666667,BASELINE,766,745,715,679,661,635.919781288,879.080218712,787,804,652,631,652.080218712,0.400982524929,-0.0053575869164,0.0698383055827,0.999999941149,0.000217788120272,-0.000264770481388,1.2902774607e-05,1793239480166522880
+8,0.133333333,BASELINE,766,745,715,679,661,635.340058099,879.659941901,787,804,652,631,652.659941901,0.400981937092,-0.0053581757241,0.0698386117745,0.999999941009,0.000217226642601,-0.000265760898825,1.28387862763e-05,1793239480183189760
+9,0.150000000,BASELINE,766,745,715,679,661,635.238440854,879.761559146,787,803.761559146,652,631,652.761559146,0.400981539622,-0.00535929714789,0.0698384677351,0.999999941228,0.000215404059288,-0.000266422009501,1.27935978036e-05,1793239480199856640
+10,0.166666667,BASELINE,766,745,715,679,661,635.815202704,879.184797296,787,803.184797296,652,631,652.184797296,0.400981412258,-0.00536117429452,0.0698376848677,0.999999941948,0.000211792107672,-0.000266615870495,1.27750842392e-05,1793239480216523264
+11,0.183333333,BASELINE,766,745,715,678.610179355,661,636,878.610179355,787,803.389820645,652,631,652,0.400981032325,-0.00536081420108,0.0698375708569,0.999999941974,0.00021134485066,-0.000266876799399,1.27178537784e-05,1793239480233189888
+12,0.200000000,BASELINE,766,745,715,678.03657214,661,636,878.03657214,787,803.96342786,652,631,652,0.400980533314,-0.00535939932867,0.0698377721881,0.999999941676,0.000212389634286,-0.000267169348454,1.26423696764e-05,1793239480249856512
+13,0.216666667,BASELINE,766,745.554031609,715,679.108063217,661.554031609,635.445968391,878.554031609,787,804,652,631,652.554031609,0.40098230725,-0.00535924518135,0.0698388193007,0.999999941788,0.000214439384743,-0.000265087850161,1.29702334043e-05,1793239480266522880
+14,0.233333333,BASELINE,766,745.857280957,715,679.857280957,661.857280957,635.142719043,879,787.142719043,804,652,631,652.857280957,0.400983127764,-0.00535926238274,0.0698392357338,0.999999941797,0.000215614228789,-0.000264088965788,1.31659514073e-05,1793239480283189504
+15,0.250000000,BASELINE,766,745.277995825,715,679.277995825,661.277995825,635.722004175,879,787.722004175,804,652,631,652.277995825,0.400980558356,-0.00535954110098,0.0698375467822,0.999999941423,0.000213903457529,-0.000266896254167,1.28734238534e-05,1793239480299856128
+16,0.266666667,BASELINE,765.701148859,745,715,679.298851141,661.298851141,635.701148859,879.298851141,787.701148859,804,652,631,652,0.400980316569,-0.00535906663503,0.0698373985716,0.999999941168,0.000215019523882,-0.000266956820251,1.28390556167e-05,1793239480316523008
+17,0.283333333,BASELINE,765.126551594,745,715,679.873448406,661.873448406,635.126551594,879.873448406,787.126551594,804,652,631,652,0.400982222447,-0.00535789721564,0.0698386719831,0.999999941015,0.000218743877237,-0.000264483020642,1.30428876963e-05,1793239480333190400
+18,0.300000000,BASELINE,765,745,715,680,661.541206136,635,879.082412272,787,803.541206136,652,631.458793864,652.458793864,0.400983502192,-0.00535776805955,0.0698395137311,0.999999941387,0.000217906695584,-0.00026376984635,1.29845656087e-05,1793239480349857024
+19,0.316666667,BASELINE,765.046463716,745,715,679.953536284,661,635.046463716,878.046463716,787,803.046463716,652,631.953536284,653,0.40098450662,-0.0053579638366,0.0698401481262,0.999999941876,0.000215940199528,-0.000263538028955,1.28719568606e-05,1793239480366523392
+20,0.333333333,BASELINE,765.625971604,745,715,679.374028396,661,635.625971604,878.625971604,787,803.625971604,652,631.374028396,653,0.400984381441,-0.00535851649573,0.0698398024623,0.999999942014,0.000215798967246,-0.000263123389249,1.29860334912e-05,1793239480383190016
+21,0.350000000,BASELINE,766,745,715,679,661,636,879,787,803.795568085,652,631,653,0.400984139427,-0.00535937664203,0.0698395438812,0.999999942227,0.000215031903757,-0.000262938039226,1.30774752281e-05,1793239480399856640
+22,0.366666667,BASELINE,766,745,715,679,661,636,879,787,803.219014714,652,631,653,0.400983684742,-0.00536079649822,0.0698394438148,0.999999942573,0.000213125657975,-0.000263170058576,1.31277153153e-05,1793239480416523264
+23,0.383333333,BASELINE,766,745,715,679.356496379,661,636,879,787,803.356496379,652,631,653,0.400983921597,-0.00535979699892,0.0698400887218,0.99999994242,0.000214609923073,-0.000262552597937,1.29691858017e-05,1793239480433189632
+24,0.400000000,BASELINE,766,745,715,679.931369067,661,636,879,787,803.931369067,652,631,653,0.400984582062,-0.00535731549335,0.0698411899716,0.999999941951,0.000218171087764,-0.000261414777741,1.26827718668e-05,1793239480449856256
+25,0.416666667,BASELINE,766,745,715,680,661.519834202,635.480165798,879,787,804,652,631,652.480165798,0.400983915301,-0.00535933698329,0.069840137174,0.999999942163,0.000215743912943,-0.00026260548004,1.29176542001e-05,1793239480466523392
+26,0.433333333,BASELINE,766,745,715,680,662,635,879,787,804,652,631.108026072,652.108026072,0.400983145279,-0.00536155994701,0.0698391438375,0.999999942452,0.00021284544254,-0.000263854122194,1.31773425048e-05,1793239480483190272
+27,0.450000000,BASELINE,766,745,715,680,662,635,879,787,804,652,631.686993459,652.686993459,0.400982709501,-0.00536199989163,0.0698396828011,0.999999942718,0.000211431562667,-0.000263979157595,1.32370778397e-05,1793239480499857152
+28,0.466666667,BASELINE,766,745,715,680,661.735864174,635,879,787,803.735864174,652,632,652.735864174,0.400982538155,-0.00536191691878,0.069839960209,0.999999942834,0.000210855499589,-0.000264003449508,1.31598937255e-05,1793239480516523776
+29,0.483333333,BASELINE,766,745,715,680,661.160869687,635,879,787,803.160869687,652,632,652.160869687,0.400982678016,-0.00536121852987,0.0698399297947,0.999999942776,0.000211265454324,-0.00026390917747,1.29215705557e-05,1793239480533190144
+30,0.500000000,BASELINE,766,745.413237222,715,679.586762778,661.413237222,635.413237222,878.586762778,787,803,652,632,652.413237222,0.400982864917,-0.00536090412138,0.0698398917639,0.999999942471,0.000213120398638,-0.000263572287494,1.29627734467e-05,1793239480549856512
+31,0.516666667,BASELINE,766,745.986999331,715,679.013000669,661.986999331,635.986999331,878.013000669,787,803,652,632,652.986999331,0.400983070091,-0.00536073887278,0.0698398507744,0.999999942064,0.000215536659246,-0.000263141150885,1.31125601957e-05,1793239480566523136
+32,0.533333333,BASELINE,766,745.422601807,715,679,661.422601807,635.422601807,878.577398193,787,803.577398193,652.577398193,631.422601807,652.422601807,0.400982965953,-0.00536068945552,0.0698403849961,0.999999942381,0.000214653249183,-0.000262659825704,1.31108253261e-05,1793239480583189760
+33,0.550000000,BASELINE,765.834991429,745,715,679.165008571,661.165008571,635.165008571,879,787,804,652.834991429,631,652.165008571,0.400983052364,-0.00536029232977,0.0698406505213,0.999999942591,0.000214045515038,-0.000262359737458,1.30332066971e-05,1793239480599856640
+34,0.566666667,BASELINE,765.255357099,745,715,679.744642901,661.744642901,635.744642901,879,787,804,652.255357099,631,652.744642901,0.400983635597,-0.0053590147507,0.0698402073694,0.999999942493,0.000214322710636,-0.00026251797668,1.277373791e-05,1793239480616523520
+35,0.583333333,BASELINE,765.321618747,744.678381253,715,679.678381253,661.678381253,635.678381253,879,787.321618747,804,652,631,653,0.400983891143,-0.00535892215704,0.0698404155774,0.999999942705,0.000213637614282,-0.000262271748684,1.27620738951e-05,1793239480633190144
+36,0.600000000,BASELINE,765.896501191,744.103498809,715,679.103498809,661.103498809,635.103498809,879,787.896501191,804,652,631,653,0.400983888647,-0.00535976269849,0.069841136709,0.999999943158,0.000212194746156,-0.000261707016689,1.29455475841e-05,1793239480649857024
+37,0.616666667,BASELINE,766,744.482008614,715,679,661,635.482008614,879,787.517991386,804,652,631,652.517991386,0.400982640429,-0.00535995959575,0.0698399509125,0.999999942639,0.000212502816354,-0.000263442216612,1.27620919134e-05,1793239480666523648
+38,0.633333333,BASELINE,766,745,715,679,661,636,879,787,803.931149919,652.068850081,631.068850081,652.068850081,0.400981309543,-0.00536015487871,0.0698385420737,0.999999942043,0.000212895900023,-0.000265388775705,1.25580973837e-05,1793239480683190016
+39,0.650000000,BASELINE,766,745,715,679,661,636,879,787,803.351715271,652.648284729,631.648284729,652.648284729,0.400981393961,-0.00536138621108,0.0698385841532,0.999999942489,0.000211068449542,-0.000265157862126,1.27992456706e-05,1793239480699856384
+40,0.666666667,BASELINE,766,745,715,679,661.226971948,635.773028052,878.773028052,787,803,652.773028052,631.773028052,653,0.400981663941,-0.00536158180344,0.0698387181623,0.999999942558,0.000211212450138,-0.000264774827796,1.29237882327e-05,1793239480716523008
+41,0.683333333,BASELINE,766,745,715,679,661.804504721,635.195495279,878.195495279,787,803,652.195495279,631.195495279,653,0.400982220523,-0.00536017768317,0.0698389941576,0.999999942044,0.000214401380055,-0.000264156841201,1.28682318768e-05,1793239480733189632
+42,0.700000000,BASELINE,766,745,715,679,662,635,878,787,803,652,631,653,0.400982779988,-0.00535928585111,0.0698394468768,0.999999941768,0.000215992602872,-0.000263906731952,1.28058329302e-05,1793239480749856256
+43,0.716666667,BASELINE,766,745,715,679,662,635,878,787,803,652,631,653,0.400983340927,-0.00535865616593,0.0698399900288,0.999999941618,0.000216766250953,-0.000263844871989,1.27399325122e-05,1793239480766523392
+44,0.733333333,BASELINE,766,745,715,679.540590344,662,635.540590344,879.081180688,787,803.540590344,652,631.540590344,652.459409656,0.400982495258,-0.00536020707446,0.0698399691493,0.999999942215,0.0002149471228,-0.000263067853971,1.27951330729e-05,1793239480783190272
+45,0.750000000,BASELINE,766,745,715,679.869754032,661.869754032,636,879.869754032,787,803.869754032,652,631.869754032,652.130245968,0.40098188762,-0.00536122877951,0.0698398931836,0.999999942653,0.000213527835691,-0.000262557251636,1.28199855857e-05,1793239480799856896
+46,0.766666667,BASELINE,766,745,715,679.29049008,661.29049008,636,879.29049008,787,803.29049008,652,631.29049008,652.70950992,0.400982567757,-0.00535970185121,0.0698398146384,0.999999942309,0.000214348105023,-0.000263202627429,1.26999939929e-05,1793239480816523520
+47,0.783333333,BASELINE,766,745,715,679.286063043,661.286063043,636,879,787,803.286063043,652,631,652.713936957,0.400982923697,-0.00535914080565,0.0698397617816,0.999999942186,0.000215158826678,-0.000263005893092,1.27576594345e-05,1793239480833189888
+48,0.800000000,BASELINE,766,745,715,679.859889294,661.859889294,636,879,787,803.859889294,652,631,652.140110706,0.400982953514,-0.0053595513832,0.069839734766,0.999999942284,0.000215959944007,-0.000261962043764,1.29940377701e-05,1793239480849856256
+49,0.816666667,BASELINE,766,745,715,679.554753996,661.554753996,636,879,787,803.554753996,652,631,652,0.400981997906,-0.00535976451006,0.0698388458856,0.999999942309,0.000213762913596,-0.000263683558752,1.25628485978e-05,1793239480866522880
+50,0.833333333,BASELINE,766,745,715,679,661,635.966401179,879.033598821,787,803.033598821,652,631,652,0.40098084863,-0.00535989593583,0.0698378050787,0.999999942302,0.000210849995619,-0.000266073922432,1.19752603959e-05,1793239480883189504
+51,0.850000000,BASELINE,766,745,715,679,661,635.389825229,879.610174771,787,803.610174771,652,631,652,0.400981714096,-0.00535973784239,0.0698388085322,0.999999942378,0.000212020154335,-0.000264836311201,1.23452995609e-05,1793239480899856128
+52,0.866666667,BASELINE,766,745,715,679,661.18804588,635.18804588,879.81195412,787.18804588,804,652,631,652.18804588,0.400982429233,-0.0053598326116,0.0698395429329,0.999999942453,0.000212895759946,-0.000263832461193,1.2688104286e-05,1793239480916523264
+53,0.883333333,BASELINE,766,745,715,679,661.768620483,635.768620483,879.231379517,787.768620483,804,652,631,652.768620483,0.400982830571,-0.00536045520867,0.0698397157099,0.99999994253,0.000213156512591,-0.000263316566611,1.29740595656e-05,1793239480933190144
+54,0.900000000,BASELINE,765.654667485,745,715,679,661.654667485,635.654667485,878.654667485,787.654667485,804,652,631,653,0.400982934976,-0.0053598714623,0.0698399873075,0.999999942497,0.000213965131895,-0.000262781012667,1.30465194331e-05,1793239480949857024
+55,0.916666667,BASELINE,765.080514847,745,715,679,661.080514847,635.080514847,878.080514847,787.080514847,804,652,631,653,0.400982842632,-0.00535848838296,0.0698403243843,0.999999942391,0.000215136772077,-0.000262232432289,1.29775154982e-05,1793239480966523392
+56,0.933333333,BASELINE,765.507762073,745,715,679.507762073,661,635.507762073,878.507762073,787,803.492237927,652,631.507762073,652.492237927,0.40098317738,-0.00535981597293,0.0698404970119,0.999999942415,0.000215178183466,-0.000262098904934,1.3104706424e-05,1793239480983190016
+57,0.950000000,BASELINE,765.903549965,745,715,680,661,636,879,787,803,652,631.903549965,652.096450035,0.400983479169,-0.00536123629472,0.0698405588128,0.99999994244,0.000215018061439,-0.000262130404789,1.32415952811e-05,1793239480999856640
+58,0.966666667,BASELINE,765.324335797,745,715,680,661,636,879,787,803,652,631.324335797,652.675664203,0.400983267306,-0.0053609077931,0.0698402001444,0.999999942356,0.000214771911263,-0.00026264907302,1.32668529721e-05,1793239481016523264
+59,0.983333333,BASELINE,765.253058961,745,715,679.746941039,661.253058961,636,879,787,803,652,631.253058961,653,0.400983033083,-0.00535952909468,0.0698399086182,0.999999942232,0.000214958020727,-0.000262986470557,1.28993595072e-05,1793239481033189888
+60,1.000000000,BASELINE,765.828138576,745,715,679.171861424,661.828138576,636,879,787,803,652,631.828138576,653,0.400982770406,-0.00535681400781,0.0698397025311,0.999999942057,0.000215694185891,-0.000263093198968,1.20320853457e-05,1793239481049856512
+61,1.016666667,BASELINE,765.588057042,745,715,679.411942958,662,636,879,787,803.411942958,652,632,653,0.400983627589,-0.00535772807916,0.0698403217278,0.999999942372,0.000215924766306,-0.000261689498127,1.22517093568e-05,1793239481066523392
+62,1.033333333,BASELINE,765.000533988,745,715,679.999466012,662,636,879,787,803.999466012,652,632,653,0.400984962084,-0.00536018898608,0.0698412926805,0.999999942894,0.000215939854174,-0.000259642015636,1.29345958275e-05,1793239481083190528
+63,1.050000000,BASELINE,765.579044178,745,715,680,661.420955822,636,879,787,804,652,631.420955822,653,0.400982865859,-0.00536044346146,0.0698397040803,0.999999942321,0.000215036863734,-0.000262578877202,1.30399059304e-05,1793239481099857152
+64,1.066666667,BASELINE,766,745,715,680,661,635.842337326,879,787,804,652,631,652.842337326,0.400981706862,-0.00536065965816,0.0698389269422,0.999999942029,0.000214467562123,-0.000264148197056,1.31052470012e-05,1793239481116523520
+65,1.083333333,BASELINE,766,745,715,680,661,635.266246597,879,787,804,652,631,652.266246597,0.4009830435,-0.00536077959235,0.0698403095595,0.999999942506,0.000214786068876,-0.000262076102561,1.30659069043e-05,1793239481133189632
+66,1.100000000,BASELINE,765.690809224,745,715,679.690809224,661.309190776,635,879,787,804,652,631.309190776,652.309190776,0.400982654322,-0.00536066518053,0.0698402338388,0.999999942436,0.000214740272871,-0.000262385389144,1.29577929045e-05,1793239481149856256
+67,1.116666667,BASELINE,765.115933304,745,715,679.115933304,661.884066696,635,879,787,804,652,631.884066696,652.884066696,0.400980782163,-0.00536034939708,0.0698389049801,0.999999941895,0.00021438143442,-0.000264740977421,1.27905820456e-05,1793239481166523392
+68,1.133333333,BASELINE,765.458063056,745,715,679,662,635.458063056,879,787,804,652,631.541936944,653,0.400981499427,-0.00536053405456,0.069839410305,0.999999942104,0.000214046596398,-0.000264219062243,1.28557415763e-05,1793239481183190016
+69,1.150000000,BASELINE,765.966983408,745,715,679,661.966983408,636,879,787,803.966983408,652,631,652.966983408,0.400982751109,-0.005360827799,0.0698403224733,0.999999942475,0.000213741700547,-0.000263053172828,1.29692177095e-05,1793239481199856640
+70,1.166666667,BASELINE,765.37195541,745,715,679,661.37195541,636,879,787,803.37195541,652,631,652.37195541,0.400981965325,-0.00536082656345,0.0698402730813,0.999999942389,0.000213843282963,-0.000263298598814,1.29059637771e-05,1793239481216523520
+71,1.183333333,BASELINE,765.215844291,745,715,679,661,635.784155709,879,787,803.215844291,652,631.215844291,652.215844291,0.400980992967,-0.00536041654639,0.0698395446489,0.999999941971,0.00021453409734,-0.000264329453312,1.27633463684e-05,1793239481233190144
+72,1.200000000,BASELINE,765.791591484,745,715,679,661,635.208408516,879,787,803.791591484,652,631.791591484,652.791591484,0.400979709511,-0.00535932491922,0.0698376839718,0.999999940993,0.000216207408385,-0.00026666994638,1.24883967698e-05,1793239481249856512
+73,1.216666667,BASELINE,766,745,715,679,661.366869633,635.366869633,879,787,804,652,631.633130367,653,0.40097939121,-0.00535893789757,0.0698375917912,0.999999941024,0.000215829037116,-0.000266858331125,1.25433372438e-05,1793239481266523136
+74,1.233333333,BASELINE,766,745,715,679,661.941881637,635.941881637,879,787,804,652,631.058118363,653,0.400979620486,-0.00535895063179,0.0698385029618,0.999999941627,0.000214286650029,-0.000265825723621,1.27854398635e-05,1793239481283189760
+75,1.250000000,BASELINE,766,745,715,679,661.4701338,636,879,787,804,652,631,652.4701338,0.40098101778,-0.0053594844095,0.069839411921,0.999999941876,0.000215047683906,-0.000264264443209,1.29488548849e-05,1793239481299856128
+76,1.266666667,BASELINE,766,745,715,679,661,636,879,787,804,652,631,652,0.400982008663,-0.00535987019643,0.0698399469814,0.999999941957,0.00021590439506,-0.000263252579397,1.30491866629e-05,1793239481316522752
+77,1.283333333,BASELINE,766,745,715,679,661,636,879,787,804,652,631,652,0.400980880604,-0.00535944197987,0.0698390096887,0.999999941546,0.000216117573069,-0.000264639901647,1.29358044987e-05,1793239481333189376
+78,1.300000000,BASELINE,766,745,715,679.27523074,661.27523074,636,879,787.27523074,803.72476926,652,631,652,0.400981330533,-0.00535916174848,0.0698392027453,0.999999941773,0.000215968022896,-0.000263908507159,1.28489732172e-05,1793239481349856256
+79,1.316666667,BASELINE,766,745,715,679.851814908,661.851814908,636,879,787.851814908,803.148185092,652,631,652,0.400983508223,-0.00535904354782,0.0698406334349,0.999999942692,0.000215421317284,-0.000260857304298,1.27912128219e-05,1793239481366523136
+80,1.333333333,BASELINE,766,745,715,679.565686586,662,635.565686586,879,787.565686586,803,652,631,652,0.400982783241,-0.00535963742059,0.0698399883395,0.999999942594,0.000214166673257,-0.00026226347886,1.27679212148e-05,1793239481383190016
+81,1.350000000,BASELINE,766,745,715,679,662,635.0187027,878.9812973,787,803,652,631,652,0.40098114993,-0.00536043969419,0.0698387137096,0.999999942161,0.000212769323066,-0.000265035224163,1.27603754411e-05,1793239481399857152
+82,1.366666667,BASELINE,766,745,715,679,662,635.598440482,878.401559518,787,803,652,631,652,0.400982387902,-0.00536010480538,0.0698400935208,0.999999942467,0.000214436909556,-0.000262519733822,1.28675082287e-05,1793239481416523776
+83,1.383333333,BASELINE,765.822052525,745,715,679,661.822052525,635.822052525,878.177947475,787,803,652,631.177947475,652,0.400983137404,-0.00535992562319,0.0698408621428,0.999999942717,0.00021517407039,-0.000260957409055,1.29397780344e-05,1793239481433190400
+84,1.400000000,BASELINE,765.243065548,745,715,679,661.243065548,635.243065548,878.756934452,787,803,652,631.756934452,652,0.400982786043,-0.00536009735633,0.0698402533301,0.999999942856,0.000213814335028,-0.000261543229182,1.29334773006e-05,1793239481449856512
+85,1.416666667,BASELINE,765.333720415,745,715,679,661,635.333720415,879,787,803.333720415,652,631.666279585,652.333720415,0.400982910866,-0.00536015115452,0.0698402915918,0.999999942804,0.000213882777229,-0.000261685701289,1.29001681449e-05,1793239481466523136
+86,1.433333333,BASELINE,765.908913739,745,715,679,661,635.908913739,879,787,803.908913739,652,631.091086261,652.908913739,0.400983380245,-0.00536011961752,0.0698407980627,0.999999942615,0.00021498461805,-0.000261507376276,1.28473162771e-05,1793239481483189760
+87,1.450000000,BASELINE,766,745,715,679,661,635.505377863,879,786.505377863,803.505377863,652,631,652.505377863,0.400984140406,-0.0053606666818,0.0698416327121,0.999999943291,0.0002135748956,-0.000260068965419,1.29826343374e-05,1793239481499856640
+88,1.466666667,BASELINE,765.918849081,745,714.918849081,679,661,635.081150919,878.918849081,786.081150919,803,652,631,652,0.400984801532,-0.00536119332756,0.0698423518512,0.999999943905,0.000212339496075,-0.000258708396412,1.31427033821e-05,1793239481516523776
+89,1.483333333,BASELINE,765.339430784,745,714.339430784,679,661,635.660569216,878.339430784,786.660569216,803,652,631,652,0.400984518655,-0.00536092616738,0.0698419826234,0.99999994317,0.000215075954317,-0.000259281506271,1.32373581406e-05,1793239481533190656
+90,1.500000000,BASELINE,765.238627986,745,714.238627986,679.238627986,661.238627986,635.761372014,878.238627986,787,803,652,631,652,0.400983632442,-0.00536137278974,0.0698410791849,0.999999942629,0.000215758564997,-0.000260790417665,1.33390430027e-05,1793239481549857024
+91,1.516666667,BASELINE,765.814763836,745,714.814763836,679.814763836,661.814763836,635.185236164,878.814763836,787,803,652,631,652,0.400981892888,-0.00536282896351,0.0698394201756,0.999999942362,0.000213536278515,-0.000263622897056,1.34506710128e-05,1793239481566523392
+92,1.533333333,BASELINE,766,745,714.611372237,679.611372237,661.611372237,635,879,787,803,651.611372237,631,652.388627763,0.400981837432,-0.00536234841042,0.0698397052467,0.999999942377,0.000213457327388,-0.000263636615484,1.33183187313e-05,1793239481583189504
+93,1.550000000,BASELINE,766,745,714.038584859,679.038584859,661.038584859,635,879,787,803,651.038584859,631,652.961415141,0.400982580021,-0.00536095009782,0.0698409115621,0.999999942528,0.000214394041577,-0.000262314603714,1.30703511562e-05,1793239481599856128
+94,1.566666667,BASELINE,766,745,714.553126662,679,661,635,878.446873338,787,803.553126662,651.553126662,631,652.446873338,0.400982881802,-0.00535947355608,0.0698406691745,0.999999942339,0.000215192495504,-0.000262404177987,1.25902172402e-05,1793239481616522752
+95,1.583333333,BASELINE,766,745,715,679,661,635,878.14268458,787,803.85731542,652,631,652.14268458,0.400982829688,-0.00535872442307,0.0698403834228,0.999999942279,0.000215380009454,-0.000262493829928,1.22614061262e-05,1793239481633189632
+96,1.600000000,BASELINE,766,745,715,679,661,635,878.72148237,787,803.27851763,652,631,652.72148237,0.400981793216,-0.00536021587358,0.0698402849542,0.999999942689,0.000213730718253,-0.000262272088394,1.24463652446e-05,1793239481649856768
+97,1.616666667,BASELINE,765.702248625,745,715,679,661,635.297751375,879,787,803,652,631,652.702248625,0.400982054283,-0.00535958740286,0.0698405681448,0.999999942587,0.000214800928838,-0.000261779733308,1.25497263014e-05,1793239481666523648
+98,1.633333333,BASELINE,765.128325169,745,715,679,661,635.871674831,879,787,803,652,631,652.128325169,0.40098351885,-0.00535699265043,0.0698412053343,0.999999942003,0.000218393547584,-0.000261036377181,1.25774030398e-05,1793239481683190528
+99,1.650000000,BASELINE,765,745,715,679,661,635.5425479,879,787,803.4574521,652,631,652,0.400983367195,-0.00535878394689,0.0698408660577,0.99999994208,0.000217085042833,-0.000261821815263,1.28091633259e-05,1793239481699856896
+100,1.666666667,BASELINE,765.046049418,745,715,679,661,635.046049418,879,787,803.953950582,652,631,652.046049418,0.400982878449,-0.00536161413089,0.0698403657927,0.99999994241,0.000214377703833,-0.000262776987724,1.30709616057e-05,1793239481716523008
+101,1.683333333,BASELINE,765.62774144,745,715,679,661,635.62774144,879,787,803.37225856,652,631,652.62774144,0.400983882701,-0.00536183615906,0.0698412638966,0.99999994353,0.000211817052274,-0.000260585335261,1.29985193813e-05,1793239481733189632
+102,1.700000000,BASELINE,766,745,715,679,661,636,879,787,803,652,631,652.792741333,0.400983788743,-0.00536134365711,0.0698413967067,0.999999943644,0.000211897085069,-0.000260086803375,1.29371795727e-05,1793239481749856256
+103,1.716666667,BASELINE,766,745,715,679,661,636,879,787,803,652,631,652.217089771,0.400981742768,-0.00535958111019,0.0698401692416,0.999999941965,0.000216670815011,-0.000262597716888,1.28955738135e-05,1793239481766522880
+104,1.733333333,BASELINE,766,745,715.357782248,679.357782248,661.357782248,636,879,787,803.357782248,652,631,652.357782248,0.400981846902,-0.0053594741754,0.0698401298012,0.999999941833,0.000216965847685,-0.000262861901596,1.28041351391e-05,1793239481783189760
+105,1.750000000,BASELINE,766,745,715.93218235,679.93218235,661.93218235,636,879,787,803.93218235,652,631,652.93218235,0.400983252811,-0.00536036962428,0.0698408096457,0.999999942643,0.000214549271185,-0.000261765813432,1.26825253185e-05,1793239481799856384
+106,1.766666667,BASELINE,766,745,715.480389012,680,661.480389012,636,879,787,803.480389012,652,631,652.480389012,0.4009826426,-0.00536066005216,0.0698402747394,0.999999942503,0.000214183220277,-0.000262588606236,1.2877165421e-05,1793239481816523008
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,879,787,803,652,631,652,0.400983199085,-0.00536004183875,0.0698407349143,0.999999942596,0.000216066448703,-0.000260682202685,1.29346897356e-05,1793239481858892288
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.574563962,745,715,679,661,635.574563962,879,787,803.574563962,652,631,652.574563962,0.400982074497,-0.0053603823846,0.0698402987596,0.999999942368,0.000215080926601,-0.000262381168367,1.26481493486e-05,1793239481875559168
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.152526602,636,879,787,803.847473398,652,631,652.847473398,0.40098152156,-0.00536066344912,0.0698401588964,0.999999942335,0.00021417726303,-0.000263252043136,1.25095995179e-05,1793239481892226048
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.740185214,636,879,787,803.259814786,652,631,652.259814786,0.400982599446,-0.00536077482376,0.0698408643012,0.999999942866,0.000213507127472,-0.000261760518173,1.27932410791e-05,1793239481908892928
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.676625428,635.676625428,879,787,803,652,631,652,0.400982923365,-0.00536053210955,0.06984109547,0.999999942968,0.00021395103444,-0.000261011271256,1.27106171945e-05,1793239481925559552
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.096977968,635.096977968,879,787,803,652,631,652,0.400982649769,-0.00536000878151,0.0698409508089,0.99999994273,0.000215277815115,-0.000260850276425,1.23377295821e-05,1793239481942225664
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.479313278,635.479313278,879,787,803.479313278,652,631,652.479313278,0.400981693233,-0.00535948087631,0.0698399524895,0.999999942296,0.000215271897747,-0.000262510476232,1.23948760639e-05,1793239481958892544
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.945204303,745,715,679,662,635.945204303,879,787,803.945204303,652,631.054795697,652.945204303,0.400980916216,-0.00535910508243,0.0698390198399,0.999999941928,0.000214926898145,-0.000264185039595,1.25522261786e-05,1793239481975559424
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.370996767,745,715,679,662,635.370996767,879,787,803.370996767,652,631.629003233,652.370996767,0.400983141553,-0.00536017987861,0.0698403354993,0.999999942579,0.000213905884923,-0.000262527229893,1.28403984557e-05,1793239481992225792
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715.209591233,679.209591233,661.790408767,635.209591233,879,787,803,652,631.790408767,652,0.400987747504,-0.00536044478805,0.0698427655208,0.999999943421,0.000214398865751,-0.000258885612635,1.30085186193e-05,1793239482008892160
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715.801827822,679.801827822,661.198172178,635.801827822,879,787,803,652,631.198172178,652,0.400996699682,-0.00535923110784,0.0698472300046,0.999999944572,0.000217655906908,-0.000251622208827,1.29574626776e-05,1793239482025558784
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.385226316,745,715.614773684,679.614773684,661,636,879,787,803,652,631,652.385226316,0.401022984243,-0.00536042082762,0.069859029092,0.999999949473,0.000216983833294,-0.000231929445718,1.34730328591e-05,1793239482042225664
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.964180248,745,715.035819752,679.035819752,661,636,879,787,803,652,631,652.964180248,0.401057985139,-0.0053628192003,0.0698745167005,0.999999955713,0.000214335835565,-0.000205986044118,1.4273555336e-05,1793239482058892288
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.460893823,744.460893823,715,679,661,636,879,787,803,652,631,653,0.401115996419,-0.00536378047033,0.0698927954287,0.999999961622,0.000214000403661,-0.000175354731602,1.45391534294e-05,1793239482075558912
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.113398846,715,679,661,635.886601154,879,787,803,652,631,652.886601154,0.40117680238,-0.00536453864583,0.0699094804557,0.999999965976,0.000213896536344,-0.000148599226001,1.46690374279e-05,1793239482092225792
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.686202407,715,679,661,635.313797593,879,787,803,652,631,652.313797593,0.401242782365,-0.00536485800269,0.0699189633113,0.999999967342,0.000214112921953,-0.00013879800471,1.43920331805e-05,1793239482108892672
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.269074323,745,715,679,661,635.269074323,879,787,803,652,631,652.269074323,0.401316639686,-0.00536631913835,0.0699253556795,0.999999968896,0.0002127105953,-0.000129552853963,1.33257674341e-05,1793239482125559296
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.864144478,745,715,679,661,635.864144478,879,787,803,652,631,652.864144478,0.401400040754,-0.00536916359116,0.0699280037805,0.999999970705,0.000209347124801,-0.000120981408666,1.13032753488e-05,1793239482142225664
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.555229928,745,715,679.444770072,661.444770072,636,879,787,803,652,631,653,0.401494087541,-0.00537125642669,0.0699265603054,0.999999970831,0.000207036542122,-0.000124053010002,9.25446425283e-06,1793239482158892032
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.020947037,745,715.020947037,679.979052963,662,635.979052963,879,787.020947037,803.020947037,652,631.020947037,652.979052963,0.401592384733,-0.00537311702322,0.0699239638859,0.999999970443,0.000205063736421,-0.000130428556925,7.1572909034e-06,1793239482175558656
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.592516146,745,715.592516146,679.407483854,662,635.407483854,879,787.592516146,803.592516146,652,631.592516146,652.407483854,0.401719621779,-0.0053747179596,0.0699228794695,0.999999970369,0.000203781928077,-0.000133109016186,3.99352121853e-06,1793239482192225536
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715.829393145,679,661.829393145,635,879,788,803.829393145,652,632,652,0.401856443519,-0.00537665715754,0.0699230437994,0.999999970775,0.000201942107974,-0.000132924882047,7.41262852819e-07,1793239482208892160
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715.235106999,679,661.235106999,635,879,788,803.235106999,652,632,652,0.402017067541,-0.00537943638259,0.0699263092239,0.999999972361,0.00019871654054,-0.000125626913186,-2.73074483705e-06,1793239482225558784
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.348280115,661,635.348280115,879.348280115,787.651719885,803.348280115,652.348280115,632,652.348280115,0.402197893257,-0.00538224162759,0.0699310248512,0.999999974407,0.000194213215891,-0.000115866832815,-6.43937303152e-06,1793239482242225664
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.924533134,661,635.924533134,879.924533134,787.075466866,803.924533134,652.924533134,632,652.924533134,0.402391942364,-0.0053850639047,0.0699366897349,0.999999976651,0.000188873512334,-0.000104495133102,-1.03028857033e-05,1793239482258892544
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,879.498335524,787.501664476,804,652.498335524,632,652.498335524,0.40261195552,-0.00538954007527,0.0699367983842,0.999999978367,0.000180175781781,-0.000102780928603,-1.54453698957e-05,1793239482275559424
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.921441552,661.078558448,636,879,787.921441552,803.921441552,652,631.921441552,652.078558448,0.402842704515,-0.0053940751612,0.0699370856471,0.999999980044,0.00017134461551,-0.000100612578286,-2.07421036161e-05,1793239482292225792
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.346881729,661.653118271,636,879,787.346881729,803.346881729,652,631.346881729,652.653118271,0.403116533479,-0.00539740860228,0.0699437872148,0.999999982345,0.000164866014216,-8.63880541493e-05,-2.57958385603e-05,1793239482308892416
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.234888332,662,636,879,787.234888332,803,652,631,652.765111668,0.403403048949,-0.00540229531596,0.0699514504413,0.999999984661,0.000156963811823,-7.13683202167e-05,-3.07620921701e-05,1793239482325558784
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.827643606,662,636,879,787.827643606,803,652,631,652.172356394,0.403708893082,-0.0054095485366,0.0699605788141,0.999999987058,0.00014689266527,-5.51370357021e-05,-3.5595062239e-05,1793239482342225408
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.590885899,745,715,679.590885899,662,636,879,787.590885899,803.409114101,652,631,652.409114101,0.404034107703,-0.00541442784689,0.0699641496906,0.999999994538,8.13298534484e-05,-5.15027540369e-05,-4.07005561041e-05,1793239482358892032
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.014041984,745,715,679.014041984,662,636,879,787.014041984,803.985958016,652,631,652.985958016,0.404367263887,-0.00541833389419,0.0699654420879,0.999999997515,-6.98359623003e-06,-5.30330290332e-05,-4.59177796972e-05,1793239482375558656
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.561563003,745.561563003,715,679,662,636,879,787,804,652,631,653,0.404750397256,-0.00542419394611,0.0699713613013,0.999999996663,6.1666210599e-05,-4.37406746075e-05,-3.09512666523e-05,1793239482392225536
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.859648433,715,679,662,636,879.140351567,787,804,652,631,653,0.405141981571,-0.00542964996067,0.0699756548811,0.999999992369,0.000116139646241,-3.66548919537e-05,-2.07489316798e-05,1793239482408892416
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.270583037,715,679,662,636,879.729416963,787,804,652,631,653,0.405556597532,-0.00543365837243,0.0699743821262,0.999999992564,0.000112769671978,-3.74869693043e-05,-2.7388015481e-05,1793239482425559040
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787,804,652,631.313166451,653,0.405986964517,-0.0054515321156,0.0699697924798,0.999999995034,8.45306974492e-05,-4.30955941855e-05,-3.04799891792e-05,1793239482442225664
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787,804,652,631.892399602,653,0.406430713641,-0.00548118586616,0.0699623847969,0.999999997523,3.51629814345e-05,-5.27623812192e-05,-3.05583333486e-05,1793239482458892032
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.468781242,661.531218758,636,879.531218758,787,804,652,632,653,0.406902569851,-0.00549712109416,0.0699487988146,0.999999996904,6.38725921817e-06,-7.1685133268e-05,-3.18080906884e-05,1793239482475559168
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.955628134,661,635.955628134,879,787,804,652,631.955628134,652.955628134,0.407386674502,-0.00550879214764,0.0699352088561,0.99999999526,-1.5044303909e-05,-9.02506326418e-05,-3.32928946464e-05,1793239482492225792
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679.381713339,661,635.381713339,879,787,804,652,631.381713339,652.381713339,0.407940427144,-0.00550692541149,0.069938393229,0.999999996248,-4.89547573389e-06,-7.93511965514e-05,-3.43933612658e-05,1793239482508892416
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.19815265,635.19815265,879,787,804,652,631,652,0.408514550939,-0.00550993788515,0.0699468070811,0.999999997569,-5.17365263214e-06,-5.99315858174e-05,-3.52729050217e-05,1793239482525559040
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.789837716,635.789837716,879,787,804,652,631,652,0.409129131938,-0.00552264050042,0.0699656067118,0.999999998742,-2.61599281146e-05,-2.35908549933e-05,-3.57136944799e-05,1793239482542226176
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787,803.626150652,652,631.373849348,652.373849348,0.409731458246,-0.0055298158518,0.0699652466656,0.999999998443,-3.514481778e-05,-2.18613454143e-05,-3.74303612486e-05,1793239482558892800
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787,803.046365961,652,631.953634039,652.953634039,0.410327034022,-0.00553394650308,0.0699543324889,0.999999997734,-3.75187295608e-05,-3.91974681361e-05,-3.98498465032e-05,1793239482575559168
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679.527749297,662,636,879,787,803.527749297,652,632,652.472250703,0.410958455014,-0.0055406793839,0.0699509578516,0.999999996918,-4.83156367019e-05,-4.65653473869e-05,-4.07586617788e-05,1793239482592225536
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.895981394,879,787,804,652,631.895981394,652,0.411609806826,-0.00554823962322,0.0699529168388,0.999999996355,-6.00329646073e-05,-4.45078801146e-05,-4.12809815379e-05,1793239482608892416
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.307381641,879,787,804,652,631.307381641,652,0.412339493153,-0.00555860045667,0.0699766700212,0.999999996535,-7.26273869617e-05,-2.57798672107e-06,-4.06144975631e-05,1793239482625559040
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679.723222834,661.723222834,635,879,787,804,651.723222834,631,652,0.413078001506,-0.00556476683166,0.0700018279013,0.999999995265,-8.05110083234e-05,3.76280742057e-05,-3.9661098335e-05,1793239482642225664
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.14391807,661.14391807,635,879,787,804,651.14391807,631,652,0.413826152749,-0.00556634851096,0.0700285211706,0.999999992914,-8.32455529598e-05,7.59499282362e-05,-3.83940901444e-05,1793239482658892288
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.433423866,879.433423866,787,804,651.433423866,631,652,0.414543463551,-0.00553738523561,0.0700167517493,0.9999999969,-4.76952025059e-05,4.79786394452e-05,-4.02943235175e-05,1793239482675558912
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.010065526,635.989934474,880,787,803.989934474,652,631,652,0.415250895556,-0.00549881961896,0.0699918913585,0.999999999063,-1.80793634608e-07,-2.24257211442e-06,-4.32397100464e-05,1793239482692225280
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.583827319,635.416172681,880,787,803.416172681,652,631,652,0.415976003378,-0.00548793954085,0.0699459156919,0.999999996358,8.63024872639e-06,-7.13128965154e-05,-4.60851055059e-05,1793239482708891904
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.837585196,745,715,679.162414804,662,635.162414804,879.837585196,787,803.162414804,652,631,652,0.416735152804,-0.00548482583779,0.0699187849096,0.999999992516,9.48945279493e-06,-0.000112121698653,-4.80379615295e-05,1793239482725558528
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.246253714,745,715,679.753746286,662,635.753746286,879.246253714,787,803.753746286,652,631,652,0.417584201699,-0.00550222213639,0.0699414210537,0.999999995744,-1.06511292255e-05,-7.82954396715e-05,-4.76337356035e-05,1793239482742225152
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.329181843,745,715,679.670818157,662,636,879.329181843,787,803.670818157,652,631,652,0.418413907297,-0.00551245845304,0.069964972249,0.999999997665,-2.39572951594e-05,-4.31503610451e-05,-4.72563853137e-05,1793239482758892288
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.893273756,745,715,679.106726244,662,636,879.893273756,787,803.106726244,652,631,652,0.419229809134,-0.00551758527734,0.0699891764403,0.999999998351,-3.23862982444e-05,-7.06415049918e-06,-4.68982139635e-05,1793239482775559936
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.521545859,879.521545859,787,803.478454141,652,631,652,0.420104585976,-0.00552398742375,0.0700095761707,0.999999997679,-4.12984276322e-05,2.67383361298e-05,-4.71387194783e-05,1793239482792226304
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679.068335165,662,635.068335165,879,787,804,652,631,652.068335165,0.420987074072,-0.00552964747004,0.0700270937875,0.9999999961,-4.92448978293e-05,5.58390374505e-05,-4.75022673687e-05,1793239482808892416
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.656539483,662,635.656539483,879,787,804,652,631,652.656539483,0.421823708733,-0.00552739787916,0.0700294391557,0.999999996244,-4.89873123334e-05,5.32244042604e-05,-4.77390810345e-05,1793239482825559040
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.758930846,745,715,680,662,636,879.241069154,787,804,651.758930846,631,652.758930846,0.422647312082,-0.00552132211939,0.0700040655799,0.999999997733,-4.475729308e-05,6.69096091511e-06,-4.98613051579e-05,1793239482842225664
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.179557894,745,715,680,662,636,879.820442106,787,804,651.179557894,631,652.179557894,0.423452628092,-0.00550987691473,0.0699397926933,0.999999992748,-3.49525683781e-05,-0.000101475835898,-5.46294149768e-05,1793239482858892032
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.396538672,745,715,680,662,635.603461328,879.603461328,787.396538672,803.603461328,651,631,652,0.424282984387,-0.00550884882884,0.0698930099068,0.999999984127,-4.19092043792e-05,-0.000162525726521,-5.97988351369e-05,1793239482875558656
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.971163771,745,715,680,662,635.028836229,879.028836229,787.971163771,803.028836229,651,631,652,0.425124586285,-0.00551249909559,0.0698540819682,0.999999975802,-5.63934065568e-05,-0.000202415300252,-6.51484845105e-05,1793239482892225280
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.45441295,635,879,787.45441295,803.54558705,651.54558705,631,652,0.426049683876,-0.00552202159234,0.0699112696079,0.999999988752,-6.47149808937e-05,-0.000120971024007,-6.06053363375e-05,1793239482908892160
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.123825562,635.123825562,879,787,804,651.876174438,631,652,0.426972292344,-0.00552977091984,0.0699685702566,0.999999995148,-6.94612372647e-05,-4.17219151559e-05,-5.60160739818e-05,1793239482925558784
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.716551892,635.716551892,879,787,804,651.283448108,631,652,0.427868769916,-0.00552963077258,0.0700070688911,0.999999996655,-6.19014985873e-05,4.93915939191e-06,-5.32314520207e-05,1793239482942225664
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.698543634,879.301456366,787,804,651.301456366,631,652.301456366,0.428782223505,-0.00552942626378,0.0700354045382,0.999999995749,-5.81743287804e-05,4.88012714972e-05,-5.23132914718e-05,1793239482958892288
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.120807787,879.879192213,787,804,651.879192213,631,652.879192213,0.429711235266,-0.00552916276874,0.0700544259831,0.999999992851,-5.79596416774e-05,9.00981809303e-05,-5.31057102961e-05,1793239482975558912
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.456420443,880,787.456420443,804,651.543579557,631.456420443,652.543579557,0.43054551368,-0.00553010410318,0.0700284774209,0.999999995592,-5.99506347944e-05,4.74487097552e-05,-5.44965982383e-05,1793239482992226048
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.965985285,745,715,680,662,636,880,788,804,651,631.965985285,652,0.431350005137,-0.00553121505111,0.0699887300608,0.999999996272,-6.23460096088e-05,-2.03997010142e-05,-5.61484868885e-05,1793239483008892672
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.380278016,745,715,680,662,636,880,788,804,651,631.380278016,652,0.432077611781,-0.00552991042016,0.0699180182726,0.999999986939,-6.18416954655e-05,-0.000136974658124,-5.94672381063e-05,1793239483025559296
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.203661592,745,715,680,662,635.796338408,880,787.796338408,804.203661592,651.203661592,631.203661592,652,0.432869791164,-0.00552917365243,0.069887542529,0.999999979372,-6.22244972518e-05,-0.000183359737163,-6.13520068437e-05,1793239483042225664
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.784329112,745,715,680,662,635.215670888,880,787.215670888,804.784329112,651.784329112,631.784329112,652,0.43378150379,-0.00552948807829,0.0699315492875,0.99999999112,-6.42494748997e-05,-9.98136127009e-05,-6.05822761057e-05,1793239483058892288
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.635940083,745,715,680.364059917,662.364059917,635,880,787.364059917,804.635940083,651.635940083,631.635940083,652.364059917,0.434673920254,-0.00553204084477,0.0699787586135,0.999999995958,-6.50390644718e-05,-2.16225330011e-05,-5.818544075e-05,1793239483075558912
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.056762804,745,715,680.943237196,662.943237196,635,880,787.943237196,804.056762804,651.056762804,631.056762804,652.943237196,0.43555493486,-0.00553591621201,0.0700278602842,0.999999994952,-6.50986821436e-05,5.340432868e-05,-5.4827174446e-05,1793239483092225536
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.517057506,745,715,681,662.482942494,635.517057506,880,788,804,651.517057506,631,652.482942494,0.436352232921,-0.00554138547089,0.0700312623622,0.999999993729,-7.44957494999e-05,6.26999222816e-05,-5.53334122945e-05,1793239483108891904
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.092875525,635.907124475,880,788,804,651.907124475,631,652.092875525,0.437128845246,-0.00554661654074,0.0700245889034,0.999999993242,-8.34929687418e-05,5.79497073242e-05,-5.64545356216e-05,1793239483125558528
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662.682491294,635.317508706,880,788,804,651.317508706,631,652.682491294,0.437843471479,-0.00554964740239,0.0699905845382,0.999999994543,-8.4925304544e-05,1.62748775497e-05,-5.86185470501e-05,1793239483142225152
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.732713607,745,714.732713607,681,662.732713607,635,880.267286393,787.732713607,804.267286393,651,631,653,0.438531271564,-0.00554954701499,0.0699434713529,0.999999993083,-8.53006430666e-05,-5.30921242351e-05,-6.1149768832e-05,1793239483158892032
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.15354356,745,714.15354356,681,662.15354356,635,880.84645644,787.15354356,804.84645644,651,631,653,0.439187769453,-0.00554579292321,0.0698810621175,0.999999982403,-8.44426216111e-05,-0.000154771788515,-6.41094702246e-05,1793239483175558656
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.420863904,714,681,662,635,880.579136096,787,804.579136096,651.420863904,631.420863904,653,0.439835468858,-0.00553717788785,0.0698267039803,0.999999966006,-7.36953466141e-05,-0.000241189771245,-6.62154464558e-05,1793239483192225280
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.993553327,714,681,662,635,880.006446673,787,804.006446673,651.993553327,631.993553327,653,0.440479994286,-0.00552680927992,0.0697752502499,0.999999944049,-5.93805497817e-05,-0.000322102150906,-6.80134436469e-05,1793239483208892160
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.56768881,745.43231119,714,681,662,635,880,787,804.56768881,652,631.43231119,653,0.441173172464,-0.00553015479282,0.0698011746344,0.999999955784,-6.49500328769e-05,-0.000282201543306,-6.7641507696e-05,1793239483225558784
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.14703596,714.14703596,681,662,635,880.14703596,787,805,651.85296404,631,653,0.441852394043,-0.00553389033175,0.0698275072349,0.999999965389,-6.98964212578e-05,-0.000244686591964,-6.68182226584e-05,1793239483242225664
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.742217525,714.742217525,681,662,635,880.742217525,787,805,651.257782475,631,653,0.442487389728,-0.00553833873879,0.0698523990139,0.999999971396,-7.22537203043e-05,-0.000218634989425,-6.46945837043e-05,1793239483258892544
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.672515974,715,681,661.672515974,635,880.672515974,786.672515974,805,651.327484026,631,653,0.443072770736,-0.00554181653058,0.0698436050125,0.99999996662,-7.23573300496e-05,-0.000239730499547,-6.3662645818e-05,1793239483275558912
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.094824898,715,681,661.094824898,635,880.094824898,786.094824898,805,651.905175102,631,653,0.443620244692,-0.00554455274464,0.0698090741215,0.999999951425,-7.07390571821e-05,-0.000296847737119,-6.34647983864e-05,1793239483292225536
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.48242276,715,681,661,634.51757724,880.48242276,786.48242276,805,652,631,652.51757724,0.444150242032,-0.0055453596438,0.0697693573711,0.999999931571,-7.33935494932e-05,-0.000356853764243,-6.42334106467e-05,1793239483308892416
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.941032392,715,681,661,634,880.941032392,787,804.941032392,651.941032392,631,652.058967608,0.444673283705,-0.005545814316,0.0697311740526,0.999999909536,-7.66012454216e-05,-0.000413265079269,-6.53583419233e-05,1793239483325558784
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.369836134,715,681,661,634,880.369836134,787,804.369836134,651.369836134,631,652.630163866,0.445165717056,-0.00554650049029,0.0697151574595,0.999999900732,-7.732562547e-05,-0.000433522641627,-6.79298246899e-05,1793239483342225408
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.790163899,745.209836101,714.790163899,681,660.790163899,634,880,786.790163899,804,651,631,652.790163899,0.445647639426,-0.00554828213734,0.0697035953257,0.999999893918,-8.10690049854e-05,-0.000448072584219,-6.94479689733e-05,1793239483358892288
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.194923985,745.805076015,714.194923985,681,660.194923985,634,880,786.194923985,804,651,631,652.194923985,0.446110256332,-0.00555207582791,0.069700214653,0.99999989132,-9.03573497886e-05,-0.000452139398198,-6.90314570337e-05,1793239483375559168
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714.387088353,681.387088353,660,633.612911647,880.387088353,786,804,651.387088353,631,652.387088353,0.446542023795,-0.0055516014368,0.0696953827303,0.999999886152,-8.89403171151e-05,-0.0004639212149,-6.75413587667e-05,1793239483392225792
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714.9626599,681.9626599,660,633.0373401,880.9626599,786,804,651.9626599,631,652.9626599,0.446958769917,-0.00554904880818,0.0696898441565,0.999999879525,-8.2310563876e-05,-0.000479459663495,-6.55285038797e-05,1793239483408892416
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.537252742,746,715,682,660,633,881,786,804.537252742,652,631,653,0.447325991058,-0.00554298482894,0.0696653396919,0.999999858388,-7.04424371826e-05,-0.000523284248524,-6.66032334612e-05,1793239483425558784
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.885463978,746.114536022,715,682,659.885463978,633,881,786,805,651.885463978,631,653,0.447685589433,-0.00553738843183,0.0696433732681,0.999999838415,-6.1050490622e-05,-0.00056106282056,-6.81981841568e-05,1793239483442225408
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.296761311,746.703238689,715,682,659.296761311,633,881,786,805,651.296761311,631,653,0.44802785443,-0.00553473625694,0.0696373611886,0.999999835463,-6.34141551504e-05,-0.000565687594542,-7.10600180167e-05,1793239483458892032
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.288763672,746.711236328,714.711236328,682,659,632.711236328,881,785.711236328,805,651.288763672,631,652.711236328,0.448362290546,-0.00553595582294,0.0696382937702,0.999999837869,-7.15958201913e-05,-0.000560278921931,-7.22799176003e-05,1793239483475558656
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.871058474,746.128941526,714.128941526,682,659,632.128941526,881,785.128941526,805,651.871058474,631,652.128941526,0.448688768507,-0.00554111105202,0.069646285669,0.999999845415,-8.56915401486e-05,-0.000544671151145,-7.18307745546e-05,1793239483492225280
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.553030266,745.553030266,714,681.553030266,659,632,881,785,805,651.553030266,631,652.446969734,0.448983521246,-0.00554579615684,0.0696538671458,0.999999850616,-8.60121117976e-05,-0.000535416214116,-6.85540281805e-05,1793239483508892160
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,681.021081678,658.978918322,632,881,785,805,651.021081678,630.978918322,652.978918322,0.449267663519,-0.00555015050734,0.069660970217,0.999999854976,-8.19852669191e-05,-0.000528368950148,-6.44413247822e-05,1793239483525558528
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,681.595621065,658.404378935,632,881,785,805,651.595621065,630.404378935,652.404378935,0.44951013548,-0.00554933189014,0.0696585782451,0.999999854578,-6.66820741014e-05,-0.000531844341821,-5.9495410649e-05,1793239483542225152
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,682,658.174923366,632,881,785,804.825076634,652,630.174923366,652.174923366,0.449737737096,-0.00554956156499,0.0696540977811,0.999999852014,-5.89366152172e-05,-0.000537902531652,-5.62058687815e-05,1793239483558892032
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658.765544441,632,881,785,804.234455559,652,630.765544441,652.765544441,0.449929999959,-0.00555228246006,0.0696446541077,0.999999844689,-6.91517818086e-05,-0.000550098627752,-5.6852623696e-05,1793239483575558656
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681.652432489,658.652432489,632,880.652432489,785,804.347567511,651.652432489,631,653,0.450094678572,-0.00555534732066,0.069629987618,0.99999983073,-7.97768446471e-05,-0.000573399734449,-5.82097816223e-05,1793239483592225280
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681.076069228,658.076069228,632,880.076069228,785,804.923930772,651.076069228,631,653,0.450241199124,-0.00555863860619,0.0696118830667,0.999999811673,-9.0671733775e-05,-0.0006040110166,-6.0034581636e-05,1793239483608891904
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,681.501342524,658,632,880,785,805,651.501342524,630.498657476,653,0.450373932152,-0.00556011387264,0.0696015637423,0.999999799824,-9.34628421197e-05,-0.000622835891063,-6.07616982722e-05,1793239483625558784
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.080357269,745.080357269,714,682,658,632,880.080357269,785,805,652,630.080357269,653,0.450502135946,-0.00556108894957,0.0695931323546,0.999999789951,-9.51389032913e-05,-0.000638180533785,-6.14192600206e-05,1793239483642225408
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.668494232,745.668494232,714,682,658,632,880.668494232,785,805,652,630.668494232,653,0.450614966522,-0.00556064815081,0.0695891508237,0.999999786643,-9.75550807786e-05,-0.000642857911673,-6.26919591775e-05,1793239483658892032
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,746,714.252906961,682,658,632,881,785,805,652,631,653,0.450720505456,-0.00556039817458,0.0695863158824,0.999999784505,-9.94994580683e-05,-0.000645768837791,-6.38174456531e-05,1793239483675558912
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,746,714.832508844,682,658,632,881,785,805,652,631,653,0.450816625336,-0.00556039469515,0.0695849620589,0.999999783905,-0.000100834382921,-0.000646397933133,-6.47527687031e-05,1793239483692225536
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.591183528,746,715,681.591183528,657.591183528,632,880.591183528,784.591183528,805,651.591183528,630.591183528,653,0.450891754191,-0.00556025544768,0.0695827311651,0.999999781503,-0.000103160250981,-0.000649657037932,-6.55519326059e-05,1793239483708892160
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.016214774,746,715,681.016214774,657.016214774,632,880.016214774,784.016214774,805,651.016214774,630.016214774,653,0.450958351815,-0.00556006102101,0.0695801438102,0.999999778348,-0.000105888860794,-0.000653985038169,-6.62957583202e-05,1793239483725558784
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.559666435,745.440333565,715,681.559666435,657.559666435,632,880,784.559666435,804.440333565,651.559666435,630,652.440333565,0.451006964818,-0.00556016928445,0.0695766355863,0.999999773803,-0.000105945365872,-0.000660932710979,-6.58545952272e-05,1793239483742225408
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745.139324727,714.860675273,682,658,632,880,784.860675273,804,652,630.139324727,652.139324727,0.451053134516,-0.00556034373466,0.0695739054606,0.999999770267,-0.000105881516877,-0.000666296194313,-6.56154760887e-05,1793239483758892032
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745.731164553,714.268835447,682,658,632,880,784.268835447,804,652,630.731164553,652.731164553,0.451093063658,-0.00556070462454,0.0695737893283,0.999999770272,-0.000105678621768,-0.000666267448978,-6.61442677199e-05,1793239483775558656
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,746,714.315674539,681.684325461,657.684325461,632,880,784,804.315674539,652,631,653,0.451125399503,-0.00556001561576,0.0695733795348,0.999999770292,-0.000105907482036,-0.000666174141945,-6.64134488331e-05,1793239483792225280
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,746,714.894083989,681.105916011,657.105916011,632,880,784,804.894083989,652,631,653,0.451151415476,-0.00555845277972,0.0695727253281,0.999999770324,-0.000106495690902,-0.000666027100414,-6.64665570005e-05,1793239483808891904
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.530087386,746,714.530087386,681.469912614,657,631.530087386,880.469912614,784.469912614,805,652,631,653,0.451167630997,-0.00555940017975,0.0695718201744,0.999999769298,-0.000107379646939,-0.00066748177591,-6.58939520947e-05,1793239483825558528
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,682,657.044082949,631.044082949,881,785,805,652,630.955917051,653,0.451181076876,-0.00556071548745,0.0695707672628,0.999999767935,-0.000108153174917,-0.000669463123288,-6.52137734148e-05,1793239483842225152
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,682,657.605580243,631.605580243,881,785,805,652,630.394419757,653,0.451187800426,-0.00555974440921,0.0695686403342,0.999999765442,-0.000106852443772,-0.000673411930707,-6.4917269293e-05,1793239483858892288
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.180873829,746,714,682,657.819126171,631.819126171,881,784.819126171,804.819126171,652,630,653,0.45119412334,-0.0055595018005,0.0695669931101,0.99999976351,-0.000106801805343,-0.000676312426455,-6.46179780919e-05,1793239483875559168
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.78873627,746,714,682,657.21126373,631.21126373,881,784.21126373,804.21126373,652,630,653,0.451199500478,-0.00556097888889,0.069566478324,0.999999762927,-0.000109702259244,-0.000676738173991,-6.43121074563e-05,1793239483892225536
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.624158606,746,714,682,657.375841394,631,881,784,804.375841394,652,630,653,0.451203192459,-0.00556076534462,0.0695658127257,0.999999762526,-0.00010970724017,-0.000677322052353,-6.43912382021e-05,1793239483908891904
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.048110691,746,714,682,657.951889309,631,881,784,804.951889309,652,630,653,0.451205986776,-0.00555965121914,0.0695650667915,0.999999762223,-0.000108169834836,-0.000677990165228,-6.46754549008e-05,1793239483925558784
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.526926127,746,714.526926127,682,658,631.526926127,881,784,805,652,630,652.473073873,0.451205266501,-0.00556033812979,0.0695638839666,0.999999760501,-0.000110592842653,-0.000680163005574,-6.43921278522e-05,1793239483942225408
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745.895882561,714.895882561,682,657.895882561,631.895882561,880.895882561,784,805,652,630,652,0.451204591589,-0.00556081125217,0.0695628720815,0.999999759054,-0.000112472875228,-0.000682008811848,-6.40717114899e-05,1793239483958892032
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745.308258363,714.308258363,682,657.308258363,631.308258363,880.308258363,784,805,652,630,652,0.451205614689,-0.00555952938584,0.0695628389062,0.99999975954,-0.000110155387466,-0.000681699127178,-6.38192381624e-05,1793239483975558656
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,714,682,657,631,880,784,805,651.724587553,630,652.275412447,0.451206669471,-0.0055592309659,0.0695629580552,0.999999759687,-0.000109295543282,-0.000681645173587,-6.35689582834e-05,1793239483992225024
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,714,682,657,631,880,784,805,651.145278923,630,652.854721077,0.451207759209,-0.0055600177023,0.0695632452822,0.999999759465,-0.000110044094958,-0.000681873399284,-6.33210986723e-05,1793239484008891904
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745.431793098,714.431793098,682,657.431793098,631,880.431793098,784,804.568206902,651.431793098,630.431793098,653,0.451207397308,-0.00555879125365,0.0695627532643,0.999999759186,-0.000107925090164,-0.000682639583731,-6.31110600689e-05,1793239484025558784
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,746,714.991867122,682,657.991867122,631,881,784,804.008132878,652,631,653,0.451206567382,-0.00555693170088,0.0695620159275,0.999999758877,-0.000104944888335,-0.000683574141448,-6.29221987149e-05,1793239484042225664
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,746,714.414376738,682,657.414376738,631,881,784,804.585623262,652,631,653,0.451206988396,-0.00555792502564,0.0695623644532,0.999999758352,-0.000108869786875,-0.000683690119703,-6.33296383591e-05,1793239484058892288
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.833887003,745.833887003,714,681.833887003,657.166112997,631,880.833887003,784,805,652,630.833887003,653,0.451207673338,-0.00555896025485,0.0695627611404,0.999999758301,-0.000111833362159,-0.000683279482035,-6.3407866522e-05,1793239484075558912
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.245777698,745.245777698,714,681.245777698,657.754222302,631,880.245777698,784,805,652,630.245777698,653,0.451209028766,-0.00556010193878,0.0695632801783,0.999999759483,-0.000112354775118,-0.000681531020259,-6.26497601672e-05,1793239484092225536
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.337148159,714,681.337148159,657.662851841,631,880.337148159,784,805,652,630.337148159,652.662851841,0.451209930716,-0.00555902603335,0.0695634586757,0.999999759977,-0.000110065024929,-0.000681194473834,-6.25028945662e-05,1793239484108892160
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.916352524,714,681.916352524,657.083647476,631,880.916352524,784,805,652,630.916352524,652.083647476,0.451210507089,-0.00555635800509,0.0695633926814,0.999999759962,-0.000105756994414,-0.000681871614976,-6.27948705402e-05,1793239484125559040
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.512144838,714,682,657,631,881,784,805,652,630.512144838,652,0.451209029683,-0.0055562103564,0.0695619434832,0.999999758492,-0.000105732677289,-0.000684003442349,-6.30542450051e-05,1793239484142225408
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.060336955,745,714.060336955,681.939663045,657,631,880.939663045,784,804.939663045,652,630,652.060336955,0.451207530752,-0.00555664731492,0.0695605257799,0.999999757027,-0.00010674152715,-0.000685966883741,-6.32641160569e-05,1793239484158892288
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.652923576,745,714.652923576,681.347076424,657,631,880.347076424,784,804.347076424,652,630,652.652923576,0.451208899993,-0.00555848844592,0.0695614454775,0.999999757788,-0.000110485840416,-0.000684278931393,-6.30858463533e-05,1793239484175558912
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.759956494,745.240043506,714.759956494,681.240043506,657,631.240043506,880,784,804.240043506,651.759956494,630,653,0.451210227786,-0.00555865515203,0.0695621036212,0.999999758569,-0.000110875604772,-0.000683089630122,-6.29107076537e-05,1793239484192225536
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.180564711,745.819435289,714.180564711,681.819435289,657,631.819435289,880,784,804.819435289,651.180564711,630,653,0.451211496986,-0.00555645473251,0.0695623920078,0.999999759383,-0.000106523061018,-0.000682605269091,-6.27399952128e-05,1793239484208892160
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714.397662513,682,657,631.602337487,880,784,805,651,630,653,0.451211037713,-0.00555581867895,0.0695620399661,0.999999758895,-0.000105970544155,-0.000683381419439,-6.3001527523e-05,1793239484225558784
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714.97536246,682,657,631.02463754,880,784,805,651,630,653,0.451209795892,-0.00555589087543,0.0695613979774,0.999999757821,-0.00010713844894,-0.000684728252819,-6.34587540152e-05,1793239484242225408
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.451155268,714.451155268,682,657,631,880,784,805,651,630.548844732,653,0.451210769691,-0.00555560787073,0.0695617207125,0.999999758248,-0.000107582381161,-0.000684029031584,-6.35139296064e-05,1793239484258892032
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,714.125943084,682,657,631,880,784,804.874056916,651.125943084,630.874056916,652.874056916,0.451211724615,-0.00555569909614,0.069562130922,0.999999758805,-0.000107929577654,-0.000683168091249,-6.34163466654e-05,1793239484275558656
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745,714.717092429,682,657,631,880,784,804.282907571,651.717092429,630.282907571,652.282907571,0.451212245243,-0.00555723109381,0.0695627054983,0.999999759597,-0.000108038582198,-0.000682046471513,-6.28206640016e-05,1793239484292225280
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745,714.697840517,681.697840517,657.302159483,631,880,784,804,652,630,652,0.451212884899,-0.00555822488916,0.0695630406406,0.999999759901,-0.000108485752217,-0.000681568102037,-6.2403282192e-05,1793239484308891904
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745,714.118355886,681.118355886,657.881644114,631,880,784,804,652,630,652,0.451213633801,-0.0055587247167,0.0695631560277,0.999999759758,-0.000109243294056,-0.000681680114468,-6.21495468127e-05,1793239484325558528
+256,4.266666667,POSE1_TO_POSE2_PRESS,765.457950228,745.457950228,714.457950228,681.457950228,657.542049772,631,880.457950228,784,804.457950228,652,630,652.457950228,0.451211785619,-0.005557548028,0.0695618551373,0.999999757994,-0.00010890642726,-0.000684282307528,-6.25287265549e-05,1793239484342225152
+257,4.283333333,POSE1_TO_POSE2_PRESS,765.965902739,746,715,682,657,631.034097261,880.965902739,784,804.965902739,652,630,653,0.45120945139,-0.0055560458535,0.0695602818511,0.99999975597,-0.000108228126286,-0.000687295668104,-6.30120252008e-05,1793239484358892032
+258,4.300000000,POSE1_TO_POSE2_PRESS,765.379111161,746,715,682,657,631.620888839,880.379111161,784,804.379111161,652,630,653,0.4512100435,-0.00555624271615,0.0695601854651,0.999999756646,-0.000106568558766,-0.000686613679816,-6.25498541329e-05,1793239484375558656
+259,4.316666667,HOLD_POSE2,765,745,715,682,657,631,880,784,806,652,631,653,0.451214325596,-0.0055553186794,0.0695629064541,0.999999759694,-0.000103248351657,-0.00068269861562,-6.22368965276e-05,1793239484415099904
+260,4.333333333,HOLD_POSE2,765.576454183,745,715,682,657,631,880,784,805.423545817,652,630.423545817,653,0.451213460395,-0.00555644627773,0.0695613688106,0.999999758501,-0.000105512046278,-0.000684108480867,-6.21304005679e-05,1793239484431766272
+261,4.350000000,HOLD_POSE2,766,745.152348078,714.847651922,682,657,631,880,784,804.847651922,652,630,652.847651922,0.451212459052,-0.00555681204257,0.0695602141281,0.99999975753,-0.000106367378675,-0.000685395135326,-6.21195409383e-05,1793239484448432640
+262,4.366666667,HOLD_POSE2,766,745.726690144,714.273309856,682,657,631,880,784,804.273309856,652,630,652.273309856,0.451211080599,-0.00555506757983,0.0695601202216,0.999999757185,-0.000103321642408,-0.000686340504465,-6.23735875242e-05,1793239484465099520
+263,4.383333333,HOLD_POSE2,766,745.689832349,714,682,657,631,880,784,804.310167651,651.689832349,630,652.310167651,0.451211450275,-0.00555495754909,0.0695605505132,0.999999757423,-0.000103845750611,-0.000685909441649,-6.24423914873e-05,1793239484481766144
+264,4.400000000,HOLD_POSE2,766,745.098060728,714,682,657,631,880,784,804.901939272,651.098060728,630,652.901939272,0.451213407092,-0.00555633143382,0.0695614567291,0.999999758182,-0.000107610952549,-0.000684228703954,-6.23430120092e-05,1793239484498432768
+265,4.416666667,HOLD_POSE2,765.516921391,745.483078609,714,682,657,631,880,784,805,651.483078609,630,653,0.451213500482,-0.00555590626444,0.0695612735311,0.999999758061,-0.000107243371569,-0.000684458292298,-6.23923795596e-05,1793239484515099392
+266,4.433333333,HOLD_POSE2,765.061500866,746,714.061500866,682,657,631,880.061500866,784,805,652,630.061500866,653,0.451213218217,-0.00555514959748,0.0695608743588,0.999999757752,-0.000106148712003,-0.000685075024473,-6.24558441266e-05,1793239484531766272
+267,4.450000000,HOLD_POSE2,765.634885134,746,714.634885134,682,657,631,880.634885134,784,805,652,630.634885134,653,0.451212889834,-0.00555460791928,0.0695604785555,0.999999757323,-0.000105834548462,-0.000685755973216,-6.23907397207e-05,1793239484548433920
+268,4.466666667,HOLD_POSE2,766,746,715,682,657,631,881,784,805,652,631,653,0.451212546272,-0.00555422696745,0.0695602301268,0.999999757066,-0.00010486170053,-0.000686292335538,-6.2249357683e-05,1793239484565101056
+269,4.483333333,HOLD_POSE2,766,746,715,682,657,631,881,784,805,652,631,653,0.451212176101,-0.00555412778333,0.0695602400593,0.99999975711,-0.000102734120236,-0.000686575224916,-6.19742541707e-05,1793239484581766912
+270,4.500000000,HOLD_POSE2,765.626474002,746,714.626474002,681.626474002,657,631,880.626474002,784,805,652,630.626474002,653,0.451213006399,-0.00555390403239,0.0695609289855,0.999999757812,-0.000103876713654,-0.000685366716604,-6.21189820291e-05,1793239484598433536
+271,4.516666667,HOLD_POSE2,765.03426435,746,714.03426435,681.03426435,657,631,880.03426435,784,805,652,630.03426435,653,0.45121453952,-0.00555360735285,0.0695620154337,0.99999975889,-0.000106933855106,-0.000683285058113,-6.2509503351e-05,1793239484615100160
+272,4.533333333,HOLD_POSE2,765,746,714.54392795,681.54392795,657,631,880.54392795,784,805,652,630.54392795,653,0.451213783907,-0.00555453151314,0.0695613997096,0.999999757813,-0.000106260055096,-0.000685003499653,-6.20641146267e-05,1793239484631766528
+273,4.550000000,HOLD_POSE2,765.120455835,746,714.879544165,682,657,631,881,784,805,651.879544165,630.879544165,653,0.451213362134,-0.00555553442076,0.0695611068814,0.999999757234,-0.000105633527686,-0.000685983262065,-6.16459055472e-05,1793239484648433152
+274,4.566666667,HOLD_POSE2,765.693961498,746,714.306038502,682,657,631,881,784,805,651.306038502,630.306038502,653,0.45121472462,-0.0055565515214,0.0695624216685,0.99999975903,-0.000106046560501,-0.00068330702198,-6.15229985614e-05,1793239484665099776
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,657,631,880,784,805,652,630,652,0.451214360865,-0.00555733960681,0.069561692704,0.999999758443,-0.000109521771248,-0.000683590915202,-6.18206398996e-05,1793239484702359040
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,746,714.5792098,682,657,631,880,784.5792098,804.4207902,652,630,652,0.451214388652,-0.00555565895925,0.069562047238,0.99999975868,-0.000106709291173,-0.000683689516761,-6.18254616456e-05,1793239484719025920
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.842347177,746,714.842347177,682,657,631,880.157652823,784.842347177,804.315305645,651.842347177,630,652,0.451214045403,-0.00555438813242,0.0695620205401,0.999999758484,-0.000104464983622,-0.000684320445638,-6.18461734943e-05,1793239484735693056
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.265940722,746,714.265940722,682,657,631,880.734059278,784.265940722,805.468118556,651.265940722,630,652,0.451212716617,-0.00555420586117,0.0695609812231,0.999999757155,-0.00010372984164,-0.000686365329556,-6.19090922531e-05,1793239484752360704
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.310774888,745.689225112,714.310774888,682,657,631.310774888,881,784,805.689225112,651.310774888,630,652.310774888,0.451213435895,-0.00555506593615,0.0695611000707,0.999999757384,-0.000105009249034,-0.00068582656163,-6.20189090025e-05,1793239484769027328
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.88775528,745.11224472,714.88775528,682,657,631.88775528,881,784,805.11224472,651.88775528,630,652.88775528,0.451215909516,-0.00555681887062,0.0695622109864,0.999999758938,-0.000108014291825,-0.000683074672858,-6.21688979228e-05,1793239484785693440
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.525670867,745.474329133,714.525670867,682.474329133,657,631.525670867,881,784,805,652,630,652.525670867,0.451215336842,-0.00555599354167,0.0695617639382,0.999999758708,-0.000107823283772,-0.000683457010247,-6.20082605713e-05,1793239484802359808
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714.062200494,682.937799506,657,631,880.937799506,784,804.937799506,652,630,652,0.451213957546,-0.00555490421521,0.0695608811959,0.999999757976,-0.000107177164426,-0.000684645872878,-6.18199122529e-05,1793239484819025920
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714.641594458,682.358405542,657,631,880.358405542,784,804.358405542,652,630,652,0.451211988979,-0.00555679757813,0.0695595044729,0.999999756651,-0.000109165310058,-0.00068624661677,-6.20249659793e-05,1793239484835692544
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,715,681.782119618,657.217880382,631,880.217880382,784,804.217880382,652,630,652.217880382,0.45120658916,-0.00555739398797,0.069556849258,0.99999975377,-0.000110100627708,-0.000690257813127,-6.23079488944e-05,1793239484852359168
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,715,681.21087446,657.78912554,631,880.78912554,784,804.78912554,652,630,652.78912554,0.451195624436,-0.00555588696116,0.0695521205477,0.99999974833,-0.000109328437947,-0.000698178351606,-6.27173196246e-05,1793239484869026048
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.636574453,715,681.363425547,657.636574453,631,881,784,805,652,630,653,0.451169480155,-0.00555334103336,0.0695407995755,0.999999735231,-0.000106726294126,-0.000717053877592,-6.30956387855e-05,1793239484885692928
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.060486816,715,681.939513184,657.060486816,631,881,784,805,652,630,653,0.451134453403,-0.00555018718211,0.0695256210748,0.999999717142,-0.000103053334273,-0.000742339824377,-6.34557878171e-05,1793239484902359808
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.532857952,745.532857952,714.467142048,682,657,631,881,784,805,652,630,653,0.451074888073,-0.00554979087728,0.0695058303122,0.999999692466,-0.000102376781828,-0.000774929463639,-6.38108708893e-05,1793239484919026432
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.876880465,746,714.123119535,682,657,631,881,784,805,652,630.123119535,653,0.451010447799,-0.00554909397702,0.0694872980187,0.999999669377,-0.000101289645414,-0.000804295398795,-6.3995816826e-05,1793239484935692800
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.305226395,746,714.694773605,682,657,631,881,784,805,652,630.694773605,653,0.45093873503,-0.00554612345783,0.0694753216224,0.999999658021,-9.74261082229e-05,-0.000818795662713,-6.35631046653e-05,1793239484952359168
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.731680414,714.731680414,682,657,631,881,784,805,652,630.731680414,653,0.450860817886,-0.00554397160882,0.0694697184636,0.999999652047,-9.56479197303e-05,-0.000826329580845,-6.27487655633e-05,1793239484969025792
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.155967045,714.155967045,682,657,631,881,784,805,652,630.155967045,653,0.450775792854,-0.00554275764951,0.0694714166494,0.999999652435,-9.62587603189e-05,-0.000825882674279,-6.14972249106e-05,1793239484985692416
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.433858763,714.433858763,682,657,631,880.566141237,784,805,651.566141237,630,653,0.450675463396,-0.00554077543933,0.0694735129947,0.999999655578,-9.39975191615e-05,-0.000822481763518,-5.94250526209e-05,1793239485002359296
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.972074155,714.972074155,682,657,631,880.027925845,784,805,651.027925845,630,653,0.450568122879,-0.00553848648294,0.0694759068669,0.999999659706,-9.07074778087e-05,-0.000817989280846,-5.70358537758e-05,1793239485019026176
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.397627166,714.397627166,682,657,631,880.602372834,784,805,651.602372834,630,653,0.450434864716,-0.00553578099347,0.0694812281021,0.999999663648,-8.81687883719e-05,-0.000813615409886,-5.44098372842e-05,1793239485035693056
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.178313959,714,681.821686041,657,631.178313959,880.821686041,784.178313959,805,652,630,652.821686041,0.450292980559,-0.00553304819299,0.0694861563623,0.999999667867,-8.49408628475e-05,-0.000808944760136,-5.15665489384e-05,1793239485052359680
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.757614978,714,681.242385022,657,631.757614978,880.242385022,784.757614978,805,652,630,652.242385022,0.450131698544,-0.00553025397671,0.0694902009115,0.999999672732,-8.01630043205e-05,-0.000803606723794,-4.82346665491e-05,1793239485069026304
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.667652263,714.332347737,681.664695474,657,631.667652263,880.332347737,784.667652263,804.667652263,652,630,652.332347737,0.449952050758,-0.00552578677487,0.0694948399599,0.999999676813,-7.53372840438e-05,-0.00079917918135,-4.48425128132e-05,1793239485085692928
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.096205955,714.903794045,682.807588089,657,631.096205955,880.903794045,784.096205955,804.096205955,652,630,652.903794045,0.449759190201,-0.00552011598866,0.0694999067051,0.999999680323,-7.04771304352e-05,-0.000795406668505,-4.14069981468e-05,1793239485102359296
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.495897368,715,682.504102632,657.495897368,631,880.504102632,784.495897368,804.495897368,652,630,653,0.449536871449,-0.00551573578214,0.0695064330329,0.999999688099,-6.55550895132e-05,-0.000786206591173,-3.72027709914e-05,1793239485119025920
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.91075674,714.91075674,682,658.08924326,631,880,784.91075674,805,652,630.08924326,653,0.449302788412,-0.00551104876285,0.0695140387025,0.999999697179,-5.9390501798e-05,-0.000775272746425,-3.26584160446e-05,1793239485135692544
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.33348354,714.33348354,682,658.66651646,631,880,784.33348354,805,652,630.66651646,653,0.449036983004,-0.00550325521395,0.0695259309905,0.999999709093,-4.64995120353e-05,-0.000760866210092,-2.71050468714e-05,1793239485152359424
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.240619599,745,714,682,658.759380401,631.240619599,880,784.240619599,804.759380401,652,631,653,0.448752999331,-0.00549618540383,0.0695335599997,0.999999717202,-3.49578322771e-05,-0.000750935381262,-2.16556566334e-05,1793239485169026304
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.810386331,745,714,682,658.189613669,631.810386331,880,784.810386331,804.189613669,652,631,653,0.448444149356,-0.00549010560721,0.0695353572057,0.999999720448,-2.52618945472e-05,-0.000747126940466,-1.63485010708e-05,1793239485185692928
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.602669272,745.397330728,714.397330728,682,658.397330728,632,880,785,804,652,630.602669272,653,0.44809337427,-0.00548284691557,0.0695327943079,0.99999971645,-1.1822916494e-05,-0.000752887698792,-1.0968593196e-05,1793239485202359552
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.007156974,745.992843026,714.992843026,682,658.992843026,632,880,785,804,652,630.007156974,653,0.447721687686,-0.00547500021202,0.0695280566671,0.999999708572,3.48302386723e-06,-0.000763421405032,-5.5523979053e-06,1793239485219026176
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.431766088,715,682,658.431766088,632,880,785,804,652,630.568233912,653,0.447321974707,-0.00546783524671,0.0695275258022,0.99999970598,3.32621159132e-05,-0.000766115533089,2.73796798053e-07,1793239485235692544
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714.856235607,682,658,632.143764393,880,785,804.143764393,652,631,653,0.446911838225,-0.00546032114832,0.0695266221709,0.999999703405,6.54391130276e-05,-0.000767381289548,5.73297621224e-06,1793239485252359424
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.279547796,682,658,632.720452204,880,785,804.720452204,652,631,653,0.446471339741,-0.00545173072009,0.0695244419144,0.999999702178,0.000104306844438,-0.000764632906683,1.00719281496e-05,1793239485269026048
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.296125707,745,714,682,658.296125707,633,880,785.296125707,805,652,631,653,0.446032365883,-0.00544568386883,0.0695367481801,0.999999720109,0.000120977210714,-0.000738211403939,1.37787264087e-05,1793239485285692416
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.870845021,745,714,682,658.870845021,633,880,785.870845021,805,652,631,653,0.445594826334,-0.00544203000124,0.0695626832943,0.999999755323,0.000116764409578,-0.000689518345694,1.68907980928e-05,1793239485302359296
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.460825248,681.539174752,659.460825248,633,880,786,804.539174752,652,631,653,0.445103285283,-0.00543680350308,0.0695852245838,0.999999781709,0.000100068774468,-0.000653050435074,9.60893870341e-06,1793239485319026176
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,714.946271765,681.053728235,659.946271765,633,880,785.946271765,804,651.946271765,631,652.946271765,0.444590316061,-0.00543242407399,0.0696057420695,0.999999803037,8.12028613176e-05,-0.000622360112881,4.66617737727e-07,1793239485335692800
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,714.368020913,681.631979087,659.368020913,633,880,785.368020913,804,651.368020913,631,652.368020913,0.444020969489,-0.00544076446233,0.0696161061495,0.999999808895,7.64740307854e-05,-0.000613478308738,2.57470468933e-06,1793239485352359424
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.793555292,745,714.206444708,682,659.412889417,633.206444708,880,785.206444708,804.206444708,651,631,652,0.443440136734,-0.0054433765749,0.0696255625145,0.999999814677,7.57636485586e-05,-0.000604056144639,4.70668867307e-06,1793239485369026048
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.225715994,745,714.774284006,682,660.548568013,633.774284006,880,785.774284006,804.774284006,651,631,652,0.44283919672,-0.00543596097596,0.0696334298659,0.999999820374,8.20878159132e-05,-0.000593688046639,6.88050580473e-06,1793239485385692672
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.650413896,682,660.650413896,634,880,786,805,651.349586104,631,652.349586104,0.442230055422,-0.00542196166446,0.069652783041,0.999999836345,0.000108640971694,-0.000561644559801,7.94941229198e-06,1793239485402359296
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.070188237,682,660.070188237,634,880,786,805,651.929811763,631,652.929811763,0.441615503347,-0.00540361874657,0.0696797139921,0.999999856166,0.0001485402092,-0.000515300726248,8.28935348092e-06,1793239485419026176
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,634,880.52042054,786.52042054,805,652,631,653,0.440979634987,-0.00540326210603,0.069718398493,0.999999894255,0.00013483410615,-0.000439577171609,9.08515554309e-06,1793239485435692544
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.109700892,745,714.109700892,681.890299108,660,634,880.890299108,787,804.890299108,652,631,652.890299108,0.440327741165,-0.00540478745608,0.0697546724379,0.999999923835,0.000121171880098,-0.000370855030062,1.06346009924e-05,1793239485452359424
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.687222593,745,714.687222593,681.312777407,660,634,880.312777407,787,804.312777407,652,631,652.312777407,0.439620016346,-0.00540378321992,0.0697737688828,0.999999929222,0.000139155401776,-0.000349232204856,1.513044318e-05,1793239485469026304
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.737651085,745,714.737651085,681,660.262348915,634.262348915,880,787,804,651.737651085,631.262348915,652.262348915,0.438877203921,-0.00540321121664,0.0697683346096,0.99999992477,0.000143551091393,-0.000359974842154,1.64463604923e-05,1793239485485692928
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.165354666,745,714.165354666,681,660.834645334,634.834645334,880,787,804,651.165354666,631.834645334,652.834645334,0.438092937768,-0.00540314986715,0.069733918954,0.999999907582,0.000131893678298,-0.000408955081943,1.40054121291e-05,1793239485502359552
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.421475343,745,714,681,661,635,880,787,804,651.421475343,632,652.578524657,0.437334036849,-0.00540842858391,0.0697335365997,0.999999911092,0.000121946301151,-0.000403459683202,1.28780435821e-05,1793239485519026176
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.013884726,681,661,635,880,787,804,652,632,652.013884726,0.436584359207,-0.00541566164728,0.0697478881192,0.999999923358,0.000113001852692,-0.000374645419795,1.24292260752e-05,1793239485535692544
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.59301875,681,661,635,880,787,804,652,632,652.59301875,0.43579057008,-0.00541412132393,0.0697990804604,0.999999948745,0.000116599416149,-0.0002976503105,1.78751401165e-05,1793239485552359168
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766.170682073,745,715,681,661.170682073,635,880,787,804.170682073,652,631.829317927,653,0.434985035352,-0.00541162626712,0.069838132545,0.999999962665,0.000122822952844,-0.000243080644582,2.22992703635e-05,1793239485569026048
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.744868521,745,715,681,661.744868521,635,880,787,804.744868521,652,631.255131479,653,0.434151733247,-0.00540687415362,0.0698484842097,0.99999996139,0.000135254475355,-0.000241526305519,2.43078320473e-05,1793239485585692672
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.672838192,745,715,681,661.672838192,635.327161808,880.327161808,787,805,652,631,653,0.433315771927,-0.00540449157344,0.0698491065831,0.999999959995,0.000139007660533,-0.000245082896603,2.49394589315e-05,1793239485602359552
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766.08406232,745,715,681,661.08406232,635.91593768,880.91593768,787,805,652,631,653,0.432477684213,-0.00540400378446,0.0698419489543,0.999999958542,0.000135821235932,-0.000252726429364,2.44700234984e-05,1793239485619026176
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,635.503164607,880.503164607,787,804.503164607,652,631,652.503164607,0.431566957934,-0.00540251520762,0.0698225112723,0.999999949739,0.000138372722607,-0.000284243452398,2.41063741189e-05,1793239485635692800
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.924012347,745,715,681,661,635,880.075987653,787,804,651.924012347,631,652.075987653,0.43063893469,-0.00540095984008,0.0697965961732,0.999999936488,0.000141607671404,-0.000326216216003,2.35390806079e-05,1793239485652359424
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.347713319,745,715,681,661,635,880.652286681,787,804,651.347713319,631,652.652286681,0.429676683145,-0.00540006219364,0.0697414995087,0.999999905138,0.000143050338231,-0.00041085075086,2.15149646831e-05,1793239485669025792
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.227548242,745,714.772451758,681,661,635,880.772451758,787,804.227548242,651.227548242,631,652.772451758,0.428767740577,-0.0054009998619,0.0697309138947,0.999999898316,0.000141891020561,-0.000427531144485,2.12447072609e-05,1793239485685692416
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.801231749,745,714.198768251,681,661,635,880.198768251,787,804.801231749,651.801231749,631,652.198768251,0.427939888872,-0.00540472932101,0.0697880363065,0.99999993228,0.000136773691968,-0.000340843034061,2.36423334382e-05,1793239485702359040
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.386695853,681,661,635,880.773391705,787,804.613304147,652,631,652.386695853,0.427107474318,-0.00540639344427,0.0698394873692,0.999999955302,0.00013755766564,-0.000264008769732,2.77969217691e-05,1793239485719025920
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.978405622,681,661,635,881.956811244,787,804.021594378,652,631,652.978405622,0.426272640735,-0.00540696259154,0.0698879316585,0.999999970944,0.000141470323304,-0.000192398707991,3.28829956972e-05,1793239485735692800
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,635,880.325260838,787,804.558246387,652,631,652.441753613,0.425355014419,-0.00540381200086,0.0698710118623,0.999999965345,0.000144916506025,-0.000217490789757,3.17344515334e-05,1793239485752359424
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.863011122,661,635,879.136988878,787,804.863011122,651.863011122,631,652.136988878,0.424425619612,-0.00540056951349,0.0698476619876,0.999999956222,0.000148524027676,-0.000254129504745,3.02572899101e-05,1793239485769026304
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.286350721,661,635,879.713649279,787,804.286350721,651.286350721,631,652.713649279,0.423468518379,-0.00539748428283,0.0698116207203,0.999999937984,0.000152706081767,-0.00031607168753,2.84833498922e-05,1793239485785692928
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.710889659,680,661,635,880,787,804,651.289110341,631,653,0.422509743304,-0.00539342334387,0.0697635834668,0.999999907679,0.000156833997161,-0.000399173298912,2.65541791686e-05,1793239485802359552
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,714.136611613,680,661,635,880,787,804,651.863388387,631,653,0.421549317272,-0.00538840000265,0.0697037138199,0.999999860177,0.000160908511076,-0.000503145779123,2.44718946059e-05,1793239485819025920
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879.549194994,787,804.450805006,652,631,653,0.420722344594,-0.0053928490061,0.0697238235294,0.999999881753,0.000153897021499,-0.000460711537117,2.35446694912e-05,1793239485835692544
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.95870418,745,714.04129582,680,661,635.04129582,879.082591641,787,804.95870418,652,631.04129582,652.95870418,0.419937418793,-0.00539981354603,0.0697707588277,0.999999920437,0.000144565925377,-0.000371048963399,2.34417039177e-05,1793239485852359168
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.381538531,745,714.618461469,680,661,635.618461469,880.236922939,787,804.381538531,652,631.618461469,652.381538531,0.419157570551,-0.00540105385338,0.0698418446922,0.999999954112,0.000150037490863,-0.000261539555911,2.93561873681e-05,1793239485869025792
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.194483516,745,715,680,661,635.805516484,880.611032968,787,804,652,632,652.194483516,0.418350281047,-0.00540016461556,0.0698863473631,0.999999967965,0.000156341821306,-0.0001962341964,3.34690636101e-05,1793239485885692416
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.768275255,745,715,680,661,635.231724745,879.46344949,787,804,652,632,652.768275255,0.417489471718,-0.00539512204913,0.0698790038841,0.999999962352,0.000164270327168,-0.000217141573296,3.40682018785e-05,1793239485902359296
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.349861314,879,787,804,652,631.650138686,652.650138686,0.416655114924,-0.00539192571194,0.0698536701641,0.999999954691,0.00016670899683,-0.00024859725576,3.20369611361e-05,1793239485919026176
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.936727405,879,787,804,652,631.063272595,652.063272595,0.415838677789,-0.00538998005676,0.0698161494068,0.999999944677,0.000165428713936,-0.000287198621916,2.8223836003e-05,1793239485935693056
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.479421393,661,635.479421393,880.041157214,787,804,652,631,652,0.415001521699,-0.00538887853751,0.0697877673501,0.99999992742,0.000166722118228,-0.000341482832743,2.74303016005e-05,1793239485952359680
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.897232075,745,715,679.102767925,661,635,880.794464151,787,804,652,631,652,0.414176390401,-0.00538689463871,0.0697652824625,0.999999909892,0.000170495734508,-0.000387830665159,2.70863116032e-05,1793239485969026048
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.32102051,745,715,679.67897949,661,635,879.64204102,787,804,652,631,652,0.413418190915,-0.00538037574548,0.0697648777227,0.99999990704,0.000184262684208,-0.000388885378725,2.71322889286e-05,1793239485985692928
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,803.745821413,652,631,652,0.412709017369,-0.00537599936993,0.0697899270777,0.999999922488,0.000191812067729,-0.000342705221648,2.80209896997e-05,1793239486002359552
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,803.171896005,652,631,652,0.412061516616,-0.00537431819913,0.0698469966987,0.999999953098,0.000191539991209,-0.000237105423319,2.99698037137e-05,1793239486019026176
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.588107417,661,635,879,787,803.411892583,652,631,652.411892583,0.411416513183,-0.00536981714672,0.0698794829839,0.99999996225,0.000200431706598,-0.000185312602509,3.13934391277e-05,1793239486035692800
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.000101572,661,635,879,787,803.999898428,652,631,652.999898428,0.410772577476,-0.00536411039497,0.0699014581561,0.999999964483,0.000213241592705,-0.000156526068329,3.25925237161e-05,1793239486052359680
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.579765899,745,715,679.579765899,661,635,879.579765899,787,804,652,631,653,0.410083808833,-0.00535730243239,0.0698648856361,0.999999951246,0.000219907387277,-0.000219520400057,3.09784851717e-05,1793239486069026816
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.841694232,661,635.158305768,879.841694232,787,804,652,631.158305768,653,0.409407763303,-0.0053513930226,0.0698284210191,0.999999934565,0.000224880630199,-0.000281901758209,2.87994860509e-05,1793239486085693440
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.26664547,661,635.73335453,879.26664547,787,804,652,631.73335453,653,0.408765231855,-0.00534784956981,0.0697922670796,0.999999915584,0.000225400995597,-0.000342627722949,2.51344966234e-05,1793239486102359552
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.307466138,635.692533862,879,787,803.692533862,652,631.692533862,653,0.40816766834,-0.00534517729026,0.0697817592204,0.999999910009,0.000225975169396,-0.000358295094271,2.32699649372e-05,1793239486119026176
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.880767449,635.119232551,879,787,803.119232551,652,631.119232551,653,0.407608984132,-0.00534325822719,0.0697934249605,0.999999917949,0.000226595866331,-0.000335004809994,2.29621089925e-05,1793239486135692800
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.529947919,635,879,787,803.470052081,652,631,652.529947919,0.407099463182,-0.00535463498397,0.0698100967686,0.999999927425,0.000219481703047,-0.000310481184888,2.40835054821e-05,1793239486152359424
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,714.938441276,679.061558724,661,635.061558724,879,787,804,652,631.061558724,652.061558724,0.406603557502,-0.00536998708471,0.0698252189478,0.99999993588,0.000207784757603,-0.000290543901659,2.54719455807e-05,1793239486169026304
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,714.363408481,679.636591519,661,635.636591519,879,787,804,652,631.636591519,652.636591519,0.406113537658,-0.00538937661909,0.0698164505995,0.999999935849,0.000174803483249,-0.000311563622948,2.59573709987e-05,1793239486185692928
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.788814245,661,636,879,787,804,652,631.788814245,652.788814245,0.405648056417,-0.00539711158221,0.0698120578931,0.999999934749,0.00016099543358,-0.000322362479637,2.57743600332e-05,1793239486202359552
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.214973175,661,636,879,787,804,652,631.214973175,652.214973175,0.405224713746,-0.00538483291973,0.0698151791879,0.999999933676,0.0001801122969,-0.000315609720702,2.44434875227e-05,1793239486219026432
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.629118756,745,714.370881244,679.370881244,661,636,879,787,804,652,631.370881244,652.370881244,0.404838167213,-0.00538132867902,0.0698278117567,0.999999940038,0.000185825350997,-0.000291175257006,2.46824135001e-05,1793239486235692800
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.036067905,745,714.963932095,679.963932095,661,636,879,787,804,652,631.963932095,652.963932095,0.404473662691,-0.00538308059355,0.0698461418798,0.999999950022,0.000183509100705,-0.000256148891495,2.58616983207e-05,1793239486252359424
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.543902301,745,715,680,661,635.456097699,879,787,803.456097699,652,631.456097699,652.456097699,0.404127398082,-0.00538122793577,0.0698530340091,0.999999952886,0.000184067455581,-0.000244369671201,2.51318569006e-05,1793239486269026048
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.878810426,661.121189574,635,879,787,803.121189574,652,631.121189574,652.121189574,0.403788899854,-0.00537845423222,0.0698558095342,0.99999995355,0.000186985437977,-0.000239491965642,2.40701768477e-05,1793239486285692416
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.308329246,661.691670754,635,879,787,803.691670754,652,631.691670754,652.691670754,0.403474815289,-0.00537313125131,0.069846069333,0.999999947743,0.00019796126167,-0.00025461956015,2.22365844718e-05,1793239486302359296
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.733452572,745,715,679.266547428,661.733452572,635,879,787,804,652,631.733452572,653,0.403175259717,-0.00537132862521,0.0698379112868,0.999999943792,0.000199057214193,-0.000268961266001,2.12782419649e-05,1793239486319026176
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.153406185,745,715,679.846593815,661.153406185,635,879,787,804,652,631.153406185,653,0.402892792395,-0.00537366645421,0.069831614088,0.999999942131,0.000188532985165,-0.000282378650381,2.13493220853e-05,1793239486335692800
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.869406903,745,715,679.565296548,661,635.434703452,879,787,804,652,631,653,0.402639956013,-0.00536968661714,0.0698246594346,0.999999937964,0.000191245545834,-0.000295025332958,2.14021735378e-05,1793239486352359424
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.974794488,745,715,679.025205512,661.025205512,635.974794488,879,787,804,652,631,653,0.402399541735,-0.00536358675033,0.0698175650606,0.999999932866,0.00019856613999,-0.00030720860389,2.14930256342e-05,1793239486369026304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.39543577,745,715,679.60456423,661.60456423,635.39543577,879,787,804,652,631,653,0.402197992374,-0.00536081989202,0.069812596211,0.999999929525,0.000202556100329,-0.000315296179081,2.25634391864e-05,1793239486385692928
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.818454678,661.818454678,635,879,787,803.818454678,652,631,653,0.402009850139,-0.00535910865163,0.0698094805682,0.999999927319,0.00020511475258,-0.000320506438877,2.37826401459e-05,1793239486402359552
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.246585573,661.246585573,635,879,787,803.246585573,652,631,653,0.401850533349,-0.00535966699789,0.0698103493343,0.9999999277,0.000204596081397,-0.000319530448342,2.53217349945e-05,1793239486419026176
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.335940868,661,635,879,787,803.335940868,652,631,652.664059132,0.401705918207,-0.00535813343123,0.0698107800841,0.999999927111,0.000208811288391,-0.000318566688635,2.62751716696e-05,1793239486435692800
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.926546308,661,635,879,787,803.926546308,652,631,652.073453692,0.401572447835,-0.00535501406142,0.06981087879,0.999999925741,0.000216615076452,-0.000317612200558,2.67846423134e-05,1793239486452359424
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.507277998,635,879,787,804,652,631.507277998,652,0.401465887203,-0.00535665110511,0.0698097792271,0.999999919973,0.000243301445728,-0.000316695613061,2.36996568513e-05,1793239486469026304
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.913910071,662,635,879,787,804,652,631.913910071,652.086089929,0.401366871917,-0.00535906932372,0.0698089918075,0.999999915491,0.000262984474278,-0.000315401599656,1.94822859327e-05,1793239486485692928
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.338041131,662,635,879,787,804,652,631.338041131,652.661958869,0.401289038565,-0.00536208830295,0.0698109484919,0.999999925388,0.000227566166251,-0.000311929726288,1.17271315865e-05,1793239486502359808
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.762434137,635,879,787,804,652,631,653,0.401219207623,-0.00536352926954,0.0698123292825,0.999999930491,0.000207685093896,-0.000309554772259,7.84390315277e-06,1793239486519026432
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.187199501,635,879,787,804,652,631,653,0.401160751062,-0.00536272729754,0.0698128915156,0.999999930269,0.000209888170473,-0.000308738946143,9.46411099809e-06,1793239486535692800
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.601319615,745,715,679,661.398680385,635.398680385,879,787,803.601319615,652,631,652.601319615,0.401116004371,-0.00536161852289,0.0698149177921,0.999999931161,0.000210603517298,-0.000305310965005,1.04571333326e-05,1793239486552359424
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.010304165,745,715,679,661.989695835,635.989695835,879,787,803.010304165,652,631,652.010304165,0.401077871722,-0.00536036173772,0.069817650366,0.999999932574,0.000210601139763,-0.000300622803998,1.11475830087e-05,1793239486569026304
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.56770566,661.43229434,636,879,787.56770566,803.56770566,652,631,652.56770566,0.401054460354,-0.00536153011504,0.0698217594706,0.999999934616,0.000210489983391,-0.000293795359768,1.20771402862e-05,1793239486585692928
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.144550898,745,715,680,661,635.855449102,879,787.855449102,804,652,631.144550898,652.855449102,0.401032780491,-0.00536255594556,0.0698251449728,0.999999936256,0.000210134688816,-0.000288387608519,1.27778736653e-05,1793239486602359296
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.718621287,745,715,680,661,635.281378713,879,787.281378713,804,652,631.718621287,652.281378713,0.40101546946,-0.00536303034526,0.0698263077802,0.999999936791,0.000209059695756,-0.000287311136823,1.27860711455e-05,1793239486619025920
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.706631657,661,635.293368343,879,787.293368343,804,652,631.706631657,652.293368343,0.401002350655,-0.00536359991896,0.069827427532,0.999999937564,0.000207541827251,-0.00028571268681,1.29320941924e-05,1793239486635692800
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.13123402,661,635.86876598,879,787.86876598,804,652,631.13123402,652.86876598,0.400993262039,-0.00536426098814,0.0698285058926,0.999999938559,0.00020559820086,-0.000283612433463,1.32106156777e-05,1793239486652359680
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.458908312,787.541091688,804,652,631,652.541091688,0.400987880115,-0.00536342409526,0.069828394131,0.999999938022,0.000209006919027,-0.000283012822605,1.32846121429e-05,1793239486669026304
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.947972129,879.895944259,787,803.947972129,652,631.052027871,652,0.400983989741,-0.00536224533963,0.0698282082239,0.999999937235,0.000213339275758,-0.000282558232754,1.33032290458e-05,1793239486685693184
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.368826373,878.737652746,787,803.368826373,652,631.631173627,652,0.400984115054,-0.00536208712402,0.069830833711,0.999999938705,0.000211007343967,-0.00027908078546,1.33730104296e-05,1793239486702359552
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.208172928,878.208172928,787,803.208172928,652,631.791827072,652.208172928,0.400983630952,-0.00536244462837,0.0698326093828,0.999999939774,0.00020922299036,-0.000276580340408,1.34577392046e-05,1793239486719026176
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.781408065,878.781408065,787,803.781408065,652,631.218591935,652.781408065,0.400982078148,-0.00536370652443,0.0698328947768,0.999999940162,0.000208398896733,-0.000275793214401,1.35686804507e-05,1793239486735692544
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787,803.635735744,652,631.364264256,653,0.400980982729,-0.00536440782288,0.0698329608448,0.999999940377,0.000207420135041,-0.000275751944468,1.35784801721e-05,1793239486752359168
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787,803.046949431,652,631.953050569,653,0.400980169229,-0.00536476358496,0.0698328917265,0.999999940484,0.000206346040416,-0.000276170398889,1.35259391499e-05,1793239486769025792
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787,803.533205222,652,631.466794778,652.466794778,0.400979544687,-0.00536266996677,0.069832762346,0.999999939471,0.000210750866398,-0.000276514885352,1.35034361919e-05,1793239486785692928
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.88802902,745,715,679,661,636,879,787,804,652,631.11197098,652.11197098,0.400979425886,-0.00536103279099,0.0698330040947,0.999999938825,0.000214292997053,-0.000276128517798,1.35018559293e-05,1793239486802360064
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.311920354,745,715,679,661,636,879,787,804,652,631.688079646,652.688079646,0.400981335594,-0.00536216739299,0.069834805878,0.999999940181,0.000212291237992,-0.000272739210219,1.35762147566e-05,1793239486819026688
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.263135887,745,715,679.263135887,661,635.736864113,879,787,803.736864113,652,631.736864113,653,0.400982177615,-0.0053632203065,0.069835655893,0.999999941018,0.000210421811077,-0.000271108047949,1.36623535513e-05,1793239486835693312
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.836949634,745,715,679.836949634,661,635.163050366,879,787,803.163050366,652,631.163050366,653,0.400981759045,-0.00536417677262,0.0698353821794,0.999999941255,0.000208708625109,-0.000271552682748,1.37624006645e-05,1793239486852359424
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.423177305,715,679.576822695,661,635.423177305,879,787,803.423177305,652,631,653,0.400982534886,-0.00536397425177,0.0698362383481,0.99999994148,0.000210007071546,-0.00026970774037,1.39306548954e-05,1793239486869026048
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.985960451,745.985960451,715,679.014039549,661,636,879,787,804,652,631,653,0.400983740263,-0.00536334961115,0.0698375065062,0.999999941694,0.000212366391213,-0.000267046673836,1.41120809494e-05,1793239486885692416
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.40689152,745.40689152,715,679.59310848,661,636,879,787,804,652,631,653,0.400983151533,-0.00536425164439,0.0698373052455,0.999999942057,0.000209309533929,-0.00026811682509,1.37339883311e-05,1793239486902359296
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.829323615,661.170676385,635.829323615,879,787,804,652,631,653,0.400982322772,-0.00536489394501,0.0698368678138,0.999999942148,0.000207290048487,-0.000269359349799,1.34366448681e-05,1793239486919026176
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.255302986,661.744697014,635.255302986,879,787,804,652,631,653,0.400980926767,-0.00536492244267,0.0698358722606,0.999999941614,0.000207722091387,-0.000271009229225,1.33301286893e-05,1793239486935693312
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.32672831,745,715,679,662,635.32672831,879,787,804,652,631,653,0.400980427585,-0.00536431073754,0.0698355904551,0.999999941365,0.000208612614898,-0.000271247059921,1.32490101271e-05,1793239486952359936
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.915176378,745,715,679,662,635.915176378,879,787,804,652,631,653,0.400980646786,-0.00536318620964,0.0698358803843,0.999999941345,0.000209870395926,-0.000270353794637,1.31882358678e-05,1793239486969026560
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.504171451,744.504171451,715,679.495828549,662,635.504171451,879,787,804,652,631,653,0.400981208798,-0.00536249608195,0.0698360496015,0.99999994121,0.000211274894398,-0.000269756912277,1.31712542918e-05,1793239486985692928
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.074922376,744.074922376,715,680,661.925077624,635.074922376,879,787,804,652,631,652.925077624,0.400981768619,-0.00536213209937,0.0698362820418,0.999999941158,0.000212301185366,-0.000269144040762,1.3198087031e-05,1793239487002359552
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.652370563,744.652370563,715,680,661.347629437,635.652370563,879,787,804,652,631,652.347629437,0.400981926485,-0.00536346493077,0.0698370749032,0.999999941792,0.000210624985445,-0.000268089106716,1.3469323043e-05,1793239487019026176
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.228716482,787,803.771283518,652,631.228716482,652.228716482,0.400981162427,-0.00536383646274,0.0698371347988,0.999999941728,0.000210148506409,-0.000268696801925,1.35579372427e-05,1793239487035692800
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879.803395172,787,803.196604828,652,631.803395172,652.803395172,0.400979003845,-0.00536275390961,0.0698360859926,0.999999940604,0.000211486754601,-0.000271819431104,1.33703132125e-05,1793239487052359424
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.612288919,879.612288919,787,803.387711081,652,631.612288919,653,0.400979377563,-0.00536320705251,0.0698361410246,0.999999940832,0.000210780580444,-0.000271528642277,1.33921477873e-05,1793239487069026048
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.022961528,879.022961528,787,803.977038472,652,631.022961528,653,0.400981068121,-0.00536445878335,0.0698367700713,0.999999941761,0.000209011272052,-0.000269462818245,1.35229043858e-05,1793239487085693184
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766,745.556384905,715,680,661.556384905,635.556384905,879,787,804,652,631.556384905,653,0.400979854068,-0.00536432064261,0.0698358683134,0.999999941457,0.00020912461829,-0.000270504634953,1.3444265261e-05,1793239487102360064
+420,7.000000000,POSE2_TO_POSE3_RETREAT,766,745.865576369,715,680,661.865576369,636,879,787,803.865576369,652,631.865576369,653,0.400978988494,-0.00536420666462,0.0698353468,0.999999941195,0.000209362142895,-0.000271292694923,1.33528409281e-05,1793239487119026688
+421,7.016666667,POSE2_TO_POSE3_RETREAT,766,745.290497998,715,680,661.290497998,636,879,787,803.290497998,652,631.290497998,653,0.400979651297,-0.00536435660923,0.0698362752123,0.999999941237,0.000209756531481,-0.00027083590674,1.32473341398e-05,1793239487135693056
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_03/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1cd3d9006ebac2029c1e449d41d1767626b06c33
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..826eb5a4cfcad39b52cae6b1bf86f6831b44ef22
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4687f5aa825ec7fd6893ed333bbe5a0d0b1f280d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,715,680,661,636,878,787,803,652,631,653,0.4010479975,-0.00549958193062,0.079874560169,0.999999985659,0.000105934208371,-0.000124696511391,4.37112901978e-05,1793239488494111232
+1,0.016666667,BASELINE,765.574090638,745,715,679.425909362,661.574090638,635.425909362,878.574090638,787,803,652,631,653,0.401048834366,-0.00549923500638,0.0798752871425,0.999999985868,0.00010547494378,-0.000123381306655,4.3762982275e-05,1793239488510777856
+2,0.033333333,BASELINE,766,745,715,679,661.846697857,635,878.846697857,787,803,652,631,652.846697857,0.401049548978,-0.00549907286684,0.0798758610122,0.999999986013,0.000105335417669,-0.000122309906265,4.37987614952e-05,1793239488527444224
+3,0.050000000,BASELINE,766,745,715,679,661.252767584,635,878.252767584,787,803,652,631,652.252767584,0.401049912205,-0.00549944184397,0.0798759948241,0.999999985976,0.000106114898617,-0.000121939259334,4.37888032566e-05,1793239488544110848
+4,0.066666667,BASELINE,765.669449432,745,715,679,661.330550568,635,878.330550568,787,803.330550568,652,631,652.330550568,0.401049453084,-0.00549984329761,0.079875914853,0.999999985895,0.000106276311687,-0.00012238881812,4.39960407328e-05,1793239488560777728
+5,0.083333333,BASELINE,765.093993839,745,715,679,661.906006161,635,878.906006161,787,803.906006161,652,631,652.906006161,0.401048384686,-0.00550026881311,0.0798756764901,0.999999985781,0.000105979798013,-0.000123446067618,4.43641985865e-05,1793239488577444352
+6,0.100000000,BASELINE,765,745,715,679.481142031,661.518857969,635,878.518857969,787,804,652,631,652.518857969,0.4010483481,-0.00550073715733,0.0798758086309,0.999999986005,0.000103669731635,-0.00012374716091,4.39206689609e-05,1793239488594110720
+7,0.116666667,BASELINE,765.057885397,745,715,679.942114603,661,635.057885397,878.057885397,787,803.942114603,652,631,652,0.401048413189,-0.00550116876796,0.0798758938141,0.999999986241,0.000101350078091,-0.000123951102153,4.33910271064e-05,1793239488610777344
+8,0.133333333,BASELINE,765.650041781,745,715,679.349958219,661,635.650041781,878.650041781,787,803.349958219,652,631,652,0.401047557514,-0.00550118416172,0.0798748779776,0.999999986027,0.000102570153016,-0.000124620865077,4.35291639747e-05,1793239488627443968
+9,0.150000000,BASELINE,766,745,715,679,661,635.763190717,878.763190717,787,803,652,631,652,0.401047669174,-0.00550101711604,0.0798751016725,0.999999985934,0.000103937669089,-0.000124187976052,4.36671866105e-05,1793239488644110336
+10,0.166666667,BASELINE,766,745,715,679,661,635.184209794,878.184209794,787,803,652,631,652,0.401049178562,-0.00550058645906,0.0798771163974,0.999999986012,0.000105518226447,-0.000122161837668,4.38050441769e-05,1793239488660777216
+11,0.183333333,BASELINE,765.608048997,745,715,679,661.391951003,635.391951003,878.391951003,787,803.391951003,652,631,652.391951003,0.401050168423,-0.00550076240495,0.0798778115495,0.999999986106,0.000105484404383,-0.000121417696465,4.38125768592e-05,1793239488677443840
+12,0.200000000,BASELINE,765.033204088,745,715,679,661.966795912,635.966795912,878.966795912,787,803.966795912,652,631,652.966795912,0.401050915861,-0.00550122140652,0.0798778909568,0.999999986208,0.000104697273616,-0.000121271766261,4.37592967814e-05,1793239488694110464
+13,0.216666667,BASELINE,765.551075118,745,715,679,661.448924882,635.448924882,878.448924882,787,804,652,631,652.448924882,0.401049880104,-0.00549949577736,0.0798773407707,0.999999985931,0.00010625225379,-0.000122187243184,4.37972187931e-05,1793239488710777344
+14,0.233333333,BASELINE,766,745,715,679.135224715,661,635,878.135224715,787,804,652,631,652.135224715,0.401049091088,-0.00549822340617,0.07987693527,0.999999985731,0.000107386863421,-0.00012281178611,4.38472050061e-05,1793239488727444224
+15,0.250000000,BASELINE,766,745,715,679.717036395,661,635,878.717036395,787,804,652,631,652.717036395,0.401049477962,-0.00549889023462,0.0798771350656,0.999999985874,0.000106659003097,-0.000122260615973,4.39185695238e-05,1793239488744110848
+16,0.266666667,BASELINE,766,745,715,679.708688558,661,635.291311442,879,787.291311442,803.708688558,652,631,653,0.401048510394,-0.00549988503187,0.0798763773039,0.999999985917,0.00010512689088,-0.000123259314003,4.38423182103e-05,1793239488760777472
+17,0.283333333,BASELINE,766,745,715,679.141549589,661,635.858450411,879,787.858450411,803.141549589,652,631,653,0.401046260378,-0.00550119036553,0.0798747128814,0.999999985858,0.000102833274768,-0.000125725500948,4.3626297203e-05,1793239488777444096
+18,0.300000000,BASELINE,766,745,715,679.438121785,661,636,879,787.561878215,803.438121785,652,631,653,0.401046230236,-0.00550110911825,0.079874787367,0.99999998571,0.00010410700665,-0.000125808679649,4.37371758739e-05,1793239488794110720
+19,0.316666667,BASELINE,766,745,715,680,661,635.977765999,879,787.022234001,803.977765999,652,631,653,0.401046927724,-0.00550054262949,0.0798754376289,0.999999985534,0.0001065416503,-0.000125094892337,4.39449216234e-05,1793239488810777344
+20,0.333333333,BASELINE,766,745,715,680,661,635.386678921,879,787.613321079,803.386678921,652,631,653,0.401047351626,-0.00549936033075,0.0798760219144,0.99999998545,0.000108321934527,-0.000124268901839,4.38492659823e-05,1793239488827443968
+21,0.350000000,BASELINE,766,745,715.200275407,680,661,635.200275407,879,787.799724593,803.200275407,652,631,653,0.401047896444,-0.00549872079983,0.079876495143,0.9999999855,0.000108878196211,-0.000123418171956,4.37403387872e-05,1793239488844110592
+22,0.366666667,BASELINE,766,745,715.779411745,680,661,635.779411745,879,787.220588255,803.779411745,652,631,653,0.40104867,-0.0054991080228,0.0798767582851,0.999999985806,0.000107118974597,-0.00012252064268,4.36063058078e-05,1793239488860777472
+23,0.383333333,BASELINE,766,745,715.64379074,679.64379074,661.35620926,636,879,787,804,652,631,653,0.401048146807,-0.00549919783523,0.0798763407883,0.999999985659,0.000106874836816,-0.000123932838634,4.35987965554e-05,1793239488877444352
+24,0.400000000,BASELINE,766,745,715.068432076,679.068432076,661.931567924,636,879,787,804,652,631,653,0.40104682582,-0.00549910467281,0.0798755045443,0.999999985227,0.000107562818707,-0.000126766038852,4.36691280494e-05,1793239488894110976
+25,0.416666667,BASELINE,766,745,715,679.51721107,661.48278893,636,879,787,804,652,631,652.48278893,0.401046884331,-0.00549971771286,0.0798754812139,0.999999985266,0.000108152289925,-0.000125884391047,4.38604042289e-05,1793239488910777344
+26,0.433333333,BASELINE,766,745,715,680,661.102860661,635.897139339,878.897139339,787,804.102860661,652,631,652.102860661,0.401047165799,-0.00550011509685,0.0798755874016,0.999999985356,0.000108602446192,-0.000124735375702,4.39938432709e-05,1793239488927443968
+27,0.450000000,BASELINE,766,745,715,680,661.68211032,635.31788968,878.31788968,787,804.68211032,652,631,652.68211032,0.401047617392,-0.00549907216536,0.0798757851968,0.999999985387,0.000108468969241,-0.000124670639764,4.37837993671e-05,1793239488944110592
+28,0.466666667,BASELINE,765.73963595,745,715,680,662,635,878.26036405,787,804.73963595,652,631.26036405,652.73963595,0.401048338022,-0.00549917941706,0.0798765634296,0.999999985518,0.000107961702153,-0.000124024959597,4.38760744658e-05,1793239488960776960
+29,0.483333333,BASELINE,765.16259359,745,715,680,662,635,878.83740641,787,804.16259359,652,631.83740641,652.16259359,0.401049385882,-0.00550068562565,0.0798780476432,0.999999985768,0.000106999797697,-0.000122672682512,4.43360572937e-05,1793239488977443840
+30,0.500000000,BASELINE,765,745,715,679.588915571,661.588915571,635.411084429,879,787,804,652,632,652.411084429,0.401049695319,-0.00549996452589,0.0798776068256,0.999999985826,0.000106599792748,-0.000122652703124,4.40497863982e-05,1793239488994110720
+31,0.516666667,BASELINE,765,745,715,679.016557439,661.016557439,635.983442561,879,787,804,652,632,652.983442561,0.401049715062,-0.00549836962441,0.0798764107934,0.999999985809,0.000106420228216,-0.000123155401268,4.34707505697e-05,1793239489010777344
+32,0.533333333,BASELINE,765.575279147,745,715,679,661,636,879,787,804,652,631.424720853,653,0.401049040931,-0.00549785387654,0.0798767458022,0.999999985636,0.000107858869404,-0.000123274609632,4.35562181514e-05,1793239489027443968
+33,0.550000000,BASELINE,765.836098048,745,715,679,661,636,879,787,804,652,631,653,0.40104831921,-0.00549790164568,0.0798768852899,0.999999985515,0.000108680738954,-0.00012348475351,4.37002721711e-05,1793239489044110336
+34,0.566666667,BASELINE,765.25708446,745,715,679,661,636,879,787,804,652,631,653,0.401047529315,-0.00549929520337,0.0798764140688,0.99999998554,0.000107818429039,-0.000123954142192,4.3942570755e-05,1793239489060776960
+35,0.583333333,BASELINE,765,745,715,679.320714306,661,635.679285694,879,787,803.679285694,652,631,652.679285694,0.40104780519,-0.00549973105677,0.0798768430612,0.999999985631,0.000107734845639,-0.000123259351281,4.40209355282e-05,1793239489077443584
+36,0.600000000,BASELINE,765,745,715,679.897543007,661,635.102456993,879,787,803.102456993,652,631,652.102456993,0.401048932162,-0.00549940211172,0.0798779909415,0.999999985774,0.000108273133595,-0.000121634875816,4.39683869006e-05,1793239489094110208
+37,0.616666667,BASELINE,765.473896166,745.473896166,715,679.526103834,661.473896166,635.473896166,879,787,803,652.473896166,631,652.473896166,0.401049172682,-0.0054992650139,0.0798780571475,0.999999985768,0.000108446783613,-0.000121576943906,4.38390150681e-05,1793239489110776832
+38,0.633333333,BASELINE,766,745.94876877,715,679,661.94876877,636,879,787,803,652.94876877,631,653,0.401049220069,-0.00549922464896,0.0798779351822,0.999999985754,0.000108335255381,-0.000121842766644,4.36958761058e-05,1793239489127443712
+39,0.650000000,BASELINE,766,745.360054271,715,679,661.360054271,636,879,787,803,652.360054271,631,653,0.401049249883,-0.00549976442073,0.0798782900863,0.99999998599,0.000106058087109,-0.000121955472277,4.35823802773e-05,1793239489144110336
+40,0.666666667,BASELINE,765.775032487,745,715.224967513,679.224967513,661.224967513,636,879,787,803.224967513,652,631,653,0.401049308949,-0.00549972350355,0.0798783184508,0.999999986032,0.000105604922523,-0.000122038666701,4.34651899989e-05,1793239489160776960
+41,0.683333333,BASELINE,765.195825379,745,715.804174621,679.804174621,661.804174621,636,879,787,803.804174621,652,631,653,0.401049414075,-0.00549876821866,0.0798778326377,0.999999985775,0.00010802388088,-0.000122075392017,4.33421823523e-05,1793239489177443584
+42,0.700000000,BASELINE,765,745,715.619815921,680,661.619815921,636,879,787,803.619815921,652,631,652.619815921,0.40104864019,-0.00549871119731,0.0798772227669,0.999999985623,0.000108475319374,-0.000122915168235,4.33486215483e-05,1793239489194110464
+43,0.716666667,BASELINE,765,745,715.045439791,680,661.045439791,636,879,787,803.045439791,652,631,652.045439791,0.401047417319,-0.00549911299488,0.0798765495295,0.999999985525,0.000107921779578,-0.000124165130229,4.34211801602e-05,1793239489210776832
+44,0.733333333,BASELINE,765,745,715,679.458519623,661,635.458519623,879,787,803.541480377,652,631,652.541480377,0.401047090147,-0.00549813952081,0.0798758120202,0.999999985478,0.00010778911926,-0.00012477044052,4.30941085966e-05,1793239489227443712
+45,0.750000000,BASELINE,765.127586419,745,715,679.127586419,661,635,879.127586419,787,803.872413581,652,631,653,0.401046953899,-0.00549746390754,0.0798755179334,0.999999985462,0.000107809339754,-0.000124955737466,4.28791623228e-05,1793239489244110336
+46,0.766666667,BASELINE,765.706993067,745,715,679.706993067,661,635,879.706993067,787,803.293006933,652,631,653,0.401047221272,-0.00549826149664,0.0798768136866,0.99999998554,0.000108242913389,-0.00012384976497,4.31828613311e-05,1793239489260776960
+47,0.783333333,BASELINE,766,745,715,680,661,635,879.714641358,787,803.285358642,652,631.285358642,653,0.401047763634,-0.00549883328515,0.0798773936035,0.999999985647,0.000108111480621,-0.000123055917712,4.33003607573e-05,1793239489277443840
+48,0.800000000,BASELINE,766,745,715,680,661,635,879.137340804,787,803.862659196,652,631.862659196,653,0.401048587328,-0.0054991740639,0.0798772411699,0.999999985785,0.000107402006712,-0.000122581396336,4.32273649841e-05,1793239489294110464
+49,0.816666667,BASELINE,765.56157153,745,715,680,661,635.43842847,879,787.43842847,804,652,631.56157153,652.56157153,0.401048239567,-0.00549838385384,0.079876965643,0.999999985646,0.000107482333588,-0.000123649951844,4.32012314813e-05,1793239489310777088
+50,0.833333333,BASELINE,765,745,715,679.985949821,661.014050179,636,879,787.985949821,804,652,631,652.014050179,0.401047561506,-0.00549727935195,0.0798766848144,0.999999985432,0.000107791085136,-0.000125107513368,4.31887111982e-05,1793239489327443712
+51,0.850000000,BASELINE,765,745,715,679.396800801,661.603199199,636,879,787.396800801,804,652,631,652.603199199,0.401048332022,-0.00549776157925,0.0798777598102,0.99999998577,0.000107357954396,-0.000122771059809,4.31346196361e-05,1793239489344110336
+52,0.866666667,BASELINE,765.189099909,745,715,679,661.810900091,636,879.189099909,787,804,652,631,653,0.401048904586,-0.0054983852049,0.0798784800352,0.999999985981,0.000107040453815,-0.00012129141286,4.3234036944e-05,1793239489360777216
+53,0.883333333,BASELINE,765.76829955,745,715,679,661.23170045,636,879.76829955,787,804,652,631,653,0.401049068788,-0.0054993005253,0.079878468393,0.999999985936,0.000106961490101,-0.000121579297455,4.36501321904e-05,1793239489377443840
+54,0.900000000,BASELINE,765.654410042,745,715.345589958,679.345589958,661.345589958,635.654410042,879.654410042,787,804,652.345589958,631.345589958,653,0.401049567239,-0.00549836488054,0.079878463652,0.999999985789,0.000108599360563,-0.000121345340727,4.36311394452e-05,1793239489394110464
+55,0.916666667,BASELINE,765.078392668,745,715.921607332,679.921607332,661.921607332,635.078392668,879.078392668,787,804,652.921607332,631.921607332,653,0.401050288555,-0.00549619507628,0.0798784635125,0.999999985567,0.000111381956608,-0.000120763438262,4.33220450762e-05,1793239489410776832
+56,0.933333333,BASELINE,765.506313647,745,715.493686353,680,662,635.506313647,878.493686353,787,804,652.493686353,631.493686353,653,0.401049955216,-0.00549858804745,0.0798782502624,0.999999985772,0.000109338492174,-0.00012088380788,4.34537580669e-05,1793239489427443456
+57,0.950000000,BASELINE,766,745,715,680,661.9086219,636,878.0913781,787,803.9086219,651.9086219,631.0913781,653,0.401049555572,-0.00550096533036,0.0798781029061,0.999999985975,0.000107216299884,-0.000121033660094,4.36424339703e-05,1793239489444110336
+58,0.966666667,BASELINE,766,745,715,680,661.328958217,636,878.671041783,787,803.328958217,651.328958217,631.671041783,653,0.401049689428,-0.00549941786854,0.0798784870525,0.99999998584,0.000108735964301,-0.000120749886955,4.37644267711e-05,1793239489460776960
+59,0.983333333,BASELINE,765.750072118,745,715,679.750072118,661,636,879,787,803,651.249927882,631.750072118,653,0.401049182315,-0.00549926032357,0.0798780587867,0.999999985807,0.000107887491603,-0.000121772890932,4.3787194987e-05,1793239489477443584
+60,1.000000000,BASELINE,765.172206228,745,715,679.172206228,661,636,879,787,803,651.827793772,631.172206228,653,0.401047834169,-0.00550092653073,0.0798765645301,0.999999985894,0.000103931714076,-0.000124510557032,4.36797676109e-05,1793239489494110208
+61,1.016666667,BASELINE,765.40336849,745,715,679,661,636,879,787,803.40336849,652,631,652.59663151,0.401047419231,-0.00550105472307,0.0798767350859,0.9999999859,0.00010355879047,-0.000124790383028,4.36163719102e-05,1793239489510777088
+62,1.033333333,BASELINE,765.977970549,745,715,679,661,636,879,787,803.977970549,652,631,652.022029451,0.401047400447,-0.00550053001411,0.0798776123697,0.999999985878,0.000104706820973,-0.000124026833521,4.35716680604e-05,1793239489527443712
+63,1.050000000,BASELINE,765.433139795,745,715,679,661,636,879,787,803.433139795,652,631,652.566860205,0.401049058364,-0.00549967717849,0.0798787935708,0.999999985934,0.000106112089835,-0.000122390575234,4.35066379687e-05,1793239489544110080
+64,1.066666667,BASELINE,765.153685506,745,715,679,661,636,879,787.153685506,803.153685506,652,631,653,0.401050245396,-0.00549873207304,0.0798795233102,0.999999985911,0.00010785396168,-0.000121072662356,4.34313900654e-05,1793239489560776960
+65,1.083333333,BASELINE,765.733212437,745,715,679,661,636,879,787.733212437,803.733212437,652,631,653,0.401049942449,-0.00549756754755,0.0798789685388,0.999999985668,0.000110500097931,-0.000120733245761,4.33300753758e-05,1793239489577443584
+66,1.100000000,BASELINE,765.689736088,745,715,679.310263912,661,636,879,787.689736088,804,652,631.310263912,653,0.401049084243,-0.00549742715888,0.0798780577516,0.999999985509,0.000110971510036,-0.000121622506329,4.32971408052e-05,1793239489594110208
+67,1.116666667,BASELINE,765.114796371,745,715,679.885203629,661,636,879,787.114796371,804,652,631.885203629,653,0.401047752364,-0.00549816042725,0.0798768432593,0.999999985423,0.000109587737305,-0.000123559910458,4.33225390408e-05,1793239489610777088
+68,1.133333333,BASELINE,765,745,715.460433101,680,661,635.539566899,879,787,804,652,631.539566899,653,0.401047487021,-0.00549891166633,0.07987695351,0.999999985471,0.000108710825281,-0.000123877319178,4.35294730897e-05,1793239489627443712
+69,1.150000000,BASELINE,765,745.03653172,715.96346828,679.96346828,661.03653172,635.03653172,879,787,804,652,631,653,0.40104760183,-0.00549945802128,0.0798774433156,0.999999985536,0.000108252372417,-0.000123675217447,4.37470883968e-05,1793239489644110336
+70,1.166666667,BASELINE,765,745.624661564,715.375338436,679.375338436,661.624661564,635.624661564,879,787,804,652,631,653,0.40104943904,-0.00549684310358,0.0798786738644,0.999999985352,0.000112202991039,-0.000121731357707,4.34421484986e-05,1793239489660776960
+71,1.183333333,BASELINE,765,745.789620195,715,679.210379805,661.789620195,635.789620195,879,787.210379805,804,652,631,653,0.401050225618,-0.00549613164924,0.0798793670286,0.999999985338,0.000113600844655,-0.000120592701966,4.33063885832e-05,1793239489677443584
+72,1.200000000,BASELINE,765,745.208155633,715,679.791844367,661.208155633,635.208155633,879,787.791844367,804,652,631,653,0.401049159008,-0.00549877767566,0.0798791123109,0.999999985645,0.000110495927477,-0.000120874329237,4.34690418272e-05,1793239489694110208
+73,1.216666667,BASELINE,765,745,715,679.631216863,661,635.368783137,879.368783137,787.631216863,804,652,631,653,0.401048633253,-0.00549997692332,0.0798784904541,0.999999985703,0.000108630039658,-0.000122033615029,4.36112368945e-05,1793239489710776832
+74,1.233333333,BASELINE,765,745,715,679.05680169,661,635.94319831,879.94319831,787.05680169,804,652,631,653,0.401048409078,-0.00550036945264,0.0798776638821,0.999999985621,0.000107455029952,-0.000123682279762,4.37420245528e-05,1793239489727443712
+75,1.250000000,BASELINE,765,745,715,679,661.518640233,636,879.481359767,787,803.481359767,652,631,653,0.401046963632,-0.00549895067823,0.0798765855318,0.999999985364,0.00010884466088,-0.000124594915078,4.36012897623e-05,1793239489744110336
+76,1.266666667,BASELINE,765.096518711,745,715,678.903481289,661.903481289,635.903481289,879,787,803,652,631,652.903481289,0.401046136604,-0.00549775658029,0.0798760298351,0.999999985247,0.000109790607841,-0.000124773430397,4.34023807686e-05,1793239489760777216
+77,1.283333333,BASELINE,765.686272806,745,715,678.313727194,661.313727194,635.313727194,879,787,803,652,631,652.313727194,0.40104915472,-0.00549872639342,0.0798782862265,0.99999998595,0.000107030997196,-0.000121613160252,4.3058453088e-05,1793239489777443584
+78,1.300000000,BASELINE,766,745,715,678.271018925,661,635.271018925,879,787,803,652,631,652,0.401049471916,-0.0054992660454,0.0798788024095,0.999999986038,0.000106389720174,-0.000121467795074,4.30247243985e-05,1793239489794109952
+79,1.316666667,BASELINE,766,745,715,678.850073029,661,635.850073029,879,787,803,652,631,652,0.401046719294,-0.00549931678395,0.0798773407033,0.999999985431,0.000108156102785,-0.000124749116228,4.33435622608e-05,1793239489810776576
+80,1.333333333,BASELINE,765.575043249,745,715,679,661.424956751,636,879,787.424956751,803,652,631,652.424956751,0.40104832411,-0.00549924056841,0.0798778767862,0.999999985603,0.000108396490146,-0.000123126113086,4.34001775322e-05,1793239489827443968
+81,1.350000000,BASELINE,765.001616513,745,715,679,661.998383487,636,879,787.998383487,803,652,631,652.998383487,0.401051451312,-0.00549911999807,0.0798791108499,0.999999986042,0.000108103730476,-0.000119789653605,4.33651783674e-05,1793239489844111616
+82,1.366666667,BASELINE,765.58750318,745,715,679,662,635.41249682,879,787.41249682,803.58750318,652,631,653,0.401048480876,-0.00549957590878,0.0798773407226,0.999999985729,0.000106733265589,-0.000123490348207,4.3582622893e-05,1793239489860778240
+83,1.383333333,BASELINE,765.825652177,745,715,679,662,635,879,787,804,652,631.174347823,653,0.401046561175,-0.00549979099441,0.0798763105759,0.999999985445,0.000106608723299,-0.000125847693802,4.36719389436e-05,1793239489877444608
+84,1.400000000,BASELINE,765.244222972,745,715,679,662,635,879,787,804,652,631.755777028,653,0.401047135064,-0.00549943997706,0.0798770280256,0.999999985256,0.000109400375112,-0.00012502203,4.34604240121e-05,1793239489894111488
+85,1.416666667,BASELINE,765.333154257,745,715,679,662,635.333154257,878.666845743,787,804,652,631.666845743,653,0.401046924646,-0.00549931721029,0.0798772741216,0.999999985256,0.000109767830021,-0.000124729644791,4.33817101696e-05,1793239489910777856
+86,1.433333333,BASELINE,765.90759679,745,715,679,662,635.90759679,878.09240321,787,804,652,631.09240321,653,0.401046146191,-0.00549935975492,0.0798771788379,0.999999985395,0.000108379550647,-0.000124823488743,4.33991780499e-05,1793239489927443968
+87,1.450000000,BASELINE,765.508087442,745,715,679,662,636,878.491912558,787,804,652,631,653,0.401047121199,-0.00549929317064,0.0798777200338,0.99999998566,0.000107557555602,-0.000123382631836,4.34479826228e-05,1793239489944110592
+88,1.466666667,BASELINE,765.077538599,745.077538599,715,679,661.922461401,636,879,787,804,652,631,653,0.401048290639,-0.00549908173858,0.0798782435224,0.999999985864,0.000107179649689,-0.000122035911967,4.34843743302e-05,1793239489960777216
+89,1.483333333,BASELINE,765.659377137,745.659377137,715,679,661.340622863,636,879,787,804,652,631,653,0.401048538525,-0.0054980642925,0.0798778583205,0.999999985528,0.000108984027062,-0.00012321481732,4.34009658637e-05,1793239489977444096
+90,1.500000000,BASELINE,765.76119281,745.76119281,715,679,661,635.76119281,879,787,803.76119281,652,631,652.76119281,0.401048289268,-0.00549789631428,0.0798776438398,0.999999985416,0.000109455712831,-0.000123691697717,4.34475497949e-05,1793239489994110976
+91,1.516666667,BASELINE,765.185163849,745.185163849,715,679,661,635.185163849,879,787,803.185163849,652,631,652.185163849,0.401047337991,-0.0054989278773,0.079877670436,0.999999985623,0.000108045492707,-0.000123177242292,4.36776971617e-05,1793239490010777600
+92,1.533333333,BASELINE,765.390207434,745,715.390207434,679.390207434,661.780414868,635,878.609792566,787,803.390207434,652,631,652.390207434,0.401048260467,-0.00549859975221,0.0798785290931,0.999999985638,0.000109056978184,-0.000122163342098,4.36739718146e-05,1793239490027444224
+93,1.550000000,BASELINE,765.965267207,745,715.965267207,679.965267207,662.930534414,635,878.034732793,787,803.965267207,652,631,652.965267207,0.401050070592,-0.00549762750435,0.0798797819211,0.999999985557,0.00011121569423,-0.000120912840691,4.35594543434e-05,1793239490044111360
+94,1.566666667,BASELINE,766,745,715.44754037,679.44754037,661.895080739,635.55245963,878.55245963,787,804,652,631.55245963,652.44754037,0.401048272775,-0.00549944732441,0.0798781822824,0.999999985591,0.000108889054518,-0.000122693687356,4.36828616654e-05,1793239490060777728
+95,1.583333333,BASELINE,765.860740181,745,715,679,661,636,879,787,804,652,632,652.139259819,0.401046873058,-0.00550064808104,0.0798769238739,0.999999985619,0.000106881701944,-0.000124197847615,4.37493169197e-05,1793239490077444096
+96,1.600000000,BASELINE,765.277675302,745,715,679,661,636,879,787,804,652,632,652.722324698,0.401047481153,-0.00549930398123,0.0798773372725,0.999999985633,0.000106810733885,-0.000124199249588,4.35855320976e-05,1793239490094110720
+97,1.616666667,BASELINE,765,745.299918299,715,679,661.299918299,635.700081701,879,787,804,652,632,653,0.401047878089,-0.00549899862819,0.0798778388612,0.999999985619,0.0001076503318,-0.000123591709162,4.35662554508e-05,1793239490110777088
+98,1.633333333,BASELINE,765,745.872537109,715,679,661.872537109,635.127462891,879,787,804,652,632,653,0.401048083031,-0.00549963775504,0.0798784206367,0.999999985576,0.000109317861218,-0.00012243048827,4.36783727748e-05,1793239490127443968
+99,1.650000000,BASELINE,765.447637875,746,715,679.447637875,661.552362125,635.447637875,879,787,804,652,631.552362125,653,0.401047902902,-0.00549927028567,0.0798778886311,0.999999985371,0.00010991559493,-0.000123601923411,4.35900176428e-05,1793239490144110848
+100,1.666666667,BASELINE,766,745.975983333,715.024016667,679.975983333,661,636,879,787,804,652,631,652.975983333,0.401047626872,-0.00549866930434,0.079877084572,0.999999985141,0.000110123589885,-0.00012531072172,4.3450977796e-05,1793239490160777472
+101,1.683333333,BASELINE,766,745.386239859,715.613760141,679.386239859,661,636,879,787,804,652,631,652.386239859,0.401047689022,-0.0054993570464,0.0798773843044,0.999999985502,0.000108366558677,-0.000123944254515,4.3470165339e-05,1793239490177444352
+102,1.700000000,BASELINE,766,745.200356679,716,679,661.200356679,636,879,787,804,652,631.200356679,652,0.401047798241,-0.00549978886593,0.0798776228401,0.999999985721,0.000107247486858,-0.000123137405904,4.35063271771e-05,1793239490194111232
+103,1.716666667,BASELINE,766,745.780980425,716,679,661.780980425,636,879,787,804,652,631.780980425,652,0.401047996794,-0.00549973495711,0.0798777452276,0.999999985677,0.000107339230598,-0.000123392685855,4.35747053861e-05,1793239490210777856
+104,1.733333333,BASELINE,766,745.643356646,715.643356646,679.356643354,662,636,879,787,804,652,632,652.356643354,0.401047590515,-0.00549963689421,0.0798779190883,0.999999985637,0.000107420778824,-0.000123649604319,4.35712993154e-05,1793239490227444224
+105,1.750000000,BASELINE,766,745.070698373,715.070698373,679.929301627,662,636,879,787,804,652,632,652.929301627,0.401046817896,-0.00549951208766,0.0798781241256,0.999999985599,0.000107496151746,-0.000123907515237,4.35244143102e-05,1793239490244110592
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879,787,804,652,631,653,0.401047442956,-0.00550005743116,0.0798779891828,0.999999985522,0.0001077075425,-0.0001242968749,4.36618171277e-05,1793239490274562048
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.58074983,745.58074983,715,680,661.41925017,635.58074983,879.58074983,787,804,652,631,653,0.401048281301,-0.00549920849128,0.0798788269548,0.999999985523,0.000109241851809,-0.000122987420623,4.35151468838e-05,1793239490291229184
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.839794328,715,680,661.160205672,636,880,787.160205672,804,652,631,653,0.401048540388,-0.00549897164611,0.0798789914498,0.999999985526,0.000109671775677,-0.000122617229704,4.34128803499e-05,1793239490307896320
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.263697531,715,680,661.736302469,636,880,787.736302469,804,652,631,653,0.401047295732,-0.00550032378793,0.0798774081296,0.999999985534,0.000107234734575,-0.000124685349763,4.342588504e-05,1793239490324562944
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.687710514,745,715,680,662,636,879.687710514,787.687710514,804,652,631.312289486,653,0.401046428111,-0.00549953185734,0.0798769856151,0.999999985466,0.000107124994378,-0.000125384482622,4.32643523292e-05,1793239490341229568
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.111816198,745,715,680,662,636,879.111816198,787.111816198,804,652,631.888183802,653,0.401045878746,-0.0054969301064,0.0798775429415,0.999999985336,0.000108979738523,-0.000124928047674,4.2955491885e-05,1793239490357895936
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.475376547,745.475376547,715,679.524623453,661.524623453,636,879,787,803.524623453,652,631.524623453,653,0.40104530052,-0.00549807432011,0.079876875376,0.999999985286,0.000108372287366,-0.000125788691279,4.31468527878e-05,1793239490374562304
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.93588749,715,679.06411251,661.06411251,636,879,787,803.06411251,652,631.06411251,653,0.401045010943,-0.00549994210812,0.0798762336973,0.999999985254,0.000107413088537,-0.000126749735836,4.3455850734e-05,1793239490391228672
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.356625305,715,679.643374695,661.643374695,636,879,787,803.643374695,652,631.643374695,653,0.401047096577,-0.00550037170995,0.079878171406,0.999999985235,0.000108394364397,-0.000125967653166,4.37416465882e-05,1793239490407895296
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.778248633,662,636,879,787,804,652,632,653,0.401048286518,-0.00550054372425,0.0798791489923,0.999999985091,0.00010839665061,-0.000127065477341,4.38363184756e-05,1793239490424561920
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.201290457,662,636,879,787,804,652,632,653,0.401048041714,-0.00550030312843,0.0798785886308,0.999999984739,0.000106830766958,-0.000131174582753,4.36248432499e-05,1793239490441229056
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.380933823,804,652,631.619066177,653,0.401057720807,-0.00549909777167,0.079882828546,0.999999984672,0.000108202738718,-0.000130552149733,4.36434913424e-05,1793239490457895936
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879,787.965979844,804,652,631.034020156,653,0.401072717328,-0.00549737547607,0.0798896405482,0.99999998475,0.000111148873839,-0.000127394461239,4.37854442339e-05,1793239490474562816
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.454738887,745,715,679.545261113,661.454738887,636,878.454738887,787.454738887,804,652,631,653,0.401114524782,-0.00549888470309,0.0799022164342,0.99999998636,0.00011072332699,-0.000114449617125,4.38329103251e-05,1793239490491229696
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.123990096,745,715.123990096,680,661.123990096,636,878,787,803.876009904,652,631,653,0.401162218394,-0.00550070176059,0.0799148468116,0.999999987978,0.000109841546401,-0.000100337899074,4.3721873724e-05,1793239490507896320
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.70200018,745,715.70200018,680,661.70200018,636,878,787,803.29799982,652,631,653,0.401225404343,-0.00550291544891,0.0799263736569,0.999999989694,0.000108051407104,-8.41660136422e-05,4.30518019678e-05,1793239490524562432
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.721153589,745,715.721153589,679.721153589,661.721153589,636,878.278846411,787,803,652,631,652.721153589,0.401296519055,-0.00550376834118,0.0799346824873,0.999999990823,0.000107078632602,-7.18329926973e-05,4.15760369958e-05,1793239490541228800
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.145546018,745,715.145546018,679.145546018,661.145546018,636,878.854453982,787,803,652,631,652.145546018,0.401376071917,-0.00550317301163,0.0799395665578,0.999999991487,0.000106975735388,-6.35854686876e-05,3.92428163359e-05,1793239490557895424
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.439687377,715,679,661,635.560312623,878.560312623,787,803.439687377,652,631,652.439687377,0.401466228616,-0.00550444722816,0.0799415785251,0.999999991975,0.000104130088107,-6.21946244552e-05,3.65833095533e-05,1793239490574562304
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.027734285,745.972265715,715,679,661.027734285,635.027734285,878,787,804,652,631.027734285,652.972265715,0.401561763185,-0.00550631408593,0.0799429322947,0.999999992405,0.000100602429563,-6.26629038836e-05,3.37864875371e-05,1793239490591228928
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.606949484,745.393050516,715,679,661.606949484,635.606949484,878,787,804,652,631.606949484,652.393050516,0.401692875175,-0.00550738416483,0.0799505260061,0.999999992882,0.000101970707732,-5.39567572946e-05,3.04549717061e-05,1793239490607895808
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,878.185024015,787,804,652,631.814975985,652.185024015,0.401831526545,-0.00550899076239,0.0799572126644,0.999999993553,0.000100794206359,-4.50424748291e-05,2.65478548632e-05,1793239490624562688
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,878.760690172,787,804,652,631.239309828,652.760690172,0.401986095826,-0.00551173011434,0.0799619842562,0.999999994693,9.42448988726e-05,-3.56887551385e-05,2.14254691099e-05,1793239490641229312
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.336022801,661.663977199,636,879,787.336022801,804,652,631,653,0.402156297528,-0.00551291062085,0.0799662081353,0.999999995422,8.97528216211e-05,-2.91131816692e-05,1.59020306284e-05,1793239490657895680
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.911118192,661.088881808,636,879,787.911118192,804,652,631,653,0.402337621357,-0.0055129820445,0.0799700423298,0.999999995888,8.67244162775e-05,-2.45141951652e-05,1.00932517163e-05,1793239490674562304
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.500433949,745,715,679.500433949,661,636,879,787.500433949,803.500433949,652,631,652.500433949,0.402533609726,-0.0055149787401,0.0799680342573,0.999999996457,7.85919978923e-05,-3.00090472778e-05,3.09041351841e-06,1793239490691228928
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.088638245,745.088638245,715.088638245,679,661,635.911361755,879,787.088638245,803,651.911361755,631.088638245,652.088638245,0.402738502932,-0.00551744938659,0.0799645642389,0.999999996933,6.81965815121e-05,-3.8289329629e-05,-4.24698863134e-06,1793239490707895552
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.667660744,745.667660744,715.667660744,679,661,635.332339256,879,787.667660744,803,651.332339256,631.667660744,652.667660744,0.402977830569,-0.00552059500843,0.0799589146893,0.999999997313,5.04432395018e-05,-5.17713967009e-05,-1.22277319035e-05,1793239490724562176
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.755378699,715.755378699,679,661.244621301,635.244621301,879,787.755378699,803.244621301,651.244621301,631.755378699,653,0.403234575449,-0.00552289168162,0.0799552844807,0.999999997608,2.76992504255e-05,-6.03605280196e-05,-1.93378990697e-05,1793239490741228800
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.181196088,715.181196088,679,661.818803912,635.818803912,879,787.181196088,803.818803912,651.818803912,631.181196088,653,0.40351478536,-0.005524044625,0.0799543747904,0.999999997735,-1.768290168e-06,-6.23577456093e-05,-2.52751989589e-05,1793239490757895936
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.597021049,745,715,679.402978951,662,636,879,787,804,652,631,653,0.403823573596,-0.00552463291877,0.0799566886991,0.999999997881,-1.50752411024e-06,-5.93681355794e-05,-2.66835062065e-05,1793239490774562560
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.008238771,745,715,679.991761229,662,636,879,787,804,652,631,653,0.404145538561,-0.00552496086696,0.0799604889272,0.999999998122,1.24602075065e-05,-5.40792263447e-05,-2.60036101799e-05,1793239490791229440
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.571251908,745,715,679.428748092,661.428748092,636,879.571251908,787.571251908,804,652,631,652.428748092,0.404516438352,-0.00552608421221,0.0799609860367,0.999999998211,4.38548477572e-06,-5.23146877428e-05,-2.86650327265e-05,1793239490807895808
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.700359722,787.850179861,803.850179861,652,631,652.149820139,0.404900363774,-0.00552755598533,0.0799608968715,0.999999998227,-3.99462909043e-06,-5.0676952116e-05,-3.10203742479e-05,1793239490824562176
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,878.547724641,787.273862321,803.273862321,652,631,652.726137679,0.405319392647,-0.00552998750463,0.0799592721845,0.999999998187,-1.23536076467e-05,-4.92578084408e-05,-3.23693984925e-05,1793239490841228800
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715.300300102,679.300300102,661.300300102,636,878.300300102,787.300300102,803.300300102,652,631,653,0.405749333642,-0.00553360530376,0.0799564651542,0.999999997838,-1.85203543368e-05,-5.31335961221e-05,-3.4013935863e-05,1793239490857895424
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.872511208,679.872511208,661.872511208,636,878.872511208,787.872511208,803.872511208,652,631,653,0.40618915522,-0.00553829723712,0.0799525875542,0.999999997187,-2.27021144159e-05,-6.18037546496e-05,-3.59260499554e-05,1793239490874562048
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.461035581,715.538964419,680,661.538964419,636,879.922071163,787.538964419,804,652,631.461035581,652.538964419,0.406653924081,-0.00555045216473,0.0799473687765,0.999999996627,-2.80595372866e-05,-7.00782230408e-05,-3.23619293191e-05,1793239490891228672
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.947103005,745.947103005,715,680,661,636,880.89420601,787,804,652,631.947103005,652,0.407129835569,-0.00556353568833,0.0799421305492,0.999999995975,-3.43856183081e-05,-7.79682319994e-05,-2.80945897151e-05,1793239490907895808
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.368552164,745.368552164,715,680,661,636,879.737104328,787,804,652,631.368552164,652,0.407645406925,-0.00556458688075,0.0799405196983,0.999999994912,-4.69884087743e-05,-8.31649697625e-05,-3.24394789993e-05,1793239490924562432
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.208909178,636,878.791090822,787,803.791090822,652,631,652,0.408179951772,-0.00556382841806,0.0799372004274,0.999999993927,-5.01647275056e-05,-9.14782159685e-05,-3.55003798721e-05,1793239490941229312
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.784458389,636,878.215541611,787,803.215541611,652,631,652,0.408747795468,-0.00555989397227,0.0799308828434,0.999999993124,-3.6797387824e-05,-0.000105261000226,-3.63078536131e-05,1793239490957895680
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.367584448,715,680,662.367584448,636,878.735168897,787,803.367584448,652,631,652.367584448,0.409352026612,-0.0055593596715,0.0799435029822,0.999999994968,-3.68494678726e-05,-8.56489031506e-05,-3.70292125695e-05,1793239490974562304
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.955246853,715,680,662.955246853,636,879.910493705,787,803.955246853,652,631,652.955246853,0.409978043409,-0.00556086108531,0.0799674614012,0.99999999722,-4.49359428343e-05,-4.60428224658e-05,-3.76990133261e-05,1793239490991228928
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.535151187,746,715,680,662.464848813,636,879.464848813,787,804,652,631,653,0.41064923557,-0.00555920815878,0.0799948845109,0.999999998336,-4.36051797867e-05,-2.31493264159e-07,-3.777882604e-05,1793239491007895296
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.886129689,745.886129689,715,680,661.886129689,636,879.113870311,787.113870311,804,652,631,653,0.411318067281,-0.00555670074696,0.0800125250105,0.999999998003,-4.15020171972e-05,2.84045490837e-05,-3.82680750735e-05,1793239491024561920
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.309627771,745.309627771,715,680,661.309627771,636,879.690372229,787.690372229,804,652,631,653,0.411962179349,-0.00555177814109,0.0799892604332,0.999999998289,-3.94146317299e-05,-1.48172384418e-05,-4.06183694457e-05,1793239491041228800
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.267128416,745.267128416,715,680,661.267128416,636,880,788,804,652,631,653,0.412632083979,-0.00554732356889,0.0799611552696,0.999999996703,-3.80772373264e-05,-5.68492097375e-05,-4.37374651663e-05,1793239491057895680
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.844179681,745.844179681,715,680,661.844179681,636,880,788,804,652,631,653,0.413331913269,-0.00554341200951,0.0799274340463,0.9999999934,-3.76099835953e-05,-9.75007597781e-05,-4.77485258574e-05,1793239491074562560
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.570650843,745.570650843,715,680,662.429349157,635.570650843,879.570650843,788,804,652,631.429349157,652.570650843,0.414059087223,-0.00554093795221,0.079925412289,0.999999993881,-3.57523783636e-05,-9.23564752372e-05,-4.92969095786e-05,1793239491091229184
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.017259774,715,680.017259774,662.982740226,635,879,787.982740226,804,652,631.982740226,652.017259774,0.414797621461,-0.00553906368252,0.0799356005736,0.999999995761,-3.35188661093e-05,-6.97527068615e-05,-4.98904474491e-05,1793239491107895296
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.596641265,715,680.596641265,662.403358735,635,879,787.403358735,804,652,631.403358735,652.596641265,0.415576706042,-0.00553940508798,0.07996154814,0.999999997699,-3.5793033927e-05,-3.02510057249e-05,-4.90555156407e-05,1793239491124561920
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.176020609,745.823979391,715,680.823979391,662.176020609,635,879.176020609,787.176020609,804,652,631,653,0.416346696656,-0.00554032159639,0.0799744965945,0.999999997922,-3.96462246301e-05,-1.3591394901e-05,-4.8991452379e-05,1793239491141228800
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.755394995,745.244605005,715,680.244605005,662.755394995,635,879.755394995,787.755394995,804,652,631,653,0.417095848267,-0.00554255596153,0.079957657394,0.999999996391,-4.71177691243e-05,-4.9274767885e-05,-5.0693845733e-05,1793239491157895424
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.670153525,635.329846475,880,787.670153525,804,652,631,653,0.417921906186,-0.00554574521278,0.0799645736914,0.999999996688,-5.35720838772e-05,-3.26720906768e-05,-5.18316841896e-05,1793239491174562560
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.099299079,635.900700921,880,787.099299079,804,652,631,653,0.418804156983,-0.00554963216781,0.0799888473506,0.999999996617,-5.92831418894e-05,2.21342856611e-05,-5.25570207843e-05,1793239491191229440
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.511061788,787,804,652,631,653,0.419626483405,-0.00554885128966,0.079992828671,0.999999996484,-5.59127575054e-05,3.35577403834e-05,-5.27236553692e-05,1793239491207896064
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.078862498,715.078862498,680.078862498,662,635.921137502,879.078862498,787.078862498,804.078862498,652,631,653,0.420436938233,-0.00554735303928,0.079990297033,0.99999999673,-5.21957975919e-05,3.16047745327e-05,-5.30812718135e-05,1793239491224562432
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.656309985,715.656309985,680.656309985,662,635.343690015,879.656309985,787.656309985,804.656309985,652,631,653,0.421252116299,-0.00554753377599,0.0799736046462,0.999999996758,-5.83779886526e-05,2.83969946422e-06,-5.5390123815e-05,1793239491241229056
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715.76677519,681,662,635.23322481,880,787.76677519,804.76677519,652,631,652.76677519,0.422094239949,-0.0055491123315,0.0799751889803,0.999999996572,-6.15273870921e-05,1.70300004043e-06,-5.53762729771e-05,1793239491257895680
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715.190643443,681,662,635.809356557,880,787.190643443,804.190643443,652,631,652.190643443,0.422975981406,-0.00555274607904,0.0800036453004,0.999999995989,-6.02177169656e-05,4.11878824237e-05,-5.19473873506e-05,1793239491274562304
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.608467024,715,680.608467024,662,636,880,787,804,652,631,652,0.423832133261,-0.00555405728987,0.0800135496046,0.999999995587,-5.99766271079e-05,5.11932058565e-05,-5.10784172219e-05,1793239491291228928
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.023301244,715,680.023301244,662,636,880,787,804,652,631,652,0.424675629715,-0.00555421988893,0.0800142789997,0.999999995773,-6.02640041961e-05,4.66193982323e-05,-5.14754546486e-05,1793239491307895552
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.440984231,745,715,680.559015769,662,635.440984231,880.559015769,787,804,651.440984231,631,652,0.425484736601,-0.00554887766565,0.0799636130142,0.999999995939,-6.1226527886e-05,-3.74193859305e-05,-5.45310324505e-05,1793239491324562176
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.139775324,715,681,662,635.139775324,880.860224676,787,804,651.139775324,631,652,0.426308475383,-0.00554480812073,0.0799235311182,0.9999999915,-6.22141750826e-05,-9.91019966601e-05,-5.75083191715e-05,1793239491341228800
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.716040164,715,681,662,635.716040164,880.283959836,787,804,651.716040164,631,652,0.427182360182,-0.0055454257972,0.0799231571776,0.999999992955,-6.3192843282e-05,-8.06796714391e-05,-5.98968222878e-05,1793239491357895680
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,746,715,681.291904282,662.291904282,636,880,787,804,651.708095718,631,652,0.428037669674,-0.00554626782777,0.0799262865836,0.999999993447,-6.1537899835e-05,-7.58032331512e-05,-5.97667032064e-05,1793239491374562304
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,746,715,681.867379084,662.867379084,636,880,787,804,651.132620916,631,652,0.428874934124,-0.0055473278072,0.0799328193169,0.999999993186,-5.7324533352e-05,-8.40859527333e-05,-5.71898675479e-05,1793239491391228928
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.451898327,745.548101673,715,681.548101673,662.548101673,635.548101673,879.548101673,787.451898327,804,651.451898327,631,652,0.429745813214,-0.00554804122808,0.0799586047082,0.99999999561,-6.08664203424e-05,-4.36356846757e-05,-5.6313696504e-05,1793239491407895296
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.96116549,745,715,681,662,635.03883451,879.03883451,787.96116549,804.03883451,652,631,652,0.430626049265,-0.00554875252891,0.0799903678537,0.999999996173,-6.64663333852e-05,1.08818324781e-05,-5.58315060337e-05,1793239491424562176
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.37831467,745,715,681,662,635.62168533,879.62168533,787.37831467,804.62168533,652,631,652,0.431496344216,-0.00555088798898,0.0800251033614,0.999999994536,-6.83619493189e-05,5.80201340088e-05,-5.3733913074e-05,1793239491441228800
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.201085583,745,715,681.201085583,662,636,880,787,804.798914417,652,631,652,0.432319362659,-0.0055511029919,0.080032986283,0.999999994286,-6.91194782359e-05,6.19270330331e-05,-5.30691524727e-05,1793239491457895680
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.774103685,745,715,681.774103685,662,636,880,787,804.225896315,652,631,652,0.433054937534,-0.0055477658735,0.0799912020497,0.999999996088,-6.77719755116e-05,-1.41278565808e-05,-5.50545911808e-05,1793239491474562304
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,682,662,636,880,787,804,651.654219523,631,652,0.433803057208,-0.00554578635452,0.0799463384544,0.999999993269,-6.86333236703e-05,-7.32404692778e-05,-5.8199783092e-05,1793239491491229184
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,682,662,636,880,787,804,651.083415649,631,652,0.43455934061,-0.00554469032007,0.0798994709066,0.999999988196,-7.09321247972e-05,-0.000121327559903,-6.20997069631e-05,1793239491507896064
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.50846943,715,682,662,636,880,787.50846943,804,651,631.50846943,652.50846943,0.43536227124,-0.00554745155603,0.0799232428274,0.999999991834,-7.47642378819e-05,-8.33572224564e-05,-6.15903167877e-05,1793239491524562432
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.898965566,715,682,662,635.898965566,880.101034434,788,804.101034434,651,631.898965566,653,0.436158446153,-0.00555061535105,0.0799542238667,0.999999994273,-7.82762859743e-05,-4.12911263958e-05,-6.01820102632e-05,1793239491541229056
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.320244443,715,682,662,635.320244443,880.679755557,788,804.679755557,651,631.320244443,653,0.436884934206,-0.005552561195,0.0799621291354,0.999999993965,-7.90343520453e-05,-4.94965757047e-05,-5.8091602147e-05,1793239491557895424
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.743720345,745.256279655,715,682,662,635,880.743720345,787.743720345,805,651,631,653,0.437588415978,-0.00555392985037,0.0799565306948,0.999999992619,-8.22957438181e-05,-6.76899898072e-05,-5.83781878106e-05,1793239491574562048
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.169918334,745.830081666,715,682,662,635,880.169918334,787.169918334,805,651,631,653,0.438263393645,-0.00555458338724,0.0799342015865,0.999999989345,-8.86586765629e-05,-9.8258174589e-05,-6.1609793432e-05,1793239491591228416
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,715,682,662,635,880,787,805,651.414841632,631,653,0.438913852081,-0.0055540597148,0.0799023621484,0.999999983687,-8.68218410433e-05,-0.000145869899263,-6.17318581083e-05,1793239491607895552
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.995860083,715,682,661.995860083,635,880.004139917,787,805,652,631.004139917,653,0.439553502577,-0.00555303231503,0.0798663840654,0.999999974664,-8.15784822177e-05,-0.000200866301753,-6.05812110172e-05,1793239491624562176
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.416545996,715,682,661.416545996,635,880.583454004,787,805,652,631.583454004,653,0.440124730645,-0.00555082922275,0.0798112969099,0.999999953746,-8.23385347587e-05,-0.000285631702115,-6.43636516943e-05,1793239491641229568
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.838295658,682,661,635,880.838295658,787,804.838295658,651.838295658,631.838295658,653,0.440683199137,-0.00554837075658,0.0797543003306,0.999999924357,-8.38227193878e-05,-0.000373621636351,-6.83093300239e-05,1793239491657896448
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,714.262767479,682,661,635,880.262767479,787,804.262767479,651.262767479,631.262767479,653,0.441209014226,-0.00554525875275,0.0796924172592,0.999999883175,-8.71600594318e-05,-0.000469863620632,-7.26727575775e-05,1793239491674562560
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.319011894,714.319011894,682.319011894,661,635,880,787,804,651,631,653,0.441754221274,-0.00554414208443,0.0796700761135,0.999999868192,-8.35992857496e-05,-0.000501121448333,-7.41858105237e-05,1793239491691228672
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.906043205,714.906043205,682.906043205,661,635,880,787,804,651,631,653,0.44231572054,-0.00554470180728,0.0796809563155,0.999999880419,-7.42430280362e-05,-0.000477782512979,-7.33041072986e-05,1793239491707895296
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.513295317,714.513295317,683,661,635,880,787,804,651,630.513295317,653,0.442900740167,-0.00554856366652,0.0797237144909,0.999999909325,-8.28562772826e-05,-0.000411755855407,-7.03009395034e-05,1793239491724561920
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682.934059228,661,634.934059228,880,786.934059228,804,651,630.065940772,653,0.443475041231,-0.00555250636895,0.0797659922295,0.999999932874,-9.18352604887e-05,-0.000348263633741,-6.73121375762e-05,1793239491741229056
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682.35646499,661,634.35646499,880,786.35646499,804,651,630.64353501,653,0.443931397741,-0.00555219396623,0.0797574087789,0.999999927199,-7.7083174908e-05,-0.000367552996941,-6.75715094816e-05,1793239491757895680
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,714,682,660.780314534,634,880.219685466,786,804.219685466,651,631,653,0.444365358315,-0.00555207267743,0.0797399126606,0.999999915081,-8.07010298625e-05,-0.000398418038335,-6.77432820229e-05,1793239491774562304
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660.206491542,634,880.793508458,786,804.793508458,651,631,653,0.444763216128,-0.00555225946829,0.0797080491376,0.999999890887,-0.000113931611243,-0.000447943310523,-6.77738424327e-05,1793239491791229440
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.375832871,714.375832871,682.375832871,660,633.624167129,880.624167129,785.624167129,805,651.375832871,630.624167129,653,0.445144978832,-0.00555387782769,0.0796866446476,0.999999873851,-0.000118564535515,-0.000483291337776,-6.8340487252e-05,1793239491807896064
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.962936324,714.962936324,682.962936324,660,633.037063676,880.037063676,785.037063676,805,651.962936324,630.037063676,653,0.445517693875,-0.00555630092862,0.0796711195923,0.999999861476,-0.0001071215842,-0.000510669777544,-6.92084864536e-05,1793239491824562432
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.457114908,714.457114908,683,659.457114908,633,880,785.542885092,804.457114908,651.457114908,630.542885092,653,0.445895162322,-0.00555781197173,0.0796708057907,0.99999986386,-9.92840419265e-05,-0.000507529756806,-6.95369100659e-05,1793239491841229056
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,682.877857706,659.122142294,633,880.122142294,786,804,651,631,653,0.446261349439,-0.00555914450715,0.0796706524524,0.999999866641,-9.33853644089e-05,-0.000503111756526,-6.98244469861e-05,1793239491857895680
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682.29938289,659.70061711,633,880.70061711,786,804,651,631,653,0.446584192122,-0.00556003973594,0.0796672691811,0.99999986734,-9.38227626686e-05,-0.00050160215708,-7.00950665715e-05,1793239491874562304
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.722349982,745,714,682,659.722349982,633,880.722349982,785.722349982,804,651,631,653,0.446887320607,-0.00556076626672,0.0796631378012,0.999999866901,-9.67905281886e-05,-0.000501901626959,-7.01784080844e-05,1793239491891229184
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.146863848,745,714,682,659.146863848,633,880.146863848,785.146863848,804,651,631,653,0.447169301583,-0.0055613118345,0.0796582039228,0.999999865216,-0.00010247262722,-0.000504141691717,-7.0060855756e-05,1793239491907896064
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.437559798,745.437559798,714,682,659,633,880,785,804,651.437559798,631,653,0.447408875859,-0.00556143310118,0.0796480139216,0.999999857752,-0.000107316840461,-0.000517627676806,-7.10039492637e-05,1793239491924562688
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.024801255,746,714,682.024801255,659,633,880.024801255,785,804.024801255,652,631,653,0.447633036077,-0.0055614974259,0.0796361094139,0.999999848044,-0.00011181318922,-0.000534966949645,-7.22486248258e-05,1793239491941229312
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.606551144,746,714,682.606551144,659,633,880.606551144,785,804.606551144,652,631,653,0.447837350354,-0.00556354782969,0.0796261464866,0.999999838274,-0.00011494486282,-0.000552305491665,-7.21046069814e-05,1793239491957895680
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.814143171,745.814143171,714,683,659,633,881,785,805,652,631,653,0.448029941049,-0.00556529975347,0.0796178220345,0.999999830194,-0.000116064581499,-0.000566558152495,-7.17874972186e-05,1793239491974562304
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.239944641,745.239944641,714,683,659,633,881,785,805,652,631,653,0.448198035683,-0.00556642801288,0.0796129211237,0.999999826143,-0.00011298038654,-0.000574362964682,-7.11087176678e-05,1793239491991228672
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658.664284976,632.664284976,881.335715024,785,804.664284976,652,630.664284976,653,0.44835253295,-0.00556661617987,0.0796092126014,0.999999822782,-0.000112264658901,-0.00058034620746,-7.09271492592e-05,1793239492007895296
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658.087576372,632.087576372,881.912423628,785,804.087576372,652,630.087576372,653,0.448497269343,-0.00556612950009,0.0796063600368,0.999999819934,-0.000113249139089,-0.000585021834477,-7.11025046136e-05,1793239492024561920
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.502571013,714,683,658.502571013,632,880.994857975,785,804,652,630.502571013,653.502571013,0.448619370885,-0.00556719903577,0.079604422793,0.999999818421,-0.000113297124176,-0.000587663448018,-7.05284591625e-05,1793239492041228800
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.907586505,714,682.907586505,658.907586505,632,880,785,804,652,631,653.907586505,0.448734553217,-0.00556849551292,0.0796033367828,0.99999981762,-0.000113528395025,-0.000589059297692,-6.98590779366e-05,1793239492057895680
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.331920488,714,682.331920488,658.331920488,632,880,785,804,652,631,653.331920488,0.448834745617,-0.00556952169039,0.079605845094,0.999999819304,-0.000115594920251,-0.000585845125865,-6.93928013496e-05,1793239492074562560
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.24373499,714,682.24373499,658,632,880.24373499,785,804.24373499,652,631,653,0.448923225449,-0.00556983416613,0.0796069787252,0.999999819677,-0.000116121253956,-0.000585137133185,-6.9114377092e-05,1793239492091229440
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.81937608,714,682.81937608,658,632,880.81937608,785,804.81937608,652,631,653,0.448995755686,-0.00556917475853,0.0796062403859,0.999999818273,-0.000114550231875,-0.000587841929932,-6.9091760756e-05,1793239492107895808
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.597084372,785,805,652,631,653,0.449054312196,-0.0055687605893,0.0796039968879,0.999999816925,-0.000115121546554,-0.000590030574153,-6.90051425053e-05,1793239492124562176
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.009933223,785,805,652,631,653,0.449106479135,-0.00556845855676,0.0796010651475,0.999999815599,-0.00011667245725,-0.000591983204547,-6.88892590063e-05,1793239492141228544
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,682.427830211,658,632,880.572169789,785,804.427830211,652,630.427830211,653,0.449145638452,-0.00556910636263,0.0795985287044,0.999999813951,-0.00011632545828,-0.00059488038914,-6.8434337509e-05,1793239492157895424
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.848101544,714,682,658,632,880.848101544,784.848101544,804,651.848101544,630,652.848101544,0.44918060633,-0.00556919587721,0.0795962621729,0.999999812125,-0.000115649290833,-0.000598105887036,-6.81457735513e-05,1793239492174561792
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.274720182,714,682,658,632,880.274720182,784.274720182,804,651.274720182,630,652.274720182,0.449204565053,-0.00556769090798,0.0795947257078,0.999999809829,-0.000114150383382,-0.000602197274705,-6.83350023749e-05,1793239492191228672
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.303828311,745.303828311,714,682.303828311,658,632,880,784,804.303828311,651.303828311,630,652.303828311,0.449223950278,-0.00556751838636,0.0795929688564,0.999999807755,-0.000113986577493,-0.000605660074946,-6.83530786083e-05,1793239492207895552
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.887129799,745.887129799,714,682.887129799,658,632,880,784,804.887129799,651.887129799,630,652.887129799,0.449239128624,-0.00556857150203,0.0795910092848,0.999999805892,-0.00011505085012,-0.000608544676334,-6.82137220106e-05,1793239492224562432
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.529854555,745.529854555,714,683,657.529854555,632,880.470145445,784,805,651.529854555,630,653,0.449248812131,-0.00556839517126,0.0795891925663,0.999999804252,-0.000114484407574,-0.000611382233006,-6.78378325847e-05,1793239492241229312
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.052710129,714,682.947289871,657.052710129,632,880.947289871,784,805,651.052710129,630.052710129,653,0.449257010722,-0.00556782071127,0.0795876644106,0.999999802944,-0.000113376177805,-0.000613768735435,-6.74206777776e-05,1793239492257895680
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.631459099,714,682.368540901,657.631459099,632,880.368540901,784,805,651.631459099,630.631459099,653,0.449263547233,-0.00556621683897,0.0795886740089,0.999999804481,-0.000110765671159,-0.000611766435456,-6.71580680562e-05,1793239492274562304
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.791308541,746,714,682.208691459,658,632,880.417382918,784.208691459,805,651.791308541,630.791308541,653,0.449268281136,-0.00556485116261,0.0795889418255,0.999999804918,-0.000109240397769,-0.000611335584194,-6.70813611136e-05,1793239492291228928
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.216735165,746,714,682.783264835,658,632,881.56652967,784.783264835,805,651.216735165,630.216735165,653,0.449269854674,-0.00556390309608,0.0795879091359,0.999999803436,-0.000109617776539,-0.000613659827455,-6.73305825478e-05,1793239492307895552
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.366599299,746,714,682.633400701,658,632,881.266801402,784.633400701,805,651,630.366599299,653,0.449270884079,-0.00556445367527,0.0795873677271,0.999999802492,-0.000112529067401,-0.000614678108928,-6.72540765553e-05,1793239492324562176
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.955240151,746,714,682.044759849,658,632,880.089519698,784.044759849,805,651,630.955240151,653,0.449271583914,-0.00556591195295,0.0795871238769,0.999999801861,-0.000116975095974,-0.00061490539648,-6.69802842415e-05,1793239492341228544
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.464725377,714,682,657.464725377,632,880.535274623,784,805,651.535274623,630.464725377,653,0.449272006382,-0.00556473482306,0.0795862998587,0.999999800926,-0.000115559591231,-0.000616675059314,-6.71261110922e-05,1793239492357895424
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.114144853,745,714,682,657,632,880.885855147,784,804.885855147,652,630,653,0.449272284707,-0.00556397074756,0.0795855363821,0.999999800138,-0.000114059527607,-0.000618225524019,-6.71721605675e-05,1793239492374562560
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.691165931,745,714,682,657,632,880.308834069,784,804.308834069,652,630,653,0.449272071069,-0.00556576118667,0.0795852120309,0.999999800067,-0.000114172724848,-0.000618372369083,-6.66735574023e-05,1793239492391229184
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.733264263,745,714,682.266735737,657.266735737,632,880.266735737,784,804.266735737,651.733264263,630,652.733264263,0.449271673055,-0.00556652286184,0.0795844780106,0.999999799473,-0.000114016763941,-0.00061938711492,-6.64422551007e-05,1793239492407896064
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.159365614,745,714,682.840634386,657.840634386,632,880.840634386,784,804.840634386,651.159365614,630,652.159365614,0.449271062719,-0.00556609985112,0.0795832722305,0.999999798271,-0.000113550850573,-0.000621401302894,-6.65187664269e-05,1793239492424562432
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.573024935,745,714,683,658,632,881,784.426975065,805,651.426975065,630,652.426975065,0.449272291629,-0.00556631984824,0.0795837688537,0.999999798891,-0.000113988749826,-0.00062036410883,-6.61224576315e-05,1793239492441229056
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.017713605,745,714.017713605,683,658,632,880.982286395,784.982286395,805,652,630,652.982286395,0.449274171545,-0.00556676160204,0.0795848669076,0.999999800148,-0.000114748846215,-0.000618253829415,-6.55665097498e-05,1793239492457895424
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.596250429,745,714.596250429,683,658,632,880.403749571,784.403749571,805,652,630,652.403749571,0.449274275778,-0.005566397747,0.0795842853226,0.99999979949,-0.00011470887743,-0.000619309814279,-6.57113606961e-05,1793239492474562304
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.173275558,714.826724442,683,658,632,880.173275558,784,804.826724442,652,630,652.173275558,0.449274391501,-0.00556575505706,0.0795837310165,0.999999799041,-0.000114833734767,-0.00061999656992,-6.58512777951e-05,1793239492491229184
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.746808718,714.253191282,683,658,632,880.746808718,784,804.253191282,652,630,652.746808718,0.449274533769,-0.00556446827291,0.0795832397233,0.999999799077,-0.000115339331947,-0.000619830425042,-6.59797979532e-05,1793239492507896064
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.677973133,784,804.322026867,651.677973133,630,653,0.449275692271,-0.00556388102795,0.0795837501752,0.999999799771,-0.000115026062328,-0.000618762916571,-6.60270095819e-05,1793239492524562688
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.101423232,784,804.898576768,651.101423232,630,653,0.449277653983,-0.00556384668361,0.0795850523845,0.999999800982,-0.000114065578174,-0.000616982989921,-6.60099567104e-05,1793239492541229568
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,682.51406664,658,632,880.48593336,784,804.51406664,651.48593336,630,653,0.449276754502,-0.00556330996791,0.079584421623,0.999999800494,-0.000111984750712,-0.000618139692844,-6.61385532814e-05,1793239492557895936
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.925614411,714,682.074385589,658,632,881,784,804.074385589,651.925614411,630.074385589,653,0.449275633935,-0.00556298474446,0.0795836247179,0.999999799756,-0.000110272439097,-0.000619635338784,-6.61844775266e-05,1793239492574562560
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.345398892,714,682.654601108,658,632,881,784,804.654601108,651.345398892,630.654601108,653,0.449277163233,-0.00556482692796,0.0795845038993,0.99999979982,-0.000112692353984,-0.00061917305247,-6.54567979064e-05,1793239492591228928
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682.767648576,657.767648576,631.767648576,880.767648576,784,804.767648576,651,630.767648576,653,0.449277625714,-0.00556513240429,0.0795847228203,0.999999799774,-0.00011303801168,-0.000619222577359,-6.50947685598e-05,1793239492607895552
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682.193524319,657.193524319,631.193524319,880.193524319,784,804.193524319,651,630.193524319,653,0.449276518983,-0.00556317749121,0.0795839705443,0.999999799568,-0.000110332581228,-0.000620024940972,-6.52705853045e-05,1793239492624562176
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.389286185,714,682.389286185,657,631.389286185,880,784,804,651.389286185,630,653,0.449277092456,-0.00556338322361,0.0795846906477,0.999999800394,-0.000110842029822,-0.000618605629037,-6.52216549491e-05,1793239492641229056
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.976513366,714,682.976513366,657,631.976513366,880,784,804,651.976513366,630,653,0.449278520266,-0.00556468758313,0.0795861594142,0.999999801738,-0.000112986153485,-0.00061605665798,-6.50584470499e-05,1793239492657895936
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.441212786,714,682.441212786,657.558787214,631.441212786,880,784,804,651.441212786,630,653,0.449278076765,-0.00556486169343,0.0795855223463,0.999999800947,-0.000113142665894,-0.000617313038278,-6.5035296265e-05,1793239492674562816
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.138967858,714,682.138967858,658,631.138967858,880,784,804.138967858,651.138967858,630.138967858,653,0.449277810226,-0.00556436180062,0.079584969631,0.999999800313,-0.000112837271763,-0.000618377695903,-6.52009785101e-05,1793239492691229184
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.713238152,714,682.713238152,658,631.713238152,880,784,804.713238152,651.713238152,630.713238152,653,0.449278342207,-0.00556189816298,0.0795849559578,0.999999800452,-0.000111344391066,-0.000618345194835,-6.59398829066e-05,1793239492707895552
+253,4.216666667,HOLD_POSE2,765,745,714,682,657,632,882,784,804,652,630,653,0.449278662014,-0.00556654106427,0.0795849801646,0.999999800289,-0.000114974854616,-0.000618061767801,-6.4826886474e-05,1793239492745159936
+254,4.233333333,HOLD_POSE2,765.589112182,745,714,682.589112182,657.589112182,632,880.821775636,784,804.589112182,651.410887818,630,653,0.449279388909,-0.00556444678682,0.079586008609,0.9999998011,-0.000113713790173,-0.000616961195817,-6.50174318549e-05,1793239492761826560
+255,4.250000000,HOLD_POSE2,765.824480338,745.175519662,714,683,657.824480338,632,880.175519662,784,805,651.175519662,630,653,0.4492793434,-0.00556339160179,0.0795859921033,0.999999800988,-0.000113042920324,-0.000617245196848,-6.52142481103e-05,1793239492778493184
+256,4.266666667,HOLD_POSE2,765.244308304,745.755691696,714,683,657.244308304,632,880.755691696,784,805,651.755691696,630,653,0.449277517148,-0.00556473199531,0.0795835665142,0.999999798745,-0.000113732716257,-0.000620721265973,-6.54255216111e-05,1793239492795160064
+257,4.283333333,HOLD_POSE2,765,746,714,682.667838674,657.332161326,632,880.667838674,784,805,652,630,653,0.449277694518,-0.00556526675003,0.0795830282495,0.999999798426,-0.000113222230609,-0.000621343510504,-6.52798122436e-05,1793239492811826944
+258,4.300000000,HOLD_POSE2,765,746,714,682.094062219,657.905937781,632,880.094062219,784,805,652,630,653,0.449279329326,-0.00556521548065,0.0795838628303,0.99999979951,-0.000111838656555,-0.000619889874397,-6.48744324713e-05,1793239492828493824
+259,4.316666667,HOLD_POSE2,765,746,714,682.491867726,657.508132274,632,880.491867726,784.491867726,804.508132274,652,630.491867726,653,0.449280299799,-0.00556395028474,0.0795847632869,0.999999800539,-0.000111975624138,-0.000618163603978,-6.52434795625e-05,1793239492845159936
+260,4.333333333,HOLD_POSE2,765,745.921059533,714,682.921059533,657,632,880.921059533,784.921059533,804.078940467,651.921059533,631,653,0.449280885575,-0.00556268294679,0.0795855488551,0.999999801358,-0.000112271629527,-0.000616739454268,-6.56609073896e-05,1793239492861826560
+261,4.350000000,HOLD_POSE2,765,745.341846708,714,682.341846708,657,632,880.341846708,784.341846708,804.658153292,651.341846708,631,653,0.449279858914,-0.00556291048712,0.0795855244778,0.999999800927,-0.000111686050928,-0.000617568727052,-6.54226195424e-05,1793239492878493184
+262,4.366666667,HOLD_POSE2,765,745.236556638,714,682,657,632,880.236556638,784,804.763443362,651.236556638,631,653,0.449279805499,-0.00556321952831,0.0795855363911,0.999999800856,-0.000111734531423,-0.00061770816389,-6.51078304381e-05,1793239492895159552
+263,4.383333333,HOLD_POSE2,765,745.81379415,714,682,657,632,880.81379415,784,804.18620585,651.81379415,631,653,0.449281153719,-0.00556364594424,0.0795856005691,0.999999801303,-0.000112696162442,-0.000616854122246,-6.46828668296e-05,1793239492911826432
+264,4.400000000,HOLD_POSE2,765,746,713.610804133,682.389195867,657,632,880.610804133,784,804,652,630.610804133,653,0.449280425744,-0.00556409723104,0.0795847498738,0.999999800581,-0.000113536308773,-0.000617848524959,-6.48889709597e-05,1793239492928493056
+265,4.416666667,HOLD_POSE2,765,746,713.036276555,682.963723445,657,632,880.036276555,784,804,652,630.036276555,653,0.449278709103,-0.00556456036117,0.0795834635237,0.999999799299,-0.000114318605228,-0.00061972314084,-6.53955840607e-05,1793239492945159936
+266,4.433333333,HOLD_POSE2,765,745.447987904,713.552012096,683,657,632,880.552012096,784,804,652,630,653,0.4492797024,-0.00556410574835,0.0795843353221,0.999999800076,-0.000113790979827,-0.000618579568255,-6.52535597623e-05,1793239492961826816
+267,4.450000000,HOLD_POSE2,765,745,714,682.860947208,657,632,881,784,804.139052792,651.860947208,630,652.860947208,0.449280884246,-0.00556356584,0.0795853031036,0.999999800993,-0.000113293322788,-0.000617211651589,-6.50212793099e-05,1793239492978493440
+268,4.466666667,HOLD_POSE2,765,745,714,682.280806961,657,632,881,784,804.719193039,651.280806961,630,652.280806961,0.449282084828,-0.00556295157045,0.0795861139629,0.999999801916,-0.000113170775234,-0.000615777352504,-6.4641370304e-05,1793239492995159808
+269,4.483333333,HOLD_POSE2,765,745.296598478,714,682,657,632,881,784,805,651,630.296598478,652.296598478,0.449281570261,-0.00556252106365,0.0795856182105,0.999999801518,-0.000112600421542,-0.000616522428404,-6.46903018143e-05,1793239493011826176
+270,4.500000000,HOLD_POSE2,765,745.871438337,714,682,657,632,881,784,805,651,630.871438337,652.871438337,0.4492794467,-0.00556226294616,0.0795838967154,0.999999799876,-0.000111609977372,-0.000619311993316,-6.51415320303e-05,1793239493028492800
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,632,880,784,805,651,630,653,0.449281044643,-0.00556378335006,0.0795859575703,0.999999800654,-0.000114079637589,-0.000617617183637,-6.50152000234e-05,1793239493061614080
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.600475865,714,682.399524135,657.399524135,632,880,784,805,651.600475865,630.600475865,653,0.449282078503,-0.00556270548429,0.0795861264547,0.999999801888,-0.000111746810205,-0.000616075604534,-6.47170498205e-05,1793239493078281216
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.806852241,714,682.193147759,657.193147759,632,880.193147759,784,805,651.806852241,630.806852241,653,0.449282430064,-0.00556234339837,0.0795859756665,0.999999802401,-0.00011055625025,-0.000615478120896,-6.4509026038e-05,1793239493094947840
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.229695786,714,682.770304214,657.770304214,632,880.770304214,784,805,651.229695786,630.229695786,653,0.449281425105,-0.00556340439732,0.0795851893178,0.999999801495,-0.000111636700578,-0.000616757650069,-6.44801879694e-05,1793239493111614208
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.346532943,714,683,657.653467057,632,880.653467057,784,805,651.346532943,630,653,0.449280697515,-0.00556284747578,0.0795846823132,0.999999800877,-0.000111477369824,-0.00061775067012,-6.4833565491e-05,1793239493128280576
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.922148347,714,683,657.077851653,632,880.077851653,784,805,651.922148347,630,653,0.449280153286,-0.00556122099582,0.0795843599745,0.999999800449,-0.000110498457185,-0.000618554287568,-6.54396141947e-05,1793239493144946944
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.49041109,714,683,657,632,880,784,805,651.49041109,630,652.49041109,0.449280565974,-0.00556222228836,0.0795849635742,0.999999800805,-0.000111801492683,-0.000617745035314,-6.5430138495e-05,1793239493161613568
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.09724208,745.09724208,714,682.90275792,657,632,880.09724208,784,805,651,630,652.09724208,0.449280858083,-0.00556318231833,0.0795854912063,0.99999980122,-0.00011307816698,-0.000616845859795,-6.53792794219e-05,1793239493178280192
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.676776789,745.676776789,714,682.323223211,657,632,880.676776789,784,805,651,630,652.676776789,0.449279809863,-0.00556189930115,0.0795849237987,0.999999801334,-0.000112453960944,-0.000616751814541,-6.56006409278e-05,1793239493194947072
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.745516082,745.745516082,714,682,657,632,880.745516082,784,805,651.254483918,630,653,0.449271708845,-0.00556088456952,0.0795804452188,0.999999797584,-0.000111000814888,-0.000623052287758,-6.56944127972e-05,1793239493211613696
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.170113678,745.170113678,714,682,657,632,880.170113678,784,805,651.829886322,630,653,0.449254713855,-0.00556020816111,0.0795710344315,0.99999978881,-0.000108502329027,-0.000637416607126,-6.56272869559e-05,1793239493228280320
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.404808125,714,682.404808125,657,632,880,784,804.595191875,652,630.404808125,653,0.449218388633,-0.00555999860122,0.0795543585722,0.999999770591,-0.000108707950343,-0.000665332625372,-6.58186862376e-05,1793239493244947200
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.979528251,714,682.979528251,657,632,880,784,804.020471749,652,630.979528251,653,0.44917394984,-0.00555998499379,0.0795346333097,0.999999747502,-0.000110048578864,-0.000698936762008,-6.61185974093e-05,1793239493261613824
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,657,632,880,784,804.570635734,652,630.429364266,652.429364266,0.449107242855,-0.00555765505394,0.079515038051,0.999999723633,-0.000107315292595,-0.000732736471792,-6.56932924993e-05,1793239493278280704
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,657.158595433,632,880.158595433,784,805.158595433,652,630.158595433,652.158595433,0.449037170304,-0.00555570052928,0.0794990236252,0.999999703853,-0.000105176706974,-0.000759611800984,-6.49765718939e-05,1793239493294947072
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,657.736629492,632,880.736629492,784,805.736629492,652,630.736629492,652.736629492,0.448960372071,-0.00555496513881,0.0794924667536,0.999999697435,-0.000105008891319,-0.00076815506934,-6.35599846956e-05,1793239493311613696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.687339628,714,682.687339628,658,632,881,784,805.374679256,652,630.687339628,653,0.448877153941,-0.00555429996934,0.0794918094756,0.999999696451,-0.000104322135589,-0.000769698360489,-6.14753106068e-05,1793239493328280064
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.112985424,714,682.112985424,658,632,881,784,804.225970848,652,630.112985424,653,0.448788562422,-0.00555369357423,0.0794960901032,0.999999700039,-0.000103201031842,-0.000765382735134,-5.88314540725e-05,1793239493344946432
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.473651541,714,682,657.526348459,632,881,784.473651541,804,652,630,653.473651541,0.448681137402,-0.00555094868969,0.0794989651812,0.999999702474,-0.000100806692393,-0.000762716195004,-5.61599436964e-05,1793239493361613312
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.062194079,657,632,881,784.937805921,804.062194079,652,630.062194079,653.937805921,0.448564983911,-0.00554781471211,0.0795008636872,0.999999703944,-9.79755283224e-05,-0.000761359280044,-5.33306669127e-05,1793239493378279936
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.641569735,657,632,881,784.358430265,804.641569735,652,630.641569735,653.358430265,0.448414600879,-0.00554580006046,0.0794975036984,0.999999699805,-9.4104749646e-05,-0.000767534457633,-4.92457813196e-05,1793239493394946304
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.780005222,657.219994778,632,880.780005222,784,804.780005222,652,631,653,0.448251399588,-0.00554348478185,0.0794945654312,0.999999695948,-9.02180691801e-05,-0.000773263029598,-4.50536824821e-05,1793239493411612928
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.203122374,657.796877626,632,880.203122374,784,804.203122374,652,631,653,0.448067403802,-0.00554068180926,0.0794923113051,0.999999692598,-8.63055923063e-05,-0.0007782670919,-4.06876566073e-05,1793239493428279552
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632,880.371280431,784,804.371280431,652,631,653,0.447869642852,-0.00553672714588,0.0794952271634,0.999999694934,-7.89579150121e-05,-0.000776313552339,-3.51376007982e-05,1793239493444946176
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632,880.944335495,784,804.944335495,652,631,653,0.44766440112,-0.0055321465888,0.0795009526813,0.999999700253,-6.97433565664e-05,-0.000770578861666,-2.89440762366e-05,1793239493461612800
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.534296924,658,632,880.465703076,784.534296924,804.465703076,652,630.465703076,653,0.447436472743,-0.0055295492159,0.0795079868674,0.999999709559,-6.30541863557e-05,-0.000759219406303,-2.21619251273e-05,1793239493478279680
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.876900532,714,682.876900532,658.123099468,632,880,785,804,651.876900532,630.123099468,653,0.447194937073,-0.00552655125693,0.079514494631,0.999999717521,-5.50876794847e-05,-0.000749462825172,-1.51512283564e-05,1793239493494946304
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.299097167,714,682.299097167,658.700902833,632,880,785,804,651.299097167,630.700902833,653,0.44691215459,-0.00552128548987,0.0795185378313,0.999999719466,-4.13993545244e-05,-0.000747862230596,-7.53025201282e-06,1793239493511613184
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.277331667,658.722668333,632,880.277331667,785,804.277331667,651.277331667,631,653,0.446604352791,-0.00551579644955,0.0795242744432,0.999999722633,-2.21720194849e-05,-0.000744474156171,-3.28809574218e-07,1793239493528280064
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.852285372,658.147714628,632,880.852285372,785,804.852285372,651.852285372,631,653,0.446269701212,-0.00551006780098,0.0795318283614,0.99999972679,2.99957448025e-06,-0.000739167824666,6.42240421361e-06,1793239493544947712
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,632,880.573868326,785,804.573868326,652,631,653,0.445911619974,-0.00550522892668,0.0795415026754,0.999999733495,2.16486886427e-05,-0.000729693377255,9.40294339737e-06,1793239493561614336
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,658,632,880.000404911,785,804.000404911,652,631,653,0.445545438119,-0.00550069768509,0.0795519100998,0.999999740894,3.80427051864e-05,-0.000718777835889,1.10798007739e-05,1793239493578280704
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.404739213,658.595260787,632.595260787,880.595260787,785,804.595260787,651.404739213,631,653,0.445139698588,-0.00549546261791,0.0795589319048,0.999999750072,2.50483212151e-05,-0.000706489918221,1.00490552042e-05,1793239493594947072
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633,881,785,804.815431767,651.184568233,631,653,0.444719406933,-0.00548988878603,0.0795670459948,0.999999758885,2.47288795129e-05,-0.000693904074056,1.07421788655e-05,1793239493611613440
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,659,633,881,785,804.239635204,651.760364796,631,653,0.444268328516,-0.00548359793119,0.0795774804653,0.999999766901,5.13204649633e-05,-0.000680688773639,1.50934346114e-05,1793239493628280320
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.335942839,633,881,785.335942839,804.335942839,651.664057161,631.335942839,653,0.443789478976,-0.00547655639071,0.0795872895155,0.999999774894,6.1395309318e-05,-0.000667937776955,1.73795711689e-05,1793239493644946944
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,659.911365169,633,881,785.911365169,804.911365169,651.088634831,631.911365169,653,0.443290832527,-0.00546897971742,0.0795966527309,0.999999783201,5.96960678531e-05,-0.0006555177617,1.8193571751e-05,1793239493661613312
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.496708118,659.503291882,633.496708118,881,785.503291882,804.503291882,651,631.503291882,653,0.442785276123,-0.00546414156888,0.0796075617097,0.999999796066,5.24552921088e-05,-0.000636211609795,1.87580306447e-05,1793239493678280192
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.916827042,659.083172958,634,880.916827042,785.083172958,804,651.083172958,631,653,0.442271121509,-0.00545728143796,0.0796203106527,0.999999810209,5.14154641131e-05,-0.000613666018866,1.87572777414e-05,1793239493694946560
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.334469966,659.665530034,634,880.334469966,785.665530034,804,651.665530034,631,653,0.441712913535,-0.00543529317259,0.0796424134016,0.999999827755,9.36480613487e-05,-0.000579203305718,1.56369606114e-05,1793239493711613184
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,634,880,786.244240266,804,651.755759734,631,653,0.441122550503,-0.00541451351449,0.0796509086073,0.999999833353,0.000125184131117,-0.000563428233242,1.30939487612e-05,1793239493728279808
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,634,880,786.818029837,804,651.181970163,631,653,0.440488801222,-0.0053953646113,0.0796410433814,0.999999825724,0.000142287553011,-0.000572868085525,1.13298855019e-05,1793239493744946688
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,634,880,787,804,651,631,652.606119395,0.439811426584,-0.00539727263216,0.079622416893,0.999999812071,0.000141749987529,-0.000596347341783,1.16028605732e-05,1793239493761613568
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,634,880,787,804,651,631,652.029311376,0.439113791321,-0.00540895998426,0.0795997214686,0.999999794916,0.000133019532097,-0.000626346826705,1.28218841883e-05,1793239493778280448
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,660.558657402,634.558657402,880,786.441342598,805.117314804,651,631,652.558657402,0.43849094006,-0.00542475766138,0.0796519385048,0.999999846669,0.000107855350945,-0.000542921839586,1.62709621863e-05,1793239493794946816
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.145003772,745,714.145003772,682,661,635,880.145003772,786.145003772,805.709992457,651.145003772,631,652.854996228,0.437862569743,-0.00543662551621,0.0797126204816,0.999999894501,8.99635244092e-05,-0.000449990455995,2.03282422273e-05,1793239493811613184
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.724695217,745,714.724695217,682,661,635,880.724695217,786.724695217,804.550609566,651.724695217,631,652.275304783,0.437205652478,-0.00543605299897,0.0797866555425,0.999999934886,9.65100146174e-05,-0.000346764820688,2.58508651075e-05,1793239493828279808
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,635,880.698594746,787,804,652,631,652.301405254,0.436505108024,-0.00543225739717,0.0798333019276,0.999999955946,0.000105973981813,-0.000275631833364,3.00857823594e-05,1793239493844946432
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,635,880.1245812,787,804,652,631,652.8754188,0.43576510455,-0.00542554665175,0.0798551764233,0.999999965212,0.00011807668473,-0.000233525277581,3.31560251679e-05,1793239493861613056
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.539253878,745,714.539253878,682,661,635,880,787,804,652,631,653,0.434966029264,-0.00542057035629,0.0798434851538,0.99999996,0.000125386934663,-0.000251427876125,3.25820334375e-05,1793239493878279680
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.048473502,745,714,682,661,635,880,787,804.048473502,652,631,653,0.434147669443,-0.00541618053791,0.0798224353833,0.999999949868,0.000131335018335,-0.000286419882021,3.12830192618e-05,1793239493894946304
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.628135068,745,714,682,661,635,880,787,804.628135068,652,631,653,0.433297420118,-0.00541294893549,0.0798007918878,0.999999936811,0.000136913661491,-0.000326398639179,3.31087427572e-05,1793239493911613184
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.79316548,745,714.20683452,682,661,635,880,787,804.79316548,652,631,652.79316548,0.43242717873,-0.00540999855513,0.0797703743784,0.999999915726,0.000144777992778,-0.000382604648067,3.46646142889e-05,1793239493928279552
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.216187824,745,714.783812176,682,661,635,880,787,804.216187824,652,631,652.216187824,0.431521160361,-0.00540755143919,0.0797242552309,0.999999877637,0.000156732703303,-0.000467850321855,3.57375688781e-05,1793239493944946176
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.359795731,745,715,682,661,635,880,787,804,652,631,652,0.430688286409,-0.0054110113453,0.0797366148265,0.999999886931,0.000161119847262,-0.000445818838371,3.77404570464e-05,1793239493961612800
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.935183594,745,715,682,661,635,880,787,804,652,631,652,0.429899241137,-0.00541801078063,0.0797840152978,0.99999992161,0.000160972451219,-0.000359506123786,4.03005677973e-05,1793239493978279680
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.47676622,745,715,681.47676622,661,635,880,787,804.52323378,652,631,652.52323378,0.429085786814,-0.0054241340462,0.0798399570531,0.999999948504,0.000155380787319,-0.000277176798335,4.49736747074e-05,1793239493994946304
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.110845283,661,635,879.889154717,787,805,651.889154717,631,652.889154717,0.428252206805,-0.00542807661156,0.0798805048598,0.999999963666,0.000151230231172,-0.000217754500817,4.878434709e-05,1793239494011612928
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.689815264,661,635,879.310184736,787,805,651.310184736,631,652.310184736,0.427346718206,-0.00542327932879,0.0798514612569,0.999999954687,0.000156084657161,-0.000252938164777,4.78199154391e-05,1793239494028279808
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,635,879.267047886,787,804.732952114,651.267047886,631,652.267047886,0.426438095024,-0.00541969368929,0.079816481629,0.999999940605,0.000162412380029,-0.000300429944915,4.64187781263e-05,1793239494044946688
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,635,879.842275628,787,804.157724372,651.842275628,631,652.842275628,0.425525854339,-0.00541750631543,0.0797746516779,0.999999918917,0.000170440324229,-0.000362125599117,4.45136714905e-05,1793239494061613312
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.583091746,681.166183492,661,635,879.583091746,787,804,651.583091746,631.416908254,652.583091746,0.424603489961,-0.00541299416028,0.0797535350012,0.999999902919,0.000177317698893,-0.000400890454723,4.48093049527e-05,1793239494078279936
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.008683977,680.017367955,661,635,879.008683977,787,804,651.008683977,631.991316023,652.008683977,0.423677301111,-0.00540760374986,0.0797402433837,0.999999889184,0.000183760411168,-0.000430992514275,4.59363336759e-05,1793239494094946560
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.583699019,661,635.583699019,879.583699019,787,804,651.583699019,631.416300981,652.583699019,0.422826071038,-0.00540570634396,0.0797537396102,0.999999901804,0.000189823204393,-0.000397772570022,4.62201944812e-05,1793239494111613184
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.171624401,681,661,635.828375599,880,787.171624401,804,652,631.171624401,653,0.421995349964,-0.00540654685608,0.0797826602511,0.999999922436,0.000193017278636,-0.000340053879039,4.72839233217e-05,1793239494128279808
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.748376017,681,661,635.251623983,880,787.748376017,804,652,631.748376017,653,0.421210325246,-0.00541372377995,0.0798470202701,0.999999955074,0.000189453375833,-0.000226799244225,5.02191179705e-05,1793239494144946432
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.324544347,715,681,661,635,880,788,804,652,632,653,0.42038594654,-0.00541740219692,0.0798727853547,0.999999963935,0.000187618915548,-0.00018504615103,5.18330625174e-05,1793239494161613056
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.900261232,715,681,661,635,880,788,804,652,632,653,0.419531110891,-0.00541837303642,0.0798686809048,0.999999961391,0.000187122913161,-0.000198629796466,5.24244606217e-05,1793239494178279680
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.487379007,745.512620993,715,681,661,635.487379007,879.512620993,787.512620993,804,652,631.512620993,653,0.418633827816,-0.00541761075103,0.0798299818606,0.999999946791,0.000182358775459,-0.000265954922676,4.93017354501e-05,1793239494194946304
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,636,879.075523584,787.075523584,804,652,631,653,0.417740681944,-0.00541675284088,0.0797923540535,0.999999928218,0.000177903381232,-0.000331345374322,4.60888631296e-05,1793239494211612928
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,636,879.654585694,787.654585694,804,652,631,653,0.416934423737,-0.00541767871895,0.0798102005967,0.999999934743,0.00018146948891,-0.000308754577483,4.74639534796e-05,1793239494228279552
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.768059219,745,715,680.768059219,661,636,879.768059219,787.768059219,804,652,631.231940781,652.768059219,0.416125406622,-0.00541667997423,0.0798157848587,0.999999935003,0.000186568084876,-0.000304717412675,4.82984076835e-05,1793239494244946432
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.193227633,745,715,680.193227633,661,636,879.193227633,787.193227633,804,652,631.806772367,652.193227633,0.415312310742,-0.005412835954,0.079803241119,0.999999926199,0.00019393224308,-0.00032810909861,4.83336099702e-05,1793239494261613056
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.382770032,661,635.617229968,879,787,804,652,632,652.382770032,0.414550102951,-0.00540947591086,0.0797992439508,0.999999925222,0.000195967493059,-0.000330019755488,4.73335835013e-05,1793239494278279680
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.959358115,661,635.040641885,879,787,804,652,632,652.959358115,0.413813662717,-0.00540636093284,0.0797995743945,0.999999928341,0.000195304415907,-0.000321053354736,4.58093623438e-05,1793239494294946304
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.54633324,715,680.45366676,661,635,879.54633324,787,804,652,631.45366676,652.45366676,0.413095051625,-0.00540628246236,0.0798160819707,0.999999936475,0.000199734022651,-0.000291361748009,4.75983248008e-05,1793239494311612928
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,746,715,680,661,635,879.867716044,787,804,652,631,652.132283956,0.412374281762,-0.00540571899116,0.0798261152133,0.999999939926,0.000204674511932,-0.00027542734886,4.89440974489e-05,1793239494328279552
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,746,715,680,661,635,879.287895887,787,804,652,631,652.712104113,0.411641634412,-0.00540273567181,0.0798100945676,0.999999928323,0.000210036859684,-0.000311352692364,4.79404929539e-05,1793239494344946432
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.289240458,745.710759542,715,680,661,635,879,787,804,652,631,652.710759542,0.410940827206,-0.00539980447267,0.0797991726533,0.999999920119,0.00021514653519,-0.000333552381548,4.70835020134e-05,1793239494361612800
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.863729993,745.136270007,715,680,661,635,879,787,804,652,631,652.136270007,0.41027142081,-0.00539692467469,0.0797932791112,0.999999916167,0.000220007025079,-0.000342215822077,4.63711015323e-05,1793239494378279680
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.561615344,745,715,680,661,635,879,787,804,652,631.438384656,652.438384656,0.409667221412,-0.00539546529632,0.0798117472315,0.999999926161,0.000222114404434,-0.00030998719324,4.74416763885e-05,1793239494394946304
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.013503777,745.013503777,715,680,661,635.013503777,879,787,804,652,631.986496223,653,0.409083087345,-0.00539446435877,0.079837338629,0.999999938477,0.000223449153197,-0.000265912033788,4.90600416924e-05,1793239494411612928
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.606344141,745.606344141,715,680,661,635.606344141,879,787,804,652,631.393655859,653,0.408489876111,-0.00539418173205,0.0798435256362,0.999999939079,0.000228365555063,-0.000259135248209,5.03931638416e-05,1793239494428279552
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.806206892,745.806206892,715,679.806206892,661,635.806206892,879,787,804,652,631,653,0.40789806451,-0.00539357435314,0.079836259801,0.999999934117,0.000230448940674,-0.000275884406398,5.04677582094e-05,1793239494444946432
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.229413046,745.229413046,715,679.229413046,661,635.229413046,879,787,804,652,631,653,0.407309018955,-0.00539232515399,0.0798024065995,0.999999915592,0.000226933328072,-0.000339128786202,4.80550760404e-05,1793239494461613056
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.347128522,745,715,679.347128522,660.652871478,635,879,787,804,652,631,653,0.406775702463,-0.00539009673651,0.0797830738768,0.999999904809,0.00022990719572,-0.000367941829642,4.63026562353e-05,1793239494478279680
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.923503448,745,715,679.923503448,660.076496552,635,879,787,804,652,631,653,0.406279189919,-0.00538722163564,0.0797733305942,0.99999990092,0.000237166767736,-0.000374016144809,4.49862791128e-05,1793239494494946304
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.489023218,660.510976782,635.510976782,879,787.510976782,804,652.510976782,631,653,0.40585070747,-0.00538793008899,0.07979084016,0.999999915187,0.000232857939259,-0.000336631205989,4.56370278845e-05,1793239494511612928
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.09849499,661,635.90150501,879,787.90150501,804.09849499,652.90150501,631,653,0.405432586119,-0.00538898592953,0.0798110055121,0.99999992846,0.000228428178,-0.00029789584582,4.6467620261e-05,1793239494528279552
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.677939092,661,635.322060908,879,787.322060908,804.677939092,652.322060908,631,653,0.405014222723,-0.00538906026503,0.0798237744862,0.999999931361,0.000232052325419,-0.00028504107954,4.67064625594e-05,1793239494544946176
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,804.74476132,652,631,652.74476132,0.4046138777,-0.00538868579334,0.0798311130867,0.999999931436,0.00023777591679,-0.000279858324668,4.76421655647e-05,1793239494561613056
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,804.17014518,652,631,652.17014518,0.404236078908,-0.00538774973396,0.0798316567174,0.999999928082,0.000246126519903,-0.000284275477455,4.94498429834e-05,1793239494578279680
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.404702697,715,679.595297303,661,635.404702697,879,787,804,652,631.404702697,652.404702697,0.403883621,-0.00538651719169,0.079831941654,0.999999928274,0.000239283637387,-0.000289564181046,4.84608254668e-05,1793239494594946304
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.979648106,715,679.020351894,661,635.979648106,879,787,804,652,631.979648106,652.979648106,0.403541822988,-0.0053851599305,0.0798321177681,0.999999929802,0.000226049446028,-0.000295219512554,4.62953471188e-05,1793239494611612928
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.4281191,745.4281191,715.5718809,679,661.5718809,635.4281191,878.4281191,787,804,652,631.4281191,653,0.403265597521,-0.0053873968946,0.0798405159954,0.999999934561,0.000222242863599,-0.000281659648661,4.64045823764e-05,1793239494628279808
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745.160585558,715.839414442,679.160585558,661.839414442,635,878.160585558,787,803.839414442,652,631,653,0.402995513312,-0.00538859602711,0.0798463631532,0.99999993685,0.000222474040717,-0.000273191272171,4.66117888271e-05,1793239494644946432
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745.738473468,715.261526532,679.738473468,661.261526532,635,878.738473468,787,803.261526532,652,631,653,0.402735134779,-0.00538675546866,0.0798447969529,0.999999932781,0.000232298824157,-0.00027978617698,4.68566653972e-05,1793239494661613056
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745.686435436,715,679.686435436,661,635.313564564,879,787,803.313564564,652,631,653,0.402501837987,-0.0053868500555,0.0798410144465,0.999999930471,0.000235498051104,-0.000285366402863,4.65293842873e-05,1793239494678279680
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745.113656419,715,679.113656419,661,635.886343581,879,787,803.886343581,652,631,653,0.402290928874,-0.00538854436924,0.0798353997861,0.999999929677,0.000233220127923,-0.00029010782362,4.57291175106e-05,1793239494694946304
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.526426691,879,787,804,652,631,652.526426691,0.402116895569,-0.00538813362966,0.0798394120621,0.999999931491,0.000234570174841,-0.000282589698515,4.62468773835e-05,1793239494711613184
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.063166003,635.063166003,879,787,803.936833997,652,631,652.063166003,0.401954524339,-0.00538735776469,0.079845814833,0.999999933955,0.000236249027082,-0.000272149823839,4.7009877587e-05,1793239494728279808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.642829389,635.642829389,879,787,803.357170611,652,631,652.642829389,0.401812868418,-0.00538785734864,0.0798522775712,0.999999937194,0.000233272783656,-0.000262634891216,4.71102365577e-05,1793239494744946432
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.2207956,745,715,679,661.7792044,636,879,787,803.2207956,652,631,653,0.401678392795,-0.0053881938541,0.079855615558,0.999999938754,0.000231288202209,-0.000258427325918,4.70459720982e-05,1793239494761613056
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.796037259,745,715,679,661.203962741,636,879,787,803.796037259,652,631,653,0.401555443811,-0.00538826856747,0.0798539373401,0.999999937736,0.000230895548998,-0.000262739747633,4.67174354926e-05,1793239494778279680
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.629744256,745,715,679,661,636,879,787,803.629744256,652,631,653,0.401448221705,-0.00538790680573,0.0798504336491,0.999999935836,0.000233302084914,-0.000267954600037,4.5812112688e-05,1793239494794946304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.056087802,745,715,679,661,636,879,787,803.056087802,652,631,653,0.401349639178,-0.00538730526555,0.0798459271307,0.999999933417,0.000237246360764,-0.000273665204884,4.45899312339e-05,1793239494811612928
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.534869656,661,635.465130344,879.534869656,787,803.534869656,651.465130344,631.534869656,652.465130344,0.401270976841,-0.00538684819928,0.0798404471472,0.999999930545,0.000239431137254,-0.0002821984474,4.41251925858e-05,1793239494828279808
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.124204767,745,715,680,661,635,879.751590466,787,803.875795233,651.124204767,631.875795233,652.124204767,0.401199594627,-0.00538691018633,0.0798356131994,0.999999928138,0.000240425674447,-0.000289835308552,4.37646123875e-05,1793239494844946688
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.70080208,745,715,680,661,635,878.598395839,787,803.29919792,651.70080208,631.29919792,652.70080208,0.401146866182,-0.00538880570231,0.0798335165495,0.999999927833,0.000237779480253,-0.000293093149372,4.34844397855e-05,1793239494861613312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.724235784,661,635.275764216,878.275764216,787,803.275764216,652,631.275764216,652.724235784,0.401103022054,-0.0053890957568,0.0798330378105,0.999999927981,0.000236943758867,-0.000293276100724,4.3408440311e-05,1793239494878279936
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.151037356,661,635.848962644,878.848962644,787,803.848962644,652,631.848962644,652.151037356,0.401068760391,-0.00538765418994,0.0798343041203,0.999999928624,0.000238060780322,-0.000290142532642,4.35526582343e-05,1793239494894946816
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.43632725,715.43632725,679.43632725,661,635.56367275,879,787,804,652,631.56367275,652.43632725,0.401044936637,-0.00538793407001,0.0798361554263,0.999999929472,0.000239136461232,-0.000286292633317,4.3655999273e-05,1793239494911613440
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.971879868,745.971879868,715.971879868,679.971879868,661,635,879,787,803.971879868,652,631.028120132,653,0.401025223521,-0.00538883949629,0.079838146373,0.999999930376,0.000240055281974,-0.000282322587395,4.37570797803e-05,1793239494928280064
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.392629882,745.392629882,715.392629882,679.392629882,661,635,879,787,803.392629882,652,631.607370118,653,0.401012884495,-0.00538993426823,0.0798387721545,0.999999931174,0.00023818966231,-0.000281020697125,4.41004851958e-05,1793239494944946688
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.185245855,745,715,679,661.185245855,635.185245855,879,787,803.185245855,651.814754145,631.814754145,653,0.401001983946,-0.00539053200663,0.0798391421269,0.999999931613,0.000237259866112,-0.000280229170788,4.41889854341e-05,1793239494961613312
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.76023024,745,715,679,661.76023024,635.76023024,879,787,803.76023024,651.23976976,631.23976976,653,0.400994109805,-0.00539008403658,0.0798389739028,0.999999931307,0.000238298948009,-0.00028051139868,4.37411909361e-05,1793239494978279936
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.335084054,715,679.335084054,661.664915946,635.664915946,879.335084054,787.335084054,804,651.335084054,631,652.664915946,0.400988350814,-0.00538955710798,0.0798388028471,0.999999931116,0.000238189205423,-0.000281319038097,4.3512668733e-05,1793239494994946304
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.909844533,715,679.909844533,661.090155467,635.090155467,879.909844533,787.909844533,804,651.909844533,631,652.090155467,0.40098410473,-0.00538897370244,0.0798386297662,0.999999931007,0.000237257740328,-0.000282502489983,4.34409859375e-05,1793239495011612928
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.500672095,715,680,661.499327905,635,879.500672095,787.500672095,803.500672095,651.500672095,631,652.499327905,0.400983099944,-0.00538910057379,0.079839744173,0.999999931505,0.000238166701268,-0.000279980156047,4.33348403368e-05,1793239495028279808
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.910548568,635,879,787,803,651.089451432,631,653,0.400982923334,-0.00538943646216,0.0798409634742,0.999999932113,0.000239021192385,-0.000277079011661,4.32453864931e-05,1793239495044946176
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.3319032,635,879,787,803,651.6680968,631,653,0.400983978133,-0.00539019278144,0.0798414465158,0.999999932757,0.000237705322054,-0.000275876539545,4.32822798118e-05,1793239495061613056
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.754698009,661,635.245301991,879,787,803.245301991,652,631,653,0.400984685649,-0.00538985089852,0.0798421915255,0.999999933049,0.000238373051058,-0.000274244568664,4.32497634767e-05,1793239495078279680
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.179430096,661,635.820569904,879,787,803.820569904,652,631,653,0.400984926022,-0.00538803177808,0.0798432889194,0.999999932857,0.000241709002196,-0.000272034861178,4.31238813241e-05,1793239495094946304
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.597810649,787,804,652,631.402189351,653,0.400982938818,-0.00538878615798,0.0798425929766,0.999999932855,0.000240217845411,-0.000273402570166,4.28573961764e-05,1793239495111612928
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.013312117,787,804,652,631.986687883,653,0.400979941873,-0.00539070708482,0.0798410841287,0.999999932924,0.000236538599557,-0.000276391893161,4.25271768313e-05,1793239495128279552
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.433400391,878.566599609,787,804,651.433400391,631.433400391,653,0.400981696706,-0.00538921602804,0.0798419310539,0.999999932985,0.000238582700101,-0.000274440951917,4.23187941857e-05,1793239495144946432
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.853554284,745.146445716,715.146445716,679,661,635.146445716,879,787,804,651.146445716,631.146445716,653,0.400982829605,-0.00538844661994,0.0798426171885,0.999999933152,0.000239517911666,-0.000273039772191,4.21505536407e-05,1793239495161613312
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.273586077,745.726413923,715.726413923,679,661,635.726413923,879,787,804,651.726413923,631.726413923,653,0.400981793553,-0.00539004890749,0.0798426648043,0.999999933652,0.000236775614449,-0.000273606892029,4.20927397212e-05,1793239495178279936
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.302458457,745.697541543,715.697541543,679.302458457,661,635.697541543,878.697541543,787,804,652,631.697541543,652.697541543,0.400981043217,-0.00539047192713,0.0798427046552,0.999999933602,0.000236983230721,-0.000273601307154,4.21584763098e-05,1793239495194946560
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.874999386,745.125000614,715.125000614,679.874999386,661,635.125000614,878.125000614,787,804,652,631.125000614,652.125000614,0.400980548013,-0.00538984191111,0.0798427375724,0.999999933058,0.000239824993301,-0.00027308432152,4.23345382132e-05,1793239495211613184
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.460601214,635,878.460601214,787,804,652,631,652,0.400981268993,-0.00539042730103,0.0798433837515,0.999999933866,0.000237180799068,-0.000272423531282,4.24163271187e-05,1793239495228279808
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.950939507,745,715,679.950939507,661.950939507,635.049060493,879,787,803.950939507,652,631,652.049060493,0.400982332061,-0.00539135990374,0.0798441980346,0.999999934948,0.000233467287433,-0.000271648200674,4.24758766582e-05,1793239495244946432
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.371033574,745,715,679.371033574,661.371033574,635.628966426,879,787,803.371033574,652,631,652.628966426,0.400983421087,-0.00539237628619,0.0798449778712,0.999999935068,0.000234762910987,-0.000270068116573,4.25796985948e-05,1793239495261613056
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.792250065,879,787,803.207749935,652,631.207749935,652.792250065,0.400983040899,-0.00539292145358,0.0798450583851,0.99999993504,0.000235136777231,-0.000269840922666,4.26233890358e-05,1793239495278279936
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.215460425,879,787,803.784539575,652,631.784539575,652.215460425,0.400980050849,-0.005392629571,0.0798438966466,0.999999934749,0.000233873266013,-0.000272016955589,4.25602639892e-05,1793239495294946560
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.359773409,635,879,787.359773409,804,652,631.640226591,652.359773409,0.400980012627,-0.00539186906059,0.079844256489,0.999999934787,0.000234350734458,-0.000271500616193,4.2346129021e-05,1793239495311612928
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.934079495,635,879,787.934079495,804,652,631.065920505,652.934079495,0.400981734579,-0.00539082910768,0.0798455236493,0.999999935017,0.000235866348123,-0.000269378816649,4.20419469254e-05,1793239495328279552
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.523146888,745,715,679.523146888,661.476853112,635.523146888,879,787.476853112,804,652,631.523146888,653,0.400981232624,-0.00539050486088,0.0798442389447,0.999999934536,0.000236399654349,-0.000270704539639,4.19735281698e-05,1793239495344946688
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.111507202,636,879,787,804,652,632,653,0.400980862272,-0.00539038122754,0.0798432462849,0.999999934205,0.000236671933358,-0.000271690179391,4.1960693774e-05,1793239495361613312
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.688915718,636,879,787,804,652,632,653,0.40098224664,-0.00539070804982,0.0798448563871,0.999999934892,0.000236385772668,-0.000269387098222,4.20523724256e-05,1793239495378279936
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.734265296,745,715,680,662,635.734265296,879,787.265734704,804,652,631.734265296,653,0.400982775692,-0.00539065236992,0.0798454752444,0.999999934957,0.000236974059924,-0.000268615076176,4.21287878668e-05,1793239495394946560
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.158134843,745,715,680,662,635.158134843,879,787.841865157,804,652,631.158134843,653,0.400982305681,-0.00539014990218,0.079844936262,0.999999934298,0.000238583760305,-0.00026963143237,4.21873748783e-05,1793239495411613184
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.427149035,745,715,679.572850965,661.572850965,635.427149035,879,787.572850965,804,652,631.427149035,653,0.400981416078,-0.00539010797602,0.0798444345789,0.999999933966,0.000238459104236,-0.000270985320704,4.2092469787e-05,1793239495428279552
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.015637975,661.015637975,636,879,787,804,652,631.984362025,653,0.400980409889,-0.00539028131385,0.0798439772998,0.999999933774,0.000237671462063,-0.000272405167064,4.1951959947e-05,1793239495444946176
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.594836402,661.594836402,636,879,787,804,652,631.405163598,653,0.400980922756,-0.00539193340684,0.0798446117224,0.999999934225,0.000236636973292,-0.000271600173982,4.22606238951e-05,1793239495461613056
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d4a5c7be9db1df6f064371a33761d2330074565
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d3a556389f11916ae06c88c829630697aa249e6
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c15284b76f35afee348dc8d9640beb7be04840fa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,680,661,636,879,787,804,652,631,653,0.400983864703,-0.00538800983611,0.0798472297891,0.9999999347,0.00024043863129,-0.000266568805353,4.15901744339e-05,1793239495588231680
+1,0.016666667,BASELINE,765.427110241,745,715,680,661,636,878.427110241,787.572889759,803.427110241,652,631,652.427110241,0.400982742494,-0.00538899143524,0.0798468944993,0.999999934665,0.00023983657758,-0.000267266877087,4.14422231982e-05,1793239495604898304
+2,0.033333333,BASELINE,765.150394167,745,715,679.849605833,661.150394167,635.849605833,878.150394167,787.849605833,803.150394167,652,631,652.150394167,0.400982151791,-0.00538952755519,0.0798465921511,0.999999934622,0.000239576017226,-0.000267670746132,4.13716391841e-05,1793239495621564928
+3,0.050000000,BASELINE,765.74141888,745,715,679.25858112,661.74141888,635.25858112,878.74141888,787.25858112,803.74141888,652,631,652.74141888,0.40098311831,-0.00538875849356,0.0798463863162,0.999999934561,0.000240315976945,-0.000267212649129,4.15277285615e-05,1793239495638231552
+4,0.066666667,BASELINE,766,745.32605246,715,679.32605246,661.67394754,635.32605246,879,787,803.67394754,652,631,653,0.400983205043,-0.00538933092964,0.0798461230151,0.99999993479,0.000239432096179,-0.000267132524742,4.16244774645e-05,1793239495654898176
+5,0.083333333,BASELINE,766,745.905714858,715,679.905714858,661.094285142,635.905714858,879,787,803.094285142,652,631,653,0.400982607461,-0.00539094680874,0.0798458150158,0.999999935242,0.000237285160691,-0.000267346394824,4.16750701842e-05,1793239495671564800
+6,0.100000000,BASELINE,766,745.517613111,715,680,661,635.517613111,879,787,803.482386889,652,631,653,0.400982928792,-0.00539139077474,0.0798464845295,0.999999935423,0.000237375364273,-0.000266562405956,4.18580338525e-05,1793239495688231424
+7,0.116666667,BASELINE,766,745.058256649,715,680,661.058256649,635.058256649,879,787,804,652,631,653,0.400983204799,-0.00539146904665,0.0798471308136,0.999999935471,0.000237838932442,-0.000265944565589,4.20098459294e-05,1793239495704898304
+8,0.133333333,BASELINE,766,745.632166824,715,680,661.632166824,635.632166824,879,787,804,652,631,653,0.400981499641,-0.00539032539468,0.0798458907496,0.999999934818,0.00023776077227,-0.00026851309017,4.16583241844e-05,1793239495721564928
+9,0.150000000,BASELINE,765.796380309,745.796380309,715,679.796380309,661.796380309,635.796380309,879,787,804,652,631,653,0.400980800489,-0.00538937092234,0.0798453872257,0.999999934396,0.000238296857038,-0.000269640760126,4.14347711288e-05,1793239495738231552
+10,0.166666667,BASELINE,765.229313629,745.229313629,715,679.229313629,661.229313629,635.229313629,879,787,804,652,631,653,0.400981896989,-0.00538875412261,0.0798461983749,0.999999934394,0.00023992932632,-0.000268196604493,4.14396333227e-05,1793239495754898176
+11,0.183333333,BASELINE,765.359014489,745,715,679,661.359014489,635,878.640985511,787,804,652,631,653,0.400982322338,-0.00538939209283,0.0798463079634,0.999999934667,0.00023951406295,-0.000267535878486,4.15175436191e-05,1793239495771565056
+12,0.200000000,BASELINE,765.961777882,745,715,679,661.961777882,635,878.038222118,787,804,652,631,653,0.400982292018,-0.00539088197512,0.0798459412353,0.999999935127,0.000237708514382,-0.000267407053185,4.16450491144e-05,1793239495788231680
+13,0.216666667,BASELINE,766,745,715,679,661.461056692,635.538943308,878.538943308,787,804,652,631,653,0.40098289559,-0.00539029475661,0.0798465116954,0.999999935254,0.000237866037935,-0.000266821752462,4.1459333702e-05,1793239495804898304
+14,0.233333333,BASELINE,766,745,715,679.116124549,661.116124549,636,879,787,804,652,631,653,0.40098317117,-0.00538974656397,0.0798469424645,0.999999935265,0.000238138958812,-0.000266550275911,4.13534744932e-05,1793239495821564672
+15,0.250000000,BASELINE,766,745,715,679.700355986,661.700355986,636,879,787,804,652,631,653,0.400981951591,-0.00538992257581,0.0798465543482,0.999999934906,0.000238341287754,-0.000267668430901,4.16550068229e-05,1793239495838231552
+16,0.266666667,BASELINE,765.717184073,745,715,679.717184073,661.717184073,636,879,787,804,652,631,653,0.400981702574,-0.00539002853235,0.0798464599631,0.999999935059,0.000237565773432,-0.00026780392102,4.15333064452e-05,1793239495854898176
+17,0.283333333,BASELINE,765.136589387,745,715,679.136589387,661.136589387,636,879,787,804,652,631,653,0.400982475471,-0.00539006072721,0.0798466748495,0.99999993575,0.000235760681461,-0.000266904756734,4.09659815345e-05,1793239495871565056
+18,0.300000000,BASELINE,765,745,715,679.442703987,661,636,879,787.442703987,804,652,631,653,0.400982471855,-0.00539006157457,0.0798466481055,0.99999993541,0.000236902367822,-0.00026713122293,4.12123735228e-05,1793239495888232704
+19,0.316666667,BASELINE,765.021464681,745,715,679.978535319,661.021464681,636,879,787.978535319,804,652,631.021464681,653,0.400982224084,-0.00539006033851,0.0798465429087,0.999999934777,0.000238863760765,-0.00026767981672,4.1688949498e-05,1793239495904900096
+20,0.333333333,BASELINE,765.596810201,745,715,679.403189799,661.596810201,636,879,787.403189799,804,652,631.596810201,653,0.400981840172,-0.00539025418345,0.0798463314006,0.999999934865,0.000238585056167,-0.000267605231838,4.16458321513e-05,1793239495921566464
+21,0.350000000,BASELINE,765.824176254,745,715,679.175823746,662,635.824176254,879,787,803.824176254,652,631.824176254,652.824176254,0.400981686851,-0.00539014869101,0.0798460485034,0.999999934764,0.000239094800618,-0.000267537373354,4.15864906834e-05,1793239495938232832
+22,0.366666667,BASELINE,765.236572256,745,715,679.763427744,662,635.236572256,879,787,803.236572256,652,631.236572256,652.236572256,0.400982073574,-0.00538934214862,0.0798455984124,0.999999934216,0.000241451097439,-0.000267485268145,4.14891522336e-05,1793239495954899200
+23,0.383333333,BASELINE,765.346258251,745,715,680,661.653741749,635.346258251,879,787,803.346258251,652,631,652.346258251,0.400982512005,-0.00538991485333,0.0798456056444,0.999999934562,0.000240309222182,-0.000267245810872,4.13272657761e-05,1793239495971565568
+24,0.400000000,BASELINE,765.925871799,745,715,680,661.074128201,635.925871799,879,787,803.925871799,652,631,652.925871799,0.400982985283,-0.00539141707981,0.079845921082,0.999999935503,0.000236809809174,-0.000266880090618,4.11218781952e-05,1793239495988231936
+25,0.416666667,BASELINE,766,745,715,680,661.503228894,636,879,787,804,652,631,652.496771106,0.400982698212,-0.00539162232832,0.0798462845841,0.999999935289,0.000237419362217,-0.000267096853305,4.13884450188e-05,1793239496004898560
+26,0.433333333,BASELINE,766,745,715,679.920562074,661.920562074,636,879,787.079437926,804,652,631.079437926,652.079437926,0.400982418929,-0.00539156257948,0.0798466762836,0.999999934964,0.000238606639497,-0.00026720792881,4.17018333507e-05,1793239496021565184
+27,0.450000000,BASELINE,766,745,715,679.34941094,661.34941094,636,879,787.65058906,804,652,631.65058906,652.65058906,0.400982878052,-0.005391039834,0.0798471988919,0.999999934995,0.00023964012492,-0.000266136070947,4.18766331909e-05,1793239496038232320
+28,0.466666667,BASELINE,766,745.230662564,715,679.230662564,661.230662564,636,879,788,804.230662564,652,631.769337436,653,0.400982920479,-0.00539043666578,0.0798473997758,0.999999934804,0.00024090452191,-0.000265707997319,4.19051828712e-05,1793239496054899456
+29,0.483333333,BASELINE,766,745.824795611,715,679.824795611,661.824795611,636,879,788,804.824795611,652,631.175204389,653,0.40098230629,-0.00538970677007,0.079847093697,0.999999934263,0.000242532781693,-0.000266294377787,4.17032763478e-05,1793239496071566080
+30,0.500000000,BASELINE,765.591274111,745.591274111,715,679.591274111,662,636,879,787.591274111,804.591274111,652,631,653,0.400982255431,-0.00539065759492,0.0798468532271,0.999999934401,0.000241535126116,-0.000266656282006,4.18625511565e-05,1793239496088232448
+31,0.516666667,BASELINE,765.011610852,745.011610852,715,679.011610852,662,636,879,787.011610852,804.011610852,652,631,653,0.400982440167,-0.00539231133086,0.0798466401963,0.999999934821,0.000239439259988,-0.000266924305737,4.21728792525e-05,1793239496104898560
+32,0.533333333,BASELINE,765.562331741,745,715,679.562331741,662,636,879,787.562331741,804,651.437668259,631,653,0.400981491976,-0.00539140933163,0.0798460224026,0.999999934392,0.0002397231564,-0.000268312503128,4.19241308579e-05,1793239496121565184
+33,0.550000000,BASELINE,766,745,715,679.860308308,661.860308308,636,879,787.860308308,804,651.139691692,631,653,0.400980745567,-0.00539037342568,0.0798457104683,0.999999934148,0.000240006329687,-0.000269002109569,4.17041676685e-05,1793239496138231808
+34,0.566666667,BASELINE,766,745,715,679.271587758,661.271587758,636,879,787.271587758,804,651.728412242,631,653,0.400980722211,-0.00538907500367,0.0798464082906,0.999999934559,0.000240130823042,-0.000267372547775,4.16134650038e-05,1793239496154898432
+35,0.583333333,BASELINE,766,745,715,679.311986551,661,635.688013449,879.311986551,787,804,652,631,653,0.400980436651,-0.00538872418167,0.0798461321951,0.999999934548,0.000240197549947,-0.000267375760419,4.14729349815e-05,1793239496171565568
+36,0.600000000,BASELINE,766,745,715,679.891153761,661,635.108846239,879.891153761,787,804,652,631,653,0.400979926541,-0.00538918487012,0.0798450220509,0.999999934175,0.000240214806534,-0.000268777256715,4.12897335387e-05,1793239496188232192
+37,0.616666667,BASELINE,765.536389638,745,715,680,661,635.463610362,879.536389638,787,804,652.463610362,631,653,0.400980972521,-0.0053896194122,0.0798458611132,0.999999934711,0.000239258408298,-0.000267652930294,4.11765723292e-05,1793239496204899072
+38,0.633333333,BASELINE,765.035066971,745.035066971,715,680,661,636,879,787,804,652.964933029,631,653,0.400982247578,-0.00539005697238,0.0798470532467,0.999999935419,0.000238048226829,-0.000266095788477,4.10859126637e-05,1793239496221566208
+39,0.650000000,BASELINE,765.615119126,745.615119126,715,680,661,636,879,787,804,652.384880874,631,653,0.40098148601,-0.00539063547923,0.0798467218251,0.999999935597,0.000236395885876,-0.000266896799014,4.10930409508e-05,1793239496238232320
+40,0.666666667,BASELINE,766,745.801035943,715,680,661,636,879,787,804,652,631,653,0.400982016144,-0.00539098197972,0.0798469856126,0.999999935903,0.00023590825369,-0.000266165196526,4.11933472869e-05,1793239496254898688
+41,0.683333333,BASELINE,766,745.209711636,715,680,661,636,879,787,804,652,631,653,0.400985093536,-0.00539087095999,0.0798484231618,0.999999936455,0.000237717445619,-0.000262411256983,4.14774022017e-05,1793239496271565312
+42,0.700000000,BASELINE,766,745,715,680,661.372988415,636,879,787,804,652,631,653,0.400984906239,-0.00539129678451,0.0798479371992,0.999999936212,0.000238123729649,-0.000262973224182,4.1451265016e-05,1793239496288231936
+43,0.716666667,BASELINE,766,745,715,680,661.95094907,636,879,787,804,652,631,653,0.400982924865,-0.00539201762668,0.0798463941888,0.999999935531,0.000237759058911,-0.000265906957043,4.12546646995e-05,1793239496304898304
+44,0.733333333,BASELINE,766,745.526232253,715.526232253,680,662,636,879,787,804,652,631,653,0.400983150639,-0.00539278448938,0.0798472750459,0.999999935659,0.000237722567359,-0.00026541913519,4.15116830609e-05,1793239496321565696
+45,0.750000000,BASELINE,766,745.89866691,715.89866691,680,661.89866691,636,879,787,804,652,631,653,0.40098336762,-0.00539324613229,0.079848066013,0.999999935739,0.000237922293514,-0.000264895104115,4.17778546019e-05,1793239496338232576
+46,0.766666667,BASELINE,766,745.323257653,715.323257653,680,661.323257653,636,879,787,804,652,631,653,0.400982585836,-0.00539225986932,0.079847384789,0.999999935247,0.000239084751223,-0.000265686192169,4.18900353799e-05,1793239496354898944
+47,0.783333333,BASELINE,765.739960314,745,715,680,661.260039686,635.739960314,878.739960314,787,804,652,631,653,0.400981603086,-0.00539137724189,0.0798465928525,0.999999934886,0.000239341008842,-0.000266842345044,4.16903368963e-05,1793239496371565568
+48,0.800000000,BASELINE,765.146550397,745,715,680,661.853449603,635.146550397,878.146550397,787,804,652,631,653,0.400980362698,-0.00539062747483,0.0798456589829,0.999999934693,0.000238435520354,-0.000268466510223,4.1090809989e-05,1793239496388232192
+49,0.816666667,BASELINE,765.433495404,745,715,680,662,635.433495404,878.433495404,787,804,652,631,653,0.400980700352,-0.0053909267356,0.0798460984575,0.999999935007,0.00023796458762,-0.000267710028344,4.11007254747e-05,1793239496404898560
+50,0.833333333,BASELINE,766,745,715,679.990852273,662,636,879,787,804.009147727,652,631.009147727,652.990852273,0.400981528845,-0.00539156749653,0.0798469722762,0.999999935478,0.000237649496875,-0.000266193887581,4.13141094188e-05,1793239496421565184
+51,0.850000000,BASELINE,766,745,715,679.41585553,662,636,879,787,804.58414447,652,631.58414447,652.41585553,0.40098070646,-0.00539205144511,0.0798468531215,0.999999935395,0.000238158751144,-0.000265982259276,4.17500538232e-05,1793239496438231808
+52,0.866666667,BASELINE,765.837237824,745,715,679.162762176,662,635.837237824,879,787,804.837237824,652,632,652.162762176,0.400980530491,-0.0053918670709,0.0798469705054,0.999999935344,0.00023871190939,-0.000265660240654,4.18836797933e-05,1793239496454898432
+53,0.883333333,BASELINE,765.249158132,745,715,679.750841868,662,635.249158132,879,787,804.249158132,652,632,652.750841868,0.400982043687,-0.00538993628727,0.0798477059935,0.999999935373,0.000239379794078,-0.000265049758613,4.12273106122e-05,1793239496471565312
+54,0.900000000,BASELINE,765.334046464,745,715,680,662,635.334046464,879,787,804,652,632,653,0.400981866931,-0.00538940227939,0.0798466796726,0.999999935005,0.000239361775302,-0.000266503096219,4.09016665773e-05,1793239496488232448
+55,0.916666667,BASELINE,765.913667107,745,715,680,662,635.913667107,879,787,804,652,632,653,0.400980447809,-0.00538989511095,0.0798443581582,0.999999934337,0.000238839514724,-0.000269473650378,4.08191550843e-05,1793239496504898816
+56,0.933333333,BASELINE,765.509453581,745,715,679.509453581,662,636,879,787,804,652,631.509453581,653,0.400981050267,-0.00539003307922,0.0798451201973,0.99999993477,0.000238679896305,-0.000267976191828,4.10059130558e-05,1793239496521565440
+57,0.950000000,BASELINE,765.066770671,745.066770671,715,679.066770671,661.933229329,635.933229329,879,787.066770671,804,652,631,652.933229329,0.4009819828,-0.00539004715015,0.079846318336,0.999999935313,0.000238741625556,-0.000265856129132,4.11978048922e-05,1793239496538232064
+58,0.966666667,BASELINE,765.64166071,745.64166071,715,679.64166071,661.35833929,635.35833929,879,787.64166071,804,652,631,652.35833929,0.400982734734,-0.00538959099767,0.0798467283199,0.999999935257,0.000240004806911,-0.000264948832567,4.10701378182e-05,1793239496554898688
+59,0.983333333,BASELINE,766,746,715.222439019,680,661.222439019,635.222439019,879,787.777560981,804,652,631,652.222439019,0.40098243199,-0.00538960256067,0.0798465551546,0.999999935052,0.000240277212496,-0.000265491886397,4.09435012026e-05,1793239496571565056
+60,1.000000000,BASELINE,766,746,715.81296109,680,661.81296109,635.81296109,879,787.18703891,804,652,631,652.81296109,0.400980384006,-0.0053903880802,0.079845417018,0.999999934599,0.00023891012278,-0.000268434921002,4.08185697272e-05,1793239496588231680
+61,1.016666667,BASELINE,766,745.603967195,715.603967195,679.603967195,662,636,879.396032805,787.396032805,804,652,631,653,0.400980857523,-0.00539045206758,0.079845927964,0.999999934796,0.000238505595312,-0.000268048733389,4.09028637535e-05,1793239496604898560
+62,1.033333333,BASELINE,766,745.024349208,715.024349208,679.024349208,662,636,879.975650792,787.975650792,804,652,631,653,0.400982499908,-0.00539018158108,0.0798472033595,0.999999935294,0.000238547273807,-0.000266119249531,4.10841464753e-05,1793239496621565440
+63,1.050000000,BASELINE,765.450321512,745.549678488,715,679,661.450321512,636,879.450321512,788,804,652,631,653,0.400982558405,-0.00538954680902,0.0798477017948,0.999999934938,0.000240769211468,-0.000265448415457,4.11182746173e-05,1793239496638232064
+64,1.066666667,BASELINE,765.126648228,745.873351772,715,679,661.126648228,636,879.126648228,787.873351772,804,652,631,653,0.400982434313,-0.00538927369706,0.0798478600337,0.999999934722,0.000241991938907,-0.000265152399699,4.11044896677e-05,1793239496654898688
+65,1.083333333,BASELINE,765.715243123,745.284756877,715,679,661.715243123,636,879.715243123,787.284756877,804,652,631,653,0.400981897568,-0.00539037799863,0.0798469016853,0.999999935165,0.000239221344118,-0.00026602220924,4.09394795889e-05,1793239496671565312
+66,1.100000000,BASELINE,766,745,715,679,661.700972094,636,879.700972094,787,804,652,631.299027906,653,0.400981720279,-0.00539137316785,0.0798463306559,0.999999935306,0.000237914487706,-0.000266646358142,4.103145336e-05,1793239496688231680
+67,1.116666667,BASELINE,766,745,715,679,661.121695377,636,879.121695377,787,804,652,631.878304623,653,0.400981879873,-0.00539226605822,0.0798461226218,0.999999935172,0.000237979446351,-0.000267040273963,4.13642722809e-05,1793239496704898304
+68,1.133333333,BASELINE,765.546401122,745,715,679.453598878,661,636,879,787.453598878,804,652,632,653,0.400983061555,-0.00539141407999,0.0798474984876,0.99999993537,0.000239122070905,-0.000265279554579,4.1314187278e-05,1793239496721565184
+69,1.150000000,BASELINE,765,745.02787101,715.02787101,679.97212899,661,636,879.02787101,787.97212899,804,652,631.97212899,653,0.400984352206,-0.00539014642051,0.0798491572902,0.999999935626,0.000240423671846,-0.000263154904361,4.11615220081e-05,1793239496738231808
+70,1.166666667,BASELINE,765,745.602869142,715.602869142,679.397130858,661,636,879.602869142,787.397130858,804,652,631.397130858,653,0.400982445818,-0.00538982835275,0.079848101029,0.999999935398,0.000239219753323,-0.000265135074518,4.09942200742e-05,1793239496754898688
+71,1.183333333,BASELINE,765,745.816679564,715.816679564,679,661,636,879.816679564,787.183320436,804,652,631,653,0.400981159665,-0.0053900000457,0.0798471080242,0.999999935341,0.000237808215719,-0.000266651026086,4.07670325992e-05,1793239496771565312
+72,1.200000000,BASELINE,765,745.224052677,715.224052677,679,661,636,879.224052677,787.775947323,804,652,631,653,0.400981258335,-0.00539126524581,0.0798462562542,0.999999935672,0.000235933118927,-0.000267130499692,4.04061363858e-05,1793239496788232192
+73,1.216666667,BASELINE,765.357584843,745,715,679.357584843,661.357584843,636,879,788,804,652,631,653,0.400981930296,-0.00539215658072,0.0798468611975,0.999999936048,0.000235406297331,-0.000266140173363,4.07007179794e-05,1793239496804898816
+74,1.233333333,BASELINE,765.932541999,745,715,679.932541999,661.932541999,636,879,788,804,652,631,653,0.400982950755,-0.00539282064658,0.0798483516625,0.999999936451,0.000235699079091,-0.000264256370066,4.1393758113e-05,1793239496821565184
+75,1.250000000,BASELINE,766,745.511422694,715,680,661.488577306,636,879,787.488577306,803.488577306,652,631,653,0.400982037808,-0.00539198120304,0.0798478921562,0.999999935889,0.000237630047486,-0.000264682158195,4.11877003565e-05,1793239496838231808
+76,1.266666667,BASELINE,765.910108313,745.910108313,715,679.910108313,661,636,879,787,803.089891687,652,631,653,0.400981449251,-0.00539098228983,0.0798474822461,0.999999935391,0.000239493578424,-0.00026492699395,4.09203720953e-05,1793239496854898432
+77,1.283333333,BASELINE,765.336659474,745.336659474,715,679.336659474,661,636,879,787,803.663340526,652,631,653,0.400983988139,-0.00539020059607,0.0798487334249,0.999999935938,0.000239822982507,-0.00026254699159,4.09663346661e-05,1793239496871565312
+78,1.300000000,BASELINE,765.245242319,745,715,679,661.245242319,636,879,787.245242319,804,652,631,653,0.400984696081,-0.00539020709026,0.0798489561662,0.99999993621,0.000239145619296,-0.000262120069211,4.10087650128e-05,1793239496888231936
+79,1.316666667,BASELINE,765.8391622,745,715,679,661.8391622,636,879,787.8391622,804,652,631,653,0.400982800842,-0.00539133420452,0.0798477167081,0.999999936092,0.000237036867024,-0.000264469972708,4.10461733541e-05,1793239496904898560
+80,1.333333333,BASELINE,765.579344977,745,715,679.420655023,662,635.579344977,879.420655023,787.579344977,804,652,631.420655023,653,0.400982397364,-0.00539207634073,0.0798476221389,0.999999936244,0.000235796811384,-0.000264984899435,4.11569931192e-05,1793239496921565440
+81,1.350000000,BASELINE,765.00246726,745,715,679.99753274,662,635.00246726,879.99753274,787.00246726,804,652,631.99753274,653,0.400982547895,-0.00539267550402,0.0798479527579,0.999999936499,0.000234879371778,-0.000264818353418,4.12950763926e-05,1793239496938232576
+82,1.366666667,BASELINE,765,745,715.573784463,680,662,635.573784463,878.852431073,787,804,652,631.426215537,653,0.40098262955,-0.00539113192055,0.079848059142,0.999999935976,0.000237287170982,-0.000264684218026,4.10565760522e-05,1793239496954898944
+83,1.383333333,BASELINE,765.153475897,745,715.846524103,680,662,635.846524103,878.153475897,787,804,652,631,653,0.400982628973,-0.00538998758693,0.0798480200301,0.999999935525,0.000239206438519,-0.00026468800222,4.08718461915e-05,1793239496971565568
+84,1.400000000,BASELINE,765.742946644,745,715.257053356,680,662,635.257053356,878.742946644,787,804,652,631,653,0.400982395633,-0.00539000358927,0.0798475703288,0.999999935304,0.000239697309385,-0.000265083193334,4.08444627387e-05,1793239496988231936
+85,1.416666667,BASELINE,766,745,715,679.673411226,661.673411226,635.326588774,879,787,804,652,631,653,0.400982752625,-0.00539035283971,0.0798477863994,0.999999935421,0.0002395799848,-0.000264727014196,4.0982067757e-05,1793239497004898560
+86,1.433333333,BASELINE,766,745,715,679.094276311,661.094276311,635.905723689,879,787,804,652,631,653,0.400983566113,-0.00539095978587,0.0798485173013,0.999999935798,0.000238992351879,-0.000263789811825,4.12472558567e-05,1793239497021565184
+87,1.450000000,BASELINE,765.520384581,745.479615419,715,679,661.479615419,636,878.520384581,787.479615419,803.520384581,652,631,653,0.400983008498,-0.00539095711174,0.0798477706686,0.999999935879,0.000238333946077,-0.000264103210528,4.10959341519e-05,1793239497038232064
+88,1.466666667,BASELINE,765.05275094,745.94724906,715,679,662,635.94724906,878.05275094,787.94724906,803.10550188,652,631,653,0.400982320828,-0.00539085317734,0.0798469141809,0.999999935906,0.000237716385557,-0.00026459048999,4.088620245e-05,1793239497054898688
+89,1.483333333,BASELINE,765.628496767,745.371503233,715,679,662,635.371503233,878.628496767,787.371503233,804.256993533,652,631,653,0.400982986896,-0.00539092051254,0.0798478168888,0.999999935976,0.00023764021587,-0.000264390827621,4.09003037627e-05,1793239497071565568
+90,1.500000000,BASELINE,765.790613931,745,715,679.209386069,662,635,879,787,804.581227862,652,631,653,0.400983103826,-0.00539081545464,0.079848266634,0.999999936074,0.000237077576733,-0.000264524412583,4.09065933375e-05,1793239497088232448
+91,1.516666667,BASELINE,765.200369064,745,715,679.799630936,662,635,879,787,803.400738127,652,631,653,0.400982221912,-0.00539039682558,0.0798478924714,0.99999993622,0.000235630083274,-0.000265264151446,4.08986738994e-05,1793239497104898560
+92,1.533333333,BASELINE,765,745,715,680,662,635,879,787,803.383224818,652,631,653,0.400981009696,-0.00539023165375,0.0798469182033,0.99999993573,0.00023613622028,-0.000266686388295,4.07084987686e-05,1793239497121565184
+93,1.550000000,BASELINE,765,745,715,680,662,635,879,787,803.963400609,652,631,653,0.400979627728,-0.00539019674131,0.0798456355226,0.99999993491,0.000237646387688,-0.000268459381828,4.04246568542e-05,1793239497138232064
+94,1.566666667,BASELINE,765.538537767,745,715,679.461462233,662,635.538537767,879,787.538537767,804,652,631,652.461462233,0.400979954425,-0.00539097425959,0.0798457733048,0.99999993491,0.000237696581729,-0.000268387046465,4.06031039658e-05,1793239497154898432
+95,1.583333333,BASELINE,766,745,715,679.113183733,661.886816267,636,879,787.886816267,804,652,631,652.113183733,0.400980561845,-0.005391314066,0.0798460876492,0.999999934913,0.000238258141283,-0.000267852695883,4.07704943747e-05,1793239497171565312
+96,1.600000000,BASELINE,766,745,715,679.687211237,661.312788763,636,879,787.312788763,804,652,631,652.687211237,0.400981843844,-0.00538964894096,0.079846731477,0.999999934693,0.00024130204554,-0.000265943074904,4.07661309025e-05,1793239497188232192
+97,1.616666667,BASELINE,766,745,715,680,661.26956951,635.73043049,879,787,804,652,631,653,0.40098259166,-0.00539018653827,0.079847508607,0.9999999352,0.000240406410185,-0.000264811957393,4.09843540553e-05,1793239497204898816
+98,1.633333333,BASELINE,766,745,715,680,661.861902422,635.138097578,879,787,804,652,631,653,0.400982699885,-0.00539336151909,0.0798484453435,0.999999936566,0.000234793849492,-0.0002646129648,4.14690866365e-05,1793239497221565696
+99,1.650000000,BASELINE,766,745,715,679.556400968,662,635.443599032,879.443599032,787.443599032,804,652,631.443599032,652.556400968,0.400981977041,-0.00539161582069,0.0798482689932,0.999999935875,0.000237297036876,-0.000265020088355,4.12744704188e-05,1793239497238232320
+100,1.666666667,BASELINE,766,745,715,679.021881353,662,635.978118647,879.978118647,787.978118647,804,652,631.978118647,652,0.400981062396,-0.00538856068898,0.0798477856781,0.999999934622,0.000241993165866,-0.00026556262563,4.08959431281e-05,1793239497254898688
+101,1.683333333,BASELINE,766,745,715,679.595608686,662,635.404391314,879.404391314,787.404391314,804,652,631.404391314,652,0.400981682714,-0.00539021063255,0.0798480952311,0.999999935333,0.000239768316695,-0.000264872943582,4.10880409364e-05,1793239497271565312
+102,1.700000000,BASELINE,766,745,715.174195444,680,662,635.174195444,879,787,804,652,631,652.174195444,0.400981911314,-0.0053909709064,0.079848207443,0.999999935695,0.000238565063204,-0.000264576562083,4.11794165682e-05,1793239497288231936
+103,1.716666667,BASELINE,766,745,715.764386908,680,662,635.764386908,879,787,804,652,631,652.764386908,0.400981204455,-0.00538960656035,0.0798478483844,0.999999935235,0.000239801481976,-0.000265219421462,4.10302576123e-05,1793239497304898560
+104,1.733333333,BASELINE,766,745,715.651887177,679.651887177,662,636,879,787,804,652,631,652.651887177,0.400981850593,-0.00538969601543,0.0798477957434,0.999999935541,0.000239202137028,-0.000264606544761,4.10414097305e-05,1793239497321565184
+105,1.750000000,BASELINE,766,745,715.072457485,679.072457485,662,636,879,787,804,652,631,652.072457485,0.40098339578,-0.00539075150411,0.0798479467133,0.999999936351,0.000237382948841,-0.000263159246293,4.11590866536e-05,1793239497338231808
+106,1.766666667,BASELINE,766,745,715,679.503345377,662,636,879,787.503345377,804,652,631,652.503345377,0.400982811023,-0.00539132910685,0.0798476224369,0.999999935867,0.000238126955417,-0.000264340378032,4.10642996218e-05,1793239497354898688
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,716,679,661,636,879,788,804,652,631,652,0.400980828411,-0.00539115000284,0.0798463895777,0.99999993545,0.00023687733947,-0.000267068306251,4.0780714897e-05,1793239497398661632
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.400550978,679.599449022,661.599449022,636,879,787.400550978,804,652,631,652,0.400981207842,-0.00539156160822,0.079846397003,0.99999993565,0.000236019802225,-0.000267055886447,4.09341133571e-05,1793239497415328768
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.183235949,680,662,636,879,787,804,652,631,652.183235949,0.400981561246,-0.00539189129042,0.0798465600016,0.999999935902,0.000235182332907,-0.000266849432772,4.09482172084e-05,1793239497431995904
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.73548185,680,662,636,879,787,804,652,631,652.73548185,0.400981862233,-0.00539205599161,0.0798470363015,0.999999936259,0.000234385277259,-0.000266252223734,4.06818024589e-05,1793239497448662784
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.687890776,680,661.687890776,636,879,787,803.687890776,652,631,653,0.400982456274,-0.00539132338107,0.0798478027787,0.999999936025,0.0002365177763,-0.000265254651985,4.06149641541e-05,1793239497465330176
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715.088848702,680,661.088848702,636,879,787,803.088848702,652,631,653,0.400983319728,-0.00538976584066,0.0798488360259,0.999999935228,0.000241343516767,-0.00026388901292,4.07316034221e-05,1793239497481997312
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.509555592,745,715.490444408,679.509555592,661.490444408,636,879,787.490444408,803.490444408,652,631,653,0.400982217941,-0.00538932827482,0.0798482144795,0.999999934804,0.000241903430143,-0.000264956215951,4.08932542196e-05,1793239497498662912
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.068831652,745,716,679,662,636,879,788,804,652,631,653,0.400981230437,-0.00538914018666,0.07984754877,0.999999934561,0.000241683105187,-0.000266051028987,4.1040012387e-05,1793239497515327744
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.666689816,745,716,679,662,636,879,788,804,652,631,653,0.400983751684,-0.00538937049316,0.0798487585068,0.999999935201,0.000241175662708,-0.000264101784389,4.10120625894e-05,1793239497531994112
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715.746064724,679.253935276,661.746064724,636,879,787.746064724,804,652,631.253935276,653,0.400989921279,-0.00539010984134,0.0798516846995,0.999999936917,0.000239184197359,-0.000259390008451,4.09103592964e-05,1793239497548660480
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715.172190499,679.827809501,661.172190499,636,879,787.172190499,804,652,631.827809501,653,0.401000687512,-0.00539149054292,0.0798567734945,0.999999939933,0.000235322977179,-0.000251197655294,4.07157322623e-05,1793239497565327104
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.597131049,745.402868951,715,679.597131049,661.402868951,635.597131049,879,787,804,652,631.597131049,653,0.401028699802,-0.00539223897397,0.0798677071671,0.999999944348,0.000236710195044,-0.000231456917046,4.12409450413e-05,1793239497581993984
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.021563477,745.978436523,715,679.021563477,661.978436523,635.021563477,879,787,804,652,631.021563477,653,0.401064104993,-0.00539271636848,0.0798811463753,0.999999948855,0.00024034727065,-0.000206765709173,4.2074732922e-05,1793239497598660352
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.566829203,746,715,679.566829203,662,635.566829203,879,787,804,652,631,653,0.401124875048,-0.0053944597093,0.0799000951811,0.999999956492,0.0002374051184,-0.000169958470773,4.2068743254e-05,1793239497615327232
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.846759271,746,715,680,662,636,879,787.153240729,804,652,631,653,0.401189320249,-0.00539551546051,0.0799169479782,0.999999961871,0.00023557402915,-0.000137970643327,4.15605575108e-05,1793239497631993856
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.267247217,746,715,680,662,636,879,787.732752783,804,652,631,653,0.401261242337,-0.00539452146994,0.079927373753,0.999999963712,0.000237545944134,-0.000120700845038,3.97463325789e-05,1793239497648660480
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.309969818,746,715,679.690030182,662,635.690030182,879,788,804,652,631.309969818,653,0.4013397748,-0.00539594863933,0.0799336226984,0.99999996544,0.000235513976896,-0.000110617486461,3.76385311106e-05,1793239497665327104
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.88522266,746,715,679.11477734,662,635.11477734,879,788,804,652,631.88522266,653,0.401423964649,-0.00539944792226,0.0799362969663,0.999999967224,0.000230055346961,-0.000106684535699,3.52794766764e-05,1793239497681993728
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.530055639,715,679,662,635.469944361,879,788,804,652,632,653,0.401525879583,-0.00539980113975,0.079938295859,0.999999967928,0.000228983215275,-0.000103358060936,3.20683762566e-05,1793239497698660352
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.05661111,715,679.05661111,662,636,879,788,804,652,631.94338889,652.94338889,0.401635519241,-0.00539950117407,0.0799405951682,0.999999968473,0.000228823939228,-9.93847994336e-05,2.85631622765e-05,1793239497715326976
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.639419176,715,679.639419176,662,636,879,788,804,652,631.360580824,652.360580824,0.401775893559,-0.00540041884327,0.0799472515685,0.999999970072,0.000226986782739,-8.79945842043e-05,2.42982350117e-05,1793239497731993600
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.78061646,715,679.78061646,661.78061646,636,879,787.78061646,804,652,631,652.21938354,0.401925674626,-0.00540193008425,0.0799533375512,0.999999971651,0.000224513733112,-7.68126719486e-05,1.9780186992e-05,1793239497748660480
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.205266277,715,679.205266277,661.205266277,636,879,787.205266277,804,652,631,652.794733723,0.402090718852,-0.00540440444096,0.0799584979869,0.999999973291,0.000221008898235,-6.59687483824e-05,1.48514315258e-05,1793239497765327104
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.368571206,661,636,879,787,804,652,631,653,0.402273230188,-0.00540571015164,0.0799620598682,0.999999974679,0.000217238173987,-5.8023773639e-05,9.06276331726e-06,1793239497781993728
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.941569726,661,636,879,787,804,652,631,653,0.402465429637,-0.00540636767527,0.079964735115,0.999999975908,0.000213319974375,-5.16866943012e-05,2.79714569158e-06,1793239497798660608
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.469491542,745,715,680,661.530508458,636,879,787,804,652,631,653,0.402673633676,-0.00540952036326,0.0799586384157,0.99999997775,0.000200677837448,-6.48401288864e-05,-5.00782235294e-06,1793239497815327232
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679.881018747,661.881018747,636,879,787.118981253,804,652,631.118981253,653,0.402892251908,-0.0054127646687,0.0799521405092,0.99999997934,0.000187105420952,-7.83793953283e-05,-1.2952916093e-05,1793239497831993600
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679.301358068,661.301358068,636,879,787.698641932,804,652,631.698641932,653,0.403144156007,-0.00541526668603,0.0799479458391,0.999999981088,0.000173766634171,-8.48433904012e-05,-2.07637719419e-05,1793239497848660224
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.276136426,745,715,679.276136426,661,635.723863574,879,787.723863574,803.723863574,652,632,653,0.403421149729,-0.00541779380975,0.0799479643547,0.99999998423,0.000155195671804,-8.29419110189e-05,-2.3973622886e-05,1793239497865326848
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.851285247,745,715,679.851285247,661,635.148714753,879,787.148714753,803.148714753,652,632,653,0.403725311559,-0.0054203481196,0.0799525450893,0.999999988588,0.000130959085481,-7.19819357612e-05,-2.22013073959e-05,1793239497881993472
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679.564696711,661.435303289,635.435303289,879,787,803.435303289,652,632,653,0.404062934357,-0.00542050780525,0.0799581402027,0.999999988381,0.000136418661176,-6.39001001536e-05,-2.33489690135e-05,1793239497898660608
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.022114332,715,679.022114332,662,636,879,787.022114332,804,652,632,653,0.404413605507,-0.00542002432531,0.0799637762772,0.99999998667,0.000150840367899,-5.70413131922e-05,-2.55791655578e-05,1793239497915327232
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.601366231,715,679.601366231,662,636,879,787.601366231,804,652,632,653,0.404799022804,-0.00542437639634,0.0799615319851,0.999999989547,0.000130139362936,-5.57080965653e-05,-2.94273198909e-05,1793239497931993856
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.819966118,745.819966118,715,679.819966118,662,636,879,787.819966118,804.180033882,652,631.819966118,653,0.40519542171,-0.00542863648432,0.0799593971278,0.999999991376,0.000114777932032,-5.50611722842e-05,-3.22806351189e-05,1793239497948660480
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.242588007,745.242588007,715,679.242588007,662,636,879,787.242588007,804.757411993,652,631.242588007,653,0.405616057551,-0.0054326935603,0.0799575037993,0.999999991711,0.000111201224256,-5.59289314632e-05,-3.29382877267e-05,1793239497965327360
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.333205521,745,715,679,662,636,879,787,804.666794479,652,631,652.666794479,0.406055628629,-0.00543644986177,0.0799525861364,0.999999990944,0.000113035002761,-6.48355253772e-05,-3.364735244e-05,1793239497981993984
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.907850923,745,715,679,662,636,879,787,804.092149077,652,631,652.092149077,0.406508920174,-0.00543998822322,0.0799454770481,0.999999989188,0.000118789205606,-7.95670387725e-05,-3.43936702973e-05,1793239497998660608
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.507150354,745,715,679.492849646,662,636,879.492849646,787.492849646,804,652,631,652.492849646,0.406997613092,-0.00544783824813,0.0799412045677,0.9999999902,0.00010273246844,-8.84106413323e-05,-3.50660235073e-05,1793239498015327488
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.079281781,745,715,679.920718219,661.920718219,636,879.920718219,787.920718219,804,652,631,653,0.407497230631,-0.00545884586119,0.079937100468,0.999999991366,8.15265117061e-05,-9.68540349654e-05,-3.52259703355e-05,1793239498031994112
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.662258616,745,715,679.337741384,661.337741384,636,879.337741384,787.337741384,804,652,631,653,0.408023300208,-0.00548468272906,0.0799306242887,0.99999999198,5.40710113425e-05,-0.000109898996231,-3.22202301866e-05,1793239498048660736
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.75871176,745,715,679.24128824,661.24128824,635.75871176,879,787,804,652,631,653,0.408574553787,-0.00549898570638,0.0799283726895,0.999999992158,3.86114387973e-05,-0.000114844169807,-3.16940672369e-05,1793239498065327616
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.185118319,745,715,679.814881681,661.814881681,635.185118319,879,787,804,652,631,653,0.409160491059,-0.00549740406287,0.0799319392356,0.999999992714,3.96728107778e-05,-0.000108634213121,-3.45828094369e-05,1793239498081994240
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.388629382,745,715,679.611370618,662,635.388629382,879,787,804,652,631,653,0.409793164173,-0.00549847931497,0.0799541711492,0.999999996226,3.6907542655e-05,-7.03031355447e-05,-3.52532101316e-05,1793239498098660864
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.962450576,745,715,679.037549424,662,635.962450576,879,787,804,652,631,653,0.41044810809,-0.00550082064565,0.0799852975863,0.999999998731,3.23187828079e-05,-1.66655246458e-05,-3.48665143544e-05,1793239498115327744
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.446855256,745,715,679.553144744,661.446855256,635.446855256,879,787.553144744,804,652,631,653,0.411118682803,-0.00551037137563,0.0799967579067,0.99999999918,2.03862123612e-05,5.40797808053e-07,-3.49828711188e-05,1793239498131994368
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.142027944,715,680,661.142027944,635.142027944,879.142027944,787.857972056,804,652,631,653,0.411785411161,-0.00551722834128,0.0799962533752,0.999999999287,1.10574186572e-05,-1.40231843155e-06,-3.6075848287e-05,1793239498148660736
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.721690457,715,680,661.721690457,635.721690457,879.721690457,787.278309543,804,652,631,653,0.412436915128,-0.00551422948851,0.0799631242347,0.999999997648,1.13361622274e-05,-5.44909768805e-05,-4.00695774945e-05,1793239498165327360
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.298986045,745.701013955,715,680.298986045,662,636,879.701013955,787,803.701013955,652,631.298986045,652.701013955,0.413119661218,-0.00551655199186,0.0799381150549,0.999999995139,1.62019752087e-06,-8.82973814607e-05,-4.38591789764e-05,1793239498181993728
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.874095764,745.125904236,715,680.874095764,662,636,879.125904236,787,803.125904236,652,631.874095764,652.125904236,0.413831260534,-0.00552378894632,0.0799206049284,0.999999993285,-1.73262165777e-05,-0.000104295981908,-4.74602621542e-05,1793239498198660608
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715.45028712,680.54971288,662.45028712,636,879,787.45028712,803.45028712,652,631.54971288,652.45028712,0.414588710925,-0.00552936096682,0.079935034004,0.999999995849,-2.45891863484e-05,-7.3846979357e-05,-4.73671862987e-05,1793239498215327232
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.972579257,745.027420743,715.972579257,679.972579257,662.972579257,636,879.027420743,787.972579257,804,652,631,653,0.415359106935,-0.00553416843147,0.0799576368589,0.999999998007,-2.80161033017e-05,-3.25603595437e-05,-4.62630070368e-05,1793239498231993600
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.382326823,745.617673177,715.382326823,679.382326823,662.382326823,636,879.617673177,787.382326823,804,652,631,653,0.416131441301,-0.00553286118043,0.0799642664713,0.99999999811,-1.99200057729e-05,-3.60365263738e-05,-4.56576671767e-05,1793239498248660480
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.202959111,745.797040889,715,679.202959111,661.797040889,636,880,787,804,652,631.202959111,653,0.416909887754,-0.00553434619468,0.0799653495867,0.999999997868,-2.25176955353e-05,-3.96842370268e-05,-4.67179232626e-05,1793239498265327360
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.779112772,745.220887228,715,679.779112772,661.220887228,636,880,787,804,652,631.779112772,653,0.417699572867,-0.00554096553471,0.0799562339853,0.999999996752,-4.47787706647e-05,-4.36473766099e-05,-5.08408225011e-05,1793239498281995008
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.645250828,745,715,680,661.354749172,636,880,787,804,652,631.645250828,653,0.41853739615,-0.00554661348426,0.0799713250639,0.999999996963,-5.70045154823e-05,-1.00991944686e-05,-5.21795982537e-05,1793239498298661632
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.069936056,745,715,680,661.930063944,636,880,787,804,652,631.069936056,653,0.419405149351,-0.0055516574707,0.0800014666669,0.999999995581,-6.29907841748e-05,4.67716840451e-05,-5.17873425806e-05,1793239498315327744
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.518565274,745.518565274,715.518565274,680.518565274,662,635.481434726,880,787,804,652,631,652.481434726,0.420209138456,-0.00555114489688,0.0799927106105,0.999999996241,-6.05688463592e-05,3.41976420973e-05,-5.17636629702e-05,1793239498331994880
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,715.893036993,681,662,635,880,787,804.106963007,652,631,652,0.421018186643,-0.0055489459215,0.0799808754654,0.999999996915,-5.70626263724e-05,1.4778352448e-05,-5.19154810452e-05,1793239498348661760
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,715.31316534,681,662,635,880,787,804.68683466,652,631,652,0.421888614511,-0.00554269061537,0.0799792255425,0.999999997134,-5.39068989763e-05,7.58281654102e-06,-5.2617711377e-05,1793239498365328896
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.73589472,745.73589472,715,681,662,635,879.73589472,787,804.73589472,652,631,652.26410528,0.422760486729,-0.00553055310674,0.079990155239,0.999999997692,-3.8753321108e-05,2.02449439468e-05,-5.20120881096e-05,1793239498381995520
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.161678149,745.161678149,715,681,662,635,879.161678149,787,804.161678149,652,631,652.838321851,0.423634055011,-0.00551150874024,0.0800158558705,0.999999997131,-9.51191793449e-06,5.62238539155e-05,-4.98707887394e-05,1793239498398662400
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.421767804,745,715,681,662,635.421767804,879.421767804,787.421767804,804,652,631,652.578232196,0.424444069304,-0.00550714598113,0.0800028536786,0.999999998466,-1.99816595735e-06,2.37517422007e-05,-4.99987908912e-05,1793239498415329024
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.99126478,745,715,680.99126478,662,636,879.99126478,788,804,652,631,652,0.425230347036,-0.00550868855791,0.0799746151865,0.999999998074,-3.31024122178e-06,-3.51483365108e-05,-5.10528373861e-05,1793239498431995392
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.410556694,745,715,680.410556694,662,636,879.410556694,788,804,652,631,652,0.426093298141,-0.00552014854463,0.0799419072242,0.999999995895,-2.49556317891e-05,-6.79416318558e-05,-5.45087416174e-05,1793239498448661504
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.169178804,745,715,680.338357608,662.169178804,635.830821196,879.338357608,787.830821196,804.169178804,652,631,652,0.42696186512,-0.00552891090537,0.0799196812728,0.999999993486,-3.99417906924e-05,-9.06344537677e-05,-5.67221378409e-05,1793239498465327616
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.746567522,745,715,681.493135044,662.746567522,635.253432478,880.493135044,787.253432478,804.746567522,652,631,652,0.427843982531,-0.00553116418959,0.0799227472671,0.999999993724,-3.8859952187e-05,-8.89559384912e-05,-5.59374983814e-05,1793239498481993984
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681.678565838,662.678565838,635,880.678565838,787.321434162,804.678565838,651.678565838,631,652.321434162,0.428707447726,-0.00553402199678,0.0799325945523,0.999999994413,-4.17735111482e-05,-8.01632258102e-05,-5.47963209717e-05,1793239498498660608
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681.105672258,662.105672258,635,880.105672258,787.894327742,804.105672258,651.105672258,631,652.894327742,0.429556321164,-0.00553735272496,0.0799477468721,0.999999995267,-4.78126878968e-05,-6.58050439668e-05,-5.33762223163e-05,1793239498515327488
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.479764745,715,681.479764745,662,635.479764745,880.479764745,788,804.479764745,651.479764745,631,652.520235255,0.430423749405,-0.00553947116789,0.0799851738544,0.999999997286,-5.08661584066e-05,-1.05256728397e-05,-5.22399738746e-05,1793239498531994624
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,682,662,636,880.932581768,788,804.932581768,651.932581768,631,652.067418232,0.431292244238,-0.0055401465692,0.0800241761047,0.999999996185,-5.19454438537e-05,4.80875920112e-05,-5.11795132452e-05,1793239498548661504
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,682,662,636,880.349672932,788,804.349672932,651.349672932,631,652.650327068,0.432136806251,-0.00553188470187,0.0800367025,0.999999995925,-4.30931112048e-05,6.14254376982e-05,-5.02076653245e-05,1793239498565327872
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.769939237,746,715,682,662,636,880,787.769939237,804.230060763,651,631,653,0.432942275171,-0.00552597664602,0.0800155689742,0.999999997605,-3.72102008618e-05,2.73750583356e-05,-5.15454148184e-05,1793239498581994240
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.194965702,746,715,682,662,636,880,787.194965702,804.805034298,651,631,653,0.433689134888,-0.00552359748117,0.0799439716662,0.999999994752,-3.57791200756e-05,-7.77209153464e-05,-5.63457692062e-05,1793239498598660864
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.378773138,745.621226862,715,682,662,635.621226862,880,787.378773138,805,651.378773138,631,653,0.434468169063,-0.00552566047092,0.0799175326048,0.99999999147,-4.11726930975e-05,-0.000109056848426,-5.89239080724e-05,1793239498615327232
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.951878475,745.048121525,715,682,662,635.048121525,880,787.951878475,805,651.951878475,631,653,0.435263710522,-0.00553000253921,0.0799142623009,0.999999991667,-5.00677025461e-05,-0.00010254967263,-6.03619237016e-05,1793239498631993856
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.540943152,715,682,662,635.540943152,880,788,804.459056848,652,631.540943152,652.459056848,0.436024007823,-0.00553461038466,0.0799414800986,0.999999993935,-5.76022441163e-05,-7.36644610943e-05,-5.81865970029e-05,1793239498648660736
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.871062376,715,681.871062376,662,635.871062376,880,787.871062376,804,652,631.871062376,652.128937624,0.436774570144,-0.00553891543637,0.0799636669255,0.999999995014,-6.32175541357e-05,-5.29954240612e-05,-5.62849393368e-05,1793239498665327872
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.29191271,715,681.29191271,662,635.29191271,880,787.29191271,804,652,631.29191271,652.70808729,0.437502421002,-0.00554207815719,0.0799585290787,0.999999994123,-6.25669060454e-05,-6.81771454585e-05,-5.64953382924e-05,1793239498681994752
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.285418525,715,681.285418525,662,635,880,787,804.285418525,651.714581475,631,653,0.438211517006,-0.00554583592278,0.0799424531115,0.999999991782,-6.72898010929e-05,-9.28456526518e-05,-5.73469237958e-05,1793239498698661632
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.860901693,715,681.860901693,662,635,880,787,804.860901693,651.139098307,631,653,0.438901552815,-0.00555019841923,0.0799152609709,0.999999987183,-7.74737112041e-05,-0.000127155373022,-5.88501331912e-05,1793239498715327744
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.554720617,715,681.554720617,661.554720617,635,880,787,805,651,631,652.554720617,0.439528195783,-0.00555139899089,0.0798773633294,0.999999977766,-8.00190171987e-05,-0.000185384260398,-6.08127920948e-05,1793239498731994624
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.967934161,745.032065839,715,681.032065839,661,635,880,787,804.967934161,651.032065839,631.032065839,652.032065839,0.440130842407,-0.00555122940451,0.0798341991361,0.999999962552,-7.99385276802e-05,-0.000254040594775,-6.29987063566e-05,1793239498748660992
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.388427749,745.611572251,715,681.611572251,661,635,880,787,804.388427749,651.611572251,631.611572251,652.611572251,0.440668787525,-0.00554487466231,0.0797593800892,0.9999999262,-7.65975674487e-05,-0.000370553800215,-6.64958687183e-05,1793239498765327616
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714.80968244,682,661,634.80968244,880.19031756,787,804,651.80968244,631.80968244,653,0.4412173601,-0.0055405000545,0.0796993827825,0.999999888142,-7.387766796e-05,-0.000461993436706,-6.94278730373e-05,1793239498781993984
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,746,714.23248421,682,661,634.23248421,880.76751579,787,804,651.23248421,631.23248421,653,0.441787536444,-0.00554015069535,0.07966951534,0.999999868608,-7.24202720522e-05,-0.000502463138735,-7.12110168802e-05,1793239498798660864
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.342344343,746,714.342344343,682,661,634.342344343,880.657655657,787,804.342344343,651.342344343,631,653,0.442384495377,-0.0055383702813,0.0796856113757,0.999999881655,-6.64394941358e-05,-0.000476824888511,-7.01039362249e-05,1793239498815327744
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.915574689,746,714.915574689,682,661,634.915574689,880.084425311,787,804.915574689,651.915574689,631,653,0.442999517156,-0.00553562472632,0.0797327063884,0.999999913442,-5.74080286341e-05,-0.000406601697561,-6.70476120348e-05,1793239498831994368
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.495493378,746,715,682.504506622,660.495493378,634.495493378,880.504506622,786.495493378,805,652,631,653,0.443535554239,-0.00553156328138,0.0797561023546,0.999999927406,-5.37908638934e-05,-0.000371289666734,-6.66275840947e-05,1793239498848660992
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.905848058,714.905848058,682.905848058,660,634,880.905848058,786,805,651.905848058,631,653,0.444044987028,-0.00552870978028,0.0797686693311,0.999999934096,-5.30498671623e-05,-0.000352936395327,-6.65592156609e-05,1793239498865327616
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.326501927,714.326501927,682.326501927,660,634,880.326501927,786,805,651.326501927,631,653,0.444487621403,-0.00553325242071,0.0797465249309,0.999999919481,-6.23115600055e-05,-0.000390903561647,-6.59565742794e-05,1793239498881994240
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880.251728195,786,804.748271805,651.251728195,631,653,0.444912222381,-0.00553773231061,0.0797210159077,0.999999900472,-7.36954606411e-05,-0.00043507331533,-6.58517924482e-05,1793239498898660864
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880.828517151,786,804.171482849,651.828517151,631,653,0.445313536505,-0.00554213116936,0.0796911620934,0.999999875232,-8.78198023573e-05,-0.000487252568935,-6.63899048578e-05,1793239498915327488
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.402814918,745.402814918,714,682,660,634,880.597185082,785.597185082,804.402814918,652,631,653,0.445714732442,-0.00554370949912,0.0796767836201,0.9999998656,-8.50250583665e-05,-0.000506995433604,-6.72732700708e-05,1793239498931994112
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.976058725,745.976058725,714,682,660,634,880.023941275,785.023941275,804.976058725,652,631,653,0.446115878411,-0.00554409447817,0.0796689526802,0.999999863257,-7.50719388269e-05,-0.000513014636286,-6.83027100338e-05,1793239498948660736
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.432990052,745.432990052,714,682.567009948,659.432990052,633.432990052,880,785,804.432990052,651.432990052,631,653,0.446472077243,-0.00554597958787,0.0796669954042,0.999999865914,-7.25317548119e-05,-0.000508126659907,-6.86900476615e-05,1793239498965327616
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.1552526,714.1552526,683,659,633,880.1552526,785.1552526,804.1552526,651,631,653,0.446817503353,-0.00554816161491,0.0796653514654,0.999999868312,-7.44640942832e-05,-0.000503096352705,-6.87445131569e-05,1793239498981994752
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.734001731,714.734001731,683,659,633,880.734001731,785.734001731,804.734001731,651,631,653,0.4471388876,-0.00555097521954,0.0796638639225,0.999999869355,-8.77152127319e-05,-0.00049897455411,-6.79673131432e-05,1793239498998661376
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,746,714.690892142,683,659,633,881,785.690892142,804.690892142,651.309107858,631,653,0.447428823183,-0.00555279113455,0.079657085727,0.999999865316,-9.42037720623e-05,-0.000505788792085,-6.83402145594e-05,1793239499015327744
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,746,714.118884467,683,659,633,881,785.118884467,804.118884467,651.881115533,631,653,0.447692011293,-0.00555375850279,0.0796458077703,0.999999856873,-9.49406956396e-05,-0.000521904256184,-6.96912906192e-05,1793239499031994368
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,682.531437189,659,633,880.531437189,785,804.468562811,652,631,653,0.447924592421,-0.0055547105034,0.0796330050709,0.999999844392,-9.49536686928e-05,-0.000545183139118,-7.0528597245e-05,1793239499048660992
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.058820166,746,714,682.058820166,659,633,880.058820166,785,805,652,631,653,0.448146881369,-0.00555570411964,0.0796206146154,0.999999831404,-9.50200677956e-05,-0.000568418127469,-7.11625793336e-05,1793239499065327616
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.638098942,746,714,682.638098942,659,633,880.638098942,785,805,652,631,653,0.448349156133,-0.00555710163951,0.0796154115086,0.999999827636,-9.72398485441e-05,-0.00057463484817,-7.11902007562e-05,1793239499081994496
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.783954195,714,683,659,632.783954195,880.783954195,785,805,652,631,653,0.448539906,-0.00555888026773,0.0796119545927,0.999999824581,-0.000101585818054,-0.000579313281654,-7.01006915758e-05,1793239499098660864
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.208224821,714,683,659,632.208224821,880.208224821,785,805,652,631,653,0.448711468637,-0.00556129338355,0.0796114048209,0.999999822722,-0.000109471569838,-0.00058143069912,-6.71513290131e-05,1793239499115327488
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.366666836,714,683,658.633333164,632.366666836,880,785,805,651.633333164,631,653,0.448866811609,-0.00556256873471,0.0796109081489,0.99999982146,-0.000110066704155,-0.000583648736355,-6.5718538266e-05,1793239499131994624
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.941083904,714,683,658.058916096,632.941083904,880,785,805,651.058916096,631,653,0.449012964676,-0.00556319943856,0.0796104415626,0.99999982055,-0.000106531038914,-0.000585923784083,-6.51450236124e-05,1793239499148661760
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.468922558,746,714,683.531077442,658,633,880.531077442,785,805,651,631,653,0.449140159501,-0.00556440332335,0.0796128035194,0.999999824111,-0.00010819882445,-0.000579357162988,-6.64618258618e-05,1793239499165328128
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.880175473,714,683.880175473,658,632.880175473,880.880175473,784.880175473,805,651.119824527,631,653,0.449257741108,-0.0055654819217,0.0796139064941,0.999999826201,-0.000109946998903,-0.00057526271053,-6.76924981781e-05,1793239499181994496
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.302981021,714,683.302981021,658,632.302981021,880.302981021,784.302981021,805,651.697018979,631,653,0.449346899478,-0.00556583225747,0.0796089700125,0.999999820885,-0.000109732060397,-0.00058446161494,-6.77697797038e-05,1793239499198661120
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.273192237,745.273192237,714,683,658,632,880.273192237,784,805,651.726807763,630.726807763,653,0.449423961865,-0.00556542198719,0.0796029327985,0.999999815347,-0.000109266387669,-0.000593904386871,-6.81539310851e-05,1793239499215328256
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.848237135,745.848237135,714,683,658,632,880.848237135,784,805,651.151762865,630.151762865,653,0.449487659282,-0.00556417131613,0.0795956793752,0.999999809563,-0.000108523676364,-0.000603616609756,-6.88771458379e-05,1793239499231995648
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.566602662,745.566602662,714,683,658,632,881,784,805,651,630.433397338,653,0.449543198163,-0.00556394446414,0.0795917553948,0.999999806245,-0.000108228478448,-0.000609150874024,-6.87847134059e-05,1793239499248662528
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.021850045,745.021850045,714,682.978149955,658,632,880.978149955,784.021850045,805,651,631,653,0.449595392933,-0.0055641369567,0.0795892597973,0.999999803993,-0.000108183342418,-0.00061288706768,-6.84032694555e-05,1793239499265329408
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.601766758,745.601766758,714,682.398233242,658,632,880.398233242,784.601766758,805,651,631,653,0.449636887129,-0.00556566436498,0.0795927573316,0.999999806168,-0.000110426942854,-0.000608958176069,-6.81094128147e-05,1793239499281995776
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.81963236,745.81963236,714,682,657.81963236,632,880,784.81963236,805,651,630.81963236,652.81963236,0.449673328363,-0.00556678297599,0.0795955088212,0.999999807765,-0.000112090059438,-0.000606075390155,-6.76702714096e-05,1793239499298661888
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.243915735,745.243915735,714,682,657.243915735,632,880,784.243915735,805,651,630.243915735,652.243915735,0.449698693973,-0.00556700554143,0.0795966250503,0.999999808129,-0.000112480809447,-0.000605485570565,-6.69126794394e-05,1793239499315328256
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.331220471,714,682,657.331220471,632,880.331220471,784.331220471,805,651.331220471,630,652.331220471,0.449717234938,-0.00556611368351,0.0795960589158,0.999999807057,-0.00011182375371,-0.000607386989395,-6.68008209622e-05,1793239499331995136
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.905930055,714,682,657.905930055,632,880.905930055,784.905930055,805,651.905930055,630,652.905930055,0.449730758927,-0.0055644025829,0.0795942560305,0.999999804917,-0.000110396427712,-0.000611119784793,-6.71636585328e-05,1793239499348662016
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.505856971,714,682,658,632,881,784.505856971,804.505856971,652,630,653,0.449739984191,-0.00556386956619,0.0795921455872,0.999999803302,-0.000108810580402,-0.00061408732946,-6.67286832828e-05,1793239499365328384
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.083404086,714,682,658,632,881,784,804,652,630.083404086,653,0.44974734503,-0.0055637773742,0.0795900331667,0.999999801733,-0.000107358308184,-0.000616960121143,-6.60892069656e-05,1793239499381994496
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.663174316,714,682,658,632,881,784,804,652,630.663174316,653,0.449748617139,-0.00556493646466,0.0795882672169,0.999999799865,-0.000106885629594,-0.000620160360044,-6.51619560302e-05,1793239499398661376
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.759480351,714,682,657.759480351,631.759480351,880.759480351,784.240519649,804.240519649,651.759480351,630.759480351,653,0.449750753266,-0.00556484470287,0.0795872724519,0.999999798852,-0.000106383950443,-0.000621904742728,-6.4907251766e-05,1793239499415328256
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.185497006,714,682,657.185497006,631.185497006,880.185497006,784.814502994,804.814502994,651.185497006,630.185497006,653,0.449754087296,-0.00556301872171,0.0795873468806,0.999999799036,-0.00010584206407,-0.00062163068225,-6.55849865509e-05,1793239499431995136
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.397897367,714,682,657,631.397897367,880.397897367,784.602102633,805,651,630,653,0.449756043006,-0.00556242578474,0.0795868985596,0.999999798786,-0.000105590216639,-0.000622083795432,-6.54962008744e-05,1793239499448661760
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.985785362,714,682,657,631.985785362,880.985785362,784.014214638,805,651,630,653,0.449757340586,-0.0055624216098,0.0795862006325,0.99999979833,-0.000105476858906,-0.00062288412424,-6.50414119917e-05,1793239499465328384
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.434347726,745.434347726,714,682,657,632,881,784,805,651,630.565652274,653,0.449757928919,-0.00556281626905,0.0795856236279,0.999999797822,-0.00010614154397,-0.000623588497674,-6.50164308486e-05,1793239499481994752
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.144457663,745.144457663,714,682,657,632,881,784,805.144457663,651.144457663,630.855542337,653,0.449758302349,-0.00556319315766,0.0795850230644,0.999999797321,-0.000106449206044,-0.000624343864287,-6.49723389146e-05,1793239499498660608
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.720684204,745.720684204,714,682,657,632,881,784,805.720684204,651.720684204,630.279315796,653,0.449758085986,-0.00556348739412,0.0795843431309,0.999999796845,-0.00010563214194,-0.000625258750484,-6.48392953982e-05,1793239499515327488
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,880.704581588,784,805.704581588,652,630.295418412,653,0.449758177529,-0.00556253152689,0.0795846449755,0.999999796797,-0.000105040790385,-0.000625432230691,-6.48538341934e-05,1793239499531994624
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,880.131251213,784,805.131251213,652,630.868748787,653,0.449758558732,-0.00556039963697,0.079585870418,0.999999797155,-0.000104661775597,-0.000624908240616,-6.50072095805e-05,1793239499548661504
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.543083457,714,682.456916543,657,632,880,784,805,652,630.543083457,653,0.449759438801,-0.00555967713029,0.0795853640787,0.999999797228,-0.000103041654463,-0.000625084829651,-6.47696041096e-05,1793239499565328384
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.048373465,745,714,682.951626535,657,632,880,784,805,652,630,653,0.449760342514,-0.00555947044776,0.0795843757553,0.999999797158,-0.000101235705349,-0.000625526262114,-6.4444685201e-05,1793239499581995264
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.627584311,745,714,682.372415689,657,632,880,784,805,652,630,653,0.449759880342,-0.00556033244105,0.0795837404972,0.999999796471,-0.000101434113614,-0.000626591494443,-6.44354465896e-05,1793239499598661376
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.794770588,745.205229412,714,682,657.205229412,632,880.205229412,784,805,652,630.205229412,653,0.449759261084,-0.00556143498864,0.0795831210038,0.999999795607,-0.000103347030497,-0.000627655772431,-6.44464868279e-05,1793239499615327488
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.219945262,745.780054738,714,682,657.780054738,632,880.780054738,784,805,652,630.780054738,653,0.449758358928,-0.00556297074838,0.0795825299011,0.999999794407,-0.000108347591458,-0.00062871833168,-6.44940470745e-05,1793239499631994112
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,682.362623797,657.637376203,632,880.637376203,784,805,651.637376203,631,653,0.449758985401,-0.00556233573103,0.0795830203252,0.999999794654,-0.000108100411776,-0.000628357250975,-6.46055521373e-05,1793239499648660736
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,682.949992196,657.050007804,632,880.050007804,784,805,651.050007804,631,653,0.449760559277,-0.00556035532362,0.0795841810509,0.999999795797,-0.000104600821592,-0.000627113835986,-6.47566884976e-05,1793239499665327360
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.530163545,746,714,683,657,632,880.530163545,784.530163545,805,651.530163545,631,653,0.449759737386,-0.00555949970263,0.0795834849408,0.999999795218,-0.000103253591367,-0.000628323636728,-6.41300024783e-05,1793239499681995008
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.890806873,746,714,683,657.109193127,632,881,785,805,651.890806873,631,653,0.449758920813,-0.0055589744106,0.0795828015461,0.999999794551,-0.000102793770857,-0.000629504561144,-6.36773252431e-05,1793239499698662656
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.313799619,746,714,683,657.686200381,632,881,785,805,651.313799619,631,653,0.44975908222,-0.00555941588491,0.0795829129549,0.999999794205,-0.000105277710592,-0.000629583665252,-6.42802713375e-05,1793239499715329536
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,682.737063732,657.737063732,631.737063732,880.737063732,784.737063732,805,651.262936268,631,653,0.449759959128,-0.0055604768068,0.0795835170085,0.999999794786,-0.000106087615804,-0.000628523216133,-6.42859822856e-05,1793239499731995904
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,682.160651296,657.160651296,631.160651296,880.160651296,784.160651296,805,651.839348704,631,653,0.449761689067,-0.00556227624251,0.0795847084001,0.999999796473,-0.000104901714794,-0.00062610417629,-6.35796615121e-05,1793239499748661760
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.575614739,714,682,657,631.424385261,880,784,805,651.575614739,631,653,0.449761553744,-0.00556206622737,0.0795838136668,0.999999796006,-0.000104725303324,-0.000626878526301,-6.35898670696e-05,1793239499765328128
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745,714,682,657,632,880,784,804.98744633,651.01255367,630.98744633,653,0.449760705365,-0.00556110388134,0.0795821454811,0.999999794717,-0.000104899696304,-0.000628875589951,-6.38585646657e-05,1793239499781994752
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,632,880,784,804.408326634,651.591673366,630.408326634,653,0.449760203897,-0.00556123040584,0.07958195003,0.99999979398,-0.000103301992243,-0.000630366222739,-6.3297936067e-05,1793239499798661120
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,714,682.16952711,657,632,880.33905422,784,804.16952711,652,630.16952711,652.83047289,0.449759871997,-0.00556126019081,0.0795818469006,0.999999793475,-0.000102508125874,-0.000631324181742,-6.3028551233e-05,1793239499815327744
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745,714,682.74435422,657,632,881.488708441,784,804.74435422,652,630.74435422,652.25564578,0.449759945496,-0.00556105869401,0.0795819644908,0.999999793531,-0.00010363604908,-0.000631008641185,-6.34554627248e-05,1793239499831994880
+254,4.233333333,POSE1_TO_POSE2_PRESS,765.319910764,745.319910764,714,683,657,631.680089236,881.680089236,784,805,652,631,652.319910764,0.449760829688,-0.00556103676849,0.079582427197,0.999999794113,-0.000104146136097,-0.000629987033423,-6.35850230722e-05,1793239499848661760
+255,4.250000000,POSE1_TO_POSE2_PRESS,765.896051513,745.896051513,714,683,657,631.103948487,881.103948487,784,805,652,631,652.896051513,0.4497623632,-0.00556115866917,0.079583166321,0.999999795117,-0.000104161372071,-0.000628399906756,-6.34764223617e-05,1793239499865328384
+256,4.266666667,HOLD_POSE2,765,746,714,683,657,632,881,784,804,652,631,653,0.449763386426,-0.00555858121498,0.0795838018077,0.999999796785,-9.94467599482e-05,-0.000626481475283,-6.37309085606e-05,1793239499896513024
+257,4.283333333,HOLD_POSE2,765,746,714,683,657,632,881,784,804,651.421741925,630.421741925,653,0.449764208483,-0.00556051653674,0.0795845021954,0.999999797074,-0.000103052315767,-0.000625502095865,-6.30884370594e-05,1793239499913179648
+258,4.300000000,HOLD_POSE2,765,745.844776199,714,683,657,632,881,784,804.155223801,651,630.155223801,653,0.449764438284,-0.00556151720364,0.0795846735824,0.999999796974,-0.000105034112273,-0.000625373174744,-6.26691484045e-05,1793239499929846016
+259,4.316666667,HOLD_POSE2,765,745.271292658,714,683,657,632,881,784,804.728707342,651,630.728707342,653,0.449763072217,-0.005559999388,0.0795834195462,0.999999795857,-0.000102640593769,-0.000627535863757,-6.28512390302e-05,1793239499946512384
+260,4.333333333,HOLD_POSE2,765,745,714,682.696479679,657,631.696479679,881,784,805,651.303520321,631,652.696479679,0.449762212849,-0.00555928992639,0.0795827913883,0.99999979521,-0.000101514183584,-0.000628721596451,-6.31217727626e-05,1793239499963179008
+261,4.350000000,HOLD_POSE2,765,745,714,682.120473228,657,631.120473228,881,784,805,651.879526772,631,652.120473228,0.449761808371,-0.00555930616671,0.0795827251143,0.999999794992,-0.000101525323214,-0.000629030264033,-6.34717065055e-05,1793239499979845888
+262,4.366666667,HOLD_POSE2,764.533167718,745.466832282,714,682.466832282,657,631.466832282,881,784,805.466832282,652,631,652,0.449761995803,-0.00555881823255,0.0795827635822,0.999999794754,-0.00010109277854,-0.000629475549403,-6.35036781375e-05,1793239499996512768
+263,4.383333333,HOLD_POSE2,764.056003457,746,714,682.943996543,657,632,880.943996543,784,805.887993086,652,630.943996543,652.056003457,0.449762424403,-0.00555840336991,0.0795828801073,0.999999794635,-0.0001008891051,-0.000629704824161,-6.3426594645e-05,1793239500013179904
+264,4.400000000,HOLD_POSE2,764.634697654,746,714,682.365302346,657,632,880.365302346,784,804.730604693,652,630.365302346,652.634697654,0.449763642843,-0.00555991495858,0.079583466618,0.99999979568,-0.000103916681965,-0.000627580815894,-6.3116509703e-05,1793239500029846528
+265,4.416666667,HOLD_POSE2,765,746,714,682,657,631.790994446,880.209005554,784,804.209005554,652,630,653,0.449764179174,-0.00556087596821,0.0795836901015,0.999999796034,-0.000105391992284,-0.000626793549509,-6.28783537618e-05,1793239500046513152
+266,4.433333333,HOLD_POSE2,765,746,714,682,657,631.224195438,880.775804562,784,804.775804562,652,630,653,0.449763547809,-0.00556089444972,0.0795832921238,0.999999795223,-0.000104210000625,-0.000628294631606,-6.2763332024e-05,1793239500063179520
+267,4.450000000,HOLD_POSE2,765,745.638520209,714,682.361479791,657,631.361479791,881,784,805,652,630.361479791,653,0.449764451594,-0.00556063990826,0.0795838274737,0.999999795698,-0.000103915493199,-0.000627565006381,-6.29966922764e-05,1793239500079846144
+268,4.466666667,HOLD_POSE2,765,745.040492559,714,682.959507441,657,631.959507441,881,784,805,652,630.959507441,653,0.449766359962,-0.00556020670398,0.0795849735813,0.99999979701,-0.000104201744247,-0.000625375634307,-6.34580293383e-05,1793239500096513024
+269,4.483333333,HOLD_POSE2,765,745.539554654,714,682.460445346,657,632,881,784,805,652,631,653,0.449764344954,-0.00555926908261,0.0795830273942,0.999999795397,-0.0001039818593,-0.000627967788659,-6.36346477062e-05,1793239500113179904
+270,4.500000000,HOLD_POSE2,765,746,714,682.117783117,657,631.882216883,881,784,805,652,630.882216883,653,0.449762845915,-0.00555860493106,0.0795818111193,0.999999794271,-0.000103610242085,-0.000629814994599,-6.36914957676e-05,1793239500129846784
+271,4.516666667,HOLD_POSE2,765,746,714,682.694015496,657,631.305984504,881,784,805,652,630.305984504,653,0.449764464288,-0.00555914780445,0.0795843100564,0.999999795887,-0.000102791114521,-0.00062741093365,-6.33626471211e-05,1793239500146513664
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,632,881,784,805,652,630,653,0.449767547608,-0.00555952357123,0.079585109997,0.99999979717,-0.000100751388749,-0.000625705611499,-6.32626099777e-05,1793239500184404992
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.407328246,657,632,880.407328246,784,804.407328246,652,630,653,0.449765389236,-0.00556093837028,0.0795842991884,0.999999795792,-0.000103682179702,-0.000627440392032,-6.31305172178e-05,1793239500201071360
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.180583421,714,682,656.819416579,632,880.180583421,784,804,652,630,653,0.449764571528,-0.00556110576377,0.0795841913856,0.999999795368,-0.000104906847667,-0.000627906686931,-6.31796704145e-05,1793239500217737984
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.758033989,714,682,656.241966011,632,880.758033989,784,804,652,630,653,0.44976670019,-0.00555853174155,0.0795856285741,0.999999797056,-0.000102381979528,-0.000625585238593,-6.36271467826e-05,1793239500234404608
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.665920205,714,682.334079795,656.334079795,632,881,784,804.334079795,652,630,653.334079795,0.449767010637,-0.00555593680946,0.0795855015398,0.999999797656,-9.91831999044e-05,-0.00062513152904,-6.3726901648e-05,1793239500251071232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.090887609,714,682.909112391,656.909112391,632,881,784,804.909112391,652,630,653.909112391,0.449766009708,-0.00555332679642,0.0795842463202,0.999999797465,-9.54983663124e-05,-0.000626024913647,-6.35758646945e-05,1793239500267737600
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.496335314,714,682.503664686,657,632,881,784,804.503664686,652,630.496335314,653.503664686,0.449766124268,-0.00555422469946,0.0795844148248,0.999999797427,-9.76025541626e-05,-0.000625756539782,-6.36234822364e-05,1793239500284404992
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.08447827,657.08447827,632,881,784,804,651.91552173,630.91552173,653,0.449766091219,-0.00555563692775,0.0795846119825,0.999999797211,-0.000100148771391,-0.000625696022444,-6.36612428411e-05,1793239500301072128
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.664592595,657.664592595,632,881,784,804,651.335407405,630.335407405,653,0.449763963546,-0.00555620307773,0.0795834091508,0.99999979582,-9.89123274696e-05,-0.0006281345712,-6.34223734692e-05,1793239500317738496
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,657.75831904,632,881,784,804.24168096,651.24168096,630.24168096,653,0.449759608995,-0.00555649333604,0.0795808407089,0.99999979353,-9.83550936028e-05,-0.000631863425865,-6.33676933804e-05,1793239500334404864
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,657.185378253,632,881,784,804.814621747,651.814621747,630.814621747,653,0.449752202175,-0.0055564054436,0.0795764004945,0.999999789992,-9.87288185865e-05,-0.000637360837143,-6.35654722131e-05,1793239500351071488
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.609579347,713.609579347,682.609579347,657.390420653,632,880.609579347,784,804.609579347,651.609579347,631,653,0.449725771187,-0.00555584482167,0.0795634757686,0.999999776832,-9.86092315037e-05,-0.000657655504863,-6.40430064101e-05,1793239500367738112
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.032413298,713.032413298,682.032413298,657.967586702,632,880.032413298,784,804.032413298,651.032413298,631,653,0.449690240588,-0.00555505808449,0.079546492744,0.999999758451,-9.82536841374e-05,-0.00068502797321,-6.46543527333e-05,1793239500384404480
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.558793386,713.558793386,682,657.441206614,631.441206614,880.558793386,784,804.558793386,651.558793386,631,653,0.449627677946,-0.00555385878277,0.0795234568078,0.999999730829,-9.8632941729e-05,-0.000724155556853,-6.49003494946e-05,1793239500401071104
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,631.146842388,880.853157612,784,804.853157612,651.853157612,630.853157612,653,0.449561556037,-0.00555280534771,0.0795031608445,0.999999706027,-9.90866624185e-05,-0.000757583783903,-6.47596651806e-05,1793239500417737984
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,631.723211329,880.276788671,784,804.276788671,651.276788671,630.276788671,653,0.449489727752,-0.00555225038979,0.0794919330113,0.999999694798,-9.96303051372e-05,-0.000772294994309,-6.35514933069e-05,1793239500434405376
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,631.700146388,880,784,804.299853612,651.299853612,630.299853612,653,0.449410003761,-0.00555041977372,0.079484560806,0.999999687661,-9.78083586163e-05,-0.000781828382205,-6.20936337984e-05,1793239500451072256
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,631.123251593,880,784,804.876748407,651.876748407,630.876748407,653,0.449322984762,-0.00554741054975,0.0794807508986,0.999999684424,-9.38007934399e-05,-0.000786577868038,-6.04050826088e-05,1793239500467738624
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.539359389,745.539359389,714,682,657,631,880.460640611,784,804.539359389,652,630.539359389,653,0.449218828424,-0.00554655477126,0.0794813582865,0.999999684529,-9.14319932383e-05,-0.000786949275454,-5.73857248379e-05,1793239500484404992
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.045947568,745,714,682,657,631,880.954052432,784.045947568,804,651.954052432,630.045947568,652.954052432,0.449108019129,-0.00554623938165,0.0794832772076,0.999999685729,-8.94774594625e-05,-0.000785891792916,-5.3945765121e-05,1793239500501071104
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.625604845,745,714,682,657,631,880.374395155,784.625604845,804,651.374395155,630.625604845,652.374395155,0.448974014994,-0.00554540492733,0.0794864899463,0.999999689156,-8.71631404675e-05,-0.000782053558126,-4.98201186655e-05,1793239500517737728
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.204524456,714,682,657.204524456,631.204524456,880.204524456,784.795475544,804.204524456,651,631,652.204524456,0.44882881689,-0.00554333085464,0.0794906033768,0.999999693294,-8.42132281197e-05,-0.00077732192551,-4.57233267177e-05,1793239500534404352
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.782098513,714,682,657.782098513,631.782098513,880.782098513,784.217901487,804.782098513,651,631,652.782098513,0.448663201167,-0.00553899573636,0.0794963596555,0.999999698733,-8.01040030979e-05,-0.000770960748822,-4.16791654191e-05,1793239500551070976
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.3576672,657.6423328,631.6423328,881,784,805,651.3576672,631,652.6423328,0.448476535165,-0.00553604961745,0.0794985660003,0.999999699439,-7.62937818933e-05,-0.000770684405151,-3.67042404306e-05,1793239500567737856
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.932021022,657.067978978,631.067978978,881,784,805,651.932021022,631,652.067978978,0.448277116194,-0.00553394499989,0.0794986216782,0.999999697263,-7.26647066971e-05,-0.000774094454019,-3.11654276137e-05,1793239500584404992
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,657,631.520676488,881,784,804.479323512,652,631,652.520676488,0.44803911804,-0.00553032584425,0.0794948616898,0.999999691947,-6.38046078828e-05,-0.000781925702267,-2.50398205851e-05,1793239500601071872
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.109104338,745.890895662,714,682.890895662,657,632,880.890895662,784,804.109104338,651.890895662,631,653,0.44779111573,-0.00552616719792,0.0794919447302,0.999999688281,-5.37860537008e-05,-0.00078752667946,-1.86392284653e-05,1793239500617738496
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.688279719,745.311720281,714,682.311720281,657,632,880.311720281,784,804.688279719,651.311720281,631,653,0.447522324873,-0.00552056017961,0.0794948668797,0.999999694111,-4.18019387409e-05,-0.000780961442653,-1.13932721263e-05,1793239500634404864
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.734113936,745,714,682.265886064,657.265886064,632,880,784,805,651,631,653,0.447239102469,-0.00551453602944,0.079501131547,0.99999970175,-2.87668215039e-05,-0.000771785200259,-4.43002296465e-06,1793239500651071232
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.158336345,745,714,682.841663655,657.841663655,632,880,784,805,651,631,653,0.446939060041,-0.00550802571036,0.0795112919352,0.999999711422,-1.45067566181e-05,-0.00075956581824,2.20372914454e-06,1793239500667738112
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713.585177232,682.585177232,658.414822768,632,880,784.414822768,804.585177232,651,630.585177232,653,0.446608199872,-0.00550318433609,0.0795228863816,0.999999721674,1.8992304028e-05,-0.000745815893654,7.02426633342e-06,1793239500684404736
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.013011327,682.013011327,658.986988673,632,880,784.986988673,804.013011327,651,630.013011327,653,0.446265650476,-0.0054989759962,0.0795350247691,0.999999730615,5.97887553819e-05,-0.000731485430229,1.11570471742e-05,1793239500701071360
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.577386888,682,658.422613112,632,881.154773776,785,804.577386888,651,630.577386888,653,0.445861764028,-0.00549410682956,0.0795463773323,0.999999738478,4.17465757059e-05,-0.00072195740832,8.84740260896e-06,1793239500717737984
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.834800761,682,658.165199239,632.165199239,881.669601522,785,804.834800761,651,631,653,0.445445932406,-0.00548905200214,0.0795562721506,0.999999746261,2.78710317705e-05,-0.000711783631463,8.06477598377e-06,1793239500734404864
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.254551205,682,658.745448795,632.745448795,880.509102409,785,804.254551205,651,631,653,0.44500367548,-0.00548356935121,0.0795625504373,0.99999975475,2.79037344295e-05,-0.000699706681282,1.14953089447e-05,1793239500751071488
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.322910329,682.322910329,659,633,880,785,804,651,631,653,0.444541712432,-0.00547744390596,0.0795712069532,0.99999976285,4.31431709003e-05,-0.000687189771297,1.44763022582e-05,1793239500767738112
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.89819293,682.89819293,659,633,880,785,804,651,631,653,0.444064347913,-0.00547081608083,0.0795817221873,0.999999770025,7.02675104616e-05,-0.000674329006687,1.71059558441e-05,1793239500784404736
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.517013519,659,633,880,785,804,651,630.517013519,653,0.443566394083,-0.00546619587973,0.0795912251835,0.999999778831,6.99036161418e-05,-0.000661142712411,1.84888676928e-05,1793239500801071104
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.068959336,714,682,659.068959336,633,880,785,804,651,630.068959336,652.931040664,0.443057096152,-0.00546206187241,0.079600923682,0.999999788823,6.33704038901e-05,-0.000646495408583,1.95477993343e-05,1793239500817737472
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.648522132,714,682,659.648522132,633,880,785,804,651,630.648522132,652.351477868,0.442496581847,-0.00545833149941,0.0796136813517,0.999999805127,5.49210969229e-05,-0.000621548455477,2.0192788906e-05,1793239500834404352
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.774436924,714,682.225563076,660,633.225563076,880.225563076,785.225563076,804.225563076,651,631,652.225563076,0.441926402021,-0.00545374052255,0.0796295775929,0.999999821041,6.604787464e-05,-0.000594222104528,2.13463438995e-05,1793239500851070976
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.201282177,714,682.798717823,660,633.798717823,880.798717823,785.798717823,804.798717823,651,631,652.798717823,0.441341327706,-0.0054478233593,0.079650310358,0.999999835354,0.000107341309869,-0.000563229113272,2.32835958243e-05,1793239500867738112
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.624066295,660,634,880.624066295,786,805,651,631,653,0.44069654992,-0.00543535781922,0.0796436075182,0.999999830586,0.00011531548851,-0.000570225363903,1.93466560658e-05,1793239500884404992
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.044652274,660,634,880.044652274,786,805,651,631,653,0.440019456665,-0.00541934786243,0.0796220547043,0.999999815713,0.000105255068962,-0.000597783919059,1.22302131709e-05,1793239500901071872
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.544341544,745.544341544,714.544341544,682,660.544341544,634.544341544,880,786.544341544,805,651,631,653,0.439345922229,-0.00541471726406,0.0796131236021,0.99999980939,0.000116985254579,-0.000606117915952,1.24971868138e-05,1793239500917737984
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,746,714.86827695,682,661,635,880,787,804.86827695,651.13172305,631,652.86827695,0.438675918935,-0.00541431401683,0.0796245696824,0.99999982115,0.000123014980667,-0.000585117212909,1.43429111985e-05,1793239500934404352
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,746,714.289089895,682,661,635,880,787,804.289089895,651.710910105,631,652.289089895,0.438016901649,-0.0054250433769,0.0797016570563,0.999999884043,0.000103499347379,-0.000469919353913,1.94573706005e-05,1793239500951070976
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745.711583293,714,682,661,635,880,787,804.288416707,651.711583293,631,652.288416707,0.437342959637,-0.00542879387105,0.0797711679914,0.999999927912,0.00010007333766,-0.000365456687291,2.45668302052e-05,1793239500967737600
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.135751241,714,682,661,635,880,787,804.864248759,651.135751241,631,652.864248759,0.436654144638,-0.00542558973065,0.0798331288017,0.999999956303,0.000112681087607,-0.000271691929415,2.96713080373e-05,1793239500984404224
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.448834612,714,682,661,635,880,787,804.551165388,651.448834612,631,653,0.43591722892,-0.00541898400876,0.0798549503897,0.999999963615,0.000126483022223,-0.000236123892381,3.19121434841e-05,1793239501001071104
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.964361093,745.964361093,714.035638907,682,661,635,880,787,804.035638907,652,631,653,0.435160066987,-0.0054117952232,0.0798621285192,0.999999965077,0.000139744628703,-0.000221857055911,3.31242572008e-05,1793239501017737728
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.384908496,745.384908496,714.615091504,682,661,635,880,787,804.615091504,652,631,653,0.434320373958,-0.00541172045174,0.0798347945333,0.999999956342,0.000139140449656,-0.000258697474384,3.21180634473e-05,1793239501034404352
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,635,880,786.80660176,804.80660176,652,631.19339824,653,0.433454059401,-0.00541008774365,0.0798039700704,0.999999941473,0.000142160809874,-0.000309564760406,3.18533006193e-05,1793239501051070720
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,635,880,786.230562162,804.230562162,652,631.769437838,653,0.432535073797,-0.00540537263425,0.0797662396473,0.999999912504,0.000152352375873,-0.000388184414212,3.30554701438e-05,1793239501067737344
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.345359442,745,715,682,661,635,880,786.345359442,804,651.654640558,631.654640558,653,0.431639266092,-0.00540566822761,0.0797385552418,0.999999889108,0.000157877478279,-0.000442346032199,3.44758714144e-05,1793239501084404224
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.921202278,745,715,682,661,635,880,786.921202278,804,651.078797722,631.078797722,653,0.430758926716,-0.00540930782636,0.0797175752736,0.999999871215,0.000160288311084,-0.000480185027271,3.60419145615e-05,1793239501101070848
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.49069902,745.50930098,715,682,661,635,880,787,804,651.50930098,631,653,0.429985475742,-0.00542074551959,0.079774080889,0.999999915866,0.000148008841599,-0.00038060321145,3.87601062939e-05,1793239501117737472
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.902521183,715,681.902521183,661,635,880,787,804,652,631,653,0.429211611573,-0.00543117916827,0.0798365374939,0.999999952545,0.000136955295173,-0.000272761787455,4.18822992638e-05,1793239501134404096
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.323549794,715,681.323549794,661,635,880,787,804,652,631,653,0.428352006261,-0.00543054697003,0.0798677125789,0.999999961797,0.000143460604013,-0.000231731710145,4.60978350042e-05,1793239501151070720
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.253148911,661,635,879.746851089,787,804,652,631,653,0.427453300913,-0.00542527453719,0.0798617131863,0.999999958218,0.000153160602718,-0.000240618095585,4.69967078093e-05,1793239501167737600
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.826968821,661,635,879.173031179,787,804,652,631,653,0.426505066308,-0.00541412418579,0.0798086238191,0.999999936215,0.000166907407415,-0.000312735092429,4.3694268855e-05,1793239501184404480
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.590619687,660.590619687,635,879,787,804,652,631,653,0.425593086409,-0.0054085470096,0.0797754905557,0.999999917285,0.000179091618849,-0.000362589405618,4.34276294045e-05,1793239501201071360
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.004499016,660.004499016,635,879,787,804,652,631,653,0.424696758687,-0.00540537592189,0.0797509728757,0.99999989971,0.000190601216425,-0.00040283232242,4.44716254572e-05,1793239501217737984
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.574905446,635,879.574905446,787,804.574905446,651.425094554,631,653,0.423780302161,-0.00539897465805,0.0797392502066,0.999999886444,0.000198217302485,-0.000431009190584,4.53000729599e-05,1793239501234404352
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787,804.845703733,651.154296267,631.154296267,652.845703733,0.42289319408,-0.00539406860109,0.0797429435376,0.999999887536,0.00020342454784,-0.000425957287922,4.58895484411e-05,1793239501251071232
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787,804.266207369,651.733792631,631.733792631,652.266207369,0.422087391754,-0.00539335179893,0.0797888465831,0.999999924217,0.000202076653778,-0.000329592798752,4.58250741298e-05,1793239501267737856
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.310750801,745,715,680.689249199,661,635,880,787,803.689249199,652,632,652.310750801,0.421269639786,-0.00539274968854,0.0798356714113,0.99999994835,0.000204503296331,-0.000243346020466,4.7553208372e-05,1793239501284404480
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.885552194,745,715,680.114447806,661,635,880,787,803.114447806,652,632,652.885552194,0.420441734031,-0.00539224503385,0.0798832794925,0.999999962903,0.000210137231376,-0.000165696450069,5.0804554661e-05,1793239501301071104
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.528627404,745,715,680,661,635,880,787.471372596,803.471372596,652,631.528627404,653,0.419573783141,-0.00538997162697,0.0798654453692,0.999999955167,0.000214364226477,-0.000203017994166,4.99842893776e-05,1793239501317737728
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.058987182,660.941012818,635,879.941012818,787.941012818,804,652,631,652.941012818,0.418697806365,-0.00538947330692,0.0798323283905,0.999999940363,0.000214927786038,-0.000266020833876,4.80843963228e-05,1793239501334404096
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.638264039,660.361735961,635,879.361735961,787.361735961,804,652,631,652.361735961,0.417838850644,-0.00540851049848,0.0798079139072,0.999999935578,0.000186263604615,-0.000303431299273,4.55900945805e-05,1793239501351070976
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.216676836,635,879.216676836,787,804,652,631,652.216676836,0.416997176021,-0.00542424246836,0.0797983038435,0.999999933556,0.000163906825525,-0.000322554730526,4.45049439653e-05,1793239501367737600
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.793652928,635,879.793652928,787,804,652,631,652.793652928,0.416184236988,-0.00543447838117,0.079813311181,0.999999938951,0.000152038253373,-0.000311269727484,4.57629881962e-05,1793239501384404224
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.376079975,745,715,680.623920025,661,635,879.623920025,787,804,652,631,652.623920025,0.415380651332,-0.00542926091705,0.0798056900213,0.999999932706,0.000162906817585,-0.000325453400908,4.61357467486e-05,1793239501401071104
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.961541796,745,715,680.038458204,661,635,879.038458204,787,804,652,631,652.038458204,0.414582273202,-0.00541543981266,0.0797854704858,0.999999918969,0.000186434241878,-0.000353816714224,4.6015623979e-05,1793239501417737728
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.458435044,745,715,680,661,635,879.541564956,787,804,652,631,652.541564956,0.413855420792,-0.00541634263554,0.0797992013951,0.999999929045,0.000187492156,-0.000323512541611,4.57875499072e-05,1793239501434404096
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.120794425,745,714.879205575,680,661.120794425,635,880,787.120794425,804,652,631,653,0.413135381416,-0.00541674702678,0.0798133662621,0.999999937733,0.000188636642595,-0.000294727696761,4.56658973426e-05,1793239501451070976
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.698468162,745,714.301531838,680,661.698468162,635,880,787.698468162,804,652,631,653,0.412422090708,-0.00541135079753,0.0798201443288,0.999999938451,0.00019608369708,-0.000287290333894,4.59754683181e-05,1793239501467737600
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.724707769,745,714.275292231,680,661.724707769,635,880,787.724707769,804,652,631,653,0.411707032104,-0.00540691567707,0.0798157678156,0.99999993442,0.000202127975654,-0.000296951261748,4.60855358384e-05,1793239501484404224
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.148811528,745,714.851188472,680,661.148811528,635,880,787.148811528,804,652,631,653,0.410990043102,-0.00540353003504,0.0797992111128,0.999999924688,0.000206640499316,-0.000325282585199,4.59777564885e-05,1793239501501070848
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879.568570556,787,804,652,631.431429444,652.568570556,0.410332816019,-0.00540143170151,0.0797990337418,0.999999922622,0.000211509776579,-0.00032850646287,4.5851459604e-05,1793239501517737728
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.01320515,745,715,680,661,635,879,787,804,652,631.98679485,652,0.409697559885,-0.00539979851896,0.0798049987249,0.999999923654,0.000216376434471,-0.000322148569078,4.5754145549e-05,1793239501534404352
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.595879039,745,715,680,661,635,879,787,804,652,631.404120961,652,0.409111803099,-0.00539888150783,0.0798297320655,0.999999936451,0.00021576946352,-0.000279848676292,4.71849569847e-05,1793239501551070976
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.823024499,652,631,652.176975501,0.408526671088,-0.00539758244354,0.0798441472519,0.999999942187,0.000217510180134,-0.000256867831161,4.83047374885e-05,1793239501567737344
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.245498136,652,631,652.754501864,0.407942953022,-0.00539541867341,0.0798352092355,0.999999935064,0.000224564447924,-0.000277612020744,4.8720558223e-05,1793239501584404224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.66924205,745,715,680,660.66924205,635,879,787,803,652,631,652.66924205,0.407372241637,-0.00539437141525,0.0798125692943,0.999999922477,0.000227543916528,-0.000317789563174,4.7747210578e-05,1793239501601071104
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.093925227,745,715,680,660.093925227,635,879,787,803,652,631,652.093925227,0.406811147288,-0.00539414969416,0.0797797982976,0.999999903756,0.000227510521533,-0.000372335915833,4.57467266459e-05,1793239501617737728
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.493287504,745,715,680,660.493287504,635,879.493287504,787.493287504,803.493287504,651.506712496,631,652.493287504,0.406324999411,-0.00539217307472,0.0797790485501,0.999999905072,0.000229141835458,-0.000367857597737,4.50689770755e-05,1793239501634404352
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.081431238,879.918568762,787.918568762,804,651,631.081431238,653,0.405862024233,-0.00539013023425,0.0797870734656,0.999999911804,0.000231332099555,-0.000347663610972,4.48065431932e-05,1793239501651070720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.661070573,879.338929427,787.338929427,804,651,631.661070573,653,0.40545135766,-0.00538977710597,0.0798105585439,0.999999925828,0.000234954900244,-0.000301777984443,4.55060925075e-05,1793239501667737600
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.762472911,745,715,679.762472911,661,635.762472911,879,787,804,651.237527089,632,653,0.405047409477,-0.00539060512669,0.0798260467499,0.99999993352,0.000233876668702,-0.000275927697594,4.61103697358e-05,1793239501684404480
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.190497984,745,715,679.190497984,661,635.190497984,879,787,804,651.809502016,632,653,0.404652921097,-0.00539309625343,0.0798302750314,0.999999934615,0.000226179192101,-0.000278287991491,4.65805000238e-05,1793239501701071104
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.394088695,661,635,879,787,804,651.605911305,631.605911305,652.605911305,0.40427707638,-0.00539235830624,0.0798363094454,0.999999933874,0.000231148799768,-0.000276661316342,4.77596441012e-05,1793239501717737728
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.984973354,661,635,879,787,804,651.015026646,631.015026646,652.015026646,0.403910541708,-0.00539000785751,0.0798432457875,0.999999932119,0.000242443965107,-0.000273043669744,4.92928482371e-05,1793239501734404352
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.564867386,745,715,680,661,635,879,787,804,651.564867386,631,652.564867386,0.403588757761,-0.00539053984042,0.0798433518768,0.999999935518,0.000225295742105,-0.000275757175471,4.65219648585e-05,1793239501751070976
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.8555556,745,715,680,661,635,879,787,804,652,631,653,0.403279069023,-0.00539069623091,0.0798427074443,0.999999937124,0.000213645746692,-0.000279499155702,4.45765035751e-05,1793239501767737600
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.276069478,745,715,680,661,635,879,787,804,652,631,653,0.403002291863,-0.00538949486642,0.0798403393702,0.99999993374,0.000220790879244,-0.000285841149203,4.54553368759e-05,1793239501784404480
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,804,652,631,652.700895688,0.402749480344,-0.0053877176841,0.0798387644122,0.999999930614,0.000228924049393,-0.000290366221659,4.53061164199e-05,1793239501801071616
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,804,652,631,652.129645592,0.402518474439,-0.00538541658296,0.0798379110861,0.999999927716,0.000237956204036,-0.000293238133332,4.42215015168e-05,1793239501817738752
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.45692322,635.45692322,879,787,803.54307678,652,631,652.45692322,0.402314126476,-0.00538790642933,0.0798381205516,0.999999929898,0.000232444604688,-0.000290185874851,4.43353170623e-05,1793239501834404864
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.952958902,661.952958902,635.952958902,879,787,803,651.952958902,631,652.952958902,0.402121006306,-0.00539144028837,0.0798393202776,0.999999933478,0.000223492791628,-0.000284744867765,4.48854006642e-05,1793239501851070976
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.373571121,661.373571121,635.373571121,879,787,803,651.373571121,631,652.373571121,0.401966380683,-0.00539087179568,0.0798481954798,0.999999936873,0.00022392834659,-0.000271953261589,4.63909998365e-05,1793239501867737600
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745.204708977,715,679,661,635.204708977,879,787,803.204708977,651.204708977,631.204708977,652.204708977,0.401821292795,-0.00539071036397,0.079855821233,0.999999939847,0.000223796391645,-0.000260748139794,4.72488681786e-05,1793239501884404736
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745.780978494,715,679,661,635.780978494,879,787,803.780978494,651.780978494,631.780978494,652.780978494,0.401693516553,-0.00539128777532,0.0798611791514,0.999999942257,0.000222634368107,-0.000252422595131,4.69310614135e-05,1793239501901071872
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745.636231584,715,679,661,635.636231584,879,787.363768416,804,652,631.636231584,653,0.401573555714,-0.00539166150965,0.0798593740045,0.999999941194,0.000224001862855,-0.000255718490793,4.5196726419e-05,1793239501917738752
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745.049444076,715,679,661,635.049444076,879,787.950555924,804,652,631.049444076,653,0.401458386328,-0.00539191037375,0.0798531773269,0.999999937931,0.000226920154204,-0.000266139256688,4.25939464559e-05,1793239501934405120
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.530609588,745,715,679,661,635,878.469390412,787.469390412,804,652,631,652.469390412,0.401361327502,-0.00539191873016,0.079846604413,0.999999934458,0.000231181230565,-0.000275606274453,4.09863795886e-05,1793239501951071232
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.890600261,745,715,679,661,635,878.109399739,787,804,652,631,652,0.401271683976,-0.00539203757719,0.0798404249638,0.999999931317,0.000234548263677,-0.000284199673947,3.97832811166e-05,1793239501967737600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.314556448,745,715,679,661,635,878.685443552,787,804,652,631,652,0.40120656209,-0.00539272211895,0.0798360715046,0.999999930037,0.000233574727403,-0.000289441001205,3.991482617e-05,1793239501984404224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.26087516,661.26087516,635.26087516,879,787,804,651.73912484,631,652,0.401151614846,-0.00539288145009,0.0798344068812,0.999999929552,0.00023298962486,-0.000291517653433,4.03683536019e-05,1793239502001071104
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.835570282,661.835570282,635.835570282,879,787,804,651.164429718,631,652,0.401108907202,-0.00539240897868,0.079835976795,0.999999930048,0.000232871789019,-0.000289787357245,4.12092099609e-05,1793239502017737728
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.416526416,745,715,679.583473584,661.583473584,635.583473584,878.583473584,787,804,651.416526416,631,652.416526416,0.401075907842,-0.00539263386777,0.0798364748677,0.999999930573,0.000231750994659,-0.000288820796938,4.15779938998e-05,1793239502034404352
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.999991878,745,715,679.000008122,661.000008122,635.000008122,878.000008122,787,804,651.999991878,631,652.999991878,0.401046799452,-0.00539313825101,0.0798365433587,0.999999931107,0.000230228225944,-0.000288160333317,4.17575765666e-05,1793239502051071488
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.413366986,745,715,679.586633014,661.586633014,635,878.586633014,787,804,652,631,653,0.401026348813,-0.00539258606416,0.0798365331211,0.999999930744,0.000232727428396,-0.000287408765192,4.17822269393e-05,1793239502067738368
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.169942392,745,715,679.830057608,661.830057608,635,879,787,803.830057608,652,631,653,0.40100918833,-0.00539212677392,0.0798363618861,0.999999930588,0.0002343339868,-0.000286650906729,4.17491885822e-05,1793239502084404992
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.74530326,745,715,679.25469674,661.25469674,635,879,787,803.25469674,652,631,653,0.400999876632,-0.00539188913516,0.0798358065746,0.999999930939,0.000233810899118,-0.000285878045019,4.15785318074e-05,1793239502101071360
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803.318026003,652,631,653,0.400992312654,-0.00539204374845,0.0798357167764,0.99999993119,0.000233143387637,-0.000285570314504,4.13992372113e-05,1793239502117737472
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803.888653399,652,631,653,0.400986136851,-0.00539250991932,0.0798359967256,0.999999931362,0.000232361163297,-0.000285632027871,4.12130817564e-05,1793239502134404352
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.522805962,745,715,679.477194038,661,635,879,787,804,652,631,652.522805962,0.400982861953,-0.00539262793996,0.0798366078938,0.999999931634,0.000232519518263,-0.000284581443224,4.09776353727e-05,1793239502151070976
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.068588271,635.068588271,879,787,804,652,631.068588271,652.068588271,0.400980636204,-0.0053926458828,0.07983736658,0.999999931903,0.000233056971298,-0.000283221242763,4.07879466096e-05,1793239502167737600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.648872495,635.648872495,879,787,804,652,631.648872495,652.648872495,0.400980990724,-0.00539254689621,0.0798386267425,0.999999931972,0.000234721444512,-0.000281562970617,4.10287792128e-05,1793239502184404736
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.227008859,745,715,679.772991141,661.772991141,636,879,787,804,652,631.772991141,652.772991141,0.400981297525,-0.00539260115912,0.0798395436327,0.999999932266,0.000235202979629,-0.000280095424483,4.11543524337e-05,1793239502201071360
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.801854111,745,715,679.198145889,661.198145889,636,879,787,804,652,631.198145889,652.198145889,0.400981531209,-0.00539289023999,0.0798399345407,0.999999932909,0.000233871946979,-0.000278920120117,4.11033184021e-05,1793239502217737984
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.615451727,745,715,679.384548273,661.384548273,635.615451727,879.384548273,787,804,652,631,652.384548273,0.400980849491,-0.00539401637222,0.0798399531089,0.999999933375,0.000231834092126,-0.000278934869262,4.12170696486e-05,1793239502234404608
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.028629014,745,715,679.971370986,661.971370986,635.028629014,879.971370986,787,804,652,631,652.971370986,0.400979686266,-0.00539558279793,0.0798397758244,0.999999933743,0.000229424445071,-0.000279575592931,4.14174988308e-05,1793239502251071232
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.449055979,635.550944021,879.449055979,787,803.449055979,652,631,653,0.400980312389,-0.00539329572234,0.0798402906103,0.999999933432,0.000232701168863,-0.000278017281346,4.11367570506e-05,1793239502267737856
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.130172277,745,715,680,661.130172277,636,879,787,803,652,631,652.869827723,0.400980650042,-0.00539179194146,0.0798407552254,0.999999933336,0.00023468815538,-0.000276732351127,4.08408350313e-05,1793239502284404224
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.709493734,745,715,680,661.709493734,636,879,787,803,652,631,652.290506266,0.400979675694,-0.0053936728023,0.0798409242558,0.999999934142,0.000231218701398,-0.00027677985995,4.05776864948e-05,1793239502301070848
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.714032728,636,879,787,803.285967272,652,631,652.285967272,0.400979317338,-0.0053950572326,0.0798409100391,0.999999934534,0.000228877297962,-0.000277314942141,4.05365826393e-05,1793239502317737728
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.140423716,636,879,787,803.859576284,652,631,652.859576284,0.400979578579,-0.00539594232576,0.0798407115023,0.999999934517,0.000227670549906,-0.000278340452671,4.07188236056e-05,1793239502334404864
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.555162848,745,715,680,661,636,879,787,804,651.555162848,631,652.555162848,0.400979095024,-0.00539404090625,0.0798405263395,0.999999934002,0.000230038049828,-0.000278287030296,4.04380087925e-05,1793239502351071488
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715.033341335,680,661,635.966658665,879,787,803.966658665,651.033341335,631.033341335,652.033341335,0.400978458325,-0.00539153370427,0.079840394967,0.999999933398,0.000233241151937,-0.000277844581434,4.00592329208e-05,1793239502367738112
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.613097691,680,661,635.386902309,879,787,803.386902309,651.613097691,631.613097691,652.613097691,0.400979268615,-0.00539390222608,0.0798410740876,0.999999934166,0.000231150019549,-0.000276758494688,4.05350462482e-05,1793239502384404480
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.191555814,745,715.808444186,679.808444186,661,635.191555814,879.191555814,787.191555814,803.191555814,651.808444186,631.808444186,652.808444186,0.400980095345,-0.00539534617684,0.0798417606517,0.999999934704,0.000230028327859,-0.000275711061392,4.07777578131e-05,1793239502401071104
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.767409399,745,715.232590601,679.232590601,661,635.767409399,879.767409399,787.767409399,803.767409399,651.232590601,631.232590601,652.232590601,0.400980955059,-0.00539493526028,0.0798424621489,0.99999993479,0.00023085152062,-0.000274741174408,4.05528224223e-05,1793239502417737728
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745.340886972,715,679.340886972,661,636,879.659113028,787.659113028,804,651.340886972,631,652.340886972,0.400980725748,-0.0053937464257,0.0798425375317,0.999999934636,0.000231597550373,-0.000274712007512,4.03018496622e-05,1793239502434404608
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.912754566,715,679.912754566,661,636,879.087245434,787.087245434,804,651.912754566,631,652.912754566,0.400979758528,-0.00539203048389,0.0798421886674,0.999999934318,0.000232291295431,-0.000275320260473,4.00332343253e-05,1793239502451071232
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.496569901,745.496569901,715,680,661,635.496569901,879,787,804,652,631,652.496569901,0.400980068456,-0.00539181933573,0.0798429564736,0.999999934451,0.00023263041273,-0.000274537997159,4.01244882738e-05,1793239502467738112
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.094876627,745,715,680,661,635,879,787,804,652,631,652.094876627,0.400980281017,-0.00539186102218,0.0798435052536,0.999999934492,0.000233028895752,-0.000274026616369,4.02874955923e-05,1793239502484404736
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.673003761,745,715,680,661,635,879,787,804,652,631,652.673003761,0.400978826542,-0.00539181066974,0.0798419144842,0.999999933655,0.000234054936795,-0.000276170019873,4.04859885708e-05,1793239502501071872
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.750052019,745,715,679.750052019,661.249947981,635.249947981,879,787.249947981,803.750052019,652,631,653,0.400978467044,-0.0053921060729,0.0798416150396,0.999999933498,0.000234353623958,-0.000276458864128,4.06475255564e-05,1793239502517738496
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.174647987,745,715,679.174647987,661.825352013,635.825352013,879,787.825352013,803.174647987,652,631,653,0.400979533313,-0.00539285168275,0.0798429970224,0.999999934231,0.000233705227309,-0.000274332896083,4.07609423506e-05,1793239502534404608
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.410156677,662,635.589843323,879,787.589843323,803.410156677,652,631,653,0.400978914579,-0.0053925147777,0.079842958231,0.999999934238,0.000233222583613,-0.00027477316132,4.03776967332e-05,1793239502551070976
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.999058064,662,635.000941936,879,787.000941936,803.999058064,652,631,653,0.400977561529,-0.00539170611675,0.0798423002715,0.999999933928,0.000232812174458,-0.000276331781333,3.97780075299e-05,1793239502567737600
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.578339662,745,715,679.421660338,661.421660338,635,879,787,804,652,631,653,0.400979253075,-0.00539469133131,0.0798430034241,0.999999934469,0.000231849284331,-0.00027506919585,4.05635302702e-05,1793239502584404224
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b248b539ea60a326ff12bec04ab4b7fb91250e97
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b7d637b30845a45f13eb27a1717e44dc85168f1
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..019dd86cd5429ef046864f841184bc318839b032
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,662,636,879,787,803,652,631,652,0.40098057073,-0.00539457744115,0.0798446006573,0.999999935174,0.000233348705184,-0.000271267831813,4.01782144893e-05,1793239502740595712
+1,0.016666667,BASELINE,766,745,715,679.574707265,661.425292735,636,878.425292735,787,803,652,631,652.574707265,0.400980515536,-0.00539537792772,0.0798446141658,0.999999935794,0.000230639844338,-0.000271269472959,4.0374517571e-05,1793239502757262592
+2,0.033333333,BASELINE,765.844851378,745,715,679.844851378,661.155148622,635.844851378,878.155148622,787,803,652,631,653,0.400980835187,-0.00539580825192,0.0798446991224,0.999999936314,0.000228828920788,-0.000270875317687,4.04582606655e-05,1793239502773929216
+3,0.050000000,BASELINE,765.248088392,745,715,679.248088392,661.751911608,635.248088392,878.751911608,787,803,652,631,653,0.400982221793,-0.00539518494776,0.0798449874486,0.999999936563,0.000229573881428,-0.000269354569213,4.02216135474e-05,1793239502790596352
+4,0.066666667,BASELINE,765.337504123,745,715,679.337504123,661.662495877,635,878.662495877,787,803,652,631,653,0.400982018444,-0.00539429293704,0.0798445771006,0.999999935898,0.000231763127832,-0.000269960664706,4.01405612469e-05,1793239502807262976
+5,0.083333333,BASELINE,765.915148608,745,715,679.915148608,661.084851392,635,878.084851392,787,803,652,631,653,0.400980683812,-0.00539320973671,0.079843669633,0.999999934572,0.000234980009948,-0.000272080048706,4.01702175212e-05,1793239502823929344
+6,0.100000000,BASELINE,766,745,715,680,661.489283585,635.489283585,878.489283585,787,803.489283585,652,631,653,0.400981017457,-0.00539265802848,0.0798443042561,0.999999934576,0.000235822483476,-0.000271334032886,4.01706588599e-05,1793239502840595712
+7,0.116666667,BASELINE,765.935576213,745,715,680,661.935576213,636,879,787,804,652,631.064423787,653,0.400981573356,-0.00539228630679,0.0798451058034,0.999999934818,0.000236075680416,-0.000270221495418,4.01658011059e-05,1793239502857262080
+8,0.133333333,BASELINE,765.347349759,745,715,680,661.347349759,636,879,787,804,652,631.652650241,653,0.400981600785,-0.00539263391189,0.079845105676,0.999999935126,0.000234861796194,-0.000270140371663,4.01587584202e-05,1793239502873928960
+9,0.150000000,BASELINE,765,745,715,679.762905097,661,636,879,787.237094903,804,652,632,652.762905097,0.400981095052,-0.00539334673435,0.0798450974397,0.999999935359,0.000233668228551,-0.000270313128512,4.01601923082e-05,1793239502890595584
+10,0.166666667,BASELINE,765,745,715,679.183913916,661,636,879,787.816086084,804,652,632,652.183913916,0.400979820489,-0.0053945862086,0.0798450775099,0.999999935484,0.000232503957984,-0.000270851987009,4.01738496099e-05,1793239502907262464
+11,0.183333333,BASELINE,765.392313886,745,715,679.392313886,661,635.607686114,879,787.607686114,804,652,631.607686114,652.392313886,0.400979480821,-0.00539477467832,0.0798442934743,0.999999935326,0.000232012526249,-0.000271861574249,4.01244948531e-05,1793239502923929088
+12,0.200000000,BASELINE,765.967255348,745,715,679.967255348,661,635.032744652,879,787.032744652,804,652,631.032744652,652.967255348,0.400979576359,-0.00539447389092,0.0798431537366,0.999999935035,0.000231834310256,-0.000273090292319,4.00458071069e-05,1793239502940595968
+13,0.216666667,BASELINE,765.457304254,745,715,679.457304254,661.542695746,635.542695746,879,787,803.457304254,652,631,653,0.400979303791,-0.00539335654074,0.0798434532866,0.999999934772,0.000234428597612,-0.00027181440259,4.01994864627e-05,1793239502957262592
+14,0.233333333,BASELINE,765.121557833,745,715,679,662,635.878442167,879,787.121557833,803.121557833,652,631,653,0.400979111539,-0.00539290213055,0.0798439182344,0.999999934811,0.000235554379766,-0.00027068829814,4.02601261732e-05,1793239502973928960
+15,0.250000000,BASELINE,765.713545442,745,715,679,662,635.286454558,879,787.713545442,803.713545442,652,631,653,0.400979316142,-0.0053952041498,0.0798446868833,0.999999936027,0.000230349047422,-0.000270727239616,3.99063930078e-05,1793239502990595584
+16,0.266666667,BASELINE,765.701016182,745,715,679.298983818,661.701016182,635.298983818,879,787.701016182,804,652,631,652.701016182,0.400979579389,-0.00539584633365,0.0798446843381,0.999999936145,0.000229450134899,-0.000271050344117,3.99274618107e-05,1793239503007262208
+17,0.283333333,BASELINE,765.121718117,745,715,679.878281883,661.121718117,635.878281883,879,787.121718117,804,652,631,652.121718117,0.400979897616,-0.00539493232778,0.0798439587549,0.999999935245,0.000232588734923,-0.000271639867532,4.02999286867e-05,1793239503023928832
+18,0.300000000,BASELINE,765.454040197,745,715,679.545959803,661,636,879,787.454040197,804,652,631,652.454040197,0.400979074321,-0.00539457908803,0.0798434753852,0.99999993478,0.000234158039932,-0.000271981172795,4.04510016655e-05,1793239503040595456
+19,0.316666667,BASELINE,766,745,715,679.029489601,661,636,879,787.970510399,804,652,631,653,0.400977997473,-0.0053943380638,0.0798430650029,0.99999993444,0.000235227872234,-0.000272296922499,4.05195524064e-05,1793239503057262336
+20,0.333333333,BASELINE,766,745,715,679.616909118,661,636,879,787.383090882,804,652,631,653,0.400977868436,-0.00539339795185,0.0798428165281,0.999999934274,0.000234745660797,-0.000273378374247,4.01410235426e-05,1793239503073929472
+21,0.350000000,BASELINE,765.798405115,745,715.201594885,680,661,636,878.798405115,787,804,652,631,652.798405115,0.40097796194,-0.00539312003732,0.0798428039158,0.999999934433,0.000233486443905,-0.000273911564785,3.98797234871e-05,1793239503090596608
+22,0.366666667,BASELINE,765.218844858,745,715.781155142,680,661,636,878.218844858,787,804,652,631,652.218844858,0.400978472683,-0.00539408366081,0.0798432335165,0.999999935201,0.000230770438338,-0.000273416833525,3.98382129304e-05,1793239503107263232
+23,0.383333333,BASELINE,765.35876918,745,715.64123082,680,661.35876918,636,878.35876918,787,804,652,631.35876918,652.35876918,0.400978900171,-0.00539562293999,0.0798439765927,0.999999935747,0.000229688730319,-0.000272287025404,4.01145311366e-05,1793239503123929600
+24,0.400000000,BASELINE,765.935202508,745,715.064797492,680,661.935202508,636,878.935202508,787,804,652,631.935202508,652.935202508,0.400979277149,-0.00539751146778,0.0798449098536,0.99999993616,0.000229598545292,-0.000270771918074,4.05836750637e-05,1793239503140595712
+25,0.416666667,BASELINE,765.495832644,745,715,680,662,636,879,787,804,652.504167356,631.495832644,653,0.400979961139,-0.00539623107816,0.0798452324478,0.999999936195,0.000230301199264,-0.000270114469646,4.01127347488e-05,1793239503157262336
+26,0.433333333,BASELINE,765,745,715,680,662,635.923965039,879,787,804,652.923965039,631,653,0.400980501008,-0.00539473262192,0.0798453250675,0.999999936128,0.000231039701574,-0.000269810418444,3.95766849377e-05,1793239503173928960
+27,0.450000000,BASELINE,765,745,715,680,662,635.325661781,879,787,804,652.325661781,631,653,0.400979783865,-0.00539449300433,0.0798443692695,0.999999935694,0.000231334735308,-0.000271187687214,3.94112060958e-05,1793239503190595840
+28,0.466666667,BASELINE,765.263351122,745,715,680,662,635.263351122,879,787,804,652,631.263351122,653,0.400979366824,-0.00539425730058,0.079844102341,0.999999935637,0.000230979801684,-0.000271703340647,3.93875423271e-05,1793239503207262720
+29,0.483333333,BASELINE,765.841266951,745,715,680,662,635.841266951,879,787,804,652,631.841266951,653,0.400979308245,-0.00539402627179,0.0798446582457,0.999999936031,0.000229848502295,-0.000271189821328,3.95332722529e-05,1793239503223929344
+30,0.500000000,BASELINE,766,745,715,680,662,635.582107137,879.417892863,787.417892863,804,652,631.582107137,652.582107137,0.40098028894,-0.00539432412868,0.0798449944351,0.99999993601,0.000230890256621,-0.000270349378272,3.9764325155e-05,1793239503240595968
+31,0.516666667,BASELINE,766,745,715,680,662,635.005969694,879.994030306,787.994030306,804,652,631.005969694,652.005969694,0.400981663179,-0.0053948222601,0.0798452474242,0.999999935827,0.000232754886889,-0.000269385138161,4.00276875276e-05,1793239503257262592
+32,0.533333333,BASELINE,765.418373585,745,715,679.418373585,661.418373585,635,879.418373585,788,804,652,631,652.581626415,0.40098001779,-0.00539561015826,0.0798438362627,0.999999935833,0.000230342693487,-0.000271455270381,3.98588093265e-05,1793239503273929216
+33,0.550000000,BASELINE,765.166928557,745,715,679,661.166928557,635.166928557,879,788,804,652,631,653,0.400978946275,-0.00539578254987,0.079843082163,0.999999935674,0.000229592779142,-0.000272684510123,3.97800039207e-05,1793239503290595584
+34,0.566666667,BASELINE,765.746266788,745,715,679,661.746266788,635.746266788,879,788,804,652,631,653,0.400979370668,-0.00539442679027,0.0798439944317,0.999999935118,0.000233060280801,-0.00027175777044,3.99349110296e-05,1793239503307262208
+35,0.583333333,BASELINE,766,745,715,679.325324684,662,636,879.325324684,787.674675316,804,652,631.325324684,653,0.400979410401,-0.00539397771196,0.079844505852,0.999999935102,0.000233577876964,-0.000271392664586,3.97842382054e-05,1793239503323929088
+36,0.600000000,BASELINE,766,745,715,679.904164185,662,636,879.904164185,787.095835815,804,652,631.904164185,653,0.400979150381,-0.00539423518041,0.0798447049046,0.999999935512,0.000231796709245,-0.000271465221393,3.93954370149e-05,1793239503340595968
+37,0.616666667,BASELINE,765.523429587,745,715,680,661.523429587,636,879.523429587,787,804,652,631.523429587,652.523429587,0.400978932074,-0.00539502045161,0.0798443449769,0.999999935426,0.000231649971909,-0.000271858955589,3.97386740042e-05,1793239503357263360
+38,0.633333333,BASELINE,765.049403609,745,715,679.950596391,661,635.950596391,879,787,804,652,631,652.049403609,0.4009789036,-0.00539574450255,0.0798440494853,0.999999935328,0.000231752666857,-0.0002720685424,4.01631721899e-05,1793239503373930496
+39,0.650000000,BASELINE,765.640929574,745,715,679.359070426,661,635.359070426,879,787,804,652,631,652.640929574,0.400980867406,-0.00539464758458,0.0798456781327,0.999999936185,0.000231033839001,-0.000269558122621,3.98855185406e-05,1793239503390596608
+40,0.666666667,BASELINE,766,745,715,679.227743783,661.227743783,635.227743783,879,787.227743783,804,652,631,653,0.400981616369,-0.00539453820069,0.0798463899755,0.999999936527,0.00023067301413,-0.000268619306628,3.97522201725e-05,1793239503407262720
+41,0.683333333,BASELINE,766,745,715,679.807279781,661.807279781,635.807279781,879,787.807279781,804,652,631,653,0.400980488785,-0.00539595424511,0.0798456856449,0.999999936078,0.000230865190845,-0.000270108122282,3.98419051394e-05,1793239503423929344
+42,0.700000000,BASELINE,766,745,715,679.616081121,661.616081121,635.616081121,879,787.616081121,804,652,631,653,0.400979915135,-0.00539521484135,0.0798448645529,0.999999935795,0.000231400099009,-0.000270730996233,3.95949518206e-05,1793239503440595968
+43,0.716666667,BASELINE,766,745,715,679.040885341,661.040885341,635.040885341,879,787.040885341,804,652,631,653,0.400979617469,-0.00539340154545,0.0798439852878,0.999999935596,0.000232105763579,-0.000270922438779,3.91802778389e-05,1793239503457262336
+44,0.733333333,BASELINE,766,745,715,679,661.53459023,635,878.46540977,787,804,652,631,652.46540977,0.400979979551,-0.00539248322512,0.0798446671524,0.999999935398,0.000233434539466,-0.000270510789856,3.92017236738e-05,1793239503473929216
+45,0.750000000,BASELINE,765.886835168,745,715,679.113164832,661.886835168,635,878.113164832,787.113164832,804,652,631,652.113164832,0.40098043903,-0.00539200392993,0.0798453791961,0.999999935282,0.000234439697965,-0.000270056223805,3.93005616513e-05,1793239503490596096
+46,0.766666667,BASELINE,765.295249637,745,715,679.704750363,661.295249637,635,878.704750363,787.704750363,804,652,631,652.704750363,0.400981096842,-0.00539309115392,0.0798457138027,0.999999935521,0.0002338751411,-0.000269615318785,3.9585501933e-05,1793239503507262976
+47,0.783333333,BASELINE,765.289074009,745,715,680,661.289074009,635,879,787.710925991,804,652,631.289074009,652.710925991,0.400982066888,-0.00539414547641,0.0798460409965,0.999999935937,0.000232898558898,-0.000268888009981,3.97905366204e-05,1793239503523929600
+48,0.800000000,BASELINE,765.866162458,745,715,680,661.866162458,635,879,787.133837542,804,652,631.866162458,652.133837542,0.400983348024,-0.00539516701815,0.0798463608048,0.999999936526,0.000231511461524,-0.000267875347122,3.99159586326e-05,1793239503540596224
+49,0.816666667,BASELINE,765.558344098,745,715,679.558344098,661.558344098,635.441655902,879,787.441655902,804,652,631.558344098,652,0.400981495996,-0.00539573953543,0.0798451379345,0.999999936281,0.0002307250331,-0.000269451409475,3.99889370288e-05,1793239503557262592
+50,0.833333333,BASELINE,765,745,715,679.016985589,661.016985589,636,879,788,804,652,631,652,0.400978786778,-0.00539610337444,0.0798435095888,0.999999935793,0.000230174000243,-0.000271719596643,4.00253112871e-05,1793239503573928960
+51,0.850000000,BASELINE,765,745,715,679.602963899,661.602963899,636,879,788,804,652,631,652,0.400979054045,-0.00539401855661,0.07984390218,0.999999935727,0.00023143277197,-0.000270988707099,3.93659530365e-05,1793239503590595584
+52,0.866666667,BASELINE,765.186880136,745,715,680,662,636,879,788,803.813119864,652,631,652.186880136,0.400979917045,-0.00539294034817,0.0798445051018,0.999999935976,0.00023178017137,-0.000269818318707,3.90452712955e-05,1793239503607262208
+53,0.883333333,BASELINE,765.766463173,745,715,680,662,636,879,788,803.233536827,652,631,652.766463173,0.400982031899,-0.005393977391,0.0798455500043,0.999999936885,0.000230212447104,-0.000267724383986,3.94362716956e-05,1793239503623928832
+54,0.900000000,BASELINE,765.6544826,745,715,679.6544826,661.6544826,636,879,787.6544826,803.3455174,652,631,653,0.400981959822,-0.00539379950747,0.0798453719225,0.999999936548,0.000230948609411,-0.000268335324239,3.95371583942e-05,1793239503640595712
+55,0.916666667,BASELINE,765.075785274,745,715,679.075785274,661.075785274,636,879,787.075785274,803.924214726,652,631,653,0.400980411849,-0.00539280170444,0.0798443684831,0.999999935363,0.000233239599695,-0.000270771708228,3.94422555412e-05,1793239503657262592
+56,0.933333333,BASELINE,765.499579149,745,715,679,661.499579149,635.500420851,879,787,803.500420851,652,631.499579149,653,0.400980874854,-0.00539365267467,0.0798448142217,0.999999935579,0.000232748095905,-0.000270390132041,3.94829680534e-05,1793239503673929216
+57,0.950000000,BASELINE,766,745,715.076191936,679.076191936,661.923808064,635.076191936,879,787,803.076191936,652,631.923808064,653,0.400981515748,-0.00539449682802,0.0798454352087,0.999999935954,0.000232007023827,-0.000269632516087,3.95369962531e-05,1793239503690596096
+58,0.966666667,BASELINE,766,745,715.664572655,679.664572655,661.335427345,635.664572655,879,787,803.664572655,652,631.335427345,653,0.400981315328,-0.00539342232924,0.0798457662442,0.999999935977,0.000232406962058,-0.000269201652494,3.95431573683e-05,1793239503707262464
+59,0.983333333,BASELINE,766,745,715.75043048,679.75043048,661,636,879,787,804,651.75043048,631,653,0.400980711968,-0.00539363000554,0.0798455089938,0.99999993606,0.000231982303473,-0.000269251827759,3.95862765322e-05,1793239503723929088
+60,1.000000000,BASELINE,766,745,715.169920674,679.169920674,661,636,879,787,804,651.169920674,631,653,0.400979574291,-0.00539553790287,0.07984447165,0.999999936222,0.000230464192879,-0.000269939881892,3.96784037137e-05,1793239503740595712
+61,1.016666667,BASELINE,766,745.40676361,715,679,661.40676361,636,879,787,804,651.40676361,631,653,0.40098053077,-0.00539587201807,0.0798448324908,0.999999936364,0.000230651264381,-0.000269260772256,3.96401402795e-05,1793239503757262336
+62,1.033333333,BASELINE,766,745.981864682,715,679,661.981864682,636,879,787,804,651.981864682,631,653,0.400982353907,-0.00539555482985,0.0798457719646,0.999999936495,0.000231544018633,-0.000268015867426,3.9547915215e-05,1793239503773928960
+63,1.050000000,BASELINE,765.432853211,745.432853211,715,679,662,635.432853211,879,787.567146789,804,652,631,653,0.400981686382,-0.00539508552719,0.0798457475849,0.999999936424,0.000231240020476,-0.000268544962307,3.95517336192e-05,1793239503790595840
+64,1.066666667,BASELINE,765.152105191,745,715,679.152105191,662,635.152105191,879,787.847894809,804,652,631.152105191,653,0.400980834637,-0.00539501016145,0.0798455556944,0.999999936414,0.000230518394292,-0.000269197751767,3.95679339362e-05,1793239503807262976
+65,1.083333333,BASELINE,765.735206998,745,715,679.735206998,662,635.735206998,879,787.264793002,804,652,631.735206998,653,0.400979690691,-0.00539606506748,0.0798449780823,0.999999936598,0.000228723816805,-0.000270037360981,3.96103576999e-05,1793239503823929344
+66,1.100000000,BASELINE,766,745.314183216,715,679.685816784,662,635.685816784,879,787,803.685816784,652,631.685816784,652.685816784,0.400979514221,-0.00539624991531,0.079844898606,0.999999936521,0.000228710089468,-0.000270321552692,3.96966585168e-05,1793239503840595968
+67,1.116666667,BASELINE,766,745.889727434,715,679.110272566,662,635.110272566,879,787,803.110272566,652,631.110272566,652.110272566,0.400980142572,-0.00539571098389,0.0798452335162,0.999999936227,0.00023017780602,-0.000270143706712,3.98194595327e-05,1793239503857262592
+68,1.133333333,BASELINE,766,745.537065095,715,679.462934905,662,635.462934905,879,787.462934905,803.462934905,652,631,652.462934905,0.400980181633,-0.00539516918409,0.0798452212141,0.999999935936,0.00023215720079,-0.000269531082595,3.98081144978e-05,1793239503873928960
+69,1.150000000,BASELINE,766,745,715,679.963293439,661.963293439,636,878.963293439,787.963293439,804,652,631,653,0.400980164182,-0.00539461798842,0.079845173807,0.999999935677,0.000234139525972,-0.000268783875676,3.97587756087e-05,1793239503890595840
+70,1.166666667,BASELINE,766,745,715,679.372650618,661.372650618,636,878.372650618,787.372650618,804,652,631,653,0.400981401609,-0.00539393526012,0.0798458384922,0.999999935964,0.000234335975261,-0.000267560740679,3.96158681246e-05,1793239503907262464
+71,1.183333333,BASELINE,766,745,715,679.214244471,661.214244471,636,878,787.214244471,804,652,631,652.785755529,0.400981714217,-0.00539372221917,0.07984611424,0.999999936149,0.000233946420739,-0.000267211537887,3.96169162968e-05,1793239503923929344
+72,1.200000000,BASELINE,766,745,715,679.794733028,661.794733028,636,878,787.794733028,804,652,631,652.205266972,0.400980445878,-0.00539431209362,0.0798457251117,0.999999936157,0.000232555111437,-0.000268356294102,3.9864052045e-05,1793239503940596224
+73,1.216666667,BASELINE,766,745,715,680,662,636,878.371428175,788,803.628571825,652,631,652.371428175,0.400980180336,-0.00539413797022,0.0798452933981,0.99999993621,0.000231851487612,-0.000268810360892,3.9569422716e-05,1793239503957262848
+74,1.233333333,BASELINE,766,745,715,680,662,636,878.946048084,788,803.053951916,652,631,652.946048084,0.400980463379,-0.00539354589777,0.079844838388,0.999999936289,0.000231524065822,-0.000268886582336,3.89784179427e-05,1793239503973929472
+75,1.250000000,BASELINE,765.468070363,745,715,680,662,636,879,787.468070363,803.531929637,652,631,653,0.400980827863,-0.00539322243085,0.0798454526039,0.999999935671,0.000233968188723,-0.000269035316272,3.92091648585e-05,1793239503990596096
+76,1.266666667,BASELINE,765,745,715,679.882606884,662,636,879,787,804,652,631,653,0.400981064403,-0.00539320322693,0.0798461508234,0.999999935204,0.000235951038346,-0.000268998667543,3.94811451449e-05,1793239504007262464
+77,1.283333333,BASELINE,765,745,715,679.303379002,662,636,879,787,804,652,631,653,0.400980764404,-0.00539427152254,0.0798467436479,0.99999993564,0.000234989371741,-0.000268203147339,3.9580352069e-05,1793239504023929088
+78,1.300000000,BASELINE,765.275844111,745,715,679.275844111,661.724155889,636,879,787,804,652,631,652.724155889,0.400981056056,-0.00539481711866,0.0798469894249,0.999999936177,0.000233543715179,-0.000267455048089,3.96397145019e-05,1793239504040595712
+79,1.316666667,BASELINE,765.855061943,745,715,679.855061943,661.144938057,636,879,787,804,652,631,652.144938057,0.400981998407,-0.00539478784911,0.0798468535186,0.999999936822,0.000231565765883,-0.000266759102521,3.9655255904e-05,1793239504057262336
+80,1.333333333,BASELINE,766,745.428558979,715,679.571441021,661.428558979,636,879,787.428558979,804,652,631,652.428558979,0.400981478156,-0.00539400455541,0.0798465137945,0.999999936254,0.000233633867203,-0.000267075886997,3.97319887522e-05,1793239504073929216
+81,1.350000000,BASELINE,766,745.999848167,715,679,661.999848167,636,879,787.999848167,804.000151833,652,631.000151833,653,0.400980470083,-0.00539297043746,0.0798461060919,0.999999935271,0.000237050426121,-0.000267730576577,3.98291408352e-05,1793239504090596608
+82,1.366666667,BASELINE,766,745.408598189,715,679,661.408598189,636,879,787.408598189,804.591401811,652,631.591401811,653,0.400980678035,-0.00539515400182,0.079845871578,0.999999936105,0.000233125337209,-0.000268046458553,3.99145333987e-05,1793239504107262976
+83,1.383333333,BASELINE,765.821015419,745,715,679,661.178984581,636,879,787,804.642030837,652,631.821015419,653,0.400980531109,-0.00539640573215,0.0798454285463,0.999999936512,0.000230709236338,-0.000268609001468,3.99750514715e-05,1793239504123929344
+84,1.400000000,BASELINE,765.241636203,745,715,679,661.758363797,636,879,787,803.483272407,652,631.241636203,653,0.400979590308,-0.00539557291826,0.0798445190534,0.99999993599,0.000231668792599,-0.00026972333341,3.99799244747e-05,1793239504140595712
+85,1.416666667,BASELINE,765.336171248,745,715,679,661.663828752,636,879,787,803,652,631,653,0.400979699985,-0.0053950802924,0.0798449299734,0.999999936159,0.00023157093548,-0.000269202189806,3.98388681196e-05,1793239504157262592
+86,1.433333333,BASELINE,765.912854155,745,715,679,661.087145845,636,879,787,803,652,631,653,0.400980561219,-0.00539483105203,0.0798462855748,0.99999993682,0.000230716558379,-0.000267510955173,3.95934074986e-05,1793239504173928960
+87,1.450000000,BASELINE,765.513948337,745,715,679,661.486051663,636,879,787,803.486051663,652,631.486051663,653,0.40098139327,-0.00539440877346,0.0798468188106,0.999999936829,0.000231661952084,-0.000266655041103,3.96225546156e-05,1793239504190595584
+88,1.466666667,BASELINE,765,745,715,679,661.939298536,635.939298536,879,787,804,652,632,653,0.400982040836,-0.00539414633485,0.0798470400989,0.999999936722,0.000232654057536,-0.000266181617563,3.96985594404e-05,1793239504207262208
+89,1.483333333,BASELINE,765,745,715,679,661.346478641,635.346478641,879,787,804,652,632,653,0.400981116717,-0.00539555510824,0.0798458101268,0.999999936625,0.000231247061239,-0.000267757628046,3.9756794429e-05,1793239504223929344
+90,1.500000000,BASELINE,765.240324213,745,715,679,661.240324213,635.240324213,879,787,804.240324213,652,631.759675787,653,0.400980514581,-0.00539620769617,0.0798453121057,0.99999993666,0.000230247223573,-0.000268486390352,3.97538491899e-05,1793239504240596224
+91,1.516666667,BASELINE,765.818664056,745,715,679,661.818664056,635.818664056,879,787,804.818664056,652,631.181335944,653,0.400980365312,-0.00539579671031,0.0798458435728,0.999999936886,0.000229820054009,-0.000268023499285,3.96648540516e-05,1793239504257263104
+92,1.533333333,BASELINE,765.60650589,745,715,679.39349411,661.60650589,636,879,787,804.60650589,652,631,652.60650589,0.400981160691,-0.0053952920993,0.0798464802193,0.999999936893,0.000230743778367,-0.000267199381021,3.97057858375e-05,1793239504273929728
+93,1.550000000,BASELINE,765.03327892,745,715,679.96672108,661.03327892,636,879,787,804.03327892,652,631,652.03327892,0.40098238755,-0.00539474472391,0.0798471649078,0.999999936796,0.000232284538676,-0.00026621026813,3.98060631992e-05,1793239504290595840
+94,1.566666667,BASELINE,765,745.550439162,715,680,661.550439162,636,879,787,804,652,631.550439162,652.550439162,0.400981722316,-0.00539433767513,0.0798464900446,0.999999936649,0.000232093397876,-0.000266984034673,3.94162103383e-05,1793239504307262464
+95,1.583333333,BASELINE,765.135050752,745.864949248,715,679.864949248,662,636,879,787,804,652,632,653,0.400980693573,-0.0053942435021,0.0798456873978,0.999999936473,0.000231712367369,-0.000268012235151,3.91544422999e-05,1793239504323929088
+96,1.600000000,BASELINE,765.720485894,745.279514106,715,679.279514106,662,636,879,787,804,652,632,653,0.400978841463,-0.00539516390357,0.0798447380485,0.999999936208,0.000231054049362,-0.000269526606178,3.94205707191e-05,1793239504340595712
+97,1.616666667,BASELINE,765.699932477,745,715.300067523,679.300067523,662,636,879,787,804,651.699932477,632,653,0.400978653148,-0.0053950727777,0.0798447452853,0.999999935974,0.000231958646554,-0.000269603019302,3.95265756764e-05,1793239504357262592
+98,1.633333333,BASELINE,765.125699123,745,715.874300877,679.874300877,662,636,879,787,804,651.125699123,632,653,0.400979985009,-0.00539405743902,0.0798456265361,0.999999935764,0.000234291248856,-0.000268365598303,3.94862789402e-05,1793239504373929216
+99,1.650000000,BASELINE,765.449688411,745,715.550311589,680,662,636,879,787,803.550311589,651.449688411,631.550311589,652.550311589,0.400979346836,-0.00539453661558,0.0798448440897,0.999999935682,0.000233399394307,-0.000269433682408,3.95717393822e-05,1793239504390595840
+100,1.666666667,BASELINE,766,745,715,679.974024748,662,636,879,787,803.025975252,652,631,652,0.400978294366,-0.00539538499966,0.079843724858,0.999999935642,0.000231774095782,-0.000270963995886,3.96921353674e-05,1793239504407262720
+101,1.683333333,BASELINE,766,745,715,679.3852611,662,636,879,787,803.6147389,652,631,652,0.400980227334,-0.00539515826345,0.0798454104652,0.999999935819,0.000233836219873,-0.000268510411337,3.98058759646e-05,1793239504423929088
+102,1.700000000,BASELINE,766,745,715.200991705,679,661.799008295,635.799008295,879,787,804,652,631.200991705,652.200991705,0.400982009293,-0.00539494614782,0.079846667289,0.999999936066,0.000234863849469,-0.000266681439737,3.98575648162e-05,1793239504440595712
+103,1.716666667,BASELINE,766,745,715.782491039,679,661.217508961,635.217508961,879,787,804,652,631.782491039,652.782491039,0.400983505371,-0.00539476171117,0.079847112361,0.999999936459,0.000233933024641,-0.000266034954994,3.9791780338e-05,1793239504457262592
+104,1.733333333,BASELINE,766.355261175,745.355261175,715.644738825,679.355261175,661,635.355261175,879,787,803.644738825,652,631.644738825,653,0.400982884522,-0.00539420741758,0.0798465047851,0.99999993628,0.000233985406366,-0.000266709145476,3.94479929526e-05,1793239504473929216
+105,1.750000000,BASELINE,766.922815077,745.922815077,715.077184923,679.922815077,661,635.922815077,879,787,803.077184923,652,631.077184923,653,0.400980998665,-0.00539343210927,0.0798452681803,0.999999935759,0.000234625320823,-0.000268172529213,3.89380799065e-05,1793239504490595584
+106,1.766666667,BASELINE,766.498687717,745.498687717,715,680,661.501312283,636,878.498687717,787,803.501312283,652,631,653,0.400980637484,-0.00539405353043,0.0798456679245,0.999999936127,0.00023324458923,-0.000267965468458,3.9201770948e-05,1793239504507262720
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635,878,787,803,652,631,653,0.400980340246,-0.00539471896449,0.0798461481367,0.999999936473,0.000231606842035,-0.000268022042385,3.97077369409e-05,1793239504549567744
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.575397537,745,715,679.575397537,661,635,878.575397537,787,803.575397537,652,631,653,0.40098145041,-0.00539501592093,0.0798458363211,0.999999936327,0.000232555538798,-0.000267742545559,3.97120222757e-05,1793239504566234112
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.849377307,745,715,680,661.150622693,635.150622693,879,787.150622693,804,652,631,653,0.400981683475,-0.00539525919571,0.0798453237883,0.999999936158,0.000232978538966,-0.000268009624338,3.96970759218e-05,1793239504582900480
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.274637401,745,715,680,661.725362599,635.725362599,879,787.725362599,804,652,631,653,0.400979446839,-0.00539535131596,0.0798442460841,0.999999935921,0.000231921304406,-0.000269815728264,3.96279777672e-05,1793239504599566848
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,679.69263062,662,635.69263062,879,787.69263062,804,652,631.30736938,652.69263062,0.400979485176,-0.00539498346073,0.0798444752029,0.999999936101,0.000231359136537,-0.000269657089153,3.94411246579e-05,1793239504616233216
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,679.103973629,662,635.103973629,879,787.103973629,804,652,631.896026371,652.103973629,0.400981605443,-0.00539419466113,0.0798459002545,0.999999936664,0.000231250026639,-0.000267700424777,3.91465086711e-05,1793239504632899584
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.478392109,745,715,679,662,635,879,787,804,652,631.521607891,652.478392109,0.400981243286,-0.00539513256168,0.0798455953712,0.999999936369,0.000232205958832,-0.000267945312906,3.93526552541e-05,1793239504649565952
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.941237084,745,715,679.058762916,662,635,879,787,804,652,631.058762916,653,0.400980798789,-0.00539624666,0.0798451903544,0.999999935981,0.000233311652894,-0.000268381539691,3.96772523171e-05,1793239504666233088
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.366532371,745,715,679.633467629,662,635,879,787,804,652,631.633467629,653,0.400984306964,-0.00539565556886,0.0798471644682,0.999999936411,0.00023372627271,-0.000266351136996,4.00986720176e-05,1793239504682899712
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.208252022,745,715,679.791747978,661.791747978,635,879,787,804,651.791747978,632,652.791747978,0.400993572635,-0.00539536865933,0.0798517821008,0.999999938331,0.000233329402122,-0.000259367766241,4.0297406939e-05,1793239504699566336
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.783176646,745,715,679.216823354,661.216823354,635,879,787,804,651.216823354,632,652.216823354,0.401012975623,-0.00539561732717,0.0798610542183,0.999999942713,0.000231503727565,-0.000243663627081,4.01040572246e-05,1793239504716232704
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.632155044,745,715,679.367844956,661.367844956,635,879,787,804,651.367844956,631.632155044,652,0.401048070009,-0.0053969943985,0.079874180314,0.99999994854,0.000230475581215,-0.000219533238021,4.00766324005e-05,1793239504732899072
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.041587064,745,715,679.958412936,661.958412936,635,879,787,804,651.958412936,631.041587064,652,0.401092665238,-0.00539905469641,0.0798896399202,0.999999954653,0.000229930322495,-0.000190300915577,4.0149671854e-05,1793239504749565696
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.461482214,662,635.538517786,878.461482214,787.538517786,803.461482214,652,631,652.538517786,0.401159780177,-0.00539897191063,0.0799079424361,0.999999960721,0.000230469135875,-0.000154442030987,3.98718299011e-05,1793239504766232320
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.116965132,662,636,878,787.883034868,803.116965132,652,631.116965132,653,0.401229414977,-0.00539902072176,0.0799238599691,0.999999964898,0.000230757967185,-0.000124156344356,3.92523960519e-05,1793239504782899200
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.692025301,662,636,878,787.307974699,803.692025301,652,631.692025301,653,0.401302237523,-0.00540022076086,0.0799295932422,0.999999965987,0.000229746111198,-0.000117664152328,3.73992167601e-05,1793239504799566080
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.272967561,745,715,680,661.727032439,635.727032439,878.272967561,787,803.727032439,652,632,653,0.401382888943,-0.00540117045452,0.0799336933959,0.999999967057,0.000228516634744,-0.000111511210296,3.50962445762e-05,1793239504816232960
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.860692389,745,715,680,661.139307611,635.139307611,878.860692389,787,803.139307611,652,632,653,0.401472567784,-0.00540183147627,0.0799359104092,0.999999968115,0.000227036221485,-0.000105749455805,3.22746190033e-05,1793239504832899584
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.557538453,745,715,679.557538453,661.442461547,635.442461547,879,787,803,652,632,653,0.401582630191,-0.00540266254115,0.0799382980944,0.999999969075,0.000224631385312,-0.000102828618844,2.85939847537e-05,1793239504849566208
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.022234655,745,715,679,661.977765345,636,879,787,803.022234655,652,631.977765345,653,0.401700405501,-0.00540357644303,0.0799408784921,0.999999970027,0.000221967295892,-0.000100350431171,2.46214914852e-05,1793239504866232576
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.59837509,745,715,679,661.40162491,636,879,787,803.59837509,652,631.40162491,653,0.401852570121,-0.00540523796235,0.0799469388414,0.999999971823,0.000219999061218,-8.69129130116e-05,2.00263270199e-05,1793239504882899200
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.825954201,745,715,679.174045799,661.174045799,635.825954201,879,787.174045799,803.825954201,652,631,653,0.402012222388,-0.0054067345246,0.0799534246533,0.999999973563,0.000217223269415,-7.38413704548e-05,1.5377253935e-05,1793239504899565824
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.251364587,745,715,679.748635413,661.748635413,635.251364587,879,787.748635413,803.251364587,652,631,653,0.402189106483,-0.00540785145932,0.0799608896115,0.999999975449,0.00021258899004,-6.16120751216e-05,1.06041178002e-05,1793239504916232448
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635.332432973,879.332432973,787.667567027,803.332432973,652,631,653,0.402376101161,-0.00540982662696,0.0799641345979,0.999999977206,0.000206213726782,-5.51632449344e-05,4.54390449076e-06,1793239504932899328
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635.923391401,879.923391401,787.076608599,803.923391401,652,631,653,0.402570958624,-0.00541246922266,0.0799640978104,0.999999978883,0.000198484540023,-5.32097478684e-05,-2.51723956093e-06,1793239504949565952
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.495718133,661.495718133,636,879.495718133,787,803.495718133,652,631,653,0.402790698312,-0.00541448568845,0.0799577693891,0.999999980093,0.000188359934865,-6.49849066563e-05,-1.05724880587e-05,1793239504966232832
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.082834021,745,715,679,661.082834021,635.917165979,879,787,803.082834021,652,631.082834021,652.917165979,0.403021248168,-0.00541644624229,0.0799510945037,0.999999981062,0.000177639134769,-7.7301571689e-05,-1.85559111039e-05,1793239504982899712
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.656417172,745,715,679,661.656417172,635.343582828,879,787,803.656417172,652,631.656417172,652.343582828,0.403293886534,-0.00541862804959,0.079947918784,0.999999982729,0.000165499918827,-8.07121060733e-05,-2.5236602289e-05,1793239504999566080
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879,787,804,652,631.770562392,652.229437608,0.403585151117,-0.00542047674641,0.079948456195,0.999999984877,0.000153097516266,-7.80932212804e-05,-2.66376734696e-05,1793239505016232704
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,879,787,804,652,631.198382594,652.801617406,0.4039042402,-0.00542182783062,0.0799545404152,0.999999987746,0.000140301956756,-6.64673720456e-05,-2.0151857109e-05,1793239505032899328
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.389712568,679,662,635,879,787.389712568,804,652,631.389712568,653,0.404242771542,-0.00542339519615,0.0799566716711,0.999999988392,0.000136870719172,-6.32019265968e-05,-2.2087701483e-05,1793239505049565696
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.986254353,679,662,635,879,787.986254353,804,652,631.986254353,653,0.404591621317,-0.00542507734699,0.0799567049998,0.999999987944,0.000138409338087,-6.43735356869e-05,-2.84931106676e-05,1793239505066232320
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715.439028835,679.560971165,662,635.560971165,879,787.439028835,804,652,632,653,0.404994379929,-0.00542869032342,0.0799576199603,0.999999990741,0.000119460972587,-5.7231863936e-05,-3.11813200296e-05,1793239505082898944
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.864274101,745,715,680,661.864274101,635.864274101,879,787.135725899,804,652,631.864274101,652.864274101,0.405405482216,-0.00543189798498,0.0799564089556,0.999999992268,0.000106264476642,-5.53074396866e-05,-3.33563420294e-05,1793239505099565568
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.287724439,745,715,680,661.287724439,635.287724439,879,787.712275561,804,652,631.287724439,652.287724439,0.405839554193,-0.00543364131608,0.0799482254976,0.999999990478,0.000113318848077,-7.09649299176e-05,-3.41493357046e-05,1793239505116232704
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.294324991,635.294324991,879,787.705675009,803.705675009,652,631,652.294324991,0.40628869594,-0.00543699887476,0.0799427246339,0.999999989222,0.000117697104246,-8.0846613038e-05,-3.41611529891e-05,1793239505132899584
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.8818533,635.8818533,879,787.1181467,803.1181467,652,631,652.8818533,0.406752850079,-0.0054419645094,0.0799398961401,0.999999988703,0.000119409444703,-8.49745025635e-05,-3.33947710513e-05,1793239505149566464
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.46578277,745,715,679.53421723,662,635.53421723,878.53421723,787.46578277,803.46578277,652,631,652.53421723,0.40725237511,-0.0054491258934,0.0799376027216,0.999999990033,0.000104061575908,-8.86670929758e-05,-3.52595957816e-05,1793239505166232832
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.952357036,745,715,679.047642964,662,635,878.047642964,787.952357036,804,652,631,652.047642964,0.407762512239,-0.00545825599863,0.0799350350119,0.999999991411,8.39561019083e-05,-9.34723620511e-05,-3.7311416814e-05,1793239505182898944
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.383230845,745,715,679.616769155,662,635,878.616769155,787.383230845,804,652,631,652.616769155,0.408291355757,-0.00548288553846,0.0799279908189,0.999999991456,5.8778084326e-05,-0.000111655917483,-3.41608029083e-05,1793239505199565568
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.188256346,745,715,679.811743654,661.811743654,635,879,787.188256346,804,652,631,652.811743654,0.408852803581,-0.0055011040902,0.0799275762199,0.99999999193,3.72943155218e-05,-0.000116964113331,-3.26823444996e-05,1793239505216232448
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.764610802,745,715,679.235389198,661.235389198,635,879,787.764610802,804,652,631,652.235389198,0.409481466477,-0.00550610612792,0.0799408287989,0.999999994543,2.34263923074e-05,-9.57292311433e-05,-3.46511028421e-05,1793239505232899328
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.353159026,661.353159026,635.353159026,879.353159026,787.646840974,804,652,631,652.353159026,0.410136738668,-0.00550691954301,0.0799647454073,0.999999997726,2.23479059548e-05,-5.28114073464e-05,-3.5499396513e-05,1793239505249565952
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.950125329,661.950125329,635.950125329,879.950125329,787.049874671,804,652,631,652.950125329,0.410810380858,-0.00550484129545,0.0799960240471,0.999999998901,3.00987507019e-05,5.07547660846e-06,-3.55741647169e-05,1793239505266232832
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.470743581,745.529256419,715,679.470743581,662,635.470743581,879.470743581,787,803.470743581,652,631,652.470743581,0.411458770631,-0.00551319733358,0.0799934489124,0.999999999255,1.40977229637e-05,-3.06213394186e-06,-3.58120564361e-05,1793239505282899456
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.105954778,745.894045222,715,679.105954778,662,635,879,787,803.105954778,652,631,652,0.412107825572,-0.00552060577227,0.0799823236104,0.999999999034,6.65019788868e-08,-2.403185644e-05,-3.68105368681e-05,1793239505299566080
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.679095486,745.320904514,715,679.679095486,662,635,879,787,803.679095486,652,631,652,0.412769963858,-0.00551964173554,0.0799471061582,0.999999996331,4.26818845745e-06,-7.50425552999e-05,-4.10971075429e-05,1793239505316232448
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.741205164,745,715,680,661.741205164,635.258794836,879.258794836,787,804,652,631,652.258794836,0.413467635244,-0.00552137645235,0.0799269928294,0.999999994085,1.17924035896e-06,-9.92525963261e-05,-4.44710554498e-05,1793239505332899328
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.153161582,745,715,680,661.153161582,635.846838418,879.846838418,787,804,652,631,652.846838418,0.414210513296,-0.00552654462714,0.079926095543,0.999999994855,-1.11851329854e-05,-8.93658164025e-05,-4.66839302424e-05,1793239505349565952
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.428294481,715,680,661.428294481,636,879.571705519,787.428294481,804,651.571705519,631,653,0.414984886174,-0.00553341960476,0.0799469100227,0.999999997211,-2.23488345414e-05,-5.40744430769e-05,-4.64136267175e-05,1793239505366232832
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.992609933,715,680,662,635.992609933,879.007390067,788,804,651.007390067,631,653,0.415769746638,-0.00554078190182,0.079974772844,0.999999998372,-3.29238562203e-05,-1.09226554077e-05,-4.53012338889e-05,1793239505382899712
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.416620847,715,680,662,635.416620847,879.583379153,788,804,651.583379153,631,653,0.416508091393,-0.00553938824476,0.079956598178,0.999999997117,-3.07410436652e-05,-5.13945962119e-05,-4.66866589325e-05,1793239505399567104
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.159255028,745.159255028,715,680,661.840744972,635.159255028,879.840744972,787.840744972,804,652,631,653,0.417274045246,-0.00554061022844,0.0799468326102,0.999999995765,-3.36095225711e-05,-7.08958235955e-05,-4.81042841154e-05,1793239505416233984
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.734834908,745.734834908,715,680,661.265165092,635.734834908,879.265165092,787.265165092,804,652,631,653,0.418112174825,-0.00554867002614,0.0799590501269,0.999999996903,-4.968309922e-05,-3.55753623658e-05,-4.96060870198e-05,1793239505432899840
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.681331816,745.681331816,715,680,661.318668184,636,879.318668184,787,804.318668184,651.681331816,631,653,0.418963289598,-0.00555575225779,0.0799752469744,0.999999996824,-6.1617397066e-05,1.80735257001e-08,-5.05491417887e-05,1793239505449566208
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.090448289,745.090448289,715,680,661.909551711,636,879.909551711,787,804.909551711,651.090448289,631,653,0.419825496645,-0.00556199942455,0.0799948430777,0.999999995605,-7.00158054556e-05,3.58446902383e-05,-5.10148980692e-05,1793239505466232832
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.490345402,745,715,680.490345402,662.490345402,635.509654598,879.509654598,787.490345402,804.509654598,651.490345402,631,653,0.420651275362,-0.00556297130176,0.0799808055561,0.999999995864,-7.29122245298e-05,1.56115318103e-05,-5.20682141908e-05,1793239505482899200
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.931263901,745,715,681,662.931263901,635,879.068736099,787.931263901,804,652,631,653,0.421475393141,-0.00556290030386,0.0799647938399,0.999999995781,-7.45606516966e-05,-8.94668677736e-06,-5.28975365212e-05,1793239505499565824
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.357133374,745,715,681,662.357133374,635,879.642866626,787.357133374,804,652,631,653,0.422335708394,-0.00556217180562,0.0799789628306,0.999999995878,-7.43446853411e-05,9.19315340635e-06,-5.12990856194e-05,1793239505516232704
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.222438498,745,715,681,661.777561502,635,880,787,804,651.777561502,631,652.777561502,0.42320489174,-0.00555064027709,0.0799954041726,0.999999996609,-5.84217779576e-05,2.9805046558e-05,-4.97972892697e-05,1793239505532899328
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.810965817,745,715,681,661.189034183,635,880,787,804,651.189034183,631,652.189034183,0.42408867031,-0.0055213291435,0.0800155853479,0.999999997203,-1.66484193339e-05,5.4485442231e-05,-4.84545664697e-05,1793239505549565952
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.626524379,745,715,681,661.373475621,635,880,787,804,651.373475621,631,652.373475621,0.424913056267,-0.00550766953757,0.0799906797872,0.999999998726,-3.5861228884e-06,5.87350875504e-06,-5.00156880323e-05,1793239505566232832
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.076325708,745,715,681,661.923674292,635,880,787,804,651.923674292,631,652.923674292,0.425709338479,-0.00550141600103,0.0799444398596,0.999999995593,-4.10947197565e-06,-7.74192546999e-05,-5.29508649242e-05,1793239505582899712
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.526780745,880,787,804,651.473219255,631,653,0.426599082699,-0.00551470661791,0.0799340605367,0.999999995407,-1.99544564062e-05,-7.59814388215e-05,-5.48986031674e-05,1793239505599566080
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.129484208,745,715,681.129484208,662,635.870515792,880,787,804,651,631,653,0.427486297148,-0.00552740164959,0.0799291140173,0.999999995435,-3.37864239552e-05,-6.95711759021e-05,-5.61145512606e-05,1793239505616232704
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.701674043,745,715,681.701674043,662,635.298325957,880,787,804,651,631,653,0.428313393709,-0.0055272976101,0.0799229941409,0.999999993638,-3.22984292823e-05,-9.2820429305e-05,-5.53722862355e-05,1793239505632899072
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,681.71737519,662,635,880,787,804,651,631,653,0.429173123575,-0.00552969279491,0.0799323291228,0.999999994278,-3.64157108499e-05,-8.43671412053e-05,-5.4765869446e-05,1793239505649565696
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,681.126880987,662,635,880,787,804,651,631,653,0.43006840156,-0.00553481043947,0.0799584994204,0.999999996582,-4.66389426096e-05,-4.13795789448e-05,-5.4307435108e-05,1793239505666232320
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681.455061982,662,635,880,787,804,651,631,653,0.430960387098,-0.00553738166256,0.0799974533225,0.999999997259,-4.97941017197e-05,1.58122482096e-05,-5.24724852478e-05,1793239505682899200
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681.965589652,662.034410348,635,880,787,804,651,631.034410348,653,0.431844970107,-0.00553844771476,0.0800358796231,0.999999995008,-5.01033149346e-05,7.02042204092e-05,-5.04473378439e-05,1793239505699565824
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,681.390239847,662.609760153,635,880,787,804,651,631.609760153,653,0.43262734749,-0.00552680755425,0.0800110129848,0.999999997841,-3.60824767134e-05,1.94707257882e-05,-5.13544193536e-05,1793239505716232448
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.815308299,745,715,681.184691701,662.815308299,635,880.184691701,787,804,651,631.815308299,653,0.433400096376,-0.00551816797777,0.0799742563965,0.999999997444,-2.74269676415e-05,-3.88106157895e-05,-5.342191477e-05,1793239505732899328
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.241258394,745,715,681.758741606,662.241258394,635,880.758741606,787,804,651,631.241258394,653,0.434152547068,-0.00551585408669,0.0799124339801,0.999999991484,-3.00823861035e-05,-0.000113003976356,-5.79357394679e-05,1793239505749565952
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,682,662.341843557,635.341843557,880.658156443,787.341843557,804,651,631,653,0.434951662168,-0.00551974661909,0.0799036502315,0.999999990503,-3.82245287732e-05,-0.00011817311608,-5.97344550763e-05,1793239505766232576
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,682,662.931507785,635.931507785,880.068492215,787.931507785,804,651,631,653,0.435784606746,-0.00552813851985,0.0799333170528,0.999999994272,-5.03442910491e-05,-7.33029032805e-05,-5.95648427313e-05,1793239505782899200
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.511586171,745,715,682,662.488413829,635.488413829,880,787.488413829,804,651,631,653,0.436551029012,-0.00553092877777,0.0799517114469,0.999999994872,-5.36015457484e-05,-6.36349834415e-05,-5.77340871428e-05,1793239505799565824
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.910473743,745,715,682,662,635,880,787,804,651.089526257,631,653,0.437301365328,-0.00553322512312,0.0799636000386,0.999999994904,-5.58203935462e-05,-6.25948143285e-05,-5.61970909776e-05,1793239505816232704
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.337279968,745,715,682,662,635,880,787,804,651.662720032,631,653,0.438012027598,-0.00553683024577,0.0799483442846,0.999999993168,-5.87215811252e-05,-8.31727245592e-05,-5.74265433868e-05,1793239505832899328
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.239064134,745,714.760935866,682,662,635,880.239064134,787,804,652,631,653,0.438694953834,-0.00554052691126,0.07992606467,0.999999989621,-6.36322275605e-05,-0.000115336825214,-5.8370254335e-05,1793239505849565952
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.819912126,745,714.180087874,682,662,635,880.819912126,787,804,652,631,653,0.439338226512,-0.00554435445291,0.0798937432233,0.999999982256,-7.14157454372e-05,-0.000164065403135,-5.89054478716e-05,1793239505866232832
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.593829295,745.406170705,714.406170705,682,661.593829295,635,881,787,804,652,631,653,0.439966083317,-0.00554462746368,0.0798397409692,0.999999964929,-7.25771184811e-05,-0.000247034446131,-6.20403406851e-05,1793239505882899456
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.005139334,745.994860666,714.994860666,682,661.005139334,635,881,787,804,652,631,653,0.440587012811,-0.00554330318988,0.0797759960972,0.999999935648,-7.07627257061e-05,-0.000345389988275,-6.63434492383e-05,1793239505899566080
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714.426781456,681.426781456,661,635,881,786.426781456,804.573218544,651.426781456,631,653,0.44113723373,-0.00553930434714,0.0797057299608,0.999999891878,-7.02777593353e-05,-0.000454337560229,-6.98728773651e-05,1793239505916232704
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.849709703,714.150290297,681.150290297,661,634.849709703,881,786,804.849709703,651,631,653,0.441702231544,-0.00553714031881,0.0796582618033,0.999999856404,-6.89575714173e-05,-0.000526530263929,-7.21339973343e-05,1793239505932899328
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.276004869,714.723995131,681.723995131,661,634.276004869,881,786,804.276004869,651,631,653,0.442310615024,-0.00554021189439,0.079675184437,0.999999872894,-6.52513205242e-05,-0.000494910293108,-7.08410979201e-05,1793239505949565952
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714.693360187,682,660.693360187,634,880.693360187,786,804,651,631,653,0.44291208312,-0.00553983628206,0.079708118326,0.99999989806,-6.51436918694e-05,-0.000441455462887,-6.89390834136e-05,1793239505966232832
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714.102427189,682,660.102427189,634,880.102427189,786,804,651,631,653,0.44350713976,-0.00553626469829,0.0797558966358,0.999999927831,-6.83724328973e-05,-0.00036775700696,-6.64723434176e-05,1793239505982899456
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682,660,634,880,786,804.47846493,651,631,653,0.444031350956,-0.00553088583195,0.0797590418689,0.999999927996,-5.71546072549e-05,-0.000369218892751,-6.64736686481e-05,1793239505999566080
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.056812912,714.056812912,682.056812912,660,634,880,786,805,651,631,653,0.444532757487,-0.00552597943498,0.0797502672633,0.999999920674,-4.65092381559e-05,-0.000389885176514,-6.69167722721e-05,1793239506016232704
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.631163494,714.631163494,682.631163494,660,634,880,786,805,651,631,653,0.444961741777,-0.005528828967,0.0797181593565,0.999999897766,-6.86720566709e-05,-0.000441935484917,-6.66701781139e-05,1793239506032899328
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.788854856,714.788854856,682.788854856,660,633.788854856,880,786,805,651.211145144,630.788854856,653,0.445385366955,-0.00553160068684,0.0796923389299,0.999999878234,-8.05610062007e-05,-0.000482230614215,-6.70451863026e-05,1793239506049565696
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.198767182,714.198767182,682.198767182,660,633.198767182,880,786,805,651.801232818,630.198767182,653,0.445799374083,-0.00553423275677,0.0796778026579,0.999999869197,-7.4011424398e-05,-0.000501428700963,-6.85357855496e-05,1793239506066232320
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682.384248286,660,633,880,786,804.615751714,652,630.384248286,653,0.446203988638,-0.00553680521272,0.0796693141478,0.999999866031,-6.75145582418e-05,-0.000508520119296,-6.91932350125e-05,1793239506082898944
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,682.963671553,660,633,880,786,804.036328447,652,630.963671553,653,0.446603832369,-0.00553934738862,0.0796638975351,0.999999865951,-6.10444678733e-05,-0.000509462081231,-6.94274947202e-05,1793239506099565568
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,683,660,633,880.539567158,785.460432842,804.539567158,651.460432842,631,653,0.446974687189,-0.00554274054068,0.07966348829,0.999999868873,-7.37516826803e-05,-0.000502024624063,-6.91786899971e-05,1793239506116232448
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.8849948,745.1150052,714,682.8849948,659.8849948,633,880.8849948,785,804.8849948,651.1150052,631,653,0.447329318739,-0.00554573094437,0.0796612755246,0.999999869598,-8.54186985898e-05,-0.000498734453091,-6.90793397327e-05,1793239506132899328
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.310442049,745.689557951,714,682.310442049,659.310442049,633,880.310442049,785,804.310442049,651.689557951,631,653,0.447626872547,-0.00554688455471,0.0796505176763,0.999999861486,-8.78032846037e-05,-0.000514256101148,-6.97063109853e-05,1793239506149565952
+204,3.400000000,POSE1_TO_POSE2_PRESS,764.270578194,745.729421806,714,682.270578194,659,633,880,785,804.270578194,652,631,653,0.447901268595,-0.00554929537628,0.0796374520188,0.999999849976,-8.91794224798e-05,-0.000535862594447,-7.03328602758e-05,1793239506166232576
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.859200445,745.140799555,714,682.859200445,659,633,880,785,804.859200445,652,631,653,0.448148444444,-0.00555318395382,0.0796216737081,0.99999983409,-8.93702062008e-05,-0.000564621358746,-7.09589135179e-05,1793239506182899456
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.559086945,745.440913055,714,682.559086945,659,632.559086945,880,785,804.559086945,652,631,653,0.44838544979,-0.00555369361361,0.0796118659903,0.999999825989,-8.86430119243e-05,-0.000578820989385,-7.16319198952e-05,1793239506199566080
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.020320988,746,714,682.020320988,658.979679012,632.020320988,880,785,804,651.979679012,631,653,0.448618447897,-0.00555320595027,0.0796042627779,0.999999820597,-8.79654289096e-05,-0.000588097375312,-7.21782746125e-05,1793239506216232448
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.59611489,746,714,682.59611489,658.40388511,632.59611489,880,785,804,651.40388511,631,653,0.448829317405,-0.00555449613826,0.0796056061856,0.999999820143,-9.65333938216e-05,-0.00058792353493,-6.88590825959e-05,1793239506232899072
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,746,714,682.82478473,658.17521527,632.82478473,880.17521527,785,804.17521527,651,631,653,0.449029997924,-0.00555581107089,0.0796082388464,0.999999821034,-0.000102870277301,-0.000585616750367,-6.63501219848e-05,1793239506249565952
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,746,714,682.237916144,658.762083856,632.237916144,880.762083856,785,804.762083856,651,631,653,0.449206740255,-0.00555718413875,0.0796139004973,0.99999982522,-0.000103965424275,-0.000578298795687,-6.57447313516e-05,1793239506266232832
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,714,682,658.655388289,632,880.655388289,785,805,651.344611711,631,653,0.449363546468,-0.00555806036614,0.0796129103189,0.999999824808,-0.000104109754192,-0.000578946877481,-6.60669668239e-05,1793239506282899456
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,714,682,658.07581989,632,880.07581989,785,805,651.92418011,631,653,0.44950676023,-0.00555859784722,0.0796073849155,0.999999821259,-0.000103605815979,-0.000585026211996,-6.70216588536e-05,1793239506299566080
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.502595444,746,713.497404556,682.502595444,658,632,880,784.497404556,805,652,631,653,0.449622290493,-0.0055580169961,0.0796017154931,0.999999815518,-0.000101413816357,-0.000595105751625,-6.72861229203e-05,1793239506316232448
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.919500192,746,713.080499808,683,657.919500192,631.919500192,880.080499808,784,805,651.919500192,631,653,0.449730637175,-0.00555748310093,0.0795965745783,0.999999809819,-9.93864325386e-05,-0.000604912781035,-6.75692065923e-05,1793239506332899072
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.343671779,746,713.656328221,683,657.343671779,631.343671779,880.656328221,784,805,651.343671779,631,653,0.449820420421,-0.0055582738446,0.0795948190339,0.999999807006,-9.99353057846e-05,-0.000609338339355,-6.86060947899e-05,1793239506349565696
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,683,657.237035774,631.237035774,880.762964226,784.237035774,805,651,630.762964226,653,0.449902329227,-0.00555870980926,0.0795937171363,0.999999805203,-9.9867479851e-05,-0.000612252161882,-6.90519971125e-05,1793239506366232576
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,683,657.824966103,631.824966103,880.175033897,784.824966103,805,651,630.175033897,653,0.449972581147,-0.00555862057881,0.0795935828611,0.999999804916,-9.88867267792e-05,-0.000612928094711,-6.86230368101e-05,1793239506382898944
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.406854861,745.593145139,714,683,658,632,880.406854861,784.593145139,804.593145139,651,630.406854861,653,0.450030606861,-0.00555828902767,0.0795924592805,0.999999803552,-9.81327399889e-05,-0.00061528503592,-6.84835718446e-05,1793239506399565568
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.98618248,745.01381752,714,683,658,632,880.98618248,784.01381752,804.01381752,651,630.98618248,653,0.450083449675,-0.00555785475264,0.0795909163162,0.999999801724,-9.74748833408e-05,-0.000618354585405,-6.84668289303e-05,1793239506416232448
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.440080743,745.559919257,714,683,657.440080743,632,881,784,804,651.559919257,631,653,0.450121358,-0.00555794511914,0.0795921848984,0.999999802182,-9.83702509e-05,-0.00061751381161,-6.80863242986e-05,1793239506432899072
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,714,682.865747072,657.134252928,632,880.865747072,784,804.134252928,652,631,653,0.450155944495,-0.00555823438429,0.0795931380612,0.99999980228,-9.96514988472e-05,-0.000617186258697,-6.77576283979e-05,1793239506449565696
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,714,682.288995899,657.711004101,632,880.288995899,784,804.711004101,652,631,653,0.450180784945,-0.00555913696896,0.0795928251757,0.999999801006,-0.000102079523214,-0.000618865196955,-6.76289894486e-05,1793239506466232576
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714,682,657.70481484,632,880,784,805,652,631,653,0.450201197833,-0.00555859658458,0.0795919430272,0.99999979997,-0.000101591843116,-0.000620656846401,-6.7268734052e-05,1793239506482899456
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714,682,657.113171788,632,880,784,805,652,631,653,0.450217164072,-0.00555660700972,0.0795904891612,0.999999799166,-9.81758873927e-05,-0.0006225616932,-6.66758635466e-05,1793239506499565824
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714,682.468166906,657,632,880.468166906,784,804.531833094,652,630.531833094,652.531833094,0.450230031996,-0.00555694443667,0.0795920792649,0.999999800284,-9.89974915377e-05,-0.00062064973834,-6.65248521476e-05,1793239506516232192
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.953317347,746,714,683,657,631.953317347,881,784,804.046682653,652,630,652.046682653,0.450241398345,-0.00555766344303,0.0795940797346,0.999999801582,-0.000100587892943,-0.00061830190716,-6.64845684819e-05,1793239506532898816
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.379159032,746,714,683,657,631.379159032,881,784,804.620840968,652,630,652.620840968,0.450244078598,-0.0055564749071,0.0795925817814,0.999999799871,-9.953989507e-05,-0.000621229701869,-6.65145175573e-05,1793239506549565696
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.1950654,745.8049346,714,682.8049346,656.8049346,631.1950654,880.8049346,784,805,652,630,653,0.450246209936,-0.00555622623194,0.0795911010313,0.999999798177,-9.92261758228e-05,-0.000624021297716,-6.63167154545e-05,1793239506566232320
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.769418357,745.230581643,714,682.230581643,656.230581643,631.769418357,880.230581643,784,805,652,630,653,0.450247273957,-0.00555780503364,0.0795896537312,0.999999796528,-0.000100340197005,-0.000626548066653,-6.56760711669e-05,1793239506582899200
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,714,682.355703113,656.355703113,632,880,784,804.644296887,651.644296887,630,653,0.45024867272,-0.00555798219539,0.0795887421654,0.999999796009,-0.000101257214115,-0.000627238366057,-6.55863634871e-05,1793239506599565824
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714,682.949990997,656.949990997,632,880,784,804.050009003,651.050009003,630,653,0.450250296008,-0.00555721921926,0.0795881899388,0.99999979625,-0.000102042092413,-0.000626696869391,-6.58661917721e-05,1793239506616232448
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,682.471868588,657,632,880,784,804,651,630.528131412,653,0.450250300901,-0.00555738727363,0.0795872985094,0.999999795557,-0.000101570274399,-0.000627888791371,-6.57581902031e-05,1793239506632899072
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.89577448,745.10422552,714,682,657,631.89577448,880,784,804,651.10422552,630.89577448,653,0.450250370743,-0.00555767380134,0.079586558215,0.99999979489,-0.000101006999804,-0.000629058705029,-6.55958801603e-05,1793239506649565952
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.322214226,745.677785774,714,682,657,631.322214226,880,784,804,651.677785774,630.322214226,653,0.450251402662,-0.00555810861116,0.079586638837,0.999999794729,-0.00010055184498,-0.000629412315723,-6.534947896e-05,1793239506666232576
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.259304005,745.740695995,714,682,657,631.259304005,880,784,804.259304005,651.740695995,630,653,0.450252095898,-0.0055571107626,0.0795867175994,0.999999794899,-9.87357892129e-05,-0.000629434329675,-6.5317241053e-05,1793239506682899200
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.851024083,745.148975917,714,682,657,631.851024083,880,784,804.851024083,651.148975917,630,653,0.450252354957,-0.00555427631049,0.0795867939778,0.999999795482,-9.51751195778e-05,-0.00062903125156,-6.55595508219e-05,1793239506699566080
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,682.432149869,657,631.567850131,880.432149869,784,805,651,630.432149869,653,0.450254070263,-0.005555047896,0.0795875532877,0.999999796231,-9.68884485489e-05,-0.000627605554705,-6.5281694376e-05,1793239506716232704
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714,682.990313004,657,631.009686996,881.009686996,783.990313004,805,651,631,653,0.450256234343,-0.00555699646744,0.0795885134077,0.999999796999,-0.000100301017055,-0.000625889986074,-6.48305719237e-05,1793239506732899584
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714,682.414169089,657,631.585830911,881.585830911,783.414169089,805,651,631,653,0.450255987622,-0.00555681741419,0.0795877786094,0.999999796209,-9.93061588201e-05,-0.000627345105431,-6.44824312923e-05,1793239506749566208
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.161178888,714,682,656.838821112,631.838821112,881.677642223,783.161178888,805,651.161178888,631,653,0.450256006866,-0.00555618951972,0.0795876294253,0.999999795883,-9.84054894626e-05,-0.000628032378214,-6.42371590428e-05,1793239506766232832
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.734491618,714,682,656.265508382,631.265508382,880.531016765,783.734491618,805,651.734491618,631,653,0.450256706179,-0.00555441393991,0.0795889776547,0.999999796747,-9.77456607881e-05,-0.000626756269974,-6.42549208997e-05,1793239506782899456
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,682.317514348,656.317514348,631.317514348,880.317514348,784,804.682485652,652,631,653,0.450256323153,-0.00555438386909,0.0795885554088,0.999999796295,-9.84153756821e-05,-0.000627375687408,-6.42127994917e-05,1793239506799565824
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,682.90891278,656.90891278,631.90891278,880.90891278,784,804.09108722,652,631,653,0.450255006516,-0.00555585945356,0.0795866059719,0.999999794704,-0.000100231939008,-0.000629630162706,-6.41190234934e-05,1793239506816232448
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,682.5096616,657,631.5096616,881,784,804.4903384,652,631,653,0.450256279456,-0.00555548751635,0.0795871417279,0.999999795461,-9.8415394663e-05,-0.000628720071495,-6.40516806804e-05,1793239506832899328
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.93062933,714,682,657,631,881.06937067,784,805,652,631,653,0.450257495898,-0.00555488765773,0.0795877900081,0.9999997963,-9.62123698433e-05,-0.000627730701069,-6.40045597004e-05,1793239506849565952
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.355806547,714,682,657,631,881.644193453,784,805,652,631,653,0.450254865496,-0.00555507792389,0.0795859614519,0.99999979466,-9.60128262151e-05,-0.000630361616834,-6.40697153488e-05,1793239506866232832
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.219629495,714,682.219629495,657,631,881.780370505,784,805,652,631,653,0.450254404789,-0.00555465483437,0.0795852684536,0.999999794213,-9.58136763846e-05,-0.000631078154183,-6.42954656165e-05,1793239506882899456
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.796061906,714,682.796061906,657,631,881.203938094,784,805,652,631,653,0.450257468897,-0.00555323530724,0.0795864202454,0.999999795708,-9.56151662743e-05,-0.000628684655186,-6.47821126779e-05,1793239506899565824
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,682.618078143,657,631,881,784,804.618078143,651.618078143,630.618078143,653,0.450258173855,-0.00555396780147,0.0795866006202,0.999999795979,-9.64107624657e-05,-0.000628158564122,-6.45263646735e-05,1793239506916232704
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714,682.027056714,657,631,881,784,804.027056714,651.027056714,630.027056714,653,0.450257587194,-0.00555587851256,0.079586249151,0.99999979558,-9.77506249853e-05,-0.000628654866113,-6.38641604825e-05,1793239506932899584
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714,682,657,631.550751221,881,784,804.550751221,651,630.550751221,653,0.450257775972,-0.00555474080392,0.0795865363022,0.99999979577,-9.72599617113e-05,-0.000628397246476,-6.41666332595e-05,1793239506949566208
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.872684289,714,682,657,631.872684289,881,784,804.872684289,651.127315711,630.872684289,653,0.450257726786,-0.00555385060523,0.0795866925703,0.999999795744,-9.68888829888e-05,-0.00062847424885,-6.43854112678e-05,1793239506966232576
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.298260326,714,682,657,631.298260326,881,784,804.298260326,651.701739674,630.298260326,653,0.450256711267,-0.00555434321811,0.079586281606,0.999999794856,-9.72461730568e-05,-0.000629853401587,-6.41477385408e-05,1793239506982899200
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682,657,631.283804789,881,784,804.283804789,651.716195211,630,653,0.450256191229,-0.0055542800525,0.0795859367235,0.999999794328,-9.71305049597e-05,-0.000630739836952,-6.38582794673e-05,1793239506999565824
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682,657,631.874122409,881,784,804.874122409,651.125877591,630,653,0.45025620632,-0.00555361663894,0.0795856632099,0.999999794187,-9.65040359232e-05,-0.00063109413111,-6.35128904874e-05,1793239507016232704
+256,4.266666667,HOLD_POSE2,765,746,714,683,657,632,880,784,804,652,631,653,0.450258376907,-0.00555346212591,0.0795868059402,0.99999979493,-9.96252834107e-05,-0.000629345486381,-6.43370228421e-05,1793239507048570112
+257,4.283333333,HOLD_POSE2,765,746,714,682.4265119,657,631.4265119,880.5734881,784,804,651.4265119,631,653,0.450258860438,-0.00555385657707,0.0795874048704,0.999999795742,-9.82953323481e-05,-0.000628252396635,-6.4435464726e-05,1793239507065236736
+258,4.300000000,HOLD_POSE2,765,746,714,682.146589816,657,631.146589816,880.853410184,784,804,651.146589816,630.853410184,653,0.450258828309,-0.00555397518661,0.0795873726444,0.999999795981,-9.68248310434e-05,-0.00062811070439,-6.43458579484e-05,1793239507081903360
+259,4.316666667,HOLD_POSE2,765,746,714,682.718570416,657,631.718570416,880.281429584,784,804,651.718570416,630.281429584,653,0.450257299781,-0.00555329332806,0.0795855088585,0.999999794553,-9.49464649582e-05,-0.000630729883952,-6.37105504801e-05,1793239507098570240
+260,4.333333333,HOLD_POSE2,765,746,714,683,657,631.696740549,880.303259451,784,804.303259451,652,630,653,0.45025784333,-0.00555319863551,0.0795856584095,0.999999794708,-9.41750768784e-05,-0.000630625397308,-6.34578001677e-05,1793239507115236864
+261,4.350000000,HOLD_POSE2,765,746,714,683,657,631.099742079,880.900257921,784,804.900257921,652,630,653,0.450260393905,-0.00555367267571,0.0795877580915,0.999999796398,-9.44759148021e-05,-0.000627882750209,-6.3575597172e-05,1793239507131903488
+262,4.366666667,HOLD_POSE2,765,745.51973283,714,683,657,631.48026717,881,784,804.51973283,652,630,653,0.450259672856,-0.00555421367366,0.0795873717274,0.999999795792,-9.58174560174e-05,-0.000628654344485,-6.34710008904e-05,1793239507148569856
+263,4.383333333,HOLD_POSE2,765,745,714,682.943293664,657,631.943293664,881,784,804.056706336,652,630.056706336,653,0.450258538237,-0.00555469893324,0.0795866704317,0.99999979492,-9.72302557621e-05,-0.000629837166501,-6.33357716105e-05,1793239507165236736
+264,4.400000000,HOLD_POSE2,765,745,714,682.368337798,657,631.368337798,881,784,804.631662202,652,630.631662202,653,0.450259621417,-0.00555455204395,0.0795876482912,0.99999979585,-9.73865026459e-05,-0.000628336032918,-6.33282689454e-05,1793239507181903360
+265,4.416666667,HOLD_POSE2,765,745.212430206,714,682,657,631,881,784,805,651.787569794,631,653,0.450260397273,-0.00555385237628,0.0795880291323,0.999999796346,-9.69566492936e-05,-0.000627603372576,-6.34203304718e-05,1793239507198569984
+266,4.433333333,HOLD_POSE2,765,745.803559437,714,682,657,631,881,784,805,651.196440563,631,653,0.450260625266,-0.00555216727142,0.0795873456695,0.99999979607,-9.54819558709e-05,-0.000628240668543,-6.36898849409e-05,1793239507215236352
+267,4.450000000,HOLD_POSE2,765,746,714,682,657,631,881,784,804.613446618,651,630.613446618,653,0.450260266121,-0.0055520396749,0.0795871313239,0.999999795804,-9.54993440227e-05,-0.000628643323421,-6.38633614827e-05,1793239507231902976
+268,4.466666667,HOLD_POSE2,765,746,714,682,657,631,881,784,804.034501635,651,630.034501635,653,0.45025961475,-0.00555268726618,0.0795871504626,0.999999795544,-9.62593564111e-05,-0.000628929195068,-6.39890190747e-05,1793239507248569856
+269,4.483333333,HOLD_POSE2,765,745.459644569,714,682,656.459644569,631,881,784,804.540355431,651,630.540355431,653,0.450260353442,-0.00555293212029,0.0795869660061,0.999999795597,-9.56116470464e-05,-0.000628955045703,-6.38800976619e-05,1793239507265236224
+270,4.500000000,HOLD_POSE2,765,745,714,682,656.114681195,631,881,784,804.885318805,651,631,653,0.450261261466,-0.00555295187416,0.0795870721855,0.999999795889,-9.49033829464e-05,-0.000628613172248,-6.37175369234e-05,1793239507281902848
+271,4.516666667,HOLD_POSE2,765,745,714,682,656.687918535,631,881,784,804.312081465,651,631,653,0.450262494341,-0.00555217360715,0.0795883920694,0.999999797062,-9.43096895494e-05,-0.000626866829558,-6.33999373945e-05,1793239507298569728
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,631,881,783,804,652,630,653,0.450261580971,-0.00555484985998,0.079587788334,0.999999795004,-9.88368284391e-05,-0.000629411278454,-6.37570346106e-05,1793239507335679232
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.576712216,714,682,656.576712216,631,881,783.576712216,804.576712216,651.423287784,630,652.423287784,0.450261275867,-0.00555356472593,0.0795878840657,0.999999795758,-9.67816717342e-05,-0.000628541262653,-6.36702068629e-05,1793239507352345856
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.152780681,657,631.152780681,881,784,805,651,630.152780681,652.152780681,0.450261040507,-0.00555270761893,0.0795877526766,0.999999796213,-9.52164319263e-05,-0.000628072169309,-6.34997278778e-05,1793239507369012480
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.727073212,657,631.727073212,881,784,805,651,630.727073212,652.727073212,0.450260997567,-0.00555303141011,0.0795869946762,0.999999795859,-9.5002840146e-05,-0.000628709194466,-6.30984606127e-05,1793239507385679360
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.689905814,714,683,657,631.689905814,880.689905814,784,805,651.310094186,631,653,0.450261297773,-0.00555308214603,0.0795870066617,0.999999795847,-9.57112316505e-05,-0.000628609116159,-6.32125682821e-05,1793239507402345984
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.098980107,714,683,657,631.098980107,880.098980107,784,805,651.901019893,631,653,0.450261908743,-0.00555288559408,0.0795877159719,0.999999796143,-9.72546016329e-05,-0.000627841492613,-6.37934165104e-05,1793239507419012864
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.481560016,745,714,683,657,631,880,784,804.518439984,652,631,653,0.450262659447,-0.00555300643524,0.0795883825116,0.999999796786,-9.69632024271e-05,-0.000626858859968,-6.38239705071e-05,1793239507435679488
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.940366495,745,714,683,656.940366495,631,880.059633505,784,804,651.940366495,631,653,0.450263251401,-0.0055531133805,0.079588840397,0.999999797323,-9.63751258346e-05,-0.000626100513265,-6.37490192704e-05,1793239507452346112
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.365550288,745,714,683,656.365550288,631,880.634449712,784,804,651.365550288,631,653,0.450262229011,-0.00555254858175,0.0795875700314,0.999999796348,-9.64132199389e-05,-0.000627653536629,-6.37191185616e-05,1793239507469012736
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.20968737,714,683,656.20968737,631,881,784,804,651,630.79031263,652.79031263,0.450258118079,-0.00555215968983,0.0795849053976,0.999999794025,-9.57926503669e-05,-0.000631461006918,-6.34889790817e-05,1793239507485679104
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.785661169,714,683,656.785661169,631,881,784,804,651,630.214338831,652.214338831,0.450248612017,-0.00555207807581,0.0795798052263,0.999999789309,-9.40215128424e-05,-0.00063920659363,-6.29090581899e-05,1793239507502345472
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.630235721,713.630235721,683,657,631,881,783.630235721,804.369764279,651.369764279,630,652,0.450225557672,-0.00555133682632,0.0795680165628,0.999999777311,-9.37594001684e-05,-0.000657706861754,-6.33198223603e-05,1793239507519012352
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.041314364,713.041314364,683,657,631,881,783.041314364,804.958685636,651.958685636,630,652,0.45019447334,-0.0055502046148,0.0795522636694,0.999999760518,-9.43916772941e-05,-0.000682581365727,-6.43177595633e-05,1793239507535678976
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.538372622,682.461627378,657,631,880.461627378,783.538372622,805,651.461627378,630,652.538372622,0.450133878935,-0.0055479688858,0.0795275100689,0.999999731399,-9.27853181212e-05,-0.000724133803632,-6.49908352758e-05,1793239507552345600
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.11668105,714,682,656.88331895,631,880.11668105,784,805,651.11668105,630,653,0.450069153074,-0.00554632299847,0.0795042944159,0.999999703229,-9.14111268336e-05,-0.000762181757975,-6.53127718043e-05,1793239507569012224
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.692307642,714,682,656.307692358,631,880.692307642,784,805,651.692307642,630,653,0.449996933962,-0.00554732462516,0.0794897989897,0.999999688365,-9.16144480561e-05,-0.000781496223267,-6.43499643541e-05,1793239507585678848
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.273053807,746,714,682,656.273053807,631.273053807,881,784,805,651.726946193,630,653,0.449920936665,-0.00554746357108,0.0794812793176,0.999999679288,-9.19847070786e-05,-0.000793091166167,-6.29978515935e-05,1793239507602345728
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.859679191,746,714,682,656.859679191,631.859679191,881,784,805,651.140320809,630,653,0.449840600553,-0.00554661182512,0.0794796221278,0.999999677179,-9.25466754006e-05,-0.000795821105156,-6.11986655599e-05,1793239507619012608
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.55898398,745.55898398,714,682,657,631.55898398,881,784,805,651,630,653,0.449743700572,-0.00554414392248,0.0794802641158,0.999999678879,-8.96183152274e-05,-0.000794212483291,-5.86196820613e-05,1793239507635679232
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.020618997,714,682,657,631.020618997,880.979381003,784,804.979381003,651.020618997,630.020618997,653,0.44964056499,-0.00554116209713,0.0794816172688,0.999999681678,-8.56052792121e-05,-0.000791331332889,-5.57764484491e-05,1793239507652345856
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.598301323,714,682,657,631.598301323,880.401698677,784,804.401698677,651.598301323,630.598301323,653,0.449509660666,-0.0055380237491,0.0794826540439,0.99999968249,-8.19354698962e-05,-0.000790923338133,-5.24178061062e-05,1793239507669012480
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,631.824417957,880.175582043,784,804,652,631,653,0.449368168046,-0.00553491224551,0.0794833804302,0.999999683294,-7.8040155659e-05,-0.000790528119855,-4.88512882613e-05,1793239507685679104
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,631.24805402,880.75194598,784,804,652,631,653,0.449202506701,-0.00553186201723,0.0794833983256,0.999999684107,-7.36301065442e-05,-0.000790162065122,-4.48102762397e-05,1793239507702345728
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.323251608,746,714,682,657.323251608,631.323251608,881,784,804.323251608,652,631,653,0.449020087172,-0.00552845693511,0.0794835172883,0.999999682984,-6.85281313182e-05,-0.000792295185118,-4.00393152529e-05,1793239507719012608
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.890735497,746,714,682,657.890735497,631.890735497,881,784,804.890735497,652,631,653,0.448825006005,-0.00552478374336,0.0794837126121,0.999999680359,-6.29033718595e-05,-0.000796316552867,-3.47168419623e-05,1793239507735679232
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.515396746,745.515396746,714,682,657.515396746,631.515396746,881,784.484603254,805,652,631,653,0.448609328953,-0.0055219789213,0.079492256736,0.999999688881,-5.57715959903e-05,-0.0007863430454,-2.81364393816e-05,1793239507752346368
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.081154417,714,682,657,631.081154417,880.918845583,785,805,652,630.918845583,653,0.448381862478,-0.00551903009999,0.0795007294586,0.999999697619,-4.78457252173e-05,-0.000775896941098,-2.13552963158e-05,1793239507769013760
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.655767723,714,682,657,631.655767723,880.344232277,785,805,652,630.344232277,653,0.448112572815,-0.00551394662333,0.0794966629272,0.999999692748,-3.72764178902e-05,-0.000782868678976,-1.51774477529e-05,1793239507785680128
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.230962796,657,632,880.230962796,784.769037204,805,652,630.230962796,653,0.447826969508,-0.00550923005898,0.0794950557006,0.999999691217,-2.56815040221e-05,-0.000785389579495,-8.35047131624e-06,1793239507802346240
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.807027102,657,632,880.807027102,784.192972898,805,652,630.807027102,653,0.447516990589,-0.00550506173039,0.0794971231345,0.999999694737,-1.25541432672e-05,-0.00078126009822,-5.53577097531e-07,1793239507819013120
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,657,632.393577235,881,784.393577235,804.606422765,652,631,653,0.44719492995,-0.00550013044022,0.0795036289101,0.999999702956,7.84342113211e-06,-0.000770715970162,4.92602938622e-06,1793239507835679488
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,657,632.985409327,881,784.985409327,804.014590673,652,631,653,0.446866783451,-0.00549481482704,0.0795123703911,0.999999712969,3.19031715099e-05,-0.00075694062115,9.23835889498e-06,1793239507852346112
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.434967184,657.565032816,632.434967184,881,785,804.565032816,652,631,653,0.446496531868,-0.00548893602926,0.0795339581298,0.999999731129,4.35126628218e-05,-0.000731972748274,7.99391137954e-06,1793239507869012480
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.141107375,746,714,682.141107375,658,632.141107375,880.858892625,785,805,652,631,653,0.446111109252,-0.00548334466187,0.0795521051462,0.999999745668,5.02479262991e-05,-0.000711395811661,7.44989407222e-06,1793239507885679360
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.707417627,746,714,682.707417627,658,632.707417627,880.292582373,785,805,652,631,653,0.445683178396,-0.00547866231357,0.0795589056766,0.999999750576,4.32438314477e-05,-0.00070490271051,9.4397439168e-06,1793239507902346240
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745.711232039,714,683,658,633,880.288767961,785,805,652,631,653,0.445227781957,-0.00547257068359,0.0795662370295,0.999999757713,4.40387489903e-05,-0.000694617874576,1.18906887302e-05,1793239507919012864
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745.11380558,714,683,658,633,880.88619442,785,805,652,631,653,0.444743028032,-0.00546497269906,0.0795741357692,0.999999767086,5.31698794197e-05,-0.000680280125636,1.48344892982e-05,1793239507935679232
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.530995615,745.469004385,714,682.530995615,658.469004385,633,881,785,805,652,631,653,0.444236064342,-0.00545889892522,0.0795853638049,0.999999775402,7.24327677542e-05,-0.000666111659251,1.5644984753e-05,1793239507952345600
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.048087881,745.951912119,714,682.048087881,659,633.048087881,880.951912119,785.048087881,805,651.951912119,631,653,0.443721429216,-0.00545205816838,0.0795972440544,0.999999783097,9.2365472963e-05,-0.000651942117338,1.56644385673e-05,1793239507969012224
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.624022392,745.375977608,714,682.624022392,659,633.624022392,880.375977608,785.624022392,805,651.375977608,631,653,0.443179955241,-0.00543286136657,0.0796076837774,0.999999792462,9.34798730179e-05,-0.000637323500227,1.25112656338e-05,1793239507985678848
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.801617614,745,714,682.801617614,659,634,880.198382386,786,805,651.198382386,631.198382386,652.801617614,0.442628784402,-0.00541317158001,0.0796208804942,0.999999804819,0.000103110935294,-0.000616132349681,1.05149758261e-05,1793239508002345728
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.230218203,745,714,682.230218203,659,634,880.769781797,786,805,651.769781797,631.769781797,652.230218203,0.442059380648,-0.00539255483877,0.0796392611666,0.999999821952,0.000128755818268,-0.000582582910486,1.06939655081e-05,1793239508019012864
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.354867689,745.354867689,714,682.354867689,659.354867689,634,880.645132311,786,804.645132311,652,631.645132311,652.354867689,0.441446520706,-0.00539022482819,0.0796517388762,0.999999833173,0.000140910494402,-0.000560054297335,1.16882099279e-05,1793239508035680000
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.949188759,745.949188759,714,682.949188759,659.949188759,634,880.050811241,786,804.050811241,652,631.050811241,652.949188759,0.440804337941,-0.00540023412013,0.0796602334543,0.999999841058,0.000143962408949,-0.000544962187276,1.32325622014e-05,1793239508052347392
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.472223417,745.472223417,714,682.472223417,660,634.527776583,880,786,804,651.472223417,631,653,0.440086558457,-0.0054148149728,0.0796242977076,0.999999814636,0.000121211797774,-0.000596538988013,1.330005945e-05,1793239508069014016
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.104296696,660.104296696,635,880,786.104296696,804.104296696,651.104296696,631,652.895703304,0.439374791183,-0.00542784056673,0.0795991473474,0.999999795896,9.99502473069e-05,-0.000630896808088,1.36722110318e-05,1793239508085680384
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.678129645,660.678129645,635,880,786.678129645,804.678129645,651.678129645,631,652.321870355,0.438721907272,-0.00543194044675,0.0796412515574,0.99999983862,9.62519347982e-05,-0.000559676861651,1.60374630732e-05,1793239508102346496
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.259347113,682.740652887,661,635,880,787,805,652,631,652,0.438058025092,-0.00543152674622,0.0796995280135,0.999999884403,0.000100069251644,-0.000469886129512,1.96665649039e-05,1793239508119012864
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.849998035,682.150001965,661,635,880,787,805,652,631,652,0.437380093049,-0.00542534715815,0.0797784637637,0.99999992975,0.000113487432632,-0.000356372075339,2.49101759781e-05,1793239508135679488
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,682,661,635,880.865975488,787,804.567012256,651.567012256,631.432987744,652.432987744,0.436660124354,-0.0054211310425,0.07983326691,0.999999955606,0.000119666177593,-0.00027129654598,2.94337969923e-05,1793239508152345856
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.986818262,682,661,635,881.986818262,787,804.013181738,651,631.986818262,652.986818262,0.43592386172,-0.00541754958865,0.0798783764496,0.999999972136,0.000123608040472,-0.00019828961879,3.36186832943e-05,1793239508169012992
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.414585407,682,661,635,881.414585407,787,804.585414593,651,631.414585407,652.414585407,0.435103446063,-0.00541253773951,0.0798607775338,0.999999964353,0.000137198648641,-0.000226551650314,3.38321371549e-05,1793239508185679616
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.158494334,745.158494334,714.158494334,682,661,635,881,787,804.841505666,651.158494334,631.158494334,652,0.434275230454,-0.00540826783232,0.079841463296,0.999999955425,0.000147876432747,-0.000257123597755,3.42069532201e-05,1793239508202346240
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.733801207,745.733801207,714.733801207,682,661,635,881,787,804.266198793,651.733801207,631.733801207,652,0.433426502378,-0.00540594910373,0.0798176380604,0.999999944852,0.000150893995445,-0.000293770220988,3.50061238576e-05,1793239508219012608
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745.682520173,715,682,661,635,881,787,804.317479827,652,631.682520173,652.317479827,0.432520965355,-0.00540549587792,0.0797762603547,0.999999920031,0.00015367856452,-0.00036756884025,3.48469282251e-05,1793239508235679232
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745.091631974,715,682,661,635,881,787,804.908368026,652,631.091631974,652.908368026,0.431566505452,-0.00540664919235,0.0797197667534,0.999999875182,0.000156262481996,-0.000473362138935,3.38624031099e-05,1793239508252345600
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.510978387,745,714.510978387,681.510978387,661,635,880.510978387,787,805,651.510978387,631,653,0.430724295172,-0.00541650637106,0.0797360684382,0.999999889555,0.000152199000997,-0.000443183246915,3.6256254553e-05,1793239508269012224
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.067223705,745,714.067223705,681.067223705,661,635,879.932776295,787,804.932776295,651,631,653,0.42990547651,-0.00542702697238,0.0797706333167,0.999999915539,0.00014731345831,-0.00038165738889,3.94840256442e-05,1793239508285679104
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.641106347,745,714.641106347,681.641106347,661,635,879.358893653,787,804.358893653,651,631,653,0.429107683722,-0.00543050765562,0.0798421483841,0.999999951461,0.000145427470707,-0.000271962857192,4.43236586749e-05,1793239508302345728
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745.215908707,715,682,661,635,879.215908707,787,804.215908707,651,631,653,0.428273839819,-0.00543033439893,0.0798820308529,0.999999966044,0.000148259271945,-0.000208973877356,4.75507050628e-05,1793239508319012352
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745.792246496,715,682,661,635,879.792246496,787,804.792246496,651,631,653,0.427379813542,-0.00542406140631,0.0798691071788,0.999999961131,0.000158966757141,-0.000223953204177,4.80857673837e-05,1793239508335679232
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.621138669,745.621138669,715,681.621138669,661,635,880,787,804.621138669,651,631,652.621138669,0.42644538404,-0.00541884941886,0.0798274121124,0.99999994492,0.00016754584289,-0.000282778786219,4.61014029413e-05,1793239508352345856
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.028731184,745.028731184,715,681.028731184,661,635,880,787,804.028731184,651,631,652.028731184,0.425488181211,-0.00541423547005,0.0797694999783,0.999999916694,0.000174925249284,-0.000366318419121,4.2696956899e-05,1793239508369012736
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.54669644,745,715,681,661,635,880,787,804,651.54669644,631,652,0.424562554512,-0.00540576377854,0.0797554226793,0.999999903535,0.00018642798868,-0.000395271221193,4.39936732995e-05,1793239508385679104
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.87832874,745,715,681,661,635,879.87832874,787,804,652,631,652,0.423650581805,-0.00539808050829,0.0797476361639,0.999999894553,0.000196595384958,-0.00041255282629,4.52150061357e-05,1793239508402345728
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.301811222,745,715,681,661,635,879.301811222,787,804,652,631,652,0.422783635439,-0.00539407968877,0.0797550140562,0.999999900131,0.000200985153867,-0.000396605061793,4.52587422121e-05,1793239508419012352
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,879.281608759,787,804.281608759,652,631,652.281608759,0.421961585369,-0.00539326618093,0.0797880901534,0.999999922085,0.000204806876433,-0.000334272508297,4.63252605354e-05,1793239508435678976
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,879.87261222,787,804.87261222,652,631,652.87261222,0.421188861505,-0.00539595447265,0.079849400061,0.999999952774,0.000208004502136,-0.000220978440937,4.85154771795e-05,1793239508452346112
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,879.546124373,787.453875627,805,652,631.453875627,653,0.420334493895,-0.00539197363441,0.0798709562136,0.999999958023,0.000214334970449,-0.0001885781351,4.95165732577e-05,1793239508469012992
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,879.064358212,787.967820894,804.967820894,651.967820894,631.967820894,653,0.419456691346,-0.00538660620235,0.0798783490107,0.999999957563,0.000220679993388,-0.000183516667604,4.99596828081e-05,1793239508485679616
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880.211419903,787.394290049,804.394290049,651.394290049,631.394290049,653,0.418562038747,-0.00538873992822,0.0798312315157,0.999999941312,0.000212788344861,-0.000264448784893,4.65124247024e-05,1793239508502345984
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.183914164,745,715,681,661,635,880.632171672,787,804.183914164,651,631.183914164,653,0.417699186178,-0.00539585867258,0.0798033657293,0.999999929286,0.000201852075686,-0.000314134645985,4.47661993616e-05,1793239508519012608
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.772398863,745,715,681,661,635,879.455202274,787,804.772398863,651,631.772398863,653,0.416906286476,-0.00541394335683,0.0798178494405,0.999999938401,0.000184218314645,-0.000295085664443,4.67618702338e-05,1793239508535679232
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.643854139,745.356145861,715,681,661,635,879,787,804.643854139,651.356145861,632,653,0.416088430911,-0.00542683301753,0.0798154651336,0.999999938212,0.000169796668539,-0.000304164589359,4.72075471376e-05,1793239508552345856
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.063095136,745.936904864,715,681,661,635,879,787,804.063095136,651.936904864,632,653,0.415254836295,-0.00543644629326,0.0798024425483,0.999999931748,0.000157400831678,-0.000330983149837,4.66756777564e-05,1793239508569012480
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,661,635,879.513679398,787,804,652,631.486320602,653,0.414482127416,-0.00542638356326,0.0797998296119,0.999999930375,0.000169577539279,-0.00032925386824,4.5670753184e-05,1793239508585678848
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.089989326,746,715,680.910010674,661,635,880,787.089989326,804,652,631,653,0.41372546504,-0.00541598740626,0.0798015105957,0.999999931082,0.000183182412618,-0.000319772404472,4.5000949067e-05,1793239508602345472
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.666412971,746,715,680.333587029,661,635,880,787.666412971,804,652,631,653,0.413015427444,-0.00541675229862,0.0798195439093,0.999999939949,0.00018831776549,-0.000287195292749,4.64542960885e-05,1793239508619012096
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745.75184646,715,680,661,635,879.75184646,788,804.24815354,652,631,653,0.412305002027,-0.00541631148142,0.0798242096305,0.999999941256,0.000191632019992,-0.000280328844372,4.67069736494e-05,1793239508635678976
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745.162802029,715,680,661,635,879.162802029,788,804.837197971,652,631,653,0.411594043915,-0.00541421436942,0.0798105121608,0.999999932783,0.000192444613937,-0.000308781382949,4.53102799992e-05,1793239508652345856
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.580580402,745,715,680,661,635,879.419419598,787.580580402,804.580580402,652,631.419419598,652.580580402,0.41090069132,-0.00540915611868,0.0798009204735,0.999999925621,0.000199135930573,-0.000327214255571,4.50990745062e-05,1793239508669012480
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.000964678,745,715,680,661,635,879.999035322,787.000964678,804.000964678,652,631.999035322,652.000964678,0.410214063044,-0.00540296686922,0.0797928969771,0.999999918904,0.000208072608734,-0.000341820147517,4.53406627365e-05,1793239508685678848
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.573189313,880,787,804,652,631.426810687,652.573189313,0.409603321805,-0.00540479763236,0.0798142048472,0.999999931341,0.000205370134406,-0.000304975472666,4.61530566978e-05,1793239508702345728
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.143444126,745,715,680,661,635.856555874,880,787,804,652,631.143444126,653,0.408999572589,-0.0054055274089,0.079833173624,0.999999940185,0.000205852130619,-0.000273929671049,4.7084249892e-05,1793239508719012352
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.702429965,745,715,680,661,635.297570035,880,787,804,652,631.702429965,653,0.408415711852,-0.00540302901764,0.079845224658,0.999999941804,0.000215615395269,-0.000259931031733,4.83568349456e-05,1793239508735678976
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.7149513,661,635.2850487,879.7149513,787,804,652,631.7149513,652.7149513,0.40783948646,-0.00540136771406,0.0798361692092,0.999999936059,0.000217697353963,-0.000279601018677,4.80925984478e-05,1793239508752345600
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.105431237,661,635.894568763,879.105431237,787,804,652,631.105431237,652.105431237,0.407271952426,-0.00540065926879,0.0798030882186,0.999999919685,0.000211035669505,-0.000337596053543,4.60789954914e-05,1793239508769012480
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787,804,652,631.479811742,652.479811742,0.406749282779,-0.00539863486928,0.0797876936878,0.999999911273,0.000217426195692,-0.000357973225007,4.51110643422e-05,1793239508785679360
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.059453297,661,636,879,787,804,651.940546703,631.940546703,653,0.406243708559,-0.00539643849537,0.0797791642473,0.999999907134,0.000225036278148,-0.000364848277314,4.44467709364e-05,1793239508802345728
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.634551709,661,636,879,787,804,651.365448291,631.365448291,653,0.405805020889,-0.0053951377086,0.0797980932722,0.99999992279,0.000219547003285,-0.000322856725354,4.45191133009e-05,1793239508819012352
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.214168366,715,680,661,635.785831634,879,787,804,651,631.214168366,653,0.405381149368,-0.00539470011452,0.079814961861,0.999999933022,0.000216470777061,-0.000291738195027,4.45629633481e-05,1793239508835678976
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.801660867,715,680,661,635.198339133,879,787,804,651,631.801660867,653,0.404983104425,-0.00539576718098,0.0798282388318,0.999999936252,0.000217600818787,-0.000279572802275,4.45571475733e-05,1793239508852345600
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.616342411,746,715,679.616342411,661,635,879,787,804,651,632,653,0.404597158203,-0.00539593116205,0.0798363257574,0.9999999359,0.000226237203251,-0.000273658650306,4.61366312771e-05,1793239508869012224
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.037146661,746,715,679.037146661,661,635,879,787,804,651,632,653,0.404217378282,-0.0053956348691,0.0798417674819,0.999999933632,0.000238699333713,-0.000270930557286,4.85240920723e-05,1793239508885678848
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.540483566,745.459516434,715.540483566,679.540483566,661,635,879,787,804,651.540483566,631.459516434,653,0.403870570688,-0.00539457100824,0.0798427497462,0.999999935881,0.000225376158318,-0.000274360045879,4.65929501331e-05,1793239508902345728
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.882970795,745,715.882970795,680,661,635.117029205,879,787,804,652,631,653,0.40353546473,-0.00539384083791,0.0798428080891,0.99999993751,0.000213312481516,-0.000278320890263,4.48850258674e-05,1793239508919012352
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.310230598,745,715.310230598,680,661,635.689769402,879,787,804,652,631,653,0.40323712592,-0.00539461488592,0.07984045872,0.999999936325,0.000213034234802,-0.000282707646646,4.51987527717e-05,1793239508935678976
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.271220138,636,879,787,804,652,631,653,0.402960741395,-0.00539433075836,0.0798381226942,0.999999933918,0.000217472628656,-0.000287845921979,4.48910420126e-05,1793239508952345856
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.862964844,636,879,787,804,652,631,653,0.402710302188,-0.00539279609209,0.0798358024376,0.999999929983,0.000227485089382,-0.000293872332725,4.38489239672e-05,1793239508969012224
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.445228044,745,715,679.554771956,661.554771956,635.554771956,879,787,804,651.554771956,631.445228044,653,0.402490354555,-0.00539418679688,0.0798376011193,0.999999931712,0.000223955286027,-0.000290655734667,4.40403906904e-05,1793239508985678848
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,804,651.024524962,631.975475038,653,0.402281317576,-0.0053962976172,0.0798407934245,0.999999935065,0.000216734488554,-0.000284435172842,4.46388917868e-05,1793239509002345472
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,804,651.601370599,631.398629401,653,0.402111048916,-0.00539477135197,0.0798474157535,0.999999937767,0.000218301699654,-0.00027329581403,4.60317165145e-05,1793239509019012096
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.176827041,879,787,803.823172959,652,631,653,0.401948669807,-0.00539356602595,0.0798535412973,0.99999994033,0.00021867957277,-0.000263264159385,4.70294971369e-05,1793239509035678720
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.749176092,879,787,803.250823908,652,631,653,0.401803937859,-0.00539307856842,0.0798585556442,0.999999942781,0.000216397166236,-0.000255710189433,4.71436534627e-05,1793239509052345600
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.667077282,745,715,679,661,636,879,787,803.332922718,652,631,653,0.401671872076,-0.00539321671731,0.0798588125184,0.999999943153,0.000215081255891,-0.000255539770164,4.6191249503e-05,1793239509069012224
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.074439268,745,715,679,661,636,879,787,803.925560732,652,631,653,0.401549687241,-0.00539384290599,0.079855358056,0.99999994191,0.000214519315609,-0.000261129308612,4.44068145625e-05,1793239509085679104
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.50197947,661.50197947,635.49802053,879,787,803.49802053,652,631.50197947,653,0.401443982851,-0.00539496620607,0.079848644024,0.999999937054,0.000225593767378,-0.000270776908012,4.09913169594e-05,1793239509102345984
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.923773094,635,878.923773094,787,803.076226906,652,631.923773094,653,0.40134398311,-0.00539606886195,0.0798418593312,0.999999932025,0.000236214106629,-0.000280563301329,3.79201945554e-05,1793239509119012352
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.348487058,635,878.348487058,787,803.651512942,652,631.348487058,653,0.401265832249,-0.0053965688372,0.0798376775767,0.999999930817,0.000232917576726,-0.000287441862163,3.86376835508e-05,1793239509135678976
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.226614261,878.226614261,787,803.773385739,652,631.226614261,653,0.40119763545,-0.00539626395804,0.0798342352559,0.999999929873,0.000230683826141,-0.000292423635999,3.9086937217e-05,1793239509152345600
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.801431716,878.801431716,787,803.198568284,652,631.801431716,653,0.401144733528,-0.00539472238319,0.0798319291092,0.999999929403,0.00023008308489,-0.000294490909315,3.91240349695e-05,1793239509169012480
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.388399252,635.611600748,879,787,803.388399252,652,631.611600748,652.611600748,0.401102550619,-0.00539468281167,0.0798307794532,0.999999929176,0.00022953651303,-0.000295646568626,3.94318116121e-05,1793239509185679104
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.981779063,635.018220937,879,787,803.981779063,652,631.018220937,652.018220937,0.40106602475,-0.0053954359335,0.0798302401437,0.999999929077,0.000229018529484,-0.000296321116881,3.98824410272e-05,1793239509202345984
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.43908473,661.43908473,635,879,787,804,652,631,652.56091527,0.401040483627,-0.00539489197425,0.0798309533308,0.999999929573,0.000229312653916,-0.000294388191819,4.00686114079e-05,1793239509219012608
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.137358696,745,715,679.137358696,661,635,879,787,804,652,631,653,0.401018238994,-0.00539417545442,0.079831539065,0.999999929885,0.000229804147386,-0.000292926514449,4.01776392398e-05,1793239509235679488
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.706751669,745,715,679.706751669,661,635,879,787,804,652,631,653,0.401005268263,-0.00539304542448,0.0798315991198,0.99999992957,0.000230835505059,-0.000293206868101,4.00703819726e-05,1793239509252346112
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.711720627,745,715,680,661,635,879,787,804,652,631,653,0.400995842643,-0.00539432559156,0.0798324888916,0.999999930291,0.000229658837108,-0.000291625862863,4.03561583874e-05,1793239509269012480
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.117306527,745,715,680,661,635,879,787,804,652,631,653,0.400990181707,-0.00539816523754,0.0798342597712,0.999999932096,0.000226137383677,-0.000288068210511,4.10593120639e-05,1793239509285679104
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,804,652,631.466872836,653,0.400985685207,-0.0053969500256,0.0798351191426,0.999999932044,0.000227906681887,-0.000286886199948,4.08199912306e-05,1793239509302345728
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.047897657,745.047897657,715,679.952102343,661,635,879,787,804,652,631.952102343,653,0.400981530367,-0.00539487736121,0.0798356081304,0.999999931595,0.000230469914021,-0.000286464090769,4.04080377732e-05,1793239509319012608
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.621913595,745.621913595,715,679.378086405,661,635,879,787,804,652,631.378086405,653,0.400977983617,-0.00539703786288,0.0798344904452,0.99999993184,0.000227465202914,-0.000287973027525,4.06451826524e-05,1793239509335679232
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.803508308,715,679.196491692,661,635.196491692,879,787,803.803508308,652,631,653,0.400976092697,-0.00539772127158,0.079834347148,0.999999932092,0.000226473181914,-0.000287872186101,4.06821097139e-05,1793239509352346112
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.227845447,715,679.772154553,661,635.772154553,879,787,803.227845447,652,631,653,0.400977397043,-0.00539555432518,0.0798360841331,0.999999932365,0.000229365061002,-0.000284664946189,4.03326752641e-05,1793239509369012992
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879,787,803.358648212,652,631,652.641351788,0.400978427997,-0.00539529710115,0.0798377009893,0.999999932917,0.000230062989829,-0.000282149420711,4.03503968514e-05,1793239509385679616
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,636,879,787,803.9522368,652,631,652.0477632,0.40097927986,-0.00539629088271,0.0798392391524,0.999999933656,0.000229323723315,-0.000280087018066,4.06086320657e-05,1793239509402345984
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.47151002,745,715,680,661,635.47151002,879,787,804,651.47151002,631,652.52848998,0.400978414792,-0.00539666422997,0.0798388317985,0.999999933711,0.000228104959858,-0.00028093014071,4.03093221569e-05,1793239509419013120
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.103278515,745,715,679.896721485,661,635,879,787,804,651.103278515,631,652.896721485,0.400977639959,-0.0053968928281,0.0798383833883,0.9999999337,0.000227295727346,-0.000281662899501,4.00261694737e-05,1793239509435680000
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.678305829,745,715,679.321694171,661,635,879,787,804,651.678305829,631,652.321694171,0.400977963563,-0.00539670824184,0.0798385250779,0.999999933676,0.000228548781427,-0.000280730189783,4.00396728509e-05,1793239509452346112
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,878.739262359,787,804,652,631,652,0.400977855963,-0.00539675681189,0.0798384563394,0.999999933568,0.000228917018593,-0.000280820999421,4.00014915566e-05,1793239509469012480
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,878.147427892,787,804,652,631,652,0.400977200798,-0.00539710145466,0.0798381203895,0.999999933354,0.00022816167411,-0.000282211521585,3.98976786554e-05,1793239509485679104
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.566930167,745,715,679,661,635,878.433069833,787,804,652,631,652.433069833,0.400977927349,-0.00539739311691,0.0798388631641,0.99999993393,0.000227511479762,-0.000280695542236,3.98615338074e-05,1793239509502345984
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.009768596,745,715,679,661,635,879,787,804,652,631.009768596,653,0.400979088187,-0.00539764042726,0.0798399511472,0.999999934749,0.000226920327829,-0.000278248406488,3.98474627142e-05,1793239509519012608
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.584266864,745,715,679,661,635,879,787,804,652,631.584266864,653,0.400978856689,-0.00539633979412,0.0798403079131,0.999999934716,0.000227725869581,-0.000277711871492,3.98117406278e-05,1793239509535679232
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.840574267,745,715,679.159425733,661,635.159425733,879.159425733,787,804,651.840574267,631.840574267,653,0.400978754751,-0.00539552996172,0.0798405239273,0.999999934663,0.000228420342192,-0.000277337522119,3.97639861822e-05,1793239509552345856
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.263685622,745,715,679.736314378,661,635.736314378,879.736314378,787,804,651.263685622,631.263685622,653,0.400978992066,-0.00539600531155,0.0798403713773,0.99999993456,0.000228823975588,-0.000277387862575,3.96847245061e-05,1793239509569012480
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.680086113,879.680086113,787,804,651.319913887,631,653,0.400978737118,-0.00539687180607,0.0798401274989,0.999999934628,0.000228085393011,-0.000277766669225,3.95941829589e-05,1793239509585679104
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.090836758,879.090836758,787,804,651.909163242,631,653,0.400978067733,-0.00539806760524,0.0798398067312,0.999999934836,0.000226385178903,-0.000278422011527,3.94941448935e-05,1793239509602345728
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.510613616,661,635.489386384,879,787,804,652,631,653,0.400977657816,-0.00539752038588,0.0798401350675,0.999999934493,0.000227992862815,-0.000278340456442,3.94976023906e-05,1793239509619012352
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.067662226,745,715,679,661,636,879,787,804,652,631.067662226,653,0.400977481911,-0.00539695452691,0.0798405826251,0.99999993425,0.00022952184702,-0.000277950206241,3.95330519082e-05,1793239509635679488
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.643666959,745,715,679,661,636,879,787,804,652,631.643666959,653,0.400978708848,-0.00539863525814,0.0798410371004,0.999999935534,0.00022593022414,-0.00027624974386,3.96671443669e-05,1793239509652345856
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.224035689,661,636,879,787,803.775964311,652,632,653,0.400979161267,-0.00539913505566,0.0798411632688,0.999999936007,0.000224441332431,-0.000275741498535,3.97288757748e-05,1793239509669012224
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.811483421,661,636,879,787,803.188516579,652,632,653,0.40097835733,-0.00539771924108,0.0798407568849,0.999999935182,0.000226363315609,-0.000277167168193,3.96732291322e-05,1793239509685678848
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.606548018,745,715,679.606548018,661,635.606548018,879,787,803.393451982,652,632,653,0.400978798553,-0.00539786581155,0.0798409670519,0.999999935148,0.000226952460887,-0.000276796376182,3.97615618549e-05,1793239509702345472
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.027168697,745,715,679.027168697,661,635.027168697,879,787,803.972831303,652,632,653,0.400979828181,-0.00539875069353,0.0798414685726,0.999999935488,0.000226911768063,-0.000275576658796,3.99179326174e-05,1793239509719012096
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.548993523,745,715,679,661,635,879,787,803.451006477,652,631.451006477,652.451006477,0.400979931541,-0.00539901258295,0.0798423919579,0.999999935874,0.000226008184643,-0.00027495617309,3.96447392875e-05,1793239509735678720
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765.875341421,745,715,679,661.124658579,635.124658579,879,787,803.124658579,652,631,652.124658579,0.400979890844,-0.00539891246243,0.079842993253,0.999999936089,0.00022556071252,-0.000274572620829,3.94335123559e-05,1793239509752345600
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765.300899125,745,715,679,661.699100875,635.699100875,879,787,803.699100875,652,631,652.699100875,0.400979494799,-0.00539761675805,0.0798423575171,0.999999935679,0.000226912126701,-0.000274937578849,3.95221238628e-05,1793239509769012224
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..717ff89461b99b1d5c634023ad003f9caf1ca70e
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..13b32688520e481e102f5898cbffb06911564c6c
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eaf17ee4f0c21f8244e6056dfef98f307b96d863
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/franka_data.csv
@@ -0,0 +1,421 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,661,635,879,787,804,652,631,653,0.400978059924,-0.00539779431532,0.0798412251039,0.999999935812,0.000226647849627,-0.000274730454058,3.91172168098e-05,1793239509892985600
+1,0.016666667,BASELINE,766,745,715,679,661.597419863,635,879,787,804,652,631,653,0.400978513252,-0.00539951936466,0.0798418574958,0.999999936375,0.00022428042318,-0.000274584120008,3.93977421732e-05,1793239509909652480
+2,0.033333333,BASELINE,766,745,715,679,661.8116743,635.1883257,879,787,804,651.8116743,631.1883257,653,0.400978362302,-0.00539991333497,0.079841736546,0.999999936432,0.000223354453999,-0.000275122856055,3.94584780273e-05,1793239509926319104
+3,0.050000000,BASELINE,766,745,715,679,661.234227714,635.765772286,879,787,804,651.234227714,631.765772286,653,0.400976962784,-0.00539755701371,0.0798400590327,0.999999935447,0.000225406841173,-0.000277077092361,3.90650821373e-05,1793239509942985472
+4,0.066666667,BASELINE,765.658901778,745,715,679,661.341098222,636,879,787,804,651,632,653,0.400976902172,-0.00539731981079,0.0798401855946,0.999999935377,0.00022653712838,-0.000276410920609,3.90265398284e-05,1793239509959652096
+5,0.083333333,BASELINE,765.085023102,745,715,679,661.914976898,636,879,787,804,651,632,653,0.400977755288,-0.00539852878773,0.0798415433369,0.999999935931,0.000227038133823,-0.000273956466837,3.92301652598e-05,1793239509976318720
+6,0.100000000,BASELINE,765.504743193,745,715,679,662.504743193,636,879,787,803.495256807,651.504743193,631.495256807,653,0.400979283061,-0.0053983538536,0.0798428741211,0.999999936378,0.000227390502473,-0.000272046603689,3.90973044675e-05,1793239509992985600
+7,0.116666667,BASELINE,765.905167998,745,715,679.094832002,662.810335996,635.905167998,878.905167998,787,803.094832002,652,631,653,0.400980440611,-0.00539808714655,0.0798437287353,0.999999936628,0.000227599765336,-0.000270967797049,3.89657503073e-05,1793239510009652224
+8,0.133333333,BASELINE,765.327505854,745,715,679.672494146,661.655011709,635.327505854,878.327505854,787,803.672494146,652,631,653,0.400979115778,-0.00539857865818,0.0798421828366,0.999999935983,0.000227212035721,-0.000273638010249,3.91388123037e-05,1793239510026318592
+9,0.150000000,BASELINE,765,745,715,679.751238021,661,635.248761979,878.248761979,787,804,652,631,653,0.400978149584,-0.00539823268719,0.0798412634138,0.999999935511,0.000227473944352,-0.000275127915504,3.92158742205e-05,1793239510042985216
+10,0.166666667,BASELINE,765,745,715,679.176795671,661,635.823204329,878.823204329,787,804,652,631,653,0.400977652921,-0.00539679027991,0.0798411641765,0.999999935275,0.000228586362512,-0.000275072555751,3.9167252361e-05,1793239510059652096
+11,0.183333333,BASELINE,765.408054222,745,715,679.408054222,661.408054222,636,879,787,804,652,631,653,0.400978244008,-0.00539702451023,0.0798419365245,0.999999935745,0.000227786821525,-0.000274032971694,3.90963706649e-05,1793239510076318976
+12,0.200000000,BASELINE,765.997531411,745,715,679.997531411,661.997531411,636,879,787,804,652,631,653,0.400979318715,-0.00539800418195,0.0798430963836,0.999999936527,0.000226137213949,-0.000272555796539,3.90155921289e-05,1793239510092985600
+13,0.216666667,BASELINE,765.422739496,745.577260504,715,679.422739496,662,636,879,787,803.422739496,652,631,652.422739496,0.400979915389,-0.00539764679846,0.079843659868,0.999999936456,0.000227283715859,-0.000271823645785,3.92592977422e-05,1793239510109652224
+14,0.233333333,BASELINE,765.156399834,745.843600166,715,679,662,636,879,787,803.156399834,652,631.156399834,652.156399834,0.400979788658,-0.00539783810258,0.0798437225284,0.999999936268,0.000227932949237,-0.000271943042141,3.94615716443e-05,1793239510126318592
+15,0.250000000,BASELINE,765.734061191,745.265938809,715,679,662,636,879,787,803.734061191,652,631.734061191,652.734061191,0.400977718856,-0.00539952243671,0.0798424429793,0.999999935772,0.000227211122734,-0.000274347633711,3.95485741917e-05,1793239510142985216
+16,0.266666667,BASELINE,766,745,715,679,662,635.689867147,879,787,804,652,631.689867147,653,0.400977355772,-0.00539941333292,0.079842142123,0.999999935609,0.000227367129784,-0.000274840088886,3.93501816226e-05,1793239510159651840
+17,0.283333333,BASELINE,766,745,715,679,662,635.115151732,879,787,804,652,631.115151732,653,0.400978448733,-0.00539777419957,0.0798426762156,0.999999935733,0.000228272039964,-0.000273701249642,3.89083109049e-05,1793239510176318464
+18,0.300000000,BASELINE,766,745,715,679,662,635.471046589,879,787.471046589,804,652,631,653,0.400978577365,-0.0053982232083,0.0798432094222,0.999999935938,0.000228324686332,-0.000272882330732,3.90849774872e-05,1793239510192985088
+19,0.316666667,BASELINE,765.940868576,745,715,679.059131424,661.940868576,636,879,787.940868576,804,652,631,652.940868576,0.400978592955,-0.00539908142026,0.0798437215971,0.999999936168,0.000228137965783,-0.000272152400039,3.93733838126e-05,1793239510209651968
+20,0.333333333,BASELINE,765.361500131,745,715,679.638499869,661.361500131,636,879,787.361500131,804,652,631,652.361500131,0.400979739853,-0.00539893651012,0.0798440506875,0.999999936443,0.000227724105268,-0.000271500125289,3.92813161561e-05,1793239510226318592
+21,0.350000000,BASELINE,765.216358172,745,715,679.783641828,661,635.783641828,879,787.216358172,804,652,631,652,0.400980233135,-0.00539826939665,0.0798437973009,0.999999936307,0.000228136211495,-0.000271668299755,3.9182145719e-05,1793239510242984960
+22,0.366666667,BASELINE,765.791710698,745,715,679.208289302,661,635.208289302,879,787.791710698,804,652,631,652,0.4009796419,-0.00539673581235,0.0798425774335,0.999999935487,0.000229918810931,-0.000273197812453,3.90711899348e-05,1793239510259651840
+23,0.383333333,BASELINE,765.633352759,745,715,679,661,635.366647241,879.366647241,787.633352759,804,652,631,652.366647241,0.400980250244,-0.00539686582629,0.0798433074603,0.999999935812,0.000229795755194,-0.000272103337575,3.91143486819e-05,1793239510276318720
+24,0.400000000,BASELINE,765.058652213,745,715,679,661,635.941347787,879.941347787,787.058652213,804,652,631,652.941347787,0.400981539286,-0.00539793984587,0.0798451439508,0.999999936782,0.000228591339081,-0.000269519885887,3.92449594272e-05,1793239510292985344
+25,0.416666667,BASELINE,765.531329847,745,715,679.531329847,661,635.468670153,879.468670153,787,804,651.468670153,631,653,0.40098046469,-0.00539778536427,0.0798445630382,0.999999936271,0.000229556572177,-0.000270569417598,3.94292755174e-05,1793239510309651968
+26,0.433333333,BASELINE,766,745,715,680,661.120318295,635.120318295,879,787,804,651.120318295,631,653,0.400979317912,-0.00539782325479,0.0798437496558,0.999999935874,0.00022978929014,-0.000271823092726,3.95145316956e-05,1793239510326318592
+27,0.450000000,BASELINE,766,745,715,680,661.698907116,635.698907116,879,787,804,651.698907116,631,653,0.400978919419,-0.00539912566978,0.0798430973236,0.999999936559,0.000226292757404,-0.000272281606936,3.91992378543e-05,1793239510342985216
+28,0.466666667,BASELINE,766,745,715.273842914,680,662,635.726157086,879,787.273842914,803.726157086,652,631,653,0.400978699586,-0.00539899993674,0.0798430089582,0.999999936479,0.00022615797717,-0.000272703937478,3.90701062007e-05,1793239510359652096
+29,0.483333333,BASELINE,766,745,715.844815018,680,662,635.155184982,879,787.844815018,803.155184982,652,631,653,0.400978673606,-0.00539732461279,0.0798435325165,0.999999935571,0.000229670816812,-0.000273087007441,3.91429670853e-05,1793239510376318976
+30,0.500000000,BASELINE,765.568794698,745,715.568794698,680,661.568794698,635.431205302,878.568794698,787.568794698,803.431205302,651.568794698,631,653,0.400979475611,-0.00539808681503,0.0798436796766,0.999999936081,0.000228652799249,-0.0002720652639,3.91898433976e-05,1793239510392985344
+31,0.516666667,BASELINE,765.022847369,745,715,679.977152631,661.022847369,636,878.022847369,787,804,651.022847369,631,653,0.400980557583,-0.00539966031572,0.0798437079261,0.99999993708,0.000226063520636,-0.000270547843588,3.92208105828e-05,1793239510409651968
+32,0.533333333,BASELINE,765.602242461,745,715,679.397757539,661.602242461,636,878.602242461,787,804,651.602242461,631,653,0.400980931581,-0.00539883529833,0.0798442616887,0.999999937232,0.000226392470398,-0.000269728180527,3.91004851399e-05,1793239510426318592
+33,0.550000000,BASELINE,765.819311588,745.180688412,715,679.180688412,662,635.819311588,879,787,804,652,631,653,0.400980331307,-0.00539857332126,0.0798439177615,0.9999999371,0.00022623914149,-0.000270370916037,3.89257517041e-05,1793239510442985216
+34,0.566666667,BASELINE,765.242944182,745.757055818,715,679.757055818,662,635.242944182,879,787,804,652,631,653,0.400977597527,-0.0053995443134,0.0798416080357,0.999999936337,0.00022502969866,-0.000274216072831,3.86318733992e-05,1793239510459651840
+35,0.583333333,BASELINE,765.332028078,746,715,680,662,635,879,787,804,652,631,653,0.400977053452,-0.00539983555569,0.0798412283447,0.999999936121,0.000224693109648,-0.000275253653088,3.88214160976e-05,1793239510476318464
+36,0.600000000,BASELINE,765.905983843,746,715,680,662,635,879,787,804,652,631,653,0.400978104874,-0.00539963150773,0.0798422549468,0.999999936309,0.000224992513434,-0.000274245531752,3.93631968254e-05,1793239510492985088
+37,0.616666667,BASELINE,765.505803911,745.505803911,715,679.505803911,662,635.494196089,879,787,804,652,631,653,0.400979219706,-0.00539903877646,0.0798433599769,0.999999936311,0.000226873046027,-0.000272687072425,3.93590670171e-05,1793239510509651968
+38,0.633333333,BASELINE,765.083495789,745,715,679.083495789,661.916504211,635.916504211,879,787,803.916504211,652,631,653,0.400979998319,-0.00539847672843,0.0798441842218,0.999999936262,0.000228639645814,-0.000271405114047,3.92346102673e-05,1793239510526318592
+39,0.650000000,BASELINE,765.662672237,745,715,679.662672237,661.337327763,635.337327763,879,787,803.337327763,652,631,653,0.400978707189,-0.00539854884522,0.0798432503538,0.999999936169,0.000227891132679,-0.000272404633195,3.90306765273e-05,1793239510542985216
+40,0.666666667,BASELINE,766,745,715,680,661,635.239060516,879,787,803,652,631,652.760939484,0.400977928022,-0.00539882921979,0.0798428132323,0.999999936267,0.000227131441873,-0.000272679386395,3.90351403882e-05,1793239510559652096
+41,0.683333333,BASELINE,766,745,715,680,661,635.811559854,879,787,803,652,631,652.188440146,0.400977862935,-0.00539940006987,0.0798430689672,0.999999936631,0.000226356160625,-0.000271943244436,3.93302748064e-05,1793239510576318976
+42,0.700000000,BASELINE,765.603874673,745,715,679.603874673,661.396125327,635.603874673,879,787,803.396125327,652,631,652.396125327,0.400978610968,-0.00539835533027,0.0798433262177,0.999999936545,0.00022740576736,-0.000271391878424,3.92763321385e-05,1793239510592985600
+43,0.716666667,BASELINE,765.013388922,745,715,679.013388922,661.986611078,635.013388922,879,787,803.986611078,652,631,652.986611078,0.400979757961,-0.00539651789532,0.0798435842117,0.999999936235,0.000229350762464,-0.000270931173464,3.9051113439e-05,1793239510609652224
+44,0.733333333,BASELINE,765,745,715,679.566309125,661.433690875,635.566309125,879,787.566309125,804,652,631.566309125,652.433690875,0.400979583841,-0.00539757321682,0.0798440684656,0.999999936452,0.000228179607204,-0.000271120781501,3.90259155972e-05,1793239510626318592
+45,0.750000000,BASELINE,765.145022624,745,715,679.854977376,661,635.854977376,879,787.854977376,804,652,631.854977376,652.145022624,0.400979241711,-0.00539833833875,0.0798441934052,0.999999936569,0.000227302476101,-0.000271425970588,3.90389692893e-05,1793239510642985216
+46,0.766666667,BASELINE,765.721551245,745,715,679.278448755,661,635.278448755,879,787.278448755,804,652,631.278448755,652.721551245,0.400978490872,-0.00539804029769,0.079843233608,0.999999936352,0.000227515309089,-0.000272030171871,3.91520303365e-05,1793239510659651840
+47,0.783333333,BASELINE,766,745,715,679.296238028,661,635.296238028,879,787,804,652,631.296238028,653,0.400979099587,-0.00539802332997,0.0798433745344,0.999999936533,0.000227597100319,-0.000271305837756,3.90804375246e-05,1793239510676318720
+48,0.800000000,BASELINE,766,745,715,679.869204341,661,635.869204341,879,787,804,652,631.869204341,653,0.400980978318,-0.00539826892456,0.0798445436924,0.999999937083,0.000227556480006,-0.000269340463442,3.88363518619e-05,1793239510692985344
+49,0.816666667,BASELINE,765.542277435,745,715,679.542277435,661.457722565,636,879,787,804,652,631.542277435,653,0.400980293629,-0.0053975647531,0.0798438511243,0.999999936941,0.000227159411702,-0.000270265889511,3.83862464887e-05,1793239510709651712
+50,0.833333333,BASELINE,765.04940856,745,715.04940856,679.04940856,662,636,879.04940856,787,804,652,631.04940856,653,0.400978926097,-0.00539673579515,0.0798427138807,0.999999936612,0.000226704318245,-0.000271920290309,3.79626521113e-05,1793239510726318592
+51,0.850000000,BASELINE,765.625815314,745,715.625815314,679.625815314,662,636,879.625815314,787,804,652,631.625815314,653,0.400978363071,-0.00539757243503,0.0798427075643,0.999999936497,0.000226754942379,-0.000272229326839,3.84718357626e-05,1793239510742985216
+52,0.866666667,BASELINE,766,745,715.798128798,679.798128798,661.798128798,636,879.798128798,787,803.798128798,652,631.798128798,652.798128798,0.400978413918,-0.00539807584151,0.0798430265321,0.999999936558,0.000226870359552,-0.000271870342497,3.87285980023e-05,1793239510759652096
+53,0.883333333,BASELINE,766,745,715.222722178,679.222722178,661.222722178,636,879.222722178,787,803.222722178,652,631.222722178,652.222722178,0.400979600653,-0.00539796264447,0.0798439473946,0.999999936945,0.000227105667496,-0.000270275275659,3.85182884505e-05,1793239510776318720
+54,0.900000000,BASELINE,766,745,715,679.352817626,661,636,879,787,803.352817626,652,631,652.352817626,0.400980380953,-0.00539775129797,0.0798444564586,0.999999937266,0.000226631028308,-0.00026949597962,3.84371956401e-05,1793239510792985600
+55,0.916666667,BASELINE,766,745,715,679.928441514,661,636,879,787,803.928441514,652,631,652.928441514,0.400980904588,-0.00539747796956,0.0798447054695,0.999999937546,0.00022570805361,-0.000269231847368,3.84377039168e-05,1793239510809652224
+56,0.933333333,BASELINE,766,745,715,680,661,635.479867987,878.479867987,787.520132013,804,652,631,652.479867987,0.40098010672,-0.00539879119719,0.079844321986,0.999999937484,0.000224645009775,-0.00027032215405,3.86325704155e-05,1793239510826318848
+57,0.950000000,BASELINE,765.889917273,745,715,680,661,635,878.110082727,787.889917273,804,652,631.110082727,652,0.400979107096,-0.00539965938283,0.0798438291092,0.999999937219,0.000224460248411,-0.000271437714899,3.8749902809e-05,1793239510842985728
+58,0.966666667,BASELINE,765.316875765,745,715,680,661,635,878.683124235,787.316875765,804,652,631.683124235,652,0.400978047957,-0.00539770869592,0.0798432537925,0.999999936306,0.000228052776855,-0.000271850840119,3.84251232996e-05,1793239510859652352
+59,0.983333333,BASELINE,765.258003705,745,715,680,661.258003705,635,879,787,803.741996295,652,631.741996295,652.258003705,0.400978284385,-0.00539728173588,0.0798433608796,0.999999936197,0.000228986792531,-0.000271457458881,3.84988301683e-05,1793239510876318720
+60,1.000000000,BASELINE,765.835156802,745,715,680,661.835156802,635,879,787,803.164843198,652,631.164843198,652.835156802,0.400980123424,-0.00539873961868,0.0798443120968,0.999999937088,0.000226632240669,-0.000270066432932,3.9065462804e-05,1793239510892985600
+61,1.016666667,BASELINE,766,745,715,680,661.57941697,635.42058303,878.57941697,787,803,652,631,653,0.400980303423,-0.00539902627532,0.0798444086507,0.999999937139,0.000226628870486,-0.000269879479245,3.90792567328e-05,1793239510909651968
+62,1.033333333,BASELINE,766,745.009169536,715,680,661.009169536,635.990830464,878.009169536,787,803.009169536,652,631,653,0.400979822515,-0.00539885434595,0.0798441616813,0.999999936864,0.000227514607204,-0.000270180356988,3.88737979347e-05,1793239510926318336
+63,1.050000000,BASELINE,766,745.588594334,715,680,661.588594334,635.411405666,878.588594334,787,803.588594334,652,631,653,0.400979489901,-0.00539928410897,0.0798438011861,0.999999937194,0.000225234541456,-0.000270881639686,3.87786928252e-05,1793239510942985216
+64,1.066666667,BASELINE,766,745.833573192,715,680,661.833573192,635,878.833573192,787,804,652,631.166426808,653,0.400979507544,-0.00539917157272,0.0798437345793,0.999999937342,0.000224367168604,-0.000271070628836,3.86740893001e-05,1793239510959652096
+65,1.083333333,BASELINE,766,745.259639656,715,680,661.259639656,635,878.259639656,787,804,652,631.740360344,653,0.40098038281,-0.00539773118187,0.0798443875771,0.999999937051,0.000226958865161,-0.0002700052343,3.85462283007e-05,1793239510976318976
+66,1.100000000,BASELINE,766,745,715,679.685040698,661.314959302,635,878.314959302,787,804,652,632,653,0.40098052765,-0.00539819001833,0.0798445413717,0.99999993712,0.000227133339255,-0.000269594522549,3.85863880693e-05,1793239510992985600
+67,1.116666667,BASELINE,766,745,715,679.109892061,661.890107939,635,878.890107939,787,804,652,632,653,0.400980069082,-0.00540021781533,0.0798442827721,0.99999993749,0.000225310934566,-0.000269724647328,3.87653505776e-05,1793239511009651968
+68,1.133333333,BASELINE,766,745,715,679.48011999,662,635,878.51988001,787,804,652,631.51988001,653,0.400980165967,-0.00540073038442,0.079844029368,0.99999993794,0.000223943376635,-0.000269209558373,3.86714672031e-05,1793239511026318848
+69,1.150000000,BASELINE,766,745,715,679.928352932,661.928352932,635,878.071647068,787,803.928352932,652,631,653,0.400980230684,-0.0054008274983,0.0798437885299,0.99999993824,0.000223047582213,-0.000268855934375,3.85574211968e-05,1793239511042985216
+70,1.166666667,BASELINE,766,745,715,679.350914508,661.350914508,635,878.649085492,787,803.350914508,652,631,653,0.400979142137,-0.00540051824418,0.0798436277388,0.999999937354,0.000224723771877,-0.000270718016715,3.87559880229e-05,1793239511059651840
+71,1.183333333,BASELINE,766,745,715,679.226069589,661.226069589,635,879,787,803.226069589,652,631,653,0.400978169226,-0.00540048024301,0.0798432351534,0.999999936804,0.000225420800481,-0.000272153613957,3.88662235185e-05,1793239511076318464
+72,1.200000000,BASELINE,766,745,715,679.802349965,661.802349965,635,879,787,803.802349965,652,631,653,0.400977375453,-0.0054008624474,0.0798424834887,0.999999936778,0.000224600983284,-0.000272928531375,3.88396224849e-05,1793239511092985088
+73,1.216666667,BASELINE,765.613524015,745,715,680,661.613524015,635.386475985,879,787,803.613524015,652,631,653,0.400978042045,-0.00539954398861,0.0798427992436,0.999999936622,0.000226272094605,-0.000272134017108,3.87326036726e-05,1793239511109651968
+74,1.233333333,BASELINE,765.025302502,745,715,680,661.025302502,635.974697498,879,787,803.025302502,652,631,653,0.400979470968,-0.00539733776132,0.0798436722057,0.999999936389,0.000229243503302,-0.000270520238883,3.85836057273e-05,1793239511126318592
+75,1.250000000,BASELINE,765.55458184,745.55458184,715,680,661,635.44541816,879,787,803,652,631,653,0.400978717368,-0.00539837168008,0.0798432165639,0.999999936198,0.00022882063491,-0.000271570104218,3.86567256785e-05,1793239511142985216
+76,1.266666667,BASELINE,765.867205835,745.867205835,715,679.867205835,661,635,879,787,803.132794165,652,631,653,0.400978234352,-0.00539905493596,0.0798429210391,0.999999936157,0.000228126393259,-0.000272300661882,3.8699346466e-05,1793239511159651840
+77,1.283333333,BASELINE,765.293302754,745.293302754,715,679.293302754,661,635,879,787,803.706697246,652,631,653,0.400978976021,-0.00539808959642,0.0798433557549,0.999999936606,0.00022703751199,-0.000271572854972,3.86074925957e-05,1793239511176318464
+78,1.300000000,BASELINE,765,745,715,679,661,635,879,787,804,652,631,653,0.400978811326,-0.00539778498434,0.0798431254845,0.999999936548,0.000226875685069,-0.00027193890229,3.84713997897e-05,1793239511192985344
+79,1.316666667,BASELINE,765,745,715,679,661,635,879,787,804,652,631,653,0.400977699235,-0.00539817101001,0.0798422001249,0.99999993596,0.000227682879039,-0.000273448321158,3.8289065418e-05,1793239511209651968
+80,1.333333333,BASELINE,765.444691991,745,715,679.444691991,661.444691991,635.444691991,879,787,804,652,631,653,0.400979010747,-0.0053986097903,0.0798431961349,0.999999936397,0.000227916363145,-0.000271615172802,3.85433783444e-05,1793239511226318848
+81,1.350000000,BASELINE,766,745.035549178,715,680,662,635.964450822,878.964450822,787,804,652,631.035549178,653,0.400980964164,-0.00539894734554,0.0798447120654,0.999999937083,0.000228077867349,-0.000268884762705,3.89256867842e-05,1793239511242985216
+82,1.366666667,BASELINE,766,745.614016907,715,680,662,635.385983093,878.385983093,787,804,652,631.614016907,653,0.400980487344,-0.00539747266916,0.0798444698967,0.999999936511,0.00023003598538,-0.000269323354842,3.90587198944e-05,1793239511259651840
+83,1.383333333,BASELINE,765.809103488,745.809103488,715,680,661.809103488,635.190896512,878,787,804,652,631.809103488,653,0.400979943339,-0.00539747875214,0.0798442370825,0.999999936359,0.000230162191716,-0.000269774921671,3.91103075406e-05,1793239511276318720
+84,1.400000000,BASELINE,765.23540839,745.23540839,715,680,661.23540839,635.76459161,878,787,804,652,631.23540839,653,0.40097926461,-0.00540045415359,0.0798440230267,0.999999937044,0.000226614925293,-0.000270252506308,3.89985752627e-05,1793239511292985600
+85,1.416666667,BASELINE,765.347782263,745,715,679.652217737,661.347782263,636,878.347782263,787,803.652217737,652,631.347782263,652.652217737,0.400979178695,-0.00540056428779,0.0798441903111,0.999999937047,0.000226105476009,-0.000270666739337,3.90128353176e-05,1793239511309651968
+86,1.433333333,BASELINE,765.937580687,745,715,679.062419313,661.937580687,636,878.937580687,787,803.062419313,652,631.937580687,652.062419313,0.400979505309,-0.00539868052778,0.0798446229643,0.999999936579,0.000227709995704,-0.000271036886958,3.91147714454e-05,1793239511326318592
+87,1.450000000,BASELINE,766,745,715,679.517897531,661.482102469,636,879,787,803,652,631.482102469,652.517897531,0.4009787947,-0.00539914535784,0.0798440933196,0.999999936667,0.000227250728465,-0.000271129499996,3.88914775583e-05,1793239511342985216
+88,1.466666667,BASELINE,765.903257451,745,715,679.903257451,661,636,878.903257451,787,803,652,631,653,0.400978193307,-0.00539997235711,0.0798436258862,0.999999936882,0.000226365923085,-0.000271101481917,3.87124061573e-05,1793239511359651840
+89,1.483333333,BASELINE,765.326148395,745,715,679.326148395,661,636,878.326148395,787,803,652,631,653,0.40097874379,-0.00540121742303,0.0798440328937,0.999999937401,0.000224581021191,-0.000270637586179,3.89440533038e-05,1793239511376318464
+90,1.500000000,BASELINE,765.239833028,745,715,679.239833028,661.239833028,636,878.239833028,787,803.239833028,652,631,653,0.400978897475,-0.0054010086854,0.0798441774096,0.999999937535,0.000224184096252,-0.000270457592305,3.90405612985e-05,1793239511392985344
+91,1.516666667,BASELINE,765.79135294,745,715,679.79135294,661.79135294,636,878.79135294,787,803.79135294,652,631,653,0.400978535483,-0.0053989105853,0.0798439807912,0.999999937171,0.000225590985602,-0.000270646557188,3.89614425014e-05,1793239511409652224
+92,1.533333333,BASELINE,765.616792634,745,715,680,661.616792634,635.616792634,879,787,804,652,631,653,0.400978609065,-0.00539796289074,0.0798438628662,0.999999936807,0.000227172436996,-0.000270684092838,3.8838706819e-05,1793239511426318848
+93,1.550000000,BASELINE,765.000393546,745,715,680,661.000393546,635.000393546,879,787,804,652,631,653,0.400978947705,-0.00539771524788,0.0798437928281,0.999999936443,0.000228860114101,-0.000270629479852,3.86894291114e-05,1793239511442985472
+94,1.566666667,BASELINE,765.578119509,745.578119509,715,679.421880491,661,635.578119509,879,787,803.421880491,652,631,652.421880491,0.40097975203,-0.00539886767997,0.0798441681525,0.999999936622,0.000228664544454,-0.000270083300852,3.90257873429e-05,1793239511459652096
+95,1.583333333,BASELINE,766,745.843883228,715,679.156116772,661.156116772,636,879,787,803.156116772,652,631,652.156116772,0.400979944391,-0.00539954999572,0.0798442500454,0.999999936785,0.000228003599408,-0.000270019138283,3.91598005893e-05,1793239511476318976
+96,1.600000000,BASELINE,766,745.267210103,715,679.732789897,661.732789897,636,879,787,803.732789897,652,631,652.732789897,0.400978487406,-0.00539896347571,0.0798435407091,0.999999936901,0.000226092240367,-0.000271254305208,3.87478895467e-05,1793239511492985344
+97,1.616666667,BASELINE,766,745,715,680,662,636,879.306810073,787,804,652,631,652.693189927,0.400979041746,-0.00539858197386,0.079843812223,0.999999937115,0.000225677285983,-0.000270841886025,3.85244676381e-05,1793239511509651968
+98,1.633333333,BASELINE,766,745,715,680,662,636,879.878539488,787,804,652,631,652.121460512,0.400981332792,-0.00539837749776,0.0798449306655,0.999999937414,0.000226554422727,-0.00026900683607,3.8463799268e-05,1793239511526318592
+99,1.650000000,BASELINE,766,745,715,679.53371023,661.53371023,636,879.53371023,787.46628977,804,652,631.46628977,652.46628977,0.400980348485,-0.00539857895311,0.0798444292357,0.999999937351,0.000225875626216,-0.00026982701572,3.83490218656e-05,1793239511542985216
+100,1.666666667,BASELINE,766,745,715,679.057180666,661.057180666,636,879,787.942819334,804,652,631.942819334,653,0.400978654234,-0.00539877407192,0.0798436260849,0.99999993714,0.000225213537775,-0.0002711749903,3.82599557988e-05,1793239511559652096
+101,1.683333333,BASELINE,766,745,715,679.637271226,661.637271226,636,879,787.362728774,804,652,631.362728774,653,0.400978547412,-0.00539790987639,0.0798440596988,0.999999936475,0.000228542479216,-0.000270799558425,3.85394948747e-05,1793239511576318976
+102,1.700000000,BASELINE,766,745,715,680,661.784863417,636,879,787.215136583,804,652,631,652.784863417,0.400978427294,-0.00539744001073,0.0798441220588,0.999999936187,0.000229795636246,-0.000270784734486,3.86695098838e-05,1793239511592985600
+103,1.716666667,BASELINE,766,745,715,680,661.210711491,636,879,787.789288509,804,652,631,652.210711491,0.400978284988,-0.00539762819446,0.0798435648778,0.999999936538,0.000227584768164,-0.000271371685423,3.855000229e-05,1793239511609651968
+104,1.733333333,BASELINE,766,745,715,679.62727733,661,636,878.62727733,787.62727733,803.62727733,652,631.37272267,652.37272267,0.400978153694,-0.00539859070492,0.0798429405818,0.999999936848,0.000225548593633,-0.000271938996704,3.84950105626e-05,1793239511626318592
+105,1.750000000,BASELINE,766,745,715,679.038461563,661,636,878.038461563,787.038461563,803.038461563,652,631.961538437,652.961538437,0.400978028784,-0.00540000214614,0.0798422773745,0.999999937131,0.000223613700821,-0.000272494921574,3.84774231317e-05,1793239511642985216
+106,1.766666667,BASELINE,765.458707069,745,715,679,661,636,878.541292931,787.541292931,803,652,632,653,0.400978909539,-0.00539908010877,0.0798430235658,0.99999993689,0.000226147967362,-0.000271258874441,3.86666131464e-05,1793239511659652096
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679,662,635,879,787,804,652,631,652,0.400977440313,-0.00539882412382,0.0798429987843,0.999999935973,0.000228508335784,-0.000272678743731,3.85196914103e-05,1793239511704091904
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.625200319,745,715,679,662,635.625200319,879,787,804,652,631.625200319,652,0.400976819752,-0.0053997677392,0.0798423751318,0.99999993625,0.000225712404466,-0.00027399737251,3.84559582326e-05,1793239511720758528
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.763385256,745,715,679.236614744,661.763385256,635.763385256,879,787,804,652,631.763385256,652.236614744,0.400977741345,-0.00539999333916,0.0798432963089,0.99999993671,0.000225205962552,-0.00027272020797,3.85397883285e-05,1793239511737425152
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.172605469,745,715,679.827394531,661.172605469,635.172605469,879,787,804,652,631.172605469,652.827394531,0.400980971235,-0.0053991442135,0.0798465297873,0.999999937431,0.000228126428869,-0.000267557659143,3.88444911815e-05,1793239511754091776
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.408281582,745,715,679.591718418,661,635.408281582,879,787,803.591718418,652,631,653,0.400981081201,-0.00539905260413,0.0798459026729,0.999999937479,0.000227612717027,-0.000267826900437,3.87648627277e-05,1793239511770758400
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.985085275,745,715,679.014914725,661,635.985085275,879,787,803.014914725,652,631,653,0.40097990339,-0.00539927366688,0.079843682062,0.99999993725,0.000225681515264,-0.000270338165149,3.85265978481e-05,1793239511787425024
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.560155469,661.560155469,636,879,787.560155469,803,652,631,653,0.400979850061,-0.00539903853686,0.0798438687363,0.999999936907,0.000227029916208,-0.000270469609585,3.8593520602e-05,1793239511804091648
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.861317098,661.861317098,635.861317098,879,787.861317098,803.138682902,652,631,653,0.400979907323,-0.00539871995425,0.0798442183178,0.999999936729,0.000227955922007,-0.000270349948076,3.85877514822e-05,1793239511820758016
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.27139089,661.27139089,635.27139089,879,787.27139089,803.72860911,652,631,653,0.400980227311,-0.00539816923594,0.0798448900502,0.999999937103,0.00022722429536,-0.000269618783882,3.83191007472e-05,1793239511837424896
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.687284527,745,715,679,661.312715473,635.312715473,879,787,804,652,631,653,0.400985146549,-0.00539815393546,0.0798475782708,0.999999938244,0.000226751032837,-0.000265758358112,3.83258642951e-05,1793239511854091520
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.108136677,745,715,679,661.891863323,635.891863323,879,787,804,652,631,653,0.400993984331,-0.00539859480893,0.0798519845316,0.999999940005,0.000226497895582,-0.000259231813591,3.85672797611e-05,1793239511870758144
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.531298355,636,879,787,804,652,631,653,0.401021465379,-0.00539958914966,0.0798629673499,0.999999944973,0.000226517048002,-0.000239226817371,3.8925111834e-05,1793239511887424768
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679.044963264,661,636,879,787,804,652,631,652.955036736,0.40105544484,-0.00540067234642,0.0798760844818,0.999999950464,0.000226686939936,-0.000214804090541,3.93034054517e-05,1793239511904091392
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745,715,679.620675813,661,636,879,787,804,652,631,652.379324187,0.401115608236,-0.00540130449402,0.0798965725392,0.999999957976,0.00022789825982,-0.000174761156035,3.96077363235e-05,1793239511920758272
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679.798814003,661.201185997,635.798814003,878.798814003,787,803.798814003,652,631,652,0.401179076109,-0.00540222236986,0.0799137918076,0.999999963276,0.000227554869196,-0.000141842627282,3.93476189039e-05,1793239511937425152
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.209037083,661.790962917,635.209037083,878.209037083,787,803.209037083,652,631,652,0.401248926595,-0.00540369213013,0.079924697411,0.999999966618,0.000224208554636,-0.000122684887673,3.79972692742e-05,1793239511954091776
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.625856329,635.374143671,878,787,803.374143671,652,631,652.374143671,0.40132604345,-0.00540397434342,0.0799314458651,0.999999968105,0.000223698363317,-0.000111649600222,3.58132640501e-05,1793239511970758144
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661.046297094,635.953702906,878,787,803.953702906,652,631,652.953702906,0.401407149745,-0.00540360455939,0.079935911925,0.999999968674,0.000224745284902,-0.000105073772214,3.31715581732e-05,1793239511987425024
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679.527158336,661,636,878.527158336,787,804,652,631,652.472841664,0.401505379483,-0.00540533989953,0.0799370782908,0.999999969663,0.000220709377696,-0.000105137105886,3.0111488426e-05,1793239512004091648
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,636,879,787,804,651.899445297,631,652.100554703,0.401610557008,-0.0054074595572,0.0799388094552,0.999999970793,0.000216534750852,-0.000103930973864,2.69233905686e-05,1793239512020758272
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,636,879,787,804,651.323824386,631,652.676175614,0.401741535504,-0.00541053144537,0.0799445624231,0.999999972457,0.000213789577382,-9.40041175449e-05,2.33020303699e-05,1793239512037424896
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679.740119412,661.259880588,635.740119412,879,787,804,651.259880588,631.259880588,653,0.401887941396,-0.00541239177184,0.0799507269354,0.999999974194,0.000210819710857,-8.24766648237e-05,1.9085626834e-05,1793239512054091520
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.146017927,661.853982073,635.146017927,879,787,804,651.853982073,631.853982073,653,0.402054187768,-0.00541269396227,0.0799574207162,0.999999975987,0.000207560876761,-6.88907568266e-05,1.41039647337e-05,1793239512070758144
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.43425648,745.43425648,715,679.43425648,661.56574352,635.43425648,879,787,804,652,631.56574352,653,0.402238215452,-0.00541504856445,0.0799637355487,0.999999977853,0.00020249940524,-5.66974670065e-05,8.5434424386e-06,1793239512087425024
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.99004185,745.99004185,715,680,661,635.99004185,879,787,803.99004185,651.99004185,631,652.99004185,0.402428270257,-0.00541804514051,0.0799697126537,0.999999979604,0.000196788391683,-4.53802984314e-05,2.76348891175e-06,1793239512104091904
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.418116994,745.418116994,715,680,661,635.418116994,879,787,803.418116994,651.418116994,631,652.418116994,0.402631455432,-0.00541952649067,0.079963599622,0.999999980721,0.000187572202782,-5.78951031166e-05,-4.75439247965e-06,1793239512120758272
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.159695939,745.159695939,715,680,661.159695939,635.159695939,879,787,803,651.159695939,631.159695939,652.159695939,0.402843597938,-0.00542099036374,0.0799572648166,0.99999998149,0.000178928397638,-6.96409599012e-05,-1.24236861895e-05,1793239512137424896
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.753515369,745.753515369,715,680,661.753515369,635.753515369,879,787,803,651.753515369,631.753515369,652.753515369,0.403080090439,-0.00542240672675,0.0799503271321,0.999999981881,0.000171840580228,-7.92964824084e-05,-2.05045865615e-05,1793239512154091520
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.661114819,715,679.661114819,661.661114819,635.661114819,879,787,803.338885181,652,631.661114819,653,0.403353679653,-0.00542450182711,0.0799478222462,0.999999987614,0.000131723235254,-8.22111064377e-05,-2.57289438817e-05,1793239512170758144
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.081741279,715,679.081741279,661.081741279,635.081741279,879,787,803.918258721,652,631.081741279,653,0.40365359437,-0.00542707859033,0.0799484630767,0.999999994031,6.81666330017e-05,-8.03420810205e-05,-2.89261675721e-05,1793239512187424768
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.492418245,635,879.492418245,787,804,651.507581755,631,653,0.403982510924,-0.00542757759984,0.0799533434681,0.999999992527,9.41409046038e-05,-7.36237372367e-05,-2.57627904351e-05,1793239512204091392
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.933889654,745,715,679,661.933889654,635.066110346,879.933889654,787,804,651.066110346,631,652.933889654,0.404321731124,-0.00542815240282,0.0799586568674,0.999999989154,0.000129746490532,-6.59309584168e-05,-2.26015295856e-05,1793239512220758272
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.357192938,745,715,679,661.357192938,635.642807062,879.357192938,787,804,651.642807062,631,652.357192938,0.404703736498,-0.00543194846415,0.0799619360867,0.999999990047,0.000126156121025,-5.68643382842e-05,-2.75258199419e-05,1793239512237424896
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.225386206,745,715,679.225386206,661,635.774613794,879,787.225386206,804,652,631,652.225386206,0.405095893401,-0.0054358853713,0.0799630183986,0.999999991316,0.000117534870815,-5.10372315595e-05,-3.08038229442e-05,1793239512254091264
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.817537618,745,715,679.817537618,661,635.182462382,879,787.817537618,804,652,631,652.817537618,0.405504569589,-0.00544005147286,0.079960525739,0.99999999316,0.000100726997483,-5.04817030148e-05,-3.14028641675e-05,1793239512270758400
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679.600797761,661.399202239,635.399202239,879,788,804,651.600797761,631,652.600797761,0.405944014896,-0.0054446842047,0.0799522235352,0.999999992266,0.00010137688054,-6.43913721963e-05,-3.2332234657e-05,1793239512287425024
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679.023803572,661.976196428,635.976196428,879,788,804,651.023803572,631,652.023803572,0.406397163823,-0.00544952475914,0.0799413339453,0.999999989823,0.000109801890274,-8.47433792444e-05,-3.34087233122e-05,1793239512304091648
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.522083268,662,636,879,788,804,651.522083268,631.522083268,652,0.406875575376,-0.00546867199373,0.079938918184,0.999999992696,7.66837559912e-05,-8.80407712067e-05,-3.1245930449e-05,1793239512320758272
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787.925826182,803.925826182,652,631.925826182,652.074173818,0.407360685186,-0.00548752794682,0.0799370270758,0.999999994423,4.46518540856e-05,-9.10887213167e-05,-2.937175873e-05,1793239512337424896
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787.319638375,803.319638375,652,631.319638375,652.680361625,0.407886041845,-0.00549987919701,0.0799362837708,0.999999994217,3.32324787125e-05,-9.76111293027e-05,-3.05674733182e-05,1793239512354091776
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.717939209,636,879.564121581,787,803.282060791,652,631,652.717939209,0.408426836364,-0.00550389861619,0.079932506813,0.99999999313,3.32033908809e-05,-0.000107811447995,-3.18512568537e-05,1793239512370758400
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.121247042,636,880.757505916,787,803.878752958,652,631,652.121247042,0.408984851379,-0.00549862409676,0.0799253458956,0.999999990939,4.58798692473e-05,-0.000122114378727,-3.32332789027e-05,1793239512387424768
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635.543487595,880.543487595,787,803.543487595,652,631,652,0.409628813917,-0.00550468817662,0.079948592251,0.999999995416,3.25073994738e-05,-8.34424210882e-05,-3.38967965275e-05,1793239512404091648
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.029594123,635,880,787,803,652,631,652.029594123,0.410294720584,-0.00551325926204,0.0799789181163,0.99999999879,1.36846205599e-05,-3.24224453835e-05,-3.4366132253e-05,1793239512420758528
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.60545316,635,880,787,803,652,631,652.60545316,0.410961106742,-0.00551473227941,0.0799967864831,0.999999999254,1.68762612256e-05,-2.84262363629e-06,-3.46333416095e-05,1793239512437425152
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.814061013,787,803.185938987,651.814061013,631,652.814061013,0.411616539579,-0.00551595992687,0.0800005728717,0.999999999234,1.54653240782e-05,2.93881979088e-06,-3.58445406781e-05,1793239512454091520
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.223507075,787,803.776492925,651.223507075,631,652.223507075,0.412248137209,-0.00551665363375,0.079973715986,0.9999999983,4.03888715012e-06,-4.30665116068e-05,-3.91099208175e-05,1793239512470758144
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879,787,804,651.359963509,631,652.359963509,0.412922726293,-0.00552221046605,0.0799464854977,0.999999995928,-9.56743377994e-06,-7.8943651716e-05,-4.26725743677e-05,1793239512487424768
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879,787,804,651.939120857,631,652.939120857,0.413623494374,-0.00553072861839,0.0799190275076,0.99999999272,-2.45011602005e-05,-0.000108653401281,-4.64162479713e-05,1793239512504091392
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.485753236,745,715,680,662,635.514246764,878.485753236,787,804,652,631,652.485753236,0.414399042335,-0.00553259973128,0.0799310783344,0.999999995251,-2.2542117552e-05,-8.28884110745e-05,-4.6043217022e-05,1793239512520758272
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.089161879,745,715,680,662,636,878.089161879,787,804,652,631,652.089161879,0.415181724592,-0.00553418412034,0.079948051555,0.999999997412,-2.03474433373e-05,-5.20434459641e-05,-4.53061022968e-05,1793239512537424896
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.665512962,745,715,680,662,636,878.665512962,787,804,652,631,652.665512962,0.415955393233,-0.00553846813162,0.0799665630437,0.999999998172,-2.77076399059e-05,-2.90466714556e-05,-4.52218470636e-05,1793239512554091520
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.751840462,745.248159538,715,680,662,636,879.248159538,787,804,652,631.248159538,653,0.416719696048,-0.00554314073735,0.0799698086475,0.999999997825,-3.74668827785e-05,-2.84219262325e-05,-4.62464691273e-05,1793239512570758400
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.160487537,745.839512463,715,680,662,636,879.839512463,787,804,652,631.839512463,653,0.417471046305,-0.00554835075135,0.0799519422236,0.999999995807,-5.05438974392e-05,-5.87366842856e-05,-4.88046182015e-05,1793239512587425024
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.42008948,745.57991052,715,680,662,636,879.57991052,787,804,651.57991052,632,653,0.418315633699,-0.00555345650217,0.0799706972797,0.999999996856,-5.88698116411e-05,-1.88395027387e-05,-4.96804982621e-05,1793239512604091648
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.996652705,745.003347295,715,680,662,636,879.003347295,787,804,651.003347295,632,653,0.419194949782,-0.0055585234172,0.0800030930016,0.999999995499,-6.54260488513e-05,4.72100246429e-05,-4.9929771275e-05,1793239512620758272
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,680.572315535,662,636,879.572315535,787,804,651.572315535,631.427684465,652.427684465,0.420035313385,-0.00556213332041,0.0799943374608,0.999999995978,-6.56498154137e-05,3.46709490998e-05,-5.0310220745e-05,1793239512637424896
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680.848400591,662,636,879.848400591,787,804,652,631,652.151599409,0.420870705999,-0.00556449406516,0.0799851883235,0.999999996231,-6.74637417321e-05,2.00964938378e-05,-5.08207403723e-05,1793239512654091520
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680.258635776,662,636,879.258635776,787,804,652,631,652.741364224,0.42169238833,-0.00556326897725,0.0799755961254,0.999999995926,-7.39805602861e-05,9.65618924161e-07,-5.17049857155e-05,1793239512670758400
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787,804,651.674628534,631,653,0.422547791012,-0.00554628702565,0.0799861074615,0.999999997125,-5.5013802681e-05,1.08685202441e-05,-5.10342447583e-05,1793239512687425024
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879,787,804,651.095118314,631,653,0.423429531826,-0.00551699781855,0.0800123211175,0.999999997718,-1.61425211704e-05,4.34489082026e-05,-4.91489465258e-05,1793239512704091392
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.479740909,715,680.479740909,662,636,879.479740909,787.479740909,804,651.479740909,631,653,0.424274384116,-0.00550695170932,0.0800054371818,0.99999999853,1.59685355725e-06,2.31835062158e-05,-4.8989085259e-05,1793239512720758272
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.946319501,746,715,681,662.053680499,636,880,787.946319501,804,652,631,653,0.425114039421,-0.00550244198015,0.079989484836,0.999999998666,1.14276636914e-05,-9.62100027289e-06,-4.94495989106e-05,1793239512737425664
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.372440909,746,715,681,662.627559091,636,880,787.372440909,804,652,631,653,0.425973528928,-0.00551496529539,0.0799486357508,0.999999996491,-1.51682955344e-05,-6.33763380533e-05,-5.26385789234e-05,1793239512754092032
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.791384209,715,681,662.791384209,635.791384209,880,787,804,652,631,652.791384209,0.426837058776,-0.00552375112837,0.0799227581803,0.999999993473,-3.21658154821e-05,-9.49165725943e-05,-5.48602718459e-05,1793239512770758400
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745.197055842,715,681,662.197055842,635.197055842,880,787,804,652,631,652.197055842,0.427708058812,-0.00552562667875,0.0799245616494,0.999999994333,-3.14166488634e-05,-8.53829974377e-05,-5.52935345938e-05,1793239512787424768
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.385543139,745,715,681,662,635,879.614456861,787,804,652,631,652.385543139,0.428564411105,-0.00552805538973,0.0799313655236,0.999999994562,-3.47537447199e-05,-8.19192383164e-05,-5.43843973856e-05,1793239512804091392
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.96232407,745,715,681,662,635,879.03767593,787,804,652,631,652.96232407,0.429413497773,-0.00553075848035,0.0799406497078,0.999999994482,-4.01177157808e-05,-8.14662404269e-05,-5.28094005505e-05,1793239512820758016
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.462406363,745,715,681.537593637,662,635,879.537593637,787,804,651.462406363,631,653,0.430321613219,-0.00553261081618,0.0799807997504,0.999999997588,-4.19555766291e-05,-1.79002784266e-05,-5.23689841817e-05,1793239512837424640
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681.884396654,662,635.115603346,880.115603346,787,804,651,631,653,0.43122323367,-0.00553349447298,0.0800182010339,0.999999996951,-4.23666635712e-05,4.03128656454e-05,-5.17418375897e-05,1793239512854091264
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,681.294716931,662,635.705283069,880.705283069,787,804,651,631,653,0.432081301281,-0.00553064950712,0.0800354839535,0.999999996319,-3.79372761249e-05,5.84868282226e-05,-5.00237671838e-05,1793239512870758400
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.289865898,745,715,681,662,636,880.710134102,787,804,651.289865898,631,653,0.432888013821,-0.00552594155584,0.0800117032833,0.999999997939,-3.38144538574e-05,1.77414991285e-05,-5.16194295785e-05,1793239512887425280
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.86935615,745,715,681,662,636,880.13064385,787,804,651.86935615,631,653,0.433643414186,-0.00551937217121,0.0799468932432,0.999999994601,-2.99979405295e-05,-8.18740227283e-05,-5.65260628941e-05,1793239512904091648
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.444963615,715,681,662,635.555036385,880,787,804,651.555036385,631,653,0.434438938235,-0.00551883790863,0.0799216160377,0.999999991672,-3.5850644752e-05,-0.000108774677893,-5.94945625391e-05,1793239512920758016
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.980489128,745.980489128,715,681.019510872,662,635.019510872,880,787,804,651.019510872,631,653,0.435245957894,-0.00552018440299,0.0799093448392,0.99999999071,-4.42377716781e-05,-0.000113212737233,-6.16984041173e-05,1793239512937424640
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.403944073,745.403944073,715,681.596055927,662,635.596055927,880,787,804,651.596055927,631,653,0.436047753715,-0.00552507506464,0.0799398799576,0.999999994064,-4.46321834724e-05,-8.05991770256e-05,-5.81770257728e-05,1793239512954091264
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.82303271,745,715,681.82303271,662,635.82303271,879.82303271,787,804,651.82303271,631.17696729,653,0.436834763813,-0.00553001289511,0.0799608225309,0.999999995474,-4.69508455556e-05,-6.11461391642e-05,-5.57492164771e-05,1793239512970757888
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.23190276,745,715,681.23190276,662,635.23190276,879.23190276,787,804,651.23190276,631.76809724,653,0.437587170326,-0.00553506111609,0.0799593153375,0.999999994365,-5.37728971232e-05,-7.24931284497e-05,-5.5880724929e-05,1793239512987424768
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.350594784,745,715,681,661.649405216,635,879.350594784,787,804.350594784,651.350594784,631.649405216,653,0.438309240226,-0.00553849294513,0.0799438885076,0.999999992109,-5.79978676169e-05,-9.58819425406e-05,-5.67895264877e-05,1793239513004091648
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.927519568,745,715,681,661.072480432,635,879.927519568,787,804.927519568,651.927519568,631.072480432,653,0.439011725991,-0.00554088129586,0.079919475716,0.999999988403,-6.05462659184e-05,-0.000127044477607,-5.82001174078e-05,1793239513020758272
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,714.495794532,681.504205468,661,635,880,787,804.495794532,651.495794532,631,653,0.439657105592,-0.00554157783318,0.0798752467151,0.999999977151,-6.47330329708e-05,-0.000194537790306,-6.05216262942e-05,1793239513037425152
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,714.080542697,682,661,635,880,787,804.080542697,651.080542697,631,653,0.440283445702,-0.00554146356749,0.0798233513565,0.999999957841,-6.87416912772e-05,-0.000274954631402,-6.31923910102e-05,1793239513054091776
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,714.654952183,682,661,635,880,787,804.654952183,651.654952183,631,653,0.440843352651,-0.00553786820922,0.0797419066081,0.999999914231,-7.02147789879e-05,-0.00040260660783,-6.72021544463e-05,1793239513070758144
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.235798587,715,682,660.764201413,635,880,786.764201413,804.764201413,651.764201413,631,653,0.441422434723,-0.00553514901206,0.0796843183658,0.999999875157,-6.89895819732e-05,-0.000489827328963,-7.06743467392e-05,1793239513087424512
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.826328672,715,682,660.173671328,635,880,786.173671328,804.173671328,651.173671328,631,653,0.442030363619,-0.00553374789665,0.079662619445,0.999999862038,-6.37051315824e-05,-0.000516223965056,-7.33378277864e-05,1793239513104091136
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.591647006,715,682,660.408352994,634.591647006,880,786,804,651.408352994,631,653,0.442666584855,-0.00553523099875,0.0796955588127,0.999999887785,-6.60441135478e-05,-0.000463686381433,-7.11511360305e-05,1793239513120757760
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.013166382,715,682,660.986833618,634.013166382,880,786,804,651.986833618,631,653,0.443314593184,-0.00553791572084,0.0797512615326,0.999999923657,-7.15591624446e-05,-0.000378263295137,-6.69437693806e-05,1793239513137424640
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681.443439803,660.443439803,634,880,786,804.556560197,651.443439803,631,653,0.443848262714,-0.00553651931893,0.0797603596944,0.999999926559,-6.31319913464e-05,-0.000372124113788,-6.6485738017e-05,1793239513154091520
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.131579831,745,714.868420169,681.131579831,660,634,880,785.868420169,805,651.131579831,631,653,0.444368100396,-0.0055351450143,0.0797599724961,0.999999924292,-5.86116716133e-05,-0.000378952241365,-6.61558310374e-05,1793239513170758400
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.725932445,745,714.274067555,681.725932445,660,634,880,785.274067555,805,651.725932445,631,653,0.444848656631,-0.00553418272577,0.0797300423545,0.999999905178,-6.897399672e-05,-0.00042489262148,-6.59694229636e-05,1793239513187425280
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.687687727,745,714,682,659.687687727,634,879.687687727,785.312312273,804.687687727,651.687687727,631,653,0.445308933931,-0.00553402555501,0.0797045498192,0.999999886905,-7.37536739941e-05,-0.000465087181368,-6.6668113962e-05,1793239513204091904
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.108130231,745,714,682,659.108130231,634,879.108130231,785.891869769,804.108130231,651.108130231,631,653,0.445751858548,-0.00553455732257,0.0796828545396,0.999999869777,-7.37562859791e-05,-0.000500365047862,-6.81241831697e-05,1793239513220758272
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.469622868,714,682.469622868,659.469622868,633.530377132,879.469622868,786,804,651.469622868,631,653,0.446181359319,-0.0055349784579,0.0796713092561,0.999999865409,-6.53599168048e-05,-0.000510074435662,-6.8810110776e-05,1793239513237424640
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.953233059,714,682.953233059,659.953233059,633,880.046766941,785.953233059,804.046766941,651.953233059,631,653,0.446604850869,-0.00553554294459,0.0796628271731,0.999999864414,-5.67128285889e-05,-0.00051298778044,-6.92749169114e-05,1793239513254091520
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.378293481,714,682.378293481,659.378293481,633,880.621706519,785.378293481,804.621706519,651.378293481,631,653,0.446995248951,-0.00553801298409,0.0796626473159,0.999999867654,-6.69910464949e-05,-0.000505381502954,-6.92374255117e-05,1793239513270758144
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.201530177,714,682,659,633,880.798469823,785,804.798469823,651,631,653,0.447367983992,-0.0055405243431,0.0796596569229,0.999999867339,-7.69513620173e-05,-0.000504560136578,-6.94235433211e-05,1793239513287425024
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.790749576,714,682,659,633,880.209250424,785,804.209250424,651,631,653,0.447706740216,-0.00554311519,0.0796512598234,0.999999860287,-8.63001216659e-05,-0.000516791091674,-7.00398244037e-05,1793239513304091904
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,746,714,682.37403022,658.62596978,632.62596978,880.37403022,785,804.37403022,651,631,653,0.448009137066,-0.00554519913131,0.079637415853,0.999999848078,-8.60167797847e-05,-0.000539854274553,-7.07243729236e-05,1793239513320758272
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,746,714,682.954040333,658.045959667,632.045959667,880.954040333,785,804.954040333,651,631,653,0.448291510648,-0.00554700391759,0.0796205722702,0.999999832399,-8.04290016181e-05,-0.000568882806208,-7.14465165044e-05,1793239513337424896
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,682.469801197,658,632.530198803,881,785,805,651.530198803,631,652.469801197,0.448548049355,-0.00554682086482,0.0796067993994,0.99999982004,-8.15175053772e-05,-0.00059002211719,-7.17574131864e-05,1793239513354091520
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714,682.107931952,658,632.892068048,881.107931952,784.892068048,805,652,631,652.107931952,0.448798848328,-0.00554685267701,0.0795965366963,0.999999810571,-8.37739974362e-05,-0.000605557573668,-7.16924453784e-05,1793239513370758144
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,714,682.69411123,658,632.30588877,881.69411123,784.30588877,805,652,631,652.69411123,0.449034066008,-0.00554859457345,0.0796006566301,0.999999814049,-8.86600109384e-05,-0.000599270676715,-7.01188385422e-05,1793239513387424768
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.723030755,714,682.723030755,658,632,881.44606151,784,805,652,630.723030755,652.723030755,0.449261011538,-0.00555052075637,0.0796071046617,0.999999819545,-9.41796868077e-05,-0.000589345893193,-6.86377370646e-05,1793239513404091392
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.143797363,714,682.143797363,658,632,880.287594726,784,805,652,630.143797363,652.143797363,0.449478929429,-0.00555264805608,0.0796160934102,0.999999827127,-0.000100390895497,-0.000575450984448,-6.72575893209e-05,1793239513420758016
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.432011646,714,682.432011646,658,632,880.432011646,784.432011646,804.567988354,652,630.432011646,652.432011646,0.449655762281,-0.00555253257339,0.0796157594053,0.999999825875,-9.85312826654e-05,-0.000578065674905,-6.62013754274e-05,1793239513437424896
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,714,683,657.993251458,631.993251458,880.993251458,784.993251458,804.006748542,652,631,653,0.449818653604,-0.00555171307342,0.079612290896,0.999999821638,-9.40800875586e-05,-0.000586185713031,-6.52699264998e-05,1793239513454091776
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714,683,657.413530574,631.413530574,880.413530574,784.413530574,804.586469426,652,631,653,0.449949815248,-0.00555400390912,0.0796040864675,0.999999813938,-9.58868528972e-05,-0.000598827361655,-6.58488953916e-05,1793239513470758656
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.831654007,714,683,657.168345993,631.168345993,880.168345993,784,805,651.831654007,631,653,0.450074381918,-0.00555526809943,0.0795976835577,0.999999807684,-9.7223066269e-05,-0.000608875621398,-6.67150538625e-05,1793239513487425280
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.244413342,714,683,657.755586658,631.755586658,880.755586658,784,805,651.244413342,631,653,0.450182538368,-0.00555397769251,0.079595763358,0.999999805365,-9.7388407442e-05,-0.000612470764635,-6.82958251778e-05,1793239513504091648
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.338290309,714,683,657.661709691,631.661709691,881,784,805,651.338290309,630.661709691,653,0.450283452604,-0.00555328635261,0.0795960576609,0.999999805342,-9.6268629008e-05,-0.000612602193672,-6.90370658612e-05,1793239513520758272
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.917759331,714,683,657.082240669,631.082240669,881,784,805,651.917759331,630.082240669,653,0.450379203612,-0.00555302210813,0.0795979307584,0.999999806956,-9.42326449087e-05,-0.000610264222354,-6.9179776392e-05,1793239513537424896
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,682.506077661,657,631,880.506077661,784,804.506077661,652,630.493922339,653,0.450453315485,-0.00555390724555,0.0795977466533,0.999999806882,-9.50169553907e-05,-0.00061023625299,-6.94224938036e-05,1793239513554091520
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,682.069583993,657,631,880.069583993,784,804,651.930416007,630.930416007,653,0.450521210684,-0.00555491992631,0.0795971284885,0.999999806461,-9.61690547852e-05,-0.00061072952508,-6.95568235433e-05,1793239513570758144
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714,682.645576449,657,631,880.645576449,784,804,651.354423551,630.354423551,653,0.450569910338,-0.0055554772998,0.0795958276637,0.999999805552,-9.66029752815e-05,-0.000612235638319,-6.87819655159e-05,1793239513587425024
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,714,683,657,631.227143748,881,784,804.227143748,651,630.227143748,653.227143748,0.450613313896,-0.00555541658783,0.0795949739902,0.999999804713,-9.61235647073e-05,-0.000613746663945,-6.81848123276e-05,1793239513604091904
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,714,683,657,631.817628558,881,784,804.817628558,651,630.817628558,653.817628558,0.450648245768,-0.0055543671811,0.0795948355835,0.999999803986,-9.41831819772e-05,-0.00061526554732,-6.78719173791e-05,1793239513620758528
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.600504816,714,683,657,631.600504816,881,784,805,651,630.600504816,653.600504816,0.450675858275,-0.00555384261029,0.0795943018986,0.999999803153,-9.33803254965e-05,-0.000616771868467,-6.75698354987e-05,1793239513637424896
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.0224893,714,683,657,631.0224893,881,784,805,651,630.0224893,653.0224893,0.45070020002,-0.00555355257008,0.0795935915778,0.999999802274,-9.30857892743e-05,-0.000618272576128,-6.72725855705e-05,1793239513654091520
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.553270788,713.446729212,683,657,631.553270788,881.553270788,784.553270788,804.446729212,651.553270788,630.553270788,653,0.450714645755,-0.00555566639412,0.0795929258803,0.999999801408,-9.63905413704e-05,-0.000619255519505,-6.64425364562e-05,1793239513670758144
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.868322613,713,682.868322613,657,631.868322613,881.868322613,784.868322613,804.131677387,652,630.868322613,653,0.450727369395,-0.00555735157101,0.079592601683,0.999999800694,-9.91476312483e-05,-0.000620042157732,-6.5791309124e-05,1793239513687424768
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.280430305,713,682.280430305,657,631.280430305,881.280430305,784.280430305,804.719569695,652,630.280430305,653,0.450735514598,-0.00555721447709,0.0795934544029,0.999999800545,-9.95024375336e-05,-0.000620221290221,-6.58343646094e-05,1793239513704091392
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.302625261,713.302625261,682.302625261,657,631,881,784,805,652,630.302625261,653,0.450741416081,-0.00555671937291,0.0795934823459,0.999999800482,-9.79021284046e-05,-0.000620603331763,-6.55913721053e-05,1793239513720758272
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.881269289,713.881269289,682.881269289,657,631,881,784,805,652,630.881269289,653,0.450745271107,-0.00555589773438,0.0795927580256,0.999999800489,-9.45185955212e-05,-0.00062117044279,-6.50874806457e-05,1793239513737424896
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,683,657,631,880.542977794,784,804.542977794,652,631,653,0.450747373993,-0.00555381201087,0.0795923740261,0.99999979988,-9.33508767046e-05,-0.000622322084399,-6.51244149153e-05,1793239513754091776
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.967964429,745.967964429,714,683,657,631.032035571,880,784,804.032035571,651.967964429,630.967964429,653,0.450749010802,-0.00555157884933,0.0795920709556,0.999999799151,-9.28237998765e-05,-0.000623552389012,-6.52997558349e-05,1793239513770758400
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.392835455,745.392835455,714,683,657,631.607164545,880,784,804.607164545,651.392835455,630.392835455,653,0.450750414582,-0.00555237849229,0.0795916504406,0.999999799078,-9.34598543041e-05,-0.000623558042835,-6.54545445387e-05,1793239513787425024
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.187812355,745.187812355,714,682.812187645,657,631.812187645,880,784,805,651.187812355,630,653,0.450751090718,-0.00555343105841,0.0795908398701,0.999999798558,-9.3848485275e-05,-0.000624341548175,-6.53756893389e-05,1793239513804091648
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.780352963,745.780352963,714,682.219647037,657,631.219647037,880,784,805,651.780352963,630,653,0.450750198805,-0.00555502866389,0.0795891887452,0.999999797071,-9.37039283247e-05,-0.000626801293004,-6.47933406768e-05,1793239513820758272
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.639071344,714,682.360928656,656.639071344,631,880.360928656,784,805,652,630,653,0.450750740939,-0.00555514442827,0.0795894494712,0.999999797129,-9.3701563629e-05,-0.000626738764072,-6.45088274169e-05,1793239513837424896
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.065543341,714,682.934456659,656.065543341,631,880.934456659,784,805,652,630,653,0.450752127776,-0.00555438733762,0.0795908363426,0.999999798097,-9.37829550305e-05,-0.000625190529687,-6.43997493606e-05,1793239513854091520
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.509993211,714,683,656.509993211,631,881,784,804.490006789,652,630.509993211,653,0.450752741588,-0.00555435347237,0.0795905171991,0.999999797787,-9.56244573795e-05,-0.000625401953058,-6.44522614539e-05,1793239513870758400
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.914241838,713.914241838,683,656.914241838,631.085758162,880.914241838,784,804.085758162,652,630.914241838,653,0.450753144202,-0.00555426088843,0.0795900336265,0.99999979736,-9.72262028243e-05,-0.000625833885471,-6.44905142374e-05,1793239513887425024
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.338652321,713.338652321,683,656.338652321,631.661347679,880.338652321,784,804.661347679,652,630.338652321,653,0.450752910199,-0.00555329992205,0.0795898681513,0.999999797226,-9.61613647264e-05,-0.00062622850334,-6.43282341826e-05,1793239513904091648
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.244422037,745.244422037,713,683,656.244422037,631.755577963,880,784,804.755577963,651.755577963,630,653,0.450752370928,-0.0055529756507,0.0795891638691,0.999999796735,-9.53302131283e-05,-0.00062713796398,-6.43460748842e-05,1793239513920758272
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.838194381,745.838194381,713,683,656.838194381,631.161805619,880,784,804.161805619,651.161805619,630,653,0.450751395339,-0.00555356140212,0.0795876894744,0.999999795731,-9.48330676906e-05,-0.000628783284924,-6.46213606375e-05,1793239513937424896
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.579483847,746,713.420516153,683,656.579483847,631,880,784,804,651.420516153,630,653,0.450751801225,-0.00555214234633,0.0795877063182,0.999999795873,-9.22445825721e-05,-0.000628961509826,-6.44452058235e-05,1793239513954091520
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.001451232,746,713.998548768,683,656.001451232,631,880,784,804,651.998548768,630,653,0.450752724581,-0.00554997233211,0.0795882817486,0.999999796434,-8.88727258234e-05,-0.000628590191518,-6.40999509081e-05,1793239513970758144
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,682.428070681,656.571929319,631,880.571929319,783.428070681,804.571929319,651.428070681,630.571929319,653,0.450752740492,-0.00555252623941,0.0795878117897,0.999999795898,-9.12582797842e-05,-0.000629133854454,-6.3768046749e-05,1793239513987425024
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,682.149701462,656.850298538,631,880.850298538,783.149701462,804.850298538,651,630.850298538,653,0.45075326993,-0.00555455505533,0.0795878229873,0.999999795743,-9.3615658505e-05,-0.000629050423496,-6.36073660185e-05,1793239514004091392
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,682.7404463,656.2595537,631,880.2595537,783.7404463,804.2595537,651,630.2595537,653,0.450755319026,-0.00555500184184,0.079589259497,0.999999796727,-9.58473350474e-05,-0.000627112693131,-6.39510367261e-05,1793239514020758272
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,683,656,631,880,784,804.324843302,651.324843302,630.324843302,653,0.450755270585,-0.00555405127767,0.0795891930901,0.99999979651,-9.45945571554e-05,-0.000627629836255,-6.41250051404e-05,1793239514037425152
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,683,656,631,880,784,804.904265582,651.904265582,630.904265582,653,0.450753578311,-0.0055520056129,0.0795879488509,0.999999795342,-9.06110202705e-05,-0.000630070858083,-6.41659782791e-05,1793239514054092032
+249,4.150000000,POSE1_TO_POSE2_PRESS,764.519762041,746,714,683,656,631,880,784,804.519762041,652,630.519762041,653,0.450755081521,-0.00555243885546,0.0795882374957,0.999999796243,-9.17546438161e-05,-0.000628505270264,-6.38458397201e-05,1793239514070758400
+250,4.166666667,POSE1_TO_POSE2_PRESS,764.055239619,746,714,682.944760381,656,631.055239619,880.055239619,784,804.055239619,652,630,653,0.450756914219,-0.00555322259082,0.0795887110791,0.999999797348,-9.36256923004e-05,-0.000626503807213,-6.34933173051e-05,1793239514087425024
+251,4.183333333,POSE1_TO_POSE2_PRESS,764.627546847,746,714,682.372453153,656,631.627546847,880.627546847,784,804.627546847,652,630,653,0.450755910879,-0.0055526944834,0.079588075833,0.999999796582,-9.28067965954e-05,-0.000627845306276,-6.35066903598e-05,1793239514104091648
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,714,682.207523074,656,631.792476926,881,784,805,652,630,653,0.450755438097,-0.00555242110933,0.0795879796465,0.999999796267,-9.29730782872e-05,-0.000628323076991,-6.35028321109e-05,1793239514120758272
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,714,682.801791405,656,631.198208595,881,784,805,652,630,653,0.450755954079,-0.00555262246282,0.0795888880651,0.999999796791,-9.49753615848e-05,-0.000627191181593,-6.34668611666e-05,1793239514137424896
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,746,714,683,656.384892537,631,881,784,804.615107463,652,630,653,0.450755609796,-0.00555274487868,0.0795886792134,0.999999796428,-9.51637533047e-05,-0.000627728595923,-6.35929524801e-05,1793239514154091776
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,746,714,683,656.962405013,631,881,784,804.037594987,652,630,653,0.450754834993,-0.00555282779009,0.0795879112224,0.999999795621,-9.44443807192e-05,-0.000629101418369,-6.38001480484e-05,1793239514170758400
+256,4.266666667,POSE1_TO_POSE2_PRESS,765,745.460938376,714,683,656.460938376,631,881,784,804.539061624,652,630.539061624,653,0.450756331079,-0.00555267882881,0.0795882229703,0.999999796303,-9.51879811413e-05,-0.000627907595899,-6.37549809543e-05,1793239514187425024
+257,4.283333333,HOLD_POSE2,765,745,714,683,657,631,880,783,805,651,630,653,0.450756901119,-0.00555200051427,0.0795887829271,0.999999796775,-9.38719210412e-05,-0.000627371110918,-6.35809441176e-05,1793239514229078528
+258,4.300000000,HOLD_POSE2,765,745,714,683,656.421161021,631,880,783.578838979,804.421161021,651.578838979,630,653,0.450759099015,-0.00555171293448,0.0795903781373,0.999999798196,-9.26512259959e-05,-0.000625299197315,-6.34436989004e-05,1793239514245745152
+259,4.316666667,HOLD_POSE2,765,745,714,683,656.15700931,631,880,783.84299069,804,652,630,653,0.45076001058,-0.00555149794558,0.0795909733944,0.999999798648,-9.1998386816e-05,-0.000624674024341,-6.34172022818e-05,1793239514262411776
+260,4.333333333,HOLD_POSE2,765,745,714,683,656.733393798,631,880,783.266606202,804,652,630,653,0.450757486325,-0.00555147684843,0.0795888977562,0.999999796523,-9.28623023576e-05,-0.000627913125641,-6.36865174753e-05,1793239514279078400
+261,4.350000000,HOLD_POSE2,765.306086142,745,714,683,656.693913858,631,880.306086142,783.306086142,804,651.693913858,630.306086142,653,0.450756407189,-0.00555112212576,0.0795881440756,0.999999795801,-9.17073240457e-05,-0.000629245327811,-6.3538178415e-05,1793239514295745280
+262,4.366666667,HOLD_POSE2,765.875600861,745,714,683,656.124399139,631,880.875600861,783.875600861,804,651.124399139,630.875600861,653,0.450756571776,-0.00555048027314,0.0795885281187,0.999999796289,-8.88148141141e-05,-0.000628936384846,-6.3030391293e-05,1793239514312412416
+263,4.383333333,HOLD_POSE2,765.533200386,745,714,683,656,631,880.533200386,784,804.466799614,651.466799614,630.533200386,653,0.450756763036,-0.00555109589084,0.0795890818671,0.999999796431,-8.97228241264e-05,-0.00062858727705,-6.29705116454e-05,1793239514329079040
+264,4.400000000,HOLD_POSE2,765,745,714,682.938092074,656,631.061907926,880.061907926,784,805,651.938092074,630,653,0.450756939355,-0.00555181109052,0.0795895664935,0.999999796466,-9.14791447238e-05,-0.000628272147835,-6.30428078155e-05,1793239514345745408
+265,4.416666667,HOLD_POSE2,765,745,714,682.360884624,656,631.639115376,880.639115376,784,805,651.360884624,630,653,0.450756929254,-0.00555042997352,0.0795890809945,0.999999796421,-9.14555068875e-05,-0.000628333278027,-6.31733396226e-05,1793239514362412544
+266,4.433333333,HOLD_POSE2,765,745,714,682.215844723,656,631.784155277,880.784155277,784,805,651,630,653,0.450757134405,-0.00555006662201,0.0795887201736,0.99999979634,-9.18978371536e-05,-0.000628399001163,-6.31642389329e-05,1793239514379079168
+267,4.450000000,HOLD_POSE2,765,745,714,682.791776408,656,631.208223592,880.208223592,784,805,651,630,653,0.450757698653,-0.00555140117679,0.0795885673494,0.999999796196,-9.31175273455e-05,-0.000628472386555,-6.29221937291e-05,1793239514395745536
+268,4.466666667,HOLD_POSE2,765,745,714,683,656.375857834,631.375857834,880.375857834,783.624142166,804.624142166,651.375857834,630.375857834,653,0.450758710418,-0.00555180872174,0.0795890378694,0.999999796758,-9.34956182144e-05,-0.000627513464318,-6.30004226577e-05,1793239514412411904
+269,4.483333333,HOLD_POSE2,765,745,714,683,656.964554304,631.964554304,880.964554304,783.035445696,804.035445696,651.964554304,630.964554304,653,0.450759975601,-0.00555169132496,0.0795898613733,0.999999797718,-9.33971331206e-05,-0.000625969972795,-6.32600145775e-05,1793239514429078528
+270,4.500000000,HOLD_POSE2,765,745,713.455754881,683,656.455754881,631.455754881,880.455754881,783,804.544245119,651.455754881,630.455754881,653,0.450759587759,-0.00555407671574,0.0795899640301,0.999999797467,-9.5209849731e-05,-0.000626140911325,-6.28308259971e-05,1793239514445745408
+271,4.516666667,HOLD_POSE2,765,745,713.122039397,682.877960603,656,631,880,783.122039397,805,651.122039397,630,653,0.450759390196,-0.00555568902542,0.0795900254987,0.999999797295,-9.64091043953e-05,-0.000626262417628,-6.25340319326e-05,1793239514462412288
+272,4.533333333,HOLD_POSE2,765,745,713.694958657,682.305041343,656,631,880,783.694958657,805,651.694958657,630,653,0.4507602869,-0.0055538527387,0.0795901054218,0.99999979771,-9.48895121239e-05,-0.000625795485158,-6.28894108864e-05,1793239514479078912
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,656,631,880,783,804,651,630,653,0.450759537151,-0.00555189933225,0.0795891257847,0.999999797114,-9.34798223279e-05,-0.000626981983714,-6.26684359653e-05,1793239514516959232
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.595020202,714,682.404979798,656,631,880,783.595020202,804.595020202,651.595020202,630,653,0.450759909986,-0.00555158109097,0.0795897852752,0.99999979773,-9.17858878478e-05,-0.000626250123592,-6.26505660702e-05,1793239514533626112
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.815502521,714,682.184497479,656,631,880,783.815502521,805,651.815502521,630,653,0.450759918053,-0.00555150236017,0.079590108347,0.999999797917,-9.09972612111e-05,-0.000626079638401,-6.25323886664e-05,1793239514550292736
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.23783722,714,682.76216278,656,631,880,783.23783722,805,651.23783722,630,653,0.450759148791,-0.00555193403091,0.0795897145039,0.99999979719,-9.21378634087e-05,-0.000627105454302,-6.22004539484e-05,1793239514566959360
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.663785138,745,714,682.663785138,656,631,880.336214862,783.336214862,805,651.336214862,630.336214862,653,0.450759137767,-0.00555179377282,0.0795895276561,0.999999797135,-9.19038892911e-05,-0.000627212046388,-6.23539154051e-05,1793239514583626240
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.092261893,745,714,682.092261893,656,631,880.907738107,783.907738107,805,651.907738107,630.907738107,653,0.450759657417,-0.00555125323601,0.0795894856791,0.99999979755,-9.07078834811e-05,-0.000626675296631,-6.28470935384e-05,1793239514600293120
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.485842253,745.485842253,714,682,656,631,881,783.514157747,804.514157747,652,630.514157747,653,0.450759114594,-0.00555079075205,0.0795890560397,0.999999797043,-9.06261014087e-05,-0.000627491548026,-6.28827304582e-05,1793239514616959488
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.933536484,745.933536484,714,682.066463516,656,631,880.933536484,783.066463516,804,652,630,652.933536484,0.450758280396,-0.00555041401452,0.079588435068,0.99999979634,-9.08423908679e-05,-0.000628582843714,-6.28600683e-05,1793239514633625856
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.343058006,745.343058006,714,682.656941994,656,631,880.343058006,783.656941994,804,652,630,652.343058006,0.450756761534,-0.00555059485584,0.0795868939729,0.999999795488,-9.17175983933e-05,-0.000629789092149,-6.30722109484e-05,1793239514650292736
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,745.242670523,714,682.757329477,656,631.242670523,880,784,804.242670523,652,630,652.242670523,0.450753823606,-0.0055509298058,0.0795852964854,0.999999794328,-9.24624329607e-05,-0.000631519658374,-6.30644189712e-05,1793239514666959104
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,745.821813019,714,682.178186981,656,631.821813019,880,784,804.821813019,652,630,652.821813019,0.450748918092,-0.0055514784333,0.0795836208076,0.999999792741,-9.30265003566e-05,-0.000633977211189,-6.27516791961e-05,1793239514683625472
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.39749026,746,713.60250974,682.39749026,656,631.60250974,880.39749026,784,805,651.60250974,630.39749026,653,0.450726822059,-0.00555081509424,0.079571868604,0.999999781276,-9.22775858973e-05,-0.00065188026116,-6.31291090156e-05,1793239514700292096
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.97162757,746,713.02837243,682.97162757,656,631.02837243,880.97162757,784,805,651.02837243,630.97162757,653,0.450697086457,-0.00554961315004,0.0795556383319,0.999999764903,-9.09451744449e-05,-0.000676647382379,-6.38132542736e-05,1793239514716958976
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.440394844,713.559605156,682.440394844,656,631,881,783.440394844,804.440394844,651.559605156,630.440394844,653,0.450636849169,-0.00554870689044,0.0795298113465,0.999999734795,-9.18558758997e-05,-0.000719594118912,-6.44778100835e-05,1793239514733625600
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.145992843,656,631,881,783.145992843,804.145992843,652,630,653,0.450572028923,-0.00554743825678,0.0795058714292,0.999999706162,-9.17854111798e-05,-0.000758322414923,-6.4800480401e-05,1793239514750292480
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.72552271,656,631,881,783.72552271,804.72552271,652,630,653,0.450498308008,-0.00554504787791,0.0794890168224,0.999999688492,-8.84550109576e-05,-0.000781717205921,-6.41109199673e-05,1793239514766959360
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.303186604,714,683,656,631,881,784,804.696813396,652,630,653,0.450418687198,-0.00554309329953,0.0794786296942,0.999999676766,-8.559858207e-05,-0.000796965679674,-6.31392012058e-05,1793239514783626496
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.879171516,714,683,656,631,881,784,804.120828484,652,630,653,0.450333757841,-0.00554153084164,0.0794740618123,0.999999670705,-8.31686187479e-05,-0.000804884337815,-6.19136048174e-05,1793239514800293120
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,656,631,880.546680023,784,804.453319977,651.546680023,630,653,0.450235992914,-0.00553925556553,0.0794752376333,0.999999671762,-8.11558060598e-05,-0.000804003855274,-5.88925066831e-05,1793239514816959488
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.972152486,714,682.972152486,656,631,880.027847514,784,805,651,630.027847514,653,0.450133453429,-0.00553681542456,0.0794778161183,0.999999674568,-7.92588910404e-05,-0.000800943143849,-5.54341485692e-05,1793239514833625600
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.380066175,714,682.380066175,656,631,880.619933825,784,805,651,630.619933825,653,0.45000321303,-0.00553486894024,0.0794779207922,0.999999674778,-7.74664941543e-05,-0.000801036015934,-5.27737856407e-05,1793239514850292224
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.792843886,682.207156114,656,631.207156114,880.792843886,784,805,651.207156114,630.792843886,653,0.449862101277,-0.00553264746184,0.0794793605432,0.999999676696,-7.46146997452e-05,-0.000799123912521,-4.94164017724e-05,1793239514866958848
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713.214340879,682.785659121,656,631.785659121,880.214340879,784,805,651.785659121,630.214340879,653,0.449701501611,-0.00552993303081,0.0794831935462,0.999999681641,-6.98638354504e-05,-0.000793617701202,-4.48095423491e-05,1793239514883625472
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.638212332,745,713.361787668,682.638212332,656,631.638212332,880.361787668,784,805,651.638212332,630,653,0.449520974926,-0.0055269833029,0.0794848942673,0.999999683939,-6.53189013402e-05,-0.000791381268847,-3.96401192046e-05,1793239514900292352
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.063481305,745,713.936518695,682.063481305,656,631.063481305,880.936518695,784,805,651.063481305,630,653,0.44932871945,-0.00552389508216,0.0794853399563,0.999999684668,-6.08951745152e-05,-0.000791069383906,-3.41395781758e-05,1793239514916959488
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,745,714,682.524562197,656.524562197,631.524562197,880.475437803,784,804.475437803,651,630,653,0.449109275388,-0.00551921310378,0.079483774873,0.999999682791,-5.36751885432e-05,-0.000794152926823,-2.92873589608e-05,1793239514933626112
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,745.112339668,713.887660332,682.887660332,657,631.887660332,880.112339668,784,804,651.112339668,630.112339668,653,0.448877949277,-0.00551474813966,0.0794835901923,0.999999681802,-4.55332587316e-05,-0.000796087255027,-2.3806740577e-05,1793239514950292736
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,745.692132125,713.307867875,682.307867875,657,631.307867875,880.692132125,784,804,651.692132125,630.692132125,653,0.448611228766,-0.00551200963932,0.0794901883729,0.999999686045,-3.49998142677e-05,-0.000791485293633,-1.53763385996e-05,1793239514966959104
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.269680456,745.730319544,713.269680456,682,657,631,880.730319544,784,804.269680456,652,630.730319544,653,0.448322259456,-0.00550704648527,0.0794912142688,0.999999686066,-2.17802559841e-05,-0.000792042169679,-7.9740279517e-06,1793239514983625728
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.844687996,745.155312004,713.844687996,682,657,631,880.155312004,784,804.844687996,652,630.155312004,653,0.448008100495,-0.00549956462078,0.0794859313296,0.99999968123,-5.51953134599e-06,-0.000798439783585,-1.7357032619e-06,1793239515000292352
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713.580276699,682.419723301,657.419723301,631.419723301,880,784.419723301,805,652,630.419723301,653,0.447678607555,-0.00549504112994,0.0794877791061,0.999999684399,1.57222202708e-05,-0.000794320115723,3.32545222334e-06,1793239515016958976
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.005231132,682.994768868,657.994768868,631.994768868,880,784.994768868,805,652,630.994768868,653,0.447343440149,-0.00549161241122,0.0794922656662,0.999999690075,3.88072439639e-05,-0.000786308435577,7.95098584461e-06,1793239515033625856
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.583448306,682.416551694,657.416551694,632,880.583448306,784.416551694,804.416551694,652,631,653,0.446986624187,-0.00548410206321,0.079507379804,0.999999708374,4.4516109258e-05,-0.000762391878206,5.3282329912e-06,1793239515050292992
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.170473198,714,682.170473198,657.170473198,632,880.829526802,784,804.170473198,652,631,653,0.446611144937,-0.00547657963369,0.079522680458,0.999999723994,5.02237475529e-05,-0.00074126277078,4.27487257272e-06,1793239515066959872
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.753194208,714,682.753194208,657.753194208,632,880.246805792,784,804.753194208,652,631,653,0.446191013742,-0.00546911860367,0.0795381962147,0.999999733959,5.63141788171e-05,-0.000727227532525,7.1776212353e-06,1793239515083626240
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.670613061,658,632,880,784.329386939,804.670613061,651.670613061,631,653,0.445734171649,-0.00546256645541,0.0795513223721,0.999999743978,6.1620064009e-05,-0.000712854524368,9.2447984775e-06,1793239515100293120
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.09921677,658,632,880,784.90078323,804.09921677,651.09921677,631,653,0.445250357037,-0.00545668208601,0.0795626928291,0.999999753977,6.63495229492e-05,-0.000698233346173,1.06980594581e-05,1793239515116959744
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632.485843163,880.485843163,785,804.485843163,651.485843163,631,653,0.444751944541,-0.00544301701137,0.0795739438628,0.999999764418,7.90042220007e-05,-0.000681777998956,1.0010872624e-05,1793239515133626112
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.92730808,714,682.07269192,658.07269192,633.07269192,880.92730808,785,805,652,631,653,0.444245092858,-0.00542674187457,0.0795847540941,0.999999773733,9.57287294763e-05,-0.00066580107041,8.8302454683e-06,1793239515150292480
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.348001605,714,682.651998395,658.651998395,633.651998395,880.348001605,785,805,652,631,653,0.443700803008,-0.00540367064544,0.0795926671177,0.999999776559,0.000129211132372,-0.000655844413985,7.3452075174e-06,1793239515166959104
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,633.769390524,880.230609476,785.230609476,804.769390524,651.769390524,631,652.769390524,0.4431402487,-0.00538944709661,0.0796012542863,0.999999782992,0.000143083987697,-0.000643036504325,6.91946170928e-06,1793239515183625728
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,659,633.191825709,880.808174291,785.808174291,804.191825709,651.191825709,631,652.191825709,0.442555224312,-0.00538853501388,0.0796108557157,0.999999795945,0.00012745398929,-0.000625938843681,8.08743655997e-06,1793239515200292864
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.614607297,659,633.385392703,881,786,804,651.385392703,631,652.385392703,0.441944197027,-0.0053982437189,0.0796322880589,0.999999815891,0.00013115753827,-0.000592369738581,1.06457287512e-05,1793239515216959744
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.037561167,659,633.962438833,881,786,804,651.962438833,631,652.962438833,0.441320238677,-0.00541323407653,0.0796596038426,0.999999837881,0.000144475542051,-0.000550609484852,1.38954171774e-05,1793239515233626368
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.549715872,659.549715872,634,880.450284128,786,804,651.450284128,631,653,0.44064211124,-0.00542423215512,0.0796461581931,0.999999833319,0.000113587233834,-0.00056591896501,1.3999828005e-05,1793239515250292736
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.864376418,660,634.135623582,880,786.135623582,804,651.135623582,631,652.864376418,0.439951605931,-0.00543100717698,0.0796300050505,0.999999824762,9.3039902311e-05,-0.000584483174199,1.41067011071e-05,1793239515266959360
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.285275637,660,634.714724363,880,786.714724363,804,651.714724363,631,652.285275637,0.439232958608,-0.00542488207327,0.079614278589,0.999999812699,0.000116370883247,-0.000600697291978,1.49376945788e-05,1793239515283625728
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,635,880,787,804,651.708668807,631,652.291331193,0.438538918452,-0.00542021369599,0.079642449957,0.999999838103,0.00012384680802,-0.000555112465688,1.74785233987e-05,1793239515300292352
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,635,880,787,804,651.134483294,631,652.865516706,0.437868769382,-0.00541695965801,0.0797132418562,0.999999892008,0.000115929013463,-0.000449526858496,2.1679436402e-05,1793239515316958976
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.442381584,682.442381584,660.442381584,634.557618416,880.442381584,787,804,651,631,653,0.437155981938,-0.00541752263312,0.079784759081,0.999999933974,0.000118958662522,-0.00034228834351,2.71776793908e-05,1793239515333626112
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,682.979500057,661,634.020499943,880.979500057,787,804,651,631,653,0.436428178375,-0.00541915992752,0.0798543208492,0.999999963343,0.000125556111648,-0.000237622487635,3.29368604741e-05,1793239515350292992
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,682.389320234,661,634.610679766,880.389320234,787,804,651,631,653,0.435645485828,-0.00541820955444,0.079863377063,0.999999965963,0.000138253781869,-0.000218497729425,3.49208380177e-05,1793239515366959616
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.804005092,682,661,635,880,787,804,651,631,653,0.434841672349,-0.00541640143142,0.0798603492385,0.999999965031,0.000145066799945,-0.00021821042802,3.57394766282e-05,1793239515383625984
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.228119054,682,661,635,880,787,804,651,631,653,0.433996920841,-0.00541293075713,0.0798338992796,0.999999957177,0.000140473770162,-0.000254435212767,3.42993731527e-05,1793239515400292608
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,661,635,879.652741517,787,804.347258483,651,631,653,0.433100422413,-0.00541210346311,0.0797965170816,0.999999936556,0.000142343225826,-0.000324755198993,3.40537698294e-05,1793239515416959232
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,661,635,879.077697558,787,804.922302442,651,631,653,0.432169980436,-0.00541301010422,0.0797519638424,0.999999901255,0.000148451771844,-0.000417440054446,3.45917031107e-05,1793239515433626112
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.491416519,681.508583481,661,635,879,787,804.508583481,651,631,652.508583481,0.431271476225,-0.00541318855111,0.0797331529396,0.999999887603,0.000152367081221,-0.000447571992252,3.54737669591e-05,1793239515450292736
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.063297082,661,635,879,787,804,651.063297082,631,652,0.430388416174,-0.00541384312801,0.079727815754,0.999999884754,0.000155031411626,-0.000452890481068,3.67162225845e-05,1793239515466959360
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.666687423,661,635,879,787,804,651.666687423,631,652,0.429594563247,-0.00541953105646,0.0798031305949,0.999999933529,0.000149945151088,-0.00032986759536,4.05750526732e-05,1793239515483627008
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.742394791,681.742394791,661,635,879.257605209,787,804,651.742394791,631,652.257605209,0.428770462689,-0.00542426861191,0.0798550019805,0.999999957662,0.000148582357127,-0.000246253282223,4.42459292236e-05,1793239515500293888
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714.166869752,681.166869752,661,635,879.833130248,787,804,651.166869752,631,652.833130248,0.427909032338,-0.00542783327871,0.0798779409672,0.999999965021,0.000151814828191,-0.000211274489993,4.76848466444e-05,1793239515516959744
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.408321597,681,661,635,880,787,804,651,631,652.591678403,0.426987389592,-0.0054245854668,0.0798449672353,0.999999953993,0.000155605047282,-0.000256304863776,4.59304265677e-05,1793239515533626112
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.983376653,681,661,635,880,787,804,651,631,652.016623347,0.426041159854,-0.00541855585682,0.0797891621822,0.999999930596,0.000159623015457,-0.000334006067309,4.20553660242e-05,1793239515550292736
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.571369843,661,635,880,787,804,651,631,652.571369843,0.4251123048,-0.00541457016178,0.0797698557031,0.999999916657,0.000170567040338,-0.000368388345241,4.33873952591e-05,1793239515566959360
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.15741092,745,714.84258908,681.84258908,661,635,879.84258908,787,804,651,631,653,0.424184885239,-0.00540970136135,0.0797529806214,0.999999902371,0.000181538051129,-0.00040038811238,4.46181410555e-05,1793239515583625984
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.737180732,745,714.262819268,681.262819268,661,635,879.262819268,787,804,651,631,653,0.423259929635,-0.00540229979508,0.0797397141542,0.999999888327,0.000192028270369,-0.00042945519181,4.51612257664e-05,1793239515600292864
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.685284405,745,714.314715595,681,661,635,879,787,804,651,631,653,0.422412475097,-0.0053990495207,0.0797642518408,0.99999990711,0.000198073509662,-0.000380042974149,4.59720857123e-05,1793239515616959488
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.109602818,745,714.890397182,681,661,635,879,787,804,651,631,653,0.42162928543,-0.00539924154831,0.0798201371911,0.999999943549,0.000200432915221,-0.000265554765586,4.7004987668e-05,1793239515633626112
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,879.463159923,787,804,651.463159923,631,652.536840077,0.420812806951,-0.00539740464651,0.0798619230433,0.999999958596,0.000203142143526,-0.000197820311088,4.90723091255e-05,1793239515650292992
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.036618139,745,715,681,661,635,880,787,804.036618139,652,631,652.036618139,0.419982817214,-0.00539495957016,0.0798953135213,0.999999966313,0.000206033616138,-0.000149385550164,5.10639143914e-05,1793239515666960128
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.631129075,745,715,681,661,635,880,787,804.631129075,652,631,652.631129075,0.41906624427,-0.00539051785389,0.0798513119081,0.99999995082,0.000210448328395,-0.000227482669771,4.8195879879e-05,1793239515683626496
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.780436022,661,635,880,787,804.780436022,652,631.219563978,653,0.41817401704,-0.00538865889136,0.0798188414346,0.999999936328,0.000210588466773,-0.000284436373767,4.57350185239e-05,1793239515700292864
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.201933979,661,635,880,787,804.201933979,652,631.798066021,653,0.417321589471,-0.00539102215363,0.079805221792,0.999999931209,0.000203740633918,-0.000306825329784,4.39397942568e-05,1793239515716959232
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.374498059,661,635.374498059,880,787,804,652,632,653,0.416496404113,-0.00539658404651,0.0798059845034,0.999999929737,0.000199121409281,-0.000314467020878,4.45831747679e-05,1793239515733625856
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.949820025,661,635.949820025,880,787,804,652,632,653,0.415685827394,-0.00540386119915,0.0798144597268,0.999999930408,0.000195697272224,-0.000314200516533,4.65342527988e-05,1793239515750292480
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.464013273,745,715,681,660.464013273,635.464013273,879.464013273,787,804,652,631.464013273,653,0.41489731319,-0.00542083946777,0.0798007787645,0.999999928582,0.000174618159914,-0.000332009943088,4.59803363005e-05,1793239515766959360
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.878507277,660.121492723,635,879,787,803.878507277,652,631,653,0.414125352058,-0.00543368323533,0.0797919370985,0.999999928473,0.000159541427215,-0.000339918001182,4.53544786095e-05,1793239515783626240
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.29939323,660.70060677,635,879,787,803.29939323,652,631,653,0.413407799875,-0.0054274621025,0.0798092979211,0.999999937717,0.000173428029274,-0.000304025063286,4.53592486158e-05,1793239515800293120
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.278378224,661,635,879,787.278378224,803.278378224,652,631,653,0.412686280348,-0.00542201764207,0.0798168173686,0.999999939876,0.000183609064048,-0.000290585658927,4.57756000573e-05,1793239515816960000
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.854712625,661,635,879,787.854712625,803.854712625,652,631,653,0.411960514503,-0.00541740447674,0.0798138033099,0.999999935542,0.000189823923455,-0.000301178916445,4.66324789317e-05,1793239515833626368
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.141655459,661,635,879,787.570827729,804,651.570827729,631,653,0.41126117146,-0.00541606462745,0.0798056495586,0.999999930707,0.000190031009248,-0.000316791597772,4.60145169682e-05,1793239515850292736
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.003094726,879,787,804,651,631,653,0.41057103581,-0.0054158064267,0.0797958783631,0.999999925522,0.000188278383891,-0.000333901170179,4.4908459341e-05,1793239515866959104
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.595028763,879,787,804,651,631,653,0.4099382597,-0.00541142975122,0.0798079742521,0.999999929903,0.000198941114734,-0.000313918821568,4.55166984586e-05,1793239515883625728
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.816836148,661,635.816836148,879,787,804,651.183163852,631,652.816836148,0.409322505768,-0.00540911826842,0.0798241781867,0.999999936017,0.000206190156782,-0.000288576203604,4.66368388583e-05,1793239515900292352
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.236929671,661,635.236929671,879,787,804,651.763070329,631,652.236929671,0.408743622656,-0.0054112801018,0.0798492803689,0.999999945922,0.000206044969707,-0.000251622953888,4.88657847266e-05,1793239515916959232
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.660352968,678.339647032,661,635,879,787,803.660352968,652,631,652,0.408157896052,-0.00540914883517,0.0798448804081,0.999999943213,0.000206708351794,-0.000261699181184,4.8565879988e-05,1793239515933626112
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.08607652,678.91392348,661,635,879,787,803.08607652,652,631,652,0.407567441971,-0.00540405187916,0.0798201002574,0.999999931012,0.000207930296271,-0.0003042635457,4.65190358036e-05,1793239515950292992
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,714.500429382,679,661,635.500429382,879,787,803.500429382,652,631,652,0.407026195195,-0.00540122786333,0.0797942672032,0.999999916037,0.000213212144762,-0.00034703802375,4.5058514352e-05,1793239515966959872
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.087731662,745,714.912268338,679.087731662,661,635.912268338,878.912268338,787,804,651.912268338,631,652.087731662,0.406504881526,-0.0053993433942,0.0797747435465,0.999999903957,0.000217712393392,-0.000377839662935,4.38711580363e-05,1793239515983626240
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.667408758,745,714.332591242,679.667408758,661,635.332591242,878.332591242,787,804,651.332591242,631,652.667408758,0.406046691159,-0.00540048015937,0.0797916400917,0.999999917947,0.000213816039931,-0.000341297225665,4.3635870193e-05,1793239516000292608
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,714.24519027,679.75480973,661,635,878.24519027,787,804,651.24519027,631,652.75480973,0.405607870964,-0.00540021596127,0.0798069914347,0.999999928316,0.000212293326483,-0.00031048102434,4.36088867434e-05,1793239516016958976
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,714.820420176,679.179579824,661,635,878.820420176,787,804,651.820420176,631,652.179579824,0.405195124126,-0.00539806598921,0.0798202628487,0.999999934856,0.000213965664039,-0.000287372655953,4.38622925696e-05,1793239516033625600
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.604575684,745,715,679.395424316,661,635.395424316,879,787,803.604575684,651.604575684,631,652,0.404801696125,-0.00539736852233,0.0798318598964,0.999999937379,0.000218544111258,-0.000274679229909,4.5073836249e-05,1793239516050292992
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.029673966,745,715,679.970326034,661,635.970326034,879,787,803.029673966,651.029673966,631,652,0.404417036629,-0.00539733032644,0.0798426969746,0.999999938154,0.000224441599965,-0.000266712994216,4.67202649274e-05,1793239516066960128
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.5586021,745,715,679.4413979,661,635.4413979,879,787,803.5586021,651.5586021,631,652.5586021,0.404060906017,-0.00539805443076,0.0798413658674,0.99999993612,0.000223692611037,-0.000274845238989,4.67057305849e-05,1793239516083626752
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,804,651.854680911,631,653,0.403716293885,-0.00539869230327,0.0798399638951,0.999999935139,0.000219911321436,-0.000281443292871,4.63795454837e-05,1793239516100293120
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,804,651.274802701,631,653,0.403401483182,-0.00539894824501,0.0798403303943,0.999999937874,0.000208144025266,-0.000280833492188,4.53917300417e-05,1793239516116960000
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.693415455,745.306584545,715,679.306584545,661,635,879,787,804,651.306584545,631,652.693415455,0.403114311286,-0.00539870288811,0.0798396953006,0.999999936746,0.000209970561147,-0.000283551991397,4.49235398886e-05,1793239516133626368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.11066895,745.88933105,715,679.88933105,661,635,879,787,804,651.88933105,631,652.11066895,0.402852035599,-0.00539800597675,0.0798381580028,0.999999932055,0.000224042004894,-0.000289268521127,4.49234123213e-05,1793239516150293248
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.469570494,745.530429506,715,680,661,635,879,787,803.530429506,652,631,652.469570494,0.402619979286,-0.00539727773456,0.0798392231931,0.999999932533,0.000222955160011,-0.000288570364794,4.41753282669e-05,1793239516166959616
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.950800602,661,635.049199398,879,787,803.049199398,652,631,653,0.402398546368,-0.00539672177363,0.079841243242,0.999999934457,0.000218386926421,-0.000285492236983,4.34540986718e-05,1793239516183625984
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.371417474,661,635.628582526,879,787,803.628582526,652,631,653,0.402215251333,-0.00539810150415,0.0798469784831,0.999999938709,0.000214596334504,-0.000272972205438,4.49117955606e-05,1793239516200292608
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.792594589,745,715,679,661,635.792594589,879,787,804,651.792594589,631,652.792594589,0.402040786357,-0.00539824071899,0.0798521292717,0.999999941681,0.000212025540196,-0.000263720935711,4.62098199116e-05,1793239516216959232
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.214772333,745,715,679,661,635.214772333,879,787,804,651.214772333,631,652.214772333,0.401882091491,-0.00539616442786,0.0798562362539,0.999999942611,0.000211633250644,-0.000260307530673,4.7222676064e-05,1793239516233626368
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.360752331,879,786.639247669,804,651.360752331,631,652.360752331,0.401743194009,-0.00539573916401,0.0798568678228,0.999999943098,0.000211095485714,-0.00025885976821,4.72662872086e-05,1793239516250293248
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.934917846,879,786.065082154,804,651.934917846,631,652.934917846,0.401616008209,-0.00539629061157,0.0798554434138,0.999999943328,0.000210471660698,-0.000258574836548,4.67365143166e-05,1793239516266960128
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.523445715,745,715,679.523445715,661.523445715,636,879,786.523445715,804,652,631,653,0.401502460556,-0.0053975341607,0.0798497229599,0.999999937301,0.000225138513211,-0.000269988482449,4.2633039084e-05,1793239516283626240
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.888354495,745,715,679.888354495,662,635.888354495,879,787,803.888354495,652,631,653,0.401395724535,-0.00539889977308,0.0798439025862,0.999999931555,0.0002372841335,-0.000281220386647,3.87524156929e-05,1793239516300292608
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.309216607,745,715,679.309216607,662,635.309216607,879,787,803.309216607,652,631,653,0.401310210127,-0.00540040601069,0.0798399635383,0.999999931946,0.000230687352034,-0.000285428910321,3.77179795922e-05,1793239516316959232
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.731594947,635,879,787,803.268405053,651.731594947,631,653,0.401235050547,-0.0054002840287,0.0798356956998,0.999999931352,0.000227529548031,-0.000290055502809,3.73357283697e-05,1793239516333625600
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.155710282,635,879,787,803.844289718,651.155710282,631,653,0.401171753262,-0.00539829678987,0.0798310512056,0.999999929666,0.00022831137018,-0.000295161026563,3.77006075317e-05,1793239516350292480
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878.57199575,787,803.57199575,651.42800425,631,653,0.401125886036,-0.00539880547391,0.0798310251567,0.99999993011,0.000225656895002,-0.000295621455763,3.83129539764e-05,1793239516366959616
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878,787,803,652,631,652.985551427,0.401086725693,-0.00540015964396,0.0798326753474,0.999999931291,0.000221905494899,-0.000294370979913,3.90088472622e-05,1793239516383626496
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878,787,803,652,631,652.405829469,0.401057250885,-0.00539840488298,0.0798329450212,0.999999930818,0.000225059909786,-0.000293531172871,3.93854652146e-05,1793239516400292864
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878,787,803.173718222,652,631,652.173718222,0.401031166739,-0.00539717366642,0.0798329656124,0.999999930356,0.00022777637768,-0.000292963302443,3.97239883528e-05,1793239516416959488
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878,787,803.752859129,652,631,652.752859129,0.401012995703,-0.00539716429537,0.079832404896,0.999999929939,0.000229470766719,-0.00029303007639,3.99736059601e-05,1793239516433626112
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,714.671015828,679,661,635,878,787,804,651.671015828,631,653,0.401000214986,-0.0053991185169,0.0798321300868,0.999999930673,0.00022679401692,-0.000292585958987,4.01545413478e-05,1793239516450292480
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.097135735,679,661,635,878,787,804,651.097135735,631,653,0.40099144682,-0.00540253443737,0.0798320681069,0.999999932236,0.000220863390153,-0.0002917615339,4.02843496946e-05,1793239516466959104
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.486501195,679,661,635,878.486501195,787,804,651.486501195,631,653,0.40098727277,-0.00540195064752,0.0798335026452,0.999999932679,0.000221581410389,-0.000289724436762,4.00310620901e-05,1793239516483625984
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.071772211,878.928227789,787,804,651.928227789,631,652.928227789,0.40098411243,-0.00540067515104,0.0798351402802,0.999999932942,0.000223286226861,-0.000287539506693,3.97482122232e-05,1793239516500292608
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.654524293,878.345475707,787,804,651.345475707,631,652.345475707,0.400981505035,-0.00540027696131,0.079836053041,0.999999933567,0.000222372129698,-0.000286061158665,3.98106050131e-05,1793239516516960000
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.234402308,635.765597692,878.234402308,787,803.765597692,651.234402308,631,652.234402308,0.400979339204,-0.00539958881543,0.0798364641328,0.999999933804,0.000222643959511,-0.000285029905325,3.97549068626e-05,1793239516533627136
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.810095633,635.189904367,878.810095633,787,803.189904367,651.810095633,631,652.810095633,0.400977816293,-0.00539847849186,0.0798361447919,0.999999933474,0.000224642505406,-0.000284649624331,3.95272676673e-05,1793239516550293248
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.385239315,661.614760685,635,878.614760685,787,803.385239315,652,631,652.614760685,0.400978086788,-0.00539881392544,0.0798371734935,0.999999933783,0.000225373773128,-0.00028298396258,3.94997446003e-05,1793239516566959360
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.960112419,661.039887581,635,878.039887581,787,803.960112419,652,631,652.039887581,0.400979240088,-0.00539986103203,0.0798388657682,0.999999934404,0.000225481223974,-0.000280685573039,3.95707285675e-05,1793239516583625728
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.45246125,661.54753875,635,878.54753875,787,804,652,631,652.54753875,0.40097901353,-0.00539986354369,0.0798387136968,0.999999934682,0.000224005379651,-0.00028089915027,3.93993578364e-05,1793239516600292352
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.866177938,635,879,787,803.866177938,652,631,653,0.400978812207,-0.00539993123085,0.079838520773,0.999999934881,0.000222813851417,-0.000281154136308,3.93008372401e-05,1793239516616958976
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.286816346,635,879,787,803.286816346,652,631,653,0.400979037421,-0.00540047520935,0.0798386496595,0.999999934905,0.000222961930579,-0.000280923440967,3.95050194595e-05,1793239516633625600
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.291759922,745,715,679,661,635,878.708240078,787,803,652,631,652.708240078,0.400979536769,-0.00540044712043,0.0798397528861,0.999999935131,0.000223461709976,-0.000279697257273,3.96501992159e-05,1793239516650292736
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.869566312,745,715,679,661,635,878.130433688,787,803,652,631,652.130433688,0.400980304881,-0.00539985816678,0.0798418113725,0.999999935552,0.000224306302379,-0.000277495079568,3.97375319621e-05,1793239516666960128
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,878.440048768,787,803.440048768,652,631,652.440048768,0.400979599611,-0.00539942234557,0.0798412161657,0.999999935456,0.000224707585183,-0.000277526399987,3.9670062606e-05,1793239516683626752
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.008819445,878.991180555,787,804,652,631,652.991180555,0.400978464708,-0.00539905141821,0.079839858974,0.999999935211,0.0002249635155,-0.000278216741422,3.95521105572e-05,1793239516700293632
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.60584047,878.39415953,787,804,652,631,652.39415953,0.4009773258,-0.00540003085943,0.0798392829134,0.999999935075,0.000224145450399,-0.00027942954897,3.90773875823e-05,1793239516716959488
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.196032284,787,803.803967716,652,631.196032284,652.196032284,0.400976642192,-0.00540071705616,0.0798389432337,0.999999935009,0.0002237550494,-0.000280023577573,3.8771407769e-05,1793239516733625856
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.772954916,787,803.227045084,652,631.772954916,652.772954916,0.40097684323,-0.0054008334794,0.0798390628416,0.999999935079,0.000224195598976,-0.000279415319811,3.87932956214e-05,1793239516750292480
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,786.651118825,803.348881175,652,632,653,0.400978080115,-0.00540144315754,0.0798399096044,0.999999935559,0.000223565941101,-0.000278181203727,3.8930499511e-05,1793239516766959104
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,786.075839162,803.924160838,652,632,653,0.40097998919,-0.00540237292221,0.0798412282378,0.999999936301,0.00022224179647,-0.000276540951167,3.91425351141e-05,1793239516783625728
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.504048656,745.495951344,715,679,661,636,878.504048656,786.495951344,804,652,631.504048656,653,0.400979206258,-0.00540238000244,0.0798409408015,0.999999936319,0.00022234917008,-0.00027639318155,3.91031011001e-05,1793239516800292864
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.070451846,745.929548154,715,679,661,635.929548154,878,787,804,652,631,653,0.400978025617,-0.00540228614253,0.0798403936604,0.999999936146,0.00022276483624,-0.000276691222987,3.90571470038e-05,1793239516816959744
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.669248667,745.330751333,715,679,661,635.330751333,878,787,804,652,631,653,0.400976927976,-0.00540248601726,0.0798397278355,0.999999935354,0.000223862338273,-0.000278632978963,3.92486617603e-05,1793239516833626624
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,878.25769423,787,804,652,631,652.74230577,0.400976546716,-0.00540226613668,0.0798396455472,0.999999934983,0.000224488861161,-0.000279457728662,3.92641819436e-05,1793239516850292992
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,878.833367068,787,804,652,631,652.166632932,0.400977049428,-0.00540152830428,0.0798402833067,0.999999935135,0.00022453422531,-0.000278904162541,3.90625358259e-05,1793239516866959104
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.592189598,745,715,679.407810402,661,635,879,787,804,652,631,652.407810402,0.400977696473,-0.00540156141273,0.0798411223502,0.999999935582,0.000224320278107,-0.000277456202067,3.91837022919e-05,1793239516883625728
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.018247169,745,715,679.981752831,661,635,879,787,804,652,631,652.981752831,0.400978402315,-0.00540190858376,0.079842043392,0.999999936144,0.00022400069377,-0.000275643887144,3.94363747563e-05,1793239516900292352
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,804,651.429743454,631,653,0.400978431803,-0.00540081118255,0.0798416221244,0.999999936118,0.000224307041538,-0.000275559155926,3.89486274669e-05,1793239516916958976
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.843749635,661.156250365,635,879,787,804,651.156250365,631,653,0.40097817307,-0.00540023938036,0.0798411557014,0.999999936088,0.000224165674111,-0.000275826916161,3.86503285697e-05,1793239516933625856
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.265819798,661.734180202,635,879,787,804,651.734180202,631,653,0.400977196445,-0.00540121404916,0.0798406863679,0.999999936096,0.000222760570104,-0.000276892865594,3.89289163482e-05,1793239516950293248
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c62e0bbe8be790ea3346d7eea805ac26766966fc
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e10fd119ca2cd864d89aae8209b9a6c4c041d8c5
--- /dev/null
+++ b/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
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0afbdc32cae0c607ef31840dca754b8b1e30b21f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/franka_data.csv
@@ -0,0 +1,422 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,680,662,636,879,787,804,652,631,653,0.400975643458,-0.00540338152611,0.0798413150756,0.999999936769,0.000220254632974,-0.000276478883241,3.88373854051e-05,1793239517101904640
+1,0.016666667,BASELINE,765.407928545,745,715,679.407928545,662,635.407928545,879,787,804,652,631,653,0.40097596674,-0.00540230597749,0.0798409793549,0.99999993645,0.000221633873526,-0.000276539863787,3.87946085203e-05,1793239517118571008
+2,0.033333333,BASELINE,765,745,715,679.179428778,661.820571222,635,879,787,803.820571222,652,631,653,0.400976327099,-0.00540131519854,0.0798409004342,0.999999936074,0.000223295694007,-0.000276561975158,3.87798952572e-05,1793239517135237376
+3,0.050000000,BASELINE,765,745,715,679.756343077,661.243656923,635,879,787,803.243656923,652,631,653,0.400976769596,-0.00540051220818,0.0798413903984,0.999999935577,0.000225583509267,-0.000276497980315,3.88273508493e-05,1793239517151903744
+4,0.066666667,BASELINE,765.331129855,745,715,680,661.331129855,635.331129855,878.668870145,787,803.331129855,652,631,653,0.400977170708,-0.00540060516095,0.0798416267534,0.999999935655,0.000225821072355,-0.000276009198254,3.89021870532e-05,1793239517168570368
+5,0.083333333,BASELINE,765.904361088,745,715,680,661.904361088,635.904361088,878.095638912,787,803.904361088,652,631,653,0.400977541564,-0.00540135317118,0.0798416776852,0.999999936156,0.000224559619534,-0.000275209838431,3.899704224e-05,1793239517185236736
+6,0.100000000,BASELINE,766,745,715,680,661.506605061,636,878.986789879,787,804,652,631,652.506605061,0.400977091531,-0.00540253847839,0.0798417313949,0.999999936574,0.000222532971509,-0.000275359126747,3.88468584532e-05,1793239517201903616
+7,0.116666667,BASELINE,765.917035643,745,715,679.917035643,661,635.917035643,879.917035643,787,803.917035643,652,631,652,0.400976707472,-0.00540342814058,0.0798419248085,0.999999936951,0.000220809973189,-0.000275402827912,3.86666935904e-05,1793239517218570496
+8,0.133333333,BASELINE,765.343026263,745,715,679.343026263,661,635.343026263,879.343026263,787,803.343026263,652,631,652,0.40097768685,-0.00540204965191,0.0798429418023,0.999999937204,0.000221791142098,-0.000273697207826,3.85995088236e-05,1793239517235237376
+9,0.150000000,BASELINE,765.233672155,745.233672155,715,679,661,635,879,787.233672155,803.233672155,652,631,652.233672155,0.400977408909,-0.00540081798718,0.079842633999,0.999999936717,0.000223624388778,-0.000274003075163,3.84705065359e-05,1793239517251904000
+10,0.166666667,BASELINE,765.814363933,745.814363933,715,679,661,635,879,787.814363933,803.814363933,652,631,652.814363933,0.400975263762,-0.00539980436647,0.0798403587786,0.99999993512,0.000226723030921,-0.000277296143269,3.82497008778e-05,1793239517268570624
+11,0.183333333,BASELINE,765.6096731,745.6096731,715,679,661,635.3903269,879,787.6096731,804,652,631,653,0.400975920844,-0.00540047152039,0.0798403460063,0.999999935611,0.000224794955709,-0.000277091198535,3.82901506483e-05,1793239517285237248
+12,0.200000000,BASELINE,765.035932145,745.035932145,715,679,661,635.964067855,879,787.035932145,804,652,631,653,0.400977894689,-0.00540192846785,0.0798413963551,0.99999993707,0.000220504833422,-0.000275242542822,3.84533639537e-05,1793239517301903872
+13,0.216666667,BASELINE,765,745,715,679.55332852,661,635.44667148,878.44667148,787,804,651.44667148,631,653,0.400976643366,-0.00540287838829,0.0798407994461,0.999999936224,0.000222556252392,-0.000276610459661,3.88145796901e-05,1793239517318570496
+14,0.233333333,BASELINE,765,745,715,679.859033753,661,635.140966247,878,787,803.859033753,651.140966247,631,652.859033753,0.400975747285,-0.00540342580494,0.0798405107765,0.999999935582,0.000224458235089,-0.000277359626633,3.90546979932e-05,1793239517335236864
+15,0.250000000,BASELINE,765,745,715,679.279667891,661,635.720332109,878,787,803.279667891,651.720332109,631,652.279667891,0.400976626128,-0.00540282680218,0.0798415229916,0.999999936072,0.000224577812123,-0.000275516156194,3.8877066459e-05,1793239517351903488
+16,0.266666667,BASELINE,765.29731568,745,715,679.29731568,661,635.70268432,878,787,803.29731568,651.70268432,631.29731568,652.29731568,0.400977004865,-0.0054023457926,0.0798416834291,0.999999936382,0.000223773514799,-0.00027507320869,3.86760901995e-05,1793239517368570368
+17,0.283333333,BASELINE,765.872076145,745,715,679.872076145,661,635.127923855,878,787,803.872076145,651.127923855,631.872076145,652.872076145,0.40097691692,-0.00540197489026,0.0798410490169,0.999999936524,0.000222107089637,-0.000275937181215,3.84533294546e-05,1793239517385237504
+18,0.300000000,BASELINE,765.55444943,745,714.55444943,679.55444943,661,635.44555057,878,787,803.55444943,651.44555057,631.55444943,652.55444943,0.400978231703,-0.0054019419532,0.0798424803,0.999999936842,0.000223003025094,-0.000274030694589,3.86394137837e-05,1793239517401904128
+19,0.316666667,BASELINE,765.01935787,745,714.01935787,679,661,635.98064213,878,786.98064213,803,652,631,652,0.400979823418,-0.00540203718816,0.0798443738552,0.999999937189,0.000224477693144,-0.000271509465548,3.89269491924e-05,1793239517418570496
+20,0.333333333,BASELINE,765.613999538,745,714.613999538,679,661,635.386000462,878,786.386000462,803,652,631,652,0.400977710685,-0.00540306607503,0.0798424304448,0.999999937134,0.000221350776713,-0.000274290170116,3.87509896549e-05,1793239517435237120
+21,0.350000000,BASELINE,766,745,715,679,661,635,878,786.202869002,803.202869002,652,631.202869002,652.202869002,0.400976619414,-0.00540353788932,0.0798414030845,0.999999937163,0.000219500498247,-0.0002756927972,3.85735733865e-05,1793239517451903488
+22,0.366666667,BASELINE,766,745,715,679,661,635,878,786.781059432,803.781059432,652,631.781059432,652.781059432,0.400977417921,-0.00540297908138,0.0798420704795,0.999999937373,0.000220012087061,-0.000274545887058,3.83934620876e-05,1793239517468570368
+23,0.383333333,BASELINE,766,745,715,679,661,635.35511588,878.35511588,787,803.64488412,652,631.64488412,653,0.400977401789,-0.00540157431066,0.0798421903246,0.999999936919,0.000222091067014,-0.000274525189004,3.83813582271e-05,1793239517485237504
+24,0.400000000,BASELINE,766,745,715,679,661,635.926652977,878.926652977,787,803.073347023,652,631.073347023,653,0.400976889185,-0.00539965397776,0.079841976472,0.999999936054,0.000225125275195,-0.000275190847611,3.84716445151e-05,1793239517501904128
+25,0.416666667,BASELINE,766,745,715,679,661.516369104,635.483630896,878.483630896,787.516369104,803,651.483630896,631.516369104,653,0.40097730661,-0.0054004180207,0.0798426827667,0.999999936137,0.000225858592611,-0.0002742817625,3.85256210496e-05,1793239517518570752
+26,0.433333333,BASELINE,765.894491054,745,715,679,661.894491054,635.105508946,878.105508946,787.894491054,803.105508946,651.105508946,631.894491054,653,0.400977592205,-0.00540142836509,0.0798431796273,0.999999936352,0.00022571413484,-0.000273606384805,3.85815253837e-05,1793239517535237632
+27,0.450000000,BASELINE,765.31981494,745,715,679,661.31981494,635.68018506,878.68018506,787.31981494,803.68018506,651.68018506,631.31981494,653,0.400976682728,-0.00540177654605,0.079842142799,0.999999936536,0.000223172805441,-0.000275001180009,3.86697731781e-05,1793239517551904256
+28,0.466666667,BASELINE,765,745,715,679,661,635.742399921,879,787,804,651.742399921,631,652.742399921,0.400976502222,-0.00540212995856,0.0798418785484,0.999999936733,0.000221988575558,-0.000275244714126,3.86583470015e-05,1793239517568570624
+29,0.483333333,BASELINE,765,745,715,679,661,635.161547996,879,787,804,651.161547996,631,652.161547996,0.400977236474,-0.00540248993591,0.0798425837741,0.999999936953,0.000222507314732,-0.000274043577516,3.85218440141e-05,1793239517585236992
+30,0.500000000,BASELINE,765,745,715.414707499,679.414707499,661,635.414707499,879,787,803.585292501,651.414707499,631.414707499,652,0.400976791847,-0.00540239783605,0.0798417909704,0.9999999367,0.000222394109578,-0.000275096419169,3.82559995114e-05,1793239517601903872
+31,0.516666667,BASELINE,765,745,715.989192084,679.989192084,661,635.989192084,879,787,803.010807916,651.989192084,631.989192084,652,0.400975893026,-0.00540213156142,0.0798404210112,0.999999936261,0.000222037431063,-0.00027701766588,3.79403227553e-05,1793239517618570240
+32,0.533333333,BASELINE,765.580710645,745,715.419289355,679.419289355,661,635.419289355,879,787,803,651.419289355,631.419289355,652,0.400977333351,-0.00540257747011,0.0798415776003,0.999999936396,0.000223168160651,-0.000275577212591,3.82351649574e-05,1793239517635236608
+33,0.550000000,BASELINE,765.831773709,745,715,679,661,635,878.831773709,787,803,651.168226291,631,652,0.400978069227,-0.00540248108737,0.0798423266792,0.999999936452,0.000224035204642,-0.000274642404119,3.84263160107e-05,1793239517651903488
+34,0.566666667,BASELINE,765.254778361,745,715,679,661,635,878.254778361,787,803,651.745221639,631,652,0.400976984399,-0.00540103382268,0.0798419678453,0.999999936296,0.00022419222623,-0.000275092872975,3.83370660683e-05,1793239517668570368
+35,0.583333333,BASELINE,765,745,715,679,661,635,878.322837642,787,803,652,631,652.322837642,0.400977062572,-0.00540085117253,0.079842147744,0.999999936488,0.000223750864588,-0.000274757993988,3.83116134096e-05,1793239517685237248
+36,0.600000000,BASELINE,765,745,715,679,661,635,878.900944462,787,803,652,631,652.900944462,0.400978060335,-0.00540166845863,0.0798427536207,0.999999936953,0.000222836358645,-0.00027380213697,3.83366055408e-05,1793239517701904128
+37,0.616666667,BASELINE,765,745,715,679,661,635.485745978,879,787,803.485745978,652,631,652.514254022,0.400977174534,-0.00540213105294,0.0798424993062,0.99999993697,0.00022275144177,-0.000273789875104,3.84716446622e-05,1793239517718571264
+38,0.633333333,BASELINE,765,745,715,679,661.071219331,635.928780669,879,787,803.928780669,652,631,652.071219331,0.400976122844,-0.00540239879749,0.0798421097151,0.999999936882,0.000222861954234,-0.000274007374575,3.85730147059e-05,1793239517735238144
+39,0.650000000,BASELINE,765,745,715,679,661.651599499,635.348400501,879,787,803.348400501,652,631,652.651599499,0.400976669606,-0.00540179785373,0.0798420246012,0.999999936704,0.000223143272192,-0.000274472593884,3.82709988509e-05,1793239517751904256
+40,0.666666667,BASELINE,765,745,715,679,662,635,878.770083098,787,803,652,631,652.770083098,0.400976535434,-0.00540123578845,0.0798419844963,0.999999936483,0.000223510448013,-0.000274993489766,3.81534794784e-05,1793239517768570368
+41,0.683333333,BASELINE,765,745,715,679,662,635,878.194863709,787,803,652,631,652.194863709,0.400975378593,-0.00540073211316,0.0798420119884,0.999999936199,0.00022400657012,-0.000275598003913,3.83130476011e-05,1793239517785236992
+42,0.700000000,BASELINE,765,745,714.618664033,679.381335967,661.618664033,635,878.381335967,787,803.381335967,652,631,652.381335967,0.400977052749,-0.00540085509082,0.0798428603338,0.999999936519,0.000224287812801,-0.000274184618374,3.84797320855e-05,1793239517801903872
+43,0.716666667,BASELINE,765,745,714.041962154,679.958037846,661.041962154,635,878.958037846,787,803.958037846,652,631,652.958037846,0.400980177282,-0.00540129911512,0.0798441292185,0.999999937142,0.00022445896851,-0.000271737423139,3.86500624166e-05,1793239517818570752
+44,0.733333333,BASELINE,765.546895699,745,714.546895699,679.453104301,661,635,879,787,804,652,631,653,0.400979003633,-0.00540120636169,0.0798437043589,0.999999937122,0.000223464930829,-0.000272645485061,3.85312966344e-05,1793239517835237632
+45,0.750000000,BASELINE,766,745,715,679,661,635.134366809,878.865633191,787,803.865633191,652,631.134366809,653,0.400977760802,-0.00540128763272,0.0798431598437,0.999999937074,0.000222483116995,-0.000273636245841,3.84257454442e-05,1793239517851904256
+46,0.766666667,BASELINE,766,745,715,679,661,635.714079929,878.285920071,787,803.285920071,652,631.714079929,653,0.400977406582,-0.00540208530142,0.0798426592649,0.999999937108,0.000221844871622,-0.000274028440184,3.84391834037e-05,1793239517868570624
+47,0.783333333,BASELINE,766,745,715,679.290410608,661,635.709589392,878,787,803.290410608,652,632,653,0.400977386584,-0.00540245338761,0.0798424271113,0.999999937116,0.000221535633854,-0.000274265882042,3.83251491772e-05,1793239517885237248
+48,0.800000000,BASELINE,766,745,715,679.863449555,661,635.136550445,878,787,803.863449555,652,632,653,0.40097769185,-0.0054024034031,0.0798424561896,0.999999937099,0.000221546587043,-0.00027435271844,3.80870586985e-05,1793239517901903616
+49,0.816666667,BASELINE,765.560668556,745,715,679.560668556,661,635,878.439331444,787,804,652,631.560668556,652.560668556,0.400977673692,-0.00540036443792,0.0798429579532,0.999999936405,0.000225280069119,-0.000273829581436,3.81645955505e-05,1793239517918570496
+50,0.833333333,BASELINE,765.016440133,745,715,679,661,635,878.983559867,787,804,651.983559867,631,652.016440133,0.400977552365,-0.00539783447532,0.079843562565,0.999999935528,0.000229902023143,-0.000273165741949,3.83296536911e-05,1793239517935237376
+51,0.850000000,BASELINE,765.605298382,745,715,679,661,635,878.394701618,787,804,651.394701618,631,652.605298382,0.400977361776,-0.00539987380338,0.0798425994512,0.999999936376,0.000224911385488,-0.000274247021802,3.8104081159e-05,1793239517951903744
+52,0.866666667,BASELINE,766,745,715,679.191087521,661,635,878,787,803.808912479,651.191087521,631,653,0.400977021948,-0.00540147473831,0.0798419259153,0.999999937103,0.000220967036592,-0.000274830088636,3.79071181547e-05,1793239517968570368
+53,0.883333333,BASELINE,766,745,715,679.770637425,661,635,878,787,803.229362575,651.770637425,631,653,0.400976378732,-0.00540218446243,0.0798418410631,0.999999937626,0.000219149691487,-0.000274400336711,3.77683155588e-05,1793239517985237504
+54,0.900000000,BASELINE,766,745,715,679.653155761,661,635.346844239,878.346844239,787.346844239,803.346844239,652,631,653,0.400976895335,-0.00540184389162,0.0798422103748,0.99999993757,0.000220011970986,-0.000273926758615,3.76734815173e-05,1793239518001904384
+55,0.916666667,BASELINE,766,745,715,679.079138597,661,635.920861403,878.920861403,787.920861403,803.920861403,652,631,653,0.400978171586,-0.00540081540802,0.0798428771506,0.99999993713,0.000222629327015,-0.000273424475662,3.760744561e-05,1793239518018571008
+56,0.933333333,BASELINE,765.492618697,745,715,679,661,635.492618697,879,787.492618697,804,652,631,653,0.400977583979,-0.00540165431307,0.0798425877062,0.999999936819,0.000223306186923,-0.000273937854687,3.81447097259e-05,1793239518035237120
+57,0.950000000,BASELINE,765,745,715,679,661.0943863,635,879,787,803.9056137,652,631,652.9056137,0.400976864255,-0.00540248124129,0.0798422925863,0.999999936615,0.000223503051951,-0.000274454272098,3.86207889301e-05,1793239518051903744
+58,0.966666667,BASELINE,765,745,715,679,661.673612586,635,879,787,803.326387414,652,631,652.326387414,0.400976996945,-0.00540171268748,0.0798427537961,0.999999936861,0.000222828310567,-0.000274151984987,3.82869969995e-05,1793239518068570368
+59,0.983333333,BASELINE,765,745,715,679.252458106,661.747541894,635,878.747541894,787,803,652,631,652,0.40097774593,-0.00540177774356,0.07984343616,0.999999937339,0.000221863441676,-0.000273221949774,3.80561682827e-05,1793239518085236992
+60,1.000000000,BASELINE,765,745,715,679.830812178,661.169187822,635,878.169187822,787,803,652,631,652,0.400979290488,-0.00540291889928,0.0798444040097,0.999999938113,0.000220524049624,-0.000271481559973,3.79582538342e-05,1793239518101903872
+61,1.016666667,BASELINE,765,745,715,680,661,635,878.402916802,787,803,652,631,652,0.400978948058,-0.00540295963824,0.079844108107,0.999999937944,0.000220558265196,-0.000272058865102,3.80884279878e-05,1793239518118570752
+62,1.033333333,BASELINE,765,745,715,680,661,635,878.972437281,787,803,652,631,652,0.400977825369,-0.00540254536142,0.0798432896503,0.999999937383,0.000221160459352,-0.000273594523271,3.83129154144e-05,1793239518135237888
+63,1.050000000,BASELINE,765.566169624,745,715,679.433830376,661,635,878.433830376,787,803.566169624,652,631,652.566169624,0.40097838501,-0.0054027321872,0.0798440871643,0.999999937805,0.000221704946438,-0.000271590525644,3.84077999555e-05,1793239518151904256
+64,1.066666667,BASELINE,765.843337587,745,715,679.156662413,661.156662413,635.156662413,878.156662413,787,804,652,631,653,0.40097865169,-0.00540279270551,0.0798445512161,0.999999938035,0.000222063588908,-0.000270455212703,3.83610939438e-05,1793239518168570880
+65,1.083333333,BASELINE,765.26488218,745,715,679.73511782,661.73511782,635.73511782,878.73511782,787,804,652,631,653,0.400977899251,-0.00540243084999,0.0798438961931,0.999999937622,0.000221929770804,-0.000272143396195,3.79509201598e-05,1793239518185236992
+66,1.100000000,BASELINE,765,745,715,680,661.687609929,635.687609929,879,787,804,652,631.312390071,652.687609929,0.400977606939,-0.0054020354628,0.0798437712311,0.999999937567,0.000221984406901,-0.000272328719375,3.7770255672e-05,1793239518201903360
+67,1.116666667,BASELINE,765,745,715,680,661.111337145,635.111337145,879,787,804,652,631.888662855,652.111337145,0.400977703306,-0.00540161175068,0.0798440940233,0.999999937813,0.000222198234385,-0.000271244543551,3.77834627186e-05,1793239518218569984
+68,1.133333333,BASELINE,765,745,715,680,661,635.473727866,879,787,804,652,632,652.473727866,0.400978416852,-0.00540134487801,0.0798440291045,0.99999993774,0.000222912917316,-0.000270881986785,3.81144202801e-05,1793239518235236864
+69,1.150000000,BASELINE,765.060104997,745.060104997,715,680,661.060104997,635.939895003,879,787,804,652,631.939895003,653,0.400978983985,-0.00540109577559,0.0798438500029,0.999999937518,0.000223789872168,-0.000270922297294,3.85008073991e-05,1793239518251903488
+70,1.166666667,BASELINE,765.639625897,745.639625897,715,680,661.639625897,635.360374103,879,787,804,652,631.360374103,653,0.400977008626,-0.00540067567129,0.0798434864993,0.99999993668,0.000225032661368,-0.000272950765837,3.87086416984e-05,1793239518268570880
+71,1.183333333,BASELINE,765.782301365,745.782301365,715,679.782301365,662,635.217698635,879,787,804,652,631,653,0.400975904399,-0.00540111496568,0.0798429823976,0.999999936373,0.000224626854335,-0.000274408939531,3.86825869057e-05,1793239518285237760
+72,1.200000000,BASELINE,765.206609955,745.206609955,715,679.206609955,662,635.793390045,879,787,804,652,631,653,0.400976232696,-0.00540296749129,0.0798422470904,0.999999936941,0.000221510026636,-0.000274929296752,3.82719151039e-05,1793239518301904640
+73,1.216666667,BASELINE,765,745,715,679.368725195,662,635.631274805,878.631274805,787,804,652,631,653,0.400976502787,-0.00540307791397,0.0798422646396,0.999999937168,0.000220492371287,-0.000274931485857,3.81996420256e-05,1793239518318570752
+74,1.233333333,BASELINE,765,745,715,679.943860877,662,635.056139123,878.056139123,787,804,652,631,653,0.400976740294,-0.00540221311618,0.0798427036339,0.999999937208,0.000220649822128,-0.000274643607059,3.83168028559e-05,1793239518335236864
+75,1.250000000,BASELINE,765.53355628,745,715,680,661.46644372,635.53355628,878.53355628,787,803.46644372,652,631,653,0.400978012124,-0.00540156230651,0.0798435930938,0.999999937081,0.000223572214883,-0.000272731566153,3.83627762722e-05,1793239518351903488
+76,1.266666667,BASELINE,765.877698602,745,715,679.877698602,661,635.877698602,879,787,803,652,631,653,0.400979088815,-0.00540105061385,0.0798443962431,0.999999937048,0.000225695546879,-0.00027110183819,3.83340691178e-05,1793239518368570368
+77,1.283333333,BASELINE,765.298389463,745,715,679.298389463,661,635.298389463,879,787,803,652,631,653,0.400979018254,-0.005400972271,0.0798446947963,0.999999937481,0.000223715419887,-0.000271183520301,3.80550743203e-05,1793239518385236992
+78,1.300000000,BASELINE,765.277578044,745,715,679.277578044,661,635,879,787,803.277578044,651.722421956,631,652.722421956,0.400978519214,-0.00540172585036,0.0798445036595,0.999999937839,0.000221878430915,-0.000271384976431,3.79666756823e-05,1793239518401903616
+79,1.316666667,BASELINE,765.849996073,745,715,679.849996073,661,635,879,787,803.849996073,651.150003927,631,652.150003927,0.400977565049,-0.00540336308726,0.07984379238,0.999999938118,0.000220193481513,-0.000271713655045,3.80807259589e-05,1793239518418570496
+80,1.333333333,BASELINE,765.577774393,745,715,680,661,635,879,787,804,651.422225607,631,652.422225607,0.400977178513,-0.00540276384495,0.0798430407135,0.999999937648,0.00022112038835,-0.000272715354991,3.78985391059e-05,1793239518435237376
+81,1.350000000,BASELINE,765.005611748,745,715,680,661,635,879,787,804,651.994388252,631,652.994388252,0.400976993548,-0.00540137040399,0.0798422747052,0.999999936908,0.000222974794424,-0.000273956052369,3.76111551429e-05,1793239518451904000
+82,1.366666667,BASELINE,765.592122913,745,715,680,661.592122913,635.592122913,879,787,804,652,631,653,0.400978129581,-0.00540175813132,0.0798431358125,0.999999937628,0.000221868246812,-0.000272194606395,3.78065653752e-05,1793239518468570624
+83,1.383333333,BASELINE,765.816688467,745,715,680,661.816688467,635.816688467,879,787,804,652,631,653,0.400978686386,-0.00540190258501,0.0798439386561,0.999999937902,0.000221996028349,-0.000271051984994,3.79972553999e-05,1793239518485237248
+84,1.400000000,BASELINE,765.240087503,745,715,680,661.240087503,635.240087503,879,787,804,652,631,653,0.400977972403,-0.00540148725065,0.0798445819186,0.999999937194,0.00022483494964,-0.000271300831825,3.81675584828e-05,1793239518501903872
+85,1.416666667,BASELINE,765,745,715,679.664953671,661,635.335046329,878.664953671,787,803.664953671,652,631,652.664953671,0.400977699789,-0.00540173117304,0.0798442872967,0.999999937136,0.000224642746363,-0.000271686386001,3.80758582459e-05,1793239518518570496
+86,1.433333333,BASELINE,765,745,715,679.090866607,661,635.909133393,878.090866607,787,803.090866607,652,631,652.090866607,0.400977742072,-0.005402445446,0.0798433235357,0.999999937542,0.000222287969617,-0.000272169474805,3.77972302197e-05,1793239518535237120
+87,1.450000000,BASELINE,765,745,715,679,661,636,878,787,803.494704361,652,631,652.494704361,0.400977774698,-0.0054019051137,0.0798431901149,0.999999937277,0.000223379892382,-0.000272215321127,3.80326976169e-05,1793239518551903744
+88,1.466666667,BASELINE,765,745,715,679,661,635.918600344,878,787,804,652,631,652.918600344,0.400977789676,-0.00540123604642,0.0798432026875,0.999999936869,0.000225162907798,-0.000272206109654,3.83162597975e-05,1793239518568570368
+89,1.483333333,BASELINE,765,745,715,679,661,635.338250142,878,787,804,652,631,652.338250142,0.400977707608,-0.00540122398913,0.0798431530629,0.999999936364,0.000227209266042,-0.000272363397209,3.83020583774e-05,1793239518585237248
+90,1.500000000,BASELINE,765.239459918,745,715,679.239459918,661,635.239459918,878.239459918,787,804,652,631,652,0.400977078239,-0.00540151359415,0.0798427063796,0.999999936295,0.000226759117894,-0.000273014465407,3.8136262157e-05,1793239518601903872
+91,1.516666667,BASELINE,765.813481254,745,715,679.813481254,661,635.813481254,878.813481254,787,804,652,631,652,0.400975684208,-0.00540222466667,0.0798417049456,0.999999936827,0.000222820975738,-0.000274355419204,3.77586652667e-05,1793239518618570496
+92,1.533333333,BASELINE,766,745.387485833,715,680,661.387485833,636,879,787,803.612514167,652,631.387485833,652.387485833,0.40097686895,-0.00540207687528,0.079842586636,0.999999937533,0.000221181055822,-0.000273120560502,3.76471596383e-05,1793239518635237120
+93,1.550000000,BASELINE,766,745.961482398,715,680,661.961482398,636,879,787,803.038517602,652,631.961482398,652.961482398,0.400979294947,-0.00540151568217,0.0798443747413,0.999999938323,0.000220647351773,-0.000270645871624,3.76637331778e-05,1793239518651903744
+94,1.566666667,BASELINE,766,745.446477154,715,680,661.446477154,636,878.446477154,787,803.553522846,652,632,653,0.400977108488,-0.00540242483705,0.0798427626226,0.999999937462,0.000221715596411,-0.000272872030621,3.81876859008e-05,1793239518668570368
+95,1.583333333,BASELINE,766,745,715,680,661,635.857149258,878.142850742,787,803.857149258,652,632,653,0.400975369276,-0.00540276335447,0.0798414386973,0.999999936637,0.000223164579052,-0.000274667476978,3.84852195452e-05,1793239518685236992
+96,1.600000000,BASELINE,766,745,715,680,661,635.280013569,878.719986431,787,803.280013569,652,632,653,0.400975998405,-0.00540104552386,0.0798417344782,0.999999936299,0.000225420741158,-0.000274125519646,3.79834560059e-05,1793239518701903872
+97,1.616666667,BASELINE,765.703443148,745,715,679.703443148,661,635,879,787,803,652,631.703443148,653,0.400977043134,-0.00540068840823,0.0798424237044,0.999999936408,0.000226216744792,-0.000273093670853,3.78140679417e-05,1793239518718570496
+98,1.633333333,BASELINE,765.127405482,745,715,679.127405482,661,635,879,787,803,652,631.127405482,653,0.400978479532,-0.00540161365636,0.0798434837209,0.99999993694,0.000225636667195,-0.000271600139067,3.79579168727e-05,1793239518735237120
+99,1.650000000,BASELINE,765,745.458778636,715,679,661.458778636,635.458778636,878.541221364,787,803.458778636,652,631,653,0.400977721764,-0.00540202740726,0.0798431731296,0.99999993699,0.00022448878643,-0.000272360597823,3.79957067638e-05,1793239518751903744
+100,1.666666667,BASELINE,765,745.952928351,715,679,661.952928351,636,878.047071649,787,804,652,631,652.952928351,0.400976549204,-0.00540222953344,0.0798425516024,0.999999936928,0.000223306332902,-0.000273560186105,3.79928234777e-05,1793239518768570624
+101,1.683333333,BASELINE,765,745.373374578,715,679,661.373374578,636,878.626625422,787,804,652,631,652.373374578,0.400977733213,-0.00540168091218,0.0798428157969,0.99999993717,0.000223556854911,-0.000272486331515,3.78705534196e-05,1793239518785236992
+102,1.700000000,BASELINE,765.204220745,745,715,679,661,635.795779255,878.795779255,787,804,651.795779255,631.204220745,652,0.40097827848,-0.00540126306355,0.079843110431,0.999999937309,0.000223808566001,-0.000271775926468,3.78101657679e-05,1793239518801903360
+103,1.716666667,BASELINE,765.778269405,745,715,679,661,635.221730595,878.221730595,787,804,651.221730595,631.778269405,652,0.400977667037,-0.00540108203406,0.0798434601887,0.999999937264,0.000224062430398,-0.000271723700439,3.78618423624e-05,1793239518818569984
+104,1.733333333,BASELINE,765.646396683,745,715,679,661,635,878.353603317,787,804,651.353603317,632,652.353603317,0.400977863595,-0.00540173382047,0.0798438282537,0.999999937602,0.000223175472904,-0.000271194025418,3.79913655907e-05,1793239518835236864
+105,1.750000000,BASELINE,765.070253843,745,715,679,661,635,878.929746157,787,804,651.929746157,632,652.929746157,0.400978568669,-0.00540290973783,0.0798442078405,0.999999938176,0.000221570541515,-0.000270363868847,3.81698814434e-05,1793239518851903744
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,636,879,787,804,652,631,653,0.400978550945,-0.00540177497455,0.0798440057482,0.99999993758,0.000224017583198,-0.000270557433562,3.81422160173e-05,1793239518882220800
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.573983301,745,715,679.426016699,661.573983301,635.426016699,879,787.573983301,804,652,631,653,0.40097719794,-0.00540299505258,0.0798435263028,0.999999937543,0.000222580161448,-0.000271884186241,3.80892654529e-05,1793239518898887424
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.149152317,661.850847683,635,879,787.850847683,804,652,631.149152317,653,0.40097630644,-0.00540373297701,0.0798431065669,0.999999937572,0.000221329211595,-0.000272806910071,3.80122780508e-05,1793239518915554048
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.727735314,661.272264686,635,879,787.272264686,804,652,631.727735314,653,0.40097674368,-0.00540308271309,0.0798428587426,0.999999937801,0.000220615140451,-0.000272566377845,3.78660851718e-05,1793239518932220672
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.695276479,745,715,680,661.304723521,635.304723521,879,787,804,652,632,653,0.400977230461,-0.0054025531784,0.0798430280511,0.999999937804,0.000221127217655,-0.000272143396167,3.78643152515e-05,1793239518948887552
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.119705801,745,715,680,661.880294199,635.880294199,879,787,804,652,632,653,0.400977761276,-0.0054021309514,0.0798435681192,0.999999937602,0.000222729131329,-0.000271558248105,3.79909126794e-05,1793239518965554176
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.528668683,636,879,787,803.528668683,652,631.528668683,653,0.40097709194,-0.00540287450857,0.0798432824866,0.999999937449,0.000222552638652,-0.000272264733596,3.80089903226e-05,1793239518982220800
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.064172899,745,715,679.935827101,661.064172899,636,878.935827101,787,803.064172899,651.935827101,631,653,0.400976374211,-0.00540370651949,0.0798429685723,0.999999937334,0.00022209405394,-0.000273063596394,3.79893869516e-05,1793239518998887168
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.639053583,745,715,679.360946417,661.639053583,636,878.360946417,787,803.639053583,651.360946417,631,653,0.400977779398,-0.00540280624419,0.0798441551146,0.999999937429,0.000223106965694,-0.00027189840072,3.78966885298e-05,1793239519015554048
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.214052293,661.785947707,635.785947707,878.214052293,787,804,651.214052293,631,653,0.400980620766,-0.0054020040943,0.0798455487,0.999999937714,0.000224110565601,-0.000270022242749,3.78700112327e-05,1793239519032220928
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.789250078,661.210749922,635.210749922,878.789250078,787,804,651.789250078,631,653,0.400985885234,-0.00540136750008,0.079847291605,0.999999938315,0.000225098454617,-0.000266946561057,3.79547236958e-05,1793239519048887296
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.375507567,635.375507567,879,787,803.624492433,652,631,653,0.401004580562,-0.00540138363793,0.0798558425251,0.999999942061,0.000225238803143,-0.000252367708666,3.81539912633e-05,1793239519065553920
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.968160628,635.968160628,879,787,803.031839372,652,631,653,0.40103104258,-0.00540177723236,0.0798683303294,0.999999947262,0.00022488904279,-0.000231136894945,3.84195028285e-05,1793239519082220544
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.452738588,745,715,680,662,636,879,787,803.547261412,652,631.547261412,653,0.401084019505,-0.00540502281786,0.0798865532882,0.999999955426,0.000222137406895,-0.000195661562925,3.89864185599e-05,1793239519098887168
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.12441138,745,715,679.87558862,662,635.87558862,878.87558862,787,803.87558862,651.87558862,631.87558862,653,0.401141118791,-0.0054072539268,0.0799036971241,0.999999961849,0.000220206939178,-0.000162106805028,3.91354073076e-05,1793239519115553792
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.697302754,745,715,679.302697246,662,635.302697246,878.302697246,787,803.302697246,651.302697246,631.302697246,653,0.401207651952,-0.00540524435349,0.0799157771811,0.999999965131,0.000221728193967,-0.000138390607561,3.77161621579e-05,1793239519132220672
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.271375647,661.728624353,635.271375647,878.271375647,787,803.271375647,651.271375647,631,653,0.401280463671,-0.0054054398201,0.0799250287845,0.999999967257,0.000221778900242,-0.000122424021834,3.62144680959e-05,1793239519148887552
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.846772157,661.153227843,635.846772157,878.846772157,787,803.846772157,651.846772157,631,653,0.401360309223,-0.00540810558271,0.0799311116838,0.999999968532,0.000220182157938,-0.000115139291181,3.4620407007e-05,1793239519165554176
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.436031104,715,680,661.436031104,636,879.436031104,787,804,652,631.436031104,653,0.401449859404,-0.00540946142362,0.0799331492014,0.999999969486,0.000217369653333,-0.000112996947347,3.17974943724e-05,1793239519182220800
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.970647618,745.970647618,715,680,661.970647618,635.970647618,879.970647618,787,804,652,631.970647618,653,0.401544396925,-0.00541043965976,0.0799338653894,0.999999970347,0.000214110053274,-0.000112471436492,2.84975262891e-05,1793239519198887424
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.395351012,745.395351012,715,680,661.395351012,635.395351012,879.395351012,787,804,652,631.395351012,653,0.401666183049,-0.00541323762444,0.0799373149511,0.999999971734,0.000210742024375,-0.000107303128683,2.46202468815e-05,1793239519215553792
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.179833622,635.179833622,879,787.179833622,803.820166378,652,631.179833622,653,0.401800504011,-0.00541504292453,0.0799426873184,0.99999997339,0.000208228286759,-9.71491442596e-05,2.0574166316e-05,1793239519232220416
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.754772168,635.754772168,879,787.754772168,803.245227832,652,631.754772168,653,0.401962364722,-0.00541466728238,0.0799522842009,0.999999975431,0.000207591477178,-7.60413390225e-05,1.61572202961e-05,1793239519248887296
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679.670879019,661.670879019,636,879,787.670879019,803.329120981,652,631.670879019,653,0.402138245099,-0.00541606746533,0.0799600653184,0.999999977317,0.000203693755437,-6.12916748582e-05,1.09164535806e-05,1793239519265554176
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679.096968769,661.096968769,636,879,787.096968769,803.903031231,652,631.096968769,653,0.402324552856,-0.00541878844805,0.0799664959312,0.999999979195,0.000197370675358,-5.12709829062e-05,5.06295589985e-06,1793239519282220800
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,787,804,652,631,652.504825848,0.402523493112,-0.00542114723373,0.0799659745969,0.999999980658,0.000189172691263,-5.3805455743e-05,-1.80363397838e-06,1793239519298887424
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,679.088237312,661,636,879,787,804,652,631,652.088237312,0.402728995393,-0.00542353069405,0.0799632376395,0.9999999819,0.000180374188503,-5.98691021682e-05,-8.96329722172e-06,1793239519315554304
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745,715,679.665845377,661,636,879,787,804,652,631,652.665845377,0.402956646912,-0.00542645941373,0.0799560516383,0.999999982806,0.000170359290289,-7.13486910595e-05,-1.66060140306e-05,1793239519332220928
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745,715,679.758111639,661,636,879,787,804,652,631,653,0.403205676395,-0.00542856564356,0.0799506563309,0.999999984724,0.000154289967024,-7.85716549443e-05,-2.39381828279e-05,1793239519348887552
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.184216858,661,636,879,787,804,652,631,653,0.403484048417,-0.0054295429561,0.0799477188593,0.99999998789,0.000129910579426,-7.99521426141e-05,-3.08441052165e-05,1793239519365554176
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.399957328,745,715,679,661.399957328,635.600042672,879,787,803.600042672,652,631,652.600042672,0.403799167129,-0.00543127896114,0.0799512664015,0.999999989647,0.000121166782702,-7.28008433258e-05,-2.69102681186e-05,1793239519382221056
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.988990996,745,715,679,661.988990996,635.011009004,879,787,803.011009004,652,631,652.011009004,0.40413165751,-0.0054333736314,0.0799578796774,0.999999990765,0.000119814575957,-6.16162160929e-05,-1.78520290251e-05,1793239519398887680
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.431490568,745,715,679.568509432,661.431490568,635,879,787,803.568509432,651.431490568,631,652.568509432,0.404496989029,-0.00543744053513,0.0799599462438,0.999999990837,0.000119358986001,-5.94690471396e-05,-2.32802379351e-05,1793239519415554048
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679.852754283,661.147245717,635,878.852754283,787,804,651.147245717,631.147245717,652.852754283,0.404873202837,-0.00544245046311,0.0799607996051,0.999999991517,0.000113630017882,-5.72072623705e-05,-2.79513636616e-05,1793239519432220928
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,679.275771899,661.724228101,635,878.275771899,787,804,651.724228101,631.724228101,652.275771899,0.405279351055,-0.00545010297938,0.0799583649578,0.999999993823,9.24608552416e-05,-5.41086201624e-05,-2.96077046573e-05,1793239519448887552
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,679.305980351,662,635,878.305980351,787,803.694019649,652,631.694019649,652.305980351,0.405701474864,-0.00546178437033,0.0799534583667,0.999999994642,7.87215142228e-05,-6.04001190924e-05,-2.95015184383e-05,1793239519465554176
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,679.892099697,662,635,878.892099697,787,803.107900303,652,631.107900303,652.892099697,0.406138225103,-0.00547715438105,0.0799462885978,0.999999994203,7.17845120109e-05,-7.52887210022e-05,-2.77816582024e-05,1793239519482220800
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.472835175,745,715,680,662,635.472835175,879,787,803,652,631,653,0.406609827254,-0.00549295380786,0.0799406390768,0.999999994904,4.85540284145e-05,-8.41976967742e-05,-2.73086211228e-05,1793239519498887168
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.947877964,745,715,680,662,636,879,787,803,652,631,653,0.407092355706,-0.00550682578466,0.079935963105,0.999999995156,2.5265158766e-05,-9.11288510507e-05,-2.73101219651e-05,1793239519515553792
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.370945412,745,715,680,662,636,879,787,803,652,631,653,0.407605722255,-0.00550031494643,0.0799376359268,0.999999994627,3.84045050902e-05,-9.17302930769e-05,-2.92571105934e-05,1793239519532220672
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635.794656596,879.205343404,787,803,652,631,652.794656596,0.408128962559,-0.00549826055145,0.0799351499045,0.999999993597,4.43812571365e-05,-9.94144445416e-05,-3.08855429147e-05,1793239519548887552
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635.219527065,879.780472935,787,803,652,631,652.219527065,0.408669983672,-0.00550423140064,0.0799251745603,0.999999991606,3.74594787551e-05,-0.000119853267533,-3.19403131442e-05,1793239519565554176
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.364820638,745.364820638,715,679.635179362,662,635,879.635179362,787,803.364820638,652,631,652.364820638,0.409275161406,-0.00550784736807,0.0799359352549,0.999999993708,2.98570255489e-05,-0.000102946856404,-3.30701575912e-05,1793239519582221056
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.954859053,745.954859053,715,679.045140947,662,635,879.045140947,787,803.954859053,652,631,652.954859053,0.409919945463,-0.00551000957641,0.0799594971022,0.999999997192,2.18343658815e-05,-6.29857986276e-05,-3.42463481558e-05,1793239519598887680
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.535437895,745.464562105,715,679,662,635.535437895,879,787,804,652,631.535437895,653,0.410601162341,-0.00551357679708,0.079991392049,0.99999999921,1.77022247479e-05,-8.98003375617e-06,-3.44254703116e-05,1793239519615554304
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.771970341,745.114014829,715,679.114014829,662,636,879,787,804,652,632,653,0.411276465865,-0.00551791614707,0.0800130498823,0.999999998958,1.12463090151e-05,2.70377136148e-05,-3.50215379434e-05,1793239519632220672
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.624639503,745.687680249,715,679.687680249,662,636,879,787,804,652,632,653,0.411915761652,-0.00552489908608,0.0799906537005,0.999999999174,-5.87725992432e-06,-1.41538870695e-05,-3.76315231979e-05,1793239519648887296
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.26233646,745.73766354,715,679.73766354,661.73766354,635.73766354,879,787,804,651.73766354,631.73766354,653,0.412569327979,-0.00552777217961,0.0799628004104,0.999999997485,-1.34676174141e-05,-5.65351312813e-05,-4.06555175427e-05,1793239519665553920
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.83817679,745.16182321,715,679.16182321,661.16182321,635.16182321,879,787,804,651.16182321,631.16182321,653,0.413239948326,-0.00552573382387,0.0799284256275,0.999999993944,-9.6653607094e-06,-0.000100338058417,-4.41742717286e-05,1793239519682220544
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.574091371,745,715,679.851817258,661,635.425908629,879,787,804,651,631,653,0.413980659076,-0.00552941081967,0.0799250259157,0.999999994021,-1.35851279606e-05,-9.83934106277e-05,-4.57319822974e-05,1793239519698887424
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.017815289,715,680.982184711,661.017815289,635.982184711,879,787,804,651.017815289,631,653,0.414749212602,-0.00553529508929,0.0799342465495,0.999999995672,-2.05398316686e-05,-7.79521822412e-05,-4.64565137137e-05,1793239519715553792
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.594871709,715,680.405128291,661.594871709,635.405128291,879,787,804,651.594871709,631,653,0.415531804495,-0.00554034326576,0.0799595831711,0.999999997862,-2.80186930143e-05,-3.81856099201e-05,-4.50877835043e-05,1793239519732220672
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.171155629,745.828844371,715,680.171155629,662,635,879.171155629,787,804,652,631,653,0.416305557103,-0.00554476415747,0.0799721081045,0.999999998108,-3.64181318743e-05,-2.10909498123e-05,-4.48697278487e-05,1793239519748887552
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.745619209,745.254380791,715,680.745619209,662,635,879.745619209,787,804,652,631,653,0.417058480937,-0.00554770692669,0.0799544438117,0.999999996126,-4.69868021469e-05,-5.74199660712e-05,-4.73631005805e-05,1793239519765554176
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680.6706927,662,635.3293073,879.6706927,787,804.3293073,651.6706927,631,653,0.417864072169,-0.00555331043304,0.0799590211442,0.999999996035,-5.86108965367e-05,-4.55580743394e-05,-4.91815923247e-05,1793239519782220800
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,680.079673604,662,635.920326396,879.079673604,787,804.920326396,651.079673604,631,653,0.418711519953,-0.00556102851824,0.0799812746594,0.99999999619,-7.10737720623e-05,4.60278532198e-06,-5.04637328377e-05,1793239519798887424
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.499024183,745,715,680.500975817,662,636,879.500975817,787.500975817,805,651.500975817,631,652.499024183,0.419574302622,-0.00556482300791,0.0799892845497,0.999999995817,-7.26547457322e-05,2.27304684634e-05,-5.06958474998e-05,1793239519815553792
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.079404397,745,715,681,662,635.920595603,880,787.920595603,804.841191206,652,631,652,0.420434147955,-0.00556745909509,0.0799922883452,0.999999995582,-7.29023878285e-05,3.058834057e-05,-5.08558520266e-05,1793239519832220416
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.654058537,745,715,681,662,635.345941463,880,787.345941463,803.691882927,652,631,652,0.421260770036,-0.00556668313381,0.0799779108858,0.999999995811,-7.54090664813e-05,5.52285605074e-06,-5.15865232638e-05,1793239519848887040
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.771032275,745,715,680.771032275,662,635,880,787,803.228967725,651.771032275,631,652.228967725,0.422109753449,-0.00555363519439,0.0799785980017,0.999999996761,-6.17404046807e-05,3.05672004439e-06,-5.15441192966e-05,1793239519865554176
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.195737223,745,715,680.195737223,662,635,880,787,803.804262777,651.195737223,631,652.804262777,0.422992559834,-0.00552202515674,0.0800020711834,0.99999999785,-2.36055769991e-05,3.47734414049e-05,-5.03323930821e-05,1793239519882220800
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879.611228462,787,804,651.388771538,631,653,0.423849124311,-0.0055076771669,0.0800114344766,0.999999997828,-3.19287851928e-06,4.35040704707e-05,-4.94044982793e-05,1793239519898887424
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879.021968246,787,804,651.978031754,631,653,0.424692155837,-0.00550223118132,0.0800135213282,0.99999999797,8.08055227603e-06,4.03808173951e-05,-4.86229748581e-05,1793239519915554048
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,680.559198411,662,635,879,787,804,652,631,652.440801589,0.42553966972,-0.00551294195417,0.079964579359,0.999999997772,-1.44649776426e-05,-4.04359941052e-05,-5.11078330371e-05,1793239519932220672
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.13852547,879,787,804.13852547,652,631,652,0.426397853269,-0.00552231215203,0.0799261646996,0.999999993069,-3.24865283667e-05,-9.96869303675e-05,-5.35588964477e-05,1793239519948887296
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.713048974,879,787,804.713048974,652,631,652,0.427289072388,-0.0055254937583,0.0799271034762,0.999999994614,-3.21472477849e-05,-8.15914299606e-05,-5.55054775219e-05,1793239519965553920
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.706430605,879,787,804.706430605,651.706430605,631,652,0.428148765135,-0.00552894492001,0.0799294705952,0.999999994815,-3.38991601714e-05,-7.83013394351e-05,-5.55886222122e-05,1793239519982220544
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.11992626,879,787,804.11992626,651.11992626,631,652,0.42897699959,-0.00553266505442,0.0799332629697,0.999999993809,-3.77377461852e-05,-8.97846632893e-05,-5.38123575605e-05,1793239519998887168
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.460768646,879.460768646,787,804.460768646,651.460768646,631,652,0.429874565664,-0.00553311634747,0.079961228124,0.999999996599,-4.20243946576e-05,-4.70306468188e-05,-5.31477165792e-05,1793239520015553792
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.960430266,880,787,805,652,631,652.039569734,0.43078879041,-0.00553252212397,0.0799951828875,0.999999997526,-4.57984670965e-05,8.58601713395e-06,-5.26877976004e-05,1793239520032220672
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635.387034128,880,787,805,652,631,652.612965872,0.431687339487,-0.00552915805067,0.0800261209674,0.999999996615,-4.11037945509e-05,4.96572311812e-05,-5.11350921541e-05,1793239520048887296
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.188233601,745,715,681,662,635,880,787,804.811766399,651.811766399,631,653,0.432543086883,-0.0055252503517,0.0800293964002,0.999999996887,-3.53461887731e-05,4.85850620912e-05,-5.11395432629e-05,1793239520065554176
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.767388333,745,715,681,662,635,880,787,804.232611667,651.232611667,631,653,0.433309944458,-0.00552021365732,0.0799752224074,0.999999997346,-2.73810959249e-05,-4.00099380214e-05,-5.43778767645e-05,1793239520082220544
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.647243846,745,715,681,662,635,880,787,804,651,631,653,0.434090982497,-0.00552176451734,0.0799336752906,0.999999993397,-3.41412739812e-05,-9.34393680701e-05,-5.75249893025e-05,1793239520098887168
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.057705619,745,715,681,662,635,880,787,804,651,631,653,0.434881538905,-0.00552773717093,0.0799006037708,0.999999989277,-5.07855612215e-05,-0.000123264452023,-6.06108711486e-05,1793239520115553792
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.52302268,745.52302268,715,681,662,635,880,787,804.52302268,651,631,653,0.435704957505,-0.00553121036077,0.0799265080102,0.999999992767,-5.31471509742e-05,-9.02863560126e-05,-5.90818026457e-05,1793239520132220672
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.897698359,745.897698359,714.897698359,681.102301641,662,635,880,787,804.897698359,651,631,653,0.436524518464,-0.00553367679216,0.0799539806171,0.999999995242,-5.30663564676e-05,-5.85782832453e-05,-5.71690430237e-05,1793239520148887296
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.320708978,745.320708978,714.320708978,681.679291022,662,635,880,787,804.320708978,651,631,653,0.437309634692,-0.0055327301747,0.079959038392,0.999999995178,-4.88435315718e-05,-6.43823712726e-05,-5.57993886493e-05,1793239520165554176
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,714.25478779,682,662,635,880,787,804.509575581,651.25478779,631,653,0.438063437212,-0.0055331779793,0.0799524973135,0.999999994052,-4.92830709181e-05,-7.96360304354e-05,-5.58970759653e-05,1793239520182220800
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,714.828416663,682,662,635,880,787,805.656833326,651.828416663,631,653,0.438778053742,-0.00553537076176,0.0799314414458,0.99999999109,-5.55570866019e-05,-0.000106714869133,-5.78309926799e-05,1793239520198887680
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,714.587424322,681.587424322,662,635,880,787,805.174848644,652,631,653,0.439444217968,-0.00553399578243,0.0798941403471,0.999999983127,-5.88722023133e-05,-0.000163231284135,-6.02943795936e-05,1793239520215554048
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.001208304,745,714,681.002416607,661.998791696,635,880,787,804.001208304,651.998791696,631,653,0.440089570274,-0.00553110182907,0.0798498293808,0.999999969148,-6.09205580863e-05,-0.000232434774995,-6.29862300695e-05,1793239520232220416
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.58006417,745,714,682.160128339,661.41993583,635,880,787,804.58006417,651.41993583,631,653,0.440671004632,-0.00552995802872,0.0797688073837,0.999999930799,-6.1069682271e-05,-0.000360833713955,-6.68725031926e-05,1793239520248887040
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.841665682,745,714,682.683331364,661,635,880,786.841665682,804.841665682,651,631,652.841665682,0.441264837507,-0.00553031697942,0.079700645006,0.999999887146,-6.1297208848e-05,-0.00046583894339,-7.03120971927e-05,1793239520265553920
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.264943129,745,714,681.529886258,661,635,880,786.264943129,804.264943129,651,631,652.264943129,0.44189143279,-0.00553464685268,0.0796664633266,0.999999865907,-6.17319109538e-05,-0.000509027843468,-7.25713736664e-05,1793239520282220544
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681.310435073,661,635,880,786,804,651.310435073,631,652.310435073,0.442522486943,-0.00553877808425,0.0796795191165,0.999999877547,-6.85808894369e-05,-0.000484806839062,-7.18625255338e-05,1793239520298887424
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681.88467084,661,635,880,786,804,651.88467084,631,652.88467084,0.443157330106,-0.00554274051435,0.0797327162402,0.999999913048,-8.08805744349e-05,-0.000403302419693,-6.86314318927e-05,1793239520315554048
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681.526593414,660.526593414,634.526593414,880,786,804,651.526593414,631.473406586,653,0.443748076302,-0.00554387482934,0.0797549353597,0.999999924926,-7.68017918582e-05,-0.000373755018284,-6.75055507347e-05,1793239520332220928
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.064222362,714,681.064222362,660,634,880.064222362,786,804,651,631.935777638,653,0.444318720827,-0.00554403126808,0.0797647304196,0.999999929104,-7.00908991933e-05,-0.000363868793933,-6.6918033555e-05,1793239520348887296
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.642518966,714,681.642518966,660,634,880.642518966,786,804,651,631.357481034,653,0.444817167639,-0.00554204940333,0.0797373930515,0.999999912203,-7.52589136899e-05,-0.000406842592158,-6.64049336594e-05,1793239520365553920
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,714,682,660,633.781753793,880.781753793,786,804.218246207,651,631,653,0.445303899747,-0.00553912517567,0.079711828633,0.999999894421,-7.75423095448e-05,-0.000447956433326,-6.69414612703e-05,1793239520382220544
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,746,714,682,660,633.210186178,880.210186178,786,804.789813822,651,631,653,0.445771666732,-0.00553467534557,0.0796891344662,0.999999876656,-7.5155761236e-05,-0.000486059164067,-6.91772436048e-05,1793239520398887424
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.374537121,746,714,682.374537121,659.625462879,633,880.374537121,786,804.625462879,651.374537121,631,653,0.446222598728,-0.00553299245195,0.0796754626537,0.999999869784,-6.66726543494e-05,-0.000501071423545,-7.01068598144e-05,1793239520415554048
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.966912069,746,714,682.966912069,659.033087931,633,880.966912069,786,804.033087931,651.966912069,631,653,0.446663739224,-0.00553291886014,0.0796670384096,0.999999869707,-5.4643674264e-05,-0.000502653834974,-7.02767855107e-05,1793239520432220672
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.45534286,745.45534286,714,682.45534286,659,632.45534286,880.45534286,785.45534286,804.54465714,652,631,653,0.447075622346,-0.00553513184585,0.0796640785235,0.999999870961,-6.66508448516e-05,-0.000498684410358,-7.03563579359e-05,1793239520448887296
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714,682.121842747,659,632,880,785,804.878157253,652,631,653,0.447473390603,-0.00553713826328,0.0796598519876,0.9999998699,-7.77690914277e-05,-0.000499166893462,-7.06014137756e-05,1793239520465554176
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682.700175165,659,632,880,785,804.299824835,652,631,653,0.447824761829,-0.00553786394541,0.0796496687163,0.999999860293,-8.0229352264e-05,-0.00051755922033,-7.14864879079e-05,1793239520482220800
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658.717987687,632.282012313,880.282012313,785,804,652,631,653,0.44815135989,-0.00553932166974,0.0796354056268,0.999999847263,-7.98300618573e-05,-0.000542147498801,-7.1946398021e-05,1793239520498887424
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658.13237759,632.86762241,880.86762241,785,804,652,631,653,0.448451288604,-0.00554156746737,0.0796167504468,0.9999998301,-7.63523474414e-05,-0.000573405971144,-7.1948601599e-05,1793239520515553792
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,682.550629173,658,632.550629173,881,784.550629173,804.449370827,652,630.550629173,653,0.448735090437,-0.00554335978521,0.0796038817589,0.999999817989,-7.95842176202e-05,-0.0005937711505,-7.15843630598e-05,1793239520532220672
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,682.029654538,658,632,880.970345462,784.029654538,805,652,630.029654538,653,0.449013244547,-0.00554498346247,0.0795936018805,0.999999808135,-8.45631801272e-05,-0.000609521419875,-7.11454647211e-05,1793239520548887296
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714,682.603754733,658,632,880.396245267,784.603754733,805,652,630.603754733,653,0.449274187069,-0.00554594269192,0.0795998222099,0.999999814416,-8.56387959279e-05,-0.000598957631998,-7.13008401066e-05,1793239520565553920
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657.820977812,631.820977812,880,785,805,651.820977812,630.820977812,653,0.449524033938,-0.0055478572555,0.0796053138513,0.999999819609,-8.8443406349e-05,-0.000589853590695,-7.09448336688e-05,1793239520582220544
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657.243109879,631.243109879,880,785,805,651.243109879,630.243109879,653,0.449749160633,-0.0055519002197,0.0796091820386,0.999999822537,-9.51000651332e-05,-0.000584001738342,-6.94495133346e-05,1793239520598887424
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.341910257,714,683,657.341910257,631.341910257,880.341910257,784.658089743,805,651,630,653,0.449950442397,-0.00555339773798,0.0796119144619,0.999999822933,-9.78786266744e-05,-0.000583057767433,-6.78070664261e-05,1793239520615554048
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.932124565,714,683,657.932124565,631.932124565,880.932124565,784.067875435,805,651,630,653,0.45013440738,-0.00555304668816,0.0796138220642,0.999999821522,-9.78408146128e-05,-0.00058567802609,-6.605777225e-05,1793239520632220672
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,714,682.488871751,658,631.488871751,880.488871751,784,804.488871751,651,630,653,0.450292001204,-0.00555201461077,0.0796104968045,0.999999818493,-9.47445102968e-05,-0.000591347211992,-6.59206746978e-05,1793239520648887296
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.088067156,745.911932844,714,682,658,631.088067156,880,784.088067156,804,651,630.088067156,653,0.450441145451,-0.00555134398461,0.0796062780272,0.999999815091,-9.21738668177e-05,-0.000597453653889,-6.61081562539e-05,1793239520665553920
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.661654295,745.338345705,714,682,658,631.661654295,880,784.661654295,804,651,630.661654295,653,0.450562598887,-0.0055531539479,0.0796008820307,0.999999810998,-9.46923174281e-05,-0.000603786478524,-6.69300917585e-05,1793239520682220544
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.763063663,745.236936337,714,682.236936337,657.763063663,631.763063663,880,784.763063663,804.236936337,651,630.763063663,653,0.450676876033,-0.00555372215768,0.0795987182171,0.999999808983,-9.42519142091e-05,-0.000607126602599,-6.74343853086e-05,1793239520698887424
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.185343891,745.814656109,714,682.814656109,657.185343891,631.185343891,880,784.185343891,804.814656109,651,630.185343891,653,0.450780831576,-0.00555250436428,0.079601203224,0.999999809997,-8.95558175946e-05,-0.000606162351613,-6.74818172029e-05,1793239520715553792
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,683,657,631,880,784,804.597495596,651.402504404,630,653,0.450868343265,-0.00555283214326,0.0796020713352,0.999999810288,-9.04941415988e-05,-0.000605512149818,-6.77446377543e-05,1793239520732220672
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,683,657,631,880,784,804.004862977,651.995137023,630,653,0.450948087482,-0.0055538899936,0.0796021756846,0.999999810235,-9.4093957948e-05,-0.000605010293287,-6.81091999509e-05,1793239520748887296
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,683,657,631,880,784,804.570568616,652,630,653,0.451007285956,-0.00555428579088,0.0796013885909,0.999999809011,-9.46002591113e-05,-0.000606949541501,-6.81176106194e-05,1793239520765554176
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.853976687,714,683,657,631.146023313,880,784,805,652,630.146023313,653,0.451061445092,-0.0055546270288,0.0796003189522,0.999999807517,-9.52815352709e-05,-0.000609317300386,-6.79748140454e-05,1793239520782220800
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.278035072,714,683,657,631.721964928,880,784,805,652,630.721964928,653,0.451101267992,-0.00555482376123,0.0795984391665,0.999999805252,-9.65533233198e-05,-0.000612887206884,-6.73955122506e-05,1793239520798887168
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.297708922,714,683,657,632,880,784,804.702291078,652,630.702291078,653,0.451133133532,-0.00555449571794,0.0795956775288,0.999999802229,-9.57496988196e-05,-0.000617957054932,-6.71065271407e-05,1793239520815553792
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.873268543,714,683,657,632,880,784,804.126731457,652,630.126731457,653,0.4511575725,-0.00555367790332,0.0795920928615,0.99999979847,-9.30090991642e-05,-0.000624426793601,-6.70884935127e-05,1793239520832220416
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.53900104,714,683,657.46099896,631.53900104,880,784,804.46099896,651.53900104,630,653,0.451178003271,-0.00555250022808,0.0795907076332,0.999999796997,-9.26381162939e-05,-0.00062682245952,-6.72078549039e-05,1793239520848887552
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,683,658,631,880.050987896,784,804.949012104,651,630,653,0.451196540008,-0.00555145112896,0.0795899949327,0.999999796189,-9.30105480605e-05,-0.000628044594279,-6.7318397637e-05,1793239520865554176
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658,631,880.628805244,784,804.371194756,651,630,653,0.45120720057,-0.00555278041888,0.0795898142761,0.99999979549,-9.41509682984e-05,-0.000629027297019,-6.69369755418e-05,1793239520882220800
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,682.795110943,657.795110943,631,881,784,804,651.204889057,630.204889057,653,0.451215215125,-0.00555364030548,0.0795890087139,0.999999794268,-9.55664198169e-05,-0.000630780318539,-6.66800551522e-05,1793239520898887680
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,682.222141434,657.222141434,631,881,784,804,651.777858566,630.777858566,653,0.451218476163,-0.00555365691524,0.0795870805174,0.999999792103,-9.74759612843e-05,-0.000633917207385,-6.6646800435e-05,1793239520915554560
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.36224148,714,682.36224148,656.63775852,631,881,784,804.36224148,652,630.63775852,653,0.451222068401,-0.0055528938199,0.0795866750706,0.999999791993,-9.7028071413e-05,-0.000634187043839,-6.63743059145e-05,1793239520932221184
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.953851245,714,682.953851245,656.046148755,631,881,784,804.953851245,652,630.046148755,653,0.451225870351,-0.00555163702179,0.0795872338163,0.999999793187,-9.50874756057e-05,-0.00063264148651,-6.59503267473e-05,1793239520948887552
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.467352877,714,683,656.532647123,631,881,784,805.532647123,651.467352877,630.532647123,653,0.451227143275,-0.00555187233094,0.0795863343022,0.999999792347,-9.43554797189e-05,-0.000634131547693,-6.54165346672e-05,1793239520965554432
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880.889626746,784,805.889626746,651.110373254,631,653,0.451228243524,-0.00555213537656,0.0795854241666,0.999999791523,-9.39942659096e-05,-0.000635524319114,-6.50172194474e-05,1793239520982220800
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,683,657,631,880.311839906,784,805.311839906,651.688160094,631,653,0.451229518642,-0.00555198127576,0.0795849915302,0.999999791504,-9.47702284289e-05,-0.000635417453583,-6.52267377759e-05,1793239520998887168
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.26979281,714,683,656.73020719,631.26979281,880.26979281,784,804.73020719,652,630.73020719,653,0.45123082102,-0.00555185500689,0.0795852681253,0.999999791784,-9.489060089e-05,-0.000634973977375,-6.50812298349e-05,1793239521015554048
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.855935139,714,683,656.144064861,631.855935139,880.855935139,784,804.144064861,652,630.144064861,653,0.451232155359,-0.00555176137275,0.0795863763403,0.999999792414,-9.42422517057e-05,-0.000634135803361,-6.45194306568e-05,1793239521032220672
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,713.563292704,683,656,631.563292704,881,784,804.436707296,652,630,653,0.451232284353,-0.00555148238899,0.079585473327,0.999999791752,-9.42588544559e-05,-0.000635137126041,-6.48974493499e-05,1793239521048887552
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,713.015717867,683,656,631,881,783.984282133,805,651.984282133,630,653,0.451232065535,-0.00555119034424,0.0795839711228,0.999999790714,-9.4520989072e-05,-0.00063666515612,-6.55446018367e-05,1793239521065554688
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,713.594316229,683,656,631,881,783.405683771,805,651.405683771,630,653,0.451233457802,-0.00555259365141,0.0795844826376,0.99999979132,-9.58157971273e-05,-0.000635587884528,-6.486187957e-05,1793239521082221056
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714,682.827682368,656,631,881,783.172317632,805,651.172317632,630.172317632,653,0.451234223602,-0.00555301842996,0.0795846117824,0.999999791479,-9.58680589072e-05,-0.000635369668042,-6.44669860011e-05,1793239521098887680
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714,682.251081559,656,631,881,783.748918441,805,651.748918441,630.748918441,653,0.451233519615,-0.00555114743255,0.0795838438293,0.999999790588,-9.30051194654e-05,-0.000637166924587,-6.47473820506e-05,1793239521115554048
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.66871844,714,682.33128156,656,631,881,784,804.66871844,652,630.66871844,653,0.451233409879,-0.00555041289287,0.0795839327655,0.999999790299,-9.22328661881e-05,-0.000637715116494,-6.49183237562e-05,1793239521132220416
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.081910727,714,682.918089273,656,631,881,784,804.081910727,652,630.081910727,653,0.451233758506,-0.00555055493292,0.0795846826428,0.99999979048,-9.30732140966e-05,-0.000637299872015,-6.50048404442e-05,1793239521148887040
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.498553348,714,683,656.498553348,631,881,783.501446652,804.498553348,652,630,653,0.451233302024,-0.0055516331104,0.0795843138775,0.999999790153,-9.36428344652e-05,-0.000637748873607,-6.48204105995e-05,1793239521165553920
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,683,656.922582349,631,880.922582349,783.077417651,805,652,630.077417651,653,0.451232784094,-0.00555253863837,0.0795838066947,0.999999789792,-9.40100371518e-05,-0.000638278687158,-6.46404517434e-05,1793239521182220800
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,683,656.347387304,631,880.347387304,783.652612696,805,652,630.652612696,653,0.451232710884,-0.00555135756862,0.0795835763961,0.99999978975,-9.33581418346e-05,-0.000638426592362,-6.47718694391e-05,1793239521198887936
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.772470802,714,683,656,631,880,784,805,652,630.772470802,653,0.451233049177,-0.00555084619365,0.0795833780807,0.999999789739,-9.345322461e-05,-0.000638429421117,-6.47804597459e-05,1793239521215554560
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.19797897,714,683,656,631,880,784,805,652,630.19797897,653,0.451234014977,-0.00555135604595,0.079583228537,0.999999789774,-9.4687385215e-05,-0.000638211020674,-6.46017487729e-05,1793239521232220928
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.388096503,713.611903497,683,656,631,880,784,805,652,630.388096503,653,0.451233898321,-0.00555131949407,0.0795827580554,0.999999789198,-9.45184045351e-05,-0.000639141508516,-6.45621982356e-05,1793239521248887552
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.980262881,713.019737119,683,656,631,880,784,805,652,630.980262881,653,0.451233212485,-0.00555099563053,0.0795821188175,0.999999788299,-9.36116205191e-05,-0.000640676107681,-6.45958213973e-05,1793239521265553920
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,713,683,656,631,880.559710638,784,805,652,630.440289362,652.440289362,0.451235506001,-0.0055519093986,0.0795836200573,0.999999789914,-9.5356638934e-05,-0.000637921957056,-6.42971741786e-05,1793239521282220288
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.862350252,713.137649748,683,656,631,880.862350252,783.862350252,805,652,630,652.137649748,0.451237071807,-0.0055521695172,0.0795845917922,0.999999791062,-9.64363591289e-05,-0.000635965055483,-6.42161907461e-05,1793239521298887168
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.287807656,713.712192344,683,656,631,880.287807656,783.287807656,805,652,630,652.712192344,0.451236001848,-0.00555021954587,0.0795836486613,0.999999790484,-9.51142552118e-05,-0.000637007924381,-6.48624228512e-05,1793239521315553792
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745,713.706193224,683,656,631,880.293806776,783,804.706193224,651.706193224,630,653,0.451235034818,-0.0055497590378,0.0795829331492,0.999999789874,-9.41219656157e-05,-0.000638109652472,-6.48701415928e-05,1793239521332220672
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745,713.117480535,683,656,631,880.882519465,783,804.117480535,651.117480535,630,653,0.451234171104,-0.00555079356522,0.0795824461074,0.999999789236,-9.34607242635e-05,-0.000639270459887,-6.42369582378e-05,1793239521348887296
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745.463181116,713,682.536818884,656,631,881,783.463181116,804,651,630.463181116,653,0.451235227908,-0.00555077901453,0.0795829056345,0.999999789418,-9.49066618812e-05,-0.000638734703814,-6.46117214206e-05,1793239521365553920
+256,4.266666667,HOLD_POSE2,765,745,714,682,656,631,881,783,804,652,631,653,0.451238972654,-0.00555313844518,0.0795855711167,0.999999790987,-9.67751769561e-05,-0.000636092061755,-6.36185026988e-05,1793239521409919488
+257,4.283333333,HOLD_POSE2,764.425982737,745.574017263,714,682.574017263,656,631,880.425982737,783.574017263,804,652,630.425982737,653,0.451238564915,-0.0055529733325,0.0795849250273,0.999999790903,-9.59240666365e-05,-0.000636367619443,-6.34690501165e-05,1793239521426586368
+258,4.300000000,HOLD_POSE2,764,745.847261011,714,683,656,631,880.152738989,783.847261011,804.152738989,651.847261011,630,653,0.451238158014,-0.00555275202883,0.0795844721368,0.999999790775,-9.55030316686e-05,-0.000636636673998,-6.34319052318e-05,1793239521443252992
+259,4.316666667,HOLD_POSE2,764,745.25500163,714,683,656,631,880.74499837,783.25500163,804.74499837,651.25500163,630,653,0.451237753525,-0.00555236903039,0.0795845751936,0.999999790519,-9.63195776134e-05,-0.000636887015254,-6.37179359713e-05,1793239521459919616
+260,4.333333333,HOLD_POSE2,764.328939017,745.328939017,714,682.671060983,656,631,880.671060983,783.328939017,804.671060983,651.328939017,630,653,0.451237539368,-0.00555218906854,0.0795844085486,0.999999790374,-9.68919978182e-05,-0.00063703019143,-6.36907747896e-05,1793239521476586496
+261,4.350000000,HOLD_POSE2,764.906589808,745.906589808,714,682.093410192,656,631,880.093410192,783.906589808,804.093410192,651.906589808,630,653,0.451237469121,-0.00555216262328,0.0795840379812,0.999999790313,-9.72798337709e-05,-0.000637092339752,-6.34268082414e-05,1793239521493253888
+262,4.366666667,HOLD_POSE2,764.517932375,745.517932375,713.517932375,682,656,631,880,783.517932375,804,651.517932375,630.482067625,653,0.451237647226,-0.00555088291356,0.079584111209,0.999999790215,-9.66693727026e-05,-0.000637314711836,-6.36756787836e-05,1793239521509920512
+263,4.383333333,HOLD_POSE2,764.057191905,745.057191905,713.057191905,682,656,631,880.057191905,783,804.057191905,651.057191905,630.942808095,653,0.451237684129,-0.00554952494616,0.0795841507619,0.999999790027,-9.57649126137e-05,-0.000637714961384,-6.39969284431e-05,1793239521526586880
+264,4.400000000,HOLD_POSE2,764.632911261,745.632911261,713.632911261,682,656,631,880.632911261,783,804.632911261,651.632911261,630.367088739,653,0.451236006483,-0.0055496493204,0.0795831088401,0.999999789088,-9.39408684518e-05,-0.000639447709032,-6.40774879602e-05,1793239521543253504
+265,4.416666667,HOLD_POSE2,765,746,714,682,656,631,880.785193599,783.214806401,804.785193599,651.785193599,630,652.785193599,0.451235428067,-0.00554943339529,0.0795827173806,0.999999788947,-9.21087066685e-05,-0.000639945263232,-6.3967923744e-05,1793239521559920128
+266,4.433333333,HOLD_POSE2,765,746,714,682,656,631,880.192432134,783.807567866,804.192432134,651.192432134,630,652.192432134,0.451236783765,-0.00554861870841,0.0795834704193,0.999999790215,-9.02622620025e-05,-0.00063826947597,-6.35238339774e-05,1793239521576586752
+267,4.450000000,HOLD_POSE2,765,746,714,682,656,631,880,783.61304622,804.38695378,651,630,652.38695378,0.451237025382,-0.00554788604923,0.0795834746307,0.999999790463,-9.02385904107e-05,-0.000637860282536,-6.37558621259e-05,1793239521593253376
+268,4.466666667,HOLD_POSE2,765,746,714,682,656,631,880,783.040089677,804.959910323,651,630,652.959910323,0.451236731478,-0.00554719281943,0.0795831188923,0.999999790223,-9.10910977931e-05,-0.000638059921233,-6.4312889776e-05,1793239521609920000
+269,4.483333333,HOLD_POSE2,764.463210954,745.463210954,714,682.536789046,656.536789046,631,880.536789046,783,804.463210954,651.536789046,630.536789046,653,0.451237484062,-0.00554823280527,0.0795835579071,0.999999790332,-9.15987986758e-05,-0.000637819660977,-6.42827260198e-05,1793239521626586624
+270,4.500000000,HOLD_POSE2,764.116098674,745.116098674,714,683,656.883901326,630.883901326,881,783,804.116098674,652,630.883901326,653,0.451238025378,-0.00554940511546,0.0795838896601,0.999999790324,-9.25062086048e-05,-0.000637711235445,-6.41804633574e-05,1793239521643253504
+271,4.516666667,HOLD_POSE2,764.704089708,745.704089708,714,683,656.295910292,630.295910292,881,783,804.704089708,652,630.295910292,653,0.451237387964,-0.00555058526131,0.0795835424082,0.999999789732,-9.51437080025e-05,-0.000638273181259,-6.39647087351e-05,1793239521659920128
+272,4.533333333,HOLD_POSE2,765,745.710624706,714,683,656.289375294,630.289375294,881,783.289375294,804.710624706,651.710624706,630,653,0.451237639686,-0.00555040970024,0.0795837059143,0.999999789771,-9.46820402186e-05,-0.000638312685037,-6.36355581201e-05,1793239521676586496
+273,4.550000000,HOLD_POSE2,765,745.128080074,714,683,656.871919926,630.871919926,881,783.871919926,804.128080074,651.128080074,630,653,0.451238792202,-0.0055488606573,0.079584386875,0.999999790447,-9.10805714428e-05,-0.000637822896927,-6.31915247729e-05,1793239521693252864
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,656,631,881,783,804,652,630,653,0.451237283679,-0.00554916448509,0.0795817581772,0.999999789278,-9.22735908142e-05,-0.000639382854614,-6.41840415241e-05,1793239521725998592
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.576831576,713.576831576,683,655.423168424,631,880.423168424,783,804,652,630,653,0.451237076576,-0.00554966406276,0.0795819588929,0.999999788698,-9.22466918387e-05,-0.000640310362724,-6.4002738033e-05,1793239521742665216
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,655.151657843,631,880.151657843,783,804.151657843,652,630,653,0.451236751885,-0.00554996946221,0.0795821281055,0.999999788179,-9.26390197719e-05,-0.000641073592692,-6.39156081972e-05,1793239521759331840
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,683,655.720961874,631,880.720961874,783,804.720961874,652,630,653,0.451236103375,-0.00554974011996,0.0795822105624,0.999999787824,-9.41858446712e-05,-0.000641384421997,-6.40878204514e-05,1793239521775998976
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,655.694650642,631,880.694650642,783,805,652,630,653,0.451236864957,-0.00554978872213,0.0795828300807,0.999999788383,-9.51153473117e-05,-0.000640369052075,-6.41475283299e-05,1793239521792665600
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,683,655.095763186,631,880.095763186,783,805,652,630,653,0.451238982087,-0.00555010451753,0.0795839658863,0.999999789818,-9.54514063241e-05,-0.000638078781791,-6.4099083619e-05,1793239521809332224
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.516277551,714,683,655.483722449,631,880,783.483722449,805,651.516277551,630,653,0.451239827056,-0.00555106958648,0.0795843112573,0.999999790756,-9.37913906367e-05,-0.000636923148618,-6.34083237449e-05,1793239521825999104
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.060709039,713.939290961,683,656,631,880,783.939290961,804.939290961,651.060709039,630,653,0.451240176809,-0.00555192586599,0.0795843627759,0.999999791405,-9.20306051712e-05,-0.000636224551309,-6.27628831388e-05,1793239521842665472
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.64805188,713.35194812,683,656,631,880,783.35194812,804.35194812,651.64805188,630,653,0.451238331187,-0.0055507663991,0.0795831703098,0.999999790406,-9.26914294776e-05,-0.000637617189025,-6.35711139271e-05,1793239521859332096
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.766661629,713,682.766661629,656,631,880,783.233338371,804.233338371,651.766661629,630,653,0.451231107632,-0.005550090484,0.079578950152,0.999999786446,-9.3065482855e-05,-0.000643703005066,-6.39788809861e-05,1793239521875998464
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.184449723,713,682.184449723,656,631,880,783.815550277,804.815550277,651.184449723,630,653,0.451215843315,-0.00555013754665,0.0795702031712,0.999999777943,-9.3010773471e-05,-0.000656805779628,-6.37878986187e-05,1793239521892665088
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.392158492,713.392158492,682.392158492,656,631,880,783.607841508,804.607841508,651.392158492,630,653,0.451182675243,-0.00554991195091,0.0795535094585,0.999999760005,-9.44496471301e-05,-0.000683311074276,-6.44639565358e-05,1793239521909331968
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.966168223,713.966168223,682.966168223,656,631,880,783.033831777,804.033831777,651.966168223,630,653,0.451141204864,-0.00554955991838,0.0795331306965,0.999999736838,-9.65811231378e-05,-0.000716031369104,-6.55420772021e-05,1793239521925998848
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.448599812,714,683,656,631,880.551400188,783,804,652,630,653,0.451074499927,-0.00554709230546,0.0795104598384,0.999999708133,-9.44847506251e-05,-0.000755323353048,-6.55161416899e-05,1793239521942677760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.135818455,714,683,656,631,881,783.135818455,804.135818455,652,630,653,0.451005284358,-0.00554472034561,0.0794905378003,0.999999682773,-9.22035503846e-05,-0.000788479658102,-6.52166286836e-05,1793239521959351296
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.7152831,714,683,656,631,881,783.7152831,804.7152831,652,630,653,0.450933030396,-0.00554309364069,0.0794800635997,0.99999967367,-9.0183555412e-05,-0.000800249553374,-6.42493539447e-05,1793239521976004864
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,713.717907733,683,656,631,881,784,805,651.717907733,630.282092267,653,0.450853857446,-0.00554120420618,0.0794758217025,0.999999670008,-8.86606781155e-05,-0.000805096984624,-6.2791213697e-05,1793239521992665344
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,713.163323388,683,656,631,881,784,805,651.163323388,630.836676612,653,0.450768000979,-0.00553906098342,0.0794776000112,0.999999671698,-8.76180006737e-05,-0.000803257537109,-6.08589131818e-05,1793239522009331968
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.569417698,713,683,656,631,880.569417698,784,805,651,630.569417698,653,0.450665362424,-0.00553672889237,0.0794785749094,0.999999673513,-8.42455141802e-05,-0.000801572563705,-5.79522851109e-05,1793239522025998336
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.038860454,682.961139546,656,631,880.038860454,783.961139546,805,651.038860454,630,653,0.450553330761,-0.00553433821922,0.0794791158932,0.999999675174,-8.00601536488e-05,-0.000800161143068,-5.46343377384e-05,1793239522042665216
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.618719565,682.381280435,656,631,880.618719565,783.381280435,805,651.618719565,630,653,0.450408057266,-0.00553222955276,0.079478284931,0.999999674307,-7.80974287465e-05,-0.000801660318095,-5.12522467994e-05,1793239522059331840
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.198363325,656,631,880.801636675,783.198363325,805,651.801636675,630.198363325,653,0.450251048613,-0.00553021833462,0.0794767039096,0.99999967184,-7.6179663542e-05,-0.000805146921976,-4.74763823496e-05,1793239522075998720
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.777593536,656,631,880.222406464,783.777593536,805,651.222406464,630.777593536,653,0.450071507925,-0.00552839422204,0.0794736827396,0.999999666277,-7.43482232899e-05,-0.000812449482274,-4.29444546803e-05,1793239522092665344
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.355782831,714,683,656,631,880,784,805,651.355782831,630.644217169,653,0.449876221734,-0.00552408347669,0.0794740661522,0.999999666743,-6.71286359874e-05,-0.000812751183409,-3.79975035061e-05,1793239522109332224
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.933323383,714,683,656,631,880,784,805,651.933323383,630.066676617,653,0.44967112143,-0.00551822282495,0.0794765716244,0.999999670874,-5.65506424425e-05,-0.000808689283447,-3.27918697391e-05,1793239522125998848
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.49267587,656,631.50732413,880,784,805,652,630,653,0.44944201878,-0.00551429490026,0.0794825884902,0.999999678884,-4.69980279799e-05,-0.000799592548118,-2.59661911239e-05,1793239522142665216
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.916625068,714,682.083374932,656.083374932,631.916625068,880,784,805,651.916625068,630,653,0.449201796375,-0.00551024740728,0.0794880226913,0.99999968568,-3.69627900894e-05,-0.000791779852465,-1.89474047037e-05,1793239522159331840
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.325268687,714,682.674731313,656.674731313,631.325268687,880,784,805,651.325268687,630,653,0.448912910999,-0.00550393449503,0.0794871145842,0.999999683015,-2.31716616151e-05,-0.000795794208868,-1.20403328504e-05,1793239522175998464
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,631.260751691,880.260751691,784,804.739248309,651.260751691,630,652.739248309,0.448607959232,-0.00549770808174,0.0794861621662,0.999999680741,-9.0001926322e-06,-0.000799005062194,-5.35922395602e-06,1793239522192665344
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,631.840249243,880.840249243,784,804.159750757,651.840249243,630,652.159750757,0.44828336774,-0.00549158740615,0.079485155582,0.999999678996,5.63620812575e-06,-0.000801233703927,1.045664807e-06,1793239522209331968
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,632,881,784,804,651.584273513,630,652.415726487,0.4479335182,-0.00548461230391,0.0794832790114,0.999999676567,3.62459010281e-05,-0.000803448085975,4.72723456788e-06,1793239522225998848
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,632,881,784,804,651.010326365,630,652.989673635,0.447574055747,-0.00547731201697,0.0794810713341,0.999999672771,7.29348426046e-05,-0.000805657040011,7.37234066653e-06,1793239522242665728
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.565517148,713.434482852,682.434482852,657,632,881,784,804,651.565517148,630.565517148,653,0.447201576352,-0.00546914185051,0.0794992268179,0.999999696718,5.98200587704e-05,-0.000776514877627,3.33257077069e-06,1793239522259332352
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.854630588,713.145369412,682,657.145369412,632,881,784,804,652,630.854630588,653,0.446812636851,-0.00546125416086,0.0795173170739,0.999999717798,5.18142018968e-05,-0.000749478749474,1.14907145203e-06,1793239522275998976
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.26256702,713.73743298,682,657.73743298,632,881,784,804,652,630.26256702,653,0.446373851305,-0.00545428344636,0.0795340604759,0.9999997311,6.23110456703e-05,-0.00073067911916,5.04590904786e-06,1793239522292665344
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.321140855,714,682.321140855,658,632.321140855,881,784.321140855,804,652,630.321140855,653,0.445908681081,-0.00544276327395,0.0795483665064,0.999999741184,7.99967228065e-05,-0.000714978162468,6.2201014245e-06,1793239522309331968
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.898190361,714,682.898190361,658,632.898190361,881,784.898190361,804,652,630.898190361,653,0.445422485559,-0.00542761775811,0.0795607302619,0.999999748415,0.000103410992196,-0.000701746454586,5.22469026383e-06,1793239522325998848
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.526973692,714,683,658,633,880.526973692,785,804.473026308,652,631,653,0.444902866848,-0.00540633336617,0.0795725899216,0.99999975813,0.000118958840271,-0.000685252258163,4.20731962198e-06,1793239522342665472
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.04844887,714,683,658.04844887,633,880,785.04844887,804.95155113,652,631,653,0.444374125297,-0.00538560232049,0.0795841067582,0.999999767627,0.000133063007167,-0.000668601382872,3.49384060702e-06,1793239522359332096
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.635668617,714,683,658.635668617,633,880,785.635668617,804.364331383,652,631,653,0.443823557773,-0.00538564933679,0.0795930121795,0.999999772284,0.000149853047717,-0.000657980392782,6.21207181345e-06,1793239522375998976
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.779593452,714,683,659,633,880,786,804,652,631,653,0.443248643836,-0.00538913569288,0.0796022145686,0.999999780856,0.000149104892664,-0.000644970154967,8.37492745951e-06,1793239522392665856
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.19891231,714,683,659,633,880,786,804,652,631,653,0.442633933501,-0.00539824396337,0.0796119023779,0.999999795565,0.000119688957226,-0.000628054474435,9.62997096347e-06,1793239522409332480
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,713.62107988,682.62107988,659.37892012,633,880.37892012,785.62107988,804,651.62107988,631,653,0.44201569532,-0.00541295562718,0.079631814024,0.99999981688,0.000114190198335,-0.00059417939636,1.22675661043e-05,1793239522425998848
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,713.044731728,682.044731728,659.955268272,633,880.955268272,785.044731728,804,651.044731728,631,653,0.44139561905,-0.00543058681612,0.0796570525761,0.99999984048,0.000121152961443,-0.000551467995338,1.56255094528e-05,1793239522442665216
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.529549555,682.529549555,660,633.529549555,881,785.529549555,804.529549555,651.529549555,631,653,0.440696138446,-0.00542929718045,0.0796479313957,0.999999835873,0.000107620051472,-0.000562541358208,1.4797969335e-05,1793239522459332096
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.893363176,660,634.106636824,881,786,804.893363176,651.893363176,631,653,0.439986186789,-0.0054243674219,0.0796346963741,0.999999826896,0.000100699407865,-0.000579540845763,1.41417001647e-05,1793239522475998720
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.302751708,660,634.697248292,881,786,804.302751708,651.302751708,631,653,0.439259035457,-0.00541014243038,0.079615912025,0.999999809471,0.000131615743531,-0.000602896637059,1.58611237315e-05,1793239522492665344
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,635,880.7178019,786.2821981,804,651.2821981,631,653,0.438545032734,-0.00540401477149,0.0796419192594,0.999999832533,0.000141802382462,-0.000560785393471,1.85838886112e-05,1793239522509332224
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,660,635,880.138806576,786.861193424,804,651.861193424,631,653,0.437844858754,-0.00540640334763,0.0797150353049,0.999999890107,0.00013018690545,-0.000449820267764,2.23619013292e-05,1793239522525998848
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.437814431,745,714.437814431,682.437814431,660.437814431,635,880,787,804,652,631,653,0.437129133478,-0.00541140182457,0.0797828953777,0.999999931113,0.000127751952126,-0.000347422335297,2.74050849406e-05,1793239522542665472
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.986037215,745.013962785,715,683,661,635,880,787,804,652,631,653,0.436407054301,-0.00541719726618,0.0798478357874,0.9999999601,0.000128343863165,-0.000249507621279,3.27681272476e-05,1793239522559332096
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.398548503,745.601451497,715,683,661,635,880,787,804,652,631,653,0.435625412252,-0.00542192368023,0.0798609280024,0.999999965104,0.000134354919947,-0.000224776202414,3.48824206986e-05,1793239522575998720
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.813775173,714.813775173,682.813775173,661,635,880,787,804,652,631,653,0.434815178464,-0.00542492260278,0.0798610098176,0.999999965719,0.000135801012656,-0.000220975251512,3.59139119654e-05,1793239522592665344
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.234729675,714.234729675,682.234729675,661,635,880,787,804,652,631,653,0.433944633616,-0.00542427757279,0.0798336476329,0.999999957111,0.000127617818271,-0.000261324808967,3.46613516768e-05,1793239522609331968
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.342897141,745,714,682,661,635,880,787,804,652,631,653,0.433017460483,-0.00541720171432,0.0797920163727,0.999999933447,0.000135662441931,-0.000336950502225,3.41423265587e-05,1793239522625998592
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.919556778,745,714,682,661,635,880,787,804,652,631,653,0.432051682312,-0.00540574178164,0.0797406574889,0.99999989212,0.000154770018806,-0.000436624912065,3.412337252e-05,1793239522642665472
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.509558868,745,714.490441132,682,661,635,880,787,804,651.509558868,631,653,0.431195632361,-0.00540089587793,0.0797267268979,0.99999988066,0.000164721920142,-0.000458625905059,3.47718481744e-05,1793239522659332352
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.936773857,682,661,635,880,787,804,651.063226143,631,652.936773857,0.430359552146,-0.00539853251646,0.0797280163047,0.999999881888,0.000171617555241,-0.000453298792255,3.5931573344e-05,1793239522675998976
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.340051638,682,661,635,880,787,804,651.659948362,631,652.340051638,0.429541878406,-0.00540806930898,0.079806532597,0.999999933159,0.000165248709746,-0.000323628858527,4.04921974888e-05,1793239522692665344
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.248167923,745,714.248167923,681.751832077,661,635,879.751832077,787,804,652,631,652.248167923,0.428693720156,-0.00541800212007,0.0798577879137,0.999999957749,0.000157940888244,-0.000239996912784,4.42420110899e-05,1793239522709331968
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.825122764,745,714.825122764,681.174877236,661,635,879.174877236,787,804,652,631,652.825122764,0.427805174189,-0.0054284596003,0.079872926357,0.999999964118,0.000149389060089,-0.000217358687772,4.69176183056e-05,1793239522725998592
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.598292726,745,715,681,661,635,879.401707274,787,804,651.598292726,631,652.598292726,0.426857770523,-0.00542853120893,0.0798370293304,0.99999995154,0.000150926221494,-0.000268468491783,4.54507238913e-05,1793239522742665216
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.02186932,745,715,681,661,635,879.97813068,787,804,651.02186932,631,652.02186932,0.425884767697,-0.00542408564877,0.0797789352445,0.999999924979,0.00015685142663,-0.000351653817228,4.21821144562e-05,1793239522759331840
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787,804,651.552801036,631,652.552801036,0.424955114776,-0.00541746590786,0.0797587883435,0.999999910226,0.000166958281838,-0.000387134693556,4.24106976428e-05,1793239522775998720
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.131679698,745,714.868320302,681,661,635,879.868320302,787,803.868320302,651.868320302,631.131679698,653,0.424033247438,-0.0054103228239,0.079741947234,0.999999895727,0.000178113057318,-0.00041830327541,4.29410208172e-05,1793239522792665344
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.725572707,745,714.274427293,681,661,635,879.274427293,787,803.274427293,651.274427293,631.725572707,653,0.42313270787,-0.00540164369759,0.0797314570498,0.999999883314,0.000192367327201,-0.000440938623095,4.40463923016e-05,1793239522809332224
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.309565014,681,661,635,879,787,803.309565014,651,632,653,0.422290814588,-0.00539919245124,0.0797596114443,0.999999904476,0.000197735134039,-0.000387175059204,4.52078162853e-05,1793239522825998848
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.885052395,681,661,635,879,787,803.885052395,651,632,653,0.421499299652,-0.00540209107532,0.0798209622838,0.999999943965,0.000195469293534,-0.000267783339479,4.64173899253e-05,1793239522842665472
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.539548499,745,715,681,661,635,879,787,804.460451501,651.460451501,631.539548499,653,0.420658123209,-0.00539948196097,0.079858484992,0.999999957466,0.000199119841749,-0.000207557337139,4.83651954773e-05,1793239522859332096
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,879,787,804.963375429,652,631,653,0.419802433248,-0.00539546100866,0.0798853515629,0.999999963485,0.000204226180468,-0.000169710517548,5.01921672633e-05,1793239522875998464
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,879,787,804.375215968,652,631,653,0.418914843812,-0.00539088070697,0.0798413076145,0.999999946652,0.000209017775696,-0.000246491295103,4.74247186331e-05,1793239522892665088
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.209750201,745,715,681,661,635,879,787,804,652,631,653,0.418046000229,-0.00538702143501,0.0798117029262,0.999999931863,0.000212596209701,-0.000298357961018,4.53809426561e-05,1793239522909331968
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.789089741,745,715,681,661,635,879,787,804,652,631,653,0.417210187538,-0.00538443264929,0.0798075408597,0.999999929181,0.000214037001344,-0.000306324850377,4.46123105644e-05,1793239522925998592
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.637354909,745,715,681,661,635,879,787,803.637354909,652,631.362645091,653,0.416383090483,-0.0053821605375,0.079805333082,0.999999924841,0.000218003065518,-0.000317430950255,4.50607415867e-05,1793239522942665472
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.0671108,745,715,681,661,635,879,787,803.0671108,652,631.9328892,653,0.415560982811,-0.00538006970835,0.0798042440524,0.999999919415,0.000223414741587,-0.00033033411523,4.62058899477e-05,1793239522959332352
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.523272699,745,714.476727301,681,661,635,879,787,803.523272699,651.476727301,631.476727301,652.476727301,0.414778332039,-0.00538417837945,0.0797941633365,0.999999916705,0.000218766880847,-0.000341621088912,4.50062729707e-05,1793239522975998976
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,714.113677865,681,660.886322135,635,879,787,804,651.113677865,631,652.113677865,0.414012766347,-0.00539277212131,0.079789053013,0.999999918414,0.000209021117734,-0.000342844607465,4.40335141429e-05,1793239522992665344
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.693164336,681,660.306835664,635,879,787,804,651.693164336,631,652.693164336,0.413295643109,-0.00541635555213,0.0798092239964,0.999999935947,0.000183884271597,-0.000303715270195,4.52718977201e-05,1793239523009331968
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.728684,660,635,878.728684,787,804,652,631,653,0.412574568382,-0.00542854926694,0.0798165439223,0.999999941561,0.000171126029207,-0.000292406519612,4.57352478313e-05,1793239523025998592
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.152034539,660,635,878.152034539,787,804,652,631,653,0.41184904678,-0.00542792522735,0.0798094015303,0.99999993533,0.00017229841559,-0.000312406489849,4.53263911616e-05,1793239523042665216
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.576885584,660.423114416,635,878.423114416,787,804,652,631,653,0.411147677862,-0.00542323844811,0.0798007566365,0.999999929147,0.000177346891716,-0.000328967865357,4.51072189997e-05,1793239523059331584
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.002273842,660.997726158,635,878.997726158,787,804,652,631,653,0.410454956822,-0.00541709699329,0.0797915737671,0.999999922831,0.000183783212912,-0.000344298043786,4.49559638775e-05,1793239523075998208
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.41149249,745,715,679,661,635,879,787,804,652,631,653,0.409839660531,-0.00542032282323,0.0798097690264,0.999999932012,0.000187435587921,-0.000314163478918,4.63217821416e-05,1793239523092665344
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.175286296,661,635,879,787,803.824713704,651.824713704,631,653,0.409235661253,-0.00542073653132,0.0798287089639,0.999999940032,0.000193046820599,-0.0002835557394,4.75843942102e-05,1793239523109331968
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.752734663,661,635,879,787,803.247265337,651.247265337,631,653,0.408656875032,-0.00541461296161,0.0798491078776,0.999999946357,0.000203177667688,-0.000252276797499,4.8596390764e-05,1793239523125998592
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,803.327915188,651.327915188,631,653,0.408072338928,-0.00541067443036,0.0798413033614,0.999999941638,0.000205837976234,-0.000268419784409,4.80222825618e-05,1793239523142664960
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,803.901397354,651.901397354,631,653,0.407483496923,-0.00540837221676,0.0798123780441,0.999999927121,0.000202903795916,-0.000320075796016,4.62603824914e-05,1793239523159331840
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.537647616,680,661,635,879,787,804,652,631,652.537647616,0.406962140327,-0.00540772834834,0.0797940631981,0.999999918044,0.000202211924268,-0.000347942937848,4.42600384797e-05,1793239523175998464
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.022808925,679.977191075,661,635,879,787,804,652,631,652.022808925,0.406456324674,-0.00540732720884,0.0797790596976,0.999999910667,0.000202132688634,-0.000368806643751,4.23142662779e-05,1793239523192665088
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.637860691,679.362139309,661,635,879,787,804,652,631,652.637860691,0.405990196031,-0.00540428784964,0.0797928314919,0.999999921407,0.000205871648757,-0.000336078241005,4.30710149548e-05,1793239523209331968
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.237553256,745,715,679,661,635,879,787,803.762446744,652,631,653,0.405545767763,-0.00540333618628,0.0798076383482,0.999999930348,0.000206887455608,-0.000307565538069,4.36539965263e-05,1793239523225998848
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.815253298,745,715,679,661,635,879,787,803.184746702,652,631,653,0.405132411777,-0.0054053738446,0.0798239272838,0.999999937586,0.000204004044748,-0.000285089197244,4.39881651382e-05,1793239523242665728
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803,652,631,653,0.404742993788,-0.00540531477254,0.0798344673067,0.999999939066,0.000211147133098,-0.000274317418739,4.51027980394e-05,1793239523259332352
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879,787,803,652,631,653,0.404364830197,-0.00540426992427,0.0798423044835,0.999999937856,0.000223004173171,-0.000269048530489,4.65843657401e-05,1793239523275998976
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.551148376,661,635,879,787,803.551148376,651.448851624,631,653,0.404004291427,-0.00540358462991,0.0798410104015,0.999999937649,0.000215833416754,-0.000275705843023,4.58637558618e-05,1793239523292665344
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.862774062,745,715,679.862774062,661,635,879,787,803.862774062,651.137225938,631,652.862774062,0.403657858762,-0.00540325005069,0.0798394585853,0.99999993769,0.000207852402377,-0.000281750902246,4.51075574661e-05,1793239523309332224
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.28025281,745,715,679.28025281,661,635,879,787,803.28025281,651.71974719,631,652.28025281,0.403353461723,-0.00540397727171,0.0798390072055,0.999999938621,0.000201277993274,-0.00028327961565,4.4702966213e-05,1793239523325998592
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.297740909,745,715,679,661,635.297740909,879,787,803.297740909,652,631.297740909,652.297740909,0.40307120282,-0.00540331645622,0.0798400927285,0.999999937505,0.000204812464082,-0.000284701022834,4.45756077192e-05,1793239523342665216
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.871536822,745,715,679,661,635.871536822,879,787,803.871536822,652,631.871536822,652.871536822,0.402809469645,-0.00540136870158,0.079842603214,0.999999934395,0.000217719536719,-0.000286022939307,4.47052898063e-05,1793239523359331840
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.554010508,745,715,679,661,635.554010508,879,787,803.554010508,652,631.554010508,653,0.402582948226,-0.0054026790347,0.0798439281642,0.999999936046,0.000212956138416,-0.000283927550378,4.40827052388e-05,1793239523375998720
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879,787,803,651.978833653,631,653,0.402367777691,-0.00540480277896,0.0798449555282,0.999999938949,0.000203506717887,-0.000280729469501,4.33249075683e-05,1793239523392665344
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879,787,803,651.389297657,631,653,0.402184655641,-0.00540353142296,0.0798471751481,0.999999940319,0.000205101757901,-0.000274391876115,4.47633755854e-05,1793239523409331968
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.190229567,745,715,679.190229567,661,635,879,787,803.190229567,651.190229567,631,653,0.402012294353,-0.00540242296406,0.0798503386221,0.999999941697,0.000206207965165,-0.00026822874372,4.62310888283e-05,1793239523425998848
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.750297959,745,715,679.750297959,661,635,879,787,803.750297959,651.750297959,631,653,0.401860853848,-0.00540163120514,0.0798553371097,0.999999943139,0.00020636379775,-0.000262404794095,4.77556596281e-05,1793239523442665472
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.670285943,745,715,680,661,635,879,787,804,652,631,653,0.401724087419,-0.00540206810955,0.0798566301103,0.999999943957,0.000204794724708,-0.000260429899354,4.81880100297e-05,1793239523459332096
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.075303784,745,715,680,661,635,879,787,804,652,631,653,0.401599126853,-0.00540349352251,0.0798549418996,0.999999944286,0.000201837896352,-0.00026155172207,4.77416257496e-05,1793239523475998720
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.497292152,661,635,878.497292152,787,804.502707848,652,631.502707848,653,0.401486196438,-0.00540399050646,0.0798480422237,0.99999993906,0.000213984041685,-0.000272760165626,4.11386834619e-05,1793239523492665344
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878.080416464,787,804.919583536,652,632,652.919583536,0.40137874704,-0.00540452988428,0.079840913953,0.999999933495,0.000225570042049,-0.000284464543552,3.47515301363e-05,1793239523509331968
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,878.67182585,787,804.32817415,652,632,652.32817415,0.401295048777,-0.0054061935184,0.0798371316815,0.999999933182,0.000219690307807,-0.000290032782086,3.54043541371e-05,1793239523525998592
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.255170904,661,635,878.744829096,787,804,652,631.744829096,652.255170904,0.401223338618,-0.00540591811192,0.0798344679156,0.999999932396,0.000218185044721,-0.000293745102393,3.62847972752e-05,1793239523542665472
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.828462158,661,635,878.171537842,787,804,652,631.171537842,652.828462158,0.401166573976,-0.00540322531267,0.0798331985854,0.999999931072,0.000222133414342,-0.000295143657973,3.74490120695e-05,1793239523559332352
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.394899007,745.394899007,715,679.605100993,661,635,878.394899007,787,803.605100993,652,631,653,0.401123366004,-0.00540326106451,0.0798333226625,0.999999931647,0.000221259668576,-0.000293763708811,3.81158395305e-05,1793239523575998976
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.958409196,745.958409196,715,679.041590804,661,635,878.958409196,787,803.041590804,652,631,653,0.401085946364,-0.00540446183385,0.0798340416867,0.999999933025,0.000218327010013,-0.000291197413322,3.85702960387e-05,1793239523592665600
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.558195623,661,635.558195623,879,787,803.558195623,652,631,653,0.401057631284,-0.00540464678326,0.0798352443317,0.999999933655,0.000218301130995,-0.000288991051977,3.89758123383e-05,1793239523609331968
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.844561374,715,679.844561374,661,636,879,787,804,652,631.155438626,653,0.401032741918,-0.00540479831318,0.0798359424839,0.99999993394,0.000218497456604,-0.000287810416924,3.93034899836e-05,1793239523625998592
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.262242429,715,679.262242429,661,636,879,787,804,652,631.737757571,653,0.401015268065,-0.00540508037272,0.0798351493108,0.999999933448,0.000218667880948,-0.000289367958649,3.94281100809e-05,1793239523642665216
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.682576874,879,787,803.682576874,652,631.682576874,653,0.401002285644,-0.00540523316968,0.0798351766866,0.999999933582,0.000218328771701,-0.000289166923522,3.93745586232e-05,1793239523659332096
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.105085209,879,787,803.105085209,652,631.105085209,653,0.400992983104,-0.00540528006029,0.079835876348,0.999999934228,0.000217572195552,-0.000287525065661,3.91750291075e-05,1793239523675998976
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.466431888,661,635.466431888,879,786.533568112,803.932863777,652,631,653,0.400988438686,-0.00540538091668,0.0798367054349,0.99999993455,0.000218079333493,-0.000286001694661,3.92895569781e-05,1793239523692665856
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.96176069,745,715,679.96176069,661,635.96176069,879,786.03823931,804.96176069,652,631.03823931,653,0.400985121962,-0.00540555922408,0.0798375923091,0.999999934868,0.000218633782139,-0.000284440246008,3.94576517343e-05,1793239523709332480
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.366358167,745,715,679.366358167,661,635.366358167,879,786.633641833,804.366358167,652,631.633641833,653,0.400984271488,-0.00540669111534,0.0798389016842,0.999999936198,0.000215781691064,-0.000281939955333,3.9388334439e-05,1793239523725999104
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.222844565,745,715,679.222844565,661,635,878.777155435,787,803.777155435,652,631.777155435,653,0.400984014917,-0.00540692054232,0.079840386599,0.999999937022,0.000214941969835,-0.000279648224931,3.94009278289e-05,1793239523742665472
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.802130649,745,715,679.802130649,661,635,878.197869351,787,803.197869351,652,631.197869351,653,0.400984708299,-0.00540570647098,0.0798421522907,0.999999937048,0.00021732104914,-0.000277690088377,3.95445379666e-05,1793239523759332096
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,878.378816002,787,803,652,631,653,0.400984571306,-0.00540555655555,0.0798424999686,0.999999937181,0.000217548153569,-0.00027706809656,3.92963127144e-05,1793239523775998720
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,878.954152143,787,803,652,631,653,0.400984003537,-0.00540595869726,0.0798421120169,0.999999937372,0.000216658867906,-0.000277139262825,3.88448131902e-05,1793239523792665600
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.528541881,715,679.471458119,661,635,879,787,803.528541881,652,631,653,0.400982900876,-0.00540627653551,0.079842225726,0.999999937432,0.000217087530398,-0.00027656663881,3.89865402676e-05,1793239523809332224
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.893933808,715,679.106066192,661,635,879,787,804,652,631,653,0.400981912929,-0.00540636860306,0.0798424212408,0.999999937484,0.000217536294673,-0.000276004077745,3.91442437665e-05,1793239523825998848
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.301665293,715,679.698334707,661,635,879,787,804,652,631,653,0.40098166314,-0.00540545921022,0.0798427926296,0.999999937552,0.000217554084707,-0.000275743178044,3.91397189833e-05,1793239523842665728
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.716863201,652,631,653,0.400981645347,-0.00540569959331,0.0798428167493,0.999999937804,0.000216515924866,-0.000275655022473,3.90744289846e-05,1793239523859332608
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.139811676,652,631,653,0.40098186838,-0.00540713351975,0.0798424803809,0.999999938244,0.000214381619212,-0.000275746186702,3.89460606726e-05,1793239523875998976
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.563389434,661,635,879,787,803.436610566,652,631.436610566,653,0.400982962283,-0.00540748071839,0.079843689086,0.999999938639,0.000215258515894,-0.000273591954408,3.91673641385e-05,1793239523892665600
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.986899848,745,715,679.013100152,661,635,879,787,804,652,631.986899848,653,0.400984265345,-0.00540746772043,0.0798453222882,0.999999938989,0.000217028811491,-0.000270851816377,3.94848264223e-05,1793239523909332224
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.398617029,745,715,679.601382971,661,635,879,787,804,652,631.398617029,653,0.400982525196,-0.00540689689627,0.0798439015621,0.999999938448,0.000215749265826,-0.000273910917641,3.91150588305e-05,1793239523925998592
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.18635855,745,715,679.81364145,661,635,878.81364145,787,803.81364145,652,631,653,0.400981626346,-0.00540662410307,0.0798430418664,0.999999938255,0.000214803279625,-0.000275391378757,3.8840326684e-05,1793239523942665216
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.764383332,745,715,679.235616668,661,635,878.235616668,787,803.235616668,652,631,653,0.400982495635,-0.00540697767594,0.0798433612777,0.999999938815,0.00021455832911,-0.000273554041615,3.87653287548e-05,1793239523959331840
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.339880671,661.339880671,635.339880671,878.339880671,787,803.339880671,652,631,653,0.400982373297,-0.0054066392166,0.0798434014739,0.9999999386,0.000215712376043,-0.00027342379697,3.88361473567e-05,1793239523975998720
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.91363881,661.91363881,635.91363881,878.91363881,787,803.91363881,652,631,653,0.400981568604,-0.00540582455852,0.0798432495375,0.999999937848,0.000217829096091,-0.000274468230768,3.900730471e-05,1793239523992665600
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.498384936,745,715,680,661.498384936,635.498384936,879,787,804,652,631,652.498384936,0.4009811168,-0.0054061119626,0.0798431132176,0.999999937588,0.000218749043922,-0.000274686788498,3.8974644214e-05,1793239524009332224
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.090367702,745,715,679.909632298,661,635.090367702,879,787,804,652,631.090367702,652.090367702,0.400980870615,-0.00540651123404,0.0798431318727,0.999999937518,0.000219287658473,-0.000274517054794,3.89514591157e-05,1793239524025998592
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.669689743,745,715,679.330310257,661,635.669689743,879,787,804,652,631.669689743,652.669689743,0.400981398651,-0.00540645922148,0.0798439740837,0.999999937997,0.000218910352171,-0.000273038167046,3.91749466079e-05,1793239524042665216
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.75207418,745,715,679.24792582,661,636,878.75207418,787,804,652,631.75207418,653,0.400981641157,-0.00540672317045,0.0798446708707,0.999999938676,0.000217117816021,-0.000271983640255,3.91446235108e-05,1793239524059332096
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.175278537,745,715,679.824721463,661,636,878.175278537,787,804,652,631.175278537,653,0.400981504913,-0.00540740623758,0.0798451747554,0.999999939614,0.000213447998983,-0.0002714920216,3.87776245638e-05,1793239524075998720
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.397706373,745,715,679.602293627,661.397706373,635.602293627,878.397706373,787,803.602293627,652,631.397706373,652.602293627,0.400981635946,-0.00540822864161,0.0798452395592,0.999999939619,0.000213305793118,-0.000271588832916,3.8752244864e-05,1793239524092665344
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765.969027709,745,715,679.030972291,661.969027709,635.030972291,878.969027709,787,803.030972291,652,631.969027709,652.030972291,0.400981883657,-0.00540911187182,0.0798451126864,0.999999939219,0.000214703532831,-0.000271942517812,3.88759958439e-05,1793239524109331968
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.438379242,635.561620758,879,787,803,652,631.438379242,652.561620758,0.400981691862,-0.00540881653131,0.0798454492279,0.999999939071,0.000215852896921,-0.000271567198011,3.8940779345e-05,1793239524125998848
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765.848298159,745,715,679.151701841,661,635.848298159,879,787,803,652,631,653,0.400981590196,-0.00540812795263,0.0798457410524,0.999999938887,0.000217227211651,-0.000271143399496,3.89931828934e-05,1793239524142665472
+420,7.000000000,POSE2_TO_POSE3_RETREAT,765.268740597,745,715,679.731259403,661,635.268740597,879,787,803,652,631,653,0.400981813773,-0.00540652082477,0.0798458318418,0.999999938558,0.000219276123619,-0.000270700724634,3.90202031037e-05,1793239524159332096
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a73e4995c40d4a22685baca7be8bc0fd7e3d45fc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_04/depth_05/simulation_data.csv
@@ -0,0 +1,422 @@
+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,0.575664492662,9.06226540005e-05,1.07003235298,0.54623494708,0.00876237162698,1.06970047889
+108,1.800000000,pose1_to_pose2_press,0.575664614488,9.06506063177e-05,1.07003233421,0.546235067818,0.00876239592423,1.06970046104
+109,1.816666667,pose1_to_pose2_press,0.575664687633,9.06613014364e-05,1.07003231019,0.546235140327,0.00876240449627,1.069700438
+110,1.833333333,pose1_to_pose2_press,0.575664697451,9.06627370792e-05,1.07003230697,0.54623515006,0.00876240564692,1.0697004349
+111,1.850000000,pose1_to_pose2_press,0.575664703728,9.06636549561e-05,1.07003230491,0.546235156282,0.00876240638259,1.06970043293
+112,1.866666667,pose1_to_pose2_press,0.575664799664,9.06776825131e-05,1.0700322734,0.546235251383,0.00876241762555,1.0697004027
+113,1.883333333,pose1_to_pose2_press,0.575665162157,9.07021782688e-05,1.0700322606,0.54623561254,0.00876243764296,1.06970039127
+114,1.900000000,pose1_to_pose2_press,0.575666157004,9.07050728153e-05,1.07003246522,0.546236607829,0.00876244188487,1.06970059189
+115,1.916666667,pose1_to_pose2_press,0.575670325666,9.07300075598e-05,1.07003237473,0.546240778192,0.00876247288362,1.0697005091
+116,1.933333333,pose1_to_pose2_press,0.57567926292,9.08173526258e-05,1.07003219999,0.546249714303,0.00876255641002,1.0697003359
+117,1.950000000,pose1_to_pose2_press,0.575697380476,9.0850692672e-05,1.07003222435,0.546267831464,0.00876258856772,1.06970036428
+118,1.966666667,pose1_to_pose2_press,0.575725495722,9.06826363453e-05,1.07003232281,0.546295949943,0.00876243130253,1.069700458
+119,1.983333333,pose1_to_pose2_press,0.57576506245,9.07333004415e-05,1.07003232604,0.546335513071,0.0087624697421,1.06970046091
+120,2.000000000,pose1_to_pose2_press,0.575814692202,9.07994951673e-05,1.07003219148,0.546385144009,0.00876254033536,1.06970033612
+121,2.016666667,pose1_to_pose2_press,0.575874292405,9.06690601144e-05,1.07003220584,0.546444745476,0.00876241392422,1.0697003434
+122,2.033333333,pose1_to_pose2_press,0.575940756757,9.07762197402e-05,1.07003232603,0.546511207819,0.00876251418473,1.06970046142
+123,2.050000000,pose1_to_pose2_press,0.576014372612,9.07383729111e-05,1.07003232369,0.546584824569,0.00876247938224,1.06970045921
+124,2.066666667,pose1_to_pose2_press,0.576098250178,9.07410435571e-05,1.07003231867,0.546668701917,0.00876248130922,1.06970045396
+125,2.083333333,pose1_to_pose2_press,0.576193508365,9.07831204228e-05,1.07003233353,0.546763958621,0.0087625182339,1.06970046563
+126,2.100000000,pose1_to_pose2_press,0.576304001584,9.08242586705e-05,1.07003229893,0.546874451678,0.00876255873314,1.06970042871
+127,2.116666667,pose1_to_pose2_press,0.576430520161,9.09106194523e-05,1.07003232555,0.547000970016,0.0087626441981,1.06970045311
+128,2.133333333,pose1_to_pose2_press,0.576574048807,9.08472962927e-05,1.07003246077,0.547144499344,0.00876258294618,1.06970058201
+129,2.150000000,pose1_to_pose2_press,0.576731929107,9.0704631307e-05,1.07003245333,0.547302382032,0.00876244834071,1.06970057328
+130,2.166666667,pose1_to_pose2_press,0.576903041236,9.06870020987e-05,1.0700325145,0.547473494506,0.0087624322885,1.06970064499
+131,2.183333333,pose1_to_pose2_press,0.577086468435,9.07030601783e-05,1.07003221347,0.547656920513,0.00876244442683,1.06970034723
+132,2.200000000,pose1_to_pose2_press,0.577283374364,9.08205809975e-05,1.07003219665,0.547853825141,0.00876255762661,1.06970033279
+133,2.216666667,pose1_to_pose2_press,0.577497620044,9.08315668212e-05,1.07003231352,0.548068071933,0.0087625722975,1.06970044727
+134,2.233333333,pose1_to_pose2_press,0.577733297719,9.08054734456e-05,1.07003243201,0.548303750017,0.00876254750055,1.06970056327
+135,2.250000000,pose1_to_pose2_press,0.577992572789,9.08392595965e-05,1.07003227181,0.5485630232,0.00876257507745,1.06970040811
+136,2.266666667,pose1_to_pose2_press,0.578277364128,9.07750050119e-05,1.07003236117,0.548847815515,0.00876251405743,1.06970049539
+137,2.283333333,pose1_to_pose2_press,0.57858581844,9.0746677804e-05,1.07003242326,0.549156269952,0.0087624857584,1.06970054711
+138,2.300000000,pose1_to_pose2_press,0.578917979786,9.0820470916e-05,1.07003250303,0.549488430163,0.00876255566557,1.06970062587
+139,2.316666667,pose1_to_pose2_press,0.579269996904,9.07567263584e-05,1.07003242094,0.549840447616,0.00876249327025,1.06970054925
+140,2.333333333,pose1_to_pose2_press,0.579641484652,9.07321843306e-05,1.07003229978,0.550211935624,0.00876246978261,1.06970043258
+141,2.350000000,pose1_to_pose2_press,0.580032772954,9.08601368055e-05,1.07003236578,0.550603223391,0.00876259594005,1.06970049901
+142,2.366666667,pose1_to_pose2_press,0.580443747454,9.07884234131e-05,1.07003219603,0.551014198597,0.00876252646887,1.06970032527
+143,2.383333333,pose1_to_pose2_press,0.580874646493,9.07710236642e-05,1.07003214007,0.551445098396,0.00876251201923,1.0697002789
+144,2.400000000,pose1_to_pose2_press,0.58132441716,9.08334719916e-05,1.07003241964,0.551894869584,0.00876257604169,1.0697005533
+145,2.416666667,pose1_to_pose2_press,0.581793484281,9.08429741849e-05,1.07003221926,0.552363934511,0.00876257804658,1.06970035156
+146,2.433333333,pose1_to_pose2_press,0.582287425402,9.08425489693e-05,1.07003230942,0.552857876022,0.00876257915367,1.06970044709
+147,2.450000000,pose1_to_pose2_press,0.582811537164,9.07584486067e-05,1.07003208869,0.553381989639,0.00876250136015,1.06970022657
+148,2.466666667,pose1_to_pose2_press,0.583366761042,9.0774953298e-05,1.07003193471,0.553937212714,0.008762515422,1.06970007989
+149,2.483333333,pose1_to_pose2_press,0.583950255524,9.07351376944e-05,1.0700319151,0.554520708049,0.00876247854242,1.06970006144
+150,2.500000000,pose1_to_pose2_press,0.584552083841,9.09635940597e-05,1.07003245811,0.555122533916,0.00876269805437,1.0697005879
+151,2.516666667,pose1_to_pose2_press,0.585162835832,9.08740576658e-05,1.0700324019,0.55573328589,0.00876260844459,1.06970053128
+152,2.533333333,pose1_to_pose2_press,0.585778398333,9.06824058972e-05,1.07003231922,0.556348851301,0.00876242691495,1.06970045498
+153,2.550000000,pose1_to_pose2_press,0.586405090518,9.07277835881e-05,1.07003226337,0.556975542494,0.00876246878782,1.06970039551
+154,2.566666667,pose1_to_pose2_press,0.587049105099,9.07999076672e-05,1.0700322194,0.557619556107,0.00876253762541,1.0697003514
+155,2.583333333,pose1_to_pose2_press,0.587719734496,9.08270124272e-05,1.07003226988,0.558290185429,0.00876256452867,1.06970040327
+156,2.600000000,pose1_to_pose2_press,0.588412698135,9.08454220889e-05,1.07003234094,0.558983149184,0.00876258325116,1.06970047218
+157,2.616666667,pose1_to_pose2_press,0.589120893965,9.0850655309e-05,1.07003231757,0.55969134624,0.00876259282975,1.06970045369
+158,2.633333333,pose1_to_pose2_press,0.589841187687,9.09441881804e-05,1.07003226734,0.560411638399,0.00876268123127,1.06970040792
+159,2.650000000,pose1_to_pose2_press,0.590576268077,9.08287331073e-05,1.07003222512,0.561146718642,0.00876256513197,1.06970036182
+160,2.666666667,pose1_to_pose2_press,0.591326105424,9.07979887728e-05,1.07003238536,0.561896554485,0.00876252879949,1.0697005095
+161,2.683333333,pose1_to_pose2_press,0.592091882414,9.0829023324e-05,1.07003241571,0.562662332614,0.00876256427986,1.06970055501
+162,2.700000000,pose1_to_pose2_press,0.592871455317,9.08370721627e-05,1.07003234706,0.563441907805,0.00876257982862,1.06970047942
+163,2.716666667,pose1_to_pose2_press,0.593659142108,9.07925072514e-05,1.07003247605,0.564229593451,0.00876253119821,1.06970060369
+164,2.733333333,pose1_to_pose2_press,0.594453329671,9.08868983849e-05,1.0700322354,0.565023779279,0.00876261976276,1.0697003647
+165,2.750000000,pose1_to_pose2_press,0.595246324362,9.08566439316e-05,1.07003231986,0.565816774663,0.00876259192603,1.06970045084
+166,2.766666667,pose1_to_pose2_press,0.596036273582,9.07102325312e-05,1.07003233384,0.566606725517,0.00876245102553,1.0697004639
+167,2.783333333,pose1_to_pose2_press,0.596830168684,9.08107329707e-05,1.07003242785,0.567400620659,0.00876255170505,1.06970055914
+168,2.800000000,pose1_to_pose2_press,0.597625715272,9.08094944487e-05,1.07003227219,0.568196165943,0.00876254631875,1.06970041077
+169,2.816666667,pose1_to_pose2_press,0.598422750827,9.08040650838e-05,1.07003235451,0.568993201728,0.00876254145763,1.06970048752
+170,2.833333333,pose1_to_pose2_press,0.599220402667,9.08056800289e-05,1.07003246624,0.569790854314,0.00876254550327,1.06970059672
+171,2.850000000,pose1_to_pose2_press,0.600015312448,9.07313132163e-05,1.07003229659,0.570585764642,0.00876247308869,1.06970042965
+172,2.866666667,pose1_to_pose2_press,0.600819521244,9.0731771988e-05,1.07003222866,0.571389973173,0.00876247261322,1.06970036087
+173,2.883333333,pose1_to_pose2_press,0.601634175804,9.08635925529e-05,1.07003240827,0.572204626494,0.00876260029772,1.06970054227
+174,2.900000000,pose1_to_pose2_press,0.602450109991,9.08586047166e-05,1.07003233225,0.573020560835,0.00876259581017,1.06970046571
+175,2.916666667,pose1_to_pose2_press,0.603265367434,9.08383648641e-05,1.07003238788,0.573835818528,0.00876257613589,1.0697005141
+176,2.933333333,pose1_to_pose2_press,0.604069220012,9.07795996748e-05,1.0700324715,0.574639672156,0.00876252079395,1.06970059414
+177,2.950000000,pose1_to_pose2_press,0.604851324402,9.07753995607e-05,1.07003232616,0.575421777214,0.0087625191913,1.06970045755
+178,2.966666667,pose1_to_pose2_press,0.605610580514,9.06292594884e-05,1.07003222245,0.576181034333,0.00876237655336,1.0697003561
+179,2.983333333,pose1_to_pose2_press,0.606355808064,9.07865424332e-05,1.07003230068,0.576926260755,0.00876253018493,1.06970043905
+180,3.000000000,pose1_to_pose2_press,0.607094294354,9.07647917038e-05,1.07003233546,0.577664746787,0.00876250735147,1.06970046848
+181,3.016666667,pose1_to_pose2_press,0.607836196232,9.08251426028e-05,1.07003220766,0.57840664728,0.00876256317611,1.06970034528
+182,3.033333333,pose1_to_pose2_press,0.60857309493,9.08885526323e-05,1.07003234298,0.579143544305,0.00876262048833,1.06970046972
+183,3.050000000,pose1_to_pose2_press,0.609295763537,9.07713654063e-05,1.07003244519,0.579866214438,0.00876250860648,1.0697005753
+184,3.066666667,pose1_to_pose2_press,0.609989333,9.0807162047e-05,1.07003246159,0.580559784214,0.00876254550448,1.0697005928
+185,3.083333333,pose1_to_pose2_press,0.61065052236,9.07667895963e-05,1.07003246582,0.581220974469,0.00876250810198,1.06970059538
+186,3.100000000,pose1_to_pose2_press,0.611273823679,9.07342376077e-05,1.07003238457,0.581844277025,0.00876247991887,1.06970051862
+187,3.116666667,pose1_to_pose2_press,0.611867480879,9.07761970946e-05,1.07003223424,0.582437933582,0.00876251972975,1.06970036936
+188,3.133333333,pose1_to_pose2_press,0.612444890312,9.08065502849e-05,1.07003222511,0.583015341407,0.00876254432056,1.06970035257
+189,3.150000000,pose1_to_pose2_press,0.613015712391,9.07136261319e-05,1.07003256874,0.583586165379,0.00876245776744,1.06970069488
+190,3.166666667,pose1_to_pose2_press,0.613584404509,9.06814220382e-05,1.07003223897,0.584154855398,0.0087624185637,1.06970036644
+191,3.183333333,pose1_to_pose2_press,0.614154903973,9.07504241704e-05,1.07003244008,0.584725356708,0.00876249413373,1.069700572
+192,3.200000000,pose1_to_pose2_press,0.61472092284,9.06785404634e-05,1.07003222937,0.585291375024,0.00876242079079,1.06970036452
+193,3.216666667,pose1_to_pose2_press,0.615263332257,9.07749617785e-05,1.07003210018,0.585833782925,0.0087625122837,1.06970023513
+194,3.233333333,pose1_to_pose2_press,0.615778796717,9.06912886193e-05,1.07003208826,0.586349247487,0.00876242919016,1.06970021984
+195,3.250000000,pose1_to_pose2_press,0.616263239599,9.07351212812e-05,1.07003235632,0.586833691204,0.00876247606788,1.06970048406
+196,3.266666667,pose1_to_pose2_press,0.61672173207,9.07136363236e-05,1.0700323168,0.58729218347,0.0087624542969,1.06970044691
+197,3.283333333,pose1_to_pose2_press,0.617156134668,9.08187597043e-05,1.07003224616,0.58772658436,0.00876255427002,1.06970038553
+198,3.300000000,pose1_to_pose2_press,0.617574429494,9.09717173706e-05,1.07003222654,0.588144878062,0.00876270396009,1.06970037242
+199,3.316666667,pose1_to_pose2_press,0.617976255802,9.09401249084e-05,1.07003230593,0.588546706095,0.00876267828785,1.0697004456
+200,3.333333333,pose1_to_pose2_press,0.618356468704,9.08372082451e-05,1.07003253219,0.588926921482,0.00876258362788,1.06970066046
+201,3.350000000,pose1_to_pose2_press,0.618713439518,9.07942747592e-05,1.07003240532,0.589283891523,0.00876253825102,1.06970053278
+202,3.366666667,pose1_to_pose2_press,0.619044314058,9.06958337775e-05,1.07003258343,0.589614765505,0.00876243809248,1.06970070919
+203,3.383333333,pose1_to_pose2_press,0.619351320931,9.08907950353e-05,1.07003229666,0.589921769436,0.00876262382707,1.06970043914
+204,3.400000000,pose1_to_pose2_press,0.619636105416,9.09396321049e-05,1.07003244166,0.590206553723,0.00876267198259,1.06970057443
+205,3.416666667,pose1_to_pose2_press,0.619904133447,9.07659693278e-05,1.07003235791,0.590474584247,0.00876250702477,1.06970049093
+206,3.433333333,pose1_to_pose2_press,0.620157864908,9.07414460053e-05,1.07003241658,0.590728315314,0.00876248119721,1.06970054658
+207,3.450000000,pose1_to_pose2_press,0.620397583391,9.08108564134e-05,1.0700324479,0.590968033542,0.00876255003577,1.0697005801
+208,3.466666667,pose1_to_pose2_press,0.620621983141,9.08070770694e-05,1.07003230913,0.591192433372,0.00876254682897,1.0697004443
+209,3.483333333,pose1_to_pose2_press,0.620828870618,9.08076679675e-05,1.07003211794,0.591399320543,0.00876254675215,1.06970025873
+210,3.500000000,pose1_to_pose2_press,0.621016533471,9.08006417959e-05,1.07003221663,0.591586983072,0.00876253873055,1.06970035567
+211,3.516666667,pose1_to_pose2_press,0.621185580627,9.07951721491e-05,1.07003242763,0.59175602958,0.00876253084314,1.06970055679
+212,3.533333333,pose1_to_pose2_press,0.621335415396,9.08753893642e-05,1.0700323,0.59190586385,0.00876260965273,1.06970043329
+213,3.550000000,pose1_to_pose2_press,0.621469014159,9.08027461587e-05,1.07003222068,0.592039463008,0.00876253853079,1.06970035609
+214,3.566666667,pose1_to_pose2_press,0.621587764793,9.08225144168e-05,1.07003239127,0.592158212369,0.00876255353527,1.06970051241
+215,3.583333333,pose1_to_pose2_press,0.62169358816,9.07265039967e-05,1.0700324428,0.592264037665,0.00876246454947,1.06970057593
+216,3.600000000,pose1_to_pose2_press,0.621786360206,9.0868848483e-05,1.07003238411,0.592356807802,0.00876260075165,1.06970050715
+217,3.616666667,pose1_to_pose2_press,0.621867614148,9.07829253686e-05,1.07003212462,0.592438063154,0.00876251903062,1.06970025454
+218,3.633333333,pose1_to_pose2_press,0.621937776615,9.07487816991e-05,1.07003220846,0.592508226755,0.00876248955988,1.06970033806
+219,3.650000000,pose1_to_pose2_press,0.621995993613,9.07882698289e-05,1.07003241448,0.592566444517,0.00876253157784,1.06970054355
+220,3.666666667,pose1_to_pose2_press,0.622044001888,9.06883995581e-05,1.07003225396,0.592614453152,0.00876243296185,1.06970039462
+221,3.683333333,pose1_to_pose2_press,0.622081763222,9.07288860383e-05,1.07003241405,0.592652214138,0.00876247191549,1.06970054649
+222,3.700000000,pose1_to_pose2_press,0.622112349445,9.07762494192e-05,1.07003259453,0.592682799345,0.00876251566508,1.06970072127
+223,3.716666667,pose1_to_pose2_press,0.622136459456,9.07332847005e-05,1.07003251149,0.592706908633,0.00876247044356,1.06970064509
+224,3.733333333,pose1_to_pose2_press,0.622155324308,9.07125458997e-05,1.07003234233,0.592725774395,0.00876245273293,1.06970047402
+225,3.750000000,pose1_to_pose2_press,0.622169587673,9.0731434078e-05,1.07003236089,0.59274003759,0.00876247107162,1.06970048784
+226,3.766666667,pose1_to_pose2_press,0.622180143666,9.08018847866e-05,1.07003241698,0.592750593283,0.00876254063887,1.06970054464
+227,3.783333333,pose1_to_pose2_press,0.622187735319,9.0865983638e-05,1.0700324399,0.592758184785,0.00876260431514,1.06970056938
+228,3.800000000,pose1_to_pose2_press,0.622192643985,9.08620108112e-05,1.07003231304,0.5927630939,0.00876260170076,1.06970044131
+229,3.816666667,pose1_to_pose2_press,0.622195962764,9.085539843e-05,1.0700322448,0.592766412859,0.00876259562508,1.06970037275
+230,3.833333333,pose1_to_pose2_press,0.622198051174,9.0834486305e-05,1.07003227664,0.592768500856,0.00876257342196,1.06970040654
+231,3.850000000,pose1_to_pose2_press,0.622199821247,9.0816761817e-05,1.07003230363,0.592770270578,0.00876255460326,1.06970043518
+232,3.866666667,pose1_to_pose2_press,0.622201221155,9.08022219737e-05,1.0700323225,0.59277167022,0.00876253923329,1.0697004553
+233,3.883333333,pose1_to_pose2_press,0.622202171515,9.07831152442e-05,1.07003229145,0.592772620589,0.00876252018665,1.06970042418
+234,3.900000000,pose1_to_pose2_press,0.622202948901,9.07674861174e-05,1.07003226606,0.592773397982,0.00876250460668,1.06970039872
+235,3.916666667,pose1_to_pose2_press,0.62220352683,9.07558670183e-05,1.07003224718,0.592773975917,0.00876249302413,1.0697003798
+236,3.933333333,pose1_to_pose2_press,0.622204122474,9.07438917806e-05,1.07003222772,0.592774571565,0.00876248108656,1.06970036029
+237,3.950000000,pose1_to_pose2_press,0.622204612651,9.07338455346e-05,1.07003221443,0.592775061997,0.00876247192681,1.06970034737
+238,3.966666667,pose1_to_pose2_press,0.622204787419,9.07300839349e-05,1.07003221224,0.59277523709,0.00876246928471,1.0697003457
+239,3.983333333,pose1_to_pose2_press,0.622204931604,9.07269805744e-05,1.07003221043,0.592775381543,0.00876246710494,1.06970034433
+240,4.000000000,pose1_to_pose2_press,0.622205148482,9.07223126241e-05,1.07003220771,0.592775598824,0.00876246382622,1.06970034226
+241,4.016666667,pose1_to_pose2_press,0.622205168437,9.07218831046e-05,1.07003220746,0.592775618817,0.00876246352453,1.06970034207
+242,4.033333333,pose1_to_pose2_press,0.622205352845,9.07179140161e-05,1.07003220515,0.592775803567,0.00876246073669,1.06970034031
+243,4.050000000,pose1_to_pose2_press,0.622205456447,9.07156841397e-05,1.07003220385,0.592775907362,0.00876245917045,1.06970033932
+244,4.066666667,pose1_to_pose2_press,0.622205502655,9.07146895928e-05,1.07003220328,0.592775953656,0.00876245847189,1.06970033888
+245,4.083333333,pose1_to_pose2_press,0.62220553551,9.07139824372e-05,1.07003220286,0.592775986572,0.00876245797519,1.06970033857
+246,4.100000000,pose1_to_pose2_press,0.622205611899,9.07123382952e-05,1.07003220191,0.592776063103,0.00876245682036,1.06970033784
+247,4.116666667,pose1_to_pose2_press,0.622205666778,9.07111571126e-05,1.07003220122,0.592776118084,0.00876245599071,1.06970033731
+248,4.133333333,pose1_to_pose2_press,0.622206024845,9.07034502664e-05,1.07003219673,0.592776476817,0.0087624505775,1.0697003339
+249,4.150000000,pose1_to_pose2_press,0.622206545717,9.06332208175e-05,1.07003220414,0.592776998013,0.0087623813452,1.0697003386
+250,4.166666667,pose1_to_pose2_press,0.622206803333,9.05948495613e-05,1.07003220866,0.59277725575,0.00876234332297,1.06970034153
+251,4.183333333,pose1_to_pose2_press,0.622206938704,9.05860854957e-05,1.07003222233,0.59277739112,0.00876233452797,1.06970035444
+252,4.200000000,pose1_to_pose2_press,0.622207019125,9.06158271958e-05,1.0700322651,0.592777471345,0.00876236359415,1.06970039698
+253,4.216666667,pose1_to_pose2_press,0.622207042455,9.06244551894e-05,1.07003227751,0.592777494619,0.00876237202617,1.06970040932
+254,4.233333333,pose1_to_pose2_press,0.622207170611,9.06788062672e-05,1.07003233412,0.592777622366,0.00876242501299,1.0697004665
+255,4.250000000,pose1_to_pose2_press,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637798,0.00876243784425,1.06970046327
+256,4.266666667,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637801,0.00876243784309,1.06970046327
+257,4.283333333,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637801,0.00876243784369,1.06970046327
+258,4.300000000,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637801,0.00876243784269,1.06970046327
+259,4.316666667,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637801,0.00876243784349,1.06970046327
+260,4.333333333,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637801,0.00876243784296,1.06970046327
+261,4.350000000,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637801,0.00876243784325,1.06970046327
+262,4.366666667,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637801,0.00876243784295,1.06970046327
+263,4.383333333,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637801,0.00876243784325,1.06970046327
+264,4.400000000,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637802,0.00876243784297,1.06970046327
+265,4.416666667,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637802,0.008762437843,1.06970046327
+266,4.433333333,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637802,0.00876243784304,1.06970046327
+267,4.450000000,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637802,0.00876243784307,1.06970046327
+268,4.466666667,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637802,0.0087624378431,1.06970046327
+269,4.483333333,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637802,0.00876243784314,1.06970046327
+270,4.500000000,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637802,0.00876243784319,1.06970046327
+271,4.516666667,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637802,0.00876243784322,1.06970046327
+272,4.533333333,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637802,0.00876243784327,1.06970046327
+273,4.550000000,pose2_hold,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637802,0.00876243784331,1.06970046327
+274,4.566666667,pose2_to_pose3_retreat,0.622207186183,9.06920798085e-05,1.07003232995,0.592777637802,0.00876243784355,1.06970046327
+275,4.583333333,pose2_to_pose3_retreat,0.622207145707,9.08009053702e-05,1.0700324396,0.592777595555,0.00876254042915,1.06970056688
+276,4.600000000,pose2_to_pose3_retreat,0.622207131348,9.08395120825e-05,1.0700324785,0.592777580567,0.00876257682219,1.06970060364
+277,4.616666667,pose2_to_pose3_retreat,0.622206977381,9.07976611564e-05,1.0700324305,0.5927774278,0.00876253909844,1.06970055725
+278,4.633333333,pose2_to_pose3_retreat,0.622206722222,9.07291704645e-05,1.07003235034,0.592777174535,0.00876247713387,1.06970047981
+279,4.650000000,pose2_to_pose3_retreat,0.622206316423,9.07258410169e-05,1.0700322958,0.592776768109,0.00876247174048,1.06970042687
+280,4.666666667,pose2_to_pose3_retreat,0.622206052462,9.07236753096e-05,1.07003226033,0.592776503741,0.00876246823224,1.06970039244
+281,4.683333333,pose2_to_pose3_retreat,0.622205313098,9.07271284587e-05,1.07003222256,0.592775763427,0.00876246850433,1.06970035586
+282,4.700000000,pose2_to_pose3_retreat,0.622201914624,9.07783946929e-05,1.07003236151,0.59277236314,0.00876251332506,1.06970048747
+283,4.716666667,pose2_to_pose3_retreat,0.622192849197,9.08865838739e-05,1.07003230715,0.592763298839,0.00876262574667,1.06970044439
+284,4.733333333,pose2_to_pose3_retreat,0.622176062659,9.06620950572e-05,1.07003221993,0.592746512906,0.00876240314073,1.06970035164
+285,4.750000000,pose2_to_pose3_retreat,0.622147541464,9.07792705231e-05,1.07003218879,0.592717990447,0.00876251630082,1.06970032749
+286,4.766666667,pose2_to_pose3_retreat,0.622107545438,9.07952287639e-05,1.07003234985,0.592677996257,0.00876253824441,1.06970047908
+287,4.783333333,pose2_to_pose3_retreat,0.622056751924,9.07860543307e-05,1.07003242966,0.592627202449,0.00876252772997,1.06970056405
+288,4.800000000,pose2_to_pose3_retreat,0.621997399719,9.08671926689e-05,1.07003229613,0.592567847816,0.00876260113136,1.06970042846
+289,4.816666667,pose2_to_pose3_retreat,0.621929762478,9.08765480736e-05,1.07003225963,0.592500211284,0.00876261290116,1.0697003958
+290,4.833333333,pose2_to_pose3_retreat,0.621855209899,9.08422065352e-05,1.07003240666,0.592425659047,0.00876257921045,1.06970053637
+291,4.850000000,pose2_to_pose3_retreat,0.621772755191,9.08076140792e-05,1.07003223848,0.592343205428,0.00876254697836,1.06970036587
+292,4.866666667,pose2_to_pose3_retreat,0.621676632439,9.07782514415e-05,1.07003219844,0.592247082285,0.0087625174993,1.06970033343
+293,4.883333333,pose2_to_pose3_retreat,0.62156611441,9.09637837246e-05,1.07003232059,0.592136562397,0.0087626964825,1.06970045134
+294,4.900000000,pose2_to_pose3_retreat,0.621438269884,9.08414517177e-05,1.07003254049,0.592008719846,0.00876258059317,1.0697006687
+295,4.916666667,pose2_to_pose3_retreat,0.62129316492,9.08441612447e-05,1.07003247724,0.591863613287,0.00876257807972,1.06970061123
+296,4.933333333,pose2_to_pose3_retreat,0.621130773888,9.0938877733e-05,1.07003222217,0.591701221288,0.00876266937351,1.06970035597
+297,4.950000000,pose2_to_pose3_retreat,0.620952850135,9.08893174366e-05,1.07003215339,0.591523298609,0.00876262332978,1.06970028852
+298,4.966666667,pose2_to_pose3_retreat,0.620759428085,9.08323311169e-05,1.070032251,0.59132987772,0.00876257019904,1.0697003883
+299,4.983333333,pose2_to_pose3_retreat,0.620545625814,9.08060243789e-05,1.0700322038,0.591116076396,0.00876254683802,1.06970033903
+300,5.000000000,pose2_to_pose3_retreat,0.620311426207,9.07027347167e-05,1.07003208468,0.590881878101,0.00876244770424,1.069700217
+301,5.016666667,pose2_to_pose3_retreat,0.620055061193,9.07259945678e-05,1.07003242619,0.590625512813,0.00876246993672,1.06970056132
+302,5.033333333,pose2_to_pose3_retreat,0.619776230092,9.07257551775e-05,1.07003230458,0.590346681404,0.00876246856358,1.06970044334
+303,5.050000000,pose2_to_pose3_retreat,0.619475286815,9.09733089511e-05,1.07003233447,0.590045736318,0.00876270941366,1.06970046611
+304,5.066666667,pose2_to_pose3_retreat,0.619158808807,9.08726114727e-05,1.07003219111,0.589729258608,0.00876260986163,1.06970033103
+305,5.083333333,pose2_to_pose3_retreat,0.618826566831,9.07238598492e-05,1.07003221714,0.589397019193,0.00876246934675,1.06970035135
+306,5.100000000,pose2_to_pose3_retreat,0.618473165013,9.07717910347e-05,1.07003222334,0.589043614726,0.00876250789349,1.06970035397
+307,5.116666667,pose2_to_pose3_retreat,0.618098351909,9.08245259751e-05,1.07003234959,0.588668800374,0.00876255604636,1.06970047826
+308,5.133333333,pose2_to_pose3_retreat,0.617699923596,9.08147469482e-05,1.07003246136,0.588270373754,0.00876255179805,1.0697005919
+309,5.150000000,pose2_to_pose3_retreat,0.617274109877,9.0800097301e-05,1.07003240873,0.587844560871,0.00876253981316,1.06970054281
+310,5.166666667,pose2_to_pose3_retreat,0.616822362608,9.08069312667e-05,1.07003236773,0.587392812061,0.00876254094644,1.06970049782
+311,5.183333333,pose2_to_pose3_retreat,0.616349832609,9.08576042274e-05,1.07003246339,0.586920281421,0.00876258901104,1.06970058964
+312,5.200000000,pose2_to_pose3_retreat,0.615856886103,9.08207298787e-05,1.07003232252,0.586427336196,0.00876255645256,1.06970045643
+313,5.216666667,pose2_to_pose3_retreat,0.615340036491,9.07662734215e-05,1.07003208329,0.585910488488,0.00876250843981,1.06970022571
+314,5.233333333,pose2_to_pose3_retreat,0.614804892491,9.06676559472e-05,1.07003217206,0.585375344606,0.00876240963838,1.06970030693
+315,5.250000000,pose2_to_pose3_retreat,0.614252718892,9.08426099964e-05,1.07003220437,0.584823169715,0.00876257987557,1.0697003382
+316,5.266666667,pose2_to_pose3_retreat,0.613672880203,9.08058239316e-05,1.07003236426,0.584243332314,0.00876254711455,1.06970049522
+317,5.283333333,pose2_to_pose3_retreat,0.613067944073,9.08221705388e-05,1.07003234774,0.583638396421,0.00876256422863,1.06970047916
+318,5.300000000,pose2_to_pose3_retreat,0.612442124732,9.08685611043e-05,1.07003231486,0.583012576069,0.00876260723022,1.06970044599
+319,5.316666667,pose2_to_pose3_retreat,0.611798492735,9.07275489068e-05,1.07003242353,0.582368944775,0.0087624686181,1.06970055492
+320,5.333333333,pose2_to_pose3_retreat,0.611139888534,9.06666061141e-05,1.07003228966,0.581710341591,0.00876241152025,1.06970043186
+321,5.350000000,pose2_to_pose3_retreat,0.610478297328,9.06626386503e-05,1.07003237924,0.581048750913,0.00876240889602,1.06970050976
+322,5.366666667,pose2_to_pose3_retreat,0.609814478987,9.08524608447e-05,1.07003272331,0.580384929617,0.00876258839014,1.06970084615
+323,5.383333333,pose2_to_pose3_retreat,0.609140349467,9.06796398748e-05,1.0700323302,0.579710802443,0.00876242371881,1.0697004581
+324,5.400000000,pose2_to_pose3_retreat,0.608448393233,9.09073627138e-05,1.07003221259,0.579018843186,0.00876264147104,1.06970034653
+325,5.416666667,pose2_to_pose3_retreat,0.607724898093,9.09885589459e-05,1.07003226172,0.578295346965,0.00876271914467,1.06970039886
+326,5.433333333,pose2_to_pose3_retreat,0.606962107816,9.08395026701e-05,1.07003225909,0.577532559286,0.00876257889715,1.06970039628
+327,5.450000000,pose2_to_pose3_retreat,0.606154043266,9.08133619777e-05,1.0700321934,0.57672449485,0.0087625531191,1.06970033043
+328,5.466666667,pose2_to_pose3_retreat,0.605332228238,9.09425822601e-05,1.07003230189,0.575902678009,0.00876267598244,1.0697004341
+329,5.483333333,pose2_to_pose3_retreat,0.604505590598,9.08921808043e-05,1.07003244683,0.575076041668,0.0087626297034,1.06970057223
+330,5.500000000,pose2_to_pose3_retreat,0.603688652776,9.08058930368e-05,1.07003227025,0.57425910319,0.00876254146479,1.06970040338
+331,5.516666667,pose2_to_pose3_retreat,0.60288630294,9.08704915477e-05,1.07003212421,0.573456753372,0.00876260646379,1.0697002648
+332,5.533333333,pose2_to_pose3_retreat,0.602098420011,9.07473974761e-05,1.0700324717,0.57266887176,0.00876248725044,1.06970059674
+333,5.550000000,pose2_to_pose3_retreat,0.60129356675,9.0789037165e-05,1.07003223399,0.571864020189,0.00876253498477,1.06970036846
+334,5.566666667,pose2_to_pose3_retreat,0.600463218536,9.07483324126e-05,1.07003230796,0.571033670972,0.00876249086298,1.06970044321
+335,5.583333333,pose2_to_pose3_retreat,0.599612084766,9.07839897911e-05,1.07003244743,0.570182537179,0.00876252631084,1.06970057723
+336,5.600000000,pose2_to_pose3_retreat,0.598747392454,9.09100074074e-05,1.07003245887,0.569317842832,0.0087626454083,1.06970058992
+337,5.616666667,pose2_to_pose3_retreat,0.597880463911,9.08086936515e-05,1.07003238881,0.568450914898,0.00876254606945,1.06970051648
+338,5.633333333,pose2_to_pose3_retreat,0.597032951105,9.06976606604e-05,1.07003227516,0.567603403198,0.00876243885654,1.06970040436
+339,5.650000000,pose2_to_pose3_retreat,0.596219206536,9.07492381838e-05,1.07003228016,0.566789658666,0.00876249074744,1.06970041448
+340,5.666666667,pose2_to_pose3_retreat,0.59542191648,9.07638959361e-05,1.0700322119,0.565992368549,0.00876250531362,1.06970034924
+341,5.683333333,pose2_to_pose3_retreat,0.594636890159,9.06749608286e-05,1.07003215553,0.565207342632,0.00876241776313,1.06970029346
+342,5.700000000,pose2_to_pose3_retreat,0.593854334866,9.06768482294e-05,1.07003234137,0.564424787113,0.00876241863488,1.06970047309
+343,5.716666667,pose2_to_pose3_retreat,0.593066773813,9.08735893805e-05,1.0700324051,0.563637223868,0.00876260723087,1.06970051634
+344,5.733333333,pose2_to_pose3_retreat,0.592270838721,9.07518972251e-05,1.0700321561,0.562841290033,0.00876249111328,1.06970030151
+345,5.750000000,pose2_to_pose3_retreat,0.591477756147,9.07452635871e-05,1.07003205473,0.56204820858,0.00876248821211,1.06970019804
+346,5.766666667,pose2_to_pose3_retreat,0.590690854224,9.08458654796e-05,1.07003242731,0.561261304101,0.00876257968271,1.06970055859
+347,5.783333333,pose2_to_pose3_retreat,0.589923504105,9.0919260008e-05,1.07003225935,0.560493953386,0.00876265105674,1.06970039066
+348,5.800000000,pose2_to_pose3_retreat,0.589175265709,9.09329725569e-05,1.07003222223,0.559745715483,0.00876266642097,1.06970035286
+349,5.816666667,pose2_to_pose3_retreat,0.588449058355,9.0868157858e-05,1.07003220541,0.559019508648,0.00876260348619,1.06970033919
+350,5.833333333,pose2_to_pose3_retreat,0.587742590783,9.08394348183e-05,1.07003227095,0.558313041817,0.00876257732739,1.06970040605
+351,5.850000000,pose2_to_pose3_retreat,0.587054171392,9.09193308556e-05,1.07003234086,0.557624621155,0.00876265279589,1.06970047294
+352,5.866666667,pose2_to_pose3_retreat,0.586380828211,9.08823925079e-05,1.07003239519,0.556951278153,0.0087626164183,1.06970052605
+353,5.883333333,pose2_to_pose3_retreat,0.585720976175,9.06968759033e-05,1.0700323571,0.556291429196,0.00876244134246,1.06970048765
+354,5.900000000,pose2_to_pose3_retreat,0.585080147964,9.0696768911e-05,1.07003219708,0.555650600756,0.00876244027347,1.06970032313
+355,5.916666667,pose2_to_pose3_retreat,0.584460899548,9.0651954411e-05,1.07003242913,0.555031352649,0.00876239673354,1.06970056257
+356,5.933333333,pose2_to_pose3_retreat,0.583869092505,9.05876301359e-05,1.07003234524,0.554439546519,0.00876233535044,1.06970047447
+357,5.950000000,pose2_to_pose3_retreat,0.583298871304,9.07858129522e-05,1.07003219056,0.553869323104,0.00876252639055,1.06970032983
+358,5.966666667,pose2_to_pose3_retreat,0.582748106288,9.06740366514e-05,1.07003241617,0.553318560625,0.00876242307922,1.0697005498
+359,5.983333333,pose2_to_pose3_retreat,0.582214652153,9.08527209056e-05,1.07003234031,0.552785102381,0.00876258793156,1.06970047675
+360,6.000000000,pose2_to_pose3_retreat,0.581699624653,9.08093338244e-05,1.07003223712,0.552270074172,0.0087625421229,1.06970037313
+361,6.016666667,pose2_to_pose3_retreat,0.581205508174,9.07398641611e-05,1.07003212773,0.551775959974,0.00876248046125,1.06970026552
+362,6.033333333,pose2_to_pose3_retreat,0.58073740159,9.07674370561e-05,1.07003228241,0.551307853897,0.00876250965283,1.06970041774
+363,6.050000000,pose2_to_pose3_retreat,0.58030191701,9.07934457712e-05,1.07003234321,0.550872368599,0.00876253316101,1.069700477
+364,6.066666667,pose2_to_pose3_retreat,0.579890973198,9.08169842035e-05,1.07003215215,0.55046142447,0.00876255574173,1.06970028923
+365,6.083333333,pose2_to_pose3_retreat,0.579503763826,9.08866592476e-05,1.07003210708,0.550074214199,0.00876262229696,1.0697002428
+366,6.100000000,pose2_to_pose3_retreat,0.579136174464,9.08510198627e-05,1.07003225733,0.54970662379,0.0087625827665,1.06970038417
+367,6.116666667,pose2_to_pose3_retreat,0.578786718296,9.064270483e-05,1.07003233105,0.549357172278,0.0087623905466,1.06970046518
+368,6.133333333,pose2_to_pose3_retreat,0.578457754449,9.07680132103e-05,1.07003242672,0.549028208616,0.00876251652353,1.06970056177
+369,6.150000000,pose2_to_pose3_retreat,0.578148559061,9.08251426689e-05,1.07003236434,0.548719009679,0.00876256136543,1.06970049295
+370,6.166666667,pose2_to_pose3_retreat,0.57786113428,9.07338253289e-05,1.07003255705,0.548431587403,0.00876247850419,1.06970068483
+371,6.183333333,pose2_to_pose3_retreat,0.577598536182,9.07847377624e-05,1.07003251281,0.548168989758,0.00876253093898,1.06970064014
+372,6.200000000,pose2_to_pose3_retreat,0.577360278578,9.08878036183e-05,1.07003245727,0.547930730547,0.00876262871655,1.06970058889
+373,6.216666667,pose2_to_pose3_retreat,0.577144595035,9.08955068276e-05,1.07003225158,0.547715045926,0.00876263287544,1.06970038627
+374,6.233333333,pose2_to_pose3_retreat,0.576949364438,9.08494425242e-05,1.07003224232,0.54751981497,0.0087625855437,1.06970037578
+375,6.250000000,pose2_to_pose3_retreat,0.57677457724,9.08162333875e-05,1.07003245897,0.547345027767,0.00876255227196,1.0697005912
+376,6.266666667,pose2_to_pose3_retreat,0.576616412467,9.07918916348e-05,1.07003240805,0.547186863514,0.00876252982151,1.06970054366
+377,6.283333333,pose2_to_pose3_retreat,0.576475029207,9.08200374843e-05,1.07003218658,0.547045480105,0.00876255758643,1.06970032555
+378,6.300000000,pose2_to_pose3_retreat,0.576346751921,9.08379898568e-05,1.07003242854,0.546917203261,0.00876257685551,1.06970056258
+379,6.316666667,pose2_to_pose3_retreat,0.576230600859,9.08203299951e-05,1.07003214668,0.546801051608,0.00876255726627,1.06970028287
+380,6.333333333,pose2_to_pose3_retreat,0.576126983333,9.0803263078e-05,1.07003226556,0.546697436989,0.00876255002276,1.06970040146
+381,6.350000000,pose2_to_pose3_retreat,0.576035490974,9.08359910029e-05,1.07003241657,0.5466059432,0.00876257778569,1.06970054958
+382,6.366666667,pose2_to_pose3_retreat,0.575956672764,9.08277676755e-05,1.07003238039,0.546527123908,0.00876256586208,1.06970051245
+383,6.383333333,pose2_to_pose3_retreat,0.575890763985,9.07749104662e-05,1.0700322787,0.546461214845,0.00876251196059,1.06970040852
+384,6.400000000,pose2_to_pose3_retreat,0.575837806856,9.07663560392e-05,1.07003229597,0.546408258713,0.00876250672841,1.06970042415
+385,6.416666667,pose2_to_pose3_retreat,0.575795088641,9.07484322225e-05,1.07003235324,0.546365541744,0.00876249307845,1.06970048257
+386,6.433333333,pose2_to_pose3_retreat,0.57576097778,9.07275610379e-05,1.0700323403,0.546331430111,0.00876246967867,1.06970047206
+387,6.450000000,pose2_to_pose3_retreat,0.575734074923,9.08356832048e-05,1.07003233524,0.546304525914,0.00876257333047,1.06970046904
+388,6.466666667,pose2_to_pose3_retreat,0.575712843545,9.06135982496e-05,1.0700323371,0.546283298256,0.00876236368072,1.0697004659
+389,6.483333333,pose2_to_pose3_retreat,0.575696718595,9.07850670369e-05,1.07003232377,0.546267170114,0.00876252458412,1.06970045964
+390,6.500000000,pose2_to_pose3_retreat,0.575684923307,9.07877617302e-05,1.07003212174,0.546255373972,0.0087625245144,1.06970026124
+391,6.516666667,pose2_to_pose3_retreat,0.57567697833,9.08533591439e-05,1.07003218957,0.546247428708,0.0087625892527,1.06970033217
+392,6.533333333,pose2_to_pose3_retreat,0.575671958361,9.08312542252e-05,1.07003230517,0.546242409441,0.00876256939197,1.06970044408
+393,6.550000000,pose2_to_pose3_retreat,0.575669106309,9.07066122663e-05,1.07003234464,0.546239558794,0.00876244918567,1.0697004746
+394,6.566666667,pose2_to_pose3_retreat,0.575667897514,9.07240822667e-05,1.07003231146,0.546238349111,0.00876246363688,1.06970044134
+395,6.583333333,pose2_to_pose3_retreat,0.575667351284,9.07489413248e-05,1.07003228443,0.546237802121,0.00876248594959,1.06970041516
+396,6.600000000,pose2_to_pose3_retreat,0.575667193317,9.07561304275e-05,1.07003227661,0.546237643935,0.0087624924023,1.06970040759
+397,6.616666667,pose2_to_pose3_retreat,0.575666999731,9.07649405582e-05,1.07003226703,0.54623745008,0.00876250031,1.06970039831
+398,6.633333333,pose2_to_pose3_retreat,0.575666702846,9.07784518867e-05,1.07003225233,0.546237152781,0.00876251243735,1.06970038409
+399,6.650000000,pose2_to_pose3_retreat,0.575666272746,9.07980258061e-05,1.07003223104,0.546236722084,0.00876253000629,1.06970036347
+400,6.666666667,pose2_to_pose3_retreat,0.575665887302,9.07963434117e-05,1.07003223766,0.546236336747,0.00876252867314,1.06970036964
+401,6.683333333,pose2_to_pose3_retreat,0.575665632744,9.07754411403e-05,1.07003226849,0.546236082924,0.0087625102109,1.06970039908
+402,6.700000000,pose2_to_pose3_retreat,0.575665625423,9.07748399921e-05,1.07003226937,0.546236075624,0.00876250967992,1.06970039993
+403,6.716666667,pose2_to_pose3_retreat,0.575665344963,9.07518108482e-05,1.07003230334,0.546235795974,0.00876248933908,1.06970043236
+404,6.733333333,pose2_to_pose3_retreat,0.575665242187,9.07433716896e-05,1.07003231578,0.546235693494,0.00876248188507,1.06970044425
+405,6.750000000,pose2_to_pose3_retreat,0.575665239922,9.0743185678e-05,1.07003231606,0.546235691235,0.00876248172077,1.06970044451
+406,6.766666667,pose2_to_pose3_retreat,0.575665165139,9.07370451205e-05,1.07003232511,0.546235616669,0.00876247629703,1.06970045316
+407,6.783333333,pose2_to_pose3_retreat,0.575665094919,9.07312792001e-05,1.07003233361,0.546235546651,0.0087624712042,1.06970046128
+408,6.800000000,pose2_to_pose3_retreat,0.575664801785,9.07070621874e-05,1.0700323671,0.546235254321,0.00876244963458,1.06970049264
+409,6.816666667,pose2_to_pose3_retreat,0.575664703682,9.06986447665e-05,1.07003237403,0.546235156398,0.00876244175799,1.06970049774
+410,6.833333333,pose2_to_pose3_retreat,0.575664651041,9.06941280639e-05,1.07003237775,0.546235103853,0.0087624375315,1.06970050047
+411,6.850000000,pose2_to_pose3_retreat,0.575664574629,9.06875718282e-05,1.07003238315,0.546235027582,0.00876243139652,1.06970050445
+412,6.866666667,pose2_to_pose3_retreat,0.575664523631,9.06831961196e-05,1.07003238676,0.546234976678,0.00876242730196,1.0697005071
+413,6.883333333,pose2_to_pose3_retreat,0.575664519195,9.06828154639e-05,1.07003238707,0.546234972249,0.00876242694576,1.06970050733
+414,6.900000000,pose2_to_pose3_retreat,0.575664469521,9.06413727954e-05,1.07003234807,0.546234923305,0.00876238806285,1.06970047054
+415,6.916666667,pose2_to_pose3_retreat,0.575664367668,9.05465386265e-05,1.07003225684,0.546234823116,0.00876229908342,1.06970038466
+416,6.933333333,pose2_to_pose3_retreat,0.575664338188,9.05190901875e-05,1.07003223043,0.546234794118,0.00876227332956,1.06970035981
+417,6.950000000,pose2_to_pose3_retreat,0.575664333064,9.0514319562e-05,1.07003222584,0.546234789078,0.00876226885346,1.06970035549
+418,6.966666667,pose2_to_pose3_retreat,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571881,1.06970035246
+419,6.983333333,pose2_to_pose3_retreat,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571877,1.06970035246
+420,7.000000000,pose2_to_pose3_retreat,0.575664329476,9.05109787214e-05,1.07003222263,0.546234785549,0.00876226571875,1.06970035246
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22ee5c153e3661b85ce148d5215ec10577dfcf35
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd11e9fbea2fbccfec35d024806962fc3346bfc3ca85d34c4b34ad7460a905d8
+size 26191239
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6bc8d7a0da3c4ea260c4e329fee5ed013da01811
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/franka_data.csv
@@ -0,0 +1,414 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,660,636,879,788,804,652,631,653,0.400924103531,-0.0154311695531,0.0599347603583,0.999999972242,-0.000106738636448,-0.000205100821356,-4.53598352971e-05,1793239525862119424
+1,0.016666667,BASELINE,766,745,715,679,660,636,879,788,804,652,631,652.410164992,0.400924468516,-0.0154303694228,0.0599349186323,0.999999972714,-0.000104089507692,-0.00020417014704,-4.53056010668e-05,1793239525878786304
+2,0.033333333,BASELINE,765.822977524,745,715,679,660.177022476,636,879,787.822977524,804,652,631.177022476,652,0.400924813124,-0.015429957937,0.0599352494686,0.999999973023,-0.000102621038394,-0.000203411765481,-4.52377185824e-05,1793239525895453184
+3,0.050000000,BASELINE,765.241833954,745,715,679,660.758166046,636,879,787.241833954,804,652,631.758166046,652,0.40092511121,-0.0154304336799,0.0599359742435,0.999999972975,-0.000103847872592,-0.00020304670745,-4.513867876e-05,1793239525912120064
+4,0.066666667,BASELINE,765.335036491,745,715,679,661,636,878.664963509,787,804,652,631.664963509,652.335036491,0.400925268371,-0.0154300918953,0.0599356761749,0.999999972955,-0.000103922071468,-0.00020307735798,-4.52750616263e-05,1793239525928786688
+5,0.083333333,BASELINE,765.908861346,745,715,679,661,636,878.091138654,787,804,652,631.091138654,652.908861346,0.400925325092,-0.0154291674395,0.0599346491016,0.999999972955,-0.000103174760049,-0.000203390039302,-4.55792357689e-05,1793239525945453056
+6,0.100000000,BASELINE,766,745,715,679,660.517945493,636,878.482054507,787,803.517945493,652,631,652.517945493,0.400924467594,-0.0154301509939,0.0599341168689,0.999999972593,-0.000104171013372,-0.000204676875256,-4.54870306729e-05,1793239525962119680
+7,0.116666667,BASELINE,766,745,715,679,660.05712636,636,879,787.05712636,803,652,631,652,0.400923682358,-0.0154313274594,0.0599338824058,0.999999972279,-0.000105157574568,-0.000205748325092,-4.52975837035e-05,1793239525978786304
+8,0.133333333,BASELINE,766,745,715,679,660.650969642,636,879,787.650969642,803,652,631,652,0.400925197841,-0.0154309316205,0.0599355677311,0.999999973073,-0.000102960042879,-0.000203068044876,-4.48976893775e-05,1793239525995452928
+9,0.150000000,BASELINE,766,745,715,679,661,636,879,788,803.238591332,652,631,652.238591332,0.400925119555,-0.015430897584,0.0599356926931,0.999999973163,-0.000102289075784,-0.000202983169353,-4.48101848526e-05,1793239526012119552
+10,0.166666667,BASELINE,766,745,715,679,661,636,879,788,803.817342835,652,631,652.817342835,0.400922769032,-0.0154313793701,0.0599335930416,0.999999972252,-0.000103794535269,-0.000206598568055,-4.51680551661e-05,1793239526028786432
+11,0.183333333,BASELINE,766,745,715,679,661,636,879,788,803.608792768,652,631,652.608792768,0.400923608985,-0.0154314676261,0.0599342900088,0.999999972408,-0.000104326374245,-0.000205615351944,-4.49764967236e-05,1793239526045453056
+12,0.200000000,BASELINE,766,745,715,679,661,636,879,788,803.037181989,652,631,652.037181989,0.400925920214,-0.0154313744075,0.0599362766247,0.999999973052,-0.000104409232402,-0.000202511504524,-4.45315715824e-05,1793239526062119936
+13,0.216666667,BASELINE,766,744.446694286,715.553305714,679,661,636,879,788,803.553305714,652,631,652.553305714,0.400925940291,-0.0154308604234,0.0599355583747,0.999999973132,-0.000103760469856,-0.000202373393908,-4.48814237469e-05,1793239526078786560
+14,0.233333333,BASELINE,766,744.142030715,715.857969285,679,661,636,879,787.857969285,804,652,631,652.857969285,0.40092563089,-0.0154303436641,0.0599348253316,0.99999997316,-0.000102907331183,-0.000202615294678,-4.51344732201e-05,1793239526095452928
+15,0.250000000,BASELINE,766,744.721286654,715.278713346,679,661,636,879,787.278713346,804,652,631,652.278713346,0.400924797928,-0.0154299084781,0.0599346260597,0.999999973148,-0.000101581737692,-0.000203391834628,-4.49193066138e-05,1793239526112119552
+16,0.266666667,BASELINE,766,744.700691018,715,679,661,636,879,787,804,652,631.299308982,652,0.400923829642,-0.015430125129,0.0599343698417,0.999999972899,-0.000102155704299,-0.000204317777358,-4.4959602422e-05,1793239526128786176
+17,0.283333333,BASELINE,766,744.123812737,715,679,661,636,879,787,804,652,631.876187263,652,0.400922735861,-0.0154309462719,0.0599340608138,0.999999972427,-0.000104491260511,-0.000205382271261,-4.52368056792e-05,1793239526145452800
+18,0.300000000,BASELINE,766,744.460109567,715,679.460109567,661,636,878.539890433,787,804,652,632,652.460109567,0.40092446775,-0.0154305942907,0.0599345199939,0.999999972772,-0.000104165650029,-0.000203812048745,-4.54599787651e-05,1793239526162119680
+19,0.316666667,BASELINE,766,745,715,679.954537079,661,636,878.045462921,787,803.954537079,652,631.954537079,652.954537079,0.400926696366,-0.0154299474851,0.059935143478,0.999999973283,-0.00010311860729,-0.000201794456291,-4.56117147961e-05,1793239526178786304
+20,0.333333333,BASELINE,766,745,715,679.374986147,661,636,878.625013853,787,803.374986147,652,631.374986147,652.374986147,0.400925688874,-0.0154296033536,0.0599352309098,0.999999973166,-0.000102139765114,-0.000202979769647,-4.50976833693e-05,1793239526195453184
+21,0.350000000,BASELINE,766,745,715,679,660.796334759,635.796334759,879,787,803.203665241,652,631,652,0.400925297747,-0.0154294723509,0.0599353686326,0.999999973204,-0.000101312567317,-0.000203273484961,-4.47990797816e-05,1793239526212120064
+22,0.366666667,BASELINE,766,745,715,679,660.219332379,635.219332379,879,787,803.780667621,652,631,652,0.400926036473,-0.0154297320332,0.0599355985431,0.999999973527,-0.000100763347734,-0.000201932818852,-4.48953753137e-05,1793239526228786688
+23,0.383333333,BASELINE,766,745,715,679.356097597,660,635,879,787,804,652,631,652.356097597,0.400925677876,-0.0154301122142,0.0599349177635,0.999999973409,-0.0001009236408,-0.000202426255434,-4.4945607918e-05,1793239526245453312
+24,0.400000000,BASELINE,766,745,715,679.93056339,660,635,879,787,804,652,631,652.93056339,0.400924646372,-0.0154305662882,0.0599336785252,0.999999973019,-0.0001015190252,-0.000204044410784,-4.49675935605e-05,1793239526262119680
+25,0.416666667,BASELINE,766,745,715,679.493619238,660.506380762,635.506380762,879,787.506380762,804,652,631,652.493619238,0.400925564354,-0.0154304975167,0.0599345488469,0.999999973356,-0.000100385591937,-0.000202945962722,-4.49800784415e-05,1793239526278786304
+26,0.433333333,BASELINE,765.914996998,745,715,679.085003002,661,636,879,787.914996998,804,652,631,652.085003002,0.400926629367,-0.0154305641435,0.0599356076978,0.99999997373,-9.94404088e-05,-0.000201577403067,-4.49269845328e-05,1793239526295453184
+27,0.450000000,BASELINE,765.320682032,745,715,679.679317968,661,636,879,787.320682032,804,652,631,652.679317968,0.400926969357,-0.0154318727552,0.0599360583045,0.999999973739,-0.000101047361758,-0.000200828353997,-4.44887893222e-05,1793239526312119808
+28,0.466666667,BASELINE,765.265521836,744.734478164,715,679.734478164,660.734478164,636,879,787,804,652,631,653,0.400926620826,-0.015432713524,0.0599359124928,0.999999973515,-0.00010281397799,-0.000201102545904,-4.42374453911e-05,1793239526328786432
+29,0.483333333,BASELINE,765.842219928,744.157780072,715,679.157780072,660.157780072,636,879,787,804,652,631,653,0.400925465387,-0.0154330060079,0.059935067713,0.999999973016,-0.00010476771026,-0.000202575917186,-4.42050803952e-05,1793239526345453312
+30,0.500000000,BASELINE,766,744.416465176,715,679,660.416465176,636,879.416465176,787,804,652,631,653,0.400925590308,-0.015432321064,0.0599345119273,0.999999972933,-0.000104481311064,-0.000203085358712,-4.44248053882e-05,1793239526362120192
+31,0.516666667,BASELINE,766,744.989786578,715,679,660.989786578,636,879.989786578,787,804,652,631,653,0.400926197462,-0.0154312679845,0.0599340649875,0.999999973007,-0.000103351195257,-0.000203231748519,-4.47394768183e-05,1793239526378786560
+32,0.533333333,BASELINE,766,745,715,679,661,636,879.421479794,787,803.421479794,652,631,653,0.40092777904,-0.0154309284029,0.0599349229185,0.999999973447,-0.000102431336613,-0.000201538782119,-4.467909429e-05,1793239526395453184
+33,0.550000000,BASELINE,766,745,715,678.835043282,661,636,879,787,803.164956718,652,631,652.835043282,0.400928160986,-0.0154311008372,0.0599352515947,0.999999973567,-0.000102476160551,-0.000200933275485,-4.46144476492e-05,1793239526412119808
+34,0.566666667,BASELINE,766,745,715,678.255089201,661,636,879,787,803.744910799,652,631,652.255089201,0.40092548044,-0.0154325288417,0.0599341892325,0.999999972867,-0.000104938334542,-0.00020314752614,-4.45561872725e-05,1793239526428786176
+35,0.583333333,BASELINE,766,745,715,678.322576227,660.677423773,636,879,787,803.677423773,652,631,652,0.400924899308,-0.0154328479542,0.0599340768529,0.999999972754,-0.000105335643344,-0.000203519946953,-4.44518391034e-05,1793239526445452800
+36,0.600000000,BASELINE,766,745,715,678.89844463,660.10155537,636,879,787,803.10155537,652,631,652,0.400925966671,-0.0154322963466,0.0599347104152,0.999999973106,-0.000104111586191,-0.000202446132821,-4.43113020334e-05,1793239526462119424
+37,0.616666667,BASELINE,766,745,715,679,660.472316275,636,879,787,803.472316275,652,631,652.472316275,0.400926445257,-0.0154319294173,0.0599349000019,0.999999973469,-0.000102506497311,-0.000201454725041,-4.43870401163e-05,1793239526478786560
+38,0.633333333,BASELINE,766.047329924,745,715,679,661,636,879,787.047329924,804,652,631.047329924,653,0.400926683435,-0.0154316530821,0.0599349609661,0.999999973777,-0.000100943161525,-0.000200695582962,-4.44817948664e-05,1793239526495453952
+39,0.650000000,BASELINE,766.640442991,745,715,679,661,636,879,787.640442991,804,652,631.640442991,653,0.400925603055,-0.0154319654577,0.0599346349037,0.999999973455,-0.000100802068234,-0.000202411341137,-4.42618550023e-05,1793239526512120320
+40,0.666666667,BASELINE,766.772689764,745,715,679,660.772689764,636,879,787.772689764,803.772689764,652,631.772689764,652.772689764,0.400924881411,-0.015432110115,0.0599342918502,0.999999973154,-0.000101484908337,-0.000203554460683,-4.42438801109e-05,1793239526528786432
+41,0.683333333,BASELINE,766.195437932,745,715,679,660.195437932,636,879,787.195437932,803.195437932,652,631.195437932,652.195437932,0.400924712036,-0.0154319965718,0.0599339226393,0.999999972888,-0.000103436184806,-0.000203816009283,-4.45368280773e-05,1793239526545452800
+42,0.700000000,BASELINE,766,744.619088211,715,679,660.380911789,636,879,787.380911789,803.380911789,652,631,652.380911789,0.40092572251,-0.0154321341572,0.0599346495322,0.999999973124,-0.000103403508671,-0.000202719998997,-4.4331834903e-05,1793239526562119424
+43,0.716666667,BASELINE,766,744.043200268,715,679,660.956799732,636,879,787.956799732,803.956799732,652,631,652.956799732,0.400927336909,-0.0154324002869,0.0599359374845,0.999999973613,-0.000102355312716,-0.000200929099182,-4.38719621085e-05,1793239526578786048
+44,0.733333333,BASELINE,766,744.544503446,715,679,661,636,879,787.455496554,804,652.544503446,631,652.455496554,0.400928269131,-0.015431739321,0.0599363375973,0.999999973781,-0.000102422690319,-0.00019996431182,-4.4293033035e-05,1793239526595452928
+45,0.750000000,BASELINE,766,745,715,679,661,636,879,787.131097889,804,652.868902111,631,652.131097889,0.40092838344,-0.0154311183315,0.059936222766,0.999999973801,-0.000102217376094,-0.000199881667898,-4.46775027382e-05,1793239526612119808
+46,0.766666667,BASELINE,766,745,715,679,661,636,879,787.710620199,804,652.289379801,631,652.710620199,0.400925889286,-0.0154308912602,0.0599345928393,0.999999973403,-0.000100769850177,-0.000202587259292,-4.46924024145e-05,1793239526628786688
+47,0.783333333,BASELINE,766,745,715.288035321,679,661,636,878.711964679,788,804,652,631,653,0.400924322868,-0.015430710816,0.0599333384844,0.99999997298,-0.000100868784871,-0.000204574625658,-4.48777094606e-05,1793239526645453568
+48,0.800000000,BASELINE,766,745,715.863348861,679,661,636,878.136651139,788,804,652,631,653,0.400923681748,-0.0154305768764,0.0599324587138,0.999999972537,-0.000102510115127,-0.000205845655173,-4.52329759623e-05,1793239526662119936
+49,0.816666667,BASELINE,766.447843896,744.552156104,715.552156104,679,661,636,878,787.552156104,804,652,631,653,0.400925260855,-0.0154309654866,0.0599332876912,0.999999972795,-0.000102980618753,-0.000204378608881,-4.50957618963e-05,1793239526678786560
+50,0.833333333,BASELINE,766.96528442,744.03471558,715,679,661,636,878.03471558,787,804,652,631,652.96528442,0.400927333225,-0.0154315416332,0.0599345565048,0.999999973231,-0.000103107387641,-0.000202235875117,-4.4803815897e-05,1793239526695453184
+51,0.850000000,BASELINE,766.385997415,744.614002585,715,679,661,636,878.614002585,787,804,652,631,652.385997415,0.400926293729,-0.0154325060686,0.0599343747879,0.999999973069,-0.000103563554161,-0.000202873941633,-4.44912341461e-05,1793239526712119552
+52,0.866666667,BASELINE,766,745,715,679,660.807246997,636,879,787.192753003,804,652,631.192753003,652.192753003,0.400925732584,-0.0154335330729,0.0599342003186,0.999999972948,-0.000104215047672,-0.000203183586505,-4.42690683511e-05,1793239526728785920
+53,0.883333333,BASELINE,766,745,715,679,660.229568175,636,879,787.770431825,804,652,631.770431825,652.770431825,0.400926126701,-0.0154346850264,0.0599340403229,0.999999972911,-0.0001052566072,-0.000202837376601,-4.4227462335e-05,1793239526745452800
+54,0.900000000,BASELINE,766,745,715,679,660.34636453,636,879,788,804,652,631.65363547,653,0.400925893721,-0.015433244244,0.0599337133036,0.99999997296,-0.000103932423913,-0.000203230919887,-4.44335855711e-05,1793239526762119680
+55,0.916666667,BASELINE,766,745,715,679,660.921145703,636,879,788,804,652,631.078854297,653,0.400925247192,-0.0154300936327,0.0599332761372,0.99999997306,-0.000101048106725,-0.000204112307423,-4.4803078551e-05,1793239526778786816
+56,0.933333333,BASELINE,766,745,715,679,661,636,879,788,804,652,631.508578432,653,0.400925855447,-0.015431346491,0.0599340111042,0.999999973215,-0.000101502862443,-0.000203147864771,-4.47056563277e-05,1793239526795453440
+57,0.950000000,BASELINE,766,745,715,679,661,636,879,787.903654123,804,652,632,653,0.400926589049,-0.0154326966691,0.0599347914532,0.999999973389,-0.000102004813741,-0.000202058243197,-4.45951397744e-05,1793239526812120064
+58,0.966666667,BASELINE,766,745,715,679,661,636,879,787.3242939,804,652,632,653,0.400926950813,-0.0154310245615,0.0599348649629,0.999999973625,-0.000100081663391,-0.000201812443047,-4.47911737868e-05,1793239526828786432
+59,0.983333333,BASELINE,766,745,715,679,661,636,879,787.253258532,804,652,631.746741468,653,0.400927127548,-0.0154302810885,0.0599348955342,0.999999973722,-9.94786921155e-05,-0.000201646321321,-4.47152593356e-05,1793239526845452800
+60,1.000000000,BASELINE,766,745,715,679,661,636,879,787.828512601,804,652,631.171487399,653,0.400927069036,-0.015430718291,0.0599348715131,0.999999973646,-0.000100554210002,-0.000201581503539,-4.42935868021e-05,1793239526862119424
+61,1.016666667,BASELINE,766,745,715,679.404289112,661,636,879,788,804,652,631.404289112,653,0.400926512909,-0.0154315395483,0.0599346356542,0.999999973387,-0.000101905039136,-0.000202181813199,-4.4310723796e-05,1793239526878786048
+62,1.033333333,BASELINE,766,745,715,679.98028748,661,636,879,788,804,652,631.98028748,653,0.400925745434,-0.0154325239208,0.0599343098237,0.999999973049,-0.000103372798115,-0.000203064615109,-4.45142315466e-05,1793239526895452672
+63,1.050000000,BASELINE,766,745,715,679.433276811,661,636,879,788,804,652,632,653,0.400925574295,-0.0154329559656,0.0599340535685,0.99999997304,-0.000103085871497,-0.000203295035937,-4.43210707539e-05,1793239526912119552
+64,1.066666667,BASELINE,766,745,715,678.847439036,661,636,879,787.847439036,803.847439036,652,631.847439036,653,0.400925686719,-0.0154331177759,0.0599340130253,0.999999973082,-0.000102939211747,-0.000203186938426,-4.42128704208e-05,1793239526928786432
+65,1.083333333,BASELINE,766,745,715,678.264332517,661,636,879,787.264332517,803.264332517,652,631.264332517,653,0.400926539755,-0.0154325721872,0.0599345742902,0.999999973233,-0.000103363878709,-0.000202188742156,-4.43841074919e-05,1793239526945453568
+66,1.100000000,BASELINE,766,745,715,678.313823446,661,636,879,787.313823446,803.313823446,652,631.313823446,653,0.400926423643,-0.0154324960369,0.059934278045,0.99999997321,-0.000102897242139,-0.000202522402793,-4.4458076991e-05,1793239526962120192
+67,1.116666667,BASELINE,766,745,715,678.8878743,661,636,879,787.8878743,803.8878743,652,631.8878743,653,0.400925503896,-0.0154328091524,0.0599332707387,0.999999973042,-0.000101691522443,-0.000203960460469,-4.44513906593e-05,1793239526978786304
+68,1.133333333,BASELINE,766,744.540014466,715,679,661,636,879,788,804,652,631.540014466,653,0.400926572042,-0.0154321969087,0.059934090721,0.99999997353,-0.000100910401581,-0.000201941664728,-4.44655750356e-05,1793239526995452672
+69,1.150000000,BASELINE,766,744.032820475,715,679,661,636,879,787.967179525,804,652.032820475,631,653,0.400928009729,-0.0154314645178,0.0599352878108,0.999999974114,-0.000100346650784,-0.000199306593074,-4.44835486297e-05,1793239527012119552
+70,1.166666667,BASELINE,766,744.626051153,715,679,661,636,879,787.373948847,804,652.626051153,631,653,0.40092751809,-0.0154325159612,0.0599353504267,0.99999997374,-0.000101734657284,-0.00020047627681,-4.44797200202e-05,1793239527028786176
+71,1.183333333,BASELINE,766,745,715,679,661,636,879,787,803.786198141,652.786198141,631,652.786198141,0.400926615255,-0.0154327854751,0.0599350283062,0.999999973405,-0.000102310531774,-0.000201853785121,-4.44648254939e-05,1793239527045452800
+72,1.200000000,BASELINE,766,745,715,679,661,636,879,787,803.207792526,652.207792526,631,652.207792526,0.400925011193,-0.0154317215375,0.0599340500812,0.999999973138,-0.000101501449484,-0.000203585704111,-4.44310598734e-05,1793239527062119680
+73,1.216666667,BASELINE,766,745,715,679,661,636,879.368485555,787,803.368485555,652,631.368485555,652.368485555,0.400925569919,-0.0154316406568,0.059934162525,0.999999973248,-0.000102072108033,-0.000202769462385,-4.43884594133e-05,1793239527078786560
+74,1.233333333,BASELINE,766,745,715,679,661,636,879.943570752,787,803.943570752,652,631.943570752,652.943570752,0.400927341261,-0.0154321109489,0.0599348864767,0.999999973564,-0.000103416349088,-0.000200524537442,-4.43409055053e-05,1793239527095453696
+75,1.250000000,BASELINE,765.469300368,745,715,679,661,636,880,787,804,652,632,653,0.400926972797,-0.0154335479226,0.0599345439459,0.999999973406,-0.000103602504356,-0.000201313166569,-4.39101347284e-05,1793239527112120064
+76,1.266666667,BASELINE,765.234617516,745,715,678.882691242,661,636.117308758,879.882691242,787.117308758,804,652,632,652.882691242,0.400926076857,-0.0154345528622,0.0599339245667,0.999999973128,-0.000103717330202,-0.000202675401008,-4.36966664176e-05,1793239527128786176
+77,1.283333333,BASELINE,766.393417852,745,715,678.303291074,661,636.696708926,879.303291074,787.696708926,804,652,632,652.303291074,0.400924020189,-0.0154334416836,0.0599326717159,0.999999972585,-0.000104047503522,-0.000204997034406,-4.45034106363e-05,1793239527145452800
+78,1.300000000,BASELINE,766.725523833,745,715,678,661,636.725523833,879,788,804,652,631.725523833,652.274476167,0.400923723994,-0.0154325356513,0.0599323302474,0.999999972468,-0.000103708392979,-0.000205671193594,-4.4818001781e-05,1793239527162119424
+79,1.316666667,BASELINE,766.149550312,745,715,678,661,636.149550312,879,788,804,652,631.149550312,652.850449688,0.400925361584,-0.0154318549614,0.0599329898834,0.999999972821,-0.000102634109972,-0.00020453569054,-4.45919891074e-05,1793239527178786304
+80,1.333333333,BASELINE,766,745,715,678.426642832,660.573357168,636,879,787.573357168,803.573357168,652,631,653,0.400925573018,-0.0154320809996,0.0599333542822,0.999999973013,-0.00010190057947,-0.000204041651746,-4.42439114501e-05,1793239527195452928
+81,1.350000000,BASELINE,766,745,715,679,660.002981481,636,878.997018519,787,803,652,631,652.997018519,0.400925285171,-0.0154326186842,0.0599336118814,0.999999973146,-0.000101292064882,-0.000203774903353,-4.38572859135e-05,1793239527212119552
+82,1.366666667,BASELINE,766,745,715,679,660.592789771,636,878.407210229,787,803,652,631,652.407210229,0.400925171095,-0.015431906343,0.0599332283438,0.999999973039,-0.000101768268425,-0.000203965446538,-4.43094057855e-05,1793239527228786688
+83,1.383333333,BASELINE,766,744.820899054,715,679,661,636,878.179100946,787,803,652,631,652.179100946,0.400925146155,-0.0154315704363,0.0599329003637,0.999999972927,-0.00010218496652,-0.000204246019849,-4.45811167281e-05,1793239527245453312
+84,1.400000000,BASELINE,766,744.24238665,715,679,661,636,878.75761335,787,803,652,631,652.75761335,0.400925319993,-0.0154320740128,0.0599326962815,0.999999972805,-0.000102468962128,-0.000204727368596,-4.44504993772e-05,1793239527262119936
+85,1.416666667,BASELINE,766,744.334752503,715,679,661,636,878.665247497,787,803.334752503,652,631,653,0.40092504528,-0.0154322664941,0.0599327753873,0.999999972765,-0.000102898156823,-0.000204710220811,-4.44423538156e-05,1793239527278786304
+86,1.433333333,BASELINE,766,744.910901344,715,679,661,636,878.089098656,787,803.910901344,652,631,653,0.400924447107,-0.0154322346389,0.0599330587052,0.999999972784,-0.000103432057299,-0.000204333597756,-4.45225249767e-05,1793239527295452928
+87,1.450000000,BASELINE,766,745,715,679,661,636,878.496611967,787,804.496611967,652,631,652.503388033,0.400925576678,-0.0154340719793,0.059933573476,0.999999972734,-0.000105845639246,-0.000203367554208,-4.43818587889e-05,1793239527312119552
+88,1.466666667,BASELINE,766,745,715,679,661,636,879,787,804.917049255,652,631.082950745,652.082950745,0.400926954932,-0.0154356785215,0.0599342555825,0.999999972784,-0.000107832381721,-0.000202114565394,-4.42099130983e-05,1793239527328786176
+89,1.483333333,BASELINE,766,745,715,679,661,636,879,787,804.337422761,652,631.662577239,652.662577239,0.400927929729,-0.0154338557264,0.0599356861076,0.999999973536,-0.000105204485071,-0.000199789081135,-4.40925709335e-05,1793239527345453056
+90,1.500000000,BASELINE,766,745,715,679,661,636,879,787,804,652,631.760018829,653,0.400927859977,-0.0154325604723,0.0599358002837,0.999999973835,-0.000103082755314,-0.000199389887271,-4.41236774816e-05,1793239527362119936
+91,1.516666667,BASELINE,766,745,715,679,661,636,879,787,804,652,631.185711279,653,0.400926335027,-0.0154320001548,0.0599340806068,0.999999973512,-0.000101666185042,-0.000201674277878,-4.4361593269e-05,1793239527378786560
+92,1.533333333,BASELINE,766,744.610498771,715,679,661,636,879,787,804,652,631,652.610498771,0.400926167035,-0.0154319695347,0.0599337694253,0.999999973323,-0.000102092072368,-0.000202359589626,-4.45191468501e-05,1793239527395452928
+93,1.550000000,BASELINE,766,744.034853729,715,679,661,636,879,787,804,652,631,652.034853729,0.400926647538,-0.0154321920584,0.0599341313679,0.999999973199,-0.000103398475608,-0.000202280696968,-4.46382951117e-05,1793239527412119552
+94,1.566666667,BASELINE,766,744.556714211,715,679,661,636,879,787,804,652,631.556714211,652.556714211,0.400925686251,-0.015432644386,0.0599337113124,0.999999973214,-0.000102672313361,-0.000202638693987,-4.43666290371e-05,1793239527428786176
+95,1.583333333,BASELINE,766,745,715,679,661,636,878.854321785,787.145678215,803.854321785,652,631.854321785,652.854321785,0.400924982439,-0.0154330733928,0.0599333817385,0.999999973246,-0.000101794411049,-0.000202975779169,-4.41188113876e-05,1793239527445453056
+96,1.600000000,BASELINE,766,745,715,679,661,636,878.276135325,787.723864675,803.276135325,652,631.276135325,652.276135325,0.400925318934,-0.0154333891901,0.0599334704302,0.999999973307,-0.000100854926308,-0.000203167181606,-4.4016578691e-05,1793239527462119680
+97,1.616666667,BASELINE,765.699780599,745,715,679,660.699780599,636,878.300219401,788,803.300219401,652,631,652.300219401,0.400925345605,-0.0154325637464,0.0599331430703,0.999999973303,-0.000100179757789,-0.000203483152974,-4.41942948279e-05,1793239527478786304
+98,1.633333333,BASELINE,765.125100477,745,715,679,660.125100477,636,878.874899523,788,803.874899523,652,631,652.874899523,0.400925089036,-0.0154306949796,0.0599324353558,0.999999973239,-9.97462273431e-05,-0.000203913005304,-4.46279403282e-05,1793239527495453184
+99,1.650000000,BASELINE,765.449711716,744.550288284,715,678.550288284,660.449711716,636,879,788,804,652,631,652.550288284,0.40092629926,-0.0154317865235,0.0599337345392,0.999999973427,-0.000101819426257,-0.000202010443466,-4.43825815163e-05,1793239527512120064
+100,1.666666667,BASELINE,766,744.025236114,715,678.025236114,661,636,879.025236114,787.974763886,803.974763886,652,631,652.025236114,0.400927803449,-0.0154335376556,0.0599354652801,0.999999973659,-0.000104308850473,-0.000199667763787,-4.39821445107e-05,1793239527528786944
+101,1.683333333,BASELINE,766,744.615894432,715,678.615894432,661,636,879.615894432,787.384105568,803.384105568,652,631,652.615894432,0.400926749241,-0.0154316109436,0.0599343531522,0.999999973564,-0.000100495677145,-0.000202005592032,-4.43403998832e-05,1793239527545453312
+102,1.700000000,BASELINE,766,745,715,679,660.797501962,636,879.797501962,787,803.202498038,652,631.202498038,653,0.400926051596,-0.0154309528615,0.059933526734,0.999999973411,-9.92932194255e-05,-0.000203310012908,-4.45441469538e-05,1793239527562119936
+103,1.716666667,BASELINE,766,745,715,679,660.218438564,636,879.218438564,787,803.781561436,652,631.781561436,653,0.400926017013,-0.0154326539236,0.0599332316215,0.999999973171,-0.000102945649003,-0.00020269270914,-4.44605703402e-05,1793239527578786560
+104,1.733333333,BASELINE,765.642611072,745,715,679,660.357388928,636,879,787,803.642611072,652,631.642611072,653,0.400926267754,-0.0154328242339,0.0599332370435,0.999999973086,-0.000103695108731,-0.000202744935045,-4.43915980798e-05,1793239527595453184
+105,1.750000000,BASELINE,765.068743585,745,715,679,660.931256415,636,879,787,803.068743585,652,631.068743585,653,0.400926691323,-0.0154320673334,0.0599334245061,0.999999973099,-0.000102686174301,-0.000203202710159,-4.43314719988e-05,1793239527612120064
+106,1.766666667,BASELINE,765.51905468,745,715,679,660.48094532,635.48094532,879,787,803.51905468,652,631.51905468,653,0.400925755304,-0.0154333331317,0.0599332490263,0.999999972923,-0.000103084974815,-0.000203905719263,-4.41497949212e-05,1793239527628786432
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631,652,0.400928192507,-0.0154325412409,0.0599348376752,0.999999973854,-0.000101339231268,-0.000200157833347,-4.42673370679e-05,1793239527671148032
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744.424735964,715,679,661,636,879,787.424735964,803.424735964,651.424735964,631,652.575264036,0.400925302368,-0.0154334799469,0.0599334311143,0.999999972953,-0.000103491502455,-0.000203520732417,-4.43016021604e-05,1793239527687814144
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.150196029,715,679,661,636,879,787.150196029,803,651.150196029,631,653,0.400923843217,-0.0154340603239,0.059932855126,0.999999972518,-0.000104935207641,-0.00020492013672,-4.42838568874e-05,1793239527704480256
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.72419125,715,679,661,636,879,787.72419125,803,651.72419125,631,653,0.400926421799,-0.0154336296255,0.0599346227148,0.999999973423,-0.000104379594832,-0.000200779265541,-4.41193570723e-05,1793239527721146624
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.306373438,788,803.306373438,652,631.306373438,652.693626562,0.400928520388,-0.0154326482474,0.059935215262,0.999999973981,-0.000102436853786,-0.000198963014392,-4.4249725733e-05,1793239527737813248
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.89612816,788,803.89612816,652,631.89612816,652.10387184,0.400930175006,-0.0154311575158,0.0599347209498,0.999999974222,-9.92110832053e-05,-0.000199296929677,-4.46528341278e-05,1793239527754480128
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.521934911,788,804,652,632,652.478065089,0.400937598804,-0.015432073866,0.0599371149626,0.999999975165,-9.98337187436e-05,-0.000194244600518,-4.44069051639e-05,1793239527771146752
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.94220829,803.94220829,652,631.94220829,653,0.400947482606,-0.0154332997528,0.0599403029756,0.999999976376,-0.000101088953801,-0.000187318270693,-4.40585117558e-05,1793239527787813376
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.367304742,803.367304742,652,631.367304742,653,0.400968342482,-0.015432690896,0.0599450706,0.999999978841,-0.000100643102061,-0.00017392683288,-4.40348046057e-05,1793239527804480256
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.212063724,803.212063724,652,631,653,0.400993441196,-0.0154335335289,0.0599499812654,0.999999981296,-0.000100766293155,-0.000159171007182,-4.37925198764e-05,1793239527821147136
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.79933191,803.79933191,652,631,653,0.401026039686,-0.0154369442834,0.0599551450126,0.999999983795,-0.000101896292097,-0.000142001170696,-4.31635057232e-05,1793239527837813504
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.61848762,715,679,661,636,879,787.61848762,804,652,631,653,0.401066867661,-0.0154390762448,0.0599580838663,0.999999985959,-0.000102907578854,-0.000124953839632,-4.33352653732e-05,1793239527854480128
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.038947918,715,679,661,636,879,787.038947918,804,652,631,653,0.401111967225,-0.0154405444379,0.0599598678701,0.999999987813,-0.000103857247107,-0.000107970094494,-4.39226735715e-05,1793239527871146496
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744.539437482,715,679,661,636,879,787,804,652,631,653,0.401167090674,-0.0154435245378,0.059962412658,0.99999998831,-0.000104985985629,-0.000102106626442,-4.39642759702e-05,1793239527887813120
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787,804,652,631,653,0.401228209677,-0.015446637964,0.059965446013,0.999999988838,-0.000105928394751,-9.57410494211e-05,-4.40039208162e-05,1793239527904479744
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787,804,652,631,653,0.401309956524,-0.0154498468298,0.0599701760891,0.999999989845,-0.000106091472527,-8.42773905943e-05,-4.41897303905e-05,1793239527921146368
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.728686806,878.728686806,787,804,652,631,653,0.40139885725,-0.0154549982632,0.0599743621333,0.999999990307,-0.0001091110936,-7.41966494664e-05,-4.44439864611e-05,1793239527937813248
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.137871975,878.137871975,787,804,652,631,653,0.401496182465,-0.015462437287,0.0599779075188,0.999999990167,-0.000115494613952,-6.57444493234e-05,-4.47788459285e-05,1793239527954480128
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.444322402,878.444322402,787,804,652,631.444322402,652.555677598,0.401609315401,-0.0154674806002,0.0599781497625,0.999999990399,-0.00011491978993,-6.26908814449e-05,-4.54499481333e-05,1793239527971146752
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,878.976302298,787,804,652,631.976302298,652,0.401728371564,-0.0154718712045,0.0599773373833,0.999999990725,-0.00011249186851,-6.13018946689e-05,-4.62373992567e-05,1793239527987813376
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,878.401463906,787,804,652,631.401463906,652,0.401873277831,-0.015478041567,0.0599753813468,0.9999999903,-0.000116226245172,-6.04078910355e-05,-4.73504382885e-05,1793239528004480000
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.177117476,636,878.177117476,787,804,652,631,652,0.402029657906,-0.0154847599388,0.0599746733113,0.999999990043,-0.000119443863315,-5.75397488419e-05,-4.83344491066e-05,1793239528021146624
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.764366004,636,878.764366004,787,804,652,631,652,0.402212606567,-0.0154927472732,0.059976855132,0.999999990167,-0.000121464881259,-5.01003157816e-05,-4.90196836243e-05,1793239528037813248
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.653330015,636,879.346669985,787.346669985,803.653330015,652,631,652,0.402418352516,-0.015502546449,0.0599779823581,0.999999989632,-0.000128697453028,-4.16108905072e-05,-4.94180799748e-05,1793239528054479872
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.074339559,636,879.925660441,787.925660441,803.074339559,652,631,652,0.402639376057,-0.0155135598288,0.059978402849,0.999999988524,-0.000139422541489,-3.2417813467e-05,-4.96242521359e-05,1793239528071146752
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.49475982,788,803.50524018,652,631.50524018,652,0.402889759695,-0.0155259912912,0.0599833320328,0.999999986114,-0.000157794093894,-2.03934973061e-05,-4.95705958168e-05,1793239528087813632
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.916006757,804,652,632,652.083993243,0.403147625118,-0.0155382912857,0.0599872026735,0.999999983325,-0.000175435524237,-1.06365881759e-05,-4.9586619411e-05,1793239528104480512
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.342576411,804,652,632,652.657423589,0.403423885527,-0.0155486079506,0.059981034891,0.999999981993,-0.000182258867853,-1.65223732185e-05,-5.0231707522e-05,1793239528121146880
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,744.762759231,715,678.762759231,661,636,879,787.237240769,804,652,631.762759231,653,0.403713464807,-0.0155549652725,0.0599719177402,0.999999981401,-0.000183918169736,-2.77806863342e-05,-5.09916567906e-05,1793239528137813760
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,744.173464325,715,678.173464325,661,636,879,787.826535675,804,652,631.173464325,653,0.404022808647,-0.0155554471151,0.0599584238658,0.99999998172,-0.000177914276248,-4.70115779378e-05,-5.19220545638e-05,1793239528154480128
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.408815626,715,678,661,636,879,788,804,652,631,653,0.404353926644,-0.0155497453677,0.0599461665841,0.999999982106,-0.000168162601808,-6.80727504814e-05,-5.36205886107e-05,1793239528171146496
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.988169263,715,678,661,636,879,788,804,652,631,653,0.404694127754,-0.015541464127,0.0599344251491,0.999999982111,-0.000156847535368,-8.98974267771e-05,-5.56395517369e-05,1793239528187813120
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879,787.435349096,803.435349096,652,631,652.435349096,0.405098261491,-0.0155428468277,0.059936975018,0.99999998169,-0.000161370665943,-8.69491851213e-05,-5.49565475521e-05,1793239528204479744
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678.139759897,661,636,879,787.139759897,803.139759897,652,631,652.139759897,0.405521119587,-0.0155453453337,0.0599451109464,0.999999982279,-0.000164583335345,-7.37546855235e-05,-5.399427844e-05,1793239528221146624
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678.710817567,661,636,879,787.710817567,803.710817567,652,631,652.710817567,0.40599764793,-0.0155506655098,0.0599695660232,0.999999984923,-0.000162733038884,-3.05340043595e-05,-5.23440217428e-05,1793239528237813504
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.29387206,678.70612794,661,636,879,788,803.70612794,652,631,653,0.406498657828,-0.0155557270134,0.0599936533854,0.999999985417,-0.000162580626687,1.2039417529e-05,-5.08797449302e-05,1793239528254480128
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715.889234449,678.110765551,661,636,879,788,803.110765551,652,631,653,0.407024783991,-0.0155605231395,0.0600173635034,0.999999983838,-0.000164170114094,5.39488059669e-05,-4.96062691076e-05,1793239528271146752
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.531578409,678.468421591,661.468421591,636,879,788,803.468421591,652,631,653,0.407536285879,-0.0155605403638,0.0600209834589,0.999999982646,-0.000171361845554,5.35790055846e-05,-4.97326420572e-05,1793239528287813376
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.956272427,636,879,788,804,652,631,653,0.408046604141,-0.0155593799058,0.0600191961445,0.999999982008,-0.000177965860639,4.23349909187e-05,-5.02040892021e-05,1793239528304480000
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.383192733,636,879,788,804,652,631,653,0.408583059967,-0.0155571861491,0.0600075401611,0.999999985451,-0.000161953612807,1.64388443332e-05,-5.0979475764e-05,1793239528321146368
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.810693275,804,652,631,653,0.409141289574,-0.0155560673266,0.0599995268464,0.999999987223,-0.000151260146935,-8.00060160638e-07,-5.16994826112e-05,1793239528337812992
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.239364771,804,652,631,653,0.409743458732,-0.0155571177259,0.0599988644532,0.999999987186,-0.00015130000697,-5.68611593922e-07,-5.23077329905e-05,1793239528354479616
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.348020782,661,636,879.348020782,787.348020782,804,652,631,653,0.410385902994,-0.0155589549086,0.0600031338595,0.999999986711,-0.000153959498641,9.82513625112e-06,-5.27058269402e-05,1793239528371146496
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.946984357,661,636,879.946984357,787.946984357,804,652,631,653,0.411057387873,-0.0155613594069,0.0600109593742,0.999999985656,-0.000158507893781,2.75464802769e-05,-5.29523861022e-05,1793239528387813376
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679.477655735,661,636,879.477655735,788,804,652,631.522344265,652.477655735,0.411719320077,-0.0155620882433,0.0600041700296,0.999999986172,-0.000156079677355,1.99754432209e-05,-5.38116453147e-05,1793239528404480000
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,678.903898402,661,636,879,788,804,652,632,652.096101598,0.412376530565,-0.0155619424129,0.0599916228231,0.99999998695,-0.000151935619514,-6.5054549256e-07,-5.49020984553e-05,1793239528421146880
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,678.326689357,661,636,879,788,804,652,632,652.673310643,0.413014746772,-0.0155582324039,0.0599573553095,0.999999985455,-0.000142593284955,-7.43370017432e-05,-5.6852102902e-05,1793239528437813248
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,678.513661163,661.256830582,636,879,788,804,652,631.743169418,653,0.413706724935,-0.0155558978815,0.0599389906134,0.999999982576,-0.000138146418807,-0.00011114732998,-5.83995270957e-05,1793239528454479616
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.697160606,661.848580303,636,879,788,804,652,631.151419697,653,0.414468811303,-0.0155553570576,0.0599413639336,0.999999983436,-0.000140083472858,-9.98694661844e-05,-5.94219683202e-05,1793239528471146496
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.568999475,661.568999475,636,879.431000525,787.568999475,804,652,631,653,0.41528491355,-0.015561613362,0.0599832363839,0.999999987991,-0.00014245604687,-2.51743494766e-05,-5.55910157569e-05,1793239528487813120
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.010152992,636,879.989847008,787.010152992,804,651.989847008,631,653,0.416118571677,-0.0155700760196,0.0600377323111,0.999999985826,-0.000144915169679,6.94935502492e-05,-5.01873539962e-05,1793239528504480256
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.58598976,636,879.41401024,787.58598976,804,651.41401024,631,653,0.416895459222,-0.0155712383568,0.0600387748143,0.999999986479,-0.000143852178382,6.19230234365e-05,-5.01471916411e-05,1793239528521146880
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,678.837905543,661.837905543,636,879.162094457,788,804,651.162094457,631.162094457,653,0.417674818303,-0.0155723751726,0.0600334056125,0.999999987052,-0.000144542741194,4.90997129552e-05,-5.09107664988e-05,1793239528537813248
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,678.261115424,661.261115424,636,879.738884576,788,804,651.738884576,631.738884576,653,0.41846050041,-0.0155734466956,0.0600116329731,0.999999987088,-0.000149719523329,2.28379014131e-05,-5.37305889273e-05,1793239528554479872
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,678.645770989,661.322885494,636,880,788,804,652,632,653,0.419260557333,-0.0155733552508,0.0599886265929,0.999999986964,-0.000150849986306,-1.04453771653e-05,-5.6633466749e-05,1793239528571146496
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679.825701824,661.912850912,636,880,788,804,652,632,653,0.420072504578,-0.0155723018386,0.0599645997054,0.999999985951,-0.000148633471024,-4.95365736749e-05,-5.96050449901e-05,1793239528587813120
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679.506905422,662,636,880,788,804,652,632,652.506905422,0.420859740612,-0.0155706241485,0.0599358567145,0.999999981628,-0.000148068795363,-0.000104589339683,-6.23009861233e-05,1793239528604479744
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.928964288,636,879.928964288,788,804.071035712,652,632,652.071035712,0.421652338258,-0.0155692510392,0.0599106857096,0.999999975331,-0.000147339195607,-0.00015311697547,-6.46811240468e-05,1793239528621146368
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.355392171,636,879.355392171,788,804.644607829,652,632,652.644607829,0.422513165494,-0.0155707981228,0.0599165671049,0.999999978356,-0.00014341745044,-0.000135911769979,-6.51651105217e-05,1793239528637812992
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,678.775627092,661.224372908,636,879.224372908,788,804.775627092,652,632,653,0.423397049969,-0.0155741538762,0.0599454235992,0.999999984121,-0.000143311766546,-8.49150176965e-05,-6.33238934546e-05,1793239528654479872
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,678.185774236,661.814225764,636,879.814225764,788,804.185774236,652,632,653,0.424318492404,-0.0155804557633,0.0600117041223,0.999999986949,-0.000149422044781,2.1124625686e-05,-5.76951631524e-05,1793239528671146752
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,678.396918059,662,636,880,788,804,651.603081941,631.603081941,653,0.425217477421,-0.015583737424,0.0600397955283,0.999999985043,-0.000149034168151,6.85730764869e-05,-5.47787212563e-05,1793239528687813376
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,678.976318267,662,636,880,788,804,651.023681733,631.023681733,653,0.426106137639,-0.0155856305423,0.060050329573,0.999999984013,-0.000145658780117,8.9084357366e-05,-5.31092481185e-05,1793239528704480000
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804.552881352,651.552881352,631,652.447118648,0.426954239085,-0.015586741817,0.0600302817031,0.999999984553,-0.000152317568088,6.78261361382e-05,-5.5622996024e-05,1793239528721146624
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,744.868507447,715,679,662,636,880,788,804.868507447,652,631.131492553,652.131492553,0.42778970526,-0.0155876420747,0.060009429169,0.999999984858,-0.000158167135592,4.34236893789e-05,-5.81444267597e-05,1793239528737813248
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,744.282397185,715,679,662,636,880,788,804.282397185,652,631.717602815,652.717602815,0.42858746235,-0.015587927962,0.059990300383,0.999999985335,-0.000159740554454,1.43045895269e-05,-6.00760878673e-05,1793239528754479872
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,744.300063616,715,679,661.699936384,636,879.699936384,788,804,651.699936384,632,652.699936384,0.429382227563,-0.0155867593836,0.059965543679,0.999999985152,-0.000158067809413,-2.91796150431e-05,-6.21138284252e-05,1793239528771146496
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,744.879131058,715,679,661.120868942,636,879.120868942,788,804,651.120868942,632,652.120868942,0.430174210838,-0.0155842384205,0.0599355540501,0.999999982474,-0.000153376730208,-8.60207161258e-05,-6.42502030846e-05,1793239528787812864
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.454367023,636,879.454367023,788,804.454367023,651.454367023,632,652.454367023,0.431051938797,-0.0155871604473,0.0599522277742,0.999999984544,-0.000156210656643,-4.94611525403e-05,-6.37454659875e-05,1793239528804479488
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.971276533,632,653,0.431949034039,-0.0155914364505,0.0599813964733,0.999999985082,-0.000160689405422,1.08306905974e-05,-6.24308912161e-05,1793239528821146368
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.394417365,632,653,0.432784079924,-0.015594150697,0.0600141064363,0.999999984224,-0.000158675833532,5.38323657035e-05,-5.89573544298e-05,1793239528837812992
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.187136515,632,653,0.433592912306,-0.0155959062885,0.0600298491971,0.999999983189,-0.000158748387975,7.18650588749e-05,-5.70634569799e-05,1793239528854479872
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.778839913,632,653,0.43434507437,-0.0155955893824,0.0600089108916,0.9999999843,-0.000163330899389,3.59177918543e-05,-5.85845513426e-05,1793239528871146496
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.637282339,632,653,0.435094556431,-0.0155944583049,0.0599835837705,0.999999984999,-0.000161749051827,-8.54091839109e-06,-6.13685433365e-05,1793239528887813120
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.058075392,632,653,0.435842438877,-0.0155928412864,0.0599556371709,0.999999983963,-0.00015648798486,-5.80797106686e-05,-6.49062999488e-05,1793239528904479744
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715.512565216,679.512565216,662,636,880,788,805,651,632,653,0.436581081487,-0.0155916581179,0.0599501704905,0.999999982459,-0.000162385213449,-6.67573395449e-05,-6.52366264499e-05,1793239528921146368
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715.916391444,680,662,636,880,788,805,651,632,653,0.437310207432,-0.0155899302161,0.0599460524072,0.999999981005,-0.000167601960859,-7.50444284299e-05,-6.53314215055e-05,1793239528937812992
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715.337304078,680,662,636,880,788,805,651,632,653,0.437989038115,-0.0155846876083,0.0599350801928,0.999999978952,-0.000161416915152,-0.000108002571875,-6.61486620027e-05,1793239528954479616
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.753883366,745,715,679.753883366,662.246116634,636,880,788,805,651,632,653,0.438675819424,-0.0155830014627,0.0599382864342,0.999999979242,-0.00015881372198,-0.000109428123495,-6.57305348437e-05,1793239528971146496
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.164417394,745,715,679.164417394,662.835582606,636,880,788,805,651,632,653,0.439373692336,-0.0155862768225,0.0599612725806,0.999999982749,-0.000161207455695,-6.68635755122e-05,-6.35889862362e-05,1793239528987813120
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.419025442,745,715,679.419025442,662.580974558,636,880,788,805,651.419025442,632,653,0.440056470962,-0.0155933520901,0.0599858447093,0.999999983552,-0.000167815998638,-3.05436642937e-05,-6.16566367488e-05,1793239529004479744
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714.999868283,680,662,635.999868283,880,788,805,651.999868283,632,652.999868283,0.440733378848,-0.0156018964435,0.0600110141403,0.999999982708,-0.000176055175894,3.33508559901e-06,-5.98062219676e-05,1793239529021146624
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714.447041066,680,662,635.447041066,880,788,805,651.447041066,632,652.447041066,0.441275931634,-0.0156071001112,0.0599682492152,0.999999978413,-0.000185386179226,-7.02575957104e-05,-6.22041112105e-05,1793239529037812992
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714.117053496,680,662,635,880,788,805,651,631.882946504,652.117053496,0.441811196781,-0.0156117089399,0.0599230470094,0.999999968485,-0.000194629090615,-0.00014457374325,-6.51762793166e-05,1793239529054479616
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.728762861,680,662,635,880,788,805,651,631.271237139,652.728762861,0.442315665297,-0.0156138040423,0.059867545096,0.999999952173,-0.000203499740773,-0.000221947207788,-7.05752918429e-05,1793239529071146240
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.677694064,662,635,880.322305936,788,805,651,631,653,0.442819615339,-0.0156158154699,0.0598326270239,0.999999938341,-0.000209650045091,-0.000271812937007,-7.40455631568e-05,1793239529087813120
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.098623196,662,635,880.901376804,788,805,651,631,653,0.443323152309,-0.0156177602378,0.0598141070665,0.999999929365,-0.000213633186726,-0.000299764632738,-7.5979303214e-05,1793239529104480256
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.52048589,635,880.52048589,787.52048589,805,651,631.47951411,653,0.443827204642,-0.0156249127931,0.0598198921253,0.999999931292,-0.000219804299708,-0.000288962469557,-7.48466469867e-05,1793239529121146880
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.057132374,661,635,880,787,805,651,631.942867626,653,0.44432470632,-0.0156328870527,0.0598288974996,0.999999934153,-0.000226680520271,-0.000273740731224,-7.33141437483e-05,1793239529137813504
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.631784933,661,635,880,787,805,651,631.368215067,653,0.444761912172,-0.0156386210522,0.0598218800595,0.999999927245,-0.000235875430543,-0.000290545094178,-7.38614456244e-05,1793239529154480128
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.211797953,635,880,787,805,651,631,653,0.445165822729,-0.0156435478636,0.059805632144,0.999999915029,-0.000244898444598,-0.000323059812039,-7.48214129495e-05,1793239529171146752
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.801372168,635,880,787,805,651,631,653,0.445510345635,-0.0156470349224,0.0597729201678,0.999999891339,-0.000253614852185,-0.000383596512938,-7.65174363352e-05,1793239529187813120
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.383514475,715,680,661.616485525,635,880,786.616485525,805,651,631,653,0.445852604973,-0.0156499693679,0.0597473723099,0.999999873857,-0.000258975919692,-0.000423108015066,-7.8718748165e-05,1793239529204479744
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.96188091,715,680,661.03811909,635,880,786.03811909,805,651,631,653,0.446193714291,-0.0156526230479,0.059725464318,0.999999860094,-0.000262632242585,-0.000451937263239,-8.11767817759e-05,1793239529221146624
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745.459667733,715,680,661,635,880,786.540332267,805,651,631,652.459667733,0.44652859583,-0.0156573814977,0.0597261567055,0.999999861217,-0.000266091428767,-0.000447474177083,-8.0801877816e-05,1793239529237813248
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679.879846701,661,634.879846701,880,787,805.120153299,651.120153299,631,652.120153299,0.446855789652,-0.0156622718262,0.0597300795428,0.999999864134,-0.000270045286847,-0.000438634251889,-8.00453585974e-05,1793239529254479616
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679.294748595,661,634.294748595,880,787,805.705251405,651.705251405,631,652.705251405,0.447154935593,-0.0156670978013,0.0597403322631,0.999999869813,-0.000275967151517,-0.000421947638011,-7.85856282949e-05,1793239529271146240
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.712483798,745,715,679.287516202,661,634,880,786.712483798,805.712483798,651.712483798,631,652.712483798,0.447427293733,-0.0156720580936,0.0597418744092,0.999999868891,-0.000281723781407,-0.000420451415199,-7.79109854523e-05,1793239529287812864
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.133095272,745,715,679.866904728,661,634,880,786.133095272,805.133095272,651.133095272,631,652.133095272,0.447672458193,-0.0156771547376,0.0597345740077,0.99999986134,-0.000287312672728,-0.000434375732155,-7.80333249229e-05,1793239529304479744
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.444823618,745,715,679.555176382,661,634,880.444823618,786,805,651,631,652,0.447885559248,-0.0156805771291,0.0597270107888,0.999999855662,-0.000289706132197,-0.000445753928453,-7.77817590903e-05,1793239529321146368
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.022219684,661,634,880.977780316,786,805,651.022219684,631,652,0.448087600862,-0.0156833894611,0.059719119446,0.999999850276,-0.000291239628327,-0.000456753601518,-7.74893212434e-05,1793239529337813248
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.597511584,661,634,880.402488416,786,805,651.597511584,631,652,0.448252371368,-0.0156834449149,0.0597050116626,0.99999983947,-0.000295087760602,-0.000477231572212,-7.89550768312e-05,1793239529354479616
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.822933358,634,880,786,805.177066642,651.822933358,631,652.177066642,0.448405187402,-0.0156838755921,0.0596903131739,0.999999827983,-0.000298160960528,-0.000498694883857,-8.02375063063e-05,1793239529371146496
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.233448767,634,880,786,805.766551233,651.233448767,631,652.766551233,0.448530159438,-0.0156851802275,0.0596742388357,0.999999815404,-0.000299429212476,-0.000522453217424,-8.10929383099e-05,1793239529387813120
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.349934832,715,680,660.349934832,634,880,786,805.650065168,651,631,653,0.448651250351,-0.0156873093879,0.0596644093185,0.999999806103,-0.000301286758472,-0.000538893703612,-8.13296985607e-05,1793239529404479488
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.929318135,715,680,660.929318135,634,880,786,805.070681865,651,631,653,0.448769796468,-0.0156899791804,0.0596586744609,0.999999799096,-0.000303530698351,-0.00055053595911,-8.11608025524e-05,1793239529421146112
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,661,634,880.505604385,786,805,651.505604385,631,653.505604385,0.448873224849,-0.0156889266759,0.0596581390531,0.999999799914,-0.000304026892087,-0.000548707775121,-8.160653199e-05,1793239529437812992
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.918770415,715,680,661,633.918770415,880.918770415,785.918770415,805,651.918770415,631,653.918770415,0.448970820426,-0.0156881237564,0.0596584530438,0.99999980145,-0.000304674186918,-0.000545492389969,-8.1922276906e-05,1793239529454479872
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.344545297,715,680,661,633.344545297,880.344545297,785.344545297,805,651.344545297,631,653.344545297,0.449045764358,-0.0156919745613,0.0596595375596,0.999999800751,-0.000307712385002,-0.000545217258331,-8.09308211812e-05,1793239529471146496
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.762929629,633.237070371,880.237070371,785,805,651,631,653,0.449112315,-0.0156943527427,0.0596590672148,0.99999979925,-0.000310352886564,-0.000546558204664,-8.03499552049e-05,1793239529487812864
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.170227349,633.829772651,880.829772651,785,805,651,631,653,0.449166274769,-0.015694521825,0.059656264406,0.999999796545,-0.000312396798954,-0.000550323447602,-8.03850195497e-05,1793239529504479488
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.411124199,715,680,660.411124199,634,881,785.411124199,805,651.411124199,631,653.411124199,0.449209484428,-0.0156935585615,0.0596537675854,0.999999795214,-0.000310720262828,-0.000553667761335,-8.04741429034e-05,1793239529521146112
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.987902197,715,680,660.987902197,634,881,785.987902197,805,651.987902197,631,653.987902197,0.449248362554,-0.0156921390433,0.0596513940563,0.999999794424,-0.000307544650628,-0.000556842470452,-8.05850481892e-05,1793239529537812736
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.438913099,715.561086901,680,661,633.438913099,880.438913099,785.438913099,805,651.438913099,631,653.438913099,0.449273958826,-0.0156931471506,0.0596489207538,0.999999792434,-0.00030925810681,-0.000559431446076,-8.07941871831e-05,1793239529554479872
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.86212584,745,715.86212584,680,660.86212584,633.13787416,880,785,805,651,631,653,0.449296605467,-0.0156939251425,0.0596465943688,0.999999790239,-0.000310707421469,-0.000562534117534,-8.08652733106e-05,1793239529571146752
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.273303956,745,715.273303956,680,660.273303956,633.726696044,880,785,805,651,631,653,0.449310535385,-0.0156937803819,0.0596447555011,0.999999787469,-0.000310950213932,-0.000567357987311,-8.0477943701e-05,1793239529587813632
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.310160394,745.310160394,715,680,660,634,880,785,805,651,630.689839606,653,0.4493216351,-0.0156932731926,0.0596431470366,0.999999785659,-0.000310581253206,-0.000570762391385,-8.03210034135e-05,1793239529604480000
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.888984075,745.888984075,715,680,660,634,880,785,805,651,630.111015925,653,0.449330283275,-0.0156924520649,0.0596417381487,0.999999784691,-0.000309682387258,-0.000572937244041,-8.03636280625e-05,1793239529621146368
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745.531592299,715,680,660,634,880,785,805,651,630,653,0.449335328549,-0.015692102771,0.0596409902236,0.999999783649,-0.000310300694735,-0.000574441626742,-8.02030204567e-05,1793239529637812992
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.952483614,745,715.047516386,680,660,634,880.047516386,785,805,651,630,652.952483614,0.449339404188,-0.0156917867868,0.0596403597003,0.999999782807,-0.000310810501376,-0.000575660819702,-7.99856351447e-05,1793239529654479616
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.378441994,745,715.621558006,680,660,634,880.621558006,785,805,651,630,652.378441994,0.449342209662,-0.0156905991601,0.0596392920121,0.999999784378,-0.000306128424074,-0.000575482933082,-7.96735249241e-05,1793239529671146240
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.20050592,745,715.79949408,680,660.20050592,633.79949408,880.79949408,785,805,651.20050592,630.20050592,652,0.449344237679,-0.0156899464927,0.0596385681208,0.999999784896,-0.000303990516396,-0.000575741855602,-7.94868179082e-05,1793239529687812864
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.78894639,745,715.21105361,680,660.78894639,633.21105361,880.21105361,785,805,651.78894639,630.78894639,652,0.449344761488,-0.015690328853,0.0596385094008,0.999999783405,-0.000306775013791,-0.000576845907102,-7.95427383421e-05,1793239529704479488
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633,880,785,805,652,630.628162768,652,0.449345169091,-0.0156903157201,0.0596377562583,0.999999782533,-0.000307549568944,-0.000577994788468,-7.91798792104e-05,1793239529721146112
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633,880,785,805,652,630.048375575,652,0.449345511707,-0.0156900814076,0.0596366147601,0.999999782008,-0.000307200063866,-0.0005791687409,-7.85828176179e-05,1793239529737812736
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633,880,785,805.527468511,651.472531489,630.527468511,652.527468511,0.449347707608,-0.0156898661691,0.0596374231576,0.999999783437,-0.000306387186783,-0.000577138373787,-7.85060215852e-05,1793239529754479616
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.896875888,633,880,785,806,651.103124112,630.896875888,653,0.449349555331,-0.0156896677651,0.0596381584372,0.999999784629,-0.000305549465216,-0.000575519812443,-7.84790356765e-05,1793239529771146240
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.320438074,633,880,785,806,651.679561926,630.320438074,653,0.449349030674,-0.0156895386578,0.059637743428,0.999999783933,-0.000304791317726,-0.000577130149129,-7.84632909825e-05,1793239529787812864
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.262338446,633.262338446,880,785,805.737661554,652,630.262338446,653,0.449348558529,-0.0156891886158,0.0596372429796,0.999999783316,-0.000304368501317,-0.000578399716569,-7.86219584108e-05,1793239529804479488
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.853049282,633.853049282,880,785,805.146950718,652,630.853049282,653,0.449348152112,-0.0156885620273,0.0596366355859,0.999999782799,-0.000304365423013,-0.000579242739001,-7.89989397229e-05,1793239529821146368
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.565914083,745,715,680,661,633.565914083,880,785,805,651.565914083,631,653,0.449347916962,-0.0156876039661,0.0596359841309,0.999999782923,-0.000303041128385,-0.000579727086176,-7.89700562589e-05,1793239529837812992
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.011865762,661,633,880,785,805,651.011865762,631,653,0.449347793956,-0.0156865797008,0.0596353719897,0.999999783266,-0.000301375281181,-0.000580026852117,-7.88065929513e-05,1793239529854479616
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.587121895,661,633,880,785,805,651.587121895,631,653,0.449350302754,-0.0156876238065,0.0596373192536,0.999999784038,-0.000304265968957,-0.000577202114836,-7.86346715241e-05,1793239529871146240
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.838281275,660.838281275,633,880.161718725,785,805,652,630.838281275,653,0.449351951761,-0.0156880811908,0.0596385859248,0.99999978469,-0.000305573554899,-0.000575398405534,-7.84927745611e-05,1793239529887812864
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.265360887,660.265360887,633,880.734639113,785,805,652,630.265360887,653,0.449351414578,-0.0156870467201,0.059638122055,0.999999785066,-0.000302855792943,-0.000576190860844,-7.84272207153e-05,1793239529904479488
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.319625786,745.319625786,715,680,660,633.319625786,880.680374214,785,805,652,630.319625786,653,0.449351236255,-0.0156866640453,0.0596377346481,0.999999785132,-0.000301610996668,-0.000576742574302,-7.83281550138e-05,1793239529921146368
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.915023162,745.915023162,715,680,660,633.915023162,880.084976838,785,805,652,630.915023162,653,0.449351367555,-0.015686843737,0.0596374132131,0.999999784935,-0.000301637068238,-0.000577086576808,-7.82001754483e-05,1793239529937813248
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.506402505,715,680,660.493597495,634,880,785,805,651.506402505,630.506402505,653,0.449352084725,-0.0156878532466,0.0596374825803,0.999999784557,-0.000303202580249,-0.000576953935529,-7.79632122791e-05,1793239529954479616
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633.930737665,880,785,805.069262335,651,630.069262335,653,0.449352790104,-0.0156888165189,0.0596375983182,0.999999784234,-0.000304562534414,-0.000576834428834,-7.76926077061e-05,1793239529971146240
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633.355866821,880,785,805.644133179,651,630.644133179,653,0.449352697391,-0.0156884337711,0.0596375776098,0.999999784553,-0.000302551026192,-0.000577390076907,-7.730887385e-05,1793239529987813120
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.775720797,633,880,785,805.775720797,651.224279203,631,652.775720797,0.449351718222,-0.0156872127211,0.0596370711478,0.999999784493,-0.000300936184408,-0.000578314379047,-7.7487881839e-05,1793239530004480000
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.187002867,633,880,785,805.187002867,651.812997133,631,652.187002867,0.449349298621,-0.0156846294859,0.0596357753685,0.999999783817,-0.000299965898782,-0.000579837719519,-7.85813076872e-05,1793239530021146624
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.604162949,745.395837051,715,680,660,633.395837051,880,785,805,651.604162949,631,652.395837051,0.449349471416,-0.0156840474616,0.059635810817,0.999999784084,-0.000298843605296,-0.000579958842983,-7.85583562168e-05,1793239530037813248
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.024059345,745.975940655,715,680,660,633.975940655,880,785,805,651.024059345,631,652.975940655,0.449350851001,-0.0156843970233,0.0596364659669,0.999999784791,-0.000297650550518,-0.000579427218733,-7.80157186152e-05,1793239530054479616
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.553052376,746,715.553052376,680,660.553052376,634,880.553052376,785.553052376,805,651,631,653,0.449352129841,-0.015685528084,0.0596373117414,0.999999785124,-0.000299589306515,-0.0005778490217,-7.8033448998e-05,1793239530071146240
+252,4.200000000,HOLD_POSE2,766,745,715,680,661,633,880,785,805,651,630,653,0.449350537247,-0.0156863957671,0.0596352543603,0.999999782257,-0.000304397973146,-0.000580338733533,-7.76832772732e-05,1793239530112533504
+253,4.216666667,HOLD_POSE2,766,745.579281448,715,680,661,633,880.579281448,785,805,651.579281448,630.579281448,652.420718552,0.449352476619,-0.015686152466,0.0596364158076,0.999999783804,-0.000302707361853,-0.000578557188326,-7.76700661894e-05,1793239530129200128
+254,4.233333333,HOLD_POSE2,766,746,715,680.157930672,660.842069328,633.157930672,881,785,805.157930672,652,631,652.157930672,0.449353566559,-0.0156858531805,0.059636898723,0.999999784763,-0.000301162910314,-0.000577723429757,-7.75257969878e-05,1793239530145866752
+255,4.250000000,HOLD_POSE2,766,746,715,680.734902531,660.265097469,633.734902531,881,785,805.734902531,652,631,652.734902531,0.449352402678,-0.0156854053499,0.0596355812741,0.999999784176,-0.000300006267535,-0.000579404455494,-7.70337881833e-05,1793239530162533376
+256,4.266666667,HOLD_POSE2,766,746,715,680.688341048,660,633.688341048,881,785,805.688341048,651.688341048,630.688341048,653,0.449352302424,-0.0156851673856,0.0596357300197,0.999999784174,-0.000299994206883,-0.000579424531073,-7.69596646546e-05,1793239530179200000
+257,4.283333333,HOLD_POSE2,766,746,715,680.111767786,660,633.111767786,881,785,805.111767786,651.111767786,630.111767786,653,0.449353106267,-0.0156851078103,0.0596371250504,0.999999784669,-0.000300955056536,-0.000578032776525,-7.72407492734e-05,1793239530195866624
+258,4.300000000,HOLD_POSE2,766,745.525298569,715,680,660.474701431,633.474701431,880.525298569,785,805,651.474701431,630.474701431,653,0.449353802769,-0.015686143579,0.059637150931,0.999999784565,-0.000301512904992,-0.000577898017699,-7.74148063968e-05,1793239530212533248
+259,4.316666667,HOLD_POSE2,765.937564682,745.062435318,715,680,660.937564682,633.937564682,880,785,805,652,631,653,0.449354325405,-0.0156871188371,0.0596368337322,0.999999784378,-0.000301723465375,-0.00057809566331,-7.75446745882e-05,1793239530229199872
+260,4.333333333,HOLD_POSE2,765.359046589,745.640953411,715,680,660.359046589,633.359046589,880,785,805,652,631,653,0.44935362423,-0.0156854167878,0.0596364020364,0.99999978468,-0.000299864399904,-0.000578542487637,-7.75220129532e-05,1793239530245866496
+261,4.350000000,HOLD_POSE2,765.218963235,746,715,680.218963235,660.218963235,633,880,784.781036765,805,652,630.781036765,653,0.44935351415,-0.0156847085392,0.0596361701201,0.999999785009,-0.000298998370025,-0.000578446163171,-7.73409470257e-05,1793239530262533120
+262,4.366666667,HOLD_POSE2,765.796141496,746,715,680.796141496,660.796141496,633,880,784.203858504,805,652,630.203858504,653,0.449354371076,-0.0156856261085,0.0596362650347,0.999999785385,-0.000299756906527,-0.000577461269136,-7.69007380636e-05,1793239530279200000
+263,4.383333333,HOLD_POSE2,766,746,715,680.630782783,661,633,880,784.369217217,805,651.630782783,630.369217217,653,0.449355092348,-0.0156853786626,0.0596369541415,0.999999786302,-0.000298818014548,-0.000576366529041,-7.68428730881e-05,1793239530295866880
+264,4.400000000,HOLD_POSE2,766,746,715,680.059947282,661,633,880,784.940052718,805,651.059947282,630.940052718,653,0.449355739543,-0.0156844950375,0.0596379677186,0.999999787511,-0.000296952208608,-0.000575211805263,-7.69937944856e-05,1793239530312533504
+265,4.416666667,HOLD_POSE2,765.469167385,746,715,680,660.469167385,633,880,785,804.469167385,651,630.469167385,653,0.449355114894,-0.0156850928102,0.0596374570937,0.999999786419,-0.000297985269378,-0.00057652949302,-7.73321902224e-05,1793239530329200128
+266,4.433333333,HOLD_POSE2,765.120916784,745.879083216,715,680,660,633,880,785,804.120916784,651,630,653,0.449354316543,-0.0156857386067,0.0596369605007,0.999999785093,-0.000299611107295,-0.000577958683268,-7.752796016e-05,1793239530345866752
+267,4.450000000,HOLD_POSE2,765.699509743,745.300490257,715,680,660,633,880,785,804.699509743,651,630,653,0.449353425589,-0.0156859082348,0.059637193971,0.999999783914,-0.000302193148102,-0.000578711831251,-7.71006203226e-05,1793239530362533120
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634,880,785,805,652,630,653,0.449353989368,-0.015684257144,0.0596359148305,0.999999784174,-0.000299968841874,-0.00057934701777,-7.76398182799e-05,1793239530400510464
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.405069812,633.405069812,880,785,805.594930188,651.405069812,630,653,0.449355425328,-0.0156848127538,0.0596368156543,0.999999786026,-0.000298040306068,-0.00057727872595,-7.66069799934e-05,1793239530417177344
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880.184796662,785,805.815203338,651.184796662,630.184796662,652.815203338,0.449355751533,-0.0156850945457,0.0596369943348,0.999999786669,-0.000297299205496,-0.000576602484918,-7.61851429883e-05,1793239530433844224
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880.763859738,785,805.236140262,651.763859738,630.763859738,652.236140262,0.44935371006,-0.0156847921431,0.0596356323124,0.999999784742,-0.000299091515209,-0.000578896204459,-7.70668860675e-05,1793239530450510848
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.681399577,633.340699788,880.659300212,785,805,652,631,652.340699788,0.449352586043,-0.0156844630047,0.0596349105167,0.999999783771,-0.000300062568107,-0.000580047438587,-7.72338643872e-05,1793239530467177472
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.83201801,633.916009005,880.083990995,785,805,652,631,652.916009005,0.449352093796,-0.0156841154558,0.0596346295878,0.999999783463,-0.000300468094889,-0.000580411945206,-7.69086481857e-05,1793239530483843840
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.497307309,745,715,680,660.994614618,633.497307309,880.502692691,785,805,651.497307309,630.497307309,653,0.449353930595,-0.0156832628141,0.0596357628919,0.999999785257,-0.000298488781328,-0.000578337908462,-7.690995659e-05,1793239530500510464
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.089846812,745,715.089846812,680.089846812,660.089846812,633.089846812,880.910153188,785,805,651.089846812,630.089846812,653,0.449355325901,-0.015682550984,0.0596366637834,0.999999786858,-0.000296400040299,-0.000576634375958,-7.69661079842e-05,1793239530517177088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.668973758,745,715.668973758,680.668973758,660.668973758,633.668973758,880.331026242,785,805,651.668973758,630.668973758,653,0.449352148739,-0.0156830761884,0.0596349824471,0.999999785498,-0.000295935547488,-0.000579218657644,-7.70169417067e-05,1793239530533843712
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.752824751,680.752824751,660.752824751,633.752824751,880,785,805.247175249,652,631,653,0.449345377256,-0.0156825274922,0.0596318321838,0.999999782781,-0.000295739025215,-0.000583944740047,-7.73594036051e-05,1793239530550510336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.175858086,680.175858086,660.175858086,633.175858086,880,785,805.824141914,652,631,653,0.44933381008,-0.0156805459534,0.0596267220177,0.999999778219,-0.00029590004032,-0.000591528501115,-7.80909678414e-05,1793239530567177216
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.401091147,715,680.401091147,660,633.401091147,880,785,805.598908853,652,630.598908853,653,0.449302368064,-0.0156798548695,0.0596126178672,0.999999765484,-0.000297469168613,-0.000611776216035,-7.92128494718e-05,1793239530583844096
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.978032786,715,680.978032786,660,633.978032786,880,785,805.021967214,652,630.021967214,653,0.449262212317,-0.0156797295599,0.0595945704814,0.999999748611,-0.000299655656177,-0.000637576191758,-8.05058580753e-05,1793239530600510720
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.438410442,660,633.438410442,880,785,805,651.438410442,630.561589558,653,0.449205058727,-0.0156752517904,0.0595768423713,0.999999737208,-0.000296288621362,-0.000656534816799,-8.22131426463e-05,1793239530617177344
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.854499075,745.854499075,715,680.145500925,660,633,880,785,805,651.145500925,631,653,0.449143600138,-0.0156707997759,0.0595608498444,0.999999726198,-0.000293342483069,-0.000674212818086,-8.36098139509e-05,1793239530633843968
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.270307918,745.270307918,715,680.729692082,660,633,880,785,805,651.729692082,631,653,0.44907119038,-0.0156669448453,0.0595500520525,0.999999716488,-0.000292328131313,-0.000688846162424,-8.40205355568e-05,1793239530650510336
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.309117668,745.309117668,715,680.690882332,660.309117668,633.309117668,880,785,805,651.690882332,630.690882332,653,0.448987997832,-0.0156621313146,0.0595442188587,0.999999711991,-0.000289976317064,-0.000696320571414,-8.40755078953e-05,1793239530667176960
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.884439237,745.884439237,715,680.115560763,660.884439237,633.884439237,880,785,805,651.115560763,630.115560763,653,0.448895519438,-0.0156564922633,0.0595426610452,0.99999971211,-0.000286472715841,-0.000697629895192,-8.38241184271e-05,1793239530683843584
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.540517251,745.540517251,715,680,660.540517251,633.540517251,880,784.540517251,805,651,630.459482749,652.540517251,0.448790067354,-0.0156500862269,0.0595460342716,0.999999715977,-0.000282240014697,-0.000693939046869,-8.26708064269e-05,1793239530700510464
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.035279154,745,715,680,660,633.035279154,880,784.035279154,805,651.035279154,630.964720846,652.035279154,0.4486793132,-0.0156436042416,0.0595504290029,0.999999720463,-0.000278032888319,-0.00068931982245,-8.13029368942e-05,1793239530717177088
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.623982658,745,715,680,660,633.623982658,880,784.623982658,805,651.623982658,630.376017342,652.623982658,0.4485365397,-0.0156389550093,0.0595514053681,0.999999720449,-0.000277101739464,-0.000689852460411,-8.01255148113e-05,1793239530733843712
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,634,880,785,805.210237612,652,630.210237612,653,0.448384577201,-0.0156315486265,0.0595533921783,0.999999722535,-0.000274113642935,-0.000688140753419,-7.90809436595e-05,1793239530750510336
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,634,880,785,805.792163601,652,630.792163601,653,0.448216369081,-0.0156192677558,0.0595571653986,0.999999728285,-0.000267488977675,-0.000682461169582,-7.82712456685e-05,1793239530767176960
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.368587789,715,680.368587789,660,634,880.368587789,785.368587789,806,652,631,653,0.448031403395,-0.0156073466022,0.05956268,0.999999734411,-0.000260755943262,-0.000676216868771,-7.69076727879e-05,1793239530783843584
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.941955343,715,680.941955343,660,634,880.941955343,785.941955343,806,652,631,653,0.447837127538,-0.0155956252989,0.0595691620772,0.9999997407,-0.000253962700553,-0.000669658822307,-7.52363783735e-05,1793239530800510208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.482992401,715,681,660.517007599,634,880.482992401,786,805.482992401,652,630.482992401,652.482992401,0.44760795661,-0.0155857886333,0.0595806062641,0.999999752691,-0.000248517409374,-0.00065394089052,-7.22330281256e-05,1793239530817176832
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.905098165,660.905098165,634,880,786,805,651.905098165,630.094901835,652.094901835,0.447367298525,-0.0155749925504,0.0595918448964,0.999999764756,-0.000241902738194,-0.000638107692747,-6.92082317556e-05,1793239530833843712
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.313317452,660.313317452,634,880,786,805,651.313317452,630.686682548,652.686682548,0.447087075818,-0.0155580617881,0.0595990809655,0.999999775078,-0.000228370588446,-0.000627072917473,-6.6856711786e-05,1793239530850510336
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.270752583,634,880.270752583,786,805.270752583,651.270752583,631,653,0.44678595107,-0.0155417350644,0.0596040304424,0.999999782077,-0.000215733909715,-0.000620582067714,-6.46785972968e-05,1793239530867176960
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.846146787,634,880.846146787,786,805.846146787,651.846146787,631,653,0.44646130807,-0.0155260879852,0.059606407123,0.999999785498,-0.000204104785452,-0.000619203889592,-6.26955929247e-05,1793239530883843840
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.42270957,715,680.42270957,661,634,880.57729043,786,806,651.57729043,630.57729043,652.57729043,0.446105480624,-0.0155143808737,0.0596057110232,0.999999785264,-0.000196174986402,-0.000622276172913,-6.13193560975e-05,1793239530900510464
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745.999698846,715,680.999698846,661,634,880.000301154,786,806,651.000301154,630.000301154,652.000301154,0.445738271547,-0.0155041117642,0.0596038934261,0.999999783669,-0.000189595360024,-0.00062697277689,-6.01645761344e-05,1793239530917177088
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745.409434126,715,680.409434126,661,634,880,786,805.409434126,651,630.590565874,652.590565874,0.445318507972,-0.0155099749809,0.0596029594137,0.999999784371,-0.000181690754426,-0.000628474010385,-5.71587979989e-05,1793239530933843712
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.177954844,634,880,786,805,651,631,653,0.444894694886,-0.0155138339001,0.0596050665782,0.99999979034,-0.000171137028466,-0.000622194511798,-5.39021299439e-05,1793239530950510336
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.757478867,634,880,786,805,651,631,653,0.444461805749,-0.0155131509522,0.0596140353577,0.999999807776,-0.000154606915268,-0.000598360940907,-5.00814905693e-05,1793239530967176960
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.666303484,634,880,786.333696516,805,651.333696516,631,653,0.44401670453,-0.0155059707931,0.0596347300086,0.999999829653,-0.000141144134022,-0.000564532875418,-4.55551683689e-05,1793239530983843584
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.092465181,634,880,786.907534819,805,651.907534819,631,653,0.443562814946,-0.0154941149726,0.0596638630815,0.999999853711,-0.000129888729628,-0.000523512356,-4.05210072354e-05,1793239531000510208
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745.47933185,715,680,661,634.47933185,880,787,805,651.52066815,631,652.52066815,0.443075746256,-0.0154847194812,0.0596929012287,0.99999988029,-0.000109324362896,-0.000475615501129,-3.54644945746e-05,1793239531017177088
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.947242939,745.947242939,715,680.052757061,661,635,880,787,805,651.052757061,631,652,0.442573349775,-0.0154762377802,0.0597194614882,0.99999990287,-8.72125719001e-05,-0.000430958509736,-3.04614079892e-05,1793239531033843968
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.353084905,745.353084905,715,680.646915095,661,635,880,787,805,651.646915095,631,652,0.44197906011,-0.015472283683,0.0597207804262,0.999999903588,-6.75708667446e-05,-0.000433104228695,-2.60506450819e-05,1793239531050512128
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.234621341,745,715,680.765378659,661.234621341,635,880,787,805,651.765378659,631.234621341,652.234621341,0.44136919259,-0.0154662944861,0.0597202623172,0.999999901909,-4.80388942223e-05,-0.000439768159988,-2.18807650372e-05,1793239531067179264
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.812878017,745,715,680.187121983,661.812878017,635,880,787,805,651.187121983,631.812878017,652.812878017,0.440736509187,-0.0154573246054,0.0597170535993,0.999999896799,-2.86676414745e-05,-0.000453049636723,-1.80636914579e-05,1793239531083844352
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,880,787,805,651,632,652.611944791,0.440107257188,-0.0154480136603,0.0597325054759,0.999999906087,-6.55669669736e-06,-0.000433151262502,-1.27676553361e-05,1793239531100510464
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,880,787,805,651,632,652.038240865,0.439479646818,-0.0154385395476,0.0597568847302,0.99999992088,1.68649381156e-05,-0.000397379381185,-6.76407179522e-06,1793239531117177088
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.448605871,635,880,787.551394129,805,651.551394129,632,652,0.438857962089,-0.0154343944978,0.0598058103007,0.999999949371,3.98656039654e-05,-0.000315695953916,1.98815945751e-06,1793239531133843968
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.139314347,635,880,788,804.860685653,651.860685653,632,652.139314347,0.438199375814,-0.0154301377804,0.0598430262052,0.99999996528,6.24891641508e-05,-0.000255806525874,9.9021397405e-06,1793239531150510336
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.718233368,635,880,788,804.281766632,651.281766632,632,652.718233368,0.437423011932,-0.0154243277741,0.0598377607924,0.999999958543,8.40176351888e-05,-0.000275034148326,1.45516099548e-05,1793239531167177216
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766.297736321,745,715,680,661.702263679,635,880.297736321,787.702263679,804.297736321,651.297736321,632,653,0.436641237183,-0.0154182242362,0.0598084633086,0.999999941831,0.000103424421221,-0.000324597336878,1.66795588555e-05,1793239531183844352
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.877793038,745,715,680,661.122206962,635,880.877793038,787.122206962,804.877793038,651.877793038,632,653,0.435854331633,-0.0154118423642,0.0597563780643,0.999999911392,0.000120819379031,-0.000402925404787,1.64165439768e-05,1793239531200511232
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766.549572907,745,714.549572907,680,661.450427093,635,880.549572907,787,804.549572907,651.549572907,632,652.549572907,0.43506554098,-0.0154102075592,0.059750707897,0.999999913965,0.000134941750462,-0.000391768876622,1.94547960531e-05,1793239531217177600
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,714.021756326,680,662,635,880.021756326,787.021756326,804,651,632,652.021756326,0.434276372658,-0.0154099736908,0.05975786107,0.999999925272,0.000146077244977,-0.000357202761237,2.28640850909e-05,1793239531233843712
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,714.610720867,680,662,635,880.610720867,787.610720867,804,651,632,652.610720867,0.433490474789,-0.015413230028,0.0597763410547,0.999999938581,0.000102115066976,-0.000335025313884,1.29740473907e-05,1793239531250510336
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.80267432,635,880.80267432,787.80267432,804.19732568,651,631.80267432,652.80267432,0.432677083973,-0.0154154471577,0.0597908292763,0.9999999461,8.11773361351e-05,-0.000318031588125,8.17253785737e-06,1793239531267176960
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.220669744,635,880.220669744,787.220669744,804.779330256,651,631.220669744,652.220669744,0.431810096753,-0.015415638392,0.0597975357066,0.999999945981,0.000105124891091,-0.000311143332729,1.32909208156e-05,1793239531283843840
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.64493659,745,715,680,661,635,879.64493659,787,804.64493659,651.35506341,631.35506341,652,0.430975119475,-0.015414831682,0.05981142816,0.999999951625,0.000116836409946,-0.000287702660226,1.80594526244e-05,1793239531300510720
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.073033458,745,715,680,661,635,879.073033458,787,804.073033458,651.926966542,631.926966542,652,0.430159690926,-0.0154134155205,0.0598297091679,0.999999960118,0.000121075294539,-0.000254153310242,2.2614327676e-05,1793239531317177856
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.499883439,745,715,679.500116561,661.499883439,635,879.499883439,787,804,651.500116561,631.500116561,652,0.429266134151,-0.0154096466779,0.0598163563541,0.999999949448,0.000132549875061,-0.000288101683504,2.30535850509e-05,1793239531333844224
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.075794278,661.924205722,635.075794278,880,787.075794278,804,651.075794278,631.075794278,652.075794278,0.428363431345,-0.0154056184903,0.0597963462901,0.999999934337,0.000143093262347,-0.000332191176246,2.23254836179e-05,1793239531350510592
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.67121301,661.32878699,635.67121301,880,787.67121301,804,651.67121301,631.67121301,652.67121301,0.427476440731,-0.0154021736062,0.0597624456795,0.999999918579,0.000139990443389,-0.000378060372531,1.77249890288e-05,1793239531367177216
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.741159348,880,788,804,651.741159348,632,652.741159348,0.426597292342,-0.0154012999046,0.0597564494041,0.999999917408,0.000138428224554,-0.000381782019157,1.62525686792e-05,1793239531383844096
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.163138921,880,788,804,651.163138921,632,652.163138921,0.425727814184,-0.0154035967613,0.0597848623228,0.999999934577,0.000138765739409,-0.000333530980227,1.86374167629e-05,1793239531400510720
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.412793504,745,715,679.587206496,661,635.412793504,880,788,804.412793504,651.412793504,631.587206496,652.412793504,0.424857947431,-0.0154036793135,0.0598104568466,0.999999943124,0.000141210310055,-0.000305476878848,2.22447308573e-05,1793239531417177088
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766.987904856,745,715,679.012095144,661,635.987904856,880,788,804.987904856,651.987904856,631.012095144,652.987904856,0.423987927929,-0.0154028911613,0.059834943125,0.999999948499,0.000144483413032,-0.000285364580352,2.63327404836e-05,1793239531433843712
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.439293498,745,715,679.560706502,661,635.439293498,880,788,804.439293498,651.439293498,631.560706502,652.439293498,0.42313149671,-0.0154011740731,0.0598392028422,0.999999951017,0.000156176402618,-0.000269884830707,2.71539977845e-05,1793239531450510848
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.138796895,745,715,679.861203105,661,635.138796895,880,788,804.138796895,651.138796895,631.861203105,652.138796895,0.42227319258,-0.0153997653101,0.059842262866,0.99999995255,0.000164436337933,-0.000259011186884,2.78200880543e-05,1793239531467177984
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766.734459078,745,715,679.265540922,661,635.734459078,880,788,804.734459078,651.734459078,631.265540922,652.734459078,0.421407762739,-0.0153994371212,0.0598428042445,0.999999952097,0.000160800601472,-0.000262971468648,2.82064304024e-05,1793239531483844608
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766.680063168,745,715,679,661,636,880.319936832,788,804.680063168,652,631,652.680063168,0.420490815318,-0.0153956027031,0.0598088364676,0.999999933679,0.000161418204284,-0.000325519926891,2.49447413304e-05,1793239531500510976
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766.102777531,745,715,679,661,636,880.897222469,788,804.102777531,652,631,652.102777531,0.419532428548,-0.015388947966,0.0597471104301,0.999999891439,0.000165457080451,-0.000435195176339,1.87486710924e-05,1793239531517177344
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880.518478881,788,804,652,631.481521119,652.481521119,0.418708625961,-0.0153883904959,0.0597352169207,0.99999989146,0.000166523616698,-0.000434807230277,1.70902294271e-05,1793239531533844224
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.933448874,788,804,652,631.933448874,653,0.417916262463,-0.0153892046504,0.0597395251371,0.999999903312,0.000166984360809,-0.00040644752179,1.71233774259e-05,1793239531550510848
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.35448374,788,804,652,631.35448374,653,0.417141519206,-0.0153904112378,0.0597854732923,0.999999925725,0.000167737769974,-0.000346271040567,2.26135705607e-05,1793239531567177472
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,744.775626404,715,679,661,636,879,788,804,652,631.224373596,653,0.416361148013,-0.0153906308428,0.0598211167537,0.999999939685,0.000170642663509,-0.000301309443235,2.69047703873e-05,1793239531583844352
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,744.196939205,715,679,661,636,879,788,804,652,631.803060795,653,0.415571889498,-0.0153892918808,0.0598404878385,0.999999944611,0.000176945017268,-0.000280374017706,2.93026127374e-05,1793239531600511232
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.37706035,744.37706035,715,679.37706035,661,636,879.37706035,788,804,652,632,653,0.414793378371,-0.0153891057139,0.0598453315935,0.999999945578,0.000179453972135,-0.000275211143249,2.99893375237e-05,1793239531617177600
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.948641573,744.948641573,715,679.948641573,661,636,879.948641573,788,804,652,632,653,0.414020411738,-0.0153895142602,0.0598426808736,0.999999944662,0.000180005958063,-0.000278185138351,2.97933173235e-05,1793239531633843968
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.460986348,745,715,680,661,636,880,788,804,652,632,653,0.413270857016,-0.0153875676732,0.0598336865707,0.999999939942,0.000179743513961,-0.00029490673386,2.89438074219e-05,1793239531650510848
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.128367476,745,715,680,661,636,880,788,804,652,632,653,0.41252047103,-0.0153847311161,0.0598161110302,0.999999930386,0.000180469931439,-0.000325449682289,2.7210643359e-05,1793239531667177472
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.707628535,745,715,680,661,636,880,788,804,652,632,653,0.411759046698,-0.0153795852084,0.0597705934682,0.999999902732,0.000184952166345,-0.000399773181301,2.26002351497e-05,1793239531683844096
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.714549476,744.714549476,715,679.714549476,661,636,879.714549476,788,804,652,631.714549476,653,0.411053539985,-0.0153779766165,0.0597510227612,0.999999891695,0.000187381019678,-0.000425530032454,2.05411200617e-05,1793239531700510720
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.138194089,744.138194089,715,679.138194089,661,636,879.138194089,788,804,652,631.138194089,653,0.410405019402,-0.0153799729312,0.0597578946999,0.99999990144,0.000187717256221,-0.000401792229717,2.10820481267e-05,1793239531717177344
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,744,715,679.43656005,661,636,879,788,804,652,631.43656005,653,0.409794554965,-0.015383772118,0.0597932587009,0.999999922092,0.000186984290402,-0.000346774909283,2.44884525184e-05,1793239531733843968
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.011085742,744.011085742,715,679.988914258,661,636,879,787.988914258,804,652,632,653,0.409196696236,-0.0153880603606,0.059837121733,0.999999942357,0.000185944819663,-0.000282636503953,2.87646359405e-05,1793239531750510848
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.600026099,744.600026099,715,679.399973901,661,636,879,787.399973901,804,652,632,653,0.408630270476,-0.0153882013508,0.0598555869324,0.999999949018,0.000186506522681,-0.000257297495058,3.12696076295e-05,1793239531767177984
+351,5.850000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,661,636,879.185914419,787.185914419,804,652,631.814085581,652.814085581,0.40806426877,-0.0153876042397,0.0598627789351,0.999999951247,0.000187766976272,-0.000247400153527,3.22776883058e-05,1793239531783844608
+352,5.866666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,661,636,879.765342782,787.765342782,804,652,631.234657218,652.234657218,0.407499164527,-0.0153854448333,0.0598461096391,0.9999999449,0.000190506433709,-0.000270187262289,3.01173896936e-05,1793239531800510720
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.657365048,745,715,679,661,636,879.657365048,788,804.342634952,652,631,652.342634952,0.406960891791,-0.015384170574,0.0598320434624,0.999999939424,0.000191283175488,-0.000289424657366,2.82007803806e-05,1793239531817177344
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.081526842,745,715,679,661,636,879.081526842,788,804.918473158,652,631,652.918473158,0.406440881074,-0.0153834987611,0.0598197490147,0.999999934569,0.000190724059001,-0.000306246054767,2.64500303355e-05,1793239531833844224
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804.496244246,652,631.503755754,653,0.405983470522,-0.0153840031385,0.0598264715932,0.999999940082,0.000185772647968,-0.000290874801122,2.67486043949e-05,1793239531850510848
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.089447313,745,715,679,661,636,879,788,804,652,632,653,0.405539679583,-0.0153844192591,0.0598349176588,0.99999994579,0.00018185693017,-0.000273132427095,2.73126745969e-05,1793239531867177216
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.668846796,745,715,679,661,636,879,788,804,652,632,653,0.405113936949,-0.0153832893626,0.0598356239806,0.999999945177,0.000187582331387,-0.000271485386899,2.74796269919e-05,1793239531883844096
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.752207321,744.752207321,715,679,660.752207321,636,878.752207321,788,804,652,632,653,0.404696525704,-0.0153820918074,0.0598269100014,0.999999939986,0.000193700806167,-0.000286038972985,2.62540675148e-05,1793239531900510976
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.173866575,744.173866575,715,679,660.173866575,636,878.173866575,788,804,652,632,653,0.40429022832,-0.0153808039974,0.0598056296208,0.999999927755,0.000200343628759,-0.000322203712824,2.31709385553e-05,1793239531917177856
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,744.402386724,715,679,660.402386724,636,878.402386724,788,804,652,632,653,0.4039165991,-0.0153806037945,0.059786561278,0.999999917729,0.000195560131295,-0.000354780278176,2.07093310822e-05,1793239531933844480
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,744.977742766,715,679,660.977742766,636,878.977742766,788,804,652,632,653,0.40355701253,-0.0153808711086,0.0597684437964,0.999999908129,0.000185864934515,-0.000385814439455,1.8514889573e-05,1793239531950511104
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.434643401,652.434643401,0.403295179218,-0.015381524815,0.0597871525705,0.999999922074,0.000188845471891,-0.000346083278852,2.0372014994e-05,1793239531967177472
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,744.848879755,715,679,661,636,879,787.848879755,804,652,631.151120245,652.151120245,0.403042902857,-0.0153819504905,0.0598064343753,0.99999993377,0.000192150087786,-0.000308292583918,2.22202878116e-05,1793239531983843840
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,744.269753157,715,679,661,636,879,787.269753157,804,652,631.730246843,652.730246843,0.402806552784,-0.0153816862937,0.0598231419949,0.999999940378,0.000194927896465,-0.000284062939163,2.35817257075e-05,1793239532000510464
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744,715,679,661,636,879,787.307941058,804,652,632,653,0.402586133768,-0.0153821253193,0.0598371189891,0.999999945402,0.000198217230857,-0.000263227425255,2.48382420476e-05,1793239532017177088
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744,715,679,661,636,879,787.884386294,804,652,632,653,0.402379605592,-0.0153831775081,0.0598487150583,0.999999949171,0.000201952581604,-0.000245351369819,2.6003273671e-05,1793239532033843968
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744.460074291,715,679,661,636,879,788,804,652,632,653,0.402181872567,-0.0153813490011,0.0598467496574,0.999999946817,0.000205289263056,-0.000252108949539,2.5769651604e-05,1793239532050510848
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.036530001,788,804,652,632,653,0.401988523405,-0.0153790908904,0.0598414307641,0.999999943017,0.000207960812679,-0.000264736556492,2.51683932046e-05,1793239532067177728
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.627521881,788,804,652,632,653,0.401828222311,-0.0153812816357,0.0598368528402,0.99999994212,0.000202054924398,-0.000272657770933,2.4313032304e-05,1793239532083844352
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,744.786795457,715,679,661,636,879.786795457,788,804,652,632,652.786795457,0.401681959026,-0.0153839381883,0.0598343603403,0.999999941753,0.000196744937014,-0.000277883163526,2.3818382635e-05,1793239532100510976
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,744.210162934,715,679,661,636,879.210162934,788,804,652,632,652.210162934,0.401559624574,-0.0153873887548,0.0598354226497,0.99999994241,0.000192450721571,-0.000278513263539,2.39386006028e-05,1793239532117177344
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,744.365727394,715,679,661,636,879,788,804,652,631.634272606,652.365727394,0.401453853694,-0.0153879474247,0.0598364915704,0.999999942653,0.000191061311073,-0.000278600276787,2.39195922021e-05,1793239532133843968
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,744.941192142,715,679,661,636,879,788,804,652,631.058807858,652.941192142,0.40135758168,-0.0153868476499,0.0598375642827,0.999999942665,0.000191337747772,-0.000278375840687,2.38207402722e-05,1793239532150510336
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.470468436,788,804,651.470468436,631.529531564,653,0.401284831435,-0.0153867674945,0.0598368205128,0.999999943421,0.000190518285617,-0.000276232343291,2.35882659815e-05,1793239532167177216
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.117046426,788,804,651.117046426,631.882953574,653,0.40121824421,-0.0153867787745,0.0598366620291,0.99999994418,0.000190039859236,-0.000273812549032,2.34710518649e-05,1793239532183844096
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.69553341,788,804,651.69553341,631.30446659,653,0.401165398821,-0.0153866929875,0.0598396260818,0.999999944633,0.000191397691553,-0.000271164640603,2.38681973026e-05,1793239532200511232
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.726962147,879,788,804,652,631.273037853,653,0.401119831599,-0.0153857309075,0.0598416394071,0.999999944586,0.000194352828764,-0.000269217522211,2.40117143154e-05,1793239532217177856
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.150549446,879,788,804,652,631.849450554,653,0.401082351217,-0.0153837951705,0.0598425963706,0.999999943973,0.000199082745915,-0.000268049058171,2.38734224499e-05,1793239532233844224
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.575813683,661,635.424186317,879,788,804,652,632,653,0.401052392255,-0.0153821580161,0.0598409433256,0.999999942844,0.000201595287334,-0.000270399170964,2.35792045979e-05,1793239532250510848
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.001670756,661,635.998329244,879,788,804,652,632,653,0.401025092235,-0.0153806264154,0.0598383676011,0.999999941524,0.000203323951059,-0.000273993156657,2.32298644321e-05,1793239532267177728
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.590742288,745,715,678.590742288,661,636,879,788,804,652,632,653,0.401012030026,-0.0153822807429,0.0598394004592,0.99999994249,0.000201150012283,-0.000272080389901,2.30565218792e-05,1793239532283844096
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.821737869,745,715,679,661,636,879,788,804,652,632,653,0.401000533319,-0.015383447773,0.0598402624921,0.99999994307,0.00020038217479,-0.000270520814591,2.29309726408e-05,1793239532300510720
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.245267815,745,715,679,661,636,879,788,804,652,632,653,0.400992440865,-0.0153835054915,0.0598407194037,0.999999942785,0.000202780776498,-0.000269786111303,2.29110383304e-05,1793239532317177344
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.330988396,661,635.669011604,879,788,804,652,631.669011604,652.669011604,0.400987631592,-0.0153835849735,0.0598417545247,0.999999943083,0.000203688008995,-0.00026799104206,2.29321951157e-05,1793239532333843968
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.907086308,661,635.092913692,879,788,804,652,631.092913692,652.092913692,0.40098525364,-0.0153836805722,0.0598432178319,0.99999994381,0.000203490826028,-0.000265410731356,2.29837814208e-05,1793239532350510848
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.518870762,661,635.481129238,879,788,804,652,631,652,0.400984810299,-0.0153851603906,0.0598445823976,0.999999944891,0.000201094163772,-0.000263144414545,2.31127695776e-05,1793239532367177472
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787.943216904,804,652,631,652,0.400984616503,-0.0153867144812,0.0598457430463,0.999999945851,0.000198760610881,-0.000261252170553,2.32121560553e-05,1793239532383844352
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787.348560138,804,652,631,652,0.400983262619,-0.0153864507607,0.0598451519632,0.999999945122,0.000201031197486,-0.000262331363712,2.28901557556e-05,1793239532400510720
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.238634617,744.761365383,715,679,661,636,879,787.238634617,804,652,631.238634617,652.238634617,0.400982189371,-0.0153864647641,0.0598449758097,0.999999944887,0.000201702686781,-0.000262731814736,2.2684054516e-05,1793239532417177344
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.815260483,744.184739517,715,679,661,636,879,787.815260483,804,652,631.815260483,652.815260483,0.400981513606,-0.0153868721228,0.059845387344,0.999999945355,0.000200109287039,-0.000262170926124,2.26421074674e-05,1793239532433843968
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.609604759,744,715,679,661,636,879,788,804,652,631.609604759,653,0.400981212374,-0.0153868703995,0.0598454897174,0.999999945398,0.000200450431258,-0.000261754107449,2.25578040263e-05,1793239532450510592
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.035172942,744,715,679,661,636,879,788,804,652,631.035172942,653,0.400981087701,-0.0153866758304,0.0598454463491,0.999999945239,0.000201703540656,-0.000261405204929,2.24535333208e-05,1793239532467177216
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,744.55152665,715,679,661,636,878.44847335,788,804,652,631,653,0.400980533236,-0.0153898413033,0.0598452755278,0.999999945765,0.000198063183852,-0.000262115954569,2.31588707327e-05,1793239532483844352
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.862758623,878.137241377,788,804,652,631,653,0.400980032281,-0.0153918238239,0.0598451440528,0.999999946122,0.000195644729945,-0.000262535645901,2.35511777107e-05,1793239532500511488
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.282802182,878.717197818,788,804,652,631,653,0.400979794367,-0.0153892834002,0.0598451663178,0.999999945832,0.00019819750443,-0.000261793483982,2.27633633145e-05,1793239532517178112
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.295769272,635.295769272,879,788,804,652,631.295769272,653,0.400979941318,-0.0153881701371,0.05984588017,0.999999945802,0.000199629374438,-0.000260839312653,2.25160337402e-05,1793239532533844736
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.873022698,635.873022698,879,788,804,652,631.873022698,653,0.400980454544,-0.0153884151051,0.0598472522071,0.999999946024,0.000199994477913,-0.000259683371498,2.27830844632e-05,1793239532550510848
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.448579538,744.551420462,715,678.551420462,661.551420462,636,879,788,804,652,631.551420462,653,0.40098022336,-0.0153892529051,0.0598472808968,0.999999946145,0.00019981908697,-0.000259350550835,2.28005473026e-05,1793239532567177472
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.97575577,744.02424423,715,678.02424423,661,636,878.97575577,787.97575577,804,652,631,653,0.400979819763,-0.0153902279101,0.0598469539925,0.999999946251,0.000199451041033,-0.000259227731561,2.27550096765e-05,1793239532583844096
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.386425009,744.613574991,715,678.613574991,661,636,878.386425009,787.386425009,804,652,631,653,0.400980290426,-0.0153905043055,0.059847168491,0.999999946673,0.000198145164854,-0.000258589394288,2.28815556602e-05,1793239532600510720
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.199612846,787.199612846,804,652,631.199612846,653,0.400980506702,-0.0153905367853,0.059847484625,0.999999946916,0.000197624703011,-0.000258050624927,2.28602222376e-05,1793239532617177600
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,878.779379472,787.779379472,804,652,631.779379472,653,0.400980238512,-0.0153901047386,0.0598479943194,0.99999994682,0.000198600027892,-0.000257701478265,2.25572590597e-05,1793239532633844480
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,632,653,0.400979639865,-0.0153905435601,0.0598478044378,0.999999946799,0.000197938478289,-0.0002582825094,2.26202048887e-05,1793239532650511360
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,632,653,0.400978838222,-0.0153915173487,0.0598471848126,0.999999946823,0.000196271410061,-0.000259434941146,2.29079256346e-05,1793239532667178240
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,632,653,0.40098132208,-0.0153899759708,0.0598488499201,0.999999947178,0.000197965396346,-0.00025677988558,2.274979007e-05,1793239532683844608
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715.102810523,679,661,636,879,788,804,652,632,653,0.400983459069,-0.0153887187197,0.0598502192238,0.999999947464,0.000199481318557,-0.000254504813729,2.25202470144e-05,1793239532700510464
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.68221127,679,661,636,879,788,804,652,632,653,0.40098180381,-0.0153904507223,0.0598486983425,0.999999947261,0.000197937284412,-0.000256522521173,2.22561034252e-05,1793239532717177088
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715.739859672,679,661,636,879,788,804,652,632,653,0.400980676427,-0.0153914531184,0.0598478931282,0.999999947188,0.000196771726031,-0.000257705693548,2.21889477766e-05,1793239532733843968
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715.163718246,679,661,636,879,788,804,652,632,653,0.400980190272,-0.0153915692373,0.059847957258,0.999999947279,0.000196065914529,-0.00025787512872,2.23610798887e-05,1793239532750510336
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.410282296,745,715,679,661,636,879,788,804.410282296,652,632,653,0.400980403379,-0.0153919618588,0.0598485830892,0.999999947701,0.000194658957014,-0.000257290636965,2.25436662129e-05,1793239532767177728
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766.983432942,745,715,679,661,636,879,788,804.983432942,652,632,653,0.400980894071,-0.0153924642425,0.059849431897,0.99999994825,0.000192973668019,-0.000256406861419,2.27304024994e-05,1793239532783844864
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.42448969,745,715,679,661,636,878.42448969,788,804.42448969,652.57551031,632,653,0.400980292845,-0.0153907478933,0.0598488684172,0.999999947251,0.000197239061917,-0.000257088628134,2.2357131868e-05,1793239532800511232
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4f792b0ec5ad94669335fef5ed6de26bae461c7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_01/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,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+1,0.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+2,0.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+3,0.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+4,0.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+5,0.083333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+6,0.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+7,0.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+8,0.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+9,0.150000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+10,0.166666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+11,0.183333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+12,0.200000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+13,0.216666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+14,0.233333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+15,0.250000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+16,0.266666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+17,0.283333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+18,0.300000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+19,0.316666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+20,0.333333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+21,0.350000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+22,0.366666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+23,0.383333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+24,0.400000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+25,0.416666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+26,0.433333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+27,0.450000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+28,0.466666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+29,0.483333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+30,0.500000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+31,0.516666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+32,0.533333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+33,0.550000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+34,0.566666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+35,0.583333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+36,0.600000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+37,0.616666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+38,0.633333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+39,0.650000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+40,0.666666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+41,0.683333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+42,0.700000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+43,0.716666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+44,0.733333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+45,0.750000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+46,0.766666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+47,0.783333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+48,0.800000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+49,0.816666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+50,0.833333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+51,0.850000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+52,0.866666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+53,0.883333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+54,0.900000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+55,0.916666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+56,0.933333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+57,0.950000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+58,0.966666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+59,0.983333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+60,1.000000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+61,1.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+62,1.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+63,1.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+64,1.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+65,1.083333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+66,1.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+67,1.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+68,1.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+69,1.150000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+70,1.166666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+71,1.183333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+72,1.200000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+73,1.216666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+74,1.233333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+75,1.250000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+76,1.266666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+77,1.283333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+78,1.300000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+79,1.316666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+80,1.333333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+81,1.350000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+82,1.366666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+83,1.383333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+84,1.400000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+85,1.416666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+86,1.433333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+87,1.450000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+88,1.466666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+89,1.483333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+90,1.500000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+91,1.516666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+92,1.533333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+93,1.550000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+94,1.566666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+95,1.583333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+96,1.600000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+97,1.616666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+98,1.633333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+99,1.650000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+100,1.666666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+101,1.683333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+102,1.700000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+103,1.716666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+104,1.733333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+105,1.750000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+106,1.766666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+107,1.783333333,pose1_to_pose2_press,0.575664423642,-0.00990929997034,1.05003219328,0.546234875488,-0.00123755908879,1.04970033576
+108,1.800000000,pose1_to_pose2_press,0.575664511836,-0.0099092652554,1.05003219101,0.546234964006,-0.0012375232697,1.04970033366
+109,1.816666667,pose1_to_pose2_press,0.575664528166,-0.00990925882726,1.05003219059,0.546234980397,-0.00123751663709,1.04970033327
+110,1.833333333,pose1_to_pose2_press,0.575664711112,-0.00990921549078,1.05003231889,0.546235162775,-0.00123747541399,1.0497004567
+111,1.850000000,pose1_to_pose2_press,0.575666095499,-0.00990912519458,1.0500323257,0.546236545724,-0.00123739004778,1.04970046216
+112,1.866666667,pose1_to_pose2_press,0.575669281425,-0.0099091396297,1.05003257043,0.546239731954,-0.00123740358006,1.04970070343
+113,1.883333333,pose1_to_pose2_press,0.575675484678,-0.00990922086115,1.0500322515,0.546245936842,-0.00123747943588,1.04970038022
+114,1.900000000,pose1_to_pose2_press,0.575685659488,-0.00990930274145,1.05003230002,0.546256111969,-0.0012375602679,1.04970042775
+115,1.916666667,pose1_to_pose2_press,0.575701118816,-0.00990922136081,1.05003240721,0.546271570509,-0.00123748117109,1.04970054512
+116,1.933333333,pose1_to_pose2_press,0.57572230496,-0.00990917895159,1.05003234778,0.546292755846,-0.00123744166802,1.04970048116
+117,1.950000000,pose1_to_pose2_press,0.575749522532,-0.0099089974321,1.05003240313,0.546319970901,-0.00123726870082,1.04970053632
+118,1.966666667,pose1_to_pose2_press,0.575782774771,-0.00990910008568,1.05003241087,0.546353224537,-0.00123736680438,1.04970053897
+119,1.983333333,pose1_to_pose2_press,0.575822361348,-0.0099092721143,1.05003227221,0.546392812035,-0.00123753591481,1.04970039485
+120,2.000000000,pose1_to_pose2_press,0.57587036994,-0.00990922667862,1.0500322497,0.546440821708,-0.00123748618289,1.04970038862
+121,2.016666667,pose1_to_pose2_press,0.575926774573,-0.00990917440637,1.05003240085,0.546497227333,-0.0012374303819,1.04970054399
+122,2.033333333,pose1_to_pose2_press,0.575992376934,-0.00990923477024,1.05003211904,0.54656282836,-0.00123749560023,1.04970025356
+123,2.050000000,pose1_to_pose2_press,0.576067787467,-0.00990923224942,1.05003222718,0.546638238505,-0.00123749456048,1.0497003574
+124,2.066666667,pose1_to_pose2_press,0.576153521745,-0.00990930705412,1.05003222813,0.546723973957,-0.00123756518433,1.04970036341
+125,2.083333333,pose1_to_pose2_press,0.576250181084,-0.00990935009088,1.05003228502,0.546820634203,-0.00123760504493,1.04970042285
+126,2.100000000,pose1_to_pose2_press,0.57635856919,-0.009909282006,1.0500323991,0.546929022219,-0.0012375373854,1.04970053376
+127,2.116666667,pose1_to_pose2_press,0.576481845174,-0.00990916141407,1.05003242264,0.547052297488,-0.00123741941731,1.04970055207
+128,2.133333333,pose1_to_pose2_press,0.576621109509,-0.00990914407153,1.05003227637,0.54719156144,-0.00123740338997,1.04970040542
+129,2.150000000,pose1_to_pose2_press,0.576778028724,-0.00990922251112,1.05003233123,0.54734848096,-0.00123748054208,1.04970046675
+130,2.166666667,pose1_to_pose2_press,0.576953501394,-0.00990941564875,1.05003211109,0.547523956076,-0.00123766537754,1.04970024659
+131,2.183333333,pose1_to_pose2_press,0.577146505266,-0.00990910561123,1.05003222691,0.547716954504,-0.00123737402961,1.04970035671
+132,2.200000000,pose1_to_pose2_press,0.577355763721,-0.00990906386333,1.05003222555,0.547926211443,-0.00123733727373,1.0497003593
+133,2.216666667,pose1_to_pose2_press,0.577579545931,-0.00990914601604,1.05003231849,0.548149996235,-0.00123741078522,1.04970044903
+134,2.233333333,pose1_to_pose2_press,0.577818795391,-0.0099091987663,1.05003235293,0.548389246146,-0.00123746193994,1.04970048508
+135,2.250000000,pose1_to_pose2_press,0.578072079745,-0.00990922368112,1.05003228397,0.548642530853,-0.00123748545599,1.04970042135
+136,2.266666667,pose1_to_pose2_press,0.578339631086,-0.00990920849884,1.05003230048,0.548910083363,-0.00123746623248,1.04970043973
+137,2.283333333,pose1_to_pose2_press,0.578629493457,-0.00990912968275,1.05003255408,0.549199944365,-0.00123739221265,1.04970068932
+138,2.300000000,pose1_to_pose2_press,0.578942498032,-0.00990931707612,1.05003237721,0.549512950323,-0.00123757527755,1.04970050288
+139,2.316666667,pose1_to_pose2_press,0.579284573995,-0.00990927317029,1.05003231676,0.549855025825,-0.00123753329784,1.04970043289
+140,2.333333333,pose1_to_pose2_press,0.579656199907,-0.0099092905043,1.05003239631,0.550226652525,-0.00123754783908,1.04970051547
+141,2.350000000,pose1_to_pose2_press,0.580059980716,-0.00990921247398,1.05003238694,0.550630431735,-0.00123747499374,1.0497005124
+142,2.366666667,pose1_to_pose2_press,0.580482572056,-0.00990913148153,1.0500323657,0.55105302248,-0.00123739581892,1.04970049636
+143,2.383333333,pose1_to_pose2_press,0.580920372123,-0.00990917476566,1.05003225292,0.55149082334,-0.00123743613207,1.04970039081
+144,2.400000000,pose1_to_pose2_press,0.581368666195,-0.00990922196703,1.05003228147,0.551939118239,-0.00123748052976,1.04970041928
+145,2.416666667,pose1_to_pose2_press,0.581826910119,-0.00990919990182,1.05003235552,0.552397361566,-0.0012374607316,1.04970048698
+146,2.433333333,pose1_to_pose2_press,0.582298365179,-0.00990919610511,1.05003225442,0.552868816013,-0.00123745920091,1.04970038099
+147,2.450000000,pose1_to_pose2_press,0.582792654185,-0.009909250096,1.05003210126,0.553363105748,-0.00123751066695,1.04970022905
+148,2.466666667,pose1_to_pose2_press,0.583314993086,-0.00990920133364,1.05003233243,0.553885444118,-0.00123746351489,1.04970046526
+149,2.483333333,pose1_to_pose2_press,0.58385905129,-0.00990922006346,1.05003223464,0.554429502214,-0.00123748262912,1.04970036694
+150,2.500000000,pose1_to_pose2_press,0.584420437708,-0.0099094447115,1.05003240465,0.554990891809,-0.00123769699713,1.0497005238
+151,2.516666667,pose1_to_pose2_press,0.584988098808,-0.00990922159009,1.05003238839,0.555558548723,-0.00123748782831,1.04970051415
+152,2.533333333,pose1_to_pose2_press,0.585564365028,-0.00990919271063,1.05003239787,0.556134815159,-0.0012374583291,1.0497005206
+153,2.550000000,pose1_to_pose2_press,0.586156311394,-0.00990921595549,1.05003223127,0.556726762593,-0.00123747772354,1.04970035986
+154,2.566666667,pose1_to_pose2_press,0.586775060317,-0.00990925584795,1.05003223607,0.557345512435,-0.00123751437415,1.04970036784
+155,2.583333333,pose1_to_pose2_press,0.587424512318,-0.00990925914725,1.05003231606,0.557994964461,-0.00123751763197,1.04970044664
+156,2.600000000,pose1_to_pose2_press,0.58809806187,-0.00990925600004,1.05003223485,0.558668514016,-0.00123751438284,1.04970036785
+157,2.616666667,pose1_to_pose2_press,0.588786824709,-0.00990929037828,1.0500322249,0.559357277485,-0.00123754658656,1.0497003589
+158,2.633333333,pose1_to_pose2_press,0.589479749872,-0.00990917420906,1.05003225696,0.560050200719,-0.00123743705743,1.0497003885
+159,2.650000000,pose1_to_pose2_press,0.590169809107,-0.0099091081538,1.05003236248,0.560740260451,-0.00123736946632,1.04970049005
+160,2.666666667,pose1_to_pose2_press,0.590856219341,-0.00990922075481,1.05003221565,0.561426673231,-0.00123747312673,1.04970035111
+161,2.683333333,pose1_to_pose2_press,0.591544287285,-0.0099092894162,1.05003243324,0.562114741762,-0.0012375397377,1.04970057021
+162,2.700000000,pose1_to_pose2_press,0.592234815893,-0.00990927658143,1.05003244252,0.562805269262,-0.00123753052783,1.04970058299
+163,2.716666667,pose1_to_pose2_press,0.592938380698,-0.00990930669678,1.05003247701,0.563508834352,-0.00123755997708,1.04970060963
+164,2.733333333,pose1_to_pose2_press,0.593656516641,-0.00990914297408,1.05003241763,0.564226968741,-0.00123740154103,1.04970054998
+165,2.750000000,pose1_to_pose2_press,0.594393653734,-0.00990905801277,1.05003228463,0.564964104446,-0.00123732110907,1.04970042169
+166,2.766666667,pose1_to_pose2_press,0.595150156438,-0.00990914812025,1.0500321122,0.565720607589,-0.0012374095961,1.04970025279
+167,2.783333333,pose1_to_pose2_press,0.595923364137,-0.00990913999866,1.05003202745,0.566493815495,-0.00123740065685,1.04970017103
+168,2.800000000,pose1_to_pose2_press,0.596694407927,-0.00990921770608,1.05003226114,0.567264860268,-0.00123747535792,1.04970039622
+169,2.816666667,pose1_to_pose2_press,0.597457023058,-0.00990925950721,1.05003235402,0.568027475838,-0.00123751591326,1.04970048278
+170,2.833333333,pose1_to_pose2_press,0.59819815818,-0.00990922578791,1.05003224259,0.56876861034,-0.00123748418901,1.04970037421
+171,2.850000000,pose1_to_pose2_press,0.598921146351,-0.00990929340953,1.05003222307,0.569491599811,-0.00123754726707,1.04970035817
+172,2.866666667,pose1_to_pose2_press,0.59962744241,-0.0099093411157,1.05003224223,0.570197895231,-0.00123759727249,1.04970037399
+173,2.883333333,pose1_to_pose2_press,0.600338848853,-0.00990927226981,1.05003224119,0.570909300168,-0.00123753358771,1.0497003717
+174,2.900000000,pose1_to_pose2_press,0.60106097592,-0.00990927496886,1.05003230963,0.571631428559,-0.00123753174866,1.04970044145
+175,2.916666667,pose1_to_pose2_press,0.601789489298,-0.00990925180948,1.0500322839,0.572359941613,-0.00123750969549,1.04970041549
+176,2.933333333,pose1_to_pose2_press,0.60252036644,-0.00990925000996,1.05003228696,0.573090818605,-0.00123750834155,1.04970042032
+177,2.950000000,pose1_to_pose2_press,0.603244371185,-0.00990924554379,1.05003233814,0.573814823514,-0.00123750327924,1.04970047271
+178,2.966666667,pose1_to_pose2_press,0.603946109654,-0.00990919208369,1.05003244979,0.574516561147,-0.0012374528751,1.04970057862
+179,2.983333333,pose1_to_pose2_press,0.604621894776,-0.00990914869143,1.05003263209,0.575192346218,-0.00123740989078,1.04970075491
+180,3.000000000,pose1_to_pose2_press,0.605281010054,-0.00990912802881,1.05003257783,0.575851461718,-0.00123738829661,1.04970070537
+181,3.016666667,pose1_to_pose2_press,0.605926173111,-0.00990924839979,1.05003233439,0.576496625256,-0.00123750669525,1.04970047099
+182,3.033333333,pose1_to_pose2_press,0.606558570788,-0.00990933880187,1.05003231125,0.577129025079,-0.00123758960775,1.04970045323
+183,3.050000000,pose1_to_pose2_press,0.607180173053,-0.00990937587241,1.05003224032,0.577750626814,-0.00123762876446,1.04970037495
+184,3.066666667,pose1_to_pose2_press,0.607792902483,-0.00990924836155,1.05003232433,0.578363354568,-0.00123750700469,1.04970045735
+185,3.083333333,pose1_to_pose2_press,0.608395907234,-0.00990925123515,1.05003243508,0.578966358662,-0.00123751211488,1.04970056796
+186,3.100000000,pose1_to_pose2_press,0.608989897975,-0.00990921995559,1.05003229851,0.579560349643,-0.0012374798699,1.04970043549
+187,3.116666667,pose1_to_pose2_press,0.609560180074,-0.00990917383929,1.05003221707,0.580130631712,-0.00123743384957,1.04970035434
+188,3.133333333,pose1_to_pose2_press,0.610104131247,-0.00990917994745,1.05003217712,0.580674582792,-0.00123744038758,1.04970031142
+189,3.150000000,pose1_to_pose2_press,0.610614484584,-0.00990924352828,1.05003226946,0.581184936487,-0.00123750293556,1.0497003991
+190,3.166666667,pose1_to_pose2_press,0.611093732784,-0.00990926299525,1.05003247959,0.581664184923,-0.00123752178898,1.04970060436
+191,3.183333333,pose1_to_pose2_press,0.611542880697,-0.00990912966571,1.05003236973,0.582113332337,-0.00123739011196,1.04970049567
+192,3.200000000,pose1_to_pose2_press,0.611985405955,-0.00990936702195,1.05003225517,0.582555860148,-0.00123761869915,1.04970038424
+193,3.216666667,pose1_to_pose2_press,0.61242104121,-0.00990931245319,1.05003245197,0.582991493754,-0.00123756968217,1.0497005815
+194,3.233333333,pose1_to_pose2_press,0.612845140283,-0.00990918422119,1.0500322796,0.583415591624,-0.00123744514384,1.04970041647
+195,3.250000000,pose1_to_pose2_press,0.613251749581,-0.0099092579511,1.05003237359,0.583822202207,-0.0012375143631,1.04970050982
+196,3.266666667,pose1_to_pose2_press,0.613630736411,-0.00990927403891,1.05003248288,0.584201188588,-0.00123753203702,1.04970061322
+197,3.283333333,pose1_to_pose2_press,0.613981669866,-0.00990923715631,1.05003249647,0.584552121317,-0.00123749748749,1.04970062471
+198,3.300000000,pose1_to_pose2_press,0.614305446456,-0.00990919621782,1.05003238417,0.584875897588,-0.00123745725459,1.04970051564
+199,3.316666667,pose1_to_pose2_press,0.61461140025,-0.0099090798323,1.05003214708,0.585181849256,-0.00123734776468,1.04970028112
+200,3.333333333,pose1_to_pose2_press,0.614903953463,-0.00990900968195,1.05003250006,0.585474401919,-0.00123727961885,1.04970062645
+201,3.350000000,pose1_to_pose2_press,0.615188509882,-0.0099093034639,1.05003248621,0.585758963304,-0.00123755619926,1.04970061758
+202,3.366666667,pose1_to_pose2_press,0.615460902289,-0.00990924380499,1.05003235107,0.586031355139,-0.00123749800235,1.04970048984
+203,3.383333333,pose1_to_pose2_press,0.615716687365,-0.00990931691682,1.05003226637,0.586287140213,-0.00123757115304,1.04970039869
+204,3.400000000,pose1_to_pose2_press,0.615951186871,-0.00990919457773,1.05003216317,0.586521637333,-0.00123745683454,1.04970029319
+205,3.416666667,pose1_to_pose2_press,0.616163894222,-0.00990919154468,1.05003221017,0.586734344906,-0.0012374530206,1.04970033731
+206,3.433333333,pose1_to_pose2_press,0.616353333158,-0.00990927513939,1.0500322214,0.586923785296,-0.00123753127974,1.0497003555
+207,3.450000000,pose1_to_pose2_press,0.616522081724,-0.00990930863155,1.05003221134,0.587092533603,-0.00123756542948,1.04970034791
+208,3.466666667,pose1_to_pose2_press,0.616669981416,-0.00990929199108,1.05003225252,0.58724043202,-0.00123755332364,1.04970038078
+209,3.483333333,pose1_to_pose2_press,0.616801841733,-0.00990926935445,1.05003225038,0.58737229253,-0.00123752986059,1.04970038057
+210,3.500000000,pose1_to_pose2_press,0.616919112449,-0.00990924759099,1.05003233764,0.587489565051,-0.00123750168682,1.0497004725
+211,3.516666667,pose1_to_pose2_press,0.617025798879,-0.00990927849844,1.05003239157,0.587596251023,-0.00123753453934,1.04970051491
+212,3.533333333,pose1_to_pose2_press,0.617122820131,-0.00990921283489,1.05003230176,0.587693271548,-0.00123747111931,1.04970042932
+213,3.550000000,pose1_to_pose2_press,0.617211081134,-0.00990918150196,1.05003217241,0.587781531948,-0.00123744149557,1.0497003062
+214,3.566666667,pose1_to_pose2_press,0.617289858768,-0.00990925909526,1.05003210007,0.587860309618,-0.00123751885789,1.04970023625
+215,3.583333333,pose1_to_pose2_press,0.617357477203,-0.00990932600467,1.05003211956,0.587927929138,-0.00123758201424,1.0497002585
+216,3.600000000,pose1_to_pose2_press,0.617414683871,-0.00990925749983,1.05003222111,0.587985136521,-0.00123751107904,1.04970035607
+217,3.616666667,pose1_to_pose2_press,0.617461674997,-0.00990916466866,1.05003222183,0.588032124327,-0.00123742957607,1.0497003566
+218,3.633333333,pose1_to_pose2_press,0.617500082969,-0.00990910604369,1.05003234487,0.588070533794,-0.00123736587691,1.04970047751
+219,3.650000000,pose1_to_pose2_press,0.617530991641,-0.00990923908451,1.05003224523,0.588101444011,-0.0012374932617,1.04970038306
+220,3.666666667,pose1_to_pose2_press,0.617555031452,-0.0099093036337,1.05003221595,0.588125482964,-0.00123756070864,1.04970035301
+221,3.683333333,pose1_to_pose2_press,0.617573579281,-0.00990927212295,1.05003226081,0.588144029635,-0.00123753321938,1.04970039706
+222,3.700000000,pose1_to_pose2_press,0.617587021151,-0.00990919799439,1.05003232257,0.588157471154,-0.00123746031796,1.04970045995
+223,3.716666667,pose1_to_pose2_press,0.617596918616,-0.00990922917788,1.05003225778,0.588167369539,-0.00123748847258,1.04970039141
+224,3.733333333,pose1_to_pose2_press,0.617603724943,-0.0099092701405,1.05003219197,0.588174176141,-0.00123752851726,1.04970032468
+225,3.750000000,pose1_to_pose2_press,0.617608685735,-0.0099093157361,1.05003212686,0.588179136843,-0.00123757438327,1.04970026026
+226,3.766666667,pose1_to_pose2_press,0.617612145237,-0.00990927047797,1.05003214175,0.588182595795,-0.00123753100957,1.0497002754
+227,3.783333333,pose1_to_pose2_press,0.617614318087,-0.00990919977798,1.05003218417,0.58818476803,-0.00123746242354,1.04970031787
+228,3.800000000,pose1_to_pose2_press,0.617615794928,-0.00990915172466,1.05003221301,0.588186244454,-0.00123741580704,1.04970034674
+229,3.816666667,pose1_to_pose2_press,0.617616705414,-0.00990913564672,1.05003222238,0.588187154775,-0.00123740028707,1.04970035637
+230,3.833333333,pose1_to_pose2_press,0.617617497291,-0.00990918352638,1.05003219216,0.588187946937,-0.00123744715495,1.04970032744
+231,3.850000000,pose1_to_pose2_press,0.6176182632,-0.00990922983592,1.05003216292,0.58818871312,-0.00123749248589,1.04970029945
+232,3.866666667,pose1_to_pose2_press,0.617618878097,-0.00990926701474,1.05003213945,0.588189328238,-0.00123752887907,1.04970027699
+233,3.883333333,pose1_to_pose2_press,0.617619366283,-0.00990929653215,1.05003212082,0.588189816599,-0.00123755777272,1.04970025915
+234,3.900000000,pose1_to_pose2_press,0.617619746584,-0.0099093195265,1.0500321063,0.588190197037,-0.00123758028116,1.04970024526
+235,3.916666667,pose1_to_pose2_press,0.617619776738,-0.00990932134969,1.05003210515,0.588190227201,-0.00123758206583,1.04970024416
+236,3.933333333,pose1_to_pose2_press,0.617620030431,-0.00990933668887,1.05003209547,0.588190480985,-0.00123759708087,1.04970023489
+237,3.950000000,pose1_to_pose2_press,0.617620213651,-0.00990934776697,1.05003208847,0.588190664271,-0.00123760792487,1.0497002282
+238,3.966666667,pose1_to_pose2_press,0.617620657756,-0.00990931987159,1.0500321144,0.588191108242,-0.00123758054838,1.04970025232
+239,3.983333333,pose1_to_pose2_press,0.617621073872,-0.00990927905327,1.0500321502,0.588191524154,-0.00123754050756,1.04970028574
+240,4.000000000,pose1_to_pose2_press,0.617621497236,-0.00990923752397,1.05003218662,0.58819194731,-0.00123749976929,1.04970031974
+241,4.016666667,pose1_to_pose2_press,0.617621953036,-0.00990919281291,1.05003222582,0.588192402887,-0.00123745590988,1.04970035635
+242,4.033333333,pose1_to_pose2_press,0.61762218032,-0.0099091705178,1.05003224538,0.58819263006,-0.00123743403943,1.04970037461
+243,4.050000000,pose1_to_pose2_press,0.617622269162,-0.00990917206889,1.05003224495,0.588192718997,-0.00123743523593,1.04970037494
+244,4.066666667,pose1_to_pose2_press,0.617622387353,-0.00990918626044,1.05003223486,0.588192837481,-0.00123744834073,1.04970036733
+245,4.083333333,pose1_to_pose2_press,0.617622431759,-0.00990919159237,1.05003223107,0.588192881996,-0.00123745326435,1.04970036448
+246,4.100000000,pose1_to_pose2_press,0.617622622379,-0.00990921448065,1.0500322148,0.588193073088,-0.0012374743999,1.04970035221
+247,4.116666667,pose1_to_pose2_press,0.617622863155,-0.00990924339128,1.05003219425,0.588193314459,-0.00123750109661,1.04970033672
+248,4.133333333,pose1_to_pose2_press,0.617623046542,-0.00990924548573,1.05003224533,0.588193497431,-0.0012375046977,1.04970038529
+249,4.150000000,pose1_to_pose2_press,0.617623101118,-0.00990924241085,1.05003227292,0.588193551722,-0.00123750266381,1.04970041094
+250,4.166666667,pose1_to_pose2_press,0.6176231407,-0.00990924018078,1.05003229293,0.588193591098,-0.00123750118871,1.04970042955
+251,4.183333333,pose1_to_pose2_press,0.617623265294,-0.00990914232485,1.0500323853,0.588193715207,-0.00123740544353,1.04970050987
+252,4.200000000,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.588193715209,-0.00123740544303,1.04970050987
+253,4.216666667,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.588193715209,-0.00123740544305,1.04970050987
+254,4.233333333,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.588193715209,-0.00123740544327,1.04970050987
+255,4.250000000,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.588193715209,-0.00123740544335,1.04970050987
+256,4.266666667,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.588193715209,-0.00123740544331,1.04970050987
+257,4.283333333,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.588193715209,-0.00123740544332,1.04970050987
+258,4.300000000,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.58819371521,-0.00123740544329,1.04970050987
+259,4.316666667,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.58819371521,-0.00123740544329,1.04970050987
+260,4.333333333,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.58819371521,-0.00123740544326,1.04970050987
+261,4.350000000,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.58819371521,-0.00123740544328,1.04970050987
+262,4.366666667,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.58819371521,-0.00123740544327,1.04970050987
+263,4.383333333,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.58819371521,-0.00123740544326,1.04970050987
+264,4.400000000,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.58819371521,-0.00123740544325,1.04970050987
+265,4.416666667,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.58819371521,-0.00123740544321,1.04970050987
+266,4.433333333,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.58819371521,-0.00123740544324,1.04970050987
+267,4.450000000,pose2_hold,0.617623265294,-0.00990914232485,1.0500323853,0.58819371521,-0.00123740544324,1.04970050987
+268,4.466666667,pose2_to_pose3_retreat,0.617623265294,-0.00990914232485,1.0500323853,0.58819371521,-0.00123740544322,1.04970050987
+269,4.483333333,pose2_to_pose3_retreat,0.617623273715,-0.00990915368576,1.05003238009,0.588193723763,-0.00123741629698,1.04970050617
+270,4.500000000,pose2_to_pose3_retreat,0.617623316021,-0.00990921076626,1.05003235389,0.588193766734,-0.00123747082945,1.04970048758
+271,4.516666667,pose2_to_pose3_retreat,0.617623146481,-0.00990921810222,1.05003235301,0.588193596973,-0.00123747890077,1.04970048708
+272,4.533333333,pose2_to_pose3_retreat,0.617622988192,-0.00990921631572,1.05003235606,0.588193438389,-0.00123747814744,1.04970048936
+273,4.550000000,pose2_to_pose3_retreat,0.617622943119,-0.00990921580701,1.05003235693,0.588193393232,-0.00123747793293,1.04970049001
+274,4.566666667,pose2_to_pose3_retreat,0.617622777705,-0.00990921492631,1.05003235828,0.588193227544,-0.00123747800787,1.04970049072
+275,4.583333333,pose2_to_pose3_retreat,0.617622008871,-0.0099092792665,1.05003223621,0.588192459832,-0.00123753818259,1.04970037821
+276,4.600000000,pose2_to_pose3_retreat,0.617619616195,-0.00990915155746,1.05003221519,0.588190066694,-0.00123741219627,1.04970035337
+277,4.616666667,pose2_to_pose3_retreat,0.617612220021,-0.00990937038832,1.05003230436,0.588182672417,-0.00123762457754,1.04970044314
+278,4.633333333,pose2_to_pose3_retreat,0.617597721965,-0.00990927726139,1.05003236708,0.588168174084,-0.00123753259515,1.04970050153
+279,4.650000000,pose2_to_pose3_retreat,0.617574010439,-0.0099092502601,1.05003223512,0.588144461845,-0.00123750809097,1.04970036889
+280,4.666666667,pose2_to_pose3_retreat,0.617540694235,-0.00990923457691,1.05003225268,0.588111145719,-0.00123749223831,1.04970038619
+281,4.683333333,pose2_to_pose3_retreat,0.617496831714,-0.00990913316635,1.05003239876,0.588067282899,-0.00123739170828,1.04970053177
+282,4.700000000,pose2_to_pose3_retreat,0.617443863195,-0.00990929385054,1.0500323913,0.58801431423,-0.00123755293091,1.04970051926
+283,4.716666667,pose2_to_pose3_retreat,0.617381702144,-0.00990926582724,1.05003226954,0.587952152642,-0.00123752705968,1.04970039559
+284,4.733333333,pose2_to_pose3_retreat,0.617311074623,-0.00990919325155,1.05003218995,0.587881524308,-0.00123745705476,1.04970032167
+285,4.750000000,pose2_to_pose3_retreat,0.617231779713,-0.00990922005033,1.05003218157,0.587802231051,-0.00123747820933,1.04970031515
+286,4.766666667,pose2_to_pose3_retreat,0.617140305008,-0.00990935153132,1.05003237017,0.587710758765,-0.00123760188114,1.04970049819
+287,4.783333333,pose2_to_pose3_retreat,0.617036864376,-0.0099093055875,1.05003239181,0.587607316244,-0.00123756274341,1.04970051191
+288,4.800000000,pose2_to_pose3_retreat,0.616920150736,-0.00990918578829,1.05003216545,0.587490602495,-0.00123744321865,1.0497002894
+289,4.816666667,pose2_to_pose3_retreat,0.616789545743,-0.00990920688639,1.05003230255,0.587359997358,-0.00123746442814,1.04970043858
+290,4.833333333,pose2_to_pose3_retreat,0.616644413443,-0.00990916666266,1.05003225827,0.587214863957,-0.00123742805806,1.04970039413
+291,4.850000000,pose2_to_pose3_retreat,0.616484297168,-0.00990918020123,1.05003236228,0.5870547489,-0.00123743772418,1.04970049417
+292,4.866666667,pose2_to_pose3_retreat,0.616308696154,-0.0099092135211,1.05003246781,0.586879148485,-0.00123746902562,1.04970060301
+293,4.883333333,pose2_to_pose3_retreat,0.616113557005,-0.00990919424624,1.05003239677,0.586684007542,-0.00123745571129,1.0497005405
+294,4.900000000,pose2_to_pose3_retreat,0.615898305462,-0.00990915596887,1.05003230967,0.586468756131,-0.00123741734609,1.04970044954
+295,4.916666667,pose2_to_pose3_retreat,0.61566023189,-0.00990932422086,1.05003219907,0.586230683967,-0.00123758098998,1.04970033841
+296,4.933333333,pose2_to_pose3_retreat,0.615400214245,-0.00990908325046,1.05003224556,0.585970663157,-0.00123735126829,1.04970037536
+297,4.950000000,pose2_to_pose3_retreat,0.615118197938,-0.00990926698191,1.05003245066,0.58568864994,-0.00123752484696,1.04970057582
+298,4.966666667,pose2_to_pose3_retreat,0.614811777213,-0.0099092279459,1.05003232805,0.585382229198,-0.00123748592098,1.04970045746
+299,4.983333333,pose2_to_pose3_retreat,0.614484027965,-0.00990928438512,1.05003214876,0.585054479818,-0.00123754279415,1.04970028432
+300,5.000000000,pose2_to_pose3_retreat,0.614137368631,-0.00990928567999,1.05003220485,0.584707821443,-0.00123754097469,1.04970034128
+301,5.016666667,pose2_to_pose3_retreat,0.613775094094,-0.00990916958559,1.05003234946,0.584345547132,-0.00123742439773,1.04970048337
+302,5.033333333,pose2_to_pose3_retreat,0.613397779472,-0.00990918704785,1.05003234539,0.583968231809,-0.00123744452694,1.04970047853
+303,5.050000000,pose2_to_pose3_retreat,0.61300871415,-0.00990936899659,1.05003235609,0.583579167813,-0.00123762219457,1.04970048832
+304,5.066666667,pose2_to_pose3_retreat,0.612605909285,-0.00990921521386,1.05003238859,0.583176361176,-0.00123747474818,1.04970051392
+305,5.083333333,pose2_to_pose3_retreat,0.612175028392,-0.00990917967475,1.0500324437,0.582745480338,-0.00123743896234,1.04970057429
+306,5.100000000,pose2_to_pose3_retreat,0.611715428417,-0.00990921597861,1.05003224135,0.5822858806,-0.00123747428066,1.04970037719
+307,5.116666667,pose2_to_pose3_retreat,0.611224758626,-0.00990913050806,1.05003227859,0.581795209099,-0.00123739467249,1.04970041194
+308,5.133333333,pose2_to_pose3_retreat,0.610709331807,-0.00990909185943,1.05003240322,0.581279781067,-0.00123736029865,1.04970053206
+309,5.150000000,pose2_to_pose3_retreat,0.610172020735,-0.0099092724639,1.05003220616,0.580742472059,-0.0012375338651,1.04970033667
+310,5.166666667,pose2_to_pose3_retreat,0.609629927101,-0.00990934249002,1.050032164,0.580200380468,-0.00123759694714,1.04970029552
+311,5.183333333,pose2_to_pose3_retreat,0.609079349453,-0.00990938063346,1.05003249699,0.579649803845,-0.00123763186962,1.04970062109
+312,5.200000000,pose2_to_pose3_retreat,0.608503648977,-0.00990918704703,1.05003238783,0.579074101643,-0.00123744397763,1.0497005162
+313,5.216666667,pose2_to_pose3_retreat,0.6079014969,-0.00990917754223,1.05003254184,0.578471948793,-0.00123743707834,1.04970067012
+314,5.233333333,pose2_to_pose3_retreat,0.607271588697,-0.0099090670353,1.05003242356,0.577842038953,-0.00123733175704,1.04970056121
+315,5.250000000,pose2_to_pose3_retreat,0.606612642305,-0.00990904852443,1.05003247612,0.577183092462,-0.00123731374916,1.04970060921
+316,5.266666667,pose2_to_pose3_retreat,0.605930965694,-0.00990918639187,1.05003238394,0.576501417323,-0.001237446766,1.04970051416
+317,5.283333333,pose2_to_pose3_retreat,0.605247571635,-0.00990927148116,1.05003213813,0.575818023521,-0.00123753074739,1.04970027496
+318,5.300000000,pose2_to_pose3_retreat,0.60455867591,-0.00990923494097,1.05003226069,0.575129126499,-0.00123749869487,1.04970039397
+319,5.316666667,pose2_to_pose3_retreat,0.603855786876,-0.00990925283256,1.0500323548,0.574426237437,-0.00123751682029,1.04970048517
+320,5.333333333,pose2_to_pose3_retreat,0.603144795886,-0.00990919615804,1.05003236793,0.573715246957,-0.00123745842647,1.04970049798
+321,5.350000000,pose2_to_pose3_retreat,0.602429324113,-0.00990922147316,1.05003257635,0.572999775594,-0.00123748234534,1.04970070566
+322,5.366666667,pose2_to_pose3_retreat,0.601695092295,-0.00990924824718,1.05003239366,0.572265543529,-0.00123750978753,1.04970052731
+323,5.383333333,pose2_to_pose3_retreat,0.600945308082,-0.00990920156699,1.05003226777,0.571515759238,-0.00123746348492,1.04970040053
+324,5.400000000,pose2_to_pose3_retreat,0.600191996989,-0.00990904734398,1.05003222495,0.570762446528,-0.00123731464115,1.0497003596
+325,5.416666667,pose2_to_pose3_retreat,0.59943103262,-0.0099091383836,1.05003234771,0.570001483219,-0.0012374021175,1.04970047994
+326,5.433333333,pose2_to_pose3_retreat,0.598660641949,-0.00990929094127,1.05003239475,0.569231094558,-0.0012375479514,1.04970052425
+327,5.450000000,pose2_to_pose3_retreat,0.597894327524,-0.00990921632686,1.05003230013,0.568464779309,-0.00123747602916,1.04970043228
+328,5.466666667,pose2_to_pose3_retreat,0.59713380974,-0.00990925128086,1.05003246353,0.56770426145,-0.00123751130097,1.04970059402
+329,5.483333333,pose2_to_pose3_retreat,0.596378474161,-0.00990920650594,1.05003232226,0.566948925636,-0.00123746698591,1.0497004615
+330,5.500000000,pose2_to_pose3_retreat,0.595626812274,-0.00990917004366,1.05003222234,0.566197264409,-0.00123742832925,1.04970036036
+331,5.516666667,pose2_to_pose3_retreat,0.594875856111,-0.00990922370146,1.05003219391,0.565446308911,-0.00123747957929,1.04970033582
+332,5.533333333,pose2_to_pose3_retreat,0.594116729837,-0.00990925921882,1.05003213093,0.564687181684,-0.00123751850626,1.04970026818
+333,5.550000000,pose2_to_pose3_retreat,0.593342288257,-0.0099092995734,1.05003226454,0.563912741158,-0.00123755554665,1.04970039492
+334,5.566666667,pose2_to_pose3_retreat,0.592573507925,-0.0099092836494,1.05003244086,0.563143960707,-0.00123754015452,1.04970056778
+335,5.583333333,pose2_to_pose3_retreat,0.59181623234,-0.00990921657909,1.05003239125,0.562386683516,-0.00123747840493,1.04970052155
+336,5.600000000,pose2_to_pose3_retreat,0.591074734212,-0.00990921765124,1.0500321424,0.561645185724,-0.00123747803575,1.04970028051
+337,5.616666667,pose2_to_pose3_retreat,0.590356834188,-0.00990930742139,1.05003200695,0.560927287097,-0.00123756293087,1.04970014857
+338,5.633333333,pose2_to_pose3_retreat,0.589668455023,-0.00990923329231,1.05003232398,0.560238906705,-0.00123749307056,1.0497004628
+339,5.650000000,pose2_to_pose3_retreat,0.588988002857,-0.00990923227107,1.05003234073,0.559558455014,-0.00123749056491,1.04970047616
+340,5.666666667,pose2_to_pose3_retreat,0.588310990602,-0.00990917132803,1.05003243187,0.558881442367,-0.00123743101371,1.0497005657
+341,5.683333333,pose2_to_pose3_retreat,0.587638314049,-0.0099092240724,1.05003239172,0.558208766186,-0.00123748245016,1.04970052663
+342,5.700000000,pose2_to_pose3_retreat,0.586970929223,-0.00990924457699,1.05003229031,0.557541380494,-0.0012375058891,1.04970042542
+343,5.716666667,pose2_to_pose3_retreat,0.586308428872,-0.00990933610691,1.05003212513,0.556878881507,-0.00123759278277,1.04970026039
+344,5.733333333,pose2_to_pose3_retreat,0.585658592494,-0.00990940649719,1.05003205082,0.556229047719,-0.00123765433217,1.04970018738
+345,5.750000000,pose2_to_pose3_retreat,0.585030455078,-0.00990925239253,1.05003222736,0.55560090848,-0.00123750651724,1.04970036125
+346,5.766666667,pose2_to_pose3_retreat,0.584426606395,-0.00990934279333,1.05003227833,0.554997059715,-0.00123759761026,1.04970040133
+347,5.783333333,pose2_to_pose3_retreat,0.583849138977,-0.0099092631597,1.05003230508,0.554419591012,-0.00123752261308,1.04970042081
+348,5.800000000,pose2_to_pose3_retreat,0.583305612442,-0.009909206863,1.0500323345,0.553876063393,-0.0012374693048,1.04970046828
+349,5.816666667,pose2_to_pose3_retreat,0.582786603412,-0.00990914385422,1.05003226977,0.553357054025,-0.00123740746262,1.04970040308
+350,5.833333333,pose2_to_pose3_retreat,0.582282013413,-0.00990917864847,1.05003225047,0.552852464082,-0.00123744222052,1.04970038042
+351,5.850000000,pose2_to_pose3_retreat,0.581789987704,-0.00990923383366,1.05003223678,0.552360439621,-0.00123749311146,1.04970036881
+352,5.866666667,pose2_to_pose3_retreat,0.581311536563,-0.00990925603708,1.05003216478,0.551881989143,-0.00123751280254,1.04970030379
+353,5.883333333,pose2_to_pose3_retreat,0.580852064469,-0.00990924059517,1.05003213679,0.551422515968,-0.00123750093511,1.04970027801
+354,5.900000000,pose2_to_pose3_retreat,0.580414022138,-0.00990917464839,1.05003239787,0.550984474441,-0.00123743263731,1.0497005282
+355,5.916666667,pose2_to_pose3_retreat,0.580000069786,-0.00990919946899,1.0500326305,0.550570521625,-0.00123745933512,1.04970075356
+356,5.933333333,pose2_to_pose3_retreat,0.579607368872,-0.00990920551176,1.05003217074,0.550177820265,-0.00123746658177,1.04970030162
+357,5.950000000,pose2_to_pose3_retreat,0.579234364183,-0.009909278421,1.05003220787,0.549804817434,-0.0012375330818,1.04970034146
+358,5.966666667,pose2_to_pose3_retreat,0.578875988864,-0.00990927131624,1.05003241153,0.549446441921,-0.00123752675876,1.04970054178
+359,5.983333333,pose2_to_pose3_retreat,0.578532398415,-0.00990919257265,1.0500322396,0.549102849602,-0.0012374541766,1.04970037508
+360,6.000000000,pose2_to_pose3_retreat,0.578217347111,-0.00990910235151,1.05003224749,0.548787797144,-0.00123736801871,1.04970037901
+361,6.016666667,pose2_to_pose3_retreat,0.577930965955,-0.00990910304626,1.05003233765,0.548501415842,-0.0012373694746,1.04970046192
+362,6.033333333,pose2_to_pose3_retreat,0.577674126595,-0.00990919867564,1.05003226561,0.548244577736,-0.00123746082231,1.04970039059
+363,6.050000000,pose2_to_pose3_retreat,0.577443989414,-0.00990928531832,1.05003229738,0.548014443097,-0.00123753874753,1.04970042478
+364,6.066666667,pose2_to_pose3_retreat,0.577240437683,-0.0099092591113,1.05003258317,0.547810889517,-0.00123751875462,1.04970071211
+365,6.083333333,pose2_to_pose3_retreat,0.577048001165,-0.00990912312443,1.05003241239,0.547618452885,-0.00123738303622,1.04970054449
+366,6.100000000,pose2_to_pose3_retreat,0.576865902701,-0.00990920471075,1.05003235859,0.547436354229,-0.00123746530743,1.04970049
+367,6.116666667,pose2_to_pose3_retreat,0.576697135703,-0.00990922878622,1.05003235589,0.547267587189,-0.00123748952635,1.04970048728
+368,6.133333333,pose2_to_pose3_retreat,0.576541299601,-0.00990915165125,1.05003235442,0.547111750819,-0.00123741329402,1.049700486
+369,6.150000000,pose2_to_pose3_retreat,0.576400110451,-0.0099091149254,1.05003235646,0.546970561316,-0.00123737776439,1.04970048815
+370,6.166666667,pose2_to_pose3_retreat,0.576275010171,-0.00990914522565,1.05003227039,0.546845462074,-0.00123740439086,1.0497004061
+371,6.183333333,pose2_to_pose3_retreat,0.576166693619,-0.0099093385943,1.05003200198,0.546737146798,-0.00123759349099,1.04970013615
+372,6.200000000,pose2_to_pose3_retreat,0.576073726846,-0.0099090886201,1.05003221908,0.546644175795,-0.0012373580309,1.04970035039
+373,6.216666667,pose2_to_pose3_retreat,0.57599444686,-0.00990928801825,1.05003222735,0.546564899476,-0.00123754493847,1.04970035938
+374,6.233333333,pose2_to_pose3_retreat,0.575927309463,-0.00990917321392,1.05003237021,0.546497760122,-0.00123743652784,1.04970050852
+375,6.250000000,pose2_to_pose3_retreat,0.575870601341,-0.00990911405038,1.05003230952,0.546441051378,-0.00123737934529,1.0497004511
+376,6.266666667,pose2_to_pose3_retreat,0.575824051386,-0.00990915608134,1.05003220808,0.546394502695,-0.00123741716933,1.04970034673
+377,6.283333333,pose2_to_pose3_retreat,0.575784956066,-0.00990923797602,1.05003223172,0.546355408856,-0.00123749426519,1.04970036449
+378,6.300000000,pose2_to_pose3_retreat,0.575752696891,-0.00990938311318,1.05003224054,0.54632315122,-0.00123763421705,1.04970037229
+379,6.316666667,pose2_to_pose3_retreat,0.575727319081,-0.00990923622993,1.05003236106,0.546297771396,-0.00123749432768,1.04970048866
+380,6.333333333,pose2_to_pose3_retreat,0.575707776344,-0.00990928824038,1.05003247034,0.546278229181,-0.00123754459301,1.04970059736
+381,6.350000000,pose2_to_pose3_retreat,0.575693289175,-0.00990919101716,1.05003237412,0.546263740874,-0.00123745081602,1.04970051211
+382,6.366666667,pose2_to_pose3_retreat,0.575683048776,-0.00990916063317,1.0500322672,0.546253500224,-0.00123742116268,1.04970040844
+383,6.383333333,pose2_to_pose3_retreat,0.575676852488,-0.00990921036618,1.05003221811,0.546247304539,-0.00123746902324,1.04970035495
+384,6.400000000,pose2_to_pose3_retreat,0.575672787308,-0.00990918282277,1.05003213764,0.546243237593,-0.00123744746357,1.04970027443
+385,6.416666667,pose2_to_pose3_retreat,0.575670435224,-0.00990916800165,1.05003211662,0.546240884726,-0.00123743528047,1.04970025365
+386,6.433333333,pose2_to_pose3_retreat,0.575669204007,-0.00990916587383,1.05003223448,0.546239654312,-0.00123743037305,1.04970037305
+387,6.450000000,pose2_to_pose3_retreat,0.57566847396,-0.00990916461215,1.05003230436,0.546238924741,-0.0012374274632,1.04970044384
+388,6.466666667,pose2_to_pose3_retreat,0.575667972253,-0.00990916374508,1.05003235239,0.54623842336,-0.00123742546348,1.0497004925
+389,6.483333333,pose2_to_pose3_retreat,0.575667489609,-0.00990916291097,1.05003239859,0.546237941031,-0.00123742353974,1.0497005393
+390,6.500000000,pose2_to_pose3_retreat,0.575667016393,-0.00990916777837,1.05003242506,0.546237468141,-0.0012374272871,1.04970056613
+391,6.516666667,pose2_to_pose3_retreat,0.575666650893,-0.00990919029685,1.05003238337,0.546237102952,-0.00123744876983,1.04970052397
+392,6.533333333,pose2_to_pose3_retreat,0.575666362031,-0.00990920809368,1.05003235042,0.546236814335,-0.00123746574809,1.04970049064
+393,6.550000000,pose2_to_pose3_retreat,0.575666131803,-0.00990922227808,1.05003232416,0.546236584302,-0.00123747928007,1.04970046408
+394,6.566666667,pose2_to_pose3_retreat,0.575665961592,-0.00990923276478,1.05003230474,0.546236414236,-0.00123748928444,1.04970044444
+395,6.583333333,pose2_to_pose3_retreat,0.575665876804,-0.00990923798858,1.05003229507,0.54623632952,-0.00123749426796,1.04970043466
+396,6.600000000,pose2_to_pose3_retreat,0.575665835308,-0.00990924054517,1.05003229034,0.546236288059,-0.00123749670697,1.04970042987
+397,6.616666667,pose2_to_pose3_retreat,0.575665806849,-0.00990924229853,1.05003228709,0.546236259624,-0.00123749837968,1.04970042659
+398,6.633333333,pose2_to_pose3_retreat,0.57566574042,-0.00990924639121,1.05003227952,0.546236193252,-0.00123750228411,1.04970041893
+399,6.650000000,pose2_to_pose3_retreat,0.575665664708,-0.00990925105585,1.05003227088,0.546236117604,-0.0012375067342,1.04970041019
+400,6.666666667,pose2_to_pose3_retreat,0.575665635778,-0.0099092528382,1.05003226758,0.546236088699,-0.00123750843457,1.04970040686
+401,6.683333333,pose2_to_pose3_retreat,0.575665557641,-0.00990925765226,1.05003225867,0.546236010628,-0.00123751302721,1.04970039784
+402,6.700000000,pose2_to_pose3_retreat,0.5756654262,-0.00990926575036,1.05003224368,0.546235879299,-0.00123752075283,1.04970038268
+403,6.716666667,pose2_to_pose3_retreat,0.575665288048,-0.00990927426191,1.05003222792,0.546235741264,-0.00123752887289,1.04970036674
+404,6.733333333,pose2_to_pose3_retreat,0.575664980075,-0.00990927155037,1.05003217297,0.546235432949,-0.00123752728203,1.04970031281
+405,6.750000000,pose2_to_pose3_retreat,0.57566484536,-0.0099092612632,1.05003214061,0.546235297831,-0.00123751832167,1.04970028151
+406,6.766666667,pose2_to_pose3_retreat,0.57566475615,-0.0099092544509,1.05003211919,0.546235208355,-0.00123751238799,1.04970026078
+407,6.783333333,pose2_to_pose3_retreat,0.575664639789,-0.0099092455652,1.05003209124,0.546235091645,-0.00123750464834,1.04970023373
+408,6.800000000,pose2_to_pose3_retreat,0.575664560722,-0.00990923952748,1.05003207225,0.546235012342,-0.00123749938935,1.04970021536
+409,6.816666667,pose2_to_pose3_retreat,0.575664453746,-0.00990927842071,1.05003214873,0.546234905469,-0.00123753794668,1.04970029155
+410,6.833333333,pose2_to_pose3_retreat,0.575664378446,-0.00990931264901,1.05003225623,0.546234830544,-0.00123757092837,1.04970039837
+411,6.850000000,pose2_to_pose3_retreat,0.575664343156,-0.00990932254898,1.05003230539,0.546234795451,-0.00123758017324,1.04970044725
+412,6.866666667,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264539,1.04970046032
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8569df4568b6e67d2234ddbfb169c1db38da0d28
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:813f73e4fecb2ee770584dc4ef795ce45e499abcf795bbe2190b936637c3595e
+size 26439843
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..748f808e50dfcc4d43705cf57dd83f14334ffce7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,744,715,679,661,636,879,788,805,652,631,653,0.400979195161,-0.0153912254702,0.059848725566,0.999999947005,0.000198179157505,-0.000257348781025,2.20394300582e-05,1793239532927310592
+1,0.016666667,BASELINE,765.576779674,744.576779674,715,679,661,636,878.423220326,787.423220326,805,652,631.576779674,652.423220326,0.400981444384,-0.0153922149915,0.0598501654031,0.999999948286,0.000195839467612,-0.000254105755339,2.24854274333e-05,1793239532943977728
+2,0.033333333,BASELINE,766,745,715,679,661,636,878,787.153398945,804.846601055,652,632,652.153398945,0.400983104356,-0.0153927516128,0.0598512294668,0.999999949116,0.000194402250666,-0.000251908000202,2.27837279495e-05,1793239532960644608
+3,0.050000000,BASELINE,766,745,715,679,661,636,878,787.729576263,804.270423737,652,632,652.729576263,0.400983140314,-0.0153920400102,0.0598512578723,0.999999948741,0.000195452312644,-0.000252591084106,2.26749655493e-05,1793239532977310720
+4,0.066666667,BASELINE,766,745,715,679,661,636,878.311164122,788,804,652,632,653,0.400982679906,-0.0153915503858,0.0598511960271,0.999999948378,0.000196792118699,-0.000252993260855,2.26300287691e-05,1793239532993977088
+5,0.083333333,BASELINE,766,745,715,679,661,636,878.897537299,788,804,652,632,653,0.400981780488,-0.0153912570901,0.0598510543597,0.999999948023,0.000198388188791,-0.000253146989276,2.26415425543e-05,1793239533010643712
+6,0.100000000,BASELINE,766,745,715,679,661,636,878.519900447,788,804,652,632,653,0.40098076751,-0.0153917264943,0.059850192386,0.999999948132,0.000196703980793,-0.000254059305638,2.22981242795e-05,1793239533027310592
+7,0.116666667,BASELINE,766,745,715,679,661,636,878.060927798,788,804,652,631.939072202,652.939072202,0.400979759779,-0.0153923886681,0.0598492503118,0.999999948269,0.000194696874566,-0.000255094151647,2.1976640457e-05,1793239533043976960
+8,0.133333333,BASELINE,766,745,715,679,661,636,878.633963755,788,804,652,631.366036245,652.366036245,0.400978998256,-0.015393313725,0.0598489169101,0.999999947857,0.000195813668915,-0.000255808820022,2.24711921463e-05,1793239533060643840
+9,0.150000000,BASELINE,766,745,715,679,661,636,879,788,804,652,631,652.207518235,0.400979011958,-0.0153934304641,0.0598489380435,0.999999947747,0.00019635397742,-0.000255806687521,2.26562382402e-05,1793239533077310720
+10,0.166666667,BASELINE,766,745,715,679,661,636,879,788,804,652,631,652.781989552,0.400980396485,-0.0153921178602,0.059849586099,0.999999948173,0.000195874889809,-0.000254537040834,2.22939876422e-05,1793239533093977600
+11,0.183333333,BASELINE,766,744.632173116,715,678.632173116,661,636,879,788,804,652,631.367826884,653,0.400980719002,-0.0153914626195,0.0598495107013,0.99999994817,0.000196056507581,-0.000254433359019,2.20539482871e-05,1793239533110643968
+12,0.200000000,BASELINE,766,744.039384307,715,678.039384307,661,636,879,788,804,652,631.960615693,653,0.400980391997,-0.0153912094204,0.0598489928415,0.999999947903,0.000196642210928,-0.000255042778038,2.18886529622e-05,1793239533127310336
+13,0.216666667,BASELINE,766,744.538503632,715,678.538503632,661,636,879,788,804,652,631.461496368,653,0.400980889548,-0.0153906977472,0.0598498659869,0.9999999479,0.000198694256672,-0.000253429352289,2.22195420701e-05,1793239533143977216
+14,0.233333333,BASELINE,766,745,715,679,661.115225959,636,879,788,804,652,631.115225959,653,0.400981361305,-0.0153905529239,0.0598505858412,0.999999947939,0.000200056669444,-0.000252173442819,2.25434075437e-05,1793239533160643840
+15,0.250000000,BASELINE,766,745,715,679,661.691527677,636,879,788,804,652,631.691527677,653,0.400981495034,-0.0153919496547,0.0598502961781,0.999999948093,0.000198241943775,-0.000252981142886,2.26978669877e-05,1793239533177310464
+16,0.266666667,BASELINE,766,745,715,679,661.726421191,636,879,788,804,652,631.726421191,653,0.400981060463,-0.015392316507,0.0598498866632,0.999999948046,0.000197242000172,-0.000253956964983,2.25834833701e-05,1793239533193977344
+17,0.283333333,BASELINE,766,745,715,679,661.137748211,636,879,788,804,652,631.137748211,653,0.400979971352,-0.0153914971973,0.0598493391091,0.99999994777,0.000197180481263,-0.000255126421445,2.21594599644e-05,1793239533210644224
+18,0.300000000,BASELINE,766,745,715,679,661,636,879.4435894,788,804,652,631,653,0.400980482052,-0.0153922774191,0.0598497795589,0.999999948183,0.000196170780489,-0.000254285627105,2.21454159593e-05,1793239533227310848
+19,0.316666667,BASELINE,766,745,715,679,661,636,879.977427624,788,804,652,631.022572376,653,0.400981411819,-0.0153934488046,0.0598504811917,0.999999948758,0.000194980693904,-0.000252924250415,2.22569546092e-05,1793239533243977472
+20,0.333333333,BASELINE,766,745,715,679,661,636,879.401236318,788,804,652,631.598763682,653,0.40098063352,-0.0153922298467,0.0598501862767,0.999999948228,0.00019647046293,-0.000253856281724,2.23768913529e-05,1793239533260644096
+21,0.350000000,BASELINE,766,745,715,679,661,636,879,788,803.83240803,652,632,653,0.400980058785,-0.015391877625,0.0598499247352,0.999999947898,0.000197226425678,-0.000254564859914,2.23973487885e-05,1793239533277310720
+22,0.366666667,BASELINE,766,745,715,679,661,636,879,788,803.280465936,652,632,653,0.400979950897,-0.0153935131487,0.0598497397316,0.999999948035,0.000196299500116,-0.000254760977658,2.21896635088e-05,1793239533293977600
+23,0.383333333,BASELINE,766,745,715,679,661,636,879,788,803.303608505,652,631.696391495,653,0.400980856642,-0.0153944477241,0.0598503372692,0.999999948478,0.000195406784184,-0.0002537031466,2.22494478806e-05,1793239533310644224
+24,0.400000000,BASELINE,766,745,715,679,661,636,879,788,803.920879414,652,631.079120586,653,0.400982809588,-0.0153946581396,0.0598517432615,0.999999949232,0.000194549410609,-0.00025134984265,2.25855590504e-05,1793239533327310592
+25,0.416666667,BASELINE,766,745,715,679,661,636,879,788,804,652,631,653,0.400982413722,-0.015393863721,0.0598512404198,0.999999948541,0.000197389591198,-0.000251867908908,2.27755705371e-05,1793239533343976960
+26,0.433333333,BASELINE,766,745,715,679,661,636,879.080443847,788,804,652,631.080443847,653,0.400981579996,-0.015393051618,0.0598505172946,0.999999947753,0.000200093234216,-0.000252852695038,2.28625471449e-05,1793239533360644096
+27,0.450000000,BASELINE,766,745,715,679,661,636,879.655368828,788,804,652,631.655368828,653,0.40098017749,-0.0153930389181,0.0598501651928,0.999999947738,0.000198615972383,-0.000254111399092,2.24482135475e-05,1793239533377311232
+28,0.466666667,BASELINE,766,745,715,679.229670704,661,636,879.770329296,788,804,652,631.770329296,653,0.400979651578,-0.0153927939712,0.0598503153196,0.99999994793,0.000197492848838,-0.000254260289604,2.20928910757e-05,1793239533393977856
+29,0.483333333,BASELINE,766,745,715,679.803040078,661,636,879.196959922,788,804,652,631.196959922,653,0.400980437476,-0.0153922014704,0.0598512170237,0.999999948436,0.000196899687874,-0.000252748361166,2.182587787e-05,1793239533410643968
+30,0.500000000,BASELINE,766,745,715,679.608616537,661,636,879,788,804,652,631.391383463,653,0.400980802413,-0.015391675588,0.0598511468492,0.999999948348,0.000197218663036,-0.000252848922678,2.18417540314e-05,1793239533427310592
+31,0.516666667,BASELINE,766,745,715,679.012437873,661,636,879,788,804,652,631.987562127,653,0.40098094708,-0.0153911845643,0.0598505681299,0.999999947947,0.000198014922307,-0.000253793235276,2.20056548115e-05,1793239533443976960
+32,0.533333333,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400981775839,-0.0153927697498,0.0598515414153,0.999999948567,0.00019666525406,-0.000252364656802,2.23943763036e-05,1793239533460643840
+33,0.550000000,BASELINE,766,745,715,679,661,636,879,787.860187679,804,652,631.860187679,653,0.400982269573,-0.0153942089346,0.0598521752977,0.999999949082,0.000195211139514,-0.000251426925409,2.26523630335e-05,1793239533477310464
+34,0.566666667,BASELINE,766,745,715,679,661,636,879,787.284762111,804,652,631.284762111,653,0.400981674052,-0.0153950553919,0.0598516486694,0.999999949215,0.000193574063154,-0.000252176055165,2.24880942666e-05,1793239533493977600
+35,0.583333333,BASELINE,766,745,715,679,661,636,879,787.297094763,804,652,631.297094763,653,0.40098122562,-0.0153942988173,0.059851298285,0.999999948942,0.000194492400703,-0.000252567854938,2.23101639529e-05,1793239533510644736
+36,0.600000000,BASELINE,766,745,715,679,661,636,879,787.885252439,804,652,631.885252439,653,0.40098092129,-0.015391971757,0.0598511205662,0.999999948265,0.000197914269949,-0.000252609579606,2.21188494402e-05,1793239533527311360
+37,0.616666667,BASELINE,766,744.531682414,715,678.531682414,661,636,879,788,804,652,631.531682414,653,0.400981168944,-0.0153917031131,0.0598512385335,0.999999948202,0.000198969948745,-0.000252035746291,2.20267670982e-05,1793239533543977472
+38,0.633333333,BASELINE,766,744.049403063,715,678.049403063,661,636,879,788,804,652,631.049403063,653,0.400981685462,-0.0153919845011,0.0598514749541,0.999999948314,0.000199333728815,-0.000251305448715,2.19820062251e-05,1793239533560643840
+39,0.650000000,BASELINE,766,744.622586957,715,678.622586957,661,636,879,788,804,652,631.622586957,653,0.400983634031,-0.015392807687,0.0598522073813,0.99999994869,0.000198442533856,-0.000250498155648,2.21839484736e-05,1793239533577310208
+40,0.666666667,BASELINE,766,745,715,679,661,636,879,788,804,652,631.803587839,652.803587839,0.400984312432,-0.0153932880058,0.0598524679215,0.999999948778,0.000198030539579,-0.000250454913249,2.23545695535e-05,1793239533593976576
+41,0.683333333,BASELINE,766,745,715,679,661,636,879,788,804,652,631.228526334,652.228526334,0.400982542164,-0.0153931073351,0.0598518187439,0.999999948315,0.000198542363019,-0.000251884631033,2.24648087187e-05,1793239533610643456
+42,0.700000000,BASELINE,766,745,715,679,661,636,879,788,804,652,631,652.357385098,0.40098194313,-0.0153924142079,0.0598515990174,0.999999948122,0.000199146146216,-0.000252186354806,2.2328651921e-05,1793239533627310080
+43,0.716666667,BASELINE,766,745,715,679,661,636,879,788,804,652,631,652.950451607,0.40098211648,-0.0153913831358,0.0598516624971,0.999999948108,0.000199810573237,-0.000251744210849,2.20300066752e-05,1793239533643976960
+44,0.733333333,BASELINE,766,745,715,679,661,636,879,788,804,652,631.525374059,653,0.40098255713,-0.0153916694215,0.0598518990261,0.999999948676,0.000198285988993,-0.000250690973355,2.20333765931e-05,1793239533660644608
+45,0.750000000,BASELINE,766,745,715,679,661,636,879,787.900530596,804,652,631.900530596,652.900530596,0.400982838895,-0.0153920879049,0.0598520625535,0.999999949212,0.000196631405665,-0.000249855957652,2.20147282275e-05,1793239533677311744
+46,0.766666667,BASELINE,766,745,715,679,661,636,879,787.322456499,804,652,631.322456499,652.322456499,0.400982238929,-0.0153925646289,0.059851798922,0.999999949355,0.000195311498596,-0.000250338980066,2.17576628568e-05,1793239533693977856
+47,0.783333333,BASELINE,766,745,715,678.738536647,661,636,879,787.261463353,804,652,631,652.261463353,0.400982128708,-0.0153932611179,0.0598519504769,0.999999949454,0.000194554625831,-0.000250532652086,2.17544542735e-05,1793239533710644224
+48,0.800000000,BASELINE,766,745,715,678.147242409,661,636,879,787.852757591,804,652,631,652.852757591,0.400982636288,-0.0153942348362,0.0598526257814,0.999999949499,0.000194508009604,-0.000250361314333,2.20714810068e-05,1793239533727310592
+49,0.816666667,BASELINE,766.435000962,744.564999038,715,678.435000962,661,636,879,788,804,652,631,653,0.400983420175,-0.015394497244,0.0598532625629,0.999999949816,0.000194688380927,-0.000248928280034,2.23597976909e-05,1793239533743976960
+50,0.833333333,BASELINE,766.985858846,744,715,679,661,636,879,788,804,652,631,653,0.400984227734,-0.0153945013393,0.0598538378976,0.99999995019,0.000194973099108,-0.000247170956365,2.26196173026e-05,1793239533760643840
+51,0.850000000,BASELINE,766.41076411,744,715,679,661,636,879,788,804,652,631,653,0.40098233986,-0.0153936148759,0.0598524824592,0.99999994943,0.000196411385302,-0.00024914539042,2.21266487362e-05,1793239533777310464
+52,0.866666667,BASELINE,766,744.164494407,715,679,661,635.835505593,879,788,804,652,631,653,0.400980942823,-0.0153932511716,0.0598514717787,0.99999994891,0.000196877603313,-0.000250877992752,2.18759723379e-05,1793239533793977088
+53,0.883333333,BASELINE,766,744.740162279,715,679,661,635.259837721,879,788,804,652,631,653,0.400980772695,-0.0153941941663,0.059851322862,0.999999949004,0.00019491402043,-0.000252006107623,2.22309342536e-05,1793239533810643968
+54,0.900000000,BASELINE,766,745,715,679,661,635.322774675,879,788,804,652,631.322774675,653,0.400980686129,-0.0153949954285,0.059851071847,0.9999999491,0.000193421317939,-0.000252761743144,2.2340112349e-05,1793239533827310592
+55,0.916666667,BASELINE,766,745,715,679,661,635.911100397,879,788,804,652,631.911100397,653,0.400980668311,-0.0153956800855,0.0598507368343,0.999999949202,0.000192316015146,-0.000253210934858,2.22470807882e-05,1793239533843976960
+56,0.933333333,BASELINE,766,745,715,679,661.986871124,636,879,788,804,652,632,653,0.400981379481,-0.01539385605,0.0598514741244,0.999999948878,0.000195102561414,-0.00025236477741,2.21742533263e-05,1793239533860643584
+57,0.950000000,BASELINE,766,745,715,679,662.852557731,636,879,788,804,652,632,653,0.400982065392,-0.0153918918376,0.0598522303267,0.99999994852,0.000198136011964,-0.000251424855505,2.20804778003e-05,1793239533877309952
+58,0.966666667,BASELINE,766,745,715,679,661.705321861,636,879,788,804,652,632,653,0.400981700124,-0.0153920051583,0.0598518204718,0.999999948527,0.000198146131796,-0.000251412646434,2.18202683616e-05,1793239533893976576
+59,0.983333333,BASELINE,766,745,715,679,661.223840195,636,879.223840195,788,804,652,632,653,0.40098150915,-0.0153923265484,0.0598517824355,0.999999948644,0.000197638168517,-0.000251350761184,2.17520699055e-05,1793239533910643456
+60,1.000000000,BASELINE,766,745,715,679,661.804943159,636,879.804943159,788,804,652,632,653,0.400981596361,-0.0153929800303,0.0598523378445,0.999999948938,0.000196303312614,-0.000251209589683,2.19903327904e-05,1793239533927310080
+61,1.016666667,BASELINE,766,745,715,679,661.610665523,636,879.610665523,787.610665523,804,652,632,653,0.400981866108,-0.0153934715313,0.0598522652945,0.999999948941,0.000196195733247,-0.000251276346433,2.20127256132e-05,1793239533943976704
+62,1.033333333,BASELINE,766,745,715,679,661.024612741,636,879.024612741,787.024612741,804,652,632,653,0.400982228084,-0.0153938811884,0.0598518754567,0.999999948799,0.000196708257691,-0.000251448162713,2.19260461576e-05,1793239533960643328
+63,1.050000000,BASELINE,766,745,715,679,661,636,879,787.554409301,803.445590699,652,632,653,0.40098333149,-0.0153933483632,0.0598521809974,0.999999949046,0.000196507947668,-0.000250614606845,2.201161495e-05,1793239533977309952
+64,1.066666667,BASELINE,766,744.868357008,715,679,661,636,878.868357008,788,803,652,632,653,0.400983800885,-0.015392885962,0.0598523633871,0.999999949117,0.000196645554699,-0.000250221455718,2.2053372055e-05,1793239533993976576
+65,1.083333333,BASELINE,766,744.29607766,715,679,661,636,878.29607766,788,803,652,632,653,0.40098203932,-0.0153927975811,0.0598520315274,0.99999994854,0.000198018839183,-0.000251449955644,2.19232071992e-05,1793239534010643200
+66,1.100000000,BASELINE,766,744.285138963,715,679,661,636,878.285138963,787.714861037,803.285138963,652,631.714861037,653,0.4009810019,-0.0153926192253,0.05985173259,0.999999948243,0.00019843425895,-0.000252310028657,2.18510666054e-05,1793239534027310080
+67,1.116666667,BASELINE,766,744.875935964,715,679,661,636,878.875935964,787.124064036,803.875935964,652,631.124064036,653,0.400980740736,-0.01539234442,0.0598514689441,0.999999948247,0.000197822884364,-0.000252775162062,2.1841125805e-05,1793239534043976704
+68,1.133333333,BASELINE,766,745,715,679,661,636,879,787.457334978,804,652,631.457334978,653,0.400981154962,-0.0153923332757,0.0598509813915,0.999999948254,0.000198419490096,-0.00025228536236,2.17551840144e-05,1793239534060643328
+69,1.150000000,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400981767328,-0.015392390742,0.0598505546481,0.999999948297,0.00019920489638,-0.000251502863869,2.16583872805e-05,1793239534077309952
+70,1.166666667,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400982658426,-0.0153924261311,0.0598519299026,0.999999948876,0.000198009033673,-0.000250138336711,2.17015727282e-05,1793239534093976576
+71,1.183333333,BASELINE,766,745,715,678.807938484,661,636,879,788,804,652,632,652.807938484,0.400982906337,-0.0153926706079,0.0598528295169,0.999999949249,0.000197084431748,-0.000249369700529,2.17909476338e-05,1793239534110643456
+72,1.200000000,BASELINE,766,745,715,678.221301151,661,636,879,788,804,652,632,652.221301151,0.400981832864,-0.0153933446394,0.0598527519646,0.999999949203,0.000196717114313,-0.000249825276918,2.19752152856e-05,1793239534127310080
+73,1.216666667,BASELINE,766,744.639080084,715,678.360919916,661,636,879,788,804,652,632,652,0.400980833123,-0.0153933892435,0.0598519125778,0.999999948814,0.00019702122817,-0.000251137268372,2.19949337651e-05,1793239534143976448
+74,1.233333333,BASELINE,766,744.05953419,715,678.94046581,661,636,879,788,804,652,632,652,0.400979878045,-0.0153930525742,0.0598506117124,0.999999948214,0.000197732059209,-0.000252968030231,2.19149771475e-05,1793239534160643328
+75,1.250000000,BASELINE,766,744.518273284,715,678.481726716,661,636,879,788,804,652,631.481726716,652.518273284,0.400980380328,-0.0153933460391,0.0598515638414,0.999999948416,0.000197762223257,-0.000252130433963,2.20766196046e-05,1793239534177309952
+76,1.266666667,BASELINE,766.095569596,744.904430404,715,678.095569596,661,636,878.904430404,788,804,652,631,653,0.400981177719,-0.01539356981,0.0598526386352,0.999999948699,0.000197799236516,-0.000250962267206,2.22417286137e-05,1793239534193976576
+77,1.283333333,BASELINE,766.671297662,744.328702338,715,678.671297662,661,636,878.328702338,788,804,652,631,653,0.400982619508,-0.0153930809734,0.0598530337979,0.999999948931,0.000198262180438,-0.000249668093288,2.22852866215e-05,1793239534210643200
+78,1.300000000,BASELINE,767,744.252358354,715,679,661.252358354,636,878,788,804,652,631.252358354,653,0.400982982409,-0.0153925153571,0.0598530540751,0.999999948849,0.000198872345789,-0.000249513356499,2.22237316981e-05,1793239534227310080
+79,1.316666667,BASELINE,767,744.840514806,715,679,661.840514806,636,878,788,804,652,631.840514806,653,0.400981909698,-0.0153918475748,0.0598525755145,0.999999948353,0.00019967840981,-0.000250874800325,2.20223093104e-05,1793239534243976704
+80,1.333333333,BASELINE,766.57751129,745,715,679,661.57751129,636,878.42248871,788,803.57751129,652,632,653,0.400981157468,-0.0153916928329,0.0598521849952,0.999999948323,0.000198957980949,-0.00025158335253,2.18053570827e-05,1793239534260643328
+81,1.350000000,BASELINE,766.002144733,744.997855267,715,678.997855267,661,635.997855267,879,788,803.002144733,652,632,653,0.400980529012,-0.0153917300824,0.0598518285315,0.999999948464,0.000197686846977,-0.000252044597482,2.15847592034e-05,1793239534277309952
+82,1.366666667,BASELINE,766.57706299,744.42293701,715,678.42293701,661,635.42293701,879,788,803.57706299,652,632,653,0.400981113387,-0.0153920656856,0.0598518192915,0.999999947973,0.000201014426783,-0.000251330261471,2.19335807102e-05,1793239534293976576
+83,1.383333333,BASELINE,767,744,715,678,660.844701916,635.155298084,879,788,804,652,632,652.844701916,0.400981685266,-0.0153924482453,0.0598519515289,0.999999947873,0.000202411678387,-0.000250587697112,2.21145241188e-05,1793239534310643200
+84,1.400000000,BASELINE,767,744,715,678,660.257236522,635.742763478,879,788,804,652,632,652.257236522,0.400982222369,-0.015392961477,0.0598524774732,0.999999948881,0.000198437166147,-0.000249766578059,2.18282923229e-05,1793239534327310080
+85,1.416666667,BASELINE,766.674441071,744,715,678.325558929,660.651117857,636,879,788,804,652,632,652.325558929,0.400982064837,-0.0153928476039,0.0598523752133,0.999999949006,0.00019740164665,-0.00025009561195,2.17415573161e-05,1793239534343976704
+86,1.433333333,BASELINE,766.095283375,744,715,678.904716625,661.809433249,636,879,788,804,652,632,652.904716625,0.40098136621,-0.0153922452387,0.0598517836048,0.999999948449,0.000198655497675,-0.00025132057392,2.18102231936e-05,1793239534360643328
+87,1.450000000,BASELINE,766.481291987,744.481291987,715,679,661.518708013,636,878.518708013,787.518708013,804.481291987,652,631.518708013,653,0.400981987168,-0.0153922630289,0.059852023221,0.999999948595,0.000198805903036,-0.000250619511884,2.1807710978e-05,1793239534377309952
+88,1.466666667,BASELINE,766.942484813,744.942484813,715,679,661,636,878.057515187,787.057515187,804.942484813,652,631,653,0.400982894026,-0.0153925380465,0.0598524393215,0.999999948922,0.00019846586736,-0.000249583318412,2.18034679186e-05,1793239534393976576
+89,1.483333333,BASELINE,766.364847735,744.364847735,715,679,661,636,878.635152265,787.635152265,804.364847735,652,631,653,0.400984036474,-0.0153940348733,0.0598529711899,0.999999949632,0.000195655650514,-0.000248946261511,2.19103240898e-05,1793239534410643456
+90,1.500000000,BASELINE,766,744.216783357,715,679,661,636,879,788,804,652,631,653,0.400984085487,-0.0153948209272,0.0598529964106,0.999999949834,0.000194616458813,-0.000248941397549,2.20306861945e-05,1793239534427310080
+91,1.516666667,BASELINE,766,744.805262508,715,679,661,636,879,788,804,652,631,653,0.400982259703,-0.0153943882928,0.0598521529353,0.999999949171,0.000196613859361,-0.0002500204889,2.21742055028e-05,1793239534443976704
+92,1.533333333,BASELINE,766,744.61335094,715,679,661,636,879,788,804,652,631.38664906,653,0.400981839806,-0.0153949201998,0.0598523384532,0.99999994917,0.000196515572674,-0.000250078941094,2.24025743995e-05,1793239534460643328
+93,1.550000000,BASELINE,766,744.035472207,715,679,661,636,879,788,804,652,631.964527793,653,0.400982115235,-0.0153959291515,0.0598530328924,0.999999949498,0.000195380796937,-0.000249632603608,2.267290839e-05,1793239534477309952
+94,1.566666667,BASELINE,766,744.540774777,715,679,661,636,878.459225223,788,804,652,631.459225223,652.459225223,0.400983371706,-0.015394719899,0.0598533524092,0.999999949698,0.000195997864996,-0.000248362767951,2.24851727916e-05,1793239534493976832
+95,1.583333333,BASELINE,766,745,715,679,661,636,878.117086632,788,803.882913368,652,631.117086632,652.117086632,0.400984109722,-0.0153935776726,0.0598533967323,0.999999949712,0.000196831825048,-0.000247660963744,2.22883187419e-05,1793239534510643200
+96,1.600000000,BASELINE,766,745,715,679,661,636,878.694072612,788,803.305927388,652,631.694072612,652.694072612,0.400982559323,-0.015393268512,0.0598524564423,0.999999949038,0.000198067703975,-0.000249401839097,2.21733144683e-05,1793239534527309824
+97,1.616666667,BASELINE,766,744.724338344,715,679,661,636,879.275661656,788,803.275661656,652,632,653,0.400981975061,-0.0153935023652,0.0598520599355,0.99999994884,0.000198091534971,-0.000250194013734,2.19550515136e-05,1793239534543976704
+98,1.633333333,BASELINE,766,744.137554136,715,679,661,636,879.862445864,788,803.862445864,652,632,653,0.400982481219,-0.0153943490851,0.0598522771637,0.999999949183,0.000196747401077,-0.00024991544744,2.16202467696e-05,1793239534560643328
+99,1.650000000,BASELINE,766,744.443018746,715,679,661,636,879.556981254,788,804,652,631.556981254,653,0.400981737858,-0.0153941964428,0.0598519581432,0.999999948748,0.00019736659282,-0.000251154102816,2.17333494746e-05,1793239534577309952
+100,1.666666667,BASELINE,766,745,715,679,661,635.978364622,879,788,803.978364622,651.978364622,631,653,0.400980673675,-0.0153937465764,0.0598515003678,0.999999948122,0.000198476687109,-0.000252748066499,2.19631179819e-05,1793239534593976576
+101,1.683333333,BASELINE,766,745,715,679,661,635.401143238,879,788,803.401143238,651.401143238,631,653,0.400981196014,-0.0153935221852,0.0598516959899,0.999999948774,0.000196755171947,-0.000251536169352,2.16668842042e-05,1793239534610643456
+102,1.700000000,BASELINE,766,745,715,679,661,635.178762652,878.821237348,788,803.178762652,651.178762652,631,652.821237348,0.400981453112,-0.0153935287307,0.0598517820882,0.999999949092,0.000196265487341,-0.00025066035862,2.15832792726e-05,1793239534627310080
+103,1.716666667,BASELINE,766,745,715,679,661,635.764784333,878.235215667,788,803.764784333,651.764784333,631,652.235215667,0.400981105936,-0.0153940613989,0.0598516186685,0.999999948653,0.000198582172819,-0.000250550223801,2.19840877441e-05,1793239534643976704
+104,1.733333333,BASELINE,766,744.653038281,715,678.653038281,661,636,878.346961719,787.653038281,804,652,631,652,0.400980882117,-0.0153934583065,0.0598515096892,0.999999948474,0.000199201011365,-0.000250781465866,2.19088384558e-05,1793239534660643328
+105,1.750000000,BASELINE,766,744.07343844,715,678.07343844,661,636,878.92656156,787.07343844,804,652,631,652,0.400980741007,-0.0153920936856,0.0598514372121,0.99999994847,0.000198681442361,-0.000251241601406,2.1514392083e-05,1793239534677309952
+106,1.766666667,BASELINE,766,744.504422851,715,678.504422851,661,636,879,787,804.504422851,652,631.504422851,652.504422851,0.400980348054,-0.0153935051934,0.0598515150692,0.999999948851,0.000196914902806,-0.000251109484734,2.16113281587e-05,1793239534693976576
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,678,661,636,879,788,804,652,632,653,0.40098121856,-0.0153942057842,0.0598521698489,0.999999948819,0.000196458640451,-0.000251593734874,2.16036627637e-05,1793239534737256192
+108,1.800000000,POSE1_TO_POSE2_PRESS,766.41068443,745,715,678.58931557,661,636,879,788,804,652,632,653,0.400982851251,-0.0153945315446,0.0598526204987,0.999999949551,0.000195358782846,-0.000249508256269,2.1891361401e-05,1793239534753922816
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.824700756,652.824700756,0.400983860408,-0.0153945757359,0.0598529586875,0.99999994985,0.000195523150932,-0.000248157552752,2.2088023462e-05,1793239534770589440
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.246377208,652.246377208,0.400983436021,-0.0153939725815,0.0598530383213,0.999999949161,0.000198594055451,-0.000248496144284,2.20753866017e-05,1793239534787256064
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.330540345,652.330540345,0.400982459842,-0.0153944302203,0.0598528756037,0.999999949035,0.000198508820068,-0.00024906943185,2.21026839592e-05,1793239534803922688
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.906414304,652.906414304,0.400981074112,-0.0153956752009,0.0598525330081,0.999999949326,0.000196081034716,-0.000249816915459,2.21596212879e-05,1793239534820589312
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,632,653,0.400983452865,-0.0153947414969,0.0598537232734,0.999999949823,0.000196434729668,-0.000247541191119,2.214428051e-05,1793239534837255936
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.078218023,652.078218023,631.921781977,653,0.400986008719,-0.0153936046995,0.0598548987538,0.999999950225,0.000197173181946,-0.000245324109024,2.21094549834e-05,1793239534853922560
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.657655315,652.657655315,631.342344685,653,0.400985018535,-0.0153938755403,0.0598540734773,0.999999949804,0.00019691855537,-0.000247241972934,2.20396448974e-05,1793239534870589440
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.763327137,652.763327137,631.236672863,653,0.400988921887,-0.0153943946038,0.0598555975132,0.999999950182,0.000197211155466,-0.000245448388031,2.23329872722e-05,1793239534887256064
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.18491572,652.18491572,631.81508428,653,0.400999891154,-0.0153952720829,0.0598605137868,0.999999951679,0.000198293911442,-0.000238295738415,2.31506956266e-05,1793239534903922688
+118,1.966666667,POSE1_TO_POSE2_PRESS,766.391923984,745,715,679,661.391923984,636,879,788,804,652,632,653,0.401031650604,-0.0153968527364,0.0598742198394,0.999999957441,0.000196994923432,-0.000213840041852,2.4139971106e-05,1793239534920589312
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.968025142,745,715,679,661.968025142,636,879,788,804,652,632,653,0.401073180004,-0.0153987638333,0.0598920564809,0.999999964326,0.000194576680347,-0.000181253108741,2.52098713228e-05,1793239534937255936
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,715,679,661.445281452,636,879,788,804,652,631.445281452,653,0.40113216071,-0.0154030432091,0.0599109636287,0.999999969645,0.000193558091681,-0.00014996900516,2.74563716355e-05,1793239534953922816
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.860096149,744.860096149,715,679,661,636,879,788,804,652,631.139903851,653,0.401195861375,-0.0154071492606,0.0599281887751,0.999999973423,0.000193304375086,-0.000122160311244,2.93909195386e-05,1793239534970589696
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.28159001,744.28159001,715,679,661,636,879,788,804,652,631.71840999,653,0.401271144267,-0.015410275639,0.0599399435926,0.999999974983,0.000195190700704,-0.000105007096905,3.01307290557e-05,1793239534987256320
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.296250082,715,678.703749918,661,636,879,788,803.703749918,652,632,653,0.401352927248,-0.0154141648517,0.0599480159689,0.999999976442,0.000194660814479,-9.116615968e-05,3.02097501226e-05,1793239535003922944
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.873458473,715,678.126541527,661,636,879,788,803.126541527,652,632,653,0.401440874793,-0.0154187775227,0.0599525959828,0.999999977921,0.000191839435839,-8.04665281851e-05,2.96620911381e-05,1793239535020589568
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678.457928271,661,636,879.457928271,788,803.457928271,652,632,652.542071729,0.401535872126,-0.0154231801603,0.0599509912289,0.999999978295,0.000189868832451,-8.08660930575e-05,2.86308173776e-05,1793239535037256192
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,678.956118891,661,636,879.956118891,788,804,652,631.956118891,652.043881109,0.401634903924,-0.0154276508012,0.0599475540443,0.999999978352,0.000188148351841,-8.45271142977e-05,2.74191561466e-05,1793239535053922816
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,678.376946865,661,636,879.376946865,788,804,652,631.376946865,652.623053135,0.401759003678,-0.0154336704078,0.0599429479036,0.999999978221,0.000186564933901,-8.99562481314e-05,2.56635003434e-05,1793239535070589440
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678.201945078,661.201945078,636,879,788,804,652,631,653,0.401900515545,-0.0154410320373,0.0599418876657,0.999999978824,0.000183920471459,-8.91021701918e-05,2.42104403476e-05,1793239535087256064
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,678.780314886,661.780314886,636,879,788,804,652,631,653,0.402074483499,-0.015450895191,0.0599474369757,0.999999980725,0.00017929822694,-7.65362128182e-05,2.33214177868e-05,1793239535103922688
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744.64321849,715,679,661.64321849,636,879.35678151,787.64321849,804,652,631.35678151,653,0.402266800421,-0.0154602501505,0.0599528707776,0.999999982795,0.000172797764131,-6.37955159613e-05,2.19224996532e-05,1793239535120589568
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.067917461,715,679,661.067917461,636,879.932082539,787.067917461,804,652,631.932082539,653,0.402470355631,-0.0154692938551,0.0599582338343,0.999999984861,0.000165146940347,-5.09477944323e-05,2.02112834769e-05,1793239535137256448
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.508112667,715,679,661,636,879.491887333,787.508112667,804,652,632,652.491887333,0.4026959901,-0.0154811751426,0.0599583908478,0.999999986667,0.000155398208431,-4.66955880218e-05,1.83637116661e-05,1793239535153922816
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,632,652.086355035,0.40292932574,-0.0154934526498,0.0599580719013,0.999999988347,0.000145445454909,-4.33622049796e-05,1.64886754255e-05,1793239535170589184
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,632,652.676945239,0.403190371953,-0.0155058258411,0.059959042879,0.999999989906,0.000135941143511,-3.8675569904e-05,1.45598480663e-05,1793239535187255808
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.262183321,636,879,788,804,652.262183321,631.737816679,653,0.403467339407,-0.0155158298677,0.0599545542527,0.999999992525,0.000113586029247,-4.37423976589e-05,1.16410219142e-05,1793239535203922688
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.840958564,636,879,788,804,652.840958564,631.159041436,653,0.403763532082,-0.0155229730767,0.0599434730388,0.99999999527,7.57132982666e-05,-6.05867389798e-05,7.52675131372e-06,1793239535220589568
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.583853022,636,879,788,804,652.583853022,631.416146978,653,0.404075615326,-0.0155210396266,0.0599330940654,0.999999994763,6.47865144282e-05,-7.91349998045e-05,3.69867640273e-06,1793239535237256192
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.010023708,636,879,788,804,652.010023708,631.989976292,653,0.40439371966,-0.0155156669375,0.0599229811783,0.999999993113,6.40698257598e-05,-9.83288927344e-05,-2.09559467141e-08,1793239535253923072
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.576853892,788,804,652,632,652.423146108,0.404757314612,-0.0155065345027,0.0599184311503,0.999999991736,7.35433775126e-05,-0.000105314608994,-5.2299109315e-06,1793239535270589440
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.161747443,661,636,879.838252557,788,804,652,632,652.161747443,0.405143636884,-0.0155028591499,0.0599190103283,0.999999991883,7.26193375512e-05,-0.000104257900592,-9.48923930578e-06,1793239535287256064
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679.740921918,661,636,879.259078082,788,804,652,632,652.740921918,0.405586525055,-0.0155134395774,0.0599325713853,0.999999995507,4.4394335046e-05,-8.30059721681e-05,-1.12295006349e-05,1793239535303922688
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.318201893,745,715.318201893,679.681798107,661,636,879,788,804,652.318201893,631.681798107,652.681798107,0.406068258051,-0.0155234261754,0.059955126469,0.999999998616,2.2160213227e-05,-4.60370559165e-05,-1.25156330594e-05,1793239535320589312
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.89394857,745,715.89394857,679.10605143,661,636,879,788,804,652.89394857,631.10605143,652.10605143,0.40658143114,-0.0155329321435,0.0599849610982,0.999999999892,4.774959733e-06,3.65280592261e-06,-1.34342048938e-05,1793239535337256192
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.531753946,745,715.531753946,679,661,636,879,788,804,652.531753946,631.468246054,652.468246054,0.40709497927,-0.0155345981326,0.0600023028725,0.999999999502,-4.94323207646e-06,2.68649683947e-05,-1.58239342575e-05,1793239535353923584
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.043563556,679,661,636,879,788,804,652,632,652.956436444,0.407608099577,-0.0155344090489,0.0600150245116,0.99999999889,-1.3983545459e-05,4.09356278921e-05,-1.8694282369e-05,1793239535370591232
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.635851141,679,661,636,879,788,804,652,632,652.364148859,0.408114764844,-0.0155331505474,0.0600050810034,0.999999998952,-3.62905429368e-05,1.51632844599e-05,-2.3434492806e-05,1793239535387257600
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.223051915,745,715.776948085,679,661,636,879,788,804,652,632,652.223051915,0.408647360359,-0.0155326467103,0.0599956596884,0.999999998337,-4.97669162314e-05,-7.49884588115e-06,-2.81510593917e-05,1793239535403924224
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.802133224,745,715.197866776,679,661,636,879,788,804,652,632,652.802133224,0.409221345001,-0.0155333474481,0.0599870718847,0.999999997936,-4.91480862451e-05,-2.51965371659e-05,-3.2829886051e-05,1793239535420591360
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.621735584,745,715,679,661,636,879,788,804,652,631.621735584,653,0.409848736921,-0.0155358640561,0.0599897324218,0.999999997561,-5.80438138074e-05,-1.54907708098e-05,-3.56321913236e-05,1793239535437257472
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.04713565,745,715,679,661,636,879,788,804,652,631.04713565,653,0.4105038495,-0.0155393231789,0.0599982313325,0.99999999668,-7.18780064002e-05,8.438570547e-06,-3.74605010339e-05,1793239535453923584
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744.459552804,715,679,661,636,879,788,804,652,631,653,0.411158130079,-0.0155416980043,0.0600023478451,0.999999998825,-3.55509270398e-05,1.81984966626e-05,-2.74622299043e-05,1793239535470590208
+152,2.533333333,POSE1_TO_POSE2_PRESS,766.12701029,744,715,679,661,636,879,788,804,652,631.12701029,652.87298971,0.411811145679,-0.0155418939219,0.0599999665957,0.999999999665,-4.80963887188e-06,1.51072865082e-05,-2.04682526901e-05,1793239535487256576
+153,2.550000000,POSE1_TO_POSE2_PRESS,766.705818814,744,715,679,661,636,879,788,804,652,631.705818814,652.294181186,0.412459925853,-0.0155346837513,0.0599758647216,0.999999999135,-9.88323809322e-06,-2.91935452959e-05,-2.79205105675e-05,1793239535503923456
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.715762765,744.284237235,715,679,661,636,879.284237235,788,804,652,631.715762765,652.284237235,0.413124587203,-0.0155319705045,0.0599505857071,0.999999996181,-1.79373938929e-05,-7.86541316148e-05,-3.36165446727e-05,1793239535520590080
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.13774747,744.86225253,715,679,661,636,879.86225253,788,804,652,631.13774747,652.86225253,0.413805662882,-0.0155339051261,0.059924090037,0.99999998997,-2.90721534635e-05,-0.000133447672212,-3.74974057536e-05,1793239535537256704
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.445947699,636,880,788,804.445947699,652,631.445947699,653,0.414582642845,-0.0155393647163,0.0599453940761,0.999999994127,-3.74315409599e-05,-9.46355661808e-05,-3.72574385332e-05,1793239535553923328
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.96890445,788,805,652,631.96890445,653,0.415389955994,-0.0155458728378,0.0599814604635,0.999999997989,-4.4798147491e-05,-2.72748291375e-05,-3.56437886753e-05,1793239535570590208
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,879.389476188,788,805,652,631.389476188,653,0.416203043752,-0.0155514228745,0.0600141263583,0.999999997856,-4.99703301015e-05,2.7073051424e-05,-3.25420070683e-05,1793239535587256832
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715.189365163,679,662,636,879.189365163,788,804.810634837,651.810634837,631.189365163,653,0.417004769945,-0.0155544111853,0.0600318607059,0.999999996559,-5.29860450545e-05,5.56771707635e-05,-3.12107235216e-05,1793239535603923456
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715.767003082,679,662,636,879.767003082,788,804.232996918,651.232996918,631.767003082,653,0.417783200426,-0.0155521469544,0.0600189795317,0.999999997612,-5.15801565918e-05,3.14964931628e-05,-3.35096548064e-05,1793239535620589824
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.656234786,679,662,636,880,788,804,651.343765214,632,653,0.418577912673,-0.0155513506554,0.0600010307936,0.999999997868,-5.40309875698e-05,3.01976970782e-06,-3.65560235765e-05,1793239535637256448
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.080064758,679,662,636,880,788,804,651.919935242,632,653,0.419383632287,-0.0155515467619,0.0599796560951,0.999999997048,-5.9089180011e-05,-2.8361323814e-05,-4.01077024341e-05,1793239535653923072
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.506755535,745,715,679,662,636,880,788,804,652,632,653,0.420190569179,-0.0155537714407,0.059956173565,0.999999995277,-6.30729191463e-05,-6.01040208028e-05,-4.30647603905e-05,1793239535670589952
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.906168402,745,715,679,662,636,880,787.906168402,804,651.906168402,631.906168402,653,0.420996268695,-0.0155556947729,0.0599319693239,0.999999992134,-6.57441019221e-05,-9.64261380592e-05,-4.59460441847e-05,1793239535687256576
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.326665234,745,715,679,662,636,880,787.326665234,804,651.326665234,631.326665234,653,0.421794546435,-0.0155543637976,0.0599057902693,0.999999984657,-6.25190320299e-05,-0.000156149224794,-4.89318287603e-05,1793239535703923456
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787.25107484,804,651,631,653,0.422649550864,-0.0155559254862,0.0599131989816,0.99999998606,-6.32268316211e-05,-0.000146596002556,-4.89095389807e-05,1793239535720590080
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,787.826537084,804,651,631,653,0.423577845992,-0.0155612244815,0.0599640029129,0.999999995476,-6.90158777507e-05,-4.75381521571e-05,-4.50008328039e-05,1793239535737256960
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.400514717,662,636,880,788,804,651.400514717,631,653,0.424484782496,-0.0155664677521,0.0600090156536,0.99999999631,-7.14629902196e-05,2.39320674654e-05,-4.12408203238e-05,1793239535753923328
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.973851704,662,636,880,788,804,651.973851704,631,653,0.42538250269,-0.0155716869772,0.06005152949,0.999999993183,-7.24680565258e-05,8.34982066417e-05,-3.75449694663e-05,1793239535770589696
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.436107917,662,636.563892083,880,788,804.563892083,652,631.563892083,653,0.426248238251,-0.0155707741864,0.0600397380296,0.999999993235,-7.61381235638e-05,7.80879241879e-05,-4.0449882586e-05,1793239535787256320
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.151749311,745,715.151749311,679.151749311,662,636.848250689,880,788,804.848250689,652,632,653,0.42710710951,-0.0155700048396,0.0600230346304,0.999999993828,-8.13688108537e-05,6.19029671014e-05,-4.34956589624e-05,1793239535803923200
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.731203586,745,715.731203586,679.731203586,662,636.268796414,880,788,804.268796414,652,632,653,0.427950941603,-0.0155704656886,0.0599998011342,0.999999994542,-9.06391617932e-05,2.41010654033e-05,-4.60494244601e-05,1793239535820589824
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.691908451,745,715.691908451,679.691908451,662,636,880,788,804,652,632,653,0.428765848212,-0.0155696135359,0.059975936241,0.999999994375,-9.2971464979e-05,-1.52043127072e-05,-4.87388426067e-05,1793239535837256704
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.117241016,745,715.117241016,679.117241016,662,636,880,788,804,652,632,653,0.429555727035,-0.0155676253098,0.0599515250335,0.999999993127,-8.93006292175e-05,-5.58105701982e-05,-5.1545633914e-05,1793239535853923328
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.468399772,636,880.468399772,788,804,652,631.531600228,652.531600228,0.430391488053,-0.0155674883641,0.0599401322703,0.999999991849,-9.20019535306e-05,-7.05680491909e-05,-5.34600682378e-05,1793239535870589696
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.055999187,662.944000813,636,880.944000813,788,804,652,631.055999187,652.055999187,0.431244240606,-0.0155685058904,0.0599379234831,0.999999991487,-9.6302755711e-05,-6.90667738924e-05,-5.4599926428e-05,1793239535887256064
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.635613803,662.364386197,636,880.364386197,788,804,652,631.635613803,652.635613803,0.432145910788,-0.0155758814937,0.0599903891169,0.999999993436,-0.00010028804033,2.25122940856e-05,-5.06357683205e-05,1793239535903922688
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.785769765,662.214230235,636,880,788,804.214230235,651.785769765,631.785769765,653,0.433006681751,-0.015580533804,0.0600217421209,0.999999990793,-0.000104007821993,7.26194439191e-05,-4.81911848664e-05,1793239535920589568
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.208843184,662.791156816,636,880,788,804.791156816,651.208843184,631.208843184,653,0.433798209611,-0.0155805755228,0.0600173510022,0.999999991699,-0.000107278103284,5.25137692619e-05,-4.83192735546e-05,1793239535937256704
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.633323755,636,880.366676245,788,804.633323755,651.366676245,631,653,0.434566057473,-0.0155795803768,0.059995899184,0.999999992417,-0.000110795169821,1.63191468654e-05,-5.12261572465e-05,1793239535953923072
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.058602751,636,880.941397249,788,804.058602751,651.941397249,631,653,0.435320469732,-0.0155779969346,0.0599647674668,0.999999991478,-0.000114452256996,-2.90040211202e-05,-5.57096734919e-05,1793239535970589696
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.527380442,662.527380442,636,880.472619558,788,804.527380442,652,631.527380442,653,0.436071218092,-0.0155773002484,0.0599482381103,0.99999999042,-0.000110353128636,-6.04357125952e-05,-5.77011112129e-05,1793239535987256576
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.113100388,745,715,679.886899612,662.886899612,636,880.113100388,788,805,651.886899612,631.886899612,653,0.43681319278,-0.0155762419625,0.0599354440338,0.999999988537,-0.000107862752296,-8.82874888904e-05,-5.91402363487e-05,1793239536003922944
+184,3.066666667,POSE1_TO_POSE2_PRESS,766.692463275,745,715,679.307536725,662.307536725,636,880.692463275,788,805,651.307536725,631.307536725,653,0.437520712558,-0.0155732778747,0.0599312135415,0.999999985727,-0.000115635199559,-0.00010788341778,-5.94689555734e-05,1793239536020589824
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.72873802,745,715,679.27126198,662,636,880.72873802,788,805,651,631.27126198,653,0.438232503564,-0.0155710018317,0.0599316585748,0.999999984913,-0.000118356042299,-0.000112428764982,-5.93757115808e-05,1793239536037256704
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.150577655,745,715,679.849422345,662,636,880.150577655,788,805,651,631.849422345,653,0.438949126874,-0.0155695042241,0.0599373933699,0.999999986622,-0.00011536163735,-9.99462944046e-05,-5.88050699383e-05,1793239536053923328
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.42428478,788,805,651,632,653,0.439659306649,-0.0155751047861,0.0599648648599,0.999999989383,-0.000121368933126,-5.713375052e-05,-5.69204614007e-05,1793239536070589696
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.997985862,788,805,651,632,653,0.440367217326,-0.0155832050423,0.0599999911536,0.999999989983,-0.000130546270961,-3.64015446345e-06,-5.45731255538e-05,1793239536087256320
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.411514758,787.411514758,805,651,632,653,0.440975045852,-0.0155903235021,0.0599804383404,0.999999988118,-0.000137797359956,-4.1366911823e-05,-5.53617919475e-05,1793239536103923200
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.824956903,880.175043097,787.175043097,805,651,632,653,0.441556082985,-0.0155953893906,0.0599476883053,0.999999982955,-0.0001460735412,-9.69962515174e-05,-5.78258615521e-05,1793239536120589824
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.247594173,880.752405827,787.752405827,805,651,632,653,0.442076353237,-0.0155957455941,0.0598850484983,0.999999967033,-0.000156721396851,-0.000193034285501,-6.41152892777e-05,1793239536137256704
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.671730852,805,651,632,652.671730852,0.442598955903,-0.0155993206785,0.0598416648338,0.999999950317,-0.000169834941484,-0.000256457339662,-6.89258962013e-05,1793239536153923328
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.096993339,805,651,632,652.096993339,0.443123309742,-0.0156053125366,0.0598127389128,0.999999936659,-0.00018479975454,-0.000295392675735,-7.26261868143e-05,1793239536170590208
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.490659223,715,680,662,635,881,787,805.490659223,651,631.509340777,652.490659223,0.443638272175,-0.0156123449275,0.0598109331649,0.999999933208,-0.000196709853909,-0.000299126047453,-7.35730757108e-05,1793239536187256832
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.920610288,715,680,661.920610288,635,881,787,805.920610288,651,631,653,0.444148248986,-0.0156195258253,0.059814656648,0.999999932088,-0.000207390212478,-0.000295546753967,-7.39350905215e-05,1793239536203923200
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.341597479,715,680,661.341597479,635,881,787,805.341597479,651,631,653,0.444638849083,-0.0156263118458,0.0598185261115,0.999999931986,-0.000214234416867,-0.000290923805393,-7.41343066382e-05,1793239536220589568
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679.763565697,661.236434303,635,880.763565697,786.763565697,805,651,631,653,0.445084610246,-0.0156317679014,0.0598077785077,0.999999922922,-0.000223645970476,-0.000313774024073,-7.53917245832e-05,1793239536237256192
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.186945482,661.813054518,635,880.186945482,786.186945482,805,651,631,653,0.445465856305,-0.015635310379,0.0597759996053,0.999999898173,-0.000236751470933,-0.000376153127498,-7.81717020493e-05,1793239536253922816
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.396346771,715,679.396346771,661.603653229,634.603653229,880,786.396346771,805,651,631,653,0.445828135866,-0.0156393615764,0.0597468750338,0.999999876735,-0.000247413920201,-0.00042295750991,-8.0148940614e-05,1793239536270589696
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.982839972,715,679.982839972,661.017160028,634.017160028,880,786.982839972,805,651,631,653,0.44618131633,-0.0156436568313,0.0597190238686,0.999999856803,-0.00025690432256,-0.000462289962127,-8.17410673234e-05,1793239536287256576
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680.562652344,661,634.562652344,880,787,805,651.562652344,631,653,0.446549487388,-0.0156495462556,0.0597205138879,0.999999867393,-0.000230736988738,-0.000454850693748,-7.13061566682e-05,1793239536303922944
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,680.858139626,661,634.858139626,880.141860374,786.858139626,805,651.858139626,631.141860374,653,0.446910519149,-0.0156550206455,0.05972443397,0.999999876657,-0.000211598017576,-0.00044483319791,-6.35205921526e-05,1793239536320589568
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,680.280170293,661,634.280170293,880.719829707,786.280170293,805,651.280170293,631.719829707,653,0.447248214273,-0.0156590714194,0.059733105871,0.999999881286,-0.000217369715393,-0.000431223480406,-6.49940862889e-05,1793239536337256192
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.70483677,715,680,661.29516323,634,880.70483677,786,805.29516323,651,631.70483677,652.70483677,0.447554456413,-0.0156650742599,0.0597364602584,0.999999881721,-0.00022512991673,-0.000426041196228,-6.60554112597e-05,1793239536353922816
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.13198306,715,680,661.86801694,634,880.13198306,786,805.86801694,651,631.13198306,652.13198306,0.447831107468,-0.0156729136105,0.0597348119119,0.999999878288,-0.000234760908011,-0.000428787468269,-6.67289661198e-05,1793239536370589440
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.558291204,745.441708796,715,680,662,634,880.441708796,786,806,651.441708796,631,652.441708796,0.44806645943,-0.0156798137481,0.0597255137752,0.999999868674,-0.000247710479088,-0.000443484368691,-6.79177558063e-05,1793239536387256064
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.016306127,746,715,680,661.983693873,634,880.983693873,786,805.983693873,651.983693873,631,653,0.448288231806,-0.015686097229,0.0597136168638,0.999999856552,-0.000261719048283,-0.000462161828246,-6.93157989625e-05,1793239536403922688
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.614251975,746,715,680,661.385748025,634,880.385748025,786,805.385748025,651.385748025,631,653,0.448466632748,-0.0156804139438,0.059690709909,0.999999836082,-0.000278064649709,-0.000495211108732,-7.26759823762e-05,1793239536420589312
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.803168665,715,679.803168665,661,634,880,786,805,651,631,653,0.448637553586,-0.0156759049201,0.0596715783137,0.999999818848,-0.00028646583305,-0.00052401359809,-7.51712097735e-05,1793239536437255936
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.24852364,715,679.24852364,661,634,880,786,805,651,631,653,0.448794876553,-0.0156735305512,0.0596593098317,0.999999809221,-0.000280425099419,-0.00054509597245,-7.60940597322e-05,1793239536453922816
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679.327791635,661,633.672208365,880,785.672208365,805,651.327791635,631,652.672208365,0.448945996505,-0.015673034179,0.0596534394907,0.99999980522,-0.000277697554553,-0.000553624214603,-7.71021360423e-05,1793239536470589440
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679.921699897,661,633.078300103,880,785.078300103,805,651.921699897,631,652.078300103,0.449092080577,-0.0156740624524,0.0596527634593,0.999999806066,-0.00027765981118,-0.000551960425726,-7.81794032243e-05,1793239536487256064
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,633,880,785.513759406,805,652,631,652.513759406,0.449212555915,-0.0156792134366,0.0596525497215,0.999999804923,-0.000281493047029,-0.000552138092283,-7.78402730976e-05,1793239536503922944
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.896835219,745.103164781,715,680,660.896835219,633,880,786,805.103164781,651.896835219,631,652.896835219,0.449324845593,-0.0156842493495,0.0596518686275,0.999999803269,-0.000285222520188,-0.000553270275717,-7.74705223631e-05,1793239536520589824
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.318364418,745.681635582,715,680,660.318364418,633,880,786,805.681635582,651.318364418,631,652.318364418,0.449417339217,-0.0156858706242,0.0596487108597,0.999999800721,-0.000285765581238,-0.000557511773079,-7.79506851495e-05,1793239536537256448
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,715,680.257336369,660,633.257336369,879.742663631,785.742663631,805.742663631,651,630.742663631,652,0.449498803639,-0.0156884245963,0.0596455332449,0.999999797316,-0.000287095057368,-0.000562887753288,-7.81189330923e-05,1793239536553922816
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,715,680.829646688,660,633.829646688,879.170353312,785.170353312,805.170353312,651,630.170353312,652,0.449566768559,-0.0156921201689,0.0596423313379,0.999999792841,-0.000289387087892,-0.000569652314813,-7.79054042253e-05,1793239536570589440
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,715.415449458,680.169101083,660,634,879.415449458,785,805,651,630.415449458,652.415449458,0.449621955721,-0.0156928980661,0.0596397773013,0.999999790061,-0.000290398486577,-0.00057397430457,-7.81084568724e-05,1793239536587256064
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.00683152,745.99316848,715.99316848,679.00683152,660.00683152,634,880.00683152,785,805,651.00683152,631,653,0.449671574212,-0.0156924514362,0.0596375041881,0.999999788014,-0.00029089495053,-0.000577227686171,-7.84830259843e-05,1793239536603922688
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.586562895,745.413437105,715.413437105,679.586562895,660.586562895,634,880.586562895,785,805,651.586562895,631,653,0.449708334102,-0.0156930121707,0.0596357635624,0.999999786931,-0.000293723561238,-0.000577678234893,-7.84353663945e-05,1793239536620589312
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715.165434555,680,660.834565445,634,880.834565445,785.165434555,805,651.834565445,630.834565445,653,0.449742598093,-0.0156932079286,0.0596350121925,0.999999786496,-0.000295452714005,-0.000577579180739,-7.82110544437e-05,1793239536637256192
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715.742168723,680,660.257831277,634,880.257831277,785.742168723,805,651.257831277,630.257831277,653,0.449770656834,-0.01569249629,0.0596367202881,0.99999978769,-0.000294448419119,-0.000576113716397,-7.75475534345e-05,1793239536653922816
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715.682860791,680,660,633.682860791,880.317139209,785.682860791,805,651,630,653,0.449791223756,-0.0156922359303,0.0596373544081,0.999999787596,-0.000295097597516,-0.000575978946464,-7.72920011757e-05,1793239536670589440
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715.109316169,680,660,633.109316169,880.890683831,785.109316169,805,651,630,653,0.449805733584,-0.015692340427,0.0596371202246,0.99999978646,-0.000297083600408,-0.000576920035927,-7.73662733017e-05,1793239536687256064
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.476693607,633,881,785,805,651.476693607,630,653,0.449816139901,-0.0156903401119,0.0596358904072,0.999999786996,-0.00029403779629,-0.000577571949202,-7.72056761602e-05,1793239536703922944
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.064587834,715,680,660.935412166,633,881,785,805,651.935412166,630,652.935412166,0.449825100106,-0.0156881891035,0.0596347435458,0.999999787847,-0.000290536039677,-0.000577901489123,-7.6972120927e-05,1793239536720589568
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.644104563,715,680,660.355895437,633,881,785,805,651.355895437,630,652.355895437,0.44983023493,-0.0156887881895,0.0596361272238,0.999999788182,-0.000292845731397,-0.000576203785761,-7.65978403229e-05,1793239536737256448
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745.778319152,715,680,660.221680848,633,880.778319152,785,805,651,630,652.221680848,0.449834288545,-0.0156884804021,0.0596365583039,0.999999788213,-0.000293451243646,-0.000575849966514,-7.65285515047e-05,1793239536753923072
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745.203831137,715,680,660.796168863,633,880.203831137,785,805,651,630,652.796168863,0.449836621405,-0.0156867293169,0.0596354733153,0.999999787768,-0.000291344538,-0.000577634951666,-7.69446600245e-05,1793239536770589696
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680.370775106,660.629224894,633.370775106,880,785,805,651,630,653,0.449836292705,-0.0156855441109,0.0596336998272,0.999999786896,-0.000289772867641,-0.00057993488693,-7.69160538637e-05,1793239536787256320
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680.945446345,660.054553655,633.945446345,880,785,805,651,630,653,0.449834500363,-0.0156846700924,0.0596315477204,0.999999785784,-0.000288495423214,-0.000582518002785,-7.66428908077e-05,1793239536803923200
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680.463321963,660,633.463321963,880,785,805.536678037,651,630.536678037,653,0.449835462349,-0.015685143585,0.0596320778023,0.999999785698,-0.000288736798027,-0.000582568481466,-7.64792232631e-05,1793239536820589824
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.126593759,880,785,805.873406241,651.126593759,630.873406241,653,0.44983662613,-0.0156855130274,0.0596327171123,0.999999785779,-0.000289022290609,-0.000582307997486,-7.63256163784e-05,1793239536837256192
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.705598939,880,785,805.294401061,651.705598939,630.294401061,653,0.449837478645,-0.0156850055247,0.0596327413869,0.999999786073,-0.000288896136791,-0.000581885546756,-7.61669204978e-05,1793239536853923072
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,880,785,805,652,630.2818479,652.7181521,0.449837530554,-0.0156853918531,0.059632410083,0.999999785664,-0.000289284045485,-0.00058243685569,-7.58616903501e-05,1793239536870589952
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,880,785,805,652,630.855245832,652.144754168,0.449836754298,-0.0156867027813,0.0596317109603,0.999999784523,-0.0002902037124,-0.000583995444251,-7.54048817232e-05,1793239536887256576
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,634,880,785,805,652,630.568969234,652.431030766,0.449837798353,-0.0156862651857,0.0596313916428,0.999999784026,-0.000291925075737,-0.000583946667739,-7.57235515028e-05,1793239536903923456
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.992162025,745,715,680.007837975,660,633.992162025,880,785,805,652,630,653,0.449839433022,-0.0156852475722,0.0596312009075,0.999999783765,-0.000293835304769,-0.000583361070633,-7.62896551723e-05,1793239536920590336
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.399214242,745,715,680.600785758,660,633.399214242,880,785,805,652,630,653,0.449839267957,-0.0156850110386,0.0596310341354,0.999999785111,-0.000289633942404,-0.000583222700745,-7.57772627714e-05,1793239536937256704
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.188970892,745,715,680.811029108,660.188970892,633,880.188970892,785,805,651.811029108,630.188970892,652.811029108,0.449839333373,-0.0156846390726,0.0596311221315,0.999999786013,-0.000286800108216,-0.000583110740848,-7.55108212769e-05,1793239536953923328
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.767341909,745,715,680.232658091,660.767341909,633,880.767341909,785,805,651.232658091,630.767341909,652.232658091,0.449839873725,-0.0156839880299,0.0596317351119,0.999999786033,-0.000286784251369,-0.000583053202342,-7.57511949786e-05,1793239536970589952
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.342858177,715,680,661,633.342858177,881,785,805.342858177,651,630.657141823,652,0.449839946784,-0.0156835491665,0.0596318713991,0.999999785978,-0.000286886407633,-0.000583110225789,-7.5646475657e-05,1793239536987256576
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.916453232,715,680,661,633.916453232,881,785,805.916453232,651,630.083546768,652,0.449839705363,-0.0156832530957,0.0596316868809,0.999999785873,-0.000287067984423,-0.000583244347203,-7.53095154403e-05,1793239537003922944
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,679.495865478,660.495865478,633.495865478,881,785,805.495865478,651,630,652.504134522,0.449838935079,-0.0156840510776,0.0596307851181,0.999999784509,-0.000288901716847,-0.00058467958824,-7.52844367782e-05,1793239537020589568
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,715,679.092347213,660,633,881,785,805,651,630,653,0.449838471339,-0.0156846362425,0.05962996375,0.999999783436,-0.000290285558019,-0.000585824698329,-7.53140222256e-05,1793239537037255936
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,715,679.670717281,660,633,881,785,805,651,630,653,0.449840095467,-0.0156831196897,0.0596302090622,0.999999785052,-0.000287819191857,-0.000584275393277,-7.53514622566e-05,1793239537053922560
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.760638986,745.760638986,715,680,660,633.239361014,880.760638986,785,805,651,630.239361014,653,0.449841684901,-0.0156822031873,0.0596308313917,0.999999786025,-0.000286927271894,-0.000583046395531,-7.53666101972e-05,1793239537070589440
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.204852972,745.204852972,715,680,660,633.795147028,880.204852972,785,805,651,630.795147028,653,0.449843228472,-0.0156820799254,0.0596319521221,0.999999786153,-0.000288116701976,-0.0005822408301,-7.53522889555e-05,1793239537087256320
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.385394551,745.385394551,715,680,660.385394551,633.614605449,880,785,805,651,630.614605449,652.614605449,0.449842941759,-0.0156821656243,0.0596316607354,0.999999785857,-0.000288339027079,-0.00058262454633,-7.54643763606e-05,1793239537103923200
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.995758532,745.995758532,715,680,660.995758532,633.004241468,880,785,805,651,630.004241468,652.004241468,0.449841586641,-0.0156823733015,0.0596305450424,0.999999785313,-0.00028799681622,-0.000583702491461,-7.56502532924e-05,1793239537120589824
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.424914664,746,715,680.575085336,660.424914664,633,880.575085336,785,805,651,630,652,0.449842807233,-0.0156832534361,0.0596311457598,0.999999785899,-0.000289182953536,-0.00058217396186,-7.51613352987e-05,1793239537137256448
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.153710301,745.846289699,715,680.846289699,660.153710301,633,880.846289699,785,805,651.153710301,630,652.153710301,0.449843686015,-0.015683585942,0.0596316547212,0.999999786384,-0.00028958292341,-0.000581168553551,-7.49411764071e-05,1793239537153923072
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.730999682,745.269000318,715,680.269000318,660.730999682,633,880.269000318,785,805,651.730999682,630,652.730999682,0.449843573198,-0.0156823963815,0.0596318777326,0.99999978658,-0.000287786981616,-0.000581654971468,-7.5474648765e-05,1793239537170589696
+254,4.233333333,HOLD_POSE2,766,746,715,680,661,633,880,785,806,652,630,653,0.449840328343,-0.0156827642174,0.0596305523924,0.999999784571,-0.000288846141475,-0.000584652797538,-7.4883052815e-05,1793239537207487744
+255,4.250000000,HOLD_POSE2,766,746,715,680.593181652,661,633,880.593181652,785,805.406818348,651.406818348,630,653,0.449841338309,-0.015681795972,0.0596301649227,0.999999785616,-0.000285793078552,-0.000584389068316,-7.47027652148e-05,1793239537224154368
+256,4.266666667,HOLD_POSE2,766,746,715,680.818188838,660.818188838,633.181811162,880.818188838,784.818188838,805,651,630.181811162,652.818188838,0.449842867951,-0.015681322504,0.0596306522039,0.999999786629,-0.000284299163674,-0.000583392543986,-7.46261117257e-05,1793239537240820992
+257,4.283333333,HOLD_POSE2,766,746,715,680.239496235,660.239496235,633.760503765,880.239496235,784.239496235,805,651,630.760503765,652.239496235,0.449845532009,-0.0156819291012,0.0596330490069,0.999999787584,-0.000286208762709,-0.000580796377563,-7.47756844422e-05,1793239537257487616
+258,4.300000000,HOLD_POSE2,766,745.662210007,715,680,660,633.662210007,880,784.337789993,805,651.337789993,630.662210007,652.337789993,0.449846425952,-0.015681979317,0.0596339152252,0.999999787666,-0.000287696103706,-0.000579928298755,-7.47193099127e-05,1793239537274154496
+259,4.316666667,HOLD_POSE2,766,745.085916813,715,680,660,633.085916813,880,784.914083187,805,651.914083187,630.085916813,652.914083187,0.44984607007,-0.0156816366889,0.0596337007442,0.999999787134,-0.000288885301079,-0.00058028037001,-7.45175223116e-05,1793239537290821376
+260,4.333333333,HOLD_POSE2,765.510091513,745,715,680,660,633,880,785,805,651.510091513,630.489908487,652.510091513,0.449845361283,-0.0156815891369,0.0596327644917,0.999999786998,-0.000287385798771,-0.00058127220864,-7.44090125127e-05,1793239537307488000
+261,4.350000000,HOLD_POSE2,765,745,715,680,660.066983579,633,880,785,805,651,630.933016421,652,0.449844468394,-0.0156816372207,0.0596316814182,0.999999786799,-0.000285665642245,-0.000582467510309,-7.43552120975e-05,1793239537324154368
+262,4.366666667,HOLD_POSE2,765,745,715,680,660.654406078,633,880,785,805,651,630.345593922,652,0.449842625514,-0.015682026676,0.0596304401349,0.999999785605,-0.000285891174529,-0.000584372740804,-7.45995064534e-05,1793239537340820992
+263,4.383333333,HOLD_POSE2,765.238754882,745.238754882,715,680,660.761245118,633,880,785,805.238754882,651.238754882,630,652.238754882,0.449842205311,-0.0156824336503,0.0596300127719,0.999999784889,-0.000286668282705,-0.000585226399045,-7.4517822317e-05,1793239537357487616
+264,4.400000000,HOLD_POSE2,765.818711061,745.818711061,715,680,660.181288939,633,880,785,805.818711061,651.818711061,630,652.818711061,0.449843818239,-0.0156828656605,0.0596307485713,0.99999978486,-0.000288233640336,-0.000584577269774,-7.39702868084e-05,1793239537374154496
+265,4.416666667,HOLD_POSE2,766,745.60475911,715,680,660,633,880,784.60475911,805.60475911,651.60475911,630,653,0.449845287687,-0.0156820665732,0.0596321835095,0.99999978664,-0.000286395722723,-0.0005824271393,-7.40025024471e-05,1793239537390821120
+266,4.433333333,HOLD_POSE2,766,745.029787321,715,680,660,633,880,784.029787321,805.029787321,651.029787321,630,653,0.449846691891,-0.0156807076596,0.0596339363726,0.999999789228,-0.000283010207976,-0.000579594447055,-7.42983526907e-05,1793239537407487744
+267,4.450000000,HOLD_POSE2,765.442764063,745.557235937,715,680,660,633,880.557235937,784.557235937,805,651.557235937,630,653,0.449844489127,-0.0156794461714,0.0596319022756,0.999999787367,-0.000283134200536,-0.0005827135436,-7.44743143639e-05,1793239537424154368
+268,4.466666667,HOLD_POSE2,765.142465807,746,715,679.857534193,660,633.142465807,881,785,805,651.857534193,630.142465807,653,0.449843118208,-0.0156792486449,0.0596305657279,0.999999785948,-0.000284102825416,-0.000584678009835,-7.44345511492e-05,1793239537440820992
+269,4.483333333,HOLD_POSE2,765.720204739,746,715,679.279795261,660,633.720204739,881,785,805,651.279795261,630.720204739,653,0.449844890927,-0.0156822855575,0.0596319925532,0.999999786644,-0.00028706619124,-0.000582121213407,-7.37557009701e-05,1793239537457487616
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880,785,806,652,630,653,0.449845921279,-0.0156803763492,0.0596323516058,0.999999786653,-0.000287545275207,-0.000581705018957,-7.5043058354e-05,1793239537495684864
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880,785,805.400917969,652,630,652.400917969,0.449845595457,-0.0156809480241,0.0596318817279,0.999999786826,-0.000286312743871,-0.000582094140277,-7.44293800595e-05,1793239537512351488
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.803913415,745,715,680,660,633,880,785,805,651.803913415,630.196086585,652.196086585,0.449845586819,-0.0156811509843,0.0596317248596,0.999999787112,-0.000285342178007,-0.000582126893091,-7.40551266392e-05,1793239537529018112
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.211111828,745,715,680,660,633,880,785,805,651.211111828,630.788888172,652.788888172,0.449846219897,-0.0156806079748,0.0596322012606,0.99999978763,-0.00028490161061,-0.000581438654618,-7.41652685061e-05,1793239537545684992
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.371615847,745,715,680,660,633,880.371615847,785,805,651.371615847,630.628384153,653,0.449845140704,-0.0156816753656,0.0596310060688,0.999999786253,-0.000286501357274,-0.000583020583016,-7.41474460715e-05,1793239537562351872
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.948771628,745,715,680,660,633,880.948771628,785,805,651.948771628,630.051228372,653,0.449843114458,-0.0156836334654,0.0596288863228,0.999999783816,-0.000289229597324,-0.00058585813591,-7.40588468465e-05,1793239537579018240
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.474723558,745,715,680,660,633.525276442,880.474723558,785,805,651.474723558,630,652.474723558,0.449843447416,-0.0156818239833,0.0596298850479,0.999999784969,-0.000287250621412,-0.000584850429292,-7.41517168372e-05,1793239537595684864
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.103821634,745,715,680,660,634,880,784.896178366,805,651.103821634,630.103821634,652.103821634,0.44984401298,-0.0156798430167,0.0596309830579,0.999999786381,-0.000285036473651,-0.000583502376977,-7.42739080198e-05,1793239537612351232
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.692185306,745,715,680,660,634,880,784.307814694,805,651.692185306,630.692185306,652.692185306,0.449844591635,-0.0156787744599,0.0596311267835,0.999999787394,-0.00028386465937,-0.000582313960774,-7.44504473295e-05,1793239537629017600
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.723718084,745.276281916,715,680,660,633.723718084,880,784.276281916,805,652,631,653,0.449838916298,-0.0156782201985,0.0596280962651,0.999999784781,-0.000284271107904,-0.000586530034029,-7.49077628216e-05,1793239537645684480
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.144303278,745.855696722,715,680,660,633.144303278,880,784.855696722,805,652,631,653,0.449826379164,-0.0156782302153,0.059621583008,0.999999778111,-0.000286409205731,-0.000596675842175,-7.56731422362e-05,1793239537662351104
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.433779917,745.566220083,715,680,660.433779917,633,880,785,805,652,631,653,0.449797725343,-0.0156771705636,0.0596087979253,0.999999766499,-0.000285043430767,-0.000616367619887,-7.6443244565e-05,1793239537679017728
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.011359773,715,680,660.988640227,633,880.011359773,785,805,652,630.988640227,653,0.449763256815,-0.0156756988059,0.0595938442328,0.999999752752,-0.000282551499876,-0.0006392923328,-7.72397157899e-05,1793239537695684352
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.585877825,715,680,660.414122175,633,880.585877825,785,805,652,630.414122175,653,0.449705505068,-0.0156713837357,0.0595744992688,0.99999973567,-0.00028183890944,-0.000665540780889,-7.92657670067e-05,1793239537712350976
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.835277249,715,680,660,633,880.835277249,785,805,652,630,652.835277249,0.449644344151,-0.0156672953509,0.0595566089643,0.99999971989,-0.00028069528159,-0.000689129558392,-8.0814405764e-05,1793239537729017600
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745.245260746,715,680,660,633,880.245260746,785,805,652,630,652.245260746,0.44957438117,-0.015663792239,0.0595424744069,0.999999708832,-0.000278438768728,-0.000705851402234,-8.11304251939e-05,1793239537745684224
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.338608545,715,680,660,633.338608545,880.338608545,784.661391455,805,652,630.338608545,652.338608545,0.449496473237,-0.0156605582676,0.059534751069,0.999999703043,-0.000276461724789,-0.000714763771797,-8.12074520761e-05,1793239537762350848
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.918104646,715,680,660,633.918104646,880.918104646,784.081895354,805,652,630.918104646,652.918104646,0.449412913237,-0.015657515764,0.0595315887006,0.999999701136,-0.000274683496403,-0.000718120447279,-8.11144586369e-05,1793239537779017472
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,660.49104737,634,880.50895263,784.49104737,805.49104737,652,631,653,0.44930892707,-0.0156501149211,0.0595324747416,0.999999702952,-0.000271566547777,-0.000716806853157,-8.08448688106e-05,1793239537795684352
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,634,880,785,805.936479618,652,631,653,0.449198792936,-0.0156421440437,0.059534037394,0.999999705307,-0.000268341506814,-0.000714775746428,-8.04696039304e-05,1793239537812351488
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,634,880,785,805.359081038,652,631,653,0.44906611835,-0.0156353645201,0.0595356835543,0.99999970716,-0.000266024442685,-0.000713158219071,-7.94745602022e-05,1793239537829018368
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.775651324,715,680.224348676,660.775651324,633.775651324,880,785,805.224348676,652,630.775651324,652.775651324,0.448923671411,-0.0156278538207,0.0595376593402,0.999999709688,-0.00026265628703,-0.000710999396257,-7.82058995939e-05,1793239537845684992
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.182301869,715,680.817698131,660.182301869,633.182301869,880,785,805.817698131,652,630.182301869,652.182301869,0.448765151266,-0.0156191405098,0.0595401772823,0.99999971331,-0.000257559333378,-0.000707950269941,-7.64872037016e-05,1793239537862351360
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.399824279,715,680.600175721,660.399824279,633.399824279,880,785,805.600175721,652,630,652.399824279,0.448581097606,-0.0156087733008,0.0595427633107,0.9999997175,-0.000251229013727,-0.000704435340909,-7.52033767211e-05,1793239537879017984
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.976972879,715,680.023027121,660.976972879,633.976972879,880,785,805.023027121,652,630,652.976972879,0.448385719673,-0.015597672578,0.059545379536,0.9999997219,-0.000244351688851,-0.000700713825455,-7.41124164024e-05,1793239537895684352
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.447231938,715,680,661,634,880,785,805,651.447231938,630,653,0.448153967992,-0.0155852253363,0.0595491508198,0.99999972463,-0.000237311241903,-0.000699416165558,-7.23927256405e-05,1793239537912350976
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634,880,785,804.869271834,651.130728166,630.130728166,653,0.447917511161,-0.0155730272413,0.0595549227062,0.999999730272,-0.000230047037364,-0.000693956892199,-7.04081287952e-05,1793239537929017344
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634,880,785,804.283581442,651.716418558,630.716418558,653,0.447669939858,-0.0155618909663,0.0595674900724,0.999999746156,-0.000222027697595,-0.000673663757567,-6.75925307476e-05,1793239537945684224
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745.298864707,715.298864707,680.298864707,661,634,880.298864707,785.298864707,804.298864707,652,631,652.701135293,0.447397137223,-0.0155498535159,0.0595814552095,0.999999762384,-0.000213695134144,-0.000652216437457,-6.46551658813e-05,1793239537962351104
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745.878265539,715.878265539,680.878265539,661,634,880.878265539,785.878265539,804.878265539,652,631,652.121734461,0.447100650642,-0.0155369701576,0.0595967323951,0.999999778824,-0.000205068556651,-0.000629685716156,-6.16035019953e-05,1793239537979017984
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745.543518416,715.543518416,680.543518416,660.543518416,634,881,786,805,652,631,652,0.446759557013,-0.0155273985158,0.0596060222279,0.999999787641,-0.000197439453454,-0.000618309693318,-5.8560407961e-05,1793239537995684608
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.966135587,745,715,680.033864413,660.033864413,634,881,786,805,651.966135587,631,652,0.44640336692,-0.0155190484176,0.0596130051417,0.999999793721,-0.00019049949574,-0.000610879029885,-5.56262354182e-05,1793239538012350976
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.396942374,745,715,680.603057626,660.603057626,634,881,786,805,651.396942374,631,652,0.445996093874,-0.0155160835012,0.0596086956728,0.999999788895,-0.000190259407944,-0.000618913754193,-5.43778595337e-05,1793239538029017600
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.1803499,745,715,680.6393002,661,634.1803499,881,786,805,651,631,652.1803499,0.445577782976,-0.0155152018606,0.059605195631,0.999999786938,-0.000177817554094,-0.000625908401828,-5.23847398594e-05,1793239538045684224
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.776305921,745,715,679.447388157,661,634.776305921,881,786,805,651,631,652.776305921,0.445134036028,-0.0155191210115,0.0596035608683,0.999999790626,-0.000137257421906,-0.000630506250014,-4.86754004599e-05,1793239538062350848
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.361664713,661,634.638335287,881,786,805,651,631.361664713,653.361664713,0.444683723921,-0.0155134907,0.0596098472593,0.999999803473,-0.000118286365595,-0.000614015093893,-4.52510309125e-05,1793239538079017728
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.940655632,661,634.059344368,881,786,805,651,631.940655632,653.940655632,0.444229466734,-0.0155021220674,0.0596208935124,0.999999821788,-0.000112288293272,-0.000584851445922,-4.19979008736e-05,1793239538095684608
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634.514627763,881,786.514627763,805,651.514627763,632,653.485372237,0.443747787244,-0.0154914051241,0.0596501010475,0.999999846879,-0.000103922603545,-0.000542321320132,-3.64507346923e-05,1793239538112350976
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,881,787,805,652,632,653,0.443254142581,-0.0154812848399,0.0596813102415,0.999999871571,-9.22299915864e-05,-0.000497405927004,-3.06324553282e-05,1793239538129017856
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,881,787,805,652,632,653,0.442711790476,-0.0154740441146,0.0597121203228,0.999999897423,-6.36838748377e-05,-0.000447755183762,-2.47638262267e-05,1793239538145684736
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,881,787,805.243760596,651.756239404,631.756239404,653,0.442139837346,-0.015467069722,0.0597284258549,0.999999909233,-3.84887011791e-05,-0.000423864010764,-1.97806998293e-05,1793239538162351616
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,881,787,805.839481393,651.160518607,631.160518607,653,0.441525144026,-0.0154604798813,0.0597237886072,0.999999904149,-1.81318774885e-05,-0.000437166480888,-1.60761304291e-05,1793239538179018240
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.577736402,661.422263598,635,881,787,805.577736402,651,631.422263598,653,0.440884293832,-0.0154540004781,0.059722866122,0.999999900733,-2.93446406828e-06,-0.000445407235991,-1.1779566009e-05,1793239538195684864
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745.000271983,715,679.000271983,662,635,881,787,805,651,632,652.999728017,0.440233799226,-0.0154475603985,0.0597233300785,0.999999897881,1.03671984716e-05,-0.000451750001862,-7.26363578669e-06,1793239538212351744
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745.574948597,715,679.574948597,662,635,881,787,805,651,632,652.425051403,0.439590043185,-0.0154381425284,0.0597582192439,0.9999999222,3.89381657243e-05,-0.000392534715909,-6.01325736348e-07,1793239538229018112
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745.847287469,715,680,662,635,881,787.152712531,805,651,631.847287469,652,0.438937990647,-0.0154295951824,0.0597954215225,0.999999942771,6.66383914204e-05,-0.000331623374394,6.50390827319e-06,1793239538245684736
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745.260753257,715,680,662,635,881,787.739246743,805,651,631.260753257,652,0.438262369747,-0.0154235208002,0.0598391948255,0.99999996032,9.18650331307e-05,-0.000265893936717,1.48673876871e-05,1793239538262351360
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,880.676394538,788,805,651.323605462,631.323605462,652.323605462,0.437508579285,-0.0154162102989,0.0598403606651,0.999999957072,0.000114805407317,-0.000268880989053,1.94834510607e-05,1793239538279017984
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,880.093777009,788,805,651.906222991,631.906222991,652.906222991,0.436692222253,-0.0154079104139,0.0598074237255,0.999999937119,0.000135915867982,-0.000326868342501,2.11001037287e-05,1793239538295684352
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766.4817632,745,715,680,662,635,880,788,805.4817632,652,632,653,0.435893037524,-0.0154037290658,0.0597725830942,0.99999991947,0.00014838909436,-0.00037227818455,2.12217872385e-05,1793239538312350976
+320,5.333333333,POSE2_TO_POSE3_RETREAT,767,745,715,680,661.943977462,635,880,787.943977462,806,651.943977462,632,653,0.435098258954,-0.0154007882992,0.0597425770015,0.999999904256,0.000159822963698,-0.000406785204915,2.16663754921e-05,1793239538329017856
+321,5.350000000,POSE2_TO_POSE3_RETREAT,767,745,715,680,661.369006249,635,880,787.369006249,806,651.369006249,632,653,0.434313779668,-0.0154020206041,0.0597607371322,0.999999918198,0.000176977540865,-0.000362647512266,2.77586800429e-05,1793239538345684480
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766.787595559,745,715,680,661.212404441,635,880.212404441,787.212404441,805.787595559,651.212404441,632,652.787595559,0.433511598022,-0.0154021484935,0.0597790529667,0.999999927825,0.000191811111865,-0.000326283207173,3.31228034593e-05,1793239538362350848
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.19464796,745,715,680,661.80535204,635,880.80535204,787.80535204,805.19464796,651.80535204,632,652.19464796,0.43267770093,-0.0154002977154,0.0597976477586,0.999999932647,0.000202486374657,-0.000303845683634,3.71823194544e-05,1793239538379017728
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766.38770345,745,715,680,662,635.38770345,880.61229655,788,805,652,632,652.38770345,0.431834825577,-0.0154013341213,0.0598063703926,0.999999944534,0.000157018652093,-0.000292683252267,2.47733266649e-05,1793239538395684608
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.964876515,745,715,680,662,635.964876515,880.035123485,788,805,652,632,652.964876515,0.430987562596,-0.015403781486,0.0598102685295,0.99999995526,8.41140053787e-05,-0.000287030926854,4.31621852288e-06,1793239538412351232
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.459711478,745,715,680,662,635.459711478,880.540288522,788,805,651.459711478,632,653,0.430149886818,-0.0154072190617,0.0598304361057,0.999999962382,9.81866493223e-05,-0.000255900993154,1.04571242506e-05,1793239538429017856
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.117354901,635.117354901,880.882645099,788,804.882645099,651.117354901,632,653,0.429290442942,-0.0154080252027,0.059838422481,0.999999962225,0.000118324819372,-0.000247525471279,1.67570330242e-05,1793239538445684480
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.701454766,635.701454766,880.298545234,788,804.298545234,651.701454766,632,653,0.428341952249,-0.0153981103862,0.0597937688172,0.999999933514,0.000140171635847,-0.000336214929551,1.68346635254e-05,1793239538462351104
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.285853313,745,715,679.714146687,662.714146687,636,880,788,804.285853313,652,632,653,0.427430430257,-0.0153927000253,0.0597667702926,0.999999918289,0.00014886165995,-0.000375529213141,1.5517083136e-05,1793239538479017472
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766.870564202,745,715,679.129435798,662.129435798,636,880,788,804.870564202,652,632,653,0.426557558659,-0.015391999039,0.0597582300833,0.999999923615,0.00014379635622,-0.000363222121195,1.27408199506e-05,1793239538495684096
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.552725633,745,715,679,662,635.552725633,880,787.552725633,804.552725633,651.552725633,631.552725633,653,0.42568862616,-0.0153929939528,0.0597804661252,0.99999993336,0.000145127909149,-0.00033464619022,1.51275229756e-05,1793239538512350976
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,744.978293224,715,679.021706776,661.978293224,635.021706776,879.978293224,787,804,651.021706776,631,652.978293224,0.424820761224,-0.0153944133561,0.0598108279437,0.999999943099,0.000148505001303,-0.000302306599934,1.89655273118e-05,1793239538529017856
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,744.403939599,715,679.596060401,661.403939599,635.596060401,879.403939599,787,804,651.596060401,631,652.403939599,0.423951562539,-0.0153943647841,0.0598253033647,0.999999944718,0.000157658833836,-0.000291903265735,2.23823760095e-05,1793239538545684480
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,744.17537891,715,679.82462109,661.17537891,635.82462109,879.17537891,787.17537891,804,652,631.17537891,652.17537891,0.423083999012,-0.0153940858518,0.0598385972106,0.999999947773,0.000165033107163,-0.000276762423251,2.49323937779e-05,1793239538562351104
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,744.766465863,715,679.233534137,661.766465863,635.233534137,879.766465863,787.766465863,804,652,631.766465863,652.766465863,0.422220311417,-0.0153932608867,0.0598490903181,0.999999954185,0.00016818921555,-0.000250392065312,2.54277253603e-05,1793239538579017728
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.649718433,635.350281567,879.649718433,787.649718433,804,652,632,653,0.421320168302,-0.0153899947878,0.0598343902357,0.999999946492,0.000172744013715,-0.000276725108079,2.44650547395e-05,1793239538595684608
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.070651937,635.929348063,879.070651937,787.070651937,804,652,632,653,0.420396214452,-0.0153851342727,0.0598032353272,0.999999926919,0.00017821235963,-0.000337481155226,2.2550096039e-05,1793239538612351232
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,744.495071299,715,679.504928701,661,635.495071299,879,787.504928701,804,651.495071299,632,652.495071299,0.419508099501,-0.0153811307987,0.0597611591604,0.999999903582,0.000177645478532,-0.000401198971701,1.78428424882e-05,1793239538629017856
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,744.081785086,715,679.918214914,661,635.081785086,879.081785086,788,803.918214914,651.081785086,632,652.081785086,0.418639885118,-0.0153782117893,0.0597273870144,0.999999883722,0.000175924406131,-0.000448790874438,1.38875523277e-05,1793239538645684224
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,744.669530385,715,679.330469615,661,635.669530385,879.669530385,788,803.330469615,651.669530385,632,652.669530385,0.417863974381,-0.0153812649782,0.0597543764213,0.999999907373,0.000172251480202,-0.000394074185766,1.69848002789e-05,1793239538662351104
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.746460693,880,788,803.253539307,652,631.746460693,652.746460693,0.41707736812,-0.0153829941101,0.0597869739253,0.999999926654,0.000173648738997,-0.00034075647334,2.05837001563e-05,1793239538679017728
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.167251054,880,788,803.832748946,652,631.167251054,652.167251054,0.416277023391,-0.0153830224957,0.0598267750138,0.999999941381,0.0001815586316,-0.000289235733866,2.48269705765e-05,1793239538695684608
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.41018786,880,788,804,652,631.41018786,652.41018786,0.4154880035,-0.0153817944191,0.059838433526,0.99999994221,0.000186544134579,-0.000283006862312,2.62436879861e-05,1793239538712351232
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.986907845,880,788,804,652,631.986907845,652.986907845,0.414703581427,-0.0153800562316,0.0598386664344,0.999999937972,0.000190342364573,-0.000295166034401,2.65128532155e-05,1793239538729017856
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,744.438191522,715,679,661,636,879.438191522,788,804,652,631.438191522,653,0.413959418381,-0.0153795479465,0.0598418454274,0.999999941584,0.000188790231006,-0.00028369686512,2.65807234841e-05,1793239538745684480
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,744.139634626,715,679,661,635.860365374,879,788,804,651.860365374,631,653,0.413212768652,-0.0153785104556,0.0598377119616,0.999999940713,0.000188509014116,-0.0002869762127,2.6142672782e-05,1793239538762351104
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,744.726976246,715,679,661,635.273023754,879,788,804,651.273023754,631,653,0.412455147621,-0.015375684587,0.0598099133284,0.999999923579,0.000192701181862,-0.000339303116915,2.40974920899e-05,1793239538779017728
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.311447255,879,788,804,651.311447255,631.311447255,652.688552745,0.411707846469,-0.0153726303911,0.0597788461794,0.999999905268,0.000195606075348,-0.000388273010716,2.11125714694e-05,1793239538795684352
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.893424755,879,788,804,651.893424755,631.893424755,652.106575245,0.410969509442,-0.0153693778651,0.0597449399241,0.999999886048,0.000197392812623,-0.000434326925368,1.7311371257e-05,1793239538812351232
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,632,652.468287625,0.410344616897,-0.0153705533658,0.0597683954906,0.999999904138,0.000198229883091,-0.000389941107731,1.93529566241e-05,1793239538829017856
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,744.958215458,715,679,661,636,879,788,804,652,631.958215458,653,0.409746394704,-0.0153727143335,0.0598045058066,0.999999926652,0.000198853535258,-0.000326551263568,2.27356610251e-05,1793239538845684480
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744.381789008,715,679,661,636,879,788,804,652,631.381789008,653,0.409164019563,-0.0153747831206,0.0598379985533,0.999999940716,0.000199470505043,-0.000279419986732,2.65187083617e-05,1793239538862351360
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744.199159727,715,679,661,636,879,788,804.199159727,652,631,653,0.408586840324,-0.0153762516097,0.0598598889442,0.999999948602,0.000199738630915,-0.000249107600061,2.90738827859e-05,1793239538879017728
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,744.788979204,715,679,661,636,879,788,804.788979204,652,631,653,0.408019852953,-0.0153765425907,0.059859020857,0.99999994801,0.00019932248637,-0.000251786130213,2.92205362657e-05,1793239538895684352
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804.627607336,652,631.372392664,652.627607336,0.407451614665,-0.0153766695116,0.0598470387881,0.999999942867,0.000199145889127,-0.000271706998042,2.79530795511e-05,1793239538912350976
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804.047762569,652,631.952237431,652.047762569,0.406882679552,-0.015376705038,0.0598288653544,0.999999934473,0.000199102738517,-0.000301233208347,2.58978518299e-05,1793239538929017600
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.525206586,661,636,879,788,804,652,632,652.525206586,0.406400797106,-0.0153766920165,0.0598275707966,0.999999936461,0.000197049285256,-0.000296024709986,2.4864545636e-05,1793239538945684480
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.899339201,661.100660799,635.899339201,879,788,804,652,632,652.899339201,0.40593524153,-0.0153770198368,0.0598292643175,0.999999939806,0.000194434588968,-0.000286345664251,2.42811850902e-05,1793239538962351104
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.308787118,661.691212882,635.308787118,879,788,804,652,632,652.308787118,0.405511114463,-0.0153790276589,0.0598381262735,0.99999994516,0.000189966694322,-0.000270083982041,2.54411562546e-05,1793239538979017728
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.723631717,661.723631717,635.276368283,879,788,804,652,631.723631717,652.276368283,0.405089820917,-0.0153788964908,0.059838090386,0.999999944522,0.000196418087645,-0.000267793867164,2.57220545135e-05,1793239538995684608
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.144390594,661.144390594,635.855609406,879,788,804,652,631.144390594,652.855609406,0.404671632664,-0.0153764211965,0.0598283033245,0.999999937181,0.000214835961997,-0.000280815236289,2.50395740322e-05,1793239539012351232
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.433523899,745,715,678.433523899,661.433523899,636,879.433523899,788,804,652,631,653,0.404264782962,-0.0153742356778,0.0598071356763,0.99999992589,0.000217013185639,-0.000317144492654,2.33267526144e-05,1793239539029017856
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.988895481,745,715,679,661.988895481,636,880,788,804,652,631,653,0.403863619596,-0.0153721852871,0.0597826310679,0.999999911976,0.000213866128318,-0.000360352588534,2.13203652729e-05,1793239539045684480
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.405824972,745,715,679,661.405824972,636,880,788,804,652,631,653,0.40356142496,-0.0153721390118,0.0597808889461,0.999999912286,0.000214240680159,-0.000359240245223,2.18149437727e-05,1793239539062351104
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880,788,804,652,631.176838019,653,0.403274831451,-0.0153724058519,0.0597851549578,0.999999915321,0.000216873527333,-0.000349010724546,2.27196944105e-05,1793239539079017984
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880,788,804,652,631.758568063,653,0.403023958548,-0.0153733896076,0.0598031773169,0.999999923926,0.000224677014673,-0.000317906323402,2.45635838374e-05,1793239539095684608
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.338434403,661,636,879.661565597,788.338434403,804.338434403,652,632,653,0.402792388023,-0.015373793308,0.0598223492306,0.999999934181,0.000221667974821,-0.000286152478163,2.48439959707e-05,1793239539112351488
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.916978461,661,636,879.083021539,788.916978461,804.916978461,652,632,653,0.402574512005,-0.0153737854755,0.0598423367198,0.999999945211,0.000210987751575,-0.000253937872431,2.40151649757e-05,1793239539129018112
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.508534381,661,636,879.491465619,788.508534381,804.508534381,652,631.508534381,653,0.402363827094,-0.0153735531526,0.0598471521775,0.999999950994,0.00018858860068,-0.00024913285982,1.94810114576e-05,1793239539145684480
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.932895506,788,803.932895506,652,631,653,0.402157606738,-0.0153731673167,0.0598480330429,0.999999954371,0.000167542859526,-0.000250926264934,1.49352652732e-05,1793239539162351104
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.342988217,788,803.342988217,652,631,653,0.401976782539,-0.0153718785101,0.0598380641924,0.99999994903,0.000172338200116,-0.00026834910876,1.51357967332e-05,1793239539179017472
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.757839584,744.757839584,715,679,661,636,879,788,803.242160416,652,631.242160416,653,0.401811772585,-0.0153726433903,0.05983144887,0.99999994496,0.000176455244541,-0.00028053921048,1.55087583489e-05,1793239539195684352
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.179301114,744.179301114,715,679,661,636,879,788,803.820698886,652,631.820698886,653,0.401668729757,-0.0153762609875,0.0598294918377,0.999999942993,0.000179630086974,-0.000285460659616,1.6121237712e-05,1793239539212350976
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.399246497,744.399246497,715,679,661.399246497,636,879,788,804,652,631.600753503,653,0.401549255303,-0.0153834564409,0.0598309212236,0.999999941858,0.000188135952724,-0.000283882023009,1.734109366e-05,1793239539229017600
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.977798262,744.977798262,715,679,661.977798262,636,879,788,804,652,631.022201738,653,0.40144036561,-0.0153922587429,0.0598338714809,0.999999940987,0.000199036030264,-0.000279384138591,1.88337280623e-05,1793239539245684224
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.451049954,661.451049954,636,879,788,804,652,631.548950046,652.451049954,0.401357488218,-0.0153896782567,0.0598372257908,0.999999941928,0.000201033841938,-0.000274496411672,1.95310833197e-05,1793239539262351104
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.124661599,661,636,879,788,804,652,632,652,0.401280428622,-0.0153867642344,0.059840145119,0.999999942952,0.000202331803316,-0.000269732953697,2.00463952751e-05,1793239539279017728
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.718651797,661,636,879,788,804,652,632,652,0.401221363893,-0.015384304648,0.0598413661149,0.999999944087,0.000202332423222,-0.000265495914266,1.99958290722e-05,1793239539295684608
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.304763908,788,804,652,631.695236092,652.304763908,0.401168181129,-0.0153833230885,0.0598423871115,0.999999944735,0.000201531322879,-0.00026364691348,2.0154984239e-05,1793239539312351232
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.883786453,788,804,652,631.116213547,652.883786453,0.401120291579,-0.0153836716134,0.0598432281277,0.999999944954,0.00020000875029,-0.000263946921431,2.05028687677e-05,1793239539329017856
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.540881427,788,804,652,631,653,0.401083548454,-0.0153825499373,0.059842604972,0.999999944311,0.000201018649434,-0.000265617118517,2.04333835987e-05,1793239539345684224
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.033426617,653,0.401050330088,-0.0153811547405,0.0598416076254,0.999999943452,0.000202631547029,-0.00026762943397,2.02860085598e-05,1793239539362350848
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.606163434,653,0.401028822487,-0.0153813028361,0.0598405049167,0.999999942694,0.000203713352498,-0.000269610406646,2.05728624988e-05,1793239539379017472
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.185050542,788,804,652,632,653,0.401010448666,-0.0153814306364,0.0598395908917,0.999999942139,0.000204273758924,-0.000271233159179,2.0650821879e-05,1793239539395684352
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.777477015,788,804,652,632,653,0.400998973647,-0.0153815137579,0.0598390922406,0.99999994204,0.000203686341397,-0.000272067314662,2.02689143439e-05,1793239539412351232
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.361368202,745,715,679,661,636,879.638631798,788,804.361368202,652,632,653,0.400992051164,-0.0153814641738,0.0598400735459,0.999999942732,0.000202916927543,-0.000270115880096,1.99504313346e-05,1793239539429018112
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.940124869,745,715,679,661,636,879.059875131,788,804.940124869,652,632,653,0.400987867352,-0.015381334758,0.0598419451493,0.999999943889,0.000202038030003,-0.000266488716683,1.96701026151e-05,1793239539445684736
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.501498631,745,715,679,661,636,879,788,804.501498631,652,632,653,0.400986678486,-0.0153822253266,0.0598430325945,0.999999944807,0.000200417458054,-0.000264247078533,1.98026041631e-05,1793239539462351104
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652.059821379,632,653,0.400985718264,-0.0153830386613,0.0598439553897,0.999999945527,0.000199245522129,-0.000262386428661,1.9994722817e-05,1793239539479017472
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652.669844129,632,653,0.400983682397,-0.0153820591227,0.0598441960696,0.999999944723,0.000202987020466,-0.000262559404426,2.02970220159e-05,1793239539495684352
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804.265322734,652.734677266,632,653,0.400982348219,-0.015381918667,0.0598440531777,0.999999944275,0.000204824072707,-0.00026283344773,2.0392299173e-05,1793239539512350976
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804.843643739,652.156356261,632,653,0.400981841816,-0.0153827680679,0.0598434577906,0.999999944258,0.000204414470905,-0.000263226719272,2.02433547178e-05,1793239539529017600
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,744.578884202,715,679,661,636,879,788,804.578884202,652,631.578884202,653,0.400982543374,-0.0153836525565,0.0598445565895,0.999999945302,0.000202129373717,-0.000261022913098,2.017122714e-05,1793239539545684480
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,744.001726728,715,679,661,636,879,788,804.001726728,652,631.001726728,653,0.400983692534,-0.0153845500465,0.0598462831577,0.999999946722,0.000199149324111,-0.000257856776917,2.01275635515e-05,1793239539562351360
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744.574362765,715,679,661,636,879,788,804,652,631.574362765,653,0.400982678572,-0.0153838251104,0.0598460110576,0.9999999454,0.000203659876552,-0.000259439871086,2.03347081655e-05,1793239539579017984
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,632,653,0.400981993726,-0.0153834000403,0.0598459785078,0.999999944716,0.000206085601574,-0.000260157675397,2.03783172188e-05,1793239539595684608
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,632,653,0.400982258349,-0.0153838370981,0.05984664064,0.999999945906,0.00020254952545,-0.000258387159533,1.99571366831e-05,1793239539612351232
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.671980319,653,0.400981749432,-0.0153831195694,0.0598467158205,0.999999945995,0.000202335052496,-0.000258228338462,1.97143473928e-05,1793239539629017600
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.093554289,653,0.400980650005,-0.015381520643,0.0598463429292,0.999999945247,0.000204656251797,-0.000259299865976,1.96077398277e-05,1793239539645684224
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.481437415,653,0.400979288578,-0.0153823269535,0.0598457683693,0.999999944974,0.0002047030964,-0.00026030774865,1.97323416615e-05,1793239539662350848
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.944192902,653,0.400978240414,-0.0153835915748,0.059845421849,0.99999994495,0.000204049877998,-0.000260896393854,1.99156194837e-05,1793239539679017728
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.369445148,653,0.400980575306,-0.0153848025316,0.0598475576597,0.999999946397,0.00020096748625,-0.000257700812192,2.02296849936e-05,1793239539695684352
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636.212007203,879,788,804,652,631,652.787992797,0.400981862509,-0.015385176732,0.0598486101725,0.999999946945,0.000200369142283,-0.000256024906942,2.03560748986e-05,1793239539712351232
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636.80552454,879,788,804,652,631,652.19447546,0.400981264379,-0.0153840451765,0.0598477132744,0.999999945894,0.000204240879667,-0.000257083682337,2.0144739725e-05,1793239539729017856
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.387669066,745,715,679,661,636.612330934,879,788,804,652,631.387669066,652.387669066,0.40098199213,-0.0153838159067,0.0598480573603,0.999999945846,0.000205799798222,-0.000256010797377,2.02985794448e-05,1793239539745684480
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.964270968,745,715,679,661,636.035729032,879,788,804,652,631.964270968,652.964270968,0.400983366056,-0.0153840263713,0.059849006247,0.999999946289,0.000206231550594,-0.000253899034982,2.06303893361e-05,1793239539762351104
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.459962212,745,715,679,661,636,879.540037788,788,804,652,632,653,0.400982208936,-0.015383609373,0.05984883241,0.999999946038,0.000206074530491,-0.000255050873687,2.01779373786e-05,1793239539779017728
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.118776318,745,715,678.881223682,661,636,879.881223682,788,804,652,632,653,0.400981325171,-0.0153833864665,0.0598486760785,0.999999945929,0.000205392626003,-0.000256057008596,1.97841235877e-05,1793239539795684352
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.709542808,745,715,678.290457192,661,636,879.290457192,788,804,652,632,653,0.400982192052,-0.0153840995462,0.0598488840248,0.999999946571,0.000202779502685,-0.000255627454306,1.98291933742e-05,1793239539812351232
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.706688507,745,715,678.293311493,661,636,879,788.293311493,804,652.293311493,631.706688507,653,0.400982044876,-0.0153840851025,0.0598486487376,0.999999946675,0.000202226616906,-0.000255664124077,1.97511427624e-05,1793239539829017600
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766.129687985,745,715,678.870312015,661,636,879,788.870312015,804,652.870312015,631.129687985,653,0.40098091691,-0.015383367003,0.0598479847579,0.999999946262,0.000203666379592,-0.000256151722775,1.95540108824e-05,1793239539845684224
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788.553577541,804,652.553577541,631.446422459,653,0.400980434907,-0.0153849507106,0.0598478432668,0.999999946546,0.000201919917783,-0.000256400098779,1.98695615859e-05,1793239539862350848
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.022654866,715.022654866,679.022654866,661,636,879,788,804,652,632,653.022654866,0.400980228259,-0.0153870927765,0.0598479232334,0.99999994703,0.000199388694278,-0.000256458304757,2.03165914015e-05,1793239539879017216
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745.608332518,715.608332518,679.608332518,661,636,879,788,804,652,632,653.608332518,0.4009822104,-0.0153865260158,0.0598497422066,0.999999947596,0.000200312188765,-0.000253514047125,2.03371233958e-05,1793239539895684096
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745.80801354,715.80801354,679.61602708,661,636,879,788,804,652.19198646,632,653.80801354,0.400983116398,-0.0153861750623,0.0598505443313,0.999999947852,0.000200850944031,-0.000252076306806,2.02962284758e-05,1793239539912350720
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745.228445095,715.228445095,678.45689019,661,636,879,788,804,652.771554905,632,653.228445095,0.400981849879,-0.0153862597801,0.0598492936437,0.999999947498,0.000200612988271,-0.000253679921623,2.01313249898e-05,1793239539929017344
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..73094279bd6d9129e7268cd95a1557d35d8395a4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/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,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+1,0.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+2,0.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+3,0.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+4,0.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+5,0.083333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+6,0.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+7,0.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+8,0.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+9,0.150000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+10,0.166666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+11,0.183333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+12,0.200000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+13,0.216666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+14,0.233333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+15,0.250000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+16,0.266666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+17,0.283333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+18,0.300000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+19,0.316666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+20,0.333333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+21,0.350000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+22,0.366666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+23,0.383333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+24,0.400000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+25,0.416666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+26,0.433333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+27,0.450000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+28,0.466666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+29,0.483333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+30,0.500000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+31,0.516666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+32,0.533333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+33,0.550000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+34,0.566666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+35,0.583333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+36,0.600000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+37,0.616666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+38,0.633333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+39,0.650000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+40,0.666666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+41,0.683333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+42,0.700000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+43,0.716666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+44,0.733333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+45,0.750000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+46,0.766666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+47,0.783333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+48,0.800000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+49,0.816666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+50,0.833333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+51,0.850000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+52,0.866666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+53,0.883333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+54,0.900000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+55,0.916666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+56,0.933333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+57,0.950000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+58,0.966666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+59,0.983333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+60,1.000000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+61,1.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+62,1.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+63,1.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+64,1.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+65,1.083333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+66,1.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+67,1.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+68,1.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+69,1.150000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+70,1.166666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+71,1.183333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+72,1.200000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+73,1.216666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+74,1.233333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+75,1.250000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+76,1.266666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+77,1.283333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+78,1.300000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+79,1.316666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+80,1.333333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+81,1.350000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+82,1.366666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+83,1.383333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+84,1.400000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+85,1.416666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+86,1.433333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+87,1.450000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+88,1.466666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+89,1.483333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+90,1.500000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+91,1.516666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+92,1.533333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+93,1.550000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+94,1.566666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+95,1.583333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+96,1.600000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+97,1.616666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+98,1.633333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+99,1.650000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+100,1.666666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+101,1.683333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+102,1.700000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+103,1.716666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+104,1.733333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+105,1.750000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+106,1.766666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+107,1.783333333,pose1_to_pose2_press,0.575664423642,-0.00990929997034,1.05003219328,0.546234875488,-0.00123755908879,1.04970033576
+108,1.800000000,pose1_to_pose2_press,0.575664538272,-0.00990925484966,1.05003219032,0.546234990539,-0.00123751253299,1.04970033303
+109,1.816666667,pose1_to_pose2_press,0.575664636711,-0.0099092392566,1.05003218741,0.546235088594,-0.00123749821564,1.04970033087
+110,1.833333333,pose1_to_pose2_press,0.575664648424,-0.00990923751462,1.05003218706,0.546235100258,-0.00123749663773,1.04970033061
+111,1.850000000,pose1_to_pose2_press,0.575664697207,-0.0099092302594,1.0500321856,0.546235148835,-0.00123749006585,1.04970032955
+112,1.866666667,pose1_to_pose2_press,0.575664871407,-0.00990920435165,1.05003218041,0.5462353223,-0.00123746659823,1.04970032574
+113,1.883333333,pose1_to_pose2_press,0.575665005407,-0.00990918542212,1.05003217831,0.546235455781,-0.00123744939777,1.04970032451
+114,1.900000000,pose1_to_pose2_press,0.575665891601,-0.00990911737527,1.05003227272,0.546236341157,-0.00123738432719,1.04970041366
+115,1.916666667,pose1_to_pose2_press,0.575668385651,-0.00990906345517,1.050032254,0.546238833886,-0.00123733502519,1.04970039142
+116,1.933333333,pose1_to_pose2_press,0.575675582023,-0.00990923525106,1.05003231103,0.546246033436,-0.00123749583242,1.04970045372
+117,1.950000000,pose1_to_pose2_press,0.57568949223,-0.00990920039342,1.05003234555,0.54625994334,-0.00123746227456,1.04970048108
+118,1.966666667,pose1_to_pose2_press,0.575713734987,-0.00990934082199,1.05003232373,0.546284188675,-0.00123759389899,1.04970046055
+119,1.983333333,pose1_to_pose2_press,0.575748570254,-0.00990923838218,1.05003224685,0.546319021743,-0.00123749891708,1.04970038378
+120,2.000000000,pose1_to_pose2_press,0.575794726632,-0.00990926605183,1.05003243432,0.54636517857,-0.00123752567389,1.04970055526
+121,2.016666667,pose1_to_pose2_press,0.575849809552,-0.00990926762233,1.05003231203,0.546420262676,-0.00123752242655,1.04970045357
+122,2.033333333,pose1_to_pose2_press,0.575913115525,-0.00990918459691,1.0500323597,0.546483566524,-0.0012374469483,1.04970049245
+123,2.050000000,pose1_to_pose2_press,0.575982873149,-0.00990926386679,1.05003212852,0.546553324898,-0.00123752365573,1.04970026168
+124,2.066666667,pose1_to_pose2_press,0.576059026093,-0.00990921491594,1.05003231121,0.54662947741,-0.00123747618548,1.04970044384
+125,2.083333333,pose1_to_pose2_press,0.576143760532,-0.00990923906153,1.05003234963,0.546714211511,-0.0012375014826,1.0497004821
+126,2.100000000,pose1_to_pose2_press,0.576239132622,-0.0099093371833,1.05003228868,0.546809584812,-0.00123759554412,1.04970041982
+127,2.116666667,pose1_to_pose2_press,0.576349591789,-0.00990931470267,1.05003219076,0.546920044629,-0.00123757088956,1.04970032111
+128,2.133333333,pose1_to_pose2_press,0.57647714432,-0.00990914596261,1.05003221496,0.547047595822,-0.00123740669533,1.0497003451
+129,2.150000000,pose1_to_pose2_press,0.576623186609,-0.00990909881495,1.05003233719,0.547193637167,-0.00123736275272,1.04970046719
+130,2.166666667,pose1_to_pose2_press,0.576787026176,-0.00990926446519,1.05003225893,0.547357478355,-0.00123752280569,1.04970039138
+131,2.183333333,pose1_to_pose2_press,0.576967099295,-0.00990932925662,1.05003230855,0.547537551804,-0.00123758640709,1.04970044282
+132,2.200000000,pose1_to_pose2_press,0.577162580082,-0.00990932775686,1.0500321136,0.547733032332,-0.00123758565434,1.04970025126
+133,2.216666667,pose1_to_pose2_press,0.577373001592,-0.00990902814421,1.05003247561,0.54794345189,-0.00123729306305,1.04970060286
+134,2.233333333,pose1_to_pose2_press,0.577599906755,-0.00990909542545,1.05003249016,0.548170357199,-0.00123735976801,1.04970061947
+135,2.250000000,pose1_to_pose2_press,0.577841928949,-0.00990927496571,1.05003250967,0.548412380342,-0.00123753626146,1.04970063434
+136,2.266666667,pose1_to_pose2_press,0.578099011939,-0.00990936700226,1.05003241325,0.548669464832,-0.00123762306422,1.04970054166
+137,2.283333333,pose1_to_pose2_press,0.578374189853,-0.00990935464045,1.0500322797,0.548944641933,-0.00123761324476,1.04970041365
+138,2.300000000,pose1_to_pose2_press,0.578668609728,-0.00990928644201,1.05003230964,0.549239060656,-0.00123754894308,1.04970044386
+139,2.316666667,pose1_to_pose2_press,0.578988900424,-0.00990923309814,1.05003242093,0.549559352193,-0.00123749288773,1.04970055139
+140,2.333333333,pose1_to_pose2_press,0.579339140685,-0.00990922852139,1.05003223816,0.549909592464,-0.00123748825712,1.04970036907
+141,2.350000000,pose1_to_pose2_press,0.57972366096,-0.0099091752675,1.05003222361,0.550294111995,-0.00123743729777,1.04970036048
+142,2.366666667,pose1_to_pose2_press,0.580134836168,-0.00990920600696,1.05003225228,0.55070528771,-0.00123746636163,1.04970038789
+143,2.383333333,pose1_to_pose2_press,0.580568294651,-0.00990910399314,1.05003248248,0.551138744582,-0.00123737001339,1.0497006128
+144,2.400000000,pose1_to_pose2_press,0.581013048112,-0.00990928364677,1.05003248306,0.55158350255,-0.00123753434465,1.04970061412
+145,2.416666667,pose1_to_pose2_press,0.581466699497,-0.0099091593054,1.0500321168,0.552037149339,-0.00123742532408,1.04970025503
+146,2.433333333,pose1_to_pose2_press,0.58193129446,-0.00990925483209,1.05003222541,0.552501746177,-0.00123751484752,1.0497003542
+147,2.450000000,pose1_to_pose2_press,0.582415998674,-0.00990922836665,1.05003225616,0.552986450111,-0.00123748936498,1.04970038397
+148,2.466666667,pose1_to_pose2_press,0.582925639308,-0.00990917996618,1.05003231099,0.553496088503,-0.00123744848671,1.04970044111
+149,2.483333333,pose1_to_pose2_press,0.583461347075,-0.00990924776612,1.05003226553,0.554031797015,-0.0012375139925,1.0497003895
+150,2.500000000,pose1_to_pose2_press,0.584018321029,-0.00990928027666,1.05003209028,0.554588772532,-0.00123754111153,1.0497002164
+151,2.516666667,pose1_to_pose2_press,0.584588463864,-0.00990924875672,1.05003214564,0.555158915573,-0.00123750850033,1.04970028205
+152,2.533333333,pose1_to_pose2_press,0.585165217832,-0.00990927131018,1.05003244558,0.555735670466,-0.00123752800401,1.04970057955
+153,2.550000000,pose1_to_pose2_press,0.5857465791,-0.0099091899528,1.05003237748,0.556317031389,-0.0012374478638,1.04970051024
+154,2.566666667,pose1_to_pose2_press,0.586349712517,-0.0099092479622,1.05003259918,0.556920165791,-0.00123750262711,1.04970072938
+155,2.583333333,pose1_to_pose2_press,0.58697986978,-0.00990911915872,1.05003237482,0.557550320909,-0.00123738107172,1.04970050575
+156,2.600000000,pose1_to_pose2_press,0.587639014271,-0.00990919588379,1.05003242668,0.558209467129,-0.00123745163066,1.04970056547
+157,2.616666667,pose1_to_pose2_press,0.588322346443,-0.00990928727428,1.05003234966,0.558892799169,-0.00123754343822,1.04970048924
+158,2.633333333,pose1_to_pose2_press,0.589022945073,-0.00990930250523,1.05003230407,0.559593397844,-0.0012375583449,1.04970044811
+159,2.650000000,pose1_to_pose2_press,0.589726716708,-0.00990926404807,1.050032352,0.560297168468,-0.00123752372485,1.04970048539
+160,2.666666667,pose1_to_pose2_press,0.590430125368,-0.00990926566213,1.0500322069,0.561000576269,-0.00123752824409,1.04970034057
+161,2.683333333,pose1_to_pose2_press,0.591132491424,-0.00990926211925,1.05003214255,0.561702943356,-0.00123752103845,1.04970028051
+162,2.700000000,pose1_to_pose2_press,0.591835648948,-0.00990917752181,1.05003227119,0.562406100863,-0.00123743663678,1.04970040553
+163,2.716666667,pose1_to_pose2_press,0.592542277537,-0.00990905193319,1.05003232149,0.563112726863,-0.00123731992504,1.0497004535
+164,2.733333333,pose1_to_pose2_press,0.593259454282,-0.00990902706538,1.05003222282,0.563829904115,-0.00123729310923,1.04970036081
+165,2.750000000,pose1_to_pose2_press,0.593998305334,-0.00990914038921,1.05003235279,0.564568757701,-0.00123739800153,1.04970048638
+166,2.766666667,pose1_to_pose2_press,0.594754860072,-0.00990919774573,1.05003248416,0.565325311893,-0.00123745743246,1.04970061201
+167,2.783333333,pose1_to_pose2_press,0.595527503027,-0.00990934579075,1.05003212999,0.566097956337,-0.00123760012318,1.04970026574
+168,2.800000000,pose1_to_pose2_press,0.596312094034,-0.0099092342073,1.0500323056,0.566882544754,-0.00123749740184,1.04970043953
+169,2.816666667,pose1_to_pose2_press,0.597097361939,-0.00990928192405,1.05003213986,0.567667814459,-0.00123753890884,1.04970027647
+170,2.833333333,pose1_to_pose2_press,0.597867694001,-0.00990921402767,1.05003218282,0.568438144817,-0.00123747683134,1.0497003185
+171,2.850000000,pose1_to_pose2_press,0.598621827615,-0.0099092655251,1.05003231608,0.569192279753,-0.00123752397591,1.04970044833
+172,2.866666667,pose1_to_pose2_press,0.599356990392,-0.00990932165681,1.05003242061,0.569927444097,-0.00123757473235,1.04970055442
+173,2.883333333,pose1_to_pose2_press,0.600086920845,-0.00990923432463,1.05003236298,0.570657372827,-0.00123749320318,1.04970049795
+174,2.900000000,pose1_to_pose2_press,0.600815779285,-0.00990921747814,1.05003223848,0.571386230404,-0.00123747940106,1.04970037051
+175,2.916666667,pose1_to_pose2_press,0.601554726804,-0.00990943939465,1.0500323138,0.572125181672,-0.00123768873889,1.04970044217
+176,2.933333333,pose1_to_pose2_press,0.602301656738,-0.0099093952531,1.05003243723,0.572872110759,-0.00123764758875,1.04970056264
+177,2.950000000,pose1_to_pose2_press,0.603048965829,-0.0099092414758,1.0500321548,0.573619416532,-0.00123750474936,1.04970028866
+178,2.966666667,pose1_to_pose2_press,0.603784466439,-0.00990911642454,1.05003247792,0.574354917467,-0.00123737871987,1.04970060864
+179,2.983333333,pose1_to_pose2_press,0.60450243705,-0.00990923346357,1.05003238178,0.575072886174,-0.00123750240417,1.04970050771
+180,3.000000000,pose1_to_pose2_press,0.605193828377,-0.00990927530894,1.0500320217,0.575764280068,-0.00123753529102,1.04970015418
+181,3.016666667,pose1_to_pose2_press,0.605864158861,-0.00990928164221,1.05003215528,0.576434611573,-0.00123753797341,1.04970029274
+182,3.033333333,pose1_to_pose2_press,0.606519742281,-0.00990929432435,1.05003222403,0.577090195795,-0.00123754800694,1.0497003596
+183,3.050000000,pose1_to_pose2_press,0.607165509694,-0.0099092275335,1.05003223356,0.577735961832,-0.0012374859527,1.04970036756
+184,3.066666667,pose1_to_pose2_press,0.607804559542,-0.00990927172691,1.05003223903,0.578375011032,-0.00123753246764,1.04970036986
+185,3.083333333,pose1_to_pose2_press,0.608436391885,-0.00990929576955,1.05003230836,0.57900684335,-0.00123755675618,1.04970043515
+186,3.100000000,pose1_to_pose2_press,0.609062185057,-0.00990916638799,1.05003239173,0.579632635205,-0.00123743195764,1.04970051557
+187,3.116666667,pose1_to_pose2_press,0.609670373857,-0.00990915679948,1.05003234339,0.580240823665,-0.00123742348704,1.04970046825
+188,3.133333333,pose1_to_pose2_press,0.610255506642,-0.00990926693646,1.05003229564,0.580825957722,-0.00123752904972,1.04970042727
+189,3.150000000,pose1_to_pose2_press,0.610806013627,-0.00990918415178,1.0500324461,0.581376463499,-0.0012374504479,1.04970057576
+190,3.166666667,pose1_to_pose2_press,0.611323521425,-0.00990930391872,1.05003228127,0.581893973479,-0.00123756313924,1.04970040243
+191,3.183333333,pose1_to_pose2_press,0.611808611993,-0.00990921200243,1.05003222983,0.58237906382,-0.00123747156104,1.04970036276
+192,3.200000000,pose1_to_pose2_press,0.612277326949,-0.00990930167678,1.05003212182,0.582847780168,-0.00123755637951,1.04970025791
+193,3.216666667,pose1_to_pose2_press,0.612733362639,-0.00990920074194,1.05003212638,0.583303813849,-0.00123746241111,1.04970025606
+194,3.233333333,pose1_to_pose2_press,0.613184149942,-0.00990916609439,1.05003231043,0.583754600873,-0.00123742844654,1.04970044224
+195,3.250000000,pose1_to_pose2_press,0.613621438879,-0.00990917485704,1.05003247257,0.584191890048,-0.00123743614918,1.04970060541
+196,3.266666667,pose1_to_pose2_press,0.614033516768,-0.00990914900889,1.05003241221,0.584603967212,-0.00123741270972,1.04970054046
+197,3.283333333,pose1_to_pose2_press,0.614418635418,-0.00990919536795,1.05003221436,0.584989086189,-0.00123745761677,1.04970034506
+198,3.300000000,pose1_to_pose2_press,0.614776039191,-0.00990931376465,1.05003211793,0.585346490411,-0.00123757401353,1.04970025442
+199,3.316666667,pose1_to_pose2_press,0.61511195063,-0.00990918756395,1.05003232304,0.585682401967,-0.00123744719045,1.04970045954
+200,3.333333333,pose1_to_pose2_press,0.615432827845,-0.00990928349715,1.05003214568,0.586003279505,-0.00123754194916,1.04970027897
+201,3.350000000,pose1_to_pose2_press,0.615745933167,-0.00990926091097,1.05003227782,0.586316384124,-0.00123752156074,1.04970041083
+202,3.366666667,pose1_to_pose2_press,0.616049147207,-0.00990917935021,1.0500323296,0.586619597831,-0.00123744070253,1.04970046756
+203,3.383333333,pose1_to_pose2_press,0.616338774817,-0.00990930499052,1.05003218648,0.586909227592,-0.00123755882974,1.04970032484
+204,3.400000000,pose1_to_pose2_press,0.616605002896,-0.00990928389709,1.05003223082,0.587175455356,-0.00123753869377,1.04970036703
+205,3.416666667,pose1_to_pose2_press,0.616846729551,-0.00990918819147,1.05003242422,0.587417180353,-0.00123744867294,1.04970055408
+206,3.433333333,pose1_to_pose2_press,0.617060388935,-0.00990925547988,1.05003249293,0.587630840201,-0.0012375142935,1.0497006212
+207,3.450000000,pose1_to_pose2_press,0.617250167425,-0.00990932300922,1.05003237006,0.58782061941,-0.00123757893863,1.0497005062
+208,3.466666667,pose1_to_pose2_press,0.617418874261,-0.00990922579741,1.05003209088,0.587989324723,-0.00123748676552,1.04970022747
+209,3.483333333,pose1_to_pose2_press,0.617572862849,-0.00990933001008,1.05003207817,0.588143314465,-0.00123758671273,1.04970021934
+210,3.500000000,pose1_to_pose2_press,0.617713418575,-0.0099092024811,1.05003217954,0.588283867889,-0.00123746702008,1.04970031703
+211,3.516666667,pose1_to_pose2_press,0.617843715785,-0.00990914521267,1.05003228876,0.588414165187,-0.00123740944474,1.04970042439
+212,3.533333333,pose1_to_pose2_press,0.61796362262,-0.00990907002732,1.05003242123,0.588534071363,-0.00123733664634,1.04970055092
+213,3.550000000,pose1_to_pose2_press,0.618072058861,-0.00990909310922,1.05003241987,0.58864250724,-0.00123736105898,1.04970054488
+214,3.566666667,pose1_to_pose2_press,0.618168230363,-0.00990925090555,1.0500322513,0.588738680822,-0.00123751170688,1.0497003808
+215,3.583333333,pose1_to_pose2_press,0.61825071073,-0.0099092094683,1.05003225504,0.58882116155,-0.00123746926236,1.04970038861
+216,3.600000000,pose1_to_pose2_press,0.618321637002,-0.00990929565106,1.05003235847,0.588892087296,-0.00123755695638,1.04970049018
+217,3.616666667,pose1_to_pose2_press,0.618381462503,-0.00990924353753,1.0500323284,0.588951913031,-0.00123750378982,1.04970046704
+218,3.633333333,pose1_to_pose2_press,0.61843163215,-0.00990919737315,1.05003235192,0.58900208281,-0.00123745733397,1.04970048587
+219,3.650000000,pose1_to_pose2_press,0.618473501443,-0.00990918451012,1.05003229369,0.589043951582,-0.00123744624904,1.04970042573
+220,3.666666667,pose1_to_pose2_press,0.618508390345,-0.00990926387261,1.05003234427,0.589078840589,-0.00123752511049,1.0497004732
+221,3.683333333,pose1_to_pose2_press,0.618537203363,-0.00990936349444,1.050032433,0.589107654934,-0.00123762002461,1.04970056102
+222,3.700000000,pose1_to_pose2_press,0.618559775336,-0.00990928903976,1.05003219462,0.589130228548,-0.00123753978104,1.04970033677
+223,3.716666667,pose1_to_pose2_press,0.618577709767,-0.00990895765099,1.05003230647,0.589148158266,-0.00123722433845,1.04970044607
+224,3.733333333,pose1_to_pose2_press,0.618591420083,-0.00990908914266,1.05003236095,0.589161870455,-0.00123734977217,1.04970049217
+225,3.750000000,pose1_to_pose2_press,0.618601148597,-0.00990923261456,1.05003229089,0.589171600444,-0.00123748840795,1.04970041609
+226,3.766666667,pose1_to_pose2_press,0.618608023329,-0.00990929878601,1.05003215468,0.589178475237,-0.00123755437389,1.04970027738
+227,3.783333333,pose1_to_pose2_press,0.618612832245,-0.00990926994648,1.05003219831,0.589183283929,-0.00123752588571,1.04970033089
+228,3.800000000,pose1_to_pose2_press,0.618615922396,-0.00990926336097,1.05003224235,0.589186374532,-0.00123751759041,1.04970037931
+229,3.816666667,pose1_to_pose2_press,0.618617312578,-0.00990927349553,1.05003227971,0.589187765571,-0.00123752483376,1.04970041647
+230,3.833333333,pose1_to_pose2_press,0.618618085649,-0.00990927913129,1.05003230048,0.589188539118,-0.00123752886174,1.04970043714
+231,3.850000000,pose1_to_pose2_press,0.618618431349,-0.00990928165148,1.05003230977,0.589188885031,-0.00123753066296,1.04970044638
+232,3.866666667,pose1_to_pose2_press,0.618618558125,-0.00990928257569,1.05003231318,0.589189011884,-0.00123753132351,1.04970044977
+233,3.883333333,pose1_to_pose2_press,0.618618741187,-0.00990928391023,1.0500323181,0.58918919506,-0.00123753227733,1.04970045467
+234,3.900000000,pose1_to_pose2_press,0.618619074516,-0.00990928634023,1.05003232706,0.589189528594,-0.0012375340141,1.04970046358
+235,3.916666667,pose1_to_pose2_press,0.61861941913,-0.0099092886484,1.05003233727,0.589189873396,-0.00123753569119,1.04970047362
+236,3.933333333,pose1_to_pose2_press,0.618619816085,-0.00990928720048,1.05003236828,0.589190270093,-0.00123753523938,1.04970050191
+237,3.950000000,pose1_to_pose2_press,0.618620069133,-0.00990928627747,1.05003238804,0.589190522975,-0.00123753495136,1.04970051994
+238,3.966666667,pose1_to_pose2_press,0.618620324091,-0.00990928534749,1.05003240795,0.589190777767,-0.00123753466116,1.04970053811
+239,3.983333333,pose1_to_pose2_press,0.618620765245,-0.00990928373834,1.0500324424,0.589191218634,-0.00123753415904,1.04970056955
+240,4.000000000,pose1_to_pose2_press,0.61862106908,-0.00990928263008,1.05003246613,0.589191522271,-0.00123753381322,1.0497005912
+241,4.016666667,pose1_to_pose2_press,0.618621107595,-0.0099092824896,1.05003246914,0.58919156076,-0.00123753376938,1.04970059395
+242,4.033333333,pose1_to_pose2_press,0.618621154671,-0.00990928231788,1.05003247282,0.589191607806,-0.0012375337158,1.0497005973
+243,4.050000000,pose1_to_pose2_press,0.618621276582,-0.00990928187321,1.05003248234,0.589191729637,-0.00123753357704,1.04970060599
+244,4.066666667,pose1_to_pose2_press,0.618621307941,-0.00990928175882,1.05003248479,0.589191760975,-0.00123753354134,1.04970060822
+245,4.083333333,pose1_to_pose2_press,0.618621553748,-0.00990928086222,1.05003250398,0.589192006623,-0.00123753326157,1.04970062574
+246,4.100000000,pose1_to_pose2_press,0.618622018207,-0.00990929254944,1.05003252204,0.589192470992,-0.00123754529432,1.04970064307
+247,4.116666667,pose1_to_pose2_press,0.618622474792,-0.00990933446951,1.05003249837,0.589192927976,-0.00123758568937,1.04970062425
+248,4.133333333,pose1_to_pose2_press,0.6186228298,-0.00990936706349,1.05003247997,0.589193283294,-0.00123761709761,1.04970060962
+249,4.150000000,pose1_to_pose2_press,0.618623084542,-0.00990928448459,1.05003247423,0.589193537499,-0.00123753622978,1.04970060641
+250,4.166666667,pose1_to_pose2_press,0.618623247612,-0.00990917262224,1.05003247473,0.589193699803,-0.00123742688918,1.04970060841
+251,4.183333333,pose1_to_pose2_press,0.618623275703,-0.00990915335204,1.05003247481,0.589193727763,-0.0012374080534,1.04970060876
+252,4.200000000,pose1_to_pose2_press,0.618623312583,-0.00990912652829,1.05003247437,0.589193764336,-0.00123738226032,1.04970060841
+253,4.216666667,pose1_to_pose2_press,0.618623339587,-0.00990909809666,1.05003247089,0.589193790353,-0.00123735723668,1.04970060356
+254,4.233333333,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790355,-0.00123735723652,1.04970060356
+255,4.250000000,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790355,-0.00123735723648,1.04970060356
+256,4.266666667,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790355,-0.00123735723618,1.04970060356
+257,4.283333333,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790355,-0.0012373572362,1.04970060356
+258,4.300000000,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790355,-0.00123735723618,1.04970060356
+259,4.316666667,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790355,-0.00123735723617,1.04970060356
+260,4.333333333,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790355,-0.00123735723655,1.04970060356
+261,4.350000000,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790356,-0.00123735723665,1.04970060356
+262,4.366666667,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790356,-0.00123735723663,1.04970060356
+263,4.383333333,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790356,-0.00123735723662,1.04970060356
+264,4.400000000,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790356,-0.00123735723655,1.04970060356
+265,4.416666667,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790356,-0.00123735723651,1.04970060356
+266,4.433333333,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790356,-0.00123735723649,1.04970060356
+267,4.450000000,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790356,-0.00123735723647,1.04970060356
+268,4.466666667,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790356,-0.00123735723647,1.04970060356
+269,4.483333333,pose2_hold,0.618623339587,-0.00990909809666,1.05003247089,0.589193790356,-0.00123735723646,1.04970060356
+270,4.500000000,pose2_to_pose3_retreat,0.618623339587,-0.00990909809666,1.05003247089,0.589193790356,-0.00123735723642,1.04970060356
+271,4.516666667,pose2_to_pose3_retreat,0.618623334541,-0.00990910340893,1.05003247154,0.589193785496,-0.00123736191152,1.04970060447
+272,4.533333333,pose2_to_pose3_retreat,0.618623321352,-0.00990911729498,1.05003247324,0.58919377279,-0.00123737413206,1.04970060684
+273,4.550000000,pose2_to_pose3_retreat,0.618623157546,-0.0099092344051,1.05003247445,0.589193610162,-0.00123748727495,1.0497006073
+274,4.566666667,pose2_to_pose3_retreat,0.61862299881,-0.00990934329457,1.05003247398,0.589193452166,-0.00123759370814,1.04970060535
+275,4.583333333,pose2_to_pose3_retreat,0.618622842817,-0.00990937445523,1.05003246635,0.589193296373,-0.00123762422607,1.04970059682
+276,4.600000000,pose2_to_pose3_retreat,0.618622649908,-0.00990936807624,1.05003245267,0.589193103398,-0.00123761810104,1.04970058235
+277,4.616666667,pose2_to_pose3_retreat,0.618621912467,-0.00990934369107,1.0500324004,0.589192365705,-0.0012375946867,1.04970052703
+278,4.633333333,pose2_to_pose3_retreat,0.618619694517,-0.00990915198484,1.05003238491,0.589190145329,-0.00123741119104,1.04970051147
+279,4.650000000,pose2_to_pose3_retreat,0.618612980855,-0.00990932836523,1.05003223266,0.58918343295,-0.00123758288369,1.04970036811
+280,4.666666667,pose2_to_pose3_retreat,0.618600285168,-0.00990922440154,1.05003242294,0.589170736732,-0.00123748117842,1.04970055009
+281,4.683333333,pose2_to_pose3_retreat,0.618577590166,-0.00990914526182,1.05003205531,0.589148041022,-0.00123740408667,1.04970019313
+282,4.700000000,pose2_to_pose3_retreat,0.618545122024,-0.00990920685528,1.0500321408,0.589115572705,-0.00123746644759,1.04970027532
+283,4.716666667,pose2_to_pose3_retreat,0.618502442099,-0.00990924978976,1.0500323847,0.589072894054,-0.0012375050891,1.04970051694
+284,4.733333333,pose2_to_pose3_retreat,0.61845101836,-0.00990928314332,1.0500323887,0.589021471084,-0.00123753583096,1.04970051875
+285,4.750000000,pose2_to_pose3_retreat,0.618390908716,-0.00990927566043,1.05003226826,0.588961360142,-0.00123753268484,1.04970040257
+286,4.766666667,pose2_to_pose3_retreat,0.618322642082,-0.00990917661244,1.05003238788,0.588893091856,-0.00123743926583,1.04970052107
+287,4.783333333,pose2_to_pose3_retreat,0.618245527559,-0.00990916434494,1.05003241953,0.588815976871,-0.00123742882817,1.04970055147
+288,4.800000000,pose2_to_pose3_retreat,0.618157372515,-0.00990930947631,1.05003223981,0.588727823659,-0.00123756768355,1.04970037289
+289,4.816666667,pose2_to_pose3_retreat,0.618057878571,-0.00990930211158,1.05003224244,0.588628329374,-0.00123756172504,1.04970037273
+290,4.833333333,pose2_to_pose3_retreat,0.617944991485,-0.00990917507975,1.05003233282,0.588515441254,-0.00123743819442,1.04970046485
+291,4.850000000,pose2_to_pose3_retreat,0.617818138807,-0.00990929894989,1.05003247779,0.588388589996,-0.00123755769495,1.04970060089
+292,4.866666667,pose2_to_pose3_retreat,0.617676233249,-0.00990922376545,1.05003228742,0.588246684431,-0.0012374824786,1.04970041454
+293,4.883333333,pose2_to_pose3_retreat,0.617516754546,-0.00990914479753,1.05003217531,0.588087204834,-0.00123740653571,1.04970030677
+294,4.900000000,pose2_to_pose3_retreat,0.617340662765,-0.00990914486532,1.05003220963,0.587911112315,-0.00123740932065,1.04970033989
+295,4.916666667,pose2_to_pose3_retreat,0.617148937463,-0.00990914306154,1.05003214539,0.587719387257,-0.00123740677127,1.04970027634
+296,4.933333333,pose2_to_pose3_retreat,0.616941532216,-0.00990929949142,1.05003223826,0.587511984837,-0.00123755374253,1.04970037083
+297,4.950000000,pose2_to_pose3_retreat,0.616716432601,-0.00990915674152,1.05003223422,0.587286885127,-0.00123741139721,1.04970036847
+298,4.966666667,pose2_to_pose3_retreat,0.616471804679,-0.00990922098569,1.05003230587,0.587042257138,-0.00123747590329,1.0497004433
+299,4.983333333,pose2_to_pose3_retreat,0.616206155093,-0.00990927157991,1.05003238899,0.586776606985,-0.00123752898167,1.04970051508
+300,5.000000000,pose2_to_pose3_retreat,0.615912352464,-0.0099093824707,1.05003233376,0.586482804958,-0.00123763811395,1.04970045809
+301,5.016666667,pose2_to_pose3_retreat,0.615592819297,-0.009909365485,1.05003223839,0.586163272029,-0.00123762027167,1.04970037019
+302,5.033333333,pose2_to_pose3_retreat,0.615247302651,-0.00990921274625,1.05003218759,0.585817753942,-0.00123747248103,1.04970032353
+303,5.050000000,pose2_to_pose3_retreat,0.614882505751,-0.00990930032336,1.05003210452,0.585452956904,-0.00123756072895,1.04970024425
+304,5.066666667,pose2_to_pose3_retreat,0.614500350568,-0.00990939267147,1.05003223284,0.585070803588,-0.00123764725813,1.04970036572
+305,5.083333333,pose2_to_pose3_retreat,0.614105085892,-0.00990915243267,1.05003223809,0.584675536924,-0.0012374139866,1.04970037065
+306,5.100000000,pose2_to_pose3_retreat,0.613696490509,-0.00990912045481,1.05003246741,0.584266942515,-0.00123737919632,1.049700593
+307,5.116666667,pose2_to_pose3_retreat,0.613270331272,-0.00990909232837,1.05003247413,0.583840782333,-0.00123735425126,1.04970060596
+308,5.133333333,pose2_to_pose3_retreat,0.612822778835,-0.0099092234903,1.05003214689,0.583393230994,-0.00123748167009,1.0497002825
+309,5.150000000,pose2_to_pose3_retreat,0.612347052598,-0.00990931968799,1.05003197744,0.582917504403,-0.00123757936714,1.04970010841
+310,5.166666667,pose2_to_pose3_retreat,0.611843226661,-0.00990921104149,1.05003222331,0.582413676135,-0.00123747904732,1.04970034575
+311,5.183333333,pose2_to_pose3_retreat,0.611311569771,-0.00990908534192,1.05003235072,0.581882021003,-0.00123734728229,1.04970047416
+312,5.200000000,pose2_to_pose3_retreat,0.610762133399,-0.00990916972789,1.0500320685,0.581332584532,-0.00123743120012,1.04970021409
+313,5.216666667,pose2_to_pose3_retreat,0.61019843942,-0.0099091152354,1.05003220776,0.580768891196,-0.00123737487729,1.04970034508
+314,5.233333333,pose2_to_pose3_retreat,0.609624091271,-0.00990912517854,1.05003245945,0.58019454191,-0.00123738913139,1.04970058492
+315,5.250000000,pose2_to_pose3_retreat,0.609029754508,-0.00990916854455,1.05003223565,0.579600205712,-0.00123743032558,1.04970036713
+316,5.266666667,pose2_to_pose3_retreat,0.608406137162,-0.00990923002296,1.05003216504,0.578976589477,-0.00123748784852,1.04970030114
+317,5.283333333,pose2_to_pose3_retreat,0.60775512394,-0.00990922197436,1.05003234224,0.578325575163,-0.00123748361613,1.04970047542
+318,5.300000000,pose2_to_pose3_retreat,0.607078906791,-0.00990920458114,1.0500323761,0.577649356157,-0.00123747250879,1.04970051022
+319,5.316666667,pose2_to_pose3_retreat,0.606383451762,-0.00990925777479,1.05003223494,0.576953902458,-0.0012375209349,1.04970037573
+320,5.333333333,pose2_to_pose3_retreat,0.60567951305,-0.00990927224557,1.05003233349,0.576249966864,-0.00123752490832,1.04970047079
+321,5.350000000,pose2_to_pose3_retreat,0.604972405363,-0.00990927685362,1.05003236136,0.575542859329,-0.00123752931944,1.04970049195
+322,5.366666667,pose2_to_pose3_retreat,0.604257654173,-0.00990924419903,1.05003241803,0.574828107763,-0.00123749841417,1.04970053601
+323,5.383333333,pose2_to_pose3_retreat,0.603533618137,-0.00990919776112,1.05003235283,0.574104068767,-0.001237461513,1.0497004834
+324,5.400000000,pose2_to_pose3_retreat,0.60280004255,-0.00990926498577,1.05003217859,0.573370494274,-0.00123752499807,1.04970030973
+325,5.416666667,pose2_to_pose3_retreat,0.602056516323,-0.0099091879309,1.05003227119,0.572626967902,-0.00123744839605,1.04970040399
+326,5.433333333,pose2_to_pose3_retreat,0.601292835157,-0.00990914079364,1.05003238242,0.571863286814,-0.00123740121956,1.04970050803
+327,5.450000000,pose2_to_pose3_retreat,0.600516931563,-0.00990919461364,1.05003240751,0.571087383875,-0.00123745298359,1.04970052761
+328,5.466666667,pose2_to_pose3_retreat,0.599736436689,-0.00990924446403,1.05003239775,0.57030688921,-0.00123750202497,1.04970052072
+329,5.483333333,pose2_to_pose3_retreat,0.598950502722,-0.00990923436071,1.05003238395,0.569520954934,-0.00123749285961,1.04970050981
+330,5.500000000,pose2_to_pose3_retreat,0.598163109971,-0.00990925848373,1.05003235236,0.56873356219,-0.00123751689136,1.04970047991
+331,5.516666667,pose2_to_pose3_retreat,0.597389548793,-0.00990933465034,1.05003224725,0.567960001144,-0.00123759244374,1.04970037903
+332,5.533333333,pose2_to_pose3_retreat,0.596623761282,-0.00990928363253,1.05003224525,0.567194214734,-0.00123753771635,1.04970037625
+333,5.550000000,pose2_to_pose3_retreat,0.59585986819,-0.00990918641861,1.05003245726,0.56643031852,-0.00123745128057,1.04970058341
+334,5.566666667,pose2_to_pose3_retreat,0.595090254064,-0.00990922718752,1.05003248101,0.565660704452,-0.0012374916912,1.04970061135
+335,5.583333333,pose2_to_pose3_retreat,0.594310720119,-0.0099092373012,1.05003240647,0.564881171735,-0.00123749765889,1.0497005362
+336,5.600000000,pose2_to_pose3_retreat,0.593527960701,-0.00990929475475,1.05003238001,0.564098413067,-0.00123755275939,1.04970050463
+337,5.616666667,pose2_to_pose3_retreat,0.592745079985,-0.00990933060186,1.05003239035,0.563315532114,-0.00123758946663,1.04970051349
+338,5.633333333,pose2_to_pose3_retreat,0.59197760996,-0.00990930963341,1.05003233152,0.562548061863,-0.0012375690942,1.04970045912
+339,5.650000000,pose2_to_pose3_retreat,0.59123023812,-0.00990925972823,1.05003228977,0.561800690058,-0.00123751889748,1.04970042186
+340,5.666666667,pose2_to_pose3_retreat,0.590504731625,-0.00990908969115,1.0500324176,0.561075182511,-0.00123735238832,1.04970055081
+341,5.683333333,pose2_to_pose3_retreat,0.589796486695,-0.00990929730481,1.05003208567,0.560366939307,-0.0012375538968,1.04970022521
+342,5.700000000,pose2_to_pose3_retreat,0.589103352476,-0.00990915795448,1.05003235074,0.559673803714,-0.00123741971233,1.04970047715
+343,5.716666667,pose2_to_pose3_retreat,0.588415615483,-0.00990922177482,1.05003246326,0.558986066726,-0.00123748340639,1.04970059251
+344,5.733333333,pose2_to_pose3_retreat,0.587734965789,-0.00990919971215,1.05003247962,0.558305416398,-0.00123746340966,1.04970061107
+345,5.750000000,pose2_to_pose3_retreat,0.587061800275,-0.00990915148541,1.05003247355,0.557632250688,-0.00123741582074,1.0497006057
+346,5.766666667,pose2_to_pose3_retreat,0.586396072039,-0.00990919558951,1.05003246493,0.556966523909,-0.0012374548608,1.04970060009
+347,5.783333333,pose2_to_pose3_retreat,0.585738574966,-0.00990927305419,1.05003233069,0.556309027577,-0.00123752969838,1.04970046887
+348,5.800000000,pose2_to_pose3_retreat,0.585102043,-0.00990926909357,1.05003212065,0.555672493854,-0.00123753172418,1.04970025815
+349,5.816666667,pose2_to_pose3_retreat,0.584491784807,-0.0099092940128,1.05003220855,0.555062236062,-0.00123755531125,1.04970034533
+350,5.833333333,pose2_to_pose3_retreat,0.583912476711,-0.00990936191083,1.05003224918,0.554482929008,-0.00123762002218,1.04970037678
+351,5.850000000,pose2_to_pose3_retreat,0.583363011179,-0.00990916873549,1.05003221705,0.55393346029,-0.00123743740997,1.04970035115
+352,5.866666667,pose2_to_pose3_retreat,0.582843881583,-0.00990932883813,1.0500323379,0.553414334155,-0.00123758598755,1.04970046624
+353,5.883333333,pose2_to_pose3_retreat,0.582334751834,-0.00990925116393,1.05003223348,0.552905202796,-0.00123751389468,1.0497003595
+354,5.900000000,pose2_to_pose3_retreat,0.581830845464,-0.00990921014551,1.05003227662,0.552401296079,-0.00123747412786,1.04970040114
+355,5.916666667,pose2_to_pose3_retreat,0.581344676599,-0.00990916045052,1.05003237693,0.551915127331,-0.00123742390383,1.04970050506
+356,5.933333333,pose2_to_pose3_retreat,0.580878212758,-0.0099090800082,1.05003231451,0.551448662449,-0.00123734679502,1.04970044749
+357,5.950000000,pose2_to_pose3_retreat,0.580436988023,-0.00990920389827,1.05003219428,0.551007439357,-0.00123746520117,1.04970032383
+358,5.966666667,pose2_to_pose3_retreat,0.580021598145,-0.00990928419005,1.05003199599,0.550592050369,-0.00123754223481,1.04970013174
+359,5.983333333,pose2_to_pose3_retreat,0.57963279937,-0.00990932669513,1.05003219028,0.550203252652,-0.00123758099136,1.04970033079
+360,6.000000000,pose2_to_pose3_retreat,0.579257497449,-0.00990925795467,1.05003245381,0.549827948732,-0.00123751948558,1.0497005824
+361,6.016666667,pose2_to_pose3_retreat,0.578893557376,-0.00990924344044,1.05003248665,0.549464008991,-0.00123750378021,1.04970061687
+362,6.033333333,pose2_to_pose3_retreat,0.578551063633,-0.0099092518827,1.05003231422,0.549121514766,-0.00123751384884,1.04970044508
+363,6.050000000,pose2_to_pose3_retreat,0.578232386182,-0.00990923601511,1.05003229554,0.548802837053,-0.00123749869959,1.04970043067
+364,6.066666667,pose2_to_pose3_retreat,0.577943191972,-0.00990921186243,1.05003218967,0.548513643041,-0.00123747370417,1.04970032901
+365,6.083333333,pose2_to_pose3_retreat,0.577684877171,-0.00990919212211,1.05003218812,0.548255327818,-0.00123745551867,1.04970032427
+366,6.100000000,pose2_to_pose3_retreat,0.5774588348,-0.00990917716596,1.05003232352,0.548029284616,-0.00123744359941,1.04970045405
+367,6.116666667,pose2_to_pose3_retreat,0.577248906439,-0.00990917272141,1.05003222598,0.547819356452,-0.00123743833412,1.0497003604
+368,6.133333333,pose2_to_pose3_retreat,0.57705330144,-0.00990922841211,1.05003229772,0.547623754284,-0.00123748405082,1.04970044184
+369,6.150000000,pose2_to_pose3_retreat,0.576870055054,-0.00990934163438,1.05003226267,0.547440509611,-0.00123759183225,1.04970039722
+370,6.166666667,pose2_to_pose3_retreat,0.576698581393,-0.00990932764041,1.05003238285,0.547269033853,-0.00123758504488,1.0497005151
+371,6.183333333,pose2_to_pose3_retreat,0.576540401831,-0.00990932749462,1.05003243307,0.54711085395,-0.00123758628581,1.0497005593
+372,6.200000000,pose2_to_pose3_retreat,0.576398318082,-0.0099092601051,1.05003232896,0.546968770369,-0.00123751833353,1.04970045504
+373,6.216666667,pose2_to_pose3_retreat,0.576273337711,-0.0099091783296,1.05003223118,0.546843789569,-0.00123743772202,1.04970036487
+374,6.233333333,pose2_to_pose3_retreat,0.57616561452,-0.0099091766012,1.05003228986,0.546736066536,-0.00123743543143,1.04970042466
+375,6.250000000,pose2_to_pose3_retreat,0.57607340846,-0.00990907452115,1.05003243158,0.546643858941,-0.0012373386367,1.04970056548
+376,6.266666667,pose2_to_pose3_retreat,0.575995801389,-0.00990924843578,1.05003219396,0.546566253995,-0.00123750496271,1.04970033707
+377,6.283333333,pose2_to_pose3_retreat,0.575930122861,-0.0099092718163,1.05003229785,0.546500575092,-0.00123752970802,1.04970043838
+378,6.300000000,pose2_to_pose3_retreat,0.575875029977,-0.00990925145058,1.05003232375,0.546445482019,-0.00123751004717,1.04970046259
+379,6.316666667,pose2_to_pose3_retreat,0.575828044346,-0.00990920485594,1.05003239621,0.546398495869,-0.00123746535979,1.04970053111
+380,6.333333333,pose2_to_pose3_retreat,0.575788775319,-0.00990919365663,1.05003231435,0.546359226771,-0.00123745449999,1.04970044668
+381,6.350000000,pose2_to_pose3_retreat,0.57575611585,-0.00990924596074,1.05003204054,0.546326568106,-0.00123750398018,1.04970017547
+382,6.366666667,pose2_to_pose3_retreat,0.575729606667,-0.00990925321907,1.05003233078,0.546300058491,-0.00123751261918,1.04970046786
+383,6.383333333,pose2_to_pose3_retreat,0.575709479802,-0.00990931666054,1.05003239151,0.546279932058,-0.00123757512677,1.04970051484
+384,6.400000000,pose2_to_pose3_retreat,0.575694520019,-0.00990932697249,1.05003229021,0.546264971801,-0.00123758686823,1.04970041828
+385,6.416666667,pose2_to_pose3_retreat,0.575684500044,-0.00990932339955,1.05003223197,0.54625495233,-0.00123758136607,1.04970036589
+386,6.433333333,pose2_to_pose3_retreat,0.575677827004,-0.00990928408277,1.0500322352,0.546248279275,-0.00123754199401,1.0497003719
+387,6.450000000,pose2_to_pose3_retreat,0.575673944843,-0.00990918440002,1.05003230301,0.546244395402,-0.00123744817452,1.04970043806
+388,6.466666667,pose2_to_pose3_retreat,0.575671576759,-0.00990913337462,1.05003234927,0.546242026466,-0.00123740008815,1.04970048297
+389,6.483333333,pose2_to_pose3_retreat,0.575670255381,-0.00990916049364,1.05003240288,0.546240705704,-0.00123742522349,1.04970053386
+390,6.500000000,pose2_to_pose3_retreat,0.575669434804,-0.00990917733457,1.05003243617,0.546239885509,-0.00123744083256,1.04970056546
+391,6.516666667,pose2_to_pose3_retreat,0.575668871671,-0.0099091888919,1.05003245902,0.546239322639,-0.00123745154451,1.04970058715
+392,6.533333333,pose2_to_pose3_retreat,0.575668595801,-0.00990919455367,1.05003247021,0.546239046897,-0.00123745679213,1.04970059777
+393,6.550000000,pose2_to_pose3_retreat,0.575668459097,-0.00990919735929,1.05003247576,0.546238910256,-0.00123745939253,1.04970060304
+394,6.566666667,pose2_to_pose3_retreat,0.575668410821,-0.00990919835007,1.05003247772,0.546238862003,-0.00123746031084,1.0497006049
+395,6.583333333,pose2_to_pose3_retreat,0.575668354096,-0.00990919951425,1.05003248002,0.546238805305,-0.00123746138986,1.04970060708
+396,6.600000000,pose2_to_pose3_retreat,0.575668245974,-0.00990920173326,1.0500324844,0.546238697233,-0.00123746344656,1.04970061125
+397,6.616666667,pose2_to_pose3_retreat,0.575667831633,-0.0099092102369,1.05003250121,0.546238283085,-0.00123747132819,1.0497006272
+398,6.633333333,pose2_to_pose3_retreat,0.575667377985,-0.00990918326287,1.05003244764,0.546237829211,-0.00123744503754,1.04970057581
+399,6.650000000,pose2_to_pose3_retreat,0.575666876517,-0.00990914975893,1.05003238111,0.546237327449,-0.00123741242764,1.049700512
+400,6.666666667,pose2_to_pose3_retreat,0.575666651652,-0.00990913473525,1.05003235128,0.546237102451,-0.00123739780486,1.04970048339
+401,6.683333333,pose2_to_pose3_retreat,0.575666636544,-0.00990913372586,1.05003234927,0.546237087334,-0.00123739682241,1.04970048147
+402,6.700000000,pose2_to_pose3_retreat,0.575666554459,-0.00990912824165,1.05003233838,0.546237005202,-0.00123739148455,1.04970047103
+403,6.716666667,pose2_to_pose3_retreat,0.575666193247,-0.00990910410839,1.05003229046,0.546236643777,-0.00123736799528,1.04970042507
+404,6.733333333,pose2_to_pose3_retreat,0.575665519246,-0.00990906802374,1.05003221759,0.546235969448,-0.00123733289706,1.04970035547
+405,6.750000000,pose2_to_pose3_retreat,0.57566534797,-0.00990909543762,1.05003226676,0.546235798366,-0.00123735968159,1.0497004039
+406,6.766666667,pose2_to_pose3_retreat,0.575665291633,-0.00990910445466,1.05003228293,0.546235742093,-0.00123736849163,1.04970041983
+407,6.783333333,pose2_to_pose3_retreat,0.575665194372,-0.0099091200219,1.05003231086,0.546235644943,-0.00123738370148,1.04970044732
+408,6.800000000,pose2_to_pose3_retreat,0.575665188842,-0.00990912090703,1.05003231244,0.546235639419,-0.00123738456629,1.04970044889
+409,6.816666667,pose2_to_pose3_retreat,0.575664932065,-0.00990916200604,1.05003238616,0.546235382932,-0.00123742472178,1.04970052148
+410,6.833333333,pose2_to_pose3_retreat,0.575664746069,-0.00990919177595,1.05003243956,0.546235197146,-0.00123745380824,1.04970057407
+411,6.850000000,pose2_to_pose3_retreat,0.575664643844,-0.00990920510406,1.0500324414,0.546235095022,-0.00123746678945,1.04970057608
+412,6.866666667,pose2_to_pose3_retreat,0.575664642674,-0.00990920511223,1.05003244011,0.546235093852,-0.00123746679502,1.04970057482
+413,6.883333333,pose2_to_pose3_retreat,0.575664574372,-0.00990920558935,1.0500323649,0.546235025575,-0.00123746712012,1.04970050144
+414,6.900000000,pose2_to_pose3_retreat,0.575664514902,-0.00990920600477,1.05003229941,0.546234966126,-0.00123746740318,1.04970043755
+415,6.916666667,pose2_to_pose3_retreat,0.575664424708,-0.00990920663481,1.05003220009,0.546234875964,-0.00123746783249,1.04970034065
+416,6.933333333,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264539,1.04970046032
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd7bd02e42f51f53ce8660210af3b7d14f261e6f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8397d00b661b780b8bb09d378278f99a938db01b14fed38e421b35ca02b99541
+size 26446976
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82319b15ce72fec0954fbbd5aea7db03dbb50957
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,661,636,879,788,805,652,632,653,0.400979245278,-0.0153843620361,0.0598475169973,0.999999946615,0.000200566778702,-0.000257222841591,1.94806474203e-05,1793239540050470400
+1,0.016666667,BASELINE,766,745,715,678.422586283,661,636,879.577413717,788,805,652,632,653,0.400980019655,-0.0153852750915,0.0598482347038,0.999999946843,0.000201337672621,-0.000255707873071,1.97849165373e-05,1793239540067137024
+2,0.033333333,BASELINE,766,745,715,678.156816039,661,636,879.843183961,788,804.843183961,652,632,653,0.40098041058,-0.0153861679458,0.0598488409959,0.999999947101,0.000201459530174,-0.000254583018309,1.99818260008e-05,1793239540083803648
+3,0.050000000,BASELINE,766,745,715,678.741646196,661,636,879.258353804,788,804.258353804,652,632,653,0.400979754914,-0.0153870056636,0.0598491431935,0.999999947449,0.000199809906309,-0.000254522940739,1.98857078069e-05,1793239540100470272
+4,0.066666667,BASELINE,766,744.676390905,715,678.676390905,661,636,879,788,804,652,632,653,0.400979394261,-0.0153882841332,0.0598491916258,0.999999947731,0.000197994477092,-0.000254816149573,2.01080560277e-05,1793239540117136896
+5,0.083333333,BASELINE,766,744.096697014,715,678.096697014,661,636,879,788,804,652,632,653,0.400979267062,-0.0153899113874,0.0598490392434,0.999999947959,0.000196047839582,-0.000255388928043,2.05824194404e-05,1793239540133803776
+6,0.100000000,BASELINE,766,744,715,678.961965724,661,636,879,788,804,652,632,653,0.400979235541,-0.0153881937261,0.0598489750691,0.999999947462,0.000198722965807,-0.000255285812373,2.03632508517e-05,1793239540150470400
+7,0.116666667,BASELINE,766,744.058020281,715,679.883959437,661,636,879,788,804,652,632,653,0.400979183203,-0.0153861352963,0.0598488832544,0.999999946905,0.000201765691092,-0.000255105130779,2.00290865035e-05,1793239540167137280
+8,0.133333333,BASELINE,766,744.632926348,715,678.734147304,661,636,879,788,804,652,632,653,0.400978774761,-0.0153870068573,0.059848387876,0.999999947209,0.000199840136738,-0.00025543892302,1.99074023237e-05,1793239540183804672
+9,0.150000000,BASELINE,766.208387356,745,715,678.208387356,661,636,879.208387356,788,804,652,632,653,0.400978388942,-0.0153876257308,0.0598480174408,0.999999947305,0.00019870841585,-0.000255945256148,1.98995048851e-05,1793239540200471808
+10,0.166666667,BASELINE,766.78482844,745,715,678.78482844,661,636,879.78482844,788,804,652,632,653,0.400978043079,-0.0153877983077,0.0598478676805,0.99999994704,0.000198978763754,-0.000256756330944,2.00925775908e-05,1793239540217137664
+11,0.183333333,BASELINE,767,745,715,679,661,636,879.628441718,788,804,652,632,653,0.400979306112,-0.0153878163917,0.0598486636736,0.999999947478,0.000198907986577,-0.000255088836928,2.02328332659e-05,1793239540233803776
+12,0.200000000,BASELINE,767,745,715,679,661,636,879.03558385,788,804,652,632,653,0.400981527402,-0.0153877424599,0.0598500229561,0.999999948327,0.000198634035809,-0.000251945110925,2.03416312112e-05,1793239540250470400
+13,0.216666667,BASELINE,767,745,715.539845608,679,661.539845608,636,879,788,804,652,631.460154392,653,0.400980535647,-0.0153866743298,0.059849822058,0.999999947798,0.000199621525181,-0.000253290614714,1.99627671261e-05,1793239540267137280
+14,0.233333333,BASELINE,766.886177753,745,715.886177753,679,662,636,879,788,804.113822247,652,631.113822247,653,0.400979506873,-0.0153858510673,0.0598494973,0.999999947261,0.00020049859802,-0.000254741642309,1.96272793251e-05,1793239540283803904
+15,0.250000000,BASELINE,766.313571204,745,715.313571204,679,662,636,879,788,804.686428796,652,631.686428796,653,0.400979155842,-0.0153862706756,0.059849074849,0.999999947056,0.00020060595177,-0.000255462592768,1.95921403377e-05,1793239540300470528
+16,0.266666667,BASELINE,766,745,715,679,661.732059201,636,879,788,804.732059201,652.267940799,632,653,0.400978869276,-0.0153861008462,0.0598487947229,0.999999946965,0.000200527141579,-0.000255882501859,1.95562530328e-05,1793239540317137152
+17,0.283333333,BASELINE,766,745,715,679,661.139766874,636,879,788,804.139766874,652.860233126,632,653,0.400978660746,-0.0153852174823,0.059848686886,0.999999947013,0.000200222973543,-0.000255937990003,1.9519459866e-05,1793239540333803776
+18,0.300000000,BASELINE,766,745,715.441526894,679,661,636,879,788,804,652.558473106,631.558473106,653,0.400980297579,-0.0153860206244,0.0598497775801,0.999999947826,0.00019926611589,-0.000253492239742,1.95623306278e-05,1793239540350470400
+19,0.316666667,BASELINE,766,745,716,679,661,636,879,788,804,652,631.019350536,653,0.400982425,-0.0153872963677,0.0598511771211,0.999999948812,0.000198186106253,-0.000250422843537,1.96400405868e-05,1793239540367137024
+20,0.333333333,BASELINE,766,745,716,679,661,636,879,788,804,652,631.595072198,653,0.400982270394,-0.0153871835931,0.0598508132619,0.999999948267,0.000199361350447,-0.000251634245127,2.0012007282e-05,1793239540383803648
+21,0.350000000,BASELINE,766,745,715.829305418,678.829305418,661.170694582,636,879,788,804,652,631.829305418,652.829305418,0.400981972439,-0.0153875549514,0.0598504805569,0.999999947983,0.000199606025896,-0.000252547683658,2.02878052586e-05,1793239540400470272
+22,0.366666667,BASELINE,766,745,715.253918488,678.253918488,661.746081512,636,879,788,804,652,631.253918488,652.253918488,0.400981334621,-0.0153890741194,0.0598502217141,0.999999948319,0.000197644456291,-0.000252754694382,2.03356009577e-05,1793239540417136896
+23,0.383333333,BASELINE,766,745,715,678,661.668657935,636,879,788,804,652,631.331342065,652.331342065,0.400980561102,-0.0153887142916,0.0598495895706,0.999999948001,0.000198348920851,-0.000253474889307,2.01444096233e-05,1793239540433803776
+24,0.400000000,BASELINE,766,745,715,678,661.075598432,636,879,788,804,652,631.924401568,652.924401568,0.400979680395,-0.0153868703,0.0598486625678,0.999999947161,0.000201159207869,-0.000254600433494,1.97644494031e-05,1793239540450470400
+25,0.416666667,BASELINE,766,745,715,678.503026224,661,636,879,788,804,652,632,653,0.400980983499,-0.0153862843331,0.0598499697525,0.999999947623,0.000201851298685,-0.000252221073839,1.98394467261e-05,1793239540467137024
+26,0.433333333,BASELINE,766,745,715,679,661,636,879,788,804,652,631.920669467,653,0.400982161419,-0.0153861049087,0.0598512246087,0.999999948131,0.000201966253834,-0.000250096603236,1.99667930267e-05,1793239540483803904
+27,0.450000000,BASELINE,766,745,715,679,661,636,879,788,804,652,631.345686272,653,0.400980563834,-0.0153873172223,0.059850113169,0.999999947773,0.00020040877242,-0.000252763914438,2.00059308855e-05,1793239540500470528
+28,0.466666667,BASELINE,766,745,715,679,661,636,879,788,804.219167459,652,631.219167459,653,0.400979883488,-0.015388219002,0.0598496988709,0.999999947685,0.000199410361327,-0.000253895335837,2.00662192964e-05,1793239540517137152
+29,0.483333333,BASELINE,766,745,715,679,661,636,879,788,804.768750055,652,631.768750055,653,0.400980585967,-0.0153886526231,0.0598503355779,0.999999948014,0.000199254800353,-0.00025271126169,2.01583941114e-05,1793239540533803520
+30,0.500000000,BASELINE,766,744.639238447,715,679,661,636,879.721523106,788,804.639238447,652,632,653,0.400980514214,-0.0153881916833,0.0598502203903,0.999999947998,0.000199648396864,-0.000252479267977,1.99465386514e-05,1793239540550470400
+31,0.516666667,BASELINE,766,744.016404875,715,679,661,636,880.967190249,788,804.016404875,652,632,653,0.400979880027,-0.0153870808978,0.0598495589957,0.999999947732,0.000200440923952,-0.00025293890467,1.95138231011e-05,1793239540567137024
+32,0.533333333,BASELINE,766,744.559348709,715.559348709,679,661.559348709,636,879.881302582,788,804,652,632,653,0.400981228684,-0.015388090802,0.0598510105867,0.999999948459,0.000199361484213,-0.000250870428028,2.00154830522e-05,1793239540583803648
+33,0.550000000,BASELINE,766,745,715.865694084,679,661.865694084,636,879,788,804,652,632,653,0.400982380543,-0.0153884299204,0.0598521348339,0.999999948968,0.000198780542218,-0.000249280151835,2.02498685442e-05,1793239540600470528
+34,0.566666667,BASELINE,766,745,715.289165702,679,661.289165702,636,879,788,804,652,632,653,0.400982707797,-0.0153863714824,0.0598519930449,0.999999948685,0.000200007718317,-0.000249489606002,1.9520986256e-05,1793239540617137408
+35,0.583333333,BASELINE,766,745,715,679,661,636,879,788,804,652,631.7046634,652.7046634,0.400982873955,-0.015386102889,0.0598517980667,0.999999948461,0.000200578992576,-0.000249944443384,1.93551256942e-05,1793239540633803776
+36,0.600000000,BASELINE,766,745,715,679,661,636,879,788,804,652,631.112137074,652.112137074,0.400982878008,-0.0153876353704,0.0598515495655,0.999999948295,0.000200490249605,-0.000250646203698,1.97558195208e-05,1793239540650470144
+37,0.616666667,BASELINE,766,745,715,678.531996456,661,636,879,788,804,652,631.468003544,652.468003544,0.400982800459,-0.0153873775692,0.0598515783321,0.999999948311,0.000200336687063,-0.000250704579058,1.97379332726e-05,1793239540667136768
+38,0.633333333,BASELINE,766,744.954945294,715.045054706,678.045054706,661,636,879,788,804.045054706,652,631.954945294,652.954945294,0.400982716763,-0.0153868904593,0.0598516308636,0.999999948412,0.000199970673506,-0.000250603485378,1.96485860677e-05,1793239540683803648
+39,0.650000000,BASELINE,766,744.380224514,715.619775486,678.619775486,661,636,879,788,804.619775486,652,631.380224514,652.380224514,0.400982784739,-0.0153886204988,0.0598512018931,0.999999948994,0.000197284950503,-0.000250393249003,1.98678122849e-05,1793239540700470272
+40,0.666666667,BASELINE,766,744.199684615,715.800315385,679,661,636,879,788,804.800315385,652,631.199684615,652.199684615,0.400982440095,-0.0153889276735,0.0598510555351,0.999999949138,0.000196642436131,-0.000250317711154,1.99343466968e-05,1793239540717136896
+41,0.683333333,BASELINE,766,744.789736509,715.210263491,679,661,636,879,788,804.210263491,652,631.789736509,652.789736509,0.400981288813,-0.0153864532625,0.0598514616615,0.999999948431,0.000199994229627,-0.000250505498048,1.97023809599e-05,1793239540733803776
+42,0.700000000,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400981675909,-0.0153863883836,0.0598517899121,0.999999948344,0.000200944002027,-0.000250082483474,1.98006667278e-05,1793239540750470400
+43,0.716666667,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400982914703,-0.0153876575017,0.0598520750479,0.999999948605,0.00020056393568,-0.000249321308923,2.00817907024e-05,1793239540767137024
+44,0.733333333,BASELINE,766.52488334,745,715.52488334,679,661,636,879,788,804,652,632,653,0.40098245746,-0.0153887405768,0.0598515585156,0.999999948658,0.00019954513552,-0.000249904874334,2.03144072986e-05,1793239540783803648
+45,0.750000000,BASELINE,766.900281879,745,716,679,661,636,879,788,804,652,631.900281879,653,0.400981792483,-0.0153895516,0.0598510774074,0.999999948728,0.000198363006661,-0.000250559827377,2.04010137967e-05,1793239540800470016
+46,0.766666667,BASELINE,766.325682578,745,716,679,661,636,879,788,804,652,631.325682578,653,0.400980907646,-0.0153891514476,0.0598511286779,0.999999948973,0.000196692833047,-0.00025094469722,1.98142913491e-05,1793239540817136896
+47,0.783333333,BASELINE,766,745,715.745014383,679,661,636,879,788,804,652,631.254985617,653,0.400979885992,-0.0153886318619,0.0598508266293,0.999999948582,0.00019743803947,-0.000251931409962,1.96026283314e-05,1793239540833803776
+48,0.800000000,BASELINE,766,745,715.156405567,679,661,636,879,788,804,652,631.843594433,653,0.400978685324,-0.0153879560095,0.059850062298,0.999999947349,0.000201343529079,-0.00025370557405,1.98816930177e-05,1793239540850470144
+49,0.816666667,BASELINE,766.428662629,745,715,679,661.428662629,636,879,788,804,652,632,653,0.400979574367,-0.0153874666411,0.0598498126333,0.999999947379,0.000201841390255,-0.00025319595271,1.98308021489e-05,1793239540867136768
+50,0.833333333,BASELINE,767,745,715,679,661.987751981,636,879,787.987751981,804,652,632,653,0.400981163144,-0.0153870349704,0.0598497525582,0.999999947861,0.000201097503005,-0.00025189667799,1.96567129383e-05,1793239540883803392
+51,0.850000000,BASELINE,767,745,715,679,661.413413577,636,879,787.413413577,804,652,632,653,0.40098015941,-0.0153861541551,0.0598498458649,0.999999947998,0.000199959077718,-0.000252286335647,1.93085014335e-05,1793239540900470272
+52,0.866666667,BASELINE,767,745,715,679,661,636,879,787.164050187,804,652,632,653,0.400979850636,-0.0153861340743,0.0598502590979,0.99999994817,0.000199401307049,-0.000252052569653,1.91763041414e-05,1793239540917137152
+53,0.883333333,BASELINE,767,745,715,679,661,636,879,787.74954292,804,652,632,653,0.400981327205,-0.0153883252079,0.0598514942172,0.999999948437,0.000200335229721,-0.00025021723734,1.95990442411e-05,1793239540933804032
+54,0.900000000,BASELINE,766.667437497,745,715,679,661,635.667437497,879,788,804,652,632,653,0.400981391713,-0.0153883042228,0.059851595537,0.999999948393,0.000200631616116,-0.000250140347734,1.97492342708e-05,1793239540950470656
+55,0.916666667,BASELINE,766.086266752,745,715,679,661,635.086266752,879,788,804,652,632,653,0.400980400632,-0.0153866295605,0.059850849281,0.99999994812,0.000200451410034,-0.000251377988095,1.96956785407e-05,1793239540967136768
+56,0.933333333,BASELINE,766,745,715,679,661,635.491512172,879,788,804,652,632,653,0.400981135684,-0.0153872050418,0.0598511567763,0.999999948114,0.000201370975865,-0.000250675324745,1.96058284778e-05,1793239540983803648
+57,0.950000000,BASELINE,766,744.931637675,715,679,661,636.068362325,879,788,804,652,632,653,0.400981788217,-0.0153880751403,0.0598515128125,0.999999948157,0.000202026104434,-0.000249983182629,1.95092593106e-05,1793239541000470272
+58,0.966666667,BASELINE,766,744.357286169,715,679,661,636.642713831,879,788,804,652,632,653,0.400979602973,-0.015388222803,0.0598508686103,0.999999948231,0.0001993050864,-0.000251872236211,1.94097840629e-05,1793239541017136896
+59,0.983333333,BASELINE,766,744.223292132,715,679,661,636.776707868,879,788,804,652,632,653,0.400979229475,-0.0153884589747,0.0598508950381,0.999999948622,0.000197275946299,-0.000251912292941,1.94482478612e-05,1793239541033803520
+60,1.000000000,BASELINE,766,744.814119732,715,679,661,636.185880268,879,788,804,652,632,653,0.400981838083,-0.0153888408308,0.0598520253128,0.999999949544,0.000196385626368,-0.000248908929161,1.97137572241e-05,1793239541050470656
+61,1.016666667,BASELINE,766,745,715,679,661,636,878.602655729,788,804,652,632,653,0.400982556367,-0.0153875813756,0.0598520321143,0.999999949227,0.000198075534204,-0.000248851770591,1.95952141123e-05,1793239541067137280
+62,1.033333333,BASELINE,766,745,715,679,661,636,878.022921208,788,804,652,632,653,0.400982406948,-0.0153855685203,0.0598515232154,0.999999948337,0.000200949826574,-0.000250146988828,1.93003819775e-05,1793239541083803904
+63,1.050000000,BASELINE,766,745,715,679,661,636,878.550652219,788,804,652,632,652.449347781,0.400983110269,-0.0153866262487,0.0598520578126,0.999999948667,0.000200256522217,-0.00024934838383,1.9712727932e-05,1793239541100470272
+64,1.066666667,BASELINE,766,745,715,679,661.127542924,636,879,788,804,652,632,652.127542924,0.400983786049,-0.0153877693604,0.0598526454645,0.999999949067,0.000199355394594,-0.000248436083759,2.00506313444e-05,1793239541117136896
+65,1.083333333,BASELINE,766,745,715,679,661.717376644,636,879,788,804,652,632,652.717376644,0.400984234771,-0.0153887638016,0.0598532697223,0.999999949542,0.000198233300328,-0.000247424097057,2.00131957143e-05,1793239541133803520
+66,1.100000000,BASELINE,766.30141783,744.69858217,715,678.69858217,661.69858217,636,879,788,804,652,632,653,0.400984234531,-0.0153888164128,0.0598532180085,0.999999949794,0.000197478200433,-0.000247021497906,1.98768861574e-05,1793239541150470144
+67,1.116666667,BASELINE,766.880130045,744.119869955,715,678.119869955,661.119869955,636,879,788,804,652,632,653,0.400983821259,-0.0153880025717,0.0598525444234,0.999999949842,0.000197060723223,-0.000247179515106,1.96496158762e-05,1793239541167136768
+68,1.133333333,BASELINE,766.542035315,744.457964685,715,678.457964685,661,636,879,788,804,652,632,653,0.400983166961,-0.0153879145556,0.0598527427851,0.999999949619,0.000197357243176,-0.000247851294941,1.95342204155e-05,1793239541183803904
+69,1.150000000,BASELINE,766,745,715.035369762,679,661,636,879.035369762,788,804,652,632,653,0.400982454156,-0.015387970719,0.0598531237546,0.99999994932,0.000197892319601,-0.000248635728293,1.94615107579e-05,1793239541200470528
+70,1.166666667,BASELINE,766,745,715.609721863,679,661,636,879.609721863,788,804,652,632,653,0.400981809329,-0.0153873344708,0.059852816196,0.99999994894,0.000199220235708,-0.0002490915564,1.95938983368e-05,1793239541217137152
+71,1.183333333,BASELINE,766,745,715.815287801,679,661,636,879.815287801,788,804,652,631.815287801,653,0.400981660961,-0.0153875758788,0.0598527457959,0.999999948853,0.000199596520621,-0.000249127902454,1.97478128173e-05,1793239541233803776
+72,1.200000000,BASELINE,766,745,715.238944153,679,661,636,879.238944153,788,804,652,631.238944153,653,0.400982565195,-0.0153896781155,0.0598531782252,0.999999949388,0.000197955133398,-0.000248274852202,1.99473692005e-05,1793239541250470400
+73,1.216666667,BASELINE,766.347802839,745,715,679,661.347802839,636,879,788,804,652,631.347802839,653,0.400983059287,-0.0153895809623,0.0598534001796,0.99999994953,0.000197884183305,-0.000247750434204,2.00245037e-05,1793239541267137024
+74,1.233333333,BASELINE,766.941917376,745,715,679,661.941917376,636,879,788,804,652,631.941917376,653,0.400983262918,-0.0153879262156,0.059853473077,0.999999949396,0.000198925406625,-0.000247458751475,2.00149398094e-05,1793239541283803392
+75,1.250000000,BASELINE,766.481791299,745,715,679,661.481791299,636,879,788,804,652,632,653,0.400982668942,-0.0153898594114,0.0598530339815,0.999999949501,0.000197420307014,-0.000248234079833,2.00865229601e-05,1793239541300470272
+76,1.266666667,BASELINE,766.092552011,745,715,679,661.092552011,636,879,788,804.092552011,652,632,653,0.400982162017,-0.0153914226818,0.0598525355733,0.999999949566,0.000196107828989,-0.000249010957486,2.00855473084e-05,1793239541317137152
+77,1.283333333,BASELINE,766.666808117,745,715,679,661.666808117,636,879,788,804.666808117,652,632,653,0.400982557983,-0.0153890371425,0.0598520172058,0.999999949307,0.000197233915864,-0.000249194144701,1.96611620466e-05,1793239541333803776
+78,1.300000000,BASELINE,766.751785249,745,715,679.248214751,661.751785249,636,879.248214751,788,804.751785249,652,632,653,0.400982280865,-0.0153874391195,0.0598516337579,0.999999948902,0.000198767206669,-0.000249617006238,1.94572859556e-05,1793239541350470400
+79,1.316666667,BASELINE,766.160495416,745,715,679.839504584,661.160495416,636,879.839504584,788,804.160495416,652,632,653,0.400981073428,-0.0153869295785,0.0598514367917,0.999999948293,0.000200863322597,-0.000250371138515,1.95581911479e-05,1793239541367137024
+80,1.333333333,BASELINE,766,745,715,679.578676771,661,636,879.578676771,788,804,652,632,653,0.400981146318,-0.0153876519018,0.0598515768113,0.999999948463,0.000200211490705,-0.000250198702563,1.97585252199e-05,1793239541383803648
+81,1.350000000,BASELINE,766,745,715,679.000386633,661,636,879.000386633,788,804,652,632,653,0.400981696202,-0.0153888331648,0.0598518423774,0.999999948922,0.000198535891855,-0.000249681067215,1.99959022229e-05,1793239541400470272
+82,1.366666667,BASELINE,766.57581487,745,715,679,661,636,879.57581487,788,804,652,632,653,0.400981557365,-0.0153881307192,0.0598522787157,0.999999949038,0.000198393966177,-0.000249346919741,1.97399321965e-05,1793239541417136896
+83,1.383333333,BASELINE,766.845113173,745,715,679,661,636,880,788,804,652,632,653,0.400981156705,-0.0153878184547,0.0598523302918,0.999999949026,0.00019829762544,-0.000249487944127,1.95157109947e-05,1793239541433803520
+84,1.400000000,BASELINE,766.258027423,745,715,679,661,636,880,788,804,652,632,653,0.400980026732,-0.0153885984748,0.0598513079019,0.999999948657,0.00019832562253,-0.000250954553801,1.93810032256e-05,1793239541450470400
+85,1.416666667,BASELINE,766,745,715,679,661,636,880,788,804,652,632,653,0.400980299942,-0.0153883891629,0.0598513566407,0.999999948423,0.000199485027425,-0.000250947047971,1.96107322765e-05,1793239541467137280
+86,1.433333333,BASELINE,766,745,715,679,661,636,880,788,804,652,632,653,0.400981673441,-0.0153874040774,0.0598522452932,0.999999948294,0.000201531613027,-0.000249783630956,2.01262303699e-05,1793239541483803904
+87,1.450000000,BASELINE,766,744.520027363,715,679,661,636,879.520027363,788,804,652,632,653,0.400982009977,-0.0153882948655,0.0598525083051,0.999999948903,0.000199112456748,-0.000249293691947,2.00006048459e-05,1793239541500470528
+88,1.466666667,BASELINE,766,744.056820951,715,679,661,636,879,787.943179049,804,652,631.943179049,653,0.40098207273,-0.0153893283754,0.0598525416899,0.999999949518,0.000196313732766,-0.000249070112414,1.9746541914e-05,1793239541517137152
+89,1.483333333,BASELINE,766,744.632919645,715,679,661,636,879,787.367080355,804,652,631.367080355,653,0.400981547778,-0.0153882031329,0.0598516315483,0.999999948891,0.000198290440075,-0.00025003743728,1.95022930057e-05,1793239541533803776
+90,1.500000000,BASELINE,766,745,715,679,661,636,879,787.213953805,804,652.213953805,631.213953805,653,0.400981084522,-0.0153876551896,0.0598511112619,0.999999948564,0.000199381226245,-0.000250488917989,1.9349281259e-05,1793239541550470144
+91,1.516666667,BASELINE,766,745,715,679,661,636,879,787.803655623,804,652.803655623,631.803655623,653,0.400980729619,-0.0153881211058,0.0598512756438,0.99999994877,0.000198916147812,-0.000250034467443,1.93565012395e-05,1793239541567136768
+92,1.533333333,BASELINE,766,745,715,679,661,636,879,788,804,652.614070076,632,653,0.400980511278,-0.0153887189748,0.0598512851742,0.999999948747,0.000198726802163,-0.00025026788243,1.94996848337e-05,1793239541583803648
+93,1.550000000,BASELINE,766,745,715,679,661,636,879,788,804,652.035503167,632,653,0.400980361101,-0.015389382708,0.0598512174105,0.999999948608,0.000198675088536,-0.000250844645567,1.97107346884e-05,1793239541600470528
+94,1.566666667,BASELINE,766,745,715,678.461162385,661.538837615,636,879,788,804,652,632,653,0.400981218056,-0.0153889668629,0.0598518078646,0.999999948998,0.000197902163656,-0.000249929691105,1.93586134085e-05,1793239541617137152
+95,1.583333333,BASELINE,766,745,715.113589009,678.113589009,661.886410991,636,879,788,804,652,632,653,0.400981581759,-0.0153884802356,0.0598521504249,0.99999994918,0.000197578054786,-0.000249475800254,1.9095034478e-05,1793239541633804032
+96,1.600000000,BASELINE,766,745,715.691146293,678.691146293,661.308853707,636,879,788,804,652,632,653,0.400979661778,-0.015387992775,0.0598513046657,0.99999994838,0.000199279778536,-0.000251303520995,1.93435039756e-05,1793239541650470400
+97,1.616666667,BASELINE,766,745,715.7252166,679,661.2747834,635.7252166,879,788,804,652,631.7252166,653,0.400979095999,-0.0153886420862,0.0598509602492,0.999999948356,0.000198552190761,-0.000251955317287,1.95975520118e-05,1793239541667137024
+98,1.633333333,BASELINE,766,745,715.13459125,679,661.86540875,635.13459125,879,788,804,652,631.13459125,653,0.40098008677,-0.0153905980275,0.0598511920866,0.999999949219,0.000195032299957,-0.000251255480609,1.98580121253e-05,1793239541683803648
+99,1.650000000,BASELINE,766.446234636,745,715,679,661.553765364,635.446234636,879,788,804,652,631.446234636,653,0.400981638586,-0.01538896061,0.0598520333656,0.999999949121,0.000197463001227,-0.000249766307023,1.95912554146e-05,1793239541700470272
+100,1.666666667,BASELINE,766.975999139,745,715,679,661,636,879,788,804.024000861,652,632,653,0.400983196589,-0.015386431485,0.0598529435584,0.999999948737,0.000201354390635,-0.000248219879071,1.91951434481e-05,1793239541717136896
+101,1.683333333,BASELINE,766.402070722,745,715,679,661,636,879,788,804.597929278,652,632,653,0.400981102367,-0.0153877704008,0.0598513115017,0.999999948691,0.000198474240235,-0.00025069937021,1.94003658305e-05,1793239541733803776
+102,1.700000000,BASELINE,766,745,715,679,661,636,879.176811955,788,804.823188045,652,632,652.823188045,0.400980164018,-0.0153883871331,0.0598506522175,0.999999948607,0.000197606742171,-0.000251703596918,1.95915866852e-05,1793239541750470400
+103,1.716666667,BASELINE,766,745,715,679,661,636,879.767285322,788,804.232714678,652,632,652.232714678,0.4009819299,-0.0153873142769,0.0598522687889,0.99999994845,0.000201447956679,-0.000249256360034,1.97500501582e-05,1793239541767136768
+104,1.733333333,BASELINE,766,745,715,679,661,636,879.649111264,788,804,652,632,652.350888736,0.40098281335,-0.0153864524446,0.0598532804532,0.999999948409,0.000203267092731,-0.000247946152405,1.97017048275e-05,1793239541783803392
+105,1.750000000,BASELINE,766,745,715,679,661,636,879.069976556,788,804,652,632,652.930023444,0.400983122795,-0.0153857278789,0.0598538986379,0.999999948451,0.000203770908337,-0.000247375558895,1.95188346004e-05,1793239541800470272
+106,1.766666667,BASELINE,766,745,715,679,661.505537826,636,879,788,804,652,632,653,0.400982862927,-0.0153881687683,0.0598535907522,0.999999948988,0.000200779322118,-0.00024764221751,1.96407681008e-05,1793239541817136896
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661,636,880,788,804,652,631,653,0.400981730466,-0.0153896013094,0.0598519325275,0.999999948623,0.00020018044898,-0.000249571589924,1.98977929536e-05,1793239541860432640
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.408510437,661,636,879.408510437,788,803.408510437,652,631.591489563,653,0.400981093746,-0.0153897939488,0.059851600823,0.999999948706,0.000199229407295,-0.000250004911862,1.98451233883e-05,1793239541877099008
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.821694919,715.178305081,679,661,636,879,788,803.178305081,652,632,653,0.400980814499,-0.0153897432288,0.0598515288982,0.999999948874,0.000198220736792,-0.000250137618709,1.97996747525e-05,1793239541893765376
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.245314337,715.754685663,679,661,636,879,788,803.754685663,652,632,653,0.400981333331,-0.0153891491961,0.0598520369452,0.999999949234,0.000197083406723,-0.000249599186593,1.97703472123e-05,1793239541910432256
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.330802173,715.669197827,679,661,636,879,788,804.330802173,652,631.669197827,652.669197827,0.400981253239,-0.0153893561507,0.0598522826692,0.999999949354,0.000196438337626,-0.000249635838947,1.96538969737e-05,1793239541927099136
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744.906722976,715.093277024,679,661,636,879,788,804.906722976,652,631.093277024,652.093277024,0.400980729355,-0.0153901566229,0.0598523340164,0.999999949297,0.000196158025374,-0.000250098618878,1.94728903396e-05,1793239541943765504
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.508290251,661,636,879.491709749,788,804.016580501,652,631.491709749,652.491709749,0.400981317349,-0.0153895108961,0.0598530071741,0.999999949301,0.000197286873972,-0.000249166215916,1.98108520218e-05,1793239541960432128
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.077856646,745,715,678.077856646,661,636,879.922143354,787.922143354,803.077856646,652,631.922143354,653,0.400982066746,-0.0153887091895,0.0598535430613,0.99999994927,0.000198448343522,-0.000248341074457,2.01135974917e-05,1793239541977099008
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.660167887,745,715,678.660167887,661,636,879.339832113,787.339832113,803.660167887,652,631.339832113,653,0.400982469625,-0.0153887077802,0.0598524109023,0.999999948956,0.000198056619327,-0.000249957960373,1.95383143485e-05,1793239541993765632
+116,1.933333333,POSE1_TO_POSE2_PRESS,766.760698424,744.760698424,715,679,661,636,879,787.239301576,804,652,631.239301576,653,0.400989938935,-0.0153892620504,0.0598555961134,0.999999950301,0.00019789703989,-0.000244637552177,1.96756601965e-05,1793239542010432000
+117,1.950000000,POSE1_TO_POSE2_PRESS,766.18601809,744.18601809,715,679,661,636,879,787.81398191,804,652,631.81398191,653,0.401007311778,-0.0153905950996,0.0598648320755,0.999999953812,0.000198062809008,-0.000229594595682,2.08117484739e-05,1793239542027098624
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.387484737,715,679.387484737,661,636,879,788,804,652,631.612515263,653,0.401040464916,-0.015392564057,0.0598783985499,0.999999959076,0.000198116787793,-0.00020519391088,2.22034835386e-05,1793239542043765504
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.960424046,715,679.960424046,661,636,879,788,804,652,631.039575954,653,0.401081170685,-0.0153948373673,0.0598940376573,0.99999996455,0.000198117262353,-0.000176314510135,2.37175741304e-05,1793239542060432128
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.449783072,745,715,679.449783072,661,636,879,788,804,652.550216928,631.550216928,652.449783072,0.401142347112,-0.0153984641334,0.0599120464751,0.999999969835,0.00019607232767,-0.000145720476681,2.55044278931e-05,1793239542077098752
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.138810061,745,715,679,661,636,879.138810061,788,804,652.861189939,632,652,0.401208632863,-0.0154023965831,0.0599291217128,0.999999973842,0.000194118218229,-0.000117907530188,2.70683029668e-05,1793239542093765376
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.719601419,745,715,679,661,636,879.719601419,788,804,652.280398581,632,652,0.401286350674,-0.015406982584,0.0599426644999,0.999999976064,0.000192936552294,-9.93548588301e-05,2.78577550712e-05,1793239542110432000
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.702437638,715,679,661,635.702437638,879.702437638,788,804,652,632,652.297562362,0.401369214664,-0.0154113170431,0.0599509370477,0.999999977365,0.000192486187486,-8.62238734619e-05,2.8009808584e-05,1793239542127098880
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.12711875,715,679,661,635.12711875,879.12711875,788,804,652,632,652.87288125,0.401456882296,-0.0154154167027,0.0599542901441,0.999999977996,0.000192718448298,-7.81537062299e-05,2.75668888975e-05,1793239542143765504
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.456204952,715,679,661,635.456204952,879,788,804.456204952,652,632,653,0.401558331948,-0.0154196725219,0.0599525711354,0.999999978308,0.000191448929808,-7.77718755084e-05,2.61161083468e-05,1793239542160432384
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.958666355,804.958666355,652,632,653,0.401665443861,-0.015424151632,0.0599494465301,0.999999978555,0.000189655691061,-7.95234717796e-05,2.44372423882e-05,1793239542177099008
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787.379591524,804.379591524,652,632,653,0.401795367084,-0.0154309595024,0.0599467506798,0.999999979063,0.000186590293671,-8.06617500803e-05,2.35098802726e-05,1793239542193765632
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.800547627,715,679,661,636,879,787.199452373,804,652,632,653,0.401939420827,-0.0154387138174,0.0599464880785,0.999999979902,0.000183043392533,-7.86442298001e-05,2.24825408612e-05,1793239542210432000
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.221562662,715,679,661,636,879,787.778437338,804,652,632,653,0.402110363146,-0.0154482690958,0.059950855642,0.999999981335,0.000178580251117,-7.0621624567e-05,2.12649574293e-05,1793239542227098624
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,744.354982453,715,678.645017547,661,636,879.354982453,788,804,652,631.645017547,653,0.402300750669,-0.015458321751,0.0599541084596,0.99999998293,0.00017313738608,-6.14246156448e-05,1.97631994066e-05,1793239542243765248
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,744.930015183,715,678.069984817,661,636,879.930015183,788,804,652,631.069984817,653,0.402503192109,-0.0154686827262,0.0599566702572,0.999999984551,0.000167087199154,-5.14996041571e-05,1.80852841129e-05,1793239542260432128
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.483436372,879.483436372,788,804,652,631,653,0.40273461348,-0.0154790188505,0.0599571479458,0.99999998614,0.000158708701295,-4.76613363287e-05,1.61080106094e-05,1793239542277099008
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.897065583,745,715,678.205868835,661,635.102934417,879.102934417,788,804,652,631.102934417,653,0.402976387369,-0.0154898063029,0.0599580014882,0.999999987711,0.000149933604317,-4.35804058326e-05,1.40834592447e-05,1793239542293765632
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.318882373,745,715,679.362235254,661,635.681117627,879.681117627,788,804,652,631.681117627,653,0.40324741815,-0.0155026934429,0.0599619237245,0.999999989418,0.000140817014252,-3.44849135642e-05,1.2032148885e-05,1793239542310432256
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.259055935,744.740944065,715,679.740944065,661,636,879.740944065,788,804,652,631.740944065,653,0.403526450387,-0.0155125370217,0.0599584754449,0.999999990639,0.0001309785176,-3.85455420097e-05,8.99866307687e-06,1793239542327099136
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.836693033,744.163306967,715,679.163306967,661,636,879.163306967,788,804,652,631.163306967,653,0.403815322617,-0.0155186376964,0.0599459630705,0.999999991031,0.000120252236976,-5.87852723855e-05,4.75732011113e-06,1793239542343766016
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744,715,678.586838374,661,636,879,787.586838374,804,652,631,653,0.4041287538,-0.0155160187669,0.0599344857816,0.999999993175,8.69608093561e-05,-7.80210310157e-05,1.20798386444e-06,1793239542360432640
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744,715,678.010830356,661,636,879,787.010830356,804,652,631,653,0.404451864812,-0.0155099630319,0.0599234164689,0.999999994304,4.4775398163e-05,-9.686107664e-05,-2.06859995185e-06,1793239542377099264
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744.578120674,715,678.578120674,661,636,879.578120674,787.578120674,804,652,631.578120674,652.421879326,0.404832737398,-0.0154993701637,0.0599194917011,0.999999992253,6.52991111962e-05,-0.000105697850951,-7.55899122236e-06,1793239542393765888
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.164673312,745,715,679,661.164673312,636,879.835326688,788,804,652,631.835326688,652.164673312,0.405233354353,-0.0154950842368,0.0599209962948,0.999999991707,7.40879816915e-05,-0.000104662513144,-1.19544664792e-05,1793239542410432256
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.744553197,745,715,679,661.744553197,636,879.255446803,788,804,652,631.255446803,652.744553197,0.405680963755,-0.0155069198259,0.0599358452557,0.999999995508,5.02587597035e-05,-7.92190002197e-05,-1.34822601779e-05,1793239542427098880
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.678781852,744.678781852,715,679,662,636,879,788,804.321218148,652,631.321218148,653,0.406158045641,-0.0155164829881,0.0599572796246,0.999999998549,2.93517549985e-05,-4.2678937874e-05,-1.48243394046e-05,1793239542443765504
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.104648161,744.104648161,715,679,662,636,879,788,804.895351839,652,631.895351839,653,0.406658333141,-0.0155242569248,0.0599838991068,0.999999999811,1.07455958195e-05,2.59814859685e-06,-1.60201939245e-05,1793239542460432128
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.480698059,715,679,661.519301941,636,879,788,804.519301941,652,632,653,0.407165344965,-0.0155277234982,0.0600007129215,0.999999999552,-2.55507330753e-07,2.39491047606e-05,-1.79775578794e-05,1793239542477098752
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.067444987,636,879,788,804,652,632,653,0.407676516061,-0.015529645311,0.0600121697573,0.999999999142,-1.09009001543e-05,3.43066336928e-05,-2.05030523189e-05,1793239542493765376
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.645869272,636,879,788,804,652,632,653,0.408207843406,-0.0155271376705,0.0599996000827,0.999999999157,-3.1694320553e-05,1.78038066374e-06,-2.6046847663e-05,1793239542510432512
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.773484679,636,879,788,804,652,632,653,0.408749569157,-0.0155257361594,0.0599887217564,0.999999998192,-4.55071724955e-05,-2.35851237172e-05,-3.14611410571e-05,1793239542527099392
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.189330781,636,879,788,804,652,632,653,0.409307712624,-0.0155260810845,0.0599805138527,0.999999997453,-4.82986029395e-05,-3.76447244747e-05,-3.66709672324e-05,1793239542543765504
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.384325754,636,879.384325754,788,804,652,632,653,0.409936569836,-0.0155291217989,0.0599840481989,0.999999996649,-6.60135010696e-05,-2.56478992725e-05,-4.10592756423e-05,1793239542560432128
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.952948441,636,879.952948441,788,804,652,632,653,0.410599336615,-0.0155334552336,0.0599932133432,0.999999994854,-9.08846962324e-05,-1.15615413356e-06,-4.50536388772e-05,1793239542577098752
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.458100236,636,879.458100236,788,804,652,631.458100236,653,0.411259736471,-0.0155393381427,0.0599984920902,0.999999993375,-0.000104072947289,1.09196555374e-05,-4.79518759403e-05,1793239542593765632
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,678.870166824,661.129833176,636,879,788,804,652,631,653,0.411922192728,-0.0155417785122,0.059996824726,0.999999994487,-9.3817697779e-05,9.59381921163e-06,-4.61718404277e-05,1793239542610432256
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,678.292079434,661.707920566,636,879,788,804,652,631,653,0.412592485838,-0.0155318507797,0.0599723860836,0.999999998989,-6.26156870776e-06,-3.4134696946e-05,-2.85812785238e-05,1793239542627099136
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,678.570079695,662,636,879,788,804.285039847,652,631,653,0.413267576613,-0.0155242589537,0.0599470885564,0.999999995849,2.88917609677e-05,-8.29759695049e-05,-2.41408875112e-05,1793239542643766016
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679.722341078,662,636,879,788,804.861170539,652,631,653,0.41394756698,-0.0155190526208,0.0599209139084,0.999999990006,1.0529863831e-05,-0.000137038540587,-3.31298251031e-05,1793239542660432640
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679.553484807,661.553484807,636,879,788,804.553484807,651.553484807,631.446515193,653,0.414720082101,-0.0155281826019,0.0599469864647,0.999999995314,-1.01725605994e-05,-9.00097401924e-05,-3.41555172632e-05,1793239542677099008
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.034265095,745,715,678.965734905,661,636,879.068530189,788,804.034265095,651.034265095,632,652.965734905,0.41552255282,-0.0155413508524,0.0599888075804,0.999999998907,-3.08773826363e-05,-1.28909309193e-05,-3.26616015147e-05,1793239542693765632
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.613743178,745,715,678.386256822,661,636,880.227486356,788,804.613743178,651.613743178,632,652.386256822,0.416334283053,-0.0155463554761,0.060017290135,0.999999998195,-3.97973440384e-05,3.23515902711e-05,-3.1302512534e-05,1793239542710432256
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.808078817,745,715,678.191921183,661.191921183,636,880.808078817,788,805,652,632,652.191921183,0.417144554758,-0.0155494645841,0.060031584175,0.999999996995,-4.52479718788e-05,5.47344279423e-05,-3.10826282957e-05,1793239542727098880
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.232499751,745,715,678.767500249,661.767500249,636,880.232499751,788,805,652,632,652.767500249,0.417951910761,-0.0155487844823,0.0600175148227,0.999999998,-4.37632670902e-05,3.1419869876e-05,-3.31400586603e-05,1793239542743765760
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715.343032946,679,662,636,880,788,804.656967054,652,632,653,0.418755934423,-0.0155483969119,0.0599995292942,0.999999998344,-4.48199710401e-05,2.13017652543e-06,-3.60271654136e-05,1793239542760432384
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715.918534197,679,662,636,880,788,804.081465803,652,632,653,0.419557699776,-0.0155482075857,0.059978889832,0.999999997601,-4.75989497661e-05,-3.12087758173e-05,-3.94765313568e-05,1793239542777099264
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715.495788948,679.504211052,662,636,880,788,804,652,631.495788948,653,0.420341759736,-0.0155465635282,0.059954572193,0.999999995879,-4.77703031914e-05,-6.41321830441e-05,-4.29681672665e-05,1793239542793765888
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.090688738,745,715,679.909311262,662,636,880,788,804.090688738,652,631,653,0.421128088602,-0.0155453309798,0.0599296872871,0.999999992737,-4.77610778323e-05,-0.000100532480245,-4.62354107375e-05,1793239542810432512
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.672417016,745,715,679.327582984,662,636,880,788,804.672417016,652,631,653,0.421942510627,-0.0155476254345,0.0599050149639,0.999999985442,-4.91023262753e-05,-0.000156129612899,-4.82499259484e-05,1793239542827099392
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.748817224,745,715,679.251182776,662,636,879.748817224,788,805,651.748817224,631.251182776,653,0.422822591102,-0.0155513937913,0.0599166416753,0.999999987595,-5.21699661031e-05,-0.000140771497233,-4.76655424854e-05,1793239542843765760
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.173869951,745,715,679.826130049,662,636,879.173869951,788,805,651.173869951,631.826130049,653,0.423787302792,-0.0155570619491,0.0599750563794,0.999999996816,-5.74628549275e-05,-3.39549264146e-05,-4.37312831631e-05,1793239542860432384
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.401166625,788,804.598833375,651.401166625,632,653,0.424697500799,-0.0155615722598,0.0600168260328,0.999999996808,-6.09852952286e-05,3.20543973497e-05,-4.04646321287e-05,1793239542877099008
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,879.976241881,788,804.023758119,651.976241881,632,653,0.425584066675,-0.0155655806351,0.060051379933,0.999999994036,-6.37402330603e-05,8.03734783169e-05,-3.74873944002e-05,1793239542893765632
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.434923164,662.565076836,636,880,788,804,652,631.434923164,653,0.426432331054,-0.015565651289,0.0600392624127,0.999999993974,-6.78194446544e-05,7.63636359932e-05,-4.02734834827e-05,1793239542910432512
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.15167525,745,715,679,663,636,880,788,804,651.84832475,631,653,0.42727879948,-0.01556595377,0.0600221603836,0.999999994501,-7.32744856848e-05,6.12593385871e-05,-4.33194972781e-05,1793239542927099136
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.730308751,745,715,679,663,636,880,788,804,651.269691249,631,653,0.428124858536,-0.0155673865009,0.0599966887217,0.999999995299,-8.24417755785e-05,2.12725020816e-05,-4.63980614708e-05,1793239542943765760
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.692508831,745,715,679.307491169,662.692508831,636,880,788,804.307491169,651.307491169,631.307491169,653,0.428954236952,-0.0155669065487,0.0599689140965,0.999999994804,-8.53438503916e-05,-2.58751671324e-05,-4.93785492859e-05,1793239542960432384
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.116593168,745,715,679.883406832,662.116593168,636,880,788,804.883406832,651.883406832,631.883406832,653,0.429769053956,-0.0155647569191,0.0599391291004,0.999999992066,-8.27767035109e-05,-7.92738849629e-05,-5.22734210846e-05,1793239542977099008
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.533826014,662,636,880,788,805,652,632,653,0.43057162129,-0.0155624769785,0.0599362358446,0.999999992277,-8.1359651006e-05,-7.75154819128e-05,-5.30866469307e-05,1793239542993765632
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.949571812,632,653,0.431382990526,-0.0155607996089,0.0599442023255,0.999999993782,-8.048635648e-05,-5.60285710716e-05,-5.30829589e-05,1793239543010432256
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651.367973656,632,653,0.432319823438,-0.0155658176526,0.0599946556147,0.999999995032,-8.22655439233e-05,2.57879941927e-05,-5.00402901045e-05,1793239543027098880
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.211646441,745,715,679,662,636,880.211646441,788,804.788353559,651.211646441,631.788353559,653,0.433206573581,-0.015570210981,0.0600235441553,0.999999992536,-8.7920030204e-05,6.95945613735e-05,-4.85178159049e-05,1793239543043765504
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.787859376,745,715,679,662,636,880.787859376,788,804.212140624,651.787859376,631.212140624,653,0.434007055005,-0.0155735282218,0.0600152868643,0.999999992596,-0.000100249820458,4.79279328638e-05,-4.96139163481e-05,1793239543060432384
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.271707804,745,715,679,662,636,880.635853902,788,804,652,631,653,0.434797365266,-0.0155737202603,0.0599909291761,0.999999993315,-0.000102824704331,6.93547625366e-06,-5.24348670713e-05,1793239543077099008
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.119048439,745,715,679,662,636,880.05952422,788,804,652,631,653,0.435581748864,-0.0155720912805,0.0599571899791,0.999999992419,-9.9715519749e-05,-4.53179084249e-05,-5.62608672937e-05,1793239543093765888
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.529826753,745,715,679,662,636,880,788,804.529826753,651.470173247,631.529826753,653,0.43632629656,-0.0155699103088,0.0599456723717,0.999999991318,-9.86814517391e-05,-6.56054326637e-05,-5.76366760612e-05,1793239543110432256
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.118287079,662,636,880,788,805,651.118287079,632,653,0.437058677109,-0.0155671391921,0.0599364659972,0.999999989871,-9.78583767771e-05,-8.51359751633e-05,-5.86052746171e-05,1793239543127098880
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.697434109,662,636,880,788,805,651.697434109,632,653,0.437761529147,-0.015562316506,0.0599262926539,0.999999986822,-9.69261594895e-05,-0.000116061705442,-5.90868434424e-05,1793239543143765760
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.274063995,636,880,788,805,652,632,653,0.438482182813,-0.0155612893457,0.0599290771453,0.999999986788,-9.74486989485e-05,-0.000116289792488,-5.83450531188e-05,1793239543160432384
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.847940216,636,880,788,805,652,632,653,0.439222310519,-0.0155644143,0.0599460368567,0.999999990022,-9.95626691723e-05,-8.2936199895e-05,-5.62649693882e-05,1793239543177099008
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.433021219,715,680,662.566978781,635.566978781,880,788,805,651.566978781,632,653,0.439944125661,-0.0155729443048,0.0599727454595,0.999999991659,-0.000108744354388,-4.37177781942e-05,-5.42774776324e-05,1793239543193765888
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.978226739,715,680,662,635,880,788,805,651,632,653,0.440654698879,-0.0155831995844,0.0600005613843,0.999999991347,-0.000120457345069,-6.22972657188e-06,-5.251673551e-05,1793239543210432512
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.398903188,715,680,662,635,880,788,805,651,632,653,0.441246441764,-0.0155877398154,0.0599667399885,0.999999987512,-0.000131747251503,-6.71901115017e-05,-5.57076801537e-05,1793239543227099136
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880.179360811,787.820639189,805,651,631.820639189,652.820639189,0.441819701164,-0.0155916424569,0.0599253025061,0.999999978766,-0.000143108868185,-0.000135637472964,-5.99272242657e-05,1793239543243765760
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880.755282285,787.244717715,805,651,631.244717715,652.244717715,0.442352094323,-0.0155941354104,0.0598670261079,0.999999961498,-0.00015462903625,-0.000220638297135,-6.64209676224e-05,1793239543260432128
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.669203724,662,635,880.669203724,787,805,651,631,652.330796276,0.442888361406,-0.0155984959962,0.0598296299513,0.99999994498,-0.000170320647828,-0.000275618956133,-7.11752850643e-05,1793239543277099008
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.093990846,662,635,880.093990846,787,805,651,631,652.906009154,0.443427490799,-0.0156042365259,0.0598076616553,0.999999931775,-0.000189094428191,-0.0003084185063,-7.46443865967e-05,1793239543293765888
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,714.504976928,679,661.504976928,635,880.495023072,787.495023072,805,651,631,652.504976928,0.443966605045,-0.0156116695977,0.0598122756071,0.999999931333,-0.00020142527863,-0.000301701775289,-7.5748028008e-05,1793239543310432512
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,714.084766479,679.084766479,661.084766479,635,881,787.915233521,805,651.084766479,631.084766479,652,0.444494666194,-0.0156188678885,0.059819045336,0.999999931734,-0.000211806462396,-0.000292928302988,-7.65764856485e-05,1793239543327099136
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,714.663062862,679.663062862,661.663062862,635,881,787.336937138,805,651.663062862,631.663062862,652,0.444958390896,-0.0156227745041,0.0598081376814,0.99999992284,-0.000218163013271,-0.000317117153237,-7.84927152375e-05,1793239543343765760
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679.761130048,661.761130048,634.761130048,881,787,805,651.761130048,631.761130048,652.238869952,0.445390490887,-0.0156270693537,0.059786942113,0.999999907193,-0.000229372718665,-0.000355550982046,-8.11529392697e-05,1793239543360432640
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.188798058,661.188798058,634.188798058,881,787,805,651.188798058,631.188798058,652.811201942,0.445778442796,-0.0156319061767,0.0597513846356,0.999999880163,-0.000247357418402,-0.000413870773599,-8.48517779406e-05,1793239543377099520
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.612245419,745,715,679.387754581,661,634.387754581,880.612245419,786.612245419,805,651,631,653,0.446168137576,-0.0156370417499,0.0597290513438,0.999999861554,-0.00026478263253,-0.000446112868475,-8.81196807456e-05,1793239543393766144
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.033615078,745,715,679.966384922,661,634.966384922,880.033615078,786.033615078,805,651,631,653,0.446558690335,-0.0156423243862,0.0597132277759,0.999999847747,-0.00028193243649,-0.000465517982648,-9.11754517915e-05,1793239543410432512
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.554808727,745.554808727,715,680,661,634.445191273,880.554808727,786,805,651.554808727,631,653,0.446938413113,-0.0156494800999,0.0597198838106,0.999999853863,-0.000282965599758,-0.000451687536376,-9.04543149826e-05,1793239543427098880
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745.858593764,715,679.858593764,661.141406236,634.141406236,880.858593764,786,805,651.858593764,631,653,0.447307271847,-0.0156562578748,0.0597275710007,0.99999986477,-0.00026852141021,-0.000437239043022,-8.47279782032e-05,1793239543443765504
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745.279518274,715,679.279518274,661.720481726,634.720481726,880.279518274,786,805,651.279518274,631,653,0.447644572582,-0.0156615083175,0.0597341584157,0.999999884785,-0.000209249603065,-0.000427222239788,-6.42309537708e-05,1793239543460432128
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.702348276,745,715,679,661.702348276,634.702348276,880,786,805.297651724,651,631,652.702348276,0.447946748744,-0.0156667523487,0.0597329301374,0.999999888683,-0.000186406234605,-0.000429895362683,-5.54642378356e-05,1793239543477098752
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.126956336,745,715,679,661.126956336,634.126956336,880,786,805.873043664,651,631,652.126956336,0.448216149982,-0.015671990397,0.059724408999,0.999999880075,-0.000197554416747,-0.000444409516686,-5.76431290139e-05,1793239543493765376
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679.457735073,661,634,880,786,805.542264927,651.457735073,631,652.457735073,0.448444307317,-0.0156731000028,0.0597033046281,0.999999860632,-0.000217182782347,-0.000477362175,-6.07675900688e-05,1793239543510432256
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.044484864,745.044484864,715,680,661,634,880.044484864,785.955515136,805,652,631,653,0.448658923582,-0.0156726881975,0.059679020975,0.999999837008,-0.000238430846067,-0.000514796155834,-6.41877895153e-05,1793239543527099136
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.624322308,745.624322308,715,680,661,634,880.624322308,785.375677692,805,652,631,653,0.448851101185,-0.015668032908,0.0596593483208,0.999999818763,-0.000250278518843,-0.000543339174613,-6.79454216459e-05,1793239543543765760
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.797611847,715,680,661,634,881,785,805,652,631,653,0.449038959945,-0.0156661784804,0.0596461330608,0.999999805884,-0.00025865516635,-0.000562416096948,-7.08303232782e-05,1793239543560432128
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.222806014,715,680,661,634,881,785,805,652,631,653,0.44921887151,-0.0156694779638,0.0596448001574,0.999999804342,-0.000260644723732,-0.000564074301282,-7.21092992304e-05,1793239543577098752
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.352649531,715,680,661,634,881,785.352649531,805,651.647350469,631,653,0.449380710175,-0.0156739895356,0.0596452817972,0.999999803523,-0.000264279883419,-0.000563776590581,-7.25725611121e-05,1793239543593765376
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.928516382,715,680,661,634,881,785.928516382,805,651.071483618,631,653,0.449531109217,-0.0156792683258,0.0596469119922,0.999999803144,-0.000268956663671,-0.000562240840352,-7.25194988562e-05,1793239543610432000
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.481844296,715,680,661,633.481844296,881,785.481844296,805.518155704,651,630.481844296,653,0.449659532224,-0.0156808876606,0.0596456722599,0.999999802434,-0.000269099656105,-0.000563373919643,-7.29916023095e-05,1793239543627098880
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715.107341042,680,661,633.107341042,881,785,806,651.107341042,630.107341042,653,0.449779023921,-0.0156824592028,0.0596435284471,0.999999801114,-0.000269312736821,-0.000565533406729,-7.35795536825e-05,1793239543643765504
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715.685963529,680,661,633.685963529,881,785,806,651.685963529,630.685963529,653,0.449872977139,-0.0156860979841,0.0596392010571,0.999999797309,-0.000272654660668,-0.000570538681442,-7.43493551845e-05,1793239543660432128
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.26202727,715.73797273,680,661,634,881,785,805.73797273,651.73797273,630.73797273,653,0.449958470834,-0.0156886338042,0.0596375367376,0.999999795394,-0.000275498304015,-0.000572481348877,-7.46820220269e-05,1793239543677099008
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745.835054007,715.164945993,680,661,634,881,785,805.164945993,651.164945993,630.164945993,653,0.45003392394,-0.0156898605224,0.0596390332097,0.999999795752,-0.000277750539378,-0.000570789015635,-7.44958548663e-05,1793239543693765888
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.592168868,715,680,660.592168868,634,881,785,805,651,630.407831132,653,0.450096454203,-0.0156913754118,0.0596392681655,0.999999795619,-0.000278726370866,-0.000570590058125,-7.4161577955e-05,1793239543710432512
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.01949265,715,680,660.01949265,634,881,785,805,651,630.98050735,653,0.450153761059,-0.0156930067797,0.059638993217,0.999999795289,-0.000279186280659,-0.000570994722188,-7.37674351804e-05,1793239543727099136
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.57704543,633.42295457,881,785,805,651.57704543,630.42295457,652.42295457,0.45019757271,-0.0156938279997,0.0596407378684,0.999999796207,-0.000280999440174,-0.000568497449452,-7.3729657754e-05,1793239543743765760
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745.168225849,715,680,661,633,880.831774151,785,805.168225849,652,630,652,0.450235795396,-0.0156944640334,0.0596415326128,0.99999979637,-0.000282841946638,-0.000567298533752,-7.37027565844e-05,1793239543760432384
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745.74437572,715,680,661,633,880.25562428,785,805.74437572,652,630,652,0.450261618726,-0.0156947202394,0.0596398514007,0.999999794613,-0.000284639986225,-0.000569495908486,-7.36717790699e-05,1793239543777099008
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.680729192,745.680729192,715,680,661,633,880,785,805.680729192,652,630.319270808,652,0.45028236195,-0.0156950537737,0.0596390507469,0.99999979341,-0.000286163799867,-0.00057089296162,-7.32930599845e-05,1793239543793765888
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.106834752,745.106834752,715,680,661,633,880,785,805.106834752,652,630.893165248,652,0.450299053709,-0.0156954489786,0.0596389523525,0.99999979265,-0.000287468914076,-0.000571651745576,-7.26370113697e-05,1793239543810432768
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.520358651,633,880,785,805,651.520358651,630.520358651,652.479641349,0.450311119245,-0.0156948833932,0.0596394534083,0.999999792825,-0.00028950464568,-0.000570271336006,-7.29967077938e-05,1793239543827099136
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.067851033,715,680,660,633,880,785,805,651.067851033,630.067851033,653,0.450321198978,-0.015694087021,0.0596398812358,0.999999792993,-0.000291356449126,-0.000568967620825,-7.3496257696e-05,1793239543843766016
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.647430517,715,680,660,633,880,785,805,651.647430517,630.647430517,653,0.450324282776,-0.0156932075615,0.0596387226471,0.999999791547,-0.000290560664349,-0.000571932728368,-7.32982764813e-05,1793239543860432384
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.774114569,715,680,660.225885431,633,880,785,805.225885431,651.774114569,630.774114569,653,0.450326907495,-0.0156923467453,0.0596374193284,0.999999790486,-0.000289578377754,-0.000574305432442,-7.31178205924e-05,1793239543877099008
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.197406259,715,680,660.802593741,633,880,785,805.802593741,651.197406259,630.197406259,653,0.450328819219,-0.0156915148839,0.0596358912294,0.999999790029,-0.000288306435059,-0.000575758073951,-7.2964583316e-05,1793239543893765632
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.3768197,745,715,680,661,633,880,784.6231803,805.6231803,651,630,653,0.450329962721,-0.0156904639988,0.0596348932959,0.999999789749,-0.000286859892374,-0.000576991207681,-7.27570631527e-05,1793239543910432256
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.949753711,745,715,680,661,633,880,784.050246289,805.050246289,651,630,653,0.450330706407,-0.0156892991237,0.0596341712848,0.99999978956,-0.000285322479857,-0.000578110099418,-7.25212916818e-05,1793239543927098880
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715.540666975,680,661,633,880.540666975,784.540666975,805.540666975,651,630,653,0.450330933227,-0.015689686828,0.0596339944036,0.999999788789,-0.000287160106588,-0.000578543478315,-7.2448437302e-05,1793239543943765504
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745.130226374,715.869773626,680,660.869773626,633,881,784.869773626,805.869773626,651,630,653,0.450331661603,-0.0156897148174,0.0596340952033,0.999999788503,-0.000288162273939,-0.000578537313989,-7.24688779163e-05,1793239543960432128
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745.709165424,715.290834576,680,660.290834576,633,881,784.290834576,805.290834576,651,630,653,0.45033428936,-0.0156879890978,0.0596349722269,0.999999790088,-0.000285167834014,-0.000577243706797,-7.27568159268e-05,1793239543977098752
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.714859553,715.285140447,680,660,633,880.714859553,784.285140447,805.285140447,651,630,653,0.450334702185,-0.015687556173,0.0596344019248,0.999999790031,-0.000284128334181,-0.000577852239466,-7.27727595088e-05,1793239543993765632
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.141876576,715.858123424,680,660,633,880.141876576,784.858123424,805.858123424,651,630,653,0.450332879089,-0.0156884282938,0.059632370582,0.99999978832,-0.000285062299735,-0.000580380937141,-7.25141311888e-05,1793239544010432256
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715.555760595,680,660,633,880,785,805.555760595,651,630,653,0.450334586808,-0.0156880909288,0.0596335830663,0.999999789123,-0.000285567934781,-0.000578794792441,-7.2119963391e-05,1793239544027098880
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.034013333,715,680.034013333,660,633,880,785,805,651,630,653,0.450337255838,-0.0156874707603,0.0596356655385,0.999999790604,-0.000285982178378,-0.000576077275516,-7.17060085628e-05,1793239544043765504
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.613144479,715,680.613144479,660,633,880,785,805,651,630,653,0.450336708724,-0.0156886974439,0.059634581935,0.999999789766,-0.000287190885934,-0.00057693075659,-7.16898147453e-05,1793239544060432128
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.808536381,746,715,680.808536381,660.191463619,633,880.191463619,785,805.191463619,651.191463619,630,653,0.450336203059,-0.0156887030581,0.0596337730919,0.999999789062,-0.000287597498759,-0.000577928120776,-7.18543421548e-05,1793239544077098752
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.231851019,746,715,680.231851019,660.768148981,633,880.768148981,785,805.768148981,651.768148981,630,653,0.450335780791,-0.0156862519003,0.0596335170623,0.999999788626,-0.000286390309727,-0.000579214975433,-7.23824777869e-05,1793239544093765376
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.34254496,745.65745504,715,680,660.65745504,633,880.65745504,785,806,652,630,653,0.450335912122,-0.0156853323778,0.0596335110927,0.999999788593,-0.000285347069258,-0.000579766185175,-7.25415971113e-05,1793239544110432256
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.915401639,745.084598361,715,680,660.084598361,633,880.084598361,785,806,652,630,653,0.450336415669,-0.0156854426575,0.0596336732522,0.999999788832,-0.000284414060427,-0.000579822780539,-7.24526065609e-05,1793239544127099136
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660.505042491,633,880,785,805.494957509,651.494957509,630,653,0.450336828109,-0.0156850606565,0.0596339437303,0.999999789399,-0.0002839402859,-0.000579113787014,-7.21571799777e-05,1793239544143765760
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.905062896,745,715,679.905062896,660.905062896,633,880,785,805.094937104,651,630,653,0.450337271005,-0.0156848554067,0.0596342382362,0.999999789858,-0.000283898661971,-0.000578385180858,-7.18078395675e-05,1793239544160432384
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.328630684,745,715,679.328630684,660.328630684,633,880,785,805.671369316,651,630,653,0.45033794843,-0.0156859791855,0.0596345594186,0.999999789482,-0.000285645233391,-0.000578229870747,-7.13664699039e-05,1793239544177099008
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.247426206,745,715,679.247426206,660,633,880.247426206,784.752573794,805.752573794,651,630.247426206,653,0.450338517746,-0.0156859922732,0.0596344205316,0.999999789481,-0.000286271718929,-0.000577929230966,-7.13012202229e-05,1793239544193765888
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.822985429,745,715,679.822985429,660,633,880.822985429,784.177014571,805.177014571,651,630.822985429,653,0.450338943689,-0.015684532379,0.0596336715075,0.999999789981,-0.000285412763186,-0.00057743585708,-7.17347753041e-05,1793239544210432512
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745.395064789,715,680,660.395064789,633,881,784,805.395064789,651.395064789,630.604935211,652.604935211,0.450339073432,-0.0156836597765,0.0596334694589,0.999999789958,-0.000285113082246,-0.000577583026943,-7.20549093443e-05,1793239544227098880
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745.965598526,715,680,660.965598526,633,881,784,805.965598526,651.965598526,630.034401474,652.034401474,0.450339071618,-0.015683048021,0.0596335103509,0.999999789704,-0.000285061804564,-0.000578014695836,-7.23246671387e-05,1793239544243765760
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745.436855885,715,680,660.436855885,633,881,784,806,651.436855885,630,652.563144115,0.450338904173,-0.0156832179286,0.0596331764718,0.999999789167,-0.00028443228996,-0.000579285793662,-7.205441492e-05,1793239544260432384
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680.155882832,660,633,881,784,805.844117168,651,630.155882832,652.844117168,0.450338731932,-0.0156833925012,0.0596327794506,0.999999788827,-0.000283990868835,-0.000580121624017,-7.17899510941e-05,1793239544277099264
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680.731031098,660,633,881,784,805.268968902,651,630.731031098,652.268968902,0.450338575378,-0.0156834447199,0.0596322772796,0.99999978907,-0.000284155140922,-0.000579641880175,-7.16342519454e-05,1793239544293765888
+254,4.233333333,HOLD_POSE2,766,745,715,680,661,633,880,784,805,651,630,653,0.450339344881,-0.0156821511024,0.0596336400436,0.999999791301,-0.000279459854179,-0.000578051449733,-7.18138358928e-05,1793239544330502144
+255,4.250000000,HOLD_POSE2,766,745.588435062,715,680,660.411564938,633,880,784,805,651,630,653,0.45034043861,-0.0156813413369,0.0596348210982,0.999999792164,-0.000279379247322,-0.000576571034082,-7.20014252628e-05,1793239544347168768
+256,4.266666667,HOLD_POSE2,765.825865826,745.825865826,715,679.825865826,660,633,880,784,805,651,630,653,0.450340931024,-0.0156812858079,0.0596353284328,0.999999792193,-0.000280348208483,-0.000576050516884,-7.20070559914e-05,1793239544363835392
+257,4.283333333,HOLD_POSE2,765.246532971,745.246532971,715,679.246532971,660,633,880,784,805,651,630,653,0.450340024216,-0.0156829853371,0.059634268066,0.999999790272,-0.00028375944483,-0.000577763619453,-7.158928106e-05,1793239544380502016
+258,4.300000000,HOLD_POSE2,765,745.329992949,715,679.329992949,660,633,880,784,805.329992949,651,630,652.670007051,0.450340410702,-0.0156834796841,0.0596342652373,0.999999790509,-0.000283519105484,-0.000577513246032,-7.12557774226e-05,1793239544397168896
+259,4.316666667,HOLD_POSE2,765,745.904439502,715,679.904439502,660,633,880,784,805.904439502,651,630,652.095560498,0.450341755242,-0.015683081251,0.0596350458162,0.999999792342,-0.000280573735907,-0.000575808360276,-7.09847006636e-05,1793239544413835520
+260,4.333333333,HOLD_POSE2,765,745.519621735,715,680,660,633,880,784.480378265,805.519621735,651,630,652,0.450340198628,-0.0156828868586,0.0596344425686,0.999999790646,-0.000282091598671,-0.000577947696827,-7.14766426405e-05,1793239544430502400
+261,4.350000000,HOLD_POSE2,765.058143082,745,715,680,660.058143082,633,880,784.941856918,805,651,630,652,0.450338397853,-0.0156827884853,0.0596336617903,0.999999788599,-0.000284182019215,-0.000580395618844,-7.19975942705e-05,1793239544447168768
+262,4.366666667,HOLD_POSE2,765.649934854,745,715,680,660.649934854,633,880,784.350065146,805,651,630,652,0.450339669537,-0.0156831976963,0.0596337860598,0.999999789898,-0.00028335314061,-0.000578635159994,-7.13873441156e-05,1793239544463835392
+263,4.383333333,HOLD_POSE2,765.763654269,745,715,680,660.763654269,633,880.236345731,784,805,651,630,652.236345731,0.450340735644,-0.0156837113585,0.0596337440037,0.999999790638,-0.00028318640223,-0.000577478675269,-7.10538998305e-05,1793239544480502016
+264,4.400000000,HOLD_POSE2,765.18503598,745,715,680,660.18503598,633,880.81496402,784,805,651,630,652.81496402,0.450341504039,-0.0156843762853,0.059633461077,0.999999790571,-0.000283978566067,-0.000577196857523,-7.11213219588e-05,1793239544497168640
+265,4.416666667,HOLD_POSE2,765,745,715,680,660,633.389955117,880.610044883,784,805,651,630,653,0.450340949715,-0.0156824939941,0.059633384102,0.999999791193,-0.000281296012253,-0.000577411282605,-7.12878881175e-05,1793239544513835520
+266,4.433333333,HOLD_POSE2,765,745,715,680,660,633.963241002,880.036758998,784,805,651,630,653,0.450339773538,-0.0156794141718,0.0596334039517,0.999999792124,-0.000276979879075,-0.000577859007783,-7.15010651613e-05,1793239544530502144
+267,4.450000000,HOLD_POSE2,765.552251895,745,715,680.552251895,660,633.447748105,880.552251895,784,805,651,630,653,0.450340273695,-0.0156809396035,0.0596329795632,0.999999790215,-0.000281710090208,-0.000578851182807,-7.16932915908e-05,1793239544547168768
+268,4.466666667,HOLD_POSE2,765.860283868,745,715,680.860283868,660.139716132,633,880.860283868,784,805,651.139716132,630,653,0.450340878453,-0.0156822341346,0.0596329063316,0.999999788861,-0.00028541372908,-0.000579369433935,-7.17520033122e-05,1793239544563835392
+269,4.483333333,HOLD_POSE2,765.281073665,745,715,680.281073665,660.718926335,633,880.281073665,784,805,651.718926335,630,653,0.450341450972,-0.0156818098362,0.0596340334463,0.999999789937,-0.000283938533507,-0.000578279562754,-7.13952435335e-05,1793239544580502272
+270,4.500000000,HOLD_POSE2,765.296785815,745,715,680,660.703214185,633,880,784,805,651.703214185,630,653,0.45034161305,-0.0156822195867,0.0596344289289,0.999999790344,-0.000283804596329,-0.000577673721363,-7.11323855674e-05,1793239544597168896
+271,4.516666667,HOLD_POSE2,765.873371844,745,715,680,660.126628156,633,880,784,805,651.126628156,630,653,0.450341388177,-0.0156834156519,0.0596341346522,0.999999790121,-0.000284935154929,-0.000577524207907,-7.09580552606e-05,1793239544613835264
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,660,633,880,784,805,651,630,653,0.450339129918,-0.0156850616685,0.0596319805173,0.999999788359,-0.000284864762928,-0.000580579723746,-7.11442390826e-05,1793239544645896192
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,660,633.578437413,880,784,805,651,630,653,0.450341304033,-0.0156814960863,0.0596341143128,0.999999790508,-0.000282289122735,-0.000578103553687,-7.13651218603e-05,1793239544662562816
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745.843326132,715,680,660,633.843326132,880,784,805.156673868,651.156673868,630,653,0.450342963834,-0.0156791492644,0.0596353343351,0.999999792021,-0.000280361315272,-0.000576403295867,-7.151085684e-05,1793239544679229952
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.265629574,715,680,660,633.265629574,880,784,805.734370426,651.734370426,630,653,0.450343241544,-0.015680077562,0.0596340988161,0.999999791856,-0.000280174399214,-0.000576788111825,-7.14546505491e-05,1793239544695896576
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.309804695,715,680,660,633,880.61960939,784,805.690195305,651.690195305,630.309804695,653,0.450342679755,-0.0156807121106,0.0596335653407,0.999999791411,-0.000280387369782,-0.000577465323788,-7.13767262071e-05,1793239544712563200
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.883313284,715,680,660,633,881.766626568,784,805.116686716,651.116686716,630.883313284,653,0.450341403388,-0.0156810966218,0.0596336294407,0.999999790727,-0.000280940721452,-0.00057839142145,-7.1280315594e-05,1793239544729229824
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.540464464,715,680,660,633,881.080928929,784,805,651,630.540464464,653,0.45034057285,-0.0156816792748,0.0596335313547,0.999999790636,-0.000281294193651,-0.000578425175554,-7.08873269682e-05,1793239544745896448
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.962524399,745.037475601,715,679.962524399,660,633,880.037475601,784,805,651,630,653,0.450339660329,-0.015682203553,0.0596332986253,0.999999790597,-0.000281596931518,-0.000578393807409,-7.04965414316e-05,1793239544762562816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.369391441,745.630608559,715,679.369391441,660,633,880.630608559,784,805,651,630,653,0.450335843716,-0.0156811118709,0.0596316837655,0.999999789075,-0.000281904431755,-0.000580776458444,-7.12616598075e-05,1793239544779229696
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.782938985,715,679.217061015,660,633,881,784.217061015,805,651,630,653,0.450324813015,-0.0156801153125,0.0596263975212,0.999999784325,-0.000281975037306,-0.00058877301056,-7.20156940064e-05,1793239544795896576
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.20751592,715,679.79248408,660,633,881,784.79248408,805,651,630,653,0.450301872046,-0.0156792758011,0.0596150499173,0.999999774048,-0.000281654535853,-0.000606037965945,-7.275142843e-05,1793239544812562944
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.368169698,715,680,660,633,880.631830302,785,805,651,630,653,0.45026548132,-0.0156768240824,0.0596001608006,0.999999761265,-0.00027968917072,-0.000627537382857,-7.37552966578e-05,1793239544829229824
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.944003461,715,680,660,633,880.055996539,785,805,651,630,653,0.450221504332,-0.0156734630069,0.0595832741123,0.999999746709,-0.000276796029262,-0.000651425225589,-7.49104043062e-05,1793239544845896448
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.468401372,715,679.468401372,660,633,880.531598628,784.468401372,805.531598628,651,630,653,0.450157611053,-0.0156697284027,0.0595649753214,0.999999732219,-0.000276616116172,-0.000673161219025,-7.68080898302e-05,1793239544862563072
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.118476227,745,715,679.118476227,660,633,880.881523773,784,806,651.118476227,630,653,0.45008830426,-0.0156659029508,0.0595482716936,0.999999718171,-0.000276141560151,-0.000693721419582,-7.84519473039e-05,1793239544879229696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.697637439,745,715,679.697637439,660,633,880.302362561,784,806,651.697637439,630,653,0.450006289539,-0.0156618806999,0.0595383621896,0.999999707042,-0.000273384852916,-0.000710610973094,-7.8797781557e-05,1793239544895896320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.724374878,745.275625122,715,680,660,633,880,784.275625122,806,651.724374878,630,653,0.449917740555,-0.0156573008825,0.0595320293338,0.99999970109,-0.000271073614188,-0.000719810381928,-7.88213202887e-05,1793239544912562944
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.147669143,745.852330857,715,680,660,633,880,784.852330857,806,651.147669143,630,653,0.449822053836,-0.0156521120047,0.0595296034498,0.999999701033,-0.000269248985661,-0.000720609418187,-7.84927977377e-05,1793239544929229824
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.435867677,745.564132323,715,680,660,633,880.435867677,785,805.564132323,651.435867677,630.435867677,653,0.449710186889,-0.0156459510286,0.0595305369528,0.999999701247,-0.000266886888939,-0.000721272584224,-7.77328853897e-05,1793239544945896448
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.02150673,633,881,784.97849327,805,651.97849327,630.97849327,653,0.449591372314,-0.0156393297073,0.0595324068653,0.999999701523,-0.000264190945131,-0.000721978837416,-7.68372301482e-05,1793239544962563328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.600690872,633,881,784.399309128,805,651.399309128,630.399309128,653,0.449436810327,-0.0156294473539,0.0595285759787,0.99999970108,-0.000257635080432,-0.000725014987007,-7.62718286608e-05,1793239544979229952
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.820936552,633,880.820936552,784.179063448,805,651,630,653,0.449273609714,-0.0156193928124,0.059525549667,0.999999700587,-0.000251915513082,-0.00072775687134,-7.57256282478e-05,1793239544995896576
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.244365669,633,880.244365669,784.755634331,805,651,630,653,0.44909123202,-0.0156089560278,0.0595243094521,0.999999700069,-0.000248052464071,-0.000729845508505,-7.52220528629e-05,1793239545012563200
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.668532175,660,633,880,785,805,651,630.331467825,652.668532175,0.44889090899,-0.0155979225116,0.0595261485349,0.999999701828,-0.000242582908063,-0.000729404988084,-7.39352136236e-05,1793239545029229568
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.093241035,660,633,880,785,805,651,630.906758965,652.093241035,0.448677385593,-0.0155864500467,0.059530252708,0.999999705231,-0.000235931626508,-0.00072710405324,-7.20722158764e-05,1793239545045896448
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.495017567,660.495017567,633.495017567,880.495017567,785,805,651,631,652.495017567,0.448441423341,-0.0155741738254,0.0595363222654,0.999999713782,-0.000226091736724,-0.000718605201791,-7.01746105425e-05,1793239545062563072
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,715.084069842,680,661,634,881,785,805,651,631,653,0.448195337903,-0.0155617199538,0.0595436349516,0.999999724032,-0.000215823182059,-0.00070761761668,-6.80745545529e-05,1793239545079229952
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715.663029285,680,661,634,881,785,805,651,631,653,0.447915210308,-0.0155491354943,0.0595560276555,0.999999739159,-0.00020666187193,-0.000689036867975,-6.48221472716e-05,1793239545095896320
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.760183215,745,715.760183215,680,661,634,881,785.239816785,805,651,631,652.760183215,0.447621025714,-0.0155384698307,0.0595701308896,0.999999755321,-0.00019939712653,-0.000667679475306,-6.16742928371e-05,1793239545112562944
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.186420192,745,715.186420192,680,661,634,881,785.813579808,805,651,631,652.186420192,0.447307266684,-0.0155304761019,0.0595866160459,0.999999772936,-0.000194773358876,-0.000642455591228,-5.86720290339e-05,1793239545129229824
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.388785365,745,715,680,661,634,880.611214635,785.611214635,805,651,631,652,0.446958873864,-0.0155269000332,0.0595994709683,0.9999997854,-0.000192403476927,-0.000623794946723,-5.53173809636e-05,1793239545145896704
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.964685168,745,715,680,661,634,880.035314832,785.035314832,805,651,631,652,0.446593812518,-0.0155254500942,0.059610578733,0.999999795385,-0.000191118344163,-0.000608293055805,-5.17931376456e-05,1793239545162563328
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634,880.555989415,785.555989415,805,651.555989415,631,652.555989415,0.446179210667,-0.0155232187691,0.0596113021786,0.999999796782,-0.000172308599941,-0.000611823553758,-4.91606815624e-05,1793239545179229952
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745.144816251,715,679.855183749,661,634,881,786,805,651.855183749,631,653,0.445745289668,-0.0155203305405,0.0596101529401,0.999999796949,-0.000150239379153,-0.000617547007922,-4.65454245965e-05,1793239545195896320
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745.723212653,715,679.276787347,661,634,881,786,805,651.276787347,631,653,0.44526321678,-0.0155156283726,0.0596054279437,0.999999795609,-0.00012183891063,-0.000626113643762,-4.38072382302e-05,1793239545212562944
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745.700933841,715,679.299066159,661,634,881,786,805,651,631,653,0.44477955399,-0.015507060253,0.0596058931041,0.999999800743,-0.000104492326997,-0.000621210528984,-4.11350724633e-05,1793239545229229568
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745.12741389,715,679.87258611,661,634,881,786,805,651,631,653,0.444294432087,-0.0154949443388,0.0596111212843,0.99999981215,-9.72899190431e-05,-0.000603946190236,-3.85234936716e-05,1793239545245896448
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.459520877,634.459520877,880.540479123,786.459520877,805,651,631.459520877,653,0.443811314536,-0.015484237591,0.0596421915746,0.999999840922,-8.74275979059e-05,-0.000556247522902,-3.31710669909e-05,1793239545262563328
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.950740155,662,635,880.049259845,787,805,651.049259845,631.950740155,653,0.443322896856,-0.0154745305057,0.0596802008312,0.999999871869,-7.50637083881e-05,-0.000499902146738,-2.69201575766e-05,1793239545279230208
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.372041523,662,635,880.627958477,787,805,651.627958477,631.372041523,653,0.44277136087,-0.0154712418917,0.0597134607594,0.999999900255,-4.39785004699e-05,-0.000444048403785,-1.94261481942e-05,1793239545295896832
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.205358952,662,635,880.794641048,787,805,651.794641048,631,653,0.442182841795,-0.0154664914464,0.0597334267713,0.9999999142,-1.80408814029e-05,-0.00041363831089,-1.33641797523e-05,1793239545312563200
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.780422341,662,635,880.219577659,787,805,651.219577659,631,653,0.441527742686,-0.01545910929,0.059729459956,0.999999907915,-1.37038637563e-06,-0.000429034020397,-9.88029228533e-06,1793239545329229824
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.644505514,635,880,787,805,651,631.355494486,653,0.440862393957,-0.0154500278152,0.0597280333446,0.999999903568,1.67475527986e-05,-0.000438799711939,-6.17334976617e-06,1793239545345896448
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.069427982,635,880,787,805,651,631.930572018,653,0.440190714231,-0.0154398967,0.0597281757751,0.999999900306,3.57595535849e-05,-0.000445087834177,-2.32862997097e-06,1793239545362563072
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.479753825,661.520246175,635,880.520246175,787,805,651,632,652.479753825,0.439543457379,-0.0154296559768,0.0597588764452,0.999999920807,6.66626607851e-05,-0.000392336809489,3.74382808948e-06,1793239545379229696
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.109107143,662,635,880.890892857,787.109107143,805,651.109107143,632,652,0.438888945392,-0.015420810254,0.0597952359054,0.99999994056,9.59677283634e-05,-0.000331000441894,1.04167128046e-05,1793239545395896320
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.685891548,662,635,880.314108452,787.685891548,805,651.685891548,632,652,0.438188961253,-0.0154180085782,0.0598378663849,0.999999957816,0.00011142452034,-0.00026761091208,1.83521476157e-05,1793239545412563200
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,880.261938885,787.738061115,805,651.738061115,632,652,0.437420426038,-0.015412109883,0.0598404895117,0.999999955543,0.000129587126698,-0.000267582133061,2.28369118313e-05,1793239545429229568
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,880.83710491,787.16289509,805,651.16289509,632,652,0.436569917194,-0.0154025077641,0.059795271757,0.999999929398,0.000150985354251,-0.000343320281728,2.31953569844e-05,1793239545445896448
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.590100577,635.409899423,880.590100577,787.409899423,805,651.409899423,632,652,0.435757078385,-0.0153970604747,0.0597657997628,0.999999913336,0.000169087062291,-0.000379646458633,2.46208756829e-05,1793239545462563328
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.018243123,635.981756877,880.018243123,787.981756877,805,651.981756877,632,652,0.43495912368,-0.0153932548275,0.0597425491815,0.999999902213,0.000185886259889,-0.000400400310334,2.64680127643e-05,1793239545479229696
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.421558455,661.578441545,635.421558455,880,787.421558455,805,651.421558455,632,652.578441545,0.434169529371,-0.0153960631899,0.0597604995238,0.999999914695,0.000198825941745,-0.00036067167223,3.1527428783e-05,1793239545495896576
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.830584348,745,715,679.169415652,662,635.169415652,880,787,805,651,632,652.830584348,0.433364356583,-0.0153979887486,0.0597784767094,0.9999999295,0.000183245923476,-0.000326571681804,2.77814111414e-05,1793239545512563200
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.255252849,745,715,679.744747151,662,635.744747151,880,787,805,651,632,652.255252849,0.432521198084,-0.0153972769281,0.059793265231,0.999999946755,9.9638109927e-05,-0.000310733135024,2.68416256293e-06,1793239545529229824
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.320203267,745,715,680,662,635.679796733,880.320203267,787,805,651,631.679796733,652.320203267,0.43166703135,-0.0154004947864,0.0598070408771,0.99999995555,6.85241503048e-05,-0.00029015207867,-4.00802928914e-06,1793239545545896704
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.895758734,745,715,680,662,635.104241266,880.895758734,787,805,651,631.104241266,652.895758734,0.43080408593,-0.0154068464418,0.0598200087856,0.999999961528,7.9272419484e-05,-0.000265789019619,3.97724338271e-06,1793239545562563328
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.517823841,662,635,880.517823841,787,805,651.482176159,631.482176159,653,0.429948425541,-0.0154066377624,0.0598331909229,0.999999962632,0.000103770077475,-0.000252655518711,1.15099327371e-05,1793239545579229952
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766.069958263,745,715,679,661.930041737,635.069958263,880,787.069958263,805,652,632,652.930041737,0.429083388689,-0.0154039936767,0.0598388783804,0.999999959186,0.000129951135769,-0.000253815228103,1.78291456904e-05,1793239545595896832
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766.65017154,745,715,679,661.34982846,635.65017154,880,787.65017154,805,652,632,652.34982846,0.428138211192,-0.0153941693234,0.0597895562541,0.999999931002,0.000146230444003,-0.000341110346961,1.60277035868e-05,1793239545612563200
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.771944985,745,715,679.228055015,661.228055015,636,880,788,804.771944985,651.771944985,632,652.228055015,0.427226961566,-0.0153881910767,0.0597612597305,0.999999915412,0.000152836149651,-0.000381607075863,1.39116186026e-05,1793239545629229824
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.197599119,745,715,679.802400881,661.802400881,636,880,788,804.197599119,651.197599119,632,652.802400881,0.426367229676,-0.0153880529612,0.0597648895917,0.999999927844,0.000144752946906,-0.000351042659169,1.13177630193e-05,1793239545645896448
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.377390033,635.622609967,880,788,804.377390033,651.377390033,631.622609967,652.622609967,0.425480852652,-0.0153893014922,0.0597870528385,0.999999937469,0.000145506066009,-0.000322021182743,1.3897900103e-05,1793239545662563072
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662.952716547,635.047283453,880,788,804.952716547,651.952716547,631.047283453,652.047283453,0.424580500632,-0.0153912773025,0.0598189366204,0.99999994527,0.000150893728847,-0.000293808961443,1.91917335424e-05,1793239545679229696
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.457124277,661.914248554,635,880,788,804.457124277,652,631,652.542875723,0.423712329235,-0.0153904683395,0.059828843029,0.999999946446,0.000160258986584,-0.000284557755372,2.12515145618e-05,1793239545695896576
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.131626073,661,635,880,788,804,652,631.131626073,652.868373927,0.422849852734,-0.0153891119752,0.0598374029246,0.999999948116,0.000169191841883,-0.000273165182589,2.28577894143e-05,1793239545712563200
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.711064655,661,635,880,788,804,652,631.711064655,652.288935345,0.421996947524,-0.0153867416334,0.0598480770701,0.999999953396,0.000175441841328,-0.000248710965653,2.39064033035e-05,1793239545729229824
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.712421437,661.287578563,635,880,788,804.287578563,651.712421437,632,652.287578563,0.421099051724,-0.015383445373,0.059830169923,0.999999943939,0.000178415751276,-0.000282457238608,2.25349876542e-05,1793239545745896704
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.138816453,661.861183547,635,880,788,804.861183547,651.138816453,632,652.861183547,0.42015640821,-0.0153792281917,0.0597838357438,0.999999913987,0.000178131252265,-0.000374089877326,1.87566038328e-05,1793239545762563328
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,635.438663625,880,787.561336375,804.561336375,651.438663625,631.561336375,652.561336375,0.419260459073,-0.0153766031262,0.0597507149487,0.999999897014,0.000179445315845,-0.000416589566615,1.50109156603e-05,1793239545779229952
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.982286108,661.982286108,636,880,787,804,652,631,652.017713892,0.418382815386,-0.0153746273852,0.0597239048092,0.999999886455,0.000181050591911,-0.000440655461309,1.15196153838e-05,1793239545795896576
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.392483621,661.392483621,636,880,787,804,652,631,652.607516379,0.41761488922,-0.0153772055257,0.0597646571662,0.99999991377,0.000175577656865,-0.000376005780999,1.59069126454e-05,1793239545812563200
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.192077909,661,635.807922091,880,787.192077909,804,652,631.192077909,653,0.416845765774,-0.0153784756718,0.0598024243384,0.999999933425,0.000175266013218,-0.000319404811018,2.03095716186e-05,1793239545829230080
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.766214844,661,635.233785156,880,787.766214844,804,652,631.766214844,653,0.416074260703,-0.015377144108,0.0598342537355,0.999999943672,0.000185220609836,-0.000278813389611,2.47427871986e-05,1793239545845896960
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,744.658516408,715,679,661,635,879.658516408,788,804,652,631.658516408,653,0.415293728544,-0.0153760643484,0.0598438532316,0.999999944561,0.000189942657581,-0.000272260483478,2.59649621012e-05,1793239545862563584
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,744.082470261,715,679,661,635,879.082470261,788,804,652,631.082470261,653,0.414506995792,-0.0153751575512,0.059838183171,0.999999939648,0.000191070505687,-0.000289088384582,2.49814966391e-05,1793239545879230464
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,744.507519611,715,679,661,635,879.507519611,788,804.507519611,652,631.507519611,653,0.413747950337,-0.0153749265927,0.0598399410837,0.999999940345,0.000193442134387,-0.00028503654464,2.5395187424e-05,1793239545895897088
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.903602416,635.096397584,880,788,804.903602416,651.903602416,631.903602416,653,0.412990625461,-0.015374011789,0.0598356623483,0.99999993833,0.000195718114939,-0.000290509425794,2.52749660032e-05,1793239545912563456
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,660.331701517,635.668298483,880,788,804.331701517,651.331701517,631.331701517,653,0.412218967969,-0.0153691667374,0.0597954843434,0.999999915603,0.000196497168602,-0.000360174202395,2.13695679194e-05,1793239545929230080
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.244164894,660.244164894,635.755835106,879.755835106,788,804,651.244164894,631,653,0.411485334898,-0.0153664370183,0.0597651063779,0.999999897433,0.000197610026366,-0.000407128192961,1.82154839444e-05,1793239545945896704
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.8255074,660.8255074,635.1744926,879.1744926,788,804,651.8255074,631,653,0.410804211419,-0.0153666284516,0.0597482617039,0.999999890687,0.000199183849251,-0.000422719896267,1.60989217762e-05,1793239545962563072
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744.58835677,715,679.58835677,661,635,879,788,804,652,631.41164323,653,0.410178655061,-0.0153689401181,0.0597739076385,0.999999908578,0.000199158961857,-0.00037793921134,1.84695880169e-05,1793239545979229952
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744.000165094,715,679.000165094,661,635,879,788,804,652,631.999834906,653,0.409576930662,-0.015372161125,0.059817777243,0.999999932844,0.000198448407646,-0.00030726559146,2.27647680952e-05,1793239545995896832
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,744.576600523,715,678.423399477,661,635.576600523,879,788,804,652,631.423399477,653,0.408999632396,-0.0153720165516,0.0598475486035,0.99999994412,0.000202626265695,-0.000264638650352,2.58629726433e-05,1793239546012563456
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.152215231,661,636,879,787.847784769,804.152215231,652,631.152215231,652.847784769,0.408424690295,-0.015371767518,0.0598672374279,0.99999995059,0.000205291490819,-0.000236428558888,2.78906806714e-05,1793239546029230080
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.724661532,661,636,879,787.275338468,804.724661532,652,631.724661532,652.275338468,0.407856233961,-0.0153712327031,0.0598591016352,0.999999948122,0.000203776898845,-0.000247998309076,2.69639238533e-05,1793239546045896704
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,744.69932567,715,679,661,635.69932567,879,787,804.69932567,652,631.69932567,652.30067433,0.407300598835,-0.0153719562298,0.0598452834462,0.999999942408,0.000202531827262,-0.00027113325649,2.55120119657e-05,1793239546062563328
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,744.120007732,715,679,661,635.120007732,879,787,804.120007732,652,631.120007732,652.879992268,0.406756845527,-0.0153738458984,0.0598261992166,0.999999932905,0.000201536527963,-0.000304986006207,2.35734237017e-05,1793239546079229696
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,744.468776028,715,679,661,635.468776028,879,787.468776028,804,652,631,652.531223972,0.406270750087,-0.0153725715261,0.0598261419856,0.999999934965,0.000200989030531,-0.000298554136702,2.32060616565e-05,1793239546095896576
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.058751063,652.058751063,0.405804207518,-0.0153707053863,0.0598313435716,0.999999939768,0.000200888688521,-0.000282064130702,2.34067138552e-05,1793239546112563200
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.637382455,652.637382455,0.405377379773,-0.0153709180874,0.0598390890098,0.999999942567,0.000203709840381,-0.000269709687606,2.50009486817e-05,1793239546129229824
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.785878383,879,787.785878383,804,652,632,653,0.404957290722,-0.015371148694,0.0598383163502,0.999999940957,0.000211471321633,-0.000269629589816,2.58048963487e-05,1793239546145896704
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.212315721,879,787.212315721,804,652,632,653,0.404548513807,-0.0153714093582,0.0598232445546,0.999999931702,0.00022752602013,-0.000290154154987,2.52822069308e-05,1793239546162563328
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.363674659,879,787.363674659,804,652,632,652.636325341,0.40415885606,-0.015370340631,0.0598029792108,0.999999920907,0.000229612132681,-0.000323861283649,2.40520427405e-05,1793239546179229952
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.941091937,879,787.941091937,804,652,632,652.058908063,0.403780435188,-0.0153684905802,0.0597796614599,0.999999908047,0.000223488485201,-0.000365316205967,2.24060741079e-05,1793239546195896576
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744.466965911,715,679,661,635.466965911,879,787.466965911,804,652,632,652,0.40347845344,-0.0153683476882,0.0597853870075,0.999999911532,0.000231606723122,-0.000350316136658,2.39458639997e-05,1793239546212563200
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744.122639085,715,678.877360915,661,635.122639085,879,787.122639085,804,652,631.877360915,652,0.403196057923,-0.0153682929001,0.0597964402057,0.999999917073,0.000240549742722,-0.000327590028818,2.59861054186e-05,1793239546229229824
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,744.69753997,715,678.30246003,661,635.69753997,879,787.69753997,804,652,631.30246003,652,0.402953865942,-0.0153678477747,0.0598149722606,0.999999924188,0.000246567478113,-0.000300024995989,2.85371595175e-05,1793239546245896448
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.273096059,661,636,879,788,804,652,631,652.273096059,0.40272684352,-0.0153681415385,0.0598320131664,0.999999931185,0.000249419541264,-0.000272848932162,3.12120345077e-05,1793239546262563328
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.849379509,661,636,879,788,804,652,631,652.849379509,0.402516662143,-0.0153692556068,0.0598473986184,0.999999938197,0.000248757119425,-0.00024610469794,3.40243735549e-05,1793239546279229952
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,744.566220528,715,679,661,636,879.433779472,788,804,652,631.433779472,653,0.402316062708,-0.0153665417161,0.0598499810921,0.999999939656,0.000244854573882,-0.000244193160521,3.32270240092e-05,1793239546295896832
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,744.020642939,715,679,661,635.979357061,879.979357061,788,804,652,631.979357061,653,0.402119410986,-0.0153627322812,0.059847786024,0.999999939608,0.000238016347176,-0.000251367908195,3.0752105018e-05,1793239546312563456
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,744.596518809,715,679,661,635.403481191,879.403481191,788,804,652,631.403481191,653,0.401937744829,-0.0153658885154,0.0598389415252,0.999999947557,0.000183054936309,-0.000266591731872,1.7510748081e-05,1793239546329229824
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,744.826001445,715,678.826001445,661,635,879,787.826001445,804,652,631.173998555,653,0.40177122978,-0.0153704276066,0.0598335666662,0.99999995112,0.000145170064298,-0.000276786082404,8.63451584515e-06,1793239546345896704
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,744.244767992,715,678.244767992,661,635,879,787.244767992,804,652,631.755232008,653,0.401640175171,-0.0153782032052,0.0598363123269,0.999999951239,0.000147251984808,-0.000275209202725,9.97464123108e-06,1793239546362563328
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.669284106,744.330715894,715,678.330715894,661,635.330715894,879,787.330715894,804,651.669284106,631.669284106,653,0.401525331595,-0.0153844253733,0.059839001132,0.999999949418,0.00016308408461,-0.000272830485689,1.14685603831e-05,1793239546379229696
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.09798279,744.90201721,715,678.90201721,661,635.90201721,879,787.90201721,804,651.09798279,631.09798279,653,0.401422281024,-0.0153895174703,0.0598416485769,0.999999945655,0.000188919008011,-0.00026986845686,1.30743598014e-05,1793239546395896320
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.49174328,744.50825672,715,679,661,635.50825672,879.49174328,788,804,651.49174328,631,653,0.40134202881,-0.0153877919615,0.0598426589549,0.999999945232,0.000193983981515,-0.000267784028632,1.40979088175e-05,1793239546412562944
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.917179074,744,715,679,661,635,879.834358147,788,804,652,631,652.917179074,0.401268896941,-0.015384767709,0.0598434771079,0.999999945574,0.000195173041772,-0.000265584848285,1.49879229239e-05,1793239546429229824
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.340777183,744,715,679,661,635,878.681554366,788,804,652,631,652.340777183,0.401210072909,-0.0153824144196,0.0598451693481,0.999999945875,0.000198887330665,-0.000261619079923,1.58004512163e-05,1793239546445896448
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.235379047,744.235379047,715,679,660.764620953,635.235379047,878.235379047,788,804,652,631,652,0.401157633326,-0.0153810753243,0.0598461916429,0.999999946029,0.000200704984284,-0.000259592926091,1.64830554416e-05,1793239546462563072
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.811179951,744.811179951,715,679,660.188820049,635.811179951,878.811179951,788,804,652,631,652,0.401114427387,-0.0153812030285,0.0598462450151,0.999999946003,0.000199779589355,-0.000260371980482,1.69777542262e-05,1793239546479229952
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,744.60333237,715,678.60333237,660.39666763,635.60333237,879,788,804,652,631,652.39666763,0.401079252032,-0.0153797209875,0.0598449915392,0.999999945053,0.000201540747135,-0.000262654412947,1.69870192226e-05,1793239546495896832
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,744.013118229,715,678.013118229,660.986881771,635.013118229,879,788,804,652,631,652.986881771,0.401047995051,-0.0153774535016,0.0598431004111,0.999999943636,0.000204612757818,-0.000265670390449,1.67594259151e-05,1793239546512563456
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,744.56647306,715,678.56647306,661,635.56647306,879,788,804,651.43352694,631.56647306,653,0.401030173968,-0.0153780668872,0.0598420650939,0.999999944131,0.000201633869358,-0.000266085019713,1.67376591374e-05,1793239546529229824
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,651.144601603,631.855398397,652.855398397,0.40101485255,-0.0153784486143,0.059841831924,0.99999994461,0.000199972017132,-0.000265538732168,1.67384321041e-05,1793239546545896448
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,651.719099238,631.280900762,652.280900762,0.401006054564,-0.0153779469391,0.0598439256777,0.999999944925,0.000202634592046,-0.000262311467877,1.67923052915e-05,1793239546562563072
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,744.706253124,715,679,661,636,879,787.706253124,804,652,631,652.293746876,0.400998643373,-0.0153776530367,0.0598448517774,0.999999945147,0.000203486805614,-0.000260794470276,1.68669704626e-05,1793239546579229696
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,744.131461901,715,679,661,636,879,787.131461901,804,652,631,652.868538099,0.400992559009,-0.0153775579222,0.0598446607164,0.999999945293,0.00020260694381,-0.000260913781735,1.69615285136e-05,1793239546595896576
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,744.456971682,715,679,661,636,879.456971682,787.456971682,804,652,631.456971682,652.543028318,0.400989050006,-0.015378671451,0.0598444906352,0.999999945481,0.000201206429997,-0.000261290891844,1.67925652069e-05,1793239546612563200
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,744.951752207,715,679,660.951752207,636,879.951752207,788,803.951752207,652,631.951752207,652,0.400986493784,-0.0153800759408,0.0598443558176,0.999999945679,0.000199777455123,-0.000261640409656,1.65852628767e-05,1793239546629230080
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,744.373684807,715,679,660.373684807,636,879.373684807,788,803.373684807,652,631.373684807,652,0.400986014126,-0.0153807398361,0.0598445399204,0.999999945892,0.000199731339595,-0.00026084746174,1.68150549669e-05,1793239546645896704
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,744.203760478,715,679,660.203760478,635.796239522,879,788,803.203760478,652,631,652,0.400985618741,-0.0153810341584,0.0598445902275,0.99999994598,0.000199912803259,-0.00026036526078,1.68782847094e-05,1793239546662563072
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,744.780068279,715,679,660.780068279,635.219931721,879,788,803.780068279,652,631,652,0.400985377438,-0.0153806527686,0.0598443959078,0.999999945842,0.000200510363413,-0.000260451216892,1.66369786541e-05,1793239546679229696
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744.636641341,715,679,661,635,879,787.636641341,804,652,631,652.363358659,0.400985414101,-0.015380790709,0.0598454605828,0.999999946046,0.000200781171721,-0.000259450136942,1.67235042428e-05,1793239546695896576
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,744.049041797,715,679,661,635,879,787.049041797,804,652,631,652.950958203,0.400985622306,-0.0153812491455,0.0598473022258,0.99999994646,0.000200850330421,-0.000257778210366,1.70123458063e-05,1793239546712563456
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.52988134,744,715,678.47011866,661.52988134,635.52988134,879,787,804,652,631.52988134,652.47011866,0.400986332346,-0.0153802225312,0.0598481503344,0.999999946498,0.000202222326658,-0.000256543990699,1.71798896423e-05,1793239546729230080
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.891942341,744,715,678.108057659,661.891942341,636,879,787.108057659,804,652,631.891942341,652.108057659,0.400986918835,-0.0153794354054,0.0598487693626,0.999999946559,0.000203140468357,-0.000255570915861,1.72876975046e-05,1793239546745897216
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.313577873,744,715,678.686422127,661.313577873,636,879,787.686422127,804,652,631.313577873,652.686422127,0.400986768694,-0.0153802791968,0.0598487851186,0.999999946882,0.000201566910198,-0.000255560962503,1.71835865655e-05,1793239546762563584
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,744,715,678.736402217,661,636,879,788,804,652,631,652.736402217,0.40098630058,-0.0153812393458,0.0598486375447,0.999999947163,0.00020025202143,-0.000255502168262,1.70730160375e-05,1793239546779230208
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,744,715,678.160634358,661,636,879,788,804,652,631,652.160634358,0.400985455899,-0.0153823372933,0.0598482965448,0.999999947396,0.000199243466004,-0.000255385533389,1.69547956195e-05,1793239546795896832
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.575338224,744,715,678.424661776,661,636,879,788,804,652,631,652.424661776,0.400986848834,-0.0153823109316,0.0598495566688,0.999999947791,0.00019982205759,-0.000253354968849,1.73096516464e-05,1793239546812563456
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.013263624,744,715,678.986736376,661.013263624,636,879,787.986736376,804,652,631.013263624,652.986736376,0.400989030122,-0.0153818737375,0.0598513839859,0.999999948228,0.000200985358735,-0.000250661111062,1.78349720711e-05,1793239546829230080
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.58579287,744,715,678.41420713,661.58579287,636,879,787.41420713,804,652,631.58579287,652.41420713,0.400987944309,-0.0153824575648,0.0598510037077,0.999999948102,0.000200907691937,-0.000251226405399,1.78293995735e-05,1793239546845896960
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,744,715,678.160517712,661.839482288,636,879,787.160517712,804,652,631.839482288,652.160517712,0.400986706787,-0.0153830523133,0.0598504043716,0.999999947935,0.000200500016405,-0.000252217208929,1.77727942726e-05,1793239546862563328
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,744,715,678.740986704,661.259013296,636,879,787.740986704,804,652,631.259013296,652.740986704,0.400985072359,-0.015383675634,0.0598492319296,0.99999994766,0.000199228962074,-0.000254321242408,1.75826754126e-05,1793239546879230208
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,744,715,679,660.673823769,636,879.326176231,788,804,652,631.326176231,653,0.40098508737,-0.0153831459316,0.0598490534139,0.999999947507,0.000199547056738,-0.000254691444644,1.73272783384e-05,1793239546895897088
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,744,715,679,660.084830692,636,879.915169308,788,804,652,631.915169308,653,0.400986431417,-0.0153816871795,0.0598496757554,0.999999947453,0.000201145609957,-0.000253664610411,1.70192832829e-05,1793239546912563712
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,744.494998446,715,678.505001554,660.494998446,636,879.505001554,788,804,652,632,653,0.400986099373,-0.0153818705347,0.0598501329759,0.99999994754,0.000201384286644,-0.000253101636544,1.74173742575e-05,1793239546929230080
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,661,636,878.926963256,788,804,652,632,653,0.400985883373,-0.0153823635059,0.0598506509261,0.999999947747,0.000201351792322,-0.000252278062764,1.7865318536e-05,1793239546945896960
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,661,636,878.350640434,788,804,652,632,653,0.400988410371,-0.0153830860395,0.0598517788069,0.999999948604,0.000201027419739,-0.000249120903437,1.78381156746e-05,1793239546962563328
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,744.774682515,715,678.225317485,661,636,878.225317485,788,804,652,632,653,0.40098952717,-0.015383404647,0.0598525766777,0.999999949108,0.000200776776211,-0.000247298974435,1.77532754633e-05,1793239546979229952
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,744.199291454,715,678.800708546,661,636,878.800708546,788,804,652,632,653,0.400988452955,-0.0153830956786,0.0598528618153,0.999999949076,0.00020064068475,-0.000247551579274,1.75788846602e-05,1793239546995896832
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,744,715,679,661,636,879,788,803.624493577,652,632,653,0.400987979439,-0.0153832713449,0.0598526806267,0.999999949159,0.000199336090793,-0.000248277221065,1.74832620668e-05,1793239547012563456
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,744,715,679,661,636,879,788,803.050010056,652,632,653,0.400987824228,-0.0153837038143,0.0598522523366,0.999999949299,0.000197412319058,-0.000249253520386,1.74293779703e-05,1793239547029230336
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,744.543045476,715,679,661,635.456954524,879,788,803.543045476,652,631.456954524,652.456954524,0.400987120438,-0.0153846817206,0.0598522846938,0.999999949478,0.000196339181477,-0.000249386241756,1.73528137032e-05,1793239547045896960
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d30eea69a32a568a1aee177592ddf6f44156718
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/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,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+1,0.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+2,0.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+3,0.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+4,0.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+5,0.083333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+6,0.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+7,0.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+8,0.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+9,0.150000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+10,0.166666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+11,0.183333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+12,0.200000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+13,0.216666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+14,0.233333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+15,0.250000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+16,0.266666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+17,0.283333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+18,0.300000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+19,0.316666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+20,0.333333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+21,0.350000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+22,0.366666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+23,0.383333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+24,0.400000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+25,0.416666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+26,0.433333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+27,0.450000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+28,0.466666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+29,0.483333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+30,0.500000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+31,0.516666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+32,0.533333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+33,0.550000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+34,0.566666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+35,0.583333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+36,0.600000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+37,0.616666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+38,0.633333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+39,0.650000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+40,0.666666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+41,0.683333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+42,0.700000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+43,0.716666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+44,0.733333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+45,0.750000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+46,0.766666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+47,0.783333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+48,0.800000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+49,0.816666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+50,0.833333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+51,0.850000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+52,0.866666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+53,0.883333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+54,0.900000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+55,0.916666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+56,0.933333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+57,0.950000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+58,0.966666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+59,0.983333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+60,1.000000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+61,1.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+62,1.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+63,1.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+64,1.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+65,1.083333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+66,1.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+67,1.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+68,1.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+69,1.150000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+70,1.166666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+71,1.183333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+72,1.200000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+73,1.216666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+74,1.233333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+75,1.250000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+76,1.266666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+77,1.283333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+78,1.300000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+79,1.316666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+80,1.333333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+81,1.350000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+82,1.366666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+83,1.383333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+84,1.400000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+85,1.416666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+86,1.433333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+87,1.450000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+88,1.466666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+89,1.483333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+90,1.500000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+91,1.516666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+92,1.533333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+93,1.550000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+94,1.566666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+95,1.583333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+96,1.600000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+97,1.616666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+98,1.633333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+99,1.650000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+100,1.666666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+101,1.683333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+102,1.700000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+103,1.716666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+104,1.733333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+105,1.750000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+106,1.766666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+107,1.783333333,pose1_to_pose2_press,0.575664423642,-0.00990929997034,1.05003219328,0.546234875488,-0.00123755908879,1.04970033576
+108,1.800000000,pose1_to_pose2_press,0.575664439293,-0.00990930959824,1.05003219292,0.546234891411,-0.00123756779529,1.04970033539
+109,1.816666667,pose1_to_pose2_press,0.575664458101,-0.00990932116784,1.05003219248,0.546234910546,-0.00123757825767,1.04970033494
+110,1.833333333,pose1_to_pose2_press,0.575664497555,-0.00990934543816,1.05003219157,0.546234950685,-0.0012376002053,1.04970033399
+111,1.850000000,pose1_to_pose2_press,0.575664506368,-0.00990935085906,1.05003219136,0.54623495965,-0.00123760510742,1.04970033378
+112,1.866666667,pose1_to_pose2_press,0.575664612891,-0.0099093115846,1.05003221405,0.54623506572,-0.00123756734289,1.04970035723
+113,1.883333333,pose1_to_pose2_press,0.575664714794,-0.00990926956006,1.05003223683,0.546235167091,-0.00123752709344,1.04970038077
+114,1.900000000,pose1_to_pose2_press,0.575665693635,-0.00990914896688,1.05003223829,0.546236144366,-0.00123741178562,1.04970038301
+115,1.916666667,pose1_to_pose2_press,0.575669390427,-0.0099090216417,1.05003222085,0.546239838282,-0.00123729450595,1.04970035812
+116,1.933333333,pose1_to_pose2_press,0.575678592864,-0.00990919126012,1.05003226473,0.546249044067,-0.00123745275529,1.04970040211
+117,1.950000000,pose1_to_pose2_press,0.575694798526,-0.00990928881737,1.05003211926,0.546265252218,-0.00123754208827,1.04970025074
+118,1.966666667,pose1_to_pose2_press,0.575721619668,-0.0099092623247,1.05003218324,0.546292070939,-0.00123752383965,1.04970031393
+119,1.983333333,pose1_to_pose2_press,0.575759019826,-0.00990920783496,1.05003241508,0.546329472316,-0.00123746493088,1.04970055307
+120,2.000000000,pose1_to_pose2_press,0.575807264459,-0.00990908376916,1.05003234927,0.546377714082,-0.00123735076544,1.04970048279
+121,2.016666667,pose1_to_pose2_press,0.575864405951,-0.00990921996692,1.05003233588,0.546434856948,-0.00123748236904,1.04970046747
+122,2.033333333,pose1_to_pose2_press,0.575929982635,-0.00990921524553,1.0500322364,0.546500434422,-0.00123747496305,1.04970036808
+123,2.050000000,pose1_to_pose2_press,0.576003009804,-0.00990932003265,1.05003229031,0.546573461543,-0.0012375801259,1.04970041631
+124,2.066666667,pose1_to_pose2_press,0.576083282736,-0.00990925256686,1.05003232961,0.546653733363,-0.0012375162091,1.04970046141
+125,2.083333333,pose1_to_pose2_press,0.576172820374,-0.00990941733207,1.05003219942,0.5467432731,-0.00123767369578,1.04970033529
+126,2.100000000,pose1_to_pose2_press,0.576273326288,-0.00990913651636,1.05003208654,0.546843776498,-0.0012374011955,1.04970022821
+127,2.116666667,pose1_to_pose2_press,0.576388889726,-0.00990917169358,1.05003223154,0.546959340819,-0.00123743388769,1.0497003598
+128,2.133333333,pose1_to_pose2_press,0.576520272093,-0.00990930470435,1.05003221488,0.547090723862,-0.00123756429464,1.04970035124
+129,2.150000000,pose1_to_pose2_press,0.576668602083,-0.00990925765204,1.05003230298,0.547239054566,-0.0012375148941,1.04970043733
+130,2.166666667,pose1_to_pose2_press,0.576835037104,-0.00990913723404,1.05003237313,0.547405487834,-0.00123740065349,1.04970050139
+131,2.183333333,pose1_to_pose2_press,0.577018954553,-0.00990912988495,1.05003230952,0.547589403897,-0.00123739800135,1.04970043793
+132,2.200000000,pose1_to_pose2_press,0.577220773101,-0.00990919781136,1.05003218823,0.547791223518,-0.0012374621997,1.04970031888
+133,2.216666667,pose1_to_pose2_press,0.577438400416,-0.00990922176469,1.05003220601,0.5480088518,-0.00123748285521,1.04970033693
+134,2.233333333,pose1_to_pose2_press,0.577671464309,-0.00990919926076,1.05003229851,0.548241915019,-0.00123746258841,1.04970043074
+135,2.250000000,pose1_to_pose2_press,0.577919353967,-0.0099091747381,1.05003216027,0.548489804749,-0.00123743778046,1.04970029346
+136,2.266666667,pose1_to_pose2_press,0.578181871124,-0.00990920454547,1.0500324918,0.548752324041,-0.001237460601,1.04970061819
+137,2.283333333,pose1_to_pose2_press,0.578463852724,-0.00990917203391,1.05003226316,0.549034303755,-0.00123743430322,1.04970039434
+138,2.300000000,pose1_to_pose2_press,0.578767540587,-0.00990924848613,1.05003221474,0.549337991878,-0.00123750966121,1.04970035147
+139,2.316666667,pose1_to_pose2_press,0.579099582944,-0.00990927084726,1.05003220799,0.54967003552,-0.00123752762923,1.04970034539
+140,2.333333333,pose1_to_pose2_press,0.579460885858,-0.00990925946261,1.05003229414,0.550031338804,-0.00123751503154,1.04970043041
+141,2.350000000,pose1_to_pose2_press,0.579853818893,-0.00990920833423,1.05003234153,0.550424270246,-0.00123746935304,1.04970047661
+142,2.366666667,pose1_to_pose2_press,0.580269342839,-0.00990923141677,1.05003228542,0.550839793519,-0.00123749484741,1.04970041711
+143,2.383333333,pose1_to_pose2_press,0.580704678673,-0.00990926808888,1.05003209265,0.551275129897,-0.00123752948207,1.04970022927
+144,2.400000000,pose1_to_pose2_press,0.581154962853,-0.00990926967984,1.05003211845,0.551725414894,-0.00123752822102,1.04970025709
+145,2.416666667,pose1_to_pose2_press,0.581616806885,-0.00990924842563,1.05003232817,0.552187258682,-0.00123750815184,1.04970045741
+146,2.433333333,pose1_to_pose2_press,0.582089028778,-0.00990922173836,1.0500322493,0.552659479132,-0.00123748641128,1.04970037727
+147,2.450000000,pose1_to_pose2_press,0.582582986885,-0.00990935236285,1.05003225105,0.553153439362,-0.00123760963633,1.04970038405
+148,2.466666667,pose1_to_pose2_press,0.583104149898,-0.00990916465905,1.05003234344,0.553674601534,-0.00123742482575,1.04970047531
+149,2.483333333,pose1_to_pose2_press,0.58364820964,-0.00990909327059,1.0500321181,0.554218658792,-0.0012373617769,1.04970025229
+150,2.500000000,pose1_to_pose2_press,0.58421397383,-0.00990919384421,1.05003241721,0.554784424164,-0.0012374582372,1.04970055396
+151,2.516666667,pose1_to_pose2_press,0.584799794191,-0.00990921185985,1.05003224949,0.555370244933,-0.00123747478782,1.04970038838
+152,2.533333333,pose1_to_pose2_press,0.585393933868,-0.00990920926494,1.05003231704,0.555964384371,-0.0012374732404,1.04970044966
+153,2.550000000,pose1_to_pose2_press,0.585991132588,-0.00990919290282,1.05003236756,0.556561584766,-0.0012374513161,1.04970049696
+154,2.566666667,pose1_to_pose2_press,0.586608346513,-0.00990920548924,1.05003235208,0.55717879965,-0.00123746052745,1.04970048463
+155,2.583333333,pose1_to_pose2_press,0.58725058758,-0.00990925679716,1.05003218715,0.557821041043,-0.00123751063267,1.04970032213
+156,2.600000000,pose1_to_pose2_press,0.587918128947,-0.00990928546892,1.05003217914,0.55848858234,-0.00123753970115,1.04970031
+157,2.616666667,pose1_to_pose2_press,0.588609816216,-0.00990927461074,1.05003245506,0.559180269108,-0.00123753065292,1.04970058303
+158,2.633333333,pose1_to_pose2_press,0.589324162864,-0.00990927156987,1.0500323125,0.559894616687,-0.00123752420361,1.04970044696
+159,2.650000000,pose1_to_pose2_press,0.59004414086,-0.00990917296543,1.0500322084,0.560614592818,-0.00123743181477,1.04970034586
+160,2.666666667,pose1_to_pose2_press,0.590764079647,-0.00990913618945,1.05003221849,0.561334530183,-0.001237399794,1.0497003578
+161,2.683333333,pose1_to_pose2_press,0.591479069387,-0.00990910954731,1.05003229505,0.562049520614,-0.0012373705716,1.04970044048
+162,2.700000000,pose1_to_pose2_press,0.592189931917,-0.00990913050665,1.05003226435,0.562760384014,-0.00123738923345,1.04970039269
+163,2.716666667,pose1_to_pose2_press,0.5929018821,-0.00990935625713,1.05003221711,0.563472336043,-0.0012376084609,1.04970035224
+164,2.733333333,pose1_to_pose2_press,0.593627539259,-0.00990920197158,1.05003229336,0.56419799155,-0.00123745975581,1.04970042911
+165,2.750000000,pose1_to_pose2_press,0.59438224356,-0.00990935163392,1.05003227463,0.564952697932,-0.00123760247399,1.04970040732
+166,2.766666667,pose1_to_pose2_press,0.595159504577,-0.00990938894525,1.05003236699,0.56572995952,-0.00123763787074,1.04970049919
+167,2.783333333,pose1_to_pose2_press,0.595954652786,-0.00990927112794,1.05003232905,0.56652510546,-0.00123752748779,1.04970046815
+168,2.800000000,pose1_to_pose2_press,0.596755773738,-0.00990923036012,1.05003217962,0.567326225417,-0.00123748987382,1.04970032457
+169,2.816666667,pose1_to_pose2_press,0.597550927949,-0.00990920747225,1.05003225905,0.568121380377,-0.00123746468879,1.04970039765
+170,2.833333333,pose1_to_pose2_press,0.59832494786,-0.00990930348858,1.05003236124,0.568895401682,-0.00123755628738,1.04970049175
+171,2.850000000,pose1_to_pose2_press,0.599084549605,-0.00990938911404,1.05003234854,0.569655003344,-0.00123764211482,1.0497004812
+172,2.866666667,pose1_to_pose2_press,0.599831369384,-0.00990923779939,1.05003235991,0.570401821182,-0.00123749732083,1.04970049427
+173,2.883333333,pose1_to_pose2_press,0.600569981967,-0.00990939672428,1.05003247569,0.571140436658,-0.00123764656419,1.04970060655
+174,2.900000000,pose1_to_pose2_press,0.601302365755,-0.00990913750611,1.05003247417,0.571872816089,-0.00123740210459,1.04970060588
+175,2.916666667,pose1_to_pose2_press,0.602050875873,-0.00990917147034,1.05003250442,0.57262132779,-0.00123743086605,1.04970063184
+176,2.933333333,pose1_to_pose2_press,0.602809593995,-0.00990923958153,1.0500323898,0.573380045371,-0.00123750069042,1.04970052041
+177,2.950000000,pose1_to_pose2_press,0.603565758382,-0.0099092779309,1.05003243207,0.574136211092,-0.00123753438109,1.04970056618
+178,2.966666667,pose1_to_pose2_press,0.60431978313,-0.00990922085336,1.0500325712,0.574890234486,-0.00123748216828,1.04970069834
+179,2.983333333,pose1_to_pose2_press,0.605068863154,-0.00990924369087,1.05003247809,0.575639313777,-0.00123750760599,1.04970060246
+180,3.000000000,pose1_to_pose2_press,0.605783665768,-0.00990917308109,1.050032369,0.576354116304,-0.00123743707231,1.04970049917
+181,3.016666667,pose1_to_pose2_press,0.606471006326,-0.00990918555707,1.05003238274,0.577041457579,-0.00123744724168,1.0497005096
+182,3.033333333,pose1_to_pose2_press,0.6071408321,-0.00990927970796,1.05003231818,0.577711284558,-0.00123753753694,1.04970043905
+183,3.050000000,pose1_to_pose2_press,0.607798099117,-0.0099092171905,1.05003216396,0.578368550973,-0.00123747677555,1.0497002924
+184,3.066666667,pose1_to_pose2_press,0.60844751287,-0.00990917134129,1.05003226771,0.579017963242,-0.00123743575237,1.04970040174
+185,3.083333333,pose1_to_pose2_press,0.609092833511,-0.00990922932778,1.05003247198,0.579663286446,-0.00123748534556,1.04970059813
+186,3.100000000,pose1_to_pose2_press,0.609734267472,-0.00990926078322,1.05003225798,0.580304719006,-0.00123752157008,1.04970038385
+187,3.116666667,pose1_to_pose2_press,0.610355808427,-0.00990937286212,1.05003213862,0.580926261782,-0.00123762741789,1.04970026593
+188,3.133333333,pose1_to_pose2_press,0.61095098557,-0.00990921400643,1.05003223037,0.581521436458,-0.00123747675614,1.04970036247
+189,3.150000000,pose1_to_pose2_press,0.611509091082,-0.00990918468045,1.05003221124,0.582079542582,-0.00123744519343,1.04970034755
+190,3.166666667,pose1_to_pose2_press,0.612034078786,-0.0099091513974,1.05003233266,0.582604529362,-0.00123741533715,1.04970046177
+191,3.183333333,pose1_to_pose2_press,0.612528364632,-0.0099091686473,1.0500324146,0.583098815559,-0.00123743113157,1.04970054921
+192,3.200000000,pose1_to_pose2_press,0.613013283507,-0.00990921670333,1.05003233971,0.583583735001,-0.00123747691918,1.04970047929
+193,3.216666667,pose1_to_pose2_press,0.613490165085,-0.0099092384624,1.05003217459,0.58406061703,-0.0012374969556,1.04970031324
+194,3.233333333,pose1_to_pose2_press,0.61395471762,-0.00990922283552,1.05003208418,0.584525169516,-0.00123748121121,1.04970022365
+195,3.250000000,pose1_to_pose2_press,0.614400658663,-0.0099092196248,1.05003210455,0.584971108303,-0.00123748541307,1.04970024344
+196,3.266666667,pose1_to_pose2_press,0.614819547412,-0.00990912684503,1.05003225791,0.585389998214,-0.00123738868102,1.04970038955
+197,3.283333333,pose1_to_pose2_press,0.615211818205,-0.00990930961474,1.05003247923,0.585782272205,-0.00123756048843,1.04970060663
+198,3.300000000,pose1_to_pose2_press,0.615579395487,-0.00990922949422,1.0500325051,0.586149847863,-0.00123748566979,1.04970063123
+199,3.316666667,pose1_to_pose2_press,0.61593191741,-0.00990921464005,1.05003229672,0.586502369272,-0.00123747189772,1.04970043317
+200,3.333333333,pose1_to_pose2_press,0.616273158257,-0.00990912560026,1.05003234401,0.586843609057,-0.00123738611049,1.04970048309
+201,3.350000000,pose1_to_pose2_press,0.616605320196,-0.00990906992337,1.05003234048,0.587175769839,-0.00123733426064,1.04970047619
+202,3.366666667,pose1_to_pose2_press,0.616921785454,-0.0099091410169,1.05003216236,0.587492234947,-0.00123740563299,1.04970029866
+203,3.383333333,pose1_to_pose2_press,0.617216593866,-0.00990922892517,1.05003214074,0.587787044741,-0.00123748861539,1.04970027727
+204,3.400000000,pose1_to_pose2_press,0.617484352617,-0.00990923711109,1.05003218951,0.58805480372,-0.00123749585969,1.04970032393
+205,3.416666667,pose1_to_pose2_press,0.617724570039,-0.00990919402709,1.05003211863,0.588295018344,-0.00123746197209,1.04970025639
+206,3.433333333,pose1_to_pose2_press,0.617938927349,-0.00990918957661,1.05003223069,0.58850937835,-0.00123744838088,1.04970036532
+207,3.450000000,pose1_to_pose2_press,0.618132793329,-0.00990928365291,1.05003218636,0.588703244298,-0.00123754200583,1.04970033111
+208,3.466666667,pose1_to_pose2_press,0.618310731362,-0.00990925717537,1.05003230105,0.588881183275,-0.00123751238326,1.0497004401
+209,3.483333333,pose1_to_pose2_press,0.618476872888,-0.00990926378139,1.05003242377,0.589047324306,-0.00123752072371,1.04970055708
+210,3.500000000,pose1_to_pose2_press,0.618631419958,-0.00990929503796,1.05003241496,0.58920187116,-0.00123755256845,1.04970054915
+211,3.516666667,pose1_to_pose2_press,0.618774480212,-0.00990932777044,1.05003230637,0.589344932145,-0.00123758270999,1.04970044157
+212,3.533333333,pose1_to_pose2_press,0.618905381744,-0.00990936603101,1.05003221068,0.589475833965,-0.00123762005635,1.04970034187
+213,3.550000000,pose1_to_pose2_press,0.619020959117,-0.00990940523796,1.05003214171,0.589591410814,-0.00123766084281,1.04970027578
+214,3.566666667,pose1_to_pose2_press,0.619122983807,-0.00990939285818,1.05003233747,0.589693436686,-0.00123764449534,1.04970046823
+215,3.583333333,pose1_to_pose2_press,0.619211321096,-0.00990939043068,1.05003198093,0.589781772853,-0.00123764541839,1.04970012179
+216,3.600000000,pose1_to_pose2_press,0.619288098495,-0.00990917346476,1.05003226526,0.589858548982,-0.00123743293813,1.04970040338
+217,3.616666667,pose1_to_pose2_press,0.619353818936,-0.00990923949422,1.05003241761,0.589924270024,-0.0012374967916,1.04970055573
+218,3.633333333,pose1_to_pose2_press,0.61941056062,-0.00990922791515,1.05003224479,0.589981011198,-0.00123748656566,1.04970038014
+219,3.650000000,pose1_to_pose2_press,0.619458920953,-0.00990917782767,1.05003225479,0.59002937121,-0.00123743760493,1.0497003826
+220,3.666666667,pose1_to_pose2_press,0.619498442598,-0.00990918153464,1.050032339,0.590068892532,-0.0012374425685,1.04970046462
+221,3.683333333,pose1_to_pose2_press,0.619530455512,-0.00990918779457,1.0500322382,0.590100905161,-0.00123744978266,1.04970036994
+222,3.700000000,pose1_to_pose2_press,0.619555317613,-0.00990916397094,1.05003225447,0.590125768889,-0.00123742070907,1.04970038831
+223,3.716666667,pose1_to_pose2_press,0.619574633839,-0.00990930493291,1.05003248098,0.590145085442,-0.00123756038175,1.0497006077
+224,3.733333333,pose1_to_pose2_press,0.619588913213,-0.00990928103957,1.05003229423,0.590159364412,-0.00123753765293,1.04970042726
+225,3.750000000,pose1_to_pose2_press,0.619599285767,-0.00990924243157,1.05003223171,0.590169737214,-0.0012374982278,1.04970036636
+226,3.766666667,pose1_to_pose2_press,0.619606582187,-0.00990922531324,1.05003225497,0.590177034046,-0.0012374798102,1.04970038875
+227,3.783333333,pose1_to_pose2_press,0.619611356759,-0.00990925690466,1.05003233029,0.590181808793,-0.00123751085515,1.04970046274
+228,3.800000000,pose1_to_pose2_press,0.619614334821,-0.00990926124023,1.0500323858,0.590184787056,-0.00123751456409,1.04970051748
+229,3.816666667,pose1_to_pose2_press,0.619615794441,-0.00990924832472,1.05003242137,0.590186246866,-0.00123750106179,1.04970055271
+230,3.833333333,pose1_to_pose2_press,0.619616815446,-0.00990923929032,1.05003244624,0.590187268003,-0.00123749161692,1.04970057735
+231,3.850000000,pose1_to_pose2_press,0.619617545317,-0.00990923283203,1.05003246403,0.590187997969,-0.00123748486521,1.04970059496
+232,3.866666667,pose1_to_pose2_press,0.619618385116,-0.00990922540104,1.05003248449,0.590188837877,-0.0012374770966,1.04970061523
+233,3.883333333,pose1_to_pose2_press,0.619619061622,-0.00990923615455,1.05003245071,0.590189514198,-0.00123748838854,1.04970058357
+234,3.900000000,pose1_to_pose2_press,0.619619369969,-0.00990924168298,1.05003243343,0.590189822449,-0.00123749419273,1.04970056733
+235,3.916666667,pose1_to_pose2_press,0.619619888484,-0.00990925097959,1.05003240437,0.590190340805,-0.00123750395306,1.04970054004
+236,3.933333333,pose1_to_pose2_press,0.619620682415,-0.00990926521422,1.05003235988,0.590191134493,-0.00123751889774,1.04970049825
+237,3.950000000,pose1_to_pose2_press,0.619621025771,-0.00990927137033,1.05003234064,0.590191477743,-0.00123752536093,1.04970048017
+238,3.966666667,pose1_to_pose2_press,0.619621238774,-0.00990927518934,1.0500323287,0.590191690681,-0.00123752937043,1.04970046896
+239,3.983333333,pose1_to_pose2_press,0.619621596671,-0.00990924555252,1.05003239397,0.590192048315,-0.00123750076928,1.04970053049
+240,4.000000000,pose1_to_pose2_press,0.619621756019,-0.00990922918906,1.05003243053,0.590192207531,-0.00123748492982,1.04970056494
+241,4.016666667,pose1_to_pose2_press,0.619621857035,-0.00990921881562,1.05003245371,0.590192308465,-0.00123747488856,1.04970058679
+242,4.033333333,pose1_to_pose2_press,0.619621871389,-0.00990921734159,1.050032457,0.590192322807,-0.00123747346173,1.04970058989
+243,4.050000000,pose1_to_pose2_press,0.619621999793,-0.00990920415581,1.05003248646,0.590192451105,-0.0012374606982,1.04970061766
+244,4.066666667,pose1_to_pose2_press,0.619622260416,-0.00990917739229,1.05003254626,0.590192711514,-0.0012374347917,1.04970067401
+245,4.083333333,pose1_to_pose2_press,0.6196225737,-0.00990914522103,1.05003261814,0.590193024541,-0.00123740365064,1.04970074176
+246,4.100000000,pose1_to_pose2_press,0.619622876059,-0.0099091362406,1.05003262552,0.590193326301,-0.00123739665915,1.04970075027
+247,4.116666667,pose1_to_pose2_press,0.619623144197,-0.00990913397878,1.05003261606,0.590193593817,-0.00123739641815,1.04970074312
+248,4.133333333,pose1_to_pose2_press,0.619623305028,-0.00990914189961,1.05003251719,0.590193754521,-0.00123740457018,1.04970064949
+249,4.150000000,pose1_to_pose2_press,0.619623316205,-0.00990915942929,1.05003233976,0.590193766138,-0.0012374203207,1.04970047948
+250,4.166666667,pose1_to_pose2_press,0.61962331871,-0.00990916335776,1.0500323,0.590193768742,-0.00123742385046,1.04970044138
+251,4.183333333,pose1_to_pose2_press,0.619623323017,-0.00990917011311,1.05003223163,0.590193773219,-0.00123742992018,1.04970037587
+252,4.200000000,pose1_to_pose2_press,0.619623326004,-0.0099091747971,1.05003218422,0.590193776323,-0.0012374341285,1.04970033044
+253,4.216666667,pose1_to_pose2_press,0.619623326004,-0.0099091747971,1.05003218422,0.590193776323,-0.00123743412794,1.04970033045
+254,4.233333333,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776326,-0.00123743412708,1.04970033045
+255,4.250000000,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776326,-0.0012374341271,1.04970033045
+256,4.266666667,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776326,-0.0012374341271,1.04970033045
+257,4.283333333,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776326,-0.00123743412745,1.04970033045
+258,4.300000000,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776327,-0.00123743412744,1.04970033045
+259,4.316666667,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776326,-0.00123743412711,1.04970033045
+260,4.333333333,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776327,-0.00123743412744,1.04970033045
+261,4.350000000,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776327,-0.00123743412736,1.04970033045
+262,4.366666667,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776327,-0.00123743412738,1.04970033045
+263,4.383333333,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776327,-0.00123743412739,1.04970033045
+264,4.400000000,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776327,-0.00123743412738,1.04970033045
+265,4.416666667,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776327,-0.0012374341274,1.04970033045
+266,4.433333333,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776327,-0.00123743412727,1.04970033045
+267,4.450000000,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776327,-0.00123743412727,1.04970033045
+268,4.466666667,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776327,-0.00123743412725,1.04970033045
+269,4.483333333,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776327,-0.00123743412723,1.04970033045
+270,4.500000000,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776328,-0.00123743412732,1.04970033045
+271,4.516666667,pose2_hold,0.619623326004,-0.0099091747971,1.05003218422,0.590193776328,-0.0012374341275,1.04970033045
+272,4.533333333,pose2_to_pose3_retreat,0.619623326004,-0.0099091747971,1.05003218422,0.590193776328,-0.00123743412761,1.04970033045
+273,4.550000000,pose2_to_pose3_retreat,0.619623072947,-0.00990920607748,1.05003241368,0.590193525407,-0.00123745871161,1.04970054595
+274,4.566666667,pose2_to_pose3_retreat,0.619622706983,-0.00990923039738,1.05003231654,0.590193161269,-0.00123747665185,1.04970045374
+275,4.583333333,pose2_to_pose3_retreat,0.619622441718,-0.0099092456883,1.05003228121,0.590192895459,-0.00123749370017,1.04970042056
+276,4.600000000,pose2_to_pose3_retreat,0.619622356404,-0.0099092506061,1.05003226984,0.59019280997,-0.00123749918317,1.04970040989
+277,4.616666667,pose2_to_pose3_retreat,0.619621970956,-0.00990927282484,1.0500322185,0.59019242373,-0.00123752395553,1.04970036167
+278,4.633333333,pose2_to_pose3_retreat,0.619621024972,-0.00990928283707,1.0500322194,0.590191476899,-0.00123753683125,1.04970036259
+279,4.650000000,pose2_to_pose3_retreat,0.619618584179,-0.00990924482579,1.05003235824,0.590189035375,-0.00123750166387,1.0497004922
+280,4.666666667,pose2_to_pose3_retreat,0.619612680578,-0.00990913981402,1.05003238828,0.590183130472,-0.00123740140328,1.04970051329
+281,4.683333333,pose2_to_pose3_retreat,0.619600684346,-0.00990917967432,1.05003235752,0.590171134385,-0.00123744055398,1.04970048928
+282,4.700000000,pose2_to_pose3_retreat,0.619581083556,-0.00990913916125,1.05003232509,0.590151533891,-0.00123739874371,1.04970046444
+283,4.716666667,pose2_to_pose3_retreat,0.619551128595,-0.00990915836991,1.05003243567,0.590121578435,-0.0012374195114,1.0497005765
+284,4.733333333,pose2_to_pose3_retreat,0.619510664076,-0.00990913073777,1.05003226067,0.590081112207,-0.00123739780359,1.04970039954
+285,4.750000000,pose2_to_pose3_retreat,0.619459575064,-0.00990917573698,1.05003249712,0.590030025806,-0.00123743450056,1.04970062805
+286,4.766666667,pose2_to_pose3_retreat,0.619399120036,-0.00990928865317,1.05003223425,0.589969571177,-0.0012375462448,1.04970036652
+287,4.783333333,pose2_to_pose3_retreat,0.619329393738,-0.00990929086734,1.05003224416,0.589899845073,-0.00123754802763,1.04970037443
+288,4.800000000,pose2_to_pose3_retreat,0.619250972171,-0.00990930957921,1.05003229899,0.589821423779,-0.00123756597716,1.04970042991
+289,4.816666667,pose2_to_pose3_retreat,0.619163736285,-0.00990915141743,1.05003250527,0.589734184427,-0.00123741941613,1.04970062912
+290,4.833333333,pose2_to_pose3_retreat,0.619063504806,-0.00990903251237,1.05003249535,0.589633951903,-0.00123730406619,1.04970062133
+291,4.850000000,pose2_to_pose3_retreat,0.618949861432,-0.00990912821938,1.05003221654,0.589520310194,-0.00123739365491,1.04970035654
+292,4.866666667,pose2_to_pose3_retreat,0.618820828224,-0.0099092103544,1.05003223696,0.589391278121,-0.00123747234401,1.04970036946
+293,4.883333333,pose2_to_pose3_retreat,0.618675994711,-0.00990929964808,1.05003251069,0.589246446715,-0.00123755485788,1.04970063754
+294,4.900000000,pose2_to_pose3_retreat,0.618514191929,-0.00990939020926,1.05003241627,0.589084644629,-0.00123764319628,1.04970054334
+295,4.916666667,pose2_to_pose3_retreat,0.618337751802,-0.00990937209007,1.05003218126,0.588908204085,-0.00123762646569,1.04970031242
+296,4.933333333,pose2_to_pose3_retreat,0.618146472822,-0.00990926753012,1.05003217024,0.58871692432,-0.00123752456236,1.04970030484
+297,4.950000000,pose2_to_pose3_retreat,0.61793779648,-0.00990923399185,1.05003234221,0.588508247226,-0.00123749371296,1.04970047656
+298,4.966666667,pose2_to_pose3_retreat,0.617712379118,-0.00990934812329,1.05003233596,0.588282831156,-0.00123760366599,1.04970046945
+299,4.983333333,pose2_to_pose3_retreat,0.617468899297,-0.00990923684705,1.0500322013,0.588039351617,-0.00123749126832,1.04970034466
+300,5.000000000,pose2_to_pose3_retreat,0.617205395261,-0.00990917001892,1.05003211367,0.587775846607,-0.00123742825356,1.04970025285
+301,5.016666667,pose2_to_pose3_retreat,0.616920653,-0.00990922520575,1.05003214416,0.587491104375,-0.00123748337044,1.04970028691
+302,5.033333333,pose2_to_pose3_retreat,0.616611816978,-0.00990926954655,1.05003205575,0.587182268776,-0.00123752619661,1.04970020595
+303,5.050000000,pose2_to_pose3_retreat,0.616278004579,-0.00990925217628,1.05003206831,0.586848456398,-0.00123750919882,1.0497002137
+304,5.066666667,pose2_to_pose3_retreat,0.615914190272,-0.00990922907425,1.05003236498,0.586484642336,-0.00123748603889,1.0497004957
+305,5.083333333,pose2_to_pose3_retreat,0.615526125747,-0.00990918915553,1.05003233132,0.586096578693,-0.00123744324879,1.04970046698
+306,5.100000000,pose2_to_pose3_retreat,0.615116668985,-0.00990908855989,1.05003223325,0.585687118907,-0.00123735320024,1.04970036479
+307,5.116666667,pose2_to_pose3_retreat,0.614694799526,-0.00990911395237,1.05003224158,0.585265249015,-0.00123738053754,1.04970037013
+308,5.133333333,pose2_to_pose3_retreat,0.614263201434,-0.00990922422877,1.05003233492,0.584833652603,-0.00123748523058,1.04970046722
+309,5.150000000,pose2_to_pose3_retreat,0.613819249168,-0.00990907583359,1.05003238391,0.584389699493,-0.00123734014451,1.04970051108
+310,5.166666667,pose2_to_pose3_retreat,0.613356417934,-0.00990904686626,1.05003242528,0.583926867936,-0.00123731236664,1.0497005564
+311,5.183333333,pose2_to_pose3_retreat,0.612863176662,-0.00990914171347,1.0500324681,0.58343362727,-0.00123740522421,1.04970060188
+312,5.200000000,pose2_to_pose3_retreat,0.612337477042,-0.00990922534289,1.05003247362,0.5829079285,-0.00123748638731,1.04970059872
+313,5.216666667,pose2_to_pose3_retreat,0.61177906532,-0.00990927108897,1.05003235725,0.582349517735,-0.00123752904925,1.04970048063
+314,5.233333333,pose2_to_pose3_retreat,0.611203452213,-0.00990917642273,1.05003210242,0.581773904444,-0.00123743454226,1.04970023826
+315,5.250000000,pose2_to_pose3_retreat,0.610616032969,-0.00990923583652,1.05003224148,0.581186483008,-0.00123750162294,1.04970037149
+316,5.266666667,pose2_to_pose3_retreat,0.610020603075,-0.00990918457318,1.05003225783,0.580591053421,-0.00123744945168,1.04970038508
+317,5.283333333,pose2_to_pose3_retreat,0.609406692001,-0.0099092091456,1.05003231222,0.579977143038,-0.00123747140356,1.04970044706
+318,5.300000000,pose2_to_pose3_retreat,0.608760841819,-0.00990907691389,1.05003234883,0.579331291983,-0.0012373421031,1.04970048365
+319,5.316666667,pose2_to_pose3_retreat,0.608085392268,-0.00990909329685,1.05003219115,0.578655842535,-0.00123735785202,1.04970033297
+320,5.333333333,pose2_to_pose3_retreat,0.607384314293,-0.00990924606161,1.05003211714,0.577954766851,-0.00123750280082,1.04970025958
+321,5.350000000,pose2_to_pose3_retreat,0.60666724622,-0.00990922637761,1.05003228965,0.577237698743,-0.0012374837039,1.04970041906
+322,5.366666667,pose2_to_pose3_retreat,0.605943603319,-0.00990914921584,1.05003233567,0.57651405304,-0.00123741605548,1.04970046545
+323,5.383333333,pose2_to_pose3_retreat,0.605221215415,-0.00990927168223,1.05003226432,0.575791667479,-0.00123753046456,1.04970039876
+324,5.400000000,pose2_to_pose3_retreat,0.604491477045,-0.00990925582532,1.05003249151,0.57506192887,-0.00123751557139,1.04970061924
+325,5.416666667,pose2_to_pose3_retreat,0.603750013812,-0.00990924058856,1.05003245921,0.574320468042,-0.00123749181194,1.04970059636
+326,5.433333333,pose2_to_pose3_retreat,0.602996795878,-0.00990922301261,1.05003234935,0.573567248628,-0.00123747916639,1.04970048913
+327,5.450000000,pose2_to_pose3_retreat,0.602232890231,-0.00990912838535,1.05003254529,0.572803341246,-0.00123739090102,1.04970067274
+328,5.466666667,pose2_to_pose3_retreat,0.601450803659,-0.00990927656838,1.05003253679,0.572021255035,-0.00123753782176,1.04970066497
+329,5.483333333,pose2_to_pose3_retreat,0.600658502225,-0.00990924772141,1.05003234896,0.571228953646,-0.00123750868788,1.04970048058
+330,5.500000000,pose2_to_pose3_retreat,0.599866763463,-0.00990914971757,1.05003228928,0.570437214571,-0.00123741176367,1.04970042038
+331,5.516666667,pose2_to_pose3_retreat,0.599069512843,-0.00990912826927,1.05003230649,0.56963996315,-0.00123739300782,1.04970043819
+332,5.533333333,pose2_to_pose3_retreat,0.598265910202,-0.00990908138635,1.05003222723,0.56883635971,-0.00123734877599,1.04970036041
+333,5.550000000,pose2_to_pose3_retreat,0.597476093672,-0.00990915784824,1.05003224142,0.568046545151,-0.00123741862406,1.04970037257
+334,5.566666667,pose2_to_pose3_retreat,0.596694934064,-0.00990916826194,1.05003223057,0.567265384273,-0.00123743322818,1.04970036486
+335,5.583333333,pose2_to_pose3_retreat,0.595915011949,-0.00990927782311,1.05003224523,0.566485465761,-0.00123753072612,1.04970037512
+336,5.600000000,pose2_to_pose3_retreat,0.595133083433,-0.0099092647825,1.05003225303,0.565703535997,-0.00123752192894,1.04970038268
+337,5.616666667,pose2_to_pose3_retreat,0.59434365197,-0.00990918942023,1.05003220165,0.564914103108,-0.00123745101087,1.0497003415
+338,5.633333333,pose2_to_pose3_retreat,0.593549170427,-0.00990930236189,1.05003220229,0.564119622957,-0.00123755923721,1.04970034194
+339,5.650000000,pose2_to_pose3_retreat,0.592752060109,-0.00990927024409,1.05003224372,0.563322512554,-0.00123752769743,1.04970037567
+340,5.666666667,pose2_to_pose3_retreat,0.591970163773,-0.00990917557456,1.05003223587,0.562540615228,-0.00123743632754,1.04970036941
+341,5.683333333,pose2_to_pose3_retreat,0.591211217613,-0.00990925947022,1.05003220724,0.561781670207,-0.00123751615159,1.04970034615
+342,5.700000000,pose2_to_pose3_retreat,0.590482829815,-0.00990932467815,1.05003225597,0.561053282722,-0.00123758043481,1.04970039127
+343,5.716666667,pose2_to_pose3_retreat,0.58977508481,-0.00990912130058,1.05003238496,0.560345533808,-0.00123739057998,1.04970051346
+344,5.733333333,pose2_to_pose3_retreat,0.589083479636,-0.0099091444061,1.05003244517,0.559653930211,-0.0012374080379,1.04970058136
+345,5.750000000,pose2_to_pose3_retreat,0.588393623653,-0.00990924924888,1.05003211514,0.558964076693,-0.00123750425883,1.04970025801
+346,5.766666667,pose2_to_pose3_retreat,0.587705875353,-0.00990923472682,1.05003217394,0.558276327758,-0.00123749198794,1.04970031431
+347,5.783333333,pose2_to_pose3_retreat,0.587018115194,-0.00990919531067,1.05003221157,0.557588567131,-0.0012374543121,1.04970034796
+348,5.800000000,pose2_to_pose3_retreat,0.586338750687,-0.00990916857999,1.05003230292,0.556909201432,-0.00123743174582,1.04970043611
+349,5.816666667,pose2_to_pose3_retreat,0.585678307416,-0.00990930636396,1.05003235379,0.556248759529,-0.0012375648951,1.04970048676
+350,5.833333333,pose2_to_pose3_retreat,0.58504169944,-0.00990936453304,1.05003231578,0.555612152589,-0.00123761970392,1.04970044474
+351,5.850000000,pose2_to_pose3_retreat,0.584432889106,-0.00990929315362,1.05003224696,0.555003341656,-0.00123755036304,1.04970037569
+352,5.866666667,pose2_to_pose3_retreat,0.583858824544,-0.00990927409615,1.05003224189,0.554429276762,-0.0012375321706,1.0497003774
+353,5.883333333,pose2_to_pose3_retreat,0.583313034317,-0.00990919218552,1.05003236958,0.553883484322,-0.00123745807781,1.0497004971
+354,5.900000000,pose2_to_pose3_retreat,0.582787481762,-0.00990921404397,1.0500323497,0.553357931443,-0.00123748075532,1.0497004846
+355,5.916666667,pose2_to_pose3_retreat,0.582274434648,-0.00990917242021,1.05003227735,0.552844884835,-0.00123743775118,1.04970040342
+356,5.933333333,pose2_to_pose3_retreat,0.581771810968,-0.00990918908758,1.05003225885,0.552342262561,-0.00123744967848,1.04970038491
+357,5.950000000,pose2_to_pose3_retreat,0.581285454823,-0.00990920804214,1.05003226578,0.551855905127,-0.00123747303814,1.04970039133
+358,5.966666667,pose2_to_pose3_retreat,0.580818513829,-0.00990922183386,1.05003225173,0.551388963956,-0.00123748731168,1.0497003805
+359,5.983333333,pose2_to_pose3_retreat,0.580376893637,-0.00990924573668,1.05003221377,0.550947345256,-0.00123750582803,1.0497003505
+360,6.000000000,pose2_to_pose3_retreat,0.57995949583,-0.00990927312367,1.05003221325,0.550529948159,-0.00123753078995,1.04970034987
+361,6.016666667,pose2_to_pose3_retreat,0.579566249949,-0.00990927436745,1.05003228296,0.550136701548,-0.00123753488084,1.04970041031
+362,6.033333333,pose2_to_pose3_retreat,0.579190242286,-0.00990926447515,1.05003232727,0.549760693591,-0.00123752574008,1.04970046086
+363,6.050000000,pose2_to_pose3_retreat,0.578829980563,-0.00990939684614,1.05003222922,0.549400434012,-0.00123765083,1.04970036284
+364,6.066666667,pose2_to_pose3_retreat,0.578492206781,-0.009909274034,1.05003221589,0.549062659163,-0.00123753152889,1.04970035235
+365,6.083333333,pose2_to_pose3_retreat,0.578178896294,-0.00990920516344,1.05003218463,0.548749348019,-0.00123746463376,1.04970032827
+366,6.100000000,pose2_to_pose3_retreat,0.577895633042,-0.00990916161096,1.05003242771,0.548466083932,-0.0012374243119,1.04970056056
+367,6.116666667,pose2_to_pose3_retreat,0.577641163317,-0.00990929381481,1.05003241899,0.54821161596,-0.00123755079671,1.04970054574
+368,6.133333333,pose2_to_pose3_retreat,0.57741668733,-0.00990927875013,1.05003237993,0.547987140998,-0.00123753221951,1.04970050764
+369,6.150000000,pose2_to_pose3_retreat,0.577210352238,-0.00990924461255,1.05003236361,0.547780805679,-0.00123749873979,1.04970049434
+370,6.166666667,pose2_to_pose3_retreat,0.577019346835,-0.00990929686547,1.05003232897,0.547589799384,-0.00123755395175,1.04970046163
+371,6.183333333,pose2_to_pose3_retreat,0.576839201377,-0.00990926867065,1.05003222102,0.547409653113,-0.0012375284359,1.04970035571
+372,6.200000000,pose2_to_pose3_retreat,0.576669985572,-0.0099091771171,1.05003223666,0.54724043644,-0.00123743997993,1.04970036737
+373,6.216666667,pose2_to_pose3_retreat,0.576514962493,-0.00990929848843,1.05003257317,0.547085415977,-0.00123755268913,1.04970069822
+374,6.233333333,pose2_to_pose3_retreat,0.576375223866,-0.00990924535409,1.05003233896,0.546945676384,-0.00123750271365,1.04970046725
+375,6.250000000,pose2_to_pose3_retreat,0.576252218491,-0.00990913277996,1.05003233711,0.546822667826,-0.0012374009388,1.04970046547
+376,6.266666667,pose2_to_pose3_retreat,0.57614729212,-0.00990911637671,1.05003229127,0.546717741255,-0.00123738515894,1.0497004219
+377,6.283333333,pose2_to_pose3_retreat,0.576058969854,-0.00990919378309,1.05003217199,0.54662942025,-0.00123745818934,1.04970030549
+378,6.300000000,pose2_to_pose3_retreat,0.575983556945,-0.00990921517343,1.05003218284,0.546554007552,-0.00123747886655,1.04970031591
+379,6.316666667,pose2_to_pose3_retreat,0.575919319991,-0.00990908375009,1.05003234699,0.54648976942,-0.00123735151528,1.04970047801
+380,6.333333333,pose2_to_pose3_retreat,0.575865560785,-0.00990899220703,1.05003220593,0.546436009384,-0.0012372624764,1.0497003451
+381,6.350000000,pose2_to_pose3_retreat,0.575820029834,-0.00990916116112,1.05003245115,0.54639048033,-0.00123742542059,1.04970057911
+382,6.366666667,pose2_to_pose3_retreat,0.575781909307,-0.00990917145963,1.05003252127,0.546352360192,-0.00123743461755,1.04970064347
+383,6.383333333,pose2_to_pose3_retreat,0.575751071274,-0.00990924449163,1.05003237097,0.546321523627,-0.00123750243267,1.04970049943
+384,6.400000000,pose2_to_pose3_retreat,0.575726808682,-0.009909283403,1.0500322811,0.546297262078,-0.00123753761759,1.04970041442
+385,6.416666667,pose2_to_pose3_retreat,0.575708568306,-0.00990920439922,1.05003237191,0.546279020952,-0.0012374613351,1.04970050081
+386,6.433333333,pose2_to_pose3_retreat,0.575695152625,-0.00990913627433,1.05003239167,0.546265603885,-0.00123739807596,1.04970051644
+387,6.450000000,pose2_to_pose3_retreat,0.575686104161,-0.00990923005004,1.05003238083,0.546256555495,-0.00123749150125,1.0497005083
+388,6.466666667,pose2_to_pose3_retreat,0.575679473928,-0.00990926511252,1.05003237948,0.546249925227,-0.00123752666627,1.04970050726
+389,6.483333333,pose2_to_pose3_retreat,0.57567500341,-0.00990917672784,1.05003239948,0.546245454179,-0.00123744025533,1.04970052239
+390,6.500000000,pose2_to_pose3_retreat,0.575671920261,-0.00990918393022,1.0500323588,0.54624237132,-0.00123744638163,1.04970048405
+391,6.516666667,pose2_to_pose3_retreat,0.575669985746,-0.00990925206413,1.05003228243,0.546240437598,-0.00123751156554,1.04970041446
+392,6.533333333,pose2_to_pose3_retreat,0.575668919085,-0.00990928963207,1.05003224033,0.546239371375,-0.00123754750689,1.0497003761
+393,6.550000000,pose2_to_pose3_retreat,0.575668379785,-0.00990930777259,1.05003222042,0.54623883229,-0.00123756484743,1.04970035804
+394,6.566666667,pose2_to_pose3_retreat,0.575668262114,-0.00990929817608,1.05003223803,0.546238714567,-0.00123755543222,1.04970037549
+395,6.583333333,pose2_to_pose3_retreat,0.575668219147,-0.00990929467192,1.05003224446,0.546238671581,-0.00123755199425,1.04970038186
+396,6.600000000,pose2_to_pose3_retreat,0.575668043602,-0.0099092803556,1.05003227072,0.546238495959,-0.00123753794839,1.04970040788
+397,6.616666667,pose2_to_pose3_retreat,0.575667855749,-0.00990926503542,1.05003229883,0.546238308023,-0.00123752291763,1.04970043572
+398,6.633333333,pose2_to_pose3_retreat,0.575667736052,-0.00990925527372,1.05003231674,0.546238188274,-0.00123751334035,1.04970045347
+399,6.650000000,pose2_to_pose3_retreat,0.575667713583,-0.00990925344129,1.0500323201,0.546238165795,-0.00123751154253,1.0497004568
+400,6.666666667,pose2_to_pose3_retreat,0.575667643845,-0.00990924775385,1.05003233053,0.546238096026,-0.00123750596253,1.04970046713
+401,6.683333333,pose2_to_pose3_retreat,0.575667358769,-0.00990922450486,1.05003237318,0.546237810826,-0.00123748315275,1.04970050939
+402,6.700000000,pose2_to_pose3_retreat,0.575667200033,-0.00990921155927,1.05003239693,0.546237652019,-0.00123747045172,1.04970053292
+403,6.716666667,pose2_to_pose3_retreat,0.575667145185,-0.00990920708622,1.05003240514,0.546237597147,-0.00123746606317,1.04970054105
+404,6.733333333,pose2_to_pose3_retreat,0.575667093398,-0.00990920286276,1.05003241289,0.546237545337,-0.00123746191951,1.04970054873
+405,6.750000000,pose2_to_pose3_retreat,0.575666855557,-0.00990918346594,1.05003244847,0.546237307392,-0.00123744288912,1.04970058398
+406,6.766666667,pose2_to_pose3_retreat,0.575666504668,-0.00990915484963,1.05003250097,0.54623695635,-0.00123741481341,1.049700636
+407,6.783333333,pose2_to_pose3_retreat,0.575666255557,-0.00990913453363,1.05003253824,0.546236707129,-0.00123739488122,1.04970067292
+408,6.800000000,pose2_to_pose3_retreat,0.575666144376,-0.00990912546639,1.05003255488,0.546236595899,-0.00123738598527,1.0497006894
+409,6.816666667,pose2_to_pose3_retreat,0.575665718213,-0.0099090990702,1.05003256985,0.546236169374,-0.00123736085384,1.04970070347
+410,6.833333333,pose2_to_pose3_retreat,0.57566520941,-0.00990908844959,1.05003246579,0.546235659699,-0.00123735326347,1.04970059752
+411,6.850000000,pose2_to_pose3_retreat,0.575664977741,-0.0099090836138,1.05003241841,0.546235427634,-0.00123734980741,1.04970054927
+412,6.866666667,pose2_to_pose3_retreat,0.575664762284,-0.00990907911642,1.05003237434,0.546235211808,-0.00123734659321,1.04970050441
+413,6.883333333,pose2_to_pose3_retreat,0.575664617726,-0.00990912061125,1.05003231057,0.546235067832,-0.00123738599893,1.04970044365
+414,6.900000000,pose2_to_pose3_retreat,0.575664531675,-0.00990915412938,1.05003226583,0.546234982291,-0.0012374176891,1.04970040141
+415,6.916666667,pose2_to_pose3_retreat,0.575664381396,-0.00990925747307,1.05003226191,0.546234833168,-0.00123751693171,1.04970040207
+416,6.933333333,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.0012375826454,1.04970046032
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a9adf38da3f7e56307d3a8df9eb510c7c1d8bbb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:473155db3cb3c4576652937b13a49bb7a1480dd9aaed93638ed3e204efa36475
+size 26453074
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95b7ca33f2fc9c2f4c6b61ea2dc708e74528d6a4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,715,679,661,635,879,787,804,652,632,653,0.400988215604,-0.0153838599923,0.059853208716,0.999999949213,0.000200285804435,-0.000247287374816,1.75434238714e-05,1793239547202638336
+1,0.016666667,BASELINE,765.575654108,745,715,679,661,635.575654108,879,787.575654108,804,652,632,652.424345892,0.400986167121,-0.0153844034104,0.0598519425732,0.999999949017,0.000198502759769,-0.000249536253379,1.7182265139e-05,1793239547219304960
+2,0.033333333,BASELINE,766,745,715,679,661,636,878.8447707,788,804,651.8447707,631.8447707,652.1552293,0.400984933355,-0.0153847126043,0.0598511752175,0.999999948995,0.000197152317439,-0.000250711360739,1.69027493807e-05,1793239547235971584
+3,0.050000000,BASELINE,766,745,715,679,661,636,878.254198639,788,804,651.254198639,631.254198639,652.745801361,0.400985984473,-0.0153843649132,0.0598518067168,0.999999949481,0.000197015114054,-0.000248875062137,1.68522024122e-05,1793239547252638208
+4,0.066666667,BASELINE,765.669269715,745,715,678.669269715,661.330730285,636,878.330730285,788,804,651.330730285,631.330730285,652.669269715,0.400985976814,-0.0153848090535,0.0598518298974,0.999999949738,0.000195803058293,-0.000248793338519,1.69224321113e-05,1793239547269305088
+5,0.083333333,BASELINE,765.088605365,745,715,678.088605365,661.911394635,636,878.911394635,788,804,651.911394635,631.911394635,652.088605365,0.400985169034,-0.0153858515836,0.0598513933693,0.99999994982,0.000193778732733,-0.000250037553637,1.70839331754e-05,1793239547285971712
+6,0.100000000,BASELINE,765.484559385,745,715,678.484559385,661.515440615,636,879,788,804,652,632,652.484559385,0.400985543217,-0.0153849901458,0.0598522020151,0.999999949501,0.000195548033524,-0.000249926729179,1.7204951267e-05,1793239547302638336
+7,0.116666667,BASELINE,766,745,715,679,661.058296589,636,879,788,803.941703411,652,632,653,0.400986217962,-0.01538398125,0.0598531976628,0.999999949187,0.00019781557455,-0.000249390772883,1.73243434149e-05,1793239547319305216
+8,0.133333333,BASELINE,766,745,715,679,661.649615546,636,879,788,803.350384454,652,632,653,0.400987694819,-0.0153847588654,0.059853853021,0.999999949614,0.000198392701338,-0.000247198702152,1.74955217707e-05,1793239547335971840
+9,0.150000000,BASELINE,766,745,715,679,661.76391995,636,879,788,803.23608005,652,631.76391995,653,0.400988001137,-0.0153852280033,0.0598538531283,0.999999949748,0.000198196466686,-0.000246819430047,1.74063552306e-05,1793239547352638464
+10,0.166666667,BASELINE,766,745,715,679,661.184515195,636,879,788,803.815484805,652,631.184515195,653,0.400986605171,-0.0153852485306,0.0598529003223,0.999999949457,0.000196875553775,-0.000249076461169,1.69385762751e-05,1793239547369305088
+11,0.183333333,BASELINE,766,745,715,679,661,636,879,788,804,652,631.391432257,653,0.40098556188,-0.0153852286713,0.0598523162802,0.999999949436,0.000195909403701,-0.000249934431182,1.67235898722e-05,1793239547385971456
+12,0.200000000,BASELINE,766,745,715,679,661,636,879,788,804,652,631.965764308,653,0.400984683377,-0.0153851899409,0.0598519045459,0.999999949543,0.000195109019233,-0.000250138679109,1.66267227321e-05,1793239547402638336
+13,0.216666667,BASELINE,766,745,715,678.459987752,661,636,879,788,804,652,631.459987752,652.459987752,0.40098552238,-0.0153842470903,0.0598526694914,0.999999949187,0.000198137737992,-0.000249153535199,1.70014975868e-05,1793239547419304704
+14,0.233333333,BASELINE,766,745,715,678.11768545,661,636,879.11768545,788,804,652,631,652.11768545,0.400986122876,-0.015383440081,0.059853251819,0.999999948873,0.00020060950018,-0.000248418570407,1.72876982242e-05,1793239547435971584
+15,0.250000000,BASELINE,766,745,715,678.709170332,661,636,879.709170332,788,804,652,631,652.709170332,0.400985324842,-0.0153834106971,0.0598527986421,0.999999948882,0.000199861781781,-0.000248994353841,1.70969380852e-05,1793239547452638208
+16,0.266666667,BASELINE,766,745,715,679,661,636,879.410664508,788,804,652,631.294667746,653,0.400985647587,-0.0153836055969,0.0598528390073,0.999999949185,0.000198742663776,-0.000248681597262,1.7009258571e-05,1793239547469305088
+17,0.283333333,BASELINE,766,745,715,679,661,636,878.251253338,788,804,652,631.874373331,653,0.400987054483,-0.0153840174507,0.0598533567853,0.999999949768,0.000197264283757,-0.000247509338619,1.70212909599e-05,1793239547485971712
+18,0.300000000,BASELINE,766,745,715,679,661,636,878.450511476,788,804,652,632,652.549488524,0.400986147638,-0.0153842536425,0.0598527556594,0.999999949098,0.000199319335132,-0.000248554199426,1.72131826132e-05,1793239547502638336
+19,0.316666667,BASELINE,766,745,715,678.973818461,661,635.973818461,879,788,804,652,632,652,0.400984680165,-0.0153845234107,0.0598518931714,0.999999948149,0.00020207639493,-0.000250125618112,1.74489940086e-05,1793239547519304960
+20,0.333333333,BASELINE,766,745,715,678.38703764,661,635.38703764,879,788,804,652,632,652,0.400984914896,-0.0153865527246,0.0598520626742,0.999999948849,0.000198933162942,-0.000249837699497,1.75597466021e-05,1793239547535971584
+21,0.350000000,BASELINE,766,745,715,678.197206664,661.197206664,635.197206664,879,787.802793336,804,652,631.802793336,652,0.40098545589,-0.0153875774087,0.0598523663266,0.999999949442,0.000196647994074,-0.000249272937075,1.75793332276e-05,1793239547552638464
+22,0.366666667,BASELINE,766,745,715,678.776535955,661.776535955,635.776535955,879,787.223464045,804,652,631.223464045,652,0.400986590325,-0.0153866554452,0.0598529299173,0.999999949841,0.000196025473913,-0.000248171741082,1.74222697295e-05,1793239547569305088
+23,0.383333333,BASELINE,766,744.645600326,715,678.645600326,661.645600326,636,879,787,804,652,631.354399674,652,0.400986538688,-0.0153846479049,0.0598529120654,0.999999949572,0.000197371448047,-0.000248209082028,1.71282458573e-05,1793239547585971968
+24,0.400000000,BASELINE,766,744.068656849,715,678.068656849,661.068656849,636,879,787,804,652,631.931343151,652,0.400985742262,-0.015381958681,0.0598525290992,0.999999948878,0.000199953529933,-0.000248961362404,1.67482182718e-05,1793239547602639104
+25,0.416666667,BASELINE,766,744.504645748,715,678,661,636,879.504645748,787,804,651.495354252,632,652.504645748,0.400985657598,-0.0153835184606,0.0598527029984,0.999999948959,0.00019929540179,-0.000249132559674,1.71937391034e-05,1793239547619305472
+26,0.433333333,BASELINE,766,744.919787146,715,678,661,636,879.839574292,787.080212854,804,651.080212854,631.919787146,653,0.400985831355,-0.0153851637212,0.0598530126883,0.999999949091,0.00019874335751,-0.000249010709056,1.76757688829e-05,1793239547635971840
+27,0.450000000,BASELINE,766,744.326592531,715,678,661,636,878.653185062,787.673407469,804,651.673407469,631.326592531,653,0.40098704293,-0.015383685197,0.059853709753,0.999999948876,0.000201668768186,-0.000247516704744,1.76781415212e-05,1793239547652638464
+28,0.466666667,BASELINE,766,744.260321486,715,678.260321486,661.260321486,636,878.260321486,788,804,652,631.260321486,653,0.400987948016,-0.0153831087408,0.0598542507666,0.999999949197,0.000201949635016,-0.000246003062152,1.74519784262e-05,1793239547669304832
+29,0.483333333,BASELINE,766,744.839541618,715,678.839541618,661.839541618,636,878.839541618,788,804,652,631.839541618,653,0.400988477646,-0.0153836373345,0.0598546006144,0.999999950176,0.000198990886438,-0.000244465362395,1.69458548215e-05,1793239547685971456
+30,0.500000000,BASELINE,766,745,715,679,661.585634454,636,879,787.585634454,803.585634454,652,632,653,0.40098740609,-0.0153842023317,0.0598535775266,0.999999950103,0.000197396856084,-0.000246062239446,1.68021852255e-05,1793239547702638336
+31,0.516666667,BASELINE,766,745,715,679,661.012495046,636,879,787.012495046,803.012495046,652,632,653,0.400985721004,-0.0153847812776,0.0598520283663,0.999999949621,0.000196325749538,-0.000248860203028,1.67973983809e-05,1793239547719304960
+32,0.533333333,BASELINE,765.43741696,745,715,678.43741696,661,636,879,787.56258304,803.56258304,652,632,653,0.400987397005,-0.0153848096059,0.0598533377422,0.999999950099,0.000196691924043,-0.000246639382725,1.68285226235e-05,1793239547735971840
+33,0.550000000,BASELINE,765.283170858,744.858414571,715,678,661,636,879,788,804,652,631.858414571,652.858414571,0.400988368662,-0.0153850608176,0.0598542560748,0.999999950416,0.000196719288784,-0.000245326270878,1.68612990007e-05,1793239547752638464
+34,0.566666667,BASELINE,766.465831963,744.267084018,715,678,661,636,879,788,804,652,631.267084018,652.267084018,0.400986865025,-0.0153860589978,0.0598537298929,0.999999950167,0.000195568675295,-0.000247251790353,1.68967810645e-05,1793239547769305344
+35,0.583333333,BASELINE,766.682553539,744,715,678.317446461,661,636,879,788,803.682553539,652,631.317446461,652.317446461,0.400986090397,-0.0153860610254,0.059853342931,0.999999949774,0.000196277311714,-0.00024827851676,1.68627532638e-05,1793239547785972224
+36,0.600000000,BASELINE,766.103624263,744,715,678.896375737,661,636,879,788,803.103624263,652,631.896375737,652.896375737,0.400985916259,-0.0153852425154,0.0598530706454,0.999999949263,0.000198517424844,-0.000248564901392,1.67714697172e-05,1793239547802639104
+37,0.616666667,BASELINE,766,744.467892032,715,679,661,636,879,788,803,652,632,653,0.400986679847,-0.0153853578827,0.0598537379252,0.999999949378,0.000198923624431,-0.000247761780772,1.69783475265e-05,1793239547819305472
+38,0.633333333,BASELINE,766,744.960627414,715.039372586,678.960627414,661,636,879.039372586,788,803.039372586,652,631.960627414,653,0.40098749432,-0.0153855529736,0.0598544738126,0.999999949591,0.00019890770246,-0.000246896362194,1.72138923706e-05,1793239547835971328
+39,0.650000000,BASELINE,766,744.366894378,715.633105622,678.366894378,661,636,879.633105622,788,803.633105622,652,631.366894378,653,0.400986146757,-0.015384003896,0.0598532915613,0.999999949264,0.000198577821786,-0.000248498184441,1.69378174248e-05,1793239547852637952
+40,0.666666667,BASELINE,765.778651099,744.221348901,715.778651099,678.221348901,661.221348901,636,879.778651099,788,804,652,631,653,0.400985725863,-0.0153835486271,0.059852943798,0.999999949219,0.000198729408829,-0.000248555772036,1.70115750821e-05,1793239547869304832
+41,0.683333333,BASELINE,765.199287125,744.800712875,715.199287125,678.800712875,661.800712875,636,879.199287125,788,804,652,631,653,0.400986803785,-0.015384862511,0.059853945756,0.999999949626,0.000199659733441,-0.000246115676996,1.76511604832e-05,1793239547885971712
+42,0.700000000,BASELINE,765.377997327,745,715,679,661.622002673,636,879,788,803.622002673,652,631,653,0.400986752379,-0.0153844996917,0.0598539459024,0.999999949492,0.000200130112499,-0.000246289391828,1.74964312638e-05,1793239547902638336
+43,0.716666667,BASELINE,765.954191397,745,715,679,661.045808603,636,879,788,803.045808603,652,631,653,0.400986108826,-0.0153832577203,0.059853420765,0.999999949074,0.000200359326568,-0.000247833615382,1.69252160877e-05,1793239547919305216
+44,0.733333333,BASELINE,766,745,715,679,661,636,879,788,803.538846583,652,631.538846583,652.461153417,0.400986931937,-0.0153849010518,0.059854141116,0.999999949964,0.000197656443749,-0.000246384047913,1.72706917971e-05,1793239547935971840
+45,0.750000000,BASELINE,766,745,715,679.12309511,661,636,879,788,804,652,632,652.12309511,0.400987461684,-0.0153865004301,0.0598546747722,0.999999950601,0.000195730872285,-0.000245309304375,1.76131315473e-05,1793239547952638208
+46,0.766666667,BASELINE,766,745,715,679.703121325,661,636,879,788,804,652,632,652.703121325,0.400986432243,-0.0153870116206,0.0598541161084,0.999999949913,0.000197630728532,-0.000246585727419,1.76504093225e-05,1793239547969304832
+47,0.783333333,BASELINE,766,744.718197674,715,680,661,636,879,788,804,652,632,652.718197674,0.400986684003,-0.0153866778536,0.0598541712956,0.999999949709,0.000198904709942,-0.000246403535114,1.7470224855e-05,1793239547985971200
+48,0.800000000,BASELINE,766,744.140927053,715,680,661,636,879,788,804,652,632,652.140927053,0.400988279096,-0.015385458153,0.0598548701024,0.999999950013,0.000199522465026,-0.000244691992244,1.70620323439e-05,1793239548002637824
+49,0.816666667,BASELINE,766,744.434414863,715,679.565585137,661,636,879.434414863,788,804,652,632,652.434414863,0.400988622039,-0.0153852667521,0.0598550153083,0.999999950236,0.000199031405978,-0.000244190974281,1.69176122302e-05,1793239548019304704
+50,0.833333333,BASELINE,766,745,715,679,661,636,879.990597246,788,804,652,632,653,0.400988533084,-0.0153854095345,0.0598549669338,0.999999950427,0.000198166982973,-0.000244112375136,1.6859259482e-05,1793239548035971584
+51,0.850000000,BASELINE,766,745,715,679,661,636,879.398956673,788,804,652,632,653,0.40098674208,-0.0153856805257,0.059854003206,0.999999950326,0.000196358413931,-0.000245981369019,1.68551555697e-05,1793239548052638208
+52,0.866666667,BASELINE,766,745,715,679,661,636,879,787.811378804,804,652,631.811378804,652.811378804,0.400985553374,-0.0153857149021,0.0598533419288,0.999999950053,0.000196214584472,-0.000247199915932,1.69370491559e-05,1793239548069304832
+53,0.883333333,BASELINE,766,745,715,679,661,636,879,787.232212896,804,652,631.232212896,652.232212896,0.40098561174,-0.0153852593617,0.059853306883,0.999999949426,0.000199517638352,-0.000247071696686,1.71970026258e-05,1793239548085971456
+54,0.900000000,BASELINE,766,745,715,679,661,636,879,787,804,652,631,652.342958441,0.400986105989,-0.0153855691977,0.059853299644,0.999999949455,0.000199625731104,-0.000246870281507,1.71711303663e-05,1793239548102638080
+55,0.916666667,BASELINE,766,745,715,679,661,636,879,787,804,652,631,652.91545622,0.40098689197,-0.0153863912938,0.0598533110159,0.999999949924,0.000197595461816,-0.000246619876883,1.69539572234e-05,1793239548119304704
+56,0.933333333,BASELINE,766,745,715,678.509745819,661,636,879,787.490254181,804,652,631,653,0.400986491798,-0.0153852864082,0.059853584982,0.999999949699,0.00019862017666,-0.000246711551374,1.6922745095e-05,1793239548135971584
+57,0.950000000,BASELINE,766,745,715,678.064716418,661,636,879,788,803.935283582,652,631.064716418,652.935283582,0.400985934058,-0.0153841618294,0.0598538555371,0.999999949462,0.000199738011807,-0.00024676702348,1.6942228241e-05,1793239548152638464
+58,0.966666667,BASELINE,766,745,715,678.633459779,661,636,879,788,803.366540221,652,631.633459779,652.366540221,0.400985749747,-0.0153854841543,0.0598537451793,0.999999950081,0.000197458680908,-0.000246078939686,1.71056017337e-05,1793239548169305088
+59,0.983333333,BASELINE,766,744.785497037,715,678.785497037,661,635.785497037,879,787.785497037,803.214502963,652,631.785497037,652,0.400985839935,-0.0153855409587,0.059853556019,0.999999950247,0.00019693904982,-0.00024582527197,1.70847017815e-05,1793239548185971712
+60,1.000000000,BASELINE,766,744.182157458,715,678.182157458,661,635.182157458,879,787.182157458,803.817842542,652,631.182157458,652,0.400986427713,-0.0153833037126,0.0598532240106,0.999999949592,0.000199609284395,-0.00024635908453,1.67297632886e-05,1793239548202638592
+61,1.016666667,BASELINE,765.600223007,744.399776993,715,678,661,635.399776993,879,787.399776993,804,652,631,652.399776993,0.400986833811,-0.0153835774,0.0598536145403,0.999999949575,0.000200075647087,-0.00024604285823,1.68361553055e-05,1793239548219305216
+62,1.033333333,BASELINE,765.027546115,744.972453885,715,678,661,635.972453885,879,787.972453885,804,652,631,652.972453885,0.400987161333,-0.0153849370433,0.0598543175612,0.999999949835,0.00019958885515,-0.000245358997851,1.71420685778e-05,1793239548235971584
+63,1.050000000,BASELINE,765.561792624,745,715,678.561792624,661,636,879.561792624,788,804,652,631,653,0.40098692631,-0.0153844357697,0.059853634776,0.999999949273,0.000201464302311,-0.000246112411505,1.71789767564e-05,1793239548252638208
+64,1.066666667,BASELINE,766,745,715.148937391,678.851062609,661,636,879.851062609,788,804,652,631.148937391,653,0.400986732181,-0.0153842311873,0.059853319362,0.999999949075,0.000202035298247,-0.000246445597155,1.71957953866e-05,1793239548269304832
+65,1.083333333,BASELINE,766,745,715.727328218,678.272671782,661,636,879.272671782,788,804,652,631.727328218,653,0.400986737931,-0.0153851532431,0.0598542651624,0.999999950051,0.00019850078682,-0.000245357659735,1.71938819834e-05,1793239548285971456
+66,1.100000000,BASELINE,766,745,715.695558061,678,661,636,879.304441939,788,804,652,632,653,0.400986656934,-0.0153854978892,0.0598546799038,0.999999950362,0.000197345884013,-0.000245018756788,1.72230260328e-05,1793239548302638336
+67,1.116666667,BASELINE,766,745,715.119583425,678,661,636,879.880416575,788,804,652,632,653,0.400986498565,-0.015385327542,0.0598546209919,0.999999950089,0.000198313361598,-0.000245347920039,1.72798703192e-05,1793239548319304960
+68,1.133333333,BASELINE,766,745,715,678.455202486,661,636,879.544797514,788,804,652,632,652.544797514,0.400988040996,-0.0153859342432,0.0598552172247,0.999999950602,0.000197501246654,-0.000243891401645,1.74916076999e-05,1793239548335971840
+69,1.150000000,BASELINE,766,744.969365745,715,678.969365745,661,636,879,788,804,652,632,652.030634255,0.400989847783,-0.0153866992457,0.059855903526,0.999999951256,0.000196309991191,-0.000242150560503,1.77087956112e-05,1793239548352638464
+70,1.166666667,BASELINE,766,744.376360578,715,678.376360578,661,636,879,788,804,652,632,652.623639422,0.400988326573,-0.0153866326371,0.0598550919925,0.999999950787,0.000196718555727,-0.000243779454412,1.72809988172e-05,1793239548369305088
+71,1.183333333,BASELINE,766,744,715,678,661,636,879,788,804,652,631.796020433,652.796020433,0.400986900666,-0.0153864538928,0.0598542022985,0.999999950343,0.000197065234042,-0.000245341160824,1.69579980021e-05,1793239548385971712
+72,1.200000000,BASELINE,766,744,715,678,661,636,879,788,804,652,631.237682202,652.237682202,0.400985640323,-0.0153860803431,0.0598531768221,0.999999949942,0.000197304402059,-0.000246786147616,1.68170514459e-05,1793239548402638336
+73,1.216666667,BASELINE,766,744.343628333,715,678.343628333,661,636,879,788,803.656371667,651.656371667,631,652.343628333,0.400985868837,-0.015386033615,0.059853210696,0.999999950128,0.000196545460938,-0.000246648324822,1.66819449667e-05,1793239548419304704
+74,1.233333333,BASELINE,766,744.941966759,715,678.941966759,661,636,879,788,803.058033241,651.058033241,631,652.941966759,0.400987200948,-0.0153862291392,0.0598540297998,0.999999950746,0.000195046684209,-0.00024533726464,1.65511673782e-05,1793239548435971328
+75,1.250000000,BASELINE,766,745,715,678.48012874,661,636,879,788,803.51987126,651.51987126,631.51987126,653,0.400986941689,-0.0153864023131,0.0598539123648,0.999999950649,0.000194915607476,-0.000245824711761,1.67262320408e-05,1793239548452638208
+76,1.266666667,BASELINE,766,745,715,678.097915896,661,636,879,788,804,652,631.902084104,652.902084104,0.400986385982,-0.0153864358835,0.059853530568,0.999999950402,0.000195128385519,-0.000246646342746,1.69017576468e-05,1793239548469305088
+77,1.283333333,BASELINE,766,745,715,678.687689379,661,636,879,788,804,652,631.312310621,652.312310621,0.400985199744,-0.0153857802478,0.0598523261119,0.999999949788,0.000196330508319,-0.00024817630102,1.69145844786e-05,1793239548485972224
+78,1.300000000,BASELINE,766,744.728191467,715,678.728191467,661,636,879,788,804,652,631.271808533,652.271808533,0.400985102124,-0.015385314571,0.0598523838482,0.999999949787,0.000196608038696,-0.000247965998424,1.68315758027e-05,1793239548502639104
+79,1.316666667,BASELINE,766,744.150436834,715,678.150436834,661,636,879,788,804,652,631.849563166,652.849563166,0.400986229846,-0.0153850627108,0.0598538623008,0.999999950476,0.000195844853148,-0.000245796868232,1.66406952371e-05,1793239548519305728
+80,1.333333333,BASELINE,766,744,715,678,661,636,879,788,804,652,632,652.575541309,0.400986776993,-0.0153852400087,0.0598536571574,0.999999950141,0.00019758303097,-0.00024576019277,1.67789638549e-05,1793239548535971840
+81,1.350000000,BASELINE,766,744,715,678,661,636,879,788,804,652,632,652.001652284,0.400987119749,-0.0153855683913,0.0598528593054,0.99999994944,0.000200201811658,-0.000246474246075,1.7033109158e-05,1793239548552638208
+82,1.366666667,BASELINE,766,744,715,678,661,636,879,788,804,652,631.428081124,652.571918876,0.400987179313,-0.0153857418055,0.059854192558,0.99999995014,0.000198090916932,-0.00024534785186,1.68927841614e-05,1793239548569304832
+83,1.383333333,BASELINE,766,744.151605897,715,678.151605897,661,636,879.151605897,788,804,652,631,653,0.400987326255,-0.0153858374822,0.0598550755436,0.999999950694,0.000196266749548,-0.000244563600258,1.67476844027e-05,1793239548585971712
+84,1.400000000,BASELINE,766,744.74929082,715,678.74929082,661,636,879.74929082,788,804,652,631,653,0.400987732698,-0.0153857057444,0.0598546155763,0.999999950822,0.00019532641894,-0.000244801690985,1.65918868878e-05,1793239548602638336
+85,1.416666667,BASELINE,766,744.666498575,715,679,661,636,879.666498575,788,804,652,631.333501425,653,0.400987490632,-0.0153849270306,0.0598542313403,0.99999995046,0.000196372619553,-0.000245444312607,1.65775879183e-05,1793239548619305216
+86,1.433333333,BASELINE,766,744.092023946,715,679,661,636,879.092023946,788,804,652,631.907976054,653,0.400986779982,-0.0153836808409,0.0598539018242,0.999999949738,0.000198854198783,-0.000246379230137,1.66655294748e-05,1793239548635972096
+87,1.450000000,BASELINE,766,744.48425251,715,679,661,636,879,788,804,652,631.51574749,653,0.400986985029,-0.0153854391324,0.0598543326023,0.99999995016,0.00019744920404,-0.000245772468515,1.6997655748e-05,1793239548652638464
+88,1.466666667,BASELINE,766,745,715,678.937596232,661,636,879,788,804,652,631.062403768,653,0.400987364628,-0.015387317882,0.0598548930545,0.999999950725,0.000195628558885,-0.000244910643482,1.72791232343e-05,1793239548669305088
+89,1.483333333,BASELINE,766,745,715,678.346472466,661,636,879,788,804,652,631.653527534,653,0.400987743295,-0.015385361738,0.0598553234822,0.99999995068,0.000196567302752,-0.000244379253826,1.67367588285e-05,1793239548685971712
+90,1.500000000,BASELINE,766,745,715,678.238846333,661,636,879,788,804,652,632,653,0.400987961588,-0.0153841458409,0.0598555851405,0.99999995045,0.000198286085765,-0.000243944249805,1.65539930876e-05,1793239548702638080
+91,1.516666667,BASELINE,766,745,715,678.815944153,661,636,879,788,804,652,632,653,0.400987952763,-0.0153839782732,0.0598556077891,0.999999949953,0.000201109551355,-0.000243645746085,1.68804869743e-05,1793239548719304704
+92,1.533333333,BASELINE,766,745,715,679,661,636,879,787.608846451,804,652,632,653,0.400986692656,-0.0153842708343,0.059854583188,0.999999949606,0.000200964164075,-0.000245184384792,1.68848456818e-05,1793239548735971840
+93,1.550000000,BASELINE,766,745,715,679,661,636,879,787.034521327,804,652,632,653,0.400984846591,-0.0153847788671,0.0598530681749,0.999999949325,0.000199428505984,-0.000247583330824,1.67383531509e-05,1793239548752638464
+94,1.566666667,BASELINE,766,744.459269102,715,678.459269102,661,636,879,787.540730898,804,652,631.459269102,653,0.400984935069,-0.0153856242604,0.05985330239,0.99999994973,0.000198016525176,-0.000247060179077,1.70610788205e-05,1793239548769305088
+95,1.583333333,BASELINE,765.880732161,744.119267839,715,678.119267839,661.119267839,636,879,787.880732161,804,652,631.119267839,652.880732161,0.400985238743,-0.015386241012,0.0598536495953,0.999999950083,0.000197002794793,-0.000246420232914,1.73407080952e-05,1793239548785972224
+96,1.600000000,BASELINE,765.289429553,744.710570447,715,678.710570447,661.710570447,636,879,787.289429553,804,652,631.710570447,652.289429553,0.400985904466,-0.0153858674648,0.0598540012502,0.999999950068,0.000197533944448,-0.00024605764106,1.73310099491e-05,1793239548802638592
+97,1.616666667,BASELINE,765.295953473,744.704046527,715,679,661.704046527,636,879,787.295953473,804,652,632,652,0.400986301935,-0.0153862050592,0.0598539598723,0.999999950274,0.000196503169334,-0.000246049044928,1.72649563928e-05,1793239548819305216
+98,1.633333333,BASELINE,765.875660893,744.124339107,715,679,661.124339107,636,879,787.875660893,804,652,632,652,0.400986442209,-0.015387224481,0.0598535416629,0.999999950688,0.000193974853665,-0.000246379852447,1.71448704585e-05,1793239548835971584
+99,1.650000000,BASELINE,766,744.450001939,715,679,661,636,879,788,803.549998061,652,631.549998061,652,0.400986720724,-0.0153878214633,0.0598537677499,0.999999950878,0.000193204765561,-0.000246219694093,1.70963681993e-05,1793239548852638208
+100,1.666666667,BASELINE,766,745,715,678.976451546,661,636,879,788,803.023548454,651.976451546,631,652.023548454,0.400987027309,-0.0153882253112,0.0598541806528,0.999999950982,0.000193084915552,-0.000245893504685,1.70709892596e-05,1793239548869304832
+101,1.683333333,BASELINE,766,745,715,678.386779056,661,636,879,788,803.613220944,651.386779056,631,652.613220944,0.400987101233,-0.0153867591097,0.0598548553546,0.999999950475,0.000197055634476,-0.000244798682975,1.71316108642e-05,1793239548885971456
+102,1.700000000,BASELINE,766,744.80057873,715,678.19942127,661.19942127,636,879,788,804,651,631.19942127,653,0.400987332245,-0.015385740323,0.0598552698284,0.999999950242,0.000199278410884,-0.000243943781164,1.71645234379e-05,1793239548902638336
+103,1.716666667,BASELINE,766,744.220997513,715,678.779002487,661.779002487,636,879,788,804,651,631.779002487,653,0.400987862713,-0.0153855744502,0.0598551882254,0.99999995056,0.000198169056137,-0.000243546242617,1.71446138375e-05,1793239548919305216
+104,1.733333333,BASELINE,766,744.355731277,715,679,661.644268723,636,879.355731277,788,804,651.355731277,631.644268723,653,0.400987579481,-0.015385567185,0.059854940854,0.999999950687,0.000197072295042,-0.000243917951234,1.7087117332e-05,1793239548935971840
+105,1.750000000,BASELINE,766,744.930702154,715,679,661.069297846,636,879.930702154,788,804,651.930702154,631.069297846,653,0.40098679476,-0.0153856576706,0.0598545913183,0.999999950696,0.000195983295392,-0.000244763752056,1.70064557603e-05,1793239548952638464
+106,1.766666667,BASELINE,766,745,715,679,661,636,879.484870342,787.484870342,804,652,631.515129658,653,0.400986028525,-0.0153859003075,0.0598542666462,0.999999950417,0.000196260182153,-0.000245683127734,1.69738783958e-05,1793239548969305088
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,715,679,661,636,879,788,804,652,631,652,0.400987041527,-0.0153875024271,0.0598551576659,0.999999950663,0.000196004925391,-0.000244849065416,1.74659766957e-05,1793239549011859712
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.420209278,744.579790722,715,679,661,636,879.579790722,788,803.420209278,652,631.579790722,652,0.400989134329,-0.0153875961061,0.0598558420848,0.999999951618,0.000194388648585,-0.000242228438712,1.74098438827e-05,1793239549028526336
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.157734035,744.842265965,715,679,661,636,880,788,803.157734035,651.842265965,632,652.157734035,0.400990001175,-0.0153870793882,0.0598559774999,0.999999951908,0.000194228345047,-0.000241170429738,1.72368102451e-05,1793239549045192960
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.730812882,744.269187118,715,679,661,636,880,788,803.730812882,651.269187118,632,652.730812882,0.400987639838,-0.0153849553749,0.0598546672797,0.999999950454,0.000197901905813,-0.000244227100738,1.67559536778e-05,1793239549061860096
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744,715,678.686994981,661,636,879.686994981,788,804,651.313005019,631.686994981,652.686994981,0.400987293962,-0.0153840202983,0.0598547283658,0.999999950074,0.000199172509197,-0.000244757306136,1.66099602522e-05,1793239549078526720
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744,715,678.096730332,661,636,879.096730332,788,804,651.903269668,631.096730332,652.096730332,0.40098873338,-0.0153841383812,0.0598560041541,0.999999950659,0.000198314574378,-0.000243049569871,1.67605883952e-05,1793239549095193344
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744.483568206,715,678.483568206,661,636,879,788,804,652,631,652.483568206,0.400988678971,-0.0153849817205,0.0598558481002,0.999999950858,0.00019721961693,-0.000243114428137,1.68459516442e-05,1793239549111859712
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.938282391,879.061717609,788,803.938282391,652,631.061717609,652.938282391,0.400988580971,-0.0153859488099,0.0598555157795,0.999999951016,0.000196109673801,-0.00024335554022,1.69206693149e-05,1793239549128526336
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635.361766389,879.638233611,788,803.361766389,652,631.638233611,652.361766389,0.40099056152,-0.0153867624505,0.0598560540081,0.999999951469,0.000195262224629,-0.00024216892302,1.70132873877e-05,1793239549145192960
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.214398704,635.214398704,879.785601296,788,803.214398704,652,631.785601296,652.214398704,0.400998226879,-0.0153874366237,0.0598594535194,0.99999995277,0.00019516888589,-0.00023678156021,1.74303549277e-05,1793239549161859840
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.789972596,635.789972596,879.210027404,788,803.789972596,652,631.210027404,652.789972596,0.401015468846,-0.0153878758509,0.0598676731357,0.999999955396,0.000196345918603,-0.000224317638428,1.83939887169e-05,1793239549178526720
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,678.625659932,661.625659932,636,879,787.625659932,804,652,631.374340068,653,0.401051300064,-0.0153895844395,0.0598820915917,0.999999960804,0.000196624280565,-0.000198348030593,1.97405030998e-05,1793239549195193344
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678.036239989,661.036239989,636,879,787.036239989,804,652,631.963760011,653,0.401097811877,-0.0153920223493,0.059900071638,0.99999996694,0.000196386304492,-0.000164618628857,2.13070044547e-05,1793239549211859968
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678.540709444,661,636,879,787.540709444,804,652,632,653,0.401162997834,-0.0153954269802,0.0599180281267,0.999999971293,0.00019518473856,-0.000137105328274,2.2794644492e-05,1793239549228526592
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.116739902,652,632,652.883260098,0.401232538788,-0.0153993307386,0.0599345629865,0.999999974688,0.000193825443273,-0.000111670430611,2.41873245685e-05,1793239549245193216
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.692369555,652,632,652.307630445,0.401314389741,-0.0154049475553,0.0599455156749,0.999999976925,0.00019209427743,-9.28046943021e-05,2.52270379191e-05,1793239549261859840
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.733911288,652,632,652.266088712,0.4014009789,-0.0154095289069,0.0599528525202,0.999999978356,0.000190558017124,-7.95866917859e-05,2.53396232421e-05,1793239549278526464
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.162385182,652,632,652.837614818,0.401493006936,-0.0154129216704,0.0599560388181,0.999999979142,0.000189245484767,-7.2851600134e-05,2.43879785887e-05,1793239549295193088
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.570917003,715,679,661,636,879.429082997,787.570917003,804,652,631.570917003,652.570917003,0.401594185051,-0.0154184276504,0.0599540460611,0.99999997939,0.000187418842079,-7.44630970054e-05,2.3438152601e-05,1793239549311859712
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.027318834,715,678.972681166,661,636,879.972681166,787.027318834,804,652,631.027318834,652.027318834,0.401700454161,-0.0154248218805,0.0599500351257,0.999999979436,0.000185287442727,-7.93302436788e-05,2.24415976919e-05,1793239549328526336
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.602546383,715,678.397453617,661,636,879.397453617,787.602546383,804,652,631.602546383,652.602546383,0.401835993006,-0.0154322094746,0.0599467733297,0.999999979936,0.000181136197652,-8.30531327123e-05,2.0493366635e-05,1793239549345193216
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.822357675,744.822357675,715,678.177642325,661,636,879,788,804,652,631.822357675,652.822357675,0.401985285015,-0.0154396275288,0.059945248895,0.999999980654,0.000177316388251,-8.30929633513e-05,1.86233176697e-05,1793239549361859840
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.247556044,744.247556044,715,678.752443956,661,636,879,788,804,652,631.247556044,652.247556044,0.40216532529,-0.0154471136824,0.0599476087216,0.999999981872,0.000174237578272,-7.48984894806e-05,1.69280625859e-05,1793239549378526464
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.336148799,744.336148799,715,678.663851201,661,636,879,788,804,652,631,652.336148799,0.402360754671,-0.0154571577743,0.0599500219858,0.999999983516,0.000168277320208,-6.63832225936e-05,1.56033147834e-05,1793239549395193088
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.926588843,744.926588843,715,678.073411157,661,636,879,788,804,652,631,652.926588843,0.402567825685,-0.0154691369067,0.0599524756749,0.999999985412,0.000160137291954,-5.76252800011e-05,1.4558849693e-05,1793239549411859712
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.494457651,715,678.505542349,661,636,879,788,804,652,631,652.494457651,0.402806974468,-0.0154797540063,0.0599577454878,0.999999987101,0.000153247851493,-4.63793844791e-05,1.27365126634e-05,1793239549428526592
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,744.08292014,715,678.91707986,661,636,879,788,804.08292014,652,631.08292014,652.08292014,0.40305459827,-0.0154903359518,0.0599622213938,0.999999988537,0.000146498233871,-3.67190735418e-05,1.07454309627e-05,1793239549445193216
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,744.66062767,715,678.33937233,661,636,879,788,804.66062767,652,631.66062767,652.66062767,0.403325615377,-0.0155018621028,0.0599595741029,0.999999989485,0.00013952339482,-3.86278871809e-05,8.40648639779e-06,1793239549461859584
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,678.23563058,661,636,879,788,804.76436942,652,631.76436942,653,0.403609346775,-0.0155106376974,0.0599524246122,0.999999990013,0.000132831874147,-4.79758631036e-05,5.24248749746e-06,1793239549478526208
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,678.806782267,661,636,879,788,804.193217733,652,631.193217733,653,0.403911182399,-0.0155154966955,0.0599388643109,0.999999989687,0.000126543778985,-6.79166743809e-05,9.03670321655e-07,1793239549495192832
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.39611752,653,0.40423331549,-0.0155088192455,0.0599278474008,0.999999992318,8.82767644795e-05,-8.6940892924e-05,-3.40432417298e-06,1793239549511859712
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804,652,631.994749056,653,0.404565825597,-0.0154962438172,0.0599181307931,0.999999993839,3.3660613553e-05,-0.000105496505059,-7.69656051255e-06,1793239549528526592
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744.43290997,715,679,661,636,879,788,803.43290997,652,631.43290997,653,0.404947425741,-0.015490821837,0.0599157317779,0.999999992513,5.2548787804e-05,-0.00010984994154,-1.21005872064e-05,1793239549545193216
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.140302561,715,678.859697439,661,636,879,788,803.140302561,652,631,652.859697439,0.40534785755,-0.0154906052444,0.0599183733096,0.999999992326,6.1742198682e-05,-0.000106253578201,-1.57185726457e-05,1793239549561859840
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.71694909,715,678.28305091,661,636,879,788,803.71694909,652,631,652.28305091,0.405805505147,-0.0155063806482,0.0599364896613,0.999999996039,3.87617566147e-05,-7.83240274571e-05,-1.68888755226e-05,1793239549578526464
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.69966233,715,678.30033767,661,636,879,788,804,652,631,652,0.406292445813,-0.0155181091661,0.0599597270785,0.999999998874,1.86887710907e-05,-3.97636248787e-05,-1.79095570733e-05,1793239549595193088
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744.109773775,715,678.890226225,661,636,879,788,804,652,631,652,0.406807627526,-0.0155259361458,0.0599879016376,0.999999999782,1.4188165663e-06,9.04582025386e-06,-1.87859911442e-05,1793239549611859712
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,744.470835625,715,679,661,636,879,788,804,652,631,652,0.407325812032,-0.0155255666729,0.0600010161471,0.999999999432,-8.29224912147e-06,2.45791679823e-05,-2.14979436075e-05,1793239549628526592
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.048966839,788,804,652,631,652,0.407845238027,-0.0155234742409,0.0600089558359,0.999999999109,-1.72015789265e-05,2.9513315863e-05,-2.47947427426e-05,1793239549645192960
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.623272766,788,804,652,631,652,0.408370617901,-0.0155230027019,0.0599983194015,0.999999998901,-3.60511998878e-05,2.35937709745e-06,-2.98635914438e-05,1793239549661859840
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.803014546,788,804,651.803014546,631.196985454,652.196985454,0.408914027792,-0.0155230673558,0.0599878633012,0.999999997858,-5.04305934189e-05,-2.24507408246e-05,-3.51695757609e-05,1793239549678526976
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.230433034,788,804,651.230433034,631.769566966,652.769566966,0.40949181584,-0.0155241543791,0.0599777510481,0.999999996663,-5.62865149195e-05,-4.27918476084e-05,-4.092771098e-05,1793239549695193344
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.644349368,661,636,879,787.644349368,804,651.355650632,631.644349368,653,0.41012500429,-0.0155274244231,0.0599811781368,0.999999995699,-7.46130337531e-05,-3.09174110798e-05,-4.55997475269e-05,1793239549711859712
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,678.049172181,661,636,879,787.049172181,804,651.950827819,631.049172181,653,0.410795504241,-0.0155321647061,0.0599937238148,0.999999993635,-0.000101338354159,2.6538191136e-06,-4.9540308991e-05,1793239549728526336
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879,787.529380182,804,652,631,653,0.411465249717,-0.0155368062697,0.059994734019,0.999999991554,-0.000118018452788,7.97647703482e-06,-5.38455762719e-05,1793239549745192960
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.893993356,715,678.106006644,661,636,879,788,804.106006644,651.893993356,631,653,0.412129644845,-0.0155394737436,0.0599892814958,0.999999992468,-0.000110833574842,-1.05031931369e-06,-5.27123233795e-05,1793239549761859584
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.319262626,715,678.680737374,661,636,879,788,804.680737374,651.319262626,631,653,0.412770682854,-0.015533451796,0.0599598465526,0.999999997684,-2.12622092574e-06,-6.2276624089e-05,-2.73866179836e-05,1793239549778526464
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.262783764,715,678.737216236,661,636,879,788,804.737216236,651.262783764,631.262783764,653,0.413446840087,-0.0155263159441,0.0599357076227,0.999999992296,5.40611416991e-05,-0.000110414196259,-1.7129929536e-05,1793239549795193600
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.853972733,715,678.146027267,661,636,879,788,804.146027267,651.853972733,631.853972733,653,0.41416688648,-0.0155177880267,0.0599181872041,0.999999988565,4.46134194314e-05,-0.00014219457264,-2.57052371638e-05,1793239549811860736
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,678.435909938,661,636,879.435909938,788,804,652,631.564090062,653,0.414976176761,-0.0155219755631,0.0599537807284,0.999999996383,2.03127404268e-05,-7.73734046152e-05,-2.88995114656e-05,1793239549828527104
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.985220318,788,804,651.985220318,631.014779682,653,0.415813680024,-0.0155303558393,0.0600058958162,0.999999999355,-8.50214319392e-06,1.73281189238e-05,-3.02832397394e-05,1793239549845193216
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.407590232,788,804,651.407590232,631.592409768,653,0.416610746543,-0.0155395611797,0.0600236791739,0.999999998339,-2.36819564602e-05,4.31748241149e-05,-2.99382119479e-05,1793239549861859840
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.836053977,715,679,661.163946023,636,879.163946023,787.836053977,804.163946023,651,631.836053977,653,0.417396859745,-0.0155457363446,0.0600306757215,0.999999997506,-3.43360249496e-05,5.35960585714e-05,-3.05945775581e-05,1793239549878526464
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.279124833,715,679,661.720875167,636,879.720875167,787.279124833,804.720875167,651,631.279124833,653,0.418156717497,-0.0155446480951,0.0600118159879,0.999999998485,-3.41417580271e-05,2.70420145161e-05,-3.36513107172e-05,1793239549895193088
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.303880571,744.303880571,715,679,662,636,880,787.303880571,805,651.303880571,631,653,0.418961726445,-0.0155433554307,0.0599923587509,0.999999998725,-3.41159189623e-05,-4.00541728707e-06,-3.70091344981e-05,1793239549911859712
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.913086152,744.913086152,715,679,662,636,880,787.913086152,805,651.913086152,631,653,0.419812101161,-0.0155418573798,0.0599723011717,0.999999997803,-3.42593083424e-05,-3.95675936932e-05,-4.06694798774e-05,1793239549928526592
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.50366685,745,715,678.50366685,661.50366685,636,880,788,804.50366685,652,631.49633315,653,0.420613950288,-0.0155432536102,0.0599432845491,0.999999994565,-4.1957733471e-05,-8.4698553926e-05,-4.39858904049e-05,1793239549945193216
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,678.149413387,661.074706694,636,880,787.925293306,804,652,631.925293306,652.925293306,0.421412941636,-0.0155447159174,0.0599153232536,0.999999989413,-4.9096894319e-05,-0.000128628698904,-4.70945813623e-05,1793239549961860096
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.298748574,661.649374287,636,880,787.350625713,804,652,631.350625713,652.350625713,0.422246848421,-0.015543397188,0.0599044018779,0.999999985981,-4.40795416042e-05,-0.000153866221184,-4.91961722919e-05,1793239549978526720
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679.776315227,662,636,880,787.223684773,804.223684773,652,631,652.223684773,0.423122199725,-0.0155455360184,0.0599232133181,0.999999989956,-4.35662551165e-05,-0.000125985399366,-4.81502678624e-05,1793239549995193344
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679.202563527,662,636,880,787.797436473,804.797436473,652,631,652.797436473,0.424062411877,-0.0155530859339,0.0599885566478,0.999999997743,-5.01018363852e-05,-1.49743102741e-05,-4.21785294924e-05,1793239550011859712
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804.617215318,652,631,653,0.424977625953,-0.0155571142304,0.0600270523605,0.999999996579,-5.48317918949e-05,4.75663565048e-05,-3.96594267254e-05,1793239550028526336
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804.025538738,652,631,653,0.425879198113,-0.0155592207209,0.0600508968829,0.999999994024,-5.8576387512e-05,8.36559098278e-05,-3.90244845063e-05,1793239550045192960
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.445105765,880,788,804.554894235,651.445105765,631.554894235,652.445105765,0.426749036119,-0.015560828495,0.0600315645141,0.999999994647,-6.56101854042e-05,6.82572093823e-05,-4.17445215814e-05,1793239550061859840
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.133653516,880.133653516,788,804.866346484,651,631.866346484,652.133653516,0.427611032215,-0.0155623710408,0.0600105202807,0.9999999953,-7.19651866133e-05,4.72941205895e-05,-4.45403084316e-05,1793239550078526720
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.708561625,880.708561625,788,804.291438375,651,631.291438375,652.708561625,0.428451864555,-0.0155637725114,0.0599902547516,0.999999995912,-7.55892875522e-05,1.56285230148e-05,-4.70865200466e-05,1793239550095193600
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.709983134,788,804.290016866,651,631.290016866,652.709983134,0.429262390454,-0.015562759733,0.0599645610583,0.999999995387,-7.67270322759e-05,-2.96935643187e-05,-4.95807507195e-05,1793239550111860224
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.121796752,788,804.878203248,651,631.878203248,652.121796752,0.430041757917,-0.0155592648389,0.0599332866113,0.999999991846,-7.53085265686e-05,-8.90560363858e-05,-5.20215389679e-05,1793239550128526592
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.458349959,662,636,880,788,805,651,632,652.458349959,0.43093147309,-0.0155608938873,0.0599444096447,0.999999993726,-7.69495762173e-05,-6.23906799845e-05,-5.22833465807e-05,1793239550145193472
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.036285278,635.963714722,880.036285278,788,805,651,632,653,0.431846915029,-0.0155638736651,0.0599675506691,0.999999995436,-7.92142727327e-05,-1.29786080597e-05,-5.18183502833e-05,1793239550161859840
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662.612555473,635.387444527,880.612555473,788,805,651,632,653,0.432716366801,-0.0155670412709,0.0600047692778,0.999999994864,-7.88694687337e-05,4.06108988789e-05,-4.90055169051e-05,1793239550178526464
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,663,635.18767758,880.81232242,788,805,651.18767758,631.81232242,653,0.433561385121,-0.0155691041376,0.060024093754,0.999999993315,-8.13449900684e-05,6.68525146254e-05,-4.77786637356e-05,1793239550195193088
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,635.760444073,880.239555927,788,805,651.760444073,631.239555927,653,0.434356269473,-0.0155689002303,0.0600067019065,0.999999994061,-8.96074363605e-05,3.6979980531e-05,-4.98060263294e-05,1793239550211859968
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.654984668,663,636,880,788,805,652,631,653,0.435128028856,-0.0155694485862,0.0599810493061,0.999999994378,-9.1654705162e-05,-8.12224100274e-06,-5.26961410015e-05,1793239550228526848
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.061926614,663,636,880,788,805,652,631,653,0.435883162901,-0.0155705377685,0.0599494577835,0.99999999238,-8.92336804382e-05,-6.41735773868e-05,-5.62065159205e-05,1793239550245193728
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.479485454,636,880,788,805,651.479485454,631.520514546,652.479485454,0.436665131842,-0.0155675935814,0.0599447526158,0.999999991043,-9.78309317322e-05,-7.09505416565e-05,-5.75212734386e-05,1793239550261860096
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651,631.899496365,652.100503635,0.437436022899,-0.015563953632,0.0599408622778,0.99999998987,-0.000103318253104,-7.86437782756e-05,-5.83099594008e-05,1793239550278526720
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651,631.325230918,652.674769082,0.438139945449,-0.0155592507191,0.0599260359723,0.999999987517,-8.80900053522e-05,-0.00011773783431,-5.78255388959e-05,1793239550295193344
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651,631.255022416,653,0.43885828877,-0.0155582921869,0.0599295904671,0.999999987966,-8.24535854211e-05,-0.000118531885599,-5.67471604007e-05,1793239550311859968
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,651,631.843095691,653,0.439595465087,-0.0155622236929,0.0599571496814,0.9999999921,-8.93437772381e-05,-6.93073917516e-05,-5.48930924152e-05,1793239550328526592
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.423971444,662,636,880,788,805,651,631.576028556,652.576028556,0.440304753943,-0.0155703308086,0.0599788217743,0.999999992601,-0.000101429661873,-4.01094486398e-05,-5.38636361593e-05,1793239550345193216
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.997775857,745,715,680,662,635.997775857,880.002224143,787.997775857,805,651,631,652.002224143,0.441003475232,-0.0155799376785,0.0599980589198,0.999999991753,-0.000115415919099,-1.86245403118e-05,-5.3159275061e-05,1793239550361859840
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.420529209,745,715,680,662,635.420529209,880.579470791,787.420529209,805,651,631,652.579470791,0.44159380444,-0.015584433406,0.0599416483894,0.999999983832,-0.000131893348495,-0.000107091517823,-5.89222945348e-05,1793239550378526976
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.155792955,744.844207045,715,679.844207045,661.844207045,635.155792955,880.844207045,787,805.155792955,651.155792955,631.155792955,652.844207045,0.442174061126,-0.0155887826397,0.0598880075988,0.999999969403,-0.000147395988164,-0.000187874412172,-6.45956200437e-05,1793239550395193856
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.729634518,744.270365482,715,679.270365482,661.270365482,635.729634518,880.270365482,787,805.729634518,651.729634518,631.729634518,652.270365482,0.442727289736,-0.0155927387792,0.0598417990047,0.999999953941,-0.000160282921692,-0.000248038165015,-7.00282665743e-05,1793239550411860224
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,744.312394129,715,679.312394129,661.312394129,635.687605871,880.312394129,787,805.687605871,651.687605871,631.687605871,652.312394129,0.443274680174,-0.0155976312283,0.0598159955432,0.999999941536,-0.000172798537204,-0.000285728323788,-7.36696011941e-05,1793239550428526592
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,744.903098754,715,679.903098754,661.903098754,635.096901246,880.903098754,787,805.096901246,651.096901246,631.096901246,652.903098754,0.443816869377,-0.0156033578313,0.0598083709233,0.999999933999,-0.000184983346777,-0.000303396857794,-7.5715064088e-05,1793239550445193472
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.516552881,635,880.516552881,787,805,651,631,652.516552881,0.444353989384,-0.0156114706046,0.0598118575861,0.999999932597,-0.000199709894345,-0.000298291156013,-7.71033774444e-05,1793239550461860096
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,880,787,805,651,631.061598113,652.061598113,0.444881435734,-0.0156194108483,0.0598142802265,0.999999930343,-0.000214284858627,-0.000295337043528,-7.85613551854e-05,1793239550478526464
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,880,787,805,651,631.638368191,652.638368191,0.445336296616,-0.0156219919801,0.0597895682041,0.999999911239,-0.000223420579131,-0.000347754570028,-8.1680477109e-05,1793239550495193344
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.787767968,745,715,680,661.212232032,634.787767968,880.212232032,786.787767968,805,651,631.787767968,653,0.445771124731,-0.015626028987,0.0597624271904,0.999999889647,-0.000236990717533,-0.000396645784031,-8.49349325424e-05,1793239550511859968
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.218789362,745,715,680,661.781210638,634.218789362,880.781210638,786.218789362,805,651,631.218789362,653,0.446172279181,-0.0156325132135,0.0597312032218,0.999999866177,-0.000258014788775,-0.000439609519257,-8.8416873613e-05,1793239550528526848
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.733337592,745,715,680,661.633331204,634.366668796,881,786,805,651,631,653,0.446575191907,-0.0156392695595,0.0597179750163,0.999999855028,-0.000272140458374,-0.000455797920898,-9.0178216017e-05,1793239550545193472
+200,3.333333333,POSE1_TO_POSE2_PRESS,766.924846035,745,715,680,661.037576982,634.962423018,881,786,805,651,631,653,0.446979203201,-0.0156461959195,0.0597159901073,0.999999852492,-0.000281956182719,-0.000455257773295,-9.08645721442e-05,1793239550561859584
+201,3.350000000,POSE1_TO_POSE2_PRESS,766.457001717,745,715,680,661,634.457001717,880.457001717,786,805,651,631,653,0.447367280611,-0.0156534216454,0.0597261286346,0.99999985987,-0.000279156266218,-0.000440920208325,-8.89985146051e-05,1793239550578526208
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679.878038671,661,634,880,786,805,651,631,653,0.447742622309,-0.0156604614043,0.059734102432,0.999999869284,-0.000264762496743,-0.000429418396196,-8.32622056844e-05,1793239550595193088
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679.30127694,661,634,880,786,805,651,631,653,0.448074472051,-0.0156667325312,0.0597309603311,0.999999882563,-0.000210301691242,-0.000431955002936,-6.37342852108e-05,1793239550611860480
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.279978126,660.720021874,634,880.279978126,785.720021874,805,651.279978126,631,653,0.448363543647,-0.0156693158713,0.0597165880127,0.999999877673,-0.000189110418976,-0.000453653141221,-5.55935716997e-05,1793239550628527360
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.866147178,660.133852822,634,880.866147178,785.133852822,805,651.866147178,631,653,0.448605831996,-0.015667866157,0.0596899340538,0.999999854175,-0.000204303525599,-0.000496306799493,-5.99061875204e-05,1793239550645193728
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679.553706077,660.446293923,634,880.553706077,785.446293923,805.446293923,651.553706077,630.553706077,653,0.448834167592,-0.0156680111709,0.0596664504549,0.999999831773,-0.000221770365477,-0.000532211513884,-6.34270734825e-05,1793239550661860864
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.049354991,661,634,880,785.975322505,805.975322505,651.024677495,630.024677495,653,0.44905809804,-0.0156687976619,0.0596447131774,0.99999980959,-0.000239489307328,-0.00056482181551,-6.66382538936e-05,1793239550678528000
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680.206975507,661,634,880,785.396512247,805.396512247,651.603487753,630.603487753,653,0.449275827745,-0.0156733914629,0.0596411223171,0.999999805501,-0.000247760139526,-0.000568303208537,-6.81560863076e-05,1793239550695194368
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680.820228964,661,634,880,785.179771036,805,651.820228964,631,652.820228964,0.449484691955,-0.0156768975188,0.0596392795304,0.999999802732,-0.000254609019244,-0.000569997329199,-6.93813805336e-05,1793239550711860736
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680.249442122,661,634,880,785.750557878,805,651.249442122,631,652.249442122,0.449674273006,-0.0156780376453,0.0596412389386,0.999999802975,-0.000258365042098,-0.000567803994875,-6.99703815522e-05,1793239550728526592
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.666320235,745,715,680,660.666320235,634,880,785.666320235,805,651,631,652.333679765,0.449840500366,-0.0156787636969,0.0596409717447,0.999999801907,-0.000261557783805,-0.000568105161935,-7.09157643125e-05,1793239550745193216
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.073623274,745,715,680,660.073623274,634,880,785.073623274,805,651,631,652.926376726,0.449988599564,-0.0156791683251,0.0596389761626,0.999999799822,-0.000264313281827,-0.000570342672599,-7.21377866246e-05,1793239550761859840
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,634,880.508332471,785,805,651,630.491667529,653,0.450122410841,-0.0156822868254,0.0596410263882,0.999999801923,-0.000267411205197,-0.000565143927449,-7.25052110943e-05,1793239550778526464
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.087902761,715,680,660,633.912097239,880.912097239,785,805,651,630,653,0.450249234503,-0.0156858082217,0.0596433661036,0.999999804035,-0.000270758348052,-0.000559759995446,-7.27270041986e-05,1793239550795193088
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.662698861,715,680,660,633.337301139,880.337301139,785,805,651,630,653,0.45034857883,-0.0156894291632,0.0596441308009,0.999999803129,-0.000275216899541,-0.000559192448418,-7.28135421021e-05,1793239550811859968
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.243153005,745.756846995,715,679.756846995,660.243153005,633,880.243153005,785,805,651,630.243153005,653,0.450436992605,-0.0156924872001,0.0596438682367,0.999999800956,-0.000278448494072,-0.000561480048974,-7.27646911866e-05,1793239550828526592
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.831642925,745.168357075,715,679.168357075,660.831642925,633,880.831642925,785,805,651,630.831642925,653,0.45050988231,-0.0156947457741,0.0596421467092,0.999999796976,-0.000279937508463,-0.000567822659539,-7.25235549297e-05,1793239550845193216
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.413816947,660.586183053,633,881,785,805,651,630.586183053,652.586183053,0.450571526838,-0.0156949901947,0.0596393678211,0.99999979425,-0.000281312177526,-0.000571908502533,-7.26939405037e-05,1793239550861859840
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679.993460026,660.006539974,633,881,785,805,651,630.006539974,652.006539974,0.450628665158,-0.0156944274969,0.0596361652238,0.999999792026,-0.000282641025703,-0.000575090005812,-7.3029232509e-05,1793239550878526464
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679.429309075,660,633,880.429309075,785,805,651,630,652.570690925,0.450667395576,-0.0156955941514,0.0596336624589,0.999999788768,-0.000286068688362,-0.000579047699346,-7.30210192264e-05,1793239550895192832
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679.147476407,660,633,880.147476407,784.852523593,805,651,630,653,0.450702542946,-0.0156958865683,0.0596310932752,0.999999785768,-0.00028834844928,-0.000583064894896,-7.31741628477e-05,1793239550911859456
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679.723048729,660,633,880.723048729,784.276951271,805,651,630,653,0.450727899175,-0.0156935839542,0.059628308109,0.999999783608,-0.000287226545346,-0.000587229101148,-7.38070735972e-05,1793239550928526336
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.694299335,745,715,680,660,633,880.694299335,784,805,651,630,653,0.450750821047,-0.0156938002999,0.0596279311492,0.999999782234,-0.00029029389181,-0.000588044781691,-7.39267831314e-05,1793239550945192960
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.105081456,745,715,680,660,633,880.105081456,784,805,651,630,653,0.450771485215,-0.0156963528143,0.0596297876417,0.999999781562,-0.0002972464917,-0.000585754925855,-7.35705324425e-05,1793239550961859584
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880.476189373,784,805,651,630,652.523810627,0.450783770834,-0.0156950118239,0.0596293046499,0.999999781469,-0.000296562385624,-0.000586281412169,-7.34008209569e-05,1793239550978526208
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880.944710809,784,805,651,630,652.055289191,0.450793620317,-0.0156930357639,0.0596282313521,0.999999781346,-0.000294538608121,-0.00058752437741,-7.32866851609e-05,1793239550995193088
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880.36980326,784,805,651,630,652.63019674,0.450797665678,-0.0156930334431,0.0596263824916,0.999999779746,-0.000295502232131,-0.000589755975906,-7.33143444106e-05,1793239551011860736
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.204394089,745.204394089,715.204394089,680,660,633,880.204394089,784,805,651,630,652.795605911,0.450801019243,-0.0156925560801,0.0596246853234,0.999999778588,-0.000295110324709,-0.000591919528895,-7.3242016598e-05,1793239551028527616
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.777310912,745.777310912,715.777310912,680,660,633,880.777310912,784,805,651,630,652.222689088,0.4508031255,-0.0156912222154,0.059623261657,0.99999977823,-0.00029227439279,-0.000593960395639,-7.29894120163e-05,1793239551045193472
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.639697423,745.639697423,715.639697423,680,660,633,880.639697423,784,805.360302577,651,630,652,0.450804900042,-0.0156900295456,0.0596231508605,0.999999778292,-0.000290962750623,-0.000594494505629,-7.30336041597e-05,1793239551061859584
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.050299783,745.050299783,715.050299783,680,660,633,880.050299783,784,805.949700217,651,630,652,0.450806463665,-0.0156889266532,0.0596238748402,0.999999778626,-0.00029062031411,-0.000594070558195,-7.32665117663e-05,1793239551078526208
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.531692529,745.531692529,715,680,660,633,880,784.531692529,805.468307471,651,630,652.531692529,0.450807613379,-0.0156884877086,0.0596233084988,0.999999778581,-0.000289852764041,-0.000594540873614,-7.31032983227e-05,1793239551095193600
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.888399829,746,715,680,660,633,880,785,805,651,630,653,0.450808768528,-0.0156881789305,0.0596228899775,0.999999778483,-0.000289588483323,-0.000594845160544,-7.30244282379e-05,1793239551111860480
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.314268689,746,715,680,660,633,880,785,805,651,630,653,0.450810106265,-0.0156881528837,0.059623583069,0.999999778308,-0.000291574412467,-0.000594115524536,-7.34483024372e-05,1793239551128527360
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.266140619,745.733859381,715,680,660,633,880,784.733859381,805,651,630,652.733859381,0.45081072931,-0.015689342498,0.0596238475572,0.99999977762,-0.000294012283768,-0.000594084714032,-7.33488088793e-05,1793239551145193728
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.854142606,745.145857394,715,680,660,633,880,784.145857394,805,651,630,652.145857394,0.450810488032,-0.0156920022912,0.0596235937074,0.999999776307,-0.000296996718728,-0.000594899039108,-7.26163723007e-05,1793239551161859840
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.565332807,745,715,680,660,633,880,784.434667193,805.434667193,651,630,652.434667193,0.450810778457,-0.0156904165077,0.059623296113,0.999999776862,-0.000294713740309,-0.000595102852245,-7.2607928374e-05,1793239551178526464
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.012716622,745.012716622,715,680,660,633,880,784.987283378,805.987283378,651,630,652.987283378,0.450811251321,-0.0156875101497,0.0596229760533,0.999999777998,-0.000290760326291,-0.000595111882983,-7.28252698321e-05,1793239551195193088
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.590391474,745.590391474,715,680,660,633,880,784.409608526,805.409608526,651,630,652.409608526,0.450812036883,-0.0156881571488,0.0596222990435,0.999999778125,-0.00028979288249,-0.000595414888479,-7.2462852072e-05,1793239551211859712
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.830324599,746,715,680,660,633,880,784,805,651,630,652.169675401,0.450812524201,-0.0156894419054,0.0596221610692,0.99999977792,-0.000290340225368,-0.000595535563839,-7.21066534033e-05,1793239551228526592
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.247119099,746,715,680,660,633,880,784,805,651,630,652.752880901,0.450812284645,-0.0156922809939,0.0596233368235,0.999999776898,-0.000294579381517,-0.000595211867165,-7.17656118231e-05,1793239551245193984
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.334794807,745.665205193,715,680,660,633.334794807,880,784.334794807,805,651,630,653,0.450811769921,-0.0156921484916,0.0596228411196,0.999999776353,-0.000294724178579,-0.000596044301471,-7.18507749951e-05,1793239551261861120
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.915758997,745.084241003,715,680,660,633.915758997,880,784.915758997,805,651,630,653,0.450811052871,-0.0156898310252,0.0596211164187,0.999999776161,-0.000291858457273,-0.000597726820817,-7.22493198685e-05,1793239551278527488
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.495051282,715,680,660,633.504948718,880.495051282,784.504948718,805.495051282,651,630,653,0.450812711057,-0.0156872413573,0.0596216189617,0.999999777565,-0.000289682989487,-0.00059640082042,-7.25185699609e-05,1793239551295193856
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745.926281769,715,680.073718231,660,633,880.926281769,784,805.926281769,651,630,653,0.450814324936,-0.0156850470571,0.0596222473532,0.999999778781,-0.000288265573766,-0.000595018025797,-7.27692566747e-05,1793239551311859712
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745.349945455,715,680.650054545,660,633,880.349945455,784,805.349945455,651,630,653,0.450812890231,-0.0156858631612,0.0596211584183,0.999999776887,-0.000291218488472,-0.000596726769063,-7.30428805144e-05,1793239551328526592
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.230604045,715,680.769395955,660,633.230604045,880,784,805,651,630,652.769395955,0.45081266504,-0.0156866482666,0.0596212442882,0.999999776303,-0.000293106029839,-0.000596784889639,-7.30099098024e-05,1793239551345193216
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745.8176662,715,680.1823338,660,633.8176662,880,784,805,651,630,652.1823338,0.450814309466,-0.0156873854557,0.0596231461223,0.999999777754,-0.000293346762005,-0.000594291546807,-7.25030180679e-05,1793239551361859840
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.600943901,746,715,680,660,633.600943901,880.798112198,784,805,651,630,652,0.45081617177,-0.0156866476071,0.0596238998105,0.999999779359,-0.000290672654749,-0.000592957374291,-7.20658389622e-05,1793239551378526720
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.02210944,746,715,680,660,633.02210944,881.95578112,784,805,651,630,652,0.45081813223,-0.0156852452409,0.0596241362484,0.99999978102,-0.0002866853861,-0.000592145418571,-7.16600660521e-05,1793239551395193600
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.555073474,745.444926526,715,680,660,633,880.889853052,784,805,651,630,652.555073474,0.45081622841,-0.0156866085116,0.059622804574,0.999999779024,-0.000289617967608,-0.00059404199778,-7.20193849687e-05,1793239551411860224
+252,4.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660,632.868610012,880,784.131389988,805,651,630,653,0.450814705724,-0.0156875730505,0.0596218295523,0.999999777414,-0.000292135751852,-0.000595485345518,-7.22855259701e-05,1793239551428527104
+253,4.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,632.294988894,880,784.705011106,805,651,630,653,0.450814982382,-0.0156868258676,0.0596222645535,0.999999777632,-0.000292332460116,-0.000595041169537,-7.21357821514e-05,1793239551445193728
+254,4.233333333,HOLD_POSE2,766,746,715,680,661,633,880,784,806,651,630,653,0.450815795986,-0.0156876899608,0.0596226448535,0.999999778403,-0.000291036568154,-0.000594443006079,-7.16131389349e-05,1793239551481954816
+255,4.250000000,HOLD_POSE2,766,745.424321078,715,680,660.424321078,633,880.575678922,784.575678922,805.424321078,651.575678922,630,653,0.450815232789,-0.0156861233432,0.0596220559247,0.999999777836,-0.00029005694433,-0.000595814357593,-7.21087612909e-05,1793239551498621440
+256,4.266666667,HOLD_POSE2,766,745,715.152107395,680,660,633,880.847892605,785,805.152107395,652,630,653,0.450814826352,-0.0156849276812,0.0596217036232,0.999999777556,-0.00028923716143,-0.000596642686181,-7.24360499475e-05,1793239551515288320
+257,4.283333333,HOLD_POSE2,766,745,715.73063731,680,660,633,880.26936269,785,805.73063731,652,630,653,0.450814859378,-0.015684771967,0.0596220146899,0.999999778088,-0.000288865481239,-0.000595948688013,-7.22914268777e-05,1793239551531954944
+258,4.300000000,HOLD_POSE2,766,745.314237673,715.685762327,680,660,633,880.314237673,785,806,651.685762327,630,653,0.45081465801,-0.0156850213668,0.0596218098283,0.999999777761,-0.000289114753847,-0.000596402368824,-7.2079933321e-05,1793239551548621824
+259,4.316666667,HOLD_POSE2,766,745.902255639,715.097744361,680,660,633,880.902255639,785,806,651.097744361,630,653,0.450814252424,-0.0156856237233,0.0596211554628,0.999999776683,-0.000289905033031,-0.000597855967623,-7.18101787071e-05,1793239551565288704
+260,4.333333333,HOLD_POSE2,766,745.517005174,715,680,660,633,880.517005174,784.517005174,806,651,630,653,0.450814092947,-0.0156863004542,0.059621399029,0.999999776399,-0.000290992210123,-0.000597848296332,-7.14400342125e-05,1793239551581955328
+261,4.350000000,HOLD_POSE2,765.93790046,745,715,680,660,633,880,784.06209954,806,651.06209954,630,653,0.450814186549,-0.0156866723631,0.0596217949457,0.999999776469,-0.000291617249264,-0.000597458189713,-7.11631239259e-05,1793239551598621952
+262,4.366666667,HOLD_POSE2,765.360317491,745,715,680,660,633,880,784.639682509,806,651.639682509,630,653,0.450815973655,-0.0156843908825,0.0596219694977,0.999999778179,-0.000287914772293,-0.000596311816434,-7.18262816825e-05,1793239551615288320
+263,4.383333333,HOLD_POSE2,765,745.216289985,715,680,660.216289985,633,880.216289985,784.783710015,806,651.783710015,630,653,0.450816760567,-0.0156834023678,0.0596221850677,0.999999778826,-0.000286702454487,-0.000595785656003,-7.20380926109e-05,1793239551631954944
+264,4.400000000,HOLD_POSE2,765,745.791279627,715,680,660.791279627,633,880.791279627,784.208720373,806,651.208720373,630,653,0.450815888735,-0.015684558134,0.0596224686628,0.999999777724,-0.000289619867037,-0.000596288069146,-7.15013808278e-05,1793239551648621568
+265,4.416666667,HOLD_POSE2,765.375197225,745.624802775,715,679.624802775,661,633,881,784.375197225,805.624802775,651.375197225,630,653,0.450816006908,-0.0156842120373,0.0596226654527,0.999999778134,-0.000288843610853,-0.000595988239249,-7.14111091138e-05,1793239551665288448
+266,4.433333333,HOLD_POSE2,765.964202521,745.035797479,715,679.035797479,661,633,881,784.964202521,805.035797479,651.964202521,630,653,0.45081668924,-0.0156830100964,0.0596228127763,0.999999779401,-0.000285962498808,-0.000595231247074,-7.15752435195e-05,1793239551681955072
+267,4.450000000,HOLD_POSE2,766,745.543425038,715,679.543425038,660.456574962,633,880.456574962,784.456574962,805,651.456574962,630,653,0.450816960691,-0.0156832427579,0.0596226306897,0.999999778725,-0.000287925071048,-0.00059536666922,-7.20242510054e-05,1793239551698621952
+268,4.466666667,HOLD_POSE2,765.878110112,746,715.121889888,680,660,633,880.121889888,784,805,651,630,653,0.450817128075,-0.0156833252754,0.0596225000386,0.999999778207,-0.000289291252398,-0.000595540994261,-7.23039195158e-05,1793239551715289088
+269,4.483333333,HOLD_POSE2,765.300111475,746,715.699888525,680,660,633,880.699888525,784,805,651,630,653,0.450817005535,-0.0156824985849,0.0596226416204,0.999999778763,-0.000287252910201,-0.000595644804613,-7.18809472714e-05,1793239551731955456
+270,4.500000000,HOLD_POSE2,765.275765646,745.724234354,715.724234354,679.724234354,660,633,880.724234354,784,805,651,630,653,0.450816967141,-0.0156827584432,0.0596225444721,0.999999778853,-0.000286652570955,-0.000595817656019,-7.15915035622e-05,1793239551748621824
+271,4.516666667,HOLD_POSE2,765.849351546,745.150648454,715.150648454,679.150648454,660,633,880.150648454,784,805,651,630,653,0.450817019624,-0.0156841917481,0.0596221895011,0.999999778443,-0.000287605240375,-0.000596065070091,-7.14462674801e-05,1793239551765288448
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880,784,806,652,630,653,0.450817741837,-0.0156819517428,0.0596221915176,0.999999778674,-0.000287419277209,-0.000595740105956,-7.16614764479e-05,1793239551797957120
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880,784.578862299,806,651.421137701,630,653,0.450817803788,-0.0156816661183,0.059622847231,0.999999779028,-0.000287614042357,-0.000595040102521,-7.17529824749e-05,1793239551814624256
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.843062334,745,715,680,660,633,880.156937666,784.843062334,805.843062334,651,630.156937666,653,0.450817485091,-0.0156813621253,0.0596229108055,0.999999779124,-0.000287166231114,-0.00059508252696,-7.18590075035e-05,1793239551831291136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.267088017,745,715,680,660,633,880.732911983,784.267088017,805.267088017,651,630.732911983,653,0.450816150033,-0.0156810090868,0.0596213933201,0.999999778526,-0.000285002687385,-0.000597107295562,-7.20037994963e-05,1793239551847957760
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.684784104,660,633,880.684784104,784,805,651,630.684784104,653,0.450815518307,-0.0156814264149,0.059620750876,0.999999777753,-0.000285035610855,-0.00059840013306,-7.18763982013e-05,1793239551864624640
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.097007148,660,633,880.097007148,784,805,651,630.097007148,653,0.450815494738,-0.0156825098642,0.0596208650632,0.999999776831,-0.000286967776972,-0.000599060083831,-7.15136366496e-05,1793239551881291264
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.483218642,745.483218642,715,679.483218642,660,633,880.483218642,784,805,651,630,653,0.450815785164,-0.0156835337068,0.0596212511469,0.999999777098,-0.000287896484871,-0.000598193875323,-7.12997725923e-05,1793239551897957632
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.938217816,745.938217816,715,680,660,633,880.938217816,784,805,651,630,653,0.450815954827,-0.0156843763447,0.0596216843887,0.999999777576,-0.000288579600364,-0.000597082413978,-7.11487126002e-05,1793239551914623488
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.36106949,745.36106949,715,680,660,633,880.36106949,784,805,651,630,653,0.450814599398,-0.0156838057169,0.0596220626942,0.999999777866,-0.000288868608937,-0.000596441528667,-7.12760347805e-05,1793239551931290112
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.215606617,745,715,680,660,633,880,784,805,651.215606617,630,653,0.450807064629,-0.015683478846,0.0596189580005,0.999999775031,-0.00028965662878,-0.000600764342328,-7.1547887594e-05,1793239551947956480
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.791493585,745,715,680,660,633,880,784,805,651.791493585,630,653,0.450789204135,-0.0156835592952,0.0596100331875,0.999999766864,-0.000291278500311,-0.000613381535962,-7.20612522099e-05,1793239551964623360
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.375556134,715,680,660,633,880,784,805.375556134,651.624443866,630,653,0.450756708789,-0.0156823262452,0.0595959429335,0.999999753957,-0.000289574024524,-0.000634735422696,-7.31019314228e-05,1793239551981290240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.96425878,715,680,660,633,880,784,805.96425878,651.03574122,630,653,0.450715907445,-0.0156803477202,0.0595789210379,0.999999737844,-0.000285981683618,-0.000661047811796,-7.44418875227e-05,1793239551997957120
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.455485852,745.455485852,715,679.455485852,660,633,880,784,806,651,630,653,0.450656061391,-0.0156763770121,0.0595624131573,0.999999724211,-0.000286672571306,-0.000680887266551,-7.6093785608e-05,1793239552014623744
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,633,880,784,805.876498281,651.123501719,630,652.876498281,0.450592053496,-0.0156722285343,0.0595474764755,0.999999711463,-0.000287211567015,-0.000698980316394,-7.75242173569e-05,1793239552031290368
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,633,880,784,805.300157144,651.699842856,630,652.300157144,0.450517299076,-0.0156679003777,0.0595381790273,0.999999702386,-0.000286178507171,-0.000712203967089,-7.80686770005e-05,1793239552047956736
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.279189468,660,633,880,784,805,651.720810532,630,652.279189468,0.450437912202,-0.0156629420392,0.0595342103987,0.999999700284,-0.000282445671066,-0.000716651005801,-7.78990654111e-05,1793239552064623104
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.861802401,660,633,880,784,805,651.138197599,630,652.861802401,0.450353490774,-0.0156572988185,0.0595360331383,0.999999705854,-0.000275778714827,-0.000711559610892,-7.69534002859e-05,1793239552081289728
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.443849702,745,715,680,660,633,880,784,805,651,630,653,0.450245153547,-0.0156507391865,0.0595365323823,0.999999707833,-0.000272583784352,-0.000710075717065,-7.63247160858e-05,1793239552097956864
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880.025529711,784,805,651,630,653,0.450127897394,-0.0156438715302,0.0595364291044,0.999999708404,-0.000270442522252,-0.000710146633176,-7.57963594002e-05,1793239552114623488
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880.60307139,784,805,651,630,653,0.449978597961,-0.0156365054232,0.0595321968014,0.999999702425,-0.000267738862434,-0.000719580095374,-7.53060048906e-05,1793239552131290368
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.180118018,633,880.819881982,784,805,651,630,653,0.449819258027,-0.01562826189,0.059527804654,0.999999696879,-0.000264297830155,-0.000728550977279,-7.48490678889e-05,1793239552147957248
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.756076611,633,880.243923389,784,805,651,630,653,0.44963785237,-0.0156180900616,0.0595230612212,0.999999692406,-0.000259236294435,-0.000736505257631,-7.44655717285e-05,1793239552164623872
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.661105636,745,715,680,660.661105636,633,880.338894364,784.338894364,805,651,630,652.661105636,0.449438165736,-0.0156067902099,0.0595189374766,0.999999689543,-0.000253218236741,-0.000742555197603,-7.35221250766e-05,1793239552181290496
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.073248868,745,715,680,660.073248868,633,880.926751132,784.926751132,805,651,630,652.073248868,0.449225049305,-0.0155946616758,0.0595152689737,0.999999687857,-0.000246497487549,-0.000747206150371,-7.21673212333e-05,1793239552197956864
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.509024845,745,715,680,660,633,880.490975155,785,805,651,630,652.509024845,0.448988458955,-0.0155814315265,0.0595198992601,0.99999969575,-0.000238110213883,-0.0007394441238,-7.08949242651e-05,1793239552214623488
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880.089118517,784.910881483,805,651.089118517,630,653,0.448743286289,-0.0155681188758,0.0595259819254,0.999999704771,-0.000229588400849,-0.000730009077857,-6.95266855095e-05,1793239552231289856
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,880.661696995,784.338303005,805,651.661696995,630,653,0.448469681265,-0.0155552092993,0.0595335354823,0.999999713178,-0.000221623573011,-0.000721083069597,-6.75748804996e-05,1793239552247956480
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,881,784.235967628,805,651.764032372,630,652.764032372,0.448180929395,-0.015544183251,0.0595421704786,0.999999722881,-0.000213466853148,-0.000710224495018,-6.51921765749e-05,1793239552264623616
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,881,784.812681764,805,651.187318236,630,652.187318236,0.447870304903,-0.0155358770922,0.0595523671151,0.999999734439,-0.000205033034148,-0.000696575219395,-6.21872378322e-05,1793239552281290752
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715.398044423,680,660,633.398044423,881,785,805.398044423,651,630.398044423,652.398044423,0.447536588146,-0.0155326097183,0.0595687721477,0.999999753954,-0.000200896963952,-0.000669557731825,-5.85136882826e-05,1793239552297957376
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,715.98756742,680,660,633.98756742,881,785,805.98756742,651,630.98756742,652.98756742,0.447191762905,-0.0155317662432,0.0595881637181,0.99999977643,-0.000198828318392,-0.000636109489038,-5.45185047071e-05,1793239552314624000
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715.432218667,680,660.567781333,634,881,785.567781333,805.432218667,651,631,653,0.446791126076,-0.0155318640307,0.0596009030125,0.999999791073,-0.000173768678154,-0.000620586689649,-5.03118477788e-05,1793239552331290368
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.853572083,634,881,786,804.853572083,651,631,653,0.44637685791,-0.0155297661062,0.0596110588834,0.999999801467,-0.00015215052847,-0.000609717599188,-4.64804260864e-05,1793239552347956736
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.278922679,634,881,786,804.278922679,651,631,653,0.445926241922,-0.015521187624,0.0596140787668,0.999999802093,-0.000142045363443,-0.000611328704793,-4.37596863542e-05,1793239552364623104
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.697490744,745,715,680,660.302509256,634,881,786,804.302509256,651,631,653,0.445444371433,-0.0155112368918,0.0596122761315,0.999999800056,-0.000126509460313,-0.000618201186826,-4.13696491551e-05,1793239552381289728
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.109661615,745,715,680,660.890338385,634,881,786,804.890338385,651,631,653,0.444933022354,-0.0154999918836,0.0596059250063,0.999999795153,-0.00010585140686,-0.000630036079838,-3.92915227586e-05,1793239552397956352
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.470676296,745,715,680,660.529323704,634,880.529323704,786.470676296,805,651,631,653,0.444419681702,-0.0154908543473,0.059611826515,0.999999808381,-8.94316253437e-05,-0.000611494942619,-3.62368519604e-05,1793239552414623488
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.098210869,634,880,787,805,651,631,653,0.443905146058,-0.0154824553066,0.0596236097446,0.999999827218,-7.44738242766e-05,-0.000582198127298,-3.25947019486e-05,1793239552431290880
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.250973387,634,880,787,805,651,631,653,0.443382682997,-0.0154767962215,0.0596683761309,0.999999866407,-6.4777309135e-05,-0.000512212956752,-2.50491945964e-05,1793239552447957504
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.798297463,634.201702537,880.201702537,787,805,651.201702537,631,653,0.442834095915,-0.015470899098,0.059704405121,0.999999893759,-4.56836813508e-05,-0.000458329213141,-1.81429174807e-05,1793239552464623872
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.222388541,634.777611459,880.777611459,787,805,651.777611459,631,653,0.442237042563,-0.015464560357,0.0597242241511,0.999999905565,-9.15616592741e-06,-0.000434317470132,-1.2422565761e-05,1793239552481290240
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.362097173,635,880.637902827,787,805,651.637902827,631,653,0.441588854552,-0.0154572033518,0.0597305343604,0.999999907215,1.10044287015e-05,-0.000430564269604,-7.94420858028e-06,1793239552497956608
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.951978254,635,880.048021746,787,805,651.048021746,631,653,0.440908499362,-0.0154492057888,0.059728346596,0.999999903169,2.08691084289e-05,-0.000439555080229,-4.24715120474e-06,1793239552514623488
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715.5324396,679.4675604,662,635,880,787.5324396,805,651,631.5324396,652.4675604,0.440243492925,-0.0154380920505,0.0597355278345,0.999999905767,4.58065094957e-05,-0.000431703131889,1.23293830399e-07,1793239552531290368
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715.888507239,679.111492761,661.888507239,635,880,787.888507239,805,651,631.888507239,652.111492761,0.439573441578,-0.0154270597851,0.059751618485,0.999999914405,7.3353758244e-05,-0.000407165551863,5.13892677299e-06,1793239552547956992
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715.311846445,679.688153555,661.311846445,635,880,787.311846445,805,651,631.311846445,652.688153555,0.438876666851,-0.0154175196657,0.0598014165772,0.999999943323,0.000106216537092,-0.000319240191144,1.2597410803e-05,1793239552564623872
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.263110615,635,880.263110615,787.263110615,805,651,631.263110615,653,0.438151732887,-0.015409053437,0.0598339853619,0.999999954936,0.000133645859074,-0.000268154564414,1.89903771153e-05,1793239552581290752
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.836061427,635,880.836061427,787.836061427,805,651,631.836061427,653,0.437393638394,-0.0154018518253,0.0598462648463,0.999999953829,0.000154676723952,-0.000260451558255,2.41285862455e-05,1793239552597957632
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,881,788,805,651,632,652.577164997,0.436554840166,-0.0153929192866,0.0598090854475,0.999999932225,0.00017552479748,-0.000322679496101,2.48735138591e-05,1793239552614623744
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.985250046,662.014749954,635,880.985250046,788,805,651,631.985250046,652,0.435685561914,-0.0153835705296,0.0597535884482,0.999999896495,0.000196139256666,-0.000409834218924,2.3986202298e-05,1793239552631289856
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.408535675,662.591464325,635,880.408535675,788,805,651,631.408535675,652,0.434887424977,-0.0153847967956,0.0597554805176,0.999999905685,0.000210644623445,-0.000378780394795,2.80006697482e-05,1793239552647956480
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.168143956,662.831856044,635,880.168143956,788,805,651,631,652.168143956,0.434079829379,-0.0153860909018,0.0597624406801,0.999999914272,0.000219757846356,-0.000349523764915,3.15691406848e-05,1793239552664623104
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.74473916,662.25526084,635,880.74473916,788,805,651,631,652.74473916,0.433249257079,-0.0153875498034,0.0597817121322,0.999999923448,0.000215772602764,-0.000324632838678,3.40542074444e-05,1793239552681289984
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.672043517,635,880.672043517,788,804.672043517,651.327956483,631,653,0.432411457224,-0.0153891162575,0.0597946614672,0.999999937085,0.00017174723332,-0.000309608721746,2.17819774585e-05,1793239552697956864
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.083565759,635,880.083565759,788,804.083565759,651.916434241,631,653,0.431567915999,-0.0153907681488,0.0598025886533,0.999999949668,9.59148851091e-05,-0.000302422576639,-2.21311838048e-06,1793239552714623744
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.503155133,661.496844867,635,880,788,804.993689733,652,631,652.503155133,0.43070260906,-0.0153937948265,0.0598222146651,0.999999959552,9.74810304111e-05,-0.000267190265228,1.86213032257e-06,1793239552731290112
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.924599017,635,880,787.924599017,805.924599017,652,631.075400983,652,0.429825277964,-0.0153955957687,0.0598378462898,0.999999964696,0.000113706037606,-0.00023996350316,9.77955744401e-06,1793239552747956992
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.34948513,635,880,787.34948513,805.34948513,652,631.65051487,652,0.428892132522,-0.0153877652973,0.059814173358,0.999999945843,0.000142184969709,-0.000296555857577,1.23710614197e-05,1793239552764623616
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,714.774811999,679,661,635,880,787.225188001,804.774811999,651.774811999,632,652.225188001,0.427973441212,-0.015381382362,0.0597876463898,0.999999928332,0.000159706899071,-0.000343023459478,1.28028572342e-05,1793239552781290240
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,714.200821484,679,661,635,880,787.799178516,804.200821484,651.200821484,632,652.799178516,0.42707713833,-0.0153772415711,0.0597566986894,0.999999917244,0.000160257102653,-0.000373808445553,9.88939692782e-06,1793239552797956864
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,714.385877761,678.614122239,661.385877761,635.385877761,880,788,804.385877761,651.385877761,632,653,0.426209196244,-0.0153792426792,0.0597661509275,0.999999924624,0.000156165671488,-0.000355330113906,1.02817501451e-05,1793239552814623488
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,714.979416193,678.020583807,661.979416193,635.979416193,880,788,804.979416193,651.979416193,632,653,0.425356516614,-0.0153845490594,0.0597973444523,0.99999994058,0.000149576337687,-0.000310340654912,1.24531318074e-05,1793239552831289856
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,744.449012056,715,678.550987944,661.449012056,635.449012056,880.550987944,788,805,652,632,652.449012056,0.424457150018,-0.0153836868908,0.0598208240284,0.999999945118,0.000157969704747,-0.000290756355207,1.64675110394e-05,1793239552847956736
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,744.124111723,715,679,661,635,880.875888277,788,804.875888277,651.875888277,631.875888277,652.124111723,0.423562869926,-0.0153825545956,0.059840474704,0.999999948848,0.000167695555288,-0.000271629524009,1.99975597743e-05,1793239552864623616
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,744.705868313,715,679,661,635,880.294131687,788,804.294131687,651.294131687,631.294131687,652.705868313,0.422693530333,-0.0153812434001,0.0598470287111,0.99999995205,0.000180349979246,-0.000250824095812,2.14975624017e-05,1793239552881290496
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879.708743813,788,804,651.291256187,631,653,0.421818543601,-0.0153792153671,0.0598437606928,0.999999950194,0.000185642654828,-0.000254314755078,2.17247378819e-05,1793239552897957120
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,879.119642542,788,804,651.880357458,631,653,0.42093778203,-0.0153764542801,0.0598304484513,0.999999943022,0.000183407041236,-0.000282651137465,2.06502917873e-05,1793239552914623744
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.461452552,661,635,879.461452552,787.538547448,804,651.538547448,631,652.538547448,0.420011864702,-0.0153707135296,0.0597817053306,0.999999914223,0.000185517376026,-0.000369976006507,1.59686093485e-05,1793239552931290368
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,744.959603564,715,679.959603564,661,635.040396436,880,787.040396436,804,651,631,652,0.419082242462,-0.0153649016572,0.0597290072978,0.999999875647,0.000188319939201,-0.000461652546464,1.08414039564e-05,1793239552947956736
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,744.382133609,715,679.382133609,661,635.617866391,880,787.617866391,804,651,631,652,0.418256364283,-0.0153682401456,0.0597437781133,0.999999898114,0.000185600470394,-0.000411315475812,1.20132621313e-05,1793239552964623360
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,744.197833189,715,679,661,636,880,787.802166811,804.197833189,651.197833189,631.197833189,652.197833189,0.417453463079,-0.0153705021993,0.0597685149749,0.999999918279,0.000184758634757,-0.000359301538879,1.4413817537e-05,1793239552981290240
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,744.782684627,715,679,661,636,880,787.217315373,804.782684627,651.782684627,631.782684627,652.782684627,0.416695511258,-0.0153706584395,0.0598127482732,0.99999993601,0.000187589986054,-0.000304007164294,1.92180560679e-05,1793239552997957120
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,744.635879332,715,679,661,635.635879332,880,787.364120668,805,652,632,653,0.415918058172,-0.0153696182352,0.0598347580712,0.999999941216,0.000191860133633,-0.000283322035628,2.20389538038e-05,1793239553014624000
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,744.056462767,715,679,661,635.056462767,880,787.943537233,805,652,632,653,0.415129074498,-0.0153678706018,0.0598436276391,0.999999940246,0.000196981007315,-0.000283100535035,2.36871490116e-05,1793239553031290880
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,744,715,679,661,635.522600351,880,788,804.477399649,652,632,653,0.414362119603,-0.0153678116095,0.0598423687565,0.999999940105,0.000200231289334,-0.000281289807986,2.39338247046e-05,1793239553047957248
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,744.100973889,715,679,661,636,880,788,804,652,632,653,0.413594239873,-0.0153676226281,0.0598375458867,0.999999938592,0.000202291269213,-0.000285186553022,2.37075725891e-05,1793239553064623616
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,744.676287276,715,679,661,636,880,788,804,652,632,653,0.412810842634,-0.0153659665256,0.059821117818,0.999999929667,0.000199708395526,-0.000316701031567,2.19705238214e-05,1793239553081289984
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.74299629,788,804,652,632,653,0.412054590961,-0.0153628629499,0.0597944203624,0.999999914651,0.000201609251328,-0.000360119982559,1.90881896192e-05,1793239553097956608
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.155328271,788,804,652,632,653,0.411333265187,-0.0153578970363,0.0597545101816,0.999999890273,0.000209278931604,-0.000418855379381,1.47323164119e-05,1793239553114623232
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.426142362,745,715,679,661,636,879.426142362,788,804.426142362,652,632,652.573857638,0.410681994239,-0.0153588946481,0.059759627615,0.999999896011,0.000210975148509,-0.0004040200462,1.53068212377e-05,1793239553131290112
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.994644486,744.994644486,715,679,661,636,880,788,804.994644486,652,631.994644486,652.005355514,0.410056300951,-0.0153620397903,0.0597811288659,0.999999911974,0.000210480563075,-0.000362543874195,1.76693636404e-05,1793239553147956992
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.418730753,744.418730753,715,679,661,636,880,788,804.418730753,652,631.418730753,652.581269247,0.409474166197,-0.015365716835,0.0598246386012,0.999999934056,0.000205224398642,-0.000298821576215,2.1809212206e-05,1793239553164624128
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.15708593,744.15708593,715,679,661,636,880,788,804,652,631,653,0.408887648651,-0.0153678283508,0.0598578409397,0.999999947612,0.000202868433123,-0.000250995001441,2.49197928668e-05,1793239553181290496
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.732644199,744.732644199,715,679,661,636,880,788,804,652,631,653,0.408289455346,-0.0153657693439,0.0598635846831,0.99999994786,0.00020823851378,-0.00024551415894,2.52884349342e-05,1793239553197957120
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.370878828,744.685439414,715,679,661,636,879.685439414,788,804,652,631,652.685439414,0.407718801902,-0.0153646845072,0.0598559887586,0.999999944364,0.000209952465319,-0.000258049715671,2.45528855558e-05,1793239553214623744
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.196015196,744.098007598,715,679,661,636,879.098007598,788,804,652,631,652.098007598,0.40717203844,-0.0153644447322,0.0598368210991,0.999999937044,0.000208494841548,-0.000286213921673,2.28594854401e-05,1793239553231290368
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.483178981,744.483178981,715,679,661,635.516821019,879.483178981,788,804,652,631,652.483178981,0.406667230673,-0.0153642089251,0.059829933924,0.999999934765,0.000211738338304,-0.000291819366637,2.18714778171e-05,1793239553247956736
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,744.937455579,715,678.937455579,661,635,880,787.937455579,804,652,631,652.937455579,0.40617664912,-0.0153640510357,0.059826818183,0.999999934347,0.000214686409596,-0.000291141781585,2.12482560741e-05,1793239553264623360
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,744.362761903,715,678.362761903,661,635,880,787.362761903,804,652,631,652.362761903,0.405733762292,-0.0153645246744,0.0598344479483,0.999999940129,0.000207506624965,-0.000276006298603,2.24554286846e-05,1793239553281290240
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,744.211049706,715,678,661,635,879.788950294,787.211049706,804,652,631.211049706,652,0.405296473941,-0.0153645087665,0.0598372836831,0.999999941392,0.000210392423223,-0.00026908268782,2.33383390941e-05,1793239553297956864
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,744.783351432,715,678,661,635,879.216648568,787.783351432,804,652,631.783351432,652,0.404868768501,-0.0153636549057,0.0598319135149,0.999999935006,0.000230507396399,-0.000276215271675,2.36662124803e-05,1793239553314624000
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,744.631103227,715,678.368896773,661,635,879,788,804,652.368896773,631.631103227,652.368896773,0.404462362654,-0.015362640873,0.0598170102293,0.999999925767,0.000238159121513,-0.000302001728206,2.32702412741e-05,1793239553331290624
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,744.03749039,715,678.96250961,661,635,879,788,804,652.96250961,631.03749039,652.96250961,0.404068931561,-0.0153615292704,0.0597962997776,0.999999913862,0.000238218773089,-0.000339151322944,2.24333350513e-05,1793239553347956992
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744.543518539,715,678.456481461,661,635.543518539,879.543518539,787.456481461,804,652.456481461,631,653,0.403730264418,-0.0153604598656,0.0597855332427,0.999999907601,0.000240343113888,-0.000355734790277,2.20650883791e-05,1793239553364623360
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.122618771,661,636,879.877381229,787.122618771,804,652,631,653,0.403412513733,-0.0153599497065,0.0597817902459,0.999999905169,0.00024423218515,-0.000359872666301,2.24665956292e-05,1793239553381290240
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.697810442,661,636,879.302189558,787.697810442,804,652,631,653,0.403158337154,-0.0153614931642,0.0598014961602,0.999999915157,0.00025412095919,-0.000323192401568,2.5592572242e-05,1793239553397956864
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,744.727394811,715,678.727394811,661,636,879.272605189,788,804,652,631,652.727394811,0.402913437305,-0.0153619019478,0.0598190854045,0.999999923114,0.000259559619883,-0.000292541724191,2.86380625922e-05,1793239553414623488
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,744.153039459,715,678.153039459,661,636,879.846960541,788,804,652,631,652.153039459,0.402678806004,-0.015361054746,0.0598343316787,0.999999929618,0.000260072392919,-0.00026856527648,3.15944615039e-05,1793239553431290368
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,744.433855713,715,678.433855713,661,636,879.566144287,788,804,652,631.433855713,652.433855713,0.402468637576,-0.015357148111,0.0598427062688,0.999999931701,0.000265403846131,-0.000255032728078,3.34094289651e-05,1793239553447956992
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.975236097,678.975236097,661,636,879.024763903,788,803.975236097,652,631.975236097,653,0.402267939085,-0.0153523118045,0.0598481116253,0.999999932083,0.000271996707336,-0.000246265511581,3.47255660627e-05,1793239553464623872
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,714.396452552,678.396452552,661,636,879.603547448,788,803.396452552,652,631.396452552,653,0.402080305863,-0.0153515392001,0.0598429315964,0.999999929996,0.000267651038869,-0.000259236626361,3.41576408708e-05,1793239553481290496
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,714.1802822,678.1802822,661,636,879.8197178,788,803,652,631.1802822,653,0.401903120163,-0.0153517095591,0.059837861458,0.999999932822,0.000245274364259,-0.000270872864236,2.8703842703e-05,1793239553497957120
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,714.752562074,678.752562074,661,636,879.247437926,788,803,652,631.752562074,653,0.401748651115,-0.0153539302564,0.0598330302615,0.999999943959,0.000183691864246,-0.000279606602252,1.26264175937e-05,1793239553514623488
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,744.664639002,715,679,661,636,879.335360998,788,803.335360998,652,632,653,0.4016166679,-0.0153649289017,0.0598328861801,0.999999947339,0.000162332671583,-0.000280963015515,5.46696345963e-06,1793239553531290112
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,744.073827465,715,679,661,636,879.926172535,788,803.926172535,652,632,653,0.401501812534,-0.015382613869,0.0598363123584,0.99999994698,0.000171612293423,-0.000276699988627,5.100487418e-06,1793239553547956992
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,744.508302147,715,679,661.508302147,636,879.491697853,788,804,652,631.491697853,653,0.401409816972,-0.0153855802527,0.0598393598347,0.999999946773,0.000179378952802,-0.000272464612913,6.40171335937e-06,1793239553564623360
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,744.911674753,715,679,661.911674753,636,879,788,804,652,631.088325247,653,0.401324638226,-0.0153855583246,0.0598419604399,0.999999946606,0.000186156179157,-0.000268468116593,7.72625772928e-06,1793239553581289984
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,744.336429361,715,679,661.336429361,636,879,788,804,652,631.663570639,653,0.401259042822,-0.0153806496387,0.0598423956656,0.999999946855,0.000188669936489,-0.00026576674656,7.86645128184e-06,1793239553597956864
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,744.243996447,715,679,661,636,879,788,804,651.756003553,631.756003553,652.756003553,0.401199746618,-0.0153779180833,0.0598431681156,0.999999947446,0.000189125762776,-0.000263188408355,8.48823120179e-06,1793239553614623488
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,744.831720073,715,679,661,636,879,788,804,651.168279927,631.168279927,652.168279927,0.401149324342,-0.015378253536,0.0598444156262,0.999999948523,0.000186682502302,-0.00026078338998,9.78844035104e-06,1793239553631290368
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,651.413509153,631.413509153,652.413509153,0.401108033277,-0.015376852238,0.0598445763635,0.999999948112,0.000187579276213,-0.000261703496197,1.0109963765e-05,1793239553647956736
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,651.992917292,631.992917292,652.992917292,0.401070405635,-0.0153747541593,0.0598443010897,0.999999947098,0.000189816064814,-0.000263957635325,1.00388405288e-05,1793239553664623360
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,744.430362861,715,679,661,636,879,788,804,652,631.430362861,652.430362861,0.401042963687,-0.0153750694672,0.0598405389513,0.999999945665,0.000190205744466,-0.000269058387528,9.98210598695e-06,1793239553681290240
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,744.145146648,715,679,661,636,879.145146648,788,804,652,631,652.145146648,0.401019781308,-0.0153754446443,0.0598381217201,0.999999944803,0.000190376319215,-0.000272121545545,1.0084856928e-05,1793239553697956864
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,744.717194095,715,679,661,636,879.717194095,788,804,652,631,652.717194095,0.401008756311,-0.0153759080648,0.0598397870034,0.999999945695,0.000189969700275,-0.000269088183419,1.06561578932e-05,1793239553714623488
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.699962627,879.699962627,788,804,652.300037373,631,653,0.401001038712,-0.0153754949391,0.0598417836011,0.999999946306,0.000191149661539,-0.000265944547321,1.10870725048e-05,1793239553731289856
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.106563654,879.106563654,788,804,652.893436346,631,653,0.400996554922,-0.0153742247702,0.0598441041418,0.999999946637,0.000193880901854,-0.000262693090465,1.13807243998e-05,1793239553747956480
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.474311882,879,787.525688118,804,652.525688118,631,653,0.400991841292,-0.0153760984924,0.0598441134928,0.999999947156,0.000191372934675,-0.000262554396167,1.13500825866e-05,1793239553764623104
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,744.947711183,715,679,661,636,879.052288817,787.052288817,804,652,631.052288817,653,0.40098747119,-0.0153783408839,0.0598437224314,0.999999947651,0.000188337887466,-0.000262867952857,1.12743367315e-05,1793239553781289728
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,744.371310927,715,679,661,636,879.628689073,787.628689073,804,652,631.628689073,653,0.40098704869,-0.015377380816,0.0598443886894,0.999999947565,0.000191514666295,-0.00026088511678,1.14580041588e-05,1793239553797956352
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,744.204347911,715,679,661,636,879.795652089,788,804,652,631.795652089,653,0.400986642712,-0.0153760277979,0.0598449077284,0.999999947453,0.000193920934501,-0.000259537705767,1.13882266617e-05,1793239553814623232
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,744.778664392,715,679,661,636,879.221335608,788,804,652,631.221335608,653,0.400986266647,-0.0153739633499,0.0598451602296,0.999999947313,0.000194932205567,-0.000259340721624,1.08595912409e-05,1793239553831289856
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744.635569146,715,678.635569146,661.364430854,636,879,788,804,652,631.364430854,653,0.400985887004,-0.0153750206311,0.0598457158083,0.999999947818,0.000193608616447,-0.000258380627847,1.09179943167e-05,1793239553847956992
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,744.042623029,715,678.042623029,661.957376971,636,879,788,804,652,631.957376971,653,0.400985505118,-0.0153780353831,0.0598464614309,0.99999994872,0.000190820960286,-0.000256942028495,1.13444981211e-05,1793239553864624384
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,744.535510075,715,678.535510075,661.464489925,636,879,788,804,652,631.464489925,653,0.400985986834,-0.0153790703083,0.059847343374,0.99999994916,0.000189446887825,-0.000256226082274,1.17293244466e-05,1793239553881290752
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,803.88816035,652,631.11183965,653,0.400986559215,-0.015379574597,0.0598482045256,0.999999949438,0.000189050784127,-0.000255417667395,1.20355609456e-05,1793239553897957120
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,803.314540539,652,631.685459461,653,0.400987229768,-0.0153785210457,0.0598489362356,0.999999949192,0.000192240612312,-0.000253996356495,1.20306320709e-05,1793239553914624000
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715.26548169,679,661,636,879,788,803.26548169,652,632,653,0.400987038537,-0.0153775634657,0.0598490099013,0.999999948973,0.000193727960795,-0.000253731704836,1.20240358703e-05,1793239553931290368
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715.853276986,679,661,636,879,788,803.853276986,652,632,653,0.400985801039,-0.0153767224016,0.0598482846546,0.999999948795,0.000193148378563,-0.000254871319364,1.20154154173e-05,1793239553947956480
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715.56316616,679,661,636,879,788,804,652,631.56316616,653,0.400984858959,-0.01537674452,0.0598478531964,0.999999948541,0.000193578124179,-0.000255544218928,1.19061088376e-05,1793239553964623104
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.018785369,744.981214631,715,679,661,636,879,788,804,652,631,653,0.400984019304,-0.0153770564422,0.0598475010058,0.999999948263,0.00019431210647,-0.000256083374734,1.17703234607e-05,1793239553981289984
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.594940279,744.405059721,715,679,661,636,879,788,804,652,631,653,0.400983302883,-0.0153774474523,0.0598466010594,0.999999947999,0.000194110969083,-0.000257260721471,1.1842661349e-05,1793239553997956608
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.830437447,744,715,679,661,636,879,788,804,652,631,653,0.400983574083,-0.0153776569957,0.0598467859889,0.999999948091,0.000193994471989,-0.000256985934261,1.19241571184e-05,1793239554014623488
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.25944365,744,715,679,661,636,879,788,804,652,631,653,0.400986183428,-0.0153774369252,0.0598495393107,0.999999949021,0.000194078356757,-0.000253273289238,1.20273337293e-05,1793239554031290112
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,744.322810315,715,679,661,636,879,788,804,652,631,653,0.400986578748,-0.0153772059384,0.0598499811437,0.999999949133,0.000194090382657,-0.000252827153599,1.18818516656e-05,1793239554047957248
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,744.914441164,715,679,661,636,879,788,804,652,631,653,0.400985130339,-0.0153769658612,0.0598484980825,0.999999948569,0.000194042568023,-0.00025510120631,1.15292988969e-05,1793239554064623872
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,744.501926416,715,679,661,636,878.501926416,788,804,652,631,653,0.400985167636,-0.0153775848479,0.0598489873031,0.999999948958,0.000193557423249,-0.000253924835618,1.19053334903e-05,1793239554081289984
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,744.07907341,715.07907341,679,661,636,878.07907341,787.92092659,804.07907341,652,631,653,0.40098537564,-0.0153781861673,0.0598496800219,0.999999949379,0.000193207060104,-0.000252510153054,1.23066187384e-05,1793239554097956608
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,744.652075378,715.652075378,679,661,636,878.652075378,787.347924622,804.652075378,652,631,653,0.400985080973,-0.0153777699098,0.0598495610462,0.99999994901,0.000194160449015,-0.000253250700847,1.20962031193e-05,1793239554114623488
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.774638494,678.774638494,661,636,879,787.225361506,804.774638494,652,631,653,0.400984980125,-0.0153775077587,0.0598496782538,0.999999948768,0.000194962338518,-0.000253595246113,1.1997488757e-05,1793239554131290112
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.200913022,678.200913022,661,636,879,787.799086978,804.200913022,652,631,653,0.400985178883,-0.0153774838252,0.0598501605539,0.999999948724,0.000195530040284,-0.000253327650526,1.20714422392e-05,1793239554147956736
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,744.615167309,715.384832691,678.384832691,661,636,879,788,804,652,631,653,0.400986066236,-0.0153779129922,0.0598506940938,0.999999949285,0.000194453185531,-0.000251932626351,1.21690688927e-05,1793239554164623360
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,744.022943783,715.977056217,678.977056217,661,636,879,788,804,652,631,653,0.40098732468,-0.0153785863403,0.0598512552475,0.999999950166,0.000192490060011,-0.000249930017742,1.22794532904e-05,1793239554181290240
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,744.554169961,715.445830039,679,661,636,879,788,804,652,631.554169961,653,0.400986387763,-0.0153783366028,0.0598505701656,0.999999949637,0.000193768797386,-0.000251057947414,1.22610620273e-05,1793239554197957120
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d7735d0473c0bd295ed31c4c38ee481a314a1d83
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/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,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+1,0.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+2,0.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+3,0.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+4,0.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+5,0.083333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+6,0.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+7,0.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+8,0.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+9,0.150000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+10,0.166666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+11,0.183333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+12,0.200000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+13,0.216666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+14,0.233333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+15,0.250000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+16,0.266666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+17,0.283333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+18,0.300000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+19,0.316666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+20,0.333333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+21,0.350000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+22,0.366666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+23,0.383333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+24,0.400000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+25,0.416666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+26,0.433333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+27,0.450000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+28,0.466666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+29,0.483333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+30,0.500000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+31,0.516666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+32,0.533333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+33,0.550000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+34,0.566666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+35,0.583333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+36,0.600000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+37,0.616666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+38,0.633333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+39,0.650000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+40,0.666666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+41,0.683333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+42,0.700000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+43,0.716666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+44,0.733333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+45,0.750000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+46,0.766666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+47,0.783333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+48,0.800000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+49,0.816666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+50,0.833333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+51,0.850000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+52,0.866666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+53,0.883333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+54,0.900000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+55,0.916666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+56,0.933333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+57,0.950000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+58,0.966666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+59,0.983333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+60,1.000000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+61,1.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+62,1.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+63,1.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+64,1.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+65,1.083333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+66,1.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+67,1.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+68,1.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+69,1.150000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+70,1.166666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+71,1.183333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+72,1.200000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+73,1.216666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+74,1.233333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+75,1.250000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+76,1.266666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+77,1.283333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+78,1.300000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+79,1.316666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+80,1.333333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+81,1.350000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+82,1.366666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+83,1.383333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+84,1.400000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+85,1.416666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+86,1.433333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+87,1.450000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+88,1.466666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+89,1.483333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+90,1.500000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+91,1.516666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+92,1.533333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+93,1.550000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+94,1.566666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+95,1.583333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+96,1.600000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+97,1.616666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+98,1.633333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+99,1.650000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+100,1.666666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+101,1.683333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+102,1.700000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+103,1.716666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+104,1.733333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+105,1.750000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+106,1.766666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+107,1.783333333,pose1_to_pose2_press,0.575664423642,-0.00990929997034,1.05003219328,0.546234875488,-0.00123755908879,1.04970033576
+108,1.800000000,pose1_to_pose2_press,0.57566444805,-0.00990931498527,1.05003219271,0.546234900321,-0.00123757266677,1.04970033518
+109,1.816666667,pose1_to_pose2_press,0.575664458349,-0.00990932132026,1.05003219247,0.546234910798,-0.0012375783955,1.04970033493
+110,1.833333333,pose1_to_pose2_press,0.57566454837,-0.00990933819289,1.05003219963,0.546235001535,-0.00123759282726,1.04970034233
+111,1.850000000,pose1_to_pose2_press,0.575664590631,-0.00990932076434,1.05003220908,0.546235043577,-0.00123757613489,1.04970035209
+112,1.866666667,pose1_to_pose2_press,0.57566472244,-0.00990926640689,1.05003223854,0.546235174697,-0.00123752407347,1.04970038253
+113,1.883333333,pose1_to_pose2_press,0.57566499466,-0.00990915561977,1.05003229866,0.546235445516,-0.00123741796679,1.04970044463
+114,1.900000000,pose1_to_pose2_press,0.575666418054,-0.00990913474874,1.05003234216,0.546236868671,-0.00123739827985,1.04970047835
+115,1.916666667,pose1_to_pose2_press,0.575670302293,-0.0099091419796,1.05003241567,0.546240753048,-0.00123740523574,1.04970054688
+116,1.933333333,pose1_to_pose2_press,0.575680200338,-0.00990910599672,1.05003231346,0.546250650842,-0.00123736990894,1.04970044971
+117,1.950000000,pose1_to_pose2_press,0.575698445258,-0.00990916541839,1.05003241763,0.546268896083,-0.00123742849643,1.04970054712
+118,1.966666667,pose1_to_pose2_press,0.575727909278,-0.00990917483763,1.05003224699,0.546298359256,-0.00123744074232,1.04970037768
+119,1.983333333,pose1_to_pose2_press,0.575768648833,-0.00990920289228,1.05003231268,0.546339100135,-0.00123746455978,1.04970043658
+120,2.000000000,pose1_to_pose2_press,0.575821062201,-0.00990925813463,1.05003232665,0.54639151396,-0.00123751804236,1.04970045589
+121,2.016666667,pose1_to_pose2_press,0.575882781807,-0.0099092198167,1.05003209529,0.546453232999,-0.00123748133985,1.04970023256
+122,2.033333333,pose1_to_pose2_press,0.575952749615,-0.0099092857435,1.0500320178,0.546523201025,-0.00123754657799,1.04970015373
+123,2.050000000,pose1_to_pose2_press,0.576029350442,-0.00990920421351,1.05003219365,0.546599801416,-0.00123746643126,1.04970033205
+124,2.066666667,pose1_to_pose2_press,0.576112777411,-0.00990919904971,1.05003234908,0.546683228472,-0.00123746117906,1.04970048197
+125,2.083333333,pose1_to_pose2_press,0.576205934046,-0.00990920937499,1.05003236288,0.546776385142,-0.00123747144523,1.04970049422
+126,2.100000000,pose1_to_pose2_press,0.576310394373,-0.00990920215241,1.05003231615,0.546880846361,-0.001237461076,1.04970045055
+127,2.116666667,pose1_to_pose2_press,0.576430793215,-0.00990931321962,1.05003222167,0.547001247358,-0.00123756494003,1.0497003532
+128,2.133333333,pose1_to_pose2_press,0.576568222494,-0.00990936829343,1.05003215417,0.547138675984,-0.00123762205104,1.0497002902
+129,2.150000000,pose1_to_pose2_press,0.57672379536,-0.00990913812112,1.05003248259,0.547294246307,-0.0012374008473,1.04970060979
+130,2.166666667,pose1_to_pose2_press,0.576898290758,-0.0099093519355,1.05003230086,0.547468742249,-0.00123761320109,1.04970041789
+131,2.183333333,pose1_to_pose2_press,0.577090275691,-0.00990921958911,1.05003200938,0.54766072832,-0.00123747640667,1.0497001417
+132,2.200000000,pose1_to_pose2_press,0.57729903848,-0.00990918250968,1.05003227886,0.547869489564,-0.00123744425843,1.0497004192
+133,2.216666667,pose1_to_pose2_press,0.577523733175,-0.00990911540129,1.05003244357,0.548094184063,-0.00123737813261,1.04970057561
+134,2.233333333,pose1_to_pose2_press,0.577765492721,-0.00990904411803,1.0500321044,0.548335943607,-0.00123730659071,1.04970024325
+135,2.250000000,pose1_to_pose2_press,0.578022380179,-0.00990913598755,1.05003211577,0.548592831412,-0.00123739734915,1.04970025288
+136,2.266666667,pose1_to_pose2_press,0.578294700242,-0.00990924130858,1.05003217478,0.5488651514,-0.0012375032052,1.04970030451
+137,2.283333333,pose1_to_pose2_press,0.57858702609,-0.00990925646969,1.05003210801,0.549157477484,-0.00123751750848,1.04970023916
+138,2.300000000,pose1_to_pose2_press,0.57890047451,-0.00990923897248,1.05003204681,0.549470926652,-0.00123749714046,1.04970018658
+139,2.316666667,pose1_to_pose2_press,0.579242126711,-0.0099092469937,1.05003196078,0.549812578443,-0.0012375065221,1.04970010126
+140,2.333333333,pose1_to_pose2_press,0.579613577424,-0.00990920395304,1.05003200744,0.550184029251,-0.00123746307968,1.04970015001
+141,2.350000000,pose1_to_pose2_press,0.580018025231,-0.00990933747087,1.05003234633,0.550588478788,-0.00123759107962,1.04970047957
+142,2.366666667,pose1_to_pose2_press,0.580447318665,-0.0099092484488,1.05003222721,0.551017770191,-0.00123750890303,1.04970036166
+143,2.383333333,pose1_to_pose2_press,0.580898094485,-0.00990941193367,1.0500323755,0.551468547935,-0.0012376662315,1.04970050008
+144,2.400000000,pose1_to_pose2_press,0.581361085252,-0.00990920444783,1.05003222139,0.551931535311,-0.00123746987476,1.0497003559
+145,2.416666667,pose1_to_pose2_press,0.581834411912,-0.0099092005276,1.05003232452,0.552404863627,-0.00123746028361,1.04970046029
+146,2.433333333,pose1_to_pose2_press,0.582319130688,-0.00990922854196,1.05003223548,0.552889583146,-0.00123748568724,1.04970037349
+147,2.450000000,pose1_to_pose2_press,0.582824684781,-0.00990925767017,1.05003223932,0.553395136273,-0.00123751833359,1.04970037104
+148,2.466666667,pose1_to_pose2_press,0.583357550388,-0.00990914692588,1.05003223275,0.55392800017,-0.00123741337997,1.04970036473
+149,2.483333333,pose1_to_pose2_press,0.583916586342,-0.00990910412627,1.05003231132,0.554487036079,-0.00123737081648,1.04970044102
+150,2.500000000,pose1_to_pose2_press,0.584497528473,-0.00990914028048,1.05003238188,0.555067978714,-0.0012374053806,1.04970050846
+151,2.516666667,pose1_to_pose2_press,0.585089884657,-0.00990919675794,1.0500323566,0.555660335337,-0.00123746056702,1.04970047794
+152,2.533333333,pose1_to_pose2_press,0.585690027213,-0.00990924725169,1.05003232462,0.556260478648,-0.00123750850217,1.04970044578
+153,2.550000000,pose1_to_pose2_press,0.586299193477,-0.00990923374895,1.05003235466,0.556869645305,-0.00123749305092,1.04970049185
+154,2.566666667,pose1_to_pose2_press,0.586933646185,-0.00990925738425,1.05003242143,0.557504098906,-0.0012375137095,1.04970055721
+155,2.583333333,pose1_to_pose2_press,0.587599379058,-0.00990910602484,1.0500321974,0.558169829276,-0.00123737071071,1.04970033666
+156,2.600000000,pose1_to_pose2_press,0.588293379146,-0.00990924667326,1.05003222812,0.558863831942,-0.00123750282058,1.04970036185
+157,2.616666667,pose1_to_pose2_press,0.58900729323,-0.00990933769529,1.05003225307,0.559577746246,-0.00123759325934,1.04970038246
+158,2.633333333,pose1_to_pose2_press,0.589728373235,-0.0099092920096,1.05003247204,0.5602988257,-0.00123754947765,1.04970060057
+159,2.650000000,pose1_to_pose2_press,0.59044868664,-0.00990909596442,1.05003225948,0.561019137662,-0.00123735810276,1.04970039396
+160,2.666666667,pose1_to_pose2_press,0.591171403299,-0.00990917671056,1.05003242695,0.561741855134,-0.00123743632324,1.04970055536
+161,2.683333333,pose1_to_pose2_press,0.591895020968,-0.00990932515543,1.05003229768,0.562465474405,-0.00123757901239,1.04970043437
+162,2.700000000,pose1_to_pose2_press,0.592620883111,-0.00990928741865,1.05003213684,0.563191336253,-0.00123754214823,1.04970027693
+163,2.716666667,pose1_to_pose2_press,0.59336017644,-0.00990920417153,1.05003227787,0.563930628365,-0.00123746331065,1.04970041061
+164,2.733333333,pose1_to_pose2_press,0.59411228628,-0.00990925464227,1.05003249053,0.564682738191,-0.00123751399192,1.04970061908
+165,2.750000000,pose1_to_pose2_press,0.594880657267,-0.0099093367539,1.05003251679,0.565451110119,-0.00123759280663,1.04970064805
+166,2.766666667,pose1_to_pose2_press,0.595669505144,-0.00990929073905,1.05003251122,0.56623995786,-0.0012375472284,1.04970064315
+167,2.783333333,pose1_to_pose2_press,0.596476730849,-0.00990924997893,1.05003215052,0.567047182475,-0.00123750964565,1.0497002961
+168,2.800000000,pose1_to_pose2_press,0.597290583893,-0.00990911632505,1.05003209765,0.567861034426,-0.00123737973917,1.0497002423
+169,2.816666667,pose1_to_pose2_press,0.598101977514,-0.00990905992075,1.05003233761,0.56867242801,-0.00123732373434,1.04970047522
+170,2.833333333,pose1_to_pose2_press,0.59889553339,-0.00990918514351,1.05003245836,0.569465985385,-0.00123744416668,1.04970058824
+171,2.850000000,pose1_to_pose2_press,0.599670006253,-0.00990934810402,1.05003197884,0.570240458468,-0.00123760608994,1.04970011638
+172,2.866666667,pose1_to_pose2_press,0.600422499564,-0.00990916903572,1.05003220947,0.570992950385,-0.00123743204297,1.04970033942
+173,2.883333333,pose1_to_pose2_press,0.601178557406,-0.00990931270003,1.05003233717,0.571749011433,-0.00123756487618,1.04970046593
+174,2.900000000,pose1_to_pose2_press,0.601944322202,-0.0099092698444,1.05003226217,0.572514775867,-0.00123752303222,1.04970039668
+175,2.916666667,pose1_to_pose2_press,0.602715145177,-0.00990922425753,1.05003204903,0.57328559848,-0.00123747841859,1.04970019017
+176,2.933333333,pose1_to_pose2_press,0.603492265409,-0.00990922501182,1.05003225704,0.574062718118,-0.00123748144365,1.04970039164
+177,2.950000000,pose1_to_pose2_press,0.604272237715,-0.00990931715827,1.05003251071,0.574842690571,-0.00123757352263,1.04970063411
+178,2.966666667,pose1_to_pose2_press,0.605030755456,-0.00990929811137,1.05003239545,0.575601206944,-0.00123755914564,1.04970051821
+179,2.983333333,pose1_to_pose2_press,0.605760203128,-0.00990918614092,1.05003233289,0.576330652843,-0.00123745289012,1.04970046367
+180,3.000000000,pose1_to_pose2_press,0.606473874875,-0.00990916460001,1.05003239092,0.577044325571,-0.0012374278583,1.04970052593
+181,3.016666667,pose1_to_pose2_press,0.607174196134,-0.00990913557947,1.05003227596,0.577744647501,-0.00123739671376,1.04970040718
+182,3.033333333,pose1_to_pose2_press,0.607858026149,-0.00990916472887,1.05003237934,0.578428477305,-0.0012374264791,1.04970051317
+183,3.050000000,pose1_to_pose2_press,0.608532255078,-0.00990914143686,1.05003262872,0.579102704692,-0.00123740896245,1.04970074847
+184,3.066666667,pose1_to_pose2_press,0.609202954712,-0.00990921150196,1.05003236769,0.57977340492,-0.00123747663906,1.04970049727
+185,3.083333333,pose1_to_pose2_press,0.609860776832,-0.00990924690444,1.05003249627,0.580431228435,-0.00123750741733,1.0497006231
+186,3.100000000,pose1_to_pose2_press,0.610505273667,-0.0099092970079,1.05003226922,0.581075726792,-0.00123755225402,1.0497003988
+187,3.116666667,pose1_to_pose2_press,0.611129341632,-0.00990918644094,1.05003217064,0.581699792139,-0.00123745078004,1.04970029483
+188,3.133333333,pose1_to_pose2_press,0.611728348787,-0.00990924087279,1.05003232276,0.582298800187,-0.00123750216502,1.04970044796
+189,3.150000000,pose1_to_pose2_press,0.61229415123,-0.00990923297959,1.05003229093,0.582864603182,-0.00123749224477,1.04970041974
+190,3.166666667,pose1_to_pose2_press,0.612830673281,-0.00990914857956,1.05003235971,0.583401124393,-0.00123741040099,1.04970049287
+191,3.183333333,pose1_to_pose2_press,0.613338851123,-0.0099091831412,1.0500324631,0.583909302982,-0.00123744217771,1.04970059746
+192,3.200000000,pose1_to_pose2_press,0.613837325991,-0.00990924909198,1.05003236278,0.584407778582,-0.00123750544017,1.04970049579
+193,3.216666667,pose1_to_pose2_press,0.614326189302,-0.00990914019605,1.05003212957,0.584896639172,-0.00123740546778,1.0497002626
+194,3.233333333,pose1_to_pose2_press,0.614797389626,-0.009909283951,1.05003225418,0.585367841474,-0.00123754228487,1.04970038475
+195,3.250000000,pose1_to_pose2_press,0.615248022461,-0.00990913687841,1.05003245233,0.585818473088,-0.00123739883795,1.049700589
+196,3.266666667,pose1_to_pose2_press,0.615673237668,-0.00990920733268,1.05003222457,0.586243688406,-0.00123746845008,1.04970036582
+197,3.283333333,pose1_to_pose2_press,0.616074101694,-0.00990926847673,1.05003222383,0.586644553933,-0.00123752440619,1.04970035969
+198,3.300000000,pose1_to_pose2_press,0.616452687581,-0.00990924963062,1.05003223727,0.587023138615,-0.00123750958359,1.04970036789
+199,3.316666667,pose1_to_pose2_press,0.616819065993,-0.00990916415761,1.05003237642,0.587389515911,-0.00123742766978,1.04970050611
+200,3.333333333,pose1_to_pose2_press,0.617174624985,-0.00990921469097,1.05003241802,0.587745074948,-0.00123747775804,1.04970054943
+201,3.350000000,pose1_to_pose2_press,0.617517653691,-0.00990926159748,1.05003230129,0.588088103361,-0.00123752532288,1.04970043349
+202,3.366666667,pose1_to_pose2_press,0.617840039494,-0.0099091201365,1.05003224045,0.588410487177,-0.00123739032244,1.04970037142
+203,3.383333333,pose1_to_pose2_press,0.61813309812,-0.00990910234324,1.05003216279,0.588703545911,-0.00123737192948,1.04970029576
+204,3.400000000,pose1_to_pose2_press,0.618397256824,-0.00990930499529,1.05003201349,0.588967709786,-0.00123755656935,1.04970015272
+205,3.416666667,pose1_to_pose2_press,0.618634306655,-0.00990944573203,1.05003225892,0.589204759385,-0.00123769807445,1.0497003881
+206,3.433333333,pose1_to_pose2_press,0.618850491758,-0.00990916333441,1.05003244421,0.589420941009,-0.00123742727834,1.04970057844
+207,3.450000000,pose1_to_pose2_press,0.619052057511,-0.00990921954016,1.0500321716,0.589622508819,-0.00123747600116,1.04970031461
+208,3.466666667,pose1_to_pose2_press,0.619244225432,-0.00990927154348,1.05003216737,0.589814676551,-0.00123752872752,1.04970030553
+209,3.483333333,pose1_to_pose2_press,0.619425116876,-0.00990915798357,1.05003202604,0.589995566029,-0.00123742169262,1.04970016507
+210,3.500000000,pose1_to_pose2_press,0.619592258269,-0.00990914033668,1.05003198784,0.590162707905,-0.00123740215281,1.04970012973
+211,3.516666667,pose1_to_pose2_press,0.619744172298,-0.00990920887832,1.0500322122,0.590314623405,-0.00123746577738,1.04970034901
+212,3.533333333,pose1_to_pose2_press,0.619881106224,-0.00990912455536,1.05003225345,0.590451556086,-0.0012373856343,1.04970038877
+213,3.550000000,pose1_to_pose2_press,0.620001852762,-0.00990921898837,1.05003236699,0.590572302872,-0.00123747906478,1.04970050371
+214,3.566666667,pose1_to_pose2_press,0.620108506603,-0.00990920083048,1.05003242047,0.590678956506,-0.00123746152447,1.04970055589
+215,3.583333333,pose1_to_pose2_press,0.620201507999,-0.00990924455351,1.05003208522,0.590771959861,-0.00123749829526,1.04970022773
+216,3.600000000,pose1_to_pose2_press,0.620281437365,-0.00990930040655,1.05003217106,0.590851888641,-0.00123755601385,1.04970031604
+217,3.616666667,pose1_to_pose2_press,0.620348859385,-0.00990929563034,1.05003234389,0.590919311275,-0.00123754889089,1.0497004737
+218,3.633333333,pose1_to_pose2_press,0.620405314396,-0.00990922563659,1.05003218893,0.590975764503,-0.00123748486,1.04970031858
+219,3.650000000,pose1_to_pose2_press,0.620452252092,-0.0099091637445,1.05003233615,0.591022701364,-0.00123742577223,1.04970046746
+220,3.666666667,pose1_to_pose2_press,0.62049060496,-0.00990923506232,1.05003249707,0.59106105561,-0.00123749269786,1.04970062438
+221,3.683333333,pose1_to_pose2_press,0.620521956824,-0.00990930923501,1.05003241513,0.591092408482,-0.00123756370096,1.04970053983
+222,3.700000000,pose1_to_pose2_press,0.620546833784,-0.0099091818845,1.05003211054,0.591117283103,-0.00123744394636,1.049700244
+223,3.716666667,pose1_to_pose2_press,0.620566929511,-0.00990924929626,1.05003208516,0.591137380349,-0.00123750618173,1.04970022203
+224,3.733333333,pose1_to_pose2_press,0.620582493732,-0.00990932448077,1.05003216763,0.591152945382,-0.00123757875041,1.04970030438
+225,3.750000000,pose1_to_pose2_press,0.620594302947,-0.00990933755615,1.05003222385,0.591164754093,-0.00123759380582,1.04970035865
+226,3.766666667,pose1_to_pose2_press,0.620602725754,-0.00990930132845,1.05003223929,0.591173175585,-0.00123756234248,1.04970037134
+227,3.783333333,pose1_to_pose2_press,0.62060792285,-0.00990929250042,1.05003233679,0.591178372096,-0.00123755572864,1.04970046181
+228,3.800000000,pose1_to_pose2_press,0.620611393443,-0.00990928660511,1.0500324019,0.591181842297,-0.00123755131196,1.04970052222
+229,3.816666667,pose1_to_pose2_press,0.620613394218,-0.00990920015422,1.05003239243,0.591183842477,-0.00123746672436,1.0497005156
+230,3.833333333,pose1_to_pose2_press,0.620614935961,-0.00990912714891,1.05003238151,0.591185383733,-0.00123739523261,1.04970050732
+231,3.850000000,pose1_to_pose2_press,0.620616136983,-0.00990907027757,1.050032373,0.591186584376,-0.00123733954034,1.04970050086
+232,3.866666667,pose1_to_pose2_press,0.620617218897,-0.00990901904635,1.05003236534,0.591187665947,-0.00123728937125,1.04970049504
+233,3.883333333,pose1_to_pose2_press,0.620618079952,-0.00990907575382,1.050032327,0.591188527689,-0.00123734363292,1.04970045902
+234,3.900000000,pose1_to_pose2_press,0.620618672691,-0.00990911891769,1.05003229924,0.591189120941,-0.00123738497379,1.0497004329
+235,3.916666667,pose1_to_pose2_press,0.620619138867,-0.00990915286513,1.05003227741,0.59118958752,-0.00123741748749,1.04970041235
+236,3.933333333,pose1_to_pose2_press,0.620619504552,-0.00990917949465,1.05003226028,0.591189953521,-0.00123744299232,1.04970039624
+237,3.950000000,pose1_to_pose2_press,0.620619788907,-0.00990920020174,1.05003224696,0.591190238123,-0.00123746282486,1.0497003837
+238,3.966666667,pose1_to_pose2_press,0.620620053272,-0.00990921945307,1.05003223458,0.591190502716,-0.00123748126312,1.04970037205
+239,3.983333333,pose1_to_pose2_press,0.620620317891,-0.00990923872287,1.05003222219,0.591190767564,-0.00123749971908,1.04970036039
+240,4.000000000,pose1_to_pose2_press,0.620620463921,-0.00990924935695,1.05003221535,0.591190913721,-0.00123750990403,1.04970035395
+241,4.016666667,pose1_to_pose2_press,0.62062049315,-0.00990925148545,1.05003221398,0.591190942975,-0.00123751194263,1.04970035266
+242,4.033333333,pose1_to_pose2_press,0.620620592448,-0.00990925871639,1.05003220933,0.591191042358,-0.00123751886818,1.04970034829
+243,4.050000000,pose1_to_pose2_press,0.620620835238,-0.00990925487629,1.05003220677,0.591191285024,-0.00123751544538,1.04970034579
+244,4.066666667,pose1_to_pose2_press,0.620620915584,-0.00990925223849,1.05003220649,0.591191365307,-0.00123751301962,1.04970034549
+245,4.083333333,pose1_to_pose2_press,0.620621034343,-0.00990924833956,1.05003220607,0.591191483974,-0.0012375094341,1.04970034503
+246,4.100000000,pose1_to_pose2_press,0.62062146641,-0.00990923415456,1.05003220453,0.591191915704,-0.00123749638936,1.04970034339
+247,4.116666667,pose1_to_pose2_press,0.620621925557,-0.00990921908048,1.0500322029,0.591192374494,-0.001237482527,1.04970034165
+248,4.133333333,pose1_to_pose2_press,0.620622419635,-0.00990920674605,1.05003221322,0.591192868356,-0.00123747093977,1.04970035143
+249,4.150000000,pose1_to_pose2_press,0.620622791576,-0.00990921948359,1.0500322894,0.591193241091,-0.00123748108516,1.04970042486
+250,4.166666667,pose1_to_pose2_press,0.620623018949,-0.00990922727026,1.05003233597,0.59119346895,-0.0012374872872,1.04970046974
+251,4.183333333,pose1_to_pose2_press,0.620623093926,-0.00990922983791,1.05003235133,0.591193544087,-0.00123748933233,1.04970048455
+252,4.200000000,pose1_to_pose2_press,0.620623172083,-0.00990921525999,1.05003236242,0.59119362187,-0.0012374761158,1.04970049353
+253,4.216666667,pose1_to_pose2_press,0.620623226989,-0.00990917315713,1.05003220913,0.591193675039,-0.00123743965181,1.04970034772
+254,4.233333333,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675042,-0.00123743965063,1.04970034772
+255,4.250000000,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675042,-0.00123743965064,1.04970034772
+256,4.266666667,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675042,-0.00123743965064,1.04970034772
+257,4.283333333,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675042,-0.00123743965065,1.04970034772
+258,4.300000000,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675042,-0.00123743965064,1.04970034772
+259,4.316666667,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675042,-0.00123743965064,1.04970034772
+260,4.333333333,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675043,-0.00123743965065,1.04970034772
+261,4.350000000,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675043,-0.00123743965065,1.04970034772
+262,4.366666667,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675043,-0.00123743965066,1.04970034772
+263,4.383333333,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675043,-0.00123743965065,1.04970034772
+264,4.400000000,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675043,-0.00123743965073,1.04970034772
+265,4.416666667,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675043,-0.0012374396507,1.04970034772
+266,4.433333333,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675043,-0.00123743965067,1.04970034772
+267,4.450000000,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675043,-0.00123743965062,1.04970034772
+268,4.466666667,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675044,-0.0012374396506,1.04970034772
+269,4.483333333,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675044,-0.00123743965058,1.04970034772
+270,4.500000000,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675044,-0.00123743965056,1.04970034772
+271,4.516666667,pose2_hold,0.620623226989,-0.00990917315713,1.05003220913,0.591193675044,-0.00123743965056,1.04970034772
+272,4.533333333,pose2_to_pose3_retreat,0.620623226989,-0.00990917315713,1.05003220913,0.591193675045,-0.00123743965079,1.04970034772
+273,4.550000000,pose2_to_pose3_retreat,0.620623253942,-0.00990922273277,1.05003233368,0.591193702606,-0.0012374873784,1.04970046651
+274,4.566666667,pose2_to_pose3_retreat,0.620623088946,-0.00990925763929,1.05003226994,0.59119353916,-0.00123751684502,1.04970040785
+275,4.583333333,pose2_to_pose3_retreat,0.620622909639,-0.00990929078666,1.05003219079,0.591193361461,-0.00123754431759,1.04970033464
+276,4.600000000,pose2_to_pose3_retreat,0.620622696696,-0.00990926338501,1.05003223103,0.591193148117,-0.0012375182859,1.04970037471
+277,4.616666667,pose2_to_pose3_retreat,0.620622530803,-0.009909237688,1.05003227112,0.59119298176,-0.00123749418444,1.0497004142
+278,4.633333333,pose2_to_pose3_retreat,0.620622362701,-0.0099092116489,1.05003231175,0.591192813189,-0.00123746976214,1.04970045421
+279,4.650000000,pose2_to_pose3_retreat,0.620621321905,-0.00990915188802,1.05003235013,0.591191771085,-0.00123741451246,1.04970049063
+280,4.666666667,pose2_to_pose3_retreat,0.620617462111,-0.00990917888884,1.05003208882,0.591187910956,-0.00123744262956,1.04970022855
+281,4.683333333,pose2_to_pose3_retreat,0.620608347753,-0.0099091670348,1.05003224589,0.591178796739,-0.00123743043748,1.04970038166
+282,4.700000000,pose2_to_pose3_retreat,0.620591797247,-0.00990928685428,1.05003226559,0.591162249575,-0.0012375390938,1.0497003962
+283,4.716666667,pose2_to_pose3_retreat,0.620564932377,-0.00990912499482,1.05003235229,0.591135381042,-0.0012373896485,1.04970048512
+284,4.733333333,pose2_to_pose3_retreat,0.620527813644,-0.00990908512692,1.05003246123,0.591098261778,-0.0012373516954,1.04970059009
+285,4.750000000,pose2_to_pose3_retreat,0.620480464887,-0.00990917685974,1.05003235993,0.591050915632,-0.00123743494244,1.04970049265
+286,4.766666667,pose2_to_pose3_retreat,0.620424425455,-0.00990919253763,1.05003221626,0.59099487416,-0.00123745772476,1.04970035282
+287,4.783333333,pose2_to_pose3_retreat,0.620360323931,-0.00990926624232,1.05003219639,0.590930775378,-0.00123752226584,1.04970033753
+288,4.800000000,pose2_to_pose3_retreat,0.620287563987,-0.00990920629747,1.05003246577,0.590858012814,-0.00123747193767,1.04970059505
+289,4.816666667,pose2_to_pose3_retreat,0.620205138835,-0.00990917588184,1.05003204447,0.590775587192,-0.00123744184571,1.0497001862
+290,4.833333333,pose2_to_pose3_retreat,0.620109038639,-0.00990920121775,1.05003213629,0.590679488343,-0.00123746256822,1.04970027523
+291,4.850000000,pose2_to_pose3_retreat,0.619998558132,-0.00990935359477,1.05003212115,0.590569010352,-0.00123760648932,1.04970026098
+292,4.866666667,pose2_to_pose3_retreat,0.619870644652,-0.00990934962274,1.05003209649,0.590441097051,-0.00123760214559,1.04970023318
+293,4.883333333,pose2_to_pose3_retreat,0.619726168215,-0.00990923740943,1.05003231965,0.590296618698,-0.00123749701495,1.0497004452
+294,4.900000000,pose2_to_pose3_retreat,0.619564262373,-0.00990920235643,1.05003241671,0.590134712114,-0.00123746463399,1.04970054173
+295,4.916666667,pose2_to_pose3_retreat,0.619386523544,-0.00990922729727,1.05003214681,0.589956974003,-0.00123748678289,1.04970028301
+296,4.933333333,pose2_to_pose3_retreat,0.619193281425,-0.00990925513956,1.05003199534,0.589763732075,-0.00123751412893,1.04970013217
+297,4.950000000,pose2_to_pose3_retreat,0.618983344681,-0.00990929036813,1.05003210131,0.589553796475,-0.00123754559577,1.04970024092
+298,4.966666667,pose2_to_pose3_retreat,0.618757196008,-0.00990924832195,1.05003234699,0.589327648202,-0.00123750271032,1.04970047928
+299,4.983333333,pose2_to_pose3_retreat,0.618513326122,-0.00990927479592,1.05003203985,0.589083778362,-0.00123752899723,1.04970017629
+300,5.000000000,pose2_to_pose3_retreat,0.61825192393,-0.00990921898055,1.05003213247,0.588822375271,-0.0012374762952,1.0497002728
+301,5.016666667,pose2_to_pose3_retreat,0.617972507106,-0.00990920211234,1.05003234301,0.588542957937,-0.00123746140983,1.04970048193
+302,5.033333333,pose2_to_pose3_retreat,0.617670078077,-0.00990923092412,1.05003235165,0.588240529053,-0.00123749001415,1.04970048867
+303,5.050000000,pose2_to_pose3_retreat,0.617344890792,-0.00990923257777,1.05003228672,0.587915341675,-0.00123749226391,1.04970042214
+304,5.066666667,pose2_to_pose3_retreat,0.616994379524,-0.00990918204738,1.05003248189,0.587564829743,-0.00123744440649,1.04970061244
+305,5.083333333,pose2_to_pose3_retreat,0.616617074797,-0.00990923581328,1.05003246539,0.58718752632,-0.00123749419243,1.04970059634
+306,5.100000000,pose2_to_pose3_retreat,0.616209565206,-0.00990921789971,1.05003223618,0.586780015316,-0.00123748125117,1.04970036922
+307,5.116666667,pose2_to_pose3_retreat,0.615781552306,-0.00990930742759,1.05003231691,0.586352004153,-0.00123756486076,1.04970045587
+308,5.133333333,pose2_to_pose3_retreat,0.615335496532,-0.00990931022738,1.05003235579,0.585905948234,-0.00123756872463,1.04970048799
+309,5.150000000,pose2_to_pose3_retreat,0.614876402265,-0.00990915981911,1.05003228498,0.585446851484,-0.00123742710687,1.04970041552
+310,5.166666667,pose2_to_pose3_retreat,0.61440516591,-0.00990917646846,1.05003224517,0.584975615086,-0.00123744417898,1.04970037658
+311,5.183333333,pose2_to_pose3_retreat,0.613918296545,-0.00990914014727,1.05003225835,0.584488745656,-0.00123740806963,1.04970039762
+312,5.200000000,pose2_to_pose3_retreat,0.613406965479,-0.00990901391089,1.05003226046,0.583977413767,-0.00123728460017,1.04970040728
+313,5.216666667,pose2_to_pose3_retreat,0.612865734343,-0.00990910349695,1.05003218787,0.58343618429,-0.00123736912166,1.04970032618
+314,5.233333333,pose2_to_pose3_retreat,0.612298787605,-0.00990917445803,1.05003211318,0.582869238636,-0.00123743667978,1.04970024743
+315,5.250000000,pose2_to_pose3_retreat,0.611709764798,-0.00990925200723,1.05003225768,0.582280216397,-0.00123751268143,1.04970038375
+316,5.266666667,pose2_to_pose3_retreat,0.61110272777,-0.00990921346377,1.05003224083,0.581673178622,-0.00123747645601,1.04970037183
+317,5.283333333,pose2_to_pose3_retreat,0.610481695879,-0.00990930292797,1.05003237996,0.581052148732,-0.00123755878659,1.04970051867
+318,5.300000000,pose2_to_pose3_retreat,0.609846561841,-0.00990924128272,1.05003232101,0.580417014219,-0.00123749891456,1.04970045546
+319,5.316666667,pose2_to_pose3_retreat,0.609179967972,-0.00990917355077,1.05003210627,0.579750418897,-0.00123743614284,1.04970024067
+320,5.333333333,pose2_to_pose3_retreat,0.608477365221,-0.00990925187874,1.05003209418,0.579047816508,-0.00123751328875,1.0497002278
+321,5.350000000,pose2_to_pose3_retreat,0.607756435117,-0.00990932517049,1.05003234355,0.578326887302,-0.00123758378102,1.0497004705
+322,5.366666667,pose2_to_pose3_retreat,0.607020527649,-0.00990928309981,1.05003244555,0.577590979468,-0.00123754285795,1.04970057557
+323,5.383333333,pose2_to_pose3_retreat,0.606271550902,-0.00990929242185,1.05003228765,0.576842003112,-0.00123755069425,1.04970042238
+324,5.400000000,pose2_to_pose3_retreat,0.605522604225,-0.00990915229084,1.05003212217,0.576093055105,-0.00123741517544,1.04970025239
+325,5.416666667,pose2_to_pose3_retreat,0.604778217668,-0.00990911644474,1.05003208474,0.575348666993,-0.00123738441241,1.04970022191
+326,5.433333333,pose2_to_pose3_retreat,0.604021831181,-0.00990917397097,1.05003233386,0.574592283024,-0.00123743361877,1.04970046504
+327,5.450000000,pose2_to_pose3_retreat,0.603252801456,-0.00990938854708,1.05003216129,0.573823255175,-0.00123764176772,1.04970029314
+328,5.466666667,pose2_to_pose3_retreat,0.602465226938,-0.00990931160816,1.05003241424,0.573035679504,-0.00123756912189,1.04970053584
+329,5.483333333,pose2_to_pose3_retreat,0.601662930154,-0.00990917751593,1.0500324247,0.572233382832,-0.00123743448057,1.04970055152
+330,5.500000000,pose2_to_pose3_retreat,0.600851115124,-0.00990921596451,1.05003243136,0.571421567266,-0.00123747458728,1.04970056097
+331,5.516666667,pose2_to_pose3_retreat,0.600038815114,-0.00990920970357,1.05003249919,0.570609265757,-0.00123747345194,1.04970062658
+332,5.533333333,pose2_to_pose3_retreat,0.599230945217,-0.0099092337894,1.05003233996,0.569801396601,-0.00123749481075,1.04970047324
+333,5.550000000,pose2_to_pose3_retreat,0.598429179109,-0.00990943178568,1.05003210328,0.568999633792,-0.00123768133066,1.04970024393
+334,5.566666667,pose2_to_pose3_retreat,0.597631780939,-0.00990941303684,1.05003222314,0.56820223701,-0.00123765812127,1.04970035706
+335,5.583333333,pose2_to_pose3_retreat,0.596839452849,-0.0099092476077,1.05003226906,0.567409906071,-0.00123750257378,1.04970039732
+336,5.600000000,pose2_to_pose3_retreat,0.596045778984,-0.00990929058856,1.05003238176,0.566616230433,-0.00123755164532,1.04970050813
+337,5.616666667,pose2_to_pose3_retreat,0.595246992656,-0.00990911784916,1.05003248035,0.565817444255,-0.00123737836853,1.04970060738
+338,5.633333333,pose2_to_pose3_retreat,0.594443350083,-0.00990929661749,1.05003235282,0.565013803529,-0.00123755040386,1.04970049189
+339,5.650000000,pose2_to_pose3_retreat,0.593633324538,-0.00990930449423,1.05003223259,0.56420377751,-0.00123755982741,1.04970037326
+340,5.666666667,pose2_to_pose3_retreat,0.592831261247,-0.00990928733249,1.05003203926,0.56340171393,-0.00123754356957,1.04970018192
+341,5.683333333,pose2_to_pose3_retreat,0.592042242805,-0.00990919165301,1.05003211457,0.562612693235,-0.00123745582746,1.0497002495
+342,5.700000000,pose2_to_pose3_retreat,0.591275424092,-0.00990914854135,1.05003223488,0.561845873429,-0.00123741652388,1.04970036723
+343,5.716666667,pose2_to_pose3_retreat,0.590535429552,-0.00990918868376,1.05003223114,0.56110587991,-0.00123745283078,1.04970037317
+344,5.733333333,pose2_to_pose3_retreat,0.589820868679,-0.00990916963308,1.0500322866,0.560391318974,-0.00123743382292,1.04970043304
+345,5.750000000,pose2_to_pose3_retreat,0.589117152911,-0.00990916408841,1.05003232015,0.559687603435,-0.00123742776543,1.04970045969
+346,5.766666667,pose2_to_pose3_retreat,0.588419641015,-0.00990920528662,1.05003233591,0.55899009455,-0.00123745879283,1.04970047416
+347,5.783333333,pose2_to_pose3_retreat,0.587717544991,-0.00990913301498,1.05003210823,0.558287995554,-0.00123739649248,1.0497002495
+348,5.800000000,pose2_to_pose3_retreat,0.587019453633,-0.00990911273292,1.05003251814,0.557589902709,-0.00123738176091,1.04970064616
+349,5.816666667,pose2_to_pose3_retreat,0.586333521863,-0.00990924439448,1.05003226722,0.556903973069,-0.00123750619664,1.04970039516
+350,5.833333333,pose2_to_pose3_retreat,0.585668418754,-0.00990931900388,1.05003218348,0.556238871641,-0.00123757478106,1.04970031968
+351,5.850000000,pose2_to_pose3_retreat,0.585029279263,-0.00990932949779,1.0500322262,0.555599733229,-0.00123758163354,1.04970036191
+352,5.866666667,pose2_to_pose3_retreat,0.584426589365,-0.00990930667045,1.05003220878,0.554997043233,-0.00123755901406,1.0497003477
+353,5.883333333,pose2_to_pose3_retreat,0.583854464882,-0.00990928592505,1.05003220342,0.554424917864,-0.0012375412476,1.04970034311
+354,5.900000000,pose2_to_pose3_retreat,0.583304602527,-0.00990926394204,1.05003228535,0.553875054986,-0.00123752151179,1.04970041269
+355,5.916666667,pose2_to_pose3_retreat,0.582769494229,-0.00990917052932,1.05003239899,0.553339946316,-0.00123742944299,1.04970052431
+356,5.933333333,pose2_to_pose3_retreat,0.582248716739,-0.00990920996165,1.05003249127,0.552819168138,-0.00123747107607,1.04970062128
+357,5.950000000,pose2_to_pose3_retreat,0.581741887117,-0.00990924845019,1.05003250165,0.552312340633,-0.00123750246961,1.04970062935
+358,5.966666667,pose2_to_pose3_retreat,0.581252443963,-0.00990912685617,1.05003207278,0.551822893963,-0.00123739243829,1.04970021028
+359,5.983333333,pose2_to_pose3_retreat,0.580791086419,-0.00990922003545,1.05003206475,0.551361538143,-0.00123747976111,1.04970020124
+360,6.000000000,pose2_to_pose3_retreat,0.58035393385,-0.00990929882619,1.05003215973,0.550924387362,-0.00123755242458,1.04970029734
+361,6.016666667,pose2_to_pose3_retreat,0.579938362235,-0.00990923793421,1.05003234196,0.550508814281,-0.00123749666994,1.04970047573
+362,6.033333333,pose2_to_pose3_retreat,0.579540596339,-0.00990919501196,1.05003242013,0.550111047236,-0.00123745768644,1.04970055314
+363,6.050000000,pose2_to_pose3_retreat,0.579160456532,-0.00990921103146,1.05003228977,0.549730908197,-0.00123747087662,1.04970042845
+364,6.066666667,pose2_to_pose3_retreat,0.578799283439,-0.00990915193773,1.05003221584,0.549369733863,-0.00123741603006,1.04970035374
+365,6.083333333,pose2_to_pose3_retreat,0.578459771172,-0.00990920855012,1.05003222128,0.549030220791,-0.00123747526904,1.04970036227
+366,6.100000000,pose2_to_pose3_retreat,0.578151592055,-0.0099093000693,1.05003231689,0.548722044863,-0.00123755615558,1.04970045243
+367,6.116666667,pose2_to_pose3_retreat,0.577872699371,-0.00990913881469,1.05003211692,0.548443150536,-0.00123740059039,1.04970024945
+368,6.133333333,pose2_to_pose3_retreat,0.577622472807,-0.00990902331442,1.05003216531,0.548192921975,-0.00123729134621,1.0497003115
+369,6.150000000,pose2_to_pose3_retreat,0.577395573567,-0.00990912087025,1.05003233423,0.547966024715,-0.00123738274989,1.04970046562
+370,6.166666667,pose2_to_pose3_retreat,0.577189758309,-0.00990931032549,1.05003220357,0.547760211015,-0.00123756673119,1.04970033981
+371,6.183333333,pose2_to_pose3_retreat,0.576995984738,-0.00990934964987,1.05003213211,0.547566437084,-0.00123760712476,1.04970027249
+372,6.200000000,pose2_to_pose3_retreat,0.576814547534,-0.00990921527598,1.05003222928,0.547384998226,-0.00123747862856,1.04970036287
+373,6.216666667,pose2_to_pose3_retreat,0.57664772332,-0.00990915515824,1.05003226817,0.547218173684,-0.00123741975062,1.0497003985
+374,6.233333333,pose2_to_pose3_retreat,0.576495110329,-0.00990927212168,1.0500323485,0.547065563073,-0.00123752851192,1.04970048202
+375,6.250000000,pose2_to_pose3_retreat,0.576357946172,-0.00990921677402,1.05003235329,0.546928397384,-0.00123747837542,1.04970048654
+376,6.266666667,pose2_to_pose3_retreat,0.576238156406,-0.00990916028234,1.05003234849,0.546808606061,-0.00123742719245,1.04970048112
+377,6.283333333,pose2_to_pose3_retreat,0.576134939753,-0.00990935755846,1.05003215148,0.546705392889,-0.00123761268442,1.04970028344
+378,6.300000000,pose2_to_pose3_retreat,0.576047809635,-0.0099091669801,1.05003221358,0.546618259776,-0.00123743235327,1.04970034447
+379,6.316666667,pose2_to_pose3_retreat,0.575973790882,-0.00990924545395,1.0500322348,0.546544242311,-0.00123750637787,1.04970036759
+380,6.333333333,pose2_to_pose3_retreat,0.575911373722,-0.00990927563251,1.05003233133,0.546481826156,-0.00123753310721,1.04970046471
+381,6.350000000,pose2_to_pose3_retreat,0.575858132435,-0.00990919965406,1.0500324083,0.546428583552,-0.00123746169046,1.04970053912
+382,6.366666667,pose2_to_pose3_retreat,0.57581350473,-0.00990925032649,1.05003228712,0.546383955124,-0.00123751495188,1.04970041443
+383,6.383333333,pose2_to_pose3_retreat,0.575775705683,-0.00990911381193,1.0500324995,0.54634615631,-0.00123737769102,1.04970062555
+384,6.400000000,pose2_to_pose3_retreat,0.575744333259,-0.00990928696722,1.05003211207,0.546314785836,-0.0012375436492,1.0497002534
+385,6.416666667,pose2_to_pose3_retreat,0.575720273285,-0.0099093564873,1.05003221214,0.546290725499,-0.00123761475628,1.04970034415
+386,6.433333333,pose2_to_pose3_retreat,0.575702128926,-0.00990917193004,1.05003221944,0.546272580408,-0.00123743252002,1.04970035572
+387,6.450000000,pose2_to_pose3_retreat,0.575689767329,-0.00990912488049,1.05003226363,0.546260218931,-0.00123738492824,1.04970040357
+388,6.466666667,pose2_to_pose3_retreat,0.575681355403,-0.00990918634149,1.0500322957,0.546251807342,-0.00123744524527,1.04970043566
+389,6.483333333,pose2_to_pose3_retreat,0.575676187689,-0.00990924946824,1.05003222659,0.546246639513,-0.00123750882719,1.04970036488
+390,6.500000000,pose2_to_pose3_retreat,0.57567279212,-0.00990918968206,1.05003220764,0.546243242646,-0.00123745347015,1.04970034527
+391,6.516666667,pose2_to_pose3_retreat,0.575670588325,-0.00990908570746,1.05003221238,0.546241037223,-0.00123735502819,1.04970034986
+392,6.533333333,pose2_to_pose3_retreat,0.575669031262,-0.00990902757566,1.05003222671,0.54623947925,-0.00123729998353,1.04970036416
+393,6.550000000,pose2_to_pose3_retreat,0.575668225153,-0.00990907977965,1.05003229304,0.546238673965,-0.00123734937365,1.04970043093
+394,6.566666667,pose2_to_pose3_retreat,0.575667958981,-0.00990909701711,1.05003231494,0.546238408065,-0.00123736568199,1.04970045298
+395,6.583333333,pose2_to_pose3_retreat,0.575667815223,-0.00990910632689,1.05003232677,0.546238264455,-0.00123737448996,1.04970046489
+396,6.600000000,pose2_to_pose3_retreat,0.575667803919,-0.00990910705895,1.0500323277,0.546238253162,-0.00123737518256,1.04970046583
+397,6.616666667,pose2_to_pose3_retreat,0.575667673529,-0.00990911550307,1.05003233843,0.546238122905,-0.00123738317153,1.04970047663
+398,6.633333333,pose2_to_pose3_retreat,0.575667517631,-0.0099091255991,1.05003235126,0.546237967167,-0.00123739272337,1.04970048954
+399,6.650000000,pose2_to_pose3_retreat,0.575667477569,-0.00990912819357,1.05003235456,0.546237927145,-0.001237395178,1.04970049286
+400,6.666666667,pose2_to_pose3_retreat,0.575667324874,-0.00990913808217,1.05003236713,0.546237774606,-0.00123740453359,1.04970050551
+401,6.683333333,pose2_to_pose3_retreat,0.575666981013,-0.00990916035075,1.05003239542,0.546237431097,-0.00123742560185,1.049700534
+402,6.700000000,pose2_to_pose3_retreat,0.57566644938,-0.00990919477956,1.05003243917,0.546236900007,-0.0012374581749,1.04970057804
+403,6.716666667,pose2_to_pose3_retreat,0.575665986669,-0.00990917649903,1.05003245567,0.546236437535,-0.00123743913527,1.04970059323
+404,6.733333333,pose2_to_pose3_retreat,0.575665935756,-0.00990917326336,1.05003245693,0.546236386642,-0.00123743583779,1.04970059432
+405,6.750000000,pose2_to_pose3_retreat,0.575665706773,-0.00990915871095,1.05003246263,0.54623615775,-0.00123742100741,1.0497005992
+406,6.766666667,pose2_to_pose3_retreat,0.575665558843,-0.00990914930966,1.05003246632,0.546236009879,-0.00123741142655,1.04970060235
+407,6.783333333,pose2_to_pose3_retreat,0.575665310559,-0.00990913353061,1.0500324725,0.546235761694,-0.0012373953461,1.04970060764
+408,6.800000000,pose2_to_pose3_retreat,0.575665070689,-0.0099091182863,1.05003247847,0.546235521919,-0.00123737981061,1.04970061275
+409,6.816666667,pose2_to_pose3_retreat,0.575664923902,-0.00990910895762,1.05003248212,0.54623537519,-0.00123737030374,1.04970061588
+410,6.833333333,pose2_to_pose3_retreat,0.575664770418,-0.00990912627451,1.050032421,0.546235221713,-0.00123738756001,1.04970055574
+411,6.850000000,pose2_to_pose3_retreat,0.575664766327,-0.00990912709671,1.05003241851,0.546235217622,-0.00123738838227,1.0497005533
+412,6.866666667,pose2_to_pose3_retreat,0.575664690611,-0.00990914231647,1.05003237234,0.546235141896,-0.00123740360313,1.04970050799
+413,6.883333333,pose2_to_pose3_retreat,0.575664526385,-0.00990917532774,1.0500322722,0.546234977648,-0.00123743661679,1.04970040972
+414,6.900000000,pose2_to_pose3_retreat,0.575664420441,-0.00990920201011,1.05003221554,0.546234871744,-0.00123746311445,1.04970035437
+415,6.916666667,pose2_to_pose3_retreat,0.575664359404,-0.00990928871229,1.05003228803,0.546234811441,-0.00123754724387,1.04970042894
+416,6.933333333,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.0012375826454,1.04970046032
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b7b6a42a3a9ba91ae9e50579f6c13ac00cebf2e8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f3e4b27ecaaf7381ce3cd9d2f48e441214af1eb79d639c74f23b884f5050dd1
+size 26695493
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a65771aa89cfebb44726cf63f88f721255b87a7f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/franka_data.csv
@@ -0,0 +1,422 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,716,679,661,636,879,788,804,652,631,653,0.400984665131,-0.0153802476978,0.059849244327,0.999999950028,0.000189049017766,-0.000253099493203,1.20067506027e-05,1793239554354851840
+1,0.016666667,BASELINE,766,745,715.403374098,679,661,636,879.596625902,788,804,652,631.596625902,653,0.400984209026,-0.015378344053,0.0598498856766,0.999999949484,0.000192404642484,-0.000252730262365,1.17882177496e-05,1793239554371517952
+2,0.033333333,BASELINE,766,744.8141608,715,678.8141608,661,636,879.8141608,788,804,652,632,653,0.400983885533,-0.015377951709,0.0598503532208,0.999999949407,0.0001935979384,-0.000252128015842,1.16998630039e-05,1793239554388184064
+3,0.050000000,BASELINE,766,744.240419706,715,678.240419706,661,636,879.240419706,788,804,652,632,653,0.400983838842,-0.0153807139007,0.0598504579814,0.999999950316,0.000190277809165,-0.000251039395952,1.18832287928e-05,1793239554404850432
+4,0.066666667,BASELINE,766,744.334530826,715,678.334530826,661,636,878.665469174,788,804,652,632,653,0.400983900693,-0.0153803985248,0.0598505303706,0.999999950037,0.000191636973026,-0.000251111071913,1.19872404882e-05,1793239554421516800
+5,0.083333333,BASELINE,766,744.910353673,715,678.910353673,661,636,878.089646327,788,804,652,632,653,0.400984040833,-0.0153778633456,0.0598505794107,0.99999994889,0.000196371240362,-0.000252019651771,1.2034015266e-05,1793239554438183424
+6,0.100000000,BASELINE,766,745,715,679,661,636,878.994997872,787.502501064,804,652,632,653,0.400983877785,-0.0153780790743,0.0598502609596,0.999999949078,0.000194898041699,-0.000252424203648,1.18492911552e-05,1793239554454850304
+7,0.116666667,BASELINE,766.085232634,745,715,679,661,636,879.914767366,787.085232634,804,652,631.914767366,653,0.400983660763,-0.0153787617049,0.0598499250178,0.999999949441,0.00019269427451,-0.000252687674693,1.16894732113e-05,1793239554471516928
+8,0.133333333,BASELINE,766.664279742,745,715,679,661,636,879.335720258,787.664279742,804,652,631.335720258,653,0.400983454925,-0.0153792106202,0.0598498803341,0.999999949404,0.000192889278642,-0.00025267221921,1.19212668404e-05,1793239554488184064
+9,0.150000000,BASELINE,766.757941381,745,715,679,661,636,879.242058619,788,804,652,631,653,0.400983714139,-0.0153800396993,0.0598502816774,0.999999949544,0.000192958609261,-0.000252049300889,1.22377637838e-05,1793239554504850688
+10,0.166666667,BASELINE,766.181912341,745,715,679,661,636,879.818087659,788,804,652,631,653,0.400984614988,-0.0153813932936,0.059851298408,0.999999949926,0.000192854547001,-0.000250588260705,1.2671126621e-05,1793239554521517056
+11,0.183333333,BASELINE,766,745,715,679,661,636,879.606297642,788,804,652,631.393702358,653,0.400984426044,-0.0153807147806,0.0598507778301,0.999999949636,0.000193999586156,-0.000250872020859,1.24336137823e-05,1793239554538183680
+12,0.200000000,BASELINE,766,745,715,679,661,636,879.03087414,788,804,652,631.96912586,653,0.400983734084,-0.0153790983083,0.0598495476771,0.999999949034,0.00019572117287,-0.000251961128135,1.18864449879e-05,1793239554554850304
+13,0.216666667,BASELINE,766,745,715,679,661.558747825,636,879.558747825,788,804,652,632,653,0.400982772596,-0.015379048368,0.0598496413026,0.999999948635,0.000196536777575,-0.000252898783752,1.20580252831e-05,1793239554571516928
+14,0.233333333,BASELINE,766.146214077,745,715,678.853785923,661.853785923,636,879.853785923,788,804,652,631.853785923,653,0.400982507665,-0.0153791242688,0.0598500434668,0.999999948644,0.000196353688073,-0.000252999851799,1.21824813482e-05,1793239554588183552
+15,0.250000000,BASELINE,766.724922795,745,715,678.275077205,661.275077205,636,879.275077205,788,804,652,631.275077205,653,0.400984348318,-0.0153793096847,0.0598511362686,0.999999949819,0.000193368445162,-0.000250651731164,1.20470074254e-05,1793239554604850176
+16,0.266666667,BASELINE,766.698682302,745,715,678,661,636,879,788,804,652,631.301317698,653,0.400984764993,-0.0153785584491,0.0598513064748,0.999999949916,0.000193302372591,-0.000250319308523,1.19589736804e-05,1793239554621516800
+17,0.283333333,BASELINE,766.124383651,745,715,678,661,636,879,788,804,652,631.875616349,653,0.400983891606,-0.0153769586473,0.0598506408487,0.999999949039,0.000195880943714,-0.000251813022223,1.19139187162e-05,1793239554638183424
+18,0.300000000,BASELINE,766,744.538856585,715,678.461143415,661,636,879,788,804,652,632,653,0.400984028227,-0.0153782008266,0.0598505203338,0.999999949499,0.000193828818505,-0.000251573971234,1.19426559961e-05,1793239554654850816
+19,0.316666667,BASELINE,766,744.048999999,715,679,661,636,879,788,804,652,632,653,0.400984318932,-0.0153801505544,0.0598505092336,0.999999950236,0.000190697600143,-0.000251034751099,1.20021754071e-05,1793239554671518208
+20,0.333333333,BASELINE,766,744.628469888,715,679,661,636,879,788,804,652,632,653,0.400983254828,-0.0153812542746,0.0598500511652,0.999999950064,0.000189743589067,-0.000252431979454,1.21740841045e-05,1793239554688184064
+21,0.350000000,BASELINE,766,745,715,679,661,636,879.206572951,788,804.206572951,652,632,653,0.400982984296,-0.0153817483943,0.0598498940387,0.999999949957,0.00018989891803,-0.000252728979128,1.23292661544e-05,1793239554704850176
+22,0.366666667,BASELINE,766,745,715,679,661,636,879.782233819,788,804.782233819,652,632,653,0.400984131653,-0.0153811533286,0.0598502746109,0.999999949968,0.000192036326561,-0.000251060178623,1.24545623588e-05,1793239554721516800
+23,0.383333333,BASELINE,766,745,715,679,661,636,879.640982957,788,804.640982957,652,632,653,0.400984237524,-0.0153790445674,0.0598504248537,0.999999949512,0.000194794791462,-0.000250772112493,1.19977223163e-05,1793239554738183680
+24,0.400000000,BASELINE,766,745,715,679,661,636,879.063516764,788,804.063516764,652,632,653,0.400983709688,-0.0153760147762,0.0598504349493,0.999999948767,0.000197931147366,-0.000251324174146,1.11866730045e-05,1793239554754850560
+25,0.416666667,BASELINE,766,745,715,679,661,636,879,788,803.476053705,652,632,653,0.400984251208,-0.0153768167146,0.0598508314879,0.999999948753,0.000198479168642,-0.00025093380309,1.14944876591e-05,1793239554771517440
+26,0.433333333,BASELINE,766,745,715,679,661,636,879,788,803.110798775,652,631.889201225,653,0.400984852608,-0.0153779117756,0.0598511406907,0.999999948921,0.000198141949465,-0.000250512196366,1.18782566673e-05,1793239554788184064
+27,0.450000000,BASELINE,766,745,715,679,661,636,879,788,803.68984976,652,631.31015024,653,0.400985148558,-0.0153782443374,0.0598508789637,0.999999949472,0.000195415436524,-0.000250450807356,1.19986472841e-05,1793239554804850688
+28,0.466666667,BASELINE,766.269213266,745,715,679.269213266,661,636,879,788,804.269213266,652,631,653,0.400985108054,-0.0153789911359,0.0598508756756,0.999999949676,0.000194233602043,-0.000250547862146,1.21287572242e-05,1793239554821517312
+29,0.483333333,BASELINE,766.848937201,745,715,679.848937201,661,636,879,788,804.848937201,652,631,653,0.400984679483,-0.0153802157152,0.059851170471,0.999999949487,0.000194833400356,-0.00025082766607,1.22700774279e-05,1793239554838183680
+30,0.500000000,BASELINE,766.56915113,745,715,679.56915113,661,636,879.43084887,788,804.56915113,652,631.43084887,653,0.400985329443,-0.0153800209659,0.0598515841556,0.999999949769,0.000194912149283,-0.000249652347119,1.2078934366e-05,1793239554854850304
+31,0.516666667,BASELINE,766,745,715,679,661,636,879.986576356,788,804,652,631.986576356,653,0.400986292095,-0.0153793848468,0.0598519919929,0.999999950207,0.000194713778993,-0.000248059918828,1.17796921457e-05,1793239554871516928
+32,0.533333333,BASELINE,766,745,715,679,661,636,879.408538122,788,804,652,631.408538122,653,0.400984420336,-0.015381222357,0.059850391635,0.999999950396,0.00019058276048,-0.000250492108509,1.1861647176e-05,1793239554888183808
+33,0.550000000,BASELINE,766,745,715,679,661,636,879.16952477,788,804,652,631.16952477,653,0.400983604886,-0.015382183987,0.0598496884623,0.999999950498,0.000188706417859,-0.000251494456575,1.19876949649e-05,1793239554904850944
+34,0.566666667,BASELINE,766,745,715,679,661,636,879.747647011,788,804,652,631.747647011,653,0.400985335403,-0.0153810345245,0.0598511477328,0.999999950429,0.000192264413648,-0.000249050525226,1.22200174159e-05,1793239554921517824
+35,0.583333333,BASELINE,766,744.674872141,715,679,661,636,879.674872141,788,804,652,632,653,0.400985087762,-0.015380565521,0.059851406833,0.999999950026,0.000194105901308,-0.000249237494058,1.23169085241e-05,1793239554938184192
+36,0.600000000,BASELINE,766,744.097888079,715,679,661,636,879.097888079,788,804,652,632,653,0.400983307765,-0.0153806236264,0.0598507362366,0.99999994937,0.00019461771793,-0.000251462456347,1.23088894719e-05,1793239554954850816
+37,0.616666667,BASELINE,766,744,715,679,661.48742565,636,879.48742565,788,804,652,631.51257435,652.51257435,0.400983399866,-0.0153796038897,0.0598509927393,0.999999949429,0.000195753531659,-0.000250355012673,1.20599403907e-05,1793239554971517184
+38,0.633333333,BASELINE,766,744.073628551,715,679,661.926371449,636,879.926371449,788,804,652,631,652.073628551,0.400983919903,-0.0153787295404,0.0598513961662,0.999999949662,0.000196583118161,-0.000248776738272,1.18581660553e-05,1793239554988183552
+39,0.650000000,BASELINE,766,744.654235569,715,679,661.345764431,636,879.345764431,788,804,652,631,652.654235569,0.400984752773,-0.0153803726447,0.0598515069598,0.999999950111,0.000194426264066,-0.000248644724924,1.23201736576e-05,1793239555004850176
+40,0.666666667,BASELINE,766,745,715.231973639,679,661.231973639,636,879,788,804.231973639,652,631,653,0.400984955708,-0.0153806987218,0.0598514400718,0.999999950211,0.000193666523623,-0.0002488322484,1.24031299944e-05,1793239555021516800
+41,0.683333333,BASELINE,766,745,715.805487655,679,661.805487655,636,879,788,804.805487655,652,631,653,0.400984231175,-0.0153790857079,0.059851111579,0.999999949801,0.00019496378739,-0.000249490233643,1.19279999952e-05,1793239555038183680
+42,0.700000000,BASELINE,766.389302438,745,715.610697562,679,662,636,879.389302438,788,804.610697562,651.610697562,631,652.610697562,0.400984182638,-0.0153786443131,0.0598512808937,0.999999949754,0.000195380644209,-0.000249355634612,1.18469752673e-05,1793239555054850560
+43,0.716666667,BASELINE,766.978403792,745,715.021596208,679,662,636,879.978403792,788,804.021596208,651.021596208,631,652.021596208,0.400984481038,-0.01537880422,0.0598517056947,0.999999949894,0.000195345656004,-0.000248814263181,1.19682143939e-05,1793239555071517696
+44,0.733333333,BASELINE,766.44186576,744.44186576,715,679,661.44186576,636,880,788,803.44186576,651.55813424,631.55813424,652,0.400983433619,-0.0153804433193,0.0598506751675,0.99999994947,0.000194810795761,-0.000250903705625,1.24540576679e-05,1793239555088184320
+45,0.750000000,BASELINE,766,744.137389926,715,678.862610074,661,636,879.862610074,788,803,652,631.862610074,652.137389926,0.400982992743,-0.0153814640705,0.059850166913,0.999999949345,0.000194125568694,-0.00025191535426,1.27763636901e-05,1793239555104850688
+46,0.766666667,BASELINE,766,744.716265817,715,678.283734183,661,636,879.283734183,788,803,652,631.283734183,652.716265817,0.400984665493,-0.0153803169525,0.0598515148825,0.999999950258,0.000193018282441,-0.000249141935514,1.25285771101e-05,1793239555121517056
+47,0.783333333,BASELINE,766,744.707950228,715,678.292049772,661,636,879,788,803.292049772,652,631.292049772,653,0.400985681104,-0.0153802282377,0.0598524082983,0.999999950856,0.000192120845705,-0.000247435656117,1.23805402241e-05,1793239555138183936
+48,0.800000000,BASELINE,766,744.135138636,715,678.864861364,661,636,879,788,803.864861364,652,631.864861364,653,0.400986064974,-0.0153811570177,0.0598528647293,0.999999951158,0.000191425147508,-0.000246755269979,1.23283975996e-05,1793239555154850560
+49,0.816666667,BASELINE,766,744.438745171,715,679,661,636,879,788,804,652,632,653,0.400985874528,-0.0153807378986,0.0598526290152,0.999999951113,0.000191258513194,-0.000247074778193,1.2159067718e-05,1793239555171517184
+50,0.833333333,BASELINE,766,745,715,678.986616185,661,636,879,788,804,652,632,653,0.400985491652,-0.0153799396005,0.0598521838899,0.999999950947,0.000191299127505,-0.000247724965112,1.19677011201e-05,1793239555188183808
+51,0.850000000,BASELINE,766,745,715,678.39362374,661,636,879,788,804,652,632,653,0.400984454849,-0.0153807439373,0.0598519249735,0.999999950171,0.000193240539428,-0.000249325522124,1.23889829065e-05,1793239555204850688
+52,0.866666667,BASELINE,766,745,715,678.194256091,661,636,879,788,804,652,632,653,0.400983438033,-0.0153811587443,0.0598515752708,0.999999949648,0.000194362211133,-0.000250532866086,1.2663927986e-05,1793239555221517312
+53,0.883333333,BASELINE,766,745,715,678.772041795,661,636,879,788,804,652,632,653,0.400982460676,-0.015380804483,0.0598510463244,0.999999949637,0.000193865428203,-0.000250963869563,1.26499530881e-05,1793239555238183936
+54,0.900000000,BASELINE,766,745,715,679,661.348035159,636,879,788,804,652,631.651964841,653,0.400983005643,-0.0153797516342,0.059851185816,0.999999949818,0.000193722606106,-0.000250367568826,1.23330658727e-05,1793239555254850560
+55,0.916666667,BASELINE,766,745,715,679,661.92286056,636,879,788,804,652,631.07713944,653,0.400984542602,-0.0153782435645,0.0598517608822,0.999999950123,0.000193810435615,-0.000249101845563,1.1818791826e-05,1793239555271516928
+56,0.933333333,BASELINE,766,745,715.509170122,679,661.490829878,636,879.509170122,788,804,652,631,653,0.400985345876,-0.0153784748847,0.0598523516553,0.99999995028,0.000194414425703,-0.000247992792844,1.19528721793e-05,1793239555288183808
+57,0.950000000,BASELINE,766,744.904070575,715.904070575,678.904070575,661,636,879.904070575,788,804,652,631.095929425,653,0.400985704376,-0.0153792115983,0.0598526632565,0.999999950347,0.000194835145513,-0.000247381083027,1.2170869195e-05,1793239555304850432
+58,0.966666667,BASELINE,766,744.324024758,715.324024758,678.324024758,661,636,879.324024758,788,804,652,631.675975242,653,0.400984392171,-0.0153811382703,0.0598515537059,0.999999950081,0.000193927233352,-0.000249156710799,1.2305214796e-05,1793239555321517312
+59,0.983333333,BASELINE,766,744.254200223,715,678,661,636,879,788,804,652,632,653,0.400983948297,-0.0153809146486,0.0598512773143,0.99999994984,0.000194477403021,-0.000249701306412,1.2190572727e-05,1793239555338184192
+60,1.000000000,BASELINE,766,744.830120802,715,678,661,636,879,788,804,652,632,653,0.400984603399,-0.0153779695769,0.0598520553836,0.999999949629,0.000196872947049,-0.000248687885914,1.17608074212e-05,1793239555354851328
+61,1.016666667,BASELINE,766,745,715,678,661,636,879,788,804,652,632,653,0.400985309827,-0.0153785092744,0.0598523476623,0.999999949883,0.000196452942357,-0.000247979830464,1.20775325398e-05,1793239555371517440
+62,1.033333333,BASELINE,766,745,715,678,661.000973906,636,879,787.999026094,804,652,631.999026094,652.999026094,0.400986033892,-0.0153805018469,0.0598524358115,0.999999950331,0.000194857778012,-0.00024740241786,1.27048989514e-05,1793239555388183808
+63,1.050000000,BASELINE,766,745,715,678,661.57958442,636,879,787.42041558,804,652,631.42041558,652.42041558,0.400984482225,-0.015379481875,0.0598519991373,0.999999950041,0.000194927353716,-0.000248535828179,1.23390339919e-05,1793239555404850432
+64,1.066666667,BASELINE,766,745,715,678.158427698,661.841572302,636,879.158427698,787.158427698,804,652,631,652.158427698,0.400983992492,-0.0153792271085,0.0598519957621,0.999999950012,0.000194690344469,-0.000248844174077,1.21934086875e-05,1793239555421517312
+65,1.083333333,BASELINE,766,745,715,678.737889528,661.262110472,636,879.737889528,787.737889528,804,652,631,652.737889528,0.400986324928,-0.0153810059363,0.0598531439133,0.999999950678,0.000193638561473,-0.00024695984599,1.26330876972e-05,1793239555438183936
+66,1.100000000,BASELINE,766,745,715,679,661,636,879.686010912,788,804,652,631.313989088,653,0.400986323618,-0.0153822524223,0.0598528723978,0.999999950792,0.000192875859432,-0.000247094962684,1.26284432389e-05,1793239555454850304
+67,1.116666667,BASELINE,766,745,715,679,661,636,879.112688386,788,804,652,631.887311614,653,0.400984394792,-0.0153830592304,0.0598514283351,0.99999995045,0.000192351918476,-0.00024889800227,1.2256818067e-05,1793239555471517184
+68,1.133333333,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.4009845206,-0.0153820405863,0.0598519021374,0.999999950463,0.000192855522248,-0.000248448760619,1.24023623747e-05,1793239555488184064
+69,1.150000000,BASELINE,766,744.938597007,715,679,661.061402993,635.938597007,879,788,804,652,632,653,0.400985088929,-0.0153807736083,0.0598527045064,0.999999950528,0.000193586996174,-0.000247603312265,1.26414988839e-05,1793239555504850944
+70,1.166666667,BASELINE,766,744.358478366,715,679,661.641521634,635.358478366,879,788,804,652,632,653,0.400985149384,-0.0153811813098,0.0598523189976,0.999999950311,0.000194119898861,-0.000248065452198,1.2602478227e-05,1793239555521517568
+71,1.183333333,BASELINE,766,744,715,679,661.781730903,635.218269097,879,788,804,652,631.781730903,653,0.40098562399,-0.0153814350282,0.0598525101728,0.999999950493,0.000193664812197,-0.000247694081696,1.24342321452e-05,1793239555538184448
+72,1.200000000,BASELINE,766,744,715,679,661.210435853,635.789564147,879,788,804,652,631.210435853,653,0.400986768441,-0.0153814396963,0.0598536340698,0.999999951318,0.000191611762884,-0.000245974600974,1.20569783254e-05,1793239555554850816
+73,1.216666667,BASELINE,766,744.372022387,715,679,661,635.627977613,879,788,804.372022387,652.372022387,631,652.627977613,0.400986160976,-0.0153808896181,0.0598535718183,0.999999951203,0.00019194765128,-0.000246182290695,1.20270227863e-05,1793239555571517184
+74,1.233333333,BASELINE,766,744.96099043,715,679,661,635.03900957,879,788,804.96099043,652.96099043,631,652.03900957,0.400984531879,-0.0153800160385,0.0598528178618,0.999999950539,0.000193676653977,-0.00024751381412,1.21995950114e-05,1793239555588183808
+75,1.250000000,BASELINE,766,745,715,679,661,635.542697132,879.542697132,788,804.457302868,652.457302868,631.542697132,652.542697132,0.400984613841,-0.0153820228194,0.0598527084334,0.999999950781,0.000192006685289,-0.000247811308787,1.26749979849e-05,1793239555604850176
+76,1.266666667,BASELINE,766,745,715,679.123072559,661,636,880,787.876927441,804,652,631.876927441,653,0.400984569184,-0.0153834698449,0.059852533664,0.999999950914,0.000190709546982,-0.000248260424291,1.29943271616e-05,1793239555621517056
+77,1.283333333,BASELINE,766,745,715,679.700435114,661,636,880,787.299564886,804,652,631.299564886,653,0.400983609143,-0.0153820965262,0.0598519489511,0.999999950414,0.000191678554071,-0.000249539944132,1.26582618822e-05,1793239555638183936
+78,1.300000000,BASELINE,766,744.724036992,715,679.724036992,661.275963008,636,880,787.275963008,804,652,631,653,0.400983441974,-0.0153814847058,0.0598516525826,0.999999950225,0.000192278065227,-0.00024984307945,1.25419928661e-05,1793239555654850560
+79,1.316666667,BASELINE,766,744.150487554,715,679.150487554,661.849512446,636,880,787.849512446,804,652,631,653,0.400984129804,-0.0153816940517,0.059851667152,0.999999950372,0.00019247912808,-0.000249093324351,1.26627425421e-05,1793239555671517184
+80,1.333333333,BASELINE,766,744,715,678.563997424,661.563997424,636,879.563997424,788,804,652,631.436002576,652.563997424,0.400984050288,-0.0153823911168,0.0598517721728,0.999999950657,0.00019136269393,-0.000248805315331,1.27436622285e-05,1793239555688183552
+81,1.350000000,BASELINE,766,744,715,678,661,636,879,788,804,652,631.973428584,652.026571416,0.400983760171,-0.0153832101761,0.0598519115723,0.999999950982,0.000189842750358,-0.000248658186532,1.28002609823e-05,1793239555704850176
+82,1.366666667,BASELINE,766,744,715,678,661,636,879,788,804,652,631.393776695,652.606223305,0.400984767923,-0.0153829574209,0.0598520968546,0.999999951173,0.000189678650264,-0.000248024662266,1.26455265498e-05,1793239555721517056
+83,1.383333333,BASELINE,766,744,715,678,661,636,879,788,804,652,631,652.815470398,0.400985182233,-0.0153825809485,0.0598520132539,0.99999995111,0.000190142310594,-0.00024792943569,1.24896276512e-05,1793239555738183680
+84,1.400000000,BASELINE,766,744,715,678,661,636,879,788,804,652,631,652.240014631,0.400984339335,-0.0153819423809,0.0598513600243,0.99999995051,0.000191935882045,-0.000248974593247,1.2331261801e-05,1793239555754850048
+85,1.416666667,BASELINE,766,744,715,678.342129931,661,636,879,788,804,652,631.342129931,652.342129931,0.400983633948,-0.0153813226995,0.0598509929626,0.999999950087,0.000193169524527,-0.000249724382877,1.22033245147e-05,1793239555771516928
+86,1.433333333,BASELINE,766,744,715,678.929060421,661,636,879,788,804,652,631.929060421,652.929060421,0.400983026953,-0.0153807165316,0.0598508306596,0.999999949793,0.000194002526935,-0.000250262831001,1.2097159462e-05,1793239555788184064
+87,1.450000000,BASELINE,766,744,715,679,661,636,879,788,804,652,632,653,0.400984331526,-0.0153795042302,0.0598516465869,0.999999949884,0.000195260231561,-0.000248926645885,1.19124888109e-05,1793239555804850944
+88,1.466666667,BASELINE,766,744.088340199,715,679,661,636,879,788,804,652,631.911659801,653,0.400985530582,-0.0153788350413,0.0598523639064,0.999999950055,0.000195957608912,-0.000247693961141,1.18000194123e-05,1793239555821517056
+89,1.483333333,BASELINE,766,744.666918059,715,679,661,636,879,788,804,652,631.333081941,653,0.400984685654,-0.0153816422645,0.0598517876701,0.999999950391,0.000193221464177,-0.000248465891807,1.21481214191e-05,1793239555838183936
+90,1.500000000,BASELINE,766,745,715,679,661.24308006,636,879,788,804,652.24308006,631,653,0.400984111477,-0.0153828071522,0.0598513692811,0.999999950359,0.000192113280005,-0.00024943756838,1.24460291988e-05,1793239555854850560
+91,1.516666667,BASELINE,766,745,715,679,661.815964247,636,879,788,804,652.815964247,631,653,0.400983904646,-0.0153817437654,0.0598511650548,0.999999949834,0.000193213866739,-0.000250680254471,1.26758348477e-05,1793239555871517696
+92,1.533333333,BASELINE,766,744.611297635,715.388702365,679,661.611297635,636,879.388702365,788,804,652.611297635,631.388702365,653,0.40098431627,-0.0153810958125,0.0598518545709,0.999999950097,0.000193881675117,-0.000249111204653,1.25904395102e-05,1793239555888184320
+93,1.550000000,BASELINE,766,744.038628599,715.961371401,679,661.038628599,636,879.961371401,788,804,652.038628599,631.961371401,653,0.400985020599,-0.0153806444778,0.059852967081,0.999999950729,0.000194344656453,-0.000246211404882,1.23558645594e-05,1793239555904850432
+94,1.566666667,BASELINE,766.557455393,744.557455393,715.442544607,678.442544607,661.557455393,636,879.442544607,788,804,652,631.442544607,653,0.400985013712,-0.0153812739492,0.0598528249496,0.999999950733,0.000193398409806,-0.000246939060414,1.23702007916e-05,1793239555921517312
+95,1.583333333,BASELINE,766.850745665,744.850745665,715,678.149254335,661.850745665,636,879,788,804,652,631.149254335,653,0.400985129674,-0.0153817991296,0.0598527559532,0.999999950769,0.000192441916127,-0.000247537897431,1.23646827802e-05,1793239555938183936
+96,1.600000000,BASELINE,766.275990954,744.275990954,715,678.724009046,661.275990954,636,879,788,804,652,631.724009046,653,0.400985742521,-0.0153818041212,0.059853154171,0.999999951032,0.000191746805173,-0.000247021479317,1.22512357356e-05,1793239555954850560
+97,1.616666667,BASELINE,766.299786715,744.299786715,715,678.700213285,661.299786715,636,879,788,804,652,632,653,0.400985854015,-0.0153820829292,0.0598534052685,0.999999951299,0.000190646903823,-0.000246797253858,1.21579063642e-05,1793239555971517184
+98,1.633333333,BASELINE,766.876509334,744.876509334,715,678.123490666,661.876509334,636,879,788,804,652,632,653,0.400985502371,-0.0153826146823,0.0598535204597,0.999999951568,0.000189173066683,-0.00024684294912,1.20831612319e-05,1793239555988183808
+99,1.650000000,BASELINE,766.538842042,745,715,678.461157958,661.538842042,636,879,788,804,651.538842042,632,653,0.400986014812,-0.0153822628151,0.0598537619218,0.999999951374,0.000190973951455,-0.000246232230423,1.22651401805e-05,1793239556004850432
+100,1.666666667,BASELINE,766,745,715,678.952412998,661,636,879,788,804,651.047587002,631.952412998,653,0.400986584565,-0.015381688628,0.0598539570789,0.999999951031,0.000193519894292,-0.000245625444255,1.25121572813e-05,1793239556021517056
+101,1.683333333,BASELINE,766,745,715,678.370243224,661,636,879,788,804,651.629756776,631.370243224,653,0.400985153334,-0.0153813215614,0.0598532455597,0.999999950499,0.000194412278762,-0.000247072011509,1.27040092702e-05,1793239556038183680
+102,1.700000000,BASELINE,766,745,715,678.209344748,661,636,879,788,804,652,631.209344748,653,0.400984242724,-0.0153811394612,0.0598525602221,0.99999995025,0.000194224584204,-0.000248227419558,1.26488037664e-05,1793239556054850304
+103,1.716666667,BASELINE,766,745,715,678.784422161,661,636,879,788,804,652,631.784422161,653,0.400984241657,-0.015381280504,0.0598519206246,0.999999950496,0.00019214995336,-0.000248874162047,1.21619800811e-05,1793239556071517184
+104,1.733333333,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400984486487,-0.0153805958042,0.0598519202402,0.999999950556,0.000192096010588,-0.000248680179827,1.20120962336e-05,1793239556088183808
+105,1.750000000,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400984878771,-0.0153794159387,0.059852303167,0.999999950506,0.000193253795563,-0.000247982047802,1.20642620388e-05,1793239556104850944
+106,1.766666667,BASELINE,766,745,715,679,661,636,879,788,804,652,632,653,0.400985306229,-0.0153806033952,0.0598530264557,0.999999950735,0.000193146615769,-0.000247129870858,1.23072503445e-05,1793239556121517312
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,715,679,661,636,879,788,804,652,632,652,0.400983888408,-0.0153824513341,0.0598523776704,0.999999950436,0.000192867340714,-0.000248538883682,1.25962152185e-05,1793239556163813888
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,744.574840726,715.574840726,679,661,636,879,788,804,652,632,652.574840726,0.400985212669,-0.0153826012184,0.0598531060547,0.999999950833,0.000192382642296,-0.000247317206797,1.24996326395e-05,1793239556180480512
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.847027943,678.847027943,661,636,879,788,804,652,632,653,0.400985780531,-0.0153827284142,0.0598533495799,0.999999951016,0.000192175783473,-0.000246739072053,1.24803875709e-05,1793239556197147136
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.259549752,678.259549752,661,636,879,788,804,652,632,653,0.400984199892,-0.0153827911648,0.0598522158977,0.999999950593,0.000192758107946,-0.000247988872236,1.2680814121e-05,1793239556213814016
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,744.67455176,715,678.32544824,661.32544824,636,879,788,804,652,632,653,0.400984529078,-0.0153832651278,0.0598522420175,0.999999950891,0.000191456954191,-0.000247789405479,1.27231541241e-05,1793239556230480640
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,744.091516838,715,678.908483162,661.908483162,636,879,788,804,652,632,653,0.400986369858,-0.0153840645583,0.0598531861006,0.999999951756,0.000188665059801,-0.000246442868807,1.26403713341e-05,1793239556247147264
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,744.484714476,715,679,661.515285524,636,879,788,804,652,632,653,0.400987025475,-0.0153837373414,0.0598541920226,0.999999952031,0.000188894848812,-0.000245151919654,1.25174479776e-05,1793239556263814144
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.057285207,652,632,653,0.400987402626,-0.0153832764007,0.059855034355,0.999999952129,0.000189673393236,-0.000244156570395,1.23946367433e-05,1793239556280480512
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,788,804.609187168,652,632,653,0.400987280722,-0.0153834720896,0.0598543647956,0.999999951645,0.000190332279479,-0.000245624150018,1.23373250365e-05,1793239556297147136
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.179495833,788,805,652,631.820504167,653,0.400991636312,-0.0153838300574,0.0598559222528,0.999999952132,0.000190804244128,-0.000243248024348,1.26267270892e-05,1793239556313813504
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879.794460287,788,805,652,631.205539713,653,0.401006854598,-0.0153845817242,0.0598628825978,0.999999954892,0.000190822724663,-0.000231546818254,1.37572793836e-05,1793239556330480128
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.385358762,679,661,636,880,788,805,652.385358762,631.385358762,652.614641238,0.401041356798,-0.0153853693436,0.059876982688,0.999999960423,0.000191389537161,-0.000205670693063,1.49597602294e-05,1793239556347147008
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.964175668,679,661,636,880,788,805,652.964175668,631.964175668,652.035824332,0.401085539927,-0.015386175012,0.0598946670801,0.999999966483,0.000192231623587,-0.000172678461298,1.61983507987e-05,1793239556363813888
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.460562843,679.539437157,661,636,879.460562843,788,804.460562843,652.460562843,631.460562843,652.539437157,0.401148527443,-0.0153896206206,0.0599144694152,0.999999971697,0.000191273966232,-0.000140348116996,1.7953525694e-05,1793239556380480512
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.882872856,661.117127144,636,879,788,804,652,631,653,0.40121530236,-0.0153935285534,0.0599330375236,0.999999975588,0.00019019182465,-0.000110742363571,1.96648479341e-05,1793239556397147136
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.294467438,661.705532562,636,879,788,804,652,631,653,0.401292324593,-0.0153985959107,0.05994607731,0.999999977676,0.000189086568276,-9.19236858725e-05,2.10625891237e-05,1793239556413813504
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.720445067,636,879,788,804.279554933,652,631.279554933,652.720445067,0.401376263046,-0.0154040685774,0.0599549769149,0.999999979374,0.000186437906861,-7.76285345467e-05,2.16267552927e-05,1793239556430480128
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.160831684,636,879,788,804.839168316,652,631.839168316,652.160831684,0.401467130171,-0.0154099472831,0.0599597288804,0.999999980863,0.000182243060618,-6.78650582462e-05,2.13558449754e-05,1793239556447146752
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.426015502,636,879.426015502,788,804.573984498,652,631.573984498,652,0.401568372752,-0.0154138248164,0.0599585640272,0.999999980865,0.000182425841069,-6.77510333228e-05,2.0019837349e-05,1793239556463813376
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.977120934,636,880,788,804,652,631.022879066,652.022879066,0.401674732035,-0.0154169883134,0.0599549892594,0.999999980306,0.000184212775428,-7.15568796476e-05,1.82431656164e-05,1793239556480480000
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.403538271,636,880,788,804,652,631.596461729,652.596461729,0.401803529661,-0.0154223915863,0.0599508460331,0.999999980395,0.000182115355461,-7.60408892708e-05,1.61992588355e-05,1793239556497146624
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715.175359384,679,661,636,879.824640616,788,804,652,632,653,0.401943424961,-0.0154289489302,0.0599486377608,0.999999980926,0.000178884527866,-7.7064181376e-05,1.44871384972e-05,1793239556513813504
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715.76687015,679,661,636,879.23312985,788,804,652,632,653,0.402109656513,-0.0154382450392,0.0599510213946,0.999999982509,0.000172963971981,-6.98747251851e-05,1.35623922581e-05,1793239556530480640
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715.648744609,679,661.351255391,636,879,788,804,652,631.648744609,653,0.402303771609,-0.015449024949,0.0599547059292,0.999999984319,0.000166221920242,-5.98487915484e-05,1.22722375488e-05,1793239556547147008
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.068994526,679,661.931005474,636,879,788,804,652,631.068994526,653,0.402516025208,-0.0154607700852,0.0599592367112,0.99999998616,0.000158945477684,-4.7977703895e-05,1.07443813521e-05,1793239556563813376
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.493752887,636,879,788,804,652,631.506247113,653,0.402748568022,-0.0154713436846,0.0599612370596,0.999999987513,0.000152277026012,-4.13304347133e-05,8.85106745497e-06,1793239556580480000
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.082691924,745,715,678.917308076,661,636,879,788,804,652,631.917308076,653,0.402986972248,-0.0154817748689,0.0599625213091,0.999999988705,0.000145741966462,-3.60916934243e-05,6.85767229643e-06,1793239556597146624
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.670199999,745,715,678.329800001,661,636,879,788,804,652,631.329800001,653,0.403244427643,-0.0154923027567,0.0599615206639,0.999999989639,0.000139519851944,-3.51438631454e-05,4.55467814184e-06,1793239556613813504
+135,2.250000000,POSE1_TO_POSE2_PRESS,767,745,715,678.254386719,661,636,879,788,804,652,631.254386719,653.254386719,0.403518203278,-0.0155003827515,0.0599563734338,0.999999990096,0.000134470508651,-4.15119087657e-05,1.40944267014e-06,1793239556630480128
+136,2.266666667,POSE1_TO_POSE2_PRESS,767,745,715,678.834322925,661,636,879,788,804,652,631.834322925,653.834322925,0.403812864602,-0.0155053300728,0.0599459196433,0.999999989787,0.000130922010855,-5.72423915122e-05,-2.81364464511e-06,1793239556647146752
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.587467972,745,715,679,661,636,879.412532028,788,804,652,632,653.587467972,0.404135197053,-0.0154996814241,0.0599349396717,0.99999999351,8.43631886155e-05,-7.62729570697e-05,-6.67016459884e-06,1793239556663813632
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.009949613,745,715,679,661,636,879.990050387,788,804,652,632,653.009949613,0.404468596173,-0.0154897950675,0.0599237492617,0.999999995066,2.06029971913e-05,-9.66233432544e-05,-1.03800810114e-05,1793239556680480512
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.564592069,745,715,679,661,636,879.435407931,788,804,652,631.435407931,653,0.404845728595,-0.0154852522083,0.0599203968761,0.999999993876,3.99332338269e-05,-0.000102134853612,-1.49013129639e-05,1793239556697146880
+140,2.333333333,POSE1_TO_POSE2_PRESS,766.858045111,744.858045111,715,679,661,636,879,788,804,652,631.141954889,653,0.405235797655,-0.0154851404845,0.0599210050968,0.999999993289,5.28639729362e-05,-0.000101377343783,-1.86876716132e-05,1793239556713813504
+141,2.350000000,POSE1_TO_POSE2_PRESS,766.271687206,744.271687206,715,679,661,636,879,788,804,652,631.728312794,653,0.405663965908,-0.0154986075925,0.0599335822144,0.999999995602,4.1200478908e-05,-8.18084387723e-05,-2.01289149837e-05,1793239556730480128
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.311105035,715,679,661,636,879,788,804,652,631.688894965,652.688894965,0.406134515038,-0.0155083233795,0.0599545266862,0.999999998338,2.52844764969e-05,-4.71651555599e-05,-2.14397135833e-05,1793239556747146752
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744.89081874,715,679,661,636,879,788,804,652,631.10918126,652.10918126,0.406641655944,-0.0155148002703,0.0599826955486,0.999999999727,5.696849025e-06,4.93376330737e-07,-2.26378860476e-05,1793239556763813376
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.46777731,679,661,636,879,788,804,652,631.46777731,652.46777731,0.407169692699,-0.015517752076,0.0599993620421,0.999999999408,-6.16694554474e-06,2.32571321851e-05,-2.46162901898e-05,1793239556780480256
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.955902825,679,661,636,879,788,804,652,631.955902825,653,0.407701193729,-0.0155194841525,0.0600113283359,0.999999998826,-1.6969069596e-05,3.64487324039e-05,-2.70404096553e-05,1793239556797146624
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.37957538,679,661,636,879,788,804,652,631.37957538,653,0.408215986779,-0.0155163669943,0.0599987788977,0.99999999879,-3.65885626167e-05,3.82904667728e-06,-3.26589880645e-05,1793239556813813760
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.798652387,715,679,661,636,879.201347613,788,804,652,631.201347613,653,0.408748133859,-0.0155150827301,0.05998851035,0.999999997774,-5.04506937523e-05,-2.15033224051e-05,-3.80018439914e-05,1793239556830480640
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,744.208863668,715,679,661,636,879.791136332,788,804,652,631.791136332,653,0.409313760415,-0.015517334497,0.0599826421117,0.999999997131,-5.32056843453e-05,-3.27769515477e-05,-4.28127740756e-05,1793239556847147008
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,744.374150532,715,679,661,636,879.625849468,788,804.374150532,652,631.625849468,652.625849468,0.409933671661,-0.0155207119694,0.0599856827488,0.999999995917,-7.39499996502e-05,-2.18006780709e-05,-4.71418562289e-05,1793239556863813632
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,744.953450202,715,679,661,636,879.046549798,788,804.953450202,652,631.046549798,652.046549798,0.410583347534,-0.0155247066734,0.0599936081797,0.999999993222,-0.00010455797694,1.37536016585e-06,-5.12067378571e-05,1793239556880480000
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678.473953936,661.526046064,636,879.526046064,788,804.473953936,652,631,652,0.411261604456,-0.0155282308089,0.0599969551766,0.999999991736,-0.000115286170379,9.63719432046e-06,-5.60660132619e-05,1793239556897146880
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,678.10133253,662,636,879.89866747,788,804,652,631,652.10133253,0.4119363244,-0.0155297943698,0.059995568712,0.999999993251,-0.000101813395624,8.87787867646e-06,-5.52532638205e-05,1793239556913813504
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,678.692455073,662,636,879.307544927,788,804,652,631,652.692455073,0.412581877439,-0.0155220802438,0.059973236722,0.999999999013,2.02386819228e-05,-2.91863312015e-05,-2.6689324011e-05,1793239556930480384
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.721899999,636,879.556200001,788,804.278100001,652,631,653,0.413247287754,-0.0155155602058,0.059950695697,0.999999994455,7.40598408497e-05,-7.3160485932e-05,-1.59258182595e-05,1793239556947147008
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.142195569,636,880.715608861,788,804.857804431,652,631,653,0.41393423372,-0.0155103351765,0.0599279279671,0.999999990617,5.38833627138e-05,-0.000123544086786,-2.44671986174e-05,1793239556963813888
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.435082757,636,880.564917243,788,804.564917243,652,631,653,0.414722512404,-0.0155155724847,0.0599523020719,0.999999995947,3.10930754216e-05,-7.95729646402e-05,-2.84240241708e-05,1793239556980480512
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,652,631,653,0.415543712199,-0.0155242267576,0.0599917476412,0.999999999481,7.5448557898e-06,-5.57359611178e-06,-3.08384470452e-05,1793239556997147136
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,804,652,631,653,0.416364268883,-0.0155336904622,0.0600189801767,0.999999998768,-1.15325952046e-05,3.72740929856e-05,-3.06965228963e-05,1793239557013813504
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715.163484669,679,662.163484669,636,880,788,804,652,631.163484669,653,0.417170765417,-0.0155399817697,0.0600332017339,0.999999997453,-2.55978993925e-05,5.87480754532e-05,-3.14273814465e-05,1793239557030479872
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715.755353211,679,662.755353211,636,880,788,804,652,631.755353211,653,0.417940419665,-0.0155379603477,0.0600133302252,0.999999998762,-2.6529721023e-05,2.42158788039e-05,-3.44452193145e-05,1793239557047146496
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.659886018,745,715.659886018,679,662.659886018,636,880.340113982,788,804,652,631.659886018,653,0.418743706173,-0.015538539397,0.0599982012775,0.999999998903,-2.88110309147e-05,1.12594929608e-06,-3.69088140298e-05,1793239557063813376
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.080133293,745,715.080133293,679,662.080133293,636,880.919866707,788,804,652,631.080133293,653,0.419570689388,-0.0155409506961,0.0599864138616,0.99999999863,-3.20431681135e-05,-1.39019446406e-05,-3.89818979798e-05,1793239557080480000
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.494193664,745,715,679,662,636,880.505806336,788,804.494193664,652,631.494193664,653,0.420370186849,-0.0155403021143,0.0599595108365,0.999999997007,-3.6314762305e-05,-5.32174938178e-05,-4.2846249484e-05,1793239557097146880
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679.06780948,662,636,880.06780948,788,804.93219052,652,632,652.93219052,0.421169763851,-0.0155390754804,0.059930992903,0.99999999341,-3.92458527644e-05,-9.72199063437e-05,-4.67709255578e-05,1793239557113813760
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.642614481,662,636,880.642614481,788,804.357385519,652,632,652.357385519,0.422002895739,-0.0155371962615,0.0599085271558,0.999999987497,-3.09078058152e-05,-0.00014713939955,-4.89985654934e-05,1793239557130480384
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.775066417,788.224933583,804.224933583,652,632,652.224933583,0.422879851131,-0.0155390432146,0.0599186712822,0.999999989254,-2.95883182919e-05,-0.000135178305506,-4.84018802799e-05,1793239557147147008
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.180395838,788.819604162,804.819604162,652,632,652.819604162,0.423828842012,-0.015547015103,0.0599824182354,0.999999998045,-3.98056618429e-05,-2.15003376343e-05,-4.31626803028e-05,1793239557163813632
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.599009179,662,636,880,788.198018358,805,652,631.599009179,653,0.424742097741,-0.0155531339376,0.060027044582,0.999999996762,-4.75890173713e-05,5.10970459216e-05,-4.00024201967e-05,1793239557180480000
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.023407035,662,636,880,787.04681407,805,652,631.023407035,653,0.425639792552,-0.0155584458601,0.0600633448628,0.999999992215,-5.43124930275e-05,0.000105805895432,-3.77474341495e-05,1793239557197146624
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.551594309,662,636,880,787.551594309,804.448405691,651.448405691,631.551594309,653,0.426505841234,-0.015558008174,0.0600445563279,0.999999993693,-5.67745300328e-05,8.79820798288e-05,-4.06229935114e-05,1793239557213813504
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.870579757,662,636,880,788.129420243,804.129420243,651.129420243,632,653,0.427368235718,-0.0155576430735,0.0600233338425,0.999999995199,-5.97900258036e-05,6.42119805577e-05,-4.3642806091e-05,1793239557230480640
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.282656833,662,636,880,788.717343167,804.717343167,651.717343167,632,653,0.428222436688,-0.0155583985647,0.0600017613808,0.999999996326,-6.54062392136e-05,3.02682160224e-05,-4.6403198295e-05,1793239557247147520
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.301073972,636,880,788.698926028,804.698926028,652,631.698926028,653,0.429049565828,-0.0155569465245,0.0599733498403,0.999999996379,-6.69437899505e-05,-1.8014669738e-05,-4.93553433271e-05,1793239557263813888
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.880923111,636,880,788.119076889,804.119076889,652,631.119076889,653,0.429851628146,-0.0155534504518,0.0599386057531,0.999999993363,-6.47047604867e-05,-7.95746591322e-05,-5.24850389103e-05,1793239557280480512
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715.457287422,679,662.542712578,636,880.457287422,788,804,652,631.457287422,652.542712578,0.430718381188,-0.0155532289853,0.0599422011332,0.999999994237,-6.51779138449e-05,-6.65527595913e-05,-5.33683106474e-05,1793239557297147136
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715.966579275,679.033420725,662,636,880.966579275,788,804.033420725,652,632,652.033420725,0.431603244967,-0.0155541381828,0.0599575317768,0.999999995861,-6.63514142525e-05,-3.19372869828e-05,-5.34381808759e-05,1793239557313813248
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715.379351376,679.620648624,662,636,880.379351376,788,804.620648624,652,632,652.620648624,0.432511187075,-0.0155597602887,0.0600031411014,0.999999995643,-6.75156418272e-05,4.11132828993e-05,-4.96493719609e-05,1793239557330480128
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.795041274,662,635.795041274,880.204958726,788,805,652,631.795041274,653,0.433384759968,-0.0155637654994,0.0600283151275,0.99999999316,-7.24553197007e-05,7.83560625908e-05,-4.78666764162e-05,1793239557347146752
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.216055725,662,635.216055725,880.783944275,788,805,652,631.216055725,653,0.434195613032,-0.0155648200575,0.0600161970201,0.999999993948,-8.42847741002e-05,5.0253630484e-05,-4.97449138139e-05,1793239557363813376
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.362493159,880.637506841,788,805,651.637506841,631,653,0.434992339312,-0.0155660206543,0.0599931696287,0.999999994838,-8.64843735541e-05,1.02956369098e-05,-5.23286737277e-05,1793239557380480512
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.940782058,880.059217942,788,805,651.059217942,631,653,0.43578065573,-0.0155673081892,0.059963647834,0.999999994355,-8.29512248903e-05,-3.6720087239e-05,-5.53324379407e-05,1793239557397147392
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.516147678,662,636,880,788,805,651.516147678,631.516147678,653,0.43654994909,-0.0155651956845,0.0599565825503,0.999999993303,-8.99323635074e-05,-4.55488987287e-05,-5.684552742e-05,1793239557413814272
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679.909100712,662,636,880.090899288,788,805,651.909100712,632,653,0.43730853695,-0.0155621597026,0.0599502293882,0.999999992216,-9.49980159579e-05,-5.64794713263e-05,-5.79141678126e-05,1793239557430480640
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.335837656,662,636,880.664162344,788,805,651.335837656,632,653,0.438021831792,-0.0155562815976,0.0599340600319,0.999999989687,-8.35336741166e-05,-0.000101681463617,-5.7526757345e-05,1793239557447147008
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.245426066,662,636,881,788,805,651,632,652.754573934,0.438761011157,-0.0155543248589,0.0599344046168,0.999999989151,-7.96166025365e-05,-0.000110206000941,-5.66892869106e-05,1793239557463813632
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.838006661,662,636,881,788,805,651,632,652.161993339,0.439536804053,-0.0155579148831,0.0599581081298,0.999999992511,-8.63751260764e-05,-6.68503703628e-05,-5.52152079248e-05,1793239557480480000
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.579396325,662,636,880.579396325,788,805,651,632,652,0.440271183052,-0.0155660907805,0.0599824929842,0.999999993143,-9.83990837934e-05,-3.28873945144e-05,-5.43179573388e-05,1793239557497146880
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.000555236,662,636,880.000555236,788,805,651,632,652,0.440989981585,-0.0155759919527,0.0600071341715,0.999999992241,-0.000112403977378,-2.45807275645e-06,-5.36377181049e-05,1793239557513813760
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.574081245,635.425918755,880.574081245,787.425918755,805,651,632,652.574081245,0.441578489199,-0.0155803671606,0.0599560994736,0.999999986912,-0.000126044920177,-8.27357655656e-05,-5.86839837166e-05,1793239557530480640
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.847702314,635,881,787.152297686,805,651,632,653,0.44215671139,-0.0155844781951,0.0599050710143,0.999999975382,-0.00013900840029,-0.000160712553348,-6.3904783706e-05,1793239557547147520
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.259221106,635,881,787.740778894,805,651,632,653,0.442705834351,-0.0155878478281,0.0598542685092,0.999999959458,-0.000150032619783,-0.000231795095113,-6.9609708379e-05,1793239557563813888
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.676270949,745,715,679.323729051,662,635,880.676270949,787.676270949,805,651.323729051,632,653,0.443281592151,-0.0155924919214,0.0598250819587,0.999999945935,-0.000166003364868,-0.000274046500813,-7.39665374455e-05,1793239557580480256
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.097675333,745,715,679.902324667,662,635,880.097675333,787.097675333,805,651.902324667,632,653,0.443878319089,-0.015598139376,0.0598129132973,0.999999936641,-0.000185868428005,-0.000293599622892,-7.72620328034e-05,1793239557597146880
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,880.479637427,787,805,651.520362573,631.520362573,652.520362573,0.444430699726,-0.01560659708,0.0598130378395,0.999999933263,-0.00020051453679,-0.000295183052657,-7.83254358804e-05,1793239557613813504
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,679.942316715,661.942316715,635,881,787,805.057683285,651,631,652.057683285,0.444964595387,-0.0156152348402,0.0598126590668,0.999999929451,-0.000213436713322,-0.000298793144393,-7.91518037249e-05,1793239557630480384
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745,715,679.355149984,661.355149984,635,881,787,805.644850016,651,631,652.644850016,0.445411489247,-0.0156202862348,0.0597847421572,0.999999909545,-0.000220264321021,-0.000354507041569,-8.19636642878e-05,1793239557647147008
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.228472915,745,715,679,661,635,881,787,805.771527085,651,631,652.771527085,0.445857916056,-0.0156255146465,0.0597564643246,0.999999888096,-0.000232253737327,-0.000403343102916,-8.47376458319e-05,1793239557663813632
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.806671189,745,715,679,661,635,881,787,805.193328811,651,631,652.193328811,0.446303627907,-0.0156310140195,0.0597276340266,0.99999986686,-0.000252144376173,-0.000441651200542,-8.74536456034e-05,1793239557680480512
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679.384492288,661,635,881,786.615507712,805.384492288,651,631,652.384492288,0.446738539627,-0.0156386488249,0.0597184974802,0.999999859001,-0.00026467354346,-0.000451806162669,-8.84109767479e-05,1793239557697147136
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.962123975,661,635,881,786.037876025,805.962123975,651,631,652.962123975,0.447168026232,-0.0156473563082,0.0597192535598,0.999999858412,-0.000273504874678,-0.000447819155173,-8.84848881197e-05,1793239557713813504
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634.465757011,881,786,805.465757011,651,630.465757011,653,0.447569887945,-0.0156555670274,0.0597291987837,0.999999867006,-0.000266103253543,-0.000433514306318,-8.50963755277e-05,1793239557730480384
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.889835315,745,715,679.889835315,661,634,880.889835315,786,805.110164685,651,630.110164685,652.889835315,0.447956110917,-0.0156632959862,0.0597361575668,0.999999875731,-0.000251128048288,-0.000423384574525,-7.88570334123e-05,1793239557747147008
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.295500639,745,715,679.295500639,661,634,880.295500639,786,805.704499361,651,630.704499361,652.295500639,0.448282121969,-0.0156690608325,0.0597271570629,0.999999882005,-0.000207873537205,-0.000434786416401,-6.1156224569e-05,1793239557763813632
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.291494858,745,715,679,661,634,880.291494858,785.708505142,805.708505142,651,631,652.291494858,0.448578112485,-0.0156713314509,0.0597047923334,0.999999868725,-0.000195450721434,-0.000470462223109,-5.49092084635e-05,1793239557780480256
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.871233009,745,715,679,661,634,880.871233009,785.128766991,805.128766991,651,631,652.871233009,0.448844417317,-0.0156701468187,0.0596692124543,0.999999834881,-0.000213515682055,-0.000530141222227,-5.99882213688e-05,1793239557797146624
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.55339018,745,715,679.44660982,661,634,881,785.44660982,805.44660982,651,631,653,0.44910129335,-0.0156711411212,0.0596503530575,0.99999981917,-0.000220369052604,-0.000555943454921,-6.34420860856e-05,1793239557813813760
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.021275622,745,715,680,661,634,881,785.978724378,806,651,630.978724378,653,0.449354525314,-0.015672863343,0.0596367195474,0.999999809258,-0.00022441175953,-0.000571590540753,-6.63893579095e-05,1793239557830480896
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.610197007,745,715,680,661,634,881,785.389802993,806,651,630.389802993,653,0.449582361737,-0.0156774073638,0.0596351361248,0.999999804192,-0.000238876201009,-0.000574371616014,-6.82011044684e-05,1793239557847147264
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660.804188011,634,880.804188011,785,806,651.195811989,630.195811989,653,0.449802566299,-0.0156810102781,0.0596350877139,0.999999800857,-0.000252932140325,-0.000574002640754,-6.95177575888e-05,1793239557863813888
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,680,660.225045857,634,880.225045857,785,806,651.774954143,630.774954143,653,0.450007830367,-0.0156827708404,0.0596380443096,0.999999801122,-0.000266188376187,-0.000567466987806,-6.98651938134e-05,1793239557880480768
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.353378398,715.353378398,680,660.353378398,633.646621602,880.353378398,785.353378398,805.646621602,652,630.646621602,653,0.450196557598,-0.0156852941043,0.059642359237,0.999999802513,-0.000276069790581,-0.000560211488639,-7.01589024918e-05,1793239557897147648
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.931346448,715.931346448,680,660.931346448,633.068653552,880.931346448,785.931346448,805.068653552,652,630.068653552,653,0.450374774863,-0.0156883021035,0.0596475374525,0.99999980462,-0.000283806338379,-0.000552498490543,-7.04184646607e-05,1793239557913813760
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.494436607,715.494436607,680,660.494436607,633,881,785.494436607,805.505563393,651.494436607,630,653,0.450516045472,-0.0156891613271,0.05964822263,0.999999804633,-0.000283748785914,-0.000552461740781,-7.07631973055e-05,1793239557930480384
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.081148819,881,785,805.918851181,651,630.081148819,653,0.450647274557,-0.0156902323253,0.0596473276845,0.999999803548,-0.000283239527033,-0.000554635599939,-7.11247015024e-05,1793239557947147008
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680,660,633.668423357,881,785,805.331576643,651,630.668423357,653,0.45074693658,-0.0156944306894,0.0596403549044,0.999999797282,-0.000286465654819,-0.000564143439693,-7.15192053093e-05,1793239557963813888
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.253907542,715,680.253907542,660.253907542,633.746092458,881,785,805,651,630.746092458,653,0.450837916873,-0.0156971164372,0.059633326376,0.999999790212,-0.000289536149808,-0.000574920676603,-7.2186474427e-05,1793239557980480512
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745.837070046,715,680.837070046,660.837070046,633.162929954,881,785,805,651,630.162929954,653,0.450917639116,-0.0156978406973,0.0596262255565,0.999999782084,-0.00029240482755,-0.000587344005487,-7.32074523215e-05,1793239557997147136
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.585947303,715,681,660.585947303,633,881,785,805,651.414052697,630,653,0.450993286004,-0.0156991587709,0.0596274350322,0.999999782024,-0.000295242698518,-0.000586010884813,-7.33095020552e-05,1793239558013813760
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.011360681,715,681,660.011360681,633,881,785,805,651.988639319,630,653,0.451067352819,-0.0157007070743,0.0596318665238,0.999999785089,-0.000298068625208,-0.00057934419914,-7.30552706775e-05,1793239558030480128
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.556820479,715.556820479,680.443179521,660.556820479,633,881,784.443179521,805,652,630,653,0.451118360064,-0.015702496513,0.0596334669387,0.999999786544,-0.000299548540726,-0.000576148551689,-7.23600820785e-05,1793239558047146752
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,715.868712634,680,661,633,881,784.131287366,805,651.868712634,630,653,0.451165705516,-0.015703924706,0.0596346946594,0.999999787728,-0.000300795374976,-0.000573506104912,-7.18055980826e-05,1793239558063813376
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,715.271478913,680,661,633,881,784.728521087,805,651.271478913,630,653,0.451201705815,-0.0157040535542,0.0596348023354,0.999999788106,-0.000301311347219,-0.000572578518093,-7.17820497524e-05,1793239558080480000
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745.683986437,715,680,660.683986437,633,881,784.683986437,805.316013563,651.316013563,630,653,0.451229789715,-0.0157044361513,0.0596339254051,0.999999786778,-0.00030284788037,-0.000574074030715,-7.18697916391e-05,1793239558097147136
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745.104612095,715,680,660.104612095,633,881,784.104612095,805.895387905,651.895387905,630,653,0.451251276215,-0.0157050302188,0.0596322279191,0.999999784016,-0.000305234933125,-0.000577588916526,-7.20502810543e-05,1793239558113814528
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745.470437804,715,680.470437804,660,633,880.529562196,784,805.529562196,651.529562196,630,653,0.451267073373,-0.0157047855626,0.0596309757221,0.999999782443,-0.000306489761895,-0.00057966223289,-7.18946514218e-05,1793239558130481152
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.955543314,745.955543314,715,680.955543314,660.044456686,633,880,784,805.044456686,651,630,653,0.45128130426,-0.0157043160638,0.0596300050479,0.9999997814,-0.000307205411276,-0.00058110861107,-7.16757162367e-05,1793239558147147264
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.382453196,745.382453196,715,680.382453196,660.617546804,633,880,784,805.617546804,651,630,653,0.4512918175,-0.0157033705328,0.0596312152374,0.999999783535,-0.000304476268625,-0.000578877186121,-7.15846924709e-05,1793239558163813632
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.198096331,745.198096331,715,680,660.801903669,633,880.198096331,784,806,651,630,653,0.451299945381,-0.0157030230129,0.0596317362734,0.999999784747,-0.000302735481344,-0.000577732886751,-7.12879070678e-05,1793239558180480256
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.793610785,745.793610785,715,680,660.206389215,633,880.793610785,784,806,651,630,653,0.451303287786,-0.0157038752146,0.0596308747389,0.999999784125,-0.000302977519128,-0.000578769563852,-7.05783255164e-05,1793239558197146880
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680,660,633,880.623272226,784,805.623272226,651,630,653,0.451304325742,-0.0157033016747,0.059629585587,0.999999782863,-0.000302728527554,-0.000581107123054,-7.03197670368e-05,1793239558213813504
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,660,633,880.046730782,784,805.046730782,651,630,653,0.451304141436,-0.0157019719318,0.0596280696301,0.999999781254,-0.00030221909757,-0.000584134660624,-7.03004279361e-05,1793239558230480384
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745.475380522,715,680,660,633,880.524619478,784,806.049238956,651,630,653,0.451306764337,-0.0157011854068,0.0596288743511,0.999999782186,-0.000302492212841,-0.000582379114723,-7.04313397753e-05,1793239558247147264
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745.098982177,715.098982177,680,660.098982177,633,881,784.098982177,806.901017823,651,630,653,0.451309252867,-0.0157008438347,0.0596295549996,0.999999783033,-0.000302931212768,-0.000580694764072,-7.04254479978e-05,1793239558263813888
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745.690617101,715.690617101,680,660.690617101,633,881,784.690617101,806.309382899,651,630,653,0.451309840239,-0.0157024784026,0.0596285993345,0.999999782359,-0.000303852312703,-0.000581464548204,-6.96726986491e-05,1793239558280480768
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,715.722218795,680,660.722218795,633,881,785,806,651.277781205,630,653,0.451309371163,-0.0157029287183,0.0596273554383,0.999999781155,-0.000304563184871,-0.000583182524792,-6.94864127637e-05,1793239558297147392
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,715.139955184,680,660.139955184,633,881,785,806,651.860044816,630,653,0.451307744088,-0.015702080948,0.0596257956052,0.999999779367,-0.000305043621636,-0.000585939837161,-6.99210404893e-05,1793239558313813504
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745.563269862,715,680,660.436730138,633,881,784.563269862,805.563269862,651.563269862,630,653,0.451308075125,-0.0157019607646,0.0596257911926,0.999999779274,-0.000305306808225,-0.000585974976022,-6.98039150638e-05,1793239558330480384
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.011577214,715,680,661,633,881,784,805.011577214,651.011577214,630,653,0.451309010375,-0.0157020684401,0.059626273043,0.999999779712,-0.000305490483476,-0.000585165062203,-6.95198918023e-05,1793239558347146752
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.582888636,715,680,661,633,881,784,805.582888636,651.582888636,630,653,0.451309202432,-0.0157020618168,0.0596264694926,0.999999779822,-0.000305153497607,-0.000585143080135,-6.96075585533e-05,1793239558363813376
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680,660.838874183,633,881,784.161125817,806,652,630,653,0.451309537262,-0.0157021376453,0.0596267158575,0.999999779882,-0.000305258742812,-0.000584986292422,-6.96054775698e-05,1793239558380480256
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,715,680,660.241902848,633,881,784.758097152,806,652,630,653,0.451310258291,-0.0157024365059,0.0596270972434,0.999999779805,-0.000306560223595,-0.000584464855295,-6.9360628858e-05,1793239558397147136
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.65750545,715,680,660.34249455,633,881,784.65750545,806,652,629.65750545,653,0.451311124404,-0.0157018572007,0.0596277272881,0.999999780452,-0.000305629304507,-0.000583863812,-6.92128815298e-05,1793239558413813760
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.081674511,715,680,660.918325489,633,881,784.081674511,806,652,629.081674511,653,0.451312089361,-0.0157006796143,0.0596285267401,0.999999781586,-0.00030317748489,-0.00058320853424,-6.91312879244e-05,1793239558430480640
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.50683239,745.49316761,715,680,660.50683239,633,880.50683239,784.49316761,806,651.50683239,629.98633522,653,0.451312401995,-0.0156998866602,0.0596271812827,0.999999782144,-0.000300391028468,-0.000583695534664,-6.91085449461e-05,1793239558447147008
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.06944031,746,715.06944031,680,660.06944031,633,880.06944031,785,806,651.06944031,630.93055969,653,0.451312639788,-0.0156995022378,0.0596258266247,0.99999978242,-0.000298456113775,-0.000584221328151,-6.90628158198e-05,1793239558463813376
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.657620445,746,715.657620445,680,660.657620445,633,880.657620445,785,806,651.657620445,630.342379555,653,0.451313123923,-0.0157016947651,0.0596270515471,0.999999781331,-0.00030329564595,-0.000583626550757,-6.87727106896e-05,1793239558480480000
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.757591491,745.757591491,715.757591491,680,660.757591491,633,881,785,806,652,630,653,0.451313233829,-0.0157027257086,0.0596276233928,0.999999780759,-0.000305296624869,-0.000583590813641,-6.85339651145e-05,1793239558497146624
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.177528212,745.177528212,715.177528212,680,660.177528212,633,881,785,806,652,630,653,0.451312822466,-0.0157021386634,0.0596272855575,0.999999780931,-0.000303343737317,-0.000584333772784,-6.83667590625e-05,1793239558513813248
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.400173607,745.400173607,715,680,660,633,881,784.599826393,805.599826393,652,630,653,0.4513136221,-0.0157021541986,0.0596279451334,0.999999781596,-0.00030299875644,-0.000583396417831,-6.8171911152e-05,1793239558530480384
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.976833928,745.976833928,715,680,660,633,881,784.023166072,805.023166072,652,630,653,0.451314955814,-0.0157024354871,0.0596290445929,0.999999782478,-0.000303362903317,-0.000581718001686,-6.79648724908e-05,1793239558547147776
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.437910974,745.437910974,715,680.562089026,660.562089026,633,881,784,805.562089026,651.437910974,630,653,0.45131528722,-0.0157038267435,0.059628585088,0.999999781136,-0.000306356675998,-0.000582458926506,-6.79364812618e-05,1793239558563814400
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680.854000449,660.854000449,633,880.854000449,784,805.854000449,651,630,653,0.451315482673,-0.0157053978784,0.0596282753911,0.99999978007,-0.000308986529397,-0.000582919349439,-6.77735119615e-05,1793239558580481024
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680.275142849,660.275142849,633,880.275142849,784,805.275142849,651,630,653,0.451315399428,-0.0157073645805,0.059628603294,0.999999780121,-0.00031021113066,-0.00058224792948,-6.71893787251e-05,1793239558597147136
+254,4.233333333,POSE1_TO_POSE2_PRESS,765.30367378,745.30367378,715,680,660,633,880,784,805,651,630,653,0.451315466356,-0.0157080653586,0.0596284368806,0.999999780103,-0.000310434607049,-0.000582221246108,-6.66504468598e-05,1793239558613813504
+255,4.250000000,POSE1_TO_POSE2_PRESS,765.882453259,745.882453259,715,680,660,633,880,784,805,651,630,653,0.45131566933,-0.0157076193042,0.0596278226535,0.999999780024,-0.000309751139217,-0.00058277864583,-6.6152464083e-05,1793239558630480128
+256,4.266666667,HOLD_POSE2,766,745,715,680,660,633,880,784,806,651,630,653,0.451315455536,-0.0157177686144,0.0596279526755,0.999999777012,-0.000319637603543,-0.000582982121716,-6.27740223442e-05,1793239558662822656
+257,4.283333333,HOLD_POSE2,765.424906236,745,715,680,660,633,880.575093764,784,806,651.575093764,630,653,0.45131539673,-0.0157217515744,0.0596269652884,0.999999775177,-0.000324168335668,-0.000583706565932,-6.2031066271e-05,1793239558679489280
+258,4.300000000,HOLD_POSE2,765.154484252,745,715,679.845515748,660,632.845515748,881,784,806,651.845515748,630,653,0.451315276155,-0.0157248340292,0.0596264567508,0.99999977386,-0.000327718049671,-0.000584043761253,-6.14336085053e-05,1793239558696155904
+259,4.316666667,HOLD_POSE2,765.746031043,745,715,679.253968957,660,632.253968957,881,784,806,651.253968957,630,653,0.451314980824,-0.0157253688004,0.0596273029604,0.99999977406,-0.000328492295601,-0.000583285362992,-6.12477903291e-05,1793239558712822784
+260,4.333333333,HOLD_POSE2,765.672229763,745,715,679.327770237,660,632.327770237,881,784,805.672229763,651.327770237,629.672229763,652.672229763,0.451315572251,-0.0157243804368,0.0596279483456,0.999999774935,-0.000327349232019,-0.000582442724705,-6.11033717536e-05,1793239558729489152
+261,4.350000000,HOLD_POSE2,765.097869127,745,715,679.902130873,660,632.902130873,881,784,805.097869127,651.902130873,629.097869127,652.097869127,0.451316830812,-0.0157222461777,0.0596284426451,0.999999776312,-0.000324763724673,-0.000581536710417,-6.09900992264e-05,1793239558746155776
+262,4.366666667,HOLD_POSE2,765.47786131,745.47786131,715,680,660,633,880.52213869,784,805,652,629.47786131,652.47786131,0.451316250894,-0.0157222949949,0.0596279122405,0.99999977568,-0.000325272980241,-0.000582331289216,-6.106264023e-05,1793239558762822400
+263,4.383333333,HOLD_POSE2,765.944858005,746,715,679.944858005,660,633,880,784,805,652,630,653,0.451315386849,-0.015723005563,0.0596271895174,0.999999774723,-0.000326262302936,-0.000583415769933,-6.1094813874e-05,1793239558779489024
+264,4.400000000,HOLD_POSE2,765.355279111,746,715,679.355279111,660,633,880,784,805,652,630,653,0.451315428885,-0.0157257839916,0.0596266427137,0.999999774639,-0.000325743716312,-0.000583924623277,-6.03658487044e-05,1793239558796155904
+265,4.416666667,HOLD_POSE2,765,746,715,679.459809185,660,633,880,784,805,651.770095408,630,653,0.451316354429,-0.0157270942811,0.0596271017203,0.999999775171,-0.000325673219949,-0.000583102443293,-5.98866709138e-05,1793239558812822272
+266,4.433333333,HOLD_POSE2,765,746,715,680.616847247,660,633,880,784,805,651.191576377,630,653,0.451318619673,-0.0157261783665,0.0596290858812,0.999999776631,-0.000326282182592,-0.000580261958919,-5.97862567713e-05,1793239558829488896
+267,4.450000000,HOLD_POSE2,765,745.614399884,715,680.614399884,660,633,880,784,805,651,630,653,0.451317839421,-0.0157260551026,0.0596286922405,0.999999775926,-0.000327053197396,-0.000581017730777,-6.00194310551e-05,1793239558846155776
+268,4.466666667,HOLD_POSE2,765,745.037888035,715,680.037888035,660,633,880,784,805,651,630,653,0.451315551335,-0.0157263242822,0.0596271213435,0.999999774147,-0.000327904444749,-0.000583554019253,-6.04177659253e-05,1793239558862822656
+269,4.483333333,HOLD_POSE2,765.550001918,745.550001918,715,680,660,633,880,784,805,651,630,653,0.451315745305,-0.0157243867622,0.0596276880451,0.999999775033,-0.000326331781576,-0.000582894753128,-6.06253585847e-05,1793239558879489024
+270,4.500000000,HOLD_POSE2,766,745.863528066,715,680,660,633,880.136471934,784,805,651,630,653,0.451315923703,-0.015723263294,0.0596279769905,0.99999977556,-0.000325200340427,-0.000582618464264,-6.06711631545e-05,1793239558896155904
+271,4.516666667,HOLD_POSE2,766,745.284261839,715,680,660,633,880.715738161,784,805,651,630,653,0.451315485096,-0.0157252847208,0.0596268768667,0.999999774319,-0.000326053691829,-0.00058431410163,-6.0235566499e-05,1793239558912822528
+272,4.533333333,HOLD_POSE2,766,745.293557204,715,680,660,633,881,784,805,651.293557204,630,653,0.451316290033,-0.0157256469979,0.0596270234735,0.999999774487,-0.000326274514194,-0.000583915319849,-6.01184695332e-05,1793239558929488896
+273,4.550000000,HOLD_POSE2,766,745.869981726,715,680,660,633,881,784,805,651.869981726,630,653,0.451318293229,-0.015724410543,0.0596283714113,0.99999977601,-0.000325885841011,-0.000581498387089,-6.03082741168e-05,1793239558946155520
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,716,681,660,633,880,784,806,651,630,653,0.451318320218,-0.0157243658679,0.0596285969733,0.999999775574,-0.000326239241449,-0.00058206500597,-6.01685963244e-05,1793239558978970624
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.408038505,680.408038505,660,633,880.591961495,784.591961495,805.408038505,651,630,653,0.451317288018,-0.0157240755438,0.0596276401598,0.999999775026,-0.000325637935437,-0.000583322661601,-6.03588069217e-05,1793239558995637248
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.179288526,660,633,881,785,805,651.179288526,630,652.820711474,0.451316893105,-0.0157238846725,0.0596271287997,0.999999774964,-0.000325145170188,-0.000583690257926,-6.04829671339e-05,1793239559012303872
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.756333977,660,633,881,785,805,651.756333977,630,652.243666023,0.451317912031,-0.0157239144406,0.0596276056912,0.999999775984,-0.000324893205738,-0.000582083231455,-6.04605926393e-05,1793239559028970240
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.332594072,715,680.667405928,660,633,881,784.667405928,805,651.667405928,630,652,0.451318761657,-0.0157244790009,0.059628318493,0.999999776748,-0.000324888918694,-0.000580798221685,-6.02126504759e-05,1793239559045637120
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.908280118,715,680.091719882,660,633,881,784.091719882,805,651.091719882,630,652,0.451319487542,-0.0157254344393,0.059629203721,0.999999777324,-0.000325065658312,-0.000579748573018,-5.97998416048e-05,1793239559062303488
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.504695294,746,715,680.495304706,660,633,881,784,805,651,630,652.495304706,0.451317372276,-0.0157238665683,0.0596276310982,0.999999775998,-0.000324935713181,-0.000582065512599,-6.01689191922e-05,1793239559078970112
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.083090819,745.916909181,715,680.916909181,660,633,881,784,805,651,630,653,0.451314539139,-0.0157222131418,0.0596256213145,0.999999774296,-0.000324855263619,-0.000584981916913,-6.06058349485e-05,1793239559095636992
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.662588694,745.337411306,715,680.337411306,660,633,881,784,805,651,630,653,0.451310634067,-0.0157229055421,0.0596237826579,0.999999772541,-0.000325417750661,-0.000587667944822,-6.05627615784e-05,1793239559112303616
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.761093397,745,715,680,660,633,881,784,805,651,630,653,0.451299099798,-0.0157223797969,0.0596188595885,0.999999767871,-0.000325412442667,-0.000595518033822,-6.1022144017e-05,1793239559128970240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.189207652,745,715,680,660,633,881,784,805,651,630,653,0.451276932239,-0.0157201562456,0.0596096375795,0.999999758984,-0.000324615762964,-0.000610565598863,-6.21818306757e-05,1793239559145637120
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.38604029,745,715,680,660,633,880.61395971,784,805.38604029,651.38604029,630,653,0.451238905291,-0.015718834162,0.0595957468606,0.999999745749,-0.000325324440362,-0.000631397915743,-6.32620101518e-05,1793239559162303488
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.962950656,745,715,680,660,633,880.037049344,784,805.962950656,651.962950656,630,653,0.451193036977,-0.0157179577914,0.0595795477884,0.999999729969,-0.000326777411953,-0.000655090391191,-6.43028789346e-05,1793239559178969856
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.555238773,715,680,660,633,880.555238773,784.555238773,805.444761227,652,630,653,0.451125703946,-0.0157130464758,0.0595622210262,0.999999715995,-0.000321278006739,-0.000678586361539,-6.56647264756e-05,1793239559195636736
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.855739234,745.855739234,715,680,660,633,880.855739234,784.855739234,805.144260766,651.855739234,630,653,0.451053881086,-0.0157081567671,0.0595474698767,0.999999703532,-0.00031674692736,-0.000698681510893,-6.6713091961e-05,1793239559212303360
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.279652831,745.279652831,715,680,660,633,880.279652831,784.279652831,805.720347169,651.279652831,630,653,0.450973027943,-0.0157041606234,0.0595406601397,0.999999696589,-0.000316542612996,-0.000708637123812,-6.67571526574e-05,1793239559228970240
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.295792223,745,715,680.295792223,660.295792223,633,880.295792223,784,806,651,630,653,0.450883113701,-0.0157000454931,0.059536803246,0.99999969272,-0.000315046923181,-0.000714785492692,-6.62418978478e-05,1793239559245636864
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.8706322,745,715,680.8706322,660.8706322,633,880.8706322,784,806,651,630,653,0.450784651305,-0.015695818112,0.059535732039,0.999999691809,-0.000312332961271,-0.000717342140822,-6.51989897613e-05,1793239559262303488
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.553938656,660.553938656,633,881,784,805.553938656,651,630,653,0.450668951958,-0.0156890691464,0.0595345262907,0.999999692219,-0.000310037087056,-0.000717792597462,-6.49113494783e-05,1793239559278970112
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.97762242,745.02237758,715,680,660,633.02237758,881,784,805,651,630,652.97762242,0.450547149377,-0.0156815658012,0.0595332102557,0.999999692926,-0.000307771359838,-0.000717789802482,-6.48196453508e-05,1793239559295636992
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.38299624,745.61700376,715,680,660,633.61700376,881,784,805,651,630,652.38299624,0.450397280536,-0.0156734973967,0.059530073081,0.999999691462,-0.000303171684526,-0.000721837652738,-6.41295939904e-05,1793239559312303616
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,660,633.794455763,880.794455763,784,805.205544237,651.205544237,630,652.205544237,0.450233931964,-0.0156647428207,0.0595278058185,0.999999689884,-0.000298540333339,-0.000726021067049,-6.32401416242e-05,1793239559328970496
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,715,680,660,633.216928919,880.216928919,784,805.783071081,651.783071081,630,652.783071081,0.450046188536,-0.0156547464503,0.0595271128756,0.999999688126,-0.000293851657413,-0.000730449817281,-6.19898244078e-05,1793239559345636864
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.358189878,746,715,680.358189878,660,633,880.358189878,784.358189878,805.641810122,651.641810122,630,653,0.449835006614,-0.0156431703906,0.0595251345049,0.99999968675,-0.000287912452021,-0.000734762371711,-6.10790359037e-05,1793239559362303488
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.931860095,746,715,680.931860095,660,633,880.931860095,784.931860095,805.068139905,651.068139905,630,653,0.449609724515,-0.0156306440184,0.0595223828446,0.999999685571,-0.000281220951006,-0.000739005025317,-6.03725014075e-05,1793239559378969856
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745.494844598,715,680.494844598,660,633,881,785,805,651,630,652.494844598,0.449355825246,-0.0156170203646,0.0595188468074,0.999999684804,-0.000272128631289,-0.000743505592011,-5.94756340626e-05,1793239559395636480
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,881,785,805.081173179,651.081173179,630,652.081173179,0.449094076522,-0.0156032648833,0.0595163318089,0.999999685016,-0.000262652894359,-0.000746705871087,-5.84015945767e-05,1793239559412303360
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,660,633,881,785,805.674693807,651.674693807,630,652.674693807,0.448807129934,-0.0155896108508,0.0595209286979,0.999999691561,-0.000252799624523,-0.000741479598196,-5.63712100111e-05,1793239559428970240
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.262382798,633.262382798,880.737617202,785,805.737617202,651.737617202,630.262382798,653,0.44850344171,-0.0155786061614,0.0595277949226,0.999999701201,-0.000245632898812,-0.000730983698805,-5.40783849468e-05,1793239559445636864
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.842998802,633.842998802,880.157001198,785,805.157001198,651.157001198,630.842998802,653,0.448179448268,-0.015570814751,0.0595374135301,0.999999714493,-0.000241724571535,-0.00071409648838,-5.14672568101e-05,1793239559462303488
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.580355991,745,715,680,660.580355991,633.580355991,880.419644009,785,804.580355991,651,631,652.580355991,0.447824633637,-0.015567896444,0.059550212594,0.999999727541,-0.00024051201446,-0.000696225031081,-4.8395930359e-05,1793239559478970368
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.005182463,745,715,680,660.005182463,633.005182463,880.994817537,785,804.005182463,651,631,652.005182463,0.447458395988,-0.0155667842188,0.0595641904065,0.999999740274,-0.000240298570552,-0.000677988789949,-4.51540440978e-05,1793239559495636992
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.580811425,745.580811425,715,680,660,633.580811425,880.419188575,785,804.580811425,651,631,652.580811425,0.447071010342,-0.0155686798784,0.0595855774655,0.999999771862,-0.000201321310236,-0.000643525721126,-4.0247640307e-05,1793239559512303616
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745.834731167,715,679.834731167,660.165268833,634,880.165268833,785.165268833,805,651.165268833,631,652.834731167,0.446662768429,-0.0155657565831,0.0596036696448,0.999999794753,-0.000169834824934,-0.000616724144668,-3.60770778836e-05,1793239559528970240
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745.254379899,715,679.254379899,660.745620101,634,880.745620101,785.745620101,805,651.745620101,631,652.254379899,0.446202627753,-0.015550661511,0.0596133173419,0.999999801173,-0.000158047063924,-0.000609535416438,-3.37926356822e-05,1793239559545636864
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,634,881,786,805,651.676039891,631,652.323960109,0.445711904979,-0.015533540246,0.059615051268,0.999999802344,-0.000144696841677,-0.000610942252903,-3.35273613443e-05,1793239559562303744
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,634,881,786,805,651.099269359,631,652.900730641,0.445197316645,-0.0155148377887,0.0596106094846,0.999999799311,-0.000130127312209,-0.000619056853766,-3.48377952177e-05,1793239559578971136
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.484989062,661,634,880.515010938,786,805,651,631,653,0.444658845337,-0.0154914678183,0.0596082385489,0.999999804887,-8.64112751536e-05,-0.000617699083895,-3.47471338805e-05,1793239559595637760
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634.069901636,880.069901636,786,805,651.069901636,631.069901636,653,0.444115961941,-0.0154690857771,0.0596108732713,0.99999981384,-4.18455566892e-05,-0.000607813522634,-3.36347432275e-05,1793239559612304128
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,634.648249727,880.648249727,786,805,651.648249727,631.648249727,653,0.443577100842,-0.0154609477074,0.059646786398,0.999999847639,-3.51737269009e-05,-0.000550222784752,-2.72092421141e-05,1793239559628970496
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.226710609,635,880.773289391,786.226710609,805,651.773289391,631.773289391,652.773289391,0.443016923571,-0.0154553056843,0.0596813853146,0.999999876374,-2.3802537885e-05,-0.000496245180091,-2.06326837348e-05,1793239559645637120
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.805346541,635,880.194653459,786.805346541,805,651.194653459,631.194653459,652.194653459,0.442423657007,-0.015453538302,0.0597139441662,0.999999899595,-5.13648334301e-06,-0.000447876285887,-1.38216379872e-05,1793239559662304256
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.618180776,635,880,787,804.618180776,651,631,652.381819224,0.441775705448,-0.0154467425315,0.0597267058934,0.99999990505,1.79072230907e-05,-0.000435318041514,-8.80752151809e-06,1793239559678970624
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.042804732,635,880,787,804.042804732,651,631,652.957195268,0.44110003227,-0.0154373977043,0.0597294318011,0.999999901855,4.31701057822e-05,-0.000440913404038,-4.70432826845e-06,1793239559695636736
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.545725713,635,880.545725713,787.545725713,804.545725713,651,631,653,0.440394022566,-0.0154251668347,0.0597327622807,0.999999901248,6.30694751384e-05,-0.000439915652962,-6.81051908697e-07,1793239559712303616
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.867009994,661.867009994,635,881,787.867009994,805,651,631.132990006,653,0.439689877614,-0.0154140925645,0.0597452166523,0.999999907824,8.53525621046e-05,-0.000420772547986,4.05541988369e-06,1793239559728970496
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.287546014,661.287546014,635,881,787.287546014,805,651,631.712453986,653,0.439000178877,-0.0154076799741,0.059788138617,0.999999934433,0.000117085499932,-0.000342490893118,1.12077941385e-05,1793239559745636864
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.289789292,661,635.289789292,881,787,805,651,632,652.710210708,0.438276603546,-0.015402766914,0.0598205341159,0.999999947619,0.000140668406574,-0.000290931018621,1.82811636342e-05,1793239559762303744
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.865027874,661,635.865027874,881,787,805,651,632,652.134972126,0.437519658887,-0.015399330926,0.0598425608026,0.999999952181,0.000156223344562,-0.000265692720417,2.52767124865e-05,1793239559778971136
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.559928795,661,635.559928795,880.559928795,787.440071205,805,651,631.559928795,652.440071205,0.436681650842,-0.0153937547577,0.0598086994297,0.999999931562,0.000176508049746,-0.00032402721544,2.69535207333e-05,1793239559795637504
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766.015494834,745,715,679,661.015494834,635,880,788,805.015494834,651,631,653,0.435819804019,-0.0153876642903,0.0597588435046,0.999999897883,0.000197932266354,-0.000405369325771,2.7072245165e-05,1793239559812303616
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.607290592,745,715,679,661.607290592,635,880,788,805.607290592,651,631,653,0.434995622777,-0.0153868483129,0.0597513505639,0.999999902099,0.000207808510361,-0.000389517680568,2.98866622419e-05,1793239559828969984
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.805870291,745,715,679.194129709,662,635.194129709,880.194129709,788,805.805870291,651.194129709,631.194129709,653,0.434166506001,-0.0153866218554,0.0597524110453,0.999999907893,0.00021524455554,-0.000369902014038,3.25079639551e-05,1793239559845636608
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766.228808471,745,715,679.771191529,662,635.771191529,880.771191529,788,805.228808471,651.771191529,631.771191529,653,0.433327653644,-0.0153875582598,0.0597703436485,0.999999916886,0.000217867166426,-0.000342861598126,3.47483342458e-05,1793239559862303488
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.652394987,662,635.652394987,880.652394987,788,805,651.652394987,632,653,0.432479099608,-0.0153899721814,0.0597840085062,0.999999932114,0.0001729244916,-0.000324698425182,2.09963751117e-05,1793239559878970880
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.076407493,662,635.076407493,880.076407493,788,805,651.076407493,632,653,0.431624171435,-0.0153933568572,0.0597948693807,0.999999946529,9.67306037192e-05,-0.000312367753253,-3.26282014006e-06,1793239559895638272
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.508183168,661.491816832,635.508183168,880,788,805,651.508183168,632,653,0.430771317704,-0.0153965037474,0.0598185650133,0.999999958562,9.31753849813e-05,-0.000272382358522,1.29520138356e-06,1793239559912304384
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.907172212,661.092827788,635.907172212,880,788,805,651.907172212,632,653,0.42990532627,-0.0153978319211,0.059836959015,0.999999964918,0.000105089450217,-0.00024296390889,9.37075358092e-06,1793239559928970496
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.329123579,661.670876421,635.329123579,880,788,805,651.329123579,632,653,0.428969004542,-0.0153898435657,0.0598173800406,0.999999947839,0.000139792002835,-0.000290888658224,1.27948348066e-05,1793239559945636864
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.749578066,635.250421934,880,788,805,651,631.749578066,653,0.428040671633,-0.0153826306659,0.0597911777324,0.999999930856,0.000160131923277,-0.000335357264363,1.34954806379e-05,1793239559962303488
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.16805333,635.83194667,880,788,805,651,631.16805333,653,0.42712290125,-0.0153764430568,0.0597562181839,0.999999916497,0.000161481867933,-0.000375256235458,1.05952559351e-05,1793239559978970112
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.407095357,661,636,880,787.592904643,804.592904643,651.407095357,631,653,0.426239548195,-0.0153785250429,0.0597622500148,0.999999921672,0.000155831121665,-0.000363685624172,1.03066431537e-05,1793239559995636736
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.979652498,661,636,880,787.020347502,804.020347502,651.979652498,631,653,0.425370183938,-0.0153839681632,0.0597849425801,0.99999993424,0.000147334980948,-0.0003311954672,1.10795065739e-05,1793239560012303616
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.566938494,636,880,787.566938494,804,652,631.566938494,653,0.424480148021,-0.0153843489463,0.0598155481678,0.999999942702,0.000155879360399,-0.000300039611948,1.65430821983e-05,1793239560028970752
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.152897725,715,679.847102275,661.847102275,636,880,787.847102275,804.152897725,651.847102275,632,652.847102275,0.423592942136,-0.0153837275173,0.0598395481904,0.999999948624,0.00016627137397,-0.000273257221237,2.08840889996e-05,1793239560045637376
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745.733625828,715,679.266374172,661.266374172,636,880,787.266374172,804.733625828,651.266374172,632,652.266374172,0.422715786487,-0.0153808237011,0.0598442489982,0.999999950122,0.000180076385402,-0.000258574858974,2.1600348807e-05,1793239560062303744
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745.688317086,715,679.311682914,661,635.688317086,880,787.311682914,805,651.311682914,632,652.311682914,0.421827969599,-0.0153775016242,0.0598407605068,0.999999947575,0.000186428473373,-0.000263886470802,2.13946788665e-05,1793239560078970112
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.112523368,715,679.887476632,661,635.112523368,880,787.887476632,805,651.887476632,632,652.887476632,0.420931118738,-0.0153738251256,0.0598303326473,0.999999941469,0.000186465175605,-0.000286140380545,2.04077931205e-05,1793239560095636480
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.463220449,745,715,679.536779551,661,635.463220449,880,788,804.536779551,651.536779551,632,653,0.420007688826,-0.0153705700801,0.0597790556198,0.999999911711,0.000186868226406,-0.000376043646622,1.58014524081e-05,1793239560112303104
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766.960140984,745,715,679,661,636,880,788,804,651,632,653,0.419085751612,-0.0153679122777,0.0597232281112,0.999999871368,0.000186874006888,-0.000471407162185,1.07976171962e-05,1793239560128969984
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766.371005916,745,715,679,661,636,880,788,804,651,632,653,0.418273348934,-0.0153720741121,0.0597414202772,0.999999897335,0.000180179023754,-0.000415584385655,1.24309066166e-05,1793239560145636864
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745.214769234,715,679,661.214769234,636,880,788,804.214769234,651.214769234,631.785230766,652.785230766,0.417470649927,-0.0153739178517,0.0597681134479,0.999999918501,0.000179306247553,-0.000361410315992,1.51434418934e-05,1793239560162303744
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745.794829747,715,679,661.794829747,636,880,788,804.794829747,651.794829747,631.205170253,652.205170253,0.416684455327,-0.0153718188493,0.059809265596,0.999999934008,0.000188336199271,-0.000310040449346,1.96916179468e-05,1793239560178970368
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.371225337,745.628774663,715,679,662,636,880.371225337,788,804.628774663,652,631,652.371225337,0.415904874801,-0.015370999019,0.0598345051511,0.999999941133,0.000192663962434,-0.000283016366388,2.27104255763e-05,1793239560195636992
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.94561515,745.05438485,715,679,662,636,880.94561515,788,804.05438485,652,631,652.94561515,0.415128914076,-0.0153708792551,0.059851036048,0.999999944525,0.00019441830799,-0.000269316265255,2.48922390698e-05,1793239560212303616
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.467960913,745,715,678.467960913,661.467960913,636,880.467960913,788,804.532039087,652,631.532039087,653,0.414378129071,-0.0153685285319,0.0598478634974,0.999999943087,0.000198703846483,-0.000271571375522,2.430841283e-05,1793239560228970240
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715.11828188,678.236563759,661,636,880,788,804.88171812,652,632,653,0.413620990206,-0.0153664990003,0.0598402687551,0.99999993984,0.000201663429846,-0.000281259834801,2.33381076893e-05,1793239560245636864
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.698897095,679.397794189,661,636,880,788,804.301102905,652,632,653,0.41282872401,-0.0153666369327,0.0598234435124,0.999999930941,0.000198405453154,-0.000313480897777,2.19877408332e-05,1793239560262303488
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.722517955,679.722517955,661,636,880,788,804.277482045,652,632,653,0.412062457749,-0.0153644951609,0.0597946973567,0.99999991554,0.000198824206063,-0.000359201631436,1.90759889196e-05,1793239560278970112
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.146120131,679.146120131,661,636,880,788,804.853879869,652,632,653,0.411324199803,-0.015359897592,0.059753109474,0.999999891274,0.000203203692524,-0.000419464797216,1.44822448786e-05,1793239560295636736
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.571609999,788,804.571609999,652,631.571609999,652.571609999,0.410668415471,-0.0153600143326,0.0597573111037,0.999999895826,0.000206288467037,-0.000406906825211,1.48424503012e-05,1793239560312303616
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.997675812,879.002324188,788,804,652,631.002324188,652.002324188,0.410040864909,-0.0153617382058,0.0597771552055,0.999999909762,0.000208915123721,-0.000369519019564,1.68951214883e-05,1793239560328970240
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.407279921,879.592720079,788,804,652,631.592720079,652.592720079,0.40947054734,-0.0153650249301,0.0598204249917,0.999999931309,0.00020687596674,-0.000306793550267,2.15107574863e-05,1793239560345636864
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.820211669,661,635.179788331,879.820211669,788,804,652,631.820211669,653,0.408892205869,-0.0153673603614,0.0598532518754,0.999999944934,0.000205150413803,-0.000259667545479,2.48664955072e-05,1793239560362303488
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.240544519,661,635.759455481,879.240544519,788,804,652,631.240544519,653,0.408296017807,-0.0153675799608,0.059862852035,0.999999948281,0.000204122368968,-0.000247237305683,2.54200142491e-05,1793239560378970112
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.336223918,661,636,879.336223918,788,804,652,631,653,0.407722886935,-0.0153675363571,0.0598559287336,0.999999945615,0.000204296891556,-0.000257711648003,2.48299921535e-05,1793239560395636736
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.910936222,661,636,879.910936222,788,804,652,631,653,0.407166110889,-0.0153673060598,0.0598372851068,0.999999938196,0.000205324412205,-0.000284432535348,2.34288403047e-05,1793239560412303360
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.496454747,745,715,678.503545253,661,635.503545253,880,787.503545253,804,652,631,652.503545253,0.406666139241,-0.0153658927287,0.0598279718925,0.999999934239,0.000210542651647,-0.000294458992773,2.20730622611e-05,1793239560428970240
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.917031805,745,715,678.082968195,661,635.082968195,880,787.082968195,804,652,631,652.082968195,0.40618276399,-0.0153646516632,0.0598228233406,0.999999932389,0.000214498224111,-0.000297937820374,2.11316014087e-05,1793239560445636864
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.336437262,745,715,678.663562738,661,635.663562738,880,787.663562738,804,652,631,652.663562738,0.405736448866,-0.0153657450823,0.0598323906501,0.999999939128,0.000206271018867,-0.000280508242769,2.26252220898e-05,1793239560462303744
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880,788,804,652,631,653,0.405299378785,-0.0153660113253,0.0598365681462,0.999999941035,0.000209899524667,-0.000270752464484,2.37552799926e-05,1793239560478970368
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880,788,804,652,631,653,0.404875047973,-0.0153651377583,0.0598333187328,0.999999936408,0.00022986464153,-0.000271570821021,2.43843654223e-05,1793239560495636992
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744.606927644,715,679,661,636,880,788,804,652,631.393072356,652.606927644,0.404467421496,-0.0153647672166,0.0598177203556,0.999999927066,0.000236105505024,-0.000299251946641,2.38823900659e-05,1793239560512303616
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744.031351287,715,679,661,636,880,788,804,652,631.968648713,652.031351287,0.404067550824,-0.0153646302301,0.0597963883383,0.999999914299,0.000235974181477,-0.000339405490223,2.28552617565e-05,1793239560528970240
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,744.555376529,715,678.444623471,661,636,880,788,804.555376529,652,632,652.555376529,0.403733402539,-0.0153619395652,0.059784322253,0.99999990667,0.000240948669725,-0.00035792340297,2.22223731009e-05,1793239560545636864
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.141693054,661,636,880,788,804.858306946,652,632,653,0.403420066231,-0.0153603061979,0.0597800276474,0.99999990375,0.000245986389453,-0.000362609210568,2.24754711834e-05,1793239560562303488
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.724727705,661,636,880,788,804.275272295,652,632,653,0.403159761627,-0.015362424286,0.0597982768112,0.999999914528,0.000250304909296,-0.000328093318186,2.54174763038e-05,1793239560578970112
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880,788,804,652,631.698057124,653,0.40291648066,-0.0153634062849,0.0598173539719,0.999999924017,0.000253125010794,-0.000295099714836,2.84594092142e-05,1793239560595636736
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880,788,804,652,631.126047113,653,0.402688426182,-0.0153633721299,0.0598371717177,0.999999932382,0.00025460487988,-0.000263467696422,3.15907204826e-05,1793239560612303360
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.542392707,788,804.457607293,652,631.457607293,652.542392707,0.402482682079,-0.0153617155391,0.0598471328366,0.99999993616,0.000255376274318,-0.000247719657401,3.31416878268e-05,1793239560628969728
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804.955892238,652,631.955892238,652,0.402283563659,-0.0153593060081,0.059853101769,0.999999938134,0.000256121500792,-0.000238687502839,3.40854895965e-05,1793239560645636608
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804.374810562,652,631.374810562,652,0.402088339379,-0.0153533127216,0.0598443849676,0.999999932953,0.00025898594676,-0.000256760219506,3.30753839373e-05,1793239560662303232
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.205277731,745,715,679,661,636,879.205277731,788,804,652,631,652.205277731,0.401908719435,-0.0153509448517,0.0598384826518,0.999999931733,0.00025093325279,-0.000269525350516,3.0387708712e-05,1793239560678969856
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.783560906,745,715,679,661,636,879.783560906,788,804,652,631,652.783560906,0.401757453792,-0.0153551646435,0.0598376944739,0.999999937654,0.000223043274645,-0.000272646187734,2.46517605268e-05,1793239560695636480
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.641114285,745,715,678.641114285,661,636,879.641114285,788,804,652,631,652.641114285,0.401627727008,-0.0153648730546,0.0598390956739,0.99999994427,0.000194117088195,-0.000271142271142,1.61217039497e-05,1793239560712303616
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.067558986,745,715,678.067558986,661,636,879.067558986,788,804,652,631,652.067558986,0.401510883805,-0.0153778645158,0.059841806463,0.99999995083,0.000164571084938,-0.000266872031236,5.92033457263e-06,1793239560728971264
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.520549717,661,636,879,788,804,652,631,652.520549717,0.401418543749,-0.0153825212343,0.0598435593457,0.999999949779,0.000174672858114,-0.000264378486698,6.02425558317e-06,1793239560745637632
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787.891377094,804.108622906,652,631,653,0.401332920374,-0.015384823772,0.0598446379105,0.999999947937,0.000186957169426,-0.000262908137548,7.23801417011e-06,1793239560762304256
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,787.311880979,804.688119021,652,631,653,0.401262231264,-0.0153817451266,0.0598433477747,0.999999947649,0.000185755051583,-0.000264844945939,7.29828458976e-06,1793239560778971136
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.265987837,787,804.734012163,652,631.265987837,653,0.401201791447,-0.0153797949055,0.0598433001496,0.999999947824,0.000186421603092,-0.000263699528374,7.79839529216e-06,1793239560795637504
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.841960149,787,804.158039851,652,631.841960149,653,0.401153296246,-0.0153791597599,0.059844700557,0.99999994852,0.000189265917736,-0.000258962058495,8.81109957564e-06,1793239560812303616
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,744.583392714,715,679,661,636,880,787.416607286,804,652,631.583392714,653,0.401112418738,-0.0153784725235,0.059845297223,0.999999948634,0.000188822749198,-0.000258819377682,9.46461626817e-06,1793239560828969984
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,744.009246702,715,679,661,636,880,787.990753298,804,652,631.009246702,653,0.401074421836,-0.0153777655892,0.0598455899568,0.999999948532,0.000187136429233,-0.000260414201924,9.9823072866e-06,1793239560845636864
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,744.582195434,715,679,661,636,879.417804566,788,804,652,631,653,0.401049086472,-0.0153758825546,0.0598448440779,0.999999948081,0.000187388232211,-0.00026196902602,9.75138501157e-06,1793239560862303744
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.169050607,652.830949393,0.401026548053,-0.0153756482824,0.0598433790963,0.999999947569,0.000186806023975,-0.000264333405574,9.70533785571e-06,1793239560878970368
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.74420645,652.25579355,0.401010230776,-0.0153794210303,0.0598402274763,0.999999946909,0.000184144084179,-0.000268644128741,1.01328478361e-05,1793239560895636992
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,744.680663452,715,679,661,636,879.319336548,788,804,652,631.680663452,652.319336548,0.401001473103,-0.0153800557128,0.05984064814,0.999999947267,0.000184656402093,-0.000266949957676,1.02848509812e-05,1793239560912303616
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,744.105553912,715,679,661,636,879.894446088,788,804,652,631.105553912,652.894446088,0.400998770302,-0.0153781769584,0.0598439300283,0.999999948414,0.000187711145254,-0.000260446159799,1.02161866405e-05,1793239560928970240
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.478613197,744.478613197,715,679,661,636,879.521386803,788,804,652,631.478613197,653,0.400995419222,-0.0153775745473,0.0598457132676,0.999999948805,0.000188233853468,-0.000258548212226,1.05241971523e-05,1793239560945637120
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.935768623,745,715.064231377,679,661,636,879.064231377,788,804,652,632,653,0.400991992058,-0.0153774051967,0.0598469155314,0.999999949025,0.000188098800296,-0.000257778431534,1.08745525309e-05,1793239560962303744
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.354856129,745,715.645143871,679,661,636,879.645143871,788,804,652,632,653,0.40098912512,-0.0153784114418,0.0598461543516,0.99999994919,0.00018725127046,-0.000257755084881,1.08844039777e-05,1793239560978970368
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.224364223,745,715.775635777,678.775635777,661,636,879.775635777,788,804,652,632,653,0.400987884184,-0.015378501288,0.0598463365549,0.999999949296,0.000187834454887,-0.000256917729034,1.09609583982e-05,1793239560995636992
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.80092827,745,715.19907173,678.19907173,661,636,879.19907173,788,804,652,632,653,0.400989195692,-0.0153771526002,0.0598479996508,0.999999949299,0.000190663529125,-0.000254802567434,1.11422210256e-05,1793239561012303616
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.623532204,745,715,678,661,636,879,788,804,652,631.623532204,652.623532204,0.400989475982,-0.0153771015216,0.0598489456893,0.999999949468,0.000191213178458,-0.000253723753976,1.11878237584e-05,1793239561028970240
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.048532981,745,715,678,661,636,879,788,804,652,631.048532981,652.048532981,0.400989212456,-0.0153777347411,0.0598495135853,0.999999949728,0.000190560766109,-0.000253191461899,1.11618858312e-05,1793239561045636864
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.54049678,661.54049678,636,879,788,804,652,631.54049678,652.54049678,0.400987817749,-0.0153767415304,0.0598490985368,0.999999949422,0.000191574946645,-0.000253642854234,1.09901970175e-05,1793239561062303488
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.87083553,636,879.12916447,788,804,652,632,653,0.400986941105,-0.0153763391423,0.0598489181619,0.999999949363,0.000191782871192,-0.00025372149056,1.09123561204e-05,1793239561078970112
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.287982875,636,879.712017125,788,804,652,632,653,0.400988250426,-0.0153785386523,0.0598498803549,0.999999950353,0.000188619186173,-0.000252172307166,1.12113491776e-05,1793239561095636736
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.709383441,788,804.290616559,652,631.709383441,653,0.400989016099,-0.0153798177838,0.0598504948141,0.999999950746,0.000187886824451,-0.000251148701466,1.1432715823e-05,1793239561112303104
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.134937824,788,804.865062176,652,631.134937824,653,0.400989250821,-0.0153801980328,0.0598507696611,0.999999950563,0.00018952900084,-0.000250638398139,1.15782690972e-05,1793239561128969728
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.438958306,788,804.561041694,652,631.438958306,653,0.400988879246,-0.0153795603903,0.059850852752,0.999999950556,0.000189048750945,-0.000251027241287,1.15997432598e-05,1793239561145636352
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.013053677,745,715,679,661,636,879.986946323,788,804,652,631.986946323,652.986946323,0.400988338572,-0.0153786529341,0.0598508862252,0.999999950607,0.000187934781817,-0.000251657440227,1.15877241757e-05,1793239561162303488
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.603423427,745,715,679,661,636,879.396576573,788,804,652,631.396576573,652.396576573,0.400988551785,-0.0153796339237,0.0598513290323,0.999999950893,0.000187612848598,-0.000250752967825,1.17792151944e-05,1793239561178970112
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.809977873,745,715.190022127,679,661,636,879,787.809977873,804,652,631,652.190022127,0.400989149405,-0.0153801491349,0.0598519733006,0.999999951276,0.000187309897107,-0.000249447669559,1.18056818353e-05,1793239561195636736
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.231096246,745,715.768903754,679,661,636,879,787.231096246,804,652,631,652.768903754,0.400990533671,-0.0153797111818,0.0598530298369,0.999999951857,0.000187045789665,-0.000247322125055,1.1494444126e-05,1793239561212303872
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715.654424548,679,661,636,879,787.345575452,804,652,631.345575452,653,0.400989820404,-0.0153798992439,0.0598525629174,0.999999951448,0.000188149698004,-0.000248135375017,1.15339568532e-05,1793239561228970496
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715.079221323,679,661,636,879,787.920778677,804,652,631.920778677,653,0.40098771337,-0.01538050328,0.0598510836929,0.999999950374,0.000190162624668,-0.000250901393466,1.18065360351e-05,1793239561245636864
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631.493282449,653,0.400988713666,-0.0153798308576,0.0598522625567,0.999999950865,0.000190426408587,-0.000248731737291,1.1879742886e-05,1793239561262303488
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.093177417,745,715,679,661.093177417,636,879.093177417,788,804,652,631.093177417,653,0.400989771378,-0.0153792091143,0.0598534260068,0.999999951463,0.000190194639718,-0.000246495817372,1.18409813453e-05,1793239561278970112
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.673397158,745,715,679,661.673397158,636,879.673397158,788,804,652,631.673397158,653,0.400988534906,-0.0153799179831,0.0598522896616,0.999999951346,0.000188832947359,-0.000248034309383,1.1383411372e-05,1793239561295636736
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.747523374,745,715,679.252476626,662,636,879.747523374,788,804,652,632,653,0.400988198859,-0.0153805491744,0.0598515876304,0.999999951286,0.000188244840948,-0.000248729608122,1.12353953275e-05,1793239561312303360
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.169912246,745,715,679.830087754,662,636,879.169912246,788,804,652,632,653,0.40098902236,-0.0153810803342,0.0598514449002,0.999999951303,0.000188652943329,-0.000248339059136,1.1486016765e-05,1793239561328970240
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.191735042,661.595867521,636,879,787.595867521,804,652,631.595867521,653,0.400989024423,-0.0153815606331,0.05985214103,0.999999951433,0.000188580682349,-0.000247846006595,1.19840088012e-05,1793239561345637120
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.046618322,661.023309161,636,879,787.023309161,804,652,631.023309161,653,0.400988684143,-0.0153820197352,0.0598531867623,0.99999995161,0.000188308225552,-0.000247310234789,1.25850947658e-05,1793239561362304000
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.567306098,661,636,879,787.567306098,804,652,631,653,0.400987821638,-0.015381965133,0.0598523256932,0.999999951227,0.00018876871415,-0.000248516087381,1.23447243123e-05,1793239561378970368
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766.155473055,745,715,679,661,636,879,788,804,652,631.155473055,653,0.400987582525,-0.0153823048917,0.0598518235556,0.999999951127,0.000188718768967,-0.000248965614502,1.21510063799e-05,1793239561395636992
+420,7.000000000,POSE2_TO_POSE3_RETREAT,766.734874713,745,715,679,661,636,879,788,804,652,631.734874713,653,0.400989103645,-0.0153837793987,0.0598525207657,0.999999951863,0.000187192209448,-0.000247151333348,1.21818662399e-05,1793239561412303616
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d28af673f4b2d2f913c59eaf8a21f7b961f91f51
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_05/depth_05/simulation_data.csv
@@ -0,0 +1,422 @@
+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,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+1,0.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+2,0.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+3,0.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+4,0.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+5,0.083333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+6,0.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+7,0.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+8,0.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+9,0.150000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+10,0.166666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+11,0.183333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+12,0.200000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+13,0.216666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+14,0.233333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+15,0.250000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+16,0.266666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+17,0.283333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+18,0.300000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+19,0.316666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+20,0.333333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+21,0.350000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+22,0.366666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+23,0.383333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+24,0.400000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+25,0.416666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+26,0.433333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+27,0.450000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+28,0.466666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+29,0.483333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+30,0.500000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+31,0.516666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+32,0.533333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+33,0.550000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+34,0.566666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+35,0.583333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+36,0.600000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+37,0.616666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+38,0.633333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+39,0.650000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+40,0.666666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+41,0.683333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+42,0.700000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+43,0.716666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+44,0.733333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+45,0.750000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+46,0.766666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+47,0.783333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+48,0.800000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+49,0.816666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+50,0.833333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+51,0.850000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+52,0.866666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+53,0.883333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+54,0.900000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+55,0.916666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+56,0.933333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+57,0.950000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+58,0.966666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+59,0.983333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+60,1.000000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+61,1.016666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+62,1.033333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+63,1.050000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+64,1.066666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+65,1.083333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+66,1.100000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+67,1.116666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+68,1.133333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+69,1.150000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+70,1.166666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+71,1.183333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+72,1.200000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+73,1.216666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+74,1.233333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+75,1.250000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+76,1.266666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+77,1.283333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+78,1.300000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+79,1.316666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+80,1.333333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+81,1.350000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+82,1.366666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+83,1.383333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+84,1.400000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+85,1.416666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+86,1.433333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+87,1.450000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+88,1.466666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+89,1.483333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+90,1.500000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+91,1.516666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+92,1.533333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+93,1.550000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+94,1.566666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+95,1.583333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+96,1.600000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+97,1.616666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+98,1.633333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+99,1.650000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+100,1.666666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+101,1.683333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+102,1.700000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+103,1.716666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+104,1.733333333,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+105,1.750000000,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+106,1.766666667,pose1_baseline,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+107,1.783333333,pose1_to_pose2_press,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264535,1.04970046032
+108,1.800000000,pose1_to_pose2_press,0.57566436039,-0.00990932947875,1.05003229938,0.546234812889,-0.00123758640586,1.04970044126
+109,1.816666667,pose1_to_pose2_press,0.575664415245,-0.00990933828699,1.05003225997,0.546234868059,-0.00123759414058,1.04970040205
+110,1.833333333,pose1_to_pose2_press,0.575664641744,-0.00990929968549,1.0500322205,0.546235094423,-0.00123755594641,1.0497003639
+111,1.850000000,pose1_to_pose2_press,0.575664815604,-0.0099092279862,1.05003225936,0.546235267376,-0.00123748727564,1.04970040405
+112,1.866666667,pose1_to_pose2_press,0.575664971174,-0.00990916382983,1.05003229414,0.546235422134,-0.00123742582918,1.04970043998
+113,1.883333333,pose1_to_pose2_press,0.575665376229,-0.00990916823878,1.05003234005,0.546235827047,-0.00123743079284,1.04970048406
+114,1.900000000,pose1_to_pose2_press,0.575666328784,-0.00990919929017,1.05003244266,0.546236779503,-0.00123746236445,1.04970058174
+115,1.916666667,pose1_to_pose2_press,0.575669311642,-0.00990910947505,1.05003242504,0.54623976143,-0.00123737657823,1.0497005414
+116,1.933333333,pose1_to_pose2_press,0.575677904062,-0.0099091551238,1.05003226096,0.546248355177,-0.00123741687131,1.04970039961
+117,1.950000000,pose1_to_pose2_press,0.575694399353,-0.00990920734489,1.05003238065,0.546264851366,-0.00123746645545,1.04970050844
+118,1.966666667,pose1_to_pose2_press,0.57572209461,-0.00990917408222,1.05003246121,0.546292545763,-0.00123743579995,1.0497005971
+119,1.983333333,pose1_to_pose2_press,0.575761373431,-0.00990920439443,1.05003235448,0.54633182484,-0.00123746541674,1.04970048574
+120,2.000000000,pose1_to_pose2_press,0.575812055279,-0.00990927939081,1.05003240609,0.546382508027,-0.00123753625496,1.04970052725
+121,2.016666667,pose1_to_pose2_press,0.575871829347,-0.00990926006171,1.0500322656,0.546442280722,-0.00123752135181,1.04970039279
+122,2.033333333,pose1_to_pose2_press,0.575940218173,-0.0099092357674,1.05003227007,0.54651066891,-0.0012374991612,1.04970039877
+123,2.050000000,pose1_to_pose2_press,0.576015751516,-0.0099092271392,1.05003240513,0.546586202577,-0.00123748915148,1.04970054118
+124,2.066666667,pose1_to_pose2_press,0.576098570707,-0.00990927032005,1.05003234726,0.546669022098,-0.0012375312681,1.0497004817
+125,2.083333333,pose1_to_pose2_press,0.576190857909,-0.00990924302585,1.05003223628,0.546761309159,-0.00123750452723,1.04970036873
+126,2.100000000,pose1_to_pose2_press,0.576293436264,-0.00990917649324,1.05003223733,0.546863887692,-0.00123743710806,1.04970037712
+127,2.116666667,pose1_to_pose2_press,0.576409837476,-0.00990927837976,1.05003232359,0.546980289548,-0.00123753682337,1.04970046303
+128,2.133333333,pose1_to_pose2_press,0.57654324775,-0.0099093148171,1.05003234681,0.547113699661,-0.00123757411044,1.04970047833
+129,2.150000000,pose1_to_pose2_press,0.576696091806,-0.00990909067654,1.05003221488,0.547266541838,-0.00123735615067,1.04970035137
+130,2.166666667,pose1_to_pose2_press,0.576867783096,-0.00990914206715,1.0500322321,0.547438232057,-0.00123741143105,1.04970036192
+131,2.183333333,pose1_to_pose2_press,0.577057553356,-0.00990935333079,1.05003221076,0.54762800788,-0.00123760356236,1.04970034709
+132,2.200000000,pose1_to_pose2_press,0.577263974638,-0.00990920920698,1.05003242079,0.547834426378,-0.00123746893029,1.04970055593
+133,2.216666667,pose1_to_pose2_press,0.577485116679,-0.00990926901751,1.05003230844,0.548055567802,-0.00123753107307,1.04970043731
+134,2.233333333,pose1_to_pose2_press,0.57772141313,-0.00990921495529,1.05003230743,0.548291863824,-0.00123747827449,1.04970044125
+135,2.250000000,pose1_to_pose2_press,0.577974163542,-0.0099091790905,1.05003219316,0.54854461449,-0.0012374413089,1.04970033319
+136,2.266666667,pose1_to_pose2_press,0.578244311036,-0.0099092158621,1.05003214255,0.548814762169,-0.00123747746371,1.04970028225
+137,2.283333333,pose1_to_pose2_press,0.578536371653,-0.00990927232836,1.05003230829,0.54910682302,-0.00123753333422,1.04970044272
+138,2.300000000,pose1_to_pose2_press,0.578849760595,-0.0099092829231,1.05003245232,0.54942021261,-0.00123754192447,1.04970058154
+139,2.316666667,pose1_to_pose2_press,0.579187640196,-0.00990924119707,1.05003237528,0.549758092082,-0.00123750076152,1.04970050122
+140,2.333333333,pose1_to_pose2_press,0.579552632012,-0.00990932708995,1.0500323518,0.550123085549,-0.00123758103625,1.0497004781
+141,2.350000000,pose1_to_pose2_press,0.579949379129,-0.00990925475022,1.05003209002,0.550519830797,-0.00123751461588,1.04970022734
+142,2.366666667,pose1_to_pose2_press,0.580373712766,-0.00990922672187,1.05003217975,0.550944165088,-0.00123748419092,1.04970032161
+143,2.383333333,pose1_to_pose2_press,0.58082406786,-0.00990929455382,1.05003212321,0.551394520377,-0.00123755177065,1.0497002543
+144,2.400000000,pose1_to_pose2_press,0.581290425861,-0.00990944744292,1.05003224166,0.551860879536,-0.001237700807,1.04970037067
+145,2.416666667,pose1_to_pose2_press,0.581767938054,-0.00990930035794,1.05003221059,0.552338389907,-0.00123755955015,1.0497003488
+146,2.433333333,pose1_to_pose2_press,0.582256260928,-0.00990929461073,1.05003237285,0.55282671197,-0.00123755712629,1.04970049609
+147,2.450000000,pose1_to_pose2_press,0.582761402687,-0.00990922269621,1.05003248173,0.553331854484,-0.00123748263763,1.04970060523
+148,2.466666667,pose1_to_pose2_press,0.583288120965,-0.00990914792926,1.05003231314,0.553858571548,-0.0012374115775,1.04970044733
+149,2.483333333,pose1_to_pose2_press,0.583844841043,-0.00990921228305,1.05003224454,0.554415292605,-0.00123747276417,1.04970037469
+150,2.500000000,pose1_to_pose2_press,0.584427685745,-0.00990922706631,1.05003225095,0.55499813803,-0.00123748515271,1.04970037952
+151,2.516666667,pose1_to_pose2_press,0.58502517174,-0.00990915222778,1.05003212262,0.555595621877,-0.00123741743168,1.04970025562
+152,2.533333333,pose1_to_pose2_press,0.585631080018,-0.00990915956572,1.05003208853,0.556201529515,-0.00123742706182,1.04970021834
+153,2.550000000,pose1_to_pose2_press,0.586243833665,-0.00990920295473,1.05003216704,0.55681428567,-0.00123746184937,1.04970029918
+154,2.566666667,pose1_to_pose2_press,0.586876655357,-0.00990913838405,1.05003201214,0.557447108142,-0.00123739394557,1.04970016216
+155,2.583333333,pose1_to_pose2_press,0.587536486289,-0.0099091336175,1.05003241545,0.558106938457,-0.00123739142334,1.04970056159
+156,2.600000000,pose1_to_pose2_press,0.588228177989,-0.00990912459977,1.05003248325,0.558798628308,-0.00123738926285,1.04970061417
+157,2.616666667,pose1_to_pose2_press,0.58894582179,-0.00990928757583,1.05003248627,0.559516273615,-0.00123754719099,1.0497006154
+158,2.633333333,pose1_to_pose2_press,0.589678590386,-0.00990928458818,1.05003233957,0.560249041823,-0.00123754527936,1.04970047502
+159,2.650000000,pose1_to_pose2_press,0.590413990769,-0.00990917246502,1.05003217709,0.560984442092,-0.00123743301809,1.04970032628
+160,2.666666667,pose1_to_pose2_press,0.591150690274,-0.00990933273615,1.05003216072,0.561721143119,-0.00123758904266,1.04970028587
+161,2.683333333,pose1_to_pose2_press,0.59188342724,-0.00990924074529,1.05003240665,0.562453879536,-0.0012374988526,1.04970053346
+162,2.700000000,pose1_to_pose2_press,0.592614988117,-0.0099092293786,1.05003249034,0.563185439427,-0.00123749078807,1.04970061823
+163,2.716666667,pose1_to_pose2_press,0.593358070444,-0.00990918827543,1.05003240263,0.563928522361,-0.00123744742439,1.04970053588
+164,2.733333333,pose1_to_pose2_press,0.594114651505,-0.00990921872759,1.05003228447,0.564685104308,-0.00123747474112,1.04970042102
+165,2.750000000,pose1_to_pose2_press,0.594893674052,-0.0099092852626,1.05003218333,0.565464126863,-0.00123754132173,1.04970031802
+166,2.766666667,pose1_to_pose2_press,0.595693495856,-0.00990924667197,1.05003215059,0.566263948151,-0.00123750447165,1.04970028558
+167,2.783333333,pose1_to_pose2_press,0.596511221422,-0.00990921523064,1.05003223717,0.567081672681,-0.00123747662582,1.0497003701
+168,2.800000000,pose1_to_pose2_press,0.597335007242,-0.00990918065622,1.05003225347,0.567905457673,-0.0012374450372,1.04970038183
+169,2.816666667,pose1_to_pose2_press,0.598156115109,-0.00990915965588,1.05003231651,0.568726565464,-0.00123742407497,1.04970045066
+170,2.833333333,pose1_to_pose2_press,0.598959916575,-0.00990921210313,1.05003254008,0.56953036646,-0.0012374785181,1.04970066384
+171,2.850000000,pose1_to_pose2_press,0.599747802016,-0.00990920572435,1.05003215437,0.570318253397,-0.00123746697457,1.04970028044
+172,2.866666667,pose1_to_pose2_press,0.600518460988,-0.00990932521417,1.050032236,0.57108891457,-0.001237578703,1.0497003697
+173,2.883333333,pose1_to_pose2_press,0.60128900511,-0.00990923420938,1.0500321153,0.571859457239,-0.00123749256012,1.04970025092
+174,2.900000000,pose1_to_pose2_press,0.602063801598,-0.00990916680928,1.05003241121,0.572634253977,-0.00123742437609,1.04970054521
+175,2.916666667,pose1_to_pose2_press,0.602848318906,-0.00990931686959,1.05003232134,0.573418773176,-0.00123756827159,1.04970044878
+176,2.933333333,pose1_to_pose2_press,0.60364143829,-0.00990930096196,1.05003234206,0.574211892635,-0.0012375520625,1.04970047076
+177,2.950000000,pose1_to_pose2_press,0.60443605997,-0.0099093347477,1.05003210377,0.575006512266,-0.00123759264073,1.04970023678
+178,2.966666667,pose1_to_pose2_press,0.605217906618,-0.0099091806811,1.05003215564,0.575788356544,-0.00123744677659,1.04970028458
+179,2.983333333,pose1_to_pose2_press,0.605982086704,-0.00990913452781,1.05003239686,0.576552536162,-0.00123740232373,1.04970052301
+180,3.000000000,pose1_to_pose2_press,0.606720826353,-0.00990921885223,1.05003236985,0.577291277582,-0.00123748062641,1.04970049626
+181,3.016666667,pose1_to_pose2_press,0.607438489788,-0.00990921223283,1.05003225307,0.578008941969,-0.00123747072045,1.04970038106
+182,3.033333333,pose1_to_pose2_press,0.608138308872,-0.00990925744456,1.05003225056,0.578708761737,-0.00123751355968,1.04970038006
+183,3.050000000,pose1_to_pose2_press,0.608827571148,-0.00990940567791,1.0500322683,0.579398025588,-0.00123765642065,1.04970039852
+184,3.066666667,pose1_to_pose2_press,0.609514441548,-0.00990926648889,1.05003236695,0.580084893719,-0.00123752473181,1.04970050252
+185,3.083333333,pose1_to_pose2_press,0.610195020193,-0.00990929109525,1.05003241687,0.580765473134,-0.00123754670898,1.04970055296
+186,3.100000000,pose1_to_pose2_press,0.61086837876,-0.00990926422952,1.05003210948,0.58143883086,-0.00123752276505,1.04970024382
+187,3.116666667,pose1_to_pose2_press,0.611518716336,-0.00990915309983,1.05003212913,0.582089166719,-0.0012374175862,1.04970026042
+188,3.133333333,pose1_to_pose2_press,0.612139612452,-0.00990927458814,1.05003232748,0.582710063695,-0.0012375360225,1.0497004628
+189,3.150000000,pose1_to_pose2_press,0.612719038472,-0.00990933655163,1.05003226276,0.58328949076,-0.00123759452071,1.04970039357
+190,3.166666667,pose1_to_pose2_press,0.6132693429,-0.00990926890239,1.05003222166,0.583839794491,-0.0012375287397,1.04970035795
+191,3.183333333,pose1_to_pose2_press,0.613797437828,-0.00990922080335,1.05003235655,0.584367889452,-0.00123748014759,1.04970049602
+192,3.200000000,pose1_to_pose2_press,0.614318745363,-0.00990925287896,1.05003234192,0.584889197342,-0.00123751095747,1.04970047593
+193,3.216666667,pose1_to_pose2_press,0.61483186632,-0.00990924539089,1.0500323946,0.585402318204,-0.00123750353644,1.04970052682
+194,3.233333333,pose1_to_pose2_press,0.61532641662,-0.00990915406281,1.05003244414,0.58589686695,-0.00123741687449,1.04970058311
+195,3.250000000,pose1_to_pose2_press,0.615797280564,-0.00990912974954,1.05003222995,0.586367729115,-0.00123739817611,1.0497003707
+196,3.266666667,pose1_to_pose2_press,0.616240329697,-0.00990921967982,1.05003236608,0.586810780154,-0.00123748160412,1.04970050014
+197,3.283333333,pose1_to_pose2_press,0.616661922341,-0.00990927432657,1.05003251564,0.587232375159,-0.00123752839079,1.04970063758
+198,3.300000000,pose1_to_pose2_press,0.617064368137,-0.00990929400958,1.05003261659,0.587634820607,-0.00123754886025,1.0497007416
+199,3.316666667,pose1_to_pose2_press,0.617458535974,-0.00990910996036,1.05003232218,0.588028984323,-0.00123737822595,1.04970044883
+200,3.333333333,pose1_to_pose2_press,0.61784151924,-0.00990919666297,1.05003224823,0.588411968194,-0.00123746256052,1.04970037828
+201,3.350000000,pose1_to_pose2_press,0.618202733156,-0.00990928123808,1.05003228258,0.588773182903,-0.00123754455603,1.04970040346
+202,3.366666667,pose1_to_pose2_press,0.618538401007,-0.0099093630361,1.05003233046,0.589108852924,-0.0012376184505,1.04970045796
+203,3.383333333,pose1_to_pose2_press,0.618844180155,-0.00990931696216,1.05003234027,0.589414631404,-0.00123757414607,1.04970047546
+204,3.400000000,pose1_to_pose2_press,0.619123520371,-0.00990928193691,1.05003235203,0.589693970003,-0.00123754455129,1.04970048401
+205,3.416666667,pose1_to_pose2_press,0.619378540775,-0.00990928682211,1.05003241021,0.589948990254,-0.00123754998635,1.04970053595
+206,3.433333333,pose1_to_pose2_press,0.61961546693,-0.00990921936729,1.05003250606,0.590185916734,-0.0012374811881,1.0497006328
+207,3.450000000,pose1_to_pose2_press,0.619838430687,-0.00990941297734,1.05003258421,0.590408882284,-0.00123766831824,1.04970071629
+208,3.466666667,pose1_to_pose2_press,0.620050338512,-0.00990935587906,1.05003236993,0.590620791113,-0.0012376075756,1.04970050397
+209,3.483333333,pose1_to_pose2_press,0.620249656802,-0.00990924977937,1.05003224974,0.590820106627,-0.00123751074343,1.04970038269
+210,3.500000000,pose1_to_pose2_press,0.620435194063,-0.00990912390477,1.05003233411,0.591005643484,-0.00123738615353,1.04970046362
+211,3.516666667,pose1_to_pose2_press,0.620604822759,-0.00990917992525,1.050032332,0.591175272935,-0.00123743914675,1.04970047022
+212,3.533333333,pose1_to_pose2_press,0.620758099574,-0.00990932609197,1.05003225046,0.591328551728,-0.00123757847448,1.04970038875
+213,3.550000000,pose1_to_pose2_press,0.620892162503,-0.00990923010215,1.0500323686,0.591462613359,-0.00123748700917,1.04970050045
+214,3.566666667,pose1_to_pose2_press,0.621008380616,-0.00990916945271,1.05003229041,0.591578830346,-0.00123742988327,1.04970042702
+215,3.583333333,pose1_to_pose2_press,0.621106566297,-0.00990926234755,1.0500320637,0.591677017048,-0.00123751897367,1.04970020781
+216,3.600000000,pose1_to_pose2_press,0.621192748821,-0.0099093074835,1.0500320956,0.591763200131,-0.00123756235014,1.04970023712
+217,3.616666667,pose1_to_pose2_press,0.621268554288,-0.00990931698136,1.05003217862,0.591839005666,-0.00123757140774,1.04970032507
+218,3.633333333,pose1_to_pose2_press,0.621335327403,-0.00990920974835,1.05003234212,0.591905777885,-0.00123746721425,1.04970047472
+219,3.650000000,pose1_to_pose2_press,0.621394120041,-0.00990919579471,1.05003226373,0.591964569347,-0.00123745781299,1.04970039613
+220,3.666666667,pose1_to_pose2_press,0.621444968899,-0.00990918219021,1.05003238519,0.59201541928,-0.00123744050593,1.0497005215
+221,3.683333333,pose1_to_pose2_press,0.621487099528,-0.00990926158409,1.05003231953,0.592057551091,-0.00123751585677,1.04970045599
+222,3.700000000,pose1_to_pose2_press,0.621519713611,-0.00990923622093,1.05003223253,0.592090162939,-0.00123749819146,1.04970036466
+223,3.716666667,pose1_to_pose2_press,0.621545922682,-0.00990913053268,1.05003227294,0.592116369576,-0.001237400811,1.0497004024
+224,3.733333333,pose1_to_pose2_press,0.621566058751,-0.00990915833071,1.05003234018,0.592136508487,-0.00123741888623,1.04970047439
+225,3.750000000,pose1_to_pose2_press,0.621581625066,-0.00990925661187,1.05003224708,0.592152075709,-0.00123751403385,1.04970038136
+226,3.766666667,pose1_to_pose2_press,0.621593713862,-0.00990926710263,1.05003223392,0.592164163617,-0.00123752734476,1.04970036647
+227,3.783333333,pose1_to_pose2_press,0.621602544906,-0.00990924295672,1.05003223289,0.592172994645,-0.00123750308482,1.04970036591
+228,3.800000000,pose1_to_pose2_press,0.621608698711,-0.00990920875425,1.05003221936,0.592179150011,-0.00123746349192,1.04970035593
+229,3.816666667,pose1_to_pose2_press,0.621612431539,-0.00990919154279,1.05003234159,0.592182882349,-0.00123744804426,1.04970047462
+230,3.833333333,pose1_to_pose2_press,0.621614867651,-0.00990918094114,1.05003244463,0.592185317884,-0.00123743949187,1.04970057434
+231,3.850000000,pose1_to_pose2_press,0.621616357703,-0.00990917192414,1.05003249177,0.592186807592,-0.00123743165845,1.04970062063
+232,3.866666667,pose1_to_pose2_press,0.621617337147,-0.00990915933814,1.05003248099,0.592187786832,-0.00123741966673,1.04970061239
+233,3.883333333,pose1_to_pose2_press,0.621618091323,-0.00990914964685,1.05003247269,0.592188540852,-0.00123741043304,1.04970060604
+234,3.900000000,pose1_to_pose2_press,0.621618629838,-0.00990914272685,1.05003246676,0.592189079255,-0.00123740383978,1.04970060151
+235,3.916666667,pose1_to_pose2_press,0.621618825771,-0.00990914020907,1.05003246461,0.592189275148,-0.00123740144089,1.04970059986
+236,3.933333333,pose1_to_pose2_press,0.621618862018,-0.00990913974329,1.05003246421,0.592189311387,-0.00123740099711,1.04970059956
+237,3.950000000,pose1_to_pose2_press,0.621618957356,-0.00990913851819,1.05003246316,0.592189406705,-0.00123739982985,1.04970059875
+238,3.966666667,pose1_to_pose2_press,0.621618982184,-0.00990913819915,1.05003246288,0.592189431528,-0.00123739952587,1.04970059854
+239,3.983333333,pose1_to_pose2_press,0.621619358,-0.00990913336984,1.05003245875,0.592189807266,-0.00123739492459,1.04970059538
+240,4.000000000,pose1_to_pose2_press,0.621619813798,-0.00990912751276,1.05003245373,0.59219026297,-0.00123738934407,1.04970059155
+241,4.016666667,pose1_to_pose2_press,0.621620242176,-0.00990911426731,1.05003245159,0.59219069106,-0.00123737707483,1.04970058943
+242,4.033333333,pose1_to_pose2_press,0.621620682297,-0.0099090993449,1.05003244983,0.592191130852,-0.00123736327698,1.04970058751
+243,4.050000000,pose1_to_pose2_press,0.62162110907,-0.00990908487506,1.05003244812,0.592191557305,-0.0012373498976,1.04970058565
+244,4.066666667,pose1_to_pose2_press,0.621621503256,-0.00990907151006,1.05003244654,0.592191951196,-0.0012373375398,1.04970058393
+245,4.083333333,pose1_to_pose2_press,0.621621793421,-0.00990906167194,1.05003244538,0.592192241144,-0.00123732844308,1.04970058266
+246,4.100000000,pose1_to_pose2_press,0.621621894265,-0.00990905825282,1.05003244497,0.592192341912,-0.00123732528162,1.04970058222
+247,4.116666667,pose1_to_pose2_press,0.621622049266,-0.00990906534971,1.05003243664,0.592192497119,-0.00123733172296,1.04970057269
+248,4.133333333,pose1_to_pose2_press,0.621622336259,-0.00990908603081,1.0500324165,0.592192784689,-0.00123735054827,1.04970054964
+249,4.150000000,pose1_to_pose2_press,0.621622604325,-0.0099091053481,1.05003239768,0.592193053295,-0.00123736813216,1.04970052811
+250,4.166666667,pose1_to_pose2_press,0.621622882993,-0.00990912542929,1.05003237812,0.592193332523,-0.0012373864114,1.04970050573
+251,4.183333333,pose1_to_pose2_press,0.621623102718,-0.00990920736327,1.05003243656,0.592193552502,-0.0012374673483,1.04970056875
+252,4.200000000,pose1_to_pose2_press,0.621623254808,-0.00990924412442,1.05003248736,0.592193704587,-0.0012375041832,1.04970061865
+253,4.216666667,pose1_to_pose2_press,0.621623316478,-0.00990923049486,1.05003250974,0.592193766088,-0.00123749132054,1.04970063564
+254,4.233333333,pose1_to_pose2_press,0.621623332532,-0.00990922694678,1.05003251557,0.5921937821,-0.0012374879721,1.04970064006
+255,4.250000000,pose1_to_pose2_press,0.621623332532,-0.00990922694678,1.05003251557,0.5921937821,-0.0012374879721,1.04970064006
+256,4.266666667,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782105,-0.00123748797304,1.04970064006
+257,4.283333333,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782105,-0.00123748797317,1.04970064006
+258,4.300000000,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782105,-0.00123748797316,1.04970064006
+259,4.316666667,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782105,-0.00123748797318,1.04970064006
+260,4.333333333,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782106,-0.00123748797515,1.04970064006
+261,4.350000000,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782107,-0.00123748797514,1.04970064006
+262,4.366666667,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782107,-0.0012374879752,1.04970064006
+263,4.383333333,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782107,-0.00123748797526,1.04970064006
+264,4.400000000,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782107,-0.00123748797525,1.04970064006
+265,4.416666667,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782107,-0.00123748797441,1.04970064006
+266,4.433333333,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782107,-0.0012374879741,1.04970064006
+267,4.450000000,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782107,-0.00123748797437,1.04970064006
+268,4.466666667,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782108,-0.00123748797426,1.04970064006
+269,4.483333333,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782108,-0.00123748797422,1.04970064006
+270,4.500000000,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782107,-0.0012374879737,1.04970064006
+271,4.516666667,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782107,-0.00123748797389,1.04970064006
+272,4.533333333,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782108,-0.00123748797366,1.04970064006
+273,4.550000000,pose2_hold,0.621623332532,-0.00990922694678,1.05003251557,0.592193782108,-0.00123748797361,1.04970064006
+274,4.566666667,pose2_to_pose3_retreat,0.621623332532,-0.00990922694678,1.05003251557,0.592193782108,-0.0012374879735,1.04970064006
+275,4.583333333,pose2_to_pose3_retreat,0.621623302814,-0.00990923135772,1.05003250501,0.592193752562,-0.00123749171157,1.04970063195
+276,4.600000000,pose2_to_pose3_retreat,0.621623270675,-0.00990923612799,1.05003249359,0.592193720608,-0.00123749575415,1.04970062317
+277,4.616666667,pose2_to_pose3_retreat,0.621623177845,-0.00990923727646,1.05003247266,0.592193628173,-0.00123749539071,1.0497006069
+278,4.633333333,pose2_to_pose3_retreat,0.621623169838,-0.00990923544915,1.05003247269,0.592193620178,-0.00123749352296,1.04970060689
+279,4.650000000,pose2_to_pose3_retreat,0.621622946135,-0.00990918439829,1.05003247366,0.592193396829,-0.00123744134254,1.04970060647
+280,4.666666667,pose2_to_pose3_retreat,0.621622123101,-0.00990904705599,1.05003254585,0.592192571897,-0.00123731046387,1.04970067899
+281,4.683333333,pose2_to_pose3_retreat,0.621619548899,-0.00990912115738,1.05003235341,0.592189998368,-0.00123738211027,1.04970049144
+282,4.700000000,pose2_to_pose3_retreat,0.621613008336,-0.00990921585809,1.0500322362,0.592183458003,-0.00123747613702,1.04970037317
+283,4.716666667,pose2_to_pose3_retreat,0.621600133402,-0.00990914945413,1.05003228303,0.59217058214,-0.00123741289701,1.04970041751
+284,4.733333333,pose2_to_pose3_retreat,0.621579572133,-0.00990933186981,1.05003219754,0.592150023745,-0.00123758549003,1.0497003377
+285,4.750000000,pose2_to_pose3_retreat,0.621547541486,-0.00990919407179,1.05003242855,0.592117990739,-0.00123745590411,1.04970055914
+286,4.766666667,pose2_to_pose3_retreat,0.621504344354,-0.00990923000565,1.05003228979,0.592074794676,-0.00123748830681,1.04970042121
+287,4.783333333,pose2_to_pose3_retreat,0.621450475452,-0.00990921124143,1.05003219733,0.592020926352,-0.00123746748984,1.04970033469
+288,4.800000000,pose2_to_pose3_retreat,0.621387041093,-0.0099093182595,1.05003208818,0.591957492086,-0.0012375744976,1.04970022644
+289,4.816666667,pose2_to_pose3_retreat,0.621313828063,-0.00990924578408,1.05003218653,0.591884278531,-0.00123750405386,1.04970031989
+290,4.833333333,pose2_to_pose3_retreat,0.62123177726,-0.00990927047327,1.05003234486,0.591802228961,-0.00123752476859,1.04970046833
+291,4.850000000,pose2_to_pose3_retreat,0.621140464626,-0.00990924219008,1.05003244484,0.59171091591,-0.00123749783792,1.04970057026
+292,4.866666667,pose2_to_pose3_retreat,0.6210364228,-0.00990923629086,1.05003236817,0.591606874335,-0.00123749087731,1.04970050216
+293,4.883333333,pose2_to_pose3_retreat,0.62091896334,-0.0099092936023,1.0500323169,0.591489415692,-0.00123754558662,1.04970044826
+294,4.900000000,pose2_to_pose3_retreat,0.620785200066,-0.00990921472569,1.05003243905,0.591355649502,-0.00123747702029,1.0497005636
+295,4.916666667,pose2_to_pose3_retreat,0.620633900945,-0.0099092219929,1.0500321176,0.59120435037,-0.00123748368097,1.04970026137
+296,4.933333333,pose2_to_pose3_retreat,0.62046370054,-0.00990918502365,1.05003257819,0.591034152027,-0.00123744034047,1.04970070944
+297,4.950000000,pose2_to_pose3_retreat,0.620274409872,-0.00990920202145,1.05003223699,0.590844860276,-0.00123746116003,1.0497003721
+298,4.966666667,pose2_to_pose3_retreat,0.620067184085,-0.00990924132268,1.05003232157,0.590637636248,-0.00123749469377,1.049700456
+299,4.983333333,pose2_to_pose3_retreat,0.619841671733,-0.00990917839286,1.05003233945,0.590412122388,-0.0012374370242,1.0497004745
+300,5.000000000,pose2_to_pose3_retreat,0.619599100045,-0.00990922921454,1.05003216383,0.590169550651,-0.00123748794694,1.04970030417
+301,5.016666667,pose2_to_pose3_retreat,0.619338498558,-0.00990927130347,1.05003236241,0.589908948831,-0.00123753163869,1.04970049569
+302,5.033333333,pose2_to_pose3_retreat,0.619059397153,-0.0099092555695,1.05003257021,0.589629847396,-0.00123751643394,1.04970069737
+303,5.050000000,pose2_to_pose3_retreat,0.618761063067,-0.00990924263897,1.05003240664,0.589331514013,-0.00123750112714,1.04970053892
+304,5.066666667,pose2_to_pose3_retreat,0.618444335499,-0.00990925179128,1.05003222273,0.589014785922,-0.00123751228731,1.04970035776
+305,5.083333333,pose2_to_pose3_retreat,0.618108570928,-0.00990916079728,1.05003221612,0.588679020332,-0.00123742486152,1.04970035321
+306,5.100000000,pose2_to_pose3_retreat,0.617747597482,-0.00990927112992,1.05003223529,0.58831804931,-0.00123752745732,1.0497003684
+307,5.116666667,pose2_to_pose3_retreat,0.617361926825,-0.00990929266783,1.05003233891,0.587932377103,-0.00123755470024,1.04970046749
+308,5.133333333,pose2_to_pose3_retreat,0.616949076425,-0.00990921402181,1.05003234673,0.587519526048,-0.0012374782133,1.04970047937
+309,5.150000000,pose2_to_pose3_retreat,0.616508497283,-0.00990915406287,1.05003234277,0.587078947267,-0.00123741735244,1.04970047779
+310,5.166666667,pose2_to_pose3_retreat,0.616043173911,-0.00990922415366,1.05003235554,0.586613625681,-0.00123748198456,1.0497004886
+311,5.183333333,pose2_to_pose3_retreat,0.615563437153,-0.00990924763783,1.05003241496,0.586133889602,-0.0012375036263,1.04970054463
+312,5.200000000,pose2_to_pose3_retreat,0.615070999677,-0.0099091292518,1.05003248872,0.585641450536,-0.00123739097964,1.04970061734
+313,5.216666667,pose2_to_pose3_retreat,0.614564028307,-0.00990909155202,1.05003242204,0.585134478813,-0.001237354798,1.0497005546
+314,5.233333333,pose2_to_pose3_retreat,0.61403700616,-0.0099091871955,1.05003210434,0.584607459443,-0.00123744095778,1.04970024122
+315,5.250000000,pose2_to_pose3_retreat,0.613485598865,-0.00990918366029,1.05003242759,0.584056051368,-0.00123744050153,1.04970056157
+316,5.266666667,pose2_to_pose3_retreat,0.61290369993,-0.00990923503377,1.05003226545,0.58347415243,-0.00123749207256,1.04970040156
+317,5.283333333,pose2_to_pose3_retreat,0.612295331128,-0.00990914313181,1.05003230492,0.582865781741,-0.00123740673288,1.04970043981
+318,5.300000000,pose2_to_pose3_retreat,0.611669274351,-0.00990918640742,1.05003219914,0.58223972536,-0.00123744866288,1.04970033548
+319,5.316666667,pose2_to_pose3_retreat,0.611029383228,-0.00990926953085,1.05003220783,0.581599835155,-0.00123752865793,1.04970034472
+320,5.333333333,pose2_to_pose3_retreat,0.610374598716,-0.00990927483886,1.05003231003,0.580945050847,-0.00123753347286,1.04970044133
+321,5.350000000,pose2_to_pose3_retreat,0.609695586244,-0.00990927527268,1.05003226265,0.580266039148,-0.00123753147109,1.04970038905
+322,5.366666667,pose2_to_pose3_retreat,0.608987644074,-0.00990931349034,1.05003226621,0.57955809764,-0.00123756721465,1.04970039839
+323,5.383333333,pose2_to_pose3_retreat,0.608255198393,-0.00990920803506,1.05003237412,0.578825649784,-0.00123746930033,1.0497005021
+324,5.400000000,pose2_to_pose3_retreat,0.607503384324,-0.00990931171039,1.05003232563,0.57807383742,-0.00123756692393,1.04970046065
+325,5.416666667,pose2_to_pose3_retreat,0.606736412993,-0.00990934467972,1.05003222416,0.577306867279,-0.00123759575836,1.04970036156
+326,5.433333333,pose2_to_pose3_retreat,0.605967581654,-0.0099093074831,1.05003232948,0.57653803455,-0.00123756335574,1.04970046636
+327,5.450000000,pose2_to_pose3_retreat,0.605200120747,-0.0099093841711,1.05003233931,0.575770575521,-0.00123763372864,1.04970047266
+328,5.466666667,pose2_to_pose3_retreat,0.604427159305,-0.00990926127151,1.05003220253,0.574997611888,-0.00123751855624,1.04970032918
+329,5.483333333,pose2_to_pose3_retreat,0.603647508157,-0.00990918622745,1.05003214256,0.574217958644,-0.00123745063363,1.04970026954
+330,5.500000000,pose2_to_pose3_retreat,0.602850103698,-0.00990919426488,1.0500322763,0.57342055411,-0.00123745902974,1.04970039987
+331,5.516666667,pose2_to_pose3_retreat,0.602038039453,-0.00990920749134,1.05003242071,0.572608490734,-0.00123746910796,1.049700549
+332,5.533333333,pose2_to_pose3_retreat,0.60121444669,-0.00990921035807,1.05003238185,0.571784898139,-0.00123747114208,1.04970051738
+333,5.550000000,pose2_to_pose3_retreat,0.600385336068,-0.00990924854709,1.05003226347,0.570955787997,-0.00123750804361,1.04970039002
+334,5.566666667,pose2_to_pose3_retreat,0.599555537395,-0.00990930174215,1.05003230584,0.570125991326,-0.00123755412187,1.04970043856
+335,5.583333333,pose2_to_pose3_retreat,0.598734243526,-0.00990925885832,1.05003260253,0.56930469458,-0.00123752148429,1.04970072306
+336,5.600000000,pose2_to_pose3_retreat,0.597920344589,-0.00990918725923,1.05003221618,0.568490795621,-0.00123744935468,1.04970035252
+337,5.616666667,pose2_to_pose3_retreat,0.597113999279,-0.00990922846654,1.0500322036,0.567684450214,-0.00123749082584,1.04970034157
+338,5.633333333,pose2_to_pose3_retreat,0.596306751452,-0.00990918269157,1.05003229597,0.566877203424,-0.00123744143268,1.04970043636
+339,5.650000000,pose2_to_pose3_retreat,0.595494627084,-0.00990932227548,1.05003206878,0.566065080349,-0.00123757664006,1.04970020879
+340,5.666666667,pose2_to_pose3_retreat,0.594676382847,-0.0099092144657,1.0500323791,0.56524683517,-0.00123747235772,1.04970051048
+341,5.683333333,pose2_to_pose3_retreat,0.593851697082,-0.00990913198158,1.05003239246,0.56442214776,-0.00123739544022,1.0497005242
+342,5.700000000,pose2_to_pose3_retreat,0.593038912091,-0.0099093233823,1.05003235341,0.563609363854,-0.00123758312871,1.04970048592
+343,5.716666667,pose2_to_pose3_retreat,0.592241725895,-0.00990935974737,1.05003248083,0.562812178608,-0.00123761631451,1.04970061207
+344,5.733333333,pose2_to_pose3_retreat,0.591464741948,-0.00990921448921,1.05003238083,0.562035194428,-0.00123747166863,1.04970051672
+345,5.750000000,pose2_to_pose3_retreat,0.590714107224,-0.00990931504607,1.05003220354,0.561284561538,-0.00123756585128,1.0497003433
+346,5.766666667,pose2_to_pose3_retreat,0.58999020059,-0.00990931878243,1.0500322032,0.560560655337,-0.00123756813632,1.04970034247
+347,5.783333333,pose2_to_pose3_retreat,0.589277771374,-0.00990919967156,1.0500322005,0.559848224216,-0.0012374554542,1.04970034075
+348,5.800000000,pose2_to_pose3_retreat,0.588573474343,-0.00990914606477,1.05003218877,0.55914392529,-0.0012374081804,1.04970033147
+349,5.816666667,pose2_to_pose3_retreat,0.587868284272,-0.00990930050985,1.05003243613,0.558438736237,-0.00123755973435,1.04970056408
+350,5.833333333,pose2_to_pose3_retreat,0.587165529681,-0.0099091991252,1.05003242185,0.557735979573,-0.00123746552448,1.04970054614
+351,5.850000000,pose2_to_pose3_retreat,0.586469665215,-0.0099092663223,1.05003221307,0.557040115646,-0.00123753073736,1.04970034145
+352,5.866666667,pose2_to_pose3_retreat,0.585791253778,-0.00990922380508,1.05003233329,0.55636170489,-0.00123748592708,1.04970046117
+353,5.883333333,pose2_to_pose3_retreat,0.585136555791,-0.00990900527703,1.05003241853,0.555707004198,-0.00123727650009,1.04970054842
+354,5.900000000,pose2_to_pose3_retreat,0.584522428835,-0.0099090423173,1.05003240476,0.555092877204,-0.00123731358854,1.04970053677
+355,5.916666667,pose2_to_pose3_retreat,0.583942787152,-0.00990925212844,1.05003245095,0.554513238647,-0.0012375128725,1.04970058077
+356,5.933333333,pose2_to_pose3_retreat,0.583389288445,-0.00990923044927,1.05003237214,0.553959739649,-0.00123749222253,1.0497005009
+357,5.950000000,pose2_to_pose3_retreat,0.582850727667,-0.00990934696829,1.05003240027,0.553421180039,-0.00123760501954,1.04970052275
+358,5.966666667,pose2_to_pose3_retreat,0.582325347771,-0.00990930516072,1.05003231884,0.552895799852,-0.00123756358876,1.04970045852
+359,5.983333333,pose2_to_pose3_retreat,0.581812797546,-0.00990942520595,1.05003216126,0.552383251677,-0.001237677012,1.04970029222
+360,6.000000000,pose2_to_pose3_retreat,0.581317778049,-0.00990922795825,1.05003228341,0.551888229561,-0.00123748841699,1.0497004207
+361,6.016666667,pose2_to_pose3_retreat,0.580850213022,-0.00990918464858,1.05003232123,0.551420664583,-0.00123744471238,1.04970046337
+362,6.033333333,pose2_to_pose3_retreat,0.580407536803,-0.00990922235874,1.05003234722,0.550977989092,-0.00123748017488,1.04970048303
+363,6.050000000,pose2_to_pose3_retreat,0.579989106194,-0.0099092321045,1.05003230956,0.550559557979,-0.00123749185422,1.04970044002
+364,6.066666667,pose2_to_pose3_retreat,0.579587628961,-0.00990923020577,1.05003224952,0.550158079905,-0.00123749285373,1.04970037915
+365,6.083333333,pose2_to_pose3_retreat,0.579201513823,-0.00990924376424,1.05003225093,0.549771964834,-0.00123750618929,1.0497003802
+366,6.100000000,pose2_to_pose3_retreat,0.578836038363,-0.00990928213519,1.05003228304,0.549406490452,-0.00123754091415,1.04970041215
+367,6.116666667,pose2_to_pose3_retreat,0.578493330829,-0.00990937655368,1.05003232019,0.549063784124,-0.00123763134722,1.04970044685
+368,6.133333333,pose2_to_pose3_retreat,0.578180512023,-0.00990933412122,1.05003208774,0.548750963187,-0.00123759571071,1.04970022527
+369,6.150000000,pose2_to_pose3_retreat,0.577897656879,-0.0099091376323,1.05003210057,0.548468107444,-0.00123740120323,1.04970023939
+370,6.166666667,pose2_to_pose3_retreat,0.577646489687,-0.00990920489479,1.05003237876,0.54821694175,-0.00123746399687,1.04970050156
+371,6.183333333,pose2_to_pose3_retreat,0.577418830901,-0.00990926222019,1.05003238882,0.547989282384,-0.00123752323496,1.04970051313
+372,6.200000000,pose2_to_pose3_retreat,0.577211955505,-0.00990934679131,1.05003221935,0.547782408427,-0.0012376027025,1.04970034941
+373,6.216666667,pose2_to_pose3_retreat,0.577016976403,-0.00990934550616,1.0500321653,0.547587428917,-0.00123760271267,1.04970029781
+374,6.233333333,pose2_to_pose3_retreat,0.576833790646,-0.00990925925517,1.05003223335,0.547404241414,-0.00123752241056,1.04970036538
+375,6.250000000,pose2_to_pose3_retreat,0.576664813117,-0.00990918786353,1.0500322684,0.547235264238,-0.00123744980717,1.04970040073
+376,6.266666667,pose2_to_pose3_retreat,0.576509662212,-0.00990915196674,1.05003236452,0.547080114094,-0.00123741134026,1.0497004965
+377,6.283333333,pose2_to_pose3_retreat,0.576369703903,-0.00990918234002,1.0500323111,0.546940156248,-0.00123743991978,1.04970044893
+378,6.300000000,pose2_to_pose3_retreat,0.576248430302,-0.00990912359271,1.05003209517,0.546818881328,-0.0012373857216,1.04970023108
+379,6.316666667,pose2_to_pose3_retreat,0.576144588676,-0.00990918599391,1.05003234377,0.546715038346,-0.00123745297011,1.0497004734
+380,6.333333333,pose2_to_pose3_retreat,0.576055288772,-0.00990908143948,1.05003228095,0.546625737909,-0.00123735032813,1.04970040914
+381,6.350000000,pose2_to_pose3_retreat,0.575978713276,-0.009909224333,1.05003227186,0.546549164404,-0.00123748660478,1.04970039606
+382,6.366666667,pose2_to_pose3_retreat,0.575914631281,-0.00990927422195,1.05003219117,0.546485083504,-0.00123753261994,1.04970031915
+383,6.383333333,pose2_to_pose3_retreat,0.575859942976,-0.00990923354879,1.05003220714,0.5464303949,-0.00123749273915,1.04970034086
+384,6.400000000,pose2_to_pose3_retreat,0.575813964192,-0.00990919532494,1.0500323812,0.546384415504,-0.00123745661489,1.0497005143
+385,6.416666667,pose2_to_pose3_retreat,0.575776278587,-0.00990917366333,1.05003246038,0.546346729954,-0.00123743496842,1.04970058809
+386,6.433333333,pose2_to_pose3_retreat,0.575745373305,-0.00990931281924,1.05003226654,0.546315825846,-0.00123757014944,1.04970039401
+387,6.450000000,pose2_to_pose3_retreat,0.575720535551,-0.00990934627934,1.05003265405,0.546290987679,-0.00123760549339,1.04970076903
+388,6.466666667,pose2_to_pose3_retreat,0.575701522978,-0.009909184804,1.05003249553,0.546271974719,-0.00123744472266,1.04970062641
+389,6.483333333,pose2_to_pose3_retreat,0.575688682821,-0.00990919119029,1.05003226465,0.546259134201,-0.00123745202052,1.04970040381
+390,6.500000000,pose2_to_pose3_retreat,0.575679736259,-0.00990914980703,1.05003235662,0.546250187341,-0.00123741171785,1.04970049401
+391,6.516666667,pose2_to_pose3_retreat,0.575674159119,-0.00990913024243,1.05003250599,0.546244610189,-0.00123739232073,1.04970064013
+392,6.533333333,pose2_to_pose3_retreat,0.575670927533,-0.00990916231474,1.05003257668,0.54624137886,-0.001237423567,1.04970070974
+393,6.550000000,pose2_to_pose3_retreat,0.575668904339,-0.00990912968309,1.05003256146,0.546239354802,-0.00123739394293,1.04970069251
+394,6.566666667,pose2_to_pose3_retreat,0.575667507892,-0.0099090797361,1.05003252,0.546237957224,-0.00123734790563,1.04970064897
+395,6.583333333,pose2_to_pose3_retreat,0.575666652425,-0.00990906500888,1.05003248845,0.54623710128,-0.0012373348281,1.04970061656
+396,6.600000000,pose2_to_pose3_retreat,0.575666287749,-0.00990910891445,1.05003245552,0.54623673708,-0.00123737707989,1.04970058463
+397,6.616666667,pose2_to_pose3_retreat,0.575666116225,-0.0099091295652,1.05003244004,0.54623656578,-0.0012373969528,1.04970056961
+398,6.633333333,pose2_to_pose3_retreat,0.575665992496,-0.00990914446173,1.05003242887,0.546236442212,-0.00123741128822,1.04970055877
+399,6.650000000,pose2_to_pose3_retreat,0.575665868479,-0.0099091593928,1.05003241767,0.546236318358,-0.00123742565689,1.04970054791
+400,6.666666667,pose2_to_pose3_retreat,0.575665808144,-0.00990916665694,1.05003241223,0.546236258101,-0.00123743264742,1.04970054263
+401,6.683333333,pose2_to_pose3_retreat,0.57566580311,-0.00990916726294,1.05003241177,0.546236253074,-0.00123743323059,1.04970054219
+402,6.700000000,pose2_to_pose3_retreat,0.575665663845,-0.00990918402996,1.0500323992,0.546236113991,-0.00123744936605,1.04970052999
+403,6.716666667,pose2_to_pose3_retreat,0.5756654805,-0.00990920610383,1.05003238265,0.546235930886,-0.00123747060848,1.04970051393
+404,6.733333333,pose2_to_pose3_retreat,0.575665440963,-0.00990921086399,1.05003237908,0.5462358914,-0.00123747518933,1.04970051047
+405,6.750000000,pose2_to_pose3_retreat,0.575665423474,-0.00990921296964,1.0500323775,0.546235873933,-0.00123747721567,1.04970050894
+406,6.766666667,pose2_to_pose3_retreat,0.575665255167,-0.00990923323307,1.05003236231,0.546235705847,-0.00123749671584,1.0497004942
+407,6.783333333,pose2_to_pose3_retreat,0.575665131689,-0.00990924809925,1.05003235116,0.54623558253,-0.00123751102207,1.04970048339
+408,6.800000000,pose2_to_pose3_retreat,0.575665065377,-0.00990925812187,1.05003232642,0.546235516367,-0.00123752049314,1.04970045983
+409,6.816666667,pose2_to_pose3_retreat,0.575665049561,-0.00990926072967,1.05003231852,0.546235500593,-0.00123752294265,1.04970045232
+410,6.833333333,pose2_to_pose3_retreat,0.575664988794,-0.00990927074926,1.05003228816,0.546235439988,-0.00123753235407,1.04970042346
+411,6.850000000,pose2_to_pose3_retreat,0.575664793512,-0.00990930294809,1.05003219061,0.546235245229,-0.00123756259849,1.04970033072
+412,6.866666667,pose2_to_pose3_retreat,0.575664635086,-0.00990932907014,1.05003211147,0.546235087225,-0.00123758713499,1.04970025549
+413,6.883333333,pose2_to_pose3_retreat,0.575664510034,-0.00990934855902,1.05003205231,0.546234962492,-0.00123760542835,1.0497001993
+414,6.900000000,pose2_to_pose3_retreat,0.57566449929,-0.00990934251658,1.05003206984,0.546234951673,-0.0012375996656,1.04970021627
+415,6.916666667,pose2_to_pose3_retreat,0.575664461702,-0.00990932137609,1.05003213118,0.546234913818,-0.00123757950366,1.04970027564
+416,6.933333333,pose2_to_pose3_retreat,0.575664437042,-0.00990930750712,1.05003217141,0.546234888984,-0.00123756627666,1.0497003146
+417,6.950000000,pose2_to_pose3_retreat,0.57566439821,-0.00990930710471,1.0500322287,0.546234850198,-0.00123756575098,1.04970037099
+418,6.966666667,pose2_to_pose3_retreat,0.575664389172,-0.00990930964014,1.05003224129,0.54623484121,-0.00123756811863,1.04970038351
+419,6.983333333,pose2_to_pose3_retreat,0.575664380363,-0.00990931211123,1.05003225356,0.546234832451,-0.00123757042619,1.04970039571
+420,7.000000000,pose2_to_pose3_retreat,0.575664333719,-0.00990932519632,1.05003231854,0.546234786066,-0.00123758264536,1.04970046032
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dba1b824c115cff303e8e307d96a438761b9f647
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62ababf4e34c12835f941f65f1512897112ba3cc30d3a5f9bd22eccb108fa585
+size 26164438
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aadb08c5e8f27f0cf2dff14441ffa71760b9d85d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,663,637,879,788,804,652,632,653,0.400939374143,-0.0154253569782,0.0499370595595,0.999999973117,7.84894276241e-05,-0.000215720560028,-3.2699666509e-05,1793239562741010944
+1,0.016666667,BASELINE,766.57622439,745,715,678.42377561,663.57622439,636.42377561,879.57622439,788,804,652.57622439,631.42377561,653,0.400938997923,-0.0154247779694,0.0499368387025,0.999999972887,7.99594911203e-05,-0.000216162362131,-3.32598459636e-05,1793239562757676800
+2,0.033333333,BASELINE,766.84813544,745,715,678.15186456,664,636,879.84813544,788,804.15186456,653,631.15186456,653,0.400939061323,-0.0154244984104,0.0499369790724,0.999999972846,8.06892160198e-05,-0.000216025723084,-3.36209807644e-05,1793239562774342912
+3,0.050000000,BASELINE,766.274119145,745,715,678.725880855,664,636,879.274119145,788,804.725880855,653,631.725880855,653,0.40094034677,-0.015425051259,0.0499381235775,0.999999973334,7.93609547074e-05,-0.000214281138648,-3.34288131614e-05,1793239562791009792
+4,0.066666667,BASELINE,766,745,715,678.692220088,664,636,879,788,804.692220088,652.692220088,631.692220088,653,0.400940559867,-0.0154254448186,0.0499387757238,0.999999973495,7.94148467412e-05,-0.000213544371472,-3.31844640295e-05,1793239562807676928
+5,0.083333333,BASELINE,766,745,715,678.103115875,664,636,879,788,804.103115875,652.103115875,631.103115875,653,0.400939792789,-0.015425692781,0.0499389778325,0.99999997336,8.07320874654e-05,-0.000213728793456,-3.28924187098e-05,1793239562824343552
+6,0.100000000,BASELINE,766,745,715,678.47723729,664,636,879.47723729,788,804,652,631.47723729,653,0.400939412123,-0.0154253438014,0.0499383442076,0.999999973287,8.06263474314e-05,-0.000214119930538,-3.28281515353e-05,1793239562841009920
+7,0.116666667,BASELINE,766,745.055547145,715,678.944452855,664,636,879.944452855,788,804,652.055547145,632,653,0.400939312247,-0.0154249601438,0.049937726842,0.999999973276,8.01551974787e-05,-0.000214355022836,-3.27961699335e-05,1793239562857676288
+8,0.133333333,BASELINE,766,745.632107423,715,678.367892577,664,636,879.367892577,788,804,652.632107423,632,653,0.400941077052,-0.0154254392261,0.0499389252196,0.999999973717,7.90885784041e-05,-0.000212715073903,-3.26137024011e-05,1793239562874342912
+9,0.150000000,BASELINE,766,745.793453578,715,678.206546422,664,636,879,788,804,652.793453578,632,653,0.400941363257,-0.0154256835781,0.0499390933488,0.999999973844,7.8505666088e-05,-0.000212336278206,-3.2602835993e-05,1793239562891009536
+10,0.166666667,BASELINE,766,745.22275457,715,678.77724543,664,636,879,788,804,652.22275457,632,653,0.400939042607,-0.0154255140877,0.0499374450941,0.999999973419,7.87755552316e-05,-0.000214180964491,-3.28945117284e-05,1793239562907676160
+11,0.183333333,BASELINE,766,745,715,679,663.63657746,636,879,788,803.63657746,652.36342254,631.63657746,652.63657746,0.400939604723,-0.0154245246284,0.0499374235967,0.999999973559,7.93982615089e-05,-0.000213270918508,-3.30778593952e-05,1793239562924342784
+12,0.200000000,BASELINE,766,745,715,679,663.040491186,636,879,788,803.040491186,652.959508814,631.040491186,652.040491186,0.40094201239,-0.0154230102234,0.0499384435519,0.999999974054,8.02468419473e-05,-0.000210597288378,-3.31918552751e-05,1793239562941009664
+13,0.216666667,BASELINE,766,745,715,678.463287394,663,636,879,787.463287394,803,652.463287394,631.536712606,652.536712606,0.400941533154,-0.0154247418091,0.0499379994932,0.999999973979,7.83122610879e-05,-0.000211700841588,-3.30396058819e-05,1793239562957676288
+14,0.233333333,BASELINE,766,745,715,678,663,636,879.111743744,787.111743744,803.111743744,652,632,653,0.400940988892,-0.015426121648,0.0499375908323,0.999999973829,7.72250504198e-05,-0.000212835280741,-3.2857292791e-05,1793239562974342912
+15,0.250000000,BASELINE,766,745,715,678,663,636,879.683496082,787.683496082,803.683496082,652,632,653,0.40094104306,-0.015425079623,0.0499377671192,0.999999973554,8.04611495481e-05,-0.000212963650069,-3.26310961913e-05,1793239562991009536
+16,0.266666667,BASELINE,766,745,715,678,663,636,880,788,804,652,632,653,0.40094090645,-0.0154248334081,0.0499379594112,0.9999999735,8.10227890332e-05,-0.000213015215605,-3.25629839747e-05,1793239563007676416
+17,0.283333333,BASELINE,766,745,715,678,663,636,880,788,804,652,632,653,0.40094053328,-0.0154255739848,0.0499381715491,0.999999973724,7.8268141932e-05,-0.000212971545685,-3.26908938316e-05,1793239563024343040
+18,0.300000000,BASELINE,766,745,715,678.441893635,663.441893635,636,879.558106365,787.558106365,804,652.441893635,631.558106365,653,0.400940160498,-0.0154249825907,0.049938363544,0.999999973676,7.85740670643e-05,-0.000213085572044,-3.26887703979e-05,1793239563041009664
+19,0.316666667,BASELINE,766,745,715,678.98080311,663.98080311,636,879,787,804,652.98080311,631.01919689,653,0.400939867992,-0.0154240237388,0.0499385682561,0.999999973561,7.97910915521e-05,-0.000213177285278,-3.2648821915e-05,1793239563057676288
+20,0.333333333,BASELINE,766,745,715,678.405785988,663.405785988,636,879,787,804,652.405785988,631.594214012,653,0.40094189632,-0.0154242501449,0.0499393199913,0.999999973941,8.02176879367e-05,-0.000211223010406,-3.26680643726e-05,1793239563074342912
+21,0.350000000,BASELINE,766,745,715,678,663,636,879,787.169461261,804,652,632,653,0.400942867107,-0.0154246700541,0.0499394941079,0.999999974158,7.99618768812e-05,-0.000210289138567,-3.26838293714e-05,1793239563091009792
+22,0.366666667,BASELINE,766,745,715,678,663,636,879,787.74526023,804,652,632,653,0.400941302098,-0.0154255539486,0.0499382831985,0.999999973988,7.80697751217e-05,-0.00021180201046,-3.26912560449e-05,1793239563107676416
+23,0.383333333,BASELINE,766.33080667,745,715,678,663,636,879,788,804,652,632,653,0.400940469537,-0.0154249032233,0.0499377105623,0.999999973708,7.93938594589e-05,-0.000212601312663,-3.28696763821e-05,1793239563124343040
+24,0.400000000,BASELINE,766.924087164,745,715,678,663,636,879,788,804,652,632,653,0.400940218127,-0.0154230348759,0.0499376443548,0.999999973333,8.32697804674e-05,-0.000212834443357,-3.31837691973e-05,1793239563141009664
+25,0.416666667,BASELINE,766.497183986,744.497183986,715,678,663,636,879,788,804,652,632,653,0.400940228135,-0.0154241165447,0.049937762686,0.999999973472,8.08687955445e-05,-0.000213100439359,-3.32348905644e-05,1793239563157676544
+26,0.433333333,BASELINE,766,744.078941293,715,678,663,636,879,788,804,652,632,653,0.400940389265,-0.0154253304953,0.0499379896578,0.999999973678,7.81474876136e-05,-0.000213150308879,-3.32174587392e-05,1793239563174343168
+27,0.450000000,BASELINE,766,744.652134019,715,678,663,636,879,788,804,652,632,653,0.400941256407,-0.0154246625702,0.0499387272976,0.999999973887,7.9187042522e-05,-0.000211816818251,-3.30123994269e-05,1793239563191009792
+28,0.466666667,BASELINE,766,745,715,678.232880552,663,636,879,788,804,652,632,653,0.400941159667,-0.0154242674562,0.0499388891235,0.999999973856,8.03485073469e-05,-0.000211558381338,-3.27787084738e-05,1793239563207676416
+29,0.483333333,BASELINE,766,745,715,678.825288837,663,636,879,788,804,652,632,653,0.400939574858,-0.0154242935163,0.0499381619912,0.999999973459,8.16981801653e-05,-0.000212959643528,-3.25008151777e-05,1793239563224343040
+30,0.500000000,BASELINE,766,745,715,678.591825022,663,636,879,788.408174978,804,652,632,653,0.400940270052,-0.0154231189871,0.0499377818539,0.999999973343,8.21695654698e-05,-0.000213257745492,-3.29132814517e-05,1793239563241009920
+31,0.516666667,BASELINE,766,745,715,678.012921746,663,636,879,788.987078254,804,652,632,653,0.400941918907,-0.0154214422848,0.0499375468551,0.999999973346,8.2273587377e-05,-0.000213094426023,-3.36145060373e-05,1793239563257676800
+32,0.533333333,BASELINE,766,745,715,678.562967135,663,636,879.562967135,788.437032865,804,652,632,653,0.400943004772,-0.0154229982736,0.0499388568522,0.999999973672,8.40310718371e-05,-0.000210976906146,-3.29041685483e-05,1793239563274343424
+33,0.550000000,BASELINE,766,745,715,678.858488139,663,636,879.858488139,788,804,652,632,653,0.40094307737,-0.0154245018531,0.0499394249947,0.999999973855,8.43631637949e-05,-0.000210057004927,-3.23795941284e-05,1793239563291009792
+34,0.566666667,BASELINE,766,745,715,678.271363714,663,636,879.271363714,788,804,652,632,653,0.400939999726,-0.0154256079928,0.0499375460068,0.999999973569,8.00879063544e-05,-0.000213048827473,-3.25414575903e-05,1793239563307676416
+35,0.583333333,BASELINE,766,745,715,678.311502963,663,636,879,788,804.311502963,652,632,653,0.400939728697,-0.0154261187692,0.0499371733781,0.999999973675,7.80388985345e-05,-0.000213283771673,-3.27105078416e-05,1793239563324342784
+36,0.600000000,BASELINE,766,745,715,678.890710609,663,636,879,788,804.890710609,652,632,653,0.400941869666,-0.0154261178924,0.0499380953096,0.999999974133,7.79031222797e-05,-0.000211149463482,-3.28857344159e-05,1793239563341009408
+37,0.616666667,BASELINE,766,745,715,678.531944666,663,636,879,788,804.531944666,652,632,653,0.400941843062,-0.0154258513998,0.0499378219521,0.999999973943,7.90510639771e-05,-0.000211624905801,-3.28488422354e-05,1793239563357676288
+38,0.633333333,BASELINE,766,745,715,678.044836688,663,636,879.044836688,788,804,652.044836688,631.955163312,652.955163312,0.400941231698,-0.0154255604822,0.0499372615215,0.999999973606,8.03029091275e-05,-0.000212754999455,-3.27741063784e-05,1793239563374343424
+39,0.650000000,BASELINE,766,745,715,678.62007932,663,636,879.62007932,788,804,652.62007932,631.37992068,652.37992068,0.400939666316,-0.0154257113991,0.0499365936372,0.999999973326,7.92520722321e-05,-0.000214449358727,-3.28352823409e-05,1793239563391010304
+40,0.666666667,BASELINE,766,745,715,678.804211899,663,636,879.804211899,788.195788101,804,652.804211899,631.195788101,652.195788101,0.400939463757,-0.0154258971801,0.0499367144715,0.999999973338,7.8559096754e-05,-0.000214655654204,-3.27963620217e-05,1793239563407676928
+41,0.683333333,BASELINE,766,745,715,678.227596448,663,636,879.227596448,788.772403552,804,652.227596448,631.772403552,652.772403552,0.400941912028,-0.0154261507754,0.0499383694421,0.999999973919,7.85621974291e-05,-0.000211967517331,-3.25627444636e-05,1793239563424343296
+42,0.700000000,BASELINE,766,745,715,678.35907763,663,636.35907763,879.35907763,788.64092237,804,652.35907763,632,653,0.400942479393,-0.0154258512779,0.0499384730622,0.999999974053,7.89723155047e-05,-0.000211183125999,-3.25366761067e-05,1793239563441009408
+43,0.716666667,BASELINE,766,745,715,678.952310947,663,636.952310947,879.952310947,788.047689053,804,652.952310947,632,653,0.400941820214,-0.0154251911068,0.0499375650413,0.999999973899,7.96478509479e-05,-0.000211640173414,-3.26459512667e-05,1793239563457675776
+44,0.733333333,BASELINE,766,745,715,679,663.529675307,636.470324693,879.470324693,788,804,652.470324693,631.470324693,653,0.40094243753,-0.0154247593493,0.04993806914,0.999999974006,7.96062974476e-05,-0.000211119238871,-3.28500079691e-05,1793239563474342912
+45,0.750000000,BASELINE,766,745,715,679,663.894299327,636,879,787.894299327,804,652,631.105700673,653,0.400942656122,-0.015424621107,0.0499383130309,0.999999974056,7.90165938182e-05,-0.000211082114416,-3.30066172144e-05,1793239563491009792
+46,0.766666667,BASELINE,766,745,715,679,663.318059557,636,879,787.318059557,804,652,631.681940443,653,0.400940603019,-0.0154257005972,0.049936849063,0.999999973742,7.62657833305e-05,-0.000213579300774,-3.29151250527e-05,1793239563507676416
+47,0.783333333,BASELINE,766,744.7379261,715,679,663.2620739,636,879,787.2620739,803.7379261,652,632,653,0.400939704773,-0.0154264162593,0.0499362501185,0.999999973593,7.51593025432e-05,-0.00021468370221,-3.27887048151e-05,1793239563524343040
+48,0.800000000,BASELINE,766,744.152995823,715,679,663.847004177,636,879,787.847004177,803.152995823,652,632,653,0.40094022923,-0.0154266837111,0.049936716821,0.999999973661,7.60785184635e-05,-0.000214072292156,-3.2619255664e-05,1793239563541009920
+49,0.816666667,BASELINE,766,744.428780745,715,679,664,636,879,788.428780745,803.428780745,652.428780745,632,653,0.400940567053,-0.0154261569655,0.0499371890554,0.999999973793,7.65625667321e-05,-0.000213276138392,-3.26410931107e-05,1793239563557676800
+50,0.833333333,BASELINE,766,745,715,678.990626869,663.990626869,636,879,788.990626869,804,652.990626869,632,653,0.400940837179,-0.0154253529928,0.0499376514764,0.999999973941,7.69244333933e-05,-0.000212435826386,-3.2727861165e-05,1793239563574343424
+51,0.850000000,BASELINE,766,745,715,678.414092704,663.414092704,636,879,788.414092704,804,652.414092704,632,653,0.400941011083,-0.0154247962684,0.0499374015346,0.99999997367,7.92201432397e-05,-0.000212883145741,-3.26436812934e-05,1793239563591009792
+52,0.866666667,BASELINE,766,745,715,678.163646296,663,636,879,788,804,652,631.836353704,653,0.400941056307,-0.0154249688103,0.049937281383,0.999999973552,8.02353912109e-05,-0.0002130812382,-3.24791515416e-05,1793239563607676416
+53,0.883333333,BASELINE,766,745,715,678.744456604,663,636,879,788,804,652,631.255543396,653,0.400940773504,-0.0154270003839,0.0499374920904,0.999999973835,7.79865100955e-05,-0.000212644006193,-3.21097954156e-05,1793239563624343040
+54,0.900000000,BASELINE,766.326480722,745,715,678.673519278,663,636,879,788,804,652,631.326480722,653,0.400940728043,-0.0154279737444,0.0499374421317,0.999999973938,7.62979231939e-05,-0.000212789041788,-3.20055083762e-05,1793239563641009664
+55,0.916666667,BASELINE,766.909458433,745,715,678.090541567,663,636,879,788,804,652,631.909458433,653,0.400940869049,-0.0154281157282,0.0499371873828,0.9999999739,7.50495271024e-05,-0.000213391531326,-3.2109470779e-05,1793239563657676288
+56,0.933333333,BASELINE,766.509932286,745,715,678.490067714,663.490067714,636,879.490067714,788,804,652,632,653,0.40094171052,-0.0154273792393,0.0499374893634,0.999999974012,7.77342046691e-05,-0.000211883095222,-3.22474824747e-05,1793239563674343424
+57,0.950000000,BASELINE,766,745,715,679,663.930377122,636,879.930377122,788,804,652,632,653,0.400942507272,-0.015426663597,0.0499378071331,0.99999997413,8.04378996467e-05,-0.000210292846565,-3.2366638879e-05,1793239563691010048
+58,0.966666667,BASELINE,766,745,715,679,663.35531344,636,879.35531344,788,804,652,632,653,0.400942044391,-0.0154272718812,0.049937496403,0.999999974189,7.80297841665e-05,-0.000210926329723,-3.23034625447e-05,1793239563707676672
+59,0.983333333,BASELINE,766,745,715,678.775013352,663,636,879.224986648,788,804,652,632,653,0.40094145719,-0.0154272139448,0.0499371111252,0.999999974163,7.63093826384e-05,-0.000211644429688,-3.25292288008e-05,1793239563724343296
+60,1.000000000,BASELINE,766,745,715,678.186246445,663,636,879.813753555,788,804,652,632,653,0.400940668975,-0.0154260787984,0.0499366053115,0.999999974005,7.57009434313e-05,-0.000212499346424,-3.32221854854e-05,1793239563741009664
+61,1.016666667,BASELINE,766,745,714.604103245,678,663.395896755,636,879.604103245,788,804,652.395896755,631.604103245,653,0.400940487503,-0.0154261423251,0.0499368397244,0.999999973969,7.54897305502e-05,-0.000212784286617,-3.29457790618e-05,1793239563757676288
+62,1.033333333,BASELINE,766,745,714.025024873,678,663.974975127,636,879.025024873,788,804,652.974975127,631.025024873,653,0.400940586773,-0.0154267604784,0.0499374166406,0.999999973991,7.54623145165e-05,-0.000212805498339,-3.22208478231e-05,1793239563774342912
+63,1.050000000,BASELINE,766,745,714.551956678,678,663.448043322,636,879.551956678,788,804,652.448043322,631.551956678,653,0.400941271291,-0.0154259893262,0.0499372194109,0.999999974017,7.65139472899e-05,-0.000212252041385,-3.25574418466e-05,1793239563791009280
+64,1.066666667,BASELINE,766,745,714.871480902,678,663.128519098,636,879.871480902,788,804,652,632,653,0.400941902445,-0.0154253937464,0.0499372064157,0.999999974066,7.75617957531e-05,-0.000211612342605,-3.27572495459e-05,1793239563807676160
+65,1.083333333,BASELINE,766,745,714.296046667,678,663.703953333,636,879.296046667,788,804,652,632,653,0.400942256105,-0.0154256269163,0.0499379556724,0.999999974192,7.84270044376e-05,-0.000210763004589,-3.23146657006e-05,1793239563824343040
+66,1.100000000,BASELINE,766,745,714.286496402,678.286496402,663.713503598,636,879,788,804,652,632,653,0.400943044224,-0.0154259429681,0.0499385474848,0.999999974343,7.90359826271e-05,-0.000209843263036,-3.2154696143e-05,1793239563841009920
+67,1.116666667,BASELINE,766,745,714.876572148,678.876572148,663.123427852,636,879,788,804,652,632,653,0.400944292708,-0.0154263468436,0.049938972465,0.99999997452,7.93734519937e-05,-0.000208848920046,-3.22941923627e-05,1793239563857676544
+68,1.133333333,BASELINE,766,745,715,678.541646893,663,636,879,788,804,652,632,652.541646893,0.4009430247,-0.0154263910695,0.0499385042915,0.999999974243,8.00572054234e-05,-0.000209899315427,-3.23565713254e-05,1793239563874343168
+69,1.150000000,BASELINE,766,745,715,678,663,636,879.037487976,788.037487976,804,652.037487976,632,652.037487976,0.400941234169,-0.0154263553951,0.0499378493042,0.999999973893,8.06033723418e-05,-0.000211345460967,-3.24173437545e-05,1793239563891009536
+70,1.166666667,BASELINE,766,745,715,678,663,636,879.610167461,788.610167461,804,652.610167461,632,652.610167461,0.400941486389,-0.0154265371013,0.0499378999165,0.99999997423,7.78777090874e-05,-0.000210720379167,-3.27463815618e-05,1793239563907675904
+71,1.183333333,BASELINE,766,745,715,678.188297719,663.188297719,636,879.811702281,788.811702281,804.188297719,652.811702281,632,652.811702281,0.40094223444,-0.0154263672703,0.0499381364245,0.999999974491,7.64423698909e-05,-0.000209979577739,-3.29150746983e-05,1793239563924343040
+72,1.200000000,BASELINE,766,745,715,678.778049221,663.778049221,636,879.221950779,788.221950779,804.778049221,652.221950779,632,652.221950779,0.400944039614,-0.0154254479562,0.0499387692651,0.999999974602,7.77580219397e-05,-0.000208992060082,-3.2741910466e-05,1793239563941010432
+73,1.216666667,BASELINE,766,745,715,678.638818008,663.638818008,636,879.361181992,788,804.638818008,652,632,652.361181992,0.400943895239,-0.0154264901142,0.0499383959011,0.999999974615,7.64221478376e-05,-0.000209469695991,-3.24408205196e-05,1793239563957677056
+74,1.233333333,BASELINE,766,745,715,678.05967937,663.05967937,636,879.94032063,788,804.05967937,652,632,652.94032063,0.4009425744,-0.01542871593,0.0499374153389,0.999999974561,7.34862001214e-05,-0.000210831484447,-3.20625333251e-05,1793239563974343424
+75,1.250000000,BASELINE,766,745,715,678,663,636,880,787.483088937,804,652,632,653,0.400942487112,-0.0154272163427,0.0499378723713,0.999999974402,7.61385744468e-05,-0.000210583812875,-3.24585946077e-05,1793239563991010304
+76,1.266666667,BASELINE,766,744.906956075,715,678,663.093043925,636,879.906956075,787.093043925,803.906956075,652,632,653,0.400942342991,-0.0154256643134,0.0499381610699,0.999999974193,7.88702569937e-05,-0.000210508970784,-3.2867450005e-05,1793239564007676672
+77,1.283333333,BASELINE,766,744.33167744,715,678,663.66832256,636,879.33167744,787.66832256,803.33167744,652,632,653,0.400941169801,-0.0154260587636,0.0499367213048,0.999999973831,7.86854336827e-05,-0.00021228823,-3.28815320963e-05,1793239564024343040
+78,1.300000000,BASELINE,766,744.243322788,715,678.243322788,664,636,879,788,803.243322788,652,632,653,0.400941082979,-0.0154263220008,0.0499365338646,0.999999973912,7.83175829592e-05,-0.000212052721794,-3.28044085383e-05,1793239564041009408
+79,1.316666667,BASELINE,766,744.8179439,715,678.8179439,664,636,879,788,803.8179439,652,632,653,0.400942475312,-0.0154264065837,0.0499380515389,0.999999974594,7.77005296351e-05,-0.000209073988787,-3.2603103109e-05,1793239564057676032
+80,1.333333333,BASELINE,766,745,715,679,663.593393607,636,879,788,804,652.406606393,632,653,0.400941442546,-0.0154269511549,0.0499371655014,0.999999974252,7.73784956319e-05,-0.000210831394996,-3.25339174367e-05,1793239564074342912
+81,1.350000000,BASELINE,766,745.001717381,715,679,663.001717381,636,879,788,804,652.998282619,632,653,0.400939294857,-0.0154277050756,0.0499351720109,0.999999973428,7.71955492306e-05,-0.000214769652712,-3.25260191591e-05,1793239564091009536
+82,1.366666667,BASELINE,766,745.575704417,715,679,663.575704417,636,879,788,804,652.424295583,632,653,0.400940393173,-0.0154271344271,0.049935608934,0.999999973653,7.77687996386e-05,-0.000213515449223,-3.25232813691e-05,1793239564107676160
+83,1.383333333,BASELINE,766,745.850845219,715,679,663.850845219,636,879,788,804,652.149154781,631.850845219,652.850845219,0.400941418971,-0.0154265978855,0.0499363332353,0.999999973886,7.83862575703e-05,-0.000212196396378,-3.25063498991e-05,1793239564124343296
+84,1.400000000,BASELINE,766,745.278915908,715,679,663.278915908,636,879,788,804,652.721084092,631.278915908,652.278915908,0.40094223922,-0.015426158019,0.0499378721012,0.999999974147,7.91290204689e-05,-0.000210693529793,-3.24491868894e-05,1793239564141010432
+85,1.416666667,BASELINE,766,745,715,679,663.303649465,636,879.607298931,788,804,652.696350535,631.303649465,652.303649465,0.400941642417,-0.0154258834211,0.0499378677977,0.999999974078,7.8801245567e-05,-0.000211127319744,-3.25487722745e-05,1793239564157677056
+86,1.433333333,BASELINE,766,745,715,679,663.896339141,636,880.792678281,788,804,652.103660859,631.896339141,652.896339141,0.400939696738,-0.0154257661404,0.04993639457,0.999999973692,7.74544387906e-05,-0.000213404589437,-3.27975645414e-05,1793239564174343424
+87,1.450000000,BASELINE,766,745,715,678.521669827,664,636,880.043339654,788,803.521669827,652.478330173,632,653,0.400940138173,-0.0154249564484,0.0499364609077,0.999999973704,7.83339669566e-05,-0.000213027308791,-3.27945198181e-05,1793239564191010048
+88,1.466666667,BASELINE,766,745,715,678.057743774,663.942256226,636,879,788,803.057743774,652.942256226,632,653,0.400941024193,-0.0154241813313,0.0499368306339,0.999999973799,7.94799097632e-05,-0.000212162178466,-3.27392837307e-05,1793239564207676416
+89,1.483333333,BASELINE,766,745,715,678.634375245,663.365624755,636,879,788,803.634375245,652.365624755,632,653,0.400941358311,-0.0154250358077,0.0499369940622,0.999999973897,7.87791497025e-05,-0.000211969590703,-3.26947522994e-05,1793239564224343040
+90,1.500000000,BASELINE,766,745,715,678.785898501,663,636,879,788,804,652,632,653,0.400941833062,-0.0154249565945,0.0499370738149,0.999999973964,7.85936160142e-05,-0.000211699869303,-3.28295725599e-05,1793239564241009920
+91,1.516666667,BASELINE,766,745,715,678.200809781,663,636,879,788,804,652,632,653,0.400942551495,-0.0154232595183,0.0499370085778,0.999999973979,7.93008477487e-05,-0.000211296493586,-3.32751668545e-05,1793239564257676544
+92,1.533333333,BASELINE,766.380948598,745,715,678,663.380948598,636,879,788,804,652,631.619051402,653,0.400942265306,-0.0154240665185,0.0499367903466,0.999999974012,7.84247426539e-05,-0.000211450841178,-3.33728934012e-05,1793239564274343424
+93,1.550000000,BASELINE,766.960966719,745,715,678,663.960966719,636,879,788,804,652,631.039033281,653,0.400941454138,-0.0154261820554,0.0499364921664,0.999999974053,7.67212448733e-05,-0.000211896634124,-3.32888372832e-05,1793239564291010304
+94,1.566666667,BASELINE,766.461556073,745,715.538443927,678,664,636,879.538443927,788,804,652,631.538443927,653,0.400941586914,-0.0154256595858,0.0499368449586,0.999999973916,7.92277748479e-05,-0.00021167941116,-3.29113775596e-05,1793239564307676928
+95,1.583333333,BASELINE,766,745,715.887575709,678.112424291,663.887575709,636,880,788,804,652,632,653,0.400941631531,-0.0154252622805,0.049937120336,0.999999973786,8.12195650094e-05,-0.000211588542957,-3.25762584121e-05,1793239564324343296
+96,1.600000000,BASELINE,766,745,715.326809276,678.673190724,663.326809276,636,880,788,804,652,632,653,0.400941052959,-0.0154261231816,0.0499368996765,0.999999973763,7.99472098387e-05,-0.000212192346612,-3.24944149133e-05,1793239564341009408
+97,1.616666667,BASELINE,766,745,715,679,663,636,879.747549887,788,804,652,632,653,0.400941052298,-0.0154264248054,0.0499370266058,0.999999973875,7.86222564295e-05,-0.000212153660584,-3.25384618617e-05,1793239564357676032
+98,1.633333333,BASELINE,766,745,715,679,663,636,879.142458156,788,804,652,632,653,0.400941858906,-0.0154259451879,0.0499376390735,0.999999974175,7.72238298562e-05,-0.000211217495814,-3.27583622161e-05,1793239564374342912
+99,1.650000000,BASELINE,766,745,715,679,663,636,879,788,804,652,632,653.442360134,0.400941297234,-0.0154259542971,0.0499369752866,0.999999973896,7.74357774756e-05,-0.00021247294125,-3.2669466479e-05,1793239564391009536
+100,1.666666667,BASELINE,766,745,715,679,663.020804027,636,879,788,804,652,632,653.979195973,0.400940380433,-0.0154261255135,0.0499359823204,0.99999997347,7.80616486287e-05,-0.000214267502921,-3.24859001975e-05,1793239564407676160
+101,1.683333333,BASELINE,766,745,715,679,663.595742281,636,879,788,804,652,632,653.404257719,0.400941227027,-0.015426606089,0.0499366891568,0.999999973985,7.65045233085e-05,-0.000212446414863,-3.23134312832e-05,1793239564424343296
+102,1.700000000,BASELINE,766,745,715,678.825332545,663.825332545,636,879,788,804,652,631.825332545,653,0.40094145343,-0.0154270900212,0.0499369354292,0.999999974255,7.52060534117e-05,-0.000211652754568,-3.22028247917e-05,1793239564441010176
+103,1.716666667,BASELINE,766,745,715,678.236964413,663.236964413,636,879,788,804,652,631.236964413,653,0.400940210909,-0.0154275819038,0.0499360908536,0.999999973957,7.45202103052e-05,-0.000213292561944,-3.22387397595e-05,1793239564457676800
+104,1.733333333,BASELINE,766.346054529,745,715,678.346054529,663.346054529,636,879.346054529,788.346054529,804,652,631.346054529,653,0.400941564083,-0.0154277491196,0.0499367567667,0.999999974188,7.48816498187e-05,-0.000212056473765,-3.2395168344e-05,1793239564474343168
+105,1.750000000,BASELINE,766.925466374,745,715,678.925466374,663.925466374,636,879.925466374,788.925466374,804,652,631.925466374,653,0.40094466763,-0.0154276974007,0.0499384412579,0.999999974768,7.59493105122e-05,-0.000208881063437,-3.2632863703e-05,1793239564491009536
+106,1.766666667,POSE1_TO_POSE2_PRESS,767,745,715,679,664,636,880,788,804,652,631,653,0.400939399185,-0.0154255475239,0.0499351150944,0.999999973474,7.65373110926e-05,-0.000214705470718,-3.30991247627e-05,1793239564522121472
+107,1.783333333,POSE1_TO_POSE2_PRESS,766.425898268,745,715,678.425898268,663.425898268,636,879.425898268,788,803.425898268,652,631.574101732,653,0.400941366225,-0.0154263072845,0.0499371852568,0.999999973997,7.73969226462e-05,-0.000212007632163,-3.26747190575e-05,1793239564538788864
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.847093239,745,715,678,663,636,879,788,803.152906761,652,632,653,0.400942895543,-0.0154265813011,0.0499384838851,0.999999974348,7.81600967925e-05,-0.000210115346711,-3.23392713914e-05,1793239564555456256
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.254772018,745,715,678,663,636,879,788,803.745227982,652,632,653,0.400943166965,-0.0154254594153,0.0499375653244,0.999999974224,7.86461349877e-05,-0.000210538011793,-3.22594660107e-05,1793239564572122880
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.330602527,745,715,678,663.330602527,636,879,788,804,652,631.669397473,652.669397473,0.40094342382,-0.0154250338296,0.0499374456169,0.999999974275,7.84963881805e-05,-0.000210323362994,-3.24518995042e-05,1793239564588789504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.910733895,745,715,678,663.910733895,636,879,788,804,652,631.089266105,652.089266105,0.400943669679,-0.0154251337902,0.0499379288596,0.999999974457,7.78667699537e-05,-0.000209627688826,-3.28498107137e-05,1793239564605455616
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663.513117818,636,879.486882182,788,804,652,631,652.486882182,0.400944363059,-0.0154258824382,0.0499375797758,0.999999974375,7.8816389024e-05,-0.000209696829933,-3.26511160258e-05,1793239564622121472
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663.063492698,636,879.936507302,788,804,652,631,653,0.400946029671,-0.0154266388524,0.0499374527647,0.999999974419,7.99333572899e-05,-0.000209102139682,-3.23866457775e-05,1793239564638787584
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663.649875159,636,879.350124841,788,804,652,631,653,0.400955041043,-0.0154264877181,0.0499404011525,0.999999975887,8.00633719799e-05,-0.000201895085339,-3.24739928653e-05,1793239564655454464
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663.766367049,636,879.233632951,788,804,652,631.233632951,653,0.400968571897,-0.0154265243671,0.0499441341879,0.999999977786,8.01627347271e-05,-0.000192245335567,-3.23025923515e-05,1793239564672121088
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663.186498967,636,879.813501033,788,804,652,631.813501033,653,0.40098880045,-0.0154268393039,0.0499490300409,0.999999980263,8.02166724466e-05,-0.000178975604873,-3.17477377418e-05,1793239564688787968
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.608934845,745,715,678.391065155,663,636,879.608934845,788,804,652,632,653,0.401018679733,-0.0154283204611,0.0499541614661,0.999999983308,8.02940794032e-05,-0.000161177623447,-3.09593911575e-05,1793239564705454592
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.032462997,745,715,678.967537003,663,636,879.032462997,788,804,652,632,653,0.401053134496,-0.0154303545315,0.0499594045782,0.999999986344,8.03826132696e-05,-0.000141232765819,-3.00603443559e-05,1793239564722121472
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.543891237,745,715,679,663.543891237,636,879.543891237,788,804,652,631.456108763,653,0.401101664389,-0.0154333340203,0.0499660846216,0.999999989865,7.82816448878e-05,-0.000115137429885,-2.97543523479e-05,1793239564738788608
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.877244122,636.122755878,879.877244122,788,804,652,631.122755878,653,0.40115278104,-0.0154362474523,0.049971818851,0.999999992444,7.64279958154e-05,-9.16404723474e-05,-2.95538922948e-05,1793239564755455232
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.288829793,636.711170207,879.288829793,788,804,652,631.711170207,653,0.401210524131,-0.0154386962981,0.04997363999,0.999999993521,7.60081449323e-05,-7.93923662713e-05,-2.96195075671e-05,1793239564772121600
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,678.704461837,663,636.704461837,879,788,803.704461837,652,631.704461837,653,0.401275302673,-0.0154422091311,0.0499739615395,0.999999994014,7.41672158309e-05,-7.48296828306e-05,-2.9517853504e-05,1793239564788788224
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,678.123995029,663,636.123995029,879,788,803.123995029,652,631.123995029,653,0.401346864097,-0.0154467477549,0.0499728373331,0.999999994038,7.09562237965e-05,-7.76765239663e-05,-2.9254934902e-05,1793239564805454848
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.548224445,879,788,803.451775555,652,631.451775555,652.548224445,0.401436952787,-0.0154519318492,0.0499738140109,0.999999994208,7.05030015212e-05,-7.61959213896e-05,-2.84149982654e-05,1793239564822121472
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.973673155,715,678.026326845,663,635.026326845,879,788,803.973673155,652,631.973673155,652.026326845,0.401533444402,-0.0154573337022,0.0499754937963,0.999999994447,7.06040787016e-05,-7.32701518151e-05,-2.74280699846e-05,1793239564838787840
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.397945148,715,678.602054852,663,635.602054852,879,788,803.397945148,652,631.397945148,652.602054852,0.401658530381,-0.0154636208916,0.0499799371488,0.99999999533,6.66396575681e-05,-6.47167931994e-05,-2.66445739097e-05,1793239564855454720
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.181802565,715,678.818197435,663,636,879,788,803.181802565,652,631.181802565,653,0.401789287087,-0.0154708581365,0.0499824142849,0.999999995899,6.240425314e-05,-6.03976612969e-05,-2.5697521011e-05,1793239564872121856
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.770547821,715,678.229452179,663,636,879,788,803.770547821,652,631.770547821,653,0.401932737002,-0.0154802219628,0.0499804902868,0.999999995897,5.75622864627e-05,-6.55563264942e-05,-2.4384366379e-05,1793239564888788480
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.645976813,744.645976813,715,678,663,636,879,788,804,652,632,653,0.402097780153,-0.0154888303744,0.0499785399307,0.999999996075,5.25313327115e-05,-6.72969338893e-05,-2.37155552313e-05,1793239564905454848
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.065866855,744.065866855,715,678,663,636,879,788,804,652,632,653,0.402276613221,-0.0154969563628,0.0499765727416,0.999999996368,4.73796873011e-05,-6.68546970439e-05,-2.34582354716e-05,1793239564922121216
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.507780075,744.507780075,715,678.507780075,663,636,879,788.507780075,803.492219925,652,632,653,0.402483625494,-0.0155083130407,0.0499783228553,0.999999996959,4.1509431972e-05,-6.23378277418e-05,-2.17519327161e-05,1793239564938787840
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.079934307,745,715,679,663,636,879,788.920065693,803,652,631.920065693,653,0.402700856068,-0.0155198204643,0.0499811952858,0.99999999761,3.59487188152e-05,-5.56166411936e-05,-1.9853645355e-05,1793239564955454464
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.648028354,745,715,679,663,636,879,788.351971646,803,652,631.351971646,653,0.402958447771,-0.0155297213993,0.0499880139816,0.999999998554,3.28404895652e-05,-3.86209079868e-05,-1.79163239725e-05,1793239564972121088
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.771503284,745,715,679,663,636,879,788,803,652,631.228496716,653,0.403233645841,-0.0155371278794,0.0499941784912,0.999999999042,3.37030166408e-05,-2.3106802989e-05,-1.56657099871e-05,1793239564988787968
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.170882449,745,715,679,663,636,879,788,803,652,631.829117551,653,0.403537517191,-0.0155404719511,0.0499992776089,0.999999999025,4.10322197791e-05,-1.00056421988e-05,-1.29048755125e-05,1793239565005455104
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.41356058,636,879,788,803,652,632,653,0.403865004556,-0.0155364385219,0.0500050535935,0.999999998472,5.41357078557e-05,2.72566110898e-06,-1.08208879238e-05,1793239565022121728
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.991570603,636,879,788,803,652,632,653,0.404201882656,-0.0155294714816,0.0500110987295,0.999999997425,6.95352993619e-05,1.53098928875e-05,-9.00604378128e-06,1793239565038788352
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.433125996,636,879,788,803.566874004,652,632,652.433125996,0.40457256569,-0.0155264958044,0.0500159114667,0.99999999676,7.57419955499e-05,2.63961136334e-05,-6.78877130107e-06,1793239565055454720
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,632,652,0.404950406407,-0.0155248918634,0.0500172339523,0.999999996225,8.13316220731e-05,3.023404843e-05,-4.64090581898e-06,1793239565072121088
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,632,652,0.405348533696,-0.0155272879268,0.0500079763983,0.999999996272,8.54554629021e-05,1.20523072068e-05,-2.72268847016e-06,1793239565088787712
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.682255268,745,715,679,663,636,879.317744732,788,804,652,632,652,0.405754265581,-0.0155286136478,0.0499914632824,0.999999995429,9.35899269304e-05,-1.94941364237e-05,-1.61153410028e-06,1793239565105454592
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.102721471,745,715,679,663,636,879.897278529,788,804,652,632,652,0.406166262916,-0.0155290575169,0.0499689723266,0.999999992559,0.00010502873339,-6.20517258364e-05,-1.16531662333e-06,1793239565122121216
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.474820486,745,715,678.525179514,663.474820486,636,880,788,804,652,632,652.474820486,0.406632026059,-0.0155287932735,0.0499568122792,0.999999989616,0.00012090756962,-7.84176656941e-05,4.64392090743e-07,1793239565138788096
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.948831889,745,715,678,663.948831889,636,879.948831889,788,804,652,631.948831889,653,0.407114873989,-0.0155285451839,0.0499490703118,0.999999986867,0.00013756271469,-8.56475862107e-05,2.6349063599e-06,1793239565155454976
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.380222259,745,715,678,663.380222259,636,879.380222259,788,804,652,631.380222259,653,0.407653359799,-0.015530003136,0.0499634996961,0.999999986702,0.00015239534727,-5.75496885144e-05,7.6960173299e-06,1793239565172121600
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.196429727,745,715,678,663,636,879.196429727,788,804,652,631,652.803570273,0.408214187484,-0.0155308604608,0.0499806710569,0.999999985481,0.000167791256949,-2.68106011401e-05,1.28414499569e-05,1793239565188788224
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.789313563,745,715,678,663,636,879.789313563,788,804,652,631,652.210686437,0.408820107741,-0.0155305055393,0.0500033765477,0.999999982805,0.00018432402798,9.25919749838e-06,1.81570686789e-05,1793239565205454848
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678.374121761,663,636,880,788,804,652,631.374121761,652.374121761,0.409426763197,-0.0155341563291,0.0500136870901,0.999999982375,0.000185224229524,2.28872150846e-05,2.04280502838e-05,1793239565222121216
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.954478243,663,636,880,788,804,652,631.954478243,652.954478243,0.410033823913,-0.0155400152683,0.0500171649133,0.999999983733,0.000177506972517,2.41441936844e-05,2.1020674699e-05,1793239565238787840
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.468061504,745,715,678.468061504,663,636,880,788,804,652,632,653,0.410632225712,-0.0155409966574,0.0499971320327,0.999999985009,0.000171277747862,-1.7378994332e-05,1.8560304978e-05,1793239565255454464
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.11122017,745,715,678.11122017,663,636,880,788,804,652.11122017,632,653,0.411239241347,-0.0155415402846,0.0499765205813,0.999999984332,0.000166455357087,-5.79919023244e-05,1.6324048978e-05,1793239565272120832
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.699369274,745,715,678.699369274,663,636,880,788,804,652.699369274,632,653,0.411886354585,-0.015541986933,0.0499620090824,0.999999982777,0.000167122583428,-7.9087457051e-05,1.61631104688e-05,1793239565288787712
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,678.718421961,663.281578039,636,880,788,804,652.718421961,632,653,0.412598859881,-0.0155442826901,0.0499696621429,0.999999983736,0.000169516541565,-5.89097767533e-05,1.79642360406e-05,1793239565305454592
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,678.142424374,663.857575626,636,880,788,804,652.142424374,632,653,0.413379739551,-0.0155485118855,0.0500004905869,0.999999984664,0.000173715979608,4.42342292424e-06,2.18169065524e-05,1793239565322121216
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663.58362373,636,879.58362373,788,804.41637627,652,632,653,0.41411006932,-0.0155507881841,0.0500012927004,0.999999984019,0.000177247997543,3.22471373756e-06,2.31391641237e-05,1793239565338788096
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663.030472138,636,879.030472138,788,804.969527862,652,632,653,0.41482379392,-0.0155524229759,0.0499922314713,0.999999983236,0.000180560774652,-1.91720674302e-05,2.36302068529e-05,1793239565355454464
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.417551338,879.582448662,788,804.417551338,652,632,653,0.41553759576,-0.0155545140558,0.0499644115352,0.999999982169,0.000176877389608,-6.26684413176e-05,2.11729527836e-05,1793239565372121088
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663.186267311,635.186267311,880.186267311,788,804,652,631.813732689,653,0.416281638577,-0.0155567737903,0.0499489467436,0.999999981259,0.000172507624072,-8.55962632935e-05,1.99300132335e-05,1793239565388787712
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663.763656549,635.763656549,880.763656549,788,804,652,631.236343451,653,0.417089171553,-0.0155593318059,0.0499617215333,0.999999983761,0.000167553057248,-6.27515214164e-05,2.15978000533e-05,1793239565405454592
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,678.340993053,664,636,880.659006947,788,804.340993053,652,631.340993053,653,0.41792164068,-0.0155612654606,0.0499799346683,0.999999985026,0.000168944856525,-2.91050028681e-05,2.36370768657e-05,1793239565422121216
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,678.918292987,664,636,880.081707013,788,804.918292987,652,631.918292987,653,0.418771390431,-0.0155627664354,0.0500019165552,0.999999984325,0.000174734663267,1.20271046964e-05,2.59337947271e-05,1793239565438787840
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.506632307,636,880,788,804.506632307,652,632,653,0.419560106139,-0.0155602186551,0.0499866709694,0.9999999839,0.000176292601349,-2.19082877752e-05,2.53101217536e-05,1793239565455454720
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,632,653,0.420349201401,-0.0155578650359,0.0499701643101,0.999999982354,0.000177444087448,-5.66082989351e-05,2.45098041861e-05,1793239565472121344
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,632,653,0.421216008241,-0.0155619241271,0.0499899496853,0.999999983313,0.000180763074755,-4.8927662829e-06,2.59781097625e-05,1793239565488787712
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.243960276,636,879.756039724,788,804,652,631.756039724,653,0.422082990068,-0.0155644882545,0.0500050264745,0.999999982609,0.000181777344428,3.15056348986e-05,2.7316190198e-05,1793239565505454336
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.825012491,636,879.174987509,788,804,652,631.174987509,653,0.422950213808,-0.0155649867171,0.0500135971813,0.999999982373,0.00017960707311,4.67396078762e-05,2.84743324188e-05,1793239565522120960
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.598392438,636,879.803215124,788,804,652,631,653,0.423807497738,-0.0155638767554,0.0500036007468,0.999999982853,0.000180788720422,2.8672966934e-05,2.80657899337e-05,1793239565538787840
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.023718142,636,880.952563715,788,804,652,631,653,0.424660498205,-0.0155620736674,0.0499856030817,0.999999982808,0.000183414826598,-3.74407330315e-06,2.69821081619e-05,1793239565555454464
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.550834025,636,880.449165975,788,804,652,631,653,0.425534540003,-0.0155644109367,0.0500026774572,0.999999982424,0.000183992426193,2.09377227726e-05,2.93328838106e-05,1793239565572121088
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,880,788,804,652,631.129160413,653,0.426396216748,-0.0155671319801,0.0500167709023,0.999999981794,0.00018441981388,3.74898441377e-05,3.15418214478e-05,1793239565588787968
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,636,880,788,804,652,631.721026412,653,0.427210351773,-0.015570589337,0.0500147766427,0.999999982292,0.000184625000635,1.61123869892e-05,3.27129771752e-05,1793239565605454592
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.306298255,745,715,678.693701745,663.693701745,636,880,788,804,652,632,653,0.428026544553,-0.0155687974951,0.0499947682845,0.999999981693,0.00018751461199,-2.12449347887e-05,3.16431471361e-05,1793239565622121216
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.885690743,745,715,678.114309257,663.114309257,636,880,788,804,652,632,653,0.428844571975,-0.0155623254895,0.049958698632,0.999999978353,0.000192797644669,-7.28498353872e-05,2.85752635084e-05,1793239565638787840
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.538694851,745,715,678.461305149,663.461305149,636,880,788,804.461305149,652,632,653,0.429728572376,-0.0155610411194,0.0499662757736,0.999999979394,0.000194834611399,-4.91030493576e-05,2.89866500351e-05,1793239565655454464
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.036805303,715,679,664,636,880,788,805,652,632,653,0.430621037517,-0.0155608068644,0.0499824259743,0.999999980225,0.000196227626073,-1.17494488115e-05,3.01230000183e-05,1793239565672121088
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.624493339,715,679,664,636,880,788,805,652,632,653,0.431397499847,-0.0155572062108,0.0499663279134,0.999999978437,0.000199923744818,-4.79356497565e-05,2.93108852142e-05,1793239565688787712
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.79075578,715,679,663.79075578,636,880,788,805,652,632,652.79075578,0.43218486929,-0.0155543421147,0.0499544577347,0.999999976409,0.00020294453177,-7.19333499948e-05,2.86393076824e-05,1793239565705454592
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.211202819,715,679,663.211202819,636,880,788,805,652,632,652.211202819,0.43299154166,-0.0155527815366,0.0499500698231,0.999999975872,0.000204770155203,-7.43605280279e-05,2.82164450927e-05,1793239565722121216
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.367403189,636,880.367403189,788.367403189,805,652,632,652,0.433811593668,-0.0155526793836,0.0499678344947,0.999999976625,0.000209130203588,-4.59446151544e-05,3.00581174541e-05,1793239565738788352
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.945466204,636,880.945466204,788.945466204,805,652,632,652,0.434639317179,-0.0155534134551,0.0499983009052,0.999999976349,0.000214943427546,1.5595695162e-07,3.31982176441e-05,1793239565755455232
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.519212887,745,715,679,664,635.480787113,881,788.480787113,805,652,632,652.519212887,0.435395867931,-0.0155509433121,0.0499934385302,0.999999975332,0.000218620514986,-1.99834901316e-05,3.38034027845e-05,1793239565772121856
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.904698135,744.904698135,715,679,663.904698135,635.095301865,881.095301865,788,805,651.904698135,632,653,0.436137520633,-0.0155481624085,0.0499829829989,0.99999997373,0.000221520830993,-4.8205259248e-05,3.38203248163e-05,1793239565788787968
+183,3.050000000,POSE1_TO_POSE2_PRESS,766.314099239,744.314099239,715,679,663.314099239,635.685900761,881.685900761,788,805,651.314099239,632,653,0.436840276427,-0.0155455010849,0.0499625847798,0.999999971534,0.000221540585065,-8.25720360652e-05,3.21522728032e-05,1793239565805454592
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,744.271448621,715,679,663,635.728551379,881.457102758,788,805,651.271448621,632,653,0.437571930277,-0.0155476322522,0.049965451888,0.999999973098,0.000218776086961,-6.99159497939e-05,3.24508472487e-05,1793239565822121216
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,744.851258545,715,679,663,635.148741455,880.297482909,788,805,651.851258545,632,653,0.438336411809,-0.0155552076128,0.0499947480381,0.999999976728,0.000212848722316,-3.84263868824e-06,3.49834780207e-05,1793239565838787840
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.427433111,880.427433111,788,805,652,632,653,0.439025356952,-0.015554640083,0.0499985400688,0.999999976176,0.000215357407022,1.07669951939e-06,3.56050743309e-05,1793239565855454464
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.997647923,788,805,652,632,653,0.439688077344,-0.0155512758352,0.0499934339308,0.999999974887,0.000220751168519,-1.52057312743e-05,3.55591244201e-05,1793239565872121088
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.423034339,788,805,652,632,653,0.440311687178,-0.015551077143,0.0499645096379,0.999999973704,0.00021986591443,-5.59174451824e-05,3.35331634243e-05,1793239565888787968
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714.843630308,679,663,635.843630308,880.156369692,788,805,652,632,653,0.440926844091,-0.0155521648813,0.04994377148,0.999999972194,0.000217334226288,-8.5684375534e-05,3.2193286817e-05,1793239565905454848
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,714.250856742,679,663,635.250856742,880.749143258,788,805,652,632,653,0.44151841034,-0.0155568428501,0.0499458795649,0.999999973765,0.000210207593414,-8.4906099841e-05,3.27681663886e-05,1793239565922121216
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,714.33141521,679,663,635,880.66858479,787.66858479,805,652,632,653,0.442095297499,-0.0155621791965,0.0499487854129,0.999999975993,0.000202180445851,-7.77877257014e-05,3.29415561649e-05,1793239565938788096
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,714.905982326,679,663,635,880.094017674,787.094017674,805,652,632,653,0.442661414904,-0.0155679985795,0.0499522765618,0.999999978563,0.000193492611255,-6.60177635603e-05,3.28203818437e-05,1793239565955454720
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.516830893,635,880,787.483169107,805,652,632,653,0.443157728724,-0.0155705164781,0.0499307752242,0.999999976067,0.00019052106583,-0.00010310030203,3.06226489004e-05,1793239565972121344
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880.061803125,788,805,651.938196875,632,653,0.443634275461,-0.015572309023,0.0499022690996,0.999999970212,0.000188122221592,-0.000152999517725,2.78737359389e-05,1793239565988788224
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880.648373757,788,805,651.351626243,632,653,0.44405894014,-0.0155734271229,0.04985580374,0.999999956737,0.000181090128497,-0.000230569660863,2.38944058015e-05,1793239566005454848
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880.766890142,787.766890142,805.233109858,651.233109858,632,653,0.444489712294,-0.0155763445102,0.0498241983854,0.999999945521,0.00017325836881,-0.000280141321627,2.14417514129e-05,1793239566022121472
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880.184899716,787.184899716,805.815100284,651.815100284,632,653,0.444929625079,-0.015581954775,0.049814833051,0.999999944871,0.000164229801376,-0.00028780944514,2.12739751821e-05,1793239566038788096
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.390277562,715,679,662,635,880,787,805.609722438,651.609722438,632,653,0.445351795502,-0.0155879471252,0.0498159610667,0.999999949151,0.00015620965625,-0.000277171390109,2.17224914071e-05,1793239566055454720
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.962282445,715,679,662,635,880,787,805.037717555,651.037717555,632,653,0.445765704481,-0.0155941173886,0.0498219751643,0.999999955414,0.000148659068105,-0.000258009318155,2.24579756236e-05,1793239566072121088
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.46301276,715,679.53698724,662,635,880,787,806.073974479,651.53698724,632,653,0.446133655968,-0.0156021444178,0.0498202593011,0.999999957018,0.000139610306847,-0.000256844066358,2.24546301517e-05,1793239566088787712
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.884624406,745,715,679.884624406,662,634.884624406,880.115375594,787,806.769248812,652,631.884624406,653,0.446482259166,-0.0156092723306,0.0498129223892,0.999999955508,0.0001312597828,-0.000266956434668,2.2095138339e-05,1793239566105454336
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.291780668,745,715,679.291780668,662,634.291780668,880.708219332,787,805.583561335,652,631.291780668,653,0.446764218157,-0.015612136914,0.0497845817098,0.999999941107,0.000126236511672,-0.000318482200346,2.047762302e-05,1793239566122120960
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.29251816,745,715,679,662,634,881,787,805,652,631,652.70748184,0.44702883284,-0.0156135348591,0.0497539037209,0.999999925731,0.000121019968103,-0.000365485065473,1.7683158641e-05,1793239566138787584
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.8685355,745,715,679,662,634,881,787,805,652,631,652.1314645,0.447276637963,-0.0156135113856,0.0497209604887,0.999999909947,0.000115616111484,-0.000408104478099,1.37480332487e-05,1793239566155454208
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.554942269,745.445057731,715,679,662,634.445057731,881,787,805,651.554942269,631,652,0.447519413062,-0.0156173858329,0.0497118190496,0.999999905293,0.000108478114457,-0.000421276517361,1.31292198322e-05,1793239566172121088
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,715,679,662,635,881,787,805.020507873,651.020507873,631,652.020507873,0.447759834186,-0.0156223605134,0.049710132541,0.999999904469,0.00010103736464,-0.000425052345451,1.35311653847e-05,1793239566188787968
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,715,679,662,635,881,787,805.564765062,651.564765062,631,652.564765062,0.447978126392,-0.0156259951267,0.049719075158,0.999999910425,9.896163766e-05,-0.000411258773735,1.49559259793e-05,1793239566205454592
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.126635509,745.873364491,715,679,662,634.873364491,881,787,805.873364491,652,631,653,0.4481917179,-0.0156298507473,0.0497272576289,0.999999915779,9.62481839151e-05,-0.000398639960716,1.62439203463e-05,1793239566222121216
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.758820853,745.241179147,715,679,662,634.241179147,881,787,805.241179147,652,631,653,0.44838654339,-0.0156345886646,0.0497324054689,0.999999919389,9.09888203278e-05,-0.000390710981697,1.69859210482e-05,1793239566238787584
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.355931814,715,679,662,634,881,787,805.355931814,652,631,652.644068186,0.448549623029,-0.0156373529557,0.0497332106503,0.999999919266,8.8187170792e-05,-0.00039164660595,1.74171759479e-05,1793239566255454464
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.931408364,715,679,662,634,881,787,805.931408364,652,631,652.068591636,0.448693121313,-0.0156388998813,0.0497313372073,0.999999916846,8.69014801647e-05,-0.000398050066029,1.76567576751e-05,1793239566272121088
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,715,679.504750572,662,634,880.495249428,787,805.495249428,652,631,652.504750572,0.448811460133,-0.0156404961299,0.0497285268362,0.999999915278,8.32528497755e-05,-0.000402735896827,1.77937252457e-05,1793239566288787968
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.919435389,715.080564611,680,662,634,880.080564611,787,805,652,631,652.919435389,0.44892312306,-0.0156423250491,0.0497254363417,0.999999913707,7.9414725671e-05,-0.000407378117247,1.79310952249e-05,1793239566305454592
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.326048585,715.673951415,680,662,634,880.673951415,787,805,652,631,652.326048585,0.44901396296,-0.0156455925152,0.0497213697939,0.99999991154,7.64057452913e-05,-0.000413222239993,1.81594143812e-05,1793239566322121472
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745,715.739919227,679.739919227,662,634,880.739919227,786.739919227,805,652,631,652.260080773,0.449094953674,-0.0156493721691,0.0497178321319,0.999999909178,7.28218469441e-05,-0.000419507850302,1.88250705672e-05,1793239566338788096
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,715.162641162,679.162641162,662,634,880.162641162,786.162641162,805,652,631,652.837358838,0.449163932211,-0.0156537764926,0.0497149395051,0.999999906571,6.85367726789e-05,-0.000426331903207,2.00241076547e-05,1793239566355454720
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679.413538088,662,634,880.413538088,786,805,652,631,653,0.449224502118,-0.0156582824667,0.0497138712084,0.999999906317,6.27453592338e-05,-0.000427785412441,2.07276699361e-05,1793239566372121344
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679.989286316,662,634,880.989286316,786,805,652,631,653,0.449281773741,-0.0156628283131,0.0497135185045,0.999999906965,5.63630849852e-05,-0.000427132328034,2.12368824068e-05,1793239566388787968
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745,715.566158089,679.433841911,662,634,881,786,805,652,631,653,0.449320477744,-0.0156630991467,0.0497124288789,0.999999906471,5.39344388393e-05,-0.000428595589255,2.13214373806e-05,1793239566405454592
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.854161323,745,715.854161323,679,662,634,881,786,805.145838677,652,631,653,0.449355661697,-0.0156631330071,0.0497114773006,0.999999905855,5.25280707401e-05,-0.000430200991947,2.1419536078e-05,1793239566422121216
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.266026955,745,715.266026955,679,662,634,881,786,805.733973045,652,631,653,0.449381237857,-0.0156626940149,0.0497109867652,0.999999904947,5.39946885226e-05,-0.000432115777313,2.15831296385e-05,1793239566438787840
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.316925924,745,715,679,662,633.683074076,881,786,805.683074076,652,631,653,0.449402233664,-0.0156627144012,0.0497100500461,0.999999904493,5.35155929258e-05,-0.000433219621437,2.16793801806e-05,1793239566455454464
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.8955995,745,715,679,662,633.1044005,881,786,805.1044005,652,631,653,0.449419446581,-0.0156631141859,0.049708744826,0.999999904414,5.14295418257e-05,-0.000433653713157,2.17200124538e-05,1793239566472121344
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,633.47026399,880.52973601,786,805,652,631,653,0.449430816688,-0.015660526639,0.0497083174118,0.999999904031,5.33686480031e-05,-0.000434329985851,2.11338620799e-05,1793239566488788480
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.954633228,745,715,679.045366772,661.954633228,634,880.045366772,786,805,651.954633228,631,653,0.449440462761,-0.0156575574508,0.049708116184,0.999999903602,5.58447699449e-05,-0.00043503947016,2.04659129519e-05,1793239566505455616
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.363644855,745,715,679.636355145,661.363644855,634,880.636355145,786,805,651.363644855,631,653,0.449444842604,-0.0156579071095,0.0497083113295,0.999999903492,5.4123125625e-05,-0.000435507225783,2.04735536561e-05,1793239566522121728
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.221849681,745,715,679.778150319,661,634,880.778150319,786,805.221849681,651,631,653,0.44944858621,-0.0156588242824,0.0497082187274,0.999999903288,5.2510135216e-05,-0.000436164334894,2.06561805359e-05,1793239566538788096
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.798556574,745,715,679.201443426,661,634,880.201443426,786,805.798556574,651,631,653,0.449451312128,-0.0156606492165,0.0497076658621,0.999999902934,5.1070941076e-05,-0.000437124322262,2.11187046233e-05,1793239566555454720
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.375621476,661.375621476,634,880.375621476,786,805.624378524,651,631,653,0.449452973707,-0.0156601146275,0.0497073735651,0.999999902646,5.16583245053e-05,-0.000437719621268,2.09942533789e-05,1793239566572121344
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.952878541,661.952878541,634,880.952878541,786,805.047121459,651,631,653,0.449454063944,-0.0156583134341,0.0497072211425,0.999999902392,5.33335855029e-05,-0.000438119153608,2.05547106672e-05,1793239566588787968
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.474101427,661.474101427,633.474101427,880.474101427,786,805,651.525898573,630.474101427,653,0.449454502497,-0.0156585258158,0.0497067430173,0.999999902053,5.17927763515e-05,-0.00043907668532,2.0571127662e-05,1793239566605454592
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.897634399,745,715,679,661.102365601,633.102365601,880,786,805,651.897634399,630.102365601,653,0.449454675942,-0.0156585536244,0.0497060643849,0.999999901588,5.06661693061e-05,-0.000440269769437,2.05000533309e-05,1793239566622121216
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.302771566,745,715,679,661.697228434,633.697228434,880,786,805,651.302771566,630.697228434,653,0.449453852598,-0.0156568323307,0.0497045603647,0.999999900564,5.29076855711e-05,-0.000442357508842,1.98130562174e-05,1793239566638787840
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.284557201,745,715,679,661.715442799,634,880,786,805,651,630.715442799,653,0.449454183994,-0.0156563472073,0.0497040488841,0.999999900364,5.32993758205e-05,-0.000442760119327,1.98442703774e-05,1793239566655454464
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.864076489,745,715,679,661.135923511,634,880,786,805,651,630.135923511,653,0.449455712355,-0.0156571434548,0.0497045662354,0.999999901023,5.17736011016e-05,-0.000441415984105,2.06199572535e-05,1793239566672121344
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.438881514,715,679,661,634,880.438881514,786,805,651.438881514,630,653,0.449455232427,-0.0156571773999,0.0497040114344,0.999999900524,5.16998706967e-05,-0.00044255862625,2.05315317372e-05,1793239566688787968
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745.987428695,715.012571305,679,661,634,880.987428695,786,805,652,630.012571305,652.987428695,0.449454208914,-0.0156569656781,0.0497031930365,0.99999989971,5.20744297217e-05,-0.000444366297058,2.01880390684e-05,1793239566705454592
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.398644629,715.601355371,679,661,634,880.398644629,786,805,652,630.601355371,652.398644629,0.449456475545,-0.0156561999173,0.049705350487,0.999999900848,5.26031889359e-05,-0.000441730113403,2.02895222399e-05,1793239566722121472
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.187142876,715.812857124,679.187142876,661.187142876,633.812857124,880,786,805,651.812857124,631,652.187142876,0.449457945689,-0.0156556032675,0.0497064801669,0.999999901518,5.22499807596e-05,-0.000440248038072,2.03638760514e-05,1793239566738788096
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.766647783,715.233352217,679.766647783,661.766647783,633.233352217,880,786,805,651.233352217,631,652.766647783,0.449457745921,-0.0156553611745,0.0497054550323,0.999999901218,5.00476478501e-05,-0.000441185655778,2.03813506915e-05,1793239566755454720
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.656250448,745.656250448,715,679.656250448,661.656250448,633,880.343749552,786,805,651.343749552,631,653,0.449457486514,-0.015655803376,0.049704543846,0.999999900871,4.95350224616e-05,-0.0004420407284,2.01283917168e-05,1793239566772121600
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.080768731,745.080768731,715,679.080768731,661.080768731,633,880.919231269,786,805,651.919231269,631,653,0.449457186903,-0.0156567068816,0.0497037094758,0.999999900494,5.01614810662e-05,-0.000442840154803,1.9693125109e-05,1793239566788788224
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.491611013,745,715,679.491611013,661,633,880.508388987,786,805,652,631,653,0.449457439965,-0.0156552942105,0.0497032795504,0.999999900286,5.08814844198e-05,-0.000443242964639,1.93738258442e-05,1793239566805454848
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679.934188142,661.065811858,633.065811858,880.065811858,786,805,652,631,653,0.449457759861,-0.0156536470211,0.0497030361242,0.99999990015,5.16828211913e-05,-0.000443467290051,1.91270525992e-05,1793239566822121216
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.341348431,661.658651569,633.658651569,880.658651569,786,805,652,631,653,0.449457892398,-0.0156531500324,0.0497037574173,0.999999900381,5.30131801154e-05,-0.000442780843884,1.93094555401e-05,1793239566838787840
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679.245658577,661.754341423,633.754341423,880.754341423,786,805,652,631,653,0.449457757376,-0.0156535660385,0.0497040680337,0.999999900529,5.28761211317e-05,-0.000442453489038,1.95167886613e-05,1793239566855454464
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.824748956,661.175251044,633.175251044,880.175251044,786,805,652,631,653,0.449457259199,-0.0156552212503,0.0497038212395,0.999999900564,5.07473395013e-05,-0.000442613527891,1.97579594828e-05,1793239566872121088
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.599722029,745,715,679.599722029,661.400277971,633.400277971,880,786,805,652,630.599722029,653,0.449458047386,-0.0156551392109,0.0497037500699,0.999999900669,5.0377949923e-05,-0.000442419072864,1.97346616567e-05,1793239566888787712
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.025738545,745,715,679.025738545,661.974261455,633.974261455,880,786,805,652,630.025738545,653,0.449459393807,-0.01565430327,0.0497037551147,0.999999900806,5.07720701337e-05,-0.000442070780882,1.95965944177e-05,1793239566905454592
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,662,634,880,786,805,652,630,653,0.449460252331,-0.0156540306143,0.0497047740631,0.999999901488,4.97606480669e-05,-0.000440644431807,1.94845604997e-05,1793239566922121216
+251,4.183333333,HOLD_POSE2,766,745,716,679,662,633,880,786,805,651,630,653,0.449460629174,-0.0156541563821,0.0497049562491,0.999999901509,4.92810139046e-05,-0.00044065192262,1.94814105425e-05,1793239566963275776
+252,4.200000000,HOLD_POSE2,766,745,715.424640105,679,661.424640105,633.575359895,880.575359895,786.575359895,805,651.575359895,630.575359895,653,0.449460038679,-0.0156536477084,0.0497046185739,0.999999901098,4.9199560359e-05,-0.000441590328897,1.95142813773e-05,1793239566979942400
+253,4.216666667,HOLD_POSE2,765.8490468,745,715,679.1509532,661.1509532,634,880.8490468,786.8490468,805,651.8490468,631,653,0.449460003673,-0.0156530798505,0.0497045999502,0.999999901031,4.92875690055e-05,-0.000441731662949,1.95405752445e-05,1793239566996609024
+254,4.233333333,HOLD_POSE2,765.272795753,745,715,679.727204247,661.727204247,634,880.272795753,786.272795753,805,651.272795753,631,653,0.449461533711,-0.0156523452461,0.0497054802273,0.99999990193,4.98530229965e-05,-0.000439627313781,1.95483390704e-05,1793239567013275648
+255,4.250000000,HOLD_POSE2,765,745,715,680,662,634,880.310997482,786,805.310997482,651.310997482,631,653,0.44946168825,-0.0156524563751,0.0497054488522,0.999999901877,4.93726861222e-05,-0.000439814339301,1.92852857631e-05,1793239567029942272
+256,4.266666667,HOLD_POSE2,765,745,715,680,662,634,880.901570846,786,805.901570846,651.901570846,631,653,0.449460606266,-0.015653327789,0.0497045979335,0.999999900965,4.79522197219e-05,-0.000442061230828,1.87787773036e-05,1793239567046609152
+257,4.283333333,HOLD_POSE2,765.481672465,745,715,680,661.518327535,634,880.518327535,786.481672465,805.518327535,652,630.518327535,653,0.449459328815,-0.0156540050664,0.0497033689642,0.99999990022,4.80291934803e-05,-0.000443724812652,1.90381053248e-05,1793239567063276032
+258,4.300000000,HOLD_POSE2,766,745.059436952,715,679.940563048,661,633.940563048,880.059436952,786.940563048,805,652,630.059436952,653,0.449458398814,-0.0156545460813,0.0497024259893,0.999999899711,4.83944270159e-05,-0.000444813541846,1.94044036796e-05,1793239567079942656
+259,4.316666667,HOLD_POSE2,766,745.635092915,715,679.364907085,661,633.364907085,880.635092915,786.364907085,805,652,630.635092915,653,0.449460825996,-0.0156542408577,0.0497046236071,0.999999900981,4.86621332223e-05,-0.000441922818208,1.93694701656e-05,1793239567096609280
+260,4.333333333,HOLD_POSE2,766,745.789564803,715,679.210435197,661.210435197,633.210435197,881,786,805.210435197,652,631,653,0.44946208903,-0.0156534152875,0.0497058718823,0.999999901628,4.89220105922e-05,-0.000440433347964,1.92317682252e-05,1793239567113275904
+261,4.350000000,HOLD_POSE2,766,745.21476571,715,679.78523429,661.78523429,633.78523429,881,786,805.78523429,652,631,653,0.449461336368,-0.0156516887489,0.0497054763915,0.999999901209,4.91683324775e-05,-0.000441370117339,1.89161250274e-05,1793239567129942528
+262,4.366666667,HOLD_POSE2,766,745,715,679.628284849,662,633.628284849,881,786,805.628284849,652,630.628284849,653,0.449460824755,-0.0156518398215,0.0497050094365,0.999999900879,4.9553344814e-05,-0.00044207311114,1.89282492838e-05,1793239567146609152
+263,4.383333333,HOLD_POSE2,766,745,715,679.034835567,662,633.034835567,881,786,805.034835567,652,630.034835567,653,0.449460456931,-0.0156531109195,0.0497044998519,0.999999900602,5.00210882828e-05,-0.000442636654101,1.9135892124e-05,1793239567163275776
+264,4.400000000,HOLD_POSE2,766,745,715,679.54262614,662,633.54262614,881,786,805,652,630.54262614,653,0.449461088428,-0.0156514235449,0.0497041441828,0.999999900516,5.06642508002e-05,-0.000442777973958,1.86913952717e-05,1793239567179942144
+265,4.416666667,HOLD_POSE2,766,745,715,679.881712773,661.881712773,633.881712773,881,786,805,652,631,653,0.449461739828,-0.0156502727903,0.0497039915818,0.999999900557,5.1017878534e-05,-0.000442655207376,1.8441076987e-05,1793239567196609024
+266,4.433333333,HOLD_POSE2,766,745,715,679.309137876,661.309137876,633.309137876,881,786,805,652,631,653,0.44946222833,-0.0156518915019,0.0497045820109,0.999999901043,5.02175217165e-05,-0.000441619326581,1.90926975583e-05,1793239567213275904
+267,4.450000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,661,634,880,786,805,652,631,653,0.449460574084,-0.0156506255431,0.0497033848707,0.99999989981,5.15300373669e-05,-0.000444268425145,1.87179146272e-05,1793239567250809088
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,745.588809943,715.411190057,680,661.588809943,633.411190057,880.588809943,786.588809943,805,652,631,653,0.449461819264,-0.0156506824267,0.0497039592544,0.999999900637,5.13183725258e-05,-0.000442433576342,1.85576981853e-05,1793239567267475968
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.826246056,715,679.826246056,661.826246056,633.173753944,880.826246056,786.826246056,805.173753944,652,631,653,0.449462512274,-0.0156508293452,0.0497041837747,0.99999990111,5.12224253204e-05,-0.000441378368194,1.84634694684e-05,1793239567284142592
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745.250251594,715,679.250251594,661.250251594,633.749748406,880.250251594,786.250251594,805.749748406,652,631,653,0.449461927009,-0.0156511846944,0.0497035983607,0.999999900769,5.13943644907e-05,-0.000442128028407,1.85220023547e-05,1793239567300808960
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.324294431,661.324294431,633.675705569,880.324294431,786,805.675705569,652,630.675705569,653,0.449461935156,-0.0156513680044,0.0497040390015,0.999999900664,5.11344416134e-05,-0.000442385512743,1.87770871123e-05,1793239567317475328
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.897727663,661.897727663,633.102272337,880.897727663,786,805.102272337,652,630.102272337,653,0.449462399191,-0.0156514191457,0.0497052679075,0.99999990074,5.05427412353e-05,-0.00044226488352,1.91831726017e-05,1793239567334141952
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.515383347,662,633.484616653,881,786,805,652,630.484616653,653,0.449462912544,-0.0156509290369,0.0497049388497,0.999999901229,5.04176872188e-05,-0.000441175918208,1.9082924658e-05,1793239567350808832
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,880.926628576,786,805,652,631,652.926628576,0.44946314567,-0.0156506474715,0.049704275541,0.999999901641,5.01445643256e-05,-0.000440279738569,1.88991844246e-05,1793239567367475712
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,880.345179304,786,805,652,631,652.345179304,0.449461364165,-0.0156526235751,0.0497036394316,0.999999900904,4.8144680104e-05,-0.000442174069734,1.88983594595e-05,1793239567384142336
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.766893428,634,880,786,805,652,631,652.233106572,0.449458060501,-0.0156527113498,0.0497023724034,0.999999899763,4.75097887128e-05,-0.000444829042606,1.85561230515e-05,1793239567400808960
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.193229174,634,880,786,805,652,631,652.806770826,0.449452533036,-0.0156500403652,0.0497001836328,0.99999989803,4.8869087496e-05,-0.00044859527689,1.77151006644e-05,1793239567417475328
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.618827774,745,715,679,661,634,880,786.381172226,805,652,631,653,0.449431206825,-0.0156476067307,0.0496914276838,0.999999890632,5.09603201714e-05,-0.000464601127093,1.68706239979e-05,1793239567434141952
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.044051913,745,715,679,661,634,880,786.955948087,805,652,631,653,0.449401856171,-0.0156452936499,0.0496793361569,0.999999879946,5.34233141952e-05,-0.000486823679411,1.60243927631e-05,1793239567450808832
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.547055365,745.547055365,715,679,661.547055365,634,880,786.452944635,805,652,631,652.452944635,0.449345381645,-0.0156429707158,0.0496596603323,0.999999861316,5.27370305569e-05,-0.000523814457736,1.4307134625e-05,1793239567467475456
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.864261242,746,715,679,661.864261242,634,880,786,805,651.864261242,631,652.135738758,0.449283617035,-0.0156403059133,0.0496404108522,0.999999842817,5.23823771014e-05,-0.000558090635845,1.25297986349e-05,1793239567484141824
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.28784765,746,715,679,661.28784765,634,880,786,805,651.28784765,631,652.71215235,0.449211987262,-0.0156365338924,0.0496245892319,0.999999830533,5.39529943788e-05,-0.000579574302579,1.07921356015e-05,1793239567500808704
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.287454743,746,715,679.287454743,661.287454743,634,880,786,805,651,630.712545257,653,0.449135687923,-0.0156322354173,0.0496147347712,0.99999982319,5.49124187623e-05,-0.000592044620431,9.31635797371e-06,1793239567517475584
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.861648669,746,715,679.861648669,661.861648669,634,880,786,805,651,630.138351331,653,0.449054730647,-0.0156274117987,0.049610832617,0.999999821116,5.52621716173e-05,-0.000595524025225,8.10181394837e-06,1793239567534141952
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745.551716738,715.448283262,679.551716738,662,633.551716738,880,786,805,651.448283262,630,653,0.448955147027,-0.0156199443982,0.0496090950386,0.999999819136,5.96673360093e-05,-0.000598426001227,7.38622751227e-06,1793239567550808832
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.038102487,715.961897513,679,661.961897513,633.038102487,880,786,805.038102487,652,630,653,0.44884833897,-0.0156117887068,0.0496083935303,0.999999817451,6.50731934478e-05,-0.000600680666813,6.86203599437e-06,1793239567567475968
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.617070302,715.382929698,679,661.382929698,633.617070302,880,786,805.617070302,652,630,653,0.448722909896,-0.0156057755474,0.0496126455104,0.999999819956,6.6410290724e-05,-0.000596348636959,6.80640375025e-06,1793239567584142336
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,679,661.194835649,634,880.194835649,786,805.805164351,652,630.194835649,653,0.448588006403,-0.0155984564634,0.0496164720936,0.999999822733,6.93841063924e-05,-0.000591334245245,6.5547382823e-06,1793239567600808704
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,679,661.770252098,634,880.770252098,786,805.229747902,652,630.770252098,653,0.448434596135,-0.0155885864616,0.0496194677301,0.999999826023,7.55549938879e-05,-0.000584986967439,5.92015274655e-06,1793239567617475584
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.656757875,715.343242125,679,662,634,880.656757875,786,805,651.656757875,631,653,0.448256022533,-0.0155768401876,0.0496181314174,0.999999824612,8.14222445803e-05,-0.000586623896317,4.37533614887e-06,1793239567634142208
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.085380507,715.914619493,679,662,634,880.085380507,786,805,651.085380507,631,653,0.448060724153,-0.0155638468516,0.049613915883,0.999999820044,8.70876842474e-05,-0.000593567512726,2.22553609843e-06,1793239567650808576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.491710843,679,661.491710843,634,880,786,805,651,631,653,0.447824241175,-0.0155504660731,0.0496072175899,0.999999813346,9.25090818181e-05,-0.000603945467103,3.13142382449e-07,1793239567667475456
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.101786125,634,880,786.101786125,805,651.101786125,630.898213875,653,0.447577258167,-0.0155366314786,0.0496016423366,0.999999807687,9.79404264937e-05,-0.000612397651,-1.56359601254e-06,1793239567684142080
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.67629279,634,880,786.67629279,805,651.67629279,630.32370721,653,0.44731511312,-0.0155210053598,0.0496033084642,0.999999809122,0.000103617085795,-0.000609103969567,-3.46844441333e-06,1793239567700808704
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.748865314,745,715,679.251134686,661.748865314,634,880,786.748865314,804.748865314,651.748865314,630.251134686,653,0.447035826251,-0.0155066707686,0.0496046894237,0.99999981064,0.000107436859131,-0.000605926197397,-5.55522423504e-06,1793239567717475328
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.173590769,745,715,679.826409231,661.173590769,634,880,786.173590769,804.173590769,651.173590769,630.826409231,653,0.446734414425,-0.0154940031548,0.049605702316,0.999999812301,0.000108859947051,-0.000602898029679,-7.87682305924e-06,1793239567734141952
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.400575289,745.400575289,715,679.599424711,661.400575289,634,880,786.400575289,804.400575289,651.400575289,631,653,0.446411334061,-0.0154862047165,0.0496118108808,0.99999981957,0.000102835153791,-0.000591760966113,-1.01489778834e-05,1793239567750808832
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.97426229,745.97426229,715,679.02573771,661.97426229,634,880,786.97426229,804.97426229,651.97426229,631,653,0.44607888948,-0.0154805105306,0.0496201215799,0.99999982901,9.35917009405e-05,-0.000577119580341,-1.23997650374e-05,1793239567767475456
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745.432223873,715,679.567776127,662,634,880,787,805,652,631,653,0.445707901483,-0.0154834033238,0.0496394657402,0.999999848304,7.85029807774e-05,-0.000545060201002,-1.17699111021e-05,1793239567784142336
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.842558857,662,634.157441143,880.157441143,787,805,652,631,653,0.445325293078,-0.015483882766,0.0496608016088,0.9999998666,6.58053410947e-05,-0.00051219209124,-1.13540806582e-05,1793239567800808960
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.265630099,662,634.734369901,880.734369901,787,805,652,631,653,0.444916546921,-0.0154768573939,0.0496860633638,0.999999883229,6.02100552457e-05,-0.000479349059285,-1.18690083897e-05,1793239567817475584
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634.690413294,881,787,805.309586706,652,631,653,0.444474275975,-0.0154654009913,0.049702966213,0.999999893539,5.6752854263e-05,-0.000457724566092,-1.37778229186e-05,1793239567834142464
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634.116657228,881,787,805.883342772,652,631,653,0.444003398388,-0.0154501636037,0.0497127364369,0.999999899026,5.51200737576e-05,-0.000445672813222,-1.68760367144e-05,1793239567850808832
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.471088729,715,679,662,634.471088729,881,787,805.528911271,652,631.471088729,653,0.443492139012,-0.0154390263685,0.0497119037425,0.999999897138,4.90341801324e-05,-0.000450424909261,-2.08817509086e-05,1793239567867475456
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766.060704125,745.939295875,715,679.060704125,662,634.939295875,880.939295875,787.060704125,805,652,631.939295875,653,0.442967340616,-0.0154288262645,0.0497096609801,0.999999894631,4.20087091087e-05,-0.000456447097566,-2.50778293044e-05,1793239567884142336
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766.635903498,745.364096502,715,679.635903498,662,634.364096502,880.364096502,787.635903498,805,652,631.364096502,653,0.442415139985,-0.015417699974,0.0497184017889,0.999999903475,3.66521506116e-05,-0.00043688649454,-2.8924373529e-05,1793239567900809216
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766.787610609,745,715,679.787610609,662.424778783,634.212389391,880.212389391,788,805,652,631.212389391,652.787610609,0.441863408271,-0.0154088345165,0.0497382035883,0.999999918947,2.85436332399e-05,-0.00040036972989,-3.15424218393e-05,1793239567917476096
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766.208905843,745,715,679.208905843,663.582188314,634.791094157,880.791094157,788,805,652,631.791094157,652.208905843,0.441312485349,-0.0154038683967,0.0497770826627,0.999999943382,1.56887168698e-05,-0.000334608083344,-3.20416401853e-05,1793239567934142464
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.367506085,663.632493915,635,880.632493915,788,805.367506085,651.632493915,632,652,0.440724397985,-0.0154010958861,0.0498126350689,0.99999996114,5.2252155016e-06,-0.000276827740833,-3.25569539475e-05,1793239567950809088
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.94262273,663.05737727,635,880.05737727,788,805.94262273,651.05737727,632,652,0.440115315804,-0.0153995625836,0.0498463081812,0.999999974457,-3.88733362615e-06,-0.000223556177455,-3.30813602505e-05,1793239567967475712
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.466575098,663,635,880.533424902,788,805.466575098,651.533424902,631.466575098,652.533424902,0.439417510934,-0.0153958243382,0.0498272083452,0.999999965257,2.19506570725e-05,-0.000259979157959,-3.76234027007e-05,1793239567984142336
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,881,788,805,652,631,653,0.438694597471,-0.0153913002915,0.0498001174475,0.999999950734,4.11554564672e-05,-0.000308223703807,-4.28515533046e-05,1793239568000808960
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,881,788,805,652,631,653,0.437915101586,-0.0153847707429,0.0497650902998,0.999999932528,2.14442274701e-05,-0.000363436839446,-4.89718575401e-05,1793239568017475584
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.273878011,663,635.273878011,880.726121989,788,805,652,631.273878011,653,0.437165284616,-0.0153820914221,0.049759590746,0.999999928298,1.89224967285e-06,-0.000375053974083,-5.22903583314e-05,1793239568034142208
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.847013181,663,635.847013181,880.152986819,788,805,652,631.847013181,653,0.436447896683,-0.0153836191131,0.0497863549821,0.999999940994,-1.7485722206e-05,-0.000339035253457,-5.25474249456e-05,1793239568050808832
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.43424857,745,715,679.56575143,663,635.56575143,880.43424857,788,805.43424857,652,632,652.56575143,0.435697372235,-0.0153798739293,0.0498051594777,0.999999948825,-2.97681922443e-05,-0.00031402304409,-5.34260060316e-05,1793239568067475456
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766.974059529,745,715,679,663,635,881,787.974059529,805.974059529,652,632,652.025940471,0.434931864545,-0.0153743895736,0.0498192656013,0.999999954068,-3.90570027969e-05,-0.000295550626525,-5.46709951767e-05,1793239568084142080
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766.396771772,745,715,679,663,635,881,787.396771772,805.396771772,652,632,652.603228228,0.434104348787,-0.0153727483633,0.0497951134053,0.999999942735,-3.96314496742e-05,-0.00033089494828,-5.88936887014e-05,1793239568100808704
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.180255322,880.819744678,787.180255322,805,652,632,652.819744678,0.433279010254,-0.0153721303669,0.049785290712,0.999999937889,-3.26776487714e-05,-0.000345964422934,-5.8852201643e-05,1793239568117475328
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.756709451,880.243290549,787.756709451,805,652,632,652.243290549,0.432458457283,-0.0153737613811,0.0498069640764,0.999999948659,-9.17685919007e-06,-0.000316470051086,-4.94381020865e-05,1793239568134142208
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.340899446,745,715,679,663.340899446,636,880,788,805.340899446,652,632,652.340899446,0.431633056312,-0.0153705603837,0.0498164840184,0.999999953565,8.79672348158e-06,-0.000301396183355,-4.41940218336e-05,1793239568150808832
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766.930738483,745,715,679,663.930738483,636,880,788,805.930738483,652,632,652.930738483,0.430804115156,-0.0153638308413,0.0498171290021,0.999999954799,2.27340984357e-05,-0.000296852795896,-4.19950713369e-05,1793239568167475200
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.488822149,744.488822149,715,678.488822149,663.488822149,635.488822149,880,788,805.488822149,651.488822149,632,653,0.429910266876,-0.015360106227,0.049788213504,0.9999999393,1.41030883418e-05,-0.000344962687216,-4.69338857789e-05,1793239568184141824
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,744.08963221,715,678.08963221,663,635,880,788,805,651,632,653,0.42901482343,-0.0153580386637,0.0497629815555,0.999999923667,2.78102737049e-06,-0.000387225036475,-5.21038578321e-05,1793239568200808704
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,744.664113705,715,678.664113705,663,635,880,788,805,651,632,653,0.428157464973,-0.0153627719855,0.0497789496851,0.999999933765,-6.8554014938e-06,-0.000359961777396,-5.33872110793e-05,1793239568217475328
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,880,788,804.760325327,651.239674673,632,652.760325327,0.427270200772,-0.015364401649,0.0497851064088,0.999999935831,-1.38268583296e-05,-0.00035380515239,-5.44887839394e-05,1793239568234142208
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,880,788,804.183244631,651.816755369,632,652.183244631,0.426340836136,-0.0153616620864,0.0497774509645,0.999999927123,-1.7046657697e-05,-0.000377361740118,-5.53344526389e-05,1793239568250808832
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,880,787.602264666,804.397735334,651.602264666,632,652.397735334,0.425491766211,-0.0153622809892,0.0497829378569,0.999999934636,-1.90211658566e-05,-0.000356849190961,-5.49898873986e-05,1793239568267475200
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,880,787.019470479,804.980529521,651.019470479,632,652.980529521,0.424680055977,-0.0153644625237,0.0497945396345,0.999999948454,-2.0416262961e-05,-0.000315832090188,-5.40915283239e-05,1793239568284142080
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.564276831,635.564276831,880,787.564276831,805,651,631.435723169,653,0.423838754492,-0.0153690459275,0.0498312361397,0.999999965657,-2.30909426072e-05,-0.000255837927336,-5.19614216017e-05,1793239568300808704
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.854232784,635.854232784,880,788,804.854232784,651.145767216,631.145767216,653,0.422980004134,-0.0153719691013,0.0498531951649,0.999999973836,-2.57232472785e-05,-0.000221517830031,-5.09515529773e-05,1793239568317475584
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.279481377,635.279481377,880,788,804.279481377,651.720518623,631.720518623,653,0.422072912813,-0.0153697620024,0.0498292300682,0.999999963152,-2.81006877331e-05,-0.000264685294638,-5.33637700929e-05,1793239568334142208
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,744.705440209,714.705440209,679,663,635.294559791,880,787.705440209,804.294559791,652,632,653,0.421172397993,-0.0153666711338,0.0498106396657,0.999999954089,-2.98054268678e-05,-0.000296394128223,-5.55387311771e-05,1793239568350809088
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,744.132071332,714.132071332,679,663,635.867928668,880,787.132071332,804.867928668,652,632,653,0.420278108067,-0.0153627437525,0.0497971365629,0.999999947545,-3.08734352728e-05,-0.000317257044728,-5.74891227045e-05,1793239568367475712
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,744.456685754,714.456685754,678.543314246,663.456685754,636,879.543314246,787.456685754,805,652,632,652.543314246,0.41942705091,-0.0153613210166,0.0498068434911,0.999999948212,-3.21910467506e-05,-0.000315160877377,-5.66904329074e-05,1793239568384142080
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.04892314,663.902153719,635.95107686,879.04892314,788,804.95107686,652,631.95107686,652,0.418587843663,-0.0153606213543,0.049820131369,0.999999949776,-3.31707012496e-05,-0.000310294178564,-5.5370133886e-05,1793239568400808704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.628946409,662.742107183,635.371053591,879.628946409,788,804.371053591,652,631.371053591,652,0.417736817616,-0.0153596338454,0.0497968857745,0.999999936687,-2.96706184717e-05,-0.000349943380285,-5.7318895135e-05,1793239568417475840
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.207211432,635.207211432,880,788,804,652,631.207211432,652,0.416915554933,-0.0153613981923,0.0497896297077,0.999999933289,-3.13831344378e-05,-0.000359229748489,-5.82315591832e-05,1793239568434142208
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.782354552,635.782354552,880,788,804,652,631.782354552,652,0.416147140951,-0.015368048828,0.049810765188,0.999999947974,-4.23513180263e-05,-0.000314602840445,-5.73044940648e-05,1793239568450808832
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766.357221764,745,714.642778236,679,663,635.642778236,880,788,804,652,632,652,0.415368394545,-0.0153705472271,0.0498230748179,0.999999955624,-5.04549005701e-05,-0.000288040998009,-5.69063332969e-05,1793239568467475712
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766.931920969,745,714.068079031,679,663,635.068079031,880,788,804,652,632,652,0.414583357781,-0.0153705177344,0.0498300112483,0.999999959649,-5.68145067115e-05,-0.000272477212377,-5.68301708201e-05,1793239568484142336
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766.477885581,744.477885581,714.522114419,678.477885581,662.477885581,635.522114419,879.477885581,788,804,652,632,652,0.413804600116,-0.0153682073982,0.0498094200683,0.999999946735,-5.64227726705e-05,-0.000316096349685,-5.85631563867e-05,1793239568500808960
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,744.11187892,715,678.11187892,662,635.88812108,879,788,804,652,631.88812108,652,0.413039475416,-0.0153659094378,0.0497897987079,0.999999933155,-5.5292123827e-05,-0.000356338390475,-6.04635231267e-05,1793239568517475584
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,744.691153024,715,678.691153024,662,635.308846976,879,788,804,652,631.308846976,652,0.412327779962,-0.0153649436288,0.0497896827546,0.999999935583,-5.48646742209e-05,-0.00034924710989,-6.20475138905e-05,1793239568534142208
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.26741919,635,879,788,804,652,631.26741919,652.26741919,0.4116397243,-0.0153662803843,0.0498022469452,0.999999942676,-5.65478339727e-05,-0.000328211217571,-6.10627644597e-05,1793239568550808832
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.840250037,635,879,788,804,652,631.840250037,652.840250037,0.410978667004,-0.0153702468315,0.0498292927583,0.999999954115,-6.06414590843e-05,-0.000291249591088,-5.71443316097e-05,1793239568567475456
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.581819,635,879,788.418181,804,652,631.581819,652.581819,0.410292210332,-0.0153678193892,0.0498227157319,0.999999949078,-5.85801908297e-05,-0.000308401767078,-5.74558514248e-05,1793239568584142080
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.00191563,635,879,788.99808437,804,652,631.00191563,652.00191563,0.409595930952,-0.0153629192502,0.0498031358088,0.999999936745,-5.41386522574e-05,-0.000346481271123,-5.94032126841e-05,1793239568600808704
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.41266818,744.41266818,715,679,662,635.58733182,879,788.41266818,804,652,631,652.58733182,0.409010445992,-0.0153651807035,0.0497988085761,0.999999936781,-5.72804729611e-05,-0.000345767181089,-6.00233936809e-05,1793239568617475584
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.345112791,744,715,678.827443605,662.172556395,636,879,788,804,652,631.172556395,653,0.40844096434,-0.0153672476586,0.0498026710644,0.999999940496,-6.08736861649e-05,-0.000334217949255,-6.00124892274e-05,1793239568634142208
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.496617719,744,715,678.25169114,662.74830886,636,879,788,804,652,631.74830886,653,0.407908017958,-0.0153688046881,0.0498255515713,0.999999951846,-6.54628984837e-05,-0.000297651701133,-5.85372656605e-05,1793239568650808832
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.675646129,744.324353871,715,678.324353871,663,636,879,787.675646129,804,652,632,652.675646129,0.407379914911,-0.0153697135323,0.0498375498268,0.999999956434,-6.93698498026e-05,-0.000281083124916,-5.75568874158e-05,1793239568667475712
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.099373937,744.900626063,715,678.900626063,663,636,879,787.099373937,804,652,632,652.099373937,0.406855573607,-0.0153701189456,0.0498410960822,0.999999956519,-7.27469041977e-05,-0.000280046290898,-5.69608444808e-05,1793239568684142336
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,714.511205564,679,663,636,879,787.488794436,804,652,632,652.488794436,0.406327278385,-0.0153698933075,0.0498176882336,0.999999943065,-7.38935337654e-05,-0.000323938551902,-5.89323738926e-05,1793239568700808960
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.077606804,745,714.077606804,679,663,636,879,788,804,652,631.922393196,653,0.405807765757,-0.0153694655024,0.0497909416552,0.999999925956,-7.40976740749e-05,-0.000372626281117,-6.1219769163e-05,1793239568717475840
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.654611786,745,714.654611786,679,663,636,879,788,804,652,631.345388214,653,0.405350070698,-0.015368582928,0.0497788529702,0.999999918732,-7.12276762528e-05,-0.000391927674823,-6.20969175056e-05,1793239568734142464
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.768785395,745,715,679,663,636,879,787.768785395,804,652,631,653,0.404928201387,-0.0153677573014,0.0497786513258,0.999999919316,-6.88175109439e-05,-0.000390863584942,-6.21032088646e-05,1793239568750809088
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.192782334,745,715,679,663,636,879,787.192782334,804,652,631,653,0.404559755665,-0.0153670165956,0.0497961757008,0.999999931305,-6.70930505783e-05,-0.000359430375199,-6.0810873539e-05,1793239568767475712
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.608030798,879,787.391969202,804,652,631.391969202,653,0.404219060259,-0.0153714559023,0.0498200211634,0.999999944255,-7.14496546114e-05,-0.000320856054518,-5.86249686846e-05,1793239568784142080
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.018878216,879,787.981121784,804,652,631.981121784,653,0.403892324848,-0.0153785010575,0.0498470465034,0.999999956489,-7.88653886119e-05,-0.00027868933515,-5.59895460328e-05,1793239568800808960
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.561081538,879,788,804,652,631.438918462,652.438918462,0.403585793617,-0.0153815961439,0.0498576300995,0.99999996015,-8.25159658174e-05,-0.000264366403813,-5.47940543115e-05,1793239568817475840
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787.860484186,804,652,631.139515814,652,0.403284229468,-0.0153835838756,0.0498630215513,0.999999961321,-8.53423530594e-05,-0.000259126190749,-5.41130160486e-05,1793239568834142464
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,787.28585822,804,652,631.71414178,652,0.402996070255,-0.0153825258935,0.0498539176485,0.999999955782,-8.59870462145e-05,-0.000279337764936,-5.48877514156e-05,1793239568850809088
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.288058772,787.288058772,804,652,632,652,0.40272777016,-0.0153812642422,0.0498437645316,0.999999950103,-8.58967562167e-05,-0.000298844153118,-5.57545461631e-05,1793239568867475712
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.861273898,787.861273898,804,652,632,652,0.402479129102,-0.0153798009739,0.0498325727729,0.999999944321,-8.50788885608e-05,-0.000317652459389,-5.67124726762e-05,1793239568884142336
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.551292846,879.551292846,788,804,652,631.551292846,652.448707154,0.402257940327,-0.0153790626341,0.0498252028853,0.999999939298,-8.27824132682e-05,-0.000333603681812,-5.71009600062e-05,1793239568900809216
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.039801891,879,788,804,652,631.039801891,653,0.402049368185,-0.0153785487932,0.0498197075568,0.999999934978,-8.00481480709e-05,-0.000346931825199,-5.72178578211e-05,1793239568917476096
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.618995915,879,788,804,652,631.618995915,653,0.401892991384,-0.0153779406266,0.0498230791236,0.999999938591,-7.77788254635e-05,-0.00033707462214,-5.61181215622e-05,1793239568934142720
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.196334211,788,804,652,632,652.803665789,0.401746221289,-0.0153779657409,0.0498265493015,0.999999941492,-7.4917538213e-05,-0.000329239028893,-5.4816228987e-05,1793239568950809344
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.770104952,788,804,652,632,652.229895048,0.401617919319,-0.0153792082862,0.0498302090509,0.999999943167,-7.09182474208e-05,-0.000325289817045,-5.3125707493e-05,1793239568967475968
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,714.646626134,679,663,636,879.646626134,788.353373866,804,652.353373866,632,652.353373866,0.40151072059,-0.0153822428543,0.0498354566194,0.999999946523,-7.35745879166e-05,-0.000314372786582,-5.20623807946e-05,1793239568984142592
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.057007242,679,663,636,879.057007242,788.942992758,804,652.942992758,632,652.942992758,0.401417630237,-0.0153864754639,0.049841765711,0.999999950783,-8.06804924307e-05,-0.000298797481098,-5.14183595433e-05,1793239569000809216
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,714.523610235,679,663,636,879.523610235,788.476389765,804,652.476389765,632,653,0.401334362282,-0.0153892267391,0.0498441038809,0.99999995145,-8.32739144126e-05,-0.000295901304948,-5.10581507605e-05,1793239569017476096
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,714.89722818,679,663,636,880,788,804,652,631.89722818,653,0.401255940337,-0.0153914491317,0.0498453741016,0.99999995168,-8.50891980096e-05,-0.000294637618404,-5.08699392103e-05,1793239569034142464
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,714.320338183,679,663,636,880,788,804,652,631.320338183,653,0.401195024413,-0.0153919630771,0.0498436782979,0.999999951616,-8.55428549885e-05,-0.000294644432629,-5.13350635351e-05,1793239569050809088
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,714.255288448,679,663,636,879.744711552,787.744711552,804,652,631.255288448,653,0.401142681196,-0.0153941317434,0.0498427108072,0.999999951486,-8.82616275663e-05,-0.000294248632303,-5.1533319137e-05,1793239569067475456
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,714.829337567,679,663,636,879.170662433,787.170662433,804,652,631.829337567,653,0.401101042113,-0.0153983665431,0.0498426527097,0.999999951252,-9.38086901317e-05,-0.000293350115589,-5.13983545663e-05,1793239569084142080
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.586827822,879,787,803.586827822,652,631.586827822,653,0.401070286664,-0.0153990240589,0.0498432739018,0.999999951765,-9.53209879898e-05,-0.00029112833554,-5.12713740118e-05,1793239569100808704
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,744.998869363,715,679,663,635.001130637,879,787.001130637,803,652,631,652.998869363,0.401044152498,-0.015398167808,0.0498441837206,0.999999952596,-9.51201260759e-05,-0.000288347749284,-5.11478366709e-05,1793239569117475584
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,744.419162427,715,679,663,635.580837573,879,787.580837573,803,652,631,652.419162427,0.401026564414,-0.0153971525955,0.0498457264981,0.99999995356,-9.17692915929e-05,-0.00028609530716,-5.10577561472e-05,1793239569134142208
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,744.159538778,715,678.840461222,663,636,879.159538778,788,803.159538778,652,631.159538778,652,0.401011479576,-0.0153965585422,0.0498472364755,0.999999954457,-8.9225916727e-05,-0.000283786732609,-5.08926605882e-05,1793239569150808576
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,744.73561405,715,678.26438595,663,636,879.73561405,788,803.73561405,652,631.73561405,652,0.401002930415,-0.015397064085,0.0498486608157,0.999999955208,-8.87907219927e-05,-0.000281331603432,-5.05317098422e-05,1793239569167475456
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,636,879.68855327,788,804,652.31144673,632,652,0.400998394913,-0.015398043234,0.0498508277074,0.999999956342,-8.97178973155e-05,-0.000277043248688,-5.01436183862e-05,1793239569184142080
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,636,879.112926301,788,804,652.887073699,632,652,0.400997263941,-0.0153994241129,0.049853624458,0.999999957775,-9.18006835246e-05,-0.000271199886267,-4.97325051692e-05,1793239569200808704
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.474943759,663,636,879.474943759,788,804,652.525056241,632,652.474943759,0.400996569254,-0.0153997348826,0.0498551339291,0.999999958684,-9.1524799742e-05,-0.000267973725733,-4.94568863571e-05,1793239569217475328
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.064367698,745,715,679,663,636,879.935632302,788,804,652.064367698,631.935632302,653,0.400995808453,-0.0153996694736,0.0498562057689,0.999999959384,-9.04414312901e-05,-0.000265754724322,-4.92570500127e-05,1793239569234141952
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.642348295,745,715,679,663,636,879.357651705,788,804,652.642348295,631.357651705,653,0.400993670475,-0.0153986863686,0.049856292487,0.999999959447,-8.75082091668e-05,-0.00026647537466,-4.93980424548e-05,1793239569250808832
+388,6.466666667,POSE2_TO_POSE3_RETREAT,767,745,715,678.780846642,663,635.780846642,879,788,804,652.780846642,631,653,0.400992360181,-0.01539837763,0.0498566613991,0.999999959511,-8.61592000615e-05,-0.000266660627071,-4.94639055565e-05,1793239569267475456
+389,6.483333333,POSE2_TO_POSE3_RETREAT,767,745,715,678.205949817,663,635.205949817,879,788,804,652.205949817,631,653,0.400992393434,-0.0153991635655,0.0498574883864,0.99999995959,-8.73817850108e-05,-0.000265976787968,-4.94078139951e-05,1793239569284142080
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.622417535,745,715,678,663,635.377582465,879,788,804,652.377582465,631.377582465,652.622417535,0.400993509019,-0.0153999727087,0.0498585838401,0.999999960152,-8.76049901854e-05,-0.000263846761314,-4.90599308241e-05,1793239569300809472
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.034064877,745,715,678,663,635.965935123,879,788,804,652.965935123,631.965935123,652.034064877,0.400995228773,-0.0154007948066,0.0498598291544,0.999999960977,-8.72703318386e-05,-0.000260909458766,-4.85491667487e-05,1793239569317477120
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.546492101,663,636,879,788,804,652.453507899,631.453507899,652.546492101,0.400992555497,-0.0154008238908,0.0498587322447,0.999999960232,-8.85825674696e-05,-0.000263248788776,-4.8883337455e-05,1793239569334143232
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.874199347,663,636,879,788,804.125800653,652,631.125800653,653,0.400990624447,-0.0154009215408,0.0498579646219,0.999999959707,-8.97602605373e-05,-0.000264797068008,-4.91163426124e-05,1793239569350808832
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.297647471,663,636,879,788,804.702352529,652,631.702352529,653,0.400992320202,-0.0154014394909,0.0498588926215,0.999999960337,-9.00932263606e-05,-0.000262349028172,-4.88008073442e-05,1793239569367475456
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766.277746792,744.722253208,715,678.277746792,663,636,879,788,804.722253208,652.277746792,632,653,0.400992454437,-0.0154013296286,0.0498589093043,0.999999960615,-8.87267334378e-05,-0.000261764780813,-4.87516722064e-05,1793239569384142336
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.851905721,744.148094279,715,678.851905721,663,636,879,788,804.148094279,652.851905721,632,653,0.400990922214,-0.015400549763,0.0498579534274,0.999999960512,-8.55465735363e-05,-0.000263169577577,-4.89868399766e-05,1793239569400809216
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.560530377,744.439469623,715,678.560530377,663,636,879,788,804,652.560530377,632,652.560530377,0.40099056272,-0.0154003610646,0.0498579660766,0.999999960561,-8.45077107325e-05,-0.00026339222235,-4.85943568224e-05,1793239569417475840
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,636,879,788.03072861,804,652,632,652.03072861,0.400990661497,-0.0154003570019,0.0498583023823,0.99999996068,-8.42048533502e-05,-0.000263138921844,-4.80383485135e-05,1793239569434142464
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,636,879,788.604933312,804,652,632,652.604933312,0.40099165603,-0.0153999842495,0.0498584089424,0.999999961066,-8.37555469305e-05,-0.000261735208656,-4.84486807674e-05,1793239569450808832
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.180027014,663,636,879,788.819972986,804.180027014,652,632,653,0.400992382403,-0.0153999606857,0.0498586066365,0.999999961394,-8.3299353276e-05,-0.000260586217192,-4.86572643314e-05,1793239569467475456
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.757081261,663,636,879,788.242918739,804.757081261,652,632,653,0.400992517386,-0.0154007072141,0.0498590053151,0.999999961598,-8.28279707075e-05,-0.000259998982961,-4.84209161768e-05,1793239569484142336
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.660116881,663,636,879.339883119,788,804.660116881,652,632,653,0.40099172881,-0.0154015039162,0.0498589073648,0.999999961302,-8.37598021093e-05,-0.000260846718816,-4.83662235504e-05,1793239569500808960
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.073136498,663,636,879.926863502,788,804.073136498,652,632,653,0.4009902688,-0.0154023370948,0.0498584483618,0.999999960638,-8.57117793249e-05,-0.000262737687391,-4.84435956989e-05,1793239569517475584
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.508635026,663,636,880,788,804,652,631.491364974,653,0.4009920931,-0.0154021808164,0.049860027168,0.999999961528,-8.50417834142e-05,-0.000259649176804,-4.79039483489e-05,1793239569534142720
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.91098813,663,636,879.91098813,788,804,652,631.08901187,653,0.400993690573,-0.0154020637444,0.049861334139,0.999999962353,-8.43951670232e-05,-0.000256752231981,-4.74247919257e-05,1793239569550809344
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.334191549,663,636,879.334191549,788,804,652,631.665808451,653,0.400991483335,-0.0154029332797,0.0498595620037,0.999999961682,-8.59217561983e-05,-0.000258788960325,-4.77583884026e-05,1793239569567476224
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,636,879,788,804,652,632,653,0.400990452266,-0.0154031986833,0.0498587753832,0.999999961384,-8.68677254317e-05,-0.000259587872176,-4.79664996633e-05,1793239569584142848
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,636,879,788,804,652,632,653,0.400991041384,-0.0154026318877,0.0498593463222,0.999999961604,-8.70138832573e-05,-0.000258681675777,-4.80017534322e-05,1793239569600808960
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.400661809,663,636,879,788,804,652.400661809,632,653,0.400992395984,-0.015402777129,0.0498604485843,0.999999961893,-8.69594079052e-05,-0.00025759791635,-4.79174109918e-05,1793239569617475584
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.992217236,663,636,879,788,804,652.992217236,632,653,0.400994115295,-0.0154032616172,0.0498618039931,0.999999962213,-8.68093417178e-05,-0.000256429557827,-4.77760874429e-05,1793239569634142208
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766.570558999,745,715,679,663.570558999,636,879,788,804,652.429441001,632,653,0.40099283279,-0.0154037673584,0.0498611515225,0.999999961982,-8.62880154161e-05,-0.000257503198463,-4.77654756993e-05,1793239569650808832
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2d883b96e6ab558c7bff232bb4b12b36182e38e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/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,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+1,0.016666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+2,0.033333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+3,0.050000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+4,0.066666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+5,0.083333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+6,0.100000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+7,0.116666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+8,0.133333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+9,0.150000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+10,0.166666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+11,0.183333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+12,0.200000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+13,0.216666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+14,0.233333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+15,0.250000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+16,0.266666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+17,0.283333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+18,0.300000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+19,0.316666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+20,0.333333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+21,0.350000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+22,0.366666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+23,0.383333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+24,0.400000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+25,0.416666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+26,0.433333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+27,0.450000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+28,0.466666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+29,0.483333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+30,0.500000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+31,0.516666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+32,0.533333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+33,0.550000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+34,0.566666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+35,0.583333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+36,0.600000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+37,0.616666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+38,0.633333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+39,0.650000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+40,0.666666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+41,0.683333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+42,0.700000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+43,0.716666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+44,0.733333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+45,0.750000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+46,0.766666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+47,0.783333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+48,0.800000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+49,0.816666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+50,0.833333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+51,0.850000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+52,0.866666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+53,0.883333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+54,0.900000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+55,0.916666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+56,0.933333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+57,0.950000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+58,0.966666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+59,0.983333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+60,1.000000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+61,1.016666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+62,1.033333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+63,1.050000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+64,1.066666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+65,1.083333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+66,1.100000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+67,1.116666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+68,1.133333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+69,1.150000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+70,1.166666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+71,1.183333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+72,1.200000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+73,1.216666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+74,1.233333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+75,1.250000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+76,1.266666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+77,1.283333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+78,1.300000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+79,1.316666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+80,1.333333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+81,1.350000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+82,1.366666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+83,1.383333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+84,1.400000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+85,1.416666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+86,1.433333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+87,1.450000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+88,1.466666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+89,1.483333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+90,1.500000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+91,1.516666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+92,1.533333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+93,1.550000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+94,1.566666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+95,1.583333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+96,1.600000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+97,1.616666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+98,1.633333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+99,1.650000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+100,1.666666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+101,1.683333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+102,1.700000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+103,1.716666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+104,1.733333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+105,1.750000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+106,1.766666667,pose1_to_pose2_press,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+107,1.783333333,pose1_to_pose2_press,0.575664615989,-0.00990913292288,1.04003215074,0.546235066038,-0.0012373982875,1.0397002895
+108,1.800000000,pose1_to_pose2_press,0.575665006432,-0.00990917940037,1.040032362,0.546235456416,-0.0012374453671,1.03970049074
+109,1.816666667,pose1_to_pose2_press,0.575665486357,-0.0099091655244,1.04003228882,0.546235936706,-0.00123743009935,1.03970042154
+110,1.833333333,pose1_to_pose2_press,0.575665829059,-0.00990915009351,1.04003221067,0.546236279704,-0.00123741350883,1.03970034751
+111,1.850000000,pose1_to_pose2_press,0.575666187462,-0.00990913395568,1.04003212895,0.546236638415,-0.00123739615824,1.03970027008
+112,1.866666667,pose1_to_pose2_press,0.575667788819,-0.00990919342931,1.04003216618,0.546238240914,-0.00123745196157,1.03970030191
+113,1.883333333,pose1_to_pose2_press,0.575671359857,-0.00990924937344,1.04003224334,0.546241812276,-0.00123750691561,1.03970037625
+114,1.900000000,pose1_to_pose2_press,0.575678121726,-0.00990924662732,1.0400322672,0.546248573277,-0.0012375068992,1.03970040572
+115,1.916666667,pose1_to_pose2_press,0.57568978649,-0.00990924673332,1.04003244167,0.546260238571,-0.00123750556041,1.03970057083
+116,1.933333333,pose1_to_pose2_press,0.575707033948,-0.00990915201476,1.04003234893,0.546277484582,-0.00123741576098,1.03970047782
+117,1.950000000,pose1_to_pose2_press,0.575730844319,-0.00990923694277,1.04003243271,0.546301295358,-0.00123749931424,1.03970056161
+118,1.966666667,pose1_to_pose2_press,0.575761108006,-0.0099092930344,1.04003238984,0.546331559742,-0.00123755293503,1.03970052148
+119,1.983333333,pose1_to_pose2_press,0.575797982177,-0.00990923716794,1.04003224325,0.546368434793,-0.00123749375626,1.03970038332
+120,2.000000000,pose1_to_pose2_press,0.575840884547,-0.00990916597302,1.04003238941,0.546411336187,-0.00123742613184,1.03970052266
+121,2.016666667,pose1_to_pose2_press,0.575890258931,-0.00990927099495,1.04003244612,0.546460710898,-0.00123753025933,1.03970057371
+122,2.033333333,pose1_to_pose2_press,0.575946736101,-0.00990935792931,1.0400323217,0.546517188737,-0.00123761474582,1.03970045382
+123,2.050000000,pose1_to_pose2_press,0.576010867608,-0.00990923621285,1.04003223013,0.546581319252,-0.00123749611477,1.0397003696
+124,2.066666667,pose1_to_pose2_press,0.576086681639,-0.00990921334454,1.04003234036,0.546657134158,-0.00123747038547,1.03970047686
+125,2.083333333,pose1_to_pose2_press,0.576173852189,-0.00990915766079,1.04003224951,0.54674430339,-0.00123741918942,1.03970038556
+126,2.100000000,pose1_to_pose2_press,0.576273473173,-0.00990923083516,1.04003223466,0.546843924562,-0.00123749174517,1.03970037027
+127,2.116666667,pose1_to_pose2_press,0.576385908461,-0.00990935532819,1.04003215673,0.546956361462,-0.00123761075462,1.03970029262
+128,2.133333333,pose1_to_pose2_press,0.576512445207,-0.0099093942795,1.04003222037,0.547082899148,-0.00123764662376,1.0397003534
+129,2.150000000,pose1_to_pose2_press,0.576653078779,-0.00990935550094,1.04003237852,0.547223532448,-0.00123760897773,1.03970050605
+130,2.166666667,pose1_to_pose2_press,0.576808608466,-0.00990930252796,1.04003236864,0.547379061242,-0.00123755903875,1.03970049597
+131,2.183333333,pose1_to_pose2_press,0.576983750581,-0.00990913125721,1.04003221392,0.547554200943,-0.00123739545811,1.03970035437
+132,2.200000000,pose1_to_pose2_press,0.57717791723,-0.00990925348718,1.04003212835,0.547748369101,-0.00123751288895,1.0397002603
+133,2.216666667,pose1_to_pose2_press,0.577393487034,-0.00990909595151,1.04003245764,0.547963936951,-0.00123736199121,1.0397005893
+134,2.233333333,pose1_to_pose2_press,0.577629821036,-0.00990925902868,1.04003224536,0.548200274106,-0.00123751387959,1.03970038976
+135,2.250000000,pose1_to_pose2_press,0.577886740828,-0.00990932476728,1.04003213926,0.548457193065,-0.0012375827642,1.03970027527
+136,2.266666667,pose1_to_pose2_press,0.578163232594,-0.00990933549809,1.04003235808,0.548733684294,-0.0012375954477,1.03970049057
+137,2.283333333,pose1_to_pose2_press,0.578457357866,-0.00990932562125,1.04003243389,0.549027808923,-0.0012375879241,1.03970056195
+138,2.300000000,pose1_to_pose2_press,0.578767730715,-0.0099093293795,1.04003232176,0.549338182904,-0.00123758776449,1.03970045174
+139,2.316666667,pose1_to_pose2_press,0.579091611039,-0.00990928473794,1.04003228406,0.549662063657,-0.00123754149961,1.03970041826
+140,2.333333333,pose1_to_pose2_press,0.579428391036,-0.0099092118467,1.04003230439,0.549998842031,-0.0012374741455,1.03970043786
+141,2.350000000,pose1_to_pose2_press,0.579781552547,-0.00990930922018,1.04003211277,0.550352006013,-0.00123756284978,1.03970025357
+142,2.366666667,pose1_to_pose2_press,0.580152864143,-0.00990929129818,1.04003233832,0.550723315637,-0.00123755184874,1.03970047307
+143,2.383333333,pose1_to_pose2_press,0.580548387522,-0.00990924219904,1.04003216326,0.551118837816,-0.0012375068877,1.03970029626
+144,2.400000000,pose1_to_pose2_press,0.580970536567,-0.0099091410922,1.04003207835,0.551540986701,-0.00123740597175,1.03970022055
+145,2.416666667,pose1_to_pose2_press,0.581425999274,-0.00990926889468,1.04003226695,0.551996450707,-0.00123752966394,1.03970040119
+146,2.433333333,pose1_to_pose2_press,0.581905694538,-0.00990935438382,1.04003235538,0.552476148225,-0.00123760744652,1.03970049111
+147,2.450000000,pose1_to_pose2_press,0.582406798744,-0.00990931111035,1.04003235276,0.552977253004,-0.00123756219238,1.03970048939
+148,2.466666667,pose1_to_pose2_press,0.582918281391,-0.00990931660841,1.04003240389,0.553488734992,-0.00123756999623,1.03970053869
+149,2.483333333,pose1_to_pose2_press,0.583437759033,-0.00990935954744,1.04003241879,0.554008212057,-0.00123761472022,1.03970055804
+150,2.500000000,pose1_to_pose2_press,0.583964337306,-0.00990930634633,1.04003230751,0.554534789164,-0.00123756562851,1.03970044274
+151,2.516666667,pose1_to_pose2_press,0.584509033778,-0.00990935652266,1.04003208946,0.555079487381,-0.00123760967823,1.03970023006
+152,2.533333333,pose1_to_pose2_press,0.585083667809,-0.00990929490308,1.04003210321,0.555654120788,-0.00123755027549,1.03970024111
+153,2.550000000,pose1_to_pose2_press,0.585681188007,-0.00990919148326,1.04003231063,0.556251638435,-0.00123745560532,1.0397004461
+154,2.566666667,pose1_to_pose2_press,0.586296970284,-0.00990927757032,1.04003244507,0.556867422451,-0.00123753584411,1.03970057914
+155,2.583333333,pose1_to_pose2_press,0.586924201219,-0.00990916925988,1.04003248088,0.557494652042,-0.00123743213146,1.03970061392
+156,2.600000000,pose1_to_pose2_press,0.587556858956,-0.0099092010893,1.04003235372,0.558127310996,-0.00123745982093,1.03970048706
+157,2.616666667,pose1_to_pose2_press,0.588194143442,-0.00990928170516,1.04003236897,0.558764596055,-0.00123753873534,1.03970049596
+158,2.633333333,pose1_to_pose2_press,0.588849046503,-0.00990927768058,1.0400324419,0.559419497959,-0.00123753883365,1.03970056366
+159,2.650000000,pose1_to_pose2_press,0.589527339269,-0.00990926885186,1.04003223322,0.560097791912,-0.00123752558334,1.03970036536
+160,2.666666667,pose1_to_pose2_press,0.590218451575,-0.00990915445008,1.04003224049,0.560788902732,-0.0012374160732,1.03970037658
+161,2.683333333,pose1_to_pose2_press,0.590917430919,-0.00990912417756,1.04003237953,0.561487880975,-0.00123738983542,1.0397005078
+162,2.700000000,pose1_to_pose2_press,0.591626572536,-0.00990911586441,1.0400322794,0.562197022361,-0.00123738248564,1.03970040297
+163,2.716666667,pose1_to_pose2_press,0.592341599862,-0.00990928105273,1.04003235804,0.562912051261,-0.00123754216582,1.03970048599
+164,2.733333333,pose1_to_pose2_press,0.593059732171,-0.00990915680231,1.04003223978,0.563630183508,-0.00123741766727,1.03970037975
+165,2.750000000,pose1_to_pose2_press,0.593789671182,-0.00990913963973,1.04003249148,0.564360121851,-0.00123740318071,1.03970062084
+166,2.766666667,pose1_to_pose2_press,0.594530555401,-0.00990920491792,1.04003232278,0.565101006455,-0.00123746701288,1.03970045575
+167,2.783333333,pose1_to_pose2_press,0.595272673563,-0.00990925298354,1.04003221289,0.565843124755,-0.00123751439017,1.0397003516
+168,2.800000000,pose1_to_pose2_press,0.596013852739,-0.00990923583557,1.04003231876,0.566584303726,-0.00123749817193,1.03970045148
+169,2.816666667,pose1_to_pose2_press,0.596745914484,-0.00990919204049,1.04003222333,0.567316365541,-0.00123745425215,1.03970035319
+170,2.833333333,pose1_to_pose2_press,0.597471000901,-0.00990921324699,1.04003218718,0.568041451921,-0.00123747544649,1.03970032057
+171,2.850000000,pose1_to_pose2_press,0.598190000459,-0.00990928155194,1.04003248145,0.568760453224,-0.00123753801512,1.03970061007
+172,2.866666667,pose1_to_pose2_press,0.598910721065,-0.00990933551587,1.04003222546,0.569481174035,-0.00123759093487,1.03970036319
+173,2.883333333,pose1_to_pose2_press,0.599636684865,-0.00990925706362,1.04003224102,0.570207136659,-0.00123751659262,1.03970037584
+174,2.900000000,pose1_to_pose2_press,0.600356194427,-0.00990930512694,1.04003203014,0.570926646312,-0.00123756421377,1.03970016849
+175,2.916666667,pose1_to_pose2_press,0.601070822542,-0.00990931393096,1.04003225862,0.571641274762,-0.00123757221719,1.03970038826
+176,2.933333333,pose1_to_pose2_press,0.601783446205,-0.00990916981285,1.04003245315,0.572353897091,-0.00123743266096,1.03970058185
+177,2.950000000,pose1_to_pose2_press,0.602485056779,-0.00990918185205,1.04003237107,0.573055508483,-0.0012374418443,1.03970050199
+178,2.966666667,pose1_to_pose2_press,0.603175528921,-0.0099093167902,1.0400323104,0.573745982386,-0.00123757099407,1.03970043643
+179,2.983333333,pose1_to_pose2_press,0.60386252517,-0.0099093124732,1.04003231766,0.574432977781,-0.00123756962107,1.03970044269
+180,3.000000000,pose1_to_pose2_press,0.604541638264,-0.00990922310469,1.04003212259,0.575112089851,-0.00123748321862,1.0397002609
+181,3.016666667,pose1_to_pose2_press,0.605202887001,-0.00990917714021,1.04003223288,0.575773339447,-0.00123743434501,1.03970037115
+182,3.033333333,pose1_to_pose2_press,0.605848816363,-0.00990930113232,1.04003233834,0.576419268459,-0.00123755947771,1.03970047799
+183,3.050000000,pose1_to_pose2_press,0.606483995713,-0.00990920448577,1.04003245219,0.577054448209,-0.0012374615596,1.03970058962
+184,3.066666667,pose1_to_pose2_press,0.607107502067,-0.00990920514837,1.04003238119,0.577677953132,-0.00123746729014,1.03970051321
+185,3.083333333,pose1_to_pose2_press,0.607717446402,-0.0099092559606,1.04003225477,0.578287899491,-0.00123751110564,1.03970039024
+186,3.100000000,pose1_to_pose2_press,0.608313686033,-0.00990930766617,1.04003225266,0.578884138918,-0.00123756369713,1.03970038311
+187,3.116666667,pose1_to_pose2_press,0.608889828656,-0.00990916052462,1.04003219974,0.579460278626,-0.00123742662559,1.03970032564
+188,3.133333333,pose1_to_pose2_press,0.609436290487,-0.00990907994217,1.04003235567,0.580006739417,-0.00123734968897,1.03970047861
+189,3.150000000,pose1_to_pose2_press,0.609963454289,-0.0099091063095,1.04003249451,0.58053390437,-0.00123737191094,1.03970062383
+190,3.166666667,pose1_to_pose2_press,0.610473924857,-0.0099091569921,1.04003232265,0.581044375943,-0.00123741871457,1.0397004642
+191,3.183333333,pose1_to_pose2_press,0.610962531205,-0.00990921629178,1.04003208678,0.581532982461,-0.00123747745117,1.03970022817
+192,3.200000000,pose1_to_pose2_press,0.611427357969,-0.00990917848885,1.04003215149,0.581997809352,-0.00123743963319,1.03970028179
+193,3.216666667,pose1_to_pose2_press,0.611863348055,-0.00990920912729,1.04003223809,0.582433798888,-0.00123747206562,1.03970036911
+194,3.233333333,pose1_to_pose2_press,0.61227431329,-0.00990919815985,1.04003243211,0.582844764726,-0.00123745896824,1.03970056594
+195,3.250000000,pose1_to_pose2_press,0.612663460921,-0.00990925206074,1.04003238738,0.583233913103,-0.00123751013163,1.03970052334
+196,3.266666667,pose1_to_pose2_press,0.613039882974,-0.00990922953414,1.04003221571,0.583610334533,-0.00123748954122,1.03970035173
+197,3.283333333,pose1_to_pose2_press,0.613405467246,-0.00990923987991,1.04003212786,0.583975918112,-0.00123750224247,1.03970025914
+198,3.300000000,pose1_to_pose2_press,0.613761177745,-0.00990922550982,1.04003221635,0.584331628352,-0.00123748841686,1.0397003462
+199,3.316666667,pose1_to_pose2_press,0.614102741394,-0.00990911496291,1.04003227467,0.584673191997,-0.00123737704471,1.03970041285
+200,3.333333333,pose1_to_pose2_press,0.614417189018,-0.00990924793106,1.04003213524,0.584987641535,-0.00123750366908,1.03970027292
+201,3.350000000,pose1_to_pose2_press,0.61470455008,-0.00990920770448,1.04003235066,0.585275002928,-0.00123746231293,1.03970048496
+202,3.366666667,pose1_to_pose2_press,0.614963290876,-0.00990926900974,1.04003224479,0.585533742509,-0.00123752757783,1.03970038046
+203,3.383333333,pose1_to_pose2_press,0.615200555236,-0.00990929845964,1.040032245,0.585771006955,-0.00123755670251,1.03970037738
+204,3.400000000,pose1_to_pose2_press,0.615419228632,-0.00990919005907,1.04003229759,0.585989679343,-0.00123745151372,1.03970043224
+205,3.416666667,pose1_to_pose2_press,0.61562687848,-0.00990912582612,1.04003233652,0.586197328465,-0.00123738951757,1.03970047479
+206,3.433333333,pose1_to_pose2_press,0.615825678644,-0.00990918228872,1.04003230203,0.586396129317,-0.00123744350135,1.0397004418
+207,3.450000000,pose1_to_pose2_press,0.616015383934,-0.00990914968259,1.04003220398,0.586585835009,-0.00123740926905,1.03970034568
+208,3.466666667,pose1_to_pose2_press,0.616191223867,-0.00990919147774,1.04003223252,0.586761672858,-0.00123745809715,1.03970036706
+209,3.483333333,pose1_to_pose2_press,0.616350446409,-0.00990932990822,1.0400322484,0.586920898537,-0.00123758595977,1.0397003779
+210,3.500000000,pose1_to_pose2_press,0.61649244819,-0.00990936071039,1.0400322201,0.587062901057,-0.00123761387862,1.03970035813
+211,3.516666667,pose1_to_pose2_press,0.616616941011,-0.00990938423351,1.04003247212,0.587187393618,-0.00123763868909,1.03970059696
+212,3.533333333,pose1_to_pose2_press,0.616723591798,-0.00990933898607,1.04003251666,0.58729404479,-0.00123759205179,1.03970064216
+213,3.550000000,pose1_to_pose2_press,0.616816074798,-0.00990922295858,1.04003236218,0.587386526486,-0.00123748020761,1.03970049251
+214,3.566666667,pose1_to_pose2_press,0.616895801272,-0.00990915797012,1.04003228101,0.587466252286,-0.0012374173058,1.03970041528
+215,3.583333333,pose1_to_pose2_press,0.616965670036,-0.00990923617452,1.04003232648,0.587536121731,-0.00123749307429,1.03970046035
+216,3.600000000,pose1_to_pose2_press,0.617026169103,-0.00990942086006,1.04003226619,0.587596620026,-0.00123768030801,1.0397003919
+217,3.616666667,pose1_to_pose2_press,0.617077640021,-0.00990921110831,1.04003222688,0.587648089718,-0.00123747376036,1.03970036154
+218,3.633333333,pose1_to_pose2_press,0.617121365526,-0.00990924467556,1.04003235635,0.58769181453,-0.00123751010097,1.0397004834
+219,3.650000000,pose1_to_pose2_press,0.61715751295,-0.00990933833854,1.04003246228,0.587727964223,-0.00123759634908,1.03970058828
+220,3.666666667,pose1_to_pose2_press,0.617186931914,-0.00990926112965,1.04003235791,0.587757383005,-0.00123751961839,1.03970049282
+221,3.683333333,pose1_to_pose2_press,0.617209654395,-0.00990916909853,1.04003224455,0.587780104161,-0.00123743206785,1.0397003838
+222,3.700000000,pose1_to_pose2_press,0.617227774053,-0.00990930456572,1.04003238791,0.587798225333,-0.0012375630352,1.03970051376
+223,3.716666667,pose1_to_pose2_press,0.617241347952,-0.00990922427768,1.04003235798,0.587811798535,-0.00123748470471,1.03970049103
+224,3.733333333,pose1_to_pose2_press,0.617251448754,-0.00990931670694,1.04003222633,0.587821900507,-0.00123757327516,1.03970035856
+225,3.750000000,pose1_to_pose2_press,0.617258692875,-0.00990933355914,1.04003215173,0.587829144854,-0.00123758943964,1.03970028415
+226,3.766666667,pose1_to_pose2_press,0.617263507575,-0.00990915975789,1.040032206,0.587833957531,-0.00123742229797,1.03970034373
+227,3.783333333,pose1_to_pose2_press,0.617266850423,-0.0099092105506,1.0400322988,0.587837300919,-0.00123747154322,1.03970042995
+228,3.800000000,pose1_to_pose2_press,0.617268900528,-0.00990930819096,1.0400323771,0.58783935211,-0.00123756584147,1.03970050023
+229,3.816666667,pose1_to_pose2_press,0.61727031133,-0.00990935285062,1.04003239669,0.587840763423,-0.00123760887328,1.03970051744
+230,3.833333333,pose1_to_pose2_press,0.61727111717,-0.00990933540396,1.04003234254,0.587841569101,-0.00123759177806,1.03970046791
+231,3.850000000,pose1_to_pose2_press,0.617271453344,-0.00990932812569,1.04003231995,0.587841905209,-0.0012375846464,1.03970044725
+232,3.866666667,pose1_to_pose2_press,0.617271613498,-0.00990932465831,1.04003230919,0.587842065331,-0.00123758124886,1.0397004374
+233,3.883333333,pose1_to_pose2_press,0.617271831629,-0.00990931993572,1.04003229453,0.587842283418,-0.00123757662141,1.039700424
+234,3.900000000,pose1_to_pose2_press,0.617271928219,-0.00990931784453,1.04003228804,0.587842379988,-0.00123757457233,1.03970041806
+235,3.916666667,pose1_to_pose2_press,0.617271990019,-0.00990931650652,1.04003228389,0.587842441777,-0.00123757326128,1.03970041426
+236,3.933333333,pose1_to_pose2_press,0.617272337108,-0.00990930899196,1.04003226056,0.587842788796,-0.00123756589809,1.03970039293
+237,3.950000000,pose1_to_pose2_press,0.617272827914,-0.0099092861953,1.04003222775,0.587843279292,-0.00123754406826,1.03970036196
+238,3.966666667,pose1_to_pose2_press,0.6172730796,-0.0099092503441,1.04003221127,0.5878435304,-0.00123751020729,1.03970034451
+239,3.983333333,pose1_to_pose2_press,0.617273358579,-0.00990921060517,1.04003219299,0.587843808737,-0.00123747267442,1.03970032516
+240,4.000000000,pose1_to_pose2_press,0.617273727153,-0.00990915810405,1.04003216885,0.587844176463,-0.00123742308784,1.03970029959
+241,4.016666667,pose1_to_pose2_press,0.617273846516,-0.0099091411016,1.04003216103,0.587844295551,-0.00123740702925,1.03970029131
+242,4.033333333,pose1_to_pose2_press,0.617273869515,-0.0099091378255,1.04003215953,0.587844318498,-0.00123740393502,1.03970028972
+243,4.050000000,pose1_to_pose2_press,0.617273887644,-0.00990913524315,1.04003215834,0.587844336585,-0.00123740149603,1.03970028846
+244,4.066666667,pose1_to_pose2_press,0.617273921167,-0.00990913046793,1.04003215615,0.587844370031,-0.0012373969859,1.03970028613
+245,4.083333333,pose1_to_pose2_press,0.617273930115,-0.00990912919337,1.04003215556,0.587844378958,-0.00123739578209,1.03970028551
+246,4.100000000,pose1_to_pose2_press,0.617274005293,-0.00990911848471,1.04003215064,0.587844453964,-0.00123738566791,1.0397002803
+247,4.116666667,pose1_to_pose2_press,0.617274184875,-0.00990911031179,1.04003215124,0.587844633345,-0.00123737816391,1.03970028108
+248,4.133333333,pose1_to_pose2_press,0.617274388268,-0.00990914951503,1.04003218634,0.587844837103,-0.00123741603373,1.0397003188
+249,4.150000000,pose1_to_pose2_press,0.617274603298,-0.00990919096126,1.04003222344,0.587845052519,-0.00123745607025,1.03970035867
+250,4.166666667,pose1_to_pose2_press,0.61727460556,-0.00990927105376,1.04003208498,0.587845056032,-0.00123753166929,1.03970022668
+251,4.183333333,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056033,-0.00123753166957,1.03970022668
+252,4.200000000,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056033,-0.00123753166924,1.03970022668
+253,4.216666667,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056033,-0.00123753166929,1.03970022668
+254,4.233333333,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056033,-0.00123753166909,1.03970022668
+255,4.250000000,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056033,-0.00123753166929,1.03970022668
+256,4.266666667,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056033,-0.00123753166945,1.03970022668
+257,4.283333333,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056033,-0.00123753166947,1.03970022668
+258,4.300000000,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056034,-0.00123753166943,1.03970022668
+259,4.316666667,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056034,-0.00123753166951,1.03970022668
+260,4.333333333,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056034,-0.00123753166911,1.03970022668
+261,4.350000000,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056034,-0.00123753166932,1.03970022668
+262,4.366666667,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056034,-0.00123753166926,1.03970022668
+263,4.383333333,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056034,-0.00123753166944,1.03970022668
+264,4.400000000,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056034,-0.00123753166945,1.03970022668
+265,4.416666667,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056034,-0.00123753166943,1.03970022668
+266,4.433333333,pose2_hold,0.61727460556,-0.00990927105376,1.04003208498,0.587845056034,-0.00123753166938,1.03970022668
+267,4.450000000,pose2_to_pose3_retreat,0.61727460556,-0.00990927105376,1.04003208498,0.587845056034,-0.00123753166938,1.03970022668
+268,4.466666667,pose2_to_pose3_retreat,0.617274606992,-0.00990921661577,1.04003218349,0.58784505665,-0.001237480183,1.03970032049
+269,4.483333333,pose2_to_pose3_retreat,0.617274554479,-0.00990918801741,1.04003222957,0.587845003716,-0.00123745311356,1.03970036406
+270,4.500000000,pose2_to_pose3_retreat,0.617274427964,-0.00990917687699,1.04003223621,0.587844877051,-0.00123744252554,1.03970036965
+271,4.516666667,pose2_to_pose3_retreat,0.617274352179,-0.00990917020363,1.04003224019,0.587844801176,-0.00123743618308,1.03970037299
+272,4.533333333,pose2_to_pose3_retreat,0.617274308273,-0.00990916633739,1.04003224249,0.587844757218,-0.00123743250855,1.03970037493
+273,4.550000000,pose2_to_pose3_retreat,0.617274269257,-0.0099091629018,1.04003224454,0.587844718156,-0.00123742924332,1.03970037665
+274,4.566666667,pose2_to_pose3_retreat,0.617273824849,-0.00990919809312,1.04003233174,0.587844274465,-0.00123746208271,1.03970046164
+275,4.583333333,pose2_to_pose3_retreat,0.61727263569,-0.00990925296915,1.04003248518,0.587843086465,-0.00123751318265,1.03970061091
+276,4.600000000,pose2_to_pose3_retreat,0.61726839114,-0.00990918010437,1.04003235907,0.587838840312,-0.00123744570856,1.03970048662
+277,4.616666667,pose2_to_pose3_retreat,0.617259310663,-0.0099091235907,1.04003224025,0.587829758681,-0.00123739293732,1.03970037192
+278,4.633333333,pose2_to_pose3_retreat,0.617241133696,-0.00990927492407,1.04003240686,0.587811584351,-0.00123753544644,1.03970053027
+279,4.650000000,pose2_to_pose3_retreat,0.617212903682,-0.00990927445719,1.04003234651,0.587783354925,-0.00123753261509,1.03970048417
+280,4.666666667,pose2_to_pose3_retreat,0.617173478415,-0.00990917446601,1.04003245368,0.587743928883,-0.0012374359553,1.03970058456
+281,4.683333333,pose2_to_pose3_retreat,0.617124422457,-0.00990926396808,1.04003215224,0.587694873551,-0.00123752345449,1.03970028671
+282,4.700000000,pose2_to_pose3_retreat,0.61706634924,-0.00990942885938,1.04003212314,0.587636800893,-0.00123768664628,1.03970025498
+283,4.716666667,pose2_to_pose3_retreat,0.617000767638,-0.00990922754759,1.04003246066,0.587571220354,-0.00123748173338,1.03970059183
+284,4.733333333,pose2_to_pose3_retreat,0.616927349695,-0.00990923245501,1.04003207872,0.587497800281,-0.00123749319321,1.03970021651
+285,4.750000000,pose2_to_pose3_retreat,0.616844608018,-0.0099091773497,1.04003232871,0.587415056906,-0.0012374440729,1.03970046069
+286,4.766666667,pose2_to_pose3_retreat,0.616751707016,-0.00990913678025,1.04003223458,0.587322155539,-0.00123740480949,1.03970036735
+287,4.783333333,pose2_to_pose3_retreat,0.616646340174,-0.00990919109457,1.04003218704,0.587216790171,-0.00123745428263,1.03970031776
+288,4.800000000,pose2_to_pose3_retreat,0.61652741699,-0.00990927835151,1.04003250316,0.587097868785,-0.00123753585821,1.03970062506
+289,4.816666667,pose2_to_pose3_retreat,0.616393257076,-0.00990918487957,1.04003238264,0.586963707142,-0.00123744803848,1.03970051204
+290,4.833333333,pose2_to_pose3_retreat,0.616239890465,-0.00990906806507,1.04003246486,0.58681033854,-0.00123733789984,1.03970059861
+291,4.850000000,pose2_to_pose3_retreat,0.616067308042,-0.00990915444892,1.04003238892,0.586637759463,-0.00123741316033,1.03970052006
+292,4.866666667,pose2_to_pose3_retreat,0.615876093393,-0.00990920979055,1.0400323725,0.586446542961,-0.00123747500445,1.03970050308
+293,4.883333333,pose2_to_pose3_retreat,0.615667385411,-0.00990926153666,1.0400323782,0.586237836616,-0.00123752137725,1.03970050742
+294,4.900000000,pose2_to_pose3_retreat,0.615440280419,-0.00990925908085,1.04003218292,0.586010732483,-0.00123751592088,1.03970031861
+295,4.916666667,pose2_to_pose3_retreat,0.615198321228,-0.00990925469715,1.04003217739,0.585768772547,-0.00123751411682,1.03970031628
+296,4.933333333,pose2_to_pose3_retreat,0.6149417433,-0.00990928368479,1.04003257864,0.585512194913,-0.00123754257355,1.03970070927
+297,4.950000000,pose2_to_pose3_retreat,0.614666200059,-0.00990917412904,1.04003243388,0.585236649811,-0.00123743921234,1.03970057267
+298,4.966666667,pose2_to_pose3_retreat,0.61437277935,-0.00990914636691,1.04003225755,0.584943229148,-0.00123741166661,1.03970039136
+299,4.983333333,pose2_to_pose3_retreat,0.614061032634,-0.00990916340705,1.04003234687,0.584631482908,-0.00123742756616,1.03970047455
+300,5.000000000,pose2_to_pose3_retreat,0.613728726974,-0.0099092045119,1.0400323782,0.58429917785,-0.00123746675619,1.03970050766
+301,5.016666667,pose2_to_pose3_retreat,0.613372492474,-0.00990924391238,1.04003230878,0.583942944325,-0.00123750285933,1.03970044295
+302,5.033333333,pose2_to_pose3_retreat,0.612992042725,-0.0099092250343,1.04003233203,0.58356249524,-0.00123748191271,1.03970046686
+303,5.050000000,pose2_to_pose3_retreat,0.612587132886,-0.0099091345823,1.04003257236,0.583157584976,-0.0012373932504,1.03970070304
+304,5.066666667,pose2_to_pose3_retreat,0.612157552337,-0.00990919024929,1.04003235667,0.582728005742,-0.00123744457095,1.03970048814
+305,5.083333333,pose2_to_pose3_retreat,0.611708997924,-0.00990925353541,1.04003238473,0.582279448915,-0.00123751619877,1.03970051158
+306,5.100000000,pose2_to_pose3_retreat,0.611246594395,-0.00990928498245,1.04003235972,0.581817046484,-0.00123754369509,1.0397004926
+307,5.116666667,pose2_to_pose3_retreat,0.610770923896,-0.00990919756979,1.04003224325,0.581341376461,-0.00123745420774,1.03970038741
+308,5.133333333,pose2_to_pose3_retreat,0.610280777149,-0.0099091783605,1.04003220513,0.580851229452,-0.00123743598919,1.03970034713
+309,5.150000000,pose2_to_pose3_retreat,0.609765568861,-0.00990923792374,1.04003231547,0.580336020797,-0.00123749719134,1.03970044816
+310,5.166666667,pose2_to_pose3_retreat,0.609220835341,-0.00990926545118,1.04003243821,0.579791287456,-0.00123752402467,1.03970057278
+311,5.183333333,pose2_to_pose3_retreat,0.608636848341,-0.00990930301293,1.04003224768,0.579207301226,-0.00123755888168,1.03970038438
+312,5.200000000,pose2_to_pose3_retreat,0.608024897146,-0.00990924530475,1.04003236406,0.578595347748,-0.00123750908884,1.03970049629
+313,5.216666667,pose2_to_pose3_retreat,0.607394309429,-0.00990925273397,1.04003224768,0.57796476191,-0.00123751001519,1.03970038256
+314,5.233333333,pose2_to_pose3_retreat,0.606754530381,-0.00990918775662,1.04003243797,0.577324982541,-0.00123744618511,1.03970057099
+315,5.250000000,pose2_to_pose3_retreat,0.606107443646,-0.00990913276504,1.04003229183,0.576677894634,-0.00123739496987,1.03970043039
+316,5.266666667,pose2_to_pose3_retreat,0.60545202565,-0.00990916468657,1.04003223927,0.576022476795,-0.00123742651851,1.03970037361
+317,5.283333333,pose2_to_pose3_retreat,0.604783594593,-0.0099092225743,1.0400322478,0.575354046366,-0.00123748237648,1.03970037976
+318,5.300000000,pose2_to_pose3_retreat,0.604097425528,-0.00990924145941,1.0400322717,0.574667877769,-0.00123749957421,1.03970040661
+319,5.316666667,pose2_to_pose3_retreat,0.603398340487,-0.00990919726392,1.04003235975,0.573968792831,-0.00123745508334,1.0397004931
+320,5.333333333,pose2_to_pose3_retreat,0.602688297713,-0.00990910356514,1.04003239549,0.573258748609,-0.00123736642185,1.03970052487
+321,5.350000000,pose2_to_pose3_retreat,0.601966912691,-0.0099091860473,1.04003250363,0.572537363105,-0.00123745058734,1.03970063178
+322,5.366666667,pose2_to_pose3_retreat,0.601233257279,-0.00990919790483,1.04003237174,0.571803709211,-0.00123745712565,1.03970050667
+323,5.383333333,pose2_to_pose3_retreat,0.600493376426,-0.00990931526638,1.04003216551,0.571063828469,-0.00123757403271,1.03970030036
+324,5.400000000,pose2_to_pose3_retreat,0.599742860112,-0.00990930646396,1.04003210959,0.570313313087,-0.00123756196588,1.03970024626
+325,5.416666667,pose2_to_pose3_retreat,0.598974941263,-0.009909222237,1.04003211615,0.569545392165,-0.00123748485394,1.03970025072
+326,5.433333333,pose2_to_pose3_retreat,0.598214739314,-0.00990915211008,1.04003229874,0.56878518916,-0.00123741848366,1.03970042863
+327,5.450000000,pose2_to_pose3_retreat,0.597469027602,-0.00990917423244,1.04003242906,0.568039478739,-0.00123743636881,1.03970055514
+328,5.466666667,pose2_to_pose3_retreat,0.596726068937,-0.00990924985415,1.0400323126,0.567296520725,-0.00123750975398,1.03970043934
+329,5.483333333,pose2_to_pose3_retreat,0.595987951656,-0.00990917413993,1.04003243542,0.566558404154,-0.00123743118089,1.0397005739
+330,5.500000000,pose2_to_pose3_retreat,0.595253719123,-0.00990934787645,1.04003211427,0.565824175084,-0.00123759315127,1.03970025304
+331,5.516666667,pose2_to_pose3_retreat,0.594510561387,-0.00990927940468,1.04003243029,0.565081013031,-0.00123753983811,1.03970055578
+332,5.533333333,pose2_to_pose3_retreat,0.593753209693,-0.00990921187165,1.04003240184,0.56432366102,-0.00123747313095,1.03970053377
+333,5.550000000,pose2_to_pose3_retreat,0.592994284834,-0.00990920596219,1.04003243856,0.563564735342,-0.00123747004982,1.03970056913
+334,5.566666667,pose2_to_pose3_retreat,0.592238723549,-0.00990918448445,1.04003235846,0.562809172979,-0.00123745207534,1.03970049308
+335,5.583333333,pose2_to_pose3_retreat,0.591492807349,-0.00990921478444,1.04003227428,0.562063257862,-0.00123747867531,1.03970040946
+336,5.600000000,pose2_to_pose3_retreat,0.590760575182,-0.00990930855798,1.04003242584,0.561331027898,-0.00123756539966,1.03970054985
+337,5.616666667,pose2_to_pose3_retreat,0.59004993924,-0.00990927192238,1.04003241428,0.560620392441,-0.001237526693,1.03970054936
+338,5.633333333,pose2_to_pose3_retreat,0.589351656118,-0.00990935354355,1.04003209411,0.559922110281,-0.00123760494761,1.03970023178
+339,5.650000000,pose2_to_pose3_retreat,0.58866289982,-0.00990918073605,1.04003210444,0.55923335168,-0.0012374399987,1.03970024096
+340,5.666666667,pose2_to_pose3_retreat,0.587986548531,-0.00990932895911,1.04003231632,0.558557001426,-0.00123758498043,1.03970044577
+341,5.683333333,pose2_to_pose3_retreat,0.587319958951,-0.00990926721719,1.04003246863,0.557890410908,-0.00123752652778,1.03970059529
+342,5.700000000,pose2_to_pose3_retreat,0.586663093003,-0.00990922749781,1.04003250772,0.557233544716,-0.0012374876043,1.03970063516
+343,5.716666667,pose2_to_pose3_retreat,0.586021843714,-0.00990930518663,1.04003255087,0.556592296725,-0.00123756083991,1.03970067952
+344,5.733333333,pose2_to_pose3_retreat,0.585401985349,-0.00990937463435,1.04003254308,0.555972439039,-0.00123762792623,1.03970067325
+345,5.750000000,pose2_to_pose3_retreat,0.584798006116,-0.00990932553286,1.04003235634,0.555368458425,-0.00123758338457,1.03970048983
+346,5.766666667,pose2_to_pose3_retreat,0.584205941225,-0.00990920891039,1.0400323421,0.554776392891,-0.00123746888394,1.03970047715
+347,5.783333333,pose2_to_pose3_retreat,0.58363568451,-0.00990921475681,1.04003226022,0.554206137883,-0.00123746904785,1.03970039227
+348,5.800000000,pose2_to_pose3_retreat,0.583085850461,-0.00990925578858,1.04003249187,0.553656302025,-0.00123751665504,1.03970061254
+349,5.816666667,pose2_to_pose3_retreat,0.582557965742,-0.00990924437274,1.04003231189,0.553128417427,-0.00123750437566,1.03970044436
+350,5.833333333,pose2_to_pose3_retreat,0.582057405834,-0.00990922745007,1.04003223233,0.552627857556,-0.0012374871653,1.03970036913
+351,5.850000000,pose2_to_pose3_retreat,0.581586555861,-0.00990920829889,1.04003222754,0.55215700747,-0.00123746836215,1.0397003652
+352,5.866666667,pose2_to_pose3_retreat,0.581125651868,-0.0099091681922,1.04003222315,0.55169610281,-0.00123743055402,1.03970036021
+353,5.883333333,pose2_to_pose3_retreat,0.580673363535,-0.00990915612121,1.040032265,0.55124381382,-0.00123742092977,1.03970039712
+354,5.900000000,pose2_to_pose3_retreat,0.580233998005,-0.00990932125466,1.04003235799,0.55080445176,-0.00123757407511,1.03970049555
+355,5.916666667,pose2_to_pose3_retreat,0.579813084679,-0.00990915191349,1.04003251631,0.550383535528,-0.00123741503882,1.03970064165
+356,5.933333333,pose2_to_pose3_retreat,0.579418915422,-0.00990921118421,1.04003225258,0.549989366361,-0.00123747355819,1.03970038937
+357,5.950000000,pose2_to_pose3_retreat,0.579057119102,-0.00990907902137,1.04003235925,0.549627568902,-0.00123734555117,1.03970048853
+358,5.966666667,pose2_to_pose3_retreat,0.57872846057,-0.0099091932613,1.04003228675,0.549298912395,-0.00123745281576,1.03970041865
+359,5.983333333,pose2_to_pose3_retreat,0.578425920489,-0.00990924549456,1.04003230084,0.548996373118,-0.00123750225148,1.03970043458
+360,6.000000000,pose2_to_pose3_retreat,0.578144125776,-0.0099092362373,1.04003231522,0.548714577874,-0.00123749480285,1.03970044888
+361,6.016666667,pose2_to_pose3_retreat,0.577876140233,-0.00990920873892,1.04003229341,0.548446591392,-0.00123747052134,1.03970042643
+362,6.033333333,pose2_to_pose3_retreat,0.577620672609,-0.00990908873202,1.0400324835,0.548191122268,-0.0012373557634,1.03970061246
+363,6.050000000,pose2_to_pose3_retreat,0.577378624491,-0.00990934436973,1.04003228895,0.547949075842,-0.00123760583031,1.03970041331
+364,6.066666667,pose2_to_pose3_retreat,0.57715148487,-0.00990933295306,1.04003223796,0.547721935612,-0.00123759610691,1.03970037202
+365,6.083333333,pose2_to_pose3_retreat,0.576940391075,-0.00990939335287,1.04003235651,0.547510843278,-0.00123765172642,1.03970048626
+366,6.100000000,pose2_to_pose3_retreat,0.576751922912,-0.00990914496142,1.04003223987,0.547322373304,-0.00123740912784,1.03970037866
+367,6.116666667,pose2_to_pose3_retreat,0.576584454579,-0.00990929681375,1.0400322271,0.547154905695,-0.00123755866748,1.03970036227
+368,6.133333333,pose2_to_pose3_retreat,0.576437704278,-0.00990935956679,1.04003239664,0.547008157175,-0.00123761553127,1.03970052776
+369,6.150000000,pose2_to_pose3_retreat,0.576310561658,-0.00990931506491,1.04003243306,0.546881014857,-0.00123757006787,1.03970056255
+370,6.166666667,pose2_to_pose3_retreat,0.576203236143,-0.00990927744945,1.04003236514,0.54677368905,-0.00123753337906,1.03970049629
+371,6.183333333,pose2_to_pose3_retreat,0.576108485659,-0.00990922895261,1.04003233978,0.546678938248,-0.00123748585161,1.03970047402
+372,6.200000000,pose2_to_pose3_retreat,0.57602550398,-0.00990913585193,1.0400322761,0.546595953851,-0.00123740225789,1.0397004038
+373,6.216666667,pose2_to_pose3_retreat,0.575954030709,-0.00990921379877,1.04003245457,0.546524483416,-0.00123747030448,1.03970058925
+374,6.233333333,pose2_to_pose3_retreat,0.575892153335,-0.00990922727598,1.04003235217,0.546462605885,-0.00123748403762,1.03970049397
+375,6.250000000,pose2_to_pose3_retreat,0.575839138231,-0.00990926275816,1.04003228318,0.546409590001,-0.00123752250414,1.03970041612
+376,6.266666667,pose2_to_pose3_retreat,0.57579517695,-0.00990934776112,1.04003226404,0.546365630324,-0.00123760225085,1.03970039202
+377,6.283333333,pose2_to_pose3_retreat,0.57576008527,-0.00990937459644,1.04003223565,0.546330539832,-0.00123762484563,1.03970036911
+378,6.300000000,pose2_to_pose3_retreat,0.575732325487,-0.00990932346434,1.04003217157,0.546302779734,-0.00123757454855,1.03970031132
+379,6.316666667,pose2_to_pose3_retreat,0.575710970674,-0.0099092781868,1.04003220622,0.546281424834,-0.00123752968088,1.03970034303
+380,6.333333333,pose2_to_pose3_retreat,0.57569525685,-0.00990924568359,1.04003263112,0.546265709526,-0.00123750270688,1.03970075509
+381,6.350000000,pose2_to_pose3_retreat,0.57568394391,-0.00990931089015,1.04003227479,0.54625439732,-0.00123756506408,1.03970040846
+382,6.366666667,pose2_to_pose3_retreat,0.575676811361,-0.00990933427041,1.04003232381,0.546247264885,-0.0012375881028,1.03970045582
+383,6.383333333,pose2_to_pose3_retreat,0.575672392579,-0.00990929252175,1.04003233198,0.546242845775,-0.00123754748285,1.03970046338
+384,6.400000000,pose2_to_pose3_retreat,0.575670179516,-0.00990922152787,1.04003227312,0.546240632227,-0.00123747808917,1.0397004058
+385,6.416666667,pose2_to_pose3_retreat,0.575668871835,-0.00990917957816,1.04003223834,0.54623932426,-0.00123743708501,1.03970037178
+386,6.433333333,pose2_to_pose3_retreat,0.575668058676,-0.0099092156024,1.04003224351,0.546238511422,-0.00123747206017,1.03970037584
+387,6.450000000,pose2_to_pose3_retreat,0.575667402678,-0.00990924514104,1.04003224789,0.546237855687,-0.00123750073992,1.0397003793
+388,6.466666667,pose2_to_pose3_retreat,0.575666990502,-0.00990926370074,1.04003225064,0.546237443676,-0.00123751875997,1.03970038147
+389,6.483333333,pose2_to_pose3_retreat,0.575666912426,-0.00990926721638,1.04003225117,0.546237365631,-0.00123752217338,1.03970038189
+390,6.500000000,pose2_to_pose3_retreat,0.575666762252,-0.0099092739785,1.04003225217,0.546237215517,-0.00123752873888,1.03970038268
+391,6.516666667,pose2_to_pose3_retreat,0.57566652847,-0.00990928450537,1.04003225373,0.546236981829,-0.00123753895966,1.03970038391
+392,6.533333333,pose2_to_pose3_retreat,0.575666518606,-0.00990928494951,1.0400322538,0.546236971969,-0.00123753939089,1.03970038396
+393,6.550000000,pose2_to_pose3_retreat,0.575666376567,-0.00990929134533,1.04003225474,0.546236829987,-0.00123754560074,1.03970038471
+394,6.566666667,pose2_to_pose3_retreat,0.575665854456,-0.00990930149395,1.04003227868,0.546236307762,-0.00123755617651,1.03970040759
+395,6.583333333,pose2_to_pose3_retreat,0.575665652129,-0.00990929536427,1.04003230336,0.546236105148,-0.00123755104887,1.03970043161
+396,6.600000000,pose2_to_pose3_retreat,0.575665648368,-0.00990929525031,1.04003230382,0.546236101381,-0.00123755095354,1.03970043205
+397,6.616666667,pose2_to_pose3_retreat,0.575665580934,-0.00990929320735,1.04003231205,0.546236033851,-0.00123754924455,1.03970044006
+398,6.633333333,pose2_to_pose3_retreat,0.575665573621,-0.00990929298577,1.04003231294,0.546236026527,-0.0012375490592,1.03970044093
+399,6.650000000,pose2_to_pose3_retreat,0.575665411663,-0.0099092880791,1.0400323327,0.546235864339,-0.00123754495464,1.03970046015
+400,6.666666667,pose2_to_pose3_retreat,0.57566529327,-0.00990928449227,1.04003234714,0.546235745778,-0.00123754195415,1.0397004742
+401,6.683333333,pose2_to_pose3_retreat,0.575665253399,-0.00990928328435,1.040032352,0.54623570585,-0.0012375409437,1.03970047894
+402,6.700000000,pose2_to_pose3_retreat,0.575665209023,-0.00990928193995,1.04003235742,0.546235661412,-0.00123753981907,1.0397004842
+403,6.716666667,pose2_to_pose3_retreat,0.575665076205,-0.00990927791608,1.04003237362,0.546235528404,-0.001237536453,1.03970049997
+404,6.733333333,pose2_to_pose3_retreat,0.575664971217,-0.0099092747354,1.04003238642,0.546235423268,-0.00123753379226,1.03970051243
+405,6.750000000,pose2_to_pose3_retreat,0.57566485375,-0.00990926525446,1.04003237826,0.546235305638,-0.0012375248456,1.03970050464
+406,6.766666667,pose2_to_pose3_retreat,0.575664791074,-0.0099092556649,1.04003235669,0.546235242881,-0.00123751550477,1.03970048385
+407,6.783333333,pose2_to_pose3_retreat,0.575664766503,-0.00990925190541,1.04003234823,0.546235218278,-0.00123751184279,1.0397004757
+408,6.800000000,pose2_to_pose3_retreat,0.575664732048,-0.00990924663363,1.04003233637,0.546235183777,-0.00123750670774,1.03970046427
+409,6.816666667,pose2_to_pose3_retreat,0.575664622575,-0.00990922988376,1.0400322987,0.546235074161,-0.00123749039232,1.03970042795
+410,6.833333333,pose2_to_pose3_retreat,0.575664464087,-0.00990919550812,1.04003223818,0.546234915202,-0.00123745744771,1.03970037183
+411,6.850000000,pose2_to_pose3_retreat,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449792,1.03970035251
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d671e132285d41f7203d1a67efdfe093e56721d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f001f91523eb53a1e6f6220fbf1829b089a0b0dbcd93ef42acff1626ad9bd6a6
+size 26289961
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe04d0348753846bcd0599ef64c2be84c399812d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,663,636,879,788,804,652,631,653,0.400991960077,-0.015400383722,0.0498621997397,0.999999962565,-8.02044546324e-05,-0.000257182343551,-4.79008730154e-05,1793239569807157248
+1,0.016666667,BASELINE,766,744.427003588,715,679,663,636,879,788,804,652,631,653,0.400992175357,-0.0154026639402,0.0498618972299,0.99999996227,-8.45833215353e-05,-0.00025696619529,-4.7692063036e-05,1793239569823823872
+2,0.033333333,BASELINE,766,744.1515723,715,679,663,636,879,788,804,652,631.1515723,653,0.400992056627,-0.0154040994082,0.0498616031836,0.999999962058,-8.69287881091e-05,-0.000257025616318,-4.75945521105e-05,1793239569840490496
+3,0.050000000,BASELINE,766,744.746467323,715,679,663,636,879,788,804,652,631.746467323,653,0.400990960973,-0.0154030641288,0.0498613338917,0.999999962131,-8.33269119929e-05,-0.000257891029742,-4.78225715905e-05,1793239569857157120
+4,0.066666667,BASELINE,766,745.329235495,715,678.670764505,663,636,879,788,804,652,632,652.670764505,0.400990589209,-0.0154034688956,0.0498610789639,0.999999962082,-8.32140573319e-05,-0.000258147578711,-4.76589294982e-05,1793239569873824000
+5,0.083333333,BASELINE,766,745.902996918,715,678.097003082,663,636,879,788,804,652,632,652.097003082,0.400990755084,-0.0154049431966,0.0498608347044,0.999999961945,-8.56925280172e-05,-0.000257951918956,-4.7204397099e-05,1793239569890490624
+6,0.100000000,BASELINE,766,745.519667033,715,678.480332967,663,636,879,788,804,652,632,652.480332967,0.400991992676,-0.0154048322246,0.0498618669642,0.999999962432,-8.42674981166e-05,-0.000256558105717,-4.70326398133e-05,1793239569907157248
+7,0.116666667,BASELINE,766,745,715,679,663,635.940542739,879,788,804,652,632,652.940542739,0.400993285369,-0.01540441177,0.0498629829928,0.999999962965,-8.23764349248e-05,-0.000255103139549,-4.69644369292e-05,1793239569923823872
+8,0.133333333,BASELINE,766,745,715,679,663,635.351977173,879,788,804,652,632,652.351977173,0.400993127945,-0.0154041075631,0.0498625331878,0.999999962821,-8.3405905692e-05,-0.000255273373973,-4.73057636213e-05,1793239569940490496
+9,0.150000000,BASELINE,766,745,715,679,663,635.232098209,879.232098209,788,804,652,632,652.232098209,0.400992775334,-0.0154039058661,0.0498620767567,0.999999962661,-8.41754671911e-05,-0.000255589673246,-4.75992333123e-05,1793239569957157376
+10,0.166666667,BASELINE,766,745,715,679,663,635.809493402,879.809493402,788,804,652,632,652.809493402,0.40099213234,-0.0154038566751,0.0498616104681,0.999999962482,-8.45583565644e-05,-0.000256123275998,-4.7821505189e-05,1793239569973824000
+11,0.183333333,BASELINE,766.387217448,745,715,678.612782552,663,636,880,788,804,652,632,653,0.400991576197,-0.0154036804062,0.0498614271556,0.999999962408,-8.43626460488e-05,-0.000256480803864,-4.77956603655e-05,1793239569990490624
+12,0.200000000,BASELINE,766.965103475,745,715,678.034896525,663,636,880,788,804,652,632,653,0.40099106282,-0.0154034415633,0.0498613831824,0.999999962386,-8.38820289368e-05,-0.000256751631274,-4.7647641164e-05,1793239570007157248
+13,0.216666667,BASELINE,766.462243494,745,715,678.537756506,663.537756506,636,879.462243494,788,804,652,632,653,0.400990991155,-0.0154041097756,0.049861514479,0.999999962479,-8.347772683e-05,-0.000256539196991,-4.75410503694e-05,1793239570023823872
+14,0.233333333,BASELINE,766,745,715,679,664,636,879,788,804,652.11453703,632,652.88546297,0.400991269009,-0.0154046471066,0.0498616460084,0.999999962608,-8.31638750021e-05,-0.000256167279343,-4.73988596682e-05,1793239570040490752
+15,0.250000000,BASELINE,766,745,715,679,664,636,879,788,804,652.710063116,632,652.289936884,0.400992895432,-0.0154043900108,0.0498617312131,0.999999962851,-8.32092653955e-05,-0.000255256049507,-4.70959890477e-05,1793239570057157632
+16,0.266666667,BASELINE,766,745,715,678.703693418,663.703693418,636,879.296306582,788,804,652.703693418,631.703693418,652.296306582,0.400993330203,-0.0154041345063,0.0498616204497,0.999999962864,-8.31159462224e-05,-0.000255227257871,-4.7142365515e-05,1793239570073824256
+17,0.283333333,BASELINE,766,745,715,678.12625715,663.12625715,636,879.87374285,788,804,652.12625715,631.12625715,652.87374285,0.400992634358,-0.0154038805114,0.0498613237557,0.999999962658,-8.28910222184e-05,-0.000256035705786,-4.7520100566e-05,1793239570090490880
+18,0.300000000,BASELINE,766,745,715,678,663,636,880,787.54964455,804,652,631.45035545,653,0.400992553206,-0.0154031728281,0.0498620799273,0.999999962973,-8.2006675271e-05,-0.000255096800478,-4.74746927606e-05,1793239570107157504
+19,0.316666667,BASELINE,766,745,715,678.02729885,663.02729885,636,879.97270115,787,804,652,631.97270115,652.97270115,0.40099257605,-0.015402436268,0.0498630083824,0.999999963375,-8.10559683006e-05,-0.000253852936853,-4.73184817489e-05,1793239570123824128
+20,0.333333333,BASELINE,766,745,715,678.615780958,663.615780958,636,879.384219042,787,804,652,631.384219042,652.384219042,0.400991200613,-0.0154037159958,0.0498614217196,0.999999962606,-8.25345201313e-05,-0.000256391933198,-4.73186752756e-05,1793239570140490752
+21,0.350000000,BASELINE,766,745,715,678.798717532,663.798717532,636,879,787.201282468,804,652,631.201282468,652,0.400991002531,-0.0154041794006,0.0498609225382,0.999999962419,-8.23664312763e-05,-0.000257172976244,-4.73205027943e-05,1793239570157157376
+22,0.366666667,BASELINE,766,745,715,678.218822596,663.218822596,636,879,787.781177404,804,652,631.781177404,652,0.400993019054,-0.0154031073013,0.0498624689103,0.999999963329,-7.91010099257e-05,-0.000254647307572,-4.73254038537e-05,1793239570173824000
+23,0.383333333,BASELINE,766,745,715,678.357577664,663,635.642422336,879,788,804,652,631.642422336,652.357577664,0.400992075157,-0.0154032606703,0.0498622481893,0.99999996308,-8.00077379887e-05,-0.000255342475645,-4.73231698405e-05,1793239570190490624
+24,0.400000000,BASELINE,766,745,715,678.931860083,663,635.068139917,879,788,804,652,631.068139917,652.931860083,0.400989337142,-0.0154041567165,0.0498609565475,0.99999996212,-8.34429363411e-05,-0.000257989584842,-4.73166117201e-05,1793239570207157248
+25,0.416666667,BASELINE,766,745,715,678.481697948,663,635.518302052,879.518302052,788,804,652,631.518302052,653,0.40099093587,-0.0154055488986,0.0498618048335,0.999999962442,-8.50155416168e-05,-0.000256307570495,-4.68511743452e-05,1793239570223824128
+26,0.433333333,BASELINE,766,745,715,678,663,636,880,788,804.10481502,652,632,653,0.400992809682,-0.0154063446901,0.0498627392298,0.999999962899,-8.54256855899e-05,-0.000254439421098,-4.65252980309e-05,1793239570240490752
+27,0.450000000,BASELINE,766,745,715,678,663,636,880,788,804.684237299,652,632,653,0.400993285443,-0.0154041375565,0.0498627590533,0.999999963201,-8.17075742996e-05,-0.000254367444286,-4.71110898552e-05,1793239570257157376
+28,0.466666667,BASELINE,766,745,715,678,663.26333212,635.73666788,879.73666788,788,804.73666788,652,632,652.73666788,0.400993027089,-0.0154032935682,0.0498626708841,0.999999963237,-8.04502707275e-05,-0.000254579479829,-4.73649106316e-05,1793239570273824000
+29,0.483333333,BASELINE,766,745,715,678,663.842034735,635.157965265,879.157965265,788,804.157965265,652,632,652.157965265,0.400991889549,-0.0154040821034,0.0498624533812,0.999999962966,-8.21400676112e-05,-0.000255131652831,-4.72211578673e-05,1793239570290490624
+30,0.500000000,BASELINE,766,745,715,678,663.583443231,635.416556769,879,788,804,652,632,652,0.400992183884,-0.0154041638667,0.0498625370635,0.999999963007,-8.27606587745e-05,-0.000254798199153,-4.70523517753e-05,1793239570307157248
+31,0.516666667,BASELINE,766,745,715,678,663.010490805,635.989509195,879,788,804,652,632,652,0.400993015816,-0.0154039802733,0.0498627338253,0.999999963167,-8.29798181025e-05,-0.000254132238159,-4.68741394497e-05,1793239570323823872
+32,0.533333333,BASELINE,766,745,715,678,663,636,879,788,803.420343725,652,631.420343725,652,0.400992149487,-0.0154046673574,0.0498619784942,0.999999963185,-8.22146658102e-05,-0.000254276202786,-4.70652812955e-05,1793239570340490752
+33,0.550000000,BASELINE,766,745,715,678.166500685,663,636,879,788,803.166500685,652.166500685,631.166500685,652.166500685,0.400991544433,-0.0154051456813,0.049861632834,0.999999963135,-8.2092907436e-05,-0.000254496653946,-4.71343777084e-05,1793239570357157376
+34,0.566666667,BASELINE,766,745,715,678.744392342,663,636,879,788,803.744392342,652.744392342,631.744392342,652.744392342,0.4009916632,-0.0154050680745,0.0498623432677,0.999999962927,-8.36062125328e-05,-0.00025486876351,-4.68849019507e-05,1793239570373824000
+35,0.583333333,BASELINE,766,745,715,679,663,636,879,788,804.321062544,652.678937456,632,652.678937456,0.400991787352,-0.015405154946,0.0498625392334,0.999999962918,-8.36981268253e-05,-0.000254887615412,-4.68143615235e-05,1793239570390490880
+36,0.600000000,BASELINE,766,745,715,679,663,636,879,788,804.896764056,652.103235944,632,652.103235944,0.400991915775,-0.0154053722673,0.0498623271678,0.999999963067,-8.26627173529e-05,-0.000254626294011,-4.68857370568e-05,1793239570407157504
+37,0.616666667,BASELINE,766,745.470362047,715,679,663,636,879,788,804.529637953,652,632,652.470362047,0.400990896321,-0.0154042756966,0.0498616138861,0.999999962874,-8.20603482607e-05,-0.000255515583729,-4.7229650576e-05,1793239570423824128
+38,0.633333333,BASELINE,766.044937362,745.955062638,715,679,663,636,879,788,804,652,632,653,0.400989951885,-0.0154030765691,0.049861022058,0.999999962699,-8.15882131986e-05,-0.000256285825995,-4.75659827465e-05,1793239570440490752
+39,0.650000000,BASELINE,766.637008712,745.362991288,715,679,663,636,879,788,804,652,632,653,0.400992974627,-0.0154041242418,0.0498632424212,0.999999963677,-8.15496791673e-05,-0.000252545523722,-4.70849486932e-05,1793239570457157376
+40,0.666666667,BASELINE,766.77657265,745,715,678.77657265,663,635.77657265,879,788,804,652,632,653,0.40099436636,-0.0154052616161,0.0498642738606,0.999999964028,-8.26754432348e-05,-0.000250839157504,-4.67791849912e-05,1793239570473824256
+41,0.683333333,BASELINE,766.199111113,745,715,678.199111113,663,635.199111113,879,788,804,652,632,653,0.400993173659,-0.0154065411279,0.049863421378,0.999999963398,-8.56461082585e-05,-0.000252355686553,-4.67511478206e-05,1793239570490491136
+42,0.700000000,BASELINE,766.3765224,745,715,678.3765224,663.3765224,635,879,788,804,652,632,653,0.400992585295,-0.0154059105968,0.049862915012,0.999999963349,-8.37219130664e-05,-0.000253188238485,-4.67828269953e-05,1793239570507157504
+43,0.716666667,BASELINE,766.951193877,745,715,678.951193877,663.951193877,635,879,788,804,652,632,653,0.40099231497,-0.0154042748843,0.0498625907937,0.999999963593,-7.92217434491e-05,-0.000253660839842,-4.68459325574e-05,1793239570523824128
+44,0.733333333,BASELINE,766.460691444,745,715,679,663.460691444,635.539308556,879,788,804.539308556,652,632,653,0.400993726261,-0.0154040269608,0.049863467959,0.999999963774,-8.06270654496e-05,-0.000252519253959,-4.67490071884e-05,1793239570540490752
+45,0.750000000,BASELINE,766.126575711,745,715,678.873424289,663,636,879.126575711,788,804.873424289,652,632,653,0.400994695516,-0.0154040227944,0.0498640703695,0.999999963839,-8.20069598436e-05,-0.000251840036836,-4.66238983983e-05,1793239570557157632
+46,0.766666667,BASELINE,766.706341102,745,715,678.293658898,663,636,879.706341102,788,804.293658898,652,632,653,0.400993523307,-0.0154044302108,0.0498632898334,0.99999996352,-8.13334226058e-05,-0.000253352671081,-4.64510603206e-05,1793239570573824512
+47,0.783333333,BASELINE,766.7257109,745,715,678,663,636,879.7257109,788,804,652,632,653,0.400993006352,-0.0154044146209,0.0498627537828,0.999999963366,-8.15231751949e-05,-0.000253871508891,-4.65909834693e-05,1793239570590491136
+48,0.800000000,BASELINE,766.169892172,745,715,678,663,636,879.169892172,788,804,652,632,653,0.400993161946,-0.0154039648583,0.0498624686714,0.999999963384,-8.25990061644e-05,-0.000253370316775,-4.70519239169e-05,1793239570607157504
+49,0.816666667,BASELINE,766.414785987,745,715,678,663,636,879.414785987,788,804,652,632,653,0.400992700429,-0.0154044808156,0.0498624603068,0.999999963302,-8.33181191638e-05,-0.000253454178949,-4.70632211314e-05,1793239570623824384
+50,0.833333333,BASELINE,766.988191419,745,715,678,663,636,879.988191419,788,803.988191419,652.011808581,632,652.988191419,0.400991963184,-0.0154054020672,0.0498625488388,0.999999963171,-8.38298955723e-05,-0.000253835328384,-4.68830987321e-05,1793239570640491008
+51,0.850000000,BASELINE,766.408481787,745,715,678,663,636,879.408481787,788,803.408481787,652.591518213,632,652.408481787,0.400991030528,-0.0154053694642,0.0498614382969,0.999999962738,-8.19225095114e-05,-0.000256127437958,-4.7016625866e-05,1793239570657157632
+52,0.866666667,BASELINE,766,745,715,678.174140046,663,636,879.174140046,788,803.174140046,653,631.825859954,652,0.400990857032,-0.0154052208321,0.049860927775,0.99999996254,-8.08380861488e-05,-0.000257237200389,-4.70492391498e-05,1793239570673824256
+53,0.883333333,BASELINE,766,745,715,678.763709199,663,636,879.763709199,788,803.763709199,653,631.236290801,652,0.40099249459,-0.0154047954006,0.0498618486627,0.999999962917,-8.1716925622e-05,-0.000255526351165,-4.68411119895e-05,1793239570690490880
+54,0.900000000,BASELINE,766,744.656078988,715,679,663,636,879.656078988,788,804,653,631.343921012,652.343921012,0.400992436489,-0.0154045472759,0.0498622060621,0.999999963005,-8.12830449684e-05,-0.000255298856793,-4.69685399876e-05,1793239570707157760
+55,0.916666667,BASELINE,766,744.082125871,715,679,663,636,879.082125871,788,804,653,631.917874129,652.917874129,0.400991244242,-0.0154044177433,0.0498621865714,0.999999962898,-7.99711493742e-05,-0.000256063506695,-4.73204045853e-05,1793239570723824384
+56,0.933333333,BASELINE,766,744,715,678.494812493,663,636,879,788,803.494812493,652.494812493,632,653,0.400991727146,-0.0154040734763,0.0498631848702,0.999999963464,-7.92936121625e-05,-0.000254126622307,-4.69461212118e-05,1793239570740491008
+57,0.950000000,BASELINE,766,744.18579789,715,678,663,636,879,788,803.092898945,652.092898945,631.907101055,652.907101055,0.400992707005,-0.0154037694782,0.0498643109162,0.999999964108,-7.88182088908e-05,-0.00025180086153,-4.65724272275e-05,1793239570757157376
+58,0.966666667,BASELINE,766,745.342073295,715,678,663,636,879,788,803.671036648,652.671036648,631.328963352,652.328963352,0.400994821553,-0.0154038631063,0.0498652165152,0.999999964595,-7.88453290683e-05,-0.000249800141474,-4.68351524375e-05,1793239570773824000
+59,0.983333333,BASELINE,766,745.751667003,715,678.248332997,663,636,879,788,804,652.751667003,631.248332997,652,0.400995208263,-0.0154036924706,0.0498651209983,0.999999964603,-7.91972050864e-05,-0.000249612075955,-4.70714740866e-05,1793239570790490624
+60,1.000000000,BASELINE,766,745.175481339,715,678.824518661,663,636,879,788,804,652.175481339,631.824518661,652,0.400993313858,-0.0154031729502,0.0498637037945,0.999999963978,-7.99778282728e-05,-0.00025181710182,-4.72729374247e-05,1793239570807157248
+61,1.016666667,BASELINE,766,745,715,679,663,636,879,788,804,652,631.601305408,652.398694592,0.400992887885,-0.015403974834,0.0498633040153,0.999999963688,-8.11499935109e-05,-0.000252640450099,-4.70227758287e-05,1793239570823823872
+62,1.033333333,BASELINE,766,745,715,679,663,636,879,788,804,652,631.028009639,652.971990361,0.400993104986,-0.0154053554032,0.0498633497992,0.999999963544,-8.24936275529e-05,-0.000252858717218,-4.65748331445e-05,1793239570840490752
+63,1.050000000,BASELINE,766,745,715,678.434913341,663,635.434913341,879,788,804,652,631.565086659,652.434913341,0.400992327566,-0.0154064173218,0.0498628229138,0.999999963205,-8.41596475498e-05,-0.000253627470185,-4.66837979325e-05,1793239570857157632
+64,1.066666667,BASELINE,766,745,715,678,663.155003794,635.155003794,879,788,804.155003794,652,631.844996206,652.155003794,0.400992064761,-0.0154067196058,0.049862630612,0.999999963151,-8.43091357977e-05,-0.00025377635368,-4.67648827677e-05,1793239570873824256
+65,1.083333333,BASELINE,766,745,715,678,663.733457294,635.733457294,879,788,804.733457294,652,631.266542706,652.733457294,0.400993347372,-0.0154049913846,0.0498634327091,0.999999963897,-8.02704217684e-05,-0.000252154588088,-4.66916538882e-05,1793239570890491136
+66,1.100000000,BASELINE,766.310456751,745,715,678.310456751,663.689543249,636,879,788,804.689543249,652,631.310456751,653,0.40099326063,-0.0154055096516,0.0498636712013,0.99999996394,-8.07797685811e-05,-0.000251854385869,-4.65206423256e-05,1793239570907157504
+67,1.116666667,BASELINE,766.886213631,745,715,678.886213631,663.113786369,636,879,788,804.113786369,652,631.886213631,653,0.400992003709,-0.0154079476505,0.0498634280662,0.999999963378,-8.51756509112e-05,-0.000252683522781,-4.62660707914e-05,1793239570923824128
+68,1.133333333,BASELINE,766.539735185,745,715,678.539735185,663,636,879.92052963,788,804.460264815,652,632,652.539735185,0.400992177599,-0.015406515559,0.0498638000328,0.999999963637,-8.32215405018e-05,-0.00025226798081,-4.64770426531e-05,1793239570940490752
+69,1.150000000,BASELINE,766,745,715,678.035113555,663,636,880.92977289,788,804.964886445,652,632,652.035113555,0.400992755555,-0.0154042777212,0.0498642947605,0.999999964071,-7.99609118413e-05,-0.000251546210761,-4.67734992596e-05,1793239570957157376
+70,1.166666667,BASELINE,766,745,715,678.629351093,663,636,879.741297813,788,804.370648907,652,632,652.629351093,0.400994155911,-0.0154043882935,0.0498643318133,0.999999964192,-8.0800963705e-05,-0.000250829927204,-4.66052870615e-05,1793239570973824000
+71,1.183333333,BASELINE,766.217114632,745,715,679,663.217114632,635.782885368,879,788,804,652,632,653,0.400994417629,-0.0154045289041,0.0498643114152,0.999999964169,-8.11201290367e-05,-0.00025082719243,-4.65550326895e-05,1793239570990490880
+72,1.200000000,BASELINE,766.794146138,745,715,679,663.794146138,635.205853862,879,788,804,652,632,653,0.400992791794,-0.0154047193102,0.0498641957791,0.999999963909,-8.05758066257e-05,-0.000252007326915,-4.67003202113e-05,1793239571007157760
+73,1.216666667,BASELINE,766.632134469,744.632134469,715,679,663.632134469,635.367865531,879.367865531,788,804,652,632,653,0.400991959168,-0.0154042785398,0.0498636408,0.999999963645,-8.11152647674e-05,-0.000252833179037,-4.69736564899e-05,1793239571023824640
+74,1.233333333,BASELINE,766.060251996,744.060251996,715,679,663.060251996,635.939748004,879.939748004,788,804,652,632,653,0.400991566453,-0.0154034877213,0.0498628421628,0.999999963376,-8.2255783859e-05,-0.000253462547324,-4.73180081542e-05,1793239571040491264
+75,1.250000000,BASELINE,766.527642866,744,715,679,663.527642866,636,879.472357134,788,804,652,632,653,0.400991611671,-0.0154038484738,0.0498625513783,0.999999963342,-8.08125228164e-05,-0.000254068488314,-4.72677742104e-05,1793239571057157632
+76,1.266666667,BASELINE,766.884573865,744.115426135,715,679,663.884573865,636,879,788,804,652,632,653,0.400991851996,-0.0154044397664,0.0498625710987,0.999999963397,-7.97081591832e-05,-0.000254230259492,-4.71099343675e-05,1793239571073824256
+77,1.283333333,BASELINE,766.304825066,744.695174934,715,679,663.304825066,636,879,788,804,652,632,653,0.400992669715,-0.0154054129147,0.0498635992962,0.999999963706,-8.11910859849e-05,-0.000252616374842,-4.6706157173e-05,1793239571090490880
+78,1.300000000,BASELINE,766,745,715,678.725585409,663,636,879,788.274414591,804,652,632,653,0.400993388178,-0.0154053848425,0.0498641048376,0.999999963996,-8.13209988143e-05,-0.000251454114445,-4.65432234534e-05,1793239571107157504
+79,1.316666667,BASELINE,766,745,715,678.146910306,663,636,879,788.853089694,804,652,632,653,0.40099399659,-0.0154042466548,0.0498640308778,0.999999964267,-7.99507408681e-05,-0.000250792598032,-4.66473278887e-05,1793239571123824128
+80,1.333333333,BASELINE,766,744.572186494,715,678,663,636,879.427813506,788.572186494,804,652,632,653,0.400993972877,-0.0154033529753,0.0498644185719,0.999999964528,-7.92128987524e-05,-0.000249988297993,-4.66359723759e-05,1793239571140491008
+81,1.350000000,BASELINE,766,744.001228145,715,678,663,636,879.998771855,788,804,652,631.998771855,653,0.400993733388,-0.0154025481839,0.0498649601993,0.999999964783,-7.86952515974e-05,-0.000249140876662,-4.65856478696e-05,1793239571157157888
+82,1.366666667,BASELINE,766,744.591540726,715,678,663,636,879.408459274,788,804,652,631.408459274,653,0.400993161994,-0.0154044740616,0.0498639924701,0.999999964185,-8.05816762984e-05,-0.000250913169225,-4.66873170037e-05,1793239571173824512
+83,1.383333333,BASELINE,766,745,715,678.178424735,663,636,879,788,804,652,631.178424735,653,0.400993069825,-0.0154053565687,0.0498635330732,0.999999963917,-8.09336711881e-05,-0.000251852235448,-4.67611337205e-05,1793239571190491136
+84,1.400000000,BASELINE,766,745,715,678.757607965,663,636,879,788,804,652,631.757607965,653,0.400994054039,-0.015403895569,0.0498642154376,0.999999964396,-7.78391948309e-05,-0.000250919798407,-4.67723913462e-05,1793239571207157504
+85,1.416666667,BASELINE,766,745,715,679,663,636,879,788,804,652,632,653,0.400993395137,-0.015403995581,0.049863889476,0.999999964155,-7.84347950598e-05,-0.000251684866397,-4.68269421629e-05,1793239571223824128
+86,1.433333333,BASELINE,766,745,715,679,663,636,879,788,804,652,632,653,0.400991553668,-0.0154052190687,0.0498628378121,0.999999963389,-8.1686180582e-05,-0.000253671645826,-4.69126515222e-05,1793239571240490752
+87,1.450000000,BASELINE,766,745,715,678.513712059,663,636,879.486287941,788,804,652,632,653,0.400993576409,-0.0154052142559,0.049864586439,0.999999964151,-8.15907772273e-05,-0.000250716146187,-4.67087049557e-05,1793239571257157376
+88,1.466666667,BASELINE,766,745,715,678.062449424,663.062449424,636,879.937550576,788,804,652.062449424,632,653,0.400995916126,-0.0154051019903,0.049866459449,0.999999965051,-8.07622786617e-05,-0.000247420754037,-4.64517043993e-05,1793239571273824000
+89,1.483333333,BASELINE,766,745,715,678.653853066,663.653853066,636,879.346146934,788,804,652.653853066,632,653,0.400995012715,-0.0154059638801,0.0498650901694,0.999999964866,-7.88585687168e-05,-0.000248828212011,-4.61896813301e-05,1793239571290490880
+90,1.500000000,BASELINE,766,745,715,678.7606331,664,636,879.478733799,788,804,653,632,653,0.400993974271,-0.0154061269163,0.0498641484714,0.999999964491,-7.82545171747e-05,-0.000250518217531,-4.61977696782e-05,1793239571307157760
+91,1.516666667,BASELINE,766,745,715,678.183431992,664,636,880.633136016,788,804,653,632,653,0.400992745246,-0.0154053036143,0.0498638102476,0.999999963851,-7.94847589616e-05,-0.000252607000818,-4.65870840127e-05,1793239571323824384
+92,1.533333333,BASELINE,766.390214217,745,715,678,663.609785783,636,880.219571566,788,804,652.609785783,632,652.609785783,0.40099168315,-0.0154048682432,0.04986319095,0.999999963586,-7.97234685555e-05,-0.000253554994585,-4.6708366081e-05,1793239571340491008
+93,1.550000000,BASELINE,766.962204475,745,715,678,663.037795525,636,879.075591051,788,804,652.037795525,632,652.037795525,0.400990698817,-0.0154046135843,0.0498624407179,0.999999963498,-7.95002863315e-05,-0.000253971567092,-4.67047889602e-05,1793239571357157376
+94,1.566666667,BASELINE,766.446286002,745,715,678,663,636,879,788,804,652,632,652.553713998,0.400992046426,-0.0154061479616,0.0498632905265,0.999999963686,-8.17708779655e-05,-0.000252496706896,-4.67562482025e-05,1793239571373824000
+95,1.583333333,BASELINE,766,745,715,678,663,636,879,788,804,652,632,653,0.400992867886,-0.0154073568444,0.0498638758267,0.999999963809,-8.31970700177e-05,-0.000251553985933,-4.6693065142e-05,1793239571390490624
+96,1.600000000,BASELINE,766,745,715,678,663,636,879,788,804,652,632,653,0.400991585415,-0.0154071895496,0.0498633113059,0.999999963694,-8.15156736254e-05,-0.000252638553877,-4.62690400476e-05,1793239571407157504
+97,1.616666667,BASELINE,766,745,715,678.299356711,663,636,879,788,804,652,632,653,0.400991330724,-0.0154071909577,0.0498629956857,0.999999963581,-8.15337256646e-05,-0.0002531222374,-4.60421988921e-05,1793239571423824384
+98,1.633333333,BASELINE,766,745,715,678.873131052,663,636,879,788,804,652,632,653,0.400992018189,-0.0154073470144,0.0498629082306,0.99999996347,-8.31096470482e-05,-0.000253055095461,-4.59961145228e-05,1793239571440491520
+99,1.650000000,BASELINE,766.44746443,745,715,679,663.44746443,636,879,788,804,652,631.55253557,653,0.400991977619,-0.0154063475193,0.0498627881035,0.99999996331,-8.28459465653e-05,-0.000253694526367,-4.64305129236e-05,1793239571457157888
+100,1.666666667,BASELINE,766.977293745,745,715,679,663.977293745,636,879,788,804,652.022706255,631.022706255,653,0.400991780005,-0.0154050810513,0.0498627108848,0.999999963172,-8.19825152536e-05,-0.000254416868861,-4.69710628642e-05,1793239571473824256
+101,1.683333333,BASELINE,766.383184375,745,715,679,663.383184375,636,879,788,804,652.616815625,631.616815625,653,0.400992831406,-0.0154053513797,0.0498639468622,0.999999963976,-7.91689709714e-05,-0.000252177979694,-4.67503850187e-05,1793239571490490880
+102,1.700000000,BASELINE,766,745,715,679,663,636,879,788,804.205114353,653,632,653,0.400993457785,-0.0154055117257,0.0498644171568,0.999999964323,-7.83925066973e-05,-0.00025105508893,-4.6696319677e-05,1793239571507157504
+103,1.716666667,BASELINE,766,745,715,679,663,636,879,788,804.782856909,653,632,653,0.400993312032,-0.0154054722682,0.0498634964469,0.99999996385,-8.13167757816e-05,-0.000251959616166,-4.69449368257e-05,1793239571523824128
+104,1.733333333,BASELINE,766,745,715,679,663,636,879.344567338,788,804.655432662,652.655432662,631.655432662,653,0.400993558696,-0.0154054380536,0.0498635802114,0.999999963878,-8.16144090844e-05,-0.000251762696036,-4.68968047888e-05,1793239571540490752
+105,1.750000000,BASELINE,766,745,715,679,663,636,879.896623714,788,804.103376286,652.103376286,631.103376286,653,0.400994041662,-0.0154054069961,0.0498642688427,0.999999964208,-8.03303543588e-05,-0.000250902514481,-4.66699785232e-05,1793239571557157632
+106,1.766666667,BASELINE,766.497384492,745,715,679,663.497384492,636,880,788,803.502615508,652,631.497384492,653,0.400994395437,-0.0154064355009,0.0498651928973,0.999999964323,-8.26880209712e-05,-0.000249693680529,-4.65746082624e-05,1793239571573824512
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,632,653,0.400991240127,-0.0154042589033,0.0498622616193,0.999999963741,-7.83686085898e-05,-0.000253317369898,-4.69668572156e-05,1793239571616201472
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,678.423693559,663,636,879,788,804,652.576306441,631.423693559,653,0.40099257781,-0.0154049333398,0.049864163659,0.999999964261,-7.896135706e-05,-0.000251112343983,-4.67493630641e-05,1793239571632867328
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879,788,804,652.848447218,631,653,0.400993604763,-0.0154055108524,0.0498654562222,0.999999964584,-7.97545920819e-05,-0.000249602420086,-4.65843428189e-05,1793239571649533440
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879,788,804,652.276143861,631,653,0.400993769046,-0.0154058192786,0.049865056718,0.999999964371,-8.11044308903e-05,-0.000250022282595,-4.65650039572e-05,1793239571666200064
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.306222311,788,804,652,631.306222311,653,0.400992849114,-0.0154059742403,0.0498642513536,0.999999964028,-8.15043911257e-05,-0.000251263505371,-4.65529621861e-05,1793239571682866688
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.897971177,788,804,652,631.897971177,653,0.400990918244,-0.0154059861091,0.0498630675589,0.999999963562,-8.10186693811e-05,-0.000253270577508,-4.65477243396e-05,1793239571699533312
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.520677681,788.479322319,803.520677681,652,632,653,0.400991243601,-0.0154057181831,0.0498624367283,0.999999963466,-8.03641963565e-05,-0.00025380991893,-4.68064038431e-05,1793239571716200192
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678.058116466,663,636,879.058116466,788.941883534,803.058116466,652.058116466,631.941883534,653,0.400992521832,-0.0154055379147,0.0498623257214,0.99999996357,-7.99296434617e-05,-0.000253495824869,-4.70138075077e-05,1793239571732867072
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,678.633433467,663,636,879.633433467,788.366566533,803.633433467,652.633433467,631.366566533,653,0.400998096754,-0.015406656514,0.0498658155679,0.999999964758,-8.17651263118e-05,-0.000248308013479,-4.62755570233e-05,1793239571749533696
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,678.786858889,663,636,879.786858889,788,804,653,631,653,0.401007903818,-0.0154067681717,0.049870174836,0.99999996668,-8.16592395253e-05,-0.0002405932586,-4.56763034749e-05,1793239571766200320
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,678.199441324,663,636,879.199441324,788,804,653,631,653,0.401025142538,-0.0154051116365,0.049876060811,0.999999969827,-7.81443014165e-05,-0.000228441183619,-4.53211290535e-05,1793239571782866944
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,678.38272831,663,635.61727169,879,788,804,652.61727169,631,653,0.401062618399,-0.015407670228,0.0498885886069,0.999999975652,-7.80379310388e-05,-0.000201691285229,-4.38895394341e-05,1793239571799533568
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678.962200268,663,635.037799732,879,788,804,652.037799732,631,653,0.401110497278,-0.015412395629,0.0499045306688,0.99999998193,-7.96837537517e-05,-0.000167437292025,-4.19046124337e-05,1793239571816200192
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,678.460514147,663,635.539485853,879,788,804,652,631,653,0.401179195791,-0.015417435752,0.0499203221371,0.999999986911,-8.10583446806e-05,-0.000134247919468,-3.98187595488e-05,1793239571832866816
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,744.883741764,715,678,663,636,879,788,804,652,631,653,0.401251358946,-0.0154222007945,0.0499348655582,0.999999990355,-8.21722183847e-05,-0.000105393974857,-3.78244652116e-05,1793239571849533696
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,744.308393289,715,678,663,636,879,788,804,652,631,653,0.40133146639,-0.0154257928509,0.0499445220898,0.999999991596,-8.23312932114e-05,-9.33667472761e-05,-3.62195362333e-05,1793239571866200576
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.273407821,715,678.273407821,663,636,879.273407821,788,804,652,631.273407821,653,0.401414466897,-0.0154302126307,0.049949473598,0.999999992047,-8.35795365205e-05,-8.76738492902e-05,-3.51264859372e-05,1793239571882867200
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.862663141,715,678.862663141,663,636,879.862663141,788,804,652,631.862663141,653,0.401500809537,-0.0154355886167,0.0499489897456,0.999999991708,-8.60860142886e-05,-8.92985267701e-05,-3.46247706976e-05,1793239571899534592
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678.555021255,663,636,879.555021255,788,804.444978745,652,632,653,0.401611480054,-0.0154427207627,0.0499508430839,0.999999991568,-8.98131600164e-05,-8.74620503005e-05,-3.38863368158e-05,1793239571916200960
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.975161267,715,678,663,636,879,787.975161267,804.975161267,652,631.975161267,653,0.401730489466,-0.0154503875723,0.0499531523701,0.999999991451,-9.37020517182e-05,-8.49974186323e-05,-3.30731301581e-05,1793239571932867072
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.402940451,715,678,663,636,879,787.402940451,804.402940451,652,631.402940451,653,0.401870340081,-0.0154580757884,0.0499498571321,0.999999990939,-9.29804506505e-05,-9.18696214538e-05,-3.2197456157e-05,1793239571949533696
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.170025643,715,678.170025643,663,636,879,787.170025643,804,652,631.170025643,653,0.402021173541,-0.0154664992368,0.0499480490607,0.999999990588,-9.35841760904e-05,-9.53861053134e-05,-3.1105555638e-05,1793239571966200064
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.744765647,715,678.744765647,663,636,879,787.744765647,804,652,631.744765647,653,0.402198149592,-0.0154766727678,0.0499497809128,0.999999990694,-9.73425944503e-05,-9.09149244621e-05,-2.94989683085e-05,1793239571982866688
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,632,653,0.402389384441,-0.0154869043169,0.0499522945628,0.999999990798,-9.99446760694e-05,-8.73889013862e-05,-2.79049289471e-05,1793239571999534080
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,632,653,0.40259200983,-0.0154971822143,0.0499554327458,0.99999999091,-0.000101623028174,-8.4617909202e-05,-2.63209132519e-05,1793239572016201472
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.498503759,879,788,804,652,632,653,0.402843097412,-0.0155093986227,0.0499627649208,0.999999992297,-0.00010004421761,-6.95035917356e-05,-2.38105165643e-05,1793239572032867584
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,879,788,804,652,632,653,0.403107446884,-0.0155209679344,0.0499704989658,0.999999993692,-9.69581744364e-05,-5.26236888341e-05,-2.11156415292e-05,1793239572049533696
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,879,788,804,652,632,653,0.403406302809,-0.0155267327398,0.0499766686753,0.999999995304,-8.77951683293e-05,-3.67916708258e-05,-1.81823309012e-05,1793239572066200064
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.234386133,745,715,678.765613867,663,635.234386133,879.234386133,788,804,652,631.765613867,653,0.403714384055,-0.0155267748836,0.049982263689,0.999999997037,-7.16721036598e-05,-2.33613323354e-05,-1.55915525665e-05,1793239572082866432
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.822934906,745,715,678.177065094,663,635.822934906,879.822934906,788,804,652,631.177065094,653,0.404036404947,-0.0155181699583,0.0499869903242,0.999999998803,-4.50322368263e-05,-1.35599857609e-05,-1.35183482903e-05,1793239572099533312
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.592847922,745,715,678.407152078,663,636,879.592847922,788,804.407152078,652,631.407152078,653,0.40438966181,-0.0155109718884,0.0499911516354,0.999999999758,-1.79397589293e-05,-5.35977447421e-06,-1.15394263844e-05,1793239572116199936
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.010494692,745,715,678.989505308,663,636,879.010494692,788,804.989505308,652,631.989505308,653,0.40475635978,-0.015504379201,0.0499950696826,0.999999999908,9.3474808419e-06,2.15145383865e-06,-9.60107506753e-06,1793239572132866560
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678.435872248,663,636,879.564127752,788.564127752,804.435872248,652,632,653,0.405147526847,-0.0155129280578,0.0499868529704,0.999999999745,1.59677890659e-05,-1.41908612345e-05,-7.35081318329e-06,1793239572149533184
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678.137526573,663,635.862473427,880,788.862473427,804,652,632,652.862473427,0.405545486448,-0.0155203667889,0.0499759767221,0.999999999044,2.50378492754e-05,-3.54738442582e-05,-5.22161108844e-06,1793239572166199808
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678.707523584,663,635.292476416,880,788.292476416,804,652,632,652.292476416,0.405963393885,-0.0155234407637,0.0499574375108,0.999999996555,4.30041644539e-05,-7.09168182454e-05,-3.49109824421e-06,1793239572182866688
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.289955501,879.710044499,788,804,652,632,652.289955501,0.406406115478,-0.0155235574001,0.0499433901785,0.999999993529,6.44581468588e-05,-9.37220214887e-05,-1.81438338436e-06,1793239572199533312
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.885492525,879.114507475,788,804,652,632,652.885492525,0.406874988543,-0.0155205573243,0.0499340767954,0.999999990661,8.95877529648e-05,-0.000103208395004,-1.94365531093e-07,1793239572216199936
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.467225794,745,715,679,663,636,879,788,804.467225794,652,632,653,0.407398313883,-0.0155215707423,0.0499408400414,0.999999989344,0.000115496345601,-8.92007680168e-05,3.98869130244e-06,1793239572232866816
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.954616637,744.954616637,715,679,663,636,879.045383363,788,804.954616637,652,632,652.954616637,0.407938924597,-0.0155236186939,0.0499523135982,0.999999987642,0.000141327414936,-6.82908746071e-05,8.86117193004e-06,1793239572249533952
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.379838675,744.379838675,715,679,663,636,879.620161325,788,804.379838675,652,632,652.379838675,0.408529965527,-0.015526589752,0.0499740910797,0.999999985914,0.000164091108482,-3.21045711916e-05,1.46586976428e-05,1793239572266201344
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.199351963,715,678.800648037,663,636,879.800648037,788,804,652,632,652.199351963,0.409127657758,-0.0155296220355,0.0499916670114,0.999999982439,0.000186286331015,-4.24831637262e-06,2.00386303678e-05,1793239572282868480
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,744.787140652,715,678.212859348,663,636,879.212859348,788,804,652,632,652.787140652,0.409738309997,-0.0155327736162,0.0500010562342,0.999999978168,0.000207373888478,7.37686045345e-06,2.46048840473e-05,1793239572299535104
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.370204871,663,636,879.370204871,787.629795129,804,652,631.629795129,652.629795129,0.410340942297,-0.0155339241945,0.0499917767387,0.9999999742,0.000224964264972,-1.64515381878e-05,2.68442170144e-05,1793239572316201728
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,678.950586838,663,636,879.950586838,787.049413162,804,652,631.049413162,652.049413162,0.410939021402,-0.0155339387398,0.0499718984171,0.999999968853,0.000240569179391,-6.04080610602e-05,2.77624827919e-05,1793239572332868096
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,787.527046887,804,652,631.527046887,652.527046887,0.411581393713,-0.0155314845169,0.0499535925215,0.999999983973,0.000153710117431,-8.90510906889e-05,2.227354664e-05,1793239572349534464
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.896596558,715,679,663.103403442,636,880,788,803.896596558,652,632,653,0.412249065783,-0.0155313703225,0.0499438131285,0.999999992222,7.18162925517e-05,-0.000100583301997,1.68024367903e-05,1793239572366201088
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.319041136,715,679,663.680958864,636,880,788,803.319041136,652,632,653,0.41301384723,-0.0155430397316,0.0499724606425,0.999999997501,5.64151401598e-05,-4.01893684148e-05,1.41472357831e-05,1793239572382867200
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.263617061,715,679,663.736382939,636,880,788,803.263617061,652,632,653,0.413762304855,-0.0155503061604,0.0499885675626,0.999999997883,6.25454251417e-05,-1.04898882119e-05,1.45892444946e-05,1793239572399533568
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,744.85257284,715,679,663.14742716,636,880,788,803.85257284,652,632,653,0.414490616802,-0.0155521387239,0.0499891977162,0.999999995112,9.52483822864e-05,-1.8671461614e-05,1.88536240101e-05,1793239572416200192
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,631.566742111,653,0.415217278257,-0.0155509312959,0.04996457928,0.999999990906,0.000119477509924,-5.96218087094e-05,1.89179504619e-05,1793239572432866816
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,631.011127091,653,0.415944685161,-0.015548809967,0.0499324105506,0.999999983915,0.000140510223247,-0.000110078900732,1.76188331284e-05,1793239572449533696
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,631.586249035,653,0.416737812148,-0.0155518159639,0.0499448588382,0.999999985761,0.000142941621529,-8.78107379525e-05,1.82945217369e-05,1793239572466200320
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804.161388554,652,631.838611446,652.838611446,0.417544580027,-0.0155553704882,0.049961692811,0.999999988228,0.000141009374888,-5.72323338979e-05,1.96208094883e-05,1793239572482866944
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804.736573104,652,631.263426896,652.263426896,0.418386322747,-0.0155603314226,0.0499897715639,0.999999991552,0.000127888857552,-5.34669177249e-06,2.2615216222e-05,1793239572499533824
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,678.680297424,663,636,880,788,804.680297424,652,631.319702576,652,0.419198051914,-0.0155606690523,0.0499907508523,0.999999991401,0.000128716041132,-8.13860390307e-06,2.37570899239e-05,1793239572516200192
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,678.090454734,663,636,880,788,804.090454734,652,631.909545266,652,0.419984420392,-0.0155571001131,0.0499688318175,0.999999988109,0.000141328659015,-5.71315873867e-05,2.33336226789e-05,1793239572532866816
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,678.490632027,662.509367973,636,879.509367973,788,804,652,632,652.490632027,0.420853163949,-0.0155590465056,0.049977598912,0.999999988086,0.000149550793824,-2.92258403903e-05,2.46600851909e-05,1793239572549533440
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.069572437,745,715,679,662.139144875,636,879.069572437,788,804,652,632,653,0.421733466362,-0.015561680039,0.0499915856452,0.99999998751,0.000155551131313,9.92056706112e-06,2.61870167537e-05,1793239572566200064
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.644442567,745,715,679,663.288885135,636,879.644442567,788,804,652,632,653,0.422589351605,-0.0155620485802,0.050003113325,0.999999987773,0.000151190619869,2.95435643688e-05,2.68678357195e-05,1793239572582866944
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.775906342,745,715,679,663.775906342,636,880,788,804,652,631.775906342,652.775906342,0.423440994415,-0.0155615328227,0.0500028284608,0.999999988006,0.000149877262778,2.82078421324e-05,2.70140086106e-05,1793239572599533568
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.188504097,745,715,679,663.188504097,636,880,788,804,652,631.188504097,652.188504097,0.424285759375,-0.0155595834089,0.0499833926832,0.999999987847,0.000153504059661,-7.10689650098e-06,2.62933944204e-05,1793239572616200192
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.39468763,636,880,788,804,652,631.39468763,652.39468763,0.425162186121,-0.015562194377,0.0499893079146,0.999999987555,0.000155364841159,2.11802133553e-06,2.73342281384e-05,1793239572632866816
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.975889591,636,880,788,804,652,631.975889591,652.975889591,0.42605357497,-0.015566960408,0.0500072030679,0.99999998682,0.000156391070822,3.23906853371e-05,2.92074550342e-05,1793239572649533440
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.447897325,636,880.552102675,788,804.552102675,652,632,653,0.426896270021,-0.0155691022211,0.0500108872968,0.999999986569,0.000159845489229,1.86943677633e-05,3.10248417164e-05,1793239572666200320
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.127922134,745,715,679,663,636,881,788.127922134,805,652,632,653,0.427728070641,-0.0155693235589,0.0500046990912,0.9999999862,0.000162944741634,-6.6381523222e-06,3.16887728067e-05,1793239572682866944
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.703120202,745,715,679,663,636,881,788.703120202,805,652,632,653,0.428529147708,-0.0155632271189,0.0499661426665,0.999999983901,0.000164434723015,-6.60027447711e-05,2.83281305865e-05,1793239572699533568
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.71402084,745,715,679.28597916,663,636,880.71402084,788.71402084,804.71402084,652,632,653,0.42938104042,-0.0155604586885,0.0499547345846,0.999999983068,0.000165828249389,-7.49639853667e-05,2.72874084322e-05,1793239572716200192
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.122990111,745,715,679.877009889,663,636,880.122990111,788.122990111,804.122990111,652,632,653,0.430287137702,-0.0155612402185,0.0499722854144,0.999999985168,0.000167118888147,-3.01603902683e-05,2.87213257768e-05,1793239572732866560
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.457916344,745,715,679.542083656,663.457916344,636,880,788,804.457916344,652,632,653,0.431117466152,-0.0155592777717,0.0499667680033,0.999999983409,0.000174578184362,-4.31724309264e-05,2.89907642434e-05,1793239572749533184
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.964160421,745,715,679,663.964160421,636,880.035839579,788,805,652,632,653,0.431927984693,-0.0155566510021,0.0499556768134,0.999999980346,0.000183348717601,-6.96774770753e-05,2.89357331076e-05,1793239572766199808
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.391076688,745,715,679,663.391076688,636,880.608923312,788,805,652,632,653,0.4327400068,-0.0155548746305,0.0499519010977,0.999999979518,0.000187476137392,-7.07052258792e-05,2.86038049227e-05,1793239572782867456
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.817275799,788,805,652,632,653,0.433555626117,-0.0155535280172,0.0499584043574,0.999999979704,0.000190863050147,-5.74552298541e-05,2.93746295392e-05,1793239572799534848
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.241933859,788,805,652,632,653,0.434378974878,-0.0155531048211,0.0499869939524,0.999999980821,0.000192658843071,-1.35267804582e-05,3.25149284333e-05,1793239572816200704
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.345016547,663,636,880,788.345016547,805,652,632,653,0.435165988871,-0.0155508359245,0.0499940574385,0.999999979998,0.000196733399864,-1.20026171151e-05,3.40010298526e-05,1793239572832867072
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.94039047,663,636,880,788.94039047,805,652,632,653,0.435926636898,-0.0155472277162,0.0499855007442,0.999999978066,0.000202461515974,-4.12486495798e-05,3.42867813032e-05,1793239572849533696
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679.483206445,663,636,880.516793555,788.483206445,805.516793555,652,632,653,0.436656591018,-0.0155449434633,0.0499672366931,0.999999975291,0.000207873931286,-7.14914272924e-05,3.3098572755e-05,1793239572866200320
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.091259813,636,881,788.091259813,805.908740187,652,632,653,0.437389944821,-0.0155442671266,0.0499555605772,0.999999973325,0.00021131713134,-8.75151805015e-05,3.21876182201e-05,1793239572882866944
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.666648496,636,881,788.666648496,805.333351504,652,632,653,0.438159450308,-0.0155513392654,0.0499845627368,0.999999978146,0.000204500077465,-2.75193882615e-05,3.36174622078e-05,1793239572899533568
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.751981577,636,881,789,805,652,632,653,0.438882371382,-0.015554929573,0.0499975665551,0.999999979583,0.000199193738215,-7.51773598639e-07,3.39976472542e-05,1793239572916200192
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.162373886,636,881,789,805,652,632,653,0.439541132903,-0.015553724445,0.0499885362752,0.999999980061,0.000195968067906,-1.97484612755e-05,3.29321645834e-05,1793239572932866816
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.419867713,663,635.580132287,880.580132287,788.580132287,805,652,632,653,0.440191454157,-0.0155521482685,0.0499683053885,0.999999979495,0.000193521213569,-5.05449553839e-05,3.16984708121e-05,1793239572949533440
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.999309815,663,635.000690185,880.000690185,788.000690185,805,652,632,653,0.440838567669,-0.0155504310717,0.0499438176128,0.999999977544,0.000191370354581,-8.58260704116e-05,3.04008468248e-05,1793239572966200320
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.425083274,663,635.574916726,880,787.425083274,805,652,632,653,0.441452948469,-0.0155556940731,0.0499476324796,0.999999977546,0.000193441035619,-8.0336103998e-05,3.21773231291e-05,1793239572982866944
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,787.15341314,805,652,632,653,0.442053182731,-0.0155609934367,0.0499497399775,0.999999977438,0.000195315379314,-7.64184792616e-05,3.36988942905e-05,1793239572999534080
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,787.740082894,805,652,632,653,0.442613575897,-0.0155663719841,0.0499469303474,0.999999977105,0.000196621026316,-7.70786415142e-05,3.44902308076e-05,1793239573016201728
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679.322659018,663,635.677340982,880.322659018,788,805,652,631.677340982,653,0.443135739877,-0.0155706175543,0.049927711811,0.999999974094,0.000197085595011,-0.00010871867088,3.39076137146e-05,1793239573032868608
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.901978809,663,635.098021191,880.901978809,788,805,652,631.098021191,653,0.44362749422,-0.0155739618918,0.049895440726,0.999999966487,0.000196881123083,-0.000165001794355,3.22320780346e-05,1793239573049534976
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.520147359,662.520147359,635,880.520147359,787.520147359,805,652,631.479852641,653,0.444089196023,-0.0155767983785,0.0498523370608,0.999999952688,0.000196111913849,-0.000235088678565,2.99420904728e-05,1793239573066201600
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.05724233,662,635,880.05724233,787,805,651.94275767,631.94275767,652.94275767,0.444545247333,-0.0155795377343,0.0498112924108,0.99999993546,0.00019568509321,-0.000300021729282,2.78332842208e-05,1793239573082868480
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.632914358,662,635,880.632914358,787,805,651.367085642,631.367085642,652.367085642,0.445005555357,-0.015582334129,0.0498088764127,0.999999936843,0.00019940086552,-0.000292816796784,2.84987481379e-05,1793239573099534848
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679.787452937,662,635,880.787452937,787,805,651.212547063,631,652.212547063,0.445453249892,-0.0155871768195,0.0498103842499,0.999999940695,0.000197426952187,-0.000280665027863,2.93128665386e-05,1793239573116201472
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679.200850002,662,635,880.200850002,787,805,651.799149998,631,652.799149998,0.445878746238,-0.0155956207307,0.0498187975395,0.999999948594,0.000185439913375,-0.000259807454992,3.03885978956e-05,1793239573132867328
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.381489074,635,880.381489074,787,805,652,631,653,0.446264310555,-0.0156023698548,0.0498138599348,0.999999956985,0.000123009194597,-0.000265420547739,2.12227454523e-05,1793239573149533696
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.961608139,635,880.961608139,787,805,652,631,653,0.446629083495,-0.0156082365545,0.0498019709182,0.999999958829,3.43139531304e-05,-0.000284816123434,6.72440551489e-06,1793239573166200320
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.460684346,745,715,679.539315654,662.460684346,635,881,787,805,652,631,653,0.446930317308,-0.0156109153618,0.0497670005195,0.999999941518,3.75021522989e-05,-0.000339904086915,4.80549920323e-06,1793239573182867200
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.116359613,745,715,679.883640387,662,635,881,787,805,652,631,653,0.44722154223,-0.015613190793,0.049733430172,0.999999921954,4.69614828997e-05,-0.000392262492895,3.98523551979e-06,1793239573199534080
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.691461494,745,715,679.308538506,662,635,881,787,805,652,631,653,0.447491060434,-0.0156147666285,0.0497118283673,0.999999908613,5.54723045884e-05,-0.00042388734694,3.9816356495e-06,1793239573216200960
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679.273929671,662,634.726070329,881,787,805.273929671,652,631.273929671,652.726070329,0.447758116397,-0.0156176802759,0.0497035145205,0.999999903574,6.05822716357e-05,-0.000434921011325,4.97069150513e-06,1793239573232867584
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679.864924065,662,634.135075935,881,787,805.864924065,652,631.864924065,652.135075935,0.44802232238,-0.0156221423973,0.0497105810561,0.999999908975,6.1755859116e-05,-0.000422121039027,7.10871421754e-06,1793239573249533696
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,881,787,806,652,631.553845392,652.446154608,0.448268921,-0.0156277911821,0.0497195060386,0.999999914615,6.2565183016e-05,-0.000408377322487,9.1944919094e-06,1793239573266200320
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,881,786.97578329,806,652,631,652.97578329,0.448508289087,-0.0156337089388,0.0497287638257,0.99999991998,6.31957439332e-05,-0.000394867681699,1.12384064688e-05,1793239573282866688
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,881,786.40395505,806,652,631,652.40395505,0.4487021156,-0.0156377587916,0.049733096481,0.999999920769,6.2224361589e-05,-0.000392973883313,1.2685692591e-05,1793239573299533568
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679.830637356,661.830637356,634,881.169362644,786,805.830637356,651.830637356,631,652.169362644,0.448883164522,-0.0156411747254,0.0497342078355,0.999999920304,6.1278014132e-05,-0.000394262805063,1.38866790953e-05,1793239573316200192
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679.253735658,661.253735658,634,881.746264342,786,805.253735658,651.253735658,631,652.746264342,0.44903346657,-0.0156430652529,0.0497275677408,0.999999916782,6.0391908517e-05,-0.000403210338959,1.44949921096e-05,1793239573332866816
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.331192536,634,881.668807464,786,805,651.331192536,631,653,0.449168400044,-0.0156428085767,0.0497213009222,0.999999913256,6.18660640227e-05,-0.000411641164869,1.45561124156e-05,1793239573349533696
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.92242284,634,881.07757716,786,805,651.92242284,631,653,0.44929126681,-0.0156408660111,0.0497153271829,0.999999909714,6.51933923451e-05,-0.000419666295415,1.41876012109e-05,1793239573366200320
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.501291399,715,679.501291399,662,633.498708601,881,786,805,651.498708601,631,652.498708601,0.449394186118,-0.01564233522,0.0497117519144,0.999999905666,6.6184321261e-05,-0.000429012673465,1.53335495636e-05,1793239573382866688
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.922041844,715,679.922041844,662,633,881,786,805.077958156,651.077958156,631,652.077958156,0.449492352203,-0.0156449551197,0.0497089808127,0.999999902117,6.56875919232e-05,-0.000437236294457,1.658764945e-05,1793239573399533312
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.347507453,715,679.347507453,662,633,881,786,805.652492547,651.652492547,631,652.652492547,0.449579431391,-0.0156516224397,0.049709024676,0.999999902674,5.79624931005e-05,-0.000437037126598,1.70736968791e-05,1793239573416199936
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.766412289,745,715,679,662,633.233587711,881,786,805.766412289,652,631,652.766412289,0.449657823216,-0.0156577209061,0.049710129571,0.999999903828,5.15438323502e-05,-0.000435155470358,1.8067074406e-05,1793239573432866816
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.175274665,745,715,679,662,633.824725335,881,786,805.175274665,652,631,652.175274665,0.44972291739,-0.0156629486348,0.0497128585743,0.999999905942,4.71249211924e-05,-0.000430698449315,1.9837016015e-05,1793239573449533440
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.406733886,715,679,662,634,881,786,805,652,631,652.406733886,0.449775402033,-0.0156659351026,0.0497156536413,0.999999907492,4.50322312252e-05,-0.000427251441325,2.10663092799e-05,1793239573466200320
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.984894772,715,679,662,634,881,786,805,652,631,652.984894772,0.449822572108,-0.0156679769411,0.0497184765522,0.999999908806,4.39199787884e-05,-0.00042423012581,2.20677342868e-05,1793239573482866944
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.44077433,715,679.55922567,662,634,880.44077433,786,805,651.44077433,630.44077433,653,0.449855243605,-0.0156696201827,0.049719429536,0.999999909833,4.03667136881e-05,-0.000422152740513,2.21668964385e-05,1793239573499533568
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.137147337,745,715.137147337,679.862852663,662,634,880.137147337,786.137147337,805,651.137147337,630.137147337,653,0.449884306593,-0.0156703698195,0.0497196594563,0.999999910268,3.79490545781e-05,-0.000421342728063,2.22133115629e-05,1793239573516200192
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.727267918,745,715.727267918,679.272732082,662,634,880.727267918,786.727267918,805,651.727267918,630.727267918,653,0.449902735966,-0.0156682033558,0.0497176669124,0.999999908817,3.94983880467e-05,-0.000424634985506,2.21654581616e-05,1793239573532866816
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,715.688351649,679,661.688351649,634,880.688351649,786.688351649,805,652,631,653,0.449917815414,-0.015667134391,0.0497164528549,0.999999907889,4.04261639929e-05,-0.00042673330692,2.20446520546e-05,1793239573549533184
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,715.108903665,679,661.108903665,634,880.108903665,786.108903665,805,652,631,653,0.449930016271,-0.0156670085077,0.049715907751,0.999999907419,4.08198353226e-05,-0.000427805678685,2.18611576341e-05,1793239573566200064
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.459302111,661.459302111,633.540697889,880.459302111,786,805,652,630.540697889,653,0.449936532268,-0.0156669117416,0.0497148160486,0.999999906585,3.9037288296e-05,-0.000429919401398,2.17905257262e-05,1793239573582866688
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679.974299682,662,633.025700318,880.974299682,786,805.025700318,652,630,653,0.44994162534,-0.0156668620962,0.0497136365236,0.999999905689,3.68270362916e-05,-0.00043219470948,2.17587762352e-05,1793239573599533568
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679.390655725,662,633.609344275,880.390655725,786,805.609344275,652,630,653,0.449944390946,-0.0156676891233,0.049713296791,0.999999905466,3.62659099236e-05,-0.000432745695365,2.20040695051e-05,1793239573616200448
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745.196225264,715,679,662,634,880,786,805.803774736,651.803774736,630.196225264,653,0.449946987521,-0.0156679910761,0.0497131530918,0.999999905389,3.61497103716e-05,-0.000432923095062,2.2205243853e-05,1793239573632867328
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745.789658768,715,679,662,634,880,786,805.210341232,651.210341232,630.789658768,653,0.449949241934,-0.0156672301492,0.0497134062125,0.999999905608,3.69341522558e-05,-0.000432344264321,2.23171106276e-05,1793239573649533696
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745.62777517,715,679,662,633.62777517,880,786,805,651.37222483,630.62777517,653,0.449950350472,-0.0156652010168,0.0497132375669,0.999999905129,3.85851653358e-05,-0.00043331692673,2.2121145546e-05,1793239573666200320
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745.051176022,715,679,662,633.051176022,880,786,805,651.948823978,630.051176022,653,0.449950829855,-0.0156624755615,0.0497128373457,0.999999904261,4.0711979259e-05,-0.000435141454292,2.17561618438e-05,1793239573682866944
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,633.524071029,880.524071029,786,805,652,630,652.475928971,0.44994875405,-0.0156650630197,0.0497104945706,0.999999903144,3.5809563835e-05,-0.000438124193721,2.18246174281e-05,1793239573699533568
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634,881,786,805,651.901365564,630.098634436,652.098634436,0.449947449958,-0.0156672154008,0.0497087650855,0.999999902382,3.16228244862e-05,-0.000440179916917,2.18412161959e-05,1793239573716199936
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634,881,786,805,651.329450775,630.670549225,652.670549225,0.449951042983,-0.0156647971194,0.0497108862303,0.999999903595,3.415528349e-05,-0.0004372462149,2.14064187442e-05,1793239573732866560
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715.253921417,679,662,633.746078583,881,786.253921417,805,651,630.746078583,653,0.44995305974,-0.0156633548919,0.049711672551,0.999999904051,3.56464129688e-05,-0.000436094598942,2.11827201165e-05,1793239573749533440
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715.852861573,679,662,633.147138427,881,786.852861573,805,651,630.147138427,653,0.449952934725,-0.0156632388891,0.0497106451639,0.999999903492,3.5722623953e-05,-0.00043736441316,2.12458544608e-05,1793239573766200320
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715.565240924,679.434759076,662,633,880.565240924,786.565240924,805,651,630.434759076,653,0.449952505056,-0.0156632904923,0.0497097555604,0.999999903262,3.3756290632e-05,-0.000438057438638,2.10392009797e-05,1793239573782866944
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.01108106,715,679.98891894,662,633.01108106,880.01108106,786,805,651.01108106,631,653,0.449951996551,-0.015663378005,0.0497089348419,0.999999903131,3.12454913226e-05,-0.000438554525495,2.07585080686e-05,1793239573799533824
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.586120714,715,679.413879286,662,633.586120714,880.586120714,786,805,651.586120714,631,653,0.449952525281,-0.0156625150846,0.0497093362396,0.999999902965,3.4879113525e-05,-0.000438639595679,2.11812937179e-05,1793239573816200192
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.835492983,715.164507017,679,662,634,880.835492983,786,805,652,630.835492983,653,0.449952984823,-0.0156623235543,0.0497095764792,0.999999902946,3.66117442493e-05,-0.000438522544426,2.15854232371e-05,1793239573832866816
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.248512118,715.751487882,679,662,634,880.248512118,786,805,652,630.248512118,653,0.449953266683,-0.0156638562353,0.0497094028453,0.999999903327,3.34623995223e-05,-0.000437886420965,2.19416415408e-05,1793239573849533440
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745,715.665668426,679.334331574,662,634,880,786,805,651.665668426,630,652.665668426,0.44995355821,-0.0156636879684,0.049709192982,0.999999903445,3.24504548342e-05,-0.000437708194058,2.16391394672e-05,1793239573866200064
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745,715.085862375,679.914137625,662,634,880,786,805,651.085862375,630,652.085862375,0.449953856834,-0.0156622708235,0.0497089565182,0.999999903374,3.30078420475e-05,-0.000437866166111,2.08529886496e-05,1793239573882866688
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.490007422,715.490007422,679.509992578,662,634,880,786,805,651.490007422,630.490007422,652.490007422,0.449953400915,-0.0156634460755,0.0497091574488,0.999999903111,3.27107300953e-05,-0.000438452106262,2.16182462116e-05,1793239573899533312
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745.934870937,716,679,662,633.934870937,880.065129063,786,805,652,631,653,0.449952908886,-0.0156647861603,0.0497093618917,0.999999902845,3.21488745793e-05,-0.000439060457814,2.24301111041e-05,1793239573916200192
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745.360249607,716,679,662,633.360249607,880.639750393,786,805,652,631,653,0.449953160438,-0.0156638904522,0.0497089990224,0.999999902823,3.06779640547e-05,-0.000439262160432,2.14969064823e-05,1793239573932866816
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745,715.778704291,679,662,633.221295709,881,786,805,652,630.778704291,653,0.449953411113,-0.0156627132989,0.0497088755593,0.99999990284,3.04104357011e-05,-0.00043926641666,2.09749881881e-05,1793239573949533440
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745,715.185523188,679,662,633.814476812,881,786,805,652,630.185523188,653,0.449953660315,-0.0156610631793,0.0497091544161,0.999999902925,3.2165179732e-05,-0.000438938866085,2.11442326176e-05,1793239573966200064
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.605316203,745,715,679.394683797,662,633.605316203,880.605316203,786,805.394683797,652,630,652.605316203,0.449953798257,-0.0156621560653,0.0497091865167,0.99999990309,2.96425081871e-05,-0.000438741209045,2.11689127102e-05,1793239573982866688
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.031013714,745,715,679.968986286,662,633.031013714,880.031013714,786,805.968986286,652,630,652.031013714,0.449953885565,-0.01566449728,0.0497091063197,0.999999903274,2.51732053297e-05,-0.000438602665939,2.11278022595e-05,1793239573999533312
+251,4.183333333,HOLD_POSE2,765,745,715,679,662,633,881,785,806,652,631,653,0.449956740019,-0.0156618766453,0.0497108000437,0.999999904347,3.02092590889e-05,-0.000435823155602,2.12575807357e-05,1793239574029374208
+252,4.200000000,HOLD_POSE2,765.572544115,745,715,679.572544115,661.427455885,633,881,785.572544115,805.427455885,652,631,653,0.449956265266,-0.0156604313369,0.0497100685188,0.999999903865,3.23388866056e-05,-0.000436794873105,2.08252398109e-05,1793239574046041344
+253,4.216666667,HOLD_POSE2,766,745,715,680,661,633,880.848119102,786,805,652,630.848119102,652.848119102,0.449955739568,-0.0156597516829,0.0497094444564,0.99999990346,3.31022812657e-05,-0.000437681914702,2.04521880849e-05,1793239574062708224
+254,4.233333333,HOLD_POSE2,766,745,715,680,661,633,880.248769758,786,805,652,630.248769758,652.248769758,0.449955063781,-0.0156613277843,0.0497091369978,0.999999903288,2.9840508691e-05,-0.000438319486086,2.02538129002e-05,1793239574079374848
+255,4.250000000,HOLD_POSE2,766,745,715.335869499,680,661,633.335869499,880,786,805,652,630.335869499,652.335869499,0.449955023097,-0.0156611185166,0.0497093107303,0.999999903137,2.98377429836e-05,-0.000438658027686,2.03655085523e-05,1793239574096041472
+256,4.266666667,HOLD_POSE2,766,745,715.910070506,680,661,633.910070506,880,786,805,652,630.910070506,652.910070506,0.44995543308,-0.0156596423588,0.0497098259139,0.999999903003,3.21475543093e-05,-0.00043878437904,2.06972291084e-05,1793239574112708096
+257,4.283333333,HOLD_POSE2,766,745,715.51655198,680,661,634,880,786,805,652,631,652.51655198,0.449954985347,-0.0156607830791,0.049709691759,0.999999902663,3.14412798447e-05,-0.000439596989646,2.09582678495e-05,1793239574129374720
+258,4.300000000,HOLD_POSE2,766,745,715,680,661,633.941568124,880,786,805.058431876,652,630.941568124,652.058431876,0.449954559396,-0.0156621810889,0.0497094872966,0.999999902372,3.02214341181e-05,-0.000440335117903,2.11397677675e-05,1793239574146041344
+259,4.316666667,HOLD_POSE2,766,745,715,680,661,633.350549126,880,786,805.649450874,652,630.350549126,652.649450874,0.449955783758,-0.0156614948812,0.0497097410748,0.99999990289,2.94255805402e-05,-0.000439232802697,2.07159337294e-05,1793239574162707712
+260,4.333333333,HOLD_POSE2,766,745,715,679.763695184,661.236304816,633,880.236304816,785.763695184,806,652,630,653,0.449956571026,-0.0156602646549,0.0497097912748,0.999999903119,2.98808791911e-05,-0.000438695421075,2.03660394352e-05,1793239574179374336
+261,4.350000000,HOLD_POSE2,766,745,715,679.182912974,661.817087026,633,880.817087026,785.182912974,806,652,630,653,0.44995672111,-0.0156582413763,0.0497095447051,0.999999902928,3.21600665069e-05,-0.000438981581155,2.01239321061e-05,1793239574196041216
+262,4.366666667,HOLD_POSE2,766,745,715,679.394950862,662,633.394950862,880.605049138,785.394950862,805.605049138,652,630.394950862,652.605049138,0.449958161125,-0.0156591861159,0.0497103478415,0.999999903807,3.09602080718e-05,-0.000437049902342,2.03713958284e-05,1793239574212707840
+263,4.383333333,HOLD_POSE2,766,745,715,679.971473082,662,633.971473082,880.028526918,785.971473082,805.028526918,652,630.971473082,652.028526918,0.449960194163,-0.0156614953469,0.0497116335607,0.999999905165,2.81609228736e-05,-0.000434098613123,2.08439307684e-05,1793239574229374720
+264,4.400000000,HOLD_POSE2,766,745,715,679.454702274,662,633.454702274,880,786,805,652,630.454702274,652.545297726,0.449959896701,-0.0156608719739,0.0497118221357,0.999999904738,2.98042660393e-05,-0.000434978658474,2.07063950244e-05,1793239574246041088
+265,4.416666667,HOLD_POSE2,766,745,715,679.123365831,661.876634169,633,880,786,805.123365831,652,630.123365831,653,0.449959435664,-0.0156602618707,0.0497118539337,0.999999904275,3.10952719486e-05,-0.000435957960419,2.05819099753e-05,1793239574262707712
+266,4.433333333,HOLD_POSE2,766,745,715,679.718187606,661.281812394,633,880,786,805.718187606,652,630.718187606,653,0.449958813139,-0.0156602858946,0.049711504859,0.999999904043,3.01559624145e-05,-0.000436554373105,2.06286675864e-05,1793239574279374336
+267,4.450000000,HOLD_POSE2,766,745,715,680,661.303420841,633,880,786,805.696579159,651.696579159,630.696579159,653,0.44995876438,-0.0156607850223,0.049711321713,0.999999904022,2.91354882418e-05,-0.000436664352336,2.07919220994e-05,1793239574296040960
+268,4.466666667,HOLD_POSE2,766,745,715,680,661.880021171,633,880,786,805.119978829,651.119978829,630.119978829,653,0.449959232201,-0.0156617119011,0.0497112879581,0.99999990419,2.80419390045e-05,-0.00043633637993,2.10600624973e-05,1793239574312707584
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,633,881,786,805,652,631,653,0.44995741087,-0.0156586000462,0.0497096721708,0.999999902949,3.13313656017e-05,-0.000438974145211,2.05510258046e-05,1793239574345327104
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.57191422,662,633,880.42808578,786,805,652,630.42808578,653,0.44995745711,-0.0156590875668,0.049709779944,0.999999903047,2.99795473458e-05,-0.00043884928636,2.04678726161e-05,1793239574361993728
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.849479975,745,715.150520025,679.849479975,661.849479975,633.150520025,880,786,805,652,630.150520025,653,0.449957436825,-0.0156598898745,0.0497097388199,0.999999903109,2.85546712758e-05,-0.000438803360419,2.04690148804e-05,1793239574378660096
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.250957433,745,715.749042567,679.250957433,661.250957433,633.749042567,880,786,805,652,630.749042567,653,0.449957218535,-0.0156616291037,0.0497092545227,0.999999903066,2.6912348171e-05,-0.000438992367597,2.07210511509e-05,1793239574395326720
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.335350082,745.335350082,715.664649918,679,661.335350082,633.664649918,880.335350082,786,805,652,630.664649918,653,0.449957080814,-0.0156610849561,0.0497092300499,0.999999903027,2.74554687361e-05,-0.000439053394546,2.05882566391e-05,1793239574411993600
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.91283777,745.91283777,715.08716223,679,661.91283777,633.08716223,880.91283777,786,805,652,630.08716223,653,0.449957001267,-0.0156588921093,0.0497095375907,0.999999902989,2.95765764832e-05,-0.000439022014091,2.01775972504e-05,1793239574428660224
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,746,715,679,662,633,881,786,805,652,630.484743093,653,0.449956462673,-0.0156592601878,0.0497092128574,0.999999902787,2.82732448587e-05,-0.000439564101962,2.02326829547e-05,1793239574445326848
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.942034694,745.942034694,715,679,662,633.057965306,881,786,805.057965306,652,631,652.942034694,0.449955568695,-0.0156598853693,0.0497086364617,0.999999902468,2.68756624376e-05,-0.000440371817806,2.03625438813e-05,1793239574461993472
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.347433864,745.347433864,715,679,662,633.652566136,881,786,805.652566136,652,631,652.347433864,0.449952140078,-0.0156586762204,0.0497067707525,0.999999901345,3.02411762151e-05,-0.000442694917453,2.0418179781e-05,1793239574478660096
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.239314234,745,715,679.239314234,662,634,880.760685766,786,806,652,630.760685766,652,0.449942308892,-0.0156580329855,0.0497023329424,0.999999898046,3.0726205402e-05,-0.00045007072008,1.99905315463e-05,1793239574495326976
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.815023979,745,715,679.815023979,662,634,880.184976021,786,806,652,630.184976021,652,0.449923477844,-0.0156581852358,0.0496942796217,0.99999989155,2.71622395274e-05,-0.000464548927377,1.88835479799e-05,1793239574511993600
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.608796092,745,715,680,662,633.608796092,880,786,805.608796092,652,630.391203908,652.391203908,0.44988438417,-0.0156561237229,0.0496796241263,0.999999878569,2.69369255372e-05,-0.00049176290106,1.74615411341e-05,1793239574528660480
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.032393524,745,715,680,662,633.032393524,880,786,805.032393524,652,630.967606476,652.967606476,0.449835698025,-0.015653014199,0.0496618431146,0.999999861658,2.82921523109e-05,-0.000525006076288,1.58903999562e-05,1793239574545327104
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.540277437,745,715.540277437,679.459722563,661.459722563,633,880,786,805,651.459722563,631,652.459722563,0.449767728654,-0.0156511345554,0.0496430879632,0.999999846081,2.87771041155e-05,-0.000553896105288,1.446996591e-05,1793239574561993472
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715.882698039,679.117301961,661,633,880,786,805,651.117301961,630.882698039,652.117301961,0.449696887308,-0.0156484572278,0.0496263803298,0.99999983185,2.96668077818e-05,-0.000579007788163,1.30291975088e-05,1793239574578660096
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715.287012338,679.712987662,661,633,880,786,805,651.712987662,630.287012338,652.712987662,0.449619016148,-0.015642228099,0.0496182594901,0.999999825496,3.24185196702e-05,-0.000589767662579,1.14689026781e-05,1793239574595326720
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.70141977,745,715,679.70141977,661.29858023,633.29858023,880.29858023,786.29858023,805,652,630,653,0.449531573828,-0.0156357053034,0.0496138066821,0.999999821873,3.56434868141e-05,-0.000595715766745,1.02688016873e-05,1793239574611993600
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.125212089,745,715,679.125212089,661.874787911,633.874787911,880.874787911,786.874787911,805,652,630,653,0.449435232005,-0.0156289094495,0.0496127645031,0.999999820865,3.93084985038e-05,-0.000597189764607,9.40361813504e-06,1793239574628660224
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,662,633.550822745,881,786.550822745,805,652,630.449177255,653,0.449315054002,-0.0156209307622,0.049611195619,0.99999981993,4.19061513766e-05,-0.000598591716105,8.51640292729e-06,1793239574645326848
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.023684415,745,715,679,662,633.023684415,880.976315585,786,805,652,631,653,0.449187234409,-0.0156126277308,0.0496094807749,0.999999818955,4.43141824612e-05,-0.000600056410196,7.62198005259e-06,1793239574661993216
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.613063573,745,715,679,662,633.613063573,880.386936427,786,805,652,631,653,0.449034960803,-0.0156044214707,0.0496077724162,0.999999816659,4.92710493553e-05,-0.000603497447067,6.70150079363e-06,1793239574678659840
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745.199428984,715.199428984,679,662,634,880.199428984,786,805,651.800571016,631,653,0.448872957282,-0.0155948584576,0.0496071807906,0.999999815279,5.44769031564e-05,-0.000605346288138,5.57643527331e-06,1793239574695326464
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.78003404,715.78003404,679,662,634,880.78003404,786,805,651.21996596,631,653,0.448692356627,-0.0155827022328,0.049608723619,0.999999815682,6.01586543717e-05,-0.000604151905491,4.06033649076e-06,1793239574711993344
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.643551607,715.643551607,679.356448393,662,634,881,786,805,651.356448393,631,653,0.44848998451,-0.0155691114063,0.049609358453,0.999999815654,6.58360575688e-05,-0.000603614912008,2.55231158476e-06,1793239574728660224
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.069693248,715.069693248,679.930306752,662,634,881,786,805,651.930306752,631,653,0.448274333222,-0.0155546455662,0.0496094394707,0.999999815349,7.15108093098e-05,-0.000603478882348,1.04921106343e-06,1793239574745326848
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.493699316,662,634,880.493699316,786.506300684,805.506300684,652,631,652.493699316,0.448019688653,-0.0155408093717,0.0496097380869,0.999999816319,7.71482993718e-05,-0.00060117411649,-4.73414206402e-07,1793239574761993216
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.084848887,662,634,880.084848887,786.915151113,805.915151113,652,631,652.084848887,0.447754822709,-0.0155270803986,0.0496095301181,0.999999817068,8.23472527121e-05,-0.00059923168998,-2.13988872566e-06,1793239574778660096
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.676901371,662,634,880.676901371,786.323098629,805.323098629,652,631,652.676901371,0.44746107741,-0.0155134720646,0.0496061141142,0.999999815631,8.49555455166e-05,-0.000601247322831,-4.65012171288e-06,1793239574795326720
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.737495774,745,715,680,662,634,881,786.262504226,805,652,631,653,0.44715040587,-0.0155027983614,0.0496045642864,0.999999814893,8.43946935995e-05,-0.000602527359476,-7.27943117804e-06,1793239574811993344
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.159640998,745,715,680,662,634,881,786.840359002,805,652,631,653,0.446819400583,-0.0154956500782,0.049605256326,0.999999814989,8.00266969872e-05,-0.000602923712443,-1.00517889812e-05,1793239574828660224
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.416134116,745,715,680,662,634,881,786.583865884,805,651.583865884,631,652.583865884,0.446459528468,-0.0154946997096,0.0496076623875,0.99999981917,6.73950455134e-05,-0.000597466590597,-1.23388574074e-05,1793239574845326592
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.991115367,745,715,680,662,634,881,786.008884633,805,651.008884633,631,652.008884633,0.446088637284,-0.0154961152152,0.0496107227272,0.999999824647,5.16089834528e-05,-0.000589775074276,-1.44406806164e-05,1793239574861993216
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.420007813,745,715,679.420007813,662,634,881,786.579992187,805,651,631,652.579992187,0.44569849666,-0.0154926885148,0.0496338356316,0.99999984676,4.17608612662e-05,-0.000551845647546,-1.42089207901e-05,1793239574878660096
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.166390573,745,715,679,662,634,880.833609427,787,805,651,631,652.833609427,0.445294005991,-0.0154858114222,0.0496586214898,0.999999866903,3.56768358562e-05,-0.000514504050477,-1.43814508961e-05,1793239574895326720
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.746090789,745,715,679,662,634,880.253909211,787,805,651,631,652.253909211,0.444854620699,-0.0154705524229,0.0496867811699,0.999999884024,3.87112360881e-05,-0.000479801433576,-1.56492006018e-05,1793239574911993344
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.323388287,634.323388287,880.323388287,787,805,651,631.323388287,652.323388287,0.444384085397,-0.0154578986016,0.0497062121576,0.999999895299,3.69014849943e-05,-0.000455766860338,-1.78004108809e-05,1793239574928660224
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.898813259,634.898813259,880.898813259,787,805,651,631.898813259,652.898813259,0.4438892729,-0.0154472751565,0.0497188403334,0.999999902476,3.13163846347e-05,-0.000440046556176,-2.06401572925e-05,1793239574945326848
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766.483873927,745,715,679,662.516126073,635,880.516126073,787,805.483873927,651,632,652.516126073,0.443333909253,-0.0154341845894,0.0497137189744,0.999999898432,2.67685297365e-05,-0.000449187857542,-2.5486509944e-05,1793239574961993472
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766.85985161,745,715,679,662,635,880,787,805.929925805,651,631.929925805,652,0.442766543989,-0.015421333651,0.0497077661833,0.999999894257,2.15079363451e-05,-0.000458362322189,-3.04582315217e-05,1793239574978660096
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.700774706,745,715,679,662,635,880,787,805.350387353,651,631.350387353,652,0.442205852598,-0.0154140520222,0.0497233026009,0.999999907292,9.45644893965e-06,-0.000429211261467,-3.32286782301e-05,1793239574995326720
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.228728843,745,715,679.228728843,662.457457687,635,880.228728843,787.228728843,805,651.228728843,631.228728843,652.228728843,0.441639982377,-0.0154088413908,0.0497513739973,0.999999926946,-2.76167458755e-06,-0.000380660268531,-3.46225940106e-05,1793239575011993600
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.807199348,745,715,679.807199348,663.614398696,635,880.807199348,787.807199348,805,651.807199348,631.807199348,652.807199348,0.441066193415,-0.0154067974531,0.0497986122115,0.999999953572,-1.52345951355e-05,-0.000302445485429,-3.39117018872e-05,1793239575028660224
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.617352,663.617352,635,881,788,805,652,632,653,0.440448641828,-0.0154024646079,0.0498291125542,0.999999967619,3.70013541203e-06,-0.000252032662192,-3.50528316333e-05,1793239575045326848
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.043414022,663.043414022,635,881,788,805,652,632,653,0.439809212836,-0.0153969875127,0.049851245448,0.999999975352,3.83358992342e-05,-0.000215518349258,-3.71198076599e-05,1793239575061993472
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,880.454643446,788,805,652,632,652.454643446,0.439055672606,-0.0153920846541,0.0498214461152,0.999999962025,3.93637768116e-05,-0.000269477176763,-4.22243505633e-05,1793239575078660352
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.13282839,662.86717161,635,880,787.86717161,805,652,632,652.13282839,0.438289695197,-0.0153876205684,0.0497894668171,0.999999945002,3.21318306334e-05,-0.000326659044887,-4.75027580389e-05,1793239575095326976
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.711859902,662.288140098,635,880,787.288140098,805,652,632,652.711859902,0.437513307023,-0.0153844725743,0.0497644403939,0.999999930225,6.39174984668e-06,-0.000369797278386,-5.25302067192e-05,1793239575111993344
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.709914388,662.580171224,635.290085612,880.290085612,787.290085612,805,652,632,652.709914388,0.436756204535,-0.0153830598134,0.049771209842,0.999999932738,-1.6292696775e-05,-0.0003622738162,-5.49206257273e-05,1793239575128660224
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.132486788,663.735026425,635.867513212,880.867513212,787.867513212,805,652,632,652.132486788,0.436018205236,-0.0153833658735,0.0498094744338,0.999999951477,-3.59504124007e-05,-0.000304567820482,-5.46989565873e-05,1793239575145326848
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,664,635.557421958,881,788,805,651.557421958,632,652.442578042,0.435216419329,-0.0153776704116,0.0498078710101,0.999999947122,-4.96006283634e-05,-0.000316157391053,-5.78032165574e-05,1793239575161993728
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.98258229,635,881,788,805,651.01741771,632,653,0.434395554069,-0.0153703761101,0.0497945865902,0.999999935879,-6.11547803838e-05,-0.000347375624055,-6.1911137171e-05,1793239575178660096
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.391999263,635,881,788,805,651.608000737,632,653,0.433571854563,-0.0153692745642,0.0497875614762,0.999999936139,-6.25981210584e-05,-0.000345523206231,-6.64574853538e-05,1793239575195326720
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.194354954,745,715,679,663.194354954,635,881,788.194354954,805,652,631.805645046,653,0.432750066379,-0.015370153133,0.0497914678229,0.999999939829,-6.71068925817e-05,-0.000333204953046,-6.93743343213e-05,1793239575211993344
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766.772361574,745,715,679,663.772361574,635,881,788.772361574,805,652,631.227638426,653,0.431932051143,-0.0153749403973,0.0498169525919,0.99999994953,-7.76667454246e-05,-0.000300227410566,-6.90745935277e-05,1793239575228660224
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.65175516,745,715,679,663.65175516,635,880.65175516,788.65175516,805,652,631.34824484,653,0.431080246774,-0.0153721510977,0.0498165301967,0.999999952857,-3.36544072361e-05,-0.000300022712415,-5.60278125446e-05,1793239575245326848
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766.077251485,745,715,679,663.077251485,635,880.077251485,788.077251485,805,652,631.922748515,653,0.430206489233,-0.0153644392138,0.0497992756063,0.999999946792,4.58141362497e-05,-0.000321110922593,-3.4699126926e-05,1793239575261993472
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.5059587,745,715,679,663,635.5059587,880,788,805,651.4940413,632,653,0.42932930278,-0.0153581502205,0.0497780811805,0.999999934615,4.40291970159e-05,-0.000356867810084,-3.84162555162e-05,1793239575278660352
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.910113639,744.910113639,715,679,663.089886361,635.910113639,880,788,805,651.089886361,632,653,0.428448052419,-0.0153533017195,0.0497629924286,0.999999924417,3.12996379606e-05,-0.000384893423571,-4.52104539842e-05,1793239575295326976
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766.329652618,744.329652618,715,679,663.670347382,635.329652618,880,788,805,651.670347382,632,653,0.427547530061,-0.0153551085662,0.0497845673099,0.9999999343,2.77317276846e-05,-0.000358286409132,-4.75622479945e-05,1793239575311993600
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,744.250250549,715,679,663.499498902,635,880,787.749749451,805,652,632,652.749749451,0.426646414199,-0.0153573181832,0.049790153271,0.999999936845,1.62335321405e-05,-0.00035143008007,-5.04279876735e-05,1793239575328660480
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,744.829420577,715,679,662.341158847,635,880,787.170579423,805,652,632,652.170579423,0.425744518135,-0.0153600571861,0.0497747240273,0.99999992988,-5.68791893326e-06,-0.000370533271386,-5.39692376569e-05,1793239575345327104
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.406037337,635.406037337,879.593962663,787.406037337,804.593962663,652,632,652,0.424898422792,-0.0153650093531,0.0497949586447,0.999999945556,-2.04942524435e-05,-0.000324986542933,-5.340679388e-05,1793239575361993472
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.981588118,635.981588118,879.018411882,787.981588118,804.018411882,652,632,652,0.424075623323,-0.0153708854769,0.0498300822976,0.999999966305,-3.23301481457e-05,-0.000252449607823,-5.11311297102e-05,1793239575378660096
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.56878606,635.43121394,880.137572121,788,804.56878606,652,632,652.56878606,0.423222305875,-0.0153727096338,0.0498433110879,0.999999971481,-2.3970967706e-05,-0.000232203880148,-5.04518399719e-05,1793239575395326720
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.691755117,635.154122442,880.845877558,788,805,651.845877558,632,653,0.422344185798,-0.0153724274007,0.0498430312973,0.999999970537,-1.81278385443e-05,-0.00023665573012,-5.09026940501e-05,1793239575411993600
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.533472448,635.733263776,880.266736224,788,805,651.266736224,632,653,0.4214004495,-0.0153667057073,0.0498074946437,0.999999951958,-2.1063593663e-05,-0.000304449889309,-5.43246293324e-05,1793239575428660480
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,714.689423376,679,662.310576624,636,880,788,804.689423376,651.310576624,632,652.689423376,0.420509926583,-0.0153629791292,0.0497969192559,0.999999944502,-2.59478420822e-05,-0.00032746591988,-5.55842694028e-05,1793239575445327104
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.113671747,679,662.886328253,636,880,788,804.113671747,651.886328253,632,652.113671747,0.419664838101,-0.0153609560108,0.0498076561751,0.99999994921,-3.24957433704e-05,-0.000312249706412,-5.49977091877e-05,1793239575461993728
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,714.469121597,679,663,636,880,788,804,652,632,652.469121597,0.418821844323,-0.0153592881847,0.0498058606401,0.999999944904,-3.17448829023e-05,-0.000325791512717,-5.51774000135e-05,1793239575478660096
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.946585469,662.946585469,636,879.946585469,788,804,652,632,653,0.417980946057,-0.015357957682,0.0498004298046,0.999999938377,-2.89465623876e-05,-0.000345410798098,-5.56807136147e-05,1793239575495326976
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.36459545,662.36459545,636,879.36459545,788,804,652,632,653,0.417155685775,-0.0153591003337,0.049789533423,0.999999934995,-2.36548860774e-05,-0.000355164033895,-5.75211855242e-05,1793239575511993600
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.216375143,662.216375143,636,879.216375143,787.783624857,804,652,631.783624857,652.783624857,0.416349542724,-0.0153628553761,0.0497946798426,0.999999940524,-2.79271388081e-05,-0.000338871062037,-5.77830257263e-05,1793239575528660224
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.795636135,662.795636135,636,879.795636135,787.204363865,804,652,631.204363865,652.204363865,0.415575461321,-0.0153709916963,0.049826731872,0.999999958411,-4.82391929781e-05,-0.00027889562299,-5.53973202314e-05,1793239575545326848
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.370957147,715,679,662.629042853,636,879.629042853,787.370957147,804.741914294,652,631.370957147,652.370957147,0.414801630197,-0.0153715895041,0.0498324370406,0.999999961114,-5.5304241025e-05,-0.000267685081146,-5.52949802131e-05,1793239575561993728
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745.944130363,715,679,662.055869637,636,879.055869637,787.944130363,805.888260725,652,631.944130363,652.944130363,0.41402793555,-0.0153680779194,0.049823780013,0.999999956826,-5.5148083199e-05,-0.000283057252021,-5.6437348036e-05,1793239575578660096
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745.467741358,715,678.467741358,662,636,879,788,804.935482717,652,632,653,0.413266437143,-0.0153652249465,0.0497991259851,0.999999943225,-4.09225709371e-05,-0.000329195462525,-5.92066376258e-05,1793239575595326720
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.119941175,662.119941175,636,879.119941175,788,803.880058825,652,632,652.880058825,0.412520659849,-0.0153634367965,0.0497816189619,0.99999993185,-3.08587157225e-05,-0.000362757558088,-6.12696411318e-05,1793239575611993344
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.699722383,662.699722383,636,879.699722383,788,803.300277617,652,632,652.300277617,0.411830105401,-0.0153654583412,0.0497981364986,0.999999941062,-4.25757852933e-05,-0.000335365193628,-5.99511773037e-05,1793239575628660224
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.277966625,679,663,636,879.722033375,788,803.277966625,652.277966625,632,652.277966625,0.411143197829,-0.0153668639452,0.049813368116,0.999999948289,-5.0988236035e-05,-0.000312123942227,-5.83221156034e-05,1793239575645326848
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715.85455963,679,663,636,879.14544037,788,803.85455963,652.85455963,632,652.85455963,0.410460208228,-0.0153676078286,0.0498272182378,0.999999953827,-5.58504527935e-05,-0.000293342335549,-5.63593710853e-05,1793239575661993472
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715.57171121,679,663,636,879.42828879,788,804.42828879,652.57171121,632,652.57171121,0.409806079686,-0.0153651086281,0.0498145957687,0.999999945754,-5.88620367006e-05,-0.000318867262372,-5.7892678312e-05,1793239575678660096
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.998911276,663,636,880,788,805,652,632,652,0.409161850288,-0.0153615261665,0.0497931020715,0.99999993177,-6.12522852951e-05,-0.000359215723047,-6.05993395817e-05,1793239575695326976
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.406118018,663,636,880,788,805,652,632,652,0.40860649033,-0.015363773182,0.0498035387895,0.999999940602,-6.52387809998e-05,-0.000333065536573,-6.00633512255e-05,1793239575711993600
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,744.81802971,715,678,663,635.81802971,880,788.18197029,805,652,632,652.18197029,0.40805852122,-0.0153663139124,0.0498172942742,0.999999948892,-6.95288151036e-05,-0.000306481487021,-5.87357138981e-05,1793239575728660480
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,744.240177063,715,678,663,635.240177063,880,788.759822937,805,652,632,652.759822937,0.407526631039,-0.0153694936293,0.0498382698472,0.999999956768,-7.44792077927e-05,-0.00027895354934,-5.56858181213e-05,1793239575745327104
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,744.335301109,715,678.335301109,663,635.335301109,879.664698891,788.664698891,804.664698891,652,632,653,0.40699095723,-0.0153701787963,0.0498390251944,0.999999955474,-7.93673596179e-05,-0.000282327138295,-5.51823635895e-05,1793239575761993984
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,744.909090365,715,678.909090365,663,635.909090365,879.090909635,788.090909635,804.090909635,652,632,653,0.406452592288,-0.0153690896754,0.0498253985894,0.999999947525,-8.42112413488e-05,-0.000307679921874,-5.6490105304e-05,1793239575778661632
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.482743806,745,715,678.517256194,662.517256194,636,879,788,804,652,631.517256194,652.517256194,0.405952606031,-0.0153682841746,0.049802367387,0.999999933154,-9.34185929106e-05,-0.000348557588953,-5.8932333245e-05,1793239575795328768
+357,5.950000000,POSE2_TO_POSE3_RETREAT,767,745,715,678.058279457,662.058279457,636,879.058279457,788,804,652.058279457,631.058279457,652.058279457,0.405467307421,-0.0153674893621,0.0497802475712,0.999999917529,-0.000102819382433,-0.000388078576647,-6.13575865391e-05,1793239575811995392
+358,5.966666667,POSE2_TO_POSE3_RETREAT,767,745,715,678.651320565,662.651320565,636,879.651320565,788,804,652.651320565,631.651320565,652.651320565,0.405050481114,-0.0153663026722,0.049782736828,0.999999917031,-0.000106457270245,-0.000388331832398,-6.16672698254e-05,1793239575828662016
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.761888837,745,715,679,663,636,879.761888837,788,804,652.761888837,632,652.761888837,0.404663403242,-0.0153673093714,0.0497928669061,0.999999923016,-0.000113159351353,-0.000370665594239,-6.14063434105e-05,1793239575845328128
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.184017137,745,715,679,663,636,879.184017137,788,804,652.184017137,632,652.184017137,0.404318773412,-0.0153714458147,0.0498138996627,0.999999936858,-0.000124233725807,-0.000327430050744,-6.03312145716e-05,1793239575861994240
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.609758794,663,636,879,788,804,652,632,652.390241206,0.403990848597,-0.0153760005939,0.0498369952775,0.999999951116,-9.83660236214e-05,-0.000290954903896,-5.86363702702e-05,1793239575878660864
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.037188637,663,636,879,788,804,652,632,652.962811363,0.403670728689,-0.0153807508288,0.0498610547051,0.999999963681,-5.523820216e-05,-0.000257638353095,-5.6651981584e-05,1793239575895327232
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.554320362,663,636,879,788,804,652,632,652.445679638,0.403374040064,-0.0153824438723,0.0498627643918,0.99999996375,-4.93933355702e-05,-0.000258448994707,-5.71385481348e-05,1793239575911993856
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,632,652.14386622,0.403083120753,-0.0153837907203,0.0498597964202,0.99999996145,-4.94103529044e-05,-0.000267001800409,-5.80459260628e-05,1793239575928660480
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,632,652.723481622,0.40280474606,-0.0153847321963,0.0498473626814,0.999999953876,-5.93381832198e-05,-0.000291824446992,-5.97080148722e-05,1793239575945327360
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.699847001,663,636,879,788,804,652,631.699847001,653,0.40255413898,-0.0153841435762,0.0498390309509,0.99999994882,-6.52927345739e-05,-0.000307284658674,-6.06041928147e-05,1793239575961994240
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.125861521,663,636,879,788,804,652,631.125861521,653,0.402328864578,-0.0153821590347,0.049834441523,0.999999946503,-6.76224245806e-05,-0.000314203429194,-6.08016228013e-05,1793239575978660608
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,635.554977049,879,788,803.554977049,652,631.445022951,653,0.402127473088,-0.0153793515567,0.0498286356402,0.999999945376,-3.47349184899e-05,-0.000324346909663,-5.32969348197e-05,1793239575995327232
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.015708625,663,635.015708625,879,788,803.015708625,652,631.984291375,652.984291375,0.401934123809,-0.0153763248057,0.0498227078209,0.999999942903,6.79913058017e-06,-0.000334991759851,-4.39175446598e-05,1793239576011993856
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.61120327,663,635.61120327,879,788,803.61120327,652,631.38879673,652.38879673,0.401790024731,-0.0153737357776,0.0498248896284,0.999999944291,2.39393692645e-06,-0.000330713220098,-4.51877782215e-05,1793239576028660736
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.799133144,663,636,879,788,804,652,631,652,0.40165674366,-0.0153730867734,0.0498281442275,0.999999946203,-4.38773070001e-06,-0.000324734557972,-4.60681029461e-05,1793239576045327616
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.220437788,663,636,879,788,804,652,631,652,0.401543811163,-0.0153760869349,0.049833416736,0.999999949021,-1.56395210655e-05,-0.000315557983504,-4.62150129888e-05,1793239576061994752
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,636,879,788,804,652,631,652.356375453,0.401448513909,-0.0153784195108,0.0498395778983,0.999999952718,-2.35429206743e-05,-0.000303052188207,-4.65718197547e-05,1793239576078661120
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,636,879,788,804,652,631,652.932030674,0.401364067704,-0.015380341318,0.0498462858547,0.999999956845,-2.93860381963e-05,-0.000288497904172,-4.70577771332e-05,1793239576095327232
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.506306117,663,636,879,788,804,652,631.506306117,652.493693883,0.40128766303,-0.0153864821283,0.0498468584562,0.999999956664,-4.10355596115e-05,-0.000287664162267,-4.72916070468e-05,1793239576111994112
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.083150084,745,715,679,662.916849916,636,879,788,804,652,631.916849916,652,0.401215221983,-0.0153927226639,0.0498463311658,0.999999955776,-5.24396494091e-05,-0.000288855402031,-4.75395320232e-05,1793239576128660736
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.676901226,745,715,679,662.323098774,636,879,788,804,652,631.323098774,652,0.401160509279,-0.0153961070468,0.049844093769,0.999999954788,-5.75630395394e-05,-0.000291201504446,-4.80812907254e-05,1793239576145327360
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.736813954,745,715,678.736813954,662.263186046,636,879,788,803.736813954,652,631.263186046,652.263186046,0.40111487852,-0.015397921258,0.0498431173933,0.999999954569,-6.10267934468e-05,-0.000291198517425,-4.83942282506e-05,1793239576161993984
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.159442298,745,715,678.159442298,662.840557702,636,879,788,803.159442298,652,631.840557702,652.840557702,0.401080089585,-0.0153978610334,0.0498436463966,0.999999955289,-6.25093104795e-05,-0.00028839123989,-4.84340041457e-05,1793239576178660608
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,636,879,788,803.413992864,652.413992864,632,652.586007136,0.401053676767,-0.0153971686401,0.0498437770604,0.999999955683,-6.23181425855e-05,-0.000287008550584,-4.87462342501e-05,1793239576195326976
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,636,879,788,803.985926219,652.985926219,632,652.014073781,0.401030459482,-0.0153962350709,0.0498437557556,0.999999955955,-6.148845491e-05,-0.000286169349368,-4.91624070911e-05,1793239576211993600
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.578140003,663,636,879,788,804,652.421859997,631.421859997,652.578140003,0.401014686905,-0.015397724646,0.0498442289958,0.999999955868,-6.37770167159e-05,-0.000286045049867,-4.87387768736e-05,1793239576228660480
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,631,652.833665816,0.401002624416,-0.0153987445942,0.0498454225504,0.999999956341,-6.47660838554e-05,-0.000284238887589,-4.82920225256e-05,1793239576245327104
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,631,652.256659182,0.400999258282,-0.0153984541212,0.0498483637286,0.999999958204,-6.23525227076e-05,-0.000278235744017,-4.78404848103e-05,1793239576261993728
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,744.679206509,715,678.679206509,663,636,879.320793491,788,803.679206509,652,631.320793491,652,0.400995464634,-0.015398166815,0.0498502616778,0.999999959076,-6.13107044217e-05,-0.000275353132737,-4.76435790691e-05,1793239576278660352
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,744.101396413,715,678.101396413,663,636,879.898603587,788,803.101396413,652,631.898603587,652,0.400991328467,-0.0153978820461,0.0498513238025,0.999999959177,-6.13679128307e-05,-0.000274970660746,-4.76506819252e-05,1793239576295327232
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,744.475448743,715,678.475448743,663,635.524551257,879.524551257,788,803.475448743,652,632,652,0.400991711019,-0.0153984119598,0.0498528042003,0.999999960051,-6.14593507886e-05,-0.000271730413299,-4.77935055748e-05,1793239576311993856
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.053298106,879,788,804,652,631.946701894,652,0.4009927989,-0.0153990436707,0.0498542674923,0.999999960983,-6.15234787332e-05,-0.000268240676781,-4.79222951198e-05,1793239576328660224
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.643328771,879,788,804,652,631.356671229,652,0.400991304717,-0.0153989544026,0.0498546620366,0.999999960982,-6.1239219891e-05,-0.000268363578448,-4.76188644966e-05,1793239576345326848
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.77197117,879,788,804,652,631,652.22802883,0.400990308193,-0.0153997100115,0.0498548881407,0.999999961056,-6.16093916262e-05,-0.000268062912015,-4.72681981315e-05,1793239576361993472
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.195418551,879,788,804,652,631,652.804581449,0.400990072301,-0.0154017569473,0.0498548567976,0.999999961244,-6.297980806e-05,-0.000267114855682,-4.6845335739e-05,1793239576378660608
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.380265951,879,788,803.619734049,652,631.380265951,653,0.400990686844,-0.0154020771352,0.0498558699775,0.999999961666,-6.24531123083e-05,-0.000265713922366,-4.65060794948e-05,1793239576395327488
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.955505327,879,788,803.044494673,652,631.955505327,653,0.400991737431,-0.0154015119692,0.0498574187149,0.999999962205,-6.09537118603e-05,-0.000264080785864,-4.620969057e-05,1793239576411994368
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.455464857,663,636,879,788,803.544535143,652,631.455464857,652.455464857,0.400991232595,-0.0154009260062,0.0498573804116,0.999999962283,-5.95141422763e-05,-0.000264139531631,-4.60719582556e-05,1793239576428660992
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,636,879.13230482,788,804.13230482,652,631.13230482,652,0.400990983847,-0.0154005909071,0.0498574489751,0.999999962403,-5.84302987207e-05,-0.000263927969017,-4.60686267779e-05,1793239576445327616
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,636,879.711905508,788,804.711905508,652,631.711905508,652,0.400992041731,-0.0154011098229,0.0498583286442,0.9999999628,-5.85321356177e-05,-0.000262323022835,-4.64747097999e-05,1793239576461993984
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.288796953,744.711203047,715,678.288796953,663,636,879.711203047,787.711203047,804.711203047,652,632,652.288796953,0.400992099626,-0.0154013631072,0.0498585093836,0.999999962944,-5.83034857522e-05,-0.000261800596115,-4.66214894885e-05,1793239576478660352
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.863010933,744.136989067,715,678.863010933,663,636,879.136989067,787.136989067,804.136989067,652,632,652.863010933,0.400991169234,-0.0154013538689,0.0498579993733,0.999999962838,-5.77482169787e-05,-0.000262348019434,-4.65120006413e-05,1793239576495326976
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.55261535,744.44738465,715,679,663,635.55261535,879,787,804,652,631.55261535,652.55261535,0.400990349467,-0.0154014766298,0.049858096734,0.999999962789,-6.00830820979e-05,-0.00026202765757,-4.6403998345e-05,1793239576511993600
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.965518635,663,635.034481365,879.034481365,787,804,652,631.034481365,652.034481365,0.400989670963,-0.015401628092,0.0498583767502,0.999999962774,-6.29736661514e-05,-0.000261421295628,-4.63066255302e-05,1793239576528660224
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.385699554,663,635.614300446,879.614300446,787,804,652,631.614300446,652.614300446,0.400990678429,-0.0154015793968,0.0498585358918,0.999999963151,-6.03319677115e-05,-0.000260591776176,-4.63699962958e-05,1793239576545327104
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,744.806325683,715,678.193674317,663,636,879.806325683,787.193674317,804,652,632,653,0.4009916999,-0.0154012151927,0.0498590119415,0.999999963573,-5.77940456689e-05,-0.000259555963593,-4.63047799695e-05,1793239576561993984
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,744.227836445,715,678.772163555,663,636,879.227836445,787.772163555,804,652,632,653,0.400992749193,-0.0154002240985,0.0498601176614,0.999999964094,-5.54623189418e-05,-0.000258110263602,-4.59840716761e-05,1793239576578660608
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,744.34713963,715,679,663,636,879,788,804,652,632,653,0.40099331391,-0.0154008677465,0.0498603966885,0.999999964149,-5.67026292039e-05,-0.000257655279038,-4.58259450913e-05,1793239576595327488
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,744.919833008,715,679,663,636,879,788,804,652,632,653,0.400993563773,-0.0154025735671,0.0498601385726,0.999999963895,-6.02638682518e-05,-0.000257844011228,-4.57734558772e-05,1793239576611993856
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.491803874,745,715,679,663,636,879,788,804,652,631.491803874,652.491803874,0.400990006234,-0.0154006381023,0.0498587448384,0.999999963153,-5.83347291162e-05,-0.000261046767014,-4.63188879029e-05,1793239576628660224
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.097150138,745,715,679,663,635.902849862,879,788,804,652,631,652.097150138,0.400987048736,-0.0153990351549,0.0498577062985,0.999999962601,-5.60233424261e-05,-0.000263585527577,-4.67017807602e-05,1793239576645326848
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.676379886,745,715,679,663,635.323620114,879,788,804,652,631,652.676379886,0.400990143942,-0.0154020232372,0.0498593475295,0.999999963467,-5.62496532922e-05,-0.00026039502324,-4.57951881688e-05,1793239576661993728
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.746379701,663,635.253620299,879,788,804,652,631,653,0.400992131322,-0.0154030517539,0.0498606386158,0.999999964118,-5.67269151362e-05,-0.000257837962791,-4.54533260911e-05,1793239576678660352
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.17165785,663,635.82834215,879,788,804,652,631,653,0.400992716114,-0.0154015993198,0.0498614863939,0.999999964506,-5.75218990098e-05,-0.000256082887462,-4.58264533633e-05,1793239576695327232
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.401967706,663,636,879,788,804,652,631.401967706,653,0.400992493514,-0.0154016059445,0.049861226748,0.999999964451,-5.76459720751e-05,-0.000256236989357,-4.60149141539e-05,1793239576711994112
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.975126336,663,636,879,788,804,652,631.975126336,653,0.400991927058,-0.0154022339565,0.0498604954698,0.999999964207,-5.74843160683e-05,-0.000257204176107,-4.61247287399e-05,1793239576728660736
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.434373268,663,635.434373268,879,788,804,652,631.434373268,653,0.400992059112,-0.0154017014526,0.0498608610489,0.999999964439,-5.776859702e-05,-0.000256257975747,-4.59973272213e-05,1793239576745327104
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0c49ce79ab7e619b195d5f4ba93f25cc33822bd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+1,0.016666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+2,0.033333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+3,0.050000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+4,0.066666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+5,0.083333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+6,0.100000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+7,0.116666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+8,0.133333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+9,0.150000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+10,0.166666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+11,0.183333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+12,0.200000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+13,0.216666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+14,0.233333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+15,0.250000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+16,0.266666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+17,0.283333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+18,0.300000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+19,0.316666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+20,0.333333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+21,0.350000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+22,0.366666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+23,0.383333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+24,0.400000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+25,0.416666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+26,0.433333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+27,0.450000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+28,0.466666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+29,0.483333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+30,0.500000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+31,0.516666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+32,0.533333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+33,0.550000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+34,0.566666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+35,0.583333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+36,0.600000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+37,0.616666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+38,0.633333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+39,0.650000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+40,0.666666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+41,0.683333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+42,0.700000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+43,0.716666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+44,0.733333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+45,0.750000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+46,0.766666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+47,0.783333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+48,0.800000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+49,0.816666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+50,0.833333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+51,0.850000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+52,0.866666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+53,0.883333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+54,0.900000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+55,0.916666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+56,0.933333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+57,0.950000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+58,0.966666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+59,0.983333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+60,1.000000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+61,1.016666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+62,1.033333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+63,1.050000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+64,1.066666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+65,1.083333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+66,1.100000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+67,1.116666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+68,1.133333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+69,1.150000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+70,1.166666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+71,1.183333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+72,1.200000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+73,1.216666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+74,1.233333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+75,1.250000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+76,1.266666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+77,1.283333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+78,1.300000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+79,1.316666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+80,1.333333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+81,1.350000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+82,1.366666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+83,1.383333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+84,1.400000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+85,1.416666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+86,1.433333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+87,1.450000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+88,1.466666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+89,1.483333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+90,1.500000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+91,1.516666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+92,1.533333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+93,1.550000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+94,1.566666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+95,1.583333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+96,1.600000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+97,1.616666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+98,1.633333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+99,1.650000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+100,1.666666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+101,1.683333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+102,1.700000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+103,1.716666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+104,1.733333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+105,1.750000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+106,1.766666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+107,1.783333333,pose1_to_pose2_press,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+108,1.800000000,pose1_to_pose2_press,0.575664505108,-0.00990912238054,1.040032091,0.5462349552,-0.00123738749222,1.03970023254
+109,1.816666667,pose1_to_pose2_press,0.575664666856,-0.009909163609,1.04003218063,0.546235117128,-0.0012374282923,1.03970031742
+110,1.833333333,pose1_to_pose2_press,0.575664699214,-0.00990917185688,1.04003219856,0.546235149522,-0.00123743645449,1.0397003344
+111,1.850000000,pose1_to_pose2_press,0.575664833339,-0.00990920604447,1.04003227288,0.546235283796,-0.00123747028685,1.03970040478
+112,1.866666667,pose1_to_pose2_press,0.575664942204,-0.00990923379334,1.0400323332,0.546235392781,-0.00123749774741,1.03970046191
+113,1.883333333,pose1_to_pose2_press,0.57566542775,-0.00990924219639,1.04003235143,0.5462358787,-0.0012375049379,1.03970047876
+114,1.900000000,pose1_to_pose2_press,0.575667338094,-0.00990919260146,1.04003232616,0.546237789811,-0.00123745260757,1.03970045694
+115,1.916666667,pose1_to_pose2_press,0.575672329474,-0.00990911262718,1.04003234973,0.54624278059,-0.0012373746644,1.03970048079
+116,1.933333333,pose1_to_pose2_press,0.575683314406,-0.00990919735567,1.04003229597,0.546253767873,-0.00123745166375,1.03970042035
+117,1.950000000,pose1_to_pose2_press,0.575702437655,-0.00990922728211,1.04003242184,0.546272890663,-0.00123748274032,1.03970055682
+118,1.966666667,pose1_to_pose2_press,0.575732320596,-0.00990925705399,1.04003220904,0.546302773454,-0.00123751267728,1.03970035299
+119,1.983333333,pose1_to_pose2_press,0.575773098028,-0.0099091427257,1.0400321021,0.546343547816,-0.00123740883437,1.03970024423
+120,2.000000000,pose1_to_pose2_press,0.575824921627,-0.00990920699061,1.04003217919,0.546395373792,-0.0012374648149,1.03970032685
+121,2.016666667,pose1_to_pose2_press,0.575884849162,-0.00990927044266,1.04003230377,0.546455301988,-0.00123752655984,1.03970043738
+122,2.033333333,pose1_to_pose2_press,0.575951535503,-0.00990915236246,1.04003241244,0.546521986798,-0.00123741355572,1.03970054911
+123,2.050000000,pose1_to_pose2_press,0.576025593597,-0.00990916594456,1.04003237091,0.546596044858,-0.00123742719789,1.03970050902
+124,2.066666667,pose1_to_pose2_press,0.57610797816,-0.00990930486376,1.04003229871,0.546678430692,-0.00123756211045,1.03970042872
+125,2.083333333,pose1_to_pose2_press,0.576200754044,-0.00990925959161,1.04003237212,0.546771205957,-0.00123751891806,1.03970050267
+126,2.100000000,pose1_to_pose2_press,0.576305358927,-0.00990928930341,1.04003230004,0.546875812831,-0.00123754140742,1.03970044269
+127,2.116666667,pose1_to_pose2_press,0.576425811776,-0.00990922834746,1.04003212786,0.546996263801,-0.00123748712622,1.0397002627
+128,2.133333333,pose1_to_pose2_press,0.576560108726,-0.00990916417298,1.04003217337,0.547130559964,-0.0012374252323,1.03970031844
+129,2.150000000,pose1_to_pose2_press,0.576709270091,-0.00990912607258,1.04003219728,0.547279720597,-0.00123738970848,1.03970033979
+130,2.166666667,pose1_to_pose2_press,0.576877796661,-0.00990921762258,1.0400323766,0.547448249084,-0.00123747489338,1.03970051534
+131,2.183333333,pose1_to_pose2_press,0.577066180489,-0.00990921205299,1.04003233837,0.547636633255,-0.00123746827165,1.03970047416
+132,2.200000000,pose1_to_pose2_press,0.577275738546,-0.00990918309383,1.04003223673,0.547846190132,-0.0012374433699,1.03970037111
+133,2.216666667,pose1_to_pose2_press,0.577505626675,-0.00990920764493,1.04003216211,0.548076077665,-0.00123746979975,1.0397003002
+134,2.233333333,pose1_to_pose2_press,0.577756520471,-0.00990923832755,1.04003213562,0.548326971527,-0.00123750016322,1.03970027609
+135,2.250000000,pose1_to_pose2_press,0.5780252647,-0.00990926605145,1.04003221778,0.548595716837,-0.00123752431553,1.03970035562
+136,2.266666667,pose1_to_pose2_press,0.57831172256,-0.00990925835547,1.04003225596,0.548882176021,-0.0012375121214,1.03970039392
+137,2.283333333,pose1_to_pose2_press,0.578614559773,-0.0099092184433,1.04003234607,0.549185011252,-0.00123747913796,1.03970047862
+138,2.300000000,pose1_to_pose2_press,0.578932991641,-0.00990922805216,1.04003225011,0.54950344268,-0.00123749038595,1.0397003789
+139,2.316666667,pose1_to_pose2_press,0.579268145765,-0.00990930700956,1.04003210651,0.549838599803,-0.00123755868438,1.03970024771
+140,2.333333333,pose1_to_pose2_press,0.579619070403,-0.0099091198663,1.04003228749,0.550189522478,-0.0012373781791,1.03970042931
+141,2.350000000,pose1_to_pose2_press,0.579987826332,-0.00990913801425,1.04003217376,0.550558277328,-0.00123740009628,1.03970031269
+142,2.366666667,pose1_to_pose2_press,0.580379703575,-0.00990922671931,1.04003224735,0.550950156337,-0.00123748282402,1.03970038582
+143,2.383333333,pose1_to_pose2_press,0.580796472091,-0.00990933078784,1.04003232427,0.551366925894,-0.00123758377009,1.03970045198
+144,2.400000000,pose1_to_pose2_press,0.581243349959,-0.00990932098849,1.04003220809,0.551813803347,-0.00123757533572,1.03970033685
+145,2.416666667,pose1_to_pose2_press,0.581717320688,-0.00990918707954,1.04003216616,0.552287773145,-0.00123744410238,1.03970030753
+146,2.433333333,pose1_to_pose2_press,0.582216205705,-0.00990915410673,1.04003239909,0.552786657208,-0.00123741472116,1.03970053116
+147,2.450000000,pose1_to_pose2_press,0.582728813529,-0.00990927874805,1.04003239069,0.553299266883,-0.00123753289184,1.0397005276
+148,2.466666667,pose1_to_pose2_press,0.583251519585,-0.00990941788832,1.04003209685,0.553821973682,-0.00123766913259,1.03970024364
+149,2.483333333,pose1_to_pose2_press,0.583783208973,-0.00990923608083,1.04003251025,0.554353659972,-0.00123749860054,1.03970063707
+150,2.500000000,pose1_to_pose2_press,0.584327103625,-0.0099092373977,1.04003256923,0.554897555997,-0.00123749485319,1.03970070659
+151,2.516666667,pose1_to_pose2_press,0.584898002208,-0.00990929760276,1.0400323907,0.555468455118,-0.00123755319425,1.03970052904
+152,2.533333333,pose1_to_pose2_press,0.585494302157,-0.00990913737297,1.04003217618,0.556064753702,-0.00123739764786,1.03970031317
+153,2.550000000,pose1_to_pose2_press,0.586113323384,-0.00990918353185,1.04003224906,0.556683774906,-0.00123744388427,1.03970038607
+154,2.566666667,pose1_to_pose2_press,0.586747090839,-0.00990922200769,1.04003229768,0.557317542424,-0.00123748231407,1.03970043025
+155,2.583333333,pose1_to_pose2_press,0.587391348755,-0.00990919924114,1.04003230762,0.557961800454,-0.00123745922908,1.03970043831
+156,2.600000000,pose1_to_pose2_press,0.58804055687,-0.00990923050107,1.04003235239,0.558611009008,-0.00123748882075,1.03970048782
+157,2.616666667,pose1_to_pose2_press,0.588699913469,-0.00990925435518,1.04003231159,0.559270365469,-0.00123751305566,1.03970044924
+158,2.633333333,pose1_to_pose2_press,0.589379157861,-0.00990922103031,1.04003224544,0.559949609801,-0.00123748011372,1.0397003784
+159,2.650000000,pose1_to_pose2_press,0.590073127381,-0.00990924592603,1.04003224064,0.560643580086,-0.00123750244399,1.03970037286
+160,2.666666667,pose1_to_pose2_press,0.590777546248,-0.00990919687765,1.04003225211,0.561347998579,-0.00123745467789,1.03970038384
+161,2.683333333,pose1_to_pose2_press,0.591495099018,-0.00990918776298,1.04003224855,0.562065548487,-0.00123745532893,1.03970037899
+162,2.700000000,pose1_to_pose2_press,0.592225507349,-0.00990930668448,1.04003236505,0.562795959529,-0.00123756525143,1.03970049022
+163,2.716666667,pose1_to_pose2_press,0.592958344471,-0.00990922812235,1.04003232026,0.563528796981,-0.00123748566534,1.03970044301
+164,2.733333333,pose1_to_pose2_press,0.593698128633,-0.00990916381315,1.04003208354,0.56426858004,-0.00123742468657,1.03970021705
+165,2.750000000,pose1_to_pose2_press,0.594448158612,-0.00990922713363,1.04003223754,0.565018611533,-0.00123748260023,1.03970037813
+166,2.766666667,pose1_to_pose2_press,0.595199569319,-0.0099093431258,1.04003237432,0.565770023836,-0.00123759349516,1.03970050665
+167,2.783333333,pose1_to_pose2_press,0.595952889607,-0.00990928996445,1.04003236165,0.566523342748,-0.00123754515351,1.03970048996
+168,2.800000000,pose1_to_pose2_press,0.596703930315,-0.00990907871713,1.04003245572,0.567274380503,-0.00123734375553,1.03970058863
+169,2.816666667,pose1_to_pose2_press,0.597451534013,-0.00990903920428,1.04003239462,0.568021982699,-0.00123730962556,1.03970052014
+170,2.833333333,pose1_to_pose2_press,0.598191301045,-0.00990919806103,1.04003235632,0.568761751775,-0.00123746125536,1.03970048944
+171,2.850000000,pose1_to_pose2_press,0.598926998982,-0.00990928474131,1.04003235148,0.5694974507,-0.00123754452199,1.03970048626
+172,2.866666667,pose1_to_pose2_press,0.599665298649,-0.00990916122336,1.04003228361,0.570235747635,-0.00123743068013,1.0397004078
+173,2.883333333,pose1_to_pose2_press,0.600401363667,-0.0099092437666,1.04003232566,0.570971814583,-0.00123750711031,1.03970043862
+174,2.900000000,pose1_to_pose2_press,0.601133780666,-0.00990922940776,1.04003218315,0.571704231552,-0.00123749227819,1.03970031123
+175,2.916666667,pose1_to_pose2_press,0.601867964209,-0.00990925259844,1.04003217922,0.572438415339,-0.00123751423321,1.03970031797
+176,2.933333333,pose1_to_pose2_press,0.602595787423,-0.00990928174766,1.04003221656,0.573166239946,-0.00123753867681,1.0397003548
+177,2.950000000,pose1_to_pose2_press,0.60330920803,-0.00990929639096,1.04003217349,0.573879660884,-0.00123755232724,1.03970030838
+178,2.966666667,pose1_to_pose2_press,0.604015113904,-0.00990921569891,1.04003222061,0.574585565847,-0.0012374748175,1.03970035316
+179,2.983333333,pose1_to_pose2_press,0.604712315873,-0.00990909726235,1.04003232883,0.57528276652,-0.00123736077612,1.03970046164
+180,3.000000000,pose1_to_pose2_press,0.605395099073,-0.00990912311016,1.04003227764,0.575965548161,-0.0012373918001,1.03970041349
+181,3.016666667,pose1_to_pose2_press,0.606063539434,-0.00990908313888,1.04003248165,0.576633990199,-0.00123734629576,1.03970061347
+182,3.033333333,pose1_to_pose2_press,0.606722655222,-0.00990926149526,1.04003246082,0.577293109391,-0.00123751310952,1.03970059253
+183,3.050000000,pose1_to_pose2_press,0.607370495296,-0.00990910582712,1.04003200235,0.577940943712,-0.00123737676502,1.03970013932
+184,3.066666667,pose1_to_pose2_press,0.608000478354,-0.00990921879645,1.04003221352,0.578570930197,-0.00123747823652,1.03970034712
+185,3.083333333,pose1_to_pose2_press,0.608616673328,-0.00990928334551,1.04003223422,0.57918712568,-0.00123754105234,1.03970036803
+186,3.100000000,pose1_to_pose2_press,0.609217611636,-0.0099091267759,1.0400325066,0.579788062257,-0.0012373903949,1.03970063963
+187,3.116666667,pose1_to_pose2_press,0.609791591588,-0.00990915175153,1.04003237755,0.580362043214,-0.00123741206056,1.03970050802
+188,3.133333333,pose1_to_pose2_press,0.610344176082,-0.00990923187376,1.04003226316,0.580914628626,-0.00123748914049,1.03970039168
+189,3.150000000,pose1_to_pose2_press,0.610879514141,-0.00990918083146,1.04003224089,0.581449965342,-0.00123744249982,1.03970037364
+190,3.166666667,pose1_to_pose2_press,0.611392466346,-0.00990913089642,1.04003225948,0.581962916575,-0.00123739563638,1.03970039829
+191,3.183333333,pose1_to_pose2_press,0.611878308643,-0.00990920598952,1.04003229864,0.582448759672,-0.00123746798007,1.03970043846
+192,3.200000000,pose1_to_pose2_press,0.612337449464,-0.0099092277478,1.04003219433,0.582907899822,-0.00123749202957,1.03970033279
+193,3.216666667,pose1_to_pose2_press,0.612771518905,-0.009909161804,1.04003211975,0.583341968162,-0.00123742987857,1.03970025247
+194,3.233333333,pose1_to_pose2_press,0.613188070259,-0.00990932281191,1.04003224839,0.583758524347,-0.00123757445726,1.0397003766
+195,3.250000000,pose1_to_pose2_press,0.613591498765,-0.0099093065013,1.04003222934,0.584161952905,-0.0012375574761,1.03970036421
+196,3.266666667,pose1_to_pose2_press,0.613983416849,-0.00990925890795,1.0400322136,0.584553870488,-0.00123751119085,1.03970035214
+197,3.283333333,pose1_to_pose2_press,0.614362022427,-0.00990916381429,1.04003236687,0.58493247438,-0.00123742181331,1.03970049915
+198,3.300000000,pose1_to_pose2_press,0.614724626253,-0.00990917487474,1.04003238109,0.585295078453,-0.00123743182032,1.03970051275
+199,3.316666667,pose1_to_pose2_press,0.615059498611,-0.00990924189624,1.04003227848,0.58562995161,-0.0012374957705,1.03970041359
+200,3.333333333,pose1_to_pose2_press,0.615367101535,-0.00990918354021,1.04003232532,0.585937552094,-0.00123744564996,1.03970045596
+201,3.350000000,pose1_to_pose2_press,0.615647397174,-0.00990921564647,1.04003209746,0.586217848248,-0.00123747544776,1.03970023794
+202,3.366666667,pose1_to_pose2_press,0.615906964834,-0.00990919965879,1.04003219373,0.586477416955,-0.00123745563174,1.03970033592
+203,3.383333333,pose1_to_pose2_press,0.616148943085,-0.00990915117057,1.04003221943,0.586719393899,-0.00123741167849,1.03970035808
+204,3.400000000,pose1_to_pose2_press,0.616381423078,-0.009909190243,1.04003208629,0.586951873901,-0.00123745075346,1.03970022141
+205,3.416666667,pose1_to_pose2_press,0.616604755125,-0.00990914988205,1.04003216881,0.587175205128,-0.0012374129773,1.03970030364
+206,3.433333333,pose1_to_pose2_press,0.616814885105,-0.00990907524188,1.04003232704,0.587385335015,-0.00123733864315,1.03970045591
+207,3.450000000,pose1_to_pose2_press,0.617010072303,-0.00990914784698,1.04003232432,0.587580524043,-0.00123740508684,1.0397004468
+208,3.466666667,pose1_to_pose2_press,0.617185256105,-0.00990928891857,1.04003234704,0.587755708214,-0.00123754451266,1.03970047611
+209,3.483333333,pose1_to_pose2_press,0.617340875449,-0.00990930806867,1.04003224676,0.587911326862,-0.00123756597153,1.03970037433
+210,3.500000000,pose1_to_pose2_press,0.617476340492,-0.00990923311748,1.04003212635,0.58804679025,-0.00123749632262,1.03970026005
+211,3.516666667,pose1_to_pose2_press,0.617595785268,-0.00990924079966,1.04003243537,0.588166235897,-0.00123750099761,1.03970056709
+212,3.533333333,pose1_to_pose2_press,0.617700972553,-0.009909192232,1.04003239371,0.588271422527,-0.00123745453057,1.03970052571
+213,3.550000000,pose1_to_pose2_press,0.617794962833,-0.00990916381133,1.04003220514,0.588365412372,-0.00123742740187,1.03970034121
+214,3.566666667,pose1_to_pose2_press,0.617879187233,-0.00990924912883,1.04003228546,0.588449637825,-0.00123750935416,1.03970041804
+215,3.583333333,pose1_to_pose2_press,0.617953341232,-0.00990929271749,1.0400324126,0.588523792288,-0.00123755142322,1.03970054228
+216,3.600000000,pose1_to_pose2_press,0.618018473499,-0.00990918866654,1.04003219761,0.588588922883,-0.00123745248463,1.0397003335
+217,3.616666667,pose1_to_pose2_press,0.618074901664,-0.00990928770192,1.04003213559,0.588645351697,-0.00123754945993,1.03970026399
+218,3.633333333,pose1_to_pose2_press,0.618121729962,-0.0099092333318,1.04003207802,0.588692180137,-0.00123749437429,1.03970022209
+219,3.650000000,pose1_to_pose2_press,0.618160092532,-0.00990925086197,1.04003232178,0.588730545309,-0.0012375031452,1.03970046195
+220,3.666666667,pose1_to_pose2_press,0.618190236674,-0.00990918756919,1.04003227851,0.588760686881,-0.00123744902166,1.03970040783
+221,3.683333333,pose1_to_pose2_press,0.618214024547,-0.00990925771134,1.04003243105,0.588784475752,-0.00123751560831,1.03970056063
+222,3.700000000,pose1_to_pose2_press,0.618231828784,-0.00990918251866,1.0400324342,0.588802278481,-0.00123744549167,1.03970056302
+223,3.716666667,pose1_to_pose2_press,0.618245113459,-0.00990909563759,1.04003232967,0.588815561341,-0.00123736470688,1.03970045975
+224,3.733333333,pose1_to_pose2_press,0.61825432115,-0.00990909484337,1.04003222951,0.588824768885,-0.00123736422079,1.03970036419
+225,3.750000000,pose1_to_pose2_press,0.618260837998,-0.0099091410791,1.04003222353,0.588831287288,-0.00123740509012,1.03970036026
+226,3.766666667,pose1_to_pose2_press,0.618265301538,-0.00990913968206,1.04003216863,0.588835751159,-0.00123740256214,1.03970030638
+227,3.783333333,pose1_to_pose2_press,0.618268192334,-0.00990912164565,1.04003210675,0.588838641789,-0.00123738511172,1.03970024498
+228,3.800000000,pose1_to_pose2_press,0.618270194301,-0.00990913922694,1.04003216276,0.588840643943,-0.00123740216316,1.0397002987
+229,3.816666667,pose1_to_pose2_press,0.618271514233,-0.00990915642465,1.04003221811,0.588841964055,-0.00123741883711,1.03970035206
+230,3.833333333,pose1_to_pose2_press,0.618272130975,-0.00990916895893,1.04003224688,0.588842581001,-0.00123743072727,1.03970037973
+231,3.850000000,pose1_to_pose2_press,0.618272189799,-0.00990917349836,1.04003225179,0.588842639934,-0.00123743490839,1.03970038441
+232,3.866666667,pose1_to_pose2_press,0.618272418902,-0.00990919117803,1.04003227088,0.588842869458,-0.00123745119256,1.03970040262
+233,3.883333333,pose1_to_pose2_press,0.618272763534,-0.00990921777307,1.04003229961,0.588843214726,-0.00123747568839,1.03970043003
+234,3.900000000,pose1_to_pose2_press,0.618273031284,-0.00990923843515,1.04003232193,0.588843482969,-0.00123749471956,1.03970045132
+235,3.916666667,pose1_to_pose2_press,0.618273508431,-0.00990927525622,1.0400323617,0.588843960995,-0.00123752863425,1.03970048925
+236,3.933333333,pose1_to_pose2_press,0.618274023744,-0.00990923618263,1.04003232664,0.588844474935,-0.00123749409341,1.0397004568
+237,3.950000000,pose1_to_pose2_press,0.618274172844,-0.00990919834136,1.04003229023,0.588844622856,-0.00123746014573,1.03970042269
+238,3.966666667,pose1_to_pose2_press,0.61827418038,-0.00990919642882,1.04003228839,0.588844630332,-0.00123745842997,1.03970042097
+239,3.983333333,pose1_to_pose2_press,0.618274213771,-0.00990918795433,1.04003228024,0.588844663459,-0.00123745082745,1.03970041333
+240,4.000000000,pose1_to_pose2_press,0.618274319705,-0.00990916106859,1.04003225437,0.588844768555,-0.00123742670805,1.0397003891
+241,4.016666667,pose1_to_pose2_press,0.618274500377,-0.00990913457076,1.04003222018,0.588844948259,-0.00123740341201,1.03970035654
+242,4.033333333,pose1_to_pose2_press,0.618274569227,-0.00990917480543,1.04003223296,0.588845017939,-0.00123744092404,1.03970036692
+243,4.050000000,pose1_to_pose2_press,0.618274575198,-0.00990917829468,1.04003223407,0.588845023982,-0.00123744417717,1.03970036782
+244,4.066666667,pose1_to_pose2_press,0.618274583552,-0.00990918317655,1.04003223562,0.588845032437,-0.00123744872869,1.03970036907
+245,4.083333333,pose1_to_pose2_press,0.618274595118,-0.00990918993554,1.04003223777,0.588845044142,-0.00123745503031,1.03970037082
+246,4.100000000,pose1_to_pose2_press,0.61827461057,-0.00990919896543,1.04003224064,0.588845059781,-0.00123746344916,1.03970037315
+247,4.116666667,pose1_to_pose2_press,0.618274641812,-0.00990921722297,1.04003224644,0.5888450914,-0.00123748047123,1.03970037786
+248,4.133333333,pose1_to_pose2_press,0.618274710795,-0.00990925519302,1.04003225949,0.588845161247,-0.00123751560111,1.03970038853
+249,4.150000000,pose1_to_pose2_press,0.618274689804,-0.00990921954136,1.04003225802,0.588845140333,-0.00123747965831,1.03970038807
+250,4.166666667,pose1_to_pose2_press,0.618274682943,-0.00990920788853,1.04003225754,0.588845133495,-0.00123746790728,1.03970038791
+251,4.183333333,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133497,-0.00123746790751,1.03970038791
+252,4.200000000,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133497,-0.00123746790752,1.03970038791
+253,4.216666667,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790748,1.03970038791
+254,4.233333333,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790739,1.03970038791
+255,4.250000000,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.0012374679074,1.03970038791
+256,4.266666667,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790688,1.03970038791
+257,4.283333333,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790715,1.03970038791
+258,4.300000000,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790743,1.03970038791
+259,4.316666667,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.0012374679072,1.03970038791
+260,4.333333333,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790651,1.03970038791
+261,4.350000000,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.0012374679073,1.03970038791
+262,4.366666667,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790647,1.03970038791
+263,4.383333333,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790662,1.03970038791
+264,4.400000000,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790712,1.03970038791
+265,4.416666667,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790662,1.03970038791
+266,4.433333333,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790706,1.03970038791
+267,4.450000000,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790671,1.03970038791
+268,4.466666667,pose2_hold,0.618274682943,-0.00990920788853,1.04003225754,0.588845133498,-0.00123746790716,1.03970038791
+269,4.483333333,pose2_to_pose3_retreat,0.618274682943,-0.00990920788853,1.04003225754,0.588845133499,-0.00123746790672,1.03970038791
+270,4.500000000,pose2_to_pose3_retreat,0.618274683109,-0.0099091951411,1.04003225826,0.588845133553,-0.00123745554681,1.03970038839
+271,4.516666667,pose2_to_pose3_retreat,0.618274683394,-0.00990917326589,1.04003225949,0.588845133647,-0.0012374343366,1.03970038921
+272,4.533333333,pose2_to_pose3_retreat,0.618274683748,-0.00990914611853,1.04003226102,0.588845133763,-0.00123740801451,1.03970039023
+273,4.550000000,pose2_to_pose3_retreat,0.618274680745,-0.00990908552706,1.04003226664,0.588845130234,-0.00123734925328,1.03970039472
+274,4.566666667,pose2_to_pose3_retreat,0.618274533505,-0.00990916666269,1.040032347,0.58884498383,-0.00123742747049,1.03970047715
+275,4.583333333,pose2_to_pose3_retreat,0.618274046031,-0.00990927125107,1.0400324714,0.588844497093,-0.00123752937634,1.03970060632
+276,4.600000000,pose2_to_pose3_retreat,0.618272211752,-0.00990916879469,1.0400324712,0.588842660799,-0.00123743378133,1.03970060607
+277,4.616666667,pose2_to_pose3_retreat,0.618267524481,-0.00990911850043,1.04003233949,0.588837973225,-0.00123738451358,1.03970047532
+278,4.633333333,pose2_to_pose3_retreat,0.618256560238,-0.0099090728076,1.04003215492,0.588827007767,-0.00123734333006,1.03970028106
+279,4.650000000,pose2_to_pose3_retreat,0.618237318406,-0.00990924788596,1.04003216454,0.588807769633,-0.00123750532391,1.03970029918
+280,4.666666667,pose2_to_pose3_retreat,0.618207064484,-0.0099092240194,1.04003225635,0.588777513722,-0.00123748827869,1.03970038638
+281,4.683333333,pose2_to_pose3_retreat,0.618166176583,-0.00990915308798,1.04003234541,0.588736626078,-0.00123741622492,1.03970048275
+282,4.700000000,pose2_to_pose3_retreat,0.61811477415,-0.00990932737034,1.04003213991,0.588685224511,-0.00123758785761,1.03970027467
+283,4.716666667,pose2_to_pose3_retreat,0.618054938783,-0.00990935632694,1.04003238756,0.588625391321,-0.00123760985678,1.03970051366
+284,4.733333333,pose2_to_pose3_retreat,0.61798660454,-0.00990923184385,1.04003230434,0.588557055609,-0.00123749014947,1.03970044754
+285,4.750000000,pose2_to_pose3_retreat,0.617909190031,-0.00990920076535,1.04003216663,0.588479639821,-0.00123746293654,1.03970031735
+286,4.766666667,pose2_to_pose3_retreat,0.617821637907,-0.0099093193777,1.04003217507,0.588392090281,-0.00123757292628,1.0397003233
+287,4.783333333,pose2_to_pose3_retreat,0.617721248675,-0.00990923395733,1.0400322192,0.588291701227,-0.00123748728708,1.03970035817
+288,4.800000000,pose2_to_pose3_retreat,0.617607866159,-0.00990924643987,1.04003235132,0.588178318493,-0.00123750094211,1.03970048027
+289,4.816666667,pose2_to_pose3_retreat,0.617479677197,-0.00990916895718,1.04003228809,0.588050128003,-0.00123742866777,1.03970042084
+290,4.833333333,pose2_to_pose3_retreat,0.617337040404,-0.00990914822654,1.04003210143,0.587907490242,-0.00123741117084,1.03970023971
+291,4.850000000,pose2_to_pose3_retreat,0.617179127055,-0.00990922901742,1.04003206971,0.587749577482,-0.00123749006793,1.03970020816
+292,4.866666667,pose2_to_pose3_retreat,0.617003430724,-0.00990928197012,1.04003217481,0.587573881865,-0.00123754078195,1.03970031149
+293,4.883333333,pose2_to_pose3_retreat,0.616809627385,-0.00990919510949,1.04003200362,0.587380077149,-0.00123745869585,1.03970014115
+294,4.900000000,pose2_to_pose3_retreat,0.616596139097,-0.00990932253819,1.04003224128,0.587166590512,-0.00123758091075,1.0397003723
+295,4.916666667,pose2_to_pose3_retreat,0.616363722105,-0.00990922576986,1.04003246715,0.586934172629,-0.00123748829397,1.03970059684
+296,4.933333333,pose2_to_pose3_retreat,0.616111222001,-0.00990924651435,1.04003250038,0.586681672692,-0.00123750808757,1.03970062845
+297,4.950000000,pose2_to_pose3_retreat,0.615840212141,-0.00990909379008,1.040032391,0.586410662247,-0.00123735690335,1.03970052879
+298,4.966666667,pose2_to_pose3_retreat,0.615550710081,-0.00990911840811,1.04003234792,0.586121161403,-0.00123737759106,1.03970048573
+299,4.983333333,pose2_to_pose3_retreat,0.615244409587,-0.00990927890555,1.04003233484,0.585814862308,-0.00123753382875,1.03970046465
+300,5.000000000,pose2_to_pose3_retreat,0.614921652205,-0.00990929928286,1.04003229504,0.585492103771,-0.0012375584419,1.03970042107
+301,5.016666667,pose2_to_pose3_retreat,0.614579848992,-0.00990916614769,1.04003240732,0.585150298407,-0.00123743300406,1.03970053051
+302,5.033333333,pose2_to_pose3_retreat,0.614218689108,-0.00990925706602,1.04003233722,0.584789141038,-0.00123751505694,1.03970047612
+303,5.050000000,pose2_to_pose3_retreat,0.613835985538,-0.00990917431177,1.04003215285,0.584406437217,-0.00123743336832,1.03970029275
+304,5.066666667,pose2_to_pose3_retreat,0.613424387574,-0.00990918650035,1.04003217428,0.583994840888,-0.00123744024465,1.03970031391
+305,5.083333333,pose2_to_pose3_retreat,0.612984382904,-0.00990925522865,1.04003218694,0.58355483622,-0.00123750944015,1.03970032031
+306,5.100000000,pose2_to_pose3_retreat,0.612523166647,-0.00990922368126,1.04003222942,0.583093618371,-0.0012374836035,1.03970035966
+307,5.116666667,pose2_to_pose3_retreat,0.612045228463,-0.00990918469748,1.04003236773,0.582615679916,-0.00123744554451,1.0397005004
+308,5.133333333,pose2_to_pose3_retreat,0.611553533403,-0.00990938213724,1.04003236039,0.582123985959,-0.00123763955645,1.03970048624
+309,5.150000000,pose2_to_pose3_retreat,0.611050949657,-0.00990918366322,1.04003213577,0.581621400667,-0.00123744607436,1.0397002678
+310,5.166666667,pose2_to_pose3_retreat,0.610535743783,-0.00990917824558,1.04003231021,0.581106194715,-0.00123744083644,1.03970044445
+311,5.183333333,pose2_to_pose3_retreat,0.609986889451,-0.00990920630966,1.04003231449,0.580557340933,-0.00123746737963,1.0397004402
+312,5.200000000,pose2_to_pose3_retreat,0.609403056127,-0.00990925956726,1.04003240658,0.579973509407,-0.00123751451757,1.03970053315
+313,5.216666667,pose2_to_pose3_retreat,0.608783911567,-0.00990930367546,1.04003237247,0.579354365723,-0.00123755543064,1.0397005045
+314,5.233333333,pose2_to_pose3_retreat,0.608140380848,-0.00990936571248,1.04003214552,0.578710834624,-0.00123761863568,1.0397002801
+315,5.250000000,pose2_to_pose3_retreat,0.607479580213,-0.00990937525064,1.04003211736,0.57805003376,-0.00123762891638,1.03970025261
+316,5.266666667,pose2_to_pose3_retreat,0.606810431659,-0.00990924687745,1.04003237599,0.577380884595,-0.00123750275092,1.03970050704
+317,5.283333333,pose2_to_pose3_retreat,0.606131576054,-0.0099092459268,1.04003240227,0.576702028101,-0.00123750510252,1.03970052559
+318,5.300000000,pose2_to_pose3_retreat,0.605444487464,-0.00990918344053,1.04003237095,0.57601493973,-0.00123744163395,1.03970050082
+319,5.316666667,pose2_to_pose3_retreat,0.6047460239,-0.00990917676045,1.04003211512,0.575316475358,-0.00123743731604,1.03970025484
+320,5.333333333,pose2_to_pose3_retreat,0.604033708264,-0.00990917003376,1.04003222686,0.574604159574,-0.0012374315441,1.0397003561
+321,5.350000000,pose2_to_pose3_retreat,0.603312536787,-0.00990914855479,1.04003205937,0.57388298638,-0.00123741555268,1.0397001963
+322,5.366666667,pose2_to_pose3_retreat,0.60258219209,-0.0099092388699,1.04003221309,0.573152642236,-0.00123750419239,1.03970034395
+323,5.383333333,pose2_to_pose3_retreat,0.601842510179,-0.00990929412301,1.04003237498,0.572412962483,-0.00123755221887,1.03970050321
+324,5.400000000,pose2_to_pose3_retreat,0.601092363058,-0.00990927567175,1.04003239333,0.571662815938,-0.00123753162814,1.03970052647
+325,5.416666667,pose2_to_pose3_retreat,0.600327797538,-0.00990928899897,1.04003245233,0.570898248983,-0.00123754992301,1.03970058282
+326,5.433333333,pose2_to_pose3_retreat,0.599554700722,-0.00990929716242,1.04003237311,0.570125152565,-0.00123755665005,1.03970050603
+327,5.450000000,pose2_to_pose3_retreat,0.598776637585,-0.00990928093323,1.04003247396,0.569347090436,-0.00123753700384,1.03970060671
+328,5.466666667,pose2_to_pose3_retreat,0.598004018012,-0.00990926852268,1.04003242064,0.568574469376,-0.00123753008101,1.03970054168
+329,5.483333333,pose2_to_pose3_retreat,0.597241503113,-0.00990918428793,1.04003241541,0.567811953897,-0.00123744787173,1.03970053487
+330,5.500000000,pose2_to_pose3_retreat,0.596487292861,-0.00990936971647,1.04003238545,0.567057746107,-0.00123762463551,1.03970051297
+331,5.516666667,pose2_to_pose3_retreat,0.595737193664,-0.00990939252743,1.04003244261,0.566307646678,-0.00123764817852,1.03970057146
+332,5.533333333,pose2_to_pose3_retreat,0.594979759199,-0.00990924639888,1.04003238764,0.565550210272,-0.00123750862295,1.03970051682
+333,5.550000000,pose2_to_pose3_retreat,0.59421447107,-0.00990917455957,1.04003224706,0.564784922186,-0.00123743656903,1.03970037803
+334,5.566666667,pose2_to_pose3_retreat,0.593445289298,-0.00990925089681,1.04003230469,0.564015742411,-0.00123750613896,1.03970043533
+335,5.583333333,pose2_to_pose3_retreat,0.592677978071,-0.00990915541253,1.04003240619,0.563248429593,-0.00123741569915,1.03970054612
+336,5.600000000,pose2_to_pose3_retreat,0.591917143547,-0.00990915745327,1.04003206618,0.562487594682,-0.00123741878137,1.03970021324
+337,5.616666667,pose2_to_pose3_retreat,0.591177133403,-0.0099091713949,1.04003232963,0.561747585196,-0.00123743086406,1.03970046687
+338,5.633333333,pose2_to_pose3_retreat,0.590451762272,-0.00990920129687,1.04003227067,0.561022214305,-0.00123746007097,1.03970040465
+339,5.650000000,pose2_to_pose3_retreat,0.589738727099,-0.00990924252756,1.04003215403,0.560309178927,-0.00123750192227,1.03970028996
+340,5.666666667,pose2_to_pose3_retreat,0.589037879178,-0.00990918815596,1.04003225041,0.559608330059,-0.00123745079325,1.03970038555
+341,5.683333333,pose2_to_pose3_retreat,0.588348811296,-0.00990915687607,1.04003237893,0.558919261388,-0.00123742241839,1.03970050813
+342,5.700000000,pose2_to_pose3_retreat,0.587670843174,-0.00990917673869,1.0400323405,0.558241293326,-0.00123744210846,1.03970046879
+343,5.716666667,pose2_to_pose3_retreat,0.587003387663,-0.00990914326506,1.04003219271,0.557573838204,-0.00123740694116,1.03970033086
+344,5.733333333,pose2_to_pose3_retreat,0.586350465621,-0.00990912885392,1.04003211518,0.556920915902,-0.00123739345828,1.03970025206
+345,5.750000000,pose2_to_pose3_retreat,0.585712871857,-0.00990921814271,1.04003224333,0.556283323229,-0.00123747918855,1.03970037639
+346,5.766666667,pose2_to_pose3_retreat,0.585091073349,-0.00990925661652,1.0400322143,0.555661524806,-0.00123751714036,1.03970035342
+347,5.783333333,pose2_to_pose3_retreat,0.584488112578,-0.00990930983819,1.04003236362,0.555058566216,-0.00123756344543,1.03970049009
+348,5.800000000,pose2_to_pose3_retreat,0.583902846142,-0.00990931521888,1.04003236247,0.554473299169,-0.00123757069676,1.03970049419
+349,5.816666667,pose2_to_pose3_retreat,0.583341141437,-0.00990914863003,1.04003234706,0.553911591973,-0.00123741242651,1.03970048232
+350,5.833333333,pose2_to_pose3_retreat,0.58280369798,-0.00990913143524,1.0400322469,0.553374148252,-0.00123739613821,1.03970038183
+351,5.850000000,pose2_to_pose3_retreat,0.582292689413,-0.0099092617429,1.04003220466,0.552863141424,-0.00123752070244,1.03970033557
+352,5.866666667,pose2_to_pose3_retreat,0.581802425947,-0.00990921511529,1.04003245521,0.552372878264,-0.00123747336707,1.03970057734
+353,5.883333333,pose2_to_pose3_retreat,0.581330580611,-0.00990917120778,1.04003260545,0.551901032858,-0.00123742933709,1.039700737
+354,5.900000000,pose2_to_pose3_retreat,0.580868562678,-0.00990947073456,1.04003239937,0.551439016145,-0.00123772493911,1.03970052635
+355,5.916666667,pose2_to_pose3_retreat,0.580417308533,-0.00990916620789,1.04003203744,0.550987759897,-0.00123742713987,1.0397001751
+356,5.933333333,pose2_to_pose3_retreat,0.579986449891,-0.00990929902109,1.04003231876,0.550556902422,-0.0012375564845,1.03970044369
+357,5.950000000,pose2_to_pose3_retreat,0.579581470338,-0.00990920306733,1.04003247101,0.550151922311,-0.0012374623144,1.039700598
+358,5.966666667,pose2_to_pose3_retreat,0.579210216403,-0.00990911179766,1.04003243926,0.549780667243,-0.00123737488009,1.03970056656
+359,5.983333333,pose2_to_pose3_retreat,0.578869038168,-0.00990924886241,1.04003244991,0.54943949092,-0.00123750550979,1.03970057599
+360,6.000000000,pose2_to_pose3_retreat,0.578556697311,-0.00990942532587,1.04003246451,0.549127152474,-0.00123767364104,1.03970059428
+361,6.016666667,pose2_to_pose3_retreat,0.578265267938,-0.00990936596905,1.04003235291,0.548835721312,-0.00123762010384,1.03970048925
+362,6.033333333,pose2_to_pose3_retreat,0.577990704909,-0.00990915519543,1.04003235155,0.548561154794,-0.00123742124982,1.03970048582
+363,6.050000000,pose2_to_pose3_retreat,0.577727915361,-0.00990934111351,1.04003225009,0.54829836866,-0.00123759560495,1.03970038382
+364,6.066666667,pose2_to_pose3_retreat,0.577478504757,-0.00990919278352,1.04003233592,0.548048955469,-0.00123745616701,1.0397004668
+365,6.083333333,pose2_to_pose3_retreat,0.577245820081,-0.00990916054244,1.04003256807,0.547816271229,-0.00123742271937,1.03970069168
+366,6.100000000,pose2_to_pose3_retreat,0.577029692179,-0.0099091732526,1.0400324683,0.54760014315,-0.00123743574848,1.03970059933
+367,6.116666667,pose2_to_pose3_retreat,0.57683060295,-0.00990919240116,1.04003240589,0.547401053785,-0.00123745515431,1.03970054243
+368,6.133333333,pose2_to_pose3_retreat,0.576655042458,-0.00990920573491,1.04003228889,0.547225493404,-0.00123746809181,1.03970042599
+369,6.150000000,pose2_to_pose3_retreat,0.576500043845,-0.00990920546551,1.04003211917,0.547070494511,-0.001237468902,1.03970025276
+370,6.166666667,pose2_to_pose3_retreat,0.576364585551,-0.00990915486243,1.04003213442,0.546935035769,-0.00123741994751,1.03970026475
+371,6.183333333,pose2_to_pose3_retreat,0.576247425266,-0.00990905816477,1.04003209583,0.546817874795,-0.00123732512483,1.03970023831
+372,6.200000000,pose2_to_pose3_retreat,0.576149299555,-0.00990927863284,1.0400322365,0.546719752047,-0.00123753592432,1.03970036897
+373,6.216666667,pose2_to_pose3_retreat,0.576063033878,-0.0099093229482,1.04003222939,0.546633486088,-0.00123758115569,1.03970036366
+374,6.233333333,pose2_to_pose3_retreat,0.575987458188,-0.00990930525019,1.04003239766,0.546557910258,-0.00123756390347,1.03970053268
+375,6.250000000,pose2_to_pose3_retreat,0.575922021723,-0.00990924176205,1.04003230496,0.546492473186,-0.00123750261668,1.03970043633
+376,6.266666667,pose2_to_pose3_retreat,0.575865217904,-0.00990920055061,1.04003223365,0.546435669306,-0.00123746163503,1.0397003643
+377,6.283333333,pose2_to_pose3_retreat,0.575817042794,-0.0099091729213,1.04003240017,0.546387494189,-0.0012374339601,1.03970053257
+378,6.300000000,pose2_to_pose3_retreat,0.575777555067,-0.00990911550371,1.04003248906,0.546348005168,-0.00123738115766,1.03970061566
+379,6.316666667,pose2_to_pose3_retreat,0.575746585389,-0.00990924487065,1.04003239875,0.546317037467,-0.00123750385204,1.03970052444
+380,6.333333333,pose2_to_pose3_retreat,0.575722296283,-0.00990908335304,1.04003246735,0.546292746492,-0.00123734833372,1.03970060211
+381,6.350000000,pose2_to_pose3_retreat,0.575704040088,-0.00990917948156,1.0400322967,0.546274490809,-0.00123744277,1.03970043031
+382,6.366666667,pose2_to_pose3_retreat,0.575691036804,-0.00990920113945,1.04003231098,0.546261488015,-0.00123746279708,1.03970044397
+383,6.383333333,pose2_to_pose3_retreat,0.575681828085,-0.00990921094597,1.04003239995,0.546252279403,-0.00123747223417,1.03970053299
+384,6.400000000,pose2_to_pose3_retreat,0.575675783926,-0.00990924777806,1.04003247337,0.546246235084,-0.00123750958917,1.03970060641
+385,6.416666667,pose2_to_pose3_retreat,0.575672353294,-0.00990924806766,1.04003241657,0.546242804598,-0.00123750940551,1.03970054917
+386,6.433333333,pose2_to_pose3_retreat,0.575670888479,-0.00990924778053,1.04003239035,0.54624133985,-0.00123750890095,1.03970052275
+387,6.450000000,pose2_to_pose3_retreat,0.575669707148,-0.0099092475423,1.04003236703,0.546240158573,-0.00123750847768,1.03970049952
+388,6.466666667,pose2_to_pose3_retreat,0.575668997604,-0.00990924731363,1.04003232501,0.546239449062,-0.00123750801344,1.03970046076
+389,6.483333333,pose2_to_pose3_retreat,0.575668824752,-0.00990924725792,1.04003231477,0.546239276217,-0.00123750790035,1.03970045131
+390,6.500000000,pose2_to_pose3_retreat,0.575668683822,-0.0099092472125,1.04003230642,0.546239135294,-0.00123750780814,1.03970044361
+391,6.516666667,pose2_to_pose3_retreat,0.57566853776,-0.00990924716543,1.04003229777,0.546238989239,-0.00123750771258,1.03970043563
+392,6.533333333,pose2_to_pose3_retreat,0.575668527836,-0.00990924716223,1.04003229719,0.546238979315,-0.00123750770608,1.03970043509
+393,6.550000000,pose2_to_pose3_retreat,0.575668434864,-0.00990924713227,1.04003229168,0.546238886347,-0.00123750764525,1.03970043001
+394,6.566666667,pose2_to_pose3_retreat,0.575668163864,-0.00990924704493,1.04003227563,0.546238615359,-0.00123750746795,1.03970041521
+395,6.583333333,pose2_to_pose3_retreat,0.57566796946,-0.00990924698228,1.04003226412,0.546238420964,-0.00123750734075,1.03970040459
+396,6.600000000,pose2_to_pose3_retreat,0.575667891274,-0.00990924695708,1.04003225949,0.546238342782,-0.0012375072896,1.03970040032
+397,6.616666667,pose2_to_pose3_retreat,0.575667769753,-0.00990924691792,1.04003225229,0.546238221266,-0.00123750721009,1.03970039368
+398,6.633333333,pose2_to_pose3_retreat,0.575667589096,-0.0099092468597,1.04003224159,0.546238040617,-0.00123750709189,1.03970038381
+399,6.650000000,pose2_to_pose3_retreat,0.575667401501,-0.00990924679924,1.04003223048,0.546237853031,-0.00123750696915,1.03970037356
+400,6.666666667,pose2_to_pose3_retreat,0.575667346497,-0.00990924678152,1.04003222722,0.54623779803,-0.00123750693316,1.03970037056
+401,6.683333333,pose2_to_pose3_retreat,0.57566712909,-0.00990924671145,1.04003221435,0.546237580632,-0.00123750679092,1.03970035868
+402,6.700000000,pose2_to_pose3_retreat,0.575666721173,-0.00990924657999,1.04003219019,0.546237172734,-0.00123750652403,1.03970033639
+403,6.716666667,pose2_to_pose3_retreat,0.575666243307,-0.00990923526563,1.04003221603,0.546236694586,-0.00123749626689,1.03970035961
+404,6.733333333,pose2_to_pose3_retreat,0.575666167309,-0.0099092320555,1.04003222698,0.546236618505,-0.00123749337858,1.03970036954
+405,6.750000000,pose2_to_pose3_retreat,0.575665641449,-0.00990920984337,1.04003230278,0.546236092069,-0.0012374733933,1.03970043824
+406,6.766666667,pose2_to_pose3_retreat,0.5756653469,-0.00990919740172,1.04003234523,0.546235797197,-0.00123746219897,1.03970047672
+407,6.783333333,pose2_to_pose3_retreat,0.575665213197,-0.00990919175415,1.0400323645,0.546235663348,-0.00123745711759,1.03970049418
+408,6.800000000,pose2_to_pose3_retreat,0.575665117361,-0.00990918770606,1.04003237831,0.546235567407,-0.00123745347534,1.0397005067
+409,6.816666667,pose2_to_pose3_retreat,0.575664867863,-0.00990916350541,1.04003233676,0.546235318072,-0.00123742865945,1.03970046676
+410,6.833333333,pose2_to_pose3_retreat,0.575664448128,-0.00990912915601,1.04003222158,0.546234898818,-0.00123739243718,1.03970035783
+411,6.850000000,pose2_to_pose3_retreat,0.575664425578,-0.00990917092509,1.04003221389,0.546234876155,-0.00123743449787,1.03970035251
+412,6.866666667,pose2_to_pose3_retreat,0.575664425578,-0.00990917092509,1.04003221389,0.546234876155,-0.00123743449788,1.03970035251
+413,6.883333333,pose2_to_pose3_retreat,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449795,1.03970035251
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..03f7f23ecae976b4f19464da3a6412627576c692
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c62c4206168f46f3778e64732e9ce26720bdbd1edbccc191132a45f5e80cea31
+size 26354324
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5470e2a2b289f8dd6ef0f8544c26dfcdecd545c0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/franka_data.csv
@@ -0,0 +1,416 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,678,663,636,879,788,804,652,631,653,0.400991242752,-0.0154020461041,0.0498608707311,0.999999964358,-5.69065719112e-05,-0.000256737407277,-4.61693697588e-05,1793239576872299008
+1,0.016666667,BASELINE,766,745,715,678.575810448,663,636,879.575810448,788,804.575810448,652,631,653,0.400991557805,-0.0154032992789,0.0498612940163,0.999999964371,-5.96051133876e-05,-0.000256111323324,-4.59693521601e-05,1793239576888965632
+2,0.033333333,BASELINE,766,745.150610773,715,678.849389227,663.150610773,636,879.849389227,788,804.849389227,652,631.150610773,653,0.400991971766,-0.0154039343483,0.0498616095749,0.999999964447,-6.07819888018e-05,-0.000255563661485,-4.58198760823e-05,1793239576905632512
+3,0.050000000,BASELINE,766,745.722585209,715,678.277414791,663.722585209,636,879.277414791,788,804.277414791,652,631.722585209,653,0.400992662438,-0.0154028401447,0.0498616237468,0.999999964713,-5.77017006496e-05,-0.000255235401009,-4.581179994e-05,1793239576922299136
+4,0.066666667,BASELINE,766,745.695600805,715,678,663.695600805,636,879,788,804,652,632,653,0.4009923981,-0.0154026169262,0.049861232183,0.999999964607,-5.70945061619e-05,-0.000255798716873,-4.57538011735e-05,1793239576938965504
+5,0.083333333,BASELINE,766,745.104520016,715,678,663.104520016,636,879,788,804,652,632,653,0.400991234338,-0.015403213997,0.0498604584995,0.999999964152,-5.88164587413e-05,-0.000257201714765,-4.5648785537e-05,1793239576955631360
+6,0.100000000,BASELINE,766.477802399,745,715,678,663,636,879,788,804,652.477802399,632,653,0.400989565198,-0.0154031267931,0.0498596858386,0.999999963694,-5.97148191522e-05,-0.00025873302904,-4.58694083975e-05,1793239576972298240
+7,0.116666667,BASELINE,766.942178266,745,715,678.057821734,663,636,879.057821734,788,804,652.942178266,631.942178266,653,0.40098822057,-0.0154028878855,0.0498592008579,0.999999963378,-6.01446131217e-05,-0.000259809770993,-4.60943999794e-05,1793239576988965376
+8,0.133333333,BASELINE,766.365939407,745,715,678.634060593,663,636,879.634060593,788,804,652.365939407,631.365939407,653,0.400990758793,-0.015402606732,0.0498612931859,0.999999964362,-5.7959559832e-05,-0.000256563782069,-4.57313890433e-05,1793239577005631744
+9,0.150000000,BASELINE,766,745,715.209630042,679,663,635.790369958,879.790369958,788,804,652.209630042,631.209630042,653,0.400992341548,-0.0154025069679,0.0498624436667,0.999999964962,-5.70185790834e-05,-0.000254463305575,-4.55343319084e-05,1793239577022298624
+10,0.166666667,BASELINE,766,745,715.784034598,679,663,635.215965402,879.215965402,788,804,652.784034598,631.784034598,653,0.400992261704,-0.0154027228373,0.0498619552509,0.999999964915,-5.82423930484e-05,-0.000254356120738,-4.56260488682e-05,1793239577038965248
+11,0.183333333,BASELINE,766.368346362,745,715.631653638,679,663,635.368346362,879,788,804,653,631.631653638,653,0.40099111945,-0.0154023296034,0.0498611149619,0.999999964612,-5.75879465226e-05,-0.000255660165674,-4.57976232961e-05,1793239577055631872
+12,0.200000000,BASELINE,766.958627436,745,715.041372564,679,663,635.958627436,879,788,804,653,631.041372564,653,0.400989337078,-0.0154015693747,0.0498600626635,0.99999996415,-5.58018174265e-05,-0.000257814499634,-4.60173131639e-05,1793239577072298240
+13,0.216666667,BASELINE,766.46161155,745,715,678.46161155,663,635.46161155,879,788,804,652.46161155,631.53838845,653,0.400989805373,-0.0154033527892,0.0498605402613,0.999999964063,-5.91785268339e-05,-0.000257438959189,-4.58011514239e-05,1793239577088964864
+14,0.233333333,BASELINE,766,745,715,678,663,635.116404949,879,788,804,652,632,653,0.400990231978,-0.0154049778958,0.0498608733345,0.99999996398,-6.20125411841e-05,-0.000257131730318,-4.55781367209e-05,1793239577105631232
+15,0.250000000,BASELINE,766,745,715,678,663,635.690678622,879,788,804,652,632,653,0.400989827339,-0.0154052261963,0.0498601843634,0.999999963854,-6.11812818254e-05,-0.000257843232931,-4.54573837104e-05,1793239577122298112
+16,0.266666667,BASELINE,766,744.728192554,715,678,663,636,879.271807446,788.271807446,804,652.271807446,631.728192554,652.728192554,0.40099043899,-0.015404581789,0.0498603787475,0.999999964222,-5.9150410863e-05,-0.000256874502135,-4.55295628879e-05,1793239577138964736
+17,0.283333333,BASELINE,766,744.139060645,715,678,663,636,879.860939355,788.860939355,804,652.860939355,631.139060645,652.139060645,0.400992237119,-0.0154028951806,0.0498616044138,0.999999965154,-5.57190407619e-05,-0.000253944165119,-4.58269827846e-05,1793239577155631360
+18,0.300000000,BASELINE,766,744.442836909,715,678,663,636,879.557163091,788.557163091,804,652.557163091,631,652.442836909,0.400992605005,-0.0154033507502,0.0498623013837,0.999999965204,-5.65964954776e-05,-0.000253586428911,-4.56307095343e-05,1793239577172297728
+19,0.316666667,BASELINE,766,745,715,678.02236956,663,636,879.02236956,788,804,652,631,653,0.400992507033,-0.0154044510774,0.049862803099,0.999999964978,-5.88058507035e-05,-0.00025403327456,-4.5300333836e-05,1793239577188964608
+20,0.333333333,BASELINE,766,745,715,678.598691291,663,636,879.598691291,788,804,652,631,653,0.400991815978,-0.0154051274226,0.0498625148365,0.999999964665,-6.10296326664e-05,-0.000254720655414,-4.54265071924e-05,1793239577205631488
+21,0.350000000,BASELINE,766,745,715,679,663,636,879.825936931,788,804,652,631.174063069,653,0.400991301801,-0.0154051624208,0.0498621311792,0.999999964472,-6.13153418673e-05,-0.000255382020528,-4.55687365254e-05,1793239577222297856
+22,0.366666667,BASELINE,766,745,715,679,663,636,879.252743496,788,804,652,631.747256504,653,0.400991193209,-0.0154037267962,0.0498615287797,0.999999964556,-5.71570081586e-05,-0.000255983730893,-4.5747782542e-05,1793239577238964480
+23,0.383333333,BASELINE,766,745,715,679,663,636,879,788.331358886,804,652.331358886,632,653,0.400991102146,-0.0154035229975,0.0498615984503,0.999999964675,-5.65863142916e-05,-0.000255672687922,-4.55931852939e-05,1793239577255631104
+24,0.400000000,BASELINE,766,745,715,679,663,636,879,788.924065374,804,652.924065374,632,653,0.40099102491,-0.0154042907579,0.0498621981924,0.999999964827,-5.88452440257e-05,-0.000254641743103,-4.51754387396e-05,1793239577272297728
+25,0.416666667,BASELINE,766,745,715,679,663,636,879.505307454,787.989385092,803.494692546,652.494692546,632,652.494692546,0.400990607491,-0.0154034741811,0.049861539251,0.999999964803,-5.65890960838e-05,-0.000255205645545,-4.54013387309e-05,1793239577288964352
+26,0.433333333,BASELINE,766.084094659,745,715,678.915905341,663,636,879.915905341,787.084094659,803.084094659,652,632,652.084094659,0.400990397284,-0.0154025888167,0.0498609421398,0.999999964778,-5.44405716766e-05,-0.000255716844555,-4.56968658878e-05,1793239577305630976
+27,0.450000000,BASELINE,766.658391939,745,715,678.341608061,663,636,879.341608061,787.658391939,803.658391939,652,632,652.658391939,0.400991686337,-0.0154026595276,0.0498617835614,0.999999964938,-5.67867523161e-05,-0.000254554774048,-4.58469524967e-05,1793239577322297856
+28,0.466666667,BASELINE,766.765481151,744.765481151,715,678,663.234518849,636,879,788,803.765481151,652.234518849,631.765481151,653,0.400992582837,-0.0154027944557,0.0498622295486,0.999999965002,-5.85837560675e-05,-0.000253877396804,-4.59338857445e-05,1793239577338964480
+29,0.483333333,BASELINE,766.18666822,744.18666822,715,678,663.81333178,636,879,788,803.18666822,652.81333178,631.18666822,653,0.400992903035,-0.0154030236603,0.0498620950036,0.999999964935,-5.95745202058e-05,-0.000253911591533,-4.59281043523e-05,1793239577355631104
+30,0.500000000,BASELINE,766.399041006,744,715,678.399041006,663.600958994,635.600958994,879,788,803.399041006,652.600958994,631.399041006,652.600958994,0.400992289118,-0.0154031706036,0.0498617371761,0.999999964944,-5.81545431969e-05,-0.000254256477388,-4.5639445011e-05,1793239577372297984
+31,0.516666667,BASELINE,766.988032979,744,715,678.988032979,663.011967021,635.011967021,879,788,803.988032979,652.011967021,631.988032979,652.011967021,0.400991230545,-0.0154032783889,0.049861273062,0.999999964984,-5.55870083703e-05,-0.000254749258017,-4.52161304849e-05,1793239577388964608
+32,0.533333333,BASELINE,766.435795809,744.564204191,715,679,663,635.564204191,879,788,804,652.564204191,632,652,0.400991609027,-0.0154036341241,0.0498619842886,0.999999965116,-5.69028725129e-05,-0.000253908207925,-4.53956490715e-05,1793239577405630976
+33,0.550000000,BASELINE,766,745,715,678.860774451,663,636,879,788,804,652.860774451,631.860774451,652,0.400991817694,-0.0154036367257,0.0498624712097,0.999999965238,-5.74079096312e-05,-0.000253293524068,-4.55004049026e-05,1793239577422297856
+34,0.566666667,BASELINE,766,745,715,678.288502673,663,636,879,788,804,652.288502673,631.288502673,652,0.400991405469,-0.0154025249482,0.0498621846344,0.999999965329,-5.51404490727e-05,-0.000253468969829,-4.53337321658e-05,1793239577438964480
+35,0.583333333,BASELINE,766,745,715,678,663,636,879.292745881,788,804,652.292745881,631.292745881,652.292745881,0.400991090832,-0.0154027959647,0.0498620538163,0.999999965215,-5.5694155793e-05,-0.000253808261919,-4.52780390556e-05,1793239577455631104
+36,0.600000000,BASELINE,766,745,715,678,663,636,879.883121026,788,804,652.883121026,631.883121026,652.883121026,0.400990875411,-0.0154044728416,0.0498620813534,0.999999964887,-5.91160902601e-05,-0.000254314133527,-4.53351768359e-05,1793239577472297728
+37,0.616666667,BASELINE,766.46574831,745,715,678.46574831,663,636,880,788,804,652.53425169,632,652.53425169,0.400991068616,-0.0154039670225,0.0498619588121,0.99999996494,-5.77367545643e-05,-0.000254419120754,-4.53628593571e-05,1793239577488964352
+38,0.633333333,BASELINE,766.953870481,745,715,678.953870481,663,636,880,788,804,652.046129519,632,652.046129519,0.400991316431,-0.0154030626773,0.0498617543393,0.999999965053,-5.55186952758e-05,-0.000254465827794,-4.53641669343e-05,1793239577505630976
+39,0.650000000,BASELINE,766.377324409,745,715,678.377324409,663,636,880,788,804,652.622675591,632,652.622675591,0.400991032382,-0.0154037710537,0.0498610337526,0.999999964833,-5.72840761493e-05,-0.000254980234324,-4.51458071823e-05,1793239577522297856
+40,0.666666667,BASELINE,766,745,715,678,663,636,880,788,804,652.801651815,631.801651815,653,0.400991197595,-0.0154042447689,0.0498611714907,0.999999964893,-5.78386269199e-05,-0.000254644163837,-4.49910824089e-05,1793239577538964736
+41,0.683333333,BASELINE,766,745,715,678,663,636,880,788,804,652.227633618,631.227633618,653,0.400992213704,-0.0154042740372,0.0498629348901,0.999999965488,-5.60998742138e-05,-0.000252697296059,-4.49568818332e-05,1793239577555631360
+42,0.700000000,BASELINE,766,745,715,678,663,636,880,788,804.356380597,652,631,653,0.400991620719,-0.0154041869732,0.0498625934879,0.999999965273,-5.68129254185e-05,-0.000253345683392,-4.52022746536e-05,1793239577572297728
+43,0.716666667,BASELINE,766,745,715,678,663,636,880,788,804.946963875,652,631,653,0.400989970285,-0.0154040234592,0.0498608688729,0.999999964519,-5.91372289639e-05,-0.000255699594916,-4.5631407901e-05,1793239577588964352
+44,0.733333333,BASELINE,766,745,715,678.526731924,663,635.473268076,879.473268076,788,804.473268076,652,631.526731924,653,0.400990831037,-0.0154034333863,0.0498614203408,0.999999964861,-5.71674637119e-05,-0.000254842645655,-4.54530811002e-05,1793239577605631232
+45,0.750000000,BASELINE,766,745,715,679.104683684,663,635.104683684,879,788,804,652.104683684,632,652.895316316,0.400991895362,-0.0154028855903,0.0498620655057,0.999999965251,-5.52625185828e-05,-0.000253761600619,-4.52608922871e-05,1793239577622297856
+46,0.766666667,BASELINE,766,745,715,679.679272149,663,635.679272149,879,788,804,652.679272149,632,652.320727851,0.400992761328,-0.0154027164824,0.049862123226,0.999999965403,-5.55502964144e-05,-0.000253096659502,-4.52755115762e-05,1793239577638964736
+47,0.783333333,BASELINE,766,745,715,679.479629098,663,636,879.260185451,788,804,652.739814549,632,652.260185451,0.400992934202,-0.0154036732694,0.0498621720507,0.999999965347,-5.72295596696e-05,-0.000252972425469,-4.51252420033e-05,1793239577655631360
+48,0.800000000,BASELINE,766,745,715,678.301820717,663,636,879.849089641,788,804,652.150910359,632,652.849089641,0.400992231424,-0.0154060525139,0.0498622096366,0.999999965019,-6.06668280018e-05,-0.00025353132159,-4.4766651565e-05,1793239577672297984
+49,0.816666667,BASELINE,766,745,715,678,663,636,879.568661511,788,804,652,631.568661511,653,0.400991648096,-0.0154048300143,0.0498622300785,0.999999965104,-5.85947713247e-05,-0.000253636039978,-4.50308238699e-05,1793239577688964608
+50,0.833333333,BASELINE,766.011196499,744.988803501,715,678.011196499,663,636,879,788,804,652.011196499,631,653,0.400991150862,-0.0154024400266,0.0498622724677,0.999999965326,-5.4719937972e-05,-0.000253543976171,-4.5491619319e-05,1793239577705630976
+51,0.850000000,BASELINE,766.586134887,744.413865113,715,678.586134887,663,636,879,788,804,652.586134887,631,653,0.400992916182,-0.0154037502086,0.0498637173061,0.99999996583,-5.56512874185e-05,-0.000251423031186,-4.50486786546e-05,1793239577722297600
+52,0.866666667,BASELINE,766.835133581,744.164866419,715,679,663,636,879,788,804,653,631,652.835133581,0.400993716765,-0.015404501236,0.0498642723395,0.999999966011,-5.62645466619e-05,-0.000250599419242,-4.48666973578e-05,1793239577738964224
+53,0.883333333,BASELINE,766.246655899,744.753344101,715,679,663,636,879,788,804,653,631,652.246655899,0.400992038532,-0.0154038155598,0.0498625410886,0.999999965368,-5.60604981577e-05,-0.000253109202368,-4.53552306039e-05,1793239577755631104
+54,0.900000000,BASELINE,766,745,714.663443742,678.663443742,663,636,879,788,803.663443742,652.663443742,631.336556258,652,0.400990300581,-0.015404030667,0.0498610934966,0.999999964799,-5.6178261928e-05,-0.000255283479824,-4.55568202826e-05,1793239577772297728
+55,0.916666667,BASELINE,766,745,714.084031172,678.084031172,663,636,879,788,803.084031172,652.084031172,631.915968828,652,0.400988519539,-0.0154048957723,0.0498598505907,0.999999964285,-5.65282428789e-05,-0.000257215658955,-4.55513537493e-05,1793239577788964352
+56,0.933333333,BASELINE,766,745,714.493870826,678.493870826,663,636,879,788,803.493870826,652,632,652.493870826,0.400990394587,-0.0154047299969,0.0498613622165,0.999999964992,-5.61123085096e-05,-0.000254573574914,-4.53839396614e-05,1793239577805630976
+57,0.950000000,BASELINE,766,745,715,678.928868772,663,636,879,788,804,652,632,653,0.400992544372,-0.0154043288056,0.0498630000555,0.999999965754,-5.54899527363e-05,-0.000251731867165,-4.52021489513e-05,1793239577822297856
+58,0.966666667,BASELINE,766,745,715,678.354335866,663,636,879,788,804,652,632,653,0.400992249439,-0.0154034991091,0.0498622243536,0.99999996551,-5.43262019599e-05,-0.000252968720665,-4.51130286457e-05,1793239577838964480
+59,0.983333333,BASELINE,766,745,715,678.218923405,663,636,879,788,804,652,632,653,0.400992161471,-0.0154035545162,0.0498620043627,0.999999965341,-5.46422039204e-05,-0.000253596121101,-4.49538916414e-05,1793239577855631104
+60,1.000000000,BASELINE,766,745,715,678.790133264,663,636,879,788,804,652,632,653,0.400992406547,-0.0154050342112,0.0498626786088,0.999999965292,-5.73393893924e-05,-0.00025324280403,-4.46820853799e-05,1793239577872297728
+61,1.016666667,BASELINE,766,745,715,678.621285684,663,636,879,788,804,652,631.621285684,653,0.400992278095,-0.0154047446876,0.0498628618615,0.999999965449,-5.73338979819e-05,-0.000252569763334,-4.49898531051e-05,1793239577888964352
+62,1.033333333,BASELINE,766,745,715,678.022615544,663,636,879,788,804,652,631.022615544,653,0.400991932698,-0.0154034276085,0.0498627599472,0.999999965725,-5.57587020244e-05,-0.000251711028404,-4.56342351993e-05,1793239577905630976
+63,1.050000000,BASELINE,766,745,715,678.553368315,663,636,879,788,804,652,631.553368315,653,0.400991922792,-0.0154047079366,0.0498622929645,0.999999965377,-5.68297625297e-05,-0.000252941673681,-4.5126557926e-05,1793239577922297600
+64,1.066666667,BASELINE,766,745,715,679,663,636,879.127651811,788,804,652,632,652.872348189,0.40099208832,-0.0154056378477,0.0498620841973,0.999999965183,-5.75766682857e-05,-0.000253613122327,-4.47122303975e-05,1793239577938964480
+65,1.083333333,BASELINE,766,745,715,679,663,636,879.699120089,788,804,652,632,652.300879911,0.400992817995,-0.015404994903,0.0498628230171,0.999999965616,-5.68353579304e-05,-0.000252055178786,-4.4779710295e-05,1793239577955631104
+66,1.100000000,BASELINE,766,745,715,678.719269374,663.280730626,636,879.719269374,788,804,652,632,652,0.400992640109,-0.0154052609675,0.0498630628208,0.999999965643,-5.72946777026e-05,-0.000251841606697,-4.47996676809e-05,1793239577972297728
+67,1.116666667,BASELINE,766,745,715,678.126381222,663.873618778,636,879.126381222,788,804,652,632,652,0.400991453064,-0.0154065378021,0.0498627477449,0.999999965217,-5.90890343795e-05,-0.000253122904277,-4.47667825566e-05,1793239577988964352
+68,1.133333333,BASELINE,766,745,715,678,663.54412367,636,879.45587633,788,804,652,632,652.45587633,0.400991824061,-0.0154065192751,0.0498632191572,0.999999965328,-5.89587697056e-05,-0.000252718920443,-4.4740369659e-05,1793239578005631232
+69,1.150000000,BASELINE,766.034947916,745,715,678,663,636,880,788,804,652,632,653,0.400992467852,-0.0154061549428,0.0498637806571,0.999999965543,-5.83189537342e-05,-0.000252013865215,-4.47343676294e-05,1793239578022297856
+70,1.166666667,BASELINE,766.609295365,745,715,678,663,636,880,788,804,652,632,653,0.400990807349,-0.0154058696431,0.0498624440399,0.999999965129,-5.78619922638e-05,-0.000253708665887,-4.50163323195e-05,1793239578038964736
+71,1.183333333,BASELINE,766.623912906,745,715,678.188043547,663,636,879.811956453,788,804,652,631.811956453,653,0.400990329631,-0.0154058019151,0.0498619955659,0.999999965016,-5.81959506155e-05,-0.00025404263195,-4.52125137439e-05,1793239578055631360
+72,1.200000000,BASELINE,765.447690989,745,715,678.776154505,663,636,879.223845495,788,804,652,631.223845495,653,0.400992368316,-0.0154061970762,0.049863436639,0.999999965543,-6.02126108477e-05,-0.000251481388217,-4.52261891499e-05,1793239578072297984
+73,1.216666667,BASELINE,765.718081578,745,715,679,663,636,879,788,804,652.359040789,631.359040789,653,0.400992401698,-0.0154058642468,0.0498634927951,0.999999965547,-5.95301481429e-05,-0.000251639506167,-4.51596962212e-05,1793239578088964608
+74,1.233333333,BASELINE,766.877432825,745,715,679,663,636,879,788,804,652.938716412,631.938716412,653,0.400991202798,-0.0154050840587,0.0498626979031,0.999999965227,-5.71890421736e-05,-0.000253468704366,-4.50439388967e-05,1793239578105631232
+75,1.250000000,BASELINE,766.485005633,745.514994367,714.485005633,678.485005633,663,636,879,788,804.514994367,652.485005633,631.485005633,653,0.400990526654,-0.0154051537649,0.0498623780206,0.999999965135,-5.6432524144e-05,-0.000253977728295,-4.51676845257e-05,1793239578122297600
+76,1.266666667,BASELINE,766,745.909190686,714.090809314,678,663,636,879,788,804.909190686,652,631.090809314,653,0.400990196289,-0.0154049905052,0.0498622756035,0.999999965156,-5.5616549353e-05,-0.000254056689769,-4.52761682294e-05,1793239578138964224
+77,1.283333333,BASELINE,766,745.333703142,714.666296858,678,663,636,879,788,804.333703142,652,631.666296858,653,0.400991381608,-0.0154030475741,0.0498630341512,0.999999965629,-5.34834068306e-05,-0.000252673261811,-4.51520749007e-05,1793239578155630848
+78,1.300000000,BASELINE,766,745,715,678.248407091,663,636,879,788,804,652,632,652.751592909,0.400991864578,-0.0154021577135,0.0498632698702,0.999999965803,-5.22253146471e-05,-0.000252261148805,-4.5063950716e-05,1793239578172297728
+79,1.316666667,BASELINE,766,745,715,678.839657699,663,636,879,788,804,652,632,652.160342301,0.400991378189,-0.0154027212673,0.0498627839978,0.999999965573,-5.21749391106e-05,-0.000253189613728,-4.50254700035e-05,1793239578188964352
+80,1.333333333,BASELINE,766.422058188,744.577941812,715,678.577941812,663,636,879.422058188,788,804,652,632,652.422058188,0.400990510167,-0.0154034349883,0.0498621457606,0.999999965201,-5.39094829902e-05,-0.000254262583968,-4.5199469857e-05,1793239578205630976
+81,1.350000000,BASELINE,766.998845776,744.001154224,715,678,663,636,879.998845776,788,804,652,632,653,0.400989504363,-0.0154042019515,0.0498614536944,0.999999964772,-5.63011117349e-05,-0.000255384263908,-4.54513534265e-05,1793239578222297600
+82,1.366666667,BASELINE,766.425375258,744.574624742,715,678,663,636,879.425375258,788,804,652,632,653,0.400990593337,-0.0154036621748,0.0498621829152,0.999999965203,-5.51775373911e-05,-0.000253996341044,-4.51176566223e-05,1793239578238965504
+83,1.383333333,BASELINE,766,745,715,678,663,636,879,788,803.851711538,652,632,653,0.400991445838,-0.0154033214645,0.0498625934269,0.999999965549,-5.40481568472e-05,-0.000252906158549,-4.49260982949e-05,1793239578255633408
+84,1.400000000,BASELINE,766,745,715,678,663,636,879,788,803.277492751,652,632,653,0.400991619114,-0.0154035525344,0.0498620885073,0.99999996566,-5.29020988405e-05,-0.000252671178159,-4.51428055573e-05,1793239578272299776
+85,1.416666667,BASELINE,766,745,714.692739343,678,663.307260657,636,879.307260657,788,803.307260657,652,631.692739343,653,0.40099175761,-0.0154048810868,0.049862262368,0.999999965727,-5.36311767701e-05,-0.000252273103753,-4.50289650154e-05,1793239578288966400
+86,1.433333333,BASELINE,766,745,714.098134186,678,663.901865814,636,879.901865814,788,803.901865814,652,631.098134186,653,0.40099186358,-0.0154072359848,0.0498630710113,0.999999965749,-5.61138473104e-05,-0.000251722506845,-4.4606002251e-05,1793239578305633024
+87,1.450000000,BASELINE,766,745,714.48093568,678.48093568,663.51906432,636,880,788,804,652.48093568,631.48093568,653,0.400990568963,-0.0154079564489,0.0498622953028,0.999999965117,-5.85845703096e-05,-0.0002536760125,-4.45272148066e-05,1793239578322299136
+88,1.466666667,BASELINE,766,744.943175228,715,679,663,635.943175228,880,788,803.943175228,652.943175228,631.943175228,653,0.400989246816,-0.0154082983401,0.049861382407,0.999999964473,-6.08777309416e-05,-0.000255665142846,-4.45232499411e-05,1793239578338965248
+89,1.483333333,BASELINE,766,744.368289091,715,679,663,635.368289091,880,788,803.368289091,652.368289091,631.368289091,653,0.400990197615,-0.0154081342015,0.0498620739014,0.999999964988,-6.15736173159e-05,-0.000253466506743,-4.45812036487e-05,1793239578355631872
+90,1.500000000,BASELINE,766,744.211466532,715,678.788533468,663,635.211466532,879.788533468,788,803.211466532,652,631.211466532,653,0.400991297863,-0.0154069460246,0.049862716634,0.999999965519,-6.0001190898e-05,-0.000251725066475,-4.46889262514e-05,1793239578372298240
+91,1.516666667,BASELINE,766,744.799902654,715,678.200097346,663,635.799902654,879.200097346,788,803.799902654,652,631.799902654,653,0.400992664523,-0.0154039323516,0.0498632724415,0.999999966064,-5.43851697292e-05,-0.000250798643948,-4.48853690802e-05,1793239578388964608
+92,1.533333333,BASELINE,766,745,715,678.382938505,663,636,879,788,804,652,632,653,0.400992177974,-0.0154035458342,0.0498626638921,0.999999965791,-5.42573193153e-05,-0.000251863520678,-4.5145898665e-05,1793239578405631488
+93,1.550000000,BASELINE,766,745,715,678.963191839,663,636,879,788,804,652,632,653,0.40099073653,-0.0154045129981,0.0498614553903,0.999999965099,-5.69573309834e-05,-0.000253954444238,-4.54394499335e-05,1793239578422298112
+94,1.566666667,BASELINE,766,745,715,679,663,636,879,788,804,652,632,653,0.400992009824,-0.0154058185983,0.0498625300954,0.999999965651,-5.66641364592e-05,-0.000251931664216,-4.49281579617e-05,1793239578438964480
+95,1.583333333,BASELINE,766.116925199,745,715,679,663,636,879,788,804,652,632,652.883074801,0.400993109176,-0.0154066303026,0.0498635394792,0.999999966142,-5.60322221268e-05,-0.000250183845358,-4.45434861923e-05,1793239578455631360
+96,1.600000000,BASELINE,766.6998375,745,715,679,663,636,879,788,804,652,632,652.3001625,0.400992782512,-0.0154053823073,0.0498636722254,0.999999966077,-5.48583545348e-05,-0.000250642260238,-4.48806921184e-05,1793239578472298496
+97,1.616666667,BASELINE,766.717365883,745,715,679,663,636,879,788,804,652,632,652.282634117,0.400992788468,-0.0154044168295,0.049863868863,0.999999966084,-5.38885733486e-05,-0.000250805496051,-4.49984512992e-05,1793239578488965120
+98,1.633333333,BASELINE,766.13469211,745,715,679,663,636,879,788,804,652,632,652.86530789,0.400993147527,-0.0154037512675,0.0498641333268,0.999999966167,-5.31354469509e-05,-0.000250655374674,-4.48832494626e-05,1793239578505631744
+99,1.650000000,BASELINE,766,745,715,679,663,636,879.44434931,788,804,652,632,653,0.400991936466,-0.0154043060309,0.0498633438663,0.999999965819,-5.3915045627e-05,-0.000251897924066,-4.47571962317e-05,1793239578522298112
+100,1.666666667,BASELINE,766,745,715,679,663,636,879.977811001,788,804,652,632,653,0.400990361483,-0.0154051584358,0.0498622988412,0.999999965358,-5.51300210109e-05,-0.000253476730351,-4.46557743939e-05,1793239578538964736
+101,1.683333333,BASELINE,766,745,715,679,663,636,879.402702488,788,804,652,632,653,0.400991481674,-0.0154042848048,0.0498627816472,0.99999996542,-5.57105918606e-05,-0.000253000508977,-4.52494333618e-05,1793239578555631360
+102,1.700000000,BASELINE,766,745,715,679,663,636,879,788,804.176313087,652,632,653,0.400992297003,-0.015403814861,0.0498632276657,0.999999965601,-5.53349547303e-05,-0.00025233346834,-4.54407088316e-05,1793239578572297984
+103,1.716666667,BASELINE,766,745,715,679,663,636,879,788,804.764454616,652,632,653,0.400992400244,-0.0154042878412,0.0498635877566,0.999999966055,-5.27258268139e-05,-0.000251220716107,-4.46921052153e-05,1793239578588965120
+104,1.733333333,BASELINE,766.347739232,745,715,679,663.347739232,636,879.347739232,788,804.652260768,652.347739232,632,653,0.400992980756,-0.0154039223965,0.0498637705609,0.999999966291,-5.18659091356e-05,-0.000250484683114,-4.45547723913e-05,1793239578605632256
+105,1.750000000,BASELINE,766.927779336,745,715,679,663.927779336,636,879.927779336,788,804.072220664,652.927779336,632,653,0.4009938801,-0.0154029968572,0.049863834932,0.999999966384,-5.21745192906e-05,-0.000250000310449,-4.48257878305e-05,1793239578622298880
+106,1.766666667,BASELINE,767,745,715,678.49644829,663.49644829,636,880,788,804,652.49644829,632,653,0.400992510946,-0.0154027204632,0.049863438514,0.999999966071,-5.2323569838e-05,-0.000251203978956,-4.49139996537e-05,1793239578638965248
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663,636,880,788,804,652,631,653,0.400993970553,-0.0154035770679,0.0498634082598,0.999999966313,-5.45409919784e-05,-0.000249717196145,-4.51795017209e-05,1793239578682309888
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.42986022,663,636,880,788,804,652,631.57013978,653,0.40099329378,-0.0154045557231,0.0498637626563,0.999999966174,-5.60156035665e-05,-0.000249981207428,-4.4990621465e-05,1793239578698976768
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.147668083,745,715,679,663,636,879.852331917,788,804,652,632,652.852331917,0.400993001144,-0.0154052021938,0.0498640213428,0.999999966113,-5.68929731613e-05,-0.000250049786853,-4.48614080671e-05,1793239578715643136
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.747837266,745,715,679,663,636,879.252162734,788,804,652,632,652.252162734,0.400993885625,-0.0154048307474,0.0498639867441,0.999999966297,-5.59402072315e-05,-0.000249519502132,-4.49150325001e-05,1793239578732309504
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.667529025,745,715,679,663,636,879,788,804,652,632,652,0.400993264394,-0.0154050332465,0.0498635467297,0.999999966112,-5.59684059296e-05,-0.000250248616675,-4.49337626753e-05,1793239578748976128
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.094152234,745,715,679,663,636,879,788,804,652,632,652,0.400991552137,-0.0154056516218,0.0498628129542,0.999999965659,-5.67074038305e-05,-0.000251890281912,-4.49272087461e-05,1793239578765642752
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.519107928,663,636,879,788,804,652,632,652.480892072,0.40099307664,-0.0154059099684,0.0498637715756,0.999999966195,-5.60654888613e-05,-0.000249935700043,-4.47060879444e-05,1793239578782309376
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.057865832,788,804,652.057865832,631.942134168,653,0.400994942413,-0.0154060290673,0.0498648808562,0.999999966808,-5.51114164527e-05,-0.000247728143674,-4.44657751606e-05,1793239578798976000
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.649618669,788,804,652.649618669,631.350381331,653,0.400994089657,-0.0154055160385,0.0498643124048,0.99999996639,-5.3780427768e-05,-0.000249705379607,-4.44373304603e-05,1793239578815642112
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,678.235616737,663,636,880,788,804,653,631.235616737,653,0.400999193858,-0.0154053701503,0.0498662897795,0.999999967264,-5.31968911963e-05,-0.000246333780349,-4.42869880163e-05,1793239578832308736
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,678.813260976,663,636,880,788,804,653,631.813260976,653,0.401012945335,-0.015405757213,0.0498719627432,0.999999969933,-5.36983760436e-05,-0.000235197669902,-4.39596955741e-05,1793239578848975360
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636.389499892,879.610500108,788,804,652.610500108,632,653,0.401042467408,-0.0154077550535,0.0498818805044,0.999999974633,-5.57378600653e-05,-0.000213980109089,-4.28964303028e-05,1793239578865641728
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636.965067523,879.034932477,788,804,652.034932477,632,653,0.401079523244,-0.0154105223777,0.0498938260455,0.999999979766,-5.85120606815e-05,-0.000187946544114,-4.14815838806e-05,1793239578882308608
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636.446669823,879,788,804.553330177,652.553330177,632,653,0.401144840661,-0.0154147674086,0.0499131457325,0.999999986727,-5.97658718223e-05,-0.000146426573928,-3.91477986918e-05,1793239578898974976
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.14009108,788,804.71981784,652.85990892,632,653,0.401213585525,-0.0154188258023,0.0499306651964,0.999999991368,-6.03796351182e-05,-0.000110660487285,-3.70485028784e-05,1793239578915641344
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.719569244,788,803.560861512,652.280430756,632,653,0.401287352975,-0.0154219993533,0.0499410439527,0.999999992983,-5.92940459274e-05,-9.60795242292e-05,-3.58708976991e-05,1793239578932307968
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.703234666,788,803.296765334,652.296765334,632,653,0.401366502541,-0.0154261840872,0.0499475746794,0.999999993835,-5.91114532118e-05,-8.73441714536e-05,-3.47511485731e-05,1793239578948975360
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.128178618,788,803.871821382,652.871821382,632,653,0.401450699164,-0.0154313170543,0.0499504969282,0.99999999411,-5.977564254e-05,-8.40905213542e-05,-3.36856538462e-05,1793239578965643008
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715.446083592,678.553916408,663,636,879,788,804,652.553916408,632,653,0.401552548847,-0.0154369846732,0.0499522089689,0.999999994318,-6.06780792455e-05,-8.13385730952e-05,-3.26632400948e-05,1793239578982309376
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715.979236187,678.020763813,663,636,879.020763813,788,804.020763813,652,632,652.979236187,0.401660317976,-0.0154429073709,0.0499535087361,0.99999999447,-6.17640732591e-05,-7.90176113821e-05,-3.1655598069e-05,1793239578998975488
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715.386777298,678.613222702,663,636,879.613222702,788,804.613222702,652,632,652.386777298,0.401791655289,-0.0154516308575,0.04995301478,0.99999999377,-6.6022458954e-05,-8.4600961823e-05,-3.07144411309e-05,1793239579015642112
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.799321666,788.200678334,805,652.200678334,631.799321666,652,0.40193274741,-0.0154611529719,0.049951710926,0.999999993059,-7.02018077225e-05,-8.98430008653e-05,-2.97110462422e-05,1793239579032308736
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.221274556,788.778725444,805,652.778725444,631.221274556,652,0.402092183099,-0.0154721768778,0.0499488840864,0.999999992376,-7.42325297641e-05,-9.44432148135e-05,-2.85906151132e-05,1793239579048975616
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.644183861,663,636,879,788.644183861,804.644183861,652.644183861,631.355816139,652.355816139,0.402273123928,-0.0154823045444,0.0499486375623,0.999999992327,-7.61054946193e-05,-9.38327498486e-05,-2.73857006912e-05,1793239579065642496
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.06768629,663,636,879,788.06768629,804.06768629,652.06768629,631.93231371,652.93231371,0.402467402518,-0.0154918763538,0.0499499913804,0.999999992673,-7.66401930052e-05,-8.99905598348e-05,-2.61283886096e-05,1793239579082308608
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.518794658,663,636,879,788,804,652,632,652.481205342,0.402697049626,-0.0155023900152,0.0499561016582,0.99999999363,-7.66242298462e-05,-7.9307608156e-05,-2.4059620398e-05,1793239579098975232
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.894978516,663,636,879,788,804,652,632,652,0.40294137543,-0.0155131375865,0.0499635027663,0.999999994729,-7.5709343504e-05,-6.59100925505e-05,-2.1565360603e-05,1793239579115641856
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678.315893469,663,636,879,788,804,652,632,652,0.403230722187,-0.0155243754553,0.0499738744582,0.999999996335,-7.10674113113e-05,-4.43668968959e-05,-1.76377124282e-05,1793239579132308736
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,678.262091697,663,636,879,788,804.262091697,652,632,652.262091697,0.403530208107,-0.0155275948071,0.0499810048056,0.999999997757,-5.84707339892e-05,-2.93227264254e-05,-1.44026344422e-05,1793239579148975360
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,678.838756706,663,636,879,788,804.838756706,652,632,652.838756706,0.403841863451,-0.0155211900019,0.0499842447561,0.999999999024,-3.63264422982e-05,-2.20789565221e-05,-1.19988081263e-05,1793239579165641728
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,678.58586731,663,636,879,788,804.58586731,652,632,653,0.404183359257,-0.0155109808707,0.049989080739,0.999999999835,-8.26322778107e-06,-1.21839678023e-05,-1.06760069734e-05,1793239579182308352
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,678.010991668,663,636,879,788,804.010991668,652,632,653,0.404536437441,-0.0154992951149,0.0499945362115,0.999999999707,2.20973782339e-05,-1.2599256289e-06,-9.77279886606e-06,1793239579198975232
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.420318704,879.579681296,788,804,652,632,653,0.404918446503,-0.0155076468586,0.049993816523,0.999999999423,3.3342895867e-05,-1.88968423384e-06,-6.18987202524e-06,1793239579215641856
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.166985832,880,788,804.166985832,652,632,653,0.405306815726,-0.0155148403521,0.049987889296,0.999999998859,4.55330168294e-05,-1.40821511507e-05,-3.22455831354e-06,1793239579232308480
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.745235882,880,788,804.745235882,652,632,653,0.405709460219,-0.0155182192624,0.0499694330425,0.999999996671,6.09672507317e-05,-5.41973762541e-05,-1.9089937312e-06,1793239579248975104
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,880,788,804.675015906,652,632,653,0.406131397398,-0.0155207564112,0.0499532044288,0.99999999363,7.77414087802e-05,-8.18268748441e-05,-6.90321050304e-07,1793239579265641728
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,880,788,804.09408774,652,632,653,0.406568528743,-0.0155226306237,0.0499387302105,0.999999990471,9.55708375186e-05,-9.96231344401e-05,4.52043704479e-07,1793239579282308352
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,880,788,804,652,632,653,0.407057579905,-0.0155215355457,0.0499328376412,0.999999986921,0.000120462329255,-0.000107875161008,3.18066236005e-06,1793239579298975232
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.06505042,744.93494958,715.06505042,678.06505042,663,636,879.93494958,788,804,652,632,653,0.40756710068,-0.0155201622657,0.0499318961916,0.999999983345,0.000146888704031,-0.00010812948803,6.53608065293e-06,1793239579315642112
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.648156444,744.351843556,715.648156444,678.648156444,663,636,879.351843556,788,804,652,632,653,0.40815972899,-0.0155211435056,0.0499571768105,0.999999982905,0.00017466939443,-5.93805967009e-05,1.2441839462e-05,1793239579332308736
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.771422714,744.228577286,715.771422714,679,663,636,879,788,804,652,632,653,0.408764496284,-0.0155237292367,0.0499797812486,0.99999997963,0.00019997976471,-2.03517152045e-05,1.82584695647e-05,1793239579348975360
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.195087152,744.804912848,715.195087152,679,663,636,879,788,804,652,632,653,0.409387731835,-0.0155287560464,0.0499983141345,0.999999975168,0.000221531780286,3.88910655213e-06,2.39394986286e-05,1793239579365641984
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.379970425,745,715,679,663,636,879,788,804,652,631.620029575,653,0.409992453455,-0.0155328476048,0.0499981127129,0.999999969926,0.000243674248081,-8.79266025276e-07,2.77540639289e-05,1793239579382308608
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.954374031,745,715,679,663,636,879,788,804,652,631.045625969,653,0.410587701365,-0.0155364605893,0.0499883248314,0.999999963912,0.000266118853116,-2.04918208192e-05,3.06135481651e-05,1793239579398975232
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.459777648,745,715,679,663,636,879,788,804,652,631.540222352,653,0.411180722912,-0.0155312387064,0.049960560149,0.999999952797,0.000295086930206,-7.97381487489e-05,3.11697724745e-05,1793239579415642880
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.125645556,788,804,652,632,653,0.411805417687,-0.0155273186897,0.0499413655564,0.99999994982,0.000291953450283,-0.000118618388509,3.24470622366e-05,1793239579432310528
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.705956814,788,804,652,632,653,0.412545421396,-0.0155308682259,0.0499587960362,0.999999982207,0.000170619202353,-7.14260031715e-05,3.70527889514e-05,1793239579448976128
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.284063348,636,879.715936652,788,804,652,631.715936652,652.715936652,0.413295504924,-0.0155354980173,0.0499748164904,0.999999996029,7.46752304818e-05,-3.87117226607e-05,2.94302469086e-05,1793239579465642240
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.859905349,636,879.140094651,788,804,652,631.140094651,652.140094651,0.414055942134,-0.0155412374043,0.0499893886241,0.999999999728,4.81113411718e-06,-2.08687744843e-05,9.24731108104e-06,1793239579482309120
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,678.566063025,663.566063025,636,879.433936975,788,804,652,631,652.433936975,0.414783053923,-0.0155494205601,0.0499742490412,0.999999998977,6.93334212941e-06,-4.4252048843e-05,6.23731690408e-06,1793239579498976000
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.00764099,745,715,678.00764099,662.99235901,636,880.00764099,788,804,652,631.00764099,653,0.415499948857,-0.0155582773091,0.049949753471,0.999999996192,3.23169520644e-05,-8.05938254569e-05,8.75816188429e-06,1793239579515643392
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.600845929,745,715,678.600845929,662.399154071,636,880.600845929,788,804,652,631.600845929,653,0.416254965941,-0.0155585442129,0.0499403132292,0.999999993261,6.67048435201e-05,-9.42591486127e-05,1.20196458559e-05,1793239579532309248
+159,2.650000000,POSE1_TO_POSE2_PRESS,767,745,715,679,662.18956839,636,881,788,804,652,631.81043161,653,0.417039788888,-0.0155582487491,0.0499445095361,0.999999991356,9.84978316322e-05,-8.56397088244e-05,1.58814750834e-05,1793239579548975616
+160,2.666666667,POSE1_TO_POSE2_PRESS,767,745,715,679,662.769070556,636,881,788,804,652,631.230929444,653,0.417885921128,-0.01555679652,0.0499767556202,0.999999991487,0.000124953216475,-3.1181498643e-05,2.0978187689e-05,1793239579565642752
+161,2.683333333,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,880.65386059,788,804.34613941,652,631.34613941,653,0.418713069456,-0.0155549357271,0.0499864350009,0.999999989699,0.000140032653745,-2.13543255351e-05,2.31667015453e-05,1793239579582309376
+162,2.700000000,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,880.07840383,788,804.92159617,652,631.92159617,653,0.419527640909,-0.0155528042608,0.0499811639398,0.999999987992,0.000147575525147,-4.10952156122e-05,2.34285336268e-05,1793239579598975488
+163,2.716666667,POSE1_TO_POSE2_PRESS,766.493172709,745,715,678.493172709,662.493172709,635.493172709,880,788.506827291,804.493172709,652,632,653,0.420351144786,-0.0155556803378,0.0499749846883,0.999999988243,0.000146625590963,-3.85935908347e-05,2.29064565392e-05,1793239579615642112
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,678.092487082,662.184974164,635.092487082,880.092487082,788.907512918,804,652,632,653,0.421185867867,-0.0155592173525,0.0499733752541,0.999999988856,0.00014515817552,-2.64198023045e-05,2.27946461545e-05,1793239579632308480
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,678.672281758,663.344563515,635.672281758,880.672281758,788.327718242,804,652,632,653,0.422072280002,-0.0155620749947,0.0499965986548,0.999999988553,0.000148022617171,1.82299980614e-05,2.54960129785e-05,1793239579648975104
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.748455772,636,880.748455772,788,804,652,631.748455772,653,0.422938854431,-0.0155619043087,0.0500020165485,0.999999988333,0.000147579285348,2.90957556854e-05,2.65865445462e-05,1793239579665641728
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.169885128,636,880.169885128,788,804,652,631.169885128,653,0.423779638473,-0.0155577965685,0.0499842859471,0.999999989464,0.000142835599802,-3.96027705299e-06,2.55828695303e-05,1793239579682308608
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.404435734,745,715,678.595564266,663,636,880,788,804,652,631,652.595564266,0.424660673231,-0.0155585708327,0.0499859329094,0.999999988654,0.000148233998646,-1.84306342861e-06,2.67416472577e-05,1793239579698975232
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.976989983,745,715,678.023010017,663,636,880,788,804,652,631,652.023010017,0.425558439621,-0.0155613744808,0.0499956348663,0.999999987016,0.000157848326357,1.48951993994e-05,2.87993276751e-05,1793239579715642112
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.433601674,745,715,678.566398326,663.566398326,636,880.566398326,788.566398326,804.566398326,652,631.566398326,652.566398326,0.426420028577,-0.0155662720426,0.0500130673153,0.999999986171,0.000160431081005,3.092359976e-05,3.10414578318e-05,1793239579732308736
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.153349654,745,715,679.153349654,663.846650346,636,880.846650346,789,805,652,632,653,0.427263044056,-0.0155684782547,0.0500160784193,0.999999985898,0.000163212296753,2.31648872338e-05,3.20715719294e-05,1793239579748975104
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.731538967,745,715,679.731538967,663.268461033,636,880.268461033,789,805,652,632,653,0.428058800124,-0.0155629854619,0.0499782399151,0.999999984283,0.000167358988017,-5.04112657055e-05,2.97225221754e-05,1793239579765641728
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.690967613,745,715,679.690967613,663,636,880,788.690967613,804.690967613,652,632,653,0.428904060479,-0.0155603947934,0.0499609012293,0.99999998301,0.000166413506417,-7.4057954064e-05,2.83239905073e-05,1793239579782308352
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.114077396,745,715,679.114077396,663,636,880,788.114077396,804.114077396,652,632,653,0.429792229276,-0.015560319579,0.0499613310289,0.999999985165,0.000161054318256,-5.44276278405e-05,2.77493329311e-05,1793239579798975232
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.470658414,663.941316828,636,880,788,804.470658414,652,631.529341586,653,0.430644463033,-0.0155597197242,0.0499640456394,0.999999984347,0.000166919732997,-5.12628354088e-05,2.85616833425e-05,1793239579815642880
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.943384178,664.886768356,635.943384178,880,788,804.943384178,652,631,653,0.43148568024,-0.0155588004432,0.0499655202694,0.999999982676,0.000175619503405,-5.41841037527e-05,2.95099100088e-05,1793239579832310272
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679.364003674,663.728007348,635.364003674,880,788,804.364003674,652,631,653,0.432306961402,-0.0155561257816,0.0499503453686,0.999999979615,0.000184943785092,-7.5826556377e-05,2.85559949713e-05,1793239579848976128
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.214275998,635.214275998,880.214275998,788,804.214275998,652,631.214275998,652.785724002,0.433133645606,-0.0155545069944,0.0499499877036,0.999999978765,0.000190162491701,-7.39999399546e-05,2.88526488304e-05,1793239579865641984
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.790695272,635.790695272,880.790695272,788,804.790695272,652,631.790695272,652.209304728,0.433969461508,-0.0155546727178,0.0499746723291,0.999999981228,0.000188442455229,-3.25087560561e-05,3.12628622311e-05,1793239579882308608
+180,3.000000000,POSE1_TO_POSE2_PRESS,766.365962088,745,715,679,663.634037912,636,880.634037912,788,805,652,632,652,0.434777848901,-0.0155542029897,0.049990339956,0.999999981958,0.000186591098131,-1.23818931222e-05,3.3374750715e-05,1793239579898975488
+181,3.016666667,POSE1_TO_POSE2_PRESS,766.940571814,745,715,679,663.059428186,636,880.059428186,788,805,652,632,652,0.435570598303,-0.0155533709689,0.0500008666787,0.999999982316,0.000184664870821,-4.43557062737e-06,3.5316553726e-05,1793239579915642368
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.469947411,745,715,679,663,636,880.530052589,788,805,652,632,652.530052589,0.436302015802,-0.015548711958,0.0499729588981,0.999999977774,0.000198086642589,-6.39838811229e-05,3.34527261531e-05,1793239579932308992
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.118911899,635.881088101,880.881088101,788,805,652,632,653,0.43704072731,-0.0155451815618,0.0499518355365,0.999999971918,0.000209767773183,-0.000105617729164,3.17210529549e-05,1793239579948975872
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.698713619,635.301286381,880.301286381,788,805,652,632,653,0.437835131037,-0.0155477366007,0.0499741918989,0.999999976748,0.000207840287129,-4.76402298494e-05,3.22030912726e-05,1793239579965642240
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,664,635.27547485,880,788.27547485,805,652,632.27547485,653,0.438585832539,-0.0155499244435,0.0499885003812,0.99999997926,0.00020035799403,-1.61859635893e-05,3.27953008301e-05,1793239579982308608
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,664,635.848946966,880,788.848946966,805,652,632.848946966,653,0.439289258735,-0.0155517150686,0.0499941029993,0.999999981889,0.000186866741727,-1.34234346472e-05,3.35066891189e-05,1793239579998975232
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.424315425,745,715,679,663.575684575,636,880,788.575684575,805.424315425,651.575684575,632.575684575,653,0.439953687905,-0.0155512254672,0.0499761156469,0.999999981666,0.000184147375367,-4.08512013241e-05,3.30117873083e-05,1793239580015642112
+188,3.133333333,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,880.000372054,788,806,651,632,653,0.440604165709,-0.0155499239614,0.0499497069997,0.999999979196,0.000185282854024,-7.90544039598e-05,3.2086257353e-05,1793239580032308736
+189,3.150000000,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,880.592343767,788,806,651,632,653,0.441244381414,-0.0155541607362,0.0499459663307,0.999999977618,0.000191063773192,-8.49329590854e-05,3.23211801765e-05,1793239580048975616
+190,3.166666667,POSE1_TO_POSE2_PRESS,766.820452151,745,715,679,663,636,881,788,805.820452151,651,632,653,0.44187420817,-0.0155583120006,0.0499437157556,0.999999976289,0.000197171398063,-8.63405748109e-05,3.30306035826e-05,1793239580065642496
+191,3.183333333,POSE1_TO_POSE2_PRESS,766.243792673,745,715,679,663,636,881,788,805.243792673,651,632,653,0.442481057487,-0.0155622741399,0.0499447608674,0.999999975555,0.000204001609341,-7.78596743206e-05,3.47894949048e-05,1793239580082309376
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.668252859,635.668252859,881,788,805,651.331747141,632,653,0.443036554856,-0.0155670086009,0.0499320768977,0.999999973532,0.000204824057389,-9.87299821715e-05,3.51402853061e-05,1793239580098976000
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.093533123,635.093533123,881,788,805,651.906466877,632,653,0.443554441869,-0.0155723087124,0.0499093377076,0.999999969202,0.000201246401069,-0.000141097202786,3.44597782467e-05,1793239580115642880
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635,880.508102163,787.508102163,805,652,631.508102163,652.508102163,0.444026592069,-0.0155763077004,0.0498631144761,0.999999955068,0.000202117418218,-0.000218968575299,3.26503988282e-05,1793239580132308992
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.078279884,662,635,880.078279884,787,805,652,631,652.078279884,0.444492219417,-0.0155798687517,0.0498178084706,0.999999935865,0.000204074879127,-0.000292694556706,3.08697623608e-05,1793239580148975872
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.657425586,662,635,880.657425586,787,805,652,631,652.657425586,0.44497299482,-0.0155822459449,0.0498075788458,0.999999934281,0.000207450936198,-0.000295739412847,3.06770386753e-05,1793239580165642240
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715.236242005,679.763757995,662,635,880.763757995,787,805.236242005,652,631,653,0.445448229286,-0.015585890158,0.0498053649458,0.999999936158,0.000208227331347,-0.000288692283473,3.13436521529e-05,1793239580182308608
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715.814581547,679.185418453,662,635,880.185418453,787,805.814581547,652,631,653,0.445915439988,-0.0155913691184,0.0498147584646,0.999999942733,0.000205239205348,-0.000267031142216,3.32546553747e-05,1793239580198975488
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715.610640464,679,662,635,880.389359536,787,805.610640464,652,631,653,0.446326694629,-0.0155974794763,0.049811260854,0.999999948345,0.000173153319813,-0.000268663720581,3.38774636808e-05,1793239580215642368
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715.037543114,679,662,635,880.962456886,787,805.037543114,652,631,653,0.446711543783,-0.0156038877897,0.0498016799517,0.999999951757,0.00012733627196,-0.000281288546038,3.38923760579e-05,1793239580232309248
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745.552395617,715,679,662.552395617,635,881,787,805,652,631,653,0.447030603181,-0.015609545456,0.0497634789184,0.999999934243,0.000117047725388,-0.000341915323623,3.01368821178e-05,1793239580248975616
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,715,679,662.859707812,634.859707812,880.859707812,787,805.140292188,652,631,653,0.447340861726,-0.0156143104946,0.0497279685562,0.999999915391,9.90118340109e-05,-0.000398612314086,2.2849470446e-05,1793239580265641984
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,715,679,662.281862478,634.281862478,880.281862478,787,805.718137522,652,631,653,0.447638055721,-0.0156164556636,0.0497071074649,0.99999990523,4.90451239261e-05,-0.000432557811869,5.37081579979e-06,1793239580282308608
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,715,679.299499623,662,634,880.299499623,787,805.700500377,651.700500377,631,652.700500377,0.447929941246,-0.0156226240468,0.049700906216,0.999999902421,2.39726904394e-05,-0.000441113184396,-1.416807517e-06,1793239580298975488
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,715,679.884210682,662,634,880.884210682,787,805.115789318,651.115789318,631,652.115789318,0.448216771534,-0.015632623709,0.0497086654357,0.999999909222,2.26069088349e-05,-0.000425489713974,1.97656599406e-06,1793239580315642624
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715.464725485,680,662,634,881,787,805.464725485,651.464725485,631,652.464725485,0.448487227754,-0.0156360212498,0.0497209187257,0.999999916286,2.89998937157e-05,-0.000408129735761,4.15102259411e-06,1793239580332308992
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,715.95581705,679.95581705,662,634,881,786.95581705,806,652,631,653,0.448750126051,-0.0156379885009,0.0497335399531,0.999999922728,3.6797295355e-05,-0.000391348075835,6.1032973827e-06,1793239580348975360
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715.37661588,679.37661588,662,634,881,786.37661588,806,652,631,653,0.448970463989,-0.0156423769857,0.049737178988,0.99999992443,3.84017103804e-05,-0.000386761648928,9.00979049184e-06,1793239580365642752
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.798123842,715,679.201876158,662,634,880.798123842,786.201876158,805.798123842,652,631,653,0.449171797377,-0.0156456507606,0.0497357667356,0.999999922925,4.00303663106e-05,-0.000390415649682,1.11049824884e-05,1793239580382309632
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.220950178,715,679.779049822,662,634,880.220950178,786.779049822,805.220950178,652,631,653,0.449337800366,-0.0156468522359,0.0497249638964,0.999999915262,4.17040870642e-05,-0.000409389002953,1.16919262985e-05,1793239580398975744
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,880.354644495,787,805,652,630.645355505,652.645355505,0.449491944048,-0.0156487189226,0.0497172583731,0.999999909794,4.29443880072e-05,-0.000422389672748,1.2472901896e-05,1793239580415642112
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634,880.929259842,787,805,652,630.070740158,652.070740158,0.449638731924,-0.0156509982115,0.0497114739818,0.99999990577,4.39158572953e-05,-0.000431685743628,1.33742271926e-05,1793239580432308736
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.517920419,715,680,662,634,881,786.482079581,805,652,630.517920419,652.517920419,0.449765664131,-0.0156542055104,0.0497148855198,0.999999907806,4.3905979973e-05,-0.000426886660007,1.50827803974e-05,1793239580448975616
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,715.106535831,680,662,634,881,786.106535831,805,652,631,653,0.449886337483,-0.0156580728181,0.049719694193,0.999999910639,4.24799500139e-05,-0.000420271764572,1.69930964667e-05,1793239580465642240
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,746,715.686193969,680,662,634,881,786.686193969,805,652,631,653,0.449991595061,-0.0156642926122,0.0497249740472,0.999999913332,3.53766777745e-05,-0.000414380914882,1.92961472966e-05,1793239580482308864
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745.736636005,715.736636005,679.736636005,662,634,881,786.736636005,805,652,631,653,0.450083428495,-0.0156688212672,0.0497274635606,0.999999914718,3.08188983492e-05,-0.000411312784616,2.08950967546e-05,1793239580498975744
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745.162402928,715.162402928,679.162402928,662,634,881,786.162402928,805,652,631,653,0.450159416358,-0.0156713537382,0.0497266594165,0.999999914639,2.92657632274e-05,-0.000411576530819,2.16629402632e-05,1793239580515642624
+218,3.633333333,POSE1_TO_POSE2_PRESS,766,745.421699525,715.421699525,679.421699525,662,634,881,786,805.421699525,652,631,653,0.45021797384,-0.0156734921681,0.0497253456096,0.999999913458,2.72070738192e-05,-0.000414562845559,2.19407373766e-05,1793239580532308992
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,745.99044944,715.99044944,680,662,634,880.99044944,786,805.99044944,652,630.99044944,652.99044944,0.450269410536,-0.0156754844191,0.049723812943,0.999999911817,2.49205169552e-05,-0.000418638717559,2.20362077126e-05,1793239580548975616
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745.411149442,715.411149442,680,662,634,880.411149442,786,805.411149442,652,630.411149442,652.411149442,0.450306099634,-0.0156780260518,0.0497212137927,0.999999909775,2.09334630632e-05,-0.000423664768464,2.27831405737e-05,1793239580565641984
+221,3.683333333,POSE1_TO_POSE2_PRESS,766.167552742,745,715.167552742,680.167552742,662,634,880.167552742,786,805,652,630.167552742,652,0.450340595814,-0.0156798374255,0.0497195872675,0.999999908304,1.75963366385e-05,-0.000427247503769,2.32871932585e-05,1793239580582308608
+222,3.700000000,POSE1_TO_POSE2_PRESS,766.744793113,745,715.744793113,680.744793113,662,634,880.744793113,786,805,652,630.744793113,652,0.450369730027,-0.0156798632232,0.0497203389339,0.999999908312,1.5848365591e-05,-0.000427301149338,2.3197373111e-05,1793239580598975488
+223,3.716666667,POSE1_TO_POSE2_PRESS,766.67972739,745,715.67972739,680.359454779,662,633.67972739,880.67972739,786,805.32027261,652,631,652.32027261,0.450393432034,-0.0156793063523,0.049721340643,0.999999908845,1.61871642801e-05,-0.000426029740798,2.33752371683e-05,1793239580615642112
+224,3.733333333,POSE1_TO_POSE2_PRESS,766.105643297,745,715.105643297,679.211286594,662,633.105643297,880.105643297,786,805.894356703,652,631,652.894356703,0.4504128291,-0.015678287725,0.0497225405074,0.999999909788,1.81796980741e-05,-0.000423708245756,2.37652371354e-05,1793239580632308736
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679.481938065,661.518061935,633.481938065,880,786,805.518061935,652,630.518061935,653,0.450423230939,-0.0156770524348,0.0497210178482,0.999999909257,1.77174397805e-05,-0.000424994975354,2.348309266e-05,1793239580648975616
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.928906375,745.071093625,715.071093625,680,661.071093625,634,880.071093625,786,805,652,630.071093625,653,0.450431047425,-0.015676275104,0.049719107346,0.999999908371,1.64424446392e-05,-0.000427140746956,2.31879824972e-05,1793239580665642240
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.350243528,745.649756472,715.649756472,680,661.649756472,634,880.649756472,786,805,652,630.649756472,653,0.450434889103,-0.0156791161979,0.0497188113834,0.999999907344,1.33174084317e-05,-0.000429610015884,2.38825215707e-05,1793239580682308608
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.227525342,745.772474658,715.772474658,680,662,633.772474658,881,785.772474658,805,652,630.772474658,653,0.450437933198,-0.0156805669315,0.0497177135617,0.999999906252,1.11216992513e-05,-0.000432184411259,2.42707313795e-05,1793239580698975488
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.80392341,745.19607659,715.19607659,680,662,633.19607659,881,785.19607659,805,652,630.19607659,653,0.450439754331,-0.0156798857757,0.0497153862208,0.999999905076,1.03509605514e-05,-0.000434920000625,2.41892355543e-05,1793239580715641856
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,633,880.621448196,785.378551804,805.378551804,652,630,653,0.450441264635,-0.0156807818471,0.0497144140442,0.999999904606,9.59351672528e-06,-0.000436007719577,2.43401232262e-05,1793239580732308480
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,633,880.047732184,785.952267816,805.952267816,652,630,653,0.450442614688,-0.0156824910656,0.0497141405291,0.999999904503,8.8429271593e-06,-0.000436245870914,2.46108173329e-05,1793239580748975360
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715.54001069,680,662,633,880,786,805.45998931,652,630,652.45998931,0.45044436887,-0.0156820853699,0.0497150775139,0.999999904791,7.73477162158e-06,-0.000435588675347,2.49094830035e-05,1793239580765641728
+233,3.883333333,POSE1_TO_POSE2_PRESS,766.127080115,745,715.872919885,679.872919885,662,633,880.127080115,786,805,652,630,652.127080115,0.450445336737,-0.0156813455539,0.0497155749254,0.999999904776,6.69259874274e-06,-0.000435636953422,2.49701546368e-05,1793239580782308608
+234,3.900000000,POSE1_TO_POSE2_PRESS,766.707210468,745,715.292789532,679.292789532,662,633,880.707210468,786,805,652,630,652.707210468,0.450443370586,-0.0156800988018,0.049714113598,0.999999903553,6.00134079398e-06,-0.000438489965634,2.41733099332e-05,1793239580798975232
+235,3.916666667,POSE1_TO_POSE2_PRESS,766.715279589,745,715,679,661.715279589,633,880.715279589,786,805,652,630,652.715279589,0.45044325985,-0.0156787976369,0.0497133257471,0.99999990321,7.0848487683e-06,-0.000439277038228,2.37924989973e-05,1793239580815642368
+236,3.933333333,POSE1_TO_POSE2_PRESS,766.140439677,745,715,679,661.140439677,633,880.140439677,786,805,652,630,652.140439677,0.450445039713,-0.0156774410273,0.0497132241436,0.999999903762,9.97677708573e-06,-0.00043795899558,2.38356108914e-05,1793239580832308992
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,633.439886686,880,786,805,652,630,652.439886686,0.450445001014,-0.0156784910876,0.0497134739729,0.999999903669,8.23533600972e-06,-0.000438201536808,2.39527208232e-05,1793239580848975616
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745.022060256,715,679.022060256,661.022060256,634,880,786,805,652,630.022060256,653,0.450444372139,-0.015680183149,0.0497137862115,0.999999903354,5.21705195288e-06,-0.00043895970386,2.40821628125e-05,1793239580865641984
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745.606106207,715,679.606106207,661.606106207,634,880,786,805,652,630.606106207,653,0.450443686093,-0.0156784089608,0.0497127939412,0.999999902883,7.8314159767e-06,-0.000440000541964,2.3916319343e-05,1793239580882308608
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.81155818,715,679.81155818,662,633.81155818,880,786,805,651.81155818,630.81155818,653,0.450443494596,-0.0156780389854,0.0497122002852,0.999999902631,8.56793932288e-06,-0.000440555405914,2.39982195996e-05,1793239580898975232
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.23276551,715,679.23276551,662,633.23276551,880,786,805,651.23276551,630.23276551,653,0.450444327541,-0.0156805777896,0.0497124323456,0.999999902837,5.41457913249e-06,-0.000440103590802,2.45933126064e-05,1793239580915641856
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.343031757,715,679,662.343031757,633.343031757,880.343031757,786,805,651.343031757,630,653,0.450444617662,-0.0156801071583,0.0497121016819,0.99999990263,5.48541303123e-06,-0.00044057447534,2.45582653865e-05,1793239580932308736
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.916814054,715,679,662.916814054,633.916814054,880.916814054,786,805,651.916814054,630,653,0.450444542638,-0.0156776121404,0.0497113924851,0.999999902145,7.72509734605e-06,-0.000441666041328,2.40993355304e-05,1793239580948975872
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,679,662.495728754,633.495728754,881,786,805,652,630,653,0.450444967882,-0.0156775807646,0.0497118384698,0.999999902381,6.87444050304e-06,-0.000441153411871,2.39692928963e-05,1793239580965642496
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,715,679.092409417,662,633,881,786,805,652,630.092409417,653,0.450445489578,-0.0156778047887,0.0497124102865,0.999999902698,5.46591565292e-06,-0.000440458136147,2.38845410554e-05,1793239580982309120
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,715,679.671914701,662,633,881,786,805,652,630.671914701,653,0.450446072552,-0.0156771731228,0.0497126129097,0.999999902808,3.87887589955e-06,-0.000440233896162,2.37445716346e-05,1793239580998975488
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.750159664,715.249840336,680,662,633,881,786,805.249840336,652,631,652.750159664,0.45044652849,-0.0156774480541,0.0497127869698,0.999999902851,3.65260796111e-06,-0.000440117858603,2.40951765775e-05,1793239581015642112
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745.17429528,715.82570472,680,662,633,881,786,805.82570472,652,631,652.17429528,0.450446818654,-0.0156789060309,0.0497129237572,0.999999902809,5.2020512156e-06,-0.000440143017564,2.50859465066e-05,1793239581032308736
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745.409231166,716,680,662,633.409231166,881,786,805.590768834,652,631,652.409231166,0.450446348791,-0.0156794598743,0.0497128341922,0.99999990273,4.73575069413e-06,-0.000440333351427,2.49662043712e-05,1793239581048975104
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745.996083185,716,680,662,633.996083185,881,786,805.003916815,652,631,652.996083185,0.450445549047,-0.0156796212916,0.0497126463821,0.999999902635,3.39454572731e-06,-0.000440595377059,2.43644605201e-05,1793239581065641728
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,746,715.424466136,679.424466136,661.424466136,633.424466136,881,786,805,652,631,653,0.450446603646,-0.0156795353285,0.0497121594597,0.999999902906,2.44286916123e-06,-0.000439989967659,2.42888840281e-05,1793239581082308864
+252,4.200000000,HOLD_POSE2,766,745,716,679,662,633,880,786,806,651,630,653,0.45044945678,-0.0156818458541,0.0497138280065,0.9999999037,-2.84385232386e-06,-0.000438140080701,2.50152774902e-05,1793239581123437312
+253,4.216666667,HOLD_POSE2,766,745.575766705,716,679,661.424233295,633,880,786,805.424233295,651.575766705,630,653,0.450448380569,-0.0156803319823,0.0497129743426,0.999999903233,-1.2989984757e-06,-0.000439235426215,2.45865880446e-05,1793239581140103424
+254,4.233333333,HOLD_POSE2,766,745.844798238,715.844798238,679.155201762,661.155201762,633.155201762,880.155201762,786,805.155201762,652,630,653,0.450447292328,-0.0156793024778,0.0497120920311,0.999999902731,1.66023902444e-07,-0.000440392678679,2.4322520525e-05,1793239581156769536
+255,4.250000000,HOLD_POSE2,766,745.255093124,715.255093124,679.744906876,661.744906876,633.744906876,880.744906876,786,805.744906876,652,630,653,0.450446170403,-0.0156796290091,0.0497111295174,0.999999902139,1.40755019142e-06,-0.000441723246293,2.45193289833e-05,1793239581173436160
+256,4.266666667,HOLD_POSE2,766,745.328753265,715.328753265,679.671246735,662,633.671246735,881,786,805.671246735,652,630,653,0.450446468788,-0.0156793560612,0.0497111240738,0.999999902127,1.42466234224e-06,-0.000441746700599,2.45823918725e-05,1793239581190102784
+257,4.283333333,HOLD_POSE2,766,745.908133191,715.908133191,679.091866809,662,633.091866809,881,786,805.091866809,652,630,653,0.450447849954,-0.0156786260975,0.0497118482571,0.999999902558,5.08336309834e-07,-0.000440773670599,2.45434931607e-05,1793239581206769408
+258,4.300000000,HOLD_POSE2,766,746,716,679.483898161,662,633.483898161,881,786,805.483898161,652,630.483898161,653,0.450447839816,-0.0156791313929,0.0497120742706,0.999999902715,-1.15054239461e-06,-0.0004404282075,2.43417737103e-05,1793239581223436288
+259,4.316666667,HOLD_POSE2,766,746,715.939707548,679.939707548,661.939707548,633.939707548,880.939707548,786,806,652,630.939707548,653,0.450447616039,-0.0156796139431,0.0497121533801,0.99999990279,-2.46989168317e-06,-0.000440264192441,2.41239304531e-05,1793239581240102656
+260,4.333333333,HOLD_POSE2,766,746,715.351845943,679.351845943,661.351845943,633.351845943,880.351845943,786,806,652,630.351845943,653,0.450447816967,-0.0156778606758,0.0497117684763,0.999999902624,4.06078214897e-07,-0.000440653096552,2.40334728392e-05,1793239581256769536
+261,4.350000000,HOLD_POSE2,766,745.767349516,715,679.232650484,661,633,880.232650484,786,806,652,630,653,0.450447871927,-0.0156779246007,0.0497115206043,0.999999902486,1.24471288775e-06,-0.000440950775777,2.42552627857e-05,1793239581273436160
+262,4.366666667,HOLD_POSE2,766,745.187869862,715,679.812130138,661,633,880.812130138,786,806,652,630,653,0.450447709282,-0.0156806975479,0.049711477016,0.999999902398,-9.53858015814e-07,-0.000441112459334,2.4942543122e-05,1793239581290102784
+263,4.383333333,HOLD_POSE2,766,745.390223625,715,680,661.390223625,633.390223625,881.390223625,786,805.609776375,652,630,653,0.45044930008,-0.0156815865493,0.0497128553858,0.9999999031,-2.5651000418e-06,-0.000439508357336,2.50085799676e-05,1793239581306769152
+264,4.400000000,HOLD_POSE2,766,745.967652165,715,680,661.967652165,633.967652165,881.967652165,786,805.032347835,652,630,653,0.450451732069,-0.0156815717515,0.0497149159223,0.999999904176,-3.89457856067e-06,-0.000437057141757,2.47765830591e-05,1793239581323436032
+265,4.416666667,HOLD_POSE2,766,745.458870062,715,679.458870062,661.458870062,634,880.917740125,786,805,652,630,653,0.450450717565,-0.015683428883,0.0497143775303,0.9999999039,-5.70043861405e-06,-0.000437619993044,2.56185880389e-05,1793239581340102656
+266,4.433333333,HOLD_POSE2,766,745,715.118003159,679.118003159,661,633.881996841,880.118003159,786,805,652,630,653,0.450449663291,-0.0156848447954,0.0497136286351,0.999999903477,-7.33137870818e-06,-0.00043853102212,2.61321865678e-05,1793239581356769280
+267,4.450000000,HOLD_POSE2,766,745,715.709439891,679.709439891,661,633.290560109,880.709439891,786,805,652,630,653,0.450449270052,-0.0156840448226,0.0497126539835,0.999999902799,-8.14710926834e-06,-0.000440121321665,2.50724908335e-05,1793239581373435904
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,662,633,882,786,805,652,630,653,0.45044626506,-0.0156822815638,0.0497107520703,0.999999901448,-5.68994474016e-06,-0.000443227973936,2.49298567966e-05,1793239581411408640
+269,4.483333333,POSE2_TO_POSE3_RETREAT,766,745.40420361,715,680,662,633,881.40420361,786.59579639,805,652,630,653,0.450448922468,-0.0156829020532,0.0497120670784,0.999999902422,-4.86321117405e-06,-0.000440996670754,2.55813561359e-05,1793239581428075264
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715.185085984,680,662,633,881.185085984,786.814914016,805,652,630,653,0.450450788268,-0.0156840020498,0.0497131958154,0.999999903109,-5.35669795003e-06,-0.000439390274341,2.62567146661e-05,1793239581444742144
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.760648288,680,662,633,881.760648288,786.239351712,805,652,630,653,0.45045098401,-0.0156861136638,0.0497139315762,0.999999903193,-8.63545642565e-06,-0.000439102244742,2.6982409107e-05,1793239581461410048
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.656706865,680,662,633.343293135,881.656706865,786,805.343293135,652,630.343293135,653,0.45045054648,-0.0156876009896,0.0497138514876,0.999999902981,-1.13100342536e-05,-0.000439504529066,2.73183009552e-05,1793239581478076672
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715.06901992,680,662,633.93098008,881.06901992,786,805.93098008,652,630.93098008,653,0.450449658116,-0.0156886438784,0.0497131905874,0.999999902558,-1.35544896496e-05,-0.000440398254782,2.73766884022e-05,1793239581494742272
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.514249752,680,662,634,881,786,806,652,630.485750248,653,0.450449445934,-0.0156891671895,0.0497129078575,0.999999902492,-1.40730514742e-05,-0.000440539082282,2.72569253765e-05,1793239581511408896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745.09517203,716,680,661.90482797,633.90482797,881,786,805.90482797,652,630,652.90482797,0.450449094792,-0.0156894331952,0.0497125651363,0.999999902442,-1.38377954832e-05,-0.000440666065729,2.71735523065e-05,1793239581528075520
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745.667276564,716,680,661.332723436,633.332723436,881,786,805.332723436,652,630,652.332723436,0.450447596374,-0.015688756259,0.0497116695977,0.999999902225,-1.0975882789e-05,-0.000441225749169,2.7391340121e-05,1793239581544742400
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745.759324954,715.759324954,680,661.240675046,633,880.759324954,786,805,652,630,652,0.450442170973,-0.0156885316505,0.0497088903771,0.999999900364,-1.00756968564e-05,-0.000445438752462,2.74716474956e-05,1793239581561409280
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745.184128023,715.184128023,680,661.815871977,633,880.184128023,786,805,652,630,652,0.450431287335,-0.0156889357464,0.0497034929672,0.999999896165,-1.19021774598e-05,-0.000454729620916,2.73608664233e-05,1793239581578075648
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.597906778,661.597906778,633,880.402093222,786,805,652,630,652.402093222,0.450404578436,-0.0156878452758,0.0496926940993,0.99999988705,-1.1538822848e-05,-0.000474409701194,2.64891481677e-05,1793239581594742016
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.006494874,661.006494874,633,880.993505126,786,805,652,630,652.993505126,0.450370418483,-0.0156860511143,0.0496793520473,0.999999875138,-1.01444221191e-05,-0.000498981363884,2.52591556955e-05,1793239581611408640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.574023855,633,881,786,805,652,630,653,0.450307938328,-0.0156858937606,0.0496568243771,0.999999855039,-1.32720368967e-05,-0.00053776212404,2.36142253777e-05,1793239581628075520
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.152531836,662,633,881,786,805,652,630,653,0.450242701407,-0.0156841787391,0.0496364731877,0.999999836744,-1.47803395435e-05,-0.000570801390052,2.18784539917e-05,1793239581644742144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.72582691,662,633,881,786,805,652,630,653,0.450170727318,-0.0156781167122,0.0496224072351,0.999999827116,-1.16832147054e-05,-0.000587567366791,1.99048044883e-05,1793239581661408768
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715.307233715,679.692766285,661.692766285,633,880.692766285,786,804.692766285,652,630,653,0.450094098225,-0.0156728390644,0.0496142074842,0.999999821542,-9.22175778762e-06,-0.000597065291467,1.85685440075e-05,1793239581678075648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715.896075638,679.103924362,661.103924362,633,880.103924362,786,804.103924362,652,630,653,0.450013202393,-0.0156682803732,0.0496113846523,0.999999819873,-7.34294969141e-06,-0.000599901371121,1.78165098323e-05,1793239581694742272
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,716,679.477035992,661.477035992,633,880.477035992,786,804.477035992,652,630,653,0.449908804876,-0.0156619512278,0.0496109381816,0.999999819858,-4.87209208764e-06,-0.00059996956553,1.7241897576e-05,1793239581711408384
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,716,680,661.944517028,633,881,786,805,652,630,653,0.44979698236,-0.0156548871022,0.0496109465298,0.999999820119,-1.97157325723e-06,-0.000599567303598,1.66376746373e-05,1793239581728075264
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,716,680,661.373725372,633,881,786,805,652,630,653,0.449662978308,-0.015644520755,0.0496104490018,0.999999819691,3.74104530233e-06,-0.000600305001027,1.54052825272e-05,1793239581744742656
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715.801150602,679.801150602,661.198849398,633.198849398,881,786,805,652,630.198849398,653,0.449517909056,-0.0156349464063,0.0496097411892,0.999999819173,8.08240561635e-06,-0.000601152589309,1.43122338408e-05,1793239581761409792
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715.225194318,679.225194318,661.774805682,633.774805682,881,786,805,652,630.774805682,653,0.44935185528,-0.0156268740401,0.0496086345837,0.999999818533,9.82324986287e-06,-0.000602208579464,1.34834423912e-05,1793239581778075904
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.637342724,745,715,679,662,633.637342724,881,786,805.362657276,652,631,652.637342724,0.449162479422,-0.0156155093066,0.0496056653935,0.999999815994,1.57188693864e-05,-0.000606312075526,1.22453667952e-05,1793239581794742528
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.041854107,745,715,679,662,633.041854107,881,786,805.958145893,652,631,652.041854107,0.448958130425,-0.0156020308236,0.0496015003961,0.999999812148,2.42819163126e-05,-0.000612372115546,1.07445246356e-05,1793239581811409152
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.537475889,715.537475889,679,662,633,881,786,806,652,631,652.537475889,0.448719726019,-0.0155872303886,0.0496008533501,0.999999809589,2.97652163669e-05,-0.000616325483937,8.84194660859e-06,1793239581828075776
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.114911217,745.885088783,716,679,662,633,880.885088783,786,805.885088783,652,631,653,0.448474311267,-0.0155728685834,0.0496017013733,0.999999808966,3.45312767e-05,-0.000617112165769,6.99779976869e-06,1793239581844742400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.689653244,745.310346756,716,679,662,633,880.310346756,786,805.310346756,652,631,653,0.448211146073,-0.0155606619161,0.0496074678509,0.999999815751,3.73588966121e-05,-0.000605864283579,5.50900379602e-06,1793239581861409024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745.270882538,715.729117462,679,662,633.270882538,880.270882538,786,805,652,631,653,0.447927545161,-0.0155488485858,0.0496087475726,0.999999818596,3.79356836837e-05,-0.000601129870064,3.40277671066e-06,1793239581878075392
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745.859726542,715.140273458,679,662,633.859726542,880.859726542,786,805,652,631,653,0.447619956855,-0.0155374969546,0.0496047607476,0.999999816924,3.58704468004e-05,-0.000604040955828,5.71810117204e-07,1793239581894742016
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.558639441,745.558639441,715,679.441360559,662,634,880.558639441,786.441360559,805,652,631,653,0.447272823105,-0.0155289606712,0.0496019115057,0.999999816019,3.21455513205e-05,-0.00060574091789,-2.58885032306e-06,1793239581911408640
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.020572797,745,715,679.979427203,662,634,880,786.979427203,805,652,631,652.979427203,0.446911883855,-0.015521566278,0.0495996032426,0.999999815433,2.75791805618e-05,-0.000606909706178,-5.81965419108e-06,1793239581928075520
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.595283594,745,715,679.404716406,662,634,880,786.404716406,805,652,631,652.404716406,0.446512179989,-0.0155212154184,0.0496022845797,0.999999817473,1.43266601496e-05,-0.000603972433702,-8.16277831238e-06,1793239581944742144
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,880.16968894,786.16968894,805,651.83031106,631,652.16968894,0.446109811279,-0.015517934118,0.0496093771433,0.999999823939,4.14270457688e-06,-0.000593292299868,-1.04546155242e-05,1793239581961408768
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,880.743366997,786.743366997,805,651.256633003,631,652.743366997,0.445701098262,-0.0155076761331,0.0496269717903,0.999999840771,1.26427591099e-06,-0.000564178250076,-1.26243504327e-05,1793239581978075392
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.32819711,662,634.32819711,881,787,805,651,631,653,0.445273448717,-0.0154943455072,0.0496524002067,0.9999998613,2.26025300554e-06,-0.000526476613467,-1.47487588904e-05,1793239581994742272
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.92205435,662,634.92205435,881,787,805,651,631,653,0.444830470898,-0.0154785277218,0.0496841696931,0.999999883761,6.39237910279e-06,-0.00048182372534,-1.68364779365e-05,1793239582011408896
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.496722465,662,635,880.496722465,787,805,651,631,652.496722465,0.444324103694,-0.0154597620379,0.0497052122537,0.999999896053,9.41862606758e-06,-0.000455411855096,-2.01498891256e-05,1793239582028075520
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.081771295,662,635,880.081771295,787.081771295,805,651.081771295,631.081771295,652.081771295,0.443797217517,-0.015441872932,0.0497208053931,0.99999990421,1.04944133261e-05,-0.000436925382164,-2.38102240163e-05,1793239582044742400
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.655329891,662,635,880.655329891,787.655329891,805,651.655329891,631.655329891,652.655329891,0.443204524618,-0.0154319343013,0.0497133716807,0.999999898557,8.44634502232e-07,-0.000449529103848,-2.84433061286e-05,1793239582061409024
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,881,788,805,651.764901726,632,653,0.442621064764,-0.0154240013924,0.0497134248634,0.999999899076,-1.00215840883e-05,-0.000448002176615,-3.2271843651e-05,1793239582078075648
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,881,788,805,651.175782416,632,653,0.442051508459,-0.0154190887857,0.0497247521335,0.999999908737,-2.2719569129e-05,-0.000425196712998,-3.48888632336e-05,1793239582094742528
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.594928398,662.405071602,635,880.594928398,788,805,651,632,653,0.441471250784,-0.0154166014903,0.0497606750882,0.999999932409,-3.64654192423e-05,-0.000364174882307,-3.50568368223e-05,1793239582111409408
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.017589428,662.982410572,635,880.017589428,788,805,651,632,653,0.440886442085,-0.0154151456224,0.0498070580052,0.999999956977,-5.0656901071e-05,-0.000286900533619,-3.41832888492e-05,1793239582128076288
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,880.559006465,788,805.559006465,651,631.440993535,653,0.440222243329,-0.0154128444019,0.0498332771318,0.999999969205,1.13449081797e-05,-0.000245556102388,-3.41161216306e-05,1793239582144742400
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766.134898268,745,715,679,663,635,881,788,805.865101732,651,631.134898268,653,0.43952909801,-0.0154095161106,0.0498449020633,0.999999971747,5.62552935587e-05,-0.000228198378762,-3.56012397881e-05,1793239582161409024
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766.708575732,745,715,679,663,635,881,788,805.291424268,651,631.708575732,653,0.43874991382,-0.0154029335041,0.0498111178891,0.999999957736,3.77851568611e-05,-0.000285189015366,-4.20530054498e-05,1793239582178075648
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766.70929245,745,715,679,663,635,880.70929245,788,805,651.29070755,632,652.70929245,0.437971558149,-0.0153980277099,0.0497823640884,0.999999942596,1.43125467408e-05,-0.000335146985328,-4.77442475955e-05,1793239582194742272
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766.118431504,745,715,679,663,635,880.118431504,788,805,651.881568496,632,652.118431504,0.437194057824,-0.0153948532114,0.0497588041072,0.999999927128,-1.43250823929e-05,-0.000377843786133,-5.26502556517e-05,1793239582211408896
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766.463530295,745,715,679,663.463530295,635.463530295,880.463530295,788,805.463530295,651.536469705,632,652,0.436437364542,-0.0153937296861,0.04978441187,0.999999939165,-3.84672828796e-05,-0.00034250006425,-5.37077873186e-05,1793239582228075776
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766.957111947,745,715,679,663.957111947,635.957111947,881,788,805.957111947,651.042888053,632,652.042888053,0.435679062023,-0.0153928020102,0.0498183515004,0.999999953373,-6.12162714465e-05,-0.000294238962555,-5.41381749613e-05,1793239582244742400
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766.382381019,745,715,679,663.382381019,635.382381019,881,788,805.382381019,651.617618981,632,652.617618981,0.434836120551,-0.0153879271684,0.0498027651103,0.999999941098,-8.06633348495e-05,-0.00032839670461,-5.87552418647e-05,1793239582261409024
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,744.80900929,715,679,663,635,880.80900929,788,805,652,631.80900929,653,0.433998375091,-0.0153848053648,0.049791924567,0.999999933323,-9.46623692081e-05,-0.000346980825551,-6.32218583424e-05,1793239582278075648
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,744.238339609,715,679,663,635,880.238339609,788,805,652,631.238339609,653,0.433170959064,-0.0153851685041,0.0497905185054,0.999999936963,-9.78310220382e-05,-0.000334605447427,-6.73893875599e-05,1793239582294742272
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,744.344908068,715,679,663.344908068,635.344908068,880.344908068,788,805,652,631.344908068,652.655091932,0.432349629967,-0.0153867062111,0.0498042316705,0.999999944035,-0.000101307010547,-0.000311207433883,-6.93978063746e-05,1793239582311408640
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,744.937176373,715,679,663.937176373,635.937176373,880.937176373,788,805,652,631.937176373,652.062823627,0.431532666315,-0.0153890862911,0.049828788002,0.999999952874,-0.00010500341302,-0.000279904236761,-6.9857759996e-05,1793239582328075264
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.480328316,636,881,788,805,651.480328316,632,652,0.430644217002,-0.0153841674066,0.0498116829517,0.999999951852,-2.09232209839e-05,-0.000306099567931,-4.64992077633e-05,1793239582344742400
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.098850618,745,715,679,663,636,880.901149382,787.901149382,804.901149382,651.098850618,632,652,0.429748715097,-0.0153773339456,0.0497908702857,0.99999994129,5.49218974708e-05,-0.000337227064989,-2.61176423405e-05,1793239582361409024
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.667773347,745,715,679,663,636,880.332226653,787.332226653,804.332226653,651.667773347,632,652,0.428860012995,-0.0153655145429,0.0497759348092,0.999999933988,4.20763299481e-05,-0.000359364144549,-3.33328720905e-05,1793239582378075648
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766.753466917,745,715,679.246533083,663,635.753466917,880,787.246533083,804.246533083,652,632,652.246533083,0.427965730887,-0.0153616991364,0.049773361989,0.999999931232,3.34324849832e-05,-0.000367319642831,-3.86525645944e-05,1793239582394742272
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.160899869,745,715,679.839100131,663,635.160899869,880,787.839100131,804.839100131,652,632,652.839100131,0.427063616548,-0.0153691181416,0.0497881413978,0.999999935532,3.06861781867e-05,-0.000355369869605,-4.13116810858e-05,1793239582411409152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.591231944,663,635,880,788,804.591231944,652,631.591231944,652.591231944,0.426163329714,-0.0153724626186,0.0497846574033,0.999999935884,7.73534146162e-06,-0.000355079009093,-4.57313542188e-05,1793239582428075776
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.030099483,663,635,880,788,804.030099483,652,631.030099483,652.030099483,0.425263724119,-0.0153742883536,0.0497743658981,0.999999933962,-2.2746541415e-05,-0.000359133897809,-5.08072578943e-05,1793239582444742144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635,880.567319846,788,804.567319846,652,631.567319846,652,0.424437033778,-0.0153808281911,0.0498101673615,0.999999955618,-4.23709996173e-05,-0.000290793397603,-4.90607718156e-05,1793239582461409024
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,744.839475493,715,679,663,635,880.839475493,788,805,652,631.839475493,652.160524507,0.423596669384,-0.0153854593455,0.0498399185287,0.999999969769,-5.02082166806e-05,-0.000236000505303,-4.73746918264e-05,1793239582478075648
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,744.26253942,715,679,663,635,880.26253942,788,805,652,631.26253942,652.73746058,0.422710112551,-0.0153844461092,0.0498471975585,0.999999972717,-2.90649374393e-05,-0.000226995656274,-4.68484361097e-05,1793239582494742272
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,744.320681959,715,679,662.679318041,635,880,788.320681959,805,652,631.320681959,653,0.421802464732,-0.0153814312335,0.0498301417437,0.999999964378,-2.26740031715e-05,-0.000261484923527,-4.85320273246e-05,1793239582511409152
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,744.909151906,715,679,662.090848094,635,880,788.909151906,805,652,631.909151906,653,0.420877204765,-0.0153767448732,0.0497927649255,0.999999943026,-2.8602131321e-05,-0.000332294293436,-5.20609684147e-05,1793239582528076032
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.489630913,662.489630913,635.489630913,880,788.020738175,804.510369087,652,632,653,0.420016921125,-0.0153729950915,0.0498007485961,0.999999946038,-3.77892138932e-05,-0.000322087632082,-5.24857635355e-05,1793239582544742912
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.931777549,663,635.931777549,880,787.068222451,804,652,632,652.931777549,0.419166559638,-0.0153698088529,0.0498136238376,0.999999951339,-4.62063056062e-05,-0.000304045415168,-5.2376241824e-05,1793239582561409792
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.356372682,663,635.356372682,880,787.643627318,804,652,632,652.356372682,0.418301774546,-0.0153695409822,0.0498012996191,0.999999940609,-4.4475942795e-05,-0.000337709108662,-5.25075160185e-05,1793239582578075904
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.776303788,635,880,788,804,652,632,652.223696212,0.417459285022,-0.0153708702084,0.0497934552721,0.999999934743,-4.12761225566e-05,-0.000354953133519,-5.30974246009e-05,1793239582594742272
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.188646274,635,880,788,804,652,632,652.811353726,0.416653071008,-0.015374797965,0.0497928998254,0.999999938203,-3.56854451814e-05,-0.000345481808034,-5.4433546937e-05,1793239582611408896
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.393454087,635,880,788,804,652,632,653,0.415881082712,-0.0153797333218,0.0498115463121,0.999999950473,-4.56169946381e-05,-0.000306772620384,-5.35148757221e-05,1793239582628075520
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.972927079,635,880,788,804,652,632,653,0.415125275846,-0.0153851450558,0.0498392711708,0.999999964376,-6.28872090147e-05,-0.00025424023117,-5.1530173366e-05,1793239582644742144
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.549343072,880,788,804,652,632,652.450656928,0.414340481829,-0.0153802952014,0.0498249346008,0.999999957603,-5.71533616968e-05,-0.000280514244895,-5.32833704324e-05,1793239582661409024
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.874326931,636,880,788,804,652,632,652,0.413560713098,-0.015375512257,0.0498078757052,0.999999948517,-5.19340923525e-05,-0.000311784300507,-5.53149432599e-05,1793239582678075648
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.29776797,636,880,788,804,652,632,652,0.41280407093,-0.0153727737188,0.049788445616,0.999999936705,-5.26059339552e-05,-0.000347122057744,-5.76880096169e-05,1793239582694742528
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.284985396,636,879.715014604,788,804,652,631.715014604,652,0.412083422777,-0.0153732870146,0.0497899518524,0.999999935758,-5.52073832554e-05,-0.000349458090274,-5.7571910964e-05,1793239582711409408
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.874354773,636,879.125645227,788,804,652,631.125645227,652,0.411401218753,-0.0153772734926,0.0498138195241,0.999999946606,-5.98697861092e-05,-0.000316546011351,-5.47972129304e-05,1793239582728076032
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.545749131,879,788,804,652,631.454250869,652.454250869,0.410731224907,-0.0153764224584,0.0498222891681,0.999999950124,-6.44050778285e-05,-0.00030443248499,-5.4074033614e-05,1793239582744742400
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.031522977,879.031522977,788,804,652,631.968477023,653,0.410065964627,-0.015374204351,0.049825149285,0.999999951087,-6.85941044249e-05,-0.000300335564522,-5.40390506997e-05,1793239582761408768
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.607805526,879.607805526,788,804,652,631.392194474,653,0.40942533528,-0.0153710123039,0.0498031681613,0.999999939229,-6.73943753969e-05,-0.000337390302275,-5.62911003122e-05,1793239582778075392
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.183240196,745,715,678.816759804,663,636,880,788,804,652,631.183240196,653,0.408814367105,-0.0153701712509,0.0497935995187,0.999999934219,-6.79843007265e-05,-0.000351656469732,-5.72594712032e-05,1793239582794742016
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.756868595,745,715,678.243131405,663,636,880,788,804,652,631.756868595,653,0.408266591123,-0.0153743389257,0.0498104753218,0.999999945478,-7.23870353734e-05,-0.00031737222192,-5.54930003703e-05,1793239582811408640
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766.657510408,745,715,678,663,636,879.657510408,788,804,652.342489592,632,653,0.407724465439,-0.0153780521745,0.0498261519452,0.999999952634,-7.86854506011e-05,-0.00029265196394,-5.3813023282e-05,1793239582828075520
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766.063067043,745,715,678,663,636,879.063067043,788,804,652.936932957,632,653,0.407186496451,-0.015381431123,0.0498409463865,0.999999957104,-8.63784302212e-05,-0.000274967493638,-5.21966757702e-05,1793239582844742400
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.517256741,663,636,880.034513481,788,804,652.482743259,632.517256741,653,0.406656030317,-0.015379444767,0.0498238036759,0.99999994677,-9.25462454387e-05,-0.00030816849751,-5.41086996537e-05,1793239582861409024
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.905152047,635.905152047,880.810304094,788,804,652.094847953,632.905152047,653,0.406134831435,-0.0153773112099,0.0498033932227,0.999999933613,-9.87809261479e-05,-0.000346172755914,-5.6396321685e-05,1793239582878075648
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.332880186,635.332880186,879.665760371,788,804,652.667119814,632.332880186,653,0.405655797619,-0.0153776420222,0.0497856141038,0.99999992122,-0.00010626333631,-0.000377954767935,-5.84666402432e-05,1793239582894742528
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766.240883519,745,715,678.759116481,662.240883519,635.240883519,879,788,804,653,632,653,0.405208769586,-0.0153780958756,0.0497785302488,0.999999914941,-0.000113699348754,-0.000391987555808,-5.94685436379e-05,1793239582911408896
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.816721619,745,715,678.183278381,662.816721619,635.816721619,879,788,804,653,632,653,0.404806246441,-0.0153787208205,0.0497863184282,0.999999918221,-0.000121070843494,-0.00038133959947,-5.89847888029e-05,1793239582928075520
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.595155447,745,715,678.404844553,663,636,879,788,804,652.595155447,632,653,0.404443502742,-0.0153807047504,0.0498037772472,0.999999928381,-0.000130084218697,-0.000350578396354,-5.84104765417e-05,1793239582944742400
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.001296916,745,715,678.998703084,663,636,879,788,804,652.001296916,632,653,0.404099331251,-0.0153833231638,0.0498257510988,0.999999940367,-0.00013986415614,-0.000310426711528,-5.77938846714e-05,1793239582961409536
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.426033815,663,636,879,788,804,652,632,652.426033815,0.403793235758,-0.0153884760892,0.0498485907786,0.99999994997,-0.000143330351479,-0.000276386412602,-5.59234396193e-05,1793239582978076160
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.149116161,745,715,678,663,636,879.149116161,788,804,652,632,652.149116161,0.403490471402,-0.0153927565213,0.0498650714842,0.999999957746,-0.000131916551314,-0.000253194930047,-5.47620523917e-05,1793239582994743040
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.724059448,745,715,678,663,636,879.724059448,788,804,652,632,652.724059448,0.403196981638,-0.015394529557,0.0498633876269,0.99999996136,-7.80497991079e-05,-0.000260945924714,-5.56333394058e-05,1793239583011409408
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.693625895,745,715,678.306374105,663,636,879.693625895,788,804,652,632,653,0.402918056759,-0.0153942867957,0.0498572116961,0.999999958632,-5.7277443415e-05,-0.000276038263482,-5.70729620533e-05,1793239583028075776
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.104508459,745,715,678.895491541,663,636,879.104508459,788,804,652,632,653,0.402652573387,-0.0153921837166,0.0498468901674,0.999999951636,-6.70469017458e-05,-0.000297905705092,-5.90370843847e-05,1793239583044742400
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.475981257,745,715,678.524018743,663,636,879,788.475981257,804,652,631.524018743,653,0.402416161904,-0.0153926080401,0.049837501962,0.999999945323,-7.71561306476e-05,-0.000315811690371,-6.05274977458e-05,1793239583061409024
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766.945670736,745,715,678.054329264,663,636,879,788.945670736,804,652,631,653,0.402190684032,-0.0153934496181,0.0498287131849,0.999999939293,-8.69400714582e-05,-0.000331698741118,-6.18940319437e-05,1793239583078075648
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.370019983,745,715,678.629980017,663,636,879,788.370019983,804,652,631,653,0.402009961006,-0.0153930649456,0.0498237449162,0.999999937111,-9.28995803465e-05,-0.000336410519306,-6.30521371842e-05,1793239583094742272
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.790048535,879,788.209951465,804,652,631.209951465,653,0.401844517392,-0.0153930809434,0.0498214988088,0.999999936143,-9.73918847466e-05,-0.000337931233464,-6.34847477745e-05,1793239583111408896
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.202302324,879,788.797697676,804,652,631.797697676,653,0.401706568162,-0.0153938179228,0.0498241510639,0.999999937434,-9.92440442832e-05,-0.000333709823698,-6.26118752475e-05,1793239583128075776
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.381111316,744.618888684,715,679,663,635.381111316,879,788.618888684,804,652,632,653,0.401586038963,-0.0153918903532,0.0498268086709,0.99999994345,-5.69981709584e-05,-0.000327181174029,-5.29433286699e-05,1793239583144742400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.962251036,744.037748964,715,679,663,635.962251036,879,788.037748964,804,652,632,653,0.401474652754,-0.0153885642802,0.049829469087,0.999999948196,8.39280138446e-06,-0.000319441554987,-3.86583231364e-05,1793239583161409280
+374,6.233333333,POSE2_TO_POSE3_RETREAT,767,744.538322271,715,679,663,636,879,788,804.538322271,652.538322271,632,653,0.401391045001,-0.0153876407178,0.0498367394011,0.999999952919,7.49960799308e-06,-0.000304400928263,-3.80273357378e-05,1793239583178075648
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.885966841,745,715,679,663,636,879.114033159,788,804.885966841,652.885966841,632,653,0.401312313525,-0.0153886701933,0.0498434724876,0.999999956867,4.48672171626e-07,-0.000291207959808,-3.82626059153e-05,1793239583194742016
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.310289152,745,715,679,663,636,879.689710848,788,804.310289152,652.310289152,632,653,0.401245510562,-0.0153969305515,0.0498467342342,0.999999957847,-1.28894492326e-05,-0.000287548226719,-3.81647903651e-05,1793239583211408896
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.271579398,745,715,679,663,636,880,788,804,652,632,653,0.401186528118,-0.0154023809477,0.049847136963,0.999999957681,-2.30751650246e-05,-0.000287454758898,-3.84198280773e-05,1793239583228075520
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.860686193,745,715,679,663,636,880,788,804,652,632,653,0.401136689336,-0.0154045459692,0.049844196962,0.999999956304,-2.95751249288e-05,-0.000291530926202,-3.90874176317e-05,1793239583244742400
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.441768664,715,679,663.441768664,636,879.558231336,788,804,652.441768664,632,653,0.401096968804,-0.0154065685688,0.0498431473712,0.999999955962,-3.48332215849e-05,-0.000292065218709,-3.95071858271e-05,1793239583261409280
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745.979767714,715,679,663.979767714,635.979767714,879,788,804,653,632,653,0.401060970539,-0.0154084180222,0.0498427605271,0.999999955981,-3.9518091177e-05,-0.000291356752677,-3.9850230969e-05,1793239583278076160
+381,6.350000000,POSE2_TO_POSE3_RETREAT,767,745.404962728,715,679,663.404962728,635.404962728,879,788,804,653,632,653,0.401041099208,-0.0154067306172,0.049844490648,0.999999957345,-3.90337575222e-05,-0.00028665356118,-4.01942175176e-05,1793239583294742784
+382,6.366666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,663,635.17387371,879,788,804,652.82612629,631.82612629,653,0.401023347466,-0.0154055109347,0.0498461026036,0.999999958368,-3.94424773249e-05,-0.000282950833447,-4.05869445207e-05,1793239583311409408
+383,6.383333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,663,635.762322443,879,788,804,652.237677557,631.237677557,653,0.401010649559,-0.0154054064646,0.0498474328121,0.999999958616,-4.19805453182e-05,-0.000281633557817,-4.10958855665e-05,1793239583328075776
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.654481251,745,715,679,663,636,879,788,804,652.345518749,631.345518749,653,0.401002170164,-0.0154055879805,0.0498483813152,0.999999959122,-4.20614296101e-05,-0.000279808049664,-4.11496339327e-05,1793239583344742144
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.074843857,745,715,679,663,636,879,788,804,652.925156143,631.925156143,653,0.400996549172,-0.0154059632765,0.0498490711801,0.999999959803,-4.04773610315e-05,-0.000277638170169,-4.08949501906e-05,1793239583361408768
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.482307302,745,715,679,663,636,879,788,804,652.517692698,632,653,0.400994620969,-0.0154076922264,0.0498503818002,0.999999960444,-4.29564771369e-05,-0.000274946580644,-4.08752652905e-05,1793239583378075392
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.960949346,745,715,679,663,636,879.039050654,788,804,652.039050654,632,653,0.400993214503,-0.0154094773392,0.0498517235475,0.99999996104,-4.58624888844e-05,-0.000272297106209,-4.08746299773e-05,1793239583394742016
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.362271492,745,715,679,663,636,879.637728508,788,804,652.637728508,632,653,0.400991438592,-0.0154091911051,0.0498521924099,0.999999961286,-4.62529086737e-05,-0.000271359688531,-4.06476709692e-05,1793239583411409152
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.766412136,663,636,879.766412136,788,803.766412136,652.766412136,632,653,0.400989750074,-0.0154088370486,0.0498526686986,0.999999961449,-4.62178763177e-05,-0.000270775709384,-4.05671232151e-05,1793239583428076032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.17487191,663,636,879.17487191,788,803.17487191,652.17487191,632,653,0.400988195478,-0.0154083790603,0.0498531563674,0.999999961487,-4.55308768437e-05,-0.000270733343012,-4.07109375351e-05,1793239583444742656
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.40760079,663,636,879,788,803.40760079,652,632,653,0.400988268121,-0.0154085457957,0.0498536502468,0.999999961762,-4.55851456706e-05,-0.000269731953837,-4.05229437308e-05,1793239583461409280
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.986267917,663,636,879,788,803.986267917,652,632,653,0.400989023702,-0.015408974722,0.0498541467328,0.999999962136,-4.59505180638e-05,-0.000268328071535,-4.01956930775e-05,1793239583478075904
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,631.437539874,653,0.400989887441,-0.015409375667,0.0498549694424,0.999999962658,-4.53426159643e-05,-0.000266525664039,-3.9906686818e-05,1793239583494742528
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.138378888,788,804,652,631.138378888,653,0.400990357974,-0.0154096681039,0.0498555985409,0.999999962985,-4.54941722513e-05,-0.000265281914863,-3.98241926991e-05,1793239583511408896
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.713624181,788,804,652,631.713624181,653,0.400989578846,-0.015409620125,0.0498555913687,0.999999962693,-4.81180503555e-05,-0.000265832450013,-4.03907289747e-05,1793239583528075520
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,880,788,804,652,631.702987269,653,0.400988907867,-0.0154102877241,0.0498555949666,0.999999962616,-4.86164557567e-05,-0.00026602587771,-4.04204373076e-05,1793239583544742144
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,880,788,804,652,631.111525686,653,0.400988344104,-0.0154116647243,0.0498556092415,0.999999962756,-4.70077363182e-05,-0.000265865280654,-3.99179517828e-05,1793239583561409024
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.467696313,636,880,788,804.467696313,652.467696313,631.467696313,653,0.400987355611,-0.0154116751098,0.0498549795794,0.999999962483,-4.65792721954e-05,-0.000266937777687,-4.0110033417e-05,1793239583578075904
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,664,636,879.95595358,788,804.95595358,652.95595358,632,653,0.400986471194,-0.0154112479523,0.0498543700689,0.999999962187,-4.63707526092e-05,-0.000268027058748,-4.04535512817e-05,1793239583594742528
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,664,636,879.379937599,788,804.379937599,652.379937599,632,653,0.400988035747,-0.015409371808,0.0498558111608,0.999999962797,-4.55061998427e-05,-0.000265858348794,-4.06767215376e-05,1793239583611408896
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.80498626,663.80498626,635.80498626,879.19501374,788,804,652.19501374,632,653,0.400989230303,-0.0154084959537,0.0498568451818,0.999999963314,-4.48932324864e-05,-0.000264010976402,-4.06898132615e-05,1793239583628075520
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.232097894,663.232097894,635.232097894,879.767902106,788,804,652.767902106,632,653,0.400989707925,-0.0154095583434,0.0498570904285,0.999999963658,-4.47677577198e-05,-0.000262786254168,-4.0295839568e-05,1793239583644742144
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.354483938,663,635.354483938,879.645516062,788,804,653,631.645516062,653,0.40099024711,-0.0154096863255,0.0498576830374,0.999999963918,-4.531831658e-05,-0.000261708297176,-4.02434509048e-05,1793239583661409024
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.950391781,663,635.950391781,879.049608219,788,804,653,631.049608219,653,0.400990828223,-0.0154091779225,0.04985851222,0.99999996412,-4.63292931437e-05,-0.000260730295784,-4.04237012676e-05,1793239583678075392
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.472805259,663,636,879,788,804,652.472805259,631.527194741,653,0.400990398938,-0.0154094245606,0.0498578699759,0.999999963972,-4.54858674544e-05,-0.00026145695423,-4.03517036091e-05,1793239583694742528
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.102253321,663,636,879,788,804,652,632,652.897746679,0.400990069615,-0.015409779713,0.049857282695,0.999999963856,-4.44838207112e-05,-0.000262087320485,-4.02387758642e-05,1793239583711409408
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.677267759,663,636,879,788,804,652,632,652.322732241,0.400990626672,-0.0154103195744,0.0498575673009,0.999999964045,-4.35269589241e-05,-0.000261556796477,-4.00425153406e-05,1793239583728076288
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,632,652.258293747,0.400990187897,-0.0154110295574,0.0498573938724,0.99999996386,-4.53153166574e-05,-0.000261947876406,-4.01259893676e-05,1793239583744742656
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,632,652.847010097,0.400988475202,-0.0154119571686,0.049856634503,0.999999963175,-5.06154997907e-05,-0.000263517919252,-4.05673141434e-05,1793239583761408768
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766.430752437,745,715,678.569247563,663,636,879.430752437,788,804,652,631.569247563,653,0.400988593549,-0.0154123640063,0.0498573506032,0.999999963246,-5.1532342025e-05,-0.000263096885548,-4.04013526323e-05,1793239583778075648
+411,6.850000000,POSE2_TO_POSE3_RETREAT,767,745,715,678.012583825,663,636,880,788,804,652,631.012583825,653,0.400989328308,-0.015412534305,0.0498585444466,0.999999963583,-5.08574582839e-05,-0.000262000297735,-4.00374226407e-05,1793239583794742016
+412,6.866666667,POSE2_TO_POSE3_RETREAT,767,745,715,678.587071241,663,636,880,788,804,652,631.587071241,653,0.400988880062,-0.0154103072927,0.0498579380878,0.999999963732,-4.78306570412e-05,-0.000261954918508,-4.03548306989e-05,1793239583811408896
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.839187867,745,715,679,663,636,880,788,804,652,632,653,0.400988627652,-0.015409296547,0.0498574906229,0.999999963819,-4.59743166356e-05,-0.000261927407293,-4.05199868188e-05,1793239583828075776
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.267355055,745,715,679,663,636,880,788,804,652,632,653,0.400988875782,-0.0154113944645,0.0498574492759,0.999999963771,-4.71095641526e-05,-0.000261945565045,-4.02960012957e-05,1793239583844742656
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..43363d5b67f49e02fc584c5014b7bd378926c20c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/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,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+1,0.016666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+2,0.033333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+3,0.050000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+4,0.066666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+5,0.083333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+6,0.100000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+7,0.116666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+8,0.133333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+9,0.150000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+10,0.166666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+11,0.183333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+12,0.200000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+13,0.216666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+14,0.233333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+15,0.250000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+16,0.266666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+17,0.283333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+18,0.300000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+19,0.316666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+20,0.333333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+21,0.350000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+22,0.366666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+23,0.383333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+24,0.400000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+25,0.416666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+26,0.433333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+27,0.450000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+28,0.466666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+29,0.483333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+30,0.500000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+31,0.516666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+32,0.533333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+33,0.550000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+34,0.566666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+35,0.583333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+36,0.600000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+37,0.616666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+38,0.633333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+39,0.650000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+40,0.666666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+41,0.683333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+42,0.700000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+43,0.716666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+44,0.733333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+45,0.750000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+46,0.766666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+47,0.783333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+48,0.800000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+49,0.816666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+50,0.833333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+51,0.850000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+52,0.866666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+53,0.883333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+54,0.900000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+55,0.916666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+56,0.933333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+57,0.950000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+58,0.966666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+59,0.983333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+60,1.000000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+61,1.016666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+62,1.033333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+63,1.050000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+64,1.066666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+65,1.083333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+66,1.100000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+67,1.116666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+68,1.133333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+69,1.150000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+70,1.166666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+71,1.183333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+72,1.200000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+73,1.216666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+74,1.233333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+75,1.250000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+76,1.266666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+77,1.283333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+78,1.300000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+79,1.316666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+80,1.333333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+81,1.350000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+82,1.366666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+83,1.383333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+84,1.400000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+85,1.416666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+86,1.433333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+87,1.450000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+88,1.466666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+89,1.483333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+90,1.500000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+91,1.516666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+92,1.533333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+93,1.550000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+94,1.566666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+95,1.583333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+96,1.600000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+97,1.616666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+98,1.633333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+99,1.650000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+100,1.666666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+101,1.683333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+102,1.700000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+103,1.716666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+104,1.733333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+105,1.750000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+106,1.766666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+107,1.783333333,pose1_to_pose2_press,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+108,1.800000000,pose1_to_pose2_press,0.57566442784,-0.00990916888025,1.04003220885,0.546234878398,-0.00123743251842,1.0397003476
+109,1.816666667,pose1_to_pose2_press,0.575664446656,-0.00990915187783,1.0400321669,0.54623489704,-0.00123741605909,1.03970030677
+110,1.833333333,pose1_to_pose2_press,0.575664585288,-0.00990913258178,1.04003213474,0.546235035344,-0.00123739789705,1.03970027411
+111,1.850000000,pose1_to_pose2_press,0.57566460792,-0.0099091361937,1.04003214716,0.546235057983,-0.00123740151114,1.03970028589
+112,1.866666667,pose1_to_pose2_press,0.575664810256,-0.00990916848493,1.04003225816,0.546235260377,-0.00123743382171,1.03970039117
+113,1.883333333,pose1_to_pose2_press,0.575664831522,-0.00990917187882,1.04003226983,0.546235281649,-0.00123743721762,1.03970040223
+114,1.900000000,pose1_to_pose2_press,0.575665520318,-0.00990920867819,1.04003242201,0.546235971175,-0.00123747170833,1.03970055005
+115,1.916666667,pose1_to_pose2_press,0.575668356557,-0.00990920128075,1.04003257864,0.54623880842,-0.00123746087886,1.03970070709
+116,1.933333333,pose1_to_pose2_press,0.575675861751,-0.00990918548388,1.04003236228,0.546246314476,-0.00123744218051,1.03970049017
+117,1.950000000,pose1_to_pose2_press,0.575689423995,-0.00990929795985,1.04003238403,0.546259877613,-0.00123755142749,1.03970051697
+118,1.966666667,pose1_to_pose2_press,0.575714348787,-0.00990920569266,1.04003246493,0.546284800859,-0.00123746449077,1.03970059566
+119,1.983333333,pose1_to_pose2_press,0.575750527316,-0.00990923989429,1.04003224173,0.546320978893,-0.00123750030444,1.03970037415
+120,2.000000000,pose1_to_pose2_press,0.575797315821,-0.00990925030821,1.04003235725,0.546367769082,-0.00123750507548,1.03970048764
+121,2.016666667,pose1_to_pose2_press,0.575852990511,-0.00990920769883,1.0400323499,0.546423442423,-0.00123746690983,1.03970048378
+122,2.033333333,pose1_to_pose2_press,0.575917074648,-0.00990931653483,1.04003209915,0.546487527393,-0.00123757267746,1.03970023927
+123,2.050000000,pose1_to_pose2_press,0.575987984398,-0.00990930405159,1.04003236724,0.546558436303,-0.00123756334626,1.03970049941
+124,2.066666667,pose1_to_pose2_press,0.576065632692,-0.0099092433931,1.04003223363,0.546636084575,-0.00123750262801,1.03970036923
+125,2.083333333,pose1_to_pose2_press,0.576153561991,-0.00990913370694,1.04003245283,0.546724011031,-0.00123740286144,1.03970058135
+126,2.100000000,pose1_to_pose2_press,0.576252473109,-0.00990908550164,1.04003228846,0.546822922522,-0.00123735307887,1.03970042515
+127,2.116666667,pose1_to_pose2_press,0.576364583032,-0.00990915743584,1.04003217152,0.546935033781,-0.00123742062662,1.03970030424
+128,2.133333333,pose1_to_pose2_press,0.576490701299,-0.00990922253236,1.04003232927,0.547061153153,-0.00123748219955,1.03970045598
+129,2.150000000,pose1_to_pose2_press,0.576632137511,-0.00990925425167,1.04003245094,0.547202590447,-0.00123751017419,1.03970057958
+130,2.166666667,pose1_to_pose2_press,0.576790946909,-0.00990924761297,1.04003224416,0.54736140002,-0.00123750268995,1.03970037926
+131,2.183333333,pose1_to_pose2_press,0.576968068432,-0.00990920369631,1.04003200898,0.547538520266,-0.00123746301497,1.03970014643
+132,2.200000000,pose1_to_pose2_press,0.577168128711,-0.00990931868442,1.04003214815,0.547738581624,-0.00123757453412,1.03970028054
+133,2.216666667,pose1_to_pose2_press,0.577389216711,-0.00990928080126,1.04003227106,0.547959667444,-0.00123754426842,1.03970039765
+134,2.233333333,pose1_to_pose2_press,0.577631034963,-0.00990920734236,1.04003226548,0.548201487051,-0.00123746608681,1.03970039529
+135,2.250000000,pose1_to_pose2_press,0.577892596786,-0.0099092079913,1.04003236668,0.548463049839,-0.00123746334528,1.03970049942
+136,2.266666667,pose1_to_pose2_press,0.578173470201,-0.00990935005635,1.04003251801,0.548743922993,-0.0012376066702,1.03970064086
+137,2.283333333,pose1_to_pose2_press,0.578470723068,-0.0099092566537,1.04003234431,0.549041176226,-0.00123751130825,1.03970048588
+138,2.300000000,pose1_to_pose2_press,0.578783669841,-0.0099090512006,1.04003221785,0.54935411938,-0.0012373180482,1.03970036167
+139,2.316666667,pose1_to_pose2_press,0.57911287145,-0.00990911805596,1.04003240916,0.549683320202,-0.00123738805649,1.03970054034
+140,2.333333333,pose1_to_pose2_press,0.579456358764,-0.0099091806462,1.0400324172,0.550026809062,-0.00123744537807,1.0397005489
+141,2.350000000,pose1_to_pose2_press,0.579814642922,-0.00990924626152,1.0400322548,0.550385094698,-0.00123750591189,1.03970038808
+142,2.366666667,pose1_to_pose2_press,0.580191918725,-0.00990932350019,1.04003218594,0.55076237078,-0.00123758241248,1.03970031381
+143,2.383333333,pose1_to_pose2_press,0.580590773084,-0.0099093245032,1.0400322412,0.551161225017,-0.0012375837848,1.0397003702
+144,2.400000000,pose1_to_pose2_press,0.581022924534,-0.00990933006616,1.04003208739,0.551593377732,-0.00123758449427,1.03970023097
+145,2.416666667,pose1_to_pose2_press,0.581487576293,-0.00990936271221,1.04003222692,0.552058029276,-0.00123761818983,1.039700362
+146,2.433333333,pose1_to_pose2_press,0.581985140489,-0.00990915492254,1.04003227878,0.552555591211,-0.00123741846717,1.03970040354
+147,2.450000000,pose1_to_pose2_press,0.582503235858,-0.00990931564073,1.04003248802,0.553073688936,-0.00123757104425,1.0397006165
+148,2.466666667,pose1_to_pose2_press,0.583036315511,-0.00990930001197,1.04003205683,0.553606770047,-0.00123755026284,1.0397001906
+149,2.483333333,pose1_to_pose2_press,0.58356959168,-0.00990935107855,1.04003204717,0.554140044667,-0.00123760620598,1.0397001909
+150,2.500000000,pose1_to_pose2_press,0.584106633189,-0.00990934885648,1.04003228176,0.554677085807,-0.00123760561572,1.0397004155
+151,2.516666667,pose1_to_pose2_press,0.584664246677,-0.00990921580394,1.04003228531,0.555234697807,-0.00123747759139,1.0397004196
+152,2.533333333,pose1_to_pose2_press,0.585247506398,-0.00990921733082,1.04003233317,0.555817957996,-0.00123747746086,1.03970046921
+153,2.550000000,pose1_to_pose2_press,0.585860025127,-0.00990933150378,1.04003244497,0.556430479106,-0.00123758377022,1.03970057531
+154,2.566666667,pose1_to_pose2_press,0.58649627445,-0.0099092504972,1.04003233578,0.55706672745,-0.00123750608752,1.03970046604
+155,2.583333333,pose1_to_pose2_press,0.587148807249,-0.00990910372721,1.04003229541,0.557719256921,-0.00123737045939,1.03970042969
+156,2.600000000,pose1_to_pose2_press,0.587804052006,-0.0099091779071,1.04003245585,0.55837450299,-0.00123744035812,1.03970058562
+157,2.616666667,pose1_to_pose2_press,0.588465412919,-0.00990913537372,1.04003223684,0.559035864219,-0.00123739642413,1.03970037519
+158,2.633333333,pose1_to_pose2_press,0.589141970008,-0.00990938549596,1.04003238508,0.55971242349,-0.00123763956885,1.03970051221
+159,2.650000000,pose1_to_pose2_press,0.589836277849,-0.00990930680016,1.04003215356,0.560406729289,-0.00123756762834,1.03970028521
+160,2.666666667,pose1_to_pose2_press,0.590547703777,-0.00990922432418,1.0400323233,0.561118155511,-0.00123748430334,1.0397004511
+161,2.683333333,pose1_to_pose2_press,0.591271446976,-0.00990924666913,1.04003222929,0.56184189854,-0.00123750744205,1.03970035135
+162,2.700000000,pose1_to_pose2_press,0.592003912465,-0.00990924989068,1.04003227943,0.562574364054,-0.00123751023932,1.03970041037
+163,2.716666667,pose1_to_pose2_press,0.592743499166,-0.00990921407168,1.0400322214,0.56331395041,-0.00123747545446,1.03970035602
+164,2.733333333,pose1_to_pose2_press,0.593490092129,-0.00990915745604,1.04003211541,0.564060542224,-0.00123742274599,1.03970024986
+165,2.750000000,pose1_to_pose2_press,0.594241346767,-0.00990919116476,1.04003222084,0.564811796863,-0.00123745659249,1.0397003515
+166,2.766666667,pose1_to_pose2_press,0.595002799819,-0.00990925866276,1.04003239077,0.565573250689,-0.00123752167815,1.03970051593
+167,2.783333333,pose1_to_pose2_press,0.595775354423,-0.00990916377943,1.04003236483,0.566345804304,-0.00123742986037,1.03970049757
+168,2.800000000,pose1_to_pose2_press,0.59654352706,-0.00990916010099,1.04003233151,0.567113977816,-0.0012374230591,1.03970046833
+169,2.816666667,pose1_to_pose2_press,0.597307589888,-0.00990925386223,1.04003222891,0.567878041214,-0.00123751472572,1.03970036997
+170,2.833333333,pose1_to_pose2_press,0.598063538581,-0.00990918196541,1.04003251778,0.568633988377,-0.00123744864016,1.03970064271
+171,2.850000000,pose1_to_pose2_press,0.598813330393,-0.00990917321215,1.04003225441,0.569383781636,-0.00123743461647,1.03970038877
+172,2.866666667,pose1_to_pose2_press,0.599561392125,-0.0099090914073,1.04003233,0.57013184092,-0.00123736118628,1.03970046274
+173,2.883333333,pose1_to_pose2_press,0.600307853553,-0.00990919305456,1.04003239771,0.57087830358,-0.00123745896965,1.03970052223
+174,2.900000000,pose1_to_pose2_press,0.601053886211,-0.00990921400769,1.04003246983,0.5716243373,-0.00123747631089,1.03970059459
+175,2.916666667,pose1_to_pose2_press,0.601804406955,-0.00990920743123,1.04003228361,0.57237485785,-0.00123747005888,1.03970041708
+176,2.933333333,pose1_to_pose2_press,0.602551701168,-0.00990927426548,1.04003228315,0.573122152921,-0.00123753397865,1.03970041679
+177,2.950000000,pose1_to_pose2_press,0.603289736032,-0.00990928045888,1.04003251087,0.573860187784,-0.00123754045785,1.03970063719
+178,2.966666667,pose1_to_pose2_press,0.604019957578,-0.00990919679906,1.04003242484,0.574590408335,-0.00123746007969,1.03970055382
+179,2.983333333,pose1_to_pose2_press,0.604741607606,-0.00990921351434,1.04003219103,0.575312060339,-0.00123746978157,1.0397003281
+180,3.000000000,pose1_to_pose2_press,0.605447421003,-0.0099091856966,1.04003214695,0.57601787135,-0.00123745017319,1.03970028114
+181,3.016666667,pose1_to_pose2_press,0.60613757449,-0.00990930457919,1.04003236168,0.576708027157,-0.00123756126744,1.03970049375
+182,3.033333333,pose1_to_pose2_press,0.60682045593,-0.00990935346653,1.0400324153,0.577390907539,-0.00123761431638,1.03970053252
+183,3.050000000,pose1_to_pose2_press,0.607492958058,-0.00990921548394,1.04003226122,0.578063409652,-0.0012374758564,1.03970039237
+184,3.066666667,pose1_to_pose2_press,0.608149850542,-0.00990922871758,1.04003264551,0.578720302333,-0.00123748836763,1.03970077813
+185,3.083333333,pose1_to_pose2_press,0.608794817485,-0.00990931366738,1.04003225307,0.579365270277,-0.00123756987562,1.03970038694
+186,3.100000000,pose1_to_pose2_press,0.609424123571,-0.00990929918787,1.0400323713,0.579994576052,-0.00123755646724,1.0397005049
+187,3.116666667,pose1_to_pose2_press,0.610026159782,-0.00990928028376,1.04003231162,0.580596613509,-0.0012375331892,1.03970044904
+188,3.133333333,pose1_to_pose2_press,0.610606893454,-0.00990918130484,1.04003234673,0.58117734613,-0.00123743774906,1.039700485
+189,3.150000000,pose1_to_pose2_press,0.611170505497,-0.00990912158873,1.04003248015,0.581740956524,-0.00123738386299,1.03970061241
+190,3.166666667,pose1_to_pose2_press,0.611714756265,-0.00990912005754,1.04003235779,0.582285206407,-0.00123738542532,1.03970048792
+191,3.183333333,pose1_to_pose2_press,0.612235561712,-0.00990909360218,1.04003212853,0.582806011154,-0.00123736099788,1.03970026707
+192,3.200000000,pose1_to_pose2_press,0.612726686534,-0.00990915281283,1.04003221711,0.583297137544,-0.00123741459789,1.03970035936
+193,3.216666667,pose1_to_pose2_press,0.613188815764,-0.00990915540866,1.04003238145,0.583759263991,-0.00123742696628,1.03970050884
+194,3.233333333,pose1_to_pose2_press,0.613628486965,-0.00990922321652,1.04003247388,0.584198937806,-0.00123748551847,1.03970060493
+195,3.250000000,pose1_to_pose2_press,0.614054102796,-0.00990919191554,1.04003244139,0.584624553942,-0.00123745297101,1.03970056347
+196,3.266666667,pose1_to_pose2_press,0.614470562747,-0.0099092857158,1.04003227754,0.585041015015,-0.00123754235832,1.03970041228
+197,3.283333333,pose1_to_pose2_press,0.614876264378,-0.0099093277174,1.04003221947,0.585446716822,-0.00123758345702,1.03970035856
+198,3.300000000,pose1_to_pose2_press,0.615267686897,-0.00990930923925,1.04003232111,0.585838138783,-0.00123756698591,1.03970044983
+199,3.316666667,pose1_to_pose2_press,0.615630497221,-0.00990926673731,1.04003230111,0.586200948132,-0.00123752767082,1.03970042638
+200,3.333333333,pose1_to_pose2_press,0.615964120489,-0.00990920731654,1.04003211878,0.586534570433,-0.00123747098026,1.03970025233
+201,3.350000000,pose1_to_pose2_press,0.616267627419,-0.00990920277496,1.04003214301,0.586838078033,-0.00123746375603,1.03970028037
+202,3.366666667,pose1_to_pose2_press,0.616550196493,-0.00990918412864,1.04003248328,0.587120647153,-0.0012374451368,1.03970061205
+203,3.383333333,pose1_to_pose2_press,0.616815350923,-0.00990916630974,1.04003238466,0.587385800564,-0.00123743039167,1.03970051781
+204,3.400000000,pose1_to_pose2_press,0.617071680941,-0.00990922575766,1.04003229352,0.58764213131,-0.00123748733772,1.03970042342
+205,3.416666667,pose1_to_pose2_press,0.617319729083,-0.00990925369069,1.04003217887,0.587890179312,-0.00123751569177,1.03970031088
+206,3.433333333,pose1_to_pose2_press,0.617554126597,-0.00990929300934,1.04003214817,0.588124578334,-0.0012375493375,1.03970028789
+207,3.450000000,pose1_to_pose2_press,0.617772415893,-0.00990931110593,1.04003219184,0.588342868691,-0.00123756322725,1.03970033497
+208,3.466666667,pose1_to_pose2_press,0.617969413589,-0.00990927988304,1.04003220822,0.588539864672,-0.00123753774676,1.03970034901
+209,3.483333333,pose1_to_pose2_press,0.618145844237,-0.00990926122611,1.04003222648,0.588716294351,-0.00123752252015,1.03970036353
+210,3.500000000,pose1_to_pose2_press,0.61830177915,-0.00990920743091,1.04003225435,0.588872228744,-0.00123747060188,1.03970038551
+211,3.516666667,pose1_to_pose2_press,0.618441182022,-0.00990932147396,1.04003223752,0.589011633413,-0.00123757836981,1.03970037178
+212,3.533333333,pose1_to_pose2_press,0.618566311997,-0.00990917701039,1.04003247105,0.589136762011,-0.00123743866975,1.03970060095
+213,3.550000000,pose1_to_pose2_press,0.618680603005,-0.00990932108242,1.04003246929,0.589251053748,-0.00123757985746,1.03970060633
+214,3.566666667,pose1_to_pose2_press,0.618783858808,-0.0099093081502,1.04003229614,0.589354309137,-0.00123756833633,1.03970043228
+215,3.583333333,pose1_to_pose2_press,0.618874649069,-0.0099093847587,1.0400323269,0.589445101046,-0.00123763943544,1.0397004584
+216,3.600000000,pose1_to_pose2_press,0.618953338424,-0.00990936962262,1.04003252347,0.589523791026,-0.00123762222305,1.03970065175
+217,3.616666667,pose1_to_pose2_press,0.619019753598,-0.00990927468554,1.04003260374,0.589590205488,-0.00123752964839,1.03970073669
+218,3.633333333,pose1_to_pose2_press,0.619074133868,-0.00990924415312,1.04003251375,0.589644585124,-0.00123750103281,1.03970064643
+219,3.650000000,pose1_to_pose2_press,0.619118476717,-0.00990923604161,1.04003239396,0.589688927145,-0.00123749538897,1.03970051985
+220,3.666666667,pose1_to_pose2_press,0.619154512245,-0.00990913501802,1.04003232826,0.589724961223,-0.00123739903201,1.0397004641
+221,3.683333333,pose1_to_pose2_press,0.619184503936,-0.00990913697893,1.04003214018,0.589754953467,-0.00123739933378,1.03970027572
+222,3.700000000,pose1_to_pose2_press,0.619208803829,-0.00990931415221,1.04003241141,0.589779255067,-0.00123757106035,1.03970054076
+223,3.716666667,pose1_to_pose2_press,0.619228409365,-0.00990925001341,1.04003208996,0.589798859307,-0.00123751124935,1.03970022292
+224,3.733333333,pose1_to_pose2_press,0.619243425088,-0.00990919950993,1.04003220552,0.589813874746,-0.00123746177712,1.03970033836
+225,3.750000000,pose1_to_pose2_press,0.619254090172,-0.00990924119754,1.04003248828,0.589824540953,-0.0012374997393,1.03970061964
+226,3.766666667,pose1_to_pose2_press,0.619261194265,-0.00990927792902,1.04003245773,0.589831645813,-0.00123753372651,1.03970059229
+227,3.783333333,pose1_to_pose2_press,0.619265308211,-0.00990913501533,1.04003235289,0.589835758372,-0.00123739524682,1.03970049579
+228,3.800000000,pose1_to_pose2_press,0.619268037153,-0.00990909232337,1.04003231383,0.589838486701,-0.00123735453743,1.03970045833
+229,3.816666667,pose1_to_pose2_press,0.619269751064,-0.00990913810524,1.04003233179,0.589840200656,-0.00123740022885,1.03970047182
+230,3.833333333,pose1_to_pose2_press,0.619271155674,-0.00990917562504,1.0400323465,0.5898416053,-0.00123743767453,1.03970048287
+231,3.850000000,pose1_to_pose2_press,0.619272135082,-0.00990917577917,1.04003235272,0.58984258495,-0.00123743711392,1.0397004875
+232,3.866666667,pose1_to_pose2_press,0.619272610297,-0.00990917506683,1.04003235561,0.589843060289,-0.00123743603473,1.03970048966
+233,3.883333333,pose1_to_pose2_press,0.61927287249,-0.00990917467381,1.04003235721,0.58984332255,-0.0012374354393,1.03970049085
+234,3.900000000,pose1_to_pose2_press,0.619273191164,-0.00990917419612,1.04003235915,0.589843641307,-0.0012374347156,1.03970049229
+235,3.916666667,pose1_to_pose2_press,0.619273274235,-0.0099091740716,1.04003235965,0.589843724399,-0.00123743452695,1.03970049267
+236,3.933333333,pose1_to_pose2_press,0.619273390503,-0.0099091685981,1.04003233663,0.58984384042,-0.00123742988324,1.03970046973
+237,3.950000000,pose1_to_pose2_press,0.619273427703,-0.00990916638989,1.04003232722,0.589843877517,-0.00123742801983,1.03970046037
+238,3.966666667,pose1_to_pose2_press,0.61927345538,-0.00990916474692,1.04003232022,0.589843905118,-0.00123742663339,1.0397004534
+239,3.983333333,pose1_to_pose2_press,0.619273539349,-0.00990915976248,1.04003229898,0.589843988855,-0.00123742242722,1.03970043227
+240,4.000000000,pose1_to_pose2_press,0.619273584548,-0.00990915707943,1.04003228754,0.589844033929,-0.00123742016311,1.03970042089
+241,4.016666667,pose1_to_pose2_press,0.619273604651,-0.00990915588612,1.04003228246,0.589844053976,-0.00123741915612,1.03970041583
+242,4.033333333,pose1_to_pose2_press,0.61927375578,-0.00990914691497,1.04003224423,0.589844204688,-0.00123741158574,1.0397003778
+243,4.050000000,pose1_to_pose2_press,0.619273990999,-0.00990913295224,1.04003218472,0.589844439257,-0.00123739980316,1.0397003186
+244,4.066666667,pose1_to_pose2_press,0.619274196745,-0.00990912073904,1.04003213267,0.589844644434,-0.00123738949693,1.03970026682
+245,4.083333333,pose1_to_pose2_press,0.619274400795,-0.00990917570656,1.0400321647,0.58984484948,-0.00123744122261,1.03970029525
+246,4.100000000,pose1_to_pose2_press,0.619274627301,-0.00990929438534,1.04003227215,0.589845078434,-0.00123755189036,1.0397003954
+247,4.116666667,pose1_to_pose2_press,0.619274686134,-0.00990939586067,1.04003225548,0.589845139043,-0.00123764713816,1.03970038476
+248,4.133333333,pose1_to_pose2_press,0.619274687189,-0.00990940078523,1.04003225322,0.58984514018,-0.00123765176881,1.03970038295
+249,4.150000000,pose1_to_pose2_press,0.619274694822,-0.00990943641716,1.04003223688,0.589845148405,-0.00123768527415,1.03970036992
+250,4.166666667,pose1_to_pose2_press,0.619274694822,-0.00990943641716,1.04003223688,0.589845148405,-0.00123768527418,1.03970036992
+251,4.183333333,pose1_to_pose2_press,0.619274694822,-0.00990943641716,1.04003223688,0.589845148405,-0.00123768527426,1.03970036992
+252,4.200000000,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148407,-0.00123768527397,1.03970036992
+253,4.216666667,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148407,-0.0012376852739,1.03970036992
+254,4.233333333,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148407,-0.00123768527391,1.03970036992
+255,4.250000000,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148407,-0.00123768527397,1.03970036992
+256,4.266666667,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148407,-0.00123768527394,1.03970036992
+257,4.283333333,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148408,-0.00123768527392,1.03970036992
+258,4.300000000,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148408,-0.00123768527389,1.03970036992
+259,4.316666667,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148408,-0.00123768527386,1.03970036992
+260,4.333333333,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148408,-0.00123768527383,1.03970036992
+261,4.350000000,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148408,-0.00123768527378,1.03970036992
+262,4.366666667,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148408,-0.00123768527372,1.03970036992
+263,4.383333333,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148408,-0.00123768527364,1.03970036992
+264,4.400000000,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148408,-0.00123768527356,1.03970036992
+265,4.416666667,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148409,-0.00123768527353,1.03970036992
+266,4.433333333,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148409,-0.00123768527351,1.03970036992
+267,4.450000000,pose2_hold,0.619274694822,-0.00990943641716,1.04003223688,0.589845148409,-0.00123768527349,1.03970036992
+268,4.466666667,pose2_to_pose3_retreat,0.619274694822,-0.00990943641716,1.04003223688,0.589845148409,-0.00123768527404,1.03970036992
+269,4.483333333,pose2_to_pose3_retreat,0.619274382294,-0.00990918773322,1.040032341,0.589844831699,-0.00123745098037,1.03970046852
+270,4.500000000,pose2_to_pose3_retreat,0.619273927436,-0.00990913687513,1.04003232166,0.589844375775,-0.00123740364407,1.03970045179
+271,4.516666667,pose2_to_pose3_retreat,0.619273546799,-0.00990917260515,1.04003224929,0.58984399564,-0.00123743773388,1.03970037795
+272,4.533333333,pose2_to_pose3_retreat,0.619273488075,-0.00990917811742,1.04003223813,0.589843936995,-0.0012374429931,1.03970036656
+273,4.550000000,pose2_to_pose3_retreat,0.619273298099,-0.00990919595029,1.040032202,0.589843747269,-0.00123746000735,1.03970032971
+274,4.566666667,pose2_to_pose3_retreat,0.619272897584,-0.00990922269187,1.04003216194,0.589843347169,-0.00123748536787,1.0397002891
+275,4.583333333,pose2_to_pose3_retreat,0.619271789547,-0.00990923744124,1.04003224803,0.589842239653,-0.00123749817815,1.03970037911
+276,4.600000000,pose2_to_pose3_retreat,0.619269219513,-0.00990923039867,1.04003229504,0.589839669567,-0.00123749112357,1.0397004303
+277,4.616666667,pose2_to_pose3_retreat,0.619262444211,-0.00990915624186,1.04003210979,0.589832892661,-0.00123742242564,1.03970024465
+278,4.633333333,pose2_to_pose3_retreat,0.619250017565,-0.00990927771775,1.04003223619,0.589820468138,-0.00123753658963,1.0397003732
+279,4.650000000,pose2_to_pose3_retreat,0.619227102318,-0.00990915666934,1.04003226264,0.589797551505,-0.00123742058601,1.03970039159
+280,4.666666667,pose2_to_pose3_retreat,0.619193645599,-0.0099092864575,1.04003230856,0.589764095444,-0.00123754845471,1.0397004394
+281,4.683333333,pose2_to_pose3_retreat,0.619149388941,-0.00990915810308,1.04003228942,0.589719837835,-0.00123742293185,1.03970042079
+282,4.700000000,pose2_to_pose3_retreat,0.619096173715,-0.00990921884339,1.0400324202,0.589666624956,-0.00123747526296,1.03970055226
+283,4.716666667,pose2_to_pose3_retreat,0.619034629218,-0.00990918029521,1.04003242716,0.589605080365,-0.00123743706058,1.03970055989
+284,4.733333333,pose2_to_pose3_retreat,0.618965618868,-0.00990921970732,1.04003231627,0.589536067999,-0.0012374837422,1.03970044647
+285,4.750000000,pose2_to_pose3_retreat,0.618888281935,-0.00990933894296,1.04003222051,0.589458731817,-0.00123760069358,1.03970035246
+286,4.766666667,pose2_to_pose3_retreat,0.618799944396,-0.00990939566058,1.04003237245,0.589370396416,-0.00123765028485,1.03970050409
+287,4.783333333,pose2_to_pose3_retreat,0.618699516684,-0.00990935101096,1.04003237619,0.589269968757,-0.00123760543834,1.03970051028
+288,4.800000000,pose2_to_pose3_retreat,0.618584004377,-0.00990920423876,1.04003246054,0.58915445517,-0.00123746313469,1.03970059679
+289,4.816666667,pose2_to_pose3_retreat,0.618453460595,-0.00990933264114,1.04003205261,0.589023912976,-0.00123758641961,1.03970018713
+290,4.833333333,pose2_to_pose3_retreat,0.618306573385,-0.00990924791857,1.04003215413,0.588877023551,-0.00123750899513,1.03970029406
+291,4.850000000,pose2_to_pose3_retreat,0.618141289625,-0.00990939882635,1.04003238025,0.588711742126,-0.00123765222652,1.03970051529
+292,4.866666667,pose2_to_pose3_retreat,0.617958221726,-0.009909366576,1.04003241517,0.588528674546,-0.0012376191698,1.0397005469
+293,4.883333333,pose2_to_pose3_retreat,0.617757960754,-0.00990920154949,1.04003235777,0.588328411555,-0.00123746110011,1.03970049098
+294,4.900000000,pose2_to_pose3_retreat,0.617540985093,-0.0099092048264,1.04003231671,0.588111435821,-0.00123746475757,1.03970045041
+295,4.916666667,pose2_to_pose3_retreat,0.61730564943,-0.00990938833826,1.04003224959,0.587876102742,-0.00123763974974,1.03970038082
+296,4.933333333,pose2_to_pose3_retreat,0.617051145776,-0.00990939480683,1.04003227257,0.587621598982,-0.00123764671534,1.03970040523
+297,4.950000000,pose2_to_pose3_retreat,0.616776245748,-0.00990915383654,1.04003257711,0.587346696294,-0.00123741492856,1.03970071154
+298,4.966666667,pose2_to_pose3_retreat,0.616477121971,-0.00990917075799,1.0400324975,0.587047572615,-0.00123743170506,1.03970063248
+299,4.983333333,pose2_to_pose3_retreat,0.616156943569,-0.00990933712031,1.04003238014,0.586727396829,-0.00123758937594,1.03970051587
+300,5.000000000,pose2_to_pose3_retreat,0.615818859199,-0.00990932093148,1.04003245633,0.586389311551,-0.00123757693779,1.03970058141
+301,5.016666667,pose2_to_pose3_retreat,0.615466488465,-0.00990930297647,1.04003240933,0.586036939682,-0.00123756317055,1.03970053204
+302,5.033333333,pose2_to_pose3_retreat,0.615099588619,-0.00990932599091,1.04003232211,0.585670040412,-0.0012375842038,1.03970045126
+303,5.050000000,pose2_to_pose3_retreat,0.61471383647,-0.00990925665603,1.04003246179,0.585284288545,-0.00123751418128,1.03970059066
+304,5.066666667,pose2_to_pose3_retreat,0.614305949351,-0.00990921758393,1.04003225749,0.584876399278,-0.00123748265093,1.03970038765
+305,5.083333333,pose2_to_pose3_retreat,0.613865496161,-0.00990909494704,1.04003231105,0.584435944801,-0.00123736413461,1.03970045307
+306,5.100000000,pose2_to_pose3_retreat,0.613397658983,-0.00990922823733,1.04003234674,0.583968110523,-0.00123748820031,1.03970048154
+307,5.116666667,pose2_to_pose3_retreat,0.612907327101,-0.00990922707908,1.04003227604,0.583477777498,-0.00123749125283,1.03970040947
+308,5.133333333,pose2_to_pose3_retreat,0.612403877075,-0.00990924785854,1.0400323783,0.582974328263,-0.00123750971989,1.03970050824
+309,5.150000000,pose2_to_pose3_retreat,0.611890149409,-0.00990924544657,1.04003245504,0.582460601886,-0.00123750302977,1.03970058483
+310,5.166666667,pose2_to_pose3_retreat,0.611363727569,-0.0099091743189,1.04003235268,0.581934179077,-0.00123743490103,1.03970048834
+311,5.183333333,pose2_to_pose3_retreat,0.610817904964,-0.00990922060782,1.04003236122,0.581388356799,-0.00123748019706,1.03970049379
+312,5.200000000,pose2_to_pose3_retreat,0.610234957538,-0.00990919203541,1.04003222685,0.580805408648,-0.00123745391115,1.03970036402
+313,5.216666667,pose2_to_pose3_retreat,0.60961718823,-0.00990933463792,1.04003215226,0.58018764095,-0.00123759132123,1.03970028222
+314,5.233333333,pose2_to_pose3_retreat,0.60896512661,-0.00990924598986,1.04003238647,0.579535579981,-0.00123750021048,1.03970052308
+315,5.250000000,pose2_to_pose3_retreat,0.608296733168,-0.0099092913938,1.04003230552,0.578867186742,-0.00123754497483,1.03970044082
+316,5.266666667,pose2_to_pose3_retreat,0.607616833622,-0.00990930182045,1.04003240572,0.578187286821,-0.00123755689244,1.03970053522
+317,5.283333333,pose2_to_pose3_retreat,0.606925584512,-0.00990930176604,1.0400323623,0.577496037401,-0.00123755776096,1.03970049484
+318,5.300000000,pose2_to_pose3_retreat,0.606223837802,-0.00990925715514,1.04003228328,0.576794290107,-0.00123751495146,1.03970042018
+319,5.316666667,pose2_to_pose3_retreat,0.605513326328,-0.00990924146989,1.04003223721,0.576083778785,-0.00123749881581,1.03970037308
+320,5.333333333,pose2_to_pose3_retreat,0.604791339624,-0.00990930432782,1.04003204291,0.57536179288,-0.00123755909781,1.03970017646
+321,5.350000000,pose2_to_pose3_retreat,0.604058844049,-0.00990906708547,1.04003227838,0.574629293782,-0.00123733404315,1.03970040347
+322,5.366666667,pose2_to_pose3_retreat,0.603318354081,-0.00990922625948,1.04003234561,0.573888807618,-0.00123747987539,1.03970048291
+323,5.383333333,pose2_to_pose3_retreat,0.602567588393,-0.00990926696237,1.04003214433,0.573138040117,-0.00123752685934,1.03970027837
+324,5.400000000,pose2_to_pose3_retreat,0.601806034805,-0.00990922700228,1.0400321984,0.572376486808,-0.00123748586758,1.03970033395
+325,5.416666667,pose2_to_pose3_retreat,0.601031629121,-0.00990921436142,1.04003240632,0.571602080777,-0.00123747452429,1.03970053858
+326,5.433333333,pose2_to_pose3_retreat,0.600242114021,-0.00990926956612,1.04003243518,0.570812566477,-0.00123752725514,1.03970056283
+327,5.450000000,pose2_to_pose3_retreat,0.599450500214,-0.00990924445279,1.04003230962,0.570020952952,-0.00123750101595,1.03970044119
+328,5.466666667,pose2_to_pose3_retreat,0.598658190823,-0.00990916436219,1.0400323329,0.569228642502,-0.00123742433904,1.03970046738
+329,5.483333333,pose2_to_pose3_retreat,0.597876804428,-0.00990917197086,1.04003248476,0.568447256,-0.00123743239589,1.03970061692
+330,5.500000000,pose2_to_pose3_retreat,0.597104891193,-0.00990925945615,1.04003242637,0.567675344423,-0.00123751407844,1.039700563
+331,5.516666667,pose2_to_pose3_retreat,0.596335785742,-0.00990930057415,1.04003224042,0.566906237545,-0.00123756013027,1.03970037468
+332,5.533333333,pose2_to_pose3_retreat,0.595565377504,-0.00990913565406,1.04003227479,0.56613582741,-0.00123740196516,1.03970040073
+333,5.550000000,pose2_to_pose3_retreat,0.594790563798,-0.00990910900626,1.04003222139,0.565361014258,-0.00123737297114,1.03970035936
+334,5.566666667,pose2_to_pose3_retreat,0.594009664837,-0.00990932685893,1.04003227712,0.564580118216,-0.00123758070446,1.03970042072
+335,5.583333333,pose2_to_pose3_retreat,0.593226976375,-0.00990920063062,1.04003236142,0.563797426698,-0.00123746526142,1.03970049412
+336,5.600000000,pose2_to_pose3_retreat,0.592448170234,-0.00990915656857,1.04003236405,0.563018619652,-0.0012374243084,1.03970049571
+337,5.616666667,pose2_to_pose3_retreat,0.591680927603,-0.00990930298396,1.04003234578,0.562251380134,-0.00123755999401,1.03970048172
+338,5.633333333,pose2_to_pose3_retreat,0.590934772701,-0.00990933599554,1.04003230263,0.561505226758,-0.0012375877965,1.03970043936
+339,5.650000000,pose2_to_pose3_retreat,0.590204256971,-0.00990919829663,1.04003224015,0.560774709427,-0.00123745547896,1.03970037817
+340,5.666666667,pose2_to_pose3_retreat,0.589490438877,-0.00990912588302,1.04003233295,0.560060890333,-0.0012373866943,1.03970046484
+341,5.683333333,pose2_to_pose3_retreat,0.588790653551,-0.00990909332069,1.04003211793,0.55936110482,-0.00123735464213,1.03970025304
+342,5.700000000,pose2_to_pose3_retreat,0.588102107788,-0.00990934544236,1.04003221921,0.558672561041,-0.00123760010348,1.03970035236
+343,5.716666667,pose2_to_pose3_retreat,0.587422370076,-0.00990929215525,1.04003233115,0.557992823205,-0.00123754718236,1.03970046566
+344,5.733333333,pose2_to_pose3_retreat,0.586751618584,-0.0099091681694,1.04003233259,0.557322070137,-0.00123742826452,1.03970047441
+345,5.750000000,pose2_to_pose3_retreat,0.586094013905,-0.00990911859434,1.0400321202,0.556664464416,-0.00123738225654,1.03970026126
+346,5.766666667,pose2_to_pose3_retreat,0.585456752165,-0.00990919611534,1.04003212389,0.556027202233,-0.00123746172121,1.03970025335
+347,5.783333333,pose2_to_pose3_retreat,0.58483968421,-0.0099092913343,1.04003226109,0.555410135424,-0.00123755311353,1.0397003889
+348,5.800000000,pose2_to_pose3_retreat,0.584243163474,-0.00990929167919,1.04003218593,0.55481361649,-0.00123754693405,1.03970032446
+349,5.816666667,pose2_to_pose3_retreat,0.583666125604,-0.0099092370124,1.04003216666,0.554236577274,-0.00123749709942,1.03970029823
+350,5.833333333,pose2_to_pose3_retreat,0.583112730078,-0.00990913125408,1.04003234975,0.553683182874,-0.00123738735297,1.03970048565
+351,5.850000000,pose2_to_pose3_retreat,0.582582111168,-0.00990914090923,1.04003224323,0.55315256115,-0.00123740660351,1.03970037801
+352,5.866666667,pose2_to_pose3_retreat,0.582073924438,-0.00990931454337,1.04003216753,0.552644375412,-0.00123757708157,1.03970029676
+353,5.883333333,pose2_to_pose3_retreat,0.581585283022,-0.00990936324306,1.04003222378,0.552155735421,-0.00123762098506,1.0397003528
+354,5.900000000,pose2_to_pose3_retreat,0.581112544078,-0.00990922609619,1.04003231415,0.551682995687,-0.00123748636261,1.03970044755
+355,5.916666667,pose2_to_pose3_retreat,0.580652018432,-0.0099091533079,1.04003229433,0.551222470278,-0.00123741261433,1.03970043141
+356,5.933333333,pose2_to_pose3_retreat,0.5802084024,-0.00990922769969,1.04003222873,0.550778855228,-0.00123748364051,1.03970036628
+357,5.950000000,pose2_to_pose3_retreat,0.579788786404,-0.00990928996945,1.04003222346,0.55035923914,-0.00123754620498,1.03970036127
+358,5.966666667,pose2_to_pose3_retreat,0.579398793546,-0.00990927212822,1.04003225704,0.549969245986,-0.00123752939485,1.03970039422
+359,5.983333333,pose2_to_pose3_retreat,0.579040053723,-0.00990921308405,1.04003235395,0.549610503974,-0.00123747801222,1.03970048499
+360,6.000000000,pose2_to_pose3_retreat,0.578711810278,-0.0099091589459,1.04003222693,0.54928226156,-0.00123742013963,1.03970036407
+361,6.016666667,pose2_to_pose3_retreat,0.578409210435,-0.00990927853285,1.04003211685,0.548979662025,-0.00123753864441,1.03970025519
+362,6.033333333,pose2_to_pose3_retreat,0.578125914224,-0.00990921740979,1.04003218597,0.548696365352,-0.00123747912075,1.03970032359
+363,6.050000000,pose2_to_pose3_retreat,0.577857517312,-0.00990920349868,1.04003234986,0.548427968397,-0.00123746529791,1.03970048898
+364,6.066666667,pose2_to_pose3_retreat,0.577603069551,-0.00990924411333,1.04003246902,0.548173520937,-0.00123750501441,1.0397006049
+365,6.083333333,pose2_to_pose3_retreat,0.577360981092,-0.0099092473183,1.04003245689,0.547931432842,-0.00123750723131,1.03970058624
+366,6.100000000,pose2_to_pose3_retreat,0.577132645369,-0.00990920911173,1.04003246328,0.547703097272,-0.00123746863633,1.03970058937
+367,6.116666667,pose2_to_pose3_retreat,0.576924270612,-0.00990921164009,1.04003261017,0.547494722231,-0.00123747221031,1.03970073425
+368,6.133333333,pose2_to_pose3_retreat,0.576735921331,-0.00990915348517,1.04003244697,0.547306373245,-0.00123741256586,1.03970058371
+369,6.150000000,pose2_to_pose3_retreat,0.57657013576,-0.00990918515407,1.04003232749,0.547140587639,-0.00123744413639,1.03970046995
+370,6.166666667,pose2_to_pose3_retreat,0.576424828239,-0.009909221221,1.04003234175,0.546995280122,-0.00123748042611,1.03970047804
+371,6.183333333,pose2_to_pose3_retreat,0.576299721189,-0.00990906427567,1.04003245509,0.546870171722,-0.00123732805589,1.03970059165
+372,6.200000000,pose2_to_pose3_retreat,0.576191768702,-0.00990931322183,1.04003229086,0.546762221235,-0.00123757030966,1.03970042498
+373,6.216666667,pose2_to_pose3_retreat,0.576099065871,-0.00990922993283,1.04003212798,0.546669518127,-0.00123748771095,1.03970026947
+374,6.233333333,pose2_to_pose3_retreat,0.576018932258,-0.00990920845753,1.04003219731,0.546589384213,-0.00123746722928,1.03970033974
+375,6.250000000,pose2_to_pose3_retreat,0.575949670784,-0.00990926504783,1.0400323893,0.546520122714,-0.0012375241244,1.03970052564
+376,6.266666667,pose2_to_pose3_retreat,0.575891245373,-0.0099092369412,1.04003247883,0.546461696996,-0.00123749726174,1.03970060982
+377,6.283333333,pose2_to_pose3_retreat,0.575840670494,-0.00990919835686,1.04003238683,0.546411122684,-0.00123745684309,1.03970051545
+378,6.300000000,pose2_to_pose3_retreat,0.575797644841,-0.00990915894152,1.04003205833,0.54636809513,-0.00123742378925,1.03970018931
+379,6.316666667,pose2_to_pose3_retreat,0.57576278907,-0.0099092914007,1.04003206385,0.546333241655,-0.00123754809495,1.03970020417
+380,6.333333333,pose2_to_pose3_retreat,0.575735159332,-0.00990918810199,1.04003209175,0.546305610484,-0.00123744971064,1.03970023088
+381,6.350000000,pose2_to_pose3_retreat,0.575714083539,-0.00990908117244,1.04003215956,0.546284533611,-0.00123734653982,1.03970029621
+382,6.366666667,pose2_to_pose3_retreat,0.575698503234,-0.00990911671258,1.04003227668,0.546268954179,-0.00123737926496,1.0397004097
+383,6.383333333,pose2_to_pose3_retreat,0.575688113425,-0.00990925618667,1.04003239832,0.546258565887,-0.00123751389883,1.03970052332
+384,6.400000000,pose2_to_pose3_retreat,0.575680634094,-0.00990916736302,1.04003236647,0.546251085191,-0.00123742947624,1.03970049744
+385,6.416666667,pose2_to_pose3_retreat,0.575675869501,-0.00990914318072,1.04003235898,0.546246320676,-0.00123740496656,1.03970049152
+386,6.433333333,pose2_to_pose3_retreat,0.575672949633,-0.00990918239328,1.04003237757,0.546243402309,-0.00123743918518,1.03970050741
+387,6.450000000,pose2_to_pose3_retreat,0.575671061907,-0.00990920774461,1.0400323896,0.546241515554,-0.00123746130787,1.03970051769
+388,6.466666667,pose2_to_pose3_retreat,0.575669856789,-0.00990923869159,1.04003238707,0.54624031018,-0.0012374931346,1.03970051482
+389,6.483333333,pose2_to_pose3_retreat,0.575668953055,-0.0099092649682,1.04003238306,0.546239406072,-0.00123752068235,1.0397005107
+390,6.500000000,pose2_to_pose3_retreat,0.575668356886,-0.00990928230217,1.04003238041,0.546238809657,-0.00123753885485,1.03970050799
+391,6.516666667,pose2_to_pose3_retreat,0.575668136225,-0.00990928871803,1.04003237943,0.546238588904,-0.00123754558108,1.03970050698
+392,6.533333333,pose2_to_pose3_retreat,0.575668049747,-0.00990929123242,1.04003237904,0.546238502391,-0.00123754821711,1.03970050659
+393,6.550000000,pose2_to_pose3_retreat,0.575667852954,-0.0099092969543,1.04003237817,0.546238305516,-0.00123755421578,1.03970050569
+394,6.566666667,pose2_to_pose3_retreat,0.575667761946,-0.00990929960041,1.04003237776,0.54623821447,-0.0012375569899,1.03970050528
+395,6.583333333,pose2_to_pose3_retreat,0.575667665269,-0.00990930241136,1.04003237733,0.546238117753,-0.00123755993683,1.03970050484
+396,6.600000000,pose2_to_pose3_retreat,0.5756673051,-0.0099093128835,1.04003237573,0.546237757435,-0.00123757091557,1.0397005032
+397,6.616666667,pose2_to_pose3_retreat,0.575666803393,-0.00990929772163,1.0400323492,0.546237255146,-0.00123755766788,1.03970047833
+398,6.633333333,pose2_to_pose3_retreat,0.575666618532,-0.00990928296597,1.04003233194,0.546237069954,-0.00123754399001,1.03970046221
+399,6.650000000,pose2_to_pose3_retreat,0.575666579905,-0.00990927988272,1.04003232833,0.546237031258,-0.00123754113197,1.03970045884
+400,6.666666667,pose2_to_pose3_retreat,0.575666416521,-0.00990926684138,1.04003231307,0.546236867582,-0.0012375290432,1.03970044459
+401,6.683333333,pose2_to_pose3_retreat,0.575666070123,-0.00990923919183,1.04003228071,0.546236520566,-0.00123750341324,1.03970041437
+402,6.700000000,pose2_to_pose3_retreat,0.575665548157,-0.00990919752836,1.04003223196,0.546235997667,-0.00123746479297,1.03970036885
+403,6.716666667,pose2_to_pose3_retreat,0.575665269299,-0.00990918174282,1.04003221075,0.546235718585,-0.00123744970835,1.03970034919
+404,6.733333333,pose2_to_pose3_retreat,0.575665176312,-0.00990918583987,1.04003221067,0.54623562592,-0.00123745270162,1.03970034939
+405,6.750000000,pose2_to_pose3_retreat,0.575665074525,-0.00990919032467,1.04003221058,0.546235524485,-0.00123745597817,1.03970034961
+406,6.766666667,pose2_to_pose3_retreat,0.575665067965,-0.00990919061371,1.04003221057,0.546235517947,-0.00123745618935,1.03970034963
+407,6.783333333,pose2_to_pose3_retreat,0.575664807274,-0.00990920209983,1.04003221034,0.54623525816,-0.001237464581,1.03970035019
+408,6.800000000,pose2_to_pose3_retreat,0.575664607256,-0.00990921091272,1.04003221016,0.546235058834,-0.00123747101961,1.03970035062
+409,6.816666667,pose2_to_pose3_retreat,0.575664525127,-0.00990921453136,1.04003221009,0.546234976989,-0.00123747366336,1.03970035079
+410,6.833333333,pose2_to_pose3_retreat,0.575664529906,-0.00990920600352,1.04003224561,0.546234981682,-0.00123746573309,1.03970037836
+411,6.850000000,pose2_to_pose3_retreat,0.575664532851,-0.0099091952329,1.04003227085,0.546234984404,-0.00123745594062,1.0397003978
+412,6.866666667,pose2_to_pose3_retreat,0.575664486147,-0.00990918465001,1.04003224606,0.546234937276,-0.00123744660515,1.03970037808
+413,6.883333333,pose2_to_pose3_retreat,0.575664453242,-0.00990917719373,1.04003222858,0.546234904071,-0.00123744002775,1.03970036419
+414,6.900000000,pose2_to_pose3_retreat,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449792,1.03970035251
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07b8f92a3cd985f2b6dfa6298bd6ac7a7539fe63
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6a78f178dbf3cb19473adf48afeea7dd91a7adea81411b834cc42cf63b89e61
+size 26479761
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..beb4766fa75d3fdb1b8bb32500fbda5237b13d0e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,663,636,879,788,804,652,632,653,0.40099047803,-0.0154100248507,0.0498588306078,0.999999964425,-4.51079410943e-05,-0.000259779638516,-4.03683883838e-05,1793239583966738432
+1,0.016666667,BASELINE,766,745,715,679,663,636,879.579349126,788,804,652.579349126,632,653,0.400989512644,-0.0154105983449,0.0498581529453,0.999999964291,-4.61829778382e-05,-0.000260108981865,-4.0357089432e-05,1793239583983405312
+2,0.033333333,BASELINE,766.158199926,745,715,679,663,636,879.841800074,788,804,653,631.841800074,653,0.40098883684,-0.015411296108,0.0498576702402,0.999999964196,-4.72719327033e-05,-0.000260284983199,-4.03016792178e-05,1793239584000072448
+3,0.050000000,BASELINE,766.735729972,745,715,679,663,636,879.264270028,788,804,653,631.264270028,653,0.400988928608,-0.0154123232623,0.0498577042959,0.999999964209,-4.83977796506e-05,-0.000260054531025,-4.01293461852e-05,1793239584016739072
+4,0.066666667,BASELINE,766.689729525,745,715,679,663,636,879.310270475,788,804.310270475,653,631.310270475,653,0.400988789306,-0.0154124580978,0.0498576408641,0.999999964078,-4.88682937529e-05,-0.00026047859294,-4.00850058248e-05,1793239584033405440
+5,0.083333333,BASELINE,766.117711072,745,715,679,663,636,879.882288928,788,804.882288928,653,631.882288928,653,0.400988455071,-0.015411840162,0.0498574951907,0.999999963825,-4.87859609622e-05,-0.000261454810981,-4.01486416628e-05,1793239584050071808
+6,0.100000000,BASELINE,766.470112884,745,715,678.529887116,663,636,879.529887116,788,804.529887116,652.529887116,632,653,0.400989496168,-0.0154120861953,0.0498583635479,0.999999964234,-4.89808408064e-05,-0.000259859561111,-4.00649732024e-05,1793239584066738176
+7,0.116666667,BASELINE,766.939249075,745,715,678,663,636,879,788,804,652,632,653,0.400990571639,-0.0154123556542,0.0498592603803,0.999999964717,-4.89728355835e-05,-0.000258012564185,-3.99708595399e-05,1793239584083404800
+8,0.133333333,BASELINE,766.359554519,745,715,678,663,636,879,788,804,652,632,653,0.400988896746,-0.0154109130199,0.0498581561267,0.999999964385,-4.6618208332e-05,-0.000259706463691,-4.01135458611e-05,1793239584100071424
+9,0.150000000,BASELINE,766,745,715,678.218022669,663,636,879,788,804,652,632,653,0.400988417146,-0.0154105212357,0.049857854037,0.999999964313,-4.57019291059e-05,-0.000260154721346,-4.00615279942e-05,1793239584116738560
+10,0.166666667,BASELINE,766,745,715,678.792141507,663,636,879,788,804,652,632,653,0.400989889818,-0.0154118458038,0.0498588621208,0.999999964673,-4.71349022457e-05,-0.000258568473473,-3.96914999925e-05,1793239584133405952
+11,0.183333333,BASELINE,766,745,715,678.624946948,663,636,879,788,804,652.375053052,631.624946948,653,0.400990212209,-0.0154122294518,0.0498593182828,0.999999964802,-4.71890928373e-05,-0.000258061513687,-3.96744951213e-05,1793239584150072832
+12,0.200000000,BASELINE,766,745,715,678.037045349,663,636,879,788,804,652.962954651,631.037045349,653,0.400989881798,-0.015412079113,0.0498594612205,0.999999964801,-4.64608026319e-05,-0.000258167066835,-3.98578364326e-05,1793239584166739456
+13,0.216666667,BASELINE,766.543379407,745,715,678.543379407,663,636,879.543379407,788,804,652.456620593,631.543379407,653,0.400988608313,-0.0154115819997,0.0498583672707,0.999999964383,-4.54764055793e-05,-0.000259923209009,-4.00604052379e-05,1793239584183405824
+14,0.233333333,BASELINE,766.877339943,745,715.122660057,679,663,636,879.877339943,788,804,652,631.877339943,653,0.400987909894,-0.0154114538999,0.049857663346,0.99999996412,-4.52466862997e-05,-0.000260956282912,-4.01694312797e-05,1793239584200071936
+15,0.250000000,BASELINE,766.300433991,745,715.699566009,679,663,636,879.300433991,788,804,652,631.300433991,653,0.400989575977,-0.015412778728,0.0498587118422,0.999999964542,-4.78755411444e-05,-0.000258900548971,-3.9927252725e-05,1793239584216738560
+16,0.266666667,BASELINE,766,745,715.724094305,678.724094305,663,636,879,788,804,652.275905695,631.275905695,652.724094305,0.400989527916,-0.015413091202,0.0498588597651,0.999999964547,-4.87759847305e-05,-0.000258708407043,-3.99633579297e-05,1793239584233405184
+17,0.283333333,BASELINE,766,745,715.148369998,678.148369998,663,636,879,788,804,652.851630002,631.851630002,652.148369998,0.400987617146,-0.0154123035803,0.0498580290615,0.999999964105,-4.77982144271e-05,-0.000260541375927,-4.03018659344e-05,1793239584250071808
+18,0.300000000,BASELINE,766,745,715,678.437523096,663,636,879,788,804,652.562476904,632,652.437523096,0.400988465547,-0.01541318303,0.0498588246104,0.999999964416,-4.7666368219e-05,-0.000259444063511,-3.98186488574e-05,1793239584266738432
+19,0.316666667,BASELINE,766,745,715,678.973531728,663,636,879,788,804,652.026468272,632,653,0.400990241337,-0.0154146251734,0.0498601505045,0.999999964974,-4.79585036226e-05,-0.000257341172195,-3.90947897544e-05,1793239584283405312
+20,0.333333333,BASELINE,766,745,715,678.394571154,663,636,879,788,804,652.605428846,632,653,0.400991379481,-0.0154157315725,0.0498607612334,0.999999965293,-5.09703112659e-05,-0.0002554838369,-3.93028738847e-05,1793239584300072192
+21,0.350000000,BASELINE,766,745,715,678,663,636,879,788,804,653,631.817288523,653,0.400991819772,-0.0154159220913,0.0498608206648,0.999999965406,-5.23992329224e-05,-0.000254710429154,-3.95651069803e-05,1793239584316738816
+22,0.366666667,BASELINE,766,745,715,678,663,636,879,788,804,653,631.243596565,653,0.400990766739,-0.0154141527368,0.0498597003862,0.999999965096,-5.04409694498e-05,-0.000256256495629,-3.99432122927e-05,1793239584333405184
+23,0.383333333,BASELINE,766,745,715,678,663,636,879.331719163,788,804,652.668280837,631.331719163,653,0.400989841621,-0.0154123047702,0.049859158723,0.999999964833,-4.83641400588e-05,-0.0002576368777,-4.02175694575e-05,1793239584350071808
+24,0.400000000,BASELINE,766,745,715,678,663,636,879.908233226,788,804,652.091766774,631.908233226,653,0.400989010897,-0.015410398791,0.0498590440538,0.999999964603,-4.61998137635e-05,-0.000258894991757,-4.04153648584e-05,1793239584366738688
+25,0.416666667,BASELINE,766.497550847,745,715,678.497550847,663.497550847,636,879.502449153,788,804,652,632,653,0.400989433302,-0.0154103459385,0.0498591552184,0.999999964767,-4.50954053857e-05,-0.000258437576316,-4.05310999291e-05,1793239584383405056
+26,0.433333333,BASELINE,766.912830629,745,715,679,663.912830629,636,879.087169371,788,804,652,632,653,0.400989955936,-0.0154108314919,0.0498593521013,0.999999964963,-4.46196282181e-05,-0.000257754957028,-4.05527055036e-05,1793239584400071936
+27,0.450000000,BASELINE,766.335157579,745,715,679,663.335157579,636,879.664842421,788,804,652,632,653,0.40098970768,-0.015412372637,0.049859790755,0.999999964924,-4.65521007756e-05,-0.000257632565896,-4.01320568252e-05,1793239584416739072
+28,0.466666667,BASELINE,766,745,715,679,663,636,879.759174873,788,804,652.240825127,632,653,0.400989529294,-0.0154125646027,0.0498599190822,0.99999996491,-4.72086560638e-05,-0.00025759104288,-3.99769278785e-05,1793239584433405952
+29,0.483333333,BASELINE,766,745,715,679,663,636,879.185528265,788,804,652.814471735,632,653,0.400989447471,-0.0154108919958,0.0498596185368,0.999999964935,-4.61018874567e-05,-0.000257661279998,-4.01887484988e-05,1793239584450072576
+30,0.500000000,BASELINE,766.399865682,745,715,679,663,636,879,788.399865682,804,652.600134318,632,653,0.400990311696,-0.0154109416706,0.0498601617735,0.999999965233,-4.68385870813e-05,-0.000256352907466,-4.02914365748e-05,1793239584466738944
+31,0.516666667,BASELINE,766.990875075,745,715,679,663,636,879,788.990875075,804,652.009124925,632,653,0.400991628152,-0.0154118146301,0.0498611083547,0.999999965656,-4.84565010376e-05,-0.000254385532234,-4.03419571285e-05,1793239584483405312
+32,0.533333333,BASELINE,767,745,715,679,663,636,879.568757172,788.431242828,804,652.568757172,632,653,0.40099100075,-0.0154133556201,0.0498602694034,0.99999996542,-4.84678458613e-05,-0.000255426136304,-3.95965261786e-05,1793239584500071936
+33,0.550000000,BASELINE,766.853955906,745.146044094,715,679,663,636,879.853955906,788,804,652.853955906,632,653,0.400990606661,-0.0154141548826,0.0498597271378,0.999999965239,-4.78897570725e-05,-0.000256305665276,-3.91937834205e-05,1793239584516738560
+34,0.566666667,BASELINE,766.277815615,745.722184385,715,679,663,636,879.277815615,788,804,652.277815615,632,653,0.400990989443,-0.0154127389249,0.0498601410638,0.99999996525,-4.56499958829e-05,-0.00025657191698,-3.98370076852e-05,1793239584533405184
+35,0.583333333,BASELINE,766.295900586,745.704099414,715,679,663.295900586,636,879.295900586,788,804,652,632,653,0.400991090947,-0.0154124138783,0.0498606198529,0.999999965341,-4.6232348304e-05,-0.000256085887639,-4.00124024502e-05,1793239584550071808
+36,0.600000000,BASELINE,766.867359414,745.132640586,715,679,663.867359414,636,879.867359414,788,804,652,632,653,0.400990930508,-0.0154131047457,0.0498611590459,0.999999965501,-4.94428015871e-05,-0.000254899294517,-3.97521297712e-05,1793239584566738944
+37,0.616666667,BASELINE,767,745,715,678.542006574,663.542006574,636,879.542006574,788,804,652.457993426,632,653,0.400991331329,-0.0154125352558,0.0498612486685,0.999999965723,-4.79336596045e-05,-0.000254297505386,-3.98757213185e-05,1793239584583406080
+38,0.633333333,BASELINE,766.947268736,745,715,678.052731264,663.052731264,636,879.052731264,788,804,652.947268736,632,653,0.40099184673,-0.015411762549,0.0498612061795,0.999999965922,-4.55982906329e-05,-0.000253912290439,-4.00654417118e-05,1793239584600072960
+39,0.650000000,BASELINE,766.36938337,745,715,678.63061663,663.63061663,636,879.63061663,788,804,652.36938337,632,653,0.400991813679,-0.0154127600492,0.049861201325,0.999999965759,-4.92418871061e-05,-0.000253923513939,-3.97581957911e-05,1793239584616739072
+40,0.666666667,BASELINE,766,745.207033775,715,678.792966225,663.792966225,636,879.792966225,788,804,652.207033775,632,653,0.400991424905,-0.0154131204086,0.0498609409141,0.999999965531,-5.06696065633e-05,-0.00025454966769,-3.96951282716e-05,1793239584633405184
+41,0.683333333,BASELINE,766,745.780849778,715,678.219150222,663.219150222,636,879.219150222,788,804,652.780849778,632,653,0.400990405933,-0.0154123520058,0.0498602277577,0.999999965201,-4.81716653118e-05,-0.00025626523542,-4.00646486337e-05,1793239584650071552
+42,0.700000000,BASELINE,766.362626624,745.637373376,715,678,663.362626624,636,879,788.362626624,804,652.637373376,632,653,0.400990085949,-0.0154132134801,0.0498600003037,0.999999964982,-4.86109750038e-05,-0.00025704237169,-4.00354325995e-05,1793239584666738176
+43,0.716666667,BASELINE,766.949322502,745.050677498,715,678,663.949322502,636,879,788.949322502,804,652.050677498,632,653,0.400990197874,-0.0154150820658,0.0498600729683,0.99999996483,-5.08652304797e-05,-0.00025723964524,-3.97598348434e-05,1793239584683404800
+44,0.733333333,BASELINE,766.467626156,745,715,678,663.467626156,636,879,788.467626156,804,652,632,653,0.400991557426,-0.0154147560552,0.0498609024727,0.999999965406,-5.00373482551e-05,-0.00025514630953,-3.98073213344e-05,1793239584700071680
+45,0.750000000,BASELINE,766,745,715,678.113386704,663,636,879.113386704,788,804,652,631.886613296,653,0.400992474855,-0.0154139910528,0.0498615066893,0.999999965881,-4.83416887816e-05,-0.000253589758886,-3.99093122988e-05,1793239584716738560
+46,0.766666667,BASELINE,766,745,715,678.687516262,663,636,879.687516262,788,804,652,631.312483738,653,0.400991116421,-0.0154122853375,0.0498609046964,0.999999965678,-4.43039355678e-05,-0.00025509441655,-4.01086585292e-05,1793239584733405440
+47,0.783333333,BASELINE,766,745,715,678.737938981,663,636,879.737938981,788,804,652,631,653,0.40099053863,-0.0154112586432,0.0498605182815,0.999999965556,-4.32623440825e-05,-0.000255727729304,-4.02559853951e-05,1793239584750072320
+48,0.800000000,BASELINE,766,745,715,678.162898275,663,636,879.162898275,788,804,652,631,653,0.400990893159,-0.0154110429042,0.0498603893315,0.999999965543,-4.57990704537e-05,-0.00025532039432,-4.03411855184e-05,1793239584766738944
+49,0.816666667,BASELINE,766.423053905,745,715,678,663.846107811,636,879,788,804,652,631.423053905,652.576946095,0.400991109202,-0.0154118076363,0.0498606148787,0.999999965585,-4.70554152417e-05,-0.00025495379412,-4.01820140505e-05,1793239584783405056
+50,0.833333333,BASELINE,766.986937037,745,715,678.013062963,664.973874075,636,879.013062963,788,804,652.013062963,632,652.013062963,0.400991272971,-0.0154129364586,0.0498609764307,0.99999996565,-4.77739089919e-05,-0.000254604607049,-3.99297229189e-05,1793239584800071424
+51,0.850000000,BASELINE,766.408009691,745,715,678.591990309,663.816019382,636,879.591990309,788,804,652.591990309,632,652.591990309,0.400991543395,-0.0154130499603,0.0498611599744,0.99999996576,-4.7115604785e-05,-0.000254312287496,-3.98276415061e-05,1793239584816738048
+52,0.866666667,BASELINE,766,745,715,679,663,636,879.830047441,788,804,653,632,653,0.400991633949,-0.0154131161633,0.0498613083705,0.999999965838,-4.64300282953e-05,-0.000254136972102,-3.978436261e-05,1793239584833404672
+53,0.883333333,BASELINE,766,745,715,679,663,636,879.254389073,788,804,653,632,653,0.400991295121,-0.0154130694562,0.049861372863,0.999999965842,-4.56793482446e-05,-0.000254240965654,-3.98814553783e-05,1793239584850071296
+54,0.900000000,BASELINE,766,745,715,679,663,636,879,788,804,652.672477433,632,652.672477433,0.400991894584,-0.0154126394831,0.0498615648455,0.999999965899,-4.63718633113e-05,-0.000253856791167,-4.01108816912e-05,1793239584866738176
+55,0.916666667,BASELINE,766,745,715,679,663,636,879,788,804,652.085614323,632,652.085614323,0.400993237011,-0.0154119060303,0.0498618577777,0.999999965994,-4.82071363244e-05,-0.00025308607304,-4.04450930028e-05,1793239584883405312
+56,0.933333333,BASELINE,766.494777196,745,715,679,663,636,879,788,804,652,632,652.494777196,0.400992735409,-0.0154124746359,0.0498617009161,0.999999966041,-4.67090231575e-05,-0.000253257441255,-3.996911642e-05,1793239584900071936
+57,0.950000000,BASELINE,766.925926388,745,715,679,663,635.925926388,879.148147224,788,804,652,632,653,0.400991894867,-0.0154131657137,0.0498614276806,0.999999965998,-4.51695226947e-05,-0.000253782366922,-3.94687959031e-05,1793239584916738560
+58,0.966666667,BASELINE,766.346560284,745,715,679,663,635.346560284,880.306879431,788,804,652,632,653,0.400990890768,-0.0154131751733,0.0498608846675,0.999999965424,-4.7231510809e-05,-0.000255621433386,-3.97463836969e-05,1793239584933404928
+59,0.983333333,BASELINE,766,745,715,678.770031881,663,635.229968119,880.540063761,788,804,652,632,653,0.400990775386,-0.0154135861646,0.0498609563456,0.999999965324,-4.818080967e-05,-0.000255829976592,-3.97629046234e-05,1793239584950071552
+60,1.000000000,BASELINE,766,745,715,678.197727659,663,635.802272341,879.395455319,788,804,652,632,653,0.400991982969,-0.015414594886,0.0498619430677,0.999999965938,-4.74737327168e-05,-0.000253611283733,-3.93907951414e-05,1793239584966738176
+61,1.016666667,BASELINE,766,745,715,678.386002823,663,636,879,788,804,652,632,653,0.400991580914,-0.0154132638974,0.0498614499407,0.999999965742,-4.7021738416e-05,-0.000254410332149,-3.97595356931e-05,1793239584983404800
+62,1.033333333,BASELINE,766,745,715,678.975764849,663,636,879,788,804,652,632,653,0.40099032918,-0.0154106978469,0.0498601756461,0.999999965115,-4.67043945658e-05,-0.000256802354938,-4.05193485667e-05,1793239585000071424
+63,1.050000000,BASELINE,766,745,715,679,663,636,879.555855917,788,804,652.555855917,632,653,0.400990485036,-0.0154117306544,0.0498605619662,0.999999965364,-4.67813561555e-05,-0.000255828871447,-4.04449253781e-05,1793239585016738304
+64,1.066666667,BASELINE,766.134850884,745,715,678.865149116,663,635.865149116,879.865149116,788,804,653,632,652.865149116,0.400990861361,-0.0154128197933,0.049861123078,0.999999965637,-4.73623655059e-05,-0.00025467672306,-4.02782503709e-05,1793239585033405184
+65,1.083333333,BASELINE,766.711612001,745,715,678.288387999,663,635.288387999,879.288387999,788,804,653,632,652.288387999,0.400991762499,-0.0154135881292,0.0498620237802,0.999999965867,-4.9539779936e-05,-0.000253411716742,-3.99264187357e-05,1793239585050071808
+66,1.100000000,BASELINE,766.707127627,745,715,678.292872373,663,635.292872373,879.292872373,788,804,652.707127627,631.707127627,652.292872373,0.40099178482,-0.0154138350962,0.0498620483492,0.999999965856,-5.00426598919e-05,-0.000253376573331,-3.98061806994e-05,1793239585066738432
+67,1.116666667,BASELINE,766.121367804,745,715,678.878632196,663,635.878632196,879.878632196,788,804,652.121367804,631.121367804,652.878632196,0.40099092828,-0.0154135606673,0.0498611967398,0.999999965606,-4.88709190354e-05,-0.00025457135622,-3.99175482058e-05,1793239585083404800
+68,1.133333333,BASELINE,766,745.459428815,715,679,663,636,879.540571185,788,804,652.459428815,631.459428815,653,0.40099066086,-0.0154124712966,0.0498609024252,0.999999965661,-4.61043878332e-05,-0.00025486874579,-3.9921540899e-05,1793239585100071424
+69,1.150000000,BASELINE,766,745.961174923,715,679,663.038825077,636,879,788,804,653,632,653,0.400990610248,-0.0154114270163,0.0498608038007,0.999999965786,-4.33881018362e-05,-0.000254861902362,-3.98937178191e-05,1793239585116738048
+70,1.166666667,BASELINE,766,745.383212825,715,679,663.616787175,636,879,788,804,653,632,653,0.400991432281,-0.0154139664275,0.0498614000803,0.999999965866,-4.71572817873e-05,-0.000253887165334,-3.98137710029e-05,1793239585133404928
+71,1.183333333,BASELINE,766.193629846,745,715,678.806370154,663.806370154,636,879,788,804,652.806370154,632,653,0.400991646745,-0.0154153475059,0.0498614088098,0.99999996575,-4.99204383506e-05,-0.000253798305752,-3.99197787691e-05,1793239585150071808
+72,1.200000000,BASELINE,766.768269899,745,715,678.231730101,663.231730101,636,879,788,804,652.231730101,632,653,0.400990665684,-0.0154144493049,0.0498602614025,0.999999965271,-5.07040186466e-05,-0.000255452608822,-4.03916939235e-05,1793239585166738432
+73,1.216666667,BASELINE,766.64836934,745,715,678,663,636,879,788,804,652,632,653,0.400990534587,-0.0154137771695,0.0498602762592,0.999999965266,-4.93794400119e-05,-0.000255739440525,-4.03291222906e-05,1793239585183405312
+74,1.233333333,BASELINE,766.059115374,745,715,678,663,636,879,788,804,652,632,653,0.400990977874,-0.0154132578036,0.0498610765451,0.999999965578,-4.66302196455e-05,-0.000255102168787,-3.99053576728e-05,1793239585200071936
+75,1.250000000,BASELINE,766,745,715,678.521357664,663,636,879,788,804,652,632,652.478642336,0.400990878142,-0.0154141571721,0.049861006493,0.999999965681,-4.7906197922e-05,-0.000254451602033,-3.99672218504e-05,1793239585216738304
+76,1.266666667,BASELINE,766,745,715,678.900023059,663.099976941,636,879.099976941,788,804,652,632,652.099976941,0.40099066858,-0.0154148800513,0.0498609028132,0.999999965732,-4.91454110106e-05,-0.000254000681394,-4.00468862194e-05,1793239585233404928
+77,1.283333333,BASELINE,766,745,715,678.325554687,663.674445313,636,879.674445313,788,804,652,632,652.674445313,0.400990225149,-0.0154140144826,0.0498611001402,0.99999996566,-4.80799043025e-05,-0.000254504319017,-3.99540240212e-05,1793239585250071552
+78,1.300000000,BASELINE,766.254479103,745,715,678.254479103,663.745520897,636,879.745520897,788,804,652.254479103,632,653,0.400990528738,-0.0154135207419,0.0498614748104,0.99999996571,-4.82732539843e-05,-0.000254276272113,-3.99163675299e-05,1793239585266738176
+79,1.316666667,BASELINE,766.841791864,745,715,678.841791864,663.158208136,636,879.158208136,788,804,652.841791864,632,653,0.400991809358,-0.0154135133156,0.0498620814283,0.999999965919,-5.01130642046e-05,-0.000253091253707,-3.9950914686e-05,1793239585283404800
+80,1.333333333,BASELINE,767,745,715,678.576488117,663,636,879,788.423511883,804,653,632,653,0.400992610701,-0.0154131021741,0.0498626388613,0.999999966275,-4.93560683821e-05,-0.000251821422093,-4.00099550598e-05,1793239585300071680
+81,1.350000000,BASELINE,766.996838986,745,714.996838986,678,663,636,879,788.996838986,804,652.996838986,632,652.996838986,0.400993227805,-0.0154125401704,0.0498631716551,0.999999966679,-4.76441916464e-05,-0.000250532079057,-4.00789955568e-05,1793239585316738560
+82,1.366666667,BASELINE,766.418813448,745,714.418813448,678,663,636,879,788.418813448,804,652.418813448,632,652.418813448,0.400992474964,-0.0154116117423,0.0498625214341,0.999999966514,-4.63951567189e-05,-0.00025138119633,-4.03243727887e-05,1793239585333405184
+83,1.383333333,BASELINE,766,745,714.158560986,678,663.158560986,636,879.158560986,788,804,652,632,652.158560986,0.40099179134,-0.015411371891,0.049861975028,0.999999966295,-4.61548232773e-05,-0.000252279052952,-4.04351982208e-05,1793239585350071808
+84,1.400000000,BASELINE,766,745,714.734222788,678,663.734222788,636,879.734222788,788,804,652,632,652.734222788,0.400991289794,-0.0154129433674,0.0498617017111,0.999999965931,-4.85679179002e-05,-0.000253305120505,-4.01920799843e-05,1793239585366738432
+85,1.416666667,BASELINE,766,745,715,678,663.683182287,636,879.683182287,788,804,652,631.683182287,653,0.400990334328,-0.0154135968022,0.0498609946984,0.9999999655,-4.96728980979e-05,-0.000254817887851,-4.00100060757e-05,1793239585383404800
+86,1.433333333,BASELINE,766,745,715,678,663.094641099,636,879.094641099,788,804,652,631.094641099,653,0.400988989552,-0.0154134628646,0.04985991572,0.999999965012,-4.96559541522e-05,-0.000256748080527,-3.98802877671e-05,1793239585400071424
+87,1.450000000,BASELINE,766.485695159,745,715,678.485695159,663,636,879,788,803.514304841,652,631.485695159,653,0.400989162416,-0.0154129458776,0.0498601517487,0.999999965142,-4.90853605879e-05,-0.000256328060304,-4.00398096474e-05,1793239585416738048
+88,1.466666667,BASELINE,766.935909789,745,715,679,663,636,879,788,803.064090211,652,632,653,0.400989671753,-0.0154125435209,0.049860729844,0.999999965409,-4.84610548575e-05,-0.000255375787175,-4.01963614686e-05,1793239585433404672
+89,1.483333333,BASELINE,766.360458706,745,715,679,663,636,879,788,803.639541294,652,632,653,0.400990545427,-0.0154136414134,0.0498620267064,0.999999965841,-4.82546620413e-05,-0.000253770010849,-3.98869992228e-05,1793239585450071552
+90,1.500000000,BASELINE,766,745,715.214966234,679,663,636,879.214966234,788,804,652,632,652.785033766,0.400991351303,-0.0154139740898,0.0498626790363,0.999999966175,-4.79616029759e-05,-0.000252515803889,-3.9806071489e-05,1793239585466738176
+91,1.516666667,BASELINE,766,745,715.790347283,679,663,636,879.790347283,788,804,652,632,652.209652717,0.400992043508,-0.0154130237961,0.0498622507357,0.999999966352,-4.75232383195e-05,-0.000251851042265,-4.01081396694e-05,1793239585483404800
+92,1.533333333,BASELINE,766,745,715.624057922,679,663,636,879.624057922,788,804,652.375942078,631.624057922,652.375942078,0.400992125716,-0.0154133703201,0.0498621067055,0.99999996625,-4.76215911956e-05,-0.000252269034645,-3.9910179829e-05,1793239585500071680
+93,1.550000000,BASELINE,766,745,715.032608073,679,663,636,879.032608073,788,804,652.967391927,631.032608073,652.967391927,0.400991858243,-0.0154144602413,0.0498621256325,0.999999965987,-4.80276158942e-05,-0.000253307712749,-3.94255803159e-05,1793239585516738304
+94,1.566666667,BASELINE,766.546674664,745,715,679,663.546674664,636,879.546674664,788,804,652.453325336,631.546674664,653,0.400992211491,-0.0154141489897,0.0498622767871,0.999999966056,-4.90523961468e-05,-0.000252826908303,-3.95055542161e-05,1793239585533404928
+95,1.583333333,BASELINE,766.87545153,745.12454847,715,679,663.87545153,636,880,788,804,652,632,652.87545153,0.400992363909,-0.0154139927206,0.0498622098324,0.999999966065,-4.98888994348e-05,-0.000252605359323,-3.96463151393e-05,1793239585550071552
+96,1.600000000,BASELINE,766.300107504,745.699892496,715,679,663.300107504,636,880,788,804,652,632,652.300107504,0.400991658344,-0.0154146933171,0.0498613255191,0.999999965791,-4.99132698475e-05,-0.00025364307204,-3.9887857602e-05,1793239585566738176
+97,1.616666667,BASELINE,766,745.724902584,715,679,663,636,879.724902584,788,804,652,632,652.275097416,0.400991567274,-0.015415331353,0.0498613973623,0.999999965886,-4.98894876034e-05,-0.00025329009017,-3.97936157785e-05,1793239585583405568
+98,1.633333333,BASELINE,766,745.149849373,715,679,663,636,879.149849373,788,804,652,632,652.850150627,0.400992146226,-0.015415901175,0.0498625117624,0.99999996638,-4.98132015261e-05,-0.000251420747575,-3.93332474838e-05,1793239585600073728
+99,1.650000000,BASELINE,766,745,715,679,663,636,879.437878152,788,804,652.437878152,632,653,0.400991393427,-0.0154153629642,0.0498622090546,0.999999966173,-4.90740343788e-05,-0.000252336434251,-3.96424675697e-05,1793239585616740352
+100,1.666666667,BASELINE,766,745,715,678.970664397,663.029335603,636,879.970664397,788.029335603,804,653,632,653,0.400990282212,-0.0154145327735,0.0498614996277,0.999999965752,-4.82016053943e-05,-0.000254084177908,-4.01602457735e-05,1793239585633406208
+101,1.683333333,BASELINE,766,745,715,678.392977906,663.607022094,636,879.392977906,788.607022094,804,653,632,653,0.400991244271,-0.015415543973,0.0498625228843,0.999999965995,-4.92049369902e-05,-0.000253038601089,-3.95067910299e-05,1793239585650072064
+102,1.700000000,BASELINE,766,745,715,678,663.816517465,636,879.183482535,788.816517465,804.183482535,652.816517465,632,653,0.400991741994,-0.0154160999988,0.0498629955432,0.999999966085,-4.99795291865e-05,-0.000252589943367,-3.91178330127e-05,1793239585666738176
+103,1.716666667,BASELINE,766,745,715,678,663.242665588,636,879.757334412,788.242665588,804.757334412,652.242665588,632,653,0.40099125182,-0.0154156876169,0.0498622967747,0.999999965856,-5.02674654047e-05,-0.0002534112645,-3.92916066397e-05,1793239585683405056
+104,1.733333333,BASELINE,766,745,715,678.338455899,663,636,880,788,804.661544101,652,632,653,0.400990544186,-0.0154150827462,0.0498615509603,0.999999965615,-5.0278393683e-05,-0.000254328086447,-3.94910735496e-05,1793239585700071680
+105,1.750000000,BASELINE,766,745,715,678.924904008,663,636,880,788,804.075095992,652,632,653,0.400989677215,-0.0154143368358,0.0498607706745,0.999999965364,-5.00863537125e-05,-0.000255314883495,-3.97093663688e-05,1793239585716738304
+106,1.766666667,BASELINE,766,745,715,678.492654353,663,636,879.492654353,788,804,652,632,653,0.40099032315,-0.0154140668436,0.0498617278946,0.999999965673,-4.98352074281e-05,-0.000254126947555,-3.98700193986e-05,1793239585733405184
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652,631,653,0.400990811483,-0.0154139176363,0.0498615584185,0.999999965774,-4.82816225648e-05,-0.000254060916279,-3.96781592091e-05,1793239585776657920
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715.578504573,678.421495427,663,636,879,788,804,652.578504573,631.578504573,653,0.400989610803,-0.015412415469,0.0498610941952,0.999999965536,-4.67872533872e-05,-0.000255222856662,-4.00095448603e-05,1793239585793324800
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715.840058708,678.159941292,663,636,879,788,804,652.840058708,632,652.840058708,0.400989221655,-0.0154115483014,0.0498610450551,0.999999965515,-4.56541494689e-05,-0.000255489236121,-4.01407415345e-05,1793239585809991424
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715.250750431,678.749249569,663,636,879,788,804,652.250750431,632,652.250750431,0.40099101109,-0.0154123858082,0.0498621102178,0.999999966082,-4.54908721663e-05,-0.000253351456859,-3.97345252329e-05,1793239585826657024
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.332930954,715,679,663,636,879,788,804,652.332930954,632,652.332930954,0.400990719129,-0.0154127673122,0.0498618429556,0.999999966036,-4.61542482955e-05,-0.000253400291053,-3.98257425706e-05,1793239585843323392
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.912444787,715,679,663,636,879,788,804,652.912444787,632,652.912444787,0.400988885596,-0.0154128110808,0.0498605888426,0.999999965534,-4.7429879261e-05,-0.000255068624659,-4.02853805242e-05,1793239585859989760
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.511982059,715,679,663,636,879,788.488017941,804,652.511982059,632,653,0.400990142193,-0.0154136830531,0.0498612885046,0.999999965822,-4.91887025968e-05,-0.000253639266773,-4.0043466818e-05,1793239585876656640
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.064298601,745,715,679,663,636,879,788.935701399,804,652,632,653,0.40099182519,-0.0154145478803,0.0498622325497,0.999999966204,-5.05651672007e-05,-0.000251916799842,-3.9673709473e-05,1793239585893323520
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.652048549,745,715,679,663,636,879,788.347951451,804,652,632,653,0.400992502315,-0.015414154584,0.0498623353457,0.999999966244,-4.81287895838e-05,-0.000252296288412,-3.92796385202e-05,1793239585909990400
+116,1.933333333,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,879,788,804,652,632,653,0.400997764799,-0.0154143161036,0.0498643041124,0.999999967223,-4.68878275484e-05,-0.000248679996875,-3.8902676778e-05,1793239585926657024
+117,1.950000000,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,879,788,804,652,632,653,0.401009680712,-0.0154152826699,0.0498689804319,0.99999996951,-4.73814325768e-05,-0.000239265765362,-3.8550540802e-05,1793239585943323648
+118,1.966666667,POSE1_TO_POSE2_PRESS,767,745,715,678.606737581,663.393262419,636,879,788,804,652,632,653,0.401039421783,-0.0154167155775,0.0498797639687,0.99999997456,-4.80374724089e-05,-0.000217156931737,-3.76080525142e-05,1793239585959990272
+119,1.983333333,POSE1_TO_POSE2_PRESS,767,745,715,678.03032377,663.96967623,636,879,788,804,652,632,653,0.401077464443,-0.0154183656712,0.0498933917779,0.999999980262,-4.8769161894e-05,-0.000189135927712,-3.63906234638e-05,1793239585976656640
+120,2.000000000,POSE1_TO_POSE2_PRESS,767,745,715,678.543107968,663.456892032,636,879.543107968,788,804,652,632,652.456892032,0.401142421235,-0.015422286031,0.0499126212379,0.999999987507,-4.87435619161e-05,-0.00014643256835,-3.41653116237e-05,1793239585993323264
+121,2.016666667,POSE1_TO_POSE2_PRESS,767,745,715,678.879732072,663,636,879.879732072,788,804,652,632,652,0.401209854916,-0.0154264443943,0.0499302537427,0.999999992359,-4.89276895488e-05,-0.000108911875721,-3.20238773684e-05,1793239586009989888
+122,2.033333333,POSE1_TO_POSE2_PRESS,767,745,715,678.287284583,663,636,879.287284583,788,804,652,632,652,0.401281145487,-0.0154310422345,0.0499403952896,0.999999993775,-5.01003180804e-05,-9.49395508642e-05,-3.04314798678e-05,1793239586026656768
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.701994146,745,715,678.298005854,663,636,879,787.701994146,803.701994146,652.298005854,632,652.298005854,0.40136006792,-0.015435369252,0.0499477624253,0.999999994679,-5.11483293764e-05,-8.47325139903e-05,-2.9099060763e-05,1793239586043323392
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.123441492,745,715,678.876558508,663,636,879,787.123441492,803.123441492,652.876558508,632,652.876558508,0.401446175089,-0.0154394413131,0.0499525176916,0.999999995204,-5.20790242313e-05,-7.80701717424e-05,-2.80113889864e-05,1793239586059990272
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,787.905987786,803.452993893,652.547006107,632,653,0.401547972819,-0.0154457896579,0.0499547862274,0.99999999537,-5.40987311215e-05,-7.48799981818e-05,-2.6961969414e-05,1793239586076656896
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.029457868,745,715,679,663,636,879,788.970542132,804,652,632,653,0.401655125764,-0.015452809484,0.0499562411293,0.999999995409,-5.64538200324e-05,-7.29594699023e-05,-2.59301702848e-05,1793239586093323264
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.617350536,745,715,679,663,636,879,788.382649464,804,652,632,653,0.401783120248,-0.0154608544395,0.0499550581819,0.999999994928,-5.95672915463e-05,-7.7254509767e-05,-2.50357178028e-05,1793239586109989888
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.79794942,745,715,678.79794942,663,636,879,788,804,652.20205058,632,653,0.401920171717,-0.0154685345857,0.0499530589835,0.999999994363,-6.15889285799e-05,-8.29952373913e-05,-2.43610306709e-05,1793239586126657024
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.219201676,745,715,678.219201676,663,636,879,788,804,652.780798324,632,653,0.402074108747,-0.0154755345915,0.0499495379908,0.999999993634,-6.15749811362e-05,-9.14312623215e-05,-2.40960677013e-05,1793239586143324928
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.357372288,788,804,652.642627712,632,652.642627712,0.402254011283,-0.0154854866516,0.0499506476888,0.999999993766,-6.31201879493e-05,-8.92375431824e-05,-2.28042146669e-05,1793239586159991552
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678,663,636,879.932621035,788,804,652.067378965,632,652.067378965,0.402449744026,-0.0154972384692,0.0499545805446,0.999999994384,-6.56159525416e-05,-8.05632691868e-05,-2.08863053073e-05,1793239586176657408
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.50791985,663,636,880,788,804,652.50791985,632,652,0.40268001643,-0.0155097898105,0.0499611364008,0.999999995076,-6.83929635887e-05,-6.95275724204e-05,-1.83245260643e-05,1793239586193324288
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.085644388,745,715,678.914355612,663,636,879.914355612,788.085644388,804,653,632,652.085644388,0.40292052608,-0.0155219719956,0.0499677517305,0.99999999571,-7.03225881245e-05,-5.82013208154e-05,-1.57556035616e-05,1793239586209990912
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.677672287,745,715,678.322327713,663,636,879.322327713,788.677672287,804,653,632,652.677672287,0.403194471027,-0.0155313443333,0.0499726611548,0.999999996556,-6.70213142839e-05,-4.70094856111e-05,-1.36495135313e-05,1793239586226657024
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.735916344,745,715,678.264083656,663,636,879,788.735916344,804,652.735916344,632,653,0.403488023085,-0.0155345267581,0.0499785125983,0.999999997834,-5.49636770088e-05,-3.4573388809e-05,-1.07669761167e-05,1793239586243323392
+136,2.266666667,POSE1_TO_POSE2_PRESS,766.156217514,745,715,678.843782486,663,636,879,788.156217514,804,652.156217514,632,653,0.403805008238,-0.0155303114112,0.0499854898801,0.999999999236,-3.24410182915e-05,-2.06502341822e-05,-6.95648069153e-06,1793239586259990016
+137,2.283333333,POSE1_TO_POSE2_PRESS,766.418371368,745,715,679,663,636,879,788,804,652,632.418371368,653,0.404143219968,-0.0155198867608,0.0499908376389,0.999999999934,-2.91800500049e-06,-9.74523513588e-06,-5.36092567951e-06,1793239586276656640
+138,2.300000000,POSE1_TO_POSE2_PRESS,766.991075235,745,715,679,663,636,879,788,804,652,632.991075235,653,0.404489261936,-0.0155071715683,0.0499955842847,0.999999999564,2.91873599612e-05,4.63999178123e-08,-4.58243738617e-06,1793239586293323520
+139,2.316666667,POSE1_TO_POSE2_PRESS,766.434696471,745,715,679,663,636,879.565303529,788,804,652,632.434696471,653,0.404872695899,-0.0155146535342,0.0499946284635,0.999999999118,4.19012745008e-05,-2.61090785829e-06,-1.34518039077e-06,1793239586309989888
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678.856216039,663,636,879.856216039,788,804,652.143783961,631.856216039,653,0.405258555041,-0.0155216970046,0.0499889451441,0.999999998407,5.45062318523e-05,-1.45729459962e-05,1.39190259884e-06,1793239586326656768
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678.264566099,663,636,879.264566099,788,804,652.735433901,631.264566099,653,0.40565012443,-0.015526378724,0.0499688175429,0.999999996196,6.77279724998e-05,-5.49040120725e-05,2.44977697519e-06,1793239586343323392
+142,2.366666667,POSE1_TO_POSE2_PRESS,766.320885022,745,715,678,663,636,879,788,804,652.679114978,631.320885022,653,0.406076520408,-0.0155275902448,0.0499528398742,0.999999993014,8.54755460586e-05,-8.15733527443e-05,3.55098301075e-06,1793239586359990272
+143,2.383333333,POSE1_TO_POSE2_PRESS,766.901322209,745,715,678,663,636,879,788,804,652.098677791,631.901322209,653,0.406531086384,-0.0155259948493,0.0499402189319,0.999999989554,0.000106883901883,-9.71922275407e-05,4.68723855731e-06,1793239586376656896
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.524289243,745,715,678.475710757,663,636,879,788,804,652,632,653,0.407017739336,-0.0155251596242,0.049935659715,0.999999985759,0.000132395237603,-0.000104412148625,7.14638121849e-06,1793239586393323520
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.050201282,788,804,652,632,653,0.40751882661,-0.0155247964471,0.0499348222922,0.999999981808,0.000158495232367,-0.00010564471149,1.01640900769e-05,1793239586409990144
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.639080649,788,804,652,632,653,0.4081042765,-0.0155278277546,0.0499562023833,0.999999981459,0.000181893920552,-6.10906204546e-05,1.6267874697e-05,1793239586426656768
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678.775642768,663,636,880,788,804,652,632,653,0.408699135393,-0.0155307910985,0.0499774752488,0.999999978133,0.000206668118924,-2.31031770179e-05,2.20980599116e-05,1793239586443323648
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678.196070353,663,636,880,788,804,652,632,653,0.409308891121,-0.0155336468384,0.0499985783471,0.999999972323,0.000233620102578,4.4875720645e-06,2.74950665888e-05,1793239586459990272
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.382788974,745,715,678.382788974,663.382788974,636,879.617211026,788,804,652,632,653,0.40991334823,-0.0155356878715,0.050000227366,0.999999966123,0.000258418178789,2.53231606587e-06,3.11012646282e-05,1793239586476657152
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.961283708,745,715,678.961283708,663.961283708,636,879.038716292,788,804,652,632,653,0.410515096334,-0.0155373123751,0.0499919302374,0.999999959529,0.000282115041387,-1.45287138098e-05,3.37918886721e-05,1793239586493323776
+151,2.516666667,POSE1_TO_POSE2_PRESS,766.465594545,745,715,678.465594545,662.931189091,636,879.534405455,787.465594545,804,652,632,652.465594545,0.411114252037,-0.0155352426095,0.0499624612649,0.999999948659,0.000309361856192,-7.60154346017e-05,3.46219257576e-05,1793239586509990144
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.889390093,745,715,678.110609907,662.110609907,636,879.889390093,787.110609907,804.110609907,652,632,652.110609907,0.411738535368,-0.015533487638,0.04993983071,0.999999942616,0.000314296572467,-0.000121195099131,3.60316564484e-05,1793239586526657024
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.298114902,745,715,678.701885098,662.701885098,636,879.298114902,787.701885098,804.701885098,652,632,652.701885098,0.412472820931,-0.0155342521115,0.0499535162349,0.999999971387,0.000221165561654,-8.1663795086e-05,4.05404297979e-05,1793239586543323392
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.287254129,745,715,679,663.287254129,636,879.287254129,788,804.712745871,652,632,653,0.413216320015,-0.0155352899488,0.0499693764982,0.999999991784,0.000114491821301,-4.83235189975e-05,3.1434975643e-05,1793239586559990016
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.866617252,745,715,679,663.866617252,636,879.866617252,788,804.133382748,652,632,653,0.413969188426,-0.01553660577,0.0499874482565,0.99999999972,-5.95354485167e-06,-2.12789002363e-05,8.48520112666e-06,1793239586576656896
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,678.557559781,663.557559781,636,879.557559781,788,804.442440219,652,631.557559781,653,0.414694567175,-0.0155478287501,0.0499733975251,0.99999999865,-2.53647603528e-05,-4.51822689337e-05,3.98845912895e-06,1793239586593323520
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,678.017594814,663,636,879.017594814,788,804.982405186,652,631,653,0.415412725263,-0.0155615264238,0.0499501188922,0.999999996397,-1.3618721586e-05,-8.36376394562e-05,5.08201136239e-06,1793239586609990144
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,678.605402963,663,636,879.605402963,788,804.394597037,652,631,653,0.416163321408,-0.0155593987689,0.0499391298617,0.999999994567,2.85974134455e-05,-9.98805927282e-05,8.48966862205e-06,1793239586626657024
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.190394073,788,804,652,631.190394073,653,0.416950348325,-0.0155577257512,0.0499425257257,0.999999993251,6.96367756079e-05,-9.20890718591e-05,1.29775331635e-05,1793239586643323904
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.769631879,788,804,652,631.769631879,653,0.417811778131,-0.0155569812436,0.0499753000055,0.999999993325,0.000108272800081,-3.5211701264e-05,1.96715157147e-05,1793239586659990784
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.652445418,788,804.347554582,652,632,653,0.41863549883,-0.01555509962,0.0499869621471,0.999999990676,0.000132937297301,-2.1394255339e-05,2.27586512183e-05,1793239586676657408
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.075391136,788,804.924608864,652,632,653,0.419434319151,-0.0155524671278,0.049984683371,0.999999988069,0.000148376015512,-3.60104457236e-05,2.34640877425e-05,1793239586693323776
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,678.491718533,662.491718533,636,880,788,804.491718533,652,632,653,0.420241144568,-0.015552702586,0.0499720698358,0.999999987304,0.000151174742232,-4.52624158139e-05,2.21190703243e-05,1793239586709990400
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,678.092342873,662.092342873,636,880,788,804,652,631.907657127,653,0.4210653914,-0.0155540479464,0.0499646356785,0.99999998729,0.000151878268292,-4.35915088061e-05,2.12617875648e-05,1793239586726656512
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,678.673199186,662.673199186,636,880,788,804,652,631.326800814,653,0.42197543667,-0.0155589848313,0.0499928179362,0.999999988147,0.000151546856056,1.15990506687e-05,2.4614889237e-05,1793239586743323136
+166,2.766666667,POSE1_TO_POSE2_PRESS,766.252790474,745,715,679,663,636,880,788.252790474,804,652,631,653,0.422864651699,-0.015560123229,0.0500026545616,0.999999988353,0.000147138277639,3.10157285253e-05,2.61162263599e-05,1793239586759990016
+167,2.783333333,POSE1_TO_POSE2_PRESS,766.830754596,745,715,679,663,636,880,788.830754596,804,652,631,653,0.423727072151,-0.015556375494,0.0499888925322,0.999999990221,0.000137485091336,4.41515956102e-06,2.52355714295e-05,1793239586776657408
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.591920582,745,715,679,663,636,880,788.591920582,804.408079418,652,631.408079418,653,0.424599248526,-0.0155556685612,0.0499872264602,0.999999989083,0.000145501600447,3.14055027515e-07,2.57554203823e-05,1793239586793324032
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.014860521,745,715,679,663,636,880,788.014860521,804.985139479,652,631.985139479,653,0.425475464658,-0.0155562207874,0.0499905691756,0.99999998669,0.000160834912596,5.52970220205e-06,2.68552007344e-05,1793239586809990656
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.559197276,745,715,679,663,636,880,788,804.440802724,652,631.440802724,653,0.426357842073,-0.0155618991142,0.0500105406486,0.999999985445,0.000165703421566,2.78316588694e-05,2.96381478855e-05,1793239586826657280
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.863136748,745,715,679,663,636,880,788,804.136863252,652,631.136863252,652.863136748,0.427217690783,-0.0155652119788,0.0500171921505,0.999999984821,0.000169241858629,2.72545092368e-05,3.1192578661e-05,1793239586843323392
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.273265306,745,715,679,663,636,880,788,804.726734694,652,631.726734694,652.273265306,0.428002431884,-0.0155602468344,0.0499783005746,0.999999983985,0.000169293420935,-5.0545846468e-05,2.85334406084e-05,1793239586859989760
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.6888558,663,636,880,788,804.6888558,652,632,652.3111442,0.428857914949,-0.0155579018194,0.0499606320622,0.999999982932,0.000166246038209,-7.58755360538e-05,2.72414743384e-05,1793239586876656384
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,678.109160564,663,636,880,788,804.109160564,652,632,652.890839436,0.429774455928,-0.0155578182593,0.0499612813468,0.999999985185,0.00016052393195,-5.59173722984e-05,2.7129525151e-05,1793239586893323008
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,678,663.465915724,635.534084276,880,788,804.465915724,652,632,652.534084276,0.430632402773,-0.0155551714391,0.0499640756647,0.999999983334,0.000172996991039,-5.14110259546e-05,2.75823688779e-05,1793239586909990144
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.040923517,745,715,678.040923517,663.959076483,635.040923517,880,788,805,652,632,652.040923517,0.43147357224,-0.0155518899323,0.0499658816987,0.999999980332,0.000189174045812,-5.25675881911e-05,2.80363634072e-05,1793239586926657536
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.629350477,745,715,678.629350477,663.370649523,635.629350477,880,788,805,652,632,652.629350477,0.432272143466,-0.0155480728885,0.049947808107,0.999999976631,0.000198432315003,-8.1527781025e-05,2.67527723565e-05,1793239586943324416
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.785542028,745,715,679,663.214457972,635.785542028,880,788,805,652,632,653,0.433094211376,-0.0155465913585,0.0499460132766,0.999999976504,0.000198516433546,-8.27660070286e-05,2.70640277774e-05,1793239586959990784
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.206084051,745,715,679,663.793915949,635.206084051,880,788,805,652,632,653,0.433956269954,-0.0155490847913,0.0499719243283,0.999999982127,0.000182986468435,-3.68224150391e-05,3.00896561658e-05,1793239586976657152
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.62809103,635.37190897,880,788,805,651.62809103,632,653,0.434789791873,-0.0155501352828,0.0499876792282,0.99999998271,0.000182415628391,-1.67609886931e-05,3.19864694276e-05,1793239586993323264
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.050906627,635.949093373,880,788,805,651.050906627,632,653,0.43560756291,-0.0155503893417,0.0499978284308,0.999999981317,0.000190101489667,-1.09852457623e-05,3.32602321814e-05,1793239587009989888
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,805,651.52470012,632,653,0.436346578585,-0.0155456612126,0.0499716708146,0.99999997688,0.000202112444825,-6.62798678501e-05,3.15733750885e-05,1793239587026656512
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.897434544,880.102565456,788,805,652,631.897434544,652.897434544,0.437086770286,-0.0155418892036,0.0499511051434,0.999999971344,0.000212138232594,-0.000106780341262,3.0119848058e-05,1793239587043323136
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.308126469,880.691873531,788,805,652,631.308126469,652.308126469,0.437868695445,-0.0155449416934,0.0499737435948,0.999999976104,0.000210757634583,-4.90383553614e-05,3.11326957742e-05,1793239587059990528
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663.276256301,635,880.723743699,788,805,651.723743699,631.276256301,652.276256301,0.438626129831,-0.0155463440124,0.0499885851932,0.999999978949,0.00020193581621,-1.70498097747e-05,3.21568344709e-05,1793239587076657664
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.855241749,635,880.144758251,788,805,651.144758251,631.855241749,652.855241749,0.439356726512,-0.0155459380293,0.049994882787,0.999999982256,0.000184959707359,-1.32825865326e-05,3.31933461436e-05,1793239587093324288
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.568330451,635.431669549,880.431669549,788,805,651,632,653,0.440045775383,-0.0155455149274,0.0499751820837,0.999999981311,0.000186221764438,-4.08262625125e-05,3.21229630872e-05,1793239587109990400
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,881,788,805,651.00719352,632,653,0.440720574499,-0.0155451599732,0.0499471751683,0.999999977745,0.000193525359235,-7.83226707224e-05,3.03885110211e-05,1793239587126656512
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,881,788,805,651.578698378,632,653,0.44136407129,-0.0155505987033,0.0499474749946,0.999999976913,0.000197807395125,-7.77423687319e-05,3.16590826086e-05,1793239587143323392
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.844196977,881,788,804.844196977,652,631.844196977,653,0.441997271217,-0.0155556315532,0.0499478891851,0.999999975994,0.00020273371927,-7.62743550378e-05,3.30600875444e-05,1793239587159990016
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635.25138548,881,788,804.25138548,652,631.25138548,653,0.442601589837,-0.0155595259594,0.0499486241534,0.99999997484,0.000209467194361,-7.23164181655e-05,3.48269424024e-05,1793239587176656640
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880.666479784,787.666479784,804.333520216,651.666479784,631.333520216,652.666479784,0.443160343504,-0.0155639331361,0.0499285636669,0.999999971611,0.000210406166367,-0.000106371919003,3.45204945696e-05,1793239587193323776
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880.087395014,787.087395014,804.912604986,651.087395014,631.912604986,652.087395014,0.443685548531,-0.0155687178557,0.0498931918849,0.999999963843,0.000207078755552,-0.000168415986836,3.26875134136e-05,1793239587209991168
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,635,880,787.487060499,805,651.487060499,631.512939501,652.487060499,0.444182683796,-0.015573598279,0.049848095235,0.99999994891,0.000206913229749,-0.000241689125638,3.08639014223e-05,1793239587226658048
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.937590774,745,715,679,662.937590774,635,880,787.937590774,805,652,631.062409226,653,0.444675139268,-0.0155785821331,0.0498060099455,0.999999930687,0.000207371418011,-0.000307838142548,2.93129053666e-05,1793239587243324928
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.347739185,745,715,679,662.347739185,635,880,787.347739185,805,652,631.652260815,653,0.445170209985,-0.0155842963527,0.0498039832141,0.999999933765,0.00020835112412,-0.000296910631351,3.00518096089e-05,1793239587259991296
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.237851289,745,715,679,662,635,880.237851289,787,805.237851289,652,632,653,0.445658956856,-0.0155909192692,0.0498065268687,0.999999938483,0.000206822964976,-0.000281545556694,3.14730034012e-05,1793239587276657664
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.817321596,745,715,679,662,635,880.817321596,787,805.817321596,652,632,653,0.446138620925,-0.0155988473207,0.0498156348382,0.999999945336,0.000201692830436,-0.0002598069372,3.38741501258e-05,1793239587293324032
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.606201366,745,715,679,662,634.606201366,881,787,805.606201366,652,632,653,0.446550918857,-0.0156054112085,0.0498035085224,0.999999945656,0.000169804695697,-0.000280469426915,3.45217858751e-05,1793239587309990144
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.031102344,745,715,679,662,634.031102344,881,787,805.031102344,652,632,653,0.44693220223,-0.0156113470515,0.0497816061852,0.999999940113,0.000125597482648,-0.000320652899848,3.43621253304e-05,1793239587326656768
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.555832125,745,715,679,662,634.555832125,880.444167875,787,805,651.444167875,631.444167875,653,0.447265741034,-0.0156136583888,0.0497434920425,0.999999923082,0.000112742279977,-0.000374394475917,3.08722385871e-05,1793239587343323648
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634.858504665,880.141495335,786.858504665,805,651.141495335,631,652.858504665,0.447594716486,-0.0156169549376,0.0497113647624,0.999999907623,8.89905180813e-05,-0.000419857157936,2.35395734612e-05,1793239587359990528
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,634.278873036,880.721126964,786.278873036,805,651.721126964,631,652.278873036,0.447918014282,-0.0156239438381,0.049700645712,0.999999904043,2.59474021423e-05,-0.000437284208769,4.89742638997e-06,1793239587376657152
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.299464291,715,679.299464291,662,634,881,786.299464291,805.299464291,651.700535709,631,652.299464291,0.448237025973,-0.0156337617873,0.0497016405008,0.999999905562,-4.46117997655e-06,-0.000434570133021,-2.05493610157e-06,1793239587393324032
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.876601465,715,679.876601465,662,634,881,786.876601465,805.876601465,651.123398535,631,652.876601465,0.448552063433,-0.0156462029209,0.0497134967374,0.999999914629,-4.60997315283e-06,-0.000413180559734,1.8318452433e-06,1793239587409990656
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.549131145,745.549131145,715,679.549131145,662,634,881,787,805.549131145,651.450868855,631,652.549131145,0.448830939906,-0.0156570374845,0.0497251050535,0.999999920531,-5.63882180142e-06,-0.000398579817162,6.42702428779e-06,1793239587426657024
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.025138477,745.025138477,715,679,662,634,881,786.974861523,805,651.974861523,631,652.025138477,0.449097738916,-0.0156672235849,0.0497358516685,0.999999925042,-6.75540476319e-06,-0.000386970313557,1.11194438547e-05,1793239587443323648
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.617055134,745.617055134,715,679,662,634,881,786.382944866,805,651.382944866,631,652.617055134,0.449313963625,-0.0156726402269,0.0497286903286,0.999999919426,-4.45386199341e-06,-0.000401175170359,1.36606160046e-05,1793239587459990016
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.795432107,715,679,662,634,880.795432107,786.204567893,805,651.204567893,630.795432107,653,0.449520805422,-0.0156771964128,0.0497220374965,0.999999914322,-2.22569276858e-06,-0.000413645687141,1.57344426383e-05,1793239587476656896
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.215989643,715,679,662,634,880.215989643,786.784010357,805,651.784010357,630.215989643,653,0.449710452828,-0.0156801757955,0.0497163165154,0.999999910418,-1.31982220435e-07,-0.000422937991261,1.69518494123e-05,1793239587493323520
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.360614052,715,679,662,634,880.721228105,786.639385948,805,652,630,653,0.449882635615,-0.0156789994936,0.0497156038663,0.999999909939,5.5654959887e-06,-0.000423996908572,1.7811541636e-05,1793239587509990400
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.935530803,715,679,662,634,881.871061606,786.064469197,805,652,630,653,0.450044439693,-0.0156753535865,0.0497178675264,0.999999911471,1.34045912537e-05,-0.000420162958623,1.84586543692e-05,1793239587526657024
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745.489785011,715,679,662,633.489785011,880.979570022,786,805,652,630.510214989,652.489785011,0.450182844036,-0.0156773594143,0.0497210409815,0.999999912925,1.41261597112e-05,-0.000416606424705,1.97458143655e-05,1793239587543323392
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.912894369,745,715.087105631,679.087105631,662,633,880,786.087105631,805.087105631,652,631,652.087105631,0.450313139193,-0.0156795991979,0.0497234425964,0.999999913671,1.45543551564e-05,-0.000414736885575,2.0962338403e-05,1793239587559990016
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.32310048,745,715.67689952,679.67689952,662,633,880,786.67689952,805.67689952,652,631,652.67689952,0.45041369165,-0.0156790697324,0.0497207267808,0.999999910391,1.84772836418e-05,-0.000422400822175,2.13047064547e-05,1793239587576656384
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.262412325,745.262412325,715.737587675,680,661.737587675,633.262412325,880.262412325,786.737587675,805.737587675,652,630.737587675,653,0.450504725407,-0.0156804142748,0.0497184518988,0.999999907849,1.84362400552e-05,-0.000428361522443,2.16622554558e-05,1793239587593323264
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.842738541,745.842738541,715.157261459,680,661.157261459,633.842738541,880.842738541,786.157261459,805.157261459,652,630.157261459,653,0.450584227206,-0.0156840291874,0.0497167112102,0.999999906241,1.35928235385e-05,-0.000432258742629,2.20381962366e-05,1793239587609989888
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.581804968,745.581804968,715,679.581804968,661,633.581804968,881,786,805,652,630,652.581804968,0.450649136001,-0.0156859533299,0.0497148771469,0.999999904305,1.03363678481e-05,-0.000436801777133,2.20921438801e-05,1793239587626656768
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.008158661,745.008158661,715,679.008158661,661,633.008158661,881,786,805,652,630,652.008158661,0.450708620291,-0.0156872489799,0.0497130083744,0.999999902229,7.66981664599e-06,-0.000441584873356,2.20264003675e-05,1793239587643323648
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.579637338,745,715,679,661.579637338,633.579637338,880.420362662,786,805,652,630,652,0.450748083389,-0.0156871710851,0.0497083940587,0.999999898909,6.24585671997e-06,-0.000449064409854,2.20242577635e-05,1793239587659990272
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.834648143,745,715,679,662,633.834648143,880,786,805,652,630,652.165351857,0.450785212322,-0.0156872462445,0.0497049162294,0.999999896363,4.91922758156e-06,-0.000454711661443,2.20660393713e-05,1793239587676657152
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.254665082,745,715,679,662,633.254665082,880,786,805,652,630,652.745334918,0.450817212503,-0.0156877548908,0.0497043875481,0.99999989593,3.79170743647e-06,-0.000455666778192,2.22156630022e-05,1793239587693323520
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.323466921,745,715.323466921,679.323466921,662,633,880,786,805,651.676533079,630,652.676533079,0.450842796775,-0.0156864818118,0.0497040116883,0.999999895716,3.57052585649e-06,-0.000456143720967,2.20834412109e-05,1793239587709990144
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.900149943,745,715.900149943,679.900149943,662,633,880,786,805,651.099850057,630,652.099850057,0.450863358555,-0.0156838139644,0.0497037554598,0.999999895675,4.05884334146e-06,-0.000456246340103,2.17305854418e-05,1793239587726656768
+225,3.750000000,POSE1_TO_POSE2_PRESS,766,745.474225089,715.525774911,679.525774911,662,633,880,786,805.474225089,651.474225089,630,652.474225089,0.450876776854,-0.0156834974873,0.0497029923375,0.999999895415,5.08307730005e-06,-0.000456811404823,2.16321910663e-05,1793239587743323392
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.95073046,715.04926954,679,662,633,880,786,805.95073046,652,630,653,0.450888078809,-0.0156835195648,0.049701975887,0.999999894968,6.12018237636e-06,-0.000457781090542,2.15372833316e-05,1793239587759990016
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.359000949,715.640999051,679,662,633,880,786,805.359000949,652,630,653,0.450892549241,-0.0156818479848,0.0496993389426,0.999999892977,6.06342709149e-06,-0.000462139489821,2.08940946556e-05,1793239587776656640
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,716,679,662,633,880.227744355,786,805,652,630,653,0.450896028718,-0.0156811194721,0.04969757241,0.999999891454,5.59974988509e-06,-0.000465439638827,2.06656691553e-05,1793239587793323264
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,716,679,662,633,880.806801119,786,805,652,630,653,0.450897979575,-0.0156818457098,0.0496971485518,0.999999890673,4.50836570391e-06,-0.000467107358735,2.10770463834e-05,1793239587809990400
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715.616562767,679.383437233,662,633.383437233,881,786,805,651.616562767,630,653,0.450900560824,-0.0156817032657,0.0496969989351,0.999999890652,3.06630230193e-06,-0.00046716739828,2.09951737474e-05,1793239587826657024
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715.041138689,679.958861311,662,633.958861311,881,786,805,651.041138689,630,653,0.450903457709,-0.0156811258729,0.0496969866311,0.99999989101,1.44865400956e-06,-0.000466422472962,2.06663311208e-05,1793239587843323392
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.454294203,662,634,881,786,805,651.545705797,630,653,0.450903013433,-0.0156796454411,0.0496961708466,0.999999890086,3.01186697659e-06,-0.000468387640222,2.07800621065e-05,1793239587859990016
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,633.868466892,880.868466892,786,805,652,630,653,0.450902767376,-0.0156785742994,0.0496956127031,0.999999889362,4.09760279813e-06,-0.000469917185074,2.08929676225e-05,1793239587876656640
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,633.289096881,880.289096881,786,805,652,630,653,0.450904072112,-0.0156791334252,0.0496961424004,0.999999889679,2.72376354552e-06,-0.000469253074997,2.08870386903e-05,1793239587893323520
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.288628297,661.711371703,633,880.288628297,786,805,652,630,652.711371703,0.450905051538,-0.0156789277517,0.0496966893783,0.999999889911,1.21318956634e-06,-0.000468771876475,2.07460351056e-05,1793239587909989888
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679.864715377,661.135284623,633,880.864715377,786,805,652,630,652.135284623,0.450905706974,-0.015677960378,0.0496972535669,0.999999890057,-4.33565258386e-07,-0.000468472848277,2.04705041868e-05,1793239587926656512
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.56073051,745,715,679.56073051,661.43926949,633,880.56073051,786,805.43926949,651.56073051,630.43926949,652.43926949,0.45090678529,-0.0156770917433,0.0496971615573,0.999999890071,9.19003084979e-08,-0.00046844572017,2.03961613312e-05,1793239587943323392
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.013786067,745,715,679,662,633,880,786,805.986213933,651.013786067,631,653,0.450907965961,-0.015676249287,0.0496968804944,0.99999989005,1.27183940202e-06,-0.000468489534503,2.0384856512e-05,1793239587959990016
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.606484356,745,715,679,662,633,880,786,805.393515644,651.606484356,631,653,0.450907994789,-0.0156752335982,0.0496971175147,0.999999890274,1.93978779186e-06,-0.00046800822592,2.04278206476e-05,1793239587976656640
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745,715.194345466,679.194345466,662,633,880,786,805,652,630.805654534,653,0.450907779426,-0.0156746979802,0.0496970628618,0.999999890194,2.40642262924e-06,-0.000468175631499,2.04154475261e-05,1793239587993323264
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745,715.772649956,679.772649956,662,633,880,786,805,652,630.227350044,653,0.450907081623,-0.0156751108154,0.0496964319642,0.999999889517,2.47533188726e-06,-0.000469624670589,2.02937472344e-05,1793239588009990400
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.650519372,745,715.650519372,680,662,633,880.349480628,786,805,652,630.349480628,653,0.450906782637,-0.0156765060085,0.0496956684826,0.999999889189,4.48225070855e-07,-0.000470327174114,2.03689556002e-05,1793239588026657024
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.074643467,745,715.074643467,680,662,633,880.925356533,786,805,652,630.925356533,653,0.450906742006,-0.015678537578,0.0496948191127,0.999999889077,-2.93669130722e-06,-0.000470546068156,2.05717223705e-05,1793239588043323136
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.497141681,745,715,680,662,633,881,786,805.497141681,652,630.502858319,653,0.450907742113,-0.0156770576851,0.0496953924914,0.999999889282,-1.97372861183e-06,-0.000470126372435,2.03179074055e-05,1793239588059989760
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,745.071337166,715.071337166,680,661.928662834,633,880.928662834,786,805.928662834,652,630,652.928662834,0.450908887655,-0.0156754473972,0.049696115788,0.999999889533,-5.14683735896e-07,-0.000469607782908,2.00464177277e-05,1793239588076656640
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745.66775789,715.66775789,680,661.33224211,633,880.33224211,786,805.33224211,652,630,652.33224211,0.45090996289,-0.0156767263734,0.0496963830389,0.999999889788,-1.70057758827e-07,-0.000469061259451,2.01453084713e-05,1793239588093323520
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.74494176,715.74494176,679.74494176,661,633,880,785.74494176,805,651.74494176,630,652.25505824,0.450910631556,-0.015677438062,0.0496965220194,0.999999889838,-4.05323730351e-07,-0.000468947688619,2.03057367924e-05,1793239588109990144
+248,4.133333333,POSE1_TO_POSE2_PRESS,766,745.169111498,715.169111498,679.169111498,661,633,880,785.169111498,805,651.169111498,630,652.830888502,0.450910788903,-0.0156774363059,0.0496964996816,0.99999988963,-1.36988627926e-06,-0.000469378617233,2.05435573853e-05,1793239588126656768
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745,715.405481755,679.405481755,661.405481755,633,880.405481755,785.405481755,805.405481755,651.405481755,630,653,0.450910277696,-0.0156764215329,0.0496963307982,0.99999988945,-1.08674825905e-06,-0.000469767677876,2.04176210552e-05,1793239588143323392
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745,715.979560633,679.979560633,661.979560633,633,880.979560633,785.979560633,805.979560633,651.979560633,630,653,0.450909488509,-0.0156749855529,0.0496961009818,0.999999889282,-2.8482302964e-07,-0.000470139330017,2.01404365488e-05,1793239588159990016
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.432109606,745.567890394,715.432109606,679.432109606,661.432109606,633,880.432109606,786,806,652,630,653,0.450908672047,-0.0156742653518,0.0496951212609,0.999999888537,-8.47333795919e-07,-0.000471743315131,1.95796196199e-05,1793239588176656896
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.154129243,746,715.154129243,679,661,633,880.154129243,786,805.845870757,651.845870757,630,653,0.450908057502,-0.0156739343565,0.0496944066462,0.999999888055,-1.19757170551e-06,-0.000472775651823,1.93031887438e-05,1793239588193323520
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.733153579,746,715.733153579,679,661,633,880.733153579,786,805.266846421,651.266846421,630,653,0.450908002369,-0.0156746034551,0.0496944991827,0.99999988836,-8.23763175037e-07,-0.000472106679718,1.98396042785e-05,1793239588209990144
+254,4.233333333,HOLD_POSE2,766,745,715,680,661,633,880,786,805,652,630,653,0.450906867539,-0.0156750814012,0.0496925930668,0.999999887249,3.23012026397e-07,-0.000474432845544,2.03774337043e-05,1793239588246596608
+255,4.250000000,HOLD_POSE2,766,745,715.573442875,679.426557125,661.573442875,633,880.573442875,786,805.573442875,652,630,652.426557125,0.450909148336,-0.0156739802146,0.0496940114923,0.999999888273,9.60381262289e-07,-0.000472274889939,2.02273054136e-05,1793239588263262720
+256,4.266666667,HOLD_POSE2,766,745,715.848160425,679.151839575,662,633,881,786,806,652,630,652.151839575,0.450910933506,-0.015673153224,0.0496952076568,0.999999889077,1.46791675902e-06,-0.000470575087151,2.00741896779e-05,1793239588279928576
+257,4.283333333,HOLD_POSE2,766,745,715.255377645,679.744622355,662,633,881,786,806,652,630,652.744622355,0.450911279368,-0.0156731225003,0.049695758374,0.999999889254,1.59841430421e-06,-0.000470205762895,1.99123983459e-05,1793239588296594944
+258,4.300000000,HOLD_POSE2,766,745.328449834,715.328449834,680,662,633,881,786,806,652,630.328449834,653,0.450910584825,-0.0156736097943,0.0496951983775,0.999999888874,6.28452500204e-07,-0.000471017360514,1.98570589864e-05,1793239588313261824
+259,4.316666667,HOLD_POSE2,766,745.905499126,715.905499126,680,662,633,881,786,806,652,630.905499126,653,0.450909102811,-0.0156744891694,0.049693797696,0.999999888068,-1.17443284909e-06,-0.000472722782743,1.98822917663e-05,1793239588329928448
+260,4.333333333,HOLD_POSE2,766,745.518078939,716,680,662,633,881,786,805.518078939,652,630.518078939,653,0.450910809387,-0.0156748396952,0.049695124185,0.999999888691,-9.50783285672e-07,-0.000471393653749,2.01046962514e-05,1793239588346595072
+261,4.350000000,HOLD_POSE2,766,745.059484268,715.940515732,680,661.940515732,633,881,786,805.059484268,652,630,653,0.450912834069,-0.0156748763848,0.0496967022101,0.999999889477,-3.27773196356e-07,-0.000469717568016,2.02858813878e-05,1793239588363261696
+262,4.366666667,HOLD_POSE2,766,745.648296547,715.351703453,680,661.351703453,633,881,786,805.648296547,652,630,653,0.450912132768,-0.0156730419794,0.049695765974,0.999999889241,3.17393110613e-07,-0.00047024229751,1.97566639258e-05,1793239588379928576
+263,4.383333333,HOLD_POSE2,766,745.766489073,715,680,661.233510927,633,881,786,806,652,630,653,0.450911799242,-0.0156726433209,0.0496953234322,0.999999889006,-7.95540132974e-07,-0.000470755552912,1.94012867198e-05,1793239588396595200
+264,4.400000000,HOLD_POSE2,766,745.186611509,715,680,661.813388491,633,881,786,806,652,630,653,0.450912011239,-0.0156743743053,0.0496956131871,0.999999888764,-4.51626159796e-06,-0.000471251788748,1.93037667232e-05,1793239588413261824
+265,4.416666667,HOLD_POSE2,766,745,715.390691714,680,661.609308286,633,881,786,806,652,630,653,0.450912770648,-0.0156747743462,0.0496956865125,0.999999889059,-5.5906994812e-06,-0.000470608020725,1.94796878846e-05,1793239588429928704
+266,4.433333333,HOLD_POSE2,766,745,715.966773417,680,661.033226583,633,881,786,806,652,630,653,0.450913789815,-0.0156745428314,0.0496956571385,0.999999889611,-5.40943026612e-06,-0.000469423301155,1.97853616064e-05,1793239588446595072
+267,4.450000000,HOLD_POSE2,765.459323428,745.540676572,715.459323428,679.459323428,661.540676572,633,880.459323428,786,806,652,630,653,0.45091372813,-0.0156737930232,0.0496963729666,0.999999889886,-2.09519947323e-06,-0.000468863591965,1.97560511542e-05,1793239588463261696
+268,4.466666667,HOLD_POSE2,765.117302462,745.882697538,715,679,661.882697538,633,880.117302462,786,805.882697538,652,630,653,0.450913361084,-0.0156734841969,0.049696755615,0.999999889872,3.46074599177e-10,-0.000468894151211,1.98359287006e-05,1793239588479928064
+269,4.483333333,HOLD_POSE2,765.705391217,745.294608783,715,679,661.294608783,633,880.705391217,786,805.294608783,652,630,653,0.450912034004,-0.0156750725441,0.0496956180071,0.999999888798,-3.56484131141e-06,-0.000471140182367,2.04363147935e-05,1793239588496594944
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,716,679,662,633,880,786,805,652,630,653,0.450914562985,-0.015673672587,0.0496975902688,0.99999989077,-3.80263138423e-06,-0.000466946850585,2.01676395141e-05,1793239588533558528
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745.575501946,715.424498054,679,662,633,880.575501946,785.424498054,805.575501946,652,630,653,0.450914116287,-0.0156722560434,0.0496967974167,0.99999988994,-1.80777265203e-06,-0.000468745952814,1.98366930028e-05,1793239588550225152
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.849309359,745.849309359,715.150690641,679,661.849309359,633,880.849309359,785.150690641,805.849309359,652,630,652.849309359,0.450913886229,-0.0156711916032,0.0496963381679,0.999999889398,-7.97223228528e-07,-0.000469915644573,1.95612425602e-05,1793239588566891520
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.275001135,745.275001135,715.724998865,679,661.275001135,633,880.275001135,785.724998865,805.275001135,652,630,652.275001135,0.450914265184,-0.0156711169864,0.049696816736,0.999999889679,-2.55373788597e-06,-0.00046931595453,1.94418011362e-05,1793239588583557632
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715.692496984,679,661.307503016,633,880,785.692496984,805,652,630,652.307503016,0.450913119266,-0.0156716846516,0.0496958884591,0.99999988898,-3.130085863e-06,-0.000470791884618,1.96281046691e-05,1793239588600223744
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715.102462511,679,661.897537489,633,880,785.102462511,805,652,630,652.897537489,0.450910572306,-0.0156728424408,0.0496936675834,0.999999887374,-2.62210546617e-06,-0.000474174878902,2.00953243757e-05,1793239588616890112
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.478253591,745,715,679,662,633,880,785.478253591,805,652,630,652.521746409,0.450909978852,-0.0156740827258,0.0496936810734,0.999999887344,-4.37364832568e-06,-0.000474232111548,1.99021270699e-05,1793239588633556736
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.056747316,679.056747316,661.943252684,633,880,786,805,652,630,652.056747316,0.45090973054,-0.0156751577923,0.0496941125915,0.999999887642,-6.29975939661e-06,-0.000473594392529,1.95969287171e-05,1793239588650223360
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,745,715.632823807,679.632823807,661.367176193,633,880,786,805,652,630,652.632823807,0.450908883862,-0.0156745621885,0.0496940726146,0.999999887933,-5.47794305927e-06,-0.000472992841743,1.95368524158e-05,1793239588666890496
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,715.791707962,680,661,633,880.208292038,786,805,652,630,652.791707962,0.450902492286,-0.0156738986083,0.0496909553041,0.999999885765,-4.9072671402e-06,-0.000477569494609,1.93111397712e-05,1793239588683557376
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,715.217308909,680,661,633,880.782691091,786,805,652,630,652.217308909,0.450886354653,-0.0156731155483,0.0496824290809,0.99999987915,-4.77801129398e-06,-0.000491247679615,1.87942944133e-05,1793239588700224000
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.368395051,715.368395051,680,661.368395051,633,880.631604949,786,805.368395051,652,630,652,0.450856331769,-0.015670375461,0.0496698384513,0.999999867864,-3.53524097658e-06,-0.000513764618605,1.74567502428e-05,1793239588716890368
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.960978722,715.960978722,680,661.960978722,633,880.039021278,786,805.960978722,652,630,652,0.450817858947,-0.015666444415,0.0496547744064,0.999999853179,-1.61483593593e-06,-0.000541660425842,1.56197657134e-05,1793239588733556480
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.462806733,715.462806733,680,661.462806733,633,880,785.462806733,805.462806733,652,630,652.537193267,0.450754786731,-0.0156623746308,0.0496330948282,0.999999832276,-1.36949561739e-06,-0.000579025077966,1.32373492018e-05,1793239588750223360
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.112523548,633,880.112523548,785.112523548,805,652,630,652.887476452,0.45068828027,-0.0156583264308,0.0496129551736,0.999999812679,-8.3022442744e-07,-0.000611979866175,1.1040178741e-05,1793239588766889984
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.688965589,633,880.688965589,785.688965589,805,652,630,652.311034411,0.45061476409,-0.0156544075389,0.0496010870372,0.999999805262,1.40769766069e-06,-0.000624001546397,9.76526682176e-06,1793239588783556608
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.728441278,662,633,880.728441278,786,805,652,630.271558722,652,0.450536324893,-0.0156499403558,0.0495954402316,0.99999980228,3.27118897314e-06,-0.000628770222368,8.77352359419e-06,1793239588800223488
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.13863964,662,633,880.13863964,786,805,652,630.86136036,652,0.450452116358,-0.0156448306239,0.0495970842789,0.999999804619,4.69588024562e-06,-0.000625039015233,8.11362922207e-06,1793239588816890624
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.556081909,633,880,786,805,652,630.556081909,652.443918091,0.450352181035,-0.0156386323737,0.0496021238091,0.999999808967,8.40705580744e-06,-0.000618004608819,8.10565347815e-06,1793239588833557248
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,633,880,786,805.024001042,652,630,653,0.450246158763,-0.0156320123288,0.049608087929,0.999999813791,1.27434758399e-05,-0.000610071352413,8.26933818225e-06,1793239588850223616
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,633,880,786,805.598379632,652,630,653,0.450111376033,-0.0156233903965,0.0496113272575,0.999999816959,1.53054707925e-05,-0.000604802843724,7.77556551807e-06,1793239588866890240
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.176597656,633.176597656,880.176597656,786,806,652,630,653,0.449964214235,-0.0156140909524,0.0496124300272,0.999999818275,1.92270924433e-05,-0.000602521310247,7.00358401098e-06,1793239588883557120
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.763741337,633.763741337,880.763741337,786,806,652,630,653,0.449788274176,-0.0156032164611,0.0496085658237,0.999999815302,2.63095107183e-05,-0.000607183758715,5.58483558021e-06,1793239588900224000
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.346484187,679.346484187,662,633.653515813,880.653515813,786,805.653515813,652,630,652.653515813,0.449593549527,-0.0155912685099,0.0496061630058,0.999999812925,3.27969388879e-05,-0.000610783477743,4.23552392391e-06,1793239588916890624
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715.926263917,679.926263917,662,633.073736083,880.073736083,786,805.073736083,652,630,652.073736083,0.449386176775,-0.015578597773,0.0496047441712,0.999999810946,3.88837476387e-05,-0.000613667637765,2.9329654566e-06,1793239588933557248
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715.496136564,679.496136564,662,633,880.503863436,786,805,652,630.503863436,652.503863436,0.449144129074,-0.0155636447149,0.0496028493419,0.99999980937,4.42482767174e-05,-0.000615874732678,7.51942957933e-07,1793239588950223616
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,633.080704128,881,786.080704128,805.080704128,652,631,653,0.448893111433,-0.0155488675268,0.0496014867757,0.999999808183,4.92940452244e-05,-0.000617415468422,-1.38372184075e-06,1793239588966890496
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,633.654847827,881,786.654847827,805.654847827,652,631,653,0.448618141872,-0.0155371989601,0.0496038026261,0.99999980918,5.30343374248e-05,-0.000615485164429,-2.45943644323e-06,1793239588983557376
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.235652309,662,634,880.764347691,786.764347691,805.764347691,652,630.764347691,653,0.448325935682,-0.0155263785768,0.0496069175099,0.999999812987,5.34770316495e-05,-0.000609220763637,-4.09539708988e-06,1793239589000224000
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.826496358,662,634,880.173503642,786.173503642,805.173503642,652,630.173503642,653,0.448007749246,-0.0155168366359,0.049611236753,0.99999982092,4.89493539648e-05,-0.00059642370726,-6.57579992676e-06,1793239589016890368
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745,715.409082647,679.590917353,662.409082647,634,880.409082647,786,805,652,630.409082647,652.590917353,0.44765230959,-0.0155116269141,0.0496085032164,0.999999820162,3.98331741087e-05,-0.000598325124667,-9.76706953736e-06,1793239589033556736
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745,715.988235869,679.011764131,662.988235869,634,880.988235869,786,805,652,630.988235869,652.011764131,0.447281382421,-0.0155082182541,0.049602837582,0.999999815675,2.88093866604e-05,-0.000606337233948,-1.32538723288e-05,1793239589050223616
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745,715.436853555,679,662.436853555,634,881,786.563146445,805,652,631,652.563146445,0.446881409588,-0.0155074193702,0.0496024119261,0.999999815728,1.60592176387e-05,-0.000606678532851,-1.50464336559e-05,1793239589066890240
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.137877564,662,634,881,787,805,651.862122436,631,653,0.446473057477,-0.0155046058925,0.0496036554695,0.999999817019,5.73911148847e-06,-0.00060468225326,-1.69529352492e-05,1793239589083556864
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.712318885,662,634,881,787,805,651.287681115,631,653,0.44604008085,-0.0154952422457,0.0496098402203,0.999999822326,3.22668808893e-06,-0.000595788051348,-1.93314337394e-05,1793239589100223744
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634.294171767,881,787,805,651.294171767,631,653,0.44559585438,-0.0154856382084,0.0496292651482,0.999999840562,6.14345663677e-07,-0.000564308353254,-2.07677632839e-05,1793239589116890624
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,634.883460082,881,787,805,651.883460082,631,653,0.445140341884,-0.0154757930072,0.049661972777,0.999999869635,-2.09823699844e-06,-0.000510170619542,-2.12588981897e-05,1793239589133558016
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.533983626,662.466016374,635,880.533983626,787,805.466016374,652,631.466016374,653,0.444639210881,-0.0154655518993,0.0496934923447,0.999999888909,-8.73189950333e-06,-0.000470777721824,-2.17854159413e-05,1793239589150224128
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.04626631,662.95373369,635,880.04626631,787.04626631,805.95373369,652,632,653,0.444121564397,-0.0154552319377,0.0497223395657,0.999999903811,-1.64780916008e-05,-0.000437716418404,-2.25979940476e-05,1793239589166890496
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.619154474,662.380845526,635,880.619154474,787.619154474,805.380845526,652,632,653,0.443543934546,-0.0154451253148,0.0497241027093,0.999999904547,-2.58852295013e-05,-0.000435350708245,-2.65673452085e-05,1793239589183556864
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766.197265569,745,715,679.802734431,662.197265569,635,881,787.802734431,805,652,631.802734431,653,0.442958690742,-0.0154360159253,0.0497234254719,0.999999903984,-3.62016810917e-05,-0.000435646170594,-3.05698222757e-05,1793239589200223488
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766.785734379,745,715,679.214265621,662.785734379,635,881,787.214265621,805,652,631.214265621,653,0.442358347515,-0.0154288841798,0.0497179086417,0.999999900895,-4.8321419252e-05,-0.00044121908378,-3.46379920798e-05,1793239589216890368
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766.631209113,745,715,679.368790887,663,635,881,787.368790887,805,652,631.368790887,653,0.441750031054,-0.0154247761164,0.0497441571414,0.999999920106,-6.20587012715e-05,-0.000393278758661,-3.56155865954e-05,1793239589233557248
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766.051251662,745,715,679.948748338,663,635,881,787.948748338,805,652,631.948748338,653,0.441137149208,-0.015422399388,0.0497885942023,0.999999946933,-7.67221745828e-05,-0.000314697200699,-3.48235433466e-05,1793239589250223872
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.525219095,635,881,788,805.525219095,652,632,653,0.440491201542,-0.0154201362766,0.0498291274395,0.999999965122,-8.02481006066e-05,-0.00024928731606,-3.4235073386e-05,1793239589266891008
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.8985944,663.8985944,635.1014056,881,788,806,652,632,653,0.439820941506,-0.015417082694,0.0498570137738,0.999999975797,-6.98844281422e-05,-0.00020569270647,-3.48176243263e-05,1793239589283557888
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.322156326,663.322156326,635.677843674,881,788,806,652,632,653,0.439051806182,-0.0154102745713,0.0498274286778,0.999999965806,4.87182174336e-07,-0.000258310023484,-4.07933559887e-05,1793239589300224000
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.739693207,881,788,805.739693207,652,632,653,0.438271959701,-0.0154047533851,0.0497976429494,0.999999950161,2.80423509425e-05,-0.000311031026959,-4.63727105769e-05,1793239589316890368
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.149596716,881,788,805.149596716,652,632,653,0.437478542861,-0.0154008626525,0.0497676030301,0.99999993247,1.35222459147e-06,-0.000363883402057,-5.14498853768e-05,1793239589333556736
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.431213036,635,881,788,805,652,632,653,0.436689923958,-0.0154004371495,0.0497822702016,0.999999938518,-2.93500285061e-05,-0.000345375337491,-5.30877297605e-05,1793239589350223360
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,664,635,881,788,805.008835959,651.991164041,632,653,0.43590212984,-0.0154010442409,0.0498115511955,0.999999950594,-6.12030404497e-05,-0.000303629290211,-5.3621963701e-05,1793239589366889984
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,664,635,881,788,805.584345496,651.415654504,632,653,0.435062729664,-0.0153924020577,0.0498043402283,0.999999942073,-7.94737399882e-05,-0.000325791778508,-5.82869597946e-05,1793239589383556864
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.163617869,663.672764261,635,881,788,805.836382131,651.163617869,632,653,0.434232641829,-0.0153872322903,0.0497977662528,0.999999935094,-9.88537243952e-05,-0.000340755382139,-6.26546052016e-05,1793239589400224000
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.752674319,662.494651361,635,881,788,805.247325681,651.752674319,632,653,0.433426767959,-0.0153910914862,0.0497928485811,0.999999933686,-0.000121118066251,-0.000337000471587,-6.624908026e-05,1793239589416891392
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766.336395035,745,714.663604965,679.663604965,662.67279007,635.336395035,881,788,805,652,632,653,0.432602603419,-0.0153942657277,0.0498061464752,0.99999994096,-0.000122203326402,-0.000313884790157,-6.7989087074e-05,1793239589433558016
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.916254019,745,714.083745981,679.083745981,663.832508037,635.916254019,881,788,805,652,632,653,0.431765201149,-0.0153969442373,0.0498326277793,0.999999953537,-0.000107960348363,-0.000276756863353,-6.8386933068e-05,1793239589450223616
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.507553794,745,714.492446206,679,663.507553794,635.507553794,881,788,805,652,632,653,0.430864764938,-0.0153900952817,0.049822230634,0.999999957252,-2.39949007226e-05,-0.000287830460617,-4.55490994573e-05,1793239589466890240
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,714.931769529,679,663,635.068230471,880.931769529,788,804.931769529,652,632,653,0.42995314446,-0.0153818755526,0.0498046079377,0.999999950026,5.77316210309e-05,-0.000309988918502,-2.28290410362e-05,1793239589483556864
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.354410739,679,663,635.645589261,880.354410739,788,804.354410739,652,632,653,0.429037466151,-0.0153754280493,0.0497795210296,0.999999936222,3.49291284473e-05,-0.000354146819917,-3.02554603534e-05,1793239589500223488
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.227447865,679.227447865,663,636,880,788,804.227447865,652,632,653,0.428141108059,-0.0153726669656,0.0497725841607,0.999999930252,2.11583998843e-05,-0.000371156465487,-3.59342604231e-05,1793239589516890112
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,714.816459717,679.816459717,663,636,880,788,804.816459717,652,632,653,0.427275462333,-0.0153757660221,0.0497944996167,0.999999939494,2.17450707006e-05,-0.000345009716193,-3.88349473482e-05,1793239589533556992
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.603044367,663,636,880,788,805.396955633,652,632,653,0.426378346264,-0.0153763113745,0.0497896284918,0.999999938007,6.84004288791e-06,-0.000349311807507,-4.38125814773e-05,1793239589550223872
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.0264033,663,636,880,788,805.9735967,652,632,653,0.425466984922,-0.0153757007702,0.0497726321857,0.99999993116,-1.50774376812e-05,-0.000367396833915,-4.97303637059e-05,1793239589566891008
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766.550257621,745,715,679,663,636,880.550257621,788,805.449742379,652,632,653,0.424611290635,-0.0153847121009,0.0498095593837,0.99999995447,-4.2664366791e-05,-0.000294943998137,-4.74077038153e-05,1793239589583557376
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766.874015082,745,715,679,663.125984918,635.874015082,880.874015082,788,805,651.874015082,632,653,0.423753782307,-0.0153922086858,0.0498421109582,0.99999997006,-6.10533303826e-05,-0.000232649099169,-4.50156802493e-05,1793239589600223744
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766.301599505,745,715,679,663.698400495,635.301599505,880.301599505,788,805,651.301599505,632,653,0.422880380462,-0.0153927016471,0.0498499884142,0.999999973404,-4.58850606711e-05,-0.000221743889505,-4.37790453992e-05,1793239589616890368
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766.280117063,745,715.280117063,679,663.439765874,635.280117063,880,788,805,651.280117063,632,653,0.421992860342,-0.0153907523953,0.0498393477412,0.999999968275,-3.60268654743e-05,-0.000245260859057,-4.47039440904e-05,1793239589633556736
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766.872191821,745,715.872191821,679,662.255616359,635.872191821,880,788,805,651.872191821,632,653,0.421089617193,-0.0153860833266,0.0498080840011,0.999999951173,-3.20823366636e-05,-0.000307112743237,-4.80360756866e-05,1793239589650223360
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766.545964657,745,716,679,662.454035343,636,880,788,805,652,632,653,0.420219934561,-0.015382507359,0.049809690867,0.999999950643,-3.99996135795e-05,-0.00030782019784,-4.85903954055e-05,1793239589666890240
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715.967164353,679,663,635.967164353,879.967164353,788,804.967164353,652,631.967164353,653,0.419357357128,-0.0153793058987,0.0498190438884,0.999999954154,-5.07818652327e-05,-0.000294563382467,-4.84358320167e-05,1793239589683556864
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715.392107616,679,663,635.392107616,879.392107616,788,804.392107616,652,631.392107616,653,0.418459546741,-0.0153773195978,0.0498068833556,0.999999943268,-5.49511053902e-05,-0.000328669878071,-4.92030695419e-05,1793239589700223744
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,744.812561909,715,679,662.812561909,635,879,788,804,652,631.187438091,653,0.417596763107,-0.0153767863859,0.0497970617554,0.999999936,-5.16523076075e-05,-0.000350427395541,-5.03355318815e-05,1793239589716890112
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,744.223395061,715,679,662.223395061,635,879,788,804,652,631.776604939,653,0.416809050779,-0.0153793675227,0.0497922530961,0.999999938351,-3.23475559959e-05,-0.000345717836411,-5.22507665715e-05,1793239589733556736
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,744.359282846,715,679,662.359282846,635.359282846,879.359282846,788,804,652,632,652.640717154,0.416042581827,-0.0153824809321,0.0498095665837,0.999999949718,-3.55683560965e-05,-0.000310855739946,-5.16561366719e-05,1793239589750223616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,744.937997598,715,679,662.937997598,635.937997598,879.937997598,788,804,652,632,652.062002402,0.41528908731,-0.0153859194268,0.0498403911672,0.99999996422,-5.25466322328e-05,-0.000257577988537,-4.95286073772e-05,1793239589766890240
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,715.505951935,679,663,636,880,788,804,652,632,652,0.414517413425,-0.0153861810028,0.0498325365225,0.999999960572,-6.05693800008e-05,-0.000269595911648,-5.00588369464e-05,1793239589783556864
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715.924801178,679,663,636,880,788,804,652,631.924801178,652.075198822,0.413740128798,-0.0153858100336,0.0498185065432,0.999999953734,-6.66591405107e-05,-0.000292352528457,-5.11715579143e-05,1793239589800223488
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.337975442,679,663,636,880,788,804,652,631.337975442,652.662024558,0.412939512217,-0.0153837290751,0.0497940393629,0.999999940232,-6.69087974894e-05,-0.000334864254511,-5.40775605353e-05,1793239589816890112
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.749851959,663,636,879.749851959,788,804,652,631.250148041,653,0.412198133784,-0.015383677164,0.0497897143634,0.999999936482,-6.87193786077e-05,-0.000345410408485,-5.48181185332e-05,1793239589833556736
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.159965993,663,636,879.159965993,788,804,652,631.840034007,653,0.411537209556,-0.0153863809985,0.0498127454175,0.999999947135,-7.26499249355e-05,-0.000312542598905,-5.2617683246e-05,1793239589850223360
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.422300164,745,715,678,663,635.577699836,879.422300164,788,804,652,631.577699836,653,0.410872531523,-0.0153838142467,0.0498256376824,0.999999952792,-7.15761662712e-05,-0.000294346257639,-5.15165671677e-05,1793239589866889984
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.998287515,745,715,678.001712485,662.998287515,635.001712485,880,788,804,652,631.001712485,653,0.410206508398,-0.0153792949041,0.0498346515519,0.99999995665,-6.86562704106e-05,-0.000281783459009,-5.08343218697e-05,1793239589883557120
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766.425109199,745,715,678.574890801,662.425109199,635.574890801,880,788,804,652,631.574890801,653,0.409557734788,-0.0153776140806,0.0498083182354,0.999999942433,-7.10358782249e-05,-0.000327464639697,-5.34332836168e-05,1793239589900223744
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.148387565,636,879.851612435,788,804.148387565,652,632,652.851612435,0.408929051989,-0.0153772607551,0.0497929696261,0.999999933564,-7.39748827942e-05,-0.000352676531911,-5.49442632049e-05,1793239589916890624
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662.722798734,636,879.277201266,788,804.722798734,652,632,652.277201266,0.408358050153,-0.015380718702,0.0498091583201,0.999999944576,-7.8519927266e-05,-0.00031912070847,-5.333162557e-05,1793239589933558272
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766.307606872,745,715.307606872,678.692393128,663.307606872,636,879,788,805,652,632,652.307606872,0.407814963592,-0.015384065896,0.0498250456159,0.999999952436,-8.44846132399e-05,-0.000292079858361,-5.17701304044e-05,1793239589950224896
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766.902112003,745,715.902112003,678.097887997,663.902112003,636,879,788,805,652,632,652.902112003,0.407297913037,-0.0153873097927,0.0498406518032,0.999999957774,-9.17733678207e-05,-0.000271115384768,-5.02563348305e-05,1793239589966890752
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766.519730931,745,715.519730931,678,663.519730931,636,879,788.480269069,804.519730931,652,632,653,0.406776073987,-0.0153854521018,0.0498301451442,0.999999950854,-9.72910752657e-05,-0.000293525473547,-5.16592041372e-05,1793239589983557376
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.055250496,662.944749504,635.944749504,879.055250496,788.944749504,804,652,632,652.944749504,0.406256019367,-0.015382980813,0.0498138295063,0.999999940332,-0.000102761063757,-0.000325417206249,-5.3654724716e-05,1793239590000224256
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.630671817,662.369328183,635.369328183,879.630671817,788.369328183,804,652,632,652.369328183,0.405761650929,-0.0153841998696,0.0497912823546,0.999999925265,-0.000111068396286,-0.000366084470346,-5.58173454396e-05,1793239590016890624
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.210826318,715,678.789173682,662.210826318,635,880,788.210826318,804.210826318,652,632,652.210826318,0.405296454944,-0.0153840185908,0.0497787676801,0.999999915605,-0.000117305899738,-0.000389521609917,-5.74633123968e-05,1793239590033556992
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.799462824,715,678.200537176,662.799462824,635,880,788.799462824,804.799462824,652,632,652.799462824,0.40488353735,-0.0153813278482,0.0497842316555,0.999999918134,-0.000119834176313,-0.000382081592422,-5.81834126091e-05,1793239590050223616
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.383559295,745.616440705,715,678.383559295,663,635.383559295,879.616440705,788.616440705,804.616440705,652,632,653,0.404514301826,-0.0153841914919,0.0497996886926,0.999999927082,-0.000127991065386,-0.00035513183212,-5.77546130005e-05,1793239590066889984
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.965309909,745.034690091,715,678.965309909,663,635.965309909,879.034690091,788.034690091,804.034690091,652,632,653,0.4041676375,-0.0153899251769,0.0498203093074,0.999999938128,-0.00013905635005,-0.000318101069659,-5.67321581857e-05,1793239590083556608
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.92031144,745,715,679,663,636,879,788,804,652.53984428,632,653,0.403858654533,-0.0153959495042,0.0498446211125,0.999999946956,-0.000149620721604,-0.000284192341106,-5.41971400599e-05,1793239590100223232
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.116390931,745,715,678.883609069,663,636,879,788,804,652.883609069,632,653,0.403554263098,-0.0154009518509,0.049864590943,0.99999995362,-0.000154543958936,-0.000257181821806,-5.22835564461e-05,1793239590116890112
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.702914203,745,715,678.297085797,663,636,879,788,804,652.297085797,632,653,0.403258766362,-0.0154017517177,0.0498660770031,0.999999956138,-0.000136809537399,-0.000257235235318,-5.3267525362e-05,1793239590133557248
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,744.713938153,715,678,663,636,879,788,804,652,632,652.713938153,0.402974293284,-0.0154011773713,0.0498603355409,0.999999956308,-0.000111028211776,-0.000268433660251,-5.47809973474e-05,1793239590150224128
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,744.134255372,715,678,663,636,879,788,804,652,632,652.134255372,0.402701135179,-0.0153991924986,0.0498471755715,0.99999995306,-7.69873463082e-05,-0.00029107159947,-5.68379642267e-05,1793239590166890752
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,744.886144151,715,678.443072076,663,635.556927924,879,788,804,652,632,652,0.402459868802,-0.0153987276516,0.0498353768381,0.999999946497,-7.53178524664e-05,-0.000312884667361,-5.86128142074e-05,1793239590183557120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.01967856,745.98032144,715,678.98032144,663,635.01967856,879,788,804,652,632,652.01967856,0.40222987851,-0.0153987221502,0.0498242319692,0.999999938961,-8.33655228508e-05,-0.000333908058106,-6.02816925139e-05,1793239590200223488
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.59597283,745.40402717,715,678.40402717,663,635.59597283,879,788,804,652,632,652.59597283,0.402046945496,-0.0153987505274,0.0498199767699,0.999999936368,-9.02867243062e-05,-0.000339627527502,-6.13582930081e-05,1793239590216890368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,767,745,715,678.176205778,663,636,879,788,804,652.176205778,632,653,0.401876825569,-0.0153991174939,0.049818881854,0.999999935679,-9.5916508994e-05,-0.000340033569208,-6.17977779375e-05,1793239590233556992
+373,6.216666667,POSE2_TO_POSE3_RETREAT,767,745,715,678.765676233,663,636,879,788,804,652.765676233,632,653,0.401736756875,-0.0154002785719,0.0498251989175,0.999999939518,-9.85174650624e-05,-0.000327977748776,-6.07430020842e-05,1793239590250223616
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.650924569,745,715,679,663,636,879.349075431,788,803.650924569,652.650924569,631.650924569,653,0.401614866106,-0.0153972205836,0.0498305395648,0.999999947424,-5.57733738365e-05,-0.0003153537301,-5.09166618644e-05,1793239590266890496
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.071531094,745,715,679,663,636,879.928468906,788,803.071531094,652.071531094,631.071531094,653,0.401504969018,-0.0153913788786,0.0498352359789,0.999999953525,1.68891296318e-05,-0.000302354814732,-3.53028914921e-05,1793239590283557376
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.495633642,788,803.504366358,652,631.504366358,653,0.401414674241,-0.0153905432506,0.0498402498426,0.999999955613,1.96990839458e-05,-0.000295344840054,-3.40293125367e-05,1793239590300224000
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.079678929,636,879,787.920321071,804,652,631.920321071,653,0.401329785754,-0.0153911612138,0.0498447767859,0.999999957332,1.24147220718e-05,-0.000289788992766,-3.47071951044e-05,1793239590316890368
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.65441719,636,879,787.34558281,804,652,631.34558281,653,0.401261333298,-0.0153964297303,0.0498460006049,0.999999957903,3.54123444554e-06,-0.000288026912554,-3.49606116214e-05,1793239590333556992
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.763780758,663.763780758,636,879,787.236219242,804,652,631.236219242,652.763780758,0.401198541856,-0.0154011601136,0.0498458805595,0.999999958021,-5.266182451e-06,-0.000287528606358,-3.54550107019e-05,1793239590350223616
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.171326039,663.171326039,636,879,787.828673961,804,652,631.828673961,652.171326039,0.40114428763,-0.0154050789534,0.0498437338704,0.999999957501,-1.39739594385e-05,-0.000288936161697,-3.63128286751e-05,1793239590366890240
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,635.589967243,879,788,804,652,632,652.410032757,0.401104836645,-0.0154064504304,0.0498442251294,0.999999957868,-1.76772873769e-05,-0.000287415800626,-3.66492578174e-05,1793239590383556864
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,635.01312257,879,788,804,652,632,652.98687743,0.401071408002,-0.0154067855743,0.0498457895738,0.999999958608,-1.9344675971e-05,-0.000284704287506,-3.6773572496e-05,1793239590400223488
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,663,635.561515735,879.561515735,787.438484265,804,652.561515735,632,653,0.401051056977,-0.0154075246084,0.0498482611216,0.999999959927,-2.34664859042e-05,-0.000279696348122,-3.69561441628e-05,1793239590416890368
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.138369507,745,715,678.138369507,663,636,880,787.138369507,804,653,632,653,0.401032595863,-0.0154078323624,0.04985053975,0.999999960989,-2.66419814823e-05,-0.000275554567779,-3.71644185614e-05,1793239590433557248
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.722526245,745,715,678.722526245,663,636,880,787.722526245,804,653,632,653,0.401019242735,-0.0154067203639,0.0498521288167,0.999999961304,-2.65846472762e-05,-0.000274375530706,-3.74511307545e-05,1793239590450223872
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766.694363406,745,715,679,662.694363406,636,880,788,804,652.694363406,632,653,0.401009652842,-0.0154058773841,0.0498533612807,0.999999961857,-2.60487936252e-05,-0.000272379104478,-3.76572617161e-05,1793239590466890496
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766.112199718,745,715,679,662.112199718,636,880,788,804,652.112199718,632,653,0.401003467764,-0.0154052778009,0.0498542711059,0.999999962618,-2.50799957641e-05,-0.000269643138897,-3.77904862122e-05,1793239590483557120
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766.466001041,745,715,678.533998959,662.466001041,636,879.533998959,788,804,652,631.533998959,652.533998959,0.400999072697,-0.0154066715734,0.0498536055107,0.99999996262,-2.71358077129e-05,-0.00026944385606,-3.77197056724e-05,1793239590500223744
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.956908299,745,715,678.043091701,663,636,879,788,804,652,631.043091701,652.043091701,0.400995294111,-0.0154083685059,0.0498526957573,0.999999962474,-2.97214390298e-05,-0.000269726920152,-3.76270335257e-05,1793239590516890368
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.381841621,745,715,678.618158379,663,636,879,788,804,652,631.618158379,652.618158379,0.400993850388,-0.0154079329816,0.0498534150673,0.999999962792,-2.9933348884e-05,-0.000268488273779,-3.78653700069e-05,1793239590533556992
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.198246316,788,804,652,631.801753684,653,0.400993402835,-0.0154074792629,0.0498545569112,0.999999963302,-2.98475256477e-05,-0.000266571021924,-3.80264494045e-05,1793239590550223872
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.788256977,788,804,652,631.211743023,653,0.400994923862,-0.0154069895893,0.049856533745,0.999999964184,-2.91733373195e-05,-0.000263312744306,-3.80348572455e-05,1793239590566890752
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.629092937,788,804,652,631.370907063,653,0.400995133673,-0.0154079349223,0.0498577463668,0.999999964511,-3.00183563106e-05,-0.000262010021714,-3.77749189922e-05,1793239590583557376
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.050563102,788,804,652,631.949436898,653,0.400994609503,-0.0154096835294,0.0498585312053,0.999999964529,-3.17137825154e-05,-0.000261801960925,-3.73647685552e-05,1793239590600224000
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.473448841,663,636,879,788,804,652,632,653,0.400992824202,-0.0154099145232,0.0498574256396,0.999999964076,-3.20474409729e-05,-0.000263440476107,-3.76841807169e-05,1793239590616890624
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.105443792,663,636,879.105443792,788,804,652.105443792,632,653,0.400991539067,-0.0154099348754,0.0498566112639,0.999999963807,-3.20192767177e-05,-0.000264418133777,-3.7990438192e-05,1793239590633556992
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.693088833,663,636,879.693088833,788,804,652.693088833,632,653,0.400993093553,-0.0154096566043,0.0498579564407,0.999999964595,-3.09328736674e-05,-0.000261564920515,-3.79170190749e-05,1793239590650223616
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,744.723227246,715,678.723227246,663,636,880,788,804,652.723227246,631.723227246,653,0.400994223455,-0.0154095059812,0.0498588740207,0.999999965104,-3.02658048777e-05,-0.000259725968355,-3.76613571903e-05,1793239590666890240
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,744.143873729,715,678.143873729,663,636,880,788,804,652.143873729,631.143873729,653,0.400994889184,-0.0154094949087,0.0498593241324,0.999999965317,-3.00571715402e-05,-0.000258995852938,-3.72064590827e-05,1793239590683556864
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,744.434570786,715,678.434570786,663,636,879.565429214,788,804,652,631.434570786,653,0.400994938693,-0.0154099954374,0.0498598999242,0.999999965578,-3.03298332002e-05,-0.000257931783091,-3.7350567654e-05,1793239590700223488
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.012596581,745,715,678.987403419,663,636,879,788,804,652,632,652.987403419,0.400994798097,-0.0154106541702,0.0498605100342,0.99999996585,-3.07907477401e-05,-0.000256771148513,-3.76825631336e-05,1793239590716890624
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.585358508,745,715,678.414641492,663,636,879,788,804,652,632,652.414641492,0.400995257004,-0.0154108318086,0.0498607997866,0.999999965939,-3.25520769595e-05,-0.000256222727307,-3.75692937809e-05,1793239590733556992
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.83659725,745,715,678.16340275,662.83659725,636,879,788,804,652,632,652,0.400995315965,-0.0154106272446,0.0498607258128,0.99999996591,-3.35290122645e-05,-0.00025620617234,-3.76017239136e-05,1793239590750223616
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.244701151,745,715,678.755298849,662.244701151,636,879,788,804,652,632,652,0.400994326146,-0.0154094204261,0.0498596980345,0.999999965576,-3.24490201789e-05,-0.000257584337787,-3.80162238801e-05,1793239590766890240
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,744.660259176,715,678.660259176,662.679481648,636,879,788,804,652.339740824,632,652.339740824,0.400994582705,-0.0154102220765,0.049860352742,0.999999965799,-3.29213467444e-05,-0.000256685198952,-3.78274717527e-05,1793239590783556864
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,744.081070853,715,678.081070853,663.837858294,636,879,788,804,652.918929147,632,652.918929147,0.400995717703,-0.0154124392849,0.0498621932563,0.999999966409,-3.44877391611e-05,-0.000254181028293,-3.72135507883e-05,1793239590800223488
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,744.493081208,715,678.493081208,663.506918792,636,879.493081208,788,804,653,632,653,0.400995467083,-0.0154126864632,0.0498619529029,0.999999966275,-3.53121947627e-05,-0.000254596892688,-3.72030688211e-05,1793239590816890112
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.933153438,663,636,879.933153438,788,804,652.933153438,632,653,0.400995032226,-0.0154124767735,0.0498613626515,0.999999966058,-3.57167207396e-05,-0.000255371283778,-3.73375097833e-05,1793239590833556736
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.356083651,663,636,879.356083651,788,804,652.356083651,632,653,0.400994912426,-0.0154112272227,0.0498606867039,0.999999966135,-3.38377095628e-05,-0.000255254763488,-3.78284805484e-05,1793239590850223360
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.226629992,663,635.773370008,879,788,804,652,632,653,0.400994636516,-0.0154105122982,0.0498603524232,0.999999966123,-3.24076784461e-05,-0.000255462802944,-3.79769752333e-05,1793239590866890240
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.818437896,663,635.181562104,879,788,804,652,632,653,0.40099410906,-0.015410658838,0.0498605686838,0.999999965974,-3.17011064494e-05,-0.000256193818398,-3.75736246761e-05,1793239590883557120
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.399431725,745,715,678.600568275,663,635,879.399431725,788,804,652,632,653,0.400994595788,-0.0154104930626,0.0498611456737,0.99999996627,-3.16378741976e-05,-0.000255044978661,-3.75573011576e-05,1793239590900223488
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.975639546,745,715,678.024360454,663,635,879.975639546,788,804,652,632,653,0.400995531362,-0.0154101890662,0.0498618823112,0.999999966761,-3.18593642086e-05,-0.000253064173267,-3.77122638284e-05,1793239590916890112
+414,6.900000000,POSE2_TO_POSE3_RETREAT,767,745,715,678.550619333,663,635.550619333,880,788,804,652,632,653,0.400994932171,-0.0154097736453,0.0498613917702,0.999999966339,-3.05435294732e-05,-0.000254856742802,-3.79116556713e-05,1793239590933556992
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.871619705,745,715,678.871619705,663,636,880,788,804,652,632,653,0.400994432337,-0.01540969566,0.0498609811663,0.999999966006,-3.00398800655e-05,-0.000256200681393,-3.80419981598e-05,1793239590950223616
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.28370968,745,715,678.28370968,663,636,880,788,804,652,632,653,0.400994530652,-0.0154108431117,0.0498610505982,0.999999966147,-3.26863114941e-05,-0.000255342544788,-3.79181623212e-05,1793239590966890240
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ffbfa8e53be0c2e3f6bd6d167a8d63201e5efbda
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/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,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+1,0.016666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+2,0.033333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+3,0.050000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+4,0.066666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+5,0.083333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+6,0.100000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+7,0.116666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+8,0.133333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+9,0.150000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+10,0.166666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+11,0.183333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+12,0.200000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+13,0.216666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+14,0.233333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+15,0.250000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+16,0.266666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+17,0.283333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+18,0.300000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+19,0.316666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+20,0.333333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+21,0.350000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+22,0.366666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+23,0.383333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+24,0.400000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+25,0.416666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+26,0.433333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+27,0.450000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+28,0.466666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+29,0.483333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+30,0.500000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+31,0.516666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+32,0.533333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+33,0.550000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+34,0.566666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+35,0.583333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+36,0.600000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+37,0.616666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+38,0.633333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+39,0.650000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+40,0.666666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+41,0.683333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+42,0.700000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+43,0.716666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+44,0.733333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+45,0.750000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+46,0.766666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+47,0.783333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+48,0.800000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+49,0.816666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+50,0.833333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+51,0.850000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+52,0.866666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+53,0.883333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+54,0.900000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+55,0.916666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+56,0.933333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+57,0.950000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+58,0.966666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+59,0.983333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+60,1.000000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+61,1.016666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+62,1.033333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+63,1.050000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+64,1.066666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+65,1.083333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+66,1.100000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+67,1.116666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+68,1.133333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+69,1.150000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+70,1.166666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+71,1.183333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+72,1.200000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+73,1.216666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+74,1.233333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+75,1.250000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+76,1.266666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+77,1.283333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+78,1.300000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+79,1.316666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+80,1.333333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+81,1.350000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+82,1.366666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+83,1.383333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+84,1.400000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+85,1.416666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+86,1.433333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+87,1.450000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+88,1.466666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+89,1.483333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+90,1.500000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+91,1.516666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+92,1.533333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+93,1.550000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+94,1.566666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+95,1.583333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+96,1.600000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+97,1.616666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+98,1.633333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+99,1.650000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+100,1.666666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+101,1.683333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+102,1.700000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+103,1.716666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+104,1.733333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+105,1.750000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+106,1.766666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+107,1.783333333,pose1_to_pose2_press,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+108,1.800000000,pose1_to_pose2_press,0.575664428311,-0.00990916586205,1.04003221483,0.546234878903,-0.00123742939954,1.03970035315
+109,1.816666667,pose1_to_pose2_press,0.575664429576,-0.00990916351948,1.04003221526,0.546234880174,-0.00123742704062,1.03970035345
+110,1.833333333,pose1_to_pose2_press,0.575664460148,-0.00990911693793,1.04003222542,0.546234910874,-0.00123738012855,1.03970036082
+111,1.850000000,pose1_to_pose2_press,0.575664520477,-0.00990913212311,1.04003224263,0.546234971203,-0.00123739535371,1.03970037702
+112,1.866666667,pose1_to_pose2_press,0.575664816059,-0.00990920652265,1.04003232696,0.546235266784,-0.0012374699491,1.03970045638
+113,1.883333333,pose1_to_pose2_press,0.57566498536,-0.00990924913642,1.04003237527,0.546235436084,-0.00123751267505,1.03970050183
+114,1.900000000,pose1_to_pose2_press,0.575665854942,-0.00990930165978,1.04003230048,0.546236306987,-0.00123756061541,1.03970042966
+115,1.916666667,pose1_to_pose2_press,0.575668638993,-0.00990922946027,1.04003246318,0.546239091025,-0.00123748848712,1.03970059161
+116,1.933333333,pose1_to_pose2_press,0.575676299512,-0.00990923773546,1.04003232118,0.546246750822,-0.00123749916596,1.03970045093
+117,1.950000000,pose1_to_pose2_press,0.575690194005,-0.00990920025357,1.04003242131,0.54626064568,-0.00123746049567,1.03970054958
+118,1.966666667,pose1_to_pose2_press,0.575715378171,-0.00990917409492,1.04003231518,0.546285828041,-0.0012374404523,1.03970044362
+119,1.983333333,pose1_to_pose2_press,0.5757516477,-0.0099091626579,1.04003232412,0.546322098967,-0.00123742404024,1.03970045864
+120,2.000000000,pose1_to_pose2_press,0.575798606737,-0.00990920943506,1.04003222009,0.546369058569,-0.00123746878982,1.0397003574
+121,2.016666667,pose1_to_pose2_press,0.575854536381,-0.00990919813149,1.04003233698,0.546424989539,-0.0012374529462,1.0397004753
+122,2.033333333,pose1_to_pose2_press,0.575919080616,-0.00990918570189,1.04003226631,0.546489531561,-0.00123744809211,1.03970040283
+123,2.050000000,pose1_to_pose2_press,0.575990496291,-0.00990924189531,1.04003247424,0.546560947763,-0.00123750279945,1.03970060278
+124,2.066666667,pose1_to_pose2_press,0.576068921754,-0.0099093341704,1.04003225899,0.546639374085,-0.00123759213636,1.03970038805
+125,2.083333333,pose1_to_pose2_press,0.576157722692,-0.00990920596962,1.04003222888,0.546728173421,-0.00123746915652,1.03970036351
+126,2.100000000,pose1_to_pose2_press,0.576256768395,-0.00990916680275,1.04003200733,0.546827219951,-0.00123742700451,1.03970014666
+127,2.116666667,pose1_to_pose2_press,0.576367945976,-0.0099092335512,1.04003235375,0.546938397463,-0.00123749422211,1.03970048688
+128,2.133333333,pose1_to_pose2_press,0.576493181704,-0.00990918990857,1.04003240958,0.54706363359,-0.00123744920437,1.0397005432
+129,2.150000000,pose1_to_pose2_press,0.576634343658,-0.00990908375916,1.04003235015,0.547204794183,-0.00123734757147,1.03970048638
+130,2.166666667,pose1_to_pose2_press,0.576793812472,-0.00990910758458,1.04003230087,0.547364262603,-0.00123737277044,1.03970043609
+131,2.183333333,pose1_to_pose2_press,0.576971792499,-0.00990922319949,1.04003221358,0.547542244489,-0.00123748224676,1.03970034435
+132,2.200000000,pose1_to_pose2_press,0.577171304373,-0.00990916274905,1.04003220572,0.547741755682,-0.00123742414016,1.03970033551
+133,2.216666667,pose1_to_pose2_press,0.577391195356,-0.00990904418257,1.04003233914,0.54796164443,-0.00123731282875,1.03970047756
+134,2.233333333,pose1_to_pose2_press,0.577632703371,-0.0099091945709,1.04003233498,0.54820315524,-0.00123745368251,1.03970047455
+135,2.250000000,pose1_to_pose2_press,0.577893655107,-0.00990929517223,1.04003238351,0.548464109175,-0.00123754731184,1.0397005103
+136,2.266666667,pose1_to_pose2_press,0.578173635832,-0.00990927559086,1.04003228327,0.54874408816,-0.00123753369371,1.03970040842
+137,2.283333333,pose1_to_pose2_press,0.578473176998,-0.00990925531512,1.04003223612,0.549043629207,-0.00123751348666,1.03970036996
+138,2.300000000,pose1_to_pose2_press,0.578789192119,-0.00990924904522,1.04003220879,0.549359644202,-0.00123750741537,1.03970034862
+139,2.316666667,pose1_to_pose2_press,0.579118692469,-0.00990932174633,1.04003222976,0.54968914513,-0.00123757824531,1.03970036705
+140,2.333333333,pose1_to_pose2_press,0.579464120426,-0.00990925936156,1.04003213224,0.550034571927,-0.00123751977861,1.03970026994
+141,2.350000000,pose1_to_pose2_press,0.579828928231,-0.00990922902227,1.04003217577,0.550399379687,-0.0012374895856,1.03970031371
+142,2.366666667,pose1_to_pose2_press,0.580212328961,-0.00990924922148,1.04003236264,0.550782781624,-0.0012375058316,1.03970049669
+143,2.383333333,pose1_to_pose2_press,0.580616410852,-0.0099093209182,1.04003245761,0.55118686455,-0.00123757423773,1.03970058582
+144,2.400000000,pose1_to_pose2_press,0.581055107565,-0.00990935382916,1.04003242108,0.551625560741,-0.00123760895088,1.03970054846
+145,2.416666667,pose1_to_pose2_press,0.581524003896,-0.00990924362094,1.0400324228,0.55209445556,-0.0012375036525,1.03970055582
+146,2.433333333,pose1_to_pose2_press,0.582020770042,-0.00990928590809,1.04003229259,0.552591222691,-0.00123754256359,1.03970042643
+147,2.450000000,pose1_to_pose2_press,0.582538647527,-0.00990944506826,1.04003244478,0.553109103006,-0.00123769218721,1.0397005768
+148,2.466666667,pose1_to_pose2_press,0.583074647712,-0.00990924780039,1.04003227066,0.553645099638,-0.00123750697742,1.03970040267
+149,2.483333333,pose1_to_pose2_press,0.583613073161,-0.00990926823062,1.04003248223,0.554183526644,-0.00123752204803,1.03970061626
+150,2.500000000,pose1_to_pose2_press,0.584156813035,-0.00990916056021,1.04003223624,0.554727263648,-0.00123742391753,1.03970037531
+151,2.516666667,pose1_to_pose2_press,0.584722945343,-0.00990923920192,1.04003222568,0.555293397058,-0.00123749897527,1.03970036076
+152,2.533333333,pose1_to_pose2_press,0.585313951829,-0.00990925625073,1.04003242648,0.555884403114,-0.00123751777646,1.0397005538
+153,2.550000000,pose1_to_pose2_press,0.585932058935,-0.00990919561349,1.0400324213,0.556502509764,-0.00123745858577,1.03970055121
+154,2.566666667,pose1_to_pose2_press,0.586572762307,-0.00990919919118,1.04003236447,0.557143213842,-0.00123745964621,1.03970049759
+155,2.583333333,pose1_to_pose2_press,0.587230360615,-0.00990921510465,1.04003237745,0.557800812091,-0.00123747588783,1.03970050708
+156,2.600000000,pose1_to_pose2_press,0.587890910855,-0.00990926941035,1.04003232829,0.558461363173,-0.00123752730627,1.03970045871
+157,2.616666667,pose1_to_pose2_press,0.588559227327,-0.00990927959557,1.04003232402,0.559129680614,-0.0012375340896,1.03970045743
+158,2.633333333,pose1_to_pose2_press,0.589247045591,-0.00990910733202,1.04003245807,0.559817496516,-0.00123737005318,1.03970058589
+159,2.650000000,pose1_to_pose2_press,0.589952405365,-0.00990915764539,1.04003227717,0.560522857226,-0.00123741694968,1.03970041134
+160,2.666666667,pose1_to_pose2_press,0.590672326967,-0.0099090850174,1.04003244567,0.56124277825,-0.00123734615941,1.03970058304
+161,2.683333333,pose1_to_pose2_press,0.591402356419,-0.00990919961482,1.04003213609,0.561972807227,-0.00123746266446,1.03970026572
+162,2.700000000,pose1_to_pose2_press,0.592138988288,-0.00990919012733,1.04003223024,0.562709438913,-0.00123745359843,1.03970036516
+163,2.716666667,pose1_to_pose2_press,0.592884305954,-0.00990932426208,1.04003226708,0.563454758509,-0.00123758144203,1.03970039521
+164,2.733333333,pose1_to_pose2_press,0.593641489572,-0.00990921849177,1.04003222983,0.564211941337,-0.00123747801614,1.03970036679
+165,2.750000000,pose1_to_pose2_press,0.59440996626,-0.00990921435199,1.04003233151,0.56498041776,-0.00123747496358,1.03970046351
+166,2.766666667,pose1_to_pose2_press,0.595190225962,-0.00990921139237,1.04003243568,0.565760677444,-0.00123747202262,1.03970056889
+167,2.783333333,pose1_to_pose2_press,0.595979786863,-0.00990919619266,1.040032342,0.566550238182,-0.00123745744606,1.03970047332
+168,2.800000000,pose1_to_pose2_press,0.596764370939,-0.00990919809617,1.04003231369,0.567334822079,-0.00123746003409,1.03970044311
+169,2.816666667,pose1_to_pose2_press,0.597543730374,-0.00990921233882,1.04003231262,0.56811418182,-0.00123747312865,1.03970044495
+170,2.833333333,pose1_to_pose2_press,0.598309193766,-0.00990919320157,1.04003231452,0.568879644881,-0.00123745502632,1.03970044919
+171,2.850000000,pose1_to_pose2_press,0.599071640711,-0.00990916645769,1.04003244521,0.569642091246,-0.00123743024271,1.03970058012
+172,2.866666667,pose1_to_pose2_press,0.599841276504,-0.00990925098894,1.04003234609,0.570411729456,-0.00123750667313,1.0397004784
+173,2.883333333,pose1_to_pose2_press,0.600606566406,-0.00990918094013,1.04003225215,0.571177016509,-0.00123744637428,1.03970038246
+174,2.900000000,pose1_to_pose2_press,0.601368544907,-0.00990927238241,1.04003225125,0.57193899857,-0.00123752571757,1.03970038204
+175,2.916666667,pose1_to_pose2_press,0.602132872317,-0.00990919661865,1.04003234897,0.572703323495,-0.00123745832943,1.03970048135
+176,2.933333333,pose1_to_pose2_press,0.602891255766,-0.00990925448515,1.04003226817,0.573461706987,-0.00123751610334,1.03970039916
+177,2.950000000,pose1_to_pose2_press,0.603639918686,-0.00990930703197,1.04003216116,0.574210372049,-0.0012375613733,1.03970029245
+178,2.966666667,pose1_to_pose2_press,0.604384136758,-0.00990929955478,1.0400322743,0.574954590269,-0.00123755320248,1.03970041066
+179,2.983333333,pose1_to_pose2_press,0.605124241809,-0.00990927014562,1.04003235882,0.575694694477,-0.00123752676637,1.03970049237
+180,3.000000000,pose1_to_pose2_press,0.605853643978,-0.00990923476273,1.04003236082,0.576424095314,-0.00123749595785,1.03970049306
+181,3.016666667,pose1_to_pose2_press,0.606568309729,-0.0099091769541,1.0400324656,0.577138760444,-0.00123744018226,1.03970059985
+182,3.033333333,pose1_to_pose2_press,0.607268559623,-0.00990920525148,1.04003239404,0.577839011068,-0.00123746601124,1.03970052806
+183,3.050000000,pose1_to_pose2_press,0.607955197546,-0.00990929461819,1.04003219992,0.578525649781,-0.00123755268102,1.03970033452
+184,3.066666667,pose1_to_pose2_press,0.608626328096,-0.00990931259881,1.04003231006,0.579196780548,-0.00123756983788,1.03970044696
+185,3.083333333,pose1_to_pose2_press,0.609288389059,-0.00990934213149,1.04003229774,0.57985884176,-0.00123759870305,1.03970043009
+186,3.100000000,pose1_to_pose2_press,0.609938593935,-0.00990916538987,1.04003242432,0.580509045285,-0.00123742666057,1.03970055381
+187,3.116666667,pose1_to_pose2_press,0.610564146974,-0.00990941019485,1.04003203131,0.5811346012,-0.00123766144871,1.03970016757
+188,3.133333333,pose1_to_pose2_press,0.611167344888,-0.00990929922488,1.04003250772,0.58173779812,-0.0012375542181,1.03970063452
+189,3.150000000,pose1_to_pose2_press,0.611747868811,-0.00990930027139,1.04003241276,0.582318321997,-0.00123755560508,1.03970053517
+190,3.166666667,pose1_to_pose2_press,0.612305126097,-0.00990930825192,1.0400322556,0.58287557919,-0.00123756344033,1.03970038917
+191,3.183333333,pose1_to_pose2_press,0.61283561932,-0.00990940002336,1.04003214139,0.583406072821,-0.00123765358978,1.03970027575
+192,3.200000000,pose1_to_pose2_press,0.613339723915,-0.0099092466736,1.04003209401,0.583910175545,-0.00123750613222,1.03970023361
+193,3.216666667,pose1_to_pose2_press,0.613818676781,-0.00990909108503,1.04003230075,0.584389126159,-0.00123735813535,1.03970043421
+194,3.233333333,pose1_to_pose2_press,0.614278137067,-0.00990910150166,1.04003238742,0.584848586283,-0.00123736919041,1.03970051077
+195,3.250000000,pose1_to_pose2_press,0.614724942969,-0.00990918989733,1.04003218957,0.585295393415,-0.00123745311718,1.03970031294
+196,3.266666667,pose1_to_pose2_press,0.615163384261,-0.00990914426823,1.04003226651,0.585733833703,-0.0012374104297,1.03970039417
+197,3.283333333,pose1_to_pose2_press,0.615586731622,-0.00990902722927,1.04003222868,0.586157180655,-0.00123729414597,1.03970036523
+198,3.300000000,pose1_to_pose2_press,0.61599014087,-0.00990926794432,1.04003221775,0.586560593234,-0.0012375232355,1.03970035548
+199,3.316666667,pose1_to_pose2_press,0.61636459715,-0.00990911336106,1.04003238841,0.586935046912,-0.00123737772795,1.03970051225
+200,3.333333333,pose1_to_pose2_press,0.616710457434,-0.00990912513707,1.04003229438,0.587280906609,-0.00123739109826,1.03970042292
+201,3.350000000,pose1_to_pose2_press,0.617028353725,-0.00990923652124,1.04003233813,0.587598803217,-0.00123750129318,1.03970046675
+202,3.366666667,pose1_to_pose2_press,0.617329385586,-0.00990928825245,1.04003218437,0.587899835479,-0.00123755118575,1.03970031819
+203,3.383333333,pose1_to_pose2_press,0.617618448644,-0.00990924332103,1.04003209907,0.58818889907,-0.00123750394042,1.03970023741
+204,3.400000000,pose1_to_pose2_press,0.617897767157,-0.00990919210034,1.0400323216,0.588468218394,-0.00123744992903,1.03970045622
+205,3.416666667,pose1_to_pose2_press,0.61816591621,-0.00990923233348,1.04003225432,0.588736367675,-0.0012374891001,1.03970039127
+206,3.433333333,pose1_to_pose2_press,0.618414799676,-0.00990927212267,1.04003233162,0.58898525014,-0.00123753209081,1.03970046863
+207,3.450000000,pose1_to_pose2_press,0.618643631862,-0.00990928607578,1.04003221474,0.589214082532,-0.00123754507026,1.03970035429
+208,3.466666667,pose1_to_pose2_press,0.618849920107,-0.0099092239198,1.04003235391,0.589420371425,-0.00123748070581,1.03970048844
+209,3.483333333,pose1_to_pose2_press,0.619037013582,-0.00990916965923,1.04003231692,0.5896074644,-0.00123742767605,1.03970046079
+210,3.500000000,pose1_to_pose2_press,0.619205518234,-0.00990930003934,1.04003238136,0.58977597195,-0.00123754873741,1.03970050841
+211,3.516666667,pose1_to_pose2_press,0.619359935766,-0.00990922714968,1.04003248696,0.589930386178,-0.00123748705825,1.03970060959
+212,3.533333333,pose1_to_pose2_press,0.619500578309,-0.00990915481149,1.04003241326,0.59007102785,-0.00123741726095,1.03970054442
+213,3.550000000,pose1_to_pose2_press,0.619625297208,-0.00990916660565,1.04003228974,0.59019574618,-0.00123743082132,1.03970042325
+214,3.566666667,pose1_to_pose2_press,0.619735489654,-0.00990928593957,1.04003223236,0.590305939779,-0.00123754613821,1.03970036666
+215,3.583333333,pose1_to_pose2_press,0.619830931348,-0.00990936749263,1.04003238775,0.590401383293,-0.00123762152902,1.0397005199
+216,3.600000000,pose1_to_pose2_press,0.61991319205,-0.00990928624934,1.04003261096,0.590483643386,-0.00123754265024,1.03970073338
+217,3.616666667,pose1_to_pose2_press,0.61998280514,-0.00990918360992,1.0400325452,0.590553255709,-0.00123744250948,1.03970066542
+218,3.633333333,pose1_to_pose2_press,0.620041589008,-0.00990923437787,1.04003245861,0.590612039268,-0.0012374932476,1.03970059451
+219,3.650000000,pose1_to_pose2_press,0.62009066312,-0.00990916254446,1.04003214677,0.590661112521,-0.00123742448413,1.03970028101
+220,3.666666667,pose1_to_pose2_press,0.62013127121,-0.00990917721983,1.04003219779,0.59070172084,-0.00123743838685,1.03970033427
+221,3.683333333,pose1_to_pose2_press,0.620164859767,-0.0099091795143,1.04003217577,0.59073530842,-0.00123744439656,1.03970030848
+222,3.700000000,pose1_to_pose2_press,0.620191569341,-0.00990917819526,1.04003214145,0.590762017772,-0.00123744416474,1.03970027049
+223,3.716666667,pose1_to_pose2_press,0.620213643729,-0.00990920273043,1.04003221593,0.590784093191,-0.00123746521701,1.03970034527
+224,3.733333333,pose1_to_pose2_press,0.620231097056,-0.00990927878458,1.04003248033,0.590801547542,-0.00123753753067,1.03970061386
+225,3.750000000,pose1_to_pose2_press,0.62024381892,-0.00990924607642,1.04003219877,0.590814268019,-0.00123750950483,1.03970033093
+226,3.766666667,pose1_to_pose2_press,0.62025259698,-0.00990923111241,1.04003239934,0.590823045844,-0.00123749557077,1.03970052386
+227,3.783333333,pose1_to_pose2_press,0.620258229705,-0.00990922432773,1.04003267434,0.590828678685,-0.00123748863159,1.03970079148
+228,3.800000000,pose1_to_pose2_press,0.620261960555,-0.00990919194581,1.04003243782,0.590832409218,-0.00123745683864,1.03970056693
+229,3.816666667,pose1_to_pose2_press,0.620264372735,-0.00990917096406,1.04003228421,0.590834821191,-0.00123743623882,1.0397004211
+230,3.833333333,pose1_to_pose2_press,0.620266008965,-0.00990916396654,1.04003218802,0.590836457429,-0.00123742908842,1.03970032822
+231,3.850000000,pose1_to_pose2_press,0.620267052013,-0.00990917471026,1.0400321435,0.590837500794,-0.00123743886896,1.03970028172
+232,3.866666667,pose1_to_pose2_press,0.620267995051,-0.00990918442385,1.04003210325,0.590838444118,-0.00123744771171,1.03970023967
+233,3.883333333,pose1_to_pose2_press,0.62026869015,-0.00990919158358,1.04003207358,0.590839139427,-0.00123745422957,1.03970020868
+234,3.900000000,pose1_to_pose2_press,0.620269038304,-0.00990919516968,1.04003205872,0.590839487687,-0.00123745749417,1.03970019316
+235,3.916666667,pose1_to_pose2_press,0.620269622134,-0.00990920118331,1.04003203381,0.590840071694,-0.00123746296867,1.03970016713
+236,3.933333333,pose1_to_pose2_press,0.620270419265,-0.00990920983998,1.04003200999,0.590840869092,-0.00123747078023,1.0397001423
+237,3.950000000,pose1_to_pose2_press,0.620270976123,-0.00990921855366,1.04003205441,0.590841426283,-0.00123747825176,1.03970018898
+238,3.966666667,pose1_to_pose2_press,0.62027136337,-0.00990922461329,1.0400320853,0.590841813762,-0.00123748344758,1.03970022145
+239,3.983333333,pose1_to_pose2_press,0.620271558514,-0.00990922766688,1.04003210086,0.590842009022,-0.00123748606588,1.03970023781
+240,4.000000000,pose1_to_pose2_press,0.62027155889,-0.00990922767278,1.04003210089,0.590842009399,-0.00123748607093,1.03970023784
+241,4.016666667,pose1_to_pose2_press,0.620271732641,-0.00990923039162,1.04003211475,0.590842183254,-0.00123748840221,1.03970025241
+242,4.033333333,pose1_to_pose2_press,0.620271768511,-0.00990923095291,1.04003211761,0.590842219145,-0.00123748888348,1.03970025541
+243,4.050000000,pose1_to_pose2_press,0.620271925833,-0.00990923341469,1.04003213016,0.590842376562,-0.00123749099433,1.0397002686
+244,4.066666667,pose1_to_pose2_press,0.620272334854,-0.00990923981503,1.04003216279,0.590842785827,-0.00123749648229,1.03970030289
+245,4.083333333,pose1_to_pose2_press,0.620272881241,-0.00990924836487,1.04003220637,0.590843332542,-0.00123750381334,1.0397003487
+246,4.100000000,pose1_to_pose2_press,0.620273340184,-0.00990924803424,1.04003226823,0.590843791095,-0.0012375049437,1.03970040677
+247,4.116666667,pose1_to_pose2_press,0.62027362163,-0.00990924733468,1.04003230784,0.590844072257,-0.00123750530441,1.03970044367
+248,4.133333333,pose1_to_pose2_press,0.620273688324,-0.0099092471689,1.04003231723,0.590844138884,-0.00123750538988,1.03970045242
+249,4.150000000,pose1_to_pose2_press,0.620273831606,-0.00990924681276,1.0400323374,0.590844282022,-0.00123750557352,1.03970047121
+250,4.166666667,pose1_to_pose2_press,0.620274108293,-0.00990924464674,1.04003236458,0.590844558499,-0.00123750419146,1.03970049666
+251,4.183333333,pose1_to_pose2_press,0.620274385296,-0.00990923867037,1.0400323615,0.590844835467,-0.00123749833439,1.03970049423
+252,4.200000000,pose1_to_pose2_press,0.620274555068,-0.00990922177724,1.04003229606,0.590845005804,-0.00123747947212,1.03970043016
+253,4.216666667,pose1_to_pose2_press,0.620274595683,-0.00990920956577,1.04003224115,0.590845046917,-0.00123746552862,1.03970037619
+254,4.233333333,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046922,-0.00123746552795,1.03970037619
+255,4.250000000,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046922,-0.00123746552792,1.03970037619
+256,4.266666667,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046922,-0.0012374655279,1.03970037619
+257,4.283333333,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046922,-0.00123746552787,1.03970037619
+258,4.300000000,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046922,-0.00123746552784,1.03970037619
+259,4.316666667,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046922,-0.00123746552782,1.03970037619
+260,4.333333333,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046922,-0.00123746552816,1.03970037619
+261,4.350000000,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046923,-0.00123746552775,1.03970037619
+262,4.366666667,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046923,-0.00123746552769,1.03970037619
+263,4.383333333,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046923,-0.00123746552777,1.03970037619
+264,4.400000000,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046923,-0.00123746552814,1.03970037619
+265,4.416666667,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046923,-0.00123746552806,1.03970037619
+266,4.433333333,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046923,-0.00123746552822,1.03970037619
+267,4.450000000,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046923,-0.00123746552814,1.03970037619
+268,4.466666667,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046923,-0.00123746552805,1.03970037619
+269,4.483333333,pose2_hold,0.620274595683,-0.00990920956577,1.04003224115,0.590845046924,-0.00123746552801,1.03970037619
+270,4.500000000,pose2_to_pose3_retreat,0.620274595683,-0.00990920956577,1.04003224115,0.590845046924,-0.00123746552716,1.03970037619
+271,4.516666667,pose2_to_pose3_retreat,0.62027458558,-0.00990922166078,1.04003225711,0.59084503671,-0.00123747796979,1.0397003929
+272,4.533333333,pose2_to_pose3_retreat,0.620274536601,-0.00990928029658,1.04003233448,0.590844987193,-0.00123753829082,1.0397004739
+273,4.550000000,pose2_to_pose3_retreat,0.62027420513,-0.00990915485976,1.04003223502,0.590844653977,-0.00123741885183,1.039700372
+274,4.566666667,pose2_to_pose3_retreat,0.620273756008,-0.00990917690621,1.04003222516,0.590844205268,-0.00123743953438,1.03970036119
+275,4.583333333,pose2_to_pose3_retreat,0.620273285483,-0.00990922728706,1.04003223262,0.59084373557,-0.00123748714281,1.039700368
+276,4.600000000,pose2_to_pose3_retreat,0.620272624211,-0.00990925481233,1.04003226436,0.590843074862,-0.00123751284734,1.03970039736
+277,4.616666667,pose2_to_pose3_retreat,0.62027123745,-0.00990925047784,1.0400323614,0.59084168843,-0.00123750767074,1.03970048732
+278,4.633333333,pose2_to_pose3_retreat,0.620267670979,-0.00990925443708,1.04003238445,0.590838121592,-0.00123751286399,1.0397005124
+279,4.650000000,pose2_to_pose3_retreat,0.620259312328,-0.00990919270846,1.04003227048,0.59082976201,-0.00123745414021,1.03970040405
+280,4.666666667,pose2_to_pose3_retreat,0.620244429078,-0.00990943063273,1.04003236534,0.590814881709,-0.00123768217498,1.03970049686
+281,4.683333333,pose2_to_pose3_retreat,0.620218469955,-0.00990923729681,1.04003210309,0.590788919835,-0.00123749804545,1.03970023887
+282,4.700000000,pose2_to_pose3_retreat,0.620181880938,-0.00990918591876,1.0400321643,0.590752330024,-0.00123744924953,1.03970030238
+283,4.716666667,pose2_to_pose3_retreat,0.620135012357,-0.00990915320974,1.04003221161,0.590705461865,-0.00123741500303,1.03970035249
+284,4.733333333,pose2_to_pose3_retreat,0.620079365353,-0.00990926487354,1.04003222836,0.590649815804,-0.00123752354177,1.0397003654
+285,4.750000000,pose2_to_pose3_retreat,0.620015496102,-0.00990931228287,1.04003212033,0.59058594803,-0.00123756624042,1.03970025472
+286,4.766666667,pose2_to_pose3_retreat,0.619944850882,-0.00990925756165,1.04003221409,0.590515300905,-0.00123751802115,1.03970034912
+287,4.783333333,pose2_to_pose3_retreat,0.619866965269,-0.00990924906349,1.04003219862,0.590437415663,-0.00123750861556,1.03970032349
+288,4.800000000,pose2_to_pose3_retreat,0.619778131377,-0.00990923269742,1.04003221576,0.590348581658,-0.00123749263521,1.03970034211
+289,4.816666667,pose2_to_pose3_retreat,0.619676968748,-0.00990917779579,1.04003224418,0.590247417891,-0.00123744147745,1.03970037677
+290,4.833333333,pose2_to_pose3_retreat,0.61955940185,-0.00990914724674,1.04003224011,0.590129850295,-0.00123741343612,1.03970037375
+291,4.850000000,pose2_to_pose3_retreat,0.619424984282,-0.00990923496671,1.0400322574,0.589995434039,-0.00123749697458,1.03970039022
+292,4.866666667,pose2_to_pose3_retreat,0.619272333515,-0.00990924758273,1.04003238056,0.589842783992,-0.00123750718719,1.03970051066
+293,4.883333333,pose2_to_pose3_retreat,0.619100453267,-0.00990928254139,1.04003252552,0.589670903822,-0.00123754227744,1.0397006492
+294,4.900000000,pose2_to_pose3_retreat,0.618909981215,-0.00990902539301,1.04003238267,0.589480429328,-0.00123729321346,1.03970051499
+295,4.916666667,pose2_to_pose3_retreat,0.618701678544,-0.00990922931794,1.04003234404,0.589272130422,-0.00123748442115,1.0397004797
+296,4.933333333,pose2_to_pose3_retreat,0.618475833131,-0.00990925357443,1.04003211159,0.589046283973,-0.00123751241314,1.03970024599
+297,4.950000000,pose2_to_pose3_retreat,0.618230158281,-0.00990928260651,1.04003220431,0.588800608564,-0.00123754363162,1.03970033582
+298,4.966666667,pose2_to_pose3_retreat,0.617964167231,-0.00990928473312,1.04003226361,0.588534618158,-0.00123754386727,1.03970039281
+299,4.983333333,pose2_to_pose3_retreat,0.617676629143,-0.00990926382389,1.04003220476,0.588247080802,-0.00123752050003,1.03970033895
+300,5.000000000,pose2_to_pose3_retreat,0.617366615646,-0.00990927956778,1.04003228873,0.587937067545,-0.00123753531941,1.03970043174
+301,5.016666667,pose2_to_pose3_retreat,0.617035743703,-0.00990923187524,1.04003225791,0.587606194334,-0.00123749242549,1.03970039513
+302,5.033333333,pose2_to_pose3_retreat,0.616684298436,-0.00990940464851,1.04003247843,0.587254751791,-0.00123765638981,1.03970061474
+303,5.050000000,pose2_to_pose3_retreat,0.616316948291,-0.00990942306718,1.04003260941,0.586887403177,-0.00123767024057,1.03970073821
+304,5.066666667,pose2_to_pose3_retreat,0.615934430814,-0.00990916400731,1.0400323978,0.586504880151,-0.00123742949352,1.03970053308
+305,5.083333333,pose2_to_pose3_retreat,0.615533644261,-0.00990916964856,1.04003217005,0.586104094428,-0.00123743260057,1.03970031123
+306,5.100000000,pose2_to_pose3_retreat,0.615113286194,-0.00990921295563,1.0400321291,0.585683737399,-0.00123747263559,1.03970027451
+307,5.116666667,pose2_to_pose3_retreat,0.614667032584,-0.00990919226699,1.04003224999,0.585237483056,-0.00123745482388,1.03970039135
+308,5.133333333,pose2_to_pose3_retreat,0.614195447999,-0.00990920679633,1.040032307,0.584765898622,-0.00123746953834,1.03970043854
+309,5.150000000,pose2_to_pose3_retreat,0.613697839925,-0.00990933801574,1.04003213269,0.584268293064,-0.00123759244031,1.03970026684
+310,5.166666667,pose2_to_pose3_retreat,0.613181025753,-0.00990918496455,1.04003218478,0.583751476429,-0.00123744769473,1.03970032961
+311,5.183333333,pose2_to_pose3_retreat,0.612647110383,-0.00990932414285,1.04003225099,0.583217564744,-0.0012375752446,1.03970038091
+312,5.200000000,pose2_to_pose3_retreat,0.612100989416,-0.00990926702861,1.04003235784,0.582671441735,-0.0012375254942,1.03970048524
+313,5.216666667,pose2_to_pose3_retreat,0.611539499056,-0.00990931074363,1.04003237689,0.582109951906,-0.00123756769759,1.03970050572
+314,5.233333333,pose2_to_pose3_retreat,0.610947710535,-0.009909242981,1.0400324282,0.581518163135,-0.00123750105957,1.03970055889
+315,5.250000000,pose2_to_pose3_retreat,0.610325295683,-0.00990919238674,1.04003249699,0.580895747579,-0.00123745331491,1.03970062524
+316,5.266666667,pose2_to_pose3_retreat,0.609670612671,-0.00990925155151,1.04003250765,0.580241064682,-0.00123751257109,1.03970063332
+317,5.283333333,pose2_to_pose3_retreat,0.608990243183,-0.00990921488249,1.04003246981,0.579560694674,-0.00123747790279,1.03970059887
+318,5.300000000,pose2_to_pose3_retreat,0.608288788685,-0.00990923123199,1.04003237365,0.578859240651,-0.0012374931586,1.03970049974
+319,5.316666667,pose2_to_pose3_retreat,0.60757456841,-0.00990919600084,1.04003223715,0.57814502082,-0.00123745649394,1.03970037138
+320,5.333333333,pose2_to_pose3_retreat,0.606851392415,-0.00990917807872,1.04003219978,0.577421845229,-0.00123743720743,1.03970034413
+321,5.350000000,pose2_to_pose3_retreat,0.606126188366,-0.00990931018535,1.04003234867,0.576696643836,-0.00123756110423,1.03970048207
+322,5.366666667,pose2_to_pose3_retreat,0.605394302692,-0.00990924346046,1.04003235795,0.575964756702,-0.00123749971586,1.03970049137
+323,5.383333333,pose2_to_pose3_retreat,0.604653581041,-0.00990925335284,1.04003244911,0.575224035182,-0.00123750968635,1.03970057948
+324,5.400000000,pose2_to_pose3_retreat,0.603901965112,-0.00990925938765,1.04003218135,0.574472419786,-0.00123751413541,1.03970031633
+325,5.416666667,pose2_to_pose3_retreat,0.603135731548,-0.00990931933335,1.04003216489,0.573706186776,-0.00123757254515,1.03970030117
+326,5.433333333,pose2_to_pose3_retreat,0.602349839985,-0.00990936160221,1.04003224381,0.572920295828,-0.00123761306697,1.03970038157
+327,5.450000000,pose2_to_pose3_retreat,0.601550993893,-0.00990927382883,1.0400321269,0.572121449226,-0.00123752733707,1.03970026729
+328,5.466666667,pose2_to_pose3_retreat,0.600746985151,-0.00990913454275,1.04003226067,0.571317438137,-0.00123739669392,1.03970039415
+329,5.483333333,pose2_to_pose3_retreat,0.599943580511,-0.00990908066424,1.04003235265,0.570514032606,-0.00123734612824,1.03970048941
+330,5.500000000,pose2_to_pose3_retreat,0.599140251412,-0.00990923145325,1.04003242975,0.569710706568,-0.00123748664426,1.03970057356
+331,5.516666667,pose2_to_pose3_retreat,0.598347779747,-0.00990920046709,1.0400323515,0.568918234395,-0.00123745795322,1.0397004906
+332,5.533333333,pose2_to_pose3_retreat,0.597562048252,-0.00990918568222,1.04003233711,0.568132502067,-0.00123744640136,1.03970047577
+333,5.550000000,pose2_to_pose3_retreat,0.596775093031,-0.00990916122448,1.04003234944,0.56734554653,-0.00123742361365,1.03970048313
+334,5.566666667,pose2_to_pose3_retreat,0.595989789324,-0.00990922250234,1.0400321831,0.566560243482,-0.00123748285422,1.03970032115
+335,5.583333333,pose2_to_pose3_retreat,0.59520596312,-0.00990917918147,1.0400322351,0.56577641711,-0.00123744062898,1.03970036892
+336,5.600000000,pose2_to_pose3_retreat,0.594419680942,-0.00990918110689,1.04003232624,0.564990135351,-0.00123744162657,1.03970045701
+337,5.616666667,pose2_to_pose3_retreat,0.593632443452,-0.00990926018644,1.04003226139,0.564202898828,-0.00123751757369,1.03970039823
+338,5.633333333,pose2_to_pose3_retreat,0.592840791685,-0.00990912978259,1.04003235584,0.563411245956,-0.00123739138601,1.03970048972
+339,5.650000000,pose2_to_pose3_retreat,0.592053693698,-0.00990915485023,1.04003236377,0.56262414917,-0.00123741256944,1.03970050097
+340,5.666666667,pose2_to_pose3_retreat,0.591287360898,-0.00990924243093,1.04003246228,0.561857815963,-0.00123750234786,1.03970059251
+341,5.683333333,pose2_to_pose3_retreat,0.590539394709,-0.00990898305915,1.04003213476,0.561109846222,-0.00123725510736,1.03970026916
+342,5.700000000,pose2_to_pose3_retreat,0.589811019417,-0.00990933962839,1.0400321078,0.560381476315,-0.00123759378291,1.03970024156
+343,5.716666667,pose2_to_pose3_retreat,0.589105313253,-0.00990921054355,1.0400323006,0.559675768776,-0.00123746982849,1.03970043039
+344,5.733333333,pose2_to_pose3_retreat,0.588414856623,-0.00990917441245,1.04003221519,0.558985311538,-0.00123743592312,1.039700348
+345,5.750000000,pose2_to_pose3_retreat,0.587722137544,-0.00990919363029,1.04003228109,0.558292593763,-0.00123745087348,1.03970041829
+346,5.766666667,pose2_to_pose3_retreat,0.587033978239,-0.00990919430956,1.04003248177,0.557604434533,-0.00123745176757,1.03970061605
+347,5.783333333,pose2_to_pose3_retreat,0.586362434212,-0.00990920115184,1.04003245037,0.556932888805,-0.00123746480449,1.03970058136
+348,5.800000000,pose2_to_pose3_retreat,0.585710130543,-0.00990920725258,1.04003235883,0.556280585536,-0.00123746950773,1.03970049722
+349,5.816666667,pose2_to_pose3_retreat,0.585077723001,-0.00990932204589,1.04003244423,0.555648180602,-0.00123757573312,1.03970058273
+350,5.833333333,pose2_to_pose3_retreat,0.584472561565,-0.00990935750123,1.04003237695,0.555043019725,-0.00123761003225,1.03970050648
+351,5.850000000,pose2_to_pose3_retreat,0.583887627216,-0.00990931304451,1.04003220244,0.554458084606,-0.00123756869794,1.03970032308
+352,5.866666667,pose2_to_pose3_retreat,0.583318755572,-0.00990919807257,1.04003242475,0.553889211242,-0.00123745941227,1.03970055543
+353,5.883333333,pose2_to_pose3_retreat,0.582771762604,-0.009909236803,1.0400323512,0.55334221813,-0.00123749922871,1.03970047502
+354,5.900000000,pose2_to_pose3_retreat,0.582251500109,-0.00990921059751,1.04003242015,0.552821955798,-0.00123747269774,1.03970054532
+355,5.916666667,pose2_to_pose3_retreat,0.581754039587,-0.00990918391133,1.0400324644,0.552324494457,-0.00123744905302,1.03970058788
+356,5.933333333,pose2_to_pose3_retreat,0.581276064997,-0.00990925862604,1.0400323693,0.551846520749,-0.00123752106057,1.03970049034
+357,5.950000000,pose2_to_pose3_retreat,0.580811808651,-0.00990930419962,1.04003230304,0.551382266138,-0.00123756074581,1.03970042984
+358,5.966666667,pose2_to_pose3_retreat,0.580361558555,-0.00990913068651,1.04003236927,0.550932013072,-0.00123739733451,1.03970049984
+359,5.983333333,pose2_to_pose3_retreat,0.579930062594,-0.00990912555676,1.04003232928,0.550500518612,-0.00123738705383,1.0397004662
+360,6.000000000,pose2_to_pose3_retreat,0.579525873271,-0.00990922242415,1.04003226447,0.550096330678,-0.00123747960453,1.03970039633
+361,6.016666667,pose2_to_pose3_retreat,0.579152777202,-0.00990933145096,1.04003242226,0.549723235694,-0.00123758464845,1.03970056536
+362,6.033333333,pose2_to_pose3_retreat,0.578812946359,-0.00990919753702,1.0400322623,0.549383402654,-0.00123745861292,1.03970039893
+363,6.050000000,pose2_to_pose3_retreat,0.578501973722,-0.00990930299024,1.04003216105,0.549072430998,-0.00123756102295,1.03970029339
+364,6.066666667,pose2_to_pose3_retreat,0.578212103999,-0.00990923333004,1.04003233842,0.548782561351,-0.00123749135634,1.0397004678
+365,6.083333333,pose2_to_pose3_retreat,0.577937372473,-0.00990915447449,1.04003243591,0.548507829473,-0.00123741373367,1.03970056802
+366,6.100000000,pose2_to_pose3_retreat,0.577675785373,-0.00990920884554,1.04003229919,0.548246242165,-0.0012374686361,1.03970043832
+367,6.116666667,pose2_to_pose3_retreat,0.577426475733,-0.00990924244721,1.04003224055,0.547996931775,-0.00123750482515,1.03970038051
+368,6.133333333,pose2_to_pose3_retreat,0.577190586069,-0.00990916435891,1.04003234656,0.547761041838,-0.00123742806318,1.03970047928
+369,6.150000000,pose2_to_pose3_retreat,0.576974920502,-0.00990916773076,1.04003223125,0.547545376925,-0.00123742909994,1.03970036841
+370,6.166666667,pose2_to_pose3_retreat,0.57677974584,-0.00990932364917,1.04003222506,0.547350205374,-0.00123757469279,1.03970036044
+371,6.183333333,pose2_to_pose3_retreat,0.576608432039,-0.00990931350239,1.04003215869,0.547178889847,-0.00123757089267,1.03970028456
+372,6.200000000,pose2_to_pose3_retreat,0.576458534375,-0.00990924678839,1.04003220453,0.547028992357,-0.00123750310594,1.03970034331
+373,6.216666667,pose2_to_pose3_retreat,0.576329957747,-0.00990922261289,1.04003220068,0.546900414003,-0.00123748467653,1.03970034345
+374,6.233333333,pose2_to_pose3_retreat,0.576218140818,-0.00990917865492,1.04003240201,0.546788597775,-0.0012374386462,1.03970053693
+375,6.250000000,pose2_to_pose3_retreat,0.576121556947,-0.00990922002613,1.04003255929,0.546692014535,-0.00123747815267,1.03970068962
+376,6.266666667,pose2_to_pose3_retreat,0.576037722724,-0.00990925511224,1.04003239036,0.546608180382,-0.00123751300822,1.03970052249
+377,6.283333333,pose2_to_pose3_retreat,0.575964511642,-0.00990929667937,1.04003210643,0.546534969659,-0.00123755317503,1.03970024179
+378,6.300000000,pose2_to_pose3_retreat,0.575901365215,-0.00990938090212,1.04003214818,0.5464718243,-0.00123763361251,1.03970028344
+379,6.316666667,pose2_to_pose3_retreat,0.575847192012,-0.00990925931643,1.04003234155,0.54641765086,-0.00123751276289,1.03970047832
+380,6.333333333,pose2_to_pose3_retreat,0.575802362135,-0.00990928095056,1.04003226136,0.546372819768,-0.00123753938632,1.03970039136
+381,6.350000000,pose2_to_pose3_retreat,0.575766006794,-0.00990931774178,1.04003239082,0.546336464831,-0.00123757487077,1.03970051305
+382,6.366666667,pose2_to_pose3_retreat,0.575737459128,-0.00990925980188,1.04003235388,0.546307916474,-0.00123751898714,1.03970048759
+383,6.383333333,pose2_to_pose3_retreat,0.5757162381,-0.00990924627808,1.04003235322,0.546286696458,-0.00123750215226,1.03970048826
+384,6.400000000,pose2_to_pose3_retreat,0.575700312922,-0.00990929812347,1.0400323253,0.546270772733,-0.00123754923327,1.03970045734
+385,6.416666667,pose2_to_pose3_retreat,0.575689077243,-0.00990933736841,1.04003228457,0.546259537159,-0.00123758809775,1.03970041519
+386,6.433333333,pose2_to_pose3_retreat,0.575680585465,-0.00990912017792,1.04003247085,0.546251040554,-0.00123738712457,1.03970059899
+387,6.450000000,pose2_to_pose3_retreat,0.575674724812,-0.00990906806324,1.04003236437,0.546245179465,-0.00123733654332,1.03970049146
+388,6.466666667,pose2_to_pose3_retreat,0.575670840239,-0.00990908324591,1.04003226829,0.546241296075,-0.00123734764848,1.03970039639
+389,6.483333333,pose2_to_pose3_retreat,0.575668435987,-0.00990913562976,1.04003225884,0.546238893831,-0.00123739296576,1.03970039006
+390,6.500000000,pose2_to_pose3_retreat,0.575667267608,-0.00990915360119,1.04003226066,0.546237725478,-0.00123741090187,1.03970039137
+391,6.516666667,pose2_to_pose3_retreat,0.575666796405,-0.0099091551418,1.04003226628,0.546237253563,-0.00123741501968,1.03970039525
+392,6.533333333,pose2_to_pose3_retreat,0.575666714509,-0.00990915540956,1.04003226726,0.546237171543,-0.00123741573536,1.03970039592
+393,6.550000000,pose2_to_pose3_retreat,0.575666591752,-0.00990915581092,1.04003226873,0.546237048601,-0.00123741680813,1.03970039693
+394,6.566666667,pose2_to_pose3_retreat,0.5756663688,-0.00990915653986,1.04003227139,0.546236825312,-0.00123741875649,1.03970039877
+395,6.583333333,pose2_to_pose3_retreat,0.575666149851,-0.00990915725573,1.040032274,0.546236606031,-0.00123742066987,1.03970040057
+396,6.600000000,pose2_to_pose3_retreat,0.575666040966,-0.00990915761173,1.0400322753,0.546236496982,-0.0012374216214,1.03970040147
+397,6.616666667,pose2_to_pose3_retreat,0.57566600751,-0.00990915772111,1.0400322757,0.546236463475,-0.00123742191378,1.03970040174
+398,6.633333333,pose2_to_pose3_retreat,0.575665754565,-0.00990915854812,1.04003227871,0.546236210148,-0.00123742412424,1.03970040382
+399,6.650000000,pose2_to_pose3_retreat,0.575665361605,-0.0099091756672,1.04003225985,0.546235817551,-0.00123743965215,1.03970038855
+400,6.666666667,pose2_to_pose3_retreat,0.575665100477,-0.0099091884045,1.04003224529,0.546235556745,-0.00123745101051,1.0397003768
+401,6.683333333,pose2_to_pose3_retreat,0.575664968611,-0.00990919483665,1.04003223794,0.546235425043,-0.0012374567463,1.03970037087
+402,6.700000000,pose2_to_pose3_retreat,0.575664900652,-0.00990919815153,1.04003223415,0.546235357168,-0.00123745970231,1.03970036782
+403,6.716666667,pose2_to_pose3_retreat,0.575664857685,-0.00990920024741,1.04003223176,0.546235314254,-0.00123746157129,1.03970036588
+404,6.733333333,pose2_to_pose3_retreat,0.575664746688,-0.00990920566159,1.04003222557,0.546235203395,-0.00123746639932,1.03970036089
+405,6.750000000,pose2_to_pose3_retreat,0.575664721332,-0.00990920689843,1.04003222415,0.546235178069,-0.00123746750226,1.03970035975
+406,6.766666667,pose2_to_pose3_retreat,0.575664690963,-0.00990920815469,1.04003222327,0.546235147742,-0.00123746860074,1.03970035904
+407,6.783333333,pose2_to_pose3_retreat,0.575664667718,-0.00990920653098,1.04003223185,0.546235124574,-0.00123746688601,1.03970036603
+408,6.800000000,pose2_to_pose3_retreat,0.575664665584,-0.00990920638195,1.04003223263,0.546235122448,-0.00123746672863,1.03970036667
+409,6.816666667,pose2_to_pose3_retreat,0.575664601805,-0.00990920192682,1.04003225618,0.546235058879,-0.00123746202373,1.03970038584
+410,6.833333333,pose2_to_pose3_retreat,0.57566456726,-0.00990919951376,1.04003226893,0.546235024448,-0.00123745947541,1.03970039622
+411,6.850000000,pose2_to_pose3_retreat,0.57566454747,-0.00990919813141,1.04003227624,0.546235004724,-0.00123745801555,1.03970040217
+412,6.866666667,pose2_to_pose3_retreat,0.575664546687,-0.00990919807672,1.04003227653,0.546235003944,-0.0012374579578,1.03970040241
+413,6.883333333,pose2_to_pose3_retreat,0.575664530671,-0.00990919473899,1.0400322697,0.5462349878,-0.00123745499089,1.03970039699
+414,6.900000000,pose2_to_pose3_retreat,0.575664492724,-0.00990918614035,1.04003224955,0.546234949494,-0.00123744740573,1.03970038098
+415,6.916666667,pose2_to_pose3_retreat,0.575664486862,-0.00990918481186,1.04003224643,0.546234943576,-0.00123744623382,1.03970037851
+416,6.933333333,pose2_to_pose3_retreat,0.575664425578,-0.00990917092509,1.04003221389,0.5462348817,-0.00123743398311,1.03970035262
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e114ae24958640749f3bbc7314bba57303191f3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd4494422d87f37b3085d50248c3cf14fcb49da1f672f4ebf5310d67b157dff
+size 26606830
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39556ae5325cc1d0bd966493a857191b7223d122
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,663,636,879,788,804,652,632,653,0.400994819615,-0.0154086776385,0.0498629557743,0.999999966864,-2.97574349145e-05,-0.000252887386219,-3.78637038792e-05,1793239591089805056
+1,0.016666667,BASELINE,766,745,715,678.422818061,663,636,879,788,804,652.577181939,632,653,0.400993535674,-0.0154102116796,0.0498615380142,0.999999966436,-3.17660508329e-05,-0.000254375331715,-3.75752166317e-05,1793239591106472192
+2,0.033333333,BASELINE,766.153793301,745,715,678,663.153793301,635.846206699,879,788,804,652.846206699,632,653,0.400993054692,-0.0154112408726,0.049860857067,0.99999996625,-3.31277371959e-05,-0.000254952440699,-3.74334331805e-05,1793239591123139072
+3,0.050000000,BASELINE,766.728841923,745,715,678,663.728841923,635.271158077,879,788,804,652.271158077,632,653,0.400994773094,-0.0154108872361,0.0498621943238,0.999999966741,-3.27174188789e-05,-0.000253034677186,-3.76934861214e-05,1793239591139805696
+4,0.066666667,BASELINE,766.68968119,745,715,678.31031881,663.68968119,635.31031881,879.31031881,788,804,652,632,652.68968119,0.400995117266,-0.0154113043464,0.0498628165,0.99999996688,-3.34902812751e-05,-0.000252355494022,-3.78733353455e-05,1793239591156472064
+5,0.083333333,BASELINE,766.102468471,745,715,678.897531529,663.102468471,635.897531529,879.897531529,788,804,652,632,652.102468471,0.400994235227,-0.0154124091854,0.0498628006179,0.999999966706,-3.53188822534e-05,-0.000252781481989,-3.79816196988e-05,1793239591173138688
+6,0.100000000,BASELINE,766,745,715,678.521733993,663,636,879.521733993,788,804,652.478266007,632,652.478266007,0.400994382745,-0.0154131251151,0.0498624564706,0.999999966624,-3.56604837291e-05,-0.000253129977416,-3.74983347893e-05,1793239591189805312
+7,0.116666667,BASELINE,766.057498292,745,715,678.057498292,663,636,879,788,804,652.942501708,632,653,0.400994686756,-0.0154137367781,0.0498621559455,0.999999966575,-3.58381371207e-05,-0.000253376178225,-3.69708435989e-05,1793239591206471680
+8,0.133333333,BASELINE,766.635528568,745,715,678.635528568,663,636,879,788,804,652.364471432,632,653,0.400994437255,-0.015414148765,0.0498628785271,0.999999966645,-3.73772147664e-05,-0.000252844602158,-3.71752291669e-05,1793239591223138304
+9,0.150000000,BASELINE,766.787894685,745,715,678.787894685,663,636,879.212105315,788,804,652,632,652.787894685,0.400994511651,-0.0154135693626,0.0498632735611,0.999999966739,-3.7249046478e-05,-0.000252459285006,-3.73928264978e-05,1793239591239804928
+10,0.166666667,BASELINE,766.213798668,745,715,678.213798668,663,636,879.786201332,788,804,652,632,652.213798668,0.400995138828,-0.0154112980005,0.049863109584,0.999999966871,-3.42754635917e-05,-0.000252323581487,-3.76329717354e-05,1793239591256471808
+11,0.183333333,BASELINE,766,745,715,678.37026789,663,636,880,788,804,652,631.62973211,652.37026789,0.400995255715,-0.0154118442394,0.0498630091159,0.999999966878,-3.41524884121e-05,-0.000252352156264,-3.73677516823e-05,1793239591273138944
+12,0.200000000,BASELINE,766,745,715,678.960250976,663,636,880,788,804,652,631.039749024,652.960250976,0.400995069798,-0.0154140624291,0.0498629463338,0.999999966812,-3.57210499286e-05,-0.000252478212983,-3.68026503055e-05,1793239591289805824
+13,0.216666667,BASELINE,766,745,715,678.459652406,663,636,879.459652406,788,804,652,631.540347594,652.459652406,0.400995679282,-0.015411888446,0.0498633417993,0.999999967117,-3.18616048447e-05,-0.000251710934185,-3.73215046236e-05,1793239591306472192
+14,0.233333333,BASELINE,766,745,715,678.119283276,663,636,879,788,804,652,631.880716724,652.119283276,0.400995930829,-0.0154102175573,0.0498634679726,0.999999967261,-2.95495319664e-05,-0.000251351962496,-3.77809903264e-05,1793239591323138816
+15,0.250000000,BASELINE,766,745,715,678.696504075,663,636,879,788,804,652,631.303495925,652.696504075,0.400994587637,-0.0154116961913,0.0498624332247,0.999999966731,-3.46833164834e-05,-0.000252808266245,-3.77119360607e-05,1793239591339805184
+16,0.266666667,BASELINE,766,745,715,678.730522593,663,636,879,788,804,652,631.269477407,653,0.400994082975,-0.01541194907,0.0498617590384,0.99999996649,-3.61615249642e-05,-0.00025355645676,-3.77004613599e-05,1793239591356471552
+17,0.283333333,BASELINE,766,745,715,678.162258729,663,636,879,788,804,652,631.837741271,653,0.400994508042,-0.015410842877,0.0498614846293,0.999999966587,-3.35865673153e-05,-0.000253519517755,-3.77528287291e-05,1793239591373138176
+18,0.300000000,BASELINE,766,745,715,678,663.426888964,636,879,788,804,652,632,653,0.400994191206,-0.0154109747162,0.0498617732404,0.999999966695,-3.28971022582e-05,-0.000253191261153,-3.77165986521e-05,1793239591389805056
+19,0.316666667,BASELINE,766,745,715,678.023595529,663.976404471,636,879.023595529,788,804,652,631.976404471,653,0.400993657983,-0.0154116149761,0.0498623155192,0.999999966822,-3.29986862631e-05,-0.000252687970496,-3.76411510201e-05,1793239591406471680
+20,0.333333333,BASELINE,766,745,715,678.601797398,663.398202602,636,879.601797398,788,804,652,631.398202602,653,0.400995007825,-0.0154125759541,0.0498635314036,0.999999967268,-3.39821117438e-05,-0.000250807071273,-3.74761538272e-05,1793239591423138304
+21,0.350000000,BASELINE,766.178868389,745,715,679,663,636,879.821131611,788,804,652,631,653,0.400996346954,-0.0154130864855,0.0498644592317,0.999999967631,-3.49491603168e-05,-0.000249229384579,-3.74208397732e-05,1793239591439805184
+22,0.366666667,BASELINE,766.753437521,745,715,679,663,636,879.246562479,788,804,652,631,653,0.400997662385,-0.0154126005183,0.0498647498082,0.999999967817,-3.58799790235e-05,-0.000248322478616,-3.76081717438e-05,1793239591456471808
+23,0.383333333,BASELINE,766.663585419,745,715,679,663,636,879.336414581,788,804,652,631.336414581,653,0.400996531302,-0.0154123256103,0.0498644871414,0.999999967609,-3.60831369083e-05,-0.000249115885424,-3.77034888696e-05,1793239591473138432
+24,0.400000000,BASELINE,766.074288061,745,715,679,663,636,879.925711939,788,804,652,631.925711939,653,0.400993561175,-0.0154122093554,0.0498638086019,0.999999967102,-3.57393123863e-05,-0.000251187416933,-3.77296384732e-05,1793239591489805056
+25,0.416666667,BASELINE,766,745,715,679,663.506221,636,879.493779,788,804,652,631.493779,653,0.400993685217,-0.0154126861965,0.0498635179592,0.999999967141,-3.5246626497e-05,-0.000251134073662,-3.75086475375e-05,1793239591506471936
+26,0.433333333,BASELINE,766,745,715,679,664,636,879.084945431,788,804,652,631.084945431,652.915054569,0.40099428295,-0.0154130309466,0.0498633483829,0.999999967255,-3.47441201015e-05,-0.000250775665499,-3.73317693973e-05,1793239591523138304
+27,0.450000000,BASELINE,766,745,715,679,664,636,879.660683277,788,804,652,631.660683277,652.339316723,0.400995038814,-0.0154121182147,0.0498635550173,0.999999967347,-3.43089366171e-05,-0.000250425576664,-3.76157341624e-05,1793239591539804928
+28,0.466666667,BASELINE,766,745,715,678.759036004,663.759036004,636,879.759036004,788,804,652,631.759036004,652.240963996,0.400995693391,-0.0154123326436,0.0498639637536,0.999999967495,-3.4820988744e-05,-0.000249769341562,-3.7593389672e-05,1793239591556471808
+29,0.483333333,BASELINE,766,745,715,678.172235288,663.172235288,636,879.172235288,788,804,652,631.172235288,652.827764712,0.4009962026,-0.0154141647977,0.0498646625507,0.999999967718,-3.66925338554e-05,-0.000248673718757,-3.71314235211e-05,1793239591573138944
+30,0.500000000,BASELINE,766,745,715,678.409693385,663,636,879,788,804,652,631,653,0.400996721346,-0.0154143637202,0.0498649782262,0.999999967805,-3.70034600044e-05,-0.000248294382486,-3.70251525282e-05,1793239591589805568
+31,0.516666667,BASELINE,766,745,715,678.989597905,663,636,879,788,804,652,631,653,0.400997244054,-0.0154138841005,0.0498651347302,0.999999967836,-3.66660116488e-05,-0.000248212634511,-3.70666585899e-05,1793239591606472192
+32,0.533333333,BASELINE,766,745,715,679,663,636,879.566876056,788,804,652,631.566876056,652.433123944,0.400996208095,-0.0154137187268,0.0498643571737,0.999999967595,-3.68116270343e-05,-0.00024911727265,-3.73493747052e-05,1793239591623138560
+33,0.550000000,BASELINE,766,745,715,679,663,636,879.856284258,788,804,652.143715742,632,652.143715742,0.400995349015,-0.0154136495648,0.0498637208067,0.999999967377,-3.71739529296e-05,-0.000249912266074,-3.75251506904e-05,1793239591639804928
+34,0.566666667,BASELINE,766,745,715,679,663,636,879.28061834,788,804,652.71938166,632,652.71938166,0.40099510713,-0.0154138523242,0.0498635600748,0.999999967243,-3.81611019897e-05,-0.000250323562213,-3.73662668601e-05,1793239591656471552
+35,0.583333333,BASELINE,766,745,714.706827649,678.706827649,663,636,879,788,804,652.706827649,632,653,0.40099544527,-0.0154137168703,0.0498639907235,0.999999967428,-3.73454791675e-05,-0.000249701520282,-3.73845135932e-05,1793239591673138176
+36,0.600000000,BASELINE,766,745,714.13482041,678.13482041,663,636,879,788,804,652.13482041,632,653,0.40099633507,-0.0154132597431,0.0498649838315,0.999999967912,-3.48152483396e-05,-0.000248096675271,-3.75712283789e-05,1793239591689804800
+37,0.616666667,BASELINE,766,745,714.453999827,678,663,636,879,788,804,652.453999827,632,653,0.40099729541,-0.0154124129388,0.049865633008,0.999999968204,-3.33918500037e-05,-0.000247098006318,-3.76828660529e-05,1793239591706471936
+38,0.633333333,BASELINE,766.046647937,745,715,678,663,636,879,788,804,653,631.953352063,653,0.400997983584,-0.0154116678382,0.0498660119022,0.999999968356,-3.26567520365e-05,-0.000246574295892,-3.77256236469e-05,1793239591723138816
+39,0.650000000,BASELINE,766.623862738,745,715,678,663,636,879,788,804,653,631.376137262,653,0.400995328761,-0.0154134462884,0.0498645229801,0.999999967581,-3.58680795519e-05,-0.000249326538671,-3.72482813739e-05,1793239591739805696
+40,0.666666667,BASELINE,766.799776118,745,715,678.200223882,663,635.799776118,879,788,804.200223882,652.799776118,631.200223882,653,0.400993227668,-0.0154142911447,0.0498631788618,0.999999966941,-3.76923255679e-05,-0.000251641189539,-3.70660110327e-05,1793239591756472320
+41,0.683333333,BASELINE,766.225011867,745,715,678.774988133,663,635.225011867,879,788,804.774988133,652.225011867,631.774988133,653,0.400992162385,-0.0154133896129,0.0498621056145,0.999999966578,-3.69218858341e-05,-0.000253137277378,-3.74357045969e-05,1793239591773138688
+42,0.700000000,BASELINE,766,745,715,679,663.359380886,635.359380886,879,787.640619114,804.640619114,652.359380886,632,653,0.400992603232,-0.0154129678513,0.0498620258412,0.999999966517,-3.61545151e-05,-0.000253483417203,-3.74911369982e-05,1793239591789805312
+43,0.716666667,BASELINE,766,745,715,679,663.949968076,635.949968076,879,787.050031924,804.050031924,652.949968076,632,653,0.400994013043,-0.0154128547479,0.0498625852154,0.999999966649,-3.53891188248e-05,-0.000253089742353,-3.73443906797e-05,1793239591806471936
+44,0.733333333,BASELINE,766,745,715,679,663.469711235,636,879.530288765,787.530288765,804,652.469711235,632,653,0.40099379197,-0.0154121725689,0.0498627849803,0.999999966819,-3.39808165962e-05,-0.000252564723713,-3.76495795148e-05,1793239591823138560
+45,0.750000000,BASELINE,766,745,715,678.891163457,663,636,880,788,804,652,632,653,0.400993360401,-0.0154119027541,0.0498628677317,0.999999966929,-3.34096382889e-05,-0.000252169320918,-3.78990352352e-05,1793239591839805184
+46,0.766666667,BASELINE,766,745,715,678.316139674,663,636,880,788,804,652,632,653,0.400992673772,-0.0154136248607,0.0498625918397,0.999999966767,-3.66790549077e-05,-0.000252381182727,-3.77305938056e-05,1793239591856471808
+47,0.783333333,BASELINE,766,745,715.259123849,678.259123849,663,636,880,788,804,652.259123849,632,653,0.400993116374,-0.0154144856743,0.0498630359344,0.999999966909,-3.81120699357e-05,-0.000251628361253,-3.75820919965e-05,1793239591873138432
+48,0.800000000,BASELINE,766,745,715.83468021,678.83468021,663,636,880,788,804,652.83468021,632,653,0.400994937951,-0.015414294709,0.0498643592503,0.999999967428,-3.73025393272e-05,-0.00024969750407,-3.74579396963e-05,1793239591889804800
+49,0.816666667,BASELINE,766,745,715.577473224,679,663,636,879.577473224,788,803.577473224,652.577473224,632,653,0.400994278832,-0.0154139247362,0.0498643241943,0.999999967435,-3.58101538956e-05,-0.000249892277821,-3.7426157106e-05,1793239591906471680
+50,0.833333333,BASELINE,766.01487287,745,715,679,663,636,879.01487287,788,803.01487287,652,632,653,0.400992695701,-0.0154134981362,0.0498637609609,0.999999967239,-3.41469673809e-05,-0.000250907508749,-3.74288637694e-05,1793239591923138304
+51,0.850000000,BASELINE,766.590142029,745,715,679,663,636,879.590142029,788,803.590142029,652,632,653,0.400993963958,-0.0154136559495,0.0498639222235,0.99999996725,-3.64167272413e-05,-0.000250560893785,-3.73285373391e-05,1793239591939804928
+52,0.866666667,BASELINE,767,745,715,679,663,636,879.834332723,788,804.165667277,652,632,653,0.400994893988,-0.015414224072,0.0498640480581,0.999999967302,-3.761625466e-05,-0.000250205129358,-3.71236677994e-05,1793239591956471808
+53,0.883333333,BASELINE,767,745,715,679,663,636,879.258172968,788,804.741827032,652,632,653,0.400994985958,-0.0154158088638,0.0498640861088,0.999999967467,-3.61639464421e-05,-0.000249826694302,-3.66597600251e-05,1793239591973138176
+54,0.900000000,BASELINE,766.675970151,745,715,678.675970151,663,636,879,788,804.675970151,652,632,653,0.400995295646,-0.0154160416997,0.049864313303,0.999999967592,-3.61036687969e-05,-0.000249337492173,-3.66619608836e-05,1793239591989805056
+55,0.916666667,BASELINE,766.08886101,745,715,678.08886101,663,636,879,788,804.08886101,652,632,653,0.400995782101,-0.0154151768849,0.0498646940625,0.999999967683,-3.717357851e-05,-0.000248758358462,-3.70425945817e-05,1793239592006472192
+56,0.933333333,BASELINE,766,745,715,678.494871607,663,636,879,788,804,652,632,653,0.400995423826,-0.0154129631497,0.0498643166213,0.999999967557,-3.53177555913e-05,-0.000249424203374,-3.77662003456e-05,1793239592023138816
+57,0.950000000,BASELINE,766,745,715,679,663,636,879.076681011,788,804,652,632,653,0.400995004351,-0.0154111159069,0.0498639207554,0.999999967419,-3.37007381551e-05,-0.000250110507298,-3.83530072562e-05,1793239592039805184
+58,0.966666667,BASELINE,766,745,715,679,663,636,879.649935445,788,804,652,632,653,0.400995164177,-0.0154131999379,0.0498642812543,0.999999967483,-3.7009245774e-05,-0.000249491418455,-3.76578134906e-05,1793239592056471808
+59,0.983333333,BASELINE,766,745,715,679,663,636,880,788,804,652,631.777587267,653,0.400995396125,-0.0154142723982,0.0498644192034,0.99999996753,-3.8495082495e-05,-0.000249143568047,-3.72172229837e-05,1793239592073138176
+60,1.000000000,BASELINE,766,745,715,679,663,636,880,788,804,652,631.206328815,653,0.400995741195,-0.0154137582494,0.0498642080918,0.999999967564,-3.7122131332e-05,-0.000249221144483,-3.71759676762e-05,1793239592089804800
+61,1.016666667,BASELINE,766,745,715,678.620015676,663,636,879.620015676,788,804,652,631,653,0.400995993005,-0.0154133308552,0.0498642344762,0.99999996766,-3.5917530302e-05,-0.000249012877892,-3.7170344341e-05,1793239592106471680
+62,1.033333333,BASELINE,766,745,715,678.025190753,663,636,879.025190753,788,804,652,631,653,0.400996192086,-0.0154129525113,0.0498643951395,0.999999967791,-3.48081133954e-05,-0.000248642997558,-3.71848670873e-05,1793239592123138560
+63,1.050000000,BASELINE,766,744.445824683,715,678.554175317,663.554175317,636,879,788,804,652.554175317,631.554175317,652.445824683,0.400995276637,-0.0154124065183,0.0498642666761,0.999999967668,-3.330532252e-05,-0.000249337020034,-3.7215513783e-05,1793239592139805184
+64,1.066666667,BASELINE,766,744.132155282,715,678.867844718,663.867844718,636,879.132155282,788,804,652.867844718,632,652.132155282,0.400994820277,-0.0154124458227,0.0498643581954,0.999999967628,-3.29667415994e-05,-0.000249550029494,-3.71629634724e-05,1793239592156472064
+65,1.083333333,BASELINE,766,744.707777962,715,678.292222038,663.292222038,636,879.707777962,788,804,652.292222038,632,652.707777962,0.400996069849,-0.0154144740615,0.0498652308054,0.999999967903,-3.65932216501e-05,-0.000247991046727,-3.68288400663e-05,1793239592173138432
+66,1.100000000,BASELINE,766,745,715,678,663,636,880,788,804.289365846,652,632,653,0.400996190722,-0.0154154190612,0.0498654934096,0.999999967924,-3.77086464622e-05,-0.000247749413166,-3.67407033328e-05,1793239592189804800
+67,1.116666667,BASELINE,766,745,715,678,663,636,880,788,804.877104575,652,632,653,0.400995147761,-0.0154152471039,0.0498651270204,0.999999967695,-3.62348546605e-05,-0.000248866133794,-3.69062100747e-05,1793239592206471424
+68,1.133333333,BASELINE,766,744.541474769,715,678.458525231,663,636,880,788,804.541474769,652,632,653,0.400994959175,-0.0154144882801,0.0498645253616,0.999999967538,-3.61654137308e-05,-0.000249458012109,-3.72336198984e-05,1793239592223138304
+69,1.150000000,BASELINE,766,744.038132586,715,679,663.038132586,636,879.961867414,788,804,652,632,653,0.400995019604,-0.01541349347,0.049863933146,0.999999967428,-3.62350990023e-05,-0.000249836392664,-3.75965669531e-05,1793239592239804672
+70,1.166666667,BASELINE,766,744.615717371,715,679,663.615717371,636,879.384282629,788,804,652,632,653,0.400995407323,-0.0154113551733,0.0498643544611,0.999999967699,-3.30205231127e-05,-0.000249157447708,-3.78567125826e-05,1793239592256471552
+71,1.183333333,BASELINE,766,745,715,679,663.809036915,636,879,788,804,652,631.809036915,653,0.40099551925,-0.0154104561339,0.0498646807831,0.999999967857,-3.11231169918e-05,-0.000248749857053,-3.79506258659e-05,1793239592273138432
+72,1.200000000,BASELINE,766,745,715,679,663.238441148,636,879,788,804,652,631.238441148,653,0.400995082909,-0.0154120207251,0.0498648182602,0.999999967811,-3.18442304842e-05,-0.000248881715891,-3.77140709723e-05,1793239592289805056
+73,1.216666667,BASELINE,766,745,715,679,663,636,879.345914415,788,804,652,631.345914415,653,0.400993925229,-0.0154136354446,0.0498639231559,0.999999967392,-3.39942204897e-05,-0.00025029786337,-3.75655925628e-05,1793239592306471680
+74,1.233333333,BASELINE,766,745,715,679,663,636,879.940147574,788,804,652,631.940147574,653,0.400992249729,-0.0154152861493,0.0498622868008,0.999999966694,-3.71699463203e-05,-0.000252635952597,-3.74803409108e-05,1793239592323138304
+75,1.250000000,BASELINE,766,745,715,678.480946541,663,636,879.480946541,788,804,652,632,653,0.400994179562,-0.0154132295973,0.0498632835338,0.999999967234,-3.46917479645e-05,-0.000250839316911,-3.75170583642e-05,1793239592339806208
+76,1.266666667,BASELINE,766.095869439,745,715,678.095869439,663,636,879,788,804,652,632,653,0.40099606452,-0.0154113846275,0.0498643834503,0.999999967772,-3.26174161648e-05,-0.000248960351411,-3.75730188581e-05,1793239592356473856
+77,1.283333333,BASELINE,766.670820446,745,715,678.670820446,663,636,879,788,804,652,632,653,0.400995707301,-0.0154126719572,0.0498645252426,0.999999967656,-3.5725835559e-05,-0.000248984196865,-3.76568743536e-05,1793239592373139456
+78,1.300000000,BASELINE,767,745,715,678.753155126,663,636,879,788,804.493689748,652,631.753155126,653,0.400996415728,-0.0154136996527,0.0498650054884,0.999999967868,-3.67847660673e-05,-0.000247999534028,-3.75137787731e-05,1793239592389805312
+79,1.316666667,BASELINE,767,745,715,678.175693034,663,636,879,788,805.648613932,652,631.175693034,653,0.400998551451,-0.0154143796013,0.0498659390493,0.999999968522,-3.50986674309e-05,-0.000245664102993,-3.70667111739e-05,1793239592406471936
+80,1.333333333,BASELINE,767,745,715,678.411899315,663,636,879.411899315,788,805.17620137,652,631.411899315,653,0.400998247232,-0.0154139705922,0.0498658413245,0.999999968459,-3.42506932486e-05,-0.000246049418638,-3.69818808239e-05,1793239592423138560
+81,1.350000000,BASELINE,767,745,715,679,663,636,879.99618654,788,804,652,632,653,0.400996880159,-0.0154130861522,0.0498652937158,0.999999968085,-3.3782379455e-05,-0.000247619155774,-3.70588467842e-05,1793239592439804928
+82,1.366666667,BASELINE,767,745,715,679,663,636,879.42049869,788,804,652,632,653,0.400996132136,-0.0154123170035,0.0498649104695,0.999999967821,-3.52860378673e-05,-0.000248385504328,-3.76442551429e-05,1793239592456472064
+83,1.383333333,BASELINE,766.844940193,745,715,678.844940193,663,636,879.155059807,788,804,652,632,653,0.400995373858,-0.0154122516453,0.0498646162387,0.99999996759,-3.67212627375e-05,-0.00024905909403,-3.79621243296e-05,1793239592473139200
+84,1.400000000,BASELINE,766.269732066,745,715,678.269732066,663,636,879.730267934,788,804,652,632,653,0.400994587795,-0.0154140932695,0.0498645632031,0.999999967453,-3.79710611806e-05,-0.000249481345554,-3.75550724937e-05,1793239592489805312
+85,1.416666667,BASELINE,766,745,715,678,663,636,880,788,804,652.311986722,632,653,0.400994984705,-0.0154144023786,0.0498643919737,0.999999967483,-3.75417188683e-05,-0.000249440490462,-3.74776469902e-05,1793239592506471680
+86,1.433333333,BASELINE,766,745,715,678,663,636,880,788,804,652.899454318,632,653,0.400996426168,-0.0154133582937,0.0498641163804,0.999999967657,-3.56297135054e-05,-0.000248990717253,-3.76912779679e-05,1793239592523138304
+87,1.450000000,BASELINE,766.48060655,745,715,678.48060655,663.48060655,636,879.51939345,788,804,653,632,653,0.400997027962,-0.0154138671129,0.0498650106483,0.999999968004,-3.55095509541e-05,-0.000247633082144,-3.75328484282e-05,1793239592539805184
+88,1.466666667,BASELINE,766.93983747,745,715,679,663.93983747,636,879.06016253,788,804,652.93983747,632,653,0.400997357109,-0.0154145323346,0.0498659839638,0.999999968321,-3.56392237614e-05,-0.000246362009432,-3.73251913628e-05,1793239592556471808
+89,1.483333333,BASELINE,766.362791694,745,715,679,663.362791694,636,879.637208306,788,804,652.362791694,632,653,0.400996833459,-0.0154137863204,0.0498655609993,0.999999968084,-3.47364915462e-05,-0.000247445242532,-3.73546595351e-05,1793239592573138432
+90,1.500000000,BASELINE,766.212963311,745,715,679,663,636,880,788,804,652.212963311,632,653,0.400996407672,-0.0154137699193,0.0498653021374,0.999999967943,-3.45113272317e-05,-0.000248063227252,-3.72513996061e-05,1793239592589805312
+91,1.516666667,BASELINE,766.786532625,745,715,679,663,636,880,788,804,652.786532625,632,653,0.400996147595,-0.0154149889556,0.0498653211471,0.999999967965,-3.54334735547e-05,-0.000247893417207,-3.69233941542e-05,1793239592606472192
+92,1.533333333,BASELINE,766.628349575,745,715,678.25669915,663,636,879.628349575,788,804,652.628349575,631.628349575,652.628349575,0.400996364687,-0.0154150235223,0.049865677288,0.999999968064,-3.70479795224e-05,-0.000247261958029,-3.69047935453e-05,1793239592623138816
+93,1.550000000,BASELINE,766.03638581,745,715,677.07277162,663,636,879.03638581,788,804,652.03638581,631.03638581,652.03638581,0.400996864644,-0.0154143559389,0.0498662332794,0.999999968204,-3.90729144536e-05,-0.000246356834509,-3.70696072371e-05,1793239592639805440
+94,1.566666667,BASELINE,766,745,715,677.543442128,663,636,879,788,804,652,631.543442128,652.543442128,0.400996413157,-0.0154140431304,0.0498652414087,0.999999967986,-3.69814742556e-05,-0.000247563013748,-3.70459646446e-05,1793239592656471808
+95,1.583333333,BASELINE,766,745,715,678.121435438,663,636,879.121435438,788,804,652,632,653,0.400996055064,-0.0154138624549,0.0498646152558,0.999999967846,-3.51805064899e-05,-0.000248397897423,-3.69860052663e-05,1793239592673138432
+96,1.600000000,BASELINE,766,745,715,678.695552674,663,636,879.695552674,788,804,652,632,653,0.400996277399,-0.0154140877248,0.0498657303008,0.999999968106,-3.54673105275e-05,-0.00024733323353,-3.68366749886e-05,1793239592689805056
+97,1.616666667,BASELINE,766.276480133,745,715,679,663,636,880,788,804,652.276480133,632,653,0.400995943477,-0.0154140241009,0.0498656233142,0.999999968107,-3.56340546677e-05,-0.000247306613597,-3.68131281568e-05,1793239592706471936
+98,1.633333333,BASELINE,766.865096044,745,715,679,663,636,880,788,804,652.865096044,632,653,0.400994981562,-0.0154136343264,0.0498641366992,0.999999967818,-3.56652556356e-05,-0.00024845190672,-3.69315861623e-05,1793239592723138816
+99,1.650000000,BASELINE,766.55333127,745,715,679,663,636,879.55333127,788,804,653,632,653,0.400995837437,-0.0154141420943,0.0498646975816,0.999999967989,-3.50299466213e-05,-0.0002478321396,-3.70798907738e-05,1793239592739805696
+100,1.666666667,BASELINE,766.026015078,745,715,678.973984922,663,636,879,788,804.026015078,652.973984922,632,653,0.400997036654,-0.0154148729991,0.0498657320905,0.999999968239,-3.43233430466e-05,-0.000246893693525,-3.72405950357e-05,1793239592756472576
+101,1.683333333,BASELINE,766.602565064,745,715,678.397434936,663,636,879,788,804.602565064,652.397434936,632,653,0.400994063764,-0.0154146784252,0.0498639062393,0.999999967309,-3.63018235025e-05,-0.000250317471015,-3.74759010401e-05,1793239592773138944
+102,1.700000000,BASELINE,766.82142573,745,715.17857427,678.17857427,663,636,879,788,804.82142573,652.17857427,632,653,0.400992661042,-0.0154147525631,0.0498630615675,0.999999966881,-3.76935953292e-05,-0.000251808939973,-3.75452345307e-05,1793239592789805312
+103,1.716666667,BASELINE,766.246616527,745,715.753383473,678.753383473,663,636,879,788,804.246616527,652.753383473,632,653,0.400994742335,-0.0154154229406,0.0498643940155,0.999999967589,-3.77835306648e-05,-0.000249012847109,-3.7246294847e-05,1793239592806471936
+104,1.733333333,BASELINE,766.337419988,745,715.662580012,678.662580012,663,636,879,788,804,652.662580012,632,652.662580012,0.400995599445,-0.0154153388926,0.0498650717156,0.99999996784,-3.79363117731e-05,-0.000248002925226,-3.70933003227e-05,1793239592823138304
+105,1.750000000,BASELINE,766.928390318,745,715.071609682,678.071609682,663,636,879,788,804,652.071609682,632,652.071609682,0.400995536657,-0.0154146879402,0.0498652574132,0.999999967751,-3.81363176191e-05,-0.000248335200551,-3.70499745671e-05,1793239592839804928
+106,1.766666667,BASELINE,766.491434575,745,715,678.508565425,663,636,879,788,804,652,632,652.508565425,0.400994837189,-0.0154135816868,0.049864111674,0.999999967481,-3.58720270828e-05,-0.00024969620406,-3.74697427972e-05,1793239592856471552
+107,1.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,663,636,879,788,804,652,632,653,0.400996451364,-0.0154135216275,0.0498648121102,0.99999996828,-3.51000610914e-05,-0.000246597535783,-3.73742629844e-05,1793239592899762944
+108,1.800000000,POSE1_TO_POSE2_PRESS,767,745,715,678.408774058,663.591225942,636,879,788,804,652,632,652.408774058,0.400996267829,-0.015414929517,0.0498656186386,0.999999968167,-3.74310887362e-05,-0.000246736816622,-3.72281285537e-05,1793239592916429056
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.821876672,745,715,678,663.821876672,636,879,788,804,652.178123328,632,652.178123328,0.400996054872,-0.0154158520879,0.0498660688306,0.99999996808,-3.85178523549e-05,-0.000246932521964,-3.71473516242e-05,1793239592933095424
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.244677083,745,715,678,663.244677083,636,879,788,804,652.755322917,632,652.755322917,0.400995775998,-0.0154156873275,0.0498657206688,0.999999968062,-3.68169061284e-05,-0.000247254643562,-3.72130048254e-05,1793239592949762048
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678.33139184,663,636,879,788,804,652.66860816,632,653,0.400995385225,-0.0154157369607,0.0498653245982,0.999999967945,-3.71762342906e-05,-0.000247645756657,-3.74140475615e-05,1793239592966428928
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678.906628759,663,636,879,788,804,652.093371241,632,653,0.400994912114,-0.0154159443491,0.0498648932754,0.999999967753,-3.90515557466e-05,-0.000248087635126,-3.77147127589e-05,1793239592983095296
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.482907077,788,804,652,631.517092923,653,0.400995267396,-0.0154141682844,0.0498654876956,0.999999967905,-3.69164459787e-05,-0.0002478253245,-3.7538657635e-05,1793239592999761664
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.939289713,788,804,652.060710287,631.060710287,653,0.400995948092,-0.015412376,0.0498662686007,0.999999968133,-3.43785049607e-05,-0.000247312180181,-3.72773607611e-05,1793239593016428544
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.349966051,788,804,652.650033949,631.650033949,653,0.400998064577,-0.0154137889428,0.0498669426377,0.999999968487,-3.50993969768e-05,-0.000245803088178,-3.70781673729e-05,1793239593033095424
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.235683833,788,804.235683833,653,632,653,0.401003207785,-0.0154151120697,0.0498688275795,0.999999969411,-3.58419638212e-05,-0.00024196913639,-3.6673770877e-05,1793239593049762048
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.815962219,788,804.815962219,653,632,653,0.401012776379,-0.0154163038762,0.0498724829914,0.999999971132,-3.66162214796e-05,-0.000234735995207,-3.59693458718e-05,1793239593066428672
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.608881461,788,804.608881461,652.608881461,631.608881461,653,0.401039108035,-0.0154164425737,0.0498815442412,0.999999975492,-3.59848202158e-05,-0.000215575882589,-3.53376336663e-05,1793239593083095296
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.036104082,788,804.036104082,652.036104082,631.036104082,653,0.401073225461,-0.0154160921444,0.0498931162857,0.999999980578,-3.47005469373e-05,-0.000190876170436,-3.4739693554e-05,1793239593099761920
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.537964204,788,804,652,631.537964204,653,0.401134270912,-0.0154203098027,0.0499102545948,0.999999987215,-3.65762756744e-05,-0.000152228453271,-3.25459297693e-05,1793239593116428288
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,632,652.884005618,0.401199593659,-0.0154250762928,0.0499269342769,0.999999992,-3.85753184043e-05,-0.000116593459495,-3.02918778234e-05,1793239593133095168
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880,788,804,652,632,652.290006466,0.401275077578,-0.0154308380668,0.0499401808543,0.999999994065,-4.02064802242e-05,-9.72404952823e-05,-2.82317936232e-05,1793239593149762048
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.296394468,715,678.703605532,663,636,880,788,804,652,632,652.296394468,0.401356720812,-0.0154359452943,0.049948555706,0.999999995198,-4.16990958929e-05,-8.45396042291e-05,-2.68004073077e-05,1793239593166429184
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.87554673,715,678.12445327,663,636,880,788,804,652,632,652.87554673,0.401444239974,-0.0154404280897,0.0499522829721,0.999999995679,-4.30595396264e-05,-7.81847354207e-05,-2.59687935427e-05,1793239593183096064
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.548472666,715,678,663,636,879.548472666,788,804,652,632,653,0.401544082121,-0.0154452995836,0.0499542176456,0.999999995802,-4.35461305293e-05,-7.65337885421e-05,-2.5355302963e-05,1793239593199762688
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.026511255,745,715,678.026511255,663,636,879,788,804,652.026511255,632,653,0.401648345563,-0.0154504227043,0.0499555168024,0.999999995806,-4.39210750583e-05,-7.64578685501e-05,-2.47756152315e-05,1793239593216429312
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.598847948,745,715,678.598847948,663,636,879,788,804,652.598847948,632,653,0.401774194716,-0.0154585360531,0.0499538331956,0.999999995232,-4.69216902346e-05,-8.23019728174e-05,-2.36627175323e-05,1793239593233095424
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.821866198,745,715,678.821866198,663,636,879,788,803.821866198,653,631.821866198,653,0.401908512092,-0.0154670757303,0.0499518807463,0.999999994652,-4.97286397165e-05,-8.78326587272e-05,-2.25655858352e-05,1793239593249761536
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.226295848,745,715,678.226295848,663,636,879,788,803.226295848,653,631.226295848,653,0.402062673776,-0.0154766144594,0.0499492982952,0.999999994122,-5.20817549857e-05,-9.26288831169e-05,-2.15054001502e-05,1793239593266428160
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.357328513,663,636,879,788.357328513,803.357328513,652.642671487,631.357328513,653,0.40224588993,-0.0154874062431,0.0499510820825,0.999999994446,-5.42199485682e-05,-8.80783610597e-05,-2.02511871011e-05,1793239593283095040
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.933632283,663,636,879,788.933632283,803.933632283,652.066367717,631.933632283,653,0.402446911032,-0.015498965915,0.0499555415536,0.999999995215,-5.62264357511e-05,-7.7800039579e-05,-1.88780716199e-05,1793239593299761920
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.509227359,788.490772641,804,652.509227359,632,652.490772641,0.402670891405,-0.0155098052862,0.0499584958015,0.999999995584,-5.72125146337e-05,-7.26141704836e-05,-1.69355671481e-05,1793239593316429056
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.913030092,788,804,652.913030092,631.913030092,652.086969908,0.402903373248,-0.0155204529542,0.0499613713495,0.999999995977,-5.73414329255e-05,-6.73571662701e-05,-1.48444334245e-05,1793239593333095936
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879.322314503,788,804,652.322314503,631.322314503,652.677685497,0.403167789474,-0.015530533243,0.049964925763,0.999999996832,-5.32747522381e-05,-5.78492001827e-05,-1.23216434109e-05,1793239593349762560
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663.263206404,636,879,788,804,652.263206404,631.263206404,653,0.403455844616,-0.0155349572147,0.0499712713128,0.999999998052,-4.17653891798e-05,-4.54898644418e-05,-9.03633575031e-06,1793239593366428928
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663.842489147,636,879,788,804,652.842489147,631.842489147,653,0.40377228698,-0.0155325886915,0.0499809686508,0.99999999932,-2.13183419088e-05,-2.97064086314e-05,-4.83534464803e-06,1793239593383095296
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,744.581934939,715,678.581934939,663.581934939,636,879.418065061,788,803.581934939,653,631.581934939,652.581934939,0.404118621832,-0.015521257709,0.0499871191917,0.9999999998,9.86106241175e-06,-1.70290268752e-05,-3.60992024386e-06,1793239593399761920
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,744.007743352,715,678.007743352,663.007743352,636,879.992256648,788,803.007743352,653,631.007743352,652.007743352,0.404476120036,-0.0155065796933,0.04999194518,0.999999998964,4.50484682763e-05,-5.51160975918e-06,-3.49572222141e-06,1793239593416428288
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,744.580278062,715,678.580278062,663,636,879.419721938,788,803.580278062,652.419721938,631.580278062,652.580278062,0.404852775414,-0.0155102539756,0.0499923107724,0.999999998327,5.76514069671e-05,-4.68405124605e-06,-6.59752547325e-07,1793239593433094912
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652.165926492,631.834073508,653,0.405232008348,-0.0155143510875,0.0499866032135,0.999999997427,6.99556069581e-05,-1.58111704806e-05,1.56749715126e-06,1793239593449761792
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788,804,652.745192538,631.254807462,653,0.405617009813,-0.0155188765523,0.049965918716,0.999999995024,8.22846940267e-05,-5.63545668934e-05,2.18567834538e-06,1793239593466428672
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,678.67721422,663,636,879.32278578,788,804,652.67721422,631,653,0.4060364172,-0.0155204983694,0.0499486027331,0.999999991186,0.000100885596588,-8.62511818954e-05,3.33365746243e-06,1793239593483095552
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,678.100934621,663,636,879.899065379,788,804,652.100934621,631,653,0.406482844681,-0.0155198398612,0.0499339321484,0.99999998644,0.000124411954322,-0.000107786549156,4.89770360693e-06,1793239593499762432
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,678,663,635.526649855,880,788,804,652,631.473350145,653,0.406980509272,-0.0155200022978,0.0499295711244,0.999999982389,0.000149005317376,-0.000113857671836,7.45897029224e-06,1793239593516428800
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,678.048700624,663,635.048700624,880,788,804,652,631.951299376,653,0.407494224152,-0.0155202533829,0.0499294496743,0.999999978443,0.000174119629332,-0.000112641502893,1.04023457066e-05,1793239593533095680
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,678.640664852,663,635.640664852,880,788,804,652,631.359335148,653,0.408065618474,-0.0155195487976,0.0499522012754,0.999999977148,0.000202517832373,-6.67643052721e-05,1.52461085039e-05,1793239593549762048
+147,2.450000000,POSE1_TO_POSE2_PRESS,766.2275111,745,715,679,663,636,880,788,804,652,631.2275111,653,0.408648492988,-0.0155206550596,0.0499730454629,0.999999973166,0.000228780479583,-3.01689077769e-05,2.04296375822e-05,1793239593566428672
+148,2.466666667,POSE1_TO_POSE2_PRESS,766.806451724,745,715,679,663,636,880,788,804,652,631.806451724,653,0.409249100573,-0.0155245584829,0.0499909433249,0.999999967939,0.000251744397085,-7.91082955262e-06,2.61379931255e-05,1793239593583095296
+149,2.483333333,POSE1_TO_POSE2_PRESS,766.617254297,745,715,679,663,636,879.617254297,788,804,652,632,653,0.409854253399,-0.0155284185338,0.0499950822145,0.999999961695,0.000275040185137,-5.2674934084e-06,3.05656870857e-05,1793239593599761920
+150,2.500000000,POSE1_TO_POSE2_PRESS,766.04228951,745,715,679,663,636,879.04228951,788,804,652,632,653,0.410461688877,-0.0155322568025,0.049992311197,0.99999995478,0.000298502641472,-1.24748962653e-05,3.4350218593e-05,1793239593616428544
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,879,788.544401365,804,652,632,653,0.411063803489,-0.0155303009237,0.0499609196046,0.99999994307,0.000326492246796,-7.76734513899e-05,3.50745872171e-05,1793239593633095424
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,678.869756147,663,636,879.130243853,788.869756147,804,652,632,653,0.411692254764,-0.0155285148417,0.0499368526063,0.999999929343,0.000352781485561,-0.000124676265287,3.62525314496e-05,1793239593649762048
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,678.290054076,663,636,879.709945924,788.290054076,804,652,632,653,0.412413048793,-0.015528902131,0.0499459032047,0.999999925704,0.000371962631281,-9.29996159022e-05,3.9834110442e-05,1793239593666428672
+154,2.566666667,POSE1_TO_POSE2_PRESS,766.28802343,745,715,678,663.28802343,636,880,788,804,652,632,653,0.413147167552,-0.0155335192952,0.0499617935015,0.999999967414,0.00024590327431,-6.21353354954e-05,2.90185319361e-05,1793239593683095040
+155,2.583333333,POSE1_TO_POSE2_PRESS,766.864474164,745,715,678,663.864474164,636,880,788,804,652,632,653,0.413894629812,-0.0155423722656,0.0499845330886,0.99999999915,-2.56002596232e-05,-3.20845555697e-05,3.78560641535e-06,1793239593699761920
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.558666902,745,715,678.441333098,663.558666902,636,880.441333098,788.441333098,804.441333098,652,631.558666902,653,0.414627590012,-0.0155492034404,0.0499735728692,0.999999996853,-6.31159292116e-05,-4.80572432643e-05,2.63253589391e-07,1793239593716428288
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.981436515,636,880.981436515,788.981436515,805,652,631.018563485,653,0.41535721367,-0.0155551466265,0.0499525897213,0.999999996565,-2.84018860851e-05,-7.77942302732e-05,3.42353847174e-06,1793239593733094912
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.396702712,636,880.396702712,788.396702712,805,652,631.603297288,653,0.416121025621,-0.0155529601248,0.0499418324561,0.999999995255,1.57525682699e-05,-9.58865920924e-05,6.87420077051e-06,1793239593749761792
+159,2.650000000,POSE1_TO_POSE2_PRESS,766.187445861,745,715,678.812554139,662.187445861,636,880,788,805,652,632,653,0.41691131584,-0.0155516719802,0.0499438719901,0.999999994158,5.74230632521e-05,-9.08669012494e-05,1.13929963857e-05,1793239593766428672
+160,2.666666667,POSE1_TO_POSE2_PRESS,766.770359698,745,715,678.229640302,662.770359698,636,880,788,805,652,632,653,0.417757469112,-0.0155522791644,0.0499729098499,0.999999994743,9.38529683155e-05,-3.70860544906e-05,1.81653092531e-05,1793239593783095040
+161,2.683333333,POSE1_TO_POSE2_PRESS,766.650493577,745,715,678,663,636,880,788,804.650493577,652,631.650493577,653,0.418574593075,-0.0155516792426,0.0499837562757,0.99999999207,0.00012184617409,-2.35532461075e-05,2.14376330327e-05,1793239593799761920
+162,2.700000000,POSE1_TO_POSE2_PRESS,766.073795629,745,715,678,663,636,880,788,804.073795629,652,631.073795629,653,0.419372846928,-0.0155502946593,0.0499827776255,0.999999988675,0.000144355225947,-3.61830869113e-05,2.2434840001e-05,1793239593816428544
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.500530045,715,678.500530045,662.499469955,636,880,788,804.500530045,652,631,653,0.420201263452,-0.0155502478628,0.0499682867575,0.999999986335,0.000156484706606,-4.89682526369e-05,2.11031265757e-05,1793239593833094912
+164,2.733333333,POSE1_TO_POSE2_PRESS,766.076230442,745.923769558,715,679,662.152460883,636,880,788.076230442,804.923769558,652,631.076230442,653,0.42104325735,-0.0155509222638,0.0499576608188,0.999999984688,0.000165568290438,-5.30211982876e-05,2.00034020713e-05,1793239593849761536
+165,2.750000000,POSE1_TO_POSE2_PRESS,766.663479735,745.336520265,715,679,663.326959471,636,880,788.663479735,804.336520265,652,631.663479735,653,0.421946597704,-0.0155551153289,0.0499862356005,0.999999986219,0.000164443592078,1.61601617269e-06,2.27497617603e-05,1793239593866428160
+166,2.766666667,POSE1_TO_POSE2_PRESS,767,745,715,679,663.751749505,636,880,788.751749505,804.248250495,652,632,653,0.422827535797,-0.0155563034754,0.049996842181,0.999999987198,0.000156622374735,2.22469369873e-05,2.40376569142e-05,1793239593883095040
+167,2.783333333,POSE1_TO_POSE2_PRESS,767,745,715,679,663.170305269,636,880,788.170305269,804.829694731,652,632,653,0.42367840643,-0.0155534585183,0.0499833324303,0.999999989949,0.000139813307682,-2.76427574039e-06,2.33680488509e-05,1793239593899761664
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.59394986,745,715,679,663,636,880.40605014,788.40605014,805,652,631.59394986,653,0.424542306885,-0.0155527832014,0.049980188927,0.999999988795,0.000147552106468,-8.15459624494e-06,2.39154909456e-05,1793239593916428288
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.019702419,745,715,679,663,636,880.980297581,788.980297581,805,652,631.019702419,653,0.425411604604,-0.0155530066103,0.0499813394135,0.999999985985,0.000165459317375,-5.41739410474e-06,2.49670692205e-05,1793239593933095168
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,881.566048281,788.433951719,805,652,631.566048281,653,0.426311289292,-0.0155580654387,0.0500039229617,0.999999984783,0.00017104357985,1.9853554007e-05,2.79942750536e-05,1793239593949761536
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.150532223,745,715,679,663,636,881.849467777,788,805,652,632,653,0.427189060796,-0.0155607635691,0.0500122076257,0.99999998415,0.000174362796542,2.04075164012e-05,2.96690442815e-05,1793239593966428160
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.73023932,745,715,679,663,636,881.26976068,788,805,652,632,653,0.428001278631,-0.0155562414283,0.0499775543966,0.999999983413,0.000172472505969,-5.17904347665e-05,2.72878281153e-05,1793239593983094784
+173,2.883333333,POSE1_TO_POSE2_PRESS,767,745,715,679.309682798,663,636,880.690317202,788,805,652,632,653,0.428858602295,-0.0155536917346,0.04996023351,0.999999982332,0.000169892182018,-7.61705597593e-05,2.5911367254e-05,1793239593999761664
+174,2.900000000,POSE1_TO_POSE2_PRESS,767,745,715,679.888896805,663,636,880.111103195,788,805,652,632,653,0.429755183599,-0.0155528587528,0.0499579977614,0.999999984044,0.000166711290852,-5.8932623693e-05,2.54093914395e-05,1793239594016428288
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.535700626,745,715,679.535700626,663.464299374,636,880.464299374,788,805,652,632,652.535700626,0.430610464585,-0.015551191825,0.0499569276801,0.999999981926,0.000178792778215,-5.92132937751e-05,2.5993158054e-05,1793239594033094912
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,715,678.960279218,663.960279218,636,881,787.960279218,805,652,632,652.039720782,0.4314555299,-0.0155492655826,0.0499552376729,0.999999978727,0.000193915342536,-6.50381303593e-05,2.67018658139e-05,1793239594049761792
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,715,678.372107594,663.372107594,636,881,787.372107594,805,652,632,652.627892406,0.432294887682,-0.01554649179,0.0499411678628,0.99999997542,0.000201010758036,-9.00036042443e-05,2.55775640694e-05,1793239594066428416
+178,2.966666667,POSE1_TO_POSE2_PRESS,766.212857336,745,715,678.212857336,663.212857336,636,880.787142664,787.212857336,805,652,632,653,0.433142337784,-0.0155452504654,0.0499418499018,0.999999975996,0.000198530805766,-8.89967559517e-05,2.59594216137e-05,1793239594083095040
+179,2.983333333,POSE1_TO_POSE2_PRESS,766.79229976,745,715,678.79229976,663.79229976,636,880.20770024,787.79229976,805,652,632,653,0.434003724697,-0.0155466483726,0.0499679377244,0.999999982525,0.000179560057861,-4.32601118475e-05,2.89352019416e-05,1793239594099761664
+180,3.000000000,POSE1_TO_POSE2_PRESS,767,745,715,679,663.629973496,636,880,788,805,652,632,653,0.434830276736,-0.0155465280925,0.0499847322259,0.999999982585,0.000182697673826,-2.19958951205e-05,3.11189520664e-05,1793239594116428032
+181,3.016666667,POSE1_TO_POSE2_PRESS,767,745,715,679,663.053205373,636,880,788,805,652,632,653,0.435637365744,-0.0155455595689,0.0499963343511,0.999999979717,0.000198187700657,-1.44049429562e-05,3.28601780387e-05,1793239594133094656
+182,3.033333333,POSE1_TO_POSE2_PRESS,766.46995181,745,715,679,663,636,880.53004819,788,805,652,632,653,0.43636271213,-0.015539926974,0.0499666024485,0.999999974166,0.00021190756596,-7.66429247259e-05,2.98300658645e-05,1793239594149761536
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.886599575,788.113400425,805,652,632,653,0.437104401766,-0.0155357772947,0.0499444687317,0.999999967716,0.000222702979135,-0.000119244067038,2.74234285406e-05,1793239594166428160
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.305558292,788.694441708,805,652,632,653,0.437947743413,-0.0155396974285,0.049970990196,0.999999973549,0.000222180352659,-5.16037047317e-05,2.95873936066e-05,1793239594183094784
+185,3.083333333,POSE1_TO_POSE2_PRESS,766.274428045,745,715,679,663,635.725571955,880,788.725571955,805.274428045,652,632,653,0.438735060227,-0.0155421523514,0.0499850364198,0.999999977582,0.0002085755545,-1.93813213466e-05,3.09208212218e-05,1793239594199761664
+186,3.100000000,POSE1_TO_POSE2_PRESS,766.853244228,745,715,679,663,635.146755772,880,788.146755772,805.853244228,652,632,653,0.43946023576,-0.0155429821021,0.0499852454439,0.999999982877,0.000180460367433,-2.64436032793e-05,3.13330391977e-05,1793239594216428288
+187,3.116666667,POSE1_TO_POSE2_PRESS,766.571352604,745,715,679,663,635.428647396,880.428647396,788,805.571352604,652,632,653,0.440145201594,-0.0155422424788,0.0499671506818,0.999999980906,0.000185674386269,-5.27741567876e-05,3.04647419518e-05,1793239594233095168
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.9970351,788,805.0029649,652,632,653,0.440816392231,-0.0155410113452,0.049942955321,0.999999975488,0.000202146222211,-8.54923659281e-05,2.91782715514e-05,1793239594249761792
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679,663,636,880.408179494,788,805.591820506,652,632,653,0.441464378335,-0.0155479910936,0.0499417928169,0.999999974459,0.000206179228976,-8.71655724543e-05,3.1206316571e-05,1793239594266428416
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662.822138532,636,880.177861468,788,805.822138532,652,632,652.822138532,0.442111567988,-0.0155546101386,0.0499409059139,0.99999997369,0.000209345672285,-8.77978606883e-05,3.29399239299e-05,1793239594283095040
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.242456241,636,880.757543759,788,805.242456241,652,632,652.242456241,0.442756958443,-0.0155604142917,0.049940641643,0.99999997355,0.000210554394764,-8.60785289099e-05,3.40083444211e-05,1793239594299761664
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715.334908722,679,662.334908722,635.665091278,881,788,805.334908722,652,632,652.334908722,0.443330471083,-0.0155650363412,0.0499162964484,0.99999996905,0.000210993653547,-0.000127517583979,3.34821505708e-05,1793239594316428288
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715.910607554,679,662.910607554,635.089392446,881,788,805.910607554,652,632,652.910607554,0.443852305523,-0.0155688084904,0.0498746377354,0.999999957262,0.000210879688258,-0.000199986325489,3.18094728954e-05,1793239594333094912
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715.513978188,679.486021812,662.513978188,635,880.513978188,788,805.513978188,651.513978188,632,653,0.444357208066,-0.015571040786,0.0498323528707,0.999999941781,0.000213939451468,-0.000264206523416,2.93604805147e-05,1793239594349762560
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679.936974313,662.063025687,635,880.063025687,787.936974313,805,651.063025687,631.936974313,652.936974313,0.444860759733,-0.0155733738368,0.0497949330714,0.999999925566,0.000217001502659,-0.000317867127048,2.71719430952e-05,1793239594366429696
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679.346222244,662.653777756,635,880.653777756,787.346222244,805,651.653777756,631.346222244,652.346222244,0.445379061057,-0.0155789206016,0.0497992131559,0.999999932692,0.000215197859959,-0.000295805972518,2.83591143986e-05,1793239594383095552
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662.762147442,635,881,787,805.237852558,652,631,652.237852558,0.445887510988,-0.0155860931266,0.0498045238001,0.999999938881,0.000211916367183,-0.000276476720138,2.98344629459e-05,1793239594399761920
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662.187526825,635,881,787,805.812473175,652,631,652.812473175,0.446382012593,-0.0155955675143,0.0498112935812,0.999999944103,0.000206542432556,-0.000261015485259,3.17178326237e-05,1793239594416428544
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679.389271179,662,634.610728821,881,787,805.610728821,652,631,653,0.446799739899,-0.0156007655875,0.0497917819412,0.999999937657,0.00019444544128,-0.000293112085236,3.10161212291e-05,1793239594433095168
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679.967124066,662,634.032875934,881,787,805.032875934,652,631,653,0.447180274081,-0.0156038920089,0.0497595383156,0.999999922902,0.000179091476557,-0.000348247988855,2.90620721397e-05,1793239594449761792
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,634.541756401,881,787.541756401,805,652,631,653,0.447527473619,-0.0156094603369,0.0497258207326,0.99999991165,0.000127771829685,-0.000399637786405,2.57602597357e-05,1793239594466428672
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679.880366345,662,634.880366345,881,787.880366345,805,652,631,653,0.447871543967,-0.0156158186868,0.0496978821172,0.999999899662,7.26403930835e-05,-0.000441604436053,1.95978943812e-05,1793239594483095296
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679.28892552,662,634.28892552,881,787.28892552,805,652,631,653,0.44821120424,-0.0156247117483,0.0496930850575,0.999999899898,1.10326995576e-05,-0.000447299647446,2.47482147826e-06,1793239594499762176
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.703081145,745,715,679.296918855,662,634,881,787,805,652,631,653,0.448551615236,-0.0156403508117,0.0497011175982,0.999999904996,-2.21301069875e-05,-0.000435334608864,-1.43800713677e-06,1793239594516429056
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.122581847,745,715,679.877418153,662,634,881,787,805,652,631,653,0.448892743209,-0.0156624328277,0.0497214033988,0.999999916956,-2.81258453968e-05,-0.000406502667961,7.2659690586e-06,1793239594533095424
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.451984446,745,715,680,662,634,881,786.548015554,805,652,630.548015554,653,0.449177803423,-0.0156779010444,0.0497281186527,0.999999920079,-3.41045161463e-05,-0.000398149895187,1.24673212821e-05,1793239594549762048
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679.974353857,662,634,881,786,805,652,630.025646143,652.974353857,0.449445834691,-0.0156910650341,0.0497307511711,0.999999920678,-3.94644292284e-05,-0.000395993642128,1.66122773189e-05,1793239594566428416
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679.385683767,662,634,881,786,805,652,630.614316233,652.385683767,0.449669521353,-0.0156925112912,0.0497235050542,0.999999915491,-3.13407191776e-05,-0.000409520238958,1.81499417909e-05,1793239594583095296
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,633.800069021,881,786,805,652,631,652.199930979,0.449885510796,-0.0156930500109,0.0497180853535,0.999999911326,-2.3723917911e-05,-0.000420006635829,1.94674317799e-05,1793239594599762176
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,633.220259641,881,786,805,652,631,652.779740359,0.450086875131,-0.015691864366,0.0497161359314,0.999999909455,-1.70702684569e-05,-0.000424716506322,2.0366579577e-05,1793239594616429056
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,633,881,786,805,652,631,653,0.450270009978,-0.0156905336621,0.0497145042618,0.999999907745,-1.08288472186e-05,-0.000428881415202,2.1309116821e-05,1793239594633095424
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,633,881,786,805,652,631,653,0.450441977484,-0.0156891140951,0.0497130672468,0.99999990612,-4.83995579936e-06,-0.000432712481764,2.22782344697e-05,1793239594649762048
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,745,715.50984104,679,661.49015896,633,881,785.49015896,805,652,630.49015896,652.49015896,0.450585144649,-0.0156899509263,0.0497143244275,0.999999905992,-7.20127684083e-07,-0.000432974718712,2.34126316804e-05,1793239594666428416
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,745.088092954,715.911907046,679.088092954,661.088092954,633,881,785.088092954,805,652,630,652.088092954,0.450719401911,-0.015691333612,0.0497151398425,0.999999905589,2.09100173608e-06,-0.000433844850666,2.44207731776e-05,1793239594683095296
+215,3.583333333,POSE1_TO_POSE2_PRESS,766,745.677539059,715.322460941,679.677539059,661.677539059,633,881,785.677539059,805,652,630,652.677539059,0.450824312305,-0.0156941493038,0.0497114428257,0.999999902535,-1.15964272598e-06,-0.000440821595714,2.45877842552e-05,1793239594699761920
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.737829215,745.737829215,715,679.737829215,662.262170785,633,880.737829215,786,805,652,630,653,0.450919205273,-0.0156956131506,0.0497059546897,0.999999898274,-3.02036538432e-06,-0.000450391131574,2.43238850181e-05,1793239594716428544
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.159012264,745.159012264,715,679.159012264,662.840987736,633,880.159012264,786,805,652,630,653,0.451001999328,-0.0156954442579,0.0496983032654,0.999999892491,-3.20235994195e-06,-0.000463092203076,2.35395383832e-05,1793239594733095168
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.417449874,745,715,679.417449874,662.582550126,633,880.417449874,786,805,651.582550126,630.417449874,653,0.45107392046,-0.0156953001395,0.0496965620032,0.999999889864,-9.8150526491e-07,-0.000468731691583,2.36924215171e-05,1793239594749761792
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.993020049,745,715,679.993020049,662.006979951,633,880.993020049,786,805,651.006979951,630.993020049,653,0.451141723181,-0.0156951654051,0.049697059373,0.999999888456,2.14949281183e-06,-0.000471696416436,2.42003055042e-05,1793239594766428672
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,745,715.580916021,679.419083979,662,633,881,786,805,651.580916021,630.419083979,652.419083979,0.451192607844,-0.0156983555761,0.0496997389631,0.999999889713,-7.34090243575e-07,-0.000468980131735,2.5126217729e-05,1793239594783095296
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745,715.833562794,679.166437206,662,633,880.833562794,786,805,652,630,652.166437206,0.451238161375,-0.0157003561155,0.0497006851099,0.999999889806,-2.7822920318e-06,-0.00046874460795,2.56835717518e-05,1793239594799761664
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745,715.254307237,679.745692763,662,633,880.254307237,786,805,652,630,652.745692763,0.451271007088,-0.0156993047442,0.0496972653089,0.999999886942,-2.5753432567e-06,-0.000474835154212,2.53140533352e-05,1793239594816428288
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.676805996,745,715.323194004,679.676805996,662,633,880.323194004,786,805,652,630,653,0.45129860382,-0.0156987206538,0.0496956056454,0.999999885271,-2.19201902312e-06,-0.000478346838254,2.52343377124e-05,1793239594833095168
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.100677634,745,715.899322366,679.100677634,662,633,880.899322366,786,805,652,630,653,0.451322092658,-0.0156985022613,0.04969532348,0.999999884553,-1.67066184423e-06,-0.000479840283609,2.53814241641e-05,1793239594849761792
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.475497145,745,716,679.475497145,662,633,881,786,805,652,630,653,0.45133770043,-0.0156966869214,0.0496940024285,0.99999988352,-1.47716930426e-06,-0.000482013013501,2.4919863252e-05,1793239594866428416
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745,715.947087769,680,661.947087769,633,881,786,805,652,630,653,0.451350962545,-0.0156948129723,0.0496924531382,0.999999882359,-1.35649586088e-06,-0.000484441622862,2.44106399469e-05,1793239594883095296
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745,715.357184536,680,661.357184536,633,881,786,805,652,630,653,0.45135735577,-0.0156957760683,0.049690820093,0.999999880618,-1.27025802461e-06,-0.000488007291681,2.47256935692e-05,1793239594899761920
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.771600504,661,633,881,786,805.228399496,652,630,653,0.451364097832,-0.0156958104966,0.0496905873152,0.999999880033,-1.13242502789e-06,-0.000489193446582,2.49395502585e-05,1793239594916428288
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.192645762,661,633,881,786,805.807354238,652,630,653,0.451371375302,-0.0156944195743,0.0496925037152,0.999999881235,-9.15402044749e-07,-0.000486727443095,2.49980864651e-05,1793239594933094912
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,633,880.616047662,786,805.616047662,652,630,653,0.451374610652,-0.0156935824113,0.0496921552617,0.999999881066,-1.34853123483e-06,-0.000487094011541,2.45977031165e-05,1793239594949761536
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,633,880.040624796,786,805.040624796,652,630,653,0.451375830264,-0.0156930213989,0.0496906773641,0.999999880212,-2.10588030808e-06,-0.000488873135705,2.3968464357e-05,1793239594966428416
+232,3.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.546130386,633,880,786,805.546130386,652,630,653,0.451375218901,-0.0156924298281,0.0496892705456,0.999999879212,-2.82964134255e-06,-0.000490910711491,2.39666387505e-05,1793239594983095040
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.263741517,662,633,880,786,805.868129241,652,630,653,0.451374652236,-0.015691937893,0.0496881179828,0.999999878372,-3.45945288096e-06,-0.000492610420498,2.40622564683e-05,1793239594999761664
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680.422491972,662,633,880,786,805.288754014,652,630,653,0.45137470925,-0.0156917919499,0.0496878099162,0.999999878125,-3.77910424361e-06,-0.000493096951639,2.4326813932e-05,1793239595016428544
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.289424448,715.289424448,680.710575552,662,633,880,786,805.289424448,652,630,653,0.451375196177,-0.015691195437,0.0496875514201,0.999999877861,-3.84999357005e-06,-0.000493636006876,2.4216162433e-05,1793239595033095168
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.866413904,715.866413904,680.133586096,662,633,880,786,805.866413904,652,630,653,0.451376110256,-0.015690151249,0.049687342176,0.999999877581,-3.67371909897e-06,-0.000494227248818,2.37327125765e-05,1793239595049761792
+237,3.950000000,POSE1_TO_POSE2_PRESS,766,745.56096425,716,679.56096425,661.56096425,633,880,785.56096425,805.56096425,652,630,653,0.451377296594,-0.015689795479,0.0496873463631,0.999999877788,-3.16280487433e-06,-0.000493820232171,2.35584725956e-05,1793239595066428160
+238,3.966666667,POSE1_TO_POSE2_PRESS,766,745,715.989311157,679.010688843,661,633,880,785.010688843,805,652,630,652.989311157,0.451378558728,-0.0156896886274,0.0496874233521,0.99999987815,-2.58697188598e-06,-0.000493094146672,2.34857883553e-05,1793239595083095040
+239,3.983333333,POSE1_TO_POSE2_PRESS,766,745,715.398828691,679.601171309,661,633,880,785.601171309,805,652,630,652.398828691,0.451379483007,-0.0156918337073,0.0496879614378,0.999999878983,-3.95843673637e-06,-0.000491374380192,2.38686740962e-05,1793239595099761664
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,745.188010116,715,679.811989884,661,633,880.188010116,786,805,652,630,652,0.451379659726,-0.0156926923972,0.0496879320562,0.999999879031,-5.08969106405e-06,-0.000491255435621,2.40707374978e-05,1793239595116428544
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,745.767266483,715,679.232733517,661,633,880.767266483,786,805,652,630,652,0.451378280787,-0.0156908741286,0.0496867217835,0.999999877449,-5.72107078739e-06,-0.000494467777714,2.38965122802e-05,1793239595133095168
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,746,715,679,661.345036528,633,880.654963472,785.654963472,805,652,630,652,0.451378627453,-0.0156906582077,0.0496865752857,0.999999877136,-5.44570329158e-06,-0.000495097065088,2.40320818554e-05,1793239595149761792
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,715,679,661.921808299,633,880.078191701,785.078191701,805,652,630,652,0.451380133079,-0.0156915184641,0.0496871432462,0.999999877679,-4.56134144991e-06,-0.000493991507585,2.43757174406e-05,1793239595166428416
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,715,679,662,633,880.493212594,785.493212594,805.493212594,652,630,652.493212594,0.451379820927,-0.0156893888102,0.0496869100911,0.999999877654,-4.06433231853e-06,-0.000494078761917,2.36851536679e-05,1793239595183095040
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.933468066,745.933468066,715.066531934,679,662,633,880.933468066,785.933468066,805.933468066,652,630.066531934,653,0.451379260777,-0.0156872604061,0.0496865557499,0.999999877526,-4.07755568025e-06,-0.000494372543271,2.29538377006e-05,1793239595199761664
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.338242055,745.338242055,715.661757945,679,662,633,880.338242055,785.338242055,805.338242055,652,630.661757945,653,0.451378995313,-0.0156888680664,0.0496862367844,0.999999877278,-7.66259433853e-06,-0.00049482096123,2.31875418257e-05,1793239595216428288
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.24885813,745,715.75114187,679.24885813,661.75114187,633,880,785,805,652,630.75114187,652.75114187,0.451379376611,-0.0156891882557,0.0496862012138,0.999999877277,-8.29403413352e-06,-0.000494802545075,2.34007028175e-05,1793239595233095168
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.82526319,745,715.17473681,679.82526319,661.17473681,633,880,785,805,652,630.17473681,652.17473681,0.451380609177,-0.0156878138764,0.0496865386472,0.999999877607,-5.03794927564e-06,-0.000494169682185,2.35868249815e-05,1793239595249762048
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,745,715.401693715,680,661,633,880,785.401693715,805.401693715,652,630,652,0.451380465389,-0.0156883804605,0.0496866145723,0.999999877344,-5.23352842337e-06,-0.000494707362862,2.34449784127e-05,1793239595266428672
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,745,715.978135282,680,661,633,880,785.978135282,805.978135282,652,630,652,0.451379722849,-0.0156897914173,0.0496865767341,0.999999876822,-6.93067688038e-06,-0.000495754262339,2.31604563816e-05,1793239595283095296
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745.566773033,715.433226967,680,661,633,880.566773033,786,805.433226967,651.433226967,630,652.566773033,0.451380037293,-0.0156890624417,0.0496858827021,0.999999876943,-4.7960091334e-06,-0.000495521938765,2.34340135247e-05,1793239595299761664
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.846808026,745.846808026,715,680,661.153191974,633,881,786,805.153191974,651.153191974,630,653,0.451380602092,-0.0156882781722,0.0496855954275,0.999999877086,-3.41082873765e-06,-0.00049523937484,2.35527695758e-05,1793239595316428544
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.267891534,745.267891534,715,680,661.732108466,633,881,786,805.732108466,651.732108466,630,653,0.451381746824,-0.015687574703,0.0496865104385,0.99999987723,-4.52832929217e-06,-0.000494957350707,2.31801829512e-05,1793239595333095168
+254,4.233333333,HOLD_POSE2,765,745,715,679,661,633,881,785,806,652,630,652,0.451383245642,-0.0156870560975,0.0496879744865,0.999999878216,-5.42109929656e-06,-0.000492949281224,2.32420591304e-05,1793239595369940736
+255,4.250000000,HOLD_POSE2,765.577821174,745,715,679,661,633,881,785.577821174,806,652,630,652.577821174,0.451384271909,-0.0156887437948,0.0496887573764,0.999999879051,-8.3407771957e-06,-0.000491185068683,2.37990165075e-05,1793239595386607360
+256,4.266666667,HOLD_POSE2,766,745.15984314,715,679,661.15984314,633,880.84015686,786,805.84015686,652,630,653,0.451384721299,-0.0156895081055,0.0496890979526,0.999999879471,-9.69070528772e-06,-0.000490290886167,2.40521463384e-05,1793239595403274240
+257,4.283333333,HOLD_POSE2,766,745.753259861,715,679,661.753259861,633,880.246740139,786,805.246740139,652,630,653,0.451383605912,-0.015687767736,0.0496882387558,0.999999878789,-6.78269687886e-06,-0.000491756654611,2.34811458557e-05,1793239595419940864
+258,4.300000000,HOLD_POSE2,766,745.662697543,715.337302457,679.337302457,662,633,880,785.662697543,805,652,630,653,0.451382530749,-0.0156878144668,0.0496874648476,0.999999877925,-5.85131478316e-06,-0.000493523481974,2.34630277923e-05,1793239595436607488
+259,4.316666667,HOLD_POSE2,766,745.085326827,715.914673173,679.914673173,662,633,880,785.085326827,805,652,630,653,0.451381484214,-0.0156891331305,0.0496867516418,0.999999876933,-6.32675699887e-06,-0.0004955045819,2.38384127369e-05,1793239595453274112
+260,4.333333333,HOLD_POSE2,766,745.488587176,716,679.511412824,662,633.488587176,880,785.488587176,805.488587176,652,630,653,0.451383708282,-0.0156870742627,0.0496881389141,0.999999878059,-5.09662687782e-06,-0.000493249939492,2.3675170293e-05,1793239595469940736
+261,4.350000000,HOLD_POSE2,765.937584686,745.937584686,715.937584686,679,661.937584686,633.937584686,880.062415314,785.937584686,806,652,630,652.937584686,0.45138607932,-0.0156847611554,0.0496895831959,0.999999879313,-4.08396687458e-06,-0.000490721774677,2.34202315881e-05,1793239595486607104
+262,4.366666667,HOLD_POSE2,765.359513552,745.359513552,715.359513552,679,661.359513552,633.359513552,880.640486448,785.359513552,806,652,630,652.359513552,0.451384978829,-0.0156851865367,0.0496884891506,0.999999878671,-7.31152378982e-06,-0.000492002334957,2.31794100565e-05,1793239595503273728
+263,4.383333333,HOLD_POSE2,765,745.222967068,715,679.222967068,661,633,880.777032932,785.222967068,805.777032932,652,630,652.222967068,0.451383830335,-0.0156863176083,0.0496874337016,0.999999877943,-9.31684321586e-06,-0.000493453497955,2.3034720554e-05,1793239595519940608
+264,4.400000000,HOLD_POSE2,765,745.812700957,715,679.812700957,661,633,880.187299043,785.812700957,805.187299043,652,630,652.812700957,0.451382602879,-0.015688609496,0.0496864417415,0.999999877087,-9.31165842777e-06,-0.000495185291588,2.30481622251e-05,1793239595536607232
+265,4.416666667,HOLD_POSE2,765.396117263,745.603882737,715.396117263,680,661.396117263,633.396117263,880.396117263,786,805.396117263,652,630,653,0.451383171815,-0.0156881668993,0.0496865347359,0.99999987731,-8.26230770654e-06,-0.00049475243018,2.30460183114e-05,1793239595553273856
+266,4.433333333,HOLD_POSE2,765.976593325,745.023406675,715.976593325,680,661.976593325,633.976593325,880.976593325,786,805.976593325,652,630,653,0.451384576817,-0.0156864516334,0.049687132684,0.999999878034,-6.72698680579e-06,-0.000493312106638,2.30366206384e-05,1793239595569940480
+267,4.450000000,HOLD_POSE2,766,745,715.449591628,680,662,633.449591628,881,786,806,652,630,653,0.451383635019,-0.0156870928639,0.0496869627278,0.999999877492,-8.2651891092e-06,-0.000494378135536,2.32029048534e-05,1793239595586607360
+268,4.466666667,HOLD_POSE2,766,745,715.127002693,679.872997307,661.872997307,633,880.872997307,785.872997307,805.872997307,652,630,653,0.451382952004,-0.0156875916877,0.0496869007718,0.999999877124,-9.64998588027e-06,-0.000495091536528,2.33199844278e-05,1793239595603273984
+269,4.483333333,HOLD_POSE2,766,745,715.714693921,679.285306079,661.285306079,633,880.285306079,785.285306079,805.285306079,652,630,653,0.451383565378,-0.0156872147838,0.0496873476142,0.999999877591,-1.00098731176e-05,-0.000494143815007,2.3231803155e-05,1793239595619940608
+270,4.500000000,HOLD_POSE2,766,745,716,679,661.299125319,633,880.299125319,785.299125319,804.700874681,652,630,653,0.451383249019,-0.0156867459439,0.0496870755245,0.999999877247,-9.79526015212e-06,-0.000494855744016,2.29872623394e-05,1793239595636607488
+271,4.516666667,HOLD_POSE2,766,745,716,679,661.88048097,633,880.88048097,785.88048097,804.11951903,652,630,653,0.45138205544,-0.0156861903606,0.049686125109,0.999999876133,-9.03859547985e-06,-0.00049713358439,2.25951933763e-05,1793239595653274112
+272,4.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,633,880,786,806,652,630,653,0.451383787456,-0.0156845694041,0.0496866772603,0.999999876522,-1.02443230853e-05,-0.000496332720561,2.24638261925e-05,1793239595685687296
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.573089389,633,880.573089389,786,805.426910611,652,630,653,0.451384711168,-0.0156825844359,0.0496867677218,0.999999877165,-6.31763115078e-06,-0.000495112213043,2.22221177022e-05,1793239595702354688
+274,4.566666667,POSE2_TO_POSE3_RETREAT,766,745,715.151031188,679.848968812,662,633,881,786,805,652,629.848968812,653,0.451385636142,-0.0156817571684,0.0496870347159,0.999999877819,-4.03652182917e-06,-0.000493818571054,2.21038040852e-05,1793239595719022080
+275,4.583333333,POSE2_TO_POSE3_RETREAT,766,745,715.743144439,679.256855561,662,633,881,786,805,652,629.256855561,653,0.451386564799,-0.0156843109308,0.0496878172686,0.999999878544,-6.56128632286e-06,-0.000492311341767,2.23458614441e-05,1793239595735688192
+276,4.600000000,POSE2_TO_POSE3_RETREAT,766,745,715.672512057,679.327487943,662,633,880.672512057,786,805,651.672512057,629.327487943,653,0.451385692271,-0.0156856157057,0.0496876513686,0.999999878253,-7.43118387577e-06,-0.000492873422036,2.27050419721e-05,1793239595752354560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,745,715.09412133,679.90587867,662,633,880.09412133,786,805,651.09412133,629.90587867,653,0.451383439777,-0.0156859635766,0.0496867588176,0.999999877184,-7.03321559924e-06,-0.000495020890617,2.31539556493e-05,1793239595769020928
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.518806388,745,715.481193612,680,662,632.518806388,880.481193612,785.518806388,805,651,630,653,0.451382433818,-0.0156860636047,0.0496858529914,0.999999876611,-7.91555973178e-06,-0.000496162443251,2.32187256052e-05,1793239595785688832
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.057258242,745.057258242,715.942741758,679.942741758,662,632.057258242,881,785.057258242,805.057258242,651.057258242,630,653,0.451381412076,-0.0156860517936,0.0496849620025,0.999999876101,-9.02371845048e-06,-0.000497170200122,2.31829364768e-05,1793239595802356480
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.645826511,745.645826511,715.354173489,679.354173489,662,632.645826511,881,785.645826511,805.645826511,651.645826511,630,653,0.451377995769,-0.0156854491849,0.0496842326328,0.999999875312,-9.91823711753e-06,-0.000498750588968,2.29068356839e-05,1793239595819022592
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.769000548,715,679.230999452,662,633,881,786,805.769000548,652,630,653,0.45136706794,-0.0156842579418,0.0496794033548,0.999999871182,-9.72179981541e-06,-0.000506995104289,2.23235650089e-05,1793239595835688448
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,745.188958042,715,679.811041958,662,633,881,786,805.188958042,652,630,653,0.451344790108,-0.0156821772651,0.0496683790642,0.999999861768,-7.87691435411e-06,-0.000525309197564,2.12761568306e-05,1793239595852354560
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.611321739,745,715,679.611321739,661.611321739,633,881,786,805.388678261,652,630,653,0.451306400653,-0.0156801917365,0.0496525616836,0.999999846591,-7.56625940881e-06,-0.00055350864999,1.97446777245e-05,1793239595869020928
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.034847977,745,715,679.034847977,661.034847977,633,881,786,805.965152023,652,630,653,0.451260226633,-0.01567825218,0.0496344284516,0.999999827824,-7.99688987272e-06,-0.000586484357303,1.7979312666e-05,1793239595885687552
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.54018643,745,715,679,661.54018643,633,881,786,805.45981357,652,630,653,0.451193801693,-0.0156744964881,0.0496140965378,0.999999807962,-7.90473470048e-06,-0.000619484534473,1.58618688421e-05,1793239595902354432
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,745.118286416,715.118286416,679.118286416,661.881713584,633,880.881713584,786,805,652,630,653,0.451125587862,-0.0156706099769,0.049596101521,0.999999790705,-7.00883293205e-06,-0.000646796793441,1.39277443664e-05,1793239595919021312
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,745.709000141,715.709000141,679.709000141,661.290999859,633,880.290999859,786,805,652,630,653,0.451055433138,-0.0156666676699,0.0495880048846,0.999999787762,-3.03716490083e-06,-0.00065138564659,1.28162562307e-05,1793239595935687936
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.705989341,745.705989341,716,679.705989341,661,633,880.294010659,786,805,651.705989341,630,653,0.450975477986,-0.0156599510067,0.0495845521656,0.999999786913,1.82893707965e-06,-0.000652710979053,1.18232671685e-05,1793239595952354816
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.126516249,745.126516249,716,679.126516249,661,633,880.873483751,786,805,651.126516249,630,653,0.450886007354,-0.0156505406505,0.0495856083446,0.999999788097,7.5634675139e-06,-0.000650867675922,1.09453319405e-05,1793239595969021440
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.448274534,745,715.551725466,679,661,633,881,786,805,651.448274534,630,653,0.45077708943,-0.0156439282626,0.0495879394123,0.999999791725,9.78563588863e-06,-0.000645250127982,1.03137610644e-05,1793239595985687808
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.021778019,679.021778019,661.021778019,633,881,786,805,652,630,653,0.450661771128,-0.015637986464,0.0495906156288,0.999999795977,1.11081101028e-05,-0.000638613392828,9.74326370796e-06,1793239596002354432
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.595802207,679.595802207,661.595802207,633,881,786,805,652,630,653,0.450521893136,-0.0156292320429,0.0495930143606,0.999999799596,1.44934665988e-05,-0.000632864295552,8.97652133651e-06,1793239596019021056
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.825061806,679.825061806,661.825061806,633,880.825061806,786,805.174938194,652,630,653,0.450372688972,-0.0156199634191,0.0495953934885,0.999999802691,1.83934584746e-05,-0.000627862279174,8.28286778244e-06,1793239596035687680
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745,715.233759492,679.233759492,661.233759492,633,880.233759492,786,805.766240508,652,630,653,0.450201287942,-0.0156094709607,0.0495977259578,0.999999804607,2.35183150805e-05,-0.000624638364113,7.76317041162e-06,1793239596052354560
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745,715.349578782,679.349578782,661.349578782,633,880.349578782,786,805.650421218,651.650421218,630,652.650421218,0.45000596204,-0.0155991741979,0.0495989496502,0.99999980585,2.84307946858e-05,-0.000622447492272,7.16207877448e-06,1793239596069020928
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,745,715.927710267,679.927710267,661.927710267,633,880.927710267,786,805.072289733,651.072289733,630,652.072289733,0.449794994172,-0.0155890053786,0.0495994484303,0.999999806649,3.32044238727e-05,-0.00062093201814,6.50777195758e-06,1793239596085687552
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.496743319,745,715.496743319,679.496743319,662,633,880.496743319,785.496743319,805,651.503256681,630,652.503256681,0.449545519038,-0.0155735905515,0.0495993818624,0.999999806026,3.92859148798e-05,-0.000621600299773,4.14914065743e-06,1793239596102354944
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.080303342,745,715.080303342,679.080303342,661.919696658,633,880,785.080303342,805,652,630.080303342,652.919696658,0.449286435085,-0.0155579950259,0.049599204311,0.999999805426,4.47012626463e-05,-0.000622211482505,1.62682830958e-06,1793239596119022080
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.669191489,745,715.669191489,679.669191489,661.330808511,633,880,785.669191489,805,652,630.669191489,652.330808511,0.449001348057,-0.0155460031849,0.0495988355588,0.9999998065,4.47139986021e-05,-0.000620484546372,-3.8955880816e-07,1793239596135688192
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,745.254019266,715.745980734,679.745980734,661.254019266,633.254019266,880.254019266,786,805,652,630.745980734,652.254019266,0.448699914019,-0.0155363451336,0.0495998038567,0.999999808763,4.24114850099e-05,-0.000616984365227,-2.40582833622e-06,1793239596152354816
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745.833642394,715.166357606,679.166357606,661.833642394,633.833642394,880.833642394,786,805,652,630.166357606,652.833642394,0.448377526276,-0.0155296785529,0.0496024859957,0.999999812511,3.71412666259e-05,-0.000611211224979,-4.42194701585e-06,1793239596169021184
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.411022085,662,634,881,786,805,652,630.411022085,653,0.448019053617,-0.0155244024936,0.0496021288817,0.999999814038,3.11852763412e-05,-0.000609016545669,-7.10283377676e-06,1793239596185687808
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.987498679,662,634,881,786,805,652,630.987498679,653,0.447646055195,-0.0155196861807,0.0496005483343,0.999999814647,2.49532327602e-05,-0.00060826235477,-1.00513189484e-05,1793239596202354432
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.438615155,715,679.438615155,662,634,881,786,805,652,631,652.438615155,0.447227436787,-0.0155174373648,0.0496010613328,0.999999816386,1.26498316507e-05,-0.000605742162884,-1.20397114495e-05,1793239596219021312
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,881,786,805.278693671,652,631,652.139346836,0.446800692383,-0.0155134885692,0.0496007411642,0.999999816802,2.18392234116e-06,-0.000605134836703,-1.42574236104e-05,1793239596235687936
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634,881,786,806.461432828,652,631,652.730716414,0.446350868713,-0.0155038478387,0.0495975677749,0.999999813274,-1.88484271119e-06,-0.000610859579456,-1.72880535486e-05,1793239596252355328
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.312744352,662,634,880.687255648,786,806.374511296,652,631,653,0.4458941232,-0.0154930112684,0.0496079580664,0.999999823023,-5.8100254316e-06,-0.000594581209938,-1.98516742649e-05,1793239596269022208
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.88696217,662,634,880.11303783,786,805.22607566,652,631,653,0.445431590551,-0.0154811749017,0.0496296884269,0.999999842963,-9.61516495686e-06,-0.000559906888684,-2.20248469356e-05,1793239596285688320
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.533918633,662,634,880.466081367,786.466081367,805,651.533918633,631,653,0.444933800855,-0.0154735912113,0.0496672498014,0.999999870718,-1.82891820935e-05,-0.000507689779271,-2.19137105216e-05,1793239596302354432
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634.04698822,881,787,805,651.04698822,631.04698822,653,0.44442182195,-0.0154667417982,0.0497065965779,0.999999896283,-2.80143196487e-05,-0.000454078834598,-2.14622064727e-05,1793239596319021056
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,662,634.634641714,881,787,805,651.634641714,631.634641714,653,0.443846010835,-0.0154563475122,0.0497218389789,0.999999904934,-3.6102460043e-05,-0.000433905480704,-2.35366966148e-05,1793239596335687680
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.219188404,662,635,881,787,805,652,631.780811596,652.780811596,0.443244936192,-0.0154466326346,0.0497264393212,0.999999906022,-4.5902581366e-05,-0.000430292108875,-2.64163037477e-05,1793239596352354304
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.798628798,662,635,881,787,805,652,631.201371202,652.201371202,0.442602339146,-0.0154380344147,0.0497135486697,0.999999894808,-5.85164666594e-05,-0.000453896266332,-3.06191787528e-05,1793239596369021184
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.623631259,662.376368741,635,881,787.376368741,805,652,631.376368741,652.376368741,0.44198386561,-0.0154323013967,0.0497286712405,0.999999907904,-7.32061893912e-05,-0.000421591251454,-3.30806581551e-05,1793239596385687808
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.046797047,662.953202953,635,881,787.953202953,805,652,631.953202953,652.953202953,0.441378241011,-0.015428094473,0.0497587145082,0.999999930818,-8.90015658245e-05,-0.000359507304101,-3.46146169096e-05,1793239596402354688
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.538001877,635,881,787.461998123,805,652,632,652.461998123,0.440727535946,-0.0154279100229,0.0498053774004,0.999999952674,-0.000105162894019,-0.000287251838066,-3.28577148929e-05,1793239596419021312
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745.122180246,715,679,663.877819754,635,881,787.122180246,805,651.877819754,632,652,0.440052597748,-0.0154266591925,0.0498415625066,0.999999967671,-9.64674213338e-05,-0.000233056596961,-3.21944927116e-05,1793239596435687936
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745.701406613,715,679,663.298593387,635,881,787.701406613,805,651.298593387,632,652,0.439301898339,-0.0154200907888,0.0498330638033,0.999999968117,5.33206967452e-06,-0.000249779580482,-3.6709335173e-05,1793239596452354304
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745.719473625,715,679.280526375,663,635,880.719473625,788,805,651.280526375,632,652,0.438515555075,-0.0154146465071,0.0498100909376,0.999999956348,4.42113011412e-05,-0.000289071119662,-4.22731301067e-05,1793239596469020928
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.140467218,715,679.859532782,663,635,880.140467218,788,805,651.859532782,632,652,0.437691286658,-0.0154103982905,0.0497717175637,0.999999936587,1.61433961534e-05,-0.000352375602802,-4.8953011091e-05,1793239596485687552
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766.435050481,745,715,679.564949519,663,635,880.435050481,787.564949519,805,651.564949519,632,652.435050481,0.436902514143,-0.0154110618422,0.0497754677941,0.999999936326,-1.60478351749e-05,-0.00035270952301,-5.18223103475e-05,1793239596502354432
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766.990318786,745,714.990318786,679,663.009681214,635,880.990318786,787.009681214,805,651,631.990318786,652.990318786,0.436123973544,-0.0154131520365,0.0497925006088,0.999999941851,-4.94217395294e-05,-0.000333157037803,-5.3496529455e-05,1793239596519021056
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766.401907427,745,714.401907427,679,663.598092573,635,880.401907427,787.598092573,805,651,631.401907427,652.401907427,0.435277421547,-0.0154064767988,0.0497969856125,0.999999940982,-7.45428616661e-05,-0.000330552532745,-5.66936921077e-05,1793239596535688448
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766.18377008,745,714.18377008,679,663.81622992,635.18377008,880,788,805,651.18377008,631.18377008,652.18377008,0.434431832615,-0.0154022140498,0.0497964258922,0.999999938133,-0.000100208401146,-0.00033175323952,-6.02603905973e-05,1793239596552355328
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766.76355623,745,714.76355623,679,663.23644377,635.76355623,880,788,805,651.76355623,631.76355623,652.76355623,0.433588319095,-0.0154031501032,0.0497849950236,0.999999931648,-0.000127047133489,-0.000341154003097,-6.46234216573e-05,1793239596569021696
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766.657717907,745,715,679,663.342282093,636,880.342282093,788,805,652,632,652.657717907,0.432747005779,-0.0154045486797,0.0497956907913,0.999999935933,-0.000132125774265,-0.000325963966616,-6.65111234768e-05,1793239596585687808
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766.079722236,745,715,679,663.920277764,636,880.920277764,788,805,652,632,652.079722236,0.431907207676,-0.0154062657741,0.0498216241331,0.999999947136,-0.000122219262364,-0.000293839402299,-6.66941822703e-05,1793239596602354432
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766.494052381,745,715,679,663.505947619,635.505947619,881,788,805,652,631.505947619,652.494052381,0.431039592166,-0.0154039992784,0.0498199187107,0.999999955707,-3.74835377388e-05,-0.000292292229628,-4.17982457528e-05,1793239596619021056
+329,5.483333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,662.932584498,635,880.932584498,788,805,652,631.067415502,653,0.430160207783,-0.0154000317641,0.0498105997583,0.999999953256,4.58607043363e-05,-0.000301801767103,-1.73345106037e-05,1793239596635687936
+330,5.500000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,662.35723366,635,880.35723366,788,805,652,631.64276634,653,0.429225685821,-0.0153880502402,0.049777235438,0.999999935251,2.85157083643e-05,-0.000357756528501,-2.63594251959e-05,1793239596652354560
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766.78343559,745,715,679,662.21656441,635.21656441,880,788,805,652,632,653,0.428304048407,-0.015381604099,0.0497651586035,0.999999926852,1.47076859295e-05,-0.000380768277516,-3.30911996289e-05,1793239596669021184
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766.212180564,745,715,679,662.787819436,635.787819436,880,788,805,652,632,653,0.427403513244,-0.0153842238422,0.0497879465484,0.999999938138,6.69253940621e-06,-0.000349825754241,-3.60672555457e-05,1793239596685688064
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,880,788.376840785,805,652,632,652.623159215,0.426495118792,-0.015387045251,0.0497865519036,0.99999993723,-7.28975696481e-06,-0.000351956512718,-4.01583220224e-05,1793239596702354944
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,880,788.976360389,805,652,632,652.023639611,0.425582080265,-0.0153899858259,0.0497708675341,0.999999928884,-2.47980987112e-05,-0.000373630591171,-4.49082587039e-05,1793239596719021824
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,635.454956641,880,788.454956641,805,652,632,652.545043359,0.424764794904,-0.0153970917569,0.0498038786682,0.999999952108,-5.05735718385e-05,-0.000302125702433,-4.41247351711e-05,1793239596735687936
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.118250431,635,880,788,805,652,632,653,0.42393333132,-0.015402915648,0.0498346222163,0.999999968245,-7.05467599508e-05,-0.000238081849009,-4.30105511393e-05,1793239596752354304
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.714880526,635,880,788,805,652,632,653,0.423028608812,-0.0154028613532,0.0498481056683,0.99999997285,-6.56740424976e-05,-0.000219695241689,-4.14776024382e-05,1793239596769021184
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.698178328,663.396356656,635.301821672,880.301821672,788,805,652,631.698178328,652.698178328,0.422111963377,-0.0154000624754,0.0498366073511,0.999999967432,-5.5167632351e-05,-0.000245531437978,-4.25125416206e-05,1793239596785687552
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.120105314,662.240210629,635.879894686,880.879894686,788,805,652,631.120105314,652.120105314,0.421184405176,-0.0153947515356,0.0498022437193,0.999999949543,-3.95048160101e-05,-0.000311843882371,-4.58978171813e-05,1793239596802354176
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.455947488,662.455947488,636,880.544052512,788,805,652,631.455947488,652.455947488,0.420312426875,-0.0153919800274,0.0498023326962,0.99999994785,-4.74294187334e-05,-0.000316007871498,-4.67919785532e-05,1793239596819021056
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.967800386,663.032199614,635.967800386,880,788,805,652,632,653,0.419454936704,-0.0153899887537,0.0498105776341,0.999999950256,-6.12629907181e-05,-0.00030581852576,-4.70182707081e-05,1793239596835688192
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.378943906,663.621056094,635.378943906,880,788,805,652,632,653,0.418595924645,-0.0153899726082,0.0498036183365,0.999999942217,-7.03078444331e-05,-0.000329263138542,-4.69929113279e-05,1793239596852354816
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.206489427,663.587021147,635,880.206489427,788,805,652,631.793510573,653,0.417745050035,-0.0153905260548,0.0497968122903,0.999999937025,-6.70031434225e-05,-0.000345240681242,-4.76303823657e-05,1793239596869021440
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.785743232,662.428513536,635,880.785743232,788,805,652,631.214256768,653,0.416908865383,-0.0153921077559,0.0497902828997,0.999999937458,-4.14044496919e-05,-0.000347738323595,-4.94644259199e-05,1793239596885687808
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766.363445569,745,715,679,662.726891139,635.363445569,881,788,805,652.363445569,631.363445569,652.636554431,0.416123623676,-0.0153942842979,0.0498066426388,0.999999948581,-4.36757456446e-05,-0.000313872409829,-4.91423490562e-05,1793239596902354432
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766.940237146,745,715,679,663.880474292,635.940237146,881,788,805,652.940237146,631.940237146,652.059762854,0.415368286013,-0.015396810017,0.0498364385153,0.999999963476,-6.2306992127e-05,-0.000258660741714,-4.75546087607e-05,1793239596919021056
+347,5.783333333,POSE2_TO_POSE3_RETREAT,767,745,715,679,663.48477986,636,880.48477986,788,804.48477986,652.48477986,632,652.51522014,0.414591208757,-0.0153960093439,0.0498321530134,0.999999960869,-6.99403565312e-05,-0.000266662165059,-4.75576908227e-05,1793239596935687680
+348,5.800000000,POSE2_TO_POSE3_RETREAT,767,745,715,679,662.907514151,636,879.907514151,788,804,652.092485849,632,653,0.413814174259,-0.0153948358387,0.0498211214628,0.999999954852,-7.63737790839e-05,-0.000286604351092,-4.81726522849e-05,1793239596952354560
+349,5.816666667,POSE2_TO_POSE3_RETREAT,767,745,715,679,662.316825815,636,879.316825815,788,804,652.683174185,632,653,0.413050906365,-0.0153937251562,0.0497949712472,0.999999940285,-8.31912412031e-05,-0.0003315090725,-5.10931507766e-05,1793239596969021440
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766.731346269,745,715,679,662.268653731,636,879.268653731,788,804.268653731,652.731346269,632,653,0.41231347391,-0.0153933084689,0.0497886361639,0.999999935694,-8.4839536921e-05,-0.000344502687439,-5.22753396664e-05,1793239596985688064
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766.151892704,745,715,679,662.848107296,636,879.848107296,788,804.848107296,652.151892704,632,653,0.411605929985,-0.01539369465,0.0498052247908,0.99999994405,-8.05077327358e-05,-0.000320579013933,-5.14465147231e-05,1793239597002354688
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.423861555,635.576138445,879.576138445,788.423861555,804.576138445,652,632,653,0.410932428198,-0.0153932634425,0.0498172898418,0.999999949681,-8.05731800327e-05,-0.000302706612268,-5.01461841706e-05,1793239597019021312
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.998301668,635.001698332,879.001698332,788.998301668,804.001698332,652,632,653,0.410271019963,-0.0153925418544,0.0498277478753,0.999999954257,-8.22007686197e-05,-0.000286983947809,-4.86783492424e-05,1793239597035687936
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.413566581,662.827133162,635,879.586433419,788.413566581,804.586433419,652,632,653,0.409635921132,-0.0153894487317,0.0498052509616,0.999999940546,-8.47553119119e-05,-0.000330389423862,-5.06650927542e-05,1793239597052354304
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.171975172,715,678.171975172,662.171975172,635.171975172,880,788,804.828024828,652,632,653,0.409020629576,-0.0153877103018,0.0497934943422,0.999999933192,-8.69837183494e-05,-0.000351253952528,-5.16675663492e-05,1793239597069020928
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.751286279,715,678.751286279,662.751286279,635.751286279,880,788,804.248713721,652,632,653,0.40845206811,-0.0153891972175,0.0498074083583,0.999999944162,-8.84331358459e-05,-0.00031831330365,-5.03144612258e-05,1793239597085687552
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745.671477175,715,679,663,636,879.671477175,788,804,652,631.671477175,653,0.407898227278,-0.0153918580696,0.0498228296071,0.999999951506,-9.5033148309e-05,-0.000292457210173,-4.92415264777e-05,1793239597102354432
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.095801389,715,679,663,636,879.095801389,788,804,652,631.095801389,653,0.407355461049,-0.0153954020925,0.0498393847701,0.999999956291,-0.000105508035436,-0.000271930942745,-4.8379368461e-05,1793239597119021312
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766.475448731,745,715,679,663.475448731,635.524551269,879,788,804,652,631.475448731,653,0.406831172592,-0.0153950227319,0.0498302080505,0.999999950162,-0.000109649020113,-0.000291931179283,-4.92859648485e-05,1793239597135687936
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.952033199,745,715,679,663.952033199,635.047966801,879,788,804,652,631.952033199,653,0.406313199965,-0.0153937573398,0.0498152319202,0.999999940867,-0.000112458496358,-0.000321011739977,-5.06925074234e-05,1793239597152354560
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.354882197,745,715,679,663.354882197,635.645117803,879,788,804,652,631.354882197,653,0.405825303974,-0.0153913152697,0.0497926725225,0.999999926685,-0.000114500668926,-0.000361423347721,-5.37801993211e-05,1793239597169020928
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,631.234963696,653,0.40536161406,-0.015390606785,0.0497794865956,0.999999916761,-0.000118247439015,-0.000386527718469,-5.55979813951e-05,1793239597185687808
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,631.814108809,653,0.404933381929,-0.0153924377052,0.0497800311939,0.999999914966,-0.000124491151424,-0.000389209616036,-5.55555637524e-05,1793239597202354432
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.610087946,663,636,879.389912054,788,804,652,632,653,0.404556420606,-0.0153956638606,0.0497932019794,0.999999923027,-0.000134459235616,-0.00036445751154,-5.51044777188e-05,1793239597219021056
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.035864351,663,636,879.964135649,788,804,652,632,653,0.404203694972,-0.0153995495442,0.0498123411674,0.999999934453,-0.000146187831809,-0.000326737346066,-5.44602139431e-05,1793239597235687680
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.536725104,663,636,879.463274896,788,804.536725104,652,631.463274896,652.463274896,0.403894559652,-0.0154053893199,0.0498381217363,0.99999994446,-0.000157717260819,-0.000288979176062,-5.19271892956e-05,1793239597252354560
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.886390966,663.113609034,636,879.113609034,788,804.886390966,652,631.113609034,652.113609034,0.403591353513,-0.0154105203665,0.0498600295765,0.999999951269,-0.000168610017874,-0.000257962482013,-4.9871695193e-05,1793239597269021440
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.290826915,663.709173085,636,879.709173085,788,804.290826915,652,631.709173085,652.709173085,0.403300981227,-0.0154120925853,0.0498636315339,0.999999950437,-0.000176858160351,-0.000255555371976,-5.03757712027e-05,1793239597285688320
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766.295590866,745,715,678,663.704409134,636,880,788,804,652.295590866,632,653,0.403016455256,-0.0154116555372,0.0498585874973,0.999999946502,-0.000180926354026,-0.000267577359144,-5.16227589708e-05,1793239597302354688
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.87327984,745,715,678,663.12672016,636,880,788,804,652.87327984,632,653,0.402737508753,-0.0154093009386,0.049845292128,0.99999993915,-0.000181005399343,-0.000293369802342,-5.35787469464e-05,1793239597319021056
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.551853053,745,715,678.448146947,663,636,879.551853053,788,804,652.551853053,632,653,0.402490833491,-0.0154098874112,0.0498331020693,0.999999932153,-0.000184121001765,-0.000314267266697,-5.50422524956e-05,1793239597335687680
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.022722945,788,804,652,632,653,0.402255218673,-0.0154111928614,0.0498214934551,0.999999925662,-0.000185314962997,-0.000333404241313,-5.63613912105e-05,1793239597352354304
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.60976172,788,804,652,632,653,0.402069083614,-0.0154098298323,0.049816611478,0.999999932613,-0.000117595330491,-0.000342979316477,-5.75319812639e-05,1793239597369020928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.194240391,745,715,678.805759609,663,636,880,788,804.194240391,652,632,653,0.401897940465,-0.0154092274496,0.0498150810957,0.999999935864,-7.34217956351e-05,-0.000345730520882,-5.78924596447e-05,1793239597385687808
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.773642527,745,715,678.226357473,663,636,880,788,804.773642527,652,632,653,0.401756524985,-0.0154101333627,0.0498201966341,0.999999939416,-7.59381267875e-05,-0.000334950586494,-5.66465575678e-05,1793239597402354432
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.648138417,745,715,678.351861583,663,636,879.648138417,788,804.648138417,652,631.648138417,653,0.401632162688,-0.0154096455167,0.0498260946179,0.999999945268,-4.62561500447e-05,-0.000324022899895,-4.83095966674e-05,1793239597419021312
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.070677846,745,715,678.929322154,663,636,879.070677846,788,804.070677846,652,631.070677846,653,0.401518734169,-0.0154082640507,0.0498324942737,0.99999995038,4.07004020696e-06,-0.000313000478952,-3.54261440298e-05,1793239597435688192
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,631.502478509,653,0.401427089635,-0.0154043551222,0.049837614553,0.999999953844,2.02215738316e-05,-0.000301412796206,-3.24503648917e-05,1793239597452354560
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.077642882,788,804,652,632,653,0.401340829651,-0.0154014357308,0.0498422709326,0.99999995675,2.86816114358e-05,-0.000291050965157,-3.10890783499e-05,1793239597469021184
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.670102017,788,804,652,632,653,0.401270128062,-0.0154074147333,0.0498450344671,0.999999957495,1.77448058035e-05,-0.000289339930485,-3.12709277966e-05,1793239597485687808
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715.256816067,679.256816067,663,636,880,788,804,652.256816067,632,653,0.401208113514,-0.015413628009,0.0498470997478,0.999999958465,7.03895670539e-06,-0.000286430551965,-3.12865055773e-05,1793239597502354432
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,715.836311604,679.836311604,663,636,880,788,804,652.836311604,632,653,0.401157013902,-0.0154201356394,0.0498482876993,0.999999959745,-3.37670377032e-06,-0.000282015500794,-3.10931694212e-05,1793239597519021056
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715.588383433,679.176766866,663,636.411616567,879.588383433,788.411616567,804,653,632,653,0.401115059526,-0.0154220644192,0.0498483851161,0.999999959729,-7.31238133249e-06,-0.000281966974165,-3.13446483092e-05,1793239597535687936
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715.014728163,678.029456326,663,636.985271837,879.014728163,788.985271837,804,653,632,653,0.401076705304,-0.0154221906693,0.0498480532284,0.999999959232,-8.69712141832e-06,-0.000283637392,-3.17712349568e-05,1793239597552354560
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.56010199,663,636.43989801,879.56010199,788.43989801,804,653,632,653,0.401052191073,-0.0154228029884,0.0498483433519,0.999999959678,-1.36373389734e-05,-0.000281813314922,-3.22460780482e-05,1793239597569021696
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,880,788,804,653,632,653,0.401031156395,-0.0154228547164,0.0498493129117,0.999999960355,-1.70511595697e-05,-0.000279163129459,-3.26538032632e-05,1793239597585688832
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,880,788,804,653,632,653,0.401020274276,-0.0154210375104,0.049852443599,0.999999961775,-1.51844791851e-05,-0.000274120465503,-3.283862017e-05,1793239597602355200
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.681279321,788,804,652.681279321,632,653,0.401010915753,-0.0154212837277,0.0498536635784,0.99999996246,-1.54524027078e-05,-0.000271601596058,-3.2764570117e-05,1793239597619021568
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.103999283,788,804,652.103999283,632,653,0.401002793234,-0.0154232038791,0.0498533335133,0.999999962564,-1.74520047571e-05,-0.000271130132266,-3.24805165303e-05,1793239597635687936
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879,788,804,652,631.529783928,653,0.401000565978,-0.0154242724938,0.0498548196678,0.999999963471,-1.95570518313e-05,-0.000267626661925,-3.24329145102e-05,1793239597652354560
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.043653233,788,804,652,631.043653233,653,0.400999449152,-0.0154250693414,0.0498565156176,0.999999964426,-2.15959512695e-05,-0.000263868194924,-3.24726145535e-05,1793239597669021184
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.615822536,788,804,652,631.615822536,653,0.400996092472,-0.0154248413281,0.0498559196499,0.999999964067,-2.25534632413e-05,-0.000265088910966,-3.29402285132e-05,1793239597685687808
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,880,788,804,652.196423702,632,653,0.400994157079,-0.0154244426162,0.0498559924393,0.99999996409,-2.27111240322e-05,-0.000264951126067,-3.32359107983e-05,1793239597702354688
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,880,788,804,652.794256067,632,653,0.400995126207,-0.0154236950675,0.0498574318909,0.999999964892,-2.12342203538e-05,-0.000262037128039,-3.3180235949e-05,1793239597719021568
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.621659824,788,804,653,632,653,0.40099466175,-0.0154234579641,0.0498578222595,0.999999964997,-2.05199321134e-05,-0.000261715564291,-3.30242862105e-05,1793239597735688448
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.044789974,788,804,653,632,653,0.400993445035,-0.0154234887112,0.0498576621337,0.999999964738,-2.02058176364e-05,-0.000262754350832,-3.28157183743e-05,1793239597752355328
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,663,636,879.538405363,788,804.538405363,652.461594637,632,653,0.400993166,-0.0154237598484,0.0498574062074,0.999999965028,-2.01206881312e-05,-0.000261628648873,-3.30192354899e-05,1793239597769021184
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.121020961,745,715,678.878979039,663,636,880,788,804.878979039,652.121020961,632,653,0.400992899001,-0.0154243450849,0.0498572393761,0.999999965239,-2.05520611684e-05,-0.000260768388309,-3.31594669932e-05,1793239597785687808
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.69943288,745,715,678.30056712,663,636,880,788,804.30056712,652.69943288,632,653,0.400992379167,-0.0154260409597,0.0498574397526,0.999999964979,-2.28626710302e-05,-0.000261599977263,-3.29294099947e-05,1793239597802354432
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.721697031,745,715,678.278302969,663,636,880,788,804,652.721697031,632,653,0.40099254132,-0.0154262051243,0.0498578990222,0.999999965039,-2.24281110064e-05,-0.0002614306004,-3.27421196468e-05,1793239597819021056
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.142331229,745,715,678.857668771,663,636,880,788,804,652.142331229,632,653,0.400993441233,-0.0154247123145,0.0498586383573,0.999999965441,-1.90238789577e-05,-0.000260178397949,-3.26010934149e-05,1793239597835687936
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.434017985,745,715,678.565982015,663,636,880,788,804,652,632,653,0.400993559157,-0.0154250641299,0.0498593003287,0.999999965744,-2.01666981758e-05,-0.00025890625876,-3.27623469326e-05,1793239597852354560
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.990410057,745,715,678.009589943,663,636,879.990410057,788,804,652.009589943,632,653,0.400993441466,-0.015425994183,0.0498599319202,0.999999966011,-2.27470554996e-05,-0.000257623633007,-3.30157243455e-05,1793239597869021440
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.402462437,745,715,678.597537563,663,636,879.402462437,788,804,652.597537563,632,653,0.40099447323,-0.0154255666485,0.0498602508376,0.999999966408,-2.27146797907e-05,-0.000256100149568,-3.28878874259e-05,1793239597885688064
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.817302954,663,636,879,788,804,653,631.817302954,653,0.400994388695,-0.0154254425659,0.0498600991812,0.999999966456,-2.24407115886e-05,-0.000255939491257,-3.28503201391e-05,1793239597902354688
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.238193152,663,636,879,788,804,653,631.238193152,653,0.400991882038,-0.0154259769075,0.0498589264822,0.999999965749,-2.16425403552e-05,-0.000258735866415,-3.30086182807e-05,1793239597919021312
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745.339830765,715,678,663,636,879,788,803.660169235,653,631.339830765,653,0.400991517561,-0.01542636987,0.0498592350659,0.999999965715,-2.24312508462e-05,-0.000258801978159,-3.29783975335e-05,1793239597935687936
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.917095967,715,678,663,636,879,788,803.082904033,653,631.917095967,653,0.400992649791,-0.015426664053,0.0498605785985,0.999999966151,-2.43286907999e-05,-0.000256960497462,-3.2816461582e-05,1793239597952354560
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.507841866,715,678.492158134,663.492158134,636,879,788,803.984316267,652.507841866,632,653,0.400991595056,-0.0154260050191,0.0498596178784,0.999999965686,-2.44468595033e-05,-0.000258691589644,-3.33013296779e-05,1793239597969021184
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.93128381,636,879.06871619,788,804.93128381,652,632,653,0.400990421012,-0.0154252647212,0.0498585008572,0.999999965172,-2.43161112426e-05,-0.000260619677685,-3.37921819222e-05,1793239597985687808
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,663.340555763,636,879.659444237,788,804.340555763,652,632,653,0.4009911267,-0.0154251214431,0.0498591319782,0.999999965469,-2.45611353469e-05,-0.000259492988768,-3.35044968245e-05,1793239598002354688
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.244896539,715,678.755103461,663,636,880,788,804,652,631.755103461,653,0.400991354568,-0.0154252210491,0.0498594810866,0.9999999657,-2.40087754917e-05,-0.000258685521694,-3.32573372248e-05,1793239598019021312
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.823167134,715,678.176832866,663,636,880,788,804,652,631.176832866,653,0.400990931987,-0.0154256512897,0.0498594462952,0.99999996584,-2.23709486221e-05,-0.000258312606454,-3.30653443484e-05,1793239598035687936
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766.399418737,745.201162526,715,678.399418737,663,636,879.600581263,788,804,652,631.399418737,653,0.40099129273,-0.0154265675274,0.0498596841101,0.999999966011,-2.32238271506e-05,-0.000257586231551,-3.29726759208e-05,1793239598052354560
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766.974780941,744.050438117,715,678.974780941,663,636,879.025219059,788,804,652,631.974780941,653,0.400991998525,-0.0154276978463,0.0498600420078,0.999999966193,-2.51738584756e-05,-0.000256704158117,-3.29237598036e-05,1793239598069021184
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766.437854647,744.562145353,715,678.437854647,663,636,879,788,804,652,631.437854647,653,0.400994691456,-0.015427267221,0.0498614603382,0.999999966933,-2.48909439853e-05,-0.000253844081904,-3.281714689e-05,1793239598085688064
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.147889697,663,636,879,788,804,652.147889697,631.147889697,652.852110303,0.400996496003,-0.0154268356055,0.0498625224592,0.999999967492,-2.4426922426e-05,-0.000251693488575,-3.26975563238e-05,1793239598102354432
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.727301487,663,636,879,788,804,652.727301487,631.727301487,652.272698513,0.400995442574,-0.0154266098886,0.0498624033682,0.999999967468,-2.37331283481e-05,-0.000251877643102,-3.25478161144e-05,1793239598119021056
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..59cd14e5f38b614f1f738430d768350d284fa12d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_06/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,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+1,0.016666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+2,0.033333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+3,0.050000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+4,0.066666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+5,0.083333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+6,0.100000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+7,0.116666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+8,0.133333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+9,0.150000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+10,0.166666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+11,0.183333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+12,0.200000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+13,0.216666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+14,0.233333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+15,0.250000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+16,0.266666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+17,0.283333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+18,0.300000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+19,0.316666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+20,0.333333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+21,0.350000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+22,0.366666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+23,0.383333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+24,0.400000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+25,0.416666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+26,0.433333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+27,0.450000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+28,0.466666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+29,0.483333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+30,0.500000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+31,0.516666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+32,0.533333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+33,0.550000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+34,0.566666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+35,0.583333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+36,0.600000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+37,0.616666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+38,0.633333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+39,0.650000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+40,0.666666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+41,0.683333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+42,0.700000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+43,0.716666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+44,0.733333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+45,0.750000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+46,0.766666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+47,0.783333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+48,0.800000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+49,0.816666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+50,0.833333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+51,0.850000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+52,0.866666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+53,0.883333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+54,0.900000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+55,0.916666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+56,0.933333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+57,0.950000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+58,0.966666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+59,0.983333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+60,1.000000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+61,1.016666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+62,1.033333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+63,1.050000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+64,1.066666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+65,1.083333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+66,1.100000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+67,1.116666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+68,1.133333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+69,1.150000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+70,1.166666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+71,1.183333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+72,1.200000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+73,1.216666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+74,1.233333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+75,1.250000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+76,1.266666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+77,1.283333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+78,1.300000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+79,1.316666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+80,1.333333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+81,1.350000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+82,1.366666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+83,1.383333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+84,1.400000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+85,1.416666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+86,1.433333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+87,1.450000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+88,1.466666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+89,1.483333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+90,1.500000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+91,1.516666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+92,1.533333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+93,1.550000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+94,1.566666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+95,1.583333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+96,1.600000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+97,1.616666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+98,1.633333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+99,1.650000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+100,1.666666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+101,1.683333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+102,1.700000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+103,1.716666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+104,1.733333333,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+105,1.750000000,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+106,1.766666667,pose1_baseline,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+107,1.783333333,pose1_to_pose2_press,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449794,1.03970035251
+108,1.800000000,pose1_to_pose2_press,0.575664435148,-0.00990915319889,1.04003221716,0.546234885773,-0.00123741664796,1.03970035477
+109,1.816666667,pose1_to_pose2_press,0.575664450255,-0.00990912521615,1.04003222231,0.546234900956,-0.00123738846981,1.03970035833
+110,1.833333333,pose1_to_pose2_press,0.57566459363,-0.0099091495355,1.04003226308,0.546235044412,-0.0012374126351,1.03970039595
+111,1.850000000,pose1_to_pose2_press,0.575664711041,-0.00990917823867,1.04003229622,0.54623516187,-0.00123744126366,1.03970042687
+112,1.866666667,pose1_to_pose2_press,0.575664723573,-0.00990918130227,1.04003229976,0.546235174407,-0.0012374443193,1.03970043017
+113,1.883333333,pose1_to_pose2_press,0.57566499216,-0.00990924696332,1.04003237558,0.546235443102,-0.00123750980967,1.03970050091
+114,1.900000000,pose1_to_pose2_press,0.575665992733,-0.00990927394624,1.04003228429,0.546236445002,-0.00123753214596,1.03970041336
+115,1.916666667,pose1_to_pose2_press,0.575668451563,-0.00990919730601,1.04003243846,0.54623890235,-0.00123746053425,1.03970056745
+116,1.933333333,pose1_to_pose2_press,0.575675259772,-0.00990925499926,1.0400324816,0.546245712533,-0.00123751163105,1.03970060799
+117,1.950000000,pose1_to_pose2_press,0.575687885609,-0.0099091956611,1.04003229895,0.546258336506,-0.00123745841413,1.03970043056
+118,1.966666667,pose1_to_pose2_press,0.575710973667,-0.00990910149266,1.04003236917,0.546281424241,-0.00123736540165,1.03970049921
+119,1.983333333,pose1_to_pose2_press,0.57574503643,-0.00990924173016,1.04003226213,0.546315487519,-0.00123750385769,1.03970039285
+120,2.000000000,pose1_to_pose2_press,0.575790933327,-0.00990917747154,1.04003240476,0.546361385099,-0.00123743708793,1.03970054054
+121,2.016666667,pose1_to_pose2_press,0.575846971856,-0.00990916840076,1.04003245127,0.546417425092,-0.00123742293331,1.03970059003
+122,2.033333333,pose1_to_pose2_press,0.575912853389,-0.00990941148015,1.04003225972,0.54648330778,-0.0012376625866,1.0397003855
+123,2.050000000,pose1_to_pose2_press,0.575985847784,-0.0099092336814,1.04003213369,0.546556299707,-0.00123749276464,1.03970026985
+124,2.066666667,pose1_to_pose2_press,0.576065910701,-0.00990908594699,1.04003223606,0.546636362647,-0.00123734497566,1.03970037144
+125,2.083333333,pose1_to_pose2_press,0.576155176397,-0.00990906591133,1.04003223863,0.546725626702,-0.00123733058298,1.03970037211
+126,2.100000000,pose1_to_pose2_press,0.57625415287,-0.00990923316998,1.04003237361,0.546824603927,-0.00123749551739,1.03970050118
+127,2.116666667,pose1_to_pose2_press,0.576365212696,-0.00990939994002,1.04003235126,0.546935666926,-0.00123765130188,1.03970048445
+128,2.133333333,pose1_to_pose2_press,0.576491360839,-0.00990931433366,1.04003238288,0.547061814705,-0.00123756714261,1.03970051048
+129,2.150000000,pose1_to_pose2_press,0.576635010182,-0.00990918714106,1.04003222434,0.547205462192,-0.00123744614759,1.03970035451
+130,2.166666667,pose1_to_pose2_press,0.576796464798,-0.00990910104131,1.04003209849,0.547366915513,-0.00123736411314,1.03970023719
+131,2.183333333,pose1_to_pose2_press,0.576975752071,-0.00990912767977,1.04003210277,0.5475462033,-0.00123738900466,1.03970024148
+132,2.200000000,pose1_to_pose2_press,0.577175063341,-0.00990918211424,1.04003221297,0.547745514779,-0.00123744289105,1.03970034736
+133,2.216666667,pose1_to_pose2_press,0.577393420609,-0.00990918691857,1.04003238865,0.547963870894,-0.00123745160373,1.03970052313
+134,2.233333333,pose1_to_pose2_press,0.577632713345,-0.00990927166449,1.04003236186,0.548203164466,-0.00123753349327,1.03970049679
+135,2.250000000,pose1_to_pose2_press,0.577894257068,-0.00990934901727,1.04003210321,0.548464709747,-0.00123760543912,1.03970024122
+136,2.266666667,pose1_to_pose2_press,0.578178576084,-0.00990929156955,1.0400322074,0.548749027667,-0.0012375519589,1.03970033885
+137,2.283333333,pose1_to_pose2_press,0.578483262752,-0.00990923195598,1.04003245142,0.549053715278,-0.00123748929482,1.03970057889
+138,2.300000000,pose1_to_pose2_press,0.578804452334,-0.00990929227472,1.04003213398,0.549374903731,-0.0012375531864,1.03970026818
+139,2.316666667,pose1_to_pose2_press,0.57913820784,-0.00990923897136,1.04003237165,0.549708661451,-0.0012374924877,1.03970050263
+140,2.333333333,pose1_to_pose2_press,0.579485181609,-0.00990928777161,1.04003246996,0.550055634311,-0.00123754430638,1.03970060267
+141,2.350000000,pose1_to_pose2_press,0.579848481742,-0.00990916932817,1.04003240763,0.550418932344,-0.00123743317711,1.03970053538
+142,2.366666667,pose1_to_pose2_press,0.58023356429,-0.00990917623979,1.04003208796,0.550804015161,-0.00123743874597,1.03970022691
+143,2.383333333,pose1_to_pose2_press,0.580643238874,-0.00990925807926,1.0400321241,0.551213690702,-0.00123751743283,1.03970026045
+144,2.400000000,pose1_to_pose2_press,0.581086789294,-0.00990933284449,1.04003223445,0.551657242052,-0.0012375891401,1.03970036825
+145,2.416666667,pose1_to_pose2_press,0.581559873692,-0.00990931906781,1.0400322247,0.552130326092,-0.00123757651762,1.03970036006
+146,2.433333333,pose1_to_pose2_press,0.582060878377,-0.00990916507136,1.04003224402,0.552631328889,-0.00123742904389,1.03970037624
+147,2.450000000,pose1_to_pose2_press,0.582581511237,-0.0099091083324,1.0400322605,0.553151961359,-0.00123737372445,1.03970039015
+148,2.466666667,pose1_to_pose2_press,0.583119252518,-0.00990923956106,1.04003225992,0.553689704638,-0.00123749817646,1.03970038938
+149,2.483333333,pose1_to_pose2_press,0.583662495003,-0.00990919733117,1.04003222302,0.554232947781,-0.00123745359756,1.03970035556
+150,2.500000000,pose1_to_pose2_press,0.584214153515,-0.00990925950623,1.04003221011,0.554784604351,-0.00123752268784,1.039700334
+151,2.516666667,pose1_to_pose2_press,0.584787654609,-0.00990909790343,1.04003249649,0.555358104129,-0.00123736538099,1.03970062493
+152,2.533333333,pose1_to_pose2_press,0.585384508346,-0.0099092002658,1.04003236075,0.555954958974,-0.00123746369826,1.0397004965
+153,2.550000000,pose1_to_pose2_press,0.586006624043,-0.00990918574797,1.04003204051,0.556577075928,-0.00123744489875,1.03970017657
+154,2.566666667,pose1_to_pose2_press,0.586652842387,-0.00990921931241,1.04003222485,0.557223294369,-0.00123747847776,1.03970035193
+155,2.583333333,pose1_to_pose2_press,0.587317218566,-0.00990929491956,1.04003227346,0.557887670712,-0.00123755356836,1.0397003995
+156,2.600000000,pose1_to_pose2_press,0.58798942783,-0.00990908393863,1.04003215096,0.558559878696,-0.00123734657003,1.03970028644
+157,2.616666667,pose1_to_pose2_press,0.588671927701,-0.00990921377301,1.04003211943,0.559242378813,-0.00123747563583,1.03970025316
+158,2.633333333,pose1_to_pose2_press,0.589372370917,-0.00990933172748,1.04003230473,0.559942823335,-0.00123758915631,1.03970043847
+159,2.650000000,pose1_to_pose2_press,0.590088019852,-0.00990925945833,1.04003236328,0.560658472914,-0.0012375146224,1.03970049908
+160,2.666666667,pose1_to_pose2_press,0.590816119688,-0.00990920696746,1.04003223172,0.561386572097,-0.00123746434415,1.0397003676
+161,2.683333333,pose1_to_pose2_press,0.591556042725,-0.00990918821706,1.0400321364,0.562126494226,-0.0012374485658,1.0397002752
+162,2.700000000,pose1_to_pose2_press,0.592305351518,-0.00990918272086,1.0400320789,0.562875803062,-0.00123744306825,1.03970021385
+163,2.716666667,pose1_to_pose2_press,0.593065061273,-0.0099091286447,1.04003240587,0.563635511825,-0.00123739261585,1.03970053414
+164,2.733333333,pose1_to_pose2_press,0.593836387245,-0.00990915093173,1.04003243142,0.564406837701,-0.00123741504921,1.03970056442
+165,2.750000000,pose1_to_pose2_press,0.594617043505,-0.0099091723063,1.04003198981,0.565187494014,-0.00123743603278,1.03970012832
+166,2.766666667,pose1_to_pose2_press,0.595404447435,-0.00990916252978,1.04003223116,0.565974898605,-0.00123742411699,1.03970036696
+167,2.783333333,pose1_to_pose2_press,0.596196671547,-0.00990928480067,1.04003240481,0.566767123742,-0.00123754354035,1.03970052423
+168,2.800000000,pose1_to_pose2_press,0.596988161734,-0.00990923312665,1.04003217006,0.567558612623,-0.00123749585227,1.03970030108
+169,2.816666667,pose1_to_pose2_press,0.597779227726,-0.00990925134016,1.04003242481,0.568349679509,-0.00123751116087,1.03970055252
+170,2.833333333,pose1_to_pose2_press,0.598563267653,-0.00990932968247,1.04003252509,0.569133719712,-0.00123758877353,1.03970064738
+171,2.850000000,pose1_to_pose2_press,0.599345965784,-0.00990928452725,1.04003234833,0.569916416834,-0.00123754675882,1.03970047819
+172,2.866666667,pose1_to_pose2_press,0.600133600091,-0.00990921921256,1.04003222297,0.570704051207,-0.0012374809307,1.03970036039
+173,2.883333333,pose1_to_pose2_press,0.600913292726,-0.0099092283095,1.0400320901,0.571483745071,-0.00123748566192,1.03970023266
+174,2.900000000,pose1_to_pose2_press,0.601687042257,-0.00990920866265,1.04003206816,0.572257494035,-0.00123746805922,1.03970020764
+175,2.916666667,pose1_to_pose2_press,0.602465657741,-0.00990913782314,1.04003230799,0.57303610736,-0.00123740501779,1.03970043519
+176,2.933333333,pose1_to_pose2_press,0.603242579129,-0.009909152217,1.04003238907,0.573813028908,-0.00123741882779,1.03970051746
+177,2.950000000,pose1_to_pose2_press,0.604013046026,-0.00990914397358,1.04003234117,0.574583496483,-0.0012374080542,1.03970047561
+178,2.966666667,pose1_to_pose2_press,0.604778340958,-0.00990916737171,1.04003223355,0.575348792746,-0.00123742692837,1.03970036825
+179,2.983333333,pose1_to_pose2_press,0.605536576153,-0.0099092110017,1.04003226982,0.576107026991,-0.00123747398425,1.0397003993
+180,3.000000000,pose1_to_pose2_press,0.606274218922,-0.00990912036577,1.04003237395,0.576844668917,-0.00123738620395,1.03970050371
+181,3.016666667,pose1_to_pose2_press,0.606992715752,-0.00990905202844,1.04003222954,0.577563165919,-0.00123731693521,1.03970036845
+182,3.033333333,pose1_to_pose2_press,0.607707785485,-0.00990929464752,1.04003223102,0.578278238487,-0.0012375500808,1.03970036613
+183,3.050000000,pose1_to_pose2_press,0.608415717162,-0.00990920601623,1.04003220866,0.578986169804,-0.00123746247782,1.03970034892
+184,3.066666667,pose1_to_pose2_press,0.609108914334,-0.00990929085945,1.04003242384,0.579679366707,-0.00123754861098,1.03970055432
+185,3.083333333,pose1_to_pose2_press,0.609794679893,-0.009909184361,1.04003250478,0.580365131479,-0.00123744484037,1.03970063381
+186,3.100000000,pose1_to_pose2_press,0.610467602782,-0.00990912705537,1.04003231532,0.581038053365,-0.00123739063302,1.03970045247
+187,3.116666667,pose1_to_pose2_press,0.611105058086,-0.00990914126099,1.04003228687,0.581675509026,-0.00123740360749,1.03970042468
+188,3.133333333,pose1_to_pose2_press,0.611717115602,-0.00990916761832,1.04003231493,0.582287567233,-0.00123742789336,1.03970044589
+189,3.150000000,pose1_to_pose2_press,0.612314719094,-0.00990918833742,1.04003235431,0.582885170774,-0.0012374484701,1.03970048317
+190,3.166666667,pose1_to_pose2_press,0.612892018091,-0.00990921766335,1.04003247897,0.583462470002,-0.00123747664941,1.0397006125
+191,3.183333333,pose1_to_pose2_press,0.613442142446,-0.00990930282632,1.04003242277,0.58401259479,-0.00123756007634,1.03970055582
+192,3.200000000,pose1_to_pose2_press,0.613966368339,-0.00990927424409,1.04003224687,0.584536819791,-0.00123753433346,1.03970037514
+193,3.216666667,pose1_to_pose2_press,0.614464521027,-0.00990920223465,1.04003207541,0.58503497316,-0.00123745910781,1.03970021938
+194,3.233333333,pose1_to_pose2_press,0.614939571889,-0.00990918312415,1.0400323359,0.58551002204,-0.00123744687064,1.03970046774
+195,3.250000000,pose1_to_pose2_press,0.615402755277,-0.00990913383279,1.04003236382,0.585973205121,-0.00123739824061,1.03970049668
+196,3.266666667,pose1_to_pose2_press,0.615860856806,-0.0099092015766,1.04003251416,0.586431308628,-0.00123745884427,1.03970065
+197,3.283333333,pose1_to_pose2_press,0.616303262972,-0.00990918314863,1.04003237682,0.586873713387,-0.00123744498656,1.03970051048
+198,3.300000000,pose1_to_pose2_press,0.616723280685,-0.00990920399227,1.04003226569,0.587293730324,-0.00123746838815,1.03970039312
+199,3.316666667,pose1_to_pose2_press,0.617112181551,-0.00990921381022,1.04003231815,0.587682631916,-0.00123747543088,1.03970044594
+200,3.333333333,pose1_to_pose2_press,0.617471281727,-0.00990919696763,1.04003231928,0.588041732278,-0.00123745748723,1.03970045247
+201,3.350000000,pose1_to_pose2_press,0.617802276251,-0.00990927143068,1.04003221604,0.58837272683,-0.00123753160309,1.03970034918
+202,3.366666667,pose1_to_pose2_press,0.618119205247,-0.00990927713386,1.04003214545,0.588689655406,-0.00123753861209,1.03970027534
+203,3.383333333,pose1_to_pose2_press,0.618428849931,-0.0099093162044,1.0400322395,0.588999300855,-0.00123757473739,1.03970037238
+204,3.400000000,pose1_to_pose2_press,0.618727401812,-0.00990925870547,1.04003223867,0.58929785125,-0.00123752206655,1.03970037157
+205,3.416666667,pose1_to_pose2_press,0.619011884587,-0.0099091282763,1.040032113,0.589582334285,-0.00123739024428,1.03970025316
+206,3.433333333,pose1_to_pose2_press,0.619275277631,-0.00990931072019,1.04003209722,0.589845729792,-0.00123756420921,1.03970023474
+207,3.450000000,pose1_to_pose2_press,0.619516200724,-0.00990923170039,1.04003222176,0.590086651038,-0.00123749155712,1.0397003517
+208,3.466666667,pose1_to_pose2_press,0.619731759521,-0.00990920850663,1.04003223188,0.590302208772,-0.00123747162638,1.03970036665
+209,3.483333333,pose1_to_pose2_press,0.619928758832,-0.00990935018857,1.04003229642,0.590499210207,-0.00123760592342,1.03970043134
+210,3.500000000,pose1_to_pose2_press,0.620108294982,-0.009909447274,1.04003224911,0.590678747881,-0.00123769753569,1.03970038381
+211,3.516666667,pose1_to_pose2_press,0.620273204259,-0.00990942372362,1.04003214443,0.590843657412,-0.00123767283701,1.03970028258
+212,3.533333333,pose1_to_pose2_press,0.620423253069,-0.00990933152917,1.04003233268,0.590993706219,-0.001237580839,1.03970046996
+213,3.550000000,pose1_to_pose2_press,0.620555798949,-0.00990923079024,1.040032567,0.591126249786,-0.00123748787863,1.03970070184
+214,3.566666667,pose1_to_pose2_press,0.620672436667,-0.00990935263317,1.04003248724,0.591242887474,-0.00123760999742,1.03970061197
+215,3.583333333,pose1_to_pose2_press,0.620772837203,-0.00990920124069,1.04003223519,0.591343287121,-0.00123746111189,1.03970037174
+216,3.600000000,pose1_to_pose2_press,0.620860310875,-0.00990921989317,1.04003225032,0.591430761036,-0.00123747915474,1.0397003817
+217,3.616666667,pose1_to_pose2_press,0.620935744667,-0.00990922093785,1.04003223802,0.591506194002,-0.00123748290416,1.03970037066
+218,3.633333333,pose1_to_pose2_press,0.621001379767,-0.00990916712407,1.04003230904,0.591571828959,-0.00123742862105,1.039700444
+219,3.650000000,pose1_to_pose2_press,0.621058122891,-0.00990922721141,1.04003237606,0.591628572708,-0.00123748651141,1.03970050638
+220,3.666666667,pose1_to_pose2_press,0.621105799515,-0.0099093064197,1.04003232838,0.591676250496,-0.00123756203723,1.03970045843
+221,3.683333333,pose1_to_pose2_press,0.62114538846,-0.0099092226989,1.04003227889,0.59171583923,-0.00123747918956,1.03970041369
+222,3.700000000,pose1_to_pose2_press,0.621177013748,-0.00990904057323,1.04003236037,0.591747462188,-0.00123730532578,1.03970049493
+223,3.716666667,pose1_to_pose2_press,0.621202407578,-0.00990916110407,1.04003234255,0.591772855954,-0.00123742591382,1.03970047966
+224,3.733333333,pose1_to_pose2_press,0.621221910713,-0.00990931104962,1.04003227388,0.591792360341,-0.00123757196406,1.03970040441
+225,3.750000000,pose1_to_pose2_press,0.621236655549,-0.00990923790951,1.04003216421,0.591807105127,-0.00123749877698,1.03970029887
+226,3.766666667,pose1_to_pose2_press,0.621247736844,-0.00990917062938,1.04003225127,0.591818185862,-0.00123743340634,1.03970038456
+227,3.783333333,pose1_to_pose2_press,0.621256013475,-0.00990917126077,1.0400325201,0.591826461857,-0.00123743655521,1.03970064438
+228,3.800000000,pose1_to_pose2_press,0.621262050683,-0.00990917967849,1.04003231185,0.591832499834,-0.00123744215119,1.03970044151
+229,3.816666667,pose1_to_pose2_press,0.621266017128,-0.00990916714397,1.0400323814,0.591836467,-0.00123742718877,1.03970051027
+230,3.833333333,pose1_to_pose2_press,0.621268786303,-0.00990914371992,1.04003259759,0.591839236854,-0.00123740160346,1.03970072238
+231,3.850000000,pose1_to_pose2_press,0.621270331761,-0.0099091705771,1.04003247047,0.59184078279,-0.00123742663437,1.03970059947
+232,3.866666667,pose1_to_pose2_press,0.621270802806,-0.00990918675001,1.04003238217,0.591841254002,-0.00123744212662,1.03970051375
+233,3.883333333,pose1_to_pose2_press,0.621270885534,-0.00990918959038,1.04003236666,0.591841336758,-0.00123744484745,1.03970049869
+234,3.900000000,pose1_to_pose2_press,0.621270925093,-0.00990919094862,1.04003235924,0.591841376331,-0.00123744614852,1.03970049149
+235,3.916666667,pose1_to_pose2_press,0.621271218645,-0.00990920102746,1.04003230421,0.591841669987,-0.00123745580319,1.03970043807
+236,3.933333333,pose1_to_pose2_press,0.621271770584,-0.00990921997778,1.04003220074,0.59184222212,-0.00123747395595,1.03970033762
+237,3.950000000,pose1_to_pose2_press,0.621272433485,-0.0099092408599,1.04003212973,0.59184288511,-0.00123749442658,1.03970026884
+238,3.966666667,pose1_to_pose2_press,0.621273007491,-0.00990925137565,1.04003228282,0.591843458614,-0.00123750678737,1.03970041824
+239,3.983333333,pose1_to_pose2_press,0.621273286619,-0.00990925648924,1.04003235727,0.591843737498,-0.00123751279816,1.03970049088
+240,4.000000000,pose1_to_pose2_press,0.621273457765,-0.00990925962464,1.04003240292,0.591843908494,-0.00123751648367,1.03970053543
+241,4.016666667,pose1_to_pose2_press,0.621273660224,-0.00990926333368,1.04003245691,0.591844110777,-0.00123752084348,1.03970058812
+242,4.033333333,pose1_to_pose2_press,0.621273703681,-0.00990926412979,1.0400324685,0.591844154195,-0.00123752177927,1.03970059943
+243,4.050000000,pose1_to_pose2_press,0.621273754985,-0.00990926506968,1.04003248219,0.591844205454,-0.00123752288407,1.03970061278
+244,4.066666667,pose1_to_pose2_press,0.621273845129,-0.00990926949634,1.04003249141,0.591844295612,-0.00123752729092,1.03970062138
+245,4.083333333,pose1_to_pose2_press,0.621273937032,-0.00990927824713,1.04003247817,0.591844387668,-0.00123753554882,1.03970060747
+246,4.100000000,pose1_to_pose2_press,0.621273995438,-0.00990928380835,1.04003246976,0.591844446171,-0.00123754079681,1.03970059862
+247,4.116666667,pose1_to_pose2_press,0.621274074497,-0.00990929133621,1.04003245837,0.591844525362,-0.00123754790066,1.03970058665
+248,4.133333333,pose1_to_pose2_press,0.621274131182,-0.0099092967336,1.04003245021,0.591844582142,-0.00123755299404,1.03970057807
+249,4.150000000,pose1_to_pose2_press,0.621274259007,-0.0099093089048,1.0400324318,0.59184471018,-0.00123756447969,1.03970055871
+250,4.166666667,pose1_to_pose2_press,0.621274409344,-0.00990932321944,1.04003241015,0.591844860767,-0.00123757798806,1.03970053595
+251,4.183333333,pose1_to_pose2_press,0.621274528283,-0.00990932236915,1.04003238398,0.591844979717,-0.00123757714323,1.03970050896
+252,4.200000000,pose1_to_pose2_press,0.621274560479,-0.00990925162921,1.04003232456,0.591845010824,-0.00123751013055,1.03970044967
+253,4.216666667,pose1_to_pose2_press,0.621274639955,-0.00990935751757,1.04003239413,0.591845093214,-0.00123760617493,1.03970051891
+254,4.233333333,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093217,-0.00123760617437,1.03970051891
+255,4.250000000,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093217,-0.00123760617435,1.03970051891
+256,4.266666667,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093218,-0.00123760617446,1.03970051891
+257,4.283333333,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093218,-0.00123760617438,1.03970051891
+258,4.300000000,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093218,-0.00123760617439,1.03970051891
+259,4.316666667,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093218,-0.00123760617438,1.03970051891
+260,4.333333333,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093218,-0.00123760617438,1.03970051891
+261,4.350000000,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093218,-0.00123760617437,1.03970051891
+262,4.366666667,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093219,-0.00123760617436,1.03970051891
+263,4.383333333,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093219,-0.00123760617436,1.03970051891
+264,4.400000000,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093219,-0.00123760617435,1.03970051891
+265,4.416666667,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093219,-0.00123760617434,1.03970051891
+266,4.433333333,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093219,-0.00123760617433,1.03970051891
+267,4.450000000,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093219,-0.0012376061743,1.03970051891
+268,4.466666667,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.591845093219,-0.00123760617427,1.03970051891
+269,4.483333333,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.59184509322,-0.00123760617425,1.03970051891
+270,4.500000000,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.59184509322,-0.00123760617424,1.03970051891
+271,4.516666667,pose2_hold,0.621274639955,-0.00990935751757,1.04003239413,0.59184509322,-0.00123760617422,1.03970051891
+272,4.533333333,pose2_to_pose3_retreat,0.621274639955,-0.00990935751757,1.04003239413,0.59184509322,-0.00123760617409,1.03970051891
+273,4.550000000,pose2_to_pose3_retreat,0.621274498535,-0.00990919897001,1.04003234507,0.591844947958,-0.00123746042879,1.03970047638
+274,4.566666667,pose2_to_pose3_retreat,0.621274345537,-0.00990924546109,1.0400324909,0.591844795356,-0.00123750552983,1.03970062381
+275,4.583333333,pose2_to_pose3_retreat,0.621274317611,-0.00990925394694,1.04003251752,0.591844767502,-0.00123751376196,1.03970065072
+276,4.600000000,pose2_to_pose3_retreat,0.621274085913,-0.00990927205375,1.04003258889,0.591844535998,-0.00123753117293,1.03970072324
+277,4.616666667,pose2_to_pose3_retreat,0.621273566434,-0.00990923670404,1.04003253183,0.591844016369,-0.00123749630955,1.03970066693
+278,4.633333333,pose2_to_pose3_retreat,0.621272468832,-0.00990919950036,1.04003246093,0.591842918861,-0.00123745890856,1.03970059303
+279,4.650000000,pose2_to_pose3_retreat,0.621269899973,-0.00990920380987,1.04003243055,0.591840350782,-0.00123746098892,1.03970055174
+280,4.666666667,pose2_to_pose3_retreat,0.621263958705,-0.00990924459224,1.04003246788,0.591834408992,-0.00123750313121,1.03970059847
+281,4.683333333,pose2_to_pose3_retreat,0.621251666011,-0.00990918008379,1.04003223246,0.591822114565,-0.00123744435265,1.03970036723
+282,4.700000000,pose2_to_pose3_retreat,0.621231364571,-0.00990934054865,1.04003234165,0.591801815201,-0.00123759795497,1.03970047021
+283,4.716666667,pose2_to_pose3_retreat,0.621199703652,-0.00990911749292,1.04003215108,0.591770151976,-0.00123738287175,1.03970028429
+284,4.733333333,pose2_to_pose3_retreat,0.621157552078,-0.00990922586748,1.04003238621,0.591728003167,-0.00123748136094,1.03970052415
+285,4.750000000,pose2_to_pose3_retreat,0.621106766315,-0.00990928043641,1.04003237956,0.591677217183,-0.0012375369704,1.0397005114
+286,4.766666667,pose2_to_pose3_retreat,0.621048300364,-0.00990915868022,1.04003223898,0.591618749601,-0.00123742045415,1.03970037468
+287,4.783333333,pose2_to_pose3_retreat,0.620981883059,-0.00990922240097,1.04003225704,0.591552333617,-0.00123748012869,1.03970038792
+288,4.800000000,pose2_to_pose3_retreat,0.620907643379,-0.00990935682368,1.04003226828,0.591478095196,-0.00123761071357,1.03970039615
+289,4.816666667,pose2_to_pose3_retreat,0.62082484679,-0.00990928754057,1.04003226053,0.591395298192,-0.00123754256811,1.03970039593
+290,4.833333333,pose2_to_pose3_retreat,0.620729410892,-0.00990919401906,1.04003232966,0.591299861657,-0.00123745113788,1.03970046982
+291,4.850000000,pose2_to_pose3_retreat,0.620621524022,-0.00990926981538,1.04003227034,0.591191974907,-0.00123752693817,1.03970039944
+292,4.866666667,pose2_to_pose3_retreat,0.620498500663,-0.00990926080509,1.04003213499,0.591068952255,-0.00123751541642,1.03970027194
+293,4.883333333,pose2_to_pose3_retreat,0.620360024324,-0.00990926724641,1.04003228326,0.590930474883,-0.00123752564432,1.03970041499
+294,4.900000000,pose2_to_pose3_retreat,0.620204206495,-0.0099092130501,1.04003223782,0.590774656102,-0.00123747479076,1.03970036956
+295,4.916666667,pose2_to_pose3_retreat,0.620028402404,-0.00990922301204,1.04003216433,0.590598852454,-0.00123748336524,1.03970029699
+296,4.933333333,pose2_to_pose3_retreat,0.619832615308,-0.00990930757045,1.04003224918,0.590403066676,-0.00123756367678,1.03970038027
+297,4.950000000,pose2_to_pose3_retreat,0.619616212405,-0.00990926355557,1.04003228474,0.590186663922,-0.00123751913115,1.03970042112
+298,4.966666667,pose2_to_pose3_retreat,0.619380499357,-0.00990919616483,1.04003242737,0.589950949027,-0.00123745832909,1.03970055977
+299,4.983333333,pose2_to_pose3_retreat,0.619124612835,-0.00990927145548,1.04003214215,0.589695063793,-0.00123752953518,1.03970027318
+300,5.000000000,pose2_to_pose3_retreat,0.618848943749,-0.00990924950904,1.04003245991,0.589419394941,-0.00123750689426,1.0397005929
+301,5.016666667,pose2_to_pose3_retreat,0.618552474705,-0.00990911079072,1.04003206163,0.589122922498,-0.00123737981634,1.03970019864
+302,5.033333333,pose2_to_pose3_retreat,0.618231906966,-0.00990921725428,1.04003237363,0.588802357617,-0.00123747708779,1.03970050333
+303,5.050000000,pose2_to_pose3_retreat,0.617888494817,-0.00990915823819,1.04003232367,0.588458945166,-0.00123741921667,1.03970045589
+304,5.066666667,pose2_to_pose3_retreat,0.617521901091,-0.00990916470051,1.04003223792,0.588092351,-0.00123742741584,1.03970037158
+305,5.083333333,pose2_to_pose3_retreat,0.617137441879,-0.00990923655867,1.0400323292,0.587707892753,-0.00123749658573,1.0397004557
+306,5.100000000,pose2_to_pose3_retreat,0.61673665942,-0.00990921748423,1.04003230915,0.587307109891,-0.00123747915309,1.03970043602
+307,5.116666667,pose2_to_pose3_retreat,0.616321446522,-0.00990911445167,1.04003210816,0.586891895159,-0.00123738185953,1.03970025035
+308,5.133333333,pose2_to_pose3_retreat,0.615890814643,-0.00990907386161,1.04003219822,0.586461265021,-0.00123733489989,1.03970034324
+309,5.150000000,pose2_to_pose3_retreat,0.615437163632,-0.00990920787592,1.04003232742,0.586007614138,-0.00123746980221,1.03970046693
+310,5.166666667,pose2_to_pose3_retreat,0.614957433318,-0.00990915274653,1.04003239077,0.58552788345,-0.0012374168498,1.03970051669
+311,5.183333333,pose2_to_pose3_retreat,0.614444923585,-0.00990921903086,1.04003225017,0.585015374811,-0.00123747926328,1.03970038976
+312,5.200000000,pose2_to_pose3_retreat,0.613910583856,-0.0099091985614,1.04003228802,0.584481035135,-0.00123745895015,1.03970042634
+313,5.216666667,pose2_to_pose3_retreat,0.613359175184,-0.00990921413472,1.04003236272,0.583929626243,-0.0012374758595,1.03970049396
+314,5.233333333,pose2_to_pose3_retreat,0.612794043653,-0.00990925476447,1.04003239383,0.583364495465,-0.00123751410899,1.03970052909
+315,5.250000000,pose2_to_pose3_retreat,0.612215503894,-0.0099092527117,1.04003244665,0.5827859567,-0.00123750866161,1.03970058758
+316,5.266666667,pose2_to_pose3_retreat,0.61161743568,-0.00990931109233,1.04003244317,0.582187888243,-0.00123756830484,1.03970057299
+317,5.283333333,pose2_to_pose3_retreat,0.610988832827,-0.0099093147213,1.04003209624,0.581559287206,-0.00123756539476,1.03970023621
+318,5.300000000,pose2_to_pose3_retreat,0.610320566019,-0.00990914588796,1.04003232208,0.580891018231,-0.0012374039643,1.03970046072
+319,5.316666667,pose2_to_pose3_retreat,0.609627257258,-0.00990934904996,1.04003236661,0.580197711219,-0.00123760141652,1.03970049939
+320,5.333333333,pose2_to_pose3_retreat,0.608915120198,-0.00990929493257,1.04003227965,0.579485572916,-0.00123755157279,1.03970041093
+321,5.350000000,pose2_to_pose3_retreat,0.608185499379,-0.00990923596997,1.0400323171,0.578755950179,-0.00123749892448,1.03970045346
+322,5.366666667,pose2_to_pose3_retreat,0.60744520916,-0.00990930772371,1.04003244996,0.578015662297,-0.00123756298633,1.03970058
+323,5.383333333,pose2_to_pose3_retreat,0.606701328809,-0.00990925809194,1.04003234872,0.577271782195,-0.00123751238428,1.03970048197
+324,5.400000000,pose2_to_pose3_retreat,0.605947868333,-0.00990922245078,1.04003217119,0.576518320631,-0.00123748027871,1.03970030938
+325,5.416666667,pose2_to_pose3_retreat,0.605183270985,-0.00990928464441,1.04003206322,0.575753723836,-0.00123754060848,1.0397002009
+326,5.433333333,pose2_to_pose3_retreat,0.604414804779,-0.00990930743377,1.04003204082,0.574985258558,-0.00123756012478,1.03970018046
+327,5.450000000,pose2_to_pose3_retreat,0.60364029398,-0.00990930483444,1.04003218947,0.574210747505,-0.00123755842726,1.03970032969
+328,5.466666667,pose2_to_pose3_retreat,0.6028492206,-0.00990932555273,1.04003209246,0.573419673076,-0.00123758270023,1.03970023079
+329,5.483333333,pose2_to_pose3_retreat,0.602043537316,-0.00990936781689,1.04003209731,0.572613989975,-0.00123762438397,1.03970023535
+330,5.500000000,pose2_to_pose3_retreat,0.601226868813,-0.00990927211527,1.04003221064,0.57179732177,-0.00123752772628,1.0397003472
+331,5.516666667,pose2_to_pose3_retreat,0.600402783306,-0.00990920328346,1.04003213136,0.570973234191,-0.0012374659782,1.03970026645
+332,5.533333333,pose2_to_pose3_retreat,0.599572613349,-0.00990929214743,1.04003233615,0.570143066572,-0.00123754734566,1.03970046142
+333,5.550000000,pose2_to_pose3_retreat,0.598763667342,-0.00990927246174,1.04003225932,0.569334120803,-0.00123752629321,1.03970039733
+334,5.566666667,pose2_to_pose3_retreat,0.597971068289,-0.00990922966036,1.04003213916,0.568541521316,-0.0012374848145,1.03970027992
+335,5.583333333,pose2_to_pose3_retreat,0.597177752759,-0.00990928524836,1.04003204775,0.567748205785,-0.0012375405503,1.03970018483
+336,5.600000000,pose2_to_pose3_retreat,0.596382980633,-0.0099093324185,1.04003207298,0.566953432789,-0.00123759078473,1.03970020692
+337,5.616666667,pose2_to_pose3_retreat,0.595585560377,-0.00990924473694,1.04003224305,0.56615601077,-0.00123750933372,1.03970037047
+338,5.633333333,pose2_to_pose3_retreat,0.594778174292,-0.00990928304529,1.0400321276,0.565348626194,-0.00123754222794,1.03970026261
+339,5.650000000,pose2_to_pose3_retreat,0.593966064443,-0.00990930964685,1.04003225683,0.56453651722,-0.00123756593637,1.03970038986
+340,5.666666667,pose2_to_pose3_retreat,0.593162186733,-0.00990912417389,1.04003249338,0.563732637699,-0.00123738673036,1.03970062324
+341,5.683333333,pose2_to_pose3_retreat,0.592370407994,-0.00990925785109,1.04003227681,0.562940858429,-0.00123752217704,1.0397004074
+342,5.700000000,pose2_to_pose3_retreat,0.59159512907,-0.00990917821093,1.04003233926,0.562165579881,-0.00123744126736,1.03970046968
+343,5.716666667,pose2_to_pose3_retreat,0.590835685504,-0.00990924890213,1.04003217077,0.561406137815,-0.0012375066462,1.03970030691
+344,5.733333333,pose2_to_pose3_retreat,0.590094773406,-0.00990918446876,1.04003219444,0.560665224636,-0.00123744602845,1.03970032674
+345,5.750000000,pose2_to_pose3_retreat,0.589368728876,-0.00990922545204,1.04003226027,0.559939180224,-0.00123748678003,1.03970038817
+346,5.766666667,pose2_to_pose3_retreat,0.588656090126,-0.009909276108,1.04003229931,0.559226542121,-0.00123753515777,1.03970042925
+347,5.783333333,pose2_to_pose3_retreat,0.587956666248,-0.00990918738516,1.04003232188,0.558527117243,-0.00123744960344,1.03970045776
+348,5.800000000,pose2_to_pose3_retreat,0.587265921564,-0.00990921141453,1.04003219593,0.557836372602,-0.00123747322159,1.03970033874
+349,5.816666667,pose2_to_pose3_retreat,0.586583928238,-0.00990916627644,1.04003218371,0.557154379489,-0.00123742723821,1.03970032967
+350,5.833333333,pose2_to_pose3_retreat,0.585920822451,-0.00990927497155,1.04003221785,0.556491275112,-0.00123753139182,1.03970035738
+351,5.850000000,pose2_to_pose3_retreat,0.585278595915,-0.00990912971953,1.04003223743,0.555849046056,-0.00123739483885,1.03970037315
+352,5.866666667,pose2_to_pose3_retreat,0.584659792293,-0.00990928036242,1.0400321344,0.555230244394,-0.00123753888665,1.03970026854
+353,5.883333333,pose2_to_pose3_retreat,0.584063137069,-0.00990909730311,1.04003234546,0.554633586247,-0.00123736619641,1.03970046796
+354,5.900000000,pose2_to_pose3_retreat,0.583491657689,-0.00990905306063,1.04003244715,0.554062107088,-0.00123732084433,1.03970057899
+355,5.916666667,pose2_to_pose3_retreat,0.582941918632,-0.00990929799067,1.04003245481,0.553512371459,-0.00123755383982,1.03970059449
+356,5.933333333,pose2_to_pose3_retreat,0.582413779283,-0.00990941397572,1.0400324854,0.552984233465,-0.0012376655316,1.03970061763
+357,5.950000000,pose2_to_pose3_retreat,0.581905768906,-0.00990929781698,1.04003243887,0.552476222296,-0.00123755228169,1.03970056608
+358,5.966666667,pose2_to_pose3_retreat,0.581415402096,-0.00990933686783,1.04003219874,0.551985856702,-0.0012375867244,1.03970033831
+359,5.983333333,pose2_to_pose3_retreat,0.580939798282,-0.00990938072737,1.04003209294,0.551510251891,-0.00123763395563,1.03970023216
+360,6.000000000,pose2_to_pose3_retreat,0.580480503396,-0.00990936076674,1.0400321053,0.551050956701,-0.00123761505355,1.03970024361
+361,6.016666667,pose2_to_pose3_retreat,0.580042210933,-0.00990922843185,1.04003235884,0.550612663248,-0.00123748630962,1.03970049116
+362,6.033333333,pose2_to_pose3_retreat,0.579630502387,-0.00990921179472,1.04003247469,0.550200953692,-0.00123747316041,1.03970060537
+363,6.050000000,pose2_to_pose3_retreat,0.579248886126,-0.00990925357672,1.04003236082,0.549819336826,-0.00123751675253,1.03970049782
+364,6.066666667,pose2_to_pose3_retreat,0.578899721385,-0.0099091460283,1.04003206288,0.549470171522,-0.00123741092624,1.03970020498
+365,6.083333333,pose2_to_pose3_retreat,0.578579631108,-0.00990913747018,1.04003222891,0.549150081096,-0.00123740336144,1.03970035843
+366,6.100000000,pose2_to_pose3_retreat,0.578284588953,-0.00990927269119,1.04003222068,0.548855040935,-0.00123753185616,1.03970034913
+367,6.116666667,pose2_to_pose3_retreat,0.578006369309,-0.00990930947425,1.04003196809,0.548576822188,-0.00123756509888,1.03970010945
+368,6.133333333,pose2_to_pose3_retreat,0.577741552147,-0.00990912896272,1.04003206014,0.548312002177,-0.00123739425155,1.03970020157
+369,6.150000000,pose2_to_pose3_retreat,0.577488198307,-0.00990930357676,1.04003251407,0.548058650915,-0.00123756085504,1.03970063617
+370,6.166666667,pose2_to_pose3_retreat,0.577247172811,-0.00990926772445,1.04003237322,0.547817624665,-0.00123752729468,1.03970050266
+371,6.183333333,pose2_to_pose3_retreat,0.577025070346,-0.00990934219606,1.040032477,0.547595525011,-0.00123759210011,1.03970060952
+372,6.200000000,pose2_to_pose3_retreat,0.576823563486,-0.00990927684603,1.04003246959,0.547394016213,-0.00123753326978,1.03970060368
+373,6.216666667,pose2_to_pose3_retreat,0.576647163995,-0.00990925696413,1.04003239294,0.547217616272,-0.00123751523293,1.03970051872
+374,6.233333333,pose2_to_pose3_retreat,0.576492712048,-0.00990925400331,1.04003240083,0.547063162937,-0.00123751704343,1.0397005251
+375,6.250000000,pose2_to_pose3_retreat,0.576360497502,-0.0099093747647,1.04003236189,0.546930950587,-0.00123763005273,1.03970049401
+376,6.266666667,pose2_to_pose3_retreat,0.576245422796,-0.00990933192386,1.04003246905,0.546815876707,-0.00123758459435,1.03970059651
+377,6.283333333,pose2_to_pose3_retreat,0.576145755862,-0.00990923945983,1.04003245783,0.546716208655,-0.00123749600332,1.03970058384
+378,6.300000000,pose2_to_pose3_retreat,0.576058890149,-0.00990921410047,1.04003232406,0.546629341881,-0.00123747407182,1.03970045512
+379,6.316666667,pose2_to_pose3_retreat,0.575983288797,-0.00990922050893,1.04003219212,0.546553740303,-0.00123748098815,1.03970032942
+380,6.333333333,pose2_to_pose3_retreat,0.575918998997,-0.00990912278444,1.04003210487,0.546489449466,-0.00123738655163,1.03970024811
+381,6.350000000,pose2_to_pose3_retreat,0.575863673713,-0.00990930128074,1.04003241773,0.546434127111,-0.00123755517799,1.03970055905
+382,6.366666667,pose2_to_pose3_retreat,0.575817146408,-0.0099090820747,1.04003249256,0.546387597561,-0.00123734394674,1.03970062457
+383,6.383333333,pose2_to_pose3_retreat,0.575778841842,-0.00990920760028,1.04003232473,0.546349293474,-0.00123746792473,1.03970045466
+384,6.400000000,pose2_to_pose3_retreat,0.575748051348,-0.0099092749681,1.04003225404,0.546318503188,-0.00123753461226,1.03970038332
+385,6.416666667,pose2_to_pose3_retreat,0.575724516882,-0.0099092119247,1.04003231554,0.546294967825,-0.00123747468237,1.03970044305
+386,6.433333333,pose2_to_pose3_retreat,0.57570672427,-0.00990912124628,1.04003242172,0.546277174216,-0.00123738748529,1.0397005467
+387,6.450000000,pose2_to_pose3_retreat,0.575694170989,-0.00990906994364,1.04003251893,0.546264620936,-0.00123733627863,1.03970064144
+388,6.466666667,pose2_to_pose3_retreat,0.575685538548,-0.00990913286522,1.04003242575,0.546255989571,-0.00123739533134,1.03970055399
+389,6.483333333,pose2_to_pose3_retreat,0.575680272517,-0.00990917068276,1.04003234342,0.546250724158,-0.00123743089874,1.03970047568
+390,6.500000000,pose2_to_pose3_retreat,0.575676405197,-0.00990912556317,1.04003222221,0.546246856274,-0.00123738764065,1.03970035578
+391,6.516666667,pose2_to_pose3_retreat,0.575673725035,-0.00990909429402,1.04003213821,0.546244175721,-0.00123735766157,1.03970027269
+392,6.533333333,pose2_to_pose3_retreat,0.575672535292,-0.00990909183274,1.04003213855,0.546242985915,-0.00123735542511,1.03970027273
+393,6.550000000,pose2_to_pose3_retreat,0.57567166736,-0.0099091056337,1.04003219021,0.546242118088,-0.00123736891498,1.03970032319
+394,6.566666667,pose2_to_pose3_retreat,0.575670784743,-0.00990911966814,1.04003224273,0.546241235578,-0.00123738263308,1.0397003745
+395,6.583333333,pose2_to_pose3_retreat,0.575670354547,-0.00990912650868,1.04003226834,0.546240805433,-0.00123738931943,1.03970039952
+396,6.600000000,pose2_to_pose3_retreat,0.575670169607,-0.0099091294494,1.04003227934,0.546240620516,-0.00123739219387,1.03970041027
+397,6.616666667,pose2_to_pose3_retreat,0.575669765787,-0.00990913587053,1.04003230337,0.546240216745,-0.00123739847025,1.03970043374
+398,6.633333333,pose2_to_pose3_retreat,0.57566945408,-0.00990914082697,1.04003232193,0.546239905076,-0.00123740331497,1.03970045187
+399,6.650000000,pose2_to_pose3_retreat,0.575669453521,-0.00990914083585,1.04003232196,0.546239904517,-0.00123740332366,1.0397004519
+400,6.666666667,pose2_to_pose3_retreat,0.575669395726,-0.00990914175485,1.0400323254,0.546239846729,-0.00123740422194,1.03970045526
+401,6.683333333,pose2_to_pose3_retreat,0.575669315983,-0.00990914302284,1.04003233014,0.546239766995,-0.00123740546135,1.03970045989
+402,6.700000000,pose2_to_pose3_retreat,0.575669008152,-0.00990914791765,1.04003234846,0.546239459201,-0.00123741024583,1.03970047779
+403,6.716666667,pose2_to_pose3_retreat,0.575668736584,-0.00990915223584,1.04003236463,0.546239187667,-0.00123741446668,1.03970049358
+404,6.733333333,pose2_to_pose3_retreat,0.57566850738,-0.00990915588041,1.04003237827,0.54623895849,-0.0012374180291,1.0397005069
+405,6.750000000,pose2_to_pose3_retreat,0.575668226567,-0.00990916458235,1.04003237927,0.546238677715,-0.00123742662826,1.03970050724
+406,6.766666667,pose2_to_pose3_retreat,0.575668122495,-0.009909168938,1.04003237545,0.546238573658,-0.00123743094524,1.03970050309
+407,6.783333333,pose2_to_pose3_retreat,0.57566774414,-0.00990918477318,1.04003236157,0.546238195357,-0.00123744663986,1.03970048803
+408,6.800000000,pose2_to_pose3_retreat,0.57566722256,-0.00990920660264,1.04003234243,0.546237673853,-0.00123746827555,1.03970046726
+409,6.816666667,pose2_to_pose3_retreat,0.575667123266,-0.00990921075836,1.04003233878,0.546237574573,-0.00123747239439,1.0397004633
+410,6.833333333,pose2_to_pose3_retreat,0.575667101839,-0.00990921165512,1.040032338,0.54623755315,-0.00123747328318,1.03970046245
+411,6.850000000,pose2_to_pose3_retreat,0.575666876022,-0.00990922110616,1.04003232971,0.546237327365,-0.00123748265033,1.03970045346
+412,6.866666667,pose2_to_pose3_retreat,0.575666836279,-0.0099092227695,1.04003232825,0.546237287628,-0.00123748429891,1.03970045187
+413,6.883333333,pose2_to_pose3_retreat,0.575666628904,-0.00990923144868,1.04003232064,0.546237080283,-0.00123749290105,1.03970044362
+414,6.900000000,pose2_to_pose3_retreat,0.575666160292,-0.00990925106131,1.04003230344,0.546236611739,-0.00123751233958,1.03970042496
+415,6.916666667,pose2_to_pose3_retreat,0.575665499423,-0.00990922789971,1.04003239492,0.54623595068,-0.0012374898258,1.03970051632
+416,6.933333333,pose2_to_pose3_retreat,0.57566492354,-0.00990919421525,1.04003250539,0.546235374556,-0.00123745694319,1.03970062721
+417,6.950000000,pose2_to_pose3_retreat,0.575664576187,-0.00990920190324,1.0400323368,0.546235027456,-0.00123746352619,1.03970046502
+418,6.966666667,pose2_to_pose3_retreat,0.575664425578,-0.00990917092509,1.04003221389,0.546234876156,-0.00123743449793,1.03970035251
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..496d6acf4733444cd47052bd3023b761112215e3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:208c7a306652b5018ac0d289f39d518ee76480d7e5812f86a57844ce02c1c4fa
+size 26342151
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67be7aab70542a00447c97b857de17f541dc9246
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/franka_data.csv
@@ -0,0 +1,416 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,744,715,678,661,636,879,788,804,652,632,653,0.401025769103,-0.0154963212577,0.0698532712355,0.999999987022,5.18457644517e-05,-0.000152229628199,9.68683397619e-06,1793239599735987968
+1,0.016666667,BASELINE,766,744.594703278,715,678.594703278,661.594703278,636,879.594703278,788,804,652,631.405296722,653,0.401024336194,-0.0154964443353,0.0698519870636,0.999999986742,5.15005381851e-05,-0.000154187695122,9.45275900535e-06,1793239599752655616
+2,0.033333333,BASELINE,766,745,715,678.816225558,661.816225558,636,880.183774442,788,804,652,631.183774442,653,0.401022964062,-0.0154963556328,0.0698509189394,0.999999986451,5.20462695873e-05,-0.000155888136118,9.38610519106e-06,1793239599769322752
+3,0.050000000,BASELINE,766,745,715,678.239206019,661.239206019,636,880.760793981,788,804,652,631.760793981,653,0.401021721983,-0.0154958137577,0.0698503131193,0.999999986138,5.44984941907e-05,-0.000157037303153,9.67770326635e-06,1793239599785989120
+4,0.066666667,BASELINE,766.337294991,745,715,678.337294991,661,636,880.325410018,788,804.337294991,652,632,653,0.401021065907,-0.0154951919249,0.0698501143471,0.999999986039,5.51594115869e-05,-0.000157438906056,9.60013377624e-06,1793239599802655232
+5,0.083333333,BASELINE,766.913428795,745,715,678.913428795,661,636,879.173142411,788,804.913428795,652,632,653,0.401020824781,-0.0154945134739,0.0698502038058,0.999999986096,5.45519029818e-05,-0.000157311158217,9.26115646403e-06,1793239599819321600
+6,0.100000000,BASELINE,766.499132784,745,715,679,661,636,880.001734431,788,804.499132784,652,632,653,0.401021473666,-0.0154947909895,0.0698503208438,0.999999986142,5.45446547321e-05,-0.000157014268334,9.35131687716e-06,1793239599835988224
+7,0.116666667,BASELINE,766,745,715,678.911190719,661,636,880.911190719,788,804,652,632,653,0.401022198419,-0.0154952045272,0.0698504744552,0.999999986198,5.45557762805e-05,-0.000156648341657,9.43452674918e-06,1793239599852654848
+8,0.133333333,BASELINE,766,745,715,678.331514006,661,636,880.331514006,788,804,652,632,653,0.40102247261,-0.0154954355281,0.0698508032599,0.999999986318,5.40817387413e-05,-0.000156066153183,9.05988151473e-06,1793239599869321216
+9,0.150000000,BASELINE,766,745,715.246746933,678,661,636,880,788,804,652,632,653,0.401022686279,-0.0154955680994,0.0698510903445,0.999999986389,5.40587738697e-05,-0.000155616743817,9.07479252976e-06,1793239599885987840
+10,0.166666667,BASELINE,766,745,715.823116531,678,661,636,880,788,804,652,632,653,0.401022819099,-0.0154955691813,0.0698513216962,0.999999986395,5.46383850182e-05,-0.00015534471058,9.61010140972e-06,1793239599902654976
+11,0.183333333,BASELINE,766,745,715.602773142,678.397226858,661,636,879.602773142,788,804.397226858,652,632,652.602773142,0.401022521116,-0.0154961222894,0.0698512360264,0.999999986386,5.44831866789e-05,-0.000155451001078,9.70067699653e-06,1793239599919321600
+12,0.200000000,BASELINE,766,745,715.02966312,678.97033688,661,636,879.02966312,788,804.97033688,652,632,652.02966312,0.401022032385,-0.0154969198223,0.0698510099866,0.999999986371,5.40026311918e-05,-0.000155724804837,9.59433467941e-06,1793239599935988480
+13,0.216666667,BASELINE,766.562232114,745,715,679,661,636,879.562232114,788.562232114,804.437767886,652,632,652.562232114,0.401022175861,-0.0154970769329,0.0698513528507,0.999999986418,5.3846921926e-05,-0.00015546452159,9.79192210801e-06,1793239599952655104
+14,0.233333333,BASELINE,766.848481343,745,715,679,661.151518657,636,879.848481343,788.848481343,804,652,631.848481343,653,0.401022399074,-0.0154969882299,0.0698517605999,0.999999986469,5.39472529186e-05,-0.000155087169974,9.93370173643e-06,1793239599969321472
+15,0.250000000,BASELINE,766.269448242,745,715,679,661.730551758,636,879.269448242,788.269448242,804,652,631.269448242,653,0.4010227499,-0.0154963045873,0.0698522638084,0.999999986525,5.47199801164e-05,-0.000154461760252,9.87121029808e-06,1793239599985988096
+16,0.266666667,BASELINE,766,745,715,678.692901759,662,636,879.614196482,788,804,652,631.307098241,653,0.401022604513,-0.0154956187466,0.06985204026,0.999999986369,5.53781681038e-05,-0.000155244228581,9.70603465143e-06,1793239600002654720
+17,0.283333333,BASELINE,766,745,715,678.118519547,662,636,880.762960906,788,804,652,631.881480453,653,0.401022027247,-0.0154949309929,0.0698511841762,0.999999986027,5.59366664634e-05,-0.000157252048274,9.45148746765e-06,1793239600019321344
+18,0.300000000,BASELINE,766,745,715,678,661.544671047,635.544671047,880.544671047,788,804,652,631.544671047,653,0.401022302786,-0.0154953797629,0.069851184552,0.999999986166,5.5052497587e-05,-0.000156686860685,9.29436702564e-06,1793239600035987968
+19,0.316666667,BASELINE,766,745,715.02993877,678.02993877,661,635.02993877,880,788,804,652,631,653,0.401022746651,-0.0154960844262,0.0698513968278,0.99999998641,5.38695336618e-05,-0.000155543320414,9.17158497525e-06,1793239600052654592
+20,0.333333333,BASELINE,766,745,715.621431215,678.621431215,661,635.621431215,880,788,804,652,631,653,0.401022189011,-0.0154960464908,0.0698514070814,0.99999998631,5.41173974583e-05,-0.000156099185802,9.21777209373e-06,1793239600069321216
+21,0.350000000,BASELINE,766,745,715.791603684,678.791603684,661,635.791603684,880,788,804,652,631.208396316,653,0.401021994009,-0.0154956965634,0.0698515611539,0.999999986264,5.48324828939e-05,-0.000156135741682,9.27569318311e-06,1793239600085987840
+22,0.366666667,BASELINE,766,745,715.212688061,678.212688061,661,635.212688061,880,788,804,652,631.787311939,653,0.401022443763,-0.0154947919281,0.0698519709301,0.999999986316,5.63782674265e-05,-0.000155248988486,9.35447674165e-06,1793239600102654464
+23,0.383333333,BASELINE,766,744.635980931,715,678.364019069,661,635.364019069,879.635980931,788.364019069,804,652,631.635980931,653,0.40102152851,-0.0154949081959,0.069851125306,0.999999986067,5.67956582913e-05,-0.000156679332145,9.5333912175e-06,1793239600119320832
+24,0.400000000,BASELINE,766,744.060556337,715,678.939443663,661,635.939443663,879.060556337,788.939443663,804,652,631.060556337,653,0.401019820525,-0.0154956173571,0.0698495506033,0.99999998564,5.65577301824e-05,-0.000159455338952,9.77045713005e-06,1793239600135987712
+25,0.416666667,BASELINE,766,744.525820303,715,678.474179697,661,636,880.051640605,788.474179697,804,652,631.525820303,653,0.401019897402,-0.0154961553364,0.0698496654777,0.999999985782,5.57203257591e-05,-0.000158872718135,9.51421478236e-06,1793239600152654336
+26,0.433333333,BASELINE,766,745,715,678.111933448,661,636,880.776133104,788,804,652,632,653,0.401020455079,-0.0154965045352,0.0698501955512,0.999999985995,5.51579419762e-05,-0.000157737235965,9.27784533619e-06,1793239600169320960
+27,0.450000000,BASELINE,766,745,715,678.691563565,661,636,879.61687287,788,804,652,632,653,0.401022144556,-0.0154961490688,0.0698516301501,0.999999986227,5.60392941491e-05,-0.000155942261455,9.36694159352e-06,1793239600185987584
+28,0.466666667,BASELINE,766,745,715,678.730637375,661,635.730637375,879.269362625,788,804,652,632,653.269362625,0.401022810157,-0.015495732674,0.0698523995931,0.999999986368,5.64617663895e-05,-0.000154876961118,9.40132497389e-06,1793239600202654464
+29,0.483333333,BASELINE,766,745,715,678.154920863,661,635.154920863,879.845079137,788,804,652,632,653.845079137,0.401022311276,-0.0154952469836,0.0698524125351,0.999999986411,5.63623411885e-05,-0.000154641540377,9.37348181521e-06,1793239600219321088
+30,0.500000000,BASELINE,766,745,715,678,661,635.420164132,879.579835868,788,804,652,631.579835868,653.579835868,0.40102187303,-0.0154959220437,0.0698520923935,0.999999986412,5.49189699127e-05,-0.000155163553916,9.2173130267e-06,1793239600235987712
+31,0.516666667,BASELINE,766,745,715,678,661,635.995016615,879.004983385,788,804,652,631.004983385,653.004983385,0.401021457106,-0.0154970244478,0.0698516496234,0.999999986393,5.29808091371e-05,-0.00015596442577,9.01389965385e-06,1793239600252654080
+32,0.533333333,BASELINE,765.413311232,745,715,678.586688768,661,636,879,788,804,652,631.586688768,653,0.401020541498,-0.0154961996899,0.0698511123239,0.999999986232,5.34715213707e-05,-0.000156818881771,9.17887135256e-06,1793239600269320704
+33,0.550000000,BASELINE,765.174507386,745,715,679,661,635.825492614,879,788,804,652,631.825492614,653,0.401020161597,-0.0154954006612,0.0698508828317,0.999999986125,5.45537082962e-05,-0.000157123112381,9.26683543672e-06,1793239600285987328
+34,0.566666667,BASELINE,765.753063027,745,715,679,661,635.246936973,879,788,804,652,631.246936973,653,0.40102103217,-0.0154947002247,0.0698513679396,0.999999986144,5.69561965211e-05,-0.000156152285439,9.16903994776e-06,1793239600302653952
+35,0.583333333,BASELINE,766,745,715.328494131,678.671505869,661,635,879.328494131,788,804,652,631.328494131,653,0.401021839986,-0.0154946756024,0.0698517851116,0.999999986268,5.6943204104e-05,-0.000155358208254,9.18861634707e-06,1793239600319321600
+36,0.600000000,BASELINE,766,745,715.901598635,678.098401365,661,635,879.901598635,788,804,652,631.901598635,653,0.401022601069,-0.0154951542192,0.0698521516957,0.999999986472,5.51315447273e-05,-0.000154695746176,9.29559271912e-06,1793239600335989504
+37,0.616666667,BASELINE,766,745,715.522092783,678.477907217,661,635.477907217,879.522092783,788,804,652,631.522092783,653,0.401022769809,-0.015495077192,0.0698527377226,0.99999998647,5.5096196181e-05,-0.000154716835321,9.35401434869e-06,1793239600352655872
+38,0.633333333,BASELINE,766,745,715.056359227,678.943640773,661,636,879.056359227,788,804,652,631,653,0.401022693264,-0.0154949264431,0.0698531945268,0.999999986405,5.55493766585e-05,-0.000154973514599,9.39109141494e-06,1793239600369321728
+39,0.650000000,BASELINE,766,745,715.648884268,678.351115732,661,636,879.648884268,788,804,652,631,653,0.401021451342,-0.0154951700993,0.0698519892411,0.999999986136,5.71471765635e-05,-0.000156123466296,9.320861241e-06,1793239600385988096
+40,0.666666667,BASELINE,766,745,715.764954228,678,661,636,879.764954228,788,804,652,631,653,0.401021148668,-0.0154953109625,0.0698515904492,0.999999986131,5.6823029664e-05,-0.000156288223611,9.16962734228e-06,1793239600402654720
+41,0.683333333,BASELINE,766,745,715.188048151,678,661,636,879.188048151,788,804,652,631,653,0.401022212075,-0.0154953023194,0.0698523646554,0.999999986503,5.37035236339e-05,-0.000155020073345,8.90057827544e-06,1793239600419321344
+42,0.700000000,BASELINE,766,745,715,678.38696559,661.38696559,636,879.38696559,788.38696559,804,652,631.38696559,653,0.401022076559,-0.0154948501978,0.0698524091095,0.999999986526,5.39682071932e-05,-0.000154787568419,8.76630026122e-06,1793239600435987968
+43,0.716666667,BASELINE,766,745,715,678.961064197,661.961064197,636,879.961064197,788.961064197,804,652,631.961064197,653,0.401021361253,-0.0154941836141,0.0698521006623,0.99999998638,5.58694539548e-05,-0.00015505589214,8.69719630237e-06,1793239600452654592
+44,0.733333333,BASELINE,766,745,715,678.449079658,661.449079658,635.449079658,880,788.449079658,804,652,632,653,0.401021049115,-0.0154960427696,0.0698517216413,0.999999986259,5.55949844837e-05,-0.00015590746399,9.18867115062e-06,1793239600469321216
+45,0.750000000,BASELINE,766,745,715,678,661,635.138092692,879.861907308,788,804,652,631.861907308,653,0.401020841469,-0.0154972424107,0.0698513416046,0.999999986132,5.57427903531e-05,-0.000156643743067,9.54501933065e-06,1793239600485988352
+46,0.766666667,BASELINE,766,745,715,678,661,635.713145104,879.286854896,788,804,652,631.286854896,653,0.401020871648,-0.0154957737199,0.0698509746007,0.999999985984,5.77276636702e-05,-0.000156880934314,9.34473918222e-06,1793239600502654976
+47,0.783333333,BASELINE,766.288236128,745,715,678,661,636,879.576472257,787.711763872,804,652,631.288236128,653,0.40102085975,-0.0154952159319,0.069850942474,0.999999985989,5.76629385784e-05,-0.000156877452157,9.31977049777e-06,1793239600519321600
+48,0.800000000,BASELINE,766.863365653,745,715,678,661,636,880.726731307,787.136634347,804,652,631.863365653,653,0.40102080597,-0.0154955648032,0.0698512436644,0.999999986145,5.5558163255e-05,-0.000156634417788,9.46929657473e-06,1793239600535987968
+49,0.816666667,BASELINE,766.563254428,745,715,678.436745572,661,635.563254428,880.126508855,787.436745572,804,652,632,653,0.401021946822,-0.0154948416177,0.0698522211102,0.999999986325,5.67025177297e-05,-0.000155066715372,9.45688601068e-06,1793239600552654592
+50,0.833333333,BASELINE,765.990018392,745,715,679,661,635.009981608,879,788,804,652,631.990018392,653,0.401023409557,-0.0154938148021,0.0698533765078,0.9999999865,5.87981027506e-05,-0.000153146049332,9.39240043988e-06,1793239600569321216
+51,0.850000000,BASELINE,765.393187172,745,715,679,661,635.606812828,879,788,804,652,631.393187172,653,0.401021911362,-0.0154945765185,0.0698526053713,0.999999986344,5.72959853361e-05,-0.000154741242697,9.23291519743e-06,1793239600585987840
+52,0.866666667,BASELINE,765.196231378,745,715,678.803768622,661.196231378,636,879.196231378,788,804,652,631,653,0.401020958437,-0.0154948945953,0.0698519824667,0.999999986183,5.68422142627e-05,-0.000155947387282,9.11464210206e-06,1793239600602654720
+53,0.883333333,BASELINE,765.771337828,745,715,678.228662172,661.771337828,636,879.771337828,788,804,652,631,653,0.401021058298,-0.0154943561121,0.0698516457619,0.999999986022,5.84125451309e-05,-0.000156402373185,9.07593965054e-06,1793239600619321344
+54,0.900000000,BASELINE,766,745,715,678,661.653832143,635.653832143,880,788,804,652,631,653,0.401020363392,-0.0154942212494,0.0698511536686,0.999999985858,5.79928117521e-05,-0.000157598059034,9.10161069905e-06,1793239600635987968
+55,0.916666667,BASELINE,766,745,715,678,661.079184582,635.079184582,880,788,804,652,631,653,0.40101914392,-0.0154943527867,0.0698505590149,0.99999998569,5.62595846299e-05,-0.000159282625914,9.1697699178e-06,1793239600652654848
+56,0.933333333,BASELINE,766,745,715,678.510188411,661,635.510188411,879.489811589,788.510188411,804,652,631.510188411,653,0.401020592873,-0.0154938456157,0.0698513627196,0.999999985956,5.70380259885e-05,-0.000157308522507,9.37253636421e-06,1793239600669321472
+57,0.950000000,BASELINE,766,745,715.099837796,678.900162204,661,635.900162204,879,788.900162204,804,652,632,653,0.401022157404,-0.0154934258731,0.0698521956115,0.999999986244,5.78980796714e-05,-0.000155143548011,9.49910007735e-06,1793239600685987840
+58,0.966666667,BASELINE,766,745,715.679504664,678.320495336,661,635.320495336,879,788.320495336,804,652,632,653,0.401022227783,-0.015493916915,0.0698520946929,0.999999986328,5.72211419591e-05,-0.000154871476948,9.15603421991e-06,1793239600702654464
+59,0.983333333,BASELINE,766,745,716,678.256032621,661.256032621,635.256032621,879.256032621,788,804,652,632,653,0.401021240112,-0.015494232115,0.0698516087128,0.999999986122,5.7870385205e-05,-0.000155969219404,9.03289118698e-06,1793239600719321344
+60,1.000000000,BASELINE,766,745,716,678.828679029,661.828679029,635.828679029,879.828679029,788,804,652,632,653,0.40101894404,-0.0154943298665,0.0698506465598,0.999999985546,6.01596036694e-05,-0.000158760893815,9.18170797891e-06,1793239600735988224
+61,1.016666667,BASELINE,766,745,715.586803151,679,661.586803151,636,879.586803151,788,804.413196849,652,632,653,0.401019690701,-0.0154942509916,0.0698512864553,0.999999985758,5.9559933877e-05,-0.000157653978844,9.09553077191e-06,1793239600752654592
+62,1.033333333,BASELINE,766,745,715,678.997265735,661,636,879,788.002734265,804.997265735,652,631.997265735,653,0.401021730317,-0.0154940906295,0.0698526057691,0.999999986296,5.77492521498e-05,-0.000154896618811,8.90957783765e-06,1793239600769321216
+63,1.050000000,BASELINE,766,745,715,678.417879088,661,636,879,788.582120912,804.417879088,652,631.417879088,653,0.401022514969,-0.0154926463902,0.0698529809603,0.999999986103,6.06246039211e-05,-0.000155052901255,8.83758487334e-06,1793239600785987840
+64,1.066666667,BASELINE,766,745,715,678,661.160568182,636,879.160568182,788.839431818,804,652,631.160568182,653,0.401022535533,-0.0154918719589,0.0698528271098,0.999999985917,6.22664259623e-05,-0.000155603293686,8.7417171585e-06,1793239600802654720
+65,1.083333333,BASELINE,766,745,715,678,661.736584904,636,879.736584904,788.263415096,804,652,631.736584904,653,0.401020579125,-0.015492830566,0.0698513044354,0.999999985768,6.07166558131e-05,-0.000157173392614,8.5840767471e-06,1793239600819321600
+66,1.100000000,BASELINE,766,745,715,678,661.687768525,636,879.687768525,788,804.312231475,652,632,653,0.401019829856,-0.0154938690569,0.0698508369226,0.999999985772,5.84274683772e-05,-0.000158013841186,8.62750071734e-06,1793239600835987968
+67,1.116666667,BASELINE,766,745,715,678,661.112433894,636,879.112433894,788,804.887566106,652,632,653,0.401020097787,-0.0154949748623,0.0698512585464,0.9999999859,5.55152079533e-05,-0.000158239446755,8.84035243681e-06,1793239600852654336
+68,1.133333333,BASELINE,766,745,715.475525552,678.475525552,661,636,879,788,804.524474448,652,632,653,0.401019649001,-0.0154944797894,0.0698510669876,0.999999985905,5.62412191449e-05,-0.000157948885737,8.83631690957e-06,1793239600869320960
+69,1.150000000,BASELINE,766,745,716,679,661,636,879,788,804.065087679,652,632,653,0.401019201955,-0.0154937801297,0.0698508577245,0.999999985893,5.75524508053e-05,-0.000157555590532,8.80248697275e-06,1793239600885987584
+70,1.166666667,BASELINE,766,745,716,679,661,636,879,788,804.64311398,652,632,653,0.401020140536,-0.015494532497,0.0698516826618,0.999999985985,5.65114497886e-05,-0.000157340695214,8.94901002817e-06,1793239600902654208
+71,1.183333333,BASELINE,766,745,715.779431048,678.779431048,661,636,879.220568952,788,804.779431048,652,632,653,0.401021025639,-0.0154946286508,0.0698523287105,0.999999986061,5.65565248507e-05,-0.000156841883905,8.97845715977e-06,1793239600919321088
+72,1.200000000,BASELINE,766,745,715.202898019,678.202898019,661,636,879.797101981,788,804.202898019,652,632,653,0.401021824437,-0.0154936657779,0.0698526860609,0.999999986108,5.8354358077e-05,-0.000155884876193,8.81896193316e-06,1793239600935987968
+73,1.216666667,BASELINE,766,745,715.373334685,678,661.373334685,636,880,788.373334685,804,652,631.626665315,653,0.401021259865,-0.0154934904457,0.0698522964276,0.999999985951,5.9174287863e-05,-0.000156592179249,8.73238496432e-06,1793239600952654592
+74,1.233333333,BASELINE,766,745,715.949404267,678,661.949404267,636,880,788.949404267,804,652,631.050595733,653,0.40101995493,-0.015493742778,0.069851501154,0.99999998568,5.94631788737e-05,-0.000158203266247,8.68540538536e-06,1793239600969321216
+75,1.250000000,BASELINE,766,745,715.464530466,678.535469534,661.464530466,636,880,788.464530466,804,652,631,653,0.401019590369,-0.0154935054912,0.0698510654164,0.999999985603,5.98456031886e-05,-0.000158545989064,8.68963460927e-06,1793239600985987840
+76,1.266666667,BASELINE,766,745,715.121537637,679,661,636,880.121537637,788,804.121537637,652,631,653,0.401019470335,-0.0154932886833,0.0698508224565,0.999999985583,5.98159915834e-05,-0.000158682543187,8.70484423056e-06,1793239601002654464
+77,1.283333333,BASELINE,766,745,715.70396672,679,661,636,880.70396672,788,804.70396672,652,631,653,0.401019934227,-0.0154933283106,0.0698511792641,0.999999985708,5.81897174197e-05,-0.000158500391598,8.74299538629e-06,1793239601019321088
+78,1.300000000,BASELINE,766,745,715.717935962,679,661,636,880.717935962,788,804.717935962,652,631,653,0.401020390684,-0.0154931525236,0.069851781046,0.999999985839,5.76262646511e-05,-0.000157874945418,8.72915318225e-06,1793239601035987712
+79,1.316666667,BASELINE,766,745,715.14431621,679,661,636,880.14431621,788,804.14431621,652,631,653,0.401020839456,-0.0154927540735,0.0698526360458,0.999999985979,5.8161398145e-05,-0.000156791287448,8.66156799908e-06,1793239601052654336
+80,1.333333333,BASELINE,766,745,715.428980434,678.571019566,661,636,880,788.428980434,804,652,631.428980434,653,0.401020376038,-0.0154931327038,0.0698523413025,0.999999985822,5.93431526959e-05,-0.000157354116722,8.65237738871e-06,1793239601069321216
+81,1.350000000,BASELINE,766,745,716,678.002256359,661,636,880,788.997743641,804,652,631.997743641,653,0.401019612892,-0.0154937658783,0.0698516634468,0.999999985563,6.07372203742e-05,-0.000158463188906,8.66233549984e-06,1793239601085988096
+82,1.366666667,BASELINE,766,745,716,678.59866543,661,636,880,788.40133457,804,652,631.40133457,653,0.401020671104,-0.0154926395116,0.0698518780635,0.999999985686,6.07995478242e-05,-0.00015766416338,8.54552766013e-06,1793239601102654720
+83,1.383333333,BASELINE,766,745,715.812031375,679,661,636,880,788.187968625,804,652.187968625,631.187968625,653,0.401021726179,-0.0154924589738,0.0698521765764,0.999999985855,6.00718645122e-05,-0.000156868099283,8.54798129051e-06,1793239601119321344
+84,1.400000000,BASELINE,766,745,715.237347275,679,661,636,880,788.762652725,804,652.762652725,631.762652725,653,0.401022774802,-0.0154942243278,0.0698526476924,0.999999986115,5.77188600417e-05,-0.000156078127711,8.79579635706e-06,1793239601135988224
+85,1.416666667,BASELINE,766.338579852,745,715,678.661420148,661.338579852,636,880,788.661420148,803.661420148,652.661420148,631.661420148,653,0.401021641862,-0.0154941242064,0.0698522624331,0.999999985936,5.87258308775e-05,-0.000156839743456,8.96950502022e-06,1793239601152654592
+86,1.433333333,BASELINE,766.915381529,745,715,678.084618471,661.915381529,636,880,788.084618471,803.084618471,652.084618471,631.084618471,653,0.401018973995,-0.0154927115526,0.0698512746355,0.999999985439,6.20968511105e-05,-0.000158693042519,9.09107305075e-06,1793239601169320960
+87,1.450000000,BASELINE,766.499620307,745,715.500379693,678,661.499620307,636,879.499620307,788,803.500379693,652,631.500379693,653,0.401018113007,-0.0154945468634,0.0698504252774,0.999999985424,5.94089470764e-05,-0.000159813843554,9.01257281342e-06,1793239601185987840
+88,1.466666667,BASELINE,766,745,716,678.08607723,661,636,879.08607723,788,804,652,631.91392277,653,0.401018001016,-0.0154963173602,0.0698499713465,0.999999985545,5.63967479885e-05,-0.000160157151023,8.89670642063e-06,1793239601202654464
+89,1.483333333,BASELINE,766,745,716,678.667688523,661,636,879.667688523,788,804,652,631.332311477,653,0.401020412536,-0.0154945000725,0.0698516568121,0.999999986022,5.75144236172e-05,-0.000156749528178,8.76374522153e-06,1793239601219321344
+90,1.500000000,BASELINE,766,745,715.752786238,678.752786238,661,636,880,788,804,652,631.247213762,652.752786238,0.401022261644,-0.0154934859845,0.0698530524687,0.999999986337,5.79597951034e-05,-0.000154566767141,8.69979212839e-06,1793239601235988224
+91,1.516666667,BASELINE,766,745,715.176041712,678.176041712,661,636,880,788,804,652,631.823958288,652.176041712,0.401023361067,-0.0154935425449,0.0698540618157,0.999999986448,5.75089991656e-05,-0.000154016721505,8.72782540528e-06,1793239601252654592
+92,1.533333333,BASELINE,766,745,715,678.397034537,661,636,880,788,804,652,632,652.397034537,0.401022123646,-0.0154937376797,0.0698535075109,0.999999986212,5.7617008173e-05,-0.000155496041695,8.73363289254e-06,1793239601269321216
+93,1.550000000,BASELINE,766,745,715,678.968499243,661,636,880,788,804,652,632,652.968499243,0.401019859575,-0.0154939936947,0.0698522662433,0.999999985821,5.79705183052e-05,-0.000157866928162,8.72967587084e-06,1793239601285987840
+94,1.566666667,BASELINE,766,745,715,679,661,636,880,788.559582376,804.559582376,652,631.440417624,653,0.401020639976,-0.0154932074018,0.0698520316046,0.999999985854,5.83741648703e-05,-0.000157520544578,8.49197793888e-06,1793239601302654464
+95,1.583333333,BASELINE,766,745,715,679,661,636,880,788.851284753,804.851284753,652,631.148715247,653,0.401021256206,-0.0154929555837,0.0698519433312,0.999999985912,5.83741698669e-05,-0.000157157896056,8.36892567577e-06,1793239601319321344
+96,1.600000000,BASELINE,766,745,715,679,661,636,880,788.271130027,804.271130027,652,631.728869973,653,0.401020880893,-0.0154944307434,0.069852109311,0.99999998597,5.71946804183e-05,-0.000157207950439,8.61803311117e-06,1793239601335987968
+97,1.616666667,BASELINE,766,745,715.305497428,679,661.305497428,636,880,788,804,652,632,653,0.401020238948,-0.0154948875792,0.0698521030569,0.999999985957,5.67362385916e-05,-0.000157444176561,8.82729094663e-06,1793239601352654592
+98,1.633333333,BASELINE,766,745,715.879030114,679,661.879030114,636,880,788,804,652,632,653,0.401019363066,-0.0154944509649,0.0698519456893,0.999999985883,5.69104246995e-05,-0.000157843744777,9.00158579591e-06,1793239601369321728
+99,1.650000000,BASELINE,766,745,716,678.535623554,661.535623554,636,880,788,804.464376446,652,632,653,0.401019417288,-0.0154942116218,0.0698518608141,0.99999998585,5.68274846077e-05,-0.000158095960286,8.77383341533e-06,1793239601385988352
+100,1.666666667,BASELINE,765.94799943,745,715.94799943,678,661,636,880.05200057,788.05200057,804.94799943,652,632,653,0.401019703058,-0.0154939666809,0.069851771719,0.999999985811,5.68964798571e-05,-0.000158332518513,8.46469920445e-06,1793239601402654720
+101,1.683333333,BASELINE,765.369288636,745,715.369288636,678,661,636,880.630711364,788.630711364,804.369288636,652,632,653,0.401019815938,-0.0154931309383,0.0698514436097,0.999999985602,5.92005767238e-05,-0.000158809436796,8.41978078495e-06,1793239601419321088
+102,1.700000000,BASELINE,765.208267638,745,715,678.208267638,661,636,880.791732362,788.791732362,804,652,631.791732362,653,0.401019909285,-0.0154929199643,0.0698514127526,0.999999985521,6.05379343119e-05,-0.000158809046741,8.52426693188e-06,1793239601435987712
+103,1.716666667,BASELINE,765.783788006,745,715,678.783788006,661,636,880.216211994,788.216211994,804,652,631.216211994,653,0.401019968187,-0.0154938106879,0.0698519060611,0.999999985673,6.01705734209e-05,-0.000157966985829,8.89220848926e-06,1793239601452654592
+104,1.733333333,BASELINE,766,745,715,679,661,635.643738569,879.643738569,788.356261431,804,652,631.356261431,653,0.401020425405,-0.01549421044,0.0698520094431,0.999999985808,5.90252474887e-05,-0.000157538061778,9.02405616496e-06,1793239601469321216
+105,1.750000000,BASELINE,766,745,715,679,661,635.073098571,879.073098571,788.926901429,804,652,631.926901429,653,0.401021122308,-0.0154943147524,0.0698518781888,0.999999985931,5.74117848782e-05,-0.000157357740723,9.01383554229e-06,1793239601485987584
+106,1.766666667,BASELINE,766,745,715,679,661,635.520370323,879.520370323,789,804,652,631.479629677,653,0.401021612689,-0.015492633264,0.0698525714968,0.99999998597,5.83890178195e-05,-0.000156775312014,8.49214043966e-06,1793239601502654208
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,744,715,678,662,635,880,788,805,652,631,653,0.401018896508,-0.0154958033395,0.0698518355879,0.99999998583,5.61012472169e-05,-0.000158477755175,8.77935560987e-06,1793239601547248896
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.376487587,744.623512413,715,678.623512413,662,635.623512413,879.376487587,788,804.376487587,652,631.623512413,653,0.40102086508,-0.0154930805326,0.0698524495925,0.999999985873,5.97934753548e-05,-0.000156836251398,9.03299731331e-06,1793239601563915520
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.228383955,745.228383955,715.228383955,678.771616045,661.771616045,636,879.456767911,788,804,652,631.771616045,653.228383955,0.401021843758,-0.0154916972998,0.0698530010276,0.999999985922,6.17487392705e-05,-0.000155758390887,9.09704172932e-06,1793239601580582144
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.804845256,745.804845256,715.804845256,678.195154744,661.195154744,636,880.609690513,788,804,652,631.195154744,653.804845256,0.401021313751,-0.0154923556957,0.0698534571014,0.999999986,6.10567166624e-05,-0.000155539572315,8.87212315079e-06,1793239601597248768
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.606910926,715.606910926,678.393089074,661,636,880.213821852,788,804,652,631.393089074,653.606910926,0.401021533099,-0.0154923811419,0.0698530841745,0.999999985973,6.08786133093e-05,-0.000155796432905,8.66183067847e-06,1793239601613915392
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.012636788,715.012636788,678.987363212,661,636,879.025273577,788,804,652,631.987363212,653.012636788,0.401022135971,-0.0154920826411,0.0698522869607,0.999999985892,6.09635365856e-05,-0.000156296748612,8.45902393801e-06,1793239601630582016
+113,1.883333333,POSE1_TO_POSE2_PRESS,766.560916928,745,715,679,661.560916928,636,879.560916928,788,804,652.560916928,631.439083072,653,0.401021872789,-0.0154930245529,0.0698529912728,0.999999986041,5.99167942352e-05,-0.000155737879944,8.60330960009e-06,1793239601647249152
+114,1.900000000,POSE1_TO_POSE2_PRESS,766.865421063,744.865421063,715.134578937,678.865421063,662,635.865421063,880,788,804,652.865421063,631,653,0.401021415555,-0.0154938174979,0.0698533337755,0.999999986052,5.89583942574e-05,-0.00015602670346,8.72331404677e-06,1793239601663915776
+115,1.916666667,POSE1_TO_POSE2_PRESS,766.289929405,744.289929405,715.710070595,678.289929405,662,635.289929405,880,788,804,652.289929405,631,653,0.401020384211,-0.0154940340987,0.0698523840252,0.999999985591,5.83699773657e-05,-0.000159168162035,8.73906127748e-06,1793239601680582400
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,744.293092621,716,678.293092621,661.706907379,635.293092621,880.293092621,788,804,652,631.293092621,653,0.401021779257,-0.0154949979913,0.0698533741198,0.99999998527,5.7233860434e-05,-0.000161564943146,9.02124620775e-06,1793239601697248768
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,744.883760143,716,678.883760143,661.116239857,635.883760143,880.883760143,788,804,652,631.883760143,653,0.401025637799,-0.0154967206042,0.0698563337254,0.999999985094,5.55416674936e-05,-0.000163205658213,9.573943482e-06,1793239601713915392
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715.535165389,679,661.464834611,636,880.070330777,788,804,652,631.535165389,653,0.401043991445,-0.015495874196,0.0698649226125,0.999999985559,5.82550078194e-05,-0.000159335339465,1.00170064098e-05,1793239601730582016
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715.043305002,678.956694998,661.956694998,635.956694998,879,788,804.043305002,652,631.043305002,653,0.401067909761,-0.0154947341106,0.0698753429272,0.999999986335,6.16089295511e-05,-0.00015305134808,1.04786157354e-05,1793239601747248640
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,715.618658164,678.381341836,661.381341836,635.381341836,879,788,804.618658164,652,631.618658164,653,0.401116562545,-0.0154977192025,0.0698913189105,0.999999989221,5.95714584901e-05,-0.000133702230682,1.14981102501e-05,1793239601763915264
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715.806241564,678.193758436,661,635.193758436,879,788,804.806241564,652,632,653,0.401170769241,-0.0155007126535,0.0699055755448,0.999999991519,5.78731126262e-05,-0.000116031171617,1.22309458644e-05,1793239601780581888
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715.231638262,678.768361738,661,635.768361738,879,788,804.231638262,652,632,653,0.401235892524,-0.0155037225353,0.069916452689,0.99999999314,5.6841339161e-05,-0.000101658442472,1.24003348668e-05,1793239601797249024
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715.354068027,679,661.354068027,636,879.354068027,788,804,652,631.645931973,653,0.401311457254,-0.0155062830591,0.069924489292,0.999999993945,5.85759053369e-05,-9.23861359779e-05,1.19709818507e-05,1793239601813915904
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715.947273227,679,661.947273227,636,879.947273227,788,804,652,631.052726773,653,0.401394074122,-0.0155085400867,0.0699306073958,0.999999994259,6.21788544583e-05,-8.65586504393e-05,1.11372390964e-05,1793239601830582272
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.4721784,715.4721784,678.4721784,661.4721784,636,880,788,804,652,631.5278216,653,0.401492409415,-0.0155119288544,0.069931642709,0.999999994309,6.14668154129e-05,-8.67120444549e-05,9.2211557893e-06,1793239601847248896
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.106291807,715,678.106291807,661,636,880,788,804,652,631.893708193,653,0.401597076002,-0.0155154188325,0.0699321617713,0.999999994316,6.05936396085e-05,-8.74429356471e-05,7.06848708691e-06,1793239601863915520
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.68104478,715,678.68104478,661,636,880,788,804,652,631.31895522,653,0.401722888302,-0.015518868275,0.0699325909444,0.999999994253,6.08655501106e-05,-8.81475065207e-05,4.33847440864e-06,1793239601880582144
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.261623947,745,715.261623947,678.738376053,661,636,880,788,804,652,631,653.261623947,0.401861617079,-0.0155206089504,0.0699340961323,0.999999994352,6.20542463002e-05,-8.62804043236e-05,1.27499930437e-06,1793239601897248768
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.849467777,745,715.849467777,678.150532223,661,636,880,788,804,652,631,653.849467777,0.40201645145,-0.0155202189575,0.069936943007,0.999999994628,6.43860859847e-05,-8.12066732621e-05,-2.20427114699e-06,1793239601913915392
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.566822576,745,715.566822576,678.433177424,661.433177424,636,880,788,804.433177424,652,631.433177424,653.566822576,0.402198001536,-0.0155216173472,0.0699380965081,0.999999994662,6.311042377e-05,-8.15911407075e-05,-6.06515115678e-06,1793239601930582016
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715.015242802,679,662,636,880,788,804.984757198,652,632,653,0.402389527849,-0.0155235926895,0.0699386662829,0.999999994625,6.02708540717e-05,-8.3757245661e-05,-1.00812073485e-05,1793239601947248896
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715.589198805,679,662,636,880,788,804.410801195,652,632,653,0.402609647334,-0.015524151418,0.0699392056329,0.999999995456,4.56239959451e-05,-8.23607782589e-05,-1.49702757386e-05,1793239601963915520
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715.834501063,679,662,636,880,788.165498937,804,652,632,653,0.402839291162,-0.0155228910684,0.0699408771625,0.999999996128,3.30223869626e-05,-7.91109136377e-05,-1.9854878732e-05,1793239601980582144
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715.252298614,679,662,636,880,788.747701386,804,652,632,653,0.403092916022,-0.0155170505312,0.0699453993644,0.999999996833,2.55704303277e-05,-7.11944500386e-05,-2.47282395106e-05,1793239601997248768
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.669590676,636,879.669590676,788.669590676,804,652,632,653,0.403380703437,-0.0155131903258,0.0699545221905,0.999999997734,2.46984693113e-05,-5.59057811613e-05,-2.82266846336e-05,1793239602013915392
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.086496192,636,879.086496192,788.086496192,804,652,632,653,0.403694617131,-0.0155108446074,0.0699671634082,0.999999998501,2.88586525534e-05,-3.49791154903e-05,-3.06736434495e-05,1793239602030582272
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.492743727,635.507256273,879,788,804.492743727,652,631.507256273,653,0.40402675434,-0.0155167956194,0.0699653384122,0.999999998505,1.85593047426e-05,-4.10292151099e-05,-3.10142820123e-05,1793239602047248896
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.929154645,635.070845355,879.070845355,788,805,652,631,653,0.404368049305,-0.0155232240161,0.0699624937226,0.999999998315,6.98566558036e-06,-4.85058331472e-05,-3.11111296113e-05,1793239602063915776
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.35437424,635.64562576,879.64562576,788,805,652,631,653,0.404751906863,-0.0155227688692,0.0699703187436,0.999999998941,4.26245978809e-06,-3.27065655076e-05,-3.20834832298e-05,1793239602080582400
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804.774410782,652,631.225589218,653,0.405139901608,-0.0155220957718,0.069974523252,0.999999999137,4.71856963451e-06,-2.45821090996e-05,-3.31563235089e-05,1793239602097249024
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804.186113948,652,631.813886052,653,0.405534548181,-0.0155210722486,0.0699729066152,0.999999998941,1.02864577487e-05,-2.87973951302e-05,-3.4390728506e-05,1793239602113915648
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804,652,631.603874806,653,0.405962408883,-0.0155191536269,0.0699657791966,0.999999998521,8.7502901528e-06,-3.89579543005e-05,-3.69262550326e-05,1793239602130582016
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804,652,631.024438869,653,0.406405639778,-0.0155168207896,0.0699561016105,0.999999997844,3.92665293584e-06,-5.1869746163e-05,-4.00638881641e-05,1793239602147248640
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.552100669,745,715,678.447899331,661.552100669,636,880,788,804,652,631.552100669,653,0.40689925495,-0.0155171438096,0.0699429914063,0.999999996682,5.09834555521e-06,-6.94355207249e-05,-4.23012350984e-05,1793239602163915264
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.872248584,745,715,678,662,636,880,788.127751416,804.127751416,652,631.872248584,653,0.407408013342,-0.015517852016,0.0699347432133,0.999999995911,5.5078382348e-06,-7.87861484686e-05,-4.40589560907e-05,1793239602180581888
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.299250832,745,715,678,662,636,880,788.700749168,804.700749168,652,631.299250832,653,0.407961817357,-0.0155194950993,0.0699439671742,0.999999997289,2.3407631555e-06,-5.87906455144e-05,-4.42832261326e-05,1793239602197248512
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,880,789,805,652,631,653,0.408531534133,-0.0155213865896,0.0699546416246,0.99999999838,5.71068852485e-07,-3.5630113702e-05,-4.43942488667e-05,1793239602213915648
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,880,789,805,652,631,653,0.409118646161,-0.01552354963,0.0699669017002,0.999999998975,3.28943749185e-07,-9.00968147583e-06,-4.43814734847e-05,1793239602230582528
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661.542369022,636,880,788.542369022,804.542369022,651.542369022,631,653,0.409712207731,-0.0155210031682,0.0699612085503,0.999999998808,1.76725726254e-06,-1.56710592972e-05,-4.62086612728e-05,1793239602247249152
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,880,788,804,651,631,653,0.410310821356,-0.015517242667,0.0699512778807,0.999999998348,3.70601679346e-06,-3.07644375097e-05,-4.84027364742e-05,1793239602263916032
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,880,788,804,651,631,653,0.41095825514,-0.0155140581786,0.0699492592853,0.999999998004,6.4235887084e-06,-3.96275260286e-05,-4.87994332299e-05,1793239602280582656
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715.178815692,678,661.178815692,636,880,788,804,651.178815692,631,653,0.411629540973,-0.015512844726,0.0699572670715,0.999999998383,6.6498573118e-06,-2.86666409067e-05,-4.86527168266e-05,1793239602297249280
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715.754643667,678,661.754643667,636,880,788,804,651.754643667,631,653,0.412353783799,-0.01551600743,0.0699875357493,0.999999998534,1.34485476169e-06,2.63080616881e-05,-4.72994971181e-05,1793239602313916160
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715.657747306,678.342252694,661.657747306,636,880,788,804,651.657747306,631,653,0.413079669738,-0.0155193589579,0.070013700467,0.999999996696,-3.41293965841e-06,6.71572757853e-05,-4.56647404664e-05,1793239602330582784
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715.061391458,678.938608542,661.061391458,636,880,788,804,651.061391458,631,653,0.413806775671,-0.0155228506772,0.0700368182309,0.999999994255,-7.76446372472e-06,9.7519124021e-05,-4.38209585511e-05,1793239602347248896
+156,2.600000000,POSE1_TO_POSE2_PRESS,766.516578533,744.483421467,715,679,661.516578533,636,880,788,804,651,631.516578533,653,0.414506715744,-0.015520799237,0.0700109095551,0.999999997735,-6.62406889368e-06,4.76461286048e-05,-4.70687061963e-05,1793239602363915520
+157,2.616666667,POSE1_TO_POSE2_PRESS,766.907655547,744.092344453,715.092344453,679,661.907655547,636,880,788,804.092344453,651.092344453,631.907655547,653,0.415212512837,-0.0155177861762,0.0699778598011,0.999999998614,-4.90996315651e-06,-1.14985530403e-05,-5.113867504e-05,1793239602380582656
+158,2.633333333,POSE1_TO_POSE2_PRESS,766.332381761,744.667618239,715.667618239,679,661.332381761,636,880,788,804.667618239,651.667618239,631.332381761,653,0.415965243815,-0.0155130708698,0.0699368876331,0.999999995881,-3.49149361779e-06,-7.09784447117e-05,-5.64529229317e-05,1793239602397249280
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,716,679,661.2482677,635.7517323,880,788,805,652,631,653.2482677,0.41674302004,-0.0155107144221,0.0699239229239,0.999999994331,-4.01641791343e-06,-8.87921477259e-05,-5.86304281542e-05,1793239602413915904
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,716,679,661.836273385,635.163726615,880,788,805,652,631,653.836273385,0.417555068992,-0.0155115859172,0.0699492845785,0.999999997148,-7.20074868906e-06,-4.9588414143e-05,-5.65155075929e-05,1793239602430582528
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,744.579536843,715.579536843,679,662,635.420463157,880,788,804.579536843,652,631,653.579536843,0.418379684728,-0.0155134096395,0.0699730290683,0.999999998288,-1.17674693071e-05,-1.50123010124e-05,-5.53188177461e-05,1793239602447248896
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.996864967,744.003135033,715,679.003135033,662,636,880,788,804,652,631,653,0.419209285355,-0.0155156115257,0.0699961171052,0.999999998215,-1.69126493565e-05,1.77523966972e-05,-5.4481101736e-05,1793239602463915264
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.422455912,744.577544088,715,679.577544088,662,636,880,788,804,652,631,653,0.420063571245,-0.0155197642153,0.0700133013652,0.999999997007,-3.02585859421e-05,4.58439651677e-05,-5.44878808421e-05,1793239602480581888
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.151831338,745,715,679.848168662,662,636,880.151831338,788.151831338,804.151831338,651.848168662,631.151831338,653,0.420917981862,-0.0155233139444,0.0700257086407,0.999999995709,-3.90017460117e-05,6.39896562842e-05,-5.44642477649e-05,1793239602497248768
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.72577985,745,715,679.27422015,662,636,880.72577985,788.72577985,804.72577985,651.27422015,631.72577985,653,0.421772739098,-0.0155251873396,0.0700248350772,0.999999996428,-3.49483953296e-05,5.44840969688e-05,-5.43560637214e-05,1793239602513915648
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.691441811,789,805,651,631.691441811,652.691441811,0.422576651516,-0.0155235075379,0.0699928105464,0.999999997803,-3.26194512378e-05,-2.07132757478e-06,-5.76721063549e-05,1793239602530582528
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.100585033,789,805,651,631.100585033,652.100585033,0.423334046322,-0.0155185769315,0.0699322861269,0.999999992268,-3.18681587644e-05,-0.000101672476947,-6.41209591227e-05,1793239602547249152
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679.480592736,662,635.519407264,880,788.519407264,804.519407264,651.480592736,631,652.480592736,0.424153138199,-0.0155156676868,0.0698924622799,0.999999985536,-4.12411560216e-05,-0.000149224897951,-7.04196912399e-05,1793239602563915520
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.059268437,880,788,804.059268437,652,631,653,0.424993283929,-0.0155141881874,0.0698666077148,0.999999980778,-5.11905442059e-05,-0.00017363970721,-7.53164288832e-05,1793239602580581888
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.633458836,880,788,804.633458836,652,631,653,0.425906374026,-0.0155215273086,0.0699252202382,0.999999992478,-4.81016827205e-05,-8.98094656461e-05,-6.8300275234e-05,1793239602597248768
+171,2.850000000,POSE1_TO_POSE2_PRESS,766.213159249,745,715,680,662.213159249,635.786840751,880.213159249,788.213159249,804.786840751,652,631.213159249,653,0.426810734322,-0.0155265262829,0.0699751770162,0.999999996712,-4.66447485423e-05,-2.15265771403e-05,-6.27494936645e-05,1793239602613915392
+172,2.866666667,POSE1_TO_POSE2_PRESS,766.802585869,745,715,680,662.802585869,635.197414131,880.802585869,788.802585869,804.197414131,652,631.802585869,653,0.427699684772,-0.0155273944439,0.0700098547232,0.999999996871,-4.80684828381e-05,1.93122153955e-05,-5.97853787441e-05,1793239602630582016
+173,2.883333333,POSE1_TO_POSE2_PRESS,766.61472116,745,715.38527884,680,662.61472116,635.38527884,881,788.61472116,804,652,631.61472116,653,0.428587303072,-0.0155298923077,0.0700337096148,0.999999995189,-5.12894147464e-05,6.01120604314e-05,-5.81275180636e-05,1793239602647248640
+174,2.900000000,POSE1_TO_POSE2_PRESS,766.035419215,745,715.964580785,680,662.035419215,635.964580785,881,788.035419215,804,652,631.035419215,653,0.429474250488,-0.0155332108757,0.0700521142288,0.999999991743,-5.54153998079e-05,0.000100892290546,-5.712747581e-05,1793239602663915008
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.459507405,745,715.459507405,680,662.540492595,636,881,788,804.540492595,652,631,653,0.430272111547,-0.015532073766,0.0700267063107,0.999999995101,-5.58858760975e-05,5.57769165599e-05,-5.96902922397e-05,1793239602680582400
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.116041867,745,715,680,662.883958133,636,881.116041867,788,805,652,631.116041867,653,0.431052211244,-0.0155295513381,0.0699898528602,0.999999996477,-5.47131403369e-05,-7.61249788689e-06,-6.32004871268e-05,1793239602697249792
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.691030318,745,715,680,662.308969682,636,881.691030318,788,805,652,631.691030318,653,0.431785009622,-0.0155226975766,0.0699190166631,0.999999989092,-4.79830053803e-05,-0.000121152478431,-6.95399157667e-05,1793239602713915904
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.72615451,881.72615451,788,804.72615451,651.72615451,631.72615451,653,0.432579134057,-0.0155185190617,0.0698956636816,0.999999984575,-4.65564225157e-05,-0.000153188503296,-7.22171274233e-05,1793239602730582272
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.134248853,881.134248853,788,804.134248853,651.134248853,631.134248853,653,0.433444486256,-0.0155174477338,0.0699274604742,0.999999992089,-5.12896947452e-05,-9.05610834931e-05,-7.06408275379e-05,1793239602747248896
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.55337998,745,715,680,662,635,881,788,804.44662002,651,631.44662002,653,0.434288455368,-0.0155229994696,0.0699789555364,0.999999996259,-5.51821700678e-05,-1.00428647999e-05,-6.58557407049e-05,1793239602763915520
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.024186578,745,715,680,662,635.024186578,881,788,805,651,632,653,0.435122818173,-0.0155301787401,0.0700338606535,0.99999999384,-5.86754562434e-05,7.23363194349e-05,-6.03697230865e-05,1793239602780581888
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.600275589,745,715,680,662,635.600275589,881,788,805,651,632,653,0.43588110966,-0.0155301639747,0.0700347263635,0.999999993458,-5.86877831795e-05,7.74266293798e-05,-6.03677637488e-05,1793239602797248768
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715.176194787,680,662,636,881,788,805,651.176194787,632,653,0.43662826528,-0.0155314178918,0.0700294554154,0.999999993408,-6.21592209248e-05,7.50589934253e-05,-6.07181442867e-05,1793239602813915392
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715.751729072,680,662,636,881,788,805,651.751729072,632,653,0.43735018179,-0.0155355472349,0.0700102759405,0.999999993831,-7.34706157878e-05,5.57881761284e-05,-6.18670911667e-05,1793239602830582528
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715.665239896,680,662,635.665239896,881,788,805,651.665239896,631.665239896,653,0.438034373463,-0.0155359497335,0.069977795258,0.999999994591,-7.99538125619e-05,1.30142576971e-05,-6.52318152868e-05,1793239602847249152
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715.076521654,680,662,635.076521654,881,788,805,651.076521654,631.076521654,653,0.438689946013,-0.0155335249459,0.0699352239177,0.999999992972,-8.27742059549e-05,-4.75897529685e-05,-7.02774881856e-05,1793239602863915520
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,679.49562503,662,635,880.49562503,788,804.49562503,651,631,653,0.439280830798,-0.0155325146504,0.0698812216187,0.99999998395,-8.03882029395e-05,-0.000142056042584,-7.38835896076e-05,1793239602880582144
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,679.083437353,662.083437353,635,880,788,804.083437353,651,631.083437353,653,0.439868619628,-0.0155328966527,0.0698331673999,0.999999968105,-8.01411025036e-05,-0.000226822680155,-7.6934743223e-05,1793239602897248768
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.658576484,662.658576484,635,880,788,804.658576484,651,631.658576484,653,0.440495115829,-0.0155402382143,0.0698302296516,0.999999967021,-9.70825053241e-05,-0.000224615639281,-7.79829800187e-05,1793239602913915136
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.76139597,635,880.23860403,788,805,651,631.76139597,653,0.441124972153,-0.015550095155,0.0698434509122,0.999999970118,-0.000112525576832,-0.000202836093812,-7.71994225614e-05,1793239602930581760
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662.174227094,635,880.825772906,788,805,651,631.174227094,653,0.441759737208,-0.0155636266902,0.0698802780708,0.999999977748,-0.000125779812437,-0.000152464042132,-7.37398873587e-05,1793239602947248384
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.592768539,805,651,631,653,0.442315138828,-0.0155791580604,0.0698814377007,0.999999974104,-0.000145032266853,-0.000160613413954,-7.0435736413e-05,1793239602963915264
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,881,787.013719298,805,651,631,653,0.442837055646,-0.0155955331938,0.0698675486002,0.999999965116,-0.000166815469428,-0.000193453958098,-6.71971448571e-05,1793239602980582400
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.436859619,745,714.436859619,679.436859619,661.436859619,635,881,787.563140381,805,651.563140381,631,653,0.443298908566,-0.0156092426021,0.0698284445437,0.999999948681,-0.000180492414051,-0.00025601451974,-6.72102537564e-05,1793239602997249024
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.139863561,745,714.139863561,679.139863561,661.139863561,634.860136439,881,787.860136439,805,651.860136439,631,653,0.443754739386,-0.0156196689591,0.069790601068,0.999999929473,-0.000192185358575,-0.00031537307496,-6.82522525325e-05,1793239603013915904
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.716326482,745,714.716326482,679.716326482,661.716326482,634.283673518,881,787.283673518,805,651.283673518,631,653,0.444196321651,-0.0156200488529,0.0697586027811,0.99999991203,-0.000198299116925,-0.000362484791835,-7.22597130006e-05,1793239603030582272
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.70086384,634.29913616,881,787,805,651,631,653,0.444621751723,-0.0156224861298,0.0697371733074,0.999999898978,-0.000204232040465,-0.000393360673815,-7.48438559929e-05,1793239603047248896
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661.111905043,634.888094957,881,787,805,651,631,653,0.445031532473,-0.0156269167339,0.0697259835916,0.999999891622,-0.00020998975937,-0.000408506217021,-7.60489959859e-05,1793239603063915264
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.53050307,745,715,680.46949693,661,634.53050307,881,787,805,651,631,653,0.445444548181,-0.0156320372213,0.0697228186515,0.999999890638,-0.000217169204935,-0.000407180438663,-7.59263752474e-05,1793239603080582144
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.048469513,745,715,681,661,634,880.951530487,786.951530487,805.048469513,651,631,653,0.445851405852,-0.0156372432417,0.0697212225689,0.999999890387,-0.00022458253092,-0.000403835102097,-7.55431716546e-05,1793239603097248768
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.620349607,745,715,681,661,634,880.379650393,786.379650393,805.620349607,651,631,653,0.446183569483,-0.0156416253495,0.0697162404622,0.999999882102,-0.00023092006149,-0.000420404922015,-7.57093775404e-05,1793239603113915392
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,880.198652174,786,806,651,631,653,0.446498179464,-0.0156455499628,0.0697077638833,0.999999871487,-0.000236507091905,-0.000441963826632,-7.58855454394e-05,1793239603130582016
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,634,880.789639122,786,806,651,631,653,0.446778121333,-0.0156485710325,0.0696923857781,0.999999856116,-0.000240611897959,-0.000473376094303,-7.60813881685e-05,1793239603147248640
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,745.372118702,715,680.627881298,661,634,881,786.372118702,805.627881298,651,631,653,0.447048322432,-0.0156495149875,0.0696755606572,0.999999842127,-0.000243175868214,-0.000500680349363,-7.7013842607e-05,1793239603163915520
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,745.949896473,715,680.050103527,661,634,881,786.949896473,805.050103527,651,631,653,0.447313140078,-0.0156493109819,0.0696579358142,0.999999828758,-0.000244888263525,-0.000525714224622,-7.83534006659e-05,1793239603180582400
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,745.476683649,715,680,661,634,880.476683649,785.953367299,805,651,631,653,0.447549395492,-0.0156520951848,0.0696561145253,0.999999826286,-0.00024649828146,-0.000529667564501,-7.82249471632e-05,1793239603197249024
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634,880.097018417,785,805,651,631,653,0.44777929805,-0.0156553087737,0.0696568613731,0.999999825628,-0.00024883150486,-0.000529870356101,-7.78670675272e-05,1793239603213915392
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,634,880.674164744,785,805,651,631,653,0.447991182765,-0.0156592431641,0.069662891414,0.999999828633,-0.000254791858076,-0.000521418048982,-7.70636145361e-05,1793239603230582016
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.741392375,745.258607625,715,680,660.741392375,634,881,785,805,651,631,653,0.448185521173,-0.0156645225032,0.0696661885399,0.999999830208,-0.000260437380735,-0.00051566142648,-7.64783509071e-05,1793239603247248640
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.147489256,745.852510744,715,680,660.147489256,634,881,785,805,651,631,653,0.448357110051,-0.0156715456236,0.0696659423279,0.999999830017,-0.000265674712096,-0.000513399871411,-7.61759788899e-05,1793239603263915264
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.566894725,715,680,660,633.566894725,881,785,805,651,630.566894725,653,0.448503757098,-0.0156738041565,0.0696609728349,0.999999825469,-0.000268047050589,-0.000520957303777,-7.62702136294e-05,1793239603280582144
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680.009308972,660,633,881,785,805,651,630.009308972,653,0.448641712543,-0.0156744978567,0.0696545099634,0.999999819425,-0.000269484014579,-0.000531673879521,-7.64918051111e-05,1793239603297249024
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680.585884423,660,633,881,785,805,651,630.585884423,653,0.44875217538,-0.0156757597592,0.0696521379446,0.99999981589,-0.000271602339786,-0.000537215544516,-7.648933429e-05,1793239603313915648
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,680.839160865,660.160839135,633,880.839160865,785,805,651,631,653,0.448856733019,-0.0156768853621,0.0696505169513,0.999999813055,-0.000273204366018,-0.000541696179739,-7.62590279886e-05,1793239603330582016
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,680.268337348,660.731662652,633,880.268337348,785,805,651,631,653,0.448946238129,-0.0156776635333,0.0696508103467,0.999999812074,-0.00027349032922,-0.000543472215499,-7.54479613682e-05,1793239603347248640
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.316330999,745,715,680.316330999,660.683669001,633,880.316330999,785,805.316330999,651,630.683669001,653,0.449026597324,-0.015678348543,0.0696509925044,0.999999812536,-0.000273969814301,-0.000542443372949,-7.49858696222e-05,1793239603363915520
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.913281144,745,715,680.913281144,660.086718856,633,880.913281144,785,805.913281144,651,630.086718856,653,0.449098843116,-0.0156789509085,0.0696510759825,0.999999814271,-0.000274620973794,-0.000538926305731,-7.48333556518e-05,1793239603380582400
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.506770901,745,715,680.506770901,660,633,880.506770901,785,805.506770901,651,630.493229099,653,0.449154894314,-0.0156812683186,0.0696517121234,0.999999814007,-0.00027537892076,-0.000539151563088,-7.39417912224e-05,1793239603397249024
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.069604308,715,680,660,633,880.069604308,785,805.069604308,651,630.930395692,652.930395692,0.449205592833,-0.015683271546,0.0696519978419,0.999999813253,-0.000275672825201,-0.000540521534825,-7.30456155653e-05,1793239603413915648
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.641054716,715,680,660,633,880.641054716,785,805.641054716,651,630.358945284,652.358945284,0.449237543598,-0.0156809078903,0.0696490797827,0.999999811391,-0.000272490131194,-0.000545559005148,-7.30218317039e-05,1793239603430582016
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.779782138,715,680,660,633,881,784.779782138,805.779782138,651.220217862,630.220217862,652.220217862,0.44926513328,-0.0156799732136,0.0696458602894,0.999999809014,-0.000271164884096,-0.000550556007189,-7.30034213715e-05,1793239603447248640
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.18759136,715,680,660,633,881,784.18759136,805.18759136,651.81240864,630.81240864,652.81240864,0.449285356596,-0.0156814522446,0.06964213164,0.999999805796,-0.00027297707558,-0.000555484653227,-7.29940875425e-05,1793239603463915520
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714.604961136,680,660,633,881,784.395038864,805.395038864,651.604961136,631,653,0.449303025307,-0.0156824394109,0.0696406970985,0.999999805058,-0.000273162019722,-0.000556771213495,-7.26172325509e-05,1793239603480581888
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714.026763585,680,660,633,881,784.973236415,805.973236415,651.026763585,631,653,0.449319509584,-0.0156831985256,0.0696403262136,0.999999805476,-0.000272592495248,-0.000556369131105,-7.20699773782e-05,1793239603497248512
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714.549413531,680,660,633,881,785,805.450586469,651,631,653,0.449326788851,-0.0156814377558,0.0696398421678,0.999999805676,-0.000270016130712,-0.000557316080803,-7.16858484077e-05,1793239603513915392
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.128095767,745,715,680.128095767,660,633,880.871904233,785,805,651,630.871904233,653,0.449332509863,-0.0156799900505,0.0696388945668,0.999999805185,-0.000268265891116,-0.000559066939398,-7.14659096768e-05,1793239603530581760
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.716124992,745,715,680.716124992,660,633,880.283875008,785,805,651,630.283875008,653,0.449334240004,-0.0156801055448,0.0696363022706,0.999999802269,-0.000269831611208,-0.000563469178854,-7.18070758474e-05,1793239603547248640
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.700300929,745,715,680.700300929,660,633,880.299699071,784.700300929,805,651.299699071,630,653,0.449336401536,-0.0156797697246,0.069634975975,0.999999801059,-0.000270027970579,-0.000565505273599,-7.19030640789e-05,1793239603563915520
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.120884989,745,715,680.120884989,660,633,880.879115011,784.120884989,805,651.879115011,630,653,0.449338965697,-0.015679012681,0.0696348312707,0.999999801458,-0.000268946270197,-0.000565332984231,-7.17702214003e-05,1793239603580582400
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.457641035,660,633,881,784.457641035,805,651.542358965,630.457641035,653,0.449340449066,-0.0156796365159,0.0696353913694,0.99999980162,-0.000269212108318,-0.000564940203953,-7.16063058845e-05,1793239603597249280
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.035700072,745.035700072,715,681,660,633,881,784.964299928,805.035700072,651,631,653,0.449341680666,-0.0156803987309,0.0696360950051,0.999999801746,-0.000269659236134,-0.000564525901413,-7.14301051499e-05,1793239603613915392
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.610251798,745.610251798,715,681,660,633,881,784.389748202,805.610251798,651,631,653,0.449343412846,-0.0156777547396,0.0696361605626,0.99999980227,-0.00026748049914,-0.000564664138646,-7.11921204267e-05,1793239603630582016
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.815764306,745.815764306,715,680.815764306,660,633,880.815764306,784,805.815764306,651,630.815764306,653,0.449344246393,-0.0156757573336,0.069635658889,0.999999802481,-0.000265398596527,-0.000565292625521,-7.10310909906e-05,1793239603647248896
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.24297803,745.24297803,715,680.24297803,660,633,880.24297803,784,805.24297803,651,630.24297803,653,0.449343184734,-0.0156751235673,0.0696339609326,0.999999802037,-0.000263520916589,-0.000566955042231,-7.10323592426e-05,1793239603663915520
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.343394401,660,633,880,784,805,651,630,653,0.449343334845,-0.0156751128037,0.0696337094871,0.999999801866,-0.00026369973317,-0.000567186528303,-7.09172146441e-05,1793239603680582144
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.939776155,660,633,880,784,805,651,630,653,0.449344377699,-0.0156755610219,0.0696345237227,0.999999801899,-0.000265393622638,-0.000566363811699,-7.071630575e-05,1793239603697249024
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.517247667,745,715,681,660,633,880.517247667,784,805,651,630,653,0.449346054715,-0.0156751979903,0.0696352783172,0.999999802821,-0.000264240664913,-0.000565300515422,-7.05021565251e-05,1793239603713915904
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.907501723,745,715,680.907501723,660,633,881,784,805,651,630,653,0.449347119059,-0.0156750954407,0.0696355813208,0.999999803303,-0.00026346953619,-0.000564832607967,-7.03004051743e-05,1793239603730582784
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.332755633,745,715,680.332755633,660,633,881,784,805,651,630,653,0.449344617814,-0.0156768260165,0.0696335648435,0.999999800975,-0.000266356262768,-0.000567609698631,-7.01710448782e-05,1793239603747249152
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.247915407,715,680.247915407,660,633,881,784,805,651,630,652.752084593,0.449343973135,-0.015678308069,0.0696326909391,0.9999997997,-0.000268207909152,-0.000568990720354,-7.00938150484e-05,1793239603763915520
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.836733677,715,680.836733677,660,633,881,784,805,651,630,652.163266323,0.449345881378,-0.0156794483826,0.069633388161,0.999999799892,-0.000268636240022,-0.000568452039125,-7.00882686519e-05,1793239603780582144
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.420373207,745.579626793,715,680.579626793,660,633,880.579626793,784,805,651.420373207,630,652.420373207,0.449347774913,-0.0156777354129,0.0696344865279,0.999999801537,-0.000267341656443,-0.000566156032602,-7.01619803801e-05,1793239603797248768
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.998002593,745.001997407,715,680.001997407,660,633,880,784,805,651.998002593,630,653,0.449349651379,-0.0156749397132,0.0696357326421,0.999999803716,-0.000265393033404,-0.000563203083417,-7.02635968244e-05,1793239603813915392
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.4245195,745.5754805,715,680.5754805,660,633,880,784,805,651.4245195,630,653,0.449348258305,-0.015675564301,0.0696352176923,0.999999802625,-0.000265438641487,-0.000565190984922,-6.96489908547e-05,1793239603830582272
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.847677869,715,680.847677869,660,633,880,784,805,651,630,653,0.449347642363,-0.0156758103362,0.0696348992217,0.999999801922,-0.000265632768403,-0.000566373830379,-6.93958331593e-05,1793239603847248896
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.261265106,715,680.261265106,660,633,880,784,805,651,630,653,0.449349241111,-0.0156749775648,0.0696351406814,0.999999802333,-0.000266250147225,-0.000565262410796,-7.01727380332e-05,1793239603863915520
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.322187215,715,680.322187215,660,633,880.322187215,784.322187215,805,651,630.322187215,653,0.449350150883,-0.0156750730576,0.069635781031,0.999999802886,-0.000265758449841,-0.000564510935543,-7.01915345969e-05,1793239603880582400
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.903260802,715,680.903260802,660,633,880.903260802,784.903260802,805,651,630.903260802,653,0.449350507045,-0.0156759144362,0.0696367418997,0.999999803555,-0.000264375578998,-0.000564048685433,-6.96011701683e-05,1793239603897248768
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.481459219,746,715,680.518540781,660.481459219,633,881,784.518540781,804.518540781,651,630.518540781,653,0.4493500381,-0.015675166595,0.06963617023,0.99999980358,-0.000263212918871,-0.000564559385111,-6.95096192154e-05,1793239603913915648
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.941405271,745.941405271,715,680,660.941405271,633,881,784,804.058594729,651,630,653,0.449349564183,-0.0156742493245,0.0696354631291,0.999999803559,-0.000262176660245,-0.000565080536759,-6.94991556178e-05,1793239603930582016
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.368557847,745.368557847,715,680,660.368557847,633,881,784,804.631442153,651,630,653,0.449350493019,-0.0156746309276,0.0696362539236,0.999999804269,-0.000261863731815,-0.000563987865216,-6.93259432378e-05,1793239603947248640
+252,4.200000000,HOLD_POSE2,765,745,715,680,660,632,881,784,806,651,631,653,0.449350360821,-0.015672974329,0.0696351772791,0.999999803937,-0.000261571455815,-0.000564724826809,-6.92293444379e-05,1793239603986129152
+253,4.216666667,HOLD_POSE2,765.579687977,745,715,680,659.420312023,632.579687977,880.420312023,784,805.420312023,651,630.420312023,653,0.449350217659,-0.0156748562018,0.0696355660972,0.999999802652,-0.000264654751196,-0.000565573825083,-6.91323855997e-05,1793239604002796288
+254,4.233333333,HOLD_POSE2,765.84204989,745,715,680.15795011,659.15795011,633,880.15795011,784,805,651,630,652.84204989,0.449350268941,-0.0156757081189,0.0696359103286,0.999999802094,-0.000266085331624,-0.00056588132964,-6.92067946141e-05,1793239604019463424
+255,4.250000000,HOLD_POSE2,765.267547918,745,715,680.732452082,659.732452082,633,880.732452082,784,805,651,630,652.267547918,0.449350833017,-0.0156738437994,0.0696361369745,0.999999803465,-0.000263157311849,-0.000564760787177,-6.97331412351e-05,1793239604036129536
+256,4.266666667,HOLD_POSE2,765,745,715,680.69325189,660,633,881,784,805.30674811,651,630,652.30674811,0.449351928412,-0.01567316728,0.0696364561346,0.999999804458,-0.000261953019154,-0.000563557335931,-6.97641586141e-05,1793239604052795648
+257,4.283333333,HOLD_POSE2,765,745,715,680.1191354,660,633,881,784,805.8808646,651,630,652.8808646,0.449353486917,-0.0156735260732,0.069636855932,0.999999805126,-0.000262251164957,-0.000562281619639,-6.93634361332e-05,1793239604069462016
+258,4.300000000,HOLD_POSE2,765,745,714.529292657,680,660,633,881,784,805.529292657,651,630.470707343,653,0.449352650789,-0.0156735763994,0.0696358624518,0.999999803955,-0.000263277341954,-0.000563877970939,-6.94079188617e-05,1793239604086128640
+259,4.316666667,HOLD_POSE2,765.062838725,745,714.062838725,680,660,633,881,784,805.062838725,651,631,653,0.449351244933,-0.0156734768404,0.0696346708187,0.999999802466,-0.000264197468083,-0.000566068376327,-6.95249939424e-05,1793239604102795264
+260,4.333333333,HOLD_POSE2,765.639998303,745,714.639998303,680,660,633,881,784,805.639998303,651,631,653,0.449350308067,-0.0156728115985,0.0696348433631,0.999999802372,-0.000262689305655,-0.000566965685738,-6.92820759004e-05,1793239604119462400
+261,4.350000000,HOLD_POSE2,765.784208621,745.215791379,715,680,660,633,880.784208621,784,805.784208621,651,630.784208621,652.784208621,0.449350579572,-0.0156728481558,0.0696354652185,0.99999980284,-0.000262048457723,-0.000566473019653,-6.89899807161e-05,1793239604136129280
+262,4.366666667,HOLD_POSE2,765.210680973,745.789319027,715,680,660,633,880.210680973,784,805.210680973,651,630.210680973,652.210680973,0.449352854297,-0.015674048147,0.0696368319363,0.999999804237,-0.000262845433142,-0.00056367606936,-6.86163603003e-05,1793239604152796160
+263,4.383333333,HOLD_POSE2,765,745.627452311,715,680,659.627452311,633,880.372547689,784.372547689,805,651,630.372547689,652.372547689,0.449353496215,-0.0156736783192,0.0696370134671,0.999999804478,-0.000262708427576,-0.000563296543667,-6.87333898526e-05,1793239604169462528
+264,4.400000000,HOLD_POSE2,765,745.038590858,715,680,659.038590858,633,880.961409142,784.961409142,805,651,630.961409142,652.961409142,0.44935319007,-0.0156723970018,0.0696365068386,0.999999804052,-0.0002620291212,-0.000564320656028,-6.9135307302e-05,1793239604186128896
+265,4.416666667,HOLD_POSE2,765.541679422,745.541679422,715,680.541679422,659.541679422,633,881,784.458320578,805,651,630.458320578,653,0.449353180345,-0.0156734697592,0.0696355278081,0.999999803753,-0.000261954456229,-0.000564888913358,-6.90994883898e-05,1793239604202795520
+266,4.433333333,HOLD_POSE2,765.879195079,745.879195079,715,681,660,633,881,784,805,651,630.120804921,653,0.449352978101,-0.0156741409459,0.069634754016,0.999999803366,-0.000262001838757,-0.000565549084333,-6.91119876284e-05,1793239604219462144
+267,4.450000000,HOLD_POSE2,765.302117561,745.302117561,715,681,660,633,881,784,805,651,630.697882439,653,0.449351970208,-0.0156726718807,0.0696348805257,0.999999802615,-0.000262350030076,-0.000566677154048,-6.94229287361e-05,1793239604236128768
+268,4.466666667,HOLD_POSE2,765,745.273651694,715,680.726348306,660.273651694,633,881,784,805,651.273651694,631,653,0.449351830046,-0.0156719077804,0.0696354872505,0.999999802875,-0.00026190094555,-0.000566419228955,-6.94770658852e-05,1793239604252795392
+269,4.483333333,HOLD_POSE2,765,745.847983434,715,680.152016566,660.847983434,633,881,784,805,651.847983434,631,653,0.449352643319,-0.0156719182739,0.0696366216208,0.999999804244,-0.000260575838884,-0.000564638415426,-6.92490347424e-05,1793239604269462272
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633,881,784,805,651,631,653,0.4493532894,-0.0156739643292,0.069636416364,0.999999803849,-0.000263284874912,-0.00056411128245,-6.90071046398e-05,1793239604302085632
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633,880.422765487,784,805,651,631,652.422765487,0.449354062292,-0.0156735718177,0.0696368450536,0.999999804266,-0.000263301426188,-0.000563392924034,-6.87708071164e-05,1793239604318752512
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.154295785,745,715,681,660,633,880.154295785,784,805,651,631,652.154295785,0.449354602607,-0.0156729020325,0.069636969992,0.999999804574,-0.000262812679821,-0.000563079157625,-6.87271992721e-05,1793239604335419136
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.730883045,745,715,681,660,633,880.730883045,784,805,651,631,652.730883045,0.449354506386,-0.015671473378,0.0696362635951,0.999999804584,-0.0002609409865,-0.000563872717188,-6.92109629316e-05,1793239604352084736
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.687910102,745,714.687910102,681,660,633,881,784,805,651,631,653,0.449354462149,-0.0156710692524,0.0696359483523,0.999999804491,-0.000260441897964,-0.000564226354732,-6.95419854946e-05,1793239604368750848
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.102659931,745,714.102659931,681,660,633,881,784,805,651,631,653,0.449354463411,-0.0156715618575,0.0696359754716,0.999999804312,-0.000261144197667,-0.000564194945422,-6.97393196275e-05,1793239604385417472
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.478035535,714.478035535,680.521964465,660,633,881,784,805,651,630.521964465,653,0.449353219427,-0.0156728546306,0.0696351998685,0.999999803247,-0.000263907971268,-0.000564849389432,-6.93035895979e-05,1793239604402084352
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.942506522,715,680.057493478,659.942506522,633,880.942506522,784,805,651,630,653,0.449351881394,-0.0156740518154,0.0696343843062,0.999999802214,-0.000266459130278,-0.000565544136242,-6.87810172556e-05,1793239604418750976
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.365475869,715,680.634524131,659.365475869,633,880.365475869,784,805,651,630,653,0.449352087231,-0.0156728470611,0.0696347507243,0.99999980325,-0.000263126242558,-0.000565284663803,-6.86906356231e-05,1793239604435417856
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.788561291,659.211438709,633,880.211438709,784,805,651,630,653,0.449345616174,-0.0156715830042,0.0696317176773,0.999999800982,-0.000260900407543,-0.000570262726017,-6.90435080252e-05,1793239604452084736
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.211847299,659.788152701,633,880.788152701,784,805,651,630,653,0.449327610311,-0.0156702164979,0.0696228118143,0.999999792889,-0.000260587084474,-0.000584288998727,-7.0162133038e-05,1793239604468751104
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.372424977,745,715,680.372424977,660,633,880.627575023,784,805,651,630.372424977,653,0.449294633832,-0.0156684898016,0.0696082312237,0.999999777936,-0.000260835920655,-0.000609125029711,-7.11312570459e-05,1793239604485417472
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.961085767,745,715,680.961085767,660,633,880.038914233,784,805,651,630.961085767,653,0.449252965174,-0.0156665539733,0.069590355796,0.999999758287,-0.000261411155142,-0.00064023737766,-7.20135784688e-05,1793239604502084096
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.458361684,745,715,681,660.541638316,633,880.541638316,784,805,651,630.458361684,653,0.449183269559,-0.0156625461114,0.0695700219337,0.999999734779,-0.000257494544893,-0.00067737060602,-7.28546178031e-05,1793239604518750720
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.119957084,715,680.880042916,660.880042916,633,881,784,805,651,630,653,0.449109847375,-0.0156585079357,0.0695516527521,0.999999713153,-0.000253768024665,-0.000709852942081,-7.35140846118e-05,1793239604535417344
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.692020278,715,680.307979722,660.307979722,633,881,784,805,651,630,653,0.449029857262,-0.0156549082958,0.0695413441194,0.999999704049,-0.000251956288514,-0.000723200272542,-7.35002369254e-05,1793239604552084224
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.727688006,715,680,660,633,881,784,805,651,630.272311994,652.727688006,0.448945898082,-0.0156515877366,0.0695359347526,0.999999699186,-0.000251858173036,-0.000729989022218,-7.28769035041e-05,1793239604568751360
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.13780005,715,680,660,633,881,784,805,651,630.86219995,652.13780005,0.448857310097,-0.0156485926471,0.069536239013,0.99999969943,-0.0002537585181,-0.000729129016647,-7.15427750393e-05,1793239604585418496
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.443807032,715,680,659.556192968,633,881,784,805,651,631,652.443807032,0.448745520055,-0.0156417283901,0.0695362662544,0.999999700279,-0.000249553051728,-0.000729609093868,-6.953328969e-05,1793239604602085120
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.977106164,715,680,659.022893836,633,880.977106164,784,805,651,631,653,0.448625218001,-0.0156337944113,0.0695361365348,0.999999701143,-0.000243693133456,-0.00073061340454,-6.73157538204e-05,1793239604618751744
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.397926832,715,680,659.602073168,633,880.397926832,784,805,651,631,653,0.448469930026,-0.0156285243139,0.0695342446059,0.999999698701,-0.000242854465649,-0.000734430639314,-6.50448508817e-05,1793239604635418368
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.179344097,715,680,660,633,880.179344097,784.179344097,805,651.179344097,631,653,0.448306115131,-0.0156219381353,0.0695321259741,0.999999695864,-0.00023996528062,-0.000739436935391,-6.26205270325e-05,1793239604652084736
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.75242519,715,680,660,633,880.75242519,784.75242519,805,651.75242519,631,653,0.448123580021,-0.0156124625963,0.0695295096327,0.999999692118,-0.000232574333405,-0.00074705372905,-5.9859378965e-05,1793239604668751104
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.664331069,715,680,660,633.335668931,881,785,805,651.664331069,630.664331069,653,0.44792708101,-0.0156034993975,0.069529573986,0.999999692088,-0.000225065186505,-0.000749627441156,-5.68127748849e-05,1793239604685417728
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.073357721,715,680,660,633.926642279,881,785,805,651.073357721,630.073357721,653,0.44771996126,-0.0155949258755,0.0695316772326,0.999999694895,-0.000217466138038,-0.000748365466952,-5.35490572387e-05,1793239604702084608
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.507138005,633.492861995,881.507138005,785,805,651,630,653,0.447472758259,-0.0155820377626,0.0695332036523,0.999999697223,-0.000202340233821,-0.000749796497185,-4.9162182954e-05,1793239604718751232
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.914600789,633,881.914600789,785,805,651,630.085399211,653,0.447213973405,-0.0155687965791,0.0695349712788,0.999999700144,-0.00018603207055,-0.000750416884365,-4.44720260024e-05,1793239604735418368
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.340627886,633,881.340627886,785,805,651,630.659372114,653,0.446921427586,-0.0155570337315,0.0695385865557,0.999999708021,-0.000169062918146,-0.000744216045953,-3.89574274279e-05,1793239604752084736
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,633,881,785,804.765316698,651,631,653,0.4466143131,-0.0155455612095,0.0695411686344,0.999999716936,-0.000142050544494,-0.000738118950842,-3.36013367427e-05,1793239604768751104
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,633,881,785,804.18805197,651,631,653,0.446285931869,-0.0155345124943,0.069542242491,0.999999726518,-0.000100377473517,-0.000732173295857,-2.8476629924e-05,1793239604785417472
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.396718959,745.396718959,715,680,660,633.396718959,880.603281041,785,804.396718959,651,631,653,0.445952030464,-0.0155239010908,0.0695527562755,0.999999742972,-7.58906718376e-05,-0.000712593194597,-2.25431429821e-05,1793239604802084352
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.985116565,745.985116565,715,680,660,633.985116565,880.014883435,785,804.985116565,651,631,653,0.445615461944,-0.0155135009791,0.0695678310535,0.999999762496,-5.97075855952e-05,-0.000686425477158,-1.62188861518e-05,1793239604818750976
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.434806005,745.434806005,715,680,660,634,880.565193995,785.565193995,805,651.565193995,631,653,0.445222397301,-0.01551637168,0.0695835201498,0.999999781741,-5.53274715139e-05,-0.000658294537258,-1.02870581183e-05,1793239604835417600
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,634,881,786,805.143981489,651.856018511,631,652.856018511,0.444809274774,-0.0155190837405,0.0695968692438,0.999999796679,-5.05672625159e-05,-0.000635654596967,-5.28812097836e-06,1793239604852084224
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,634,881,786,805.719549497,651.280450503,631,652.280450503,0.444340423331,-0.0155202879458,0.0696031563578,0.999999800823,-4.37495688605e-05,-0.000629626728992,-3.0550116292e-06,1793239604868751360
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.300681854,715,680,660.300681854,634,881,786,805.699318146,651,631,652.300681854,0.443862100427,-0.0155157809106,0.0696107023296,0.999999807183,-4.3524358541e-05,-0.000619458311887,-3.405052276e-06,1793239604885418496
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.887102086,715,680,660.887102086,634,881,786,805.112897914,651,631,652.887102086,0.443374776726,-0.0155058464761,0.0696194445965,0.999999815525,-4.95639933537e-05,-0.000605355124498,-6.20986363695e-06,1793239604902085120
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.531933913,714.531933913,680,661,634.468066087,881,786,805,651,631,653,0.442853904426,-0.0154951345132,0.0696355087199,0.999999829067,-2.88123140841e-05,-0.000583976891558,-2.44205445793e-06,1793239604918751488
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.047521583,745,714.047521583,680,661,635,881,786.047521583,805,651,631,653,0.442322984627,-0.0154844193368,0.0696540811321,0.999999843815,-2.92626670554e-06,-0.000558885919391,2.66135862348e-06,1793239604935417856
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.624663588,745,714.624663588,680,661,635,881,786.624663588,805,651,631,653,0.441769230993,-0.0154757343642,0.0696811526191,0.999999869003,8.99244186737e-06,-0.000511748083929,5.18529885405e-06,1793239604952084224
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.799807053,745,715,680,661,635,880.799807053,787,805,651,631,653,0.441204187918,-0.0154682824965,0.0697109290617,0.999999894767,2.14558007947e-05,-0.000458194009486,7.9353637048e-06,1793239604968750848
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.227277074,745,715,680,661,635,880.227277074,787,805,651,631,653,0.440618147749,-0.0154631240696,0.0697457364248,0.999999922219,3.49321492067e-05,-0.000392706434068,1.11059955163e-05,1793239604985417728
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.357329335,745,715,680,661,635,880,787,805,651,631,653,0.440001079617,-0.01545722984,0.0697700608939,0.99999993682,4.76927704342e-05,-0.00035197061025,1.42173540869e-05,1793239605002084608
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.949885532,745,715,680,661,635,880,787,805,651,631,653,0.439363586064,-0.015450851238,0.0697874845617,0.999999944414,5.99822340616e-05,-0.000327528657226,1.72896934787e-05,1793239605018751744
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.530590419,661.530590419,635,880.530590419,787.530590419,804.469409581,651,631.530590419,653,0.438632788514,-0.0154257442746,0.0697604789532,0.999999927657,8.3122583939e-05,-0.000371046276588,1.00827097927e-05,1793239605035418368
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.890701401,661.890701401,635,881,787.890701401,804.109298599,651,631.890701401,653,0.43789766058,-0.0153993807338,0.0697347302099,0.999999910191,0.000107475507437,-0.00040995008302,2.72288455631e-06,1793239605052084992
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.315834702,661.315834702,635,881,787.315834702,804.684165298,651,631.315834702,653,0.437180805151,-0.0153750348716,0.0697318195014,0.999999910206,0.000132723344179,-0.000402456710728,-1.24275234941e-06,1793239605068751104
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.264453565,635,881.264453565,787,804.735546435,651,631.264453565,652.735546435,0.436458314883,-0.0153644992381,0.0697492232437,0.99999992082,0.000145388292965,-0.00037043430162,-6.35178466189e-07,1793239605085417728
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.851352364,635,881.851352364,787,804.148647636,651,631.851352364,652.148647636,0.435728954022,-0.0153708022568,0.0697913961649,0.999999942214,0.000142711072166,-0.00030850391419,5.54845896208e-06,1793239605102084352
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.567119731,635,881.134239463,787,804.432880269,651,631.567119731,652.432880269,0.434959133997,-0.0153797537796,0.0698211940803,0.999999953074,0.00013934838705,-0.00027263637444,1.02086053389e-05,1793239605118750720
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,744.987453192,715,680,661,635,880,787,805,651,631.012546808,653,0.434174696455,-0.0153893317937,0.0698460505932,0.99999996027,0.000135931089615,-0.00024653613576,1.42393810288e-05,1793239605135417600
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,744.409571353,715,680,661,635,880,787,805,651,631.590428647,653,0.433349955447,-0.0153866613423,0.0698373838452,0.999999955661,0.0001405289809,-0.000262214067537,1.31953939202e-05,1793239605152084480
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,744.167876589,715,680,661,635,880.167876589,787.167876589,805,651,632,653,0.432519954075,-0.0153835600313,0.0698311937726,0.99999995232,0.000145871416895,-0.00027187588899,1.28128732384e-05,1793239605168751360
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,744.744268637,715,680,661,635,880.744268637,787.744268637,805,651,632,653,0.43167715204,-0.015379410255,0.0698310305096,0.999999952576,0.000153025648055,-0.000266897943027,1.40399830316e-05,1793239605185417984
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.326937828,635,881,788,805,651,631.673062172,653,0.430784917103,-0.0153736756648,0.0698004085809,0.999999935928,0.000164020437589,-0.00031792925964,1.27327796909e-05,1793239605202084608
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.9146131,635,881,788,805,651,631.0853869,653,0.429853258784,-0.0153666771638,0.0697454954448,0.999999898555,0.00017807812408,-0.000413628736598,9.40442638559e-06,1793239605218750976
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,744.50499845,715,680,661.50499845,635.49500155,880.50499845,787.50499845,804.50499845,651.49500155,631,653,0.428986211954,-0.0153694071785,0.0697385652858,0.999999898445,0.000173446108433,-0.000415880400845,8.33913801668e-06,1793239605235417600
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,744.073692724,715,680,661,635.926307276,880,787,804,652,631.073692724,653,0.428136157031,-0.0153740789225,0.0697483194039,0.999999909423,0.000166323781175,-0.000391683144313,8.67958477975e-06,1793239605252083968
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,744.649260753,715,680,661,635.350739247,880,787,804,652,631.649260753,653,0.427327020807,-0.0153807115278,0.0698161481602,0.99999994277,0.000163879223494,-0.000295546589528,1.59735888097e-05,1793239605268750592
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.770675481,661.229324519,635.229324519,880,787.229324519,804,652,631.770675481,653,0.426492059618,-0.0153845735081,0.0698618796798,0.999999959635,0.00016357951349,-0.00023133805801,2.1310480526e-05,1793239605285417472
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.183598147,661.816401853,635.816401853,880,787.816401853,804,652,631.183598147,653,0.425616810622,-0.0153841132352,0.0698731388881,0.999999962308,0.000166625828769,-0.000216938145238,2.35942223247e-05,1793239605302084352
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.397872907,662,636,880,788,804,651.602127093,631,653,0.424725354697,-0.0153824055308,0.0698584791944,0.999999956564,0.000170592532674,-0.000239312329796,2.23755311575e-05,1793239605318750976
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.976792858,662,636,880,788,804,651.023207142,631,653,0.423826524064,-0.0153801301985,0.0698320254307,0.999999945741,0.000174978047413,-0.00027842010378,1.95631019086e-05,1793239605335417856
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.445082449,661.445082449,635.445082449,879.445082449,788,804.554917551,651.554917551,631.554917551,653,0.422876814453,-0.0153753560921,0.0697842122726,0.999999918405,0.000176935342455,-0.000362819680733,1.57028692216e-05,1793239605352084480
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.867627581,745,715,679,661,635,879.264744839,788,805,651.867627581,632,653,0.421939062203,-0.0153711096895,0.0697400231937,0.99999988741,0.000178818332,-0.000439383923047,1.21007886177e-05,1793239605368751104
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.292303013,745,715,679,661,635,880.415393974,788,805,651.292303013,632,653,0.421048432396,-0.0153689783067,0.0697109460479,0.999999866774,0.00018079200683,-0.000483399904413,9.50897514072e-06,1793239605385417728
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.289653355,745,715,679,661.289653355,635,880.710346645,788,804.710346645,651.289653355,632,653,0.420216086741,-0.0153711365536,0.0697314100881,0.999999884137,0.000178808140498,-0.000446803466268,1.09247992282e-05,1793239605402084352
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.878458971,745,715,679,661.878458971,635,880.121541029,788,804.121541029,651.878458971,632,653,0.419443936666,-0.0153777251047,0.0698030399722,0.999999931497,0.000172736947418,-0.000326950993895,1.6479687613e-05,1793239605418751232
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.540267084,635,880.459732916,788,804.459732916,651.540267084,631.540267084,653,0.418661621159,-0.0153776892072,0.0698554543751,0.999999954026,0.000181785008431,-0.000241649377168,2.25547689093e-05,1793239605435418112
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715.038753388,679,661,635,880.961246612,788,805,651.038753388,631,653,0.417872181489,-0.0153757518527,0.0698974997453,0.999999965489,0.000194450323261,-0.000174407746979,2.81526140989e-05,1793239605452084736
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715.613699967,679,661,635,880.386300033,788,805,651.613699967,631,653,0.417020757016,-0.0153713467068,0.0698652336714,0.999999952052,0.000202751159383,-0.000232699179256,2.52752684127e-05,1793239605468751616
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715.810874676,679,661,635,880,788,804.810874676,652,631.189125324,653,0.416183524979,-0.0153679127365,0.0698341320256,0.999999938506,0.00020850305252,-0.000281104372748,2.22599439914e-05,1793239605485418240
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715.234468799,679,661,635,880,788,804.234468799,652,631.765531201,653,0.415375355284,-0.0153664674861,0.0698054148262,0.99999993015,0.000209035361448,-0.000309265076031,1.89620738304e-05,1793239605502084864
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.348518548,635.348518548,880,788,804.348518548,651.651481452,632,653,0.414553641054,-0.0153644905021,0.0697775134675,0.999999914519,0.000210835197681,-0.000355293084669,1.66540757161e-05,1793239605518751232
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.936018821,635.936018821,880,788,804.936018821,651.063981179,632,653,0.413722639285,-0.0153621489046,0.0697501715384,0.999999891574,0.000213504186169,-0.000413572833197,1.50248402879e-05,1793239605535417600
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.482522701,745,715,679,661.482522701,636,880,788,804.482522701,651.517477299,631.482522701,653,0.413010094944,-0.0153620547881,0.0697680406406,0.999999904443,0.000215331843629,-0.000380100196367,1.64054713134e-05,1793239605552084224
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.902747196,661,635.902747196,880,787.902747196,804,652,631.097252804,653,0.412324449186,-0.0153633785736,0.0697968559804,0.999999923257,0.000214683735126,-0.000327186159188,1.86115661347e-05,1793239605568750848
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.3276132,661,635.3276132,880,787.3276132,804,652,631.6723868,653,0.411699840103,-0.0153703199621,0.0698523082266,0.999999951915,0.000202375446834,-0.000233841315291,2.30663012136e-05,1793239605585417728
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.24713735,744.75286265,715,678.24713735,661,635,880,787.24713735,804,652,631.75286265,653,0.411060244503,-0.0153729014411,0.0698839994498,0.999999962763,0.000201598539112,-0.000182130868058,2.56952154433e-05,1793239605602084608
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.821380334,744.178619666,715,678.821380334,661,635,880,787.821380334,804,652,631.178619666,653,0.410400813124,-0.015369712238,0.069884241094,0.999999959108,0.000216084319295,-0.000185526814228,2.5907512677e-05,1793239605618751488
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,744.407698852,715,679,661,635.407698852,879.592301148,788,804,652,631.407698852,653,0.409724682749,-0.0153648939488,0.0698554005723,0.999999948092,0.000219217748643,-0.000235064765488,2.24741532247e-05,1793239605635418112
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,744.999469395,715,679,661,635.999469395,879.000530605,788,804,652,631.999469395,653,0.409041012897,-0.0153593401443,0.0698134297625,0.99999992961,0.000217225712795,-0.000305435340152,1.73948185147e-05,1793239605652084736
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.422177035,879,788,804,652,631.422177035,653,0.4084335432,-0.0153572183223,0.0697896479192,0.999999915461,0.000224229444344,-0.000344338123888,1.51933256749e-05,1793239605668751104
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.844705931,745,715,679,661,635.155294069,879.155294069,788,804,652,631.155294069,653,0.40784950688,-0.0153562742422,0.0697768929587,0.999999907615,0.000228391007293,-0.000363892291796,1.37593981072e-05,1793239605685417728
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.269587818,745,715,679,661,635.730412182,879.730412182,788,804,652,631.730412182,653,0.407328635655,-0.0153585057584,0.0697939040848,0.999999919766,0.000224847190959,-0.00033121551066,1.43935341205e-05,1793239605702084608
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.312733673,745,715,678.687266327,661.312733673,636,880,788,804,652,632,653,0.406827248587,-0.0153600178487,0.0698081374327,0.999999927371,0.000221245146351,-0.000309947888453,1.55178196552e-05,1793239605718751232
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.901411102,745,715,678.098588898,661.901411102,636,880,788,804,652,632,653,0.406343053595,-0.0153608951461,0.0698199197784,0.999999931556,0.000217591723775,-0.000298747256561,1.70745936075e-05,1793239605735418368
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.517773991,745,715,678.482226009,662,636,880,787.517773991,804,652,632,653,0.405853954622,-0.0153592550809,0.0698150083744,0.999999925638,0.000224621336551,-0.000313039468757,1.6572601262e-05,1793239605752084736
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.061176226,745,715,679,661.938823774,636,880,787.061176226,804,652,632,653,0.405374434244,-0.0153574248902,0.0698085596629,0.999999919101,0.000231776881554,-0.000328372053233,1.57686989755e-05,1793239605768751616
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.637742108,745,715,679,661.362257892,636,880,787.637742108,804,652,632,653,0.404983921416,-0.0153582592621,0.0698174514267,0.999999927434,0.00022188825584,-0.00030926535312,1.59104053637e-05,1793239605785417984
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.786689936,745,715,678.786689936,661,635.786689936,879.786689936,788,803.786689936,652,632,653,0.404608965059,-0.0153589498776,0.0698274182491,0.999999934694,0.000216493824829,-0.000288928802258,1.6225855257e-05,1793239605802084352
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.212808894,745,715,678.212808894,661,635.212808894,879.212808894,788,803.212808894,652,632,653,0.404260304793,-0.0153593974924,0.0698392023078,0.99999994043,0.000218696205602,-0.000266513361887,1.68349943565e-05,1793239605818750976
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.372501217,661,635,879.372501217,788,803.372501217,652,631.627498783,653,0.403932758718,-0.0153612227007,0.069849337613,0.999999945231,0.000219668340765,-0.000246962351723,1.71176962777e-05,1793239605835417600
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.964547455,661,635,879.964547455,788,803.964547455,652,631.035452545,653,0.403617656905,-0.0153638598359,0.0698585011758,0.999999949427,0.000219915393133,-0.000229099579234,1.72080024897e-05,1793239605852084224
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.542232418,745,715,679,661.542232418,635,880,788,804.542232418,652,631.542232418,653,0.403304851627,-0.0153600772865,0.0698478955748,0.999999944959,0.00021950583055,-0.000248296894883,1.57710201738e-05,1793239605868751104
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715.118219208,679,661.881780792,635.118219208,879.881780792,788,804.881780792,652,632,653,0.40300383869,-0.0153561352461,0.0698372975792,0.999999939773,0.000220722821476,-0.000267444616722,1.44162723612e-05,1793239605885417984
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715.691192573,679,661.308807427,635.691192573,879.308807427,788,804.308807427,652,632,653,0.402747624602,-0.0153531526273,0.0698315726344,0.999999935378,0.000228357562861,-0.000277321188543,1.37520688041e-05,1793239605902084608
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.726785086,745,715.726785086,678.726785086,661.273214914,636,879.273214914,788.273214914,804,652,632,653,0.402509173763,-0.015350743012,0.0698258299907,0.999999930686,0.000236092969586,-0.000287604157938,1.3118610409e-05,1793239605918751488
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.134184616,745,715.134184616,678.134184616,661.865815384,636,879.865815384,788.865815384,804,652,632,653,0.402291488005,-0.0153490032322,0.0698200666575,0.999999925657,0.000243946052649,-0.000298362201524,1.25210928469e-05,1793239605935418112
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.551864811,715,678.448135189,661.551864811,635.551864811,880,788.551864811,804,652,631.551864811,653,0.402098373039,-0.0153475388759,0.0698151208133,0.999999923045,0.000244391109995,-0.000306655885658,1.20153856731e-05,1793239605952084480
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.027256127,744.027256127,715,678.972743873,661,635,879.972743873,788,804,652,631.027256127,653,0.401913982449,-0.0153462423292,0.0698106244104,0.999999921254,0.00024245008907,-0.00031396865905,1.15406182496e-05,1793239605968750848
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.602565343,744.602565343,715,678.397434657,661,635,879.397434657,788,804,652,631.602565343,653,0.401760399905,-0.0153466989411,0.0698103536258,0.999999922111,0.000236132718209,-0.000316062349469,1.11475995961e-05,1793239605985417728
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.821915866,745,715,678.178084134,661,635.178084134,879,788,804,652,632,652.821915866,0.401619334668,-0.0153468964308,0.0698105230635,0.999999923145,0.000231683600279,-0.000316097688217,1.06808811708e-05,1793239606002084352
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.24592889,745,715,678.75407111,661,635.75407111,879,788,804,652,632,652.24592889,0.401506237536,-0.0153465149497,0.0698116761135,0.999999924648,0.000231408820008,-0.000311533942188,1.00494914826e-05,1793239606018750976
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.338428221,745,715.338428221,679,661,636,879.338428221,788,804,652,631.661571779,652.338428221,0.401409219065,-0.0153472929093,0.0698124096707,0.99999992686,0.000228015002023,-0.000306935368656,8.96248670048e-06,1793239606035417856
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.929022046,745,715.929022046,679,661,636,879.929022046,788,804,652,631.070977954,652.929022046,0.401324180923,-0.0153489347775,0.0698128306605,0.999999929568,0.000222297163778,-0.000302310844382,7.53599936109e-06,1793239606052084736
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715.491183217,678.491183217,661,636,879.491183217,788,804,652,631.508816783,653,0.401251194062,-0.0153478634641,0.0698137921699,0.99999992819,0.00022790534329,-0.000302702837217,7.11231524832e-06,1793239606068751360
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.086529125,661,636,879.086529125,788,804,652,631.913470875,653,0.401182444942,-0.0153466038581,0.0698143075006,0.999999926291,0.000234327911582,-0.000304075387018,6.88191860118e-06,1793239606085417984
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.660818528,661,636,879.660818528,788,804,652,631.339181472,653,0.401128304349,-0.0153463719781,0.0698118915505,0.999999924822,0.000236620228408,-0.00030711261816,6.96892482014e-06,1793239606102084352
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,744.765683531,715,678.765683531,661,636,879.765683531,788,804,652.234316469,631.234316469,653,0.401083556596,-0.0153462826785,0.0698105986542,0.999999924142,0.000238349349423,-0.00030798555054,7.05368992546e-06,1793239606118750720
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,744.193327438,715,678.193327438,661,636,879.193327438,788,804,652.806672562,631.806672562,653,0.401052359546,-0.0153463990744,0.0698109259459,0.999999924613,0.000239265968732,-0.000305736129713,7.13522185464e-06,1793239606135417344
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,744.395362068,715,678.395362068,661,636,879.395362068,788,804.395362068,652.604637932,631.604637932,653,0.401027292369,-0.0153477045624,0.0698110065994,0.999999925187,0.000237489887835,-0.000305237843948,7.39011784786e-06,1793239606152084224
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,744.99238258,715,678.99238258,661,636,879.99238258,788,804.99238258,652.00761742,631.00761742,653,0.401005351797,-0.0153496165588,0.0698109614526,0.999999925807,0.000234340367779,-0.000305632742502,7.73343994281e-06,1793239606168750848
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.431516648,661,636,880,788,804.431516648,652,631,653,0.400993794487,-0.0153495051604,0.0698132728207,0.999999926221,0.000236819140512,-0.000302341127422,8.0013304302e-06,1793239606185417984
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.143917097,661.143917097,636,879.856082903,788,804,652,631.143917097,653,0.400984129887,-0.0153495569102,0.0698155959675,0.999999926897,0.000238743330868,-0.00029856341055,8.19257927226e-06,1793239606202084864
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.718164671,661.718164671,636,879.281835329,788,804,652,631.718164671,653,0.40097972348,-0.0153501746868,0.0698178632674,0.999999928392,0.000238791747396,-0.000293474650601,8.15757477135e-06,1793239606218751488
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.700313542,745,715,678.700313542,661.700313542,636,879,788,804,652,631.700313542,653,0.400976154914,-0.0153501641282,0.0698190981847,0.999999929091,0.000239019811037,-0.000290895310438,8.16090414581e-06,1793239606235418112
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.111780591,745,715,678.111780591,661.111780591,636,879,788,804,652,631.111780591,653,0.400973393883,-0.0153495479619,0.069819338062,0.999999929042,0.000239421023782,-0.000290734621197,8.20118081633e-06,1793239606252084480
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.469518144,745,715,678.469518144,661,636,879.469518144,788,804.469518144,652,631,653,0.400971255955,-0.0153502684759,0.0698194218878,0.999999929342,0.000238025408146,-0.000290851207978,8.14686517383e-06,1793239606268751104
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.95101343,880,788,804.95101343,652,631,653,0.400969431196,-0.01535131723,0.0698195780831,0.999999929743,0.000236322541687,-0.000290860031429,8.08568217216e-06,1793239606285417728
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.372993424,880,788,804.372993424,652,631,653,0.400969410787,-0.0153525262353,0.0698209109741,0.999999930392,0.000235851236461,-0.000289002969778,8.18985117944e-06,1793239606302084352
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715.207238445,679,661.207238445,635.207238445,880,788,804,652,631.207238445,653,0.400969204983,-0.0153529584703,0.0698217989793,0.999999930821,0.000235584003735,-0.000287735248052,8.09966668382e-06,1793239606318750976
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715.791494199,679,661.791494199,635.791494199,880,788,804,652,631.791494199,653,0.4009686619,-0.0153519775704,0.0698218776285,0.999999930857,0.000235688028713,-0.000287539679589,7.65590572868e-06,1793239606335418624
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.627312856,745,716,679,661.627312856,636,879.627312856,788,804,652,631.627312856,653,0.400968145768,-0.0153520215321,0.0698218635047,0.999999930853,0.000235626519858,-0.000287606375127,7.55346150337e-06,1793239606352085248
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.047819501,745,716,679,661.047819501,636,879.047819501,788,804,652,631.047819501,653,0.400967644592,-0.0153526341954,0.0698217979005,0.999999930827,0.000235473155335,-0.000287818602452,7.64041588407e-06,1793239606368751616
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715.469555577,678.469555577,661,636,879,787.469555577,804.530444423,652,631.530444423,653,0.400967396419,-0.0153525189399,0.0698217024716,0.99999993084,0.000235364403178,-0.000287864543176,7.55768471709e-06,1793239606385417984
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.108248304,745,715,678,661,635.891751696,879,787.108248304,804.783503392,652,631.891751696,653,0.400967396372,-0.0153523367044,0.0698219098765,0.999999930897,0.000235528626411,-0.000287535462352,7.4932772029e-06,1793239606402084608
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.684540995,745,715,678,661,635.315459005,879,787.684540995,803.63091801,652,631.315459005,653,0.400968370779,-0.0153521479401,0.069823438274,0.999999931123,0.00023685579233,-0.00028564952911,7.57408643402e-06,1793239606418750976
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.259653451,661.259653451,635.259653451,879.259653451,788,803.259653451,652,631,653,0.400968665483,-0.0153528433971,0.0698239123195,0.999999931401,0.00023647090308,-0.000284993002567,7.66277409295e-06,1793239606435417600
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.833338577,661.833338577,635.833338577,879.833338577,788,803.833338577,652,631,653,0.400968138134,-0.0153546082544,0.0698231112045,0.999999931741,0.000234015409712,-0.00028582335239,7.76099013925e-06,1793239606452084224
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715.421329411,679,661.578670589,635.578670589,880,788,804,652,631.421329411,653,0.400968182303,-0.0153541837401,0.0698231978053,0.999999931724,0.000234135946254,-0.000285788085749,7.64469349309e-06,1793239606468751104
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,744.985347005,716,679,661.014652995,635.014652995,880,788.014652995,804,652,631.985347005,653,0.400968433824,-0.0153529251519,0.0698236231499,0.999999931571,0.00023525053635,-0.000285413102987,7.44763119732e-06,1793239606485417984
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,744.412034971,716,679,661.587965029,635.587965029,880,788.587965029,804,652,631.412034971,653,0.400967668744,-0.0153540453996,0.0698231051301,0.999999931799,0.000234049469615,-0.000285599423771,7.52009993079e-06,1793239606502084864
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.837523541,744.162476459,715.837523541,678.837523541,661.837523541,636,879.837523541,788.837523541,803.837523541,652,631,653,0.400967489972,-0.0153547402252,0.0698230767467,0.999999932065,0.000233420765472,-0.00028517993826,7.59595104517e-06,1793239606518751488
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.259947898,744.740052102,715.259947898,678.259947898,661.259947898,636,879.259947898,788.259947898,803.259947898,652,631,653,0.400968809113,-0.0153543481713,0.0698242992997,0.999999932428,0.000234254348583,-0.000283212722686,7.68044355198e-06,1793239606535417600
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.323420004,745,715.323420004,678.323420004,661,635.676579996,879.323420004,788,803.323420004,652,631.323420004,652.676579996,0.40096976171,-0.0153547168403,0.0698250377301,0.99999993281,0.000233780735672,-0.000282251371701,7.8112259434e-06,1793239606552084224
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.911528285,745,715.911528285,678.911528285,661,635.088471715,879.911528285,788,803.911528285,652,631.911528285,652.088471715,0.400970414326,-0.0153557080881,0.0698253799525,0.999999933207,0.000232237308057,-0.00028211322458,7.97989216494e-06,1793239606568750848
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.506203741,679,661.493796259,635.493796259,879.506203741,788,804,652,632,652.493796259,0.40096950919,-0.015356003457,0.0698255009478,0.999999933214,0.000232361350096,-0.000281988000549,7.9681001329e-06,1793239606585417472
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.92582364,636,879.07417636,788,804.07417636,652,632,653,0.400968433827,-0.0153560673174,0.0698254821694,0.99999993312,0.00023281005882,-0.000281951125403,7.89968671441e-06,1793239606602084096
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.351203558,636,879.648796442,788,804.648796442,652,632,653,0.400968070958,-0.015355400596,0.0698247846718,0.999999932818,0.000233457148363,-0.000282494872905,7.66485136962e-06,1793239606618751232
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715.228096159,679,661,635.771903841,879.771903841,788,805,652,632,653,0.400967860668,-0.0153549328824,0.069824987311,0.999999932613,0.00023415302234,-0.000282645504733,7.60440545497e-06,1793239606635418624
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.8147522,679,661,635.1852478,879.1852478,788,805,652,632,653,0.400967890229,-0.0153547780024,0.0698266049366,0.999999932562,0.00023492558399,-0.000282178171354,7.81809412341e-06,1793239606652085248
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715.603327432,678.603327432,661,635.396672568,879.396672568,788,804.603327432,652,632,653,0.400967161955,-0.0153548441089,0.069825753988,0.99999993225,0.000235001566979,-0.000283224314012,7.61196832355e-06,1793239606668751360
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715.023592589,678.023592589,661,635.976407411,879.976407411,788,804.023592589,652,632,653,0.400966083945,-0.0153550121995,0.0698237638054,0.999999931815,0.00023475608258,-0.000284968917824,7.21210037107e-06,1793239606685417728
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715.552064443,678,661.552064443,636,879.447935557,788,804.552064443,652,631.447935557,653,0.400966533462,-0.0153548175207,0.0698240580939,0.999999931974,0.000235046736689,-0.000284174358874,7.13400235427e-06,1793239606702084608
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6d1e4fa04d09234648ad3ceae5e50c99beb81c2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_01/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,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+1,0.016666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+2,0.033333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+3,0.050000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+4,0.066666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+5,0.083333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+6,0.100000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+7,0.116666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+8,0.133333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+9,0.150000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+10,0.166666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+11,0.183333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+12,0.200000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+13,0.216666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+14,0.233333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+15,0.250000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+16,0.266666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+17,0.283333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+18,0.300000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+19,0.316666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+20,0.333333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+21,0.350000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+22,0.366666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+23,0.383333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+24,0.400000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+25,0.416666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+26,0.433333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+27,0.450000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+28,0.466666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+29,0.483333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+30,0.500000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+31,0.516666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+32,0.533333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+33,0.550000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+34,0.566666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+35,0.583333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+36,0.600000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+37,0.616666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+38,0.633333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+39,0.650000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+40,0.666666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+41,0.683333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+42,0.700000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+43,0.716666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+44,0.733333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+45,0.750000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+46,0.766666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+47,0.783333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+48,0.800000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+49,0.816666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+50,0.833333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+51,0.850000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+52,0.866666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+53,0.883333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+54,0.900000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+55,0.916666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+56,0.933333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+57,0.950000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+58,0.966666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+59,0.983333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+60,1.000000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+61,1.016666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+62,1.033333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+63,1.050000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+64,1.066666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+65,1.083333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+66,1.100000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+67,1.116666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+68,1.133333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+69,1.150000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+70,1.166666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+71,1.183333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+72,1.200000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+73,1.216666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+74,1.233333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+75,1.250000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+76,1.266666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+77,1.283333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+78,1.300000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+79,1.316666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+80,1.333333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+81,1.350000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+82,1.366666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+83,1.383333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+84,1.400000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+85,1.416666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+86,1.433333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+87,1.450000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+88,1.466666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+89,1.483333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+90,1.500000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+91,1.516666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+92,1.533333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+93,1.550000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+94,1.566666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+95,1.583333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+96,1.600000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+97,1.616666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+98,1.633333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+99,1.650000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+100,1.666666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+101,1.683333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+102,1.700000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+103,1.716666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+104,1.733333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+105,1.750000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+106,1.766666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+107,1.783333333,pose1_to_pose2_press,0.575664425091,-0.00990943192938,1.06003261029,0.546234877039,-0.00123769130637,1.059700737
+108,1.800000000,pose1_to_pose2_press,0.575664548501,-0.00990927393046,1.06003234716,0.546235000433,-0.00123753314283,1.05970047965
+109,1.816666667,pose1_to_pose2_press,0.57566475482,-0.00990928350198,1.06003236127,0.546235207443,-0.00123754050005,1.05970049034
+110,1.833333333,pose1_to_pose2_press,0.575665019123,-0.00990929455097,1.06003237654,0.546235472498,-0.00123754914006,1.05970050188
+111,1.850000000,pose1_to_pose2_press,0.575665143141,-0.00990929523785,1.06003237331,0.546235596374,-0.00123755028275,1.05970049928
+112,1.866666667,pose1_to_pose2_press,0.575665195839,-0.00990929552972,1.06003237194,0.546235649012,-0.00123755076831,1.05970049818
+113,1.883333333,pose1_to_pose2_press,0.575665310237,-0.00990929616331,1.06003236896,0.546235763279,-0.00123755182236,1.05970049579
+114,1.900000000,pose1_to_pose2_press,0.575665340531,-0.00990929633109,1.06003236817,0.546235793539,-0.00123755210149,1.05970049515
+115,1.916666667,pose1_to_pose2_press,0.575665771497,-0.009909298718,1.06003235695,0.546236224014,-0.00123755607239,1.05970048614
+116,1.933333333,pose1_to_pose2_press,0.575668780082,-0.0099093789388,1.06003225749,0.546239233563,-0.00123763296849,1.05970038798
+117,1.950000000,pose1_to_pose2_press,0.575675746685,-0.00990919615199,1.0600321927,0.546246197419,-0.00123745920827,1.05970033084
+118,1.966666667,pose1_to_pose2_press,0.575691002447,-0.00990916423694,1.0600322246,0.546261453236,-0.00123742736914,1.05970035582
+119,1.983333333,pose1_to_pose2_press,0.575715226121,-0.00990923727174,1.06003219829,0.546285678256,-0.00123749560816,1.05970033542
+120,2.000000000,pose1_to_pose2_press,0.575750426496,-0.0099092708239,1.0600323784,0.546320880213,-0.00123752400569,1.0597005099
+121,2.016666667,pose1_to_pose2_press,0.575795508537,-0.00990930073126,1.0600323543,0.546365960763,-0.00123755907581,1.059700483
+122,2.033333333,pose1_to_pose2_press,0.575850885797,-0.00990926048383,1.06003231283,0.546421337566,-0.00123752013068,1.05970044799
+123,2.050000000,pose1_to_pose2_press,0.575915084347,-0.00990927525014,1.06003239818,0.546485535667,-0.00123753702119,1.05970051754
+124,2.066666667,pose1_to_pose2_press,0.575988150903,-0.00990926916125,1.06003237229,0.54655860247,-0.00123752986195,1.05970049775
+125,2.083333333,pose1_to_pose2_press,0.576071990802,-0.00990930361443,1.06003227947,0.546642442958,-0.00123756246281,1.05970040099
+126,2.100000000,pose1_to_pose2_press,0.576166748553,-0.00990928044952,1.0600323482,0.546737201996,-0.00123753468588,1.05970047607
+127,2.116666667,pose1_to_pose2_press,0.576274192175,-0.0099091528378,1.06003214313,0.546844642513,-0.00123741733216,1.05970027827
+128,2.133333333,pose1_to_pose2_press,0.576396128175,-0.0099092161032,1.06003227627,0.546966578735,-0.00123747996734,1.05970040816
+129,2.150000000,pose1_to_pose2_press,0.576533290916,-0.00990928809532,1.06003249098,0.547103743529,-0.00123754555912,1.05970060796
+130,2.166666667,pose1_to_pose2_press,0.57668695689,-0.0099092349265,1.06003236206,0.547257408835,-0.00123749435619,1.05970048686
+131,2.183333333,pose1_to_pose2_press,0.576856499143,-0.00990923869021,1.06003220204,0.547426950834,-0.0012374984902,1.05970033965
+132,2.200000000,pose1_to_pose2_press,0.577043390543,-0.00990927957396,1.06003220411,0.547613843062,-0.00123753652615,1.05970034263
+133,2.216666667,pose1_to_pose2_press,0.577248870905,-0.00990928410229,1.06003221108,0.547819323783,-0.00123753985533,1.05970034904
+134,2.233333333,pose1_to_pose2_press,0.57747561187,-0.00990929131616,1.0600322125,0.54804606464,-0.0012375474854,1.05970034906
+135,2.250000000,pose1_to_pose2_press,0.577722050909,-0.0099091760913,1.0600322665,0.548292501217,-0.00123744065697,1.059700402
+136,2.266666667,pose1_to_pose2_press,0.577988083377,-0.00990920507152,1.06003244338,0.54855853504,-0.00123746477722,1.05970058565
+137,2.283333333,pose1_to_pose2_press,0.57827695226,-0.00990908416015,1.06003255835,0.548847402385,-0.00123734940082,1.05970069234
+138,2.300000000,pose1_to_pose2_press,0.578583041607,-0.00990900480989,1.06003233684,0.549153491688,-0.00123727015419,1.05970047194
+139,2.316666667,pose1_to_pose2_press,0.57890358335,-0.00990918373961,1.06003247435,0.549474035727,-0.0012374415416,1.05970060279
+140,2.333333333,pose1_to_pose2_press,0.579240820822,-0.00990930063834,1.06003246448,0.549811273479,-0.00123755731875,1.0597005974
+141,2.350000000,pose1_to_pose2_press,0.579595890466,-0.00990923635968,1.06003237528,0.550166342599,-0.0012374947998,1.05970050864
+142,2.366666667,pose1_to_pose2_press,0.579970154507,-0.00990919714748,1.06003224885,0.55054060733,-0.00123745302202,1.05970038802
+143,2.383333333,pose1_to_pose2_press,0.580365597281,-0.00990923264253,1.06003219324,0.550936049176,-0.00123749161553,1.05970033364
+144,2.400000000,pose1_to_pose2_press,0.580788873815,-0.0099092267762,1.06003226536,0.551359323791,-0.0012374925201,1.05970039895
+145,2.416666667,pose1_to_pose2_press,0.581236891444,-0.00990918082356,1.06003229832,0.551807342062,-0.00123744438459,1.05970043202
+146,2.433333333,pose1_to_pose2_press,0.581710086193,-0.00990920348392,1.06003218592,0.552280538471,-0.00123746108724,1.05970032798
+147,2.450000000,pose1_to_pose2_press,0.582200896438,-0.00990919800796,1.06003220314,0.552771347008,-0.00123746176692,1.05970033574
+148,2.466666667,pose1_to_pose2_press,0.582707342403,-0.00990931568392,1.06003210172,0.553277794798,-0.00123757316271,1.05970023656
+149,2.483333333,pose1_to_pose2_press,0.583230296369,-0.0099090919608,1.06003228149,0.553800745062,-0.00123736258742,1.05970040095
+150,2.500000000,pose1_to_pose2_press,0.583770825831,-0.0099093018993,1.06003221318,0.554341278872,-0.00123755719091,1.0597003478
+151,2.516666667,pose1_to_pose2_press,0.584335424204,-0.00990925259737,1.06003240703,0.554905876535,-0.00123751022721,1.05970054343
+152,2.533333333,pose1_to_pose2_press,0.584923184701,-0.00990925679754,1.06003245161,0.555493635692,-0.0012375190827,1.05970058517
+153,2.550000000,pose1_to_pose2_press,0.585533368316,-0.00990923617383,1.06003211058,0.556103818924,-0.00123749959561,1.05970024834
+154,2.566666667,pose1_to_pose2_press,0.586152872557,-0.0099092561666,1.06003227294,0.556723323386,-0.00123751898012,1.05970040699
+155,2.583333333,pose1_to_pose2_press,0.586778432375,-0.00990928091503,1.06003242453,0.557348884733,-0.00123753879138,1.05970055197
+156,2.600000000,pose1_to_pose2_press,0.587408884409,-0.00990933458156,1.06003236248,0.557979338309,-0.00123758719544,1.05970049067
+157,2.616666667,pose1_to_pose2_press,0.588048365169,-0.00990931842517,1.06003230844,0.558618818068,-0.00123757425292,1.05970044148
+158,2.633333333,pose1_to_pose2_press,0.58870276965,-0.00990913095855,1.06003228558,0.559273219833,-0.00123739602414,1.05970041801
+159,2.650000000,pose1_to_pose2_press,0.589379123451,-0.00990924148306,1.06003255601,0.559949576023,-0.00123749852623,1.05970068627
+160,2.666666667,pose1_to_pose2_press,0.590076891048,-0.00990920113354,1.06003220727,0.560647344803,-0.00123745389051,1.05970034458
+161,2.683333333,pose1_to_pose2_press,0.59079267321,-0.00990917344635,1.06003222162,0.561363123126,-0.00123743931226,1.05970035683
+162,2.700000000,pose1_to_pose2_press,0.591521573456,-0.0099092265724,1.06003231744,0.562092025648,-0.00123748476167,1.05970045147
+163,2.716666667,pose1_to_pose2_press,0.592258094552,-0.00990926370481,1.06003224444,0.562828546611,-0.00123752237758,1.05970037759
+164,2.733333333,pose1_to_pose2_press,0.592991077057,-0.00990933181257,1.06003242819,0.56356152973,-0.00123758872859,1.05970055287
+165,2.750000000,pose1_to_pose2_press,0.593711405908,-0.00990932850633,1.06003242281,0.564281858813,-0.00123758460992,1.05970054813
+166,2.766666667,pose1_to_pose2_press,0.594425527944,-0.00990924356134,1.0600323768,0.56499597964,-0.00123750379999,1.05970050131
+167,2.783333333,pose1_to_pose2_press,0.595137202323,-0.0099091332279,1.06003237208,0.565707652389,-0.00123739894362,1.05970049805
+168,2.800000000,pose1_to_pose2_press,0.595859122896,-0.00990908880985,1.06003234463,0.56642957272,-0.00123735504716,1.05970047846
+169,2.816666667,pose1_to_pose2_press,0.59659848403,-0.00990917342213,1.06003235191,0.567168935377,-0.00123743460392,1.05970048288
+170,2.833333333,pose1_to_pose2_press,0.597360879042,-0.00990918625944,1.06003231661,0.567931330485,-0.00123744704138,1.05970044952
+171,2.850000000,pose1_to_pose2_press,0.598135322871,-0.00990910943322,1.06003199684,0.568705771938,-0.00123737842667,1.05970012594
+172,2.866666667,pose1_to_pose2_press,0.598917770349,-0.00990924390194,1.06003231372,0.569488220629,-0.0012375084014,1.05970045271
+173,2.883333333,pose1_to_pose2_press,0.599680278386,-0.00990924353018,1.06003222116,0.570250729729,-0.00123750449433,1.0597003584
+174,2.900000000,pose1_to_pose2_press,0.600420974612,-0.00990915623589,1.06003241081,0.570991425902,-0.00123741746294,1.05970054592
+175,2.916666667,pose1_to_pose2_press,0.601134390881,-0.00990905173662,1.06003228026,0.571704839543,-0.00123732196432,1.05970041327
+176,2.933333333,pose1_to_pose2_press,0.60183143844,-0.00990913710084,1.06003237624,0.57240188867,-0.00123740207126,1.05970050763
+177,2.950000000,pose1_to_pose2_press,0.602524658826,-0.00990918748414,1.06003246191,0.57309511068,-0.00123744691905,1.059700594
+178,2.966666667,pose1_to_pose2_press,0.603225915355,-0.00990914742311,1.06003244808,0.573796366679,-0.00123740857141,1.05970058245
+179,2.983333333,pose1_to_pose2_press,0.603936712035,-0.00990916245781,1.06003241108,0.574507162731,-0.00123742572395,1.05970054593
+180,3.000000000,pose1_to_pose2_press,0.60465198583,-0.00990927518597,1.06003232829,0.575222437838,-0.00123753419654,1.05970045811
+181,3.016666667,pose1_to_pose2_press,0.60535891842,-0.00990933252216,1.0600322699,0.575929371433,-0.00123758839697,1.05970039267
+182,3.033333333,pose1_to_pose2_press,0.606040794269,-0.0099092497118,1.06003225362,0.576611244592,-0.00123751461437,1.05970037906
+183,3.050000000,pose1_to_pose2_press,0.606694821805,-0.00990913082691,1.06003226134,0.577265272362,-0.00123739486765,1.0597003887
+184,3.066666667,pose1_to_pose2_press,0.607317612441,-0.0099091129577,1.06003234076,0.577888062095,-0.0012373798808,1.0597004729
+185,3.083333333,pose1_to_pose2_press,0.607910964164,-0.00990919192649,1.06003234136,0.578481416127,-0.0012374509483,1.05970047531
+186,3.100000000,pose1_to_pose2_press,0.608476544449,-0.00990925305319,1.06003223304,0.579046997444,-0.00123750843255,1.05970037071
+187,3.116666667,pose1_to_pose2_press,0.609025447177,-0.00990929864368,1.0600322167,0.57959590026,-0.00123755385017,1.05970035122
+188,3.133333333,pose1_to_pose2_press,0.609564890193,-0.00990923761254,1.06003220268,0.58013534274,-0.00123749450713,1.05970034061
+189,3.150000000,pose1_to_pose2_press,0.610100637506,-0.00990921577854,1.06003223401,0.580671089319,-0.00123747506702,1.05970037462
+190,3.166666667,pose1_to_pose2_press,0.610630080509,-0.0099092580221,1.06003224096,0.581200531939,-0.00123751874187,1.05970037817
+191,3.183333333,pose1_to_pose2_press,0.611148003106,-0.00990917339794,1.06003205243,0.581718454449,-0.00123743438685,1.05970019042
+192,3.200000000,pose1_to_pose2_press,0.611637114553,-0.0099092051841,1.06003205397,0.582207565296,-0.00123746845828,1.05970018554
+193,3.216666667,pose1_to_pose2_press,0.612095890018,-0.00990924711633,1.06003247083,0.582666341455,-0.00123750807799,1.05970060145
+194,3.233333333,pose1_to_pose2_press,0.612520824691,-0.00990916397649,1.06003255149,0.583091275541,-0.00123742672858,1.05970068778
+195,3.250000000,pose1_to_pose2_press,0.612923130389,-0.00990923396632,1.06003222244,0.583493582302,-0.00123749320409,1.05970035458
+196,3.266666667,pose1_to_pose2_press,0.613305709674,-0.00990931808341,1.06003215473,0.583876161985,-0.00123757564517,1.05970029222
+197,3.283333333,pose1_to_pose2_press,0.613679714774,-0.00990928318203,1.06003220104,0.584250166709,-0.0012375418496,1.05970033844
+198,3.300000000,pose1_to_pose2_press,0.614045184019,-0.00990921830045,1.06003214389,0.584615634692,-0.00123748133609,1.05970027379
+199,3.316666667,pose1_to_pose2_press,0.614391493917,-0.00990924618722,1.06003206931,0.584961943556,-0.00123751262084,1.05970019681
+200,3.333333333,pose1_to_pose2_press,0.61471831367,-0.00990925678607,1.06003220575,0.585288764729,-0.00123751799661,1.05970033834
+201,3.350000000,pose1_to_pose2_press,0.615022476893,-0.00990933973894,1.06003209095,0.585592929465,-0.00123759540229,1.05970022873
+202,3.366666667,pose1_to_pose2_press,0.615301777601,-0.00990915185451,1.06003224894,0.585872227069,-0.0012374183478,1.05970037359
+203,3.383333333,pose1_to_pose2_press,0.615556055212,-0.009909220232,1.06003223813,0.586126505315,-0.00123748416877,1.05970036863
+204,3.400000000,pose1_to_pose2_press,0.615793672595,-0.00990923303827,1.06003225277,0.586364123492,-0.00123749425992,1.05970038005
+205,3.416666667,pose1_to_pose2_press,0.616016406498,-0.00990923696369,1.06003230491,0.586586857232,-0.00123749850199,1.0597004341
+206,3.433333333,pose1_to_pose2_press,0.616227176249,-0.00990921229194,1.06003230321,0.586797625747,-0.00123747767277,1.0597004367
+207,3.450000000,pose1_to_pose2_press,0.616424746752,-0.00990915371024,1.0600322695,0.586995195218,-0.00123742254717,1.05970040003
+208,3.466666667,pose1_to_pose2_press,0.616606039728,-0.00990917311603,1.06003236164,0.587176489087,-0.00123743891638,1.05970048981
+209,3.483333333,pose1_to_pose2_press,0.616771529588,-0.00990924414624,1.06003231074,0.587341980353,-0.00123750462785,1.05970044945
+210,3.500000000,pose1_to_pose2_press,0.616920895757,-0.00990917134741,1.06003230007,0.587491347396,-0.00123742861877,1.05970044255
+211,3.516666667,pose1_to_pose2_press,0.617052530125,-0.00990934623304,1.06003243874,0.587622983574,-0.00123759745562,1.05970057551
+212,3.533333333,pose1_to_pose2_press,0.617168626772,-0.0099092028171,1.06003226246,0.587739077764,-0.00123746230912,1.05970039908
+213,3.550000000,pose1_to_pose2_press,0.617270418803,-0.00990913139072,1.06003220209,0.587840867756,-0.0012373976828,1.05970033927
+214,3.566666667,pose1_to_pose2_press,0.617360515228,-0.00990910428207,1.06003233964,0.587930963759,-0.00123737188125,1.05970047364
+215,3.583333333,pose1_to_pose2_press,0.617439127675,-0.00990908454617,1.06003235959,0.588009576895,-0.00123734987188,1.05970049242
+216,3.600000000,pose1_to_pose2_press,0.617508289474,-0.00990910405329,1.06003216243,0.5880787395,-0.0012373667647,1.05970029957
+217,3.616666667,pose1_to_pose2_press,0.617567993278,-0.00990917967442,1.06003214376,0.588138443496,-0.00123744162801,1.05970028264
+218,3.633333333,pose1_to_pose2_press,0.617617600416,-0.00990922887873,1.06003245261,0.588188050374,-0.00123749189796,1.05970058544
+219,3.650000000,pose1_to_pose2_press,0.617658147785,-0.00990931200964,1.06003243839,0.588228599216,-0.00123756975559,1.05970057675
+220,3.666666667,pose1_to_pose2_press,0.617689612879,-0.00990930747403,1.06003248509,0.588260064214,-0.00123756576465,1.05970061297
+221,3.683333333,pose1_to_pose2_press,0.617714467871,-0.00990917286702,1.06003231842,0.588284918564,-0.00123743328889,1.05970044865
+222,3.700000000,pose1_to_pose2_press,0.617733411504,-0.00990915585227,1.06003228459,0.588303862704,-0.00123741449314,1.05970041688
+223,3.716666667,pose1_to_pose2_press,0.617748072868,-0.00990921946485,1.06003236506,0.588318525102,-0.00123747447408,1.05970049969
+224,3.733333333,pose1_to_pose2_press,0.617758918141,-0.00990921394927,1.06003240102,0.588329370318,-0.00123746870617,1.05970054601
+225,3.750000000,pose1_to_pose2_press,0.617766747935,-0.00990923354553,1.06003249195,0.588337199942,-0.00123748889434,1.05970063618
+226,3.766666667,pose1_to_pose2_press,0.617772070758,-0.00990923634454,1.06003254712,0.5883425225,-0.00123749268805,1.05970068858
+227,3.783333333,pose1_to_pose2_press,0.617775113136,-0.00990918064927,1.06003250626,0.588345564249,-0.00123743926898,1.05970064357
+228,3.800000000,pose1_to_pose2_press,0.617777249202,-0.0099091415454,1.06003247758,0.588347699873,-0.00123740176324,1.05970061196
+229,3.816666667,pose1_to_pose2_press,0.617778662384,-0.00990912404509,1.06003245943,0.588349112858,-0.00123738497451,1.05970059259
+230,3.833333333,pose1_to_pose2_press,0.617779953455,-0.00990915788682,1.06003244782,0.588350404308,-0.00123741740816,1.05970058407
+231,3.850000000,pose1_to_pose2_press,0.617781057613,-0.00990918682916,1.06003243788,0.588351508791,-0.00123744514628,1.05970057678
+232,3.866666667,pose1_to_pose2_press,0.61778165144,-0.00990920239462,1.06003243254,0.588352102792,-0.00123746006409,1.05970057286
+233,3.883333333,pose1_to_pose2_press,0.617782057611,-0.00990921304124,1.06003242889,0.588352509082,-0.00123747026773,1.05970057018
+234,3.900000000,pose1_to_pose2_press,0.617782437217,-0.00990922299151,1.06003242547,0.588352888799,-0.00123747980399,1.05970056767
+235,3.916666667,pose1_to_pose2_press,0.617782810416,-0.00990922003222,1.06003241816,0.588353261999,-0.00123747690886,1.05970055871
+236,3.933333333,pose1_to_pose2_press,0.617783216676,-0.0099092125403,1.06003240889,0.588353668222,-0.00123746964471,1.05970054677
+237,3.950000000,pose1_to_pose2_press,0.617783419346,-0.00990920880283,1.06003240426,0.588353870873,-0.00123746602087,1.05970054081
+238,3.966666667,pose1_to_pose2_press,0.617783509615,-0.00990920713817,1.06003240219,0.588353961134,-0.00123746440682,1.05970053816
+239,3.983333333,pose1_to_pose2_press,0.617783722269,-0.00990920321658,1.06003239734,0.588354173769,-0.00123746060444,1.05970053191
+240,4.000000000,pose1_to_pose2_press,0.617783965544,-0.0099091987303,1.06003239178,0.588354417021,-0.00123745625456,1.05970052476
+241,4.016666667,pose1_to_pose2_press,0.617784323671,-0.00990919212601,1.0600323836,0.588354775116,-0.00123744985105,1.05970051424
+242,4.033333333,pose1_to_pose2_press,0.617784838519,-0.00990918263161,1.06003237184,0.588355289917,-0.00123744064529,1.05970049911
+243,4.050000000,pose1_to_pose2_press,0.6177852072,-0.00990913140551,1.06003241128,0.588355657644,-0.00123739267943,1.05970053784
+244,4.066666667,pose1_to_pose2_press,0.617785522447,-0.00990907830664,1.06003245502,0.588355971883,-0.00123734300729,1.05970058134
+245,4.083333333,pose1_to_pose2_press,0.617785745387,-0.00990904075564,1.06003248595,0.588356194109,-0.00123730787964,1.0597006121
+246,4.100000000,pose1_to_pose2_press,0.617785819349,-0.00990904909927,1.0600324301,0.588356268204,-0.00123731569212,1.05970055847
+247,4.116666667,pose1_to_pose2_press,0.617785972569,-0.00990906860992,1.06003230733,0.588356421736,-0.00123733395957,1.05970044055
+248,4.133333333,pose1_to_pose2_press,0.617786119278,-0.00990911059062,1.06003220716,0.588356568879,-0.00123737434453,1.05970034358
+249,4.150000000,pose1_to_pose2_press,0.617786158938,-0.00990918928854,1.06003222597,0.58835660901,-0.00123745157696,1.05970035887
+250,4.166666667,pose1_to_pose2_press,0.617786135486,-0.00990919964358,1.06003223391,0.588356585408,-0.00123746254373,1.05970036428
+251,4.183333333,pose1_to_pose2_press,0.617786134525,-0.00990920006809,1.06003223424,0.58835658444,-0.00123746299332,1.05970036451
+252,4.200000000,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584441,-0.00123746299298,1.05970036451
+253,4.216666667,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584441,-0.00123746299298,1.05970036451
+254,4.233333333,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584441,-0.0012374629929,1.05970036451
+255,4.250000000,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584441,-0.00123746299291,1.05970036451
+256,4.266666667,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584441,-0.00123746299301,1.05970036451
+257,4.283333333,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.00123746299317,1.05970036451
+258,4.300000000,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.00123746299283,1.05970036451
+259,4.316666667,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.0012374629928,1.05970036451
+260,4.333333333,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.00123746299279,1.05970036451
+261,4.350000000,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.00123746299277,1.05970036451
+262,4.366666667,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.00123746299286,1.05970036451
+263,4.383333333,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.00123746299283,1.05970036451
+264,4.400000000,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.00123746299273,1.05970036451
+265,4.416666667,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.00123746299274,1.05970036451
+266,4.433333333,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.00123746299274,1.05970036451
+267,4.450000000,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.00123746299275,1.05970036451
+268,4.466666667,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.00123746299277,1.05970036451
+269,4.483333333,pose2_hold,0.617786134525,-0.00990920006809,1.06003223424,0.588356584442,-0.00123746299271,1.05970036451
+270,4.500000000,pose2_to_pose3_retreat,0.617786163878,-0.00990918710724,1.0600322243,0.588356613985,-0.00123744926695,1.05970035773
+271,4.516666667,pose2_to_pose3_retreat,0.617786125796,-0.00990913721146,1.06003220983,0.588356575534,-0.00123740053469,1.05970034571
+272,4.533333333,pose2_to_pose3_retreat,0.617786072498,-0.00990910986448,1.06003219375,0.588356521971,-0.00123737407267,1.05970033003
+273,4.550000000,pose2_to_pose3_retreat,0.617785996121,-0.00990911124165,1.06003217469,0.588356445456,-0.0012373760081,1.05970030866
+274,4.566666667,pose2_to_pose3_retreat,0.617785941288,-0.00990911223036,1.060032161,0.588356390523,-0.00123737739761,1.05970029331
+275,4.583333333,pose2_to_pose3_retreat,0.617785751005,-0.00990911500367,1.06003212475,0.588356199975,-0.00123738125106,1.05970025223
+276,4.600000000,pose2_to_pose3_retreat,0.617785444959,-0.00990911314329,1.06003217433,0.588355894285,-0.00123737814195,1.05970030301
+277,4.616666667,pose2_to_pose3_retreat,0.61778432585,-0.00990911074616,1.06003234667,0.588354776456,-0.00123737126204,1.05970047947
+278,4.633333333,pose2_to_pose3_retreat,0.617780807411,-0.00990922476552,1.06003241328,0.588351259953,-0.00123747862977,1.0597005484
+279,4.650000000,pose2_to_pose3_retreat,0.617772020065,-0.00990912539749,1.06003225735,0.588342470699,-0.00123738550102,1.05970039786
+280,4.666666667,pose2_to_pose3_retreat,0.617756508527,-0.00990922362099,1.06003236919,0.58832696067,-0.00123747902977,1.05970049767
+281,4.683333333,pose2_to_pose3_retreat,0.617728892047,-0.00990921447892,1.06003229832,0.588299342544,-0.0012374750645,1.05970043694
+282,4.700000000,pose2_to_pose3_retreat,0.617689755183,-0.00990918780587,1.0600323489,0.588260204809,-0.00123745149726,1.05970048321
+283,4.716666667,pose2_to_pose3_retreat,0.617639600314,-0.00990906248806,1.06003220515,0.588210049086,-0.00123732916856,1.05970034161
+284,4.733333333,pose2_to_pose3_retreat,0.617580464932,-0.00990910041644,1.06003218239,0.588150914363,-0.0012373648607,1.05970032368
+285,4.750000000,pose2_to_pose3_retreat,0.617513097067,-0.0099092122951,1.06003244494,0.588083548609,-0.00123746997267,1.05970057775
+286,4.766666667,pose2_to_pose3_retreat,0.617438170375,-0.00990921665411,1.06003244048,0.588008621398,-0.00123747610327,1.05970057831
+287,4.783333333,pose2_to_pose3_retreat,0.617355000264,-0.00990924588373,1.06003226407,0.587925452055,-0.00123750260389,1.05970040162
+288,4.800000000,pose2_to_pose3_retreat,0.617258715801,-0.00990918189314,1.06003236782,0.587829165565,-0.00123744568153,1.0597005005
+289,4.816666667,pose2_to_pose3_retreat,0.617148544448,-0.00990924384449,1.06003235974,0.587718995362,-0.00123750388292,1.05970049081
+290,4.833333333,pose2_to_pose3_retreat,0.617021935252,-0.00990931384826,1.0600322641,0.587592387784,-0.00123756837851,1.05970039823
+291,4.850000000,pose2_to_pose3_retreat,0.616880443571,-0.00990923641503,1.06003232747,0.587450894308,-0.00123749710158,1.05970046327
+292,4.866666667,pose2_to_pose3_retreat,0.616723881146,-0.00990925871432,1.06003235919,0.587294332949,-0.00123751602557,1.05970049196
+293,4.883333333,pose2_to_pose3_retreat,0.616551219956,-0.00990926213159,1.06003245213,0.587121671278,-0.00123752116964,1.05970058495
+294,4.900000000,pose2_to_pose3_retreat,0.616361932078,-0.00990918266856,1.06003228197,0.586932382762,-0.00123744426683,1.05970040929
+295,4.916666667,pose2_to_pose3_retreat,0.616153424568,-0.00990914540705,1.06003239557,0.586723874322,-0.00123741004245,1.05970053012
+296,4.933333333,pose2_to_pose3_retreat,0.615925550021,-0.00990914449768,1.06003245109,0.586495999685,-0.00123740957566,1.05970058597
+297,4.950000000,pose2_to_pose3_retreat,0.615676510481,-0.00990921898573,1.06003238221,0.586246960425,-0.00123748321624,1.05970051902
+298,4.966666667,pose2_to_pose3_retreat,0.615412344333,-0.00990935440651,1.06003236973,0.585982795789,-0.00123761368688,1.0597005066
+299,4.983333333,pose2_to_pose3_retreat,0.615134530369,-0.00990938857405,1.06003244549,0.585704983113,-0.00123764386818,1.05970057704
+300,5.000000000,pose2_to_pose3_retreat,0.614838982546,-0.00990910942248,1.06003234278,0.585409431842,-0.00123737660962,1.05970047465
+301,5.016666667,pose2_to_pose3_retreat,0.614524995414,-0.00990906790179,1.06003220623,0.585095443998,-0.00123733746859,1.05970034428
+302,5.033333333,pose2_to_pose3_retreat,0.614186554436,-0.00990912455612,1.06003232712,0.584757003809,-0.00123739200483,1.05970045677
+303,5.050000000,pose2_to_pose3_retreat,0.613822784312,-0.00990920432009,1.06003225385,0.584393234775,-0.00123746802029,1.05970038984
+304,5.066666667,pose2_to_pose3_retreat,0.613432664099,-0.00990915002143,1.06003222118,0.584003114276,-0.00123741499817,1.05970035453
+305,5.083333333,pose2_to_pose3_retreat,0.613020250648,-0.00990909950576,1.06003224054,0.58359070028,-0.00123736665583,1.05970036961
+306,5.100000000,pose2_to_pose3_retreat,0.612587244882,-0.00990913542023,1.06003226979,0.583157695012,-0.00123740069495,1.0597004049
+307,5.116666667,pose2_to_pose3_retreat,0.612139336453,-0.0099090656956,1.06003245008,0.582709787208,-0.00123732891252,1.05970058349
+308,5.133333333,pose2_to_pose3_retreat,0.611676440037,-0.00990923713829,1.06003246451,0.582246893215,-0.00123749202642,1.05970059941
+309,5.150000000,pose2_to_pose3_retreat,0.611195962782,-0.0099091041942,1.06003238741,0.581766412819,-0.00123737006943,1.05970051438
+310,5.166666667,pose2_to_pose3_retreat,0.610698775905,-0.0099092142815,1.060032445,0.581269227118,-0.00123747614187,1.05970057284
+311,5.183333333,pose2_to_pose3_retreat,0.610182945802,-0.00990929792603,1.06003241247,0.580753398176,-0.0012375557903,1.05970054231
+312,5.200000000,pose2_to_pose3_retreat,0.609636238252,-0.00990924750492,1.06003233508,0.580206690244,-0.00123750653362,1.05970046909
+313,5.216666667,pose2_to_pose3_retreat,0.609059854905,-0.00990919223557,1.06003226207,0.579630306286,-0.00123745328587,1.05970039741
+314,5.233333333,pose2_to_pose3_retreat,0.60846053423,-0.00990928147451,1.06003213308,0.579030986391,-0.00123754017973,1.0597002596
+315,5.250000000,pose2_to_pose3_retreat,0.607842904613,-0.00990912945089,1.06003213308,0.578413355692,-0.00123739157134,1.05970026576
+316,5.266666667,pose2_to_pose3_retreat,0.607209084114,-0.00990913776115,1.06003257669,0.577779533837,-0.00123740453004,1.05970070797
+317,5.283333333,pose2_to_pose3_retreat,0.6065685231,-0.00990910616722,1.0600324714,0.577138973421,-0.00123737072647,1.05970060746
+318,5.300000000,pose2_to_pose3_retreat,0.605919251454,-0.00990917973095,1.06003227176,0.576489702822,-0.0012374406881,1.05970040962
+319,5.316666667,pose2_to_pose3_retreat,0.60525108021,-0.0099092552705,1.06003228471,0.5758215321,-0.00123751458726,1.05970041938
+320,5.333333333,pose2_to_pose3_retreat,0.604564168602,-0.00990932215296,1.06003229381,0.575134620833,-0.00123758040209,1.05970042606
+321,5.350000000,pose2_to_pose3_retreat,0.603857468333,-0.00990932641337,1.06003222677,0.574427920799,-0.00123758383414,1.05970035978
+322,5.366666667,pose2_to_pose3_retreat,0.603129405152,-0.00990926244707,1.06003219546,0.573699857573,-0.0012375200123,1.05970032861
+323,5.383333333,pose2_to_pose3_retreat,0.602375731444,-0.00990927950598,1.06003213201,0.572946184032,-0.00123753659768,1.05970026301
+324,5.400000000,pose2_to_pose3_retreat,0.601614404434,-0.00990924350201,1.06003223835,0.572184856848,-0.00123750116627,1.05970037118
+325,5.416666667,pose2_to_pose3_retreat,0.600849731339,-0.0099091659609,1.06003247133,0.571420181876,-0.00123743009615,1.05970059868
+326,5.433333333,pose2_to_pose3_retreat,0.600090817625,-0.00990919835105,1.06003238258,0.57066126877,-0.00123746048668,1.05970050803
+327,5.450000000,pose2_to_pose3_retreat,0.599342042793,-0.00990918731875,1.06003231528,0.569912495359,-0.00123744406169,1.05970045538
+328,5.466666667,pose2_to_pose3_retreat,0.598603031485,-0.00990926043586,1.06003218167,0.569173483863,-0.00123751798493,1.05970031735
+329,5.483333333,pose2_to_pose3_retreat,0.597859726638,-0.00990928154217,1.06003223717,0.568430178658,-0.00123754048955,1.05970036792
+330,5.500000000,pose2_to_pose3_retreat,0.59710784512,-0.00990918975801,1.0600323048,0.567678295961,-0.00123745271092,1.05970043546
+331,5.516666667,pose2_to_pose3_retreat,0.596331462937,-0.00990906445316,1.06003223003,0.566901912028,-0.00123733333966,1.05970036078
+332,5.533333333,pose2_to_pose3_retreat,0.595537332619,-0.00990909646815,1.06003226234,0.566107782799,-0.00123736169825,1.05970039198
+333,5.550000000,pose2_to_pose3_retreat,0.594740306511,-0.00990930102411,1.06003234013,0.565310759758,-0.00123755591911,1.05970046789
+334,5.566666667,pose2_to_pose3_retreat,0.593953687994,-0.00990916288156,1.06003222918,0.564524139124,-0.00123742469084,1.05970036392
+335,5.583333333,pose2_to_pose3_retreat,0.593189041457,-0.00990905236452,1.06003234519,0.563759492283,-0.00123731528483,1.05970047778
+336,5.600000000,pose2_to_pose3_retreat,0.592453815246,-0.00990919828741,1.06003227433,0.563024267957,-0.00123745498028,1.05970040246
+337,5.616666667,pose2_to_pose3_retreat,0.59174447278,-0.00990927976949,1.06003231724,0.56231492532,-0.00123753704438,1.05970044531
+338,5.633333333,pose2_to_pose3_retreat,0.591041834404,-0.00990917965976,1.06003231998,0.561612285499,-0.00123744151564,1.0597004564
+339,5.650000000,pose2_to_pose3_retreat,0.590338386337,-0.00990914622706,1.06003227517,0.560908836732,-0.0012374104074,1.05970041288
+340,5.666666667,pose2_to_pose3_retreat,0.589628825702,-0.00990927467936,1.06003229381,0.560199277304,-0.0012375350778,1.05970042332
+341,5.683333333,pose2_to_pose3_retreat,0.588912366866,-0.00990924605051,1.0600324406,0.55948281999,-0.00123750103171,1.05970057668
+342,5.700000000,pose2_to_pose3_retreat,0.588188586622,-0.0099092742093,1.06003244578,0.558759038926,-0.0012375319375,1.05970058277
+343,5.716666667,pose2_to_pose3_retreat,0.587489128325,-0.00990930142904,1.06003248439,0.558059580593,-0.00123755966639,1.0597006112
+344,5.733333333,pose2_to_pose3_retreat,0.586816138976,-0.0099093801373,1.06003224795,0.557386592818,-0.00123763282463,1.05970038018
+345,5.750000000,pose2_to_pose3_retreat,0.586175079836,-0.00990930257615,1.06003243902,0.556745532141,-0.00123756072689,1.05970056479
+346,5.766666667,pose2_to_pose3_retreat,0.585565947381,-0.00990919923612,1.06003232217,0.556136397538,-0.00123746458249,1.05970045161
+347,5.783333333,pose2_to_pose3_retreat,0.584986770465,-0.00990923367924,1.06003227641,0.555557221521,-0.00123749581902,1.05970041063
+348,5.800000000,pose2_to_pose3_retreat,0.584413993859,-0.00990925346329,1.0600321996,0.554984445746,-0.0012375126063,1.05970033796
+349,5.816666667,pose2_to_pose3_retreat,0.583841668139,-0.00990916205879,1.06003200506,0.554412118253,-0.00123742716025,1.05970014399
+350,5.833333333,pose2_to_pose3_retreat,0.583272338094,-0.00990928166489,1.0600322701,0.553842789956,-0.00123754136548,1.05970039487
+351,5.850000000,pose2_to_pose3_retreat,0.582712667325,-0.00990912948734,1.06003234109,0.553283118813,-0.00123739019169,1.05970047305
+352,5.866666667,pose2_to_pose3_retreat,0.58217728776,-0.00990922985543,1.0600322513,0.552747739494,-0.00123748991037,1.0597003782
+353,5.883333333,pose2_to_pose3_retreat,0.581672482708,-0.0099092270957,1.06003233477,0.552242933935,-0.00123748868708,1.05970046628
+354,5.900000000,pose2_to_pose3_retreat,0.581202463313,-0.00990921614164,1.0600323298,0.551772914555,-0.00123747752766,1.05970046561
+355,5.916666667,pose2_to_pose3_retreat,0.580753078126,-0.00990916175065,1.06003232757,0.551323529535,-0.00123742254226,1.05970046407
+356,5.933333333,pose2_to_pose3_retreat,0.580322030362,-0.00990921820236,1.06003235135,0.550892482244,-0.0012374775819,1.05970048275
+357,5.950000000,pose2_to_pose3_retreat,0.579913808582,-0.00990923754874,1.06003235854,0.550484260255,-0.00123749772977,1.05970048796
+358,5.966666667,pose2_to_pose3_retreat,0.579527651028,-0.00990912281593,1.06003229712,0.550098101728,-0.00123738609785,1.05970043252
+359,5.983333333,pose2_to_pose3_retreat,0.579165156359,-0.00990913283526,1.06003219175,0.549735607146,-0.00123739568287,1.05970033015
+360,6.000000000,pose2_to_pose3_retreat,0.578830910379,-0.00990922605677,1.06003223466,0.549401361649,-0.00123748752025,1.05970036616
+361,6.016666667,pose2_to_pose3_retreat,0.57852528727,-0.00990908351573,1.06003221549,0.549095737906,-0.00123734688002,1.05970035329
+362,6.033333333,pose2_to_pose3_retreat,0.578233364488,-0.00990915302125,1.06003228859,0.548803815498,-0.0012374151674,1.05970042513
+363,6.050000000,pose2_to_pose3_retreat,0.577954491211,-0.00990928896313,1.0600323424,0.548524945104,-0.00123754148885,1.05970047463
+364,6.066666667,pose2_to_pose3_retreat,0.577691708247,-0.00990931395971,1.06003229285,0.548262162403,-0.0012375656105,1.05970042478
+365,6.083333333,pose2_to_pose3_retreat,0.577444483313,-0.00990919310013,1.06003224219,0.548014934065,-0.00123745615558,1.05970037812
+366,6.100000000,pose2_to_pose3_retreat,0.577214455648,-0.00990911988,1.06003230575,0.547784905363,-0.00123738651828,1.05970044002
+367,6.116666667,pose2_to_pose3_retreat,0.577005253008,-0.00990925052847,1.06003230433,0.547575704999,-0.00123750988497,1.05970042698
+368,6.133333333,pose2_to_pose3_retreat,0.576816416908,-0.00990916617261,1.06003249624,0.547386870965,-0.00123741834958,1.05970062332
+369,6.150000000,pose2_to_pose3_retreat,0.576645516414,-0.00990924657924,1.06003260782,0.547215969347,-0.00123750270077,1.0597007315
+370,6.166666667,pose2_to_pose3_retreat,0.576491737847,-0.00990926274298,1.06003252665,0.547062190466,-0.00123751998429,1.05970064892
+371,6.183333333,pose2_to_pose3_retreat,0.576356100954,-0.00990923304975,1.06003223673,0.546926552372,-0.00123749444129,1.0597003573
+372,6.200000000,pose2_to_pose3_retreat,0.576237278204,-0.00990914359948,1.06003226744,0.54680772923,-0.00123740592969,1.05970039831
+373,6.216666667,pose2_to_pose3_retreat,0.57613573834,-0.00990917543009,1.06003247549,0.546706189071,-0.00123743876021,1.05970060693
+374,6.233333333,pose2_to_pose3_retreat,0.576048300219,-0.00990926744169,1.06003260796,0.54661875156,-0.00123752893503,1.05970073362
+375,6.250000000,pose2_to_pose3_retreat,0.575973506476,-0.00990931430722,1.06003254195,0.546543959159,-0.00123757123243,1.05970066769
+376,6.266666667,pose2_to_pose3_retreat,0.575908908286,-0.00990928436255,1.06003233386,0.546479360963,-0.00123754101946,1.05970046712
+377,6.283333333,pose2_to_pose3_retreat,0.575853442865,-0.00990907767808,1.06003234058,0.546423892519,-0.00123734462805,1.05970047277
+378,6.300000000,pose2_to_pose3_retreat,0.575807550288,-0.00990912994405,1.06003247835,0.546378000065,-0.00123739673847,1.05970060375
+379,6.316666667,pose2_to_pose3_retreat,0.575769721149,-0.00990908077426,1.06003228709,0.546340169631,-0.00123735183787,1.05970041571
+380,6.333333333,pose2_to_pose3_retreat,0.575740064488,-0.00990915024737,1.06003229121,0.546310514844,-0.0012374146549,1.05970042765
+381,6.350000000,pose2_to_pose3_retreat,0.575717845275,-0.00990922753911,1.06003213283,0.546288296193,-0.0012374899835,1.0597002707
+382,6.366666667,pose2_to_pose3_retreat,0.5757016451,-0.00990922455312,1.06003212615,0.546272095224,-0.00123748993215,1.05970025773
+383,6.383333333,pose2_to_pose3_retreat,0.575689948196,-0.00990914544823,1.06003250353,0.546260397691,-0.00123741334953,1.05970062506
+384,6.400000000,pose2_to_pose3_retreat,0.575681838377,-0.00990925330805,1.0600323857,0.546252289747,-0.00123751448391,1.05970051679
+385,6.416666667,pose2_to_pose3_retreat,0.575676916669,-0.00990934858743,1.06003230785,0.546247369523,-0.00123760463292,1.05970044146
+386,6.433333333,pose2_to_pose3_retreat,0.575673597844,-0.00990944475898,1.06003224857,0.546244052069,-0.00123769622224,1.05970038035
+387,6.450000000,pose2_to_pose3_retreat,0.575671444923,-0.00990946624148,1.0600322307,0.5462418994,-0.00123771689331,1.05970036133
+388,6.466666667,pose2_to_pose3_retreat,0.575669969163,-0.00990935650197,1.06003228107,0.546240421873,-0.00123761317344,1.05970041105
+389,6.483333333,pose2_to_pose3_retreat,0.575668974619,-0.00990928254631,1.06003231501,0.546239426137,-0.00123754327454,1.05970044455
+390,6.500000000,pose2_to_pose3_retreat,0.575668297466,-0.0099092321923,1.06003233812,0.546238748173,-0.00123749568263,1.05970046737
+391,6.516666667,pose2_to_pose3_retreat,0.575667852394,-0.00990919909615,1.06003235332,0.546238302568,-0.00123746440194,1.05970048236
+392,6.533333333,pose2_to_pose3_retreat,0.575667600957,-0.00990918498482,1.06003235894,0.54623805091,-0.00123745105663,1.05970048763
+393,6.550000000,pose2_to_pose3_retreat,0.575667337324,-0.00990919208396,1.06003235072,0.546237787423,-0.00123745771957,1.05970047787
+394,6.566666667,pose2_to_pose3_retreat,0.575667100619,-0.00990919845797,1.06003234335,0.546237550849,-0.00123746370192,1.05970046911
+395,6.583333333,pose2_to_pose3_retreat,0.575667062518,-0.00990919948395,1.06003234216,0.546237512769,-0.00123746466486,1.0597004677
+396,6.600000000,pose2_to_pose3_retreat,0.5756669945,-0.00990920131556,1.06003234004,0.546237444788,-0.00123746638393,1.05970046518
+397,6.616666667,pose2_to_pose3_retreat,0.575666929907,-0.00990920305492,1.06003233803,0.546237380231,-0.00123746801642,1.05970046279
+398,6.633333333,pose2_to_pose3_retreat,0.575666827053,-0.00990920582458,1.06003233482,0.546237277434,-0.00123747061589,1.05970045898
+399,6.650000000,pose2_to_pose3_retreat,0.575666691275,-0.00990920948082,1.06003233059,0.546237141731,-0.00123747404747,1.05970045395
+400,6.666666667,pose2_to_pose3_retreat,0.575666599395,-0.00990921195497,1.06003232772,0.546237049902,-0.0012374763696,1.05970045055
+401,6.683333333,pose2_to_pose3_retreat,0.575666445548,-0.00990921609777,1.06003232293,0.546236896141,-0.00123748025784,1.05970044485
+402,6.700000000,pose2_to_pose3_retreat,0.575666357732,-0.00990921846247,1.06003232019,0.546236808374,-0.00123748247724,1.0597004416
+403,6.716666667,pose2_to_pose3_retreat,0.575666151025,-0.0099092240287,1.06003231375,0.546236601781,-0.00123748770146,1.05970043395
+404,6.733333333,pose2_to_pose3_retreat,0.575665891824,-0.00990923100849,1.06003230567,0.546236342724,-0.00123749425237,1.05970042435
+405,6.750000000,pose2_to_pose3_retreat,0.575665650953,-0.00990923749469,1.06003229816,0.546236101986,-0.00123750034002,1.05970041543
+406,6.766666667,pose2_to_pose3_retreat,0.575665527424,-0.00990924082107,1.06003229431,0.546235978526,-0.00123750346202,1.05970041086
+407,6.783333333,pose2_to_pose3_retreat,0.575665440235,-0.00990924949695,1.06003229058,0.546235891454,-0.00123751173485,1.05970040731
+408,6.800000000,pose2_to_pose3_retreat,0.575665251015,-0.00990929462325,1.06003227828,0.546235702771,-0.00123755491099,1.05970039828
+409,6.816666667,pose2_to_pose3_retreat,0.575664999778,-0.00990935453942,1.06003226194,0.546235452247,-0.00123761223786,1.05970038628
+410,6.833333333,pose2_to_pose3_retreat,0.575664766145,-0.0099094102573,1.06003224675,0.546235219278,-0.00123766554786,1.05970037513
+411,6.850000000,pose2_to_pose3_retreat,0.57566456722,-0.00990938131792,1.06003229862,0.546235020185,-0.00123763706966,1.05970042984
+412,6.866666667,pose2_to_pose3_retreat,0.575664468245,-0.00990928684774,1.06003239236,0.546234920359,-0.00123754546165,1.05970052437
+413,6.883333333,pose2_to_pose3_retreat,0.575664394818,-0.00990925306655,1.06003246387,0.546234846625,-0.00123751271565,1.059700596
+414,6.900000000,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632643,1.05970060642
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..752e6100a82303434addd00f0b456801207d215f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42e1e18f204e53cbea82df02b680881732713514703ad23881eb9401b14b46de
+size 26468722
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e6a3e55c130bdc93ff1c1d6f8eefc0314b53553
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,715,678,661,635,879,788,804,652,631,652,0.400969045732,-0.0153568779216,0.0698263064527,0.999999934482,0.000229474288777,-0.000279866346483,7.2397757907e-06,1793239606829939968
+1,0.016666667,BASELINE,765,745,715,678,661,635.569539956,879.569539956,788,804,652,631.569539956,652.569539956,0.400969247248,-0.0153559063423,0.0698268949708,0.999999933893,0.000232410383025,-0.000279543441905,7.3884962783e-06,1793239606846606592
+2,0.033333333,BASELINE,765.146181509,745,715.146181509,678.146181509,661,636,880,788,804,652,632,653,0.400969324994,-0.0153553314291,0.0698271874938,0.99999993338,0.000234666862273,-0.00027949210776,7.50826168115e-06,1793239606863273216
+3,0.050000000,BASELINE,765.744803046,745,715.744803046,678.744803046,661,636,880,788,804,652,632,653,0.400969019665,-0.0153559842191,0.069826563895,0.999999933123,0.000234819895431,-0.000280281299374,7.53840949748e-06,1793239606879939584
+4,0.066666667,BASELINE,766,745,715.671752562,679,661,636,880,788,804,652,632,653,0.400968575117,-0.0153560433485,0.0698263484002,0.999999932992,0.000234813635125,-0.000280752731811,7.46429126903e-06,1793239606896605952
+5,0.083333333,BASELINE,766,745,715.099586259,679,661,636,880,788,804,652,632,653,0.400968027114,-0.0153556613318,0.0698264361652,0.999999932957,0.000234689004715,-0.000280988039105,7.3126935148e-06,1793239606913272832
+6,0.100000000,BASELINE,766,745,715,678.523622466,661.476377534,636,880,788,804,651.523622466,632,653,0.400968125334,-0.0153558946172,0.0698263043795,0.999999933243,0.000233218243433,-0.000281195741583,7.19398914184e-06,1793239606929939712
+7,0.116666667,BASELINE,766,744.945620804,715,678.054379196,661.945620804,636,880,788,804.054379196,651.054379196,632,653,0.400968300485,-0.0153561466231,0.0698260803584,0.999999933498,0.000231810748938,-0.000281456651071,7.09436900177e-06,1793239606946606336
+8,0.133333333,BASELINE,766,744.355424318,715,678.644575682,661.355424318,636,880,788,804.644575682,651.644575682,632,653,0.400967891855,-0.0153553054843,0.0698254033799,0.999999932792,0.000233821730775,-0.000282299146177,7.11449315712e-06,1793239606963272960
+9,0.150000000,BASELINE,766,744.230210768,715.230210768,679,661.230210768,636,879.769789232,788,804.769789232,652,632,653,0.400967855039,-0.0153552004147,0.0698255203818,0.999999932622,0.000234825681111,-0.000282067134302,7.2056963369e-06,1793239606979939328
+10,0.166666667,BASELINE,766,744.808940245,715.808940245,679,661.808940245,636,879.191059755,788,804.191059755,652,632,653,0.400968381119,-0.0153562096889,0.0698268393998,0.999999933265,0.000234305074791,-0.000280208413976,7.40450686078e-06,1793239606996605952
+11,0.183333333,BASELINE,765.614463895,745,715.614463895,678.614463895,662,636,879.385536105,788,804,652,631.614463895,653,0.400968712492,-0.0153568414538,0.0698269636488,0.999999933557,0.000232993679794,-0.000280252425381,7.5996128023e-06,1793239607013272832
+12,0.200000000,BASELINE,765.038919519,745,715.038919519,678.038919519,662,636,879.961080481,788,804,652,631.038919519,653,0.400968947906,-0.0153572871666,0.069826499066,0.999999933675,0.000231292551112,-0.000281234182167,7.79289298892e-06,1793239607029939456
+13,0.216666667,BASELINE,765.53367022,745,715,678.53367022,662,636,879.46632978,788,804,652,631.53367022,653,0.400969421507,-0.0153581749263,0.0698269564059,0.999999934292,0.000230766199233,-0.000279476990965,7.46184664593e-06,1793239607046606080
+14,0.233333333,BASELINE,766,745,715,679,661.889581372,636,879.110418628,788,804,652,631.889581372,653,0.400969498139,-0.0153585438854,0.0698272292428,0.99999993458,0.000230912263516,-0.000278329990569,7.16074385024e-06,1793239607063272960
+15,0.250000000,BASELINE,766,745,715,679,661.293602932,636,879.706397068,788,804,652,631.293602932,653,0.400967753153,-0.0153564904647,0.0698263967083,0.999999933273,0.00023364056754,-0.000280739805965,7.15854013956e-06,1793239607079939328
+16,0.266666667,BASELINE,766,745,715.292785058,679,661,636,879.707214942,788,804,652,631,653,0.400967663032,-0.0153557947568,0.0698265134884,0.999999932919,0.000235131636016,-0.000280754499042,7.25076088708e-06,1793239607096605952
+17,0.283333333,BASELINE,766,745,715.869860804,679,661,636,879.130139196,788,804,652,631,653,0.400969179767,-0.0153564173714,0.0698275520413,0.999999933495,0.000235421363839,-0.000278443557688,7.43466662138e-06,1793239607113272832
+18,0.300000000,BASELINE,766,745,715.556514834,679,661.443485166,636,879.443485166,788,804,652,631.443485166,653,0.400968403109,-0.0153564451058,0.0698267492514,0.999999933246,0.000235420508594,-0.000279338550997,7.4549613917e-06,1793239607129939456
+19,0.316666667,BASELINE,766,745,715,678.983813413,662,636,880,788,804,652,631.983813413,653,0.400967016609,-0.0153562919136,0.0698254689859,0.999999932773,0.000235323120866,-0.000281108466789,7.42196090349e-06,1793239607146606336
+20,0.333333333,BASELINE,766,745,715,678.408276822,662,636,880,788,804,652,631.408276822,653,0.400967632589,-0.0153558723287,0.0698262167466,0.999999932966,0.000234813808342,-0.000280853963649,7.19354607288e-06,1793239607163272704
+21,0.350000000,BASELINE,766,745,715,678.172430703,662,636,880,788,804.172430703,652,631.172430703,653,0.400968200161,-0.0153556282558,0.0698269080993,0.999999933208,0.000234305328277,-0.000280421494567,7.03102915435e-06,1793239607179939072
+22,0.366666667,BASELINE,766,745,715,678.76576026,662,636,880,788,804.76576026,652,631.76576026,653,0.40096864957,-0.0153558126032,0.0698274617617,0.999999933569,0.0002337988803,-0.000279554615297,7.02936735582e-06,1793239607196605952
+23,0.383333333,BASELINE,765.650700166,744.650700166,715,678.650700166,662,636,879.650700166,788,804.650700166,652,632,653,0.400968589435,-0.0153555464782,0.0698269342366,0.999999933539,0.000233279000039,-0.000280098747007,6.86327552211e-06,1793239607213272832
+24,0.400000000,BASELINE,765.073546689,744.073546689,715,678.073546689,662,636,879.073546689,788,804.073546689,652,632,653,0.400968196916,-0.0153549865032,0.0698257014365,0.999999933253,0.000232750357641,-0.000281563302749,6.58992345232e-06,1793239607229939968
+25,0.416666667,BASELINE,765.496984925,744.496984925,715,678,661.503015075,636,879,788,804,652,631.503015075,653,0.400969199546,-0.0153554651126,0.0698271824264,0.999999933667,0.000233179217549,-0.000279721936782,6.95360163206e-06,1793239607246606336
+26,0.433333333,BASELINE,766,745,715,678,661,636,879.069592906,788,804,652,631.069592906,653,0.400970109149,-0.015356062396,0.0698286996406,0.999999934112,0.000233578163701,-0.000277781787893,7.3225579694e-06,1793239607263272960
+27,0.450000000,BASELINE,766,745,715,678,661,636,879.665204951,788,804,652,631.665204951,653,0.400968775581,-0.0153564102422,0.0698274950547,0.999999934053,0.000232694072333,-0.000278744210867,7.02822687868e-06,1793239607279939328
+28,0.466666667,BASELINE,766,745,715.253733123,678.253733123,661,636,879.746266877,788,804,652,632,653,0.400968745722,-0.0153569441623,0.0698273073811,0.99999993399,0.000232897178906,-0.000278799049154,7.11101678324e-06,1793239607296605952
+29,0.483333333,BASELINE,766,745,715.833168119,678.833168119,661,636,879.166831881,788,804,652,632,653,0.400970389355,-0.0153577169341,0.0698284250565,0.999999933921,0.000234495855812,-0.000277688875782,7.67789413142e-06,1793239607313272576
+30,0.500000000,BASELINE,766,744.589914592,715.589914592,678.589914592,661,636,879,788,804,652,631.589914592,653,0.400968981888,-0.0153590354475,0.0698276392274,0.999999933868,0.000233423341291,-0.000278775313361,7.81549375111e-06,1793239607329939456
+31,0.516666667,BASELINE,766,744.014015326,715.014015326,678.014015326,661,636,879,788,804,652,631.014015326,653,0.400966340739,-0.0153605746258,0.0698260837357,0.999999933816,0.000231270757684,-0.000280749928228,7.77951927994e-06,1793239607346606080
+32,0.533333333,BASELINE,766,744.560183278,715,678.560183278,661.560183278,636,879.560183278,788,804.560183278,652,631.560183278,653,0.400967389942,-0.015358802346,0.0698268518572,0.999999933781,0.000233026464007,-0.000279418203613,7.82159193621e-06,1793239607363273472
+33,0.550000000,BASELINE,766,745,715,679,662,636,879.861354331,788,804.861354331,652,632,653,0.400968260192,-0.015357450189,0.0698274492235,0.999999933877,0.000233838381767,-0.000278400735831,7.71764166527e-06,1793239607379940352
+34,0.566666667,BASELINE,766,745,715,679,662,636,879.268793878,788,804.268793878,652,632,653,0.4009682432,-0.0153577439037,0.0698272977979,0.999999934406,0.000231241249038,-0.000278682125129,7.12925049605e-06,1793239607396606464
+35,0.583333333,BASELINE,766,745,715,679,662,636,879.316477488,788,804,652,632,653,0.400968499909,-0.0153569885273,0.0698272484081,0.999999934419,0.00023119084982,-0.000278689243983,6.74390754016e-06,1793239607413273088
+36,0.600000000,BASELINE,766,745,715,679,662,636,879.895697453,788,804,652,632,653,0.400968983846,-0.0153553621859,0.0698272837291,0.999999934002,0.000233254771545,-0.000278468661061,6.52713698534e-06,1793239607429939712
+37,0.616666667,BASELINE,766,744.528812459,715,679,661.528812459,635.528812459,880,788,804,652,631.528812459,653,0.400968706709,-0.0153553908572,0.0698273791159,0.999999934026,0.000233253351646,-0.000278383540854,6.65523426767e-06,1793239607446606080
+38,0.633333333,BASELINE,765.95303379,744.04696621,715,679,661.04696621,635.04696621,879.95303379,788.04696621,804,652,631.04696621,653,0.400968293871,-0.0153557679684,0.0698274773903,0.9999999341,0.000232971729419,-0.000278347920447,6.87160144377e-06,1793239607463272704
+39,0.650000000,BASELINE,765.364480804,744.635519196,715,679,661.635519196,635.635519196,879.364480804,788.635519196,804,652,631.635519196,653,0.400968243661,-0.0153559716703,0.0698274568431,0.999999933642,0.000234689574877,-0.000278540035505,7.23244769904e-06,1793239607479939840
+40,0.666666667,BASELINE,765.220469958,745,715.220469958,678.779530042,662,636,879.440939915,789,804,652,631.779530042,653,0.400968091785,-0.0153558335988,0.0698272604755,0.999999933338,0.000235635938666,-0.000278833208879,7.22642029372e-06,1793239607496606720
+41,0.683333333,BASELINE,765.799561227,745,715.799561227,678.200438773,662,636,880.599122454,789,804,652,631.200438773,653,0.400967774537,-0.0153551395912,0.0698267781147,0.999999933287,0.000235327393197,-0.000279290765936,6.62362805164e-06,1793239607513273600
+42,0.700000000,BASELINE,766,745,715.623410142,678.376589858,662,636,880.246820285,788.623410142,804,652,631.376589858,653,0.400968397746,-0.0153556796505,0.0698271564428,0.999999933948,0.000233326370325,-0.00027860079804,6.58761800592e-06,1793239607529939968
+43,0.716666667,BASELINE,766,745,715.047473383,678.952526617,662,636,879.094946767,788.047473383,804,652,631.952526617,653,0.400969518783,-0.01535687296,0.0698279903745,0.999999934979,0.000230429438772,-0.000277303390657,6.85163272088e-06,1793239607546606592
+44,0.733333333,BASELINE,766,745,715.526547502,679,662,636,879,788,804,652,632,653,0.400969546568,-0.0153576209317,0.0698280713739,0.999999935248,0.0002293744107,-0.000277206703173,6.86223743902e-06,1793239607563272960
+45,0.750000000,BASELINE,766,745,715.896224308,679,661.896224308,636,879,788,804.103775692,652,632,653,0.400969449107,-0.0153580805479,0.0698280629042,0.999999935334,0.000228873384921,-0.000277313179686,6.85080579109e-06,1793239607579939584
+46,0.766666667,BASELINE,766,745,715.303059545,679,661.303059545,636,879,788,804.696940455,652,632,653,0.400969224147,-0.0153573689885,0.0698279514828,0.999999934874,0.000230204644461,-0.000277869074721,6.84280813336e-06,1793239607596606208
+47,0.783333333,BASELINE,766,745,715,678.717172186,661,636,879,788,804.717172186,652,632,653,0.400969129642,-0.0153574340445,0.0698276956804,0.999999934751,0.000230298278342,-0.000278230787088,6.89506993876e-06,1793239607613272576
+48,0.800000000,BASELINE,766,745,715,678.138887125,661,636,879,788,804.138887125,652,632,653,0.400969171419,-0.0153583103946,0.0698272890497,0.999999934982,0.000229099021615,-0.000278389645794,7.01028204089e-06,1793239607629939456
+49,0.816666667,BASELINE,766,745,715,678,661,636,879,788,804,652,631.563619391,653,0.400968077947,-0.0153574833048,0.0698267377912,0.999999934075,0.000231992782326,-0.000279252323054,6.94555984853e-06,1793239607646606336
+50,0.833333333,BASELINE,766,745,715,678,661,636,879,788,804,652,631,653,0.400966706304,-0.015356138452,0.0698261832668,0.999999932834,0.000236085141043,-0.00028026759931,6.82508165559e-06,1793239607663273216
+51,0.850000000,BASELINE,766,745,715,678,661,636,879,788,804,652,631,653,0.400969585679,-0.0153558828849,0.0698278658578,0.999999933795,0.000235163305965,-0.000277600760547,6.76355186558e-06,1793239607679939584
+52,0.866666667,BASELINE,766,744.837148437,715,678.162851563,661.162851563,636,879,788,804,652,631.162851563,653,0.400971403681,-0.0153558208846,0.0698288696531,0.999999934413,0.000234448641315,-0.000275974397658,6.74705407912e-06,1793239607696605696
+53,0.883333333,BASELINE,766,744.245187714,715,678.754812286,661.754812286,636,879,788,804,652,631.754812286,653,0.400970424997,-0.0153562689275,0.0698280848409,0.999999934144,0.000234279864813,-0.000277089658788,6.84921432433e-06,1793239607713272320
+54,0.900000000,BASELINE,766,744.339306251,715.339306251,679,661.660693749,636,879.339306251,788,804,652,632,653,0.400969643924,-0.0153570059558,0.0698279370845,0.999999934336,0.000232916749402,-0.000277539333395,6.98649122744e-06,1793239607729939456
+55,0.916666667,BASELINE,766,744.918520782,715.918520782,679,661.081479218,636,879.918520782,788,804,652,632,653,0.400969002573,-0.0153579473127,0.0698282397617,0.999999934853,0.000230709170354,-0.000277518401485,7.14859754481e-06,1793239607746606336
+56,0.933333333,BASELINE,766,745,716,679,661.490936442,636,880,788,804,652,631.509063558,653,0.400969137574,-0.0153576519923,0.0698281522129,0.999999934725,0.000231228351237,-0.000277546622974,7.17204409413e-06,1793239607763272960
+57,0.950000000,BASELINE,766,745,715.935560121,679,661.935560121,636,880,788,804.064439879,652,631.064439879,653,0.400969257009,-0.0153571667583,0.0698279267157,0.999999934445,0.000232254722889,-0.000277699370856,7.14342909583e-06,1793239607779939584
+58,0.966666667,BASELINE,766,745,715.344056745,679,661.344056745,636,880,788,804.655943255,652,631.655943255,653,0.400968209649,-0.0153567840124,0.0698270954009,0.999999933784,0.000233778553643,-0.000278804826131,6.87465003022e-06,1793239607796606464
+59,0.983333333,BASELINE,766,745,715,679,661,636,880,788,805,652,631.75849808,653,0.4009678396,-0.0153568907781,0.0698269075053,0.999999933633,0.000234196695995,-0.000278999230306,6.80256609478e-06,1793239607813273088
+60,1.000000000,BASELINE,766,745,715,679,661,636,880,788,805,652,631.181205024,653,0.400968411304,-0.0153576781744,0.0698276142379,0.999999934191,0.000233077457979,-0.000277926883289,7.00397262151e-06,1793239607829939456
+61,1.016666667,BASELINE,766,745,715,678.619419747,661.380580253,636,879.619419747,788,804.619419747,652,631.380580253,653,0.400968763677,-0.0153581825565,0.0698278561593,0.999999934511,0.000231992618829,-0.000277682144454,7.05810653984e-06,1793239607846606336
+62,1.033333333,BASELINE,766,745,715,678.064729106,661.935270894,636,879.064729106,788,804.064729106,652,631.935270894,653,0.400969015708,-0.0153585574634,0.0698278854356,0.999999934721,0.000230923516767,-0.000277816025383,7.04486519273e-06,1793239607863272704
+63,1.050000000,BASELINE,766,745,715.541959693,678,662,636,879.541959693,788,804,652,632,653,0.400968434085,-0.015358983905,0.0698270510959,0.999999934778,0.000229389282963,-0.000278885702947,6.93547189583e-06,1793239607879939328
+64,1.066666667,BASELINE,766,745,715.853075974,678,661.853075974,636,879.853075974,788,804,652,632,653,0.400968183358,-0.0153592233345,0.0698267142727,0.999999934842,0.000228637468653,-0.000279271848164,6.89809194366e-06,1793239607896606208
+65,1.083333333,BASELINE,766,745,715.273423112,678,661.273423112,636,879.273423112,788,804,652,632,653,0.40096923158,-0.0153588919133,0.0698281787953,0.999999934997,0.000230371062453,-0.000277280697771,7.11022238868e-06,1793239607913272832
+66,1.100000000,BASELINE,766,745,715,678,661.610497317,636,879.305248658,788,804,652,632,653,0.400968705381,-0.0153582739594,0.0698282617257,0.999999934686,0.000231609416682,-0.000277372343154,7.03647663568e-06,1793239607929939456
+67,1.116666667,BASELINE,766,745,715,678,662.766088824,636,879.883044412,788,804,652,632,653,0.400966773428,-0.0153574001691,0.069827111075,0.99999993396,0.000232405586707,-0.000279323652636,6.70748084755e-06,1793239607946606080
+68,1.133333333,BASELINE,766,745,715,678.45848975,662.083020501,636,880.45848975,788,804,652,632,653,0.400968549464,-0.01535724474,0.0698279930445,0.999999934297,0.000232883196663,-0.000277709654822,6.93254347796e-06,1793239607963272704
+69,1.150000000,BASELINE,766,745,715.034217102,679,661.034217102,636,880.931565797,788,804,652,631.965782898,653,0.400971037743,-0.015357311108,0.0698292436206,0.999999934845,0.000233228650598,-0.000275430832716,7.27391870952e-06,1793239607979939584
+70,1.166666667,BASELINE,766,745,715.624213324,679,661.624213324,636,879.751573352,788,804,652,631.375786676,653,0.40096980969,-0.0153580188354,0.0698281024949,0.999999934511,0.0002327406997,-0.00027705038284,7.22058481279e-06,1793239607996605952
+71,1.183333333,BASELINE,766,745,715.789691732,678.789691732,661.789691732,636,879.210308268,788.210308268,804,652,631.210308268,653,0.400968815813,-0.0153580333479,0.0698276135396,0.999999934306,0.000232490464137,-0.000278003162183,7.13143937183e-06,1793239608013272320
+72,1.200000000,BASELINE,766,745,715.210440685,678.210440685,661.210440685,636,879.789559315,788.789559315,804,652,631.789559315,653,0.400968232752,-0.0153568317568,0.0698282686836,0.999999934328,0.000232657251357,-0.000277786229031,6.97946990299e-06,1793239608029939200
+73,1.216666667,BASELINE,765.634148501,745,715.365851499,678,661,636,880,788.634148501,804,652,631.634148501,653,0.400968957736,-0.0153573536636,0.069828828637,0.99999993489,0.000231087986043,-0.000277076800592,6.83843025422e-06,1793239608046606080
+74,1.233333333,BASELINE,765.059544659,745,715.940455341,678,661,636,880,788.059544659,804,652,631.059544659,653,0.40097042908,-0.0153588589864,0.0698293342754,0.999999935753,0.000228528141111,-0.000276086357747,6.70362709451e-06,1793239608063272704
+75,1.250000000,BASELINE,765,745,716,678,661,636,878.967984046,788,804,652,631.516007977,653,0.400968257086,-0.0153583553398,0.069827343821,0.999999934727,0.000229987039981,-0.000278582051551,6.677243235e-06,1793239608079940352
+76,1.266666667,BASELINE,765.094247769,745,715.905752231,678,661,636,878.094247769,788,804,652,631.905752231,653,0.400966288492,-0.0153575264799,0.069825594403,0.999999933638,0.000232054925866,-0.000280767240999,6.65402592987e-06,1793239608096608000
+77,1.283333333,BASELINE,765.68609582,745,715.31390418,678,661,636,878.68609582,788,804,652,631.31390418,653,0.400967617582,-0.0153562068101,0.0698266411333,0.999999933421,0.000234885150485,-0.000279185216257,6.58135089598e-06,1793239608113274112
+78,1.300000000,BASELINE,766,744.72829048,715,678.27170952,661,636,879,787.72829048,804,652,631.27170952,653,0.400968363189,-0.0153557700866,0.0698271595452,0.999999933495,0.000235391514794,-0.000278493089398,6.55596667191e-06,1793239608129939968
+79,1.316666667,BASELINE,766,744.149717767,715,678.850282233,661,636,879,787.149717767,804,652,631.850282233,653,0.400968449821,-0.0153563305446,0.0698270812852,0.999999933904,0.000233273358461,-0.000278805995171,6.58399172924e-06,1793239608146606336
+80,1.333333333,BASELINE,766,744.425243126,715.425243126,679,661.425243126,636,879,787.425243126,804,652,632,652.574756874,0.400968745367,-0.0153574164413,0.0698274604413,0.999999934402,0.000231771849912,-0.000278268781344,6.71600554242e-06,1793239608163272960
+81,1.350000000,BASELINE,766,744.998943141,715.998943141,679,661.998943141,636,879,787.998943141,804,652,632,652.001056859,0.400969113848,-0.0153586857743,0.0698279992862,0.999999934929,0.000230485619477,-0.000277434781764,6.88432293637e-06,1793239608179939584
+82,1.366666667,BASELINE,766,745,716,678.429355765,661.429355765,636,879,788,804,652,632,652.570644235,0.400970116915,-0.0153580769167,0.069828573645,0.999999934998,0.000231893406813,-0.000276008586969,7.03846160083e-06,1793239608196605952
+83,1.383333333,BASELINE,766,745,715.851980014,678,661.148019986,636,879.148019986,788,804.148019986,652,632,653,0.400970342371,-0.0153577073566,0.069828751906,0.999999934972,0.000232620011877,-0.000275488268662,7.08630129991e-06,1793239608213272576
+84,1.400000000,BASELINE,766,745,715.257476098,678,661.742523902,636,879.742523902,788,804.742523902,652,632,653,0.400968218728,-0.0153580700633,0.0698277351897,0.999999934673,0.000231276917954,-0.000277703710806,6.81358232397e-06,1793239608229939712
+85,1.416666667,BASELINE,766,745,715,678.327925836,661.672074164,636,880,788,804.672074164,651.672074164,631.672074164,653,0.400968193728,-0.0153580662426,0.0698273506267,0.999999934711,0.000230842146049,-0.000277928776401,6.68916319601e-06,1793239608246606592
+86,1.433333333,BASELINE,766,745,715,678.906374176,661.093625824,636,880,788,804.093625824,651.093625824,631.093625824,653,0.400969772009,-0.0153577824094,0.069827449004,0.999999935011,0.000231101296694,-0.000276633272084,6.6780393638e-06,1793239608263273216
+87,1.450000000,BASELINE,766,745,715,678.518687493,661,636,880,788,804,651.481312507,631.481312507,653,0.400969543434,-0.0153574193365,0.0698270220042,0.999999934931,0.000230570512151,-0.000277369356623,6.38304674485e-06,1793239608279939584
+88,1.466666667,BASELINE,766,745,715,678.057123619,661,636,879.942876381,788,804,652,632,653,0.400968934877,-0.0153570745727,0.0698265517605,0.999999934733,0.000230138545997,-0.0002784476297,6.07408523092e-06,1793239608296605952
+89,1.483333333,BASELINE,766,745,715,678.647407292,661,636,879.352592708,788,804,652,632,653,0.400968036482,-0.0153570435189,0.0698266248491,0.99999993412,0.000232052686595,-0.000279057934139,6.1463951381e-06,1793239608313272832
+90,1.500000000,BASELINE,766,745,715,678.766685421,661,636,879.233314579,788,804,652,631.766685421,653,0.400968325656,-0.0153574167056,0.0698273753379,0.999999934253,0.000232355564735,-0.000278325542512,6.35401674696e-06,1793239608329939456
+91,1.516666667,BASELINE,766,745,715,678.187270152,661,636,879.812729848,788,804,652,631.187270152,653,0.40097037648,-0.0153583895458,0.0698291306874,0.999999935487,0.000230268283235,-0.00027560138487,6.7623607973e-06,1793239608346606080
+92,1.533333333,BASELINE,765.610702731,745,715.389297269,678.389297269,661,636,879.610702731,788.389297269,804,652,631.389297269,653,0.400970119173,-0.0153584223091,0.0698292342538,0.9999999356,0.000229695711493,-0.000275667573009,6.90725314473e-06,1793239608363272704
+93,1.550000000,BASELINE,765.035495259,745,715.964504741,678.964504741,661,636,879.035495259,788.964504741,804,652,631.964504741,653,0.400968759611,-0.0153580061356,0.0698285490059,0.999999935178,0.000229846494241,-0.000277066299799,6.9263332928e-06,1793239608379939584
+94,1.566666667,BASELINE,765.538859766,745,715.461140234,679,661.538859766,636,879,788.461140234,804,652,631.461140234,653,0.400969722555,-0.0153589138614,0.0698287981718,0.999999935375,0.000230009458466,-0.000276217118575,7.00898462467e-06,1793239608396606208
+95,1.583333333,BASELINE,766,745,715,679,661.883687536,636,879,788,804,652,631.116312464,653,0.400970404634,-0.0153592179677,0.0698288303478,0.999999935387,0.000230760928979,-0.000275548030087,7.0286606322e-06,1793239608413272832
+96,1.600000000,BASELINE,766,745,715,679,661.29338267,636,879,788,804,652,631.70661733,653,0.400969319683,-0.0153567074057,0.069827727821,0.999999934473,0.000233907394579,-0.000276215313698,6.77466407256e-06,1793239608429939456
+97,1.616666667,BASELINE,766,745,715.291675376,679,661,636,879.291675376,788,804,652,632,653,0.400968563684,-0.0153568491378,0.0698272032597,0.99999993423,0.000233847895253,-0.000277143478395,6.75677724068e-06,1793239608446606080
+98,1.633333333,BASELINE,766,745,715.871549113,679,661,636,879.871549113,788,804,652,632,653,0.400968132714,-0.0153596115466,0.0698272497742,0.999999934649,0.00023062064861,-0.000278329414218,6.9721855252e-06,1793239608463272960
+99,1.650000000,BASELINE,766,744.552895266,715.552895266,679,661.447104734,636,879.552895266,788,804,652,632,653,0.400969176099,-0.0153593597312,0.0698281702857,0.99999993506,0.000230058240566,-0.000277320348783,6.83963008616e-06,1793239608479939328
+100,1.666666667,BASELINE,766,744,715,679,661.978066614,636,879.021933386,788,804,652,632,653,0.400970564838,-0.0153582410096,0.0698292841699,0.999999935417,0.000230381405675,-0.000275764037654,6.62339998675e-06,1793239608496605952
+101,1.683333333,BASELINE,766,744,715,679,661.390293907,636,879.609706093,788,804,652,632,653,0.400970040149,-0.015356884462,0.0698289708963,0.999999934458,0.000233988720982,-0.000276202812763,6.80284202884e-06,1793239608513272832
+102,1.700000000,BASELINE,766,744.194784956,715,679,661.194784956,636,879.805215044,788,804,652,632,653,0.400969311678,-0.0153563496681,0.0698286390875,0.999999933952,0.000235464700118,-0.000276773726702,6.97642156216e-06,1793239608529939456
+103,1.716666667,BASELINE,766,744.774539678,715,679,661.774539678,636,879.225460322,788,804,652,632,653,0.400968180452,-0.0153574389745,0.0698282706459,0.999999934361,0.000232728341254,-0.00027760579759,7.13841450893e-06,1793239608546606080
+104,1.733333333,BASELINE,766,745,715,679,661.647623532,636,879,788,804,652,632,653,0.40096788819,-0.015357637661,0.0698280095436,0.999999934324,0.000232229049905,-0.000278160097896,6.91855467497e-06,1793239608563272704
+105,1.750000000,BASELINE,766,745,715,679,661.071007188,636,879,788,804,652,632,653,0.400968129815,-0.0153572695887,0.0698278167483,0.999999934007,0.000233153348643,-0.000278537634944,6.45569730224e-06,1793239608579939328
+106,1.766666667,BASELINE,766,745,715.503501173,678.496498827,661,636,879,788,804,652,632,653,0.40096777942,-0.015357559369,0.0698276130402,0.999999934149,0.000232540025559,-0.000278535117845,6.68582071278e-06,1793239608596605952
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635,879,788,804,652,632,653,0.400966546043,-0.0153612796117,0.0698269877034,0.999999935414,0.000227103324814,-0.000278464617501,7.28373553419e-06,1793239608639206144
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.579376536,745,715,678,661,635,879.579376536,788,804.579376536,652,632,653,0.400968779626,-0.0153593188182,0.069828657541,0.999999935036,0.000231170586402,-0.000276476648531,6.94471595424e-06,1793239608655872768
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,678.156610795,661,635.156610795,879.843389205,788,804.843389205,652,632,653,0.400970170211,-0.0153578290086,0.0698298348322,0.999999934854,0.000233569497812,-0.00027512201189,6.72823892285e-06,1793239608672539648
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,678.728169119,661,635.728169119,879.271830881,788,804.271830881,652,632,653,0.400969327233,-0.0153575870919,0.0698297070998,0.999999935234,0.000231548039363,-0.000275445418053,6.83644395354e-06,1793239608689206272
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.3103188,679,661.3103188,636,879,788,804,652,631.6896812,653,0.400969055764,-0.0153584478207,0.0698294720342,0.999999935494,0.000229883658749,-0.000275887372647,7.14187367267e-06,1793239608705872896
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715.902074032,679,661.902074032,636,879,788,804,652,631.097925968,653,0.400969302613,-0.0153603085681,0.0698291396252,0.999999935646,0.000228543121711,-0.000276436841969,7.62617173888e-06,1793239608722539520
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715.516520816,678.516520816,661.516520816,636,879,788,804,652,631.483479184,653,0.400969798444,-0.0153594856832,0.0698292508518,0.999999935897,0.000227488978997,-0.000276417848233,6.97710104425e-06,1793239608739206144
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.937870314,745,715,678.062129686,661,636,879,788,804,652,631.937870314,653,0.400970184642,-0.0153582249914,0.0698293863065,0.999999936025,0.000226935698999,-0.000276427966162,6.21718164355e-06,1793239608755872768
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.36499264,745,715,678.63500736,661,636,879,788,804,652,631.36499264,653,0.400969263702,-0.0153577399639,0.0698289977381,0.99999993499,0.00023003298206,-0.000277604083799,6.39357624413e-06,1793239608772539392
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.207692951,745,715,679,661,636,879.207692951,788,804,652,631,653,0.400972896633,-0.0153574450438,0.0698305807296,0.999999935011,0.000232592494569,-0.000275377535452,6.71765901077e-06,1793239608789206272
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.780041236,745,715,679,661,636,879.780041236,788,804,652,631,653,0.40098452499,-0.0153574839034,0.0698356252723,0.999999936855,0.000234207820154,-0.000267176781835,7.30104414223e-06,1793239608805873152
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,744.632086478,715,678.632086478,661,636,880,788,804,652,631,653,0.401010598619,-0.015359180241,0.0698470259321,0.999999941643,0.000234455014708,-0.000248340848316,8.47191334142e-06,1793239608822539776
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,744.034524173,715,678.034524173,661,636,880,788,804,652,631,653,0.401045688878,-0.0153619111636,0.0698623940317,0.999999947773,0.000233848232468,-0.00022286651663,1.00094856159e-05,1793239608839206144
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,744.545193433,715,678,661,635.454806567,879.454806567,788,804,652,631,653,0.401102491211,-0.0153656576003,0.069881713214,0.999999954975,0.000231206667131,-0.000190956588669,1.13566838625e-05,1793239608855873024
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,678.122897383,661,635.122897383,879,788,804.122897383,652,631.122897383,653,0.401162455576,-0.0153692264975,0.0698989307516,0.999999960351,0.000228957115516,-0.000163483216929,1.22815921269e-05,1793239608872539392
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,678.69722411,661,635.69722411,879,788,804.69722411,652,631.69722411,653,0.401229144521,-0.0153719145258,0.0699075385719,0.999999961981,0.00022860581816,-0.000153755802445,1.16982146102e-05,1793239608889206272
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,678.729225009,661,635.729225009,879.270774991,788,804.729225009,652,631.729225009,653,0.401304920629,-0.0153751359338,0.069913868003,0.999999963394,0.000227742778353,-0.000145698701296,1.08653497853e-05,1793239608905873408
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,678.156539222,661,635.156539222,879.843460778,788,804.156539222,652,631.156539222,653,0.401390828807,-0.0153789520534,0.0699176570577,0.999999964614,0.000226309152018,-0.000139503979635,9.75430970561e-06,1793239608922540800
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.430615049,879.569384951,788,804,651.569384951,631,653,0.401488369846,-0.0153826635632,0.0699192649258,0.999999965287,0.000224829100715,-0.000137187878856,7.62362417859e-06,1793239608939207424
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,744.977357047,715,678,661.022642953,635.977357047,879.022642953,788,804,651.022642953,631,652.977357047,0.401591457376,-0.0153864396955,0.069920133141,0.999999965777,0.000223342753645,-0.000136153001974,5.12124316175e-06,1793239608955873280
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,744.399283587,715,678,661.600716413,635.399283587,879.600716413,788,804,651.600716413,631,652.399283587,0.401723260468,-0.0153927662771,0.0699229841167,0.999999966776,0.000222130346994,-0.000130757376685,2.9097392795e-06,1793239608972540160
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,744.178084473,715,678,662,635.178084473,879.821915527,788,804.178084473,652,631,652.178084473,0.401864076542,-0.0153986537982,0.0699253112471,0.999999967995,0.000219350874193,-0.000126075157149,1.99236710933e-07,1793239608989206784
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,744.753877117,715,678,662,635.753877117,879.246122883,788,804.753877117,652,631,652.753877117,0.402025020889,-0.0154035607839,0.0699264684965,0.999999969731,0.000213071742096,-0.000122986155821,-3.62565723601e-06,1793239609005873408
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.336913797,661.663086203,636,879.336913797,788,804.663086203,652,631,653,0.402203458993,-0.0154105552656,0.0699280445584,0.999999971844,0.000204267688504,-0.00012053546653,-7.5696000687e-06,1793239609022539776
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.925358749,661.074641251,636,879.925358749,788,804.074641251,652,631,653,0.402394957501,-0.0154191082186,0.0699299332948,0.999999974168,0.000193578592954,-0.000118561324215,-1.16024221303e-05,1793239609039206400
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.494171844,661,635.494171844,880,788.505828156,804,652,631,653,0.402624301726,-0.0154297237049,0.0699342591518,0.99999997892,0.000174330973233,-0.000107234803325,-1.63868955612e-05,1793239609055873024
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.084644011,661,635.084644011,879.915355989,788.915355989,804,652,631,653,0.402864418914,-0.0154405680103,0.0699393987658,0.999999984085,0.00014996094397,-9.43073622093e-05,-2.11473281946e-05,1793239609072539648
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678.660587377,661,635.660587377,879.339412623,788.339412623,804,652,631,653,0.403135154139,-0.0154510013231,0.0699472066878,0.999999991174,0.000103075462286,-7.99736370921e-05,-2.51344288458e-05,1793239609089206528
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715,678.764336758,661,636,879.235663242,788,804,652,631,653,0.403419307782,-0.0154608104861,0.0699538353839,0.999999994633,7.22248283e-05,-6.82698927019e-05,-2.92736966549e-05,1793239609105873408
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,678.190505759,661,636,879.809494241,788,804,652,631,653,0.403722716327,-0.0154697240175,0.0699587719353,0.999999995541,6.43835917199e-05,-6.03400713258e-05,-3.36313183555e-05,1793239609122540032
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.604017799,879.604017799,788,804,651.604017799,631.395982201,653,0.404052923869,-0.0154781498123,0.0699604909512,0.999999996016,5.91304509247e-05,-5.81073825607e-05,-3.30849789321e-05,1793239609139206656
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.011239573,879.011239573,788,804,651.011239573,631.988760427,653,0.404396450022,-0.0154863332107,0.0699606109096,0.999999996302,5.51635473703e-05,-5.87060663617e-05,-3.01014589992e-05,1793239609155873280
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.567471216,879,788,804,651.567471216,631.432528784,653,0.404782776022,-0.0154843753298,0.0699673650072,0.999999996781,5.6493640774e-05,-4.8477071853e-05,-2.99542222717e-05,1793239609172539648
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661.145145267,636,879.145145267,788,804,652,631.145145267,653,0.405176896959,-0.0154795937254,0.0699724617088,0.999999996886,6.05894378992e-05,-4.00595802884e-05,-3.08567594948e-05,1793239609189206272
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661.720551922,636,879.720551922,788,804,652,631.720551922,653,0.405591672622,-0.015467022639,0.0699722652185,0.999999996056,7.25802686423e-05,-3.76323685351e-05,-3.47086954062e-05,1793239609205872896
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715.296124491,678.296124491,661.703875509,635.703875509,879.703875509,788,804,652,632,653,0.406016777258,-0.0154628117392,0.0699644900387,0.99999999524,7.4590829243e-05,-5.05608991506e-05,-3.74244954662e-05,1793239609222539520
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715.871853785,678.871853785,661.128146215,635.128146215,879.128146215,788,804,652,632,653,0.406451634701,-0.0154664946406,0.0699495589564,0.999999993939,6.71778833545e-05,-7.79885318575e-05,-3.90675409149e-05,1793239609239206400
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,716,678.540213993,661,635.459786007,879,788.459786007,804,652,632,653,0.406940455397,-0.0154743531817,0.0699403851188,0.999999993606,5.74566042074e-05,-8.82349818779e-05,-4.12363867895e-05,1793239609255873280
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715.950076697,678.049923303,661.049923303,636,879,788.950076697,804.049923303,652,631.950076697,652.950076697,0.407449891631,-0.0154827919708,0.0699343590247,0.999999993761,4.74765707189e-05,-9.13492101473e-05,-4.3354926432e-05,1793239609272539904
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715.373533078,678.626466922,661.626466922,636,879,788.373533078,804.626466922,652,631.373533078,652.373533078,0.408013816682,-0.0154847405645,0.0699441495141,0.99999999566,4.17385163913e-05,-7.11180779419e-05,-4.33548194753e-05,1793239609289206784
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,678.797851023,661.797851023,636,879,788,804.797851023,652,631,652.202148977,0.408586418212,-0.0154851050606,0.0699530915886,0.999999996907,4.0546434711e-05,-5.13027785167e-05,-4.36987673035e-05,1793239609305873920
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,678.223754249,661.223754249,636,879,788,804.223754249,652,631,652.776245751,0.409174984158,-0.0154825548664,0.0699604726056,0.999999997343,4.77188008728e-05,-3.22525996447e-05,-4.46757651909e-05,1793239609322541312
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661.348952332,636,879.348952332,788,804,652,631,653,0.409765746948,-0.0154795230688,0.0699569092062,0.99999999701,5.00769120496e-05,-3.6570497156e-05,-4.6202459911e-05,1793239609339207680
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661.920771012,636,879.920771012,788,804,652,631,653,0.410357912781,-0.0154761836842,0.0699463559059,0.999999996068,4.93602894197e-05,-5.58129492691e-05,-4.80802309826e-05,1793239609355873280
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678,662,636,880,788,804.515322072,652,631,653,0.411014441552,-0.015480610521,0.0699482403897,0.999999996275,4.41587232698e-05,-5.63584768699e-05,-4.8210000654e-05,1793239609372539904
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,678.109167934,662,636,880,788,804.890832066,652,631,653,0.411693289323,-0.0154864497696,0.0699575082487,0.999999997174,3.83157786558e-05,-4.37430445877e-05,-4.76410955031e-05,1793239609389206528
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,678.684393532,662,636,880,788,804.315606468,652,631,653,0.412423225136,-0.0154929860847,0.0699897565114,0.999999998361,3.28143176641e-05,1.22204288592e-05,-4.52897081259e-05,1793239609405873664
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.746494203,745,715,679,662,635.746494203,880,788,804.253505797,652,631.253505797,653,0.4131439718,-0.0154988343622,0.0700143648499,0.999999997486,2.22029506301e-05,5.13089534286e-05,-4.36133357448e-05,1793239609422540800
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.184813546,745,715,679,662,635.184813546,880,788,804.815186454,652,631.815186454,653,0.413853547751,-0.015503846226,0.0700296857028,0.99999999663,5.37971483555e-06,6.98834181143e-05,-4.27575465757e-05,1793239609439207168
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.408491531,745,715,679,662,635.408491531,880,788,804.591508469,652,631.591508469,653,0.41457115216,-0.0155061776209,0.0700063617299,0.99999999864,3.4901576147e-07,2.60633496948e-05,-4.51707138875e-05,1793239609455873536
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,744.984095907,715.015904093,679,662,636,880,788,804.015904093,652,631.015904093,653,0.415292917652,-0.015507394971,0.0699644086486,0.999999997665,8.32240846511e-07,-4.74980781002e-05,-4.91193305767e-05,1793239609472539904
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.42456863,715.57543137,679,662,636,880,788,804.57543137,652,631.57543137,653,0.416022340285,-0.0155154637102,0.0699334652978,0.999999994469,-7.88172612228e-06,-9.17807971409e-05,-5.07563196323e-05,1793239609489206272
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,744.142209602,715.857790398,679,661.857790398,635.857790398,880,788,804.857790398,652,631.857790398,653,0.41678014586,-0.01552391503,0.069916837199,0.99999999195,-1.75180527141e-05,-0.000114673444889,-5.14093436448e-05,1793239609505872640
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,744.731798694,715.268201306,679,661.268201306,635.268201306,880,788,804.268201306,652,631.268201306,653,0.41762724175,-0.0155335699154,0.0699452436848,0.99999999588,-3.00560448841e-05,-7.02747187536e-05,-4.8966896217e-05,1793239609522539520
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,880,788,804,652,631,653,0.418459663263,-0.0155389317506,0.0699706253422,0.999999997558,-3.93894490643e-05,-3.32539863362e-05,-4.71941924703e-05,1793239609539206400
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661,635,880,788,804,652,631,653,0.419279838824,-0.0155407109925,0.0699934827488,0.99999999788,-4.60485923568e-05,-2.39026469074e-06,-4.59803965774e-05,1793239609555873280
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.494220355,635.494220355,880.494220355,788,804,651.505779645,631.494220355,653,0.420158177006,-0.0155429956942,0.0700127545357,0.999999997136,-5.28547798948e-05,2.94697621932e-05,-4.54576749226e-05,1793239609572540416
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,881,788,804,651,631.926507339,653,0.421039198682,-0.0155453020367,0.0700285048603,0.999999995685,-5.89952229685e-05,5.57057005099e-05,-4.52355398114e-05,1793239609589207040
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,881,788,804,651,631.353985291,653,0.421869681303,-0.0155471577666,0.070024582699,0.999999996198,-6.0441293117e-05,4.25751386267e-05,-4.6237455323e-05,1793239609605873408
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.779501779,745,715,679,662,636,880.779501779,788,804.220498221,651.220498221,631,653,0.422674495959,-0.0155462676796,0.0699936213901,0.999999996874,-6.03544436899e-05,-1.16044150668e-05,-4.97500787572e-05,1793239609622539776
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.201841003,745,715,679,662,636,880.201841003,788,804.798158997,651.798158997,631,653,0.42343773383,-0.0155409299246,0.0699188621258,0.999999987939,-5.77845739656e-05,-0.00013227504213,-5.73295413214e-05,1793239609639206144
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.384892975,745,715,679,662,635.615107025,880,788,805,652,631.384892975,653,0.424257288673,-0.0155409416067,0.0698835877466,0.999999980574,-6.45400171685e-05,-0.000175463722649,-6.24464896911e-05,1793239609655873024
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.976499848,745,715,679,662,635.023500152,880,788,805,652,631.976499848,653,0.425107089543,-0.0155438263031,0.0698695194605,0.999999979223,-7.63037927794e-05,-0.000177039282921,-6.6240899077e-05,1793239609672539648
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.556382766,662,635,880,788,804.443617234,651.443617234,631.443617234,653,0.426044478934,-0.0155467276377,0.0699280183576,0.999999991217,-7.11753527319e-05,-9.50130366796e-05,-5.89351284273e-05,1793239609689206528
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.865648873,745,715,679.865648873,662,635,880.134351127,788,804,651.134351127,631.134351127,653,0.426972091163,-0.0155494034598,0.0699821368014,0.999999996072,-6.81269725708e-05,-2.08652937449e-05,-5.2727603214e-05,1793239609705873664
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.29235123,745,715,679.29235123,662,635,880.70764877,788,804,651.70764877,631.70764877,653,0.427855922347,-0.0155513402481,0.0700121362623,0.999999995787,-7.41574374811e-05,1.6243464665e-05,-5.16083942613e-05,1793239609722540032
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.288950918,745,715,679.288950918,662,635.288950918,881,788.288950918,804,652,632,653,0.428728017871,-0.0155538249923,0.0700347067554,0.999999994373,-7.77725046957e-05,5.13334772004e-05,-5.06984712235e-05,1793239609739206656
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.878582472,745,715,679.878582472,662,635.878582472,881,788.878582472,804,652,632,653,0.429587901282,-0.0155568799363,0.0700495467061,0.999999992084,-7.88741228407e-05,8.43227922611e-05,-5.000632997e-05,1793239609755873536
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,744.539635544,715,680,662,636,881,789,804,651.539635544,632,653,0.430392547333,-0.015552962941,0.070019106994,0.999999995041,-7.76883560196e-05,3.25008854088e-05,-5.31612300544e-05,1793239609772539904
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,744.039694307,715,680,662,636,881,788.960305693,804.039694307,651,631.960305693,653,0.431181263183,-0.0155472420577,0.0699755172466,0.999999994565,-7.55298377331e-05,-4.3237174359e-05,-5.74046681828e-05,1793239609789206272
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,744.613419087,715,680,662,636,881,788.386580913,804.613419087,651,631.386580913,653,0.43194837156,-0.0155415760601,0.0699129837286,0.999999985204,-6.82645424064e-05,-0.000144844483556,-6.28713190141e-05,1793239609805872896
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,679.81296022,662.18703978,635.81296022,880.81296022,788,805.18703978,651,631,653,0.432752127614,-0.0155395059061,0.06988855652,0.999999979349,-6.71178263811e-05,-0.000180411290894,-6.51797593605e-05,1793239609822539776
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,679.239554436,662.760445564,635.239554436,880.239554436,788,805.760445564,651,631,653,0.433631586507,-0.0155448636454,0.0699428450818,0.999999991887,-7.86101914329e-05,-7.95589835287e-05,-6.09643209084e-05,1793239609839206656
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,679.34471012,662.65528988,635.34471012,880.34471012,788,805.65528988,651.34471012,631.34471012,653,0.434468020956,-0.0155507636448,0.0699896268334,0.999999994822,-8.45176274991e-05,-3.33591477142e-06,-5.65770195304e-05,1793239609855873280
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,679.936766334,662.063233666,635.936766334,880.936766334,788,805.063233666,651.936766334,631.936766334,653,0.435273583244,-0.0155570527416,0.0700310220842,0.999999993386,-8.64176078741e-05,5.52144842545e-05,-5.20663986461e-05,1793239609872539904
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.482130241,881,788,805,651.482130241,632,653.517869759,0.436054066112,-0.0155591019735,0.0700324269874,0.999999992523,-9.07516144908e-05,6.26808941218e-05,-5.28072241997e-05,1793239609889206528
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.0967786,880.9032214,788,805,651,631.9032214,653.9032214,0.436824301135,-0.015560302724,0.0700255162861,0.99999999219,-9.54430460272e-05,5.9638039349e-05,-5.43467869737e-05,1793239609905872896
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.671318938,880.328681062,788,805,651,631.328681062,653.328681062,0.437558750449,-0.0155598176009,0.0700011605595,0.999999992737,-0.000100462159898,3.48693754369e-05,-5.67295209056e-05,1793239609922539520
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.748337122,745,715,680,662,635.748337122,880.251662878,788,805,651,631.251662878,653,0.438245665963,-0.015560042296,0.0699658139447,0.999999992674,-0.000104550959094,-1.28962038862e-05,-5.96270224523e-05,1793239609939206400
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.160234589,745,715,680,662,635.160234589,880.839765411,788,805,651,631.839765411,653,0.438869035075,-0.0155612159235,0.0699157739823,0.999999988058,-0.000107396051031,-9.14055857137e-05,-6.32126991372e-05,1793239609955873024
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.404066362,745,715,680,662,635,881,788,805,651,632,653,0.439476571081,-0.015562628429,0.0698691280015,0.999999977004,-0.000113819576891,-0.000169069697989,-6.67226065025e-05,1793239609972539904
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.959453776,745,715,680,662,635,881,788,805,651,632,653,0.44007817771,-0.0155641303933,0.0698237530477,0.999999959784,-0.000121583210109,-0.000246417266389,-7.02041386388e-05,1793239609989206784
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680.555062874,662,635,880.444937126,787.444937126,804.444937126,651,632,653,0.440725545236,-0.0155696319972,0.0698323465017,0.999999961991,-0.000129312283223,-0.000233109035444,-7.04027997438e-05,1793239610005873408
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.148677307,715,680.851322693,662,635,880.148677307,787.148677307,804.148677307,651,631.851322693,653,0.441373132304,-0.0155769437479,0.0698493785392,0.999999966375,-0.000138343644461,-0.000207978806014,-6.9679222305e-05,1793239610022539776
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.727361351,715,680.272638649,662,635,880.727361351,787.727361351,804.727361351,651,631.272638649,653,0.442010931262,-0.0155885798122,0.0698785240767,0.999999971998,-0.000151149376618,-0.000169306013371,-6.70360914465e-05,1793239610039206400
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.687914736,715,680,662,635,881,788,805,651,631.312085264,653,0.442576776037,-0.0155973517388,0.0698776256342,0.999999968526,-0.000162003259524,-0.000179911825411,-6.58402317694e-05,1793239610055872768
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.097810278,715,680,662,635,881,788,805,651,631.902189722,653,0.443078520844,-0.0156035721658,0.0698499626994,0.99999995571,-0.000171118348834,-0.000234417174383,-6.59336645929e-05,1793239610072539392
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880.516410304,787.516410304,805,651,632,653,0.443555842701,-0.015607917845,0.0698118177693,0.99999993788,-0.000180562543867,-0.000294882240312,-6.84297323776e-05,1793239610089206016
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787,805,651,631.937072919,653,0.444026519373,-0.015611768806,0.0697729978355,0.999999916851,-0.000189702244619,-0.000353853490804,-7.14109276947e-05,1793239610105872640
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880,787,805,651,631.360455173,653,0.444482561203,-0.0156146219033,0.0697456684028,0.999999901628,-0.0001958225051,-0.000390964273516,-7.44555192124e-05,1793239610122539264
+197,3.283333333,POSE1_TO_POSE2_PRESS,766,745.219575224,715,680,661.780424776,634.780424776,880.219575224,787,805,651,631,653,0.444931857181,-0.0156192152651,0.06972594623,0.999999890251,-0.000203006061159,-0.00041523479281,-7.65905734653e-05,1793239610139206400
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,745.805296223,715,680,661.194703777,634.194703777,880.805296223,787,805,651,631,653,0.44536990428,-0.0156267105503,0.0697189093075,0.999999887154,-0.000211962682149,-0.000418093930809,-7.72089572299e-05,1793239610155873280
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,745.612930278,715,680,661,634,881,786.612930278,805,651,631,653.387069722,0.445775267417,-0.0156323071148,0.0697151476335,0.999999881628,-0.000221220260661,-0.000426473120558,-7.69816229735e-05,1793239610172539904
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.033122351,715,680,661,634,881,786.033122351,805,651,631,653.966877649,0.446164355882,-0.0156369582275,0.0697130168421,0.999999874745,-0.000230627699282,-0.000437600975159,-7.63331703838e-05,1793239610189206528
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.456016857,745,714.456016857,680.543983143,660.456016857,634,881,786,805,651,631,653.456016857,0.446501518379,-0.0156420989399,0.0697027920256,0.999999864764,-0.000234046632997,-0.00045811321473,-7.63248978221e-05,1793239610205872896
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.120389531,714.120389531,680.879610469,660.240779063,634,881,786,805,651,631,653,0.44682669493,-0.0156467978494,0.0696902778517,0.999999852464,-0.000238190999037,-0.000482162949665,-7.65216446211e-05,1793239610222539520
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.694777162,714.694777162,680.305222838,661.389554325,634,881,786,805,651,631,653,0.447118535718,-0.0156497188243,0.069670979659,0.999999832787,-0.000246439282364,-0.000517408708097,-7.73452665648e-05,1793239610239206400
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.276819396,746,715,680,661.723180604,634,881,786,805,651,631,653,0.447403651694,-0.01565272062,0.0696577449147,0.999999819731,-0.000252458806566,-0.000539124744107,-7.84046251629e-05,1793239610255873536
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.867541628,746,715,680,661.132458372,634,881,786,805,651,631,653,0.447681141969,-0.0156558140633,0.0696513858953,0.999999815282,-0.000255951001097,-0.000545498579645,-7.97313003412e-05,1793239610272540416
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715,680.449779178,661,634,881,785.550220822,805,651,631,653,0.44794312282,-0.0156570694093,0.0696579080524,0.99999982081,-0.000254638411942,-0.00053594471258,-7.93823227187e-05,1793239610289206784
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.970599619,745.970599619,714.970599619,681,660.970599619,633.970599619,880.970599619,785,805.029400381,651,630.970599619,652.970599619,0.448197909886,-0.0156577627891,0.0696675384268,0.999999828733,-0.000251532947396,-0.000522610724488,-7.83770005711e-05,1793239610305873152
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.39402865,745.39402865,714.39402865,681,660.39402865,633.39402865,880.39402865,785,805.60597135,651,630.39402865,652.39402865,0.448402244815,-0.0156578852701,0.0696657228835,0.999999830625,-0.000240907111738,-0.000524606323765,-7.41704498699e-05,1793239610322539776
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.181228212,714.181228212,681,660,633,880,785,805.818771788,651,630.181228212,652.181228212,0.448596695825,-0.0156589736943,0.0696633033244,0.999999829943,-0.000236512464359,-0.0005283304227,-7.10057166998e-05,1793239610339206400
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.753648423,714.753648423,681,660,633,880,785,805.246351577,651,630.753648423,652.753648423,0.448769811775,-0.0156621471653,0.0696595799612,0.999999823859,-0.000245568213154,-0.000535785591956,-7.0089809902e-05,1793239610355873536
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.663888983,715,681,660,633,880.336111017,784.663888983,805,651,630.663888983,653,0.448926172936,-0.0156665877075,0.0696556023051,0.999999818215,-0.000254095648629,-0.000542296571841,-7.01346530817e-05,1793239610372540160
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.0738391,715,681,660,633,880.9261609,784.0738391,805,651,630.0738391,653,0.449069875523,-0.0156719855486,0.069651432525,0.999999812902,-0.000262223933351,-0.000548094197793,-7.09053627616e-05,1793239610389206528
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.504373028,714.495626972,680.495626972,660.504373028,633,880.495626972,784,805,651,630.504373028,653,0.449193828507,-0.0156759601693,0.0696521605487,0.999999812232,-0.000265895950939,-0.000547415480177,-7.19144880199e-05,1793239610405873152
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.919242976,714.080757024,680.080757024,660.919242976,633,880.080757024,784.080757024,805,651,630.919242976,653,0.449311103945,-0.0156793687576,0.0696532040763,0.999999812191,-0.000268519149928,-0.000546083347133,-7.28624071554e-05,1793239610422540032
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.343684985,714.656315015,680.656315015,660.343684985,633,880.656315015,784.656315015,805,651,630.343684985,653,0.449404774738,-0.0156805565798,0.0696518882011,0.999999811951,-0.000268621741005,-0.000546423676885,-7.32263639151e-05,1793239610439206656
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.237855399,881,785,805,651,630,653,0.44948740661,-0.0156815384921,0.0696480894188,0.999999809416,-0.00026913129989,-0.000550740112385,-7.36307366414e-05,1793239610455873280
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.828262925,881,785,805,651,630,653,0.449553676453,-0.0156822152019,0.0696406104417,0.999999803407,-0.000270244071314,-0.000560949979461,-7.40950143709e-05,1793239610472539648
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.589218776,880.589218776,784.589218776,805,651,630,653,0.449605465065,-0.0156839942488,0.0696356168003,0.99999979768,-0.000272207802229,-0.000570113912409,-7.42497656055e-05,1793239610489206272
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,633.009936624,880.009936624,784.009936624,805,651,630,653,0.449651313529,-0.0156862254701,0.0696316426346,0.999999792028,-0.000274520593519,-0.000578848806795,-7.42775502097e-05,1793239610505872896
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.565949961,745,715,681,660,633.565949961,880,784,805,651,630,653,0.449685854326,-0.0156855994188,0.0696287078209,0.999999788638,-0.000276713619594,-0.000583597459594,-7.46108481973e-05,1793239610522539520
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.857839435,745,715,681,660,633.857839435,880.142160565,784,805,651,630,653,0.449718269394,-0.0156848065766,0.06962665837,0.999999786241,-0.000278289922331,-0.000586914392457,-7.48642498192e-05,1793239610539206144
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.280455523,745,715,681,660,633.280455523,880.719544477,784,805,651,630,653,0.44974478074,-0.0156836557733,0.0696272639163,0.999999786827,-0.000277984530706,-0.00058606111642,-7.48567253629e-05,1793239610555872768
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,715,680.697106885,660,633,881,784,805,651,630,653,0.449764949659,-0.0156836687466,0.0696268752597,0.999999786339,-0.000278543480404,-0.0005866504008,-7.46720196772e-05,1793239610572539648
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,715,680.108124361,660,633,881,784,805,651,630,653,0.449779128014,-0.0156847809329,0.0696255475562,0.999999784835,-0.000279918820024,-0.000588602216073,-7.43199623059e-05,1793239610589206528
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680.473207333,660,633,881,784.473207333,804.526792667,651,630,653,0.449786424187,-0.0156836240673,0.0696230291235,0.999999782641,-0.00027789388543,-0.000593276392889,-7.42752394042e-05,1793239610605873152
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.052377131,715,681,660,633,881,784.947622869,804.052377131,651,630,653,0.449792137371,-0.015681995877,0.0696205330626,0.999999780557,-0.000275253927363,-0.000598000329318,-7.42709785216e-05,1793239610622539776
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.627143437,715,681,660,633,881,784.372856563,804.627143437,651,630,653,0.449797496678,-0.015680755536,0.0696209305009,0.999999781423,-0.00027410554364,-0.000597115283097,-7.39810304286e-05,1793239610639206400
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.799803635,715,681,660,633,881,784,805,651,630,653,0.449801676499,-0.0156799423654,0.0696212446817,0.999999781772,-0.000273670666127,-0.00059676480475,-7.37057902447e-05,1793239610655872768
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.22991475,715,681,660,633,881,784,805,651,630,653,0.449803678221,-0.0156799180287,0.069621405115,0.999999781168,-0.000274553384571,-0.000597401485959,-7.34577104311e-05,1793239610672539392
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.356671674,715,681,660,633,880.643328326,784,805,651,630,653,0.449804443879,-0.01568072377,0.0696202836184,0.999999780193,-0.000275169934888,-0.000598792083017,-7.30977679084e-05,1793239610689206272
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.954550141,715,681,660,633,880.045449859,784,805,651,630,653,0.449804373623,-0.0156820908692,0.0696182951897,0.999999778965,-0.000275606483319,-0.000600692531646,-7.26621758635e-05,1793239610705872896
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.466878096,715,680.466878096,659.466878096,633,880.533121904,784,805,651,630.533121904,653,0.44980485351,-0.015681020796,0.0696182283302,0.999999779171,-0.000273463886087,-0.000601364101199,-7.23680653358e-05,1793239610722539520
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.109318426,715,680,659.109318426,633,881,784,805,651,631,653,0.449805558418,-0.0156798767219,0.0696184144864,0.999999779476,-0.000271838092981,-0.000601617350741,-7.21714060997e-05,1793239610739206400
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.682178432,715,680,659.682178432,633,881,784,805,651,631,653,0.44980702556,-0.0156792690957,0.0696190031418,0.999999779721,-0.000273303460588,-0.000600525510207,-7.23386111565e-05,1793239610755872768
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.737960569,715,680.262039431,659.737960569,633,880.737960569,783.737960569,805,651,630.737960569,653,0.449807067141,-0.0156787985039,0.069618191318,0.999999779138,-0.000274057044953,-0.000601136162014,-7.24745160371e-05,1793239610772539648
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.149375055,715,680.850624945,659.149375055,633,880.149375055,783.149375055,805,651,630.149375055,653,0.449805332228,-0.0156784986804,0.0696156342567,0.999999777521,-0.000273923625493,-0.000603868411185,-7.25714155515e-05,1793239610789206272
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680.565593414,659.434406586,633,880.434406586,783.434406586,805,651,630,653,0.449805247126,-0.015678331057,0.0696157010468,0.999999777282,-0.00027385687015,-0.000604299195118,-7.25296670954e-05,1793239610805872640
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680.016359912,659.983640088,633,880.983640088,784,805,651.016359912,630,653,0.449805734441,-0.0156781636906,0.0696166368835,0.999999777532,-0.000273741386203,-0.000603949399096,-7.24308329754e-05,1793239610822539264
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.591668508,659.408331492,633,880.408331492,784,805,651.591668508,630,653,0.449806608389,-0.0156764689772,0.0696167758881,0.999999778427,-0.000271186433155,-0.000603672927341,-7.19926773205e-05,1793239610839206144
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.166099458,633,880.166099458,784.166099458,805,651.833900542,630.166099458,653,0.449807055266,-0.0156755187782,0.0696166302773,0.999999778719,-0.000269763093334,-0.000603845516934,-7.18360424614e-05,1793239610855873024
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.738384151,633,880.738384151,784.738384151,805,651.261615849,630.738384151,653,0.449806457771,-0.0156763892398,0.0696157886585,0.999999777549,-0.000271107038948,-0.000605116256366,-7.23678481088e-05,1793239610872539648
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.676647185,660,633,880.676647185,784.676647185,805,651,630.676647185,653,0.449806955788,-0.0156766753437,0.0696156573052,0.999999777641,-0.000270943323094,-0.000605034476863,-7.23901224151e-05,1793239610889206528
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.080997314,660,633,880.080997314,784.080997314,805,651,630.080997314,653,0.449808376341,-0.0156764693568,0.0696161240702,0.999999778796,-0.000269509997754,-0.000603813734196,-7.19833177506e-05,1793239610905873152
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680,659.501509735,633,880.498490265,784,805,651,630,653,0.449809217215,-0.0156777764669,0.0696164562411,0.999999778556,-0.000272062967825,-0.000603099030271,-7.17086213185e-05,1793239610922539520
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.076008858,715,680.076008858,659.076008858,633,880.923991142,784,805,651,630,653,0.449809813968,-0.0156789117722,0.0696166912654,0.99999977816,-0.000274428126925,-0.000602711508113,-7.14768228408e-05,1793239610939206144
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.657347815,715,680.657347815,659.657347815,633,880.342652185,784,805,651,630,653,0.449809394267,-0.0156773216712,0.0696164212582,0.99999977824,-0.000271373691281,-0.000603969708575,-7.13919947715e-05,1793239610955873024
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,715,681,660,632.76733551,880.23266449,784,805,651,630.23266449,653,0.449808996609,-0.0156766713597,0.0696159885316,0.999999777984,-0.000270098944985,-0.00060496355867,-7.13926235096e-05,1793239610972539904
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,715,681,660,632.200664175,880.799335825,784,805,651,630.799335825,653,0.449808630598,-0.015677370184,0.0696153222093,0.999999777257,-0.000271379072108,-0.00060557791472,-7.15159317159e-05,1793239610989206528
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.617045092,715,681,660,632.382954908,881,784,805,651,630.617045092,653,0.449808643528,-0.0156772962694,0.0696154013995,0.999999777379,-0.000270927992905,-0.000605606531214,-7.12853083898e-05,1793239611005873152
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.024134407,715,681,660,632.975865593,881,784,805,651,630.024134407,653,0.449808864214,-0.0156767986989,0.0696158893183,0.999999777964,-0.000269527776373,-0.00060531401481,-7.08606414012e-05,1793239611022539776
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.553805223,715,681,660,633,881,784,805,651,630.553805223,653,0.449808708331,-0.0156761227566,0.0696158472148,0.999999777517,-0.000269482339653,-0.000606014833939,-7.13474154641e-05,1793239611039206656
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.869985929,715,680.869985929,660,633,881,784,805,651,630.869985929,652.869985929,0.449808747633,-0.0156754844932,0.0696157897241,0.999999777269,-0.000269403557309,-0.000606417750071,-7.16954196283e-05,1793239611055873024
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.29750543,715,680.29750543,660,633,881,784,805,651,630.29750543,652.29750543,0.449809505569,-0.0156750002173,0.0696157564057,0.999999777849,-0.000269015654204,-0.000605663393288,-7.14395418116e-05,1793239611072539648
+254,4.233333333,HOLD_POSE2,766,746,715,680,660,633,881,784,805,651,631,653,0.449811191498,-0.0156746645047,0.0696176389983,0.999999780255,-0.000266752909665,-0.00060279313353,-7.05256527159e-05,1793239611109300992
+255,4.250000000,HOLD_POSE2,766,745.421818756,715,680.578181244,660,633,880.421818756,784,805,651,631,653,0.449811547433,-0.0156738633647,0.0696175205894,0.999999780036,-0.000267227090203,-0.000602894715265,-7.09676637079e-05,1793239611125967872
+256,4.266666667,HOLD_POSE2,766,745,715,681,659.84513506,633,880.15486494,784,805,651,630.84513506,653,0.44981182406,-0.0156734516793,0.0696174794359,0.999999779982,-0.000267325400203,-0.000602923018542,-7.11151841268e-05,1793239611142634496
+257,4.283333333,HOLD_POSE2,766,745,715,681,659.27249117,633,880.72750883,784,805,651,630.27249117,653,0.449811886734,-0.0156740906249,0.0696176466943,0.999999780374,-0.000266409724837,-0.00060275363864,-7.04682578023e-05,1793239611159301120
+258,4.300000000,HOLD_POSE2,765.697165689,745.302834311,715,680.697165689,659.302834311,632.697165689,881,784,805,651.302834311,630,653,0.449812683502,-0.0156747708658,0.0696180606085,0.999999780722,-0.000266975818864,-0.000601940983023,-7.03394264338e-05,1793239611175967744
+259,4.316666667,HOLD_POSE2,765.119405783,745.880594217,715,680.119405783,659.880594217,632.119405783,881,784,805,651.880594217,630,653,0.449814146712,-0.0156754885962,0.0696186984469,0.999999781025,-0.000268887124886,-0.000600544334939,-7.06809432733e-05,1793239611192634368
+260,4.333333333,HOLD_POSE2,765.471208104,745.528791896,715,680.471208104,659.528791896,632.471208104,881,784,805.471208104,652,630,653,0.449814362773,-0.0156749761916,0.0696189210128,0.999999780925,-0.000268858577429,-0.000600720166359,-7.0708298865e-05,1793239611209300992
+261,4.350000000,HOLD_POSE2,765.93701829,745,715,681,659.06298171,633,881,784,806,652,630,653.06298171,0.449814177769,-0.015674182152,0.0696188902985,0.999999780692,-0.000268375265445,-0.000601328786503,-7.06649946419e-05,1793239611225967360
+262,4.366666667,HOLD_POSE2,765.363005054,745,715,681,659.636994946,633,881,784,806,652,630,653.636994946,0.449813374718,-0.0156737031547,0.0696176822671,0.999999780229,-0.000268302410552,-0.000602125182193,-7.07124232125e-05,1793239611242633984
+263,4.383333333,HOLD_POSE2,765,745,715,681,660,633,881,784,805.577732816,651.788866408,630,653.788866408,0.449812872876,-0.0156733994142,0.0696169341501,0.999999780141,-0.000267554722661,-0.00060261546568,-7.06249407175e-05,1793239611259300608
+264,4.400000000,HOLD_POSE2,765,745,715,681,660,633,881,784,804.429024141,651.214512071,630,653.214512071,0.449812889212,-0.0156733971739,0.0696169772407,0.999999780694,-0.000265646095193,-0.0006025791332,-7.03053658379e-05,1793239611275967488
+265,4.416666667,HOLD_POSE2,765,745,715,681,659.64171188,633,881,784,804.35828812,651,630,653,0.449812906118,-0.0156740700753,0.0696169801591,0.999999780416,-0.000266708907638,-0.000602577699687,-7.02478780224e-05,1793239611292634112
+266,4.433333333,HOLD_POSE2,765,745,715,681,659.069838105,633,881,784,804.930161895,651,630,653,0.449812923363,-0.0156751454477,0.0696169591297,0.999999779637,-0.000269543079049,-0.000602597070428,-7.03466276677e-05,1793239611309300992
+267,4.450000000,HOLD_POSE2,765,745,715,681,659,633,881,784,805.525455391,651,630,653,0.449813418774,-0.0156743763485,0.0696172432748,0.99999978047,-0.000267176478248,-0.000602285940214,-7.02069388644e-05,1793239611325967360
+268,4.466666667,HOLD_POSE2,765,745,715,681,659.119240396,633,881,784,805.880759604,651,630.119240396,653,0.449813923612,-0.0156733057097,0.0696175313469,0.999999781324,-0.00026472519758,-0.000601965204271,-7.00724850541e-05,1793239611342633728
+269,4.483333333,HOLD_POSE2,765,745,715,681,659.694785667,633,881,784,805.305214333,651,630.694785667,653,0.449814209974,-0.015672063037,0.0696176719904,0.999999781434,-0.000264718448199,-0.000601783648455,-7.00849947391e-05,1793239611359300608
+270,4.500000000,HOLD_POSE2,765,745,715,680.742867137,660,633,881,783.742867137,805,651,630.742867137,653,0.449813640577,-0.0156720514614,0.0696169995327,0.999999780628,-0.000265384753363,-0.00060283937376,-6.99898262756e-05,1793239611375967488
+271,4.516666667,HOLD_POSE2,765,745,715,680.195421122,660,633,881,783.195421122,805,651,630.195421122,653,0.449812104994,-0.0156734298431,0.0696154090515,0.999999778783,-0.000266810963674,-0.000605292038292,-6.97730849309e-05,1793239611392634368
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,633,881,784,805,651,630,653,0.449815143052,-0.0156744811496,0.0696174438335,0.999999781388,-0.000265472075836,-0.000601566456011,-6.97578424518e-05,1793239611425297920
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.579346146,745.579346146,714.579346146,680.420653854,659.420653854,633,881,784,805,651,630,653,0.449814600167,-0.0156738946729,0.0696166715504,0.99999978023,-0.000267795275716,-0.000602377594015,-7.04692591132e-05,1793239611441964800
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.84337485,745.84337485,715,680.15662515,659.15662515,633,881,783.84337485,805,651,630,653,0.449814017635,-0.0156733698551,0.0696159943822,0.999999779431,-0.000268923298438,-0.000603154854893,-7.08632009556e-05,1793239611458631424
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.271575198,745.271575198,715,680.728424802,659.728424802,633,881,783.271575198,805,651,630,653,0.449813330006,-0.0156730084798,0.0696155693401,0.999999779595,-0.000266883202884,-0.000603842316081,-7.04155957989e-05,1793239611475298048
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.689362876,659.689362876,633,881,783.310637124,804.689362876,651,630,653,0.44981344563,-0.0156726934919,0.0696158068533,0.999999779813,-0.000266130293902,-0.000603840169979,-7.01840643689e-05,1793239611491964672
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.097731558,659.097731558,633,881,783.902268442,804.097731558,651,630,653,0.449814287855,-0.015672420465,0.0696166436968,0.999999780084,-0.000266541740243,-0.000603214223171,-7.01479875906e-05,1793239611508631040
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.482952844,715,680.482952844,659.482952844,633,880.517047156,784,804.482952844,651,630.482952844,653,0.449815010046,-0.0156727505355,0.0696172505077,0.999999780687,-0.000266928118447,-0.000602061550068,-6.99760839596e-05,1793239611525297664
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.93876735,714.93876735,681,659.93876735,633,880,783.93876735,805.06123265,651,630.93876735,653,0.449815163609,-0.015673199213,0.0696174681352,0.999999781073,-0.000267232022467,-0.000601302629398,-6.98223203378e-05,1793239611541964288
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.362493166,714.362493166,681,659.362493166,633,880,783.362493166,805.637506834,651,630.362493166,653,0.449810734085,-0.0156736417316,0.069614795117,0.999999779083,-0.000266883940841,-0.000604732326798,-7.00472053014e-05,1793239611558630912
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.21328814,681,659.21328814,633,880.21328814,783.21328814,805.78671186,651,630,653,0.449800936547,-0.015673191524,0.0696099473511,0.999999774813,-0.000266296770961,-0.000611962724825,-7.04432826537e-05,1793239611575297792
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.788233648,681,659.788233648,633,880.788233648,783.788233648,805.211766352,651,630,653,0.449782036854,-0.0156712275847,0.0696014120218,0.999999766566,-0.00026530419632,-0.00062563769728,-7.11296386029e-05,1793239611591964416
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.374027661,745,715,681,659.625972339,633,880.625972339,783.625972339,805,651,630,653,0.449743550941,-0.0156689639077,0.0695855039682,0.999999749169,-0.000263988972632,-0.000653251412142,-7.23488005386e-05,1793239611608631040
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.966147391,745,715,681,659.033852609,633,880.033852609,783.033852609,805,651,630,653,0.449693644482,-0.0156665254562,0.0695652969464,0.999999725466,-0.00026248561492,-0.000688992679408,-7.38786367107e-05,1793239611625297920
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.454098063,745.545901937,715,680.454098063,659,633,880.545901937,783.545901937,805,651,630,653,0.449629243616,-0.0156632900826,0.0695490470447,0.99999970845,-0.00026210430009,-0.000713342920746,-7.44497294026e-05,1793239611641964288
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,633,880.87586135,784,805.12413865,651,630,653,0.449562073739,-0.0156600418517,0.0695351798946,0.999999694229,-0.000261592568182,-0.000733166685787,-7.46877124699e-05,1793239611658630912
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,633,880.30041663,784,805.69958337,651,630,653,0.449488032428,-0.0156569225597,0.069529102878,0.99999969028,-0.000260359348588,-0.000739045629324,-7.3926032756e-05,1793239611675297280
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.726410838,715,680.273589162,659.273589162,633,880.273589162,784,805.726410838,651,630,653,0.449404482048,-0.0156526579561,0.0695259752716,0.999999689308,-0.00025864058618,-0.000741059178687,-7.29434740565e-05,1793239611691964160
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.153976841,715,680.846023159,659.846023159,633,880.846023159,784,805.153976841,651,630,653,0.449310544799,-0.0156471423146,0.0695260693429,0.99999969161,-0.000256391459413,-0.000738850509693,-7.17196465477e-05,1793239611708630784
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.432949734,715,680.567050266,660,633,881,784,805,651,630.432949734,653,0.449193637676,-0.0156419714637,0.0695271476433,0.999999692402,-0.000253645177909,-0.000738909100157,-6.98112503631e-05,1793239611725297408
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.975406509,714.975406509,680,660,633,881.024593491,784,805,651,630.975406509,653,0.449067190162,-0.0156367719884,0.0695286844033,0.999999692805,-0.000250617542425,-0.000739599322735,-6.76234970919e-05,1793239611741964288
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.397608687,714.397608687,680,660,633,881.602391313,784,805,651,630.397608687,653,0.448916261935,-0.0156280748267,0.0695323873148,0.999999697144,-0.000245376068082,-0.000735731466184,-6.48180370994e-05,1793239611758631168
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.179709157,680.179709157,660,633,881.820290843,784,805,651,630.179709157,653,0.448754799671,-0.0156199508856,0.0695349364976,0.999999700215,-0.000240256569324,-0.000733502590803,-6.18122348386e-05,1793239611775298048
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.755967795,680.755967795,660,633,881.244032205,784,805,651,630.755967795,653,0.448570092833,-0.0156130918248,0.0695349398414,0.999999700557,-0.000235406224811,-0.000734890321523,-5.83643540756e-05,1793239611791964416
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.339174011,745.339174011,715,680.660825989,660,633.339174011,881,784,805,651,631,653,0.44836124817,-0.0156034353945,0.0695333993362,0.999999699561,-0.000226040272158,-0.000739426211451,-5.50706377783e-05,1793239611808631040
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.927483534,745.927483534,715,680.072516466,660,633.927483534,881,784,805,651,631,653,0.448134673389,-0.0155917241949,0.0695307248184,0.99999969743,-0.00021335744236,-0.000746274537591,-5.18901604591e-05,1793239611825297920
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.492089007,745.492089007,715,680.507910993,660,633.492089007,881,784.507910993,805,651,630.492089007,653,0.447878853791,-0.0155791047393,0.0695292659869,0.999999696821,-0.000200353341907,-0.000750945884614,-4.79181958082e-05,1793239611841964544
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633.086700059,881,785,805,651,630.086700059,653,0.447613697354,-0.0155665501344,0.0695289106253,0.999999697386,-0.000185948707883,-0.000754153452951,-4.36310503717e-05,1793239611858630912
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633.662498153,881,785,805,651,630.662498153,653,0.44731906381,-0.0155550817191,0.0695338160478,0.999999703966,-0.000163898092821,-0.000750830060336,-3.81936275521e-05,1793239611875297792
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.237212002,715,681,660,634,881,785,805,651,631,653,0.447008173618,-0.015544495261,0.0695363027199,0.999999710663,-0.000133779466912,-0.000748136030426,-3.27001164642e-05,1793239611891964672
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.810390185,715,681,660,634,881,785,805,651,631,653,0.446674258959,-0.0155351579301,0.0695353636869,0.999999716872,-9.22340224329e-05,-0.000746333374119,-2.71271671995e-05,1793239611908631552
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.605085675,715,680.605085675,660,634,881,785,805,651,631,653,0.446315803848,-0.0155259342252,0.0695417418058,0.999999728001,-6.99856096166e-05,-0.000733916638116,-2.16161064734e-05,1793239611925298176
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.01495289,715,680.01495289,660,634,881,785,805,651,631,653,0.445945217636,-0.0155167666894,0.069551737021,0.99999974172,-5.72763221927e-05,-0.000716253031906,-1.61356393511e-05,1793239611941964544
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.565382655,745,715,680,660,634,881,785.565382655,805,651,631,653,0.44555427794,-0.0155167986597,0.0695698628348,0.99999976777,-5.39893159863e-05,-0.000679287302399,-1.06889907981e-05,1793239611958631424
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.855940587,745,715,680,660.144059413,634,881,786,805,651.144059413,631,653,0.445149608169,-0.0155183212906,0.0695876123493,0.999999790387,-4.82678767136e-05,-0.000645654176601,-5.20022916845e-06,1793239611975298048
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.281459092,745,715,680,660.718540908,634,881,786,805,651.718540908,631,653,0.444705496553,-0.0155235831714,0.0696036060154,0.999999805041,-3.45409518585e-05,-0.000623477513553,4.16984089736e-07,1793239611991964416
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.292107013,661,634,881,786,805,651.707892987,631,653,0.444231195746,-0.015521168248,0.0696153198457,0.999999813761,-4.10278451619e-05,-0.000608926697776,-1.41771944783e-06,1793239612008631296
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.864793916,661,634,881,786,805,651.135206084,631,653,0.443727897021,-0.015511379463,0.0696229227328,0.999999816684,-6.69308776569e-05,-0.000601700795547,-1.04102717067e-05,1793239612025297920
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.453988904,745,715,681,661,634,881,786.453988904,805,651,631,653,0.443180375747,-0.0155004952452,0.0696320929071,0.99999982463,-4.77129563825e-05,-0.000590263421,-7.26538753927e-06,1793239612041964800
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.952937176,745,715,681,661,634.047062824,881,787,805,651,631,653,0.442619136715,-0.0154893938108,0.0696432140405,0.999999834685,-1.56125751837e-05,-0.00057479297006,-4.63587621659e-07,1793239612058631680
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.37369229,745,715,681,661,634.62630771,881,787,805,651,631,653,0.442057326074,-0.0154796643963,0.069670919128,0.999999860354,4.47382580777e-06,-0.000528435016352,5.27264926707e-06,1793239612075298048
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.203347989,745,714.796652011,681,661.203347989,635,881.203347989,787,805.203347989,651.203347989,631,653,0.441487513958,-0.0154720835208,0.0696989495273,0.999999885039,1.96405529514e-05,-0.000479007400861,9.40870242464e-06,1793239612091964672
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.776380282,745,714.223619718,681,661.776380282,635,881.776380282,787,805.776380282,651.776380282,631,653,0.440903155283,-0.0154684086649,0.0697275713378,0.999999909721,2.5863368479e-05,-0.000423999179366,1.06356396466e-05,1793239612108630784
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745.359944903,714.359944903,681,662,635,881.640055097,787,805.640055097,652,631.359944903,653,0.440293721444,-0.0154639265652,0.0697549348637,0.999999929417,3.36807384343e-05,-0.000373976826052,1.31301426193e-05,1793239612125297664
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745.950250062,714.950250062,681,662,635,881.049749938,787,805.049749938,652,631.950250062,653,0.439668239835,-0.0154589278396,0.069781493102,0.999999945449,4.25186031045e-05,-0.000327145368254,1.64358718311e-05,1793239612141964544
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745.469142068,715,680.469142068,661.469142068,635,881,787,805,651.469142068,631.469142068,653,0.438919279086,-0.0154461957337,0.0697667528407,0.999999934138,5.99253270517e-05,-0.000357613378712,1.56490278437e-05,1793239612158631168
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.890049909,745,715,680,661.109950091,635,881,787,805,651,631,652.890049909,0.438163839278,-0.0154304078942,0.0697485905695,0.999999920732,7.84729450788e-05,-0.000390147967337,1.27740158839e-05,1793239612175297536
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.313602126,745,715,680,661.686397874,635,881,787,805,651,631,652.313602126,0.437429127217,-0.0154046749352,0.0697320358752,0.999999914637,9.85151321464e-05,-0.000401266228908,2.6373937463e-06,1793239612191964416
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,662,635,881,787.259912127,805,651.259912127,631.259912127,652.259912127,0.436694897033,-0.0153839642654,0.0697377664106,0.999999918331,0.000120213440364,-0.000385855873351,-1.1175677632e-06,1793239612208631552
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,662,635,881,787.829926449,805,651.829926449,631.829926449,652.829926449,0.435961241682,-0.0153692457053,0.0697700855402,0.999999932254,0.000143887675792,-0.000338794119826,2.74145413386e-06,1793239612225297920
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.418563318,745,715,680,662,635,881,788,805,651.581436682,632,653,0.435205920858,-0.0153695425776,0.0698061288873,0.999999945787,0.000151592071247,-0.000292201988572,7.93138812018e-06,1793239612241964544
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,881,788,805,651.014675184,632,653,0.434438960644,-0.0153761772262,0.0698426189042,0.999999957676,0.000152432898891,-0.000247443988879,1.35380202001e-05,1793239612258631168
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,881,788,805,651.593706756,632,653,0.433578694806,-0.0153809856332,0.06983538234,0.999999953331,0.000150487800957,-0.000265540218638,1.34043370281e-05,1793239612275297792
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.171036695,661.828963305,635,881,787.828963305,804.828963305,652,631.828963305,653,0.432727355687,-0.0153835639786,0.0698309662326,0.999999950928,0.000150442106347,-0.000274458656706,1.35720579465e-05,1793239612291964416
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.744364236,661.255635764,635,881,787.255635764,804.255635764,652,631.255635764,653,0.431897012918,-0.0153808970556,0.0698331840464,0.999999953637,0.000154863947782,-0.000261790255029,1.44487033945e-05,1793239612308631040
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.673204647,661,635,880.673204647,787.326795353,804,651.673204647,631.326795353,653,0.431023311765,-0.0153747608319,0.0698081998368,0.999999940765,0.000163554025247,-0.000302577204828,1.29197768743e-05,1793239612325297920
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.083448221,661,635,880.083448221,787.916551779,804,651.083448221,631.916551779,653,0.430114721641,-0.0153658329804,0.0697613270867,0.99999990988,0.000175678605562,-0.000386377851688,9.45516852654e-06,1793239612341965056
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880,788,804.497812667,651.497812667,632,653,0.42922370712,-0.0153652719463,0.0697388143056,0.999999898301,0.000176678625571,-0.000414879948248,7.50730823557e-06,1793239612358631424
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.923057586,745,715,680,661.076942414,635,880.076942414,787.923057586,805,652,632,653,0.428343168268,-0.0153671906206,0.0697322788602,0.99999989751,0.000174925458607,-0.000417532247787,6.94664258876e-06,1793239612375298048
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.348653841,745,715,680,661.651346159,635,880.651346159,787.348653841,805,652,632,653,0.42751163029,-0.0153762258221,0.0698030847744,0.999999937257,0.000167226282745,-0.000311982308392,1.37384550887e-05,1793239612391964928
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.225624754,745,715,680,662,635.225624754,881,787.225624754,805,651.774375246,632,653,0.426669339485,-0.0153825798385,0.0698541919676,0.999999958346,0.000162856379607,-0.000237504594854,1.94182571237e-05,1793239612408631552
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.799710151,745,715,680,662,635.799710151,881,787.799710151,805,651.200289849,632,653,0.425810441611,-0.0153847929654,0.0698748759629,0.999999964076,0.000163628291536,-0.000211015610104,2.33806429684e-05,1793239612425297920
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.61549876,745,715,679.61549876,661.61549876,636,880.61549876,787.61549876,805,651,631.61549876,653,0.424934620408,-0.0153833401664,0.0698637523827,0.999999959754,0.000167551481138,-0.000227823309567,2.27032290013e-05,1793239612441964544
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.024971305,745,715,679.024971305,661.024971305,636,880.024971305,787.024971305,805,651,631.024971305,653,0.424049731276,-0.0153799230645,0.0698355854377,0.99999994895,0.000173163210735,-0.000267830550523,1.95396839282e-05,1793239612458631168
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.554724213,745,715,679.554724213,661,635.445275787,880,787.554724213,805,651,631,653,0.423106428497,-0.0153742640623,0.0697967322729,0.999999926989,0.000179663453124,-0.000336834789388,1.69210599265e-05,1793239612475298048
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.866814855,661.133185145,635,880,787.866814855,804.866814855,651,631,653,0.422160310945,-0.0153688941813,0.0697561961499,0.999999899694,0.000185094256601,-0.000407625060121,1.39520338972e-05,1793239612491964928
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.290868259,661.709131741,635,880,787.290868259,804.290868259,651,631,653,0.421213410195,-0.0153648145327,0.0697116337621,0.999999867252,0.000186839393195,-0.000480096522112,9.73814385375e-06,1793239612508631296
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.290743208,661.709256792,635,880,787.290743208,804,651.290743208,631,653,0.420361418077,-0.0153659690413,0.0697196219103,0.999999875276,0.000183981312678,-0.000464232143503,9.299426582e-06,1793239612525297920
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.878134564,661.121865436,635,880,787.878134564,804,651.878134564,631,653,0.419606262226,-0.0153724640121,0.0697812278885,0.999999920189,0.000176426523668,-0.000358237833582,1.27125553463e-05,1793239612541964544
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.458877635,880,788,804,651.541122365,631,653,0.418835252312,-0.0153741517885,0.0698400749865,0.999999948254,0.000183585452342,-0.000263423947045,1.98830235622e-05,1793239612558630912
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.96223303,661,635.96223303,880,788,804,651.03776697,631.03776697,653,0.418054807846,-0.0153742509193,0.0698928043051,0.999999964361,0.000194599462432,-0.000180715324602,2.73884043499e-05,1793239612575297792
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.384963489,661,635.384963489,880,788,804,651.615036511,631.615036511,653,0.417198878167,-0.0153696328784,0.0698684577944,0.999999952275,0.000205660937263,-0.0002291213413,2.56272995258e-05,1793239612591964672
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.808332175,745,715,679,661,635.191667825,880,788,803.808332175,652,632,653,0.416349745018,-0.015366180888,0.0698415487856,0.999999940246,0.000213051971991,-0.000271268433887,2.30120953e-05,1793239612608631552
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.232978377,745,715,679,661,635.767021623,880,788,803.232978377,652,632,653,0.415514217196,-0.0153650631288,0.0698095100927,0.999999931854,0.000213095420568,-0.000300886247999,1.86871309611e-05,1793239612625298432
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.349007577,745,715.349007577,679,661,635.650992423,880,788,803.349007577,652,631.650992423,653,0.414696626201,-0.0153620213805,0.0697818457666,0.999999916563,0.00021597653871,-0.000346358450571,1.62759333968e-05,1793239612641964800
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.935506521,745,715.935506521,679,661,635.064493479,880,788,803.935506521,652,631.064493479,653,0.41389124084,-0.0153576704034,0.0697571580951,0.99999989446,0.000220788623135,-0.000402619185431,1.5167008895e-05,1793239612658631168
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.48091743,679,661,635.51908257,880,788,804,652,631.51908257,653,0.413164458376,-0.0153586813878,0.0697663947699,0.999999901278,0.000222985932297,-0.000383998347381,1.6345670452e-05,1793239612675298048
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.101045459,661,635.898954541,880,788,804.101045459,652,632,653,0.41246294173,-0.0153608298291,0.069787585158,0.999999916083,0.000222855677338,-0.000343267953315,1.8344208008e-05,1793239612691964416
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.677122289,661,635.322877711,880,788,804.677122289,652,632,653,0.411834549252,-0.0153652112744,0.0698452677723,0.999999947686,0.000213301888632,-0.000242090072241,2.28684277336e-05,1793239612708631040
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.747529417,661,635.252470583,880,788,804.747529417,652,631.747529417,653,0.411183641315,-0.015367869931,0.0698794216379,0.999999960079,0.000212630405687,-0.000184302194533,2.57397973704e-05,1793239612725297664
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.173110191,661,635.826889809,880,788,804.173110191,652,631.173110191,653,0.410504021878,-0.0153683316998,0.0698835718104,0.999999958187,0.000223285577068,-0.000181844942245,2.65034645413e-05,1793239612741964288
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.41073261,636,880,788,804,652,631.41073261,653,0.409839112318,-0.015365331132,0.0698596232339,0.999999949275,0.000224151868079,-0.000225053602884,2.35981515471e-05,1793239612758631168
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.998640451,636,880,788,804,652,631.998640451,653,0.40918054801,-0.0153608370372,0.069823553871,0.999999933981,0.00022079558939,-0.000287960890017,1.91101728528e-05,1793239612775297792
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.419513405,635.419513405,880,788,804.580486595,652,631.419513405,653,0.40856055614,-0.0153567134474,0.0697940997068,0.999999917293,0.000227140795574,-0.000336999739111,1.58608744048e-05,1793239612791964672
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.839903064,661,635.160096936,880,788,805,652,631,653,0.407965832432,-0.0153545729638,0.0697768479517,0.99999990701,0.000230601610983,-0.000364160156719,1.37824241646e-05,1793239612808631552
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.266034727,661,635.733965273,880,788,805,652,631,653,0.407436183218,-0.0153575556083,0.069791093754,0.999999918164,0.000226549587782,-0.000334858741398,1.47226164511e-05,1793239612825297920
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,661,636,880,788,805,652,631,653,0.406924493133,-0.0153569816894,0.0698052426824,0.999999925786,0.000223986456694,-0.000313081047005,1.54318513849e-05,1793239612841964800
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,678,661,636,880,788,805,652,631,653,0.406428323643,-0.0153533341316,0.0698193078902,0.999999930729,0.00022271005014,-0.000297805473589,1.59414892562e-05,1793239612858631680
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,661,636,879.521020293,788,804.521020293,652,631.478979707,653,0.405948786248,-0.0153523682736,0.0698161454099,0.999999925219,0.000232105321363,-0.000308914571482,1.61670333458e-05,1793239612875298048
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,715.053045583,678.053045583,661,636,879,787.946954417,804,652,631.946954417,653,0.405480345539,-0.0153521998097,0.0698106626723,0.999999918629,0.000241541837763,-0.000322699298096,1.62799662457e-05,1793239612891964672
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,715.618244023,678.618244023,661,636,879,787.381755977,804,652,631.381755977,653,0.405086856458,-0.0153545405337,0.0698161169307,0.999999924817,0.000230724770094,-0.00031125755462,1.58554205469e-05,1793239612908631552
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.195716999,745,715.804283001,679,661,636,879.195716999,787.195716999,804,652,631.195716999,652.804283001,0.404703798368,-0.0153565927224,0.0698250595823,0.99999993204,0.000222968601275,-0.000293174404539,1.59013794773e-05,1793239612925298688
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.798734026,745,715.201265974,679,661,636,879.798734026,787.798734026,804,652,631.798734026,652.201265974,0.40434244791,-0.0153580444498,0.0698412618106,0.999999941176,0.00022158236682,-0.000261270049163,1.69264897269e-05,1793239612941965312
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766.613599763,744.613599763,715.386400237,678.613599763,661,636,879.613599763,788,804,652,631.613599763,652.386400237,0.404000460511,-0.0153570686414,0.0698507346079,0.999999944053,0.000227465519935,-0.000244648678071,1.73284974987e-05,1793239612958631680
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.033623826,744.033623826,715.966376174,678.033623826,661,636,879.033623826,788,804,652,631.033623826,652.966376174,0.403668173429,-0.0153548767058,0.0698568361501,0.999999943993,0.000236990432594,-0.000235683651349,1.74183484722e-05,1793239612975297792
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,744.544435369,715.455564631,678.544435369,661,636,879.544435369,788,804,652,631,653,0.403362265678,-0.0153491424894,0.0698487971188,0.999999941208,0.000235825859472,-0.000248444509584,1.56820797809e-05,1793239612991964416
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.877953239,788,804,652,631,653,0.403066185022,-0.0153439902583,0.0698401310049,0.999999937747,0.00023519486553,-0.0002626591137,1.41128679912e-05,1793239613008631040
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.301569568,788,804,652,631,653,0.402800643549,-0.0153418160895,0.0698323700961,0.999999932898,0.000238999165495,-0.00027730808979,1.35839145666e-05,1793239613025297664
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.719793171,661,636,879.280206829,788,804,652,631,653,0.402553195557,-0.0153397652966,0.0698252399624,0.999999926957,0.000248761320601,-0.000289884719008,1.30918981536e-05,1793239613041964288
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.132099056,661,636,879.867900944,788,804,652,631,653,0.402325602611,-0.0153378498913,0.0698188020155,0.999999919735,0.000265061377156,-0.000300187240312,1.26404149071e-05,1793239613058631168
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.44925199,661,636,880,788,804,652,631.44925199,653,0.402131277262,-0.0153406569596,0.0698160218161,0.999999919338,0.000261192567066,-0.000304851380743,1.29759565771e-05,1793239613075298048
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.971439053,661,636,879.971439053,788,804.028560947,652,631.971439053,653,0.401948257577,-0.0153448907143,0.0698143549645,0.999999920955,0.00025134105038,-0.000307792156043,1.34874889037e-05,1793239613091964672
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.396015407,661,636,879.396015407,788,804.603984593,652,631.396015407,653,0.40179701794,-0.0153502237655,0.0698136988893,0.999999923625,0.000238908943592,-0.000309037912249,1.29994225568e-05,1793239613108631552
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.17922996,661,636,879,788,804.82077004,652,631,653,0.40165505603,-0.0153538944902,0.069812842955,0.999999926135,0.00022645352462,-0.000310352078689,1.14338537591e-05,1793239613125297920
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.754081729,661,636,879,788,804.245918271,652,631,653,0.401533573257,-0.0153538958913,0.0698115458632,0.99999992847,0.000213946649373,-0.0003118172498,7.48986866473e-06,1793239613141964288
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715.338780673,678.661219327,661,635.661219327,879,788,804,652,631.338780673,653,0.401428531485,-0.0153539599466,0.0698111977087,0.999999929506,0.000210645848868,-0.000310791035497,5.0968490687e-06,1793239613158630912
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715.930841654,678.069158346,661,635.069158346,879,788,804,652,631.930841654,653,0.401335781377,-0.0153540708439,0.0698115590018,0.999999929644,0.000214227722583,-0.000307902203712,3.86336692591e-06,1793239613175297280
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.48855318,745,715.48855318,678.51144682,661,635.51144682,879,788,804,652,631.48855318,653,0.401261104416,-0.0153540714938,0.0698121695661,0.99999992771,0.000223502970718,-0.000307578497292,4.72607478251e-06,1793239613191964416
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.179457301,745,715,679,661,636,879,788,804,652,631.089728651,653,0.401191758683,-0.0153536831268,0.0698126186562,0.999999925737,0.000232233921224,-0.000307507751563,5.70680399835e-06,1793239613208631296
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.327298946,745,715,679,661,636,879,788,804,652,631.663649473,653,0.401138282554,-0.015351274235,0.0698120185001,0.999999925498,0.000233964434647,-0.000306971320405,5.82836591043e-06,1793239613225297920
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.524210687,745,715,678.762105344,661,636,879,787.762105344,804,652,632,653,0.401093285036,-0.0153492282513,0.0698118051939,0.999999925351,0.000235916879976,-0.000305949540058,6.00668408688e-06,1793239613241964544
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.374801934,745,715,678.187400967,661,636,879,787.187400967,804,652,632,653,0.401060291483,-0.0153476960705,0.0698121395872,0.999999925333,0.000238183534961,-0.000304240605489,6.26535740906e-06,1793239613258631168
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.397746513,744.602253487,715,678.397746513,661,636,879.397746513,787.397746513,804.397746513,652,632,653,0.401034940098,-0.0153476866919,0.0698133002401,0.999999925828,0.000239059220933,-0.000301913894586,6.56503458583e-06,1793239613275298048
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.987946985,744.012053015,715,678.987946985,661,636,879.987946985,787.987946985,804.987946985,652,632,653,0.401013286459,-0.0153484141377,0.0698148606876,0.999999926566,0.000239261871415,-0.000299288265959,6.8845519143e-06,1793239613291964672
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,744.567853563,715.567853563,678.432146437,661,636,879.432146437,788,804.432146437,652,631.432146437,653,0.400999818274,-0.015347292491,0.0698163401033,0.999999927332,0.000238885400181,-0.000297022721433,6.88844442084e-06,1793239613308631296
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715.85357734,678.14642266,661,636,879.14642266,788,804,652,631,652.85357734,0.40098746257,-0.0153469491635,0.0698171408664,0.999999927651,0.000238687803441,-0.000296102117761,6.97726553097e-06,1793239613325297920
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715.278297141,678.721702859,661,636,879.721702859,788,804,652,631,652.278297141,0.400977865406,-0.0153489983635,0.0698159588705,0.999999926671,0.000239049474112,-0.000299098726695,7.33410642412e-06,1793239613341964288
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.697091462,661,636,879.697091462,787.697091462,804,652,631.302908538,652.302908538,0.400972928262,-0.0153495284481,0.0698163563922,0.999999926809,0.000239263340812,-0.000298463655824,7.37207084928e-06,1793239613358630912
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.110333062,661,636,879.110333062,787.110333062,804,652,631.889666938,652.889666938,0.400972357934,-0.0153486349988,0.0698182340501,0.99999992799,0.000239338703248,-0.000294425406833,7.1112222079e-06,1793239613375297536
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.470772846,661,636,879.470772846,787.470772846,803.529227154,652,632,653,0.400970596794,-0.0153482103755,0.0698189746053,0.999999928277,0.000239379399353,-0.000293413908217,7.1677681299e-06,1793239613391964160
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.949604927,745,715,678.949604927,661,636,880,788,803.050395073,652,631.949604927,653,0.400968879597,-0.0153480558052,0.069819506043,0.999999928422,0.000239437309317,-0.000292870542631,7.28584779767e-06,1793239613408630528
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.371810035,745,715,678.371810035,661,636,880,788,803.628189965,652,631.371810035,653,0.400970508342,-0.015349591172,0.0698206048959,0.999999929213,0.000239759385238,-0.000289890669697,7.27865638109e-06,1793239613425297408
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.208437215,745,715,678,661,636,880,788,804,652,631.208437215,653,0.400970689107,-0.0153504246269,0.0698212152056,0.999999929674,0.000239418572335,-0.000288580232276,7.2561143522e-06,1793239613441964544
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.793111024,745,715,678,661,636,880,788,804,652,631.793111024,653,0.400968256218,-0.0153499911059,0.0698209436775,0.999999929548,0.000237881221492,-0.000290283185571,7.20586392215e-06,1793239613458631168
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,661.374356879,636,879.625643121,788,804,652,631.625643121,653,0.40096715863,-0.0153501540537,0.06982093532,0.999999929659,0.000237013582443,-0.000290613382194,7.14688964498e-06,1793239613475297536
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,661.95372544,636,879.04627456,788,804,652,631.04627456,653,0.400966792304,-0.0153506436497,0.0698210710845,0.9999999299,0.000236512702409,-0.000290191806403,7.08313786793e-06,1793239613491964416
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,744.467229619,715,678.532770381,661.467229619,635.467229619,879,788,804.532770381,652,631.532770381,653,0.400968188773,-0.0153498382223,0.0698221572952,0.999999930456,0.000236907142238,-0.000287947903597,6.96036055909e-06,1793239613508631040
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,744.110904338,715,678.889095662,661,635.110904338,879,788,804.889095662,652,631.889095662,653,0.400969752728,-0.0153492036979,0.0698234004835,0.999999931026,0.00023741341753,-0.000285544599274,6.9107566509e-06,1793239613525297664
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,744.685347975,715,678.314652025,661,635.685347975,879,788,804.314652025,652,631.314652025,653,0.40097137716,-0.0153497533302,0.069824954951,0.999999931554,0.000238062294784,-0.000283136210281,7.18840556913e-06,1793239613541964544
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,744.733701556,715,678,661,635.733701556,879.266298444,787.733701556,804,652,631,653,0.400971260944,-0.0153499434507,0.0698250753826,0.999999931674,0.000237726455143,-0.000282998429554,7.12272272888e-06,1793239613558630912
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,744.144870124,715,678,661,635.144870124,879.855129876,787.144870124,804,652,631,653,0.400969036505,-0.0153496981409,0.0698234589517,0.999999931296,0.000236197954913,-0.000285610743681,6.64120641215e-06,1793239613575297536
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,744.436724536,715,678.436724536,661,635,880,787,804,652,631,652.563275464,0.4009685734,-0.0153487682222,0.0698231835699,0.999999930365,0.000239779768115,-0.000285886884552,6.72942546737e-06,1793239613591964416
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.015866361,879.984133639,787.015866361,804,652,631.015866361,652.015866361,0.400968711639,-0.0153477110501,0.069823373015,0.999999929312,0.000244724845805,-0.000285369761252,6.99170785841e-06,1793239613608631040
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.591783696,879.408216304,787.591783696,804,652,631.591783696,652.591783696,0.400969788714,-0.015350047532,0.069824523478,0.999999931173,0.000238928939203,-0.000283760458786,6.83576460908e-06,1793239613625297664
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.829238173,661,636,879,787.829238173,804,652,631.829238173,652.829238173,0.400970114971,-0.0153518979242,0.0698251667003,0.999999932292,0.000235101814115,-0.000283015009632,6.80496228697e-06,1793239613641964544
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.242809516,661,636,879,787.242809516,804,652,631.242809516,652.242809516,0.400968613591,-0.0153525650815,0.0698245752021,0.999999931677,0.000236067078788,-0.000284372344182,7.07877683962e-06,1793239613658631168
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.677730966,744.677730966,715,678.322269034,661,636,879,787.322269034,803.677730966,652,631,652.322269034,0.40096820078,-0.015352190101,0.069824433837,0.999999931522,0.000236683400541,-0.000284404982554,7.08992614637e-06,1793239613675297792
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.127738936,744.127738936,715,678.872261064,661,636,879,787.872261064,803.127738936,652,631,652.872261064,0.400968557176,-0.0153510787212,0.0698246105469,0.999999931692,0.000237053150851,-0.000283501558908,6.91546990498e-06,1793239613691964672
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,661,635.529984552,879.470015448,787.529984552,803.470015448,652,631,653,0.400968158383,-0.0153511775375,0.0698247620347,0.999999931812,0.000236219614124,-0.000283775674877,6.85274628392e-06,1793239613708631296
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.076947188,744.076947188,715,678.923052812,661,635.076947188,880,787,804,652,631,653,0.400967743404,-0.0153515620205,0.0698249815835,0.999999931939,0.000235298108183,-0.000284093089225,6.84977387729e-06,1793239613725297920
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.649897823,744.649897823,715,678.350102177,661,635.649897823,880,787,804,652,631,653,0.400968696734,-0.0153514279917,0.0698256890391,0.999999932218,0.000236156002901,-0.000282393362285,7.01407675343e-06,1793239613741964544
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,744.770641322,715,678,661,636,879.770641322,787.229358678,804,652,631,653,0.400969077408,-0.0153518608236,0.0698259245666,0.999999932455,0.000236007768983,-0.000281677322756,6.91600236235e-06,1793239613758631168
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,744.180952607,715,678,661,636,879.180952607,787.819047393,804,652,631,653,0.400968558421,-0.0153531842124,0.0698254186799,0.999999932631,0.000234278873973,-0.00028250668829,6.40572466882e-06,1793239613775297792
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.598513951,744.401486049,715,678,661,636,879,788,804,652,631,653,0.400968889642,-0.0153531641867,0.0698254961402,0.999999932506,0.000235024643605,-0.000282328299904,6.51189380201e-06,1793239613791964416
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.019285022,744.980714978,715,678,661,636,879,788,804,652,631,653,0.400969597259,-0.0153525494146,0.0698258318555,0.999999932245,0.000236865978231,-0.000281703766244,6.89097166188e-06,1793239613808631040
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.55849167,745,715,678,661,635.44150833,879.55849167,788,804,652,631,653,0.400969609112,-0.0153515773744,0.0698263239932,0.9999999316,0.000239249132653,-0.000281980050067,6.80948433688e-06,1793239613825297664
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..141a4cec58ebb68922d7d08b342040ace49515a8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/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,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+1,0.016666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+2,0.033333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+3,0.050000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+4,0.066666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+5,0.083333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+6,0.100000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+7,0.116666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+8,0.133333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+9,0.150000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+10,0.166666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+11,0.183333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+12,0.200000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+13,0.216666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+14,0.233333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+15,0.250000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+16,0.266666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+17,0.283333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+18,0.300000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+19,0.316666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+20,0.333333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+21,0.350000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+22,0.366666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+23,0.383333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+24,0.400000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+25,0.416666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+26,0.433333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+27,0.450000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+28,0.466666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+29,0.483333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+30,0.500000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+31,0.516666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+32,0.533333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+33,0.550000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+34,0.566666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+35,0.583333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+36,0.600000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+37,0.616666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+38,0.633333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+39,0.650000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+40,0.666666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+41,0.683333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+42,0.700000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+43,0.716666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+44,0.733333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+45,0.750000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+46,0.766666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+47,0.783333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+48,0.800000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+49,0.816666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+50,0.833333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+51,0.850000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+52,0.866666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+53,0.883333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+54,0.900000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+55,0.916666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+56,0.933333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+57,0.950000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+58,0.966666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+59,0.983333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+60,1.000000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+61,1.016666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+62,1.033333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+63,1.050000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+64,1.066666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+65,1.083333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+66,1.100000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+67,1.116666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+68,1.133333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+69,1.150000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+70,1.166666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+71,1.183333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+72,1.200000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+73,1.216666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+74,1.233333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+75,1.250000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+76,1.266666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+77,1.283333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+78,1.300000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+79,1.316666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+80,1.333333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+81,1.350000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+82,1.366666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+83,1.383333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+84,1.400000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+85,1.416666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+86,1.433333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+87,1.450000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+88,1.466666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+89,1.483333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+90,1.500000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+91,1.516666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+92,1.533333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+93,1.550000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+94,1.566666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+95,1.583333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+96,1.600000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+97,1.616666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+98,1.633333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+99,1.650000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+100,1.666666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+101,1.683333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+102,1.700000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+103,1.716666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+104,1.733333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+105,1.750000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+106,1.766666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+107,1.783333333,pose1_to_pose2_press,0.575664425091,-0.00990943192938,1.06003261029,0.546234877039,-0.00123769130637,1.059700737
+108,1.800000000,pose1_to_pose2_press,0.575664579247,-0.00990928375668,1.0600323581,0.54623503131,-0.00123754252394,1.05970049053
+109,1.816666667,pose1_to_pose2_press,0.575664755088,-0.00990933355275,1.06003241395,0.546235207884,-0.00123758986204,1.05970054571
+110,1.833333333,pose1_to_pose2_press,0.575664964622,-0.00990938433272,1.060032466,0.546235418141,-0.00123763821048,1.05970059717
+111,1.850000000,pose1_to_pose2_press,0.575665097015,-0.00990938998477,1.06003245413,0.546235550531,-0.00123764386259,1.05970058553
+112,1.866666667,pose1_to_pose2_press,0.57566509889,-0.00990939006482,1.06003245397,0.546235552406,-0.00123764394265,1.05970058536
+113,1.883333333,pose1_to_pose2_press,0.575665107146,-0.00990939041727,1.06003245323,0.546235560662,-0.0012376442951,1.05970058464
+114,1.900000000,pose1_to_pose2_press,0.575665606256,-0.00990941172507,1.06003240848,0.546236059762,-0.00123766560314,1.05970054076
+115,1.916666667,pose1_to_pose2_press,0.57566773813,-0.00990943932179,1.06003225189,0.546238191499,-0.00123769383818,1.05970037965
+116,1.933333333,pose1_to_pose2_press,0.575673746897,-0.00990924809479,1.06003210971,0.546244198718,-0.00123750772567,1.0597002411
+117,1.950000000,pose1_to_pose2_press,0.575685817045,-0.00990930615702,1.06003230418,0.546256269663,-0.00123756341035,1.05970042692
+118,1.966666667,pose1_to_pose2_press,0.575707676714,-0.00990918706087,1.06003237263,0.546278129381,-0.00123744396892,1.0597005
+119,1.983333333,pose1_to_pose2_press,0.575739551387,-0.00990927070934,1.06003220619,0.546310002994,-0.00123753085946,1.05970034266
+120,2.000000000,pose1_to_pose2_press,0.575781240234,-0.00990927008306,1.06003233812,0.54635169159,-0.0012375314259,1.05970046569
+121,2.016666667,pose1_to_pose2_press,0.575831765599,-0.0099091801698,1.06003227179,0.546402216683,-0.00123744226324,1.05970040382
+122,2.033333333,pose1_to_pose2_press,0.575891405816,-0.00990925256758,1.06003226652,0.546461858288,-0.00123751005315,1.05970039576
+123,2.050000000,pose1_to_pose2_press,0.575958363442,-0.00990924568384,1.06003243851,0.546528814662,-0.001237507473,1.05970056632
+124,2.066666667,pose1_to_pose2_press,0.57603295191,-0.00990916121769,1.06003240696,0.546603401617,-0.00123742799457,1.0597005385
+125,2.083333333,pose1_to_pose2_press,0.576119136232,-0.0099092262994,1.06003237065,0.546689586885,-0.00123749002819,1.05970049787
+126,2.100000000,pose1_to_pose2_press,0.576216862476,-0.00990931466247,1.06003232884,0.546787313917,-0.00123757578035,1.05970045436
+127,2.116666667,pose1_to_pose2_press,0.5763278138,-0.00990929141738,1.06003226458,0.546898264998,-0.00123755314452,1.05970039583
+128,2.133333333,pose1_to_pose2_press,0.576453126478,-0.00990929238142,1.06003235377,0.547023577963,-0.00123755311984,1.05970048527
+129,2.150000000,pose1_to_pose2_press,0.576594104749,-0.00990935905143,1.06003238173,0.547164557801,-0.00123761462128,1.05970050928
+130,2.166666667,pose1_to_pose2_press,0.576752332551,-0.00990911687763,1.06003247135,0.547322781606,-0.0012373858868,1.05970060209
+131,2.183333333,pose1_to_pose2_press,0.576928170166,-0.00990916762978,1.06003250773,0.547498620525,-0.00123743250746,1.0597006308
+132,2.200000000,pose1_to_pose2_press,0.577123378204,-0.00990927332803,1.06003222209,0.547693832359,-0.00123752473211,1.0597003605
+133,2.216666667,pose1_to_pose2_press,0.577337356559,-0.00990920360529,1.06003235795,0.547907808433,-0.00123746323677,1.05970048368
+134,2.233333333,pose1_to_pose2_press,0.577571247667,-0.00990913872046,1.06003254299,0.548141698797,-0.00123740150051,1.05970065223
+135,2.250000000,pose1_to_pose2_press,0.577822950499,-0.00990918985587,1.06003230619,0.548393401997,-0.00123745059042,1.05970043626
+136,2.266666667,pose1_to_pose2_press,0.578093018211,-0.00990926553072,1.06003219255,0.548663469811,-0.00123752556677,1.05970033172
+137,2.283333333,pose1_to_pose2_press,0.578383505696,-0.00990922489266,1.06003206734,0.548953956195,-0.00123748869375,1.05970020574
+138,2.300000000,pose1_to_pose2_press,0.578693520459,-0.00990922429528,1.06003215347,0.549263971436,-0.00123748671926,1.05970028532
+139,2.316666667,pose1_to_pose2_press,0.579023372721,-0.00990923016735,1.06003233088,0.549593824753,-0.00123748926102,1.05970045617
+140,2.333333333,pose1_to_pose2_press,0.579370022852,-0.00990916168999,1.06003227625,0.549940473991,-0.00123742371617,1.05970040413
+141,2.350000000,pose1_to_pose2_press,0.57973282078,-0.00990922271361,1.06003238466,0.550303271786,-0.00123748517621,1.05970051285
+142,2.366666667,pose1_to_pose2_press,0.580113844086,-0.00990910856485,1.06003246907,0.550684294468,-0.00123737317755,1.05970059629
+143,2.383333333,pose1_to_pose2_press,0.580515200573,-0.00990919306182,1.06003218492,0.551085652443,-0.00123745201294,1.05970032807
+144,2.400000000,pose1_to_pose2_press,0.58094300988,-0.00990911994052,1.06003244724,0.551513460313,-0.00123738421425,1.0597005787
+145,2.416666667,pose1_to_pose2_press,0.581396996382,-0.00990924018228,1.06003249821,0.551967447557,-0.00123750221588,1.05970062227
+146,2.433333333,pose1_to_pose2_press,0.581878280746,-0.00990923967305,1.06003259176,0.552448732526,-0.00123749970191,1.05970071466
+147,2.450000000,pose1_to_pose2_press,0.582377562433,-0.00990911597697,1.06003228337,0.552948011859,-0.00123738373173,1.05970041302
+148,2.466666667,pose1_to_pose2_press,0.582891504018,-0.00990917022514,1.06003219675,0.553461954433,-0.00123743475396,1.05970032288
+149,2.483333333,pose1_to_pose2_press,0.583421917324,-0.00990925209966,1.06003219497,0.553992369754,-0.00123750979709,1.05970032097
+150,2.500000000,pose1_to_pose2_press,0.583971119418,-0.00990923997243,1.06003204365,0.554541571376,-0.00123749891598,1.05970017883
+151,2.516666667,pose1_to_pose2_press,0.584545329153,-0.0099092244183,1.06003211422,0.555115779734,-0.0012374880392,1.0597002493
+152,2.533333333,pose1_to_pose2_press,0.585142672557,-0.00990920721414,1.06003243496,0.555713122739,-0.00123747254914,1.0597005606
+153,2.550000000,pose1_to_pose2_press,0.585760705381,-0.00990920789542,1.06003220881,0.55633115644,-0.00123746989465,1.05970034381
+154,2.566666667,pose1_to_pose2_press,0.586389622783,-0.00990918142972,1.0600322015,0.556960074385,-0.00123744131046,1.05970034371
+155,2.583333333,pose1_to_pose2_press,0.58702626627,-0.00990916505703,1.06003246649,0.557596717175,-0.00123742768266,1.05970059871
+156,2.600000000,pose1_to_pose2_press,0.587662666649,-0.00990913557478,1.06003212967,0.558233117009,-0.00123739985658,1.05970026696
+157,2.616666667,pose1_to_pose2_press,0.58830567831,-0.00990915414859,1.06003226183,0.558876129019,-0.00123741717072,1.059700401
+158,2.633333333,pose1_to_pose2_press,0.588973073471,-0.00990911796494,1.06003240732,0.559543524536,-0.00123737991995,1.05970054284
+159,2.650000000,pose1_to_pose2_press,0.589660827117,-0.00990912657077,1.06003237603,0.560231278391,-0.00123738780868,1.05970051165
+160,2.666666667,pose1_to_pose2_press,0.590366065498,-0.0099091572943,1.06003227159,0.560936516285,-0.00123742021241,1.05970040652
+161,2.683333333,pose1_to_pose2_press,0.591097688003,-0.00990918824863,1.06003226278,0.561668138959,-0.00123745056022,1.05970039868
+162,2.700000000,pose1_to_pose2_press,0.591851037705,-0.00990919895639,1.06003226566,0.562421489081,-0.00123745969295,1.05970040543
+163,2.716666667,pose1_to_pose2_press,0.592601433853,-0.00990922658284,1.06003215703,0.563171885138,-0.00123748768045,1.05970029544
+164,2.733333333,pose1_to_pose2_press,0.593347047418,-0.00990934501404,1.0600320622,0.563917500345,-0.00123760069585,1.05970019654
+165,2.750000000,pose1_to_pose2_press,0.59408253036,-0.00990935710868,1.06003204255,0.564652983842,-0.0012376110514,1.05970017314
+166,2.766666667,pose1_to_pose2_press,0.59480764629,-0.00990922007162,1.06003233761,0.565378098254,-0.00123747905296,1.05970047116
+167,2.783333333,pose1_to_pose2_press,0.595527295106,-0.00990937569608,1.06003222971,0.566097747945,-0.00123763178136,1.0597003614
+168,2.800000000,pose1_to_pose2_press,0.596265765461,-0.00990932690773,1.06003222095,0.566836218775,-0.00123758134363,1.05970035372
+169,2.816666667,pose1_to_pose2_press,0.597026043334,-0.0099092373523,1.06003218165,0.567596494983,-0.00123749714322,1.05970032215
+170,2.833333333,pose1_to_pose2_press,0.597807674477,-0.00990921406795,1.06003219686,0.568378125525,-0.00123747593937,1.05970033628
+171,2.850000000,pose1_to_pose2_press,0.598598523667,-0.00990920144536,1.06003221348,0.569168974621,-0.00123746376263,1.05970034963
+172,2.866666667,pose1_to_pose2_press,0.599391156179,-0.00990912889893,1.06003213128,0.569961606045,-0.00123739482444,1.05970026973
+173,2.883333333,pose1_to_pose2_press,0.600160376766,-0.0099091126368,1.06003224716,0.570730826522,-0.00123737930133,1.05970037616
+174,2.900000000,pose1_to_pose2_press,0.600904958263,-0.00990905062512,1.06003242058,0.57147540763,-0.00123731866783,1.05970054809
+175,2.916666667,pose1_to_pose2_press,0.601628835945,-0.00990900586402,1.06003239422,0.572199284897,-0.00123727485554,1.0597005338
+176,2.933333333,pose1_to_pose2_press,0.602340703173,-0.00990913990574,1.06003228252,0.57291115392,-0.00123740282488,1.05970042165
+177,2.950000000,pose1_to_pose2_press,0.603056001062,-0.0099091291404,1.0600322153,0.573626452454,-0.00123739004908,1.05970034988
+178,2.966666667,pose1_to_pose2_press,0.603776949187,-0.00990920880868,1.06003223659,0.574347400553,-0.00123746997742,1.05970036666
+179,2.983333333,pose1_to_pose2_press,0.604500703391,-0.00990909489253,1.06003223767,0.575071152998,-0.0012373620399,1.05970036766
+180,3.000000000,pose1_to_pose2_press,0.605226893925,-0.00990933468903,1.06003218837,0.575797347493,-0.00123758797428,1.05970032938
+181,3.016666667,pose1_to_pose2_press,0.605947083136,-0.00990934653173,1.06003218196,0.576517535788,-0.00123760294315,1.0597003226
+182,3.033333333,pose1_to_pose2_press,0.606641643893,-0.0099092091637,1.06003212154,0.577212095316,-0.00123747006925,1.05970025389
+183,3.050000000,pose1_to_pose2_press,0.607309785553,-0.00990922005727,1.06003249614,0.577880237519,-0.00123747935235,1.05970062245
+184,3.066666667,pose1_to_pose2_press,0.607945569352,-0.00990924781238,1.06003244828,0.578516021803,-0.00123750543617,1.05970057532
+185,3.083333333,pose1_to_pose2_press,0.608550686534,-0.00990926238565,1.06003233137,0.579121137972,-0.00123752313099,1.05970046679
+186,3.100000000,pose1_to_pose2_press,0.609126030117,-0.0099092364442,1.0600323209,0.579696480719,-0.00123749995361,1.05970045823
+187,3.116666667,pose1_to_pose2_press,0.609685997712,-0.00990921354709,1.06003234861,0.580256448689,-0.00123747602274,1.05970047986
+188,3.133333333,pose1_to_pose2_press,0.610238906428,-0.00990923890506,1.06003230871,0.580809358033,-0.00123749925251,1.05970043998
+189,3.150000000,pose1_to_pose2_press,0.610794303074,-0.00990912786111,1.06003207039,0.581364754235,-0.00123738934625,1.05970021138
+190,3.166666667,pose1_to_pose2_press,0.611342384706,-0.00990943172427,1.06003208126,0.581912838055,-0.00123768586921,1.05970022004
+191,3.183333333,pose1_to_pose2_press,0.611872759265,-0.00990921474813,1.06003257145,0.58244321113,-0.00123747441784,1.05970069768
+192,3.200000000,pose1_to_pose2_press,0.612372958451,-0.00990915096853,1.0600325269,0.582943409116,-0.00123741487847,1.05970064809
+193,3.216666667,pose1_to_pose2_press,0.61284174623,-0.00990907999647,1.06003230386,0.583412195645,-0.00123734779778,1.05970043357
+194,3.233333333,pose1_to_pose2_press,0.613278406703,-0.00990916053859,1.06003222279,0.583848857444,-0.00123742358943,1.05970035613
+195,3.250000000,pose1_to_pose2_press,0.61369450504,-0.00990922897553,1.0600322217,0.584264956172,-0.00123749051926,1.05970035466
+196,3.266666667,pose1_to_pose2_press,0.61409924757,-0.00990918227952,1.06003221124,0.5846696979,-0.00123744624346,1.05970034608
+197,3.283333333,pose1_to_pose2_press,0.61449107791,-0.00990909607304,1.06003219072,0.585061528523,-0.00123735867287,1.05970033022
+198,3.300000000,pose1_to_pose2_press,0.614868548008,-0.00990911982852,1.06003223997,0.585438998587,-0.00123738239768,1.05970037664
+199,3.316666667,pose1_to_pose2_press,0.615225177788,-0.00990922396665,1.06003247602,0.585795628777,-0.00123748526332,1.05970060314
+200,3.333333333,pose1_to_pose2_press,0.615559398432,-0.00990929869436,1.06003223407,0.586129850353,-0.00123755628001,1.05970036905
+201,3.350000000,pose1_to_pose2_press,0.615867901748,-0.00990917815027,1.06003242776,0.586438351946,-0.00123744153203,1.05970055911
+202,3.366666667,pose1_to_pose2_press,0.616155139412,-0.009909191093,1.06003264815,0.586725589568,-0.00123745460987,1.05970077427
+203,3.383333333,pose1_to_pose2_press,0.616422595453,-0.00990925657773,1.06003254574,0.586993045872,-0.00123751914824,1.05970066859
+204,3.400000000,pose1_to_pose2_press,0.616676701323,-0.00990933320473,1.06003230307,0.587247152765,-0.00123759186085,1.05970043255
+205,3.416666667,pose1_to_pose2_press,0.616918291118,-0.00990933392699,1.06003225086,0.58748874347,-0.00123758907238,1.05970038561
+206,3.433333333,pose1_to_pose2_press,0.617144290998,-0.00990918357113,1.06003234384,0.587714741876,-0.00123744390266,1.05970046923
+207,3.450000000,pose1_to_pose2_press,0.61735415951,-0.00990910756224,1.06003221177,0.587924609128,-0.00123737165416,1.0597003463
+208,3.466666667,pose1_to_pose2_press,0.617545734583,-0.00990923016537,1.06003225105,0.588116184948,-0.00123749181994,1.05970037886
+209,3.483333333,pose1_to_pose2_press,0.617718497277,-0.00990919262012,1.06003223251,0.588288948135,-0.00123745250758,1.05970036041
+210,3.500000000,pose1_to_pose2_press,0.617871595416,-0.00990922439739,1.06003232546,0.588442046516,-0.00123748311065,1.05970045897
+211,3.516666667,pose1_to_pose2_press,0.618010493238,-0.00990924905634,1.06003235815,0.588580943216,-0.00123751162098,1.05970048681
+212,3.533333333,pose1_to_pose2_press,0.618135640145,-0.00990936034096,1.06003215955,0.588706091473,-0.00123761806542,1.05970029286
+213,3.550000000,pose1_to_pose2_press,0.618246714117,-0.00990933621643,1.06003227081,0.588817166767,-0.00123758952243,1.05970040053
+214,3.566666667,pose1_to_pose2_press,0.618344704113,-0.00990928867281,1.06003240239,0.588915155379,-0.00123754643514,1.05970053623
+215,3.583333333,pose1_to_pose2_press,0.618428989816,-0.0099092224731,1.06003229688,0.588999439748,-0.00123748471889,1.05970043751
+216,3.600000000,pose1_to_pose2_press,0.618500572282,-0.00990926908657,1.06003219632,0.589071023702,-0.00123752653326,1.05970033473
+217,3.616666667,pose1_to_pose2_press,0.618559620427,-0.00990936659185,1.06003220589,0.589130073354,-0.00123761881842,1.05970034197
+218,3.633333333,pose1_to_pose2_press,0.618608250293,-0.00990933564696,1.06003219097,0.589178702371,-0.00123759025163,1.05970033139
+219,3.650000000,pose1_to_pose2_press,0.618647980969,-0.00990939060605,1.06003222527,0.589218434227,-0.00123764106294,1.05970035862
+220,3.666666667,pose1_to_pose2_press,0.61868066504,-0.0099092278805,1.06003233447,0.589251114375,-0.00123749193268,1.05970046535
+221,3.683333333,pose1_to_pose2_press,0.618707864489,-0.00990918564223,1.06003224256,0.589278313337,-0.00123745102179,1.0597003789
+222,3.700000000,pose1_to_pose2_press,0.618729442415,-0.00990919121452,1.0600321876,0.589299892354,-0.0012374527725,1.05970032767
+223,3.716666667,pose1_to_pose2_press,0.618746278912,-0.00990920942025,1.06003229452,0.589316729425,-0.00123746927931,1.05970043069
+224,3.733333333,pose1_to_pose2_press,0.618758551262,-0.00990922949865,1.06003244606,0.589329001617,-0.00123749019352,1.05970057516
+225,3.750000000,pose1_to_pose2_press,0.618767028673,-0.00990925605057,1.06003224622,0.58933748051,-0.00123751139441,1.05970038155
+226,3.766666667,pose1_to_pose2_press,0.618772827541,-0.00990925899081,1.06003213329,0.589343279351,-0.00123751428164,1.05970027209
+227,3.783333333,pose1_to_pose2_press,0.618776674627,-0.00990925660138,1.06003206869,0.589347126127,-0.00123751286758,1.05970020953
+228,3.800000000,pose1_to_pose2_press,0.618779481386,-0.00990924882381,1.06003213491,0.589349932411,-0.00123750670561,1.05970027584
+229,3.816666667,pose1_to_pose2_press,0.618781387312,-0.00990924354246,1.06003217988,0.589351838016,-0.00123750252132,1.05970032086
+230,3.833333333,pose1_to_pose2_press,0.61878243362,-0.0099092565571,1.06003219481,0.589352884802,-0.00123751397357,1.05970033443
+231,3.850000000,pose1_to_pose2_press,0.618782970177,-0.00990926595032,1.06003220079,0.589353421717,-0.00123752219571,1.05970033949
+232,3.866666667,pose1_to_pose2_press,0.618783432846,-0.00990927405,1.06003220595,0.589353884693,-0.00123752928558,1.05970034385
+233,3.883333333,pose1_to_pose2_press,0.618783795432,-0.00990928039761,1.06003221,0.589354247521,-0.00123753484181,1.05970034727
+234,3.900000000,pose1_to_pose2_press,0.61878392793,-0.00990928271718,1.06003221148,0.589354380107,-0.00123753687219,1.05970034851
+235,3.916666667,pose1_to_pose2_press,0.618783982336,-0.00990928366963,1.06003221208,0.589354434549,-0.00123753770589,1.05970034903
+236,3.933333333,pose1_to_pose2_press,0.618784006665,-0.00990928409555,1.06003221235,0.589354458895,-0.00123753807872,1.05970034926
+237,3.950000000,pose1_to_pose2_press,0.618784064327,-0.009909285105,1.060032213,0.589354516595,-0.00123753896231,1.0597003498
+238,3.966666667,pose1_to_pose2_press,0.618784065968,-0.00990928513373,1.06003221302,0.589354518237,-0.00123753898747,1.05970034981
+239,3.983333333,pose1_to_pose2_press,0.61878422154,-0.00990928785725,1.06003221475,0.589354673913,-0.00123754137143,1.05970035128
+240,4.000000000,pose1_to_pose2_press,0.618784445977,-0.00990929315676,1.06003223578,0.589354898538,-0.00123754608199,1.05970037108
+241,4.016666667,pose1_to_pose2_press,0.618784767663,-0.00990930386587,1.06003230801,0.589355220583,-0.0012375557218,1.05970043962
+242,4.033333333,pose1_to_pose2_press,0.618785085323,-0.00990931444092,1.06003237934,0.589355538596,-0.00123756524093,1.0597005073
+243,4.050000000,pose1_to_pose2_press,0.618785421231,-0.00990932562349,1.06003245476,0.589355874879,-0.00123757530693,1.05970057887
+244,4.066666667,pose1_to_pose2_press,0.618785747572,-0.00990929031804,1.06003247954,0.589356200396,-0.00123754282784,1.05970060301
+245,4.083333333,pose1_to_pose2_press,0.618785924997,-0.00990919110834,1.06003240895,0.589356375314,-0.00123745193304,1.05970053746
+246,4.100000000,pose1_to_pose2_press,0.618785947102,-0.00990917874824,1.06003240016,0.589356397106,-0.00123744060886,1.05970052929
+247,4.116666667,pose1_to_pose2_press,0.618785996977,-0.0099091508598,1.06003238032,0.589356446277,-0.00123741505779,1.05970051087
+248,4.133333333,pose1_to_pose2_press,0.618786079547,-0.00990910468975,1.06003234747,0.58935652768,-0.00123737275731,1.05970048036
+249,4.150000000,pose1_to_pose2_press,0.618786131102,-0.00990908276076,1.06003233002,0.58935657877,-0.0012373523593,1.05970046423
+250,4.166666667,pose1_to_pose2_press,0.618786141214,-0.00990908695679,1.06003233037,0.589356589114,-0.00123735576545,1.05970046465
+251,4.183333333,pose1_to_pose2_press,0.61878617675,-0.00990910170281,1.06003233161,0.589356625465,-0.0012373677356,1.05970046614
+252,4.200000000,pose1_to_pose2_press,0.618786209809,-0.00990911562837,1.0600323327,0.589356659287,-0.00123737906338,1.05970046745
+253,4.216666667,pose1_to_pose2_press,0.618786181643,-0.0099091097001,1.06003232998,0.589356630603,-0.00123737490756,1.05970046433
+254,4.233333333,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630605,-0.00123737490708,1.05970046433
+255,4.250000000,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630605,-0.00123737490659,1.05970046433
+256,4.266666667,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630605,-0.00123737490659,1.05970046433
+257,4.283333333,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630605,-0.0012373749066,1.05970046433
+258,4.300000000,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630606,-0.00123737490661,1.05970046433
+259,4.316666667,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630606,-0.00123737490662,1.05970046433
+260,4.333333333,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630606,-0.00123737490682,1.05970046433
+261,4.350000000,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630606,-0.00123737490678,1.05970046433
+262,4.366666667,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630606,-0.00123737490703,1.05970046433
+263,4.383333333,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630607,-0.00123737490671,1.05970046433
+264,4.400000000,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630607,-0.00123737490707,1.05970046433
+265,4.416666667,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630607,-0.00123737490707,1.05970046433
+266,4.433333333,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630607,-0.00123737490707,1.05970046433
+267,4.450000000,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630607,-0.00123737490697,1.05970046433
+268,4.466666667,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630607,-0.00123737490696,1.05970046433
+269,4.483333333,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630607,-0.00123737490696,1.05970046433
+270,4.500000000,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630607,-0.0012373749064,1.05970046433
+271,4.516666667,pose2_hold,0.618786181643,-0.0099091097001,1.06003232998,0.589356630607,-0.00123737490636,1.05970046433
+272,4.533333333,pose2_to_pose3_retreat,0.618786181643,-0.0099091097001,1.06003232998,0.589356630608,-0.00123737490666,1.05970046433
+273,4.550000000,pose2_to_pose3_retreat,0.618786182787,-0.00990913402537,1.06003245927,0.589356631156,-0.00123740129557,1.05970059253
+274,4.566666667,pose2_to_pose3_retreat,0.618786026338,-0.00990917024268,1.06003246435,0.589356475599,-0.0012374344902,1.05970059747
+275,4.583333333,pose2_to_pose3_retreat,0.618785946715,-0.00990918855806,1.06003246633,0.589356396432,-0.00123745125751,1.05970059938
+276,4.600000000,pose2_to_pose3_retreat,0.618785908553,-0.00990919733626,1.06003246728,0.589356358489,-0.00123745929374,1.0597006003
+277,4.616666667,pose2_to_pose3_retreat,0.618785801857,-0.00990922187908,1.06003246992,0.589356252406,-0.00123748176213,1.05970060285
+278,4.633333333,pose2_to_pose3_retreat,0.618785521018,-0.0099092499678,1.06003242475,0.589355972432,-0.00123750688669,1.05970055838
+279,4.650000000,pose2_to_pose3_retreat,0.618784052231,-0.00990926274127,1.06003223969,0.589354504586,-0.00123751643573,1.05970037463
+280,4.666666667,pose2_to_pose3_retreat,0.618779590522,-0.00990909870888,1.06003228253,0.589350038603,-0.00123736695349,1.05970041632
+281,4.683333333,pose2_to_pose3_retreat,0.618768532993,-0.00990927890145,1.06003217987,0.589338982686,-0.00123754138326,1.05970032235
+282,4.700000000,pose2_to_pose3_retreat,0.618748864558,-0.00990922117053,1.06003237632,0.589319315806,-0.00123747905695,1.05970050206
+283,4.716666667,pose2_to_pose3_retreat,0.618718614528,-0.00990911081445,1.06003220477,0.589289064125,-0.00123737441131,1.05970032877
+284,4.733333333,pose2_to_pose3_retreat,0.618678048594,-0.0099093567444,1.06003244489,0.589248499783,-0.00123761446433,1.05970058173
+285,4.750000000,pose2_to_pose3_retreat,0.618627833658,-0.00990928987588,1.06003238078,0.589198284343,-0.00123754922774,1.05970051297
+286,4.766666667,pose2_to_pose3_retreat,0.618569537845,-0.00990920650663,1.06003254569,0.589139987283,-0.00123747061517,1.0597006667
+287,4.783333333,pose2_to_pose3_retreat,0.618503203339,-0.00990929561638,1.06003207057,0.589073654431,-0.0012375532924,1.05970020933
+288,4.800000000,pose2_to_pose3_retreat,0.618427596019,-0.00990936899856,1.0600321189,0.588998047088,-0.00123762680652,1.05970025149
+289,4.816666667,pose2_to_pose3_retreat,0.61834145929,-0.00990914404558,1.06003248222,0.588911906907,-0.00123741453813,1.05970060481
+290,4.833333333,pose2_to_pose3_retreat,0.618241703395,-0.0099090974236,1.06003237931,0.588812152174,-0.00123736388883,1.05970050891
+291,4.850000000,pose2_to_pose3_retreat,0.618128149462,-0.0099092152582,1.06003246484,0.588698600151,-0.00123747551978,1.05970059005
+292,4.866666667,pose2_to_pose3_retreat,0.617998607579,-0.00990928916196,1.06003231523,0.588569058737,-0.0012375476972,1.05970044702
+293,4.883333333,pose2_to_pose3_retreat,0.617852691348,-0.00990917448625,1.06003228188,0.588423141312,-0.00123743707639,1.05970041604
+294,4.900000000,pose2_to_pose3_retreat,0.617689025797,-0.00990907662431,1.06003229353,0.588259474272,-0.00123734441056,1.059700427
+295,4.916666667,pose2_to_pose3_retreat,0.617506833104,-0.00990910430888,1.06003223977,0.588077281147,-0.00123737362286,1.05970037641
+296,4.933333333,pose2_to_pose3_retreat,0.617306204237,-0.00990909882056,1.06003229642,0.587876653276,-0.00123736496186,1.05970043261
+297,4.950000000,pose2_to_pose3_retreat,0.617086100495,-0.00990913737331,1.0600322323,0.58765655146,-0.00123739722265,1.05970036592
+298,4.966666667,pose2_to_pose3_retreat,0.616847914457,-0.00990923299015,1.06003232104,0.587418365733,-0.00123749190205,1.0597004588
+299,4.983333333,pose2_to_pose3_retreat,0.616590676787,-0.00990918500186,1.06003224226,0.587161127013,-0.00123744788579,1.05970037195
+300,5.000000000,pose2_to_pose3_retreat,0.616315298977,-0.00990936726798,1.0600322279,0.586885750977,-0.0012376243415,1.05970035771
+301,5.016666667,pose2_to_pose3_retreat,0.616021191929,-0.00990928323051,1.06003239269,0.586591644226,-0.00123753950818,1.05970052264
+302,5.033333333,pose2_to_pose3_retreat,0.61570998261,-0.00990924222517,1.06003226726,0.586280434885,-0.00123749865928,1.05970039986
+303,5.050000000,pose2_to_pose3_retreat,0.615382097643,-0.00990927228228,1.0600322567,0.58595254987,-0.00123752921401,1.05970038606
+304,5.066666667,pose2_to_pose3_retreat,0.615034638769,-0.00990925025883,1.06003246039,0.585605090253,-0.00123751010433,1.05970058649
+305,5.083333333,pose2_to_pose3_retreat,0.614666667482,-0.00990914248881,1.06003232244,0.585237117419,-0.00123740730491,1.05970046261
+306,5.100000000,pose2_to_pose3_retreat,0.614275301353,-0.00990916378865,1.06003248371,0.584845752739,-0.00123742439734,1.05970061219
+307,5.116666667,pose2_to_pose3_retreat,0.613855987538,-0.00990908762194,1.06003259762,0.584426436939,-0.00123735527061,1.05970072394
+308,5.133333333,pose2_to_pose3_retreat,0.613409058017,-0.00990921874268,1.0600325063,0.583979510417,-0.00123747619411,1.0597006388
+309,5.150000000,pose2_to_pose3_retreat,0.612941277906,-0.00990921963987,1.06003231614,0.583511729808,-0.00123747885234,1.05970045054
+310,5.166666667,pose2_to_pose3_retreat,0.612456494691,-0.00990922048017,1.06003228697,0.583026945556,-0.00123748333487,1.05970041993
+311,5.183333333,pose2_to_pose3_retreat,0.611957328771,-0.00990925546589,1.06003235231,0.582527779698,-0.00123751817488,1.05970048339
+312,5.200000000,pose2_to_pose3_retreat,0.611447218672,-0.00990924147723,1.060032364,0.582017670033,-0.00123750274783,1.05970049333
+313,5.216666667,pose2_to_pose3_retreat,0.610925682152,-0.00990916194939,1.06003236042,0.58149613432,-0.00123742054514,1.05970048843
+314,5.233333333,pose2_to_pose3_retreat,0.610370889192,-0.00990907055023,1.06003221933,0.58094133964,-0.00123733472116,1.05970035456
+315,5.250000000,pose2_to_pose3_retreat,0.609783425502,-0.00990925770269,1.06003224237,0.580353877087,-0.00123751831008,1.05970037104
+316,5.266666667,pose2_to_pose3_retreat,0.609169156458,-0.00990928846677,1.06003223333,0.57973960795,-0.0012375493325,1.0597003638
+317,5.283333333,pose2_to_pose3_retreat,0.608532862802,-0.00990921078245,1.06003231208,0.579103313802,-0.00123747329528,1.05970044267
+318,5.300000000,pose2_to_pose3_retreat,0.607877395165,-0.00990923877261,1.06003242976,0.578447846635,-0.00123749973447,1.05970055835
+319,5.316666667,pose2_to_pose3_retreat,0.607220724453,-0.00990923550987,1.06003236205,0.57779117622,-0.00123749528383,1.05970049485
+320,5.333333333,pose2_to_pose3_retreat,0.606561962994,-0.00990914220104,1.06003224271,0.577132414134,-0.00123740393716,1.05970037982
+321,5.350000000,pose2_to_pose3_retreat,0.605880963316,-0.00990914544677,1.06003233647,0.576451413948,-0.00123740918736,1.05970046649
+322,5.366666667,pose2_to_pose3_retreat,0.605179352609,-0.00990926240042,1.06003224386,0.575749803735,-0.001237524551,1.05970037216
+323,5.383333333,pose2_to_pose3_retreat,0.604460477291,-0.00990924263211,1.06003221969,0.575030928643,-0.00123750386749,1.05970035185
+324,5.400000000,pose2_to_pose3_retreat,0.60372073911,-0.00990931474765,1.06003222389,0.574291191025,-0.00123757406618,1.0597003562
+325,5.416666667,pose2_to_pose3_retreat,0.602955731255,-0.00990923640116,1.06003233411,0.573526182647,-0.00123749761078,1.05970046334
+326,5.433333333,pose2_to_pose3_retreat,0.602185377749,-0.00990926159023,1.06003238033,0.57275583067,-0.00123751775113,1.05970050586
+327,5.450000000,pose2_to_pose3_retreat,0.601409851128,-0.00990928718161,1.06003228479,0.571980304426,-0.00123754192439,1.05970041514
+328,5.466666667,pose2_to_pose3_retreat,0.600634132505,-0.00990919970253,1.06003237482,0.571204583525,-0.00123746222878,1.05970050281
+329,5.483333333,pose2_to_pose3_retreat,0.599863944702,-0.00990911679531,1.0600324465,0.570434394917,-0.00123738209127,1.05970057186
+330,5.500000000,pose2_to_pose3_retreat,0.599102489426,-0.0099091697297,1.06003223802,0.569672941503,-0.00123742845261,1.05970036978
+331,5.516666667,pose2_to_pose3_retreat,0.59834374167,-0.00990928277809,1.06003206725,0.568914194754,-0.00123753789669,1.05970020373
+332,5.533333333,pose2_to_pose3_retreat,0.597584293073,-0.00990920579827,1.06003259885,0.568154746096,-0.00123746144062,1.05970072699
+333,5.550000000,pose2_to_pose3_retreat,0.59680498306,-0.00990928071067,1.06003240319,0.567375434644,-0.00123754148872,1.05970052481
+334,5.566666667,pose2_to_pose3_retreat,0.59600733001,-0.00990936115505,1.06003237087,0.566577783515,-0.0012376152609,1.05970049643
+335,5.583333333,pose2_to_pose3_retreat,0.595194120508,-0.00990924801739,1.06003223859,0.565764571866,-0.00123750906783,1.05970037302
+336,5.600000000,pose2_to_pose3_retreat,0.594385136748,-0.00990925519524,1.06003231698,0.564955588264,-0.00123751583276,1.05970044807
+337,5.616666667,pose2_to_pose3_retreat,0.593599153485,-0.00990921386088,1.060032353,0.564169604831,-0.00123747509644,1.05970048354
+338,5.633333333,pose2_to_pose3_retreat,0.592843534143,-0.0099092263236,1.06003247703,0.563413985774,-0.001237486595,1.05970060746
+339,5.650000000,pose2_to_pose3_retreat,0.592117247313,-0.00990925997246,1.06003255289,0.562687699899,-0.00123751702862,1.05970068258
+340,5.666666667,pose2_to_pose3_retreat,0.591407173685,-0.00990921817011,1.06003244989,0.56197762639,-0.00123747478749,1.05970058047
+341,5.683333333,pose2_to_pose3_retreat,0.590697539635,-0.00990912942824,1.06003232895,0.561267990209,-0.00123739318965,1.05970046174
+342,5.700000000,pose2_to_pose3_retreat,0.589973797559,-0.00990915621983,1.0600320782,0.5605442468,-0.00123742422825,1.05970021821
+343,5.716666667,pose2_to_pose3_retreat,0.589241798925,-0.00990922199767,1.06003222865,0.559812250636,-0.00123748205851,1.05970035731
+344,5.733333333,pose2_to_pose3_retreat,0.588505467712,-0.00990923797221,1.06003209105,0.559075918149,-0.00123750184165,1.05970023317
+345,5.750000000,pose2_to_pose3_retreat,0.58779194822,-0.00990922389504,1.06003226411,0.558362399176,-0.00123748624069,1.05970039999
+346,5.766666667,pose2_to_pose3_retreat,0.587104537635,-0.00990922524405,1.06003234643,0.557674989776,-0.00123748370711,1.05970047865
+347,5.783333333,pose2_to_pose3_retreat,0.586453841865,-0.0099092184526,1.06003233184,0.557024293299,-0.0012374791887,1.05970046725
+348,5.800000000,pose2_to_pose3_retreat,0.585832680336,-0.00990918573363,1.06003240072,0.556403131218,-0.00123744855322,1.05970053064
+349,5.816666667,pose2_to_pose3_retreat,0.585233787289,-0.00990915223975,1.06003244177,0.555804238544,-0.00123741428134,1.05970055944
+350,5.833333333,pose2_to_pose3_retreat,0.584645877964,-0.00990915247821,1.06003220276,0.555216328019,-0.00123741855138,1.0597003228
+351,5.850000000,pose2_to_pose3_retreat,0.584065512806,-0.00990909235135,1.06003250732,0.554635962795,-0.00123735864838,1.05970062741
+352,5.866666667,pose2_to_pose3_retreat,0.583486767723,-0.00990921693963,1.0600324635,0.554057220383,-0.00123747359659,1.05970059743
+353,5.883333333,pose2_to_pose3_retreat,0.582918041374,-0.00990937097819,1.06003225014,0.55348849374,-0.00123762855792,1.05970038568
+354,5.900000000,pose2_to_pose3_retreat,0.582375941083,-0.00990922073315,1.06003213743,0.552946391771,-0.00123748414314,1.05970026951
+355,5.916666667,pose2_to_pose3_retreat,0.581860942573,-0.00990919164019,1.0600321774,0.552431393568,-0.00123745392209,1.05970031161
+356,5.933333333,pose2_to_pose3_retreat,0.581374721873,-0.0099093017513,1.06003236833,0.551945173488,-0.00123756211622,1.05970049753
+357,5.950000000,pose2_to_pose3_retreat,0.58091337114,-0.00990928656935,1.06003233271,0.551483823001,-0.0012375461049,1.05970046185
+358,5.966666667,pose2_to_pose3_retreat,0.580474390634,-0.00990916749534,1.06003213905,0.551044843283,-0.00123742408669,1.05970027537
+359,5.983333333,pose2_to_pose3_retreat,0.580059597364,-0.00990918478726,1.06003225127,0.550630050857,-0.00123743864699,1.05970038418
+360,6.000000000,pose2_to_pose3_retreat,0.579667596348,-0.00990918705317,1.06003235707,0.550238047496,-0.00123744911191,1.05970048417
+361,6.016666667,pose2_to_pose3_retreat,0.579299359106,-0.00990919784852,1.06003225516,0.549869809483,-0.00123746246777,1.05970038373
+362,6.033333333,pose2_to_pose3_retreat,0.578955644536,-0.00990919181547,1.06003244179,0.549526095417,-0.0012374547722,1.05970056876
+363,6.050000000,pose2_to_pose3_retreat,0.578635955981,-0.00990921940706,1.06003229048,0.549206406808,-0.00123748217742,1.05970042688
+364,6.066666667,pose2_to_pose3_retreat,0.578331818399,-0.0099092459128,1.06003228121,0.548902269792,-0.00123750685708,1.05970041539
+365,6.083333333,pose2_to_pose3_retreat,0.578043180456,-0.00990921001523,1.06003240936,0.548613631934,-0.00123747087343,1.05970053829
+366,6.100000000,pose2_to_pose3_retreat,0.577771547353,-0.00990915272995,1.06003239589,0.548341998169,-0.00123741568987,1.05970052848
+367,6.116666667,pose2_to_pose3_retreat,0.577516634173,-0.00990918899443,1.06003226643,0.548087085514,-0.0012374500673,1.05970040185
+368,6.133333333,pose2_to_pose3_retreat,0.577280346046,-0.00990923736578,1.0600324365,0.547850798217,-0.00123749569227,1.05970057006
+369,6.150000000,pose2_to_pose3_retreat,0.577063839369,-0.00990930079234,1.06003220785,0.547634289934,-0.00123756436602,1.05970034681
+370,6.166666667,pose2_to_pose3_retreat,0.576867392625,-0.00990911152975,1.06003254721,0.547437843878,-0.00123737281212,1.05970068496
+371,6.183333333,pose2_to_pose3_retreat,0.576691232725,-0.00990924628582,1.06003227622,0.547261684469,-0.00123750603535,1.05970041069
+372,6.200000000,pose2_to_pose3_retreat,0.576533767361,-0.00990930435826,1.06003253763,0.547104219192,-0.00123756414967,1.05970066336
+373,6.216666667,pose2_to_pose3_retreat,0.576394896023,-0.00990922558791,1.06003242917,0.546965348481,-0.00123748301053,1.05970056121
+374,6.233333333,pose2_to_pose3_retreat,0.576271894813,-0.00990913802024,1.06003239741,0.546842345943,-0.001237399823,1.05970053278
+375,6.250000000,pose2_to_pose3_retreat,0.57616497005,-0.0099091426305,1.06003234266,0.546735420262,-0.00123740765078,1.05970047583
+376,6.266666667,pose2_to_pose3_retreat,0.576071634503,-0.00990923245572,1.06003222875,0.546642086047,-0.0012374930656,1.05970035948
+377,6.283333333,pose2_to_pose3_retreat,0.575991117935,-0.00990930562623,1.06003220757,0.546561571359,-0.00123755979837,1.05970033956
+378,6.300000000,pose2_to_pose3_retreat,0.575922557298,-0.00990926432139,1.06003211421,0.546493010874,-0.00123751765802,1.05970025441
+379,6.316666667,pose2_to_pose3_retreat,0.575864654737,-0.00990924752667,1.06003244519,0.546435107394,-0.00123750407348,1.05970058296
+380,6.333333333,pose2_to_pose3_retreat,0.575817331665,-0.00990937303788,1.06003219051,0.546387786501,-0.00123762276145,1.05970031328
+381,6.350000000,pose2_to_pose3_retreat,0.575778638501,-0.00990923265378,1.06003233591,0.546349090993,-0.00123749040145,1.05970045685
+382,6.366666667,pose2_to_pose3_retreat,0.575748291404,-0.00990927926448,1.06003234763,0.546318743281,-0.0012375387077,1.05970047884
+383,6.383333333,pose2_to_pose3_retreat,0.575724982153,-0.00990926047967,1.06003227409,0.546295432841,-0.00123752378333,1.05970040989
+384,6.400000000,pose2_to_pose3_retreat,0.575707374021,-0.00990915635383,1.06003224856,0.546277823013,-0.00123742556125,1.05970038056
+385,6.416666667,pose2_to_pose3_retreat,0.575693809912,-0.00990914777546,1.06003236976,0.546264258956,-0.00123741701611,1.05970049623
+386,6.433333333,pose2_to_pose3_retreat,0.575683794936,-0.00990926689477,1.06003246627,0.546254246407,-0.00123752796876,1.05970059098
+387,6.450000000,pose2_to_pose3_retreat,0.575677308349,-0.00990927296068,1.06003231164,0.546247759084,-0.00123753643902,1.05970043893
+388,6.466666667,pose2_to_pose3_retreat,0.575672754539,-0.00990924166793,1.06003211209,0.54624320371,-0.00123751035475,1.05970024205
+389,6.483333333,pose2_to_pose3_retreat,0.575670026855,-0.0099092605878,1.06003222077,0.546240477107,-0.00123752594355,1.05970034178
+390,6.500000000,pose2_to_pose3_retreat,0.575668946955,-0.00990926807825,1.06003226379,0.546239397636,-0.00123753211521,1.05970038126
+391,6.516666667,pose2_to_pose3_retreat,0.575668618282,-0.009909270358,1.06003227689,0.546239069094,-0.00123753399359,1.05970039328
+392,6.533333333,pose2_to_pose3_retreat,0.575668047559,-0.00990927942955,1.06003228729,0.546238498649,-0.00123754212207,1.05970040355
+393,6.550000000,pose2_to_pose3_retreat,0.575667604801,-0.00990929259972,1.06003228057,0.546238056171,-0.00123755426543,1.05970039881
+394,6.566666667,pose2_to_pose3_retreat,0.575667336004,-0.00990930059526,1.06003227648,0.546237787545,-0.00123756163761,1.05970039594
+395,6.583333333,pose2_to_pose3_retreat,0.575667037296,-0.00990930948056,1.06003227195,0.546237489025,-0.00123756983017,1.05970039275
+396,6.600000000,pose2_to_pose3_retreat,0.575666916712,-0.00990931306744,1.06003227011,0.546237368517,-0.0012375731374,1.05970039146
+397,6.616666667,pose2_to_pose3_retreat,0.575666514804,-0.00990932502246,1.06003226401,0.546236966864,-0.00123758416035,1.05970038716
+398,6.633333333,pose2_to_pose3_retreat,0.575665986519,-0.00990934073671,1.06003225598,0.546236438912,-0.00123759864945,1.05970038151
+399,6.650000000,pose2_to_pose3_retreat,0.575665721656,-0.00990932052357,1.06003225264,0.546236173925,-0.00123757882044,1.05970037918
+400,6.666666667,pose2_to_pose3_retreat,0.575665679722,-0.00990931292968,1.06003225221,0.546236131926,-0.00123757144352,1.05970037889
+401,6.683333333,pose2_to_pose3_retreat,0.575665566218,-0.00990929237493,1.06003225106,0.546236018244,-0.00123755147605,1.0597003781
+402,6.700000000,pose2_to_pose3_retreat,0.575665393039,-0.00990926101343,1.06003224931,0.546235844794,-0.00123752101059,1.05970037691
+403,6.716666667,pose2_to_pose3_retreat,0.5756652681,-0.0099092383879,1.06003224805,0.54623571966,-0.0012374990315,1.05970037604
+404,6.733333333,pose2_to_pose3_retreat,0.575665221992,-0.00990923003809,1.06003224758,0.54623567348,-0.00123749092026,1.05970037573
+405,6.750000000,pose2_to_pose3_retreat,0.575665181367,-0.00990922268127,1.06003224717,0.546235632792,-0.00123748377362,1.05970037544
+406,6.766666667,pose2_to_pose3_retreat,0.575665164527,-0.00990921963163,1.060032247,0.546235615926,-0.00123748081111,1.05970037533
+407,6.783333333,pose2_to_pose3_retreat,0.575664986781,-0.00990918744317,1.0600322452,0.546235437902,-0.00123744954232,1.0597003741
+408,6.800000000,pose2_to_pose3_retreat,0.575664743049,-0.0099091689381,1.06003225549,0.54623519386,-0.00123743205511,1.05970038531
+409,6.816666667,pose2_to_pose3_retreat,0.57566473639,-0.0099091718904,1.06003225749,0.546235187202,-0.0012374350024,1.05970038736
+410,6.833333333,pose2_to_pose3_retreat,0.575664666177,-0.00990920301825,1.06003227859,0.546235116999,-0.00123746607751,1.05970040893
+411,6.850000000,pose2_to_pose3_retreat,0.575664666077,-0.00990920306246,1.06003227862,0.546235116899,-0.00123746612164,1.05970040896
+412,6.866666667,pose2_to_pose3_retreat,0.575664607507,-0.00990922902845,1.06003229623,0.546235058338,-0.00123749204365,1.05970042695
+413,6.883333333,pose2_to_pose3_retreat,0.575664459024,-0.00990929485629,1.06003234085,0.546234909876,-0.00123755775995,1.05970047257
+414,6.900000000,pose2_to_pose3_retreat,0.575664415974,-0.00990935289257,1.06003238899,0.546234867663,-0.00123761297679,1.05970052022
+415,6.916666667,pose2_to_pose3_retreat,0.575664405218,-0.00990939895217,1.06003242954,0.546234857789,-0.00123765607374,1.05970056002
+416,6.933333333,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632642,1.05970060642
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d1726bc8915d16a5085aa2ca37b8be7178a4e7b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56955088b235f942796caff4e7e17ab204988183b90064ff5d08a4a4dc72b193
+size 26592709
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..402a7eef917bc6c60f06956a1f6eb73f02449170
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,678,661,636,880,788,804,652,632,652,0.400970189983,-0.01535279436,0.0698269061066,0.999999933848,0.000232238563306,-0.000279875390438,6.26956537933e-06,1793239613952812544
+1,0.016666667,BASELINE,765.431142342,745.568857658,715,678.568857658,661,636,879.431142342,788,804,652,632,652.568857658,0.400970934157,-0.0153544164798,0.069827633603,0.999999934253,0.000231722120853,-0.000278846589543,6.63027990188e-06,1793239613969479168
+2,0.033333333,BASELINE,765.142930967,745.857069033,715,679,661,636,879,788,804,652,631.857069033,652.857069033,0.400971171504,-0.0153552897729,0.0698280320345,0.999999934325,0.00023188452451,-0.000278444752846,6.94725638096e-06,1793239613986145792
+3,0.050000000,BASELINE,765.733332944,745.266667056,715,679,661,636,879,788,804,652,631.266667056,652.266667056,0.400969822142,-0.0153538187301,0.0698274002694,0.999999933355,0.00023417217746,-0.00028000573969,7.12730316476e-06,1793239614002812416
+4,0.066666667,BASELINE,765.682099547,745,715,679,661.317900453,636,879,788,804,652,631,652,0.400969168621,-0.0153525430423,0.0698268856234,0.999999932982,0.000235131437698,-0.000280538476798,6.87758257596e-06,1793239614019479040
+5,0.083333333,BASELINE,765.102338044,745,715,679,661.897661956,636,879,788,804,652,631,652,0.400969088278,-0.0153514282724,0.0698264674509,0.999999933106,0.000234996473776,-0.000280224223649,6.27385387398e-06,1793239614036145664
+6,0.100000000,BASELINE,765.474617079,745,715,679,662,636,879.474617079,788,804,652,631,652.474617079,0.40096980429,-0.0153514075063,0.0698267603071,0.999999933208,0.000235181812151,-0.000279700322341,6.46941935877e-06,1793239614052812288
+7,0.116666667,BASELINE,766,745,715,679,662,636,879.948247405,788,804,652,631,653,0.40097052742,-0.0153515976014,0.069827179905,0.999999933245,0.000235569258685,-0.00027923270453,6.80881401898e-06,1793239614069479168
+8,0.133333333,BASELINE,766,745,715,679,662,636,879.363051791,788,804,652,631,653,0.400969564395,-0.0153515439865,0.069827334898,0.999999932667,0.000237332247163,-0.000279808444775,6.86471547181e-06,1793239614086145792
+9,0.150000000,BASELINE,766,744.780010511,715,678.780010511,661.780010511,635.780010511,879.219989489,788,804,652,631,653,0.400968919244,-0.0153519847362,0.0698273106036,0.999999932544,0.000237398771435,-0.000280191116339,6.90735761457e-06,1793239614102812416
+10,0.166666667,BASELINE,766,744.200490135,715,678.200490135,661.200490135,635.200490135,879.799509865,788,804,652,631,653,0.400968793594,-0.015353233431,0.0698269932981,0.999999933163,0.00023469274815,-0.00028025825389,6.92832993686e-06,1793239614119479040
+11,0.183333333,BASELINE,766,744.377843156,715,678,661.377843156,635.377843156,879.622156844,788,804,652,631.377843156,653,0.40097023029,-0.0153526766871,0.0698278413743,0.999999933388,0.000235560536164,-0.000278728194735,6.77323102365e-06,1793239614136145664
+12,0.200000000,BASELINE,766,744.955548584,715,678,661.955548584,635.955548584,879.044451416,788,804,652,631.955548584,653,0.400972493397,-0.0153511649464,0.0698293058858,0.999999933395,0.000238318711614,-0.000276353289361,6.52499823713e-06,1793239614152812544
+13,0.216666667,BASELINE,766,745,715,678,661.470102425,636,879,788.529897575,804,652,632,653,0.40097064764,-0.0153531208228,0.0698285032733,0.999999933535,0.000235903030158,-0.000277907139264,6.81853902098e-06,1793239614169479424
+14,0.233333333,BASELINE,766,745,715,678,661.106863359,636,879,788.786273281,804,652,632,653,0.400968937582,-0.015354878061,0.0698276530279,0.999999933628,0.000233646071291,-0.00027947014091,7.09226744406e-06,1793239614186146048
+15,0.250000000,BASELINE,766,745,715,678,661.696926695,636,879,787.606146609,804,652,632,653,0.400969389814,-0.0153544301089,0.069827441927,0.999999933497,0.000234056933162,-0.000279593696564,7.07220571536e-06,1793239614202812672
+16,0.266666667,BASELINE,765.71824936,745,715,678,661.71824936,636,879,787.28175064,804,652,631.71824936,653,0.400970192354,-0.0153538682832,0.0698277998617,0.999999933563,0.000234591363553,-0.000278910699893,7.02805236202e-06,1793239614219479296
+17,0.283333333,BASELINE,765.138958464,745,715,678,661.138958464,636,879,787.861041536,804,652,631.138958464,653,0.400971364834,-0.0153531862021,0.0698287587211,0.999999933834,0.000235256287353,-0.000277375950804,6.95845726399e-06,1793239614236145664
+18,0.300000000,BASELINE,765.437344321,744.562655679,715,678,661,635.562655679,879.437344321,788,804,652,631.437344321,653,0.400970680333,-0.0153531638623,0.0698285234155,0.999999933749,0.000235151995463,-0.000277776521168,6.76510823365e-06,1793239614252812288
+19,0.316666667,BASELINE,766,744,715.012934628,678.012934628,661,635,880,788,804,652,632,653,0.400969421885,-0.0153533377412,0.0698279116891,0.999999933545,0.000234820757864,-0.000278794738915,6.53747321431e-06,1793239614269479168
+20,0.333333333,BASELINE,766,744,715.598734069,678.598734069,661,635,880,788,804,652,632,653,0.400968698131,-0.0153529810416,0.0698273189737,0.999999933088,0.000235189312183,-0.000280118841196,6.52100088496e-06,1793239614286145792
+21,0.350000000,BASELINE,766,744.18285764,715.81714236,678.81714236,661,635.18285764,879.81714236,788,804,652,632,653,0.400968881188,-0.0153531774046,0.0698274138381,0.999999933092,0.000235135562045,-0.000280148676185,6.6407761572e-06,1793239614302812416
+22,0.366666667,BASELINE,766,744.763336977,715.236663023,678.236663023,661,635.763336977,879.236663023,788,804,652,632,653,0.400971036096,-0.0153545763958,0.0698290038364,0.999999934093,0.000234163515989,-0.000277364142637,7.05682017183e-06,1793239614319479040
+23,0.383333333,BASELINE,765.656426623,745,715,678,661,636,879.343573377,788,804,652,632,653,0.400970358519,-0.015354675038,0.0698284127259,0.999999934017,0.000233623135298,-0.000278097695528,6.95714559942e-06,1793239614336145664
+24,0.400000000,BASELINE,765.076357389,745,715,678,661,636,879.923642611,788,804,652,632,653,0.400967731224,-0.0153538785958,0.0698263202676,0.999999933194,0.000233379887751,-0.000281252893491,6.50248049638e-06,1793239614352812288
+25,0.416666667,BASELINE,765.496678054,745,715,678.496678054,661,636,879.503321946,788,804,651.503321946,631.503321946,653,0.400968546792,-0.0153530523911,0.0698268331222,0.999999932989,0.000234947449969,-0.000280678542698,6.46505727793e-06,1793239614369478912
+26,0.433333333,BASELINE,766,745,715,678.92920575,661,636,879.07079425,788,804,651.07079425,631,653,0.400969905845,-0.0153522308866,0.0698278330933,0.99999993298,0.000236628241512,-0.000279293756439,6.45454637796e-06,1793239614386145792
+27,0.450000000,BASELINE,766,745,715,678.339347446,661,636,879.660652554,788,804,651.660652554,631,653,0.400971423151,-0.015351476924,0.0698295089197,0.999999933747,0.000237126598838,-0.000276112075282,6.17761127289e-06,1793239614402812672
+28,0.466666667,BASELINE,766,745,715,678,661,636,879.754014595,787.754014595,804,651.754014595,631.245985405,653,0.400971741008,-0.0153513617646,0.0698299442812,0.999999933877,0.000237490510737,-0.000275329337981,6.11073345621e-06,1793239614419479296
+29,0.483333333,BASELINE,766,745,715,678,661,636,879.174812056,787.174812056,804,651.174812056,631.825187944,653,0.400970434064,-0.0153521119418,0.0698286992821,0.999999933151,0.000237672299933,-0.000277796261943,6.32840378827e-06,1793239614436145920
+30,0.500000000,BASELINE,766,744.596613589,715,678.403386411,661,636,879.403386411,787.403386411,804,651.403386411,631.596613589,653,0.400969050861,-0.0153539886779,0.0698276572395,0.999999933065,0.000235887883001,-0.000279611943402,6.62740243832e-06,1793239614452812288
+31,0.516666667,BASELINE,766,744.018849182,715,678.981150818,661,636,879.981150818,787.981150818,804,651.981150818,631.018849182,653,0.400967634692,-0.0153563524089,0.0698267029318,0.999999933251,0.000233253504156,-0.000281146102267,6.96155811494e-06,1793239614469478912
+32,0.533333333,BASELINE,766,744,715,679,661,636,880,788,804,652,631.556613489,653,0.400969079339,-0.015354219396,0.0698276204098,0.999999933591,0.000234601497172,-0.000278811176771,6.67634010772e-06,1793239614486145536
+33,0.550000000,BASELINE,765.864843603,744,715,678.864843603,661,636,879.864843603,788,804,652,632,653,0.400970098741,-0.0153525659033,0.0698282556668,0.999999933748,0.000235816123235,-0.000277224182575,6.47809054992e-06,1793239614502812160
+34,0.566666667,BASELINE,765.275693479,744,715,678.275693479,661,636,879.275693479,788,804,652,632,653,0.400969365654,-0.0153530325307,0.069827730897,0.999999933293,0.000236131636143,-0.000278587805411,6.64213397187e-06,1793239614519479040
+35,0.583333333,BASELINE,765.307290315,744.307290315,715,678,661,636,879.307290315,788,804,652,632,653,0.40097025102,-0.0153539207912,0.0698284620702,0.999999933815,0.000235253820601,-0.000277449728261,6.83635274313e-06,1793239614536145920
+36,0.600000000,BASELINE,765.884850721,744.884850721,715,678,661,636,879.884850721,788,804,652,632,653,0.400972559859,-0.0153551798893,0.0698302978789,0.999999935186,0.000233326440643,-0.000274111338885,7.0571115636e-06,1793239614552812544
+37,0.616666667,BASELINE,766,745,715,678,661,636,880,788,804,652,631.53948867,653,0.400971619492,-0.0153552665469,0.0698296098687,0.999999935159,0.0002322245445,-0.000275148597137,6.86508656818e-06,1793239614569479168
+38,0.633333333,BASELINE,766,745,715,678,661.036558149,636,879.963441851,788,804,652,631,653,0.400969998743,-0.0153550608854,0.0698284283247,0.999999934804,0.000231409913279,-0.000277125640575,6.58380191261e-06,1793239614586145792
+39,0.650000000,BASELINE,766,745,715,678,661.625591422,636,879.374408578,788,804,652,631,653,0.400970323424,-0.0153548498033,0.0698292861101,0.999999934787,0.000231830003988,-0.000276838339705,6.5070075232e-06,1793239614602812416
+40,0.666666667,BASELINE,766,745,715,678,662,636,879.211120109,788,804,652,631.211120109,653,0.400970660088,-0.0153543626117,0.0698299844018,0.999999934712,0.000232787080214,-0.00027630272887,6.52758285788e-06,1793239614619479040
+41,0.683333333,BASELINE,766,745,715,678,662,636,879.790535082,788,804,652,631.790535082,653,0.400971017656,-0.0153533937525,0.0698304044599,0.999999934535,0.000234680917049,-0.000275333946214,6.71801775875e-06,1793239614636145664
+42,0.700000000,BASELINE,765.631099184,745,715,678.368900816,662,636,879.631099184,788,804,652,632,653,0.400970481899,-0.0153535554494,0.0698293920238,0.999999934251,0.000235066145594,-0.000276036325071,6.71480346263e-06,1793239614652812288
+43,0.716666667,BASELINE,765.053327547,745,715,678.946672453,662,636,879.053327547,788,804,652,632,653,0.400969440344,-0.0153543572646,0.0698275685126,0.999999933906,0.000234597203415,-0.00027768491189,6.60194541552e-06,1793239614669479168
+44,0.733333333,BASELINE,765,744.480328215,715,679,661.480328215,636,879.519671785,788,804,652,631.480328215,653,0.400969798835,-0.0153540831247,0.0698284870254,0.999999933998,0.00023446048428,-0.000277468035774,6.66572100927e-06,1793239614686145792
+45,0.750000000,BASELINE,765.094730169,744.094730169,715,679,661,636,880,788,804,651.905269831,631.094730169,653,0.400970181729,-0.0153540424486,0.0698293863688,0.999999934175,0.000233943999892,-0.000277264150443,6.76201475223e-06,1793239614702812416
+46,0.766666667,BASELINE,765.683045361,744.683045361,715,679,661,636,880,788,804,651.316954639,631.683045361,653,0.400969950002,-0.0153557882789,0.0698287330594,0.999999934558,0.000231272757341,-0.000278116307226,6.93415849944e-06,1793239614719479040
+47,0.783333333,BASELINE,765.731461003,744.731461003,715,678.731461003,661.268538997,636,879.731461003,787.731461003,804.268538997,651.268538997,631.731461003,653,0.400969568107,-0.0153561170637,0.0698282599385,0.999999934487,0.000231269801691,-0.000278373473956,6.92494051324e-06,1793239614736145664
+48,0.800000000,BASELINE,765.149262927,744.149262927,715,678.149262927,661.850737073,636,879.149262927,787.149262927,804.850737073,651.850737073,631.149262927,653,0.400969010812,-0.0153547907105,0.0698279972815,0.999999933886,0.000234383459749,-0.000277935680162,6.70388830958e-06,1793239614752812288
+49,0.816666667,BASELINE,765.426081166,744.426081166,715,678.426081166,661.573918834,636,879,787.426081166,804.573918834,652,631.426081166,653,0.400969563143,-0.0153545927123,0.0698280342576,0.999999934285,0.000233244358537,-0.000277457473917,6.67228261262e-06,1793239614769478912
+50,0.833333333,BASELINE,765.999062179,744.999062179,715,678.999062179,661.000937821,636,879,787.999062179,804.000937821,652,631.999062179,653,0.400970498041,-0.0153547837367,0.0698281745381,0.999999935025,0.000230639034891,-0.000276965334712,6.70599233118e-06,1793239614786145792
+51,0.850000000,BASELINE,765.427275001,744.427275001,715,679,661,636,879.572724999,788,804,652,631.427275001,653,0.400970213062,-0.0153539205019,0.069828419758,0.999999934163,0.000234310946861,-0.000277003384356,6.46728464631e-06,1793239614802812416
+52,0.866666667,BASELINE,765,744.151358283,715,679,661,636,879.848641717,788,804,652,631.151358283,653,0.400969871149,-0.015353567948,0.0698285416445,0.999999933565,0.000236787543255,-0.000277058099995,6.38219788374e-06,1793239614819478784
+53,0.883333333,BASELINE,765,744.744495885,715,679,661,636,879.255504115,788,804,652,631.744495885,653,0.400969368901,-0.0153547109964,0.0698283030478,0.999999933781,0.000235745256543,-0.000277158922769,6.74679811085e-06,1793239614836145664
+54,0.900000000,BASELINE,765.329788727,745,715.329788727,679,661,636,878.670211273,788,804,652,632,653,0.400969490652,-0.0153550121589,0.0698283701493,0.999999933844,0.00023512158865,-0.000277455267992,6.9402583286e-06,1793239614852812544
+55,0.916666667,BASELINE,765.909145023,745,715.909145023,679,661,636,878.090854977,788,804,652,632,653,0.400970084616,-0.0153546762244,0.069828668588,0.999999933792,0.000234814710531,-0.000277899574794,7.00420835411e-06,1793239614869479168
+56,0.933333333,BASELINE,766,745,715.514297642,678.514297642,661,636,878.485702358,788,804,652,632,653,0.40097128128,-0.0153550182365,0.0698296087201,0.99999993451,0.000233621389421,-0.000276317789825,6.98160695467e-06,1793239614886146048
+57,0.950000000,BASELINE,765.937159514,745,715,678,661,636,879,788,804,652,632,653,0.400972255481,-0.0153555444258,0.0698304174874,0.999999935206,0.000232446801694,-0.00027478635624,6.94887360624e-06,1793239614902812672
+58,0.966666667,BASELINE,765.350847174,745,715,678,661,636,879,788,804,652,632,653,0.400970442773,-0.0153565544951,0.0698291377842,0.999999934565,0.000232801637128,-0.00027681339244,6.96583394763e-06,1793239614919479296
+59,0.983333333,BASELINE,765,744.76725095,715,678,661,636,879,788,804,652,632,653,0.400969918538,-0.0153568115918,0.0698289108884,0.99999993461,0.000232622782355,-0.000276802855172,6.90141041043e-06,1793239614936145920
+60,1.000000000,BASELINE,765,744.187701696,715,678,661,636,879,788,804,652,632,653,0.400971314151,-0.015355946746,0.0698302526937,0.999999935676,0.000231648719784,-0.000273756297691,6.71572345664e-06,1793239614952812544
+61,1.016666667,BASELINE,765,744.389420926,715,678.389420926,661,636,879.389420926,788,804,652,632,653,0.400970882522,-0.0153552201211,0.0698294987968,0.999999935219,0.000231779265994,-0.000275310603311,6.6801377355e-06,1793239614969479168
+62,1.033333333,BASELINE,765,744.965381117,715,678.965381117,661,636,879.965381117,788,804,652,632,653,0.400969575614,-0.0153545597064,0.0698277410228,0.999999934024,0.000232438938702,-0.000279068800988,6.71645307528e-06,1793239614986145792
+63,1.050000000,BASELINE,765.540411422,745,715,678.459588578,661,635.459588578,880,788,804,652,632,653,0.400969471243,-0.015355361088,0.0698278147084,0.999999933761,0.000234349985695,-0.000278408046704,6.91391517207e-06,1793239615002812416
+64,1.066666667,BASELINE,766.118480086,745,715,678.118480086,661,635.118480086,879.881519914,788,804,651.881519914,632,653,0.40096949989,-0.0153559270874,0.0698280363964,0.999999933679,0.00023569011791,-0.000277566979726,7.00927630826e-06,1793239615019479296
+65,1.083333333,BASELINE,766.708887926,745,715,678.708887926,661,635.708887926,879.291112074,788,804,651.291112074,632,653,0.400969752057,-0.0153551831601,0.0698283810861,0.999999934096,0.000234437435878,-0.000277133313277,6.65690256824e-06,1793239615036145920
+66,1.100000000,BASELINE,766.706848607,745,715,678.706848607,661,636,879.293151393,788,804,651.293151393,631.706848607,653,0.400970317101,-0.0153555070779,0.0698289337772,0.999999934843,0.000232131848308,-0.0002763805818,6.44883051997e-06,1793239615052812288
+67,1.116666667,BASELINE,766.12856154,745,715,678.12856154,661,636,879.87143846,788,804,651.87143846,631.12856154,653,0.400971186469,-0.0153568696424,0.0698296887824,0.999999935905,0.000228802145151,-0.000275317509601,6.38111450374e-06,1793239615069478912
+68,1.133333333,BASELINE,766,745,715,678,661,636,879.553785975,788,804,652,631,653,0.400970576212,-0.0153563559617,0.0698295452409,0.99999993555,0.000229891698125,-0.000275693537445,6.53673087317e-06,1793239615086145792
+69,1.150000000,BASELINE,766,745,715,678,661.02054297,636,879.02054297,788,804,652,631.02054297,653,0.400969642065,-0.0153553444363,0.0698292041484,0.999999934824,0.000232209612683,-0.000276376732014,6.75725349751e-06,1793239615102812672
+70,1.166666667,BASELINE,766,745,715,678,661.610310123,636,879.610310123,788,804,652,631.610310123,653,0.400971453488,-0.0153554000241,0.0698305065689,0.999999935115,0.000233558915356,-0.000274171986532,7.00722941377e-06,1793239615119479296
+71,1.183333333,BASELINE,765.803394499,745,715,678.196605501,661.803394499,636,879.803394499,788,804,651.803394499,631.803394499,653,0.400972148993,-0.0153552620607,0.0698308323687,0.999999935171,0.000234173147192,-0.000273445535179,6.93309403067e-06,1793239615136145920
+72,1.200000000,BASELINE,765.223860985,745,715,678.776139015,661.223860985,636,879.223860985,788,804,651.223860985,631.223860985,653,0.400970671026,-0.0153547471181,0.0698292560072,0.999999934776,0.000233355683745,-0.000275598353008,6.2276879709e-06,1793239615152812544
+73,1.216666667,BASELINE,765,745,715,678.645500733,661,636,879.354499267,788,804,651.354499267,631,653,0.400969964787,-0.0153547344121,0.0698285878012,0.999999934584,0.000232832222536,-0.000276737251718,6.15364030836e-06,1793239615169479168
+74,1.233333333,BASELINE,765,745,715,678.06787897,661,636,879.93212103,788,804,651.93212103,631,653,0.400969744276,-0.0153550378148,0.0698284911899,0.999999934522,0.000232493806932,-0.000277237987726,6.47697083371e-06,1793239615186146048
+75,1.250000000,BASELINE,765.506997194,745,715.506997194,678,661,636,879.493002806,787.493002806,804,652,631.506997194,653,0.400969948749,-0.0153552482049,0.069828777809,0.999999934438,0.000233252146272,-0.000276902142732,6.50602981329e-06,1793239615202812672
+76,1.266666667,BASELINE,766,744.916363514,715.916363514,678.083636486,661,636,879.083636486,787.083636486,804,652,631.916363514,652.916363514,0.40097032219,-0.0153554817992,0.0698291605966,0.999999934445,0.000233936148323,-0.000276299311956,6.54755121502e-06,1793239615219479040
+77,1.283333333,BASELINE,766,744.326848455,715.326848455,678.673151545,661,636,879.673151545,787.673151545,804,652,631.326848455,652.326848455,0.400971375338,-0.0153559306623,0.0698298163932,0.999999935019,0.000233287145052,-0.000274755425254,6.90147094143e-06,1793239615236145664
+78,1.300000000,BASELINE,766,744.257950062,715,678.742049938,661,636,879.742049938,788,804,652,631.257950062,652.257950062,0.400970989817,-0.0153560533174,0.0698295636134,0.999999934984,0.000232790604633,-0.000275304457407,6.93614194402e-06,1793239615252812544
+79,1.316666667,BASELINE,766,744.836879519,715,678.163120481,661,636,879.163120481,788,804,652,631.836879519,652.836879519,0.400968814091,-0.0153557700568,0.0698281802489,0.999999934185,0.000232483780957,-0.000278457807053,6.57355671567e-06,1793239615269479168
+80,1.333333333,BASELINE,766,745,715,678,661,635.587770775,879,788,804,652,631.587770775,653,0.400969523646,-0.0153563193109,0.0698290331157,0.999999934358,0.000233410745363,-0.00027704869074,6.82805878936e-06,1793239615286145792
+81,1.350000000,BASELINE,766,745,715,678,661,635.013825346,879,788,804,652,631.013825346,653,0.400971365087,-0.015357195158,0.0698307632486,0.999999934906,0.000234821720851,-0.000273849733913,7.3246422036e-06,1793239615302812416
+82,1.366666667,BASELINE,766,745,715,678,661,635.575255166,879,788,804,652,631,653,0.400971759986,-0.0153547760863,0.069830669863,0.9999999351,0.000233934624702,-0.000273916231132,6.74233754702e-06,1793239615319479296
+83,1.383333333,BASELINE,765.83817166,745,715,678.16182834,661,635.83817166,879,788,803.83817166,652,631,653,0.400971752125,-0.0153533635484,0.0698304130948,0.999999935119,0.00023334499004,-0.000274355220481,6.39413400575e-06,1793239615336145920
+84,1.400000000,BASELINE,765.259027533,745,715,678.740972467,661,635.259027533,879,788,803.259027533,652,631,653,0.40097079772,-0.0153547563401,0.0698298510717,0.999999934714,0.00023366871025,-0.000275546926775,6.71829224935e-06,1793239615352812544
+85,1.416666667,BASELINE,765.318227482,744.681772518,715,678.681772518,661,635.318227482,879,788,803.318227482,651.681772518,631,653,0.400971077251,-0.0153554716423,0.0698298530516,0.999999934797,0.000233598534491,-0.000275305340969,6.68775295101e-06,1793239615369479168
+86,1.433333333,BASELINE,765.893953857,744.106046143,715,678.106046143,661,635.893953857,879,788,803.893953857,651.106046143,631,653,0.400972355241,-0.0153556387428,0.0698303114038,0.999999935275,0.000233209631443,-0.000273903983699,6.37020440246e-06,1793239615386145792
+87,1.450000000,BASELINE,766,744,715,678.468843978,661,636,879.468843978,788,804,651.468843978,631,652.531156022,0.400971732004,-0.0153558203716,0.0698297139597,0.99999993502,0.000233995971519,-0.000274157801217,6.61987655242e-06,1793239615402813952
+88,1.466666667,BASELINE,766,744.044575752,715,678.955424248,661,636,879.955424248,787.955424248,804,652,631.044575752,652,0.400970771674,-0.0153559906395,0.0698289959259,0.999999934652,0.000234884917438,-0.000274729968261,6.96251965927e-06,1793239615419482112
+89,1.483333333,BASELINE,766,744.632876995,715,678.367123005,661,636,879.367123005,787.367123005,804,652,631.632876995,652,0.400970935651,-0.0153559823206,0.0698297146929,0.999999934938,0.000233788735943,-0.000274626841885,6.8770420551e-06,1793239615436147456
+90,1.500000000,BASELINE,765.780757872,745,715,678,661,636,879,787.219242128,804,652,631.780757872,652.219242128,0.400971141137,-0.0153560856457,0.0698302319968,0.999999935212,0.000232687714212,-0.000274564464835,6.82601663192e-06,1793239615452813056
+91,1.516666667,BASELINE,765.197606453,745,715,678,661,636,879,787.802393547,804,652,631.197606453,652.802393547,0.400971415523,-0.0153563742835,0.0698304149016,0.999999935468,0.000231578658518,-0.000274569725608,6.83217670838e-06,1793239615469479680
+92,1.533333333,BASELINE,765.378389367,744.621610633,715,678,661,636,879,788,804.378389367,652,631.378389367,653.378389367,0.40097045124,-0.0153565337242,0.0698297755371,0.999999935196,0.000231075058598,-0.000275985182784,6.64552280223e-06,1793239615486145792
+93,1.550000000,BASELINE,765.950717722,744.049282278,715,678,661,636,879,788,804.950717722,652,631.950717722,653.950717722,0.400968852092,-0.0153566269466,0.0698287147281,0.99999993465,0.000230881777761,-0.000278123419422,6.36004437383e-06,1793239615502812416
+94,1.566666667,BASELINE,765.474057055,744.525942945,715,678.525942945,661,636,879,788,804.474057055,651.474057055,632,653.474057055,0.400968736427,-0.0153554966768,0.0698283079065,0.99999993418,0.000232784432448,-0.000278223854813,6.51221817994e-06,1793239615519479040
+95,1.583333333,BASELINE,765,745,715,678.895784436,661,635.895784436,879.104215564,788,804,651.104215564,631.895784436,653,0.400968902366,-0.015354567936,0.0698282496512,0.999999933888,0.000234484507802,-0.000277843539387,6.6956070072e-06,1793239615536145920
+96,1.600000000,BASELINE,765,745,715,678.304545993,661,635.304545993,879.695454007,788,804,651.695454007,631.304545993,653,0.400969731098,-0.0153551197121,0.0698295323616,0.999999934405,0.000234315004265,-0.000276113849722,6.83216407401e-06,1793239615552812800
+97,1.616666667,BASELINE,765,745,715,678,661,635.280487868,879.719512132,788,804,652,631,652.719512132,0.400969977599,-0.0153556876069,0.0698300409426,0.999999934819,0.000233185000252,-0.000275574406399,6.78442883034e-06,1793239615569479680
+98,1.633333333,BASELINE,765,745,715,678,661,635.858930727,879.141069273,788,804,652,631,652.141069273,0.40096960561,-0.0153562726241,0.069829727186,0.999999935119,0.000231034681491,-0.000276299331019,6.54092463383e-06,1793239615586146560
+99,1.650000000,BASELINE,765.435871766,744.564128234,715,678,661,635.564128234,879,788,804,652,631,652.435871766,0.400971178512,-0.0153563155516,0.0698303410361,0.999999935603,0.000230793101303,-0.000274747308794,6.5487812584e-06,1793239615602813184
+100,1.666666667,BASELINE,766,744.01255879,715,678,661,635.01255879,879,788,804,652,631,653,0.400973314176,-0.0153562071814,0.0698312292089,0.999999936129,0.000231140040081,-0.000272529291072,6.63747493657e-06,1793239615619479552
+101,1.683333333,BASELINE,766,744.59978802,715,678,661,635.59978802,879,788,804,652,631,653,0.400972496692,-0.0153571762638,0.0698309795933,0.999999936086,0.000230245995984,-0.000273441361642,6.71536172471e-06,1793239615636146432
+102,1.700000000,BASELINE,766,744.815499948,715,678,661,636,879.184500052,788,804.184500052,652,631,653,0.400971818475,-0.015357133232,0.0698307508319,0.999999935753,0.000230928924868,-0.000274081278602,6.77352031305e-06,1793239615652813056
+103,1.716666667,BASELINE,766,744.236174725,715,678,661,636,879.763825275,788,804.763825275,652,631,653,0.400971438289,-0.0153549243026,0.0698305666979,0.999999934792,0.000234986533815,-0.000274138794004,6.78946107199e-06,1793239615669479680
+104,1.733333333,BASELINE,765.658436238,744.341563762,715,678,661.341563762,635.658436238,879.658436238,787.658436238,804.658436238,652,631,653,0.400971482159,-0.0153542801625,0.0698303675609,0.999999934625,0.000235639605127,-0.000274189832041,6.67341449898e-06,1793239615686146304
+105,1.750000000,BASELINE,765.081789769,744.918210231,715,678,661.918210231,635.081789769,879.081789769,787.081789769,804.081789769,652,631,653,0.400971817886,-0.0153547129951,0.0698301580981,0.99999993501,0.000233949489394,-0.000274236412011,6.46652708704e-06,1793239615702813184
+106,1.766666667,BASELINE,765.494718483,745,715,678,662,635,879,787.494718483,804,652,631.494718483,653,0.400971021527,-0.0153560241474,0.0698301277933,0.999999935148,0.000232785709349,-0.000274719843881,6.63226586001e-06,1793239615719479808
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880,788,804,651,631,653,0.400970409434,-0.0153550617786,0.0698296424894,0.99999993491,0.000232324994922,-0.000275986583607,6.08349845048e-06,1793239615762358784
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.421779681,744.421779681,715,678.421779681,661,636,880,788,804,651.578220319,631.578220319,652.421779681,0.400970824099,-0.0153543095424,0.0698300477467,0.999999934716,0.000234091983392,-0.000275193221523,6.14122117507e-06,1793239615779025152
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.155915558,744.155915558,715.155915558,678.155915558,661,636,879.844084442,788,804.155915558,652,631.844084442,652.155915558,0.400971122234,-0.0153542093913,0.0698302438881,0.999999934702,0.000234765515349,-0.000274667738519,6.22568841951e-06,1793239615795691776
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.732195257,744.732195257,715.732195257,678.732195257,661,636,879.267804743,788,804.732195257,652,631.267804743,652.732195257,0.400971106191,-0.0153558673277,0.0698298762321,0.999999935178,0.000232490978164,-0.000274864484477,6.38226161168e-06,1793239615812358144
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715.68537389,679,661,636,879,788,804.68537389,652,631.31462611,653,0.400971102846,-0.0153565276092,0.0698302541315,0.999999935444,0.000231768905344,-0.000274506326435,6.42241076376e-06,1793239615829024768
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715.097602903,679,661,636,879,788,804.097602903,652,631.902397097,653,0.400971110524,-0.0153563217694,0.0698312792903,0.999999935529,0.000232394615546,-0.000273666424562,6.36148555497e-06,1793239615845691904
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678.516680123,661,636,879,788,804,652,631.516680123,653,0.400971062267,-0.0153551548862,0.069831021121,0.999999935132,0.000233818652313,-0.000273904232302,6.35372678725e-06,1793239615862358272
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.937699403,745,715,678.062300597,661,636,879,788,803.937699403,652,631,652.937699403,0.400971232209,-0.0153541535386,0.0698307185777,0.999999934823,0.000234870223301,-0.000274133397122,6.3734043202e-06,1793239615879024640
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.363471688,745,715,678.636528312,661,636,879,788,803.363471688,652,631,652.363471688,0.400973286615,-0.0153560848542,0.0698321511781,0.999999936034,0.000231555010838,-0.000272528205383,6.53153692711e-06,1793239615895691264
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,678.788533822,661,636,879.211466178,788,803.211466178,652,631,652.211466178,0.400978625204,-0.0153571534102,0.0698345842332,0.999999937208,0.000230330436304,-0.000269230333516,6.8307992323e-06,1793239615912357632
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,678.212371283,661,636,879.787628717,788,803.787628717,652,631,652.787628717,0.40098962772,-0.0153567340438,0.0698387426809,0.999999938308,0.000232711393973,-0.00026301325134,7.37345499284e-06,1793239615929024256
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.371766884,745,715,678.371766884,661,635.628233116,880,787.628233116,804,652,631.371766884,653,0.401018051535,-0.0153577245651,0.0698506278841,0.99999994306,0.000234147837151,-0.000242866521754,8.45163875893e-06,1793239615945691136
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.96056106,745,715,678.96056106,661,635.03943894,880,787.03943894,804,652,631.96056106,653,0.401056645426,-0.0153595381401,0.0698670237552,0.999999949307,0.000235032898802,-0.000214588046029,9.84244910531e-06,1793239615962358016
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.459209003,745,715,678.459209003,661,635.540790997,879.459209003,787.540790997,804.540790997,652,632,653,0.401115750302,-0.0153632001056,0.0698853389443,0.999999955489,0.000232839339266,-0.000186253880373,1.081246367e-05,1793239615979024896
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.119776545,744.880223455,715,678,661,636,879,788,804.880223455,652,632,653,0.401178024637,-0.0153667250248,0.0699018297663,0.999999960221,0.000230889299102,-0.000161602590128,1.15322845733e-05,1793239615995691520
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.696361251,744.303638749,715,678,661,636,879,788,804.303638749,652,632,653,0.401246770873,-0.0153692211831,0.0699108372454,0.999999961919,0.000230710929542,-0.00015101242485,1.14131220955e-05,1793239616012358144
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.722619519,744.277380481,715,678,661,636,879,788,804.277380481,652,631.722619519,653,0.401321241505,-0.0153723395251,0.0699162430832,0.999999963141,0.000229804697943,-0.000144217718925,1.04523956266e-05,1793239616029024768
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.13666714,744.86333286,715,678,661,636,879,788,804.86333286,652,631.13666714,653,0.401402080236,-0.0153761500153,0.0699176422747,0.999999963919,0.000228088756293,-0.000141645272177,8.55547135433e-06,1793239616045691392
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,879,787.556098388,804.556098388,652,631,653,0.401505103604,-0.0153807402462,0.0699198945294,0.999999965023,0.000225762697133,-0.000137625489117,6.60635551953e-06,1793239616062358016
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.022810981,745,715,678.022810981,661,636,879,787.022810981,804,652,631.022810981,653,0.401615891909,-0.0153855917258,0.0699223286165,0.99999996618,0.000223261370463,-0.000133318303264,4.5932765819e-06,1793239616079024640
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.60119091,745,715,678.60119091,661,636,879,787.60119091,804,652,631.60119091,653,0.401751440815,-0.0153910292189,0.0699228712933,0.999999966767,0.000221011459653,-0.000132734057181,1.40902073978e-06,1793239616095691264
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,678.821096876,661,636,879,788,804,652,631.821096876,653,0.401896410566,-0.0153969621724,0.069924501123,0.999999967956,0.000217244212944,-0.000129961761386,-1.79995604223e-06,1793239616112357888
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,678.244867665,661,636,879,788,804,652,631.244867665,653,0.402062303062,-0.0154039954934,0.0699285454114,0.999999970432,0.000210107114054,-0.00012233002437,-5.06383515434e-06,1793239616129025024
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,678.337855288,661,636,879,788,804,652,631.337855288,653,0.402242251878,-0.0154113045744,0.0699308640091,0.99999997265,0.000201938287039,-0.000117657635314,-8.81210116742e-06,1793239616145691648
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,678.925377011,661,636,879,788,804,652,631.925377011,653,0.402432587973,-0.0154188174357,0.069931907366,0.999999974658,0.000193007038523,-0.00011517212807,-1.29183170771e-05,1793239616162358016
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745,715,678.493847194,661.506152806,636,879,788,804,652,631.493847194,653,0.402665102124,-0.0154275125907,0.0699366450224,0.999999978497,0.000178483222736,-0.000104124550914,-1.75231680772e-05,1793239616179024640
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,678.085401416,661.914598584,636,879.085401416,788,804,652,631,653,0.402909933362,-0.0154369149556,0.0699420065814,0.999999983254,0.000156645242695,-9.19923452763e-05,-2.21906359821e-05,1793239616195691264
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,678.661514682,661.338485318,636,879.661514682,788,804,652,631,653,0.403190277457,-0.0154493925245,0.0699478646455,0.999999991629,9.74558152582e-05,-8.07857469213e-05,-2.68010437729e-05,1793239616212357888
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.762542035,745,715,679,661.237457965,636,880,788,804.237457965,652,631.237457965,653,0.403482578793,-0.0154612608904,0.0699535186347,0.999999995297,5.9242013275e-05,-7.00824951425e-05,-3.13743209072e-05,1793239616229024512
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.186840916,745,715,679,661.813159084,636,880,788,804.813159084,652,631.813159084,653,0.403791912412,-0.0154722614862,0.0699588819322,0.999999996254,5.09066053557e-05,-6.00962282359e-05,-3.58947077115e-05,1793239616245691136
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.601489461,636,879.601489461,788,804.601489461,652,632,653,0.404115161663,-0.0154804429481,0.0699598553467,0.999999996807,3.34839996647e-05,-6.10619569605e-05,-3.91917984708e-05,1793239616262358016
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.011501196,636,879.011501196,788,804.011501196,652,632,653,0.404445097136,-0.0154872698626,0.069958719495,0.99999999679,1.16951459034e-05,-6.72899387907e-05,-4.1901115559e-05,1793239616279024896
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.567873669,744.432126331,715,678.432126331,661,636,879.567873669,788,804,652,631.432126331,652.432126331,0.404840834653,-0.0154807006141,0.0699660246646,0.999999996981,4.54160380987e-05,-5.30483026472e-05,-3.40683979815e-05,1793239616295691776
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.854173687,744.145826313,715,678.145826313,661,636,879.854173687,788,804,652,631.145826313,652.145826313,0.405246036977,-0.0154727540579,0.0699717760484,0.99999999599,7.38269444765e-05,-4.13928884963e-05,-2.92470681858e-05,1793239616312358656
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.279780751,744.720219249,715,678.720219249,661,636,879.279780751,788,804,652,631.720219249,652.720219249,0.405675210419,-0.015461542486,0.0699724678303,0.999999995206,8.33890083638e-05,-3.85341121963e-05,-3.38918247213e-05,1793239616329025024
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.301741849,745,715,678.698258151,661,636,879.301741849,788,804,651.698258151,631.698258151,653,0.406103356064,-0.0154596613044,0.0699632370586,0.999999994655,8.00079038813e-05,-5.3639214644e-05,-3.75609125474e-05,1793239616345691392
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.890035257,745,715,678.109964743,661,636,879.890035257,788,804,651.109964743,631.109964743,653,0.406530525701,-0.0154666408013,0.0699445832548,0.999999993437,6.43352170718e-05,-8.58038578565e-05,-4.03034492899e-05,1793239616362358016
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.529044336,745,715,678.470955664,661.470955664,636,879.529044336,788,804,651.470955664,631,653,0.407015418498,-0.0154773494855,0.0699352094076,0.99999999283,5.25868881981e-05,-9.9194142544e-05,-4.16512490854e-05,1793239616379024640
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.049900126,745,715,679,661.950099874,636,879,788,804,652,631,653,0.407520441962,-0.0154886935719,0.0699297952893,0.999999992761,4.1309906554e-05,-0.000104775251136,-4.23605128309e-05,1793239616395691264
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.625883142,745,715,679,661.374116858,636,879,788,804,652,631,653,0.408097793848,-0.015497698085,0.0699436355972,0.999999996183,2.54907154192e-05,-7.35299241767e-05,-3.97183022236e-05,1793239616412358144
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.200945432,635.799054568,879,788,804,652,631,653,0.408685288756,-0.0155077131069,0.0699552502177,0.999999998116,1.27701135508e-05,-4.67219336669e-05,-3.77054521424e-05,1793239616429024768
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.774301315,635.225698685,879,788,804,652,631,653,0.409291581604,-0.0155196008959,0.0699627399898,0.999999998908,5.79210167227e-06,-2.8137622859e-05,-3.68589907666e-05,1793239616445691392
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,678.640405688,662,635.359594312,879.359594312,788,804,652,631.359594312,653,0.409888470498,-0.0155224328001,0.0699591726364,0.99999999875,3.9247754618e-06,-3.25433305714e-05,-3.77626616589e-05,1793239616462358016
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,678.047363151,662,635.952636849,879.952636849,788,804,652,631.952636849,653,0.41047925433,-0.0155193856336,0.0699484270094,0.999999997848,5.37530093543e-06,-5.18741332817e-05,-3.98025164878e-05,1793239616479024640
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,678.529946679,661.470053321,636,880,788,804,652,632,653,0.41112514123,-0.0155202037489,0.0699504207155,0.999999997728,-1.74561719987e-07,-5.42259728109e-05,-4.00488200281e-05,1793239616495691776
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.897491385,745,715.102508615,678.897491385,661,636,880,788,804,652,631.897491385,653,0.411786878653,-0.0155216921288,0.0699586687987,0.99999999817,-5.15117006267e-06,-4.5296858932e-05,-3.97599570881e-05,1793239616512359168
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.339943961,745,715.660056039,678.339943961,661,636,880,788,804,652,631.339943961,653,0.412497746011,-0.0155246665667,0.0699897718719,0.999999999248,-4.88588307183e-06,7.16686910413e-06,-3.77865168045e-05,1793239616529025280
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.231475352,745,715.768524648,678.231475352,661.231475352,636,880,788,804,652,631,653,0.413235148803,-0.0155277022041,0.07001410055,0.999999998148,-9.7253729628e-06,4.77203301837e-05,-3.65029342781e-05,1793239616545691392
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.824565668,745,715.175434332,678.824565668,661.824565668,636,880,788,804,652,631,653,0.414014005838,-0.015530833449,0.070027846151,0.99999999666,-2.25396371859e-05,6.96673658785e-05,-3.62970597714e-05,1793239616562358272
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.582199236,636,880,788,804,652,631,653,0.414718934284,-0.0155284063375,0.0699998017325,0.999999998781,-2.29314278683e-05,1.65774110988e-05,-4.0471495019e-05,1793239616579025152
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880.010793866,788,804,651.989206134,631,653,0.415394386729,-0.0155236547325,0.069954508566,0.999999996496,-1.8159647869e-05,-6.72264822637e-05,-4.6459252091e-05,1793239616595692032
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,880.587901678,788,804,651.412098322,631,653,0.416152598408,-0.0155194417678,0.0699252144821,0.999999992647,-1.62434919404e-05,-0.000108796415186,-5.10511416709e-05,1793239616612358400
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.164635777,636,880.835364223,788,804,651.164635777,631,653,0.416933437082,-0.0155178699417,0.0699136046426,0.999999990832,-1.58313969348e-05,-0.000123439599403,-5.33761608865e-05,1793239616629024768
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.740436522,636,880.259563478,788,804,651.740436522,631,653,0.417770784861,-0.0155228941527,0.0699461598213,0.999999996055,-1.91755765198e-05,-7.0835333788e-05,-5.00398486e-05,1793239616645691136
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.676255043,880.323744957,788,804.323744957,651.676255043,631,653,0.418610127803,-0.0155275603387,0.0699727422546,0.99999999796,-2.61780749722e-05,-3.28745610318e-05,-4.81141492044e-05,1793239616662357760
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,635.086784421,880.913215579,788,804.913215579,651.086784421,631,653,0.419451108309,-0.0155319326622,0.0699944223344,0.999999998201,-3.61832739808e-05,-6.93298004604e-06,-4.73462628002e-05,1793239616679024384
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.506294817,635,880.506294817,788,804.506294817,651.493705183,631,652.506294817,0.420317906188,-0.0155364001041,0.0700142948799,0.999999997311,-4.77148488929e-05,2.94172331346e-05,-4.72775219884e-05,1793239616695691008
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.072261216,635.072261216,880,788,804.072261216,652,631,652.072261216,0.421183519878,-0.0155403095848,0.0700298550989,0.999999995459,-5.76211112861e-05,5.92482118486e-05,-4.74473451206e-05,1793239616712357632
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.64814711,635.64814711,880,788,804.64814711,652,631,652.64814711,0.422009815847,-0.0155402159039,0.0700175354084,0.999999996865,-5.43631773488e-05,3.11194377318e-05,-4.84386116067e-05,1793239616729024256
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,652,631.223702056,653,0.422812190535,-0.0155376530449,0.0699795367576,0.999999996634,-5.24291461016e-05,-3.53267805478e-05,-5.22993437499e-05,1793239616745690880
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880,788,805,652,631.798737326,653,0.423576996001,-0.0155312122408,0.0699012082495,0.999999983664,-5.25743570528e-05,-0.000161952113855,-6.06666885223e-05,1793239616762357504
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.384795652,788,804.615204348,652,631.615204348,653,0.424425164061,-0.0155314240707,0.0698741800495,0.999999977638,-5.78557372063e-05,-0.00019272493133,-6.5061235434e-05,1793239616779024384
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.97678945,788,804.02321055,652,631.02321055,653,0.425318219731,-0.015535218097,0.0698747751618,0.99999998079,-6.59027536973e-05,-0.000171884728076,-6.73165783217e-05,1793239616795690752
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679,662,636,880.446856464,788,804,652,631,653,0.426232976699,-0.0155392050843,0.0699344776082,0.99999999218,-6.31322675441e-05,-8.99544005361e-05,-5.96822814924e-05,1793239616812357632
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,679.129114652,662,636,880.129114652,788,804.129114652,651.870885348,631.129114652,653,0.427142075826,-0.0155425148935,0.0699883802446,0.999999996463,-6.24999701548e-05,-1.75093346312e-05,-5.34910375581e-05,1793239616829024256
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,679.705970871,662,636,880.705970871,788,804.705970871,651.294029129,631.705970871,653,0.428028483773,-0.0155434490898,0.0700138060527,0.999999995961,-7.08132451926e-05,1.33979670136e-05,-5.37034831264e-05,1793239616845691136
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,881,788,804.71929482,651.28070518,631.71929482,653,0.428911775345,-0.01554482098,0.0700323238202,0.999999995013,-7.28511668356e-05,4.29646221939e-05,-5.31045235777e-05,1793239616862358272
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,881,788,804.146766499,651.853233501,631.146766499,653,0.429791827056,-0.0155466479,0.070043659937,0.999999993798,-6.83651850576e-05,7.11375296502e-05,-5.16620213801e-05,1793239616879025664
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,679.556636521,662,636,881,788,804.443363479,651.556636521,631,653,0.43060031924,-0.0155437027459,0.0700070279796,0.999999995952,-7.05930050516e-05,7.80819718499e-06,-5.52381012903e-05,1793239616895692032
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.961818446,745,715,679,662,636,881,788,804.961818446,651,631.038181554,653,0.431383478389,-0.015539106371,0.0699540539825,0.999999991738,-7.42961078362e-05,-8.56949950354e-05,-6.04979820636e-05,1793239616912357888
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.38641044,745,715,679,662,636,881,788,804.38641044,651,631.61358956,653,0.432157274398,-0.0155344225514,0.0699037995039,0.999999982898,-6.61932966027e-05,-0.000159945141553,-6.51080980114e-05,1793239616929024512
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.189391518,745,715,679.189391518,662,635.810608482,881,788,804.189391518,651,632,653,0.432969470114,-0.0155331417595,0.0698905819835,0.999999980731,-6.33953272788e-05,-0.00017343526226,-6.66291627301e-05,1793239616945691136
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.765999024,745,715,679.765999024,662,635.234000976,881,788,804.765999024,651,632,653,0.433860175189,-0.0155388185469,0.0699530874989,0.999999993571,-7.14432468191e-05,-6.26999094231e-05,-6.18345810541e-05,1793239616962357760
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.652112004,745,715,680,662,635.347887996,880.652112004,788,804.652112004,651,631.652112004,653,0.434713845381,-0.0155436377559,0.069999049911,0.999999995439,-7.51572290671e-05,1.2744970026e-05,-5.75332514321e-05,1793239616979024640
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.066615815,745,715,680,662,635.933384185,880.066615815,788,804.066615815,651,631.066615815,653,0.435542220621,-0.0155478712367,0.0700337133471,0.99999999363,-7.59111233368e-05,6.40863792651e-05,-5.35688144646e-05,1793239616995691264
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.515376212,745,715,680,662,636,880,788,804.515376212,651,631.515376212,653,0.436322706366,-0.0155502904783,0.0700307870405,0.999999993122,-8.41989162682e-05,6.06114038493e-05,-5.47139750151e-05,1793239617012357888
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.095597364,788,805,651,631.904402636,653,0.437086916799,-0.015552168144,0.0700194520508,0.999999993014,-9.26874618049e-05,4.65844570851e-05,-5.66561967132e-05,1793239617029024256
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.669213073,788,805,651,631.330786927,653,0.437800488488,-0.015552502422,0.0699902020277,0.999999993391,-9.73433660265e-05,1.49841635648e-05,-5.93038238002e-05,1793239617045691136
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.755660752,745,715,680,662,635.755660752,880.755660752,788,804.755660752,651,631,653,0.438475447152,-0.0155516629522,0.0699487685255,0.999999992284,-9.71689554999e-05,-4.5695314849e-05,-6.24642009442e-05,1793239617062358272
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.178477034,745,715,680,662,635.178477034,880.178477034,788,804.178477034,651,631,653,0.439097806218,-0.0155492245763,0.0698907384137,0.999999983057,-9.04145795775e-05,-0.000145987116388,-6.63230572646e-05,1793239617079024896
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.408128915,745,715,680,662,635,880.408128915,788,804.408128915,651,631.408128915,653,0.439731095875,-0.0155521021391,0.0698475719228,0.999999969716,-9.83867594389e-05,-0.00021454552795,-6.97029890256e-05,1793239617095691264
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.998952682,745,715,680,662,635,880.998952682,788,804.998952682,651,631.998952682,653,0.440369278555,-0.0155573593289,0.0698110589789,0.999999954813,-0.000112951135047,-0.000268898811564,-7.28685353168e-05,1793239617112357888
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,880.425761726,787.425761726,805,651,631.425761726,653,0.441040225725,-0.015564627674,0.06983867491,0.999999964129,-0.000120366535565,-0.000228429116835,-7.12265148042e-05,1793239617129024512
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.84993755,745,715,680,662,635,880.15006245,787,805,651,631,653,0.441694393838,-0.0155730881068,0.0698624641366,0.999999969982,-0.000130529964502,-0.000195304154919,-6.96775293919e-05,1793239617145691392
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.272500787,745,715,680,662,635,880.727499213,787,805,651,631,653,0.442300610045,-0.0155849334075,0.0698750306799,0.999999969775,-0.000148555870894,-0.000183576368016,-6.84178194432e-05,1793239617162358016
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.688603179,635,881,787,804.688603179,651,631,653,0.442854614961,-0.0155921641528,0.0698631629986,0.99999996312,-0.000159624318342,-0.0002089180113,-6.80684990268e-05,1793239617179024896
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.098931983,635,881,787,804.098931983,651,631,653,0.443361962125,-0.01559527118,0.0698294600952,0.999999948378,-0.000164475351662,-0.000267386109017,-6.85327323644e-05,1793239617195691776
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.482542661,745,715,680,661.482542661,635,880.517457339,787,804.482542661,651,631,653,0.443862249386,-0.0156006031988,0.069791016801,0.999999928519,-0.000174812674384,-0.00032772501574,-7.06998934386e-05,1793239617212357888
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.938308012,745.061691988,715,680,661.938308012,635,880.061691988,787,805,651,631,653,0.444357580354,-0.0156062204353,0.0697538545895,0.999999906185,-0.000185459813409,-0.000384530689502,-7.32838005032e-05,1793239617229024512
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.36474195,745.63525805,715,680,661.36474195,635,880.63525805,787,805,651,631,653,0.444823596895,-0.015610482432,0.0697352511372,0.999999895524,-0.00018950061744,-0.000408890924889,-7.64770544881e-05,1793239617245691136
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.7891957,715,680,661,634.7891957,881,786.7891957,805,651,631,652.7891957,0.445282804757,-0.0156155567589,0.0697222601286,0.999999887879,-0.000196916859395,-0.000423452591992,-7.84488382121e-05,1793239617262357504
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.210190821,715,680,661,634.210190821,881,786.210190821,805,651,631,652.210190821,0.445730120212,-0.0156220499391,0.0697190720768,0.999999886259,-0.000210228797662,-0.000420899622571,-7.82871449929e-05,1793239617279024128
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.37520926,745,715,680,661,634,881,786,805,651,631,652.37520926,0.446134605468,-0.0156268692811,0.0697148571376,0.999999880805,-0.000215944929071,-0.000430893841331,-7.80328105581e-05,1793239617295691008
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.964254086,745,715,680,661,634,881,786,805,651,631,652.964254086,0.446514681402,-0.0156307346864,0.0697100569645,0.999999872993,-0.000217332134235,-0.000448038829729,-7.7725678925e-05,1793239617312357632
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.458521587,745.541478413,715,680,661,634,880.458521587,786,805,651.541478413,631,653,0.446857318356,-0.0156383282149,0.0696930709733,0.999999854025,-0.000227219768242,-0.000484024021264,-7.77301335522e-05,1793239617329024512
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.881718617,715,680,660.881718617,634,880.236562765,786,805,651.881718617,631,653,0.447190896028,-0.0156451067557,0.0696751466099,0.999999834212,-0.000237845513212,-0.000518523293082,-7.83521124991e-05,1793239617345691392
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.303584665,715,680,660.303584665,634,881.39283067,786,805,651.303584665,631,653,0.447498656833,-0.0156477804071,0.0696566347719,0.999999818483,-0.000249205821069,-0.000542513536629,-8.12966322051e-05,1793239617362358016
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.728829436,680,660,633.728829436,881.457658871,785.728829436,804.728829436,651,631,653,0.447798219564,-0.0156509259093,0.0696498598602,0.999999811888,-0.000256312084735,-0.000551043581257,-8.29420907868e-05,1793239617379024640
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.157810285,680,660,633.157810285,880.31562057,785.157810285,804.157810285,651,631,653,0.448088717202,-0.0156545931634,0.0696560631311,0.999999815935,-0.000258714411274,-0.000542478410893,-8.31511040877e-05,1793239617395691264
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.431634447,680,660.431634447,633,880.431634447,785,804.431634447,651.431634447,631,653,0.448354385679,-0.0156557492438,0.0696616674831,0.99999982262,-0.000254964639175,-0.000532030087033,-8.18411870993e-05,1793239617412358144
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.027149624,745,715,680.027149624,660.972850376,633,881,785.027149624,805,651.972850376,630.972850376,653,0.448608702791,-0.0156559496953,0.0696666611751,0.999999829876,-0.000248377905212,-0.000521735619894,-7.96812490698e-05,1793239617429024768
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.603126435,745,715,680.603126435,660.396873565,633,881,785.603126435,805,651.396873565,630.396873565,653,0.448825243197,-0.0156562193564,0.0696639342991,0.999999830537,-0.000231938649927,-0.000529089969151,-7.20648986828e-05,1793239617445691136
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.82133575,745,715,681,660,633,881,785.82133575,805,651,630,653,0.449030535385,-0.0156576497057,0.0696609366452,0.999999829045,-0.00022521608256,-0.000535395897602,-6.73749173076e-05,1793239617462357760
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.246770778,745,715,681,660,633,881,785.246770778,805,651,630,653,0.449210902703,-0.015661652015,0.0696573389767,0.999999823337,-0.00024002465078,-0.000539378637853,-6.91694553463e-05,1793239617479024384
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680.664153797,660,633,881,785,805,651,630.335846203,653,0.449369529337,-0.0156660594731,0.0696525273375,0.999999817239,-0.00024953528554,-0.000546110380119,-7.08402199538e-05,1793239617495691008
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680.075475022,660,633,881,785,805,651,630.924524978,653,0.449511789113,-0.0156707719367,0.0696468017933,0.999999810887,-0.00025505751845,-0.000554911633345,-7.24178053311e-05,1793239617512357376
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880.492330159,784.492330159,805,651,630.492330159,653,0.449633353263,-0.0156732054397,0.0696426525693,0.999999806391,-0.000258973028058,-0.000561020129151,-7.35327609756e-05,1793239617529024256
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.08856629,745,715,680,660,633,880.08856629,784,805,651,630.08856629,653,0.44974715834,-0.0156752181875,0.0696380479472,0.999999801381,-0.000262569859375,-0.000568089908814,-7.46199984476e-05,1793239617545691136
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.661615502,745,715,680,660,633,880.661615502,784,805,651,630.661615502,653,0.449835168643,-0.0156767626977,0.0696296840234,0.999999792113,-0.000265716031946,-0.000582584498577,-7.59277933941e-05,1793239617562358016
+216,3.600000000,POSE1_TO_POSE2_PRESS,766,745,714.765612232,680.234387768,660,633,881,784,805.234387768,651,630.765612232,653,0.449914870944,-0.0156779724498,0.0696226821905,0.9999997843,-0.000267882841913,-0.000594754617524,-7.68439239022e-05,1793239617579024384
+217,3.616666667,POSE1_TO_POSE2_PRESS,766,745,714.193239353,680.806760647,660,633,881,784,805.806760647,651,630.193239353,653,0.449982593173,-0.0156786994833,0.0696176444815,0.999999778787,-0.000268637419438,-0.000603572869133,-7.71952776526e-05,1793239617595691264
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.606631126,745.393368874,714.393368874,680.606631126,659.606631126,633,881,784,805.606631126,651,630,653,0.450039260818,-0.0156798758714,0.0696133250555,0.999999773729,-0.000270707177817,-0.000610966813319,-7.73307065077e-05,1793239617612358400
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.012767346,745.987232654,714.987232654,680.012767346,659.012767346,633,881,784,805.012767346,651,630,653,0.450090294085,-0.0156812812896,0.0696093717291,0.999999768885,-0.000273447266428,-0.000617634806599,-7.73560812915e-05,1793239617629025024
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.56726182,745.43273818,715,680.56726182,659.56726182,633,881.56726182,784,804.43273818,651,630,653,0.450129596582,-0.0156791037204,0.0696077542309,0.999999767172,-0.000272354242253,-0.000620874199351,-7.74262190305e-05,1793239617645691392
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.854565589,745.145434411,714.854565589,680.854565589,660,633,881.709131177,784,804.145434411,651,630.145434411,653,0.450165530819,-0.0156776191777,0.0696060435214,0.999999765362,-0.000272109434544,-0.000623883860416,-7.74744430111e-05,1793239617662357760
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.280964079,745.719035921,714.280964079,680.280964079,660,633,880.561928157,784,804.719035921,651,630.719035921,653,0.450192307499,-0.0156784067071,0.0696039073011,0.999999763082,-0.00027460976613,-0.00062643895435,-7.74552561833e-05,1793239617679024384
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.699687026,714.300312974,680,660,633,880.300312974,784,805,651.300312974,630.699687026,653,0.450214395865,-0.0156777369563,0.0696024818464,0.999999761606,-0.000276338283652,-0.000628038940419,-7.74064765136e-05,1793239617695691008
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.11104054,714.88895946,680,660,633,880.88895946,784,805,651.88895946,630.11104054,653,0.450231982936,-0.015675668056,0.0696017388046,0.99999976091,-0.00027732577501,-0.000628721918108,-7.73292844569e-05,1793239617712357632
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,881,784,805,651.529844448,630,653,0.450240295989,-0.0156763983908,0.0695991661743,0.999999758242,-0.000276646018718,-0.000633299627245,-7.69032086106e-05,1793239617729024256
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.049406886,715,680,660,633,880.950593114,783.950593114,805,651,630,653,0.450246455458,-0.0156775089948,0.0695963648143,0.999999755318,-0.000275718656192,-0.000638359337537,-7.64294251918e-05,1793239617745691136
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.626388612,715,680,660,633,880.373611388,783.373611388,805,651,630,653,0.450252642366,-0.0156757307679,0.0695956631937,0.999999754826,-0.000276286438034,-0.000638896841592,-7.6312354396e-05,1793239617762357504
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.798198389,714.798198389,680.201801611,660,633,880,783.201801611,805,651,630,653,0.450257318627,-0.0156751104724,0.069595062976,0.99999975406,-0.000277434113016,-0.000639624633769,-7.60895518488e-05,1793239617779024128
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.225667329,714.225667329,680.774332671,660,633,880,783.774332671,805,651,630,653,0.450259219683,-0.0156766174111,0.0695946490455,0.999999752786,-0.000279647108811,-0.000640702003946,-7.56725096602e-05,1793239617795690752
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.359237208,714.359237208,681,660,632.640762792,880,783.640762792,805,651,630.359237208,653,0.450261895914,-0.0156764295325,0.0695950095179,0.999999753399,-0.000279338292791,-0.00063989117054,-7.5567922258e-05,1793239617812357376
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.952191825,714.952191825,681,660,632.047808175,880,783.047808175,805,651,630.952191825,653,0.450265076468,-0.0156751390167,0.0695958738119,0.999999755237,-0.000277388802181,-0.000637851884014,-7.56666159407e-05,1793239617829024000
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.46710993,715,681,660,632,880.53289007,783.53289007,805,651,630.46710993,653,0.450264118686,-0.01567492172,0.0695948571496,0.999999753879,-0.000277007459228,-0.000640150534829,-7.56087160714e-05,1793239617845690880
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632.110879366,881,784,805,651,630,653,0.450263047542,-0.0156747831795,0.0695938249031,0.999999752431,-0.000277057403878,-0.000642394470459,-7.55392454223e-05,1793239617862357760
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,715,681,660,632.682084428,881,784,805,651,630,653,0.450263012472,-0.015674580859,0.0695934127864,0.999999751802,-0.000278326938087,-0.000642831869961,-7.54787511099e-05,1793239617879024384
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680.737509643,660,633,881,784,805,651,630.262490357,652.737509643,0.450263726084,-0.0156737526579,0.0695934317243,0.999999752102,-0.000277457589267,-0.000642749379723,-7.54056490053e-05,1793239617895691264
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680.145555192,660,633,881,784,805,651,630.854444808,652.145555192,0.450265379401,-0.0156721388843,0.0695939916993,0.999999753561,-0.000273903627106,-0.000642014351273,-7.53167222542e-05,1793239617912357888
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.436985195,715,680.436985195,660,633,881.436985195,784,805.436985195,651,630.563014805,652.436985195,0.450265776987,-0.0156727659712,0.069593885401,0.999999753457,-0.000274753935444,-0.000641836674332,-7.51100094712e-05,1793239617929024256
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.983664268,715,680.983664268,660,633,881.967328536,783.983664268,805.983664268,651,630.016335732,653,0.450265759773,-0.0156740825329,0.0695935346931,0.999999752835,-0.000276977142092,-0.000641878535224,-7.48694417082e-05,1793239617945690880
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.408426778,715,680.408426778,660,633,880.816853556,783.408426778,805.408426778,651,630.591573222,653,0.450265559496,-0.0156739897952,0.0695922547011,0.999999751966,-0.000277038736818,-0.000643213835355,-7.47845763493e-05,1793239617962357760
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880.166687141,783.166687141,805,651,631,653,0.450265622497,-0.0156736492699,0.0695914751544,0.999999751542,-0.00027657010209,-0.000644086251047,-7.46833020612e-05,1793239617979024384
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880.741498471,783.741498471,805,651,631,653,0.450266330119,-0.0156727020508,0.0695919209202,0.999999752208,-0.000274803230059,-0.000643825319879,-7.45418514283e-05,1793239617995691008
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.647252318,660,633,880.676373841,784,805,651,630.676373841,653,0.450267418793,-0.0156721328525,0.0695922443923,0.999999752415,-0.000274579935443,-0.000643592349427,-7.46033876287e-05,1793239618012357632
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,681.8234661,660,633,880.08826695,784,805,651,630.08826695,653,0.450268818879,-0.0156718725885,0.0695924679209,0.999999752247,-0.000275618116459,-0.000643382229645,-7.48308131032e-05,1793239618029024256
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,715,681.014699732,660,633,880.492650134,784,805,651,630.492650134,653,0.450267204662,-0.0156721049997,0.0695914987144,0.999999751527,-0.000275467529274,-0.000644555973844,-7.49059765175e-05,1793239618045690880
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.071717463,745.071717463,715,680,660,633,880.928282537,784,805,651,630.928282537,653,0.450265670227,-0.0156724259358,0.0695907667223,0.999999751061,-0.000275165325121,-0.000645414950862,-7.48464277481e-05,1793239618062357504
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.646713611,745.646713611,715,680,660,633,880.353286389,784,805,651,630.353286389,653,0.450268431065,-0.0156727575604,0.069593177456,0.999999753065,-0.000275272299513,-0.000642350121093,-7.40302208135e-05,1793239618079024128
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.778096374,746,715,680.221903626,660,633,880.221903626,784,805,651,630,653,0.450269630988,-0.0156722587665,0.0695940197785,0.999999754006,-0.0002740320537,-0.00064147076871,-7.35515128475e-05,1793239618095691008
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.202597349,746,715,680.797402651,660,633,880.797402651,784,805,651,630,653,0.450268343651,-0.0156704367307,0.0695923628948,0.999999753251,-0.00027064506125,-0.000644073894991,-7.36105971498e-05,1793239618112357632
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.38336501,745.61663499,715,681,659.61663499,633,880.61663499,783.61663499,805,651,630,653,0.450267200366,-0.0156702380339,0.0695910439302,0.999999751773,-0.000271863340435,-0.000645833958059,-7.37807613134e-05,1793239618129024256
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.975012058,745.024987942,715,681,659.024987942,633,880.024987942,783.024987942,805,651,630,653,0.450266135345,-0.0156709212966,0.0695899085568,0.999999749895,-0.000275583661847,-0.0006471359851,-7.40112751124e-05,1793239618145690880
+251,4.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680.445616606,659.554383394,632.445616606,880,783,805,651,630,653,0.4502674952,-0.0156715158686,0.0695913083095,0.999999751149,-0.000274951663686,-0.000645446879052,-7.41768322859e-05,1793239618162357760
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.867547327,745.132452673,715,680.132452673,659.867547327,632.132452673,880.132452673,783,805,651,630,653,0.450268171697,-0.0156718466039,0.0695920198313,0.99999975176,-0.000274597077242,-0.000644638618215,-7.42845797023e-05,1793239618179024128
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.29202284,745.70797716,715,680.70797716,659.29202284,632.70797716,880.70797716,783,805,651,630,653,0.450266204575,-0.0156713078532,0.0695900551723,0.999999749765,-0.00027581248143,-0.000647218124513,-7.42085275452e-05,1793239618195691008
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659,632.71042825,881,783,805,651,630,653,0.4502661957,-0.0156701174334,0.0695898261239,0.999999749761,-0.00027508647458,-0.00064753245037,-7.42142246856e-05,1793239618212357632
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,746,715,681,659,632.122581144,881,783,805,651,630,653,0.45026820393,-0.0156682557574,0.0695913848531,0.999999751805,-0.00027236070398,-0.000645513511508,-7.43041282519e-05,1793239618229024512
+256,4.266666667,HOLD_POSE2,766,746,714,681,660,632,880,783,805,651,630,654,0.450271116914,-0.0156716320225,0.0695930857947,0.999999752133,-0.000278492405307,-0.00064242082467,-7.39642624114e-05,1793239618261293312
+257,4.283333333,HOLD_POSE2,765.423144506,745.423144506,714,680.423144506,659.423144506,632.576855494,880.576855494,783,805,651,630,653.423144506,0.450270723299,-0.0156694982837,0.0695928230729,0.999999752754,-0.000274799858641,-0.000643028776249,-7.41018798189e-05,1793239618277959936
+258,4.300000000,HOLD_POSE2,765,745,714.153047493,680,659,633,881,783.153047493,805,651.153047493,630,653,0.450270335873,-0.0156680326834,0.0695924439832,0.999999752982,-0.000272168841255,-0.000643786629551,-7.41510311206e-05,1793239618294626560
+259,4.316666667,HOLD_POSE2,765,745,714.727413113,680,659,633,881,783.727413113,805,651.727413113,630,653,0.450269965485,-0.0156684063732,0.0695917445492,0.999999752163,-0.000272460063183,-0.000644957141282,-7.39566477647e-05,1793239618311293184
+260,4.333333333,HOLD_POSE2,765,745.310470157,715,680.310470157,659.310470157,633,881,784,805.310470157,651.689529843,630,653,0.450269455333,-0.0156686794666,0.0695916911825,0.999999751993,-0.000271992199115,-0.000645422559074,-7.39164210264e-05,1793239618327959808
+261,4.350000000,HOLD_POSE2,765,745.901377846,715,680.901377846,659.901377846,633,881,784,805.901377846,651.098622154,630,653,0.450268818936,-0.0156688616946,0.0695922213874,0.99999975241,-0.000270838677493,-0.000645251088513,-7.40154389278e-05,1793239618344626432
+262,4.366666667,HOLD_POSE2,765,745.517020619,715,680.517020619,660,633,881,784,805.517020619,651,630,653,0.450269946766,-0.0156676872669,0.0695925710537,0.999999753184,-0.000270185267402,-0.000644347084763,-7.38179057407e-05,1793239618361293056
+263,4.383333333,HOLD_POSE2,765,745,715,680.124546128,659.937726936,632.937726936,881,784,805,651,630.062273064,653,0.450271227246,-0.0156665882042,0.0695927977216,0.999999753832,-0.000269804830545,-0.00064352382728,-7.36100577352e-05,1793239618377959680
+264,4.400000000,HOLD_POSE2,765,745,715,681.27582131,659.362089345,632.362089345,881,784,805,651,630.637910655,653,0.450270852488,-0.0156683509729,0.0695923085821,0.999999752858,-0.000270848778293,-0.000644576014004,-7.38069359222e-05,1793239618394626304
+265,4.416666667,HOLD_POSE2,764.782315685,745.217684315,714.782315685,681.564631369,659.217684315,632.217684315,881,784,805,651,630.782315685,653,0.450270516504,-0.0156694575129,0.0695919471656,0.999999751988,-0.000272168008236,-0.000645349009161,-7.39745113148e-05,1793239618411293184
+266,4.433333333,HOLD_POSE2,764.195529024,745.804470976,714.195529024,680.391058047,659.804470976,632.804470976,881,784,805,651,630.195529024,653,0.450270246267,-0.015669451361,0.0695918023145,0.999999751299,-0.00027395400254,-0.000645648611071,-7.40924012977e-05,1793239618427960064
+267,4.450000000,HOLD_POSE2,764.386164719,745.613835281,714.386164719,680.386164719,660,633,881,784,805,651,630,653,0.450270386425,-0.0156691199504,0.0695916628553,0.999999751328,-0.000273747152989,-0.000645706842717,-7.39601440829e-05,1793239618444626944
+268,4.466666667,HOLD_POSE2,764.965313353,745.034686647,714.965313353,680.965313353,660,633,881,784,805,651,630,653,0.450270731675,-0.0156686259934,0.0695915260908,0.999999751715,-0.000272544389697,-0.00064564445079,-7.37028770491e-05,1793239618461293568
+269,4.483333333,HOLD_POSE2,765,745,715,680.459152599,660,633,881,784,805,651,630.540847401,653,0.450270908607,-0.0156680924119,0.069592205917,0.999999752738,-0.000270697498152,-0.000644834744453,-7.37253459715e-05,1793239618477960448
+270,4.500000000,HOLD_POSE2,765,745.116552736,715,680.116552736,659.883447264,633,881,783.883447264,805,651,630.883447264,653,0.450271214237,-0.0156677454646,0.0695928086663,0.99999975358,-0.000269498660629,-0.000644037260331,-7.36674213931e-05,1793239618494627072
+271,4.516666667,HOLD_POSE2,765,745.693845651,715,680.693845651,659.306154349,633,881,783.306154349,805,651,630.306154349,653,0.450272071011,-0.0156681462731,0.0695929010743,0.999999753561,-0.000271023838851,-0.000643476296382,-7.32212470439e-05,1793239618511293696
+272,4.533333333,HOLD_POSE2,765.275544937,746,715,681,659.275544937,633.275544937,880.724455063,783,805,651,630,653,0.450272060078,-0.0156686346804,0.0695927127201,0.999999753255,-0.000271759532042,-0.000643659599709,-7.30745248984e-05,1793239618527960064
+273,4.550000000,HOLD_POSE2,765.862219611,746,715,681,659.862219611,633.862219611,880.137780389,783,805,651,630,653,0.450271069377,-0.0156692219995,0.0695922073451,0.999999752623,-0.000271603783358,-0.000644683287529,-7.3265927249e-05,1793239618544626432
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,715,680,659,633,881,784,805,651,630,653,0.450268906272,-0.0156669549061,0.0695898987581,0.999999751083,-0.000267950812393,-0.000648537990189,-7.37245804203e-05,1793239618577239808
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.575084993,659,633,881,784,805,651,630,653,0.450269191964,-0.0156669499211,0.0695904051132,0.999999751401,-0.000269276553459,-0.000647487840129,-7.38108184228e-05,1793239618593906432
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.84995941,715,680.84995941,659.15004059,633,880.84995941,784,805,651,630,653,0.45026946825,-0.0156671109286,0.0695907431362,0.999999751538,-0.00027053931289,-0.000646750100472,-7.38019744748e-05,1793239618610573312
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.275369816,715,680.275369816,659.724630184,633,880.275369816,784,805,651,630,653,0.450269717924,-0.0156677416218,0.069590604853,0.99999975117,-0.000271623862241,-0.000646896344877,-7.35240903664e-05,1793239618627239936
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.692864657,633,880,783.692864657,805,651,630,653,0.450269556625,-0.0156677392406,0.0695905410339,0.999999750918,-0.000271883742342,-0.000647173872191,-7.35427281642e-05,1793239618643906560
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.103074895,633,880,783.103074895,805,651,630,653,0.450269017112,-0.0156671542455,0.0695905457436,0.999999750775,-0.000271384685273,-0.000647572218202,-7.38342529295e-05,1793239618660573184
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.478834831,659.478834831,633,880.478834831,783,805,651.478834831,630,653,0.45027023066,-0.0156668040547,0.0695912578054,0.999999751957,-0.000269822268687,-0.000646438319407,-7.34871526785e-05,1793239618677240064
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.941509271,633,880.941509271,783,805,651.941509271,630,653,0.45027112764,-0.0156665484408,0.0695917100764,0.999999752999,-0.000268306153543,-0.000645502193846,-7.3073046356e-05,1793239618693906944
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.367014384,633,880.367014384,783,805,651.367014384,630,653,0.450265956633,-0.0156666884996,0.0695885489379,0.999999750373,-0.000269185173529,-0.000649173498931,-7.32609508505e-05,1793239618710573312
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.787460912,659,632.787460912,880,783,805,651,630,653,0.45025512293,-0.0156661619519,0.0695829806665,0.999999745028,-0.00026983012774,-0.000657048864305,-7.36425692231e-05,1793239618727239936
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.19895932,659,632.19895932,880,783,805,651,630,653,0.450234272431,-0.0156644562373,0.069573154394,0.999999734734,-0.000270061040547,-0.000672360833225,-7.43668499695e-05,1793239618743906560
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.383375846,632.383375846,880.766751692,783,805,651,630,653,0.450193523422,-0.0156624463914,0.0695571229451,0.999999715592,-0.000269750477108,-0.000700246502547,-7.5535096714e-05,1793239618760573184
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.962561553,632.962561553,881.925123105,783,805,651,630,653,0.450142611212,-0.0156602812099,0.0695379221911,0.999999691031,-0.000269163353542,-0.00073455421132,-7.69300998387e-05,1793239618777239808
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,633,881.460343813,783,805,651,630,653,0.450075137165,-0.0156570996234,0.0695207234862,0.999999674765,-0.000267334194366,-0.000756932558233,-7.7811970827e-05,1793239618793906432
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.883938552,633,881,783,804.883938552,651.116061448,630,653,0.450005286489,-0.0156538153555,0.0695064873631,0.999999661655,-0.000265454452645,-0.000774662822278,-7.82398446163e-05,1793239618810573056
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.309684172,633,881,783,804.309684172,651.690315828,630,653,0.449930571678,-0.0156504030149,0.0695034008512,0.999999660166,-0.000263713874844,-0.000777297778308,-7.7015401342e-05,1793239618827239680
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.727271904,680.272728096,659.272728096,632.727271904,881,783,804.272728096,652,630.272728096,653.272728096,0.449849071,-0.0156464004329,0.0695041500172,0.999999662918,-0.000261047480033,-0.000774815228362,-7.53676751409e-05,1793239618843906304
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.135310718,680.864689282,659.864689282,632.135310718,881,783,804.864689282,652,630.864689282,653.864689282,0.449759627348,-0.0156417069629,0.0695093889128,0.999999670578,-0.000257297400026,-0.000766342546399,-7.3224488811e-05,1793239618860572928
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.446573966,681,659.553426034,632.446573966,881,783.446573966,805,652,630.553426034,653.553426034,0.449646819784,-0.0156370239638,0.0695129406748,0.999999673924,-0.000257008023349,-0.000762237641177,-7.13672776104e-05,1793239618877239808
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.974725577,659,633,881,783.974725577,805,651.974725577,630,653,0.449525897546,-0.015632156594,0.0695161032911,0.999999676315,-0.000257374912143,-0.000759140325845,-6.95250750032e-05,1793239618893906176
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.400336397,659,633,881,783.400336397,805,651.400336397,630,653,0.449379084683,-0.0156232161588,0.0695216725366,0.999999685519,-0.000249720953118,-0.000749815613728,-6.61679304226e-05,1793239618910572800
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633,881,783.174048727,805,651,630.174048727,653,0.449220011391,-0.0156140806011,0.0695261974989,0.999999692163,-0.000242321208375,-0.000743628178776,-6.3020427961e-05,1793239618927239680
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633,881,783.748424441,805,651,630.748424441,653,0.449032738081,-0.0156044962462,0.0695283205198,0.99999969319,-0.000235506179393,-0.000744656751644,-6.03551208198e-05,1793239618943906560
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.33199915,715,680.33199915,659.6639983,633,881,784,805,651.33199915,630.66800085,653,0.448828712496,-0.0155956153356,0.0695305739904,0.999999695967,-0.000227218967992,-0.000743792100149,-5.66624636223e-05,1793239618960573184
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.922743193,715,680.922743193,660.845486385,633,881,784,805,651.922743193,630.077256807,653,0.448611630937,-0.0155872826563,0.0695329291277,0.999999700049,-0.000217784404469,-0.000741451956578,-5.21691366751e-05,1793239618977239808
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.497627684,715,680.497627684,660.497627684,633,881,784,805,651.497627684,630.502372316,653,0.448355495799,-0.015575426505,0.069533585072,0.999999702444,-0.000203316668008,-0.000742599168158,-4.81806345338e-05,1793239618993906432
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.079938889,660,633,881,784,805,651.079938889,630.920061111,653,0.448086600911,-0.0155630252063,0.0695337190709,0.999999704424,-0.000185181449726,-0.000744923377835,-4.41513968988e-05,1793239619010573056
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.655088142,660,633,881,784,805,651.655088142,630.344911858,653,0.447775060862,-0.0155505308385,0.0695322034215,0.999999705903,-0.000149017845706,-0.000751288543367,-3.93992854156e-05,1793239619027239424
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.764067234,680.764067234,660,633,881,784.235932766,805,651.764067234,630.235932766,653,0.447456889243,-0.0155398009262,0.0695330942502,0.999999709419,-0.000119364241354,-0.000752158965544,-3.4206640659e-05,1793239619043906048
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.174690576,680.174690576,660,633,881,784.825309424,805,651.174690576,630.825309424,653,0.447128783084,-0.0155317142931,0.0695375901528,0.99999971729,-9.94630771081e-05,-0.000744797875993,-2.83540463858e-05,1793239619060572928
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.407888121,714.407888121,680.407888121,660,633,881,785,805,651.407888121,630.592111879,653,0.446763978289,-0.0155262786716,0.0695378934008,0.999999722296,-8.21596914095e-05,-0.000740360575655,-2.29062501823e-05,1793239619077239808
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.987603097,714.987603097,680.987603097,660,633,881,785,805,651.987603097,630.012396903,653,0.446383713844,-0.0155219598147,0.069536430452,0.999999725971,-6.59506457877e-05,-0.00073715495017,-1.76289792643e-05,1793239619093906688
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.436521565,715,681,660,633,881,785,805,651.436521565,630.563478435,653,0.445981195315,-0.0155215747189,0.0695499681165,0.999999743955,-5.44981953274e-05,-0.000713426014642,-1.19939943432e-05,1793239619110573056
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.859535312,660,633.140464688,881,785.140464688,805,651,631,653,0.44557255646,-0.015521157112,0.0695662912922,0.999999764327,-4.47417265219e-05,-0.000685056687733,-6.48249849034e-06,1793239619127239680
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.278804179,660,633.721195821,881,785.721195821,805,651,631,653,0.445146258608,-0.0155203681759,0.0695903178409,0.999999792123,-3.99752864185e-05,-0.00064354839097,-1.38256280562e-06,1793239619143906304
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.304553257,745,715,680,660.304553257,634,881,785.695446743,804.695446743,651,631,653,0.444676503684,-0.0155166308306,0.069607608415,0.999999809449,-4.84896809057e-05,-0.000615411673116,-4.30972630055e-06,1793239619160572928
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.890335932,745,715,680,660.890335932,634,881,785.109664068,804.109664068,651,631,653,0.444166619749,-0.0155101708763,0.0696186788836,0.99999981772,-6.92678129737e-05,-0.000599622483754,-1.46492428083e-05,1793239619177239296
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.530049509,745,714.530049509,680,660.530049509,634,881,785.469950491,804,651,631,653,0.443624524665,-0.0155021378179,0.069626092245,0.999999825637,-5.86107265255e-05,-0.000587507740791,-1.12291927949e-05,1793239619193906176
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714.047728192,680,660.047728192,634,881,786.047728192,804.047728192,651,631,653,0.443072406107,-0.0154936691093,0.0696336879034,0.999999833774,-3.95741984131e-05,-0.000575207667966,-4.65721535258e-06,1793239619210573312
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.620924565,680,660.620924565,634,881,786.620924565,804.620924565,651,631,653,0.442491614825,-0.0154843931904,0.0696525643949,0.999999847863,-7.99784022899e-06,-0.000551549399315,1.72425716526e-06,1793239619227240192
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.199001958,745,714.800998042,680,661,634.199001958,881,786.800998042,805,651.199001958,631,653,0.441905958404,-0.0154756025786,0.0696749442425,0.999999865467,1.35229441001e-05,-0.000518498571033,6.47940877332e-06,1793239619243906816
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.786610872,745,714.213389128,680,661,634.786610872,881,786.213389128,805,651.786610872,631,653,0.441310801472,-0.0154677596655,0.0697041653712,0.999999890755,1.5407407402e-05,-0.000467106146175,8.058713762e-06,1793239619260573184
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745,714.371377306,680.371377306,661,635,881,786.371377306,804.628622694,651.628622694,631,653,0.440696746097,-0.0154645786486,0.0697395868622,0.999999919519,2.62942319941e-05,-0.000400166840767,1.16924138126e-05,1793239619277239552
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,714.954522869,680.954522869,661,635,881,786.954522869,804.045477131,651.045477131,631,653,0.440071914398,-0.0154640559573,0.0697785439475,0.999999946363,4.23144189889e-05,-0.000324362330972,1.64975791572e-05,1793239619293906176
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.470679769,745,715,681,661.529320231,635,880.470679769,787,804.529320231,651,631,653,0.439370022529,-0.0154560462865,0.0697832180545,0.999999945932,5.57096576742e-05,-0.000323573610851,1.82217080275e-05,1793239619310572800
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.896868232,661.896868232,635,880.103131768,787,805,651,631,653,0.438651359124,-0.0154467596536,0.0697786899255,0.999999941122,6.77999989348e-05,-0.000335877769482,1.8575997234e-05,1793239619327239680
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.324329998,661.324329998,635,880.675670002,787,805,651,631,653,0.437886026328,-0.0154345432205,0.0697454757885,0.999999925313,7.49616129471e-05,-0.000378895069899,1.38815603082e-05,1793239619343906304
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.256822997,745,715,680.256822997,661,635,880.743177003,787,805,651,631,653,0.437122330424,-0.0154261218634,0.0697339156245,0.999999919133,8.28667352346e-05,-0.000393376082676,1.11038336908e-05,1793239619360572928
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.849232855,745,715,680.849232855,661,635,880.150767145,787,805,651,631,653,0.436360773314,-0.0154226594752,0.069750650386,0.999999927072,9.17433900343e-05,-0.000370569151657,1.08306438145e-05,1793239619377239808
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.567869249,661,635,880,787.432130751,805,651,631.432130751,653,0.43559414947,-0.0154101004875,0.069788146921,0.999999944504,0.000106584706894,-0.000315439876745,1.13384504212e-05,1793239619393906688
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880.01169213,787.98830787,804.98830787,651.01169213,631.98830787,652.98830787,0.434824705619,-0.0153943862758,0.0698319237091,0.999999960844,0.000123787466469,-0.000250682509849,1.21216944835e-05,1793239619410573056
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880.586948978,787.413051022,804.413051022,651.586948978,631.413051022,652.413051022,0.434002704943,-0.0153762694979,0.0698367855306,0.999999955458,0.000156666870555,-0.000253697006637,1.3330184266e-05,1793239619427239680
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.83436752,745,715,680,661,635,880.83436752,787,804.16563248,651.83436752,631,652.16563248,0.433172464106,-0.0153643591886,0.0698396205358,0.99999995131,0.000178442502087,-0.000255615603563,1.41191292551e-05,1793239619443906304
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.246958209,745,715,680,661,635,880.246958209,787,804.753041791,651.246958209,631,652.753041791,0.43232124006,-0.0153682534174,0.0698372943297,0.999999952675,0.000171942796097,-0.000254743533446,1.38397192902e-05,1793239619460572928
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.335907469,745,715,680,661,635,880.335907469,787.335907469,804.664092531,651.335907469,631,653,0.431434364528,-0.015369678143,0.0698196976734,0.999999945576,0.000169545846852,-0.00028273386946,1.27919836749e-05,1793239619477239552
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.915477239,745,715,680,661,635,880.915477239,787.915477239,804.084522761,651.915477239,631,653,0.430521627971,-0.0153693115273,0.0697910240588,0.999999930467,0.000170124976518,-0.000331660566692,1.11869160066e-05,1793239619493906176
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,881,788,804,652,631.492404115,653,0.429605575814,-0.0153680103413,0.0697493044355,0.999999906987,0.000174516704503,-0.000394337649461,8.17917169658e-06,1793239619510573056
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.93118774,661.06881226,635.06881226,880.93118774,788,804.06881226,652,632,653,0.4287007506,-0.0153674585365,0.0697174870346,0.999999886895,0.000178082165773,-0.000440977277884,5.95912643206e-06,1793239619527239936
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.35527725,661.64472275,635.64472275,880.35527725,788,804.64472275,652,632,653,0.427882832307,-0.0153736050347,0.0697750567427,0.999999923358,0.000170761566861,-0.000352131171656,1.13087373604e-05,1793239619543906560
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.225943057,662,635.774056943,880,788,804.774056943,652,631.774056943,653,0.427049124109,-0.0153775165929,0.0698280967388,0.999999948356,0.000169617901789,-0.00027246143212,1.68312094573e-05,1793239619560573184
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.815713654,662,635.184286346,880,788,804.184286346,652,631.184286346,653,0.426189989896,-0.0153778293129,0.0698738427206,0.999999962285,0.000178420719225,-0.000207568036737,2.26320342575e-05,1793239619577239808
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635.398629345,880,788,804,652,631.398629345,653,0.425296278052,-0.0153757146653,0.0698721237719,0.999999960342,0.000183893325603,-0.00021204811366,2.31265612966e-05,1793239619593906432
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635.978429553,880,788,804,652,631.978429553,653,0.424386851261,-0.0153724968167,0.0698488327449,0.999999951365,0.000187852402146,-0.000248057362976,2.12094578615e-05,1793239619610573056
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.445616795,635.445616795,880.554383205,788,804,652,631.445616795,653,0.42346608146,-0.0153708399876,0.0698173963503,0.99999993684,0.000185761967109,-0.000302489584129,1.77012342636e-05,1793239619627239680
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.870695383,661,635,880.870695383,788,804,651.870695383,631.129304617,653,0.422538928421,-0.0153683319089,0.0697793335562,0.999999915036,0.000184934360829,-0.000368139696488,1.41795815792e-05,1793239619643906304
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.298798467,661,635,880.298798467,788,804,651.298798467,631.701201533,653,0.421591426716,-0.0153627036532,0.0697196668148,0.999999871705,0.000189229370199,-0.000469750474249,1.08224083534e-05,1793239619660572928
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.282241689,880,788,804.282241689,651.282241689,632,653,0.420711047785,-0.0153607783509,0.0697110277539,0.999999866332,0.000191529861812,-0.000480169591778,9.41238991599e-06,1793239619677239808
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.873285475,880,788,804.873285475,651.873285475,632,653,0.419904108291,-0.0153629044696,0.0697582183471,0.999999905216,0.000191648141423,-0.000390815435166,1.01327638916e-05,1793239619693906432
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.54458666,745,715,679,661,636,880,787.54458666,804.54458666,651.54458666,632,653,0.419123313465,-0.0153682368941,0.0698225793452,0.999999939465,0.000193926201363,-0.000288333446273,1.80887804591e-05,1793239619710573056
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.034914909,744.965085091,715,679,661,635.965085091,880,787.034914909,804.034914909,651.034914909,631.965085091,653,0.418345872496,-0.0153737528993,0.0698870023831,0.999999962153,0.00019719498664,-0.000189896177212,2.73471306801e-05,1793239619727239424
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.61141958,744.38858042,715,679,661,635.38858042,880,787.61141958,804.61141958,651.61141958,631.38858042,653,0.417509783151,-0.0153685438901,0.0698797034158,0.999999956295,0.000206689038376,-0.000209771168865,2.61775930941e-05,1793239619743906048
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.809154581,744.190845419,715,679,661,635,879.809154581,788,805,652,631,653,0.416683256068,-0.0153640612802,0.0698633015778,0.999999949246,0.000213983968976,-0.000234825736245,2.39919642096e-05,1793239619760572672
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.223688386,744.776311614,715,679,661,635,879.223688386,788,805,652,631,653,0.415876501207,-0.0153610806817,0.0698280772696,0.99999993971,0.000216731666721,-0.000270590379366,1.97053114666e-05,1793239619777239552
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.358345217,744.641654783,715,679,661,635,879.358345217,788,804.641654783,651.641654783,631.358345217,653,0.415041693058,-0.0153584021173,0.0697980835247,0.999999925607,0.000217433006064,-0.000318137793084,1.72170743737e-05,1793239619793906432
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.938256401,744.061743599,715,679,661,635,879.938256401,788,804.061743599,651.061743599,631.938256401,653,0.414189539521,-0.0153559103019,0.0697713238555,0.999999906805,0.000216869075038,-0.000372970527942,1.58408035234e-05,1793239619810573312
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.483342997,744.516657003,715,679,661,635.516657003,880,787.483342997,804.516657003,651.516657003,632,653,0.413422710944,-0.0153541848972,0.069762683771,0.999999898935,0.000225384931783,-0.000388729447777,1.4896186226e-05,1793239619827239936
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.905863991,880,787.094136009,804.905863991,652,632,653,0.41268772198,-0.0153537719529,0.0697665939599,0.999999900292,0.000231900545149,-0.000381334699574,1.49107878587e-05,1793239619843906560
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.332162983,880,787.667837017,804.332162983,652,632,653,0.412063141063,-0.0153595799481,0.0698234408508,0.99999993589,0.000222714403888,-0.000279705422061,1.95499906082e-05,1793239619860572928
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.248489418,745,715,679,661,635,879.751510582,788,804,652,631.751510582,653,0.411432828573,-0.0153636429985,0.0698670754375,0.999999954661,0.00021921169539,-0.000205113567603,2.34898340806e-05,1793239619877239552
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.838701322,745,715,679,661,635,879.161298678,788,804,652,631.161298678,653,0.410794634076,-0.0153653064013,0.0698925404674,0.999999960606,0.00022352484301,-0.000167703571077,2.64679189497e-05,1793239619893906176
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.58011028,744.58011028,715,679,661,635,879,788,804,652,631.41988972,653,0.410113899143,-0.0153624961466,0.0698750040515,0.999999954778,0.000224186204421,-0.000198923124774,2.47789808514e-05,1793239619910572800
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.002315248,744.002315248,715,679,661,635,879,788,804,652,631.997684752,653,0.409417166241,-0.0153580035117,0.0698412963516,0.999999942046,0.000223474261131,-0.000255951762467,2.13349446732e-05,1793239619927239424
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.572941864,715,679,661,635,879,788,804,652,632,653,0.408781343886,-0.0153527753548,0.0698034764797,0.999999921259,0.000232454099095,-0.000321191896376,1.68061521123e-05,1793239619943906304
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.151856937,744.848143063,714.848143063,679,661,635,879.151856937,787.848143063,804.151856937,652,631.848143063,653,0.408173329343,-0.0153494487556,0.069777211186,0.999999905258,0.000238461053721,-0.000363922261441,1.34669113499e-05,1793239619960573184
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.741343278,744.258656722,714.258656722,679,661,635,879.741343278,787.258656722,804.741343278,652,631.258656722,653,0.407644746482,-0.0153516106929,0.0697842921593,0.999999913735,0.000235788231376,-0.000341687589492,1.35683602501e-05,1793239619977239808
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,744.325304624,714.325304624,679,661,635.325304624,880,787.325304624,804.674695376,652,631,653,0.407127800524,-0.0153513712212,0.0697986093596,0.999999921544,0.000234006094264,-0.000319300979652,1.41261053041e-05,1793239619993906432
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,744.904946257,714.904946257,679,661,635.904946257,880,787.904946257,804.095053743,652,631,653,0.406619952822,-0.0153492542255,0.06981858415,0.999999928717,0.000232920332933,-0.000296795579598,1.50406021162e-05,1793239620010572800
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.518479375,745,715,679,661,636,880,788,804.481520625,652,631.481520625,653,0.406124053256,-0.0153490642183,0.0698188125457,0.999999926254,0.000235622647049,-0.00030286220017,1.57623034781e-05,1793239620027239424
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.057370848,745,715,679,661,636,880,788,804.942629152,652,632,653,0.405637681757,-0.0153494575563,0.0698153683745,0.999999922218,0.000238523306799,-0.000313695658864,1.63074574947e-05,1793239620043906048
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.632116486,745,715,679,661,636,880,788,804.367883514,652,632,653,0.405216099682,-0.0153517028397,0.0698137346981,0.999999921673,0.000236511822749,-0.000316974931157,1.56015354508e-05,1793239620060572672
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715.211743231,678.788256769,661,636,879.788256769,788,804,652,632,653,0.4048217489,-0.0153534100126,0.0698187215141,0.999999925251,0.000233874864008,-0.000307506589027,1.54673932006e-05,1793239620077239296
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715.80005047,678.19994953,661,636,879.19994953,788,804,652,632,653,0.404475826275,-0.0153541602095,0.0698354822094,0.999999935474,0.000230125561585,-0.000275367898164,1.6350103782e-05,1793239620093906176
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.6158895,745,715.6158895,678,661,636,879,788,804,652,631.6158895,653,0.404140059201,-0.0153540633749,0.0698509441792,0.999999942159,0.000232226255636,-0.000247910089306,1.71157056804e-05,1793239620110572800
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.03401613,745,715.03401613,678,661,636,879,788,804,652,631.03401613,653,0.403809520775,-0.0153535304381,0.0698657374897,0.999999946843,0.000237338874481,-0.000222862273194,1.78210131596e-05,1793239620127239680
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.540955593,745,715,678.540955593,661,635.459044407,879.540955593,788,804,652,631.540955593,653,0.403486203683,-0.0153478594953,0.0698552468699,0.999999942941,0.000238352570478,-0.000238866603835,1.57957752519e-05,1793239620143906304
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.884620393,745,715,678.884620393,661,635.115379607,879.884620393,787.884620393,804,652,631.884620393,653,0.403173432456,-0.0153422721119,0.0698440247782,0.999999938317,0.000239466070739,-0.000256574003758,1.38547574792e-05,1793239620160573184
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.310669924,745,715,678.310669924,661,635.689330076,879.310669924,787.310669924,804,652,631.310669924,653,0.402900793166,-0.0153382847429,0.0698361348339,0.999999933939,0.000241987735945,-0.000270919681297,1.29222886853e-05,1793239620177239552
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.271442223,745,715.271442223,678.271442223,661,636,879.271442223,787.271442223,804,651.728557777,631,653,0.402647128983,-0.0153347396106,0.0698292048368,0.999999927515,0.000253100930783,-0.000284166731956,1.26102571936e-05,1793239620193906176
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.863185081,745,715.863185081,678.863185081,661,636,879.863185081,787.863185081,804,651.136814919,631,653,0.402415855357,-0.0153317163159,0.0698234075737,0.999999918438,0.000274352092725,-0.000296117406783,1.3030339053e-05,1793239620210572800
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.555900694,744.555900694,715.555900694,679,661,635.555900694,879.555900694,788,804,651.444099306,631,653,0.402212644448,-0.0153333918062,0.0698191652377,0.99999991663,0.000273853568066,-0.000302596045609,1.34332121581e-05,1793239620227239424
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.021647603,744.021647603,715,679,661,635.021647603,879,787.978352397,804,652,631.021647603,653,0.402019034257,-0.0153366006737,0.0698154858123,0.999999917124,0.000266604212821,-0.000307379784562,1.38510008774e-05,1793239620243906048
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.596402775,744.596402775,715,679,661,635.596402775,879,787.403597225,804,652,631.596402775,653,0.401855091792,-0.0153428823923,0.0698142408969,0.999999919303,0.00025399345859,-0.000310905389643,1.47821245491e-05,1793239620260572672
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.175691187,787.175691187,804,652,631.824308813,653,0.401702253556,-0.0153486970604,0.0698129130767,0.999999921197,0.000242516693307,-0.000313947652585,1.51397765112e-05,1793239620277239296
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.765669072,787.765669072,804,652,631.234330928,653,0.401575599553,-0.0153534104039,0.069811389764,0.999999922708,0.000233713920236,-0.000315850175421,1.41451595948e-05,1793239620293905920
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880,788,804,652,631,653,0.401466991828,-0.0153538263231,0.0698107858466,0.999999925907,0.000221554459365,-0.000314678449837,8.82197293749e-06,1793239620310572800
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,880,788,804,652,631,653,0.40137027454,-0.0153514107278,0.0698107877062,0.999999930027,0.000207183321227,-0.000311481143529,6.46749916671e-07,1793239620327239424
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715.505327714,679,661,636,880,788,804,652,631.505327714,653,0.401289403487,-0.0153512711559,0.0698098069834,0.999999927246,0.000217713276016,-0.000313221060454,9.66702898598e-07,1793239620343906048
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.919078046,745,715.919078046,678.919078046,661,636,880,788,804.080921954,652,631.919078046,653,0.401213750241,-0.0153507018954,0.0698090900957,0.999999923771,0.000230748224596,-0.000314971215965,2.39727554283e-06,1793239620360572928
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.344873186,745,715.344873186,678.344873186,661,636,880,788,804.655126814,652,631.344873186,653,0.401156428316,-0.0153455778666,0.0698108170553,0.999999922847,0.000237877755821,-0.000312585281454,3.37384190223e-06,1793239620377239808
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.235109779,745,715,678.235109779,661,636,879.764890221,788.235109779,805,652,631.235109779,653,0.401107960516,-0.0153432334923,0.0698121855241,0.999999923061,0.000241478437175,-0.000309107825406,4.19821159514e-06,1793239620393906688
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.823781927,745,715,678.823781927,661,636,879.176218073,788.823781927,805,652,631.823781927,653,0.401072807711,-0.0153450692136,0.0698130148878,0.999999925038,0.000239772369372,-0.000303988919537,4.79370510907e-06,1793239620410573312
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.592376077,745,715,679,661,636,879,788.592376077,804.592376077,652,631.592376077,653,0.401046636031,-0.0153450491903,0.0698148287582,0.999999926169,0.000239805778455,-0.000300213002854,5.26647260997e-06,1793239620427239936
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.010597744,745,715,679,661,636,879,788.010597744,804.010597744,652,631.010597744,653,0.401024301474,-0.0153442363134,0.0698170632519,0.999999926936,0.000240582366656,-0.000297010868838,5.68680628313e-06,1793239620443906560
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.562063516,745,715,679,661,636,879,788,804,652,631,652.437936484,0.401008541426,-0.0153451082682,0.0698174506567,0.999999927261,0.00024084016759,-0.000295699414774,5.97211588401e-06,1793239620460572928
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.864308547,745,715,679,661,636,879,788,804,652,631.135691453,652,0.400993840506,-0.0153460162957,0.0698176880154,0.999999927412,0.000240849779962,-0.000295176505296,6.17205339653e-06,1793239620477239808
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.286983936,745,715,679,661,636,879,788,804,652,631.713016064,652,0.400982189698,-0.0153469399852,0.0698175485624,0.999999927026,0.000240082944705,-0.000297105887612,6.10228526284e-06,1793239620493906432
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.701807501,661,636,879.298192499,788,804,652,631.701807501,652.298192499,0.400974581197,-0.0153468498786,0.0698179755463,0.999999927139,0.000239773244126,-0.000296974169261,6.09665315425e-06,1793239620510572800
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.10886995,661,636,879.89113005,788,804,652,631.10886995,652.89113005,0.400970968266,-0.0153457576968,0.0698189624183,0.999999927746,0.000239915393136,-0.000294805179146,6.15441557678e-06,1793239620527239424
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.469916544,744.530083456,715,678,661,636,880,787.530083456,804,652,631.469916544,653,0.400968622512,-0.0153457130955,0.0698191506391,0.99999992741,0.000240814509009,-0.000295216672027,6.01647965312e-06,1793239620543906304
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.954572059,744.045427941,715,678,661,636,880,787.045427941,804,652,632,653,0.40096693863,-0.0153458801264,0.0698194055698,0.999999927038,0.000241754165341,-0.000295710065331,5.85974799936e-06,1793239620560573184
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.380136599,744.619863401,715,678,661,636,880,787.619863401,804,652,632,653,0.400969643453,-0.0153457679632,0.0698225290288,0.999999928732,0.000241183394961,-0.0002903988208,5.99668050677e-06,1793239620577239808
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,661.199217476,635.800782524,879.800782524,788,804,652,632,653,0.400971671985,-0.0153453884295,0.0698248410759,0.999999929908,0.000241327645107,-0.000286194472213,6.12143638038e-06,1793239620593906432
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,661.788194552,635.211805448,879.211805448,788,804,652,632,653,0.400972377388,-0.0153444857983,0.0698255656337,0.999999930115,0.000242870799253,-0.000284155713694,6.22236923593e-06,1793239620610573056
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.371381426,745,715,678.371381426,661.628618574,635,879.371381426,787.628618574,804,652,631.628618574,653,0.400971192431,-0.0153452228601,0.0698251884789,0.999999930179,0.000241778544051,-0.000284862489117,6.25173219802e-06,1793239620627239680
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.951316718,745,715,678.951316718,661.048683282,635,879.951316718,787.048683282,804,652,631.048683282,653,0.400968945921,-0.0153468807119,0.0698241926437,0.999999930154,0.000239206341843,-0.000287111053399,6.24090419127e-06,1793239620643906560
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.526081941,879.473918059,787.526081941,804,652,631,653,0.400968697633,-0.0153462808314,0.0698240667091,0.999999929853,0.000240548319248,-0.000287042200646,6.07846670845e-06,1793239620660573440
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631,653,0.400968583789,-0.0153459769602,0.0698241337509,0.999999929644,0.000241825951471,-0.000286700591151,5.99051219463e-06,1793239620677239808
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879,788,804,652,631,653,0.400968240143,-0.0153480475803,0.0698247355538,0.999999929995,0.000241106198832,-0.000286073840347,6.31983067168e-06,1793239620693906176
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.725092258,661,635.725092258,879,787.725092258,804,652,631.274907742,653,0.400968959671,-0.0153493453894,0.0698258210765,0.999999930836,0.000239847992125,-0.000284181511171,6.43687752817e-06,1793239620710572800
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.145779842,661,635.145779842,879,787.145779842,804,652,631.854220158,653,0.40097085645,-0.0153497874668,0.0698274422211,0.999999932211,0.00023799355645,-0.000280887810066,6.31887657811e-06,1793239620727239680
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,744.56665771,715,678,661,635.43334229,879,787.43334229,804,651.56665771,631.56665771,653,0.400971204593,-0.0153490199315,0.0698276037878,0.999999932035,0.000238558967357,-0.000281035288824,6.18737502935e-06,1793239620743906304
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,744.012279456,715,678,661,635.987720544,879,788,804,651.012279456,631,653,0.400971007998,-0.0153478451712,0.069827269518,0.999999931347,0.000239913276911,-0.000282331007702,6.05215160827e-06,1793239620760572928
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,744.585689818,715,678,661,635.414310182,879,788,804,651.585689818,631,653,0.400969715025,-0.0153466484646,0.0698267050171,0.999999931043,0.000240134313329,-0.000283220374933,5.95430062187e-06,1793239620777239552
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715.163583581,678.163583581,661.163583581,635.163583581,879,788,804,652,631,653,0.400969249876,-0.0153462388563,0.0698267288266,0.999999930931,0.000240634429012,-0.000283190578738,5.96891730622e-06,1793239620793906176
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715.753152463,678.753152463,661.753152463,635.753152463,879,788,804,652,631,653,0.40097094045,-0.0153478789174,0.0698282846457,0.999999931317,0.000241861290386,-0.00028076720419,6.27640920038e-06,1793239620810573056
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.663040378,745,716,679,661.663040378,636,879.336959622,788,804,652,631.336959622,652.663040378,0.400971203462,-0.0153485895362,0.0698287073468,0.999999931603,0.000241674910553,-0.000279903435969,6.35138342163e-06,1793239620827239680
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.083383166,745,716,679,661.083383166,636,879.916616834,788,804,652,631.916616834,652.083383166,0.400970438263,-0.0153486307174,0.0698283139116,0.999999931822,0.000240470633537,-0.000280162985514,6.25888510531e-06,1793239620843906304
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.49227717,745,715.50772283,678.50772283,661,636,879.50772283,788,804,652,632,652.49227717,0.40096911546,-0.0153477414893,0.069827617653,0.99999993143,0.000240629417157,-0.000281430915106,5.77565336841e-06,1793239620860573184
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.931270479,745,715,678.068729521,661,636,879,788,804,652,631.931270479,653,0.400967936505,-0.0153470360214,0.0698269603215,0.999999931061,0.000240780308269,-0.000282618979499,5.34933593104e-06,1793239620877239552
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.343771475,745,715,678.656228525,661,636,879,788,804,652,631.343771475,653,0.400968550473,-0.0153488975196,0.0698269808532,0.999999931647,0.000239142992445,-0.000281925393624,5.84813545648e-06,1793239620893906176
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.240527248,745,715,678.759472752,661,636,879,788,804.240527248,652,631,653,0.400969177865,-0.0153494152628,0.0698271763733,0.999999931795,0.000239227132308,-0.000281323092031,6.11556975245e-06,1793239620910573056
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.820312142,745,715,678.179687858,661,636,879,788,804.820312142,652,631,653,0.400969824192,-0.0153480376735,0.0698276187102,0.999999931324,0.000241739341956,-0.000280849544527,6.0566692735e-06,1793239620927239680
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,661,636,879,788,804.20643675,652,631.396781625,653,0.400970265691,-0.0153477294335,0.0698277973133,0.999999931454,0.000241296926765,-0.000280767288311,6.08450359946e-06,1793239620943906304
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,661,636,879,788,803.056475825,652,631.971762087,653,0.400970615198,-0.0153479014496,0.0698278574707,0.999999931853,0.000239527558059,-0.000280860765193,6.15129145009e-06,1793239620960572928
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765.451047857,745,715,678.548952143,661,636,880.097904285,788,803.548952143,652,632,653,0.400971228084,-0.0153479646263,0.0698286491889,0.999999932239,0.0002396988397,-0.000279336843392,6.08064751464e-06,1793239620977239808
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b725a6b4673dcc19ab15e73ac8b414ef9fef5f9c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/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,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+1,0.016666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+2,0.033333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+3,0.050000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+4,0.066666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+5,0.083333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+6,0.100000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+7,0.116666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+8,0.133333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+9,0.150000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+10,0.166666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+11,0.183333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+12,0.200000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+13,0.216666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+14,0.233333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+15,0.250000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+16,0.266666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+17,0.283333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+18,0.300000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+19,0.316666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+20,0.333333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+21,0.350000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+22,0.366666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+23,0.383333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+24,0.400000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+25,0.416666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+26,0.433333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+27,0.450000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+28,0.466666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+29,0.483333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+30,0.500000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+31,0.516666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+32,0.533333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+33,0.550000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+34,0.566666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+35,0.583333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+36,0.600000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+37,0.616666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+38,0.633333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+39,0.650000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+40,0.666666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+41,0.683333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+42,0.700000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+43,0.716666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+44,0.733333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+45,0.750000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+46,0.766666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+47,0.783333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+48,0.800000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+49,0.816666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+50,0.833333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+51,0.850000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+52,0.866666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+53,0.883333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+54,0.900000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+55,0.916666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+56,0.933333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+57,0.950000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+58,0.966666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+59,0.983333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+60,1.000000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+61,1.016666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+62,1.033333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+63,1.050000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+64,1.066666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+65,1.083333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+66,1.100000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+67,1.116666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+68,1.133333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+69,1.150000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+70,1.166666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+71,1.183333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+72,1.200000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+73,1.216666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+74,1.233333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+75,1.250000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+76,1.266666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+77,1.283333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+78,1.300000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+79,1.316666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+80,1.333333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+81,1.350000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+82,1.366666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+83,1.383333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+84,1.400000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+85,1.416666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+86,1.433333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+87,1.450000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+88,1.466666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+89,1.483333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+90,1.500000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+91,1.516666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+92,1.533333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+93,1.550000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+94,1.566666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+95,1.583333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+96,1.600000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+97,1.616666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+98,1.633333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+99,1.650000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+100,1.666666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+101,1.683333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+102,1.700000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+103,1.716666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+104,1.733333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+105,1.750000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+106,1.766666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+107,1.783333333,pose1_to_pose2_press,0.575664425091,-0.00990943192938,1.06003261029,0.546234877039,-0.00123769130637,1.059700737
+108,1.800000000,pose1_to_pose2_press,0.575664453885,-0.00990940767103,1.06003257686,0.546234905584,-0.001237667957,1.059700702
+109,1.816666667,pose1_to_pose2_press,0.575664482542,-0.00990938352913,1.06003254359,0.546234933991,-0.00123764471973,1.05970066717
+110,1.833333333,pose1_to_pose2_press,0.575664511515,-0.00990935911992,1.06003250994,0.546234962713,-0.00123762122516,1.05970063196
+111,1.850000000,pose1_to_pose2_press,0.575664527838,-0.00990935215026,1.06003250436,0.546234979004,-0.00123761436455,1.05970062628
+112,1.866666667,pose1_to_pose2_press,0.575664537699,-0.00990934940643,1.06003250387,0.546234988871,-0.00123761159872,1.05970062592
+113,1.883333333,pose1_to_pose2_press,0.575664733222,-0.00990929500581,1.06003249425,0.546235184495,-0.00123755676197,1.05970061865
+114,1.900000000,pose1_to_pose2_press,0.575665577701,-0.00990924930158,1.06003241707,0.546236029089,-0.00123751042544,1.05970054783
+115,1.916666667,pose1_to_pose2_press,0.575668082492,-0.00990925950149,1.06003228608,0.546238533075,-0.0012375234228,1.05970041512
+116,1.933333333,pose1_to_pose2_press,0.575675291183,-0.00990927931219,1.06003216958,0.546245742462,-0.00123754095309,1.05970029647
+117,1.950000000,pose1_to_pose2_press,0.575689131204,-0.00990908927357,1.06003241157,0.546259580552,-0.0012373572664,1.0597005436
+118,1.966666667,pose1_to_pose2_press,0.575713053887,-0.00990909407835,1.06003248618,0.54628350415,-0.00123735919165,1.05970061223
+119,1.983333333,pose1_to_pose2_press,0.575747228863,-0.00990927403027,1.06003226483,0.546317680617,-0.00123753409697,1.05970039053
+120,2.000000000,pose1_to_pose2_press,0.575791703867,-0.00990922960709,1.06003217773,0.546362154863,-0.0012374919251,1.0597003117
+121,2.016666667,pose1_to_pose2_press,0.575844571379,-0.0099091529023,1.06003210779,0.546415021733,-0.00123741738568,1.05970024204
+122,2.033333333,pose1_to_pose2_press,0.575905083917,-0.00990914088591,1.06003243516,0.546475534718,-0.0012374038852,1.05970056845
+123,2.050000000,pose1_to_pose2_press,0.575973691209,-0.00990922015937,1.06003224509,0.546544141644,-0.00123748439025,1.05970037864
+124,2.066666667,pose1_to_pose2_press,0.576050910141,-0.00990907196178,1.06003211398,0.546621359494,-0.00123733977608,1.05970024989
+125,2.083333333,pose1_to_pose2_press,0.576140121444,-0.00990915069574,1.06003205425,0.546710571876,-0.00123741451832,1.05970019862
+126,2.100000000,pose1_to_pose2_press,0.576242090956,-0.0099091837604,1.06003224736,0.546812541974,-0.00123744586353,1.05970038472
+127,2.116666667,pose1_to_pose2_press,0.576359235766,-0.00990925494181,1.06003233575,0.546929688288,-0.00123751201628,1.05970047109
+128,2.133333333,pose1_to_pose2_press,0.576490257035,-0.00990924448156,1.0600322695,0.547060709226,-0.00123750270725,1.0597004041
+129,2.150000000,pose1_to_pose2_press,0.57663556405,-0.00990924208712,1.06003221637,0.547206016608,-0.00123749906592,1.05970035093
+130,2.166666667,pose1_to_pose2_press,0.576798190298,-0.00990918590045,1.06003226184,0.547368642448,-0.00123744418421,1.05970039845
+131,2.183333333,pose1_to_pose2_press,0.576978779129,-0.00990912724056,1.0600322584,0.547549229581,-0.00123739132419,1.0597003939
+132,2.200000000,pose1_to_pose2_press,0.577179942572,-0.00990932834985,1.06003216148,0.547750395321,-0.00123758467276,1.05970029603
+133,2.216666667,pose1_to_pose2_press,0.577401221849,-0.00990930878005,1.06003234913,0.547971673875,-0.00123756741939,1.05970048723
+134,2.233333333,pose1_to_pose2_press,0.577643984219,-0.00990927204211,1.06003245959,0.548214436177,-0.00123753108299,1.05970059314
+135,2.250000000,pose1_to_pose2_press,0.577902998404,-0.00990935924655,1.06003245792,0.548473451806,-0.00123761340426,1.05970059097
+136,2.266666667,pose1_to_pose2_press,0.578177386198,-0.009909188851,1.06003237149,0.548747836417,-0.00123745403413,1.05970049864
+137,2.283333333,pose1_to_pose2_press,0.578472412663,-0.00990904581648,1.06003208521,0.549042862654,-0.00123731129853,1.05970022466
+138,2.300000000,pose1_to_pose2_press,0.57878780488,-0.00990915643365,1.06003200382,0.54935825564,-0.00123741953612,1.05970013717
+139,2.316666667,pose1_to_pose2_press,0.579124712843,-0.00990928677085,1.06003214924,0.549695165565,-0.00123754302828,1.05970028741
+140,2.333333333,pose1_to_pose2_press,0.579480453533,-0.00990926698252,1.06003219148,0.550050906896,-0.00123752098319,1.05970033177
+141,2.350000000,pose1_to_pose2_press,0.579853663507,-0.00990933579268,1.06003229802,0.550424117858,-0.00123758676515,1.05970042981
+142,2.366666667,pose1_to_pose2_press,0.580242929564,-0.00990924463407,1.06003241821,0.550813381751,-0.00123750312338,1.05970054535
+143,2.383333333,pose1_to_pose2_press,0.580650098067,-0.00990921070873,1.0600323792,0.551220549416,-0.001237471998,1.05970050753
+144,2.400000000,pose1_to_pose2_press,0.581083869211,-0.00990936863822,1.06003226979,0.551654322909,-0.00123762188545,1.05970039978
+145,2.416666667,pose1_to_pose2_press,0.581546358448,-0.009909274616,1.06003234376,0.552116810147,-0.00123753458735,1.05970047538
+146,2.433333333,pose1_to_pose2_press,0.58204085638,-0.00990915990762,1.06003235427,0.55261130655,-0.00123742525421,1.05970048086
+147,2.450000000,pose1_to_pose2_press,0.582555529854,-0.00990926415601,1.0600322165,0.553125980983,-0.00123752599718,1.05970034966
+148,2.466666667,pose1_to_pose2_press,0.583085662686,-0.00990931949426,1.06003222482,0.55365611492,-0.00123757765298,1.05970035616
+149,2.483333333,pose1_to_pose2_press,0.58362808191,-0.00990919271132,1.06003234645,0.554198531832,-0.00123745881535,1.05970047518
+150,2.500000000,pose1_to_pose2_press,0.584183827208,-0.00990929125894,1.06003242709,0.554754281624,-0.00123754170606,1.05970056632
+151,2.516666667,pose1_to_pose2_press,0.584758423745,-0.00990916479097,1.06003237769,0.555328875274,-0.00123742530092,1.05970050995
+152,2.533333333,pose1_to_pose2_press,0.585358256777,-0.00990917065768,1.06003224155,0.555928706942,-0.00123743565648,1.05970037737
+153,2.550000000,pose1_to_pose2_press,0.585991855017,-0.0099091714213,1.06003229591,0.556562305898,-0.00123743403652,1.05970043059
+154,2.566666667,pose1_to_pose2_press,0.586636027657,-0.00990913042355,1.06003228036,0.557206477748,-0.00123739581962,1.05970041244
+155,2.583333333,pose1_to_pose2_press,0.58728264604,-0.00990919115434,1.06003227643,0.557853097533,-0.00123745166636,1.05970041164
+156,2.600000000,pose1_to_pose2_press,0.587937833502,-0.00990930980243,1.06003227323,0.558508286671,-0.00123756447832,1.05970041235
+157,2.616666667,pose1_to_pose2_press,0.588600882062,-0.00990936297599,1.06003212437,0.559171334843,-0.00123761895254,1.05970026389
+158,2.633333333,pose1_to_pose2_press,0.58927439361,-0.00990935037133,1.06003203289,0.559844847363,-0.00123760309464,1.05970017131
+159,2.650000000,pose1_to_pose2_press,0.589972054883,-0.00990926953426,1.06003236919,0.56054250786,-0.00123752503421,1.05970050384
+160,2.666666667,pose1_to_pose2_press,0.590699355637,-0.00990908232756,1.06003255973,0.561269807241,-0.00123734250688,1.0597006938
+161,2.683333333,pose1_to_pose2_press,0.591446217835,-0.00990909739093,1.06003224324,0.562016667933,-0.00123736290075,1.05970037163
+162,2.700000000,pose1_to_pose2_press,0.592208140635,-0.0099092223002,1.06003220331,0.562778592308,-0.00123748211093,1.05970034092
+163,2.716666667,pose1_to_pose2_press,0.592968361965,-0.00990922108934,1.06003246539,0.563538815898,-0.00123747361759,1.05970059283
+164,2.733333333,pose1_to_pose2_press,0.593721792402,-0.00990943632103,1.06003226696,0.564292247307,-0.00123768539518,1.0597003985
+165,2.750000000,pose1_to_pose2_press,0.594461677649,-0.00990928052869,1.06003248127,0.565032131055,-0.00123753463803,1.05970061415
+166,2.766666667,pose1_to_pose2_press,0.595198207089,-0.00990924204947,1.06003251233,0.565768660727,-0.00123749541753,1.05970064414
+167,2.783333333,pose1_to_pose2_press,0.595939539656,-0.00990920653119,1.06003238255,0.566509991569,-0.00123746555194,1.05970051965
+168,2.800000000,pose1_to_pose2_press,0.596696789309,-0.00990922132651,1.06003222278,0.567267239911,-0.00123748470387,1.05970036223
+169,2.816666667,pose1_to_pose2_press,0.597473299218,-0.00990932583544,1.06003223069,0.568043752065,-0.00123758196265,1.05970036062
+170,2.833333333,pose1_to_pose2_press,0.598271507064,-0.00990927723977,1.06003248535,0.568841960522,-0.00123753145702,1.05970061112
+171,2.850000000,pose1_to_pose2_press,0.599076010649,-0.00990927801207,1.06003240107,0.569646462559,-0.00123753723071,1.0597005334
+172,2.866666667,pose1_to_pose2_press,0.599878230957,-0.00990924821447,1.06003227698,0.57044868199,-0.00123751060519,1.05970040428
+173,2.883333333,pose1_to_pose2_press,0.600661411908,-0.00990913818672,1.06003236481,0.571231862914,-0.00123740060974,1.05970049362
+174,2.900000000,pose1_to_pose2_press,0.601421938389,-0.00990926115875,1.06003231599,0.571992390789,-0.0012375186143,1.05970045106
+175,2.916666667,pose1_to_pose2_press,0.602162192659,-0.00990930420624,1.06003208414,0.572732645423,-0.0012375602701,1.05970022349
+176,2.933333333,pose1_to_pose2_press,0.602889813655,-0.00990928552745,1.06003239194,0.57346026524,-0.00123754572611,1.05970052776
+177,2.950000000,pose1_to_pose2_press,0.603619369356,-0.00990932188858,1.06003246153,0.574189822738,-0.00123757613027,1.05970059377
+178,2.966666667,pose1_to_pose2_press,0.604356940554,-0.00990930410829,1.06003228724,0.574927393761,-0.00123755888733,1.05970042105
+179,2.983333333,pose1_to_pose2_press,0.605102581483,-0.00990923577566,1.06003238728,0.575673033914,-0.00123749333193,1.0597005174
+180,3.000000000,pose1_to_pose2_press,0.60584933103,-0.00990926117121,1.06003230646,0.576419783123,-0.00123751967948,1.05970044175
+181,3.016666667,pose1_to_pose2_press,0.606587553719,-0.00990933673848,1.0600322789,0.577158006609,-0.00123759246412,1.05970041632
+182,3.033333333,pose1_to_pose2_press,0.607294014825,-0.0099092418458,1.06003238677,0.577864466951,-0.00123750012214,1.05970052535
+183,3.050000000,pose1_to_pose2_press,0.607968352733,-0.00990919573486,1.06003238527,0.578538804237,-0.0012374561984,1.05970052207
+184,3.066666667,pose1_to_pose2_press,0.608605750633,-0.00990922398945,1.06003235276,0.579176202813,-0.00123748245276,1.05970048188
+185,3.083333333,pose1_to_pose2_press,0.609216753247,-0.00990916766231,1.06003238003,0.5797872055,-0.001237426053,1.0597005047
+186,3.100000000,pose1_to_pose2_press,0.609805082281,-0.00990920882427,1.06003238921,0.580375534243,-0.0012374681781,1.05970051463
+187,3.116666667,pose1_to_pose2_press,0.610385619278,-0.00990921906302,1.06003247434,0.580956069448,-0.00123748433979,1.0597006039
+188,3.133333333,pose1_to_pose2_press,0.610962616403,-0.0099091507459,1.06003211115,0.58153306712,-0.0012374137855,1.05970025082
+189,3.150000000,pose1_to_pose2_press,0.611536525221,-0.00990922484231,1.06003226352,0.582106977563,-0.00123748233227,1.05970040419
+190,3.166666667,pose1_to_pose2_press,0.612096209792,-0.00990924001228,1.06003225211,0.582666661864,-0.00123749871768,1.0597003852
+191,3.183333333,pose1_to_pose2_press,0.612632398079,-0.00990914028627,1.06003231322,0.58320284938,-0.00123740168062,1.05970044396
+192,3.200000000,pose1_to_pose2_press,0.613137956279,-0.00990920346276,1.06003221319,0.583708408258,-0.00123746243542,1.05970034442
+193,3.216666667,pose1_to_pose2_press,0.613614988016,-0.00990925886972,1.06003215341,0.58418544134,-0.00123751296311,1.05970028805
+194,3.233333333,pose1_to_pose2_press,0.614066883711,-0.00990918961882,1.06003221209,0.584637336721,-0.00123744447975,1.05970034824
+195,3.250000000,pose1_to_pose2_press,0.614501798384,-0.00990915706893,1.06003226433,0.585072249542,-0.00123741817146,1.05970039435
+196,3.266666667,pose1_to_pose2_press,0.614925825678,-0.00990930235669,1.06003234789,0.585496277417,-0.00123756143962,1.05970047178
+197,3.283333333,pose1_to_pose2_press,0.615332598799,-0.00990928901484,1.06003209574,0.585903050341,-0.00123754809839,1.05970022947
+198,3.300000000,pose1_to_pose2_press,0.615718695313,-0.00990934253063,1.06003207172,0.586289146838,-0.00123760113657,1.05970021208
+199,3.316666667,pose1_to_pose2_press,0.616082604738,-0.00990933496694,1.06003220656,0.586653056445,-0.00123759302239,1.05970033873
+200,3.333333333,pose1_to_pose2_press,0.616424023692,-0.0099092449251,1.06003229383,0.586994475607,-0.00123750177453,1.05970043055
+201,3.350000000,pose1_to_pose2_press,0.616740368912,-0.00990921160899,1.06003241292,0.587310821062,-0.00123746752795,1.05970054763
+202,3.366666667,pose1_to_pose2_press,0.61703784509,-0.00990922250813,1.06003240664,0.587608296306,-0.00123748150079,1.05970053904
+203,3.383333333,pose1_to_pose2_press,0.617319225558,-0.00990918200864,1.0600323475,0.587889675423,-0.00123744543522,1.0597004783
+204,3.400000000,pose1_to_pose2_press,0.617586741319,-0.00990913944514,1.06003229052,0.588157191074,-0.00123740305739,1.05970041999
+205,3.416666667,pose1_to_pose2_press,0.617839947031,-0.00990922363718,1.06003212641,0.588410397575,-0.00123748416233,1.05970026052
+206,3.433333333,pose1_to_pose2_press,0.618076791966,-0.00990914321532,1.06003225823,0.588647242265,-0.00123740449058,1.05970039034
+207,3.450000000,pose1_to_pose2_press,0.618296657814,-0.00990920383501,1.06003246089,0.588867107845,-0.00123746573934,1.05970059377
+208,3.466666667,pose1_to_pose2_press,0.618496781049,-0.0099091332703,1.06003245282,0.589067230083,-0.00123739847072,1.05970058598
+209,3.483333333,pose1_to_pose2_press,0.61867763663,-0.00990914979159,1.06003227547,0.589248086887,-0.00123741007767,1.05970042586
+210,3.500000000,pose1_to_pose2_press,0.618838504365,-0.00990910613895,1.06003246431,0.589408953999,-0.00123736921656,1.05970059339
+211,3.516666667,pose1_to_pose2_press,0.618982138024,-0.00990923091559,1.06003214639,0.589552589837,-0.00123748618534,1.05970028305
+212,3.533333333,pose1_to_pose2_press,0.619109435563,-0.00990930231206,1.06003246083,0.589679886532,-0.00123756045579,1.05970059391
+213,3.550000000,pose1_to_pose2_press,0.619220252999,-0.00990934676471,1.06003243719,0.589790704233,-0.00123760404107,1.05970056729
+214,3.566666667,pose1_to_pose2_press,0.619316887523,-0.00990928929175,1.06003228212,0.58988733809,-0.00123754867125,1.05970041465
+215,3.583333333,pose1_to_pose2_press,0.619400145236,-0.00990915836883,1.06003232761,0.58997059439,-0.00123742237783,1.05970046125
+216,3.600000000,pose1_to_pose2_press,0.619471793874,-0.00990908827452,1.06003244179,0.590042242624,-0.00123735350041,1.05970057308
+217,3.616666667,pose1_to_pose2_press,0.61953222859,-0.00990917453014,1.06003235563,0.590102678458,-0.00123743561182,1.05970048609
+218,3.633333333,pose1_to_pose2_press,0.619583888969,-0.0099093211634,1.06003232955,0.590154339993,-0.00123757780484,1.05970046343
+219,3.650000000,pose1_to_pose2_press,0.619627748107,-0.00990929856507,1.06003246553,0.59019819806,-0.00123755926121,1.05970059095
+220,3.666666667,pose1_to_pose2_press,0.619664221553,-0.0099092358027,1.06003221277,0.590234671912,-0.00123749536962,1.05970034741
+221,3.683333333,pose1_to_pose2_press,0.619694544716,-0.00990926894175,1.06003227452,0.590264995941,-0.00123752550531,1.05970041161
+222,3.700000000,pose1_to_pose2_press,0.619718941338,-0.00990927979034,1.06003241444,0.590289392163,-0.00123753772553,1.05970054936
+223,3.716666667,pose1_to_pose2_press,0.619737862784,-0.00990918014289,1.06003234994,0.590308311773,-0.00123744459378,1.05970048298
+224,3.733333333,pose1_to_pose2_press,0.619751606716,-0.00990908747145,1.06003240026,0.59032205449,-0.00123735619123,1.05970052094
+225,3.750000000,pose1_to_pose2_press,0.619761633676,-0.00990910443516,1.06003231852,0.590332081815,-0.00123737193543,1.05970043872
+226,3.766666667,pose1_to_pose2_press,0.61976862775,-0.00990909826188,1.06003225343,0.590339075889,-0.00123736556378,1.05970037922
+227,3.783333333,pose1_to_pose2_press,0.619772946365,-0.00990906524126,1.06003221883,0.590343394089,-0.00123733363067,1.05970035334
+228,3.800000000,pose1_to_pose2_press,0.61977637089,-0.00990912378208,1.06003223573,0.590346819597,-0.0012373887707,1.05970037384
+229,3.816666667,pose1_to_pose2_press,0.619779322813,-0.00990925608162,1.06003229311,0.590349773635,-0.00123751402092,1.05970043114
+230,3.833333333,pose1_to_pose2_press,0.619781087913,-0.00990931571385,1.06003232144,0.590351539721,-0.00123757040359,1.05970045827
+231,3.850000000,pose1_to_pose2_press,0.619781919198,-0.00990932533761,1.0600323291,0.590352371206,-0.00123757941218,1.0597004643
+232,3.866666667,pose1_to_pose2_press,0.619782469544,-0.00990933170896,1.06003233417,0.590352921685,-0.00123758537625,1.05970046829
+233,3.883333333,pose1_to_pose2_press,0.619782735107,-0.00990933478339,1.06003233662,0.590353187313,-0.00123758825414,1.05970047021
+234,3.900000000,pose1_to_pose2_press,0.619782779064,-0.00990933529227,1.06003233703,0.59035323128,-0.0012375887305,1.05970047053
+235,3.916666667,pose1_to_pose2_press,0.619783019689,-0.00990933807799,1.06003233924,0.590353471963,-0.00123759133814,1.05970047228
+236,3.933333333,pose1_to_pose2_press,0.619783413242,-0.00990934263415,1.06003234287,0.590353865611,-0.00123759560306,1.05970047513
+237,3.950000000,pose1_to_pose2_press,0.619783778725,-0.00990934446237,1.0600323455,0.590354231165,-0.00123759721066,1.05970047724
+238,3.966666667,pose1_to_pose2_press,0.619784019436,-0.00990932704246,1.06003234149,0.590354471789,-0.00123758003187,1.05970047442
+239,3.983333333,pose1_to_pose2_press,0.61978414011,-0.00990931830944,1.06003233948,0.59035459242,-0.00123757141972,1.05970047301
+240,4.000000000,pose1_to_pose2_press,0.619784348503,-0.00990930322829,1.060032336,0.590354800738,-0.00123755654731,1.05970047057
+241,4.016666667,pose1_to_pose2_press,0.619784736794,-0.00990927512822,1.06003232953,0.590355188889,-0.00123752883618,1.05970046602
+242,4.033333333,pose1_to_pose2_press,0.619784945614,-0.0099092600162,1.06003232605,0.590355397634,-0.00123751393333,1.05970046358
+243,4.050000000,pose1_to_pose2_press,0.619784951672,-0.00990925957776,1.06003232595,0.59035540369,-0.00123751350096,1.05970046351
+244,4.066666667,pose1_to_pose2_press,0.619785218344,-0.00990924027908,1.06003232151,0.590355670266,-0.0012374944694,1.05970046038
+245,4.083333333,pose1_to_pose2_press,0.619785472361,-0.00990923003239,1.06003232128,0.590355923905,-0.00123748548734,1.05970046032
+246,4.100000000,pose1_to_pose2_press,0.6197855211,-0.00990923002405,1.0600323222,0.590355972504,-0.00123748596473,1.059700461
+247,4.116666667,pose1_to_pose2_press,0.619785521541,-0.00990923002398,1.06003232221,0.590355972943,-0.00123748596905,1.05970046101
+248,4.133333333,pose1_to_pose2_press,0.619785569244,-0.00990923001581,1.06003232311,0.590356020508,-0.00123748643628,1.05970046168
+249,4.150000000,pose1_to_pose2_press,0.619785665226,-0.00990922999939,1.06003232492,0.590356116213,-0.0012374873764,1.05970046304
+250,4.166666667,pose1_to_pose2_press,0.619785814892,-0.00990922997378,1.06003232775,0.590356265446,-0.00123748884232,1.05970046515
+251,4.183333333,pose1_to_pose2_press,0.619786029847,-0.00990923462219,1.06003233231,0.590356479872,-0.00123749532707,1.0597004685
+252,4.200000000,pose1_to_pose2_press,0.619786104501,-0.00990926463475,1.06003233699,0.590356554902,-0.0012375241235,1.05970047161
+253,4.216666667,pose1_to_pose2_press,0.6197861992,-0.00990929378991,1.06003233113,0.590356649407,-0.00123755390213,1.05970046655
+254,4.233333333,pose1_to_pose2_press,0.619786167772,-0.00990927054658,1.06003231514,0.590356617023,-0.00123753374893,1.05970045452
+255,4.250000000,pose1_to_pose2_press,0.619786167772,-0.00990927054658,1.06003231514,0.590356617023,-0.00123753374909,1.05970045452
+256,4.266666667,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617025,-0.00123753374873,1.05970045452
+257,4.283333333,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617026,-0.00123753374902,1.05970045452
+258,4.300000000,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617027,-0.00123753374863,1.05970045452
+259,4.316666667,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617026,-0.0012375337486,1.05970045452
+260,4.333333333,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617026,-0.00123753374857,1.05970045452
+261,4.350000000,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617027,-0.0012375337488,1.05970045452
+262,4.366666667,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617027,-0.00123753374911,1.05970045452
+263,4.383333333,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617027,-0.00123753374865,1.05970045452
+264,4.400000000,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617027,-0.00123753374868,1.05970045452
+265,4.416666667,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617027,-0.00123753374869,1.05970045452
+266,4.433333333,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617028,-0.00123753374869,1.05970045452
+267,4.450000000,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617028,-0.00123753374869,1.05970045452
+268,4.466666667,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617028,-0.00123753374867,1.05970045452
+269,4.483333333,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617028,-0.00123753374866,1.05970045452
+270,4.500000000,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617028,-0.00123753374864,1.05970045452
+271,4.516666667,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617028,-0.00123753374881,1.05970045452
+272,4.533333333,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617029,-0.00123753374887,1.05970045452
+273,4.550000000,pose2_hold,0.619786167772,-0.00990927054658,1.06003231514,0.590356617029,-0.00123753374884,1.05970045452
+274,4.566666667,pose2_to_pose3_retreat,0.619786167772,-0.00990927054658,1.06003231514,0.590356617028,-0.00123753374821,1.05970045452
+275,4.583333333,pose2_to_pose3_retreat,0.619786166762,-0.00990928338915,1.06003226254,0.590356616777,-0.00123754405045,1.05970040101
+276,4.600000000,pose2_to_pose3_retreat,0.619786165953,-0.00990929367952,1.06003222039,0.590356616576,-0.00123755230532,1.05970035814
+277,4.616666667,pose2_to_pose3_retreat,0.619786165815,-0.00990929543332,1.06003221321,0.590356616541,-0.00123755371221,1.05970035083
+278,4.633333333,pose2_to_pose3_retreat,0.619786101386,-0.00990928117083,1.06003224243,0.590356551835,-0.00123754038725,1.05970038018
+279,4.650000000,pose2_to_pose3_retreat,0.619785975418,-0.00990924718397,1.06003232432,0.590356424969,-0.00123750942654,1.05970046275
+280,4.666666667,pose2_to_pose3_retreat,0.619785632145,-0.00990920444136,1.06003241935,0.590356080685,-0.00123747014795,1.05970055695
+281,4.683333333,pose2_to_pose3_retreat,0.619783884145,-0.00990921920834,1.06003233953,0.590354333671,-0.00123748174773,1.0597004723
+282,4.700000000,pose2_to_pose3_retreat,0.619778787012,-0.00990932151228,1.06003232739,0.590349238244,-0.00123757812109,1.0597004637
+283,4.716666667,pose2_to_pose3_retreat,0.619766767146,-0.00990933741646,1.0600323844,0.590337218486,-0.00123759408038,1.05970051256
+284,4.733333333,pose2_to_pose3_retreat,0.619745514755,-0.00990920969408,1.06003232626,0.5903159657,-0.00123746773175,1.05970045624
+285,4.750000000,pose2_to_pose3_retreat,0.619713164125,-0.00990925038433,1.06003222432,0.590283614507,-0.00123751033252,1.05970035766
+286,4.766666667,pose2_to_pose3_retreat,0.61967013813,-0.00990932106231,1.06003236318,0.590240589763,-0.00123757705189,1.05970049025
+287,4.783333333,pose2_to_pose3_retreat,0.619617393736,-0.0099092681011,1.06003235768,0.590187844626,-0.00123752665142,1.05970048659
+288,4.800000000,pose2_to_pose3_retreat,0.619557191431,-0.0099092764186,1.06003240101,0.590127642693,-0.00123753364736,1.05970053221
+289,4.816666667,pose2_to_pose3_retreat,0.619490033699,-0.00990923890525,1.06003244284,0.590060483966,-0.00123749953467,1.05970057053
+290,4.833333333,pose2_to_pose3_retreat,0.61941466617,-0.00990919244045,1.06003238535,0.589985115019,-0.00123745795405,1.05970050789
+291,4.850000000,pose2_to_pose3_retreat,0.619330060372,-0.00990931427413,1.06003232149,0.589900511076,-0.00123757326495,1.05970045339
+292,4.866666667,pose2_to_pose3_retreat,0.619232553712,-0.0099093968661,1.06003222883,0.58980300624,-0.00123764974125,1.05970036067
+293,4.883333333,pose2_to_pose3_retreat,0.619121001235,-0.00990914864539,1.06003230214,0.589691450227,-0.00123741336506,1.05970043988
+294,4.900000000,pose2_to_pose3_retreat,0.61899193159,-0.00990916211682,1.06003241562,0.58956238068,-0.00123742668475,1.05970055193
+295,4.916666667,pose2_to_pose3_retreat,0.618846595782,-0.0099091582453,1.06003252786,0.589417045096,-0.00123742223963,1.059700663
+296,4.933333333,pose2_to_pose3_retreat,0.61868399851,-0.00990923619598,1.06003238383,0.589254449681,-0.00123749406971,1.0597005181
+297,4.950000000,pose2_to_pose3_retreat,0.618501768442,-0.00990935348941,1.06003239418,0.589072221761,-0.00123760436192,1.05970052515
+298,4.966666667,pose2_to_pose3_retreat,0.618299793205,-0.00990938374502,1.06003251402,0.58887024696,-0.00123763341083,1.05970064215
+299,4.983333333,pose2_to_pose3_retreat,0.618075478571,-0.00990930516456,1.06003236127,0.588645930884,-0.0012375599046,1.05970048955
+300,5.000000000,pose2_to_pose3_retreat,0.617830691966,-0.00990920764376,1.060032383,0.58840114179,-0.00123747105314,1.05970051096
+301,5.016666667,pose2_to_pose3_retreat,0.617565928957,-0.00990923664673,1.06003243619,0.588136378636,-0.00123750044813,1.05970057116
+302,5.033333333,pose2_to_pose3_retreat,0.617281793236,-0.00990935494011,1.06003234094,0.587852245781,-0.00123760937109,1.05970047242
+303,5.050000000,pose2_to_pose3_retreat,0.61697741929,-0.00990915775186,1.06003195797,0.587547868668,-0.00123742267065,1.05970010235
+304,5.066666667,pose2_to_pose3_retreat,0.616656755312,-0.00990940080129,1.06003217376,0.587227207527,-0.00123765673615,1.0597003069
+305,5.083333333,pose2_to_pose3_retreat,0.616319682029,-0.00990937433744,1.06003230284,0.586890135167,-0.00123762737546,1.05970043729
+306,5.100000000,pose2_to_pose3_retreat,0.615965034192,-0.0099092782656,1.06003227051,0.586535485711,-0.00123753698055,1.05970040662
+307,5.116666667,pose2_to_pose3_retreat,0.615591590897,-0.00990922706166,1.06003222376,0.586162040968,-0.00123749108272,1.05970035609
+308,5.133333333,pose2_to_pose3_retreat,0.615194818268,-0.00990926140568,1.06003222278,0.585765269107,-0.001237523153,1.05970035393
+309,5.150000000,pose2_to_pose3_retreat,0.614772902418,-0.00990935168261,1.06003223411,0.585343354974,-0.00123760759032,1.05970037296
+310,5.166666667,pose2_to_pose3_retreat,0.614325336726,-0.00990919918296,1.06003250288,0.584895787193,-0.00123746306873,1.05970062578
+311,5.183333333,pose2_to_pose3_retreat,0.613849938687,-0.0099091595637,1.06003230074,0.584420389772,-0.00123742079024,1.05970044566
+312,5.200000000,pose2_to_pose3_retreat,0.613353705361,-0.0099092510079,1.06003242262,0.583924159405,-0.00123750264275,1.05970056207
+313,5.216666667,pose2_to_pose3_retreat,0.612842220091,-0.00990925509106,1.06003210074,0.583412673407,-0.00123750934788,1.05970024102
+314,5.233333333,pose2_to_pose3_retreat,0.612317710438,-0.00990914265344,1.06003218091,0.582888161173,-0.00123740587371,1.05970031666
+315,5.250000000,pose2_to_pose3_retreat,0.611780121809,-0.00990918127029,1.0600323471,0.582350572331,-0.00123744529371,1.0597004795
+316,5.266666667,pose2_to_pose3_retreat,0.611220820171,-0.00990927449774,1.06003231081,0.581791271978,-0.00123753409331,1.05970044457
+317,5.283333333,pose2_to_pose3_retreat,0.610637629499,-0.0099091647471,1.06003227395,0.581208080788,-0.00123742614189,1.05970040814
+318,5.300000000,pose2_to_pose3_retreat,0.610023951802,-0.00990925277796,1.06003246764,0.58059440423,-0.00123751042769,1.05970059917
+319,5.316666667,pose2_to_pose3_retreat,0.609383305536,-0.00990939276671,1.06003234306,0.579953757964,-0.00123765037354,1.05970047599
+320,5.333333333,pose2_to_pose3_retreat,0.608718056243,-0.00990942960025,1.06003211735,0.579288509203,-0.00123768531207,1.05970025171
+321,5.350000000,pose2_to_pose3_retreat,0.608041202943,-0.00990927162718,1.06003210204,0.5786116542,-0.00123753312696,1.05970023589
+322,5.366666667,pose2_to_pose3_retreat,0.607355215074,-0.0099091728315,1.06003234279,0.577925665599,-0.00123743668188,1.05970047955
+323,5.383333333,pose2_to_pose3_retreat,0.606659068191,-0.00990918794172,1.06003231171,0.57722951932,-0.00123744978291,1.05970044703
+324,5.400000000,pose2_to_pose3_retreat,0.60595092851,-0.009909217017,1.06003223027,0.576521380195,-0.00123747715497,1.0597003608
+325,5.416666667,pose2_to_pose3_retreat,0.605226667795,-0.00990922723833,1.0600323241,0.575797119658,-0.00123748683722,1.05970045332
+326,5.433333333,pose2_to_pose3_retreat,0.604480897401,-0.00990925784754,1.06003246937,0.575051349581,-0.0012375163409,1.05970059974
+327,5.450000000,pose2_to_pose3_retreat,0.603709465597,-0.00990928033753,1.06003250466,0.574279917495,-0.00123754000424,1.05970062935
+328,5.466666667,pose2_to_pose3_retreat,0.602921018369,-0.00990922974668,1.06003250437,0.573491468459,-0.00123749557926,1.05970062827
+329,5.483333333,pose2_to_pose3_retreat,0.602119204737,-0.00990925651457,1.06003247724,0.572689656622,-0.00123751607429,1.05970060575
+330,5.500000000,pose2_to_pose3_retreat,0.601323360941,-0.00990920901317,1.06003234417,0.571893811521,-0.00123747293969,1.05970047425
+331,5.516666667,pose2_to_pose3_retreat,0.600537042715,-0.00990925212309,1.06003235777,0.571107494534,-0.00123751191993,1.05970048776
+332,5.533333333,pose2_to_pose3_retreat,0.599760217932,-0.00990927986574,1.06003233219,0.570330669991,-0.00123753853323,1.05970046804
+333,5.550000000,pose2_to_pose3_retreat,0.598987503479,-0.00990927019114,1.06003226628,0.569557954797,-0.00123753148874,1.05970039803
+334,5.566666667,pose2_to_pose3_retreat,0.598213942723,-0.00990920137467,1.06003235548,0.568784394202,-0.00123746219439,1.05970048527
+335,5.583333333,pose2_to_pose3_retreat,0.597421927802,-0.00990912875364,1.0600323473,0.567992379223,-0.00123738958545,1.05970048185
+336,5.600000000,pose2_to_pose3_retreat,0.596613196481,-0.00990911634707,1.06003220178,0.567183646949,-0.00123738037249,1.05970033734
+337,5.616666667,pose2_to_pose3_retreat,0.59578861326,-0.00990915922743,1.06003226755,0.566359063435,-0.00123742451607,1.05970039604
+338,5.633333333,pose2_to_pose3_retreat,0.594966391705,-0.0099092051982,1.06003231773,0.565536842318,-0.00123746882107,1.0597004508
+339,5.650000000,pose2_to_pose3_retreat,0.594162543506,-0.00990919252064,1.06003221926,0.564732995567,-0.00123745091853,1.05970036043
+340,5.666666667,pose2_to_pose3_retreat,0.593383889872,-0.00990917085881,1.06003243727,0.563954340675,-0.00123743370951,1.0597005737
+341,5.683333333,pose2_to_pose3_retreat,0.59263197624,-0.00990919638669,1.06003222894,0.56320242626,-0.0012374619429,1.05970036406
+342,5.700000000,pose2_to_pose3_retreat,0.591900222269,-0.00990928140913,1.06003232324,0.562470672944,-0.00123754490767,1.05970045393
+343,5.716666667,pose2_to_pose3_retreat,0.591178037389,-0.00990926917386,1.06003234179,0.561748489948,-0.00123752619264,1.05970047469
+344,5.733333333,pose2_to_pose3_retreat,0.590455870972,-0.00990923024006,1.06003239012,0.561026323278,-0.00123748800125,1.05970052605
+345,5.750000000,pose2_to_pose3_retreat,0.589724089805,-0.00990913155491,1.06003234854,0.560294539734,-0.00123739732662,1.05970048589
+346,5.766666667,pose2_to_pose3_retreat,0.588978969586,-0.00990901364306,1.06003219901,0.559549418611,-0.00123728243961,1.05970033744
+347,5.783333333,pose2_to_pose3_retreat,0.588246260305,-0.00990906831127,1.06003216111,0.55881671094,-0.00123733162807,1.05970029998
+348,5.800000000,pose2_to_pose3_retreat,0.587530003641,-0.00990919357471,1.06003213011,0.55810045424,-0.00123745709386,1.05970026681
+349,5.816666667,pose2_to_pose3_retreat,0.58684646064,-0.00990916952971,1.0600323767,0.557416911985,-0.00123743069377,1.05970050884
+350,5.833333333,pose2_to_pose3_retreat,0.586199674644,-0.00990926129514,1.06003262246,0.556770125511,-0.00123752439882,1.0597007462
+351,5.850000000,pose2_to_pose3_retreat,0.585591265618,-0.00990929332258,1.06003224895,0.556161717874,-0.00123755123168,1.05970038705
+352,5.866666667,pose2_to_pose3_retreat,0.584998195822,-0.00990924809452,1.06003230872,0.55556864787,-0.00123750698722,1.05970043988
+353,5.883333333,pose2_to_pose3_retreat,0.584412087699,-0.00990928688419,1.06003234648,0.554982539778,-0.00123754561433,1.05970047825
+354,5.900000000,pose2_to_pose3_retreat,0.583824063386,-0.00990929673232,1.06003228062,0.554394515132,-0.00123755648766,1.05970041436
+355,5.916666667,pose2_to_pose3_retreat,0.583240085633,-0.00990926212849,1.0600322741,0.553810537134,-0.00123752279683,1.05970040554
+356,5.933333333,pose2_to_pose3_retreat,0.582675759851,-0.00990925008228,1.0600323514,0.553246211636,-0.00123750982632,1.05970048197
+357,5.950000000,pose2_to_pose3_retreat,0.582140797211,-0.00990920367511,1.0600323446,0.55271124819,-0.00123746609905,1.05970047637
+358,5.966666667,pose2_to_pose3_retreat,0.581639831214,-0.00990918498235,1.06003232709,0.552210281205,-0.00123745062325,1.05970046237
+359,5.983333333,pose2_to_pose3_retreat,0.581164096173,-0.00990924178491,1.06003231953,0.551734547995,-0.00123750114473,1.05970045683
+360,6.000000000,pose2_to_pose3_retreat,0.580710037985,-0.00990927752523,1.06003223787,0.551280490559,-0.0012375345011,1.05970037079
+361,6.016666667,pose2_to_pose3_retreat,0.580275288904,-0.009909244883,1.06003232236,0.55084574214,-0.0012374995931,1.05970045569
+362,6.033333333,pose2_to_pose3_retreat,0.579862575276,-0.0099091411109,1.06003241457,0.550433026641,-0.00123740207491,1.05970055144
+363,6.050000000,pose2_to_pose3_retreat,0.57947892198,-0.00990918046861,1.06003229915,0.550049373994,-0.00123743926443,1.05970043503
+364,6.066666667,pose2_to_pose3_retreat,0.579124079114,-0.00990925889198,1.06003222795,0.549694530728,-0.00123751920328,1.05970035927
+365,6.083333333,pose2_to_pose3_retreat,0.578797212674,-0.00990925161359,1.06003226965,0.549367663773,-0.00123751366024,1.05970040095
+366,6.100000000,pose2_to_pose3_retreat,0.578487948702,-0.00990918574979,1.06003233234,0.549058401415,-0.00123744213625,1.05970046838
+367,6.116666667,pose2_to_pose3_retreat,0.578193357902,-0.0099092475033,1.06003237641,0.548763811577,-0.00123750088096,1.05970050573
+368,6.133333333,pose2_to_pose3_retreat,0.577912071904,-0.00990914552898,1.06003258448,0.548482522937,-0.001237407855,1.05970071424
+369,6.150000000,pose2_to_pose3_retreat,0.577645413962,-0.00990909551364,1.06003238417,0.548215864895,-0.00123735807427,1.05970051707
+370,6.166666667,pose2_to_pose3_retreat,0.577396676315,-0.0099091751763,1.06003245692,0.547967126971,-0.0012374387881,1.05970058678
+371,6.183333333,pose2_to_pose3_retreat,0.577169530269,-0.00990917153148,1.06003247006,0.547739981023,-0.00123743475711,1.05970060127
+372,6.200000000,pose2_to_pose3_retreat,0.576963813652,-0.0099092593341,1.06003238141,0.547534265216,-0.00123751977014,1.05970051379
+373,6.216666667,pose2_to_pose3_retreat,0.576777653206,-0.00990931968629,1.06003240204,0.547348105959,-0.0012375760634,1.05970053497
+374,6.233333333,pose2_to_pose3_retreat,0.576609585785,-0.00990931095193,1.06003240561,0.54718003871,-0.00123756679004,1.05970053742
+375,6.250000000,pose2_to_pose3_retreat,0.576460272039,-0.00990918103202,1.06003240066,0.547030723392,-0.00123744228265,1.0597005305
+376,6.266666667,pose2_to_pose3_retreat,0.576327923331,-0.00990905271376,1.06003240329,0.546898373067,-0.00123731941542,1.05970053425
+377,6.283333333,pose2_to_pose3_retreat,0.576212914926,-0.00990920105937,1.06003220367,0.54678336551,-0.00123746481758,1.05970033631
+378,6.300000000,pose2_to_pose3_retreat,0.57611290134,-0.0099092689009,1.06003214999,0.546683354203,-0.00123752524145,1.05970027443
+379,6.316666667,pose2_to_pose3_retreat,0.576026758265,-0.00990914313718,1.06003224589,0.546597206962,-0.00123741349868,1.05970037407
+380,6.333333333,pose2_to_pose3_retreat,0.575952917929,-0.00990909099515,1.06003242511,0.546523368707,-0.00123735398467,1.05970056139
+381,6.350000000,pose2_to_pose3_retreat,0.575889969188,-0.00990910130155,1.06003227785,0.546460419244,-0.00123736687026,1.0597004106
+382,6.366666667,pose2_to_pose3_retreat,0.575837978607,-0.0099091675108,1.06003231427,0.546408430587,-0.00123742661024,1.05970044541
+383,6.383333333,pose2_to_pose3_retreat,0.575795823401,-0.00990923859499,1.06003242441,0.546366275813,-0.00123749636469,1.05970055194
+384,6.400000000,pose2_to_pose3_retreat,0.575763080042,-0.00990921533821,1.06003233385,0.546333530948,-0.00123747813334,1.05970046363
+385,6.416666667,pose2_to_pose3_retreat,0.575737595471,-0.00990911714675,1.06003207554,0.546308044661,-0.00123738539462,1.05970021506
+386,6.433333333,pose2_to_pose3_retreat,0.57571819221,-0.00990912058011,1.06003205175,0.54628864098,-0.00123739008412,1.05970019578
+387,6.450000000,pose2_to_pose3_retreat,0.575702967549,-0.00990918758313,1.06003234149,0.546273418154,-0.00123745130571,1.0597004738
+388,6.466666667,pose2_to_pose3_retreat,0.575690975228,-0.00990917476375,1.06003238044,0.546261426167,-0.00123743741749,1.05970051119
+389,6.483333333,pose2_to_pose3_retreat,0.575682213843,-0.00990910701028,1.06003221148,0.546252663962,-0.00123737220134,1.05970034871
+390,6.500000000,pose2_to_pose3_retreat,0.575675947605,-0.00990913016986,1.06003223683,0.546246399042,-0.00123739114915,1.05970036724
+391,6.516666667,pose2_to_pose3_retreat,0.575671817331,-0.00990918929334,1.06003225106,0.546242268282,-0.001237452044,1.05970037819
+392,6.533333333,pose2_to_pose3_retreat,0.575669915109,-0.00990922814989,1.06003225696,0.546240365477,-0.00123749292192,1.05970038289
+393,6.550000000,pose2_to_pose3_retreat,0.575669474024,-0.00990923715991,1.06003225833,0.546239924257,-0.00123750240065,1.05970038399
+394,6.566666667,pose2_to_pose3_retreat,0.575669260377,-0.00990924152406,1.06003225899,0.546239710545,-0.00123750699183,1.05970038451
+395,6.583333333,pose2_to_pose3_retreat,0.575668891143,-0.00990924237306,1.06003227622,0.54623934134,-0.00123750774002,1.05970040177
+396,6.600000000,pose2_to_pose3_retreat,0.575668613123,-0.00990923942069,1.06003229781,0.546239063418,-0.00123750444713,1.05970042353
+397,6.616666667,pose2_to_pose3_retreat,0.575668482122,-0.00990923802956,1.06003230799,0.546238932464,-0.00123750289554,1.05970043378
+398,6.633333333,pose2_to_pose3_retreat,0.575668054391,-0.00990923348739,1.06003234121,0.546238504884,-0.00123749782945,1.05970046726
+399,6.650000000,pose2_to_pose3_retreat,0.575667481361,-0.00990922740225,1.06003238572,0.546237932057,-0.00123749104243,1.05970051211
+400,6.666666667,pose2_to_pose3_retreat,0.575667172112,-0.00990922411826,1.06003240974,0.546237622918,-0.00123748737966,1.05970053632
+401,6.683333333,pose2_to_pose3_retreat,0.575666907494,-0.00990922130822,1.0600324303,0.546237358393,-0.0012374842455,1.05970055703
+402,6.700000000,pose2_to_pose3_retreat,0.575666560267,-0.00990921762094,1.06003245727,0.546237011289,-0.00123748013291,1.05970058421
+403,6.716666667,pose2_to_pose3_retreat,0.575666224501,-0.00990921405536,1.06003248335,0.546236675643,-0.00123747615608,1.05970061049
+404,6.733333333,pose2_to_pose3_retreat,0.575666054807,-0.00990920996216,1.06003248501,0.546236505759,-0.00123747271099,1.05970061201
+405,6.750000000,pose2_to_pose3_retreat,0.575666021781,-0.0099092091365,1.06003248519,0.546236472693,-0.00123747202231,1.05970061216
+406,6.766666667,pose2_to_pose3_retreat,0.575666012222,-0.00990920889751,1.06003248524,0.546236463122,-0.00123747182297,1.0597006122
+407,6.783333333,pose2_to_pose3_retreat,0.575666012093,-0.00990920889429,1.06003248524,0.546236462993,-0.00123747182029,1.0597006122
+408,6.800000000,pose2_to_pose3_retreat,0.575665947257,-0.00990920727334,1.06003248559,0.546236398078,-0.00123747046827,1.05970061249
+409,6.816666667,pose2_to_pose3_retreat,0.575665879026,-0.00990920556751,1.06003248596,0.546236329765,-0.00123746904546,1.0597006128
+410,6.833333333,pose2_to_pose3_retreat,0.575665729563,-0.00990920183083,1.06003248677,0.546236180121,-0.00123746592874,1.05970061347
+411,6.850000000,pose2_to_pose3_retreat,0.575665457581,-0.00990919503109,1.06003248823,0.546235907809,-0.00123746025716,1.05970061469
+412,6.866666667,pose2_to_pose3_retreat,0.575665227066,-0.00990918926804,1.06003248948,0.546235677015,-0.00123745545028,1.05970061572
+413,6.883333333,pose2_to_pose3_retreat,0.575665157185,-0.00990918752095,1.06003248985,0.546235607048,-0.00123745399305,1.05970061603
+414,6.900000000,pose2_to_pose3_retreat,0.575665026287,-0.00990918424842,1.06003249056,0.546235475992,-0.00123745126348,1.05970061662
+415,6.916666667,pose2_to_pose3_retreat,0.575664765419,-0.00990922484798,1.06003244154,0.546235215786,-0.00123748955011,1.05970056931
+416,6.933333333,pose2_to_pose3_retreat,0.575664523466,-0.00990928605923,1.06003237087,0.546234974937,-0.001237546919,1.0597005012
+417,6.950000000,pose2_to_pose3_retreat,0.575664436391,-0.00990938275472,1.06003251094,0.546234888277,-0.0012376422807,1.05970063931
+418,6.966666667,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632648,1.05970060642
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..813770e0d255ee491cf82a3cb5977225e4b6a620
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86fdb562f1af9f891b21d10a2dcc7724230c4f2c7d913849b7e3415fceb07657
+size 26600307
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ecf77f1e24fa717964226e07e5f3a2a119f5392c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,678,661,636,879,787,803,652,631,653,0.400968737752,-0.0153516042288,0.0698286546728,0.999999932873,0.000235065641801,-0.000280998969922,6.16596138005e-06,1793239621133568768
+1,0.016666667,BASELINE,766,744.420147976,715,678.579852024,661.579852024,636,879,787,803.579852024,652,631,653,0.400969946405,-0.0153501325806,0.0698295271455,0.999999932484,0.000238722745069,-0.000279298560945,5.99979492699e-06,1793239621150235136
+2,0.033333333,BASELINE,766,744.158474528,715,679,662,636,879.158474528,787.158474528,804,652,631.158474528,653,0.400970881759,-0.0153488427766,0.0698301037664,0.999999932166,0.000241447717721,-0.00027809585949,5.81629113205e-06,1793239621166901760
+3,0.050000000,BASELINE,766,744.73386255,715,679,662,636,879.73386255,787.73386255,804,652,631.73386255,653,0.400971098117,-0.0153480313669,0.0698299020627,0.999999932072,0.000241720449564,-0.00027820252256,5.58717636376e-06,1793239621183568384
+4,0.066666667,BASELINE,766,745,715,679,661.684198607,636,880,787.684198607,804,652,632,653,0.400970925055,-0.0153486520369,0.0698298614121,0.999999932343,0.000240457679231,-0.000278321123423,5.55174872524e-06,1793239621200235008
+5,0.083333333,BASELINE,766,745,715,679,661.096622237,636,880,787.096622237,804,652,632,653,0.400970416863,-0.0153505051381,0.0698299593621,0.999999932925,0.000237873473714,-0.000278449997804,5.68300597304e-06,1793239621216901632
+6,0.100000000,BASELINE,766,745,715,679,661,636,880,787.484140031,804,652,631.515859969,653,0.400970968092,-0.0153504327215,0.0698303805592,0.999999933536,0.000236920814573,-0.000277057454963,5.89024563267e-06,1793239621233568256
+7,0.116666667,BASELINE,766,745,715,679,661,636,879.936714674,788,804,652,631.063285326,653,0.400971604949,-0.0153500225446,0.0698307569206,0.999999934013,0.00023657158548,-0.000275628904428,6.08485387011e-06,1793239621250234880
+8,0.133333333,BASELINE,766,745,715,679,661,636,879.359808736,788,804,652,631.640191264,653,0.400971244578,-0.015349946674,0.0698302530876,0.999999933356,0.000238513761509,-0.000276338215883,6.05558245141e-06,1793239621266901504
+9,0.150000000,BASELINE,766,745,715,678.785320291,661,636,879.214679709,788,804,652,631.785320291,653,0.400971084158,-0.0153491964289,0.0698300915089,0.999999932755,0.000240504381364,-0.000276787483758,5.951426619e-06,1793239621283567872
+10,0.166666667,BASELINE,766,745,715,678.214838565,661,636,879.785161435,788,804,652,631.214838565,653,0.400971255127,-0.015347328501,0.0698304971693,0.999999932252,0.00024257528999,-0.000276805765187,5.72316019841e-06,1793239621300234496
+11,0.183333333,BASELINE,765.628909845,744.628909845,715,678.371090155,661,635.628909845,879.628909845,788,804,652,631,653,0.400972208895,-0.0153473908911,0.0698310684037,0.999999932663,0.00024217655416,-0.000275666497803,5.72219533782e-06,1793239621316901376
+12,0.200000000,BASELINE,765.033649777,744.033649777,715,678.966350223,661,635.033649777,879.033649777,788,804,652,631,653,0.400973635539,-0.0153486193567,0.0698317396589,0.999999933623,0.000240285943911,-0.000273827972804,5.85853986719e-06,1793239621333568000
+13,0.216666667,BASELINE,765.546215118,744.546215118,715,678.453784882,661.546215118,635.546215118,879.546215118,788,804,652,631.546215118,653,0.400973898539,-0.0153504017495,0.0698321526362,0.999999934697,0.000236445972987,-0.000273252176711,5.77614983108e-06,1793239621350234624
+14,0.233333333,BASELINE,765.87577478,745,715,678.12422522,661.87577478,636,879.87577478,788,804,652,632,653,0.400973638595,-0.0153513925938,0.0698322762918,0.999999935182,0.000234416287615,-0.000273227107237,5.69412267533e-06,1793239621366901248
+15,0.250000000,BASELINE,765.301145011,745,715,678.698854989,661.301145011,636,879.301145011,788,804,652,632,653,0.400971735397,-0.0153493931787,0.06983140706,0.999999933542,0.000239373649996,-0.000274924496895,5.66092912601e-06,1793239621383568128
+16,0.266666667,BASELINE,765.279882352,744.720117648,715,679,661,636,879,788,804,652,631.720117648,652.720117648,0.400970448132,-0.0153483468576,0.0698305025667,0.999999932561,0.000241632481741,-0.0002765155509,5.57679085059e-06,1793239621400235008
+17,0.283333333,BASELINE,765.867954326,744.132045674,715,679,661,636,879,788,804,652,631.132045674,652.132045674,0.400969839095,-0.0153483500263,0.0698295592455,0.999999932325,0.000240919853478,-0.000277989514385,5.43655530744e-06,1793239621416901888
+18,0.300000000,BASELINE,765.550235835,744,715,678.550235835,661,635.550235835,879,788,804,652,631.449764165,652.449764165,0.400971024741,-0.0153493214857,0.0698302252044,0.999999933167,0.000238951411781,-0.000276655367121,5.46931602217e-06,1793239621433568768
+19,0.316666667,BASELINE,765,744.029485448,715,678.029485448,661,635.029485448,879,788,804,652,631.970514552,653,0.400972556139,-0.0153505085353,0.0698312649293,0.999999934226,0.000236776840077,-0.000274688721348,5.55064158728e-06,1793239621450235392
+20,0.333333333,BASELINE,765,744.604116748,715,678.604116748,661,635.604116748,879,788,804,652,631.395883252,653,0.400970872177,-0.0153504977924,0.0698305997693,0.999999933673,0.000237514224075,-0.000276061309005,5.60372665233e-06,1793239621466901760
+21,0.350000000,BASELINE,765.178295768,744.821704232,715.178295768,678.821704232,661.178295768,636,879,788,804,652,631.178295768,652.821704232,0.400969693111,-0.0153501542925,0.0698300957847,0.999999933123,0.000238359163001,-0.000277323824112,5.545683249e-06,1793239621483568384
+22,0.366666667,BASELINE,765.75147302,744.24852698,715.75147302,678.24852698,661.75147302,636,879,788,804,652,631.75147302,652.24852698,0.40096963227,-0.0153490738174,0.0698299487642,0.999999932583,0.000239442309675,-0.000278342555288,5.24151748267e-06,1793239621500234752
+23,0.383333333,BASELINE,765.66523778,744,715.66523778,678.33476222,661.66523778,636,879,788,804.33476222,651.66523778,631.66523778,652.33476222,0.400970469297,-0.0153486059986,0.0698305049214,0.999999932786,0.000239664518529,-0.000277418597475,5.22306243975e-06,1793239621516901376
+24,0.400000000,BASELINE,765.074207597,744,715.074207597,678.925792403,661.074207597,636,879,788,804.925792403,651.074207597,631.074207597,652.925792403,0.400971993662,-0.0153486071818,0.0698315993767,0.999999933556,0.000239227660347,-0.000275007467914,5.42332531113e-06,1793239621533568256
+25,0.416666667,BASELINE,765,744.509025063,715,678.490974937,661,635.490974937,879,788,804.490974937,651,631.509025063,653,0.400971933808,-0.0153499611174,0.0698316766198,0.999999933759,0.000238713744916,-0.00027471030598,5.56768282661e-06,1793239621550235136
+26,0.433333333,BASELINE,765.090014821,745,715,678,661,635.090014821,878.909985179,788,804,651.090014821,631.909985179,652.909985179,0.4009713963,-0.015350910797,0.0698312845202,0.999999933669,0.000238576836319,-0.00027515830249,5.65164878461e-06,1793239621566902272
+27,0.450000000,BASELINE,765.664953407,745,715,678,661,635.664953407,878.335046593,788,804,651.664953407,631.335046593,652.335046593,0.400969511008,-0.0153486363184,0.0698291508234,0.99999993242,0.000240530526255,-0.000277985406204,5.453519524e-06,1793239621583568640
+28,0.466666667,BASELINE,766,744.759596434,715,678,661,636,878.480807132,787.759596434,804,652,631,652.240403566,0.400968852201,-0.0153483002109,0.0698282065045,0.999999932091,0.000240524233304,-0.000279171272514,5.45152060556e-06,1793239621600235008
+29,0.483333333,BASELINE,766,744.183431819,715,678,661,636,879.633136362,787.183431819,804,652,631,652.816568181,0.400969906369,-0.0153506713408,0.0698289233371,0.999999933054,0.000237780518651,-0.000278064894821,5.72344829073e-06,1793239621616901632
+30,0.500000000,BASELINE,765.598993919,744.401006081,715,678,661,636,879.598993919,787.401006081,804,652,631,653,0.400970842125,-0.015350791191,0.06982960471,0.999999933441,0.000237793318614,-0.000276658712626,5.65805495916e-06,1793239621633568256
+31,0.516666667,BASELINE,765.010691872,744.989308128,715,678,661,636,879.010691872,787.989308128,804,652,631,653,0.400971722574,-0.0153498595469,0.0698302695209,0.999999933559,0.000239093590567,-0.000275112502226,5.43511072839e-06,1793239621650234880
+32,0.533333333,BASELINE,765.568693829,745,715,678.568693829,661,635.431306171,879,788,804,652,631.568693829,653,0.400971248105,-0.015350022694,0.0698305403058,0.999999933408,0.000239298484437,-0.000275472968125,5.84372960641e-06,1793239621666901760
+33,0.550000000,BASELINE,766,744.853040133,715,679,661,635.146959867,879,788,804,652,631.853040133,653,0.400970454495,-0.0153500856012,0.0698304981606,0.999999933168,0.000239360841583,-0.000276283126404,6.09238572252e-06,1793239621683568640
+34,0.566666667,BASELINE,766,744.27755778,715,679,661,635.72244222,879,788,804,652,631.27755778,653,0.400968803429,-0.0153497971255,0.0698295648052,0.999999932681,0.000239066696905,-0.000278301636272,5.84051523255e-06,1793239621700235776
+35,0.583333333,BASELINE,765.696090843,744.303909157,715,678.696090843,661,635.696090843,879,788,804,652,631,653,0.400968323461,-0.0153497121912,0.0698292696798,0.99999993267,0.000238451061256,-0.000278872700929,5.52179978293e-06,1793239621716902144
+36,0.600000000,BASELINE,765.109048373,744.890951627,715,678.109048373,661,635.109048373,879,788,804,652,631,653,0.400968934533,-0.0153498168839,0.0698295691536,0.999999933107,0.000237535912375,-0.000278095270889,5.14080900091e-06,1793239621733568256
+37,0.616666667,BASELINE,765.472020395,745,715,678,661,635.472020395,879,788,804,652,631.472020395,653,0.400970294098,-0.0153503321973,0.0698306439044,0.999999933991,0.000236108904548,-0.000276122339913,5.23058799974e-06,1793239621750234880
+38,0.633333333,BASELINE,766,745,715,678,661,636,879.051534282,788,804,652,632,653,0.400971664249,-0.015350827507,0.0698317732158,0.999999934772,0.000235104180273,-0.000274138443844,5.43921335336e-06,1793239621766901504
+39,0.650000000,BASELINE,766,745,715,678,661,636,879.629088224,788,804,652,632,653,0.40097139947,-0.0153501624484,0.0698316540969,0.999999933514,0.00023960171425,-0.000274826515201,5.76467142931e-06,1793239621783568384
+40,0.666666667,BASELINE,766,745,715,678.205723269,661,635.794276731,879.794276731,788,804,652,631.794276731,653,0.400971494587,-0.0153499506055,0.0698317058087,0.999999932913,0.000241928857258,-0.000274968784102,6.03432257229e-06,1793239621800235264
+41,0.683333333,BASELINE,766,745,715,678.780708909,661,635.219291091,879.219291091,788,804,652,631.219291091,653,0.400972235695,-0.0153505522609,0.0698320641525,0.99999993352,0.000240360263192,-0.000274131366471,6.20380320757e-06,1793239621816901888
+42,0.700000000,BASELINE,766,744.635267984,715.364732016,679,661,635.364732016,879.364732016,788,804,652,631,653,0.400972121253,-0.0153499170078,0.0698315366869,0.999999933641,0.000239305611937,-0.000274624162822,5.72051608207e-06,1793239621833568512
+43,0.716666667,BASELINE,766,744.045673162,715.954326838,679,661,635.954326838,879.954326838,788,804,652,631,653,0.400971479351,-0.0153485191817,0.0698304631065,0.99999993346,0.000238567814259,-0.000275937056243,4.83478775171e-06,1793239621850235392
+44,0.733333333,BASELINE,766,744.533717218,715.466282782,678.466282782,661,635.466282782,880,788,804,652,631,652.466282782,0.400972147972,-0.0153490224517,0.0698318221189,0.99999993382,0.000238876995578,-0.000274349106008,5.45839501093e-06,1793239621866902016
+45,0.750000000,BASELINE,766,745,715,678.111687741,661,635.111687741,879.888312259,787.888312259,804,651.888312259,631,652,0.400972471478,-0.0153498629061,0.0698326866316,0.999999934083,0.000239009950286,-0.000273262944469,6.0318742348e-06,1793239621883568384
+46,0.766666667,BASELINE,766,745,715,678.687319481,661,635.687319481,879.312680519,787.312680519,804,651.312680519,631,652,0.400970904273,-0.0153514408884,0.0698306485186,0.999999933762,0.000238045677121,-0.000275273016415,5.87065815413e-06,1793239621900235008
+47,0.783333333,BASELINE,765.737418729,744.737418729,715,679,661,635.737418729,879.262581271,787.262581271,804,651.262581271,631.262581271,652.262581271,0.400970304925,-0.0153516824497,0.069830122308,0.999999933697,0.000237919591215,-0.000275620087803,5.78711613483e-06,1793239621916901632
+48,0.800000000,BASELINE,765.162596778,744.162596778,715,679,661,635.162596778,879.837403222,787.837403222,804,651.837403222,631.837403222,652.837403222,0.400970856475,-0.0153503348463,0.0698313939305,0.999999933938,0.000238790210538,-0.000273989651994,5.79593788534e-06,1793239621933568512
+49,0.816666667,BASELINE,765.425302484,744,715,678.574697516,661,635.425302484,879.574697516,788,804,651.574697516,631.574697516,653,0.400970481074,-0.0153486448248,0.0698312118565,0.999999933471,0.00024051782878,-0.000274188313234,5.4072414517e-06,1793239621950235136
+50,0.833333333,BASELINE,766,744.017847586,715,678,661,636,879,788,804,651.017847586,631,653,0.40096979245,-0.0153469342727,0.0698305067835,0.999999932775,0.000242448100519,-0.00027503612888,4.88704232717e-06,1793239621966901760
+51,0.850000000,BASELINE,766,744.594356883,715,678,661,636,879,788,804,651.594356883,631,653,0.400970744015,-0.0153488087639,0.0698313790773,0.999999933719,0.000240140787217,-0.000273620550697,5.15856220421e-06,1793239621983568384
+52,0.866666667,BASELINE,766,745,715,678.170424749,661,636,879,787.829575251,804,651.829575251,631,653,0.400971323134,-0.0153500863963,0.06983177186,0.999999934154,0.00023899794017,-0.000273022244467,5.5021878853e-06,1793239622000235264
+53,0.883333333,BASELINE,766,745,715,678.745444609,661,636,879,787.254555391,804,651.254555391,631,653,0.400971018054,-0.0153499470625,0.069831026264,0.999999933395,0.000240619582309,-0.000274364174334,6.01699558707e-06,1793239622016902144
+54,0.900000000,BASELINE,766,744.672699122,715,678.672699122,661,636,879.327300878,787.327300878,804.327300878,651.327300878,631,652.672699122,0.400970825015,-0.0153504924961,0.0698307012245,0.999999933375,0.000239855308105,-0.000275107646608,5.98177066365e-06,1793239622033568768
+55,0.916666667,BASELINE,766,744.085412498,715,678.085412498,661,636,879.914587502,787.914587502,804.914587502,651.914587502,631,652.085412498,0.400970720974,-0.0153515818628,0.0698307102468,0.999999933938,0.000237195822775,-0.000275375744459,5.50963688974e-06,1793239622050235136
+56,0.933333333,BASELINE,765.519481274,744.480518726,715.480518726,678.480518726,661,635.519481274,879.519481274,788,804.519481274,652,631,652.480518726,0.400972290405,-0.0153523477371,0.0698319806538,0.99999993503,0.000234848482712,-0.000273411627688,5.68961960072e-06,1793239622066901760
+57,0.950000000,BASELINE,765.045427843,745,715.954572157,679,661.045427843,635.045427843,879,788,804,652,631.045427843,653,0.40097382608,-0.0153528594251,0.0698332401082,0.999999935975,0.000233066997332,-0.000271467921462,5.92555702077e-06,1793239622083568128
+58,0.966666667,BASELINE,765.642031598,745,715.357968402,679,661.642031598,635.642031598,879,788,804,652,631.642031598,653,0.40097149668,-0.0153509550435,0.0698317620658,0.999999934138,0.000237506485057,-0.000274381112756,5.49385052731e-06,1793239622100235008
+59,0.983333333,BASELINE,765.772359606,745,715,679,661.772359606,635.772359606,879,788,804,652,632,653,0.400969843548,-0.0153501229035,0.0698307838757,0.999999933141,0.000239574893262,-0.000276212382145,5.27279819204e-06,1793239622116901632
+60,1.000000000,BASELINE,765.203243871,745,715,679,661.203243871,635.203243871,879,788,804,652,632,653,0.400969204863,-0.0153508991952,0.0698305554964,0.999999933439,0.000238086529208,-0.000276420699011,5.36774068026e-06,1793239622133568512
+61,1.016666667,BASELINE,765.382662091,745,715,678.234675818,661,635.382662091,879.382662091,788,804,651.617337909,631.617337909,653,0.400969142151,-0.0153516924448,0.0698303388364,0.999999933847,0.000235999243213,-0.000276731808968,5.41983983237e-06,1793239622150234880
+62,1.033333333,BASELINE,765.977895082,745,715,677.044209837,661,635.977895082,879.977895082,788,804,651.022104918,631.022104918,653,0.400969399395,-0.0153524951144,0.0698301286864,0.999999934313,0.00023357925287,-0.000277100021043,5.4481392695e-06,1793239622166901248
+63,1.050000000,BASELINE,766,745,715.558065044,677.558065044,661,636,879.441934956,788,804,651.558065044,631,653,0.400971554898,-0.0153513133292,0.0698316839872,0.999999934552,0.000235694882824,-0.000274432964168,5.57316764706e-06,1793239622183568128
+64,1.066666667,BASELINE,765.863312968,744.863312968,715.863312968,678,661,636,879,788,804,652,631,653,0.400972823044,-0.0153503371504,0.0698327831179,0.99999993458,0.000237588314789,-0.00027269031067,5.71913767451e-06,1793239622200234752
+65,1.083333333,BASELINE,765.287795575,744.287795575,715.287795575,678,661,636,879,788,804,652,631,653,0.400971007302,-0.0153502667898,0.0698321991196,0.999999933993,0.000238206764533,-0.000274291272339,5.9203629352e-06,1793239622216902400
+66,1.100000000,BASELINE,765.293582182,744.293582182,715,678,661,636,879.293582182,788,804,652,631,653,0.400971137152,-0.0153507033069,0.0698325051259,0.999999933926,0.00023858890645,-0.00027419997986,6.08853888337e-06,1793239622233569280
+67,1.116666667,BASELINE,765.880821771,744.880821771,715,678,661,636,879.880821771,788,804,652,631,653,0.400973213095,-0.0153516468315,0.069833701365,0.999999934378,0.000238734679951,-0.000272415999529,6.22365703862e-06,1793239622250235136
+68,1.133333333,BASELINE,765.538289489,745,715,678.461710511,661.461710511,636,879.538289489,788,804,652,631,653,0.400973244924,-0.0153508953012,0.0698334224026,0.999999934484,0.000238338202506,-0.000272378897995,6.05853395213e-06,1793239622266901760
+69,1.150000000,BASELINE,765.040696815,745,715,678.959303185,661.959303185,636,879,788,804,652,631,652.959303185,0.400972719667,-0.0153498926279,0.0698327578892,0.999999934505,0.000237724832771,-0.000272840863214,5.81754690507e-06,1793239622283568640
+70,1.166666667,BASELINE,765.615934226,745,715,678.384065774,661.384065774,636,879,788,804,652,631,652.384065774,0.40097171352,-0.0153512601573,0.0698319628999,0.999999934576,0.000236076135824,-0.000274015711601,5.58422747818e-06,1793239622300235520
+71,1.183333333,BASELINE,766,745,715,678,661,636,879.192206004,788,804.192206004,652,631,652,0.400971049538,-0.015351965264,0.0698316360841,0.99999993456,0.000235318899332,-0.000274727073302,5.45115756826e-06,1793239622316902144
+72,1.200000000,BASELINE,766,745,715,678,661,636,879.770555942,788,804.770555942,652,631,652,0.400971072966,-0.0153513395567,0.0698322498338,0.999999934376,0.000236352616211,-0.00027450728547,5.51948997688e-06,1793239622333568512
+73,1.216666667,BASELINE,766,745,715.353299476,678.353299476,661,636,879.646700524,788,804.646700524,652,631.353299476,652.353299476,0.400970880506,-0.0153507214411,0.0698320442716,0.999999933749,0.000238695044889,-0.000274760398513,5.70766588927e-06,1793239622350235136
+74,1.233333333,BASELINE,766,745,715.93893225,678.93893225,661,636,879.06106775,788,804.06106775,652,631.93893225,652.93893225,0.400970546076,-0.0153501083179,0.0698312999215,0.999999932823,0.000241898095574,-0.000275324495949,5.97465209383e-06,1793239622366901504
+75,1.250000000,BASELINE,766,745,715.481334454,679,661,636,879,788,804,652,631.481334454,653,0.400969976208,-0.0153515582012,0.0698309345924,0.999999933735,0.00023807330667,-0.000275352093549,5.71379288315e-06,1793239622383568128
+76,1.266666667,BASELINE,766,745,715.097558377,679,661,636,879.097558377,788,804.097558377,652,631.097558377,653,0.400969749761,-0.0153528257042,0.0698308935424,0.999999934624,0.000234605806261,-0.000275105919026,5.45637790115e-06,1793239622400234752
+77,1.283333333,BASELINE,766,745,715.6756942,679,661,636,879.6756942,788,804.6756942,652,631.6756942,653,0.400971350043,-0.0153520117181,0.0698322325507,0.999999934429,0.000236928588678,-0.000273818796419,5.51863337023e-06,1793239622416901888
+78,1.300000000,BASELINE,766,745,715.748040983,678.748040983,661.251959017,636,879.748040983,788,804.748040983,652,632,653,0.400971760058,-0.0153510099807,0.0698324969788,0.999999934125,0.000238279905068,-0.000273756144925,5.46117975054e-06,1793239622433568768
+79,1.316666667,BASELINE,766,745,715.174166698,678.174166698,661.825833302,636,879.174166698,788,804.174166698,652,632,653,0.400970649328,-0.0153497683629,0.06983138847,0.999999933688,0.000238390028374,-0.000275257938216,5.25077989042e-06,1793239622450235392
+80,1.333333333,BASELINE,766,745,715,678.411448767,661.588551233,636,879,788,803.588551233,652,632,652.588551233,0.400971089443,-0.0153497532665,0.0698316271464,0.999999933526,0.000239354689388,-0.000275006045522,5.3660547388e-06,1793239622466902016
+81,1.350000000,BASELINE,766,745,715,679,661,635.997861973,879.002138027,788,803.002138027,652,632,652.002138027,0.400972199661,-0.0153502696936,0.0698324491454,0.999999933485,0.000240678681327,-0.000273994197569,5.62111720658e-06,1793239622483568128
+82,1.366666667,BASELINE,766,745,715,679,661,635.418592061,879.581407939,788,803.581407939,652,632,652.581407939,0.40097178373,-0.0153499992166,0.0698322740797,0.999999933979,0.000238487714823,-0.000274112760649,5.30381566117e-06,1793239622500235008
+83,1.383333333,BASELINE,766,745,715,679,661.159729625,635.159729625,879.840270375,788,804,652,632,653,0.400971622391,-0.0153500660822,0.0698322081589,0.99999993439,0.000236790320546,-0.000274087677729,5.14770694527e-06,1793239622516901888
+84,1.400000000,BASELINE,766,745,715,679,661.735581156,635.735581156,879.264418844,788,804,652,632,653,0.400972124306,-0.0153510117801,0.0698324265784,0.999999934595,0.00023637876251,-0.000273688373416,5.41153195345e-06,1793239622533568256
+85,1.416666667,BASELINE,765.682627452,745,715,679,661.682627452,635.682627452,879,788,804,652,631.682627452,652.682627452,0.400972044008,-0.015351421282,0.069832382338,0.999999934769,0.000235627764219,-0.000273700108292,5.49236434288e-06,1793239622550235136
+86,1.433333333,BASELINE,765.095792914,745,715,679,661.095792914,635.095792914,879,788,804,652,631.095792914,652.095792914,0.400971469389,-0.0153513755322,0.0698321150888,0.999999934915,0.000234588567598,-0.000274060831905,5.41782866266e-06,1793239622566902272
+87,1.450000000,BASELINE,765.485104742,745,715,679,661,635,879,788,804,652,631.485104742,652.485104742,0.400970044689,-0.0153517719867,0.0698312514343,0.999999934256,0.000235491633743,-0.000275686214092,5.37568201306e-06,1793239622583569152
+88,1.466666667,BASELINE,766,745,715,678.935412632,661.064587368,635.064587368,879.064587368,788,804,652,632,652.935412632,0.400968675242,-0.0153520947443,0.069830381504,0.999999933531,0.000236707042664,-0.000277271654518,5.32594503226e-06,1793239622600235776
+89,1.483333333,BASELINE,766,745,715,678.357969562,661.642030438,635.642030438,879.642030438,788,804,652,632,652.357969562,0.400969061339,-0.0153511473183,0.0698303855955,0.99999993356,0.000237393964985,-0.000276580930726,5.16576515085e-06,1793239622616902144
+90,1.500000000,BASELINE,766,745,715,678,662,635.782373295,879.782373295,787.782373295,804,652,632,652.217626705,0.400969889958,-0.0153507049601,0.0698308253667,0.999999933736,0.000237666252181,-0.000275710196655,5.20493538152e-06,1793239622633568512
+91,1.516666667,BASELINE,766,745,715,678,662,635.20978929,879.20978929,787.20978929,804,652,632,652.79021071,0.400971440345,-0.0153510863861,0.0698319757475,0.99999993415,0.000237262253903,-0.000274545859152,5.56925312071e-06,1793239622650235136
+92,1.533333333,BASELINE,766,745,715,678.37517874,661.62482126,635.37517874,879.37517874,787.37517874,803.62482126,652,632,653,0.400972349683,-0.0153513805507,0.0698327077177,0.999999934798,0.000236195660195,-0.000273102985569,5.55939268613e-06,1793239622666901760
+93,1.550000000,BASELINE,766,745,715,678.967307999,661.032692001,635.967307999,879.967307999,787.967307999,803.032692001,652,632,653,0.400972888329,-0.0153516242554,0.0698331977382,0.999999935577,0.00023474591461,-0.000271499045852,5.33316035343e-06,1793239622683568384
+94,1.566666667,BASELINE,765.453994754,745,715,678.453994754,661,636,879.453994754,788,803.546005246,652,632,653,0.400971183259,-0.0153511168988,0.0698319131084,0.999999934658,0.000236705860131,-0.000273181849701,5.00869163818e-06,1793239622700235264
+95,1.583333333,BASELINE,765.123348446,745,715,678.123348446,661,636,879.123348446,788,804,652,632,653,0.400969914635,-0.0153506751724,0.0698310299931,0.999999933858,0.000238579251347,-0.000274481300659,4.8445005374e-06,1793239622716902144
+96,1.600000000,BASELINE,765.698606744,745,715,678.698606744,661,636,879.698606744,788,804,652,632,653,0.400970725379,-0.0153506346935,0.0698319978448,0.99999993388,0.000239405534769,-0.000273672589781,5.2885480352e-06,1793239622733569024
+97,1.616666667,BASELINE,766,745,715,679,661,636,879.719661446,788,804,652,631.719661446,653,0.40097145768,-0.0153506331637,0.0698325627207,0.99999993415,0.000239082511972,-0.000272966212291,5.41622886636e-06,1793239622750235648
+98,1.633333333,BASELINE,766,745,715,679,661,636,879.130805459,788,804,652,631.130805459,653,0.400972103654,-0.0153506744979,0.0698326841148,0.999999934691,0.000237494657725,-0.000272372454517,5.19574267487e-06,1793239622766901760
+99,1.650000000,BASELINE,765.549398918,744.549398918,715,679,661,636,879,788,804,652,631,653,0.400971535444,-0.0153489098885,0.0698322952595,0.999999934243,0.000237968827852,-0.000273611809416,4.67119676462e-06,1793239622783568384
+100,1.666666667,BASELINE,765,744.029741543,715,678.970258457,661.029741543,636,879,788,804,652,631.029741543,653,0.40097076346,-0.0153469164882,0.0698318562295,0.999999933595,0.000238904817414,-0.000275167573406,4.13210623196e-06,1793239622800235008
+101,1.683333333,BASELINE,765,744.606331162,715,678.393668838,661.606331162,636,879,788,804,652,631.606331162,653,0.400972620028,-0.0153501988182,0.0698331738112,0.999999934542,0.000237505097769,-0.000272915958089,4.92210903362e-06,1793239622816901888
+102,1.700000000,BASELINE,765.182149489,745,715,678,661.817850511,636,879,787.817850511,804,652,631.817850511,653,0.400973326103,-0.0153517515495,0.0698337969154,0.999999934804,0.000237533132673,-0.000271920666822,5.38289989269e-06,1793239622833568512
+103,1.716666667,BASELINE,765.756307824,745,715,678,661.243692176,636,879,787.243692176,804,652,631.243692176,653,0.400971556169,-0.0153495819643,0.0698329254158,0.999999933598,0.000240633876974,-0.000273629144845,5.13518471603e-06,1793239622850235392
+104,1.733333333,BASELINE,766,745,715,678,661,636,879,787,804,652,631.340455699,653,0.400970863366,-0.0153495786417,0.0698325446478,0.999999933817,0.000239175925315,-0.000274110434314,5.01811035543e-06,1793239622866902272
+105,1.750000000,BASELINE,766,745,715,678,661,636,879,787,804,652,631.931970117,653,0.40097096486,-0.0153511727635,0.0698325257548,0.999999935074,0.000234356302043,-0.000273686771018,4.9973730725e-06,1793239622883569152
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661,636,879,787,804,652,632,653,0.400970092646,-0.0153521779971,0.0698310207754,0.999999933987,0.000237186233517,-0.000275215029495,5.13104121124e-06,1793239622914288384
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.425271966,745,715.574728034,678.425271966,661,636,879.574728034,787,804,652,632,653,0.400968813918,-0.0153509247745,0.0698304183041,0.999999933617,0.000237588270172,-0.000276212486842,5.00677888881e-06,1793239622930955776
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.14951694,745,715.85048306,678,661,636,880,787.14951694,804,652,632,653,0.400968418684,-0.0153504389297,0.0698303334336,0.99999993356,0.000237738061461,-0.000276287473894,5.03301446562e-06,1793239622947622912
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.724479189,745,715.275520811,678,661,636,880,787.724479189,804,652,632,653,0.4009705374,-0.0153521366318,0.0698317213784,0.999999934394,0.00023717009733,-0.000273737603695,5.48748660661e-06,1793239622964289024
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.691203791,745,715,678,661.308796209,636,879.691203791,788,804,652,632,653,0.400972001775,-0.0153522410603,0.0698328910512,0.999999935059,0.000236583150077,-0.00027180624452,5.67907802517e-06,1793239622980955392
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.098279332,745,715,678,661.901720668,636,879.098279332,788,804,652,632,653,0.400972864079,-0.0153508794925,0.0698338598884,0.999999935571,0.00023597873619,-0.000270443987222,5.62878872808e-06,1793239622997622272
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.482581374,745,715,678,661.517418626,636,879,788,804,651.517418626,632,653,0.400972566768,-0.0153514878877,0.0698332305829,0.999999935093,0.00023685343815,-0.000271444926025,5.58881108663e-06,1793239623014288896
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.939617431,744.939617431,715,678.120765139,661,636,879,788,804,651.060382569,631.939617431,653,0.400972088255,-0.0153523372998,0.0698324037074,0.999999934446,0.000238035741234,-0.000272792737066,5.58268234585e-06,1793239623030955264
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.367432447,744.367432447,715,679.265135106,661,636,879,788,804,651.632567553,631.367432447,653,0.40097202674,-0.0153519120206,0.0698325936066,0.99999993405,0.000239334341015,-0.000273100856807,5.84609123673e-06,1793239623047621888
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.210520477,715,679.789479523,661,635.789479523,879.421040953,788,804,652,631,653,0.400973991139,-0.0153517039714,0.0698339313186,0.999999934326,0.000239631968119,-0.000271825638652,5.94488009531e-06,1793239623064288512
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.798824019,715,679.201175981,661,635.201175981,880.597648038,788,804,652,631,653,0.400979591079,-0.0153518857457,0.0698373288025,0.999999935796,0.000238133330258,-0.000267709089999,5.74825509491e-06,1793239623080955136
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.380898799,745,715,679,661,635.380898799,880.619101201,788,804.380898799,652,631,653,0.400997916469,-0.0153525319857,0.0698455028476,0.999999939469,0.000237619809475,-0.000254080621101,6.47467251297e-06,1793239623097621760
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.959736772,745,715,679,661,635.959736772,880.040263228,788,804.959736772,652,631,653,0.401022854811,-0.0153534195916,0.0698561590972,0.999999944007,0.000237618217805,-0.000235509154694,7.680761297e-06,1793239623114288384
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,678.463232697,661,636,879.463232697,788,804.463232697,652,631.536767303,653,0.401072863047,-0.0153557672067,0.0698734234464,0.999999950645,0.000238946108885,-0.000203805140392,8.8973014787e-06,1793239623130955008
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.886685453,744.886685453,715,678,661,635.886685453,879,787.886685453,803.886685453,652,632,653,0.401126941827,-0.0153585108211,0.0698900898396,0.999999956008,0.000239530352249,-0.000174670206395,9.97110286477e-06,1793239623147621888
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.31155698,744.31155698,715,678,661,635.31155698,879,787.31155698,803.31155698,652,632,653,0.401189971843,-0.0153624234972,0.0699023059103,0.999999959136,0.000236678790608,-0.000160006785877,1.04599877437e-05,1793239623164288512
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.27083503,744.27083503,715,678.27083503,661,635.27083503,879,787.27083503,803,652,631.72916497,653,0.401258111826,-0.0153654389504,0.0699105167635,0.99999996114,0.000234607690232,-0.000150262191515,1.00108745057e-05,1793239623180955136
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.861812932,744.861812932,715,678.861812932,661,635.861812932,879,787.861812932,803,652,631.138187068,653,0.401332292084,-0.0153673938336,0.0699139932143,0.999999962006,0.000233459141008,-0.000146331938729,8.45299251704e-06,1793239623197621504
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.556206673,744.556206673,715,678.556206673,661,636,879,788,803.443793327,652,631,653,0.401423843657,-0.0153717658337,0.0699160833764,0.99999996296,0.000232141201947,-0.000141942441631,6.61719499405e-06,1793239623214288128
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.022880953,715,678.022880953,661,636,879,788,804,652,631,653,0.401521567511,-0.015376859726,0.0699177201095,0.99999996391,0.000230722869833,-0.00013756608366,4.67250456363e-06,1793239623230954752
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.598422473,715,678.598422473,661,636,879,788,804,652,631,653,0.401640322906,-0.0153815723098,0.0699186238248,0.999999964607,0.000228128321971,-0.00013689238903,2.14628877206e-06,1793239623247621376
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.173141596,744.826858404,715,679,661,636,879,788,804,652,631,653,0.401767989692,-0.0153870152929,0.0699194429591,0.999999965647,0.000224298554211,-0.000135634060177,-6.46343529983e-07,1793239623264288000
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.745962225,744.254037775,715,679,661,636,879,788,804,652,631,653,0.40191622746,-0.0153941443248,0.0699200668469,0.999999967465,0.000217617412522,-0.000133026165245,-4.05396977347e-06,1793239623280954880
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.669528459,744,715,678.669528459,661,635.669528459,879,788,804,652,631.330471541,652.669528459,0.40208559836,-0.0154014376998,0.0699238639215,0.999999969701,0.000211161429962,-0.00012631380737,-7.34275480797e-06,1793239623297621504
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.075704375,744,715,678.075704375,661,635.075704375,879,788,804,652,631.924295625,652.075704375,0.402271810254,-0.0154088620405,0.0699301897064,0.999999972189,0.000204884875819,-0.000116330605502,-1.05368357313e-05,1793239623314288128
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.503152371,715,678,661.503152371,635.503152371,879,788,804,652,631.496847629,652.503152371,0.402483164969,-0.0154177344743,0.0699324232237,0.999999974979,0.000194271508941,-0.000109860154356,-1.51994790312e-05,1793239623330954752
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.920271046,715,678,661.920271046,636,879,788,804,651.920271046,631,653,0.402702997477,-0.0154268909883,0.0699346167546,0.999999979058,0.000175433828226,-0.000103468827707,-2.0037723727e-05,1793239623347621376
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.344274514,715,678,661.344274514,636,879,788,804,651.344274514,631,653,0.402952732779,-0.0154364987394,0.0699402832085,0.999999989265,0.00010934866962,-9.43752450345e-05,-2.46333691734e-05,1793239623364288000
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.237104187,744.237104187,715,678,661,636,879,788,804,651.237104187,631,653,0.403224385867,-0.0154472424477,0.0699479970948,0.999999994119,6.62720971278e-05,-8.07604814424e-05,-2.91074298015e-05,1793239623380954624
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.82647926,744.82647926,715,678,661,636,879,788,804,651.82647926,631,653,0.403528602675,-0.0154596738718,0.0699587528956,0.99999999597,5.73798896933e-05,-6.04285012918e-05,-3.34008490493e-05,1793239623397621504
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879,788,804,652,631,652.591254058,0.403840967871,-0.0154689055906,0.0699601919999,0.999999996339,4.6598837271e-05,-6.06281471613e-05,-3.83951832667e-05,1793239623414288128
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879,788,804,652,631,652.011953462,0.404156733081,-0.0154768021898,0.0699577435889,0.999999996025,3.50296394987e-05,-6.93948862331e-05,-4.36819834214e-05,1793239623430954752
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.437243646,745,715,678.562756354,661,635.437243646,879,788,803.437243646,652,631,652.562756354,0.404528364669,-0.0154820574821,0.0699643155735,0.999999996992,4.04069952255e-05,-5.68268240574e-05,-3.39737702451e-05,1793239623447621632
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,678.859494082,661,635.140505918,879,788,803.140505918,652,631,653,0.404906042806,-0.0154832625836,0.069970043969,0.999999997247,5.22783816186e-05,-4.5598090984e-05,-2.63551763822e-05,1793239623464288000
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715,678.271761322,661,635.728238678,879,788,803.728238678,652,631,653,0.40529922036,-0.015471753159,0.0699724823123,0.999999995348,8.36836310527e-05,-4.00631713444e-05,-2.63933900327e-05,1793239623480954624
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,879,787.688445938,804,652,631,653,0.405717698558,-0.0154765732758,0.0699685980895,0.99999999592,7.3362930379e-05,-4.46769244691e-05,-2.79609303246e-05,1793239623497621504
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,879,787.108929793,804,652,631,653,0.406157937429,-0.0154954381381,0.0699592759408,0.999999997473,2.71544889812e-05,-5.80193690365e-05,-3.08438171072e-05,1793239623514288128
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.468278292,745,715,678,661,636,879,787.468278292,804,652,631.468278292,652.531721708,0.406614411941,-0.0155116202254,0.0699427031834,0.999999995954,7.13401985839e-06,-8.32314448904e-05,-3.33844819146e-05,1793239623530954752
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,678.044846783,661,636,879.044846783,788,804,652,631.955153217,652.044846783,0.407081126979,-0.0155256496435,0.0699263632278,0.999999993544,-5.16228348075e-06,-0.000107757706325,-3.56908694761e-05,1793239623547621376
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,678.620169777,661,636,879.620169777,788,804,652,631.379830223,652.620169777,0.407624519774,-0.0155215615171,0.0699326295409,0.999999995142,2.20366172576e-06,-9.1672053401e-05,-3.61631013647e-05,1793239623564288256
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,744.799562925,715,678.799562925,661,636,880,787.799562925,803.799562925,651.799562925,631,653,0.408182231346,-0.0155181710441,0.0699421794527,0.99999999684,7.59171608819e-06,-7.01973911278e-05,-3.65292789072e-05,1793239623580954880
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,744.209689186,715,678.209689186,661,636,880,787.209689186,803.209689186,651.209689186,631,653,0.408767763373,-0.0155161360678,0.0699581091907,0.999999998554,9.13685217202e-06,-3.82522227071e-05,-3.66893994727e-05,1793239623597621760
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.626666822,744.373333178,715.373333178,678.373333178,661,635.626666822,880,787.373333178,803.373333178,651.373333178,631,653,0.409364426088,-0.0155136241162,0.0699596047478,0.999999998694,1.25079242547e-05,-3.19336882823e-05,-3.79005308012e-05,1793239623614288896
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.047423325,744.952576675,715.952576675,678.952576675,661,635.047423325,880,787.952576675,803.952576675,651.952576675,631,653,0.409967227868,-0.0155108490909,0.0699531391935,0.99999999828,1.68860834933e-05,-3.97494154906e-05,-3.96913426346e-05,1793239623630956288
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.52685927,745,715.47314073,679,661,635.52685927,879.47314073,788,804,652,631,653,0.410586623095,-0.0155128508934,0.0699481970259,0.999999997831,1.02777965222e-05,-5.05763860845e-05,-4.09083014891e-05,1793239623647622656
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,744.899035873,715,679,661.100964127,636,879,788,804.100964127,652,631,653,0.411221894312,-0.0155153503113,0.0699476124621,0.999999997691,3.30920625768e-06,-5.35937682942e-05,-4.16482694965e-05,1793239623664288768
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,744.323687796,715,679,661.676312204,636,879,788,804.676312204,652,631,653,0.411924807038,-0.0155181864137,0.0699668640104,0.99999999901,-7.49213758312e-07,-1.86558451815e-05,-4.03875078939e-05,1793239623680955136
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,744.258006905,715.258006905,679,662,636,879,788,804.741993095,652,631,653,0.412639463476,-0.0155213457466,0.0699908285873,0.999999998991,-4.90276170583e-06,2.09735931158e-05,-3.9432061643e-05,1793239623697621760
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,744.847864771,715.847864771,679,662,636,879,788,804.152135229,652,631,653,0.413369224886,-0.0155249208221,0.0700208551098,0.999999996982,-9.17866466637e-06,6.66373081194e-05,-3.88693147503e-05,1793239623714288640
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.574252433,744.574252433,715.574252433,678.574252433,662,636,879.425747567,788,804.425747567,652,631,653,0.414093621064,-0.0155238613043,0.0700184474954,0.999999997685,-8.33413710151e-06,5.43122835854e-05,-4.01358768026e-05,1793239623730955264
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.000531736,744.000531736,715.000531736,678.000531736,662,636,879.999468264,788,804.999468264,652,631,653,0.414816152453,-0.0155211909836,0.0700047670473,0.999999998862,-5.70994876626e-06,2.18326483363e-05,-4.20382347999e-05,1793239623747622144
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,744.581279041,715,678.581279041,661.418720959,635.418720959,880,788,805,652,631,653,0.415531454251,-0.0155167770685,0.0699513396707,0.999999996806,-7.98969966797e-06,-6.35723423767e-05,-4.7779484839e-05,1793239623764288768
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.164637792,745,715,679,661.164637792,635.164637792,880,788,804.835362208,651.835362208,631,653,0.416269032084,-0.0155146416176,0.0699160170724,0.99999999142,-1.0872211179e-05,-0.000119825011784,-5.1807903387e-05,1793239623780955136
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.751951367,745,715,679,661.751951367,635.751951367,880,788,804.248048633,651.248048633,631,653,0.417063816514,-0.0155183598366,0.0699272696671,0.999999993449,-1.5290514901e-05,-0.000101108664484,-5.14298149297e-05,1793239623797621760
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.665400722,745,715.334599278,679,662,636,880,788,804,651.334599278,631.334599278,653,0.417887739281,-0.0155200473337,0.0699507778241,0.99999999659,-1.71268665431e-05,-6.33367448606e-05,-5.0144660005e-05,1793239623814288384
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.086164069,745,715.913835931,679,662,636,880,788,804,651.913835931,631.913835931,653,0.418732966081,-0.0155202500978,0.069983246456,0.999999998625,-1.70754614072e-05,-1.16326225508e-05,-4.81963166015e-05,1793239623830954752
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.491570546,745,715.508429454,679,661.508429454,636,880,788,804,652,632,653,0.419604455777,-0.0155247828252,0.0700030024108,0.999999998343,-2.8765803623e-05,1.50813550413e-05,-4.75208270344e-05,1793239623847621632
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.931294099,745,715,679,661.068705901,636,880,788,804,652,631.931294099,653,0.420478192857,-0.0155299788134,0.0700196561389,0.999999997377,-4.12376512571e-05,3.64440276811e-05,-4.70882123699e-05,1793239623864288512
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.356639087,745,715,679,661.643360913,636,880,788,804,652,631.356639087,653,0.421334682753,-0.0155344870242,0.0700298244287,0.999999996643,-4.4354609793e-05,5.05583517014e-05,-4.68061520258e-05,1793239623880955392
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,880,788,804,651.776042044,631,653,0.422159252134,-0.0155358151139,0.0700176329663,0.999999997325,-4.61268096606e-05,2.9021201972e-05,-4.87832274186e-05,1793239623897622272
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679,662,636,880,788,804,651.185724696,631,653,0.422931604792,-0.0155319410346,0.0699688645278,0.999999996181,-4.56991997505e-05,-5.08360541207e-05,-5.44558872743e-05,1793239623914288896
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.396808704,745,715,678.603191296,662,635.603191296,880.396808704,788,804,651.396808704,631.396808704,653,0.423732213908,-0.0155273727901,0.0699106853249,0.999999987301,-5.16490817829e-05,-0.000137386029014,-6.20924392993e-05,1793239623930955264
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.975768916,745,715,678.024231084,662,635.024231084,880.975768916,788,804,651.975768916,631.975768916,653,0.424545793853,-0.0155224858953,0.0698481861971,0.999999969908,-6.05264945593e-05,-0.000227008231422,-7.063049791e-05,1793239623947621632
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679.101999307,662,635.550999654,881,788,804,651.449000346,631.449000346,653,0.425485102405,-0.0155290919493,0.0698949885905,0.99999998469,-5.82929096799e-05,-0.000151349599087,-6.56933328161e-05,1793239623964288512
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,881,788,804,651,631,653,0.426420459742,-0.0155352389242,0.0699453821601,0.999999993825,-5.69961226031e-05,-7.39613738646e-05,-6.02520583231e-05,1793239623980954880
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,881,788,804,651,631,653,0.427322184403,-0.015537962851,0.0699915616012,0.999999996505,-6.07643996932e-05,-1.61263666456e-05,-5.51117426216e-05,1793239623997621504
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.716351993,745,715,680,662,636,880.716351993,788,804,651,631,653,0.428215876486,-0.0155400946334,0.0700245212154,0.999999996046,-6.4185425405e-05,3.21271139725e-05,-5.24904722339e-05,1793239624014288384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.122653558,745,715,680,662,636,880.122653558,788,804,651,631,653,0.429100788246,-0.0155415791532,0.0700430304766,0.999999993912,-6.7226876869e-05,6.99071999406e-05,-5.26227244653e-05,1793239624030955520
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.457725424,745,715,680,662,636,880.457725424,788,804.457725424,651,631,653,0.429955453274,-0.0155414817182,0.0700335712745,0.999999994685,-6.75548145207e-05,5.61021852962e-05,-5.40225657223e-05,1793239624047622144
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.965491947,745,715,680,662.034508053,636,880.965491947,788,805,651,631,652.965491947,0.430796910712,-0.0155406056875,0.0700132482842,0.999999995953,-6.6638291614e-05,2.27264674296e-05,-5.60087605895e-05,1793239624064289024
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.390716384,745,715,680,662.609283616,636,880.390716384,788,805,651,631,652.390716384,0.431554891661,-0.0155339888702,0.0699368572531,0.999999990737,-5.7300272522e-05,-0.000106757725283,-6.20075151905e-05,1793239624080955392
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.188362012,745,715,680,662.811637988,636,880.188362012,787.811637988,805,651.188362012,631.188362012,652.188362012,0.432342686473,-0.0155296409163,0.0698909811525,0.999999980088,-5.27580896863e-05,-0.000180773315464,-6.60370265929e-05,1793239624097621760
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.776574468,745,715,680,662.223425532,636,880.776574468,787.223425532,805,651.776574468,631.776574468,652.776574468,0.433193769594,-0.0155301092506,0.0699098814133,0.999999986734,-5.83963950096e-05,-0.000137041489905,-6.58862778247e-05,1793239624114288384
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.640416663,787.359583337,805,652,631.640416663,653,0.434058896556,-0.0155349541673,0.0699556974303,0.999999993938,-6.75437463906e-05,-6.05699512568e-05,-6.23919915851e-05,1793239624130955008
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.060594933,787.939405067,805,652,631.060594933,653,0.43493262507,-0.0155424796627,0.0700179988678,0.99999999463,-7.88403252204e-05,3.59540766899e-05,-5.68498477408e-05,1793239624147621376
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.486037533,880,788,805,651.486037533,631,653,0.435740433874,-0.0155471599448,0.0700301166689,0.999999993806,-7.8354420062e-05,5.67100817962e-05,-5.50635710323e-05,1793239624164288512
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.090243548,880.090243548,788,805,651,631.090243548,653,0.436533937012,-0.0155507666653,0.0700322414064,0.999999993451,-7.81393574027e-05,6.3568344713e-05,-5.4324418769e-05,1793239624180955648
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.679451851,880.679451851,788,805,651,631.679451851,653,0.437290877984,-0.0155502734619,0.0700114949472,0.99999999369,-8.70245409829e-05,4.24746003937e-05,-5.69514116674e-05,1793239624197622528
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.528544147,635.735727926,881,788,804.735727926,651,632,653,0.438015879632,-0.0155496805778,0.0699789982703,0.999999993808,-9.33910939762e-05,7.75047849805e-07,-6.05150911766e-05,1793239624214288896
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,663.687713354,635.156143323,881,788,804.156143323,651,632,653,0.438702773269,-0.015548968761,0.0699324819869,0.999999991048,-9.67525772053e-05,-6.55100352289e-05,-6.51963648692e-05,1793239624230955008
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,663.157968202,635.421015899,880.578984101,787.578984101,804.421015899,651,631.578984101,653,0.439331996097,-0.0155485370671,0.0698760202424,0.999999980063,-9.81594643009e-05,-0.000159552668305,-6.91519869357e-05,1793239624247621632
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662.005438373,635.997280813,880.002719187,787.002719187,804.997280813,651,631.002719187,653,0.439939952952,-0.0155482086681,0.0698158911194,0.999999957659,-9.8845596301e-05,-0.000263830862564,-7.28400257986e-05,1793239624264288256
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,636,880.572589455,787.572589455,805,651,631,653,0.440625653336,-0.0155546703209,0.0698233401275,0.999999960693,-0.000108338738053,-0.000247939965986,-7.34987484621e-05,1793239624280954880
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.851768433,745,715,680,662,635.851768433,880.851768433,788,805,651,631,653,0.441307983769,-0.0155624809045,0.0698367181678,0.999999964737,-0.000118968073888,-0.000225817647859,-7.33412682897e-05,1793239624297621504
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.275149356,745,715,680,662,635.275149356,880.275149356,788,805,651,631,653,0.44197951004,-0.0155740968508,0.0698663051246,0.999999971129,-0.000132760330696,-0.000187333082622,-7.0866477592e-05,1793239624314288640
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,880,787.691360287,804.691360287,651,631,653,0.442585847539,-0.0155828452866,0.0698690020083,0.999999968776,-0.000144263350602,-0.000191814047805,-6.9590339437e-05,1793239624330955520
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,880,787.10102725,804.10102725,651,631,653,0.443132687656,-0.0155889765647,0.0698471565073,0.999999958051,-0.000153676998994,-0.000235509356491,-6.94082032563e-05,1793239624347621888
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.520775152,635,880,787,804.479224848,651,631,653,0.443645213436,-0.0155949047459,0.0698090324337,0.999999939067,-0.000166932711938,-0.000298158341663,-7.14250278601e-05,1793239624364288512
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714.943040312,680,661,634.943040312,880,787,805,651,631.056959688,653,0.444149116194,-0.0156005786695,0.069768838542,0.999999915578,-0.000180048836205,-0.000361868654035,-7.40067599914e-05,1793239624380954880
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714.369260025,680,661,634.369260025,880,787,805,651,631.630739975,653,0.444639062922,-0.0156043260838,0.0697403605357,0.999999900052,-0.00018470069485,-0.000399701066168,-7.75946200662e-05,1793239624397621760
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.210335099,714.210335099,680.210335099,661,634.210335099,880.210335099,786.789664901,805,651,631.789664901,653,0.445125179073,-0.0156090954934,0.0697196643809,0.999999887828,-0.000192863888449,-0.000425094429858,-8.02651674124e-05,1793239624414288384
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.800428812,714.800428812,680.800428812,661,634.800428812,880.800428812,786.199571188,805,651,631.199571188,653,0.445604379089,-0.0156157101084,0.0697130183099,0.999999883592,-0.000207366773659,-0.000428029171617,-8.12795125404e-05,1793239624430955008
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.383405419,746,715,681,661,634.616594581,880.616594581,786,805,651,631,653,0.446048210152,-0.0156214131407,0.0697100444956,0.999999878731,-0.000213406764769,-0.000436438447463,-8.07253124029e-05,1793239624447621888
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.962744979,746,715,681,661,634.037255021,880.037255021,786,805,651,631,653,0.446473966434,-0.0156266503216,0.0697089473375,0.999999873518,-0.000215121909881,-0.000447645409991,-7.93695285601e-05,1793239624464288768
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.461218132,745.461218132,715,680.461218132,661,634,880.538781868,786,805,651,631,653,0.446835802466,-0.0156316634882,0.0696914683148,0.999999855148,-0.000220177464995,-0.000484700717463,-7.93119421848e-05,1793239624480955648
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,880.883195648,786,805,651,631.116804352,653,0.447189251295,-0.0156365496093,0.0696723739919,0.999999834966,-0.000227214349566,-0.000521568033099,-8.00531570296e-05,1793239624497622272
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661,634,880.296267645,786,805,651,631.703732355,653,0.447526623834,-0.0156409863542,0.0696513096909,0.999999815847,-0.000241301855488,-0.000550528758015,-8.36503554828e-05,1793239624514289152
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.287018037,745,715,680,661,634,880.287018037,786,805,651,631.712981963,653,0.447858580108,-0.0156453358513,0.0696431358509,0.999999808088,-0.000250325532291,-0.000560208758437,-8.5601644167e-05,1793239624530955776
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.866591097,745,715,680,661,634,880.866591097,786,805,651,631.133408903,653,0.448185015612,-0.015649596417,0.0696481011485,0.999999812627,-0.000254187690837,-0.000550236080422,-8.58752709863e-05,1793239624547621632
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.555702051,745,715,680,661,634,881,785.555702051,805,651.444297949,631,653,0.448487018502,-0.0156524701637,0.069658235103,0.999999821586,-0.000257270456902,-0.00053238219394,-8.49036660456e-05,1793239624564288256
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.97866138,634,881,785,805,651.97866138,631,653,0.448779374731,-0.0156549441122,0.0696693076818,0.999999831094,-0.000259394026594,-0.000513408276385,-8.32930231035e-05,1793239624580955136
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680,660.404422961,634,881,785,805,651.404422961,631,653,0.449011074221,-0.0156578035858,0.0696646557652,0.999999829165,-0.000242702559102,-0.000526474380904,-7.47720472082e-05,1793239624597621760
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.174762835,715,680.174762835,660,633.825237165,881,784.825237165,805,651.174762835,631,653,0.449235615117,-0.0156597400328,0.0696595565296,0.999999826414,-0.000230826597711,-0.000537687296665,-6.9166764725e-05,1793239624614288640
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.765730944,715,680.765730944,660,633.234269056,881,784.234269056,805,651.765730944,631,653,0.449443107474,-0.0156594782513,0.0696533919851,0.999999822735,-0.000230418975669,-0.000544486761664,-7.05053339024e-05,1793239624630955264
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.349402761,746,715,681,660,633.349402761,881,784,805,651.650597239,630.650597239,653,0.449625851109,-0.0156620692911,0.0696461087906,0.999999816473,-0.000235227111566,-0.000553652078165,-7.20491996803e-05,1793239624647621888
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.928282653,746,715,681,660,633.928282653,881,784,805,651.071717347,630.071717347,653,0.449792340557,-0.0156665339775,0.0696380909,0.999999808388,-0.000243460798938,-0.000564371214745,-7.37278981596e-05,1793239624664288512
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.496313583,745.496313583,715,681,660,633.496313583,881,784.503686417,805,651,630,653,0.449921336117,-0.0156678945591,0.0696261264662,0.99999979431,-0.000248268543327,-0.000586580375002,-7.52704714895e-05,1793239624680955136
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.921188707,633,881,784.921188707,805,651,630.078811293,653,0.450042581284,-0.015669037496,0.0696143130625,0.999999779651,-0.00025324746304,-0.000608838577158,-7.66711984429e-05,1793239624697621504
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.344720686,633,881,784.344720686,805,651,630.655279314,653,0.450148365873,-0.0156715778622,0.0696069773335,0.999999769683,-0.0002623664128,-0.000621146656595,-7.72977828057e-05,1793239624714288128
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659,633,881,784,805,651,631,653,0.450248995877,-0.0156744927876,0.0696014442505,0.999999761907,-0.000270958113861,-0.000629823023799,-7.80446109646e-05,1793239624730954752
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,633,881,784,805,651,631,653,0.450341958505,-0.0156779648642,0.0695985925766,0.999999757621,-0.000278765539974,-0.000633097273422,-7.89702999303e-05,1793239624747621632
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.409922671,715,681,659.409922671,633,880.590077329,784,805,651,630.590077329,653,0.450420415119,-0.0156802350047,0.0695972363314,0.999999755821,-0.000283443163143,-0.000633855635243,-7.90274183314e-05,1793239624764288768
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.985999198,715,681,659.985999198,633,880.014000802,784,805,651,630.014000802,653,0.450492992011,-0.0156820179648,0.0695964862279,0.999999755038,-0.000286852183872,-0.000633594232809,-7.8732479219e-05,1793239624780955648
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.4379029,715,681,660,633,881.1241942,784,805,651.5620971,630,653,0.450541502445,-0.0156807665245,0.0695919382629,0.999999750474,-0.000287901014411,-0.000640206053095,-7.93800079367e-05,1793239624797621760
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.137619641,715,681,660,633,881.724760717,784,805,651.862380359,630,653,0.450586250229,-0.015679676381,0.0695875185991,0.999999745866,-0.000288858332303,-0.000646879207959,-7.98499645214e-05,1793239624814288128
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.711317228,715,681,660,633,880.577365545,784,805,651.288682772,630,653,0.450620974787,-0.015679336847,0.0695838052514,0.999999741521,-0.000289711961869,-0.000653204210504,-7.96828558932e-05,1793239624830954752
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.703793367,715,681,660,633,880.296206633,784,805,651,630,653,0.450651543139,-0.0156781771114,0.0695814509231,0.999999739194,-0.000289785351215,-0.000656711892229,-7.97877583557e-05,1793239624847621376
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.107568038,715,681,660,633,880.892431962,784,805,651,630,653,0.450677901799,-0.0156761866186,0.0695804731039,0.999999738941,-0.00028906845907,-0.000657365996114,-8.0168172566e-05,1793239624864288256
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714.52962036,681,660,632.52962036,881,783.52962036,805,651,630,652.52962036,0.450695826676,-0.0156764711488,0.0695798953017,0.999999738259,-0.000289396900143,-0.000658307112304,-7.97718608826e-05,1793239624880954880
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.045186433,714.045186433,681,659.954813567,632,881,783,805,651,630.045186433,652.045186433,0.450711261969,-0.015677196625,0.0695793863429,0.999999737471,-0.000289872595906,-0.000659357246298,-7.92453653205e-05,1793239624897621760
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745.630544182,714.630544182,681,659.369455818,632,881,783,805,651,630.630544182,652.630544182,0.450719129539,-0.0156772065855,0.0695786477136,0.999999736568,-0.000289357828333,-0.000660955339477,-7.92065639005e-05,1793239624914288896
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659,632.21386721,880.78613279,783,805,651,630.78613279,653,0.450726019858,-0.0156769866981,0.0695776626184,0.999999735825,-0.000288475089054,-0.000662496420774,-7.89348194686e-05,1793239624930955776
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,715,681,659,632.793708345,880.206291655,783,805,651,630.206291655,653,0.450731237884,-0.0156763734902,0.0695762557656,0.999999735355,-0.000286962669124,-0.000663939942079,-7.8264458212e-05,1793239624947622656
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.627197024,714.627197024,680.627197024,659.372802976,633,880,783,805,651,630,653,0.450733406941,-0.0156773715788,0.0695747446553,0.999999733537,-0.0002877577612,-0.000666368157721,-7.79432640562e-05,1793239624964288768
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.048514668,714.048514668,680.048514668,659.951485332,633,880,783,805,651,630,653,0.450733892212,-0.0156792595014,0.0695731759693,0.999999730964,-0.000289827170247,-0.000669340167948,-7.78148964576e-05,1793239624980954880
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.527503347,680.527503347,660.527503347,633,880.527503347,783,805,651,630.527503347,653,0.450735247448,-0.015678446214,0.0695727799293,0.999999730549,-0.000289256029211,-0.000670212717272,-7.77691918516e-05,1793239624997621504
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,715,681,660.789154906,632.894577453,881,783,805,651,630.894577453,653,0.450736331811,-0.015677015009,0.0695723685157,0.99999973034,-0.000288149770958,-0.000670998803055,-7.77770287224e-05,1793239625014288128
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.613690091,632.306845045,881,783,805,651,630.306845045,653,0.450735812717,-0.0156738876867,0.0695713958381,0.999999730174,-0.00028570081274,-0.000672268258562,-7.79952117592e-05,1793239625030955008
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.277013727,715,681,659.277013727,632.277013727,880.722986273,783,805,651,630,653,0.450735438994,-0.0156723573034,0.0695708879682,0.999999729832,-0.000284059084344,-0.000673466596638,-7.80294577294e-05,1793239625047621888
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.856640961,715,681,659.856640961,632.856640961,880.143359039,783,805,651,630,653,0.450735224079,-0.0156725714372,0.0695708878603,0.999999729305,-0.000283299184317,-0.000674587245239,-7.78627684108e-05,1793239625064288512
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659.56562494,633,880,783,805,651,630,653,0.450736978955,-0.0156738638348,0.0695713813296,0.999999729841,-0.000284566491632,-0.000673325827969,-7.72843775497e-05,1793239625080955136
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.988598697,715,681,659.011401303,633,880.011401303,783.011401303,805,651,630,653,0.450739326336,-0.0156754608637,0.0695720102909,0.999999730688,-0.000286462211516,-0.000671338765808,-7.66037108737e-05,1793239625097621760
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.415793798,715,681,659.584206202,633,880.584206202,783.584206202,805,651,630,653,0.450738976609,-0.0156746111757,0.0695713245822,0.99999973005,-0.000286499911183,-0.000672163767302,-7.75484913622e-05,1793239625114288384
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.838520926,633,881,783.838520926,805,651,630,653,0.450738742336,-0.015673876208,0.0695707072364,0.99999972968,-0.000286210054948,-0.000672771605443,-7.81197180334e-05,1793239625130955008
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.249416088,633,881,783.249416088,805,651,630,653,0.450738813803,-0.0156734450403,0.0695702709282,0.999999730021,-0.000285052771496,-0.00067280435574,-7.77017066467e-05,1793239625147621632
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.334058285,745.334058285,715,681,659,633,880.665941715,783,805,651,630,653,0.450739860235,-0.0156728426907,0.0695708169386,0.99999973104,-0.000283586474094,-0.000671958656537,-7.72701085724e-05,1793239625164288000
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.91339847,745.91339847,715,681,659,633,880.08660153,783,805,651,630,653,0.450741622534,-0.015672114651,0.0695720842153,0.999999732553,-0.000281893283614,-0.000670467956824,-7.68285345068e-05,1793239625180954880
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.510488072,746,715,681,659.489511928,632.510488072,880.489511928,783,805,651,630,653,0.450741634251,-0.0156729326756,0.0695724119616,0.999999732806,-0.000281721279435,-0.000670170616921,-7.6767641615e-05,1793239625197621760
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.065145943,745.934854057,715,681,659.934854057,632,881,783,805.065145943,651,630,653,0.450741419613,-0.0156737256518,0.0695725259458,0.999999732757,-0.000281884666837,-0.000670174015688,-7.67751369156e-05,1793239625214288896
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.641467569,745.358532431,715,681,659.358532431,632,881,783,805.641467569,651,630,653,0.450741843055,-0.0156721899247,0.0695722583135,0.999999732077,-0.000282581896992,-0.000670891450283,-7.67942560521e-05,1793239625230955264
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.553846992,745,715,680.776923496,659,632.223076504,881,783,805.776923496,651.223076504,630,653,0.450742002997,-0.0156714204618,0.0695717597642,0.999999731656,-0.00028273027643,-0.000671456970474,-7.67861335487e-05,1793239625247621632
+247,4.116666667,POSE1_TO_POSE2_PRESS,764.373220618,745,715,680.186610309,659,632.813389691,881,783,805.186610309,651.813389691,630,653,0.450741729154,-0.0156719124506,0.0695708810705,0.999999731662,-0.000281975117894,-0.000671772403742,-7.67331648665e-05,1793239625264288256
+248,4.133333333,POSE1_TO_POSE2_PRESS,764.39552536,745.39552536,715,680,659.39552536,632.60447464,881,783,805,651.60447464,630,653,0.4507416913,-0.0156723547509,0.0695708745908,0.999999731662,-0.00028264037679,-0.00067152287455,-7.64675040973e-05,1793239625280954880
+249,4.150000000,POSE1_TO_POSE2_PRESS,764.973880963,745.973880963,715,680,659.973880963,632.026119037,881,783,805,651.026119037,630,653,0.45074176253,-0.015672774083,0.0695712712892,0.999999731658,-0.000283962218827,-0.000671012193375,-7.61035271424e-05,1793239625297621504
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.460781018,715,680.539218982,659.460781018,632.539218982,880.460781018,783,805,651,630.539218982,653,0.45074147114,-0.0156728643568,0.0695708687104,0.999999730486,-0.000284644081366,-0.000672415186143,-7.65681464336e-05,1793239625314288128
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.110334205,715,681,659,633,880.110334205,783,805,651,630.889665795,653,0.450741127399,-0.0156726543161,0.0695704450156,0.999999729504,-0.000284850229879,-0.000673741007456,-7.69706921413e-05,1793239625330955008
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.709789659,715,681,659,633,880.709789659,783,805,651,630.290210341,653,0.45074062761,-0.0156711819482,0.0695700952971,0.999999729618,-0.00028308168132,-0.000674323478912,-7.69243275556e-05,1793239625347621888
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,715,680.700951795,659,632.700951795,881.299048205,783,805,651,630,653,0.450740968651,-0.0156697948474,0.0695701093175,0.999999730285,-0.000280684543839,-0.000674332558509,-7.69571189114e-05,1793239625364288512
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,746,715,680.121262548,659,632.121262548,881.878737452,783,805,651,630,653,0.450742098768,-0.0156684877651,0.069570464688,0.999999731467,-0.000277697508749,-0.000673803539908,-7.70641939655e-05,1793239625380955136
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,746,715,680.456550746,659,632.456550746,881.086898509,783.456550746,805,651.456550746,630,653,0.450743624281,-0.0156687683944,0.0695719329325,0.999999733002,-0.000277679868078,-0.000671585997402,-7.65694968723e-05,1793239625397621504
+256,4.266666667,HOLD_POSE2,765,746,714,681,659,633,881,783,805,651,631,653,0.450742554371,-0.01566866906,0.0695705290599,0.999999730878,-0.000277875782547,-0.000674631757165,-7.68162708014e-05,1793239625441793792
+257,4.283333333,HOLD_POSE2,765,745.420588195,714.579411805,680.420588195,659.579411805,633,881,783,805,651,630.420588195,653,0.450742967239,-0.0156687585289,0.0695705372278,0.999999731441,-0.000278150575923,-0.000673697392549,-7.66878509823e-05,1793239625458461184
+258,4.300000000,HOLD_POSE2,765,745,715,680,659.841511889,633,881,783,805.158488111,651,630,653,0.450743246137,-0.0156689224484,0.0695705320086,0.999999731754,-0.000278549354672,-0.00067307866891,-7.65978371296e-05,1793239625475128576
+259,4.316666667,HOLD_POSE2,765,745,715,680,659.263323905,633,881,783,805.736676095,651,630,653,0.450743170263,-0.015669283524,0.0695704913388,0.999999731404,-0.000279276465019,-0.00067329580889,-7.66095279071e-05,1793239625491795200
+260,4.333333333,HOLD_POSE2,765,745,715,680.312573234,659.312573234,633,880.687426766,783,805.687426766,651.312573234,630,653,0.450743299888,-0.0156689020136,0.0695709221395,0.999999731937,-0.000278301252451,-0.000672945470853,-7.6274861705e-05,1793239625508461568
+261,4.350000000,HOLD_POSE2,765,745,715,680.886554484,659.886554484,633,880.113445516,783,805.113445516,651.886554484,630,653,0.450743601375,-0.0156678994713,0.0695717472355,0.999999733204,-0.000275902370738,-0.000672120545454,-7.56505338138e-05,1793239625525128192
+262,4.366666667,HOLD_POSE2,765,745,714.526229808,681,659.526229808,633,880.473770192,783,805,651.526229808,630,653,0.450742478788,-0.0156676387366,0.0695705981074,0.999999732057,-0.000276920091288,-0.000673365525686,-7.60255316519e-05,1793239625541794560
+263,4.383333333,HOLD_POSE2,765,745,714.063040974,680.936959026,659,632.936959026,881,783,805,651,630,652.936959026,0.450741367795,-0.0156676736918,0.069569370985,0.999999730679,-0.000278639496545,-0.000674641579364,-7.65566930448e-05,1793239625558460672
+264,4.400000000,HOLD_POSE2,765,745,714.642441646,680.357558354,659,632.357558354,881,783,805,651,630,652.357558354,0.450743225085,-0.0156686338672,0.0695714883863,0.999999732316,-0.00027921267401,-0.000671995733269,-7.63506432531e-05,1793239625575127296
+265,4.416666667,HOLD_POSE2,765,745,715,680.220500561,659,632.220500561,880.779499439,783.220500561,805.220500561,651,630,652.220500561,0.450744440964,-0.01566907966,0.0695725974273,0.999999733299,-0.000279334734702,-0.000670495381934,-7.62192822025e-05,1793239625591793664
+266,4.433333333,HOLD_POSE2,765,745,715,680.796396822,659,632.796396822,880.203603178,783.796396822,805.796396822,651,630,652.796396822,0.450744623036,-0.0156686963874,0.0695720812254,0.999999733237,-0.000278729699862,-0.000670841302405,-7.62083020791e-05,1793239625608460288
+267,4.450000000,HOLD_POSE2,765,745,714.628359394,681,659.371640606,632.628359394,880.371640606,783.628359394,805.628359394,651,630,653,0.450743972119,-0.0156683051571,0.0695713047856,0.999999732771,-0.000277413948211,-0.000672080536981,-7.62085590734e-05,1793239625625127680
+268,4.466666667,HOLD_POSE2,765,745,714.053472389,681,659.946527611,632.053472389,880.946527611,783.053472389,805.053472389,651,630,653,0.450742865648,-0.0156679095747,0.0695703860243,0.999999732079,-0.000275709512838,-0.000673808315818,-7.62149615297e-05,1793239625641794816
+269,4.483333333,HOLD_POSE2,765,745.533466689,714.533466689,681,660,632,881,782.466533311,805,651,630,653,0.450743514744,-0.0156673975117,0.0695702045696,0.999999732091,-0.000275299755564,-0.000673933442965,-7.64306580258e-05,1793239625658461184
+270,4.500000000,HOLD_POSE2,765,745.879969754,715,681,660,632,881,782.120030246,805,651,630.120030246,653,0.450744161821,-0.0156669883601,0.0695700946217,0.99999973207,-0.000275378338029,-0.000673911480512,-7.66168607737e-05,1793239625675127808
+271,4.516666667,HOLD_POSE2,765,745.299586595,715,681,660,632,881,782.700413405,805,651,630.700413405,653,0.450744110654,-0.0156670197194,0.0695699689262,0.999999731643,-0.000276820630079,-0.000673955739963,-7.66076263562e-05,1793239625691793920
+272,4.533333333,HOLD_POSE2,765.278881111,745,715,681,659.721118889,632,881,783,805,651,630.721118889,653,0.450744327102,-0.0156673630399,0.0695701980126,0.99999973158,-0.000277695903518,-0.000673692844785,-7.65645102507e-05,1793239625708460544
+273,4.550000000,HOLD_POSE2,765.855305155,745,715,681,659.144694845,632,881,783,805,651,630.144694845,653,0.450744829075,-0.0156680391973,0.0695708056216,0.999999731909,-0.000277966215213,-0.000673102241183,-7.64852452054e-05,1793239625725127424
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632,882,783,805,652,630,653,0.450744560889,-0.0156670162145,0.0695709029078,0.999999733019,-0.000274450863103,-0.000672943221161,-7.60621782172e-05,1793239625758343680
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.590377717,632.590377717,881.409622283,783,805,651.409622283,630,653,0.450746635487,-0.0156683525141,0.0695723431857,0.999999733607,-0.000277055022299,-0.000671041752411,-7.56865859184e-05,1793239625775010560
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.822668174,659.822668174,633,881,783,805,651,630.177331826,653,0.450747582617,-0.0156687580547,0.0695727790508,0.999999733614,-0.000278537152796,-0.000670423399446,-7.56408685821e-05,1793239625791677440
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.243472423,659.243472423,633,881,783,805,651,630.756527577,653,0.450745974712,-0.0156670543382,0.0695709387469,0.999999732318,-0.000277476576921,-0.000672712803596,-7.63427036544e-05,1793239625808344064
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633,880.666183285,783,805,651.333816715,630.666183285,653,0.450745981047,-0.0156659063248,0.0695711652936,0.999999732769,-0.000276790036334,-0.000672267570793,-7.68416344177e-05,1793239625825010432
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633,880.09027689,783,805,651.90972311,630.09027689,653,0.450747158056,-0.015665161317,0.0695728907563,0.999999734487,-0.000276374752701,-0.000669839131626,-7.7193415409e-05,1793239625841676544
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.49595849,659,633,880.49595849,783,805,651.50404151,630,653,0.450745934882,-0.0156664591641,0.0695713904438,0.999999732604,-0.000278214548558,-0.000671925522128,-7.68375274948e-05,1793239625858342912
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.082816246,715,680.917183754,659,633,881,783,805,651.082816246,630,653,0.450744607896,-0.0156680047119,0.069569811557,0.99999973069,-0.00027999378531,-0.000674090014627,-7.63238891685e-05,1793239625875009792
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.661897435,715,680.338102565,659,633,881,783,805,651.661897435,630,653,0.450745332534,-0.0156687589132,0.0695713552085,0.99999973266,-0.000278898061728,-0.000671693183128,-7.56532680614e-05,1793239625891676416
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.760547507,715,680,659,633,881,783,805,651.760547507,630,653,0.450739240349,-0.0156687992886,0.0695687185574,0.999999730185,-0.000278348140815,-0.000675596273065,-7.56426339986e-05,1793239625908343296
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.18513372,715,680,659,633,881,783,805,651.18513372,630,653,0.450723583891,-0.0156678381379,0.0695602167769,0.999999721366,-0.000278564002644,-0.000688338401445,-7.65579878447e-05,1793239625925010176
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.390486272,659.390486272,632.609513728,880.609513728,783,805,651,630,653,0.45069056234,-0.0156651159944,0.0695451549492,0.999999704498,-0.000276900440472,-0.000712940586766,-7.77543231959e-05,1793239625941676800
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.96620413,659.96620413,632.03379587,880.03379587,783,805,651,630,653,0.450649303459,-0.0156615585039,0.069526981288,0.99999968309,-0.000274345352051,-0.000743168725069,-7.90839453323e-05,1793239625958343424
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.554031077,715,681,660,632,880.554031077,783,805,651,630,653,0.450586267574,-0.0156592255112,0.0695083463789,0.99999966195,-0.000273851507361,-0.000771177301404,-7.99431026485e-05,1793239625975009792
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.858973918,715,681,660,632.141026082,881,783,805,651,630,653,0.450519420673,-0.0156567455173,0.0694920391658,0.999999643413,-0.000273320138821,-0.000794976232246,-8.05096222726e-05,1793239625991676416
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.276941828,715,681,660,632.723058172,881,783,805,651,630,653,0.450444903124,-0.015653567035,0.069483100893,0.999999634861,-0.000272269451933,-0.000806043940828,-8.02527764992e-05,1793239626008342784
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.699261799,633,881,783,805,651,630,653,0.450363518349,-0.015648838519,0.0694798667336,0.999999631648,-0.000270141210624,-0.000810822800036,-7.93395404709e-05,1793239626025009408
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.125532333,633,881,783,805,651,630,653,0.450275899941,-0.01564270298,0.069481810411,0.999999633354,-0.000267034833118,-0.000809893035836,-7.78304745825e-05,1793239626041676032
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.54252259,681,659,633,880.54252259,783,805,651.45747741,630,653,0.450174178242,-0.0156375236585,0.0694875119839,0.999999640614,-0.000263090783652,-0.000802383687585,-7.57352851538e-05,1793239626058343168
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.957349214,659,632.957349214,880,783,805,651.957349214,630,653,0.450065943701,-0.0156325138642,0.0694941688645,0.999999649121,-0.000259061721073,-0.000793254710953,-7.34279053902e-05,1793239626075009792
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.377660787,659,632.377660787,880,783,805,651.377660787,630,653,0.449925440226,-0.0156262664138,0.0694996016704,0.999999654876,-0.000256916403425,-0.000786936162003,-7.05157908467e-05,1793239626091676672
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,632,880.201447121,783.201447121,805,651,630,653,0.449775243289,-0.0156196894662,0.06950423251,0.999999660111,-0.000253883474758,-0.000781520684454,-6.74298455017e-05,1793239626108343552
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,659,632,880.779469773,783.779469773,805,651,630,653,0.449606925873,-0.0156124965731,0.0695073641919,0.999999664421,-0.000249191289125,-0.000777793365764,-6.40189495721e-05,1793239626125009664
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.355030162,680,659,632.355030162,881,784,805,651,630.355030162,653,0.449422290033,-0.0156039716451,0.0695132542547,0.999999673194,-0.000242666516249,-0.000768823389794,-6.02945357806e-05,1793239626141676032
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.929071684,680,659,632.929071684,881,784,805,651,630.929071684,653,0.449227587652,-0.0155946250093,0.0695208459105,0.999999684559,-0.000235011254639,-0.000756619317705,-5.63767184385e-05,1793239626158342912
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,659.517404662,633,880.482595338,784,805,651,631,652.482595338,0.448994927526,-0.0155831225946,0.069527945795,0.999999691936,-0.000224288281595,-0.000750397436431,-5.22059124452e-05,1793239626175009536
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,633,880,783.894285864,805,651,631,652.105714136,0.44874743739,-0.0155716266445,0.0695340931054,0.99999969889,-0.000211802939548,-0.000745032153209,-4.78140856757e-05,1793239626191676160
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,633,880,783.31510521,805,651,631,652.68489479,0.44845749419,-0.0155615208197,0.0695362845917,0.999999706801,-0.000193361372691,-0.00073972614789,-4.25921012179e-05,1793239626208343040
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.737262607,680,660,633,880,783.262737393,805,651,630.737262607,653,0.448151471143,-0.0155512893401,0.0695383142846,0.999999714093,-0.000158876158405,-0.000738377601032,-3.70251137744e-05,1793239626225009920
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714.161016656,680,660,633,880,783.838983344,805,651,630.161016656,653,0.447826261011,-0.015540907925,0.069540150919,0.999999718882,-0.000105247035769,-0.000741751247792,-3.10464554879e-05,1793239626241676544
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.423075098,680.423075098,660,633,880,784.423075098,805,651,630,653,0.447476702119,-0.0155322912163,0.0695398631425,0.999999718334,-8.59390845688e-05,-0.000745164051188,-2.602908129e-05,1793239626258343168
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.989930358,660,633,880.010069642,785,805,651,630.010069642,653,0.447116756329,-0.0155244972796,0.0695387187194,0.999999716433,-7.99082129874e-05,-0.00074852550831,-2.13838209812e-05,1793239626275009280
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.41082595,660,633,880.58917405,785,805,651,630.58917405,653,0.446703408606,-0.0155245275909,0.069535718092,0.999999717416,-7.20743915571e-05,-0.000748127316396,-1.67017866894e-05,1793239626291675904
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,633,881,785,805,651,631,653,0.446283406573,-0.0155238995602,0.0695374280439,0.999999724315,-6.08441296133e-05,-0.000739952500308,-1.17935729836e-05,1793239626308342528
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,633,881,785,805,651,631,653,0.445847159137,-0.0155216642889,0.0695506381479,0.99999974509,-4.13219838931e-05,-0.000712792257144,-6.33317785375e-06,1793239626325009408
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.318825402,745,715,680,660,633.318825402,881,785,805,651,631,653,0.445401477581,-0.0155185777058,0.0695716885291,0.999999770969,-3.79710490573e-05,-0.000675723272342,-4.15727647614e-06,1793239626341676544
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.895026285,745,715,680,660,633.895026285,881,785,805,651,631,653,0.444948180177,-0.015514803891,0.069599068066,0.99999979999,-4.76745084458e-05,-0.000630655338041,-4.63281994169e-06,1793239626358343424
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.517020362,745,714.517020362,680,660.482979638,634,881,785.482979638,805,651,631,653,0.444444885682,-0.0155082280596,0.0696140746333,0.999999814052,-4.97964255007e-05,-0.000607737637047,-8.39132213214e-06,1793239626375010304
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.072072285,745.072072285,714,680,661,634,881,786,804.927927715,651,631,653,0.443921734201,-0.015500755541,0.0696256480075,0.999999824182,-4.80827809376e-05,-0.000590921774876,-1.16175948838e-05,1793239626391676928
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.650770374,745.650770374,714,680,661,634,881,786,804.349229626,651,631,653,0.443337290924,-0.0154913675651,0.0696324631249,0.999999829949,-3.12794731143e-05,-0.000582312775904,-5.96176264682e-06,1793239626408343040
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.772299487,745.772299487,714.227700513,680.227700513,661,634,881,786.227700513,804.227700513,651,631,652.772299487,0.442742111142,-0.01548201473,0.0696461526587,0.999999841101,-1.02989894251e-05,-0.000563641211982,-8.92865042414e-08,1793239626425009664
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.19806004,745.19806004,714.80193996,680.80193996,661,634,881,786.80193996,804.80193996,651,631,652.19806004,0.442130591435,-0.0154727153767,0.0696703044124,0.999999859569,1.70387651845e-05,-0.000529655363109,6.11290110989e-06,1793239626441676288
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.622246362,660.622246362,634.377753638,881,786.622246362,805,651,631,652.377753638,0.441518227783,-0.015466300911,0.0696982591132,0.999999884287,2.50674216029e-05,-0.000480337366009,8.58335956929e-06,1793239626458342912
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.045603863,660.045603863,634.954396137,881,786.045603863,805,651,631,652.954396137,0.440905419809,-0.0154614053508,0.0697282160807,0.999999910254,2.29297566448e-05,-0.00042294692924,9.08904690305e-06,1793239626475009536
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.542197999,635,880.457802001,786.542197999,805,651,631,653,0.440273252374,-0.0154573580395,0.0697609371035,0.999999932579,4.12559496271e-05,-0.00036462593016,1.37327750743e-05,1793239626491676416
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.128770904,745,715,680.128770904,661,635,880,787,804.871229096,651,631,653,0.439611770737,-0.0154524773006,0.0697845877112,0.999999945475,5.95123506743e-05,-0.000324329585444,1.78276178486e-05,1793239626508343552
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.707697386,745,715,680.707697386,661,635,880,787,804.292302614,651,631,653,0.438853624896,-0.0154444284277,0.0697757002894,0.99999993696,7.13813822507e-05,-0.000347322960757,1.87614058545e-05,1793239626525012736
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.715571791,745,715,680.715571791,661,635,880,787.284428209,804,651,631,653,0.438081033898,-0.0154363314966,0.0697586692121,0.999999927857,7.87514882138e-05,-0.000371202003697,1.70998627862e-05,1793239626541679360
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.141080058,745,715,680.141080058,661,635,880,787.858919942,804,651,631,653,0.437293711451,-0.0154281855544,0.0697333331294,0.999999918193,8.15335337453e-05,-0.000395984264601,1.27915680149e-05,1793239626558343936
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787.556839064,804,651,631,653,0.436534060119,-0.0154272668551,0.0697485336747,0.999999926696,8.48897828341e-05,-0.000373094372093,1.42331853004e-05,1793239626575009792
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.03025317,787.03025317,804.03025317,651,631,653,0.435781463416,-0.0154287178682,0.0697774212978,0.99999994013,8.85435032484e-05,-0.000334049625261,1.76403509876e-05,1793239626591676160
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.611477319,787.611477319,804.611477319,651,631,653,0.434993304908,-0.0154304815641,0.0698152688842,0.999999955145,9.42107860116e-05,-0.000283402569767,2.27574747704e-05,1793239626608343040
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.190944823,744.809055177,715,680,661,635,881,787.809055177,804.809055177,651,631,653,0.434183900664,-0.0154307198393,0.0698400406178,0.999999962415,0.00010168808075,-0.000253239485656,2.64459578826e-05,1793239626625009920
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.766870562,744.233129438,715,680,661,635,881,787.233129438,804.233129438,651,631,653,0.433331661042,-0.0154278825777,0.0698384489543,0.999999958318,0.000112814702391,-0.000264375970455,2.7254030699e-05,1793239626641676544
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,744,715,680,661,635,880.659701367,787,804.340298633,651,631.340298633,652.659701367,0.432469647755,-0.0154261765089,0.0698376125495,0.999999958688,0.000115605730739,-0.000261745202818,2.73806252997e-05,1793239626658343168
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,744,715,680,661,635,880.087971937,787,804.912028063,651,631.912028063,652.087971937,0.431600987615,-0.0154252397436,0.0698372897822,0.999999962093,0.000112727876021,-0.000249751581336,2.70437591547e-05,1793239626675009792
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,744.503719972,715,680,661,635,880,787,805,651,632,652,0.430668878522,-0.0154184081782,0.0697935377295,0.999999937916,0.000124267050603,-0.000328846156381,2.42065783387e-05,1793239626691676416
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.903586461,745,715,680.096413539,661,635,880,787,804.903586461,651.096413539,632,652.096413539,0.429734923337,-0.015411632781,0.0697478047685,0.999999906124,0.000135584125984,-0.000411009650127,2.0965575361e-05,1793239626708343040
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.324064211,745,715,680.675935789,661,635,880,787,804.324064211,651.675935789,632,652.675935789,0.428849534055,-0.0154105102939,0.0697317195338,0.999999900494,0.000132651220059,-0.000425549456176,1.79794404623e-05,1793239626725009664
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.756749959,661,635,880,787,804,651.756749959,631.756749959,652.756749959,0.427993049983,-0.0154133239585,0.06975393596,0.999999916389,0.000129547119978,-0.000387366589208,1.9641904111e-05,1793239626741676288
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.204922228,661,635,880,787,804,651.204922228,631.204922228,652.204922228,0.427173233836,-0.0154211308742,0.069824740405,0.999999951816,0.000126225848128,-0.000282301755964,2.7201401407e-05,1793239626758342912
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.377393198,745,715,680,661,635,880,787.377393198,804,651,631,652,0.426300206372,-0.0154237456322,0.0698618388712,0.999999965057,0.000127047073202,-0.000229621963933,3.19213633278e-05,1793239626775009792
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.977718123,745,715,680,661,635,880,787.977718123,804,651,631,652,0.425395746248,-0.0154232933057,0.0698790267145,0.999999969289,0.00013031533299,-0.000207886795342,3.49639695097e-05,1793239626791676416
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.430127478,745,715,679.430127478,661,635,880,787.430127478,804,651,631,652.569872522,0.424498422682,-0.0154197233565,0.0698535041944,0.999999960332,0.000133481133492,-0.000245987266499,3.17676604676e-05,1793239626808343808
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,880,787,804,651,631.157967681,653,0.4235860157,-0.0154155816019,0.0698204155337,0.999999945678,0.000137676121594,-0.000298142565814,2.82868949626e-05,1793239626825010432
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,880,787,804,651,631.736103604,653,0.422632757636,-0.015410238585,0.0697715812244,0.999999916449,0.000144619085469,-0.000381546524995,2.46891913893e-05,1793239626841676544
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,880,787,804.311180773,651,632,652.688819227,0.421703680297,-0.0154065438856,0.0697323013776,0.999999888811,0.000148469604278,-0.00044708319372,2.12241791593e-05,1793239626858343168
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,880,787,804.883689192,651,632,652.116310808,0.420794909824,-0.0154042334332,0.0697010453104,0.999999864821,0.000149723107261,-0.00049761502157,1.787060052e-05,1793239626875009792
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.469252981,661,635,880,787,804.530747019,651,631.530747019,652.469252981,0.419993193502,-0.0154065977769,0.0697513425482,0.999999903201,0.000148270498392,-0.000413720422781,2.11966318282e-05,1793239626891676416
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.942574647,715,679.942574647,661,635.057425353,880,787,804,651,631.057425353,653,0.419217091623,-0.0154097059183,0.0698204111683,0.999999944108,0.000147305267288,-0.000298979720359,2.63858624062e-05,1793239626908342784
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.360974563,715,679.360974563,661,635.639025437,880,787,804,651,631.639025437,653,0.418425657439,-0.0154087240615,0.0698710302733,0.999999963892,0.000157086550909,-0.000215519330106,3.30372537147e-05,1793239626925009664
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,660.781661717,635.781661717,880,787,804,651,632,653,0.417611799949,-0.0154064431665,0.0698902780677,0.999999968374,0.000165760457508,-0.00018572564018,3.58086686658e-05,1793239626941676288
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,660.206091025,635.206091025,880,787,804,651,632,653,0.416761254622,-0.0154020368602,0.0698581979548,0.999999954877,0.000172622540831,-0.000243738274807,3.22318930708e-05,1793239626958342656
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744.375861273,715,679,660.375861273,635,880,787.375861273,804.375861273,651,632,653,0.41592574528,-0.0153987281605,0.0698259135999,0.999999943057,0.000175237305421,-0.000286997022425,2.84865201514e-05,1793239626975009536
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.961373115,715,679,660.961373115,635,880,787.961373115,804.961373115,651,632,653,0.415098622866,-0.0153960316918,0.0697935153234,0.999999932449,0.000175482970069,-0.000322026238826,2.46471060453e-05,1793239626991675904
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.540857153,880,787.459142847,804.459142847,651,631.459142847,652.459142847,0.414274298023,-0.0153920535082,0.0697685282502,0.999999912453,0.000183847688914,-0.000375155631689,2.35194567503e-05,1793239627008342784
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.119938406,745,715,679.119938406,661,635.880061594,880,787.119938406,804.119938406,651.119938406,631,652,0.413476198265,-0.01538922464,0.0697539317363,0.999999897896,0.000190699975392,-0.000409035675318,2.30579678418e-05,1793239627025009408
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.699107554,745,715,679.699107554,661,635.300892446,880,787.699107554,804.699107554,651.699107554,631,652,0.412777754896,-0.0153911429952,0.0697771152482,0.999999915371,0.000189565634615,-0.00036431715401,2.44137707724e-05,1793239627041676032
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.724677128,744.724677128,715,679.724677128,661,635.275322872,880,787.724677128,805,652,631,652.275322872,0.4121170167,-0.0153941270121,0.0698146372819,0.999999938092,0.000185305688649,-0.000297873565205,2.73702962935e-05,1793239627058342656
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.151655736,744.151655736,715,679.151655736,661,635.848344264,880,787.151655736,805,652,631,652.848344264,0.411497048044,-0.0153982632975,0.069867663136,0.999999962084,0.000177666117012,-0.000207939301703,3.20576358463e-05,1793239627075009536
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.425089202,715,679,661,636,879.574910798,787.425089202,804.574910798,652,631,653,0.410834744842,-0.0153985465745,0.0698800116941,0.999999964197,0.000182620417176,-0.000192799490436,3.29275402747e-05,1793239627091676416
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.003247261,745,715,678.996752739,661,636,879.003247261,788,804,651.996752739,631,653,0.410157237511,-0.0153974356129,0.0698775217468,0.999999960056,0.000192020167127,-0.000204858003503,3.24022376516e-05,1793239627108342784
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.594611027,745,715,678.405388973,661,636,879.594611027,788,804,651.405388973,631,653,0.40948566285,-0.0153949692666,0.0698391455769,0.999999946632,0.000185613929992,-0.000267391017527,2.80272869358e-05,1793239627125009664
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.817330469,744.817330469,715,678.182669531,661,636,879.817330469,788,804,651.182669531,631,653,0.408841001554,-0.0153920539998,0.0698048568651,0.999999930591,0.000184418322133,-0.000322838036718,2.41569890869e-05,1793239627141676288
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.236476687,744.236476687,715,678.763523313,661,636,879.236476687,788,804,651.763523313,631,653,0.408255006066,-0.0153881601725,0.069779478014,0.999999915014,0.000194580878355,-0.000362838971054,2.13867362362e-05,1793239627158342912
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.337854807,715,678.662145193,661,636,879.337854807,787.662145193,804,652,631,653,0.407699417732,-0.0153886024914,0.0697799908178,0.99999991662,0.000194623860176,-0.000358392424027,2.08776269089e-05,1793239627175010048
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.907707547,715,678.092292453,661,636,879.907707547,787.092292453,804,652,631,653,0.407164709399,-0.0153920223526,0.0697982828887,0.999999929839,0.000187717938195,-0.000323424705231,2.19211983952e-05,1793239627191677440
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.494169205,745,715,678.494169205,661,635.505830795,880,787,804,652,631,653,0.406661179101,-0.0153904447313,0.0698130672544,0.999999935501,0.000187888715817,-0.000305206843813,2.33224318346e-05,1793239627208343808
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.917709787,745,715,679,661,635,880,787,804,652,631,653,0.406166421213,-0.0153879884459,0.0698234762637,0.999999937689,0.000190744119696,-0.000296041507516,2.44375585262e-05,1793239627225009920
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.338943065,745,715,679,661,635,880,787,804,652,631,653,0.405688236622,-0.0153860579011,0.0698115775929,0.999999927586,0.000201545274086,-0.000321962335126,2.3409510708e-05,1793239627241676800
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715.238462634,678.761537366,661,635,880,787,804,652,631.238462634,653,0.405247562298,-0.0153871735317,0.0698094331244,0.999999925413,0.000202722222009,-0.000327944578424,2.30079512799e-05,1793239627258343424
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715.813944749,678.186055251,661,635,880,787,804,652,631.813944749,653,0.404859901314,-0.0153925943254,0.0698210742807,0.999999934877,0.000190297268432,-0.000305747598419,2.34918086202e-05,1793239627275010304
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715.601959955,678.398040045,661,635,879.601959955,787,804,652,632,652.601959955,0.40450565308,-0.0153933791939,0.0698346259687,0.999999943162,0.000186624816938,-0.000279754120509,2.41751896272e-05,1793239627291676416
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715.013749513,678.986250487,661,635,879.013749513,787,804,652,632,652.013749513,0.404167368321,-0.0153919491709,0.0698490904467,0.99999995044,0.000187134020888,-0.000251946799109,2.49538964892e-05,1793239627308342784
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.434315619,661,635,879,787.565684381,804,652,632,652.565684381,0.403835303926,-0.0153896167382,0.0698557850952,0.999999951862,0.000196556184258,-0.000238769099202,2.51057052192e-05,1793239627325009664
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.144198862,745,715,678.144198862,661,635.144198862,879.144198862,788,804.144198862,652,631.855801138,652.855801138,0.403509660774,-0.0153870534454,0.0698568881412,0.999999951597,0.000201565835305,-0.000235732952114,2.46235063939e-05,1793239627341676032
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.720587436,745,715,678.720587436,661,635.720587436,879.720587436,788,804.720587436,652,631.279412564,652.279412564,0.403202816928,-0.015383862959,0.069841789538,0.99999994685,0.000192711018724,-0.000262043368988,2.22860452579e-05,1793239627358342656
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.703713869,745,715,678.703713869,661,636,880,788,804.703713869,652,631.296286131,652.296286131,0.402921831135,-0.0153800348092,0.0698320598848,0.999999941288,0.000197565156436,-0.000279185177527,2.11339448304e-05,1793239627375009792
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.128664289,745,715,678.128664289,661,636,880,788,804.128664289,652,631.871335711,652.871335711,0.402665174142,-0.0153756067085,0.0698273816569,0.999999935211,0.000215317486669,-0.000287700617607,2.10971017456e-05,1793239627391676672
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.543820327,636,879.543820327,788,804,652,631.543820327,653,0.402441718717,-0.015374049481,0.0698232604431,0.999999930743,0.000225192585196,-0.000295533090361,2.15258914196e-05,1793239627408343296
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.043503551,660.043503551,635.956496449,879,787.956496449,804,652,631,652.956496449,0.402229531639,-0.0153735817177,0.069819178266,0.999999926929,0.000231738091825,-0.000303233959274,2.21132188494e-05,1793239627425010176
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.626571169,660.626571169,635.373428831,879,787.373428831,804,652,631,652.373428831,0.402038410124,-0.0153763631725,0.06981358897,0.999999925797,0.000225147955227,-0.000311744133022,2.3002251601e-05,1793239627441676544
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.206235108,744.793764892,715,678.793764892,661,635,879,787,804,651.793764892,631.206235108,652.206235108,0.401863105704,-0.0153804111788,0.0698101515659,0.999999925633,0.000217459891858,-0.000317591799308,2.40818364101e-05,1793239627458342912
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.779836026,744.220163974,715,678.220163974,661,635,879,787,804,651.220163974,631.779836026,652.779836026,0.401715976233,-0.0153867152881,0.0698105473193,0.999999927297,0.000207816096457,-0.000318696750363,2.55008507771e-05,1793239627475009536
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,744.354072398,715,678.354072398,661,635,879,787,804,651.354072398,631.645927602,653,0.401591138231,-0.0153901313301,0.0698128879595,0.999999929685,0.000202068884136,-0.000314825980025,2.61243085171e-05,1793239627491676160
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,744.928704664,715,678.928704664,661,635,879,787,804,651.928704664,631.071295336,653,0.401480186084,-0.0153917483289,0.0698164401146,0.999999932517,0.000198748942409,-0.000307855718097,2.62521958102e-05,1793239627508342784
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.482269186,744.482269186,715,678.482269186,661,635,879,787,804,651.482269186,631,653,0.401387929386,-0.0153900672124,0.0698152133026,0.999999935397,0.000187762716166,-0.000306121176966,1.55351654305e-05,1793239627525009408
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.10669885,744.10669885,715,678.10669885,661.10669885,635.10669885,879,787.10669885,804,651.10669885,631.10669885,653,0.401301392954,-0.0153889918183,0.0698137624844,0.999999937402,0.000178622561409,-0.000305373082804,6.03000005305e-06,1793239627541676288
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.686371766,744.686371766,715,678.686371766,661.686371766,635.686371766,879,787.686371766,804,651.686371766,631.686371766,653,0.401228474666,-0.0153926723017,0.0698143193325,0.999999936583,0.000182479201271,-0.000305710276164,8.70613729342e-06,1793239627558343168
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.736551688,661.736551688,635.736551688,879,788,804,652,632,653,0.401164579825,-0.0153918717823,0.0698133386176,0.999999935072,0.000187115577042,-0.000307800261406,1.01692618773e-05,1793239627575009792
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.162535923,661.162535923,635.162535923,879,788,804,652,632,653,0.401111322326,-0.0153857888085,0.0698105453382,0.999999932728,0.000192671148433,-0.000311956534728,1.02024198306e-05,1793239627591676160
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.421751408,661,635.421751408,879,788,804,652,631.578248592,653,0.401072568557,-0.0153862513633,0.0698098942821,0.999999932871,0.000192358063465,-0.000311670085605,1.08670048279e-05,1793239627608342784
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.99004963,744.99004963,715,679,661,636,879,787.99004963,804,652,631,652.99004963,0.401039831155,-0.0153892430408,0.0698101642333,0.999999934016,0.00018979189953,-0.000309529624455,1.17818060557e-05,1793239627625009408
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.410193263,744.410193263,715,679,661,636,879,787.410193263,804,652,631,652.410193263,0.401023551331,-0.0153890053819,0.0698147196069,0.999999936172,0.00019095203681,-0.000301711979437,1.27424525577e-05,1793239627641676032
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744,715,678.831242949,661,636,879,787.168757051,804,652,631.168757051,652.168757051,0.401008108489,-0.0153885520311,0.069818385719,0.999999937743,0.000191923236636,-0.00029580348853,1.3409081829e-05,1793239627658342656
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744,715,678.254483274,661,636,879,787.745516726,804,652,631.745516726,652.745516726,0.400994689215,-0.0153875772034,0.0698199018698,0.999999938026,0.000192437643693,-0.000294510745988,1.33648677682e-05,1793239627675009536
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.317720204,744.317720204,715,678,661,636,879.317720204,788,804,652,631.682279796,653,0.400985424132,-0.0153884206087,0.0698208372108,0.999999938559,0.000191726603529,-0.000293164827913,1.3349297368e-05,1793239627691676160
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.886325974,744.886325974,715,678,661,636,879.886325974,788,804,652,631.113674026,653,0.400979439376,-0.015390699769,0.0698213139197,0.999999939285,0.000190047897474,-0.000291776920002,1.3356345232e-05,1793239627708343040
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,744.521538683,715,678.478461317,661.478461317,636,879.521538683,788,804,652,631,652.521538683,0.400975123706,-0.0153890815228,0.0698211247329,0.999999939057,0.000191278963764,-0.000291758311566,1.32227957223e-05,1793239627725009664
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,744.074064737,715,678.925935263,661.925935263,636,879.074064737,788,804.074064737,652,631,652.074064737,0.400971824642,-0.0153869304085,0.0698209898631,0.999999938738,0.000193032999943,-0.000291702467608,1.30994548489e-05,1793239627741676288
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,744.65322444,715,678.34677556,661.34677556,636,879.65322444,788,804.65322444,652,631,652.65322444,0.400972614291,-0.0153877866102,0.0698223601212,0.999999939433,0.00019339517271,-0.000289059367173,1.3285314906e-05,1793239627758342912
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,744.770092672,715,678,661,635.770092672,880,788,804.770092672,652,631,653,0.400972773855,-0.015388563132,0.0698235387878,0.999999940054,0.000193321323208,-0.000286945941705,1.34417532555e-05,1793239627775009280
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,744.197105848,715,678,661,635.197105848,880,788,804.197105848,652,631,653,0.400971993174,-0.0153892207515,0.0698244315516,0.999999940571,0.000192596818915,-0.000285622924528,1.35542870143e-05,1793239627791675904
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.622610957,744.377389043,715,678.377389043,661,635,880,787.622610957,804,651.622610957,631,652.622610957,0.400971612358,-0.0153893695064,0.0698250244141,0.999999940846,0.000191943307191,-0.000285104909322,1.34339862629e-05,1793239627808342784
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.047325277,744.952674723,715,678.952674723,661,635,880,787.047325277,804,651.047325277,631,652.047325277,0.400971441225,-0.0153892514211,0.0698254600134,0.999999940995,0.000191327022833,-0.000285009024012,1.31915909027e-05,1793239627825009920
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.457512345,715,678.457512345,661.542487655,635.542487655,880,787.542487655,804,651.542487655,631,652.542487655,0.400971719048,-0.0153910509977,0.0698257830263,0.999999941577,0.000189652084927,-0.000284065906342,1.35663046209e-05,1793239627841676544
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.130554125,744,715,678,661.869445875,636,879.869445875,788,804,652,631,653,0.400971661028,-0.0153922844796,0.0698259618594,0.999999941918,0.000188671737491,-0.000283505887245,1.38515526827e-05,1793239627858342912
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.708180587,744,715,678,661.291819413,636,879.291819413,788,804,652,631,653,0.400970315129,-0.0153909907728,0.069825681519,0.999999941307,0.000190394923129,-0.000284517824102,1.36410059495e-05,1793239627875009536
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.71652584,744.28347416,715,678,661,636,879,788,804,651.71652584,631.28347416,653,0.400970132668,-0.0153904580555,0.0698260976772,0.999999941128,0.000191910947786,-0.000284134368038,1.35182254767e-05,1793239627891676160
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.143614162,744.856385838,715,678,661,636,879,788,804,651.143614162,631.856385838,653,0.400971138119,-0.0153907023364,0.0698272249858,0.999999941389,0.000193215453692,-0.00028232616473,1.34850575501e-05,1793239627908342784
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.443593604,744.556406396,715,678,661,635.556406396,878.556406396,787.556406396,803.556406396,651,631.556406396,652.556406396,0.400969880854,-0.015389639826,0.0698268824887,0.999999941145,0.000193736022211,-0.000282837898958,1.33743412567e-05,1793239627925009664
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.965199378,744.034800622,715,678,661,635,878.034800622,787,803,651.034800622,631,652,0.400968025588,-0.0153882971816,0.0698261177654,0.999999940792,0.00019384291634,-0.000284016774519,1.32231957926e-05,1793239627941676032
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.386239232,744.613760768,715,678,661,635,878.613760768,787,803,651.613760768,631,652,0.400968655783,-0.0153894099446,0.0698264393431,0.999999941382,0.000191582110069,-0.000283491990211,1.28455292744e-05,1793239627958342912
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744.808287878,715,678,661,635,879,787,803.191712122,652,631,652.191712122,0.400968510687,-0.0153902373214,0.0698264822528,0.9999999415,0.000190693185285,-0.000283677548469,1.27391976069e-05,1793239627975009792
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,744.232358318,715,678,661,635,879,787,803.767641682,652,631,652.767641682,0.400966811803,-0.015390492745,0.0698259666735,0.99999994068,0.00019255369966,-0.000285286730882,1.31766582894e-05,1793239627991676928
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.342847096,744.342847096,715.342847096,678.342847096,661,635.342847096,879.342847096,787.342847096,804,652,631,653,0.400967506877,-0.0153901910393,0.0698265263316,0.999999940815,0.00019366022674,-0.000284058137517,1.32929564448e-05,1793239628008343552
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.917562743,744.917562743,715.917562743,678.917562743,661,635.917562743,879.917562743,787.917562743,804,652,631,653,0.400969820993,-0.0153895125455,0.0698278131761,0.99999994159,0.000194256829803,-0.000280910347541,1.3192051371e-05,1793239628025009920
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715.492094682,678.492094682,661,636,879.492094682,788,804,652,631,653,0.400971557005,-0.0153892505831,0.0698286597125,0.999999942168,0.000193767028608,-0.000279192318937,1.30227844118e-05,1793239628041676288
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.901726624,745,715,678,661,635.901726624,879,787.901726624,804,651.901726624,631,652.901726624,0.400972539363,-0.0153892304357,0.0698290706992,0.999999942567,0.000192933501358,-0.000278347974717,1.28492116003e-05,1793239628058342656
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.324001631,745,715,678,661,635.324001631,879,787.324001631,804,651.324001631,631,652.324001631,0.400970317136,-0.0153900497383,0.0698277164772,0.999999942252,0.000191310611,-0.000280598008087,1.27104832672e-05,1793239628075009280
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,744.747856068,715,678,661,635.252143932,879,787,804,651,631,652.252143932,0.400968455289,-0.0153903748388,0.0698266661501,0.99999994197,0.000190219997561,-0.000282339939702,1.26503765527e-05,1793239628091676160
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765,744.173727342,715,678,661,635.826272658,879,787,804,651,631,652.826272658,0.400967053643,-0.015390068849,0.069826003893,0.999999941739,0.000189809095181,-0.000283433031743,1.2690668689e-05,1793239628108343040
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,744.409534516,715,678.409534516,661,636,879,787.409534516,804,651.409534516,631,653,0.400968347929,-0.0153900689025,0.0698269571912,0.999999941969,0.000190682756782,-0.000282022138498,1.28514623874e-05,1793239628125009920
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,744.996759049,715,678.996759049,661,636,879,787.996759049,804,651.996759049,631,653,0.400970811934,-0.0153902017428,0.0698286114512,0.999999942394,0.000192113768732,-0.000279524808832,1.30645396487e-05,1793239628141676544
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765.579453638,745,715,679,661,636,879,788,804,652,631,652.420546362,0.400969651825,-0.0153907579128,0.0698281408878,0.999999942253,0.000191490311161,-0.000280453993987,1.30719210367e-05,1793239628158343424
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..759fcd27f5b0ba7422504274f3bdd2ce0435d218
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/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,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+1,0.016666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+2,0.033333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+3,0.050000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+4,0.066666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+5,0.083333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+6,0.100000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+7,0.116666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+8,0.133333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+9,0.150000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+10,0.166666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+11,0.183333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+12,0.200000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+13,0.216666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+14,0.233333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+15,0.250000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+16,0.266666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+17,0.283333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+18,0.300000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+19,0.316666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+20,0.333333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+21,0.350000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+22,0.366666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+23,0.383333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+24,0.400000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+25,0.416666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+26,0.433333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+27,0.450000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+28,0.466666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+29,0.483333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+30,0.500000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+31,0.516666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+32,0.533333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+33,0.550000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+34,0.566666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+35,0.583333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+36,0.600000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+37,0.616666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+38,0.633333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+39,0.650000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+40,0.666666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+41,0.683333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+42,0.700000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+43,0.716666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+44,0.733333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+45,0.750000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+46,0.766666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+47,0.783333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+48,0.800000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+49,0.816666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+50,0.833333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+51,0.850000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+52,0.866666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+53,0.883333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+54,0.900000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+55,0.916666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+56,0.933333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+57,0.950000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+58,0.966666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+59,0.983333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+60,1.000000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+61,1.016666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+62,1.033333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+63,1.050000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+64,1.066666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+65,1.083333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+66,1.100000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+67,1.116666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+68,1.133333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+69,1.150000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+70,1.166666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+71,1.183333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+72,1.200000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+73,1.216666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+74,1.233333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+75,1.250000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+76,1.266666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+77,1.283333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+78,1.300000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+79,1.316666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+80,1.333333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+81,1.350000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+82,1.366666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+83,1.383333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+84,1.400000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+85,1.416666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+86,1.433333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+87,1.450000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+88,1.466666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+89,1.483333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+90,1.500000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+91,1.516666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+92,1.533333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+93,1.550000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+94,1.566666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+95,1.583333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+96,1.600000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+97,1.616666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+98,1.633333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+99,1.650000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+100,1.666666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+101,1.683333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+102,1.700000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+103,1.716666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+104,1.733333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+105,1.750000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+106,1.766666667,pose1_to_pose2_press,0.575664425091,-0.00990943192938,1.06003261029,0.546234877039,-0.00123769130637,1.059700737
+107,1.783333333,pose1_to_pose2_press,0.575664444112,-0.00990941590472,1.06003258821,0.546234895895,-0.00123767588217,1.05970071388
+108,1.800000000,pose1_to_pose2_press,0.57566453878,-0.00990934787161,1.06003250429,0.546234989927,-0.00123761015393,1.05970062621
+109,1.816666667,pose1_to_pose2_press,0.575664812505,-0.00990925699925,1.06003249643,0.546235263489,-0.00123751977307,1.05970061998
+110,1.833333333,pose1_to_pose2_press,0.575665239459,-0.00990920834131,1.06003247878,0.546235690635,-0.00123747047125,1.0597006021
+111,1.850000000,pose1_to_pose2_press,0.575665728908,-0.00990925586739,1.06003245255,0.546236180801,-0.00123751569377,1.05970057252
+112,1.866666667,pose1_to_pose2_press,0.575665927557,-0.00990927515642,1.0600324419,0.54623637974,-0.00123753404788,1.05970056052
+113,1.883333333,pose1_to_pose2_press,0.575666192899,-0.00990930092147,1.06003242769,0.546236645471,-0.0012375585641,1.05970054449
+114,1.900000000,pose1_to_pose2_press,0.575667115032,-0.00990927829681,1.06003236719,0.546237566857,-0.00123753840089,1.05970048588
+115,1.916666667,pose1_to_pose2_press,0.57567079863,-0.00990921145708,1.06003222676,0.546241248462,-0.00123747784713,1.05970035795
+116,1.933333333,pose1_to_pose2_press,0.575678820757,-0.00990929793541,1.06003221178,0.546249273157,-0.00123755539842,1.05970034835
+117,1.950000000,pose1_to_pose2_press,0.575695637094,-0.00990920321754,1.06003237954,0.546266087659,-0.00123746757899,1.05970049856
+118,1.966666667,pose1_to_pose2_press,0.575721903043,-0.00990921158678,1.06003224082,0.546292353438,-0.00123747619325,1.05970036847
+119,1.983333333,pose1_to_pose2_press,0.575758553798,-0.00990914705801,1.06003221625,0.546329004702,-0.00123740971534,1.05970034963
+120,2.000000000,pose1_to_pose2_press,0.575804321257,-0.00990922163858,1.06003224118,0.546374773097,-0.0012374812786,1.0597003703
+121,2.016666667,pose1_to_pose2_press,0.575859002423,-0.00990917787734,1.06003219395,0.546429453328,-0.00123744034538,1.05970033196
+122,2.033333333,pose1_to_pose2_press,0.575921391054,-0.00990923735803,1.06003227727,0.546491844441,-0.00123749158323,1.05970041058
+123,2.050000000,pose1_to_pose2_press,0.57599186751,-0.00990928607401,1.06003242492,0.54656232092,-0.00123754029416,1.05970055621
+124,2.066666667,pose1_to_pose2_press,0.576072430119,-0.00990927926496,1.06003227132,0.546642881722,-0.0012375396602,1.05970040147
+125,2.083333333,pose1_to_pose2_press,0.576163685595,-0.00990924536064,1.06003246574,0.546734136796,-0.00123750706338,1.05970059739
+126,2.100000000,pose1_to_pose2_press,0.576268568654,-0.0099090953331,1.06003246827,0.546839019492,-0.00123735828461,1.05970059946
+127,2.116666667,pose1_to_pose2_press,0.576387565381,-0.00990925704432,1.06003232446,0.546958018453,-0.0012375120999,1.05970046374
+128,2.133333333,pose1_to_pose2_press,0.576522669093,-0.00990917310591,1.06003253436,0.547093121094,-0.00123743191908,1.0597006704
+129,2.150000000,pose1_to_pose2_press,0.576674603143,-0.00990911913956,1.060032411,0.54724505288,-0.00123738592845,1.05970053936
+130,2.166666667,pose1_to_pose2_press,0.576843266197,-0.00990917972568,1.06003224497,0.547413715075,-0.00123744924726,1.05970037801
+131,2.183333333,pose1_to_pose2_press,0.577030407258,-0.00990924290312,1.06003231048,0.547600857411,-0.00123750820597,1.0597004406
+132,2.200000000,pose1_to_pose2_press,0.577236108845,-0.00990914079637,1.0600324313,0.547806558202,-0.00123740877707,1.05970056195
+133,2.216666667,pose1_to_pose2_press,0.577463271595,-0.00990916800527,1.06003245989,0.548033722153,-0.00123743175291,1.05970059464
+134,2.233333333,pose1_to_pose2_press,0.577708873644,-0.00990925905146,1.06003245417,0.548279326457,-0.00123751515505,1.05970058869
+135,2.250000000,pose1_to_pose2_press,0.577971924324,-0.00990927501387,1.06003236157,0.548542376794,-0.00123753244996,1.05970049157
+136,2.266666667,pose1_to_pose2_press,0.578257158975,-0.00990928561435,1.06003223589,0.548827610745,-0.00123754543962,1.05970036553
+137,2.283333333,pose1_to_pose2_press,0.578561709792,-0.00990924400643,1.06003234414,0.549132161495,-0.00123750394044,1.05970047675
+138,2.300000000,pose1_to_pose2_press,0.578882371722,-0.00990911342617,1.06003256095,0.549452821666,-0.00123737937497,1.05970069232
+139,2.316666667,pose1_to_pose2_press,0.579222420436,-0.00990912351914,1.06003241746,0.54979287113,-0.00123738672456,1.05970055399
+140,2.333333333,pose1_to_pose2_press,0.579585119842,-0.00990933767561,1.06003223557,0.550155573727,-0.00123759004397,1.05970037217
+141,2.350000000,pose1_to_pose2_press,0.579963154645,-0.00990934051386,1.06003241132,0.550533607774,-0.0012375951106,1.05970055672
+142,2.366666667,pose1_to_pose2_press,0.580357592524,-0.00990925217111,1.06003234481,0.550928044405,-0.00123751143735,1.05970047883
+143,2.383333333,pose1_to_pose2_press,0.580779370797,-0.0099092526126,1.06003237585,0.551349822633,-0.0012375123535,1.05970050135
+144,2.400000000,pose1_to_pose2_press,0.581226480521,-0.00990920017162,1.06003244704,0.551796930799,-0.00123746506493,1.05970057603
+145,2.416666667,pose1_to_pose2_press,0.581699878171,-0.00990918744517,1.06003240343,0.552270329386,-0.00123744915021,1.0597005326
+146,2.433333333,pose1_to_pose2_press,0.58219868695,-0.00990906369922,1.06003234596,0.552769137615,-0.00123732708743,1.05970047987
+147,2.450000000,pose1_to_pose2_press,0.582722348987,-0.00990909492145,1.06003238877,0.553292798521,-0.00123736199828,1.05970052651
+148,2.466666667,pose1_to_pose2_press,0.583259918358,-0.00990927009075,1.06003245437,0.553830369159,-0.00123753304324,1.05970058748
+149,2.483333333,pose1_to_pose2_press,0.58381158133,-0.00990928730667,1.06003236683,0.55438203312,-0.00123754700185,1.0597004973
+150,2.500000000,pose1_to_pose2_press,0.584384552305,-0.00990923337848,1.06003229945,0.554955004094,-0.00123749299006,1.05970043219
+151,2.516666667,pose1_to_pose2_press,0.584978982721,-0.00990932699292,1.06003244765,0.555549436133,-0.00123758122,1.05970057705
+152,2.533333333,pose1_to_pose2_press,0.585596618971,-0.00990930510981,1.06003230155,0.556167071572,-0.00123756207009,1.05970043145
+153,2.550000000,pose1_to_pose2_press,0.586233254146,-0.00990920515805,1.0600321188,0.556803705229,-0.00123746697171,1.05970025644
+154,2.566666667,pose1_to_pose2_press,0.586885794237,-0.00990926676889,1.06003238667,0.557456246114,-0.0012375264041,1.05970051077
+155,2.583333333,pose1_to_pose2_press,0.587540734563,-0.00990926435645,1.0600323926,0.558111184643,-0.00123753016002,1.05970051486
+156,2.600000000,pose1_to_pose2_press,0.588199696646,-0.00990915412076,1.06003233655,0.558770147409,-0.00123741713463,1.05970047121
+157,2.616666667,pose1_to_pose2_press,0.588870473605,-0.00990911421329,1.06003223192,0.559440924481,-0.00123737681528,1.05970036728
+158,2.633333333,pose1_to_pose2_press,0.589559461313,-0.0099091684918,1.06003221377,0.560129912272,-0.00123743090883,1.0597003466
+159,2.650000000,pose1_to_pose2_press,0.590270785615,-0.00990914784789,1.06003231257,0.560841235184,-0.00123741516721,1.05970044053
+160,2.666666667,pose1_to_pose2_press,0.591010452468,-0.00990922664736,1.0600323542,0.561580904052,-0.00123748701312,1.0597004851
+161,2.683333333,pose1_to_pose2_press,0.591774864977,-0.00990919800281,1.0600322689,0.562345317511,-0.00123745493195,1.05970040541
+162,2.700000000,pose1_to_pose2_press,0.592550471425,-0.00990913813045,1.06003225693,0.56312092305,-0.00123739805432,1.05970039584
+163,2.716666667,pose1_to_pose2_press,0.593326235406,-0.0099091747587,1.06003223543,0.563896686178,-0.00123743774552,1.05970036984
+164,2.733333333,pose1_to_pose2_press,0.594088809996,-0.00990915731072,1.0600322094,0.564659260157,-0.00123742259518,1.05970033799
+165,2.750000000,pose1_to_pose2_press,0.594838445988,-0.00990914507292,1.06003224332,0.565408897481,-0.00123740560894,1.05970037796
+166,2.766666667,pose1_to_pose2_press,0.59557720648,-0.00990919007379,1.06003197782,0.566147657883,-0.00123745063556,1.05970011975
+167,2.783333333,pose1_to_pose2_press,0.596331087263,-0.00990937080536,1.06003225986,0.56690154061,-0.00123762543497,1.05970038447
+168,2.800000000,pose1_to_pose2_press,0.597104997498,-0.00990902617896,1.06003222833,0.567675446962,-0.00123729373461,1.05970035954
+169,2.816666667,pose1_to_pose2_press,0.597902401848,-0.00990915107417,1.0600323334,0.568472852694,-0.00123741389597,1.05970046579
+170,2.833333333,pose1_to_pose2_press,0.59871677274,-0.00990915487563,1.06003245233,0.569287224,-0.0012374163465,1.05970058337
+171,2.850000000,pose1_to_pose2_press,0.599544073852,-0.0099091866574,1.06003240046,0.570114524447,-0.00123745070032,1.05970052328
+172,2.866666667,pose1_to_pose2_press,0.600355958987,-0.0099092188948,1.06003243561,0.570926411153,-0.00123747727762,1.05970056714
+173,2.883333333,pose1_to_pose2_press,0.60115088376,-0.00990929497297,1.06003229552,0.571721336213,-0.00123755242553,1.05970042586
+174,2.900000000,pose1_to_pose2_press,0.601919545772,-0.00990927182046,1.06003221563,0.572489997806,-0.00123753052776,1.05970035051
+175,2.916666667,pose1_to_pose2_press,0.602669061269,-0.00990925374689,1.06003220784,0.573239512783,-0.00123751411744,1.0597003454
+176,2.933333333,pose1_to_pose2_press,0.603412504152,-0.00990923750154,1.06003232915,0.573982955242,-0.00123749938724,1.05970046486
+177,2.950000000,pose1_to_pose2_press,0.60415774373,-0.0099092110851,1.06003240494,0.574728195035,-0.00123747220171,1.05970054168
+178,2.966666667,pose1_to_pose2_press,0.604908762148,-0.0099092169608,1.06003230789,0.575479213906,-0.00123747638439,1.05970044877
+179,2.983333333,pose1_to_pose2_press,0.605668890373,-0.00990922444522,1.06003232143,0.576239341513,-0.00123748610595,1.05970045874
+180,3.000000000,pose1_to_pose2_press,0.606430022546,-0.00990920163008,1.06003235083,0.577000473676,-0.00123746363625,1.05970048014
+181,3.016666667,pose1_to_pose2_press,0.607174015735,-0.00990917952104,1.06003236606,0.577744467349,-0.00123743992264,1.05970049438
+182,3.033333333,pose1_to_pose2_press,0.607892508523,-0.00990906661458,1.06003231637,0.578462957988,-0.00123733402171,1.05970045239
+183,3.050000000,pose1_to_pose2_press,0.608577047272,-0.00990910949631,1.060032248,0.579147497901,-0.00123737311712,1.05970037978
+184,3.066666667,pose1_to_pose2_press,0.609229318709,-0.00990915220676,1.06003244653,0.57979977003,-0.0012374133384,1.05970058209
+185,3.083333333,pose1_to_pose2_press,0.60984768687,-0.00990911959214,1.0600322332,0.580418137736,-0.00123738214278,1.05970037207
+186,3.100000000,pose1_to_pose2_press,0.610453047201,-0.00990920328764,1.06003231722,0.581023499672,-0.001237460646,1.0597004495
+187,3.116666667,pose1_to_pose2_press,0.611050642258,-0.00990925511986,1.0600322723,0.581621094581,-0.00123751295958,1.05970040528
+188,3.133333333,pose1_to_pose2_press,0.611645408174,-0.00990923764793,1.06003225535,0.582215860075,-0.00123749660078,1.05970039669
+189,3.150000000,pose1_to_pose2_press,0.612236033066,-0.0099092451011,1.06003239003,0.582806485214,-0.00123750344064,1.05970052486
+190,3.166666667,pose1_to_pose2_press,0.612815542758,-0.00990924134952,1.06003226002,0.583385995012,-0.00123749942825,1.05970039109
+191,3.183333333,pose1_to_pose2_press,0.613363552289,-0.00990917845837,1.06003207948,0.583934004164,-0.0012374373604,1.05970021965
+192,3.200000000,pose1_to_pose2_press,0.613879164518,-0.00990922191241,1.06003238052,0.58444961663,-0.0012374800876,1.05970051233
+193,3.216666667,pose1_to_pose2_press,0.614361759168,-0.0099093786361,1.06003244121,0.584932212596,-0.00123763233376,1.05970056615
+194,3.233333333,pose1_to_pose2_press,0.614822382334,-0.00990920227374,1.0600320534,0.585392835206,-0.00123745676076,1.05970019838
+195,3.250000000,pose1_to_pose2_press,0.615270745962,-0.00990911254068,1.06003221042,0.585841195485,-0.00123737852369,1.05970034382
+196,3.266666667,pose1_to_pose2_press,0.615706609613,-0.00990933014433,1.06003227716,0.586277061977,-0.0012375866159,1.05970039946
+197,3.283333333,pose1_to_pose2_press,0.616128259693,-0.0099093081528,1.06003226212,0.586698711436,-0.0012375662171,1.05970038704
+198,3.300000000,pose1_to_pose2_press,0.616526483477,-0.00990927417897,1.06003212581,0.587096935304,-0.00123753131336,1.05970026285
+199,3.316666667,pose1_to_pose2_press,0.616900594628,-0.00990914948952,1.06003221115,0.587471044849,-0.00123741180041,1.05970034974
+200,3.333333333,pose1_to_pose2_press,0.617248976791,-0.00990918484261,1.06003235202,0.587819426623,-0.00123744843653,1.05970048331
+201,3.350000000,pose1_to_pose2_press,0.617577014558,-0.00990927887399,1.06003232389,0.588147465089,-0.00123753996217,1.05970045166
+202,3.366666667,pose1_to_pose2_press,0.617886977932,-0.00990918066028,1.06003223713,0.588457427426,-0.00123744500003,1.05970036695
+203,3.383333333,pose1_to_pose2_press,0.618186031305,-0.00990944875207,1.06003226918,0.58875648373,-0.00123770300609,1.05970039546
+204,3.400000000,pose1_to_pose2_press,0.618473848178,-0.00990929125475,1.06003235714,0.589044299286,-0.00123754951516,1.05970048851
+205,3.416666667,pose1_to_pose2_press,0.618742405601,-0.00990922630095,1.06003248957,0.589312856404,-0.0012374855872,1.05970061589
+206,3.433333333,pose1_to_pose2_press,0.618991448321,-0.00990932937707,1.060032311,0.589561900129,-0.00123758455676,1.05970045002
+207,3.450000000,pose1_to_pose2_press,0.619218843108,-0.00990921908699,1.06003234961,0.58978929254,-0.00123748241148,1.05970048087
+208,3.466666667,pose1_to_pose2_press,0.619424613552,-0.0099091100897,1.06003247849,0.589995062045,-0.00123737663649,1.05970060461
+209,3.483333333,pose1_to_pose2_press,0.619607445257,-0.00990909454433,1.06003235973,0.590177894249,-0.00123735887887,1.05970049528
+210,3.500000000,pose1_to_pose2_press,0.61977172885,-0.0099091017852,1.06003234191,0.590342177158,-0.00123736839646,1.05970047555
+211,3.516666667,pose1_to_pose2_press,0.619917154657,-0.00990916659844,1.06003234345,0.590487603628,-0.00123743087256,1.05970047616
+212,3.533333333,pose1_to_pose2_press,0.620044123137,-0.00990923551122,1.06003234323,0.590614573259,-0.00123749574574,1.05970047636
+213,3.550000000,pose1_to_pose2_press,0.620156210359,-0.00990923358322,1.06003229366,0.590726660753,-0.00123749271792,1.05970042899
+214,3.566666667,pose1_to_pose2_press,0.620254915258,-0.00990917952746,1.06003223712,0.590825365095,-0.00123744034864,1.05970037579
+215,3.583333333,pose1_to_pose2_press,0.620344385929,-0.00990924271031,1.06003246121,0.590914835848,-0.00123750338427,1.05970059383
+216,3.600000000,pose1_to_pose2_press,0.620425084273,-0.00990916453151,1.06003222676,0.590995533752,-0.0012374265621,1.05970036192
+217,3.616666667,pose1_to_pose2_press,0.620495320903,-0.00990924289118,1.06003237807,0.591065770434,-0.00123750452821,1.05970049778
+218,3.633333333,pose1_to_pose2_press,0.620555457748,-0.00990921847024,1.06003227544,0.591125907182,-0.0012374800171,1.0597004031
+219,3.650000000,pose1_to_pose2_press,0.620604895493,-0.0099091211686,1.06003226784,0.591175344251,-0.00123738444434,1.0597004076
+220,3.666666667,pose1_to_pose2_press,0.620645692721,-0.00990906041998,1.06003230197,0.591216141536,-0.00123732349928,1.059700445
+221,3.683333333,pose1_to_pose2_press,0.620678277932,-0.00990906948505,1.06003231391,0.591248726602,-0.00123733344709,1.05970045242
+222,3.700000000,pose1_to_pose2_press,0.620705371524,-0.00990911379378,1.06003231813,0.591275818598,-0.00123738331322,1.05970045187
+223,3.716666667,pose1_to_pose2_press,0.620727084122,-0.00990911089065,1.06003219196,0.591297532983,-0.00123737405899,1.05970033582
+224,3.733333333,pose1_to_pose2_press,0.620743965874,-0.00990912276644,1.0600321986,0.591314413989,-0.00123738891878,1.05970033647
+225,3.750000000,pose1_to_pose2_press,0.620756668458,-0.00990911432285,1.06003234582,0.591327116114,-0.00123738225048,1.05970047883
+226,3.766666667,pose1_to_pose2_press,0.620765627259,-0.00990912149631,1.06003242875,0.591336074701,-0.00123739019002,1.05970055983
+227,3.783333333,pose1_to_pose2_press,0.620771769402,-0.0099091632703,1.06003235085,0.591342216654,-0.00123743259634,1.05970048242
+228,3.800000000,pose1_to_pose2_press,0.620775417525,-0.00990927025305,1.06003229365,0.591345866726,-0.00123753303672,1.05970042555
+229,3.816666667,pose1_to_pose2_press,0.620778001791,-0.00990936915093,1.06003225006,0.591348452952,-0.00123762535421,1.0597003822
+230,3.833333333,pose1_to_pose2_press,0.620779623889,-0.00990939830281,1.06003220316,0.591350075828,-0.0012376518838,1.05970033559
+231,3.850000000,pose1_to_pose2_press,0.620780306149,-0.00990937045413,1.06003215963,0.591350757864,-0.00123762476942,1.05970029235
+232,3.866666667,pose1_to_pose2_press,0.620780609196,-0.00990935808429,1.0600321403,0.591351060811,-0.00123761272573,1.05970027314
+233,3.883333333,pose1_to_pose2_press,0.620780807821,-0.00990934997673,1.06003212763,0.591351259371,-0.00123760483195,1.05970026055
+234,3.900000000,pose1_to_pose2_press,0.620781066046,-0.00990933943641,1.06003211116,0.591351517512,-0.00123759456955,1.05970024419
+235,3.916666667,pose1_to_pose2_press,0.62078151263,-0.00990932120765,1.06003208267,0.591351963948,-0.00123757682143,1.05970021588
+236,3.933333333,pose1_to_pose2_press,0.620781984471,-0.00990930194788,1.06003205257,0.591352435635,-0.0012375580695,1.05970018597
+237,3.950000000,pose1_to_pose2_press,0.620782477109,-0.00990928183923,1.06003202114,0.591352928111,-0.00123753849106,1.05970015475
+238,3.966666667,pose1_to_pose2_press,0.620783007681,-0.00990925877328,1.06003198863,0.591353458434,-0.00123751623525,1.05970012273
+239,3.983333333,pose1_to_pose2_press,0.620783394703,-0.00990923038689,1.06003197587,0.591353844673,-0.0012374904018,1.0597001126
+240,4.000000000,pose1_to_pose2_press,0.620783703135,-0.00990920776473,1.06003196571,0.591354152481,-0.00123746981417,1.05970010452
+241,4.016666667,pose1_to_pose2_press,0.620784060117,-0.00990918158162,1.06003195394,0.591354508741,-0.00123744598584,1.05970009517
+242,4.033333333,pose1_to_pose2_press,0.620784419737,-0.00990915520507,1.06003194209,0.591354867634,-0.00123742198147,1.05970008576
+243,4.050000000,pose1_to_pose2_press,0.620784826635,-0.00990912536085,1.06003192868,0.591355273708,-0.0012373948213,1.0597000751
+244,4.066666667,pose1_to_pose2_press,0.6207850846,-0.00990914423165,1.06003197193,0.591355531752,-0.00123741345615,1.05970011742
+245,4.083333333,pose1_to_pose2_press,0.620785096536,-0.00990914637579,1.06003197568,0.591355543712,-0.00123741552421,1.05970012102
+246,4.100000000,pose1_to_pose2_press,0.620785102922,-0.00990914752306,1.06003197768,0.591355550111,-0.00123741663077,1.05970012295
+247,4.116666667,pose1_to_pose2_press,0.620785141311,-0.00990915441918,1.06003198971,0.591355588577,-0.00123742328219,1.05970013456
+248,4.133333333,pose1_to_pose2_press,0.620785182946,-0.00990916189845,1.06003200277,0.591355630295,-0.00123743049607,1.05970014714
+249,4.150000000,pose1_to_pose2_press,0.620785280967,-0.00990917950687,1.0600320335,0.591355728512,-0.00123744747968,1.05970017677
+250,4.166666667,pose1_to_pose2_press,0.620785404282,-0.00990920165911,1.06003207216,0.591355852074,-0.00123746884588,1.05970021405
+251,4.183333333,pose1_to_pose2_press,0.620785485181,-0.0099092161917,1.06003209752,0.591355933135,-0.00123748286281,1.0597002385
+252,4.200000000,pose1_to_pose2_press,0.620785522822,-0.00990922295351,1.06003210932,0.591355970851,-0.00123748938468,1.05970024988
+253,4.216666667,pose1_to_pose2_press,0.620785763861,-0.00990926625354,1.06003218489,0.591356212372,-0.00123753114827,1.05970032274
+254,4.233333333,pose1_to_pose2_press,0.620786038134,-0.00990925604521,1.06003239487,0.591356488162,-0.00123751622132,1.05970052171
+255,4.250000000,pose1_to_pose2_press,0.62078615548,-0.0099091964365,1.06003220659,0.591356604175,-0.00123746083251,1.05970034172
+256,4.266666667,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.59135660418,-0.00123746083128,1.05970034172
+257,4.283333333,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.59135660418,-0.00123746083254,1.05970034172
+258,4.300000000,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.59135660418,-0.00123746083261,1.05970034172
+259,4.316666667,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604181,-0.00123746083132,1.05970034172
+260,4.333333333,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604181,-0.00123746083121,1.05970034172
+261,4.350000000,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604181,-0.00123746083229,1.05970034172
+262,4.366666667,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604182,-0.00123746083139,1.05970034172
+263,4.383333333,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604182,-0.00123746083135,1.05970034172
+264,4.400000000,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604182,-0.00123746083202,1.05970034172
+265,4.416666667,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604182,-0.00123746083152,1.05970034172
+266,4.433333333,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604182,-0.00123746083167,1.05970034172
+267,4.450000000,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604183,-0.00123746083147,1.05970034172
+268,4.466666667,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604183,-0.00123746083141,1.05970034172
+269,4.483333333,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604183,-0.00123746083141,1.05970034172
+270,4.500000000,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604183,-0.00123746083141,1.05970034172
+271,4.516666667,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604184,-0.00123746083141,1.05970034172
+272,4.533333333,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604184,-0.00123746083142,1.05970034172
+273,4.550000000,pose2_hold,0.62078615548,-0.0099091964365,1.06003220659,0.591356604184,-0.00123746083143,1.05970034172
+274,4.566666667,pose2_to_pose3_retreat,0.62078615548,-0.0099091964365,1.06003220659,0.591356604184,-0.00123746083139,1.05970034172
+275,4.583333333,pose2_to_pose3_retreat,0.62078613076,-0.00990920733468,1.06003244449,0.591356580217,-0.00123746946318,1.05970057204
+276,4.600000000,pose2_to_pose3_retreat,0.620786044347,-0.00990919676015,1.06003242296,0.591356493305,-0.00123746053941,1.05970055154
+277,4.616666667,pose2_to_pose3_retreat,0.620785857097,-0.00990916721092,1.06003226,0.591356304548,-0.00123743587235,1.05970039456
+278,4.633333333,pose2_to_pose3_retreat,0.620785806585,-0.0099091592398,1.06003221604,0.59135625363,-0.00123742921823,1.05970035222
+279,4.650000000,pose2_to_pose3_retreat,0.620785456433,-0.00990914990105,1.06003221773,0.591355903908,-0.00123741846563,1.05970035285
+280,4.666666667,pose2_to_pose3_retreat,0.620785379971,-0.00990914804238,1.06003221931,0.591355827553,-0.00123741625675,1.05970035415
+281,4.683333333,pose2_to_pose3_retreat,0.62078457015,-0.00990913328066,1.06003223831,0.591355018723,-0.00123739825632,1.05970037029
+282,4.700000000,pose2_to_pose3_retreat,0.620781316384,-0.00990924925991,1.06003234572,0.591351763794,-0.00123751827278,1.05970047399
+283,4.716666667,pose2_to_pose3_retreat,0.620772684188,-0.00990927071916,1.06003236675,0.591343134095,-0.00123753103309,1.05970050056
+284,4.733333333,pose2_to_pose3_retreat,0.620757066104,-0.00990928055823,1.06003231753,0.591327515769,-0.00123754159624,1.05970045383
+285,4.750000000,pose2_to_pose3_retreat,0.620729920885,-0.0099091877715,1.06003251286,0.591300371262,-0.00123744692857,1.05970063996
+286,4.766666667,pose2_to_pose3_retreat,0.620691856398,-0.00990918413361,1.06003244527,0.591262307195,-0.00123744194659,1.05970057441
+287,4.783333333,pose2_to_pose3_retreat,0.620643009037,-0.00990926704302,1.06003223552,0.591213459075,-0.0012375274586,1.05970036803
+288,4.800000000,pose2_to_pose3_retreat,0.620585307352,-0.00990919248736,1.06003220684,0.591155757175,-0.00123745363101,1.05970034293
+289,4.816666667,pose2_to_pose3_retreat,0.620519022845,-0.00990916181154,1.06003237987,0.591089472678,-0.00123742397588,1.05970050233
+290,4.833333333,pose2_to_pose3_retreat,0.620445583738,-0.00990914318507,1.06003219059,0.591016033013,-0.00123740677188,1.0597003305
+291,4.850000000,pose2_to_pose3_retreat,0.62036464676,-0.0099091861296,1.06003254849,0.590935096871,-0.00123744640751,1.0597006784
+292,4.866666667,pose2_to_pose3_retreat,0.620271658208,-0.0099092269363,1.06003225753,0.590842108738,-0.00123748591997,1.05970038459
+293,4.883333333,pose2_to_pose3_retreat,0.620166122953,-0.00990916898967,1.06003226309,0.590736573279,-0.00123742865866,1.05970039342
+294,4.900000000,pose2_to_pose3_retreat,0.620045923539,-0.00990915944908,1.06003222965,0.590616373413,-0.00123742067072,1.05970036208
+295,4.916666667,pose2_to_pose3_retreat,0.619910656602,-0.00990923377547,1.06003209294,0.590481106282,-0.00123749568615,1.05970022781
+296,4.933333333,pose2_to_pose3_retreat,0.619759678052,-0.00990933082791,1.06003207844,0.590330128432,-0.00123759040279,1.05970021589
+297,4.950000000,pose2_to_pose3_retreat,0.619591967218,-0.00990941784623,1.0600321521,0.590162419215,-0.00123767231413,1.05970028189
+298,4.966666667,pose2_to_pose3_retreat,0.619406535004,-0.00990927882271,1.06003247429,0.589976985707,-0.00123753795106,1.05970060523
+299,4.983333333,pose2_to_pose3_retreat,0.619198980495,-0.00990922703946,1.06003236223,0.589769432233,-0.00123748261822,1.05970049518
+300,5.000000000,pose2_to_pose3_retreat,0.618969271083,-0.00990936062928,1.06003204899,0.589539723863,-0.00123761275512,1.05970018497
+301,5.016666667,pose2_to_pose3_retreat,0.618715920431,-0.00990927959716,1.06003198221,0.589286372058,-0.00123753597182,1.05970011565
+302,5.033333333,pose2_to_pose3_retreat,0.618441364525,-0.00990932279754,1.06003197255,0.589011816034,-0.00123757974922,1.05970010687
+303,5.050000000,pose2_to_pose3_retreat,0.618146238851,-0.00990932358755,1.06003197352,0.588716690097,-0.00123758162617,1.05970010783
+304,5.066666667,pose2_to_pose3_retreat,0.617828663605,-0.00990925730878,1.06003208148,0.588399114367,-0.00123751711463,1.05970021689
+305,5.083333333,pose2_to_pose3_retreat,0.617490432936,-0.00990926328444,1.06003230523,0.588060884239,-0.00123752157068,1.05970043942
+306,5.100000000,pose2_to_pose3_retreat,0.617131933376,-0.00990930869372,1.0600324114,0.587702385373,-0.0012375651938,1.05970054144
+307,5.116666667,pose2_to_pose3_retreat,0.61675579955,-0.00990929330388,1.06003224385,0.587326250955,-0.00123755180127,1.0597003808
+308,5.133333333,pose2_to_pose3_retreat,0.616362783254,-0.00990934269354,1.06003245591,0.586933236298,-0.00123759611177,1.0597005874
+309,5.150000000,pose2_to_pose3_retreat,0.615953390904,-0.00990918120234,1.0600322251,0.586523841055,-0.00123744454234,1.05970036105
+310,5.166666667,pose2_to_pose3_retreat,0.615525206788,-0.00990929625322,1.06003237516,0.586095657566,-0.00123755848308,1.05970049338
+311,5.183333333,pose2_to_pose3_retreat,0.615069976573,-0.00990927549446,1.06003206035,0.585640427847,-0.0012375359948,1.059700188
+312,5.200000000,pose2_to_pose3_retreat,0.61458759644,-0.00990923909912,1.0600320675,0.585158048058,-0.00123749859243,1.0597001995
+313,5.216666667,pose2_to_pose3_retreat,0.614076508509,-0.00990926588626,1.06003233786,0.584646960328,-0.0012375250433,1.05970046944
+314,5.233333333,pose2_to_pose3_retreat,0.613545544177,-0.00990931849685,1.06003246913,0.584115996686,-0.00123757562203,1.05970060103
+315,5.250000000,pose2_to_pose3_retreat,0.612998185747,-0.00990933743423,1.06003244127,0.583568639163,-0.00123759203863,1.05970056695
+316,5.266666667,pose2_to_pose3_retreat,0.612442110279,-0.00990930303379,1.06003224452,0.583012562159,-0.00123756298466,1.05970037244
+317,5.283333333,pose2_to_pose3_retreat,0.611873961951,-0.00990925722902,1.06003221471,0.582444413701,-0.00123751708119,1.05970034841
+318,5.300000000,pose2_to_pose3_retreat,0.611279152817,-0.00990920488843,1.06003233441,0.581849605501,-0.00123746165233,1.05970046555
+319,5.316666667,pose2_to_pose3_retreat,0.610655271193,-0.00990921964082,1.06003219348,0.58122572316,-0.0012374789124,1.05970032215
+320,5.333333333,pose2_to_pose3_retreat,0.609999556864,-0.00990920938854,1.06003218731,0.580570009129,-0.00123746747881,1.05970032011
+321,5.350000000,pose2_to_pose3_retreat,0.609320699727,-0.00990923300388,1.0600322862,0.579891151728,-0.00123749199175,1.05970041983
+322,5.366666667,pose2_to_pose3_retreat,0.608625254735,-0.00990924801986,1.0600322788,0.579195706436,-0.00123750803284,1.05970041316
+323,5.383333333,pose2_to_pose3_retreat,0.607924310449,-0.00990922189644,1.06003219136,0.57849476253,-0.00123748035619,1.05970033224
+324,5.400000000,pose2_to_pose3_retreat,0.607216736906,-0.00990926809976,1.06003225113,0.577787190043,-0.00123752293637,1.05970039222
+325,5.416666667,pose2_to_pose3_retreat,0.606497346401,-0.00990942831167,1.06003247092,0.577067801258,-0.00123767789766,1.05970059698
+326,5.433333333,pose2_to_pose3_retreat,0.605759188928,-0.00990930656143,1.06003231384,0.576329640733,-0.00123756599549,1.05970045472
+327,5.450000000,pose2_to_pose3_retreat,0.605000059467,-0.00990934169441,1.06003248705,0.575570511278,-0.00123760161534,1.05970061157
+328,5.466666667,pose2_to_pose3_retreat,0.604214683816,-0.00990930556373,1.06003249288,0.574785135213,-0.0012375669235,1.05970061883
+329,5.483333333,pose2_to_pose3_retreat,0.603406835629,-0.00990917739337,1.06003249537,0.573977285873,-0.00123744268708,1.05970061991
+330,5.500000000,pose2_to_pose3_retreat,0.602592752901,-0.00990915060341,1.06003247881,0.573163202207,-0.00123741893738,1.05970060682
+331,5.516666667,pose2_to_pose3_retreat,0.60177970281,-0.00990920094937,1.06003231226,0.572350153505,-0.00123746452814,1.05970044128
+332,5.533333333,pose2_to_pose3_retreat,0.600975628288,-0.00990924599147,1.06003228433,0.571546079876,-0.00123750630884,1.05970041922
+333,5.550000000,pose2_to_pose3_retreat,0.600182197514,-0.00990924338677,1.06003239626,0.570752649525,-0.00123750230525,1.05970053016
+334,5.566666667,pose2_to_pose3_retreat,0.599394042353,-0.00990922360045,1.06003238382,0.569964494171,-0.00123748336012,1.05970051373
+335,5.583333333,pose2_to_pose3_retreat,0.598603738515,-0.00990917907905,1.06003222674,0.569174189055,-0.00123744313675,1.05970035803
+336,5.600000000,pose2_to_pose3_retreat,0.597803300782,-0.00990907287924,1.06003220341,0.568373750314,-0.00123734026874,1.0597003344
+337,5.616666667,pose2_to_pose3_retreat,0.596978740822,-0.00990911055326,1.06003212412,0.567549191851,-0.00123737281443,1.05970025597
+338,5.633333333,pose2_to_pose3_retreat,0.596143856454,-0.00990923820697,1.06003221058,0.566714308521,-0.00123749675993,1.05970034713
+339,5.650000000,pose2_to_pose3_retreat,0.595308235816,-0.00990930590734,1.06003210223,0.565878689827,-0.00123755792374,1.05970023711
+340,5.666666667,pose2_to_pose3_retreat,0.594490034916,-0.009909229042,1.06003231455,0.56506048647,-0.00123748948511,1.05970044715
+341,5.683333333,pose2_to_pose3_retreat,0.593696583371,-0.00990917249999,1.06003225599,0.564267032876,-0.00123744002047,1.05970038533
+342,5.700000000,pose2_to_pose3_retreat,0.592932463573,-0.00990924951985,1.06003221959,0.563502915637,-0.00123750824621,1.05970035173
+343,5.716666667,pose2_to_pose3_retreat,0.592189385588,-0.00990924420633,1.06003228198,0.562759838015,-0.00123750164058,1.05970041569
+344,5.733333333,pose2_to_pose3_retreat,0.591456904889,-0.00990920982225,1.06003230503,0.562027357587,-0.0012374664433,1.05970043591
+345,5.750000000,pose2_to_pose3_retreat,0.590718237402,-0.00990920071918,1.06003229296,0.561288690999,-0.00123745443974,1.05970041987
+346,5.766666667,pose2_to_pose3_retreat,0.589970325612,-0.00990916279911,1.06003235672,0.560540777623,-0.00123742178365,1.05970048666
+347,5.783333333,pose2_to_pose3_retreat,0.589216505459,-0.0099091387966,1.06003230338,0.559786956766,-0.00123739969516,1.05970044573
+348,5.800000000,pose2_to_pose3_retreat,0.588465640318,-0.00990921935681,1.06003231398,0.559036092741,-0.00123747641955,1.05970045776
+349,5.816666667,pose2_to_pose3_retreat,0.587742313098,-0.00990921875343,1.06003249624,0.558312764503,-0.00123748009903,1.05970062057
+350,5.833333333,pose2_to_pose3_retreat,0.587050722409,-0.00990921243799,1.06003216835,0.55762117563,-0.0012374666251,1.05970031875
+351,5.850000000,pose2_to_pose3_retreat,0.586396944757,-0.009909157807,1.06003232243,0.556967395645,-0.00123742050687,1.05970045558
+352,5.866666667,pose2_to_pose3_retreat,0.58577256641,-0.0099092184843,1.06003227827,0.556343018961,-0.00123747565326,1.05970040803
+353,5.883333333,pose2_to_pose3_retreat,0.585170076023,-0.00990926942173,1.06003227125,0.555740528547,-0.00123752638295,1.05970040876
+354,5.900000000,pose2_to_pose3_retreat,0.584572531885,-0.00990929327655,1.06003226289,0.555142983844,-0.00123755208868,1.0597004022
+355,5.916666667,pose2_to_pose3_retreat,0.583977995421,-0.00990930885211,1.06003223566,0.554548447567,-0.00123756737429,1.05970036579
+356,5.933333333,pose2_to_pose3_retreat,0.583389659862,-0.00990932123923,1.06003228912,0.553960111747,-0.00123758084076,1.05970041415
+357,5.950000000,pose2_to_pose3_retreat,0.582820720943,-0.00990930921856,1.06003235764,0.553391172825,-0.00123756868961,1.05970048672
+358,5.966666667,pose2_to_pose3_retreat,0.582277794666,-0.00990920246602,1.06003238801,0.552848245982,-0.00123746411264,1.05970051036
+359,5.983333333,pose2_to_pose3_retreat,0.581765463863,-0.00990921974819,1.06003236003,0.552335915114,-0.00123748129409,1.05970049072
+360,6.000000000,pose2_to_pose3_retreat,0.581280250481,-0.00990923283317,1.06003244748,0.551850702434,-0.00123749189988,1.05970058065
+361,6.016666667,pose2_to_pose3_retreat,0.580814924841,-0.0099091179938,1.06003245938,0.551385376283,-0.00123737883839,1.0597005922
+362,6.033333333,pose2_to_pose3_retreat,0.580370299593,-0.009909161731,1.06003246775,0.550940751039,-0.00123742265443,1.05970059832
+363,6.050000000,pose2_to_pose3_retreat,0.579952436743,-0.00990920009198,1.06003248522,0.550522888577,-0.00123745982985,1.05970061201
+364,6.066666667,pose2_to_pose3_retreat,0.579561813478,-0.00990923074221,1.06003239959,0.550132266161,-0.00123748737016,1.05970053194
+365,6.083333333,pose2_to_pose3_retreat,0.579199643225,-0.00990931059304,1.06003237616,0.549770096783,-0.00123756409109,1.05970051267
+366,6.100000000,pose2_to_pose3_retreat,0.578863986751,-0.00990931336996,1.06003238716,0.549434440055,-0.00123756780135,1.05970052183
+367,6.116666667,pose2_to_pose3_retreat,0.578549245863,-0.00990910763832,1.06003221419,0.549119697159,-0.00123736884432,1.05970034984
+368,6.133333333,pose2_to_pose3_retreat,0.578249325928,-0.00990918395699,1.06003225361,0.548819775976,-0.00123744976606,1.05970037969
+369,6.150000000,pose2_to_pose3_retreat,0.577962827907,-0.00990932941035,1.06003235404,0.548533280746,-0.00123758572384,1.05970048097
+370,6.166666667,pose2_to_pose3_retreat,0.577691070153,-0.00990912667955,1.06003234349,0.548261520819,-0.00123739015717,1.05970047594
+371,6.183333333,pose2_to_pose3_retreat,0.577439110758,-0.00990918634573,1.06003236462,0.548009561466,-0.00123744985465,1.05970049253
+372,6.200000000,pose2_to_pose3_retreat,0.577207847043,-0.00990923461299,1.06003224111,0.547778298185,-0.00123749627574,1.0597003787
+373,6.216666667,pose2_to_pose3_retreat,0.576997595902,-0.00990922925249,1.06003226225,0.547568047725,-0.00123748850441,1.05970040265
+374,6.233333333,pose2_to_pose3_retreat,0.576806714762,-0.00990920276664,1.060032217,0.547377165492,-0.001237466037,1.05970034942
+375,6.250000000,pose2_to_pose3_retreat,0.576635688711,-0.00990920606901,1.06003233103,0.54720613974,-0.00123746838364,1.05970046194
+376,6.266666667,pose2_to_pose3_retreat,0.576482499251,-0.00990926972542,1.060032523,0.547052952387,-0.00123752471972,1.05970065835
+377,6.283333333,pose2_to_pose3_retreat,0.576347796637,-0.00990928332203,1.06003233983,0.546918248968,-0.00123754097324,1.05970047713
+378,6.300000000,pose2_to_pose3_retreat,0.576231005014,-0.0099091848707,1.06003208492,0.546801454877,-0.00123745090134,1.05970022208
+379,6.316666667,pose2_to_pose3_retreat,0.576130336757,-0.0099092708435,1.06003218639,0.546700788513,-0.00123753121117,1.05970030372
+380,6.333333333,pose2_to_pose3_retreat,0.576043215008,-0.0099093663465,1.06003238527,0.546613666558,-0.00123762727357,1.05970050709
+381,6.350000000,pose2_to_pose3_retreat,0.575967038508,-0.00990912536783,1.06003226334,0.546537488485,-0.00123739131693,1.05970039338
+382,6.366666667,pose2_to_pose3_retreat,0.575901499115,-0.00990920533762,1.0600324229,0.54647195038,-0.00123746692608,1.05970055248
+383,6.383333333,pose2_to_pose3_retreat,0.575845614907,-0.00990921514424,1.06003247334,0.546416066107,-0.00123747687219,1.05970060499
+384,6.400000000,pose2_to_pose3_retreat,0.57579950678,-0.00990924743065,1.06003223204,0.546369957752,-0.00123750985568,1.0597003657
+385,6.416666667,pose2_to_pose3_retreat,0.575763611176,-0.00990924840758,1.06003216142,0.546334062745,-0.00123750887609,1.05970029331
+386,6.433333333,pose2_to_pose3_retreat,0.5757363825,-0.00990924211967,1.0600322135,0.546306834857,-0.00123749985251,1.05970034698
+387,6.450000000,pose2_to_pose3_retreat,0.575716240736,-0.00990927252552,1.06003220258,0.546286693669,-0.00123752811606,1.05970034105
+388,6.466666667,pose2_to_pose3_retreat,0.575701355292,-0.00990929720873,1.06003221867,0.546271808892,-0.00123755067443,1.05970035362
+389,6.483333333,pose2_to_pose3_retreat,0.575691229866,-0.00990927290906,1.0600322357,0.546261682125,-0.00123753110226,1.05970036616
+390,6.500000000,pose2_to_pose3_retreat,0.575683221252,-0.00990926290222,1.06003226158,0.546253672999,-0.00123752281992,1.05970039226
+391,6.516666667,pose2_to_pose3_retreat,0.575677378986,-0.0099092908382,1.06003230414,0.546247832208,-0.00123754539742,1.0597004437
+392,6.533333333,pose2_to_pose3_retreat,0.575673876665,-0.00990926499099,1.06003224561,0.546244328917,-0.00123752289157,1.0597003839
+393,6.550000000,pose2_to_pose3_retreat,0.575671891004,-0.00990923259153,1.0600321774,0.546242341933,-0.00123749511685,1.05970031223
+394,6.566666667,pose2_to_pose3_retreat,0.575670722204,-0.00990921352057,1.06003213726,0.546241172355,-0.0012374787681,1.05970027004
+395,6.583333333,pose2_to_pose3_retreat,0.575670171042,-0.00990920452742,1.06003211833,0.546240620826,-0.00123747105865,1.05970025015
+396,6.600000000,pose2_to_pose3_retreat,0.575670110859,-0.00990920354543,1.06003211626,0.546240560603,-0.00123747021683,1.05970024797
+397,6.616666667,pose2_to_pose3_retreat,0.575669970337,-0.00990920125256,1.06003211143,0.546240419986,-0.00123746825125,1.0597002429
+398,6.633333333,pose2_to_pose3_retreat,0.575669806259,-0.00990920724083,1.06003211952,0.546240255986,-0.00123747397791,1.05970025104
+399,6.650000000,pose2_to_pose3_retreat,0.575669562051,-0.00990921894448,1.06003213598,0.546240011952,-0.00123748508485,1.05970026768
+400,6.666666667,pose2_to_pose3_retreat,0.575669346711,-0.00990922926469,1.0600321505,0.546239796764,-0.00123749487889,1.05970028236
+401,6.683333333,pose2_to_pose3_retreat,0.575669302599,-0.00990923137873,1.06003215347,0.546239752684,-0.00123749688515,1.05970028537
+402,6.700000000,pose2_to_pose3_retreat,0.575669035085,-0.00990924419935,1.06003217151,0.54623948536,-0.00123750905212,1.0597003036
+403,6.716666667,pose2_to_pose3_retreat,0.575668506015,-0.009909269555,1.06003220717,0.546238956667,-0.00123753311502,1.05970033965
+404,6.733333333,pose2_to_pose3_retreat,0.575668264529,-0.00990928112823,1.06003222345,0.546238715352,-0.0012375440982,1.05970035611
+405,6.750000000,pose2_to_pose3_retreat,0.57566802848,-0.00990929244086,1.06003223936,0.546238479471,-0.00123755483407,1.0597003722
+406,6.766666667,pose2_to_pose3_retreat,0.575667398867,-0.00990932261508,1.0600322818,0.546237850306,-0.00123758346987,1.0597004151
+407,6.783333333,pose2_to_pose3_retreat,0.575667053379,-0.00990933917256,1.06003230509,0.546237505064,-0.00123759918318,1.05970043865
+408,6.800000000,pose2_to_pose3_retreat,0.575666792092,-0.00990935169475,1.0600323227,0.546237243962,-0.00123761106693,1.05970045645
+409,6.816666667,pose2_to_pose3_retreat,0.575666413902,-0.00990935640573,1.06003234109,0.546236866032,-0.00123761493412,1.05970047388
+410,6.833333333,pose2_to_pose3_retreat,0.575665939924,-0.00990934490107,1.06003235492,0.546236392367,-0.00123760247616,1.05970048487
+411,6.850000000,pose2_to_pose3_retreat,0.575665527518,-0.00990933489091,1.06003236696,0.546235980233,-0.00123759163654,1.05970049443
+412,6.866666667,pose2_to_pose3_retreat,0.575665415936,-0.00990933218253,1.06003237021,0.546235868725,-0.00123758870375,1.05970049702
+413,6.883333333,pose2_to_pose3_retreat,0.575665093796,-0.00990932361368,1.06003237487,0.546235546769,-0.00123757957002,1.05970050014
+414,6.900000000,pose2_to_pose3_retreat,0.575664784917,-0.00990930115859,1.06003228921,0.546235237519,-0.00123755815032,1.05970042037
+415,6.916666667,pose2_to_pose3_retreat,0.57566461865,-0.00990928907113,1.06003224309,0.546235071051,-0.00123754662021,1.05970037743
+416,6.933333333,pose2_to_pose3_retreat,0.575664554612,-0.00990928441571,1.06003222533,0.546235006936,-0.00123754217944,1.05970036089
+417,6.950000000,pose2_to_pose3_retreat,0.575664486791,-0.00990932650982,1.06003233264,0.546234938968,-0.00123758485419,1.0597004661
+418,6.966666667,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632648,1.05970060642
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..19acce321535ac30f09e48145463a44d6883d64d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d60c5208b31179f65811893c13dae357448d974f81f3f57beca1ece0972a9d
+size 26789194
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e0f582a2023e5bffc5e6c28ed2c9f034e6d7d08
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/franka_data.csv
@@ -0,0 +1,423 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,744,715,678,662,635,879,787,804,652,631,652,0.400970884377,-0.0153905923113,0.069829709076,0.999999942958,0.000191094449177,-0.00027819491055,1.31850228812e-05,1793239628314656512
+1,0.016666667,BASELINE,765.593209226,744.593209226,715,678,661.406790774,635,879,787.593209226,804,652,631,652.593209226,0.400970990537,-0.0153914140239,0.069829655073,0.999999942918,0.000191637836199,-0.000277957064056,1.33530791255e-05,1793239628331322880
+2,0.033333333,BASELINE,765.817702587,745,715,678,661,635,879,787.817702587,804,652,631,653,0.400971476418,-0.0153917058457,0.0698299997884,0.999999943131,0.000191673256886,-0.000277161488215,1.34141274004e-05,1793239628347989248
+3,0.050000000,BASELINE,765.237606965,745,715,678,661,635,879,787.237606965,804,652,631,653,0.400972790905,-0.0153908413725,0.0698312145629,0.999999943895,0.000190600224762,-0.000275148869627,1.32416694932e-05,1793239628364655616
+4,0.066666667,BASELINE,765,745,715,678.339846795,661,635,879,787.339846795,804.339846795,652,631,653,0.40097272846,-0.0153912071368,0.069831449947,0.999999943953,0.000190146147923,-0.000275247006282,1.33468311495e-05,1793239628381321728
+5,0.083333333,BASELINE,765,745,715,678.915467686,661,635,879,787.915467686,804.915467686,652,631,653,0.400971710746,-0.0153924263979,0.0698310058633,0.999999943522,0.00019012148118,-0.000276809512938,1.36445957852e-05,1793239628397988608
+6,0.100000000,BASELINE,765,745,715,678.510250872,661,635.489749128,879,788,804.020501744,652,631,653,0.400970710614,-0.0153924894158,0.0698303104312,0.999999943205,0.000189943259426,-0.000278085470372,1.33861038982e-05,1793239628414655488
+7,0.116666667,BASELINE,765,745,715,678,661,636,879,788,803.06587429,652,631,653,0.400969943057,-0.0153923787751,0.0698296752567,0.999999942953,0.000189817628453,-0.000279092822078,1.30732492027e-05,1793239628431322112
+8,0.133333333,BASELINE,765,745,715,678,661,636,879,788,803.658588879,652,631,653,0.400971011365,-0.0153924710221,0.0698298680222,0.999999943064,0.000190323993453,-0.000278346436223,1.30913939594e-05,1793239628447988480
+9,0.150000000,BASELINE,765.245167509,745,715,678,661,636,879.245167509,788,804,652,631.245167509,652.754832491,0.400972079724,-0.0153921119687,0.069830680518,0.999999943432,0.000190840065917,-0.000276663899058,1.3127652224e-05,1793239628464654848
+10,0.166666667,BASELINE,765.823410016,745,715,678,661,636,879.823410016,788,804,652,631.823410016,652.176589984,0.400973148152,-0.0153911397962,0.069832334955,0.999999944143,0.000191369326522,-0.00027370954336,1.31885187911e-05,1793239628481321472
+11,0.183333333,BASELINE,766,745,715,678.399937112,661,636,879.600062888,788,804,651.600062888,631.600062888,652.399937112,0.400971735568,-0.0153911246353,0.0698314111805,0.999999943701,0.000191626653898,-0.000275145562715,1.30931420284e-05,1793239628497988096
+12,0.200000000,BASELINE,766,745,715,678.975710063,661,636,879.024289937,788,804,651.024289937,631.024289937,652.975710063,0.400969232186,-0.0153915302327,0.069829353873,0.999999942745,0.000191764423503,-0.000278511848498,1.29290715282e-05,1793239628514654976
+13,0.216666667,BASELINE,765.450196411,745,715,678.450196411,661,636,879,787.450196411,804,651,631,653,0.400969296019,-0.0153927135346,0.0698295068713,0.99999994289,0.000191590473292,-0.000278093079106,1.32963251645e-05,1793239628531322112
+14,0.233333333,BASELINE,765.127405365,745,715,678,661,635.872594635,879,787.127405365,804,651.127405365,631.127405365,653,0.400969620223,-0.0153933159127,0.0698297504955,0.999999943044,0.000191617743885,-0.000277508365525,1.35734699764e-05,1793239628547989504
+15,0.250000000,BASELINE,765.718031546,745,715,678,661,635.281968454,879,787.718031546,804,651.718031546,631.718031546,653,0.400970479978,-0.0153916816268,0.0698299696637,0.999999943052,0.000192426531849,-0.000276926442835,1.34379117321e-05,1793239628564656384
+16,0.266666667,BASELINE,766,745,715,678,661,635.30158372,879.30158372,788,804.30158372,652,631.69841628,653,0.400970360548,-0.0153906142547,0.0698298354371,0.999999943012,0.000192593643306,-0.000276970208075,1.30563393917e-05,1793239628581323008
+17,0.283333333,BASELINE,766,745,715,678,661,635.878673533,879.878673533,788,804.878673533,652,631.121326467,653,0.400969346604,-0.0153900647761,0.0698293783732,0.99999994293,0.000192174563301,-0.000277585558701,1.2450025544e-05,1793239628597989120
+18,0.300000000,BASELINE,766,745,715,678.45493687,661,635.54506313,879.54506313,788,804.54506313,652,631,653,0.400970176049,-0.0153907255694,0.0698295172799,0.999999942985,0.000192341231984,-0.000277265796095,1.25745564392e-05,1793239628614655488
+19,0.316666667,BASELINE,765.968281224,745,715,678.968281224,661,635.031718776,879,788,804,652,631,653,0.400971453802,-0.015391628807,0.0698298458078,0.99999994308,0.000192710217447,-0.000276653934254,1.28828120627e-05,1793239628631321856
+20,0.333333333,BASELINE,765.378504631,745,715,678.378504631,661,635.621495369,879,788,804,652,631,653,0.40097198539,-0.0153911291744,0.0698307192342,0.999999943228,0.000193895342476,-0.000275282587368,1.30005295267e-05,1793239628647988480
+21,0.350000000,BASELINE,765,745,715,678,661.207372237,636,879,787.792627763,804,652,631.207372237,652.792627763,0.400972321865,-0.0153911877258,0.0698313015146,0.999999943404,0.000194095784122,-0.000274489700466,1.31856567915e-05,1793239628664655104
+22,0.366666667,BASELINE,765,745,715,678,661.786262483,636,879,787.213737517,804,652,631.786262483,652.213737517,0.400972308787,-0.0153922462926,0.0698313621919,0.999999943636,0.000192532114795,-0.000274733154474,1.34915521634e-05,1793239628681321728
+23,0.383333333,BASELINE,765,745,715,678,661.63776438,636,879,787.36223562,804,652,632,652.36223562,0.400971977723,-0.0153926165822,0.0698312495005,0.999999943571,0.000192289127806,-0.000275136957962,1.353961805e-05,1793239628697988608
+24,0.400000000,BASELINE,765,745,715,678,661.063498682,636,879,787.936501318,804,652,632,652.936501318,0.400971460529,-0.0153925839974,0.0698310353299,0.999999943333,0.000192819185516,-0.000275634620031,1.34367667094e-05,1793239628714655744
+25,0.416666667,BASELINE,765,745,715,678,661,636,879,788,804,651.487167487,631.487167487,653,0.400971481469,-0.015392074038,0.0698310835772,0.999999943711,0.000191518969203,-0.000275179958722,1.32462922849e-05,1793239628731322368
+26,0.433333333,BASELINE,765,744.908604877,715,678,661,636,879,788,804,651.091395123,631.091395123,653,0.400971619798,-0.0153916901989,0.06983118763,0.999999944078,0.000190336650369,-0.000274672028693,1.30748779112e-05,1793239628747988992
+27,0.450000000,BASELINE,765,744.319284139,715,678,661,636,879,788,804,651.680715861,631.680715861,653,0.400972033189,-0.0153923167972,0.0698314179782,0.999999943987,0.000191036293828,-0.000274518899501,1.30666510769e-05,1793239628764655616
+28,0.466666667,BASELINE,765,744,715,678,661,636,879.265694049,787.734305951,804,652,632,653,0.400972329999,-0.0153925164124,0.0698315922212,0.999999944011,0.000191237859616,-0.000274286290583,1.31709110478e-05,1793239628781321984
+29,0.483333333,BASELINE,765,744,715,678,661,636,879.845537686,787.154462314,804,652,632,653,0.400972488964,-0.0153922111743,0.0698317001269,0.999999944171,0.000190850511546,-0.000273959706956,1.34081724309e-05,1793239628797988608
+30,0.500000000,BASELINE,765.421774422,744.421774422,715,678,661,636,879.578225578,787.421774422,804,652,631.578225578,652.578225578,0.400973030369,-0.0153924003311,0.0698319576833,0.999999944264,0.000191339225502,-0.000273283727906,1.33221952689e-05,1793239628814655232
+31,0.516666667,BASELINE,765.996701425,744.996701425,715,678,661,636,879.003298575,787.996701425,804,652,631.003298575,652.003298575,0.400973710644,-0.0153927690101,0.0698322695802,0.999999944331,0.000192146050651,-0.000272480878175,1.31188453656e-05,1793239628831321856
+32,0.533333333,BASELINE,766,745,715,678.583807804,661,636,879,788,804,651.416192196,631.583807804,652.583807804,0.400971693955,-0.0153920506955,0.0698307431153,0.999999943326,0.000193317128622,-0.000275336025839,1.2926887119e-05,1793239628847988736
+33,0.550000000,BASELINE,766,745,715,678.831107525,661,636,879.168892475,787.831107525,804,651,631.831107525,653,0.400970822746,-0.0153915872897,0.0698301767144,0.999999942871,0.000193831220441,-0.000276625508358,1.28584686862e-05,1793239628864655360
+34,0.566666667,BASELINE,766,745,715,678.251115038,661,636,879.748884962,787.251115038,804,651,631.251115038,653,0.400972777626,-0.0153917596234,0.0698319730203,0.999999943787,0.000192741030357,-0.000274052635813,1.30905976871e-05,1793239628881322240
+35,0.583333333,BASELINE,765.672993225,745,715,678,661,636,879.672993225,787.327006775,804,651.327006775,631.327006775,653,0.400972719283,-0.015391009226,0.0698321408154,0.999999943777,0.00019347837447,-0.00027357338482,1.3045111193e-05,1793239628897988864
+36,0.600000000,BASELINE,765.096299707,745,715,678,661,636,879.096299707,787.903700293,804,651.903700293,631.903700293,653,0.40097112374,-0.0153895542751,0.0698310651576,0.999999943058,0.000195611136229,-0.0002746927229,1.27876508009e-05,1793239628914655232
+37,0.616666667,BASELINE,765,745,715,678.476361179,661,636,879.476361179,788,804,652,631.523638821,653,0.400971105304,-0.0153908942981,0.0698307712463,0.999999943211,0.000194205206307,-0.000275129160309,1.29266375383e-05,1793239628931321856
+38,0.633333333,BASELINE,765.050112211,744.949887789,715,678.949887789,661,635.949887789,879.949887789,788,804.050112211,652,631,653,0.400971203616,-0.0153925171785,0.0698305900263,0.999999943438,0.000192399639213,-0.000275560440384,1.31119504494e-05,1793239628947988480
+39,0.650000000,BASELINE,765.644483174,744.355516826,715,678.355516826,661,635.355516826,879.355516826,788,804.644483174,652,631,653,0.400969136289,-0.0153911270253,0.0698299307408,0.999999942625,0.000193957972339,-0.000277422488735,1.29372758802e-05,1793239628964655104
+40,0.666666667,BASELINE,766,744,715.232943612,678,661,635.232943612,879,788,804.767056388,652,631.232943612,653,0.400968451027,-0.015390395797,0.0698297985239,0.999999942273,0.000194980505473,-0.000277976474941,1.28808625697e-05,1793239628981321728
+41,0.683333333,BASELINE,766,744,715.812606635,678,661,635.812606635,879,788,804.187393365,652,631.812606635,653,0.400969822868,-0.0153906453298,0.0698304508101,0.999999942614,0.000195205539684,-0.000276583506871,1.30004724438e-05,1793239628997988352
+42,0.700000000,BASELINE,766,744.389755223,715.610244777,678,661,636,879.389755223,788,804,652,632,653,0.400969870482,-0.0153920784165,0.0698304881057,0.999999943094,0.000193056090752,-0.000276359487555,1.29466011324e-05,1793239629014655232
+43,0.716666667,BASELINE,766,744.96570261,715.03429739,678,661,636,879.96570261,788,804,652,632,653,0.400969285492,-0.0153940769054,0.0698302316108,0.999999943631,0.000189772314089,-0.000276693893372,1.28098551428e-05,1793239629031322112
+44,0.733333333,BASELINE,766,745,715,678.537083133,661,636,880,788,804,652,632,653,0.400970838509,-0.0153938175674,0.0698316536094,0.999999944099,0.000189703126489,-0.000275045318129,1.28598994549e-05,1793239629047988736
+45,0.750000000,BASELINE,766,745,715,678.887240024,661,636,879.887240024,787.887240024,804,652,631.887240024,653,0.400972023997,-0.0153934900825,0.0698326903496,0.999999944505,0.000189369008637,-0.000273795637723,1.288241705e-05,1793239629064655360
+46,0.766666667,BASELINE,766,745,715,678.291940388,661,636,879.291940388,787.291940388,804,652,631.291940388,653,0.400971057366,-0.015393482775,0.0698316236121,0.999999944674,0.000187030105381,-0.000274790296657,1.27365236398e-05,1793239629081321984
+47,0.783333333,BASELINE,765.706197656,745,715,678.293802344,661,636,879.293802344,787.293802344,804,652,631.293802344,653,0.400970805129,-0.0153937119026,0.069831154373,0.999999944576,0.000186928051614,-0.000275214857532,1.27696645401e-05,1793239629097988608
+48,0.800000000,BASELINE,765.129652023,745,715,678.870347977,661,636,879.870347977,787.870347977,804,652,631.870347977,653,0.400971240396,-0.0153941685658,0.0698312601415,0.999999944222,0.000188978649492,-0.000275090779607,1.29751006772e-05,1793239629114655488
+49,0.816666667,BASELINE,765.890273376,744.554863312,715,678.554863312,661,636,879.554863312,788,804,652,631.554863312,653,0.400971602983,-0.0153928828941,0.0698311308948,0.999999943916,0.000191055923044,-0.000274763801501,1.30721573932e-05,1793239629131322112
+50,0.833333333,BASELINE,766.960179295,744.019910352,715.019910352,678,661,636,879,788,804,652,631,653,0.400971953598,-0.0153911457572,0.0698309717533,0.999999943644,0.0001930344442,-0.000274367400102,1.3132331414e-05,1793239629147988480
+51,0.850000000,BASELINE,765.782356474,744.608821763,715.608821763,678,661,636,879,788,804,652,631,653,0.400972564702,-0.0153909523512,0.0698319067966,0.999999944041,0.000191969638964,-0.000273669263235,1.3037044989e-05,1793239629164655360
+52,0.866666667,BASELINE,765.194547004,745,715.805452996,678.194547004,661,636,879,788,804,652,631.194547004,653,0.400972720101,-0.0153909315816,0.0698323929043,0.999999944194,0.000191438163842,-0.000273489524182,1.29546749734e-05,1793239629181322240
+53,0.883333333,BASELINE,765.773968967,745,715.226031033,678.773968967,661,636,879,788,804,652,631.773968967,653,0.400971973976,-0.0153912523411,0.0698319908767,0.999999943862,0.000191961782939,-0.00027433533855,1.28978576704e-05,1793239629197988608
+54,0.900000000,BASELINE,766,745,715,678.660395508,661,635.660395508,879,788,804,652,631.660395508,653,0.400971750141,-0.0153921458406,0.0698319150305,0.999999943968,0.000191222038374,-0.000274466156116,1.29323156219e-05,1793239629214655232
+55,0.916666667,BASELINE,766,745,715,678.103577896,661,635.103577896,879,788,804,652,631.103577896,653,0.400971860366,-0.0153934056683,0.0698320478118,0.999999944351,0.000189674238623,-0.000274139657298,1.30251537896e-05,1793239629231322112
+56,0.933333333,BASELINE,766,744.513965147,715,678.486034853,661,635,879,788,804,652.486034853,631,653,0.400970778756,-0.0153938726795,0.0698310009382,0.999999943988,0.000189492335296,-0.000275583184221,1.30569811743e-05,1793239629247988736
+57,0.950000000,BASELINE,765.917787411,744.082212589,715,678.917787411,661,635.082212589,879,788,804,652.917787411,631.082212589,653,0.400969672456,-0.015394207962,0.0698299641553,0.999999943577,0.000189510689176,-0.000277055052858,1.31069452338e-05,1793239629264655360
+58,0.966666667,BASELINE,765.327356591,744.672643409,715,678.327356591,661,635.672643409,879,788,804,652.327356591,631.672643409,653,0.400970097234,-0.0153948489436,0.0698306562541,0.999999943937,0.000188837377605,-0.000276201600578,1.33552159477e-05,1793239629281321984
+59,0.983333333,BASELINE,765,744.742425665,715,678.257574335,661,636,879,787.742425665,804,651.742425665,632,653,0.400970341915,-0.0153947263007,0.0698311118001,0.999999944104,0.00018884471181,-0.000275589399607,1.34300172482e-05,1793239629297988352
+60,1.000000000,BASELINE,765,744.164338455,715,678.835661545,661,636,879,787.164338455,804,651.164338455,632,653,0.400970362494,-0.0153936534411,0.0698312729915,0.99999994403,0.000189699008155,-0.000275277399823,1.32889617497e-05,1793239629314655488
+61,1.016666667,BASELINE,765.411422101,744.411422101,715.411422101,678.588577899,661,636,879.411422101,787.411422101,804,651.411422101,632,653,0.400971746409,-0.0153939436382,0.0698321423405,0.999999944352,0.000189984505666,-0.000273906201792,1.33347020843e-05,1793239629331322112
+62,1.033333333,BASELINE,765.98625849,744.98625849,715.98625849,678.01374151,661,636,879.98625849,787.98625849,804,651.98625849,632,653,0.400973671834,-0.0153947752332,0.0698332929653,0.999999944828,0.000190044079783,-0.000272114296853,1.34546365654e-05,1793239629347988992
+63,1.050000000,BASELINE,765.439097557,745,715.439097557,678.560902443,661,636,879.439097557,788,804,652,631.439097557,653,0.400972341828,-0.0153932588822,0.0698321047712,0.999999944077,0.000191373163494,-0.000273940927324,1.33893282431e-05,1793239629364655360
+64,1.066666667,BASELINE,765.13932207,744.86067793,715,679,661,636,879,788,804.13932207,652,631,653,0.400971119737,-0.0153919507655,0.0698310822776,0.999999943489,0.000192192599266,-0.000275514752095,1.32315696006e-05,1793239629381321472
+65,1.083333333,BASELINE,765.72998851,744.27001149,715,679,661,636,879,788,804.72998851,652,631,653,0.400970505527,-0.0153915035226,0.069830782143,0.999999943545,0.000191260270447,-0.000275982502916,1.27890081301e-05,1793239629397988096
+66,1.100000000,BASELINE,766,744.314132721,715,678.685867279,661,636,879.314132721,788,804.685867279,652,631,653,0.400970574255,-0.015391478268,0.0698309686635,0.999999943668,0.000190983923835,-0.000275729490091,1.27202511998e-05,1793239629414654976
+67,1.116666667,BASELINE,766,744.89278478,715,678.10721522,661,636,879.89278478,788,804.10721522,652,631,653,0.40097121806,-0.0153918083537,0.0698315649779,0.999999943849,0.000191259955191,-0.000274869549313,1.29662610217e-05,1793239629431321856
+68,1.133333333,BASELINE,766,745,715.468804263,678.468804263,661.468804263,636,879.531195737,788,804,652,631.468804263,653,0.400970993525,-0.015392287463,0.0698313220345,0.999999944068,0.000190008292538,-0.000274944349091,1.28965271142e-05,1793239629447988480
+69,1.150000000,BASELINE,766,744.954753721,715.954753721,678.954753721,661.954753721,636,879,788,804,652,632,653,0.400970662237,-0.0153926731799,0.0698309668245,0.999999944243,0.000188789148761,-0.000275153880379,1.27732637052e-05,1793239629464655360
+70,1.166666667,BASELINE,766,744.366045918,715.366045918,678.366045918,661.366045918,636,879,788,804,652,632,653,0.400971420677,-0.0153915300688,0.0698315556845,0.999999943804,0.000192133662501,-0.000274428349185,1.28695366211e-05,1793239629481321728
+71,1.183333333,BASELINE,766,744.218831984,715,678.218831984,661,636,879,788,804,652,632,653,0.400971657469,-0.0153909244199,0.0698318228625,0.99999994356,0.000193777482348,-0.00027415938879,1.28864102246e-05,1793239629497988352
+72,1.200000000,BASELINE,766,744.797413795,715,678.797413795,661,636,879,788,804,652,632,653,0.400971036697,-0.0153912023341,0.0698315612101,0.999999943652,0.000192625439325,-0.000274641009909,1.27727549853e-05,1793239629514654976
+73,1.216666667,BASELINE,765.625533455,745,715,679,661.374466545,636,879,788,804,652,632,653,0.400971122857,-0.0153912268588,0.0698319017026,0.999999943938,0.000191653919716,-0.000274282778769,1.26971176516e-05,1793239629531321600
+74,1.233333333,BASELINE,765.049304598,745,715,679,661.950695402,636,879,788,804,652,632,653,0.400971589912,-0.0153911148573,0.0698325666304,0.999999944328,0.000190779666064,-0.000273472035789,1.26419643459e-05,1793239629547988480
+75,1.250000000,BASELINE,765,745,715,679,661.463205402,636,879,788,804,652,631.463205402,653,0.400971310595,-0.0153915818642,0.0698324094723,0.999999944149,0.00019091801669,-0.000274026350576,1.26955951713e-05,1793239629564655872
+76,1.266666667,BASELINE,765,745,715,679,661,636,879.122281132,788,804,652,631.122281132,653,0.400971237667,-0.01539200468,0.0698322770245,0.999999944026,0.000191166625726,-0.000274299582083,1.27599972711e-05,1793239629581323520
+77,1.283333333,BASELINE,765,745,715,679,661,636,879.702020533,788,804,652,631.702020533,653,0.400972198115,-0.0153920594929,0.0698325247907,0.99999994431,0.000191473252482,-0.000273043430775,1.28266151182e-05,1793239629597989632
+78,1.300000000,BASELINE,765.280262628,745,715,679,661.280262628,636,879.719737372,788,804,652,632,653,0.400972518561,-0.0153923464502,0.0698328236948,0.99999994449,0.000191437711405,-0.000272406319397,1.29033664868e-05,1793239629614656000
+79,1.316666667,BASELINE,765.856921188,745,715,679,661.856921188,636,879.143078812,788,804,652,632,653,0.400972162165,-0.015392878915,0.0698331766807,0.99999994456,0.000191040305604,-0.000272423883027,1.29908347084e-05,1793239629631322624
+80,1.333333333,BASELINE,766,745,715,679,661.566847772,636,879.433152228,788,804,652,632,653,0.40097193346,-0.0153934657129,0.069833042227,0.999999944623,0.000190383271742,-0.000272651533102,1.30343933041e-05,1793239629647988736
+81,1.350000000,BASELINE,766,745,715,679,661,636,879.990549649,788,804.009450351,652,632,653,0.400971764219,-0.0153940513836,0.069832748032,0.999999944682,0.0001896605269,-0.000272936229917,1.30597027363e-05,1793239629664655104
+82,1.366666667,BASELINE,766,745,715,679,661,636,879.401487251,788,804.598512749,652,632,653,0.400972657595,-0.0153934682559,0.0698325219732,0.999999944717,0.000190162272176,-0.00027246772918,1.28544490552e-05,1793239629681321728
+83,1.383333333,BASELINE,766,745,715.184488221,678.815511779,661,636,879.184488221,788,804.815511779,652,632,653,0.400972948988,-0.0153927875426,0.0698324024842,0.999999944588,0.000190961268946,-0.000272389480506,1.27448706477e-05,1793239629697988352
+84,1.400000000,BASELINE,766,745,715.76385652,678.23614348,661,636,879.76385652,788,804.23614348,652,632,653,0.400971951893,-0.0153918979564,0.069832511098,0.999999944105,0.000192396505314,-0.000273146530418,1.28400763303e-05,1793239629714655232
+85,1.416666667,BASELINE,766,745,715.659719774,678.340280226,661,636,880,788,804,652,632,653,0.400971859231,-0.0153919614631,0.0698327308192,0.999999944107,0.000192389949481,-0.000273139960788,1.28801507849e-05,1793239629731322112
+86,1.433333333,BASELINE,766,745,715.085322022,678.914677978,661,636,880,788,804,652,632,653,0.400972388832,-0.015392680711,0.069833026984,0.999999944444,0.000191391420489,-0.000272608010256,1.28822941825e-05,1793239629747988992
+87,1.450000000,BASELINE,766,745,715,678.508787107,661,636,879.508787107,788,804,652,632,653,0.400972783936,-0.0153916741658,0.0698329532064,0.99999994455,0.000191656355558,-0.000272039362572,1.27454912552e-05,1793239629764655616
+88,1.466666667,BASELINE,766,745,715,678.06983867,661,636,879,788,804,652,632,653,0.400973004823,-0.0153906285822,0.0698327468071,0.999999944558,0.000192043694045,-0.000271742655145,1.26106637368e-05,1793239629781321984
+89,1.483333333,BASELINE,766,745,715,678.661296208,661,636,879,788,804,652,632,653,0.400972099751,-0.015391540121,0.0698320318997,0.999999944138,0.000191698967008,-0.000273524861664,1.2671636573e-05,1793239629797988608
+90,1.500000000,BASELINE,766,745,715,678.753465057,661,636,879.246534943,788,804,652,632,653,0.400971794437,-0.0153922684946,0.0698318776383,0.999999943941,0.000191810644343,-0.000274153568677,1.28971935775e-05,1793239629814655232
+91,1.516666667,BASELINE,766,745,715,678.176559903,661,636,879.823440097,788,804,652,632,653,0.400972292834,-0.0153927514169,0.0698324746729,0.999999944047,0.000192533928343,-0.000273236523577,1.3343302299e-05,1793239629831321856
+92,1.533333333,BASELINE,765.601945687,745,715.398054313,678,661,636,879.601945687,788,804,652,632,653,0.400972351206,-0.0153935918103,0.0698325985164,0.99999994417,0.000192080581645,-0.000273106369666,1.33266543846e-05,1793239629847988480
+93,1.550000000,BASELINE,765.028341769,745,715.971658231,678,661,636,879.028341769,788,804,652,632,653,0.40097221552,-0.0153945898553,0.0698325136737,0.9999999443,0.000191108318246,-0.000273323249817,1.31059219344e-05,1793239629864655360
+94,1.566666667,BASELINE,765.54872054,745,715.45127946,678.54872054,661.54872054,636,879,788,804,651.45127946,632,653,0.40097085161,-0.0153932849829,0.0698312134038,0.999999943641,0.000192124064546,-0.000275027841605,1.2893820239e-05,1793239629881321984
+95,1.583333333,BASELINE,765.871053634,745,715,678.871053634,661.871053634,636,879,788,804,651.128946366,631.871053634,653,0.400970072537,-0.0153922146316,0.0698304911397,0.999999943314,0.000192542601094,-0.000275929470164,1.27335341112e-05,1793239629897988864
+96,1.600000000,BASELINE,765.280137907,745,715,678.280137907,661.280137907,636,879,788,804,651.719862093,631.280137907,653,0.400971617442,-0.0153924133355,0.0698320660023,0.999999944333,0.00019045133937,-0.000273677323843,1.27572776174e-05,1793239629914655488
+97,1.616666667,BASELINE,765,745,715,678,661,636,879.606849328,788,804,652,631.303424664,652.696575336,0.400971681807,-0.0153928464533,0.0698325646406,0.999999944638,0.00018934066434,-0.000273331830136,1.27954476321e-05,1793239629931322112
+98,1.633333333,BASELINE,765,745,715,678,661,636,880.760717998,788,804,652,631.880358999,652.119641001,0.400970411598,-0.015393490874,0.0698320931606,0.999999944304,0.000189113898939,-0.000274705010068,1.28466218277e-05,1793239629947988736
+99,1.650000000,BASELINE,765.45631042,745,715,678.45631042,661,636,880.08737916,788,804,652,632,652.45631042,0.400969808259,-0.0153939465589,0.0698311887639,0.999999944228,0.000188341880397,-0.00027551052292,1.28468410516e-05,1793239629964655360
+100,1.666666667,BASELINE,765.967203883,745,715.032796117,679,661,636,879,788,804,652,631.967203883,653,0.40096946358,-0.0153943791692,0.0698302875607,0.999999944256,0.00018739848798,-0.000276053358546,1.28367887081e-05,1793239629981321472
+101,1.683333333,BASELINE,765.377273333,745,715.622726667,679,661,636,879,788,804,652,631.377273333,653,0.400970549095,-0.0153952586285,0.0698313647062,0.999999944907,0.000185967203966,-0.000274656877024,1.28787141375e-05,1793239629997988352
+102,1.700000000,BASELINE,765.208408833,745,715.791591167,679,661,636,879,788,804.208408833,652,631.208408833,653,0.400971402435,-0.0153955096217,0.0698323235421,0.999999945246,0.000185827394927,-0.000273509434775,1.29605472268e-05,1793239630014655232
+103,1.716666667,BASELINE,765.786553916,745,715.213446084,679,661,636,879,788,804.786553916,652,631.786553916,653,0.400971843877,-0.0153946456585,0.0698330724856,0.999999945035,0.000187978780258,-0.000272803811031,1.31131801344e-05,1793239630031322368
+104,1.733333333,BASELINE,766,745,715,679,661,636,879,788,804.636916897,652,632,653,0.400972281193,-0.0153943775757,0.0698330754971,0.999999945178,0.000188195617306,-0.000272131209455,1.30973488267e-05,1793239630047988992
+105,1.750000000,BASELINE,766,745,715,679,661,636,879,788,804.061333384,652,632,653,0.400972716093,-0.0153944582419,0.0698326419398,0.999999945529,0.000187280228085,-0.000271477934588,1.29829210566e-05,1793239630064655616
+106,1.766666667,BASELINE,766,745,715,678.487592167,661,636,879,788,804,652,632,653,0.400972713945,-0.0153939962664,0.0698324659484,0.999999945036,0.000188957146844,-0.000272136499313,1.28712233435e-05,1793239630081321984
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,880,788,805,652,631,653,0.400972379877,-0.0153918091547,0.0698328215702,0.999999945119,0.00018959508737,-0.000271394529799,1.26725907704e-05,1793239630123705600
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.579667533,744.420332467,715,678,661,636,879.420332467,788,804.420332467,652,631.579667533,653,0.400971890982,-0.0153920619016,0.0698327092713,0.999999944328,0.000191935016984,-0.00027265224732,1.2899746572e-05,1793239630140372224
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,744.158130376,715,678,661,635.841869624,879.158130376,788,804,651.841869624,631.841869624,653,0.400971215964,-0.0153923709994,0.0698323157553,0.999999943648,0.000193540149428,-0.000274001377793,1.30231040716e-05,1793239630157038592
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,744.733415321,715,678,661,635.266584679,879.733415321,788,804,651.266584679,631.266584679,653,0.400970049943,-0.0153928287529,0.069831180377,0.999999943277,0.000193206856616,-0.000275591659745,1.28726373437e-05,1793239630173705216
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.315624789,879.684375211,788,804,651.315624789,631,653,0.400970224358,-0.0153934946696,0.0698309789916,0.999999943492,0.000192465658767,-0.000275332661454,1.28582254891e-05,1793239630190371584
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.903814043,879.096185957,788,804,651.903814043,631,653,0.400971556335,-0.01539434035,0.0698315841754,0.99999994421,0.000191372205916,-0.000273476677991,1.29613067079e-05,1793239630207038464
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,678,661,635.515218785,879,788,804,652,631,652.515218785,0.400971246721,-0.0153927793153,0.0698315525281,0.999999943835,0.000192154555021,-0.000274305328457,1.27973254027e-05,1793239630223704832
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715.063789845,678.063789845,661,635.063789845,879,788,804,652,631.063789845,652.063789845,0.400970979462,-0.0153909812581,0.0698316296134,0.99999994342,0.000192983944215,-0.000275242625874,1.26171309374e-05,1793239630240370944
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715.638420928,678.638420928,661,635.638420928,879,788,804,652,631.638420928,652.638420928,0.40097362144,-0.0153910530101,0.0698335744669,0.999999944407,0.000191253302506,-0.000272846952585,1.27252088251e-05,1793239630257037824
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.786239003,745,715.786239003,679,661.213760997,636,879.213760997,788,803.786239003,652,632,653,0.400980256962,-0.0153919357778,0.069836983659,0.999999945917,0.000190560228696,-0.00026773194586,1.31538153374e-05,1793239630273704448
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.209695744,745,715.209695744,679,661.790304256,636,879.790304256,788,803.209695744,652,632,653,0.400993670089,-0.0153941949524,0.0698428780384,0.999999948257,0.000191628052673,-0.000258001850767,1.41264036758e-05,1793239630290370816
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.376308807,744.623691193,715,679,661.623691193,636,879.623691193,788,803.376308807,651.623691193,631.623691193,653,0.401024606302,-0.0153952302469,0.0698558677762,0.999999953745,0.000191830580155,-0.000235557490916,1.49879430093e-05,1793239630307037696
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.967721635,744.032278365,715,679,661.032278365,636,879.032278365,788,803.967721635,651.032278365,631.032278365,653,0.401065558989,-0.0153955659524,0.069872913333,0.999999960346,0.000191538490548,-0.000205845456675,1.57860050699e-05,1793239630323704576
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.452723266,744.547276734,715,679,661,636,879.547276734,787.452723266,804,651.547276734,631.547276734,653,0.401122469105,-0.0153991563258,0.0698876305679,0.999999964712,0.000190808776304,-0.000184078433078,1.68097797282e-05,1793239630340371456
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.124968065,745,715,678.875031935,661,636,879.875031935,787.124968065,804,652,631.875031935,653,0.401183251758,-0.0154032343764,0.0699008169107,0.999999968287,0.000189279334001,-0.000165201856417,1.75405743318e-05,1793239630357037824
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.698427475,745,715,678.301572525,661,636,879.301572525,787.698427475,804,652,631.301572525,653,0.401254626294,-0.0154083883214,0.0699089915036,0.999999970725,0.000184970457182,-0.000155052591082,1.71731450711e-05,1793239630373704448
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.727333697,745,715.272666303,678.272666303,661,636,879.272666303,788,804,652,631.272666303,653,0.401333311141,-0.0154118257983,0.0699143407785,0.999999971995,0.000184286577645,-0.000147613955761,1.60571413315e-05,1793239630390371072
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.152230382,745,715.847769618,678.847769618,661,636,879.847769618,788,804,652,631.847769618,653,0.401420104463,-0.0154133593966,0.0699165562562,0.999999972049,0.000187623486168,-0.000143181907605,1.41108310286e-05,1793239630407037440
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.437259953,745,716,679,661,636,879.562740047,787.562740047,804,652,632,653,0.401521169138,-0.0154172286371,0.0699170744742,0.999999972436,0.000186406857232,-0.000142271886187,1.17742205875e-05,1793239630423704064
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.969083446,745,715.969083446,678.969083446,661,636,879,787.030916554,804,652,631.969083446,653,0.401629092722,-0.0154220268789,0.0699171518466,0.999999972996,0.000183516239148,-0.00014228164644,9.29927512628e-06,1793239630440370944
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.393279001,745,715.393279001,678.393279001,661,636,879,787.606720999,804,652,631.393279001,653,0.401767354281,-0.0154283794506,0.0699202280659,0.999999974505,0.000180013039922,-0.000136156052007,6.86256436565e-06,1793239630457037568
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.818236564,715,678.181763436,661,636,879,788,804,652,631,653,0.401916269038,-0.0154350244049,0.0699233062997,0.999999976261,0.000174941245528,-0.000129838039672,4.02776547558e-06,1793239630473704448
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.244836067,715,678.755163933,661,636,879,788,804,652,631,653,0.402088137721,-0.0154422993415,0.0699263888738,0.999999978563,0.000166489673908,-0.000123105434395,3.35225271998e-07,1793239630490371072
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.338449691,744.338449691,715,679,661,635.661550309,879.338449691,788,804,652,631,653,0.402271186155,-0.0154495716633,0.0699272512891,0.999999980264,0.000157921082907,-0.000120489637016,-3.91959181711e-06,1793239630507037952
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.929101702,744.929101702,715,679,661,635.070898298,879.929101702,788,804,652,631,653,0.402462565415,-0.0154568420376,0.0699264593108,0.99999998151,0.000149265291767,-0.000120941557798,-8.5934007668e-06,1793239630523704320
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.491298281,745,715,679,661,635.508701719,879.491298281,788,804,652,631,653,0.402693796925,-0.0154689107931,0.0699309415583,0.999999984971,0.000133469650452,-0.000109912680224,-1.27725226782e-05,1793239630540370944
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.086480669,745,715,679,661,636,879.086480669,788,804,652,631.086480669,653,0.402937509727,-0.0154811048719,0.0699370805214,0.999999989269,0.000109180833229,-9.62151224011e-05,-1.68416937721e-05,1793239630557037312
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.662485322,745,715,679,661,636,879.662485322,788,804,652,631.662485322,653,0.403221101688,-0.0154903033509,0.0699485249153,0.999999995981,4.2329298383e-05,-7.6276214403e-05,-2.06704547879e-05,1793239630573704192
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745,715.243456325,678.756543675,661,636,879.756543675,788,804,652,631.756543675,653,0.403514391676,-0.0155003640866,0.0699567703701,0.999999997743,5.94339339219e-07,-6.2367018199e-05,-2.49722512123e-05,1793239630590371072
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715.831455745,678.168544255,661,636,879.168544255,788,804,652,631.168544255,653,0.403821406445,-0.0155116451004,0.0699604886369,0.999999997912,-5.59525519688e-06,-5.69911634849e-05,-2.99434944312e-05,1793239630607037696
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715.586540902,678,661,636,879.413459098,788,804,652,631.413459098,653,0.404154840341,-0.0155181061582,0.0699607705892,0.999999997357,-2.25357891994e-05,-5.92759605751e-05,-3.55676636963e-05,1793239630623704320
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745,715.006946886,678,661,636,879.993053114,788,804,652,631.993053114,653,0.404498889885,-0.0155226304751,0.0699596717717,0.999999996093,-4.37962339066e-05,-6.46389383377e-05,-4.14541896495e-05,1793239630640370944
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,678,661,636,879.430233385,788,804,651.430233385,631.430233385,653,0.404892273075,-0.015517876892,0.0699684636779,0.999999998505,1.11171702586e-05,-4.72428520942e-05,-2.5207997274e-05,1793239630657037824
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,744.85909665,715,678,661,636,879,788,804,651.14090335,631.14090335,653,0.405292401535,-0.0155101632381,0.0699743099936,0.999999997836,5.35976367619e-05,-3.4992644613e-05,-1.51800035354e-05,1793239630673704448
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,744.304241033,715,678,661,636,879,788,804,651.695758967,631.695758967,653,0.405710588255,-0.0154940840147,0.0699711501175,0.999999997344,5.6837243523e-05,-3.86713596802e-05,-2.42089193195e-05,1793239630690370816
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,744.275493176,715,678.275493176,661,636,879,788,804,651.724506824,631.724506824,653,0.406139329484,-0.0154905699595,0.0699619293328,0.99999999702,4.61152898986e-05,-5.37686951901e-05,-3.06912643911e-05,1793239630707037184
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,744.885429574,715,678.885429574,661,636,879,788,804,651.114570426,631.114570426,653,0.406580883734,-0.015502309766,0.0699453507255,0.999999995827,1.84442807121e-05,-8.27280086856e-05,-3.4082124559e-05,1793239630723703808
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.470699481,636,879.470699481,788,804,651.470699481,631.470699481,653,0.407076741092,-0.0155102394048,0.069936278477,0.999999994956,1.26603723419e-05,-9.29789447662e-05,-3.58204632498e-05,1793239630740370688
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.949944371,745,715,679,662,636,880,787.949944371,804,652,631.949944371,653,0.407590722647,-0.0155165417728,0.069930848903,0.999999994644,1.15280829297e-05,-9.59439313832e-05,-3.7074042249e-05,1793239630757037824
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.372786397,745,715,679,662,636,880,787.372786397,804,652,631.372786397,653,0.408163303037,-0.0155149881145,0.0699454961449,0.999999996993,6.07281584001e-06,-6.77497411919e-05,-3.72476604318e-05,1793239630773704448
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.202042366,745,715,679,661.797957634,636,880,787.202042366,804,652,631,653,0.408742622823,-0.0155126085991,0.0699570282072,0.999999998332,7.2868269282e-06,-4.33151938517e-05,-3.75003008603e-05,1793239630790371072
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.772622472,745,715,679,661.227377528,636,880,787.772622472,804,652,631,653,0.409334235651,-0.0155087226693,0.069962877989,0.999999998737,2.06660131361e-05,-2.57384687384e-05,-3.78970827627e-05,1793239630807037952
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745,715,679,661.357886795,636,880,788,804,652,631,653,0.409935128029,-0.0155076389689,0.0699574988201,0.999999998404,2.05530067895e-05,-3.43660835636e-05,-3.9863009432e-05,1793239630823704320
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.952879638,636,880,788,804,652,631,653,0.410542168244,-0.0155084117931,0.0699446802816,0.999999997194,1.15011944317e-05,-6.03545169141e-05,-4.28685209832e-05,1793239630840370688
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.466618528,745,715,678.466618528,661.466618528,636,880,788,804,651.466618528,631,653,0.41120866695,-0.0155113624015,0.0699506383856,0.999999997764,4.88073272682e-06,-5.12851975761e-05,-4.26398983723e-05,1793239630857037312
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.111874337,745,715,678,661.111874337,636,879.888125663,788,804,651.111874337,631,653,0.411891807272,-0.0155150347119,0.0699633312121,0.999999998654,-8.48481607849e-07,-3.06823447836e-05,-4.1838294797e-05,1793239630873703936
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.687207618,745,715,678,661.687207618,636,879.312792382,788,804,651.687207618,631,653,0.412622703437,-0.0155209208641,0.0699972337712,0.999999998883,-3.75182507482e-06,2.52092702509e-05,-3.98153241185e-05,1793239630890370560
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,678.268206759,662,636,879.268206759,788,804,652,631.268206759,653,0.413357821987,-0.015523954843,0.0700204489613,0.999999997332,-7.31328531403e-06,6.14987995152e-05,-3.87267715382e-05,1793239630907037184
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,678.855956307,662,636,879.855956307,788,804,652,631.855956307,653,0.414097971202,-0.0155235907302,0.0700309311742,0.999999996411,-1.16588293547e-05,7.44343193307e-05,-3.87514889039e-05,1793239630923704064
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,744.562340846,715,679,661.562340846,636,880,788,804,651.562340846,631.562340846,653,0.414800790587,-0.0155181813895,0.0699969286567,0.999999998956,-9.06227709043e-06,1.28826729709e-05,-4.28848009337e-05,1793239630940371200
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,744.017304998,715,679,661,636,880,788,804.017304998,651.017304998,631,653,0.415493923009,-0.0155113779045,0.0699492014296,0.999999996282,-4.56314763955e-06,-7.1283796498e-05,-4.8306758278e-05,1793239630957037568
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,744.593913403,715,679,661,636,880,788,804.593913403,651.593913403,631,653,0.41626565055,-0.0155124517578,0.0699246385927,0.999999993075,-1.14113483823e-05,-0.000104819758453,-5.226915446e-05,1793239630973703936
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.830086058,745,715,679,661.169913942,636,880.169913942,788,804.830086058,652,631,653,0.417053651036,-0.015514218316,0.0699170954236,0.999999991973,-1.61963713176e-05,-0.000113347054254,-5.42647769964e-05,1793239630990370560
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.255533143,745,715,679,661.744466857,636,880.744466857,788,804.255533143,652,631,653,0.417880404433,-0.0155176345059,0.0699500834851,0.999999996599,-1.60680704416e-05,-6.23178405357e-05,-5.15766561508e-05,1793239631007037440
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.671902797,636,880.671902797,788,804,651.671902797,631,652.671902797,0.418724594344,-0.0155207188943,0.0699766194059,0.999999998267,-2.03993319201e-05,-2.37005362256e-05,-4.9883331396e-05,1793239631023704064
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.081001504,636,880.081001504,788,804,651.081001504,631,652.081001504,0.41958275077,-0.0155235375115,0.0699979871953,0.999999998387,-2.83026787927e-05,4.97489313224e-06,-4.89868331124e-05,1793239631040370688
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.499236443,745,715,679,661.499236443,636,880,788,804,651.499236443,631,652.499236443,0.420454023112,-0.0155291862974,0.0700186317129,0.9999999974,-3.89761957081e-05,3.73538528506e-05,-4.78054635898e-05,1793239631057037568
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.922799368,745,715,679,662,636,880,788,804,652,631,653,0.421321406997,-0.0155344253776,0.0700338474033,0.999999995848,-4.83527082142e-05,6.1202410042e-05,-4.71224939429e-05,1793239631073704704
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.348568315,745,715,679,662,636,880,788,804,652,631,653,0.422150341635,-0.01553413214,0.0700148511269,0.999999997323,-4.65456901712e-05,2.63430186739e-05,-4.99396584927e-05,1793239631090371072
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.226269761,745,715,679,662,635.773730239,880,788,804.226269761,652,631,653,0.42295497186,-0.0155310211067,0.0699733875324,0.999999996669,-4.4244549043e-05,-4.12782951521e-05,-5.47805678763e-05,1793239631107037696
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.802045556,745,715,679,662,635.197954444,880,788,804.802045556,652,631,653,0.423722060568,-0.0155235575847,0.0698972199463,0.999999984463,-4.11801634312e-05,-0.000159505093107,-6.27474408361e-05,1793239631123704064
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.61258228,745,715,679,662,635.38741772,880,788,804.61258228,652,631,652.61258228,0.424587015361,-0.0155233912188,0.0698797472619,0.999999980767,-4.62395936041e-05,-0.000178751242699,-6.61546511211e-05,1793239631140370688
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.022182262,745,715,679,662,635.977817738,880,788,804.022182262,652,631,652.022182262,0.425503245726,-0.0155270481001,0.0698930269855,0.999999985523,-5.55553879921e-05,-0.000146137808305,-6.71728873372e-05,1793239631157037056
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679.557523285,662,636,880,788,804.557523285,652,631.557523285,652.557523285,0.42642790629,-0.0155310572006,0.0699496234836,0.999999994558,-5.33049812379e-05,-6.67184675271e-05,-5.99331309751e-05,1793239631173704192
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.134988559,745,715,680,662,636,880,788,805.134988559,652,632,653,0.42734656606,-0.0155349728431,0.0700003260462,0.999999997129,-5.30174792251e-05,4.17330765522e-06,-5.39719443495e-05,1793239631190371328
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.70655855,745,715,680,662,636,880,788,805.70655855,652,632,653,0.428244753571,-0.0155385417523,0.0700264972818,0.999999995889,-6.05387525508e-05,4.15755080729e-05,-5.31885616771e-05,1793239631207037952
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,679.711921258,662,635.711921258,880.288078742,788,805.711921258,651.711921258,632,653,0.429127574398,-0.0155411288776,0.0700424249014,0.999999994336,-6.43536806712e-05,6.63550776736e-05,-5.27614535549e-05,1793239631223704576
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,679.119903074,662,635.119903074,880.880096926,788,805.119903074,651.119903074,632,653,0.429994182445,-0.0155426801648,0.0700475449224,0.999999993519,-6.42582035932e-05,7.78170522207e-05,-5.27102354332e-05,1793239631240370944
+175,2.916666667,POSE1_TO_POSE2_PRESS,766.461216521,745,715,679.461216521,662,635.461216521,880.538783479,788,804.538783479,651,632,653,0.430798581931,-0.0155379558247,0.0699943279496,0.999999996469,-6.02416501212e-05,-1.08154981702e-05,-5.75858844055e-05,1793239631257037568
+176,2.933333333,POSE1_TO_POSE2_PRESS,766.960534649,745,715,680,662,635.960534649,880,788,804.039465351,651,631.960534649,653,0.431589036039,-0.0155317926143,0.0699290482693,0.999999989249,-5.55818555418e-05,-0.000119894651054,-6.35432894324e-05,1793239631273703936
+177,2.950000000,POSE1_TO_POSE2_PRESS,766.383686882,745,715,680,662,635.383686882,880,788,804.616313118,651,631.383686882,653,0.432404730771,-0.0155277393069,0.069901256946,0.999999983191,-5.57232025999e-05,-0.000161239405432,-6.71924120976e-05,1793239631290370816
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.192270559,880.192270559,788,805,651,631,653,0.433250147673,-0.0155270021904,0.0699039280897,0.999999984563,-5.85582513252e-05,-0.000151125378118,-6.78731174196e-05,1793239631307037440
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.766459593,880.766459593,788,805,651,631,653,0.434154603641,-0.0155328522209,0.0699671086429,0.999999995057,-6.67439599954e-05,-3.87957107867e-05,-6.26574786374e-05,1793239631323704064
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.648205727,745,715,679.648205727,662,636,881,788,804.648205727,651,631.351794273,653,0.435007461152,-0.0155382117159,0.0700085299102,0.999999995572,-6.82407726275e-05,2.87291037022e-05,-5.80763958238e-05,1793239631340370944
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.055229901,745,715,679.055229901,662,636,881,788,804.055229901,651,631.944770099,653,0.435824943966,-0.0155432349113,0.0700350335392,0.999999994276,-6.51518415044e-05,6.55367995559e-05,-5.39303496926e-05,1793239631357038080
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679.522973137,662,636,880.477026863,788,804.522973137,651,631.477026863,653,0.436628241168,-0.0155444279191,0.0700251008036,0.999999994092,-7.36982310411e-05,5.71670942611e-05,-5.58307549024e-05,1793239631373704704
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,805,651,631.099526219,653,0.437415879572,-0.0155452034233,0.0700077225961,0.999999994078,-8.32167980032e-05,3.86319255619e-05,-5.85426138242e-05,1793239631390371328
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,805,651,631.675444117,653,0.438135539476,-0.0155458634791,0.0699726185413,0.999999993846,-9.16687033076e-05,-6.35137651962e-06,-6.21660556366e-05,1793239631407037440
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.256146996,745,715,680,662,635.743853004,880.256146996,788,804.743853004,651,631.743853004,653,0.438806052752,-0.0155456310961,0.0699233033957,0.999999989988,-9.34783841864e-05,-8.31035504789e-05,-6.6179508329e-05,1793239631423704064
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.843028146,745,715,680,662,635.156971854,880.843028146,788,804.156971854,651,631.156971854,653,0.439413108394,-0.0155442464062,0.0698556390507,0.999999973566,-8.67116973043e-05,-0.000200875334726,-7.06965379376e-05,1793239631440370688
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.575423764,745,715,680,662,635,880.575423764,788,804.424576236,651,631.424576236,653,0.440077493608,-0.0155477706382,0.0698268223462,0.99999996262,-9.70668324987e-05,-0.000244837080925,-7.34318085984e-05,1793239631457037312
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.004143798,745,715,680,661.995856202,635,880.004143798,787.995856202,805,651,631.995856202,653,0.440763022103,-0.0155531502867,0.0698125673417,0.999999956541,-0.000113661655406,-0.000261343571841,-7.54827545602e-05,1793239631473703936
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.579120348,745,715,680,661.420879652,635,880.579120348,787.420879652,805,651,631.420879652,653,0.441477562369,-0.0155672129436,0.0698502939808,0.999999967388,-0.000128607839082,-0.000208261640582,-7.2883712595e-05,1793239631490370816
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661.155036898,635,880.844963102,787,805,651,631,653,0.442161132675,-0.0155791934668,0.0698762666218,0.999999972104,-0.000141879582167,-0.000175067645821,-7.08102096537e-05,1793239631507037696
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680,661.73352097,635,880.26647903,787,805,651,631,653,0.442760115915,-0.0155854871301,0.0698701359634,0.999999966955,-0.000150577985046,-0.00019619290651,-7.01720940587e-05,1793239631523704320
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.68230999,745,715,679.68230999,662,635,880.31769001,787,805.31769001,651,631,653,0.443314563566,-0.0155897019429,0.0698430774612,0.999999955136,-0.000159980605213,-0.000243032579923,-7.11972678742e-05,1793239631540370944
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.093285538,745,715,679.093285538,662,635,880.906714462,787,805.906714462,651,631,653,0.443830973981,-0.0155921412392,0.0697981447905,0.999999934221,-0.000169984686122,-0.000311834559319,-7.36430329194e-05,1793239631557037312
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.485710663,745,715,679.971421326,661.514289337,635,881,787,805.514289337,651.485710663,631,653,0.444343173891,-0.0155976937812,0.0697596864572,0.999999913454,-0.000175171081348,-0.000369564552863,-7.63530519001e-05,1793239631573704192
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.9372917,745.0627083,715,680.9372917,661,634.9372917,880.9372917,787,805,651.9372917,631,653,0.44485493265,-0.015603914459,0.0697254524172,0.999999892521,-0.000180518904976,-0.000419665765278,-7.90615446725e-05,1793239631590371072
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.361206865,745.638793135,715,680.361206865,661,634.361206865,880.361206865,787,805,651.361206865,631,653,0.44536956628,-0.0156108089191,0.0697158276053,0.99999988771,-0.000194610129982,-0.00042436895039,-8.13504511052e-05,1793239631607037440
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.785370559,714.785370559,680,661,634,880.214629441,786.785370559,805,651,631,653,0.445859598987,-0.0156175564343,0.0697088551722,0.999999881999,-0.000206095185371,-0.000432140318609,-8.23485745163e-05,1793239631623704064
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.209952083,714.209952083,680,661,634,880.790047917,786.209952083,805,651,631,653,0.446308277837,-0.0156240569365,0.0697063413513,0.999999874935,-0.000213199305362,-0.000445069258529,-8.11769098338e-05,1793239631640371200
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.375247058,680.375247058,661,634,881,786,805,651,631,653,0.446714516855,-0.0156291908799,0.0696954918438,0.999999861263,-0.000218497132493,-0.000472497191465,-8.04977912957e-05,1793239631657038080
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714.966065024,680.966065024,661,634,881,786,805,651,631,653,0.447096375194,-0.0156335397669,0.0696798536737,0.99999984282,-0.000222757285881,-0.000508254467187,-8.01016291363e-05,1793239631673704960
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634,881,785.454539126,805,651,631,653,0.4474621114,-0.0156370814355,0.0696579312303,0.999999824019,-0.000231640406689,-0.000539836432103,-8.29514880583e-05,1793239631690371072
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.122926018,715,681,660.877073982,634,880.877073982,785,804.877073982,651,631,653,0.447825871192,-0.0156407537825,0.0696418284009,0.999999809704,-0.000240330986617,-0.000561708348458,-8.55393782222e-05,1793239631707037440
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.695871315,715,681,660.304128685,634,880.304128685,785,804.304128685,651,631,653,0.448185992258,-0.0156450846086,0.0696484324916,0.999999815008,-0.000247285381881,-0.000548964254792,-8.64440898111e-05,1793239631723704064
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.730909047,715,680.730909047,660,634,880.269090953,785,804.269090953,651,631,653,0.448519162264,-0.0156497863915,0.0696557252601,0.999999819685,-0.000254828616644,-0.000536884903937,-8.62985743283e-05,1793239631740370944
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.157379065,715,680.157379065,660,634,880.842620935,785,804.842620935,651,631,653,0.448821840866,-0.0156549078599,0.0696637971714,0.999999823691,-0.000263038041087,-0.000525557618006,-8.49648727669e-05,1793239631757037568
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660.433555241,633.566444759,881,785,805,651,631,653,0.449105650113,-0.0156585922702,0.0696656801895,0.999999825799,-0.000259792005021,-0.000523765257958,-8.11189556452e-05,1793239631773704192
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,715,680.029910792,660.970089208,633,880.970089208,785,805,651,630.970089208,653,0.449379658804,-0.0156617233655,0.0696648664827,0.99999982698,-0.000251994996989,-0.00052602194334,-7.64217964293e-05,1793239631790370816
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,715,680.605106795,660.394893205,633,880.394893205,785,805,651,630.394893205,653,0.449605091201,-0.0156646748683,0.0696575587033,0.999999824607,-0.00024020971849,-0.000536357378888,-7.35262025776e-05,1793239631807037440
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,715,680.819642722,660,633,880,784.819642722,805,651,630,653,0.449814165536,-0.0156669816564,0.0696462330717,0.999999816926,-0.000231817778834,-0.000554283444904,-7.19538523236e-05,1793239631823704320
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,715,680.244272994,660,633,880,784.244272994,805,651,630,653,0.449987412963,-0.0156678764116,0.0696261076759,0.999999797304,-0.000230857817339,-0.000588834253116,-7.327962608e-05,1793239631840370944
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880,784,805,651,630,653,0.450146153196,-0.0156689806396,0.0696106824095,0.999999781137,-0.000236594338026,-0.000613322947903,-7.47326324846e-05,1793239631857037568
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,715,680,660,633,880,784,805,651,630,653,0.450294190482,-0.0156702394102,0.0695987247528,0.999999767825,-0.000247271318648,-0.0006303881266,-7.62795074105e-05,1793239631873704192
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.509181971,715,680.509181971,660,633,880,784,805,651,630,653,0.450429422456,-0.0156723885866,0.0695941472214,0.999999757298,-0.000270558602488,-0.000637404218564,-7.69323113914e-05,1793239631890370560
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.911497232,714.911497232,681,660,633,880.088502768,784,805,651,630,653,0.45055966422,-0.015674956998,0.0695907610224,0.999999748006,-0.000292098174577,-0.000642389555246,-7.74785829569e-05,1793239631907037440
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.335177878,714.335177878,681,660,633,880.664822122,784,805,651,630,653,0.450672198535,-0.0156791548927,0.0695882944314,0.999999746341,-0.000294355860856,-0.000643870633772,-7.8121755713e-05,1793239631923704320
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.245535147,745,714.245535147,680.754464853,660,633,881,783.754464853,805,651,630,653,0.450773701988,-0.0156817906479,0.0695856626749,0.999999743748,-0.00029546028016,-0.000647292597016,-7.88621824066e-05,1793239631940371200
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.832355181,745,714.832355181,680.167644819,660,633,881,783.167644819,805,651,630,653,0.450859872941,-0.0156822550863,0.0695828013442,0.999999739846,-0.000294961700353,-0.000653412319019,-7.97377884808e-05,1793239631957037824
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.58619461,745,715,680,659.58619461,632.58619461,880.58619461,783,805,651,630,653,0.450930918032,-0.0156835954033,0.0695819463923,0.99999973854,-0.000293939073113,-0.000655879768882,-7.96331581755e-05,1793239631973704192
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.006892021,745,715,680,659.006892021,632.006892021,880.006892021,783,805,651,630,653,0.450995913688,-0.0156852860189,0.069581893871,0.99999973828,-0.000292706858519,-0.000656886530012,-7.91364924152e-05,1793239631990370816
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714.430979944,680.569020056,659.569020056,632,880.569020056,783,805,651,630,653,0.451044638184,-0.015687178032,0.0695793507895,0.999999735649,-0.000295749379611,-0.000659512812452,-7.92243108321e-05,1793239632007037184
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.144907146,714.144907146,681,660,632,881,783,805,651,630,653,0.45108944314,-0.0156878433306,0.0695767176681,0.999999733354,-0.000297125067551,-0.000662331911127,-7.95241652155e-05,1793239632023703808
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.720841238,714.720841238,681,660,632,881,783,805,651,630,653,0.45112317213,-0.0156848525478,0.0695739059199,0.99999973217,-0.000293389656703,-0.000665666540451,-8.04337887544e-05,1793239632040370688
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,715,681,659.69709644,632.30290356,880.69709644,783,805,651,630,653,0.451150990923,-0.0156842564489,0.0695721084742,0.999999731005,-0.000292252987698,-0.000667913895789,-8.04334226517e-05,1793239632057037312
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659.109269591,632.890730409,880.109269591,783,805,651,630,653,0.45117325035,-0.0156859128856,0.0695712651219,0.999999729872,-0.000293560799513,-0.000669138517818,-7.95770837463e-05,1793239632073704192
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.528494924,714.528494924,681,659,632.528494924,880,783,805,651,630,653,0.451189112433,-0.0156855847596,0.0695719749962,0.999999729808,-0.000293560575455,-0.00066927957931,-7.9186390278e-05,1793239632090370816
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,680.94956318,659,632.05043682,880.05043682,783,805.05043682,651,630,653,0.4512027986,-0.0156848074698,0.0695727347874,0.999999729877,-0.00029308465737,-0.000669414926581,-7.89328285526e-05,1793239632107037696
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,680.373058031,659,632.626941969,880.626941969,783,805.626941969,651,630,653,0.451209025034,-0.0156840716297,0.0695703161371,0.999999728768,-0.000290762288432,-0.000672071227587,-7.90006258281e-05,1793239632123704832
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714.207178444,680.207178444,659,633,880.792821556,783,805.792821556,651,630.207178444,653,0.451214179752,-0.0156836066099,0.0695680683663,0.999999727542,-0.000289339557345,-0.000674493333288,-7.9105832771e-05,1793239632140371712
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714.794256963,680.794256963,659,633,880.205743037,783,805.205743037,651,630.794256963,653,0.451217369278,-0.0156836381896,0.0695661339352,0.999999726116,-0.000289566479134,-0.000676485998345,-7.92796372698e-05,1793239632157038080
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.376396084,745,715,681,659.376396084,633,880,783,805,651,630.623603916,653,0.451221029129,-0.0156840571618,0.0695664577961,0.99999972607,-0.000290517632342,-0.000676191020902,-7.89054231885e-05,1793239632173704192
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.955870218,745,715,681,659.955870218,633,880,783,805,651,630.044129782,653,0.451224942736,-0.0156846851451,0.0695680000798,0.999999726764,-0.000291859532179,-0.000674661785122,-7.82355350763e-05,1793239632190370560
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.465317267,745.534682733,714.465317267,680.465317267,660,632.465317267,880.534682733,783,805,651,630,653,0.451224241029,-0.0156841349953,0.0695667038732,0.999999725886,-0.000290874197913,-0.000676380498825,-7.82927814644e-05,1793239632207037440
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.887587889,714.112412111,680.112412111,659.887587889,632.112412111,881,783.112412111,805,651,630,653,0.451223484512,-0.0156836004594,0.0695652963748,0.999999724927,-0.000289750414172,-0.000678262529063,-7.84218874665e-05,1793239632223704576
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.314077825,714.685922175,680.685922175,659.314077825,632.685922175,881,783.685922175,805,651,630,653,0.451224063735,-0.0156835283274,0.0695643921421,0.999999724188,-0.000288845629869,-0.000679716242828,-7.85998878843e-05,1793239632240371456
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.265731802,714.734268198,681,659,633,880.734268198,783.734268198,804.734268198,651,630,653,0.451224243541,-0.0156826770389,0.0695635444854,0.999999723724,-0.000287849339276,-0.000680816565211,-7.8640772102e-05,1793239632257037824
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.85316798,714.14683202,681,659,633,880.14683202,783.14683202,804.14683202,651,630,653,0.451223939797,-0.0156808824759,0.0695627653217,0.999999723593,-0.000286742267792,-0.000681489059605,-7.85156585918e-05,1793239632273704192
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714.436630377,681,659,632.563369623,880.436630377,783,804.436630377,651.436630377,630,653,0.451224777263,-0.0156800200007,0.0695630170241,0.999999723894,-0.000286925179202,-0.000680982887158,-7.84124513447e-05,1793239632290370816
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,715,681,659.018585604,632,881,783,805,651.981414396,630,653,0.451225937347,-0.0156795158109,0.0695635622462,0.999999724277,-0.000287530884287,-0.00068017501408,-7.83230094493e-05,1793239632307037184
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,715,681,659.59505179,632,881,783,805,651.40494821,630,653,0.451225365696,-0.0156804423903,0.0695626060899,0.999999722843,-0.000287923617468,-0.00068210142855,-7.84276277332e-05,1793239632323703808
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.829725944,715,680.829725944,659.829725944,632,881.170274056,783,805,651,630,653,0.451225230816,-0.0156815136928,0.0695620446239,0.999999721945,-0.000288443757559,-0.000683197472069,-7.84332308291e-05,1793239632340370688
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.257440563,715,680.257440563,659.257440563,632,881.742559437,783,805,651,630,653,0.451226127134,-0.0156829266816,0.0695624150087,0.999999722316,-0.00028926470106,-0.000682333037575,-7.82050623881e-05,1793239632357037568
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.325152176,659,632,881.349695649,783,805,651,630.325152176,653,0.451226988737,-0.0156815118824,0.069562680001,0.999999723059,-0.000288460576182,-0.000681577620127,-7.8255198474e-05,1793239632373704192
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.916172949,659,632,880.167654103,783,805,651,630.916172949,653,0.451227821955,-0.0156777848735,0.0695628588165,0.999999724104,-0.000286327674514,-0.000680911343165,-7.85328970465e-05,1793239632390371072
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.496638407,745,715,681,659,632,880.496638407,783,805,651,630.503361593,653,0.451227815952,-0.015677655075,0.069562944429,0.999999724271,-0.000284743642081,-0.000681329341411,-7.85468802837e-05,1793239632407037952
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.924993511,745.075006489,715,680.924993511,659.075006489,632,881,783,805,651,630,653,0.451227716029,-0.0156780776367,0.0695630821171,0.999999724272,-0.0002836683474,-0.000681783311867,-7.84897271214e-05,1793239632423704576
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.348982448,745.651017552,715,680.348982448,659.651017552,632,881,783,805,651,630,653,0.451227915222,-0.0156782185043,0.0695636705357,0.999999724145,-0.000285385229187,-0.000681280561806,-7.824855067e-05,1793239632440370944
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,715,680.231794509,659.768205491,632,880.768205491,783,805,651,630,652.768205491,0.451228112192,-0.0156787021181,0.0695636722144,0.999999723825,-0.000286172036842,-0.000681443066992,-7.80468600621e-05,1793239632457037312
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,715,680.819897561,659.180102439,632,880.180102439,783,805,651,630,652.180102439,0.451228305745,-0.0156797125926,0.0695627719715,0.999999723211,-0.000285529158781,-0.000682628185319,-7.79058660387e-05,1793239632473704192
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.5983638,715,681,659,632,880.4016362,783,804.5983638,651,630,652.4016362,0.45122798413,-0.0156803531218,0.0695622627646,0.999999722664,-0.000285905327837,-0.000683284444213,-7.77957836185e-05,1793239632490370816
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.019434619,715,681,659,632,880.980565381,783,804.019434619,651,630,652.980565381,0.451227435105,-0.0156808303472,0.0695619261715,0.999999722146,-0.000286731331641,-0.000683707250308,-7.76993464167e-05,1793239632507037696
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.557086061,715,681,659,632.557086061,881.557086061,783,804.557086061,651,630,653,0.451227540283,-0.0156790357999,0.0695612221188,0.999999722053,-0.000285373269776,-0.000684396696133,-7.78247115549e-05,1793239632523704576
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.866640464,714.866640464,680.866640464,659,632.866640464,881.733280928,783,805,651,630,653,0.451227943471,-0.0156776637212,0.0695610056135,0.999999722198,-0.000284474211368,-0.000684549027238,-7.79148114724e-05,1793239632540371200
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.290909514,714.290909514,680.290909514,659,632.290909514,880.581819028,783,805,651,630,653,0.451229259817,-0.0156779547904,0.0695624487084,0.999999723088,-0.000285349385773,-0.000682888953653,-7.78623749665e-05,1793239632557037824
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745.292178728,714,680.292178728,659,632,880.292178728,783,805,651,630,653,0.451228825984,-0.0156778219823,0.069562278115,0.999999723036,-0.000284718145861,-0.000683239359555,-7.77620013461e-05,1793239632573704448
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745.882781489,714,680.882781489,659,632,880.882781489,783,805,651,630,653,0.45122660456,-0.0156772562363,0.0695604593409,0.999999722018,-0.000282548292046,-0.000685643218938,-7.76126659607e-05,1793239632590371072
+256,4.266666667,POSE1_TO_POSE2_PRESS,765,746,714.461409936,681,659,632,881,783,805,651,630,653,0.451227432758,-0.0156777300753,0.0695613285316,0.999999722408,-0.000283269053567,-0.000684799610105,-7.74024379542e-05,1793239632607037440
+257,4.283333333,HOLD_POSE2,765,745,715,681,659,632,881,783,805,651,630,653,0.45122791084,-0.0156791665858,0.0695607503122,0.999999722053,-0.000284613115106,-0.000684791950895,-7.71372113506e-05,1793239632651717632
+258,4.300000000,HOLD_POSE2,765,745,715,681,659,632,880.422523422,783,805,651.577476578,630,653,0.451228803906,-0.0156791493011,0.0695615277732,0.999999722722,-0.000284251057176,-0.000683942757577,-7.73219123601e-05,1793239632668384256
+259,4.316666667,HOLD_POSE2,765,745,714.840813477,680.840813477,659,632,880,783,805.159186523,651.840813477,630,653,0.451229595301,-0.015679423882,0.0695620866966,0.999999723092,-0.000284642092065,-0.000683236177292,-7.73487781442e-05,1793239632685050880
+260,4.333333333,HOLD_POSE2,765,745,714.24755993,680.24755993,659,632,880,783,805.75244007,651.24755993,630,653,0.451230109458,-0.0156804943168,0.069562049716,0.999999722641,-0.000287086647189,-0.000682918471533,-7.69452616386e-05,1793239632701717248
+261,4.350000000,HOLD_POSE2,765,745,714.335744518,680,659,632,880.335744518,783,805.664255482,651,630,653,0.451230231128,-0.0156796076761,0.0695619702363,0.999999722631,-0.000286195639202,-0.000683310171993,-7.69170498609e-05,1793239632718383872
+262,4.366666667,HOLD_POSE2,765,745,714.911924132,680,659,632,880.911924132,783,805.088075868,651,630,653,0.451230071729,-0.0156773195243,0.0695618603219,0.999999722931,-0.000282915950416,-0.000684209896107,-7.71576032637e-05,1793239632735050496
+263,4.383333333,HOLD_POSE2,765,745,715,680,659.48707686,632,880.51292314,783,805,651,630,653,0.451230859103,-0.0156777598143,0.0695625509443,0.999999723685,-0.000283203675299,-0.000683000037931,-7.70518238081e-05,1793239632751717120
+264,4.400000000,HOLD_POSE2,765.06379581,745,715,680.06379581,659.93620419,632,880.06379581,783,805,651,630,653,0.45123164026,-0.0156785575629,0.0695632560883,0.999999724353,-0.000284129084715,-0.000681652636037,-7.69062985871e-05,1793239632768383744
+265,4.416666667,HOLD_POSE2,765.654994663,745,715,680.654994663,659.345005337,632,880.654994663,783,805,651,630,653,0.45123095767,-0.0156782402938,0.0695628870852,0.999999723649,-0.000285004583205,-0.000682315117274,-7.69488343138e-05,1793239632785050624
+266,4.433333333,HOLD_POSE2,765.759667594,745,715,681,659,632.240332406,880.759667594,783,805,651,630,653,0.451230720398,-0.0156784452919,0.0695625512261,0.999999722909,-0.000286118419402,-0.000682939961747,-7.68897460818e-05,1793239632801717504
+267,4.450000000,HOLD_POSE2,765.182543416,745,715,681,659,632.817456584,880.182543416,783,805,651,630,653,0.451231107176,-0.0156793821731,0.0695622618136,0.999999722118,-0.00028756625201,-0.000683512063572,-7.66882462838e-05,1793239632818384384
+268,4.466666667,HOLD_POSE2,765,745,714.606655918,680.606655918,659.393344082,632.606655918,880.393344082,783,805,651,630,653,0.451230803282,-0.0156802161261,0.0695619962972,0.999999722261,-0.000287158684578,-0.000683489029165,-7.65522382698e-05,1793239632835051008
+269,4.483333333,HOLD_POSE2,765,745,714.031340491,680.031340491,659.968659509,632.031340491,880.968659509,783,805,651,630,653,0.451230179864,-0.015681002462,0.0695617418358,0.999999722836,-0.000285892760282,-0.00068319066909,-7.64465284643e-05,1793239632851717376
+270,4.500000000,HOLD_POSE2,765,745,714,680.541239557,659.458760443,632,881,783,805,651,630,653,0.451230745261,-0.0156787577707,0.0695616127991,0.999999723745,-0.000282844009215,-0.00068308945513,-7.67980175373e-05,1793239632868384000
+271,4.516666667,HOLD_POSE2,765,745,714.118683557,681,659,632,880.881316443,782.881316443,805,651,630,653,0.451231049095,-0.0156769350795,0.0695614778498,0.999999724213,-0.000280664864434,-0.000683268557177,-7.7100863316e-05,1793239632885050368
+272,4.533333333,HOLD_POSE2,765,745,714.716395616,681,659,632,880.283604384,782.283604384,805,651,630,653,0.451230020771,-0.0156775204923,0.0695612898698,0.999999722857,-0.000282410187008,-0.000684533221433,-7.71010589575e-05,1793239632901716992
+273,4.550000000,HOLD_POSE2,765,745,714.69766046,681,659,632.30233954,880,782,804.69766046,651,630,653,0.451230243068,-0.0156781856031,0.0695616714194,0.999999722731,-0.000283808093753,-0.000684154845989,-7.69635509999e-05,1793239632918383616
+274,4.566666667,HOLD_POSE2,765,745,714.12234189,681,659,632.87765811,880,782,804.12234189,651,630,653,0.451231594537,-0.0156789226722,0.0695625671909,0.999999723715,-0.00028489232248,-0.00068229298808,-7.67017119844e-05,1793239632935050496
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633,880,783,805,651,630,653,0.45123269216,-0.0156796538027,0.0695623938748,0.999999723552,-0.000284540943984,-0.000682659094893,-7.68640901998e-05,1793239632967492352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.413411249,632.413411249,880.586588751,783,805,651,630,653,0.451232151175,-0.0156782984058,0.069561941162,0.999999723952,-0.000281641618915,-0.000683312795336,-7.6532104232e-05,1793239632984159232
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632.171028005,880.828971995,783,805,651,630,653,0.451232057272,-0.015677784219,0.0695620220801,0.999999724253,-0.000280528599778,-0.000683349613204,-7.63576703162e-05,1793239633000826112
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632.750336071,880.249663929,783,805,651,630,653,0.451233030648,-0.0156792781784,0.0695633768884,0.999999724329,-0.000283679870556,-0.000681913801883,-7.65593464425e-05,1793239633017491968
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.670579107,745,715,681,659,633,880,783,805,651,630,653,0.451232446836,-0.0156793862745,0.0695628660806,0.999999723712,-0.000283986366985,-0.00068268103049,-7.66413255525e-05,1793239633034158080
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.091663398,745,715,681,659,633,880,783,805,651,630,653,0.451230683649,-0.0156784447536,0.0695609423036,0.99999972257,-0.00028213830514,-0.000685116784314,-7.6632649244e-05,1793239633050824448
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.482178786,745.482178786,714.517821214,681,659,632.517821214,880.482178786,783,805,651,630,653,0.451230861604,-0.0156770217342,0.0695608971319,0.999999722873,-0.000281453408508,-0.000684942090169,-7.67611168917e-05,1793239633067491072
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714.056128884,680.943871116,659,632,880.943871116,783,805,651,630,653,0.451231203622,-0.0156757110082,0.0695611978759,0.999999723376,-0.000281103887112,-0.000684335160757,-7.69079710823e-05,1793239633084157952
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714.640068966,680.359931034,659,632,880.359931034,783,805,651,630,653,0.451229654482,-0.0156763080239,0.0695614281565,0.999999723196,-0.000281850416453,-0.000684281632625,-7.69851129594e-05,1793239633100825088
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.774792276,715,680.225207724,659.225207724,632.225207724,880.225207724,782.774792276,805,651,630,653,0.451221998051,-0.0156763847459,0.069558202918,0.999999719632,-0.000282316712647,-0.000689258096741,-7.7178563107e-05,1793239633117491712
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.187727577,715,680.812272423,659.812272423,632.812272423,880.812272423,782.187727577,805,651,630,653,0.451204528611,-0.0156756254758,0.0695494254556,0.999999710512,-0.000282332738574,-0.00070231660053,-7.75588938569e-05,1793239633134158336
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.391331937,714.608668063,680.608668063,659.608668063,633,880.608668063,782.391331937,805,651,630,653,0.451166379175,-0.0156731445628,0.0695335491645,0.999999691281,-0.000281476581168,-0.000729384888835,-7.87796054637e-05,1793239633150824704
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.966628279,714.033371721,680.033371721,659.033371721,633,880.033371721,782.966628279,805,651,630,653,0.451118508111,-0.0156698543087,0.0695143357266,0.999999666395,-0.00028021041177,-0.000763039150949,-8.03953784912e-05,1793239633167491072
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.446302439,714.553697561,680.553697561,659,633,880,783,805,651,630.553697561,653,0.451054991082,-0.0156679767333,0.0694976755662,0.999999649446,-0.000279989767502,-0.000784963553394,-8.09075139285e-05,1793239633184157952
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.139235331,714.860764669,680.860764669,659,632.860764669,880,783,805,651,630.860764669,653,0.450986812773,-0.0156655291014,0.0694827121574,0.99999963414,-0.000279470851213,-0.000804373069668,-8.12357590424e-05,1793239633200824576
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.71765568,714.28234432,680.28234432,659,632.28234432,880,783,805,651,630.28234432,653,0.45090697061,-0.015661008962,0.0694726047996,0.999999623448,-0.000277808024018,-0.000818128379864,-8.11983358099e-05,1793239633217490944
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.704270092,714.295729908,680.295729908,659,632,880.295729908,783,805,651,630,653,0.450820636533,-0.0156566085814,0.0694690822627,0.999999619574,-0.000275021783619,-0.000823874932808,-8.02852897069e-05,1793239633234158080
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.126525968,714.873474032,680.873474032,659,632,880.873474032,783,805,651,630,653,0.450728111636,-0.0156523224056,0.069471839149,0.999999622322,-0.00027116423306,-0.000821984166866,-7.85372313617e-05,1793239633250824960
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632,881,783,805,651,630,653,0.450617782013,-0.0156463345612,0.0694760501847,0.999999626844,-0.00026808003644,-0.000817675028351,-7.64980716046e-05,1793239633267491584
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632.022115063,881,783,805,651.022115063,630.022115063,653,0.450501179456,-0.0156398255743,0.0694804836925,0.999999631644,-0.000265157346408,-0.00081294159585,-7.43553997375e-05,1793239633284158208
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632.611529405,881,783,805,651.611529405,630.611529405,653,0.450351733995,-0.015632188455,0.0694801642242,0.999999631537,-0.000260814823654,-0.000814719740225,-7.16513439078e-05,1793239633300824576
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.197180535,745.197180535,715,681,659.197180535,632.802819465,881,783,805,651.802819465,630.802819465,653,0.450192565517,-0.0156245286772,0.0694815171294,0.999999633056,-0.000256483898563,-0.000814477892354,-6.876879526e-05,1793239633317491200
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.775556444,745.775556444,715,681,659.775556444,632.224443556,881,783,805,651.224443556,630.224443556,653,0.450014600225,-0.015616825096,0.0694861031177,0.999999637738,-0.000252175394935,-0.000810330934207,-6.55411792142e-05,1793239633334157824
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.6462523,746,715,681,660,632,881,783,805,651.3537477,630,653,0.44982041095,-0.0156071611187,0.0694920894178,0.999999645807,-0.000244456447257,-0.000802985415689,-6.1979189949e-05,1793239633350824448
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.068178083,746,715,681,660,632,881,783,805,651.931821917,630,653,0.449615933338,-0.0155962539696,0.0694989637158,0.999999655884,-0.000234574790976,-0.00079361155299,-5.82051600274e-05,1793239633367491072
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.506832394,746,715,680.493167606,660,632.506832394,881,783,805,651.493167606,630,653,0.449385874323,-0.0155867482723,0.0695085441048,0.99999967063,-0.000224842576421,-0.000778064931764,-5.29249473493e-05,1793239633384157952
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,745.916153484,715,680.083846516,659.916153484,633,881,783,805,651,630,653,0.44914528891,-0.0155769428918,0.0695190171959,0.999999685555,-0.000214424048557,-0.000762012702147,-4.74191714687e-05,1793239633400824576
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745.324523958,715,680.675476042,659.324523958,633,881,783,805,651,630,653,0.448861669253,-0.0155641877561,0.0695327053019,0.999999699507,-0.000199728122,-0.000747896902934,-4.17670059627e-05,1793239633417490944
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.739480004,745,715,681,659,633,881,783.260519996,805.260519996,651,630.260519996,653,0.448555851283,-0.0155524069865,0.0695403058157,0.999999711006,-0.000172238469676,-0.000739589429394,-3.64627117532e-05,1793239633434157824
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.162437325,745,715,681,659,633,881,783.837562675,805.837562675,651,630.837562675,653,0.448223063157,-0.0155418100385,0.0695405101172,0.999999718582,-0.000129204888755,-0.000738338868533,-3.1581069306e-05,1793239633450824192
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.412801565,633,881,784,805.587198435,651.412801565,631,653,0.447861432569,-0.0155346137345,0.0695400712463,0.999999721062,-9.56725328471e-05,-0.0007402970274,-2.61472423981e-05,1793239633467491072
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659.987333738,633,881,784,805.012666262,651.987333738,631,653,0.447488501866,-0.0155287497614,0.0695393803884,0.999999721216,-6.58626417663e-05,-0.000743512323227,-2.04970764747e-05,1793239633484158720
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,633,880.426012404,784.573987596,805,652,631,653,0.447064155169,-0.0155303965372,0.069536820504,0.999999715735,-6.9618374456e-05,-0.000750639982063,-1.49364188846e-05,1793239633500824832
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.158912033,714.841087967,681,660,633.158912033,880.158912033,785,805,651.841087967,631,653,0.446631444614,-0.0155305901101,0.0695351930997,0.999999714006,-6.60688953935e-05,-0.000753346344878,-9.61653098123e-06,1793239633517491200
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.738534389,714.261465611,681,660,633.738534389,880.738534389,785,805,651.261465611,631,653,0.446179659903,-0.0155264881574,0.0695361459296,0.999999722287,-4.11760360901e-05,-0.000744114086355,-4.92872563702e-06,1793239633534158080
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.682834472,714.317165528,681,660,634,881,785,805,651,631,653,0.445721243755,-0.0155195937994,0.0695496971145,0.999999743392,-3.36067697462e-05,-0.00071558982098,-4.09454001774e-06,1793239633550824960
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.105017866,714.894982134,681,660,634,881,785,805,651,631,653,0.445257377748,-0.0155104046031,0.0695736018043,0.999999773906,-4.02742722462e-05,-0.000671211112046,-6.42731260624e-06,1793239633567491584
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714.532997829,681,660.467002171,634,881,785.467002171,805,651,631,653,0.444762240826,-0.015505510659,0.0695981041049,0.999999800543,-4.83297423493e-05,-0.000629681377648,-8.91650547168e-06,1793239633584157952
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714.039306169,680.960693831,660.960693831,634,881,786,805,651,631,653.039306169,0.444253817092,-0.0155014036121,0.0696217579592,0.999999823931,-5.50573814741e-05,-0.000590751649797,-1.08980184614e-05,1793239633600824320
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.63380788,680.36619212,660.36619212,634,881,786,805,651,631,653.63380788,0.443655827928,-0.0154949354079,0.0696315526669,0.999999831266,-3.86749231239e-05,-0.000579608298395,-5.21785314089e-06,1793239633617490944
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.222611529,745,715,680.222611529,660.222611529,634,880.777388471,786,805,651,631,653.777388471,0.44304946664,-0.0154868476037,0.0696434174805,0.999999839854,-1.68381734148e-05,-0.000565693753299,1.19499106936e-07,1793239633634157568
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.802275862,745,715,680.802275862,660.802275862,634,880.197724138,786,805,651,631,653.197724138,0.442429677106,-0.0154761620784,0.0696586025935,0.999999850106,1.37468644921e-05,-0.000547334414252,4.90700361803e-06,1793239633650824448
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.6217583,661,634,880.3782417,786.3782417,805,651.3782417,631.3782417,653,0.441806010431,-0.0154681434911,0.0696818959579,0.999999870141,2.38106483062e-05,-0.000509011921531,7.55154966853e-06,1793239633667491072
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.04770713,661,634,880.95229287,786.95229287,805,651.95229287,631.95229287,653,0.441180336644,-0.0154615055337,0.0697093868295,0.999999893725,2.32509174076e-05,-0.000460354834241,9.08672141816e-06,1793239633684157952
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.474129458,745,714.474129458,680,661,634.525870542,880.474129458,787,805,651.474129458,631.474129458,653,0.44054689108,-0.0154549536009,0.0697484805141,0.999999925243,4.29880886704e-05,-0.000384066458734,1.26213627014e-05,1793239633700824832
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.10304515,745,714.10304515,680.10304515,661.10304515,635,880,787,805,651,631.10304515,653,0.439890569888,-0.0154477412424,0.0697822711671,0.999999946538,6.39554335031e-05,-0.000320275517885,1.60685709107e-05,1793239633717491456
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.697580432,745,714.697580432,680.697580432,661.697580432,635,880,787,805,651,631.697580432,653,0.439128499835,-0.0154373416915,0.0697857520842,0.999999942666,8.2015614245e-05,-0.000328038536692,1.82343507253e-05,1793239633734157824
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.716161398,745,715,681,661.716161398,635,880.283838602,787.283838602,805,651,632,653,0.438350104792,-0.0154271197651,0.0697698353031,0.999999932901,9.26060971627e-05,-0.000354039114725,1.6699475146e-05,1793239633750824448
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.13847223,745,715,681,661.13847223,635,880.86152777,787.86152777,805,651,632,653,0.437554808826,-0.0154170817274,0.0697338366007,0.99999991581,9.54634023675e-05,-0.000398920554058,1.1333409549e-05,1793239633767491328
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.562718776,661,635,881,788,805,651,631.562718776,653,0.436776717645,-0.0154078849212,0.0697411434193,0.999999919045,0.000107541380029,-0.000387640723048,8.94483019394e-06,1793239633784157952
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.987317406,788,805,651.012682594,631.012682594,653,0.43600405707,-0.0153988550176,0.0697625457617,0.999999928364,0.000122616663629,-0.000358020445137,7.6118266028e-06,1793239633800824576
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.400220591,788,805,651.599779409,631.599779409,653,0.43523168609,-0.0153853723356,0.0698039924845,0.999999944982,0.000141781732523,-0.000299665141434,1.15716612962e-05,1793239633817491456
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.184215149,745,715,680,661.184215149,635,880,787.815784851,804.815784851,651.815784851,631.815784851,653,0.434426417152,-0.0153750499598,0.0698333731066,0.999999953357,0.000158327856039,-0.000260780464041,1.45283820278e-05,1793239633834158080
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.762951806,745,715,680,661.762951806,635,880,787.237048194,804.237048194,651.237048194,631.237048194,653,0.433550692858,-0.0153714958053,0.0698369125492,0.999999950816,0.000169265155758,-0.000263594755973,1.53367991956e-05,1793239633850824960
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.658924266,635,880.341075734,787.341075734,804.341075734,651,631,653,0.432688937478,-0.0153710629193,0.0698402246315,0.999999952548,0.000170039671147,-0.000256415806243,1.55698571855e-05,1793239633867491584
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.081225446,635,880.918774554,787.918774554,804.918774554,651,631,653,0.431836873141,-0.0153727954297,0.0698433789813,0.999999957116,0.000163763700906,-0.000242303992327,1.54037566796e-05,1793239633884157952
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880.496552036,788,805,651,631,652.496552036,0.430926624945,-0.0153694250968,0.0698093160756,0.999999937862,0.000175623928211,-0.000305344707292,1.40211356473e-05,1793239633900824576
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880,787.911677861,804.911677861,651.088322139,631.088322139,652.088322139,0.430005877472,-0.0153653390689,0.0697694391351,0.999999911194,0.000188015562788,-0.000376983236049,1.20416773363e-05,1793239633917491200
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,880,787.332034701,804.332034701,651.667965299,631.667965299,652.667965299,0.429079678128,-0.0153619158809,0.0697310913671,0.999999891674,0.000186857464857,-0.000426232949221,7.84927832367e-06,1793239633934157824
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.246831163,880,787,804.246831163,652,632,653,0.428186668551,-0.0153637629743,0.0697402798212,0.999999900122,0.000182810126719,-0.000407753883699,8.50538483182e-06,1793239633950824704
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.824654781,880,787,804.824654781,652,632,653,0.427338165225,-0.0153726773409,0.0698132127769,0.999999940047,0.000174888411418,-0.000298452762567,1.5663176809e-05,1793239633967491328
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.59969299,661,635.59969299,880,787,804.59969299,651.59969299,632,653,0.42647744529,-0.0153742379783,0.069855015011,0.999999955566,0.000176871940086,-0.000239104128794,2.0353779581e-05,1793239633984157952
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.02498679,661,635.02498679,880,787,804.02498679,651.02498679,632,653,0.425611403073,-0.0153725948631,0.0698832547187,0.999999962632,0.00018317082375,-0.000201517982144,2.39695174546e-05,1793239634000824832
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.564298617,880,787,804.564298617,651.564298617,632,652.435701383,0.42471842694,-0.0153736012566,0.0698591032058,0.999999955182,0.000181987003265,-0.000236694238383,2.21887169598e-05,1793239634017491456
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.151609084,661,635.848390916,880,787,805,652,632,652.151609084,0.42380822266,-0.0153730826447,0.0698287176612,0.999999943206,0.000181803173598,-0.000283105346284,1.96461111933e-05,1793239634034158080
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.731469021,661,635.268530979,880,787,805,652,632,652.731469021,0.422852812136,-0.0153679161645,0.0697874495036,0.99999992077,0.000185404751795,-0.000351909381794,1.56445102413e-05,1793239634050824704
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.690367692,745,715,679.690367692,661,635,880,787,805,652,631.690367692,653,0.421893356098,-0.0153628884115,0.0697435095574,0.999999890562,0.000190620564914,-0.000427077262155,1.20361897456e-05,1793239634067491328
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.113667848,745,715,679.113667848,661,635,880,787,805,652,631.113667848,653,0.420930410727,-0.0153579803153,0.0696972651124,0.999999851615,0.000197228705484,-0.000507734152913,8.767086112e-06,1793239634084157952
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,744.541227486,715,679.458772514,661,635,880,787.458772514,804.541227486,652,631,653,0.420122440424,-0.0153595725767,0.0697395203105,0.999999886451,0.000194074811622,-0.000435100007447,1.09696394371e-05,1793239634100824576
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.031197367,744.031197367,715,679.968802633,661,635,880,788,804,651.968802633,631.031197367,653,0.419352667108,-0.015362736913,0.0698029867871,0.999999928825,0.000189267907657,-0.000326052885565,1.47220579271e-05,1793239634117491200
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.622102933,744.622102933,715,679.377897067,661,635,880,788,804,651.377897067,631.622102933,653,0.41858563595,-0.0153654765546,0.0698572290511,0.999999951666,0.000197798871097,-0.000238854726451,2.21819611737e-05,1793239634134158336
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,880,788,804.209107896,651.209107896,632,653,0.417785332056,-0.0153661510548,0.0698843153995,0.999999958373,0.000207117126426,-0.000199137975717,2.64842552806e-05,1793239634150824960
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635,880,788,804.789192919,651.789192919,632,653,0.416925999063,-0.0153631617996,0.0698632246018,0.999999946273,0.000217832115168,-0.000243657708732,2.51846544728e-05,1793239634167491584
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.365996492,879.634003508,788,805,652,632,653,0.416079392808,-0.0153611198692,0.0698344168848,0.999999936247,0.000221000668754,-0.000279583694721,2.23195130857e-05,1793239634184158208
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.940926774,879.059073226,788,805,652,632,653,0.415240051825,-0.0153596187315,0.0698012038667,0.999999927421,0.000219861242461,-0.000310603827384,1.85606628709e-05,1793239634200824832
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,636,879.526962281,787.473037719,805,652,632,653,0.4144268423,-0.0153543398718,0.0697738902569,0.999999907279,0.000225197506135,-0.000366670269639,1.6777668214e-05,1793239634217491200
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.887204675,745,715,679,661,635.887204675,880,787,804.887204675,652,632,653,0.413635982013,-0.0153501877957,0.0697555691985,0.999999890129,0.000230538766177,-0.000407856626591,1.57243588903e-05,1793239634234157824
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.307474248,745,715,679,661,635.307474248,880,787,804.307474248,652,632,653,0.412925252472,-0.0153524910687,0.0697716776792,0.999999902228,0.000232830892762,-0.000375571111322,1.67550443142e-05,1793239634250824448
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879.729726609,787.270273391,804.270273391,652,632,653,0.412251874637,-0.0153560665735,0.0698063994275,0.999999924605,0.000228543560571,-0.000313349906496,1.92033575315e-05,1793239634267491328
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879.154218284,787.845781716,804.845781716,652,632,653,0.411620680232,-0.0153610788809,0.0698621421841,0.999999952609,0.000216825674178,-0.000217320644791,2.32526773292e-05,1793239634284158464
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.421179709,745,715,679,661.421179709,635.421179709,879.421179709,788,805,652,632,652.578820291,0.41095379494,-0.0153606289499,0.069880419127,0.999999956727,0.000223258287957,-0.000190003737514,2.45211052169e-05,1793239634300824832
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.99653736,745,715,679,661.99653736,635.99653736,879.99653736,788,805,652,632,652.00346264,0.410273844515,-0.0153581795006,0.0698849812588,0.999999954124,0.000236335111995,-0.000187839813687,2.47715542653e-05,1793239634317491456
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.412300571,745,715,679,661.412300571,636,879.412300571,788,804.412300571,652,632,652.587699429,0.409611838255,-0.0153559704151,0.0698481899646,0.999999941274,0.000232436575544,-0.000250932257878,2.14233109308e-05,1793239634334157824
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804.17539469,652,631.82460531,653,0.408964215236,-0.015353263554,0.0698134629098,0.999999925048,0.000231970458173,-0.000309464932891,1.80403027173e-05,1793239634350824448
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804.754882404,652,631.245117596,653,0.408349479425,-0.015349406511,0.0697840685188,0.999999907602,0.000239649111586,-0.000356582050567,1.46273985868e-05,1793239634367491072
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.332132577,745,715,679,661.332132577,636,879.332132577,788,804.667867423,652,631.332132577,653,0.407783948626,-0.0153477544501,0.0697807162275,0.999999906249,0.000241311843655,-0.000359294447729,1.33436019885e-05,1793239634384157952
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.907742434,745,715,679,661.907742434,636,879.907742434,788,804.092257566,652,631.907742434,653,0.407254488708,-0.0153477188015,0.0697964546868,0.99999991718,0.000238564468471,-0.000329454959737,1.36205959284e-05,1793239634400824832
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661.517630462,636,879.517630462,788,804.482369538,652,632,653,0.406749077043,-0.0153481572589,0.0698132253231,0.999999924184,0.000237315658339,-0.000308359359991,1.50644174855e-05,1793239634417491712
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.941946945,879.058053055,788,804.941946945,652,632,653,0.406251295115,-0.0153485805589,0.0698272218979,0.999999928694,0.00023716871833,-0.000293413060038,1.64804140716e-05,1793239634434158080
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.354928453,879.645071547,788,804.354928453,652,632,653,0.405781209635,-0.0153480412011,0.0698141467701,0.999999919026,0.000244455503785,-0.000319290644557,1.56135722716e-05,1793239634450824704
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.230503757,880,788,804,652,631.769496243,653,0.405339488575,-0.0153497106565,0.0698099737847,0.999999916715,0.000243332829637,-0.00032730782038,1.51498489664e-05,1793239634467491328
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.813510058,880,788,804,652,631.186489942,653,0.404941144423,-0.0153547579844,0.0698194145824,0.999999926147,0.000229349818271,-0.000308011601718,1.53026028832e-05,1793239634484157952
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.609724959,661,636,880,788,804,652,631,653,0.404576258966,-0.0153547716348,0.0698330068334,0.999999933879,0.000227543254475,-0.000283206208417,1.61126234036e-05,1793239634500824320
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.035895348,661,636,880,788,804,652,631,653,0.404227109801,-0.0153524178411,0.069848551601,0.999999940345,0.000231463529011,-0.000255809732454,1.72317702526e-05,1793239634517490944
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.462835292,745,715,678.537164708,661,636,880,788,804,652,631.537164708,653,0.403892537611,-0.0153488413052,0.0698542247646,0.999999940618,0.000242613782426,-0.000244193867612,1.64771024267e-05,1793239634534157824
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.114801043,745,715,678.885198957,661,636,879.885198957,788,804,652,632,653,0.403564910871,-0.015345101003,0.0698563726429,0.99999993996,0.000250373288876,-0.000239064632228,1.5530328792e-05,1793239634550824704
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.711878105,745,715,678.288121895,661,636,879.288121895,788,804,652,632,653,0.403262375412,-0.0153410154847,0.0698464781349,0.999999937686,0.000241861634888,-0.000256761876349,1.43017971129e-05,1793239634567491072
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.701829482,744.701829482,715,678,661,635.701829482,879.298170518,788,804,652.298170518,632,652.701829482,0.402980672536,-0.0153383740368,0.0698379647328,0.99999993306,0.000244666572184,-0.000271714141694,1.37900026432e-05,1793239634584157696
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.125594528,744.125594528,715,678,661,635.125594528,879.874405472,788,804,652.874405472,632,652.125594528,0.402718397489,-0.0153370792834,0.0698307393072,0.999999926256,0.000258025006644,-0.000284106525219,1.39466147976e-05,1793239634600824320
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.448087898,744.448087898,715,678,661,635.448087898,880,788,804,652.103824203,632,652.448087898,0.402487046738,-0.0153341437385,0.0698250504841,0.999999919933,0.00027127165721,-0.000293841259812,1.42686319528e-05,1793239634617490944
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.021721293,661,636,880,788,804.021721293,651.021721293,632,653,0.402265652269,-0.0153309159857,0.0698198694098,0.999999913832,0.000283717893965,-0.000302694910214,1.46687180071e-05,1793239634634157824
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.612714136,661,636,880,788,804.612714136,651.612714136,632,653,0.402079313806,-0.0153320147659,0.0698167717104,0.999999914393,0.000276003390219,-0.000307869190768,1.59066776449e-05,1793239634650824448
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.800527157,880,787.800527157,804.800527157,652,632,653,0.401904001548,-0.0153344938818,0.0698143067726,0.999999914973,0.000268191341286,-0.000312786642634,1.70946767514e-05,1793239634667490816
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.221818419,880,787.221818419,804.221818419,652,632,653,0.401749652227,-0.0153395972785,0.0698130448354,0.999999915671,0.000260193841263,-0.000317215813641,1.81876912244e-05,1793239634684157696
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.644588621,661,635.355411379,880,787,804,652,632,653,0.401617903317,-0.0153429567826,0.0698131666056,0.999999916483,0.000256849198805,-0.000317343217685,1.88524878533e-05,1793239634700824320
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.068277976,661,635.931722024,880,787,804,652,632,653,0.401500201251,-0.0153452324035,0.0698141483929,0.999999917397,0.000256396451799,-0.000314796939715,1.92511338316e-05,1793239634717490944
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.493666426,745,715.506333574,678.506333574,661,635.493666426,879.493666426,787,804,652,631.493666426,653,0.401405346217,-0.0153453003918,0.0698130833837,0.99999992119,0.000246359378136,-0.000311219124361,8.34292669221e-06,1793239634734157568
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715.916643673,678.916643673,661,635.083356327,878.916643673,787,804,652,631.083356327,653,0.40131615778,-0.0153458182277,0.0698120911881,0.99999992474,0.00023565254593,-0.000308192749487,-2.25213766835e-06,1793239634750824448
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715.323477052,678.323477052,661,635.676522948,878.323477052,787,804,652,631.676522948,653,0.401242846707,-0.0153509019678,0.0698132267405,0.99999992598,0.00022872752641,-0.000309386902057,-1.63805533876e-06,1793239634767491328
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.261456159,745,715,678,661.261456159,636,878.522912317,787.261456159,804,652,632,653,0.401178592851,-0.0153524222119,0.0698139089057,0.999999926314,0.000226935250026,-0.000309633311988,-6.19248759979e-07,1793239634784157696
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.836513834,745,715,678,661.836513834,636,879.673027667,787.836513834,804,652,632,653,0.401125202605,-0.0153496682485,0.0698140472594,0.999999925589,0.000231299402126,-0.000308742959465,8.85001073924e-07,1793239634800824320
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,678,661.587516563,636,879.587516563,788,804,652,631.587516563,653,0.401084646068,-0.0153475987794,0.0698135442483,0.999999925002,0.000235011674873,-0.000307833797765,1.70381553098e-06,1793239634817491200
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,678,661.011184733,636,879.011184733,788,804,652,631.011184733,653,0.401049187392,-0.0153458012079,0.0698127864715,0.999999924466,0.000238465005276,-0.000306917164621,2.25035845084e-06,1793239634834157824
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.423584436,745,715,678,661.576415564,636,879,788,804,652,631,653,0.401027832385,-0.0153474909443,0.069814052327,0.99999992624,0.000234869094515,-0.000303888126926,2.89647496265e-06,1793239634850824192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,661.838026719,636,879,788,804,652,631,653,0.401008456841,-0.0153481974263,0.069815286918,0.999999927349,0.00023305766101,-0.000301621159362,3.37310726629e-06,1793239634867491072
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,661.258312227,636,879,788,804,652,631,653,0.4009934666,-0.015346190022,0.0698163375849,0.999999926668,0.00023620833616,-0.000301427449636,3.40754457341e-06,1793239634884157696
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.319170208,745,715,678,661,636,879.319170208,787.680829792,804,652,631.319170208,653,0.400983582397,-0.0153468275393,0.0698174591252,0.999999926863,0.000237417430065,-0.000299822208922,3.75273851351e-06,1793239634900824576
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.894858795,745,715,678,661,636,879.894858795,787.105141205,804,652,631.894858795,653,0.400977801936,-0.0153495907905,0.0698186376267,0.999999927761,0.000237066067667,-0.000297082515068,4.34768881076e-06,1793239634917490944
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.530926133,745,715,678.469073867,661,636,880,787,804,652,632,653,0.400975444226,-0.015350243972,0.0698205074465,0.999999929128,0.000235232470045,-0.000293918012899,4.68908484981e-06,1793239634934157568
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,744.955604487,715,679,661.044395513,636,880,787,804,652,632,653,0.400973950827,-0.0153502304164,0.0698224652882,0.999999930428,0.000233609068719,-0.000290768261537,4.94090695054e-06,1793239634950824448
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,744.362537471,715,679,661.637462529,636,880,787,804,652,632,653,0.400973687314,-0.0153478037765,0.0698236019019,0.999999929752,0.000238676594299,-0.000288973911006,4.78589713371e-06,1793239634967491072
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.224373484,744.224373484,715,678.775626516,661.775626516,636,879.775626516,787.448746969,804,652,631.775626516,653,0.40097311653,-0.0153467142795,0.0698243190887,0.999999929525,0.00024101106965,-0.000287823366152,4.66063675526e-06,1793239634984157440
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.801603205,744.801603205,715,678.198396795,661.198396795,636,879.198396795,788.60320641,804,652,631.198396795,653,0.400972062524,-0.015347727612,0.0698243766725,0.999999930036,0.000239047470812,-0.000287685288852,4.58216121412e-06,1793239635000824064
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.376812309,661,636,879,788.623187691,804,652,631,653,0.400971883264,-0.0153482057605,0.0698253156407,0.999999930635,0.000237976208836,-0.000286491003614,4.57034326473e-06,1793239635017490944
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,678.950963187,661,636,879,788.049036813,804,652,631,653,0.400972162113,-0.0153484036304,0.0698267161946,0.999999931277,0.000237372268387,-0.000284743576778,4.59343424595e-06,1793239635034157568
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.462488516,745,715,679,661,636,879,788,804,652,631,653,0.400972263165,-0.0153483906397,0.0698265671473,0.9999999313,0.000238490411147,-0.000283727526182,4.66456678278e-06,1793239635050824448
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.124051425,745,715,678.875948575,661,636,879,787.875948575,804.124051425,652,631,653,0.400972131357,-0.0153482912116,0.069826343058,0.999999931222,0.000239551579309,-0.000283106187241,4.68190130977e-06,1793239635067491072
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.706284381,745,715,678.293715619,661,636,879,787.293715619,804.706284381,652,631,653,0.400971200813,-0.0153479452569,0.0698263762742,0.999999930996,0.000239808350754,-0.000283690450201,4.48396395155e-06,1793239635084157696
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,678.286136245,661,635.713863755,879,787.286136245,804.713863755,652,631.286136245,653,0.400971100239,-0.0153482159404,0.069826908147,0.999999931235,0.000239362426434,-0.000283223915225,4.48525457094e-06,1793239635100824320
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,678.863564186,661,635.136435814,879,787.863564186,804.136435814,652,631.863564186,653,0.400971844591,-0.0153491143722,0.069827947661,0.999999931945,0.000238201145585,-0.000281687649669,4.68936272709e-06,1793239635117490944
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,679,661,635.434813282,879,788,804,652,631.565186718,653.434813282,0.400972066548,-0.0153493945348,0.0698278917672,0.999999932093,0.000237571858206,-0.000281695262785,4.58492109638e-06,1793239635134157568
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.995676244,745,715.004323756,679,661,636,879,788,804,652,631.004323756,653.995676244,0.400972108923,-0.0153494874731,0.069827494925,0.999999932068,0.000237097114789,-0.000282188860866,4.38803335813e-06,1793239635150824448
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.402602644,745,715.597397356,679,661,636,879,788,804,652,631.597397356,653.402602644,0.400969705548,-0.0153501329976,0.0698268193369,0.999999932041,0.000235254414886,-0.000283817264019,4.6015756869e-06,1793239635167491072
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,745,716,679,661.186202559,636,879,788,804,652,631.813797441,653,0.400968596681,-0.0153502153303,0.0698266604953,0.999999931971,0.000234939489864,-0.00028432363989,4.73937940812e-06,1793239635184157696
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745,716,679,661.765985521,636,879,788,804,652,631.234014479,653,0.400970224045,-0.0153491072321,0.0698275939118,0.99999993181,0.000237853855994,-0.000282458362159,4.71709277224e-06,1793239635200824320
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.342839786,745,715.657160214,678.657160214,662,636,879,788,804,652,631,653,0.400971310142,-0.0153495044196,0.0698287891279,0.999999932388,0.000237373003809,-0.000280807977613,4.89383486134e-06,1793239635217490944
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.917711899,745,715.082288101,678.082288101,662,636,879,788,804,652,631,653,0.400972029912,-0.0153509203772,0.0698301615285,0.999999933464,0.000234594283995,-0.000279303031817,5.20527863981e-06,1793239635234157568
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.496297083,745,715,678.503702917,661.496297083,636,879.503702917,788,804,652,631,653,0.400972255294,-0.0153504167028,0.0698299279914,0.99999993282,0.000237224769542,-0.000279388377159,5.09764805912e-06,1793239635250824192
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.090203573,744.909796427,715,678.909796427,661,636,879.909796427,787.909796427,804,652,631,652.909796427,0.400972178646,-0.0153498964914,0.0698293672886,0.999999932081,0.000239814456684,-0.000279826348483,4.92921309824e-06,1793239635267490816
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.669397531,744.330602469,715,678.330602469,661,636,879.330602469,787.330602469,804,652,631,652.330602469,0.400970912423,-0.0153510250399,0.0698284873589,0.99999993243,0.000237284434427,-0.000280735735355,4.81067083147e-06,1793239635284157696
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,744,715,678,661.24805528,636,879.24805528,787,804,652,631.24805528,652.24805528,0.400970865438,-0.015351043964,0.0698284181884,0.999999932725,0.000236330782148,-0.000280489345788,4.77193810983e-06,1793239635300824576
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,744,715,678,661.826000001,636,879.826000001,787,804,652,631.826000001,652.826000001,0.40097243992,-0.0153495871957,0.0698294272489,0.999999932953,0.000237473548564,-0.000278705885887,4.83934431911e-06,1793239635317491968
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765.598882756,744.401117244,715.401117244,678,661.598882756,636,879.598882756,787.401117244,804,652,632,653,0.400972926732,-0.0153502098505,0.0698302834035,0.999999933246,0.000237589209408,-0.000277546657646,5.20832903185e-06,1793239635334158336
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765.024983489,744.975016511,715.975016511,678,661.024983489,636,879.024983489,787.975016511,804,652,632,653,0.400972945028,-0.015351728221,0.0698310736935,0.999999933568,0.000237262442487,-0.000276656318499,5.70721925967e-06,1793239635350824448
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765,745,715.436978613,678,661,636,879.563021387,788,804,652,632,653,0.400972482496,-0.0153522255382,0.0698306359085,0.999999933587,0.000236358566897,-0.000277366626766,5.31855675587e-06,1793239635367491072
+420,7.000000000,POSE2_TO_POSE3_RETREAT,765.150053027,744.849946973,715.150053027,678,661,636,879.849946973,788,804,652,632,653,0.40097186277,-0.0153522864243,0.0698299906878,0.999999933421,0.000235893432831,-0.000278367698497,4.93364626261e-06,1793239635384157952
+421,7.016666667,POSE2_TO_POSE3_RETREAT,765.732430885,744.267569115,715.732430885,678,661,636,879.267569115,788,804,652,632,653,0.400970853201,-0.0153512237824,0.0698289088559,0.99999993276,0.000236768055768,-0.000279996604391,4.67593355094e-06,1793239635400824576
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..acac9b1dfbc769f434f787aeba12c8165361ddce
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_07/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,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+1,0.016666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+2,0.033333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+3,0.050000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+4,0.066666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+5,0.083333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+6,0.100000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+7,0.116666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+8,0.133333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+9,0.150000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+10,0.166666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+11,0.183333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+12,0.200000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+13,0.216666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+14,0.233333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+15,0.250000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+16,0.266666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+17,0.283333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+18,0.300000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+19,0.316666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+20,0.333333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+21,0.350000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+22,0.366666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+23,0.383333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+24,0.400000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+25,0.416666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+26,0.433333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+27,0.450000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+28,0.466666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+29,0.483333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+30,0.500000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+31,0.516666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+32,0.533333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+33,0.550000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+34,0.566666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+35,0.583333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+36,0.600000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+37,0.616666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+38,0.633333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+39,0.650000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+40,0.666666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+41,0.683333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+42,0.700000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+43,0.716666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+44,0.733333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+45,0.750000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+46,0.766666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+47,0.783333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+48,0.800000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+49,0.816666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+50,0.833333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+51,0.850000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+52,0.866666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+53,0.883333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+54,0.900000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+55,0.916666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+56,0.933333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+57,0.950000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+58,0.966666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+59,0.983333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+60,1.000000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+61,1.016666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+62,1.033333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+63,1.050000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+64,1.066666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+65,1.083333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+66,1.100000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+67,1.116666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+68,1.133333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+69,1.150000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+70,1.166666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+71,1.183333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+72,1.200000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+73,1.216666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+74,1.233333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+75,1.250000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+76,1.266666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+77,1.283333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+78,1.300000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+79,1.316666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+80,1.333333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+81,1.350000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+82,1.366666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+83,1.383333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+84,1.400000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+85,1.416666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+86,1.433333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+87,1.450000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+88,1.466666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+89,1.483333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+90,1.500000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+91,1.516666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+92,1.533333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+93,1.550000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+94,1.566666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+95,1.583333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+96,1.600000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+97,1.616666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+98,1.633333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+99,1.650000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+100,1.666666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+101,1.683333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+102,1.700000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+103,1.716666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+104,1.733333333,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+105,1.750000000,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+106,1.766666667,pose1_baseline,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632637,1.05970060642
+107,1.783333333,pose1_to_pose2_press,0.575664425091,-0.00990943192938,1.06003261029,0.546234877039,-0.00123769130637,1.059700737
+108,1.800000000,pose1_to_pose2_press,0.575664542573,-0.00990934719104,1.06003250648,0.546234993714,-0.0012376095079,1.05970062797
+109,1.816666667,pose1_to_pose2_press,0.575664750133,-0.00990928277456,1.06003251838,0.546235201126,-0.00123754567925,1.05970063757
+110,1.833333333,pose1_to_pose2_press,0.575664829433,-0.00990925816347,1.06003252293,0.546235280371,-0.00123752129274,1.05970064124
+111,1.850000000,pose1_to_pose2_press,0.57566489147,-0.00990923891009,1.06003252648,0.546235342364,-0.00123750221505,1.05970064411
+112,1.866666667,pose1_to_pose2_press,0.575664914244,-0.00990923184236,1.06003252779,0.546235365121,-0.00123749521182,1.05970064516
+113,1.883333333,pose1_to_pose2_press,0.575665331382,-0.00990923278645,1.06003248388,0.546235782625,-0.00123749480538,1.05970060413
+114,1.900000000,pose1_to_pose2_press,0.575666630394,-0.00990927992445,1.06003234218,0.546237082351,-0.00123753918036,1.05970047131
+115,1.916666667,pose1_to_pose2_press,0.575669938706,-0.00990916650571,1.0600322111,0.546240388514,-0.00123743321296,1.05970033618
+116,1.933333333,pose1_to_pose2_press,0.5756785088,-0.00990919465605,1.06003221043,0.546248959468,-0.00123745807699,1.05970034497
+117,1.950000000,pose1_to_pose2_press,0.575694468031,-0.00990925319291,1.06003237675,0.546264920517,-0.0012375109445,1.05970049814
+118,1.966666667,pose1_to_pose2_press,0.575720278286,-0.00990923349606,1.06003216781,0.546290729898,-0.00123749377812,1.05970030053
+119,1.983333333,pose1_to_pose2_press,0.575756042625,-0.00990916758943,1.06003245601,0.546326493253,-0.00123743157907,1.05970057903
+120,2.000000000,pose1_to_pose2_press,0.575802522264,-0.00990932974775,1.06003227599,0.546372975091,-0.00123758657469,1.05970039109
+121,2.016666667,pose1_to_pose2_press,0.575857709369,-0.00990926880281,1.06003205765,0.546428161313,-0.00123752780768,1.05970019413
+122,2.033333333,pose1_to_pose2_press,0.575921568517,-0.00990908837456,1.06003232631,0.546492018317,-0.00123735493058,1.0597004555
+123,2.050000000,pose1_to_pose2_press,0.575993498706,-0.00990924366379,1.06003225991,0.546563951589,-0.00123749957203,1.05970039392
+124,2.066666667,pose1_to_pose2_press,0.576074274304,-0.00990927709749,1.0600323496,0.54664472651,-0.00123753542908,1.05970048016
+125,2.083333333,pose1_to_pose2_press,0.57616726967,-0.00990923827228,1.06003231561,0.54673772014,-0.00123750244608,1.05970044749
+126,2.100000000,pose1_to_pose2_press,0.576273324131,-0.00990922770297,1.0600322552,0.546843775417,-0.00123748919491,1.05970038465
+127,2.116666667,pose1_to_pose2_press,0.576394916277,-0.00990936635788,1.0600323479,0.546965371093,-0.00123761576382,1.05970048023
+128,2.133333333,pose1_to_pose2_press,0.576531637541,-0.00990931427968,1.06003233853,0.54710208966,-0.00123757283297,1.0597004709
+129,2.150000000,pose1_to_pose2_press,0.576683731417,-0.00990929842255,1.06003238026,0.547254183795,-0.00123755642214,1.05970050408
+130,2.166666667,pose1_to_pose2_press,0.576852857093,-0.00990914079221,1.0600324477,0.547423308041,-0.00123740329685,1.05970058056
+131,2.183333333,pose1_to_pose2_press,0.577039471429,-0.00990917419764,1.06003244818,0.547609922448,-0.00123743636959,1.05970058338
+132,2.200000000,pose1_to_pose2_press,0.577246727866,-0.00990922465685,1.06003237975,0.547817179804,-0.00123748383251,1.05970051164
+133,2.216666667,pose1_to_pose2_press,0.577474183578,-0.00990923053621,1.06003216098,0.548044635073,-0.00123749113817,1.05970029485
+134,2.233333333,pose1_to_pose2_press,0.577722944298,-0.00990922704947,1.06003222088,0.54829339666,-0.00123748431178,1.05970036513
+135,2.250000000,pose1_to_pose2_press,0.577990559505,-0.00990922221399,1.06003221211,0.548561012315,-0.00123747788337,1.05970035815
+136,2.266666667,pose1_to_pose2_press,0.578276670999,-0.00990917669617,1.06003235707,0.548847122949,-0.0012374357442,1.05970049095
+137,2.283333333,pose1_to_pose2_press,0.578583038085,-0.00990913849475,1.06003247002,0.549153489173,-0.00123740056035,1.05970060145
+138,2.300000000,pose1_to_pose2_press,0.578908990568,-0.00990919610383,1.06003234481,0.549479441675,-0.00123745797808,1.05970047957
+139,2.316666667,pose1_to_pose2_press,0.579255419186,-0.00990923817361,1.06003214858,0.549825870066,-0.00123750067441,1.05970028705
+140,2.333333333,pose1_to_pose2_press,0.579619572386,-0.00990918223519,1.06003200129,0.550190022689,-0.00123744630887,1.05970014964
+141,2.350000000,pose1_to_pose2_press,0.580001619058,-0.00990918260111,1.06003195543,0.550572069566,-0.00123744608673,1.05970010101
+142,2.366666667,pose1_to_pose2_press,0.580402545043,-0.0099091578615,1.06003210458,0.550972993869,-0.00123742736541,1.05970024197
+143,2.383333333,pose1_to_pose2_press,0.580824540338,-0.00990927822263,1.0600323106,0.551394991959,-0.0012375380808,1.05970045214
+144,2.400000000,pose1_to_pose2_press,0.581274887385,-0.0099092569483,1.06003232101,0.551845340519,-0.00123751177715,1.0597004597
+145,2.416666667,pose1_to_pose2_press,0.581752797005,-0.00990940721668,1.06003221602,0.552323251185,-0.00123765853055,1.05970035377
+146,2.433333333,pose1_to_pose2_press,0.582258347066,-0.00990932693068,1.06003232139,0.552828800055,-0.00123758245049,1.05970045478
+147,2.450000000,pose1_to_pose2_press,0.582783478988,-0.00990933690917,1.0600321468,0.553353932136,-0.00123759191995,1.05970027938
+148,2.466666667,pose1_to_pose2_press,0.583325593536,-0.00990924863272,1.06003207282,0.553896045325,-0.00123750798446,1.05970021243
+149,2.483333333,pose1_to_pose2_press,0.58388512724,-0.00990914835174,1.06003215853,0.554455578234,-0.00123741046881,1.05970029624
+150,2.500000000,pose1_to_pose2_press,0.584463709665,-0.0099092127757,1.06003230145,0.555034161639,-0.00123747177802,1.05970043364
+151,2.516666667,pose1_to_pose2_press,0.585067910809,-0.00990922041925,1.06003242814,0.55563836333,-0.00123747767434,1.05970055743
+152,2.533333333,pose1_to_pose2_press,0.585696829779,-0.00990923594616,1.0600324667,0.556267282697,-0.00123749175783,1.05970059848
+153,2.550000000,pose1_to_pose2_press,0.586350236392,-0.00990926889635,1.0600324049,0.556920689128,-0.00123752525316,1.05970053855
+154,2.566666667,pose1_to_pose2_press,0.58701043854,-0.00990927312485,1.06003240102,0.557580890418,-0.00123753254813,1.05970053058
+155,2.583333333,pose1_to_pose2_press,0.587672540405,-0.00990930604217,1.06003244043,0.558242992282,-0.00123756553561,1.05970056818
+156,2.600000000,pose1_to_pose2_press,0.588342079358,-0.00990923012879,1.06003231923,0.558912530873,-0.00123749073245,1.05970045007
+157,2.616666667,pose1_to_pose2_press,0.589021357507,-0.00990931275231,1.06003227703,0.559591809223,-0.0012375728501,1.05970040328
+158,2.633333333,pose1_to_pose2_press,0.589716572276,-0.00990926245019,1.06003249145,0.560287023748,-0.00123752344655,1.05970061581
+159,2.650000000,pose1_to_pose2_press,0.590437805844,-0.00990937835438,1.06003222794,0.561008259999,-0.00123762985493,1.05970036247
+160,2.666666667,pose1_to_pose2_press,0.59118957306,-0.00990921054456,1.06003220777,0.561760024418,-0.00123747143304,1.05970034511
+161,2.683333333,pose1_to_pose2_press,0.591959416425,-0.00990930148268,1.06003222346,0.562529869048,-0.00123755825081,1.05970035622
+162,2.700000000,pose1_to_pose2_press,0.59274402757,-0.00990930066808,1.06003221929,0.563314479531,-0.00123755973231,1.05970035078
+163,2.716666667,pose1_to_pose2_press,0.593528952067,-0.00990921047591,1.06003231343,0.564099402957,-0.00123747308697,1.05970044723
+164,2.733333333,pose1_to_pose2_press,0.594306686365,-0.00990927913511,1.06003245418,0.564877138211,-0.00123753872974,1.05970058196
+165,2.750000000,pose1_to_pose2_press,0.595067732694,-0.00990932901664,1.06003229516,0.565638184649,-0.0012375879065,1.05970043177
+166,2.766666667,pose1_to_pose2_press,0.595827555573,-0.00990928855643,1.06003232631,0.566398007384,-0.00123754787939,1.05970046438
+167,2.783333333,pose1_to_pose2_press,0.596596355862,-0.00990920939719,1.06003236101,0.567166807057,-0.00123747098279,1.05970049463
+168,2.800000000,pose1_to_pose2_press,0.597382771213,-0.00990917788993,1.06003216981,0.567953221802,-0.00123744149051,1.05970030454
+169,2.816666667,pose1_to_pose2_press,0.598190120807,-0.00990920090857,1.06003215958,0.56876057202,-0.00123746238389,1.05970029455
+170,2.833333333,pose1_to_pose2_press,0.599021674946,-0.00990923437272,1.06003234383,0.56959212672,-0.00123749403648,1.05970047651
+171,2.850000000,pose1_to_pose2_press,0.599856504365,-0.00990934397095,1.06003239179,0.570426958035,-0.00123759740751,1.0597005191
+172,2.866666667,pose1_to_pose2_press,0.600682086698,-0.00990922591875,1.0600325006,0.571252540429,-0.00123747925457,1.05970062516
+173,2.883333333,pose1_to_pose2_press,0.601485544122,-0.00990910944884,1.06003246236,0.572055994373,-0.00123737452497,1.05970058886
+174,2.900000000,pose1_to_pose2_press,0.602265619358,-0.0099091391072,1.06003223757,0.572836069924,-0.00123740279075,1.05970037251
+175,2.916666667,pose1_to_pose2_press,0.60303045659,-0.00990917039955,1.06003249245,0.573600906657,-0.00123743615934,1.05970061746
+176,2.933333333,pose1_to_pose2_press,0.603788279153,-0.00990938851293,1.0600325036,0.574358732234,-0.00123764407705,1.05970062774
+177,2.950000000,pose1_to_pose2_press,0.604553128845,-0.00990928868776,1.06003215758,0.575123581822,-0.00123754416714,1.05970029326
+178,2.966666667,pose1_to_pose2_press,0.605326853196,-0.00990927078013,1.0600323848,0.575897306227,-0.00123752627903,1.0597005153
+179,2.983333333,pose1_to_pose2_press,0.606105464678,-0.00990918211893,1.06003227995,0.576675916365,-0.00123744201313,1.05970041483
+180,3.000000000,pose1_to_pose2_press,0.606881921214,-0.00990915196258,1.06003229979,0.577452372075,-0.0012374147129,1.05970043342
+181,3.016666667,pose1_to_pose2_press,0.607647715868,-0.00990925503916,1.06003236813,0.578218167197,-0.00123751644816,1.05970049531
+182,3.033333333,pose1_to_pose2_press,0.608379428439,-0.00990919401805,1.06003235083,0.578949879283,-0.00123745696227,1.05970048109
+183,3.050000000,pose1_to_pose2_press,0.609077603543,-0.00990919139837,1.0600323443,0.57964805521,-0.00123745145887,1.05970047701
+184,3.066666667,pose1_to_pose2_press,0.609737076225,-0.00990920845316,1.06003234414,0.580307527469,-0.00123746994604,1.05970047695
+185,3.083333333,pose1_to_pose2_press,0.610371013812,-0.00990918442664,1.06003229677,0.580941463742,-0.00123745038051,1.05970042965
+186,3.100000000,pose1_to_pose2_press,0.610986195277,-0.00990922140836,1.06003225235,0.581556646223,-0.00123748397294,1.05970038377
+187,3.116666667,pose1_to_pose2_press,0.611600327756,-0.0099092728261,1.06003234165,0.582170780172,-0.00123753044551,1.05970047201
+188,3.133333333,pose1_to_pose2_press,0.61221679625,-0.00990916102395,1.06003223467,0.58278724863,-0.00123741873719,1.05970036588
+189,3.150000000,pose1_to_pose2_press,0.612831984008,-0.0099093610438,1.06003238813,0.583402438091,-0.00123761331928,1.05970051
+190,3.166666667,pose1_to_pose2_press,0.613426569858,-0.00990921312669,1.06003222396,0.583997022737,-0.00123746882872,1.05970035817
+191,3.183333333,pose1_to_pose2_press,0.613990153938,-0.0099091945424,1.06003221748,0.584560606438,-0.00123745124237,1.05970035307
+192,3.200000000,pose1_to_pose2_press,0.614516651287,-0.00990920392937,1.06003223007,0.585087104206,-0.00123745893628,1.05970036344
+193,3.216666667,pose1_to_pose2_press,0.615011412224,-0.00990920697838,1.06003220184,0.585581863926,-0.00123746558556,1.05970034006
+194,3.233333333,pose1_to_pose2_press,0.615490698605,-0.00990919033546,1.06003220972,0.586061149258,-0.00123745222306,1.05970034643
+195,3.250000000,pose1_to_pose2_press,0.615958073443,-0.00990914368741,1.06003230004,0.586528523152,-0.00123740877096,1.05970042814
+196,3.266666667,pose1_to_pose2_press,0.616412863889,-0.00990914376808,1.06003237957,0.586983313582,-0.00123740876551,1.05970050387
+197,3.283333333,pose1_to_pose2_press,0.616848223919,-0.0099092114544,1.06003232066,0.587418674751,-0.00123747207349,1.05970045131
+198,3.300000000,pose1_to_pose2_press,0.617259722901,-0.00990919547993,1.0600322348,0.587830172649,-0.00123745925712,1.05970036953
+199,3.316666667,pose1_to_pose2_press,0.617643629319,-0.00990923063369,1.06003236837,0.588214079249,-0.00123749366403,1.05970049728
+200,3.333333333,pose1_to_pose2_press,0.618004428949,-0.00990901703664,1.06003242283,0.588574876958,-0.00123728579581,1.05970056456
+201,3.350000000,pose1_to_pose2_press,0.618348896665,-0.00990906434609,1.06003239697,0.588919344411,-0.00123733440186,1.0597005216
+202,3.366666667,pose1_to_pose2_press,0.618679878571,-0.00990910657254,1.06003242947,0.589250326277,-0.00123737610291,1.05970056392
+203,3.383333333,pose1_to_pose2_press,0.618996173083,-0.00990915304816,1.06003246665,0.58956662228,-0.00123741738892,1.05970059781
+204,3.400000000,pose1_to_pose2_press,0.619297373369,-0.00990923937166,1.0600323248,0.589867823627,-0.00123749996879,1.05970045332
+205,3.416666667,pose1_to_pose2_press,0.61958200403,-0.00990922696412,1.06003229269,0.590152455076,-0.00123748438048,1.05970042691
+206,3.433333333,pose1_to_pose2_press,0.619841890936,-0.00990924742512,1.06003225191,0.590412341768,-0.00123750525807,1.05970038906
+207,3.450000000,pose1_to_pose2_press,0.620078973541,-0.00990934907889,1.06003215104,0.590649424529,-0.00123760634984,1.05970028468
+208,3.466666667,pose1_to_pose2_press,0.620292256994,-0.00990930889905,1.06003226971,0.590862707975,-0.00123756612319,1.05970040033
+209,3.483333333,pose1_to_pose2_press,0.62048251696,-0.00990916620366,1.06003244425,0.591052966997,-0.00123742657241,1.05970057259
+210,3.500000000,pose1_to_pose2_press,0.620649576995,-0.00990917183184,1.06003242616,0.591220026969,-0.00123743234839,1.05970055261
+211,3.516666667,pose1_to_pose2_press,0.6208000688,-0.00990931866214,1.060032558,0.59137052026,-0.00123757361972,1.05970069358
+212,3.533333333,pose1_to_pose2_press,0.620935994259,-0.00990923759589,1.06003231671,0.591506444075,-0.00123749781403,1.05970045937
+213,3.550000000,pose1_to_pose2_press,0.621060861374,-0.00990922953571,1.06003245364,0.591631310843,-0.00123749126708,1.05970058256
+214,3.566666667,pose1_to_pose2_press,0.62117513827,-0.00990931084322,1.06003230421,0.591745588721,-0.00123756905932,1.05970043492
+215,3.583333333,pose1_to_pose2_press,0.621278001755,-0.00990920627559,1.06003237344,0.591848451386,-0.00123746720041,1.05970050453
+216,3.600000000,pose1_to_pose2_press,0.621368967472,-0.00990913374642,1.06003228067,0.591939415674,-0.0012373993363,1.0597004135
+217,3.616666667,pose1_to_pose2_press,0.621447934897,-0.00990920741676,1.06003213346,0.592018383929,-0.00123746946817,1.05970026979
+218,3.633333333,pose1_to_pose2_press,0.621515247868,-0.00990922363131,1.06003219748,0.592085698236,-0.00123748066022,1.05970033575
+219,3.650000000,pose1_to_pose2_press,0.621572119864,-0.00990915696654,1.06003217886,0.592142569277,-0.001237417782,1.05970031558
+220,3.666666667,pose1_to_pose2_press,0.621619362781,-0.0099093022213,1.06003216392,0.592189812647,-0.00123756187832,1.0597002842
+221,3.683333333,pose1_to_pose2_press,0.62165873974,-0.00990926124921,1.06003222726,0.592229187658,-0.00123752753605,1.05970035607
+222,3.700000000,pose1_to_pose2_press,0.621690316914,-0.00990917086394,1.0600323395,0.592260766545,-0.00123743135943,1.05970046897
+223,3.716666667,pose1_to_pose2_press,0.621715780479,-0.00990925708935,1.06003233092,0.59228623152,-0.00123751251095,1.05970046608
+224,3.733333333,pose1_to_pose2_press,0.621735547581,-0.00990926747561,1.06003224167,0.59230599812,-0.00123752451297,1.05970038106
+225,3.750000000,pose1_to_pose2_press,0.621750459708,-0.00990927478383,1.06003224739,0.59232090935,-0.00123753505597,1.05970038426
+226,3.766666667,pose1_to_pose2_press,0.621761400843,-0.00990931941332,1.06003231599,0.592331850432,-0.00123758008872,1.05970044745
+227,3.783333333,pose1_to_pose2_press,0.621768790257,-0.00990930703645,1.06003213435,0.592339241373,-0.00123756228639,1.05970027149
+228,3.800000000,pose1_to_pose2_press,0.621774058495,-0.00990927352243,1.06003226736,0.592344509404,-0.00123752958244,1.05970040206
+229,3.816666667,pose1_to_pose2_press,0.621777683034,-0.00990924055961,1.06003246419,0.592348133283,-0.00123749905374,1.05970059461
+230,3.833333333,pose1_to_pose2_press,0.621780057645,-0.00990922434164,1.06003235529,0.592350507344,-0.00123748470983,1.05970048455
+231,3.850000000,pose1_to_pose2_press,0.621781504461,-0.00990921471748,1.06003227756,0.592351953818,-0.00123747624087,1.0597004062
+232,3.866666667,pose1_to_pose2_press,0.621782524928,-0.00990922154611,1.06003226797,0.592352974403,-0.00123748265355,1.05970039673
+233,3.883333333,pose1_to_pose2_press,0.621782994381,-0.00990923862299,1.06003230985,0.592353444276,-0.00123749827954,1.05970043926
+234,3.900000000,pose1_to_pose2_press,0.621783140857,-0.0099092439512,1.06003232292,0.592353590883,-0.00123750315505,1.05970045252
+235,3.916666667,pose1_to_pose2_press,0.621783219172,-0.0099092468,1.0600323299,0.592353669268,-0.00123750576181,1.05970045962
+236,3.933333333,pose1_to_pose2_press,0.621783577399,-0.00990925983093,1.06003236186,0.592354027816,-0.00123751768559,1.05970049206
+237,3.950000000,pose1_to_pose2_press,0.621783767546,-0.00990926674772,1.06003237882,0.592354218133,-0.00123752401472,1.05970050928
+238,3.966666667,pose1_to_pose2_press,0.621783911734,-0.00990927199272,1.06003239168,0.59235436245,-0.00123752881409,1.05970052234
+239,3.983333333,pose1_to_pose2_press,0.621784231187,-0.00990928361316,1.06003242018,0.592354682189,-0.00123753944723,1.05970055128
+240,4.000000000,pose1_to_pose2_press,0.621784554164,-0.00990929536183,1.060032449,0.592355005455,-0.00123755019771,1.05970058053
+241,4.016666667,pose1_to_pose2_press,0.621784795732,-0.00990928093605,1.06003246147,0.592355246822,-0.0012375364825,1.05970059227
+242,4.033333333,pose1_to_pose2_press,0.621785086896,-0.00990924555439,1.06003246946,0.592355537419,-0.00123750308686,1.05970059856
+243,4.050000000,pose1_to_pose2_press,0.621785382213,-0.00990920966796,1.06003247757,0.592355832162,-0.00123746921478,1.05970060494
+244,4.066666667,pose1_to_pose2_press,0.621785594691,-0.009909183848,1.0600324834,0.592356044226,-0.00123744484413,1.05970060953
+245,4.083333333,pose1_to_pose2_press,0.621785727621,-0.00990916769365,1.06003248555,0.592356176902,-0.00123742958058,1.05970061092
+246,4.100000000,pose1_to_pose2_press,0.621785774249,-0.00990916201025,1.06003245808,0.592356223523,-0.00123742391181,1.05970058376
+247,4.116666667,pose1_to_pose2_press,0.621785790458,-0.00990916003454,1.06003244853,0.592356239729,-0.0012374219412,1.05970057432
+248,4.133333333,pose1_to_pose2_press,0.621785817533,-0.00990915673434,1.06003243258,0.5923562668,-0.00123741864949,1.05970055855
+249,4.150000000,pose1_to_pose2_press,0.621785853669,-0.00990915232968,1.06003241129,0.592356302931,-0.00123741425618,1.0597005375
+250,4.166666667,pose1_to_pose2_press,0.62178586993,-0.0099091503476,1.06003240171,0.59235631919,-0.0012374122792,1.05970052803
+251,4.183333333,pose1_to_pose2_press,0.621785961883,-0.00990913913947,1.06003234754,0.592356411129,-0.00123740109994,1.05970047447
+252,4.200000000,pose1_to_pose2_press,0.62178604302,-0.00990912924964,1.06003229975,0.592356492254,-0.00123739123559,1.05970042721
+253,4.216666667,pose1_to_pose2_press,0.621786123068,-0.00990911949266,1.06003225259,0.592356572289,-0.00123738150374,1.05970038058
+254,4.233333333,pose1_to_pose2_press,0.621786133431,-0.00990911822949,1.06003224649,0.592356582651,-0.00123738024383,1.05970037454
+255,4.250000000,pose1_to_pose2_press,0.621786156688,-0.0099091105398,1.06003226758,0.592356605946,-0.00123737239015,1.05970039647
+256,4.266666667,pose1_to_pose2_press,0.621786200651,-0.0099090978679,1.06003220069,0.592356650153,-0.00123735856307,1.05970033792
+257,4.283333333,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650156,-0.00123735856234,1.05970033791
+258,4.300000000,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650156,-0.00123735856211,1.05970033791
+259,4.316666667,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650156,-0.00123735856205,1.05970033791
+260,4.333333333,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650156,-0.00123735856202,1.05970033791
+261,4.350000000,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650157,-0.00123735856195,1.05970033791
+262,4.366666667,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650157,-0.00123735856204,1.05970033791
+263,4.383333333,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650157,-0.00123735856198,1.05970033791
+264,4.400000000,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650158,-0.00123735856207,1.05970033791
+265,4.416666667,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650158,-0.00123735856204,1.05970033791
+266,4.433333333,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650159,-0.00123735856134,1.05970033791
+267,4.450000000,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650159,-0.00123735856154,1.05970033791
+268,4.466666667,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650159,-0.00123735856146,1.05970033791
+269,4.483333333,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650159,-0.0012373585614,1.05970033791
+270,4.500000000,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650159,-0.00123735856137,1.05970033791
+271,4.516666667,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650159,-0.00123735856136,1.05970033791
+272,4.533333333,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.59235665016,-0.00123735856133,1.05970033791
+273,4.550000000,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.59235665016,-0.00123735856121,1.05970033791
+274,4.566666667,pose2_hold,0.621786200651,-0.0099090978679,1.06003220069,0.592356650159,-0.00123735856117,1.05970033791
+275,4.583333333,pose2_to_pose3_retreat,0.621786200651,-0.0099090978679,1.06003220069,0.592356650161,-0.00123735856279,1.05970033791
+276,4.600000000,pose2_to_pose3_retreat,0.621786182619,-0.00990911465544,1.0600321831,0.592356632033,-0.00123737572396,1.05970031909
+277,4.616666667,pose2_to_pose3_retreat,0.621786169551,-0.00990912682245,1.06003217034,0.592356618895,-0.00123738816177,1.05970030545
+278,4.633333333,pose2_to_pose3_retreat,0.621786035476,-0.00990918471425,1.06003214037,0.592356484567,-0.00123744705861,1.05970027174
+279,4.650000000,pose2_to_pose3_retreat,0.621785929707,-0.00990919155357,1.06003217523,0.592356378866,-0.00123745366212,1.05970030676
+280,4.666666667,pose2_to_pose3_retreat,0.621785859692,-0.00990919608095,1.0600321983,0.592356308896,-0.00123745803341,1.05970032994
+281,4.683333333,pose2_to_pose3_retreat,0.621785522425,-0.0099092552162,1.06003226032,0.592355972504,-0.00123751423801,1.05970039122
+282,4.700000000,pose2_to_pose3_retreat,0.62178426081,-0.00990936625594,1.06003235539,0.592354712746,-0.0012376190939,1.05970048376
+283,4.716666667,pose2_to_pose3_retreat,0.621780406264,-0.00990905641454,1.06003229651,0.59235085365,-0.00123732446395,1.05970042926
+284,4.733333333,pose2_to_pose3_retreat,0.621770227604,-0.00990911527411,1.06003220617,0.592340675459,-0.00123738145088,1.05970034364
+285,4.750000000,pose2_to_pose3_retreat,0.621751151228,-0.00990924182228,1.06003229296,0.592321601352,-0.00123750031066,1.05970043038
+286,4.766666667,pose2_to_pose3_retreat,0.621720952964,-0.00990923772398,1.06003227601,0.592291403652,-0.00123749453289,1.05970040779
+287,4.783333333,pose2_to_pose3_retreat,0.621679511913,-0.00990919958823,1.06003220338,0.592249962629,-0.00123745658447,1.0597003365
+288,4.800000000,pose2_to_pose3_retreat,0.621626589224,-0.00990923595821,1.06003221194,0.592197039116,-0.0012374959345,1.05970034731
+289,4.816666667,pose2_to_pose3_retreat,0.621564676513,-0.00990922894656,1.06003240037,0.592135124922,-0.0012374943329,1.05970053385
+290,4.833333333,pose2_to_pose3_retreat,0.621494445242,-0.0099092811396,1.06003220221,0.592064895034,-0.00123754207045,1.05970034146
+291,4.850000000,pose2_to_pose3_retreat,0.621415528959,-0.00990924410542,1.06003210269,0.591985979076,-0.00123750399991,1.05970023449
+292,4.866666667,pose2_to_pose3_retreat,0.621327625802,-0.00990914692831,1.06003220173,0.591898073834,-0.00123741346736,1.05970032838
+293,4.883333333,pose2_to_pose3_retreat,0.621226775199,-0.00990919455393,1.0600323073,0.591797223982,-0.00123745834293,1.0597004422
+294,4.900000000,pose2_to_pose3_retreat,0.621112648879,-0.00990912202228,1.06003217173,0.591683096842,-0.00123738834632,1.05970031642
+295,4.916666667,pose2_to_pose3_retreat,0.620982905138,-0.00990919049353,1.06003224116,0.591553356295,-0.00123744665643,1.05970037123
+296,4.933333333,pose2_to_pose3_retreat,0.620837624769,-0.00990905234116,1.0600321136,0.591408073926,-0.00123731526469,1.05970024827
+297,4.950000000,pose2_to_pose3_retreat,0.620676196536,-0.00990925098074,1.06003229632,0.59124664655,-0.00123751125342,1.05970042799
+298,4.966666667,pose2_to_pose3_retreat,0.620499769262,-0.00990931359065,1.0600322654,0.591070220161,-0.0012375709466,1.0597003982
+299,4.983333333,pose2_to_pose3_retreat,0.620308387919,-0.00990922056074,1.06003216261,0.59087883793,-0.00123748112735,1.05970029521
+300,5.000000000,pose2_to_pose3_retreat,0.620097580444,-0.00990918281386,1.06003220126,0.590668029743,-0.00123744597396,1.05970033443
+301,5.016666667,pose2_to_pose3_retreat,0.619866190854,-0.00990924983654,1.06003233714,0.590436641095,-0.00123750985765,1.05970047277
+302,5.033333333,pose2_to_pose3_retreat,0.619611242699,-0.00990924205866,1.06003231262,0.590181693813,-0.00123749930954,1.059700448
+303,5.050000000,pose2_to_pose3_retreat,0.619332067025,-0.00990925650202,1.06003220069,0.589902517571,-0.00123751595198,1.05970033719
+304,5.066666667,pose2_to_pose3_retreat,0.619028363725,-0.00990921250954,1.06003208948,0.589598813865,-0.00123747352296,1.05970022618
+305,5.083333333,pose2_to_pose3_retreat,0.618699013939,-0.00990924099325,1.0600321899,0.589269464199,-0.00123750192729,1.05970032669
+306,5.100000000,pose2_to_pose3_retreat,0.618346163271,-0.00990921245752,1.06003220391,0.588916614273,-0.00123747110041,1.05970034061
+307,5.116666667,pose2_to_pose3_retreat,0.617971413461,-0.00990917945514,1.06003239253,0.588541863194,-0.00123744277663,1.05970052762
+308,5.133333333,pose2_to_pose3_retreat,0.61757871912,-0.00990931828563,1.06003221266,0.588149170863,-0.00123757516678,1.05970034611
+309,5.150000000,pose2_to_pose3_retreat,0.617169314958,-0.00990928536047,1.06003202296,0.587739766877,-0.00123754194466,1.05970015881
+310,5.166666667,pose2_to_pose3_retreat,0.616746858252,-0.00990922889219,1.06003219866,0.587317310298,-0.00123748542211,1.05970033271
+311,5.183333333,pose2_to_pose3_retreat,0.616310394719,-0.00990928706908,1.06003248665,0.586880848028,-0.00123753981334,1.05970061463
+312,5.200000000,pose2_to_pose3_retreat,0.615846995246,-0.00990933175627,1.06003241703,0.586417448515,-0.00123758502407,1.05970054494
+313,5.216666667,pose2_to_pose3_retreat,0.61535631942,-0.0099091975709,1.06003211368,0.585926770272,-0.00123745896902,1.05970025172
+314,5.233333333,pose2_to_pose3_retreat,0.614837048613,-0.00990921122786,1.06003247894,0.585407500202,-0.00123747080331,1.05970060664
+315,5.250000000,pose2_to_pose3_retreat,0.614293974812,-0.00990923153848,1.06003223314,0.584864425592,-0.0012374938235,1.05970037052
+316,5.266666667,pose2_to_pose3_retreat,0.613729423492,-0.00990921061444,1.06003219948,0.584299874378,-0.00123747285424,1.0597003372
+317,5.283333333,pose2_to_pose3_retreat,0.613158259599,-0.00990920545892,1.06003213053,0.583728710245,-0.0012374688088,1.05970026698
+318,5.300000000,pose2_to_pose3_retreat,0.612577785045,-0.00990924147157,1.0600322119,0.583148236165,-0.00123750331568,1.05970034858
+319,5.316666667,pose2_to_pose3_retreat,0.611971131659,-0.00990920894632,1.06003225865,0.58254158291,-0.00123747024096,1.05970039864
+320,5.333333333,pose2_to_pose3_retreat,0.611336059513,-0.00990914893388,1.06003222123,0.581906510512,-0.00123741098153,1.05970036325
+321,5.350000000,pose2_to_pose3_retreat,0.610669800912,-0.00990925632055,1.0600323295,0.581240253207,-0.00123751416035,1.059700466
+322,5.366666667,pose2_to_pose3_retreat,0.609976977476,-0.00990936781694,1.06003235071,0.580547431174,-0.00123762115312,1.05970048245
+323,5.383333333,pose2_to_pose3_retreat,0.609262508096,-0.00990930625259,1.06003233955,0.579832959897,-0.00123756595553,1.05970047308
+324,5.400000000,pose2_to_pose3_retreat,0.608546265201,-0.00990919529876,1.06003235452,0.579116715978,-0.00123745869608,1.05970048284
+325,5.416666667,pose2_to_pose3_retreat,0.607825044285,-0.00990921575841,1.06003224795,0.578395494294,-0.00123748159677,1.05970037922
+326,5.433333333,pose2_to_pose3_retreat,0.607089039173,-0.00990913802052,1.0600323662,0.577659489787,-0.00123740214743,1.05970048834
+327,5.450000000,pose2_to_pose3_retreat,0.606337542711,-0.00990918000375,1.06003235518,0.576907993377,-0.0012374437559,1.05970048384
+328,5.466666667,pose2_to_pose3_retreat,0.605571476238,-0.00990917530585,1.06003244695,0.576141927294,-0.00123743786672,1.0597005707
+329,5.483333333,pose2_to_pose3_retreat,0.604779972182,-0.00990918239055,1.06003232135,0.575350423787,-0.00123744302163,1.05970044681
+330,5.500000000,pose2_to_pose3_retreat,0.603967168457,-0.00990923129645,1.06003221428,0.574537620078,-0.00123749163833,1.05970034673
+331,5.516666667,pose2_to_pose3_retreat,0.603145100593,-0.00990923861004,1.06003229903,0.573715552191,-0.00123749896008,1.05970043242
+332,5.533333333,pose2_to_pose3_retreat,0.602317300351,-0.0099091997597,1.06003229683,0.572887751611,-0.00123746126471,1.05970042998
+333,5.550000000,pose2_to_pose3_retreat,0.601490229079,-0.00990917106537,1.0600324509,0.572060679228,-0.00123743677297,1.05970057259
+334,5.566666667,pose2_to_pose3_retreat,0.600672099703,-0.00990921266255,1.06003222831,0.571242551501,-0.00123747236443,1.05970036068
+335,5.583333333,pose2_to_pose3_retreat,0.599864198758,-0.0099090749905,1.06003221677,0.570434649801,-0.00123733699885,1.05970035586
+336,5.600000000,pose2_to_pose3_retreat,0.599062344749,-0.00990923217513,1.06003236111,0.569632796278,-0.00123749301319,1.05970048962
+337,5.616666667,pose2_to_pose3_retreat,0.598257240604,-0.0099092742933,1.06003223442,0.568827694029,-0.00123752838373,1.05970036836
+338,5.633333333,pose2_to_pose3_retreat,0.59743252717,-0.00990930032655,1.06003219109,0.56800297936,-0.00123755835589,1.05970033075
+339,5.650000000,pose2_to_pose3_retreat,0.59658974082,-0.00990920570127,1.06003219847,0.567160190895,-0.00123747097521,1.05970033613
+340,5.666666667,pose2_to_pose3_retreat,0.595729080236,-0.00990927190255,1.06003236506,0.566299532294,-0.00123753057898,1.0597004992
+341,5.683333333,pose2_to_pose3_retreat,0.594884053622,-0.00990935061618,1.06003215348,0.565454507101,-0.00123760422794,1.0597002939
+342,5.700000000,pose2_to_pose3_retreat,0.594064872235,-0.00990931068141,1.060032084,0.564635324498,-0.00123756846285,1.05970022325
+343,5.716666667,pose2_to_pose3_retreat,0.59328037148,-0.00990925809131,1.06003239536,0.563850822988,-0.00123751886191,1.05970052342
+344,5.733333333,pose2_to_pose3_retreat,0.592525151748,-0.00990927939719,1.06003260035,0.563095604356,-0.00123753667267,1.05970072213
+345,5.750000000,pose2_to_pose3_retreat,0.591788914669,-0.00990934418713,1.06003246164,0.562359368629,-0.00123759669808,1.059700588
+346,5.766666667,pose2_to_pose3_retreat,0.59104566509,-0.00990924033199,1.06003219399,0.561616116658,-0.00123750045713,1.05970033349
+347,5.783333333,pose2_to_pose3_retreat,0.590289548238,-0.00990931820088,1.06003206727,0.56086000146,-0.00123757260267,1.0597002097
+348,5.800000000,pose2_to_pose3_retreat,0.589525105148,-0.00990930201986,1.06003221908,0.560095559021,-0.00123755467966,1.05970034924
+349,5.816666667,pose2_to_pose3_retreat,0.58876225859,-0.00990925761265,1.06003241891,0.559332711721,-0.00123751264454,1.05970055283
+350,5.833333333,pose2_to_pose3_retreat,0.588026924502,-0.00990925377072,1.06003254912,0.558597376709,-0.00123751194462,1.05970068282
+351,5.850000000,pose2_to_pose3_retreat,0.587323480971,-0.00990927394457,1.06003269339,0.55789393458,-0.00123752768392,1.05970081865
+352,5.866666667,pose2_to_pose3_retreat,0.586658314381,-0.00990921246859,1.06003242149,0.557228767637,-0.00123746701937,1.05970055804
+353,5.883333333,pose2_to_pose3_retreat,0.586020035151,-0.00990921617037,1.0600322294,0.556590487908,-0.00123747218506,1.05970037298
+354,5.900000000,pose2_to_pose3_retreat,0.585402145975,-0.00990923807534,1.06003225774,0.555972598433,-0.00123749540094,1.05970039296
+355,5.916666667,pose2_to_pose3_retreat,0.584793291997,-0.0099091356664,1.06003215526,0.555363742738,-0.00123739892458,1.05970028652
+356,5.933333333,pose2_to_pose3_retreat,0.584189297003,-0.00990925178676,1.06003234831,0.554759748925,-0.00123751109919,1.05970047767
+357,5.950000000,pose2_to_pose3_retreat,0.583588366261,-0.00990917588581,1.06003226226,0.554158816739,-0.00123744020021,1.05970038916
+358,5.966666667,pose2_to_pose3_retreat,0.58300602846,-0.00990924226796,1.06003234587,0.553576479723,-0.00123750375205,1.05970047702
+359,5.983333333,pose2_to_pose3_retreat,0.582451372953,-0.00990918087298,1.06003221057,0.553021822687,-0.00123744730295,1.05970034786
+360,6.000000000,pose2_to_pose3_retreat,0.581925651559,-0.00990917781134,1.06003235689,0.552496101635,-0.00123744357016,1.05970048176
+361,6.016666667,pose2_to_pose3_retreat,0.58142758037,-0.0099092585846,1.06003219694,0.551998031117,-0.0012375220704,1.05970032169
+362,6.033333333,pose2_to_pose3_retreat,0.580956079281,-0.00990920405527,1.06003226944,0.55152652998,-0.00123746751975,1.059700399
+363,6.050000000,pose2_to_pose3_retreat,0.580507363718,-0.00990916434039,1.06003223421,0.551077813145,-0.00123743221639,1.05970036211
+364,6.066666667,pose2_to_pose3_retreat,0.580082792387,-0.00990913767376,1.06003213088,0.550653241705,-0.00123740600227,1.05970025693
+365,6.083333333,pose2_to_pose3_retreat,0.57968409979,-0.00990915699821,1.0600321524,0.550254550561,-0.0012374202272,1.05970028225
+366,6.100000000,pose2_to_pose3_retreat,0.579312779005,-0.00990927808526,1.06003224356,0.549883231107,-0.00123753661774,1.05970037776
+367,6.116666667,pose2_to_pose3_retreat,0.578966389899,-0.00990932549929,1.06003233288,0.549536843411,-0.00123757925074,1.05970046688
+368,6.133333333,pose2_to_pose3_retreat,0.578641072768,-0.00990930145445,1.06003235708,0.549211525761,-0.0012375570948,1.05970048773
+369,6.150000000,pose2_to_pose3_retreat,0.578333332627,-0.00990923480899,1.06003225501,0.548903784731,-0.00123749347656,1.05970038536
+370,6.166666667,pose2_to_pose3_retreat,0.57804102268,-0.00990926024034,1.06003218135,0.548611474389,-0.00123752061098,1.05970030223
+371,6.183333333,pose2_to_pose3_retreat,0.5777648123,-0.00990927054568,1.06003215699,0.548335264281,-0.00123752932619,1.05970029554
+372,6.200000000,pose2_to_pose3_retreat,0.577507565752,-0.00990928125211,1.06003219648,0.548078017668,-0.00123754020133,1.05970033646
+373,6.216666667,pose2_to_pose3_retreat,0.577269869501,-0.00990918144224,1.06003235772,0.547840319372,-0.00123744761606,1.05970049029
+374,6.233333333,pose2_to_pose3_retreat,0.577053562328,-0.00990908399595,1.06003237891,0.54762401152,-0.00123735267695,1.05970050615
+375,6.250000000,pose2_to_pose3_retreat,0.576856912822,-0.00990913274629,1.06003235061,0.547427363411,-0.00123739670173,1.05970047733
+376,6.266666667,pose2_to_pose3_retreat,0.576680150731,-0.00990924424932,1.06003238408,0.547250602194,-0.00123750503882,1.05970051611
+377,6.283333333,pose2_to_pose3_retreat,0.576521634064,-0.00990923974009,1.06003228792,0.547092085615,-0.00123750024529,1.05970041986
+378,6.300000000,pose2_to_pose3_retreat,0.576382331059,-0.0099090984878,1.06003244241,0.546952781242,-0.00123736367244,1.05970057333
+379,6.316666667,pose2_to_pose3_retreat,0.576259824754,-0.00990925724149,1.06003236076,0.546830277041,-0.00123751544837,1.05970048743
+380,6.333333333,pose2_to_pose3_retreat,0.576153119544,-0.00990923500106,1.06003241698,0.546723571898,-0.00123749342562,1.05970053203
+381,6.350000000,pose2_to_pose3_retreat,0.576061183115,-0.00990911420631,1.06003226231,0.546631634345,-0.00123737596423,1.05970039075
+382,6.366666667,pose2_to_pose3_retreat,0.575981818599,-0.00990905733774,1.06003243256,0.54655226728,-0.00123732764641,1.05970056352
+383,6.383333333,pose2_to_pose3_retreat,0.575914283954,-0.00990912367112,1.06003245712,0.54648473447,-0.00123738764354,1.05970059082
+384,6.400000000,pose2_to_pose3_retreat,0.575856690671,-0.00990917888748,1.06003245872,0.546427142437,-0.00123743864333,1.05970059174
+385,6.416666667,pose2_to_pose3_retreat,0.575809011062,-0.00990918377644,1.06003231434,0.546379461937,-0.00123744651959,1.05970044829
+386,6.433333333,pose2_to_pose3_retreat,0.575770837286,-0.00990918721489,1.06003228091,0.54634128797,-0.00123745066104,1.05970041341
+387,6.450000000,pose2_to_pose3_retreat,0.575740789037,-0.00990916786241,1.06003227663,0.54631123964,-0.00123743179596,1.05970040367
+388,6.466666667,pose2_to_pose3_retreat,0.575717732038,-0.00990915988941,1.06003217723,0.5462881822,-0.00123742538053,1.05970030272
+389,6.483333333,pose2_to_pose3_retreat,0.575700335273,-0.00990923369822,1.06003222046,0.546270786727,-0.00123749463459,1.05970035049
+390,6.500000000,pose2_to_pose3_retreat,0.57568822742,-0.00990911005738,1.06003216412,0.54625867746,-0.00123737621263,1.05970028328
+391,6.516666667,pose2_to_pose3_retreat,0.575679533497,-0.00990921240057,1.06003231378,0.546249984749,-0.00123747411574,1.05970044136
+392,6.533333333,pose2_to_pose3_retreat,0.575673965922,-0.00990923189612,1.06003234116,0.546244416426,-0.00123749594969,1.0597004739
+393,6.550000000,pose2_to_pose3_retreat,0.57567083216,-0.00990922267293,1.06003232499,0.546241281684,-0.00123748995102,1.05970046032
+394,6.566666667,pose2_to_pose3_retreat,0.575669281713,-0.00990923642368,1.06003225872,0.546239731964,-0.00123750108724,1.05970039783
+395,6.583333333,pose2_to_pose3_retreat,0.575668431458,-0.00990924396449,1.06003222238,0.546238882108,-0.00123750719427,1.05970036355
+396,6.600000000,pose2_to_pose3_retreat,0.575667903926,-0.00990924864312,1.06003219983,0.546238354823,-0.00123751098331,1.05970034229
+397,6.616666667,pose2_to_pose3_retreat,0.57566763894,-0.00990925099325,1.0600321885,0.546238089962,-0.0012375128866,1.05970033161
+398,6.633333333,pose2_to_pose3_retreat,0.575667427962,-0.00990925286439,1.06003217949,0.546237879083,-0.00123751440196,1.05970032311
+399,6.650000000,pose2_to_pose3_retreat,0.575667282015,-0.00990925415877,1.06003217325,0.546237733204,-0.00123751545024,1.05970031722
+400,6.666666667,pose2_to_pose3_retreat,0.57566716026,-0.00990925814418,1.06003217649,0.54623761153,-0.00123751917279,1.05970032018
+401,6.683333333,pose2_to_pose3_retreat,0.575667060817,-0.00990926717773,1.06003219595,0.546237512199,-0.00123752787723,1.05970033825
+402,6.700000000,pose2_to_pose3_retreat,0.575667020492,-0.0099092708409,1.06003220384,0.54623747192,-0.00123753140694,1.05970034558
+403,6.716666667,pose2_to_pose3_retreat,0.575666995522,-0.00990927310922,1.06003220872,0.546237446978,-0.00123753359261,1.05970035012
+404,6.733333333,pose2_to_pose3_retreat,0.575666992673,-0.00990927336803,1.06003220928,0.546237444132,-0.001237533842,1.05970035064
+405,6.750000000,pose2_to_pose3_retreat,0.575666802776,-0.00990929061851,1.06003224644,0.546237254451,-0.00123755046399,1.05970038514
+406,6.766666667,pose2_to_pose3_retreat,0.575666484827,-0.0099093195014,1.06003230864,0.546236936862,-0.0012375782946,1.05970044291
+407,6.783333333,pose2_to_pose3_retreat,0.57566627902,-0.00990933819721,1.06003234891,0.546236731288,-0.00123759630926,1.05970048031
+408,6.800000000,pose2_to_pose3_retreat,0.575666182957,-0.00990934692366,1.0600323677,0.546236635334,-0.00123760471779,1.05970049776
+409,6.816666667,pose2_to_pose3_retreat,0.575666172923,-0.00990934783519,1.06003236967,0.546236625311,-0.00123760559611,1.05970049959
+410,6.833333333,pose2_to_pose3_retreat,0.575665849108,-0.00990937725093,1.06003243302,0.546236301863,-0.00123763394016,1.05970055843
+411,6.850000000,pose2_to_pose3_retreat,0.575665395573,-0.00990941694418,1.06003251545,0.54623584884,-0.00123767212609,1.05970063483
+412,6.866666667,pose2_to_pose3_retreat,0.575665317235,-0.00990941406671,1.06003248895,0.546235770581,-0.00123766894761,1.05970060924
+413,6.883333333,pose2_to_pose3_retreat,0.575665266628,-0.00990941220782,1.06003247183,0.546235720024,-0.00123766689426,1.05970059271
+414,6.900000000,pose2_to_pose3_retreat,0.575665219968,-0.00990941049395,1.06003245605,0.546235673411,-0.00123766500111,1.05970057746
+415,6.916666667,pose2_to_pose3_retreat,0.575665143558,-0.00990940768729,1.0600324302,0.546235597078,-0.00123766190084,1.0597005525
+416,6.933333333,pose2_to_pose3_retreat,0.575665056344,-0.00990940448375,1.0600324007,0.546235509951,-0.00123765836219,1.05970052401
+417,6.950000000,pose2_to_pose3_retreat,0.575664877668,-0.00990939792073,1.06003234026,0.546235331454,-0.00123765111261,1.05970046564
+418,6.966666667,pose2_to_pose3_retreat,0.575664764171,-0.0099093937518,1.06003230187,0.546235218071,-0.00123764650758,1.05970042856
+419,6.983333333,pose2_to_pose3_retreat,0.575664590654,-0.009909379267,1.06003225732,0.546235044589,-0.00123763182302,1.05970038611
+420,7.000000000,pose2_to_pose3_retreat,0.57566445097,-0.00990926339143,1.06003240327,0.546234903154,-0.00123752178643,1.05970053477
+421,7.016666667,pose2_to_pose3_retreat,0.575664392677,-0.00990945265932,1.06003247682,0.546234846276,-0.00123770632643,1.05970060642
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c4fd67ede396c124b02aa64e838fc6a061650d9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1c052f3680654de36f8d846f47ab6d78f0a6e244b8418c2b4fd454b09522695
+size 26358150
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c0d0ba06f7e026da7ee3ce05503d5436a5753ad7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/franka_data.csv
@@ -0,0 +1,416 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,744,716,679,661,636,879,789,805,652,631,653,0.401051105618,-0.0154880233007,0.0798770476036,0.999999984526,0.00011938592702,-0.000122990248761,3.96124067673e-05,1793239636729737984
+1,0.016666667,BASELINE,766,744.5767103,716,679,661,636,879.5767103,788.4232897,805,652,631,653,0.401051291015,-0.0154885040614,0.0798771817124,0.999999984459,0.000119484116248,-0.000123439776083,3.95906615238e-05,1793239636746405376
+2,0.033333333,BASELINE,765.846884668,745,715.846884668,678.846884668,661,636,879.846884668,788,804.846884668,652,631.153115332,653.153115332,0.401051323588,-0.0154887119085,0.0798773745475,0.999999984436,0.000119493104628,-0.000123591048028,3.96836140253e-05,1793239636763072512
+3,0.050000000,BASELINE,765.271321748,745,715.271321748,678.271321748,661,636,879.271321748,788,804.271321748,652,631.728678252,653.728678252,0.40105093452,-0.0154881667825,0.0798777294099,0.999999984531,0.000119255986497,-0.000122919428835,4.00930193897e-05,1793239636779738880
+4,0.066666667,BASELINE,765,745,715.309519359,678,661,636,879.309519359,788,804,652,632,653.690480641,0.401050898071,-0.0154880777318,0.0798776785179,0.99999998448,0.000119447630902,-0.000123124942755,4.01671416025e-05,1793239636796404992
+5,0.083333333,BASELINE,765,745,715.895067507,678,661,636,879.895067507,788,804,652,632,653.104932493,0.401051176087,-0.0154883954084,0.0798772657749,0.999999984298,0.000120021644958,-0.0001241126824,3.99422588972e-05,1793239636813071360
+6,0.100000000,BASELINE,765,745,715.523362291,678.476637709,661,636,880,788,804,652,632,653.476637709,0.401050691942,-0.015488453087,0.0798771504886,0.999999984413,0.000118633620326,-0.000124570612485,3.97659089595e-05,1793239636829737984
+7,0.116666667,BASELINE,765.05707848,745,715.05707848,678.94292152,661,636,880,788,804,652,632,653.94292152,0.401050343405,-0.0154885590375,0.0798772427412,0.999999984614,0.000116908664947,-0.000124636098623,3.96188675637e-05,1793239636846404608
+8,0.133333333,BASELINE,765.635137664,745,715.635137664,678.364862336,661,636,880,788,804,652,632,653.364862336,0.401052751463,-0.0154896237082,0.0798786365246,0.999999985021,0.000116018321599,-0.000122175372759,3.96426227099e-05,1793239636863071232
+9,0.150000000,BASELINE,765.787515657,745,716,678.212484343,661,636,879.787515657,788,804.212484343,652,632,653,0.401053674812,-0.0154903558768,0.0798790550555,0.999999985121,0.000116007528217,-0.000121283432614,3.98719223282e-05,1793239636879737600
+10,0.166666667,BASELINE,765.211388411,745,716,678.788611589,661,636,879.211388411,788,804.788611589,652,632,653,0.40105205725,-0.0154905190055,0.0798778045519,0.999999984705,0.000117501985145,-0.000123076291923,4.04529880436e-05,1793239636896404480
+11,0.183333333,BASELINE,765,745,715.627074927,678.627074927,661,636,879.372925073,788,804.627074927,652,632,653.372925073,0.401050439117,-0.0154900047585,0.079877055412,0.999999984605,0.000117304115719,-0.000124181412039,4.01005951735e-05,1793239636913071360
+12,0.200000000,BASELINE,765,745,715.038016964,678.038016964,661,636,879.961983036,788,804.038016964,652,632,653.961983036,0.401048820653,-0.0154890979308,0.079876596843,0.99999998469,0.000116125439798,-0.000124887945398,3.92072060106e-05,1793239636929738496
+13,0.216666667,BASELINE,765,745,715.541557746,678,661,636,880,788,804.541557746,652,632,653.458442254,0.401049164426,-0.015488052604,0.0798764634597,0.999999984409,0.000118716774914,-0.000124589332517,3.95646632395e-05,1793239636946405120
+14,0.233333333,BASELINE,765,745,715.88032053,678.11967947,661,635.88032053,880,788,804.88032053,652,632,653,0.401049613697,-0.0154872405373,0.0798766291403,0.99999998417,0.000121000117205,-0.000124207130266,3.9890435615e-05,1793239636963071488
+15,0.250000000,BASELINE,765,745,715.305237938,678.694762062,661,635.305237938,880,788,804.305237938,652,632,653,0.401049949275,-0.0154873524284,0.0798778474469,0.999999984214,0.000121121768782,-0.000123770730007,3.97672633906e-05,1793239636979737856
+16,0.266666667,BASELINE,765,745,715,679,661,635.269024834,880,788.269024834,804,652,632,653,0.401049921025,-0.0154875822704,0.0798780951711,0.999999984198,0.000121012532839,-0.000123999781546,3.98044466647e-05,1793239636996404480
+17,0.283333333,BASELINE,765,745,715,679,661,635.842360224,880,788.842360224,804,652,632,653,0.401049481228,-0.0154879455338,0.0798772450098,0.999999984112,0.000120642125795,-0.000124981566618,4.00230179247e-05,1793239637013071104
+18,0.300000000,BASELINE,765,745,715,678.570420649,661,635.570420649,880,789,804.429579351,652,631.570420649,653,0.401050056,-0.0154877871904,0.0798772080039,0.999999984032,0.000121361046188,-0.000124925092387,4.00243722588e-05,1793239637029737728
+19,0.316666667,BASELINE,765,745,715,678.021521544,661,635.021521544,880,788.978478456,804.978478456,652,631,653,0.401051019317,-0.0154874661052,0.0798775206297,0.99999998397,0.000122418083107,-0.00012440771188,3.99488641352e-05,1793239637046404352
+20,0.333333333,BASELINE,765,745,715,678.599453625,661,635.599453625,880,788.400546375,804.400546375,652,631,653,0.401052080862,-0.0154880514855,0.0798789001741,0.999999984353,0.000121536680971,-0.000122153524884,4.00158194297e-05,1793239637063071488
+21,0.350000000,BASELINE,765.176343734,745,715.176343734,678.823656266,661,636,879.823656266,788,804,652,631,653,0.401052537542,-0.0154885589787,0.0798797227013,0.999999984591,0.000120800140321,-0.000120922908479,4.00448984659e-05,1793239637079738112
+22,0.366666667,BASELINE,765.750880938,745,715.750880938,678.249119062,661,636,879.249119062,788,804,652,631,653,0.401051628403,-0.0154888905984,0.0798792874543,0.999999984511,0.000120390704678,-0.000122003568856,3.99884509014e-05,1793239637096404736
+23,0.383333333,BASELINE,765.665356702,745,715.665356702,678.334643298,661,635.665356702,879.334643298,788,804,652,631.334643298,653,0.401050754261,-0.0154884722567,0.0798786619302,0.99999998428,0.000121300858113,-0.000123023830827,3.98866184943e-05,1793239637113071360
+24,0.400000000,BASELINE,765.074532097,745,715.074532097,678.925467903,661,635.074532097,879.925467903,788,804,652,631.925467903,653,0.40104990691,-0.015487479793,0.079877890742,0.999999983931,0.000123221203721,-0.00012399785579,3.97500423752e-05,1793239637129737984
+25,0.416666667,BASELINE,765,744.498263771,715,678.498263771,661,635.501736229,880,788,804,652,631.498263771,653,0.401050829673,-0.0154878291425,0.0798788490861,0.999999984299,0.000121119888208,-0.000123043555554,3.98934320796e-05,1793239637146404864
+26,0.433333333,BASELINE,765,744.076904041,715,678.076904041,661,636,879.923095959,788,804,652,631.076904041,653,0.401051600821,-0.0154883461781,0.0798796916095,0.999999984671,0.000118799244353,-0.000122238357977,4.00382060664e-05,1793239637163071488
+27,0.450000000,BASELINE,765,744.658642045,715,678.658642045,661,636,879.341357955,788,804,652,631.658642045,653,0.401049699253,-0.0154886924171,0.0798781348455,0.999999984423,0.000118849943855,-0.000124239312173,3.99267582375e-05,1793239637179737856
+28,0.466666667,BASELINE,765.236481744,744.763518256,715,679,661,636,878.763518256,788,804,652,631.763518256,653,0.401048875806,-0.0154885355663,0.0798773642567,0.999999984172,0.000120082968018,-0.000125098107217,3.98291256388e-05,1793239637196404736
+29,0.483333333,BASELINE,765.808785518,744.191214482,715,679,661,636,878.191214482,788,804,652,631.191214482,653,0.401049583373,-0.0154876642896,0.0798777100962,0.999999983916,0.000122994982967,-0.000124334949427,3.97511117225e-05,1793239637213071616
+30,0.500000000,BASELINE,766,744.393715883,715,679,661,635.606284117,878.393715883,788.393715883,804,652,631.393715883,653,0.401050145542,-0.0154871211094,0.0798779881807,0.999999983976,0.000122950828094,-0.000123992427966,3.9461425121e-05,1793239637229738240
+31,0.516666667,BASELINE,766,744.984981718,715,679,661,635.015018282,878.984981718,788.984981718,804,652,631.984981718,653,0.401050634757,-0.0154867425541,0.0798782322685,0.999999984194,0.000121423392335,-0.00012386096402,3.90655301343e-05,1793239637246404608
+32,0.533333333,BASELINE,765.435146004,745,715.564853996,678.435146004,661,635.564853996,879,788.435146004,804.564853996,652,632,653,0.401050820959,-0.0154874556644,0.0798783415838,0.999999984336,0.000120302353509,-0.000123724296004,3.93294090461e-05,1793239637263071232
+33,0.550000000,BASELINE,765.1434408,745,715.8565592,678.1434408,661,635.8565592,879.1434408,788,804.8565592,652,631.8565592,653,0.401050671372,-0.0154882816626,0.0798783322323,0.999999984444,0.0001193173968,-0.000123734515127,3.95575282157e-05,1793239637279737600
+34,0.566666667,BASELINE,765.719049181,745,715.280950819,678.719049181,661,635.280950819,879.719049181,788,804.280950819,652,631.280950819,653,0.401049533887,-0.0154893620572,0.0798779759367,0.999999984457,0.000118710526121,-0.000124187693837,3.96261014212e-05,1793239637296404224
+35,0.583333333,BASELINE,765.699371786,744.699371786,715,679,661,635.300628214,879.699371786,788,803.699371786,652,631,653.300628214,0.401048615387,-0.015489331927,0.0798772246341,0.999999984246,0.000119421607984,-0.000125207787008,3.96102636997e-05,1793239637313071104
+36,0.600000000,BASELINE,765.112099772,744.112099772,715,679,661,635.887900228,879.112099772,788,803.112099772,652,631,653.887900228,0.401047905686,-0.0154882429308,0.0798760966992,0.999999983817,0.000121389334717,-0.000126768423361,3.95139416281e-05,1793239637329737984
+37,0.616666667,BASELINE,765,744.469120318,715,679,661,635.530879682,879,788.469120318,803.469120318,652,631,653.530879682,0.401048950459,-0.0154875495423,0.079877199137,0.999999983883,0.000122395571361,-0.000125267328568,3.95168116579e-05,1793239637346404864
+38,0.633333333,BASELINE,765,745,715,679,661,635.04862633,879.04862633,788.95137367,804,652,631,653,0.401050233623,-0.0154870193189,0.0798786103447,0.999999984045,0.000123024641192,-0.000123334183251,3.95306553744e-05,1793239637363071488
+39,0.650000000,BASELINE,765,745,715,679,661,635.625024892,879.625024892,788.374975108,804,652,631,653,0.401049611838,-0.0154872470644,0.0798776619083,0.999999984022,0.00012202199994,-0.000124551352949,3.94096197836e-05,1793239637379738368
+40,0.666666667,BASELINE,765,744.79876348,715.20123652,679,660.79876348,636,879.79876348,788,804,652,631,653,0.401048728312,-0.0154870440403,0.0798770086762,0.999999983901,0.000121918301438,-0.000125636197223,3.93511366966e-05,1793239637396404736
+41,0.683333333,BASELINE,765,744.222899887,715.777100113,679,660.222899887,636,879.222899887,788,804,652,631,653,0.401047357523,-0.0154860390844,0.079876905004,0.999999983601,0.00012348809791,-0.000126474701016,3.94091029642e-05,1793239637413071104
+42,0.700000000,BASELINE,765,744.361665034,715.638334966,679,660.361665034,636,879,788,804,652,631.361665034,653,0.401048468944,-0.0154860285626,0.0798776968044,0.999999983843,0.000122821681621,-0.000125198384088,3.94121941769e-05,1793239637429737728
+43,0.716666667,BASELINE,765,744.951724902,715.048275098,679,660.951724902,636,879,788,804,652,631.951724902,653,0.401051147905,-0.0154866460352,0.0798790541041,0.999999984421,0.000120743076105,-0.000122586538161,3.93806312793e-05,1793239637446404608
+44,0.733333333,BASELINE,765,745,715.530826442,679,661,636,879,788,804,652,631.469173558,653,0.401052259944,-0.0154872635294,0.0798801680321,0.999999984618,0.000120564608108,-0.000121137157031,3.94321018874e-05,1793239637463071232
+45,0.750000000,BASELINE,765,745,716,679,661,636,879,788,804,652,631,653,0.401052655554,-0.0154878773926,0.079880662974,0.999999984705,0.00012041970442,-0.000120538630215,3.94890750076e-05,1793239637479737600
+46,0.766666667,BASELINE,765,745,716,679,661,636,879,788,804,652,631,653,0.401050567272,-0.015488475611,0.0798785857843,0.999999984472,0.000119690246915,-0.000123158058808,3.95378830553e-05,1793239637496404224
+47,0.783333333,BASELINE,765,745,716,679,661,636,879.262231754,788,804,652,631.262231754,653,0.401048869067,-0.0154888084965,0.0798773715139,0.999999984206,0.000119894887113,-0.000125097025601,3.95532328145e-05,1793239637513070848
+48,0.800000000,BASELINE,765,745,716,679,661,636,879.849107014,788,804,652,631.849107014,653,0.401047653775,-0.0154888128994,0.0798772255391,0.999999983905,0.000121255942292,-0.000126193579492,3.95271611428e-05,1793239637529737472
+49,0.816666667,BASELINE,765,745,715.569116292,678.569116292,660.569116292,636,880,788.430883708,804,652,631.569116292,653,0.401048410467,-0.0154879250947,0.0798780626161,0.999999983971,0.000121893514365,-0.000125012685642,3.96472852733e-05,1793239637546404096
+50,0.833333333,BASELINE,765,745,715.010830895,678.010830895,660.010830895,636,879.989169105,788.989169105,804,651.989169105,631,653.010830895,0.401049853623,-0.0154867555483,0.0798792186467,0.99999998416,0.000122276374785,-0.000123056382396,3.98139400322e-05,1793239637563070720
+51,0.850000000,BASELINE,765,745,715.58739009,678.58739009,660.58739009,636,879.41260991,788.41260991,804,651.41260991,631,653.58739009,0.401051503853,-0.0154869989148,0.0798792631877,0.9999999843,0.000122433854671,-0.000121769319801,3.97681342349e-05,1793239637579738368
+52,0.866666667,BASELINE,765,745,715.842060951,678.842060951,661,636,879.315878098,788,804.157939049,651.157939049,631.157939049,653.842060951,0.401052169973,-0.0154870910219,0.0798790567707,0.999999984304,0.0001227603507,-0.000121430556032,3.9698065132e-05,1793239637596405504
+53,0.883333333,BASELINE,765,745,715.286637942,678.286637942,661,636,880.426724117,788,804.713362058,651.713362058,631.713362058,653.286637942,0.401050359389,-0.0154868024555,0.0798782187694,0.999999983966,0.000123512208318,-0.000123478368524,3.95669327623e-05,1793239637613071616
+54,0.900000000,BASELINE,765,745,715.29657799,678.29657799,660.70342201,635.70342201,880.406844019,788,804.70342201,652,632,653.29657799,0.401049665594,-0.0154863159189,0.0798781113981,0.999999983698,0.000124906519519,-0.000124247885073,3.95694026239e-05,1793239637629738240
+55,0.916666667,BASELINE,765,745,715.909432829,678.909432829,660.090567171,635.090567171,879.181134343,788,804.090567171,652,632,653.909432829,0.401050162763,-0.0154856182629,0.0798787831856,0.999999983503,0.000126985956342,-0.000123654200495,3.97143486523e-05,1793239637646405376
+56,0.933333333,BASELINE,765.493620753,745,715.506379247,678.506379247,660.493620753,635,879,788,804,652,631.506379247,653.506379247,0.401049712633,-0.0154860005849,0.0798778228074,0.999999983744,0.000124293209977,-0.000124540827709,3.9408967895e-05,1793239637663072000
+57,0.950000000,BASELINE,765.92758438,745,715.07241562,678,660.92758438,635.07241562,879,788,804.07241562,652,631,653,0.401049156831,-0.0154864725531,0.0798768094061,0.999999983984,0.000121467749524,-0.000125489327787,3.91053080787e-05,1793239637679738624
+58,0.966666667,BASELINE,765.351724155,745,715.648275845,678,660.351724155,635.648275845,879,788,804.648275845,652,631,653,0.401049008383,-0.0154862658017,0.0798773950159,0.99999998378,0.000123472684367,-0.000125083406708,3.93564982159e-05,1793239637696404992
+59,0.983333333,BASELINE,765,745,716,678,660.224161184,636,879,788,804.775838816,652,631,653,0.401049018901,-0.0154865115334,0.0798776569802,0.999999983767,0.000123743700156,-0.000124871389955,3.95112808808e-05,1793239637713071360
+60,1.000000000,BASELINE,765,745,716,678,660.800086022,636,879,788,804.199913978,652,631,653,0.401049278877,-0.0154874673215,0.0798774110659,0.999999984055,0.000121293773717,-0.000124963656392,3.9514776711e-05,1793239637729737984
+61,1.016666667,BASELINE,765,745,716,678,661,636,879,788,804,652,631,653.383796723,0.401049943682,-0.0154879934297,0.0798778806154,0.999999984238,0.000120428618897,-0.000124364565742,3.94226858711e-05,1793239637746404864
+62,1.033333333,BASELINE,765,745,716,678,661,636,879,788,804,652,631,653.971646903,0.401050823722,-0.0154882910897,0.079878730556,0.999999984366,0.000120406040799,-0.000123397900809,3.92797744025e-05,1793239637763071488
+63,1.050000000,BASELINE,765,745,716,678,661,636,879.550416112,788,804,652,631.550416112,653.449583888,0.401049679912,-0.0154880909588,0.0798786888482,0.999999984316,0.000120640214254,-0.000123561584044,3.9337380323e-05,1793239637779738112
+64,1.066666667,BASELINE,765,745,715.871736773,678.128263227,661,636,879.871736773,788,804,652,632,653,0.401048732696,-0.0154879007516,0.0798786487831,0.999999984235,0.000120974458466,-0.000123870181599,3.93953195637e-05,1793239637796404480
+65,1.083333333,BASELINE,765,745,715.295502935,678.704497065,661,636,879.295502935,788,804,652,632,653,0.401048830305,-0.015487833308,0.0798787722687,0.99999998408,0.000121612765992,-0.000124484844246,3.94189332712e-05,1793239637813071104
+66,1.100000000,BASELINE,765,745,715,679,661,636,879.286622965,788.286622965,804,652,632,653,0.40104928447,-0.015487373655,0.07987888106,0.999999984002,0.000122095252945,-0.000124673452192,3.93148704822e-05,1793239637829737728
+67,1.116666667,BASELINE,765,745,715,679,661,636,879.874950929,788.874950929,804,652,632,653,0.401050113955,-0.0154865011548,0.0798789743838,0.999999984005,0.000122413720043,-0.000124413586502,3.90764128875e-05,1793239637846404352
+68,1.133333333,BASELINE,765.455168881,745,715.455168881,678.544831119,661,635.544831119,880,788.544831119,804,652,631.544831119,653,0.401050398664,-0.0154857164336,0.0798789994847,0.999999984133,0.000122145510004,-0.00012368925546,3.89237852634e-05,1793239637863070976
+69,1.150000000,BASELINE,766,744.966698048,716,678.033301952,661,635.033301952,879.966698048,788,804,652,631,653,0.401050455823,-0.0154850896175,0.0798789559849,0.999999984272,0.000121763667508,-0.00012297573726,3.88220849287e-05,1793239637879737344
+70,1.166666667,BASELINE,766,744.386855788,716,678.613144212,661,635.613144212,879.386855788,788,804,652,631,653,0.401049191787,-0.0154866654381,0.0798780888515,0.999999984027,0.000122115828639,-0.000124497195464,3.91759709489e-05,1793239637896404224
+71,1.183333333,BASELINE,765.805302333,744.194697667,716,679,661,636,879,788,804,652,631,653,0.401048623085,-0.0154872593528,0.0798777161591,0.99999998382,0.000122929444807,-0.000125254078766,3.94984582862e-05,1793239637913071104
+72,1.200000000,BASELINE,765.220318552,744.779681448,716,679,661,636,879,788,804,652,631,653,0.401049448229,-0.0154858849635,0.0798783346104,0.999999983691,0.000124668082358,-0.000124478314465,3.97580046669e-05,1793239637929737728
+73,1.216666667,BASELINE,765.361426362,745,715.638573638,678.638573638,661,636,879.361426362,788,804,652,631,653,0.401049958856,-0.0154871262302,0.0798789178521,0.999999984159,0.000121837903427,-0.000123536964735,3.96988524515e-05,1793239637946404352
+74,1.233333333,BASELINE,765.941214428,745,715.058785572,678.058785572,661,636,879.941214428,788,804,652,631,653,0.401050279462,-0.0154899477888,0.0798794798213,0.999999984963,0.000116247398487,-0.000122495573878,3.94471532016e-05,1793239637963071232
+75,1.250000000,BASELINE,766,745,715,678,661,636,880,788,804.519628085,652,631.519628085,653,0.40104958155,-0.0154889549411,0.0798788673221,0.999999984625,0.000118334664595,-0.00012336004232,3.90925315439e-05,1793239637979738112
+76,1.266666667,BASELINE,765.901677422,745,715,678.098322578,661,636,880,788,805,652,632,653,0.401048980296,-0.0154877148253,0.0798782870361,0.999999984207,0.000120997072873,-0.000124254571086,3.88255017446e-05,1793239637996405248
+77,1.283333333,BASELINE,765.320843736,745,715,678.679156264,661,636,880,788,805,652,632,653,0.401049417359,-0.0154873733466,0.0798785151526,0.99999998405,0.000122230666194,-0.000124241318963,3.90453123307e-05,1793239638013071616
+78,1.300000000,BASELINE,765,745,715.253950792,678.746049208,661.253950792,635.746049208,879.746049208,788,805,652,632,653,0.401050050853,-0.0154870719655,0.0798788262759,0.999999984032,0.00012284656478,-0.00012372752967,3.92057703216e-05,1793239638029737984
+79,1.316666667,BASELINE,765,745,715.821292582,678.178707418,661.821292582,635.178707418,879.178707418,788,805,652,632,653,0.401050926756,-0.0154868200675,0.0798792398348,0.999999984185,0.000122700189736,-0.000122596046529,3.92929835202e-05,1793239638046404608
+80,1.333333333,BASELINE,765,745,716,678.406032478,661.593967522,635.406032478,879.406032478,788,804.593967522,651.593967522,632,653,0.401050838627,-0.0154865193645,0.0798794185422,0.999999984162,0.000122933249226,-0.000122480797162,3.95174567622e-05,1793239638063071488
+81,1.350000000,BASELINE,765,745,716,678.998772672,661.001227328,635.998772672,879.998772672,788,804.001227328,651.001227328,632,653,0.401050307203,-0.0154861962193,0.0798794892567,0.999999984057,0.000123340785769,-0.000122832846983,3.98050469065e-05,1793239638079738368
+82,1.366666667,BASELINE,765.577148721,745,715.422851279,679,661,636,880,788.577148721,804.577148721,651.577148721,632,653.577148721,0.401049886835,-0.0154879991853,0.0798789969099,0.999999984088,0.000122293632591,-0.000123607134819,3.98655429817e-05,1793239638096405248
+83,1.383333333,BASELINE,765.84593511,745,715,678.84593511,661,636,879.84593511,789,804.84593511,652,632,653.84593511,0.401049453462,-0.0154890934559,0.0798785651901,0.999999984086,0.000121676352942,-0.000124228140662,3.98714840602e-05,1793239638113071872
+84,1.400000000,BASELINE,765.272907748,745,715,678.272907748,661,636,879.272907748,789,804.272907748,652,632,653.272907748,0.401048984099,-0.0154882485113,0.0798783015157,0.999999983998,0.000122236274713,-0.000124429930749,3.97303502241e-05,1793239638129737984
+85,1.416666667,BASELINE,765.309933424,745,715,678.309933424,661,636,879,789,804,652,631.690066576,653,0.401048866428,-0.0154879237145,0.0798787239366,0.999999984113,0.00012166168851,-0.000124069931641,3.9732665419e-05,1793239638146404352
+86,1.433333333,BASELINE,765.901698553,745,715,678.901698553,661,636,879,789,804,652,631.098301447,653,0.40104906856,-0.0154880719038,0.0798797702442,0.99999998441,0.000120055460342,-0.000123199080852,3.98654231036e-05,1793239638163070976
+87,1.450000000,BASELINE,765.517844616,745,715,679,661,636,879.482155384,788.517844616,804.482155384,652,631.482155384,653,0.401049137425,-0.0154874215683,0.0798789638143,0.999999984116,0.000121764993963,-0.000124017936997,3.95096461202e-05,1793239638179738112
+88,1.466666667,BASELINE,765,744.939906281,715,678.939906281,661,636,879.939906281,788,804.939906281,652,631.939906281,653,0.401049109015,-0.0154867030057,0.0798778477962,0.999999983749,0.00012378819985,-0.000125104074649,3.90929609185e-05,1793239638196404736
+89,1.483333333,BASELINE,765,744.364248331,715,678.364248331,661,636,879.364248331,788,804.364248331,652,631.364248331,653,0.401048473815,-0.0154867638299,0.0798772421645,0.999999983809,0.00012283565546,-0.000125595492449,3.89886607864e-05,1793239638213071616
+90,1.500000000,BASELINE,765,744.210806716,715.210806716,678,661,636,879.210806716,788,804,652,631.210806716,653,0.401048253456,-0.0154865261507,0.0798770138904,0.99999998379,0.000122725202158,-0.000125878755332,3.89099751839e-05,1793239638229738240
+91,1.516666667,BASELINE,765,744.784822931,715.784822931,678,661,636,879.784822931,788,804,652,631.784822931,653,0.401048747846,-0.0154857741649,0.0798774357847,0.999999983635,0.000124065630064,-0.000125803377578,3.88754221538e-05,1793239638246405120
+92,1.533333333,BASELINE,765,745,715.63045565,678,661,636,880,788,804,652,631.63045565,653.36954435,0.401048752759,-0.0154861920971,0.0798779465887,0.999999983847,0.00012303280503,-0.000125088355961,3.90003175352e-05,1793239638263072000
+93,1.550000000,BASELINE,765,745,715.039314825,678,661,636,880,788,804,652,631.039314825,653.960685175,0.401048464158,-0.0154873115681,0.0798785107072,0.999999984275,0.000120576864093,-0.000123989773264,3.92208258105e-05,1793239638279738368
+94,1.566666667,BASELINE,765,745,715,678,661,636,880,788,804,652,631,653.458857684,0.401049601425,-0.0154866960318,0.0798787922825,0.999999984346,0.000120770267655,-0.000123236744506,3.91844937339e-05,1793239638296404992
+95,1.583333333,BASELINE,765,745,715,678,661,636,879.880457974,788,804,652,631.119542026,653,0.401050235062,-0.015486448017,0.0798787286461,0.999999984335,0.000120975860433,-0.00012314204968,3.91173334014e-05,1793239638313071360
+96,1.600000000,BASELINE,765,745,715,678,661,636,879.306980411,788,804,652,631.693019589,653,0.40104857052,-0.0154880649714,0.0798774305798,0.999999984109,0.000120510991789,-0.000125453753012,3.900259427e-05,1793239638329737984
+97,1.616666667,BASELINE,765,745,715,678,661,636,879,788,804,652,632,653,0.401048379445,-0.0154875437111,0.0798774810019,0.999999983867,0.000122201956952,-0.000125759654328,3.89547236464e-05,1793239638346404608
+98,1.633333333,BASELINE,765,745,715,678,661,636,879,788,804,652,632,653,0.401049885668,-0.0154845594226,0.0798790847596,0.999999983597,0.000126376245772,-0.000123755054788,3.89838794427e-05,1793239638363071232
+99,1.650000000,BASELINE,765.444484235,745,715,678,661,636,879.444484235,788,804,652,631.555515765,653,0.401048618198,-0.0154857523246,0.0798786789163,0.999999983613,0.000125058890107,-0.000124897506715,3.91709703947e-05,1793239638379738112
+100,1.666666667,BASELINE,765.975820875,745,715.024179125,678,661,636,879.975820875,788,804,652,631,653.024179125,0.401046597654,-0.0154880818363,0.0798776680401,0.999999983705,0.000122177838858,-0.000126928207136,3.93869688801e-05,1793239638396404992
+101,1.683333333,BASELINE,765.398761474,745,715.601238526,678,661,636,879.398761474,788,804,652,631,653.601238526,0.401046666953,-0.0154873207473,0.0798768127028,0.999999983708,0.000121772464964,-0.000127360792877,3.9164470813e-05,1793239638413071616
+102,1.700000000,BASELINE,765,745,715.822459701,678.177540299,661,636,879,788,804,652,631,653.822459701,0.40104735895,-0.0154869772885,0.079876703685,0.99999998386,0.000121194142736,-0.000126748481837,3.90739366784e-05,1793239638429738240
+103,1.716666667,BASELINE,765,745,715.247852437,678.752147563,661,636,879,788,804,652,631,653.247852437,0.401049443606,-0.0154875678557,0.0798782638025,0.999999984338,0.000120229023475,-0.000123799270341,3.9278538487e-05,1793239638446404864
+104,1.733333333,BASELINE,765.335954017,745,715,678.664045983,661,636,879,788,804,652,631.335954017,653,0.401049604774,-0.0154870024937,0.0798787713728,0.999999984228,0.000121263539755,-0.000123627791976,3.94324787131e-05,1793239638463071488
+105,1.750000000,BASELINE,765.92673837,745,715,678.07326163,661,636,879,788,804,652,631.92673837,653,0.401048306925,-0.0154855603279,0.0798784805573,0.99999998367,0.00012381483433,-0.000125563300057,3.95479907609e-05,1793239638479737856
+106,1.766666667,BASELINE,765.498014994,744.498014994,715,678,661,636,879,788,804,652,632,653,0.401048592527,-0.0154857712578,0.0798789048761,0.999999983743,0.000123692372957,-0.000125100919145,3.9546632242e-05,1793239638496404736
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,716,679,660,635,879,788,804,652,631,653,0.401049001158,-0.0154876123083,0.079878865769,0.999999984005,0.00012256489629,-0.000124174742155,3.93409773666e-05,1793239638539717120
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.588059933,715.411940067,678.411940067,660.588059933,635.588059933,879,788,804,652,631,653.588059933,0.401050077657,-0.0154875962352,0.0798796663202,0.99999998443,0.000120554024962,-0.000122724998364,3.9319800177e-05,1793239638556383744
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.825604844,745,715.174395156,678,661,636,879,788,804,652,631.174395156,653.825604844,0.401050532146,-0.0154876335022,0.0798799105749,0.999999984626,0.000119355879856,-0.00012232323053,3.92339789797e-05,1793239638573050368
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.243303559,745,715.756696441,678,661,636,879,788,804,652,631.756696441,653.243303559,0.401049531765,-0.0154877955304,0.079878853665,0.999999984298,0.000120058681693,-0.0001243726533,3.8996956979e-05,1793239638589716992
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.669588908,745,715.665205546,678,661,636,879.334794454,788,804,652,632,653,0.401048398683,-0.0154874575504,0.0798780368194,0.999999984061,0.000120706711319,-0.000125673344932,3.89099418543e-05,1793239638606383360
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.819751363,745,715.090124318,678,661,636,879.909875682,788,804,652,632,653,0.401047170361,-0.0154867607072,0.0798773922714,0.99999998389,0.000121315430101,-0.000126436661378,3.89305888271e-05,1793239638623049984
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.514792981,745,715.485207019,678,661,636,879.514792981,788,804,652,631.514792981,653,0.40104822275,-0.0154866423669,0.0798781500627,0.999999983891,0.000121776054862,-0.000125995278409,3.89062864931e-05,1793239638639716608
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715.9380547,678,661.0619453,636,879,788.0619453,804,652,631,653,0.401049393805,-0.0154865775028,0.0798789677646,0.999999983857,0.00012221311068,-0.000125842960807,3.89119170337e-05,1793239638656383488
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715.349756467,678,661.650243533,636,879,788.650243533,804,652,631,653,0.401047971713,-0.0154860535194,0.0798780801062,0.999999983248,0.00012268375394,-0.000130049180552,3.92428681114e-05,1793239638673050624
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715.234762602,678.234762602,661.765237398,636,879,788.765237398,804,652,631.234762602,653,0.401050364048,-0.0154862911178,0.0798794574211,0.99999998293,0.00012284051062,-0.000132259169505,3.94588584425e-05,1793239638689716992
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715.813740507,678.813740507,661.186259493,636,879,788.186259493,804,652,631.813740507,653,0.401058349199,-0.0154876453681,0.0798841557017,0.99999998306,0.000122537038232,-0.000131542230274,3.95062901763e-05,1793239638706383360
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.390969387,744.609030613,716,679,661,636,879.390969387,788,804,652,632,653,0.401081988096,-0.0154886293086,0.0798930446479,0.999999984007,0.000122478113984,-0.000124045270773,3.9980514192e-05,1793239638723049728
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.967368786,744.032631214,716,679,661,636,879.967368786,788,804,652,632,653,0.401113051293,-0.0154894376176,0.0799039211547,0.999999985244,0.000122535174646,-0.000113332664964,4.06571583984e-05,1793239638739715840
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.458327198,744.541672802,716,679,661,636,879.458327198,788,804,651.458327198,631.458327198,653,0.401165516232,-0.0154924930484,0.0799162886001,0.999999986919,0.000120639009051,-9.97171747951e-05,4.07962428428e-05,1793239638756382464
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.119658118,745,716,678.880341882,661,636,879,788,804,651.119658118,631,653,0.401223571202,-0.015495613098,0.0799281356712,0.999999988434,0.000118795882206,-8.58771927793e-05,4.05606812461e-05,1793239638773049088
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.712704938,745,716,678.287295062,661,636,879,788,804,651.712704938,631,653,0.401298660398,-0.0154984553073,0.0799375700926,0.999999989742,0.000117626296855,-7.18382448947e-05,3.89705745542e-05,1793239638789715712
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,744.702881557,716,678.297118443,661,636,879.297118443,788,804,652,631.297118443,653,0.401382469806,-0.0155011029897,0.0799454436471,0.999999990638,0.000117384728897,-5.97381071388e-05,3.71030782872e-05,1793239638806382592
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,744.126580253,716,678.873419747,661,636,879.873419747,788,804,652,631.873419747,653,0.401474473024,-0.0155035678878,0.0799518505561,0.999999991201,0.000118015158557,-4.94597439158e-05,3.49749371884e-05,1793239638823049728
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,744.450280651,715.549719349,679,660.549719349,636,879.549719349,788,804,652,632,653,0.401579687059,-0.0155056078577,0.0799542144086,0.999999991244,0.000119287214186,-4.75534619458e-05,3.19623185462e-05,1793239638839715840
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.972089997,745,715,678.972089997,660,636,879,788,804,652,631.972089997,653,0.40168974851,-0.0155076456182,0.0799555340013,0.999999991192,0.000120467689687,-4.77792588521e-05,2.86584443782e-05,1793239638856382208
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.382157985,745,715,678.382157985,660,636,879,788,804,652,631.382157985,653,0.401822545546,-0.0155120473031,0.079958740721,0.999999992007,0.000116167400619,-4.3487132785e-05,2.4502635764e-05,1793239638873048832
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715.203964932,678.203964932,660.203964932,636,879,788,804,651.796035068,631.203964932,653,0.401969517968,-0.0155154201296,0.0799625812324,0.999999992771,0.000112407932261,-3.77115329999e-05,1.99943623159e-05,1793239638889715712
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715.783081731,678.783081731,660.783081731,636,879,788,804,651.216918269,631.783081731,653,0.402142563103,-0.0155169005807,0.0799675874738,0.999999993453,0.000109643193697,-2.9207386545e-05,1.48378021984e-05,1793239638906383104
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.359363812,745,715.640636188,679,661,636,879,788,804,651.359363812,632,653,0.402322394206,-0.0155189696731,0.0799672243642,0.999999994416,0.000100176455864,-3.2509369109e-05,8.69020744775e-06,1793239638923049728
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.933948256,745,715.066051744,679,661,636,879,788,804,651.933948256,632,653,0.402506289396,-0.015521391299,0.079963645586,0.999999995321,8.66959343186e-05,-4.28819641212e-05,1.94908805552e-06,1793239638939715840
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,744.49217575,715.50782425,678.49217575,661,636,879,788,804,652,631.49217575,653,0.402718152333,-0.0155232640019,0.0799568902327,0.9999999969,5.58498811813e-05,-5.51732613135e-05,-6.03173485769e-06,1793239638956382976
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.915929093,744.084070907,716,678,661,636,879,788,804,652,631.084070907,653,0.402940586547,-0.0155245815769,0.0799510457967,0.999999997422,2.58466342995e-05,-6.55182268858e-05,-1.39708674309e-05,1793239638973050112
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.324829863,744.675170137,716,678,661,636,879,788,804,652,631.675170137,653,0.40320486747,-0.015522981193,0.0799531834117,0.99999999772,1.45294704233e-05,-6.26219472248e-05,-2.06874577719e-05,1793239638989716736
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715.739115305,678,661,635.739115305,879.260884695,788,804,652,631.739115305,653,0.403493950428,-0.0155209527645,0.0799556023441,0.99999999791,7.21450243375e-06,-5.95647158491e-05,-2.4064853069e-05,1793239639006383104
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715.159969705,678,661,635.159969705,879.840030295,788,804,652,631.159969705,653,0.403813290103,-0.0155184021518,0.0799583644637,0.99999999813,4.78193151286e-06,-5.631113493e-05,-2.33686657928e-05,1793239639023049216
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715.41691914,678.41691914,661,635.41691914,880,788,804,652,631.41691914,653,0.404151634776,-0.0155212689472,0.0799588062167,0.999999998093,2.58791988784e-06,-5.63583765557e-05,-2.51188458879e-05,1793239639039715840
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715.992946727,678.992946727,661,635.992946727,880,788,804,652,631.992946727,653,0.404497232302,-0.0155262031828,0.0799583624504,0.999999997951,4.84949471638e-07,-5.76653079673e-05,-2.78026308101e-05,1793239639056382464
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,716,679,661,636,880,788,804,652,631.420656453,653,0.404877951323,-0.0155344195927,0.0799577629651,0.999999998005,-1.58617815672e-05,-5.36569639935e-05,-2.93095807863e-05,1793239639073049088
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,716,679,661,636,879.83634943,788,804,652,631,653,0.405271794154,-0.0155414304779,0.0799557393328,0.999999997628,-3.05242340361e-05,-5.33840675307e-05,-3.10167827257e-05,1793239639089715968
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,716,679,661,636,879.25766838,788,804,652,631,653,0.405697815757,-0.0155452808719,0.0799501088495,0.999999996659,-4.04674223216e-05,-6.27516588365e-05,-3.32688367069e-05,1793239639106382848
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.320341224,745,716,679,661,636,879,788,804.320341224,652,631,653,0.406148625671,-0.0155467618493,0.0799435682734,0.999999996207,-2.98519194983e-05,-7.52347348192e-05,-3.21535814638e-05,1793239639123049472
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.897811939,745,716,679,661,636,879,788,804.897811939,652,631,653,0.406619332558,-0.0155463409587,0.0799362971891,0.999999995525,-2.73449609727e-06,-9.02185295278e-05,-2.833547573e-05,1793239639139716352
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715.526726163,679,661,635.526726163,879.473273837,788,804.053452326,652,631,653,0.4071132403,-0.0155421174825,0.0799371591741,0.999999995281,-1.08733950393e-05,-9.09574406373e-05,-3.23626277578e-05,1793239639156382720
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.950376927,745,715,678.950376927,661,635.049623073,880.049623073,788,803.099246146,652,631.049623073,653,0.407613880628,-0.015537433243,0.0799388550812,0.999999994919,-2.45998803296e-05,-9.02232848076e-05,-3.76260988784e-05,1793239639173049088
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.359641657,745,715,678.359641657,661,635.640358343,880.640358343,788,804.280716686,652,631.640358343,653,0.408133541836,-0.0155366398259,0.0799305763982,0.999999993435,-1.65971624609e-05,-0.000106823400649,-3.79776752564e-05,1793239639189715968
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,678.218095108,661,636,880.563809784,788,804.781904892,651.781904892,632,653,0.40868873975,-0.0155370051058,0.0799309818136,0.999999993311,-1.45204673217e-05,-0.00010809464247,-3.85125418193e-05,1793239639206382336
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,678.775602792,661,636,879.448794417,788,804.224397208,651.224397208,632,653,0.409299241967,-0.015539173619,0.0799449019396,0.999999995336,-2.1666201623e-05,-8.55101780243e-05,-3.93326554473e-05,1793239639223048960
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715.356149606,678.643850394,661,635.643850394,879,788,804.356149606,651.356149606,631.643850394,653.356149606,0.409957197011,-0.0155417960639,0.0799720582709,0.999999998069,-2.94261982276e-05,-3.84475706487e-05,-3.89500640502e-05,1793239639239716096
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715.952216523,678.047783477,661,635.047783477,879,788,804.952216523,651.952216523,631.047783477,653.952216523,0.410647118244,-0.0155447242962,0.0800081310646,0.999999998265,-3.75999873035e-05,2.51045395663e-05,-3.77572799591e-05,1793239639256383488
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,716,678.542800513,661,635.542800513,879.542800513,788,805,651.457199487,631,654,0.411272891903,-0.0155418393776,0.0799974679203,0.999999998775,-3.06459541719e-05,4.50664809288e-07,-3.88609449637e-05,1793239639273050112
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,715.869477645,678.869477645,661,636,879.869477645,788,804.869477645,651,631.130522355,654,0.411901820903,-0.0155387328795,0.0799784910703,0.999999998256,-2.50637402476e-05,-3.42971455865e-05,-4.1030431747e-05,1793239639289716480
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715.289957954,678.289957954,661,636,879.289957954,788,804.289957954,651,631.710042046,654,0.412560835584,-0.0155366069301,0.0799449264778,0.999999995531,-2.87359104745e-05,-7.73239756399e-05,-4.61778735694e-05,1793239639306382592
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715.288097974,678,661,635.711902026,879.288097974,788,803.711902026,651,632,653.711902026,0.413257813432,-0.0155369497787,0.0799272187152,0.999999993584,-3.41986065954e-05,-9.58242851047e-05,-4.98035112389e-05,1793239639323049216
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715.864688206,678,661,635.135311794,879.864688206,788,803.135311794,651,632,653.135311794,0.413992806483,-0.0155397648036,0.0799253894796,0.999999993765,-4.14542795614e-05,-8.97645128612e-05,-5.19052627332e-05,1793239639339715584
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715.5600612,678.879877601,661,635.4399388,880,788,803.4399388,651,631.5600612,653.4399388,0.414774568303,-0.0155404707102,0.0799472340829,0.999999996476,-4.22561586327e-05,-5.19656649853e-05,-5.06094665571e-05,1793239639356382464
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.01517271,745,715,679.98482729,661,636,880,788,804.01517271,651.01517271,631,653.98482729,0.415568917524,-0.0155404611048,0.079975307903,0.999999997964,-4.10996245656e-05,-6.48094103909e-06,-4.83843580635e-05,1793239639373049088
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.605342962,745,715,679.394657038,661,636,880,788,804.605342962,651.605342962,631,653.394657038,0.416296813434,-0.0155378449296,0.0799643468825,0.999999997157,-4.07219281592e-05,-3.85505503012e-05,-5.04225512683e-05,1793239639389715968
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.808415862,745,715,679,661,636,880.191584138,788,804.808415862,651.808415862,631,653,0.41705555847,-0.0155365123618,0.0799600291591,0.999999996539,-4.16515987176e-05,-4.99069146811e-05,-5.19265709933e-05,1793239639406382848
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.230105834,745,715,679,661,636,880.769894166,788,804.230105834,651.230105834,631,653,0.417876574563,-0.0155377708453,0.079969121393,0.999999997418,-4.52202803656e-05,-1.94521537293e-05,-5.23523243813e-05,1793239639423049472
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.347181704,661,636,880.652818296,788,804,651.347181704,631,653,0.418717487889,-0.0155390170835,0.0799843920095,0.999999997498,-4.54959686339e-05,1.40188750853e-05,-5.23191505133e-05,1793239639439716096
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.923793519,661,636,880.076206481,788,804,651.923793519,631,653,0.419571549985,-0.0155402552297,0.0800037455222,0.999999996474,-4.35955286966e-05,4.94831605782e-05,-5.19827010211e-05,1793239639456382720
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.496558377,715,679.503441623,661,635.503441623,880,788,804.496558377,652,631.496558377,653,0.420396680844,-0.015540049349,0.0799883343447,0.999999997156,-4.60561316934e-05,2.7060291777e-05,-5.32350097954e-05,1793239639473049088
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.92848084,715,679.07151916,661.07151916,635.07151916,880,788,805,651.92848084,631.92848084,653,0.421220970842,-0.0155396882611,0.0799717766145,0.999999997344,-4.84146021326e-05,1.54708288295e-06,-5.44507627508e-05,1793239639489715712
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.333146267,715,679.666853733,661.666853733,635.666853733,880,788,805,651.333146267,631.333146267,653,0.422071371396,-0.0155398010661,0.0799855975048,0.999999997381,-4.51607858718e-05,1.79664650404e-05,-5.36266943839e-05,1793239639506382336
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,679.747390363,662,636,880,788,805,651,631.252609637,653,0.422924104206,-0.0155401804562,0.0800013923203,0.999999997108,-4.03979242468e-05,3.7618318344e-05,-5.23106169052e-05,1793239639523049216
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,679.173805396,662,636,880,788,805,651,631.826194604,653,0.423779800584,-0.0155408985792,0.0800196952816,0.999999996279,-3.37176122233e-05,6.13774736189e-05,-5.03693739739e-05,1793239639539715840
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.401466318,715,679.401466318,662,635.598533682,880.401466318,788,804.598533682,651,631.598533682,653,0.424595556804,-0.0155389717141,0.0799931817196,0.999999998103,-3.07328640469e-05,9.01787027838e-06,-5.26072035543e-05,1793239639556383232
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.977471315,715,679.977471315,662,635.022528685,880.977471315,788,804.022528685,651,631.022528685,653,0.425393948871,-0.0155358949324,0.0799471840393,0.999999995043,-2.93547734961e-05,-7.64345920109e-05,-5.66618971797e-05,1793239639573050368
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.566435805,745.433564195,715,680.566435805,662,635,880.433564195,788,804.566435805,651.566435805,631,653,0.426268229292,-0.0155386358024,0.0799332431986,0.99999999471,-3.91890141179e-05,-7.38935097953e-05,-5.9858103474e-05,1793239639589716736
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.846743735,745,715,680.69348747,662,635.153256265,880,788,804.846743735,652,631.153256265,653,0.42713593153,-0.0155406450905,0.0799241667222,0.999999994263,-4.70195419969e-05,-7.35801022576e-05,-6.20467353853e-05,1793239639606382848
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.267351624,745,715,679.534703248,662,635.732648376,880,788,804.267351624,652,631.732648376,653,0.427976753806,-0.0155399617452,0.0799249876597,0.999999992957,-4.80096543804e-05,-8.94198827809e-05,-6.15309247402e-05,1793239639623049216
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679.310705427,662,636,880,788,804.310705427,651.689294573,632,653,0.428827516363,-0.0155401700828,0.0799367071018,0.999999993828,-4.84442586451e-05,-7.97723173872e-05,-6.02819206717e-05,1793239639639715840
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,679.887618588,662,636,880,788,804.887618588,651.112381412,632,653,0.429686795561,-0.015541142401,0.0799577642186,0.999999995957,-4.84029118314e-05,-4.82875766319e-05,-5.84047274995e-05,1793239639656382464
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,805,651,631.538668008,653,0.430565837363,-0.0155431278398,0.0799963486435,0.999999997298,-4.72941954012e-05,9.91258971161e-06,-5.53904315728e-05,1793239639673049344
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.035454739,745,715,680,662,636,880,788,805,651,631,653,0.431444044361,-0.0155450150301,0.0800357138662,0.999999995247,-4.53660913164e-05,6.86081091674e-05,-5.23545723925e-05,1793239639689716224
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.628177837,745,715,680,662,636,880,788,805,651,631,653,0.432233981794,-0.0155415055816,0.0800207038314,0.999999997419,-3.4617742076e-05,3.3503989826e-05,-5.33036272369e-05,1793239639706383104
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680.215456762,662,635.784543238,880.215456762,788,805,651,631.215456762,653,0.433006334352,-0.0155380541061,0.0799868087833,0.999999997768,-2.96032037558e-05,-2.01963013695e-05,-5.63925599814e-05,1793239639723049728
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680.793572104,662,635.206427896,880.793572104,788,805,651,631.793572104,653,0.433749088032,-0.0155347002105,0.0799211263242,0.999999991891,-3.42398609661e-05,-0.000105197826449,-6.30833526536e-05,1793239639739716096
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.629822254,745.370177746,715,681,662,635.370177746,881,788,804.629822254,651,631.629822254,653.370177746,0.434529353623,-0.0155385599455,0.0799100898524,0.999999990582,-4.54473814573e-05,-0.000111983857803,-6.50328347643e-05,1793239639756382720
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.054055106,745.945944894,715,681,662,635.945944894,881,788,804.054055106,651,631.054055106,653.945944894,0.435330452543,-0.0155464259885,0.0799294026857,0.999999993274,-6.03042292932e-05,-7.5330545146e-05,-6.43490864054e-05,1793239639773049344
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,746,715,681,662,636,881,788,804.52589901,651,631.52589901,653.47410099,0.436096376127,-0.0155510750175,0.0799601253326,0.999999994941,-6.70242421741e-05,-4.35486022943e-05,-6.10623219674e-05,1793239639789715968
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.107546649,745.892453351,715,681,662,635.892453351,881,788,804.892453351,651,631.892453351,653,0.436850955809,-0.0155554717065,0.0799844953328,0.999999995371,-7.35105362569e-05,-2.0588438838e-05,-5.85611326307e-05,1793239639806382592
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.694813289,745.305186711,715,681,662,635.305186711,881,788,804.305186711,651,631.305186711,653,0.437571191926,-0.0155602296038,0.0799752556556,0.99999999413,-8.27148680571e-05,-3.4727117771e-05,-6.07670831963e-05,1793239639823049216
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.725054204,745,715,681,662,635,881,788,804.274945796,651,631.274945796,653,0.438260640729,-0.0155642233128,0.0799583889972,0.999999992634,-8.62017984071e-05,-5.85773926444e-05,-6.22106516579e-05,1793239639839716096
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.152640264,745,715,681,662,635,881,788,804.847359736,651,631.847359736,653,0.43891678021,-0.0155673902343,0.0799332705897,0.999999990221,-8.35029823374e-05,-9.29347936219e-05,-6.28293868521e-05,1793239639856382976
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.57460254,635,880.57460254,787.57460254,805,651,631.57460254,653,0.439527625668,-0.0155697221,0.0798883860837,0.999999980684,-8.88144035758e-05,-0.000162158876482,-6.67038406949e-05,1793239639873049600
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,880,787.005571805,805,651,631.005571805,653,0.440121440833,-0.0155717546359,0.079836096195,0.99999996284,-9.71274492442e-05,-0.000244404805119,-7.17865823286e-05,1793239639889715968
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,880,787.595353066,805,651,631.595353066,653,0.440656508489,-0.0155742398286,0.0797609563289,0.999999924499,-0.000114761806355,-0.000362660522968,-7.94304751671e-05,1793239639906382592
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634.818648438,880.181351562,787.818648438,805,651,631.818648438,653,0.44120088432,-0.0155785024676,0.0797052908803,0.999999887298,-0.000130389388698,-0.000448513044689,-8.50807755066e-05,1793239639923049216
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634.240917797,880.759082203,787.240917797,805,651,631.240917797,653,0.441765605078,-0.0155866500613,0.0796921905408,0.999999878804,-0.000141630781234,-0.000463542117168,-8.63736956112e-05,1793239639939715840
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634.334572207,881,787,805,651,631,653,0.442347600716,-0.0155960640249,0.0797162986097,0.999999894984,-0.000152031765278,-0.000424051750743,-8.42465038938e-05,1793239639956382464
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,634.908459479,881,787,805,651,631,653,0.442941952814,-0.0156063838057,0.0797670213607,0.999999924024,-0.000161831614872,-0.00034556434929,-7.96729510365e-05,1793239639973049088
+194,3.233333333,POSE1_TO_POSE2_PRESS,764.507941147,745,714.507941147,681,661,635,880.507941147,787,805,651,631,653,0.443444042175,-0.0156166614613,0.0797824976835,0.99999992855,-0.000177013643025,-0.000324744202687,-7.81507905791e-05,1793239639989715968
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.077267182,745,714,681,661,635,880.077267182,786.922732818,805.077267182,651,631,653,0.443921992546,-0.0156262266334,0.0797862569238,0.999999926714,-0.000191034978527,-0.00032263313995,-7.73621466042e-05,1793239640006382592
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.660940435,745,714,681,661,635,880.660940435,786.339059565,805.660940435,651,631,653,0.444356495251,-0.0156311746127,0.0797570631098,0.999999909823,-0.000190754713375,-0.000371412938031,-7.7585554809e-05,1793239640023049216
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714.241819185,681,660.758180815,634.758180815,880.758180815,786,805.758180815,651,631,653,0.444774016617,-0.0156353571259,0.0797310976455,0.99999989251,-0.000192690376454,-0.000414356766125,-7.84722742506e-05,1793239640039716096
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714.818824422,681,660.181175578,634.181175578,880.181175578,786,805.181175578,651,631,653,0.445168000078,-0.0156384786247,0.0797096070055,0.99999987634,-0.00019769754239,-0.000449211341253,-8.02784108242e-05,1793239640056383232
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.605465528,681,660,634,880,786,805.394534472,651,631,653,0.445551042789,-0.015642891841,0.07970064184,0.999999869012,-0.000205610416516,-0.000461730348083,-8.06600636893e-05,1793239640073049600
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714.030348248,681,660,634,880,786,805.969651752,651,631,653,0.445929077831,-0.0156478962911,0.0796974097213,0.999999866028,-0.000214853266037,-0.000464026120517,-8.03897147283e-05,1793239640089715968
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.555947805,681,660,634,880.555947805,786,805.444052195,651,631,653,0.446270719958,-0.0156525347745,0.0796970134265,0.999999868072,-0.000220977189681,-0.000456734271651,-8.01228255681e-05,1793239640106382592
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659.858180849,634,880.858180849,785.858180849,805,651,630.858180849,653,0.446602117683,-0.0156571652836,0.0796950692019,0.999999868633,-0.000226915522128,-0.000452604592849,-7.99532217071e-05,1793239640123049216
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.27556503,634,880.27556503,785.27556503,805,651,630.27556503,653,0.446907975712,-0.0156618343759,0.0796878227376,0.999999863908,-0.000232817053548,-0.000459963548736,-8.00853970412e-05,1793239640139716608
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714.697824,681,659.302176,634,880.302176,785,805,651,630,653,0.447182998991,-0.0156648237523,0.0796788353511,0.999999857589,-0.0002372318228,-0.000471200720689,-8.07023839749e-05,1793239640156383488
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.12445792,681,659.87554208,634,880.87554208,785,805,651,630,653,0.447430349378,-0.015666305655,0.0796682855617,0.999999849725,-0.000240312285995,-0.000485918425766,-8.17544686382e-05,1793239640173050112
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,633.548421649,880.548421649,785,805,651,630.451578351,653,0.447652746498,-0.0156696509384,0.079660018874,0.999999841369,-0.000245018369168,-0.000500488709789,-8.20902676889e-05,1793239640189716224
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.971054591,745.028945409,714.028945409,681,660,633,880.028945409,785,805,651,631,653,0.447866487682,-0.0156735189489,0.0796523987396,0.99999983275,-0.000250416544893,-0.000514805913294,-8.2252874982e-05,1793239640206382592
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.382266566,745.617733434,714.617733434,681,660,633,880.617733434,785,805,651,631,653,0.448046618592,-0.0156775051882,0.0796450411186,0.999999824815,-0.000260483645085,-0.000525018725476,-8.29066642257e-05,1793239640223049216
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.406338689,746,715,681,659.796830656,633,880.796830656,785,805.203169344,651.203169344,631,653,0.44821964972,-0.0156818504526,0.079638436756,0.999999817432,-0.000268536544928,-0.000534908086242,-8.30449217151e-05,1793239640239716096
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.564801004,746,715,681,659.217599498,633,880.217599498,785,805.782400502,651.782400502,631,653,0.448379539293,-0.0156868602636,0.0796332266585,0.999999811316,-0.000272861204906,-0.00054419874482,-8.2228941656e-05,1793239640256382720
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.641106039,745.641106039,714.641106039,681,659,633,880,784.641106039,805.641106039,651.641106039,630.641106039,653,0.448523388791,-0.0156884464428,0.0796308998122,0.999999810032,-0.000273209106777,-0.000546441534898,-8.18146926695e-05,1793239640273049600
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.066259841,745.066259841,714.066259841,681,659,633,880,784.066259841,805.066259841,651.066259841,630.066259841,653,0.448657586734,-0.0156879725685,0.0796303078637,0.999999811693,-0.000271164130111,-0.000544443510681,-8.16421716196e-05,1793239640289716736
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.520233081,714.520233081,681,659,633,880.520233081,784,805,651,630,653,0.448770391805,-0.0156915490022,0.0796344551278,0.999999813041,-0.000276073007969,-0.000539618937345,-8.07004930689e-05,1793239640306383360
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.89330649,714.89330649,681,659.10669351,633,881,784,805,651,630.10669351,653,0.44887519342,-0.0156958212171,0.0796382467576,0.999999813577,-0.000281833994321,-0.000535762766457,-7.98306532765e-05,1793239640323049472
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.313715296,714.313715296,681,659.686284704,633,881,784,805,651,630.686284704,653,0.448956874677,-0.0157008384915,0.0796377254501,0.999999810904,-0.000287356275653,-0.000537831037148,-7.97233746133e-05,1793239640339715840
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.734899144,633,881,784,805,651,631,653,0.449029570393,-0.0157030634893,0.079634761424,0.999999807907,-0.000289575899719,-0.000542225944241,-7.95143713075e-05,1793239640356382208
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.156997523,633,881,784,805,651,631,653,0.449091663785,-0.0157019937926,0.0796289151582,0.99999980452,-0.000287898615177,-0.000549366122037,-7.91853399305e-05,1793239640373048832
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659.417407115,633,881,784,805,651,630.582592885,653,0.449139871475,-0.0157014002005,0.0796250041318,0.999999801619,-0.000288102100341,-0.000554519329857,-7.9171525691e-05,1793239640389715712
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659.990507363,633,881,784,805,651,630.009492637,653,0.449182899789,-0.0157009841957,0.0796218149511,0.999999798893,-0.000289007113897,-0.000558931396389,-7.92752876613e-05,1793239640406382336
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.41869318,745,714.58130682,681.58130682,659.41869318,633,881,784,805,651,630.58130682,653,0.449213225035,-0.0157013480501,0.0796217403977,0.999999797054,-0.000290640741816,-0.000561375072507,-7.92293740914e-05,1793239640423049472
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.168790663,745.168790663,714.831209337,681.831209337,659,633,881,784,805,651,630.831209337,653,0.449240262894,-0.0157023171498,0.0796213595889,0.999999795447,-0.000292387192784,-0.000563362105563,-7.8980297841e-05,1793239640439716352
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.747498316,745.747498316,714.252501684,681.252501684,659,633,881,784,805,651,630.252501684,653,0.449259836753,-0.0157047242208,0.0796201076242,0.999999794381,-0.000294377837529,-0.000564320670115,-7.82439525686e-05,1793239640456382976
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714.324659037,680.675340963,659,633,880.675340963,784,805,651,630,653,0.449275342993,-0.0157040407983,0.0796184138006,0.999999793573,-0.000293836602498,-0.00056606873569,-7.79810792074e-05,1793239640473049600
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714.900622407,680.099377593,659,633,880.099377593,784,805,651,630,653,0.449287700668,-0.0157009651605,0.0796163779533,0.999999792958,-0.000291335550504,-0.000568427919504,-7.80846996236e-05,1793239640489715968
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,715,680.474510588,659,633,880,783.525489412,805,651,630,653,0.449294533049,-0.0157019556737,0.0796149653466,0.999999791661,-0.00029119598503,-0.000570787379533,-7.80077341974e-05,1793239640506382592
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.950359148,746,715,681,659,633,880.049640852,783.049640852,805,651,630,653,0.449299948314,-0.0157034496385,0.0796138251683,0.999999790349,-0.000291466032119,-0.000572960499099,-7.78837571874e-05,1793239640523049216
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.356880261,746,715,681,659,633,880.643119739,783.643119739,805,651,630,653,0.44930246059,-0.0157011703099,0.0796142458143,0.999999790477,-0.000290828921429,-0.000573091545139,-7.76572825017e-05,1793239640539715840
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.229538973,745.770461027,715,681,659,633,880.770461027,784,805,651,630,653,0.449304627619,-0.0156997665208,0.0796142554992,0.999999790403,-0.00029010953692,-0.000573610750575,-7.74609071262e-05,1793239640556382720
+229,3.816666667,POSE1_TO_POSE2_PRESS,764.805309542,745.194690458,715,681,659,633,880.194690458,784,805,651,630,653,0.449306273885,-0.0156996833766,0.0796136452993,0.999999790025,-0.000289266052406,-0.000574715447192,-7.73099329093e-05,1793239640573049600
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.38104413,714.61895587,681,659,633,880,783.61895587,805,651,630.38104413,653,0.449307132555,-0.0157009185575,0.0796127650854,0.999999788889,-0.000290738914594,-0.000575983468545,-7.70407861305e-05,1793239640589716480
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.956760318,714.043239682,681,659,633,880,783.043239682,805,651,630.956760318,653,0.44930758885,-0.0157028272589,0.0796117469237,0.999999787359,-0.000293395177737,-0.000577334931016,-7.67112660449e-05,1793239640606383360
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.456637375,714,681,659,633,880,783.543362625,805,651,631,653,0.449308240507,-0.0157015490633,0.0796119331294,0.999999788243,-0.000290911866346,-0.000577042137793,-7.68553193314e-05,1793239640623049728
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,784,805,651,630.870463482,653,0.449308819357,-0.0157001811914,0.0796121198941,0.999999788907,-0.000289175023628,-0.000576748450236,-7.69781407977e-05,1793239640639716096
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,784,805,651,630.288869812,653,0.44930908876,-0.0156994034988,0.0796119673047,0.999999788141,-0.000291499710951,-0.000576917605904,-7.6892661779e-05,1793239640656383232
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.289644026,784,805,651,630,653,0.449309984616,-0.0156989941159,0.0796119487208,0.999999788165,-0.000291999974313,-0.000576645121885,-7.6722084477e-05,1793239640673049856
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.865118649,784,805,651,630,653,0.449311498675,-0.0156989481935,0.0796120623782,0.999999788972,-0.000290699834203,-0.000575936812791,-7.64675292786e-05,1793239640689715968
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,881,784,805,651,630,653,0.449311766832,-0.0157001288874,0.0796119195629,0.999999788629,-0.000291446671665,-0.00057617720806,-7.62990692456e-05,1793239640706382848
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,714.008697694,681,659.008697694,633,881,784,805,651,630,653,0.449311649054,-0.0157016130996,0.0796116877604,0.999999787944,-0.000292743574382,-0.000576725508774,-7.61660168489e-05,1793239640723050240
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,714.602199258,681,659.602199258,633,881,784,805,651,630,653,0.4493112274,-0.0156982567721,0.0796107518751,0.999999788033,-0.000288890978057,-0.000578448646323,-7.66415113125e-05,1793239640739716608
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.809010341,659.809010341,633,880.809010341,784,805,651,630.190989659,653,0.449310982875,-0.0156959100227,0.0796100888959,0.99999978819,-0.000285905531484,-0.00057961316911,-7.6981559454e-05,1793239640756382976
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.229796349,659.229796349,633,880.229796349,784,805,651,630.770203651,653,0.449311098399,-0.0156956154408,0.0796099806526,0.999999788517,-0.000284682738882,-0.000579642196596,-7.70462860753e-05,1793239640773049344
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.653112255,745,715,680.346887745,659,633,880,784,805,651,630.653112255,653,0.44931187427,-0.0156972685847,0.0796101827928,0.999999788592,-0.000285463554799,-0.000579190873023,-7.6585588462e-05,1793239640789715968
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.078091983,745,715,680.921908017,659,633,880,784,805,651,630.078091983,653,0.449313084423,-0.0157002026607,0.0796105890582,0.999999788496,-0.000287562054302,-0.00057842364408,-7.57793428715e-05,1793239640806382336
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.508137777,745,714.491862223,681,659,633,880.508137777,783.491862223,805,651,630,653,0.449312834263,-0.0156994925159,0.079610432192,0.999999788457,-0.000287398950422,-0.000578580143956,-7.57218962631e-05,1793239640823049216
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.905257846,783,804.905257846,651,630.094742154,653,0.449312269645,-0.0156979822391,0.079610173359,0.99999978841,-0.000286739844272,-0.000578970574702,-7.5852576354e-05,1793239640839715840
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.325750245,783,804.325750245,651,630.674249755,653,0.449311270262,-0.0156953081997,0.0796098455989,0.999999788277,-0.000285361370475,-0.000579815200062,-7.63437439786e-05,1793239640856382976
+247,4.116666667,POSE1_TO_POSE2_PRESS,764.747854443,745,714,681,659,632.747854443,880,783,804.252145557,651,630.747854443,653,0.4493121348,-0.0156940075664,0.0796107362267,0.99999978913,-0.000284501938218,-0.000578752129289,-7.64509134504e-05,1793239640873050112
+248,4.133333333,POSE1_TO_POSE2_PRESS,764.172027643,745,714,681,659,632.172027643,880,783,804.827972357,651,630.172027643,653,0.449315392069,-0.0156944699849,0.0796131909084,0.999999791241,-0.000284308803496,-0.00057524013402,-7.60651415249e-05,1793239640889716736
+249,4.150000000,POSE1_TO_POSE2_PRESS,764.411813851,745.411813851,714.411813851,680.588186149,659,632,880,783.411813851,805,651,630,653,0.449314997492,-0.0156957997099,0.0796123885986,0.999999789942,-0.000286388423951,-0.000576481784185,-7.59378097721e-05,1793239640906382848
+250,4.166666667,POSE1_TO_POSE2_PRESS,764.999069751,745.999069751,714.999069751,680.000930249,659,632,880,783.999069751,805,651,630,653,0.449313047145,-0.0156974989273,0.0796101987363,0.999999787177,-0.000289436289714,-0.000579748595424,-7.59205794221e-05,1793239640923049216
+251,4.183333333,POSE1_TO_POSE2_PRESS,764.422192582,745.422192582,714.422192582,680,659,632,880,784,805,651,630,653,0.449313067782,-0.0156949921075,0.0796101142369,0.999999788527,-0.00028580712109,-0.00057920682054,-7.60199705606e-05,1793239640939715840
+252,4.200000000,POSE1_TO_POSE2_PRESS,764,745,714,680.156380326,659,632.156380326,880,783.843619674,804.843619674,651,630,653,0.449313181975,-0.0156933685387,0.0796101055351,0.999999789453,-0.000283278500042,-0.000578834942701,-7.6136198116e-05,1793239640956382464
+253,4.216666667,POSE1_TO_POSE2_PRESS,764,745,714,680.734545269,659,632.734545269,880,783.265454731,804.265454731,651,630,653,0.449313540071,-0.0156941452486,0.0796102922629,0.999999789249,-0.00028374681797,-0.000578937604378,-7.62973373243e-05,1793239640973049344
+254,4.233333333,HOLD_POSE2,764,745,714,681,658,633,880,783,805,651,630,653,0.449316387631,-0.015694666557,0.0796125616583,0.999999790898,-0.00028327925693,-0.000576415103895,-7.55095911864e-05,1793239641009715968
+255,4.250000000,HOLD_POSE2,764.574727856,745,714,680.425272144,658.574727856,633,880.574727856,783.574727856,805,651,630,653,0.449314308991,-0.0156966332763,0.0796106795152,0.999999788066,-0.000287507657763,-0.000579239777375,-7.54267867131e-05,1793239641026382080
+256,4.266666667,HOLD_POSE2,764.845317534,745,714,680,659,633,880.845317534,784,805.154682466,651,630,653,0.449313490195,-0.0156976864849,0.0796098552518,0.99999978666,-0.000290039725496,-0.000580406302543,-7.54003627521e-05,1793239641043048448
+257,4.283333333,HOLD_POSE2,764.250490197,745,714,680,659,633,880.250490197,784,805.749509803,651,630,653,0.449316256251,-0.015696140323,0.079612041157,0.999999789368,-0.000287744923223,-0.000576854611202,-7.55343680328e-05,1793239641059714816
+258,4.300000000,HOLD_POSE2,764.332759426,745.332759426,714,680.332759426,659,633,880,783.667240574,805.667240574,651,630,653,0.449316882477,-0.0156954644066,0.0796126160351,0.999999790307,-0.000285889006583,-0.00057614620041,-7.55636953084e-05,1793239641076381184
+259,4.316666667,HOLD_POSE2,764.907586734,745.907586734,714,680.907586734,659,633,880,783.092413266,805.092413266,651,630,653,0.44931595207,-0.0156954215558,0.0796120189614,0.999999789964,-0.000284352360125,-0.000577506151688,-7.551687392e-05,1793239641093047808
+260,4.333333333,HOLD_POSE2,764.516861353,745.516861353,714,680.516861353,659,633,880,783,805,651,630,653,0.449315785831,-0.0156965204575,0.0796117536979,0.999999790017,-0.000284065084425,-0.000577629140083,-7.49477876521e-05,1793239641109714432
+261,4.350000000,HOLD_POSE2,764.060145396,745,714,680,658.939854604,633,880,783,805,651,630,653,0.449315869655,-0.0156976110925,0.0796116461282,0.999999790184,-0.000284054963154,-0.000577418991565,-7.43751935828e-05,1793239641126381056
+262,4.366666667,HOLD_POSE2,764.648714496,745,714,680,658.351285504,633,880,783,805,651,630,653,0.449316864358,-0.015696707484,0.0796123655707,0.999999790681,-0.000284377117179,-0.000576363835514,-7.46507731047e-05,1793239641143047680
+263,4.383333333,HOLD_POSE2,765,745,714,680,658.467276858,632.766361571,880,783,805,651,630.233638429,653,0.449316642771,-0.0156953100005,0.0796122333059,0.999999790691,-0.000283792532836,-0.000576590904008,-7.4989681848e-05,1793239641159714560
+264,4.400000000,HOLD_POSE2,765,745,714,680,659.626331676,632.186834162,880,783,805,651,630.813165838,653,0.449314620532,-0.0156931813619,0.0796108401346,0.999999789975,-0.000281865571655,-0.000578716236253,-7.54223460326e-05,1793239641176381184
+265,4.416666667,HOLD_POSE2,765.388944455,745.388944455,714,680.388944455,659.611055545,632.388944455,880,783,805,651,630.611055545,653,0.449315851531,-0.0156928287124,0.0796112339554,0.999999790167,-0.000282539620097,-0.000578026487884,-7.56448708548e-05,1793239641193047808
+266,4.433333333,HOLD_POSE2,765.962939538,745.962939538,714,680.962939538,659.037060462,632.962939538,880,783,805,651,630.037060462,653,0.449318630345,-0.0156933210366,0.0796124779847,0.999999790787,-0.000284451167588,-0.000575997390535,-7.57674163473e-05,1793239641209714432
+267,4.450000000,HOLD_POSE2,765.460126726,745.460126726,714,681,659.539873274,633,880,783,805.539873274,651,630,653,0.44931945328,-0.0156947379672,0.0796135400035,0.999999791361,-0.000285724605303,-0.000574443463147,-7.51876054835e-05,1793239641226381056
+268,4.466666667,HOLD_POSE2,765,745.119781309,714,681,659.880218691,633,880,783.119781309,805.880218691,651,630,653,0.449319745293,-0.0156959824852,0.0796142147475,0.999999791716,-0.000286418036694,-0.000573552697517,-7.46312272558e-05,1793239641243047424
+269,4.483333333,HOLD_POSE2,765,745.710587965,714,681,659.289412035,633,880,783.710587965,805.289412035,651,630,653,0.449318480393,-0.0156962980538,0.0796134159823,0.999999791228,-0.000285003861394,-0.000575140762488,-7.43576296121e-05,1793239641259714304
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,659,632,880,783,805,651,631,653,0.449316031185,-0.0156966544134,0.0796108925764,0.999999788225,-0.000286492407574,-0.000579549382683,-7.47919344946e-05,1793239641296701952
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745.576868991,714.423131009,681,658.423131009,632.576868991,880,783,805,651,630.423131009,653,0.44931728824,-0.0156947311627,0.079611812664,0.999999789687,-0.000284661080821,-0.000577909864219,-7.49266200625e-05,1793239641313368576
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.843572745,745.843572745,714,681,658.156427255,633,880.156427255,783,805,651,630.156427255,653,0.449318163277,-0.0156936999356,0.0796123698592,0.999999790613,-0.000283907110488,-0.000576672205388,-7.49596227603e-05,1793239641330035456
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.256612703,745.256612703,714,681,658.743387297,633,880.743387297,783,805,651,630.743387297,653,0.44931798689,-0.0156951238133,0.0796119282701,0.999999790078,-0.000286118334423,-0.000576540579462,-7.47127649905e-05,1793239641346702080
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745,714,681,658.673854459,633,881,783,805,651,630.673854459,653,0.44931845158,-0.0156949802102,0.0796124789847,0.999999790748,-0.000285721972143,-0.000575587645917,-7.46007808753e-05,1793239641363368704
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,745,714,681,658.094360191,633,881,783,805,651,630.094360191,653,0.449319414255,-0.0156936189933,0.0796138005174,0.999999792352,-0.00028330004579,-0.000573996723463,-7.45935661621e-05,1793239641380035328
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.483138844,745,714.483138844,681,658,633,881,783,805,651,630,653,0.449320551863,-0.0156941455158,0.0796140156524,0.999999792398,-0.000284415298477,-0.000573377208334,-7.45025309364e-05,1793239641396701952
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.061096189,714.938903811,681,658.061096189,633,881,783,805,651,630,653,0.449321339758,-0.01569490951,0.0796138427191,0.999999792051,-0.000285979847674,-0.000573213932083,-7.44278797363e-05,1793239641413368832
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.646314426,714.353685574,681,658.646314426,633,881,783,805,651,630,653,0.449318835711,-0.0156945608545,0.0796121867935,0.999999790951,-0.000285496705594,-0.000575343699168,-7.46336418304e-05,1793239641430035456
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.770707779,714,681,659,633,880.770707779,783.229292221,805,651,630,653,0.449311508123,-0.0156935475869,0.0796078055134,0.999999787493,-0.000284718307172,-0.00058164832804,-7.50698191786e-05,1793239641446702080
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.1911525,714,681,659,633,880.1911525,783.8088475,805,651,630,653,0.44929681217,-0.0156915190686,0.0795992610261,0.999999780325,-0.00028348887999,-0.000594330407455,-7.58579750859e-05,1793239641463368704
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.388140944,714.388140944,681,659,633,880.388140944,783.611859056,805.388140944,651,630.388140944,653,0.449263163698,-0.0156901508086,0.0795827694024,0.999999764085,-0.000282424651644,-0.000621415099231,-7.68714360154e-05,1793239641480035584
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.967305578,714.967305578,681,659,633,880.967305578,783.032694422,805.967305578,651,630.967305578,653,0.449220187735,-0.0156891074946,0.0795623665922,0.999999742456,-0.000281441725588,-0.000655588041844,-7.7995780883e-05,1793239641496702208
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.452902349,714.452902349,680.452902349,659,633,880.452902349,783.547097651,806,651,631,653,0.44915759654,-0.0156858500779,0.0795414107177,0.999999718011,-0.000281983659675,-0.000691557786419,-7.88137091446e-05,1793239641513368832
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.127604764,714.127604764,680,658.872395236,633,880.127604764,784,805.872395236,651,630.872395236,653,0.449091866319,-0.015682608687,0.0795228677089,0.999999696441,-0.000282006631108,-0.000722019459836,-7.92294162068e-05,1793239641530035456
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.710529502,714.710529502,680,658.289470498,633,880.710529502,784,805.289470498,651,630.289470498,653,0.44901912285,-0.0156798971452,0.0795130523624,0.999999689541,-0.000279852311595,-0.000732443636926,-7.82753298259e-05,1793239641546702080
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.708389321,715,680.291610679,658.291610679,633,880.708389321,784,805,651,630,653.291610679,0.448936349158,-0.0156767087735,0.0795080799022,0.999999684902,-0.000277931227117,-0.000739618668757,-7.69032378604e-05,1793239641563368704
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.129126712,715,680.870873288,658.870873288,633,880.129126712,784,805,651,630,653.870873288,0.448843681411,-0.0156730500452,0.0795078845847,0.999999682562,-0.000276240211548,-0.00074358866341,-7.5118814993e-05,1793239641580035584
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.446771459,714.553228541,681,659,632.553228541,880.446771459,784,805,651,630.446771459,653.553228541,0.448737932567,-0.0156684623777,0.0795126772237,0.999999688123,-0.00027448281963,-0.000737021227571,-7.22015075904e-05,1793239641596702208
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,632.021723961,880.978276039,784,805,651,631,653,0.448627360088,-0.015663580212,0.0795188489124,0.999999695777,-0.000272541323185,-0.000727611720202,-6.89081545808e-05,1793239641613369088
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,632.59717268,880.40282732,784,805,651,631,653,0.44848948436,-0.0156579838101,0.0795237001733,0.999999701223,-0.00026639249738,-0.000722808422865,-6.43132106883e-05,1793239641630035712
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.82330228,714.17669772,681,659,633,880.17669772,784,805,651,630.82330228,653,0.448340755096,-0.0156518576546,0.079525883011,0.999999704042,-0.000260257168454,-0.000721518576758,-5.99397683537e-05,1793239641646702336
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.234264864,714.765735136,681,659,633,880.765735136,784,805,651,630.234264864,653,0.448166698167,-0.0156444952732,0.0795218388474,0.999999700827,-0.000254153336571,-0.000728427679328,-5.60832200659e-05,1793239641663368704
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.649632629,681,659,633,881,784,804.649632629,651,630,653,0.447966946795,-0.0156349712029,0.079516817711,0.999999696029,-0.000243423941983,-0.000738930580849,-5.16501870316e-05,1793239641680035328
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.067909184,681,659,633,881,784,804.067909184,651,630,653,0.447750228741,-0.0156240197164,0.0795111514556,0.999999689929,-0.000229640175448,-0.000751806555503,-4.68364867355e-05,1793239641696701952
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.508515885,681,659,633,880.491484115,784,804.508515885,651,630,653,0.447513719763,-0.0156126883699,0.0795175050384,0.999999701227,-0.000212792639584,-0.000742034572184,-4.06139057518e-05,1793239641713368832
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.916156634,681,659,633,880,784,805,651,630.083843366,653,0.447270829956,-0.0156014012757,0.079525949355,0.999999715545,-0.000190987640654,-0.000728891685639,-3.39245538841e-05,1793239641730035200
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.343146983,681,659,633,880,784,805,651,630.656853017,653,0.447005973229,-0.0155906652674,0.0795373231305,0.999999734928,-0.000142621840793,-0.000713545795455,-2.55983105501e-05,1793239641746701824
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.762790659,745,714.237209341,681,659,633,880.237209341,784,804.762790659,651,631,653,0.446721881526,-0.015579023638,0.0795453550512,0.999999746221,-0.000106368869889,-0.000704208837905,-1.82551035665e-05,1793239641763368704
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.171467003,745,714.828532997,681,659,633,880.828532997,784,804.171467003,651,631,653,0.4464090752,-0.0155660300667,0.0795483981347,0.999999748337,-8.81983527101e-05,-0.000703842226007,-1.23794078523e-05,1793239641780035328
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,745,714.589266222,681,659,633,881,784,804.410733778,651,630.589266222,653,0.446057022476,-0.0155526063839,0.0795561769979,0.99999975357,-7.12225007456e-05,-0.000698358543882,-9.04473005038e-06,1793239641796701952
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,745,714.010791185,681,659,633,881,784,804.989208815,651,630.010791185,653,0.445688941762,-0.0155390070463,0.0795658899256,0.999999759887,-5.47345434615e-05,-0.00069078508025,-6.74778916237e-06,1793239641813368576
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.564811864,745,714,680.435188136,659,633.564811864,880.435188136,784.564811864,805,651,630.564811864,653,0.445273687724,-0.0155313014597,0.0795732245396,0.999999766211,-5.20902159961e-05,-0.000681761135626,-8.13217974665e-06,1793239641830035200
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.143535116,659,634,880.143535116,785,805,651,631,653,0.444853058176,-0.0155260847096,0.0795818150417,0.999999774442,-4.81114706077e-05,-0.000669878244409,-8.00378496819e-06,1793239641846701824
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.732101737,659,634,880.732101737,785,805,651,631,653,0.444418542203,-0.0155282372481,0.0795944396043,0.999999788487,-3.91794392368e-05,-0.00064921666188,-2.96801943195e-06,1793239641863368704
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.315297098,681,659,633.684702902,881,785,805,651,631,653,0.443956862737,-0.0155306305661,0.0796036470794,0.999999796611,-3.57387224624e-05,-0.000636789460827,1.8866074108e-07,1793239641880035328
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.894005174,681,659,633.105994826,881,785,805,651,631,653,0.443472489826,-0.0155332250405,0.0796099997934,0.999999800085,-3.68856541319e-05,-0.000631241567681,1.77548333694e-06,1793239641896701952
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.528883097,681,659.471116903,633.471116903,881,785.471116903,805,651,631,653,0.442954761716,-0.0155225824834,0.0796182271633,0.999999808639,-2.34048881561e-05,-0.000618194093105,3.26704895085e-06,1793239641913368832
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.047743707,714.047743707,681,660,634,881,786,804.952256293,651,631,653,0.442426828071,-0.0155090300014,0.0796279274995,0.999999819091,-6.66810342205e-06,-0.000601456621976,4.81477419663e-06,1793239641930035456
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.622967994,714.622967994,681,660,634,881,786,804.377032006,651,631,653,0.441868772158,-0.0154961201595,0.0796492573527,0.999999841706,9.80466032427e-06,-0.000562530088559,7.21894104279e-06,1793239641946702592
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.203273889,745.796726111,715,681,660,634.203273889,880.796726111,786.203273889,804.203273889,651,631,653,0.441295499519,-0.0154847270807,0.0796650679054,0.999999857458,2.61694664615e-05,-0.000533206795177,9.41981557855e-06,1793239641963369216
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.793246769,745.206753231,715,681,660,634.793246769,880.206753231,786.793246769,804.793246769,651,631,653,0.440693279309,-0.0154762194236,0.0796703787911,0.99999986272,4.23288979978e-05,-0.000522152272078,1.12339559554e-05,1793239641980035584
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.624663751,745,714.624663751,681,660.375336249,635,880,787,805,651,631,653,0.440031867208,-0.0154672426935,0.0796511152012,0.999999847368,5.39056111201e-05,-0.000549761618479,1.09670069906e-05,1793239641996702464
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.046827513,745,714.046827513,681,660.953172487,635,880,787,805,651,631,653,0.439338520143,-0.015458012891,0.0796185932832,0.999999819029,6.30098727543e-05,-0.000598230748509,9.57727651465e-06,1793239642013369856
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714.527348746,680.472651254,661,635,880.527348746,787,804.472651254,651,631,653,0.438684164963,-0.0154492803554,0.0796434624978,0.999999844245,7.60408751046e-05,-0.00055281950415,1.08971160958e-05,1793239642030036736
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.104129892,661,635,881,787,804.104129892,651,631,653,0.438032757622,-0.0154402154521,0.0796821592318,0.999999876161,9.06825724482e-05,-0.000489165394981,1.30900205595e-05,1793239642046703104
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.694584035,661,635,881,787,804.694584035,651,631,653,0.437379058741,-0.0154293934696,0.079761798343,0.999999921836,0.000111229525422,-0.000378976129389,1.82444889393e-05,1793239642063369728
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880.721098019,787.278901981,805,651,631.278901981,653,0.436693122154,-0.0154164000306,0.0798225314443,0.99999994841,0.000134077391363,-0.000290999010375,2.28820511889e-05,1793239642080036096
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880.143354882,787.856645118,805,651,631.856645118,653,0.435972643051,-0.0154010798925,0.0798630069228,0.99999996121,0.000159390669708,-0.000226822010795,2.69657535731e-05,1793239642096702208
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.437850258,745,715,681,661,635,880,788,805,651,631.562149742,653,0.435201707241,-0.0153903962092,0.0798571842578,0.999999956341,0.000176663946471,-0.000235336694652,2.69224109644e-05,1793239642113368832
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.980305367,745,714.980305367,681,661,635,880,787.980305367,805,651,631.019694633,653,0.434411872309,-0.0153817234719,0.0798359781328,0.999999945616,0.000190647648051,-0.000267896564522,2.55416697439e-05,1793239642130035200
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.412467331,745,714.412467331,681,661,635,880,787.412467331,805,651,631.587532669,653,0.433559479889,-0.0153864336196,0.0798118676234,0.999999936616,0.000186923199951,-0.000302009515035,2.48453301372e-05,1793239642146701824
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.161833918,681,661,635,880,787.161833918,805,651.161833918,631.838166082,653,0.432687509573,-0.0153890137825,0.0797819617732,0.999999920621,0.000185633661598,-0.000351734808136,2.41056203418e-05,1793239642163368704
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.753293219,681,661,635,880,787.753293219,805,651.753293219,631.246706781,653,0.431763565276,-0.0153859394099,0.0797366708583,0.999999883443,0.000190808151371,-0.000442906655251,2.32507743771e-05,1793239642180035584
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,788,805,651.663745624,631.336254376,653,0.430898540977,-0.0153822582224,0.0797285287379,0.999999874587,0.000195018482543,-0.000460639406642,2.46134305061e-05,1793239642196702208
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,788,805,651.086865811,631.913134189,653,0.430075680185,-0.0153781427949,0.0797469704963,0.99999988925,0.000198538857041,-0.000425818744179,2.75629431578e-05,1793239642213369088
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.510678204,661,635,880,787.510678204,805,651,632,653,0.429288572943,-0.0153797196162,0.0798082567443,0.999999924222,0.000211922716144,-0.00032486854043,3.32477639003e-05,1793239642230035712
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787.066901379,805,651,631.933098621,653,0.428495131018,-0.0153820838452,0.0798688365916,0.999999948388,0.000225504798023,-0.000225514653935,3.89223079368e-05,1793239642246702592
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787.656310524,805,651,631.343689476,653,0.427602713524,-0.0153827168106,0.0798645804341,0.999999946918,0.00022697887852,-0.000230185713039,4.07295105684e-05,1793239642263368960
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787.758921691,804.758921691,651,631,653,0.426694726801,-0.0153829149949,0.0798390853386,0.999999937991,0.00022692619852,-0.000266354132018,3.9711552824e-05,1793239642280035328
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787.180645719,804.180645719,651,631,653,0.425764963178,-0.0153825050484,0.0797838832136,0.999999914085,0.000224738028724,-0.000346578094814,3.47420265623e-05,1793239642296702208
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.396365626,880,787.396365626,804.396365626,651.396365626,631.396365626,653.396365626,0.424845083327,-0.0153818505745,0.0797575917129,0.999999896472,0.000230151399069,-0.000391095560594,3.36216293336e-05,1793239642313369088
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.972802409,880,787.972802409,804.972802409,651.972802409,631.972802409,653.972802409,0.423929693786,-0.0153810850104,0.0797444344763,0.999999882904,0.000239018192702,-0.000419391357437,3.42499136412e-05,1793239642330035712
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.450454538,880.549545462,788,805,651.450454538,631.450454538,653.450454538,0.423054071777,-0.0153744183019,0.0797435268107,0.999999880859,0.000246342430058,-0.000419981660357,3.48294396798e-05,1793239642346702336
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.741394128,787.870697064,805,651.129302936,631,653,0.422198142029,-0.0153700537286,0.0797567995329,0.999999889939,0.000251556339808,-0.000394360827325,3.63566661764e-05,1793239642363369216
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879.560485914,787.280242957,805,651.719757043,631,653,0.421405420429,-0.0153749417563,0.0798184824192,0.999999928776,0.000249516313983,-0.000280152483885,4.12724202271e-05,1793239642380035840
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879.303256639,787.303256639,805,652,631.303256639,653,0.420593785859,-0.0153776437428,0.0798600507471,0.99999994686,0.000247294267463,-0.000207692143337,4.46108313855e-05,1793239642396702464
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879.88047354,787.88047354,805,652,631.88047354,653,0.419765065465,-0.0153783708725,0.0798834476981,0.999999953973,0.000244907786568,-0.000172946710897,4.65242803277e-05,1793239642413369088
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.45736871,788,804.54263129,651.54263129,632,653,0.418879995564,-0.015376821482,0.0798508940991,0.999999943063,0.000241063259026,-0.000232099843191,4.34957652905e-05,1793239642430035712
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.03407012,880.96592988,788,804,651,632,653,0.417985349548,-0.0153747126794,0.0798065205041,0.999999922776,0.000237329997227,-0.000310759485005,3.93851465378e-05,1793239642446702336
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635.609028619,880.390971381,788,804,651,632,653,0.417172300068,-0.0153731611814,0.0798064651048,0.999999922129,0.000241408207555,-0.000309798652438,3.85845761088e-05,1793239642463368960
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.189050248,745,715,679.810949752,661,635.810949752,880,788,804,651.189050248,632,653,0.416355298179,-0.015370553205,0.0798067768134,0.999999920502,0.000245364841828,-0.000311971405739,3.82821558866e-05,1793239642480035840
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.779831104,745,715,679.220168896,661,635.220168896,880,788,804,651.779831104,632,653,0.41552989729,-0.0153657002177,0.0798078686238,0.999999916764,0.000249063128491,-0.000320803009432,3.903830162e-05,1793239642496702464
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.635948396,745,715,679.364051604,661,635,880,788,804,651.635948396,631.635948396,653,0.414744295795,-0.0153637896424,0.0798018761336,0.999999913607,0.00024960629674,-0.000330195774929,3.81318928266e-05,1793239642513369088
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.055625231,745,715,679.944374769,661,635,880,788,804,651.055625231,631.055625231,653,0.413982337913,-0.0153636270613,0.0797916750839,0.99999991075,0.000248275108545,-0.000339921908387,3.62378128449e-05,1793239642530035712
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.514575166,680,661,635.514575166,879.485424834,788,804.514575166,651.514575166,631,653.514575166,0.413279134741,-0.0153680690543,0.0798084037055,0.99999992258,0.00024424069113,-0.000306183249008,3.79250669502e-05,1793239642546702336
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.914885771,680,661,636,879.085114229,788,804.914885771,652,631.085114229,653.914885771,0.412578394548,-0.0153715534185,0.0798236603339,0.999999931562,0.000241855328949,-0.00027714832382,3.96323498037e-05,1793239642563368960
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715.336159002,680,661,636,879.663840998,788,804.336159002,652,631.663840998,653.336159002,0.41185581476,-0.0153666531235,0.0798138234227,0.999999922169,0.000250695514143,-0.000302115229287,3.92539196266e-05,1793239642580035584
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.248873994,745,715,679.751126006,660.751126006,636,879.751126006,788,804,652,632,653.248873994,0.411141364501,-0.015362336294,0.0798024037048,0.999999913254,0.000256715822983,-0.000325720786964,3.86625727717e-05,1793239642596702208
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.842646332,745,715,679.157353668,660.157353668,636,879.157353668,788,804,652,632,653.842646332,0.410438180489,-0.0153588280519,0.0797887904784,0.999999905433,0.000258828247254,-0.000347439738987,3.77761585359e-05,1793239642613368832
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.576054001,745,715,679,660.423945999,635.576054001,879,788,804.423945999,652,632,653.576054001,0.409808516588,-0.0153592096549,0.0797983879316,0.999999910089,0.000261338025235,-0.00033168220929,3.88660565222e-05,1793239642630035712
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.999254902,635,879,787.999254902,805,652,632,653,0.409205410115,-0.0153609905127,0.0798163598588,0.999999918605,0.000263985862351,-0.000302404008319,4.06693497716e-05,1793239642646702336
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.425157382,635,879,787.425157382,805,652,632,653,0.408640249265,-0.0153602666544,0.0798387231779,0.999999929005,0.000262625029721,-0.000266759981939,4.31056014667e-05,1793239642663369216
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.153344019,635.153344019,879,787.153344019,804.846655981,651.846655981,632,653,0.408073263313,-0.0153586561785,0.0798491271129,0.999999932799,0.000262931112551,-0.000251631551433,4.41672113889e-05,1793239642680036096
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.744416669,635.744416669,879,787.744416669,804.255583331,651.255583331,632,653,0.407501067378,-0.0153545148054,0.0798253923569,0.999999919704,0.000267995494103,-0.000295065968878,4.13048341681e-05,1793239642696702464
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.328238095,745,715,679,661,635.671761905,879.328238095,788,804.328238095,651.328238095,632,653,0.40694479205,-0.0153518229196,0.0798017547229,0.999999905925,0.000272053976745,-0.000335586898244,3.89671712642e-05,1793239642713369088
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.906535341,745,715,679,661,635.093464659,879.906535341,788,804.906535341,651.906535341,632,653,0.406400645431,-0.0153502352862,0.0797781910801,0.99999989151,0.000275346142675,-0.000373888264304,3.7029247678e-05,1793239642730035968
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.519294572,745,715,679,660.519294572,635,879.519294572,788,804.519294572,652,632,653,0.405951055333,-0.0153521506102,0.0797847129294,0.999999899651,0.000270541462383,-0.00035517829566,3.67886776534e-05,1793239642746702592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.945925519,660,635,879,788,804,651.945925519,632,653,0.405522473324,-0.0153544442729,0.079797412081,0.999999911018,0.000265403851325,-0.000325812913553,3.70251987625e-05,1793239642763369216
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.372608412,660,635,879,788,804,651.372608412,632,653,0.405120583463,-0.0153538864995,0.0798137361804,0.999999917344,0.00027205752102,-0.00029966500325,3.87009227586e-05,1793239642780035840
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.208688704,660,635.208688704,879,788,804,651.208688704,632,653,0.404729238953,-0.0153535550589,0.0798273938633,0.999999922294,0.000274234003392,-0.000280335815643,4.02447770639e-05,1793239642796702720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.804800349,660,635.804800349,879,788,804,651.804800349,632,653,0.404357471546,-0.0153536437968,0.0798361014397,0.999999925752,0.000268098750898,-0.000273665340402,4.15438199688e-05,1793239642813369344
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715.385739436,679,660,635.614260564,879,788,804,652,631.614260564,653.385739436,0.403996172812,-0.0153522921943,0.0798370315806,0.999999922566,0.000275092274707,-0.000278142221316,4.27785789117e-05,1793239642830035712
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715.959291222,679,660,635.040708778,879,788,804,652,631.040708778,653.959291222,0.403639971128,-0.0153502393056,0.0798341749731,0.999999915938,0.000288478056799,-0.000288046628473,4.39820387971e-05,1793239642846702080
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.536204252,744.463795748,715.463795748,679,661.072408504,635.536204252,879,788,804.536204252,652,631.536204252,653.463795748,0.403341872003,-0.0153489711698,0.0798347061797,0.999999919275,0.000278454967457,-0.000286852881162,4.03621287334e-05,1793239642863368704
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.884164641,744.115835359,715,679,661.884164641,636,879,787.884164641,804.884164641,652,632,653,0.403057099338,-0.0153478423706,0.0798361896638,0.99999992225,0.000270292376158,-0.000284659497228,3.75578606708e-05,1793239642880035072
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.294464638,744.705535362,715,679,661.294464638,636,879,787.294464638,804.294464638,652,632,653,0.402808683862,-0.0153470383113,0.0798405099503,0.999999921117,0.000277056939888,-0.000281845341071,3.95977407796e-05,1793239642896701696
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.708993904,879.291006096,787.291006096,804,652,631.708993904,653,0.402574852892,-0.0153457035731,0.0798436184171,0.999999920637,0.000280699663665,-0.000279825202382,4.03849207904e-05,1793239642913368576
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.127741431,879.872258569,787.872258569,804,652,631.127741431,653,0.402355568366,-0.0153438395414,0.0798455182278,0.99999992085,0.000281228697181,-0.000278597008426,3.99226709663e-05,1793239642930035456
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.447235815,745,715.447235815,679,661,635.447235815,879.552764185,788,804,652,631.447235815,653,0.402166388102,-0.0153433658526,0.0798458772785,0.999999920939,0.00028418966581,-0.000275288450371,3.96727460981e-05,1793239642946702080
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.979025655,745,715.979025655,678.979025655,660.979025655,636,879,788,804,652,632,653,0.401987122748,-0.015343287792,0.0798458573281,0.999999920992,0.000287745765164,-0.000271400450682,3.95112542717e-05,1793239642963368704
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.390989161,745,715.390989161,678.390989161,660.390989161,636,879,788,804,652,632,653,0.401846664187,-0.0153433180726,0.0798473240341,0.999999921643,0.00028887193452,-0.000267689237905,4.01237220244e-05,1793239642980035328
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.19394002,745,715,678,660.19394002,636,879,788,804.19394002,651.80605998,631.80605998,653,0.401714257874,-0.0153438394878,0.079849600355,0.999999922776,0.000288601242419,-0.000263657438725,4.05208152189e-05,1793239642996701952
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.772703481,745,715,678,660.772703481,636,879,788,804.772703481,651.227296519,631.227296519,653,0.401597829169,-0.0153453354318,0.0798534831457,0.999999924871,0.000285558842562,-0.0002589895198,4.04905536441e-05,1793239643013368576
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.648807016,745,715,678.351192984,661,636,879,788,804.648807016,651.351192984,631.351192984,653.351192984,0.4014916582,-0.0153466355273,0.0798540181713,0.999999925285,0.000284210628804,-0.000258935531462,4.00825592258e-05,1793239643030035712
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.070494625,745,715,678.929505375,661,636,879,788,804.070494625,651.929505375,631.929505375,653.929505375,0.401392120983,-0.0153478089661,0.07985238817,0.99999992462,0.000283958058899,-0.000261865409714,3.94302818523e-05,1793239643046703104
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.498271296,661,635.498271296,879,788,804,652,631.498271296,653.498271296,0.401309099878,-0.0153462377581,0.0798484797405,0.999999922448,0.000285832248477,-0.000268217102364,3.82602768059e-05,1793239643063369472
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.924103008,715,678.075896992,660.924103008,635.075896992,879,788,804,651.924103008,631.075896992,653,0.401232031509,-0.015344498574,0.0798445829987,0.999999920262,0.000287710646306,-0.000274445243443,3.71351656811e-05,1793239643080035840
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744.330917133,715,678.669082867,660.330917133,635.669082867,879,788,804,651.330917133,631.669082867,653,0.401179908383,-0.015344211346,0.0798429216327,0.999999919712,0.000287605509104,-0.000276593775934,3.68058804742e-05,1793239643096702208
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,660.255151448,636,879,788,804,651.255151448,632,653,0.401133748388,-0.0153436945988,0.0798416418051,0.999999919122,0.000288416989996,-0.000277897382803,3.66710585149e-05,1793239643113369088
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,660.832239762,636,879,788,804,651.832239762,632,653,0.401095112364,-0.0153428882559,0.0798408433829,0.999999918482,0.000290385012074,-0.00027813490621,3.67816002166e-05,1793239643130035712
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.407866771,715,679,660.592133229,636,879,788,804,651.592133229,631.592133229,653,0.401065108694,-0.0153429506867,0.0798412680979,0.999999918016,0.000291952747907,-0.000278117641448,3.71804056072e-05,1793239643146702080
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.982894858,715,679,660.017105142,636,879,788,804,651.017105142,631.017105142,653,0.401038642935,-0.0153433691783,0.0798421941071,0.99999991762,0.000293356429202,-0.000277995953547,3.76973538335e-05,1793239643163368704
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.441268044,715,678.441268044,660.558731956,635.441268044,879,788,804,651.558731956,631.558731956,653,0.401023358024,-0.0153455181414,0.0798416192502,0.99999991836,0.000290209519349,-0.000278664208542,3.74906360223e-05,1793239643180035584
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.138085105,715,678.138085105,661,635.138085105,879,787.861914895,804,652,632,653,0.401009678699,-0.0153472989606,0.0798407504886,0.999999918789,0.000287716471412,-0.000279735899347,3.72789356038e-05,1793239643196702208
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.728884243,715,678.728884243,661,635.728884243,879,787.271115757,804,652,632,653,0.401000139477,-0.0153476988762,0.0798390690155,0.999999918113,0.000287824521291,-0.000282050859346,3.71236387558e-05,1793239643213368832
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.686817084,661,636,879,787,803.686817084,652,631.686817084,653,0.400995274979,-0.0153479676783,0.0798394692286,0.999999918419,0.000288015344673,-0.000280786371096,3.69798371334e-05,1793239643230035712
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.108031233,661,636,879,787,803.108031233,652,631.108031233,653,0.400994375002,-0.0153481252862,0.0798416348698,0.999999919547,0.000288276366288,-0.000276486238717,3.68457843192e-05,1793239643246702592
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.533695418,715.466304582,678,661,636,879.466304582,787.466304582,803.466304582,652,631,653,0.400993457335,-0.0153466153813,0.0798433347874,0.999999919642,0.000289784117535,-0.000274579913936,3.66963478e-05,1793239643263368960
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.039901084,715.960098916,678.039901084,661,636,879.960098916,788,804,652,631,653,0.400992544199,-0.0153449535613,0.0798447850554,0.99999991957,0.000291221587388,-0.000273339941781,3.65324185731e-05,1793239643280035328
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.617295517,715.382704483,678.617295517,661,636,879.382704483,788,804,652,631,653,0.400991746771,-0.0153464001526,0.0798443120814,0.999999920464,0.000287858290078,-0.000273676156915,3.62208189555e-05,1793239643296702208
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.199412534,745,715,679,661,635.800587466,879,788,804,652,631,653,0.400991008691,-0.0153477010551,0.0798438381252,0.999999921131,0.000285284767704,-0.000273974054845,3.59051952581e-05,1793239643313369088
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.790812756,745,715,679,661,635.209187244,879,788,804,652,631,653,0.400990387272,-0.0153487155751,0.0798433622381,0.999999921372,0.000284263715914,-0.000274196632157,3.55816613966e-05,1793239643330035712
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.627105879,745,715,679,660.627105879,635.372894121,879,788,804,651.627105879,631,653,0.400990834076,-0.0153485366581,0.0798444044953,0.999999921903,0.000284311258526,-0.00027220912041,3.55404262399e-05,1793239643346702080
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.050124792,745,715,679,660.050124792,635.949875208,879,788,804,651.050124792,631,653,0.400991865525,-0.0153477045665,0.0798462776412,0.999999922584,0.000284943648651,-0.000269012014985,3.56536946978e-05,1793239643363368960
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.523165357,745,715,679,660.523165357,636,879.523165357,788,804,651,631.523165357,653,0.400990045773,-0.0153471596163,0.079845533077,0.999999921635,0.000286261333442,-0.00027111560907,3.57870354548e-05,1793239643380035584
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.900369463,745,715,679,661,636,879.900369463,788,804,651,631.900369463,653,0.400988611693,-0.0153468685063,0.0798447576726,0.999999920892,0.000287131641417,-0.00027292132914,3.58545352144e-05,1793239643396702464
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.306408837,745,715,679,661,636,879.306408837,788,804,651,631.306408837,653,0.400990437077,-0.0153477013135,0.079845064932,0.999999921972,0.000285458738621,-0.000270746929232,3.55858810509e-05,1793239643413369088
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.721035003,715,679,661,635.721035003,879,788,804,651.278964997,631,653,0.400990774787,-0.0153482349995,0.0798450533438,0.999999922438,0.000284580688456,-0.000269967304787,3.54309874226e-05,1793239643430035456
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.144810992,715,679,661,635.144810992,879,788,804,651.855189008,631,653,0.400989527265,-0.0153484499488,0.0798447019984,0.999999922257,0.000284549615708,-0.000270673922375,3.53973145053e-05,1793239643446702080
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,661,635,879,788,804,652,631,653,0.400989111373,-0.0153499176896,0.0798448085335,0.999999922442,0.000283634095228,-0.000270917054155,3.56515713179e-05,1793239643463368704
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744,715,678.990764858,661,635,879,788,804,652,631.009235142,653,0.400988956472,-0.0153517559459,0.0798450615381,0.999999922738,0.000282458453468,-0.000271007690332,3.59941765527e-05,1793239643480035584
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744,715,678.401934653,661,635,879,788,804,652,631.598065347,653,0.400987661881,-0.0153504559143,0.0798448610639,0.999999922347,0.000283589753603,-0.000271291699511,3.58158770338e-05,1793239643496702208
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744,715.183947973,678.183947973,661,635,879,788,804,652,631.816052027,653,0.400987295803,-0.0153496499837,0.0798451766968,0.999999922321,0.000284132357162,-0.000270850193254,3.56029895148e-05,1793239643513368832
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,744,715.763491549,678.763491549,661,635,879,788,804,652,631.236508451,653,0.400988926569,-0.0153499066591,0.0798466022614,0.999999923076,0.000283408919105,-0.000268848404952,3.53157176e-05,1793239643530035712
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,744.340676708,715.659323292,679,661,635.340676708,879,788,803.659323292,651.659323292,631,653,0.400989287204,-0.0153500248456,0.0798470877746,0.999999923545,0.000282581177063,-0.000267993364473,3.51839292302e-05,1793239643546702080
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,744.916235812,715.083764188,679,661,635.916235812,879,788,803.083764188,651.083764188,631,653,0.400988772137,-0.0153500475499,0.0798469251616,0.999999923817,0.000281681521799,-0.000267928958922,3.51593402989e-05,1793239643563368704
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715.487139748,679,661,636,879,788,803.487139748,651.487139748,631.487139748,653,0.400989487048,-0.0153500761987,0.0798473750444,0.999999923578,0.000282649370658,-0.000267803392802,3.51489147111e-05,1793239643580035328
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,744.940077855,715.940077855,679,661,636,878.940077855,787.940077855,804,651.940077855,632,653,0.400990354325,-0.0153500742828,0.0798478345559,0.999999923262,0.000283894254889,-0.00026766485118,3.51554989162e-05,1793239643596702208
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,744.34336557,715.34336557,679,661,636,878.34336557,787.34336557,804,651.34336557,632,653,0.40099070986,-0.0153497894936,0.0798474457887,0.999999923051,0.000284771458272,-0.000267503390953,3.52928488729e-05,1793239643613368832
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.24606002,744.24606002,715,679,661,636,878.49212004,787,804,651.24606002,632,653,0.400990277336,-0.0153497330594,0.0798472683327,0.999999923125,0.000284509024468,-0.000267512636024,3.52359033478e-05,1793239643630035712
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.825609898,744.825609898,715,679,661,636,879.651219797,787,804,651.825609898,632,653,0.400988776745,-0.0153499861192,0.0798473772706,0.999999923584,0.000282702018678,-0.000267753241232,3.4915625454e-05,1793239643646702336
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.597958032,745,715.402041968,678.597958032,661,635.597958032,879.597958032,787.402041968,804,652,631.597958032,653,0.400989281333,-0.0153501540762,0.0798473448462,0.999999923632,0.000283161951125,-0.000267074791036,3.5026917845e-05,1793239643663369216
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.022867974,745,715.977132026,678.022867974,661,635.022867974,879.022867974,787.977132026,804,652,631.022867974,653,0.400990648998,-0.015350285403,0.0798472515761,0.9999999235,0.000284597625928,-0.000266000758285,3.53239680112e-05,1793239643680036608
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.552052661,745,715.447947339,678.552052661,661,635.552052661,879,788,804,652,631.552052661,653,0.400990123197,-0.0153518655704,0.0798474523836,0.999999923909,0.000282828774131,-0.00026632510381,3.55128488747e-05,1793239643696702720
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c150aa563853657508e601dc6ed8070674aa284
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_01/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,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+1,0.016666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+2,0.033333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+3,0.050000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+4,0.066666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+5,0.083333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+6,0.100000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+7,0.116666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+8,0.133333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+9,0.150000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+10,0.166666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+11,0.183333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+12,0.200000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+13,0.216666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+14,0.233333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+15,0.250000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+16,0.266666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+17,0.283333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+18,0.300000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+19,0.316666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+20,0.333333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+21,0.350000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+22,0.366666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+23,0.383333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+24,0.400000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+25,0.416666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+26,0.433333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+27,0.450000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+28,0.466666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+29,0.483333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+30,0.500000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+31,0.516666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+32,0.533333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+33,0.550000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+34,0.566666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+35,0.583333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+36,0.600000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+37,0.616666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+38,0.633333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+39,0.650000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+40,0.666666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+41,0.683333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+42,0.700000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+43,0.716666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+44,0.733333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+45,0.750000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+46,0.766666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+47,0.783333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+48,0.800000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+49,0.816666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+50,0.833333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+51,0.850000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+52,0.866666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+53,0.883333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+54,0.900000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+55,0.916666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+56,0.933333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+57,0.950000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+58,0.966666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+59,0.983333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+60,1.000000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+61,1.016666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+62,1.033333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+63,1.050000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+64,1.066666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+65,1.083333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+66,1.100000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+67,1.116666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+68,1.133333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+69,1.150000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+70,1.166666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+71,1.183333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+72,1.200000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+73,1.216666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+74,1.233333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+75,1.250000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+76,1.266666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+77,1.283333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+78,1.300000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+79,1.316666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+80,1.333333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+81,1.350000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+82,1.366666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+83,1.383333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+84,1.400000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+85,1.416666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+86,1.433333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+87,1.450000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+88,1.466666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+89,1.483333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+90,1.500000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+91,1.516666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+92,1.533333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+93,1.550000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+94,1.566666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+95,1.583333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+96,1.600000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+97,1.616666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+98,1.633333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+99,1.650000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+100,1.666666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+101,1.683333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+102,1.700000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+103,1.716666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+104,1.733333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+105,1.750000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+106,1.766666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+107,1.783333333,pose1_to_pose2_press,0.575664368694,-0.00990913397856,1.07003234166,0.546234817928,-0.00123740242574,1.06970047216
+108,1.800000000,pose1_to_pose2_press,0.575664374469,-0.00990916450156,1.07003230391,0.546234824257,-0.00123743099015,1.06970043639
+109,1.816666667,pose1_to_pose2_press,0.575664381027,-0.00990919915875,1.07003226104,0.546234831444,-0.00123746342346,1.06970039578
+110,1.833333333,pose1_to_pose2_press,0.575664465276,-0.00990926114574,1.07003220729,0.546234916874,-0.00123752125894,1.06970034585
+111,1.850000000,pose1_to_pose2_press,0.575664672401,-0.00990924192761,1.07003229772,0.546235123806,-0.00123750276852,1.06970043434
+112,1.866666667,pose1_to_pose2_press,0.575664799511,-0.0099092301336,1.07003235321,0.546235250798,-0.0012374914211,1.06970048865
+113,1.883333333,pose1_to_pose2_press,0.575664973711,-0.00990921397038,1.07003242926,0.546235424836,-0.00123747586991,1.06970056307
+114,1.900000000,pose1_to_pose2_press,0.575665205004,-0.00990920533606,1.07003243354,0.546235656108,-0.00123746731977,1.06970056702
+115,1.916666667,pose1_to_pose2_press,0.575666569093,-0.00990918118516,1.07003232653,0.546237020374,-0.00123744255087,1.06970046059
+116,1.933333333,pose1_to_pose2_press,0.575671538355,-0.00990924777308,1.07003240515,0.546241989727,-0.00123750907544,1.06970053258
+117,1.950000000,pose1_to_pose2_press,0.575681476809,-0.00990922203652,1.07003252252,0.546251929171,-0.00123748041963,1.06970063838
+118,1.966666667,pose1_to_pose2_press,0.575700398281,-0.00990920580025,1.0700321981,0.546270848399,-0.00123747070735,1.06970034244
+119,1.983333333,pose1_to_pose2_press,0.575729219191,-0.00990924090825,1.07003217592,0.546299669644,-0.00123750519472,1.06970030668
+120,2.000000000,pose1_to_pose2_press,0.575769759612,-0.00990909606114,1.07003218152,0.546340208705,-0.00123736459184,1.06970032193
+121,2.016666667,pose1_to_pose2_press,0.575821014869,-0.00990921462435,1.0700321598,0.546391465793,-0.00123747670512,1.06970030631
+122,2.033333333,pose1_to_pose2_press,0.575883109214,-0.00990914954751,1.07003222041,0.546453558664,-0.00123741715641,1.06970035316
+123,2.050000000,pose1_to_pose2_press,0.575954542961,-0.00990916553546,1.07003215788,0.546524992726,-0.00123743207493,1.06970029055
+124,2.066666667,pose1_to_pose2_press,0.576035209981,-0.00990925926606,1.07003225584,0.54660566172,-0.00123751890708,1.06970039363
+125,2.083333333,pose1_to_pose2_press,0.576126082249,-0.00990920387182,1.07003226053,0.546696533131,-0.00123746636438,1.06970039976
+126,2.100000000,pose1_to_pose2_press,0.576228096032,-0.00990926202581,1.07003205935,0.546798547248,-0.00123752332443,1.06970020012
+127,2.116666667,pose1_to_pose2_press,0.576344402291,-0.00990930857733,1.07003208746,0.546914854306,-0.00123756742103,1.06970022153
+128,2.133333333,pose1_to_pose2_press,0.576473865892,-0.00990918971668,1.07003213778,0.547044318168,-0.00123744772907,1.06970027032
+129,2.150000000,pose1_to_pose2_press,0.576616306191,-0.00990907543891,1.07003227577,0.547186757423,-0.0012373370581,1.0697004066
+130,2.166666667,pose1_to_pose2_press,0.576772692374,-0.00990911707914,1.07003245349,0.547343143695,-0.00123737832704,1.06970058607
+131,2.183333333,pose1_to_pose2_press,0.576942385555,-0.00990906660452,1.07003232899,0.547512837242,-0.00123732643906,1.06970046605
+132,2.200000000,pose1_to_pose2_press,0.577128169138,-0.00990928689163,1.07003231413,0.54769862173,-0.00123754361741,1.06970045208
+133,2.216666667,pose1_to_pose2_press,0.57733336924,-0.00990915932686,1.07003226282,0.54790381975,-0.00123742344118,1.06970039232
+134,2.233333333,pose1_to_pose2_press,0.577562281741,-0.00990920653182,1.07003212673,0.548132732683,-0.00123746896484,1.06970026174
+135,2.250000000,pose1_to_pose2_press,0.57781346478,-0.00990924799119,1.07003220879,0.548383916512,-0.00123750764141,1.06970034641
+136,2.266666667,pose1_to_pose2_press,0.578086407099,-0.00990916075161,1.07003241148,0.54865685796,-0.00123742372589,1.06970053941
+137,2.283333333,pose1_to_pose2_press,0.578379833725,-0.00990921078327,1.07003248207,0.548950284964,-0.00123747256452,1.06970060762
+138,2.300000000,pose1_to_pose2_press,0.578691737411,-0.00990930002767,1.070032457,0.54926218963,-0.00123755824505,1.06970058863
+139,2.316666667,pose1_to_pose2_press,0.579022493319,-0.00990921157748,1.07003238655,0.549592944764,-0.00123747240914,1.06970051852
+140,2.333333333,pose1_to_pose2_press,0.57937297319,-0.00990927066498,1.07003219374,0.549943425267,-0.00123752914187,1.06970033114
+141,2.350000000,pose1_to_pose2_press,0.579745642723,-0.00990915465554,1.07003222174,0.55031609237,-0.00123742156854,1.06970035408
+142,2.366666667,pose1_to_pose2_press,0.580138294488,-0.00990928191763,1.07003237707,0.550708746176,-0.00123754223496,1.06970050073
+143,2.383333333,pose1_to_pose2_press,0.580549584957,-0.009909316457,1.07003231031,0.551120037304,-0.00123757400693,1.06970044775
+144,2.400000000,pose1_to_pose2_press,0.580977416359,-0.0099092433344,1.07003219417,0.551547868453,-0.00123750164947,1.06970033404
+145,2.416666667,pose1_to_pose2_press,0.581423876673,-0.0099091888251,1.07003222607,0.551994328729,-0.00123744767317,1.06970035534
+146,2.433333333,pose1_to_pose2_press,0.581894888738,-0.00990921075016,1.07003230439,0.552465340638,-0.00123747009296,1.06970043459
+147,2.450000000,pose1_to_pose2_press,0.582394698785,-0.00990924390054,1.0700322574,0.552965150387,-0.00123750406243,1.06970039256
+148,2.466666667,pose1_to_pose2_press,0.58292786235,-0.00990922650183,1.07003233386,0.553498313995,-0.00123748655499,1.06970046791
+149,2.483333333,pose1_to_pose2_press,0.583479742557,-0.00990921553319,1.07003228958,0.554050195112,-0.00123747254367,1.06970042248
+150,2.500000000,pose1_to_pose2_press,0.584044655774,-0.00990913458175,1.07003220266,0.554615107379,-0.00123739487998,1.06970033377
+151,2.516666667,pose1_to_pose2_press,0.584618217861,-0.00990909015726,1.07003236785,0.555188667785,-0.00123735640745,1.06970049245
+152,2.533333333,pose1_to_pose2_press,0.585198654116,-0.00990930370387,1.07003235375,0.555769105978,-0.00123756330814,1.06970048017
+153,2.550000000,pose1_to_pose2_press,0.585786969514,-0.00990927763718,1.07003225818,0.55635742072,-0.00123753887817,1.06970039996
+154,2.566666667,pose1_to_pose2_press,0.586402731784,-0.009909331451,1.07003207999,0.556973185068,-0.00123758587946,1.06970021545
+155,2.583333333,pose1_to_pose2_press,0.587047787474,-0.00990931254049,1.07003231509,0.557618239167,-0.00123757251963,1.06970044658
+156,2.600000000,pose1_to_pose2_press,0.587704909726,-0.00990937974946,1.07003232823,0.558275363347,-0.00123763308372,1.06970046234
+157,2.616666667,pose1_to_pose2_press,0.588372864605,-0.009909337023,1.07003223372,0.55894331737,-0.00123759325101,1.06970036821
+158,2.633333333,pose1_to_pose2_press,0.589056026343,-0.00990928730415,1.07003222284,0.559626478835,-0.0012375445789,1.06970035418
+159,2.650000000,pose1_to_pose2_press,0.589749681135,-0.00990918387588,1.07003230844,0.560320132534,-0.00123744498196,1.06970043654
+160,2.666666667,pose1_to_pose2_press,0.590453874476,-0.00990921610669,1.07003235824,0.561024326131,-0.0012374763619,1.06970048587
+161,2.683333333,pose1_to_pose2_press,0.591175083752,-0.00990927071609,1.07003230238,0.56174553644,-0.00123752744382,1.06970043065
+162,2.700000000,pose1_to_pose2_press,0.591907798676,-0.0099091513391,1.07003221777,0.562478250011,-0.00123741252023,1.06970034959
+163,2.716666667,pose1_to_pose2_press,0.592645797923,-0.00990907727898,1.07003223652,0.563216248016,-0.00123734252093,1.06970037235
+164,2.733333333,pose1_to_pose2_press,0.593385900069,-0.0099092113695,1.07003234461,0.56395635263,-0.00123746842144,1.06970047563
+165,2.750000000,pose1_to_pose2_press,0.594126302382,-0.00990912615285,1.07003233046,0.56469675351,-0.00123738813061,1.06970045987
+166,2.766666667,pose1_to_pose2_press,0.594865101413,-0.00990904765247,1.07003218603,0.565435550374,-0.00123731665472,1.06970032413
+167,2.783333333,pose1_to_pose2_press,0.595599266561,-0.00990920702338,1.07003218782,0.566169717796,-0.00123746831474,1.06970032574
+168,2.800000000,pose1_to_pose2_press,0.596337552021,-0.00990916266116,1.07003240651,0.566908002211,-0.00123742767107,1.06970053999
+169,2.816666667,pose1_to_pose2_press,0.597078600774,-0.0099092634975,1.07003254013,0.567649053816,-0.00123751889526,1.0697006719
+170,2.833333333,pose1_to_pose2_press,0.597816970585,-0.00990925852541,1.07003249877,0.568387424198,-0.00123751197579,1.06970063078
+171,2.850000000,pose1_to_pose2_press,0.598561546133,-0.00990917353152,1.07003241713,0.569131998061,-0.00123743288447,1.06970054447
+172,2.866666667,pose1_to_pose2_press,0.599316830819,-0.0099091587532,1.07003230678,0.569887281604,-0.00123742202914,1.06970043304
+173,2.883333333,pose1_to_pose2_press,0.600072952415,-0.00990923110671,1.07003225965,0.570643403496,-0.00123749313606,1.06970039224
+174,2.900000000,pose1_to_pose2_press,0.600830961561,-0.00990923112877,1.07003233097,0.571401412806,-0.00123749260769,1.06970046342
+175,2.916666667,pose1_to_pose2_press,0.60157991974,-0.00990915748484,1.07003235488,0.57215037138,-0.00123741781735,1.06970048247
+176,2.933333333,pose1_to_pose2_press,0.602315008027,-0.00990922051368,1.07003232562,0.572885461257,-0.00123747517572,1.06970046037
+177,2.950000000,pose1_to_pose2_press,0.60302972331,-0.0099092833736,1.07003234363,0.573600174734,-0.00123754440734,1.06970047217
+178,2.966666667,pose1_to_pose2_press,0.603726906246,-0.00990923306001,1.07003232063,0.574297358005,-0.00123749279003,1.06970045362
+179,2.983333333,pose1_to_pose2_press,0.604410700772,-0.00990925706771,1.07003234927,0.574981152055,-0.00123751859375,1.06970047756
+180,3.000000000,pose1_to_pose2_press,0.605089986106,-0.00990917404614,1.07003220948,0.575660438,-0.00123743307911,1.06970034883
+181,3.016666667,pose1_to_pose2_press,0.605766329146,-0.00990910762781,1.07003210196,0.576336780572,-0.00123736828286,1.06970024054
+182,3.033333333,pose1_to_pose2_press,0.606438633408,-0.00990922703374,1.07003219369,0.577009085964,-0.00123748414385,1.06970032481
+183,3.050000000,pose1_to_pose2_press,0.607094895245,-0.00990921100714,1.07003245245,0.577665348008,-0.00123746741613,1.06970058359
+184,3.066666667,pose1_to_pose2_press,0.607725622479,-0.00990918797814,1.07003250939,0.578296074713,-0.00123744614495,1.0697006416
+185,3.083333333,pose1_to_pose2_press,0.608329030625,-0.00990921496982,1.07003239989,0.578899482535,-0.00123747424595,1.06970053188
+186,3.100000000,pose1_to_pose2_press,0.608904138616,-0.00990928650811,1.07003233367,0.57947459099,-0.00123754421954,1.06970046556
+187,3.116666667,pose1_to_pose2_press,0.609446680065,-0.00990935438833,1.07003232128,0.580017133094,-0.00123760991682,1.06970045215
+188,3.133333333,pose1_to_pose2_press,0.609963698626,-0.00990918580949,1.07003224099,0.58053415021,-0.00123744630796,1.06970037024
+189,3.150000000,pose1_to_pose2_press,0.610464589587,-0.00990919926141,1.07003224487,0.581035041786,-0.0012374577448,1.06970037231
+190,3.166666667,pose1_to_pose2_press,0.610960268074,-0.0099091855317,1.07003231116,0.581530719902,-0.00123744514372,1.06970044206
+191,3.183333333,pose1_to_pose2_press,0.611456003376,-0.00990915901482,1.07003233321,0.582026454147,-0.00123742211345,1.06970046683
+192,3.200000000,pose1_to_pose2_press,0.611945918071,-0.00990911058061,1.07003226124,0.582516367641,-0.00123737773663,1.06970039544
+193,3.216666667,pose1_to_pose2_press,0.612424107743,-0.00990914226032,1.07003234171,0.582994557914,-0.00123740762294,1.06970047036
+194,3.233333333,pose1_to_pose2_press,0.612879363434,-0.0099092520071,1.0700324827,0.583449815682,-0.00123751045594,1.06970060756
+195,3.250000000,pose1_to_pose2_press,0.613305633046,-0.00990928164074,1.0700323916,0.583876085669,-0.00123753857354,1.06970052035
+196,3.266666667,pose1_to_pose2_press,0.613696577546,-0.00990920434494,1.07003219377,0.584267028509,-0.00123746667896,1.06970032565
+197,3.283333333,pose1_to_pose2_press,0.614066588618,-0.00990919039062,1.07003209978,0.584637039814,-0.00123745169382,1.0697002332
+198,3.300000000,pose1_to_pose2_press,0.614419103034,-0.0099094043658,1.07003221443,0.58498955623,-0.00123765881323,1.06970034396
+199,3.316666667,pose1_to_pose2_press,0.614755074826,-0.00990936291017,1.07003211628,0.585325527876,-0.00123761745765,1.06970024972
+200,3.333333333,pose1_to_pose2_press,0.615075813995,-0.00990926957859,1.0700320671,0.585646265824,-0.00123752781455,1.06970020763
+201,3.350000000,pose1_to_pose2_press,0.61538104961,-0.00990916260029,1.07003215394,0.585951499626,-0.00123742684274,1.0697002926
+202,3.366666667,pose1_to_pose2_press,0.615667279751,-0.00990925427485,1.0700322643,0.586237731385,-0.00123751284645,1.06970040252
+203,3.383333333,pose1_to_pose2_press,0.615930446283,-0.00990933742576,1.0700322286,0.586500898866,-0.00123759239496,1.06970037265
+204,3.400000000,pose1_to_pose2_press,0.616172567521,-0.0099092210158,1.07003219745,0.586743018314,-0.0012374817686,1.06970034505
+205,3.416666667,pose1_to_pose2_press,0.616394000312,-0.00990914263481,1.07003224808,0.586964450398,-0.00123740577079,1.06970039165
+206,3.433333333,pose1_to_pose2_press,0.616593347339,-0.00990933568507,1.07003225471,0.587163799788,-0.00123759086686,1.06970039208
+207,3.450000000,pose1_to_pose2_press,0.616774690399,-0.00990925346164,1.0700325762,0.587345142533,-0.00123750968124,1.06970070826
+208,3.466666667,pose1_to_pose2_press,0.616940595734,-0.00990924758181,1.0700323733,0.587511046802,-0.00123750742717,1.06970050326
+209,3.483333333,pose1_to_pose2_press,0.617092626823,-0.00990927578561,1.07003213931,0.587663078545,-0.00123753310013,1.06970027473
+210,3.500000000,pose1_to_pose2_press,0.617230642223,-0.00990926343879,1.07003220847,0.587801093528,-0.00123752181112,1.06970035037
+211,3.516666667,pose1_to_pose2_press,0.617356859576,-0.00990925982335,1.07003233389,0.587927310958,-0.00123751818457,1.06970046714
+212,3.533333333,pose1_to_pose2_press,0.617471017179,-0.00990924773516,1.07003228144,0.588041468591,-0.00123750589261,1.06970041489
+213,3.550000000,pose1_to_pose2_press,0.617571343112,-0.00990917490788,1.07003207546,0.588141793628,-0.00123743549758,1.06970022212
+214,3.566666667,pose1_to_pose2_press,0.617659156995,-0.00990909426574,1.07003206265,0.588229606553,-0.00123735793157,1.06970020641
+215,3.583333333,pose1_to_pose2_press,0.617734285763,-0.009909136069,1.07003242443,0.588304734822,-0.00123740134376,1.06970055647
+216,3.600000000,pose1_to_pose2_press,0.617798135549,-0.00990922519191,1.07003220593,0.58836858408,-0.00123749285612,1.06970034196
+217,3.616666667,pose1_to_pose2_press,0.617851095466,-0.00990911079099,1.07003245436,0.588421545535,-0.00123737342031,1.06970058483
+218,3.633333333,pose1_to_pose2_press,0.617895014958,-0.0099090974089,1.0700323295,0.588465464241,-0.00123736223696,1.06970047022
+219,3.650000000,pose1_to_pose2_press,0.617930924806,-0.00990924081403,1.07003239644,0.588501376455,-0.00123749764694,1.06970053505
+220,3.666666667,pose1_to_pose2_press,0.617959441995,-0.00990919135127,1.07003246552,0.588529892539,-0.00123745216619,1.06970059743
+221,3.683333333,pose1_to_pose2_press,0.617982296533,-0.009909139257,1.07003243514,0.58855274568,-0.00123740487761,1.06970056461
+222,3.700000000,pose1_to_pose2_press,0.617999867226,-0.00990930402149,1.07003232758,0.588570318947,-0.00123756070669,1.0697004615
+223,3.716666667,pose1_to_pose2_press,0.618013227943,-0.00990917342603,1.07003233931,0.588583679126,-0.00123743194724,1.06970047218
+224,3.733333333,pose1_to_pose2_press,0.618022956068,-0.00990918465272,1.07003233631,0.588593406452,-0.00123744584328,1.06970047013
+225,3.750000000,pose1_to_pose2_press,0.618029810165,-0.00990920588591,1.07003235171,0.588600260154,-0.00123746833269,1.06970048755
+226,3.766666667,pose1_to_pose2_press,0.618034370942,-0.00990918727824,1.07003240528,0.588604821255,-0.00123744849093,1.06970054431
+227,3.783333333,pose1_to_pose2_press,0.618037237958,-0.00990920819144,1.07003235845,0.588607688603,-0.00123746827764,1.06970049726
+228,3.800000000,pose1_to_pose2_press,0.618039152829,-0.00990926079215,1.07003223181,0.58860960385,-0.00123751971048,1.06970036784
+229,3.816666667,pose1_to_pose2_press,0.618040314037,-0.00990929269003,1.07003215501,0.588610765286,-0.00123755090015,1.06970028936
+230,3.833333333,pose1_to_pose2_press,0.618041192468,-0.00990931682017,1.07003209692,0.588611643889,-0.00123757449453,1.06970022998
+231,3.850000000,pose1_to_pose2_press,0.618041772262,-0.00990928816866,1.07003212492,0.588612223336,-0.00123754696332,1.06970025925
+232,3.866666667,pose1_to_pose2_press,0.618042153845,-0.00990926266946,1.07003215324,0.588612604621,-0.00123752242105,1.06970028872
+233,3.883333333,pose1_to_pose2_press,0.618042540469,-0.00990923683339,1.07003218193,0.588612990944,-0.00123749755455,1.06970031857
+234,3.900000000,pose1_to_pose2_press,0.618043070482,-0.00990920141532,1.07003222126,0.588613520544,-0.00123746346565,1.0697003595
+235,3.916666667,pose1_to_pose2_press,0.618043548508,-0.00990916947128,1.07003225673,0.588613998198,-0.0012374327204,1.06970039641
+236,3.933333333,pose1_to_pose2_press,0.6180439321,-0.0099091438378,1.07003228519,0.588614381492,-0.0012374080489,1.06970042603
+237,3.950000000,pose1_to_pose2_press,0.61804421288,-0.0099091322468,1.07003229714,0.588614662105,-0.00123739704809,1.06970043742
+238,3.966666667,pose1_to_pose2_press,0.618044341283,-0.00990912910142,1.07003229993,0.588614790447,-0.00123739413838,1.06970043953
+239,3.983333333,pose1_to_pose2_press,0.618044392769,-0.00990912784021,1.07003230105,0.588614841909,-0.00123739297166,1.06970044038
+240,4.000000000,pose1_to_pose2_press,0.618044406588,-0.00990912750169,1.07003230135,0.588614855722,-0.0012373926585,1.06970044061
+241,4.016666667,pose1_to_pose2_press,0.618044591215,-0.00990912297904,1.07003230536,0.588615040261,-0.0012373884747,1.06970044365
+242,4.033333333,pose1_to_pose2_press,0.6180447979,-0.00990911791603,1.07003230985,0.588615246849,-0.00123738379103,1.06970044705
+243,4.050000000,pose1_to_pose2_press,0.618044963413,-0.0099091138616,1.07003231345,0.588615412283,-0.00123738004037,1.06970044978
+244,4.066666667,pose1_to_pose2_press,0.618044985519,-0.00990911332008,1.07003231393,0.588615434379,-0.00123737953943,1.06970045015
+245,4.083333333,pose1_to_pose2_press,0.61804501903,-0.00990911249919,1.07003231466,0.588615467874,-0.00123737878004,1.0697004507
+246,4.100000000,pose1_to_pose2_press,0.618045315854,-0.00990910522811,1.07003232111,0.588615764559,-0.00123737205373,1.06970045559
+247,4.116666667,pose1_to_pose2_press,0.618045557049,-0.0099090898519,1.07003230404,0.588616005364,-0.00123735802625,1.06970043788
+248,4.133333333,pose1_to_pose2_press,0.618045625785,-0.00990908017799,1.0700322867,0.588616073835,-0.00123734924314,1.06970042072
+249,4.150000000,pose1_to_pose2_press,0.618045784698,-0.00990905781264,1.07003224661,0.588616232134,-0.00123732893725,1.06970038105
+250,4.166666667,pose1_to_pose2_press,0.618045877276,-0.00990904478334,1.07003222326,0.588616324354,-0.00123731710772,1.06970035794
+251,4.183333333,pose1_to_pose2_press,0.61804597921,-0.0099090831474,1.07003219151,0.588616427095,-0.00123735262583,1.06970032893
+252,4.200000000,pose1_to_pose2_press,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115625,1.06970031655
+253,4.216666667,pose1_to_pose2_press,0.618046010429,-0.00990914664138,1.07003217587,0.588616459738,-0.00123741115312,1.06970031655
+254,4.233333333,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115258,1.06970031655
+255,4.250000000,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115259,1.06970031655
+256,4.266666667,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115255,1.06970031655
+257,4.283333333,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115251,1.06970031655
+258,4.300000000,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115247,1.06970031655
+259,4.316666667,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115243,1.06970031655
+260,4.333333333,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115242,1.06970031655
+261,4.350000000,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115238,1.06970031655
+262,4.366666667,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115235,1.06970031655
+263,4.383333333,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115229,1.06970031655
+264,4.400000000,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115227,1.06970031655
+265,4.416666667,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115226,1.06970031655
+266,4.433333333,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115222,1.06970031655
+267,4.450000000,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115223,1.06970031655
+268,4.466666667,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115216,1.06970031655
+269,4.483333333,pose2_hold,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.00123741115213,1.06970031655
+270,4.500000000,pose2_to_pose3_retreat,0.618046010429,-0.00990914664138,1.07003217587,0.588616459739,-0.001237411152,1.06970031655
+271,4.516666667,pose2_to_pose3_retreat,0.618045950282,-0.00990899027519,1.07003233667,0.588616397427,-0.00123726250119,1.06970046781
+272,4.533333333,pose2_to_pose3_retreat,0.618045818361,-0.00990907566352,1.0700323263,0.588616265856,-0.00123734662374,1.06970045946
+273,4.550000000,pose2_to_pose3_retreat,0.618045575326,-0.00990916145181,1.07003232873,0.588616023398,-0.00123743039042,1.06970046358
+274,4.566666667,pose2_to_pose3_retreat,0.618045193249,-0.00990915972635,1.07003237368,0.588615642097,-0.00123742607937,1.06970050729
+275,4.583333333,pose2_to_pose3_retreat,0.618044821374,-0.00990915804697,1.07003241743,0.588615270977,-0.00123742188343,1.06970054984
+276,4.600000000,pose2_to_pose3_retreat,0.618044722001,-0.00990915759821,1.07003242912,0.588615171807,-0.00123742076219,1.06970056121
+277,4.616666667,pose2_to_pose3_retreat,0.61804383398,-0.00990915612337,1.07003246672,0.588614284487,-0.00123741698313,1.06970059674
+278,4.633333333,pose2_to_pose3_retreat,0.618040702836,-0.00990913885292,1.07003245105,0.588611153463,-0.0012373994013,1.06970057832
+279,4.650000000,pose2_to_pose3_retreat,0.618032035907,-0.00990914414039,1.07003241191,0.588602486165,-0.00123740585682,1.06970054149
+280,4.666666667,pose2_to_pose3_retreat,0.618015977362,-0.00990930913552,1.07003231721,0.588586428782,-0.00123756657925,1.06970045576
+281,4.683333333,pose2_to_pose3_retreat,0.61798945324,-0.00990930397323,1.0700324309,0.58855990593,-0.00123755715762,1.06970056877
+282,4.700000000,pose2_to_pose3_retreat,0.61795267206,-0.00990928977355,1.07003232164,0.588523124336,-0.00123754460505,1.06970045433
+283,4.716666667,pose2_to_pose3_retreat,0.617905664586,-0.00990933905854,1.07003230083,0.588476116309,-0.00123759586787,1.06970043114
+284,4.733333333,pose2_to_pose3_retreat,0.617849848738,-0.00990927095348,1.07003222635,0.588420300149,-0.00123752875536,1.0697003609
+285,4.750000000,pose2_to_pose3_retreat,0.617785256129,-0.0099089725265,1.07003228558,0.588355704173,-0.00123724192986,1.06970042315
+286,4.766666667,pose2_to_pose3_retreat,0.617712983535,-0.00990918892892,1.07003241828,0.588283433514,-0.00123745196127,1.06970055072
+287,4.783333333,pose2_to_pose3_retreat,0.617632801614,-0.00990929820776,1.070032341,0.588203253607,-0.00123755453327,1.06970046887
+288,4.800000000,pose2_to_pose3_retreat,0.617541114457,-0.00990924137895,1.07003226737,0.588111567015,-0.00123749562519,1.06970039997
+289,4.816666667,pose2_to_pose3_retreat,0.617437752989,-0.00990918512768,1.07003234231,0.588008204905,-0.00123744140938,1.06970048069
+290,4.833333333,pose2_to_pose3_retreat,0.617320125512,-0.00990916752068,1.07003241792,0.587890575689,-0.00123743009203,1.06970054937
+291,4.850000000,pose2_to_pose3_retreat,0.617186045584,-0.00990915322592,1.07003221903,0.587756495627,-0.00123741635032,1.06970035114
+292,4.866666667,pose2_to_pose3_retreat,0.6170331149,-0.00990927606011,1.07003244293,0.58760356735,-0.00123753120282,1.06970057281
+293,4.883333333,pose2_to_pose3_retreat,0.616862950813,-0.00990930892632,1.07003238538,0.587433403873,-0.00123756230611,1.06970051075
+294,4.900000000,pose2_to_pose3_retreat,0.61667617484,-0.0099091811245,1.07003222516,0.587246625967,-0.0012374406877,1.0697003632
+295,4.916666667,pose2_to_pose3_retreat,0.616473463949,-0.00990912847918,1.07003215627,0.587043913606,-0.00123739285776,1.0697003022
+296,4.933333333,pose2_to_pose3_retreat,0.616255881223,-0.00990920665047,1.07003217089,0.586826331651,-0.00123746873106,1.06970031352
+297,4.950000000,pose2_to_pose3_retreat,0.616021328347,-0.0099092686654,1.07003216374,0.586591780093,-0.00123752671795,1.06970030037
+298,4.966666667,pose2_to_pose3_retreat,0.615766456252,-0.00990914016773,1.07003208683,0.586336906449,-0.00123740360828,1.06970022506
+299,4.983333333,pose2_to_pose3_retreat,0.615489425416,-0.00990906821207,1.07003217002,0.586059874733,-0.00123733471413,1.06970031258
+300,5.000000000,pose2_to_pose3_retreat,0.615186124933,-0.00990904492504,1.07003219188,0.585756572421,-0.00123731795132,1.06970033068
+301,5.016666667,pose2_to_pose3_retreat,0.614858613769,-0.00990926337321,1.07003229074,0.585429065143,-0.00123752360556,1.06970042556
+302,5.033333333,pose2_to_pose3_retreat,0.614509773189,-0.00990921320986,1.07003215525,0.585080224702,-0.00123747308334,1.06970029232
+303,5.050000000,pose2_to_pose3_retreat,0.614141553811,-0.00990922964502,1.07003210659,0.584712005216,-0.00123748985123,1.06970024955
+304,5.066666667,pose2_to_pose3_retreat,0.613752858527,-0.00990929349271,1.0700322092,0.584323310505,-0.00123755189225,1.06970035387
+305,5.083333333,pose2_to_pose3_retreat,0.613346197152,-0.00990925665059,1.07003234193,0.583916649006,-0.00123751587229,1.06970048043
+306,5.100000000,pose2_to_pose3_retreat,0.612920587084,-0.00990925876028,1.07003243007,0.583491039065,-0.00123751793984,1.06970056046
+307,5.116666667,pose2_to_pose3_retreat,0.612473197519,-0.00990937585297,1.07003222205,0.58304365141,-0.00123762845781,1.06970035474
+308,5.133333333,pose2_to_pose3_retreat,0.612006123841,-0.00990926807937,1.07003220511,0.582576574908,-0.00123753019043,1.06970033959
+309,5.150000000,pose2_to_pose3_retreat,0.611518294768,-0.00990936180446,1.07003221772,0.582088747987,-0.0012376167161,1.06970034942
+310,5.166666667,pose2_to_pose3_retreat,0.611005249228,-0.00990922736431,1.07003221105,0.581575700448,-0.00123748898932,1.06970034442
+311,5.183333333,pose2_to_pose3_retreat,0.610463058008,-0.00990910888315,1.07003223837,0.581033508773,-0.00123737174323,1.0697003803
+312,5.200000000,pose2_to_pose3_retreat,0.609903881792,-0.00990910482872,1.07003225532,0.580474333199,-0.00123736522131,1.06970040545
+313,5.216666667,pose2_to_pose3_retreat,0.609330953546,-0.00990914365217,1.07003233898,0.579901404745,-0.00123740491436,1.06970048495
+314,5.233333333,pose2_to_pose3_retreat,0.608748919637,-0.00990920106364,1.07003255775,0.579319371941,-0.00123745913257,1.06970068836
+315,5.250000000,pose2_to_pose3_retreat,0.608162569863,-0.00990927227743,1.07003244747,0.578733023602,-0.00123752533039,1.06970058133
+316,5.266666667,pose2_to_pose3_retreat,0.607571156468,-0.00990916291193,1.07003226129,0.578141606608,-0.00123742824269,1.06970039345
+317,5.283333333,pose2_to_pose3_retreat,0.606959518886,-0.00990917762809,1.07003222494,0.57752996999,-0.00123743972622,1.06970035601
+318,5.300000000,pose2_to_pose3_retreat,0.606323496746,-0.00990931282284,1.07003228022,0.576893949278,-0.00123756998781,1.06970041385
+319,5.316666667,pose2_to_pose3_retreat,0.605652506523,-0.00990932117866,1.07003234938,0.576222959039,-0.00123757852395,1.06970047996
+320,5.333333333,pose2_to_pose3_retreat,0.604948820329,-0.00990919816055,1.0700322854,0.57551927178,-0.00123745928662,1.06970041172
+321,5.350000000,pose2_to_pose3_retreat,0.604209311525,-0.00990921008826,1.0700321595,0.57477976299,-0.00123747091431,1.06970029243
+322,5.366666667,pose2_to_pose3_retreat,0.603453199542,-0.00990924823692,1.07003230202,0.574023652286,-0.00123750467602,1.06970043597
+323,5.383333333,pose2_to_pose3_retreat,0.602691320376,-0.00990928931427,1.07003221529,0.573261772298,-0.00123754852608,1.06970035002
+324,5.400000000,pose2_to_pose3_retreat,0.601940927916,-0.00990915192526,1.07003235613,0.572511378473,-0.00123741600807,1.06970048612
+325,5.416666667,pose2_to_pose3_retreat,0.601204291289,-0.00990894548889,1.07003254602,0.57177473943,-0.00123721750353,1.06970068023
+326,5.433333333,pose2_to_pose3_retreat,0.600473085124,-0.00990904090939,1.07003242016,0.571043534355,-0.00123730954829,1.06970054514
+327,5.450000000,pose2_to_pose3_retreat,0.599734343019,-0.00990921026596,1.07003225393,0.570304793712,-0.00123747371794,1.06970038746
+328,5.466666667,pose2_to_pose3_retreat,0.598976895165,-0.00990918028381,1.07003229536,0.569547345511,-0.00123744513184,1.06970042364
+329,5.483333333,pose2_to_pose3_retreat,0.598196077448,-0.00990904124712,1.07003238014,0.568766526425,-0.00123731095379,1.06970050131
+330,5.500000000,pose2_to_pose3_retreat,0.59739377544,-0.00990910746278,1.07003235379,0.56796422514,-0.00123737444107,1.0697004811
+331,5.516666667,pose2_to_pose3_retreat,0.596594465471,-0.00990932232237,1.07003232924,0.567164917817,-0.00123758007413,1.06970046277
+332,5.533333333,pose2_to_pose3_retreat,0.595804279159,-0.00990930499547,1.07003236887,0.566374731943,-0.00123756115011,1.06970050527
+333,5.550000000,pose2_to_pose3_retreat,0.59503825049,-0.00990926865341,1.07003255386,0.565608702898,-0.00123752627224,1.06970068519
+334,5.566666667,pose2_to_pose3_retreat,0.594291229246,-0.00990913407076,1.07003246003,0.564861679291,-0.00123739966447,1.06970059203
+335,5.583333333,pose2_to_pose3_retreat,0.593559274337,-0.00990921881323,1.07003216606,0.564129724482,-0.00123748413479,1.06970029667
+336,5.600000000,pose2_to_pose3_retreat,0.59282585835,-0.00990923798802,1.07003244819,0.563396309594,-0.00123749970228,1.06970057551
+337,5.616666667,pose2_to_pose3_retreat,0.592085585846,-0.00990923460985,1.07003238615,0.562656037148,-0.00123749602363,1.0697005162
+338,5.633333333,pose2_to_pose3_retreat,0.591341788074,-0.00990927715673,1.07003222279,0.561912239944,-0.00123753662661,1.06970035321
+339,5.650000000,pose2_to_pose3_retreat,0.590597086286,-0.00990928852011,1.07003224871,0.561167539092,-0.00123754502225,1.06970037365
+340,5.666666667,pose2_to_pose3_retreat,0.589852898997,-0.00990920815847,1.0700322901,0.560423351588,-0.00123746548217,1.06970041255
+341,5.683333333,pose2_to_pose3_retreat,0.589126291609,-0.00990919986055,1.07003236448,0.559696744227,-0.00123745696527,1.06970049027
+342,5.700000000,pose2_to_pose3_retreat,0.58842299842,-0.0099091955671,1.07003235247,0.558993449742,-0.00123745696803,1.06970048086
+343,5.716666667,pose2_to_pose3_retreat,0.58773903777,-0.00990922178156,1.07003233715,0.558309487825,-0.00123748739869,1.06970046772
+344,5.733333333,pose2_to_pose3_retreat,0.587075457494,-0.00990916357835,1.07003220447,0.557645908338,-0.00123742619188,1.06970034353
+345,5.750000000,pose2_to_pose3_retreat,0.586430155648,-0.00990920852974,1.07003213166,0.557000607194,-0.00123746903622,1.06970026355
+346,5.766666667,pose2_to_pose3_retreat,0.585797292342,-0.00990931766852,1.07003231768,0.556367745217,-0.00123757362922,1.06970045053
+347,5.783333333,pose2_to_pose3_retreat,0.585174823887,-0.00990927409578,1.07003240496,0.55574527585,-0.00123753326134,1.06970053484
+348,5.800000000,pose2_to_pose3_retreat,0.584565329123,-0.00990920722144,1.07003236646,0.555135779856,-0.00123747080788,1.06970048992
+349,5.816666667,pose2_to_pose3_retreat,0.583972963777,-0.00990927442755,1.07003239377,0.554543415374,-0.00123753499641,1.06970051941
+350,5.833333333,pose2_to_pose3_retreat,0.583408349755,-0.00990929941467,1.07003244894,0.553978802089,-0.00123755723316,1.06970058104
+351,5.850000000,pose2_to_pose3_retreat,0.582869807775,-0.00990922144763,1.07003247017,0.55344026047,-0.00123747825711,1.06970059661
+352,5.866666667,pose2_to_pose3_retreat,0.582354052771,-0.00990922298296,1.07003232833,0.552924506197,-0.00123747698833,1.06970046332
+353,5.883333333,pose2_to_pose3_retreat,0.581851454904,-0.00990914578134,1.07003245077,0.552421906271,-0.00123740699562,1.06970057996
+354,5.900000000,pose2_to_pose3_retreat,0.581359169818,-0.00990929594932,1.07003241811,0.551929622137,-0.00123755423657,1.06970053931
+355,5.916666667,pose2_to_pose3_retreat,0.580887361643,-0.00990935091842,1.0700324321,0.551457814744,-0.00123760630996,1.06970055961
+356,5.933333333,pose2_to_pose3_retreat,0.580439869463,-0.00990926478076,1.07003238363,0.551010321033,-0.00123752514608,1.06970051694
+357,5.950000000,pose2_to_pose3_retreat,0.5800222642,-0.00990930286129,1.0700322842,0.550592715718,-0.00123756346302,1.06970041591
+358,5.966666667,pose2_to_pose3_retreat,0.579633713318,-0.00990936748635,1.07003229885,0.550204166112,-0.00123762383566,1.06970042875
+359,5.983333333,pose2_to_pose3_retreat,0.579275533187,-0.00990921367214,1.07003243197,0.54984598516,-0.0012374727029,1.06970056507
+360,6.000000000,pose2_to_pose3_retreat,0.57893285142,-0.00990926066545,1.07003231186,0.549503304367,-0.00123751628992,1.06970044756
+361,6.016666667,pose2_to_pose3_retreat,0.578603078422,-0.00990928521639,1.07003225298,0.549173529716,-0.00123754682883,1.06970037852
+362,6.033333333,pose2_to_pose3_retreat,0.578291490077,-0.00990920674624,1.07003221937,0.54886194061,-0.00123747074066,1.06970035002
+363,6.050000000,pose2_to_pose3_retreat,0.57799874447,-0.00990926953124,1.07003231573,0.548569197442,-0.00123752532416,1.06970044442
+364,6.066666667,pose2_to_pose3_retreat,0.577727707106,-0.00990929815241,1.07003227545,0.548298160158,-0.00123755364797,1.06970040473
+365,6.083333333,pose2_to_pose3_retreat,0.577479043445,-0.00990914748514,1.07003227237,0.548049494404,-0.0012374099516,1.06970040508
+366,6.100000000,pose2_to_pose3_retreat,0.577254537801,-0.00990907253029,1.0700322901,0.547824987415,-0.00123733955383,1.06970042319
+367,6.116666667,pose2_to_pose3_retreat,0.577049285791,-0.00990921723445,1.070032265,0.547619735662,-0.00123748357413,1.06970039326
+368,6.133333333,pose2_to_pose3_retreat,0.57686241191,-0.00990926222995,1.0700323882,0.547432862106,-0.00123752762381,1.06970051238
+369,6.150000000,pose2_to_pose3_retreat,0.576694550501,-0.00990917752085,1.070032425,0.547265000737,-0.00123744221569,1.06970056384
+370,6.166666667,pose2_to_pose3_retreat,0.576544705925,-0.00990939263772,1.07003222234,0.547115159504,-0.00123764594178,1.06970036233
+371,6.183333333,pose2_to_pose3_retreat,0.576412854644,-0.00990921614956,1.07003222325,0.546983305754,-0.00123747816068,1.06970035486
+372,6.200000000,pose2_to_pose3_retreat,0.576295581918,-0.00990912763945,1.07003227765,0.546866033497,-0.00123738797927,1.06970041134
+373,6.216666667,pose2_to_pose3_retreat,0.576192307128,-0.00990918646425,1.07003227538,0.54676276003,-0.00123744218131,1.06970041255
+374,6.233333333,pose2_to_pose3_retreat,0.576099144369,-0.00990926682881,1.07003220045,0.546669596262,-0.00123752604652,1.06970033592
+375,6.250000000,pose2_to_pose3_retreat,0.576015747161,-0.00990923674091,1.07003216291,0.546586198124,-0.00123749883509,1.06970030637
+376,6.266666667,pose2_to_pose3_retreat,0.575943775676,-0.00990931062953,1.07003220307,0.54651422782,-0.0012375689455,1.06970034021
+377,6.283333333,pose2_to_pose3_retreat,0.575882266744,-0.00990930367521,1.07003222815,0.546452718724,-0.00123756284654,1.06970035741
+378,6.300000000,pose2_to_pose3_retreat,0.575831473189,-0.00990925515496,1.07003224467,0.546401923894,-0.00123751883158,1.06970036919
+379,6.316666667,pose2_to_pose3_retreat,0.575789948142,-0.0099092127694,1.07003223403,0.546360399523,-0.00123747404029,1.06970036146
+380,6.333333333,pose2_to_pose3_retreat,0.57575726114,-0.00990925333822,1.07003215078,0.546327713257,-0.00123751184745,1.06970028512
+381,6.350000000,pose2_to_pose3_retreat,0.575731008078,-0.00990926981671,1.07003209664,0.546301459471,-0.00123753057989,1.06970023627
+382,6.366666667,pose2_to_pose3_retreat,0.575710386224,-0.00990917263085,1.07003223344,0.546280836422,-0.00123743746384,1.06970037269
+383,6.383333333,pose2_to_pose3_retreat,0.575694904115,-0.00990928259649,1.07003255993,0.546265356628,-0.00123753978798,1.06970069371
+384,6.400000000,pose2_to_pose3_retreat,0.575683617034,-0.00990927001577,1.07003233826,0.546254068894,-0.00123752924914,1.0697004767
+385,6.416666667,pose2_to_pose3_retreat,0.575676753317,-0.00990921136176,1.07003233006,0.546247203838,-0.00123747530255,1.06970046425
+386,6.433333333,pose2_to_pose3_retreat,0.575672240549,-0.00990920759128,1.07003234316,0.546242690768,-0.00123747265866,1.06970047467
+387,6.450000000,pose2_to_pose3_retreat,0.575669728975,-0.00990926263555,1.07003233802,0.546240179999,-0.0012375249404,1.06970047014
+388,6.466666667,pose2_to_pose3_retreat,0.575668511083,-0.00990928070554,1.0700323367,0.5462389624,-0.00123754201305,1.06970046888
+389,6.483333333,pose2_to_pose3_retreat,0.575667945598,-0.00990925117319,1.07003234126,0.54623839662,-0.00123751352305,1.06970047238
+390,6.500000000,pose2_to_pose3_retreat,0.575667417035,-0.0099092235691,1.07003234552,0.546237867781,-0.00123748689325,1.06970047566
+391,6.516666667,pose2_to_pose3_retreat,0.575667069329,-0.00990920541022,1.07003234833,0.546237519893,-0.00123746937529,1.06970047781
+392,6.533333333,pose2_to_pose3_retreat,0.575666979372,-0.00990920071227,1.07003234905,0.54623742989,-0.00123746484315,1.06970047837
+393,6.550000000,pose2_to_pose3_retreat,0.575666753909,-0.00990918893752,1.07003235087,0.54623720431,-0.00123745348399,1.06970047977
+394,6.566666667,pose2_to_pose3_retreat,0.575666436193,-0.00990917234488,1.07003235343,0.546236886428,-0.001237437477,1.06970048174
+395,6.583333333,pose2_to_pose3_retreat,0.575666429592,-0.00990917200012,1.07003235349,0.546236879823,-0.0012374371444,1.06970048178
+396,6.600000000,pose2_to_pose3_retreat,0.575666421733,-0.0099091715897,1.07003235355,0.546236871961,-0.00123743674847,1.06970048182
+397,6.616666667,pose2_to_pose3_retreat,0.575666111803,-0.00990915540367,1.07003235605,0.546236561869,-0.00123742113372,1.06970048375
+398,6.633333333,pose2_to_pose3_retreat,0.575665987951,-0.00990914893551,1.07003235705,0.546236437952,-0.00123741489386,1.06970048451
+399,6.650000000,pose2_to_pose3_retreat,0.575665948059,-0.0099091515945,1.07003235475,0.546236398156,-0.00123741723148,1.06970048213
+400,6.666666667,pose2_to_pose3_retreat,0.575665641081,-0.00990918525966,1.07003232981,0.546236092238,-0.00123744732416,1.06970045651
+401,6.683333333,pose2_to_pose3_retreat,0.575665256253,-0.00990922746229,1.07003229853,0.546235708739,-0.00123748504833,1.06970042438
+402,6.700000000,pose2_to_pose3_retreat,0.575665189807,-0.00990923474918,1.07003229313,0.546235642522,-0.00123749156194,1.06970041884
+403,6.716666667,pose2_to_pose3_retreat,0.575665170358,-0.00990923688214,1.07003229155,0.54623562314,-0.00123749346856,1.06970041721
+404,6.733333333,pose2_to_pose3_retreat,0.575665149967,-0.00990923911825,1.07003228989,0.54623560282,-0.00123749546738,1.06970041551
+405,6.750000000,pose2_to_pose3_retreat,0.575664948077,-0.00990926125887,1.07003227348,0.546235401626,-0.00123751525848,1.06970039866
+406,6.766666667,pose2_to_pose3_retreat,0.575664610289,-0.0099092734918,1.07003223721,0.546235063691,-0.00123752782745,1.06970036673
+407,6.783333333,pose2_to_pose3_retreat,0.575664413553,-0.00990927065345,1.07003221253,0.546234866341,-0.00123752689832,1.06970034664
+408,6.800000000,pose2_to_pose3_retreat,0.57566430432,-0.00990926907752,1.07003219883,0.546234756767,-0.00123752638244,1.06970033549
+409,6.816666667,pose2_to_pose3_retreat,0.575664303812,-0.00990926907018,1.07003219877,0.546234756257,-0.00123752638004,1.06970033544
+410,6.833333333,pose2_to_pose3_retreat,0.575664281117,-0.00990926874276,1.07003219592,0.546234733491,-0.00123752627286,1.06970033312
+411,6.850000000,pose2_to_pose3_retreat,0.575664286333,-0.00990925187584,1.07003219856,0.546234738366,-0.0012375105979,1.06970033483
+412,6.866666667,pose2_to_pose3_retreat,0.57566431628,-0.00990920979203,1.0700322073,0.546234767511,-0.00123747134169,1.06970034083
+413,6.883333333,pose2_to_pose3_retreat,0.575664324148,-0.00990919873499,1.0700322096,0.546234775169,-0.00123746102757,1.06970034241
+414,6.900000000,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385426,1.06970035116
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5334cc36abe8fbff8c2b5739a7300c03e4ded309
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad11fa79af441acf0aef54cee5b01d33fea5dcf72263fca9ccb1f08551e09b98
+size 26417634
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dd190ba913aa0a24fb24af6d1fe417ef3b478ef8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,715,679,661,636,879,788,804,651,632,653,0.400991707073,-0.0153504984698,0.0798493147215,0.999999924444,0.000284753753269,-0.000262220380282,3.56012248427e-05,1793239643852863488
+1,0.016666667,BASELINE,765,744.423076554,715,678.423076554,661,636,879,788,804,651.576923446,632,653,0.400991152874,-0.0153502191595,0.0798491273044,0.999999924244,0.000284238517997,-0.00026357344184,3.53592064293e-05,1793239643869529600
+2,0.033333333,BASELINE,765,744.152391271,715,678,661,636,879,788,804,652,631.847608729,653,0.400990532627,-0.0153503862742,0.0798487364758,0.999999924075,0.00028354215765,-0.000264979837435,3.52059848104e-05,1793239643886195456
+3,0.050000000,BASELINE,765,744.72385629,715,678,661,636,879,788,804,652,631.27614371,653,0.400989730749,-0.0153517810515,0.0798477862682,0.999999923997,0.000282347705904,-0.000266532901148,3.52969530139e-05,1793239643902862080
+4,0.066666667,BASELINE,765,745,715,678.307184152,661,635.692815848,879.307184152,788,804,652,631.307184152,653,0.400989381083,-0.0153522791715,0.0798473151475,0.999999924016,0.000282133956775,-0.000266691141807,3.52679853189e-05,1793239643919528960
+5,0.083333333,BASELINE,765,745,715,678.901604471,661,635.098395529,879.901604471,788,804,652,631.901604471,653,0.400989454263,-0.0153519388614,0.0798472920027,0.999999924127,0.000282837225275,-0.00026554513662,3.51268701415e-05,1793239643936195584
+6,0.100000000,BASELINE,765,744.516293116,715,679,660.516293116,635,879.516293116,788,804,652,632,653,0.40099023406,-0.0153509460331,0.0798478867956,0.999999924167,0.000283680740668,-0.000264509001868,3.50181358964e-05,1793239643952862720
+7,0.116666667,BASELINE,765.062831109,744,715,678.937168891,660.062831109,635,879,788,804,652,631.937168891,653,0.400990958901,-0.0153499746916,0.0798485213706,0.999999924157,0.000284448443794,-0.000263729646393,3.49414048405e-05,1793239643969529344
+8,0.133333333,BASELINE,765.63759867,744,715,678.36240133,660.63759867,635,879,788,804,652,631.36240133,653,0.400990093895,-0.0153502330651,0.079848481329,0.999999923875,0.000284371765854,-0.000264864901701,3.50730936886e-05,1793239643986195712
+9,0.150000000,BASELINE,765.782782153,744,715,678,661,635.217217847,879.217217847,788,804,652,631,653,0.400989026157,-0.0153502727066,0.0798480588936,0.999999923571,0.000284267686848,-0.000266119190595,3.50801712391e-05,1793239644002862080
+10,0.166666667,BASELINE,765.194883789,744,715,678,661,635.805116211,879.805116211,788,804,652,631,653,0.400987612462,-0.0153499390837,0.079846983906,0.999999923232,0.000284116848151,-0.000267576609231,3.48746005945e-05,1793239644019528448
+11,0.183333333,BASELINE,765,744.387085045,715,678,661,636,879.612914955,788,804,651.612914955,631,653,0.400989021014,-0.0153505610512,0.0798483700137,0.999999923659,0.000284373637929,-0.000265682475958,3.50126458183e-05,1793239644036195328
+12,0.200000000,BASELINE,765,744.96611366,715,678,661,636,879.03388634,788,804,651.03388634,631,653,0.400991829032,-0.0153516568666,0.0798509765026,0.999999924456,0.000284832558116,-0.000262126411293,3.53210795648e-05,1793239644052861952
+13,0.216666667,BASELINE,765,744.457269781,715,678.542730219,661,636,879,788,804,651.542730219,631,653,0.400991036959,-0.0153518047487,0.0798499691147,0.999999924231,0.000284808623298,-0.000263021643755,3.52469687234e-05,1793239644069528576
+14,0.233333333,BASELINE,765,744.118920244,715,678.881079756,661,635.881079756,879,788,804,652,631.118920244,653,0.400990190552,-0.015351874817,0.0798489439911,0.999999924041,0.000284568860548,-0.000264019463446,3.51101804964e-05,1793239644086195456
+15,0.250000000,BASELINE,765,744.694049333,715,678.305950667,661,635.305950667,879,788,804,652,631.694049333,653,0.4009899942,-0.0153518724193,0.0798487126075,0.999999924234,0.000283616269471,-0.000264349360785,3.48241686537e-05,1793239644102862336
+16,0.266666667,BASELINE,765,745,715,678,661,635.276423268,879,788,804,651.723576732,632,653.276423268,0.400990066246,-0.015352232792,0.0798488046091,0.999999924633,0.000282392463208,-0.000264148608058,3.48562978012e-05,1793239644119528960
+17,0.283333333,BASELINE,765,745,715,678,661,635.867031729,879,788,804,651.132968271,632,653.867031729,0.400990443356,-0.0153530054928,0.0798492641733,0.999999925262,0.000280860391361,-0.000263344713639,3.52500288984e-05,1793239644136195328
+18,0.300000000,BASELINE,765,745,715,678.449491177,661,636,879,788,804,651.449491177,631.550508823,653.550508823,0.400991320984,-0.0153518319491,0.0798492696468,0.999999924609,0.000283799891543,-0.000262693485755,3.5104362174e-05,1793239644152861952
+19,0.316666667,BASELINE,765,744.970743077,715,678.970743077,660.970743077,636,879,788,804,651.970743077,631,653,0.400992199003,-0.015350304523,0.0798491243977,0.999999923667,0.000287570973176,-0.000262211731581,3.48375427764e-05,1793239644169528576
+20,0.333333333,BASELINE,765,744.397043531,715,678.397043531,660.397043531,636,879,788,804,651.397043531,631,653,0.400990378044,-0.0153527148162,0.0798486295658,0.999999924573,0.000282639683529,-0.00026405826599,3.5232654322e-05,1793239644186195200
+21,0.350000000,BASELINE,765,744,715,678,660.176810639,636,879,788,804,651.176810639,631.176810639,653,0.400989217512,-0.0153539316549,0.0798483155008,0.999999924991,0.000280052953095,-0.000265206765536,3.54019718094e-05,1793239644202861824
+22,0.366666667,BASELINE,765,744,715,678,660.751012254,636,879,788,804,651.751012254,631.751012254,653,0.400989541328,-0.0153524661428,0.079848407719,0.99999992436,0.000282735740402,-0.000264786395696,3.50638055205e-05,1793239644219528704
+23,0.383333333,BASELINE,765,744.336079908,715,678.336079908,661,635.663920092,879,787.663920092,804,652,631.663920092,653,0.400989506522,-0.0153525361385,0.0798485684741,0.999999924531,0.000282319496184,-0.000264592725769,3.49858707621e-05,1793239644236195584
+24,0.400000000,BASELINE,765,744.929466796,715,678.929466796,661,635.070533204,879,787.070533204,804,652,631.070533204,653,0.400989197151,-0.015353781738,0.0798487817019,0.999999925316,0.000279530594951,-0.000264572620084,3.51071724824e-05,1793239644252862464
+25,0.416666667,BASELINE,765,745,715,678.491490548,661,635,879,787.508509452,804,651.491490548,631,653,0.400989468773,-0.0153542082907,0.0798487923104,0.999999925537,0.000278744247372,-0.000264571254847,3.50711202002e-05,1793239644269528832
+26,0.433333333,BASELINE,765,745,715,678.085362461,661,635.085362461,879,788,804,651.085362461,631.085362461,653,0.400989569648,-0.0153542667334,0.0798486546372,0.999999925535,0.000278612009937,-0.000264725553358,3.50115568394e-05,1793239644286195456
+27,0.450000000,BASELINE,765,745,715,678.660754138,661,635.660754138,879,788,804,651.660754138,631.660754138,653,0.400988240412,-0.015352846289,0.0798478226516,0.999999924684,0.000280683948868,-0.000265758937872,3.49388822752e-05,1793239644302862080
+28,0.466666667,BASELINE,765,745,715,679,661,635.759078342,879,787.759078342,804,652,632,653,0.400988141231,-0.0153525594649,0.0798480106215,0.999999924335,0.00028209320454,-0.000265565727635,3.50333561429e-05,1793239644319528704
+29,0.483333333,BASELINE,765,745,715,679,661,635.172049905,879,787.172049905,804,652,632,653,0.40098980914,-0.0153539011938,0.0798496638542,0.999999924712,0.000282550452823,-0.000263610397806,3.53679545682e-05,1793239644336195584
+30,0.500000000,BASELINE,765,744.590334837,715.409665163,679,661,635.409665163,878.590334837,787.409665163,804.409665163,651.590334837,632,653,0.400989974686,-0.0153543313076,0.0798496526271,0.999999924969,0.000282076103591,-0.000263128380081,3.54650210115e-05,1793239644352862208
+31,0.516666667,BASELINE,765,744.010822702,715.989177298,679,661,635.989177298,878.010822702,787.989177298,804.989177298,651.010822702,632,653,0.400989517354,-0.0153543834663,0.0798489513159,0.999999925178,0.000281215514485,-0.000263257196864,3.54636068059e-05,1793239644369528832
+32,0.533333333,BASELINE,765,744.566789302,715.433210698,679,661.566789302,636,878.566789302,788,804.433210698,651.566789302,631.433210698,653,0.400989457605,-0.0153545829285,0.0798484636051,0.999999925337,0.000280043479072,-0.000263951794374,3.50947728129e-05,1793239644386195456
+33,0.550000000,BASELINE,765,745,715,679,661.85908575,635.85908575,879,788,804,652,631.14091425,653,0.400989298346,-0.0153543929167,0.0798481072736,0.999999925223,0.000279882125048,-0.000264582358651,3.48759112399e-05,1793239644402862336
+34,0.566666667,BASELINE,765,745,715,679,661.295316345,635.295316345,879,788,804,652,631.704683655,653,0.40098881777,-0.0153530257599,0.0798481329865,0.999999924294,0.000282771407698,-0.000264988461402,3.51280692493e-05,1793239644419528704
+35,0.583333333,BASELINE,765,744.713434733,715,679,661,635.286565267,879,788,804,651.713434733,631.713434733,653,0.400987984394,-0.015352605794,0.0798479911825,0.99999992394,0.000283284290479,-0.000265769298053,3.51731536702e-05,1793239644436195328
+36,0.600000000,BASELINE,765,744.111628404,715,679,661,635.888371596,879,788,804,651.111628404,631.111628404,653,0.400986762915,-0.0153532278018,0.0798476650985,0.999999924221,0.000281182973993,-0.000266962367247,3.49904432528e-05,1793239644452861696
+37,0.616666667,BASELINE,764.528236183,744.471763817,715,679,661,636,879,788,804,651.471763817,631,653,0.400988578956,-0.0153531825458,0.0798486591497,0.999999924569,0.000282220987966,-0.000264542830636,3.50841734646e-05,1793239644469528320
+38,0.633333333,BASELINE,764.050662428,745,715,679,661,636,879,788,804,651.949337572,631,653,0.40099082526,-0.0153529235037,0.0798498447462,0.999999924878,0.00028382648278,-0.000261623491789,3.5210040541e-05,1793239644486194944
+39,0.650000000,BASELINE,764.626450238,745,715,679,661,636,879,788,804,651.373549762,631,653,0.400990361342,-0.0153520235828,0.0798498996092,0.999999924751,0.000283903735422,-0.000262051046301,3.50164831954e-05,1793239644502862080
+40,0.666666667,BASELINE,765,745,715,678.793819195,661,635.793819195,879,788,804,651.206180805,631.206180805,653,0.40098955792,-0.0153519459712,0.0798493841025,0.999999924661,0.000283353491697,-0.00026301748284,3.48077982876e-05,1793239644519528960
+41,0.683333333,BASELINE,765,745,715,678.206806079,661,635.206806079,879,788,804,651.793193921,631.793193921,653,0.40098812741,-0.0153533872303,0.0798478150779,0.999999924634,0.000281644212374,-0.000264979277229,3.45711715828e-05,1793239644536195840
+42,0.700000000,BASELINE,765,744.62489712,715,678,661,635.37510288,879,788,804,651.62489712,631.62489712,653,0.400988864122,-0.0153533104674,0.0798482475663,0.999999924754,0.000282045474008,-0.000264106476272,3.45021796733e-05,1793239644552862464
+43,0.716666667,BASELINE,765,744.045764485,715,678,661,635.954235515,879,788,804,651.045764485,631.045764485,653,0.400990779651,-0.0153524080066,0.079849768738,0.99999992495,0.000283594722498,-0.000261691853455,3.45243693862e-05,1793239644569529344
+44,0.733333333,BASELINE,765,744.530890892,715,678.530890892,661.530890892,636,879,788,804,651.530890892,631.530890892,653,0.400989778747,-0.0153534007963,0.0798493091718,0.999999925114,0.000281564280824,-0.00026321772089,3.4779656214e-05,1793239644586195712
+45,0.750000000,BASELINE,765.106994427,745,715,678.893005573,661.893005573,636,879,788,804.106994427,652,632,653,0.400988931535,-0.0153543903891,0.0798487801855,0.999999925339,0.000279468477267,-0.000264568609202,3.49797367452e-05,1793239644602862080
+46,0.766666667,BASELINE,765.681614924,745,715,678.318385076,661.318385076,636,879,788,804.681614924,652,632,653,0.400989849726,-0.0153546552775,0.0798486905846,0.999999925868,0.000278429413936,-0.000263677029053,3.48511215172e-05,1793239644619528704
+47,0.783333333,BASELINE,765.736575465,745,715,678.263424535,661,636,879,788,804.736575465,652,631.736575465,653,0.400990285824,-0.0153549700729,0.0798489961852,0.999999926255,0.000277871176383,-0.000262797243185,3.48468473106e-05,1793239644636195328
+48,0.800000000,BASELINE,765.145832951,745,715,678.854167049,661,636,879,788,804.145832951,652,631.145832951,653,0.400990122896,-0.0153553468803,0.0798497928431,0.999999926466,0.00027791038844,-0.000261932112176,3.49970729395e-05,1793239644652861952
+49,0.816666667,BASELINE,765,744.564017005,715,679,661,636,879,788,804,652,631.435982995,653,0.400990381849,-0.0153549381386,0.07984992916,0.999999926153,0.000279185481894,-0.000261769394363,3.50144749878e-05,1793239644669528832
+50,0.833333333,BASELINE,765,744.014724897,715.014724897,679,661,636,879,788,804,652,632,653.014724897,0.400990743552,-0.0153542806806,0.0798498383805,0.999999925671,0.000280829508806,-0.000261858124525,3.49862640753e-05,1793239644686196224
+51,0.850000000,BASELINE,765,744.587852479,715.587852479,679,661,636,879,788,804,652,632,653.587852479,0.400989757691,-0.0153539558709,0.079849343763,0.999999925363,0.000281102073392,-0.000262751195391,3.48793300941e-05,1793239644702862848
+52,0.866666667,BASELINE,765,744.838009876,716,678.838009876,660.838009876,635.838009876,879,788,804.161990124,652,631.838009876,653.838009876,0.400989118105,-0.0153539490444,0.0798490266761,0.999999925253,0.000280957039984,-0.000263330814762,3.48420298622e-05,1793239644719529472
+53,0.883333333,BASELINE,765,744.26128626,716,678.26128626,660.26128626,635.26128626,879,788,804.73871374,652,631.26128626,653.26128626,0.400989365068,-0.0153547563311,0.0798491641105,0.999999925647,0.000279742855745,-0.000263107923223,3.4983008702e-05,1793239644736195328
+54,0.900000000,BASELINE,765,744.32408357,715.67591643,678,660.32408357,635,879,788,804.67591643,652,631,653,0.400989639454,-0.0153547551616,0.0798494520044,0.999999925723,0.00027983750871,-0.00026271105432,3.50407815946e-05,1793239644752861696
+55,0.916666667,BASELINE,765,744.916615288,715.083384712,678,660.916615288,635,879,788,804.083384712,652,631,653,0.400989936555,-0.0153540843234,0.0798498645284,0.999999925535,0.000281016310879,-0.000262170074755,3.50296324968e-05,1793239644769528576
+56,0.933333333,BASELINE,765,745,715,678.495905478,660.504094522,635.495905478,879,788,804,651.504094522,631,653,0.400989699963,-0.0153536265313,0.0798495520697,0.999999925308,0.000281334238951,-0.000262699725346,3.49759691556e-05,1793239644786194944
+57,0.950000000,BASELINE,765,744.927252747,715,679,660.072747253,635.927252747,879,788,804,651.072747253,631,653,0.400989338974,-0.0153534381954,0.0798491410394,0.999999925188,0.000281136208648,-0.000263378699244,3.49144822766e-05,1793239644802861824
+58,0.966666667,BASELINE,765,744.352342699,715,679,660.647657301,635.352342699,879,788,804,651.647657301,631,653,0.400988722624,-0.0153548690257,0.0798488691787,0.999999925838,0.000278349818648,-0.000263878078925,3.48470532e-05,1793239644819528960
+59,0.983333333,BASELINE,765.228587175,744.228587175,715,679,661,635.228587175,878.771412825,787.771412825,804,651.771412825,631,653,0.400988534623,-0.0153552166798,0.079848652026,0.99999992597,0.000277748312116,-0.000264022327291,3.4754330312e-05,1793239644836196096
+60,1.000000000,BASELINE,765.819047028,744.819047028,715,679,661,635.819047028,878.180952972,787.180952972,804,651.180952972,631,653,0.400989024733,-0.0153538495752,0.0798485214807,0.999999925287,0.000280605659018,-0.000263604373067,3.46215651877e-05,1793239644852862464
+61,1.016666667,BASELINE,765.59839233,745,715,679,661,636,878.40160767,787.40160767,804,651.40160767,631.40160767,653,0.400989972376,-0.0153539594446,0.0798488942643,0.999999925432,0.000280766585137,-0.000262882226171,3.46165722643e-05,1793239644869528832
+62,1.033333333,BASELINE,765.019322227,745,715,679,661,636,878.980677773,787.980677773,804,651.980677773,631.980677773,653,0.400991122194,-0.0153547219593,0.0798494894589,0.999999925944,0.000279736016428,-0.000262025662616,3.46680393406e-05,1793239644886195200
+63,1.050000000,BASELINE,765,744.444553044,715,679,661,636,880.110893912,787.444553044,804,651.444553044,632,653,0.400989983474,-0.015355045258,0.0798495138536,0.999999925603,0.000280096336956,-0.000262909441388,3.49115834741e-05,1793239644902862080
+64,1.066666667,BASELINE,765,744,715,679,661,636,880.741592599,787.1292037,804,651.1292037,631.8707963,653,0.400989275533,-0.0153552536408,0.0798495258324,0.999999925529,0.000279941899882,-0.000263341481923,3.50099395098e-05,1793239644919528704
+65,1.083333333,BASELINE,765,744,715,679,661,636,879.599985047,787.700007476,804,651.700007476,631.299992524,653,0.40099030994,-0.0153551210777,0.0798495627204,0.999999926469,0.000277863992616,-0.000262024214089,3.45894012347e-05,1793239644936195328
+66,1.100000000,BASELINE,765,744.28202547,715,679,661,636,879.28202547,788,804,652,631,653,0.400990633856,-0.0153550159806,0.0798494110372,0.999999926607,0.000277559546557,-0.000261831694827,3.45182810832e-05,1793239644952862464
+67,1.116666667,BASELINE,765,744.876466029,715,679,661,636,879.876466029,788,804,652,631,653,0.400990170721,-0.0153549413092,0.0798490504631,0.999999925857,0.000279219660937,-0.00026288512137,3.48342305906e-05,1793239644969529344
+68,1.133333333,BASELINE,765,744.541696896,715,679,661,636.458303104,879.541696896,788,804,651.541696896,631,653,0.400991376421,-0.015354201565,0.0798498797177,0.999999925906,0.000280224809563,-0.000261626763378,3.4838379286e-05,1793239644986196224
+69,1.150000000,BASELINE,765,744.036572872,715.036572872,679,661,636.926854257,879,788.036572872,804,651.036572872,631,653,0.400992774744,-0.0153533503768,0.0798508573242,0.999999926084,0.000281086675555,-0.000260027887797,3.4761145587e-05,1793239645002862848
+70,1.166666667,BASELINE,765,744.611003501,715.611003501,679,661,635.777992998,879,788.611003501,804,651.611003501,631,653,0.400990567529,-0.0153534260805,0.0798494263278,0.999999925121,0.000282368204177,-0.000262340022698,3.46899858248e-05,1793239645019528960
+71,1.183333333,BASELINE,765,744.809764924,715.809764924,678.809764924,661,635,879,788.809764924,804,652,631,653,0.400989342181,-0.0153533088953,0.079848582844,0.999999924468,0.000283507378677,-0.000263605140202,3.46292053585e-05,1793239645036195584
+72,1.200000000,BASELINE,765,744.220462002,715.220462002,678.220462002,661,635,879,788.220462002,804,652,631,653,0.400990176556,-0.015352787075,0.0798489718214,0.999999924476,0.000284347928403,-0.000262673865208,3.45901981684e-05,1793239645052862208
+73,1.216666667,BASELINE,765,744,715,678,661,635,879,788,804,651.637472206,631.362527794,653,0.400990123965,-0.0153530866698,0.0798493359111,0.999999924624,0.000283812529404,-0.000262668993142,3.473683457e-05,1793239645069528576
+74,1.233333333,BASELINE,765,744,715,678,661,635,879,788,804,651.058255899,631.941744101,653,0.40098954122,-0.0153538772372,0.0798496851251,0.999999924856,0.000282454704355,-0.000263217846601,3.49944330418e-05,1793239645086195200
+75,1.250000000,BASELINE,765,744,715,678,661,635.518502044,879,788,804,651.518502044,631.481497956,652.481497956,0.400990219318,-0.0153549541436,0.0798500886987,0.99999992592,0.000279574330775,-0.000262308890247,3.45312339657e-05,1793239645102862080
+76,1.266666667,BASELINE,765,744.09480179,715,678.09480179,660.90519821,636,879,788.09480179,804,652,631.09480179,652.09480179,0.400990782977,-0.0153557334366,0.079850369463,0.999999926802,0.000277165590974,-0.000261552441574,3.41329883133e-05,1793239645119529216
+77,1.283333333,BASELINE,765,744.670172377,715,678.670172377,660.329827623,636,879,788.670172377,804,652,631.670172377,652.670172377,0.400990051807,-0.015354841756,0.0798499968682,0.999999926335,0.000278010723726,-0.000262395455208,3.44725940706e-05,1793239645136195840
+78,1.300000000,BASELINE,765,744.748035369,715,679,660.251964631,636,879,788.748035369,804,652,631.748035369,653,0.40098914849,-0.0153551666269,0.0798494346104,0.999999926221,0.000277509122434,-0.000263339725959,3.46344796524e-05,1793239645152862208
+79,1.316666667,BASELINE,765,744.157617204,715,679,660.842382796,636,879,788.157617204,804,652,631.157617204,653,0.400988013933,-0.0153571256403,0.0798486175861,0.999999926577,0.00027519850965,-0.000264420011088,3.45576411394e-05,1793239645169528576
+80,1.333333333,BASELINE,765,744.424521985,715,679,661,635.575478015,879,788,804,652,631,653,0.400988724595,-0.0153565550098,0.0798490744095,0.99999992681,0.00027531035197,-0.000263431750765,3.44803300414e-05,1793239645186195200
+81,1.350000000,BASELINE,765,745,715,678.996376426,661,635.003623574,879.003623574,788,804,652,631.003623574,653,0.400990098048,-0.0153550758456,0.0798499855708,0.999999926991,0.000276302500102,-0.000261706814974,3.44039901894e-05,1793239645202861824
+82,1.366666667,BASELINE,765,745,715,678.420844173,661,635.579155827,879.579155827,788,804,652,631.579155827,653,0.400990019482,-0.0153556028023,0.0798493860778,0.99999992656,0.000276994365768,-0.00026260917421,3.45081065492e-05,1793239645219528448
+83,1.383333333,BASELINE,765,745,715,678.1534722,660.8465278,636,879.8465278,788,804,652,632,653,0.400989840933,-0.0153558398989,0.0798488818966,0.999999926184,0.000277690566077,-0.000263307539112,3.44735896257e-05,1793239645236195584
+84,1.400000000,BASELINE,765,745,715,678.724480782,660.275519218,636,879.275519218,788,804,652,632,653,0.400989390373,-0.0153552884026,0.0798486370206,0.999999925964,0.000278398559362,-0.000263450917346,3.40619070939e-05,1793239645252862720
+85,1.416666667,BASELINE,765,744.691545421,715,678.691545421,660,636,879.308454579,788,804,652,631.691545421,653,0.400989048079,-0.0153543689275,0.0798486134744,0.999999925628,0.000279592702131,-0.000263486151257,3.3858873717e-05,1793239645269529344
+86,1.433333333,BASELINE,765,744.095482675,715,678.095482675,660,636,879.904517325,788,804,652,631.095482675,653,0.400988806736,-0.0153531063429,0.0798487962998,0.999999925184,0.000281240138697,-0.000263420549595,3.38503882974e-05,1793239645286195968
+87,1.450000000,BASELINE,765,744.484089851,715,678,660.484089851,635.515910149,879.515910149,788,804,652,631.484089851,653,0.400988402901,-0.0153533479654,0.0798486607331,0.999999925111,0.000280947979884,-0.000263957271059,3.42461588984e-05,1793239645302862336
+88,1.466666667,BASELINE,764.939647545,744.939647545,715,678.060352455,661.060352455,635.060352455,879,788,804,652,632,653,0.400988150318,-0.0153538936761,0.0798485517032,0.999999925165,0.00028034988312,-0.000264334180341,3.4673100571e-05,1793239645319528960
+89,1.483333333,BASELINE,764.364787383,744.364787383,715,678.635212617,661.635212617,635.635212617,879,788,804,652,632,653,0.400989451397,-0.0153545857588,0.079849186638,0.999999925695,0.000280297631209,-0.000262369243521,3.4708415411e-05,1793239645336195328
+90,1.500000000,BASELINE,764.209849823,744.209849823,715,678.790150177,661.790150177,635.790150177,879,788,804,652,631.790150177,653,0.400990372997,-0.0153546204421,0.0798497703694,0.999999926051,0.000280325188809,-0.000260984601354,3.46684377606e-05,1793239645352861952
+91,1.516666667,BASELINE,764.784099811,744.784099811,715,678.215900189,661.215900189,635.215900189,879,788,804,652,631.215900189,653,0.400990635637,-0.0153535135637,0.0798502651869,0.999999926109,0.000280491334094,-0.000260607629848,3.4497716151e-05,1793239645369528576
+92,1.533333333,BASELINE,765.371838772,745,715,678,661,635.743677544,879,788,804,652,631.371838772,653,0.400990253727,-0.0153544368519,0.079850471285,0.999999926129,0.00028001628173,-0.000261017366707,3.46925276567e-05,1793239645386195456
+93,1.550000000,BASELINE,765.967704688,745,715,678,661,636.935409375,879,788,804,652,631.967704688,653,0.400989483484,-0.0153565832843,0.0798505034341,0.999999926124,0.000279154917657,-0.000261901083224,3.51075672283e-05,1793239645402862336
+94,1.566666667,BASELINE,765.456165437,745,715,678,661,635.912330873,879,788,804,652,631.456165437,653,0.400989846921,-0.0153552908227,0.0798496951736,0.999999925705,0.0002802008171,-0.000262446326202,3.46365964543e-05,1793239645419528960
+95,1.583333333,BASELINE,765,744.881494837,715,678.118505163,661.118505163,635.118505163,879,788,804,651.881494837,631.118505163,653,0.400990029386,-0.0153543337871,0.0798489572098,0.999999925505,0.000280578989338,-0.000262855392496,3.42452092228e-05,1793239645436195840
+96,1.600000000,BASELINE,765,744.308084338,715,678.691915662,661.691915662,635.691915662,879,788,804,651.308084338,631.691915662,653,0.400989267766,-0.0153554208229,0.0798486739635,0.999999926239,0.000277974408103,-0.000262816173992,3.43542197336e-05,1793239645452862208
+97,1.616666667,BASELINE,765,744,715,679,661.726458684,636,879,787.726458684,804,651.273541316,631.726458684,653,0.400989055865,-0.0153556793901,0.0798485833229,0.999999926354,0.000277407447271,-0.000262959319602,3.44998788129e-05,1793239645469528832
+98,1.633333333,BASELINE,765,744,715,679,661.135294011,636,879,787.135294011,804,651.864705989,631.135294011,653,0.400989482271,-0.0153549759785,0.0798487163271,0.999999925753,0.000279206475912,-0.000263314217879,3.46880924863e-05,1793239645486195200
+99,1.650000000,BASELINE,765,744.448503187,715,679,661,636,878.551496813,787.448503187,804,651.551496813,631.448503187,653,0.400990050907,-0.0153554104672,0.0798493764161,0.999999925832,0.000279494155063,-0.000262684940499,3.48715539093e-05,1793239645502861824
+100,1.666666667,BASELINE,765,744.970318406,715,679,661,636,878.029681594,788,804,651,631.970318406,653,0.400990633301,-0.015356101939,0.0798501413854,0.9999999261,0.000279337001889,-0.000261809119376,3.50175913016e-05,1793239645519528704
+101,1.683333333,BASELINE,765,744.397056158,715,679,661,636,878.602943842,788,804,651,631.397056158,653,0.400990694592,-0.0153553150398,0.0798499623053,0.999999926154,0.000279247762429,-0.000261767331832,3.4504084535e-05,1793239645536195584
+102,1.700000000,BASELINE,765,744,715,678.819565553,661,636,879.180434447,788,804,651.180434447,631.180434447,653,0.400990632614,-0.0153549395513,0.0798497902133,0.999999926263,0.000278836625985,-0.000261824620084,3.42238794179e-05,1793239645552862464
+103,1.716666667,BASELINE,765,744,715,678.232547006,661,636,879.767452994,788,804,651.767452994,631.767452994,653,0.400990292867,-0.0153554911205,0.0798496338682,0.999999926498,0.00027770013917,-0.00026210516196,3.44693874091e-05,1793239645569529088
+104,1.733333333,BASELINE,764.649834951,744,715,678.350165049,661,635.649834951,879.649834951,788,804,652,631.649834951,653,0.400989618941,-0.0153553461001,0.0798491018979,0.999999926324,0.000277606314764,-0.000262857754774,3.45309455574e-05,1793239645586195456
+105,1.750000000,BASELINE,764.069948066,744,715,678.930051934,661,635.069948066,879.069948066,788,804,652,631.069948066,653,0.400988725779,-0.01535474409,0.0798483235028,0.999999925882,0.000278196517178,-0.000263920031317,3.44718255065e-05,1793239645602862080
+106,1.766666667,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635,879,788,804,652,632,653,0.400990061942,-0.0153552462712,0.0798495417987,0.999999926236,0.000279324212788,-0.000261348784596,3.46761210517e-05,1793239645633488640
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744.428832796,715,678.571167204,661,635.571167204,879,788,804,652,631.428832796,653,0.400991104537,-0.0153550708017,0.0798504459103,0.999999926233,0.00028052880263,-0.000260045978634,3.48336289355e-05,1793239645650156032
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744,715,679,661,636,879,787.853522995,804,652,631,653,0.400991825744,-0.015355091134,0.0798510719426,0.99999992633,0.000280930862597,-0.000259221411638,3.49536319077e-05,1793239645666823424
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,744,715,679,661,636,879,787.265732011,804,652,631,653,0.400991578657,-0.0153557013888,0.0798508601628,0.999999926734,0.000278915016695,-0.000259837709,3.49606380569e-05,1793239645683490560
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,744,715,679,661,635.682425558,879,787.317574442,803.682425558,652,631,653,0.400990071705,-0.0153555929478,0.0798497142771,0.999999926412,0.00027825449122,-0.000261792534808,3.48630966803e-05,1793239645700157184
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744,715,679,661,635.102819342,879,787.897180658,803.102819342,652,631,653,0.400987525234,-0.0153548915083,0.0798477976573,0.999999925485,0.00027871224545,-0.000264851785039,3.46792927772e-05,1793239645716823296
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744,715,678.527040563,661,635.472959437,879,787.527040563,803.472959437,651.527040563,631,653,0.400988639804,-0.0153552649105,0.0798487341605,0.999999926101,0.000277746998274,-0.000263568427766,3.44314771265e-05,1793239645733489664
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744,715,678.048953543,661,636,879,787.048953543,804.048953543,651.048953543,631,653,0.400990590739,-0.0153558473562,0.0798502653148,0.999999927036,0.000276527248198,-0.000261323711782,3.42090879098e-05,1793239645750155776
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,715,678.636395567,661,636,879,787.636395567,804.636395567,651.636395567,631,653,0.40099305714,-0.0153561795893,0.0798515695797,0.999999927862,0.000275883546658,-0.000258805391675,3.4418234889e-05,1793239645766822144
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744.220739517,715,678.779260483,661,636,879,788,804.558520965,652,631.220739517,653,0.400997127906,-0.0153558926013,0.0798537310273,0.999999928534,0.000276736777914,-0.000255226221184,3.47545349861e-05,1793239645783488768
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.800050866,715,678.199949134,661,636,879,788,803.399898268,652,631.800050866,653,0.401003804818,-0.0153545997433,0.0798572848922,0.99999992894,0.000280021644218,-0.000249923793274,3.52973840611e-05,1793239645800155392
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745,715,678.377923263,660.622076737,636,879,788,803,651.622076737,631.622076737,653,0.401021368236,-0.0153558095275,0.0798648200815,0.999999931972,0.000280322500937,-0.000237027306232,3.59548208383e-05,1793239645816822016
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,678.955037289,660.044962711,636,879,788,803,651.044962711,631.044962711,653,0.401044669569,-0.0153583383709,0.0798744536946,0.999999936165,0.000279050585835,-0.00022012824303,3.66726530182e-05,1793239645833488640
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.530135012,636,879,788,803.530135012,651,631.530135012,653,0.401097597421,-0.0153604343183,0.0798921040771,0.999999943084,0.000278383575578,-0.000186947960125,3.72247271071e-05,1793239645850155520
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.892064843,744.892064843,715,679,661,636,879,788,804,651,631.892064843,653,0.401156246869,-0.0153628788385,0.079909942568,0.999999948897,0.000277713322298,-0.000153808773953,3.77310718866e-05,1793239645866822144
+121,2.016666667,POSE1_TO_POSE2_PRESS,764.301416705,744.301416705,715,679,661,636,879,788,804,651,631.301416705,653,0.401229289743,-0.0153670458427,0.0799255930294,0.9999999529,0.000276799990448,-0.000127005570478,3.80955392548e-05,1793239645883488512
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.283689268,744,715,679,661,635.716310732,879,788,804,651,631,653,0.401306949871,-0.015369767531,0.0799365116155,0.999999955169,0.000276770546936,-0.000108081897641,3.71187628321e-05,1793239645900155392
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.863019551,744,715,679,661,635.136980449,879,788,804,651,631,653,0.401389421775,-0.0153709830124,0.0799424989729,0.999999956108,0.000277662229909,-9.73697194473e-05,3.47442364037e-05,1793239645916822016
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744,715,679,661,635.43829933,879,788,804,651.43829933,631,653,0.401482165028,-0.0153739161011,0.0799447328177,0.999999957342,0.000274678936555,-9.41276480909e-05,3.17447778521e-05,1793239645933488896
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744,715,678.987644219,661.012355781,636,879,788,804,651.987644219,631,653,0.401578740201,-0.0153774081343,0.0799458416614,0.999999958649,0.000270595972622,-9.3087462431e-05,2.8542467506e-05,1793239645950155520
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744,715,678.41217571,661.58782429,636,879,788,804,651.41217571,631,653,0.401704995527,-0.0153821334723,0.079948651904,0.999999959164,0.000271083050221,-8.69726036948e-05,2.49148537803e-05,1793239645966821888
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744,715,678,661.831834229,636,879,788,804,651,631.168165771,653,0.401839370193,-0.0153870754216,0.0799519004178,0.999999960456,0.000268839007797,-7.98326033936e-05,2.0981167586e-05,1793239645983488512
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744,715,678,661.239192717,636,879,788,804,651,631.760807283,653,0.401994239278,-0.0153925641296,0.0799562551934,0.999999963688,0.000259701206909,-7.01049922688e-05,1.62749089198e-05,1793239646000155136
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744,715,678.344547215,661,635.655452785,879,788,804.344547215,651,632,653,0.402164157476,-0.0153982044924,0.0799588259071,0.999999966487,0.000250172790488,-6.57503529952e-05,1.0748266305e-05,1793239646016822016
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744,715,678.922263157,661,635.077736843,879,788,804.922263157,651,632,653,0.40234426002,-0.0154039474867,0.0799601892758,0.999999968983,0.000240380028166,-6.50318152689e-05,4.66643695686e-06,1793239646033488640
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.496729866,715,678.503270134,661,635,879,788,804.503270134,651,631.503270134,653,0.402538622033,-0.0154116287899,0.0799540117715,0.999999975485,0.000208160632283,-7.54426617038e-05,-2.82560047355e-06,1793239646050155520
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.927689089,715,678,661,635.072310911,879,788,804,651.072310911,631,653,0.40274157052,-0.0154195826541,0.0799475226627,0.999999981382,0.000172338952741,-8.61523266759e-05,-1.05862656669e-05,1793239646066821888
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.340577921,715,678,661,635.659422079,879,788,804,651.659422079,631,653,0.402989864589,-0.015427331434,0.0799471621788,0.999999986863,0.000135695790901,-8.66702051405e-05,-1.86984007969e-05,1793239646083488512
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744,715,678.244403757,661,636,879,788,804,652,631.244403757,653,0.403259028804,-0.0154362448615,0.0799488548417,0.999999990381,0.000108973227767,-8.21921256728e-05,-2.46529478469e-05,1793239646100155136
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744,715,678.826443576,661,636,879,788,804,652,631.826443576,653,0.403557024454,-0.0154467672123,0.0799533838619,0.999999992507,9.59556604712e-05,-7.08122883577e-05,-2.76268547169e-05,1793239646116821760
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.403976838,715.403976838,678.596023162,661,635.596023162,879.403976838,788,804,652,631.596023162,653,0.403879532475,-0.0154555672538,0.0799585253761,0.999999993923,8.67313248827e-05,-6.26784533932e-05,-2.65136712889e-05,1793239646133488640
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,744.979595338,715.979595338,678.020404662,661,635.020404662,879.979595338,788,804,652,631.020404662,653,0.404212455305,-0.0154636355203,0.0799639271266,0.999999995026,7.911865776e-05,-5.5923780066e-05,-2.36639650244e-05,1793239646150155264
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,744.447009495,715.447009495,678.552990505,661,635.552990505,879.447009495,788,804,652,631,653,0.404575320828,-0.0154718259407,0.0799590773469,0.999999995743,6.45690616399e-05,-5.95037346971e-05,-2.83727110461e-05,1793239646166821888
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,744.130202573,715,679,660.869797427,635.869797427,879,788,804,652,631,653,0.404950118672,-0.0154804025359,0.0799542527766,0.999999996192,5.08070535511e-05,-6.31835438336e-05,-3.22896963709e-05,1793239646183488512
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,744.721212301,715,679,660.278787699,635.278787699,879,788,804,652,631,653,0.405363252208,-0.0154903299734,0.079950850818,0.999999996475,4.07347142854e-05,-6.58725535888e-05,-3.24214074127e-05,1793239646200155136
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715,678.693686274,660.612627452,635,879,788,804,652,631,653,0.405794300764,-0.0154977612643,0.079946281761,0.999999996155,3.24121090862e-05,-7.47331522524e-05,-3.24741098977e-05,1793239646216822016
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,678.113860394,661.772279212,635,879,788,804,652,631,653,0.406241345959,-0.0155029637094,0.0799406705838,0.999999995174,2.56518667199e-05,-8.91044561806e-05,-3.24562644598e-05,1793239646233488896
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,678.461723146,661.538276854,635,879,788,804,651.538276854,631.461723146,653,0.406713103993,-0.0155014991872,0.0799373004111,0.999999994459,3.1384594283e-05,-9.50530636231e-05,-3.2599631644e-05,1793239646250155520
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,678.963628565,661,635.036371435,879,788,804,651.036371435,631.963628565,653,0.407192957712,-0.0154990150913,0.0799344226843,0.999999993763,3.91807449696e-05,-9.93123307294e-05,-3.28137496306e-05,1793239646266821888
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,678.387475149,661,635.612524851,879,788,804,651.612524851,631.387475149,653,0.407703339617,-0.0155055768352,0.0799307264556,0.999999992972,3.22951700854e-05,-0.000109044551991,-3.34932448161e-05,1793239646283488512
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635.806487677,879.193512323,788,804,652,631,653,0.408237204263,-0.0155119906519,0.0799284601407,0.999999992534,2.13143332374e-05,-0.00011523434261,-3.46193677247e-05,1793239646300155136
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635.215572886,879.784427114,788,804,652,631,653,0.408819293711,-0.0155181006804,0.0799291303383,0.999999992811,1.92334911073e-06,-0.000114149295238,-3.66626981233e-05,1793239646316822016
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,678.365568856,661,635.365568856,880,788,804,651.634431144,631,653,0.409442872905,-0.0155183398924,0.0799490610634,0.999999996073,1.54489080938e-06,-8.06133195531e-05,-3.67868336063e-05,1793239646333488640
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,678.941097551,661,635.941097551,880,788,804,651.058902449,631,653,0.410090281188,-0.0155152072751,0.0799800538282,0.999999998881,1.20860364178e-05,-2.84395643294e-05,-3.58087036632e-05,1793239646350155264
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.518180366,745,715,679,661,636,880,788,804,651,631,653,0.410744700177,-0.0155135716666,0.0799935438271,0.999999999244,1.39330424107e-05,-7.22266611152e-06,-3.55648645175e-05,1793239646366822400
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.902572705,745,715,679,661,635.902572705,879.902572705,788,804,651,631.097427295,653,0.411395997636,-0.0155124567437,0.0799984530752,0.999999999259,1.31124069645e-05,1.39506828001e-07,-3.62017304858e-05,1793239646383489024
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.313295224,745,715,679,661,635.313295224,879.313295224,788,804,651,631.686704776,653,0.412027500943,-0.0155131087862,0.0799701177334,0.999999998162,3.82871046192e-06,-4.46239832817e-05,-4.08620858085e-05,1793239646400155648
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.270738524,879,788,804,651,631.729261476,653,0.41269869902,-0.0155158162603,0.0799437197499,0.999999995736,-6.72360895663e-06,-8.00658787688e-05,-4.5530038255e-05,1793239646416822272
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.848819658,879,788,804,651,631.151180342,653,0.413414958714,-0.0155208570621,0.0799195210536,0.99999999306,-1.87160714011e-05,-0.000104925897682,-5.02066156114e-05,1793239646433488640
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.424540706,788,804,651.424540706,631,653,0.41416351806,-0.0155214706019,0.0799301301639,0.999999995153,-1.6658363362e-05,-8.31722438292e-05,-4.99868117498e-05,1793239646450155264
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.999425931,788,804,651.999425931,631,653,0.414923515784,-0.0155205162951,0.0799530659215,0.999999997792,-9.62500421232e-06,-4.49110777883e-05,-4.8033029941e-05,1793239646466822144
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679.588267254,661,636,880,788,804.588267254,652,631,653,0.415670470177,-0.0155209244551,0.0799665468206,0.999999998417,-7.52414179616e-06,-3.07890770874e-05,-4.64879761132e-05,1793239646483488768
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679.825721493,661,636,880,788,805,651.825721493,631,653.174278507,0.41642613278,-0.0155204570071,0.0799711343208,0.999999998479,-9.16937158731e-06,-2.78631900392e-05,-4.67096115265e-05,1793239646500155392
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,679.246321386,661,636,880,788,805,651.246321386,631,653.753678614,0.41720206844,-0.0155179509859,0.0799550705116,0.999999997211,-1.9511172754e-05,-5.09073008876e-05,-5.10370801085e-05,1793239646516821760
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,880,788,805,651,631,653.667927491,0.418042929281,-0.0155204549248,0.0799663116704,0.999999998045,-2.4271067738e-05,-2.56985166687e-05,-5.15717751041e-05,1793239646533488384
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,880,788,805,651,631,653.090277746,0.41893180414,-0.0155266638742,0.0799977456444,0.999999997855,-2.49029809381e-05,3.51946818572e-05,-4.93016038765e-05,1793239646550155264
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.484242273,636,880,788,804.515757727,651.484242273,631,653,0.419749891337,-0.0155288381053,0.0799922566541,0.999999997927,-2.76051336152e-05,3.06214656645e-05,-4.94633621836e-05,1793239646566821888
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.057619856,745,715.057619856,679,662,636,880,788,804,651.942380144,631,653.057619856,0.42055688829,-0.0155300435607,0.0799804849839,0.999999998161,-3.07036349515e-05,1.4076393985e-05,-5.03646883201e-05,1793239646583488768
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.626008986,745,715.626008986,679,662,636,880,788,804,651.373991014,631,653.626008986,0.421381808856,-0.0155292863364,0.0799736481646,0.999999997975,-3.39162237586e-05,-1.09702939687e-06,-5.38286637504e-05,1793239646600155136
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.795004056,745,715.795004056,679,661.795004056,635.795004056,880,788,804.204995944,651,631,653.795004056,0.422225487794,-0.0155293904252,0.0799796270479,0.999999997995,-3.23560754538e-05,3.33408296436e-06,-5.43293144868e-05,1793239646616821760
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.195628459,745,715.195628459,679,661.195628459,635.195628459,880,788,804.804371541,651,631,653.195628459,0.42310525501,-0.0155311515436,0.0800102613073,0.999999997525,-2.16139391647e-05,4.548120716e-05,-4.91289995075e-05,1793239646633488384
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.389019925,745,715.389019925,679.389019925,661.389019925,635.389019925,880.389019925,788,804.610980075,651.389019925,631.389019925,653,0.423958391916,-0.0155293224712,0.0800054152799,0.999999998277,-1.63630173224e-05,2.76289007926e-05,-4.91402528704e-05,1793239646650155008
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.966532465,745,715.966532465,679.966532465,661.966532465,635.966532465,880.966532465,788,804.033467535,651.966532465,631.966532465,653,0.424798625529,-0.0155257538363,0.0799833779149,0.999999998384,-1.37727654241e-05,-1.92950544079e-05,-5.16766783061e-05,1793239646666821632
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715.458893606,680,662,636,880.458893606,788,804,652,632,653,0.425636666437,-0.015528628478,0.0799497176789,0.999999996534,-1.83284917042e-05,-5.95470123758e-05,-5.5233830319e-05,1793239646683488256
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.881256712,745,715,680.118743288,662,636,880,788,804.118743288,651.881256712,631.881256712,653,0.426476611733,-0.015531746025,0.0799226114116,0.999999993904,-2.46632983311e-05,-9.0479959716e-05,-5.8279523234e-05,1793239646700155136
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.290732082,745,715,680.709267918,662,636,880,788,804.709267918,651.290732082,631.290732082,653,0.427324659274,-0.0155342538569,0.0799243856067,0.999999993898,-3.63200496776e-05,-8.60180661536e-05,-5.90436511509e-05,1793239646716821760
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680.70578195,661.70578195,635.70578195,880.29421805,788,805,651.29421805,631,653,0.428176136225,-0.015535818833,0.0799292120933,0.99999999404,-3.76815138985e-05,-8.40741682777e-05,-5.85814300725e-05,1793239646733488384
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680.126237876,661.126237876,635.126237876,880.873762124,788,805,651.873762124,631,653,0.42903093889,-0.0155364694487,0.0799369986231,0.999999994381,-2.90588403563e-05,-8.45721660509e-05,-5.69299233764e-05,1793239646750155008
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745.449039868,715,680,661,635.449039868,880.550960132,788,804.550960132,651.550960132,631,653,0.429930443479,-0.0155376668055,0.0799703671088,0.999999997399,-3.20111105486e-05,-3.44291070727e-05,-5.47036926907e-05,1793239646766822400
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.023706985,745.976293015,715,680.023706985,661.023706985,636,880,788,804,651.023706985,631.023706985,653,0.430839098258,-0.0155390332386,0.0800100526972,0.999999997515,-3.7888520959e-05,2.82509631425e-05,-5.2312466849e-05,1793239646783490048
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.612128814,745.387871186,715,680.612128814,661.612128814,636,880,788,804,651.612128814,631.612128814,653,0.431669178692,-0.015540800292,0.0800305143571,0.999999996649,-3.666071443e-05,5.36364031384e-05,-4.98034680691e-05,1793239646800155904
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.81045417,745,715,681,662,636,880,788,804.18954583,651.81045417,631.81045417,653,0.432468252264,-0.015540231361,0.0800223426855,0.999999997327,-3.7641121318e-05,3.70007699378e-05,-5.06013937186e-05,1793239646816822272
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.254320706,745,715,681,662,636,880,788,804.745679294,651.254320706,631.254320706,653,0.433207357729,-0.0155351445628,0.0799587932483,0.999999995555,-4.28922824265e-05,-6.09049445677e-05,-5.77950151641e-05,1793239646833489152
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680.675567303,662,635.675567303,880,788,805,651,631,653,0.433976861138,-0.0155349325972,0.079920342234,0.999999990628,-5.0214549145e-05,-0.000111039970401,-6.23944920286e-05,1793239646850155776
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680.07775338,662,635.07775338,880,788,805,651,631,653,0.434771979145,-0.0155388283797,0.0799030402561,0.999999988832,-5.92820202769e-05,-0.000120921312378,-6.48080287507e-05,1793239646866822400
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680.500494749,662,635,880,788,804.499505251,651,631,653,0.435581934742,-0.0155446486757,0.079933909248,0.999999992903,-6.21554222953e-05,-8.07831107803e-05,-6.16793232793e-05,1793239646883489024
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680.921753615,661.921753615,635,880.078246385,788,804.078246385,651,631.078246385,652.921753615,0.436383747429,-0.0155503071135,0.0799678954296,0.999999995505,-6.35987507384e-05,-3.95026390214e-05,-5.81866741901e-05,1793239646900155648
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.328000732,661.328000732,635,880.671999268,788,804.671999268,651,631.671999268,652.328000732,0.437117297619,-0.0155530035487,0.0799749701299,0.999999995629,-6.17215463348e-05,-3.99657477809e-05,-5.77553715331e-05,1793239646916822016
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.258347616,661.258347616,635,881,788,804.741652384,651,631.741652384,652.258347616,0.437830253599,-0.0155572883481,0.0799703802137,0.99999999476,-6.69364100509e-05,-5.06352709086e-05,-5.86058673561e-05,1793239646933488640
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680.83555698,661.83555698,635,881,788,804.16444302,651,631.16444302,652.83555698,0.438517791425,-0.0155635335624,0.0799513934156,0.999999992134,-8.09045547176e-05,-7.3901910909e-05,-6.10384041154e-05,1793239646950155264
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680.588610054,661.588610054,635.411389946,880.588610054,788,804.411389946,651,631,653,0.439167060523,-0.015567723616,0.0799142136597,0.999999985715,-8.87791320463e-05,-0.000128774989569,-6.40770118513e-05,1793239646966821888
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680.013325388,661.013325388,635.986674612,880.013325388,788,804.986674612,651,631,653,0.439801083701,-0.0155710949093,0.0798697859621,0.999999974037,-9.42260779208e-05,-0.000196239841795,-6.7357073759e-05,1793239646983488768
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680.576012627,661,635.423987373,880,787.423987373,804.423987373,651,631,653,0.440358885036,-0.0155707197257,0.0797953877382,0.999999943453,-0.000101282616402,-0.000311903206341,-7.4517005223e-05,1793239647000155392
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,880,787.162731939,804.162731939,651,631,653,0.440919689272,-0.0155723248862,0.0797314669762,0.999999906401,-0.000110596605305,-0.000410422217396,-8.07489021858e-05,1793239647016822272
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,880,787.741897317,804.741897317,651,631,653,0.441492803263,-0.0155792251141,0.0796961767992,0.999999881766,-0.000125589776991,-0.000462143906911,-8.43705170481e-05,1793239647033488896
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680.68114195,661,634.68114195,880.31885805,787.68114195,805,651,631.31885805,653,0.442084195515,-0.0155890678341,0.0797036911973,0.999999885589,-0.00014003329294,-0.000449685116875,-8.36388438467e-05,1793239647050155520
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745,715,680.105953569,661,634.105953569,880.894046431,787.105953569,805,651,631.894046431,653,0.442690281647,-0.0156012760262,0.0797456162416,0.999999910628,-0.000154034938904,-0.000385631566133,-7.94075573112e-05,1793239647066822144
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745,715,680.939308281,661,634.469654141,881,787,804.530345859,651,631.530345859,653,0.443251619887,-0.0156120094923,0.0797717229042,0.999999923736,-0.000168070886146,-0.000343942111216,-7.73542558344e-05,1793239647083488768
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681.907254601,660.9536273,634.9536273,881,786.9536273,804.0463727,651,631,653,0.443795317109,-0.0156219914576,0.0797906505566,0.999999931598,-0.000181151225769,-0.000313400019396,-7.59544838543e-05,1793239647100155136
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,715,680.73005371,660.365026855,634.365026855,881,786.365026855,804.634973145,651,631,653,0.444250886633,-0.0156270798999,0.0797673997709,0.999999917627,-0.000182967254024,-0.000354155305315,-7.64458960257e-05,1793239647116821760
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.220060362,745,715,680.220060362,660,634.220060362,881,786,805,651,631,653,0.444692092197,-0.0156311963117,0.0797435350632,0.999999901316,-0.000186135187524,-0.000395851015757,-7.76075257217e-05,1793239647133488384
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.799411502,745,715,680.799411502,660,634.799411502,881,786,805,651,631,653,0.445109845794,-0.0156337256965,0.0797186680124,0.999999882076,-0.000191510365803,-0.000439082146033,-7.98634141853e-05,1793239647150155264
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.624515062,745.375484938,714.624515062,681,660.375484938,634.624515062,880.624515062,786,805,651,631,653,0.445514497664,-0.0156375272515,0.0797041548966,0.999999870544,-0.000199248216603,-0.00046117708842,-8.07892616848e-05,1793239647166821888
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.05017741,745.94982259,714.05017741,681,660.94982259,634.05017741,880.05017741,786,805,651,631,653,0.44591221104,-0.0156420025341,0.0796951251091,0.999999863608,-0.00020823731351,-0.000472078541163,-8.10107342909e-05,1793239647183488768
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.474013383,714.525986617,681.525986617,660.474013383,634,880.525986617,786,805,651,631,653,0.446292320768,-0.0156486915488,0.0796930334968,0.999999864735,-0.000216445597429,-0.000465863464067,-8.15591146533e-05,1793239647200155392
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,715,681.894969259,659.894969259,634,880.894969259,785.894969259,805,651,631,653,0.446662525085,-0.0156554114895,0.0796910697467,0.999999865822,-0.000223907378023,-0.000459906364608,-8.18967898459e-05,1793239647216822016
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,715,681.303393072,659.303393072,634,880.303393072,785.303393072,805,651,631,653,0.446994650066,-0.0156612930002,0.0796866215261,0.999999863598,-0.000228257308755,-0.000462734759383,-8.11134231465e-05,1793239647233488384
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,715,681,659.282326764,634,880.282326764,785,805,651,631,653,0.447297454982,-0.0156646085482,0.0796784473221,0.999999857945,-0.00023134081393,-0.000473279206828,-8.12269203572e-05,1793239647250155008
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659.861881122,634,880.861881122,785,805,651,631,653,0.44756939234,-0.0156652227052,0.0796663504823,0.999999848443,-0.000233091052982,-0.000491946949631,-8.2284616786e-05,1793239647266821888
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714.564075861,681,660,633.564075861,880.564075861,785,805,651,630.564075861,653,0.447809629859,-0.015663853706,0.0796540873207,0.999999836005,-0.000238928992279,-0.000513624174983,-8.42219133232e-05,1793239647283488768
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714.008291573,681,659.991708427,633,880.008291573,784.991708427,805,650.991708427,630,653,0.448039733819,-0.0156618812467,0.0796418647681,0.999999822375,-0.000245937750608,-0.000536001229142,-8.64091952036e-05,1793239647300155648
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,714.584001701,681,659.415998299,633,880.584001701,784.415998299,805,650.415998299,630,653,0.448255115969,-0.0156610749689,0.0796359824481,0.99999981929,-0.000245544507088,-0.000541831499648,-8.68699813244e-05,1793239647316822272
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,714.834825787,681,659,633,881,784,805,650.165174213,630,653,0.448462604246,-0.0156620683712,0.0796318379664,0.999999817394,-0.000244490885277,-0.000545858233442,-8.646003416e-05,1793239647333488896
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745,714.239425604,681,659,633,881,784,805,650.760574396,630,653,0.448649531476,-0.0156677493644,0.0796322199986,0.999999818662,-0.000241717189403,-0.000545187330331,-8.37821053443e-05,1793239647350155264
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.655487373,784,805,651,630,653,0.448820464745,-0.0156729720437,0.0796353344356,0.999999819855,-0.000245855585384,-0.000541485362919,-8.14835653427e-05,1793239647366821888
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.079258302,784,805,651,630,653,0.448980640622,-0.0156778864652,0.0796402866664,0.999999820912,-0.000254642998921,-0.000535744725718,-7.94401989559e-05,1793239647383488512
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.505158523,745.494841477,714,681,659.494841477,633,880.494841477,784,805,651,630,653,0.449109455151,-0.0156817573674,0.0796380976801,0.999999817192,-0.000263893693745,-0.000538085514247,-8.02532136587e-05,1793239647400155136
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.070789732,746,714,681,659.929210268,633,880.929210268,784,804.929210268,651,630,653,0.449229831953,-0.015685247989,0.0796342452443,0.999999812357,-0.000272313488455,-0.000542670330197,-8.14937786568e-05,1793239647416821760
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.662850398,746,714,681,659.337149602,633,880.337149602,784,804.337149602,651,630,653,0.449324906338,-0.015687163843,0.0796265302176,0.999999805419,-0.000274070762492,-0.000554288752416,-8.25282104755e-05,1793239647433488640
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.751759978,714.248240022,681,659,633,880,784,804.248240022,651,630,653,0.449410469004,-0.015688691301,0.0796212016139,0.999999800112,-0.00027602518146,-0.000562741568456,-8.31091352752e-05,1793239647450155520
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.175193616,714.824806384,681,659,633,880,784,804.824806384,651,630,653,0.449483451309,-0.0156897050598,0.0796190293332,0.99999979709,-0.000278240347486,-0.000567007501042,-8.30902441775e-05,1793239647466822400
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714.598919428,681,659,633,880.401080572,784,805,651,630,653,0.449549136277,-0.0156918762856,0.0796204781919,0.999999796764,-0.00028096064219,-0.00056627488397,-8.28587344307e-05,1793239647483489024
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714.022772783,681,659,633,880.977227217,784,805,651,630,653,0.449611636058,-0.0156945527296,0.0796235076275,0.999999797606,-0.000283901418453,-0.000563360469616,-8.25344196106e-05,1793239647500155392
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.454075742,784,805,651.545924258,630.545924258,653,0.449653876565,-0.0156940743098,0.0796224928312,0.999999796384,-0.000286163246649,-0.000564294835123,-8.31529740842e-05,1793239647516822272
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,783.879099649,805,651.879099649,630.879099649,653,0.449692327123,-0.015693440812,0.0796214067565,0.99999979503,-0.000287623824213,-0.000565889552154,-8.35527366205e-05,1793239647533488896
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,783.277964601,805,651.277964601,630.277964601,653,0.449719035084,-0.0156927070285,0.079620698642,0.999999793507,-0.00028601269498,-0.000569478147376,-8.29292982746e-05,1793239647550155776
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.691368651,659,633,880,783,805,651,630,653,0.449739740529,-0.0156931064529,0.0796190225518,0.999999791424,-0.000285744232818,-0.000573340095424,-8.23594035081e-05,1793239647566822656
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714,680.117277974,659,633,880,783,805,651,630,653,0.449755283106,-0.0156944805694,0.0796165138885,0.999999788856,-0.000286630622376,-0.000577437159512,-8.18355624597e-05,1793239647583489280
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714,680.458832289,659,633,880,783,805,651,630,653,0.449767737778,-0.0156944302468,0.0796151732933,0.999999788015,-0.000286533996536,-0.000578959601558,-8.16894338744e-05,1793239647600155648
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.036176012,783,805,651,630,653,0.449779087939,-0.0156939741947,0.079614202148,0.999999787683,-0.000286136317904,-0.000579739583565,-8.16250835369e-05,1793239647616822272
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.624431401,783,805,651,630,653,0.449785680521,-0.0156929072204,0.0796142927133,0.999999788301,-0.000284995702273,-0.000579276185709,-8.13288854675e-05,1793239647633488640
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745.210014588,714.210014588,681,659,633,881,783,805.210014588,651,630,653,0.44979095334,-0.0156920630864,0.0796142617004,0.999999788439,-0.000284426974537,-0.000579335620281,-8.12050111308e-05,1793239647650155008
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.790879084,714.790879084,681,659,633,881,783,805.790879084,651,630,653,0.449793895683,-0.0156916124504,0.0796140160009,0.999999787729,-0.000284868103265,-0.000580318287696,-8.13854311054e-05,1793239647666821632
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.632182664,714.632182664,681,659,633,881,783,805.632182664,651,630,653,0.449795116698,-0.0156915948423,0.079613676436,0.999999786849,-0.000285748812897,-0.00058143583164,-8.11250053674e-05,1793239647683488512
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.057453104,714.057453104,681,659,633,881,783,805.057453104,651,630,653,0.449795369395,-0.0156918208299,0.079613284068,0.999999785873,-0.000286876804665,-0.000582629249088,-8.06165859646e-05,1793239647700155136
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,714.516829832,681,659,632.483170168,880.483170168,783,805,651,630,653,0.449796594327,-0.0156904834167,0.0796129012652,0.999999786561,-0.000284448951276,-0.000582657407861,-8.04754052573e-05,1793239647716821760
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714.906049653,681,659,632.093950347,880,783,805,651,630,653,0.449797568201,-0.0156891278188,0.0796123005679,0.999999787099,-0.000281812412063,-0.000583024253232,-8.0413781879e-05,1793239647733488384
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,714.313610293,681,659,632.686389707,880,783,805,651,630,653,0.449796637037,-0.0156885970723,0.0796105381124,0.999999785885,-0.000280164127733,-0.00058587483338,-8.05578604479e-05,1793239647750155264
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,783,805,651,630,653,0.449796247529,-0.0156888406038,0.0796099815196,0.999999785064,-0.000280666399498,-0.000587041279426,-8.05045516742e-05,1793239647766821888
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,783,805,651,630,653,0.449796467245,-0.0156899549971,0.0796107812094,0.999999784689,-0.000283587488777,-0.000586313511859,-8.02292333637e-05,1793239647783488512
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.425711074,783,805.425711074,651,630,653,0.449797763348,-0.0156900695156,0.0796113661001,0.999999785013,-0.000284149530522,-0.000585549446107,-7.97830036058e-05,1793239647800155136
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.000691698,714.000691698,681,659,633,880.999308302,783,805.999308302,651,630.000691698,653,0.449799434816,-0.0156898329335,0.0796118741462,0.999999785582,-0.000283883767559,-0.000584774018581,-7.92778346255e-05,1793239647816821504
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.589711939,714.589711939,681,659,633,880.410288061,783,805.410288061,651,630.589711939,653,0.449799393225,-0.0156891306701,0.0796110751648,0.999999785582,-0.000282997572434,-0.000585158934959,-7.96077500194e-05,1793239647833488384
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.824107901,714.824107901,681,658.824107901,633,880.175892099,783,805,651,630.824107901,653,0.449799609187,-0.0156887308275,0.0796108421751,0.999999785594,-0.000282563397147,-0.000585314287066,-7.98558072327e-05,1793239647850155008
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.244447318,714.244447318,681,658.244447318,633,880.755552682,783,805,651,630.244447318,653,0.449800416369,-0.0156890252059,0.0796119084455,0.999999785636,-0.000283166854456,-0.000584942663696,-7.99159551688e-05,1793239647866821632
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658,633,881,783,805,651,630,653,0.449800638634,-0.015689030403,0.0796120615709,0.999999785792,-0.000282513303472,-0.00058501345737,-7.97546997189e-05,1793239647883489024
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,633,881,783,805,651,630,653,0.449800434359,-0.0156888247205,0.0796115488043,0.99999978603,-0.000280943105344,-0.000585406874475,-7.94319904583e-05,1793239647900156672
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,633,880.519141671,783,805,651,630.480858329,653,0.449799126513,-0.0156881296995,0.0796098289893,0.999999784663,-0.000281509417226,-0.000587455235619,-7.95217993303e-05,1793239647916823040
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714.058068017,681,658.058068017,632.941931983,880.058068017,783,805,651,630.941931983,653,0.449797964665,-0.0156874171264,0.0796082103458,0.999999783332,-0.000282238666698,-0.000589347359717,-7.96669530041e-05,1793239647933488640
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714.647339665,681,658.647339665,632.352660335,880.647339665,783,805,651,630.352660335,653,0.449800133568,-0.0156874286756,0.0796096994666,0.999999785289,-0.000280595812327,-0.000586818218733,-7.95725966687e-05,1793239647950155264
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,715,681,659,632.232083663,881,783,805,651,630.232083663,653,0.449801168028,-0.0156867221818,0.0796105895558,0.999999786325,-0.000279416646084,-0.000585610270711,-7.96005085728e-05,1793239647966821888
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,659,632.810079453,881,783,805,651,630.810079453,653,0.449800511642,-0.0156849454714,0.0796105868109,0.999999785999,-0.00027892858963,-0.000586371511636,-7.98106567592e-05,1793239647983488512
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.387961998,714.612038002,681,659,633,881,783,805,651,630.612038002,653,0.449801109131,-0.01568542837,0.0796104107655,0.999999785791,-0.000279956942006,-0.000586240896137,-7.97721773122e-05,1793239648000155392
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.965789087,714.034210913,681,659,633,881,783,805,651,630.034210913,653,0.449802320255,-0.0156870171008,0.0796101499083,0.999999785639,-0.000281727411165,-0.000585673814129,-7.96120217389e-05,1793239648016822016
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.448534751,714,681,659,633,880.448534751,783,805,651,630,653,0.449801945667,-0.015687111241,0.0796096668423,0.999999784936,-0.000281453054463,-0.000587016663027,-7.95212678967e-05,1793239648033489408
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,783,805,651,630,653,0.449801195837,-0.0156870444509,0.0796091032441,0.999999784271,-0.000280818368109,-0.000588469669405,-7.93828729319e-05,1793239648050156288
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880,783,805,651,630,653,0.44979954835,-0.0156867597328,0.079608322775,0.999999783848,-0.000279428784407,-0.000589889961623,-7.90749887121e-05,1793239648066822400
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.29443951,714,680.70556049,659,632.70556049,880,783,805,651,630,653,0.449799549255,-0.0156860062484,0.0796088036176,0.999999784522,-0.000277778067423,-0.00058957272525,-7.87362155769e-05,1793239648083489024
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745.871853887,714,680.128146113,659,632.128146113,880,783,805,651,630,653,0.449801134368,-0.0156848022504,0.0796104966601,0.999999786247,-0.00027587638503,-0.00058758561466,-7.83677562709e-05,1793239648100155648
+255,4.250000000,HOLD_POSE2,765,746,714,681,659,633,881,783,805,651,630,653,0.449803232578,-0.0156845918983,0.0796101316307,0.9999997865,-0.000276730237871,-0.000586724248283,-7.85773645573e-05,1793239648132846592
+256,4.266666667,HOLD_POSE2,765,746,714,681,658.410301562,632.410301562,881.589698438,783,805,651,630,653,0.449802370638,-0.0156869986058,0.0796101763119,0.999999785657,-0.00027891157622,-0.000587134530745,-7.85295030129e-05,1793239648149512448
+257,4.283333333,HOLD_POSE2,765,745.823693268,714,680.823693268,658.176306732,632.176306732,881.823693268,783,805,651,630,653,0.449801435384,-0.0156879571743,0.0796098456005,0.999999784988,-0.00027969808064,-0.00058790890532,-7.84648982897e-05,1793239648166178816
+258,4.300000000,HOLD_POSE2,765,745.244152377,714,680.244152377,658.755847623,632.755847623,881.244152377,783,805,651,630,653,0.449800332454,-0.01568560368,0.0796086563224,0.999999784719,-0.000277294436837,-0.000589516001306,-7.83619999446e-05,1793239648182845696
+259,4.316666667,HOLD_POSE2,764.666055992,745,714,680.333944008,658.666055992,633,880.666055992,783,805,651,630,653,0.449800839433,-0.0156849498106,0.0796087944268,0.999999785076,-0.000277010911557,-0.000589032867382,-7.8439807286e-05,1793239648199512064
+260,4.333333333,HOLD_POSE2,764.089011195,745,714,680.910988805,658.089011195,633,880.089011195,783,805,651,630,653,0.449802518376,-0.0156855332152,0.0796098988242,0.999999785889,-0.000278270766366,-0.000587028111394,-7.86491627189e-05,1793239648216178432
+261,4.350000000,HOLD_POSE2,764,745,714,681,658.495367453,633,880,783,805,651,630,653,0.449802852224,-0.015684734505,0.0796099229588,0.999999785939,-0.000277568667102,-0.000587242509979,-7.88961514637e-05,1793239648232845056
+262,4.366666667,HOLD_POSE2,764.080253639,745,714,681,658.919746361,633,880,783,805,651,630,653,0.449803000072,-0.0156840784894,0.0796098538677,0.99999978585,-0.000276815113584,-0.000587728768196,-7.90494756282e-05,1793239648249511680
+263,4.383333333,HOLD_POSE2,764.659973843,745,714,681,658.340026157,633,880,783,805,651,630,653,0.449803517153,-0.0156858793962,0.07961043079,0.999999785767,-0.000277968356076,-0.000587387995409,-7.85771510809e-05,1793239648266178560
+264,4.400000000,HOLD_POSE2,765,745.238855431,714.238855431,681,658.238855431,632.761144569,880,783,805,651,630.238855431,653,0.449803963295,-0.0156866299931,0.0796106783537,0.999999785906,-0.000278335884727,-0.000587013960085,-7.83078923528e-05,1793239648282844928
+265,4.416666667,HOLD_POSE2,765,745.816547323,714.816547323,681,658.816547323,632.183452677,880,783,805,651,630.816547323,653,0.449804308802,-0.0156858906372,0.0796104586947,0.999999786359,-0.000277588812298,-0.000586592739094,-7.83266995602e-05,1793239648299511552
+266,4.433333333,HOLD_POSE2,764.607988011,745.607988011,714.607988011,681.392011989,658.607988011,632,880,783,804.607988011,651,630.607988011,653,0.449803654046,-0.0156861925479,0.0796102101214,0.999999786059,-0.000278034234241,-0.000586907169004,-7.82179307049e-05,1793239648316178432
+267,4.450000000,HOLD_POSE2,764.033559698,745.033559698,714.033559698,681.966440302,658.033559698,632,880,783,804.033559698,651,630.033559698,653,0.449802533834,-0.0156869789949,0.0796099480933,0.999999785408,-0.000279034563739,-0.000587563921912,-7.80497964309e-05,1793239648332845568
+268,4.466666667,HOLD_POSE2,764.555155122,745,714,680.889689756,658,632.555155122,880,783.555155122,804.555155122,651.555155122,630,653,0.449803917133,-0.0156856253713,0.0796103400265,0.999999785925,-0.000277538292398,-0.000587348199435,-7.83815392381e-05,1793239648349511936
+269,4.483333333,HOLD_POSE2,765,745.142271205,714,680.142271205,658,633,880.142271205,783.857728795,805,651.857728795,630,653,0.449804784143,-0.0156846432398,0.0796105187438,0.999999786185,-0.000276589624121,-0.000587322437781,-7.86156270891e-05,1793239648366178560
+270,4.500000000,HOLD_POSE2,765,745.721750316,714,680.721750316,658,633,880.721750316,783.278249684,805,651.278249684,630,653,0.449803587206,-0.0156852107868,0.0796099175408,0.999999785437,-0.000277799815557,-0.000588046797598,-7.84543006872e-05,1793239648382844928
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,659,633,882,783,806,651,630,653,0.44980316903,-0.0156856027263,0.0796091396767,0.999999785287,-0.000278774840612,-0.000587866264074,-7.82529620296e-05,1793239648419885312
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745,714.423781089,680.576218911,658.423781089,633,880.847562177,783,806,651,630,653,0.449804124481,-0.0156832911175,0.0796094879334,0.999999785515,-0.000277530713751,-0.00058797525615,-7.89354466339e-05,1793239648436552704
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.844299962,658,633,880.155700038,783,805.844299962,651,630.155700038,653,0.449805007918,-0.0156819258098,0.0796099708038,0.999999786036,-0.000276292891117,-0.000587614777377,-7.93611824577e-05,1793239648453220096
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.255749657,658,633,880.744250343,783,805.255749657,651,630.744250343,653,0.449805691156,-0.015683191244,0.0796108279037,0.999999787373,-0.000275072594125,-0.000585949157124,-7.90731499672e-05,1793239648469886720
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.328132716,680.656265433,658,632.671867284,880.671867284,783,805,651,630.671867284,653,0.449805185238,-0.0156847417167,0.0796108117255,0.99999978685,-0.00027647461907,-0.000586208094285,-7.88782492692e-05,1793239648486553088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.908427856,681.816855713,658,632.091572144,880.091572144,783,805,651,630.091572144,653,0.44980376548,-0.0156865112349,0.079610124453,0.999999784889,-0.000279891838006,-0.00058794600952,-7.87549182223e-05,1793239648503219200
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.514858209,681.514858209,658,632.485141791,880,783,805.485141791,651,630,653,0.449802479689,-0.0156857316097,0.0796093677341,0.999999784162,-0.000279721301269,-0.000589267917069,-7.87083168789e-05,1793239648519885824
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.939114196,745.060885804,714,681,658,632.939114196,880,783,805.939114196,651,630,653,0.44980145533,-0.0156844739162,0.0796086746982,0.999999783823,-0.000278778924132,-0.000590292223693,-7.86792499762e-05,1793239648536551936
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.365885448,745.634114552,714,681,658,632.365885448,880,783,805.365885448,651,630,653,0.449802419659,-0.0156832125631,0.0796086270391,0.999999784805,-0.00027699841621,-0.000589468186448,-7.86767535155e-05,1793239648553218560
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.214345917,745.785654083,714,681,658.214345917,632,880,783,804.785654083,651.214345917,630,653,0.449799256709,-0.015682801214,0.0796066453443,0.999999783666,-0.000276431028789,-0.000591648700864,-7.87783607193e-05,1793239648569885184
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.806934286,745.193065714,714,681,658.806934286,632,880,783,804.193065714,651.806934286,630,653,0.449788810616,-0.0156838898121,0.0796012507812,0.999999778752,-0.000278004357255,-0.000599131154401,-7.90636729611e-05,1793239648586552064
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.610483647,658.610483647,632,880.389516353,783,804.389516353,651.610483647,630,653,0.449759437314,-0.0156819265925,0.0795868763304,0.99999976488,-0.000277465320131,-0.000621962996985,-8.00989922211e-05,1793239648603218944
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.032736986,658.032736986,632,880.967263014,783,804.967263014,651.032736986,630,653,0.449720917608,-0.0156784886094,0.0795681624283,0.999999745927,-0.000275905501072,-0.000652212295364,-8.14967456603e-05,1793239648619886080
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.541813138,658.541813138,632.541813138,880.458186862,783,805,651,630,653,0.449656118269,-0.0156763257169,0.0795447676144,0.999999719372,-0.000274322973286,-0.000692292061221,-8.20618030853e-05,1793239648636552448
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.119375644,714,681,659,633,880,783,805,651,630,653,0.449587706587,-0.0156737657847,0.0795231138045,0.99999969427,-0.000272912622184,-0.000728125944329,-8.25250599866e-05,1793239648653218816
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.709576639,714,681,659,633,880,783,805,651,630,653,0.449511273407,-0.0156693378232,0.0795094355637,0.999999682104,-0.000272186728069,-0.000744884893664,-8.27840813876e-05,1793239648669885440
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.705628585,714,680.705628585,659,633,880.294371415,783,805,651,630,653,0.449429328769,-0.0156656441937,0.0795020860553,0.999999676095,-0.000270615240701,-0.000753596315845,-8.16715839346e-05,1793239648686552320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.126071365,714,680.126071365,659,633,880.873928635,783,805,651,630,653,0.449342044658,-0.0156626619823,0.0795008677972,0.999999676245,-0.000268224546198,-0.000754511326295,-7.92303647151e-05,1793239648703218944
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.450915424,658.549084576,633,880.549084576,783,805,651.450915424,630,653,0.449241686221,-0.0156581948227,0.0795062072627,0.999999682554,-0.000265948646736,-0.000747255144618,-7.59759764521e-05,1793239648719885568
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.027022182,680.972977818,658.027022182,633,880,783,805.027022182,651.972977818,630,653,0.449136017318,-0.0156532991922,0.0795129155068,0.999999690029,-0.00026366545172,-0.000738351586626,-7.25162719235e-05,1793239648736552192
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.599787893,680.400212107,658.599787893,633,880,783,805.599787893,651.400212107,630,653,0.448996504958,-0.015648087537,0.0795104486139,0.99999968831,-0.000260590383289,-0.0007420555932,-6.94756130316e-05,1793239648753219328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.17299292,658.82700708,633,880,783,805.82700708,651,630,653,0.448846373764,-0.015641649764,0.0795083547092,0.99999968655,-0.000256176785964,-0.000746253007004,-6.61866874332e-05,1793239648769886208
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.747216792,658.252783208,633,880,783,805.252783208,651,630,653,0.448671613807,-0.0156323681963,0.0795071258946,0.999999684695,-0.000248658673435,-0.000751594803851,-6.23219451249e-05,1793239648786552576
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.333588139,715,681.333588139,658.333588139,633,880,783.333588139,805,651,630,653.333588139,0.448480171567,-0.0156232512594,0.0795093723684,0.999999687992,-0.000238424673645,-0.0007509360095,-5.71445416519e-05,1793239648803218944
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.92951241,715,681.92951241,658.92951241,633,880,783.92951241,805,651,630,653.92951241,0.448275610242,-0.0156142637883,0.0795143518339,0.999999695224,-0.000226054879572,-0.000745558307175,-5.09348514936e-05,1793239648819885312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.507835723,745.492164277,714.492164277,680.984328554,659,633,880,784,805,651,630,654,0.448038955047,-0.0156055305657,0.0795144306823,0.999999696372,-0.000212480803086,-0.000748399437154,-4.47848545838e-05,1793239648836552192
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.829299323,745.085350339,714.085350339,680.085350339,659,633,880.170700677,784,805,651,630.085350339,653.914649661,0.447794313879,-0.0155965331576,0.079514551529,0.999999698245,-0.000194563443018,-0.000751114442026,-3.84873874768e-05,1793239648853218560
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.656033452,745.671983274,714.671983274,680.671983274,659,633,881.343966548,784,805,651,630.671983274,653.328016726,0.44752805579,-0.0155857838002,0.0795187802244,0.99999970923,-0.000152085803076,-0.000746613089796,-3.12767585634e-05,1793239648869885184
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764.256856951,745.743143049,714.743143049,681,659,633,881.486286098,784,805,651,631,653,0.447241139052,-0.0155744073531,0.079524348801,0.999999721015,-0.000115514325659,-0.000737593879793,-2.4111849366e-05,1793239648886552064
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764.839499233,745.160500767,714.160500767,681,659,633,880.321001534,784,805,651,631,653,0.446928019867,-0.0155622355354,0.0795316168199,0.999999734868,-8.64339509729e-05,-0.000722844431581,-1.70049293835e-05,1793239648903218944
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880.416089388,784,805,650.583910612,630.583910612,653,0.446589260734,-0.0155529680284,0.0795405844138,0.999999743914,-7.35912669829e-05,-0.00071176932612,-1.19028097135e-05,1793239648919885568
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633,880.990378476,784,805,650.009621524,630.009621524,653,0.446240753145,-0.0155448047582,0.0795501981963,0.999999751266,-6.69222517523e-05,-0.000702091228401,-7.56292739658e-06,1793239648936552448
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.566949342,714.566949342,681,659,633,880.433050658,784.566949342,805,650.566949342,630.566949342,653,0.445840263577,-0.0155368569007,0.079562967143,0.999999759605,-6.47173545733e-05,-0.000690265254243,-1.16271249878e-05,1793239648953219072
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.853678265,745.853678265,714.853678265,681,659,633,880.146321735,785,805.146321735,651,631,653,0.445431297515,-0.0155310927036,0.0795751886444,0.999999768326,-6.21559861e-05,-0.000677722658857,-1.32872120031e-05,1793239648969885440
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.265972365,745.265972365,714.265972365,681,659,633,880.734027635,785,805.734027635,651,631,653,0.444999433763,-0.0155319045167,0.0795855965833,0.999999778405,-5.82898575738e-05,-0.000663128754896,-7.26325667451e-06,1793239648986552064
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.316937052,745,714.316937052,681,659.316937052,633,880.683062948,785,805.683062948,651,631,653,0.44453293163,-0.0155349343163,0.0795959471867,0.999999789064,-5.48563179633e-05,-0.000647190551984,-2.72563633825e-06,1793239649003218944
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.895881351,745,714.895881351,681,659.895881351,633,880.104118649,785,805.104118649,651,631,653,0.444037794405,-0.0155397976932,0.0796062503927,0.99999980012,-5.17803928831e-05,-0.000630141035052,5.83253160096e-07,1793239649019885568
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714.530156,681,659.530156,633.469844,880,785.469844,805,651,631,653,0.443525921753,-0.0155328627579,0.079614581396,0.999999807537,-4.03745341991e-05,-0.000619106146686,2.08543000768e-06,1793239649036552448
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.044028738,634,880,786,805,651,631,653,0.443008539845,-0.0155227150891,0.0796226384685,0.999999814395,-2.65790425001e-05,-0.000608681969887,3.23813357367e-06,1793239649053219328
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.634528527,634,880,786,805,651,631,653,0.442468325585,-0.0155048023176,0.0796326631611,0.999999826234,-5.79495428601e-06,-0.000589468299196,4.97044421173e-06,1793239649069885952
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880,786,805,651,631,653,0.441906896355,-0.0154914389206,0.0796466571828,0.999999839784,1.08507940596e-05,-0.000565914493095,7.37389435586e-06,1793239649086552576
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880,786,805,651,631,653,0.441311011648,-0.0154854642235,0.0796670978432,0.999999856446,2.07754091466e-05,-0.000535311817565,1.08673508622e-05,1793239649103219200
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.621428741,660,634.378571259,880.378571259,786.378571259,805,651,631,653,0.440656082213,-0.0154770957223,0.0796661345996,0.999999857703,3.42412309405e-05,-0.000532254299575,1.12703043701e-05,1793239649119885568
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.042710257,660,634.957289743,880.957289743,786.957289743,805,651,631,653,0.439969936381,-0.0154674616386,0.0796538553034,0.999999850883,4.95792566149e-05,-0.000543759660103,1.00393365767e-05,1793239649136551936
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714.531700515,680.531700515,660,635,881,787,805,651,631.531700515,653,0.439275703158,-0.0154619757299,0.0796376645889,0.999999839698,5.95454302936e-05,-0.000562983313014,1.03582118245e-05,1793239649153218816
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.108526739,635,880.891473261,787,805.108526739,651,631.891473261,653,0.438591164822,-0.0154570334156,0.0796359074953,0.999999839815,6.96319414121e-05,-0.000561590257415,1.17380183856e-05,1793239649169885440
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.697567236,635,880.302432764,787,805.697567236,651,631.302432764,653,0.437952405077,-0.0154530344453,0.0796994367604,0.99999988781,8.2146451163e-05,-0.000466191488282,1.72684256081e-05,1793239649186552320
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.717950524,681,661,635,880,787,805.717950524,651,631,653,0.437286062856,-0.0154471177459,0.0797655352632,0.99999992698,9.81781811316e-05,-0.00036858474817,2.33940328902e-05,1793239649203219456
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.138278152,681,661,635,880,787,805.138278152,651,631,653,0.436590615108,-0.0154391774291,0.0798343448724,0.999999956507,0.000117921336799,-0.000268648112031,3.01477049741e-05,1793239649219886848
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714.438301825,681,661,635,880.438301825,787,805,651,631,653,0.435820196484,-0.0154185090478,0.0798590252082,0.999999962925,0.000144936542739,-0.00022849283512,3.05845278071e-05,1793239649236552960
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.985810418,681,661,635,880.985810418,787,805.014189582,651,631,653,0.435025709088,-0.0153942375561,0.0798689206753,0.999999962722,0.000173790957847,-0.000208592039301,2.90185534714e-05,1793239649253218816
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.398756161,681,661,635,880.398756161,787,805.601243839,651,631,653,0.434207714734,-0.0153854804309,0.079840049457,0.999999951222,0.000184924120712,-0.000250316304946,2.64884528621e-05,1793239649269885440
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714.185673879,681,661.185673879,635,880,787,805.814326121,651,631.185673879,653,0.433366920263,-0.0153798807125,0.0798087537049,0.999999935675,0.000192898881227,-0.000301415515492,2.42748998693e-05,1793239649286552064
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.764546618,681,661.764546618,635,880,787,805.235453382,651,631.764546618,653,0.432477842365,-0.0153809673888,0.079772323555,0.999999911559,0.000194185138521,-0.000372367907364,2.27316952977e-05,1793239649303218688
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661.314793127,635.342603437,880,787,804.657396563,651,631.657396563,653,0.431579253975,-0.0153803778804,0.0797400163523,0.999999886685,0.000197354196604,-0.000432635913465,2.25085594962e-05,1793239649319885568
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.159798352,635.920100824,880,787,804.079899176,651,631.079899176,653,0.43067414509,-0.0153786391552,0.0797105359042,0.999999861473,0.000201814130556,-0.000485578544763,2.31904823084e-05,1793239649336552704
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.495069136,635.504930864,880,787,804,651,631,653,0.429863198722,-0.0153817298685,0.0797660900579,0.999999901869,0.000209658930796,-0.000389237349415,2.82824236182e-05,1793239649353219072
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764.928489324,745,715,680.928489324,661,635,880.071510676,787.071510676,804,651,631,653,0.429062717278,-0.0153852705969,0.0798308307629,0.999999937108,0.000217129294766,-0.000278360424692,3.39873237935e-05,1793239649369885696
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764.338420201,745,715,680.338420201,661,635,880.661579799,787.661579799,804,651,631,653,0.428228482626,-0.0153864513555,0.0798631759701,0.999999947666,0.000217943224457,-0.000235899335065,3.90021992287e-05,1793239649386552320
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764.247302938,745,715,680.247302938,661,635,880.752697062,787.752697062,804,651,631.247302938,653,0.427356996901,-0.0153846425619,0.0798627385658,0.999999946577,0.000221891650949,-0.000236651933415,4.00702187485e-05,1793239649403218944
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.827181632,745,715,680.827181632,661,635,880.172818368,787.172818368,804,651,631.827181632,653,0.426435415397,-0.0153788133854,0.0798182147435,0.99999992923,0.000230055383776,-0.00029551877657,3.583046297e-05,1793239649419885312
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,744.596251374,715,680.596251374,661,635,880,787.403748626,804,651,632,653,0.425514136202,-0.0153771035438,0.0797838553095,0.999999912177,0.000233661908644,-0.000346246374505,3.40697340344e-05,1793239649436551936
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,744.021090406,715,680.021090406,661,635,880,787.978909594,804,651,632,653,0.424592985408,-0.015377142575,0.0797538111911,0.999999894324,0.000235333660412,-0.000393518434589,3.33614814727e-05,1793239649453218560
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.105867322,715,680.552933661,661,635,880,787.447066339,804.552933661,651.552933661,631.447066339,653,0.423649724971,-0.0153744150796,0.0797396894827,0.999999877731,0.000244751077031,-0.000428333492525,3.41461071234e-05,1793239649469885184
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.869086035,715,681,660.869086035,635,880,787.130913965,804.869086035,651.869086035,631,653,0.4227392731,-0.0153718796351,0.0797374994889,0.999999872379,0.000251308457664,-0.000436866759018,3.51140521749e-05,1793239649486552064
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.277017161,715,681,660.277017161,635,880,787.722982839,804.277017161,651.277017161,631,653,0.421947356651,-0.0153703916562,0.079775204956,0.999999906058,0.000246752553437,-0.000354490610224,3.65275816003e-05,1793239649503218944
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.692963625,660,635,880,788,804,651,631,653,0.42115753623,-0.015371928312,0.0798239251391,0.99999993472,0.000243684787769,-0.000263744992633,4.02094367324e-05,1793239649519885824
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.11595781,660,635,880,788,804,651,631,653,0.420369558837,-0.0153761244539,0.0798823302859,0.999999955965,0.000241925504804,-0.000165640313202,4.588577399e-05,1793239649536552192
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.460532014,635,880.460532014,787.539467986,804.460532014,651.460532014,631,653,0.419500801594,-0.0153757486779,0.0798720663371,0.999999951249,0.000243593001282,-0.000190059311236,4.51770920319e-05,1793239649553218816
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.962497555,787.037502445,804.962497555,652,631,653.037502445,0.418613023416,-0.0153741971668,0.0798441363808,0.999999938873,0.000245696334562,-0.000245087248543,4.26604275804e-05,1793239649569885440
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880.376602219,787.623397781,804.376602219,652,631,653.623397781,0.417744196553,-0.0153722675745,0.0798104289781,0.999999925999,0.000241569897389,-0.000297089785959,3.71886113307e-05,1793239649586552320
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.791828489,635,880.208171511,788,804.208171511,651.791828489,631.208171511,653.791828489,0.416895835093,-0.0153702312041,0.0797953459994,0.999999917814,0.000239873605713,-0.000324980336469,3.4929483421e-05,1793239649603218944
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.209072882,635,880.790927118,788,804.790927118,651.209072882,631.790927118,653.209072882,0.416084298959,-0.0153680026967,0.0798137758287,0.999999921955,0.000242550121355,-0.000309483755267,3.84512704482e-05,1793239649619885568
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,744.630860582,715,680,660.369139418,635,880.630860582,788,805,651,631.630860582,653,0.415286653378,-0.0153658559006,0.079808121906,0.99999991748,0.0002462976284,-0.000320744595872,3.87257637081e-05,1793239649636552448
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,744.055190264,715,680,660.944809736,635,880.055190264,788,805,651,631.055190264,653,0.414496779511,-0.0153637548215,0.0797889932929,0.999999907701,0.000250644347298,-0.000346976025918,3.71834187922e-05,1793239649653219328
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,744,715,679.481489041,661,635,880,788,804.481489041,651.518510959,631.518510959,653,0.413771165087,-0.0153643299356,0.0797989667538,0.999999915877,0.000249258980693,-0.000323685283996,3.6666570817e-05,1793239649669885952
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,661,635,879.905462527,787.905462527,804,652,632,653,0.413052884788,-0.0153650822649,0.0798113524607,0.999999924171,0.000248225058526,-0.00029782218168,3.66518583936e-05,1793239649686552320
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,661,635,879.316174163,787.316174163,804,652,632,653,0.412337327078,-0.0153652769198,0.0798202126597,0.999999926554,0.000252211307411,-0.000285978445926,3.86959315668e-05,1793239649703218944
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.269117912,744,715,679,661,635.269117912,879,787.269117912,804.269117912,652,631.730882088,653,0.411621010219,-0.0153631529157,0.0798166634087,0.999999922971,0.000256144265202,-0.000294823756378,3.90674066691e-05,1793239649719885568
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.849783592,744,715,679,661,635.849783592,879,787.849783592,804.849783592,652,631.150216408,653,0.410903814569,-0.0153583446864,0.0797987481999,0.999999911825,0.000260015529434,-0.000327620004501,3.75025772093e-05,1793239649736552192
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.148201092,744.425899454,715,679,661,636,879.425899454,787.574100546,805,652,631.425899454,653,0.410245570712,-0.0153568370876,0.0797953414076,0.999999908926,0.000260510183919,-0.000336031172018,3.6939570516e-05,1793239649753218816
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.000427278,745,715,679,661,635.999572722,879.999572722,787.000427278,804.999572722,652,631.999572722,653,0.409607949319,-0.0153564822275,0.0797970184357,0.999999909157,0.000259827279544,-0.000335895828983,3.67284338038e-05,1793239649769885440
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.574540599,745,715,679,661,635.425459401,879.425459401,787.574540599,804.425459401,652,631.425459401,653,0.409037139404,-0.0153573334581,0.0798265325533,0.999999924328,0.000260213733341,-0.000286477149906,3.95490330063e-05,1793239649786552320
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.15287205,744.84712795,715,679,661,635,879,788,804,651.84712795,631.15287205,653,0.408464162389,-0.015356539447,0.0798471153884,0.999999932383,0.000263756659541,-0.000252840423288,4.17021209052e-05,1793239649803218688
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.743276264,744.256723736,715,679,661,635,879,788,804,651.256723736,631.743276264,653,0.407884982825,-0.0153510366209,0.0798421361778,0.999999925994,0.000276333666583,-0.000264372910789,4.19447383735e-05,1793239649819885568
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.671567255,744,715,679.328432745,660.671567255,635.328432745,879,788,804,651.328432745,632,653,0.40731084889,-0.0153478838567,0.0798202000059,0.99999991399,0.000278454108674,-0.000304761633903,4.00483847693e-05,1793239649836552192
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.090448258,744,715,679.909551742,660.090448258,635.909551742,879,788,804,651.909551742,632,653,0.406740596944,-0.0153465391595,0.0797852176596,0.999999894724,0.000272529583381,-0.000367351473112,3.65063711784e-05,1793239649853218816
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,744.484080178,715,679.515919822,660.484080178,635.515919822,879.968160356,788,804,652,632,653,0.406259492253,-0.0153505135407,0.0797770079539,0.999999893089,0.000269804424191,-0.000373855707182,3.54786458219e-05,1793239649869885184
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.058941193,744.941058807,715,679,661,635.058941193,880.882117614,788,804,652,632,653,0.40580016004,-0.0153547961047,0.0797763809323,0.999999896465,0.00026823477812,-0.000365905211915,3.51120276765e-05,1793239649886552064
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.647712516,744.352287484,715,679,661,635.647712516,879.704574969,788,804,652,632,653,0.405388824676,-0.0153530351458,0.0797995528509,0.999999910903,0.000271750776,-0.000320954228399,3.6521962789e-05,1793239649903218688
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.767235356,744.232764644,715,679,661,635.767235356,879,787.767235356,804,652,632,653,0.404986765016,-0.015351486675,0.079818607202,0.999999920155,0.000272560907412,-0.000289804031926,3.75963930967e-05,1793239649919885312
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.187723726,744.812276274,715,679,661,635.187723726,879,787.187723726,804,652,632,653,0.404598523309,-0.0153502547454,0.0798315276554,0.99999992402,0.000269340138956,-0.000279212724325,3.81710254626e-05,1793239649936552192
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.610035413,661,635.389964587,879,787.389964587,804,652,631.610035413,653,0.404229601453,-0.01534645129,0.0798350283212,0.999999921228,0.000279698618106,-0.000278777186845,3.9950059688e-05,1793239649953219328
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.033220686,661,635.966779314,879,787.966779314,804,652,631.033220686,653,0.403869936601,-0.015341415697,0.0798340155306,0.999999915027,0.000296563544946,-0.000283207749381,4.23061788094e-05,1793239649969886208
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,744.45853654,715,678.54146346,660.45853654,635.45853654,879,788,804,652,631,653,0.40354763865,-0.0153359871539,0.0798318803497,0.999999914549,0.000290840642328,-0.000291240063527,3.86493341235e-05,1793239649986552320
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,744,715,678.880671217,660,635,879,788,804,651.880671217,631.119328783,653,0.403238905952,-0.0153316785738,0.0798317819502,0.999999914811,0.000286000662172,-0.000295459377766,3.58491908907e-05,1793239650003218944
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,744,715,678.289718111,660,635,879,788,804,651.289718111,631.710281889,653,0.402974761724,-0.0153318913456,0.0798400046413,0.999999916948,0.000290106075118,-0.000283738578723,3.78873534079e-05,1793239650019885568
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,744.295343103,715,678.295343103,660,635.295343103,879.295343103,788,804.295343103,651.295343103,631.704656897,653,0.40272603606,-0.0153330411441,0.0798446684059,0.999999918189,0.000290638706518,-0.000278681701122,3.85602465462e-05,1793239650036551936
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,744.874737652,715,678.874737652,660,635.874737652,879.874737652,788,804.874737652,651.874737652,631.125262348,653,0.402492139489,-0.0153350921446,0.0798459093096,0.999999918676,0.000287735151964,-0.000280033968371,3.79200676334e-05,1793239650053218560
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,744.550246109,715,679,660,636,879.550246109,787.550246109,804.550246109,652,631,653,0.402288230198,-0.0153454688497,0.0798435860144,0.999999920796,0.00027733741594,-0.000282956321411,3.77790793812e-05,1793239650069885440
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,744.024189443,715,678.975810557,660,635.975810557,879,787.024189443,803.975810557,652,630.975810557,653,0.402094367443,-0.0153577151756,0.0798404439956,0.999999923182,0.000265309020925,-0.000286039475705,3.78076132249e-05,1793239650086552064
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.613266651,715,678.386733349,660,635.386733349,879,787.613266651,803.386733349,652,630.386733349,653,0.401941960398,-0.0153599936301,0.0798411407358,0.999999924569,0.000263472787844,-0.000282764351125,3.85794941328e-05,1793239650103218944
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764.800886399,744.800886399,715,678,660.199113601,635,879.199113601,787.800886399,803.199113601,652,630.199113601,653,0.401798398937,-0.0153597735861,0.0798438943872,0.999999925949,0.000264637703161,-0.000276606192658,3.94648852302e-05,1793239650119885824
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764.221213402,744.221213402,715,678,660.778786598,635,879.778786598,787.221213402,803.778786598,652,630.778786598,653,0.401671743772,-0.0153547782422,0.0798505793465,0.999999927215,0.000271538616682,-0.000264937784975,4.05672245952e-05,1793239650136552192
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764.356858257,744,715,678.356858257,660.643141743,635.356858257,879.643141743,787.356858257,804,651.643141743,631,653,0.401559570845,-0.0153538099259,0.0798542575578,0.999999928548,0.000272165149694,-0.000259315405282,3.98317570177e-05,1793239650153218816
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764.93394175,744,715,678.93394175,660.06605825,635.93394175,879.06605825,787.93394175,804,651.06605825,631,653,0.40145633522,-0.0153553267781,0.0798560802382,0.999999929987,0.000268919622417,-0.000257424163988,3.79621376548e-05,1793239650169885440
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.507748989,715,679,660.507748989,635.492251011,879,788,804,651.507748989,631,653,0.401364413309,-0.0153537584364,0.0798512479212,0.999999927107,0.000271038751735,-0.000266580202515,3.54830760594e-05,1793239650186552064
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715.083716803,679,661,635.083716803,879,788,804,651.916283197,631.083716803,653,0.401278271023,-0.0153520686162,0.0798461713187,0.999999924024,0.000273713185885,-0.000275534285175,3.33610626626e-05,1793239650203218944
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715.67536311,679,661,635.67536311,879,788,804,651.32463689,631.67536311,653,0.401218321833,-0.0153520614378,0.0798448320095,0.99999992376,0.000275549350987,-0.000274598810909,3.38833216437e-05,1793239650219885824
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.260915965,745,715.739084035,678.739084035,661,636,879,788,804,651,632,653,0.401164892424,-0.0153520231928,0.0798443087559,0.999999923365,0.000276814072305,-0.000274696467386,3.44301320182e-05,1793239650236552448
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.839060211,745,715.160939789,678.160939789,661,636,879,788,804,651,632,653,0.401119389933,-0.0153519471762,0.0798447776834,0.999999922814,0.000277384017594,-0.000276050230609,3.50067925712e-05,1793239650253219072
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.585319793,744.585319793,715,678,660.585319793,636,879,788,803.585319793,651,631.585319793,653.414680207,0.401085666317,-0.0153500086938,0.0798450468914,0.999999921886,0.000280977794971,-0.000275721032599,3.54626606639e-05,1793239650269885696
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.010673559,744.010673559,715,678,660.010673559,636,879,788,803.010673559,651,631.010673559,653.989326441,0.401056486492,-0.0153473517512,0.0798452390561,0.999999920792,0.000285738038436,-0.000274742619523,3.58719321371e-05,1793239650286552320
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744,715,678,660.562463512,636,879,788,803.562463512,651.562463512,631,653.437536488,0.401035185079,-0.0153481369728,0.0798430331277,0.999999920837,0.000283304715518,-0.000277124491252,3.55837557868e-05,1793239650303219200
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744,715,678,661,636,879,788,804,651.85902085,631,653,0.401017037041,-0.0153486337959,0.0798413822585,0.99999992088,0.00028156344207,-0.000278767013213,3.53795947429e-05,1793239650319885568
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744,715,678,661,636,879,788,804,651.263054707,631,653,0.401008584798,-0.0153479896141,0.0798416692255,0.999999920877,0.000282495024123,-0.000277818160617,3.54891790762e-05,1793239650336552192
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.321434865,715,678.321434865,661,635.678565135,879,788,804,651.321434865,631,653,0.401002505717,-0.0153484006447,0.0798426352132,0.999999921367,0.000282287405715,-0.000276250269439,3.55633912482e-05,1793239650353219072
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.896856122,715,678.896856122,661,635.103143878,879,788,804,651.896856122,631,653,0.400998301824,-0.0153496454664,0.0798441377388,0.999999922244,0.000281179631742,-0.000274193235901,3.56096536088e-05,1793239650369886208
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879,788,804,652,631.467606526,653,0.400994715568,-0.0153502827975,0.0798441507583,0.999999922576,0.000279658867504,-0.000274564422587,3.53990520651e-05,1793239650386552832
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.961025126,661,635,879,788,804,652,631.961025126,653,0.400991388597,-0.0153507281914,0.07984381176,0.99999992275,0.000278252824114,-0.000275391548682,3.51412743101e-05,1793239650403219200
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.366299036,661,635,879,788,804,652,631.366299036,653,0.400989835384,-0.0153503285398,0.0798430918361,0.999999922396,0.000279768729826,-0.000275158129622,3.50107177504e-05,1793239650419885568
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.777651408,635,878.777651408,788,804,651.777651408,631,653,0.400989195195,-0.0153503070974,0.079842941729,0.999999922408,0.000280287529381,-0.000274602558495,3.48621835844e-05,1793239650436551936
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,660.198751062,635,878.198751062,788,804,651.198751062,631,653,0.400990019102,-0.0153508921401,0.0798437053637,0.999999923011,0.000279207398331,-0.000273530393672,3.4684821058e-05,1793239650453218560
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.377218384,745,715,678,660.377218384,635.377218384,878.754436768,788,804,651.377218384,631.377218384,653,0.400989643081,-0.0153506218929,0.0798441371631,0.999999922881,0.000280003809841,-0.000273202385433,3.45760453894e-05,1793239650469885184
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.951655468,745,715,678,660.951655468,635.951655468,879.903310936,788,804,651.951655468,631.951655468,653,0.400988639708,-0.0153499044798,0.0798443954712,0.999999922368,0.000281781322253,-0.000273263439901,3.45031285588e-05,1793239650486552064
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.460684129,744.460684129,715,678,661,636,879.460684129,788,804,651.460684129,631.460684129,653,0.400990160282,-0.0153519205287,0.0798457769537,0.999999924172,0.000277976056684,-0.000270504931085,3.48112594434e-05,1793239650503218944
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.126132423,715,678,660.873867577,636,879,788,804,651.126132423,631,653,0.400991171307,-0.0153531415809,0.079846731708,0.99999992537,0.000275548927252,-0.000268528009864,3.49940579645e-05,1793239650519885568
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.705549404,715,678,660.294450596,636,879,788,804,651.705549404,631,653,0.400989517655,-0.0153506029396,0.079845782004,0.999999923696,0.000279918089109,-0.000270291028011,3.460060992e-05,1793239650536552448
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.715828857,715,678.284171143,660,635.715828857,879,788,804,652,631.284171143,653,0.400988346687,-0.0153501752835,0.0798451365789,0.999999923004,0.000281341656696,-0.000271389697987,3.445734346e-05,1793239650553218816
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.138028756,715,678.861971244,660,635.138028756,879,788,804,652,631.861971244,653,0.400987674466,-0.0153519288705,0.0798448055595,0.999999923342,0.000279721594981,-0.000271801909106,3.45725851061e-05,1793239650569885184
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,660.435121785,635.435121785,879,788,804,652,631.564878215,653,0.400987000124,-0.0153514901179,0.079844349906,0.999999923263,0.000279379207043,-0.000272484993914,3.42572029027e-05,1793239650586552064
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,744.006784164,715,679,661,636,879,787.993215836,804,652,631,653,0.400986339324,-0.0153503921495,0.0798438718797,0.999999923062,0.000279425921817,-0.00027322867913,3.38159694522e-05,1793239650603218944
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,744.576059203,715,679,661,636,879,787.423940797,804,652,631,653,0.400986856548,-0.015351688877,0.0798447822646,0.999999923662,0.000278484807026,-0.000271947871725,3.41463517659e-05,1793239650619885568
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,787.153683894,804,652,631.153683894,653,0.400987626821,-0.0153526714394,0.0798456507543,0.999999924262,0.000277595816659,-0.000270610606757,3.44444970491e-05,1793239650636551936
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,787.755664536,804,652,631.755664536,653,0.400989135236,-0.0153527375809,0.0798463970352,0.999999924865,0.000276858873572,-0.000269108654858,3.46486067202e-05,1793239650653218816
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,744.658755955,715,679,660.658755955,636,879,788,804,652,631.658755955,653,0.400989520204,-0.0153519435756,0.079846930032,0.999999924735,0.000277976303002,-0.000268454441733,3.45199115109e-05,1793239650669885440
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744.084381369,715,679,660.084381369,636,879,788,804,652,631.084381369,653,0.400989137657,-0.0153505619367,0.0798473173177,0.999999924102,0.000280360599603,-0.000268379385443,3.41638512062e-05,1793239650686552320
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,744,715,678.510734567,660.489265433,635.510734567,879,788,804,651.510734567,631,653,0.400987840083,-0.0153515518599,0.0798466907383,0.999999924364,0.000278315803283,-0.000269537272651,3.40736201731e-05,1793239650703218944
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,744,715,678.064951803,660.935048197,635.064951803,879,788,804,651,631.064951803,653,0.400986558577,-0.0153528042615,0.0798459848326,0.999999924703,0.000275942313328,-0.000270721748416,3.40454215521e-05,1793239650719885568
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,744,715,678.658248031,660.341751969,635.658248031,879,788,804,651,631.658248031,653,0.400986689572,-0.0153528696355,0.0798460538981,0.999999924468,0.000277099460157,-0.000270395373344,3.41494408373e-05,1793239650736552192
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,744.245626373,715.245626373,679,660.245626373,636,879,788,804,651.245626373,632,653,0.40098723181,-0.0153532316304,0.079846703771,0.999999924473,0.000277860083919,-0.000269567866429,3.43697653483e-05,1793239650753218816
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,744.824964664,715.824964664,679,660.824964664,636,879,788,804,651.824964664,632,653,0.40098833277,-0.0153539966194,0.0798481427381,0.999999924804,0.000278081985263,-0.000268059513733,3.47481040143e-05,1793239650769885696
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765,745,715.598232158,678.598232158,660.598232158,636,879,788,804,652,632,653,0.400989005617,-0.015352854848,0.0798481275117,0.999999924869,0.000278443113111,-0.000267461355898,3.45869873533e-05,1793239650786552320
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,745,715.022526544,678.022526544,660.022526544,636,879,788,804,652,632,653,0.400989493121,-0.0153508875808,0.0798474827197,0.99999992482,0.000278864516421,-0.000267257249764,3.41923237118e-05,1793239650803218944
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765,744.43592588,715,678.56407412,660.56407412,636,879,788,804,651.43592588,631.43592588,653,0.400988985659,-0.0153523830713,0.0798471855102,0.999999925188,0.000277499565796,-0.000267284174131,3.43065805697e-05,1793239650819885568
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..36e94e4d602550f03e2aa7dd7ed9dcfad5089fb5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/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,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+1,0.016666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+2,0.033333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+3,0.050000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+4,0.066666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+5,0.083333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+6,0.100000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+7,0.116666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+8,0.133333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+9,0.150000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+10,0.166666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+11,0.183333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+12,0.200000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+13,0.216666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+14,0.233333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+15,0.250000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+16,0.266666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+17,0.283333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+18,0.300000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+19,0.316666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+20,0.333333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+21,0.350000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+22,0.366666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+23,0.383333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+24,0.400000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+25,0.416666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+26,0.433333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+27,0.450000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+28,0.466666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+29,0.483333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+30,0.500000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+31,0.516666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+32,0.533333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+33,0.550000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+34,0.566666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+35,0.583333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+36,0.600000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+37,0.616666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+38,0.633333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+39,0.650000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+40,0.666666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+41,0.683333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+42,0.700000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+43,0.716666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+44,0.733333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+45,0.750000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+46,0.766666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+47,0.783333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+48,0.800000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+49,0.816666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+50,0.833333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+51,0.850000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+52,0.866666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+53,0.883333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+54,0.900000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+55,0.916666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+56,0.933333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+57,0.950000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+58,0.966666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+59,0.983333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+60,1.000000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+61,1.016666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+62,1.033333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+63,1.050000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+64,1.066666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+65,1.083333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+66,1.100000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+67,1.116666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+68,1.133333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+69,1.150000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+70,1.166666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+71,1.183333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+72,1.200000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+73,1.216666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+74,1.233333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+75,1.250000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+76,1.266666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+77,1.283333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+78,1.300000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+79,1.316666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+80,1.333333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+81,1.350000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+82,1.366666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+83,1.383333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+84,1.400000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+85,1.416666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+86,1.433333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+87,1.450000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+88,1.466666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+89,1.483333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+90,1.500000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+91,1.516666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+92,1.533333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+93,1.550000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+94,1.566666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+95,1.583333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+96,1.600000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+97,1.616666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+98,1.633333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+99,1.650000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+100,1.666666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+101,1.683333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+102,1.700000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+103,1.716666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+104,1.733333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+105,1.750000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+106,1.766666667,pose1_to_pose2_press,0.575664368694,-0.00990913397856,1.07003234166,0.546234817928,-0.00123740242574,1.06970047216
+107,1.783333333,pose1_to_pose2_press,0.575664385779,-0.0099092242782,1.07003222996,0.546234836653,-0.00123748693104,1.06970036635
+108,1.800000000,pose1_to_pose2_press,0.575664385889,-0.00990922485945,1.07003222924,0.546234836774,-0.001237487475,1.06970036567
+109,1.816666667,pose1_to_pose2_press,0.57566461296,-0.00990925602002,1.0700321803,0.546235064903,-0.00123751495738,1.06970031902
+110,1.833333333,pose1_to_pose2_press,0.575664910107,-0.00990924008935,1.0700321859,0.546235362427,-0.00123749777076,1.06970032393
+111,1.850000000,pose1_to_pose2_press,0.575665058362,-0.00990923267331,1.07003218942,0.546235510845,-0.0012374898139,1.06970032714
+112,1.866666667,pose1_to_pose2_press,0.575665225423,-0.00990923307271,1.07003220536,0.546235677668,-0.00123749101565,1.06970034324
+113,1.883333333,pose1_to_pose2_press,0.575666022739,-0.00990923497888,1.07003228148,0.546236473847,-0.00123749675111,1.0697004201
+114,1.900000000,pose1_to_pose2_press,0.575668308768,-0.00990925027211,1.07003230804,0.546238760085,-0.00123751134373,1.06970044642
+115,1.916666667,pose1_to_pose2_press,0.575673269015,-0.00990912946476,1.07003244512,0.546243717766,-0.001237399561,1.06970057523
+116,1.933333333,pose1_to_pose2_press,0.575681857388,-0.00990925574659,1.07003222582,0.546252307993,-0.00123751940936,1.06970035962
+117,1.950000000,pose1_to_pose2_press,0.575699024423,-0.00990922635281,1.07003239656,0.546269476879,-0.00123748380429,1.0697005284
+118,1.966666667,pose1_to_pose2_press,0.575725725988,-0.00990916016431,1.07003218793,0.546296176114,-0.00123742528547,1.06970032598
+119,1.983333333,pose1_to_pose2_press,0.575764191902,-0.00990931131212,1.07003230521,0.546334644541,-0.00123756796755,1.06970044154
+120,2.000000000,pose1_to_pose2_press,0.57581347663,-0.00990924494951,1.07003224917,0.546383930091,-0.00123749903234,1.06970037975
+121,2.016666667,pose1_to_pose2_press,0.57587339008,-0.00990923357085,1.07003228407,0.546443841068,-0.00123749618823,1.06970041087
+122,2.033333333,pose1_to_pose2_press,0.575940406626,-0.00990919706898,1.07003223501,0.546510857752,-0.00123745899414,1.06970036759
+123,2.050000000,pose1_to_pose2_press,0.576014380828,-0.00990920814489,1.07003233632,0.546584832011,-0.00123746991884,1.06970046773
+124,2.066666667,pose1_to_pose2_press,0.576097895316,-0.00990927445338,1.07003218459,0.546668346506,-0.00123753612661,1.06970031802
+125,2.083333333,pose1_to_pose2_press,0.57619150763,-0.00990925519239,1.07003240361,0.546761958875,-0.00123751659424,1.06970053909
+126,2.100000000,pose1_to_pose2_press,0.57629795701,-0.00990917761196,1.07003217618,0.546868408579,-0.00123743769495,1.06970031752
+127,2.116666667,pose1_to_pose2_press,0.57641815616,-0.00990925521438,1.07003217828,0.546988607322,-0.0012375167255,1.06970031831
+128,2.133333333,pose1_to_pose2_press,0.576553388564,-0.00990933641634,1.0700324767,0.547123841384,-0.00123759301919,1.0697005979
+129,2.150000000,pose1_to_pose2_press,0.576700670625,-0.00990929189726,1.07003237654,0.547271121952,-0.00123755323672,1.06970050627
+130,2.166666667,pose1_to_pose2_press,0.576860244184,-0.00990923435198,1.0700322092,0.547430695335,-0.00123749642767,1.06970033526
+131,2.183333333,pose1_to_pose2_press,0.577036458696,-0.00990917872749,1.07003230626,0.547606909243,-0.00123744278876,1.06970043391
+132,2.200000000,pose1_to_pose2_press,0.577230366173,-0.00990916845918,1.07003252158,0.547800816673,-0.00123743264198,1.06970065016
+133,2.216666667,pose1_to_pose2_press,0.577445314478,-0.00990924441698,1.07003256826,0.548015766184,-0.00123750462589,1.06970069365
+134,2.233333333,pose1_to_pose2_press,0.577683093911,-0.00990935355389,1.07003243801,0.548253546336,-0.00123761112478,1.06970056858
+135,2.250000000,pose1_to_pose2_press,0.577943966038,-0.00990933590401,1.07003236294,0.548514418935,-0.00123759189185,1.06970049293
+136,2.266666667,pose1_to_pose2_press,0.578225294446,-0.00990920366549,1.07003245273,0.548795747211,-0.0012374601312,1.06970058186
+137,2.283333333,pose1_to_pose2_press,0.578525561833,-0.00990906060247,1.07003221709,0.549096010754,-0.00123733003674,1.06970034818
+138,2.300000000,pose1_to_pose2_press,0.578846242077,-0.00990924129735,1.07003222462,0.549416693325,-0.00123750284255,1.06970035539
+139,2.316666667,pose1_to_pose2_press,0.579186481863,-0.00990936106562,1.07003221859,0.549756933944,-0.00123761977602,1.06970034949
+140,2.333333333,pose1_to_pose2_press,0.579547000672,-0.00990920081934,1.07003220037,0.550117451634,-0.00123746319752,1.0697003347
+141,2.350000000,pose1_to_pose2_press,0.579926934339,-0.00990915599715,1.07003214238,0.550497384036,-0.00123742281168,1.06970027284
+142,2.366666667,pose1_to_pose2_press,0.580325608848,-0.00990928162326,1.07003223636,0.550896059754,-0.00123754428658,1.06970036806
+143,2.383333333,pose1_to_pose2_press,0.580741620367,-0.00990929299881,1.07003226467,0.55131207237,-0.00123755179305,1.06970040008
+144,2.400000000,pose1_to_pose2_press,0.581175995654,-0.00990920284261,1.07003215126,0.551746447238,-0.00123746296622,1.06970028914
+145,2.416666667,pose1_to_pose2_press,0.581634490796,-0.00990919006305,1.07003208958,0.552204941752,-0.00123745247902,1.06970022314
+146,2.433333333,pose1_to_pose2_press,0.582120032564,-0.00990919922035,1.07003222006,0.552690483127,-0.00123746349262,1.06970033992
+147,2.450000000,pose1_to_pose2_press,0.582635396931,-0.00990920372501,1.07003244663,0.553205846936,-0.00123746962917,1.06970057328
+148,2.466666667,pose1_to_pose2_press,0.583176524222,-0.00990931294505,1.07003224953,0.553746975998,-0.00123757267195,1.06970038047
+149,2.483333333,pose1_to_pose2_press,0.583738563586,-0.00990912535358,1.07003248187,0.554309013401,-0.00123739194986,1.06970060716
+150,2.500000000,pose1_to_pose2_press,0.584309483785,-0.0099092496393,1.0700323292,0.554879935598,-0.00123750902775,1.06970046558
+151,2.516666667,pose1_to_pose2_press,0.584888923691,-0.00990935988347,1.07003243702,0.555459377386,-0.0012376129336,1.0697005721
+152,2.533333333,pose1_to_pose2_press,0.585480590579,-0.00990928217911,1.07003246433,0.556051042244,-0.00123754228854,1.069700595
+153,2.550000000,pose1_to_pose2_press,0.586089108789,-0.00990926888776,1.07003228127,0.556659560601,-0.00123752840042,1.06970041449
+154,2.566666667,pose1_to_pose2_press,0.586717048249,-0.00990926047776,1.07003244849,0.557287499456,-0.00123752228565,1.06970057527
+155,2.583333333,pose1_to_pose2_press,0.587365522052,-0.00990920185353,1.0700325397,0.557935972273,-0.00123746705628,1.0697006652
+156,2.600000000,pose1_to_pose2_press,0.588029016314,-0.00990921192352,1.07003242436,0.558599468213,-0.00123747131519,1.06970055295
+157,2.616666667,pose1_to_pose2_press,0.588703218152,-0.00990927673153,1.07003245426,0.559273671737,-0.00123753050184,1.06970058018
+158,2.633333333,pose1_to_pose2_press,0.58939392078,-0.0099092626085,1.07003257807,0.559964372971,-0.00123752118767,1.06970070186
+159,2.650000000,pose1_to_pose2_press,0.590107470449,-0.00990928024579,1.07003238825,0.560677923194,-0.00123753672067,1.06970051802
+160,2.666666667,pose1_to_pose2_press,0.590833716843,-0.0099093087832,1.07003203576,0.561404168079,-0.00123756987952,1.06970017851
+161,2.683333333,pose1_to_pose2_press,0.591569194552,-0.00990916324699,1.0700319565,0.562139645077,-0.00123742688744,1.06970009584
+162,2.700000000,pose1_to_pose2_press,0.592313357342,-0.00990937850199,1.07003209895,0.562883810295,-0.00123763419208,1.06970023072
+163,2.716666667,pose1_to_pose2_press,0.593058242526,-0.00990919564768,1.07003223132,0.563628693718,-0.00123745757718,1.06970035626
+164,2.733333333,pose1_to_pose2_press,0.593801405103,-0.00990903898629,1.07003231765,0.564371854433,-0.00123730698973,1.06970044901
+165,2.750000000,pose1_to_pose2_press,0.594550712496,-0.00990909813756,1.0700320372,0.565121162083,-0.00123736499578,1.06970017571
+166,2.766666667,pose1_to_pose2_press,0.59530590408,-0.00990920204538,1.07003222037,0.565876355001,-0.00123746464486,1.0697003519
+167,2.783333333,pose1_to_pose2_press,0.596063597184,-0.00990926813187,1.07003237417,0.566634048565,-0.00123752944695,1.06970049848
+168,2.800000000,pose1_to_pose2_press,0.596820599106,-0.00990926177193,1.07003230861,0.567391050905,-0.00123752164506,1.06970043353
+169,2.816666667,pose1_to_pose2_press,0.597571920611,-0.00990929137814,1.07003227415,0.568142372992,-0.00123754913241,1.06970040298
+170,2.833333333,pose1_to_pose2_press,0.598322974403,-0.00990935401853,1.0700322909,0.568893426845,-0.00123761140637,1.06970042391
+171,2.850000000,pose1_to_pose2_press,0.599076519268,-0.00990928604895,1.07003216088,0.569646971423,-0.00123754424644,1.06970029829
+172,2.866666667,pose1_to_pose2_press,0.599841075014,-0.00990923374008,1.07003210202,0.570411526598,-0.00123749402333,1.06970023553
+173,2.883333333,pose1_to_pose2_press,0.600617868238,-0.00990923486596,1.07003225421,0.571188320122,-0.00123749426184,1.0697003844
+174,2.900000000,pose1_to_pose2_press,0.601391537682,-0.00990913878631,1.07003259042,0.571961989123,-0.00123739990195,1.06970071505
+175,2.916666667,pose1_to_pose2_press,0.602155776739,-0.00990917673228,1.0700320821,0.572726228158,-0.00123743733789,1.06970022209
+176,2.933333333,pose1_to_pose2_press,0.602899414921,-0.00990940286222,1.0700323312,0.57346986739,-0.00123766035455,1.06970045944
+177,2.950000000,pose1_to_pose2_press,0.60361991777,-0.00990916313557,1.07003222135,0.574190368179,-0.00123742726045,1.06970035906
+178,2.966666667,pose1_to_pose2_press,0.604320088978,-0.00990917873182,1.07003211335,0.574890539105,-0.00123744386962,1.06970024962
+179,2.983333333,pose1_to_pose2_press,0.605016650758,-0.0099092104005,1.07003213997,0.575587100796,-0.00123747579512,1.06970027755
+180,3.000000000,pose1_to_pose2_press,0.605713784741,-0.00990930924466,1.07003231968,0.57628423725,-0.00123756627056,1.06970045684
+181,3.016666667,pose1_to_pose2_press,0.606409838268,-0.00990928128715,1.07003226945,0.576980290991,-0.00123753765171,1.0697004051
+182,3.033333333,pose1_to_pose2_press,0.607095769712,-0.00990926129121,1.07003213861,0.577666221444,-0.00123752113587,1.06970027123
+183,3.050000000,pose1_to_pose2_press,0.607762630054,-0.00990925572283,1.07003222838,0.578333081569,-0.00123751642261,1.06970035796
+184,3.066666667,pose1_to_pose2_press,0.608400790653,-0.00990904202571,1.07003222273,0.578971239922,-0.00123731022814,1.06970035561
+185,3.083333333,pose1_to_pose2_press,0.609009011841,-0.00990926092055,1.07003223547,0.579579465324,-0.00123751481698,1.06970036859
+186,3.100000000,pose1_to_pose2_press,0.609585883116,-0.00990920365632,1.0700323001,0.580156335477,-0.00123746110526,1.06970043993
+187,3.116666667,pose1_to_pose2_press,0.610135764184,-0.00990928426195,1.07003221777,0.580706215361,-0.00123754595402,1.06970035182
+188,3.133333333,pose1_to_pose2_press,0.610665239852,-0.00990919857672,1.07003219546,0.581235690416,-0.00123746223882,1.06970033244
+189,3.150000000,pose1_to_pose2_press,0.6111842884,-0.00990914063175,1.07003224792,0.581754738265,-0.00123740651012,1.06970038911
+190,3.166666667,pose1_to_pose2_press,0.611698323867,-0.00990916102671,1.07003231063,0.582268774351,-0.00123742491385,1.06970044902
+191,3.183333333,pose1_to_pose2_press,0.612212981627,-0.00990922858818,1.07003236928,0.582783433849,-0.00123748668174,1.06970050487
+192,3.200000000,pose1_to_pose2_press,0.612724546768,-0.00990918983268,1.07003247378,0.583294998875,-0.00123744824094,1.06970061109
+193,3.216666667,pose1_to_pose2_press,0.613215138731,-0.00990909180523,1.07003251472,0.583785589257,-0.00123735568565,1.06970064798
+194,3.233333333,pose1_to_pose2_press,0.613678930541,-0.00990931793532,1.07003230621,0.584249383712,-0.00123757248425,1.06970044504
+195,3.250000000,pose1_to_pose2_press,0.614109107653,-0.00990925573361,1.07003231961,0.584679560965,-0.00123750958638,1.06970045927
+196,3.266666667,pose1_to_pose2_press,0.614511364618,-0.00990908699903,1.07003244344,0.585081814685,-0.00123735180987,1.06970057861
+197,3.283333333,pose1_to_pose2_press,0.614887710532,-0.0099091793137,1.0700323721,0.585458161266,-0.00123744192819,1.06970049928
+198,3.300000000,pose1_to_pose2_press,0.615250455798,-0.00990920955075,1.07003214476,0.585820906497,-0.00123747169089,1.0697002809
+199,3.316666667,pose1_to_pose2_press,0.615600530017,-0.00990920577328,1.0700321456,0.586170980499,-0.00123746831378,1.06970028446
+200,3.333333333,pose1_to_pose2_press,0.615935291061,-0.00990922163973,1.07003232165,0.586505742312,-0.00123748132942,1.06970046033
+201,3.350000000,pose1_to_pose2_press,0.61625190134,-0.00990919445153,1.07003236178,0.586822352273,-0.00123745488315,1.06970050317
+202,3.366666667,pose1_to_pose2_press,0.616546104911,-0.00990920489145,1.07003231072,0.58711655568,-0.00123746574529,1.06970044996
+203,3.383333333,pose1_to_pose2_press,0.616815365012,-0.00990927590364,1.07003235568,0.587385817317,-0.00123753173713,1.06970048411
+204,3.400000000,pose1_to_pose2_press,0.617059703446,-0.00990920907261,1.07003237883,0.587630155292,-0.00123746654387,1.06970050004
+205,3.416666667,pose1_to_pose2_press,0.617283201099,-0.00990912403689,1.07003235795,0.587853650149,-0.0012373905896,1.0697004856
+206,3.433333333,pose1_to_pose2_press,0.617489656114,-0.00990919325219,1.07003233903,0.588060106065,-0.0012374564688,1.06970046956
+207,3.450000000,pose1_to_pose2_press,0.617680939498,-0.00990922370407,1.07003223406,0.588251389955,-0.00123748495405,1.06970036704
+208,3.466666667,pose1_to_pose2_press,0.61785980645,-0.00990924704151,1.07003220373,0.588430257029,-0.00123750763179,1.06970033821
+209,3.483333333,pose1_to_pose2_press,0.618026240595,-0.00990922349932,1.07003218999,0.588596691673,-0.00123748215125,1.06970032834
+210,3.500000000,pose1_to_pose2_press,0.618177154473,-0.00990925226437,1.07003212069,0.588747606161,-0.00123750864556,1.06970026123
+211,3.516666667,pose1_to_pose2_press,0.618312503603,-0.00990930301576,1.07003218667,0.588882955218,-0.00123755962204,1.06970032319
+212,3.533333333,pose1_to_pose2_press,0.618431578594,-0.00990927264201,1.07003237412,0.589002029548,-0.0012375314443,1.06970050836
+213,3.550000000,pose1_to_pose2_press,0.618535488489,-0.009909237888,1.07003241372,0.589105939221,-0.0012374973285,1.06970054969
+214,3.566666667,pose1_to_pose2_press,0.618623913844,-0.00990928870895,1.07003239135,0.589194364884,-0.00123754744128,1.06970051766
+215,3.583333333,pose1_to_pose2_press,0.61870098361,-0.00990899075814,1.07003260001,0.589271431804,-0.00123725873745,1.06970072687
+216,3.600000000,pose1_to_pose2_press,0.618767854368,-0.00990925440844,1.07003237261,0.58933830453,-0.00123751582919,1.06970050437
+217,3.616666667,pose1_to_pose2_press,0.618825194589,-0.00990916237777,1.07003233699,0.589395643371,-0.00123742823861,1.06970046793
+218,3.633333333,pose1_to_pose2_press,0.618874251514,-0.00990908028322,1.07003226061,0.589444700581,-0.00123734512215,1.06970039292
+219,3.650000000,pose1_to_pose2_press,0.618915033108,-0.00990911182029,1.07003221719,0.589485482126,-0.00123737677791,1.06970034925
+220,3.666666667,pose1_to_pose2_press,0.618947862525,-0.00990926239522,1.07003233108,0.589518313411,-0.00123752115328,1.06970045788
+221,3.683333333,pose1_to_pose2_press,0.618972499423,-0.0099093648704,1.07003249428,0.589542952673,-0.00123761582567,1.06970061706
+222,3.700000000,pose1_to_pose2_press,0.618991743543,-0.00990913332737,1.07003245432,0.589562191565,-0.00123740166431,1.06970058595
+223,3.716666667,pose1_to_pose2_press,0.619006356185,-0.00990913155878,1.07003244676,0.589576805126,-0.00123739678092,1.069700582
+224,3.733333333,pose1_to_pose2_press,0.619017477763,-0.00990918732596,1.07003240431,0.589587928158,-0.00123744767164,1.06970053818
+225,3.750000000,pose1_to_pose2_press,0.619025924896,-0.0099092543863,1.07003235693,0.589596376372,-0.00123751112888,1.06970048742
+226,3.766666667,pose1_to_pose2_press,0.619032069275,-0.00990923981182,1.07003242061,0.58960251889,-0.00123750288938,1.06970055249
+227,3.783333333,pose1_to_pose2_press,0.619036365528,-0.00990921012228,1.07003240077,0.589606814619,-0.00123747489364,1.06970053455
+228,3.800000000,pose1_to_pose2_press,0.619038884108,-0.00990918086579,1.07003235002,0.589609333365,-0.00123744496729,1.06970048547
+229,3.816666667,pose1_to_pose2_press,0.619040531209,-0.00990917891279,1.07003231968,0.589610980792,-0.00123744180653,1.06970045715
+230,3.833333333,pose1_to_pose2_press,0.619041471066,-0.00990920280716,1.0700323065,0.589611921154,-0.00123746389132,1.06970044648
+231,3.850000000,pose1_to_pose2_press,0.619041860565,-0.00990921270955,1.07003230104,0.589612310862,-0.00123747304378,1.06970044206
+232,3.866666667,pose1_to_pose2_press,0.619042021236,-0.00990921679437,1.07003229879,0.58961247162,-0.00123747681924,1.06970044024
+233,3.883333333,pose1_to_pose2_press,0.619042177222,-0.00990922076005,1.0700322966,0.589612627689,-0.00123748048459,1.06970043847
+234,3.900000000,pose1_to_pose2_press,0.61904234332,-0.00990922498281,1.07003229427,0.589612793876,-0.00123748438756,1.06970043658
+235,3.916666667,pose1_to_pose2_press,0.619042608533,-0.00990923172545,1.07003229056,0.589613059232,-0.00123749061956,1.06970043357
+236,3.933333333,pose1_to_pose2_press,0.61904300014,-0.00990924168142,1.07003228507,0.589613451049,-0.00123749982154,1.06970042913
+237,3.950000000,pose1_to_pose2_press,0.619043474572,-0.00990924692102,1.07003229951,0.589613925654,-0.00123750449596,1.06970044308
+238,3.966666667,pose1_to_pose2_press,0.61904401872,-0.00990922461705,1.0700324036,0.589614469654,-0.00123748298918,1.06970053933
+239,3.983333333,pose1_to_pose2_press,0.619044414904,-0.00990920837793,1.07003247939,0.589614865731,-0.00123746733049,1.06970060941
+240,4.000000000,pose1_to_pose2_press,0.61904455263,-0.00990920273268,1.07003250574,0.58961500342,-0.00123746188702,1.06970063377
+241,4.016666667,pose1_to_pose2_press,0.61904458938,-0.00990920122634,1.07003251277,0.58961504016,-0.00123746043451,1.06970064027
+242,4.033333333,pose1_to_pose2_press,0.619044815978,-0.00990919193836,1.07003255612,0.589615266697,-0.00123745147851,1.06970068035
+243,4.050000000,pose1_to_pose2_press,0.619044854945,-0.00990919034115,1.07003256358,0.589615305653,-0.00123744993839,1.06970068724
+244,4.066666667,pose1_to_pose2_press,0.61904492789,-0.00990918735123,1.07003257753,0.589615378578,-0.00123744705533,1.06970070015
+245,4.083333333,pose1_to_pose2_press,0.619044938539,-0.00990918691474,1.07003257957,0.589615389224,-0.00123744663445,1.06970070203
+246,4.100000000,pose1_to_pose2_press,0.619045205637,-0.0099091756251,1.07003262485,0.589615656239,-0.00123743575812,1.06970074388
+247,4.116666667,pose1_to_pose2_press,0.619045611286,-0.0099091480799,1.07003251652,0.589616061423,-0.0012374095105,1.06970064326
+248,4.133333333,pose1_to_pose2_press,0.619045780052,-0.00990913661999,1.07003247146,0.589616229996,-0.00123739859044,1.06970060139
+249,4.150000000,pose1_to_pose2_press,0.619045782642,-0.00990913644413,1.07003247077,0.589616232583,-0.00123739842286,1.06970060075
+250,4.166666667,pose1_to_pose2_press,0.619045865402,-0.00990913905748,1.07003243766,0.589616315344,-0.00123740100064,1.0697005684
+251,4.183333333,pose1_to_pose2_press,0.619045991839,-0.00990915277356,1.0700323741,0.589616441899,-0.00123741430772,1.06970050502
+252,4.200000000,pose1_to_pose2_press,0.619046056838,-0.00990916262921,1.07003234142,0.589616506958,-0.00123742395291,1.06970047244
+253,4.216666667,pose1_to_pose2_press,0.619046056838,-0.0099091672753,1.07003234142,0.589616506959,-0.00123742859903,1.06970047243
+254,4.233333333,pose1_to_pose2_press,0.619046056838,-0.0099091672753,1.07003234142,0.589616506959,-0.00123742859916,1.06970047243
+255,4.250000000,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.58961650696,-0.00123742859891,1.06970047243
+256,4.266666667,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.58961650696,-0.00123742859887,1.06970047243
+257,4.283333333,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.58961650696,-0.00123742859883,1.06970047243
+258,4.300000000,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.58961650696,-0.0012374285988,1.06970047243
+259,4.316666667,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.58961650696,-0.00123742859879,1.06970047243
+260,4.333333333,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.589616506961,-0.00123742859877,1.06970047243
+261,4.350000000,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.589616506961,-0.00123742859874,1.06970047243
+262,4.366666667,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.589616506961,-0.00123742859872,1.06970047243
+263,4.383333333,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.589616506961,-0.00123742859871,1.06970047243
+264,4.400000000,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.589616506961,-0.00123742859869,1.06970047243
+265,4.416666667,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.589616506961,-0.00123742859867,1.06970047243
+266,4.433333333,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.589616506961,-0.00123742859865,1.06970047243
+267,4.450000000,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.589616506961,-0.00123742859864,1.06970047243
+268,4.466666667,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.589616506961,-0.00123742859856,1.06970047243
+269,4.483333333,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.589616506961,-0.00123742859852,1.06970047243
+270,4.500000000,pose2_hold,0.619046056838,-0.0099091672753,1.07003234142,0.589616506961,-0.00123742859851,1.06970047243
+271,4.516666667,pose2_to_pose3_retreat,0.619046056838,-0.0099091672753,1.07003234142,0.589616506961,-0.00123742859847,1.06970047243
+272,4.533333333,pose2_to_pose3_retreat,0.619045951929,-0.00990915335808,1.07003238428,0.589616402707,-0.00123741251377,1.06970051391
+273,4.550000000,pose2_to_pose3_retreat,0.61904582723,-0.009909110381,1.07003247919,0.589616277128,-0.00123737245748,1.06970061054
+274,4.566666667,pose2_to_pose3_retreat,0.619045790341,-0.0099090976672,1.07003250726,0.589616239978,-0.00123736060772,1.06970063913
+275,4.583333333,pose2_to_pose3_retreat,0.619045677575,-0.00990906978627,1.07003257059,0.589616126606,-0.00123733473085,1.0697007038
+276,4.600000000,pose2_to_pose3_retreat,0.619045257142,-0.00990912460409,1.07003248159,0.589615706667,-0.00123738780944,1.0697006165
+277,4.616666667,pose2_to_pose3_retreat,0.619044869975,-0.00990917508457,1.07003239963,0.589615319954,-0.00123743668829,1.06970053611
+278,4.633333333,pose2_to_pose3_retreat,0.619044104078,-0.00990920430231,1.07003233352,0.589614554185,-0.00123746541857,1.0697004714
+279,4.650000000,pose2_to_pose3_retreat,0.619041964854,-0.00990907729164,1.07003243239,0.589612413048,-0.00123734496334,1.06970056918
+280,4.666666667,pose2_to_pose3_retreat,0.619035649717,-0.00990929372685,1.07003267205,0.589606100156,-0.00123755416177,1.0697007988
+281,4.683333333,pose2_to_pose3_retreat,0.619022843202,-0.00990923665898,1.07003225946,0.589593293062,-0.00123749862624,1.06970039761
+282,4.700000000,pose2_to_pose3_retreat,0.618998682016,-0.00990917388086,1.07003220381,0.589569132013,-0.00123743553304,1.06970033754
+283,4.716666667,pose2_to_pose3_retreat,0.618962880883,-0.00990917861167,1.07003222499,0.589533331564,-0.00123743773378,1.06970036337
+284,4.733333333,pose2_to_pose3_retreat,0.618915392365,-0.00990918978686,1.07003226968,0.589485842783,-0.00123745004749,1.0697004026
+285,4.750000000,pose2_to_pose3_retreat,0.618858365925,-0.00990913482159,1.07003227455,0.58942881525,-0.00123739858723,1.06970041143
+286,4.766666667,pose2_to_pose3_retreat,0.618792441013,-0.00990921167888,1.07003231911,0.589362890387,-0.00123747525794,1.06970045456
+287,4.783333333,pose2_to_pose3_retreat,0.618720140402,-0.00990915463239,1.07003214105,0.58929059015,-0.00123741700659,1.0697002808
+288,4.800000000,pose2_to_pose3_retreat,0.618641140151,-0.00990915536971,1.0700322184,0.58921159039,-0.00123741650887,1.06970035276
+289,4.816666667,pose2_to_pose3_retreat,0.618550840149,-0.0099092065295,1.07003235367,0.589121291596,-0.00123746393815,1.0697004817
+290,4.833333333,pose2_to_pose3_retreat,0.618448339816,-0.00990916921912,1.07003238911,0.58901879133,-0.00123742644664,1.0697005181
+291,4.850000000,pose2_to_pose3_retreat,0.618330298275,-0.00990903233815,1.07003240886,0.588900747028,-0.00123729881228,1.06970054355
+292,4.866666667,pose2_to_pose3_retreat,0.618196064724,-0.00990911569361,1.07003216668,0.588766514281,-0.00123737909717,1.06970031283
+293,4.883333333,pose2_to_pose3_retreat,0.61804418893,-0.00990929314738,1.07003232458,0.588614641878,-0.00123754557521,1.06970045987
+294,4.900000000,pose2_to_pose3_retreat,0.617874857631,-0.00990930623135,1.07003240405,0.588445310665,-0.00123755824179,1.06970054499
+295,4.916666667,pose2_to_pose3_retreat,0.617688859109,-0.00990929177995,1.07003234609,0.588259311299,-0.00123754703554,1.06970048452
+296,4.933333333,pose2_to_pose3_retreat,0.617486438287,-0.00990927195194,1.07003226941,0.588056889189,-0.0012375320355,1.06970040097
+297,4.950000000,pose2_to_pose3_retreat,0.617266945181,-0.00990926308777,1.07003214815,0.587837395923,-0.00123752376649,1.06970028237
+298,4.966666667,pose2_to_pose3_retreat,0.617028171355,-0.00990925019238,1.07003217725,0.58759862249,-0.00123750948559,1.06970031666
+299,4.983333333,pose2_to_pose3_retreat,0.616771204433,-0.00990923998192,1.07003239615,0.587341655328,-0.00123750042739,1.06970053022
+300,5.000000000,pose2_to_pose3_retreat,0.616495535839,-0.00990929688907,1.0700322293,0.587065987261,-0.00123755591352,1.0697003607
+301,5.016666667,pose2_to_pose3_retreat,0.616195970972,-0.00990917434863,1.07003231983,0.586766420733,-0.00123743915305,1.06970045226
+302,5.033333333,pose2_to_pose3_retreat,0.615874669979,-0.00990908048604,1.07003222055,0.586445118732,-0.00123734881984,1.06970035669
+303,5.050000000,pose2_to_pose3_retreat,0.615532164845,-0.00990921461508,1.07003221565,0.586102617003,-0.00123747172133,1.0697003498
+304,5.066666667,pose2_to_pose3_retreat,0.615166907048,-0.00990909872626,1.0700322028,0.585737357491,-0.0012373618656,1.06970033935
+305,5.083333333,pose2_to_pose3_retreat,0.614775526784,-0.00990896326956,1.07003238683,0.58534597508,-0.00123723407993,1.06970051959
+306,5.100000000,pose2_to_pose3_retreat,0.614364217483,-0.00990905126851,1.07003249646,0.584934667255,-0.00123731732039,1.0697006274
+307,5.116666667,pose2_to_pose3_retreat,0.613933507114,-0.00990922892205,1.07003231332,0.584503959329,-0.00123748661005,1.06970045172
+308,5.133333333,pose2_to_pose3_retreat,0.613483496536,-0.00990926238488,1.07003232444,0.584053948938,-0.00123751982268,1.06970045797
+309,5.150000000,pose2_to_pose3_retreat,0.613016475895,-0.00990927237103,1.0700323543,0.583586926395,-0.00123753668525,1.06970048206
+310,5.166666667,pose2_to_pose3_retreat,0.612531502069,-0.00990927969656,1.0700319715,0.583101955266,-0.00123753422486,1.06970011563
+311,5.183333333,pose2_to_pose3_retreat,0.612020981724,-0.00990925636949,1.07003211855,0.582591433491,-0.00123751590786,1.06970025817
+312,5.200000000,pose2_to_pose3_retreat,0.611480409201,-0.00990919349094,1.07003219384,0.582050859735,-0.00123745735442,1.0697003301
+313,5.216666667,pose2_to_pose3_retreat,0.610912385029,-0.00990910694792,1.07003227466,0.581482834078,-0.00123737598035,1.06970040728
+314,5.233333333,pose2_to_pose3_retreat,0.610322371077,-0.0099091730955,1.07003227483,0.580892820943,-0.00123743931745,1.06970040864
+315,5.250000000,pose2_to_pose3_retreat,0.609724703289,-0.00990930315342,1.07003224767,0.580295155473,-0.00123756148776,1.06970038291
+316,5.266666667,pose2_to_pose3_retreat,0.609125013038,-0.00990926465531,1.07003234214,0.579695465293,-0.00123752309145,1.0697004684
+317,5.283333333,pose2_to_pose3_retreat,0.608523532229,-0.0099091945599,1.07003228899,0.579093983976,-0.00123745503001,1.06970040636
+318,5.300000000,pose2_to_pose3_retreat,0.607908453255,-0.00990912576967,1.07003245466,0.578478903648,-0.00123739051714,1.06970058024
+319,5.316666667,pose2_to_pose3_retreat,0.607273815486,-0.00990915315259,1.07003247807,0.577844265403,-0.00123741949894,1.06970060326
+320,5.333333333,pose2_to_pose3_retreat,0.606607167037,-0.00990911601535,1.07003249103,0.57717761541,-0.00123738770398,1.06970061347
+321,5.350000000,pose2_to_pose3_retreat,0.605909479622,-0.00990913329796,1.07003244165,0.576479929218,-0.00123740091893,1.06970056241
+322,5.366666667,pose2_to_pose3_retreat,0.60517728622,-0.00990923515112,1.07003237055,0.575747737347,-0.00123749744128,1.06970049516
+323,5.383333333,pose2_to_pose3_retreat,0.604422202442,-0.00990924825125,1.07003239133,0.574992653061,-0.00123751202969,1.06970052208
+324,5.400000000,pose2_to_pose3_retreat,0.603647445568,-0.0099091524142,1.07003242962,0.574217896476,-0.00123741518025,1.06970056105
+325,5.416666667,pose2_to_pose3_retreat,0.602873906798,-0.00990918972501,1.07003237172,0.573444357577,-0.00123745293246,1.06970050304
+326,5.433333333,pose2_to_pose3_retreat,0.602107581077,-0.009909250757,1.07003244717,0.572678032945,-0.00123751015676,1.06970058167
+327,5.450000000,pose2_to_pose3_retreat,0.601350877685,-0.00990931381224,1.0700324293,0.571921330652,-0.00123756944104,1.06970056654
+328,5.466666667,pose2_to_pose3_retreat,0.600599027758,-0.00990920258216,1.07003221851,0.571169479301,-0.00123746290527,1.06970035646
+329,5.483333333,pose2_to_pose3_retreat,0.599844243266,-0.0099092049955,1.07003217821,0.570414694369,-0.00123746671988,1.069700318
+330,5.500000000,pose2_to_pose3_retreat,0.599069839866,-0.00990918109611,1.0700322258,0.569640288895,-0.00123745034101,1.06970035289
+331,5.516666667,pose2_to_pose3_retreat,0.598273918107,-0.00990916537657,1.07003224577,0.568844367091,-0.00123743488905,1.06970036981
+332,5.533333333,pose2_to_pose3_retreat,0.59745858516,-0.00990922867388,1.07003235266,0.568029036301,-0.00123749067471,1.06970048159
+333,5.550000000,pose2_to_pose3_retreat,0.596636355191,-0.009909302441,1.07003243148,0.567206807053,-0.00123756209938,1.0697005576
+334,5.566666667,pose2_to_pose3_retreat,0.595837209899,-0.0099093242803,1.07003231948,0.566407661351,-0.00123758535226,1.06970044502
+335,5.583333333,pose2_to_pose3_retreat,0.595061429242,-0.00990929102579,1.07003221905,0.565631881479,-0.00123754900284,1.06970035585
+336,5.600000000,pose2_to_pose3_retreat,0.594309354369,-0.00990912479272,1.07003232684,0.56487980608,-0.00123738445556,1.06970046617
+337,5.616666667,pose2_to_pose3_retreat,0.593570653414,-0.00990906944295,1.07003256025,0.564141102861,-0.00123733706751,1.06970069221
+338,5.633333333,pose2_to_pose3_retreat,0.592835876468,-0.00990903115341,1.07003248043,0.563406326157,-0.00123729795759,1.06970061239
+339,5.650000000,pose2_to_pose3_retreat,0.592087471456,-0.00990908373403,1.07003228956,0.562657921246,-0.00123735019112,1.06970042158
+340,5.666666667,pose2_to_pose3_retreat,0.591328637948,-0.00990919972405,1.07003228332,0.561899087645,-0.00123746646361,1.06970041615
+341,5.683333333,pose2_to_pose3_retreat,0.590565686741,-0.00990919546844,1.07003226811,0.561136135748,-0.00123746462844,1.0697003988
+342,5.700000000,pose2_to_pose3_retreat,0.589815417028,-0.0099091652551,1.07003220192,0.560385867138,-0.00123743055029,1.06970033584
+343,5.716666667,pose2_to_pose3_retreat,0.589082564272,-0.00990926651097,1.07003223605,0.559653016759,-0.001237523588,1.06970037385
+344,5.733333333,pose2_to_pose3_retreat,0.588375263411,-0.00990934648508,1.07003233148,0.558945716083,-0.00123760311177,1.06970046463
+345,5.750000000,pose2_to_pose3_retreat,0.587691157325,-0.00990923365362,1.07003238041,0.558261608784,-0.00123749445925,1.06970051196
+346,5.766666667,pose2_to_pose3_retreat,0.587024183501,-0.00990926457546,1.07003258179,0.557594636092,-0.00123752174414,1.06970070796
+347,5.783333333,pose2_to_pose3_retreat,0.586371640826,-0.00990931071109,1.07003220676,0.556942092597,-0.00123757014537,1.06970034634
+348,5.800000000,pose2_to_pose3_retreat,0.585732148234,-0.00990919695721,1.07003219482,0.556302599902,-0.0012374568774,1.06970033082
+349,5.816666667,pose2_to_pose3_retreat,0.585104721744,-0.00990920379558,1.07003218723,0.555675173733,-0.00123746251643,1.06970032609
+350,5.833333333,pose2_to_pose3_retreat,0.584491774249,-0.00990932248649,1.07003225158,0.555062227081,-0.00123757897666,1.06970037502
+351,5.850000000,pose2_to_pose3_retreat,0.583904514156,-0.00990929710122,1.07003219945,0.55447496599,-0.00123755709316,1.06970032062
+352,5.866666667,pose2_to_pose3_retreat,0.583342750248,-0.00990924351054,1.07003212211,0.553913201305,-0.00123750590368,1.06970024895
+353,5.883333333,pose2_to_pose3_retreat,0.582805655889,-0.00990923135316,1.07003215801,0.553376106905,-0.0012374938521,1.06970028486
+354,5.900000000,pose2_to_pose3_retreat,0.582283618194,-0.00990915513374,1.07003227772,0.552854067946,-0.00123742183458,1.06970040673
+355,5.916666667,pose2_to_pose3_retreat,0.581773673667,-0.00990930369789,1.07003246825,0.552344125554,-0.00123756339764,1.06970059105
+356,5.933333333,pose2_to_pose3_retreat,0.581279718898,-0.00990922199398,1.07003209424,0.5518501713,-0.0012374796243,1.06970022528
+357,5.950000000,pose2_to_pose3_retreat,0.580806126953,-0.009909361882,1.07003258492,0.551376578923,-0.00123762134951,1.06970070605
+358,5.966666667,pose2_to_pose3_retreat,0.580362259734,-0.00990925627423,1.07003237333,0.550932711913,-0.00123751454514,1.0697005074
+359,5.983333333,pose2_to_pose3_retreat,0.579949239222,-0.0099092709265,1.0700324204,0.550519692086,-0.00123752694745,1.06970055259
+360,6.000000000,pose2_to_pose3_retreat,0.579568630684,-0.00990934038627,1.07003247612,0.550139084152,-0.0012375945573,1.06970060341
+361,6.016666667,pose2_to_pose3_retreat,0.579208013844,-0.00990934787152,1.07003236759,0.549778466875,-0.00123760355451,1.06970049427
+362,6.033333333,pose2_to_pose3_retreat,0.578865201119,-0.00990932031392,1.07003213895,0.549435653222,-0.00123757900782,1.06970026915
+363,6.050000000,pose2_to_pose3_retreat,0.578538310984,-0.00990932121119,1.07003199042,0.549108762955,-0.0012375801773,1.06970012493
+364,6.066666667,pose2_to_pose3_retreat,0.578228110153,-0.00990924201997,1.07003208862,0.548798562346,-0.00123750012875,1.06970022576
+365,6.083333333,pose2_to_pose3_retreat,0.577940104933,-0.00990909569623,1.07003221592,0.548510556231,-0.00123735700419,1.06970034881
+366,6.100000000,pose2_to_pose3_retreat,0.577673413633,-0.00990911169152,1.07003243926,0.54824386482,-0.00123737336617,1.06970057274
+367,6.116666667,pose2_to_pose3_retreat,0.577429261509,-0.00990918234773,1.07003203,0.547999712669,-0.00123744382061,1.06970017107
+368,6.133333333,pose2_to_pose3_retreat,0.577206183866,-0.00990921505432,1.07003222156,0.547776636918,-0.00123747023292,1.06970035934
+369,6.150000000,pose2_to_pose3_retreat,0.577003625715,-0.00990923651243,1.07003218236,0.547574077709,-0.001237495379,1.06970031762
+370,6.166666667,pose2_to_pose3_retreat,0.576820982892,-0.00990930382421,1.07003215628,0.547391434508,-0.00123756411246,1.06970028797
+371,6.183333333,pose2_to_pose3_retreat,0.576657100196,-0.00990930927616,1.07003227408,0.547227551858,-0.00123756952224,1.06970040274
+372,6.200000000,pose2_to_pose3_retreat,0.576512315117,-0.0099091953128,1.07003231276,0.547082765427,-0.00123746002931,1.06970044471
+373,6.216666667,pose2_to_pose3_retreat,0.576383722172,-0.00990915649124,1.07003217754,0.546954173021,-0.00123741899314,1.06970031947
+374,6.233333333,pose2_to_pose3_retreat,0.576271461268,-0.00990922486718,1.07003231082,0.54684191287,-0.0012374851088,1.0697004451
+375,6.250000000,pose2_to_pose3_retreat,0.576169991105,-0.00990918968769,1.07003242812,0.546740442181,-0.00123745185262,1.06970055884
+376,6.266666667,pose2_to_pose3_retreat,0.576078661764,-0.00990917075642,1.07003241046,0.546649113312,-0.00123743149513,1.06970053712
+377,6.283333333,pose2_to_pose3_retreat,0.575999294791,-0.00990916009388,1.07003230675,0.546569745905,-0.00123742230914,1.0697004336
+378,6.300000000,pose2_to_pose3_retreat,0.575930423889,-0.00990919410053,1.07003220661,0.546500874712,-0.00123745699441,1.06970034122
+379,6.316666667,pose2_to_pose3_retreat,0.575871708612,-0.00990926142185,1.07003220449,0.546442161008,-0.00123751875769,1.06970034476
+380,6.333333333,pose2_to_pose3_retreat,0.575823506309,-0.00990913568081,1.07003237768,0.546393957373,-0.00123739817562,1.06970050119
+381,6.350000000,pose2_to_pose3_retreat,0.575785154328,-0.00990913207795,1.07003232076,0.546355604307,-0.00123739779914,1.06970045618
+382,6.366666667,pose2_to_pose3_retreat,0.575753913083,-0.00990923485905,1.07003236007,0.54632436377,-0.00123749850121,1.06970048709
+383,6.383333333,pose2_to_pose3_retreat,0.575728782521,-0.00990927101709,1.07003232786,0.546299234676,-0.00123752934822,1.06970046355
+384,6.400000000,pose2_to_pose3_retreat,0.57571012559,-0.00990922903916,1.07003235443,0.546280577618,-0.00123748760429,1.06970049523
+385,6.416666667,pose2_to_pose3_retreat,0.575696333656,-0.00990917993679,1.0700324403,0.546266784423,-0.00123744293417,1.06970057715
+386,6.433333333,pose2_to_pose3_retreat,0.575686871759,-0.00990926505108,1.07003242099,0.546257323274,-0.00123752540911,1.06970056047
+387,6.450000000,pose2_to_pose3_retreat,0.575680387183,-0.00990925053077,1.07003254453,0.546250838568,-0.00123751146919,1.06970068057
+388,6.466666667,pose2_to_pose3_retreat,0.575676314438,-0.00990921306785,1.07003267533,0.546246765489,-0.00123747530034,1.06970080717
+389,6.483333333,pose2_to_pose3_retreat,0.575673420809,-0.00990918829333,1.07003255285,0.546243871885,-0.00123745043074,1.06970068489
+390,6.500000000,pose2_to_pose3_retreat,0.575671402854,-0.00990917183866,1.07003237126,0.546241854066,-0.00123743345683,1.06970050486
+391,6.516666667,pose2_to_pose3_retreat,0.575670147144,-0.00990916159944,1.07003225826,0.54624059844,-0.00123742289449,1.06970039283
+392,6.533333333,pose2_to_pose3_retreat,0.575669387766,-0.00990915705497,1.07003220717,0.546239839103,-0.0012374181948,1.06970034219
+393,6.550000000,pose2_to_pose3_retreat,0.575668999116,-0.00990915868738,1.07003222245,0.546239450448,-0.00123741984426,1.06970035735
+394,6.566666667,pose2_to_pose3_retreat,0.57566895318,-0.00990915888032,1.07003222426,0.546239404512,-0.00123742003922,1.06970035914
+395,6.583333333,pose2_to_pose3_retreat,0.575668673789,-0.00990916005382,1.07003223525,0.546239125118,-0.00123742122498,1.06970037004
+396,6.600000000,pose2_to_pose3_retreat,0.575668602892,-0.0099091603516,1.07003223804,0.546239054221,-0.00123742152587,1.06970037281
+397,6.616666667,pose2_to_pose3_retreat,0.575668419602,-0.00990916112145,1.07003224524,0.546238870929,-0.00123742230377,1.06970037996
+398,6.633333333,pose2_to_pose3_retreat,0.575668283132,-0.00990916169465,1.07003225061,0.546238734457,-0.00123742288296,1.06970038528
+399,6.650000000,pose2_to_pose3_retreat,0.575667836334,-0.00990916357129,1.07003226818,0.546238287656,-0.0012374247792,1.06970040271
+400,6.666666667,pose2_to_pose3_retreat,0.575667153167,-0.00990916644072,1.07003229505,0.546237604481,-0.00123742767862,1.06970042936
+401,6.683333333,pose2_to_pose3_retreat,0.575666776927,-0.009909168021,1.07003230985,0.546237228238,-0.00123742927541,1.06970044404
+402,6.700000000,pose2_to_pose3_retreat,0.575666675149,-0.00990916844849,1.07003231385,0.54623712646,-0.00123742970736,1.06970044801
+403,6.716666667,pose2_to_pose3_retreat,0.575666468619,-0.00990916931596,1.07003232197,0.546236919927,-0.00123743058389,1.06970045607
+404,6.733333333,pose2_to_pose3_retreat,0.575666162614,-0.00990915394684,1.07003233004,0.546236613943,-0.00123741516551,1.06970046356
+405,6.750000000,pose2_to_pose3_retreat,0.575665846591,-0.00990912890985,1.0700323362,0.546236297955,-0.00123739004314,1.06970046886
+406,6.766666667,pose2_to_pose3_retreat,0.575665735518,-0.00990912011005,1.07003233836,0.546236186894,-0.00123738121333,1.06970047072
+407,6.783333333,pose2_to_pose3_retreat,0.575665614878,-0.00990911055235,1.07003234071,0.546236066268,-0.00123737162304,1.06970047274
+408,6.800000000,pose2_to_pose3_retreat,0.575665338684,-0.00990908867073,1.07003234609,0.546235790103,-0.0012373496668,1.06970047737
+409,6.816666667,pose2_to_pose3_retreat,0.575665080249,-0.00990906819622,1.07003235112,0.546235531697,-0.00123732912247,1.0697004817
+410,6.833333333,pose2_to_pose3_retreat,0.575664989575,-0.00990906188127,1.07003235217,0.546235441032,-0.0012373227827,1.06970048255
+411,6.850000000,pose2_to_pose3_retreat,0.575664869672,-0.00990909802715,1.07003231689,0.546235321124,-0.00123735887919,1.0697004491
+412,6.866666667,pose2_to_pose3_retreat,0.575664567786,-0.00990918903406,1.07003222808,0.546235019223,-0.00123744976175,1.0697003649
+413,6.883333333,pose2_to_pose3_retreat,0.575664387624,-0.00990921310503,1.07003222031,0.546234838475,-0.00123747580872,1.06970035743
+414,6.900000000,pose2_to_pose3_retreat,0.575664368639,-0.00990913418614,1.07003233451,0.546234817909,-0.00123740251135,1.06970046491
+415,6.916666667,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385433,1.06970035116
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e4cb741fb7cc32ac7871b13144efad3f422c90f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4ca7f2aef59e615bd4373ee167f31faae900c6cd197a5e2c55ddc995969dd39
+size 26477708
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7159384cb587c47a6b23db3b7b1d42658042de84
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,715,679,660,636,879,789,804,652,631,653,0.400987583272,-0.0153526777331,0.0798473249905,0.999999925715,0.000275282006825,-0.000267718313592,3.34142235866e-05,1793239650975876352
+1,0.016666667,BASELINE,765,745,715.574739945,679,660.574739945,636,879,788.425260055,804,651.425260055,631,653,0.400988661023,-0.0153523728494,0.0798481322403,0.999999925103,0.00027846637668,-0.00026663849765,3.39770362344e-05,1793239650992542976
+2,0.033333333,BASELINE,765,744.847050968,715.847050968,678.847050968,661,636,879,788,804,651,631.152949032,653,0.400989301875,-0.0153523709328,0.0798486537013,0.999999924756,0.000280329621944,-0.000265936391016,3.43602732032e-05,1793239651009209600
+3,0.050000000,BASELINE,765,744.258972278,715.258972278,678.258972278,661,636,879,788,804,651,631.741027722,653,0.400988699778,-0.0153532309364,0.0798483621129,0.999999925191,0.000278434357775,-0.000266308841597,3.42326296324e-05,1793239651025876224
+4,0.066666667,BASELINE,765,744,715,678,661,636,878.675557854,787.675557854,804,651.324442146,631.675557854,653,0.400989449501,-0.015353637099,0.0798487399265,0.999999925809,0.000276921043972,-0.000265559835588,3.42835836266e-05,1793239651042542848
+5,0.083333333,BASELINE,765,744,715,678,661,636,878.095813755,787.095813755,804,651.904186245,631.095813755,653,0.400991262964,-0.0153536861362,0.0798496444892,0.999999926569,0.00027570828518,-0.000263928360792,3.4475075188e-05,1793239651059209472
+6,0.100000000,BASELINE,765.481225516,744.481225516,715,678.481225516,661,636,878.481225516,787.481225516,804,652,631,653,0.400989655822,-0.0153533776212,0.0798488310606,0.999999926172,0.000275903050132,-0.000265254468282,3.42439081674e-05,1793239651075876096
+7,0.116666667,BASELINE,765.942475551,744.942475551,715,679,661,636,879,788,804.057524449,652,631,653,0.400987666086,-0.0153530239298,0.0798478574128,0.999999925605,0.000276425534801,-0.000266883713537,3.39479343824e-05,1793239651092542720
+8,0.133333333,BASELINE,765.368017059,744.368017059,715,679,661,636,879,788,804.631982941,652,631,653,0.40098832421,-0.0153529004295,0.0798485006518,0.999999925584,0.000277388736114,-0.000265974891239,3.38215843768e-05,1793239651109209600
+9,0.150000000,BASELINE,765,744.211308996,715,678.788691004,661,636,879.211308996,788,804.788691004,652,631,653,0.400989441879,-0.0153530203525,0.0798491440907,0.999999925746,0.000277917146545,-0.00026482133094,3.3773310888e-05,1793239651125876480
+10,0.166666667,BASELINE,765,744.799312248,715,678.200687752,661,636,879.799312248,788,804.200687752,652,631,653,0.400991378767,-0.0153535742187,0.0798497878859,0.999999926231,0.000277670468114,-0.00026323148359,3.38642220951e-05,1793239651142543104
+11,0.183333333,BASELINE,765,745,715,678.38357374,661,636,879.61642626,788,804,652,631,653,0.400990759302,-0.0153542456825,0.0798495861844,0.999999926322,0.000276956488497,-0.000263629474221,3.39171673939e-05,1793239651159209728
+12,0.200000000,BASELINE,765,745,715,678.96589649,661,636,879.03410351,788,804,652,631,653,0.400988815263,-0.0153549780796,0.0798489463883,0.999999926208,0.00027600037641,-0.00026505746439,3.39504406383e-05,1793239651175876352
+13,0.216666667,BASELINE,765,744.457634349,715,679,661,636,879,788,804,651.457634349,631,653,0.400990024836,-0.0153550333052,0.0798504373035,0.999999927105,0.000274637749668,-0.00026308570594,3.39103500165e-05,1793239651192542976
+14,0.233333333,BASELINE,765,744,715,679,660.881897189,636,879,788,804,651.118102811,631,653,0.400991035828,-0.0153546596282,0.0798515340898,0.999999927629,0.000274161562639,-0.000261588204015,3.39066019164e-05,1793239651209209600
+15,0.250000000,BASELINE,765,744,715,679,660.307580851,636,879,788,804,651.692419149,631,653,0.400990521925,-0.0153527918876,0.0798505964064,0.999999926482,0.000277207244702,-0.000262739641221,3.40608688341e-05,1793239651225876480
+16,0.266666667,BASELINE,765.272892558,744.272892558,715,679,660.272892558,636,879,788,804,652,631.272892558,653,0.400989784287,-0.0153521587718,0.0798500336603,0.999999925858,0.000278624010152,-0.000263608499084,3.41084617351e-05,1793239651242543104
+17,0.283333333,BASELINE,765.860465841,744.860465841,715,679,660.860465841,636,879,788,804,652,631.860465841,653,0.400988788653,-0.0153529493394,0.0798499032661,0.999999925846,0.000278162422037,-0.00026415150603,3.4033045568e-05,1793239651259209728
+18,0.300000000,BASELINE,765.557593907,745,715,679,661,636,879.442406093,788,804,651.557593907,631.557593907,653,0.40098889796,-0.0153541107576,0.0798495203681,0.999999926159,0.00027664126419,-0.000264577720112,3.39018515717e-05,1793239651275876096
+19,0.316666667,BASELINE,765,744.977607638,715,678.977607638,661,636,879.977607638,788.022392362,804,651,631.022392362,653,0.400989349274,-0.0153553470323,0.0798490764682,0.999999926566,0.000274823008034,-0.000264952400761,3.37648957952e-05,1793239651292542976
+20,0.333333333,BASELINE,765,744.402549209,715,678.402549209,661,636,879.402549209,788.597450791,804,651,631.597450791,653,0.400989748546,-0.0153555803056,0.0798490678443,0.999999926837,0.000273816426823,-0.000264952910474,3.39144685786e-05,1793239651309209600
+21,0.350000000,BASELINE,765,744,715,678.176510606,661,635.823489394,879,788.646978788,804,651,631.823489394,653,0.400989337565,-0.0153554003886,0.0798487074192,0.999999926657,0.00027396482443,-0.000265476430341,3.39198290348e-05,1793239651325876224
+22,0.366666667,BASELINE,765,744,715,678.764907548,661,635.235092452,879,787.470184904,804,651,631.235092452,653,0.400987035868,-0.0153542562946,0.0798475260686,0.999999925421,0.000276808357638,-0.000267220390957,3.35886709549e-05,1793239651342542848
+23,0.383333333,BASELINE,765,744.348079021,715,679,661,635.348079021,879,787.348079021,804,651,631,653,0.400986664639,-0.0153532890212,0.0798479047241,0.999999925257,0.000277783148086,-0.00026681736492,3.36384256087e-05,1793239651359209472
+24,0.400000000,BASELINE,765,744.92777347,715,679,661,635.92777347,879,787.92777347,804,651,631,653,0.400987577964,-0.0153524394059,0.079849321424,0.999999925808,0.0002775144578,-0.000264985711638,3.39416435549e-05,1793239651375876096
+25,0.416666667,BASELINE,765,745,715,678.495063806,661,636,879,788,804,651.504936194,631.504936194,653,0.400988304107,-0.0153519451937,0.0798498649729,0.999999925967,0.000277829122484,-0.000264095368112,3.36291388463e-05,1793239651392542976
+26,0.433333333,BASELINE,765,744.918547329,715,678.081452671,661.081452671,636,879,788,804,651.918547329,632,653,0.400988717357,-0.015351848221,0.079849957696,0.999999926013,0.000277962410551,-0.000263818054552,3.33379844998e-05,1793239651409209600
+27,0.450000000,BASELINE,765,744.34376229,715,678.65623771,661.65623771,636,879,788,804,651.34376229,632,653,0.40098739687,-0.0153538508306,0.0798480725962,0.999999925712,0.000276494289988,-0.000266442226662,3.3706913659e-05,1793239651425876224
+28,0.466666667,BASELINE,765,744,715,678.763970418,661.763970418,636,879,788,804,651.236029582,631.763970418,653,0.400987567276,-0.0153546299531,0.0798479398281,0.999999925795,0.000276249391092,-0.000266355916762,3.39242124307e-05,1793239651442542848
+29,0.483333333,BASELINE,765,744,715,678.176728401,661.176728401,636,879,788,804,651.823271599,631.176728401,653,0.40098995613,-0.0153535885246,0.0798504145327,0.999999926448,0.000277824648277,-0.0002622364047,3.39158848963e-05,1793239651459209472
+30,0.500000000,BASELINE,765,744.407193548,715,678.407193548,661,636,879,788,804,652,631,653,0.400989707735,-0.0153544766893,0.079850285924,0.99999992687,0.000276179174435,-0.000262363923584,3.39218968954e-05,1793239651475876096
+31,0.516666667,BASELINE,765,744.989686176,715,678.989686176,661,636,879,788,804,652,631,653,0.400988323989,-0.0153561955546,0.0798490365744,0.999999927187,0.000273147157998,-0.000264319812929,3.39340821429e-05,1793239651492542720
+32,0.533333333,BASELINE,765,745,715,679,661,636,879,788,804,652,631,653,0.40098893568,-0.0153561161372,0.0798496368085,0.999999927326,0.00027324199146,-0.000263683037931,3.40282310873e-05,1793239651509209344
+33,0.550000000,BASELINE,765,745,715,679,661,636,879,788,804,652,631,653,0.40098973187,-0.0153557775948,0.0798503305638,0.999999927418,0.00027379965748,-0.00026275118484,3.40630248298e-05,1793239651525876224
+34,0.566666667,BASELINE,765,745,715,679,661,636,879,788,804,652,631,653,0.400990983743,-0.0153547435164,0.0798512089526,0.999999927371,0.000275604352936,-0.000261057424105,3.39111868242e-05,1793239651542542848
+35,0.583333333,BASELINE,765.294715613,745,715,679,661,636,879,788,804,652,631,653,0.400990760618,-0.015353845967,0.0798507599389,0.999999926576,0.000278349518579,-0.000261183371538,3.39517146952e-05,1793239651559209472
+36,0.600000000,BASELINE,765.885983399,745,715,679,661,636,879,788,804,652,631,653,0.400989053303,-0.0153530857971,0.0798489752508,0.999999925021,0.000282041015292,-0.00026314036669,3.41858071781e-05,1793239651575876096
+37,0.616666667,BASELINE,765.532893413,745,715,678.532893413,661,636,879,788,804,651.532893413,631.467106587,653,0.400987827367,-0.0153526527582,0.0798487171205,0.999999925238,0.000279776333538,-0.000264761894509,3.39104715768e-05,1793239651592542976
+38,0.633333333,BASELINE,765,744.954786701,715,678.090426599,661,636,879,788,804,651,631.954786701,653,0.40098697155,-0.0153525005938,0.0798489187902,0.999999925921,0.000276229158179,-0.000265946063382,3.35898194692e-05,1793239651609209344
+39,0.650000000,BASELINE,765,744.383577195,715,679.232845611,661,636,879,788,804,651,631.383577195,653,0.400989083674,-0.015354706829,0.0798502268348,0.999999927214,0.000274315969274,-0.000262974516412,3.41578303746e-05,1793239651625876224
+40,0.666666667,BASELINE,765.194571807,744,715,679.610856385,661,636,879,788,804,651,631,653,0.40099063826,-0.0153556453302,0.0798512772118,0.999999927987,0.000273596227422,-0.000260743283795,3.4400463868e-05,1793239651642542848
+41,0.683333333,BASELINE,765.786907203,744,715,678.426185595,661,636,879,788,804,651,631,653,0.400991053069,-0.0153539922,0.0798518008384,0.999999927717,0.000275316252211,-0.000260025477669,3.39779275453e-05,1793239651659209728
+42,0.700000000,BASELINE,765.628991809,744.371008191,715,678.371008191,661,636,879,788,804,651.371008191,631,653,0.40099090069,-0.0153533428242,0.0798514459838,0.999999926996,0.000277637985423,-0.000260343251892,3.38661411071e-05,1793239651675876352
+43,0.716666667,BASELINE,765.049517675,744.950482325,715,678.950482325,661,636,879,788,804,651.950482325,631,653,0.400990429613,-0.0153532574483,0.0798505975191,0.999999926017,0.000280297812763,-0.000261242908802,3.39289620616e-05,1793239651692542976
+44,0.733333333,BASELINE,765.526784714,745,715,679,661,636,879.526784714,788,804,652,631,653,0.400988578105,-0.0153539208706,0.0798496888813,0.999999926172,0.000277272715649,-0.000263890343983,3.37399465327e-05,1793239651709210112
+45,0.750000000,BASELINE,765.897447277,744.897447277,715.102552723,678.897447277,661,635.897447277,879.897447277,788,804,652,631,653,0.400987432945,-0.0153543051963,0.0798492263948,0.999999926446,0.000274680539108,-0.000265577422666,3.35672939144e-05,1793239651725877504
+46,0.766666667,BASELINE,765.322775205,744.322775205,715.677224795,678.322775205,661,635.322775205,879.322775205,788,804,652,631,653,0.400990133377,-0.0153530825524,0.079850843727,0.999999926857,0.000276526785909,-0.000262091516863,3.35782995177e-05,1793239651742543872
+47,0.783333333,BASELINE,765.259114621,744,715.740885379,678,661,635,879.259114621,788,804,652,631,653,0.400991008466,-0.0153529873108,0.0798512876535,0.999999927087,0.000276923673838,-0.000260777507198,3.36704912281e-05,1793239651759210240
+48,0.800000000,BASELINE,765.850253203,744,715.149746797,678,661,635,879.850253203,788,804,652,631,653,0.400989544598,-0.0153543366985,0.0798502280033,0.9999999271,0.000275463384407,-0.000262246518554,3.38667130901e-05,1793239651775876608
+49,0.816666667,BASELINE,765.567254987,744.432745013,715,678,661,635.432745013,879.134509973,788,804,652,631.432745013,653,0.400990302179,-0.0153549004977,0.0798507246789,0.999999927769,0.000273967240946,-0.000261279341333,3.37204525644e-05,1793239651792542976
+50,0.833333333,BASELINE,765.012155117,744.987844883,715,678,661,636,878.012155117,788,804,652,631.987844883,653,0.400991727326,-0.015355204353,0.0798516894168,0.999999928623,0.000272491990017,-0.00025958047577,3.34691094793e-05,1793239651809209856
+51,0.850000000,BASELINE,765.584734027,744.415265973,715,678,661,636,878.584734027,788,804,652,631.415265973,653,0.400989183429,-0.0153558113656,0.0798498906735,0.999999927904,0.000272540832537,-0.000262253108878,3.37299196637e-05,1793239651825876992
+52,0.866666667,BASELINE,765.837745192,744,715,678.162254808,661,636,879,788,804,651.837745192,631.162254808,653,0.400987871315,-0.0153556393802,0.0798489211926,0.999999927248,0.00027357511597,-0.000263650842705,3.38912345717e-05,1793239651842543872
+53,0.883333333,BASELINE,765.247179173,744,715,678.752820827,661,636,879,788,804,651.247179173,631.752820827,653,0.400989810791,-0.0153534110392,0.0798501407527,0.999999926767,0.000277210711484,-0.0002616831682,3.37899073709e-05,1793239651859210496
+54,0.900000000,BASELINE,765,744.336993554,715,679,661,636,879.336993554,788,804,651.336993554,631.663006446,653,0.40099056363,-0.0153533782865,0.079850740778,0.999999926722,0.000278053070183,-0.000260951678657,3.38522838125e-05,1793239651875876864
+55,0.916666667,BASELINE,765,744.91656419,715,679,661,636,879.91656419,788,804,651.91656419,631.08343581,653,0.400990462295,-0.0153549259779,0.0798508948452,0.999999926999,0.000276884781252,-0.000261110028599,3.4032498572e-05,1793239651892542976
+56,0.933333333,BASELINE,765,745,715,679,661,636,879.507847416,788,804.492152584,651.507847416,631.492152584,653,0.400989553938,-0.0153555111557,0.0798500588133,0.999999927033,0.000275667099445,-0.000262327815521,3.35588950358e-05,1793239651909209856
+57,0.950000000,BASELINE,765,745,715.067149296,679,661,636,879,788,804.932850704,651,631.932850704,653,0.400988727756,-0.0153560690653,0.0798492772983,0.999999927137,0.000274299795728,-0.00026342036063,3.30958151223e-05,1793239651925876224
+58,0.966666667,BASELINE,765,745,715.642736447,679,661,636,879,788,804.357263553,651,631.357263553,653,0.400989551401,-0.0153576461273,0.0798501693184,0.999999928104,0.0002718624872,-0.000262215566607,3.35449599803e-05,1793239651942543104
+59,0.983333333,BASELINE,765,745,715.77717417,679,661,636,879,788,804,651.22282583,631.22282583,653,0.400989478058,-0.0153571073738,0.0798504223899,0.999999927951,0.000272590461296,-0.000262015110062,3.37753653571e-05,1793239651959209728
+60,1.000000000,BASELINE,765,745,715.189717265,679,661,636,879,788,804,651.810282735,631.810282735,653,0.400987936891,-0.0153531063106,0.0798496298893,0.999999925948,0.000278498087663,-0.000263458146154,3.36478266114e-05,1793239651975876608
+61,1.016666667,BASELINE,765,745,715,679,661,636,879,788,804,652,632,653,0.400988027097,-0.0153532518558,0.0798494568557,0.999999925622,0.00027952628215,-0.000263573333162,3.38999347016e-05,1793239651992543232
+62,1.033333333,BASELINE,765,745,715,679,661,636,879,788,804,652,632,653,0.40098889545,-0.0153553752856,0.0798495793007,0.999999926106,0.000278227043447,-0.00026305515136,3.43331299705e-05,1793239652009209856
+63,1.050000000,BASELINE,765,745,715,679,661,636,879,788,804.551864066,652,631.448135934,653.551864066,0.40098863458,-0.0153552808083,0.0798497750708,0.999999926776,0.000275686191162,-0.000263271193141,3.3674732713e-05,1793239652025876480
+64,1.066666667,BASELINE,765,745,715.127285179,679,660.872714821,636,879.127285179,788,804.872714821,652,631.127285179,653.872714821,0.40098854346,-0.0153549439026,0.0798501106568,0.999999927175,0.000274280438936,-0.000263291231532,3.31414945774e-05,1793239652042543104
+65,1.083333333,BASELINE,765,745,715.698608062,679,660.301391938,636,879.698608062,788,804.301391938,652,631.698608062,653.301391938,0.400989221055,-0.0153541080235,0.0798509225301,0.999999926619,0.00027702862531,-0.000262512719523,3.32155352784e-05,1793239652059209728
+66,1.100000000,BASELINE,765,744.720822753,715.720822753,679,660.279177247,636,879.720822753,788,804,652,632,653.279177247,0.40098960631,-0.015354045837,0.0798509389654,0.99999992656,0.000277511698259,-0.000262204898263,3.34071301265e-05,1793239652075876352
+67,1.116666667,BASELINE,765,744.129929631,715.129929631,679,660.870070369,636,879.129929631,788,804,652,632,653.870070369,0.400989665149,-0.0153548475188,0.0798500672526,0.999999927058,0.00027546565441,-0.000262422627687,3.37299802717e-05,1793239652092542976
+68,1.133333333,BASELINE,765,744.452700193,715,679,661,636,879,788,804,651.547299807,632,653.547299807,0.400991443647,-0.0153558814686,0.0798517717718,0.999999928086,0.000274227662588,-0.000259757709197,3.39554941771e-05,1793239652109209856
+69,1.150000000,BASELINE,765.032761073,744.967238927,715,679,661,636,879,788,804,651.032761073,631.967238927,653,0.400993511739,-0.0153568615887,0.0798540122189,0.999999929169,0.000273269951044,-0.00025655679885,3.41182542306e-05,1793239652125876736
+70,1.166666667,BASELINE,765.60884417,744.39115583,715,679,661,636,879,788,804,651.60884417,631.39115583,653,0.400992343917,-0.0153558632224,0.0798530979389,0.999999928851,0.000273183226196,-0.000257941915919,3.3695284651e-05,1793239652142543616
+71,1.183333333,BASELINE,765.811472945,744.188527055,715.188527055,678.811472945,661,636,879.188527055,788,804,652,631,653,0.400991520545,-0.0153549066907,0.0798524605917,0.999999928342,0.00027410079827,-0.000258963950853,3.3517202395e-05,1793239652159210496
+72,1.200000000,BASELINE,765.224175725,744.775824275,715.775824275,678.224175725,661,636,879.775824275,788,804,652,631,653,0.400991425749,-0.0153540386466,0.0798524090094,0.999999927426,0.000277142647127,-0.000259217999071,3.38571027876e-05,1793239652175876608
+73,1.216666667,BASELINE,765.357348195,745,716,678.357348195,661,636,879.642651805,788,804,652,631,653,0.400991249234,-0.0153538926435,0.0798521540457,0.99999992734,0.000277098626593,-0.000259598226865,3.38267833549e-05,1793239652192542976
+74,1.233333333,BASELINE,765.935307893,745,716,678.935307893,661,636,879.064692107,788,804,652,631,653,0.400991022267,-0.0153541923977,0.0798517735229,0.999999927768,0.000275149522007,-0.000260056352521,3.35679060052e-05,1793239652209209600
+75,1.250000000,BASELINE,765.486765887,744.486765887,715.486765887,679,661,636,879.513234113,787.486765887,804,652,631,653,0.400990639871,-0.0153554092959,0.0798518087396,0.999999927651,0.000275531083393,-0.000260042513036,3.40312544348e-05,1793239652225876480
+76,1.266666667,BASELINE,765,744.090588197,715,679,661,635.909411803,879.909411803,787.090588197,804,651.909411803,631,653,0.400990312682,-0.0153563805114,0.0798518448846,0.999999927484,0.000276089255838,-0.000260036999519,3.44573167713e-05,1793239652242543360
+77,1.283333333,BASELINE,765,744.664909645,715,679,661,635.335090355,879.335090355,787.664909645,804,651.335090355,631,653,0.400990384914,-0.0153554225265,0.0798516061764,0.999999927419,0.000276021881601,-0.000260393598038,3.41981866887e-05,1793239652259210240
+78,1.300000000,BASELINE,765,745,715,679,661,635.24559563,879,788,804,651.24559563,631.24559563,653,0.400990315788,-0.0153551880863,0.0798515303189,0.999999927536,0.000275442812863,-0.00026057982331,3.40293881754e-05,1793239652275877120
+79,1.316666667,BASELINE,765,745,715,679,661,635.835196354,879,788,804,651.835196354,631.835196354,653,0.400990048662,-0.0153559671132,0.0798516825662,0.999999927907,0.000274147015109,-0.000260527407236,3.39871168541e-05,1793239652292543744
+80,1.333333333,BASELINE,765.418440467,745,715,679,661,635.581559533,879,788,804.418440467,652,631.581559533,653,0.400989527507,-0.0153558997201,0.0798510729423,0.999999927529,0.000274745542525,-0.000261342800202,3.40101361134e-05,1793239652309210112
+81,1.350000000,BASELINE,765.999218528,745,715,679,661,635.000781472,879,788,804.999218528,652,631.000781472,653,0.4009889078,-0.0153555039512,0.0798501677439,0.999999926858,0.000276078989643,-0.000262494867176,3.40584854136e-05,1793239652325876480
+82,1.366666667,BASELINE,765.428157287,745,715,679,661,635.571842713,879,788,804.428157287,652,631.571842713,653.571842713,0.400989036734,-0.0153544212712,0.0798505333153,0.999999926896,0.000276219920367,-0.000262252277788,3.36821713341e-05,1793239652342543104
+83,1.383333333,BASELINE,765,744.851017757,715,679,661,636,879,788,804,652,632,653.851017757,0.400988868857,-0.0153536888405,0.0798505238597,0.999999926842,0.000276297502417,-0.000262414349446,3.33903298387e-05,1793239652359209728
+84,1.400000000,BASELINE,765,744.260462353,715,679,661,636,879,788,804,652,632,653.260462353,0.400987818262,-0.0153539972676,0.0798493977749,0.999999926513,0.000276192085715,-0.000263781378241,3.33505551065e-05,1793239652375876352
+85,1.416666667,BASELINE,765,744.323726724,715,679,661,636,879,787.676273276,804,652,631.676273276,653,0.400988326814,-0.0153543554624,0.0798498661193,0.999999926489,0.000277033559422,-0.000262957082364,3.35989828072e-05,1793239652392542976
+86,1.433333333,BASELINE,765,744.90289237,715,679,661,636,879,787.09710763,804,652,631.09710763,653,0.400990065621,-0.0153547529267,0.0798515925597,0.999999926699,0.000278622183887,-0.000260403705764,3.40748187319e-05,1793239652409209856
+87,1.450000000,BASELINE,765,745,715,678.520620572,661,636,879,787.479379428,804,652,631,653,0.400991523155,-0.0153556569795,0.0798529734531,0.999999927789,0.000276385777483,-0.000258590382172,3.41135532692e-05,1793239652425876992
+88,1.466666667,BASELINE,765,744.943611368,715,678.056388632,661,636,879,788,804,652,631,653,0.400992430839,-0.0153564633807,0.0798538644012,0.999999928804,0.000273702950911,-0.000257531633161,3.40003086479e-05,1793239652442543616
+89,1.483333333,BASELINE,765,744.35661136,715,678.64338864,661,636,879,788,804,652,631,653,0.40098869767,-0.0153553906188,0.079850800021,0.999999927522,0.000274069955902,-0.00026217053553,3.32855101616e-05,1793239652459210240
+90,1.500000000,BASELINE,765,744.227391553,715,679,660.772608447,636,879,788,804.227391553,652,631,653,0.400986904295,-0.0153548789544,0.079849407703,0.999999926744,0.000274863407697,-0.000264333813024,3.30230393865e-05,1793239652475876608
+91,1.516666667,BASELINE,765,744.8067553,715,679,660.1932447,636,879,788,804.8067553,652,631,653,0.400988113463,-0.0153552357956,0.0798506035175,0.999999926768,0.000276316942994,-0.000262665148626,3.34607124413e-05,1793239652492542976
+92,1.533333333,BASELINE,765,744.614284547,715,679,660.385715453,636,879,788,804.614284547,652,631,653,0.40098839983,-0.0153549000457,0.0798503610734,0.999999926416,0.000277444934779,-0.00026279615879,3.36176344699e-05,1793239652509209856
+93,1.550000000,BASELINE,765,744.035526332,715,679,660.964473668,636,879,788,804.035526332,652,631,653,0.400988224353,-0.0153542176681,0.0798493988102,0.999999925876,0.00027840999877,-0.00026382786942,3.36340463432e-05,1793239652525876480
+94,1.566666667,BASELINE,765.540601908,744.540601908,715,679,661.540601908,636,879,788,804.540601908,651.459398092,631.540601908,653,0.400988539205,-0.0153534472368,0.0798496239313,0.999999926059,0.000278348043921,-0.000263193898571,3.36628179223e-05,1793239652542543104
+95,1.583333333,BASELINE,765.88421583,745,715,679,661.88421583,636,879,787.88421583,804.88421583,651,631.88421583,653,0.400988843489,-0.0153530389472,0.07984990472,0.999999926361,0.000277817901915,-0.000262609919156,3.36245732554e-05,1793239652559209984
+96,1.600000000,BASELINE,765.312083944,745,715,679,661.312083944,636,879,787.312083944,804.312083944,651,631.312083944,653,0.400988979737,-0.0153540806864,0.0798500988577,0.999999926945,0.000275707185331,-0.000262652316413,3.33190072752e-05,1793239652575876864
+97,1.616666667,BASELINE,765,744.729178835,715,679,661,635.729178835,879,787.270821165,804,651.270821165,631,653,0.400988940557,-0.015355047497,0.0798501627936,0.999999927565,0.000273408779468,-0.000262724538113,3.30684898413e-05,1793239652592543488
+98,1.633333333,BASELINE,765,744.133344802,715,679,661,635.133344802,879,787.866655198,804,651.866655198,631,653,0.400988690845,-0.0153559243857,0.0798500704743,0.999999928229,0.000270885127558,-0.000262832552171,3.28840362652e-05,1793239652609209856
+99,1.650000000,BASELINE,765,744.446605071,715,679,661,635.446605071,879.446605071,788,804.446605071,651.553394929,631,653,0.400989082168,-0.0153561370465,0.0798502795755,0.999999927888,0.0002723255714,-0.000262614895038,3.30970043357e-05,1793239652625876480
+100,1.666666667,BASELINE,765,745,715,679,661,636,879.978049467,788,804.978049467,651.021950533,631.021950533,653,0.400989623123,-0.0153561382698,0.0798505650172,0.999999927283,0.000274787644634,-0.000262314634235,3.3409696266e-05,1793239652642543104
+101,1.683333333,BASELINE,765,745,715,679,661,636,879.403325589,788,804.403325589,651.596674411,631.596674411,653,0.400989277845,-0.0153556376669,0.0798505844044,0.999999927452,0.000274195112315,-0.000262298781076,3.33481567875e-05,1793239652659209728
+102,1.700000000,BASELINE,765,745,715,679,661,635.824410653,879,788,804,652,631.824410653,652.824410653,0.400989009938,-0.0153551280319,0.0798506175159,0.999999927477,0.000274103664347,-0.000262302092414,3.33272181299e-05,1793239652675876608
+103,1.716666667,BASELINE,765,745,715,679,661,635.235633617,879,788,804,652,631.235633617,652.235633617,0.4009889241,-0.0153545971427,0.079850682923,0.999999927163,0.000275191342012,-0.00026235050065,3.34018192145e-05,1793239652692543232
+104,1.733333333,BASELINE,765,744.65241244,715,678.65241244,661,635.34758756,879,788,804,651.65241244,631,652.34758756,0.400990125455,-0.0153555362576,0.0798517577891,0.999999927524,0.000275447602297,-0.000260658865379,3.37269162813e-05,1793239652709210368
+105,1.750000000,BASELINE,765,744.07289833,715,678.07289833,661,635.92710167,879,788,804,651.07289833,631,652.92710167,0.400992185686,-0.0153574562273,0.0798535062133,0.999999928329,0.000275149102435,-0.000257806192343,3.42191558979e-05,1793239652725877248
+106,1.766666667,BASELINE,765,744,715,678.504177542,661,636,879,788,804,651.504177542,631,653,0.400990057861,-0.0153568708985,0.0798516360696,0.999999927848,0.0002743803516,-0.000260521058406,3.38808512974e-05,1793239652742543872
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,678,662,636,880,788,804,651,631,653,0.400989678497,-0.0153561102687,0.0798515711886,0.999999928097,0.000273355921644,-0.000260683978075,3.35622251335e-05,1793239652785879808
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.590414547,744.590414547,715,678.590414547,661.409585453,636,880,788,804,651.590414547,631,653,0.400989477499,-0.0153564270542,0.0798508745505,0.999999927814,0.000273611067488,-0.000261505429643,3.35244567477e-05,1793239652802546176
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.822919893,744.822919893,715,678.822919893,661,635.822919893,879.822919893,788,804.177080107,651.822919893,631,653,0.400989190851,-0.0153566732298,0.0798504263214,0.999999927662,0.000273426998172,-0.000262283792704,3.34929033284e-05,1793239652819212800
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.244745829,744.244745829,715,678.244745829,661,635.244745829,879.244745829,788,804.755254171,651.244745829,631,653,0.400988710204,-0.0153567594713,0.0798505407489,0.999999927805,0.000272248087936,-0.000262964558635,3.34754270646e-05,1793239652835879424
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,744.331270318,715,678.331270318,661,635.331270318,879.331270318,788,804.668729682,651.331270318,631.331270318,653,0.400988794181,-0.0153566956336,0.0798506994532,0.999999927847,0.00027243390321,-0.000262602307413,3.35416607769e-05,1793239652852545792
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,744.905702457,715,678.905702457,661,635.905702457,879.905702457,788,804.094297543,651.905702457,631.905702457,653,0.400989292609,-0.0153565216333,0.0798508906577,0.999999927814,0.000273621465838,-0.000261474451937,3.36693399901e-05,1793239652869212416
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.509185346,788,804.490814654,652,631.509185346,653,0.400989692022,-0.0153567032579,0.0798511809247,0.999999927798,0.000273972587331,-0.000261134180171,3.39498285059e-05,1793239652885878784
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.077502776,744.922497224,715,679,661,636,878.922497224,788,804.922497224,651.922497224,631,653,0.400990430434,-0.0153569733359,0.0798516366776,0.999999927919,0.000273935673355,-0.00026068128442,3.41566911095e-05,1793239652902545664
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.660786836,744.339213164,715,679,661,636,878.339213164,788,804.339213164,651.339213164,631,653,0.40099350806,-0.0153573648588,0.0798530454201,0.999999928914,0.000272438507017,-0.00025848396932,3.3687218656e-05,1793239652919212288
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.75928556,744.24071444,715,678.75928556,661,636,878.24071444,787.75928556,804,651.24071444,631,653,0.401002523729,-0.0153578297694,0.0798569531964,0.999999930776,0.000271689527213,-0.000251988418254,3.36928668819e-05,1793239652935878912
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.184022854,744.815977146,715,678.184022854,661,636,878.815977146,787.184022854,804,651.815977146,631,653,0.401019792172,-0.0153583966751,0.0798643341644,0.999999933738,0.000271980387518,-0.000239519119432,3.43588444479e-05,1793239652952545536
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,745,715,678.390055914,661,636,879,787.390055914,804,652,631.390055914,653,0.401055998631,-0.0153589525495,0.0798780081078,0.999999939208,0.000272767279372,-0.00021438144971,3.49744263744e-05,1793239652969212160
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,745,715,678.963577859,661,636,879,787.963577859,804,652,631.963577859,653,0.401101112745,-0.0153595032353,0.079894642005,0.999999945091,0.00027378748359,-0.000183285105533,3.55663043264e-05,1793239652985878784
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,744.448120861,715,679,660.448120861,636,879,788,803.448120861,652,631.448120861,653.551879139,0.401166330784,-0.0153621964942,0.079911076511,0.999999950565,0.000273450785544,-0.000151022590322,3.58842371591e-05,1793239653002545408
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.139095835,715,679,660.139095835,636,879,788,803.139095835,652,631,653.860904165,0.401236300324,-0.015365226414,0.0799264022372,0.999999954502,0.000273297753825,-0.000122500894439,3.60342683069e-05,1793239653019212032
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.719689038,715,679,660.719689038,636,879,788,803.719689038,652,631,653.280310962,0.401317024203,-0.0153688637446,0.0799382515604,0.99999995619,0.000274019749753,-0.000106103752266,3.57103351444e-05,1793239653035878912
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,652,631,653,0.401404232991,-0.0153722010828,0.079945160829,0.999999957496,0.00027337635584,-9.55115989701e-05,3.39332229868e-05,1793239653052545792
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,652,631,653,0.401497495382,-0.0153752583804,0.0799474585979,0.9999999586,0.000271458382082,-9.03383545875e-05,3.07995805799e-05,1793239653069213440
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.543215592,715,678.543215592,660.543215592,636,879,788,804,651.543215592,631,653,0.401603346655,-0.015379646092,0.0799480848389,0.999999959825,0.000267955094197,-8.84048688649e-05,2.7099987825e-05,1793239653085879552
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.044037124,715,678.044037124,660.044037124,636,879,788,804,651.044037124,631,653,0.401715362043,-0.0153843765472,0.0799485060679,0.999999961123,0.000263975713101,-8.67844609051e-05,2.32027444417e-05,1793239653102545664
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.623127166,715,678.623127166,660.623127166,636,879,788,804,651.623127166,631,653,0.401858359084,-0.0153886305934,0.0799522670264,0.999999963073,0.000259741681451,-7.76670145135e-05,1.8878188533e-05,1793239653119212544
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,651.798041689,631.201958311,653.201958311,0.402011035409,-0.0153931746872,0.0799555444702,0.999999965027,0.000254524589891,-7.04519319339e-05,1.4156653082e-05,1793239653135879424
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,651.219693116,631.780306884,653.780306884,0.402181751022,-0.015398259343,0.0799579207862,0.99999996711,0.000247475367368,-6.67822910655e-05,8.69526624971e-06,1793239653152546304
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.342185922,788.342185922,804,651.342185922,632,653.657814078,0.402362255756,-0.0154048504532,0.0799555878377,0.999999969593,0.00023563101589,-7.27130145078e-05,2.31962903795e-06,1793239653169212672
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.893976657,788.893976657,804,651.893976657,632,653.106023343,0.402548756799,-0.0154123643372,0.0799503702457,0.99999997203,0.000220849423851,-8.45244078343e-05,-4.6160296401e-06,1793239653185879296
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,678.502489958,661,636,879.502489958,788.502489958,804,651.502489958,632,653.497510042,0.402770541319,-0.0154197690862,0.0799480016694,0.999999982896,0.000162626684772,-8.72081519183e-05,-1.24658460084e-05,1793239653202545664
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.893967077,715,678,661,636,879,788,804,651.106032923,632,653.893967077,0.403009021403,-0.0154276799491,0.0799471538058,0.999999990546,0.000105165670735,-8.62778002969e-05,-2.00929318851e-05,1793239653219212544
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.317881769,715,678,661,636,879,788,804,651.682118231,632,653.317881769,0.403284311994,-0.0154379495283,0.0799500434262,0.999999991858,9.68850663897e-05,-7.89499219623e-05,-2.57687655537e-05,1793239653235878912
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,744.258533384,715,678.258533384,661,636,879,788,804,652,631.741466616,653,0.403578648554,-0.0154475330784,0.0799536406962,0.999999992418,9.65310405828e-05,-7.20112178645e-05,-2.57007164585e-05,1793239653252545536
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,744.835354584,715,678.835354584,661,636,879,788,804,652,631.164645416,653,0.40389643313,-0.0154562720381,0.0799581091735,0.999999992068,0.000105935652026,-6.55516377027e-05,-1.85612092475e-05,1793239653269212416
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,652,631.409153584,653,0.404241219053,-0.0154640867838,0.079956015218,0.999999993265,9.0932528153e-05,-6.8768941088e-05,-2.17371735534e-05,1793239653285879296
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,652,631.98174534,653,0.404596790775,-0.015471532348,0.0799512998703,0.999999994512,6.61796284354e-05,-7.58517176263e-05,-2.90336977853e-05,1793239653302546176
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,803.421890003,652,632,653.578109997,0.404993206085,-0.015484256753,0.0799515588834,0.999999995888,4.93392862515e-05,-6.98226958288e-05,-3.02483305162e-05,1793239653319212800
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745,715.16916689,679,661,636,879.16916689,788,803.16916689,651.83083311,631.83083311,653.83083311,0.405398560691,-0.0154958845938,0.0799504173561,0.999999996552,3.45403123367e-05,-6.86898461161e-05,-3.13852678934e-05,1793239653335879168
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745,715.745562003,679,661,636,879.745562003,788,803.745562003,651.254437997,631.254437997,653.254437997,0.405822196651,-0.0155044542538,0.0799455100378,0.999999995942,2.40281916283e-05,-8.03827476115e-05,-3.28172989013e-05,1793239653352545792
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715.678904065,679,661,636,879.678904065,788,804,651,631.321095935,653,0.406271830415,-0.0155121425888,0.0799410902252,0.999999995355,2.15645486501e-05,-8.85347681925e-05,-3.14129643662e-05,1793239653369212416
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715.10405065,679,661,636,879.10405065,788,804,651,631.89594935,653,0.406742009916,-0.0155191344263,0.0799370556808,0.999999994883,2.54615002736e-05,-9.38884829818e-05,-2.77670912574e-05,1793239653385878784
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.51909662,636,879,788,804,651,631.51909662,653,0.407238037944,-0.0155088345264,0.0799354907323,0.999999994284,3.00720141514e-05,-9.81252995425e-05,-2.99796419999e-05,1793239653402545664
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660,636,879.067160407,788,804,651,631,653,0.407744761898,-0.0154972263053,0.0799339105846,0.999999993566,3.34680452622e-05,-0.000103167456269,-3.32341404338e-05,1793239653419212544
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660,636,879.64633295,788,804,651,631,653,0.408289476812,-0.0155047785567,0.0799280535525,0.999999992299,2.64029250756e-05,-0.000116231158794,-3.45613315529e-05,1793239653435879680
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745,715,679,660.224537204,636,879.775462796,788,804,651.224537204,631,653,0.408863499992,-0.0155117701274,0.0799328200528,0.999999993121,1.87385047197e-05,-0.00011029825432,-3.52314669185e-05,1793239653452546560
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.801222825,636,879.198777175,788,804,651.801222825,631,653,0.409483488173,-0.0155178823652,0.0799542477572,0.99999999656,1.01341843804e-05,-7.45724016054e-05,-3.48711219755e-05,1793239653469212928
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,651.623430675,631,653,0.410136287092,-0.0155200515686,0.0799807914193,0.999999998985,4.69701398044e-06,-2.91814849274e-05,-3.39993025217e-05,1793239653485879040
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,651.048788563,631,653,0.410806344207,-0.0155201467638,0.080010026038,0.999999999233,9.25742202503e-07,2.12931856164e-05,-3.2858451066e-05,1793239653502545408
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,651.541210609,631.541210609,653,0.411448802132,-0.0155165525599,0.0799936839075,0.999999999279,6.1735159932e-06,-1.04165387719e-05,-3.59898163983e-05,1793239653519212032
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,744.870881193,715.129118807,679,661.129118807,636,879.129118807,788,804,652,631.870881193,653,0.412094951139,-0.0155137774696,0.0799704681589,0.999999997911,9.39424404026e-06,-5.01550012195e-05,-3.96823259312e-05,1793239653535878912
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,744.295134437,715.704865563,679,661.704865563,636,879.704865563,788,804,652,631.295134437,653,0.412762725023,-0.0155150197686,0.0799381031733,0.999999994864,2.70884785304e-06,-9.12898379269e-05,-4.39447783364e-05,1793239653552545536
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,744.279933491,715.720066509,679.279933491,661.720066509,636,880,788,804,652,631,653,0.413463679394,-0.015516735398,0.0799242342756,0.999999993434,-1.19638192221e-06,-0.000104694581287,-4.65744159857e-05,1793239653569212416
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,744.854287532,715.145712468,679.854287532,661.145712468,636,880,788,804,652,631,653,0.414199531483,-0.0155189488539,0.0799298186674,0.999999994915,-2.17756753046e-06,-8.89341546373e-05,-4.74867383786e-05,1793239653585879296
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679.558064108,661.441935892,635.558064108,879.558064108,788,804,651.558064108,631,653,0.41497919427,-0.015521676241,0.0799530805767,0.999999997705,-5.86161997491e-06,-4.94247597764e-05,-4.59601521458e-05,1793239653602545920
+157,2.616666667,POSE1_TO_POSE2_PRESS,764.966700143,745,715,679,661.966700143,635,879.033299857,788,804,651.033299857,631,653,0.415770959986,-0.0155242099247,0.0799796982561,0.999999998957,-1.04547081475e-05,-6.73688321449e-06,-4.39372300536e-05,1793239653619212800
+158,2.633333333,POSE1_TO_POSE2_PRESS,764.388486664,745,715,679,661.388486664,635,879.611513336,788,804,651.611513336,631,653,0.416517070041,-0.0155207150213,0.0799628940618,0.999999997793,-1.48878094684e-05,-4.41458030669e-05,-4.73593270488e-05,1793239653635879168
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.189016197,745,715,679,661.189016197,635.189016197,880,788,804,651.810983803,631,653,0.417296431375,-0.0155192708784,0.079957709592,0.999999997121,-1.90227983379e-05,-5.41394814518e-05,-4.965573217e-05,1793239653652545536
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.765063958,745,715,679,661.765063958,635.765063958,880,788,804,651.234936042,631,653,0.418143878332,-0.0155220258945,0.0799763177942,0.999999998481,-2.25473687482e-05,-7.99741948811e-06,-4.96471585561e-05,1793239653669212160
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.34000607,662,636,880,788,804.34000607,651.34000607,631,653,0.418977935183,-0.0155251985764,0.0799889366231,0.999999998306,-2.35477266126e-05,1.98105347779e-05,-4.94013528185e-05,1793239653685878784
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.914186657,662,636,880,788,804.914186657,651.914186657,631,653,0.419802769749,-0.0155286589198,0.0799974303524,0.999999997928,-2.28095675729e-05,3.49911218633e-05,-4.89921567514e-05,1793239653702545664
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,715,679.495372201,662,635.495372201,879.495372201,788,805,651.495372201,631,653,0.420636261399,-0.0155294184506,0.0799802035821,0.999999998206,-2.88476324078e-05,9.79351956507e-06,-5.15806532949e-05,1793239653719212544
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661.904957081,635.095042919,879.190085837,788,804.904957081,651,631,653,0.421478117154,-0.0155298107661,0.0799661930145,0.999999997942,-3.35448645935e-05,-1.1095166706e-05,-5.35444304866e-05,1793239653735879424
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661.329127416,635.670872584,880.341745168,788,804.329127416,651,631,653,0.422354588434,-0.0155307461619,0.0799913143526,0.999999998112,-2.5436100556e-05,2.57045506525e-05,-4.96834080978e-05,1793239653752546048
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.247394848,745,715,679,661.247394848,636,880.752605152,788,804,651,631.247394848,653,0.423223209769,-0.0155306336273,0.0800088761537,0.999999997558,-1.96452035863e-05,4.71370360623e-05,-4.77126764908e-05,1793239653769212672
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.824841194,745,715,679,661.824841194,636,880.175158806,788,804,651,631.824841194,653,0.424081358552,-0.0155291230403,0.0800163527178,0.999999997536,-1.69465910033e-05,4.80679763569e-05,-4.82637968688e-05,1793239653785879296
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.602725603,745,715,679,662,636,880,788,804,651.397274397,631.602725603,653,0.424892424052,-0.0155280928375,0.0799836127442,0.999999998517,-1.52004004444e-05,-1.1295978471e-05,-5.10639004648e-05,1793239653802545664
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.032475192,745,715,679,662,636,880,788,804,651.967524808,631.032475192,653,0.425682989113,-0.0155272717972,0.0799333622121,0.999999993704,-1.38689010753e-05,-9.6912746814e-05,-5.48432265269e-05,1793239653819212288
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.559395733,745,715,680.118791466,661.440604267,636,880,788,804.559395733,651.440604267,631,653,0.426582149133,-0.0155312199706,0.0799266138981,0.999999994197,-2.22992396504e-05,-8.85207908864e-05,-5.72140162909e-05,1793239653835878912
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.851157414,745,715,680.851157414,661.148842586,636,880.148842586,788,804.851157414,651,631,653,0.427472696408,-0.0155343888997,0.0799245574171,0.999999994636,-2.80475065749e-05,-8.06924974572e-05,-5.85732194527e-05,1793239653852545792
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.272481341,745,715,680.272481341,661.727518659,636,880.727518659,788,804.272481341,651,631,653,0.428319433439,-0.0155344757883,0.0799284638027,0.999999993934,-2.43480045236e-05,-9.08862435275e-05,-5.72567588489e-05,1793239653869212672
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880.695875221,788,804,651.304124779,631,653,0.429185731924,-0.015534485177,0.0799451380988,0.999999995581,-2.69065556723e-05,-7.06467458834e-05,-5.58919459517e-05,1793239653885879296
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880.121111174,788,804,651.878888826,631,653,0.430069438012,-0.0155344255989,0.0799731745005,0.99999999763,-3.50341202634e-05,-2.33248413845e-05,-5.44841045426e-05,1793239653902545920
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.533246637,636,880,788.466753363,804.466753363,651.533246637,631,653,0.430943010605,-0.0155380432456,0.0800099833858,0.999999997694,-3.42277000975e-05,2.83549382557e-05,-5.13430313317e-05,1793239653919212544
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.056836448,636,880,788.943163552,805,651,631,653,0.431806149757,-0.0155419422321,0.080041344388,0.999999995924,-3.25087260465e-05,6.88808245035e-05,-4.84893504129e-05,1793239653935878912
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.63518462,636,880,788.36481538,805,651,631,653,0.432598377784,-0.015539414911,0.0800012282578,0.999999997633,-4.43012898111e-05,-3.61273256857e-06,-5.25184349957e-05,1793239653952545536
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,804.787700769,651,631,653,0.433384948854,-0.0155373299436,0.0799581742319,0.999999994855,-5.00309289455e-05,-6.76106196483e-05,-5.67138110174e-05,1793239653969212160
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,804.212693571,651,631,653,0.434161855284,-0.0155360007261,0.0799101008774,0.999999990242,-4.54022140247e-05,-0.000117093877219,-6.11932927945e-05,1793239653985878784
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,804.361532229,651,631,653,0.434962968652,-0.0155402266427,0.0799128232763,0.99999999129,-4.92018411356e-05,-0.00010572758561,-6.18203147418e-05,1793239654002545664
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880,788,804.935299282,651,631,653,0.435778292476,-0.0155477136598,0.0799453649497,0.99999999479,-5.79492643749e-05,-5.86400128473e-05,-6.01857782972e-05,1793239654019212544
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.526480327,745,715,681.052960654,662,636,880,788,805,651,631,653,0.436540147891,-0.0155515102108,0.0799647721604,0.999999995261,-6.21326266472e-05,-4.70548188782e-05,-5.83404292548e-05,1793239654035879168
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.883211282,745.116788718,715,681.766422564,662,636,880.116788718,787.883211282,805,651,631,653,0.437292787954,-0.0155552734181,0.079976556499,0.99999999508,-6.77799745638e-05,-4.41639104334e-05,-5.74032094959e-05,1793239654052545792
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.305092666,745.694907334,715,680.610185331,662,636,880.694907334,787.305092666,805,651,631,653,0.438035869934,-0.0155607577057,0.0799648236818,0.999999993199,-8.15016256203e-05,-5.77926004956e-05,-6.01590509758e-05,1793239654069212416
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.271468737,745.728531263,715,680,661.728531263,635.728531263,880.728531263,787.271468737,805,651,631,653,0.438739804212,-0.0155660722708,0.0799426643691,0.99999999014,-8.87663572623e-05,-8.94141406276e-05,-6.20093668444e-05,1793239654085879296
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.846289994,745.153710006,715,680,661.153710006,635.153710006,880.153710006,787.846289994,805,651,631,653,0.439399992872,-0.0155711971793,0.0799088539784,0.99999998412,-8.88158084869e-05,-0.000141141775398,-6.2847803568e-05,1793239654102545920
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.568801258,745,715,680,661,635.431198742,880.431198742,788,805,651,631,653,0.439990592354,-0.0155735977992,0.079847787135,0.999999965278,-9.67814161627e-05,-0.000235373229547,-6.83800731901e-05,1793239654119212544
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.019437887,745,715,680.019437887,661,635.980562113,880.980562113,787.980562113,805,651,631,653,0.440555965145,-0.0155750050697,0.0797770873114,0.999999931998,-0.000107603170256,-0.000344545810104,-7.558790355e-05,1793239654135879168
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.59756859,745,715,680.59756859,661,635.40243141,880.40243141,787.40243141,805,651,631,653,0.441126340245,-0.0155764423521,0.0797154676806,0.999999894172,-0.000117466841711,-0.000437242679355,-8.17110724357e-05,1793239654152545792
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661,635,880,787,805,651,631,653,0.441719606877,-0.0155821409743,0.0796825900394,0.999999869988,-0.000131253704167,-0.000485333378859,-8.5132254605e-05,1793239654169212672
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,661,635,880,787,805,651,631,653,0.442365305672,-0.0155976000085,0.0797155446518,0.999999891755,-0.000154026467145,-0.000431255628309,-8.23646571552e-05,1793239654185879296
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.671287712,745,715,681,661,635,880.328712288,787,805,651,631,653,0.442975511376,-0.0156092275837,0.0797503851808,0.999999912031,-0.000167720921172,-0.000376132980639,-7.95728117472e-05,1793239654202546176
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.098578094,745,715,681,661,635,880.901421906,787,805,651,631,653,0.443559371145,-0.0156180111334,0.0797866255904,0.999999930523,-0.000174676705199,-0.000320234727316,-7.67629676226e-05,1793239654219212544
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,715,681,661,635,881,786.50868947,805,651,631,653,0.444055283885,-0.0156236372471,0.07978087758,0.999999925054,-0.000179754246983,-0.000334359653943,-7.6046708661e-05,1793239654235879168
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.082232306,715,681,661,634.917767694,880.917767694,786,805,651,631,653,0.444527364757,-0.0156281644825,0.0797640302111,0.999999912991,-0.000184294772208,-0.000366404629289,-7.61658601386e-05,1793239654252545792
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.657920659,715,681,661,634.342079341,880.342079341,786,805,651,631,653,0.444966162198,-0.0156300369453,0.0797329645215,0.999999891619,-0.000187956152924,-0.000418620076351,-7.86860759156e-05,1793239654269212416
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.766751692,714.766751692,681.233248308,660.766751692,634,880,786,805,651,631,653,0.445404910671,-0.0156341475499,0.0797099497084,0.999999874496,-0.000194434973645,-0.000454694890215,-8.03429279186e-05,1793239654285879040
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.191952282,714.191952282,681.808047718,660.191952282,634,880,786,805,651,631,653,0.445843587401,-0.0156415355192,0.0796987239899,0.999999866613,-0.000205039439716,-0.0004671345837,-8.07355356165e-05,1793239654302545920
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714.383207522,681.616792478,660,634,880.383207522,786,805,651,631,653,0.446256058233,-0.0156485712797,0.0796937979393,0.999999864745,-0.000215892135528,-0.000466066198777,-8.17539144309e-05,1793239654319212544
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714.958548072,681.041451928,660,634,880.958548072,786,805,651,631,653,0.446655389961,-0.0156554304499,0.0796920304224,0.999999865828,-0.000226869289994,-0.000458225119049,-8.30860431176e-05,1793239654335879168
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.552235099,715,681,660,634,881,785.447764901,805.552235099,651.552235099,631,653,0.447007789403,-0.0156603637577,0.0796887984831,0.999999864577,-0.000230098665547,-0.000459542548372,-8.19770649892e-05,1793239654352545792
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.142607568,745.857392432,715,681,660,633.857392432,881,785,806,651.857392432,631,653.142607568,0.447343061489,-0.0156643446724,0.0796822647544,0.999999860231,-0.00023335061309,-0.000467391322736,-8.14285383526e-05,1793239654369212416
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.718579019,745.281420981,715,681,660,633.281420981,881,785,806,651.281420981,631,653.718579019,0.447637359358,-0.0156658857935,0.0796660428798,0.999999846613,-0.000238499176259,-0.00049292704363,-8.31591010598e-05,1793239654385879040
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.706583726,745.293416274,715,680.706583726,660,633,880.706583726,785,805.706583726,651,631,653.706583726,0.447915731012,-0.0156661846471,0.0796512060885,0.999999833002,-0.000244761952055,-0.000516620886423,-8.47965879202e-05,1793239654402545664
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.132830145,745.867169855,715,680.132830145,660,633,880.132830145,785,805.132830145,651,631,653.132830145,0.44817888634,-0.0156652966069,0.0796376926417,0.999999819477,-0.000252089274402,-0.000538554950925,-8.63451476714e-05,1793239654419212288
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,715,680.454365691,659.545634309,633.454365691,880.454365691,784.545634309,805,651,631,653,0.448416257646,-0.0156634157194,0.0796286818982,0.99999981258,-0.000249047764021,-0.000552447426884,-8.72801700284e-05,1793239654435878912
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.044717996,746,714.955282004,681.044717996,659,633.955282004,880.955282004,784,805.044717996,651,631,653,0.448644734257,-0.0156619497858,0.0796220714847,0.999999808353,-0.000243621943028,-0.000562364100576,-8.76868793741e-05,1793239654452545792
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.624386805,746,714.375613195,681.624386805,659,633.375613195,880.375613195,784,805.624386805,651,631,653,0.448859727138,-0.0156690259072,0.0796279486485,0.999999812667,-0.000247040746495,-0.000553699757315,-8.39845931457e-05,1793239654469212672
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.796911415,745.796911415,714,681.796911415,659,633,880.203088585,784,805.796911415,651,630.796911415,653,0.449062763759,-0.0156755627068,0.0796328677034,0.999999815751,-0.000252347864322,-0.000546113519864,-8.11092126719e-05,1793239654485879552
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.219989747,745.219989747,714,681.219989747,659,633,880.780010253,784,805.219989747,651,630.219989747,653,0.449243792,-0.0156811067547,0.079636023129,0.999999816648,-0.00026113087573,-0.000540511794858,-7.97559503071e-05,1793239654502546176
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.355102557,714,681.355102557,659,633,880.644897443,784,805,651,630.355102557,653,0.449400431689,-0.0156857929002,0.0796337449512,0.999999812034,-0.000269975638866,-0.000544680133117,-7.98036834533e-05,1793239654519212544
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.929067415,714,681.929067415,659,633,880.070932585,784,805,651,630.929067415,653,0.449542039867,-0.0156899502905,0.0796281178511,0.999999803921,-0.000278858462607,-0.000554870107297,-8.07148996844e-05,1793239654535879168
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.48244162,714,681.48244162,659.51755838,633,880.51755838,784,805,651,630.48244162,653,0.449659563503,-0.0156917292263,0.0796269879002,0.999999801386,-0.000281956078374,-0.00055779506841,-8.11965890001e-05,1793239654552545792
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659.78807165,633,881,784,805,651,630,653,0.449769048504,-0.0156934503302,0.0796261712065,0.999999799279,-0.00028403335725,-0.000560454944232,-8.15897381566e-05,1793239654569212160
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.630303341,633,881,784,805,651,630,653,0.449857814096,-0.015696410163,0.0796239223941,0.999999795517,-0.000285197661126,-0.000566503832068,-8.18580453943e-05,1793239654585879296
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.26208996,633,881,783.73791004,805,651,630.26208996,653,0.449940227954,-0.0156994131626,0.0796231011624,0.999999793542,-0.000287278996935,-0.000568938733108,-8.18289814625e-05,1793239654602545920
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.837368794,633,881,783.162631206,805,651,630.837368794,653,0.450015051693,-0.0157024677449,0.0796239858426,0.999999793725,-0.000290456155656,-0.000567055038549,-8.1444568758e-05,1793239654619212544
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.588094356,633,881,783,805.411905644,651,631,653,0.450075021677,-0.0157033549489,0.0796227435,0.999999791144,-0.000294373163204,-0.000569529153979,-8.18077994122e-05,1793239654635879168
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.013849948,633,881,783,805.986150052,651,631,653,0.450129137551,-0.0157033879537,0.079620662863,0.999999787446,-0.00029858175722,-0.000573720753772,-8.24656885737e-05,1793239654652546048
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.419194818,745,714,681,658.580805182,633,881,783,805.419194818,651,630.419194818,653,0.45016804662,-0.0157038768332,0.0796214593391,0.999999788466,-0.000297620792779,-0.000572536236914,-8.18009788194e-05,1793239654669212672
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.170120208,745,714,681,659,633,881,783,805,651,630,653.170120208,0.450202433122,-0.0157041331748,0.0796213107818,0.999999788633,-0.000297302797798,-0.000572465212336,-8.14173713497e-05,1793239654685879296
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.745511885,745,714,681,659,633,881,783,805,651,630,653.745511885,0.45022694099,-0.0157038087088,0.0796187415085,0.999999786487,-0.000298820894036,-0.000575363350692,-8.17812946375e-05,1793239654702545664
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,714.32028436,681,659,632.67971564,881,783,805,651,630,653.67971564,0.45024687667,-0.0157032321763,0.0796177953506,0.999999785231,-0.000299389213347,-0.000577245745691,-8.17987760015e-05,1793239654719212288
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,714.894565849,681,659,632.105434151,881,783,805,651,630,653.105434151,0.450263186441,-0.0157024557459,0.0796181363818,0.999999784685,-0.000299204325228,-0.000578322619634,-8.15415163792e-05,1793239654735878912
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714.520164624,681,659,632,880.520164624,783,805,651,630,653,0.450274739065,-0.0157025990925,0.0796192210538,0.999999786007,-0.000298454903175,-0.000576514844797,-8.08814636341e-05,1793239654752545792
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.933140367,745.066859633,714,680.933140367,659,632,880,783,805,651,630.066859633,653,0.450284207658,-0.0157027873092,0.0796199056016,0.999999787157,-0.000297669483649,-0.000575012074828,-8.02475873902e-05,1793239654769212928
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.351629164,745.648370836,714,680.351629164,659,632,880,783,805,651,630.648370836,653,0.450285869099,-0.0157017287725,0.0796162229491,0.999999783787,-0.000297584186321,-0.000580850427634,-8.05124424586e-05,1793239654785879808
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,745.772888737,714,680,659,632,880.227111263,783,805,651,630.772888737,653,0.450287803853,-0.0157010409242,0.0796138583018,0.999999781547,-0.000297986212295,-0.000584454296997,-8.07662802701e-05,1793239654802546432
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,745.198386543,714,680,659,632,880.801613457,783,805,651,630.198386543,653,0.450290156671,-0.0157009200836,0.0796135096847,0.999999781077,-0.000299133651321,-0.000584640284968,-8.10032659979e-05,1793239654819212544
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.37624316,745,714.37624316,680.37624316,659,632,880.62375684,783,805,651,630,653,0.450291412728,-0.0157017358149,0.0796129316584,0.999999780239,-0.000299336276153,-0.000586032557286,-8.05392114615e-05,1793239654835878912
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.9509401,745,714.9509401,680.9509401,659,632,880.0490599,783,805,651,630,653,0.450292090285,-0.0157030455519,0.0796122326277,0.999999779203,-0.000299040547841,-0.000588061098139,-7.97053851705e-05,1793239654852545536
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.542448966,714.457551034,681,659,632,880.542448966,783,805,651,630.542448966,653,0.450294122,-0.0157006649823,0.0796132342022,0.999999780963,-0.000296343199763,-0.000586404577337,-7.99066176264e-05,1793239654869212416
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745.869203036,714.130796964,681,659,632.130796964,881,783,805,651,631,653,0.45029533186,-0.0156985878759,0.0796135106321,0.999999782059,-0.000294173408103,-0.000585595270838,-8.01356724659e-05,1793239654885879040
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.296824049,714.703175951,681,659,632.703175951,881,783,805,651,631,653,0.450293340369,-0.0156986981207,0.0796108030414,0.999999780065,-0.000294541454702,-0.000588807413595,-8.01325065216e-05,1793239654902545920
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,714.721025827,681,659,633,881,783,805,651,631,653,0.450292262482,-0.0156989023298,0.0796096770134,0.999999778493,-0.000295995993797,-0.000590760443267,-8.0017290291e-05,1793239654919212800
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,714.141544379,681,659,633,881,783,805,651,631,653,0.450292168716,-0.0156992077561,0.0796102546235,0.999999777379,-0.000298620888226,-0.000591357173446,-7.97813749799e-05,1793239654935879424
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.443815434,714,681,658.556184566,633,880.556184566,783,805,651.443815434,630.556184566,653,0.45029381247,-0.0156985456229,0.0796111739707,0.999999778664,-0.00029709588503,-0.000589991058819,-7.94800862508e-05,1793239654952546048
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.969153249,714,681,658.030846751,633,880.030846751,783,805,651.969153249,630,653,0.450295856345,-0.015697618251,0.0796120811033,0.999999780564,-0.000294290089236,-0.000588216643235,-7.91616738778e-05,1793239654969212416
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.386209651,714,681,658.613790349,633,880.613790349,783,805,651.386209651,630,653,0.450295010455,-0.0156975407427,0.0796107927453,0.99999977975,-0.000292566833728,-0.00059048905551,-7.89149519976e-05,1793239654985879040
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714.193326487,681.193326487,658.806673513,632.806673513,880.806673513,783,805,651,630,653,0.450294774698,-0.0156974508725,0.079610313972,0.99999977951,-0.000291727405752,-0.000591314884868,-7.88829990432e-05,1793239655002545664
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714.766173385,681.766173385,658.233826615,632.233826615,880.233826615,783,805,651,630,653,0.450295736701,-0.0156973367343,0.0796114244996,0.999999780406,-0.000292623025127,-0.000589300918303,-7.92726602987e-05,1793239655019212288
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714.658773143,681.658773143,658.341226857,632.341226857,880,783,804.658773143,651,630,653,0.450296508985,-0.0156982370014,0.0796114805547,0.999999780549,-0.000293509742178,-0.000588625513979,-7.92128588342e-05,1793239655035878912
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714.082197791,681.082197791,658.917802209,632.917802209,880,783,804.082197791,651,630,653,0.450297150419,-0.0156998369169,0.0796108093266,0.999999780173,-0.000294390319146,-0.000588873333104,-7.88430572117e-05,1793239655052545792
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.505420993,714,681,658.494579007,633,880.505420993,783,804.505420993,651,630,653,0.450299005884,-0.0156981072507,0.0796118784264,0.999999781424,-0.000293619896453,-0.000587098097225,-7.90888683682e-05,1793239655069212416
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.906622965,714,681,658.093377035,633,881,783,805,651,630,653,0.45030056362,-0.0156961060516,0.0796129210946,0.999999782695,-0.000292422379113,-0.000585503492558,-7.92827665272e-05,1793239655085879040
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.326480658,714,681,658.673519342,633,881,783,805,651,630,653,0.450299517094,-0.0156955752083,0.0796123175929,0.999999782679,-0.000290429421197,-0.000586603932011,-7.86724807574e-05,1793239655102545664
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,714,680.748945418,658.748945418,633,880.748945418,783,805,651,630,653,0.450298342067,-0.0156956731402,0.0796114679746,0.999999781752,-0.000290373689787,-0.000588235017675,-7.84812563554e-05,1793239655119212288
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745,714,680.174765582,658.174765582,633,880.174765582,783,805,651,630,653,0.450297001651,-0.0156965803507,0.0796103015868,0.99999977965,-0.000292811307571,-0.000590549083222,-7.88293939084e-05,1793239655135878912
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745,714,680.409153294,658,632.590846706,880,782.590846706,805.409153294,651,630.409153294,653,0.450297102345,-0.0156958425593,0.0796100111077,0.99999977945,-0.000292222672694,-0.000591188521736,-7.87566380537e-05,1793239655152545536
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745,714,680.997333497,658,632.002666503,880,782.002666503,805.997333497,651,630.997333497,653,0.450297833603,-0.0156943849896,0.0796101038865,0.999999780082,-0.000290309886868,-0.000591095219335,-7.84997183275e-05,1793239655169212160
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.577509047,632,880,782.577509047,805.422490953,651,631,653,0.45029640029,-0.0156941391043,0.0796089543417,0.999999779186,-0.000289490747782,-0.000592975170865,-7.87654557059e-05,1793239655185879040
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632,880,783,805,651,630.843052801,653,0.450295694703,-0.0156944146257,0.0796082882679,0.999999778561,-0.000289520642404,-0.000593995962433,-7.88997351945e-05,1793239655202545408
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632,880,783,805,651,630.26549319,653,0.450296965812,-0.0156960727081,0.0796089330405,0.999999778687,-0.000291812566695,-0.000592690155145,-7.86753336468e-05,1793239655219212032
+254,4.233333333,HOLD_POSE2,764,745,714,681,658,633,881,783,804,651,631,653,0.450297928546,-0.0156937027358,0.0796093528743,0.999999780475,-0.000288198697941,-0.000591461400896,-7.85144224571e-05,1793239655256107520
+255,4.250000000,HOLD_POSE2,764,745,714,681,658,632.404427841,880.404427841,783,804.595572159,651,631,653,0.450297040226,-0.0156960296471,0.0796090154523,0.999999779428,-0.000289584932245,-0.000592585852837,-7.82759693716e-05,1793239655272774144
+256,4.266666667,HOLD_POSE2,764.185152841,745.185152841,714,681,658.185152841,632,880.185152841,783.185152841,805,651,630.814847159,653,0.450296519429,-0.0156965801755,0.0796085284663,0.99999977877,-0.000290083939911,-0.000593445740877,-7.83147413937e-05,1793239655289440768
+257,4.283333333,HOLD_POSE2,764.762056717,745.762056717,714,681,658.762056717,632,880.762056717,783.762056717,805,651,630.237943283,653,0.450296776247,-0.0156933721889,0.0796077250289,0.999999778942,-0.000288705731424,-0.000593745858181,-7.894007322e-05,1793239655306107392
+258,4.300000000,HOLD_POSE2,765,746,714.338713092,680.661286908,658.661286908,632,881,783.661286908,805,651,630,653.338713092,0.450297020195,-0.0156930840058,0.0796076503018,0.999999779149,-0.000288129437841,-0.00059369804172,-7.87785115565e-05,1793239655322774272
+259,4.316666667,HOLD_POSE2,765,746,714.915195693,680.084804307,658.084804307,632,881,783.084804307,805,651,630,653.915195693,0.45029725511,-0.015694845464,0.079608087114,0.999999779382,-0.000288116071839,-0.000593405983015,-7.80645670782e-05,1793239655339440640
+260,4.333333333,HOLD_POSE2,765,745.500194421,714.500194421,680.999611158,658,632.499805579,880.500194421,783,805,651,630.499805579,653.000388842,0.450298379809,-0.0156940679132,0.0796093911125,0.999999780286,-0.000287315159818,-0.000592280200696,-7.79891284694e-05,1793239655356107520
+261,4.350000000,HOLD_POSE2,765,745,714,681.915147979,658,632.915147979,880,783,805,651,630.915147979,652.084852021,0.450299418156,-0.0156931167085,0.0796105029932,0.999999781145,-0.000286486603403,-0.000591232367634,-7.79766048971e-05,1793239655372774400
+262,4.366666667,HOLD_POSE2,765,745,714,681.335727487,658,632.335727487,880,783,805,651,630.335727487,652.664272513,0.450299058692,-0.0156937058416,0.0796096233024,0.999999781079,-0.000286288648783,-0.000591477022419,-7.76888899267e-05,1793239655389441024
+263,4.383333333,HOLD_POSE2,765,745,714,681,658,632,880.242899851,783,805,651,630,653,0.450298585774,-0.0156937806586,0.0796089495794,0.999999780573,-0.000286991368968,-0.000591997594029,-7.76425935895e-05,1793239655406107648
+264,4.400000000,HOLD_POSE2,765,745,714,681,658,632,880.820434439,783,805,651,630,653,0.450297956555,-0.0156931469199,0.0796085596109,0.999999779458,-0.000288934917755,-0.000592898286697,-7.79288913922e-05,1793239655422774272
+265,4.416666667,HOLD_POSE2,765,745,714,681,658,632,880.6031396,783,805,651,630,653,0.450297079756,-0.0156933517513,0.0796074945188,0.999999778343,-0.000289524531135,-0.000594429239918,-7.83774281497e-05,1793239655439440896
+266,4.433333333,HOLD_POSE2,765,745,714,681,658,632,880.027213806,783,805,651,630,653,0.450296091248,-0.0156939349495,0.0796061248074,0.999999777228,-0.000289503242275,-0.00059624456992,-7.88991679576e-05,1793239655456107264
+267,4.450000000,HOLD_POSE2,765,745.561347652,714,681,658,632,880,783,805,651,630,653,0.450297680127,-0.0156930745963,0.0796076850859,0.999999778873,-0.000287704868215,-0.000594419983949,-7.83924008085e-05,1793239655472774400
+268,4.466666667,HOLD_POSE2,765,746,714,681,658.147543249,632,880,782.852456751,805,651,630,653,0.450298916463,-0.0156923696268,0.0796088152351,0.999999780286,-0.000286109344085,-0.000592858949224,-7.80178357605e-05,1793239655489441024
+269,4.483333333,HOLD_POSE2,765,746,714,681,658.725018906,632,880,782.274981094,805,651,630,653,0.450298753029,-0.0156923260572,0.0796082685731,0.999999780646,-0.00028536173538,-0.000592591924885,-7.8177138832e-05,1793239655506107648
+270,4.500000000,HOLD_POSE2,764.699331704,745.699331704,714,681,658.699331704,632,880.300668296,782.300668296,805,651,630,653,0.450298977725,-0.0156923383213,0.0796084155,0.999999780676,-0.00028616200024,-0.000592148859562,-7.82266484851e-05,1793239655522774272
+271,4.516666667,HOLD_POSE2,764.125342508,745.125342508,714,681,658.125342508,632,880.874657492,782.874657492,805,651,630,653,0.45029955525,-0.0156924013407,0.0796091929302,0.999999780403,-0.000288369351301,-0.000591545765145,-7.81763510107e-05,1793239655539440640
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,633,880,783,805,652,630,653,0.450298224533,-0.0156931390723,0.0796085219325,0.999999778387,-0.000290548529888,-0.000593869662406,-7.82686810457e-05,1793239655571938560
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,659,632.410196031,880,783,805,651.410196031,630.589803969,653,0.45029963178,-0.0156917396264,0.0796094851639,0.999999780175,-0.000287328724181,-0.000592422833698,-7.82778971251e-05,1793239655588604928
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.823536623,714,681,658.823536623,632,880.176463377,783,805,651,630.823536623,653,0.450300698812,-0.0156906470936,0.0796102185809,0.999999781423,-0.000284809539298,-0.000591529145104,-7.83016097916e-05,1793239655605271552
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.244058782,714,681,658.244058782,632,880.755941218,783,805,651,630.244058782,653,0.450300988845,-0.0156902555018,0.0796104271381,0.999999781461,-0.000283890461027,-0.000591898740836,-7.83584303765e-05,1793239655621938176
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.667078426,745,714,681,658,632,880.667078426,782.667078426,805,651,630,653,0.450300626204,-0.0156891535763,0.0796101018378,0.999999781751,-0.000282930002804,-0.000591866504579,-7.83808928534e-05,1793239655638604800
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.091915334,745,714,681,658,632,880.091915334,782.091915334,805,651,630,653,0.450299788662,-0.0156875347955,0.0796093880903,0.999999782223,-0.000281939435614,-0.000591541885954,-7.83783555646e-05,1793239655655271424
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.49378243,745,714,681,658,632,880,782.49378243,805,651,630,653,0.450300753285,-0.0156906683063,0.0796100866256,0.99999978152,-0.000286037801889,-0.000590839088964,-7.77879992164e-05,1793239655671938048
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880.08036914,783,804.91963086,651,630,653,0.450301598862,-0.0156939452754,0.0796106176247,0.999999780594,-0.000290227809248,-0.000590430697639,-7.72788079022e-05,1793239655688604928
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880.660030288,783,804.339969712,651,630,653,0.450299575364,-0.0156924980013,0.0796084390043,0.999999779799,-0.000288973872698,-0.000592298165767,-7.79684407538e-05,1793239655705271552
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.239097594,714.239097594,681,658,632.239097594,881,783,804.239097594,651,630,653.239097594,0.450293098793,-0.0156908684986,0.0796047095462,0.9999997772,-0.000286965390665,-0.000597572969839,-7.84647822989e-05,1793239655721938176
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.817322567,714.817322567,681,658,632.817322567,881,783,804.817322567,651,630,653.817322567,0.450280306144,-0.0156889805295,0.0795987804359,0.99999977197,-0.000283886688698,-0.000607680615751,-7.86869663826e-05,1793239655738604800
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.608397116,658,632.608397116,880.608397116,783,805.391602884,651,630.391602884,653.608397116,0.450246434822,-0.0156875714088,0.0795818795221,0.999999754898,-0.000284063749864,-0.000634935463127,-7.98078320637e-05,1793239655755271424
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.035938526,658,632.035938526,880.035938526,783,805.964061474,651,630.964061474,653.035938526,0.450202828641,-0.0156863834365,0.0795599114508,0.999999731343,-0.000285744434067,-0.000670109479211,-8.13437398103e-05,1793239655771938048
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.445983801,714.445983801,680.554016199,658,632,880,782.445983801,805.445983801,651,630.445983801,653,0.450136604042,-0.0156831864432,0.0795364475517,0.999999704937,-0.000284728291162,-0.00070871133177,-8.23705288695e-05,1793239655788604928
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.14237936,632,880.14237936,782.14237936,805,651,630,653,0.450066799368,-0.0156801155342,0.0795157180526,0.999999681557,-0.000283224274894,-0.000741490797774,-8.28359927555e-05,1793239655805271552
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.722251094,632,880.722251094,782.722251094,805,651,630,653,0.449990649533,-0.0156778455527,0.0795036984813,0.999999671725,-0.000280776233488,-0.000755674159334,-8.16814495204e-05,1793239655821938176
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632,880.700493959,783,805,651,630,653,0.449906462281,-0.0156758677574,0.0794976000387,0.999999666084,-0.000280660563315,-0.000763311481321,-8.01081314038e-05,1793239655838604800
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632,880.125644722,783,805,651,630,653,0.44981488604,-0.015674158576,0.0794969450345,0.99999966443,-0.000282689098983,-0.000764930869012,-7.81498234237e-05,1793239655855271424
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.542564948,632,880,783,804.542564948,651,630,653,0.449711172878,-0.015668368793,0.0795013766662,0.999999671084,-0.000279247638459,-0.000757770220607,-7.50849352395e-05,1793239655871938048
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,783,804,651,630,653,0.44960151226,-0.0156615208222,0.0795069048631,0.999999679434,-0.000274344125744,-0.000748816532,-7.16961184859e-05,1793239655888604672
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,783,804,651,630,653,0.449459504514,-0.0156557268423,0.0795082996436,0.9999996812,-0.000270301438781,-0.000748261406703,-6.8124668426e-05,1793239655905271296
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632.200029484,880,783,804.200029484,651,630,653,0.449306370401,-0.0156488063081,0.0795083763555,0.999999682208,-0.000264601384907,-0.000749283058017,-6.43878735135e-05,1793239655921938176
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632.779517218,880,783,804.779517218,651,630,653,0.44913212946,-0.015639748688,0.0795059526762,0.999999681746,-0.000255757287252,-0.000753295872876,-6.03374179044e-05,1793239655938604800
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.643925682,745,714,681,658.356074318,632.643925682,880,783,805,651,630,653,0.448934853277,-0.0156314022554,0.0795033150127,0.999999680294,-0.000246767870465,-0.000758566316095,-5.56352474213e-05,1793239655955271680
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.069168374,745,714,681,658.930831626,632.069168374,880,783,805,651,630,653,0.448723429986,-0.0156234925974,0.0795005459308,0.999999678162,-0.000237689205082,-0.000764609131917,-5.05328259496e-05,1793239655971938304
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.51821684,745,714,681,659,632,880.51821684,783,805,651,630,653,0.448487532199,-0.0156134718038,0.0795080180326,0.99999968805,-0.000223703053049,-0.000756281368563,-4.35455689261e-05,1793239655988604672
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.105588288,881,783,805,651,630,653,0.448239967777,-0.0156024563451,0.0795153022129,0.999999698497,-0.000203161550412,-0.000748600986843,-3.64463354594e-05,1793239656005271296
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,632.685143285,881,783,805,651,630,653,0.447955063751,-0.0155882724691,0.0795154536965,0.999999704107,-0.000156207969296,-0.000752651614259,-3.0001943129e-05,1793239656021937920
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.260127736,714.260127736,681,658.739872264,633,881,783.260127736,805,651,630,653,0.447659221625,-0.0155765088712,0.0795165198839,0.999999709319,-0.000120350476602,-0.000752545653618,-2.35232159782e-05,1793239656038604800
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.829675521,714.829675521,681,658.170324479,633,881,783.829675521,805,651,630,653,0.447350368725,-0.0155676241773,0.0795186741048,0.999999715709,-9.76917033777e-05,-0.000747495462744,-1.70036482445e-05,1793239656055271680
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.595338346,715,681,658.404661654,633,881,784,805,651,630,653,0.447013192777,-0.0155580713957,0.0795256109781,0.999999726119,-8.0239215116e-05,-0.000735644232791,-1.22609584474e-05,1793239656071938304
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.018032013,715,681,658.981967987,633,881,784,805,651,630,653,0.446663933103,-0.0155482335817,0.0795345883201,0.99999973801,-6.50079346634e-05,-0.000720891410316,-8.27635527707e-06,1793239656088604928
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714.425574416,681,659,633,880.425574416,784,805,651,630.574425584,653,0.446268949474,-0.0155434146254,0.0795511826936,0.99999975159,-6.95016420358e-05,-0.000701335080041,-1.08892234441e-05,1793239656105271296
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.836362778,745,714.163637222,681,659,633,880,784.163637222,805,651,630.836362778,653,0.445859257249,-0.0155401644518,0.0795681892143,0.99999976513,-7.20523272083e-05,-0.00068147858328,-1.165131158e-05,1793239656121937920
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.256646814,745,714.743353186,681,659,633,880,784.743353186,805,651,630.256646814,653,0.445415914173,-0.0155404917563,0.0795856192437,0.999999779032,-6.80454357817e-05,-0.000661252655666,-7.16657250219e-06,1793239656138604544
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.31938056,745,714.68061944,681,659,633,880,785,805,651,630.31938056,653.31938056,0.444947634922,-0.0155424252931,0.0795963189206,0.999999789133,-6.44453312194e-05,-0.000646198031393,-2.81984147575e-06,1793239656155271424
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.892477773,745,714.107522227,681,659,633,880,785,805,651,630.892477773,653.892477773,0.444459546268,-0.0155456348245,0.0796016719918,0.999999796356,-6.11683786577e-05,-0.00063525150033,1.4172561183e-06,1793239656171938304
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.479188409,633.479188409,880,785.479188409,805,651,631,653.520811591,0.443933471697,-0.0155370680129,0.0796091753133,0.999999802375,-4.9328516365e-05,-0.000626743507218,2.92972322331e-06,1793239656188604928
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880.067865686,786,805,651,631,653,0.443395310914,-0.0155253453921,0.0796172073208,0.999999808267,-3.44755623096e-05,-0.00061827306034,3.89838472638e-06,1793239656205271552
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880.647662459,786,805,651,631,653,0.442832154748,-0.0155103329719,0.0796254814448,0.999999816395,-1.18112873847e-05,-0.000605837686941,5.51150275053e-06,1793239656221938176
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.225135526,745,714.225135526,681,660,634,880.774864474,786,805,651,631,653,0.442260669868,-0.015498170762,0.0796384465093,0.999999829655,6.14483678861e-06,-0.000583608721895,7.29374408439e-06,1793239656238604800
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.799009104,745,714.799009104,681,660,634,880.200990896,786,805,651,631,653,0.441676283729,-0.0154904235683,0.0796586779053,0.999999850643,1.68079687847e-05,-0.000546209348192,9.3379596715e-06,1793239656255271424
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.626171979,745,715,681,660.373828021,634.373828021,880,786,805,651,631,653,0.441053530395,-0.0154841078051,0.0796704686272,0.999999862379,2.53422465051e-05,-0.000523895151494,1.15471638199e-05,1793239656271938048
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.050843524,745,715,681,660.949156476,634.949156476,880,786,805,651,631,653,0.440410096428,-0.0154785636104,0.0796777096642,0.999999869465,3.27290308285e-05,-0.000509712154309,1.38452998866e-05,1793239656288604672
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.461932488,634.461932488,880,786.538067512,805,651,631,653,0.439678101065,-0.0154689354229,0.0796465681549,0.99999984481,5.28729651772e-05,-0.000554463418564,1.24452841409e-05,1793239656305271296
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,634.125587192,880,787,805,651,631,653,0.438952055505,-0.0154595853282,0.0796282751225,0.999999829839,7.16988109054e-05,-0.00057882699477,1.18223183562e-05,1793239656321937920
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,660,634.703356286,880,787,805,651,631,653,0.438278343762,-0.0154526619813,0.0796696404706,0.999999866927,8.1326112115e-05,-0.000509213655341,1.52879425063e-05,1793239656338604800
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.282355533,635,880.282355533,787,805,651,631,653,0.437600154778,-0.015446675726,0.0797314810981,0.999999908367,9.48965168366e-05,-0.000416926072151,2.08300525172e-05,1793239656355271424
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,660.86265291,635,880.86265291,787,805,651,631,653,0.436917241322,-0.0154416782897,0.0798149272663,0.999999948036,0.000112627688959,-0.000300712592764,2.85632728068e-05,1793239656371938048
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.446693529,661,635,880.553306471,787,805,651,631,653.446693529,0.436195201807,-0.0154238984711,0.0798586186989,0.999999963975,0.000135603773634,-0.000229644415936,3.04052396776e-05,1793239656388604672
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.96841223,661,635,880,787.03158777,805,651,631,653.96841223,0.435453306295,-0.0154024839663,0.0798865542748,0.999999970818,0.000159815096883,-0.000178633387954,3.02320700072e-05,1793239656405271552
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.388844133,661,635,880,787.611155867,805,651,631,653.388844133,0.434577414251,-0.0153867732442,0.0798550045498,0.999999956852,0.000177242234826,-0.00023272940429,2.67902904465e-05,1793239656421938432
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787.810280741,805,651,631,653,0.433701059626,-0.0153775511192,0.0798232801397,0.999999940258,0.000191203882357,-0.000286934113222,2.43724240839e-05,1793239656438605056
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787.233765755,805,651,631,653,0.432823761951,-0.0153815578135,0.0797911995873,0.999999921826,0.000198100158831,-0.000341360419915,2.40420912086e-05,1793239656455271680
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787.341685995,805,651,631,653,0.431918308839,-0.0153823882951,0.0797527541267,0.99999989387,0.000204757740647,-0.000412019303999,2.39743764739e-05,1793239656471938048
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787.916412563,805,651,631,653,0.43099365287,-0.0153810525,0.0797099676004,0.999999855502,0.00021125252413,-0.000493749311452,2.40857754727e-05,1793239656488604672
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787.494454352,804.494454352,651,631,653,0.430185477351,-0.0153807247793,0.0797438240455,0.999999883877,0.000218193159086,-0.000428832319621,2.72162610825e-05,1793239656505271296
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787.095160202,804.095160202,651,631.095160202,653,0.429386848963,-0.0153807466424,0.0797928736115,0.999999916655,0.000224216653335,-0.000339756813873,3.13284319543e-05,1793239656521937920
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787.67474406,804.67474406,651,631.67474406,653,0.428535905715,-0.0153816747299,0.0798528638044,0.999999941481,0.000225185068647,-0.000254751188121,3.78223164654e-05,1793239656538604544
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.747814699,661,635,880,787.747814699,804.747814699,651,631.747814699,653,0.427657614506,-0.0153816149614,0.0798717662045,0.999999947635,0.000226946456167,-0.000227115350617,4.05538289713e-05,1793239656555271424
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.173113538,661,635,880,787.173113538,804.173113538,651,631.173113538,653,0.426744348299,-0.0153802918394,0.0798381220738,0.999999935651,0.000229721964938,-0.000272848832986,3.84737035347e-05,1793239656571938816
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787.402378601,804.402378601,651,631,653,0.425822263577,-0.0153796601369,0.079799898588,0.999999919729,0.000230600095159,-0.000325699410394,3.58511112211e-05,1793239656588605184
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,787.978211673,804.978211673,651,631,653,0.424896377489,-0.0153793264865,0.0797597010688,0.999999900037,0.000230660316441,-0.000381617970489,3.29946762407e-05,1793239656605271552
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,880,788,805,651.569160963,631.569160963,653,0.423972844821,-0.0153782609476,0.0797432721983,0.999999883143,0.000238443909599,-0.000419167964785,3.40105283399e-05,1793239656621938176
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,744.843160447,715,680,661,635,880,787.843160447,805,651.843160447,631.843160447,653,0.423068638636,-0.0153764423478,0.0797392253933,0.999999876524,0.000244969721675,-0.000430923977766,3.53164936971e-05,1793239656638605056
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,744.265844129,715,680,661,635,880,787.265844129,805,651.265844129,631.265844129,653,0.422215997435,-0.0153726820032,0.0797658681755,0.999999898248,0.000247309225902,-0.000375464586139,3.69919776443e-05,1793239656655272192
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,744.309395359,715,680,661,635.309395359,880,787.309395359,804.690604641,651,631.309395359,653,0.421402690831,-0.0153722990278,0.0798123452281,0.999999927224,0.000244380348054,-0.000290246776809,3.98285513395e-05,1793239656671938816
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,744.882862226,715,680,661,635.882862226,880,787.882862226,804.117137774,651,631.882862226,653,0.420622956675,-0.0153747986654,0.0798757509937,0.99999995484,0.000236954860366,-0.000179629911326,4.36561243969e-05,1793239656688605952
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.468018359,660.531981641,635.531981641,880,788,804.468018359,651.468018359,632,653,0.419787350638,-0.0153756580912,0.0798783336012,0.999999954574,0.000237792199384,-0.000179890649423,4.4113083036e-05,1793239656705272320
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.055334668,745,715,680.944665332,660.055334668,635,880,788,805,652,632,653,0.418932778882,-0.0153758087883,0.079862408998,0.999999947615,0.000240090113686,-0.000212743918072,4.31977383157e-05,1793239656721938432
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.63469183,745,715,680.36530817,660.63469183,635,880,788,805,652,632,653,0.418034421583,-0.0153732350138,0.0798190765432,0.999999930887,0.00023613344877,-0.000284715250306,3.7480309709e-05,1793239656738605056
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.786441261,745,715,680.213558739,660.786441261,635,880,788,805,652,632,653,0.417162526516,-0.0153711969237,0.0797982681448,0.999999919777,0.000234573881899,-0.000322789780684,3.50359360055e-05,1793239656755271424
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.208410951,745,715,680.791589049,660.208410951,635,880,788,805,652,632,653,0.416335793266,-0.0153700730628,0.0798159005836,0.999999925253,0.000237105340805,-0.00030301410193,3.81775445332e-05,1793239656771938304
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.365939688,745,715,680.634060312,660.365939688,635.365939688,879.634060312,788,804.634060312,652,631.634060312,653,0.415525636522,-0.015365515695,0.0798112242457,0.999999920245,0.000243454410886,-0.000314303323112,3.8111019384e-05,1793239656788604672
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.938215499,745,715,680.061784501,660.938215499,635.938215499,879.061784501,788,804.061784501,652,631.061784501,653,0.414724826536,-0.0153590223348,0.0797939690402,0.999999908741,0.000251956051486,-0.000343108576628,3.62355788134e-05,1793239656805271296
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.471701935,745,715,680,661,635.471701935,879,788,804,652,631.528298065,653,0.413998628868,-0.0153612417253,0.0797964142814,0.999999913196,0.000249130496438,-0.00033208327244,3.55448110368e-05,1793239656821937920
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879.117707058,788,804,652,631.882292942,653,0.413283231028,-0.0153644012871,0.0798039796962,0.999999920168,0.000245954858169,-0.000312884942758,3.56844009248e-05,1793239656838604544
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879.696046204,788,804,652,631.303953796,653,0.412574758073,-0.015367113438,0.0798222514788,0.999999929451,0.000246774157488,-0.000280567590526,3.85123920669e-05,1793239656855271168
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.272754724,744.727245276,715,680,661,635.272754724,880,788,804,652,631.272754724,653,0.411852419185,-0.0153659764974,0.0798238372278,0.99999992877,0.000248764585441,-0.000281121482575,3.93235465505e-05,1793239656871938560
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.847656859,744.152343141,715,680,661,635.847656859,880,788,804,652,631.847656859,653,0.411114720184,-0.0153605756778,0.0798069388158,0.999999916926,0.000252052345504,-0.000318088903242,3.79005251433e-05,1793239656888606208
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.576412772,744.423587228,715,680,661,636,879.576412772,788,804,652,631.576412772,653,0.410437982128,-0.0153585496144,0.0797997647566,0.999999912086,0.000252771015322,-0.000332545298201,3.67152990905e-05,1793239656905272576
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.000111653,744.999888347,715,680,661,636,879.000111653,788,804,652,631.000111653,653,0.409783221972,-0.0153577402355,0.0797960965707,0.99999991005,0.00025256346357,-0.000338885903031,3.56158041621e-05,1793239656921938432
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.40782645,715,679.40782645,661,635.40782645,879.59217355,788,804,651.40782645,631,653,0.40921816392,-0.0153569420121,0.0798233137403,0.999999923649,0.000257842837696,-0.000291072813526,3.86629197575e-05,1793239656938605568
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.178700497,715,679,661,635.178700497,880,787.821299503,804,651,631,653,0.408650477431,-0.0153562098327,0.0798439740599,0.999999931486,0.000263302441657,-0.000256930590958,4.10662285282e-05,1793239656955272448
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,744.752489786,715,679,661,635.752489786,880,787.247510214,804,651,631,653,0.408076941193,-0.0153556236651,0.079850124618,0.999999930879,0.000269158167023,-0.000253036470462,4.20443695289e-05,1793239656971938560
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.67319247,635.67319247,879.67319247,787,804,651,631,653,0.407493792077,-0.015353266826,0.0798315610905,0.999999920741,0.000270048808529,-0.0002897789802,4.02511850191e-05,1793239656988605184
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.098473884,635.098473884,879.098473884,787,804,651,631,653,0.406903350817,-0.0153495667834,0.0797942498456,0.9999998998,0.000267173014136,-0.000357347798199,3.63557163284e-05,1793239657005272064
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.510463865,715,679,660.489536135,635,879.489536135,787.489536135,804,651.489536135,631,653,0.406410243423,-0.0153515390136,0.0797814367757,0.999999895318,0.000266273618739,-0.00037047568438,3.47934433144e-05,1793239657021938688
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.078834197,715,679,661,635.078834197,879.921165803,788,804.078834197,652,631,653,0.405945119241,-0.0153545346849,0.0797774911485,0.999999896991,0.000265598286121,-0.000366480489709,3.41649268506e-05,1793239657038605312
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.658848892,715,679,661,635.658848892,879.341151108,788,804.658848892,652,631,653,0.40552994725,-0.0153565804096,0.0797977158192,0.999999911681,0.000263749373617,-0.00032519125031,3.64056186256e-05,1793239657055271680
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804.763758255,651.763758255,631,653,0.405123672045,-0.0153561891293,0.0798149847667,0.999999921077,0.000262903630696,-0.000295496400819,3.75321237734e-05,1793239657071938560
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804.190110034,651.190110034,631,653,0.404730103493,-0.0153523172559,0.0798280322734,0.999999924735,0.000263490640762,-0.000282360958413,3.70673190777e-05,1793239657088605184
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.607985501,661,636,879,788,804,651.392014499,631.392014499,653.392014499,0.40435517603,-0.015346856349,0.0798330913405,0.99999992213,0.000275651455963,-0.000279745045818,3.87188395887e-05,1793239657105271808
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.021659424,661,636,879,788,804,651.978340576,631.978340576,653.978340576,0.403989488444,-0.0153406077983,0.0798341907432,0.999999916198,0.00029354911082,-0.00028234339429,4.14193684132e-05,1793239657121938688
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,678,661,636,879,787.440142897,804,652,632,653.440142897,0.403656534913,-0.015334021792,0.0798353117534,0.999999915801,0.000291437690596,-0.000286324151968,3.8488111025e-05,1793239657138605056
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.140942044,660.859057956,636,879,787.140942044,804,652,631.859057956,653,0.403338972426,-0.0153287998015,0.079837056922,0.999999915588,0.000290754219705,-0.0002880196395,3.64865839518e-05,1793239657155271680
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.721256818,660.278743182,636,879,787.721256818,804,652,631.278743182,653,0.40306547566,-0.0153278703444,0.0798407452584,0.999999915314,0.000296914860584,-0.000282425722674,3.80568289367e-05,1793239657171938304
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.298197789,745,715,679,660.298197789,635.701802211,879,787.701802211,804,652,631,653,0.402809317853,-0.015326896946,0.0798427862124,0.999999915044,0.000298892393359,-0.000281248718934,3.83999169562e-05,1793239657188604928
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.872020312,745,715,679,660.872020312,635.127979688,879,787.127979688,804,652,631,653,0.402569186493,-0.0153258829327,0.0798433044877,0.999999914815,0.000297003471684,-0.00028415427598,3.76087415664e-05,1793239657205271808
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.543635267,744.543635267,715,679,661,635,879,787,804.456364733,652,631.456364733,653,0.402357089893,-0.0153362738607,0.0798416162463,0.999999916711,0.000288213810294,-0.000286545574663,3.74461460074e-05,1793239657221938688
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744,715,678.9567426,661,635,879,787.0432574,804.9567426,652,631.9567426,653,0.402155883504,-0.0153498124156,0.079839488981,0.999999919271,0.000277196723629,-0.000288458557036,3.75798042615e-05,1793239657238605568
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744,715,678.375718616,661,635,879,787.624281384,804.375718616,652,631.375718616,653,0.401990018177,-0.0153617823994,0.0798397779451,0.999999923646,0.00026311445339,-0.000286260376152,3.91533024477e-05,1793239657255272192
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,715,678.203555111,661,635.203555111,879.203555111,787.796444889,804,651.796444889,631,653,0.40183863762,-0.0153670699248,0.0798424356142,0.999999926882,0.000256952182628,-0.000280311567804,4.04653598349e-05,1793239657271938560
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,715,678.779625724,661,635.779625724,879.779625724,787.220374276,804,651.220374276,631,653,0.401713764894,-0.0153601282332,0.0798494281256,0.999999928182,0.000265283887855,-0.000267498933725,4.12989680025e-05,1793239657288605184
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.354621882,715,679,660.645378118,635.645378118,879.645378118,787.354621882,804,651,631,653,0.40160040501,-0.0153573099119,0.0798553312579,0.999999930409,0.000265185708447,-0.000259253123731,4.05783332433e-05,1793239657305271808
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.928952409,715,679,660.071047591,635.071047591,879.071047591,787.928952409,804,651,631,653,0.401494177982,-0.0153570462551,0.0798605594578,0.999999933262,0.000259864731636,-0.000253836722606,3.88947557091e-05,1793239657321938432
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.517368008,879,787.482631992,804,651.517368008,631,653,0.401399055659,-0.0153573218301,0.0798578888356,0.999999931351,0.000263991589352,-0.000257615986016,3.52216114145e-05,1793239657338604800
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744.894315058,715,678.894315058,660.105684942,636,879,787.105684942,804,652,631,653,0.401309653649,-0.0153567853121,0.0798537870449,0.999999928384,0.000269919448954,-0.000263336545853,3.20990354281e-05,1793239657355271424
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744.315344212,715,678.315344212,660.684655788,636,879,787.684655788,804,652,631,653,0.401238848449,-0.0153522711234,0.0798482696477,0.999999923865,0.000277939860182,-0.000271937353638,3.26998368701e-05,1793239657371938304
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.262178133,715,678.262178133,661,636,879,788,804,652,631.262178133,653,0.401178914417,-0.0153510764302,0.0798449009613,0.999999921897,0.000279741001154,-0.000277214367205,3.32261253504e-05,1793239657388605184
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.837967778,715,678.837967778,661,636,879,788,804,652,631.837967778,653,0.401131984236,-0.0153538524422,0.0798441025141,0.999999923082,0.000274102792214,-0.000278515533331,3.366328309e-05,1793239657405272064
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,744.578158673,715,679,661,635.578158673,879,788,804,652,632,653,0.401094462535,-0.0153529692935,0.0798436192026,0.999999922718,0.000274571028299,-0.000279323806153,3.39406093726e-05,1793239657421938688
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,744.0087872,715,679,661,635.0087872,879,788,804,652,631.9912128,653,0.401060847988,-0.0153506945567,0.0798432838129,0.999999921773,0.000277395012878,-0.000279890349951,3.4162530791e-05,1793239657438605312
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,744.589651514,715,679,661,635.589651514,879,788,804,652,631.410348486,653,0.401041730735,-0.0153511139073,0.0798445441799,0.999999922334,0.00027790089906,-0.000277285947676,3.48523507351e-05,1793239657455271680
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,745,715.170162975,678.829837025,661,636,879,787.829837025,804,652,631.170162975,653,0.401024589134,-0.0153513072836,0.0798449436539,0.999999922602,0.000278121795842,-0.000276046650438,3.52616703845e-05,1793239657471938304
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,715.749825206,678.250174794,661,636,879,787.250174794,804,652,631.749825206,653,0.401012201969,-0.0153509568501,0.079843271378,0.999999922173,0.00027765686212,-0.000278092495356,3.4995962583e-05,1793239657488604928
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744.675236539,715.675236539,678.324763461,660.675236539,636,879,787.324763461,804.324763461,652,631.675236539,653,0.401003934469,-0.0153513129346,0.0798431117064,0.999999922424,0.000276682231761,-0.000278170054445,3.49397462738e-05,1793239657505271808
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765,744.103885065,715.103885065,678.896114935,660.103885065,636,879,787.896114935,804.896114935,652,631.103885065,653,0.400998794968,-0.0153522054674,0.0798441005322,0.999999923189,0.000275320596361,-0.00027675312392,3.50425936761e-05,1793239657521938432
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765,744.480306055,715,678.519693945,660.480306055,636,879,788,804.519693945,651.519693945,631,653,0.400995157091,-0.0153523983381,0.0798443183861,0.999999923225,0.000275999995166,-0.00027594350229,3.5068204491e-05,1793239657538605056
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.066610642,661,636,879,788,804,651,631.066610642,653,0.40099224625,-0.0153524119921,0.0798445899926,0.999999923248,0.000276870915565,-0.000274991920689,3.50211410973e-05,1793239657555271680
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.647206353,661,636,879,788,804,651,631.647206353,653,0.400992370449,-0.0153522425334,0.0798465984183,0.999999924427,0.000275719732884,-0.000271903534618,3.45457486889e-05,1793239657571938304
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.775412695,879.224587305,788,804.224587305,651.224587305,631.775412695,653,0.400992636621,-0.0153517345534,0.0798479639343,0.999999925009,0.000275988205086,-0.000269511048889,3.42993601269e-05,1793239657588604928
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.203010428,879.796989572,788,804.796989572,651.796989572,631.203010428,653,0.400993122667,-0.0153507023105,0.0798483337858,0.999999924675,0.000278455275408,-0.000268196293681,3.44076263879e-05,1793239657605271808
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.373115629,879.626884371,788,805,652,631,653,0.400992753985,-0.0153509378642,0.0798487437813,0.999999924692,0.00027877775419,-0.000267776595137,3.45763970602e-05,1793239657621938432
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.951288188,879.048711812,788,805,652,631,653,0.400991915561,-0.0153518701738,0.0798491758391,0.999999924904,0.000277921608021,-0.000267848801983,3.47784197505e-05,1793239657638605056
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,744.459336863,715,679,661,636,879,788,805,651.459336863,631,653,0.400992008048,-0.0153511846923,0.0798492483438,0.999999925239,0.000277539224485,-0.000267026212923,3.45173379979e-05,1793239657655271680
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744,715,679,661,635.871116969,879.128883031,788,804.871116969,651.128883031,631.128883031,653,0.400991804728,-0.0153507727039,0.0798491259484,0.999999925373,0.000277296657425,-0.00026680759265,3.42590497918e-05,1793239657671938304
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,661,635.290557115,879.709442885,788,804.290557115,651.709442885,631.709442885,653,0.400990264592,-0.0153518408061,0.0798484364463,0.999999924765,0.000277391329779,-0.000268994117592,3.41598695561e-05,1793239657688604928
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.285894076,715,679,661,635,879.714105924,788,804,652,632,653,0.400989666482,-0.0153526769285,0.0798481423058,0.999999924849,0.000276430005336,-0.000269682025021,3.4047666028e-05,1793239657705271552
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.858228818,715,679,661,635,879.141771182,788,804,652,632,653,0.400990012201,-0.0153532806277,0.0798482442825,0.999999925629,0.000274410665184,-0.000268868450046,3.3922414297e-05,1793239657721938176
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.444566215,879,788,804,652,632,653,0.400990886636,-0.0153520090181,0.0798488510967,0.999999925466,0.000276036556838,-0.000267833074799,3.37297914995e-05,1793239657738605056
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715.034702519,679,660.965297481,636,879.034702519,788,804.034702519,652,631.965297481,653.034702519,0.400991818546,-0.0153502411234,0.079849587463,0.999999925007,0.000278711007287,-0.000266795929565,3.35439978001e-05,1793239657755272192
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715.612144123,679,660.387855877,636,879.612144123,788,804.612144123,652,631.387855877,653.612144123,0.400990926619,-0.0153503686972,0.0798497502383,0.999999924894,0.000279012868238,-0.000266873302916,3.38119492168e-05,1793239657771938560
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715.810710409,679,660.189289591,636,879.810710409,788,804.810710409,651.810710409,631,654,0.400990932848,-0.0153512067944,0.0798500803277,0.999999925143,0.000278638797784,-0.000266289611649,3.41209764667e-05,1793239657788605184
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715.234170814,679,660.765829186,636,879.234170814,788,804.234170814,651.234170814,631,654,0.400992776531,-0.0153534984853,0.0798507527094,0.999999926131,0.000276881901989,-0.000264353509639,3.45140369353e-05,1793239657805271552
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744.660479805,715,678.660479805,660.660479805,636,879.339520195,788,804,651.339520195,631,653.660479805,0.400992156404,-0.0153532410645,0.0798507164208,0.999999925916,0.000277159376903,-0.000264870394289,3.45588099914e-05,1793239657821938176
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,744.088737176,715,678.088737176,660.088737176,636,879.911262824,788,804,651.911262824,631,653.088737176,0.400989851101,-0.0153512401215,0.0798501954213,0.999999924875,0.00027882830526,-0.00026706505414,3.43653640615e-05,1793239657838605056
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,744.501409564,715,678.501409564,660.501409564,636,879.498590436,788,804.501409564,652,631,653,0.40099016743,-0.0153511122713,0.0798505008291,0.999999925632,0.000277368487425,-0.000265789745137,3.40502757466e-05,1793239657855271936
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804.90700511,652,631,653.09299489,0.400990784144,-0.0153513189316,0.0798508153802,0.999999926503,0.000275683423293,-0.000264298237431,3.37467196664e-05,1793239657871938816
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879,788,804.325622066,652,631,653.674377934,0.400990448922,-0.0153514751129,0.0798503805915,0.999999926275,0.000275834186651,-0.000265019301619,3.36210950051e-05,1793239657888605184
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.252963737,636,879,788,804,652,631,653.747036263,0.40099059158,-0.0153523441319,0.0798504361709,0.999999926152,0.000276287664247,-0.000264987431764,3.38052712123e-05,1793239657905271808
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661.827988313,636,879,788,804,652,631,653.172011687,0.400991342652,-0.0153541207004,0.0798511160622,0.999999926162,0.000277126542565,-0.000263996963859,3.43838704484e-05,1793239657921938432
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,745,715.410714942,679,661.589285058,636,879,788,804,652,631,653,0.400991321552,-0.0153546707104,0.0798508681185,0.999999926433,0.000276331984075,-0.000263813429809,3.43202617431e-05,1793239657938605056
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765,745,715.996728882,679,661.003271118,636,879,788,804,652,631,653,0.400990970878,-0.0153546972076,0.0798502241615,0.999999926813,0.000274840251396,-0.000263974306704,3.39825494892e-05,1793239657955271680
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,745,716,679,661,635.423575437,879,788,804,652,631,653,0.400989345222,-0.0153550827055,0.0798500609718,0.999999926499,0.00027474320164,-0.000265213716782,3.43584531971e-05,1793239657971938560
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc9d2e77083eb95cd58d749928cf927e697749db
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/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,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+1,0.016666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+2,0.033333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+3,0.050000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+4,0.066666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+5,0.083333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+6,0.100000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+7,0.116666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+8,0.133333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+9,0.150000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+10,0.166666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+11,0.183333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+12,0.200000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+13,0.216666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+14,0.233333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+15,0.250000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+16,0.266666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+17,0.283333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+18,0.300000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+19,0.316666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+20,0.333333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+21,0.350000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+22,0.366666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+23,0.383333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+24,0.400000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+25,0.416666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+26,0.433333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+27,0.450000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+28,0.466666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+29,0.483333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+30,0.500000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+31,0.516666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+32,0.533333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+33,0.550000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+34,0.566666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+35,0.583333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+36,0.600000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+37,0.616666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+38,0.633333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+39,0.650000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+40,0.666666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+41,0.683333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+42,0.700000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+43,0.716666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+44,0.733333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+45,0.750000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+46,0.766666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+47,0.783333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+48,0.800000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+49,0.816666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+50,0.833333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+51,0.850000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+52,0.866666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+53,0.883333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+54,0.900000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+55,0.916666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+56,0.933333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+57,0.950000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+58,0.966666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+59,0.983333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+60,1.000000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+61,1.016666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+62,1.033333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+63,1.050000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+64,1.066666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+65,1.083333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+66,1.100000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+67,1.116666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+68,1.133333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+69,1.150000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+70,1.166666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+71,1.183333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+72,1.200000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+73,1.216666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+74,1.233333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+75,1.250000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+76,1.266666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+77,1.283333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+78,1.300000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+79,1.316666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+80,1.333333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+81,1.350000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+82,1.366666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+83,1.383333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+84,1.400000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+85,1.416666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+86,1.433333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+87,1.450000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+88,1.466666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+89,1.483333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+90,1.500000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+91,1.516666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+92,1.533333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+93,1.550000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+94,1.566666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+95,1.583333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+96,1.600000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+97,1.616666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+98,1.633333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+99,1.650000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+100,1.666666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+101,1.683333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+102,1.700000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+103,1.716666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+104,1.733333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+105,1.750000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+106,1.766666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+107,1.783333333,pose1_to_pose2_press,0.575664368694,-0.00990913397856,1.07003234166,0.546234817928,-0.00123740242574,1.06970047216
+108,1.800000000,pose1_to_pose2_press,0.575664379984,-0.00990919364886,1.07003226785,0.546234830302,-0.00123745826713,1.06970040224
+109,1.816666667,pose1_to_pose2_press,0.575664390295,-0.00990924814414,1.07003220044,0.546234841603,-0.00123750926557,1.06970033839
+110,1.833333333,pose1_to_pose2_press,0.575664401316,-0.00990926650337,1.0700321813,0.546234852977,-0.0012375263822,1.06970032044
+111,1.850000000,pose1_to_pose2_press,0.575664424517,-0.00990926251965,1.07003219756,0.546234876165,-0.00123752244939,1.06970033642
+112,1.866666667,pose1_to_pose2_press,0.575664558577,-0.00990923950045,1.07003229152,0.546235010157,-0.00123749972429,1.06970042877
+113,1.883333333,pose1_to_pose2_press,0.575665101528,-0.00990917245565,1.07003255685,0.546235552951,-0.00123743345681,1.06970068779
+114,1.900000000,pose1_to_pose2_press,0.57566694402,-0.00990920528798,1.07003239205,0.546237395907,-0.0012374651431,1.06970051165
+115,1.916666667,pose1_to_pose2_press,0.575671486267,-0.00990919769655,1.0700323548,0.546241937969,-0.00123745785593,1.06970048282
+116,1.933333333,pose1_to_pose2_press,0.575681936733,-0.00990928465131,1.07003231691,0.546252389684,-0.00123754023154,1.06970045383
+117,1.950000000,pose1_to_pose2_press,0.575700480924,-0.00990916753805,1.0700324151,0.546270931728,-0.00123743064782,1.06970054557
+118,1.966666667,pose1_to_pose2_press,0.575729954366,-0.00990940145759,1.0700321121,0.546300406719,-0.00123765906457,1.069700249
+119,1.983333333,pose1_to_pose2_press,0.57577053291,-0.00990913737469,1.07003249067,0.546340983085,-0.00123740285306,1.06970061494
+120,2.000000000,pose1_to_pose2_press,0.575822506927,-0.00990922056788,1.07003223155,0.546392957409,-0.00123748498797,1.06970035619
+121,2.016666667,pose1_to_pose2_press,0.575883852699,-0.00990920518054,1.07003200461,0.546454303318,-0.00123746890727,1.0697001351
+122,2.033333333,pose1_to_pose2_press,0.575953900253,-0.00990926156912,1.07003225457,0.546524352925,-0.00123751827178,1.06970038653
+123,2.050000000,pose1_to_pose2_press,0.576031422514,-0.00990923027761,1.07003225815,0.546601874866,-0.00123748802221,1.06970039123
+124,2.066666667,pose1_to_pose2_press,0.576116559899,-0.00990925431808,1.0700321836,0.546687011223,-0.00123751532194,1.06970032258
+125,2.083333333,pose1_to_pose2_press,0.576212955181,-0.00990927542562,1.0700322216,0.546783406482,-0.00123753684192,1.06970035183
+126,2.100000000,pose1_to_pose2_press,0.576321175698,-0.00990929574781,1.07003230009,0.546891628218,-0.00123755331212,1.06970042281
+127,2.116666667,pose1_to_pose2_press,0.576443339955,-0.00990938539805,1.0700323041,0.547013794285,-0.00123763640236,1.06970043765
+128,2.133333333,pose1_to_pose2_press,0.576579131795,-0.00990936921785,1.07003223972,0.547149586065,-0.00123762045472,1.0697003725
+129,2.150000000,pose1_to_pose2_press,0.576728286845,-0.00990920174207,1.07003235949,0.547298738248,-0.00123746278447,1.06970049021
+130,2.166666667,pose1_to_pose2_press,0.576891713666,-0.00990926766491,1.07003269617,0.547462166775,-0.00123752309864,1.06970082211
+131,2.183333333,pose1_to_pose2_press,0.577070561134,-0.00990914565001,1.07003238193,0.547641011578,-0.00123740964212,1.06970052054
+132,2.200000000,pose1_to_pose2_press,0.577268398388,-0.00990927213383,1.07003229955,0.547838851908,-0.00123752561625,1.06970043988
+133,2.216666667,pose1_to_pose2_press,0.577486712752,-0.00990929145411,1.07003227445,0.548057166464,-0.00123754465114,1.06970040519
+134,2.233333333,pose1_to_pose2_press,0.577728669846,-0.00990922074122,1.07003215517,0.548299121825,-0.00123747972796,1.06970028824
+135,2.250000000,pose1_to_pose2_press,0.57799289263,-0.00990915955977,1.07003209343,0.54856334399,-0.00123742016066,1.06970023914
+136,2.266666667,pose1_to_pose2_press,0.578278317068,-0.00990915754524,1.07003216585,0.548848768449,-0.0012374181327,1.06970030997
+137,2.283333333,pose1_to_pose2_press,0.578585571182,-0.0099092872531,1.07003231742,0.549156023257,-0.00123754591917,1.0697004502
+138,2.300000000,pose1_to_pose2_press,0.578912815753,-0.00990939792488,1.07003250407,0.54948326919,-0.00123765192844,1.06970063782
+139,2.316666667,pose1_to_pose2_press,0.579259250008,-0.00990926740859,1.07003235338,0.549829703188,-0.00123752235135,1.06970048531
+140,2.333333333,pose1_to_pose2_press,0.579624590438,-0.00990928126181,1.07003245784,0.550195043334,-0.00123753723888,1.06970058793
+141,2.350000000,pose1_to_pose2_press,0.580010738562,-0.00990911200674,1.07003236014,0.550581188776,-0.00123737727601,1.06970048508
+142,2.366666667,pose1_to_pose2_press,0.580414934689,-0.00990918701081,1.07003238744,0.550985385575,-0.00123745015015,1.06970050843
+143,2.383333333,pose1_to_pose2_press,0.580837307289,-0.00990920734226,1.07003225587,0.551407758033,-0.00123747066488,1.06970038462
+144,2.400000000,pose1_to_pose2_press,0.581281665584,-0.00990920851147,1.07003231926,0.551852116498,-0.00123747120266,1.06970044939
+145,2.416666667,pose1_to_pose2_press,0.581748497507,-0.00990928141234,1.07003210082,0.552318948613,-0.00123754339223,1.0697002324
+146,2.433333333,pose1_to_pose2_press,0.58224227734,-0.00990926400196,1.07003218638,0.552812729047,-0.00123752397979,1.06970031693
+147,2.450000000,pose1_to_pose2_press,0.582764300616,-0.00990926611916,1.07003226838,0.55333475306,-0.00123752347783,1.06970040205
+148,2.466666667,pose1_to_pose2_press,0.583315945816,-0.0099092594892,1.07003239136,0.553886398378,-0.00123751652982,1.06970052277
+149,2.483333333,pose1_to_pose2_press,0.583885297241,-0.00990921539541,1.07003248825,0.554455748916,-0.00123747551597,1.06970061785
+150,2.500000000,pose1_to_pose2_press,0.584467583949,-0.00990916207264,1.07003231398,0.555038034403,-0.00123742604093,1.06970045124
+151,2.516666667,pose1_to_pose2_press,0.585058588664,-0.00990909420448,1.07003235544,0.555629038742,-0.00123735953771,1.06970049031
+152,2.533333333,pose1_to_pose2_press,0.585658348599,-0.0099092352758,1.0700324057,0.55622879948,-0.0012374981129,1.06970053459
+153,2.550000000,pose1_to_pose2_press,0.586269861146,-0.00990930223084,1.07003209749,0.556840313435,-0.00123756011356,1.06970023098
+154,2.566666667,pose1_to_pose2_press,0.586906187498,-0.00990926957512,1.07003219466,0.557476638796,-0.00123753064441,1.06970033266
+155,2.583333333,pose1_to_pose2_press,0.587568956565,-0.00990916907178,1.07003245945,0.558139408167,-0.00123742945914,1.06970058834
+156,2.600000000,pose1_to_pose2_press,0.588245831134,-0.00990920590794,1.07003249002,0.558816281548,-0.00123747051055,1.06970061402
+157,2.616666667,pose1_to_pose2_press,0.588936755514,-0.00990923101768,1.07003226881,0.559507208089,-0.00123748795176,1.06970040156
+158,2.633333333,pose1_to_pose2_press,0.589647811494,-0.00990929419373,1.07003221696,0.560218263317,-0.00123755365687,1.0697003503
+159,2.650000000,pose1_to_pose2_press,0.590368764107,-0.00990925476131,1.07003221172,0.560939215178,-0.0012375168264,1.06970034378
+160,2.666666667,pose1_to_pose2_press,0.591095749863,-0.00990920639065,1.0700323497,0.561666201089,-0.00123746789158,1.06970048277
+161,2.683333333,pose1_to_pose2_press,0.591838447216,-0.00990913613858,1.07003219488,0.562408897067,-0.00123740224958,1.06970032947
+162,2.700000000,pose1_to_pose2_press,0.592592389783,-0.00990913464521,1.07003211096,0.563162839529,-0.00123740096554,1.06970024928
+163,2.716666667,pose1_to_pose2_press,0.593351606025,-0.00990912754981,1.07003229738,0.56392205659,-0.00123739099575,1.06970043824
+164,2.733333333,pose1_to_pose2_press,0.594117089975,-0.00990907117394,1.07003234722,0.564687540201,-0.00123733586733,1.06970048552
+165,2.750000000,pose1_to_pose2_press,0.594888645198,-0.00990919312889,1.07003237196,0.565459097538,-0.00123745086061,1.06970050479
+166,2.766666667,pose1_to_pose2_press,0.595656196929,-0.0099091975139,1.07003216001,0.566226649409,-0.00123745524708,1.0697002804
+167,2.783333333,pose1_to_pose2_press,0.596414431666,-0.00990914818134,1.07003215078,0.566984882969,-0.00123740986244,1.0697002724
+168,2.800000000,pose1_to_pose2_press,0.597176694262,-0.00990910950834,1.07003224724,0.567747143731,-0.00123737730501,1.06970037171
+169,2.816666667,pose1_to_pose2_press,0.597943008242,-0.00990924466802,1.07003231116,0.568513459583,-0.0012375056796,1.06970044695
+170,2.833333333,pose1_to_pose2_press,0.598707207243,-0.00990933378121,1.07003210554,0.56927765995,-0.00123759001107,1.06970024531
+171,2.850000000,pose1_to_pose2_press,0.599481516282,-0.00990933400323,1.0700322765,0.570051968821,-0.00123759114681,1.06970040729
+172,2.866666667,pose1_to_pose2_press,0.600272434392,-0.00990926210335,1.07003225968,0.570842885755,-0.0012375232219,1.06970039099
+173,2.883333333,pose1_to_pose2_press,0.601058782128,-0.00990923194977,1.0700322025,0.571629233193,-0.00123749389964,1.06970033851
+174,2.900000000,pose1_to_pose2_press,0.601840223356,-0.00990925947998,1.07003234973,0.572410674578,-0.00123752100765,1.0697004829
+175,2.916666667,pose1_to_pose2_press,0.602611742454,-0.00990920744258,1.07003232618,0.573182193684,-0.00123746888616,1.06970046101
+176,2.933333333,pose1_to_pose2_press,0.603368857464,-0.00990909352764,1.07003231804,0.573939307904,-0.00123735768184,1.06970045211
+177,2.950000000,pose1_to_pose2_press,0.604106766067,-0.00990906180603,1.07003243455,0.574677215846,-0.0012373284365,1.0697005626
+178,2.966666667,pose1_to_pose2_press,0.604831594514,-0.00990916575709,1.07003237859,0.57540204538,-0.00123742858752,1.06970050958
+179,2.983333333,pose1_to_pose2_press,0.605547727828,-0.00990929238575,1.07003242019,0.57611817991,-0.00123755094102,1.06970055525
+180,3.000000000,pose1_to_pose2_press,0.606258468674,-0.00990914083653,1.07003231113,0.576828920017,-0.00123740162006,1.06970045351
+181,3.016666667,pose1_to_pose2_press,0.606963059079,-0.00990921146601,1.07003247908,0.577533511351,-0.00123746973469,1.06970060483
+182,3.033333333,pose1_to_pose2_press,0.60766132296,-0.00990931304002,1.07003218691,0.578231776107,-0.00123756784564,1.06970032569
+183,3.050000000,pose1_to_pose2_press,0.608342298067,-0.00990912551562,1.07003233541,0.578912749279,-0.00123738712752,1.06970046795
+184,3.066666667,pose1_to_pose2_press,0.608995092262,-0.00990899266395,1.07003233493,0.579565542014,-0.00123725915624,1.06970046962
+185,3.083333333,pose1_to_pose2_press,0.609617147895,-0.009909195125,1.0700325182,0.580187599359,-0.00123745590514,1.06970065044
+186,3.100000000,pose1_to_pose2_press,0.61020521215,-0.00990919709515,1.070032391,0.580775663209,-0.0012374590015,1.06970052974
+187,3.116666667,pose1_to_pose2_press,0.610762192727,-0.00990913758734,1.0700323596,0.581332643344,-0.00123740101652,1.06970049789
+188,3.133333333,pose1_to_pose2_press,0.611299304851,-0.00990916426998,1.07003242145,0.581869756103,-0.00123742581617,1.0697005526
+189,3.150000000,pose1_to_pose2_press,0.611833688862,-0.0099092601759,1.07003235134,0.582404141448,-0.00123751729027,1.06970048018
+190,3.166666667,pose1_to_pose2_press,0.612371387348,-0.00990925154682,1.07003231882,0.582941841754,-0.00123750225592,1.0697004541
+191,3.183333333,pose1_to_pose2_press,0.612912512515,-0.00990919360791,1.07003216387,0.58348296549,-0.00123744881905,1.06970030823
+192,3.200000000,pose1_to_pose2_press,0.613440344977,-0.0099092948153,1.07003243388,0.584010798194,-0.00123754946715,1.06970056834
+193,3.216666667,pose1_to_pose2_press,0.61394608035,-0.00990934305622,1.07003234265,0.584516531431,-0.0012376047164,1.0697004767
+194,3.233333333,pose1_to_pose2_press,0.61441442464,-0.00990922887581,1.07003231215,0.584984875742,-0.00123749013983,1.06970044959
+195,3.250000000,pose1_to_pose2_press,0.61485198879,-0.00990924879888,1.07003241435,0.585422441075,-0.00123750586296,1.06970054948
+196,3.266666667,pose1_to_pose2_press,0.615263219169,-0.00990923208037,1.07003225127,0.585833670703,-0.00123749161658,1.06970038112
+197,3.283333333,pose1_to_pose2_press,0.615659335055,-0.00990914619233,1.07003214472,0.586229784971,-0.00123741079414,1.06970027853
+198,3.300000000,pose1_to_pose2_press,0.616042343817,-0.00990911575374,1.07003218772,0.586612793378,-0.00123738111047,1.06970032631
+199,3.316666667,pose1_to_pose2_press,0.616409757343,-0.00990916872045,1.07003224285,0.586980208176,-0.00123742964105,1.06970037776
+200,3.333333333,pose1_to_pose2_press,0.616758479597,-0.00990914562257,1.07003236592,0.587328930861,-0.00123740484536,1.06970049936
+201,3.350000000,pose1_to_pose2_press,0.61708110415,-0.00990908456033,1.07003242475,0.587651553386,-0.00123735049263,1.06970055591
+202,3.366666667,pose1_to_pose2_press,0.61737955592,-0.00990914025567,1.07003219758,0.58795000637,-0.00123740148924,1.0697003349
+203,3.383333333,pose1_to_pose2_press,0.617653443327,-0.00990922450663,1.07003236139,0.588223894652,-0.00123748304809,1.06970048645
+204,3.400000000,pose1_to_pose2_press,0.617906451047,-0.009909174245,1.07003243221,0.5884769024,-0.00123743222333,1.06970056526
+205,3.416666667,pose1_to_pose2_press,0.61814024119,-0.00990918107213,1.07003238861,0.588710691477,-0.00123744258917,1.06970051838
+206,3.433333333,pose1_to_pose2_press,0.618359623204,-0.00990910458539,1.07003231574,0.58893007223,-0.00123736994632,1.06970045221
+207,3.450000000,pose1_to_pose2_press,0.618565402977,-0.00990909642408,1.07003227302,0.589135851684,-0.00123736237065,1.06970041881
+208,3.466666667,pose1_to_pose2_press,0.618756416317,-0.00990916259326,1.07003220304,0.589326865898,-0.00123742550925,1.06970034596
+209,3.483333333,pose1_to_pose2_press,0.618932812559,-0.00990919193631,1.07003212684,0.589503263093,-0.00123745179829,1.06970025956
+210,3.500000000,pose1_to_pose2_press,0.61909346847,-0.00990930398343,1.0700322207,0.58966391896,-0.0012375639453,1.06970035182
+211,3.516666667,pose1_to_pose2_press,0.619236542417,-0.00990922982936,1.07003224036,0.589806992801,-0.00123748991777,1.06970037564
+212,3.533333333,pose1_to_pose2_press,0.619362671776,-0.00990914038623,1.07003258568,0.589933122382,-0.0012373997955,1.06970071626
+213,3.550000000,pose1_to_pose2_press,0.619472215583,-0.00990915328231,1.07003237813,0.590042664743,-0.00123741766551,1.06970050524
+214,3.566666667,pose1_to_pose2_press,0.619568383619,-0.00990911047632,1.07003216289,0.590138831902,-0.00123737772826,1.06970029031
+215,3.583333333,pose1_to_pose2_press,0.619652483077,-0.00990903243438,1.07003233282,0.590222930831,-0.00123730119648,1.0697004659
+216,3.600000000,pose1_to_pose2_press,0.619726227933,-0.00990913245669,1.07003231553,0.590296676805,-0.00123739747989,1.06970045121
+217,3.616666667,pose1_to_pose2_press,0.619790025526,-0.00990924920437,1.07003242576,0.590360475735,-0.00123750986071,1.06970055781
+218,3.633333333,pose1_to_pose2_press,0.619844828267,-0.00990923857797,1.07003254249,0.590415278707,-0.00123749825716,1.06970067487
+219,3.650000000,pose1_to_pose2_press,0.619890967541,-0.00990916668254,1.07003220177,0.590461416821,-0.00123742990207,1.06970034234
+220,3.666666667,pose1_to_pose2_press,0.619928126551,-0.00990904220188,1.07003233685,0.590498572682,-0.00123731635724,1.06970046831
+221,3.683333333,pose1_to_pose2_press,0.619958027239,-0.00990915031489,1.07003235945,0.590528476194,-0.00123741526298,1.06970048471
+222,3.700000000,pose1_to_pose2_press,0.619981118723,-0.00990914870577,1.07003256708,0.59055156708,-0.0012374156585,1.06970068821
+223,3.716666667,pose1_to_pose2_press,0.619999282695,-0.00990915947606,1.07003243644,0.590569730991,-0.00123742608973,1.06970056874
+224,3.733333333,pose1_to_pose2_press,0.620013170547,-0.00990920539938,1.0700322384,0.590583618796,-0.00123747200957,1.0697003728
+225,3.750000000,pose1_to_pose2_press,0.620023167833,-0.00990926410654,1.07003212225,0.590593616069,-0.0012375310044,1.06970024891
+226,3.766666667,pose1_to_pose2_press,0.620029847492,-0.00990928410891,1.07003208941,0.590600297119,-0.00123754608426,1.06970022263
+227,3.783333333,pose1_to_pose2_press,0.620034171645,-0.00990923343891,1.07003219867,0.590604621625,-0.00123749421961,1.06970033193
+228,3.800000000,pose1_to_pose2_press,0.62003679207,-0.00990915861561,1.07003235539,0.590607241885,-0.00123742005373,1.06970048576
+229,3.816666667,pose1_to_pose2_press,0.620038030899,-0.00990912324221,1.07003242948,0.590608480637,-0.00123738499113,1.06970055848
+230,3.833333333,pose1_to_pose2_press,0.620039306712,-0.00990909863278,1.0700324513,0.590609756196,-0.00123736129999,1.06970057939
+231,3.850000000,pose1_to_pose2_press,0.620040450894,-0.00990908764995,1.07003241977,0.590610899987,-0.00123735170184,1.06970054749
+232,3.866666667,pose1_to_pose2_press,0.620040934785,-0.00990908300516,1.07003240644,0.590611383712,-0.00123734764265,1.069700534
+233,3.883333333,pose1_to_pose2_press,0.620041063939,-0.00990908176543,1.07003240288,0.590611512822,-0.00123734655922,1.0697005304
+234,3.900000000,pose1_to_pose2_press,0.62004107586,-0.00990908165101,1.07003240255,0.590611524738,-0.00123734645923,1.06970053007
+235,3.916666667,pose1_to_pose2_press,0.620041122905,-0.00990908119943,1.07003240125,0.590611571768,-0.00123734606458,1.06970052876
+236,3.933333333,pose1_to_pose2_press,0.620041202621,-0.00990908043424,1.07003239906,0.590611651457,-0.00123734539586,1.06970052654
+237,3.950000000,pose1_to_pose2_press,0.620041456458,-0.0099090779977,1.07003239206,0.590611905207,-0.00123734326652,1.06970051946
+238,3.966666667,pose1_to_pose2_press,0.62004183829,-0.00990907433256,1.07003238154,0.590612286908,-0.00123734006346,1.06970050882
+239,3.983333333,pose1_to_pose2_press,0.620042380588,-0.00990906912712,1.0700323666,0.590612829021,-0.00123733551431,1.0697004937
+240,4.000000000,pose1_to_pose2_press,0.620042781321,-0.00990907150605,1.07003236988,0.590613229658,-0.00123733823448,1.06970049689
+241,4.016666667,pose1_to_pose2_press,0.620042961953,-0.00990908074357,1.07003239016,0.5906134103,-0.00123734743731,1.06970051715
+242,4.033333333,pose1_to_pose2_press,0.62004351965,-0.00990910926424,1.07003245276,0.590613968027,-0.00123737585088,1.0697005797
+243,4.050000000,pose1_to_pose2_press,0.62004432769,-0.00990915058744,1.07003254345,0.59061477611,-0.00123741701891,1.06970067034
+244,4.066666667,pose1_to_pose2_press,0.620044845564,-0.00990917817543,1.0700325952,0.590615294042,-0.00123744439849,1.06970072222
+245,4.083333333,pose1_to_pose2_press,0.620045020146,-0.00990919625239,1.07003256194,0.590615468884,-0.00123746153886,1.06970069037
+246,4.100000000,pose1_to_pose2_press,0.620045034315,-0.00990919771947,1.07003255924,0.590615483074,-0.00123746292993,1.06970068778
+247,4.116666667,pose1_to_pose2_press,0.620045215608,-0.00990921649123,1.07003252469,0.590615664636,-0.00123748072911,1.0697006547
+248,4.133333333,pose1_to_pose2_press,0.620045475614,-0.00990924341332,1.07003247514,0.590615925029,-0.00123750625634,1.06970060727
+249,4.150000000,pose1_to_pose2_press,0.620045817928,-0.00990917650052,1.07003257609,0.590616267214,-0.00123743979434,1.0697007077
+250,4.166666667,pose1_to_pose2_press,0.620046060261,-0.00990916860749,1.07003263548,0.590616509867,-0.00123743077948,1.06970076764
+251,4.183333333,pose1_to_pose2_press,0.620046060973,-0.00990917213604,1.07003263221,0.59061651061,-0.00123743420035,1.06970076448
+252,4.200000000,pose1_to_pose2_press,0.620046063686,-0.00990918557849,1.07003261978,0.590616513439,-0.0012374472326,1.06970075243
+253,4.216666667,pose1_to_pose2_press,0.620046073352,-0.00990923347353,1.07003257547,0.590616523519,-0.00123749366567,1.06970070949
+254,4.233333333,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523521,-0.00123749366522,1.06970070948
+255,4.250000000,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523521,-0.00123749366554,1.06970070948
+256,4.266666667,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366506,1.06970070948
+257,4.283333333,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523521,-0.00123749366559,1.06970070948
+258,4.300000000,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366556,1.06970070948
+259,4.316666667,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366554,1.06970070948
+260,4.333333333,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366553,1.06970070948
+261,4.350000000,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366552,1.06970070948
+262,4.366666667,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366551,1.06970070948
+263,4.383333333,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366551,1.06970070948
+264,4.400000000,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.0012374936655,1.06970070948
+265,4.416666667,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366549,1.06970070948
+266,4.433333333,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366544,1.06970070948
+267,4.450000000,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366544,1.06970070948
+268,4.466666667,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366538,1.06970070948
+269,4.483333333,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366535,1.06970070948
+270,4.500000000,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366527,1.06970070948
+271,4.516666667,pose2_hold,0.620046073352,-0.00990923347353,1.07003257547,0.590616523522,-0.00123749366525,1.06970070948
+272,4.533333333,pose2_to_pose3_retreat,0.620046073352,-0.00990923347353,1.07003257547,0.590616523523,-0.00123749366523,1.06970070948
+273,4.550000000,pose2_to_pose3_retreat,0.62004587499,-0.00990912461277,1.07003266512,0.590616325234,-0.00123738456027,1.06970079853
+274,4.566666667,pose2_to_pose3_retreat,0.620045688525,-0.00990913762622,1.07003261319,0.590616139208,-0.00123739616733,1.06970074445
+275,4.583333333,pose2_to_pose3_retreat,0.620045553912,-0.00990914385508,1.07003258689,0.590616004828,-0.00123740163933,1.06970071719
+276,4.600000000,pose2_to_pose3_retreat,0.620045426786,-0.00990914310267,1.07003258553,0.590615877751,-0.0012374007138,1.06970071613
+277,4.616666667,pose2_to_pose3_retreat,0.620045324763,-0.00990914249884,1.07003258444,0.590615775766,-0.00123739997103,1.06970071528
+278,4.633333333,pose2_to_pose3_retreat,0.620045164541,-0.00990914155054,1.07003258273,0.590615615604,-0.00123739880455,1.06970071394
+279,4.650000000,pose2_to_pose3_retreat,0.620044281692,-0.00990914570749,1.07003258565,0.590614733054,-0.00123740191475,1.06970071799
+280,4.666666667,pose2_to_pose3_retreat,0.620041612242,-0.00990925063211,1.07003270109,0.590612063979,-0.00123750585089,1.0697008267
+281,4.683333333,pose2_to_pose3_retreat,0.620033212587,-0.00990923067214,1.07003237344,0.590603663843,-0.00123748712946,1.0697005097
+282,4.700000000,pose2_to_pose3_retreat,0.620017105002,-0.00990930781237,1.0700323184,0.590587556751,-0.00123756253007,1.0697004566
+283,4.716666667,pose2_to_pose3_retreat,0.619989587382,-0.00990908285044,1.07003232014,0.590560035106,-0.00123735137924,1.0697004551
+284,4.733333333,pose2_to_pose3_retreat,0.619950731399,-0.00990919242805,1.07003235517,0.59052118226,-0.00123745062307,1.06970048254
+285,4.750000000,pose2_to_pose3_retreat,0.619900372361,-0.00990926094201,1.07003235985,0.590470821942,-0.0012375235289,1.06970048696
+286,4.766666667,pose2_to_pose3_retreat,0.619840732474,-0.00990917320297,1.07003209379,0.590411181365,-0.00123743759241,1.06970023383
+287,4.783333333,pose2_to_pose3_retreat,0.61977235148,-0.00990929427122,1.07003245472,0.590342803044,-0.00123755008938,1.06970058643
+288,4.800000000,pose2_to_pose3_retreat,0.619697055939,-0.00990920835703,1.07003236031,0.590267506512,-0.0012374676516,1.06970048855
+289,4.816666667,pose2_to_pose3_retreat,0.61961450023,-0.00990917282853,1.07003244669,0.590184950017,-0.00123743483524,1.06970057828
+290,4.833333333,pose2_to_pose3_retreat,0.619520066586,-0.00990924307922,1.07003242483,0.590090517517,-0.00123750100924,1.06970056333
+291,4.850000000,pose2_to_pose3_retreat,0.619413162035,-0.00990916032532,1.07003244196,0.589983612183,-0.00123742114987,1.06970057689
+292,4.866666667,pose2_to_pose3_retreat,0.619291327952,-0.00990922555925,1.07003233469,0.589861779071,-0.00123748334096,1.06970046633
+293,4.883333333,pose2_to_pose3_retreat,0.619152640336,-0.00990926285692,1.07003227297,0.589723092443,-0.00123751743189,1.06970040441
+294,4.900000000,pose2_to_pose3_retreat,0.618995636722,-0.00990910988876,1.07003229767,0.58956608729,-0.00123736969189,1.06970043265
+295,4.916666667,pose2_to_pose3_retreat,0.618821661673,-0.00990909889173,1.07003218768,0.589392111038,-0.00123736259717,1.0697003311
+296,4.933333333,pose2_to_pose3_retreat,0.618630561422,-0.00990936498443,1.0700322859,0.589201012967,-0.00123762138913,1.06970042975
+297,4.950000000,pose2_to_pose3_retreat,0.618419642684,-0.00990900489305,1.07003232047,0.588990090666,-0.00123727387202,1.0697004567
+298,4.966666667,pose2_to_pose3_retreat,0.618190637735,-0.00990906077979,1.07003229561,0.588761086696,-0.00123732645038,1.06970043659
+299,4.983333333,pose2_to_pose3_retreat,0.617944088245,-0.00990899756249,1.07003240581,0.588514536795,-0.00123726507652,1.06970054015
+300,5.000000000,pose2_to_pose3_retreat,0.61767929136,-0.00990913662445,1.07003235977,0.588249740835,-0.00123740117652,1.06970049636
+301,5.016666667,pose2_to_pose3_retreat,0.617396081058,-0.00990920298037,1.07003218913,0.587966531315,-0.00123746494984,1.06970032891
+302,5.033333333,pose2_to_pose3_retreat,0.617092947273,-0.00990915318348,1.07003211047,0.587663397336,-0.00123741599465,1.0697002497
+303,5.050000000,pose2_to_pose3_retreat,0.616769240719,-0.00990915603954,1.07003219884,0.587339690089,-0.00123742157146,1.06970033553
+304,5.066666667,pose2_to_pose3_retreat,0.616421240267,-0.00990922868244,1.0700322357,0.586991689276,-0.00123749593523,1.06970036833
+305,5.083333333,pose2_to_pose3_retreat,0.616049779175,-0.00990927064713,1.07003242826,0.586620231161,-0.00123752790186,1.06970056451
+306,5.100000000,pose2_to_pose3_retreat,0.615652861814,-0.00990922303076,1.07003234952,0.586223312404,-0.00123748546692,1.06970048177
+307,5.116666667,pose2_to_pose3_retreat,0.615232494953,-0.00990921071761,1.07003244508,0.585802946864,-0.00123746905661,1.06970057459
+308,5.133333333,pose2_to_pose3_retreat,0.614788865752,-0.00990924201946,1.07003237469,0.585359318889,-0.00123749637088,1.06970050792
+309,5.150000000,pose2_to_pose3_retreat,0.614323570455,-0.00990920072782,1.07003232405,0.584894021454,-0.00123746255538,1.06970045844
+310,5.166666667,pose2_to_pose3_retreat,0.613839619795,-0.00990924830551,1.0700323131,0.584410071008,-0.00123750955717,1.06970044952
+311,5.183333333,pose2_to_pose3_retreat,0.613338231416,-0.00990931726695,1.07003236234,0.583908684311,-0.00123757308689,1.0697004967
+312,5.200000000,pose2_to_pose3_retreat,0.612819360219,-0.00990924644396,1.07003240867,0.583389810871,-0.00123751037438,1.06970053273
+313,5.216666667,pose2_to_pose3_retreat,0.612281548556,-0.00990928651558,1.07003215548,0.582851998062,-0.00123755422823,1.06970028222
+314,5.233333333,pose2_to_pose3_retreat,0.611713247019,-0.00990916184933,1.0700324503,0.582283697551,-0.00123742579287,1.06970058368
+315,5.250000000,pose2_to_pose3_retreat,0.611116803098,-0.00990926572262,1.07003220899,0.581687255715,-0.00123752239645,1.06970034715
+316,5.266666667,pose2_to_pose3_retreat,0.610504369912,-0.00990920806393,1.07003229254,0.581074821783,-0.00123746742076,1.06970042725
+317,5.283333333,pose2_to_pose3_retreat,0.609881871629,-0.00990927770011,1.07003225948,0.580452324393,-0.00123753417094,1.06970039159
+318,5.300000000,pose2_to_pose3_retreat,0.609252244208,-0.00990917209663,1.0700324239,0.57982269653,-0.00123743008078,1.06970055632
+319,5.316666667,pose2_to_pose3_retreat,0.60862437733,-0.00990917781283,1.07003241639,0.579194829704,-0.00123743540296,1.06970055408
+320,5.333333333,pose2_to_pose3_retreat,0.60799360744,-0.00990932557816,1.07003217565,0.578564060576,-0.00123758040127,1.06970031714
+321,5.350000000,pose2_to_pose3_retreat,0.607326384914,-0.00990918791248,1.07003222483,0.577896836382,-0.00123744873586,1.06970035683
+322,5.366666667,pose2_to_pose3_retreat,0.60662339188,-0.00990922497407,1.07003234911,0.577193844438,-0.00123748213073,1.06970048001
+323,5.383333333,pose2_to_pose3_retreat,0.605885277726,-0.00990917587643,1.0700322831,0.576455730631,-0.00123743126796,1.06970042957
+324,5.400000000,pose2_to_pose3_retreat,0.605114120454,-0.00990920998101,1.07003243238,0.575684572746,-0.00123746792357,1.0697005671
+325,5.416666667,pose2_to_pose3_retreat,0.604309976155,-0.00990937495632,1.07003238403,0.574880428889,-0.00123763177243,1.06970050906
+326,5.433333333,pose2_to_pose3_retreat,0.603517954189,-0.00990924161827,1.07003239906,0.574088406384,-0.00123750060642,1.0697005152
+327,5.450000000,pose2_to_pose3_retreat,0.602739896113,-0.00990928677737,1.07003244218,0.573310347345,-0.00123754874413,1.06970056572
+328,5.466666667,pose2_to_pose3_retreat,0.601966560879,-0.00990924211992,1.07003239186,0.572537012315,-0.0012375031327,1.06970052225
+329,5.483333333,pose2_to_pose3_retreat,0.601198198165,-0.00990926020021,1.07003223324,0.571768650283,-0.00123751891814,1.06970036398
+330,5.500000000,pose2_to_pose3_retreat,0.600431921553,-0.00990927133093,1.07003221535,0.57100237295,-0.00123753249629,1.06970034599
+331,5.516666667,pose2_to_pose3_retreat,0.599644996991,-0.00990910491897,1.07003246472,0.570215446943,-0.0012373708726,1.06970059618
+332,5.533333333,pose2_to_pose3_retreat,0.598835075893,-0.00990928756179,1.07003248252,0.569405528131,-0.00123754599138,1.06970060751
+333,5.550000000,pose2_to_pose3_retreat,0.598012174682,-0.00990926551868,1.07003243445,0.568582625369,-0.00123752892263,1.06970056684
+334,5.566666667,pose2_to_pose3_retreat,0.597184677848,-0.00990930906111,1.07003221853,0.567755129438,-0.00123756949004,1.06970034856
+335,5.583333333,pose2_to_pose3_retreat,0.596367915482,-0.0099092676279,1.07003242444,0.566938368247,-0.0012375240152,1.06970055594
+336,5.600000000,pose2_to_pose3_retreat,0.595570791756,-0.00990922191939,1.07003212751,0.566141243301,-0.00123748210056,1.06970026793
+337,5.616666667,pose2_to_pose3_retreat,0.594800155159,-0.00990929222441,1.07003227217,0.5653706062,-0.00123755450346,1.06970040242
+338,5.633333333,pose2_to_pose3_retreat,0.594045421153,-0.00990926686082,1.07003226085,0.564615871869,-0.00123753010231,1.06970039474
+339,5.650000000,pose2_to_pose3_retreat,0.593299518092,-0.00990915561421,1.07003230075,0.563869967979,-0.00123742155304,1.06970043763
+340,5.666666667,pose2_to_pose3_retreat,0.592545342686,-0.00990913178762,1.07003246888,0.563115792158,-0.00123739941802,1.06970059834
+341,5.683333333,pose2_to_pose3_retreat,0.591780773542,-0.00990926290329,1.07003240627,0.562351224192,-0.00123752666446,1.06970053227
+342,5.700000000,pose2_to_pose3_retreat,0.591007630842,-0.00990921933628,1.07003212308,0.561578082017,-0.00123748103863,1.06970025633
+343,5.716666667,pose2_to_pose3_retreat,0.590239110121,-0.00990932028997,1.07003232464,0.560809561296,-0.00123758194019,1.06970045922
+344,5.733333333,pose2_to_pose3_retreat,0.589480409373,-0.00990921140645,1.07003237797,0.56005085876,-0.00123747963562,1.06970049914
+345,5.750000000,pose2_to_pose3_retreat,0.588752700792,-0.00990920010473,1.07003243926,0.559323150223,-0.00123746777639,1.06970057114
+346,5.766666667,pose2_to_pose3_retreat,0.588053309903,-0.00990914726314,1.07003256221,0.558623760937,-0.00123740953035,1.06970069312
+347,5.783333333,pose2_to_pose3_retreat,0.587375221895,-0.00990922327151,1.07003232144,0.557945673074,-0.00123748496396,1.06970045444
+348,5.800000000,pose2_to_pose3_retreat,0.58671297933,-0.00990928863081,1.07003221077,0.557283431635,-0.00123754650672,1.06970034363
+349,5.816666667,pose2_to_pose3_retreat,0.586062213259,-0.00990923663198,1.07003234732,0.55663266455,-0.00123749817052,1.06970047532
+350,5.833333333,pose2_to_pose3_retreat,0.585420410584,-0.00990914023867,1.07003248249,0.555990860454,-0.00123740672467,1.06970060833
+351,5.850000000,pose2_to_pose3_retreat,0.584789520928,-0.00990916132972,1.07003242636,0.5553599721,-0.00123742316862,1.06970055776
+352,5.866666667,pose2_to_pose3_retreat,0.584184551219,-0.00990926097103,1.07003230566,0.554755002699,-0.00123752154498,1.06970044167
+353,5.883333333,pose2_to_pose3_retreat,0.583607510175,-0.00990919932693,1.07003220066,0.554177962007,-0.00123745868982,1.06970033677
+354,5.900000000,pose2_to_pose3_retreat,0.583060171395,-0.00990930470014,1.07003208309,0.55363062533,-0.00123755686973,1.06970022093
+355,5.916666667,pose2_to_pose3_retreat,0.582529698666,-0.00990924641916,1.07003229383,0.553100151704,-0.00123750167413,1.06970043049
+356,5.933333333,pose2_to_pose3_retreat,0.58201097965,-0.00990931038614,1.07003224581,0.552581431097,-0.00123757128951,1.06970037569
+357,5.950000000,pose2_to_pose3_retreat,0.581505211912,-0.00990938100898,1.07003212974,0.552075664009,-0.00123763963704,1.06970026172
+358,5.966666667,pose2_to_pose3_retreat,0.581018053232,-0.00990924383088,1.07003232004,0.551588504769,-0.0012375043754,1.06970045164
+359,5.983333333,pose2_to_pose3_retreat,0.58055941475,-0.00990913553651,1.07003247409,0.551129865275,-0.00123739961984,1.06970060295
+360,6.000000000,pose2_to_pose3_retreat,0.580132714871,-0.00990917872991,1.07003241941,0.550703165092,-0.00123744383759,1.06970054902
+361,6.016666667,pose2_to_pose3_retreat,0.57974158642,-0.00990918966746,1.07003234701,0.550312036286,-0.00123745600881,1.06970047638
+362,6.033333333,pose2_to_pose3_retreat,0.57937175254,-0.00990907893174,1.07003236385,0.549942201934,-0.00123734702105,1.06970048892
+363,6.050000000,pose2_to_pose3_retreat,0.579020023942,-0.00990915998799,1.07003233368,0.549590475011,-0.00123742201395,1.06970046821
+364,6.066666667,pose2_to_pose3_retreat,0.578683083706,-0.00990902713636,1.07003257642,0.549253531141,-0.0012373016819,1.06970070596
+365,6.083333333,pose2_to_pose3_retreat,0.578362272687,-0.0099091467206,1.07003237955,0.548932722644,-0.00123741262871,1.06970051112
+366,6.100000000,pose2_to_pose3_retreat,0.578063131066,-0.00990926804927,1.07003226819,0.548633583195,-0.00123752678549,1.06970039457
+367,6.116666667,pose2_to_pose3_retreat,0.57778537674,-0.0099092628853,1.07003230691,0.548355829178,-0.00123752043468,1.06970043694
+368,6.133333333,pose2_to_pose3_retreat,0.577530384175,-0.00990925203137,1.07003241211,0.548100835755,-0.00123751243085,1.0697005439
+369,6.150000000,pose2_to_pose3_retreat,0.577297196606,-0.00990926182574,1.07003239699,0.547867648131,-0.00123752234244,1.06970053066
+370,6.166666667,pose2_to_pose3_retreat,0.577085013486,-0.00990929083297,1.07003236667,0.5476554665,-0.00123754617993,1.06970050336
+371,6.183333333,pose2_to_pose3_retreat,0.576892338244,-0.00990934352341,1.0700323694,0.547462792746,-0.00123759375807,1.06970050778
+372,6.200000000,pose2_to_pose3_retreat,0.576718549305,-0.00990936640114,1.07003222384,0.547289003354,-0.00123761813205,1.06970036333
+373,6.216666667,pose2_to_pose3_retreat,0.576565600843,-0.00990929250331,1.07003248532,0.547136053926,-0.00123754799262,1.06970061236
+374,6.233333333,pose2_to_pose3_retreat,0.576430385668,-0.0099092294164,1.07003226667,0.547000838184,-0.00123748678336,1.06970039504
+375,6.250000000,pose2_to_pose3_retreat,0.576312394595,-0.00990932540133,1.0700322373,0.546882847285,-0.00123758216188,1.06970036603
+376,6.266666667,pose2_to_pose3_retreat,0.576207076131,-0.00990927025713,1.0700323092,0.546777527539,-0.00123753143662,1.06970043629
+377,6.283333333,pose2_to_pose3_retreat,0.576112902148,-0.00990918750644,1.07003224722,0.546683352757,-0.00123745127766,1.06970037766
+378,6.300000000,pose2_to_pose3_retreat,0.576028560964,-0.0099091975828,1.07003206989,0.546599012087,-0.00123745932932,1.0697002081
+379,6.316666667,pose2_to_pose3_retreat,0.575953990192,-0.00990923277003,1.07003210464,0.546524441291,-0.00123749452744,1.06970024461
+380,6.333333333,pose2_to_pose3_retreat,0.575890141657,-0.00990916755534,1.07003231292,0.546460591866,-0.0012374323942,1.06970045111
+381,6.350000000,pose2_to_pose3_retreat,0.575836538674,-0.00990919325828,1.07003228381,0.546406989732,-0.00123745497422,1.06970042836
+382,6.366666667,pose2_to_pose3_retreat,0.575793008262,-0.00990927181001,1.07003219328,0.546363459404,-0.00123753337741,1.06970033423
+383,6.383333333,pose2_to_pose3_retreat,0.575758862951,-0.00990922735411,1.07003244759,0.546329314152,-0.00123748944569,1.06970056964
+384,6.400000000,pose2_to_pose3_retreat,0.575732239403,-0.00990920837769,1.07003248355,0.546302690379,-0.00123747104556,1.06970061055
+385,6.416666667,pose2_to_pose3_retreat,0.575711813987,-0.00990916431245,1.07003237187,0.546282264779,-0.00123742717802,1.06970051002
+386,6.433333333,pose2_to_pose3_retreat,0.575696569667,-0.00990916554828,1.07003233904,0.546267020694,-0.00123742751851,1.06970047985
+387,6.450000000,pose2_to_pose3_retreat,0.575686200915,-0.00990925216185,1.07003244519,0.546256652622,-0.00123751207376,1.06970057956
+388,6.466666667,pose2_to_pose3_retreat,0.575678696751,-0.00990935116969,1.07003238633,0.54624915024,-0.00123760532627,1.0697005132
+389,6.483333333,pose2_to_pose3_retreat,0.57567362714,-0.00990933797348,1.07003228385,0.546244079709,-0.00123759511599,1.0697004141
+390,6.500000000,pose2_to_pose3_retreat,0.575670572529,-0.00990929869559,1.07003219755,0.546241023712,-0.00123756032619,1.06970033316
+391,6.516666667,pose2_to_pose3_retreat,0.575668941175,-0.00990922377475,1.07003219428,0.546239391891,-0.00123748698208,1.06970033011
+392,6.533333333,pose2_to_pose3_retreat,0.575668125371,-0.00990918459072,1.07003219401,0.546238575863,-0.00123744856041,1.06970032987
+393,6.550000000,pose2_to_pose3_retreat,0.575667779751,-0.00990916799016,1.07003219389,0.546238230148,-0.00123743228283,1.06970032977
+394,6.566666667,pose2_to_pose3_retreat,0.57566773219,-0.00990916570577,1.07003219388,0.546238182574,-0.00123743004289,1.06970032975
+395,6.583333333,pose2_to_pose3_retreat,0.575667680069,-0.00990916320232,1.07003219386,0.546238130438,-0.00123742758815,1.06970032974
+396,6.600000000,pose2_to_pose3_retreat,0.575667560424,-0.00990915745564,1.07003219382,0.546238010761,-0.00123742195327,1.0697003297
+397,6.616666667,pose2_to_pose3_retreat,0.575667149369,-0.00990913771217,1.07003219368,0.546237599592,-0.00123740259393,1.06970032958
+398,6.633333333,pose2_to_pose3_retreat,0.575666729733,-0.00990913631915,1.07003221081,0.546237180096,-0.00123740075225,1.06970034608
+399,6.650000000,pose2_to_pose3_retreat,0.575666485775,-0.00990914749196,1.0700322318,0.546236936382,-0.00123741112724,1.06970036628
+400,6.666666667,pose2_to_pose3_retreat,0.575666342041,-0.0099091540747,1.07003224417,0.546236792792,-0.00123741723993,1.06970037819
+401,6.683333333,pose2_to_pose3_retreat,0.57566634027,-0.00990915415581,1.07003224432,0.546236791023,-0.00123741731525,1.06970037833
+402,6.700000000,pose2_to_pose3_retreat,0.575666255417,-0.00990915804194,1.07003225162,0.546236706254,-0.00123742092388,1.06970038536
+403,6.716666667,pose2_to_pose3_retreat,0.575666093104,-0.00990916547557,1.07003226559,0.546236544103,-0.0012374278267,1.06970039881
+404,6.733333333,pose2_to_pose3_retreat,0.575665738794,-0.00990918170231,1.07003229608,0.546236190147,-0.00123744289474,1.06970042816
+405,6.750000000,pose2_to_pose3_retreat,0.575665576045,-0.00990918915591,1.07003231008,0.546236027561,-0.0012374498161,1.06970044164
+406,6.766666667,pose2_to_pose3_retreat,0.575665323873,-0.0099092007049,1.07003233178,0.546235775641,-0.00123746054041,1.06970046252
+407,6.783333333,pose2_to_pose3_retreat,0.575665226566,-0.00990920516137,1.07003234015,0.546235678432,-0.00123746467866,1.06970047058
+408,6.800000000,pose2_to_pose3_retreat,0.575665207506,-0.00990920603427,1.07003234179,0.546235659391,-0.00123746548923,1.06970047216
+409,6.816666667,pose2_to_pose3_retreat,0.575664955261,-0.00990921801875,1.07003233423,0.54623540742,-0.00123747645294,1.06970046695
+410,6.833333333,pose2_to_pose3_retreat,0.575664790167,-0.00990922591233,1.07003232592,0.546235242508,-0.00123748365589,1.06970046053
+411,6.850000000,pose2_to_pose3_retreat,0.575664632804,-0.0099092334363,1.07003231799,0.546235085318,-0.00123749052155,1.06970045442
+412,6.866666667,pose2_to_pose3_retreat,0.57566451104,-0.00990923925814,1.07003231186,0.546234963688,-0.00123749583402,1.06970044969
+413,6.883333333,pose2_to_pose3_retreat,0.575664491339,-0.0099092402001,1.07003231087,0.546234944009,-0.00123749669356,1.06970044892
+414,6.900000000,pose2_to_pose3_retreat,0.57566443098,-0.00990921421257,1.07003231735,0.546234882796,-0.001237473665,1.06970045379
+415,6.916666667,pose2_to_pose3_retreat,0.575664394403,-0.00990916709555,1.07003233163,0.546234844702,-0.00123743183012,1.06970046458
+416,6.933333333,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385427,1.06970035116
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..69d8797f484f39a551502944b4d69260bbacf409
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59d1ee3f3c39f7bd0a6d6beecc7f7c56d74ff1eb7f50bf396c5a685c31dfefc7
+size 26605835
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c81017cdee28dcd76994ceb2baa12b304704b537
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,679,661,636,879,788,804,651,631,653,0.400991285913,-0.0153565359565,0.0798515020484,0.999999927457,0.00027357529702,-0.000262849292446,3.39407308251e-05,1793239658128010240
+1,0.016666667,BASELINE,766,745,715,679,661,636,879,788,804,651.568385311,631.568385311,653,0.400990655199,-0.0153552809519,0.0798517656755,0.999999927194,0.000274162696888,-0.000263225060846,3.40597373655e-05,1793239658144676608
+2,0.033333333,BASELINE,765.856442572,745,715,679,660.856442572,635.856442572,879,788,804,652,632,653,0.400990144068,-0.0153541680383,0.0798518770578,0.999999926856,0.00027506289493,-0.000263562358835,3.41145715584e-05,1793239658161342976
+3,0.050000000,BASELINE,765.259852805,745,715,679,660.259852805,635.259852805,879,788,804,652,632,653,0.400990010309,-0.0153535035288,0.0798515079925,0.999999926283,0.000276950208099,-0.000263778253649,3.39668934559e-05,1793239658178009088
+4,0.066666667,BASELINE,765,745,715,679,660,635.327077607,879,788,804,652,631.672922393,653,0.400989810264,-0.0153537762448,0.0798513745418,0.999999926345,0.000276612057872,-0.000263903383629,3.39229123541e-05,1793239658194675456
+5,0.083333333,BASELINE,765,745,715,679,660,635.906554063,879,788,804,652,631.093445937,653,0.400989559069,-0.015354772198,0.07985142291,0.999999926896,0.00027455656464,-0.000263958472296,3.39589520366e-05,1793239658211342080
+6,0.100000000,BASELINE,765,744.516481969,715,679,660.483518031,636,879,788,804,652,631,653,0.400989939669,-0.0153541902847,0.0798512113547,0.999999927172,0.000274167262298,-0.000263357733873,3.36185128324e-05,1793239658228008704
+7,0.116666667,BASELINE,765,744.061192155,715,679,661,636,879.061192155,788,804,652,631.061192155,653,0.400990473527,-0.0153535333636,0.0798511082323,0.99999992743,0.000274019393615,-0.000262571691777,3.32943545048e-05,1793239658244675328
+8,0.133333333,BASELINE,765,744.649137727,715,679,661,636,879.649137727,788,804,652,631.649137727,653,0.400991281005,-0.015354842195,0.0798523687035,0.999999927981,0.000273192218066,-0.000261275941355,3.3733432585e-05,1793239658261341952
+9,0.150000000,BASELINE,765.233608109,745,715,678.766391891,661,636,879.766391891,788,804,652,632,653,0.400991322658,-0.0153551849757,0.0798527606475,0.999999928055,0.000273237493648,-0.000260920259646,3.39527918066e-05,1793239658278008832
+10,0.166666667,BASELINE,765.812935467,745,715,678.187064533,661,636,879.187064533,788,804,652,632,653,0.400990230959,-0.0153540980871,0.0798518672483,0.999999927421,0.00027457391947,-0.000261955796231,3.38469865989e-05,1793239658294675712
+11,0.183333333,BASELINE,765.609395039,745,715,678.390604961,661,636,879,788,804,652,631.609395039,653,0.4009914277,-0.0153546374023,0.0798527697735,0.99999992773,0.000274761551583,-0.000260579186608,3.38276376069e-05,1793239658311342336
+12,0.200000000,BASELINE,765.032516104,745,715,678.967483896,661,636,879,788,804,652,631.032516104,653,0.400993715766,-0.015355952231,0.0798545287494,0.999999928484,0.000274401340366,-0.000258052258713,3.38495183499e-05,1793239658328008704
+13,0.216666667,BASELINE,765,744.459115881,715,679,661,636,879,788,804,652,631.540884119,653,0.400992155484,-0.0153553790066,0.0798534759452,0.999999928125,0.000274274621786,-0.000259588638923,3.37126467547e-05,1793239658344675328
+14,0.233333333,BASELINE,765,744.117285737,715,679,661,636,879,788,804,652,631.882714263,653,0.400990708502,-0.0153547535582,0.0798524421419,0.999999927692,0.00027431674517,-0.000261230062186,3.35484154791e-05,1793239658361341952
+15,0.250000000,BASELINE,765,744.706603328,715,679,661,636,879,788,804,652,631.293396672,653,0.40099064266,-0.0153543718166,0.0798521607649,0.999999927232,0.000274982263335,-0.000262317422519,3.33122357428e-05,1793239658378008576
+16,0.266666667,BASELINE,765,745,715,679,661,636,879,788,804.291009809,652,631,653,0.400991103586,-0.0153546126822,0.0798524866632,0.999999927276,0.000275353736776,-0.000261738804099,3.34851814367e-05,1793239658394675200
+17,0.283333333,BASELINE,765,745,715,679,661,636,879,788,804.870547037,652,631,653,0.400992086786,-0.0153554708439,0.0798534146565,0.999999927816,0.000275433673735,-0.000259508418096,3.40637626284e-05,1793239658411341824
+18,0.300000000,BASELINE,765,745,715,679,661,636,879,787.552239855,804.552239855,652,631.447760145,653,0.400991519132,-0.0153558591643,0.0798531271245,0.999999928023,0.000274149542848,-0.000260056251416,3.4168910494e-05,1793239658428008704
+19,0.316666667,BASELINE,765,745,715,679,661,636,879,787.024240376,804,652,632,653,0.400990551532,-0.0153560552498,0.0798525302012,0.99999992812,0.000272617569531,-0.000261294089009,3.41258661551e-05,1793239658444675328
+20,0.333333333,BASELINE,765,745,715,679,661,636,879,787.5992572,804,652,632,653,0.4009906316,-0.015354953953,0.0798528470763,0.999999927975,0.000274368616279,-0.000260053801371,3.38096282244e-05,1793239658461341952
+21,0.350000000,BASELINE,765.179088618,744.820911382,715.179088618,679,661,636,879,788,804,651.820911382,632,653,0.400990667707,-0.0153541830112,0.0798529670048,0.999999927801,0.000275466792588,-0.000259594396414,3.35537927103e-05,1793239658478008576
+22,0.366666667,BASELINE,765.769991105,744.230008895,715.769991105,679,661,636,879,788,804,651.230008895,632,653,0.400990602722,-0.0153541717199,0.0798526340547,0.999999927569,0.000275063694572,-0.000260930629568,3.34368524585e-05,1793239658494675200
+23,0.383333333,BASELINE,765.646742484,744.353257516,715.646742484,679,661,635.646742484,879,788,804,651,631.646742484,653,0.40099101111,-0.0153550106284,0.0798527143237,0.999999927848,0.000274287926564,-0.000260657623128,3.35735798682e-05,1793239658511341824
+24,0.400000000,BASELINE,765.06834273,744.93165727,715.06834273,679,661,635.06834273,879,788,804,651,631.06834273,653,0.400991721193,-0.0153563913961,0.0798530579503,0.999999928453,0.000273274644087,-0.000259358997297,3.38719777267e-05,1793239658528008448
+25,0.416666667,BASELINE,765,745,715,678.495127362,660.495127362,635.504872638,879,788,804,651.504872638,631,653,0.400991825152,-0.0153554844753,0.0798531120089,0.999999928115,0.000274235589569,-0.000259664509072,3.37521213245e-05,1793239658544676096
+26,0.433333333,BASELINE,765,745,715,678.079960445,660.079960445,636,879,788,804,652,631.079960445,653,0.400991659494,-0.0153543901968,0.0798530364408,0.999999927703,0.00027516890562,-0.000260286888992,3.35793845443e-05,1793239658561343232
+27,0.450000000,BASELINE,765,745,715,678.67147163,660.67147163,636,879,788,804,652,631.67147163,653,0.400990288511,-0.0153540583165,0.0798523797996,0.999999927632,0.000274233134154,-0.000261561365714,3.34268745937e-05,1793239658578009088
+28,0.466666667,BASELINE,765.257731011,745,715,679,661,635.742268989,879.257731011,788,804.257731011,652,632,653,0.4009889692,-0.0153536714365,0.0798515983159,0.999999927388,0.000273594586151,-0.000263178204293,3.32615612931e-05,1793239658594675456
+29,0.483333333,BASELINE,765.8374296,745,715,679,661,635.1625704,879.8374296,788,804.8374296,652,632,653,0.400987714438,-0.0153532158488,0.0798506608738,0.999999926927,0.000273327341287,-0.000265222734507,3.30802535601e-05,1793239658611342080
+30,0.500000000,BASELINE,765.586889474,745,715,679,661,635.413110526,879.586889474,788,804.173778948,651.586889474,631.586889474,653,0.400989446851,-0.0153531149491,0.0798514864206,0.999999926942,0.000275472670038,-0.000262901366637,3.33575212823e-05,1793239658628008448
+31,0.516666667,BASELINE,765.012774393,745,715,679,661,635.987225607,879.012774393,788,803.025548787,651.012774393,631.012774393,653,0.400992343478,-0.0153531522845,0.0798529990696,0.999999927122,0.000278558268562,-0.000258878445667,3.38135129381e-05,1793239658644675328
+32,0.533333333,BASELINE,765,744.439493865,715,679,661,636,879,788,803.560506135,651,631,653,0.400991634683,-0.0153547520554,0.07985312129,0.999999928143,0.000274464351156,-0.000259361803596,3.33781083058e-05,1793239658661341952
+33,0.550000000,BASELINE,764.861222823,744,715,679,661,636,879,787.861222823,804,651,631.138777177,653,0.400990905108,-0.015355602051,0.0798529164986,0.9999999286,0.000272086786775,-0.000260142013896,3.30980540889e-05,1793239658678008832
+34,0.566666667,BASELINE,764.266493167,744,715,679,661,636,879,787.266493167,804,651,631.733506833,653,0.400990376833,-0.0153538718389,0.0798517412695,0.999999927179,0.000275885099389,-0.000261560607591,3.33950516721e-05,1793239658694675456
+35,0.583333333,BASELINE,764.318421142,744,715,679.318421142,660.681578858,635.681578858,879,787.318421142,804,651.318421142,631.681578858,653,0.400989546925,-0.0153530811301,0.0798510507871,0.999999926487,0.000277779678324,-0.000262189371813,3.34718896705e-05,1793239658711342080
+36,0.600000000,BASELINE,764.895366497,744,715,679.895366497,660.104633503,635.104633503,879,787.895366497,804,651.895366497,631.104633503,653,0.400988472121,-0.0153530531983,0.0798507538676,0.999999926397,0.000278128627743,-0.000262176878387,3.33699814578e-05,1793239658728008704
+37,0.616666667,BASELINE,765,744,715,679.529211558,660.470788442,635.470788442,879,788,804,652,631,653,0.400989461918,-0.0153540113611,0.07985160793,0.999999927032,0.000276428298461,-0.000261552451647,3.33852238974e-05,1793239658744675072
+38,0.633333333,BASELINE,765.046825758,744,715.046825758,679,661,636,879,788,804,652,631.046825758,653,0.400990829087,-0.0153551641432,0.0798526680395,0.999999927804,0.000274359573504,-0.000260770945396,3.34393815739e-05,1793239658761341696
+39,0.650000000,BASELINE,765.633856153,744,715.633856153,679,661,636,879,788,804,652,631.633856153,653,0.400991273218,-0.0153560419539,0.0798531636062,0.999999928361,0.000273278264331,-0.000259741231162,3.36430785698e-05,1793239658778008320
+40,0.666666667,BASELINE,766,744.219334431,715.780665569,679,661,636,879,788,804,652,632,653,0.400991296636,-0.0153565795694,0.0798533440514,0.999999928661,0.000272519114722,-0.00025937882151,3.36808093653e-05,1793239658794674944
+41,0.683333333,BASELINE,766,744.802239868,715.197760132,679,661,636,879,788,804,652,632,653,0.400990622677,-0.0153565532735,0.079853002148,0.999999928537,0.000272293980183,-0.000260122542854,3.34434328697e-05,1793239658811341568
+42,0.700000000,BASELINE,765.620304094,744.620304094,715,679,661,636,879,788,804,652,631.620304094,653.379695906,0.400991631832,-0.0153555568975,0.0798531550815,0.999999928594,0.000272878039794,-0.000259302112979,3.33363924658e-05,1793239658828008960
+43,0.716666667,BASELINE,765.04564617,744.04564617,715,679,661,636,879,788,804,652,631.04564617,653.95435383,0.400993505213,-0.0153540624155,0.0798535620984,0.999999928742,0.000273877595394,-0.000257678540163,3.32962755913e-05,1793239658844676608
+44,0.733333333,BASELINE,765,744,715,679,661,636,879,787.473554729,804,651.473554729,631,653.473554729,0.400992909965,-0.0153548061229,0.0798537387754,0.999999928867,0.000273527889976,-0.0002575407632,3.34721142968e-05,1793239658861343488
+45,0.750000000,BASELINE,765,744,715,679,660.898184523,636,879.101815477,787.101815477,804,651.101815477,631,653,0.400992016487,-0.0153556128545,0.079853771225,0.999999928895,0.000273072295127,-0.00025789746092,3.36288070443e-05,1793239658878010112
+46,0.766666667,BASELINE,765,744,715,679,660.305955026,636,879.694044974,787.694044974,804,651.694044974,631,653,0.400990712521,-0.0153557929351,0.0798532047073,0.999999928457,0.000272667432504,-0.000260018377381,3.36035257706e-05,1793239658894676736
+47,0.783333333,BASELINE,765,744.280227656,715,678.719772344,660,635.719772344,879.719772344,788,804,652,631,653,0.400990593062,-0.0153551063079,0.0798534008325,0.999999927981,0.00027402666154,-0.00026042651719,3.35429423649e-05,1793239658911343104
+48,0.800000000,BASELINE,765,744.859947895,715,678.140052105,660,635.140052105,879.140052105,788,804,652,631,653,0.400991739543,-0.0153534933891,0.0798544120304,0.999999927459,0.000277271258924,-0.000259004131646,3.34446298935e-05,1793239658928009472
+49,0.816666667,BASELINE,765,744.566559453,715,678,660.433440547,635,878.566559453,788,804,652,631,653,0.40099102199,-0.0153539242977,0.0798536822712,0.999999927422,0.000276466067941,-0.000260010556846,3.34116621766e-05,1793239658944675840
+50,0.833333333,BASELINE,765,744,715,678.005117341,661,635.005117341,878.005117341,788,804,652,631.005117341,653,0.400989744381,-0.0153550058908,0.0798524255129,0.999999927542,0.000274388086901,-0.000261748436238,3.34024966665e-05,1793239658961342464
+51,0.850000000,BASELINE,765,744,715,678.596015219,661,635.596015219,878.596015219,788,804,652,631.596015219,653,0.40099232618,-0.0153560465747,0.0798543242325,0.999999928365,0.000274282580617,-0.000258653372637,3.37352814441e-05,1793239658978008832
+52,0.866666667,BASELINE,765,744,715,678.816743768,661,635.816743768,879,788,804,652,631.816743768,653,0.400993999806,-0.0153563034451,0.0798554720496,0.999999928777,0.000274775587819,-0.000256495285383,3.39647667057e-05,1793239658994675456
+53,0.883333333,BASELINE,765,744,715,678.237406558,661,635.237406558,879,788,804,652,631.237406558,653,0.400993710556,-0.0153548662197,0.0798549969029,0.999999928319,0.00027656219255,-0.000256362332765,3.39709854697e-05,1793239659011342336
+54,0.900000000,BASELINE,765,744.340463599,715.340463599,678.340463599,660.659536401,635,879,787.659536401,804,651.659536401,631,653,0.400992836688,-0.0153540424849,0.0798542521787,0.999999927809,0.000277410132827,-0.000257471904114,3.36777408441e-05,1793239659028008960
+55,0.916666667,BASELINE,765,744.91731514,715.91731514,678.91731514,660.08268486,635,879,787.08268486,804,651.08268486,631,653,0.400991556915,-0.0153536447042,0.0798533202838,0.999999927261,0.000277606347093,-0.000259444174694,3.3176575211e-05,1793239659044675584
+56,0.933333333,BASELINE,765.492690509,744.507309491,715.507309491,679,660,635.492690509,879.492690509,787.492690509,804,651.492690509,631,653,0.400992081017,-0.0153544677395,0.0798540888314,0.999999927881,0.000276532437809,-0.000258171036287,3.34001211412e-05,1793239659061342208
+57,0.950000000,BASELINE,765.930426507,744.069573493,715,679,660.069573493,636,879.930426507,788,804,651.930426507,631,653,0.400992962453,-0.0153553113777,0.0798550834769,0.999999928652,0.000275340068321,-0.000256412042878,3.37078745126e-05,1793239659078008832
+58,0.966666667,BASELINE,765.340418713,744.659581287,715,679,660.659581287,636,879.340418713,788,804,651.340418713,631,653,0.400994259091,-0.015354781126,0.079855641096,0.999999929126,0.00027485129524,-0.000255080722254,3.37384611407e-05,1793239659094675712
+59,0.983333333,BASELINE,765,744.755122981,715,679,661,636,879,788,804,651.244877019,631,653,0.400993962758,-0.0153540854502,0.0798551873342,0.99999992888,0.000275352610694,-0.000255517043718,3.36476734444e-05,1793239659111342336
+60,1.000000000,BASELINE,765,744.176254027,715,679,661,636,879,788,804,651.823745973,631,653,0.400991493744,-0.0153531641496,0.0798533541328,0.999999927645,0.000277204324693,-0.000258364282138,3.33913412442e-05,1793239659128008704
+61,1.016666667,BASELINE,765,744.401325204,715,678.598674796,660.598674796,635.598674796,879,788,804,651.598674796,631,653,0.400991157489,-0.0153534578085,0.0798530216723,0.999999927547,0.000276957345667,-0.0002590172092,3.33336391785e-05,1793239659144675584
+62,1.033333333,BASELINE,765,744.978339795,715,678.021660205,660.021660205,635.021660205,879,788,804,651.021660205,631,653,0.400991754898,-0.0153542833442,0.079853346196,0.999999927948,0.000275791615138,-0.000258709525564,3.33628920619e-05,1793239659161342464
+63,1.050000000,BASELINE,765,744.435922231,715,678.564077769,660.564077769,635.564077769,878.435922231,788,804,651,631,653,0.400991039281,-0.0153546160487,0.0798527209735,0.999999928019,0.00027479005601,-0.000259496584011,3.33734059758e-05,1793239659178009344
+64,1.066666667,BASELINE,765,744,715,678.851360757,661,636,878.148639243,787.851360757,803.851360757,651,631.148639243,653,0.400990542347,-0.0153549808596,0.0798525816771,0.999999928098,0.000274093757203,-0.000259920695069,3.343903337e-05,1793239659194676224
+65,1.083333333,BASELINE,765,744,715,678.271202592,661,636,878.728797408,787.271202592,803.271202592,651,631.728797408,653,0.400990828952,-0.0153554946822,0.0798539606259,0.999999928239,0.000274265079587,-0.000259167166075,3.36667841166e-05,1793239659211342336
+66,1.100000000,BASELINE,765,744.307057765,715,678.307057765,661,636,879.307057765,787.307057765,803,651.307057765,632,653,0.400991390944,-0.0153552874464,0.0798544772441,0.999999928288,0.000274784000008,-0.000258415816126,3.37497641955e-05,1793239659228008704
+67,1.116666667,BASELINE,765,744.883652185,715,678.883652185,661,636,879.883652185,787.883652185,803,651.883652185,632,653,0.400992194671,-0.0153544472624,0.0798542369046,0.999999928256,0.000275608043506,-0.000257666378993,3.37056639338e-05,1793239659244675328
+68,1.133333333,BASELINE,765,745,715,678.54027006,661,636,879.54027006,788,803.45972994,652,631.54027006,652.54027006,0.4009916136,-0.0153550187139,0.0798535285898,0.999999928654,0.000273792468639,-0.00025807733022,3.35413070883e-05,1793239659261341952
+69,1.150000000,BASELINE,765,745,715,678.036445956,660.963554044,636,878.963554044,788,804,652,631,652.036445956,0.400990726953,-0.0153559226456,0.0798527733497,0.999999929101,0.000271496909401,-0.000258795213465,3.33606616528e-05,1793239659278008576
+70,1.166666667,BASELINE,765,745,715,678.624804575,660.375195425,636,878.375195425,788,804,652,631,652.624804575,0.400990514079,-0.0153564574828,0.0798530989867,0.999999928713,0.000272037645628,-0.000259718927133,3.33937130845e-05,1793239659294675456
+71,1.183333333,BASELINE,765,745,715,679,660.209839092,636,878.209839092,788,804,652,631,653,0.400990363212,-0.0153564384961,0.0798531622829,0.999999928294,0.000273151673715,-0.000260162731999,3.34003304437e-05,1793239659311342592
+72,1.200000000,BASELINE,765,745,715,679,660.789022846,636,878.789022846,788,804,652,631,653,0.400990321483,-0.015355444706,0.0798527638247,0.999999927817,0.000275274771679,-0.000259761833815,3.33604203313e-05,1793239659328009472
+73,1.216666667,BASELINE,765,745,715,679,661,635.633837277,879,788,804,651.633837277,631,653,0.400990958239,-0.0153542214156,0.0798531379544,0.999999927624,0.00027678408038,-0.00025890806435,3.33014219407e-05,1793239659344675584
+74,1.233333333,BASELINE,765,745,715,679,661,635.057868548,879,788,804,651.057868548,631,653,0.400991983757,-0.015352866625,0.079853954766,0.999999927593,0.000277941696481,-0.000257794806138,3.3231486242e-05,1793239659361341696
+75,1.250000000,BASELINE,765,745,715,679,661,635.517768889,879,788,804,651.517768889,631,653,0.400992423908,-0.0153544059252,0.0798536932764,0.999999928262,0.000275567789678,-0.000257741487605,3.32838005903e-05,1793239659378008576
+76,1.266666667,BASELINE,765,745,715,679,661,636,879,788,804,652,631.095423324,653,0.400992704855,-0.0153559596175,0.0798534028919,0.999999928774,0.000273613577905,-0.000257820991083,3.33913752235e-05,1793239659394675200
+77,1.283333333,BASELINE,765,745,715,679,661,636,879,788,804,652,631.683686195,653,0.400992501223,-0.0153559181201,0.0798535853136,0.999999928106,0.00027586423314,-0.00025797503968,3.37138338396e-05,1793239659411341824
+78,1.300000000,BASELINE,765,745,715,679,661,636,879,788,804,652,631.731545227,653,0.400992450343,-0.0153554772611,0.0798538476506,0.999999928052,0.000276260640715,-0.000257750921478,3.37622184134e-05,1793239659428008704
+79,1.316666667,BASELINE,765,745,715,679,661,636,879,788,804,652,631.150841026,653,0.400992577133,-0.0153545718902,0.0798542029398,0.999999928717,0.000274500305818,-0.000257086943822,3.34918175627e-05,1793239659444675584
+80,1.333333333,BASELINE,765,745,715,679,661,636,879,788,804,652,631.42450754,653,0.400991487525,-0.0153536064057,0.0798537322852,0.999999927955,0.000276362850791,-0.000258059005332,3.34394752435e-05,1793239659461342208
+81,1.350000000,BASELINE,765,745,715,679,661,636,879,788,804,652,631.997976835,653,0.400989971077,-0.015352619827,0.079852971803,0.999999926683,0.000279496681734,-0.000259605160862,3.34636506984e-05,1793239659478009088
+82,1.366666667,BASELINE,765,745,715,679,661,636,879,788,804,651.414120134,631.414120134,653,0.400991896291,-0.0153537326466,0.0798536158049,0.999999928003,0.00027629115977,-0.000257995471321,3.31119328898e-05,1793239659494675456
+83,1.383333333,BASELINE,765,745,715,679,661,636,879,788,804.171423322,651.171423322,631.171423322,653,0.40099298803,-0.0153548330709,0.0798539471268,0.999999928916,0.000273752508441,-0.000257178316274,3.29711931726e-05,1793239659511342080
+84,1.400000000,BASELINE,765,745,715,679,661,636,879,788,804.751224009,651.751224009,631.751224009,653,0.400992065174,-0.0153558862595,0.0798535217134,0.999999928866,0.000272855993051,-0.000258275812679,3.33362314422e-05,1793239659528008704
+85,1.416666667,BASELINE,765,744.671308283,715,678.671308283,660.671308283,636,879,788,804.671308283,651.671308283,632,653,0.400993025657,-0.015356421968,0.0798544903553,0.99999992917,0.000273594300126,-0.000256261377961,3.37026910971e-05,1793239659544675328
+86,1.433333333,BASELINE,765,744.09559392,715,678.09559392,660.09559392,636,879,788,804.09559392,651.09559392,632,653,0.400995401533,-0.0153565687731,0.0798565066758,0.999999929724,0.000275561230157,-0.000251908224478,3.40702189471e-05,1793239659561342208
+87,1.450000000,BASELINE,764.519051113,744.480948887,715,678,660.480948887,636,879,788,804,651.480948887,631.519051113,653,0.400993815424,-0.015356003677,0.0798557342305,0.999999929517,0.000274190143451,-0.000254256583898,3.37492241232e-05,1793239659578008832
+88,1.466666667,BASELINE,764.058883601,744.941116399,715,678.058883601,661,635.941116399,879,787.941116399,803.941116399,651.941116399,631.058883601,653,0.400991714304,-0.0153553174812,0.0798545446706,0.999999929178,0.000272410772715,-0.000257536537473,3.3328370886e-05,1793239659594675200
+89,1.483333333,BASELINE,764.647864008,744.352135992,715,678.647864008,661,635.352135992,879,787.352135992,803.352135992,651.352135992,631.647864008,653,0.400992078379,-0.0153548171201,0.0798545987082,0.999999929126,0.000272938987751,-0.000257191166548,3.32426720103e-05,1793239659611341824
+90,1.500000000,BASELINE,765.23319033,744.23319033,715,679,661,635.23319033,879,787.23319033,803.23319033,651,632,653,0.400992389008,-0.0153548505229,0.079854566462,0.999999929005,0.000273671642454,-0.000256883423467,3.32507774701e-05,1793239659628008448
+91,1.516666667,BASELINE,765.813083774,744.813083774,715,679,661,635.813083774,879,787.813083774,803.813083774,651,632,653,0.400992620175,-0.0153556775161,0.0798544059306,0.99999992878,0.000274708254261,-0.000256631624808,3.33983495056e-05,1793239659644675072
+92,1.533333333,BASELINE,765.61029749,745,715,679,660.61029749,635.61029749,879,788,804,651.38970251,631.61029749,653.38970251,0.400992277475,-0.0153560042413,0.0798542410171,0.999999928884,0.00027403471008,-0.000256930021008,3.35109792063e-05,1793239659661342208
+93,1.550000000,BASELINE,765.035236288,745,715,679,660.035236288,635.035236288,879,788,804,651.964763712,631.035236288,653.964763712,0.40099166182,-0.0153560930185,0.0798540740192,0.999999929144,0.000272547744808,-0.000257490112698,3.36069888949e-05,1793239659678009600
+94,1.566666667,BASELINE,765,745,715,679,660.539932239,635.539932239,879,788,804,652,631.539932239,653.460067761,0.400991898443,-0.0153547599563,0.0798546723955,0.999999928851,0.000274122003818,-0.000256979133714,3.34249701066e-05,1793239659694676224
+95,1.583333333,BASELINE,765,744.881472725,715,679,661,635.881472725,879,788,804,652,632,653,0.400992138317,-0.0153538539906,0.0798550622743,0.99999992869,0.00027507389424,-0.000256602971641,3.32934687311e-05,1793239659711342592
+96,1.600000000,BASELINE,765,744.289210292,715,679,661,635.289210292,879,788,804,652,632,653,0.400992168835,-0.0153550260045,0.0798544191441,0.999999929211,0.00027273963687,-0.000257045081473,3.3436411936e-05,1793239659728009216
+97,1.616666667,BASELINE,765,744.293849262,715,678.706150738,661.293849262,635,879,788,803.706150738,652,631.706150738,653,0.400992157713,-0.0153552788717,0.0798540911656,0.9999999292,0.000272548823683,-0.000257279586818,3.35341297223e-05,1793239659744676096
+98,1.633333333,BASELINE,765,744.868126245,715,678.131873755,661.868126245,635,879,788,803.131873755,652,631.131873755,653,0.400992106853,-0.015354654574,0.0798540639445,0.999999928681,0.00027440355317,-0.000257315969968,3.35886877489e-05,1793239659761342976
+99,1.650000000,BASELINE,765,744.555480377,715,678.444519623,661.555480377,635.444519623,878.555480377,788,803.444519623,651.555480377,631,653,0.400992348307,-0.0153553681796,0.0798545318869,0.999999929064,0.000274081816334,-0.000256145160695,3.37751811478e-05,1793239659778009600
+100,1.666666667,BASELINE,765,744,715,679,660.978071483,636,878.021928517,787.978071483,804,651.021928517,631,653,0.40099266518,-0.0153563698594,0.0798550843856,0.999999929656,0.000273204197275,-0.000254741930247,3.39739039222e-05,1793239659794675712
+101,1.683333333,BASELINE,765,744,715,679,660.390744683,636,878.609255317,787.390744683,804,651.609255317,631,653,0.400992680004,-0.015354516392,0.0798540113627,0.999999928776,0.00027472161772,-0.000256624180662,3.34739252226e-05,1793239659811342080
+102,1.700000000,BASELINE,765.194417022,744.194417022,715,679,660.194417022,636,879,787.194417022,804,652,631,653,0.400992672927,-0.0153537720015,0.0798535031428,0.999999928318,0.000275443322646,-0.000257670848457,3.31688965605e-05,1793239659828008704
+103,1.716666667,BASELINE,765.775275116,744.775275116,715,679,660.775275116,636,879,787.775275116,804,652,631,653,0.40099262232,-0.0153552321142,0.0798541175776,0.99999992871,0.000274583390383,-0.000257056635521,3.32513685002e-05,1793239659844675584
+104,1.733333333,BASELINE,765.646541479,745,715,679,661,636,879,788,804.353458521,652,631,653,0.400992825913,-0.015355081967,0.0798547506924,0.999999928792,0.00027485568343,-0.000256440265866,3.32886747339e-05,1793239659861342464
+105,1.750000000,BASELINE,765.070045782,745,715,679,661,636,879,788,804.929954218,652,631,653,0.400993189909,-0.015353915724,0.0798553955946,0.999999928679,0.000275842426098,-0.000255822535232,3.32974807955e-05,1793239659878009088
+106,1.766666667,BASELINE,765,745,715,679,661,635.492491808,879.507508192,788,804.492491808,652,631,653,0.40099467709,-0.015355893794,0.0798559008386,0.999999929541,0.000273866027769,-0.000254522072102,3.36801859277e-05,1793239659894675968
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,745,716,678,661,635,879,788,805,652,632,653,0.400989637239,-0.015355265813,0.0798534288285,0.999999928469,0.000273359289393,-0.00025925774851,3.3499726148e-05,1793239659937345792
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,745,715.419316497,678.580683503,661,635.580683503,879,788,803.838632993,652,631.419316497,653,0.400991348202,-0.0153553763945,0.0798540516043,0.999999928828,0.000273456678543,-0.000257773806711,3.344339946e-05,1793239659954012672
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745,715,679,660.840366434,636,879,788,803.159633566,652,631.159633566,653.159633566,0.400992809663,-0.0153553401497,0.0798546768778,0.999999929111,0.000273625014577,-0.000256510806408,3.33133067231e-05,1793239659970679552
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,679,660.265920639,636,879,788,803.734079361,652,631.734079361,653.734079361,0.400993622782,-0.0153549223725,0.0798553086414,0.999999929201,0.000273977708068,-0.000255821928361,3.29915308592e-05,1793239659987346432
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.308294893,745,715,679,660.308294893,636,879,788,804,651.691705107,632,653.691705107,0.400993497839,-0.015354997067,0.079855226288,0.999999929191,0.000273860197906,-0.000255985991357,3.30034486268e-05,1793239660004013568
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.882311924,745,715,679,660.882311924,636,879,788,804,651.117688076,632,653.117688076,0.400992564373,-0.0153554962272,0.0798545284306,0.999999929094,0.000273337414971,-0.000256885211941,3.33029799523e-05,1793239660020680704
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.527289165,745,715,678.527289165,661,636,879,788,804,651.472710835,632,653,0.400991902511,-0.0153546286784,0.0798538822585,0.999999928378,0.00027466763633,-0.000258241459697,3.33648266301e-05,1793239660037347072
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,879,787.934850192,804,651.934850192,631.934850192,653,0.400991820685,-0.0153536448698,0.0798536221742,0.999999927737,0.000276187735712,-0.000259095847159,3.33977311889e-05,1793239660054012928
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,678,661,636,879,787.359520501,804,651.359520501,631.359520501,653,0.400995732524,-0.0153545108476,0.0798562811118,0.999999928958,0.000275452424767,-0.00025509721987,3.36840207904e-05,1793239660070679040
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.78404543,715,678.21595457,661,636,879,787.21595457,804,651.21595457,631,653,0.401005446172,-0.0153558688832,0.0798612505768,0.999999931228,0.000274256509773,-0.000247316676212,3.4087964624e-05,1793239660087344896
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.208328228,715,678.791671772,661,636,879,787.791671772,804,651.791671772,631,653,0.401024825159,-0.0153580466465,0.0798700691911,0.999999935127,0.000272293266186,-0.000233235769879,3.46879107433e-05,1793239660104011264
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.377850821,744,715,678.622149179,661,635.622149179,879.755701643,788,804,652,631.377850821,653,0.401062312893,-0.0153598721221,0.0798835851758,0.999999940925,0.000271689041893,-0.000207566111413,3.53723819638e-05,1793239660120677888
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.969962326,744,715,678.030037674,661,635.030037674,880.939924652,788,804,652,631.969962326,653,0.401110069211,-0.0153614978326,0.07989976481,0.999999947026,0.000271855450447,-0.000175325038069,3.61047832558e-05,1793239660137344512
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.450527902,744.549472098,715,678.549472098,661,635,879.901055804,788,804,652,631.450527902,653,0.401176050673,-0.015363593636,0.0799151143878,0.999999951928,0.000272098101102,-0.000144212930841,3.61867928106e-05,1793239660154010880
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.126984309,879,788,804,652,631.126984309,653,0.401244652233,-0.0153659305521,0.0799287011291,0.999999955391,0.000271988620746,-0.000118105351227,3.59220965879e-05,1793239660170677504
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.699847327,879,788,804,652,631.699847327,653,0.401319033861,-0.0153690258741,0.0799362538018,0.999999956803,0.000270628400643,-0.000109358264336,3.45620595039e-05,1793239660187344640
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,652,632,653,0.401401277384,-0.0153718597765,0.0799415363239,0.999999958066,0.000269282173686,-0.000101463077191,3.25577845183e-05,1793239660204011776
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879,788,804,652,632,653,0.401492173925,-0.0153744059528,0.0799443202543,0.99999995919,0.000267951348065,-9.45055152718e-05,2.98444433532e-05,1793239660220678656
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.55126436,879,788,804,652,632,653.44873564,0.401604938706,-0.0153786737454,0.079946242599,0.999999960364,0.000265454428982,-9.00542824431e-05,2.636637216e-05,1793239660237345024
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.028251,879,788,804,652,631.971749,653.971749,0.401725352922,-0.0153834696429,0.0799480981656,0.99999996156,0.000262621582761,-8.60050622963e-05,2.26499944516e-05,1793239660254011136
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.605624696,879,788,804,652,631.394375304,653.394375304,0.401870467602,-0.0153887696162,0.0799535405803,0.999999963205,0.000259870489398,-7.55600328322e-05,1.86372853926e-05,1793239660270677504
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,744.818911238,715,679,661,636,879,788,804,652,631.181088762,653,0.402021765321,-0.015394100772,0.0799571005691,0.999999965055,0.000254974480004,-6.84235062012e-05,1.39968486916e-05,1793239660287344384
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,744.247562644,715,679,661,636,879,788,804,652,631.752437356,653,0.402186387933,-0.0153994991281,0.0799566037883,0.999999967503,0.000245456016465,-6.84170521054e-05,8.00361247263e-06,1793239660304010752
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,744.336097148,715,678.663902852,661.336097148,636,879.336097148,788,804.336097148,651.663902852,632,653,0.402363597828,-0.0154049873285,0.0799535755797,0.999999969507,0.000235316509755,-7.49063988916e-05,1.35387012455e-06,1793239660320677376
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,744.929169988,715,678.070830012,661.929169988,636,879.929169988,788,804.929169988,651.070830012,632,653,0.402550431818,-0.0154105442234,0.079948611873,0.999999971008,0.000224702160126,-8.63623541138e-05,-5.79782926764e-06,1793239660337344256
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,744.488670588,715,678.511329412,661.488670588,636,879.488670588,788,803.977341175,651.511329412,631.488670588,653,0.402780879373,-0.0154179435415,0.0799459656888,0.999999983123,0.000160078643419,-8.91427927861e-05,-1.35412995944e-05,1793239660354011392
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,744.091121877,715,679,661,636,879,788,803.091121877,652,631,653,0.403023842248,-0.0154258028238,0.0799446733937,0.999999990962,9.85521020209e-05,-8.89773504516e-05,-2.11358000474e-05,1793239660370678272
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,744.666204588,715,679,661,636,879,788,803.666204588,652,631,653,0.403301859579,-0.0154347778866,0.0799489024054,0.999999992201,9.23785023094e-05,-7.94151787928e-05,-2.75128330444e-05,1793239660387344640
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,715,678.759248046,661,636,879,788,804,652,631.240751954,653,0.403595687396,-0.0154442505165,0.0799532974581,0.999999992547,9.51628276895e-05,-7.13570932796e-05,-2.754414877e-05,1793239660404011008
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,715,678.185441308,661,636,879,788,804,652,631.814558692,653,0.403911387323,-0.015454411477,0.0799579222108,0.999999991599,0.000110339492386,-6.53797519396e-05,-1.87968375304e-05,1793239660420677632
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,678.398953751,661,636,879,788,804,651.601046249,631.601046249,653,0.404250126523,-0.0154630273171,0.0799596772518,0.999999993277,9.5708190767e-05,-6.2060836137e-05,-2.08321979786e-05,1793239660437344256
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,678.988404629,661,636,879,788,804,651.011595371,631.011595371,653,0.404599866775,-0.0154709053746,0.079960062029,0.999999995573,6.68438304147e-05,-6.00112967492e-05,-2.80161955244e-05,1793239660454011136
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.56871782,745,715,679,661,636,879,788,804,651,631.56871782,653,0.405004576396,-0.0154822952377,0.0799554077281,0.999999996262,5.15951490362e-05,-6.24428481776e-05,-3.02385739237e-05,1793239660470677760
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.853903308,745,715,678.853903308,661,636,879,788,804,651.146096692,632,653,0.405414434405,-0.0154927239104,0.079950316815,0.999999996457,3.81962606008e-05,-6.77522833223e-05,-3.21932916763e-05,1793239660487344384
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.284495375,745,715,678.284495375,661,636,879,788,804,651.715504625,632,653,0.405836013673,-0.0155001633771,0.0799442538093,0.99999999571,2.93654668255e-05,-8.11397723575e-05,-3.36609445622e-05,1793239660504011520
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745,715,678.291330293,661,636,879,788,804.291330293,652,631.708669707,653,0.406284680433,-0.0155047904643,0.0799399695016,0.999999994985,2.95404951442e-05,-8.99764381911e-05,-3.25856219074e-05,1793239660520678144
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745,715,678.873564368,661,636,879,788,804.873564368,652,631.126435632,653,0.40676039508,-0.0155066092903,0.0799374612871,0.999999994388,3.87081599096e-05,-9.4268944877e-05,-2.89710468271e-05,1793239660537345024
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745,715.462749538,679,661,636,879,788,804.537250462,651.537250462,631,653,0.407249155433,-0.0155044033313,0.079934306844,0.999999993996,3.5176883143e-05,-9.9170596183e-05,-3.05863665893e-05,1793239660554011904
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745,715.947444068,679,661,636,879,788,804,651.052555932,631,653,0.407747404501,-0.0155021083709,0.0799308053853,0.999999993544,2.78951133707e-05,-0.000104947273394,-3.34592398844e-05,1793239660570678016
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,745,715.370673516,679,661,636,879,788,804,651.629326484,631,653,0.408304202871,-0.0155100616069,0.0799256306584,0.999999992305,1.83403076426e-05,-0.000117766418976,-3.44051928348e-05,1793239660587344640
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.205069967,745,715,679.205069967,661,636,879.205069967,788,804,652,631.205069967,653,0.408884440511,-0.0155161367703,0.0799302387519,0.999999992969,1.17245825004e-05,-0.000112696436655,-3.49780508816e-05,1793239660604011264
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.778966191,745,715,679.778966191,661,636,879.778966191,788,804,652,631.778966191,653,0.409506834547,-0.0155188341468,0.0799524416262,0.999999996491,1.03949078836e-05,-7.54521659753e-05,-3.48798832565e-05,1793239660620677888
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.636244432,745,715,679.636244432,661,636,879.636244432,788,804,652,631.636244432,653,0.410147484338,-0.0155194951077,0.079977387275,0.999999998818,6.89418700511e-06,-3.39361965453e-05,-3.41314360361e-05,1793239660637344768
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.04463158,745,715,679.04463158,661,636,879.04463158,788,804,652,631.04463158,653,0.410799569549,-0.0155188804534,0.080004051003,0.999999999402,2.03351804593e-06,1.02555729438e-05,-3.29756522251e-05,1793239660654011392
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.536205964,715,679,661,636,879,788,804,652,631.536205964,653,0.411445182086,-0.0155166267723,0.0799882268231,0.999999999148,4.186098455e-06,-1.94508934304e-05,-3.61572845893e-05,1793239660670678016
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.885427344,715,679,661,636,879,788,804,652,631.885427344,653,0.412097265076,-0.0155147384613,0.0799658766372,0.999999997584,4.89363621513e-06,-5.66789852368e-05,-3.99535851418e-05,1793239660687344640
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.313415492,715,679,661,636,879,788,804,652,631.313415492,653,0.412777290289,-0.0155148428751,0.0799313125691,0.999999994008,-2.4530234299e-06,-9.98632294754e-05,-4.47909536052e-05,1793239660704011264
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.267045779,788,804.267045779,651.732954221,631,653,0.413481849299,-0.0155159560572,0.0799162438108,0.999999992247,-6.44297748134e-06,-0.000114916319116,-4.75216723528e-05,1793239660720677632
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,636,879.857747717,788,804.857747717,651.142252283,631,653,0.414216143058,-0.0155182918539,0.0799248031206,0.999999994246,-6.36464713239e-06,-9.58748055773e-05,-4.76991585902e-05,1793239660737344256
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.560308956,880,788,804.560308956,651.439691044,631,653.439691044,0.414986198143,-0.0155211182157,0.079948941632,0.999999997441,-7.23618130552e-06,-5.41518347999e-05,-4.61787622471e-05,1793239660754011136
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,678.981232323,661,635.018767677,880,788,804,651.981232323,631,653.981232323,0.415766676837,-0.0155239098829,0.0799765515429,0.99999999895,-8.56492441487e-06,-8.00974552974e-06,-4.4294232829e-05,1793239660770678272
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,678.404780931,661,635.595219069,880,788,804,651.404780931,631,653.404780931,0.416519812923,-0.01552104658,0.0799604664989,0.999999997779,-1.45263555848e-05,-4.43461730862e-05,-4.75935227727e-05,1793239660787344896
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,745,715,678.171077912,661,636,880,788,804.171077912,651.171077912,631,653,0.417307710971,-0.0155190608738,0.0799556033698,0.999999997106,-1.79124482798e-05,-5.46258765822e-05,-4.98356860156e-05,1793239660804011264
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,745,715,678.745539552,661,636,880,788,804.745539552,651.745539552,631,653,0.418177574025,-0.0155191444485,0.0799772003371,0.999999998649,-1.52261632777e-05,-3.46656222007e-06,-4.95852554944e-05,1793239660820677888
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.328019972,745,715,679.328019972,661.328019972,635.671980028,880,788,804.671980028,652,631.328019972,653,0.419016521942,-0.0155221953086,0.0799903138317,0.999999998352,-1.60969898261e-05,2.50490105557e-05,-4.90787355307e-05,1793239660837344512
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.916876785,745,715,679.916876785,661.916876785,635.083123215,880,788,804.083123215,652,631.916876785,653,0.419830886538,-0.0155276057121,0.0799966813878,0.999999998002,-1.97963812954e-05,3.55585980008e-05,-4.83685769476e-05,1793239660854011136
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.50230266,745,715,680,661.50230266,635,879.50230266,788,804,651.50230266,631.50230266,653,0.420652722189,-0.0155279412604,0.0799815050549,0.999999998192,-2.90611986296e-05,1.25902504155e-05,-5.11210320152e-05,1793239660870677760
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.076673297,745,715,680,661.076673297,635.076673297,879.076673297,788,804.076673297,651,631.076673297,653,0.421483778742,-0.015528075616,0.0799685004201,0.999999997875,-3.66009306884e-05,-7.56761166297e-06,-5.3419626459e-05,1793239660887344128
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.652241107,745,715,680,661.652241107,635.652241107,879.652241107,788,804.652241107,651,631.652241107,653,0.422366843083,-0.0155323282216,0.0799926668631,0.999999998085,-2.69639395069e-05,2.63650443464e-05,-4.90619272295e-05,1793239660904010752
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,715,679.767717175,661.767717175,635.767717175,880,788,805,651,632,653,0.423239741701,-0.0155337340506,0.0800088507238,0.999999997634,-2.04788152203e-05,4.5921843903e-05,-4.69409580028e-05,1793239660920677632
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,679.180845779,661.180845779,635.180845779,880,788,805,651,632,653,0.424097122092,-0.0155307941673,0.0800128488727,0.999999997712,-1.88051342487e-05,4.35333568079e-05,-4.82344416415e-05,1793239660937344256
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,679,661.401087774,635.401087774,880,788,805,651,631.598912226,653,0.424926443408,-0.0155296277968,0.07997987924,0.999999998398,-1.79968743711e-05,-1.55510863204e-05,-5.13586981464e-05,1793239660954010880
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,679,661.980821952,635.980821952,880,788,805,651,631.019178048,653,0.425743267028,-0.0155292513576,0.0799304439812,0.999999993328,-1.75740771614e-05,-9.98881780186e-05,-5.5298389217e-05,1793239660970677248
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745,715,679.559804671,661.440195329,636,880,788,805,651,631,653,0.426631840715,-0.0155340667037,0.0799270205201,0.999999994194,-2.82875652593e-05,-8.69138338713e-05,-5.70711967823e-05,1793239660987344128
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.862552061,745,715,680,661,635.862552061,880,788,804.862552061,651.137447939,631,653,0.427511917998,-0.0155369442087,0.0799258538535,0.999999994641,-3.42564148197e-05,-7.85531881429e-05,-5.80834789331e-05,1793239661004010752
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.289076428,745,715,680,661,635.289076428,880,788,804.289076428,651.710923572,631,653,0.428357254754,-0.0155331107982,0.0799268526515,0.999999993543,-2.39651391592e-05,-9.53901182897e-05,-5.69183153995e-05,1793239661020677376
+173,2.883333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.28372345,635.28372345,880.28372345,788,804,651.71627655,631.28372345,653,0.429237003102,-0.0155336928678,0.079943507823,0.999999995189,-2.39991940834e-05,-7.73169923858e-05,-5.53970202883e-05,1793239661037344256
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.855836424,635.855836424,880.855836424,788,804,651.144163576,631.855836424,653,0.430151728917,-0.0155387630341,0.0799760768504,0.99999999769,-3.45283890139e-05,-2.37596836959e-05,-5.35137366763e-05,1793239661054010880
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.446841444,715,680,662,636,881,788.446841444,804.446841444,651,631.553158556,653,0.431041683684,-0.0155418637794,0.0800122723546,0.999999997642,-3.65317897256e-05,2.81769249678e-05,-5.08736461404e-05,1793239661070677504
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.957435096,715,679.957435096,662,635.957435096,880.957435096,788.957435096,805,651,631.042564904,653,0.431914570528,-0.01554375987,0.0800435217904,0.999999995712,-3.62625201016e-05,7.0033729796e-05,-4.85318515627e-05,1793239661087344128
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.382303467,715,679.382303467,662,635.382303467,880.382303467,788.382303467,805,651,631.617696533,653,0.432678311845,-0.0155388843483,0.0799976014278,0.999999997616,-4.34931093418e-05,-7.39569263697e-06,-5.31121546241e-05,1793239661104010752
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.193303032,745,715.193303032,679.386606064,662,635.193303032,880,788,805,651,631.806696968,653,0.433452397455,-0.0155348262861,0.0799521796713,0.999999994382,-4.70016057802e-05,-7.55014932054e-05,-5.76766165455e-05,1793239661120677376
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.769851118,745,715.769851118,680.539702236,662,635.769851118,880,788,805,651,631.230148882,653,0.43424699193,-0.0155323889284,0.0799077464496,0.999999989307,-4.31306352635e-05,-0.000125122176177,-6.22096728826e-05,1793239661137344256
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,715.647083252,681,662,636,880.352916748,788,805,651,631,653,0.435044094301,-0.0155386507084,0.0799116518973,0.999999990402,-4.96408989563e-05,-0.000113331561988,-6.23503040905e-05,1793239661154010880
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,715.059687377,681,662,636,880.940312623,788,805,651,631,653,0.435842862879,-0.0155506922261,0.0799476737295,0.999999994393,-6.30484912682e-05,-6.07390632856e-05,-5.95725922766e-05,1793239661170677248
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.479249731,745,715,680.479249731,662,635.479249731,881.520750269,788,805,651.520750269,631,653,0.436648519207,-0.0155538738565,0.0799663653896,0.999999994966,-6.50821908852e-05,-4.95236703036e-05,-5.81347933088e-05,1793239661187344128
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,744.900110709,715,680.099889291,662,635,881.900110709,788,804.900110709,651.900110709,631.099889291,653,0.437441175533,-0.015556428412,0.0799779199681,0.999999994963,-6.80942426136e-05,-4.62145412836e-05,-5.74579624731e-05,1793239661204010752
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,744.323413753,715,680.676586247,662,635,881.323413753,788,804.323413753,651.323413753,631.676586247,653,0.438168059439,-0.0155607731581,0.0799647632248,0.999999993164,-8.19170779853e-05,-5.83053987243e-05,-5.96900894485e-05,1793239661220677376
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,744.252045615,715,681,661.747954385,635,881,788,804.252045615,651,631.747954385,653,0.43886814781,-0.0155661360277,0.0799397148578,0.999999989688,-9.04040534558e-05,-9.27738440278e-05,-6.20082360171e-05,1793239661237344256
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,744.825924681,715,681,661.174075319,635,881,788,804.825924681,651,631.174075319,653,0.439534021289,-0.0155727989241,0.0798994822471,0.999999981546,-9.20777442223e-05,-0.000155815911041,-6.44362194515e-05,1793239661254010880
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745,715,681,661.412359789,635,881,788,805,651.412359789,631,653,0.44014170563,-0.0155759657509,0.0798301789834,0.999999957422,-0.000101948257836,-0.000264167825133,-7.05482696113e-05,1793239661270677504
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.00412077,745,715.00412077,681,661.99587923,635,880.99587923,787.99587923,805,651.99587923,631.00412077,653,0.44072410125,-0.0155776262421,0.0797484761783,0.999999913536,-0.000115343233558,-0.000391793142912,-7.82409239831e-05,1793239661287344128
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.576426072,745,715.576426072,681,661.423573928,635,880.423573928,787.423573928,805,651.423573928,631.576426072,653,0.441312962456,-0.0155814735209,0.079702331163,0.999999884759,-0.000122609287874,-0.000456737043618,-8.27008730645e-05,1793239661304010752
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715.848778969,681,661,635,880.151221031,787,805,651,631.848778969,653,0.441919115773,-0.015587236871,0.0796803021095,0.999999869328,-0.000133950366676,-0.000485968495789,-8.50650076022e-05,1793239661320677376
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715.266893553,681,661,635,880.733106447,787,805,651,631.266893553,653,0.442574515659,-0.0155984570266,0.0797269532139,0.999999898885,-0.000156896764475,-0.000413494008488,-8.14604456047e-05,1793239661337344256
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.318185412,714.681814588,681,661,635,880.681814588,786.681814588,805,651,631,653,0.443194993299,-0.0156085224814,0.0797631640633,0.999999918169,-0.000168593581273,-0.000359240068569,-7.864425931e-05,1793239661354010880
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.905970246,714.094029754,681,661,635,880.094029754,786.094029754,805,651,631,653,0.443785881179,-0.0156176095544,0.0797905288515,0.999999931159,-0.000170758594508,-0.000320424456567,-7.64960664448e-05,1793239661370677504
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.51285603,714.48714397,681.48714397,660.51285603,634.51285603,880.48714397,786,805,651,631.48714397,653,0.444295645444,-0.0156248005937,0.079775691686,0.999999921436,-0.00017839357861,-0.000345627844668,-7.64521167185e-05,1793239661387343872
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.933642689,745,714.933642689,681.933642689,660.066357311,634,880.933642689,786,805,651,631.933642689,653,0.444785256206,-0.015631396772,0.0797525536773,0.999999905927,-0.000187061471238,-0.000383695810231,-7.70167494468e-05,1793239661404010496
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.359793355,745,714.359793355,681.359793355,660.640206645,634,880.359793355,786,805,651,631.359793355,653,0.445238887731,-0.0156362050009,0.0797273967417,0.999999886598,-0.000195662201429,-0.000426910213927,-7.91710267077e-05,1793239661420677376
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.780761138,745,714,681,660.780761138,634,880,785.780761138,805,651,631,653,0.445684274041,-0.0156422065677,0.0797078907505,0.999999871288,-0.000205227616534,-0.000456930319513,-8.07433614245e-05,1793239661437344000
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.193017393,745,714,681,660.193017393,634,880,785.193017393,805,651,631,653,0.446115801441,-0.015650213941,0.0796978830803,0.999999865268,-0.000216414509764,-0.00046477295194,-8.13375453251e-05,1793239661454010624
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.390009921,745,714.390009921,681,660,634,880,785.390009921,805,651,631,653,0.446544189753,-0.0156570226164,0.0796935193198,0.999999864192,-0.0002272752806,-0.000461874123382,-8.14454482281e-05,1793239661470677504
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.970730996,745,714.970730996,681,660,634,880,785.970730996,805,651,631,653,0.446971043118,-0.0156632451406,0.0796919153768,0.999999865445,-0.000237976581656,-0.000453722822851,-8.13155643771e-05,1793239661487344128
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.451005324,681.548994676,660,634,880.548994676,785.451005324,805,651,631,653,0.44732499784,-0.0156659800621,0.0796817408512,0.999999858598,-0.00024001422755,-0.000467367204835,-8.22524555598e-05,1793239661504010752
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,681.874239958,660,633.874239958,880.874239958,785,805,651,631,653,0.447662726576,-0.0156681446645,0.0796691683786,0.99999984885,-0.000242487458127,-0.000486369559087,-8.33388395342e-05,1793239661520677376
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,681.30232721,660,633.30232721,880.30232721,785,805,651,631,653,0.447956617799,-0.0156689426759,0.0796497026308,0.999999830279,-0.00024813732279,-0.000520276092456,-8.47547025484e-05,1793239661537344000
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,681.271199793,659.728800207,633,880,784.728800207,805,651,631,653,0.448237959793,-0.0156690808117,0.079632768311,0.99999981375,-0.000253202228244,-0.000548584174514,-8.62768712453e-05,1793239661554010624
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,681.846537071,659.153462929,633,880,784.153462929,805,651,631,653,0.448505228415,-0.0156684789285,0.0796186728667,0.999999800153,-0.000257611129982,-0.000570613861792,-8.79182566065e-05,1793239661570677248
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,681.564610536,659.435389464,633,880,784,805,651,630.564610536,653,0.448773285757,-0.0156708503615,0.0796207812184,0.999999802821,-0.000259344336637,-0.000565283686327,-8.69059101338e-05,1793239661587344128
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.971690343,745.028309657,714.028309657,681,659.971690343,633,880.028309657,784,805,651,630,653,0.449039390971,-0.0156743984743,0.0796285635995,0.999999811034,-0.000260188894091,-0.000550474859832,-8.49138213962e-05,1793239661604010496
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.395200424,745.604799576,714.604799576,681,659.395200424,633,880.604799576,784,805,651,630,653,0.44926214021,-0.0156797879409,0.0796320794431,0.99999981366,-0.000262673051786,-0.000544842434571,-8.26427255684e-05,1793239661620677120
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.179430953,745.820569047,714.820569047,681,659,633,880.820569047,784,805,651,630.179430953,653,0.44946956459,-0.0156847123117,0.0796333621246,0.999999813329,-0.000266392085897,-0.000543922654929,-8.07755282329e-05,1793239661637344000
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.750010741,745.249989259,714.249989259,681,659,633,880.249989259,784,805,651,630.750010741,653,0.449643581658,-0.0156886228009,0.079629776645,0.999999806549,-0.000272803077031,-0.000553276163971,-7.97888059527e-05,1793239661654010880
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.334730536,783.665269464,805,651,630.665269464,653,0.449802745858,-0.0156920473589,0.0796260888343,0.999999800241,-0.000279290671201,-0.000561378956129,-7.97968856407e-05,1793239661670677760
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681,659,633,880.930476453,783.069523547,805,651,630.069523547,653,0.449950328144,-0.0156950929991,0.079622321228,0.999999794302,-0.000285837999385,-0.00056850646825,-8.05806895332e-05,1793239661687344384
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.488137682,745,714,681,659,633,880.488137682,783.511862318,804.488137682,651,630,653,0.450084199467,-0.0156981223498,0.0796228725299,0.999999792433,-0.000291398186026,-0.000568854592745,-8.13968509057e-05,1793239661704011008
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.090527994,745,714,681,658.909472006,632.909472006,880,783.909472006,804,651,630.090527994,653,0.450210770588,-0.015701096794,0.0796234217649,0.999999790997,-0.000296190864983,-0.000568797013944,-8.21333537787e-05,1793239661720677376
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.664796344,745,714,681,658.335203656,632.335203656,880,783.335203656,804,651,630.664796344,653,0.450308012462,-0.0157037893438,0.0796209108948,0.999999789102,-0.000297579236248,-0.000571357649534,-8.24213545281e-05,1793239661737344000
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.239382686,632.239382686,880,783,804.239382686,651,630.760617314,653,0.450398140685,-0.0157060101546,0.0796196639431,0.999999788156,-0.000298664153084,-0.000572420749316,-8.25946346102e-05,1793239661754010624
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.814414866,632.814414866,880,783,804.814414866,651,630.185585134,653,0.450478294525,-0.0157075695186,0.0796201891899,0.999999788551,-0.000299323582401,-0.000571384084994,-8.26070595422e-05,1793239661770677504
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.401609635,714,681,659,632.598390365,880,783,805,651,630.401609635,653,0.450541664488,-0.0157094551052,0.0796192069234,0.99999978663,-0.000302347960925,-0.000573150326551,-8.26117702768e-05,1793239661787344128
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.994600287,714,681,659,632.005399713,880,783,805,651,630.994600287,653,0.450597036346,-0.0157114961481,0.0796175062742,0.999999783583,-0.00030649932031,-0.000576252250661,-8.26128049247e-05,1793239661804010752
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714,681,658.431788707,632,880,783,805,651,630.431788707,653,0.450636828167,-0.0157092586633,0.079616354032,0.999999781316,-0.000306466063713,-0.000580138574232,-8.29830321965e-05,1793239661820677632
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.857667579,745.857667579,714,681,658,632.142332421,880,783,805,651,630,653,0.450673509735,-0.0157079458235,0.0796151139963,0.999999779274,-0.000306481517746,-0.00058362387558,-8.30913695993e-05,1793239661837344000
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.281448608,745.281448608,714,681,658,632.718551392,880,783,805,651,630,653,0.450701146442,-0.0157095715311,0.0796135909679,0.999999777935,-0.000306762687328,-0.000585864725165,-8.23910187386e-05,1793239661854010880
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.300938774,745.300938774,714,680.699061226,658.300938774,632.699061226,880,783,805,651,630,653,0.450725179844,-0.0157117360358,0.0796138482187,0.99999977773,-0.000308351204272,-0.000585516740395,-8.14168170648e-05,1793239661870677504
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.889215861,745.889215861,714,680.110784139,658.889215861,632.110784139,880,783,805,651,630,653,0.450745772792,-0.0157144149879,0.0796158052914,0.999999778599,-0.000311187985074,-0.000582696919873,-8.0181140757e-05,1793239661887344128
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.526639117,746,714,680.473360883,659,632.473360883,880,783,805,651,630,653,0.450760114093,-0.0157126009695,0.0796164089629,0.999999780129,-0.000309625910567,-0.000580934623655,-7.99278603853e-05,1793239661904011008
+226,3.766666667,POSE1_TO_POSE2_PRESS,764.055646239,745.944353761,714,681,659,632.944353761,880,782.944353761,805,651,630,653,0.450772099065,-0.0157100933914,0.0796165734241,0.999999781499,-0.000307184343768,-0.000579879488695,-7.98716257927e-05,1793239661920677632
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.629540916,745.370459084,714,681,659,632.370459084,880,782.370459084,805,651,630,653,0.450775647414,-0.0157108348742,0.0796155718198,0.999999779985,-0.000306056834375,-0.000583125247222,-7.95277791682e-05,1793239661937344256
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,680.796178427,659,632.203821573,880,782.407643146,805,651,630,653,0.450778258012,-0.0157114462693,0.0796140952685,0.999999778072,-0.000306047807576,-0.000586435416798,-7.92774624367e-05,1793239661954010880
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,680.22119493,659,632.77880507,880,783.55761014,805,651,630,653,0.450779160951,-0.0157118207729,0.0796117538321,0.999999775439,-0.000308075553236,-0.000589862879599,-7.91974649648e-05,1793239661970677504
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.637365617,745,714.362634383,680.362634383,659,632.637365617,880,783.637365617,805,651,630,653,0.450780002774,-0.0157117232234,0.0796100486453,0.999999774055,-0.000308155121444,-0.000592171230152,-7.91372898757e-05,1793239661987344128
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.048005764,745,714.951994236,680.951994236,659,632.048005764,880,783.048005764,805,651,630,653,0.450780806385,-0.0157113305379,0.0796087412532,0.999999773456,-0.000307016654364,-0.000593779891687,-7.90895080964e-05,1793239662004010752
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.534711043,745,714.465288957,681,659,632,880,783,805,651,630,653,0.450782138379,-0.0157086189809,0.0796088368639,0.999999774993,-0.000302478590314,-0.000593543252567,-7.89088000949e-05,1793239662020677376
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.884980509,745,714,681,659,632,880,783,805,651,630.115019491,653,0.45078326455,-0.0157065459577,0.0796089008645,0.999999776067,-0.000299092767119,-0.00059347018025,-7.87524392121e-05,1793239662037344000
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.31191713,745,714,681,659,632,880,783,805,651,630.68808287,653,0.450783384475,-0.0157078346655,0.0796083435263,0.999999774616,-0.000301496067284,-0.000594700133203,-7.87399779323e-05,1793239662054010624
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.262871696,745,714,681,658.737128304,632,880.262871696,783,805,651,630.737128304,653,0.4507834329,-0.0157078581625,0.0796080855395,0.999999773831,-0.000302761340541,-0.00059536241679,-7.88482072263e-05,1793239662070677248
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.839721501,745,714,681,658.160278499,632,880.839721501,783,805,651,630.160278499,653,0.450783395924,-0.0157063704718,0.079608185103,0.999999773849,-0.000302667336799,-0.000595346667279,-7.91005912475e-05,1793239662087343872
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.427780288,714.427780288,680.572219712,658,632.427780288,881,783,805,651,630.427780288,653,0.450783947381,-0.0157061133903,0.079607842239,0.999999773554,-0.000302087424976,-0.000596155102576,-7.89590192179e-05,1793239662104010752
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.980453364,714.980453364,680.019546636,658,632.980453364,880.980453364,783,805,651,630.980453364,653,0.450784662097,-0.0157063097012,0.079607340417,0.99999977316,-0.000301281074403,-0.000597262652052,-7.86533753081e-05,1793239662120677376
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.40587001,714.40587001,680.59412999,658,632.40587001,880.40587001,783,805,651,630.40587001,653,0.450783583793,-0.0157059354798,0.0796071585763,0.999999773434,-0.000299353597374,-0.000597859190948,-7.79929361854e-05,1793239662137344000
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,714,680.832668824,658.167331176,632.167331176,880.167331176,782.832668824,805,651,630,653,0.450783093629,-0.0157054267188,0.0796069661215,0.999999773532,-0.000298344639864,-0.000598231466523,-7.77569355082e-05,1793239662154010624
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,680.262792722,658.737207278,632.737207278,880.737207278,782.262792722,805,651,630,653,0.45078401834,-0.0157045942989,0.0796067481328,0.999999773211,-0.000299545344647,-0.000598064236735,-7.85419970908e-05,1793239662170677504
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.678357363,745,714,680.321642637,659,633,880.678357363,782,804.678357363,651,630,653,0.450784025716,-0.0157040984809,0.0796061551167,0.999999772949,-0.000299796736029,-0.000598347825528,-7.8769085116e-05,1793239662187344128
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.081462659,745,714,680.918537341,659,633,880.081462659,782,804.081462659,651,630,653,0.450783248067,-0.0157038907166,0.0796052411635,0.999999772736,-0.00029923573358,-0.000599017211271,-7.8518676164e-05,1793239662204010752
+244,4.066666667,POSE1_TO_POSE2_PRESS,764.500271147,745.500271147,714,681,658.499728853,633,880,782.500271147,804.500271147,651,630,653,0.450785414051,-0.0157046027871,0.0796069031107,0.999999773935,-0.000299729981353,-0.000596822195779,-7.80774753391e-05,1793239662220677376
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,681,658,633,880.078819064,783,805,651,630,653,0.450787476869,-0.0157053289927,0.0796083992264,0.999999774981,-0.000300168716555,-0.000594898299303,-7.7668869837e-05,1793239662237344000
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,681,658,633,880.652409223,783,805,651,630,653,0.450785971661,-0.0157052313505,0.0796062987877,0.999999773707,-0.000299212057067,-0.00059751810368,-7.76541619328e-05,1793239662254010624
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.770404882,714.229595118,680.770404882,658,633,880.770404882,783,805,651,630,653,0.450785297922,-0.0157047254257,0.0796054242251,0.999999773274,-0.00029823319401,-0.000598720260471,-7.77360206914e-05,1793239662270677504
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.187688599,714.812311401,680.187688599,658,633,880.187688599,783,805,651,630,653,0.450785902994,-0.0157035915555,0.0796064350802,0.999999774143,-0.000297220181348,-0.00059774205175,-7.79664006053e-05,1793239662287344128
+249,4.150000000,POSE1_TO_POSE2_PRESS,764.602460277,745.397539723,714.602460277,680.397539723,658,632.602460277,880,782.602460277,805,651,630,653,0.450786941809,-0.0157039428495,0.079606987637,0.999999774449,-0.000298065088899,-0.000596801985324,-7.80115868238e-05,1793239662304010752
+250,4.166666667,POSE1_TO_POSE2_PRESS,764.01603845,745.98396155,714.01603845,680.98396155,658,632.01603845,880,782.01603845,805,651,630,653,0.450788186706,-0.0157049997862,0.0796073224434,0.999999774486,-0.000299792745721,-0.000595880041413,-7.79687823881e-05,1793239662320677632
+251,4.183333333,POSE1_TO_POSE2_PRESS,764.559287515,746,714,681,658.559287515,632,880,782,805,651,630,653,0.450787996779,-0.0157044443925,0.0796066365743,0.999999774273,-0.000299542069703,-0.000596369552823,-7.79240371217e-05,1793239662337344000
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.865760379,714,681,658.865760379,632,880,782,805,651,630,653,0.450787838626,-0.0157034972416,0.0796062663578,0.999999774221,-0.000298671893913,-0.000596890739758,-7.79440798847e-05,1793239662354010624
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.291011292,714,681,658.291011292,632,880,782,805,651,630,653,0.450787917139,-0.0157014133065,0.0796070261402,0.999999774716,-0.000295951364495,-0.000597385632566,-7.81769046912e-05,1793239662370677248
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,880,782.29100405,805,651,630,653,0.450787796705,-0.0157011383234,0.0796069567758,0.999999774444,-0.000295917215716,-0.000597858341699,-7.81720791825e-05,1793239662387343872
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658,632,880,782.880471878,805,651,630,653,0.450787472225,-0.0157027186637,0.0796060370099,0.999999773385,-0.00029863831162,-0.00059830829846,-7.79235113107e-05,1793239662404010496
+256,4.266666667,HOLD_POSE2,765,746,714,680,658,632,881,782,805,651,630,653,0.450788384858,-0.0157030109689,0.0796069167321,0.999999773636,-0.000298871406174,-0.000597741352591,-7.81574841673e-05,1793239662436154624
+257,4.283333333,HOLD_POSE2,764.423440705,745.423440705,714,680.576559295,658.576559295,632,880.423440705,782,805,651,630,653,0.450788049434,-0.0157021937519,0.0796058131151,0.999999772785,-0.00029942528796,-0.000598878587634,-7.82223599539e-05,1793239662452822528
+258,4.300000000,HOLD_POSE2,764.155565264,745,714,681,658.844434736,632,880,782,805,651,630,653,0.450788052824,-0.0157016045797,0.0796054992829,0.999999772803,-0.0002988820581,-0.000599146916358,-7.80171634734e-05,1793239662469489664
+259,4.316666667,HOLD_POSE2,764.741337501,745,714,681,658.258662499,632,880,782,805,651,630,653,0.450788993187,-0.0157016460521,0.0796073695559,0.999999775216,-0.000295304827905,-0.000597012333863,-7.70650973661e-05,1793239662486155264
+260,4.333333333,HOLD_POSE2,764.676307262,745.323692738,714,681,658,632,880,782.323692738,805,651,630,653,0.450788892566,-0.0157019638771,0.0796073022282,0.999999775271,-0.000295106507652,-0.000597060717051,-7.67344239011e-05,1793239662502821632
+261,4.350000000,HOLD_POSE2,764.096654057,745.903345943,714,681,658,632,880,782.903345943,805,651,630,653,0.450787968788,-0.0157025002283,0.0796057027402,0.999999773465,-0.000297580065189,-0.000598835283414,-7.68951175596e-05,1793239662519488256
+262,4.366666667,HOLD_POSE2,764,745.518539398,714,680.518539398,658,632,880,783,805,651,630,653,0.450788676763,-0.0157026763638,0.0796062147267,0.999999774088,-0.000296784101861,-0.000598194205164,-7.68540825772e-05,1793239662536155136
+263,4.383333333,HOLD_POSE2,764,745,714,680.058660468,658,632,880,782.941339532,804.941339532,651,630,653,0.450789624482,-0.015702582843,0.0796070477519,0.999999775143,-0.000295325998402,-0.000597155952013,-7.68248649583e-05,1793239662552822016
+264,4.400000000,HOLD_POSE2,764,745,714,680.630550398,658,632,880,782.369449602,804.369449602,651,630,653,0.450789812848,-0.0157007607267,0.0796069927958,0.999999775729,-0.00029379904882,-0.000596872096658,-7.7252228409e-05,1793239662569488384
+265,4.416666667,HOLD_POSE2,764,745,714,681,658.209704562,632,880,782,804,651,630.209704562,653,0.450790186545,-0.0156998035971,0.0796072152372,0.999999776121,-0.000293333808765,-0.000596403530901,-7.75573298992e-05,1793239662586155008
+266,4.433333333,HOLD_POSE2,764,745,714,681,658.802115747,632,880,782,804,651,630.802115747,653,0.450790898468,-0.0157004250512,0.0796079439232,0.999999776162,-0.000294806167477,-0.000595597872402,-7.76393057161e-05,1793239662602821632
+267,4.450000000,HOLD_POSE2,764,745,714,680.61371037,658.61371037,632,880,782,804.38628963,651,631,653,0.450791847704,-0.0157013913101,0.0796083614827,0.99999977643,-0.000295572584581,-0.000594822810958,-7.72198381732e-05,1793239662619488256
+268,4.466666667,HOLD_POSE2,764,745,714,680.033668046,658.033668046,632,880,782,804.966331954,651,631,653,0.450792915969,-0.0157025305141,0.0796086229894,0.999999776811,-0.000295984920121,-0.000594063096118,-7.65488598695e-05,1793239662636154880
+269,4.483333333,HOLD_POSE2,764,745,714,680.541242638,658,632,880,782,805,651,630.458757362,653,0.450790151837,-0.015701419223,0.0796071528752,0.999999775418,-0.000293738461316,-0.000597491111344,-7.67233144308e-05,1793239662652821760
+270,4.500000000,HOLD_POSE2,764.116091542,745,714,681,658,632,880,782,805,651,630,653,0.450787725647,-0.0157006510789,0.0796058808849,0.999999773979,-0.000292485469062,-0.000600470962451,-7.69986059915e-05,1793239662669488384
+271,4.516666667,HOLD_POSE2,764.691948286,745,714,681,658,632,880,782,805,651,630,653,0.450787573094,-0.0157017911356,0.0796058161252,0.999999772853,-0.000295815824396,-0.000600653941245,-7.74669287615e-05,1793239662686155264
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,745,714,681,658,633,880,782,805,651,630,653,0.450789088254,-0.0157029978616,0.0796066741305,0.999999772754,-0.000299062310923,-0.000599291541511,-7.68389695161e-05,1793239662723397376
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,745,714,681,658,632.420104277,880.579895723,782,805,651,630,653,0.45079023712,-0.015701604233,0.0796072685802,0.999999773612,-0.000298506359676,-0.000598115634396,-7.69940874497e-05,1793239662740064512
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.157576958,745,714,681,658,632,880.842423042,782,805,651,630,653,0.450790752126,-0.015700355661,0.0796074876224,0.999999774329,-0.000297521401016,-0.000597396519531,-7.70784571831e-05,1793239662756731392
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.729436252,745,714,681,658,632,880.270563748,782,805,651,630,653,0.450789600665,-0.0156994884541,0.079606719689,0.999999774675,-0.000295408547675,-0.000597878347514,-7.69768243126e-05,1793239662773397504
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,782,805,651,630,653,0.450789446051,-0.0156999078234,0.0796064130005,0.999999774877,-0.000295091884268,-0.000597711868136,-7.68638498749e-05,1793239662790063616
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,782,805,651,630,653,0.450790186606,-0.0157014825397,0.0796065205103,0.99999977495,-0.000296388201418,-0.000596963208046,-7.67406907042e-05,1793239662806730240
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880.472196522,782,805,651,630,653,0.450789792158,-0.0157020379741,0.0796058096414,0.999999774682,-0.000295811922681,-0.00059770224704,-7.67047833777e-05,1793239662823397120
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880.936997393,782,805.063002607,651,630,653,0.450789208404,-0.0157020927583,0.0796050110647,0.999999774374,-0.000294790641689,-0.000598716514776,-7.67364146168e-05,1793239662840064000
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880.381240082,782,805.618759918,651,630,653,0.450789458113,-0.0157003099826,0.0796051950225,0.999999774466,-0.000294106771505,-0.000598850271209,-7.71183878134e-05,1793239662856731136
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,782,805.813762095,651,630,653,0.450788244356,-0.0156988933749,0.0796045727256,0.999999773992,-0.00029369323922,-0.000599806145589,-7.74120846929e-05,1793239662873397760
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,782,805.220679884,651,630,653,0.450783833597,-0.0156982766761,0.079602189132,0.999999772278,-0.000293870271207,-0.000602557970173,-7.75129383038e-05,1793239662890063872
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.628399522,658,632,880,782,805.371600478,651,630,653,0.450766648864,-0.0156977580209,0.0795935436883,0.999999764463,-0.000293072109081,-0.000615719725366,-7.79205467865e-05,1793239662906730240
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.036594265,658,632,880,782,805.963405735,651,630,653,0.450741894469,-0.0156972974648,0.0795811875673,0.99999975273,-0.000291696061721,-0.0006350502468,-7.85099335151e-05,1793239662923396864
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.545021493,658,632,880.545021493,782,805.454978507,651,630,653,0.450684072994,-0.0156950623669,0.0795578835532,0.999999725438,-0.00029287429089,-0.000676009776937,-7.9743158013e-05,1793239662940063744
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.875515492,745,714,681,658,632,881,782,805,651,630.124484508,653,0.450621714107,-0.0156925117456,0.07953526308,0.999999698457,-0.000293397994225,-0.000714478455814,-8.07743668501e-05,1793239662956730368
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.301402112,745,714,681,658,632,881,782,805,651,630.698597888,653,0.45055083849,-0.0156892439304,0.0795177177988,0.999999681486,-0.000290949518877,-0.000738801288716,-8.09226361256e-05,1793239662973396992
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.27896116,745,714,680.72103884,658,632,880.72103884,782,805,651,630.72103884,653,0.450474328115,-0.0156862736548,0.0795051633905,0.999999668558,-0.000289391797977,-0.000756747111656,-8.04319447618e-05,1793239662990063872
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.866231814,745,714,680.133768186,658,632,880.133768186,782,805,651,630.133768186,653,0.450391590178,-0.0156836322219,0.0794981249251,0.999999660513,-0.000288818544338,-0.00076764502497,-7.92350704108e-05,1793239663006730752
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.448521662,658,632,880,782.448521662,805,651,630,653,0.450297952605,-0.0156781121846,0.0794998031647,0.999999663544,-0.00028492749952,-0.000765398179625,-7.67689102848e-05,1793239663023397120
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.970885836,745.029114164,714,681,658.029114164,632,880,782.970885836,805,651,630,653,0.45019952263,-0.0156717016982,0.0795040088706,0.999999669693,-0.000280157250213,-0.000759381541755,-7.39278418769e-05,1793239663040063488
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.394581622,745.605418378,714,681,658.605418378,632,880,782.394581622,805,651,630,653,0.450071446538,-0.0156645139365,0.0795073937663,0.999999673735,-0.000277255822787,-0.000755384861388,-7.10771672131e-05,1793239663056730112
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.181342978,745.818657022,714,681,658.818657022,632,880,782.181342978,804.818657022,650.818657022,630,653,0.449933396253,-0.015658327928,0.0795097319026,0.999999676946,-0.000274181621912,-0.000752566279751,-6.7645823634e-05,1793239663073396736
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764.75644323,745.24355677,714,681,658.24355677,632,880,782.75644323,804.24355677,650.24355677,630,653,0.449773688619,-0.0156543170674,0.0795097971677,0.999999678388,-0.000270732271514,-0.000752305751649,-6.29536507408e-05,1793239663090063616
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,783,804.338285711,650.338285711,630,653.338285711,0.449597650046,-0.0156474789658,0.0795086931522,0.999999679624,-0.000263995806091,-0.000753417009897,-5.8485268552e-05,1793239663106730496
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,783,804.925081193,650.925081193,630,653.925081193,0.449409614502,-0.01563856393,0.0795067301657,0.999999680642,-0.000254844576154,-0.000755536002951,-5.41812858885e-05,1793239663123397120
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,783,805,651,630,653.493790448,0.449189326706,-0.0156274637653,0.07950727172,0.999999683756,-0.000241060928008,-0.0007563250161,-4.84768133425e-05,1793239663140063744
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.086028086,632.086028086,880,783,805,651,630,653,0.448956725126,-0.0156161342221,0.0795076218229,0.999999686335,-0.000225516882806,-0.000758068429166,-4.24847856489e-05,1793239663156730368
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658.663104845,632.663104845,880,783,805,651,630,653,0.448680780806,-0.0156053209018,0.0795047867538,0.999999684923,-0.000203794536907,-0.000766370666247,-3.60214001537e-05,1793239663173396992
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764.762238474,745,714,680.762238474,659,633,880,783,805,651,630,653,0.448396573326,-0.0155942209594,0.0795057992183,0.999999689748,-0.000172194513057,-0.00076811546745,-2.91658326578e-05,1793239663190063616
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.190976394,745,714,680.190976394,659,633,880,783,805,651,630,653,0.44810077539,-0.0155827189818,0.0795122084963,0.999999702428,-0.000126739384733,-0.000760662360109,-2.17601642681e-05,1793239663206730240
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.395667926,745,714,680.395667926,658.604332074,633,880,783.395667926,805,651,630.395667926,652.604332074,0.447778948726,-0.0155712875992,0.0795133425624,0.999999706309,-0.000101127372941,-0.000759535305166,-1.61367654062e-05,1793239663223396864
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.990037066,745,714,680.990037066,658.009962934,633,880,783.990037066,805,651,630.990037066,652.009962934,0.447444050654,-0.0155598916691,0.0795118274599,0.999999706275,-8.54804142369e-05,-0.000761585142867,-1.14084080321e-05,1793239663240063488
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,633,880.569900432,784,805.569900432,651,631,652.569900432,0.447076999763,-0.0155543519485,0.0795228804319,0.999999722549,-8.13894257574e-05,-0.000740363198753,-1.18066110357e-05,1793239663256730368
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.851728482,658.148271518,633,881,784.148271518,806,651,631,653,0.44669587007,-0.0155500533172,0.0795352807647,0.999999738222,-7.80986597884e-05,-0.000719252150998,-1.15554407002e-05,1793239663273396992
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.276938824,658.723061176,633,881,784.723061176,806,651,631,653,0.446275818113,-0.0155490376171,0.0795509405749,0.999999752307,-7.65431091468e-05,-0.000699601365209,-9.18487414331e-06,1793239663290063872
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.305042044,680.305042044,659,633,881,784.694957956,805.694957956,651,631,653,0.445837311156,-0.0155496241745,0.0795661124228,0.999999764097,-7.54348722989e-05,-0.000682692894431,-6.77582570426e-06,1793239663306730496
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,714.893709301,680.893709301,659,633,881,784.106290699,805.106290699,651,631,653,0.445381644867,-0.0155517004957,0.0795808305697,0.999999773862,-7.47425434198e-05,-0.00066833420005,-4.33099690136e-06,1793239663323396864
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,714.525245924,681.474754076,659.474754076,633.474754076,881,784.949508152,805,651,631,653,0.444885521581,-0.01554854821,0.079593571176,0.999999787718,-6.96854191352e-05,-0.000647847533287,-1.39486885905e-06,1793239663340063488
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.946532819,659.946532819,634,881,785.946532819,805,651,631,653,0.444376576763,-0.0155435661934,0.0796054979431,0.999999801279,-6.25264328708e-05,-0.000627319775782,1.53278233899e-06,1793239663356730112
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.374147935,659.374147935,634,881,785.374147935,805,651,631,653,0.44382971364,-0.0155320076533,0.0796137552019,0.999999807124,-4.43024886336e-05,-0.000619498208226,3.32749466268e-06,1793239663373396992
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,880.801967945,785,804.801967945,651,631,653,0.443266715921,-0.0155202373558,0.0796216957467,0.999999813084,-2.53751605819e-05,-0.000610869176375,5.27616376877e-06,1793239663390063616
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,634,880.230174704,785,804.230174704,651,631,653,0.442673266167,-0.0155080673928,0.0796290385322,0.999999819529,-5.12028305538e-06,-0.000600716155448,7.51540729056e-06,1793239663406730240
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.35800629,634,880,785.35800629,804.35800629,651,631,653,0.442074577114,-0.0154972979684,0.079644309302,0.999999836053,1.07513851989e-05,-0.000572435136487,9.82958184457e-06,1793239663423397120
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659.95722895,634,880,785.95722895,804.95722895,651,631,653,0.441472357966,-0.015487472195,0.0796649217642,0.999999858165,2.36697474465e-05,-0.000531939890852,1.2194243095e-05,1793239663440064256
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.464040545,660,634,880.535959455,786,805,651,631,653,0.440810444097,-0.0154839665372,0.07967143382,0.999999864729,2.63919561826e-05,-0.000519288584119,1.3626124674e-05,1793239663456730624
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714.108005456,680.108005456,660,634,880.891994544,786,805,651,631,653,0.440130290347,-0.0154792690851,0.0796699969574,0.99999986462,3.31516116645e-05,-0.000519084616165,1.45932782519e-05,1793239663473396992
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.659090602,680.659090602,660,634,880.340909398,786,805,651,631,653,0.439394133062,-0.0154676895461,0.0796403968034,0.999999840668,5.96895213547e-05,-0.000561164499436,1.39480683695e-05,1793239663490063616
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764.765965357,745,715,681,660,634.234034643,880,786.234034643,805,651,631,653,0.438674642689,-0.0154580336192,0.0796411823917,0.999999841999,7.84667947034e-05,-0.000556440027693,1.4779581087e-05,1793239663506729984
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764.152321597,745,715,681,660,634.847678403,880,786.847678403,805,651,631,653,0.437982186284,-0.0154514978299,0.0796912542887,0.999999883063,8.46561566348e-05,-0.000475797913063,1.80063688168e-05,1793239663523396864
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764.435789,745,715,681,660.435789,635,880.435789,787,804.564211,651,631.435789,653,0.437283526712,-0.0154374798818,0.0797640919915,0.999999925591,0.000108185460643,-0.000369613566358,2.23649859199e-05,1793239663540063744
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880.984671987,787,804.015328013,651,631.984671987,653,0.436580751288,-0.0154209169679,0.0798428074978,0.999999957164,0.000137259969107,-0.000257102893326,2.70081516186e-05,1793239663556730368
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880.410271548,787,804.589728452,651,631.410271548,653,0.435802558661,-0.0154016377962,0.079861738045,0.999999962314,0.000159762646791,-0.000221454725431,2.83991658258e-05,1793239663573396992
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787,805,651.16450379,631.16450379,653,0.435002629121,-0.0153872966059,0.0798676575584,0.999999962285,0.000177465730967,-0.000207599534225,2.89495473714e-05,1793239663590063616
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787,805,651.740216224,631.740216224,653,0.434148364063,-0.0153852988444,0.0798410535066,0.999999952042,0.000183171313459,-0.000248220053753,2.73986070009e-05,1793239663606730240
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.324547241,745,715,680.675452759,661,635,880,787,805,652,631.675452759,653,0.433261539159,-0.0153869114299,0.0798082520086,0.999999935564,0.000185309046882,-0.000306389187933,2.56506850564e-05,1793239663623397120
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.915965168,745,715,680.084034832,661,635,880,787,805,652,631.084034832,653,0.432347940787,-0.0153914927538,0.0797703544382,0.99999991088,0.000184512986732,-0.000378988301181,2.37407878981e-05,1793239663640063744
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.502543714,745,715,680.497456286,661,635,880,787,804.502543714,652,631.497456286,653,0.431420053176,-0.015385500697,0.079732915069,0.999999880812,0.000196378533904,-0.000446394809757,2.33016591866e-05,1793239663656730368
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787,804.076533495,652,632,653,0.430509405986,-0.015379191451,0.0797091239655,0.999999858377,0.000209053461695,-0.000488847416945,2.38853194788e-05,1793239663673396992
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,681,661,635,880,787,804.650606079,652,632,653,0.429726223407,-0.0153822046536,0.079773565984,0.999999906615,0.000213357227736,-0.000374667303648,2.95344705131e-05,1793239663690063872
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.225300098,745,715,681,661,635,880,787,805,651.774699902,631.774699902,653,0.428914104244,-0.0153846145763,0.0798283696359,0.999999935296,0.000217531835644,-0.000284343990624,3.51660410621e-05,1793239663706730496
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.800960589,745,715,681,661,635,880,787,805,651.199039411,631.199039411,653,0.428056986166,-0.0153860863491,0.0798681848359,0.999999947928,0.000221505595642,-0.00023111997401,4.07702737897e-05,1793239663723397120
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.614265885,661,635,880,787,805,651,631.385734115,653,0.427146877039,-0.0153835199453,0.0798528070258,0.999999941526,0.000228378887715,-0.000251394815767,3.98875411081e-05,1793239663740063744
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.024676272,661,635,880,787,805,651,631.975323728,653,0.426208762877,-0.0153788194172,0.0798082604201,0.999999923125,0.000236784544365,-0.000310512857791,3.55765305594e-05,1793239663756730368
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.444362395,745,715,680,661,635.555637605,880,787,805,651,631.444362395,653,0.425271066869,-0.0153778741389,0.0797732958352,0.999999905861,0.000234757962038,-0.000363338051667,3.39457327292e-05,1793239663773396736
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.133008714,661,635.866991286,880,787.133008714,805,651.133008714,631,653,0.424337360482,-0.0153763750423,0.0797430129569,0.999999886611,0.000234993044473,-0.000412892936025,3.27968091307e-05,1793239663790063616
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.702060797,661,635.297939203,880,787.702060797,805,651.702060797,631,653,0.423416673472,-0.0153725226027,0.0797267059922,0.999999867223,0.000244136470868,-0.000452627886935,3.28438071406e-05,1793239663806730240
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.283336256,745,715,680.716663744,661,635.283336256,880,788,805,651.716663744,631,653,0.422544048016,-0.0153702260271,0.0797397974801,0.999999876965,0.000247666105905,-0.000428461690908,3.39437556223e-05,1793239663823396864
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.878044542,745,715,680.121955458,661,635.878044542,880,788,805,651.121955458,631,653,0.421724239809,-0.0153696392663,0.0797851963624,0.999999913524,0.000245026469959,-0.000334071403337,3.62008425484e-05,1793239663840063488
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.539067,745,715,680,661.460933,635.539067,880,788,804.539067,651.460933,631.460933,653,0.420919637133,-0.0153723397814,0.079841261337,0.999999942009,0.000241791388593,-0.000236305610215,4.09614327391e-05,1793239663856730368
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.959518451,635,880,788,804,651.959518451,631.959518451,653,0.42011320999,-0.01537551331,0.0798940682521,0.999999959454,0.000238733182154,-0.000148315297736,4.58368114196e-05,1793239663873396992
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661.383814752,635,880,788,804,651.383814752,631.383814752,653,0.419230800102,-0.0153737288011,0.0798674201632,0.999999950018,0.000240044420977,-0.000201083350293,4.36911421187e-05,1793239663890063360
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.808358202,635,880,787.808358202,804,651,631,653,0.418353381442,-0.015373103605,0.0798386092456,0.999999938452,0.000238848488999,-0.000253747525617,4.07285550493e-05,1793239663906729984
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.233395894,635,880,787.233395894,804,651,631,653,0.417485946038,-0.0153747972575,0.0798054722492,0.999999925407,0.000232637733413,-0.000306203936485,3.61319748316e-05,1793239663923396608
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.351379631,635,880,787,804,651,631,653,0.416645606133,-0.01537212022,0.0798009836533,0.999999920415,0.000233913814428,-0.000321228207777,3.55971296587e-05,1793239663940063232
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.942860594,635,880,787,804,651,631,653,0.415823780914,-0.0153664566447,0.0798160708075,0.999999922151,0.000240305728893,-0.000310674708637,3.78377103215e-05,1793239663956729856
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.478888976,661,635,880,787.521111024,804,651.521111024,631.521111024,653,0.415023646795,-0.015362523279,0.0797992656312,0.999999912264,0.000248174642607,-0.000335441376555,3.68834484185e-05,1793239663973396736
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879.902327246,787.902327246,804,652,631.902327246,653,0.414239608849,-0.015359971346,0.0797846956155,0.999999904481,0.000253585520853,-0.000354183173903,3.58655884942e-05,1793239663990063616
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879.32710472,787.32710472,804,652,631.32710472,653,0.413522928879,-0.0153632690201,0.0797977282572,0.999999916223,0.00024620614562,-0.000325001166486,3.62071451845e-05,1793239664006730496
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.745517338,715,679.254482662,660.745517338,635,879.254482662,787.254482662,804,651.745517338,631.254482662,653,0.412816096704,-0.0153649700948,0.0798098116357,0.999999924337,0.000243599022123,-0.000301045067062,3.68317006615e-05,1793239664023397376
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,744.155538931,715,679.844461069,660.155538931,635,879.844461069,787.844461069,804,651.155538931,631.844461069,653,0.412122247369,-0.0153645663017,0.0798206435575,0.999999928388,0.000247283369871,-0.000283978515764,3.78293459514e-05,1793239664040063744
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,744.426990986,715,679.573009014,660,635,879.573009014,787.573009014,804,651,631.573009014,653,0.411395772448,-0.0153618096739,0.0798096092577,0.999999920577,0.000251196421626,-0.00030715630788,3.74400618402e-05,1793239664056730112
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879,787,804,651,631,653,0.410658863788,-0.0153582563702,0.0797910347449,0.999999907543,0.000255150957605,-0.000344202041119,3.6567071324e-05,1793239664073396736
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635,879,787,804,651,631,653,0.410026203698,-0.0153585228201,0.07979656853,0.999999910155,0.000255728338848,-0.000336068534182,3.67679211505e-05,1793239664090063360
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.156691106,635,879,787.156691106,804,651,631,653,0.409412405476,-0.0153586001874,0.0798083367375,0.999999916235,0.000256236176786,-0.000316945994298,3.76724317376e-05,1793239664106729984
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.7291215,635,879,787.7291215,804,651,631,653,0.408848652204,-0.0153581758725,0.0798366463723,0.99999993018,0.000256559499352,-0.000268666897742,4.04439240063e-05,1793239664123396608
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.3015133,879.3015133,788,804,651.3015133,631,653,0.408280982754,-0.0153561977706,0.0798467820765,0.999999932521,0.000261455787128,-0.000254695369802,4.1579394428e-05,1793239664140063488
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635.873870395,879.873870395,788,804,651.873870395,631,653,0.407709795509,-0.0153528239307,0.0798405924746,0.999999925708,0.000270459884901,-0.000271541696577,4.12452567055e-05,1793239664156730368
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,744.534437715,715,679,660.534437715,635.534437715,879.534437715,788,804,651.534437715,631.465562285,653,0.407132450482,-0.0153510348209,0.0798087996379,0.999999909834,0.0002690010911,-0.000326371257686,3.81132420561e-05,1793239664173396736
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,744.060574545,715,679,660.060574545,635,879,788,804,651,631.939425455,653,0.40656579205,-0.0153500919613,0.0797742326449,0.999999890676,0.00026509383324,-0.000383633450225,3.46159790289e-05,1793239664190063616
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,744.637311153,715,679,660.637311153,635,879,788,804,651,631.362688847,653,0.406105026532,-0.0153525431772,0.0797776935812,0.999999895643,0.000265523417484,-0.000370139642177,3.47452385774e-05,1793239664206730240
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,744.788583759,715,679,660.788583759,635,879,787.788583759,804.211416241,651,631.211416241,653,0.405664519648,-0.015354364714,0.0797867468074,0.999999903227,0.000265747325094,-0.000348831099295,3.52426017736e-05,1793239664223396608
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,744.218937654,715,679,660.218937654,635,879,787.218937654,804.781062346,651,631.781062346,653,0.405258339634,-0.015355119304,0.0798052757726,0.999999914675,0.000265622728003,-0.000314281042243,3.63636905275e-05,1793239664240063232
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764.649412249,744.350587751,715,679,660.350587751,635,879,787,804.649412249,651.350587751,631.649412249,653,0.404869164703,-0.0153531005328,0.0798174316397,0.999999919916,0.000266661716278,-0.000296119931857,3.70569406075e-05,1793239664256729856
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.079962137,744.920037863,715,679,660.920037863,635,879,787,804.079962137,651.920037863,631.079962137,653,0.40449060554,-0.015349350428,0.0798256089574,0.999999921744,0.000268427099236,-0.000288189990153,3.74831028118e-05,1793239664273396480
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.520468131,745,715,679,661,635.520468131,879,787,804,651.479531869,631,653,0.404119724986,-0.0153430857869,0.0798312760831,0.999999918159,0.000283002015025,-0.000286421747773,3.94358638204e-05,1793239664290063360
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.880590421,635.880590421,879,787.119409579,804.119409579,651.119409579,631,653,0.403762512375,-0.0153367748449,0.0798358985209,0.999999914602,0.000295808932581,-0.000285720734056,4.07029563945e-05,1793239664306730240
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.306583775,635.306583775,879,787.693416225,804.693416225,651.693416225,631,653,0.403452558635,-0.0153318514552,0.0798381049135,0.999999915384,0.000293918596177,-0.000285250660144,3.84102702557e-05,1793239664323396864
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.724138125,660,635.275861875,879.275861875,787.724138125,804.724138125,652,631,653,0.40316457601,-0.0153281139441,0.079839796957,0.999999915371,0.000294448471587,-0.000284869062269,3.75207189413e-05,1793239664340063488
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.132017715,660,635.867982285,879.867982285,787.132017715,804.132017715,652,631,653,0.402901781924,-0.0153257359696,0.0798408993312,0.999999914445,0.000297752969878,-0.00028458889671,3.82397748325e-05,1793239664356730112
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.450495433,660,635.549504567,879.549504567,787.450495433,804.450495433,651.549504567,631.450495433,653,0.40265947855,-0.0153262942813,0.0798398077532,0.999999913323,0.000297509491991,-0.0002888130392,3.77953309767e-05,1793239664373396992
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,744.970066602,715,678.970066602,660,635,879,788,804.970066602,651.029933398,632,653,0.402425190857,-0.0153285325656,0.0798381634964,0.999999912473,0.000295463499472,-0.000293905578343,3.70782948542e-05,1793239664390063360
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,744.39641492,715,678.39641492,660,635,879,788,804.39641492,651.60358508,632,653,0.402229706717,-0.0153459827205,0.079837914875,0.999999917904,0.000279167813129,-0.000291295945072,3.74738536204e-05,1793239664406730240
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765,744,715,678,660.177795905,635,879,788,804,651.822204095,632,653,0.402047834702,-0.0153599944651,0.079839196754,0.999999923021,0.000264891464611,-0.00028692742326,3.8252966765e-05,1793239664423397120
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744,715,678,660.753257255,635,879,788,804,651.246742745,632,653,0.401896408138,-0.015366315721,0.0798439018118,0.999999927842,0.000255131650294,-0.000278624901326,3.98899529646e-05,1793239664440064000
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.338837735,715,678,661,635.338837735,879,787.661162265,804,651.338837735,632,653,0.401761025727,-0.0153657120307,0.0798487498195,0.999999929659,0.000255886126173,-0.000271124605109,4.11882942724e-05,1793239664456730368
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,744.932013898,715,678,661,635.932013898,879,787.067986102,804,651.932013898,632,653,0.401637686364,-0.0153599103371,0.0798537051286,0.999999929212,0.000264532839002,-0.000264226474797,4.22324420757e-05,1793239664473396736
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,744.490685036,715,678.509314964,661,635.490685036,879.509314964,787,804,651.490685036,631.490685036,653,0.401535999957,-0.0153597182099,0.0798585550994,0.999999933268,0.000257567353538,-0.000256017972773,3.97264373674e-05,1793239664490063360
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,744,715,678.916265529,660.916265529,635,879.916265529,787,804,651.083734471,631.083734471,653,0.401438360165,-0.0153599476453,0.0798618933171,0.999999936352,0.000251585160356,-0.000250312285891,3.66644084106e-05,1793239664506729984
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,744,715,678.346641872,660.346641872,635,879.346641872,787,804,651.653358128,631.653358128,653,0.401347936792,-0.0153584095763,0.0798565383564,0.99999993103,0.000263036121702,-0.0002601140842,3.30426732783e-05,1793239664523396608
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,744.232513674,715,678.232513674,660,635.232513674,879,787.232513674,804,652,631.767486326,653,0.401268754022,-0.0153568992521,0.0798522513157,0.99999992732,0.000270622006205,-0.000266727422917,3.12936126711e-05,1793239664540063488
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,744.826487218,715,678.826487218,660,635.826487218,879,787.826487218,804,652,631.173512782,653,0.401207045616,-0.0153554320592,0.0798496244367,0.999999926412,0.000272199339486,-0.000268384062559,3.24557646983e-05,1793239664556730112
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.589055755,660.410944245,635.589055755,879,787.589055755,804,652,631,653,0.401157159954,-0.0153545064081,0.0798480702228,0.999999925902,0.00027176470683,-0.000270635825113,3.30973851777e-05,1793239664573396736
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.008525951,660.991474049,635.008525951,879,787.008525951,804,652,631,653,0.401112153219,-0.0153538042368,0.0798469586689,0.999999925552,0.000270499790289,-0.000273133178731,3.35241963581e-05,1793239664590063872
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.567258253,660.432741747,635.567258253,879,787.567258253,804,652,631,653,0.401082079324,-0.0153517790526,0.0798472827523,0.999999924904,0.000273586593371,-0.000272405610153,3.37309031754e-05,1793239664606730496
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765,744.856932588,715,678.856932588,660.143067412,635.856932588,879,788,804,651.856932588,631,653,0.401054251223,-0.0153502060052,0.079847049846,0.999999924145,0.000276197864547,-0.000272538279651,3.38746659705e-05,1793239664623396864
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744.280833899,715,678.280833899,660.719166101,635.280833899,879,788,804,651.280833899,631,653,0.401032546918,-0.0153500611575,0.0798450662941,0.999999923087,0.000277173483862,-0.000275420179694,3.3837842077e-05,1793239664640063232
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.301817439,744,715,678.301817439,660.698182561,635.301817439,879,788,804,651.301817439,631,653,0.401016426849,-0.0153517950832,0.0798440257197,0.999999923372,0.000274397539239,-0.000277139661239,3.39901464076e-05,1793239664656730112
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.890701238,744,715,678.890701238,660.109298762,635.890701238,879,788,804,651.890701238,631,653,0.401005618088,-0.015355315959,0.0798438820353,0.999999924911,0.000268053385393,-0.000277753536866,3.43223354704e-05,1793239664673396736
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.526854672,744.473145328,715,679,660.473145328,635.526854672,879,787.526854672,804.473145328,651.526854672,631,653,0.401001945183,-0.0153551544827,0.0798448368104,0.999999925514,0.000268628389838,-0.000275025357742,3.42303492067e-05,1793239664690063616
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764.946634571,745,715,678.946634571,661,635,879,787.053365429,804.946634571,651,631,653,0.400999890024,-0.0153541211083,0.0798460496062,0.999999925771,0.000270992458595,-0.000271769008038,3.40873497654e-05,1793239664706730496
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764.373776986,745,715,678.373776986,661,635,879,787.626223014,804.373776986,651,631,653,0.40099775178,-0.0153527696062,0.0798473371514,0.999999924818,0.000275421912401,-0.0002707856215,3.43888091638e-05,1793239664723397120
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764.199721681,745,715,678.199721681,661,635,879,787.800278319,804,651.199721681,631,653,0.400995193708,-0.0153519369391,0.079847767801,0.99999992421,0.000277666631962,-0.000270713571607,3.45642535061e-05,1793239664740063488
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764.774423957,745,715,678.774423957,661,635,879,787.225576043,804,651.774423957,631,653,0.400991847404,-0.0153520783929,0.0798465896158,0.999999924281,0.000275809478376,-0.000272352570656,3.4503102583e-05,1793239664756730112
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879,787,804,652,631.360284064,653,0.400992661107,-0.0153527636496,0.0798477646335,0.999999925242,0.000274481638718,-0.000270159142269,3.44913496665e-05,1793239664773396736
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879,787,804,652,631.953353401,653,0.400996162658,-0.015353800266,0.0798504600931,0.999999926762,0.000273495797291,-0.000265489521397,3.45115135909e-05,1793239664790063360
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764.466457585,744.466457585,715,679,660.466457585,635.533542415,879,787.533542415,804,651.466457585,631.466457585,653,0.400992944606,-0.015354818341,0.0798486466021,0.999999925888,0.000273682761449,-0.000268600193313,3.42978428827e-05,1793239664806729984
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764.111291498,744,715,678.888708502,660,635.888708502,879,787.888708502,804,651,631.111291498,653,0.40099011345,-0.0153558148885,0.0798471107727,0.999999925255,0.000273461824114,-0.000271190441896,3.41218781579e-05,1793239664823396608
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764.683489364,744,715,678.316510636,660,635.316510636,879,787.316510636,804,651,631.683489364,653,0.400991260268,-0.0153567288365,0.079848318968,0.999999926511,0.000271136952788,-0.000268874724618,3.41847408685e-05,1793239664840063232
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.264002009,715,678.264002009,660.264002009,635.264002009,879,787,804,651,631.735997991,653,0.400992046064,-0.0153569667952,0.0798493031676,0.999999927202,0.000270096537049,-0.000267346764483,3.4195392e-05,1793239664856730112
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,744.854807451,715,678.854807451,660.854807451,635.854807451,879,787,804,651,631.145192549,653,0.400992384958,-0.0153563679588,0.079850010087,0.999999927203,0.000270646125926,-0.000266793954719,3.41414113473e-05,1793239664873396992
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.563429903,661,636,879,787.436570097,803.563429903,651,631,653,0.400991906687,-0.0153554651718,0.0798501077856,0.999999926962,0.000271642641378,-0.000266707693819,3.39744770825e-05,1793239664890063872
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.015318845,745,715,678,661,636,879,788,803,651,631,653,0.400991196234,-0.0153544628224,0.0798500204237,0.999999926645,0.000272795916801,-0.000266742833643,3.37794161934e-05,1793239664906730240
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.591596571,745,715,678,661,636,879,788,803,651,631,653,0.400991733514,-0.015353441161,0.0798504252129,0.999999926503,0.000274357106716,-0.000265656948114,3.39020847916e-05,1793239664923396864
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.828940748,744.828940748,714.828940748,678.171059252,660.828940748,636,879,788,803.171059252,651,631,653,0.400992097291,-0.0153529036109,0.0798506724301,0.999999926487,0.000275200633207,-0.000264838621097,3.39376517726e-05,1793239664940063488
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.241729767,744.241729767,714.241729767,678.758270233,660.241729767,636,879,788,803.758270233,651,631,653,0.400992038972,-0.0153535438034,0.0798505363074,0.999999926785,0.000274298233139,-0.000264671208593,3.37613185524e-05,1793239664956730112
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,744,714.341019743,679,660,635.658980257,879,788,804,651.341019743,631.341019743,653,0.400992104117,-0.0153547158411,0.0798501782847,0.999999927391,0.000272065179754,-0.000264705572788,3.35936318716e-05,1793239664973396736
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765,744,714.920647582,679,660,635.079352418,879,788,804,651.920647582,631.920647582,653,0.400992255649,-0.0153562600054,0.0798496650008,0.999999928206,0.000268901081616,-0.000264881118124,3.3431995095e-05,1793239664990063104
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.496938903,744.496938903,715,679,660.496938903,635.496938903,879,788,804,651.503061097,632,653,0.400991567556,-0.0153558966666,0.0798493437499,0.999999927646,0.000270109872801,-0.000265738333893,3.36536877336e-05,1793239665006730240
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.927343325,745,715,679,661,636,878.927343325,788,804.072656675,651.072656675,631.927343325,653,0.40099071311,-0.0153553536018,0.0798490758306,0.999999926983,0.000271628175364,-0.000266656382649,3.38582212978e-05,1793239665023396864
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.351932498,745,715,679,661,636,878.351932498,788,804.648067502,651.648067502,631.351932498,653,0.400989629118,-0.0153556605204,0.0798489661744,0.999999927146,0.000270488627651,-0.000267247190926,3.35232912118e-05,1793239665040063232
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.770645204,660.770645204,635.770645204,878.229354796,788,804.770645204,652,631,653,0.400989396001,-0.0153553984109,0.0798489343577,0.999999927152,0.000270520898647,-0.000267211779086,3.33380253415e-05,1793239665056729856
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.18010359,660.18010359,635.18010359,878.81989641,788,804.18010359,652,631,653,0.400990502841,-0.0153542401986,0.0798490251221,0.999999926914,0.000272398543885,-0.000266190198935,3.33884499001e-05,1793239665073396480
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,744.597241839,715,678,660.402758161,635.402758161,879,788,804,652,631.402758161,653,0.400989691793,-0.0153541340618,0.0798487883206,0.999999926547,0.000273183658443,-0.000266747000957,3.35043207265e-05,1793239665090063360
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765,744.017750111,715,678,660.982249889,635.982249889,879,788,804,652,631.982249889,653,0.400988039161,-0.0153544895845,0.0798484077806,0.999999926125,0.000273489361508,-0.000267996410022,3.36489099065e-05,1793239665106729984
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,744.556008035,715,678.556008035,661,636,879,788,803.443991965,651.443991965,631.443991965,653,0.400989711943,-0.0153555530809,0.0798499025191,0.999999927254,0.000271462318114,-0.000265829479344,3.36801790018e-05,1793239665123396608
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,744.870258954,715,678.870258954,660.870258954,636,879,788,803.129741046,651.129741046,631.129741046,653,0.400990855815,-0.0153563835827,0.079850917709,0.99999992808,0.000269859823339,-0.000264344894792,3.37370517438e-05,1793239665140063232
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,744.295991351,715,678.295991351,660.295991351,636,879,788,803.704008649,651.704008649,631.704008649,653,0.400989827481,-0.0153563391366,0.079850086815,0.999999927722,0.000269964495508,-0.000265568072821,3.3893917742e-05,1793239665156730112
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b8a54c24653a7d2cc57a0732559813e53664661
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/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,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+1,0.016666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+2,0.033333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+3,0.050000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+4,0.066666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+5,0.083333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+6,0.100000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+7,0.116666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+8,0.133333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+9,0.150000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+10,0.166666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+11,0.183333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+12,0.200000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+13,0.216666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+14,0.233333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+15,0.250000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+16,0.266666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+17,0.283333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+18,0.300000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+19,0.316666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+20,0.333333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+21,0.350000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+22,0.366666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+23,0.383333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+24,0.400000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+25,0.416666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+26,0.433333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+27,0.450000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+28,0.466666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+29,0.483333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+30,0.500000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+31,0.516666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+32,0.533333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+33,0.550000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+34,0.566666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+35,0.583333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+36,0.600000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+37,0.616666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+38,0.633333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+39,0.650000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+40,0.666666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+41,0.683333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+42,0.700000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+43,0.716666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+44,0.733333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+45,0.750000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+46,0.766666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+47,0.783333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+48,0.800000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+49,0.816666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+50,0.833333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+51,0.850000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+52,0.866666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+53,0.883333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+54,0.900000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+55,0.916666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+56,0.933333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+57,0.950000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+58,0.966666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+59,0.983333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+60,1.000000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+61,1.016666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+62,1.033333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+63,1.050000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+64,1.066666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+65,1.083333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+66,1.100000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+67,1.116666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+68,1.133333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+69,1.150000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+70,1.166666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+71,1.183333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+72,1.200000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+73,1.216666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+74,1.233333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+75,1.250000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+76,1.266666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+77,1.283333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+78,1.300000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+79,1.316666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+80,1.333333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+81,1.350000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+82,1.366666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+83,1.383333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+84,1.400000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+85,1.416666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+86,1.433333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+87,1.450000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+88,1.466666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+89,1.483333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+90,1.500000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+91,1.516666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+92,1.533333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+93,1.550000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+94,1.566666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+95,1.583333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+96,1.600000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+97,1.616666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+98,1.633333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+99,1.650000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+100,1.666666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+101,1.683333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+102,1.700000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+103,1.716666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+104,1.733333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+105,1.750000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+106,1.766666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+107,1.783333333,pose1_to_pose2_press,0.575664368694,-0.00990913397856,1.07003234166,0.546234817928,-0.00123740242574,1.06970047216
+108,1.800000000,pose1_to_pose2_press,0.575664604846,-0.00990923543733,1.07003219245,0.546235056557,-0.00123749524997,1.06970032875
+109,1.816666667,pose1_to_pose2_press,0.575665044368,-0.00990917439744,1.07003223767,0.546235496026,-0.00123743459875,1.06970036856
+110,1.833333333,pose1_to_pose2_press,0.575665406878,-0.00990914644555,1.0700323149,0.546235857952,-0.0012374087101,1.06970044371
+111,1.850000000,pose1_to_pose2_press,0.575665475526,-0.00990914115233,1.07003232953,0.546235926489,-0.00123740380759,1.06970045794
+112,1.866666667,pose1_to_pose2_press,0.575665598006,-0.00990913170834,1.07003235562,0.546236048771,-0.00123739506071,1.06970048332
+113,1.883333333,pose1_to_pose2_press,0.575665859286,-0.00990911156192,1.07003241128,0.54623630963,-0.00123737640138,1.06970053748
+114,1.900000000,pose1_to_pose2_press,0.575667560251,-0.00990916188819,1.07003247097,0.546238010834,-0.00123742580119,1.06970060017
+115,1.916666667,pose1_to_pose2_press,0.57567251361,-0.00990926562092,1.07003226601,0.546242965305,-0.00123752547678,1.0697004028
+116,1.933333333,pose1_to_pose2_press,0.575683974843,-0.0099092414888,1.07003237622,0.546254427174,-0.00123749925204,1.069700511
+117,1.950000000,pose1_to_pose2_press,0.575704034451,-0.00990910770654,1.07003232839,0.546274484553,-0.00123737309308,1.06970046167
+118,1.966666667,pose1_to_pose2_press,0.575735270816,-0.00990930606592,1.07003232111,0.546305722711,-0.0012375653752,1.06970045409
+119,1.983333333,pose1_to_pose2_press,0.575777387943,-0.00990919434542,1.07003228726,0.546347838578,-0.00123745810398,1.06970041567
+120,2.000000000,pose1_to_pose2_press,0.575829545935,-0.00990919298815,1.07003229401,0.546399996375,-0.00123745758675,1.06970041773
+121,2.016666667,pose1_to_pose2_press,0.575889957763,-0.00990922102114,1.0700323067,0.54646040887,-0.00123748306122,1.06970043799
+122,2.033333333,pose1_to_pose2_press,0.575958347352,-0.00990937040687,1.07003219527,0.546528801151,-0.00123762293733,1.06970033628
+123,2.050000000,pose1_to_pose2_press,0.57603543478,-0.00990930888287,1.07003217562,0.546605888974,-0.00123756005476,1.06970031697
+124,2.066666667,pose1_to_pose2_press,0.576122038712,-0.00990926525349,1.07003231942,0.546692490629,-0.00123752468303,1.06970044693
+125,2.083333333,pose1_to_pose2_press,0.576221489841,-0.00990928295653,1.07003227925,0.546791941165,-0.00123754437434,1.06970040741
+126,2.100000000,pose1_to_pose2_press,0.576333544782,-0.00990930411756,1.07003214144,0.546903997389,-0.00123756089581,1.06970027695
+127,2.116666667,pose1_to_pose2_press,0.576459157226,-0.00990923040433,1.07003220123,0.547029608516,-0.00123749168259,1.06970033591
+128,2.133333333,pose1_to_pose2_press,0.576596573668,-0.00990915222748,1.07003228873,0.547167022969,-0.00123742029503,1.06970042239
+129,2.150000000,pose1_to_pose2_press,0.576746060404,-0.00990917773126,1.07003224882,0.547316510709,-0.00123744221715,1.0697003869
+130,2.166666667,pose1_to_pose2_press,0.576911173517,-0.0099091674019,1.07003243043,0.547481623742,-0.00123743229472,1.06970056496
+131,2.183333333,pose1_to_pose2_press,0.577093026683,-0.00990917695322,1.0700323264,0.547663478182,-0.00123743744134,1.06970046298
+132,2.200000000,pose1_to_pose2_press,0.577295694863,-0.00990921284203,1.0700324584,0.547866147411,-0.0012374700065,1.06970058874
+133,2.216666667,pose1_to_pose2_press,0.577519700614,-0.00990920536679,1.07003216504,0.548090151541,-0.00123746802151,1.06970029568
+134,2.233333333,pose1_to_pose2_press,0.577767094842,-0.00990917637771,1.07003237538,0.548337545507,-0.00123743986486,1.06970050742
+135,2.250000000,pose1_to_pose2_press,0.578034490891,-0.00990922015039,1.07003240232,0.548604941929,-0.00123748261616,1.06970052793
+136,2.266666667,pose1_to_pose2_press,0.578321245478,-0.00990922657407,1.07003220059,0.548891697157,-0.00123748678558,1.06970032815
+137,2.283333333,pose1_to_pose2_press,0.578631191268,-0.00990921554843,1.07003208153,0.549201642546,-0.0012374768498,1.06970021609
+138,2.300000000,pose1_to_pose2_press,0.578962407623,-0.00990923343178,1.07003215532,0.549532858716,-0.00123749542258,1.0697002883
+139,2.316666667,pose1_to_pose2_press,0.579312986932,-0.00990921456498,1.07003233938,0.549883438644,-0.00123747460234,1.06970046832
+140,2.333333333,pose1_to_pose2_press,0.579683677855,-0.009909175099,1.07003237729,0.550254129782,-0.00123743431562,1.06970050852
+141,2.350000000,pose1_to_pose2_press,0.58007740709,-0.00990923832226,1.07003226902,0.550647859068,-0.00123749749494,1.06970039685
+142,2.366666667,pose1_to_pose2_press,0.580486611994,-0.00990935102769,1.07003238842,0.551057065111,-0.00123760666881,1.0697005075
+143,2.383333333,pose1_to_pose2_press,0.580911808329,-0.0099093454163,1.07003232825,0.551482262632,-0.00123759631804,1.06970046595
+144,2.400000000,pose1_to_pose2_press,0.581361851143,-0.00990919875455,1.07003247455,0.55193230267,-0.00123745946205,1.06970060214
+145,2.416666667,pose1_to_pose2_press,0.581836094768,-0.0099091216832,1.07003234481,0.55240654315,-0.00123739299618,1.06970047415
+146,2.433333333,pose1_to_pose2_press,0.582336880813,-0.00990934195113,1.07003255907,0.552907334234,-0.00123759614935,1.06970068867
+147,2.450000000,pose1_to_pose2_press,0.582865567297,-0.00990928303971,1.07003231457,0.553436019377,-0.00123754120315,1.06970045943
+148,2.466666667,pose1_to_pose2_press,0.58342235593,-0.00990922359832,1.07003245387,0.553992807977,-0.00123748257746,1.06970058028
+149,2.483333333,pose1_to_pose2_press,0.583995411377,-0.00990924383678,1.07003229803,0.554565863222,-0.00123750341337,1.06970042671
+150,2.500000000,pose1_to_pose2_press,0.584581612129,-0.00990925937042,1.07003212479,0.555152063762,-0.00123751943294,1.06970025952
+151,2.516666667,pose1_to_pose2_press,0.585178334793,-0.0099091888959,1.07003222813,0.555748786191,-0.00123744970201,1.06970036431
+152,2.533333333,pose1_to_pose2_press,0.585786862896,-0.00990923235244,1.07003234275,0.556357314933,-0.00123749118067,1.06970047381
+153,2.550000000,pose1_to_pose2_press,0.586410456035,-0.00990924586653,1.07003228732,0.556980908409,-0.00123750356243,1.06970041804
+154,2.566666667,pose1_to_pose2_press,0.587056727439,-0.0099091855257,1.07003215376,0.557627179488,-0.00123744410913,1.06970029006
+155,2.583333333,pose1_to_pose2_press,0.587726475247,-0.00990924474383,1.07003215989,0.558296928016,-0.00123750099166,1.0697002934
+156,2.600000000,pose1_to_pose2_press,0.588409580397,-0.00990922824445,1.07003238728,0.5589800333,-0.00123748426659,1.06970051475
+157,2.616666667,pose1_to_pose2_press,0.589107863509,-0.00990918878448,1.07003244646,0.559678313344,-0.0012374551238,1.06970057639
+158,2.633333333,pose1_to_pose2_press,0.589830997727,-0.00990929871892,1.07003233831,0.560401449783,-0.00123755736321,1.06970047236
+159,2.650000000,pose1_to_pose2_press,0.590566812241,-0.00990927792219,1.0700324445,0.561137265099,-0.00123753382818,1.06970057899
+160,2.666666667,pose1_to_pose2_press,0.591308749066,-0.00990932383587,1.07003222112,0.56187920267,-0.00123757720068,1.06970035589
+161,2.683333333,pose1_to_pose2_press,0.592063198095,-0.00990925947395,1.07003233941,0.562633650431,-0.00123751738796,1.06970046776
+162,2.700000000,pose1_to_pose2_press,0.592825636816,-0.00990923494351,1.07003223692,0.563396087753,-0.00123749748615,1.06970036838
+163,2.716666667,pose1_to_pose2_press,0.593590523827,-0.00990929719584,1.07003222299,0.56416097554,-0.00123755713646,1.06970035361
+164,2.733333333,pose1_to_pose2_press,0.594361597624,-0.00990934640313,1.07003200769,0.564932050534,-0.00123760188691,1.06970014861
+165,2.750000000,pose1_to_pose2_press,0.595140375918,-0.00990920723728,1.07003217207,0.565710827569,-0.00123746704144,1.06970031182
+166,2.766666667,pose1_to_pose2_press,0.595920636875,-0.00990920961103,1.07003223969,0.566491088974,-0.00123746793211,1.06970037847
+167,2.783333333,pose1_to_pose2_press,0.596698390315,-0.00990927098518,1.07003233069,0.567268842818,-0.00123752815379,1.06970046384
+168,2.800000000,pose1_to_pose2_press,0.597477116202,-0.00990924126324,1.07003236846,0.568047567727,-0.00123750190642,1.06970049759
+169,2.816666667,pose1_to_pose2_press,0.598257116421,-0.00990920419951,1.07003224027,0.568827567483,-0.00123746622919,1.06970037425
+170,2.833333333,pose1_to_pose2_press,0.599034925965,-0.00990921416301,1.07003235842,0.569605377014,-0.00123747627399,1.06970049145
+171,2.850000000,pose1_to_pose2_press,0.599822021114,-0.00990924205656,1.07003240281,0.570392472489,-0.00123750302336,1.06970053682
+172,2.866666667,pose1_to_pose2_press,0.600626821236,-0.00990919211262,1.07003221538,0.571197274151,-0.00123744765145,1.0697003548
+173,2.883333333,pose1_to_pose2_press,0.60143212335,-0.00990934190464,1.07003242306,0.572002575879,-0.0012375988502,1.06970055999
+174,2.900000000,pose1_to_pose2_press,0.602235852094,-0.00990941163126,1.07003224012,0.572806305527,-0.00123766593506,1.06970036607
+175,2.916666667,pose1_to_pose2_press,0.60302478649,-0.00990918369511,1.07003223293,0.573595238585,-0.00123744243686,1.0697003615
+176,2.933333333,pose1_to_pose2_press,0.603794415074,-0.00990920470026,1.0700322359,0.57436486618,-0.00123746682165,1.06970036399
+177,2.950000000,pose1_to_pose2_press,0.604541941378,-0.00990928592289,1.07003219847,0.575112393434,-0.00123754452502,1.06970033433
+178,2.966666667,pose1_to_pose2_press,0.60527270566,-0.00990924450145,1.0700322917,0.575843157194,-0.00123750493808,1.069700426
+179,2.983333333,pose1_to_pose2_press,0.605989837183,-0.00990926514405,1.07003232765,0.576560288753,-0.00123752551792,1.06970046052
+180,3.000000000,pose1_to_pose2_press,0.606714569722,-0.00990925784355,1.07003231358,0.577285021332,-0.00123751793489,1.06970045031
+181,3.016666667,pose1_to_pose2_press,0.607442742563,-0.00990920543457,1.07003231151,0.578013193255,-0.00123746860162,1.06970044945
+182,3.033333333,pose1_to_pose2_press,0.608158525288,-0.00990915815425,1.07003225711,0.578728976169,-0.00123742073265,1.06970039372
+183,3.050000000,pose1_to_pose2_press,0.608856545659,-0.00990923142877,1.07003232726,0.579426999078,-0.00123748566902,1.06970045672
+184,3.066666667,pose1_to_pose2_press,0.609530304315,-0.00990927610291,1.07003244531,0.580100758309,-0.00123752851428,1.06970057164
+185,3.083333333,pose1_to_pose2_press,0.610167847719,-0.0099091469021,1.07003227251,0.580738298824,-0.00123740859963,1.0697004125
+186,3.100000000,pose1_to_pose2_press,0.610766907396,-0.00990923769404,1.07003218851,0.581337358094,-0.00123750081619,1.06970032744
+187,3.116666667,pose1_to_pose2_press,0.61134078581,-0.00990923032167,1.07003223097,0.581911236789,-0.00123749289391,1.06970035939
+188,3.133333333,pose1_to_pose2_press,0.6118975733,-0.00990912468824,1.07003232311,0.582468023177,-0.00123739095166,1.06970045288
+189,3.150000000,pose1_to_pose2_press,0.612452409667,-0.00990915550286,1.07003242004,0.58302286178,-0.00123741402516,1.06970055431
+190,3.166666667,pose1_to_pose2_press,0.613009537268,-0.00990907375469,1.07003245477,0.583579987507,-0.00123733866486,1.06970058739
+191,3.183333333,pose1_to_pose2_press,0.613568068367,-0.00990912179632,1.07003236713,0.584138518438,-0.00123738700026,1.06970050307
+192,3.200000000,pose1_to_pose2_press,0.614112122311,-0.00990911350837,1.07003237765,0.584682573592,-0.00123737427936,1.06970051581
+193,3.216666667,pose1_to_pose2_press,0.61463487536,-0.0099091859559,1.07003226561,0.585205327843,-0.00123744233147,1.06970040441
+194,3.233333333,pose1_to_pose2_press,0.615120764451,-0.00990928916359,1.07003214372,0.585691217531,-0.00123754344164,1.06970027626
+195,3.250000000,pose1_to_pose2_press,0.615574711949,-0.00990917545069,1.07003224868,0.586145163379,-0.00123743529168,1.06970037391
+196,3.266666667,pose1_to_pose2_press,0.615999534398,-0.00990919123514,1.07003221383,0.586569984767,-0.00123745382684,1.06970035331
+197,3.283333333,pose1_to_pose2_press,0.616409465381,-0.00990925629714,1.07003230981,0.586979916317,-0.00123751674921,1.0697004476
+198,3.300000000,pose1_to_pose2_press,0.616807787699,-0.00990919526132,1.07003219195,0.587378239235,-0.00123745335826,1.06970033048
+199,3.316666667,pose1_to_pose2_press,0.617187950778,-0.00990924490004,1.07003230908,0.587758401674,-0.00123750489326,1.06970044623
+200,3.333333333,pose1_to_pose2_press,0.617548351099,-0.00990908648982,1.07003242813,0.588118801041,-0.00123734942649,1.06970056398
+201,3.350000000,pose1_to_pose2_press,0.617883616168,-0.00990914147597,1.07003213672,0.588454065133,-0.00123740728263,1.06970027984
+202,3.366666667,pose1_to_pose2_press,0.618191989443,-0.0099091806574,1.07003206202,0.588762438752,-0.00123744513043,1.06970020166
+203,3.383333333,pose1_to_pose2_press,0.618471292975,-0.00990921383692,1.07003221423,0.589041744083,-0.0012374721379,1.06970034799
+204,3.400000000,pose1_to_pose2_press,0.618734882758,-0.00990923831722,1.07003238776,0.589305334601,-0.00123749408434,1.06970051918
+205,3.416666667,pose1_to_pose2_press,0.618985296514,-0.00990923746585,1.07003246279,0.589555747755,-0.00123749525295,1.06970059346
+206,3.433333333,pose1_to_pose2_press,0.619222683951,-0.00990922169302,1.07003247786,0.589793136146,-0.00123747613475,1.06970060546
+207,3.450000000,pose1_to_pose2_press,0.619446468677,-0.00990915125651,1.07003244016,0.590016919439,-0.00123741031317,1.06970056805
+208,3.466666667,pose1_to_pose2_press,0.619653257115,-0.00990939853463,1.07003207275,0.59022370919,-0.00123765217679,1.0697002116
+209,3.483333333,pose1_to_pose2_press,0.619840179168,-0.00990925039707,1.07003233137,0.590410628554,-0.00123751368731,1.06970045922
+210,3.500000000,pose1_to_pose2_press,0.620005324197,-0.00990925530681,1.07003212068,0.590575774953,-0.00123751351358,1.06970025609
+211,3.516666667,pose1_to_pose2_press,0.620154306785,-0.00990919564594,1.07003217848,0.590724756284,-0.00123745797479,1.06970031371
+212,3.533333333,pose1_to_pose2_press,0.620288484384,-0.00990916919987,1.07003218317,0.590858933838,-0.0012374313514,1.0697003231
+213,3.550000000,pose1_to_pose2_press,0.620408578988,-0.00990923867381,1.07003226437,0.590979029077,-0.00123749869182,1.06970040109
+214,3.566666667,pose1_to_pose2_press,0.620516026865,-0.00990923591755,1.0700323979,0.59108647749,-0.00123749422493,1.06970053032
+215,3.583333333,pose1_to_pose2_press,0.620611245325,-0.00990918972066,1.07003234896,0.591181695394,-0.00123744974312,1.0697004835
+216,3.600000000,pose1_to_pose2_press,0.620693615623,-0.00990924063993,1.07003228534,0.591264065531,-0.00123750111564,1.06970042178
+217,3.616666667,pose1_to_pose2_press,0.620762943702,-0.00990932734179,1.07003243033,0.591333395318,-0.0012375822132,1.0697005619
+218,3.633333333,pose1_to_pose2_press,0.620821950239,-0.009909313182,1.07003237754,0.591392401614,-0.00123756866122,1.06970050319
+219,3.650000000,pose1_to_pose2_press,0.620871012551,-0.00990904888879,1.07003245057,0.591441460132,-0.00123731640919,1.06970058259
+220,3.666666667,pose1_to_pose2_press,0.620910542482,-0.00990916363818,1.07003246612,0.591480991237,-0.00123742814208,1.0697005942
+221,3.683333333,pose1_to_pose2_press,0.620942989562,-0.00990912435714,1.07003206897,0.591513437942,-0.00123738931623,1.06970020814
+222,3.700000000,pose1_to_pose2_press,0.620969117151,-0.00990916330471,1.07003193723,0.591539566384,-0.00123742540551,1.06970007847
+223,3.716666667,pose1_to_pose2_press,0.620990649578,-0.00990925142825,1.07003211951,0.591561099612,-0.00123751110505,1.0697002546
+224,3.733333333,pose1_to_pose2_press,0.621007708211,-0.00990923509097,1.07003233775,0.591578157263,-0.00123749805843,1.06970046868
+225,3.750000000,pose1_to_pose2_press,0.621020360457,-0.00990907225397,1.07003230046,0.591590807489,-0.00123734195553,1.06970043547
+226,3.766666667,pose1_to_pose2_press,0.621029237572,-0.00990914953786,1.07003221353,0.591599686756,-0.00123741207968,1.0697003468
+227,3.783333333,pose1_to_pose2_press,0.621034707473,-0.00990920630591,1.07003237248,0.591605157068,-0.00123746755274,1.06970050354
+228,3.800000000,pose1_to_pose2_press,0.621037926789,-0.00990922331157,1.07003244656,0.591608376284,-0.0012374849422,1.06970057671
+229,3.816666667,pose1_to_pose2_press,0.621039281891,-0.00990919882243,1.07003240959,0.591609730852,-0.00123746225583,1.06970054027
+230,3.833333333,pose1_to_pose2_press,0.621040292066,-0.00990918056673,1.07003238202,0.591610740629,-0.00123744534403,1.0697005131
+231,3.850000000,pose1_to_pose2_press,0.621041071223,-0.00990916648595,1.07003236077,0.591611519479,-0.00123743229981,1.06970049214
+232,3.866666667,pose1_to_pose2_press,0.621041728521,-0.00990915460738,1.07003234283,0.591612176518,-0.00123742129569,1.06970047446
+233,3.883333333,pose1_to_pose2_press,0.621042226443,-0.00990915634786,1.07003233426,0.591612674553,-0.00123742262332,1.06970046695
+234,3.900000000,pose1_to_pose2_press,0.621042590509,-0.00990916141604,1.07003232976,0.59161303881,-0.00123742700959,1.06970046355
+235,3.916666667,pose1_to_pose2_press,0.621042844838,-0.00990916495658,1.07003232662,0.591613293274,-0.00123743007376,1.06970046117
+236,3.933333333,pose1_to_pose2_press,0.62104304132,-0.00990916769182,1.0700323242,0.59161348986,-0.00123743244099,1.06970045933
+237,3.950000000,pose1_to_pose2_press,0.621043069343,-0.00990916808193,1.07003232385,0.591613517897,-0.0012374327786,1.06970045907
+238,3.966666667,pose1_to_pose2_press,0.621043117041,-0.00990916874594,1.07003232326,0.59161356562,-0.00123743335327,1.06970045862
+239,3.983333333,pose1_to_pose2_press,0.621043204547,-0.00990916996412,1.07003232218,0.591613653173,-0.00123743440755,1.0697004578
+240,4.000000000,pose1_to_pose2_press,0.62104321556,-0.00990917011743,1.07003232205,0.591613664192,-0.00123743454024,1.0697004577
+241,4.016666667,pose1_to_pose2_press,0.62104341436,-0.00990917288494,1.07003231959,0.591613863096,-0.00123743693539,1.06970045584
+242,4.033333333,pose1_to_pose2_press,0.621043671678,-0.00990917646708,1.07003231641,0.591614120549,-0.00123744003556,1.06970045343
+243,4.050000000,pose1_to_pose2_press,0.621044287921,-0.00990918504585,1.0700323088,0.591614737118,-0.00123744746009,1.06970044767
+244,4.066666667,pose1_to_pose2_press,0.621044521844,-0.00990917590935,1.07003234272,0.591614970919,-0.00123743874313,1.06970048159
+245,4.083333333,pose1_to_pose2_press,0.62104466442,-0.00990916684509,1.07003237377,0.591615113352,-0.00123743017649,1.06970051244
+246,4.100000000,pose1_to_pose2_press,0.621044961959,-0.00990914792915,1.07003243857,0.591615410592,-0.00123741229903,1.06970057684
+247,4.116666667,pose1_to_pose2_press,0.621045133176,-0.00990913704411,1.07003247586,0.591615581637,-0.00123740201159,1.0697006139
+248,4.133333333,pose1_to_pose2_press,0.621045212728,-0.00990913198663,1.07003249318,0.591615661109,-0.00123739723176,1.06970063112
+249,4.150000000,pose1_to_pose2_press,0.6210454392,-0.00990911830911,1.07003254231,0.591615887362,-0.00123738432234,1.06970067983
+250,4.166666667,pose1_to_pose2_press,0.621045685654,-0.00990915969542,1.07003258038,0.591616134181,-0.00123742479888,1.069700709
+251,4.183333333,pose1_to_pose2_press,0.62104588103,-0.00990919250445,1.07003261056,0.591616329848,-0.00123745688668,1.06970073213
+252,4.200000000,pose1_to_pose2_press,0.621045909553,-0.00990919692169,1.07003253924,0.591616358552,-0.00123746049244,1.06970066562
+253,4.216666667,pose1_to_pose2_press,0.62104593183,-0.0099092003406,1.07003247723,0.591616380982,-0.00123746321865,1.06970060785
+254,4.233333333,pose1_to_pose2_press,0.621045941907,-0.0099092018872,1.07003244917,0.591616391129,-0.00123746445217,1.06970058171
+255,4.250000000,pose1_to_pose2_press,0.621045941907,-0.0099092018872,1.07003244917,0.59161639113,-0.00123746445268,1.06970058172
+256,4.266666667,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391133,-0.00123746445313,1.06970058172
+257,4.283333333,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391133,-0.00123746445312,1.06970058172
+258,4.300000000,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391133,-0.00123746445312,1.06970058172
+259,4.316666667,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391133,-0.00123746445312,1.06970058172
+260,4.333333333,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391133,-0.00123746445311,1.06970058172
+261,4.350000000,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391134,-0.00123746445311,1.06970058172
+262,4.366666667,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391134,-0.00123746445309,1.06970058172
+263,4.383333333,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391134,-0.00123746445339,1.06970058172
+264,4.400000000,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391134,-0.00123746445335,1.06970058172
+265,4.416666667,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391134,-0.00123746445332,1.06970058172
+266,4.433333333,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391134,-0.0012374644533,1.06970058172
+267,4.450000000,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391134,-0.00123746445327,1.06970058172
+268,4.466666667,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391134,-0.00123746445323,1.06970058172
+269,4.483333333,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391134,-0.00123746445321,1.06970058172
+270,4.500000000,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391134,-0.00123746445324,1.06970058172
+271,4.516666667,pose2_hold,0.621045941907,-0.0099092018872,1.07003244917,0.591616391134,-0.00123746445318,1.06970058172
+272,4.533333333,pose2_to_pose3_retreat,0.621045941907,-0.0099092018872,1.07003244917,0.591616391135,-0.00123746445336,1.06970058172
+273,4.550000000,pose2_to_pose3_retreat,0.621045932645,-0.00990921537912,1.07003244194,0.59161638189,-0.00123747784362,1.06970057561
+274,4.566666667,pose2_to_pose3_retreat,0.621045926177,-0.00990922480002,1.07003243689,0.591616375434,-0.00123748719353,1.06970057135
+275,4.583333333,pose2_to_pose3_retreat,0.621045892738,-0.00990924101363,1.07003242763,0.591616342004,-0.00123750331876,1.06970056355
+276,4.600000000,pose2_to_pose3_retreat,0.621045863159,-0.00990923258713,1.07003243125,0.591616312396,-0.00123749500931,1.06970056663
+277,4.616666667,pose2_to_pose3_retreat,0.62104576054,-0.00990920335278,1.07003244379,0.591616209677,-0.00123746618102,1.06970057731
+278,4.633333333,pose2_to_pose3_retreat,0.621045751064,-0.00990920065319,1.07003244495,0.591616200192,-0.00123746351893,1.06970057829
+279,4.650000000,pose2_to_pose3_retreat,0.621045671181,-0.009909177896,1.07003245472,0.591616120231,-0.00123744107784,1.06970058661
+280,4.666666667,pose2_to_pose3_retreat,0.62104495192,-0.00990920871017,1.07003252578,0.59161540182,-0.00123746900113,1.06970065778
+281,4.683333333,pose2_to_pose3_retreat,0.62104184385,-0.00990930000857,1.07003231899,0.591612294397,-0.00123755798808,1.06970045455
+282,4.700000000,pose2_to_pose3_retreat,0.621034591467,-0.00990922960823,1.07003236748,0.591605041309,-0.00123749016563,1.06970050017
+283,4.716666667,pose2_to_pose3_retreat,0.62101718641,-0.0099091777272,1.07003232962,0.591587635283,-0.0012374416695,1.06970046239
+284,4.733333333,pose2_to_pose3_retreat,0.62098866448,-0.00990922369837,1.07003234753,0.591559114772,-0.00123748293019,1.06970047772
+285,4.750000000,pose2_to_pose3_retreat,0.620948087822,-0.00990927529725,1.07003233767,0.591518538434,-0.0012375335032,1.06970046974
+286,4.766666667,pose2_to_pose3_retreat,0.620896447435,-0.0099092544845,1.0700323441,0.591466899509,-0.00123750776801,1.06970047881
+287,4.783333333,pose2_to_pose3_retreat,0.620834356594,-0.0099092818075,1.07003249788,0.591404807043,-0.00123754092233,1.06970062123
+288,4.800000000,pose2_to_pose3_retreat,0.620765358985,-0.00990920151869,1.07003246648,0.591335808138,-0.00123746497541,1.06970059681
+289,4.816666667,pose2_to_pose3_retreat,0.620689674963,-0.00990910620419,1.07003246061,0.591260124948,-0.00123736651126,1.06970059287
+290,4.833333333,pose2_to_pose3_retreat,0.620603623786,-0.00990916455239,1.07003246008,0.591174071756,-0.00123743206385,1.06970058588
+291,4.850000000,pose2_to_pose3_retreat,0.620506180099,-0.00990935121252,1.07003225441,0.591076632733,-0.00123760306277,1.06970037916
+292,4.866666667,pose2_to_pose3_retreat,0.620394595298,-0.0099092332756,1.07003244635,0.590965046483,-0.00123749000758,1.06970057425
+293,4.883333333,pose2_to_pose3_retreat,0.620268139825,-0.00990928698661,1.07003237549,0.590838591247,-0.00123754292627,1.06970050617
+294,4.900000000,pose2_to_pose3_retreat,0.62012524847,-0.00990932436246,1.07003245493,0.59069569848,-0.00123758551741,1.06970057736
+295,4.916666667,pose2_to_pose3_retreat,0.619965421739,-0.00990924964006,1.07003241916,0.5905358713,-0.00123751236628,1.069700544
+296,4.933333333,pose2_to_pose3_retreat,0.619788326418,-0.0099090964495,1.07003239304,0.590358775211,-0.00123736169897,1.06970052477
+297,4.950000000,pose2_to_pose3_retreat,0.619590021311,-0.00990909261529,1.07003234902,0.59016047033,-0.0012373570354,1.06970048671
+298,4.966666667,pose2_to_pose3_retreat,0.61937190826,-0.00990922283751,1.07003217864,0.589942359188,-0.00123748082391,1.06970031977
+299,4.983333333,pose2_to_pose3_retreat,0.619134107066,-0.00990906432858,1.07003225219,0.589704555387,-0.00123733192862,1.06970038128
+300,5.000000000,pose2_to_pose3_retreat,0.618877698196,-0.00990904509925,1.07003228015,0.589448145891,-0.00123731459751,1.06970041677
+301,5.016666667,pose2_to_pose3_retreat,0.61860269847,-0.00990914610831,1.07003198213,0.5891731464,-0.00123741506592,1.0697001152
+302,5.033333333,pose2_to_pose3_retreat,0.618310814265,-0.00990938981239,1.07003215864,0.588881267457,-0.00123764119684,1.06970029565
+303,5.050000000,pose2_to_pose3_retreat,0.618001239658,-0.00990926761905,1.07003225488,0.588571691228,-0.00123752471756,1.06970039705
+304,5.066666667,pose2_to_pose3_retreat,0.617668894872,-0.00990922535991,1.07003234838,0.588239346581,-0.00123748264913,1.0697004779
+305,5.083333333,pose2_to_pose3_retreat,0.617315241104,-0.00990924485022,1.07003231357,0.587885692669,-0.00123750293671,1.06970043949
+306,5.100000000,pose2_to_pose3_retreat,0.616939476983,-0.00990926653664,1.07003220977,0.58750992841,-0.00123752501274,1.06970034545
+307,5.116666667,pose2_to_pose3_retreat,0.616540051653,-0.00990926330146,1.07003220602,0.587110503951,-0.00123751891365,1.06970034824
+308,5.133333333,pose2_to_pose3_retreat,0.616117357431,-0.00990918393441,1.07003227242,0.586687808176,-0.00123744506798,1.06970041548
+309,5.150000000,pose2_to_pose3_retreat,0.615671358171,-0.00990925730047,1.07003219776,0.586241810021,-0.00123751532258,1.06970033337
+310,5.166666667,pose2_to_pose3_retreat,0.615202748237,-0.00990935063379,1.07003196914,0.585773200343,-0.00123760800972,1.06970010734
+311,5.183333333,pose2_to_pose3_retreat,0.614708804901,-0.00990925075869,1.07003215054,0.585279257506,-0.00123750682643,1.06970028812
+312,5.200000000,pose2_to_pose3_retreat,0.614196068356,-0.00990929191912,1.07003239559,0.584766521062,-0.00123754816441,1.06970052614
+313,5.216666667,pose2_to_pose3_retreat,0.61366632718,-0.00990921157679,1.07003216534,0.58423677869,-0.00123747200086,1.06970029898
+314,5.233333333,pose2_to_pose3_retreat,0.613115529959,-0.009909196645,1.07003207377,0.583685980804,-0.00123745933164,1.06970021156
+315,5.250000000,pose2_to_pose3_retreat,0.612543257187,-0.00990931713024,1.07003220011,0.583113709458,-0.00123757508104,1.0697003367
+316,5.266666667,pose2_to_pose3_retreat,0.611944902607,-0.00990938613673,1.07003220596,0.582515356306,-0.00123763935464,1.06970034002
+317,5.283333333,pose2_to_pose3_retreat,0.611324492938,-0.00990930339893,1.07003226325,0.581894945089,-0.00123756195248,1.06970039554
+318,5.300000000,pose2_to_pose3_retreat,0.610687519172,-0.00990929122151,1.07003251564,0.581257972476,-0.00123754604601,1.06970064176
+319,5.316666667,pose2_to_pose3_retreat,0.610043743061,-0.00990919894059,1.07003283269,0.58061419506,-0.00123745831959,1.06970095704
+320,5.333333333,pose2_to_pose3_retreat,0.609395878228,-0.00990915550386,1.07003244122,0.579966329635,-0.0012374168141,1.06970056766
+321,5.350000000,pose2_to_pose3_retreat,0.608740269927,-0.00990919984771,1.07003229339,0.579310721164,-0.00123746185896,1.06970041685
+322,5.366666667,pose2_to_pose3_retreat,0.608069952967,-0.00990926005347,1.0700322189,0.578640405136,-0.00123751857278,1.06970035038
+323,5.383333333,pose2_to_pose3_retreat,0.607370077292,-0.0099092164957,1.07003226688,0.577940528906,-0.00123747686701,1.06970039826
+324,5.400000000,pose2_to_pose3_retreat,0.606635836885,-0.00990914510993,1.07003236606,0.577206287421,-0.00123740935047,1.06970049116
+325,5.416666667,pose2_to_pose3_retreat,0.60586308361,-0.0099091984603,1.07003233604,0.576433535347,-0.00123745832297,1.06970046962
+326,5.433333333,pose2_to_pose3_retreat,0.605062888376,-0.00990918349572,1.0700322998,0.575633339249,-0.00123744632632,1.06970043422
+327,5.450000000,pose2_to_pose3_retreat,0.604242416731,-0.00990914780595,1.07003223995,0.574812867247,-0.00123741169102,1.06970037694
+328,5.466666667,pose2_to_pose3_retreat,0.603435101157,-0.00990913733929,1.07003246564,0.574005552111,-0.00123740044318,1.0697005841
+329,5.483333333,pose2_to_pose3_retreat,0.602641287068,-0.00990929337457,1.07003210383,0.573211740814,-0.00123754635264,1.06970023932
+330,5.500000000,pose2_to_pose3_retreat,0.601857774483,-0.00990917893708,1.07003248235,0.572428225768,-0.00123744078902,1.06970060413
+331,5.516666667,pose2_to_pose3_retreat,0.601077541567,-0.0099092517118,1.07003222414,0.571647994753,-0.00123750716474,1.06970034454
+332,5.533333333,pose2_to_pose3_retreat,0.600292307983,-0.00990919507434,1.07003220734,0.570862759916,-0.00123745461874,1.06970033333
+333,5.550000000,pose2_to_pose3_retreat,0.599478765256,-0.00990908646669,1.07003229448,0.570049214903,-0.00123735356659,1.06970042428
+334,5.566666667,pose2_to_pose3_retreat,0.598643008121,-0.00990915929049,1.07003228041,0.569213458304,-0.00123742448188,1.06970041101
+335,5.583333333,pose2_to_pose3_retreat,0.597795680953,-0.00990926928189,1.07003223594,0.568366132633,-0.00123752947774,1.06970036414
+336,5.600000000,pose2_to_pose3_retreat,0.59695520111,-0.00990920559999,1.07003227926,0.567525651852,-0.00123746897598,1.06970040756
+337,5.616666667,pose2_to_pose3_retreat,0.596136304105,-0.00990908476285,1.07003236451,0.566706752742,-0.00123735503046,1.06970049923
+338,5.633333333,pose2_to_pose3_retreat,0.59534171805,-0.00990907721818,1.0700324179,0.565912166429,-0.00123734830803,1.069700554
+339,5.650000000,pose2_to_pose3_retreat,0.594570463159,-0.00990925364139,1.07003236217,0.56514091455,-0.00123751497506,1.06970048604
+340,5.666666667,pose2_to_pose3_retreat,0.59380609354,-0.0099092937214,1.07003222341,0.564376545137,-0.00123755411174,1.06970035365
+341,5.683333333,pose2_to_pose3_retreat,0.593041056927,-0.0099093800401,1.07003234144,0.563611509841,-0.00123763614056,1.06970046693
+342,5.700000000,pose2_to_pose3_retreat,0.592267209107,-0.00990912951628,1.07003243154,0.562837659426,-0.00123739417388,1.06970056351
+343,5.716666667,pose2_to_pose3_retreat,0.591486837716,-0.00990913820562,1.07003236702,0.562057288839,-0.00123740001553,1.06970050206
+344,5.733333333,pose2_to_pose3_retreat,0.590703621071,-0.00990927095948,1.07003225256,0.561274074523,-0.00123752484992,1.06970038808
+345,5.750000000,pose2_to_pose3_retreat,0.589935477806,-0.00990927233487,1.0700322114,0.56050593033,-0.00123752945558,1.06970034465
+346,5.766666667,pose2_to_pose3_retreat,0.58918442255,-0.00990922148199,1.07003213702,0.559754873629,-0.00123748340494,1.06970027298
+347,5.783333333,pose2_to_pose3_retreat,0.588460981221,-0.00990926523906,1.0700321637,0.559031432976,-0.00123752485678,1.06970029983
+348,5.800000000,pose2_to_pose3_retreat,0.587762010486,-0.00990934478154,1.07003242073,0.558332462622,-0.00123760347126,1.06970054738
+349,5.816666667,pose2_to_pose3_retreat,0.58708631066,-0.0099092926712,1.07003255051,0.557656761498,-0.00123755578359,1.06970067658
+350,5.833333333,pose2_to_pose3_retreat,0.586424102331,-0.00990905196069,1.0700323263,0.556994552336,-0.00123731748529,1.06970046319
+351,5.850000000,pose2_to_pose3_retreat,0.585770675685,-0.00990914418363,1.07003246208,0.556341126641,-0.00123740677964,1.06970059116
+352,5.866666667,pose2_to_pose3_retreat,0.585132448726,-0.00990922289149,1.07003223897,0.555702899775,-0.00123748509154,1.06970037188
+353,5.883333333,pose2_to_pose3_retreat,0.584511396409,-0.00990926205083,1.07003230592,0.555081850333,-0.00123751445682,1.06970044003
+354,5.900000000,pose2_to_pose3_retreat,0.583914106404,-0.00990929843925,1.0700323559,0.554484558277,-0.00123755796346,1.06970048493
+355,5.916666667,pose2_to_pose3_retreat,0.583345722668,-0.0099092352896,1.07003240102,0.553916173648,-0.00123749758694,1.0697005361
+356,5.933333333,pose2_to_pose3_retreat,0.582807710255,-0.00990921445287,1.07003245102,0.553378162154,-0.00123747370183,1.06970058422
+357,5.950000000,pose2_to_pose3_retreat,0.582279934995,-0.00990926685748,1.07003242974,0.55285038749,-0.00123752431305,1.06970055706
+358,5.966666667,pose2_to_pose3_retreat,0.581760752451,-0.00990924915091,1.07003230008,0.552331203782,-0.00123751035131,1.06970043262
+359,5.983333333,pose2_to_pose3_retreat,0.581260376631,-0.00990913837442,1.07003226591,0.551830826225,-0.00123740537714,1.06970040082
+360,6.000000000,pose2_to_pose3_retreat,0.580783386954,-0.00990919267434,1.07003248321,0.551353837236,-0.00123745788184,1.06970060431
+361,6.016666667,pose2_to_pose3_retreat,0.580336452517,-0.0099092697283,1.07003238234,0.550906904683,-0.00123752839595,1.06970050721
+362,6.033333333,pose2_to_pose3_retreat,0.579924054223,-0.00990920837318,1.07003246125,0.550494503512,-0.00123747660259,1.06970059196
+363,6.050000000,pose2_to_pose3_retreat,0.579545962466,-0.00990923335294,1.07003236256,0.550116412993,-0.00123749755166,1.06970048892
+364,6.066666667,pose2_to_pose3_retreat,0.579184330248,-0.0099092570948,1.07003223057,0.549754783486,-0.00123751173823,1.06970036581
+365,6.083333333,pose2_to_pose3_retreat,0.578837915043,-0.00990919162692,1.07003225892,0.549408366599,-0.00123745183361,1.06970039767
+366,6.100000000,pose2_to_pose3_retreat,0.578509178892,-0.0099092446302,1.07003237713,0.549079629766,-0.00123750726182,1.0697005132
+367,6.116666667,pose2_to_pose3_retreat,0.578198964894,-0.00990927565094,1.07003233453,0.548769416389,-0.00123753624339,1.06970046893
+368,6.133333333,pose2_to_pose3_retreat,0.577909933501,-0.00990920849384,1.07003220763,0.548480384744,-0.00123746992106,1.0697003424
+369,6.150000000,pose2_to_pose3_retreat,0.577644479156,-0.00990914273262,1.07003221257,0.548214929433,-0.00123740746444,1.06970034671
+370,6.166666667,pose2_to_pose3_retreat,0.577401441874,-0.00990904563259,1.07003217377,0.547971891106,-0.00123731384708,1.06970030963
+371,6.183333333,pose2_to_pose3_retreat,0.577179314245,-0.00990922972129,1.07003207837,0.547749766381,-0.00123748788307,1.06970021939
+372,6.200000000,pose2_to_pose3_retreat,0.576976614803,-0.00990909311206,1.07003233602,0.547547064565,-0.00123735977865,1.06970046531
+373,6.216666667,pose2_to_pose3_retreat,0.576794320295,-0.00990921771259,1.0700322502,0.547364773887,-0.00123747144372,1.06970037787
+374,6.233333333,pose2_to_pose3_retreat,0.576631521499,-0.00990906034597,1.07003239669,0.547201971555,-0.00123732587864,1.06970052972
+375,6.250000000,pose2_to_pose3_retreat,0.576488989497,-0.00990917161816,1.07003237255,0.547059440578,-0.00123743361182,1.06970050725
+376,6.266666667,pose2_to_pose3_retreat,0.576363587213,-0.00990921875326,1.0700322662,0.546934039143,-0.00123747783562,1.06970040171
+377,6.283333333,pose2_to_pose3_retreat,0.576253528808,-0.00990919110355,1.07003219702,0.546823980649,-0.00123745044322,1.06970033371
+378,6.300000000,pose2_to_pose3_retreat,0.576154629526,-0.00990919602558,1.0700322019,0.546725081403,-0.00123745522991,1.06970033895
+379,6.316666667,pose2_to_pose3_retreat,0.576066202134,-0.00990899254435,1.07003221329,0.546636650279,-0.0012372645271,1.06970034819
+380,6.333333333,pose2_to_pose3_retreat,0.575988756018,-0.00990921625827,1.07003221059,0.546559207861,-0.00123747570484,1.06970034502
+381,6.350000000,pose2_to_pose3_retreat,0.575921006887,-0.00990931625486,1.07003240754,0.546491459828,-0.00123757209318,1.06970053873
+382,6.366666667,pose2_to_pose3_retreat,0.57586286751,-0.00990932105114,1.07003239833,0.54643332113,-0.00123757480433,1.06970052375
+383,6.383333333,pose2_to_pose3_retreat,0.575815643299,-0.00990920046291,1.07003234506,0.546386095659,-0.00123745826147,1.06970047645
+384,6.400000000,pose2_to_pose3_retreat,0.575777766135,-0.00990913606116,1.07003231695,0.546348217042,-0.00123739856114,1.06970045437
+385,6.416666667,pose2_to_pose3_retreat,0.575747178185,-0.00990917018207,1.07003235981,0.546317628677,-0.00123743419625,1.06970049449
+386,6.433333333,pose2_to_pose3_retreat,0.57572266441,-0.00990920704967,1.0700324505,0.546293115453,-0.00123746941257,1.06970057953
+387,6.450000000,pose2_to_pose3_retreat,0.57570422808,-0.00990923908034,1.07003233763,0.546274680781,-0.0012374957123,1.06970046944
+388,6.466666667,pose2_to_pose3_retreat,0.575690749576,-0.00990928728096,1.07003220286,0.546261200592,-0.00123754937328,1.06970034154
+389,6.483333333,pose2_to_pose3_retreat,0.575681846424,-0.00990931680362,1.07003236997,0.546252298155,-0.00123757661456,1.06970050497
+390,6.500000000,pose2_to_pose3_retreat,0.575676227224,-0.00990931989109,1.07003243103,0.546246679458,-0.00123757819342,1.06970056079
+391,6.516666667,pose2_to_pose3_retreat,0.575672839568,-0.00990930785306,1.07003239374,0.546243291912,-0.00123756595429,1.06970051873
+392,6.533333333,pose2_to_pose3_retreat,0.575670705499,-0.00990926078217,1.0700324033,0.546241157432,-0.00123752032771,1.06970052685
+393,6.550000000,pose2_to_pose3_retreat,0.575669327335,-0.00990919126507,1.07003244222,0.546239778529,-0.00123745329967,1.06970056638
+394,6.566666667,pose2_to_pose3_retreat,0.57566877403,-0.00990916335538,1.07003245784,0.546239224927,-0.00123742638929,1.06970058225
+395,6.583333333,pose2_to_pose3_retreat,0.575668060435,-0.00990912736033,1.070032478,0.546238510949,-0.00123739168304,1.06970060272
+396,6.600000000,pose2_to_pose3_retreat,0.575667333348,-0.00990912004833,1.07003249428,0.546237783744,-0.00123738478605,1.06970061862
+397,6.616666667,pose2_to_pose3_retreat,0.575667255596,-0.00990912633669,1.070032495,0.546237706045,-0.00123739090253,1.06970061913
+398,6.633333333,pose2_to_pose3_retreat,0.575667174148,-0.00990913292394,1.07003249575,0.546237624653,-0.00123739730972,1.06970061966
+399,6.650000000,pose2_to_pose3_retreat,0.575666673881,-0.00990917338397,1.07003250037,0.546237124727,-0.00123743666382,1.06970062292
+400,6.666666667,pose2_to_pose3_retreat,0.575666536434,-0.00990918450032,1.07003250163,0.546236987372,-0.00123744747632,1.06970062382
+401,6.683333333,pose2_to_pose3_retreat,0.575666393044,-0.00990919609719,1.07003250296,0.546236844081,-0.0012374587562,1.06970062476
+402,6.700000000,pose2_to_pose3_retreat,0.575666330374,-0.00990920116576,1.07003250354,0.546236781454,-0.00123746368623,1.06970062516
+403,6.716666667,pose2_to_pose3_retreat,0.57566632359,-0.00990920171442,1.0700325036,0.546236774674,-0.00123746421988,1.06970062521
+404,6.733333333,pose2_to_pose3_retreat,0.575666277773,-0.00990920542,1.07003250402,0.546236728888,-0.00123746782418,1.06970062551
+405,6.750000000,pose2_to_pose3_retreat,0.575666251628,-0.00990920753453,1.07003250426,0.546236702761,-0.0012374698809,1.06970062568
+406,6.766666667,pose2_to_pose3_retreat,0.575666111333,-0.0099092188811,1.07003250556,0.546236562562,-0.00123748091734,1.06970062659
+407,6.783333333,pose2_to_pose3_retreat,0.575666089356,-0.00990922065855,1.07003250576,0.5462365406,-0.0012374826462,1.06970062674
+408,6.800000000,pose2_to_pose3_retreat,0.575665906054,-0.00990923548345,1.07003250745,0.546236357423,-0.00123749706587,1.06970062793
+409,6.816666667,pose2_to_pose3_retreat,0.575665586926,-0.00990926129354,1.07003251039,0.546236038512,-0.00123752217047,1.06970063001
+410,6.833333333,pose2_to_pose3_retreat,0.575665224182,-0.0099092738455,1.07003249119,0.546235676595,-0.00123753173001,1.06970061567
+411,6.850000000,pose2_to_pose3_retreat,0.575664988884,-0.00990927991292,1.07003247595,0.546235441905,-0.00123753558563,1.06970060431
+412,6.866666667,pose2_to_pose3_retreat,0.575664737081,-0.00990928640596,1.07003245964,0.546235190753,-0.00123753971171,1.06970059214
+413,6.883333333,pose2_to_pose3_retreat,0.575664448646,-0.00990926302042,1.07003245311,0.54623490222,-0.0012375166142,1.06970058678
+414,6.900000000,pose2_to_pose3_retreat,0.575664445179,-0.00990925976495,1.07003245421,0.546234898671,-0.00123751365163,1.06970058754
+415,6.916666667,pose2_to_pose3_retreat,0.575664384088,-0.00990920238641,1.0700324735,0.546234836125,-0.00123746143544,1.06970060098
+416,6.933333333,pose2_to_pose3_retreat,0.575664355825,-0.00990917584112,1.07003248242,0.546234807189,-0.00123743727844,1.06970060719
+417,6.950000000,pose2_to_pose3_retreat,0.575664350147,-0.00990917050785,1.07003248421,0.546234801375,-0.00123743242501,1.06970060844
+418,6.966666667,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385425,1.06970035116
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..96067aa00802bdb21cd61d5b9cf83f5020434f69
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df2fa3adb303e20ba3ded62c888cd651e9316ff5e899ee85ba73dbdf34d36a7
+size 26679304
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a95629fe0d6ac40c2b56b2d47e5fbc6a2758d6d4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/franka_data.csv
@@ -0,0 +1,421 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,744,715,679,661,635,879,788,804,651,631,653,0.400991789405,-0.0153566694713,0.0798523208365,0.999999928857,0.000268940916231,-0.000262410450232,3.3120197814e-05,1793239665308298240
+1,0.016666667,BASELINE,765,744.573868455,715,679,661,635,879,787.426131545,804,651.573868455,631.573868455,653,0.400992092257,-0.0153565569752,0.079852158928,0.999999928684,0.000269517875995,-0.000262445016793,3.3387338664e-05,1793239665324964864
+2,0.033333333,BASELINE,765,745,715,678.852238154,660.852238154,635.147761846,879,787,804,652,632,653,0.400991981187,-0.015356578061,0.0798518745158,0.9999999285,0.000269840807427,-0.000262791487289,3.35740442908e-05,1793239665341631488
+3,0.050000000,BASELINE,765,745,715,678.278272702,660.278272702,635.721727298,879,787,804,652,632,653,0.400990676205,-0.0153569844497,0.0798512367545,0.999999928283,0.000269431020814,-0.000264037612103,3.35287429848e-05,1793239665358298112
+4,0.066666667,BASELINE,765,744.69557244,715,678,660.30442756,636,879.30442756,787.30442756,804,652,631.69557244,653,0.400990755371,-0.0153567655256,0.0798510949014,0.999999928115,0.000270209328212,-0.000263888335658,3.34499364331e-05,1793239665374964736
+5,0.083333333,BASELINE,765,744.104651992,715,678,660.895348008,636,879.895348008,787.895348008,804,652,631.104651992,653,0.400992137141,-0.0153559581275,0.079851419741,0.99999992799,0.000272105735729,-0.000262425864838,3.33395985253e-05,1793239665391631360
+6,0.100000000,BASELINE,765,744.478666333,715,678.478666333,661,635.521333667,879.521333667,788,804,652,631.478666333,653,0.400991952215,-0.0153563647907,0.0798515473049,0.999999927805,0.000272642722252,-0.000262541194675,3.35987202016e-05,1793239665408297984
+7,0.116666667,BASELINE,765.059133674,745,715,679,660.940866326,635,879,788,804,652,632,653,0.40099132113,-0.0153569305725,0.0798515075989,0.999999927632,0.000272673775371,-0.000263138227405,3.38263238408e-05,1793239665424964352
+8,0.133333333,BASELINE,765.629105895,745,715,679,660.370894105,635,879,788,804,652,632,653,0.40098974858,-0.0153566137815,0.0798503896652,0.999999927667,0.000270861618635,-0.00026496314377,3.30947624697e-05,1793239665441631232
+9,0.150000000,BASELINE,765.797432412,744.797432412,715,679,660.202567588,635.202567588,879,788,804,652,631.797432412,653,0.400989226244,-0.0153566197281,0.0798501361892,0.999999927845,0.000269878723404,-0.000265326445391,3.28329301707e-05,1793239665458298112
+10,0.166666667,BASELINE,765.217469695,744.217469695,715,679,660.782530305,635.782530305,879,788,804,652,631.217469695,653,0.40099066052,-0.0153572269534,0.0798514932479,0.999999928296,0.000270440790517,-0.000262966674014,3.34462303785e-05,1793239665474964736
+11,0.183333333,BASELINE,765,744.371453507,715,678.628546493,661,636,879,788,804,651.628546493,631,653,0.400991413254,-0.0153570598036,0.0798522752372,0.999999928396,0.000271294783559,-0.000261671642938,3.36817300493e-05,1793239665491631616
+12,0.200000000,BASELINE,765,744.965752409,715,678.034247591,661,636,879,788,804,651.034247591,631,653,0.400991757113,-0.0153564280844,0.0798527122265,0.999999928288,0.00027232391122,-0.000261015379259,3.36905766211e-05,1793239665508297984
+13,0.216666667,BASELINE,765.54510073,744.45489927,715,678,661,636,879,788,804,651,631.54510073,653,0.400991903811,-0.0153562383382,0.0798522380738,0.99999992833,0.000271793687343,-0.000261413268651,3.36489987749e-05,1793239665524964608
+14,0.233333333,BASELINE,765.877692105,744,715,678,661,635.877692105,879.122307895,788,804,651.122307895,631.877692105,653,0.400992089379,-0.0153560147853,0.0798519262264,0.999999928342,0.000271541706192,-0.000261630575188,3.3610829244e-05,1793239665541631232
+15,0.250000000,BASELINE,765.305002722,744,715,678,661,635.305002722,879.694997278,788,804,651.694997278,631.305002722,653,0.400992462478,-0.0153555672205,0.079852417216,0.999999928216,0.000272665447779,-0.000260945537753,3.35965648689e-05,1793239665558297856
+16,0.266666667,BASELINE,765,744.269074032,715,678.269074032,661,635.269074032,879.730925968,788,804,651.730925968,631.269074032,653,0.400992325458,-0.0153553213019,0.0798522351517,0.999999928046,0.000273160606751,-0.000261086455892,3.35393022405e-05,1793239665574964480
+17,0.283333333,BASELINE,765,744.844731525,715,678.844731525,661,635.844731525,879.155268475,788,804,651.155268475,631.844731525,653,0.40099160721,-0.0153553051394,0.0798512862086,0.999999927827,0.000272939557436,-0.000262168469421,3.34330473221e-05,1793239665591631360
+18,0.300000000,BASELINE,765,745,715,679,661,635.566539136,879.433460864,788,804,651.433460864,631.566539136,653,0.40099087749,-0.0153549942408,0.0798509714951,0.999999927407,0.000273901257995,-0.000262741768544,3.36141892096e-05,1793239665608298752
+19,0.316666667,BASELINE,765,745,715,678.973755998,661,635,880,788,804,652,631.026244002,653,0.400990157892,-0.015354596578,0.0798508836089,0.999999926955,0.000275169101954,-0.000263107501719,3.38628256487e-05,1793239665624965632
+20,0.333333333,BASELINE,765,745,715,678.397207049,661,635,880,788,804,652,631.602792951,653,0.400989739406,-0.0153546622202,0.0798506400925,0.99999992739,0.000273696345589,-0.000263060675031,3.33009356937e-05,1793239665641631744
+21,0.350000000,BASELINE,765,745,715,678,660.821861036,635.178138964,879.821861036,788,804,651.821861036,631.821861036,653,0.400990103906,-0.015354972726,0.0798510245834,0.99999992786,0.000272641745198,-0.000262399734772,3.30707110099e-05,1793239665658298112
+22,0.366666667,BASELINE,765,745,715,678,660.249179367,635.750820633,879.249179367,788,804,651.249179367,631.249179367,653,0.400992202568,-0.0153558255568,0.0798527999867,0.999999928406,0.000272513278097,-0.000260378653961,3.35750596292e-05,1793239665674964736
+23,0.383333333,BASELINE,765,745,715,678.334298134,660.668596267,635.665701866,879,788,804,651.334298134,631.334298134,653.334298134,0.400992323521,-0.0153573349332,0.079852982561,0.999999928833,0.00027091209303,-0.000260386692769,3.37429782529e-05,1793239665691631360
+24,0.400000000,BASELINE,765,745,715,678.926091244,661.852182488,635.073908756,879,788,804,651.926091244,631.926091244,653.926091244,0.400990921133,-0.0153593500176,0.0798519382502,0.999999929164,0.000268176538829,-0.00026195767191,3.36517598748e-05,1793239665708297984
+25,0.416666667,BASELINE,765,745,715,679,661.4929833,635.5070167,879,788,804,652,632,653.4929833,0.40099126401,-0.0153578078773,0.0798521483657,0.999999928632,0.000270579661464,-0.000261507670918,3.3696244272e-05,1793239665724964608
+26,0.433333333,BASELINE,765,745,715,678.914274585,661,636,879,788,804.085725415,652,632,653,0.400991842121,-0.0153562153579,0.0798525193909,0.999999928163,0.000272974172583,-0.000260807014046,3.37357142268e-05,1793239665741631232
+27,0.450000000,BASELINE,765,745,715,678.339364895,661,636,879,788,804.660635105,652,632,653,0.400992341271,-0.0153572322788,0.0798527870562,0.999999928794,0.000271134719131,-0.000260321853549,3.36360564043e-05,1793239665758298112
+28,0.466666667,BASELINE,765,745,715,678,661,636,879,788,805,652,631.75916412,653,0.400992387057,-0.0153577515338,0.0798530338392,0.999999929096,0.000270356833234,-0.000259981470517,3.35377816163e-05,1793239665774964992
+29,0.483333333,BASELINE,765,745,715,678,661,636,879,788,805,652,631.171340167,653,0.400991779652,-0.015357553769,0.0798532505357,0.99999992893,0.000271108417557,-0.000259849677922,3.34414994626e-05,1793239665791631616
+30,0.500000000,BASELINE,765.410778204,745,715,678.410778204,661,635.589221796,879,788,804.589221796,652,631.410778204,653,0.40099089363,-0.0153570103462,0.0798521771355,0.999999928409,0.000271597881668,-0.000261345413138,3.33894970502e-05,1793239665808297984
+31,0.516666667,BASELINE,765.990549302,745,715,678.990549302,661,635.009450698,879,788,804.009450698,652,631.990549302,653,0.400989892987,-0.0153563247207,0.0798505729934,0.999999927738,0.000271979510309,-0.000263510708308,3.33557111899e-05,1793239665824964608
+32,0.533333333,BASELINE,765.432718884,745,715,679,661,635.567281116,879,788,804,651.432718884,632,653,0.40098950797,-0.0153565852872,0.0798515529477,0.999999927548,0.000273660367104,-0.000262475929794,3.34664444329e-05,1793239665841631488
+33,0.550000000,BASELINE,765,744.856448409,715,678.856448409,661,635.856448409,879,788,804,651.143551591,631.856448409,653,0.40098941135,-0.0153566093297,0.0798523346343,0.999999927517,0.000274581989104,-0.000261629081473,3.3488390067e-05,1793239665858298112
+34,0.566666667,BASELINE,765,744.281413337,715,678.281413337,661,635.281413337,879,788,804,651.718586663,631.281413337,653,0.400990150925,-0.0153558753068,0.0798523916642,0.999999927948,0.000273156811183,-0.000261506498845,3.3236262052e-05,1793239665874964480
+35,0.583333333,BASELINE,765,744.299576149,715,678.299576149,661,635,879,788.299576149,804,652,631,653,0.400989867327,-0.0153565278277,0.0798518339206,0.99999992822,0.000271353210456,-0.000262348020543,3.31875019458e-05,1793239665891631360
+36,0.600000000,BASELINE,765,744.886272544,715,678.886272544,661,635,879,788.886272544,804,652,631,653,0.400988603098,-0.0153585092421,0.0798506869649,0.999999928336,0.00026918692098,-0.000264113560611,3.33336540013e-05,1793239665908298496
+37,0.616666667,BASELINE,765,745,715,679,661,635,879,788.5300661,804,652,631,653,0.400989635697,-0.0153577730784,0.0798512922162,0.999999928421,0.00027009313794,-0.000262880342161,3.31910409662e-05,1793239665924965120
+38,0.633333333,BASELINE,765,744.947977239,715,679,660.947977239,635.052022761,879,787.947977239,804,652,631.052022761,653,0.400991149748,-0.0153564727436,0.0798522932973,0.999999928498,0.000271638286656,-0.000261008131365,3.30336633779e-05,1793239665941631744
+39,0.650000000,BASELINE,765,744.374337567,715,679,660.374337567,635.625662433,879,787.374337567,804,652,631.625662433,653,0.400991953593,-0.0153560676175,0.0798530387356,0.999999928611,0.000272182110525,-0.00025995883402,3.34244484476e-05,1793239665958298112
+40,0.666666667,BASELINE,765,744.199081462,715.199081462,679,660.199081462,636,879,787.199081462,804,652,631.800918538,653.199081462,0.40099284569,-0.0153562707081,0.0798536906189,0.999999928954,0.000272038480942,-0.000258748216048,3.37182323857e-05,1793239665974964480
+41,0.683333333,BASELINE,765,744.772086035,715.772086035,679,660.772086035,636,879,787.772086035,804,652,631.227913965,653.772086035,0.400993903545,-0.0153576161768,0.0798541667832,0.99999992973,0.000270603647563,-0.000257234599005,3.38298247266e-05,1793239665991631360
+42,0.700000000,BASELINE,765,744.643105706,715.643105706,679,660.643105706,636,879,787.643105706,804,652,631,653.643105706,0.400993302739,-0.0153574495789,0.0798534927545,0.999999929528,0.000270377877974,-0.000258277423421,3.36462742646e-05,1793239666008297984
+43,0.716666667,BASELINE,765,744.050501766,715.050501766,679,660.050501766,636,879,787.050501766,804,652,631,653.050501766,0.400991606476,-0.0153562843414,0.0798520590845,0.999999928677,0.00027095063059,-0.000261008641136,3.32677977178e-05,1793239666024964352
+44,0.733333333,BASELINE,765,744.530101689,715,679,660.530101689,636,879,787.530101689,804,652,631,653,0.400991928764,-0.0153561502375,0.0798527157512,0.999999928722,0.000271352184676,-0.00026041414841,3.32837691443e-05,1793239666041631488
+45,0.750000000,BASELINE,765,745,715,678.88982086,661,636,879,788,804,652,631.11017914,653,0.400992516191,-0.0153563243749,0.0798536789506,0.999999928997,0.000271433106172,-0.000259266850022,3.33429484015e-05,1793239666058298112
+46,0.766666667,BASELINE,765,745,715,678.307205347,661,636,879,788,804,652,631.692794653,653,0.400993434179,-0.0153574083251,0.0798551215303,0.999999929891,0.000270207575634,-0.00025707765656,3.34298334417e-05,1793239666074964992
+47,0.783333333,BASELINE,765,745,715,678.274176203,661,636,879,788,804,652,631.725823797,653,0.400992531218,-0.0153577938987,0.0798548638985,0.999999929831,0.000269845504236,-0.000257684768243,3.34543069372e-05,1793239666091631872
+48,0.800000000,BASELINE,765,745,715,678.854181405,661,636,879,788,804,652,631.145818595,653,0.400989597084,-0.0153574004704,0.0798527097713,0.999999928703,0.000270446575518,-0.000261411009594,3.34091636785e-05,1793239666108297984
+49,0.816666667,BASELINE,765.432944096,744.567055904,715,678.567055904,661,635.567055904,879,788,803.567055904,651.567055904,631.432944096,653,0.400990109888,-0.0153571037165,0.0798527835351,0.99999992885,0.000270207684875,-0.000261107757569,3.33315655998e-05,1793239666124964352
+50,0.833333333,BASELINE,765.98873112,744.01126888,715,678,660.98873112,635.01126888,879,788,803.01126888,651.01126888,632,653,0.400991749104,-0.0153568339674,0.0798535903845,0.999999929405,0.00026972714258,-0.000259485254214,3.32377544244e-05,1793239666141631232
+51,0.850000000,BASELINE,765.411440204,744.588559796,715,678,660.411440204,635.588559796,879,788,803.588559796,651.588559796,632,653,0.400991820228,-0.0153562898319,0.0798536369554,0.999999928975,0.000271278041153,-0.000259571849478,3.28770590199e-05,1793239666158297856
+52,0.866666667,BASELINE,765,745,715,678.164777655,660,636,879,788,804,652,632,653.164777655,0.400991784508,-0.0153562879577,0.0798535507762,0.999999928794,0.000271770571204,-0.000259777344414,3.26884421713e-05,1793239666174964736
+53,0.883333333,BASELINE,765,745,715,678.738333453,660,636,879,788,804,652,632,653.738333453,0.400991483731,-0.0153576313176,0.0798531352725,0.999999929233,0.000269637515067,-0.000260277804018,3.29267154629e-05,1793239666191631360
+54,0.900000000,BASELINE,765,744.677909778,715,679,660.322090222,636,879,788,804,652,631.677909778,653.677909778,0.400991309946,-0.0153581340007,0.0798527349723,0.999999929246,0.000269125625618,-0.000260742967347,3.305954296e-05,1793239666208297728
+55,0.916666667,BASELINE,765,744.085594703,715,679,660.914405297,636,879,788,804,652,631.085594703,653.085594703,0.400991242704,-0.0153579313789,0.0798523474274,0.999999928902,0.000269973850614,-0.000261178518046,3.31039043187e-05,1793239666224964352
+56,0.933333333,BASELINE,765,744.495410649,715,678.504589351,661,635.504589351,879,788,804,652,631,653,0.400991366507,-0.015355894759,0.079852610673,0.999999928523,0.000271791187606,-0.000260758993772,3.29915377128e-05,1793239666241630976
+57,0.950000000,BASELINE,765,745,715,678,660.926064973,635,879,788,804,652,631.073935027,653,0.40099148466,-0.0153541505073,0.0798529320279,0.999999928233,0.000273332763122,-0.000260274342945,3.28714865457e-05,1793239666258297856
+58,0.966666667,BASELINE,765,745,715,678,660.351404909,635,879,788,804,652,631.648595091,653,0.400991345991,-0.0153564844221,0.0798529024221,0.99999992861,0.00027189807469,-0.000260326832068,3.28786891887e-05,1793239666274964480
+59,0.983333333,BASELINE,765,745,715,678.228452458,660.228452458,635.228452458,879,787.771547542,804,652,631.771547542,653,0.400991060348,-0.0153579094029,0.079852661749,0.999999928917,0.000270396594415,-0.000260716011177,3.28574137053e-05,1793239666291631104
+60,1.000000000,BASELINE,765,745,715,678.816490501,660.816490501,635.816490501,879,787.183509499,804,652,631.183509499,653,0.400990543365,-0.0153579037163,0.0798520888544,0.999999929112,0.000268789983143,-0.00026163514242,3.27913134753e-05,1793239666308297728
+61,1.016666667,BASELINE,765,745,715,678.602252553,661,636,879,787,804,652,631.397747447,653,0.400991537135,-0.0153579129021,0.0798526848575,0.999999929278,0.000269637877417,-0.000260081336116,3.31221826377e-05,1793239666324964608
+62,1.033333333,BASELINE,765,745,715,678.024071805,661,636,879,787,804,652,631.975928195,653,0.40099321624,-0.0153579288345,0.0798538111169,0.999999929422,0.000271599228431,-0.000257405711653,3.36331321499e-05,1793239666341631232
+63,1.050000000,BASELINE,765,745,715,678,660.448823804,635.448823804,879,787.551176196,804,651.448823804,632,653,0.400993506383,-0.0153571047759,0.0798539565688,0.99999992949,0.000271298132108,-0.00025749636671,3.33627983704e-05,1793239666358298112
+64,1.066666667,BASELINE,765,744.873742103,715.126257897,678.126257897,660.126257897,635.126257897,879,788,804,651,631.873742103,653,0.400993271071,-0.0153566139559,0.079853800648,0.999999929516,0.000270630029522,-0.00025813523692,3.30835105119e-05,1793239666374964736
+65,1.083333333,BASELINE,765,744.298798652,715.701201348,678.701201348,660.701201348,635.701201348,879,788,804,651,631.298798652,653,0.400991382867,-0.0153574370532,0.0798527251511,0.9999999294,0.000269006969921,-0.000260295247623,3.28930185341e-05,1793239666391631360
+66,1.100000000,BASELINE,765,744.285388722,715.714611278,678.714611278,660.714611278,636,879,788,804,651.285388722,631,653,0.400991247971,-0.0153572934543,0.0798524980343,0.999999929402,0.000268702567346,-0.00026061040909,3.28118865836e-05,1793239666408297984
+67,1.116666667,BASELINE,765,744.879578318,715.120421682,678.120421682,660.120421682,636,879,788,804,651.879578318,631,653,0.400993010217,-0.015356103855,0.0798531888953,0.999999929535,0.00026982499926,-0.000258929377118,3.28490861326e-05,1793239666424964608
+68,1.133333333,BASELINE,765,745,715,678.458282584,660.458282584,636,879,788,804,652,631.458282584,653,0.400993556557,-0.0153567429402,0.0798534563795,0.999999929462,0.000270243733845,-0.000258736753261,3.31724183801e-05,1793239666441631232
+69,1.150000000,BASELINE,765,745,715,679,661,636,879,788,804,651.966940318,631.966940318,653,0.400993622996,-0.01535775819,0.079853512843,0.999999929317,0.000270418137869,-0.000259068645706,3.35112556321e-05,1793239666458298112
+70,1.166666667,BASELINE,765,745,715,679,661,636,879,788,804,651.39201851,631.39201851,653,0.400990889246,-0.015357320462,0.079851874415,0.999999928869,0.000269519530575,-0.000261796731649,3.2912169957e-05,1793239666474964736
+71,1.183333333,BASELINE,765,744.812665987,715,679,660.812665987,635.812665987,878.812665987,788,804,651.187334013,631,653,0.400989830859,-0.0153573549257,0.0798514329168,0.999999928975,0.000268575901539,-0.0002623989761,3.26212135239e-05,1793239666491631360
+72,1.200000000,BASELINE,765,744.223816955,715,679,660.223816955,635.223816955,878.223816955,788,804,651.776183045,631,653,0.400992363295,-0.0153584014427,0.0798535568111,0.999999930271,0.00026753577675,-0.00025844488197,3.29906737197e-05,1793239666508297984
+73,1.216666667,BASELINE,765,744.359254855,715,679,660.359254855,635.359254855,878.359254855,788,804,651.640745145,631.359254855,653,0.40099370984,-0.0153586472043,0.0798545496198,0.99999993077,0.000267423807752,-0.000256618560507,3.30389498496e-05,1793239666524964864
+74,1.233333333,BASELINE,765,744.938784365,715,679,660.938784365,635.938784365,878.938784365,788,804,651.061215635,631.938784365,653,0.400994329264,-0.0153584019881,0.079854848911,0.999999930786,0.00026788093119,-0.000256096868528,3.28902941459e-05,1793239666541631488
+75,1.250000000,BASELINE,765,744.483471375,715,678.483471375,661,635.483471375,879,788,804,651.516528625,631.483471375,653,0.400992864815,-0.0153572601383,0.0798540331831,0.999999929818,0.000269564724884,-0.000258098622549,3.29144038013e-05,1793239666558298112
+76,1.266666667,BASELINE,765,744.093472188,715,678.093472188,660.906527812,635.093472188,879,788,804,652,631.093472188,653,0.400991534533,-0.0153562837182,0.0798533095304,0.999999928899,0.000271195253461,-0.000259934538013,3.30052939563e-05,1793239666574964480
+77,1.283333333,BASELINE,765,744.667383965,715,678.667383965,660.332616035,635.667383965,879,788,804,652,631.667383965,653,0.400992158878,-0.015356701896,0.0798537360116,0.999999928864,0.000271807350915,-0.000259386193527,3.33345529912e-05,1793239666591631360
+78,1.300000000,BASELINE,765,744.751686893,715,678.751686893,660.248313107,635.751686893,879,788,804,652,631.751686893,653,0.400992817504,-0.0153572037342,0.0798542755113,0.999999929208,0.000271268168453,-0.000258618643247,3.3389521544e-05,1793239666608297984
+79,1.316666667,BASELINE,765,744.161084655,715,678.161084655,660.838915345,635.161084655,879,788,804,652,631.161084655,653,0.400993523386,-0.0153578208945,0.0798549708023,0.999999930069,0.000269141995197,-0.000257548927083,3.30663922242e-05,1793239666624964608
+80,1.333333333,BASELINE,765,744.420555329,715,678,661,635.420555329,879,788,804,652,631,653,0.400994679676,-0.0153584061123,0.0798556251652,0.999999930936,0.000267669538927,-0.000255706274308,3.3090094385e-05,1793239666641631232
+81,1.350000000,BASELINE,765,744.99883419,715,678,661,635.99883419,879,788,804,652,631,653,0.400996004884,-0.0153589793505,0.0798562641785,0.999999931802,0.000266442250108,-0.000253573742124,3.32438709287e-05,1793239666658297856
+82,1.366666667,BASELINE,765,745,715,678.572948546,661,635.427051454,879,788,804.572948546,652,631.572948546,653,0.400995136466,-0.0153583207985,0.0798558748021,0.99999993099,0.000267985936868,-0.000255171862146,3.30255668325e-05,1793239666674964736
+83,1.383333333,BASELINE,765,745,715,679,660.849050233,635.150949767,879,788,804.849050233,652,632,653,0.40099424094,-0.0153576057564,0.0798552816679,0.999999930248,0.000269463002508,-0.000256542597817,3.28687130464e-05,1793239666691631360
+84,1.400000000,BASELINE,765,745,715,679,660.259736851,635.740263149,879,788,804.259736851,652,632,653,0.400993279558,-0.0153567338911,0.0798541028468,0.999999929728,0.000270730342809,-0.000257231116072,3.28924959058e-05,1793239666708298240
+85,1.416666667,BASELINE,765,745,715,678.675804902,660.324195098,636,879.324195098,787.675804902,804,652,632,653,0.400992014869,-0.0153565052432,0.0798529850001,0.999999929314,0.000271117734505,-0.000258424351365,3.29222722024e-05,1793239666724964864
+86,1.433333333,BASELINE,765,745,715,678.096114056,660.903885944,636,879.903885944,787.096114056,804,652,632,653,0.400990511146,-0.0153567835104,0.0798519152069,0.999999928983,0.000270811645167,-0.000260015350363,3.29567718806e-05,1793239666741631488
+87,1.450000000,BASELINE,765,744.519274876,715,678.480725124,661,636,880,787.480725124,804,652,631.519274876,653,0.400990320294,-0.0153570593239,0.0798521511479,0.999999928584,0.000271996720205,-0.000260272067375,3.33014662559e-05,1793239666758298368
+88,1.466666667,BASELINE,765,744.056812758,715,679,661,635.943187242,879.943187242,788,804,652,631,653,0.4009906238,-0.0153573007171,0.0798527786387,0.99999992832,0.000273229304528,-0.000259948600935,3.36519518041e-05,1793239666774964992
+89,1.483333333,BASELINE,765,744.631217181,715,679,661,635.368782819,879.368782819,788,804,652,631,653,0.400993053832,-0.0153572329675,0.079854608954,0.999999929432,0.000272194568445,-0.000256755458456,3.34935070661e-05,1793239666791631616
+90,1.500000000,BASELINE,765,745,715,679,661,635.211733869,879,788,804,652,631,653,0.40099427579,-0.0153573398031,0.0798555407848,0.999999930024,0.000271327162632,-0.000255384876365,3.33390839806e-05,1793239666808298240
+91,1.516666667,BASELINE,765,745,715,679,661,635.803212852,879,788,804,652,631,653,0.400993331062,-0.0153577597575,0.0798548611817,0.999999929696,0.000270759864111,-0.000257283060307,3.31918737542e-05,1793239666824964864
+92,1.533333333,BASELINE,765,744.612962592,715,679,661,635.612962592,879,788,804,651.612962592,631,653,0.400992142279,-0.0153569913167,0.0798540468159,0.999999929329,0.000270399827991,-0.000259139681506,3.27565473335e-05,1793239666841631744
+93,1.550000000,BASELINE,765,744.032954362,715,679,661,635.032954362,879,788,804,651.032954362,631,653,0.400990831814,-0.0153556303607,0.0798531652593,0.99999992894,0.000270143129626,-0.000260975580339,3.2177570653e-05,1793239666858298624
+94,1.566666667,BASELINE,765.540133373,744.540133373,715,679,661,635.540133373,879,788,804,651.540133373,631,653.540133373,0.400991953333,-0.0153563662184,0.0798538929766,0.999999929177,0.000270805763873,-0.000259298500036,3.27791397605e-05,1793239666874964992
+95,1.583333333,BASELINE,765.886824272,745,715.113175728,678.886824272,661,635.886824272,879,788,804,652,631.113175728,653.886824272,0.400992852835,-0.0153574560001,0.0798545236166,0.999999929516,0.000270925804035,-0.000257792456868,3.33249049924e-05,1793239666891631104
+96,1.600000000,BASELINE,765.312267223,745,715.687732777,678.312267223,661,635.312267223,879,788,804,652,631.687732777,653.312267223,0.400992250007,-0.0153594736861,0.0798543633004,0.999999930126,0.000268608093619,-0.000257846387456,3.33532597237e-05,1793239666908297984
+97,1.616666667,BASELINE,765,744.728409384,715.728409384,678.271590616,661,635.271590616,879,788,804,652,632,653,0.400992117794,-0.015359621886,0.0798541529072,0.999999930335,0.000267751752252,-0.000257938873583,3.32505148818e-05,1793239666924964864
+98,1.633333333,BASELINE,765,744.133478594,715.133478594,678.866521406,661,635.866521406,879,788,804,652,632,653,0.400992545868,-0.0153575443831,0.079853882895,0.999999930071,0.000268635232996,-0.000258077261718,3.29916904236e-05,1793239666941631488
+99,1.650000000,BASELINE,765,744.448581047,715,678.551418953,661,636,878.551418953,787.551418953,804,652,632,653,0.400993031861,-0.0153576072892,0.0798542598418,0.999999930141,0.000269104030564,-0.000257309659704,3.30639163038e-05,1793239666958297856
+100,1.666666667,BASELINE,765,745,715,678.026590015,661,636,878.026590015,787.026590015,804,651.973409985,632,653,0.40099346251,-0.0153582665358,0.0798547316199,0.9999999303,0.000269343370021,-0.000256421133901,3.31964629847e-05,1793239666974964480
+101,1.683333333,BASELINE,765,745,715,678.597888262,661,636,878.597888262,787.597888262,804,651.402111738,632,653,0.400992416218,-0.0153584589349,0.0798533124577,0.999999930342,0.00026733939352,-0.000258423940056,3.26030454939e-05,1793239666991631104
+102,1.700000000,BASELINE,765,745,715,679,660.828836221,636,879,788,804,651,631.828836221,653,0.400991781312,-0.0153584751627,0.0798525413531,0.99999993024,0.000266516007987,-0.00025970390918,3.22997146069e-05,1793239667008297728
+103,1.716666667,BASELINE,765,745,715,679,660.250861336,636,879,788,804,651,631.250861336,653,0.400992124166,-0.0153580726783,0.0798533105104,0.999999929811,0.000268498575722,-0.000259265885276,3.26858430613e-05,1793239667024964608
+104,1.733333333,BASELINE,765,745,715,678.663333233,660.336666767,636,879,788,804,651.336666767,631,653,0.400992543467,-0.0153573423359,0.0798539260627,0.999999929758,0.000269425900528,-0.00025847832884,3.29123451343e-05,1793239667041631232
+105,1.750000000,BASELINE,765,745,715,678.068478765,660.931521235,636,879,788,804,651.931521235,631,653,0.400993021394,-0.0153563605613,0.0798544238163,0.999999929995,0.000269543966139,-0.000257422717979,3.30164307446e-05,1793239667058297856
+106,1.766666667,BASELINE,765,744.494074649,715,678.505925351,661,636,879,788,804,651.494074649,631,653,0.400992337083,-0.0153562890156,0.0798541775098,0.999999929566,0.000270402756695,-0.000258205148977,3.28806756257e-05,1793239667074964480
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,744,715,679,661,636,879,788,805,652,631,653,0.400991023085,-0.0153555293603,0.0798528758234,0.999999928931,0.000272307657164,-0.000258685099541,3.26946364998e-05,1793239667118349056
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,744.591452704,715,679,661,636,879,788,804.408547296,652,631,653,0.400993006107,-0.015356528768,0.0798545523592,0.999999929579,0.000271525141721,-0.000256974315867,3.28668144105e-05,1793239667135015680
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.820447117,745,715,678.820447117,661,636,879.179552883,788,804,651.820447117,631,652.820447117,0.400993780765,-0.0153575520653,0.0798552412403,0.999999930021,0.000270284487543,-0.000256544484581,3.30110442579e-05,1793239667151682304
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.239835204,745,715,678.239835204,661,636,879.760164796,788,804,651.239835204,631,652.239835204,0.400991856355,-0.0153586287237,0.0798537240429,0.999999930001,0.000268020509765,-0.000258975857482,3.30928478336e-05,1793239667168348928
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.336487977,745,715,678,661,636,879.663512023,788,804,651.336487977,631.336487977,652.336487977,0.400991157759,-0.0153583900549,0.0798533831866,0.999999929633,0.000268575391995,-0.000259823351409,3.30735944323e-05,1793239667185015552
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.909792759,745,715,678,661,636,879.090207241,788,804,651.909792759,631.909792759,652.909792759,0.400991321879,-0.0153572256723,0.0798538702272,0.99999992902,0.000271114159267,-0.000259556127335,3.2983218157e-05,1793239667201682176
+113,1.883333333,POSE1_TO_POSE2_PRESS,765,744.504671246,715,678.495328754,661,635.504671246,879,788,804,651.504671246,631.504671246,653,0.400990946953,-0.0153570542439,0.07985333613,0.999999929084,0.000270302988316,-0.000260166854541,3.29001994299e-05,1793239667218349312
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,744,715,678.918247399,661,635,879,788,804,651,631,653,0.400991250852,-0.0153572258795,0.0798530397344,0.999999929387,0.000269035246263,-0.000260317107521,3.28930459569e-05,1793239667235016192
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,744,715,678.34029684,661,635,879,788,804,651,631,653,0.400996285806,-0.0153583543892,0.0798553433659,0.999999930378,0.000268792959638,-0.000256677492389,3.33380185519e-05,1793239667251682560
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,744.238266168,715,678.238266168,661.238266168,635,879,787.761733832,804,651.238266168,631,653,0.40100711546,-0.0153588454095,0.0798603720522,0.999999932547,0.00026855386135,-0.000248304785099,3.36234990024e-05,1793239667268348928
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,744.817706094,715,678.817706094,661.817706094,635,879,787.182293906,804,651.817706094,631,653,0.401026242556,-0.0153584236072,0.0798693027493,0.999999936255,0.000268319328426,-0.000233154754839,3.36806023188e-05,1793239667285015552
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.39256273,745,715,679,661.60743727,635.39256273,879,787.39256273,804,652,631,653,0.401063221514,-0.0153596692776,0.0798826044907,0.99999994169,0.000268467227911,-0.000208269313856,3.41946612959e-05,1793239667301682176
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.965315642,745,715,679,661.034684358,635.965315642,879,787.965315642,804,652,631,653,0.401108394655,-0.0153616803346,0.0798979125854,0.999999947261,0.000268790667461,-0.000178915221454,3.49184674301e-05,1793239667318348800
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.446854895,745,715,679,661,635.446854895,879,788,804,652,631.553145105,653,0.401177308955,-0.0153655188252,0.0799158450491,0.999999952892,0.000268115791409,-0.000145123651038,3.56109813778e-05,1793239667335015680
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,744.860012889,715,678.860012889,661,635,879,788,804,652,632,653,0.401249688929,-0.0153692768322,0.0799315513,0.999999956951,0.000267007066611,-0.000116302229587,3.57643438371e-05,1793239667351682816
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,744.279338732,715,678.279338732,661,635,879,788,804,652,632,653,0.401328161346,-0.0153724106394,0.0799397167629,0.999999958961,0.000264735147407,-0.000104027580419,3.42267783476e-05,1793239667368349696
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,744.298411061,715,678.298411061,661,635,879,788,804,652,631.701588939,653,0.401412012648,-0.0153753056296,0.0799444549336,0.999999960112,0.000263516077259,-9.64712609584e-05,3.20716350665e-05,1793239667385016064
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,744.873449927,715,678.873449927,661,635,879,788,804,652,631.126550073,653,0.401500850186,-0.0153779792355,0.0799460159954,0.999999960562,0.000263273001002,-9.32888457758e-05,2.93439957115e-05,1793239667401682432
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,744.549021385,715,679,661,635.450978615,879,788,804.450978615,652,631.450978615,653,0.401610419584,-0.0153823757986,0.0799470644233,0.999999961427,0.000261241684735,-9.06518770815e-05,2.61052286296e-05,1793239667418349056
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,744.029691059,715,679,661,636,879,788,804.970308941,651.970308941,631.970308941,653,0.401727344626,-0.0153872212042,0.0799481544155,0.99999996245,0.000258588611127,-8.78515167427e-05,2.26710949934e-05,1793239667435015680
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,744.617448199,715,679,661,636,879,788,804.382551801,651.382551801,631.382551801,653,0.401872571133,-0.0153913650707,0.0799527444469,0.999999964515,0.000253733243222,-7.90872553374e-05,1.82757141129e-05,1793239667451682304
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.202111892,745,715,678.797888108,661,635.797888108,879,788,804.202111892,651.202111892,631.202111892,653,0.402026651481,-0.0153961113404,0.0799562396002,0.999999966468,0.00024845099339,-7.18134923672e-05,1.34047094366e-05,1793239667468349184
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.781008592,745,715,678.218991408,661,635.218991408,879,788,804.781008592,651.781008592,631.781008592,653,0.402197237486,-0.0154019806331,0.0799576936387,0.999999968333,0.000242372934324,-6.73183752483e-05,7.64702896869e-06,1793239667485015808
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.642382036,745,715,678,661,635.357617964,879.357617964,787.642382036,804.642382036,652,631.642382036,653,0.402380566152,-0.0154081642813,0.0799559397373,0.999999970838,0.000230947268333,-7.0611908018e-05,9.63779465172e-07,1793239667501682432
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.067164379,745,715,678,661,635.932835621,879.932835621,787.067164379,804.067164379,652,631.067164379,653,0.402571648358,-0.015414539206,0.0799522339017,0.999999973502,0.000216267744957,-7.86445977438e-05,-6.28265130118e-06,1793239667518349056
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,715,678,661,635.492253636,879.492253636,787.507746364,804,651.492253636,631,653,0.402794826605,-0.0154221999049,0.0799490985584,0.999999985029,0.000150903547305,-8.35062853673e-05,-1.40341153925e-05,1793239667535015680
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.085671958,745,715,678,661,635,879.085671958,788,804,651,631,653,0.40303003427,-0.015430142686,0.0799467678028,0.999999992118,8.84890038468e-05,-8.63933062469e-05,-2.16547415787e-05,1793239667551682304
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.68180292,745,715,678,661,635,879.68180292,788,804,651,631,653,0.403311635342,-0.0154387534154,0.0799487816508,0.999999992912,8.35728492593e-05,-8.00124265868e-05,-2.80979936801e-05,1793239667568349184
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.73305298,745,715.26694702,678.26694702,661,635.26694702,879.73305298,788,804,651.26694702,631.26694702,653.26694702,0.403611061042,-0.0154480804913,0.0799533020149,0.999999993023,9.04520049382e-05,-7.11015001858e-05,-2.67918533587e-05,1793239667585015808
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.160487401,745,715.839512599,678.839512599,661,635.839512599,879.160487401,788,804,651.839512599,631.839512599,653.839512599,0.403930893532,-0.0154582276873,0.079960692004,0.999999991962,0.0001108352102,-5.92940097246e-05,-1.66136969718e-05,1793239667601682432
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715.5766494,679,661,636,879.4233506,788,804,652,632,653.5766494,0.404270834215,-0.0154648277603,0.0799631507817,0.999999993584,9.68848126595e-05,-5.53361073177e-05,-1.95747855299e-05,1793239667618349056
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.011401587,745,715,678.988598413,661,636,879.988598413,787.988598413,804,652,631.988598413,653,0.404619748695,-0.0154702246995,0.0799635882193,0.999999995706,6.97015584211e-05,-5.45018639898e-05,-2.75413043328e-05,1793239667635015680
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.590630435,745,715,678.409369565,661,636,879.409369565,787.409369565,804,652,631.409369565,653,0.40502556229,-0.0154845026146,0.0799590037051,0.999999996707,4.94239428913e-05,-5.69829365269e-05,-2.99418058762e-05,1793239667651682304
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.830079266,745,715,678.169920734,661,636,879,787.169920734,803.830079266,651.830079266,631.169920734,653,0.405437384157,-0.0154964589668,0.0799535335202,0.99999999698,3.23427183387e-05,-6.2933880199e-05,-3.21474064577e-05,1793239667668349184
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.250640951,745,715,678.749359049,661,636,879,787.749359049,803.250640951,651.250640951,631.749359049,653,0.405863686209,-0.0155028202329,0.0799459288245,0.999999996179,2.29649609834e-05,-7.72473888187e-05,-3.38832855178e-05,1793239667685015808
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.324631433,745,715,679,661,636,879,788,803.324631433,651,631.675368567,653,0.406311942196,-0.0155057356605,0.0799412628706,0.999999995384,2.67200460698e-05,-8.64344556171e-05,-3.23455947522e-05,1793239667701682688
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.896728205,745,715,679,661,636,879,788,803.896728205,651,631.103271795,653,0.406776933632,-0.0155060243388,0.0799388371079,0.999999994574,4.048624735e-05,-9.17136563e-05,-2.83124740078e-05,1793239667718349824
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.515874963,744.515874963,715,679,661,636,879,788,804,651.484125037,631,653,0.407266810229,-0.0155030746648,0.0799374687716,0.999999994339,3.67136111407e-05,-9.52338759957e-05,-3.0077008126e-05,1793239667735016192
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,744.073158857,715,679,661,636,879,788,804,652,631,653,0.407769555503,-0.0155009804293,0.0799353100176,0.999999994023,2.86096319238e-05,-0.000100263280726,-3.29150058012e-05,1793239667751682304
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,744.65025372,715,679,661,636,879,788,804,652,631,653,0.40832318464,-0.0155096923031,0.0799261022111,0.999999992256,1.72824732942e-05,-0.000118357271711,-3.43503391896e-05,1793239667768349184
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,744.774956948,715.225043052,679,661,636,879,788,804.225043052,651.774956948,631.225043052,653,0.408903929224,-0.0155169876331,0.0799307704452,0.999999993037,8.20221487985e-06,-0.000112370012574,-3.50963284716e-05,1793239667785015808
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,744.203714409,715.796285591,679,661,636,879,788,804.796285591,651.203714409,631.796285591,653,0.409526387365,-0.0155221037939,0.079956785165,0.999999996988,2.57852108824e-06,-6.93368788218e-05,-3.47818513285e-05,1793239667801682688
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,744.373247248,715.626752752,679,661,636,879,788,804.626752752,651,632,653,0.410182080496,-0.0155216692793,0.0799842472335,0.999999999169,2.64566502908e-06,-2.27065538032e-05,-3.37611288882e-05,1793239667818349312
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,744.953378893,715.046621107,679,661,636,879,788,804.046621107,651,632,653,0.410856195178,-0.0155181581225,0.0800125115411,0.999999999124,5.86714059263e-06,2.59176297617e-05,-3.23489470484e-05,1793239667835015936
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.545821077,745,715,679,661,636,879,788,804.545821077,651,631.454178923,653,0.411483702927,-0.0155162018016,0.0799950013302,0.999999999327,7.56367554714e-06,-8.53661949823e-06,-3.48666106868e-05,1793239667851682560
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.864636124,745,715,679,661,635.864636124,879.135363876,788,804.864636124,651.135363876,631,653,0.412122171991,-0.0155151373631,0.07997027702,0.999999997945,6.77164289487e-06,-5.08851256813e-05,-3.84050400437e-05,1793239667868348928
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.28805054,745,715,679,661,635.28805054,879.71194946,788,804.28805054,651.71194946,631,653,0.412809644875,-0.0155165371644,0.0799350763839,0.999999994483,-1.69757737914e-06,-9.53014748609e-05,-4.41513201945e-05,1793239667885015808
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.287650151,879.712349849,788,804,651.712349849,631,653,0.413526268922,-0.0155185023969,0.0799222678447,0.999999993215,-6.27061478569e-06,-0.000106405917681,-4.69912715118e-05,1793239667901682432
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,745,715,679,661,635.862467502,879.137532498,788,804,651.137532498,631,653,0.41427199527,-0.0155210321115,0.0799318138031,0.999999995325,-6.95401183737e-06,-8.42543885969e-05,-4.69297743172e-05,1793239667918349056
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745,715,679.436691357,661,636,879,788,804,651.436691357,631,653,0.415038420086,-0.0155235510677,0.0799527529459,0.999999997751,-8.62023771782e-06,-4.86517606488e-05,-4.53526014632e-05,1793239667935015680
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745,715,679.988920313,661,636,879.011079687,788,804,651.988920313,631.011079687,653,0.415810816086,-0.0155259569087,0.0799765426235,0.99999999895,-1.06342333582e-05,-1.01845564877e-05,-4.34001917653e-05,1793239667951682816
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745,715,679.396093318,661,636,879.603906682,788,804,651.396093318,631.603906682,653,0.416554925068,-0.0155226012259,0.0799618567568,0.999999997855,-1.46778815622e-05,-4.34396435135e-05,-4.67752942706e-05,1793239667968349184
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.19170113,745,715,679,661,636,880,788,804.19170113,651,631.80829887,653,0.417343644842,-0.0155204649662,0.0799596762551,0.999999997496,-1.74577998371e-05,-4.80824974145e-05,-4.88924473936e-05,1793239667985015808
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.769363273,745,715,679,661,636,880,788,804.769363273,651,631.230636727,653,0.418222181602,-0.0155207838291,0.0799826734013,0.999999998657,-1.76933902153e-05,4.88102229966e-06,-4.84769109124e-05,1793239668001682688
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745,715,679.6891491,661,635.65542545,880,788,805,651,631,653,0.41907186315,-0.0155234461418,0.0799963195685,0.999999998115,-1.87935412175e-05,3.33704937675e-05,-4.79879856789e-05,1793239668018349312
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745,715,680.836313862,661,635.081843069,880,788,805,651,631,653,0.419902367188,-0.0155276659356,0.0800037509768,0.999999997625,-2.04682882192e-05,4.55942559888e-05,-4.7450285591e-05,1793239668035015936
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.493220808,745,715,679.986441615,661,635.506779192,880,788,805,651.506779192,631,653,0.420719290977,-0.015530672262,0.0799913133806,0.999999997849,-3.09717354407e-05,2.98711111563e-05,-4.94947924658e-05,1793239668051682304
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,715,679.095953255,661,636,880,788,804.904046745,651.904046745,631,653,0.421544914894,-0.0155329440274,0.0799810989607,0.999999997781,-3.93324271987e-05,1.66793662991e-05,-5.11105399811e-05,1793239668068348928
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,715,679.675296541,661,636,880,788,804.324703459,651.324703459,631,653,0.422425754298,-0.0155325326953,0.0799987438532,0.999999997607,-2.94958580594e-05,3.96727333735e-05,-4.84012072129e-05,1793239668085015808
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.252900263,745,715,679.747099737,661.252900263,636,880,788.252900263,804,651,631.252900263,653,0.423306855155,-0.0155323715843,0.0800111671527,0.999999997298,-2.23914821307e-05,5.18567660557e-05,-4.7037332237e-05,1793239668101682432
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.828285861,745,715,679.171714139,661.828285861,636,880,788.828285861,804,651,631.828285861,653,0.424188289522,-0.015532529542,0.0800169321491,0.999999997438,-1.87710563573e-05,5.02572977154e-05,-4.73891151143e-05,1793239668118349056
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.599557728,745,715,679.400442272,662,636,880.400442272,788.199115456,804,651,631.599557728,653,0.425017046772,-0.0155321891275,0.0799840233569,0.999999998547,-1.71699799437e-05,-8.66408901439e-06,-5.03576369416e-05,1793239668135015680
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.028774986,745,715,679.971225014,662,636,880.971225014,787.057549971,804,651,631.028774986,653,0.425823396133,-0.015531636715,0.0799346634757,0.999999994154,-1.6427896172e-05,-9.19691213983e-05,-5.44392690628e-05,1793239668151682304
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.566714171,745,715,680,662,636,880.433285829,787.566714171,804,651.566714171,631,653.566714171,0.426710103519,-0.0155350917265,0.0799316680683,0.999999995046,-2.71896842877e-05,-7.73970528502e-05,-5.63741358768e-05,1793239668168349184
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.841157882,880.158842118,788,804.158842118,652,631,654,0.427592845974,-0.0155374038673,0.0799319213433,0.99999999553,-3.32226991856e-05,-6.74118588198e-05,-5.73830334779e-05,1793239668185015552
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.26141223,880.73858777,788,804.73858777,652,631,654,0.428453777401,-0.0155361238458,0.079934260586,0.99999999463,-2.5106957395e-05,-8.33502379255e-05,-5.62402791494e-05,1793239668201682176
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.685414692,745,715,680,662,635.314585308,880.685414692,788,805,652,631,653.685414692,0.429348267584,-0.0155371416845,0.0799534519105,0.999999996359,-2.55533920979e-05,-6.05978070006e-05,-5.43820797887e-05,1793239668218348800
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.112495098,745,715,680,662,635.887504902,880.112495098,788,805,652,631,653.112495098,0.430270315837,-0.0155400465029,0.0799864819949,0.999999998087,-3.3031000268e-05,-6.07287153921e-06,-5.19363641098e-05,1793239668235015424
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880.473730704,788,805,651.526269296,631,653,0.43115680014,-0.0155443137354,0.0800232028367,0.99999999693,-3.77498504678e-05,4.73392652319e-05,-4.97396796941e-05,1793239668251682560
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880.937801383,788,805,651,631,653,0.432023774548,-0.0155477875466,0.0800516882992,0.999999994233,-4.19513773719e-05,8.62090983052e-05,-4.83855846053e-05,1793239668268349440
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,715,680,662,636,880.357734652,788,805,651,631,653,0.432800655766,-0.0155418837485,0.0800040975636,0.999999997421,-4.745777178e-05,6.26286921871e-06,-5.35403204583e-05,1793239668285015808
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.220979694,715,680.220979694,662,636,880,788,804.779020306,651,631.220979694,653,0.433586772629,-0.0155383803711,0.0799579732911,0.999999995044,-5.21626018086e-05,-6.14996980721e-05,-5.8389943981e-05,1793239668301682432
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.797518127,715,680.797518127,662,636,880,788,804.202481873,651,631.797518127,653,0.434387749868,-0.0155387392957,0.0799142085663,0.999999990474,-5.55777071812e-05,-0.000109658632972,-6.2748639601e-05,1793239668318349056
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.373477833,745.626522167,715,680.626522167,662,635.626522167,880,788,804.373477833,651,631.626522167,653,0.435219478311,-0.0155431873064,0.0799214631367,0.999999991651,-6.07441623747e-05,-9.5504015729e-05,-6.23467505201e-05,1793239668335015680
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.949124231,745.050875769,715,680.050875769,662,635.050875769,880,788,804.949124231,651,631.050875769,653,0.436067852746,-0.0155498487942,0.0799563351393,0.999999994869,-6.68586464721e-05,-4.76182329665e-05,-5.93678926866e-05,1793239668351682304
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.461868706,745,715,680,662,635.538131294,880,788,805,651.538131294,631,653,0.436836823391,-0.0155534086624,0.079968963854,0.999999995234,-6.53461146486e-05,-4.43535806419e-05,-5.74075243844e-05,1793239668368348928
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680.125895932,662,635.874104068,880,788,805,651.874104068,631,653,0.437596149191,-0.0155573225955,0.0799764773654,0.99999999518,-6.67396765364e-05,-4.46941574757e-05,-5.64657049301e-05,1793239668385015808
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745,715,680.704534476,662,635.295465524,880,788,805,651.295465524,631,653,0.438348474087,-0.0155635911629,0.0799733507282,0.999999994068,-8.1243139375e-05,-4.24428835202e-05,-5.8831666374e-05,1793239668401682688
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.719788112,745,714.719788112,680.719788112,662,635,880.280211888,788,805,651,631,653,0.439057508972,-0.0155697358723,0.0799478462862,0.99999999079,-9.22308508573e-05,-7.80124748063e-05,-6.18747235857e-05,1793239668418349312
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.147200409,745,714.147200409,680.147200409,662,635,880.852799591,788,805,651,631,653,0.43972137459,-0.0155757513469,0.0798989926249,0.99999998118,-9.95501918324e-05,-0.000153044725395,-6.56242687245e-05,1793239668435015936
+187,3.116666667,POSE1_TO_POSE2_PRESS,764.429066924,745,714.429066924,680.429066924,662,635,881,788,804.570933076,651,631,653,0.440332494005,-0.0155782211719,0.0798204230835,0.999999953136,-0.000109721538945,-0.000276537785229,-7.22175151107e-05,1793239668451682560
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745,715,680.993258711,661.993258711,635,881,787.993258711,804.006741289,651,631,653,0.440925474891,-0.0155794952154,0.0797321918436,0.999999903104,-0.000120819679013,-0.000415733937039,-7.97503159531e-05,1793239668468349440
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745,715,680.404032541,661.404032541,635,881,787.404032541,804.595967459,651,631,653,0.441528275166,-0.0155834607752,0.0796976313334,0.999999881396,-0.000126723955007,-0.000462802433905,-8.34402039459e-05,1793239668485016064
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680.181642181,661,634.818357819,880.818357819,787,805.181642181,651,631,653.181642181,0.442153006829,-0.0155904272071,0.0796913708113,0.999999877737,-0.000137580064639,-0.00046738229206,-8.4569526685e-05,1793239668501682688
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680.759568906,661,634.240431094,880.240431094,787,805.759568906,651,631,653.759568906,0.44282558581,-0.0156039405725,0.0797468517122,0.999999912191,-0.000159239476109,-0.000379265678365,-8.01125240365e-05,1793239668518349312
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.335316708,745,715,681,661,634.335316708,880.335316708,787,805.664683292,651,631,653.664683292,0.443441197064,-0.0156151037954,0.079777600232,0.999999926118,-0.000172971839393,-0.000334405206992,-7.7577604888e-05,1793239668535015936
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.909512216,745,715,681,661,634.909512216,880.909512216,787,805.090487784,651,631,653.090487784,0.444016224608,-0.0156245927815,0.079790729461,0.999999929374,-0.000181056992353,-0.000320360311958,-7.64119738879e-05,1793239668551682560
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.006378251,745,714.503189125,681,660.503189125,634.503189125,881.496810875,786.503189125,805,651,631,653,0.444531401918,-0.0156293272443,0.0797699167466,0.999999916654,-0.000184495477003,-0.000356027449248,-7.67999591736e-05,1793239668568349440
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.084712914,745,714,681,660,634,881.830574172,786,805,651,631,653,0.445030679158,-0.0156333812325,0.079743625133,0.999999899425,-0.000188252534732,-0.000399614204085,-7.75816044124e-05,1793239668585016064
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.661873212,745,714,681,660,634,880.676253577,786,805,651,631,653,0.445502612507,-0.015638649932,0.0797223947862,0.999999882409,-0.000198914612369,-0.000435178421533,-7.89621372243e-05,1793239668601682688
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,805,651,631,653,0.445967485623,-0.0156448267775,0.0797064474545,0.999999870538,-0.000210508111764,-0.000456188791377,-8.06299485207e-05,1793239668618349056
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,681,660,634,880,786,805,651,631,653,0.44642237159,-0.0156522882478,0.0796979732555,0.999999867375,-0.000223419160545,-0.00045661189872,-8.27041318624e-05,1793239668635015680
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,680.61128626,659.61128626,634,880.38871374,785.61128626,805,651,630.61128626,653.38871374,0.44685133517,-0.0156595061568,0.079691692752,0.999999864805,-0.000232356886314,-0.000457786088069,-8.26622185071e-05,1793239668651682560
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,680.036366773,659.036366773,634,880.963633227,785.036366773,805,651,630.036366773,653.963633227,0.447267881175,-0.015666607393,0.0796864630949,0.999999862529,-0.000239391270211,-0.000459320068671,-8.16066304201e-05,1793239668668349440
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.558245,680.558245,659.558245,634,881,785,805,651,630.558245,653.441755,0.447628173006,-0.0156682035969,0.0796714382122,0.999999849821,-0.000242209377652,-0.000484614774236,-8.2713447477e-05,1793239668685015808
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.148831659,715,681,660,633.851168341,880.851168341,784.851168341,805,651,630.851168341,653,0.447972298045,-0.0156692043818,0.0796546746128,0.99999983466,-0.000246270542338,-0.000512762475964,-8.429521441e-05,1793239668701682432
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.724076376,715,681,660,633.275923624,880.275923624,784.275923624,805,651,630.275923624,653,0.448280987631,-0.0156695643039,0.0796348245391,0.99999981556,-0.000254708872768,-0.000544487249737,-8.68193874816e-05,1793239668718349312
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,746,714.700462824,681,659.700462824,633,880.299537176,784.299537176,805,651,630.299537176,653,0.448582112895,-0.0156734079254,0.0796234695615,0.999999804149,-0.000261412540195,-0.00056189716207,-8.73885576343e-05,1793239668735015936
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,746,714.124802865,681,659.124802865,633,880.875197135,784.875197135,805,651,630.875197135,653,0.448876265113,-0.0156804629302,0.0796199456318,0.999999800532,-0.000266517140427,-0.000566111183763,-8.61555445697e-05,1793239668751682560
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.551090012,714,681,659,633,881,784.551090012,805,651,630.551090012,653,0.449151976325,-0.0156836287364,0.0796241955922,0.999999804392,-0.000270325431113,-0.000557613061967,-8.49032388735e-05,1793239668768349184
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.977158697,745,714,681,659,633,881,784,805.022841303,651,630,653,0.449420831804,-0.015685813038,0.0796303244348,0.999999809805,-0.00027382244521,-0.000546270980133,-8.36657595052e-05,1793239668785015808
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.384325601,745,714,681,659,633,881,784,805.615674399,651,630,653,0.449645991336,-0.0156903698636,0.079629640029,0.999999805553,-0.000278506245805,-0.000551771137454,-8.29315302723e-05,1793239668801682432
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.202993856,745,714,681,659,633,880.797006144,784,805.797006144,651,630,653,0.449860087485,-0.015694282906,0.0796299069195,0.999999802473,-0.000282285902114,-0.000555601637004,-8.170377448e-05,1793239668818348800
+210,3.500000000,POSE1_TO_POSE2_PRESS,764.780150391,745,714,681,659,633,880.219849609,784,805.219849609,651,630,653,0.450053791341,-0.0156970093128,0.0796319272597,0.999999801628,-0.000284399019571,-0.000556354586571,-7.95663399167e-05,1793239668835015680
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.643047549,633,880,783.643047549,805.356952451,651,630,653,0.45022757757,-0.0156999661141,0.0796307061215,0.999999799681,-0.000288123232968,-0.000557991192365,-7.91808322417e-05,1793239668851682560
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.066463541,633,880,783.066463541,805.933536459,651,630,653,0.450389108573,-0.0157030646767,0.0796274905136,0.999999797037,-0.000292838748097,-0.000560171508717,-7.98732786618e-05,1793239668868349184
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,681,658.520991824,633,880.520991824,783,805.479008176,651,630,653,0.450524573063,-0.0157071924583,0.0796259906236,0.99999979371,-0.000297271917013,-0.000563850323891,-7.92621592544e-05,1793239668885015808
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681,658.891856454,633,880.891856454,783,805,651,630,653,0.450650921855,-0.0157109891989,0.079624467909,0.999999790095,-0.00030132104785,-0.000568161123025,-7.87957757897e-05,1793239668901682432
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681,658.312204101,633,880.312204101,783,805,651,630,653,0.450752333538,-0.0157127579267,0.0796218710352,0.999999785706,-0.000303856155348,-0.000574376142291,-7.9700958086e-05,1793239668918349312
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.734815205,745,714,681,658.265184795,632.734815205,880.265184795,783,805,651,630,653,0.4508450661,-0.0157145206236,0.0796195375351,0.999999782715,-0.000305719811891,-0.000578449069335,-8.06398534731e-05,1793239668935015680
+217,3.616666667,POSE1_TO_POSE2_PRESS,764.160068575,745,714,681,658.839931425,632.160068575,880.839931425,783,805,651,630,653,0.450927667138,-0.0157162762804,0.0796175114829,0.999999781394,-0.000306799654166,-0.000580021437885,-8.16181035779e-05,1793239668951682304
+218,3.633333333,POSE1_TO_POSE2_PRESS,764.413732199,745,714,681,659,632,880.586267801,783,805,651,630,653,0.450993088138,-0.0157177428418,0.0796148311589,0.999999778698,-0.000307972262395,-0.000584010630482,-8.17877775083e-05,1793239668968348928
+219,3.650000000,POSE1_TO_POSE2_PRESS,764.987167852,745,714,681,659,632,880.012832148,783,805,651,630,653,0.451051877525,-0.0157190978102,0.0796118982816,0.99999977545,-0.000309180678886,-0.00058893273362,-8.16453354876e-05,1793239668985015808
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.417898498,745,714,681,658.417898498,632.582101502,880.582101502,783,805,651,630,653,0.451090957146,-0.0157182419529,0.0796061813081,0.999999768638,-0.000312452319508,-0.000598625701832,-8.212527496e-05,1793239669001682432
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.171540339,745,714,681,658,633,881,783,805,651,630,653,0.451126888033,-0.0157182033892,0.0796010451335,0.999999762926,-0.000315518607086,-0.000606473506302,-8.23770459099e-05,1793239669018349312
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.746885953,745,714,681,658,633,881,783,805,651,630,653,0.451156468823,-0.0157202078565,0.0795974261723,0.999999760195,-0.000317990321932,-0.000609720734309,-8.20581734202e-05,1793239669035015936
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.321633724,714,681,658.321633724,632.678366276,881,783,805.321633724,651,630.321633724,653,0.451180199015,-0.015720587379,0.0795949843085,0.99999975797,-0.000318971234819,-0.00061286189682,-8.19637986446e-05,1793239669051682560
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.895911948,714,681,658.895911948,632.104088052,881,783,805.895911948,651,630.895911948,653,0.451199333545,-0.0157196905015,0.0795934670585,0.999999756145,-0.000318781117425,-0.000615919744836,-8.20457676337e-05,1793239669068349184
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.514416556,714,681,659,632,881,783,805.514416556,651,631,653.485583444,0.451211756847,-0.015717796228,0.0795928219941,0.999999755475,-0.00031597600919,-0.000618467063818,-8.18996015928e-05,1793239669085015552
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.076414822,745.076414822,714.076414822,681,658.923585178,632,880.923585178,783,805,651,630.923585178,653.923585178,0.45122208705,-0.0157160229958,0.0795921851038,0.999999754847,-0.000313190820867,-0.000620924908476,-8.16676367861e-05,1793239669101682176
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.652546948,745.652546948,714.652546948,681,658.347453052,632,880.347453052,783,805,651,630.347453052,653.347453052,0.451228445115,-0.0157164852321,0.0795903390194,0.999999752905,-0.000314321581369,-0.000623536719223,-8.1204855669e-05,1793239669118349312
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.771211264,746,715,681,658.228788736,632,880,782.771211264,805,651,630,653,0.451231992544,-0.0157165980576,0.0795879688822,0.999999750598,-0.000314952754975,-0.000626937109313,-8.09875970196e-05,1793239669135016192
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.19480289,746,715,681,658.80519711,632,880,782.19480289,805,651,630,653,0.451231269515,-0.0157161799912,0.0795848025041,0.999999747732,-0.000314824860482,-0.000631535659917,-8.11433831246e-05,1793239669151682816
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.619518542,715,681,658.619518542,632.380481458,880,782,805,651,630,653,0.451231471601,-0.0157158811406,0.0795825671156,0.999999745637,-0.000315077380292,-0.000634727450692,-8.10759983284e-05,1793239669168349184
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.044808007,715,681,658.044808007,632.955191993,880,782,805,651,630,653,0.451232145943,-0.0157156431474,0.0795808069809,0.999999743938,-0.000315524094901,-0.000637201115237,-8.08946887171e-05,1793239669185015552
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,714.452897284,681,658.547102716,632.452897284,880,782,805,651,630,653,0.451234916284,-0.0157153367095,0.0795812139329,0.999999745305,-0.00031389247251,-0.000635861393781,-8.08785018566e-05,1793239669201682176
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.863499414,745,714,681,658.863499414,632,880,782,805,651,630,653,0.451237295367,-0.0157148610708,0.0795818085794,0.999999746662,-0.000312348862018,-0.000634499484177,-8.07687889519e-05,1793239669218348800
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.286893004,745,714,681,658.286893004,632,880,782,805,651,630,653,0.451237841511,-0.0157138585549,0.0795824175668,0.999999747165,-0.000311655648518,-0.000634105699798,-8.0312510637e-05,1793239669235015424
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.288188704,745,714,681,658.288188704,632,880.288188704,782,805,651,630,653,0.451238695928,-0.0157136628475,0.0795825651653,0.999999747468,-0.000311296735176,-0.000633817909349,-8.02056344345e-05,1793239669251682304
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.861760624,745,714,681,658.861760624,632,880.861760624,782,805,651,630,653,0.451239855617,-0.0157142660945,0.0795822558663,0.999999747573,-0.000311268867531,-0.000633635080943,-8.04447588944e-05,1793239669268349184
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681,659,632,881,782,805.44541327,651,630,653.44541327,0.451238655545,-0.0157127190831,0.0795812812087,0.999999746148,-0.000311085800143,-0.000635974161253,-8.04113386045e-05,1793239669285015552
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.967980424,745,714,681,658.967980424,632,881,782,805.967980424,651,630,653.967980424,0.451236815528,-0.0157106260198,0.0795801208032,0.999999744328,-0.000310864025588,-0.000638950524683,-8.03062976646e-05,1793239669301682688
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.385626726,745,714,681,658.385626726,632,881,782,805.385626726,651,630,653.385626726,0.451236855718,-0.0157108835099,0.0795793992939,0.999999744223,-0.000310824030934,-0.000639115952364,-8.04577899328e-05,1793239669318349056
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,745,714,680.805714303,658,632,880.805714303,782,805,651,630,653,0.451237173629,-0.0157106788049,0.0795791675102,0.999999744642,-0.000309901127187,-0.000638910414112,-8.04461774502e-05,1793239669335015680
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,745,714,680.230587333,658,632,880.230587333,782,805,651,630,653,0.451238035934,-0.015709568099,0.0795798956931,0.999999746082,-0.000307247533904,-0.000637977703751,-8.01148449688e-05,1793239669351682304
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,745,714,680.344103781,658,632,880.344103781,782,805,651,630,653,0.451238786458,-0.0157094208531,0.0795807877684,0.999999746587,-0.000306898209488,-0.000637380918585,-7.99097370509e-05,1793239669368349184
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,745,714,680.918503171,658,632,880.918503171,782,805,651,630,653,0.451239462171,-0.0157099184143,0.0795817895307,0.999999746467,-0.000308091044929,-0.000637008955449,-7.97891064588e-05,1793239669385015808
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,745,714,681,658.508930175,632,880.491069825,782,804.491069825,651,630,653,0.4512398698,-0.0157089119222,0.0795808942592,0.999999746304,-0.000307104577499,-0.000637734121145,-7.98361805129e-05,1793239669401682432
+245,4.083333333,POSE1_TO_POSE2_PRESS,764.099385718,745,714,681,658.900614282,632.099385718,880,782,804,651,630,653,0.451239893544,-0.0157080310204,0.0795796515691,0.999999745801,-0.00030646155779,-0.000638814529472,-7.99736639858e-05,1793239669418349312
+246,4.100000000,POSE1_TO_POSE2_PRESS,764.677221095,745,714,681,658.322778905,632.677221095,880,782,804,651,630,653,0.451238282617,-0.0157089518873,0.0795782463473,0.999999743694,-0.000309206559964,-0.000640731827866,-8.04128981772e-05,1793239669435015936
+247,4.116666667,POSE1_TO_POSE2_PRESS,764.746683606,745,714,681,658,632.746683606,880.253316394,782,804,651,630,653,0.45123801078,-0.0157087472791,0.0795778960229,0.999999743365,-0.000309749589971,-0.000640965361564,-8.05557756805e-05,1793239669451682816
+248,4.133333333,POSE1_TO_POSE2_PRESS,764.172790332,745,714,681,658,632.172790332,880.827209668,782,804,651,630,653,0.451239433589,-0.0157071183602,0.079578880692,0.99999974529,-0.000307505981263,-0.000639068058184,-8.03236080258e-05,1793239669468349440
+249,4.150000000,POSE1_TO_POSE2_PRESS,764,745.411229285,714,680.588770715,658,632,880.588770715,782,804.411229285,651,630.411229285,652.588770715,0.451239837804,-0.0157073506217,0.0795791877723,0.999999745679,-0.000307071617212,-0.000638702988379,-8.004824226e-05,1793239669485016064
+250,4.166666667,POSE1_TO_POSE2_PRESS,764,745.999611174,714,680.000388826,658,632,880.000388826,782,804.999611174,651,630.999611174,652.000388826,0.45123980322,-0.0157083846574,0.0795792029555,0.999999745408,-0.000307416654016,-0.000638997986384,-7.97542672846e-05,1793239669501682688
+251,4.183333333,POSE1_TO_POSE2_PRESS,764.581256042,745.418743958,714,680,658,632.581256042,880,782,805,651,630.418743958,652.581256042,0.45123960179,-0.0157069480371,0.0795787896622,0.999999745114,-0.00030671902072,-0.00063976640437,-7.99611526212e-05,1793239669518349056
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.160252627,714,680.160252627,658,632.839747373,880,782,805,651,630.160252627,653,0.451239589046,-0.0157064505278,0.0795786324281,0.999999744879,-0.000306291952737,-0.000640365756291,-7.97483145091e-05,1793239669535015424
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.732452914,714,680.732452914,658,632.267547086,880,782,805,651,630.732452914,653,0.451240061623,-0.0157083713102,0.0795791341515,0.999999744793,-0.000306562176228,-0.000640529699801,-7.84556779746e-05,1793239669551682304
+254,4.233333333,POSE1_TO_POSE2_PRESS,764.692919957,745.692919957,714,681,658,632,880,782.307080043,805,651,630.692919957,653,0.451241596223,-0.0157096255255,0.0795799826282,0.999999745762,-0.000306537006499,-0.000639089183554,-7.7954127405e-05,1793239669568349184
+255,4.250000000,POSE1_TO_POSE2_PRESS,764.116161599,745.116161599,714,681,658,632,880,782.883838401,805,651,630.116161599,653,0.451244063493,-0.0157102943603,0.0795811356244,0.999999747651,-0.000306252421834,-0.000636239627498,-7.81473101952e-05,1793239669585016064
+256,4.266666667,POSE1_TO_POSE2_PRESS,764,745,714,681,658,632,880,782.526089755,805,651,630,653,0.451242834322,-0.0157081870201,0.0795802086092,0.99999974652,-0.000306237503021,-0.000637925797996,-7.89267647989e-05,1793239669601682688
+257,4.283333333,HOLD_POSE2,764,745,714,680,658,633,880,782,806,651,630,653,0.451240995998,-0.0157080181716,0.0795791409207,0.999999744978,-0.000306384389067,-0.000640312010061,-7.85731299776e-05,1793239669645362176
+258,4.300000000,HOLD_POSE2,764,745,714,680.576387638,658,632.423612362,880.576387638,782,805.423612362,651,630,653,0.451240493415,-0.0157065593556,0.0795786861027,0.999999744963,-0.000304626698314,-0.000641128577441,-7.89373014494e-05,1793239669662028544
+259,4.316666667,HOLD_POSE2,764,745,714,681,658,632.151745277,880.848254723,782,805,650.848254723,630,653,0.451240582064,-0.0157055680717,0.0795785776922,0.999999745264,-0.000303263226817,-0.000641275950234,-7.91739955017e-05,1793239669678694912
+260,4.333333333,HOLD_POSE2,764,745,714,681,658,632.724247089,880.275752911,782,805,650.275752911,630,653,0.45124231007,-0.0157058731521,0.0795794297937,0.999999746449,-0.000302992838874,-0.000639567792688,-7.90572225767e-05,1793239669695361792
+261,4.350000000,HOLD_POSE2,764.308271086,745,714,681,658,632.691728914,880,782,805,650.308271086,630,653,0.45124256161,-0.0157069437445,0.0795792730678,0.999999746008,-0.00030469899974,-0.000639448342359,-7.90421647582e-05,1793239669712028416
+262,4.366666667,HOLD_POSE2,764.903002001,745,714,681,658,632.096997999,880,782,805,650.903002001,630,653,0.451241441148,-0.0157087256861,0.0795781788927,0.999999744048,-0.000308241861687,-0.000640805192751,-7.91216253526e-05,1793239669728695040
+263,4.383333333,HOLD_POSE2,764.517586065,745,714,681,658,632,880,782,805,651,630,653,0.451242260319,-0.0157085503814,0.0795788817186,0.9999997443,-0.000308582281859,-0.000640288174328,-7.8787759375e-05,1793239669745361664
+264,4.400000000,HOLD_POSE2,764.058512187,745,714,680.941487813,658,632,880,782,805,651,630,653,0.451243536773,-0.0157080286235,0.0795799672171,0.999999745065,-0.000308304457345,-0.000639271113044,-7.84263833031e-05,1793239669762028544
+265,4.416666667,HOLD_POSE2,764.631722384,745,714,680.368277616,658,632,880,782,805,651,630,653,0.451245510674,-0.0157078145131,0.0795813383684,0.999999746533,-0.000308078056151,-0.000637067730563,-7.85315592451e-05,1793239669778694912
+266,4.433333333,HOLD_POSE2,765,745,714,680.211182597,658,632,880.211182597,782,805,651,630,653.211182597,0.451245957733,-0.0157069793699,0.079581496165,0.999999747239,-0.000306853155251,-0.000636536641895,-7.86410017042e-05,1793239669795361280
+267,4.450000000,HOLD_POSE2,765,745,714,680.801874445,658,632,880.801874445,782,805,651,630,653.801874445,0.451243660957,-0.0157050281897,0.0795794734819,0.999999746574,-0.000303833883631,-0.000639010777278,-7.87581113688e-05,1793239669812027904
+268,4.466666667,HOLD_POSE2,765,745.384019215,714,681,658,632,881,782,805,651,630,653.615980785,0.451243742905,-0.0157052245214,0.0795797358104,0.999999746764,-0.000303989701203,-0.000638649495092,-7.86679469148e-05,1793239669828694528
+269,4.483333333,HOLD_POSE2,765,745.961850385,714,681,658,632,881,782,805,651,630,653.038149615,0.45124502538,-0.015706504688,0.079581151369,0.999999747386,-0.000305747964997,-0.000636857196652,-7.84731725958e-05,1793239669845361408
+270,4.500000000,HOLD_POSE2,764.461886118,745.461886118,714,681,658,632,881,782,805,651,630,653,0.451244785182,-0.015706534294,0.079580790564,0.99999974674,-0.000306679664694,-0.000637419867125,-7.85069315509e-05,1793239669862028032
+271,4.516666667,HOLD_POSE2,764.114183157,745.114183157,714,681,658.114183157,632,880.885816843,782,805,651,630,653,0.451244461688,-0.0157064537146,0.0795805117554,0.999999746214,-0.000307208036664,-0.00063798827764,-7.85277333605e-05,1793239669878694912
+272,4.533333333,HOLD_POSE2,764.689915474,745.689915474,714,681,658.689915474,632,880.310084526,782,805,651,630,653,0.451244236582,-0.0157062850784,0.0795810719669,0.999999746539,-0.00030634226567,-0.000637906985793,-7.84308593227e-05,1793239669895361536
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,746,715,681,658,632,881,782,805,651,630,653,0.451246743607,-0.0157050868065,0.0795826857284,0.999999749638,-0.00030221355814,-0.000635076955704,-7.78955751507e-05,1793239669932482560
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,745.425528425,714.425528425,681,658,632,880.425528425,782,805,651,630.574471575,653,0.451245733366,-0.0157060137244,0.0795811745502,0.999999747293,-0.000305400432701,-0.0006372040435,-7.82043368208e-05,1793239669949149440
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.150293151,745,714,681,658,632,880,782,805,651,630.849706849,653,0.451244993564,-0.0157063347873,0.0795802118087,0.999999745852,-0.000306875518101,-0.000638727047535,-7.8429657154e-05,1793239669965816064
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.729971793,745,714,681,658,632,880,782,805,651,630.270028207,653,0.4512450264,-0.0157049249313,0.079580815943,0.999999747025,-0.000303460045861,-0.000638524192981,-7.84165867944e-05,1793239669982482688
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880.306190943,782,805,651,630,653,0.45124500828,-0.0157040523653,0.0795807479682,0.999999747768,-0.000301378583692,-0.000638373391997,-7.81923381195e-05,1793239669999149312
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880.879393235,782,805,651,630,653,0.451244945724,-0.015703648339,0.0795800938862,0.999999748144,-0.000300460434481,-0.000638267983927,-7.77839330941e-05,1793239670015816192
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880.530895338,782,805,651,630,653,0.451244769776,-0.0157052882113,0.0795797322756,0.999999746955,-0.000303355748906,-0.000638707180896,-7.82149222487e-05,1793239670032482816
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,782,805,651,630,653,0.451244588235,-0.0157071738125,0.0795794509072,0.999999745517,-0.00030680205592,-0.000639243785522,-7.87806829052e-05,1793239670049149440
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,782,805,651,630,653,0.451244613489,-0.0157065489815,0.0795791888962,0.999999745585,-0.000306341424456,-0.000639379648329,-7.85997717487e-05,1793239670065815808
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764.788480532,745,714,681,658,632,880,782,805,651,630,653,0.451242019232,-0.0157057715721,0.0795776292331,0.999999744509,-0.000305557195116,-0.000641431694029,-7.86319310611e-05,1793239670082482432
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764.21325825,745,714,681,658,632,880,782,805,651,630,653,0.451234920786,-0.0157047318078,0.0795738382873,0.999999741442,-0.00030421654678,-0.000646778571696,-7.90304601148e-05,1793239670099149056
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764.370241296,745.370241296,714,681,658,632,880,782,805,651,630,653,0.451215464831,-0.0157033781943,0.0795642217783,0.999999732534,-0.000301775909336,-0.000661504112679,-7.92132589046e-05,1793239670115815680
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764.958617612,745.958617612,714,681,658,632,880,782,805,651,630,653,0.451188728203,-0.0157018396704,0.0795511730227,0.999999719856,-0.000298687191216,-0.000681755279871,-7.92689559331e-05,1793239670132482304
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.46202409,714,681,658,632,880.53797591,782,805,651,630,653,0.451132335365,-0.0156979132009,0.07952944669,0.999999692565,-0.000299988654985,-0.000719919074675,-8.11980872674e-05,1793239670149149440
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880.883580017,782,804.883580017,651,630,653,0.451071872858,-0.015694280439,0.0795089508878,0.999999666131,-0.000301200488784,-0.000755098288808,-8.27208480549e-05,1793239670165816064
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880.306054554,782,804.306054554,651,630,653,0.451004177873,-0.0156925264989,0.079495929035,0.999999652576,-0.000300741834215,-0.000773089053824,-8.20727314461e-05,1793239670182482432
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.730449752,745.269550248,714,681,658,632,880,782,804.269550248,651,630,653,0.450933881312,-0.0156895643063,0.0794902994368,0.999999647113,-0.000298845712171,-0.000780965468109,-8.09805060483e-05,1793239670199149056
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764.157010325,745.842989675,714,681,658,632,880,782,804.842989675,651,630,653,0.450860651754,-0.015685239938,0.0794930038188,0.999999651033,-0.000295328998847,-0.000777439028959,-7.93875953799e-05,1793239670215815936
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764.430385607,745.569614393,714,680.569614393,658,632,880,782,804.569614393,651,630,653,0.45077021179,-0.015681877924,0.0794988865914,0.999999657844,-0.000293678013328,-0.000769575165091,-7.62825596985e-05,1793239670232482816
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.022491288,714.022491288,680,658,632,880,782.022491288,804.022491288,651,630,653,0.450672110677,-0.0156787945088,0.0795058115692,0.999999665525,-0.000292681631529,-0.000760271728679,-7.26231637554e-05,1793239670249149184
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.600942338,714.600942338,680,658,632,880,782.600942338,804.600942338,651,630,653,0.450545035447,-0.0156736285983,0.0795088760882,0.999999669783,-0.000290477736195,-0.000755808470609,-6.93536072124e-05,1793239670265815808
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,714.822543945,680.177456055,658,632,880.177456055,782.822543945,805,651,630.177456055,653,0.450407112394,-0.0156676498974,0.0795093029517,0.999999671656,-0.000287206655498,-0.000754872021149,-6.60960355269e-05,1793239670282482432
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714.250339872,680.749660128,658,632,880.749660128,782.250339872,805,651,630.749660128,653,0.450245058559,-0.0156598631583,0.0795038623941,0.99999966823,-0.000281561639146,-0.000761780898896,-6.28651243932e-05,1793239670299149312
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.332687274,746,714.332687274,681,658,632,880.667312726,782,805,651,630.667312726,653,0.450065318906,-0.0156524560579,0.0795009656663,0.999999666334,-0.00027416797099,-0.00076728463512,-5.86289834267e-05,1793239670315816192
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.924132464,746,714.924132464,681,658,632,880.075867536,782,805,651,630.075867536,653,0.449871823538,-0.0156453442326,0.079500047481,0.999999665584,-0.000265414233673,-0.000771695479348,-5.36109932206e-05,1793239670332482560
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.494371538,745.494371538,714.494371538,681,658,632,880,782,805,651,630,653,0.449641961015,-0.0156343320678,0.0795011440645,0.99999967115,-0.000252192258424,-0.00076931267692,-4.75033882996e-05,1793239670349149184
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,782.0851168,805,651,630,653,0.449402693594,-0.0156227709422,0.0795026676665,0.999999677702,-0.000236229919912,-0.00076621706027,-4.12756866329e-05,1793239670365815808
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,658,632,880,782.661467922,805,651,630,653,0.449140032401,-0.0156113539578,0.0795049446781,0.999999685252,-0.000208246774873,-0.000764777081386,-3.52802232455e-05,1793239670382482688
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.763750911,658.236249089,632,880,783,805,651,630,653,0.448860933058,-0.0156006341035,0.0795068245658,0.999999692729,-0.000176127689848,-0.000763354596731,-2.84827642025e-05,1793239670399149312
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.191204589,658.808795411,632,880,783,805,651,630,653,0.448558434255,-0.0155909066045,0.0795081391529,0.999999699961,-0.000138121154458,-0.000761957014844,-2.05436760524e-05,1793239670415815680
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.395175653,658.604824347,632.395175653,880.395175653,783.395175653,805,651,630.395175653,653,0.448227370416,-0.0155794308446,0.0795086875106,0.999999703054,-0.000112308682564,-0.000762279895867,-1.44447638027e-05,1793239670432482560
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.988492199,658.011507801,632.988492199,880.988492199,783.988492199,805,651,630.988492199,653,0.447881984091,-0.0155670785079,0.0795088516813,0.999999704229,-9.26103097209e-05,-0.000763465416375,-9.26851515387e-06,1793239670449149440
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.432114025,745,714,681,658,633,880.432114025,784,805,651,631,653,0.447491199035,-0.015558256307,0.0795087275381,0.99999970531,-9.11425789171e-05,-0.000762165169551,-1.32962192348e-05,1793239670465815808
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.145865397,745,714,681,658.145865397,633,880,784,805,651,631,653,0.447095845725,-0.0155522860835,0.0795126523047,0.999999710626,-9.00947217805e-05,-0.000755240495007,-1.56000172444e-05,1793239670482482432
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.720496752,745,714,681,658.720496752,633,880,784,805,651,631,653,0.446689703786,-0.0155544938996,0.0795284954551,0.999999728085,-8.92211259998e-05,-0.000731927546728,-1.23013320417e-05,1793239670499149056
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764.698131076,745,714,681,659,633,880,784,805,651,631,652.698131076,0.446262444583,-0.0155572470231,0.0795461108558,0.999999744719,-8.66778425598e-05,-0.000709215469738,-7.82973619869e-06,1793239670515815680
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764.110374896,745,714,681,659,633,880,784,805,651,631,652.110374896,0.445815186067,-0.0155605165844,0.0795654046816,0.999999760556,-8.25532686348e-05,-0.000687072449735,-2.2473260388e-06,1793239670532482304
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764.471130117,745,714,681,659,633,880.471130117,784,805,651,631,652.471130117,0.445314811007,-0.0155547897344,0.0795809191275,0.99999977327,-7.81400596057e-05,-0.000668844646178,-1.04180395118e-06,1793239670549148928
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633.050797017,880.949202983,784.050797017,805,651,631,653,0.444797872466,-0.0155466607196,0.0795953351558,0.999999785425,-7.18210305143e-05,-0.000651146040672,-5.25296033692e-07,1793239670565815808
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,659,633.626406233,880.373593767,784.626406233,805,651,631,653,0.44423668916,-0.0155352037736,0.0796074308236,0.999999800739,-4.65013898926e-05,-0.000629562391691,3.32791352499e-06,1793239670582482944
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.797858643,659,634,880,785.202141357,804.797858643,651,631,653,0.443665369995,-0.0155244391972,0.0796170781,0.999999810979,-2.6234245658e-05,-0.00061426013018,6.24444178731e-06,1793239670599149568
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745,714,680.22189071,659,634,880,785.77810929,804.22189071,651,631,653,0.443075306289,-0.0155149550428,0.0796221974857,0.999999813455,-1.53108486809e-05,-0.000610574244843,7.42873468103e-06,1793239670615816192
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.360902906,659.360902906,634,880,786,804.360902906,651,631,653,0.442482025815,-0.0155067374446,0.079631769,0.999999823637,-3.63080824407e-06,-0.000593818606683,9.62236565202e-06,1793239670632482816
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.947973974,659.947973974,634,880,786,804.947973974,651,631,653,0.441886729502,-0.0154993135635,0.0796441305434,0.999999838078,8.52339992574e-06,-0.000568872505136,1.24485216467e-05,1793239670649149440
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,634,880,786,805,651,631,653,0.441230036992,-0.0154924219544,0.0796648331542,0.999999856401,1.73972164398e-05,-0.000535419334627,1.48973800954e-05,1793239670665815808
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714.108035783,681,660,634.108035783,880.108035783,786.108035783,805,651,631,653,0.440547314331,-0.0154846159681,0.0796763047584,0.999999866485,2.91131309004e-05,-0.000515661784601,1.6591335916e-05,1793239670682482432
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745,714.686600141,681,660,634.686600141,880.686600141,786.686600141,805,651,631,653,0.439777223665,-0.0154726021799,0.0796440401218,0.999999842067,5.45964715117e-05,-0.000559155528009,1.5157245149e-05,1793239670699149056
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.262442461,715,681,660,635,880.737557539,787,805,651,631.262442461,653,0.439035799727,-0.015461518135,0.0796360952747,0.999999837749,7.14813989336e-05,-0.000564956811957,1.47255033652e-05,1793239670715815680
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745.83506766,715,681,660,635,880.16493234,787,805,651,631.83506766,653,0.438328257114,-0.0154515329593,0.0796568941672,0.999999858374,7.82037998849e-05,-0.000526209098103,1.54784452892e-05,1793239670732482560
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.579539304,715,681,660.420460696,635,880,787,805,651,631.579539304,653,0.437634610611,-0.0154377295498,0.0797175462778,0.999999898607,9.98427370933e-05,-0.000438741388887,1.79865477677e-05,1793239670749149184
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,681.010790864,661,635,880,787,805,651,631,653,0.436945401838,-0.015422318717,0.0797939001042,0.999999936565,0.000127476900315,-0.000331917708879,2.12345550331e-05,1793239670765816064
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,715,681.589125911,661,635,880,787,805,651,631,653,0.436193921269,-0.0154036072396,0.0798481158168,0.999999958255,0.000153046025074,-0.000243698108723,2.60527365307e-05,1793239670782482688
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,715,681.666079162,661,635,880,787,805,651,631,653,0.435404471537,-0.0153888888247,0.0798794340034,0.99999996556,0.000174731559342,-0.000193618077859,2.93517708446e-05,1793239670799149056
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.512866412,661,635,880,787,805,651,631,653,0.434521862559,-0.0153839675947,0.0798545719317,0.999999954006,0.000186888505996,-0.000237115446994,2.89234997145e-05,1793239670815815680
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.325702313,745,715,680.325702313,661,635,880,787,804.674297687,651,631,653,0.433644616503,-0.015384755431,0.0798226181657,0.999999939833,0.000191856106189,-0.00028767514637,2.77161120057e-05,1793239670832482560
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.912266209,745,715,680.912266209,661,635,880,787,804.087733791,651,631,653,0.432771665763,-0.0153901157742,0.0797849845192,0.999999922281,0.000191065612289,-0.000343891206656,2.58847140275e-05,1793239670849149440
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.507197734,745,715,680.507197734,661,635,880,787,804.492802266,651,631,653,0.43182526692,-0.0153869339033,0.07973462809,0.999999884104,0.000197415007858,-0.000438471852949,2.37147100033e-05,1793239670865815808
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.072057401,661,635,880,787,805,651,631,653,0.430883623096,-0.0153828385801,0.0796945470233,0.999999845476,0.000205114266175,-0.000516210935219,2.24036088163e-05,1793239670882482432
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,715,680.64976317,661,635,880,787,805,651,631,653,0.430065996513,-0.0153828760606,0.0797422736911,0.999999885064,0.00021347389751,-0.000428418259289,2.75375949328e-05,1793239670899149312
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.226145716,745,715,681,661,635,880.226145716,787.226145716,805,651.226145716,631,653,0.429237004062,-0.0153831165693,0.0797957168991,0.999999917892,0.000220054331649,-0.000338667256801,3.31222251003e-05,1793239670915816192
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.800490969,745,715,681,661,635,880.800490969,787.800490969,805,651.800490969,631,653,0.428390511311,-0.0153836696831,0.0798579619469,0.999999943926,0.000223895314468,-0.000245900981543,3.94007187126e-05,1793239670932482816
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.614902815,745,715,681,661,635,880.614902815,787.614902815,805,651.614902815,631.385097185,653,0.427502070775,-0.0153822956899,0.079861018642,0.999999945447,0.000224389084435,-0.00023896788557,4.06267051749e-05,1793239670949149440
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.024835169,745,715,681,661,635,880.024835169,787.024835169,805,651.024835169,631.975164831,653,0.426591303311,-0.0153798959815,0.0798325719508,0.999999935782,0.000223101278955,-0.00027772005892,3.91634618147e-05,1793239670965815808
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.55482717,745,715,681,661,635,880,787.55482717,805,651,631.44517283,653,0.425649173457,-0.0153779379442,0.0797841189682,0.999999913157,0.000225817982586,-0.000348525756242,3.49604956566e-05,1793239670982482688
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.867064429,745,715,680.867064429,660.867064429,635,880,787.867064429,804.867064429,651,631,653,0.42470785145,-0.0153762419183,0.0797437950699,0.999999888834,0.000230936160175,-0.00040984282867,3.20777187971e-05,1793239670999149312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.292598789,745,715,680.292598789,660.292598789,635,880,787.292598789,804.292598789,651,631,653,0.423773789526,-0.015375351678,0.0797333905995,0.999999875192,0.000243446160345,-0.000434966809087,3.39796192941e-05,1793239671015815936
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,635,880.288557244,787,804,651.288557244,631,653,0.42288581221,-0.0153738897905,0.0797405907463,0.999999879702,0.00024837514794,-0.00042149253753,3.53477420579e-05,1793239671032482816
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660,635,880.876658366,787,804,651.876658366,631,653,0.422045674202,-0.0153718344907,0.0797660657954,0.999999901533,0.000245434479543,-0.000367950407769,3.61617636666e-05,1793239671049149440
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.458437324,635.458437324,880.541562676,787,804.458437324,652,631,653,0.421242206486,-0.0153749856388,0.0798249014489,0.999999935335,0.000239795912389,-0.000264922571375,4.05439500278e-05,1793239671065816064
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.961764668,635.961764668,880,787,804.961764668,652,631,653,0.420442616273,-0.0153789975411,0.0798868091965,0.999999958834,0.000234358584168,-0.000159185474373,4.5480783236e-05,1793239671082482432
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.38622691,635.38622691,880,787,804.38622691,652,631,653,0.419560758505,-0.0153756884306,0.0798674734989,0.99999994977,0.000241810672866,-0.000199927093031,4.49047946912e-05,1793239671099149056
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.810801451,660,635,880.189198549,787.189198549,804,651.810801451,631,653,0.41867805195,-0.0153726219073,0.0798416982622,0.999999938132,0.000245889768081,-0.000247906812813,4.26311450343e-05,1793239671115815936
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.235604996,660,635,880.764395004,787.764395004,804,651.235604996,631,653,0.41779361356,-0.0153700503033,0.0798027852437,0.999999921521,0.000243087372093,-0.000310653523625,3.68939717223e-05,1793239671132482304
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,679.349174412,660,635,880.301651177,788,804,651,631,653,0.416951702694,-0.0153692684159,0.0797978814864,0.999999918,0.000240598257314,-0.000323781357651,3.57487472281e-05,1793239671149148928
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.940602335,660,635,879.118795329,788,804,651,631,653,0.416139297029,-0.015369728215,0.079816572997,0.999999925138,0.00023832649427,-0.000302484136722,3.77893686372e-05,1793239671165815808
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,744.480311386,715,680,660,635,879,788,804,651,631.519688614,653,0.415324002255,-0.0153638671244,0.0798024058395,0.999999916187,0.000242528955253,-0.000327793128368,3.6838350272e-05,1793239671182482432
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,744.097313888,715,680,660,635,879,788,804,651,631.902686112,653,0.414522335615,-0.0153587918012,0.0797879995248,0.999999907221,0.000246952095151,-0.000351140496314,3.56745433994e-05,1793239671199149312
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,744.674529135,715,680,660,635,879,788,804,651,631.325470865,653,0.413789466496,-0.0153610715468,0.079790504711,0.999999910896,0.000248899014982,-0.000339154315958,3.51084729181e-05,1793239671215815936
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.250971188,635,879.250971188,788,804,651.250971188,631,653,0.413070425654,-0.0153629974288,0.0798005701255,0.999999917743,0.000250014278657,-0.000317371443374,3.57968251978e-05,1793239671232482304
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,660.826413564,635,879.826413564,788,804,651.826413564,631,653,0.412369262927,-0.0153644658135,0.079820409874,0.999999927988,0.000250054325119,-0.000282922797478,3.81069733887e-05,1793239671249148928
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,744.587461608,715,680,660.587461608,635.412538392,880,788,804,652,631,653,0.411651110573,-0.0153629971901,0.0798154954968,0.999999924304,0.000249390895443,-0.000296236216148,3.79383047863e-05,1793239671265815552
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,744.003191324,715,680,660.003191324,635.996808676,880,788,804,652,631,653,0.410926026827,-0.0153602718835,0.0797999669231,0.999999914011,0.000248445289287,-0.00033000964308,3.67059922107e-05,1793239671282482176
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,744.578366301,715,680,660.578366301,635.421633699,880,788,804,652,631,653,0.410273987215,-0.0153596960021,0.0797985335524,0.99999991226,0.000251388744885,-0.000333065714653,3.67480914786e-05,1793239671299148800
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,715,679.846558659,660.846558659,635,879.846558659,788,804,652,631,653,0.409642159089,-0.0153592483302,0.0798037816933,0.999999914587,0.000253541291105,-0.000324277585658,3.72341779961e-05,1793239671315815936
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,715,679.27175792,660.27175792,635,879.27175792,788,804,652,631,653,0.409065832806,-0.0153591527291,0.0798273776772,0.999999927071,0.000253521951731,-0.000282964550894,3.89394808873e-05,1793239671332482816
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.303712575,635,879,788,804,652,631,653,0.408492710784,-0.0153573649554,0.0798431036939,0.999999931967,0.000260133634718,-0.000258354860301,4.06211198308e-05,1793239671349149440
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.879783651,635,879,788,804,652,631,653,0.407922462261,-0.0153540597023,0.0798517722059,0.999999930994,0.000272691779999,-0.000248724129973,4.22815377323e-05,1793239671365816064
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.531578247,635,879.468421753,788,804,652,631,653,0.407341124513,-0.0153523086706,0.079821950934,0.99999991746,0.000268979133241,-0.000301968941183,3.92964300145e-05,1793239671382482432
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.058810981,879.941189019,787.941189019,804,651.941189019,631,653,0.406766944819,-0.0153514301347,0.0797852395941,0.999999898393,0.000261754363261,-0.000365299587225,3.54139437432e-05,1793239671399149056
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660,635.635438382,879.364561618,787.364561618,804,651.364561618,631,653,0.406281538718,-0.0153546248738,0.0797772345582,0.999999896263,0.000261386314477,-0.000371439176229,3.44169761252e-05,1793239671415815936
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.212500189,635.787499811,879,787.212500189,804.212500189,651,631,653,0.405823328381,-0.0153564506735,0.0797795815986,0.999999900289,0.000262143427326,-0.00035989904837,3.42886335045e-05,1793239671432482560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.790308723,635.209691277,879,787.790308723,804.790308723,651,631,653,0.405411870238,-0.0153559231336,0.0797997248585,0.999999913745,0.000264834801399,-0.000317965779051,3.56535411901e-05,1793239671449149184
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764.625725839,745,715,679,660.625725839,635.374274161,879,788,804.625725839,651.374274161,631,653,0.405010972148,-0.0153539012291,0.0798142453523,0.999999920265,0.000265783161879,-0.000295832401032,3.62245257333e-05,1793239671465815808
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764.038253176,745,715,679,660.038253176,635.961746824,879,788,804.038253176,651.961746824,631,653,0.404616089362,-0.0153510280868,0.0798255629412,0.999999923425,0.000265738646624,-0.000284977668926,3.63432664792e-05,1793239671482482432
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764.541694979,745,715,678.458305021,660,636,879.541694979,788,804,651.458305021,631,653,0.404251366481,-0.0153460400562,0.0798325067135,0.999999921231,0.000279024544536,-0.00027955700161,3.91380174282e-05,1793239671499149312
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.120261832,660,635.879738168,879.879738168,787.879738168,804,651,631,653,0.403897080898,-0.0153404013293,0.0798381775241,0.999999918747,0.000290640950946,-0.000276308897017,4.10807090296e-05,1793239671515815936
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.695585203,660,635.304414797,879.304414797,787.304414797,804,651,631,653,0.403574340485,-0.0153328577956,0.079840184269,0.999999917321,0.00029242689672,-0.000279849451097,3.90940105038e-05,1793239671532482560
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.730214924,660,635.269785076,879,787.269785076,804,651,631,653,0.403275595924,-0.0153283840468,0.079841421574,0.999999916738,0.000294108075476,-0.000280300045491,3.81660036401e-05,1793239671549149184
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.15727754,660,635.84272246,879,787.84272246,804,651,631,653,0.40300381506,-0.0153273597568,0.079841794274,0.999999917109,0.000295671529445,-0.000277278511315,3.84276283855e-05,1793239671565815808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.430888876,744.569111124,715,678.430888876,660.430888876,636,879.430888876,787.569111124,804,651,631,653,0.402749975942,-0.0153270853788,0.0798411277456,0.999999916269,0.000295611788431,-0.000280400823383,3.80807403288e-05,1793239671582482432
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.975884452,744,715,678.975884452,660.975884452,636,879.975884452,787,804,651.024115548,631,653,0.40250483352,-0.0153274927344,0.0798400117691,0.999999915032,0.000294711879574,-0.000285786157776,3.75080996847e-05,1793239671599149056
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.39875813,744,715,678.39875813,660.39875813,636,879.39875813,787,804,651.60124187,631,653,0.402303442222,-0.0153370264869,0.0798376064677,0.999999915681,0.00028862980127,-0.000289756867141,3.70385765894e-05,1793239671615815936
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765,744.178107714,715,678.178107714,660.178107714,636,879,787.178107714,804,652,631,653.178107714,0.402115120756,-0.0153485223594,0.0798378054268,0.999999918746,0.000278612969684,-0.000288906124854,3.76408275773e-05,1793239671632482304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,744.754391159,715,678.754391159,660.754391159,636,879,787.754391159,804,652,631,653.754391159,0.401956018094,-0.0153644047255,0.0798438264438,0.999999926985,0.000259799645821,-0.000277276595383,4.06391254827e-05,1793239671649149184
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879.338129482,787.661870518,804,652,631,653.661870518,0.401816618979,-0.015367956567,0.0798504526207,0.999999930871,0.000256094874583,-0.000266226523797,4.23901666986e-05,1793239671665815808
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,879.927404984,787.072595016,804,652,631,653.072595016,0.401691854678,-0.0153623499004,0.0798575282814,0.999999931653,0.000263611994392,-0.00025560684397,4.3214807046e-05,1793239671682482432
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.492470341,660.492470341,635.492470341,879.492470341,787.507529659,804,652,631,653,0.401579365023,-0.0153603370452,0.0798606160476,0.999999932527,0.000264545753228,-0.000251270101159,4.2727712413e-05,1793239671699149056
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.085948269,660.085948269,635,879,788,804,651.914051731,631.085948269,653,0.401470895039,-0.0153591391068,0.0798617623887,0.999999932883,0.000264694134022,-0.000249965360913,4.10868179143e-05,1793239671715815424
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.661970302,660.661970302,635,879,788,804,651.338029698,631.661970302,653,0.401375511295,-0.0153597086424,0.079855033665,0.999999930104,0.000265638520745,-0.000260915462998,3.3917885073e-05,1793239671732482048
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879,788,804,651.235276297,631.764723703,653,0.40129219903,-0.0153587850109,0.0798498063529,0.999999927352,0.000268530599819,-0.000268847689448,3.01349098756e-05,1793239671749148928
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,635,879,788,804,651.804724564,631.195275436,653,0.401226032356,-0.0153557405768,0.0798467115536,0.999999924798,0.000274189061224,-0.000272493510467,3.11611409571e-05,1793239671765816064
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.392763984,745,715,679,660.607236016,635.392763984,879,787.607236016,804,652,631,653.392763984,0.40117410966,-0.0153555220267,0.0798464330518,0.999999925219,0.000273314983367,-0.000271714529884,3.21398664716e-05,1793239671782482688
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.990505839,745,715,679,660.009494161,635.990505839,879,787.009494161,804,652,631,653.990505839,0.401129620691,-0.0153567782651,0.0798476243352,0.999999927183,0.000269031667075,-0.000268626308891,3.30937994818e-05,1793239671799149312
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.432228291,744.432228291,715,679,660,636,879,787.567771709,803.432228291,652,631,653.432228291,0.401094188167,-0.0153563455084,0.079847017431,0.999999926654,0.000269315168122,-0.000270267477036,3.34143739014e-05,1793239671815815936
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,744,715,679,660.144201459,635.855798541,879.144201459,788,803.288402917,652,631,653,0.401062161392,-0.015355425081,0.0798462287508,0.999999925844,0.000270605074516,-0.000271938617736,3.36889792062e-05,1793239671832482304
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765,744,715,679,660.719120787,635.280879213,879.719120787,788,804.438241575,652,631,653,0.40103987072,-0.0153531294445,0.079844983808,0.999999924309,0.000274680873284,-0.000273471289037,3.38568114825e-05,1793239671849148928
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.300338031,744.300338031,715,679,661.300338031,635.300338031,879.699661969,788,804.699661969,652,631,653,0.401022614404,-0.0153531415759,0.0798438532097,0.999999924154,0.000273920900455,-0.00027479809709,3.38428255955e-05,1793239671865815552
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.887571372,744.887571372,715,679,661.887571372,635.887571372,879.112428628,788,804.112428628,652,631,653,0.401010167111,-0.0153553581825,0.0798428318381,0.999999925308,0.000268541599068,-0.000275928256235,3.36551594987e-05,1793239671882482176
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.529893425,745,715,679,661.529893425,636,879,788,804,652,631.470106575,653,0.401003559887,-0.0153548783821,0.0798428586559,0.999999925164,0.000269261986081,-0.000275729801117,3.38061386505e-05,1793239671899149056
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.949011764,661,635.949011764,879,787.949011764,804,651.949011764,632,653,0.400998532328,-0.0153538893962,0.0798432266514,0.999999924785,0.000271265864161,-0.000275117395336,3.3990142629e-05,1793239671915815936
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.373693755,661,635.373693755,879,787.373693755,804,651.373693755,632,653,0.400995528529,-0.0153542299901,0.0798445507698,0.999999925148,0.000271615674739,-0.00027348334728,3.36891562033e-05,1793239671932482560
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.201764022,660.798235978,635.201764022,879,787.201764022,804,651,631.798235978,653,0.400992796407,-0.0153545497406,0.0798450568018,0.999999925296,0.00027191535143,-0.0002726684427,3.35074718825e-05,1793239671949149440
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.777480812,660.222519188,635.777480812,879,787.777480812,804,651,631.222519188,653,0.400990567817,-0.0153548308594,0.0798440465788,0.999999925046,0.000272122109127,-0.000273371752259,3.35469040703e-05,1793239671965816064
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.361475555,635.638524445,879.361475555,787.638524445,804,651.361475555,631.361475555,653,0.400990812998,-0.0153550891973,0.0798448950788,0.999999925331,0.000272359990909,-0.000272058844412,3.37965254134e-05,1793239671982482432
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.950685497,635.049314503,879.950685497,787.049314503,804,651.950685497,631.950685497,653,0.400992616689,-0.0153553331829,0.0798469145988,0.999999925947,0.000272617481269,-0.000269475692868,3.41785687063e-05,1793239671999149056
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,744.468884936,715,679,660.468884936,635.531115064,879.468884936,787,804.531115064,652,632,653,0.400992038325,-0.0153554223659,0.0798469197948,0.999999926363,0.000271178596387,-0.000269429889404,3.38209253751e-05,1793239672015815424
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765,744.109600799,715,679,660.109600799,636,879,787.109600799,804.890399201,652,632,653,0.400991545225,-0.0153555853727,0.0798469189986,0.999999926804,0.000269790561065,-0.00026923088543,3.34579460927e-05,1793239672032482304
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765,744.683251883,715,679,660.683251883,636,879,787.683251883,804.316748117,652,632,653,0.400992334365,-0.0153561208184,0.0798476718453,0.999999927437,0.000269273875435,-0.000267401942007,3.33584390672e-05,1793239672049148928
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,878.736473444,787.736473444,804.263526556,651.736473444,631.736473444,653,0.400992313133,-0.0153559905384,0.079847779703,0.999999927706,0.000268849093452,-0.000266844096195,3.32100537963e-05,1793239672065815552
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,679,661,636,878.148032149,787.148032149,804.851967851,651.148032149,631.148032149,653,0.400991292756,-0.015355039453,0.0798470923225,0.999999927526,0.000268537623886,-0.000267853448357,3.30014041405e-05,1793239672082482432
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.565628383,660.565628383,635.565628383,878.868743235,787,804.565628383,651.434371617,631,653.434371617,0.400991608514,-0.0153548003474,0.0798477141195,0.999999927638,0.000269131955384,-0.000266820436874,3.31474997019e-05,1793239672099149056
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765,745,715,678.014643921,660,635,879.985356079,787.014643921,804,652,631.014643921,653.985356079,0.400992378658,-0.0153548174345,0.0798487789131,0.999999927832,0.000270064617068,-0.000265111630935,3.34111965467e-05,1793239672115815680
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.591001062,660,635,879.408998938,787.591001062,804,652,631.591001062,653.408998938,0.400993351249,-0.0153554819712,0.0798499568839,0.999999927564,0.000272296415646,-0.000263812995346,3.36120959966e-05,1793239672132482304
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.166680793,635,879,787.833319207,804,651.833319207,632,653,0.400993423395,-0.0153559895319,0.0798505654746,0.999999927374,0.000273361964481,-0.00026341739091,3.37237461315e-05,1793239672149148928
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765,745,715,679,660.740705001,635,879,787.259294999,804,651.259294999,632,653,0.400991294987,-0.0153561134668,0.0798497825835,0.999999927385,0.00027157736986,-0.000265228662256,3.36172840185e-05,1793239672165815552
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.32239578,745,715,679,661,635.32239578,879,787,804,651,631.67760422,653,0.400990436605,-0.0153557350102,0.079848987364,0.99999992749,0.000270232053651,-0.000266229429459,3.34099176659e-05,1793239672182482432
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.910402767,745,715,679,661,635.910402767,879,787,804,651,631.089597233,653,0.400990624555,-0.01535494265,0.0798481819875,0.999999927676,0.00026924864447,-0.000266562449052,3.31194196575e-05,1793239672199149568
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.508542356,745,715,679,661,635.508542356,879,787.491457644,804.491457644,651.491457644,631,653,0.400989350151,-0.0153552358589,0.0798474318533,0.999999927071,0.000270027780675,-0.000268066708685,3.29213835191e-05,1793239672215816192
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,745,715,678.928984589,660.928984589,635.071015411,879,788,804.928984589,652,631,653,0.400988153982,-0.0153556034582,0.0798470199942,0.999999926473,0.000271051734339,-0.000269273906208,3.27994182641e-05,1793239672232482816
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,745,715,678.351192281,660.351192281,635.648807719,879,788,804.351192281,652,631,653,0.400989392083,-0.0153551093084,0.0798489512517,0.999999926972,0.000271561679939,-0.000266858709161,3.31016929017e-05,1793239672249149440
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.229195854,744.770804146,715,678.229195854,660,635.770804146,879,787.770804146,804,652,631.229195854,653,0.400989908119,-0.0153551973289,0.0798497813703,0.999999927217,0.000271644391354,-0.000265831942198,3.33095167084e-05,1793239672265816064
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.813607178,744.186392822,715,678.813607178,660,635.186392822,879,787.186392822,804,652,631.813607178,653,0.400989305074,-0.0153561876166,0.0798489049069,0.999999927072,0.000271064960892,-0.000266957010663,3.33709574766e-05,1793239672282482432
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.604523491,744.395476509,715,679,660.395476509,635,879,787.395476509,804,652,631.604523491,653.395476509,0.400990646592,-0.0153566108015,0.0798497906427,0.999999927925,0.000269994698067,-0.000264845258429,3.3324245422e-05,1793239672299149056
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.023844615,744.976155385,715,679,660.976155385,635,879,787.976155385,804,652,631.023844615,653.976155385,0.400992898754,-0.0153567684109,0.0798515016196,0.999999929232,0.000268694577585,-0.000261217697116,3.32268852001e-05,1793239672315815680
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,744.444333006,715,678.444333006,660.444333006,635,879,788,804,652,631.555666994,653.444333006,0.400993447482,-0.0153563552504,0.0798515326889,0.999999929142,0.000269173197698,-0.000261054683055,3.33498184987e-05,1793239672332482304
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,744.133551591,715,678.133551591,660.133551591,635,879,787.866448409,804,651.866448409,632,653,0.400993551187,-0.0153556544053,0.079851362419,0.999999928826,0.000270151565085,-0.000261249002489,3.33992461677e-05,1793239672349148928
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765,744.706250543,715,678.706250543,660.706250543,635,879,787.293749457,804,651.293749457,632,653,0.400992431413,-0.0153540879581,0.0798507666447,0.999999927959,0.000272522752827,-0.000262130479994,3.31759519925e-05,1793239672365815552
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdaf79067d518671b0347d2894bbab9ec6c4ada2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_08/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,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+1,0.016666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+2,0.033333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+3,0.050000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+4,0.066666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+5,0.083333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+6,0.100000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+7,0.116666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+8,0.133333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+9,0.150000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+10,0.166666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+11,0.183333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+12,0.200000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+13,0.216666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+14,0.233333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+15,0.250000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+16,0.266666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+17,0.283333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+18,0.300000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+19,0.316666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+20,0.333333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+21,0.350000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+22,0.366666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+23,0.383333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+24,0.400000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+25,0.416666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+26,0.433333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+27,0.450000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+28,0.466666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+29,0.483333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+30,0.500000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+31,0.516666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+32,0.533333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+33,0.550000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+34,0.566666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+35,0.583333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+36,0.600000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+37,0.616666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+38,0.633333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+39,0.650000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+40,0.666666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+41,0.683333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+42,0.700000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+43,0.716666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+44,0.733333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+45,0.750000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+46,0.766666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+47,0.783333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+48,0.800000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+49,0.816666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+50,0.833333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+51,0.850000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+52,0.866666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+53,0.883333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+54,0.900000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+55,0.916666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+56,0.933333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+57,0.950000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+58,0.966666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+59,0.983333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+60,1.000000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+61,1.016666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+62,1.033333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+63,1.050000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+64,1.066666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+65,1.083333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+66,1.100000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+67,1.116666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+68,1.133333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+69,1.150000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+70,1.166666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+71,1.183333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+72,1.200000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+73,1.216666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+74,1.233333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+75,1.250000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+76,1.266666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+77,1.283333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+78,1.300000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+79,1.316666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+80,1.333333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+81,1.350000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+82,1.366666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+83,1.383333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+84,1.400000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+85,1.416666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+86,1.433333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+87,1.450000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+88,1.466666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+89,1.483333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+90,1.500000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+91,1.516666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+92,1.533333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+93,1.550000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+94,1.566666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+95,1.583333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+96,1.600000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+97,1.616666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+98,1.633333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+99,1.650000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+100,1.666666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+101,1.683333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+102,1.700000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+103,1.716666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+104,1.733333333,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+105,1.750000000,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+106,1.766666667,pose1_baseline,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385428,1.06970035116
+107,1.783333333,pose1_to_pose2_press,0.575664368694,-0.00990913397856,1.07003234166,0.546234817928,-0.00123740242574,1.06970047216
+108,1.800000000,pose1_to_pose2_press,0.575664379087,-0.00990918890774,1.07003227372,0.546234829318,-0.00123745383023,1.0697004078
+109,1.816666667,pose1_to_pose2_press,0.575664380767,-0.00990919778545,1.07003226273,0.546234831159,-0.00123746213828,1.06970039739
+110,1.833333333,pose1_to_pose2_press,0.575664384493,-0.00990921748196,1.07003223837,0.546234835244,-0.00123748057091,1.06970037431
+111,1.850000000,pose1_to_pose2_press,0.575664535871,-0.00990924614926,1.07003215763,0.546234987641,-0.00123750572842,1.06970029493
+112,1.866666667,pose1_to_pose2_press,0.575664812707,-0.00990920398076,1.07003212143,0.546235264682,-0.00123746300645,1.06970025499
+113,1.883333333,pose1_to_pose2_press,0.575665349114,-0.00990917933894,1.07003227058,0.546235800759,-0.00123743961544,1.06970040066
+114,1.900000000,pose1_to_pose2_press,0.575667596466,-0.00990921231681,1.07003248681,0.546238048094,-0.00123747283242,1.06970061215
+115,1.916666667,pose1_to_pose2_press,0.575673007772,-0.0099091828676,1.07003231939,0.546243458434,-0.00123744626855,1.06970045499
+116,1.933333333,pose1_to_pose2_press,0.575685030357,-0.00990931800532,1.07003205939,0.54625548296,-0.00123757460312,1.06970020077
+117,1.950000000,pose1_to_pose2_press,0.575705219739,-0.00990925927648,1.07003244675,0.546275671387,-0.0012375195834,1.06970057561
+118,1.966666667,pose1_to_pose2_press,0.575737054853,-0.00990928783183,1.07003233037,0.546307506962,-0.00123754637719,1.0697004643
+119,1.983333333,pose1_to_pose2_press,0.575780271037,-0.00990928794036,1.07003240643,0.546350723761,-0.00123754450547,1.06970053748
+120,2.000000000,pose1_to_pose2_press,0.575834494435,-0.00990933895894,1.0700320764,0.546404947936,-0.00123759298134,1.06970020495
+121,2.016666667,pose1_to_pose2_press,0.575897500704,-0.00990923192402,1.07003243721,0.546467951719,-0.00123749418003,1.06970057106
+122,2.033333333,pose1_to_pose2_press,0.575968775139,-0.00990914586983,1.07003204346,0.546539227771,-0.00123740220729,1.06970018847
+123,2.050000000,pose1_to_pose2_press,0.57604753833,-0.00990910400418,1.07003243407,0.546617989347,-0.00123736612427,1.06970057116
+124,2.066666667,pose1_to_pose2_press,0.576134756885,-0.00990922804026,1.07003220361,0.546705210361,-0.00123748167276,1.06970034432
+125,2.083333333,pose1_to_pose2_press,0.576234180452,-0.00990926861083,1.07003242074,0.546804632916,-0.00123752603662,1.06970055208
+126,2.100000000,pose1_to_pose2_press,0.576346618448,-0.00990924934464,1.07003236152,0.546917070257,-0.00123750890473,1.0697004951
+127,2.116666667,pose1_to_pose2_press,0.576474259523,-0.00990931875644,1.07003233802,0.547044713069,-0.00123757249479,1.06970046966
+128,2.133333333,pose1_to_pose2_press,0.576615529522,-0.00990928564254,1.07003241408,0.547185983733,-0.00123753713943,1.0697005453
+129,2.150000000,pose1_to_pose2_press,0.576770541833,-0.0099092095398,1.07003234199,0.547340993908,-0.00123746819917,1.06970047543
+130,2.166666667,pose1_to_pose2_press,0.57694002339,-0.00990920961836,1.07003223728,0.547510473517,-0.00123747474946,1.06970037435
+131,2.183333333,pose1_to_pose2_press,0.577124500013,-0.00990928267373,1.07003230668,0.547694951218,-0.00123754407859,1.06970044545
+132,2.200000000,pose1_to_pose2_press,0.577329474815,-0.00990936668916,1.07003234301,0.547899928034,-0.00123762148345,1.06970047581
+133,2.216666667,pose1_to_pose2_press,0.577556002268,-0.00990928956929,1.07003231843,0.54812645427,-0.00123754838327,1.06970045409
+134,2.233333333,pose1_to_pose2_press,0.577806277759,-0.00990923936264,1.07003220305,0.548376728405,-0.0012375027943,1.0697003382
+135,2.250000000,pose1_to_pose2_press,0.578078158895,-0.00990926659095,1.07003220492,0.548648609231,-0.00123753114116,1.06970033828
+136,2.266666667,pose1_to_pose2_press,0.578371246112,-0.00990934820755,1.07003217353,0.548941697225,-0.00123760986247,1.06970031353
+137,2.283333333,pose1_to_pose2_press,0.578687213582,-0.00990933810824,1.07003209895,0.549257666456,-0.00123759390869,1.06970023573
+138,2.300000000,pose1_to_pose2_press,0.579024057611,-0.00990932108213,1.07003238855,0.54959451008,-0.00123757848347,1.06970051937
+139,2.316666667,pose1_to_pose2_press,0.579380625809,-0.00990928399914,1.07003238068,0.549951077944,-0.00123754259324,1.06970050991
+140,2.333333333,pose1_to_pose2_press,0.579757252832,-0.00990921082822,1.07003207663,0.550327704014,-0.0012374723749,1.06970021306
+141,2.350000000,pose1_to_pose2_press,0.580155380874,-0.00990925819883,1.07003209479,0.550725832294,-0.00123751888796,1.06970023251
+142,2.366666667,pose1_to_pose2_press,0.580569097524,-0.00990925303974,1.07003220395,0.551139548492,-0.00123751539069,1.06970033828
+143,2.383333333,pose1_to_pose2_press,0.580999678281,-0.00990925162981,1.07003221495,0.551570129125,-0.00123751445796,1.06970034778
+144,2.400000000,pose1_to_pose2_press,0.58145386516,-0.0099092972033,1.07003221308,0.55202431647,-0.00123755839429,1.06970034729
+145,2.416666667,pose1_to_pose2_press,0.581932627853,-0.00990917618078,1.07003231415,0.55250307721,-0.00123744407355,1.0697004463
+146,2.433333333,pose1_to_pose2_press,0.582440533755,-0.00990902489572,1.07003254646,0.553010981039,-0.00123730028095,1.0697006667
+147,2.450000000,pose1_to_pose2_press,0.5829789842,-0.00990925540102,1.07003230805,0.553549434316,-0.001237521224,1.06970042696
+148,2.466666667,pose1_to_pose2_press,0.583549199063,-0.0099092309053,1.07003243628,0.554119649074,-0.00123749659964,1.06970056781
+149,2.483333333,pose1_to_pose2_press,0.584133160515,-0.00990914413362,1.0700322832,0.554703611876,-0.00123740489967,1.06970042366
+150,2.500000000,pose1_to_pose2_press,0.584727854456,-0.00990927409515,1.07003223523,0.555298307155,-0.00123753061873,1.06970036791
+151,2.516666667,pose1_to_pose2_press,0.585334613676,-0.00990927304681,1.07003246822,0.555905065861,-0.00123753138561,1.06970059899
+152,2.533333333,pose1_to_pose2_press,0.585952660166,-0.0099090809405,1.07003225516,0.556523110223,-0.00123734649467,1.06970038599
+153,2.550000000,pose1_to_pose2_press,0.586583951277,-0.0099090458527,1.07003239298,0.55715440087,-0.00123731277943,1.06970052915
+154,2.566666667,pose1_to_pose2_press,0.587241017967,-0.00990909305504,1.07003243632,0.557811468141,-0.0012373579856,1.06970057312
+155,2.583333333,pose1_to_pose2_press,0.587922838198,-0.00990920261914,1.07003245893,0.558493289568,-0.00123746365095,1.06970059146
+156,2.600000000,pose1_to_pose2_press,0.588615159467,-0.00990923749642,1.07003232485,0.559185611455,-0.00123749654605,1.06970045439
+157,2.616666667,pose1_to_pose2_press,0.589320741662,-0.00990920729467,1.07003242097,0.559891193721,-0.00123746597315,1.06970055388
+158,2.633333333,pose1_to_pose2_press,0.590050965147,-0.00990915382529,1.07003249176,0.560621416171,-0.00123741582098,1.06970062974
+159,2.650000000,pose1_to_pose2_press,0.590796693527,-0.00990916271356,1.07003232302,0.561367144361,-0.00123742542536,1.06970045908
+160,2.666666667,pose1_to_pose2_press,0.591553166494,-0.00990919776762,1.07003235647,0.562123617731,-0.00123745929671,1.06970048776
+161,2.683333333,pose1_to_pose2_press,0.592323115459,-0.0099091350712,1.07003258305,0.562893565538,-0.00123740057779,1.0697007131
+162,2.700000000,pose1_to_pose2_press,0.59309983667,-0.00990910051622,1.07003252409,0.563670286379,-0.00123736736465,1.06970065185
+163,2.716666667,pose1_to_pose2_press,0.59387701782,-0.00990919971803,1.07003230011,0.564447467814,-0.00123746557163,1.06970042871
+164,2.733333333,pose1_to_pose2_press,0.594660123583,-0.00990924088717,1.07003212528,0.565230574536,-0.00123750321018,1.06970026101
+165,2.750000000,pose1_to_pose2_press,0.595452490329,-0.00990928824113,1.07003230263,0.566022943164,-0.00123754409544,1.06970044057
+166,2.766666667,pose1_to_pose2_press,0.596247098932,-0.00990929317133,1.07003233988,0.566817551931,-0.00123754872588,1.06970047114
+167,2.783333333,pose1_to_pose2_press,0.597038257028,-0.00990921931091,1.07003231521,0.567608709125,-0.00123747773481,1.06970045143
+168,2.800000000,pose1_to_pose2_press,0.597830400355,-0.0099092088215,1.07003208011,0.568400851699,-0.00123746960866,1.06970022144
+169,2.816666667,pose1_to_pose2_press,0.598622930972,-0.00990922577709,1.0700324278,0.569193381961,-0.0012374884532,1.06970055128
+170,2.833333333,pose1_to_pose2_press,0.599411656478,-0.00990927432011,1.07003228664,0.569982109342,-0.00123753024766,1.06970042023
+171,2.850000000,pose1_to_pose2_press,0.600212566245,-0.00990925275379,1.07003238765,0.57078301917,-0.0012375085654,1.06970051891
+172,2.866666667,pose1_to_pose2_press,0.601034828127,-0.00990927335331,1.0700324175,0.571605281286,-0.0012375286257,1.06970054215
+173,2.883333333,pose1_to_pose2_press,0.601856931288,-0.00990930199822,1.07003227363,0.572427383643,-0.00123755980925,1.06970040332
+174,2.900000000,pose1_to_pose2_press,0.60267618631,-0.00990925194428,1.07003234598,0.573246638367,-0.00123751072775,1.06970047678
+175,2.916666667,pose1_to_pose2_press,0.603479938687,-0.00990923692566,1.07003239042,0.574050390988,-0.00123749486007,1.0697005218
+176,2.933333333,pose1_to_pose2_press,0.60426358518,-0.0099093069278,1.07003233878,0.574834038279,-0.00123756216116,1.06970047008
+177,2.950000000,pose1_to_pose2_press,0.60502483224,-0.00990932115678,1.07003226255,0.575595285198,-0.00123757695928,1.06970039149
+178,2.966666667,pose1_to_pose2_press,0.605775986239,-0.00990926670786,1.07003205522,0.576346437738,-0.00123752731684,1.06970018812
+179,2.983333333,pose1_to_pose2_press,0.606523711108,-0.00990930278,1.07003204454,0.577094164078,-0.00123755835335,1.06970017861
+180,3.000000000,pose1_to_pose2_press,0.607269872792,-0.00990929084012,1.07003232862,0.577840323622,-0.00123755378922,1.06970045982
+181,3.016666667,pose1_to_pose2_press,0.608011089058,-0.00990909803617,1.07003240286,0.578581538624,-0.00123736557561,1.06970052636
+182,3.033333333,pose1_to_pose2_press,0.608743340298,-0.00990925535062,1.07003258848,0.579313791687,-0.00123751670643,1.06970071187
+183,3.050000000,pose1_to_pose2_press,0.609452838738,-0.00990927726064,1.07003221587,0.580023290739,-0.00123753613978,1.06970034978
+184,3.066666667,pose1_to_pose2_press,0.610128125058,-0.00990923058347,1.07003208502,0.580698578044,-0.00123748602799,1.06970022149
+185,3.083333333,pose1_to_pose2_press,0.610774263666,-0.00990915170747,1.07003228492,0.581344714125,-0.0012374157553,1.06970042072
+186,3.100000000,pose1_to_pose2_press,0.611389599148,-0.00990923782188,1.07003223969,0.581960051492,-0.00123749552267,1.06970037428
+187,3.116666667,pose1_to_pose2_press,0.611977286234,-0.0099093463135,1.07003226381,0.582547740204,-0.00123759840152,1.06970040124
+188,3.133333333,pose1_to_pose2_press,0.612549314308,-0.00990930862769,1.07003236731,0.583119767945,-0.00123756186198,1.06970050458
+189,3.150000000,pose1_to_pose2_press,0.613122948266,-0.0099091907287,1.07003249454,0.583693399954,-0.00123745070452,1.06970062714
+190,3.166666667,pose1_to_pose2_press,0.613697448796,-0.00990920514998,1.07003252845,0.584267899369,-0.00123746879475,1.06970065932
+191,3.183333333,pose1_to_pose2_press,0.614268419299,-0.0099092467511,1.0700323803,0.584838871367,-0.00123750489791,1.06970051475
+192,3.200000000,pose1_to_pose2_press,0.614823295034,-0.00990906472244,1.07003253268,0.585393744719,-0.00123733068534,1.06970066618
+193,3.216666667,pose1_to_pose2_press,0.615354814188,-0.00990923465244,1.07003228399,0.585925264859,-0.00123749665317,1.06970042467
+194,3.233333333,pose1_to_pose2_press,0.615849258386,-0.00990922401316,1.07003220554,0.586419709821,-0.00123748326442,1.06970034193
+195,3.250000000,pose1_to_pose2_press,0.616315917503,-0.00990917966002,1.07003217934,0.586886367719,-0.00123744249344,1.06970032034
+196,3.266666667,pose1_to_pose2_press,0.616760137542,-0.00990920614688,1.07003238981,0.587330587988,-0.00123746802305,1.06970052614
+197,3.283333333,pose1_to_pose2_press,0.617188540573,-0.00990914758109,1.07003220449,0.587758989269,-0.00123741533786,1.06970033339
+198,3.300000000,pose1_to_pose2_press,0.617601482935,-0.00990930659639,1.07003208667,0.588171934477,-0.00123756412855,1.06970022184
+199,3.316666667,pose1_to_pose2_press,0.617993725833,-0.00990927565897,1.07003216989,0.588564176715,-0.00123753521819,1.06970030199
+200,3.333333333,pose1_to_pose2_press,0.618363645189,-0.00990914552803,1.07003221033,0.588934094529,-0.00123740989913,1.06970034466
+201,3.350000000,pose1_to_pose2_press,0.618706556854,-0.00990916286796,1.07003229521,0.589277007284,-0.00123742314707,1.06970043331
+202,3.366666667,pose1_to_pose2_press,0.619025802945,-0.00990921683226,1.0700324639,0.589596253771,-0.0012374757639,1.06970059482
+203,3.383333333,pose1_to_pose2_press,0.619322317293,-0.00990918042479,1.07003242963,0.58989276632,-0.00123744517997,1.06970055707
+204,3.400000000,pose1_to_pose2_press,0.619603169679,-0.00990928516584,1.07003220508,0.590173619654,-0.0012375462058,1.06970034215
+205,3.416666667,pose1_to_pose2_press,0.619870083313,-0.00990933556282,1.07003231631,0.590440535135,-0.00123759005132,1.06970045441
+206,3.433333333,pose1_to_pose2_press,0.620121518172,-0.00990923930914,1.07003247357,0.590691968558,-0.00123749895979,1.06970060061
+207,3.450000000,pose1_to_pose2_press,0.620356714473,-0.00990918444002,1.07003236815,0.590927163486,-0.00123744869788,1.06970049425
+208,3.466666667,pose1_to_pose2_press,0.620573375619,-0.00990931188156,1.07003211649,0.591143825503,-0.00123757245091,1.06970025199
+209,3.483333333,pose1_to_pose2_press,0.620771171597,-0.00990939405221,1.07003208552,0.591341622798,-0.00123765005878,1.06970021932
+210,3.500000000,pose1_to_pose2_press,0.620949112971,-0.00990928297626,1.07003227874,0.591519563814,-0.00123754014651,1.0697004101
+211,3.516666667,pose1_to_pose2_press,0.621110265493,-0.00990911943913,1.07003248831,0.591680714823,-0.00123738148098,1.06970062361
+212,3.533333333,pose1_to_pose2_press,0.621255253282,-0.00990916093858,1.07003222954,0.591825702685,-0.00123742235495,1.06970037085
+213,3.550000000,pose1_to_pose2_press,0.621383274996,-0.00990923937101,1.07003230118,0.591953724938,-0.00123749917422,1.06970043392
+214,3.566666667,pose1_to_pose2_press,0.621496316174,-0.00990925073535,1.0700322763,0.592066766275,-0.00123751000052,1.06970040668
+215,3.583333333,pose1_to_pose2_press,0.621594670962,-0.00990929638204,1.07003213195,0.592165121503,-0.00123755380175,1.06970026867
+216,3.600000000,pose1_to_pose2_press,0.621680017362,-0.00990936109072,1.07003219205,0.592250467865,-0.00123761824768,1.06970032956
+217,3.616666667,pose1_to_pose2_press,0.621752943425,-0.00990936757509,1.07003223347,0.592323393818,-0.00123762465641,1.06970036941
+218,3.633333333,pose1_to_pose2_press,0.621814377275,-0.00990931194251,1.0700323354,0.592384828112,-0.00123756750912,1.06970046685
+219,3.650000000,pose1_to_pose2_press,0.621865360992,-0.00990912740556,1.07003235032,0.59243580877,-0.00123739370613,1.06970047342
+220,3.666666667,pose1_to_pose2_press,0.621906647479,-0.00990904871543,1.07003217642,0.592477095833,-0.00123731327803,1.06970031716
+221,3.683333333,pose1_to_pose2_press,0.621940135409,-0.0099091650342,1.07003254629,0.59251058468,-0.00123742676816,1.06970067304
+222,3.700000000,pose1_to_pose2_press,0.621966443163,-0.00990920980917,1.07003268832,0.592536892545,-0.00123747114481,1.06970081338
+223,3.716666667,pose1_to_pose2_press,0.621987778481,-0.00990920974351,1.07003267689,0.592558227829,-0.00123747134901,1.06970079777
+224,3.733333333,pose1_to_pose2_press,0.622004444531,-0.00990917807614,1.07003253649,0.592574893591,-0.00123744069936,1.06970065753
+225,3.750000000,pose1_to_pose2_press,0.622016956159,-0.0099091562576,1.07003233088,0.592587405024,-0.00123741928307,1.06970046092
+226,3.766666667,pose1_to_pose2_press,0.622025718459,-0.0099092682641,1.0700321899,0.592596169168,-0.00123752472836,1.06970033046
+227,3.783333333,pose1_to_pose2_press,0.622031122229,-0.00990915214655,1.07003214295,0.592601571778,-0.00123741260727,1.06970027966
+228,3.800000000,pose1_to_pose2_press,0.62203445838,-0.00990902246808,1.07003212649,0.592604906493,-0.0012372879146,1.06970025758
+229,3.816666667,pose1_to_pose2_press,0.622036141892,-0.00990897655903,1.07003212557,0.592606589389,-0.00123724415018,1.06970025427
+230,3.833333333,pose1_to_pose2_press,0.622037169273,-0.00990900744476,1.07003214732,0.592607616719,-0.00123727522473,1.06970027586
+231,3.850000000,pose1_to_pose2_press,0.622038011164,-0.00990903275418,1.07003216513,0.592608458568,-0.00123730068888,1.06970029355
+232,3.866666667,pose1_to_pose2_press,0.622039054553,-0.00990906412113,1.07003218721,0.592609501905,-0.00123733224761,1.06970031548
+233,3.883333333,pose1_to_pose2_press,0.622040201507,-0.00990909860155,1.07003221149,0.592610648802,-0.00123736693882,1.06970033959
+234,3.900000000,pose1_to_pose2_press,0.622041377241,-0.0099091446777,1.07003227706,0.592611824794,-0.00123741212933,1.06970040566
+235,3.916666667,pose1_to_pose2_press,0.622041905904,-0.0099091750168,1.07003234303,0.592612353857,-0.00123744108238,1.06970047247
+236,3.933333333,pose1_to_pose2_press,0.622041973745,-0.00990917891006,1.0700323515,0.592612421749,-0.00123744479777,1.06970048104
+237,3.950000000,pose1_to_pose2_press,0.622042113118,-0.00990918690845,1.07003236889,0.592612561228,-0.00123745243075,1.06970049865
+238,3.966666667,pose1_to_pose2_press,0.622042328343,-0.00990919925987,1.07003239575,0.592612776617,-0.00123746421789,1.06970052585
+239,3.983333333,pose1_to_pose2_press,0.622042585613,-0.00990921402417,1.07003242785,0.592613034081,-0.00123747830768,1.06970055835
+240,4.000000000,pose1_to_pose2_press,0.622042604122,-0.00990921508635,1.07003243016,0.592613052604,-0.00123747932133,1.06970056069
+241,4.016666667,pose1_to_pose2_press,0.622042978309,-0.00990923656032,1.07003247685,0.592613427075,-0.00123749981426,1.06970060798
+242,4.033333333,pose1_to_pose2_press,0.622043404445,-0.00990926101557,1.07003253003,0.592613853534,-0.00123752315226,1.06970066182
+243,4.050000000,pose1_to_pose2_press,0.622043789253,-0.00990928268195,1.07003257684,0.592614238629,-0.00123754382772,1.0697007092
+244,4.066666667,pose1_to_pose2_press,0.62204382565,-0.00990928234751,1.07003257432,0.592614275024,-0.00123754350225,1.06970070654
+245,4.083333333,pose1_to_pose2_press,0.622043940098,-0.00990928129587,1.07003256641,0.592614389468,-0.00123754247884,1.0697006982
+246,4.100000000,pose1_to_pose2_press,0.622043944315,-0.00990928125712,1.07003256612,0.592614393685,-0.00123754244113,1.06970069789
+247,4.116666667,pose1_to_pose2_press,0.622043949035,-0.00990928121374,1.07003256579,0.592614398406,-0.00123754239892,1.06970069754
+248,4.133333333,pose1_to_pose2_press,0.622043962362,-0.00990928109128,1.07003256487,0.592614411733,-0.00123754227975,1.06970069657
+249,4.150000000,pose1_to_pose2_press,0.622044156999,-0.00990927930279,1.07003255141,0.592614606364,-0.00123754053926,1.06970068238
+250,4.166666667,pose1_to_pose2_press,0.622044389864,-0.00990927716303,1.07003253531,0.592614839222,-0.00123753845694,1.06970066539
+251,4.183333333,pose1_to_pose2_press,0.622044482527,-0.00990927631156,1.07003252891,0.592614931883,-0.00123753762833,1.06970065864
+252,4.200000000,pose1_to_pose2_press,0.622044741973,-0.00990927392755,1.07003251097,0.592615191321,-0.00123753530832,1.06970063971
+253,4.216666667,pose1_to_pose2_press,0.622045370554,-0.00990926815162,1.07003246751,0.592615819884,-0.00123752968742,1.06970059387
+254,4.233333333,pose1_to_pose2_press,0.622045654098,-0.00990922103461,1.07003227461,0.592616103313,-0.00123748289926,1.06970040255
+255,4.250000000,pose1_to_pose2_press,0.622045926083,-0.00990921409481,1.07003212853,0.592616375593,-0.00123747487993,1.06970025846
+256,4.266666667,pose1_to_pose2_press,0.622046106232,-0.00990925580267,1.07003209345,0.592616556401,-0.00123751427119,1.06970022553
+257,4.283333333,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556405,-0.00123751427184,1.06970022553
+258,4.300000000,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556405,-0.0012375142719,1.06970022553
+259,4.316666667,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556405,-0.00123751427196,1.06970022553
+260,4.333333333,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556405,-0.00123751427201,1.06970022553
+261,4.350000000,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556406,-0.00123751427204,1.06970022553
+262,4.366666667,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556406,-0.00123751427205,1.06970022553
+263,4.383333333,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556406,-0.00123751427204,1.06970022553
+264,4.400000000,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556406,-0.00123751427215,1.06970022553
+265,4.416666667,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556406,-0.00123751427218,1.06970022553
+266,4.433333333,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556406,-0.0012375142722,1.06970022553
+267,4.450000000,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556406,-0.00123751427222,1.06970022553
+268,4.466666667,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556406,-0.00123751427223,1.06970022553
+269,4.483333333,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556407,-0.00123751427223,1.06970022553
+270,4.500000000,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556407,-0.00123751427223,1.06970022553
+271,4.516666667,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556407,-0.00123751427224,1.06970022553
+272,4.533333333,pose2_hold,0.622046106232,-0.00990925580267,1.07003209345,0.592616556407,-0.00123751427241,1.06970022553
+273,4.550000000,pose2_to_pose3_retreat,0.622046106232,-0.00990925580267,1.07003209345,0.592616556407,-0.00123751427243,1.06970022553
+274,4.566666667,pose2_to_pose3_retreat,0.622046068039,-0.00990928354583,1.07003223986,0.592616517845,-0.00123754355602,1.06970036449
+275,4.583333333,pose2_to_pose3_retreat,0.622045876436,-0.00990927684253,1.07003226926,0.592616325893,-0.00123753783782,1.06970039901
+276,4.600000000,pose2_to_pose3_retreat,0.622045677927,-0.00990926989759,1.07003229972,0.592616127021,-0.00123753191349,1.06970043478
+277,4.616666667,pose2_to_pose3_retreat,0.622045569581,-0.00990926753182,1.07003231338,0.592616018551,-0.00123752990284,1.06970045012
+278,4.633333333,pose2_to_pose3_retreat,0.622045521843,-0.0099092680392,1.07003231617,0.592615970838,-0.00123753034704,1.06970045232
+279,4.650000000,pose2_to_pose3_retreat,0.622045473211,-0.00990926855606,1.07003231902,0.592615922232,-0.00123753079955,1.06970045456
+280,4.666666667,pose2_to_pose3_retreat,0.622045121172,-0.00990927229764,1.07003233962,0.592615570378,-0.00123753407524,1.06970047078
+281,4.683333333,pose2_to_pose3_retreat,0.62204385336,-0.00990921160085,1.0700323722,0.59261430208,-0.00123747530273,1.06970049624
+282,4.700000000,pose2_to_pose3_retreat,0.622039491311,-0.00990913520859,1.07003227581,0.592609940115,-0.00123739835899,1.06970040774
+283,4.716666667,pose2_to_pose3_retreat,0.622030525234,-0.00990920046967,1.07003244054,0.592600972556,-0.00123746889487,1.06970056797
+284,4.733333333,pose2_to_pose3_retreat,0.62201161607,-0.0099090967474,1.0700323107,0.592582063419,-0.00123736516994,1.06970043842
+285,4.750000000,pose2_to_pose3_retreat,0.621982001914,-0.00990903411921,1.07003240937,0.592552449009,-0.00123730335148,1.06970054159
+286,4.766666667,pose2_to_pose3_retreat,0.621941113478,-0.00990930658978,1.07003247182,0.592511563488,-0.00123756633004,1.06970059818
+287,4.783333333,pose2_to_pose3_retreat,0.621890716528,-0.00990926459054,1.07003232394,0.592461166864,-0.0012375230998,1.06970045803
+288,4.800000000,pose2_to_pose3_retreat,0.621831716289,-0.00990935885268,1.07003233072,0.592402167053,-0.00123761607045,1.06970046261
+289,4.816666667,pose2_to_pose3_retreat,0.621766174843,-0.00990925788446,1.07003233601,0.592336625137,-0.0012375166738,1.0697004682
+290,4.833333333,pose2_to_pose3_retreat,0.62169364575,-0.00990922278157,1.07003235283,0.592264096371,-0.0012374804851,1.06970048677
+291,4.850000000,pose2_to_pose3_retreat,0.621610112006,-0.00990914286132,1.07003248045,0.592180562043,-0.00123740239629,1.06970060805
+292,4.866666667,pose2_to_pose3_retreat,0.62151405661,-0.00990923044942,1.07003247948,0.592084507336,-0.00123748774184,1.06970060693
+293,4.883333333,pose2_to_pose3_retreat,0.621401542887,-0.00990924953526,1.07003209627,0.591971994188,-0.00123750451181,1.06970023677
+294,4.900000000,pose2_to_pose3_retreat,0.621272602029,-0.00990906476159,1.07003208493,0.591843050608,-0.00123732929706,1.06970021892
+295,4.916666667,pose2_to_pose3_retreat,0.621125975753,-0.00990906730994,1.07003209503,0.591696424135,-0.00123733270615,1.06970022717
+296,4.933333333,pose2_to_pose3_retreat,0.620960371304,-0.00990915588066,1.07003225446,0.591530820219,-0.00123741957963,1.0697003879
+297,4.950000000,pose2_to_pose3_retreat,0.620775961771,-0.00990926636502,1.07003217805,0.591346411485,-0.00123752754052,1.06970031284
+298,4.966666667,pose2_to_pose3_retreat,0.620572905491,-0.00990933796553,1.07003224559,0.591143355867,-0.0012375973745,1.06970037214
+299,4.983333333,pose2_to_pose3_retreat,0.620351414299,-0.0099093317765,1.0700323178,0.590921864542,-0.00123759187429,1.06970044244
+300,5.000000000,pose2_to_pose3_retreat,0.6201097228,-0.00990930778745,1.07003212022,0.590680173221,-0.00123756715267,1.06970025439
+301,5.016666667,pose2_to_pose3_retreat,0.619849274644,-0.00990932989016,1.07003207957,0.590419726112,-0.00123758572678,1.06970021792
+302,5.033333333,pose2_to_pose3_retreat,0.619569100025,-0.00990934775135,1.07003241312,0.590139551678,-0.00123760318431,1.06970055022
+303,5.050000000,pose2_to_pose3_retreat,0.619265348829,-0.00990933184775,1.07003234114,0.589835801379,-0.0012375848077,1.06970047173
+304,5.066666667,pose2_to_pose3_retreat,0.618940054266,-0.00990932740203,1.07003237105,0.589510505505,-0.00123758540792,1.06970049415
+305,5.083333333,pose2_to_pose3_retreat,0.618595453742,-0.00990924651579,1.07003221703,0.589165904873,-0.00123750478247,1.06970035117
+306,5.100000000,pose2_to_pose3_retreat,0.618233010399,-0.00990915317871,1.0700324115,0.588803461122,-0.00123741328594,1.0697005418
+307,5.116666667,pose2_to_pose3_retreat,0.61785161944,-0.00990921349106,1.07003246204,0.588422070214,-0.00123747366804,1.06970059368
+308,5.133333333,pose2_to_pose3_retreat,0.617450009271,-0.00990923118442,1.07003232599,0.58802046024,-0.00123749106575,1.06970045739
+309,5.150000000,pose2_to_pose3_retreat,0.617025885957,-0.00990918232677,1.07003227428,0.587596336481,-0.00123744408913,1.06970040508
+310,5.166666667,pose2_to_pose3_retreat,0.616573020935,-0.00990920558585,1.07003236984,0.587143471501,-0.00123746743635,1.06970050382
+311,5.183333333,pose2_to_pose3_retreat,0.616093476437,-0.00990929501316,1.07003237257,0.586663927684,-0.00123755480046,1.06970051034
+312,5.200000000,pose2_to_pose3_retreat,0.615587446694,-0.00990922009243,1.07003223449,0.586157896476,-0.0012374852692,1.06970036798
+313,5.216666667,pose2_to_pose3_retreat,0.615064229675,-0.00990933291277,1.0700323447,0.585634682237,-0.00123758921844,1.06970047292
+314,5.233333333,pose2_to_pose3_retreat,0.614526526101,-0.00990915992215,1.07003223384,0.585096976484,-0.00123742393732,1.06970036303
+315,5.250000000,pose2_to_pose3_retreat,0.613971067621,-0.00990924113796,1.07003233991,0.584541520939,-0.00123749558248,1.06970046633
+316,5.266666667,pose2_to_pose3_retreat,0.613394985161,-0.00990919302887,1.07003224826,0.583965437498,-0.00123745077631,1.06970038159
+317,5.283333333,pose2_to_pose3_retreat,0.612785552794,-0.00990913001996,1.070032201,0.583356004352,-0.00123739037697,1.06970033624
+318,5.300000000,pose2_to_pose3_retreat,0.612148670461,-0.00990916850273,1.07003226182,0.582719121865,-0.00123742940175,1.0697003974
+319,5.316666667,pose2_to_pose3_retreat,0.611491031364,-0.00990916112986,1.07003229852,0.582061482495,-0.00123742279212,1.06970043853
+320,5.333333333,pose2_to_pose3_retreat,0.610826509806,-0.00990913880181,1.07003239754,0.58139696107,-0.00123740006013,1.06970053651
+321,5.350000000,pose2_to_pose3_retreat,0.610160726365,-0.00990923934148,1.07003244552,0.580731178825,-0.00123749685071,1.06970057808
+322,5.366666667,pose2_to_pose3_retreat,0.60949841106,-0.00990933550376,1.07003212692,0.580068864695,-0.00123758886924,1.06970026346
+323,5.383333333,pose2_to_pose3_retreat,0.608827089474,-0.00990923914487,1.07003247015,0.579397540921,-0.00123750026579,1.0697005985
+324,5.400000000,pose2_to_pose3_retreat,0.608123453141,-0.00990923770931,1.07003222455,0.578693904407,-0.00123749899553,1.06970036333
+325,5.416666667,pose2_to_pose3_retreat,0.60738590205,-0.00990932379051,1.0700323478,0.577956354712,-0.00123758092989,1.06970047085
+326,5.433333333,pose2_to_pose3_retreat,0.606614226436,-0.00990926438317,1.07003210648,0.57718467664,-0.00123752971137,1.06970023479
+327,5.450000000,pose2_to_pose3_retreat,0.605806494301,-0.00990922058526,1.070032198,0.576376945378,-0.00123748274654,1.06970033026
+328,5.466666667,pose2_to_pose3_retreat,0.60497069185,-0.00990919962778,1.07003249765,0.575541144754,-0.00123745576902,1.06970062564
+329,5.483333333,pose2_to_pose3_retreat,0.604146796968,-0.00990912084558,1.0700324593,0.574717248895,-0.00123738025352,1.0697005888
+330,5.500000000,pose2_to_pose3_retreat,0.603331766719,-0.00990917036575,1.07003234638,0.573902218075,-0.00123743163556,1.06970047709
+331,5.516666667,pose2_to_pose3_retreat,0.602521691399,-0.00990924108924,1.07003239347,0.573092143118,-0.00123750113727,1.06970052386
+332,5.533333333,pose2_to_pose3_retreat,0.60172235325,-0.00990921091821,1.07003241352,0.572292804947,-0.00123747087415,1.06970054828
+333,5.550000000,pose2_to_pose3_retreat,0.600928704092,-0.00990930600489,1.07003232636,0.571499156338,-0.00123756395972,1.06970046473
+334,5.566666667,pose2_to_pose3_retreat,0.600112092799,-0.00990929096687,1.0700324079,0.570682544215,-0.00123755181127,1.06970054445
+335,5.583333333,pose2_to_pose3_retreat,0.599274572612,-0.00990917154812,1.07003210036,0.569845023697,-0.00123743377859,1.06970023197
+336,5.600000000,pose2_to_pose3_retreat,0.598420953893,-0.00990928384568,1.07003218893,0.568991407978,-0.00123753554651,1.06970032625
+337,5.616666667,pose2_to_pose3_retreat,0.59756733663,-0.00990935208312,1.07003218006,0.56813779001,-0.00123760602873,1.06970032081
+338,5.633333333,pose2_to_pose3_retreat,0.596726744642,-0.00990918731266,1.07003252151,0.567297196277,-0.00123744762032,1.06970065064
+339,5.650000000,pose2_to_pose3_retreat,0.595911918826,-0.00990921101083,1.07003216042,0.566482369601,-0.00123747429224,1.06970028797
+340,5.666666667,pose2_to_pose3_retreat,0.59512329764,-0.00990912525537,1.07003226768,0.565693748519,-0.00123738801255,1.06970039975
+341,5.683333333,pose2_to_pose3_retreat,0.594344341054,-0.00990913954383,1.07003241255,0.564914792751,-0.00123739961519,1.06970054214
+342,5.700000000,pose2_to_pose3_retreat,0.593566283696,-0.00990917108609,1.0700322553,0.564136735017,-0.00123743237524,1.06970038647
+343,5.716666667,pose2_to_pose3_retreat,0.592779996832,-0.00990912538165,1.07003212327,0.563350447253,-0.00123738929891,1.06970026549
+344,5.733333333,pose2_to_pose3_retreat,0.591986808512,-0.00990930187493,1.07003231121,0.562557261414,-0.00123755754708,1.06970044883
+345,5.750000000,pose2_to_pose3_retreat,0.591191091212,-0.00990929806816,1.07003232583,0.561761543728,-0.00123755513411,1.06970046126
+346,5.766666667,pose2_to_pose3_retreat,0.59040800574,-0.00990940663898,1.07003235269,0.560978459909,-0.00123765827075,1.0697004835
+347,5.783333333,pose2_to_pose3_retreat,0.589639650246,-0.00990921784872,1.07003233699,0.56021010242,-0.00123747615968,1.06970047014
+348,5.800000000,pose2_to_pose3_retreat,0.588899427296,-0.0099091933673,1.07003232208,0.559469878496,-0.00123745490269,1.0697004573
+349,5.816666667,pose2_to_pose3_retreat,0.588181997386,-0.00990908911849,1.07003244752,0.558752448969,-0.00123734958009,1.06970057678
+350,5.833333333,pose2_to_pose3_retreat,0.587485131925,-0.00990918683148,1.07003226,0.558055583543,-0.00123744692414,1.06970039577
+351,5.850000000,pose2_to_pose3_retreat,0.586806277666,-0.00990919666053,1.07003229482,0.557376728044,-0.00123746118851,1.06970042605
+352,5.866666667,pose2_to_pose3_retreat,0.586141543371,-0.00990914789554,1.07003225662,0.556711993654,-0.00123741265029,1.06970039116
+353,5.883333333,pose2_to_pose3_retreat,0.585491810647,-0.00990912478217,1.0700321852,0.556062260247,-0.001237391706,1.06970032289
+354,5.900000000,pose2_to_pose3_retreat,0.584858328512,-0.00990915407746,1.07003226042,0.555428777738,-0.00123742247095,1.06970039186
+355,5.916666667,pose2_to_pose3_retreat,0.584247924402,-0.00990917665157,1.07003231018,0.554818375043,-0.00123744026936,1.06970044069
+356,5.933333333,pose2_to_pose3_retreat,0.583664298474,-0.00990914582465,1.07003219304,0.55423474874,-0.00123741042423,1.0697003313
+357,5.950000000,pose2_to_pose3_retreat,0.583109485739,-0.00990926480356,1.07003219471,0.553679937779,-0.00123752347134,1.06970033058
+358,5.966666667,pose2_to_pose3_retreat,0.582567724973,-0.00990931154469,1.07003211451,0.55313817609,-0.00123757365098,1.0697002422
+359,5.983333333,pose2_to_pose3_retreat,0.582036674635,-0.00990911152258,1.07003237102,0.552607124414,-0.00123737758119,1.06970051441
+360,6.000000000,pose2_to_pose3_retreat,0.581522563552,-0.00990921931702,1.070032259,0.552093014366,-0.00123748238745,1.06970038865
+361,6.016666667,pose2_to_pose3_retreat,0.581029642995,-0.00990916110472,1.07003221365,0.551600093649,-0.00123742454998,1.06970034769
+362,6.033333333,pose2_to_pose3_retreat,0.580566174056,-0.00990920990267,1.07003229866,0.551136625051,-0.00123747222388,1.06970043276
+363,6.050000000,pose2_to_pose3_retreat,0.580136117438,-0.00990926689339,1.07003236171,0.550706569398,-0.00123752620248,1.06970048894
+364,6.066666667,pose2_to_pose3_retreat,0.579739246884,-0.00990920833596,1.07003240724,0.550309698729,-0.00123746793463,1.06970053663
+365,6.083333333,pose2_to_pose3_retreat,0.579364734034,-0.00990919935968,1.07003234751,0.549935185801,-0.00123745898256,1.06970048291
+366,6.100000000,pose2_to_pose3_retreat,0.579009442975,-0.00990926850727,1.07003215834,0.549579894862,-0.00123752758061,1.06970029733
+367,6.116666667,pose2_to_pose3_retreat,0.578670575876,-0.00990919395392,1.07003208405,0.54924102594,-0.00123745900827,1.06970022843
+368,6.133333333,pose2_to_pose3_retreat,0.578350790514,-0.00990923368701,1.07003233343,0.548921240421,-0.00123749976902,1.06970046498
+369,6.150000000,pose2_to_pose3_retreat,0.578053716268,-0.0099092373376,1.07003221934,0.548624169122,-0.00123749341435,1.06970035098
+370,6.166666667,pose2_to_pose3_retreat,0.577777093677,-0.00990908025873,1.07003217698,0.548347543023,-0.0012373479382,1.06970031664
+371,6.183333333,pose2_to_pose3_retreat,0.57752097299,-0.00990923897497,1.07003232436,0.548091424196,-0.00123750074517,1.06970045354
+372,6.200000000,pose2_to_pose3_retreat,0.577287242892,-0.00990920150704,1.0700323849,0.547857693377,-0.00123746604856,1.06970050563
+373,6.216666667,pose2_to_pose3_retreat,0.577073782811,-0.00990919445754,1.07003227373,0.547644233164,-0.00123745915414,1.06970040209
+374,6.233333333,pose2_to_pose3_retreat,0.576881281637,-0.00990918838062,1.0700322193,0.547451731807,-0.00123745356634,1.06970035113
+375,6.250000000,pose2_to_pose3_retreat,0.576709983143,-0.00990913864595,1.07003240638,0.547280433961,-0.00123740186517,1.06970053227
+376,6.266666667,pose2_to_pose3_retreat,0.576560891496,-0.0099091604498,1.07003251997,0.547131343872,-0.0012374183677,1.06970064628
+377,6.283333333,pose2_to_pose3_retreat,0.576428252443,-0.00990930859206,1.07003230499,0.54699870588,-0.00123756240316,1.06970044458
+378,6.300000000,pose2_to_pose3_retreat,0.576310270643,-0.00990931847436,1.07003230861,0.546880723555,-0.00123757408876,1.06970044765
+379,6.316666667,pose2_to_pose3_retreat,0.576204284122,-0.00990929120801,1.07003243205,0.546774735061,-0.00123755383587,1.06970056269
+380,6.333333333,pose2_to_pose3_retreat,0.576108681927,-0.00990921151427,1.07003235887,0.546679133003,-0.00123747360848,1.06970049204
+381,6.350000000,pose2_to_pose3_retreat,0.576023806694,-0.00990929879955,1.07003223039,0.546594259862,-0.00123755351783,1.06970037093
+382,6.366666667,pose2_to_pose3_retreat,0.575950267651,-0.00990940145217,1.07003226475,0.546520721663,-0.00123765346789,1.06970040089
+383,6.383333333,pose2_to_pose3_retreat,0.575888570345,-0.00990931894938,1.07003229011,0.546459022903,-0.00123757615124,1.06970041962
+384,6.400000000,pose2_to_pose3_retreat,0.575837815277,-0.00990914340446,1.07003220217,0.546408266104,-0.00123740633509,1.06970033558
+385,6.416666667,pose2_to_pose3_retreat,0.575796510909,-0.00990912028449,1.07003221187,0.546366961744,-0.00123738292209,1.06970035214
+386,6.433333333,pose2_to_pose3_retreat,0.575763295223,-0.00990928614235,1.07003243974,0.546333747674,-0.0012375435263,1.06970057396
+387,6.450000000,pose2_to_pose3_retreat,0.575736497895,-0.00990921829451,1.07003235538,0.546306948909,-0.00123748059911,1.06970048856
+388,6.466666667,pose2_to_pose3_retreat,0.575715540615,-0.00990919230816,1.07003224735,0.546285992042,-0.00123745321764,1.06970038043
+389,6.483333333,pose2_to_pose3_retreat,0.575699819657,-0.00990923038326,1.07003215108,0.546270271464,-0.00123749003814,1.06970028335
+390,6.500000000,pose2_to_pose3_retreat,0.575688960654,-0.00990925882181,1.07003215539,0.546259412381,-0.00123751882077,1.06970028587
+391,6.516666667,pose2_to_pose3_retreat,0.575681605649,-0.00990921499026,1.07003232889,0.546252056988,-0.00123747642327,1.06970045652
+392,6.533333333,pose2_to_pose3_retreat,0.575676675206,-0.0099092567129,1.070032409,0.546247127401,-0.00123751520029,1.06970053736
+393,6.550000000,pose2_to_pose3_retreat,0.575673438998,-0.00990930516315,1.07003245085,0.546243892087,-0.00123756055968,1.06970058048
+394,6.566666667,pose2_to_pose3_retreat,0.575671431646,-0.00990930221496,1.07003240355,0.546241884587,-0.00123755806485,1.06970053438
+395,6.583333333,pose2_to_pose3_retreat,0.575670538678,-0.00990928718518,1.07003235206,0.546240991262,-0.00123754422216,1.06970048359
+396,6.600000000,pose2_to_pose3_retreat,0.57567001183,-0.00990927831766,1.07003232167,0.546240464203,-0.00123753605503,1.06970045362
+397,6.616666667,pose2_to_pose3_retreat,0.575669822964,-0.0099092751388,1.07003231078,0.546240275261,-0.00123753312724,1.06970044288
+398,6.633333333,pose2_to_pose3_retreat,0.575669556303,-0.00990927065056,1.0700322954,0.546240008493,-0.00123752899349,1.06970042772
+399,6.650000000,pose2_to_pose3_retreat,0.575669329857,-0.00990926683918,1.07003228235,0.546239781957,-0.00123752548316,1.06970041484
+400,6.666666667,pose2_to_pose3_retreat,0.575669130008,-0.00990926347548,1.07003227082,0.546239582028,-0.00123752238513,1.06970040347
+401,6.683333333,pose2_to_pose3_retreat,0.575669065128,-0.00990926238347,1.07003226708,0.546239517122,-0.00123752137937,1.06970039978
+402,6.700000000,pose2_to_pose3_retreat,0.575668939321,-0.00990926026598,1.07003225983,0.546239391265,-0.00123751942912,1.06970039262
+403,6.716666667,pose2_to_pose3_retreat,0.575668785822,-0.00990925768239,1.07003225097,0.546239237704,-0.0012375170496,1.06970038389
+404,6.733333333,pose2_to_pose3_retreat,0.575668618228,-0.00990925486157,1.07003224131,0.546239070043,-0.00123751445157,1.06970037436
+405,6.750000000,pose2_to_pose3_retreat,0.575668617891,-0.0099092548559,1.07003224129,0.546239069706,-0.00123751444635,1.06970037434
+406,6.766666667,pose2_to_pose3_retreat,0.575668440991,-0.00990925187844,1.07003223109,0.546238892735,-0.00123751170406,1.06970036428
+407,6.783333333,pose2_to_pose3_retreat,0.575668176208,-0.00990924742182,1.07003221582,0.546238627846,-0.00123750759943,1.06970034922
+408,6.800000000,pose2_to_pose3_retreat,0.575667629539,-0.00990922831838,1.07003224047,0.546238080977,-0.00123748921433,1.06970037281
+409,6.816666667,pose2_to_pose3_retreat,0.575666922063,-0.00990920121209,1.0700322859,0.546237373247,-0.00123746303564,1.06970041649
+410,6.833333333,pose2_to_pose3_retreat,0.575666666577,-0.00990919142339,1.0700323023,0.546237117669,-0.00123745358192,1.06970043227
+411,6.850000000,pose2_to_pose3_retreat,0.575666595622,-0.00990918870481,1.07003230686,0.546237046689,-0.00123745095638,1.06970043665
+412,6.866666667,pose2_to_pose3_retreat,0.575666418468,-0.00990918191729,1.07003231823,0.54623686947,-0.00123744440113,1.06970044759
+413,6.883333333,pose2_to_pose3_retreat,0.575666244406,-0.00990917524829,1.07003232941,0.546236695347,-0.00123743796035,1.06970045834
+414,6.900000000,pose2_to_pose3_retreat,0.575665616698,-0.00990915803897,1.07003235475,0.546236067713,-0.00123742050712,1.0697004834
+415,6.916666667,pose2_to_pose3_retreat,0.575665095318,-0.00990915500317,1.07003235117,0.54623554689,-0.00123741551278,1.06970048168
+416,6.933333333,pose2_to_pose3_retreat,0.575664639456,-0.00990916749963,1.07003232879,0.546235091502,-0.0012374263185,1.06970046142
+417,6.950000000,pose2_to_pose3_retreat,0.575664313608,-0.00990925778212,1.07003220944,0.546234765929,-0.00123751550884,1.06970034629
+418,6.966666667,pose2_to_pose3_retreat,0.57566436282,-0.00990914439108,1.07003222088,0.546234812804,-0.00123741033504,1.06970035017
+419,6.983333333,pose2_to_pose3_retreat,0.575664367764,-0.00990913744356,1.07003222232,0.546234817616,-0.00123740385426,1.06970035116
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5631d31582445921f87faa1073945e8ae58081d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aed10063417566072fc518aacda9301ddfbbd64026a75b8754fdacf644167f31
+size 26282256
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc7bdcd125bf8d2ba39e2ee65843a65bc8e3f4a9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,746,714,679,666,636,879,787,804,653,632,653,0.400926778429,0.00441034884249,0.0599405970887,0.999999972365,-0.000121499051649,-0.000198077825007,-3.56897736609e-05,1793239674212364800
+1,0.016666667,BASELINE,765,746,714,679.576074754,666,636,879,787,803.423925246,653,632,653,0.400925884899,0.00441030656246,0.0599399706026,0.999999971728,-0.000123356026897,-0.000200093837358,-3.5915686116e-05,1793239674229030912
+2,0.033333333,BASELINE,765.155190696,745.844809304,714,679.844809304,666,636,879,787,803.155190696,653,632,653,0.400925137651,0.00441048277849,0.0599393543349,0.999999971296,-0.000124082879811,-0.000201775861394,-3.60140890313e-05,1793239674245697280
+3,0.050000000,BASELINE,765.742780255,745.257219745,714,679.257219745,666,636,879,787,803.742780255,653,632,653,0.400924797979,0.00441126777746,0.0599387665378,0.999999971451,-0.00012166093864,-0.000202527313563,-3.57572195416e-05,1793239674262363904
+4,0.066666667,BASELINE,765.672996626,745,714,679,666,635.672996626,879,787,804,653,632,653,0.400924812318,0.00441101201872,0.0599385696175,0.999999971414,-0.000122406674745,-0.000202278823592,-3.56503108343e-05,1793239674279030784
+5,0.083333333,BASELINE,765.091394588,745,714,679,666,635.091394588,879,787,804,653,632,653,0.400925102284,0.00440994594559,0.0599386770264,0.999999971223,-0.000125618704814,-0.000201251797472,-3.56601587806e-05,1793239674295697408
+6,0.100000000,BASELINE,765,745,714,679.484430457,666,635,879,787,804,653,631.515569543,653,0.400926376002,0.0044098264394,0.0599392453184,0.999999971565,-0.000124897260406,-0.000200008459415,-3.55898511638e-05,1793239674312364288
+7,0.116666667,BASELINE,765,745.059167144,714,680,666,635.059167144,879,787,803.940832856,653,631,652.940832856,0.400927480059,0.00440997255875,0.0599396783418,0.999999971936,-0.000123399657837,-0.000199093208394,-3.55209917441e-05,1793239674329030912
+8,0.133333333,BASELINE,765,745.633805478,714,680,666,635.633805478,879,787,803.366194522,653,631,652.366194522,0.400925508092,0.00441089533752,0.0599381842816,0.999999971703,-0.000121529188014,-0.000201387644517,-3.55949453046e-05,1793239674345697536
+9,0.150000000,BASELINE,765,746,714,680,666,636,879,787,803.21558195,653,631.21558195,652.21558195,0.400924500237,0.00441097206219,0.0599373512816,0.999999971506,-0.000121053367669,-0.000202674532244,-3.54571239275e-05,1793239674362364160
+10,0.166666667,BASELINE,765,746,714,680,666,636,879,787,803.809898654,653,631.809898654,652.809898654,0.400925186134,0.0044095624374,0.0599376796334,0.999999971381,-0.000123027670219,-0.000202191356908,-3.49472559538e-05,1793239674379030784
+11,0.183333333,BASELINE,765,745.61129963,714.38870037,679.61129963,665.61129963,635.61129963,879,787,804,653,631.61129963,653,0.400925572027,0.004410586398,0.0599383810765,0.999999971579,-0.00012284831029,-0.000201300555284,-3.50578497319e-05,1793239674395697664
+12,0.200000000,BASELINE,765,745.039794517,714.960205483,679.039794517,665.039794517,635.039794517,879,787,804,653,631.039794517,653,0.400925816829,0.00441275486716,0.0599392579835,0.999999971928,-0.000121656088846,-0.000200218048067,-3.54602449634e-05,1793239674412364288
+13,0.216666667,BASELINE,765,745.53605784,715,679,665.53605784,635.53605784,879,787,803.46394216,653,631,653,0.400924120267,0.00441221380448,0.0599380636945,0.999999971558,-0.000121541939964,-0.000202120848444,-3.548347449e-05,1793239674429031424
+14,0.233333333,BASELINE,765,745.884730584,714.884730584,679,666,635.884730584,879,787,803.230538832,653,631.115269416,653,0.400922928836,0.00441164360137,0.0599370901094,0.999999971283,-0.000121432726948,-0.000203537806477,-3.55136126576e-05,1793239674445698304
+15,0.250000000,BASELINE,765,745.292977921,714.292977921,679,666,635.292977921,879,787,804.414044158,653,631.707022079,653,0.400924426044,0.00441179119592,0.0599376696064,0.999999971635,-0.000121010391233,-0.000202022892127,-3.56896120965e-05,1793239674462364416
+16,0.266666667,BASELINE,765,745.291992331,714,679,666,635.291992331,879,787,804.416015337,653,632,653,0.400925272912,0.00441218338837,0.0599379287808,0.9999999718,-0.000120732925492,-0.000201382660773,-3.56218698301e-05,1793239674479031040
+17,0.283333333,BASELINE,765,745.870311731,714,679,666,635.870311731,879,787,803.259376539,653,632,653,0.400925482059,0.00441281543301,0.0599378738476,0.999999971783,-0.000120597518969,-0.000201600141822,-3.53151149479e-05,1793239674495697664
+18,0.300000000,BASELINE,765,745.552757176,714,679,666,635.552757176,879,787,803.447242824,653,631.552757176,653,0.400924130266,0.00441238353683,0.0599372824393,0.999999971472,-0.00012132340078,-0.000202724760057,-3.51951899683e-05,1793239674512364288
+19,0.316666667,BASELINE,765.023661905,745.023661905,714,679.023661905,666,635,879,787,803.976338095,653,631.023661905,653,0.400922539822,0.00441166425231,0.0599366419146,0.999999971124,-0.000122244540001,-0.000203896978369,-3.51425518091e-05,1793239674529031168
+20,0.333333333,BASELINE,765.597507524,745.597507524,714,679.597507524,666,635,879,787,803.402492476,653,631.597507524,653,0.400925892242,0.00441141397884,0.0599384652841,0.999999971926,-0.000121916589918,-0.000200078622209,-3.53986723386e-05,1793239674545697792
+21,0.350000000,BASELINE,766,745.823087303,714,680,666,635.176912697,879.176912697,787,803.176912697,653,631.823087303,653,0.40092781909,0.00441105692784,0.0599394576024,0.999999972279,-0.00012250197397,-0.000197921793774,-3.55225800989e-05,1793239674562364672
+22,0.366666667,BASELINE,766,745.230623345,714,680,666,635.769376655,879.769376655,787,803.769376655,653,631.230623345,653,0.400926397407,0.00441044906649,0.0599384978595,0.9999999716,-0.000125232693928,-0.000199667738017,-3.53359324812e-05,1793239674579031296
+23,0.383333333,BASELINE,766,745.352902607,714.352902607,679.647097393,666,636,880,787,804,653.352902607,631,653,0.400926555871,0.00441113524134,0.0599390883636,0.99999997191,-0.000123477403282,-0.000199229262824,-3.52172488633e-05,1793239674595697664
+24,0.400000000,BASELINE,766,745.930731874,714.930731874,679.069268126,666,636,880,787,804,653.930731874,631,653,0.400927721461,0.00441264618543,0.0599406669359,0.999999972835,-0.000118862900874,-0.000197398522183,-3.51418828875e-05,1793239674612364288
+25,0.416666667,BASELINE,766,746,714.494009162,679.505990838,666,636,880,787,804,653.494009162,631.505990838,653,0.400926772938,0.00441306836209,0.0599397245488,0.999999972627,-0.000118444652973,-0.000198652710335,-3.54116046998e-05,1793239674629031168
+26,0.433333333,BASELINE,766,746,714,679.917080764,666,636,879.917080764,787,804,653,632,653,0.400925850238,0.0044132655125,0.0599386847894,0.999999972317,-0.000118679187839,-0.000200028865112,-3.56444950387e-05,1793239674645697536
+27,0.450000000,BASELINE,766,746,714,679.327820033,666,636,879.327820033,787,804,653,632,653,0.400926843579,0.00441299410577,0.059939147171,0.999999972328,-0.000119409783187,-0.000199583997783,-3.5365458959e-05,1793239674662364416
+28,0.466666667,BASELINE,766,746,714,679,666,636,879,787,804,653,631.742751618,653,0.400926911108,0.00441280427197,0.0599391806486,0.999999972213,-0.00012030813062,-0.000199652562383,-3.52014406056e-05,1793239674679031040
+29,0.483333333,BASELINE,766,746,714,679,666,636,879,787,804,653,631.162939974,653,0.400925817763,0.00441271672232,0.0599386763242,0.999999971937,-0.000121416822032,-0.000200364918338,-3.51816427793e-05,1793239674695697664
+30,0.500000000,BASELINE,765.586888469,746,714,679.413111531,666,636,879.413111531,787,804,652.586888469,631,653,0.400924812265,0.00441235632153,0.0599379858549,0.999999971472,-0.000123357354461,-0.000201482297161,-3.52782325865e-05,1793239674712364288
+31,0.516666667,BASELINE,765.01230668,746,714,679.98769332,666,636,879.98769332,787,804,652.01230668,631,653,0.400923841104,0.00441188927316,0.0599372226284,0.999999970927,-0.000125623023235,-0.000202757984662,-3.54203140829e-05,1793239674729030912
+32,0.533333333,BASELINE,765.563376886,746,714.563376886,680,666,635.436623114,880,787,804,652.563376886,631.563376886,653,0.400924277847,0.00441372228111,0.0599374400373,0.999999971468,-0.000121542160532,-0.000202511399781,-3.5786880962e-05,1793239674745697536
+33,0.550000000,BASELINE,765.857109058,745.857109058,714.857109058,679.857109058,666,635,879.857109058,787,803.857109058,653,631.857109058,653,0.400925058984,0.00441448031249,0.0599377348454,0.999999971948,-0.000118799603805,-0.000201732324314,-3.59753253439e-05,1793239674762364416
+34,0.566666667,BASELINE,765.265645901,745.265645901,714.265645901,679.265645901,666,635,879.265645901,787,803.265645901,653,631.265645901,653,0.400926824528,0.00441170567285,0.0599382052502,0.999999972206,-0.000120694411952,-0.000199386216323,-3.55891719505e-05,1793239674779031296
+35,0.583333333,BASELINE,765,745.319249477,714,679.319249477,666,635.319249477,879,787,803.319249477,653,631.319249477,653,0.400927124819,0.00441006590131,0.0599383262578,0.999999972005,-0.000122940672079,-0.000199080353403,-3.52439272962e-05,1793239674795697920
+36,0.600000000,BASELINE,765,745.898790065,714,679.898790065,666,635.898790065,879,787,803.898790065,653,631.898790065,653,0.400926230456,0.00440935141237,0.0599381623941,0.99999997143,-0.000125473478935,-0.000200437946847,-3.49320363931e-05,1793239674812364288
+37,0.616666667,BASELINE,765,746,714,680,666,636,879,787,804,653,632,653,0.400925085834,0.00441061108822,0.0599373643199,0.999999971191,-0.000124848748195,-0.000201999686787,-3.50363289428e-05,1793239674829031168
+38,0.633333333,BASELINE,765.049424311,745.950575689,714,680,666,636,879,787,803.950575689,653,631.950575689,652.950575689,0.400924136298,0.00441207786689,0.0599366154664,0.99999997108,-0.00012356727111,-0.000203303698349,-3.51942014575e-05,1793239674845697792
+39,0.650000000,BASELINE,765.63414279,745.36585721,714,680,666,636,879,787,803.36585721,653,631.36585721,652.36585721,0.400925873165,0.0044112636119,0.0599378530846,0.999999971626,-0.000122408792974,-0.000201348531375,-3.49786328544e-05,1793239674862364416
+40,0.666666667,BASELINE,765.782216192,745.217783808,714,680,666,636,879,787,803,653,631.217783808,652.217783808,0.400926785125,0.00441075065511,0.0599384393134,0.999999971882,-0.00012234431594,-0.0002001096483,-3.49743481096e-05,1793239674879031296
+41,0.683333333,BASELINE,765.200376334,745.799623666,714,680,666,636,879,787,803,653,631.799623666,652.799623666,0.400926318137,0.00441074136038,0.0599379366538,0.999999971661,-0.000124108614603,-0.000200068133916,-3.5323253854e-05,1793239674895697664
+42,0.700000000,BASELINE,765.377477955,746,714,679.622522045,666,636,879,787,803.377477955,653,632,653,0.400925912732,0.00441095851396,0.0599375112599,0.999999971642,-0.000123534748961,-0.000200540227184,-3.5198548107e-05,1793239674912364288
+43,0.716666667,BASELINE,765.953238673,746,714,679.046761327,666,636,879,787,803.953238673,653,632,653,0.400925539676,0.00441129461701,0.0599371264523,0.999999971727,-0.000121732685231,-0.000201282109835,-3.48250622696e-05,1793239674929031168
+44,0.733333333,BASELINE,766,746,714.528529404,679,666,636,879,787,803.471470596,653.528529404,631.471470596,653,0.400924962329,0.00441287678374,0.0599368146482,0.999999971629,-0.000121579616523,-0.000201790056177,-3.52180611016e-05,1793239674945697792
+45,0.750000000,BASELINE,766,746,714.893804128,679.106195872,666,636,879,787.106195872,803,653.893804128,631.106195872,653,0.400924702275,0.00441423086187,0.0599368284861,0.999999971615,-0.000121377934825,-0.000201923887483,-3.55677969022e-05,1793239674962364416
+46,0.766666667,BASELINE,766,746,714.30515602,679.69484398,666,636,879,787.69484398,803,653.30515602,631.69484398,653,0.400925965737,0.00441404832203,0.0599382924127,0.999999972047,-0.000120293189334,-0.000200452044072,-3.54131774712e-05,1793239674979031040
+47,0.783333333,BASELINE,765.7204304,746,714,680,666,636,879,788,803.2795696,653,632,653,0.400926288904,0.00441311918627,0.0599384727728,0.999999972033,-0.000120766574471,-0.000200261383854,-3.5275802009e-05,1793239674995697664
+48,0.800000000,BASELINE,765.139926942,746,714,680,666,636,879,788,803.860073058,653,632,653,0.400925599919,0.00441138640091,0.0599372714784,0.999999971537,-0.000122917159925,-0.000201449812592,-3.51569882523e-05,1793239675012364544
+49,0.816666667,BASELINE,765.436430181,746,714,680,666,636,879,788,804,653,631.563569819,653,0.400925045329,0.00441099054875,0.059937082486,0.999999971444,-0.000122785068849,-0.000202028879827,-3.49440153954e-05,1793239675029031168
+50,0.833333333,BASELINE,765.988527271,746,714,680,666,636,879,787.988527271,803.988527271,653,631.011472729,653,0.400924588787,0.00441105832083,0.0599372418246,0.999999971496,-0.000121907107119,-0.000202342943099,-3.47097904236e-05,1793239675045697792
+51,0.850000000,BASELINE,765.413370119,746,714,680,666,636,879,787.413370119,803.413370119,653,631.586629881,653,0.400926852428,0.00441304298694,0.0599387191118,0.999999972361,-0.000120002596187,-0.00019914545643,-3.49006979445e-05,1793239675062364416
+52,0.866666667,BASELINE,765.166238076,746,714.166238076,680,666,636,879,787,803.166238076,653,632,653,0.400927914447,0.00441431121726,0.0599393149516,0.999999972767,-0.000118864611428,-0.000197768358406,-3.50011241251e-05,1793239675079031040
+53,0.883333333,BASELINE,765.757218764,746,714.757218764,680,666,636,879,787,803.757218764,653,632,653,0.40092590629,0.00441374893534,0.0599376586699,0.999999972021,-0.000119685121118,-0.000201042400977,-3.48703681143e-05,1793239675095697664
+54,0.900000000,BASELINE,766,746,714.658711997,680,666,636,879.341288003,787.341288003,804,653,631.658711997,653,0.400925423003,0.00441374134846,0.0599368776239,0.999999971803,-0.000119835898911,-0.000202012014866,-3.50006179093e-05,1793239675112364288
+55,0.916666667,BASELINE,766,746,714.079461776,680,666,636,879.920538224,787.920538224,804,653,631.079461776,653,0.400926002926,0.00441412052133,0.0599367068339,0.999999971958,-0.000119519707753,-0.0002013748714,-3.53128533648e-05,1793239675129030912
+56,0.933333333,BASELINE,766,746,714,679.504531197,666,636,879.504531197,788,804,653,631,653,0.40092588151,0.00441242824294,0.0599366723814,0.999999971951,-0.000120298782791,-0.000200980870057,-3.5108449639e-05,1793239675145697536
+57,0.950000000,BASELINE,766,746,714,679,666,636,879,787.928561598,804,653,631,653,0.400925884694,0.00441097615743,0.0599367581737,0.999999971971,-0.000120947185709,-0.000200526843645,-3.49063562482e-05,1793239675162364416
+58,0.966666667,BASELINE,766,746,714,679,666,636,879,787.340102124,804,653,631,653,0.400927596648,0.00441364596529,0.0599375573352,0.999999972378,-0.000119389591465,-0.00019935862313,-3.53154617453e-05,1793239675179030784
+59,0.983333333,BASELINE,766,746,714,679.244730411,666,636,879,787,803.755269589,653,631.244730411,653,0.400928332156,0.00441476140714,0.0599381499922,0.999999972609,-0.000118537349655,-0.000198681178599,-3.54392898772e-05,1793239675195697664
+60,1.000000000,BASELINE,766,746,714,679.824596274,666,636,879,787,803.175403726,653,631.824596274,653,0.400927730514,0.00441374829025,0.0599384598606,0.999999972606,-0.000118651021939,-0.000198675805797,-3.51724573466e-05,1793239675212364288
+61,1.016666667,BASELINE,765.598111896,746,714,679.598111896,666,635.598111896,879,787,803.401888104,653,631.598111896,653,0.400926815314,0.00441380553433,0.0599376257206,0.999999972361,-0.000118476866221,-0.000200013668032,-3.51671098173e-05,1793239675229031168
+62,1.033333333,BASELINE,765.021936385,746,714,679.021936385,666,635.021936385,879,787,803.978063615,653,631.021936385,653,0.400925764132,0.00441432696349,0.0599362954568,0.999999972006,-0.000118177887702,-0.000201934052986,-3.52751608898e-05,1793239675245697792
+63,1.050000000,BASELINE,765,746,714.563778443,679.563778443,666,635.563778443,879,787.563778443,804,653,631.563778443,653,0.400925810142,0.00441526968116,0.0599362961142,0.999999972138,-0.000117317234267,-0.000201768606059,-3.53691549402e-05,1793239675262364416
+64,1.066666667,BASELINE,765,746,714.851755475,680,666,635.851755475,879,788,803.851755475,653,632,653,0.40092604739,0.0044156135765,0.0599365494211,0.999999972226,-0.000117383441411,-0.000201275736724,-3.54534968308e-05,1793239675279031040
+65,1.083333333,BASELINE,765,746,714.272023031,680,666,635.272023031,879,788,803.272023031,653,632,653,0.400926714867,0.00441416597659,0.0599373847785,0.99999997213,-0.00012021212104,-0.000200070146198,-3.55113640473e-05,1793239675295697664
+66,1.100000000,BASELINE,765,746,714,679.693613086,666,635,879,787.693613086,803,653,632,653,0.400926525089,0.00441347693198,0.0599374026049,0.99999997208,-0.000120528462496,-0.000200153415274,-3.53862375221e-05,1793239675312364544
+67,1.116666667,BASELINE,765,746,714,679.116372295,666,635,879,787.116372295,803,653,632,653,0.400925577476,0.00441345846978,0.059936697713,0.999999972072,-0.000118623832536,-0.0002013760693,-3.50993398407e-05,1793239675329030912
+68,1.133333333,BASELINE,765,746,714,679,666,635.45924316,879.45924316,787,803,653,631.54075684,653,0.400924920048,0.00441320201776,0.0599362071276,0.999999971908,-0.00011924375541,-0.000201831562269,-3.50649900641e-05,1793239675345697536
+69,1.150000000,BASELINE,765,745.964674852,714,679.035325148,666,636,879.964674852,787,803,653,631,653,0.400924405557,0.00441299574087,0.059935808451,0.999999971736,-0.000120297869498,-0.000202050672603,-3.51057161555e-05,1793239675362364416
+70,1.166666667,BASELINE,765,745.374827611,714,679.625172389,666,636,879.374827611,787,803,653,631,653,0.400924984626,0.00441452043107,0.059936003068,0.999999972074,-0.000118161043633,-0.000201599971832,-3.53239180141e-05,1793239675379031040
+71,1.183333333,BASELINE,765.210402867,745.210402867,714,679.789597133,665.789597133,635.789597133,879,787,803.210402867,653,631,653,0.400925922663,0.00441511058898,0.0599366863514,0.999999972391,-0.000117194932816,-0.000200577857639,-3.53683953801e-05,1793239675395697920
+72,1.200000000,BASELINE,765.787585386,745.787585386,714,679.212414614,665.212414614,635.212414614,879,787,803.787585386,653,631,653,0.400927486462,0.00441407164658,0.0599382214903,0.999999972677,-0.000118269642013,-0.000198559640905,-3.51100318102e-05,1793239675412364544
+73,1.216666667,BASELINE,765.6357514,746,714.3642486,679,665.3642486,635.3642486,879,787,804,653,631,653,0.400926677678,0.00441336540523,0.0599379509381,0.999999972412,-0.000119539058695,-0.000199175146587,-3.48668550653e-05,1793239675429031936
+74,1.233333333,BASELINE,765.059390626,746,714.940609374,679,665.940609374,635.940609374,879,787,804,653,631,653,0.40092448727,0.0044128529051,0.0599366288812,0.999999971824,-0.000120921858938,-0.000201324342803,-3.46325220498e-05,1793239675445699840
+75,1.250000000,BASELINE,765,745.485951657,714.485951657,679,666,636,879.514048343,787,804,653,631.514048343,653,0.400924574926,0.0044124586659,0.0599363915958,0.999999971776,-0.000120892393971,-0.000201580974215,-3.46258032593e-05,1793239675462365440
+76,1.266666667,BASELINE,765,745,714,679.090026497,666,636,880,787,803.909973503,653,631.909973503,653,0.400924883171,0.00441227752432,0.0599363460277,0.99999997182,-0.000120542074941,-0.000201561931897,-3.46770165888e-05,1793239675479031040
+77,1.283333333,BASELINE,765,745,714,679.682034594,666,636,880,787,803.317965406,653,631.317965406,653,0.400924962142,0.00441320884553,0.0599366745847,0.999999972029,-0.000119307357137,-0.000201218081087,-3.49054515153e-05,1793239675495697664
+78,1.300000000,BASELINE,765.26832194,745.26832194,714,680,666,636,880,787,803.26832194,653,631.26832194,653,0.40092531585,0.00441307589153,0.0599369866278,0.999999972066,-0.00011971963404,-0.000200768533329,-3.50354431683e-05,1793239675512364288
+79,1.316666667,BASELINE,765.847971591,745.847971591,714,680,666,636,880,787,803.847971591,653,631.847971591,653,0.400925988329,0.00441170808368,0.0599372795105,0.999999971899,-0.000122042880717,-0.000200196347883,-3.50512133629e-05,1793239675529030912
+80,1.333333333,BASELINE,765.575802279,745.575802279,714,680,666,636,879.575802279,787,804,652.575802279,631.575802279,653,0.400925280209,0.00441202342767,0.0599365300501,0.999999971793,-0.000121228197604,-0.000201219898403,-3.50385733165e-05,1793239675545697792
+81,1.350000000,BASELINE,765.000793236,745.000793236,714,680,666,636,879.000793236,787,804,652.000793236,631.000793236,653,0.400924081256,0.00441293716788,0.0599354100145,0.999999971705,-0.000119297913828,-0.000202810766989,-3.50158328256e-05,1793239675562364416
+82,1.366666667,BASELINE,765,745.586201497,714,679.413798503,666,636,879,787,804,652.586201497,631,653,0.400924809889,0.0044138221284,0.0599363447588,0.99999997211,-0.000117741761644,-0.000201734351337,-3.49259075779e-05,1793239675579031040
+83,1.383333333,BASELINE,765,745.829835734,714,679.170164266,666,636,879,787.170164266,804,653,631,653,0.400925711983,0.00441412486344,0.0599371733355,0.999999972344,-0.000117841533509,-0.000200518838673,-3.48848856476e-05,1793239675595697920
+84,1.400000000,BASELINE,765,745.253155645,714,679.746844355,666,636,879,787.746844355,804,653,631,653,0.400927022107,0.0044130367796,0.0599377415009,0.999999972163,-0.000121896008602,-0.000198979830918,-3.49609135467e-05,1793239675612364544
+85,1.416666667,BASELINE,765,745,714.32628963,680,666,636,879.32628963,787.67371037,803.67371037,653,631.32628963,653,0.40092735826,0.00441345025428,0.0599380764331,0.999999972354,-0.000120993128726,-0.0001985702054,-3.49568215117e-05,1793239675629031168
+86,1.433333333,BASELINE,765,745,714.907898609,680,666,636,879.907898609,787.092101391,803.092101391,653,631.907898609,653,0.400926932285,0.00441503868805,0.0599382288619,0.99999997283,-0.000116211153068,-0.00019904431366,-3.48900361849e-05,1793239675645698048
+87,1.450000000,BASELINE,765.473261579,745.473261579,715,679.526738421,666.473261579,636,879.526738421,787,803,653,632,653,0.400926236432,0.00441432805544,0.0599372486393,0.999999972376,-0.000118054367559,-0.000200228826855,-3.49315778919e-05,1793239675662364672
+88,1.466666667,BASELINE,766,745.961901752,714.961901752,679.038098248,666.961901752,635.961901752,879,787,803.038098248,653,632,653,0.400925495666,0.0044132715976,0.0599361079377,0.999999971773,-0.000120935785801,-0.000201503922119,-3.49891016525e-05,1793239675679031040
+89,1.483333333,BASELINE,766,745.359591265,714.359591265,679.640408735,666.359591265,635.359591265,879,787,803.640408735,653,632,653,0.400924841745,0.00441349980532,0.0599357466647,0.99999997167,-0.000120731916391,-0.000202141007812,-3.49814670624e-05,1793239675695697664
+90,1.500000000,BASELINE,766,745.233545714,714,679.766454286,666,635,879,787,804,653,632,653,0.400924610659,0.00441380906439,0.059935797539,0.999999971702,-0.000120491348683,-0.000202116481211,-3.50272597277e-05,1793239675712364288
+91,1.516666667,BASELINE,766,745.813091985,714,679.186908015,666,635,879,787,804,653,632,653,0.400925006006,0.00441423840192,0.0599364590142,0.999999971936,-0.00012019641206,-0.000201111768626,-3.51522054632e-05,1793239675729030912
+92,1.533333333,BASELINE,765.609296958,745.609296958,714,679,665.609296958,635,878.609296958,787,803.609296958,653,631.609296958,653,0.400926051529,0.00441454958034,0.0599371683491,0.999999972217,-0.000119573694499,-0.000200123689119,-3.49130567475e-05,1793239675745697792
+93,1.550000000,BASELINE,765.032607072,745.032607072,714,679,665.032607072,635,878.032607072,787,803.032607072,653,631.032607072,653,0.400927406557,0.00441480451138,0.0599379004667,0.99999997252,-0.000118794942952,-0.000199143527386,-3.45005877181e-05,1793239675762364672
+94,1.566666667,BASELINE,765,745,714,679,666.104234405,635,878.552117202,787,803.552117202,652.447882798,631,653,0.400926080995,0.00441378040661,0.0599372106368,0.999999972213,-0.000119387014451,-0.00020029779895,-3.46590569907e-05,1793239675779031296
+95,1.583333333,BASELINE,765,745.136170811,714,679.136170811,666.863829189,635,879,787,804,652.136170811,631,653,0.400925238549,0.00441333452835,0.0599366500673,0.999999972006,-0.000119817929925,-0.000201038233614,-3.48625551873e-05,1793239675795697920
+96,1.600000000,BASELINE,765,745.716466733,714,679.716466733,666.283533267,635,879,787,804,652.716466733,631,653,0.40092649576,0.00441502455881,0.0599367890251,0.999999972247,-0.000119455283078,-0.000200011721227,-3.51013183725e-05,1793239675812364288
+97,1.616666667,BASELINE,765,745.705001401,714.294998599,679.705001401,666,635.294998599,879,787,803.705001401,653,631.294998599,653,0.400927138334,0.00441563435272,0.0599370089342,0.999999972397,-0.000119028871302,-0.000199512548009,-3.51033299994e-05,1793239675829030912
+98,1.633333333,BASELINE,765,745.128154985,714.871845015,679.128154985,666,635.871845015,879,787,803.128154985,653,631.871845015,653,0.400927193671,0.00441521206599,0.059937306186,0.999999972462,-0.000118541537204,-0.000199517205694,-3.48791442344e-05,1793239675845697536
+99,1.650000000,BASELINE,765,745.447134457,715,679.447134457,666,636,879,787,803,653,632,652.552865543,0.400926733348,0.00441372292734,0.0599371297971,0.999999972341,-0.000119080504389,-0.000199854934553,-3.45849058107e-05,1793239675862364160
+100,1.666666667,BASELINE,765,746,714.977420362,679.977420362,666,635.977420362,879.022579638,787,803.045159276,653,632,652.022579638,0.400926159055,0.00441203158481,0.0599368444987,0.999999972173,-0.000119892164096,-0.000200258580648,-3.42898368793e-05,1793239675879031040
+101,1.683333333,BASELINE,765,746,714.38687146,679.38687146,666,635.38687146,879.61312854,787,804.226257081,653,632,652.61312854,0.400926422696,0.00441291877641,0.059937222546,0.999999972197,-0.000120189699276,-0.000199927367532,-3.44771694152e-05,1793239675895697920
+102,1.700000000,BASELINE,765,746,714.19978582,679.19978582,666,635.19978582,879.80021418,787,804.80021418,653,632,653,0.400926284877,0.00441349743085,0.0599369886309,0.999999972071,-0.000120627416676,-0.000200257783576,-3.47012515561e-05,1793239675912364544
+103,1.716666667,BASELINE,765,746,714.779051161,679.779051161,666,635.779051161,879.220948839,787,804.220948839,653,632,653,0.400925384511,0.00441349003992,0.0599355923349,0.999999971656,-0.000121331400594,-0.000201844919059,-3.49951370403e-05,1793239675929031168
+104,1.733333333,BASELINE,765,746,714.64439784,679.64439784,666,636,879.35560216,787,803.64439784,653,632,653,0.400926237014,0.00441298063375,0.0599358616006,0.999999971922,-0.000121110215917,-0.000200653628527,-3.50244892987e-05,1793239675945697792
+105,1.750000000,BASELINE,765,746,714.069520532,679.069520532,666,636,879.930479468,787,803.069520532,653,632,653,0.40092817039,0.00441216166964,0.0599371579022,0.999999972601,-0.000120318544105,-0.000197749075842,-3.48907223221e-05,1793239675962364160
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,679,667,635,880,787,804,653,632,653,0.400925821,0.00441510158605,0.0599360803644,0.999999972069,-0.000119267105179,-0.000200991186879,-3.52216408689e-05,1793239675993382144
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.410722519,746,714.410722519,679.589277481,667,635.589277481,880,787,804,653,632,653,0.400925255067,0.00441485330344,0.0599362201091,0.99999997211,-0.000118165281005,-0.000201481408739,-3.49521470954e-05,1793239676010049280
+108,1.800000000,POSE1_TO_POSE2_PRESS,765,746,714.1755531,680,666.8244469,636,879.8244469,787,804,653,632,653,0.40092504331,0.00441423644535,0.059936307206,0.999999972089,-0.000118071362059,-0.000201667406223,-3.48010139843e-05,1793239676026716160
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,746,714.754923776,680,666.245076224,636,879.245076224,787,804,653,632,653,0.400925646251,0.00441277176819,0.0599362731991,0.999999971923,-0.000120295885831,-0.000201153608987,-3.49221409828e-05,1793239676043382784
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,746,715,680,666,636,879,787.331311252,804,653,631.668688748,653,0.400926799656,0.00441270012751,0.0599367032161,0.999999972211,-0.000119707015028,-0.000200094456974,-3.47808630764e-05,1793239676060049408
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,746,715,680,666,636,879,787.905511666,804,653,631.094488334,653,0.400928356614,0.0044136497425,0.0599374734158,0.999999972828,-0.00011705560306,-0.000198635497367,-3.44472122592e-05,1793239676076716032
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.479510685,745.520489315,714.520489315,680,666,636,879.479510685,787.520489315,804,653,631,653,0.400930165486,0.00441458083338,0.0599381764287,0.999999973119,-0.000116917138735,-0.000197204154697,-3.46835073934e-05,1793239676093382400
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.055417426,714,679.944582574,666,635.944582574,879.944582574,787,803.944582574,653,631.055417426,653,0.400932920705,0.00441526880472,0.0599391796813,0.999999973467,-0.00011742446361,-0.00019507342614,-3.49960900425e-05,1793239676110048768
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.650280543,714,679.349719457,666,635.349719457,879.349719457,787,803.349719457,653,631.650280543,653,0.400944404872,0.00441362571288,0.0599432343551,0.999999974948,-0.000119399873233,-0.000186081766968,-3.49584929235e-05,1793239676126715648
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.238015394,879,787,803.238015394,653,631.761984606,653,0.400959753258,0.00441265716817,0.059947361569,0.999999976628,-0.00012077230987,-0.000175857804825,-3.51102705087e-05,1793239676143382272
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.815581084,879,787,803.815581084,653,631.184418916,653,0.400980614296,0.00441265092557,0.0599515922676,0.999999978586,-0.00012128455132,-0.00016387585279,-3.55322080894e-05,1793239676160048896
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.609392589,746,714,679,666,636,879,787,803.609392589,653,631,653,0.401011771023,0.0044142888827,0.0599567431926,0.999999981533,-0.000119067963412,-0.000146379131355,-3.64582643065e-05,1793239676176715776
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.035557388,746,714,679,666,636,879,787,803.035557388,653,631,653,0.401047757298,0.00441669810807,0.0599623257817,0.999999984639,-0.000115571324592,-0.000126295517252,-3.76207946713e-05,1793239676193383168
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,746,714,679,666,636,879,787.554055445,803.554055445,653,631,653,0.401092514736,0.00441641429094,0.0599630051999,0.999999985833,-0.000117921146262,-0.000113744659696,-3.86006124008e-05,1793239676210049280
+120,2.000000000,POSE1_TO_POSE2_PRESS,765,745.858018194,714,679,666,635.858018194,879.141981806,787.858018194,804,653,631,653,0.401141143009,0.00441615931266,0.05996360079,0.999999986592,-0.000120493817592,-0.000103625582712,-3.94894940899e-05,1793239676226715392
+121,2.016666667,POSE1_TO_POSE2_PRESS,765,745.278500558,714,679,666,635.278500558,879.721499442,787.278500558,804,653,631,653,0.401199914278,0.00441654141572,0.0599649361694,0.999999986737,-0.000122563092541,-9.94669484802e-05,-4.01353385192e-05,1793239676243382016
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,714,679.29897428,666,635.29897428,879.70102572,787,804,653,631.29897428,653,0.401267281839,0.00441568088896,0.05996580039,0.999999986777,-0.00012487954848,-9.58602763678e-05,-4.07759178838e-05,1793239676260048640
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.874559091,666,635.874559091,879.125440909,787,804,653,631.874559091,653,0.401342602672,0.00441367068304,0.0599662286953,0.999999986721,-0.000127424695757,-9.27642789834e-05,-4.14116259803e-05,1793239676276715776
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.44906357,714,680,666,636,879,787,804,653,631.55093643,653,0.40144176567,0.00441508574013,0.0599700662672,0.9999999874,-0.000127805312801,-8.40690498352e-05,-4.23956977988e-05,1793239676293382400
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,636,879.024009812,787,803.975990188,653,631,653,0.401548616114,0.00441735516309,0.0599747874034,0.999999988187,-0.000127604465928,-7.38528744812e-05,-4.34674503185e-05,1793239676310048768
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,636,879.616545308,787,803.383454692,653,631,653,0.401680172816,0.00441725321899,0.0599779341095,0.999999988752,-0.000127917981558,-6.45692441741e-05,-4.43166860829e-05,1793239676326715392
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.203757376,745.796242624,714,679.796242624,666,636,879.796242624,787,803,653,631.203757376,653,0.401820058179,0.00441697699496,0.0599807262511,0.999999989087,-0.000128943825343,-5.60813418552e-05,-4.5315442261e-05,1793239676343382272
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.781206203,745.218793797,714,679.218793797,666,636,879.218793797,787,803,653,631.781206203,653,0.401975218308,0.00441638114115,0.0599828681201,0.999999989095,-0.000131276080422,-4.9052807344e-05,-4.65884190985e-05,1793239676360048896
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.642388033,745.357611967,714,679.357611967,666,635.642388033,879,787,803,653,631.642388033,653,0.402145994915,0.00441664832982,0.0599828501734,0.999999989342,-0.000130689851359,-4.45037219118e-05,-4.7498581811e-05,1793239676376715264
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.066618523,745.933381477,714,679.933381477,666,635.066618523,879,787,803,653,631.066618523,653,0.40232629821,0.00441744200871,0.0599815146535,0.999999989746,-0.000128323230959,-4.14671984916e-05,-4.81874135803e-05,1793239676393381888
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745.482792904,714,680,666,635.517207096,879.517207096,787,803,653,631,653,0.402541374322,0.00441860705045,0.059979671556,0.99999998994,-0.000126903613939,-3.9958259187e-05,-4.91784311821e-05,1793239676410048768
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745.101883897,714,680,666,635.898116103,880,787,803,652.898116103,631,653,0.402768388829,0.0044195584854,0.0599779939853,0.999999990115,-0.00012581410004,-3.76626376255e-05,-5.02281798665e-05,1793239676426715392
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.685601339,714,680,666,635.314398661,880,787,803,652.314398661,631,653,0.40303034606,0.00441926992885,0.059977413311,0.999999990309,-0.000125699731401,-3.07013588856e-05,-5.13686942619e-05,1793239676443382272
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,746,714.263856893,680,666,635.263856893,879.736143107,787,803.263856893,652.263856893,631.263856893,653,0.403305870226,0.00441965199086,0.0599781424203,0.999999990828,-0.000122881545318,-2.35881084577e-05,-5.18404480504e-05,1793239676460048640
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,746,714.835736285,680,666,635.835736285,879.164263715,787,803.835736285,652.835736285,631.835736285,653,0.403597232211,0.00442081692273,0.0599804005508,0.999999991706,-0.000116906964126,-1.62974490233e-05,-5.15315008691e-05,1793239676476715264
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.41090428,745.58909572,714.58909572,680,666,636,879,787,804,653,631.58909572,653,0.403902004371,0.00442238171631,0.0599716860462,0.999999991876,-0.000112884634642,-2.85183272258e-05,-5.18917388986e-05,1793239676493382144
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.987397524,745.012602476,714.012602476,680,666,636,879,787,804,653,631.012602476,653,0.404212180646,0.00442410764882,0.0599585497153,0.999999991428,-0.000109649036762,-4.86020959878e-05,-5.25216496656e-05,1793239676510048768
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.422637325,745,714.577362675,680,666,635.422637325,879,787,803.422637325,653,631,653,0.404563027659,0.00442359756944,0.0599463221669,0.999999990164,-0.000109049970008,-7.06492340689e-05,-5.28107101064e-05,1793239676526715392
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.164845963,714.835154037,679.835154037,666,635,879,787,803,653,631.164845963,653,0.404929920358,0.00442359142764,0.0599362942747,0.999999988867,-0.00010773862761,-8.85096310337e-05,-5.31503081513e-05,1793239676543382016
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.745312604,714.254687396,679.254687396,666,635,879,787,803,653,631.745312604,653,0.405334976737,0.00442498184222,0.0599317610966,0.999999988524,-0.000104482884692,-9.57035004496e-05,-5.36365312838e-05,1793239676560048896
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,746,714,679,666,635.322386579,879,787,803,652.677613421,631.677613421,653,0.405781624051,0.00442520398102,0.0599419035342,0.99999999018,-0.000103516846056,-7.73690520899e-05,-5.42017869689e-05,1793239676576715776
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,746,714,679,666,635.896808299,879,787,803,652.103191701,631.103191701,653,0.406260786339,0.00442451278621,0.0599635190633,0.99999999229,-0.000104340850283,-3.90770949774e-05,-5.48288286566e-05,1793239676593382144
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,746,714.47163246,679,666,635.52836754,879.47163246,787,803,652,631,652.52836754,0.406772784187,0.00442656822871,0.0599867009522,0.999999993184,-0.000102792576235,1.0659105141e-06,-5.53517377265e-05,1793239676610048768
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,745.95203533,715,679,666,635,879.95203533,787,803.04796467,652.04796467,631.04796467,652,0.407293518787,0.00442903379858,0.0600088963451,0.99999999258,-0.000101127443867,3.86941961874e-05,-5.58260734689e-05,1793239676626715648
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,745.359583987,715,679,666,635,879.359583987,787,803.640416013,652.640416013,631.640416013,652,0.407831807104,0.00442932729487,0.0600159994634,0.999999992088,-0.000104032920422,4.31743886663e-05,-5.60078739916e-05,1793239676643382272
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.227054516,745.227054516,714.772945484,679.227054516,666,635.227054516,879,787,804,652.772945484,632,652.227054516,0.408371178908,0.0044300740449,0.0600142216495,0.999999992033,-0.000108389813718,3.23286812035e-05,-5.60360202425e-05,1793239676660048640
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.80471704,745.80471704,714.19528296,679.80471704,666,635.80471704,879,787,804,652.19528296,632,652.80471704,0.408912223755,0.00443152069022,0.059998730274,0.999999991828,-0.000114987923277,-2.18263495774e-06,-5.582689999e-05,1793239676676715264
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.620138552,746,714,679.620138552,666,635.620138552,879,787,803.620138552,652.379861448,631.620138552,653,0.40949086048,0.00443262871266,0.0599898145632,0.999999991345,-0.000117134560484,-2.20197761959e-05,-5.57168845429e-05,1793239676693381888
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.046280174,746,714,679.046280174,666,635.046280174,879,787,803.046280174,652.953719826,631.046280174,653,0.410088695528,0.00443356379883,0.0599842570742,0.999999991015,-0.000117007810812,-3.43627500414e-05,-5.56574823833e-05,1793239676710048768
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.456704091,745.456704091,714,679.543295909,666,635.543295909,879,787,803,653,631,653,0.410744559021,0.00443405890373,0.0599952907635,0.999999991729,-0.000115173806375,-7.0635994468e-06,-5.6804490866e-05,1793239676726715392
+151,2.516666667,POSE1_TO_POSE2_PRESS,764.131629699,745.131629699,714,680,666,636,879,787,803.131629699,652.868370301,631,653,0.411412563151,0.00443483089331,0.0600035342785,0.999999991909,-0.000112309539835,1.49211052676e-05,-5.78503412906e-05,1793239676743382016
+152,2.533333333,POSE1_TO_POSE2_PRESS,764.711046781,745.711046781,714,680,666,636,879,787,803.711046781,652.288953219,631,653,0.41210455125,0.00443667610773,0.0599973348566,0.999999992617,-0.000106449931094,6.99678556447e-06,-5.81920492746e-05,1793239676760048896
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,746,714,679.711852895,666,635.711852895,879.288147105,787,804,652,631.288147105,653,0.41277311657,0.00443833020151,0.0599771154,0.9999999928,-9.96616345569e-05,-3.29615671785e-05,-5.81549734846e-05,1793239676776715520
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714,679.137057211,666,635.137057211,879.862942789,787,804,652,631.862942789,653,0.413418381006,0.0044397941688,0.0599429488201,0.999999988615,-9.1949478832e-05,-0.000104787358881,-5.77410836259e-05,1793239676793382400
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.444188578,746,714.444188578,679.444188578,666,635.444188578,880,787,804,652.444188578,631.555811422,652.555811422,0.414117063316,0.00444006923412,0.0599309628028,0.999999986616,-8.93400799614e-05,-0.000124067878324,-5.82491545693e-05,1793239676810049024
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.972534478,746,714.972534478,679.972534478,666,635.972534478,880,787,804,653,631,652.027465522,0.41483920291,0.00443994502488,0.0599288448897,0.999999986902,-8.84914172822e-05,-0.000121994619262,-5.90125329132e-05,1793239676826715648
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.389021788,746,714.389021788,679.389021788,666,635.389021788,880,787,804,653,631,652.610978212,0.415697634435,0.0044392736703,0.0599859100871,0.999999993904,-9.09437016847e-05,-2.06851086988e-05,-5.91005028263e-05,1793239676843382528
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.192859922,745.807140078,714.192859922,679,666,635.192859922,880,787,804,652.807140078,631,653,0.416538834676,0.00443929388823,0.0600263555697,0.99999999295,-9.16646835292e-05,4.73229967935e-05,-5.88102525561e-05,1793239676860049152
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.771479301,745.228520699,714.771479301,679,666,635.771479301,880,787,804,652.228520699,631,653,0.417345568754,0.00444069739327,0.0600335582062,0.999999993191,-8.89227060695e-05,4.87214458812e-05,-5.77634852413e-05,1793239676876715776
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.653545718,745.346454282,715,679.346454282,666,635.653545718,880,787,804,652,631.346454282,653,0.418140053891,0.00444151159185,0.0600223735855,0.999999993806,-8.89469846166e-05,3.2586093317e-05,-5.84308298873e-05,1793239676893382400
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.080949576,745.919050424,715,679.919050424,666,635.080949576,880,787,804,652,631.919050424,653,0.418926543717,0.0044419411311,0.0599991870101,0.999999994054,-9.07768875431e-05,5.00586402275e-06,-6.02170305832e-05,1793239676910049024
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,714.494770314,679.494770314,666,635,880,787,803.494770314,652,631.494770314,652.494770314,0.419713332148,0.00444402907853,0.0599781462741,0.999999993548,-9.08389093637e-05,-2.88389590157e-05,-6.1808114017e-05,1793239676926715648
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.90774522,714,679.09225478,666,635.09225478,880,787,803.09225478,652,631.09225478,652.09225478,0.420501346592,0.00444608043793,0.0599561213243,0.999999991719,-9.01886161614e-05,-6.67663209446e-05,-6.30129242188e-05,1793239676943382272
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.328067647,714,679.671932353,666,635.671932353,880,787,803.671932353,652,631.671932353,652.671932353,0.421295578556,0.00444649580585,0.0599270296399,0.999999986947,-8.73127604428e-05,-0.000120813842791,-6.23466178659e-05,1793239676960048896
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.250433764,745.250433764,714,680,666.250433764,635.749566236,880,787,804.250433764,652,631.749566236,653,0.422126933339,0.00444640430395,0.0599120576698,0.999999983539,-8.56441210036e-05,-0.000147312620496,-6.23408845789e-05,1793239676976715520
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.827401688,745.827401688,714,680,666.827401688,635.172598312,880,787,804.827401688,652,631.172598312,653,0.423006691722,0.00444565190757,0.0599154960286,0.999999984837,-8.55495397483e-05,-0.000137891305522,-6.31964556512e-05,1793239676993382400
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.599910117,746,714,679.599910117,667,635,880,787,804.599910117,652.400089883,631,653,0.423913910587,0.00444351612126,0.0599594942929,0.999999991814,-8.96120115536e-05,-6.605347445e-05,-6.30756751837e-05,1793239677010049280
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.029048685,746,714,679.029048685,667,635,880,787,804.029048685,652.970951315,631,653,0.424832850439,0.00444078985859,0.0600208048614,0.999999992964,-9.54488498858e-05,3.24257828934e-05,-6.25381551272e-05,1793239677026715904
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.564637179,746,714,679.564637179,667,635.564637179,880,787,804,652.435362821,631,653,0.425688619874,0.00444220203068,0.0600354887673,0.999999992319,-8.99780890758e-05,5.84332417563e-05,-6.20571695662e-05,1793239677043382528
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.845179143,746,714,680,666.845179143,635.845179143,880,787,804,652,631,652.845179143,0.426541196753,0.00444282767001,0.0600379580958,0.999999991977,-8.70949443644e-05,6.77419260006e-05,-6.22201667876e-05,1793239677060049152
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.267891261,746,714,680,666.267891261,635.267891261,880,787,804,652,631,652.267891261,0.427394303659,0.00444070161215,0.060013918349,0.99999999274,-9.29270384422e-05,4.20864031077e-05,-6.4132159504e-05,1793239677076716032
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.308727885,746,714,680,666.308727885,635,880,787,804,652,631.308727885,652.308727885,0.428241491592,0.00443948177029,0.059992298926,0.999999993165,-9.56637928326e-05,1.495509649e-05,-6.55330033734e-05,1793239677093382656
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.884767975,746,714,680,666.884767975,635,880,787,804,652,631.884767975,652.884767975,0.429083554536,0.00443904657615,0.0599727751427,0.999999993118,-9.57204453744e-05,-1.34540169214e-05,-6.64912686283e-05,1793239677110049280
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.540696567,714,680,666.540696567,635,879.540696567,787,804,652,631.540696567,653,0.429875432797,0.00444103212462,0.0599465658029,0.999999991705,-9.16326903292e-05,-6.18505362149e-05,-6.6089658593e-05,1793239677126715648
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.034666042,714,679.965333958,666,635,879.069332084,787,804.034666042,652,631,653,0.430659821669,0.00444321114806,0.0599218590064,0.999999988121,-8.73850822811e-05,-0.00010878274291,-6.5487723639e-05,1793239677143382272
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.62947285,714,679.37052715,666,635,880.258945701,787,804.62947285,652,631,653,0.431525970892,0.00443873511863,0.0599484443071,0.999999991697,-9.73004478286e-05,-5.12930875495e-05,-6.71436167815e-05,1793239677160049152
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.783082794,746,714,679,666.216917206,635,880.783082794,787,804.783082794,652,631.216917206,653,0.432384204867,0.00443503958676,0.0599792184231,0.999999992309,-0.00010375964923,3.94516618059e-06,-6.78333436715e-05,1793239677176715776
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.207801682,746,714,679,666.792198318,635,880.207801682,787,804.207801682,652,631.792198318,653,0.433229362381,0.0044326334962,0.0600169127884,0.999999990761,-0.000104509003508,5.54639402343e-05,-6.6926890058e-05,1793239677193382400
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.365500885,746,714,679.365500885,666.634499115,635,880,787,804.365500885,652,632,653,0.434030103891,0.00443208744039,0.0600162899529,0.999999991403,-0.000102101665075,4.88721434014e-05,-6.61847425633e-05,1793239677210049280
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.937684591,746,714,679.937684591,666.062315409,635,880,787,804.937684591,652,632,653,0.434805729063,0.00443259319405,0.0599939995692,0.999999993015,-9.79092853151e-05,9.42007613068e-06,-6.55355066519e-05,1793239677226715904
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.472687518,714,680,666,635,880.527312482,787,805,652,631.472687518,652.472687518,0.435535240084,0.00443090815127,0.0599639597653,0.999999991681,-0.000103142301834,-3.93688842555e-05,-6.67011729767e-05,1793239677243382272
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.88356617,745,714,680.11643383,666.11643383,635,881,787,805,652,631,652.11643383,0.436259313502,0.00442922663169,0.0599394175969,0.999999988713,-0.000108399409233,-7.89097650929e-05,-6.78029314554e-05,1793239677260048896
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.304919209,745,714,680.695080791,666.695080791,635,881,787,805,652,631,652.695080791,0.436984174515,0.0044286220232,0.0599404595082,0.999999988763,-0.000109179163093,-7.72080369777e-05,-6.77704428101e-05,1793239677276715776
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.27167622,714.27167622,680.72832378,667,635,880.72832378,787,804.72832378,652,631,653,0.437684199348,0.00442744684351,0.0599361860993,0.999999987647,-0.000108727580081,-9.17966675333e-05,-6.6770119556e-05,1793239677293382400
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,745.845986303,714.845986303,680.154013697,667,635,880.154013697,787,804.154013697,652,631,653,0.438356557857,0.00442563607578,0.0599259916868,0.999999984439,-0.000106904348591,-0.000124531951535,-6.4691676392e-05,1793239677310049280
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,714.579782275,680,667,635,880.420217725,787,804.420217725,652,631.420217725,653,0.439059685789,0.00442530295915,0.0599361533427,0.999999986065,-0.000106986709598,-0.000110768538098,-6.44462105704e-05,1793239677326715648
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,746,714.00557963,680,667,635,880.99442037,787,804.99442037,652,631.99442037,653,0.439774088947,0.00442551131401,0.0599537742917,0.999999988892,-0.000107767357231,-7.99661074227e-05,-6.48724222245e-05,1793239677343382272
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.588907586,745.411092414,714,680,666.411092414,635,880.411092414,787,805,652,631.411092414,653,0.440418202756,0.00442809628314,0.0599687242917,0.999999990829,-0.000101954668655,-6.20159594729e-05,-6.40385598953e-05,1793239677360048896
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.822139734,745.177860266,714.177860266,680,666,634.822139734,880,787.177860266,804.822139734,652,631.177860266,653,0.44102886406,0.0044312713329,0.0599668273179,0.999999990952,-9.58392067196e-05,-6.98618954945e-05,-6.34905937648e-05,1793239677376715520
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.246025233,745.753974767,714.753974767,680,666,634.246025233,880,787.753974767,804.246025233,652,631.753974767,653,0.441566164981,0.00443571543884,0.0599272662803,0.999999984862,-8.91906575577e-05,-0.000135186514603,-6.36104751578e-05,1793239677393382400
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.328807042,746,714.671192958,680,665.671192958,634.328807042,880.328807042,787.671192958,804,652,631.671192958,653,0.442080721418,0.00443973655945,0.0598794208347,0.999999972539,-8.29723277604e-05,-0.000209560175149,-6.42097152971e-05,1793239677410049280
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.902683604,746,714.097316396,680,665.097316396,634.902683604,880.902683604,787.097316396,804,652,631.097316396,653,0.442578325693,0.00444344241644,0.0598254007795,0.999999952659,-7.70746532178e-05,-0.000290678346736,-6.51662353553e-05,1793239677426716160
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.507899035,745.507899035,714,680,665,634.507899035,880.507899035,787,804.492100965,652,631,653,0.44308674108,0.00445082808002,0.0598060586379,0.999999945521,-6.60616321137e-05,-0.000316623286467,-6.59081170817e-05,1793239677443382528
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.082539117,745,714.082539117,680.082539117,665,634,880.082539117,787,805,652,631,653,0.443595209411,0.00445912338361,0.0597970646182,0.999999942923,-5.41486242897e-05,-0.000326775632262,-6.66319266327e-05,1793239677460049152
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.660067287,745,714.660067287,680.660067287,665,634,880.660067287,787,805,652,631,653,0.444090755664,0.00446836742728,0.0598076610013,0.999999948809,-4.31027689837e-05,-0.000309786078719,-6.75102087527e-05,1793239677476715776
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.763355478,745,714.763355478,681,664.763355478,634,881,786.763355478,805,652,631.236644522,653,0.444557835351,0.00447846589581,0.0598133508249,0.999999951555,-3.15040775014e-05,-0.000301929986904,-6.88154083041e-05,1793239677493382400
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.188138814,745,714.188138814,681,664.188138814,634,881,786.188138814,805,652,631.811861186,653,0.444984187301,0.00448978680661,0.0598120207327,0.999999950148,-1.9114432994e-05,-0.00030714132655,-7.07314072756e-05,1793239677510049280
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.387734102,745.387734102,714,680.612265898,664,634,880.612265898,786.387734102,805,652,632,653,0.445360142434,0.00450128699582,0.0597912001347,0.99999993655,-6.40814414378e-06,-0.000348723729107,-7.2461784652e-05,1793239677526715904
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.963926041,745.963926041,714,680.036073959,664,634,880.036073959,786.963926041,805,652,632,653,0.445711602274,0.00451287432416,0.0597609061925,0.999999914008,6.45205055065e-06,-0.000407984255803,-7.41019407596e-05,1793239677543382784
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.447161568,746,714,680,664,634,880,786.447161568,804.447161568,652,632,652.447161568,0.446043458852,0.00452391143249,0.0597348656955,0.999999898201,2.27908381777e-05,-0.000444309687033,-7.52864162552e-05,1793239677560048896
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.867273544,714,680,663.867273544,634,880.132726456,786.132726456,804.132726456,652,632,652.132726456,0.44637182717,0.00453336592369,0.0597158468657,0.999999886468,3.61822062178e-05,-0.000468967635555,-7.63186669358e-05,1793239677576715776
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.318347792,714,680,663.318347792,634,880.681652208,786.681652208,804.681652208,652,632,652.681652208,0.446693362806,0.00453797293368,0.059717955525,0.999999889604,3.96026175052e-05,-0.000461842491375,-7.69690119692e-05,1793239677593382400
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.256014595,745.256014595,714,680,663,633.743985405,880.743985405,787,805,652,631.743985405,652.743985405,0.44700344475,0.00454203645243,0.0597238636462,0.999999894618,4.37176508995e-05,-0.000450397168538,-7.74344353573e-05,1793239677610048768
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.865496075,745.865496075,714,680,663,633.134503925,880.134503925,787,805,652,631.134503925,652.134503925,0.447297713119,0.004545349599,0.0597350174992,0.999999902056,4.87917149984e-05,-0.000432987185765,-7.76445463832e-05,1793239677626715392
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.572310049,746,714,680,663,633,880,787,805,652,631,652.427689951,0.447551256115,0.00454962770693,0.0597369398623,0.999999902285,5.3124138318e-05,-0.000431889041931,-7.79769241921e-05,1793239677643382528
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.023507064,746,714,680,663,633,880,787,805,652,631,652.976492936,0.447793266515,0.00455417907209,0.0597362480564,0.999999900502,5.72465440741e-05,-0.000435410077105,-7.83439254485e-05,1793239677660049664
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714,680,663,633,880,787,805,652,631,652.404465692,0.447998143627,0.00455519788259,0.0597254934568,0.999999893855,5.94572479198e-05,-0.000450148529009,-7.82368359114e-05,1793239677676716288
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.798361392,714,680.201638608,662.798361392,632.798361392,880,787,805,652.201638608,631,652.201638608,0.448188500213,0.00455683562436,0.0597150008511,0.999999887211,6.29499492813e-05,-0.000464223790891,-7.81726242657e-05,1793239677693382912
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.222130129,714,680.777869871,662.222130129,632.222130129,880,787,805,652.777869871,631,652.777869871,0.448354968422,0.00455991685735,0.0597058315267,0.999999881209,6.89831998399e-05,-0.000476134463245,-7.82274819215e-05,1793239677710049536
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.35309399,745.35309399,714,681,662.35309399,632,880,787,805,652.64690601,631,652.64690601,0.448498267145,0.00456237288763,0.0596950326392,0.999999873689,7.33148127864e-05,-0.000491080861146,-7.80105097603e-05,1793239677726715904
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.927686377,745.927686377,714,681,662.927686377,632,880,787,805,652.072313623,631,652.072313623,0.448627031498,0.00456443672406,0.0596832115142,0.999999865058,7.65789768116e-05,-0.000507931592576,-7.7623016795e-05,1793239677743382528
+212,3.533333333,POSE1_TO_POSE2_PRESS,764.965643512,745.482821756,714,680.482821756,662.482821756,632.517178244,880,786.482821756,804.482821756,652,631,652.517178244,0.44873313373,0.00456577813597,0.0596709381873,0.999999854061,7.88050898503e-05,-0.000528857226543,-7.73205957195e-05,1793239677760049152
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.106587198,745.106587198,714,680,662,633,880,786.106587198,804.106587198,652,631,653,0.448833978406,0.00456700330431,0.059660459446,0.999999844269,8.11854005331e-05,-0.000546744584408,-7.7075867906e-05,1793239677776715520
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.686110496,745.686110496,714,680,662,633,880,786.686110496,804.686110496,652,631,653,0.448925971736,0.00456817418392,0.0596582322947,0.999999842976,8.49130184618e-05,-0.000548547776404,-7.70327849367e-05,1793239677793382656
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,680.26231841,662,633,880.26231841,787,805,652,631,653,0.449008825324,0.00456944436733,0.0596574292531,0.999999842363,8.75376622687e-05,-0.000549276048502,-7.68615137006e-05,1793239677810049536
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,680.834608625,662,633,880.834608625,787,805,652,631,653,0.449080878814,0.00457083189422,0.0596583090285,0.999999842568,8.8858962793e-05,-0.000548734128058,-7.65387672119e-05,1793239677826716416
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.409218822,746,714,681,662,633,881,787,805,652,631.409218822,653,0.449139104096,0.00457201008657,0.059657842967,0.99999984198,8.92438531272e-05,-0.000549748482997,-7.65000935657e-05,1793239677843382784
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.984772003,746,714,681,662,633,881,787,805,652,631.984772003,653,0.44919170865,0.00457310319109,0.0596568298659,0.999999841067,8.92481226438e-05,-0.000551395414103,-7.65768864499e-05,1793239677860048896
+219,3.650000000,POSE1_TO_POSE2_PRESS,766,746,714,681,662,632.423921341,881,786.423921341,805,652,632,653,0.449226575132,0.00457469868423,0.0596537573149,0.999999838442,9.20698739916e-05,-0.000555703569263,-7.63704596544e-05,1793239677876715776
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.835881325,746,714,681,662,632.164118675,880.835881325,786,805,652.164118675,632,653,0.449258816837,0.00457576202468,0.059651573925,0.999999836504,9.41023272599e-05,-0.000558876337631,-7.61150077005e-05,1793239677893382400
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.257174938,746,714,681,662,632.742825062,880.257174938,786,805,652.742825062,632,653,0.449285645742,0.00457544657895,0.0596517780742,0.999999836478,9.394746872e-05,-0.000558998251023,-7.57551550332e-05,1793239677910049280
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.319301693,746,714,680.680698307,661.680698307,633,880,786.319301693,805,652.680698307,631.361396615,653,0.449305038163,0.00457528038559,0.0596507122314,0.999999835648,9.45021117891e-05,-0.000560448801962,-7.5298073631e-05,1793239677926716160
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.893994927,746,714,680.106005073,661.106005073,633,880,786.893994927,805,652.106005073,630.212010146,653,0.449318482559,0.0045752335708,0.0596486305932,0.99999983417,9.56242454437e-05,-0.000562962055681,-7.47632243697e-05,1793239677943383040
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.520092984,746,714,680.479907016,661.479907016,632.520092984,880.479907016,786.520092984,805,652,630.479907016,653,0.449328389255,0.00457623434399,0.0596480810529,0.999999833636,9.56109036242e-05,-0.000563888097515,-7.49397476607e-05,1793239677960049664
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.067352993,746.067352993,714.067352993,681,662,632,881,786,805,652,631,653,0.449336724928,0.0045772877243,0.0596476491136,0.999999833158,9.53050282111e-05,-0.000564751465214,-7.52104787469e-05,1793239677976716288
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.647163926,746.647163926,714.647163926,681,662,632,881,786,805,652,631,653,0.449339195274,0.00457693862284,0.0596454754296,0.999999831465,9.47273864789e-05,-0.000567869334212,-7.49738255789e-05,1793239677993382656
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.774397997,746.774397997,714.774397997,681,662,632,881,786.225602003,805,652,631,653,0.449341951979,0.00457706574467,0.0596443675955,0.999999830373,9.56895303913e-05,-0.000569666808872,-7.46807528755e-05,1793239678010049280
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.198094082,746.198094082,714.198094082,681,662,632,881,786.801905918,805,652,631,653,0.449345153833,0.00457793316324,0.0596449166423,0.99999983022,9.90452956871e-05,-0.000569411709285,-7.42999751188e-05,1793239678026715904
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714,681,662,632,881,787,805,652,631,653,0.449346283444,0.00457864036752,0.0596442309529,0.999999829838,9.96549725185e-05,-0.000570000869018,-7.41119074899e-05,1793239678043382528
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,681,662,632,881,787,805,652,631,653,0.44934632768,0.00457926365671,0.0596428985488,0.999999829338,9.88263370247e-05,-0.000571032224456,-7.4024775198e-05,1793239678060049152
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,681,662,632,881,787,805,652,631,653,0.449346437748,0.0045795000613,0.0596422809983,0.999999828771,9.95136705552e-05,-0.000571904495625,-7.40249315936e-05,1793239678076716288
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661.870853305,632,881,786.870853305,805,652,631,653.129146695,0.449346588116,0.00457946935611,0.0596417727472,0.999999828245,9.9932740903e-05,-0.000572742369861,-7.40896178947e-05,1793239678093382912
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661.292808099,632,881,786.292808099,805,652,631,653.707191901,0.449346848451,0.00457868715481,0.0596413174623,0.999999827893,9.87260161208e-05,-0.000573533443092,-7.43386800664e-05,1793239678110049536
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.716422741,714,680.716422741,661,632,881,786.283577259,805.283577259,652,631,653.716422741,0.449347376246,0.00457828394177,0.0596414270676,0.999999828101,9.8217317487e-05,-0.000573250386161,-7.43934081871e-05,1793239678126716160
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.141741218,714,680.141741218,661,632,881,786.858258782,805.858258782,652,631,653.141741218,0.449348178601,0.00457826977638,0.0596421165569,0.999999828885,9.84251725997e-05,-0.000571864688471,-7.42486440679e-05,1793239678143382528
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.444073309,714,680.444073309,661,631.555926691,881,787,805.555926691,652.444073309,631,653,0.449348032632,0.00458022382276,0.0596414570442,0.999999828334,9.90956353557e-05,-0.000572706505933,-7.42941417489e-05,1793239678160049408
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746.032945868,714,681,661,631.032945868,881.032945868,786.967054132,805,652.967054132,631.032945868,653,0.449347697401,0.00458263138982,0.0596404890601,0.999999827446,9.9920846534e-05,-0.000574100683251,-7.43814412052e-05,1793239678176716032
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746.612090276,714,681,661,631.612090276,881.612090276,786.387909724,805,652.387909724,631.612090276,653,0.449349371702,0.00458187481785,0.059641729041,0.999999828258,0.000100800674564,-0.000572561915304,-7.41290699937e-05,1793239678193382400
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746.809799249,714,681,661,632,881.809799249,786,805,652,631.809799249,653,0.44935013614,0.00458082722379,0.0596421241476,0.99999982853,0.000101295712381,-0.000572032960125,-7.38746740914e-05,1793239678210049280
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746.23378609,714,681,661,632,881.23378609,786,805,652,631.23378609,653,0.449349054969,0.0045791893065,0.0596408054703,0.999999827708,0.000101010223056,-0.000573552358134,-7.36161712238e-05,1793239678226715904
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.341835077,746,714,681,661,632,881,786,805,652,631,653,0.449349039922,0.00457950636251,0.0596404255033,0.999999827415,0.000101883225805,-0.00057390379184,-7.36428546796e-05,1793239678243382528
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.917188437,746,714,681,661,632,881,786,805,652,631,653,0.44934975318,0.00458115892228,0.0596406867987,0.999999827484,0.000103547630912,-0.000573457352362,-7.38643578863e-05,1793239678260049152
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,746,714,680.496384032,661,632,881,786.503615968,805.503615968,652,631,653,0.449349589206,0.00458047981676,0.0596406073391,0.999999827276,0.000102058458496,-0.000574104136429,-7.37364546158e-05,1793239678276715776
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.909093505,746,714,680.090906495,661.090906495,632,881,786.909093505,805.909093505,652,631.090906495,653,0.449349501485,0.00457965477346,0.0596405805266,0.999999827123,0.000100440971191,-0.000574678863307,-7.35537179351e-05,1793239678293382144
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.327198378,746,714,680.672801622,661.672801622,632,881,786.327198378,805.327198378,652,631.672801622,653,0.449350622208,0.00458015885642,0.0596411474956,0.999999827543,0.000100994154868,-0.000573871671779,-7.33921137317e-05,1793239678310048768
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.74861606,714,680.74861606,661.74861606,632,880.74861606,786,804.74861606,652,631.74861606,653,0.449351058264,0.00458001496203,0.059641318665,0.999999827737,0.000100815729646,-0.000573592372864,-7.31755131507e-05,1793239678326715392
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.174289491,714,680.174289491,661.174289491,632,880.174289491,786,804.174289491,652,631.174289491,653,0.449350614758,0.00457903863781,0.0596409813672,0.999999827641,9.96974365798e-05,-0.000573991235808,-7.28882609588e-05,1793239678343382016
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745,714.398966669,680,661.398966669,632,880.398966669,786.398966669,804.398966669,652.398966669,631,653,0.449351151395,0.00457922494262,0.059641406289,0.999999828086,9.9268021241e-05,-0.000573278124236,-7.29739339426e-05,1793239678360048896
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745,714.971756434,680,661.971756434,632,880.971756434,786.971756434,804.971756434,652.971756434,631,653,0.449352115064,0.00457991778549,0.0596421632972,0.999999828767,9.91387384592e-05,-0.000572080543965,-7.32220841977e-05,1793239678376715776
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.564147711,714.435852289,680,661.435852289,632,881,787,805,653,631.564147711,653,0.449350508125,0.00458071981946,0.0596400122092,0.999999827266,9.95075085712e-05,-0.000574612424273,-7.33961753666e-05,1793239678393382400
+251,4.183333333,HOLD_POSE2,765,745,714,681,662,632,881,786,805,652,631,653,0.449352064584,0.00457771481249,0.059642041437,0.999999828523,9.9728583578e-05,-0.000572448781454,-7.28670985719e-05,1793239678434393856
+252,4.200000000,HOLD_POSE2,765,745.576202536,714,681,661.423797464,632,881,786.576202536,805,652,631.576202536,653,0.449351645279,0.00457999103191,0.0596415083013,0.999999827927,0.000101016187971,-0.000573235004569,-7.30985986429e-05,1793239678451060480
+253,4.216666667,HOLD_POSE2,765,746,714,681,661,632,880.844963742,786.844963742,805,652,631.844963742,653,0.449351695073,0.00458207257743,0.0596413977304,0.999999827707,0.000102207703214,-0.000573384083661,-7.32882928177e-05,1793239678467726848
+254,4.233333333,HOLD_POSE2,765,746,714,681,661,632,880.25881327,786.25881327,805,652,631.25881327,653,0.449353049303,0.00458361278762,0.0596424621987,0.999999828535,0.000103132020613,-0.000571761436435,-7.33617360696e-05,1793239678484393472
+255,4.250000000,HOLD_POSE2,765,746,714.323808732,681,661,632,880.323808732,786,805,652,631.323808732,653,0.449352786408,0.0045828035535,0.059641717644,0.999999828178,0.000102624184703,-0.000572504841986,-7.31462701868e-05,1793239678501060352
+256,4.266666667,HOLD_POSE2,765,746,714.903640871,681,661,632,880.903640871,786,805,652,631.903640871,653,0.449351244912,0.00458013670188,0.0596395427626,0.999999826877,0.000100983998889,-0.000575118996725,-7.27023746935e-05,1793239678517727232
+257,4.283333333,HOLD_POSE2,765.480904507,745.519095493,714.519095493,681,661.480904507,632,880.519095493,786,805,652,631.519095493,653,0.44935135953,0.00457812923385,0.0596393618004,0.999999827224,9.78699035558e-05,-0.000575096057358,-7.23724753581e-05,1793239678534393856
+258,4.300000000,HOLD_POSE2,765.942447603,745,714,681,661.942447603,632,880,786,805,652,631,653,0.449351775932,0.00457661396549,0.059639664695,0.999999827848,9.49580915873e-05,-0.000574529413322,-7.2128909139e-05,1793239678551060480
+259,4.316666667,HOLD_POSE2,765.366734472,745,714,681,661.366734472,632,880,786,805,652,631,653,0.449351937644,0.00457834690727,0.0596407459841,0.999999828095,9.65122927619e-05,-0.000573799668697,-7.24580688471e-05,1793239678567727104
+260,4.333333333,HOLD_POSE2,765,745.213984832,714,680.786015168,661,632,880.213984832,786,805,652,631,653,0.449352367621,0.00457928860526,0.0596416140633,0.999999828251,9.81649833752e-05,-0.000573231144622,-7.2584955856e-05,1793239678584393728
+261,4.350000000,HOLD_POSE2,765,745.803489355,714,680.196510645,661,632,880.803489355,786,805,652,631,653,0.449353268372,0.0045788417578,0.0596421079825,0.99999982825,9.99905118865e-05,-0.000572945544846,-7.23568766358e-05,1793239678601060352
+262,4.366666667,HOLD_POSE2,765,746,714,680,661,632,881,786,805,652,631.386381443,653,0.449352608359,0.00457871393839,0.0596413144593,0.999999827725,9.91960653166e-05,-0.000573996212076,-7.23750027652e-05,1793239678617727232
+263,4.383333333,HOLD_POSE2,765,746,714,680,661,632,881,786,805,652,631.965967135,653,0.449351167909,0.00457874564413,0.0596398771698,0.999999826933,9.70915396423e-05,-0.000575715059566,-7.25162401685e-05,1793239678634393856
+264,4.400000000,HOLD_POSE2,765.541404973,746,714,680.541404973,661,632,881,786.541404973,805,652,631.458595027,653,0.449351672486,0.00457927046725,0.059640166299,0.999999826888,9.96622406416e-05,-0.000575398852073,-7.2162225186e-05,1793239678651060480
+265,4.416666667,HOLD_POSE2,765.88095916,746,714,680.88095916,661,632,881,786.88095916,804.88095916,652,631,652.88095916,0.449352503091,0.0045797216234,0.0596407584168,0.999999827232,0.000101661736205,-0.00057448697165,-7.18784919248e-05,1793239678667727104
+266,4.433333333,HOLD_POSE2,765.293659126,746,714,680.293659126,661,632,881,786.293659126,804.293659126,652,631,652.293659126,0.449354138875,0.00457976199849,0.05964211873,0.999999828943,0.00010026709708,-0.000571731327939,-7.19927474497e-05,1793239678684393728
+267,4.450000000,HOLD_POSE2,765,745.710155849,714,680,661,632,881,786,804.289844151,652,631,652.289844151,0.449354972346,0.00457972889308,0.059642487558,0.999999829412,9.91714507787e-05,-0.000571074653367,-7.22098911899e-05,1793239678701060352
+268,4.466666667,HOLD_POSE2,765,745.130449598,714,680,661,632,881,786,804.869550402,652,631,652.869550402,0.449355003453,0.00457962230262,0.0596418648392,0.999999828643,9.83748158971e-05,-0.000572517078076,-7.252992951e-05,1793239678717726720
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,880,786,804,652,631,652,0.449354376666,0.00457960005505,0.0596411243962,0.999999828496,9.76583607242e-05,-0.000572815864158,-7.31617195411e-05,1793239678750507008
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.575450879,746,714,680.424549121,661,631.424549121,880,786,804.575450879,652,631,652.575450879,0.449354122597,0.00458026892508,0.0596410338874,0.99999982803,9.92402643002e-05,-0.000573383822779,-7.29608774121e-05,1793239678767174656
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.844528289,746,714,680.155471711,661,631.155471711,880.155471711,786.155471711,805,652.155471711,631,653,0.449354018263,0.00458089400015,0.0596411464241,0.999999827797,0.000100343598721,-0.000573613721976,-7.28293115866e-05,1793239678783841792
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.251650155,746,714,680.748349845,661,631.748349845,880.748349845,786.748349845,805,652.748349845,631,653,0.449354335198,0.00458139586198,0.0596418302122,0.99999982823,0.000100100519923,-0.000572892519889,-7.28926486987e-05,1793239678800508160
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.668009178,661,632,881,786.668009178,804.668009178,652.668009178,631.331990822,653,0.44935419977,0.00458139856596,0.0596417968736,0.999999828286,0.000100117522373,-0.000572771803448,-7.30496642057e-05,1793239678817174528
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.091180491,661,632,881,786.091180491,804.091180491,652.091180491,631.908819509,653,0.449353730731,0.00458103314907,0.0596412346657,0.999999828064,0.000100326330554,-0.000573093935505,-7.3275766011e-05,1793239678833840896
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.48399276,661,632,881,786.48399276,804.967985521,652,631.51600724,653,0.449354609986,0.00458156923636,0.0596414838038,0.999999828706,0.000101589281504,-0.000571772638506,-7.31052170779e-05,1793239678850507520
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,881,786.942062973,805.942062973,652.057937027,631,652.942062973,0.449355291755,0.00458215941695,0.059641672111,0.999999829284,0.000102862926698,-0.000570560763645,-7.28756879525e-05,1793239678867174144
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,881,786.376168702,805.376168702,652.623831298,631,652.376168702,0.449352022684,0.00458173990673,0.0596399915486,0.999999827927,0.000102495128741,-0.000573013453362,-7.27819748136e-05,1793239678883840768
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,880.798381541,786.201618459,805,653,631,652,0.449343821597,0.00458147159614,0.0596358267715,0.999999824569,0.000101755877615,-0.000578980864084,-7.27184557206e-05,1793239678900507136
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,880.197014429,786.802985571,805,653,631,652,0.449325841809,0.0045815030689,0.0596267365454,0.999999817145,0.000100280146817,-0.000591916907143,-7.27148023257e-05,1793239678917174016
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.388553917,746,714,681,661,631.611446083,880.388553917,787,805,652.611446083,631,652.388553917,0.449291859772,0.00458147333332,0.0596127096126,0.99999980494,0.000100228068491,-0.000612156357223,-7.30652944949e-05,1793239678933840640
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.966424615,746,714,681,661,631.033575385,880.966424615,787,805,652.033575385,631,652.966424615,0.44925008089,0.00458141377495,0.0595962773464,0.999999789986,0.000100869642257,-0.000635954278352,-7.3588338487e-05,1793239678950507264
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.459064555,746,714,681,661,631.540935445,881,786.459064555,805,652,631,653,0.449190962389,0.0045822811238,0.0595798152145,0.999999778875,0.000102785969988,-0.000652881158013,-7.36983132255e-05,1793239678967174144
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,881,786.118406841,805,652.118406841,631.118406841,653,0.449127855109,0.00458294436779,0.0595653721672,0.999999768814,0.000104213566662,-0.000667885346509,-7.37614186577e-05,1793239678983841024
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,661,632,881,786.708497712,805,652.708497712,631.708497712,653,0.449053119054,0.00458256677222,0.0595589796537,0.999999762828,0.000103381013847,-0.000676918762839,-7.37393203024e-05,1793239679000507648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.706779067,714,680.706779067,661,632,880.706779067,786.706779067,805,652.706779067,631.706779067,652.706779067,0.448968611388,0.00458270673557,0.0595548584319,0.999999758718,0.000103957734597,-0.000682911914419,-7.34038086119e-05,1793239679017174528
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.127296143,714,680.127296143,661,632,880.127296143,786.127296143,805,652.127296143,631.127296143,652.127296143,0.448874564021,0.00458335197474,0.0595529545981,0.99999975649,0.000105910283023,-0.000685936954607,-7.27623217538e-05,1793239679033841408
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.450095981,714,680,661,632,880,786.450095981,805,652,631.450095981,652.450095981,0.448765425836,0.0045836490098,0.0595547212277,0.999999758235,0.000108421270114,-0.000683077985518,-7.19686820703e-05,1793239679050507520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.02674715,746,714,680.02674715,661.02674715,632,880.02674715,786.97325285,805.02674715,652,631.97325285,653,0.448650894445,0.00458385944737,0.0595576115734,0.999999761132,0.000111156300747,-0.000678472654446,-7.11058935624e-05,1793239679067173888
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.600283625,746,714,680.600283625,661.600283625,632,880.600283625,786.399716375,805.600283625,652,631.399716375,653,0.448512956828,0.00458430347082,0.0595623506849,0.999999765117,0.000115257657697,-0.00067202866819,-6.97051308751e-05,1793239679083840768
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.820670345,746,714,681,662,632,881,786.179329655,805.820670345,652,631.179329655,652.820670345,0.448364887668,0.00458443155207,0.0595674917711,0.999999769287,0.000118612750258,-0.000665367912606,-6.8132395266e-05,1793239679100507392
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.228954637,746,714,681,662,632,881,786.771045363,805.228954637,652,631.771045363,652.228954637,0.448193520053,0.00458383309331,0.0595735572368,0.999999773962,0.000120251734426,-0.000658208675723,-6.61641913285e-05,1793239679117174272
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,713.645927718,681,662,632.354072282,881,787,805.354072282,652,632,652.354072282,0.448001605836,0.0045845815784,0.0595800148325,0.999999778764,0.000124593989256,-0.000650243597896,-6.42769489309e-05,1793239679133841152
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,713.068384624,681,662,632.931615376,881,787,805.931615376,652,632,652.931615376,0.447796723725,0.00458618017979,0.0595867199195,0.999999783583,0.000130642398949,-0.000641769917156,-6.24408047763e-05,1793239679150508032
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.493663188,713.506336812,681,661.493663188,633,881,787,805.493663188,652,632,653,0.447555757186,0.00458661933108,0.05959275888,0.999999788257,0.000135202947363,-0.000633661699198,-6.06487854921e-05,1793239679167174400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.082904661,745.082904661,714,681,661.082904661,633,881,787,805,652,631.917095339,653,0.447304712905,0.00458679449765,0.0595985392358,0.99999979248,0.000139359919827,-0.000626237858342,-5.86972190704e-05,1793239679183840512
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.673089542,745.673089542,714,681,661.673089542,633,881,787,805,652,631.326910458,653,0.447021659204,0.00458630723891,0.059603284667,0.999999794448,0.000142270226079,-0.000622701264056,-5.57331462563e-05,1793239679200507392
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.741520103,746,714,681,662,633,880.741520103,787,805,652,631,653,0.446712981766,0.00458634223958,0.059607347572,0.999999795649,0.000148722314833,-0.00061953683258,-5.25182652283e-05,1793239679217174016
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.162083193,746,714,681,662,633,880.162083193,787,805,652,631,653,0.446372487099,0.00458702573488,0.0596105629774,0.999999795826,0.000159572269319,-0.000616834519469,-4.8991953366e-05,1793239679233840384
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.585860415,662,633,880.414139585,787,805,652,631,653,0.446006422167,0.00458772709047,0.0596080762689,0.999999791709,0.000166080450195,-0.000622004414312,-4.59331845351e-05,1793239679250507264
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.010885889,662,633,880.989114111,787,805,652,631,653,0.445630426794,0.00458843538225,0.0596033750916,0.999999785873,0.000170902462834,-0.000630231554024,-4.30559904485e-05,1793239679267174400
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.563556247,662.563556247,633,881,787,805,652,631.563556247,653,0.445216381796,0.00459010580204,0.0596030426175,0.999999784675,0.000181373645569,-0.00062941287652,-3.9901200895e-05,1793239679283841280
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.857561264,663.142438736,633.142438736,881,787,805,652,631.857561264,653,0.444799686867,0.00459133239334,0.0596066250887,0.999999788121,0.000191160401152,-0.000621187200721,-3.66370167581e-05,1793239679300507904
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.264601963,663.735398037,633.735398037,881,787,805,652,631.264601963,653,0.444376933013,0.00459109646906,0.0596223235122,0.999999805665,0.000198437558518,-0.000590086015499,-3.30437722378e-05,1793239679317174528
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.317590781,746,714,680.317590781,663.682409219,634,881,787,805.317590781,652,631.317590781,653,0.443931382115,0.00459053668925,0.0596490582424,0.999999829989,0.000206473212769,-0.000544577306938,-2.87364465658e-05,1793239679333840896
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.891107515,746,714,680.891107515,663.108892485,634,881,787,805.891107515,652,631.891107515,653,0.443467460501,0.00458971593511,0.0596846864229,0.999999857769,0.000215120091177,-0.000487458498885,-2.38536884426e-05,1793239679350507264
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,745.533954881,714,680.533954881,663.466045119,634,880.533954881,787,805.533954881,652,631.533954881,653,0.442946848202,0.00458874622177,0.059701116406,0.999999866075,0.000223627294564,-0.000466368500006,-1.8462680157e-05,1793239679367173632
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.958575966,745.041424034,714,680,664,634,880.041424034,787,805,652,631.041424034,653,0.442408488315,0.00458788608271,0.0597117928187,0.99999986919,0.000232357194244,-0.000455477618038,-1.30286515703e-05,1793239679383840256
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.38179683,745.61820317,714,680,664,634,880.61820317,787,805,652,631.61820317,653,0.441812472725,0.00458889323974,0.0597062608705,0.99999986093,0.000244388240479,-0.000467270042036,-8.57807462433e-06,1793239679400507136
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.799501835,714,680.200498165,664.200498165,634,881,787,804.799501835,652,632,653,0.441209896986,0.00458929548588,0.0597045560445,0.99999985556,0.00025530425917,-0.000472953972228,-3.81324540903e-06,1793239679417174272
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.206406216,714,680.793593784,664.793593784,634,881,787,804.206406216,652,632,653,0.440594475794,0.00458851324989,0.0597103451447,0.999999856247,0.00026403693069,-0.000466676799295,1.5669240363e-06,1793239679433840640
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.376894982,745.376894982,714,681,665,634.376894982,880.623105018,787,804.376894982,652,632,653,0.439971258561,0.00458761780493,0.0597408866162,0.999999875223,0.000273731607456,-0.000417820043794,7.12874722485e-06,1793239679450507264
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.954968115,745.954968115,714,681,665,634.954968115,880.045031885,787,804.954968115,652,632,653,0.439343879997,0.00458666193156,0.0597846403524,0.999999899668,0.00028393977976,-0.000346235253225,1.27875329371e-05,1793239679467173888
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.47233128,745.47233128,714.52766872,680.47233128,665.52766872,635,880.52766872,787,804.47233128,652,631.47233128,653,0.43869970329,0.00458533330362,0.0598288136146,0.999999918302,0.000292757070365,-0.000278101782706,1.86927309966e-05,1793239679483840768
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.103350942,745,714.896649058,680,665.896649058,635,880.896649058,787,804,652,631.103350942,652.896649058,0.438031382574,0.0045854917799,0.0598594392115,0.999999926748,0.000303241034222,-0.000232308165571,2.4122891155e-05,1793239679500507136
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.695273626,745,714.304726374,680,665.304726374,635,880.304726374,787,804,652,631.695273626,652.304726374,0.437255634533,0.00459282912257,0.0598258532624,0.999999905471,0.000322159351651,-0.00029074359696,2.72089900777e-05,1793239679517173760
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.718762574,745.281237426,714,680,665,635,880.281237426,787,804.281237426,652,632,652.281237426,0.43646777853,0.00459684510942,0.0597893342268,0.999999884878,0.000331303215904,-0.000345880717655,2.91220318051e-05,1793239679533840384
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.139121309,745.860878691,714,680,665,635,880.860878691,787,804.860878691,652,632,652.860878691,0.435667075413,0.00459733700959,0.0597497030682,0.999999866071,0.000330076008176,-0.00039751821001,2.97904146716e-05,1793239679550507264
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745.563558609,714,680,665.436441391,635,880.563558609,787,804.563558609,652,631.563558609,652.563558609,0.434877787311,0.00459622105541,0.0597534053516,0.999999883282,0.000299321453308,-0.000378637120719,2.18511650073e-05,1793239679567174400
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.010773245,745.010773245,714,680,666,635,880,787.010773245,804,652,631,652,0.434091688136,0.00459463817146,0.0597708129771,0.999999909044,0.000260176653544,-0.000337769795315,1.14939754978e-05,1793239679583841536
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.588115695,745.588115695,714,680,666,635,880,787.588115695,804,652,631,652,0.433283705345,0.00459520356163,0.0597892797712,0.999999914727,0.000270195032809,-0.000311856433144,1.69375540625e-05,1793239679600507648
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.830776743,745.830776743,714,680.169223257,665.830776743,635,880,787.830776743,804,652,631.169223257,652.169223257,0.43247423112,0.00459617085894,0.0598054183113,0.999999918711,0.00027947086928,-0.000289832281193,2.17197022638e-05,1793239679617174016
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.240296508,745.240296508,714,680.759703492,665.240296508,635,880,787.240296508,804,652,631.759703492,652.759703492,0.431661044234,0.0045981386463,0.0598157609965,0.999999920036,0.00028689825201,-0.000277489761159,2.48553143386e-05,1793239679633840640
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.343076454,745.343076454,714,680.313847092,665.343076454,635,880,787.343076454,804,652,632,653,0.430829533562,0.00459942048468,0.0598292923643,0.999999925403,0.000286580648317,-0.000257614577294,2.64609242182e-05,1793239679650507264
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.921572373,745.921572373,714,679.156855255,665.921572373,635,880,787.921572373,804,652,632,653,0.429985449118,0.004600231624,0.0598450118095,0.999999933125,0.000280948425438,-0.000232570471077,2.70166446582e-05,1793239679667173888
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745.504499495,714,679.495500505,666,635,880.495500505,787.504499495,804,652,632,653,0.429053904496,0.00460196706504,0.0598137827196,0.999999917676,0.000275825209688,-0.000296373530031,2.70525547308e-05,1793239679683840512
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.931012257,745.068987743,714,680,665.931012257,635,881,787,804,652,631.931012257,653,0.428119478192,0.00460324344891,0.0597785995887,0.999999896963,0.000270389661551,-0.000363645744545,2.69198657622e-05,1793239679700507392
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.35550262,745.64449738,714,680,665.35550262,635,881,787,804,652,631.35550262,653,0.427264605365,0.00460008500311,0.0597684466134,0.99999990263,0.000262074794769,-0.000354081163391,2.61478542965e-05,1793239679717174528
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.227578935,635,880.772421065,787,804,652,631,652.772421065,0.426413409316,0.00459823368204,0.0597750749123,0.999999911507,0.000255606987217,-0.000333106217333,2.62880189586e-05,1793239679733841408
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.822895815,635,880.177104185,787,804,652,631,652.177104185,0.425568154329,0.00459849450394,0.0598088195649,0.9999999247,0.000252123785503,-0.000293693604558,2.79021414029e-05,1793239679750507520
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.596463839,714,680,665.596463839,635,880,787,804,652,631.403536161,652.403536161,0.424701207316,0.00459854452898,0.0598314046675,0.999999932064,0.000248115747262,-0.000270994353055,2.95513139211e-05,1793239679767174144
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.022038728,714,680,665.022038728,635,880,787,804,652,631.977961272,652.977961272,0.423825074246,0.00459850528604,0.0598492639369,0.999999937165,0.000243885452218,-0.000255372855691,3.12153293062e-05,1793239679783840512
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,880,787,804,652,631.446566686,653,0.422952178098,0.00459683893104,0.0598562186117,0.999999944225,0.000235857636303,-0.000234327091217,3.17981714531e-05,1793239679800507136
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745.131857813,714,679.868142187,665,635,880,787,804,652,631,653,0.422074665033,0.00459535396032,0.0598563152572,0.999999947263,0.000228460218219,-0.000228526644003,3.24878107471e-05,1793239679817173760
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.720362508,714,679.279637492,665,635,880,787,804,652,631,653,0.421180715562,0.00459472197583,0.0598341680398,0.999999936232,0.000223770688371,-0.000276272901302,3.36966946183e-05,1793239679833840896
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.304447601,746,714,679,665,635,880,787,804,652,631,652.695552399,0.420280284812,0.00459449505469,0.0597953562359,0.999999915933,0.000218129501648,-0.000345577746933,3.36142594468e-05,1793239679850507520
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.884531312,746,714,679,665,635,880,787,804,652,631,652.115468688,0.419373986189,0.00459463486361,0.0597414569049,0.999999882731,0.000211626717659,-0.000434400973101,3.23627093904e-05,1793239679867174400
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.538373987,745.538373987,714,679.461626013,665,635,880,787.461626013,804,652.461626013,631.461626013,652.461626013,0.418553363803,0.00459393664395,0.0597495404402,0.99999989665,0.000201624523505,-0.00040629378264,3.12041729066e-05,1793239679883841024
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.962292396,665.037707604,635,880,787.962292396,804,653,631.962292396,653,0.417754374796,0.00459297856544,0.0597741084851,0.99999992022,0.00019123825113,-0.000349385805441,3.03050129966e-05,1793239679900507392
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.390042684,665.609957316,635,880,787.390042684,804,653,631.390042684,653,0.41696021567,0.00459128918676,0.059813989195,0.999999937987,0.000187736054552,-0.000296155222496,3.27550758382e-05,1793239679917174016
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.188785684,745,714,679.188785684,665.811214316,635,879.811214316,787,804,652.811214316,631.188785684,653,0.416170296714,0.00458965264063,0.0598429200959,0.999999948089,0.000183485337826,-0.000262555427062,3.49223129866e-05,1793239679933840640
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.781696806,745,714,679.781696806,665.218303194,635,879.218303194,787,804,652.218303194,631.781696806,653,0.415389454358,0.00458812919058,0.0598484112169,0.999999946843,0.000177632296333,-0.000270978410102,3.64841179013e-05,1793239679950507008
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.635071871,745.364928129,714,680,665,635,879.364928129,787,804,652.364928129,632,653,0.414628179122,0.00458695327573,0.0598507278484,0.999999940295,0.000214641300579,-0.000268311736298,3.67127154945e-05,1793239679967173888
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.057481496,745.942518504,714,680,665,635,879.942518504,787,804,652.942518504,632,653,0.413878306691,0.00458597988746,0.0598511945426,0.999999927497,0.000276628206214,-0.000259182552088,3.61643849259e-05,1793239679983840768
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.518179821,635,879.481820179,787.518179821,804,653,631.481820179,653,0.413101100868,0.0045864806963,0.0598288279061,0.999999914596,0.000282402023116,-0.000299570300372,3.62659926813e-05,1793239680000507648
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.904086956,714,679.904086956,666,635,879,787.904086956,804,652.904086956,631.095913044,653,0.412328082128,0.00458654749655,0.059802100917,0.999999900245,0.000279394311816,-0.000346614511617,3.61599814367e-05,1793239680017174528
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.314594353,714,679.314594353,666,635,879,787.314594353,804,652.314594353,631.685405647,653,0.411592156195,0.00458354240467,0.0597659212664,0.999999884872,0.000263166444081,-0.000399751419209,3.46158936527e-05,1793239680033840896
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.270276985,665.729723015,635,879,787.270276985,803.729723015,652.270276985,631.729723015,653,0.410908912466,0.00458234826917,0.0597613755768,0.999999887874,0.000248973121088,-0.000401420887106,3.35372763123e-05,1793239680050507264
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.849859693,665.150140307,635,879,787.849859693,803.150140307,652.849859693,631.150140307,653,0.410285958446,0.00458322659733,0.0597930318814,0.999999912112,0.000237108137877,-0.000344190871962,3.29913447421e-05,1793239680067173888
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.426498219,714.426498219,680,665.426498219,635.426498219,879,787.573501781,803.426498219,653,631,653,0.409692417827,0.0045812536676,0.0598298713466,0.999999931733,0.000228020832632,-0.000288739888293,3.41957614962e-05,1793239680083840512
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,746,714.997891821,680,666,635.997891821,879,787.002108179,804,653,631,652.997891821,0.409109115978,0.00457828329607,0.0598683708611,0.999999947763,0.00021991615265,-0.000234125811184,3.60064102805e-05,1793239680100507136
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,746,714.422084755,680,666,635.422084755,879,787.577915245,804,653,631,652.422084755,0.408513676381,0.0045751513582,0.0598654863935,0.99999994792,0.000214941863915,-0.00023800121755,3.62606536778e-05,1793239680117173760
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.157774814,745.842225186,714,680,666,635,879,787.842225186,804,652.842225186,631.157774814,652,0.407926119024,0.00457309386739,0.0598587851545,0.999999946509,0.000210079994329,-0.000248072799488,3.61729168279e-05,1793239680133840640
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.74876172,745.25123828,714,680,666,635,879,787.25123828,804,652.25123828,631.74876172,652,0.407360204289,0.00457398655182,0.059841603969,0.999999940406,0.00020552679978,-0.0002751576058,3.51461836444e-05,1793239680150507520
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.667098125,745,714,679.667098125,665.667098125,635,879.332901875,787,804,652.332901875,631.667098125,652.332901875,0.406833134695,0.00457276296484,0.0598331466519,0.999999939005,0.000200021368254,-0.000284255990197,3.43480663164e-05,1793239680167174144
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.088021061,745,714,679.088021061,665.088021061,635,879.911978939,787,804,652.911978939,631.088021061,652.911978939,0.406334790446,0.00456997443163,0.0598311404858,0.999999941435,0.000193811774264,-0.000280053724527,3.37190065412e-05,1793239680183840512
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.480880213,714.480880213,679.480880213,665,635,879.519119787,787.480880213,804,653,631.480880213,653,0.405890211089,0.00456898522469,0.0598394641196,0.999999945852,0.000193327265258,-0.000264147841948,3.38493877807e-05,1793239680200507136
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745.951010623,714.951010623,680,665,635,879.048989377,787.951010623,803.951010623,653,631.951010623,653,0.405455315631,0.00456799769969,0.0598476703305,0.999999949677,0.00019331221111,-0.000249235989526,3.40395008156e-05,1793239680217174016
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.371731707,714.371731707,680,665,635,879.628268293,787.371731707,803.371731707,653,631.371731707,653,0.405020924813,0.00456353716544,0.0598345626781,0.999999946051,0.000187270483222,-0.00026779251287,3.34026496378e-05,1793239680233840640
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.213352127,714,680,665,635.213352127,880,787.213352127,803,652.786647873,631,652.786647873,0.404592416383,0.00456047187332,0.0598159012184,0.999999937918,0.000184526302958,-0.000298409887251,3.26322435948e-05,1793239680250507008
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745.808832914,714,680,665,635.808832914,880,787.808832914,803,652.191167086,631,652.191167086,0.404174443771,0.00455990555845,0.0597872925007,0.999999920416,0.000187688262738,-0.000350629091414,3.16226314247e-05,1793239680267173888
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745.609704829,714,679.609704829,665.390295171,635.609704829,880,787.609704829,803.390295171,652.390295171,631.390295171,652.390295171,0.403827514959,0.00455862505335,0.0597805897295,0.999999917794,0.000186073135903,-0.000358962829383,3.05635904119e-05,1793239680283841024
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745.034870745,714,679.034870745,665.965129255,635.034870745,880,787.034870745,803.965129255,652.965129255,631.965129255,652.965129255,0.403514176959,0.00455700686558,0.0597842445001,0.99999992292,0.000182199312885,-0.000346546696622,2.94811784435e-05,1793239680300507904
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745.540596791,714,679,665.459403209,635,880,787,804,653,632,653,0.40325172271,0.00455545299494,0.059802828191,0.999999932954,0.000183170945715,-0.000315690132214,2.96633394235e-05,1793239680317174528
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.119124874,746,714,679.119124874,665.119124874,635.119124874,879.880875126,787,804,653,631.880875126,653,0.40299829804,0.0045539796484,0.059822278282,0.999999942539,0.000183422654542,-0.000283526186585,2.98599068908e-05,1793239680333841152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.709601191,746,714,679.709601191,665.709601191,635.709601191,879.290398809,787,804,653,631.290398809,653,0.402767599145,0.00455280848306,0.0598413417732,0.999999951955,0.000179587628167,-0.000250901262546,2.97903434596e-05,1793239680350507264
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.707201197,636,879,787,804,653,631.292798803,653,0.402543711448,0.00455157809296,0.0598511740371,0.999999955992,0.000176948748184,-0.000236236825001,2.99421911623e-05,1793239680367173888
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.131047557,636,879,787,804,653,631.868952443,653,0.402326415276,0.00455029038841,0.0598520728177,0.999999955597,0.000175467434319,-0.000238953576568,3.03083086069e-05,1793239680383840512
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714.446484894,680,665.446484894,635.553515106,879,787,804,653,631.553515106,653,0.402125200342,0.00454863731511,0.0598452136257,0.999999951778,0.000173980979137,-0.000255454905033,3.02840683148e-05,1793239680400507136
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.975754126,746,714.975754126,680,666,635,879.024245874,787.024245874,803.975754126,653,631,653,0.401930874798,0.00454688907486,0.0598363990169,0.999999946814,0.000172376533066,-0.000275229949082,3.01180903656e-05,1793239680417173760
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.402013877,746,714.402013877,680,666,635,879.597986123,787.597986123,803.402013877,653,631,653,0.401785383744,0.00454542196086,0.0598350333128,0.99999994701,0.000168132316713,-0.000277220526489,2.93445281827e-05,1793239680433840640
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.178077385,745.821922615,714,679.821922615,666,635.178077385,880,787.821922615,803.178077385,653,631,653,0.401647130926,0.00454454091693,0.0598344705139,0.999999947341,0.000165092750306,-0.000277906435043,2.88148046798e-05,1793239680450507520
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.773036371,745.226963629,714,679.226963629,666,635.773036371,880,787.226963629,803.773036371,653,631,653,0.401525822941,0.0045450318713,0.0598357873276,0.999999948031,0.000164873286556,-0.000275538095638,2.88559109824e-05,1793239680467174144
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,636,880,787,803.643184108,653,631.356815892,653,0.40142543997,0.00454451655412,0.0598383931523,0.999999949478,0.000163533066377,-0.000271045445402,2.89124503824e-05,1793239680483840768
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,636,880,787,803.066299542,653,631.933700458,653,0.401337962635,0.00454338061204,0.0598417939836,0.999999951362,0.00016150161188,-0.000265242611504,2.89785082553e-05,1793239680500507136
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,635.49248166,879.49248166,787.50751834,803.50751834,653,631.49248166,653,0.401266503516,0.00454060673345,0.0598408000853,0.999999951854,0.000157601227328,-0.000265735167324,2.89688402691e-05,1793239680517173760
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.08306156,666,635.08306156,879.08306156,787.91693844,804,653,631.08306156,652.91693844,0.401198901805,0.00453828416198,0.0598389175345,0.999999951798,0.00015426171941,-0.000267906534671,2.88603065574e-05,1793239680533840384
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.671526125,666,635.671526125,879.671526125,787.328473875,804,653,631.671526125,652.328473875,0.401142115214,0.00454000177674,0.0598351000777,0.999999949563,0.000155811599804,-0.000275318967361,2.82100372879e-05,1793239680550507264
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.743757985,745.256242015,714,680,666,635.743757985,879.743757985,787.256242015,804.256242015,653,631.743757985,652.256242015,0.401093640314,0.00454056881441,0.0598332622611,0.999999948103,0.000157268549806,-0.000279779940416,2.8012906728e-05,1793239680567173888
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.163778228,745.836221772,714,680,666,635.163778228,879.163778228,787.836221772,804.836221772,653,631.163778228,652.836221772,0.401055666457,0.00453968220581,0.0598339255343,0.999999947675,0.000158608090898,-0.000280512020736,2.83882744483e-05,1793239680583841024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,746,714.412703741,680,665.587296259,635,879,788,804.587296259,653,631,653,0.401029161193,0.00453923118797,0.0598332771746,0.999999947523,0.000157855631971,-0.000281491168566,2.82519971463e-05,1793239680600507392
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,746,714.987809292,680,665.012190708,635,879,788,804.012190708,653,631,653,0.401007168902,0.00453895157816,0.0598321126782,0.999999947476,0.000156279956363,-0.00028256753917,2.79143839382e-05,1793239680617174016
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,746,714.439348926,679.439348926,665.560651074,635.560651074,879,787.439348926,804,653,631.560651074,653,0.400995103054,0.00453915218786,0.059833428807,0.999999947898,0.000156909996147,-0.000280711995306,2.79904928956e-05,1793239680633840384
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.138700055,746,714.138700055,679.138700055,665.861299945,635.861299945,879.138700055,787,804,653,632,653,0.400984648079,0.00453892899371,0.0598350478588,0.999999948608,0.000156282220364,-0.000278528598304,2.79557600249e-05,1793239680650507008
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.734054448,746,714.734054448,679.734054448,665.265945552,635.265945552,879.734054448,787,804,653,632,653,0.400978788956,0.00453727623269,0.059837487378,0.999999950224,0.000151355957846,-0.000275474831275,2.75265939706e-05,1793239680667173632
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.680674654,714.680674654,679.680674654,665.319325346,635,879.680674654,787.319325346,804,653,632,653,0.40097378536,0.00453670178881,0.0598386393393,0.999999950681,0.000151032972339,-0.000274001949587,2.73819680641e-05,1793239680683840256
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.10354452,714.10354452,679.10354452,665.89645548,635,879.10354452,787.89645548,804,653,632,653,0.400969472465,0.00453699791552,0.0598387518011,0.999999950214,0.000154426405509,-0.000273805382821,2.7467063344e-05,1793239680700506880
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.469078511,665.530921489,635.469078511,879.469078511,788,804,653,631.530921489,653,0.400968656106,0.00453574501215,0.0598390096986,0.999999950757,0.000153000915266,-0.00027261802271,2.7501447216e-05,1793239680717174016
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,714.040735056,679.959264944,665.040735056,635.959264944,879.959264944,787.959264944,803.959264944,653,631,653,0.400968630695,0.00453423437534,0.0598393346043,0.999999951512,0.000150588266391,-0.000271187240924,2.75226862474e-05,1793239680733840896
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.61263913,679.38736087,665.61263913,635.38736087,879.38736087,787.38736087,803.38736087,653,631,653,0.400968950384,0.00453377923722,0.0598401186389,0.999999952225,0.00014904207564,-0.000269407060248,2.75170986105e-05,1793239680750507520
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.19432185,714.80567815,679.19432185,666,635.19432185,879,787,803,653,631.19432185,653,0.400969003338,0.00453337009632,0.059840796161,0.99999995265,0.000148161446031,-0.000268312901344,2.75153350248e-05,1793239680767174144
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.79653016,714.20346984,679.79653016,666,635.79653016,879,787,803,653,631.79653016,653,0.400968496408,0.00453305750476,0.0598412501105,0.99999995248,0.000148677846129,-0.000268658719537,2.75215982193e-05,1793239680783840512
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.620125905,879,787,803.379874095,653,632,653,0.400968048863,0.0045331892457,0.0598415486234,0.999999952362,0.00014959152716,-0.000268581921425,2.75942280151e-05,1793239680800507136
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.046408175,879,787,803.953591825,653,632,653,0.40096763162,0.00453354772237,0.0598417678196,0.99999995227,0.000150707934239,-0.000268289469007,2.77007236188e-05,1793239680817173760
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.536800294,879.536800294,787.536800294,804,653,632,653,0.400965950643,0.00453500513745,0.0598407495514,0.999999951807,0.000152155249224,-0.000269233489263,2.73538803482e-05,1793239680833840384
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.879818846,879.879818846,788,804,653,631.879818846,653,0.400964873579,0.00453616471057,0.059840173759,0.999999951554,0.000153126358767,-0.000269655333707,2.70208425214e-05,1793239680850507008
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.298978992,879.298978992,788,804,653,631.298978992,653,0.400966537649,0.00453581192513,0.0598417114428,0.999999952241,0.000152160525806,-0.000267658543695,2.6893652274e-05,1793239680867173888
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.719706171,746,714,680,666,635,879.280293829,787.719706171,804,653,631,653,0.400966982909,0.00453541438884,0.0598425308819,0.999999952626,0.000151499648684,-0.000266603276117,2.68103546894e-05,1793239680883840768
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.142095484,746,714,680,666,635,879.857904516,787.142095484,804,653,631,653,0.400966135337,0.00453496938382,0.0598425884556,0.999999952693,0.000151162248105,-0.000266546712028,2.67736154765e-05,1793239680900507392
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.434262315,746,714,679.565737685,666,635.434262315,879.565737685,787,804,653,631,653,0.400965958903,0.00453455970957,0.0598425562841,0.999999952836,0.00015047291829,-0.000266400961252,2.67814419424e-05,1793239680917174272
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.010443516,665.989556484,635.989556484,879,787,804,653,631,653,0.400966003754,0.00453416053451,0.0598425046961,0.999999953006,0.000149646390153,-0.000266226266963,2.68001398255e-05,1793239680933840384
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.599490279,665.400509721,635.400509721,879,787,804,653,631,653,0.400966176716,0.0045337043938,0.0598429996393,0.999999953362,0.000147580246922,-0.000266060182445,2.66155626448e-05,1793239680950507008
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.814477712,714,680,665.185522288,635.185522288,879,787,804,653,631.185522288,653,0.400966492143,0.00453400411559,0.0598435662088,0.99999995355,0.000147267772027,-0.000265550469953,2.63840131331e-05,1793239680967173888
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.234849988,714,680,665.765150012,635.765150012,879,787,804,653,631.765150012,653,0.400967110211,0.0045359095179,0.0598442849343,0.999999953378,0.000150680619068,-0.000264310787752,2.60526801979e-05,1793239680983840512
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.341716061,714,680,666,635.658283939,879,787,804,653,631.658283939,653,0.400966671239,0.00453553434986,0.0598440220572,0.999999953242,0.000150824028469,-0.000264726670205,2.62403664077e-05,1793239681000507136
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.916196586,714,680,666,635.083803414,879,787,804,653,631.083803414,653,0.400965512249,0.00453360574073,0.0598430905483,0.99999995313,0.000148740416562,-0.000266270262713,2.67815894622e-05,1793239681017174272
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.508022643,746,714,680,666,635,879,787,803.508022643,653,631,653,0.400966711898,0.00453487912354,0.0598439654369,0.999999953309,0.000149654695805,-0.000265098334058,2.66234382538e-05,1793239681033841152
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.069922355,746,714,680,666,635,879,787.069922355,803.069922355,653,631.069922355,653,0.400967968777,0.00453635602611,0.0598448288926,0.999999953469,0.000150817152071,-0.000263853594703,2.6403313826e-05,1793239681050508032
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.662380963,746,714,680,666,635,879,787.662380963,803.662380963,653,631.662380963,653,0.400966642917,0.0045352670202,0.0598433013315,0.999999953141,0.000150007929946,-0.000265530662658,2.66126970814e-05,1793239681067174144
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.751150165,746,714.248849835,680,666,635.248849835,879.248849835,787.751150165,804,653,632,653,0.400965569668,0.00453456054303,0.0598425079055,0.99999995296,0.000149396416134,-0.000266553693183,2.66422163803e-05,1793239681083840512
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.172616595,746,714.827383405,680,666,635.827383405,879.827383405,787.172616595,804,653,632,653,0.400964831088,0.00453436085125,0.0598426870836,0.999999952976,0.000149046832121,-0.000266710235508,2.64334465367e-05,1793239681100507392
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.403748112,746,714.192503777,680,666,636,879.596251888,787,804,653,631.596251888,653,0.40096589219,0.00453402375657,0.0598434107578,0.999999953215,0.000149379108071,-0.000265598114549,2.67052499299e-05,1793239681117174016
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.979190473,746,713.041619055,680,666,636,879.020809527,787,804,653,631.020809527,653,0.40096771861,0.00453362823119,0.0598443659794,0.999999953547,0.000150001345607,-0.000263946493372,2.71814175385e-05,1793239681133840640
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.447583855,746,713.552416145,679.447583855,665.447583855,636,879,787,804,653,631.552416145,653,0.400967100357,0.00453323434805,0.0598444531272,0.999999954017,0.000146838946213,-0.000263987341315,2.67297094883e-05,1793239681150507264
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..91a2741ddbb384755d60a6b398ed403bf563355d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/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,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+1,0.016666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+2,0.033333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+3,0.050000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+4,0.066666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+5,0.083333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+6,0.100000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+7,0.116666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+8,0.133333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+9,0.150000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+10,0.166666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+11,0.183333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+12,0.200000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+13,0.216666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+14,0.233333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+15,0.250000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+16,0.266666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+17,0.283333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+18,0.300000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+19,0.316666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+20,0.333333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+21,0.350000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+22,0.366666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+23,0.383333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+24,0.400000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+25,0.416666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+26,0.433333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+27,0.450000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+28,0.466666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+29,0.483333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+30,0.500000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+31,0.516666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+32,0.533333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+33,0.550000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+34,0.566666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+35,0.583333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+36,0.600000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+37,0.616666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+38,0.633333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+39,0.650000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+40,0.666666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+41,0.683333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+42,0.700000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+43,0.716666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+44,0.733333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+45,0.750000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+46,0.766666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+47,0.783333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+48,0.800000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+49,0.816666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+50,0.833333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+51,0.850000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+52,0.866666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+53,0.883333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+54,0.900000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+55,0.916666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+56,0.933333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+57,0.950000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+58,0.966666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+59,0.983333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+60,1.000000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+61,1.016666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+62,1.033333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+63,1.050000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+64,1.066666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+65,1.083333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+66,1.100000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+67,1.116666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+68,1.133333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+69,1.150000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+70,1.166666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+71,1.183333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+72,1.200000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+73,1.216666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+74,1.233333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+75,1.250000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+76,1.266666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+77,1.283333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+78,1.300000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+79,1.316666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+80,1.333333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+81,1.350000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+82,1.366666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+83,1.383333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+84,1.400000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+85,1.416666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+86,1.433333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+87,1.450000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+88,1.466666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+89,1.483333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+90,1.500000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+91,1.516666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+92,1.533333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+93,1.550000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+94,1.566666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+95,1.583333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+96,1.600000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+97,1.616666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+98,1.633333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+99,1.650000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+100,1.666666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+101,1.683333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+102,1.700000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+103,1.716666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+104,1.733333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+105,1.750000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+106,1.766666667,pose1_to_pose2_press,0.575664423396,0.0100907859351,1.05003235146,0.546234876015,0.0187625290287,1.04970048322
+107,1.783333333,pose1_to_pose2_press,0.575664423368,0.0100907823321,1.05003234094,0.54623487598,0.0187625254123,1.049700473
+108,1.800000000,pose1_to_pose2_press,0.575664423212,0.0100907621543,1.050032282,0.546234875784,0.018762505159,1.04970041574
+109,1.816666667,pose1_to_pose2_press,0.575664576429,0.0100907484612,1.05003221224,0.546235028739,0.0187624906573,1.04970034799
+110,1.833333333,pose1_to_pose2_press,0.575665129656,0.0100907872335,1.05003222818,0.546235581255,0.0187625270217,1.04970036405
+111,1.850000000,pose1_to_pose2_press,0.575666053709,0.0100908672203,1.05003239927,0.546236504655,0.0187626048206,1.04970053592
+112,1.866666667,pose1_to_pose2_press,0.575668607156,0.0100907939971,1.05003241479,0.546239059105,0.0187625345629,1.0497005399
+113,1.883333333,pose1_to_pose2_press,0.575673452905,0.0100908950956,1.05003216227,0.546243903302,0.0187626305937,1.04970029275
+114,1.900000000,pose1_to_pose2_press,0.575681745024,0.0100906893528,1.05003231424,0.546252197203,0.0187624310271,1.04970044787
+115,1.916666667,pose1_to_pose2_press,0.575694908804,0.0100907720645,1.05003221223,0.546265361545,0.0187625158603,1.04970035141
+116,1.933333333,pose1_to_pose2_press,0.575713863396,0.0100905560194,1.05003225822,0.546284316907,0.0187623020822,1.04970038837
+117,1.950000000,pose1_to_pose2_press,0.575738685708,0.0100907840425,1.05003235181,0.546309136176,0.0187625198064,1.04970048253
+118,1.966666667,pose1_to_pose2_press,0.575769261447,0.0100905897723,1.05003227135,0.546339715097,0.0187623361476,1.04970039725
+119,1.983333333,pose1_to_pose2_press,0.575806589485,0.0100909121964,1.05003233834,0.546377040097,0.0187626486639,1.04970047467
+120,2.000000000,pose1_to_pose2_press,0.575850575944,0.0100907730815,1.05003234449,0.546421027474,0.0187625125258,1.04970047711
+121,2.016666667,pose1_to_pose2_press,0.575901197156,0.0100907793177,1.05003217299,0.546471647903,0.0187625160786,1.04970030488
+122,2.033333333,pose1_to_pose2_press,0.575961409252,0.0100907566802,1.05003218313,0.546531860188,0.0187624940919,1.04970031518
+123,2.050000000,pose1_to_pose2_press,0.576031936708,0.0100907282766,1.05003229714,0.546602387949,0.0187624666853,1.04970042816
+124,2.066666667,pose1_to_pose2_press,0.576115261306,0.0100907390405,1.05003238419,0.546685712608,0.0187624774642,1.04970051007
+125,2.083333333,pose1_to_pose2_press,0.576211342725,0.0100907555992,1.05003233072,0.546781794128,0.0187624942346,1.0497004532
+126,2.100000000,pose1_to_pose2_press,0.576321470178,0.0100907312088,1.05003216531,0.546891921451,0.0187624697544,1.04970029697
+127,2.116666667,pose1_to_pose2_press,0.576444045983,0.0100907836654,1.05003232561,0.547014497517,0.0187625233348,1.04970046351
+128,2.133333333,pose1_to_pose2_press,0.576579681201,0.010090861279,1.05003217833,0.547150130931,0.0187625950673,1.04970032238
+129,2.150000000,pose1_to_pose2_press,0.576730128917,0.0100908083336,1.05003221667,0.547300580647,0.0187625486486,1.04970035388
+130,2.166666667,pose1_to_pose2_press,0.576895897617,0.0100907939321,1.05003223963,0.547466349002,0.0187625328658,1.04970037129
+131,2.183333333,pose1_to_pose2_press,0.577080496145,0.0100908919182,1.05003222843,0.547650945911,0.0187626254328,1.04970036204
+132,2.200000000,pose1_to_pose2_press,0.577283526758,0.0100908889501,1.05003222326,0.547853976398,0.0187626221228,1.049700359
+133,2.216666667,pose1_to_pose2_press,0.577506064666,0.0100906844173,1.05003217137,0.548076517376,0.0187624279487,1.04970030546
+134,2.233333333,pose1_to_pose2_press,0.577744404786,0.0100906091231,1.05003211233,0.548314857946,0.0187623540198,1.04970024219
+135,2.250000000,pose1_to_pose2_press,0.577997463445,0.0100907894325,1.05003215511,0.54856791242,0.0187625200603,1.04970028315
+136,2.266666667,pose1_to_pose2_press,0.578266257556,0.0100906644163,1.05003223404,0.548836709352,0.0187624048698,1.04970036858
+137,2.283333333,pose1_to_pose2_press,0.578551095475,0.0100907337403,1.05003225056,0.549121545566,0.0187624682083,1.04970037983
+138,2.300000000,pose1_to_pose2_press,0.578856050957,0.0100907431658,1.05003240516,0.549426503658,0.0187624868889,1.04970054484
+139,2.316666667,pose1_to_pose2_press,0.579185910988,0.0100907942379,1.05003229073,0.549756362758,0.0187625346022,1.04970042514
+140,2.333333333,pose1_to_pose2_press,0.579545575409,0.0100906917856,1.05003216391,0.550116028221,0.0187624355966,1.04970029587
+141,2.350000000,pose1_to_pose2_press,0.579933613099,0.010090676614,1.05003233578,0.550504066112,0.0187624210517,1.0497004662
+142,2.366666667,pose1_to_pose2_press,0.580348775305,0.0100906565145,1.05003244021,0.550919228814,0.0187624025027,1.04970056711
+143,2.383333333,pose1_to_pose2_press,0.580787370396,0.0100908272055,1.05003229145,0.551357821884,0.0187625666474,1.04970042642
+144,2.400000000,pose1_to_pose2_press,0.58124228572,0.0100909336008,1.0500321897,0.551812736215,0.0187626700202,1.04970033375
+145,2.416666667,pose1_to_pose2_press,0.581708236351,0.010090696347,1.05003221686,0.552278689758,0.018762442387,1.04970035405
+146,2.433333333,pose1_to_pose2_press,0.5821860002,0.0100907016147,1.05003226931,0.552756451826,0.0187624413176,1.04970039882
+147,2.450000000,pose1_to_pose2_press,0.582677316696,0.0100907755238,1.05003239416,0.553247767483,0.0187625121709,1.04970051806
+148,2.466666667,pose1_to_pose2_press,0.583189335342,0.0100909581216,1.05003234649,0.553759784208,0.0187626886418,1.04970048068
+149,2.483333333,pose1_to_pose2_press,0.583723965732,0.0100907487036,1.05003214051,0.554294417455,0.0187624888177,1.04970027201
+150,2.500000000,pose1_to_pose2_press,0.584285229829,0.0100907648089,1.05003233649,0.554855680056,0.0187624995799,1.049700461
+151,2.516666667,pose1_to_pose2_press,0.584862407733,0.0100909269313,1.05003227965,0.555432856378,0.0187626565485,1.04970040972
+152,2.533333333,pose1_to_pose2_press,0.585447953299,0.0100908191048,1.05003229562,0.556018403984,0.0187625558647,1.0497004314
+153,2.550000000,pose1_to_pose2_press,0.586041054632,0.0100907000329,1.05003235646,0.556611507137,0.0187624428377,1.04970048868
+154,2.566666667,pose1_to_pose2_press,0.586643714681,0.0100907003946,1.05003222712,0.557214167512,0.0187624442348,1.04970035754
+155,2.583333333,pose1_to_pose2_press,0.5872756814,0.0100907756242,1.05003208898,0.557846134095,0.0187625190929,1.04970022169
+156,2.600000000,pose1_to_pose2_press,0.587938042296,0.0100908743059,1.05003244124,0.558508494263,0.0187626149275,1.0497005641
+157,2.616666667,pose1_to_pose2_press,0.588628849403,0.0100907202495,1.05003257005,0.559199301198,0.0187624603315,1.04970069408
+158,2.633333333,pose1_to_pose2_press,0.589336434254,0.0100907256703,1.05003221593,0.559906886969,0.0187624692362,1.04970034941
+159,2.650000000,pose1_to_pose2_press,0.590055366853,0.0100905779559,1.05003198483,0.560625820951,0.0187623261859,1.04970011754
+160,2.666666667,pose1_to_pose2_press,0.590761808398,0.0100907583451,1.05003207283,0.561332259198,0.0187624956966,1.04970021369
+161,2.683333333,pose1_to_pose2_press,0.591458972922,0.0100907063051,1.05003245152,0.562029424858,0.0187624468086,1.04970057409
+162,2.700000000,pose1_to_pose2_press,0.592153949693,0.0100907916155,1.05003241549,0.562724401017,0.0187625301814,1.04970054164
+163,2.716666667,pose1_to_pose2_press,0.592855248101,0.0100908645721,1.05003229089,0.563425699084,0.018762602112,1.04970042049
+164,2.733333333,pose1_to_pose2_press,0.593573019333,0.0100908553812,1.0500322875,0.564143470789,0.0187625946249,1.04970041978
+165,2.750000000,pose1_to_pose2_press,0.594312112798,0.0100908428712,1.05003230302,0.564882563737,0.0187625804106,1.04970043663
+166,2.766666667,pose1_to_pose2_press,0.595074209,0.0100908558451,1.050032279,0.565644659118,0.0187625904666,1.04970040922
+167,2.783333333,pose1_to_pose2_press,0.595847059779,0.0100908307153,1.05003234366,0.566417510973,0.0187625689048,1.04970047167
+168,2.800000000,pose1_to_pose2_press,0.596623648194,0.0100908963007,1.0500322481,0.56719409782,0.0187626292315,1.04970037778
+169,2.816666667,pose1_to_pose2_press,0.597395606829,0.0100908139712,1.05003226035,0.567966058399,0.0187625535637,1.04970039176
+170,2.833333333,pose1_to_pose2_press,0.598156929607,0.0100906875246,1.05003235184,0.568727381635,0.018762428654,1.04970048286
+171,2.850000000,pose1_to_pose2_press,0.598904850678,0.0100906991457,1.05003220695,0.569475304553,0.0187624468556,1.04970034621
+172,2.866666667,pose1_to_pose2_press,0.59964136132,0.0100907497805,1.05003223886,0.570211813975,0.0187624931257,1.04970037226
+173,2.883333333,pose1_to_pose2_press,0.600366038114,0.010090753642,1.05003224394,0.57093649025,0.0187624951978,1.04970037666
+174,2.900000000,pose1_to_pose2_press,0.60109292576,0.0100908778754,1.05003238294,0.571663375978,0.0187626130623,1.04970051943
+175,2.916666667,pose1_to_pose2_press,0.601821750007,0.0100908749762,1.05003239392,0.572392200208,0.0187626100527,1.04970052909
+176,2.933333333,pose1_to_pose2_press,0.602551109,0.0100908318155,1.05003223725,0.573121559524,0.0187625678478,1.04970036886
+177,2.950000000,pose1_to_pose2_press,0.603281954717,0.0100908088514,1.05003216498,0.573852405757,0.0187625466656,1.04970029742
+178,2.966666667,pose1_to_pose2_press,0.604011274119,0.0100907860259,1.05003230404,0.57458172579,0.0187625261317,1.04970044045
+179,2.983333333,pose1_to_pose2_press,0.604716589957,0.0100908281619,1.05003232321,0.575287040372,0.0187625640893,1.04970046202
+180,3.000000000,pose1_to_pose2_press,0.605398185996,0.0100908407632,1.05003211669,0.575968635769,0.0187625744792,1.0497002547
+181,3.016666667,pose1_to_pose2_press,0.60605863156,0.0100906886979,1.05003223022,0.576629084008,0.0187624313071,1.04970036345
+182,3.033333333,pose1_to_pose2_press,0.606701384407,0.0100908254238,1.05003222432,0.577271835145,0.0187625623118,1.04970035975
+183,3.050000000,pose1_to_pose2_press,0.607325899163,0.0100907326745,1.05003218038,0.577896351842,0.0187624765026,1.04970032517
+184,3.066666667,pose1_to_pose2_press,0.607945740877,0.0100907658884,1.05003245002,0.578516192901,0.0187625068934,1.04970057919
+185,3.083333333,pose1_to_pose2_press,0.60856379016,0.0100908101825,1.05003228564,0.579134241145,0.0187625477504,1.04970041721
+186,3.100000000,pose1_to_pose2_press,0.609167670048,0.0100907556333,1.05003211905,0.579738121838,0.0187624961943,1.04970025756
+187,3.116666667,pose1_to_pose2_press,0.609755799765,0.0100907760808,1.05003217674,0.580326251464,0.018762516241,1.04970031295
+188,3.133333333,pose1_to_pose2_press,0.610320106083,0.0100908243572,1.0500322894,0.580890556406,0.0187625598491,1.04970042572
+189,3.150000000,pose1_to_pose2_press,0.610851195237,0.0100907541901,1.05003228697,0.581421646118,0.0187624914941,1.04970042124
+190,3.166666667,pose1_to_pose2_press,0.611344093558,0.0100906786687,1.05003223975,0.58191454651,0.0187624228369,1.04970036978
+191,3.183333333,pose1_to_pose2_press,0.611813100554,0.010090693706,1.05003224873,0.582383554172,0.0187624400912,1.0497003778
+192,3.200000000,pose1_to_pose2_press,0.612264248697,0.0100906182919,1.05003225981,0.582834700669,0.0187623588757,1.04970038344
+193,3.216666667,pose1_to_pose2_press,0.61270781516,0.0100908003429,1.05003214687,0.583278266015,0.0187625372311,1.04970027302
+194,3.233333333,pose1_to_pose2_press,0.613142924235,0.0100907143239,1.05003221986,0.583713376842,0.0187624574008,1.04970035181
+195,3.250000000,pose1_to_pose2_press,0.613565601858,0.0100907556343,1.05003204412,0.584136054546,0.0187624991894,1.04970018008
+196,3.266666667,pose1_to_pose2_press,0.613964939236,0.0100908203018,1.05003231885,0.584535390457,0.0187625588574,1.04970045272
+197,3.283333333,pose1_to_pose2_press,0.614336585751,0.0100908065285,1.05003232962,0.584907036877,0.0187625448179,1.04970046365
+198,3.300000000,pose1_to_pose2_press,0.614679350575,0.0100908553177,1.05003232129,0.585249801794,0.0187625940607,1.04970045753
+199,3.316666667,pose1_to_pose2_press,0.614997699573,0.0100908694112,1.05003237809,0.585568151154,0.0187626094304,1.04970051408
+200,3.333333333,pose1_to_pose2_press,0.615297662829,0.0100907088835,1.05003223123,0.58586811568,0.0187624531467,1.04970036347
+201,3.350000000,pose1_to_pose2_press,0.615585951477,0.0100907729734,1.05003223298,0.586156402289,0.0187625103733,1.04970036349
+202,3.366666667,pose1_to_pose2_press,0.615864087453,0.0100907626304,1.05003235983,0.586434539544,0.0187625044502,1.04970048945
+203,3.383333333,pose1_to_pose2_press,0.616128294689,0.0100909443882,1.05003212688,0.586698743117,0.0187626741847,1.04970026294
+204,3.400000000,pose1_to_pose2_press,0.616377368466,0.0100907954136,1.05003242383,0.586947819044,0.0187625323755,1.04970055237
+205,3.416666667,pose1_to_pose2_press,0.616605837081,0.0100906429316,1.05003225614,0.587176291194,0.0187623925088,1.04970039696
+206,3.433333333,pose1_to_pose2_press,0.616813179888,0.01009077377,1.05003231445,0.587383630621,0.018762511692,1.04970044911
+207,3.450000000,pose1_to_pose2_press,0.616998147936,0.0100908262202,1.0500324662,0.587568597311,0.0187625593165,1.04970059186
+208,3.466666667,pose1_to_pose2_press,0.61716361287,0.0100907593042,1.05003237768,0.587734063629,0.0187624972175,1.04970050361
+209,3.483333333,pose1_to_pose2_press,0.617309168678,0.0100907343038,1.05003224904,0.587879619213,0.018762471663,1.04970037822
+210,3.500000000,pose1_to_pose2_press,0.617437378724,0.0100907471487,1.05003223659,0.588007829085,0.0187624841225,1.04970036872
+211,3.516666667,pose1_to_pose2_press,0.617549709031,0.0100906988566,1.05003221796,0.588120162873,0.0187624478815,1.04970035457
+212,3.533333333,pose1_to_pose2_press,0.617649153255,0.0100907457533,1.05003224126,0.588219604462,0.0187624857112,1.04970037163
+213,3.550000000,pose1_to_pose2_press,0.617737820373,0.0100908008854,1.05003232494,0.588308271794,0.0187625417391,1.04970045915
+214,3.566666667,pose1_to_pose2_press,0.617816488727,0.0100908651163,1.05003218387,0.588386938917,0.0187626020044,1.04970032031
+215,3.583333333,pose1_to_pose2_press,0.61788668156,0.010090820964,1.05003228854,0.588457132811,0.0187625617968,1.04970042574
+216,3.600000000,pose1_to_pose2_press,0.617948425489,0.0100907261863,1.05003241349,0.588518878617,0.0187624733547,1.04970055
+217,3.616666667,pose1_to_pose2_press,0.618000197481,0.0100906939156,1.05003232088,0.588570650378,0.0187624399904,1.04970045439
+218,3.633333333,pose1_to_pose2_press,0.6180430244,0.0100907404657,1.05003226682,0.588613475372,0.0187624800847,1.04970039569
+219,3.650000000,pose1_to_pose2_press,0.618077883863,0.0100908368336,1.05003236811,0.588648332985,0.0187625701703,1.04970049572
+220,3.666666667,pose1_to_pose2_press,0.618105997228,0.0100907678105,1.05003234481,0.58867644908,0.0187625106547,1.04970048026
+221,3.683333333,pose1_to_pose2_press,0.618127272018,0.0100907793461,1.05003231991,0.588697723572,0.0187625213135,1.04970046046
+222,3.700000000,pose1_to_pose2_press,0.618144213193,0.0100908135859,1.05003210811,0.588714662914,0.0187625491218,1.0497002476
+223,3.716666667,pose1_to_pose2_press,0.618157007025,0.0100908074028,1.05003214794,0.588727456071,0.0187625402695,1.04970027936
+224,3.733333333,pose1_to_pose2_press,0.618165660148,0.0100907890023,1.05003240938,0.588736109728,0.0187625234249,1.04970053279
+225,3.750000000,pose1_to_pose2_press,0.618171477575,0.0100908853596,1.05003245584,0.588741926593,0.0187626180928,1.04970058475
+226,3.766666667,pose1_to_pose2_press,0.618175568208,0.010090973583,1.05003242885,0.588746016068,0.0187627024344,1.04970055848
+227,3.783333333,pose1_to_pose2_press,0.618178253257,0.0100910425888,1.05003237879,0.588748699942,0.0187627674318,1.04970050718
+228,3.800000000,pose1_to_pose2_press,0.618179625526,0.0100909770833,1.05003242069,0.588750073426,0.0187627061623,1.04970055218
+229,3.816666667,pose1_to_pose2_press,0.618180630179,0.010090882377,1.05003248268,0.588751079809,0.0187626174728,1.04970061815
+230,3.833333333,pose1_to_pose2_press,0.61818127329,0.0100908217526,1.05003252236,0.588751724026,0.0187625606998,1.04970066038
+231,3.850000000,pose1_to_pose2_press,0.618181508362,0.0100907995929,1.05003253686,0.588751959503,0.018762539948,1.04970067581
+232,3.866666667,pose1_to_pose2_press,0.618181659952,0.0100907853028,1.05003254622,0.588752111354,0.0187625265658,1.04970068577
+233,3.883333333,pose1_to_pose2_press,0.618181915321,0.0100907664162,1.05003255566,0.588752367053,0.0187625088129,1.04970069566
+234,3.900000000,pose1_to_pose2_press,0.618182128914,0.0100907749117,1.050032534,0.588752580406,0.0187625164037,1.04970067169
+235,3.916666667,pose1_to_pose2_press,0.618182277474,0.0100907808205,1.05003251893,0.588752728798,0.0187625216833,1.04970065503
+236,3.933333333,pose1_to_pose2_press,0.618182615398,0.0100907942611,1.05003248465,0.588753066341,0.0187625336927,1.04970061712
+237,3.950000000,pose1_to_pose2_press,0.618182985015,0.0100908089622,1.05003244716,0.588753435541,0.0187625468284,1.04970057565
+238,3.966666667,pose1_to_pose2_press,0.618183102381,0.0100908136304,1.05003243526,0.588753552775,0.0187625509994,1.04970056249
+239,3.983333333,pose1_to_pose2_press,0.618183237282,0.0100908189959,1.05003242157,0.588753687523,0.0187625557936,1.04970054735
+240,4.000000000,pose1_to_pose2_press,0.6181835126,0.0100908299465,1.05003239365,0.588753962531,0.0187625655781,1.04970051646
+241,4.016666667,pose1_to_pose2_press,0.618183541729,0.010090831105,1.05003239069,0.588753991627,0.0187625666133,1.0497005132
+242,4.033333333,pose1_to_pose2_press,0.618183596211,0.0100908296867,1.05003237277,0.58875404613,0.0187625653223,1.0497004968
+243,4.050000000,pose1_to_pose2_press,0.618183723031,0.0100908249702,1.05003232615,0.588754173031,0.0187625610437,1.04970045457
+244,4.066666667,pose1_to_pose2_press,0.618183886354,0.0100908188961,1.05003226612,0.588754336459,0.0187625555336,1.04970040019
+245,4.083333333,pose1_to_pose2_press,0.618183956072,0.0100908163032,1.0500322405,0.588754406222,0.0187625531815,1.04970037698
+246,4.100000000,pose1_to_pose2_press,0.618184085793,0.010090812603,1.05003224325,0.588754535939,0.0187625495124,1.0497003811
+247,4.116666667,pose1_to_pose2_press,0.618184294821,0.0100908123166,1.05003250233,0.588754744511,0.018762547171,1.04970062659
+248,4.133333333,pose1_to_pose2_press,0.618184294821,0.0100908123166,1.05003250233,0.58875474451,0.018762547171,1.04970062659
+249,4.150000000,pose1_to_pose2_press,0.618184294821,0.0100908123166,1.05003250233,0.588754744505,0.0187625471706,1.04970062658
+250,4.166666667,pose1_to_pose2_press,0.618184294821,0.0100908123166,1.05003250233,0.588754744505,0.0187625471703,1.04970062658
+251,4.183333333,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744507,0.0187625471701,1.04970062658
+252,4.200000000,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744507,0.0187625471701,1.04970062658
+253,4.216666667,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744507,0.0187625471701,1.04970062658
+254,4.233333333,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744507,0.01876254717,1.04970062658
+255,4.250000000,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744508,0.01876254717,1.04970062658
+256,4.266666667,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744508,0.01876254717,1.04970062658
+257,4.283333333,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744508,0.0187625471702,1.04970062658
+258,4.300000000,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744508,0.0187625471702,1.04970062658
+259,4.316666667,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744508,0.0187625471701,1.04970062658
+260,4.333333333,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744508,0.0187625471702,1.04970062658
+261,4.350000000,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744508,0.0187625471701,1.04970062658
+262,4.366666667,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744508,0.0187625471701,1.04970062658
+263,4.383333333,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744508,0.01876254717,1.04970062658
+264,4.400000000,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744509,0.01876254717,1.04970062658
+265,4.416666667,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744509,0.0187625471697,1.04970062658
+266,4.433333333,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744509,0.0187625471701,1.04970062658
+267,4.450000000,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744509,0.0187625471703,1.04970062658
+268,4.466666667,pose2_hold,0.618184294821,0.0100908123166,1.05003250233,0.588754744509,0.0187625471703,1.04970062658
+269,4.483333333,pose2_to_pose3_retreat,0.618184294821,0.0100908123166,1.05003250233,0.588754744509,0.0187625471709,1.04970062658
+270,4.500000000,pose2_to_pose3_retreat,0.618184294165,0.0100908122535,1.05003249927,0.588754743842,0.0187625470749,1.04970062365
+271,4.516666667,pose2_to_pose3_retreat,0.618184291368,0.0100908119843,1.05003248621,0.588754740997,0.0187625466657,1.04970061113
+272,4.533333333,pose2_to_pose3_retreat,0.618184281151,0.0100908110011,1.05003243854,0.588754730609,0.0187625451714,1.04970056543
+273,4.550000000,pose2_to_pose3_retreat,0.618184273442,0.0100908102592,1.05003240256,0.588754722771,0.0187625440439,1.04970053095
+274,4.566666667,pose2_to_pose3_retreat,0.618184209776,0.0100908083314,1.05003236661,0.588754659174,0.0187625423833,1.04970049621
+275,4.583333333,pose2_to_pose3_retreat,0.618184041082,0.0100908048438,1.0500323721,0.588754491098,0.0187625409357,1.04970050068
+276,4.600000000,pose2_to_pose3_retreat,0.618182928688,0.010090796214,1.05003237778,0.588753379005,0.0187625333086,1.04970050338
+277,4.616666667,pose2_to_pose3_retreat,0.61817912473,0.0100907975146,1.05003223904,0.588749575281,0.0187625354418,1.04970037054
+278,4.633333333,pose2_to_pose3_retreat,0.618169663082,0.0100908420719,1.05003211859,0.588740112528,0.0187625766242,1.04970025919
+279,4.650000000,pose2_to_pose3_retreat,0.618152852491,0.0100908613301,1.05003234699,0.588723301531,0.0187625941447,1.04970047867
+280,4.666666667,pose2_to_pose3_retreat,0.618126325373,0.0100907622047,1.05003220675,0.588696776047,0.0187625007559,1.04970034459
+281,4.683333333,pose2_to_pose3_retreat,0.618089965505,0.0100907995187,1.05003235578,0.588660416966,0.0187625406107,1.0497004922
+282,4.700000000,pose2_to_pose3_retreat,0.61804366217,0.0100907332737,1.05003235517,0.58861411374,0.0187624750735,1.04970049543
+283,4.716666667,pose2_to_pose3_retreat,0.617988433199,0.0100906443944,1.05003219673,0.588558885017,0.018762387406,1.04970034452
+284,4.733333333,pose2_to_pose3_retreat,0.61792391576,0.0100906019732,1.05003232003,0.588494368616,0.0187623476531,1.04970045414
+285,4.750000000,pose2_to_pose3_retreat,0.617850446444,0.0100907342748,1.05003227823,0.588420898017,0.0187624751733,1.04970040855
+286,4.766666667,pose2_to_pose3_retreat,0.617767920986,0.010090838215,1.0500322365,0.588338372666,0.0187625797112,1.04970036967
+287,4.783333333,pose2_to_pose3_retreat,0.617674206438,0.0100908172008,1.05003216574,0.588244657526,0.0187625568381,1.04970030029
+288,4.800000000,pose2_to_pose3_retreat,0.617569209079,0.0100907073963,1.05003209594,0.588139659983,0.0187624463441,1.04970023047
+289,4.816666667,pose2_to_pose3_retreat,0.617450595957,0.0100906435984,1.05003212334,0.588021048082,0.0187623866373,1.04970025833
+290,4.833333333,pose2_to_pose3_retreat,0.617317436142,0.0100907858588,1.05003221225,0.587887886197,0.0187625217675,1.04970034658
+291,4.850000000,pose2_to_pose3_retreat,0.617168330363,0.0100907896571,1.05003212276,0.587738781843,0.0187625302784,1.0497002552
+292,4.866666667,pose2_to_pose3_retreat,0.617000944306,0.0100908471827,1.05003218852,0.587571394527,0.0187625835719,1.04970032509
+293,4.883333333,pose2_to_pose3_retreat,0.616815563471,0.0100907628277,1.05003224016,0.587386015375,0.0187625045414,1.04970037094
+294,4.900000000,pose2_to_pose3_retreat,0.616610480676,0.0100907228719,1.05003233512,0.587180932479,0.0187624638748,1.04970045962
+295,4.916666667,pose2_to_pose3_retreat,0.616384729811,0.0100907786457,1.05003236585,0.586955181637,0.0187625198234,1.04970049578
+296,4.933333333,pose2_to_pose3_retreat,0.616135085588,0.0100908518082,1.05003238101,0.586705537152,0.0187625921536,1.04970051637
+297,4.950000000,pose2_to_pose3_retreat,0.615863437151,0.0100908410724,1.05003238543,0.586433886699,0.0187625742425,1.04970051555
+298,4.966666667,pose2_to_pose3_retreat,0.615569675689,0.0100907614517,1.05003215924,0.58614012706,0.0187625009724,1.04970029559
+299,4.983333333,pose2_to_pose3_retreat,0.615252750606,0.0100908260469,1.05003250257,0.585823202291,0.0187625658666,1.04970062503
+300,5.000000000,pose2_to_pose3_retreat,0.614916876815,0.010090874375,1.05003224819,0.585487326376,0.0187626071662,1.0497003787
+301,5.016666667,pose2_to_pose3_retreat,0.614566375348,0.0100906515196,1.05003223081,0.585136827553,0.018762393211,1.04970036273
+302,5.033333333,pose2_to_pose3_retreat,0.614201609059,0.0100907375267,1.05003220519,0.584772060328,0.0187624762424,1.04970034339
+303,5.050000000,pose2_to_pose3_retreat,0.613821548788,0.0100907767733,1.05003228842,0.584392000172,0.018762515794,1.04970042436
+304,5.066666667,pose2_to_pose3_retreat,0.613422680143,0.0100908128135,1.05003220078,0.583993131562,0.0187625518656,1.04970033463
+305,5.083333333,pose2_to_pose3_retreat,0.613002248899,0.0100908255908,1.05003205408,0.583572700535,0.0187625653786,1.04970018828
+306,5.100000000,pose2_to_pose3_retreat,0.612551345859,0.0100907149955,1.05003223502,0.583121799484,0.018762461428,1.04970036611
+307,5.116666667,pose2_to_pose3_retreat,0.612072646656,0.0100907841545,1.0500322103,0.582643098696,0.0187625255331,1.04970034841
+308,5.133333333,pose2_to_pose3_retreat,0.611567323482,0.0100907145576,1.05003229743,0.582137775247,0.0187624549913,1.04970043875
+309,5.150000000,pose2_to_pose3_retreat,0.611043895277,0.0100908174666,1.05003233369,0.58161434516,0.018762551399,1.04970047028
+310,5.166666667,pose2_to_pose3_retreat,0.610504700666,0.0100908018952,1.05003234309,0.581075151447,0.0187625388629,1.04970047867
+311,5.183333333,pose2_to_pose3_retreat,0.609956965649,0.01009071418,1.05003242454,0.58052741798,0.0187624563036,1.04970055674
+312,5.200000000,pose2_to_pose3_retreat,0.609397619047,0.0100907586814,1.05003232624,0.579968070475,0.0187624976977,1.04970045727
+313,5.216666667,pose2_to_pose3_retreat,0.608810053103,0.0100908775633,1.05003214897,0.579380502552,0.0187626098879,1.04970028153
+314,5.233333333,pose2_to_pose3_retreat,0.608193495506,0.0100908556317,1.05003223752,0.578763945724,0.018762590535,1.04970036987
+315,5.250000000,pose2_to_pose3_retreat,0.607546232806,0.0100908974901,1.05003223942,0.578116683813,0.0187626352039,1.04970037511
+316,5.266666667,pose2_to_pose3_retreat,0.606873387368,0.0100907691488,1.05003233686,0.577443840642,0.0187625146512,1.04970047487
+317,5.283333333,pose2_to_pose3_retreat,0.606179922829,0.0100907647126,1.05003222385,0.57675037437,0.0187625042484,1.04970035989
+318,5.300000000,pose2_to_pose3_retreat,0.605480575726,0.010090888795,1.05003219861,0.576051024936,0.0187626206285,1.0497003403
+319,5.316666667,pose2_to_pose3_retreat,0.604777422605,0.0100907814996,1.05003214288,0.575347874898,0.0187625234964,1.04970027716
+320,5.333333333,pose2_to_pose3_retreat,0.60407218696,0.010090785974,1.05003236458,0.574642639126,0.0187625272889,1.04970049171
+321,5.350000000,pose2_to_pose3_retreat,0.603359426763,0.010090820351,1.05003242137,0.573929879374,0.0187625633103,1.04970055209
+322,5.366666667,pose2_to_pose3_retreat,0.602636392184,0.0100908213147,1.05003228783,0.573206845021,0.0187625652786,1.04970042496
+323,5.383333333,pose2_to_pose3_retreat,0.601891626983,0.0100907996085,1.05003217775,0.572462078367,0.0187625386771,1.04970031491
+324,5.400000000,pose2_to_pose3_retreat,0.60112483274,0.0100907779435,1.05003214522,0.571695284277,0.0187625174381,1.04970028019
+325,5.416666667,pose2_to_pose3_retreat,0.600350743299,0.0100908479505,1.0500323439,0.570921194146,0.0187625849469,1.04970047626
+326,5.433333333,pose2_to_pose3_retreat,0.599573019183,0.0100907609949,1.05003226092,0.570143470571,0.0187624995398,1.04970038584
+327,5.450000000,pose2_to_pose3_retreat,0.598795041072,0.0100907976284,1.05003199176,0.569365490922,0.0187625315052,1.04970012924
+328,5.466666667,pose2_to_pose3_retreat,0.598028615319,0.010090835109,1.05003231062,0.568599066989,0.0187625747127,1.04970043608
+329,5.483333333,pose2_to_pose3_retreat,0.59727241649,0.0100908023994,1.05003246062,0.567842867791,0.0187625407303,1.04970058554
+330,5.500000000,pose2_to_pose3_retreat,0.596512973298,0.0100909001496,1.05003248824,0.567083422831,0.0187626326354,1.04970061631
+331,5.516666667,pose2_to_pose3_retreat,0.595748847221,0.0100908647512,1.05003241415,0.566319297177,0.0187625988761,1.04970054829
+332,5.533333333,pose2_to_pose3_retreat,0.594976196095,0.0100907283136,1.05003237019,0.565546648036,0.0187624692593,1.04970050787
+333,5.550000000,pose2_to_pose3_retreat,0.594197773834,0.0100908189706,1.0500324467,0.564768225595,0.0187625591428,1.04970057874
+334,5.566666667,pose2_to_pose3_retreat,0.593414032126,0.0100908757331,1.05003234262,0.563984483447,0.0187626143918,1.04970047404
+335,5.583333333,pose2_to_pose3_retreat,0.592639363452,0.0100908779064,1.05003221823,0.563209814735,0.0187626166923,1.0497003562
+336,5.600000000,pose2_to_pose3_retreat,0.591878669781,0.010090879409,1.05003222539,0.562449119356,0.0187626122624,1.04970035984
+337,5.616666667,pose2_to_pose3_retreat,0.591135462078,0.0100908133848,1.05003223913,0.561705913423,0.018762552124,1.04970037038
+338,5.633333333,pose2_to_pose3_retreat,0.590411765659,0.0100907949082,1.05003212184,0.560982217563,0.0187625357633,1.04970025976
+339,5.650000000,pose2_to_pose3_retreat,0.589710221283,0.0100907959424,1.05003224045,0.560280673031,0.0187625362433,1.04970037653
+340,5.666666667,pose2_to_pose3_retreat,0.589019119325,0.0100908030604,1.05003230256,0.559589571117,0.018762543346,1.04970043315
+341,5.683333333,pose2_to_pose3_retreat,0.588336686844,0.0100908115894,1.05003224177,0.558907138623,0.0187625518626,1.04970037299
+342,5.700000000,pose2_to_pose3_retreat,0.587657295415,0.010090799814,1.05003220165,0.558227746782,0.01876253902,1.04970034205
+343,5.716666667,pose2_to_pose3_retreat,0.586980864849,0.0100907248042,1.05003217498,0.557551316504,0.0187624651508,1.04970032157
+344,5.733333333,pose2_to_pose3_retreat,0.586312471638,0.0100906263139,1.05003222622,0.556882924481,0.0187623702327,1.04970036013
+345,5.750000000,pose2_to_pose3_retreat,0.585657860131,0.0100907315579,1.05003219611,0.556228311321,0.0187624701252,1.04970033569
+346,5.766666667,pose2_to_pose3_retreat,0.585025476069,0.0100907639309,1.05003227801,0.555595927408,0.0187625032938,1.04970042478
+347,5.783333333,pose2_to_pose3_retreat,0.58442564421,0.0100907953438,1.05003252544,0.554996096261,0.0187625366766,1.04970066068
+348,5.800000000,pose2_to_pose3_retreat,0.583859227357,0.0100907810606,1.05003254919,0.554429679756,0.0187625232015,1.04970067456
+349,5.816666667,pose2_to_pose3_retreat,0.583317565205,0.0100907800723,1.0500324486,0.55388801747,0.0187625217395,1.04970057342
+350,5.833333333,pose2_to_pose3_retreat,0.582792778842,0.0100908042854,1.05003237021,0.553363230412,0.0187625437507,1.04970049922
+351,5.850000000,pose2_to_pose3_retreat,0.582278060158,0.0100908013775,1.05003227356,0.552848511184,0.0187625391382,1.04970040628
+352,5.866666667,pose2_to_pose3_retreat,0.581775096832,0.010090731391,1.05003199886,0.552345548858,0.0187624727366,1.04970013643
+353,5.883333333,pose2_to_pose3_retreat,0.581287206937,0.0100908274981,1.05003223592,0.551857658119,0.0187625658109,1.04970036908
+354,5.900000000,pose2_to_pose3_retreat,0.58082585544,0.0100907622717,1.05003220771,0.551396306391,0.0187624999548,1.04970034481
+355,5.916666667,pose2_to_pose3_retreat,0.580391476548,0.0100907986176,1.05003233195,0.550961926427,0.0187625324223,1.04970046348
+356,5.933333333,pose2_to_pose3_retreat,0.579980357125,0.0100908622129,1.05003245314,0.550550807689,0.0187625981542,1.04970057997
+357,5.950000000,pose2_to_pose3_retreat,0.579586568932,0.0100909018776,1.05003233961,0.550157019132,0.0187626367243,1.04970047013
+358,5.966666667,pose2_to_pose3_retreat,0.579207032194,0.0100908331494,1.05003221581,0.549777483589,0.0187625722883,1.04970035226
+359,5.983333333,pose2_to_pose3_retreat,0.578844798453,0.0100907706852,1.05003231798,0.549415251467,0.0187625153175,1.04970045412
+360,6.000000000,pose2_to_pose3_retreat,0.578504002002,0.0100907757096,1.05003237211,0.549074454794,0.0187625196503,1.04970050993
+361,6.016666667,pose2_to_pose3_retreat,0.578193527558,0.0100907089425,1.05003218673,0.548763980382,0.0187624531859,1.0497003295
+362,6.033333333,pose2_to_pose3_retreat,0.577913875052,0.0100906749128,1.05003228563,0.548484326838,0.0187624149871,1.04970041151
+363,6.050000000,pose2_to_pose3_retreat,0.577667213724,0.0100907624489,1.05003250712,0.548237664017,0.0187624973051,1.04970062907
+364,6.066666667,pose2_to_pose3_retreat,0.577442149468,0.0100907718531,1.05003216398,0.548012600714,0.0187625105698,1.04970030261
+365,6.083333333,pose2_to_pose3_retreat,0.57723407686,0.0100907024108,1.05003225359,0.547804529007,0.018762444032,1.04970038805
+366,6.100000000,pose2_to_pose3_retreat,0.577036861642,0.0100907048694,1.05003239896,0.547607313691,0.0187624461785,1.04970053394
+367,6.116666667,pose2_to_pose3_retreat,0.576850164435,0.0100907467227,1.05003249748,0.547420616396,0.0187624877643,1.04970063328
+368,6.133333333,pose2_to_pose3_retreat,0.576678543408,0.01009067698,1.05003257546,0.547248996863,0.0187624227896,1.04970070332
+369,6.150000000,pose2_to_pose3_retreat,0.576521940436,0.0100905432539,1.05003245281,0.547092395518,0.0187622949822,1.04970059101
+370,6.166666667,pose2_to_pose3_retreat,0.576382405223,0.010090639611,1.05003260843,0.546952858897,0.0187623860285,1.04970073297
+371,6.183333333,pose2_to_pose3_retreat,0.576260495056,0.0100906255713,1.05003215292,0.54683094848,0.0187623713369,1.04970028256
+372,6.200000000,pose2_to_pose3_retreat,0.576157455054,0.0100906621539,1.05003211931,0.546727906741,0.0187624020158,1.04970024873
+373,6.216666667,pose2_to_pose3_retreat,0.576067518092,0.0100907083939,1.05003209811,0.546637969472,0.0187624473837,1.04970023247
+374,6.233333333,pose2_to_pose3_retreat,0.575990014575,0.0100907054894,1.05003217347,0.546560467738,0.0187624505002,1.04970030729
+375,6.250000000,pose2_to_pose3_retreat,0.575923764402,0.0100907241425,1.05003222497,0.546494217761,0.018762469886,1.04970036051
+376,6.266666667,pose2_to_pose3_retreat,0.575866616783,0.0100907618974,1.05003223322,0.546437068744,0.0187625030913,1.04970037382
+377,6.283333333,pose2_to_pose3_retreat,0.57581830773,0.0100907387691,1.05003234945,0.546388760689,0.0187624831443,1.04970048453
+378,6.300000000,pose2_to_pose3_retreat,0.575777910399,0.0100908915739,1.0500323887,0.546348360141,0.0187626246071,1.04970051275
+379,6.316666667,pose2_to_pose3_retreat,0.575745466475,0.0100909027105,1.05003236547,0.546315915444,0.0187626333952,1.04970049669
+380,6.333333333,pose2_to_pose3_retreat,0.575720906586,0.0100907638183,1.05003223051,0.546291358115,0.0187625034101,1.04970036749
+381,6.350000000,pose2_to_pose3_retreat,0.575702844017,0.0100907775569,1.05003238975,0.546273295341,0.0187625163764,1.04970052494
+382,6.366666667,pose2_to_pose3_retreat,0.575690388571,0.0100908108849,1.05003235173,0.546260839066,0.0187625466926,1.04970048171
+383,6.383333333,pose2_to_pose3_retreat,0.57568157204,0.0100908337128,1.05003223467,0.546252022406,0.0187625690783,1.04970036462
+384,6.400000000,pose2_to_pose3_retreat,0.575675595763,0.0100908471518,1.05003219498,0.546246047225,0.0187625866327,1.04970033521
+385,6.416666667,pose2_to_pose3_retreat,0.575671667731,0.0100908009608,1.05003230684,0.546242119752,0.0187625419683,1.04970043731
+386,6.433333333,pose2_to_pose3_retreat,0.57566933383,0.0100907635165,1.05003239836,0.546239786153,0.0187625052168,1.04970052005
+387,6.450000000,pose2_to_pose3_retreat,0.575668021773,0.0100907671813,1.050032372,0.546238474148,0.0187625093248,1.04970050069
+388,6.466666667,pose2_to_pose3_retreat,0.575667386233,0.0100907694416,1.0500323577,0.54623783863,0.0187625118007,1.04970049001
+389,6.483333333,pose2_to_pose3_retreat,0.575667256513,0.0100907699029,1.05003235478,0.546237708915,0.0187625123061,1.04970048784
+390,6.500000000,pose2_to_pose3_retreat,0.575667175809,0.0100907701899,1.05003235297,0.546237628214,0.0187625126205,1.04970048648
+391,6.516666667,pose2_to_pose3_retreat,0.57566704303,0.0100907706621,1.05003234998,0.54623749544,0.0187625131378,1.04970048425
+392,6.533333333,pose2_to_pose3_retreat,0.575666644359,0.01009077208,1.05003234101,0.546237096783,0.0187625146909,1.04970047756
+393,6.550000000,pose2_to_pose3_retreat,0.575666119453,0.0100907688624,1.05003235553,0.546236571973,0.0187625118492,1.04970049342
+394,6.566666667,pose2_to_pose3_retreat,0.575665882653,0.0100907647105,1.05003237606,0.546236335256,0.0187625079719,1.04970051369
+395,6.583333333,pose2_to_pose3_retreat,0.575665753787,0.010090762451,1.05003238724,0.546236206436,0.0187625058618,1.04970052471
+396,6.600000000,pose2_to_pose3_retreat,0.575665572897,0.0100907592794,1.05003240292,0.54623602561,0.0187625028999,1.04970054019
+397,6.616666667,pose2_to_pose3_retreat,0.575665571898,0.0100907592619,1.05003240301,0.546236024611,0.0187625028836,1.04970054028
+398,6.633333333,pose2_to_pose3_retreat,0.575665435268,0.0100907568663,1.05003241486,0.546235888029,0.0187625006464,1.04970055197
+399,6.650000000,pose2_to_pose3_retreat,0.575665391634,0.0100907561012,1.05003241864,0.546235844411,0.018762499932,1.04970055571
+400,6.666666667,pose2_to_pose3_retreat,0.575665332303,0.010090755061,1.05003242379,0.546235785101,0.0187624989605,1.04970056078
+401,6.683333333,pose2_to_pose3_retreat,0.575665214448,0.0100907529945,1.050032434,0.546235667288,0.0187624970307,1.04970057087
+402,6.700000000,pose2_to_pose3_retreat,0.575665128332,0.0100907514846,1.05003244147,0.546235581202,0.0187624956207,1.04970057824
+403,6.716666667,pose2_to_pose3_retreat,0.575665068912,0.0100907504428,1.05003244662,0.546235521803,0.0187624946477,1.04970058332
+404,6.733333333,pose2_to_pose3_retreat,0.575665004212,0.0100907493084,1.05003245223,0.546235457127,0.0187624935883,1.04970058886
+405,6.750000000,pose2_to_pose3_retreat,0.575664856685,0.0100907566498,1.0500324674,0.546235309528,0.0187625006095,1.04970060193
+406,6.766666667,pose2_to_pose3_retreat,0.575664817071,0.0100907613629,1.05003247213,0.546235269861,0.018762505101,1.04970060557
+407,6.783333333,pose2_to_pose3_retreat,0.575664723687,0.0100907724734,1.05003248327,0.546235176353,0.0187625156889,1.04970061413
+408,6.800000000,pose2_to_pose3_retreat,0.575664665943,0.0100907793436,1.05003249016,0.546235118531,0.0187625222359,1.04970061943
+409,6.816666667,pose2_to_pose3_retreat,0.575664596453,0.0100907876112,1.05003249845,0.546235048949,0.0187625301147,1.04970062581
+410,6.833333333,pose2_to_pose3_retreat,0.575664575246,0.0100907901344,1.05003250099,0.546235027713,0.0187625325192,1.04970062775
+411,6.850000000,pose2_to_pose3_retreat,0.575664536467,0.0100907947481,1.05003250561,0.546234988882,0.0187625369159,1.04970063131
+412,6.866666667,pose2_to_pose3_retreat,0.575664446667,0.0100907996937,1.05003247312,0.546234899054,0.0187625417607,1.04970059871
+413,6.883333333,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ac0755db2cafb1dc1c00fd525c5405d7ed343d7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a30ca922b44207f4c8823b647d680a604b3dac380d5d8e2ac1af7dea3c50257f
+size 26339481
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e11d001c1cf9d382f5e10260c0317b7a88f0b84
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/franka_data.csv
@@ -0,0 +1,416 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,715,679,666,635,879,788,804,653,631,653,0.400970141024,0.00453523078831,0.0598467874992,0.999999954761,0.000152104977473,-0.000258160837669,2.63642456182e-05,1793239681277765376
+1,0.016666667,BASELINE,766,745.420720002,714.420720002,679.579279998,666,635.579279998,879,788,804,653,631,653,0.40096897264,0.00453540689276,0.0598462787335,0.999999954332,0.000151965192065,-0.000259910025437,2.62628969837e-05,1793239681294432768
+2,0.033333333,BASELINE,765.841772899,745.158227101,714,680,666,636,879.158227101,787.841772899,803.841772899,653,631,653,0.400968227015,0.00453512092492,0.0598460253713,0.999999954136,0.000151398902799,-0.000260985276168,2.63156973436e-05,1793239681311099904
+3,0.050000000,BASELINE,765.263708968,745.736291032,714,680,666,636,879.736291032,787.263708968,803.263708968,653,631,653,0.400968603131,0.00453360890315,0.0598464496917,0.999999954565,0.000149700936142,-0.00026027231536,2.67775137394e-05,1793239681327765760
+4,0.066666667,BASELINE,765,746,714,679.691498071,666,636,879.691498071,787.308501929,803.308501929,653,631,653,0.400968539037,0.00453308486499,0.0598462430395,0.999999954671,0.000148827611728,-0.000260351440604,2.6919552791e-05,1793239681344432128
+5,0.083333333,BASELINE,765,746,714,679.124197255,666,636,879.124197255,787.875802745,803.875802745,653,631,653,0.400968105654,0.00453338963556,0.0598455070713,0.999999954508,0.000148646070754,-0.000261095038201,2.67933341055e-05,1793239681361098752
+6,0.100000000,BASELINE,765,746,714,679.466974059,666,636,879,788,803.533025941,653,631.466974059,653,0.400968407484,0.0045329574854,0.0598455244782,0.999999954611,0.000147857948632,-0.000261144446963,2.68204875005e-05,1793239681377765376
+7,0.116666667,BASELINE,765.062725735,746,714,680,666,635.937274265,879.062725735,787.937274265,803.062725735,653,632,653,0.400968719146,0.00453239134236,0.0598457241814,0.999999954773,0.000146882369863,-0.000261069765241,2.68603517559e-05,1793239681394431744
+8,0.133333333,BASELINE,765.641128506,746,714,680,666,635.358871494,879.641128506,787.358871494,803.641128506,653,632,653,0.400967417494,0.00453242171063,0.0598456865663,0.999999954811,0.000145763427934,-0.000261574536779,2.66512986812e-05,1793239681411098368
+9,0.150000000,BASELINE,766,746,714.217922736,680,666,635,879.782077264,787.217922736,804,653,632,652.782077264,0.400966851862,0.00453269721188,0.0598456970939,0.999999954723,0.000146270030443,-0.000261641288205,2.65025158087e-05,1793239681427765248
+10,0.166666667,BASELINE,766,746,714.7920874,680,666,635,879.2079126,787.7920874,804,653,632,652.2079126,0.400967489414,0.0045333734361,0.0598457863215,0.999999954426,0.000149433937656,-0.000260992000799,2.64522576606e-05,1793239681444431872
+11,0.183333333,BASELINE,766,745.623935529,715,680,666,635.376064471,879,788,804,653,632,652.376064471,0.400968189064,0.00453383622486,0.0598461320931,0.99999995455,0.000149767951422,-0.000260330022832,2.64091481022e-05,1793239681461098496
+12,0.200000000,BASELINE,766,745.034388134,715,680,666,635.965611866,879,788,804,653,632,652.965611866,0.400968923967,0.00453417785139,0.0598466234989,0.999999954915,0.000148495501761,-0.000259660840672,2.63700966249e-05,1793239681477765376
+13,0.216666667,BASELINE,766,746.092216116,714.453891942,680,666,635.453891942,879,787.453891942,804,653,631.453891942,653,0.400968833406,0.00453351532377,0.0598469740176,0.999999954748,0.000148602520239,-0.000260194949389,2.68214494222e-05,1793239681494431744
+14,0.233333333,BASELINE,765.875322141,746.750644283,714.124677859,680,666,635.124677859,879,787.124677859,804,653,631,653,0.400968766033,0.00453296319731,0.0598472812569,0.999999954704,0.000148559992253,-0.0002603653886,2.70439197145e-05,1793239681511098624
+15,0.250000000,BASELINE,765.301670287,745.603340574,714.698329713,680,666,635.698329713,879,787.698329713,804,653,631,653,0.400968966291,0.0045330326204,0.0598474640706,0.99999995522,0.000147671231677,-0.000258957820969,2.63327777961e-05,1793239681527765248
+16,0.266666667,BASELINE,765,745.273906678,715,679.726093322,666,635.726093322,879,787.726093322,804,653,631,653,0.400968857898,0.00453280935203,0.0598476377094,0.9999999555,0.000146906526237,-0.000258328136221,2.61675468806e-05,1793239681544431872
+17,0.283333333,BASELINE,765,745.851618861,715,679.148381139,666,635.148381139,879,787.148381139,804,653,631,653,0.400968407162,0.0045322614429,0.0598478011721,0.99999995552,0.000146279417468,-0.000258561245785,2.66078170055e-05,1793239681561098496
+18,0.300000000,BASELINE,765.436742402,746,715,679.436742402,666,635.436742402,879,787.436742402,804,653,631.436742402,653,0.400969244542,0.00453321919727,0.0598478437911,0.999999955375,0.000147904244951,-0.000258205047344,2.65571793545e-05,1793239681577765120
+19,0.316666667,BASELINE,766,746,714.975932536,680,666,636,879.024067464,788,804,653,631.975932536,653,0.400970396027,0.00453456465067,0.0598478219057,0.999999955175,0.000150079092188,-0.000257744308164,2.63510150403e-05,1793239681594431744
+20,0.333333333,BASELINE,766,746,714.39690643,680,666,636,879.60309357,788,804,653,631.39690643,653,0.400968524956,0.00453285085895,0.0598472756755,0.999999955158,0.000146990336833,-0.000259569355042,2.64708053976e-05,1793239681611099904
+21,0.350000000,BASELINE,765.818841105,745.818841105,714,679.818841105,666,635.818841105,880,787.818841105,804,653,631.181158895,653,0.400967312772,0.00453199727685,0.0598469242671,0.999999955139,0.000145201219774,-0.000260655835989,2.64010126606e-05,1793239681627767296
+22,0.366666667,BASELINE,765.242869754,745.242869754,714,679.242869754,666,635.242869754,880,787.242869754,804,653,631.757130246,653,0.400967536545,0.00453301841095,0.0598469974477,0.999999955136,0.000146244497246,-0.000260132707471,2.59180479949e-05,1793239681644432896
+23,0.383333333,BASELINE,765.339479165,745.339479165,714,679.339479165,666,635,879.660520835,787,804,653,632,653,0.400968083557,0.00453351224129,0.0598470620866,0.99999995497,0.000148868940049,-0.000259277403777,2.59593731967e-05,1793239681661099264
+24,0.400000000,BASELINE,765.926478134,745.926478134,714,679.926478134,666,635,879.073521866,787,804,653,632,653,0.400968866248,0.00453362160594,0.0598471204974,0.999999954673,0.000152646236422,-0.000258179905681,2.63829666521e-05,1793239681677765632
+25,0.416666667,BASELINE,765.4929576,746,714,680,666,635,879.5070424,787,804,653,631.4929576,653,0.400967605142,0.00453403247011,0.0598467662971,0.999999954463,0.000151927288688,-0.000259404697096,2.64939646637e-05,1793239681694432256
+26,0.433333333,BASELINE,765,745.91370783,714,680,665.91370783,635,879.91370783,787.08629217,804,653,631.08629217,653,0.400966345916,0.0045344177896,0.0598464033823,0.999999954337,0.000150422756471,-0.000260763435318,2.64928714975e-05,1793239681711098624
+27,0.450000000,BASELINE,765,745.336693564,714,680,665.336693564,635,879.336693564,787.663306436,804,653,631.663306436,653,0.400966761549,0.00453441234594,0.0598463268799,0.999999954632,0.000148111882989,-0.000260992963839,2.61088756759e-05,1793239681727765504
+28,0.466666667,BASELINE,765.240161668,745.240161668,714,680,665.240161668,635,879,787.759838332,803.759838332,653,631.759838332,653,0.400967430725,0.00453465220685,0.0598467201902,0.999999954795,0.000147863061416,-0.000260514529726,2.60623119629e-05,1793239681744432384
+29,0.483333333,BASELINE,765.816794057,745.816794057,714,680,665.816794057,635,879,787.183205943,803.183205943,653,631.183205943,653,0.400968455118,0.00453523574379,0.0598477717164,0.999999954772,0.000150503210977,-0.000259044227497,2.6488496592e-05,1793239681761099008
+30,0.500000000,BASELINE,765.600664278,746,714,680,666,635.399335722,879.399335722,787.399335722,803.399335722,653,631,652.600664278,0.400969396466,0.0045340612369,0.0598482706008,0.99999995519,0.000149606673698,-0.000257940567191,2.65435975213e-05,1793239681777765888
+31,0.516666667,BASELINE,765.01537087,746,714,680,666,635.98462913,879.98462913,787.98462913,803.98462913,653,631,652.01537087,0.400970299143,0.00453206806605,0.0598485121377,0.999999955811,0.000147063216067,-0.000257007640172,2.64258968036e-05,1793239681794432512
+32,0.533333333,BASELINE,765.567195257,746,714.567195257,680,666,636,879.432804743,788,803.432804743,653,631,652.567195257,0.40096986376,0.00453324658324,0.0598481362887,0.999999955691,0.000147784507166,-0.000257081819154,2.6208229477e-05,1793239681811099136
+33,0.550000000,BASELINE,766,746,714.852613292,680,666,636,879.147386708,787.852613292,803.147386708,653,631,653,0.400969292682,0.00453402153786,0.0598477645302,0.999999955567,0.000148023123726,-0.000257442821124,2.60557960469e-05,1793239681827765504
+34,0.566666667,BASELINE,766,746,714.279075361,680,666,636,879.720924639,787.279075361,803.720924639,653,631,653,0.400968433601,0.0045333823079,0.0598474527437,0.999999955487,0.000146611555914,-0.000258554602803,2.60997742293e-05,1793239681844432128
+35,0.583333333,BASELINE,766,745.704410816,714,680,666,635.704410816,879.704410816,787,803.704410816,653,631.295589184,653,0.400967509339,0.0045331234997,0.0598468979692,0.999999955276,0.000146046466853,-0.000259686827513,2.60972572562e-05,1793239681861098752
+36,0.600000000,BASELINE,766,745.128678459,714,680,666,635.128678459,879.128678459,787,803.128678459,653,631.871321541,653,0.400966523302,0.00453322523423,0.0598461129039,0.999999954943,0.000146283623634,-0.000260838427136,2.60506747372e-05,1793239681877765632
+37,0.616666667,BASELINE,765.542411444,745.457588556,714.457588556,680,666.457588556,635.457588556,879,787.457588556,803.457588556,653,632,653,0.400967801106,0.00453335367953,0.0598470042902,0.999999955357,0.000146775998623,-0.000258962442324,2.60836070909e-05,1793239681894432256
+38,0.633333333,BASELINE,765.046217368,745.953782632,715,679.953782632,666.953782632,636,879,787.953782632,804,653,631.953782632,653,0.400969517623,0.00453350688309,0.0598482157119,0.999999955886,0.000147366661725,-0.000256570876306,2.61239026312e-05,1793239681911099136
+39,0.650000000,BASELINE,765.627090503,745.372909497,715,679.372909497,666.372909497,636,879,787.372909497,804,653,631.372909497,653,0.400968771209,0.00453385755652,0.0598475471868,0.999999955316,0.000148244530867,-0.000258296094883,2.59846109559e-05,1793239681927765760
+40,0.666666667,BASELINE,765.794171921,745,715,679.411656158,665.794171921,636,879,787.205828079,803.794171921,653,631,653,0.400968123185,0.00453402356934,0.0598471996452,0.999999955113,0.000147922588862,-0.000259281818392,2.58083615825e-05,1793239681944432384
+41,0.683333333,BASELINE,765.219263752,745,715,680.561472495,665.219263752,636,879,787.780736248,803.219263752,653,631,653,0.400967651587,0.00453385845846,0.0598474276744,0.99999995557,0.000145449208532,-0.000258941518113,2.55658416162e-05,1793239681961099008
+42,0.700000000,BASELINE,765.362602394,745.362602394,714.637397606,681,665,635.637397606,879,787.637397606,803.362602394,653,631,653,0.400967780593,0.00453390476437,0.0598472785359,0.999999955462,0.000145826888068,-0.000259133935542,2.56855600946e-05,1793239681977765632
+43,0.716666667,BASELINE,765.948758288,745.948758288,714.051241712,681,665,635.051241712,879,787.051241712,803.948758288,653,631,653,0.400968279887,0.00453408141404,0.0598468968641,0.999999955005,0.000147962317838,-0.000259654786854,2.60286076974e-05,1793239681994432256
+44,0.733333333,BASELINE,766,745.469709388,714,679.939418776,665.530290612,635,879,787,804,653,631.530290612,653,0.400968995697,0.00453409324982,0.059847600753,0.99999995533,0.000148781327906,-0.000257934222823,2.59510212925e-05,1793239682011098880
+45,0.750000000,BASELINE,765.89016991,745.10983009,714,679.10983009,665.89016991,635,879,787,804,653,632,653,0.400969486487,0.00453392902229,0.0598482510316,0.999999955655,0.000149117278251,-0.000256480216629,2.59041361627e-05,1793239682027765504
+46,0.766666667,BASELINE,765.317166937,745.682833063,714,679.682833063,665.317166937,635,879,787,804,653,632,653,0.400968940854,0.00453308888643,0.0598482366802,0.999999955675,0.000147947889269,-0.000257055822405,2.61566520527e-05,1793239682044432128
+47,0.783333333,BASELINE,765.257125468,746,714,680,665.257125468,635.257125468,879.257125468,787.257125468,803.742874532,653,632,652.742874532,0.400968753066,0.0045329256446,0.0598482280521,0.999999955724,0.000147394556848,-0.000257173460408,2.62528510031e-05,1793239682061099008
+48,0.800000000,BASELINE,765.833016495,746,714,680,665.833016495,635.833016495,879.833016495,787.833016495,803.166983505,653,632,652.166983505,0.40096900891,0.00453360156693,0.0598482265197,0.999999955811,0.000147604966641,-0.000256723343166,2.61552595508e-05,1793239682077765632
+49,0.816666667,BASELINE,766,745.592844962,714,680,666,636,880,787.592844962,803.407155038,653,632,652.407155038,0.400968232776,0.00453365934492,0.0598474158871,0.999999955537,0.000147696090924,-0.00025774815068,2.60195918914e-05,1793239682094432256
+50,0.833333333,BASELINE,766,745.019422108,714,680,666,636,880,787.019422108,803.980577892,653,632,652.980577892,0.400967035219,0.00453346469444,0.0598462748464,0.999999955114,0.00014773850318,-0.000259375265686,2.58683752524e-05,1793239682111098880
+51,0.850000000,BASELINE,766,745,714.577709461,680,666,636,879.422290539,787,804,653,632,653,0.400969628156,0.00453187346131,0.0598474093751,0.999999955783,0.000147111092907,-0.000257111542499,2.61793720635e-05,1793239682127765248
+52,0.866666667,BASELINE,765.831198281,745.168801719,714.831198281,680,666,636,879,787,804,653,632,653,0.400971066654,0.0045308410506,0.0598481329576,0.999999956167,0.000146820101043,-0.000255768488758,2.63271408621e-05,1793239682144432128
+53,0.883333333,BASELINE,765.256621717,745.743378283,714.256621717,680,666,636,879,787,804,653,632,653,0.400969410605,0.00453126966381,0.0598476769128,0.999999955782,0.00014739425899,-0.000256966487957,2.60435805417e-05,1793239682161098752
+54,0.900000000,BASELINE,765,746,714,679.67430584,666,635.67430584,879,787,803.67430584,653,631.67430584,653,0.400968324822,0.00453193467926,0.0598474134478,0.999999955602,0.000147195960646,-0.000257792768033,2.59353447232e-05,1793239682177765376
+55,0.916666667,BASELINE,765,746,714,679.085743584,666,635.085743584,879,787,803.085743584,653,631.085743584,653,0.400967699303,0.0045327904952,0.0598473054141,0.999999955586,0.000146374212,-0.000258319033162,2.59686135063e-05,1793239682194432512
+56,0.933333333,BASELINE,765.495313303,746,714,679.495313303,665.504686697,635.495313303,879,787,803.495313303,653,631,653,0.400967773943,0.00453417532152,0.059847058404,0.999999955341,0.000147502420895,-0.000258652479427,2.57058884432e-05,1793239682211099136
+57,0.950000000,BASELINE,766,746,714,679.925507165,665.074492835,636,879,787,803.925507165,653,631,653,0.400968030183,0.00453521422766,0.0598469483419,0.999999955174,0.000148482747496,-0.000258758130317,2.54778691029e-05,1793239682227765760
+58,0.966666667,BASELINE,766,746,714,679.3503437,665.6496563,636,879,787,803.3503437,653,631,653,0.400968704504,0.00453332187742,0.0598479179975,0.999999955807,0.000146234274215,-0.000257553747672,2.58223517831e-05,1793239682244432128
+59,0.983333333,BASELINE,766,746,714.225242842,679.225242842,666,636,879,787,803.225242842,653,631,653,0.400969213423,0.00453279918356,0.059848306277,0.999999955981,0.000146255580368,-0.000256847679854,2.60271505502e-05,1793239682261098752
+60,1.000000000,BASELINE,766,746,714.801488768,679.801488768,666,636,879,787,803.801488768,653,631,653,0.40096946459,0.00453441086851,0.0598477885797,0.999999955436,0.000149813955661,-0.000256918151693,2.60142754855e-05,1793239682277765120
+61,1.016666667,BASELINE,766,746,714.6130558,679.6130558,665.6130558,636,879,787,803.6130558,653,631,653,0.40096973879,0.00453361298466,0.0598483332009,0.999999955611,0.000149856263369,-0.000256193975639,2.61746255477e-05,1793239682294431744
+62,1.033333333,BASELINE,766,746,714.022760524,679.022760524,665.022760524,636,879,787,803.022760524,653,631,653,0.400970025095,0.00453154879821,0.0598494361033,0.999999956166,0.000148050769231,-0.000255052187678,2.64260107415e-05,1793239682311098624
+63,1.050000000,BASELINE,766,746,714,679.552847977,665.552847977,635.447152023,879,787,803.552847977,653,631,653,0.400969550879,0.00453060685418,0.0598484581264,0.999999956055,0.000146869368608,-0.000256156591022,2.65263481703e-05,1793239682327765248
+64,1.066666667,BASELINE,766,746,714,680,666,635.128055958,879,787,803.871944042,653,631,653,0.400969116046,0.00453042027788,0.0598476286277,0.999999955869,0.000146532758891,-0.000257076954819,2.64842099178e-05,1793239682344431872
+65,1.083333333,BASELINE,766,746,714,680,666,635.703923034,879,787,803.296076966,653,631,653,0.400968925594,0.0045327178312,0.0598476101878,0.999999955519,0.000149062853792,-0.000257038717802,2.59650184067e-05,1793239682361098752
+66,1.100000000,BASELINE,765.719740767,745.719740767,714.280259233,679.719740767,665.719740767,635.719740767,879,787.280259233,803.280259233,652.719740767,631.280259233,653,0.400968476076,0.0045337031384,0.0598476500795,0.999999955404,0.000149440625683,-0.00025728259159,2.57863714498e-05,1793239682377765376
+67,1.116666667,BASELINE,765.142908173,745.142908173,714.857091827,679.142908173,665.142908173,635.142908173,879,787.857091827,803.857091827,652.142908173,631.857091827,653,0.400967752413,0.00453329981237,0.0598477516983,0.999999955542,0.000147540785843,-0.000257824998096,2.59680924689e-05,1793239682394432000
+68,1.133333333,BASELINE,765,745,715,679.444969631,665.444969631,635,879.444969631,788,804,652.444969631,631.555030369,653,0.40096840641,0.00453279822215,0.0598478748875,0.999999955786,0.000146650509533,-0.000257377780416,2.60312905197e-05,1793239682411098624
+69,1.150000000,BASELINE,765.035623314,745,715,680,666,635,879.964376686,787.964376686,803.964376686,653,631.035623314,653,0.400969451362,0.00453233208735,0.0598480231141,0.999999956055,0.000146199722628,-0.000256588288969,2.60521835174e-05,1793239682427765248
+70,1.166666667,BASELINE,765.613167069,745,715,680,666,635,879.386832931,787.386832931,803.386832931,653,631.613167069,653,0.400969541526,0.00453289763052,0.0598484441514,0.999999956149,0.000147376690064,-0.000255550042263,2.60233188493e-05,1793239682444431872
+71,1.183333333,BASELINE,766,745.18986505,715,680,666,635.18986505,879,787,803.18986505,653,631.81013495,653,0.400969087078,0.00453337627363,0.0598481730398,0.999999955858,0.000148738933709,-0.000255903826869,2.59776782037e-05,1793239682461098752
+72,1.200000000,BASELINE,766,745.76484759,715,680,666,635.76484759,879,787,803.76484759,653,631.23515241,653,0.400967527951,0.00453367865097,0.0598464979909,0.999999954781,0.000150476987169,-0.000259081172581,2.58980095821e-05,1793239682477765632
+73,1.216666667,BASELINE,766,746,714.65311226,679.65311226,666,635.65311226,879,787,803.65311226,653,631,652.65311226,0.400967437827,0.00453374264053,0.0598464943291,0.999999954776,0.000150132337489,-0.000259315118142,2.57838948144e-05,1793239682494432256
+74,1.233333333,BASELINE,766,746,714.066188488,679.066188488,666,635.066188488,879,787,803.066188488,653,631,652.066188488,0.400968364208,0.00453364167279,0.0598476472179,0.999999955512,0.00014834651887,-0.000257512317867,2.56459443396e-05,1793239682511098880
+75,1.250000000,BASELINE,766,746,714,679.517073985,666,635.517073985,879,787.517073985,803,653,631,652.517073985,0.400968606091,0.00453302390132,0.0598478370193,0.999999955569,0.000148071577814,-0.00025744632022,2.56700714105e-05,1793239682527765504
+76,1.266666667,BASELINE,765.901127439,745.901127439,714,680,665.901127439,636,879,787.901127439,803.098872561,653,631.098872561,653,0.400968522228,0.0045325685381,0.0598477955066,0.999999955504,0.000148114051276,-0.000257667595453,2.57078049137e-05,1793239682544432128
+77,1.283333333,BASELINE,765.324157233,745.324157233,714,680,665.324157233,636,879,787.324157233,803.675842767,653,631.675842767,653,0.400967283934,0.00453321613654,0.0598472274082,0.999999955268,0.000148762765953,-0.000258210504274,2.57117162256e-05,1793239682561098752
+78,1.300000000,BASELINE,765.251820285,745,714,680,665.251820285,635.748179715,879.251820285,787,804,653,631.748179715,653,0.400967358725,0.00453352189161,0.0598475193526,0.999999955368,0.000148841733666,-0.00025776562427,2.58441846904e-05,1793239682577765632
+79,1.316666667,BASELINE,765.826524934,745,714,680,665.826524934,635.173475066,879.826524934,787,804,653,631.173475066,653,0.400969117156,0.00453338933455,0.0598489140452,0.999999955896,0.00014819017088,-0.000256054199845,2.61414893376e-05,1793239682594432000
+80,1.333333333,BASELINE,766,745.41020437,714,680,666,635,879.58979563,787.41020437,804,653,631,653,0.400969267855,0.00453248746271,0.0598489006054,0.999999956005,0.000147313882798,-0.00025612803157,2.61979515639e-05,1793239682611098880
+81,1.350000000,BASELINE,766,745.997764182,714,680,666,635,879.002235818,787.997764182,804,653,631,653,0.400968723436,0.00453125297089,0.0598482783475,0.999999955933,0.000146340432715,-0.000256973734241,2.61502834911e-05,1793239682627766016
+82,1.366666667,BASELINE,766,746,714,679.420271185,666,635,879,787.420271185,804,652.420271185,631,652.420271185,0.400968738146,0.00453296294707,0.0598480564309,0.999999955935,0.000146740199428,-0.000256776660077,2.57592058429e-05,1793239682644432384
+83,1.383333333,BASELINE,765.840586349,746,714,679.159413651,666,635.159413651,879,787,804,652.159413651,631,652.159413651,0.400968487658,0.00453435260602,0.0598477779188,0.999999955811,0.000147291490366,-0.000256972286667,2.54526863331e-05,1793239682661099008
+84,1.400000000,BASELINE,765.266772228,746,714,679.733227772,666,635.733227772,879,787,804,652.733227772,631,652.733227772,0.400967542227,0.0045348803537,0.0598473483096,0.99999995536,0.000148223037485,-0.000258199104798,2.53693880489e-05,1793239682677765632
+85,1.416666667,BASELINE,765.306597505,745.693402495,714,679.693402495,666,636,879,787.306597505,804,653,631.306597505,653,0.400967611766,0.00453423751062,0.0598475136553,0.99999995536,0.000148188475323,-0.000258193256365,2.56318463332e-05,1793239682694432256
+86,1.433333333,BASELINE,765.879581099,745.120418901,714,679.120418901,666,636,879,787.879581099,804,653,631.879581099,653,0.400968563156,0.00453257760416,0.0598481959251,0.999999955752,0.000147314512692,-0.000257116410154,2.61947139153e-05,1793239682711098880
+87,1.450000000,BASELINE,766,745.471549738,714.471549738,679,666,636,879,787.528450262,804,653,632,653,0.400968867731,0.00453432932482,0.0598481886601,0.999999955647,0.000149198202308,-0.000256468185643,2.58844814795e-05,1793239682727765248
+88,1.466666667,BASELINE,765.933972471,746,714.933972471,679.066027529,666,635.933972471,879,787.066027529,803.933972471,653,631.933972471,652.933972471,0.400968909027,0.00453651626057,0.0598479539772,0.999999955411,0.000151363819994,-0.00025616274624,2.54400735338e-05,1793239682744432128
+89,1.483333333,BASELINE,765.359088317,746,714.359088317,679.640911683,666,635.359088317,879,787.640911683,803.359088317,653,631.359088317,652.359088317,0.400968247665,0.00453506134579,0.0598473806154,0.999999955227,0.000150047296263,-0.000257620121995,2.57520035764e-05,1793239682761099008
+90,1.500000000,BASELINE,765,746,714,680,666,635,879,788,803.215798328,653,631,652.215798328,0.400967691741,0.00453380986842,0.0598469548722,0.999999955167,0.000148615016551,-0.000258663589759,2.59259926074e-05,1793239682777765888
+91,1.516666667,BASELINE,765,746,714,680,666,635,879,788,803.790689061,653,631,652.790689061,0.400967311267,0.00453289691484,0.0598467747687,0.999999955317,0.00014699011688,-0.000259018306834,2.58704452161e-05,1793239682794432512
+92,1.533333333,BASELINE,765.374475428,746,714,679.625524572,665.625524572,635,879,787.625524572,804,653,631,653,0.400967632896,0.00453321651423,0.0598471335097,0.999999955459,0.000147058759812,-0.000258445276222,2.57356594124e-05,1793239682811099136
+93,1.550000000,BASELINE,765.963355002,746,714,679.036644998,665.036644998,635,879,787.036644998,804,653,631,653,0.40096835651,0.00453424180596,0.0598478007634,0.999999955595,0.000148097032456,-0.000257341068063,2.55555060227e-05,1793239682827765504
+94,1.566666667,BASELINE,766,746,714,679,665.544453554,635,879,787,803.455546446,653,631,653,0.40096837692,0.00453470952654,0.0598486078406,0.999999955527,0.000149288484169,-0.00025688870745,2.58212448321e-05,1793239682844431872
+95,1.583333333,BASELINE,766,745.876413409,714,679,666,635.123586591,879.123586591,787,803.123586591,653,631.123586591,653,0.400968205115,0.00453486148749,0.059848992687,0.999999955408,0.000150143198425,-0.000256834214637,2.60040390442e-05,1793239682861098496
+96,1.600000000,BASELINE,766,745.30256007,714,679,666,635.69743993,879.69743993,787,803.69743993,653,631.69743993,653,0.400967503013,0.00453399783203,0.0598478054033,0.999999955157,0.000149734034283,-0.000258071692904,2.57768386045e-05,1793239682877765120
+97,1.616666667,BASELINE,765.727981086,745,714,679.272018914,666,635.727981086,879.727981086,787,804,653,632,653,0.400967082001,0.00453432834326,0.0598471523284,0.999999955075,0.000149717893199,-0.000258412103126,2.56611639669e-05,1793239682894432000
+98,1.633333333,BASELINE,765.15259286,745,714,679.84740714,666,635.15259286,879.15259286,787,804,653,632,653,0.400966974477,0.00453599064989,0.0598470950303,0.999999955181,0.00015014007142,-0.000257752057417,2.56698685828e-05,1793239682911098880
+99,1.650000000,BASELINE,765.434883196,745.434883196,714,680,665.565116804,635,879,787,803.565116804,653,631.565116804,652.565116804,0.400966602003,0.004533937061,0.0598467104201,0.99999995531,0.000147658732667,-0.000258658155608,2.59540574744e-05,1793239682927765504
+100,1.666666667,BASELINE,765.973851254,746,714,680,665.026148746,635.026148746,879,787,803.026148746,653,631,652.026148746,0.400966221359,0.00453070990771,0.0598463119005,0.999999955445,0.00014436716337,-0.000259953133091,2.63249913749e-05,1793239682944432128
+101,1.683333333,BASELINE,765.394707001,746,714,680,665.605292999,635.605292999,879,787,803.605292999,653,631,652.605292999,0.400967690191,0.00453102622068,0.0598481174793,0.99999995582,0.00014610227786,-0.00025751834642,2.64277428799e-05,1793239682961098752
+102,1.700000000,BASELINE,765,745.816851622,714.183148378,679.816851622,666,636,879,787,803.816851622,653,631,652.816851622,0.400968476261,0.00453158140832,0.0598489805064,0.999999955888,0.000147734069105,-0.000256322868837,2.64063830522e-05,1793239682977765376
+103,1.716666667,BASELINE,765,745.241754584,714.758245416,679.241754584,666,636,879,787,803.241754584,653,631,652.241754584,0.400967801175,0.00453264780225,0.0598478264153,0.999999955312,0.000149144742109,-0.000257779588341,2.61194174172e-05,1793239682994432000
+104,1.733333333,BASELINE,765,745.340754327,714.659245673,679.340754327,666,635.659245673,879,787,803.340754327,653,631,652.340754327,0.400968428209,0.00453259783596,0.0598483896474,0.999999955565,0.00014881829527,-0.000256976862095,2.62076680369e-05,1793239683011098624
+105,1.750000000,BASELINE,765,745.928638714,714.071361286,679.928638714,666,635.071361286,879,787,803.928638714,653,631,652.928638714,0.400969999599,0.00453173823614,0.0598501983578,0.999999956414,0.000147232012685,-0.000254535486333,2.65680419961e-05,1793239683027765504
+106,1.766666667,BASELINE,765.509042964,746,714,679.490957036,666,635.509042964,879,787,803.490957036,653,631,653,0.400969595881,0.00453304921322,0.0598502743832,0.999999956096,0.000148993501086,-0.000254794070384,2.62328575392e-05,1793239683044431872
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666,635,880,787,804,654,631,653,0.400967069701,0.00453289898914,0.059847199117,0.999999955465,0.000148716318548,-0.000257408194225,2.63384519063e-05,1793239683087597568
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.424502446,714,680,666,635,879.424502446,787.575497554,804,653.424502446,631,653,0.400968769769,0.00453272538897,0.0598485098564,0.999999955883,0.000149133678567,-0.000255544914002,2.62841158978e-05,1793239683104263936
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.844581414,745.155418586,714,680,666,635.155418586,879,787.844581414,803.844581414,653,631,653,0.400969574546,0.00453288007688,0.059849279399,0.999999956011,0.000149680383024,-0.000254727117474,2.62154761143e-05,1793239683120930304
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.252224236,745.747775764,714,680,666,635.747775764,879,787.252224236,803.252224236,653,631,653,0.400967862333,0.00453395770281,0.0598485274391,0.999999955335,0.000150590722183,-0.000256848558265,2.61066231658e-05,1793239683137596160
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635.667263828,879,787.332736172,803,653,631,653,0.400967357925,0.00453422951193,0.0598482991202,0.999999955294,0.000149798390498,-0.000257486036759,2.59654054659e-05,1793239683154262528
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635.087788499,879,787.912211501,803,653,631,653,0.40096774916,0.00453390377081,0.0598484591051,0.999999955723,0.000147743450117,-0.000257023088917,2.58001878228e-05,1793239683170929152
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.485809147,746,714,680,666,635.485809147,879,788,803.485809147,653,631,653,0.400969898765,0.0045339356038,0.0598496016548,0.999999956353,0.000147429865732,-0.000254744220705,2.57837381748e-05,1793239683187596032
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.941371566,714,680,666,635.941371566,879,788,804,653,631.058628434,653,0.400972159416,0.00453392806535,0.0598507547484,0.999999956921,0.00014735864361,-0.000252540736125,2.58060691532e-05,1793239683204262656
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.36616379,714,680,666,635.36616379,879,788,804,653,631.63383621,653,0.400972632271,0.00453301109469,0.0598504549969,0.999999956684,0.000146683430337,-0.000253858227538,2.59360605185e-05,1793239683220929536
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.785150399,745.214849601,714,680,666,635,879.214849601,788,803.785150399,653,631.785150399,653,0.400979017018,0.00453249339671,0.0598532718211,0.999999957876,0.000146402193436,-0.000249268130636,2.60671388492e-05,1793239683237596160
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.193967888,745.806032112,714,680,666,635,879.806032112,788,803.193967888,653,631.193967888,653,0.400995757098,0.00453267506923,0.0598615476737,0.999999961425,0.00014681104991,-0.000234330237293,2.62001211032e-05,1793239683254262784
+118,1.966666667,POSE1_TO_POSE2_PRESS,765,746,714,679.610388807,666,635.389611193,880,787.610388807,803.389611193,653,631.389611193,653,0.401028615446,0.00453153692442,0.0598743803623,0.99999996668,0.000145880629957,-0.00021133692434,2.63789168512e-05,1793239683270929408
+119,1.983333333,POSE1_TO_POSE2_PRESS,765,746,714,679.03052258,666,635.96947742,880,787.03052258,803.96947742,653,631.96947742,653,0.401069344672,0.00452975428612,0.0598894382469,0.999999972233,0.00014429621417,-0.000184409985474,2.65800842533e-05,1793239683287596032
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.54382492,746,714,679.54382492,666,636,879.45617508,787.54382492,804,653,632,653,0.401131369064,0.00452996599967,0.0599078307606,0.999999977418,0.000143584144201,-0.000154392823459,2.6658484824e-05,1793239683304262656
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.879243452,745.879243452,714,679.879243452,666,636,879.120756548,788,804,653,631.879243452,652.879243452,0.401197195264,0.00453036185953,0.0599252073575,0.999999981435,0.00014314326233,-0.000126210435104,2.66721949034e-05,1793239683320929536
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.29112357,745.29112357,714,679.29112357,666,636,879.70887643,788,804,653,631.29112357,652.29112357,0.401273156268,0.00453104155257,0.0599379349814,0.999999983748,0.000143564368282,-0.000105793676144,2.64619337517e-05,1793239683337595904
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,714,679.293381133,666,635.706618867,879.706618867,787.706618867,804,653,631,652.293381133,0.401355059997,0.00453168619928,0.0599449384653,0.999999985039,0.000143257335241,-9.34068193883e-05,2.59899936121e-05,1793239683354262784
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745,714,679.87434211,666,635.12565789,879.12565789,787.12565789,804,653,631,652.87434211,0.401442788937,0.0045322964926,0.0599463309969,0.999999985614,0.000142236561372,-8.88910835697e-05,2.52615489203e-05,1793239683370929664
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.451112372,745.451112372,714,679.548887628,666,635.451112372,879.451112372,787,804,653,631.451112372,653,0.401551738609,0.00453152271941,0.0599483158715,0.999999986207,0.000140696348121,-8.48505161221e-05,2.43009017112e-05,1793239683387596032
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.973330879,879.973330879,787,804,653,631.973330879,653,0.401667585182,0.00453042136559,0.0599504923912,0.999999986822,0.00013889023694,-8.07695540879e-05,2.32616947243e-05,1793239683404262912
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.398943163,879.398943163,787,804,653,631.398943163,653,0.401804795901,0.00453043734082,0.0599532473718,0.999999988029,0.000134567468857,-7.31656802681e-05,2.19252099919e-05,1793239683420929280
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.820258102,714,679.179741898,665.820258102,635,879,787,804,653,631,653,0.401947431457,0.00453001313239,0.0599541004059,0.999999988965,0.000130421919384,-6.81091397097e-05,2.05005248554e-05,1793239683437595904
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.231801391,714,679.768198609,665.231801391,635,879,787,804,653,631,653,0.402102402521,0.00452858799105,0.0599506286062,0.999999989428,0.000126679347631,-6.88449772101e-05,1.88752811468e-05,1793239683454262528
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.647310442,745.352689558,714,680,665,635,878.647310442,787,804,653,631,653,0.40228516675,0.00452771478139,0.0599500269294,0.99999999008,0.000122397971026,-6.75521755086e-05,1.71977533538e-05,1793239683470929408
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.065396908,745.934603092,714,680,665,635,878.065396908,787,804,653,631,653,0.40248599464,0.00452720028925,0.059951290635,0.999999990837,0.000117766407921,-6.49408978018e-05,1.54862443374e-05,1793239683487596032
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,746,714.509022125,679.490977875,665,635,878.509022125,787.509022125,803.490977875,653,631,653,0.402726936884,0.00452886839856,0.0599529293295,0.999999991666,0.000115621805363,-5.60095169056e-05,1.27196501699e-05,1793239683504262912
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.084726599,746,714.915273401,679,665.084726599,635.084726599,879.084726599,787.915273401,803,653,631,653,0.402976333013,0.00453050828399,0.0599551505012,0.999999992474,0.000113278238574,-4.60573808901e-05,9.88953295397e-06,1793239683520929792
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.673729626,746,714.326270374,679,665.673729626,635.673729626,879.673729626,787.326270374,803,653,631,653,0.40324581629,0.00453033545091,0.0599605558863,0.999999993548,0.000107876383138,-3.47925230866e-05,7.47641478756e-06,1793239683537596416
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.741455416,745.741455416,714.258544584,679,666,636,879.741455416,787.258544584,803.258544584,653,631,653,0.403524882796,0.00452982562225,0.0599593480838,0.999999994231,0.000101415306824,-3.50574130809e-05,4.81881329447e-06,1793239683554262784
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.16184138,745.16184138,714.83815862,679,666,636,879.16184138,787.83815862,803.83815862,653,631,653,0.403815850066,0.00452889730102,0.0599499277999,0.999999994382,9.36388543339e-05,-4.96403365312e-05,1.85760423956e-06,1793239683570929152
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.415228234,714.584771766,679.415228234,666,635.584771766,879,787.584771766,804,653,631,652.584771766,0.404138085773,0.00452770370374,0.0599414783245,0.999999994224,8.69311317168e-05,-6.31909327868e-05,-1.15965010896e-06,1793239683587595776
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.991312148,714.008687852,679.991312148,666,635.008687852,879,787.008687852,804,653,631,652.008687852,0.404472434583,0.00452640734092,0.0599334049318,0.999999993826,8.06374256012e-05,-7.63416144343e-05,-4.19861583056e-06,1793239683604262400
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.43338573,714,679.43338573,666,635,879,787,804,653,631.56661427,652.56661427,0.404847182215,0.00452439068675,0.0599231433793,0.999999992773,7.1552192901e-05,-9.63100864128e-05,-7.70718263968e-06,1793239683620929024
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.145760781,745.145760781,714.145760781,679.145760781,666,635.145760781,879,787,803.854239219,653,632,653,0.405236505114,0.00452276800507,0.0599172178682,0.999999992095,6.23073839185e-05,-0.000108634435307,-1.12364694025e-05,1793239683637595904
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.736684763,745.736684763,714.736684763,679.736684763,666,635.736684763,879,787,803.263315237,653,632,653,0.405668452608,0.00452238222533,0.0599246372454,0.999999993768,5.27057609034e-05,-9.72942940067e-05,-1.4807075576e-05,1793239683654262528
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.679040517,746,714.679040517,680,666,635.679040517,879,787,803.320959483,653,631.679040517,653,0.406137051718,0.00452010140639,0.0599419008969,0.99999999658,4.19062478421e-05,-6.89824986127e-05,-1.80235414651e-05,1793239683670929408
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.100110074,746,714.100110074,680,666,635.100110074,879,787,803.899889926,653,631.100110074,653,0.406635109585,0.00451629745099,0.0599670768777,0.999999998961,3.01439303946e-05,-2.70297467586e-05,-2.09553677105e-05,1793239683687596288
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.474682614,746,714.474682614,680,666,635.474682614,879,787.474682614,804,653,631.474682614,653,0.40716746002,0.00451611470933,0.0599916433041,0.999999999406,2.19340404745e-05,9.88858499257e-06,-2.46659386278e-05,1793239683704262912
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.951390088,746,715,680,666,635.951390088,879.048609912,788,804,653,632,653,0.40770638564,0.00451641152688,0.0600133979541,0.999999998659,1.42517694562e-05,4.08514088944e-05,-2.84661660175e-05,1793239683720929024
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.377465451,746,715,680,666,635.377465451,879.622534549,788,804,653,632,653,0.40823888612,0.00451370891896,0.0600061437309,0.999999999318,4.24485403221e-06,1.88295745101e-05,-3.14757674806e-05,1793239683737596160
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.797345651,714.797345651,680,666,635,880,787.797345651,804,653,632,653,0.40878011768,0.00451134450277,0.0599967918742,0.999999999372,-5.42686574358e-06,-5.1157798286e-06,-3.4649408984e-05,1793239683754263040
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.205322856,714.205322856,680,666,635,880,787.205322856,804,653,632,653,0.409338124602,0.00450962986894,0.0599834097452,0.999999998632,-1.44545592127e-05,-3.27568737974e-05,-3.81382274463e-05,1793239683770929408
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.376645523,745.376645523,714,680,666,635,880,787,804,652.623354477,631.623354477,653,0.409947166503,0.00450753339633,0.0599826880536,0.999999998393,-2.29736419705e-05,-3.07217752503e-05,-4.17317203059e-05,1793239683787596032
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.953275373,745.953275373,714,680,666,635,880,787,804,652.046724627,631.046724627,653,0.410583306003,0.00450523418202,0.059988688569,0.999999998399,-3.12226716577e-05,-1.29297557639e-05,-4.53807911433e-05,1793239683804262656
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.471533726,746,714,679.471533726,666,635.528466274,880,787,804,652,631,653,0.41126144652,0.0045056780201,0.0599967148365,0.999999999283,1.55220804708e-05,5.09902811553e-06,-3.41536775739e-05,1793239683820929536
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.893569295,714.106430705,679.106430705,666,636,879.893569295,787,804,652.106430705,631,652.893569295,0.411940445822,0.00450547379154,0.0599999459753,0.999999998068,5.54500949609e-05,1.36218409016e-05,-2.45630976628e-05,1793239683837596160
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.302394983,714.697605017,679.697605017,666,636,879.302394983,787,804,652.697605017,631,652.302394983,0.412606488723,0.00450121630554,0.0599805239343,0.999999998479,4.22454885919e-05,-2.12458242575e-05,-2.84004538133e-05,1793239683854262784
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.282806727,745.282806727,714.717193273,680,666,636,879,787,804,653,631,652.282806727,0.413274937834,0.00449456765645,0.0599538058199,0.999999996339,2.95092075449e-05,-7.42120530014e-05,-3.07089286524e-05,1793239683870929408
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.861754304,745.861754304,714.138245696,680,666,636,879,787,804,653,631,652.861754304,0.413945906689,0.00448541510219,0.0599194476252,0.99999998868,1.72633312991e-05,-0.000146130183015,-3.14164369642e-05,1793239683887596032
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,714,679.562606316,666,636,879.437393684,787,804.437393684,653,631,653,0.414714321761,0.0044860827332,0.0599356605228,0.999999992472,1.95094451403e-05,-0.000116326101761,-3.38056990271e-05,1793239683904262656
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.987966036,746,714,679.012033964,666.012033964,635.987966036,880,787.012033964,804.987966036,653,631,653,0.415513890711,0.00448971227702,0.0599679010666,0.9999999975,2.62811277558e-05,-5.44775777041e-05,-3.66348633014e-05,1793239683920929280
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.411510817,746,714,679.588489183,666.588489183,635.411510817,880,787.588489183,804.411510817,653,631,653,0.416340925626,0.00448777808826,0.0600078233449,0.999999998766,3.20919507096e-05,1.36915982029e-05,-3.535283874e-05,1793239683937596160
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,746,714.169363772,680,667,635.169363772,880,787.830636228,804,652.830636228,631.169363772,653,0.417156314412,0.00448689363565,0.0600317998855,0.99999999722,3.80356604499e-05,5.38868959854e-05,-3.47868346409e-05,1793239683954262784
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,746,714.761263971,680,667,635.761263971,880,787.238736029,804,652.238736029,631.761263971,653,0.41794264786,0.00448862811253,0.0600159942734,0.999999998075,4.4310902129e-05,2.4291689122e-05,-3.60071912964e-05,1793239683970929664
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.654679161,714.654679161,679.654679161,666.654679161,635.654679161,880,787,804,652.345320839,632,653,0.41874601588,0.00448863327659,0.0599987961014,0.999999998225,4.60649951607e-05,-3.49005181498e-06,-3.76174241021e-05,1793239683987596288
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.075924343,714.075924343,679.075924343,666.075924343,635.075924343,880,787,804,652.924075657,632,653,0.419560899094,0.00448746943968,0.0599806565712,0.999999997767,4.47628295054e-05,-3.00459038443e-05,-3.94912098482e-05,1793239684004262400
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.497774199,714,679,666,635,880,787,804,652.502225801,631.502225801,652.502225801,0.420362115631,0.004488091763,0.0599604494515,0.999999997369,-1.78234073536e-05,-5.68692321081e-05,-4.13512486082e-05,1793239684020929280
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.070874498,746,714,679.070874498,666,635.070874498,880.070874498,787,804,652,631,652.070874498,0.421160285019,0.00448906686043,0.0599388194323,0.999999992054,-7.90377014701e-05,-8.8332490822e-05,-4.29300719132e-05,1793239684037595904
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.645148051,746,714,679.645148051,666,635.645148051,880.645148051,787,804,652,631,652.645148051,0.421951468077,0.00449063201127,0.0599093004314,0.999999985375,-6.47826583632e-05,-0.000152464833228,-4.25262547086e-05,1793239684054262528
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.772190666,746,714.227809334,679.772190666,666,635.772190666,880.772190666,787,804,652,631,653,0.422800926,0.00449039895693,0.0599082053485,0.99999998499,-5.66575688905e-05,-0.000157994177531,-4.29883946475e-05,1793239684070929152
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.175964527,746,714.824035473,679.175964527,666,635.175964527,880.175964527,787,804,652,631,653,0.423744627068,0.00448725781741,0.059953077864,0.999999994923,-5.84459337671e-05,-6.87498500444e-05,-4.48509739162e-05,1793239684087596032
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.40649334,746,715,679.40649334,666,635,880,787,804,652,631,653,0.424659363838,0.00448541726675,0.0599985904062,0.999999997582,-5.33221856178e-05,3.9667941888e-06,-4.44567202332e-05,1793239684104262656
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.983186364,746,715,679.983186364,666,635,880,787,804,652,631,653,0.425561973133,0.00448412127578,0.0600443709264,0.999999995611,-4.53043198712e-05,6.97632544823e-05,-4.31175252893e-05,1793239684120929024
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.443034831,745.443034831,714.443034831,680,666,635.556965169,880,787,804,652,631.556965169,653,0.426415685879,0.00448411757406,0.0600377026277,0.99999999571,-4.11668119605e-05,6.9393209624e-05,-4.54892628406e-05,1793239684137595648
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.13407976,745.13407976,714,680,666.13407976,636,880,787,804,652,631.86592024,653,0.427267304726,0.00448361837307,0.0600255053004,0.999999996425,-3.77738260401e-05,5.86535458519e-05,-4.77700725623e-05,1793239684154262272
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.722802188,745.722802188,714,680,666.722802188,636,880,787,804,652,631.277197812,653,0.428116802574,0.00448130742135,0.0599999007798,0.999999997925,-3.65102579505e-05,1.94899004021e-05,-4.93646777698e-05,1793239684170928896
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,714.306756119,680,667,635.693243881,880,787.306756119,804,652.306756119,631,653,0.428939294623,0.00448111414696,0.059974096076,0.999999998029,-3.07348592055e-05,-2.16350597314e-05,-5.02892206312e-05,1793239684187595776
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,714.886466961,680,667,635.113533039,880,787.886466961,804,652.886466961,631,653,0.429737756591,0.00448280520357,0.0599481132485,0.999999996419,-2.09447875937e-05,-6.45052155479e-05,-5.06175350754e-05,1793239684204262656
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680,666.537834396,635.462165604,880,787.537834396,804,652.537834396,631,652.537834396,0.430562054986,0.00448106160622,0.0599368035438,0.999999995082,-1.97424071126e-05,-8.24660244042e-05,-5.14308198731e-05,1793239684220929024
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680.037759648,666.037759648,635.962240352,880,787.037759648,804,652,631,652.037759648,0.431395906967,0.00447855904532,0.0599327591147,0.999999994568,-2.05788485232e-05,-8.77318944649e-05,-5.23707117575e-05,1793239684237595648
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,680.626075068,666.626075068,635.373924932,880,787.626075068,804,652,631,652.626075068,0.432277310652,0.00447718666504,0.0599825428165,0.999999998353,-2.06479710971e-05,3.64947352919e-06,-5.34344975377e-05,1793239684254262272
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,714.788813182,680.577626364,666.788813182,635,880,787.788813182,804.422373636,651.788813182,631,653,0.433136521766,0.00447611215394,0.0600152083706,0.999999996625,-1.9210596319e-05,5.89289249499e-05,-5.3922737565e-05,1793239684270928896
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,714.209288957,679.418577914,666.209288957,635,880,787.209288957,805.581422086,651.209288957,631,653,0.433957026281,0.00447555716538,0.0600180176461,0.999999997146,-1.51456935539e-05,5.12419314025e-05,-5.34071513994e-05,1793239684287595520
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.632356649,714,679.367643351,666,635,880.367643351,787,805.264713299,651.367643351,631.367643351,653,0.434734653541,0.00447340651125,0.059997720812,0.999999998275,-1.59712032177e-05,1.61486250793e-05,-5.41742454433e-05,1793239684304262400
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.056889552,714,679.943110448,666,635,880.943110448,787,804.113779103,651.943110448,631.943110448,653,0.435488042828,0.00447035384926,0.0599643624105,0.999999997666,-1.956119621e-05,-3.44370938031e-05,-5.56664209477e-05,1793239684320929024
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.480041176,745.519958824,714,680,666,635,880.480041176,787,804.519958824,652,631.480041176,653,0.436228887663,0.00446861631926,0.0599479243791,0.99999999605,-1.96413972163e-05,-6.6277958091e-05,-5.58634995973e-05,1793239684337595648
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.099135792,746,714.099135792,680,666.099135792,635,880.099135792,787.099135792,805,652,631.099135792,653,0.43696052147,0.00446696630552,0.0599349365699,0.999999993876,-1.90111649944e-05,-9.36331547417e-05,-5.58583762394e-05,1793239684354262272
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.689091338,746,714.689091338,680,666.689091338,635,880.689091338,787.689091338,805,652,631.689091338,653,0.43765336497,0.00446503528507,0.0599298406574,0.99999999238,-1.6769891174e-05,-0.000108960927234,-5.55555706537e-05,1793239684370928896
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.725732572,714.725732572,680,667,635,880.725732572,787.725732572,805,652,631.725732572,653,0.438358843357,0.00446408362177,0.0599268710097,0.999999991342,-1.48702187122e-05,-0.000118392397686,-5.54811719346e-05,1793239684387595776
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.145881698,714.145881698,680,667,635,880.145881698,787.145881698,805,652,631.145881698,653,0.439078399242,0.00446422313931,0.0599262704051,0.99999999101,-1.33511520071e-05,-0.000121254321839,-5.56612597441e-05,1793239684404262400
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.429798989,714,680,667,635,880.429798989,787.429798989,805,652,631.429798989,653,0.439784558527,0.00446206006614,0.0599491354816,0.999999994454,-2.17870780699e-05,-8.70586867701e-05,-5.51131556273e-05,1793239684420929024
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666.995921774,635,880.995921774,788,805,652,631.995921774,653,0.440485462072,0.00445917235973,0.0599795592924,0.999999997115,-3.37874251797e-05,-4.09506372624e-05,-5.43301008162e-05,1793239684437595648
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666.421594888,635,880.421594888,788,805,652,631.421594888,653,0.44108115397,0.00446319193822,0.0599639215305,0.999999993062,-7.62675975812e-05,-7.10123868448e-05,-5.49224130839e-05,1793239684454263040
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.843206283,745.843206283,714,680,665.843206283,634.843206283,880,787.843206283,805,652,631,653,0.44165316784,0.00446674213341,0.0599360722195,0.999999985892,-0.000105498197748,-0.000118268157643,-5.56700771511e-05,1793239684470930176
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.253605746,745.253605746,714,680,665.253605746,634.253605746,880,787.253605746,805,652,631,653,0.442159822007,0.00446899666344,0.0598745146556,0.999999970886,-9.81552424149e-05,-0.000212985592176,-5.68465680023e-05,1793239684487596288
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.327983256,745,714,680,665,634.327983256,880,787,805,652,631,653,0.44268094113,0.00447243644604,0.0598302198238,0.999999956172,-8.78900888477e-05,-0.000276779659648,-5.76491780838e-05,1793239684504262912
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.903525193,745,714,680,665,634.903525193,880,787,805,652,631,653,0.443212978235,0.00447677084602,0.0597989547438,0.999999945146,-7.54192882911e-05,-0.00031723305529,-5.81695866003e-05,1793239684520929280
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.517201973,745.482798027,714,680.482798027,665,634.517201973,880.482798027,787,805,652,631,653,0.443735054183,0.0044815154898,0.0597985919499,0.99999994495,-6.57258771656e-05,-0.000319836302714,-5.90329994259e-05,1793239684537596160
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.936384771,714,680.936384771,664.936384771,634,881,786.936384771,805,652,631,653,0.444248827381,0.00448689162097,0.0598044206945,0.999999947162,-5.64193551095e-05,-0.000314425524996,-6.02399509364e-05,1793239684554263296
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.349038618,714,680.349038618,664.349038618,634,881,786.349038618,805,652,631,653,0.444710760626,0.00449678650315,0.0598099894387,0.999999950173,-4.56933086188e-05,-0.000305789623688,-6.37065096705e-05,1793239684570930176
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.235323875,745.235323875,714,680.235323875,664,634,881,786.235323875,804.764676125,652,631.235323875,653,0.445144036188,0.00450841646581,0.0598023709212,0.999999944873,-3.33311904547e-05,-0.000323465226364,-6.71763518209e-05,1793239684587596800
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.815316281,745.815316281,714,680.815316281,664,634,881,786.815316281,804.184683719,652,631.815316281,653,0.445535338059,0.00452258772364,0.059775437601,0.999999925254,-1.85727909274e-05,-0.000379678131851,-7.06510026001e-05,1793239684604263168
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.607604368,745.607604368,714,680.607604368,664,634,880.607604368,787,804,652,631.607604368,653,0.445906396376,0.00453503615855,0.0597454776028,0.999999905775,-4.98903932415e-06,-0.000427660874528,-7.43750524116e-05,1793239684620929280
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.031885913,745.031885913,714,680.031885913,664,634,880.031885913,787,804,652,631.031885913,653,0.446267997167,0.00454667971124,0.0597141035723,0.999999885612,8.04593128554e-06,-0.000471798582372,-7.82156188921e-05,1793239684637595648
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.542413541,714,680,663.457586459,633.457586459,881.084827082,787,804,652,631,653,0.446620820485,0.00454859664291,0.0597120616669,0.999999886485,1.26895343067e-05,-0.00046968232518,-7.91638984605e-05,1793239684654262528
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,714,680.120217046,663.120217046,633,881.759565907,787,804.120217046,652,631,653,0.446966688925,0.00454981213662,0.0597144292101,0.999999890128,2.09972375083e-05,-0.00046172999368,-7.81520235991e-05,1793239684670929664
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,714,680.712094978,663.712094978,633,880.575810044,787,804.712094978,652,631,653,0.447287289769,0.00455051308285,0.0597273493618,0.999999899032,4.56110369954e-05,-0.000441520459912,-7.0114990061e-05,1793239684687596544
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.7035355,714,680.7035355,663.7035355,633,880.592929001,786.7035355,805,652,631,653,0.447587166492,0.00455376740658,0.0597331918744,0.999999901958,6.51081729489e-05,-0.000433072978641,-6.55185214356e-05,1793239684704263168
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.12627753,714,680.12627753,663.12627753,633,881.747444941,786.12627753,805,652,631,653,0.447867414544,0.00455944013693,0.059732330869,0.999999899814,7.97591093228e-05,-0.000435765812535,-6.41807509473e-05,1793239684720929536
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,714,680,663,632.549128744,881.549128744,786,805,652,631,652.549128744,0.448109482892,0.0045616708436,0.0597237904044,0.99999989401,8.23387208605e-05,-0.000448228821969,-6.55048435846e-05,1793239684737596160
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.028362278,745.028362278,714,680,662.971637722,632.028362278,880.971637722,786,805,652,631.028362278,652.028362278,0.448338389317,0.00456295886202,0.0597129674759,0.999999886953,8.15314389143e-05,-0.000463556964041,-6.75396839013e-05,1793239684754262528
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.613167651,745.613167651,714,680,662.386832349,632.613167651,880.386832349,786,805,652,631.613167651,652.613167651,0.448518810064,0.00456466087032,0.0596995516021,0.999999878495,8.058992179e-05,-0.000481424186548,-6.88958652802e-05,1793239684770929408
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,745.804911237,714,680,662,633,880,786,805,652,631.804911237,652.804911237,0.448688361,0.00456637937946,0.0596850153812,0.999999868168,7.99940505434e-05,-0.000502347606758,-7.00816960416e-05,1793239684787596032
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,745.228625939,714,680,662,633,880,786,805,652,631.228625939,652.228625939,0.44883667269,0.00456813013046,0.0596682900432,0.999999854229,8.00735592159e-05,-0.000529242726978,-7.09346675717e-05,1793239684804262656
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.649106815,745.350893185,714,680,662,632.649106815,880.350893185,786,805,652,631,652.350893185,0.44897624215,0.00456952544961,0.0596582778666,0.999999845108,8.12264405154e-05,-0.000545923433937,-7.17877041436e-05,1793239684820929536
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.067461023,745.932538977,714,680,662,632.067461023,880.932538977,786,805,652,631,652.932538977,0.449110062605,0.00457068703164,0.0596526803637,0.999999839405,8.30851877421e-05,-0.000555886992717,-7.26407835908e-05,1793239684837596160
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714,680.507370336,662,632,880.492629664,786,805,652,631,653,0.449229145356,0.00457227998202,0.0596508894036,0.999999838423,8.46072471544e-05,-0.000557348971866,-7.31932610208e-05,1793239684854263040
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714.083769015,681,661.916230985,632,880,786.083769015,805,652,631,653,0.44934257567,0.00457388522956,0.0596498813304,0.999999838278,8.60212753773e-05,-0.000557329007307,-7.36853888705e-05,1793239684870929664
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714.675081001,681,661.324918999,632,880,786.675081001,805,652,631,653,0.449433474122,0.00457522208114,0.0596505907472,0.999999839408,8.70484003354e-05,-0.000555088255568,-7.40508229352e-05,1793239684887595776
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.739538741,714.739538741,680.739538741,661,631.739538741,880.260461259,786.739538741,805,652,631,653,0.449513559078,0.00457543922389,0.0596502930819,0.999999839217,8.66097454571e-05,-0.000555498734958,-7.40669561076e-05,1793239684904262400
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.161393432,714.161393432,680.161393432,661,631.161393432,880.838606568,786.161393432,805,652,631,653,0.449580454831,0.00457429066007,0.0596487670804,0.999999837407,8.43832819385e-05,-0.000559142915501,-7.36570476951e-05,1793239684920929024
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.414978969,714,680,661,631.414978969,881,786,805,652,631,653,0.449631676008,0.00457460308685,0.0596440453018,0.999999832795,8.60729712694e-05,-0.000567112190452,-7.33795295579e-05,1793239684937595648
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.990664771,714,680,661,631.990664771,881,786,805,652,631,653,0.449676826968,0.00457548130418,0.0596380859105,0.999999827015,8.9279249607e-05,-0.000576756422989,-7.3153281545e-05,1793239684954262272
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.434985757,714,680,661,632,881,786,804.434985757,652,631.565014243,652.434985757,0.449709757945,0.00457651975282,0.0596327010353,0.99999982288,8.90579868303e-05,-0.000583860579945,-7.35920971101e-05,1793239684970929152
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.143467754,714,680.143467754,661,632,880.856532246,786,804.143467754,652,631.856532246,652.143467754,0.449741279839,0.00457767058722,0.0596295202179,0.999999820484,8.93003955514e-05,-0.000587861293903,-7.39995713356e-05,1793239684987596288
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.73480158,714,680.73480158,661,632,880.26519842,786,804.73480158,652,631.26519842,652.73480158,0.449769031753,0.00457916401347,0.0596331902893,0.999999823547,9.11666231686e-05,-0.000582304629734,-7.42749853053e-05,1793239685004262912
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.680092587,880,786,805,652.319907413,631,653,0.449788273615,0.00458016477459,0.0596336755869,0.999999823894,9.21383340541e-05,-0.000581545995135,-7.43486450541e-05,1793239685020929536
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.10005101,880,786,805,652.89994899,631,653,0.449800595493,0.00458076492299,0.0596315711716,0.999999822045,9.2382664805e-05,-0.000584688899455,-7.42582474739e-05,1793239685037595648
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714,680.524578521,661,631.475421479,880,786,805,652.524578521,631,652.524578521,0.449808187778,0.00458147118337,0.0596297119403,0.999999820903,9.19070069246e-05,-0.000586670971359,-7.45956651607e-05,1793239685054262272
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,680.051124639,661,632,880.051124639,786,805,652,631,652.051124639,0.449814487099,0.00458210860436,0.0596279247671,0.999999819859,9.1373064406e-05,-0.000588485544582,-7.4949418594e-05,1793239685070929152
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,680.63925496,661,632,880.63925496,786,805,652,631,652.63925496,0.449817560595,0.00458179061888,0.0596263576603,0.999999818319,9.18032959115e-05,-0.000591082335931,-7.45380753476e-05,1793239685087595776
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.775781506,714,680.775781506,661,631.775781506,881,786.224218494,805,652,631,653,0.449820067457,0.0045813473227,0.0596250860746,0.999999817171,9.1627481068e-05,-0.000593089852789,-7.42112314151e-05,1793239685104262400
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.195842092,714,680.195842092,661,631.195842092,881,786.804157908,805,652,631,653,0.449821675359,0.00458070522205,0.0596242833309,0.999999816652,9.04901783132e-05,-0.00059416249003,-7.40184450217e-05,1793239685120929536
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.381418212,714,680.381418212,661.381418212,631.381418212,881,786.618581788,805,652.381418212,631,653,0.449823715193,0.0045812794859,0.0596243968069,0.999999816803,9.03949496674e-05,-0.000593943047715,-7.38513972531e-05,1793239685137596416
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.957312483,714,680.957312483,661.957312483,631.957312483,881,786.042687517,805,652.957312483,631,653,0.449825975259,0.00458247394506,0.0596249774415,0.999999817296,9.08310498175e-05,-0.000593064804782,-7.36974730019e-05,1793239685154263040
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661.470196195,631.470196195,881,786,805,652.470196195,631,653,0.449824044853,0.00458131816328,0.0596234945749,0.999999815579,9.03218959918e-05,-0.000596022993329,-7.37584797873e-05,1793239685170929408
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.105472597,881,786,805,652,631,652.894527403,0.449822788842,0.00458026795029,0.0596223546489,0.99999981429,8.96488384242e-05,-0.000598278196868,-7.37969363731e-05,1793239685187595776
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.697040931,881,786,805,652,631,652.302959069,0.449826187086,0.00458057143782,0.0596235566108,0.99999981583,8.85691588114e-05,-0.000595878008334,-7.36521625002e-05,1793239685204262656
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.717328481,746,714,680.717328481,661,632,881,786,805,652,631,652,0.449827882169,0.00458082208375,0.0596242502838,0.999999816774,8.77178000532e-05,-0.000594415727296,-7.36691973633e-05,1793239685220929280
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.137930796,746,714,680.137930796,661,632,881,786,805,652,631,652,0.449827789409,0.00458101726078,0.0596244103955,0.999999817098,8.71061143068e-05,-0.000593937986945,-7.38560862006e-05,1793239685237595904
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.875801291,746,714,680.437900645,661,632,881,786.437900645,805,652,631.437900645,652.437900645,0.449828576227,0.00457989557227,0.059624617048,0.999999817411,8.65470800774e-05,-0.00059357922779,-7.3147315776e-05,1793239685254262528
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.98707396,746,714,680.98707396,661,632,881,786.98707396,805,652.01292604,631.98707396,653,0.449829585775,0.00457844646964,0.0596247984847,0.999999817686,8.60624396967e-05,-0.00059330349118,-7.21956607217e-05,1793239685270929408
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.398318139,746,714,680.398318139,661,632,881,786.398318139,805,652.601681861,631.398318139,653,0.449828275098,0.00458074046815,0.0596232088307,0.999999816403,8.81590693041e-05,-0.000595070208602,-7.28901814972e-05,1793239685287596288
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714,680,661,632,881,786,805,652.812403317,631,653,0.449828272887,0.00458268052194,0.0596228065262,0.999999816042,9.04307698368e-05,-0.000595277692241,-7.33730954973e-05,1793239685304262656
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,680,661,632,881,786,805,652.232430745,631,653,0.449831007455,0.00458388026732,0.0596248876737,0.99999981761,9.30686473466e-05,-0.000592223893474,-7.34134142279e-05,1793239685320929024
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,680.344846068,661,632,880.655153932,786.344846068,805,652,631,653,0.449832351532,0.00458320310211,0.0596257486747,0.999999818473,9.28021788883e-05,-0.000590832792464,-7.32051683597e-05,1793239685337595648
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,680.920319976,661,632,880.079680024,786.920319976,805,652,631,653,0.449832765669,0.0045812706874,0.0596257936599,0.999999818867,9.05933276293e-05,-0.000590553678712,-7.28306862424e-05,1793239685354262272
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,632,880,786.504178707,805,652,631,653,0.449832247591,0.0045812168929,0.0596253612951,0.999999818553,8.87248375909e-05,-0.000591355808691,-7.29461181912e-05,1793239685370929152
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.073306138,746,714,681,661,632,880.073306138,786.073306138,805,652,631,653,0.449831406168,0.00458147561426,0.0596247666671,0.999999817995,8.7171187221e-05,-0.00059250997956,-7.30986164856e-05,1793239685387595776
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.664780231,746,714,681,661,632,880.664780231,786.664780231,805,652,631,653,0.449829338169,0.00458180925542,0.0596235673442,0.999999816547,8.74563465492e-05,-0.000594924274516,-7.29565773352e-05,1793239685404262656
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.749950169,746,714,680.749950169,661,631.749950169,881,786.749950169,805,652,631,653,0.449828613896,0.00458165197855,0.0596230865253,0.999999815896,8.73330623833e-05,-0.000596039425139,-7.29303501288e-05,1793239685420929536
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.172796911,746,714,680.172796911,661,631.172796911,881,786.172796911,805,652,631,653,0.449829647423,0.00458085250585,0.0596235456193,0.999999816292,8.66754716938e-05,-0.000595455096607,-7.30556226404e-05,1793239685437596416
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680,661,631.40328457,881,786,805,652.40328457,631,653,0.449829809753,0.00458108199876,0.059622884356,0.99999981587,8.76561955092e-05,-0.000595998845033,-7.32288299805e-05,1793239685454263040
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714,680,661,631.978908005,881,786,805,652.978908005,631,653,0.449829599787,0.00458175120794,0.0596217443212,0.999999815095,8.9337033589e-05,-0.000597024663768,-7.34225216921e-05,1793239685470929408
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714,680.552549659,661,632,880.447450341,786.552549659,805,652.447450341,631,653,0.449830241165,0.00458125332695,0.0596220358598,0.999999815281,8.86927727637e-05,-0.000596890208289,-7.27585295866e-05,1793239685487595776
+252,4.200000000,HOLD_POSE2,765,746,714,681,661,631,881,786,805,652,631,653,0.449829724858,0.0045842194915,0.0596229776773,0.999999815347,9.14525245229e-05,-0.000596338379214,-7.29539738508e-05,1793239685528728576
+253,4.216666667,HOLD_POSE2,765,746,714,681,661,631.578444319,881,786,805,652,631,652.421555681,0.449831951899,0.00458263066707,0.059624462174,0.999999816837,9.00435849984e-05,-0.000594106383381,-7.24978873994e-05,1793239685545395712
+254,4.233333333,HOLD_POSE2,765,746,714,680.844508803,661,632,881,786.155491197,805,652,631,652.155491197,0.449833658334,0.0045814233171,0.0596254899285,0.999999817873,8.92224157122e-05,-0.000592534301295,-7.2092435918e-05,1793239685562062592
+255,4.250000000,HOLD_POSE2,765,746,714,680.271216687,661,632,881,786.728783313,805,652,631,652.728783313,0.449833965914,0.00458124097904,0.0596252904286,0.999999817705,8.9980569902e-05,-0.000592735390293,-7.18230392221e-05,1793239685578729728
+256,4.266666667,HOLD_POSE2,765,746,714,680,661,632,881,786.688528415,805,652,631,653,0.449834502693,0.00458181566349,0.0596252299946,0.999999817619,9.02957331509e-05,-0.000592778482283,-7.22623942457e-05,1793239685595396352
+257,4.283333333,HOLD_POSE2,765,746,714,680,661,632,881,786.097403894,805,652,631,653,0.449835245255,0.00458307003619,0.0596252944202,0.999999817607,9.02131595374e-05,-0.000592679717573,-7.33380978582e-05,1793239685612062464
+258,4.300000000,HOLD_POSE2,764.515964462,745.515964462,714,680.484035538,660.515964462,632,881,786,805,652,631.484035538,652.515964462,0.449833981736,0.00458288522011,0.0596248173179,0.999999817135,8.8856054812e-05,-0.000593722813709,-7.29868866563e-05,1793239685628728576
+259,4.316666667,HOLD_POSE2,764.063267255,745,714,680.936732745,660.063267255,632,881,786,805,652,631.936732745,652.063267255,0.449832444957,0.00458246353174,0.0596241427621,0.999999816577,8.73206963403e-05,-0.000594955539044,-7.24492954331e-05,1793239685645395200
+260,4.333333333,HOLD_POSE2,764.640088276,745,714,680.359911724,660.640088276,632,881,786,805,652,631.359911724,652.640088276,0.449831902628,0.00458242382898,0.0596227326424,0.99999981608,8.63794584818e-05,-0.000595898939942,-7.26838906257e-05,1793239685662061824
+261,4.350000000,HOLD_POSE2,765.21544991,745,714,680.21544991,661,631.78455009,880.78455009,786,804.78455009,652,631,653,0.4498321447,0.00458241363155,0.0596221448152,0.999999816075,8.63474572958e-05,-0.000595908746374,-7.27090024294e-05,1793239685678728448
+262,4.366666667,HOLD_POSE2,765.788389968,745,714,680.788389968,661,631.211610032,880.211610032,786,804.211610032,652,631,653,0.449833688305,0.00458245239151,0.0596229213957,0.999999816886,8.78241277604e-05,-0.000594369464932,-7.23865241483e-05,1793239685695395072
+263,4.383333333,HOLD_POSE2,765.625608485,745.374391515,714,680.625608485,661,631,880.374391515,786,804.374391515,652,631.374391515,653,0.449833809727,0.00458220014495,0.0596231666887,0.999999817256,8.68004821181e-05,-0.000593867363992,-7.26331533271e-05,1793239685712061952
+264,4.400000000,HOLD_POSE2,765.031957525,745.968042475,714,680.031957525,661,631,880.968042475,786,804.968042475,652,631.968042475,653,0.449833098259,0.00458177747272,0.0596231008372,0.999999817364,8.43125461623e-05,-0.000593972679505,-7.32130757809e-05,1793239685728728832
+265,4.416666667,HOLD_POSE2,765,746,714,680,661,631,881,786.545645772,805,652,631.454354228,653,0.449832678053,0.00458226138803,0.0596229138963,0.999999816801,8.54082127704e-05,-0.000594781803554,-7.30639102091e-05,1793239685745395712
+266,4.433333333,HOLD_POSE2,765,745.877958168,714,680,660.877958168,631.122041832,880.877958168,787,804.877958168,652,631,653,0.44983231604,0.0045827839768,0.0596227499693,0.999999816219,8.70354041821e-05,-0.000595545197286,-7.28854373366e-05,1793239685762062336
+267,4.450000000,HOLD_POSE2,765,745.302654616,714,680,660.302654616,631.697345384,880.302654616,787,804.302654616,652,631,653,0.449832108608,0.00458325863004,0.059622697103,0.999999815712,8.98794312164e-05,-0.000595990029731,-7.27521789731e-05,1793239685778728448
+268,4.466666667,HOLD_POSE2,765.278244999,745.278244999,714,680.278244999,660.278244999,632,880.278244999,786.721755001,804.278244999,652,631,653,0.449832351592,0.00458273521508,0.0596228465509,0.999999815718,8.97181412938e-05,-0.00059603185013,-7.252982757e-05,1793239685795395072
+269,4.483333333,HOLD_POSE2,765.865356504,745.865356504,714,680.865356504,660.865356504,632,880.865356504,786.134643496,804.865356504,652,631,653,0.449833094564,0.00458110389217,0.0596232205781,0.999999816291,8.62207921553e-05,-0.000595626306048,-7.22085782399e-05,1793239685812061696
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,746,714,681,661,631,880,787,805,652,631,653,0.449834647849,0.00458070298961,0.0596246160713,0.999999817288,8.39548135745e-05,-0.000594242331274,-7.24705260136e-05,1793239685844634112
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.42302189,745.42302189,714,681,661,631,880,786.42302189,805,652,631,653,0.449835478002,0.00458279138296,0.0596250621127,0.999999817629,8.6999129962e-05,-0.000593237925011,-7.2404424996e-05,1793239685861300736
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.153349939,714,681,660.846650061,631.153349939,880,786,805,652,631.153349939,653,0.449836039778,0.00458350249173,0.0596253603307,0.999999817867,8.83307207876e-05,-0.000592650157564,-7.23125840626e-05,1793239685877967360
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.728056035,714,681,660.271943965,631.728056035,880,786,805,652,631.728056035,653,0.449835864138,0.00458042926731,0.0596252523777,0.999999817841,8.49562950518e-05,-0.000593207178948,-7.21500181317e-05,1793239685894633728
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.690239094,714,680.690239094,660,632,880,786,805,652,632,653,0.449834679672,0.0045799680628,0.0596242815272,0.99999981703,8.52745633977e-05,-0.000594531713505,-7.21146294642e-05,1793239685911300352
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.102247888,714,680.102247888,660,632,880,786,805,652,632,653,0.44983258907,0.00458185300052,0.0596225356139,0.999999815508,8.89096461759e-05,-0.000596545635922,-7.21934726779e-05,1793239685927966464
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.478706351,714,680.478706351,660.478706351,632,880,786,805,652,632,652.521293649,0.449832637899,0.00458238040873,0.059622383718,0.999999815371,8.91836789246e-05,-0.000596717487474,-7.23301426029e-05,1793239685944632832
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.942199934,661,632,880.057800066,786,805,652,631.942199934,652.057800066,0.449832809487,0.00458267873293,0.0596224186429,0.999999815443,8.88661405325e-05,-0.000596624979748,-7.24951955217e-05,1793239685961299456
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.366504383,661,632,880.633495617,786,805,652,631.366504383,652.633495617,0.449830045853,0.00458348485326,0.0596211210525,0.999999814751,8.95872807867e-05,-0.000597638083873,-7.28054973532e-05,1793239685977966080
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.786595188,714,680.213404812,660.786595188,631.786595188,880.786595188,786,805,652,631,652.786595188,0.449822821845,0.00458379721408,0.0596178306989,0.999999812284,8.98444721978e-05,-0.000601688842318,-7.30054896781e-05,1793239685994632960
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.199303721,714,680.800696279,660.199303721,631.199303721,880.199303721,786,805,652,631,652.199303721,0.44980778323,0.00458324450484,0.0596110490111,0.99999980665,8.92888220614e-05,-0.00061106159124,-7.30122189752e-05,1793239686011300096
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.38311359,745.38311359,714,680.61688641,660,631,880.38311359,786,805,652,631,652,0.449774344227,0.00458245676981,0.0595971550483,0.999999793822,8.84710903978e-05,-0.000631846620598,-7.27894869846e-05,1793239686027966720
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.96302717,745.96302717,714,680.03697283,660,631,880.96302717,786,805,652,631,652,0.449731453205,0.00458154830532,0.0595796076105,0.999999776739,8.75187310892e-05,-0.000658493976259,-7.2448883961e-05,1793239686044633088
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.459337976,746,714,680.540662024,660,631,880.459337976,786,805,652,631,652.540662024,0.449672991796,0.00458283774197,0.0595650452886,0.999999766021,9.00994843673e-05,-0.000674175806229,-7.29808638474e-05,1793239686061299712
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.882546315,714,681,660.117453685,631.117453685,880.117453685,786,805,652,631.117453685,652.882546315,0.449610006196,0.00458403226307,0.0595524450294,0.999999756558,9.22259769877e-05,-0.000687743288455,-7.34048519699e-05,1793239686077966336
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.308429513,714,681,660.691570487,631.691570487,880.691570487,786,805,652,631.691570487,652.308429513,0.44953355288,0.00458427582446,0.0595466829668,0.999999750919,9.16508503921e-05,-0.000695993414634,-7.31779365368e-05,1793239686094632960
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.273483055,714,681,661,631.726516945,881,786,805,652,631.726516945,652,0.44945081469,0.00458455965689,0.0595440922703,0.999999748062,9.2518390792e-05,-0.000700026667226,-7.26560578384e-05,1793239686111299584
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.864445492,714,681,661,631.135554508,881,786,805,652,631.135554508,652,0.449360780556,0.00458489023892,0.0595451831307,0.999999748489,9.5060685916e-05,-0.000699164660225,-7.17917639558e-05,1793239686127966208
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.553268044,661,631,880.553268044,786,805,652,631,652.446731956,0.44925138416,0.00458554657672,0.0595472716079,0.999999749544,9.83378135719e-05,-0.000697308457131,-7.07281737584e-05,1793239686144633344
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,631.026209323,880,786,804.973790677,652,631,652.973790677,0.44913506193,0.004586268251,0.059549703516,0.999999750882,0.000101752532085,-0.000695009231335,-6.9608085126e-05,1793239686161300224
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,661,631.600943387,880,786,804.399056613,652,631,652.399056613,0.448994408924,0.00458632802866,0.0595531082962,0.999999754502,0.000103469191672,-0.000689631508172,-6.85470804857e-05,1793239686177966848
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.178912838,661,631.821087162,880,786,804,652,631,652.178912838,0.448842078721,0.00458691874311,0.0595549601539,0.999999756025,0.000106292353887,-0.000687103300552,-6.738598368e-05,1793239686194633216
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.764231487,661,631.235768513,880,786,804,652,631,652.764231487,0.448663223439,0.0045887154962,0.0595532845018,0.999999752818,0.000111628969374,-0.000691047852661,-6.59975247019e-05,1793239686211299840
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.346021004,746,714,681,661,631.346021004,880,786.346021004,804.346021004,652,631,653,0.448466125085,0.00458903822662,0.0595523631306,0.999999750262,0.000114985431047,-0.000694342192749,-6.43610397344e-05,1793239686227966464
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.92543021,746,714,681,661,631.92543021,880,786.92543021,804.92543021,652,631,653,0.448256721917,0.00458836674157,0.0595519505151,0.999999748156,0.000117006296476,-0.000697197970805,-6.25572632235e-05,1793239686244632832
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.494629508,746,714,681,661.505370492,632,880,786.494629508,805,652,631.505370492,653,0.448030003891,0.00458743605828,0.0595648028414,0.999999760721,0.000120501213323,-0.000678516577989,-6.04322838399e-05,1793239686261299712
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.915297765,714,680.915297765,662,632,880.084702235,786,804.915297765,652,631.915297765,653,0.447793835033,0.00458691319665,0.059579376242,0.999999774716,0.000124944533267,-0.000656946444973,-5.81238609001e-05,1793239686277966592
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.339945238,714,680.339945238,662,632,880.660054762,786,804.339945238,652,631.339945238,653,0.447517735873,0.00458897448044,0.0595925693228,0.999999786629,0.000133620375874,-0.000637070732892,-5.50276444808e-05,1793239686294633472
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.240526687,745.240526687,714,680.240526687,662,632,880.759473313,786,804.240526687,652,631,652.759473313,0.447220978802,0.0045901191822,0.0596027715603,0.999999794612,0.00014073482787,-0.000623106385644,-5.20438933127e-05,1793239686311300352
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.828391361,745.828391361,714,680.828391361,662,632,880.171608639,786,804.828391361,652,631,652.171608639,0.446894390225,0.00458994027286,0.0596086548023,0.999999797426,0.000145594518085,-0.000617678479625,-4.92225503408e-05,1793239686327966976
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.589322864,745.589322864,714,680.589322864,662.410677136,632,880,786,805,652,631,652.410677136,0.44653341371,0.00459022788325,0.0596107964833,0.999999796505,0.000153869350511,-0.000617435731658,-4.56938452236e-05,1793239686344633088
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.009337098,745.009337098,714,680.009337098,662.990662902,632,880,786,805,652,631,652.990662902,0.446158260192,0.00459070782433,0.0596113956421,0.999999793963,0.000163552133223,-0.000619330653312,-4.18735181059e-05,1793239686361299456
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,662.434269869,632.565730131,880,786,805,652,631,653,0.445738792679,0.00459241372931,0.0596037696775,0.999999785373,0.000172221091162,-0.000630930501897,-3.89915212129e-05,1793239686377966080
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.140549315,714,680,662.140549315,633,880.140549315,786.140549315,804.859450685,652,631,653,0.445311205774,0.00459375462416,0.0595986283879,0.999999779767,0.000180449850997,-0.000637662774059,-3.59094862812e-05,1793239686394632960
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.714851266,714,680,662.714851266,633,880.714851266,786.714851266,804.285148734,652,631,653,0.444860799172,0.00459390714587,0.0596015704503,0.999999784182,0.000187371297337,-0.000628883039808,-3.21627278191e-05,1793239686411299584
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,663.297181927,633,881,787,804,652,631,653,0.444408336062,0.00459330924118,0.0596179836257,0.999999801476,0.000193683662587,-0.00059894635263,-2.82411489624e-05,1793239686427966464
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,663.887430181,633,881,787,804,652,631,653,0.443953844872,0.00459197130258,0.0596476813562,0.999999829597,0.000199395382226,-0.000548145707841,-2.41471702558e-05,1793239686444633344
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.469295448,746,714,680,664,633.469295448,881,787,804,652,631,653,0.443458440167,0.00459286699345,0.0596806528444,0.999999855517,0.000211207574205,-0.000493954310719,-1.91595485142e-05,1793239686461300224
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.951484501,745.951484501,714,680.048515499,664,633.951484501,880.951484501,787,804.048515499,652,631.048515499,652.951484501,0.442947285841,0.00459411723849,0.0597117593935,0.999999876243,0.000224160895805,-0.000443928458129,-1.39395052963e-05,1793239686477966592
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.379489846,745.379489846,714,680.620510154,664,633.379489846,880.379489846,787,804.620510154,652,631.620510154,652.379489846,0.442370226956,0.00459351351974,0.0597144190145,0.999999872491,0.000233914916706,-0.00044747040721,-8.48396489931e-06,1793239686494632960
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.193896839,714,680.806103161,664,633.193896839,880,787,804.806103161,652,631.806103161,652,0.441772206695,0.00459366680648,0.0597145431688,0.999999867025,0.00024463668622,-0.000453974301695,-3.17839312202e-06,1793239686511299584
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.770027635,714,680.229972365,664,633.770027635,880,787,804.229972365,652,631.229972365,652,0.441132864755,0.00459531239814,0.0597096690909,0.99999985818,0.000257266203535,-0.000466317157149,1.83154122777e-06,1793239686527966208
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,664.357291068,634.357291068,880.357291068,787,804,652,631,652,0.440485305694,0.00459618461865,0.0597191226605,0.999999860525,0.000268255704164,-0.000454907421226,6.91318934991e-06,1793239686544633088
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,664.951950507,634.951950507,880.951950507,787,804,652,631,652,0.439832287567,0.00459654304552,0.0597380948854,0.999999869771,0.000278155649644,-0.000427717514097,1.20424807249e-05,1793239686561299712
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.469239201,714,680,665,634.469239201,881,787.530760799,804,652,631,652,0.439204144974,0.00459563148439,0.0597924550903,0.999999902174,0.000287646599284,-0.000335579134337,1.7237850141e-05,1793239686577966592
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.107278521,665.107278521,634.107278521,881,787.892721479,804.107278521,652,631,652.107278521,0.438558708972,0.00459515528745,0.0598407215952,0.999999922976,0.000297155698211,-0.000255433954332,2.23783156181e-05,1793239686594633472
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.679894965,665.679894965,634.679894965,881,787.320105035,804.679894965,652,631,652.679894965,0.437828775148,0.00459705179994,0.059849062234,0.999999920764,0.00030689948049,-0.000252076117467,2.72554299697e-05,1793239686611300096
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.260163755,714,680.739836245,666,635,880.739836245,787,805,652,631,653,0.437050626534,0.00459962968259,0.0598291662006,0.999999907575,0.000317301440246,-0.000288431902767,3.12461126538e-05,1793239686627966720
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745.850133391,714,680.149866609,666,635,880.149866609,787,805,652,631,653,0.43621135662,0.00460307132874,0.0597734749415,0.999999875088,0.000328537761836,-0.000375132078571,3.41130790549e-05,1793239686644633088
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.432210913,745.567789087,714,680,666,635,880,787,804.567789087,652,631.432210913,653,0.435415170786,0.004605283744,0.059757422268,0.999999869639,0.000338692821687,-0.000380340075007,3.67554822487e-05,1793239686661299456
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.988470976,745.011529024,714,679.988470976,666,635,879.988470976,787,804,652,632,653,0.434633213632,0.00460711483826,0.059755278606,0.999999875127,0.000346779831875,-0.000357748664911,3.88076833904e-05,1793239686677966080
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.412672166,745.587327834,714,679.412672166,666,635,879.412672166,787,804,652,632,653,0.433829592854,0.00461076978066,0.0597732523899,0.999999907613,0.000271670303801,-0.000332749890444,1.57160721605e-05,1793239686694632704
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.836903501,714,679.163096499,665.836903501,635,879.163096499,787,804,652,631.836903501,653,0.433015878866,0.0046107129133,0.0597878444928,0.999999926766,0.000218735175496,-0.000314039068896,1.4213552328e-06,1793239686711299328
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.261211132,714,679.738788868,665.261211132,635,879.738788868,787,804,652,631.261211132,653,0.432176631473,0.00460126603805,0.0597938817357,0.999999926903,0.00022189608381,-0.000311235299136,9.38071828738e-06,1793239686727966208
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,880,787,804,652,631,653,0.43133825139,0.00459895729512,0.0598086910699,0.999999931441,0.000232381385246,-0.000287882161828,1.55212618742e-05,1793239686744632832
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,880,787,804,652,631,653,0.430500591743,0.00460257755315,0.0598307865863,0.99999993819,0.000248950396675,-0.000247460524407,2.01510763207e-05,1793239686761299712
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.494509378,745,714,680,665.494509378,635,879.505490622,787,804,652,631,653,0.429601938896,0.00460910618069,0.0598230180992,0.999999929196,0.000259786681689,-0.00027126291432,2.31173256459e-05,1793239686777966080
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.927822305,745.072177695,714,679.927822305,665.927822305,635,879.072177695,787,803.927822305,652,631,653,0.428694067722,0.00461474571658,0.0598072122541,0.999999916672,0.000266755949257,-0.000307985592074,2.53272533806e-05,1793239686794632704
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.353160676,745.646839324,714,679.353160676,665.353160676,635,879.646839324,787,803.353160676,652,631,653,0.427793798057,0.00461077303221,0.0597705962323,0.999999903094,0.000253550236392,-0.000359077321668,2.42295341366e-05,1793239686811299328
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.22629314,745.77370686,714,679.22629314,665,635,880,787,803.22629314,652,631,653,0.426919905742,0.0046082162488,0.0597576676817,0.999999900391,0.000242987961645,-0.00037365965518,2.35248940933e-05,1793239686827965952
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.8133877,745.1866123,714,679.8133877,665,635,880,787,803.8133877,652,631,653,0.426088069292,0.00460791697499,0.0597825063918,0.999999917265,0.00023664037893,-0.000330031474611,2.34469787836e-05,1793239686844632576
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.604650074,745,714,679.604650074,665,635,879.604650074,787,804,652.395349926,631.395349926,653,0.425206481299,0.00461003304719,0.0598090655349,0.999999926472,0.000238050770848,-0.000299544084075,2.57085887701e-05,1793239686861299456
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.025079392,745,714,679.025079392,665,635,879.025079392,787,804,652.974920608,631.974920608,653,0.424301710685,0.00461327459544,0.0598364263447,0.999999932173,0.0002430761378,-0.000275179895206,2.90603447096e-05,1793239686877966080
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745.551783745,714,679.551783745,665,635,879.551783745,787,804,652.448216255,631.448216255,653,0.423437534342,0.00461024272418,0.0598427662268,0.999999938983,0.000232992311996,-0.000258591867592,2.96538319963e-05,1793239686894632704
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.87144728,714,680,665.12855272,635,880,787,804,652,631,653,0.422571170257,0.0046083060141,0.0598466670818,0.999999943643,0.000224845183534,-0.00024748944303,3.01240865229e-05,1793239686911299328
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.294579641,714,680,665.705420359,635,880,787,804,652,631,653,0.421690773602,0.00461117809974,0.0598453777764,0.999999941699,0.000225835323888,-0.000254290956704,3.05996506028e-05,1793239686927965952
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.711561625,665.711561625,635,879.711561625,787,804,652,631,652.711561625,0.420790668818,0.00461261519886,0.0598166470002,0.999999926911,0.00022453723653,-0.000307885711643,3.11046273088e-05,1793239686944632832
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.122125464,665.122125464,635,879.122125464,787,804,652,631,652.122125464,0.419869997812,0.00461255482798,0.0597592798751,0.999999890934,0.000220851283832,-0.000410311213332,3.16402970775e-05,1793239686961299456
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.459185263,665,635,879,787.459185263,804,652,631,652.459185263,0.419008779951,0.00461013388318,0.0597457854662,0.999999892879,0.000209289276124,-0.00041176218915,2.98732876913e-05,1793239686977966080
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.961926052,665,635,879.038073948,787.961926052,804,652,631,652.961926052,0.4181672601,0.00460739168433,0.0597466458792,0.999999906184,0.000196453583737,-0.000385051687304,2.78161368749e-05,1793239686994632448
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.387245936,665,635,879.612754064,787.387245936,804,652,631,652.387245936,0.417384381433,0.00460881632691,0.0597882270299,0.999999925035,0.000194676143235,-0.000333351198009,3.01510817173e-05,1793239687011299328
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.187265294,665,635,880,787,803.812734706,652,631,652.187265294,0.416599280026,0.00460966841987,0.0598212786418,0.999999937517,0.000192258042988,-0.000294900704778,3.2199487368e-05,1793239687027965952
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.761427703,665,635,880,787,803.238572297,652,631,652.761427703,0.41580958621,0.00460933760412,0.0598367079144,0.999999941386,0.000188516316249,-0.000283825192001,3.3655892876e-05,1793239687044632832
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,879.652441705,787,803.347558295,652.347558295,631,652.652441705,0.415041768346,0.00460708892359,0.0598433424994,0.999999944727,0.000181936621826,-0.000276170165674,3.42834389119e-05,1793239687061299200
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,879.057802924,787,803.942197076,652.942197076,631,652.057802924,0.414289502225,0.00460347682587,0.0598437249074,0.999999947682,0.000173339405826,-0.000270946776571,3.43217455724e-05,1793239687077966080
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.519217483,714,680,665,635,879,787.519217483,803.480782517,653,631,652.519217483,0.413510329275,0.0046044976903,0.0598363810873,0.999999927142,0.000250163977978,-0.000286252817126,3.45442816228e-05,1793239687094632448
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.906180494,714,680,665,635,879,787.906180494,803.093819506,652.906180494,631.093819506,653,0.412732660438,0.00460554057573,0.0598220686228,0.999999899253,0.000320389246392,-0.000312494781959,3.45247266393e-05,1793239687111299072
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.334235417,714,680,665,635,879,787.334235417,803.665764583,652.334235417,631.665764583,653,0.41197742145,0.0046041534492,0.0597764819569,0.999999877943,0.000310109639003,-0.000383203643232,3.31703298586e-05,1793239687127965952
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.246230055,714,679.753769945,665,635,879,787,804,652,631.753769945,652.753769945,0.411271533,0.00460132404589,0.0597539545105,0.999999869817,0.000296864861154,-0.000413770162293,3.21194642032e-05,1793239687144632320
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.838675712,714,679.161324288,665,635,879,787,804,652,631.161324288,652.161324288,0.410635034706,0.00459646670698,0.0597638498425,0.999999885227,0.000279450861631,-0.000387893912216,3.14953834906e-05,1793239687161299200
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.5791366,714,679.4208634,665.4208634,635,879,787,803.5791366,652,631,652,0.410025829061,0.00459499365961,0.0597991774752,0.999999907691,0.000267915592712,-0.000334325082914,3.26366080033e-05,1793239687177966080
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.000787365,714,679.999212635,665.999212635,635,879,787,803.000787365,652,631,652,0.409426836193,0.00459478700369,0.0598440218001,0.999999929419,0.000258580125,-0.000270393769385,3.44384043311e-05,1793239687194632960
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.574110552,745,714,680,665.425889448,635,879.574110552,787,803.574110552,652,631,652.574110552,0.408823130989,0.00459258442532,0.0598581081254,0.999999937211,0.000248206883604,-0.000250447626454,3.53147309259e-05,1793239687211299584
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.85101954,745,714,679.85101954,665,635,879.85101954,787.14898046,804,652,631.14898046,653,0.408228192897,0.00459098823354,0.0598639637569,0.999999941596,0.000238319637774,-0.000242367919132,3.5629830533e-05,1793239687227965952
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.276216106,745,714,679.276216106,665,635,879.276216106,787.723783894,804,652,631.723783894,653,0.407658331599,0.00459113302111,0.0598464138837,0.999999937079,0.000229825528888,-0.00026803402402,3.43444110437e-05,1793239687244632576
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.308982469,665,635,879,787.691017531,804,652,632,653,0.4071180837,0.00459023835561,0.0598322304437,0.999999934065,0.000220832854785,-0.000286355536836,3.32305562379e-05,1793239687261299456
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.903797309,665,635,879,787.096202691,804,652,632,653,0.40660523049,0.00458838211664,0.0598211612124,0.999999932772,0.000211378970386,-0.000297882739893,3.22754119492e-05,1793239687277966336
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.482634626,745,714,679.517365374,665,635,879.482634626,787,803.517365374,652,631.517365374,652.517365374,0.406138073153,0.00458535054421,0.0598273882236,0.999999939232,0.000199530088196,-0.000284113768027,3.16563836778e-05,1793239687294632960
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.941706136,745.058293864,714,679,665,635,879.941706136,787,803.058293864,652.058293864,631,652,0.405681453408,0.004582233009,0.05983563322,0.999999946088,0.00018766749648,-0.000267652200832,3.11067031906e-05,1793239687311299328
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.366891833,745.633108167,714,679,665,635,879.366891833,787,803.633108167,652.633108167,631,652,0.40524008269,0.00458036311399,0.0598321895572,0.999999946766,0.000179777866528,-0.000270578334825,3.05968712463e-05,1793239687327966208
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.213005186,746,714,679,665,635,879,787,804,653,631.213005186,652.213005186,0.404810406081,0.00457903945896,0.0598220893792,0.999999943036,0.00017512473475,-0.000286919732574,3.05946191872e-05,1793239687344632832
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.801870904,746,714,679,665,635,879,787,804,653,631.801870904,652.801870904,0.404401364481,0.00457867967763,0.0598002433783,0.999999930541,0.000176182600374,-0.000326933173857,3.14880225527e-05,1793239687361299456
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.615298602,745.615298602,714.384701398,679.384701398,665,635,879,787,804,653,632,653,0.404029402683,0.00457724248584,0.0597843928363,0.999999921833,0.000173815544265,-0.000353715230714,3.17583404326e-05,1793239687377966080
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.035528311,745.035528311,714.964471689,679.964471689,665,635,879,787,804,653,632,653,0.403676242745,0.0045752589761,0.0597715823841,0.999999915237,0.000169711827858,-0.000373788109689,3.17127131048e-05,1793239687394632960
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745.542030962,714.457969038,680,665,635,879,787,803.457969038,653,631.457969038,652.457969038,0.403399598921,0.0045734361521,0.0597880709391,0.999999926611,0.000169171568736,-0.000342167605586,3.287538954e-05,1793239687411299584
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.118702035,746,714,679.881297965,665.118702035,635,879,787,803.118702035,653,631.118702035,652,0.403134204488,0.00457173901083,0.0598074414609,0.999999938031,0.000169471591922,-0.000306700164647,3.39492264231e-05,1793239687427965952
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.692521214,746,714,679.307478786,665.692521214,635,879,787,803.692521214,653,631.692521214,652,0.402892790027,0.00457048353257,0.0598305284602,0.999999948306,0.000172101447737,-0.000269421577708,3.43800136154e-05,1793239687444632576
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,665.725533885,635,879,787,803.725533885,653,632,652.274466115,0.402661778594,0.00456903603087,0.0598454066535,0.999999950043,0.000194356799461,-0.000247088090125,3.29710051612e-05,1793239687461299200
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,665.134208214,635,879,787,803.134208214,653,632,652.865791786,0.40244277703,0.0045673668463,0.0598508081251,0.999999941658,0.00023926895834,-0.000242008091669,2.94380301875e-05,1793239687477965824
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.55248128,745.55248128,714,679.44751872,665,635,879,787,803.44751872,653,631.55248128,653,0.402236498383,0.0045627745506,0.0598462480596,0.999999942481,0.000226005329636,-0.000251682009217,2.48121272683e-05,1793239687494632704
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.02628931,745.02628931,714,679.97371069,665,635.02628931,879.02628931,787,804,653,631,652.97371069,0.402035829935,0.00455764159087,0.0598389518252,0.999999945161,0.000197069674838,-0.000265399381071,2.01166804321e-05,1793239687511299328
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.602171229,745.602171229,714,679.397828771,665,635.602171229,879.602171229,787,804,653,631,652.397828771,0.401874354977,0.00455914722974,0.0598355964149,0.999999942979,0.000197573170926,-0.000273090777494,2.06755552297e-05,1793239687527965952
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.818393401,714,679.181606599,665,635.818393401,879.818393401,787,804,653,631,652.181606599,0.401722726083,0.00456027127255,0.0598331456426,0.999999940985,0.000199491985677,-0.00027887772629,2.14669507372e-05,1793239687544632832
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.231018544,714,679.768981456,665,635.231018544,879.231018544,787,804,653,631,652.768981456,0.401593096526,0.00456054270533,0.0598327161266,0.999999939501,0.000204573082992,-0.000280409518145,2.27778731278e-05,1793239687561300480
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766.351680016,745.351680016,714,680,665,635,879.351680016,787.351680016,804,653,631,653,0.401481727792,0.00455902020464,0.0598336241201,0.999999940261,0.000203109176401,-0.000278678315922,2.3730005606e-05,1793239687577967104
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766.931347086,745.931347086,714,680,665,635,879.931347086,787.931347086,804,653,631,653,0.401382197168,0.00455633473313,0.0598353991941,0.999999942451,0.000197402276426,-0.000274831780666,2.44495419572e-05,1793239687594632960
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766.493330892,746,714,680,665.506669108,635,880,787.493330892,804,653,631,653,0.401304402155,0.00455676512403,0.0598357355797,0.999999943098,0.000196074581195,-0.000273430912963,2.4368302205e-05,1793239687611299584
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.918417464,714,680,665.918417464,635.081582536,879.918417464,787,803.918417464,653,631,653,0.401231662288,0.0045570958024,0.0598356343199,0.999999943407,0.000195070856607,-0.000273026410708,2.42879482963e-05,1793239687627966720
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.34244239,714,680,665.34244239,635.65755761,879.34244239,787,803.34244239,653,631,653,0.401171860825,0.00455428546244,0.059834052214,0.999999942897,0.000192465103837,-0.000276668788131,2.48649088922e-05,1793239687644633344
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,665,635.761328855,879,787.238671145,803.238671145,653,631,653,0.401118072168,0.00455315807526,0.0598321874134,0.999999942012,0.000191100697225,-0.00028076147652,2.50954487892e-05,1793239687661299968
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,665,635.172680534,879,787.827319466,803.827319466,653,631,653,0.401073100437,0.00455449849836,0.0598299080812,0.999999940586,0.000191556547777,-0.000285514481466,2.48180121289e-05,1793239687677966336
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.40957112,714.40957112,680,665.40957112,635,879,787.59042888,804,653,631,653,0.401041462282,0.00455411198289,0.0598295519705,0.999999940353,0.000190672362355,-0.000286896793339,2.50727686601e-05,1793239687694632960
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.989167313,714.989167313,680,665.989167313,635,879,787.010832687,804,653,631,653,0.40101535929,0.00455300856415,0.0598299942459,0.999999940619,0.000189231888396,-0.000286879830808,2.55484543163e-05,1793239687711299584
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,746,714.435805216,679.435805216,665.435805216,635,879.564194784,787.564194784,804,653,631,653,0.401003205663,0.00455195688297,0.0598319815013,0.999999942437,0.000186288911854,-0.000282439764597,2.55080481123e-05,1793239687727966208
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.857711723,714,679.142288277,665.142288277,635,880,787.857711723,804,653,631.142288277,653,0.400992487008,0.00455130972701,0.0598340711055,0.99999994396,0.000184326236823,-0.000278311056369,2.54373681189e-05,1793239687744632832
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.269742262,714,679.730257738,665.730257738,635,880,787.269742262,804,653,631.730257738,653,0.400985430859,0.00455192655528,0.0598363891216,0.999999944542,0.000185523737445,-0.000275421465328,2.53026516995e-05,1793239687761299712
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,665.686409714,635,879.686409714,787.313590286,803.686409714,653,632,653,0.400979222427,0.00455168445206,0.0598375243032,0.999999944941,0.000185137075858,-0.000274222175085,2.53826371317e-05,1793239687777966848
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,665.107007538,635,879.107007538,787.892992462,803.107007538,653,632,653,0.400973732555,0.00455071428362,0.0598376568664,0.999999945189,0.000183407614032,-0.000274455652283,2.56446125777e-05,1793239687794633728
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.529489837,745,714,679.529489837,665,635,879,787.529489837,803.470510163,653,631.529489837,653,0.400971856253,0.0045519289264,0.0598382094489,0.999999945337,0.000184828561104,-0.000272979374632,2.54287078942e-05,1793239687811300096
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.047333284,745,714,679,665,635,879,787,803.952666716,653,631.047333284,653,0.400970905867,0.00455332584783,0.059838904929,0.999999945517,0.000186589538412,-0.000271142938128,2.51459608113e-05,1793239687827966464
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.621178997,745,714,679,665,635,879,787,803.378821003,653,631.621178997,653,0.400971149738,0.0045512452483,0.0598401316044,0.999999946371,0.000184194716055,-0.000269608363151,2.53238128336e-05,1793239687844633088
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.19547725,714,679.19547725,665.19547725,635,879,787.19547725,803,653,632,652.80452275,0.400970664913,0.00455001580918,0.0598409694898,0.999999946919,0.000182397196827,-0.000268793773724,2.53560823234e-05,1793239687861299456
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.770654495,714,679.770654495,665.770654495,635,879,787.770654495,803,653,632,652.229345505,0.400968764651,0.0045504396859,0.0598410521795,0.999999946884,0.000181759894577,-0.000269377702683,2.51055685796e-05,1793239687877966080
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.64302223,665.64302223,635,879.35697777,787.64302223,803.35697777,653,631.64302223,652.35697777,0.400968564076,0.00454999730164,0.0598419123926,0.999999947494,0.000180160782306,-0.000268176122176,2.52201013579e-05,1793239687894632960
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.049307256,665.049307256,635,879.950692744,787.049307256,803.950692744,653,631.049307256,652.950692744,0.400969490685,0.00454898043847,0.0598432882366,0.999999948522,0.000177923825822,-0.000265790444055,2.5576722309e-05,1793239687911299584
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.470916237,714,679.529083763,665.529083763,635,879.470916237,787,804,653,631,653,0.400968694629,0.00454980610631,0.0598425870381,0.999999947833,0.00018029268232,-0.000266805225596,2.53822820146e-05,1793239687927966720
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.892283159,745.107716841,714.107716841,679.892283159,666,635,879,787,804,653,631,653,0.400968066772,0.00455059490181,0.0598419973788,0.999999947272,0.000182098618504,-0.000267702781454,2.51084214803e-05,1793239687944633856
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.306414927,745.693585073,714.693585073,679.306414927,666,635,879,787,804,653,631,653,0.400968878119,0.00455047925234,0.0598427378909,0.999999948007,0.00017955405249,-0.000266712858114,2.47035654847e-05,1793239687961299968
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.276339381,745.723660619,714.723660619,679,665.723660619,635,879,787,803.723660619,653,631.276339381,653,0.400969071826,0.00455063163945,0.0598429020571,0.999999948072,0.000180071994149,-0.000266122609952,2.46830208593e-05,1793239687977966336
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.855679405,745.144320595,714.144320595,679,665.144320595,635,879,787,803.144320595,653,631.855679405,653,0.400968588303,0.00455107792334,0.0598424342717,0.999999947397,0.000183947914332,-0.00026597059756,2.50838659679e-05,1793239687994632960
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.433991503,665.433991503,635,879,787.433991503,803,653,631.566008497,653,0.400967901022,0.00455020024991,0.059842274589,0.999999947656,0.000181984865454,-0.000266345600438,2.51024910992e-05,1793239688011299328
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.01187245,714,680,665.98812755,635,879.01187245,788,803.01187245,653,631,653,0.400967193244,0.00454891700048,0.0598422484048,0.999999948212,0.000178184747931,-0.00026683723842,2.50011064436e-05,1793239688027965952
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.585490622,714,680,665.414509378,635,879.585490622,788,803.585490622,653,631,653,0.400968714045,0.00454922616705,0.0598437023946,0.99999994864,0.000179118409102,-0.000264574870634,2.52211913134e-05,1793239688044632832
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.836919179,746,714,680,665,635,879.673838359,788,804,653,631,653,0.400969639474,0.00454974808244,0.0598447237301,0.999999948907,0.000179807822091,-0.00026308802214,2.53026836698e-05,1793239688061299712
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.248981115,746,714,680,665,635,878.49796223,788,804,653,631,653,0.400969013845,0.00455082424985,0.0598446179168,0.999999948764,0.000179860921034,-0.000263621552317,2.50231155707e-05,1793239688077966336
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.335950917,746,714,680,665.335950917,635,878.335950917,788,804,653,631,652.664049083,0.400969191105,0.00455099432648,0.0598450667331,0.999999948944,0.000179667781084,-0.00026308946198,2.48193251273e-05,1793239688094632960
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.918674841,746,714,680,665.918674841,635,878.918674841,788,804,653,631,652.081325159,0.400969958127,0.00455049883337,0.059845922953,0.99999994936,0.000179293766165,-0.000261774619246,2.4671197232e-05,1793239688111299584
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745.506370862,714,680,666,635.493629138,879,788,804.493629138,653,631,652.493629138,0.400969487839,0.00455027166636,0.0598457419031,0.99999994949,0.000178199008681,-0.000262023150909,2.46951309503e-05,1793239688127966208
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.067684352,714,680,665.932315648,635.932315648,879.067684352,787.932315648,804.932315648,652.932315648,631,653,0.400968765493,0.00454998035068,0.0598453463892,0.999999949513,0.000177167247526,-0.000262626645703,2.47636208928e-05,1793239688144632576
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.644455443,714,680,665.355544557,635.355544557,879.644455443,787.355544557,804.355544557,652.355544557,631,653,0.400967656759,0.00454887919515,0.0598446032145,0.999999949091,0.000177488589125,-0.000263992737204,2.49573316325e-05,1793239688161299200
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.774218323,746,714,679.774218323,665,635,879.774218323,787,803.774218323,652.225781677,631,653,0.400967338419,0.00454868364217,0.0598445251378,0.999999949011,0.000177931345606,-0.000264000088621,2.49454016548e-05,1793239688177965824
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.185571192,746,714,679.185571192,665,635,879.185571192,787,803.185571192,652.814428808,631,653,0.400968290362,0.00454994352992,0.0598455159746,0.999999949478,0.000178569234296,-0.000261823738533,2.46029758358e-05,1793239688194632704
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,745.60463463,714,679.39536537,665,635,879,787,803,653,631,652.60463463,0.400968502526,0.00454944147951,0.0598454132964,0.999999949602,0.00017760632052,-0.000261997906753,2.46885255111e-05,1793239688211299584
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765,745.027247952,714,679.972752048,665,635,879,787,803,653,631,652.027247952,0.400968374106,0.00454812825459,0.0598448071776,0.999999949565,0.000175906417126,-0.000263254224547,2.49711098106e-05,1793239688227966720
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.54742431,745,714.54742431,680,665.54742431,635.54742431,879.54742431,787,803.54742431,653,631,652.54742431,0.400970778516,0.00454957603609,0.0598464546596,0.999999949774,0.000178725454598,-0.000260536853411,2.50965559434e-05,1793239688244633344
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78bdb96b50e941872504c8fc61524f0199c10493
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_02/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,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+1,0.016666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+2,0.033333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+3,0.050000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+4,0.066666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+5,0.083333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+6,0.100000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+7,0.116666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+8,0.133333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+9,0.150000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+10,0.166666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+11,0.183333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+12,0.200000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+13,0.216666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+14,0.233333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+15,0.250000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+16,0.266666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+17,0.283333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+18,0.300000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+19,0.316666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+20,0.333333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+21,0.350000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+22,0.366666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+23,0.383333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+24,0.400000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+25,0.416666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+26,0.433333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+27,0.450000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+28,0.466666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+29,0.483333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+30,0.500000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+31,0.516666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+32,0.533333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+33,0.550000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+34,0.566666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+35,0.583333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+36,0.600000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+37,0.616666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+38,0.633333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+39,0.650000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+40,0.666666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+41,0.683333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+42,0.700000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+43,0.716666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+44,0.733333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+45,0.750000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+46,0.766666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+47,0.783333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+48,0.800000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+49,0.816666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+50,0.833333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+51,0.850000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+52,0.866666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+53,0.883333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+54,0.900000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+55,0.916666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+56,0.933333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+57,0.950000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+58,0.966666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+59,0.983333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+60,1.000000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+61,1.016666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+62,1.033333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+63,1.050000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+64,1.066666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+65,1.083333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+66,1.100000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+67,1.116666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+68,1.133333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+69,1.150000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+70,1.166666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+71,1.183333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+72,1.200000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+73,1.216666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+74,1.233333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+75,1.250000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+76,1.266666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+77,1.283333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+78,1.300000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+79,1.316666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+80,1.333333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+81,1.350000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+82,1.366666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+83,1.383333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+84,1.400000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+85,1.416666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+86,1.433333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+87,1.450000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+88,1.466666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+89,1.483333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+90,1.500000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+91,1.516666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+92,1.533333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+93,1.550000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+94,1.566666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+95,1.583333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+96,1.600000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+97,1.616666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+98,1.633333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+99,1.650000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+100,1.666666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+101,1.683333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+102,1.700000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+103,1.716666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+104,1.733333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+105,1.750000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+106,1.766666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+107,1.783333333,pose1_to_pose2_press,0.575664423396,0.0100907859351,1.05003235146,0.546234876015,0.0187625290287,1.04970048322
+108,1.800000000,pose1_to_pose2_press,0.575664423265,0.0100907689865,1.05003230196,0.54623487585,0.0187625120167,1.04970043513
+109,1.816666667,pose1_to_pose2_press,0.575664423218,0.0100907628234,1.05003228395,0.54623487579,0.0187625058306,1.04970041764
+110,1.833333333,pose1_to_pose2_press,0.575664423106,0.0100907482947,1.05003224152,0.546234875648,0.0187624912476,1.04970037641
+111,1.850000000,pose1_to_pose2_press,0.575664498901,0.0100907432423,1.05003221204,0.546234951318,0.0187624858017,1.04970034779
+112,1.866666667,pose1_to_pose2_press,0.575664798856,0.0100907634344,1.05003221281,0.546235250859,0.0187625045883,1.04970034859
+113,1.883333333,pose1_to_pose2_press,0.575665351967,0.0100907895828,1.05003221024,0.546235803874,0.0187625304577,1.04970034718
+114,1.900000000,pose1_to_pose2_press,0.575666786504,0.0100908216193,1.05003223036,0.546237239165,0.0187625650888,1.04970036819
+115,1.916666667,pose1_to_pose2_press,0.575670870212,0.0100908470797,1.05003232192,0.546241322174,0.0187625878665,1.04970045175
+116,1.933333333,pose1_to_pose2_press,0.575680083054,0.0100907513307,1.05003243549,0.546250536188,0.0187624959848,1.04970056233
+117,1.950000000,pose1_to_pose2_press,0.575696047612,0.0100906654459,1.05003246274,0.546266501204,0.0187624116651,1.04970058981
+118,1.966666667,pose1_to_pose2_press,0.575722789557,0.0100907178245,1.05003231985,0.546293241568,0.0187624586089,1.04970044503
+119,1.983333333,pose1_to_pose2_press,0.575760053836,0.0100908325078,1.05003258043,0.546330505582,0.0187625726205,1.04970071149
+120,2.000000000,pose1_to_pose2_press,0.575808070848,0.0100907990409,1.05003246992,0.546378522947,0.0187625402938,1.04970059939
+121,2.016666667,pose1_to_pose2_press,0.575864798577,0.0100907821382,1.05003219192,0.546435250616,0.0187625234845,1.04970032911
+122,2.033333333,pose1_to_pose2_press,0.575930009889,0.0100907651005,1.05003212481,0.546500460414,0.0187625012212,1.04970025965
+123,2.050000000,pose1_to_pose2_press,0.576003637153,0.0100908188695,1.0500322516,0.546574087365,0.018762553678,1.04970037978
+124,2.066666667,pose1_to_pose2_press,0.576086341665,0.010090798571,1.05003222885,0.546656793143,0.0187625379274,1.04970036356
+125,2.083333333,pose1_to_pose2_press,0.576179977093,0.0100908340758,1.05003223632,0.546750427546,0.0187625699778,1.0497003716
+126,2.100000000,pose1_to_pose2_press,0.576284437974,0.0100908143148,1.05003234782,0.546854888149,0.0187625491844,1.04970048081
+127,2.116666667,pose1_to_pose2_press,0.576400961417,0.0100908501654,1.0500321129,0.546971412813,0.018762589423,1.04970025219
+128,2.133333333,pose1_to_pose2_press,0.576530790655,0.0100908229249,1.05003229441,0.547101242144,0.0187625622734,1.04970042779
+129,2.150000000,pose1_to_pose2_press,0.576675715261,0.0100908431129,1.05003226057,0.547246165392,0.0187625779404,1.0497003962
+130,2.166666667,pose1_to_pose2_press,0.576839160399,0.0100909335755,1.05003229878,0.54740960927,0.0187626640598,1.04970043256
+131,2.183333333,pose1_to_pose2_press,0.577021654827,0.0100908403771,1.05003233019,0.547592105065,0.0187625751917,1.04970045593
+132,2.200000000,pose1_to_pose2_press,0.577224520957,0.0100906734,1.05003226698,0.547794972934,0.0187624140452,1.04970039076
+133,2.216666667,pose1_to_pose2_press,0.577444632231,0.0100907181863,1.05003232161,0.548015083838,0.0187624577955,1.04970045108
+134,2.233333333,pose1_to_pose2_press,0.577680988955,0.0100908106518,1.05003241672,0.54825144028,0.0187625494447,1.04970054976
+135,2.250000000,pose1_to_pose2_press,0.577931839357,0.010090875036,1.05003218897,0.548502289142,0.0187626088681,1.04970032896
+136,2.266666667,pose1_to_pose2_press,0.578197741001,0.0100908177021,1.05003209463,0.548768191432,0.0187625536996,1.04970023383
+137,2.283333333,pose1_to_pose2_press,0.578482754888,0.0100908137285,1.05003245754,0.549053205681,0.0187625504578,1.04970058373
+138,2.300000000,pose1_to_pose2_press,0.57878732975,0.0100907188842,1.05003238635,0.549357782026,0.0187624608176,1.04970051698
+139,2.316666667,pose1_to_pose2_press,0.579117139127,0.010090702128,1.05003229577,0.549687592896,0.0187624490078,1.04970042314
+140,2.333333333,pose1_to_pose2_press,0.579473047961,0.0100908029967,1.05003239997,0.550043498896,0.0187625402912,1.04970052807
+141,2.350000000,pose1_to_pose2_press,0.579858151309,0.0100908013424,1.05003233732,0.550428601537,0.0187625365128,1.04970047257
+142,2.366666667,pose1_to_pose2_press,0.580271445464,0.0100907397022,1.05003221592,0.550841897175,0.018762479939,1.04970035199
+143,2.383333333,pose1_to_pose2_press,0.580711490899,0.0100907997697,1.05003223182,0.551281941959,0.0187625376535,1.04970036406
+144,2.400000000,pose1_to_pose2_press,0.58116954051,0.0100908524961,1.05003228108,0.551739991666,0.0187625907528,1.0497004145
+145,2.416666667,pose1_to_pose2_press,0.581640617906,0.0100907875299,1.05003221831,0.552211070745,0.0187625316948,1.04970035685
+146,2.433333333,pose1_to_pose2_press,0.582122397606,0.0100907623728,1.05003204007,0.552692849673,0.0187625040349,1.04970018168
+147,2.450000000,pose1_to_pose2_press,0.582617945049,0.0100908053693,1.05003234517,0.553188395076,0.0187625396571,1.0497004748
+148,2.466666667,pose1_to_pose2_press,0.583130796053,0.0100906309804,1.05003221812,0.553701249314,0.018762376568,1.04970035623
+149,2.483333333,pose1_to_pose2_press,0.583669726782,0.0100908072618,1.05003245588,0.55424017892,0.0187625488522,1.04970058909
+150,2.500000000,pose1_to_pose2_press,0.584233200322,0.0100908751622,1.05003246114,0.554803651695,0.0187626142181,1.04970059592
+151,2.516666667,pose1_to_pose2_press,0.584816175078,0.0100908507615,1.05003240054,0.555386626212,0.0187625887392,1.0497005283
+152,2.533333333,pose1_to_pose2_press,0.585409608348,0.0100908041041,1.05003227151,0.555980060514,0.0187625457618,1.0497004039
+153,2.550000000,pose1_to_pose2_press,0.586009383322,0.0100908092466,1.0500322397,0.556579835132,0.0187625496624,1.04970037115
+154,2.566666667,pose1_to_pose2_press,0.586625335001,0.0100907491024,1.05003231205,0.557195786476,0.0187624882826,1.04970044092
+155,2.583333333,pose1_to_pose2_press,0.587262780068,0.0100907192778,1.05003231844,0.557833231905,0.0187624597505,1.04970044899
+156,2.600000000,pose1_to_pose2_press,0.587928951394,0.0100907847066,1.05003231122,0.558499403668,0.0187625267163,1.04970044307
+157,2.616666667,pose1_to_pose2_press,0.588621372548,0.0100907872938,1.05003244863,0.559191825287,0.0187625308531,1.04970057984
+158,2.633333333,pose1_to_pose2_press,0.589334436142,0.0100908623521,1.05003230646,0.559904888037,0.0187626033028,1.04970044423
+159,2.650000000,pose1_to_pose2_press,0.590053736816,0.0100908636696,1.0500322342,0.560624186551,0.0187625973349,1.04970037316
+160,2.666666667,pose1_to_pose2_press,0.590775878475,0.0100908751819,1.05003245038,0.561346329032,0.0187626114058,1.04970058336
+161,2.683333333,pose1_to_pose2_press,0.591493272803,0.0100908333892,1.05003216875,0.562063723141,0.0187625694757,1.04970031757
+162,2.700000000,pose1_to_pose2_press,0.592207756068,0.0100909046338,1.05003220082,0.562778207115,0.0187626428175,1.04970034153
+163,2.716666667,pose1_to_pose2_press,0.592922969604,0.010090935511,1.05003242893,0.563493419715,0.0187626701919,1.04970056111
+164,2.733333333,pose1_to_pose2_press,0.593646520299,0.0100908656808,1.05003257524,0.564216971716,0.0187626046262,1.0497007031
+165,2.750000000,pose1_to_pose2_press,0.594393041041,0.0100908462823,1.05003248804,0.564963492204,0.0187625842466,1.04970061279
+166,2.766666667,pose1_to_pose2_press,0.595159820129,0.010090811665,1.05003244303,0.565730271226,0.0187625494439,1.04970056878
+167,2.783333333,pose1_to_pose2_press,0.595945236125,0.0100908108069,1.05003236816,0.566515687403,0.0187625494103,1.04970049946
+168,2.800000000,pose1_to_pose2_press,0.596741833616,0.0100907914146,1.05003224488,0.567312285264,0.0187625311791,1.04970037375
+169,2.816666667,pose1_to_pose2_press,0.597538882318,0.0100907308524,1.05003217098,0.568109334973,0.01876247395,1.0497002977
+170,2.833333333,pose1_to_pose2_press,0.598319050904,0.0100908214698,1.05003209977,0.568889502225,0.018762560291,1.04970023309
+171,2.850000000,pose1_to_pose2_press,0.599082705045,0.0100908217989,1.05003239049,0.569653155408,0.0187625570093,1.04970051446
+172,2.866666667,pose1_to_pose2_press,0.599827866057,0.0100908108535,1.05003234741,0.570398316811,0.0187625476433,1.04970047802
+173,2.883333333,pose1_to_pose2_press,0.60056779657,0.0100907301245,1.05003226537,0.571138248258,0.0187624698956,1.04970039118
+174,2.900000000,pose1_to_pose2_press,0.601304299662,0.0100908135353,1.05003220676,0.571874751263,0.0187625535107,1.04970034567
+175,2.916666667,pose1_to_pose2_press,0.60204678414,0.0100908041947,1.05003234554,0.572617236069,0.0187625449426,1.04970047559
+176,2.933333333,pose1_to_pose2_press,0.602795786827,0.0100908216142,1.05003238082,0.573366237377,0.0187625575399,1.04970050724
+177,2.950000000,pose1_to_pose2_press,0.603548483122,0.0100907710037,1.05003223472,0.574118935443,0.0187625135042,1.04970037602
+178,2.966666667,pose1_to_pose2_press,0.604292997885,0.0100906823353,1.05003230756,0.574863450868,0.018762426808,1.04970044179
+179,2.983333333,pose1_to_pose2_press,0.605023098511,0.0100906245367,1.05003227784,0.575593550855,0.0187623667658,1.04970041012
+180,3.000000000,pose1_to_pose2_press,0.60572808459,0.0100906783737,1.05003236916,0.576298536935,0.0187624205295,1.04970049954
+181,3.016666667,pose1_to_pose2_press,0.606410322769,0.0100908200661,1.05003244109,0.576980774117,0.0187625587716,1.04970056986
+182,3.033333333,pose1_to_pose2_press,0.607069720619,0.0100908832762,1.05003240039,0.577640170552,0.0187626173139,1.04970053275
+183,3.050000000,pose1_to_pose2_press,0.607716210778,0.0100908271876,1.05003243709,0.57828666111,0.0187625625815,1.04970056956
+184,3.066666667,pose1_to_pose2_press,0.608356727509,0.010090863858,1.05003234913,0.578927178154,0.0187626002807,1.04970048073
+185,3.083333333,pose1_to_pose2_press,0.608990932128,0.0100908529669,1.05003233425,0.579561383435,0.0187625916431,1.04970046614
+186,3.100000000,pose1_to_pose2_press,0.609619596882,0.0100908249701,1.05003211971,0.580190049144,0.0187625669326,1.04970025294
+187,3.116666667,pose1_to_pose2_press,0.610230969326,0.0100908576286,1.05003225205,0.580801420343,0.0187625951661,1.04970038016
+188,3.133333333,pose1_to_pose2_press,0.610818402638,0.0100908608671,1.05003244956,0.581388852644,0.0187625951293,1.0497005818
+189,3.150000000,pose1_to_pose2_press,0.611367875408,0.0100909448696,1.05003248157,0.581938324133,0.0187626747348,1.04970061255
+190,3.166666667,pose1_to_pose2_press,0.611884296934,0.0100908280343,1.05003231506,0.58245474884,0.0187625687141,1.04970044662
+191,3.183333333,pose1_to_pose2_press,0.612370553006,0.0100907469319,1.05003225313,0.582941005016,0.0187624878704,1.04970038237
+192,3.200000000,pose1_to_pose2_press,0.612843642892,0.0100908104841,1.05003224558,0.583414093735,0.0187625474789,1.0497003752
+193,3.216666667,pose1_to_pose2_press,0.613306282574,0.0100908757118,1.05003218222,0.58387673367,0.0187626137923,1.04970031718
+194,3.233333333,pose1_to_pose2_press,0.613760855026,0.0100907975171,1.0500321117,0.584331307024,0.0187625389021,1.04970025129
+195,3.250000000,pose1_to_pose2_press,0.614199748269,0.0100908064308,1.05003224023,0.584770200024,0.0187625469989,1.04970037834
+196,3.266666667,pose1_to_pose2_press,0.6146135866,0.0100907784603,1.05003245951,0.585184039724,0.0187625234957,1.04970059148
+197,3.283333333,pose1_to_pose2_press,0.615000337323,0.0100908490595,1.05003239107,0.585570788677,0.0187625879316,1.04970051696
+198,3.300000000,pose1_to_pose2_press,0.615359941511,0.0100908947427,1.05003247733,0.585930391487,0.0187626290872,1.04970060447
+199,3.316666667,pose1_to_pose2_press,0.6156999649,0.010090877526,1.05003240269,0.586270414332,0.0187626103099,1.04970053301
+200,3.333333333,pose1_to_pose2_press,0.616024424405,0.010090863444,1.05003241457,0.586594875039,0.0187626006268,1.0497005485
+201,3.350000000,pose1_to_pose2_press,0.616336215428,0.0100908073025,1.05003235314,0.586906667215,0.0187625485376,1.04970048625
+202,3.366666667,pose1_to_pose2_press,0.616635217433,0.0100908180872,1.05003224453,0.587205668865,0.0187625581757,1.04970037513
+203,3.383333333,pose1_to_pose2_press,0.616919684618,0.0100908993075,1.05003237339,0.587490135401,0.0187626373813,1.049700504
+204,3.400000000,pose1_to_pose2_press,0.617184323125,0.010090896944,1.05003246279,0.587754773482,0.0187626338563,1.04970059603
+205,3.416666667,pose1_to_pose2_press,0.61742796572,0.0100909490055,1.05003208267,0.587998414864,0.0187626821932,1.04970022416
+206,3.433333333,pose1_to_pose2_press,0.617646674554,0.0100907497117,1.0500320545,0.588217126298,0.018762491801,1.04970019511
+207,3.450000000,pose1_to_pose2_press,0.617842149386,0.0100906639605,1.05003199056,0.588412602445,0.0187624104629,1.04970013072
+208,3.466666667,pose1_to_pose2_press,0.618014151914,0.0100906524879,1.05003246378,0.588584605688,0.0187624011401,1.04970058952
+209,3.483333333,pose1_to_pose2_press,0.61816767391,0.0100908314244,1.05003228849,0.588738123868,0.0187625674565,1.04970042041
+210,3.500000000,pose1_to_pose2_press,0.61830426974,0.010090870373,1.05003221626,0.588874718752,0.0187626034396,1.04970035167
+211,3.516666667,pose1_to_pose2_press,0.61842994806,0.0100908182537,1.05003221986,0.589000397745,0.0187625536682,1.04970035416
+212,3.533333333,pose1_to_pose2_press,0.61854554926,0.0100907543346,1.05003232835,0.589116000077,0.0187624933888,1.04970045637
+213,3.550000000,pose1_to_pose2_press,0.618650804378,0.0100907606227,1.05003249577,0.589221255813,0.0187625015432,1.0497006176
+214,3.566666667,pose1_to_pose2_press,0.618745529995,0.0100908716066,1.05003234448,0.5893159801,0.0187626084973,1.04970047422
+215,3.583333333,pose1_to_pose2_press,0.618828257461,0.0100908076863,1.05003224907,0.589398707708,0.0187625453223,1.04970037697
+216,3.600000000,pose1_to_pose2_press,0.618898941459,0.0100908213853,1.05003229571,0.589469392146,0.0187625599238,1.04970041311
+217,3.616666667,pose1_to_pose2_press,0.618957315379,0.0100907970853,1.05003245327,0.589527766834,0.0187625387541,1.04970057966
+218,3.633333333,pose1_to_pose2_press,0.619005495289,0.0100908584299,1.05003245872,0.589575944481,0.0187625929312,1.0497005939
+219,3.650000000,pose1_to_pose2_press,0.619045031969,0.010090781381,1.05003231378,0.589615482616,0.0187625209162,1.04970045379
+220,3.666666667,pose1_to_pose2_press,0.619077608452,0.0100907251826,1.05003228582,0.589648060775,0.0187624701621,1.04970042308
+221,3.683333333,pose1_to_pose2_press,0.619104537575,0.0100908286731,1.05003245848,0.589674987977,0.018762566838,1.049700587
+222,3.700000000,pose1_to_pose2_press,0.619125651958,0.0100907953278,1.05003225566,0.589696102605,0.0187625344706,1.04970038604
+223,3.716666667,pose1_to_pose2_press,0.619142273272,0.0100906921974,1.0500320309,0.589712724979,0.01876243501,1.04970016718
+224,3.733333333,pose1_to_pose2_press,0.619154513307,0.0100907519986,1.05003222908,0.589724965189,0.0187624954095,1.04970036401
+225,3.750000000,pose1_to_pose2_press,0.619162533021,0.0100908321521,1.05003246912,0.589732984765,0.0187625750921,1.04970060226
+226,3.766666667,pose1_to_pose2_press,0.619167604755,0.010090809772,1.05003244476,0.589738056533,0.0187625528992,1.04970058307
+227,3.783333333,pose1_to_pose2_press,0.619170967402,0.0100907949337,1.0500324286,0.589741419203,0.0187625381849,1.04970057035
+228,3.800000000,pose1_to_pose2_press,0.619173438355,0.0100908193767,1.05003229922,0.589743889394,0.0187625601168,1.04970044074
+229,3.816666667,pose1_to_pose2_press,0.619175266379,0.0100908383069,1.05003220068,0.589745716837,0.0187625771269,1.04970034197
+230,3.833333333,pose1_to_pose2_press,0.61917629817,0.0100908489916,1.05003214506,0.589746748299,0.0187625867279,1.04970028622
+231,3.850000000,pose1_to_pose2_press,0.619176731203,0.0100908534759,1.05003212172,0.589747181195,0.0187625907574,1.04970026282
+232,3.866666667,pose1_to_pose2_press,0.61917744912,0.0100908609103,1.05003208302,0.589747898883,0.0187625974378,1.04970022404
+233,3.883333333,pose1_to_pose2_press,0.619178072654,0.0100908588479,1.05003214272,0.589748522391,0.018762595234,1.04970028237
+234,3.900000000,pose1_to_pose2_press,0.619178343126,0.0100908577259,1.0500321711,0.589748792856,0.0187625940643,1.04970031013
+235,3.916666667,pose1_to_pose2_press,0.619179018708,0.0100908549232,1.050032242,0.589749468422,0.0187625911426,1.04970037948
+236,3.933333333,pose1_to_pose2_press,0.619180032063,0.0100908507192,1.05003234835,0.589750481752,0.0187625867602,1.04970048349
+237,3.950000000,pose1_to_pose2_press,0.619180343365,0.0100908494277,1.05003238102,0.589750793046,0.018762585414,1.04970051544
+238,3.966666667,pose1_to_pose2_press,0.619180401617,0.010090849186,1.05003238714,0.589750851297,0.0187625851621,1.04970052142
+239,3.983333333,pose1_to_pose2_press,0.619180881396,0.0100908471956,1.05003243749,0.589751331063,0.0187625830872,1.04970057067
+240,4.000000000,pose1_to_pose2_press,0.61918141734,0.0100908439947,1.05003247042,0.58975186699,0.0187625797647,1.0497006023
+241,4.016666667,pose1_to_pose2_press,0.619181817676,0.0100908396553,1.05003244854,0.589752267305,0.0187625752804,1.04970057934
+242,4.033333333,pose1_to_pose2_press,0.619182317798,0.0100908342344,1.0500324212,0.5897527674,0.0187625696784,1.04970055065
+243,4.050000000,pose1_to_pose2_press,0.619182712266,0.0100908299586,1.05003239964,0.589753161847,0.0187625652599,1.04970052802
+244,4.066666667,pose1_to_pose2_press,0.619182922422,0.0100908276806,1.05003238815,0.589753371993,0.0187625629058,1.04970051597
+245,4.083333333,pose1_to_pose2_press,0.619183373556,0.0100908328434,1.05003235282,0.589753823531,0.0187625693339,1.04970047798
+246,4.100000000,pose1_to_pose2_press,0.619183738248,0.0100908433238,1.05003231757,0.589754188818,0.0187625817336,1.04970043967
+247,4.116666667,pose1_to_pose2_press,0.619184018726,0.010090842831,1.05003229575,0.589754469822,0.0187625829681,1.04970041602
+248,4.133333333,pose1_to_pose2_press,0.619184140888,0.0100906820116,1.05003238576,0.589754593498,0.0187624276168,1.0497005147
+249,4.150000000,pose1_to_pose2_press,0.619184201955,0.0100906016191,1.05003243075,0.589754655323,0.0187623499578,1.04970056403
+250,4.166666667,pose1_to_pose2_press,0.61918427205,0.0100907197745,1.05003247466,0.589754723656,0.018762462095,1.04970060684
+251,4.183333333,pose1_to_pose2_press,0.619184279442,0.0100907682923,1.05003247796,0.589754730412,0.0187625084053,1.04970060899
+252,4.200000000,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730414,0.0187625084042,1.04970060898
+253,4.216666667,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084041,1.04970060898
+254,4.233333333,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730414,0.018762508404,1.04970060898
+255,4.250000000,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730414,0.0187625084039,1.04970060898
+256,4.266666667,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084039,1.04970060898
+257,4.283333333,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084039,1.04970060898
+258,4.300000000,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084033,1.04970060898
+259,4.316666667,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084033,1.04970060898
+260,4.333333333,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084033,1.04970060898
+261,4.350000000,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084032,1.04970060898
+262,4.366666667,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084032,1.04970060898
+263,4.383333333,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084031,1.04970060898
+264,4.400000000,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084031,1.04970060898
+265,4.416666667,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084035,1.04970060898
+266,4.433333333,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084039,1.04970060898
+267,4.450000000,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084038,1.04970060898
+268,4.466666667,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084038,1.04970060898
+269,4.483333333,pose2_hold,0.619184279442,0.0100907682923,1.05003247796,0.589754730415,0.0187625084037,1.04970060898
+270,4.500000000,pose2_to_pose3_retreat,0.619184279442,0.0100907682923,1.05003247796,0.589754730416,0.0187625084025,1.04970060898
+271,4.516666667,pose2_to_pose3_retreat,0.619184238707,0.0100908199755,1.05003236153,0.589754689403,0.0187625594673,1.04970050128
+272,4.533333333,pose2_to_pose3_retreat,0.619184237641,0.0100908213278,1.05003235849,0.58975468833,0.0187625608034,1.04970049846
+273,4.550000000,pose2_to_pose3_retreat,0.619184096213,0.0100908259701,1.05003232503,0.589754547098,0.0187625661032,1.0497004648
+274,4.566666667,pose2_to_pose3_retreat,0.61918386467,0.010090790721,1.05003236114,0.58975431616,0.0187625326181,1.04970049312
+275,4.583333333,pose2_to_pose3_retreat,0.619183528936,0.0100907836002,1.05003236023,0.589753980353,0.0187625252297,1.0497004917
+276,4.600000000,pose2_to_pose3_retreat,0.619182905649,0.0100907792358,1.05003234782,0.589753356739,0.0187625197997,1.0497004805
+277,4.616666667,pose2_to_pose3_retreat,0.619181275112,0.0100908124098,1.05003233404,0.589751725705,0.0187625514102,1.04970047065
+278,4.633333333,pose2_to_pose3_retreat,0.619177723827,0.0100908174866,1.05003228237,0.589748174404,0.0187625564933,1.04970041984
+279,4.650000000,pose2_to_pose3_retreat,0.619168781899,0.0100909170978,1.05003220183,0.589739231113,0.0187626516705,1.04970034237
+280,4.666666667,pose2_to_pose3_retreat,0.619152313908,0.0100908334435,1.05003225315,0.589722765184,0.0187625747876,1.04970038835
+281,4.683333333,pose2_to_pose3_retreat,0.61912596209,0.0100907692134,1.0500323491,0.589696413883,0.0187625120414,1.04970047798
+282,4.700000000,pose2_to_pose3_retreat,0.619089758977,0.0100907623459,1.05003224637,0.589660210517,0.0187625045493,1.04970038352
+283,4.716666667,pose2_to_pose3_retreat,0.619042585869,0.0100907467984,1.05003221849,0.589613038071,0.0187624912694,1.04970035992
+284,4.733333333,pose2_to_pose3_retreat,0.618986477167,0.0100907563879,1.05003229281,0.589556929218,0.0187625002108,1.04970043568
+285,4.750000000,pose2_to_pose3_retreat,0.618921896305,0.0100907784459,1.05003225061,0.589492347164,0.0187625176099,1.04970038227
+286,4.766666667,pose2_to_pose3_retreat,0.61884814552,0.0100908238337,1.05003218646,0.589418595638,0.018762560163,1.04970030824
+287,4.783333333,pose2_to_pose3_retreat,0.618764854282,0.0100909571834,1.05003243052,0.589335302887,0.0187626884989,1.04970055139
+288,4.800000000,pose2_to_pose3_retreat,0.61866997212,0.0100907763435,1.05003223023,0.589240423313,0.0187625164824,1.04970035273
+289,4.816666667,pose2_to_pose3_retreat,0.618562651682,0.0100906882855,1.0500321063,0.589133104011,0.0187624326066,1.0497002391
+290,4.833333333,pose2_to_pose3_retreat,0.618439548524,0.010090733111,1.05003230757,0.589009999836,0.0187624740292,1.04970044252
+291,4.850000000,pose2_to_pose3_retreat,0.618300805542,0.0100907295038,1.05003246855,0.588871256464,0.0187624687191,1.0497005939
+292,4.866666667,pose2_to_pose3_retreat,0.618145426107,0.0100908259033,1.05003232767,0.588715876418,0.0187625635294,1.04970046609
+293,4.883333333,pose2_to_pose3_retreat,0.617974597826,0.0100908333004,1.05003229941,0.588545049875,0.0187625768668,1.04970044627
+294,4.900000000,pose2_to_pose3_retreat,0.617788761536,0.0100908183346,1.05003234061,0.588359213649,0.0187625615842,1.04970047616
+295,4.916666667,pose2_to_pose3_retreat,0.617585445455,0.0100908402605,1.05003205932,0.588155896688,0.0187625804134,1.04970019647
+296,4.933333333,pose2_to_pose3_retreat,0.617364406566,0.0100907334346,1.05003205536,0.587934858795,0.0187624767599,1.04970019135
+297,4.950000000,pose2_to_pose3_retreat,0.617122399427,0.0100907386401,1.05003222304,0.587692851318,0.0187624806274,1.04970035803
+298,4.966666667,pose2_to_pose3_retreat,0.61685638957,0.0100907722509,1.050032289,0.587426841112,0.0187625129131,1.04970042501
+299,4.983333333,pose2_to_pose3_retreat,0.616565571115,0.0100906896637,1.05003213242,0.587136024364,0.0187624360223,1.04970027079
+300,5.000000000,pose2_to_pose3_retreat,0.616249117957,0.0100906176546,1.05003205622,0.586819572621,0.0187623687196,1.04970019558
+301,5.016666667,pose2_to_pose3_retreat,0.615909339422,0.0100905839985,1.05003244431,0.586479793632,0.0187623331061,1.04970057807
+302,5.033333333,pose2_to_pose3_retreat,0.615547367422,0.0100907681359,1.05003220636,0.586117818232,0.0187625057081,1.04970034538
+303,5.050000000,pose2_to_pose3_retreat,0.615169005702,0.0100908214342,1.05003221213,0.585739458594,0.0187625658692,1.04970034909
+304,5.066666667,pose2_to_pose3_retreat,0.614776431877,0.010090739279,1.05003229227,0.585346883888,0.0187624799133,1.0497004121
+305,5.083333333,pose2_to_pose3_retreat,0.614370266218,0.0100908065937,1.050032323,0.584940717796,0.0187625460588,1.04970045298
+306,5.100000000,pose2_to_pose3_retreat,0.613949049278,0.0100908121507,1.05003226595,0.584519500594,0.0187625509864,1.04970040338
+307,5.116666667,pose2_to_pose3_retreat,0.613505195051,0.0100907964439,1.05003226544,0.584075646161,0.0187625344869,1.04970040036
+308,5.133333333,pose2_to_pose3_retreat,0.613035400114,0.0100908171007,1.05003233422,0.583605851135,0.0187625547072,1.04970046541
+309,5.150000000,pose2_to_pose3_retreat,0.612532540465,0.01009074819,1.05003223872,0.583102991611,0.0187624863311,1.04970037272
+310,5.166666667,pose2_to_pose3_retreat,0.612002464158,0.0100906899761,1.05003232685,0.582572916638,0.018762432838,1.0497004651
+311,5.183333333,pose2_to_pose3_retreat,0.611447062929,0.0100907740273,1.05003235214,0.582017515503,0.0187625169824,1.04970048517
+312,5.200000000,pose2_to_pose3_retreat,0.610882517848,0.0100907777609,1.05003231289,0.581452969146,0.0187625166897,1.04970045392
+313,5.216666667,pose2_to_pose3_retreat,0.610309493667,0.0100909042823,1.05003234248,0.580879943318,0.018762637435,1.04970047814
+314,5.233333333,pose2_to_pose3_retreat,0.609720250989,0.0100909278928,1.05003235836,0.580290701138,0.0187626625721,1.0497004902
+315,5.250000000,pose2_to_pose3_retreat,0.609107588935,0.0100909029367,1.05003223509,0.579678039106,0.0187626378071,1.04970037038
+316,5.266666667,pose2_to_pose3_retreat,0.608461642834,0.0100908469438,1.05003220948,0.579032092875,0.0187625815172,1.04970034858
+317,5.283333333,pose2_to_pose3_retreat,0.607785747745,0.0100907583585,1.05003239217,0.578356199601,0.0187624990439,1.04970053051
+318,5.300000000,pose2_to_pose3_retreat,0.60708540078,0.0100908228711,1.05003221763,0.577655852629,0.0187625636647,1.04970035926
+319,5.316666667,pose2_to_pose3_retreat,0.606371894116,0.0100908223586,1.05003234816,0.576942346235,0.0187625638236,1.04970048325
+320,5.333333333,pose2_to_pose3_retreat,0.605652106804,0.0100907610057,1.0500323875,0.576222559254,0.0187625031821,1.04970051197
+321,5.350000000,pose2_to_pose3_retreat,0.60493217312,0.0100906675595,1.05003228082,0.575502626715,0.0187624136205,1.04970040544
+322,5.366666667,pose2_to_pose3_retreat,0.604204705682,0.01009087171,1.05003251714,0.574775156729,0.0187626094162,1.04970064988
+323,5.383333333,pose2_to_pose3_retreat,0.60346731329,0.0100908095707,1.05003222745,0.574037763739,0.0187625455315,1.04970036686
+324,5.400000000,pose2_to_pose3_retreat,0.602712846937,0.0100907648276,1.05003208472,0.573283297695,0.018762501859,1.04970022342
+325,5.416666667,pose2_to_pose3_retreat,0.601941605811,0.0100906512829,1.05003221088,0.572512058032,0.0187623932336,1.0497003485
+326,5.433333333,pose2_to_pose3_retreat,0.601159516924,0.0100906352148,1.05003227346,0.571729969378,0.0187623780154,1.04970041318
+327,5.450000000,pose2_to_pose3_retreat,0.600371022097,0.0100907418485,1.05003224428,0.570941473532,0.0187624811355,1.04970038322
+328,5.466666667,pose2_to_pose3_retreat,0.599583558689,0.0100907528073,1.05003228231,0.570154010144,0.0187624919463,1.04970041694
+329,5.483333333,pose2_to_pose3_retreat,0.598799245905,0.0100909402635,1.05003212515,0.569369695414,0.0187626728968,1.04970026194
+330,5.500000000,pose2_to_pose3_retreat,0.598015276797,0.0100907442642,1.05003235981,0.568585728685,0.0187624847282,1.04970048847
+331,5.516666667,pose2_to_pose3_retreat,0.597237882517,0.0100907503643,1.0500322595,0.567808334594,0.0187624914847,1.04970038839
+332,5.533333333,pose2_to_pose3_retreat,0.596461763475,0.010090763389,1.05003209406,0.56703221601,0.018762506621,1.04970023748
+333,5.550000000,pose2_to_pose3_retreat,0.595677109951,0.010090855709,1.05003217659,0.566247560077,0.0187625904678,1.04970031343
+334,5.566666667,pose2_to_pose3_retreat,0.594889097171,0.010090859542,1.05003230847,0.565459547192,0.0187625937671,1.04970043944
+335,5.583333333,pose2_to_pose3_retreat,0.594098199994,0.0100908271652,1.05003235493,0.564668650422,0.0187625628015,1.04970048661
+336,5.600000000,pose2_to_pose3_retreat,0.593307843631,0.0100908245343,1.05003229981,0.563878293451,0.0187625581373,1.04970043284
+337,5.616666667,pose2_to_pose3_retreat,0.592521961847,0.0100907996164,1.05003229062,0.563092412472,0.0187625358484,1.04970042023
+338,5.633333333,pose2_to_pose3_retreat,0.591753535943,0.0100907379085,1.05003233113,0.562323988564,0.0187624807001,1.049700455
+339,5.650000000,pose2_to_pose3_retreat,0.591005644296,0.010090765253,1.05003218725,0.561576095305,0.0187625026194,1.04970031234
+340,5.666666667,pose2_to_pose3_retreat,0.590281075774,0.0100909163453,1.05003234502,0.560851524207,0.0187626452239,1.04970047666
+341,5.683333333,pose2_to_pose3_retreat,0.589573170258,0.0100907121187,1.0500321353,0.560143622235,0.0187624531153,1.04970026939
+342,5.700000000,pose2_to_pose3_retreat,0.588881326085,0.0100907245701,1.05003212499,0.559451777441,0.0187624632879,1.04970025556
+343,5.716666667,pose2_to_pose3_retreat,0.588190159819,0.0100907708573,1.05003218754,0.558760610951,0.0187625089302,1.04970031971
+344,5.733333333,pose2_to_pose3_retreat,0.587500356243,0.0100907700078,1.05003215357,0.55807080709,0.0187625072285,1.04970028779
+345,5.750000000,pose2_to_pose3_retreat,0.586816727513,0.0100907639475,1.05003216348,0.557387179355,0.0187625045369,1.04970029898
+346,5.766666667,pose2_to_pose3_retreat,0.586144163816,0.0100907340094,1.05003223657,0.556714616958,0.0187624788817,1.04970036994
+347,5.783333333,pose2_to_pose3_retreat,0.585492275982,0.0100907081488,1.05003231722,0.55606272864,0.018762451352,1.04970044829
+348,5.800000000,pose2_to_pose3_retreat,0.584870792116,0.0100907711192,1.05003246715,0.555441243826,0.018762511236,1.04970060072
+349,5.816666667,pose2_to_pose3_retreat,0.584281352849,0.0100907421789,1.05003248492,0.554851804611,0.0187624822332,1.04970061209
+350,5.833333333,pose2_to_pose3_retreat,0.58371872434,0.0100906936371,1.05003235752,0.554289177417,0.0187624383109,1.04970048876
+351,5.850000000,pose2_to_pose3_retreat,0.583176053978,0.0100907265364,1.05003239606,0.553746506807,0.0187624700353,1.04970051867
+352,5.866666667,pose2_to_pose3_retreat,0.582645402267,0.0100907051445,1.05003245766,0.553215855726,0.018762451008,1.04970058594
+353,5.883333333,pose2_to_pose3_retreat,0.582127083781,0.0100907411202,1.05003240688,0.552697537027,0.0187624863729,1.04970053835
+354,5.900000000,pose2_to_pose3_retreat,0.581624126783,0.0100907766765,1.05003230169,0.552194579707,0.0187625208046,1.04970043244
+355,5.916666667,pose2_to_pose3_retreat,0.581145557059,0.0100907738528,1.05003224503,0.551716009446,0.0187625160949,1.0497003743
+356,5.933333333,pose2_to_pose3_retreat,0.580691750046,0.0100907541117,1.05003223522,0.551262201748,0.0187624940764,1.04970036621
+357,5.950000000,pose2_to_pose3_retreat,0.580260957044,0.0100907592986,1.05003227621,0.55083140858,0.0187624988179,1.04970041019
+358,5.966666667,pose2_to_pose3_retreat,0.579849915263,0.0100908503485,1.05003250419,0.550420365862,0.0187625863026,1.04970062764
+359,5.983333333,pose2_to_pose3_retreat,0.579457481979,0.0100908252928,1.05003236608,0.55002793398,0.0187625662913,1.0497004968
+360,6.000000000,pose2_to_pose3_retreat,0.579082046434,0.0100909526272,1.05003233397,0.549652495693,0.0187626845852,1.04970047163
+361,6.016666667,pose2_to_pose3_retreat,0.578725221855,0.0100908950187,1.05003246343,0.54929567278,0.0187626323531,1.04970059424
+362,6.033333333,pose2_to_pose3_retreat,0.578397753785,0.0100908424525,1.05003235344,0.548968204821,0.0187625804701,1.04970049212
+363,6.050000000,pose2_to_pose3_retreat,0.578099721748,0.0100907581954,1.05003229342,0.548670173121,0.0187624969668,1.04970042185
+364,6.066666667,pose2_to_pose3_retreat,0.577831577105,0.01009078272,1.05003236771,0.548402028805,0.0187625227352,1.04970049996
+365,6.083333333,pose2_to_pose3_retreat,0.577588598353,0.0100908950864,1.05003233872,0.548159048611,0.0187626305805,1.04970048075
+366,6.100000000,pose2_to_pose3_retreat,0.577369594317,0.0100909381991,1.05003222113,0.547940043098,0.018762668664,1.04970036245
+367,6.116666667,pose2_to_pose3_retreat,0.577163156261,0.0100907363466,1.05003235489,0.547733608602,0.0187624785007,1.04970048582
+368,6.133333333,pose2_to_pose3_retreat,0.576968288556,0.0100907349871,1.05003222781,0.547538742093,0.0187624814588,1.04970036558
+369,6.150000000,pose2_to_pose3_retreat,0.576787866707,0.0100906713965,1.05003233145,0.547358319347,0.0187624146278,1.04970046409
+370,6.166666667,pose2_to_pose3_retreat,0.576621623019,0.0100906569233,1.05003230173,0.547192075271,0.018762398551,1.04970042717
+371,6.183333333,pose2_to_pose3_retreat,0.576471306963,0.0100907115133,1.05003230568,0.547041759446,0.0187624542331,1.0497004392
+372,6.200000000,pose2_to_pose3_retreat,0.576337972972,0.0100907979089,1.05003234245,0.546908424001,0.018762535752,1.04970047749
+373,6.216666667,pose2_to_pose3_retreat,0.57622272458,0.010090787583,1.05003236375,0.546793175738,0.0187625257146,1.04970049486
+374,6.233333333,pose2_to_pose3_retreat,0.576122397888,0.0100906788332,1.05003236762,0.546692851619,0.0187624256621,1.04970049813
+375,6.250000000,pose2_to_pose3_retreat,0.5760361019,0.0100906369318,1.05003234154,0.54660655623,0.0187623857265,1.04970047087
+376,6.266666667,pose2_to_pose3_retreat,0.575962325034,0.0100907699228,1.05003223476,0.546532777017,0.0187625108795,1.04970036722
+377,6.283333333,pose2_to_pose3_retreat,0.575898851831,0.0100907338219,1.05003223149,0.546469304809,0.0187624781695,1.0497003643
+378,6.300000000,pose2_to_pose3_retreat,0.575844952628,0.010090868171,1.05003244362,0.546415402258,0.0187626010331,1.04970057321
+379,6.316666667,pose2_to_pose3_retreat,0.575799470533,0.0100908621095,1.05003226196,0.54636991988,0.0187625943857,1.04970040131
+380,6.333333333,pose2_to_pose3_retreat,0.575762314534,0.0100907345669,1.05003221492,0.546332765896,0.0187624734887,1.04970034921
+381,6.350000000,pose2_to_pose3_retreat,0.575733577316,0.0100907214184,1.05003229427,0.546304030151,0.0187624653435,1.04970042874
+382,6.366666667,pose2_to_pose3_retreat,0.575712363039,0.0100907807315,1.05003240574,0.54628281534,0.0187625228247,1.04970053975
+383,6.383333333,pose2_to_pose3_retreat,0.57569769935,0.0100908317779,1.05003246055,0.546268150185,0.0187625687078,1.04970058981
+384,6.400000000,pose2_to_pose3_retreat,0.575687447812,0.0100908813112,1.05003238693,0.546257897523,0.0187626143516,1.0497005143
+385,6.416666667,pose2_to_pose3_retreat,0.575680786916,0.0100908427055,1.05003237937,0.546251236645,0.0187625757721,1.0497005057
+386,6.433333333,pose2_to_pose3_retreat,0.57567581808,0.0100907961812,1.05003236164,0.546246268339,0.0187625310845,1.04970048892
+387,6.450000000,pose2_to_pose3_retreat,0.575672477883,0.0100907346356,1.05003226236,0.546242930365,0.0187624774173,1.04970039832
+388,6.466666667,pose2_to_pose3_retreat,0.575670267538,0.0100906939085,1.05003219666,0.546240721491,0.0187624419034,1.04970033836
+389,6.483333333,pose2_to_pose3_retreat,0.575669103243,0.0100907455007,1.05003221812,0.546239556023,0.018762489292,1.04970035395
+390,6.500000000,pose2_to_pose3_retreat,0.575668432146,0.010090777735,1.0500322324,0.546238884183,0.0187625188657,1.04970036455
+391,6.516666667,pose2_to_pose3_retreat,0.575667987417,0.0100907990963,1.05003224187,0.546238438962,0.018762538464,1.04970037158
+392,6.533333333,pose2_to_pose3_retreat,0.575667796245,0.0100908082788,1.05003224594,0.546238247579,0.0187625468885,1.0497003746
+393,6.550000000,pose2_to_pose3_retreat,0.575667464593,0.0100908242088,1.050032253,0.54623791556,0.0187625615037,1.04970037983
+394,6.566666667,pose2_to_pose3_retreat,0.575667113619,0.0100908410668,1.05003226047,0.546237564197,0.0187625769703,1.04970038538
+395,6.583333333,pose2_to_pose3_retreat,0.575667098291,0.0100908418031,1.05003226079,0.546237548852,0.0187625776458,1.04970038562
+396,6.600000000,pose2_to_pose3_retreat,0.575667029701,0.0100908450976,1.05003226225,0.546237480186,0.0187625806684,1.0497003867
+397,6.616666667,pose2_to_pose3_retreat,0.575666907801,0.0100908509527,1.05003226485,0.546237358152,0.0187625860402,1.04970038863
+398,6.633333333,pose2_to_pose3_retreat,0.575666799115,0.0100908439888,1.05003227534,0.546237249644,0.0187625797127,1.04970039987
+399,6.650000000,pose2_to_pose3_retreat,0.57566667937,0.0100908353986,1.0500322875,0.54623713012,0.018762571904,1.04970041297
+400,6.666666667,pose2_to_pose3_retreat,0.575666656878,0.0100908337851,1.05003228979,0.546237107669,0.0187625704373,1.04970041543
+401,6.683333333,pose2_to_pose3_retreat,0.575666579064,0.0100908282028,1.0500322977,0.546237029998,0.0187625653629,1.04970042395
+402,6.700000000,pose2_to_pose3_retreat,0.57566652073,0.0100908240181,1.05003230363,0.546236971771,0.0187625615589,1.04970043033
+403,6.716666667,pose2_to_pose3_retreat,0.575666343884,0.0100908113314,1.0500323216,0.546236795249,0.0187625500265,1.04970044968
+404,6.733333333,pose2_to_pose3_retreat,0.575665964869,0.0100907841416,1.05003236012,0.54623641693,0.0187625253104,1.04970049115
+405,6.750000000,pose2_to_pose3_retreat,0.575665858796,0.0100907765322,1.0500323709,0.546236311051,0.0187625183932,1.04970050276
+406,6.766666667,pose2_to_pose3_retreat,0.575665738989,0.0100907679375,1.05003238308,0.546236191464,0.0187625105805,1.04970051587
+407,6.783333333,pose2_to_pose3_retreat,0.575665552958,0.0100907545919,1.05003240198,0.546236005774,0.0187624984491,1.04970053622
+408,6.800000000,pose2_to_pose3_retreat,0.575665298988,0.0100907363726,1.05003242779,0.546235752271,0.0187624818874,1.04970056401
+409,6.816666667,pose2_to_pose3_retreat,0.575665070368,0.0100907199719,1.05003245103,0.546235524071,0.0187624669788,1.04970058903
+410,6.833333333,pose2_to_pose3_retreat,0.575664977934,0.0100907308285,1.05003242619,0.54623543146,0.0187624772214,1.04970056378
+411,6.850000000,pose2_to_pose3_retreat,0.575664944685,0.0100907368119,1.05003241319,0.546235398106,0.0187624828392,1.0497005505
+412,6.866666667,pose2_to_pose3_retreat,0.575664679481,0.0100907845365,1.0500323095,0.546235132069,0.018762527648,1.04970044454
+413,6.883333333,pose2_to_pose3_retreat,0.575664458907,0.0100908057329,1.05003228208,0.546234911148,0.0187625475774,1.04970041477
+414,6.900000000,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164433,1.04970035091
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cabeeac3087f76d1a46ae84df78063425f5050f4
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e05c2987043655f2e95b7eed5e01824fd85a35641f3614f28a84825c4b67d0ea
+size 26462585
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae312c902e8243a607c14655c4b87a6a11ab0bac
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,715,680,665,635,879,788,804,653,632,653,0.400968437539,0.00455001658173,0.059845555733,0.999999949311,0.000180473775957,-0.0002611284796,2.48768430265e-05,1793239688372622080
+1,0.016666667,BASELINE,765.408492195,745.408492195,714.408492195,680,665.591507805,635.591507805,879,787.408492195,804,653,631.408492195,653,0.400969046768,0.00454920695819,0.0598460182837,0.999999949545,0.000179149569803,-0.000261148582085,2.48227939534e-05,1793239688389288704
+2,0.033333333,BASELINE,765,745.178933423,714,680,666,635.821066577,879.178933423,787,804,653,631,653,0.40096930835,0.00454910015035,0.0598463169521,0.999999949634,0.000178911873325,-0.000260980897993,2.47347247927e-05,1793239688405955584
+3,0.050000000,BASELINE,765,745.75724768,714,680,666,635.24275232,879.75724768,787,804,653,631,653,0.400968793977,0.00455056203263,0.0598462498343,0.999999949397,0.000181099274893,-0.000260394072764,2.45707225133e-05,1793239688422622976
+4,0.066666667,BASELINE,765,745.66643184,714,679.66643184,666,635,879.66643184,787,804,653,631.33356816,653,0.400968825564,0.00454973002919,0.0598461565944,0.999999949797,0.000179191392957,-0.000260191649313,2.4412087769e-05,1793239688439289856
+5,0.083333333,BASELINE,765,745.091553734,714,679.091553734,666,635,879.091553734,787,804,653,631.908446266,653,0.400969252112,0.00454723858241,0.0598460444572,0.999999950642,0.000174320900052,-0.000260267309909,2.42573360177e-05,1793239688455955712
+6,0.100000000,BASELINE,765.484170212,745.484170212,714,679.484170212,665.515829788,635.484170212,879.484170212,787.484170212,804,653,631.515829788,653,0.400968856039,0.00454734448855,0.0598462909064,0.999999950569,0.000174760162431,-0.000260233655866,2.44964801899e-05,1793239688472622336
+7,0.116666667,BASELINE,766,745.938563567,714,679.938563567,665,635.938563567,879.938563567,787.938563567,803.938563567,653,631,653,0.400968293774,0.00454783754114,0.05984648281,0.999999950332,0.000175946352179,-0.000260317022317,2.47658532635e-05,1793239688489288704
+8,0.133333333,BASELINE,766,745.349426348,714,679.349426348,665,635.349426348,879.349426348,787.349426348,803.349426348,653,631,653,0.400967642461,0.00454742993539,0.0598456227663,0.999999950187,0.000174908982152,-0.000261583381737,2.46539881012e-05,1793239688505955584
+9,0.150000000,BASELINE,766,745.235970703,714,679.235970703,665,635.235970703,879,787,803,653,631,653,0.400967928195,0.00454802536888,0.0598455479124,0.999999950115,0.000175383565272,-0.000261550023862,2.4527829917e-05,1793239688522622208
+10,0.166666667,BASELINE,766,745.815915661,714,679.815915661,665,635.815915661,879,787,803,653,631,653,0.40096957986,0.00455008293171,0.0598466176292,0.999999950148,0.000178062121065,-0.000259622069278,2.4380836819e-05,1793239688539289088
+11,0.183333333,BASELINE,765.608547067,746,714,680,665,635.608547067,879,787,803.391452933,653,631,652.608547067,0.400969221534,0.00455041198028,0.059846343753,0.999999950028,0.000178602654496,-0.000259726292831,2.42466742638e-05,1793239688555955712
+12,0.200000000,BASELINE,765.035059421,746,714,680,665,635.035059421,879,787,803.964940579,653,631,652.035059421,0.400967928517,0.00454993722974,0.0598454450748,0.999999949839,0.000178148958067,-0.000260775526286,2.41184781965e-05,1793239688572622336
+13,0.216666667,BASELINE,765,746,714,679.446828339,665.553171661,635,879.553171661,787,804,653,631,652.553171661,0.400967946082,0.00455068163325,0.0598457184606,0.999999949717,0.00017850254911,-0.000261006050754,2.40529484266e-05,1793239688589288960
+14,0.233333333,BASELINE,765.140038111,746,714,679.140038111,665.859961889,635,879.859961889,787,803.859961889,653,631.140038111,653,0.400968311119,0.00455118697791,0.0598461103141,0.999999949734,0.000178680175882,-0.000260820629145,2.40578002803e-05,1793239688605955584
+15,0.250000000,BASELINE,765.719608445,746,714,679.719608445,665.280391555,635,879.280391555,787,803.280391555,653,631.719608445,653,0.400969498902,0.004550692837,0.0598466344608,0.999999950169,0.000178140523518,-0.000259497014848,2.42707489719e-05,1793239688622622208
+16,0.266666667,BASELINE,766,745.702663107,714,680,665,635.297336893,879,787,803.297336893,653,631.702663107,653,0.400970384855,0.00455065094821,0.0598469088663,0.999999950417,0.000177754272025,-0.00025880844481,2.4233529201e-05,1793239688639289088
+17,0.283333333,BASELINE,766,745.126660917,714,680,665,635.873339083,879,787,803.873339083,653,631.126660917,653,0.40097098793,0.00455103291191,0.0598469492134,0.999999950491,0.000177511788461,-0.00025871504081,2.39618505573e-05,1793239688655955712
+18,0.300000000,BASELINE,766,745,714,679.551272904,665.448727096,636,879,787,804,653,631,653,0.400970231133,0.00454963952832,0.0598467577482,0.999999950593,0.000176134558384,-0.000259233082502,2.42835179943e-05,1793239688672622592
+19,0.316666667,BASELINE,765.975518304,745.024481696,714,679.024481696,665.975518304,635.975518304,879,787,804,652.975518304,631,653,0.400969236961,0.00454780479482,0.0598465680057,0.999999950723,0.000174502612754,-0.000259790809275,2.47418249985e-05,1793239688689289216
+20,0.333333333,BASELINE,765.387336398,745.612663602,714,679.612663602,665.387336398,635.387336398,879,787,804,652.387336398,631,653,0.40097160328,0.00454733056897,0.0598479224908,0.999999951397,0.000174370730646,-0.000257293758882,2.44952422036e-05,1793239688705955840
+21,0.350000000,BASELINE,765,745.801442273,714,679.801442273,665,635,879,787,804,652.198557727,631.198557727,653,0.400972186115,0.00454726303763,0.0598483158618,0.999999951435,0.00017525043884,-0.000256553838413,2.44354835717e-05,1793239688722622208
+22,0.366666667,BASELINE,765,745.219960265,714,679.219960265,665,635,879,787,804,652.780039735,631.780039735,653,0.400969329452,0.00454797982842,0.0598468556965,0.999999950245,0.000178081028011,-0.00025920259377,2.47360207339e-05,1793239688739288832
+23,0.383333333,BASELINE,765.357525886,745.357525886,714,679.357525886,665.357525886,635.357525886,879,787.357525886,804,653,632,653,0.400969325731,0.00454809052285,0.0598469965897,0.999999950264,0.000178277591108,-0.000258979784882,2.48790861418e-05,1793239688755955712
+24,0.400000000,BASELINE,765.932580897,745.932580897,714,679.932580897,665.932580897,635.932580897,879,787.932580897,804,653,632,653,0.400971057824,0.00454783245072,0.0598481116132,0.999999951021,0.000176871536568,-0.000257009833219,2.49263411929e-05,1793239688772622336
+25,0.416666667,BASELINE,766,746,714,679.482801462,666,636,879,787.482801462,803.482801462,653,632,653,0.400971617095,0.0045487630623,0.0598481632248,0.999999951104,0.000176905388452,-0.000256690814381,2.46371124282e-05,1793239688789289216
+26,0.433333333,BASELINE,766,746,714,679.101992792,665.898007208,635.898007208,879,787,803,653,631.898007208,653,0.400971959724,0.0045496578449,0.0598482705606,0.999999951095,0.000177360050545,-0.00025643170704,2.44202184457e-05,1793239688805956096
+27,0.450000000,BASELINE,766,746,714,679.681666334,665.318333666,635.318333666,879,787,803,653,631.318333666,653,0.400972017228,0.00454964544791,0.0598493003345,0.999999951072,0.000178889927694,-0.000255426293359,2.47513995661e-05,1793239688822622720
+28,0.466666667,BASELINE,766,745.739087803,714,680,665.260912197,635,879.260912197,787,803.260912197,653,631.260912197,653,0.400971706026,0.00454877661274,0.0598494341713,0.99999995116,0.000178250529759,-0.000255505678351,2.49617913978e-05,1793239688839289344
+29,0.483333333,BASELINE,766,745.160362923,714,680,665.839637077,635,879.839637077,787,803.839637077,653,631.839637077,653,0.400970945711,0.00454686456488,0.0598484766823,0.999999951379,0.00017496877486,-0.000256906438112,2.50250518429e-05,1793239688855955968
+30,0.500000000,BASELINE,765.584965467,745.415034533,714,680,666,635.415034533,879.584965467,787.415034533,804,653,631.584965467,653,0.400970401013,0.00454695557697,0.0598479957739,0.999999951138,0.000175296970512,-0.00025765194825,2.47125316198e-05,1793239688872622336
+31,0.516666667,BASELINE,765.010843465,745.989156535,714,680,666,635.989156535,879.010843465,787.989156535,804,653,631.010843465,653,0.400969938965,0.00454781438482,0.0598476975442,0.99999995072,0.000177008901456,-0.000258146293703,2.42559703791e-05,1793239688889288960
+32,0.533333333,BASELINE,765.578519499,746,714,679.421480501,665.421480501,635.421480501,879,787.421480501,803.421480501,653,631,652.421480501,0.400970423097,0.00454781687117,0.059848027081,0.999999950838,0.00017709043854,-0.000257603481763,2.45695561917e-05,1793239688905955840
+33,0.550000000,BASELINE,766,745.834674193,714,679.165325807,665.165325807,635.165325807,879,787.165325807,803,653,631.165325807,652.165325807,0.400970703369,0.00454807953023,0.0598482805779,0.999999950894,0.00017734294372,-0.000257189208672,2.47953472715e-05,1793239688922622720
+34,0.566666667,BASELINE,766,745.255010753,714,679.744989247,665.744989247,635.744989247,879,787.744989247,803,653,631.744989247,652.744989247,0.40097042708,0.004549035545,0.0598483132177,0.999999950771,0.00017810258666,-0.000257147116635,2.47639518681e-05,1793239688939289344
+35,0.583333333,BASELINE,765.678303937,745.321696063,714,680,666,635.678303937,879,788,803.321696063,653,631.678303937,653,0.400970030016,0.00454893736036,0.0598479644043,0.999999950581,0.000178290280407,-0.000257749442457,2.48311589139e-05,1793239688955956224
+36,0.600000000,BASELINE,765.103919454,745.896080546,714,680,666,635.103919454,879,788,803.896080546,653,631.103919454,653,0.400969538083,0.00454801111474,0.0598473159641,0.999999950337,0.000178028714966,-0.000258857950817,2.49758170044e-05,1793239688972622848
+37,0.616666667,BASELINE,765.482408411,745.517591589,714,680,666,635.482408411,879.482408411,787.517591589,804,653,631,653,0.400969510482,0.00454882684987,0.059847349009,0.999999950216,0.000179044521955,-0.000258660568461,2.46158303325e-05,1793239688989288960
+38,0.633333333,BASELINE,765.929781371,745.070218629,714,679.929781371,666.070218629,636,879.929781371,787.070218629,804,653,631,653,0.400969552817,0.00454984906053,0.059847467588,0.999999950185,0.000179792690614,-0.000258302219999,2.41819421603e-05,1793239689005955584
+39,0.650000000,BASELINE,765.350352323,745.649647677,714,679.350352323,666.649647677,636,879.350352323,787.649647677,804,653,631,653,0.400969358544,0.00454957824356,0.0598471148238,0.999999950619,0.00017655388007,-0.000258868385043,2.40204873767e-05,1793239689022622208
+40,0.666666667,BASELINE,765.220009119,746,714,679.220009119,666.779990881,635.779990881,879,787.779990881,804,653,631,653,0.400969273378,0.00454905635548,0.0598471663044,0.999999950902,0.000174758585422,-0.000258984478212,2.41409324e-05,1793239689039288832
+41,0.683333333,BASELINE,765.776502436,746,714,679.776502436,666.223497564,635.223497564,879,787.223497564,804,653,631,653,0.400969355082,0.0045481504767,0.0598478360411,0.999999950964,0.000175171018958,-0.000258412226819,2.46925178845e-05,1793239689055955456
+42,0.700000000,BASELINE,766,745.645637989,714,679.645637989,666,635,879,787.354362011,804,653,631.354362011,653,0.400969568326,0.00454836928828,0.0598481187889,0.999999951047,0.000175376702929,-0.000257950648854,2.46945533432e-05,1793239689072622336
+43,0.716666667,BASELINE,766,745.053437994,714,679.053437994,666,635,879,787.946562006,804,653,631.946562006,653,0.400969869857,0.00454934296097,0.0598481418005,0.999999951144,0.000175443622295,-0.000257563351856,2.43277459989e-05,1793239689089288960
+44,0.733333333,BASELINE,766,745.538440109,714,679.538440109,666,635,879,787.461559891,804,653,632,653,0.400971466259,0.0045501746828,0.0598488417441,0.999999951265,0.000177494377545,-0.000255708955973,2.40689788832e-05,1793239689105955840
+45,0.750000000,BASELINE,765.872489859,746,714,680,665.872489859,635,879.127510141,787.127510141,803.872489859,653,631.872489859,653,0.400972214594,0.00455070146184,0.0598491180714,0.99999995121,0.000178982975837,-0.000254893018539,2.39518376132e-05,1793239689122622720
+46,0.766666667,BASELINE,765.293254897,746,714,680,665.293254897,635,879.706745103,787.706745103,803.293254897,653,631.293254897,653,0.40096950352,0.004550197812,0.0598476558077,0.999999950549,0.000177782954855,-0.000258271500315,2.42984646925e-05,1793239689139289344
+47,0.783333333,BASELINE,765.28515392,745.71484608,714,679.71484608,665.28515392,635,879.71484608,787.71484608,803.28515392,652.71484608,631,653,0.400968726718,0.00454954183179,0.0598470311172,0.999999950445,0.000176903607954,-0.000259269712388,2.439539295e-05,1793239689155955968
+48,0.800000000,BASELINE,765.862715648,745.137284352,714,679.137284352,665.862715648,635,879.137284352,787.137284352,803.862715648,652.137284352,631,653,0.400969933392,0.0045487296461,0.0598472653066,0.999999950919,0.000176353092453,-0.000257827104692,2.42362704663e-05,1793239689172622336
+49,0.816666667,BASELINE,766,745.436453076,714,679,666,635.436453076,879,787.436453076,804,652.436453076,631,653,0.40096990926,0.00454782846919,0.0598476434376,0.999999951148,0.000175302887998,-0.000257632129465,2.4456638934e-05,1793239689189288704
+50,0.833333333,BASELINE,765.990677176,746,714,679,666,635.990677176,879,787.990677176,804,653,631.009322824,653,0.400969510463,0.00454693260968,0.059848059924,0.999999951294,0.000174161103909,-0.000257808151979,2.47857278624e-05,1793239689205955584
+51,0.850000000,BASELINE,765.397463728,746,714,679,666,635.397463728,879,787.397463728,804,653,631.602536272,653,0.400969682625,0.00454810768101,0.0598480675965,0.99999995104,0.000177042057525,-0.000256854908988,2.45129494101e-05,1793239689222622464
+52,0.866666667,BASELINE,765.191006976,745.808993024,714.191006976,679,665.808993024,635,879.191006976,787,804,653,632,653,0.400969872902,0.00454899780983,0.0598480172953,0.999999950922,0.000178585415193,-0.000256275141998,2.423016125e-05,1793239689239289600
+53,0.883333333,BASELINE,765.769847649,745.230152351,714.769847649,679,665.230152351,635,879.769847649,787,804,653,632,653,0.400970099961,0.0045493093717,0.0598478492806,0.999999951092,0.000177412825905,-0.000256453706425,2.39270487074e-05,1793239689255956480
+54,0.900000000,BASELINE,766,745.345593125,714.654406875,679.345593125,665.345593125,635,879.654406875,787,803.654406875,653,631.654406875,653,0.40096935412,0.00454874300194,0.0598473115987,0.999999950829,0.000176692905977,-0.000257933212469,2.43269867447e-05,1793239689272623104
+55,0.916666667,BASELINE,766,745.919295589,714.080704411,679.919295589,665.919295589,635,879.080704411,787,803.080704411,653,631.080704411,653,0.400967966113,0.00454759715188,0.0598465299173,0.999999950276,0.000176271771285,-0.000260271407266,2.51909745425e-05,1793239689289288960
+56,0.933333333,BASELINE,766,746,714,680,666,635,879,787.492797803,803.492797803,653,631,653,0.40096813743,0.00454788261056,0.0598467221123,0.99999995016,0.00017764597263,-0.000259805920667,2.49620129473e-05,1793239689305955584
+57,0.950000000,BASELINE,766,745.931100695,714,679.931100695,665.931100695,635,879,787.931100695,804,653,631.068899305,653,0.400968629263,0.00454837441525,0.0598470976839,0.999999950192,0.000178939254194,-0.000258826952267,2.45860906135e-05,1793239689322622208
+58,0.966666667,BASELINE,766,745.33485393,714,679.33485393,665.33485393,635,879,787.33485393,804,653,631.66514607,653,0.400969620528,0.00454865220887,0.0598476565796,0.999999950837,0.000177363716003,-0.000257430728318,2.44547597076e-05,1793239689339288832
+59,0.983333333,BASELINE,766,745.251947984,714.251947984,679.251947984,665.251947984,635,879,787.251947984,804,653,632,653,0.400970128527,0.00454877415862,0.0598482791016,0.999999951212,0.000176732373316,-0.00025642202613,2.42983082809e-05,1793239689355955456
+60,1.000000000,BASELINE,766,745.82665077,714.82665077,679.82665077,665.82665077,635,879,787.82665077,804,653,632,653,0.400970017446,0.00454869646658,0.0598489831315,0.999999951245,0.000177310580216,-0.000255909753641,2.41096765083e-05,1793239689372622080
+61,1.016666667,BASELINE,765.598498445,746,714.598498445,680,666,635,879.401501555,787.598498445,804,653,631.598498445,653,0.400970621285,0.00454868109392,0.0598493240948,0.999999951527,0.000176676230061,-0.000255235586081,2.42279174631e-05,1793239689389289216
+62,1.033333333,BASELINE,765.023583771,746,714.023583771,680,666,635,879.976416229,787.023583771,804,653,631.023583771,653,0.400971533906,0.00454869263773,0.0598495082454,0.999999951914,0.000175518162599,-0.000254491494219,2.44787002731e-05,1793239689405956352
+63,1.050000000,BASELINE,765.565178846,746,714,679.434821154,666,635.565178846,880,787,804,653,631,653,0.400971374264,0.00454865873017,0.0598495093083,0.999999951604,0.000177097676367,-0.000254617968691,2.44688991428e-05,1793239689422622464
+64,1.066666667,BASELINE,765.848108096,746,714,679.151891904,666,636,880,787.151891904,803.848108096,652.848108096,631.151891904,653,0.400971435992,0.00454895055778,0.0598494143296,0.999999951336,0.000178382542941,-0.00025478115351,2.43675100887e-05,1793239689439289088
+65,1.083333333,BASELINE,765.268828797,746,714,679.731171203,666,636,880,787.731171203,803.268828797,652.268828797,631.731171203,653,0.400972249661,0.00455016439664,0.0598490711494,0.99999995128,0.000178508843188,-0.000254942849669,2.40397788854e-05,1793239689455955712
+66,1.100000000,BASELINE,765,745.691315468,714,679.691315468,665.691315468,636,879.691315468,788,803.308684532,652.308684532,632,653,0.400971629013,0.00454991119359,0.0598486164758,0.999999951223,0.000177746972523,-0.000255693376271,2.40816356208e-05,1793239689472622336
+67,1.116666667,BASELINE,765,745.115331377,714,679.115331377,665.115331377,636,879.115331377,788,803.884668623,652.884668623,632,653,0.400969766345,0.00454838763315,0.0598480652568,0.999999951163,0.000176216006973,-0.0002569537895,2.44435300889e-05,1793239689489288704
+68,1.133333333,BASELINE,765.458548924,745,714,679,665.458548924,635.541451076,879,787.541451076,804,653,631.541451076,653,0.400970639176,0.00454912453701,0.0598486799823,0.999999951314,0.000176856841635,-0.000255925479109,2.44039021396e-05,1793239689505955840
+69,1.150000000,BASELINE,766,745.033024034,714,679.033024034,666,635,879,787.033024034,804,653,631,653,0.400972058496,0.0045502718776,0.0598494593206,0.999999951495,0.000177939760304,-0.000254475791919,2.42809458362e-05,1793239689522622720
+70,1.166666667,BASELINE,766,745.626532953,714,679.626532953,666,635,879,787.626532953,804,653,631,653,0.40097112915,0.00454877998608,0.0598480781335,0.999999951318,0.000177297317282,-0.000255599741722,2.44498892519e-05,1793239689539289344
+71,1.183333333,BASELINE,766,745.78575718,714,679.78575718,666,635,879,787.78575718,803.78575718,653,631,653,0.400970849385,0.00454792061313,0.0598476261153,0.999999951269,0.000177138398168,-0.000255894231304,2.45203098937e-05,1793239689555955968
+72,1.200000000,BASELINE,766,745.207889687,714,679.207889687,666,635,879,787.207889687,803.207889687,653,631,653,0.400971672123,0.00454813478519,0.0598487511331,0.999999951439,0.000177800142265,-0.000254780915658,2.44235123035e-05,1793239689572622848
+73,1.216666667,BASELINE,766,745.363564889,714,679,666,635.363564889,879.363564889,787.363564889,803.363564889,653,631,653,0.400971299107,0.00454838155307,0.0598491024975,0.999999951418,0.000177734449317,-0.000254906677681,2.44308848391e-05,1793239689589289216
+74,1.233333333,BASELINE,766,745.931416027,714,679,666,635.931416027,879.931416027,787.931416027,803.931416027,653,631,653,0.400970254198,0.00454864663646,0.0598490191478,0.999999951291,0.000177260011175,-0.000255728674576,2.44967903276e-05,1793239689605955584
+75,1.250000000,BASELINE,766,745.474728073,714.525271927,679,666,636,879.474728073,787.474728073,804,653,631.525271927,653,0.400970000384,0.0045486068828,0.0598485426686,0.999999951143,0.00017781218365,-0.000255925478194,2.44545750571e-05,1793239689622622464
+76,1.266666667,BASELINE,766,745.119020163,714.880979837,679,665.880979837,635.880979837,879,787.119020163,804,653,632,653,0.40096994734,0.00454849913456,0.0598481317912,0.99999995108,0.000178014238453,-0.000256037094549,2.43988386179e-05,1793239689639288832
+77,1.283333333,BASELINE,766,745.698530732,714.301469268,679,665.301469268,635.301469268,879,787.698530732,804,653,632,653,0.400970250628,0.00454829033028,0.0598481836702,0.999999951353,0.000176316057403,-0.000256151400207,2.43482530043e-05,1793239689655955456
+78,1.300000000,BASELINE,766,745.723997549,714,679.276002451,665.276002451,635.276002451,879,787.723997549,803.723997549,653,631.723997549,653,0.400970209023,0.00454858035176,0.0598481792219,0.999999951316,0.000176413404912,-0.000256226992983,2.43905422355e-05,1793239689672622336
+79,1.316666667,BASELINE,766,745.148736511,714,679.851263489,665.851263489,635.851263489,879,787.148736511,803.148736511,653,631.148736511,653,0.400969793465,0.00454941123038,0.0598481137004,0.999999950941,0.000178457573423,-0.000256260610898,2.45335320057e-05,1793239689689289472
+80,1.333333333,BASELINE,766,745.425071152,714.425071152,680,666,635.574928848,879,787.425071152,803.425071152,653,631.425071152,653,0.400968847962,0.00454808234932,0.059847284734,0.999999950961,0.000175575904623,-0.000258159901156,2.45681300376e-05,1793239689705956096
+81,1.350000000,BASELINE,766,745.998372043,714.998372043,680,666,635.001627957,879,787.998372043,803.998372043,653,631.998372043,653,0.400967717659,0.00454600032238,0.059846189541,0.999999951097,0.000170976510416,-0.000260709783968,2.45649299866e-05,1793239689722622464
+82,1.366666667,BASELINE,766,745.407516265,715,680,666,635.592483735,879.592483735,788,803.407516265,653,631.407516265,653,0.40096780711,0.00454815003174,0.0598465170755,0.999999950415,0.000176652493265,-0.000259535544776,2.46093887728e-05,1793239689739288832
+83,1.383333333,BASELINE,765.817890328,745.182109672,714.817890328,680,666,635.817890328,880,788,803.182109672,653,631,653,0.400968373034,0.00454963803298,0.0598471977864,0.999999950213,0.000180051738555,-0.000257977230042,2.45447438877e-05,1793239689755955712
+84,1.400000000,BASELINE,765.238187249,745.761812751,714.238187249,680,666,635.238187249,880,788,803.761812751,653,631,653,0.400969971642,0.00454965504147,0.0598486407288,0.999999951123,0.00017841638182,-0.000255603530928,2.42416006365e-05,1793239689772622336
+85,1.416666667,BASELINE,765.336814011,746,714,679.663185989,666,635,879.663185989,788,804,653,631,653,0.400969620728,0.00454852271292,0.0598483474649,0.99999995141,0.000176325101557,-0.000255938767137,2.41947224684e-05,1793239689789288960
+86,1.433333333,BASELINE,765.908535994,746,714,679.091464006,666,635,879.091464006,788,804,653,631,653,0.400967910138,0.00454658878934,0.059846843299,0.999999951257,0.000173915841535,-0.000258163326615,2.43265741477e-05,1793239689805955840
+87,1.450000000,BASELINE,766,746,714,679.493819138,665.506180862,635.493819138,879,788,804,653,631.493819138,653,0.400968242541,0.00454651781473,0.0598467826538,0.999999951026,0.000175012097486,-0.000258305368436,2.4442805981e-05,1793239689822622464
+88,1.466666667,BASELINE,766,746,714.080538499,680.080538499,665.080538499,635.919461501,879,787.919461501,804,653,631.919461501,653,0.400968918982,0.00454682772031,0.0598470482268,0.999999950832,0.000176570958769,-0.000257984458539,2.45382531383e-05,1793239689839289088
+89,1.483333333,BASELINE,766,746,714.660153464,680.660153464,665.660153464,635.339846536,879,787.339846536,804,653,631.339846536,653,0.400969316292,0.00454729927365,0.0598476317118,0.99999995097,0.00017685941337,-0.000257252449781,2.45233368266e-05,1793239689855955968
+90,1.500000000,BASELINE,765.761238836,746,714.761238836,680.522477673,666,635,879,787,804,653,631,653,0.400970064613,0.00454786905546,0.0598482140576,0.99999995128,0.000177002840926,-0.000255967765313,2.42956988216e-05,1793239689872622336
+91,1.516666667,BASELINE,765.184058876,746,714.184058876,679.368117752,666,635,879,787,804,653,631,653,0.400971310454,0.00454857806572,0.0598487947886,0.999999951831,0.000176940707899,-0.000253899721311,2.3766550227e-05,1793239689889288704
+92,1.533333333,BASELINE,765.391463864,746,714,679.391463864,666,635,879.391463864,787.391463864,804,653,631,653.391463864,0.400971290241,0.00454898087013,0.0598490810743,0.999999951967,0.00017633923509,-0.000253787926102,2.37248313011e-05,1793239689905955584
+93,1.550000000,BASELINE,765.966210746,746,714,679.966210746,666,635,879.966210746,787.966210746,804,653,631,653.966210746,0.400970677263,0.0045492403093,0.0598492295009,0.999999951908,0.000175485243891,-0.000254592044584,2.39113264475e-05,1793239689922622208
+94,1.566666667,BASELINE,766,746,714.555443874,680,666,635,879.444556126,787.444556126,804,653,631,653.444556126,0.400969394955,0.0045477394663,0.0598481711396,0.99999995163,0.00017530562028,-0.000255763036957,2.43653863418e-05,1793239689939289088
+95,1.583333333,BASELINE,766,746,714.857106281,679.857106281,666,635.142893719,879.142893719,787,803.857106281,653,631,652.857106281,0.400968910581,0.00454663907594,0.0598475528819,0.999999951524,0.000175050984031,-0.000256318715873,2.46870080524e-05,1793239689955955456
+96,1.600000000,BASELINE,766,746,714.277864876,679.277864876,666,635.722135124,879.722135124,787,803.277864876,653,631,652.277864876,0.400970990489,0.00454709727909,0.0598485087263,0.999999951991,0.000174438658433,-0.000254925465523,2.45531752704e-05,1793239689972622336
+97,1.616666667,BASELINE,766,746,714.299570366,679.299570366,666,635.700429634,879.700429634,787.299570366,803,653,631,652.599140732,0.400971941694,0.00454797896778,0.0598490753385,0.999999952047,0.000175102392953,-0.000254254647449,2.44908092322e-05,1793239689989289216
+98,1.633333333,BASELINE,766,746,714.875340319,679.875340319,666,635.124659681,879.124659681,787.875340319,803,653,631,653.750680638,0.40097185225,0.00454925110405,0.0598492830842,0.999999951724,0.000176942636663,-0.000254249901671,2.44943345163e-05,1793239690005956096
+99,1.650000000,BASELINE,765.549724112,745.549724112,714.549724112,679.549724112,666,635,879,787.549724112,803.450275888,653,631.450275888,653.549724112,0.400971011064,0.00454860759422,0.0598486718545,0.999999951706,0.000176159549466,-0.000254872273154,2.44266870117e-05,1793239690022622720
+100,1.666666667,BASELINE,765.025605051,745,714,679,665.974394949,635,879,787,804,653,632,653,0.400970012098,0.00454749965051,0.059847888096,0.999999951754,0.000174795154823,-0.000255629335918,2.43435815705e-05,1793239690039288832
+101,1.683333333,BASELINE,765.614669704,745,714,679,665.385330296,635,879,787,804,653,632,653,0.400970112483,0.00454782065741,0.059848287957,0.999999951462,0.000176591299749,-0.00025553684045,2.43531189938e-05,1793239690055955456
+102,1.700000000,BASELINE,765.799793248,745.200206752,714,679.200206752,665.200206752,635.200206752,879,787,804,653,631.799793248,653,0.400969680256,0.00454814982457,0.0598481322852,0.999999951064,0.000177881139032,-0.000256199449418,2.43491550315e-05,1793239690072622336
+103,1.716666667,BASELINE,765.220928154,745.779071846,714,679.779071846,665.779071846,635.779071846,879,787,804,653,631.220928154,653,0.400968240681,0.00454849442548,0.0598469259137,0.999999950467,0.000178213383759,-0.000258290215001,2.43196554044e-05,1793239690089289216
+104,1.733333333,BASELINE,765,745.644329741,714,680,665.644329741,635.644329741,879,787.355670259,804,653,631,653,0.400968887995,0.00454813988829,0.059847539111,0.999999950972,0.000176971880679,-0.0002571793386,2.43924940696e-05,1793239690105956096
+105,1.750000000,BASELINE,765,745.069130329,714,680,665.069130329,635.069130329,879,787.930869671,804,653,631,653,0.400970823393,0.00454735382448,0.0598492753945,0.999999952147,0.00017475901858,-0.000254092323719,2.45284986506e-05,1793239690122623232
+106,1.766666667,BASELINE,765,745,714,680,665.517811011,635.517811011,879.517811011,787.482188989,804,653,631,652.482188989,0.400970695468,0.0045474344481,0.0598491889909,0.999999952071,0.000174618577986,-0.000254502346264,2.43851148082e-05,1793239690139289600
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,879,788,803,653,631,653,0.40097009074,0.00454656799519,0.0598485787548,0.999999952218,0.000171860843047,-0.000255785196721,2.4525470775e-05,1793239690181717760
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.428392671,746,714,679,665.428392671,635.428392671,879,787.428392671,803,653,631,653,0.400970147782,0.0045477564609,0.0598481941083,0.999999951526,0.00017583668566,-0.000255814336367,2.42607724169e-05,1793239690198384384
+109,1.816666667,POSE1_TO_POSE2_PRESS,765,745.855677044,714,679.144322956,665.144322956,635.144322956,879,787,803.144322956,653,631.144322956,653,0.400970481181,0.00454886143524,0.059848292214,0.999999951134,0.000178638281293,-0.000255417109055,2.41171792373e-05,1793239690215051008
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745.279646073,714,679.720353927,665.720353927,635.720353927,879,787,803.720353927,653,631.720353927,653,0.40097164124,0.00454971666513,0.0598498343591,0.999999951682,0.000177927395542,-0.000253744505768,2.43358435182e-05,1793239690231717376
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.306369031,745.306369031,714.306369031,679.693630969,666,635.693630969,879.306369031,787,804,653,631.693630969,653,0.40097155482,0.00454992231204,0.0598501129132,0.999999951666,0.000177514308925,-0.000254080788715,2.44720592689e-05,1793239690248384000
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.901804362,745.901804362,714.901804362,679.098195638,666,635.098195638,879.901804362,787,804,653,631.098195638,653,0.400970292321,0.00454951506228,0.0598491992396,0.999999951119,0.000177382202751,-0.000256312502598,2.45304829026e-05,1793239690265050880
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.517900208,746,714.517900208,679.482099792,666,635.482099792,879.517900208,787,804,653,631,653,0.40096884066,0.00454863712986,0.0598484363946,0.999999951143,0.000175974239958,-0.000257181688358,2.45859171315e-05,1793239690281717760
+114,1.900000000,POSE1_TO_POSE2_PRESS,765,745.939747303,714,679.939747303,666,636,879.060252697,787,803.939747303,653,631,653,0.400967615127,0.00454782530223,0.059847745943,0.999999951232,0.00017459289336,-0.000257775479907,2.45894819915e-05,1793239690298384128
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745.354207342,714,679.354207342,666,636,879.645792658,787,803.354207342,653,631,653,0.400968686668,0.00454840013517,0.059847426947,0.999999950921,0.000175640176823,-0.000258314172233,2.41459927663e-05,1793239690315050752
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745.228880586,714,679.228880586,665.771119414,635.771119414,879.771119414,787,803,653,631,653,0.400974263016,0.00454877329581,0.0598497483171,0.999999951725,0.00017674642508,-0.00025442324979,2.40738203518e-05,1793239690331717376
+117,1.950000000,POSE1_TO_POSE2_PRESS,765,745.808214005,714,679.808214005,665.191785995,635.191785995,879.191785995,787,803,653,631,653,0.400986736945,0.00454883766379,0.0598561125107,0.999999954159,0.00017794295777,-0.000243749877661,2.45701934799e-05,1793239690348384000
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.38748329,746,714,680,665,635.38748329,879,787.38748329,803.38748329,653,631.38748329,653,0.401012644822,0.00454893580763,0.059867285485,0.999999958742,0.000177939255261,-0.000224146800162,2.47481692421e-05,1793239690365050624
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.966720889,746,714,680,665,635.966720889,879,787.966720889,803.966720889,653,631.966720889,653,0.401045200775,0.00454905066617,0.0598808381868,0.999999963943,0.000177341590982,-0.000200124667845,2.47685793606e-05,1793239690381717248
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.456936784,714,679.456936784,665,635.456936784,879,788,804,653,631.456936784,653,0.401103610915,0.00454786913033,0.0599006411467,0.999999970822,0.000175083970082,-0.000164581231912,2.4800899704e-05,1793239690398383872
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.88127688,745,714,679,665.11872312,635,879.11872312,787.88127688,803.88127688,653,631,653,0.401165762918,0.00454701769833,0.0599195009447,0.999999975969,0.000173427610284,-0.00013178584949,2.48603515079e-05,1793239690415050752
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.307555793,745,714,679,665.692444207,635,879.692444207,787.307555793,803.307555793,653,631,653,0.401236215636,0.00454773421267,0.0599332860419,0.999999978172,0.000174463319023,-0.000112213637732,2.50210005122e-05,1793239690431717632
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745.275300631,714,679.275300631,666,635,880,787,803.275300631,653,631,653,0.401313943146,0.00454714403163,0.0599430743813,0.999999980073,0.000172689408878,-9.70211340862e-05,2.48659032498e-05,1793239690448384256
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.868712964,714,679.868712964,666,635,880,787,803.868712964,653,631,653,0.401400076722,0.00454504395538,0.0599482444396,0.999999981872,0.000167668965502,-8.68894133469e-05,2.43459590835e-05,1793239690465050624
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.448848508,745.551151492,714,679.551151492,665.551151492,635.448848508,879.551151492,787,804,653,631,652.551151492,0.401499781161,0.00454493729259,0.0599504765044,0.999999982451,0.000166947040355,-8.16515657018e-05,2.3675624845e-05,1793239690481717248
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.974835148,745,714,679.025164852,665,635.974835148,879,787,804,653,631,652.025164852,0.401604447589,0.00454530259408,0.0599519406523,0.999999982741,0.000167183847497,-7.77315500689e-05,2.29342864391e-05,1793239690498384128
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.399553614,745,714,679.600446386,665,635.399553614,879,787,804,653,631,652.600446386,0.401733304629,0.00454360529991,0.0599548639806,0.999999984088,0.000161683338633,-7.22269057957e-05,2.15747488462e-05,1793239690515050496
+128,2.133333333,POSE1_TO_POSE2_PRESS,765,745.179320478,714.179320478,679.820679522,665.179320478,635.179320478,879,787,803.820679522,652.820679522,631,653,0.40186798908,0.00454284422341,0.0599562554738,0.999999984954,0.000158307021066,-6.80041827834e-05,2.0163149505e-05,1793239690531717120
+129,2.150000000,POSE1_TO_POSE2_PRESS,765,745.766362906,714.766362906,679.233637094,665.766362906,635.766362906,879,787,803.233637094,652.233637094,631,653,0.402015923326,0.00454421183035,0.0599541640249,0.999999984841,0.000159760489641,-6.66961719188e-05,1.86331772694e-05,1793239690548384000
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.348869866,745.651130134,714.651130134,679,666,635.651130134,879,787,803.348869866,652.348869866,631.348869866,652.651130134,0.402192080933,0.00454473221609,0.0599548746328,0.999999985634,0.00015668006255,-6.24766014734e-05,1.6759543158e-05,1793239690565050624
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.928378475,745.071621525,714.071621525,679,666,635.071621525,879,787,803.928378475,652.928378475,631.928378475,652.071621525,0.402386897088,0.0045446925019,0.0599574376875,0.999999986965,0.000150602265813,-5.63321915617e-05,1.46587131662e-05,1793239690581717248
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.493267777,745,714,679,665.493267777,635,879,787,804,653,631.493267777,652.506732223,0.402611484315,0.00454354489475,0.05995919849,0.999999988027,0.000146508004104,-4.81245103284e-05,1.28672138146e-05,1793239690598384128
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.084075768,745,714,679.084075768,665.084075768,635,879,787,803.915924232,653,631.084075768,653,0.402844602494,0.00454226655922,0.0599608367282,0.999999989047,0.000142047494634,-4.00828416302e-05,1.10035832255e-05,1793239690615050496
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.656497807,745,714,679.656497807,665.656497807,635,879,787,803.343502193,653,631.656497807,653,0.403102886715,0.00454113636729,0.0599624201834,0.999999990406,0.000133834967151,-3.4695449791e-05,8.46761365605e-06,1793239690631717376
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.763262865,745.236737135,714,679.763262865,666,635,879,787.236737135,803,653,632,653,0.403372444999,0.00454003440739,0.059962835521,0.999999991452,0.000126567845763,-3.22606392706e-05,5.90615543555e-06,1793239690648384000
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.171293458,745.828706542,714,679.171293458,666,635,879,787.828706542,803,653,632,653,0.403658920388,0.0045389748107,0.0599614980575,0.999999992121,0.000120719339475,-3.42562796212e-05,3.30645076412e-06,1793239690665050624
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.591091282,714,679,666,635,879,787.591091282,803.408908718,653,632,653,0.403974322383,0.00453930278838,0.0599531759039,0.999999992285,0.000115320461913,-4.61576393203e-05,-8.16394955814e-08,1793239690681717248
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.015680574,714,679,666,635,879,787.015680574,803.984319426,653,632,653,0.404301502885,0.00454019576724,0.0599420096811,0.999999992004,0.000110104667084,-6.20924712497e-05,-3.79074942919e-06,1793239690698383872
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.562483791,714,679.562483791,666,635.562483791,879.562483791,787.562483791,804,653,631.437516209,653,0.404651196866,0.00453802192167,0.0599303326469,0.999999991403,9.99965606082e-05,-8.45148486879e-05,-7.1553669758e-06,1793239690715050496
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.85997058,714,680,665.85997058,635.85997058,879.85997058,788,804,653,631,653,0.405016365907,0.00453555914763,0.0599212851479,0.999999990637,8.99106890971e-05,-0.000102635770829,-1.03573400509e-05,1793239690731717120
+141,2.350000000,POSE1_TO_POSE2_PRESS,765,745.284588557,714,680,665.284588557,635.284588557,879.284588557,788,804,653,631,653,0.405427686106,0.0045324652055,0.0599204573875,0.999999990984,8.03200559662e-05,-0.000106818381046,-1.30836538991e-05,1793239690748383744
+142,2.366666667,POSE1_TO_POSE2_PRESS,765,745.298029485,714,679.701970515,665.298029485,635.298029485,879,787.701970515,803.701970515,653,631,653,0.405871827475,0.00453003000671,0.0599315966941,0.999999993332,7.09804624875e-05,-8.96473593739e-05,-1.61562190892e-05,1793239690765050368
+143,2.383333333,POSE1_TO_POSE2_PRESS,765,745.887729217,714,679.112270783,665.887729217,635.887729217,879,787.112270783,803.112270783,653,631,653,0.406348089737,0.00452823949489,0.0599544477187,0.999999996563,6.18865508566e-05,-5.15783418414e-05,-1.95676477494e-05,1793239690781717248
+144,2.400000000,POSE1_TO_POSE2_PRESS,765,746,714.469074459,679.469074459,666.469074459,636,879,787,803,653,631,653,0.406884192032,0.00452726972314,0.0599819352103,0.999999998459,5.00707288303e-05,-5.23126769624e-06,-2.34034505872e-05,1793239690798383616
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.047779862,746,715,680,666.952220138,636,879,787,803.047779862,652.952220138,631.047779862,653,0.407431628387,0.00452637320806,0.0600082399367,0.999999998164,3.79409038825e-05,3.86004952463e-05,-2.72498137504e-05,1793239690815050496
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.61908723,746,715,680,666.38091277,636,879,787,803.61908723,652.38091277,631.61908723,653,0.407949067443,0.00452416462493,0.0600096385627,0.999999998552,2.93838826001e-05,3.35423247799e-05,-3.01184338832e-05,1793239690831717376
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.802731326,745.802731326,715,679.802731326,666,636,879,787,803.802731326,652,631.802731326,652.802731326,0.408473009453,0.0045213229737,0.0600053145683,0.999999999101,1.85266072247e-05,1.86672447813e-05,-3.32539778447e-05,1793239690848384000
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.210797303,745.210797303,715,679.210797303,666,636,879,787,803.210797303,652,631.210797303,652.210797303,0.409009961558,0.00451721477564,0.0599895416197,0.999999999188,3.06733161535e-06,-1.58480238052e-05,-3.69235424622e-05,1793239690865050624
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,745.373457427,715,679,666,635.626542573,879,787,803.373457427,652.373457427,631,652.373457427,0.409599792493,0.00451465087535,0.0599828943437,0.999999998703,-9.04558978615e-06,-2.93595222788e-05,-4.06216586252e-05,1793239690881716992
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,745.95346491,715,679,666,635.04653509,879,787,803.95346491,652.95346491,631,652.95346491,0.410218869382,0.00451294108806,0.0599812942518,0.999999998342,-1.93077250094e-05,-3.12543543666e-05,-4.4335565836e-05,1793239690898383616
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,746,714.470289299,679,666,635.529710701,879,787.529710701,804,653,631,652.470289299,0.410903863783,0.00450515103666,0.059991179242,0.999999998243,-3.43807643565e-05,-7.97494249551e-06,-4.76279694642e-05,1793239690915050496
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,746,714,679,666,636,879,787.894234144,804,653,631,652,0.411591218008,0.0044977295582,0.0599988802137,0.99999999831,-3.33482721509e-05,1.10755140307e-05,-4.63176029726e-05,1793239690931717120
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,746,714,679,666,636,879,787.317566965,804,653,631,652,0.412263477861,0.00449431051153,0.05999239674,0.999999998843,4.12593254504e-05,1.52029850354e-06,-2.46780241593e-05,1793239690948383744
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714,679.264807835,666,635.735192165,879,787.264807835,804,653,631,652.264807835,0.412917401312,0.0044970867586,0.0599714473597,0.999999995386,8.59939604657e-05,-4.00142626662e-05,-1.52212778061e-05,1793239690965050624
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,714,679.854178275,666,635.145821725,879,787.854178275,804,653,631,652.854178275,0.413548850781,0.00450745628763,0.0599327677918,0.999999988067,9.41147091763e-05,-0.000120744416618,-2.06964578376e-05,1793239690981717248
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,879,787.564714558,804,652.564714558,631,653,0.414285253971,0.00450469935641,0.0599285734351,0.999999988167,8.24944431078e-05,-0.0001272658879,-2.57772519165e-05,1793239690998383872
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,879,787,804,652,631,653,0.415058245674,0.00449779612753,0.0599368266574,0.999999991652,6.47577052815e-05,-0.000107526588167,-3.06634092036e-05,1793239691015050240
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,879,787,804,652,631,653,0.415917283704,0.00449787862312,0.0599909217206,0.999999997451,6.24483756497e-05,-1.08254371322e-05,-3.28664724051e-05,1793239691031717120
+159,2.650000000,POSE1_TO_POSE2_PRESS,765,746,714,679.833578232,666,635,879.166421768,787.166421768,804,652,631.166421768,653,0.416750207692,0.00449860089626,0.060029164131,0.999999995881,6.42164910906e-05,5.42479926946e-05,-3.421652962e-05,1793239691048383744
+160,2.666666667,POSE1_TO_POSE2_PRESS,765,746,714,679.243175517,666,635,879.756824483,787.756824483,804,652,631.756824483,653,0.417516602732,0.00450095308532,0.0600270198581,0.999999995775,7.63724258924e-05,3.87457117673e-05,-3.33934444447e-05,1793239691065050624
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,746,714,679,666,635,880,787.659170791,804,652,631.659170791,653,0.418305711003,0.00450009553909,0.0600144788264,0.999999995931,8.11041171669e-05,1.97601531836e-05,-3.42087849859e-05,1793239691081717248
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,714,679,666,635,880,787.079646828,804,652,631.079646828,653,0.419110726121,0.00449699010159,0.0599946565768,0.999999996093,8.06363474969e-05,-1.66486733469e-06,-3.61715730538e-05,1793239691098383872
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.505249739,714,679.494750261,666,635,880,787,804,652.494750261,631,652.505249739,0.419918062299,0.00449957872561,0.0599717769043,0.999999994821,8.63554838102e-05,-3.7513703071e-05,-3.86552968426e-05,1793239691115050752
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745,714,679.93135198,666,635,879.93135198,787,804,653,631,652.06864802,0.420726136313,0.00450243736315,0.0599478390622,0.999999991859,9.21801328191e-05,-7.81751255713e-05,-4.09090496202e-05,1793239691131717632
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745,714,679.355106492,666,635,879.355106492,787,804,653,631,652.644893508,0.421536931079,0.0045005841363,0.0599196789806,0.999999985537,9.14959243167e-05,-0.000137428513777,-4.08486139272e-05,1793239691148384256
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,714,679,665.773742132,635,879.226257868,787,804,652.773742132,631,653,0.422372161955,0.00449954545551,0.059908293654,0.999999985217,5.12120350639e-05,-0.000158833315892,-4.14181612481e-05,1793239691165050880
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,714,679,665.18415776,635,879.81584224,787,804,652.18415776,631,653,0.423246632635,0.00449981477832,0.0599238453447,0.999999990554,-5.26613053095e-05,-0.000119460596087,-4.29993396276e-05,1793239691181717504
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,714.39866705,679.39866705,665.39866705,635,880.39866705,787,804.39866705,652,631,653,0.424158599462,0.00449911618129,0.0599697925353,0.999999994916,-8.0118963046e-05,-4.3599207834e-05,-4.29986536552e-05,1793239691198384128
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,714.978421414,679.978421414,665.978421414,635,880.978421414,787,804.978421414,652,631,653,0.425087598186,0.00449797792413,0.0600295463325,0.999999995259,-7.28661690744e-05,4.88364973694e-05,-4.22794340926e-05,1793239691215050752
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.552297365,714.447702635,680,666,635.552297365,880.447702635,787.552297365,804.447702635,652,631.552297365,652.447702635,0.425958873787,0.0044957244361,0.0600356607097,0.999999994741,-7.03903612531e-05,6.08582259015e-05,-4.31254389092e-05,1793239691231717376
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666.126064563,635.873935437,880.126064563,787.873935437,804,652,631.873935437,652,0.426829499949,0.00449411100633,0.0600341870357,0.999999994815,-6.68457541099e-05,6.27150385919e-05,-4.43737276525e-05,1793239691248384000
+172,2.866666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666.700252969,635.299747031,880.700252969,787.299747031,804,652,631.299747031,652,0.427705749933,0.00449492606024,0.0600131112356,0.999999996392,-5.88454037757e-05,3.94891204062e-05,-4.68369251913e-05,1793239691265050624
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.284532411,746,714.284532411,680,666.715467589,635,880.715467589,787,804,652,631,652.284532411,0.428550193255,0.00449438123058,0.0599912933234,0.999999997406,-5.21252533137e-05,1.14545451725e-05,-4.83674014716e-05,1793239691281717248
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.879833322,746,714.879833322,680,666.120166678,635,880.120166678,787,804,652,631,652.879833322,0.429359897038,0.00449235112551,0.0599686648721,0.999999997472,-4.68033475639e-05,-2.18320809632e-05,-4.88791522002e-05,1793239691298383872
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.538761981,714.538761981,680,666,635,880,787,804,652,631,653,0.43016302163,0.00449123068967,0.059943757544,0.999999995632,-4.00758364018e-05,-6.8805541046e-05,-4.89389247336e-05,1793239691315050496
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745,714,680,666.038741346,635,880,787,804,652.038741346,631.038741346,653,0.430971692021,0.00449027577767,0.0599228742601,0.999999992184,-3.33526964873e-05,-0.000110072512713,-4.9026288574e-05,1793239691331717120
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745,714,680,666.610917288,635,880,787,804,652.610917288,631.610917288,653,0.431879633562,0.00448843218618,0.0599653344646,0.999999997882,-3.15845833559e-05,-2.51035142724e-05,-5.10675147104e-05,1793239691348383744
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.188752031,714,680,666.811247969,635,880.188752031,787,804,652.811247969,631.811247969,653,0.432764756878,0.00448661954173,0.0600015706832,0.999999997357,-2.96437974458e-05,4.10501798124e-05,-5.21785721744e-05,1793239691365050368
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.778612131,714,680,666.221387869,635,880.778612131,787,804,652.221387869,631.221387869,653,0.433601390427,0.00448487266103,0.0600245806098,0.999999996051,-2.73360727915e-05,6.72203707274e-05,-5.13129729367e-05,1793239691381716992
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666.361643566,635.361643566,880.638356434,787,804,652,631,653,0.434399289953,0.00448345284498,0.0600137158071,0.999999997381,-2.33731541079e-05,4.51858857541e-05,-5.14846562365e-05,1793239691398383616
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666.940572124,635.940572124,880.059427876,787,804,652,631,653,0.435173917007,0.0044822295381,0.0599824981722,0.999999998447,-1.84157512957e-05,-5.81124141354e-06,-5.22795661971e-05,1793239691415050496
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.482101076,714.517898924,680,666.482101076,635.482101076,880,787.517898924,804.517898924,652,631,653,0.435922716455,0.00447974894203,0.0599583111186,0.999999997141,-2.0389092673e-05,-4.99838908151e-05,-5.29599471433e-05,1793239691431717376
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.905351401,745.094648599,715,680,666,635,879.905351401,787.905351401,804.905351401,652,631.094648599,652.905351401,0.436665853034,0.00447770758874,0.0599379816509,0.99999999447,-2.19089023567e-05,-8.77503888978e-05,-5.36553807159e-05,1793239691448384000
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.330599757,745.669400243,715,680,666,635,879.330599757,787.330599757,804.330599757,652,631.669400243,652.330599757,0.437395251599,0.00447862384289,0.0599331401264,0.999999993666,-1.71065324833e-05,-9.69818043087e-05,-5.44936256673e-05,1793239691465050624
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.24985008,746,714.75014992,680,666.24985008,635,879.499700159,787.24985008,804.24985008,652,632,652.24985008,0.438113724888,0.00447775471483,0.0599276851089,0.999999992195,-1.22348514702e-05,-0.000111830934,-5.43480944658e-05,1793239691481717504
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.838015643,746,714.161984357,680,666.838015643,635,880.676031286,787.838015643,804.838015643,652,632,652.838015643,0.438817404486,0.00447446804714,0.059921399377,0.999999989559,-7.26931843546e-06,-0.00013428686347,-5.28704575219e-05,1793239691498383872
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.579583232,714,680,666.579583232,635,881,787.579583232,804.579583232,652,631.579583232,653,0.439541227644,0.00447326887248,0.059939136427,0.999999992946,-5.16028566929e-06,-0.000106232885295,-5.28848698039e-05,1793239691515050496
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745,714,680,666,635,880.999381946,787,804.000618054,652,631,652.999381946,0.44027259304,0.00447286526848,0.0599659728008,0.999999996819,-4.13025711481e-06,-5.90438857975e-05,-5.3465217476e-05,1793239691531717120
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745,714,680,666,635,880.427427119,787,804.572572881,652,631,652.427427119,0.440898526217,0.00447444865045,0.059963841213,0.999999996139,3.09677794601e-06,-7.0051153041e-05,-5.2966268829e-05,1793239691548384256
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.149226471,714,680,665.850773529,634.850773529,880,787,805,652,631,652.298452942,0.441505497075,0.00447616409863,0.0599474701922,0.999999993424,1.09609832451e-05,-0.000101212512245,-5.28055145298e-05,1793239691565050880
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.73977635,714,680,665.26022365,634.26022365,880,787,805,652,631,653.479552701,0.442056388787,0.00447827012071,0.0598889873728,0.999999979919,2.07095619394e-05,-0.000191977726085,-5.36449381882e-05,1793239691581717248
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.675644429,745.675644429,714,680,665,634,880,787,805,652,631,653.675644429,0.442600282492,0.00448100312887,0.0598417788344,0.999999964329,2.72025094874e-05,-0.000259863517223,-5.54424498116e-05,1793239691598383872
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.095768796,745.095768796,714,680,665,634,880,787,805,652,631,653.095768796,0.44313866329,0.00448423006251,0.059803451926,0.999999949869,3.1130743123e-05,-0.000309725406072,-5.7994721797e-05,1793239691615050240
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.48162515,745,714,680,665,634,880,787,804.51837485,652,631.48162515,653,0.443674788858,0.00448669424627,0.0597984615853,0.999999946276,3.26098416345e-05,-0.000320776577683,-5.90587180264e-05,1793239691631717120
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.058430493,714,679.941569507,664.941569507,634.058430493,880,787,804.058430493,652,631.941569507,653,0.444206697735,0.00448921597657,0.0598006168884,0.999999945832,2.71741536776e-05,-0.000322484396723,-6.00127162932e-05,1793239691648384000
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.634370899,714,679.365629101,664.365629101,634.634370899,880,787,804.634370899,652,631.365629101,653,0.444705211468,0.00449358381131,0.0598076506541,0.999999949544,-3.52135780583e-05,-0.000309440307945,-6.26001054686e-05,1793239691665050624
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.78466735,746,714,679.21533265,664,634.78466735,880.21533265,786.78466735,805,652,631,653,0.445172341668,0.00449875673487,0.0598017424469,0.999999942764,-7.89013941986e-05,-0.000322473044798,-6.52558786296e-05,1793239691681717248
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.194975985,746,714,679.805024015,664,634.194975985,880.805024015,786.194975985,805,652,631,653,0.445584911121,0.00450532931573,0.0597733344447,0.999999921109,-9.0079148488e-05,-0.000380840697027,-6.80305382096e-05,1793239691698383872
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714,680.387435147,663.612564853,634,881,786.387435147,805,652,631,653,0.445974800199,0.00451883070804,0.0597436011964,0.999999901879,-8.37362391888e-05,-0.000428805717716,-7.31784198438e-05,1793239691715050496
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,680.966250143,663.033749857,634,881,786.966250143,805,652,631,653,0.446353485977,0.00453575469927,0.0597132133189,0.999999883259,-6.87387160324e-05,-0.000471632195456,-7.94985930518e-05,1793239691731717120
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,746,714,680.457052856,663,633.457052856,881,787,805,652,631,653,0.446729806712,0.00455005925941,0.0597100542177,0.99999988384,-5.41523274911e-05,-0.000471573917086,-8.36974599983e-05,1793239691748384000
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,714,680,663,633.11853622,881,786.88146378,805,652,631,653,0.447100412571,0.00456154995038,0.0597115369792,0.99999988729,-4.19502182602e-05,-0.000464854121622,-8.700863773e-05,1793239691765050624
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,746,714,680,663,633.690389961,881,786.309610039,805,652,631,653,0.447449723196,0.0045628998502,0.0597243239207,0.999999897385,-3.8768938066e-05,-0.000442813668903,-8.74273483995e-05,1793239691781717248
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,746,714,679.727109234,662.727109234,633.727109234,880.727109234,786.272890766,805,652,631,653,0.447779722222,0.00456372178504,0.0597321689612,0.999999904392,-8.71732721347e-06,-0.000430107568078,-7.84092879982e-05,1793239691798383872
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,746,714,679.132038335,662.132038335,633.132038335,880.132038335,786.867961665,805,652,631,653,0.448086921576,0.00456392039409,0.0597341794968,0.999999905123,5.30579172696e-05,-0.000428421784415,-5.82499923177e-05,1793239691815050496
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.448131701,745.551868299,714,679.448131701,662,633,880.448131701,787,804.551868299,652,631.448131701,653,0.448338481693,0.00456916451059,0.0597222940409,0.999999895986,6.80314601423e-05,-0.000447433035456,-5.66029553359e-05,1793239691831717120
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.975959602,745.024040398,714,680,662,632.975959602,880.975959602,786.975959602,804.024040398,652,631.975959602,653,0.448572340833,0.00457553533633,0.0597060690931,0.999999883978,6.94571692213e-05,-0.000472862158589,-6.01714161684e-05,1793239691848383744
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.400330878,745.599669122,714,680,662,632.400330878,880.400330878,786.400330878,804.599669122,652,631.400330878,653,0.448764099806,0.00457474602103,0.0596811961906,0.99999986575,6.62512727654e-05,-0.000510128376111,-6.22839143059e-05,1793239691865050368
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.179060294,746,714,680.179060294,662,632,880,786.179060294,805.179060294,652,631,653,0.448949753105,0.00457475904637,0.0596604886653,0.999999849406,6.35838021525e-05,-0.000541290009423,-6.44199638773e-05,1793239691881716992
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.767043756,746,714,680.767043756,662,632,880,786.767043756,805.767043756,652,631,653,0.449121462745,0.00457660439138,0.0596492936889,0.999999839884,6.21459447947e-05,-0.000558510491663,-6.6609798144e-05,1793239691898383616
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.649973026,745.649973026,714,680.649973026,662,632,880.350026974,786.649973026,805.649973026,652,631,653,0.449288852807,0.00457653891389,0.0596451322412,0.999999836656,5.87247632378e-05,-0.000564459335569,-6.80142600168e-05,1793239691915050240
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.070270734,745.070270734,714,680.070270734,662,632,880.929729266,786.070270734,805.070270734,652,631,653,0.449453408531,0.00457521962245,0.0596455859453,0.999999837677,5.40021943581e-05,-0.000563012130868,-6.89033885297e-05,1793239691931717120
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.506495913,714.506495913,680,661.493504087,632,881,786.506495913,805,652,631,652.493504087,0.449587120118,0.00457613470063,0.0596454110762,0.999999836789,5.40888736488e-05,-0.000564470929883,-6.97753055597e-05,1793239691948384000
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714.917242545,680,661,632,881,786.917242545,805,652,631.082757455,652.082757455,0.449712973931,0.00457779190438,0.0596448098552,0.999999835559,5.54992114273e-05,-0.000566400732156,-7.06515139657e-05,1793239691965050624
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714.341577342,680,661,632,881,786.341577342,805,652,631.658422658,652.658422658,0.44981736725,0.00458203354547,0.0596421856802,0.999999833851,6.08421714025e-05,-0.000568748355647,-7.15674229179e-05,1793239691981717504
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,680,661,632,881,786,805.240111826,652,631.759888174,653,0.449909588755,0.00458408238859,0.0596390318115,0.99999983153,6.36020679796e-05,-0.000572463251403,-7.198078692e-05,1793239691998384128
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,680,661,632,881,786,805.830591036,652,631.169408964,653,0.449984049335,0.00458293153527,0.0596351050223,0.999999828331,6.25927989263e-05,-0.000578173249118,-7.16608452153e-05,1793239692015050496
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.413235361,746,714,680.413235361,661,632,880.586764639,786,805.586764639,652.413235361,631,653,0.450048085773,0.00458310309711,0.0596319294959,0.99999982484,6.31439288177e-05,-0.000584110526281,-7.17443953242e-05,1793239692031717120
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.992727467,746,714,680.992727467,661,632,880.007272533,786,805.007272533,652.992727467,631,653,0.450107928269,0.00458380670552,0.0596290562246,0.999999821208,6.43228531441e-05,-0.000590139244503,-7.19902820691e-05,1793239692048384000
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.433891406,745.433891406,714,681,661,631.433891406,881.132217187,786.566108594,805,652.433891406,631,653,0.450158283249,0.00458406279969,0.0596309852798,0.999999824683,6.5880808814e-05,-0.000584055514725,-7.19163272727e-05,1793239692065050624
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,681,661,631.139788496,881.720423008,787,805,652,631,653,0.450204562422,0.00458411046412,0.0596330668299,0.999999828047,6.7138643952e-05,-0.00057811889033,-7.19469187404e-05,1793239692081717248
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,681,661,631.714639888,880.570720223,787,805,652,631,653,0.450238531755,0.00458352713535,0.0596354330316,0.999999830878,6.74474228086e-05,-0.000573119212707,-7.23155403372e-05,1793239692098384384
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.297428061,714,680.702571939,661,632,880.297428061,786.702571939,805,652,631,653,0.450263170865,0.0045841454284,0.0596354908482,0.999999830585,6.81313189532e-05,-0.000573526031332,-7.24920937047e-05,1793239692115051008
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.888039822,714,680.111960178,661,632,880.888039822,786.111960178,805,652,631,653,0.4502786129,0.00458594819581,0.059633273221,0.999999827208,6.91849794201e-05,-0.000579262193777,-7.24793197402e-05,1793239692131717376
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714,680.469794497,661,632,880.530205503,786,805,652,631,653,0.450290008574,0.00458697183223,0.0596304061401,0.999999824199,7.17056781338e-05,-0.000584171368464,-7.21426344861e-05,1793239692148384256
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,632,880,786,805,652,631,653,0.450300137036,0.0045876867973,0.0596276025027,0.999999821508,7.41566975357e-05,-0.000588499807443,-7.178038183e-05,1793239692165051136
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661,632,880,786,805,652,631,653,0.450306828437,0.00458704695891,0.0596271066393,0.999999821535,7.21837793594e-05,-0.000588677929268,-7.19560550586e-05,1793239692181717760
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.796131905,880.203868095,786,805,652,631,653,0.450312951947,0.00458695458741,0.0596272565973,0.999999822044,7.17621442089e-05,-0.00058786858453,-7.19170454064e-05,1793239692198384128
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.207686096,880.792313904,786,805,652,631,653,0.450318004185,0.00458789496006,0.059628624836,0.999999823461,7.42668566407e-05,-0.000585196478298,-7.14730569657e-05,1793239692215050752
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.374890776,746,714,681,661,631,881,786,805.374890776,652.374890776,631,653,0.450321001463,0.00458846844314,0.0596290656152,0.99999982372,7.51091004824e-05,-0.000584664386142,-7.13216805615e-05,1793239692231717376
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.954266406,746,714,681,661,631,881,786,805.954266406,652.954266406,631,653,0.450322877859,0.00458884180562,0.05962900051,0.999999823352,7.5044547734e-05,-0.000585299568635,-7.13299099382e-05,1793239692248384256
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.468485582,746,714.531514418,681,661,631,880.468485582,786.531514418,805.468485582,652.468485582,631,653,0.450321909622,0.00458870521518,0.0596280534646,0.999999822311,7.57805013943e-05,-0.000586979848975,-7.13480072211e-05,1793239692265050880
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.107667149,746,714.892332851,680.892332851,661,631,880.107667149,786.892332851,805,652,631,653,0.450321498751,0.00458840217085,0.0596274880514,0.999999821678,7.6431198239e-05,-0.000587986334409,-7.12385581779e-05,1793239692281717248
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.679880691,746,714.320119309,680.320119309,661,631,880.679880691,786.320119309,805,652,631,653,0.450324544577,0.00458756950093,0.059628895363,0.999999823068,7.64180383595e-05,-0.000585699182692,-7.05751421294e-05,1793239692298383872
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,745.738555889,714,680.261444111,661,631.261444111,880.738555889,786,805,652,631,653,0.450325878864,0.0045870264091,0.059629003446,0.999999823311,7.63909191935e-05,-0.000585302902387,-7.04546023766e-05,1793239692315050496
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,745.145119539,714,680.854880461,661,631.854880461,880.145119539,786,805,652,631,653,0.450325039769,0.00458685103505,0.0596274617165,0.999999822098,7.63460739629e-05,-0.000587307726274,-7.10234286692e-05,1793239692331717376
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.563942223,745.436057777,714,681,660.563942223,632,880,786,805,652,631,653,0.450324547889,0.00458731132386,0.0596265739957,0.999999821498,7.59388150525e-05,-0.000588362988857,-7.11808370743e-05,1793239692348384256
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.013202623,746,714,681,660.013202623,632,880.013202623,786.013202623,805,652,631.013202623,652.986797377,0.450324204537,0.00458797378666,0.0596259138124,0.999999821109,7.55079584849e-05,-0.000589076482015,-7.12012082029e-05,1793239692365051392
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.587618305,746,714,681,660.587618305,632,880.587618305,786.587618305,805,652,631.587618305,652.412381695,0.45032539721,0.00458848368197,0.0596259267666,0.999999821285,7.90607158686e-05,-0.000588327808882,-7.10574202712e-05,1793239692381717760
+240,4.000000000,POSE1_TO_POSE2_PRESS,766,746,714,681,661,632,881,786.83432988,805,652.16567012,631.83432988,652.16567012,0.450326155837,0.00458904263642,0.0596259445222,0.999999821253,8.17204805388e-05,-0.000588038832225,-7.08929493126e-05,1793239692398383872
+241,4.016666667,POSE1_TO_POSE2_PRESS,766,746,714,681,661,632,881,786.247024024,805,652.752975976,631.247024024,652.752975976,0.450325809803,0.00458972644791,0.0596259744972,0.999999820718,8.21075500835e-05,-0.000588919797807,-7.06758394015e-05,1793239692415050752
+242,4.033333333,POSE1_TO_POSE2_PRESS,766,745.662173805,714,680.662173805,661,631.662173805,880.662173805,786.337826195,805,652.662173805,631,653,0.450324754602,0.00458980124667,0.0596255670814,0.999999820168,8.19173649369e-05,-0.000589885240795,-7.06313417486e-05,1793239692431717632
+243,4.050000000,POSE1_TO_POSE2_PRESS,766,745.079106254,714,680.079106254,661,631.079106254,880.079106254,786.920893746,805,652.079106254,631,653,0.450323184589,0.00458943393905,0.0596248421464,0.999999819606,8.13081278321e-05,-0.000590912009225,-7.07121501496e-05,1793239692448384000
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,745.49598569,714,680.49598569,661,631.49598569,880,786.50401431,805,652,631,653,0.450324124844,0.00458938300616,0.0596247931137,0.999999819638,8.11751856949e-05,-0.000590839076886,-7.10203414759e-05,1793239692465050880
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.930490733,746,714,681,661,632,880,786,805,652,631.069509267,653,0.450325233811,0.00458929992327,0.0596248378887,0.99999981973,8.08875542865e-05,-0.000590688490418,-7.13045763153e-05,1793239692481718016
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.359251606,746,714,681,661,632,880,786,805,652,631.640748394,653,0.450324716357,0.00458862631459,0.0596247939679,0.99999981958,7.8943693276e-05,-0.000591223375619,-7.11582575727e-05,1793239692498384384
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714.220606983,681,661,631.779393017,880.220606983,786,805,652,631.779393017,653,0.450324830076,0.00458829686846,0.0596248483044,0.999999819611,7.80800046378e-05,-0.000591300807099,-7.10255490534e-05,1793239692515051008
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714.815072921,681,661,631.184927079,880.815072921,786,805,652,631.184927079,653,0.450326013429,0.00458855066875,0.059625069156,0.999999819955,7.90468656948e-05,-0.000590602999513,-7.09159055276e-05,1793239692531717376
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.399236443,746,714.600763557,680.600763557,661,631,881,786,805,652,631,653,0.450327243117,0.00458890724263,0.0596256843257,0.999999820575,7.94742277373e-05,-0.000589512289301,-7.0777432402e-05,1793239692548383744
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.978747878,746,714.021252122,680.021252122,661,631,881,786,805,652,631,653,0.450328493726,0.00458931022384,0.0596264775494,0.999999821318,7.96579792436e-05,-0.000588244164172,-7.06259412935e-05,1793239692565050368
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.44643892,745.44643892,714,680.55356108,660.44643892,631,880.44643892,786.55356108,805,652,631,653,0.450327924676,0.0045902980176,0.0596253545471,0.99999982061,8.07080269642e-05,-0.000589294881796,-7.0697636276e-05,1793239692581717248
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.130816156,714,680.869183844,660,631,880,786.869183844,805,652,631,653,0.450327584091,0.00459075489683,0.059624671829,0.999999820163,8.1276415173e-05,-0.000589968651411,-7.074739712e-05,1793239692598384128
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.717197853,714,680.282802147,660,631,880,786.282802147,805,652,631,653,0.45032828037,0.00458928534265,0.0596257764348,0.999999820824,8.00525827369e-05,-0.000589022288031,-7.06911841124e-05,1793239692615051008
+254,4.233333333,HOLD_POSE2,765,746,714,681,660,631,881,787,806,652,631,653,0.450325460474,0.00458909940818,0.059623421547,0.999999818768,8.21699814606e-05,-0.00059221243893,-7.06794399425e-05,1793239692651844864
+255,4.250000000,HOLD_POSE2,765.579580331,746,714,681,660,631,881,786.420419669,805.420419669,652,631,653,0.450325719694,0.00458823036589,0.0596238461065,0.999999819182,8.16274984944e-05,-0.000591617440719,-7.04338059272e-05,1793239692668512000
+256,4.266666667,HOLD_POSE2,766,746,714,681,660,631,881,786.157619936,805,652,631,653,0.450325726153,0.00458766149373,0.0596238534442,0.999999819155,8.09850196082e-05,-0.000591770876916,-7.02712573059e-05,1793239692685178880
+257,4.283333333,HOLD_POSE2,766,746,714,681,660,631,881,786.731589874,805,652,631,653,0.450325064948,0.00458788551497,0.0596227586986,0.999999817961,8.00784033218e-05,-0.00059390128794,-7.03281770855e-05,1793239692701844992
+258,4.300000000,HOLD_POSE2,766,746,714,681,660,631,880.686444267,786.686444267,804.686444267,652,631,653,0.450326309919,0.00458757486319,0.0596240060832,0.999999818979,7.91273741551e-05,-0.000592346502274,-7.00460251112e-05,1793239692718511360
+259,4.316666667,HOLD_POSE2,766,746,714,681,660,631,880.09745466,786.09745466,804.09745466,652,631,653,0.450329229316,0.0045867945435,0.0596273108437,0.999999821924,7.81373318445e-05,-0.000587554563094,-6.94660254554e-05,1793239692735178240
+260,4.333333333,HOLD_POSE2,765.518410671,746,714,681,660.481589329,631,880.481589329,786,804.481589329,652,631,653,0.450329173875,0.00458764952435,0.0596264779428,0.999999821614,7.89118015865e-05,-0.000587914526194,-7.00043043979e-05,1793239692751844864
+261,4.350000000,HOLD_POSE2,765.058564445,746,714,681,660.941435555,631,881,786,805,652,631,653,0.450328502623,0.00458867360469,0.0596249389239,0.999999820679,7.9975437967e-05,-0.000589285050177,-7.06287636673e-05,1793239692768511744
+262,4.366666667,HOLD_POSE2,765.634682416,746,714,681,660.365317584,631,881,786,805,652,631,653,0.450327601586,0.00458832679392,0.059624409476,0.999999819926,8.05028596469e-05,-0.000590559370194,-7.0055443675e-05,1793239692785178368
+263,4.383333333,HOLD_POSE2,765.790667095,746,714,680.790667095,660,631,881,786.209332905,805,652,631,653,0.450327684626,0.00458784391767,0.0596249013825,0.999999820128,8.00696813644e-05,-0.000590306650969,-6.97950491982e-05,1793239692801844736
+264,4.400000000,HOLD_POSE2,765.218559817,746,714,680.218559817,660,631,881,786.781440183,805,652,631,653,0.450329473074,0.00458712523968,0.0596271632984,0.999999821981,7.79717812287e-05,-0.000587407569318,-7.00769553712e-05,1793239692818511616
+265,4.416666667,HOLD_POSE2,765.365846496,746,714,680.365846496,660,631,881,786.634153504,805,652,631,653,0.450330019781,0.00458726349344,0.0596272190994,0.999999822234,7.81395312728e-05,-0.000586928702739,-7.02909237495e-05,1793239692835178240
+266,4.433333333,HOLD_POSE2,765.957856015,746,714,680.957856015,660,631,881,786.042143985,805,652,631,653,0.450329798855,0.00458793149466,0.0596259111001,0.999999821501,7.97078857468e-05,-0.000587945991143,-7.04628936197e-05,1793239692851844864
+267,4.450000000,HOLD_POSE2,765.462028252,746,714,681,660,631.537971748,881,786,805,652,631,653,0.450329040181,0.00458838479158,0.0596253836276,0.999999820329,8.15996235594e-05,-0.000589703584233,-7.02402449207e-05,1793239692868511744
+268,4.466666667,HOLD_POSE2,765,746,714,680.887384581,660,631.887384581,880.887384581,786,805,652,631,653,0.450328323998,0.00458892115669,0.0596249973682,0.999999819373,8.30262781982e-05,-0.000591144499069,-7.00627821428e-05,1793239692885178368
+269,4.483333333,HOLD_POSE2,765,746,714,680.330722835,660,631.330722835,880.330722835,786,805,652,631,653,0.450327937874,0.0045898499484,0.0596249320336,0.999999819425,8.25213652122e-05,-0.00059111301376,-7.01827467426e-05,1793239692901844992
+270,4.500000000,HOLD_POSE2,765,746,714.248156635,680,660.248156635,631,880.248156635,786,804.751843365,652,631,652.751843365,0.450328080171,0.00458997829859,0.0596252433492,0.999999819745,8.19471398618e-05,-0.000590651363708,-7.0176402824e-05,1793239692918511616
+271,4.516666667,HOLD_POSE2,765,746,714.859557727,680,660.859557727,631,880.859557727,786,804.140442273,652,631,652.140442273,0.450328995957,0.00458893498573,0.0596261059943,0.999999820458,8.12714571205e-05,-0.000589560051025,-6.99851721656e-05,1793239692935178240
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,660,631,881,786,805,652,631,652,0.450326641093,0.00458826988219,0.0596231237639,0.999999818016,8.18369091591e-05,-0.000593632018803,-6.97965223994e-05,1793239692967762688
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.424625287,714,680.575374713,660,631,880.424625287,786,805,652,631,652,0.450328534349,0.00458912761208,0.0596247384889,0.999999819567,8.10295314526e-05,-0.000591108277743,-6.99361896316e-05,1793239692984429312
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,631,880,786,804.849861361,652,631,652.150138639,0.450329351197,0.00458955643584,0.0596254659433,0.999999820246,8.05962512402e-05,-0.000590016361289,-6.99563863587e-05,1793239693001095936
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,631,880,786,804.276817744,652,631,652.723182256,0.450327136056,0.0045887771328,0.0596236941673,0.999999818478,8.12167148556e-05,-0.000592957554957,-6.964006301e-05,1793239693017762560
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.307357929,745,714,681,660,631,880,786,804.307357929,652,631,653,0.450325933296,0.00458842203503,0.0596230498371,0.999999817509,8.16816966154e-05,-0.00059452370067,-6.96537365463e-05,1793239693034429440
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.901936273,745,714,681,660,631,880,786,804.901936273,652,631,653,0.450325676588,0.00458846334944,0.0596234590848,0.999999817293,8.20013833614e-05,-0.00059480488881,-6.99757862123e-05,1793239693051096064
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.519745994,745,714,680.519745994,660,631,880,786,805,652,631,652.519745994,0.450327522087,0.00458877852595,0.0596246962001,0.999999818701,8.18239321797e-05,-0.000592447546773,-7.00589031195e-05,1793239693067762944
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.055563487,631,880,786,805,652,631,652.055563487,0.450329220034,0.00458899773411,0.0596257683835,0.999999820164,8.16127825255e-05,-0.000590003546331,-7.00577457537e-05,1793239693084429568
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,660.632781552,631,880,786,805,652,631,652.632781552,0.450325634658,0.00458780813825,0.0596237570345,0.99999981919,8.20070781086e-05,-0.000591638470996,-6.97084269594e-05,1793239693101096192
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.213566141,745,714,680.213566141,660.786433859,631,880.213566141,786,805,652,631,653,0.450316694881,0.00458764836194,0.0596195768705,0.999999815732,8.21444770003e-05,-0.000597428968217,-6.97652235378e-05,1793239693117762560
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.800587315,745,714,680.800587315,660.199412685,631,880.800587315,786,805,652,631,653,0.450298392063,0.00458928939226,0.059611604182,0.999999807818,8.18326503151e-05,-0.00061048615773,-7.05321787343e-05,1793239693134429184
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,745.383600366,714,681,660,631,881,786,805,652,631,652.616399634,0.450260322647,0.00459046523314,0.0595960207868,0.999999793542,8.3340807017e-05,-0.000633218531375,-7.0746302228e-05,1793239693151096064
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,745.964551413,714,681,660,631,881,786,805,652,631,652.035448587,0.450212083916,0.00459140174839,0.0595765219143,0.99999977541,8.5785289555e-05,-0.00066092849282,-7.06760107096e-05,1793239693167762688
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.464654598,746,714,681,660.535345402,631,881,786,805,652,631,652.535345402,0.450152974051,0.00459091203144,0.0595618167752,0.999999765016,8.52560675472e-05,-0.000676512662198,-7.09195262777e-05,1793239693184429312
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,660.893159229,631,881,786,804.893159229,652,631,653,0.450089960324,0.0045906487839,0.0595491321201,0.999999755511,8.52321353582e-05,-0.000690409678929,-7.10550592154e-05,1793239693201095936
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,660.315666384,631,881,786,804.315666384,652,631,653,0.450012861396,0.00459179145061,0.059543975774,0.999999748367,8.82853535231e-05,-0.000700345666947,-7.06250787759e-05,1793239693217762560
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.730616912,660,631,881,786,804.269383088,652,631,653,0.449929187942,0.0045923827594,0.0595411282479,0.999999744241,9.04460481514e-05,-0.000705991608495,-7.00930975026e-05,1793239693234429440
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.136456965,660,631,881,786,804.863543035,652,631,653,0.449837588034,0.00459230933341,0.0595410643092,0.999999743854,9.15306877066e-05,-0.000706465332389,-6.94381407974e-05,1793239693251095808
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.555775967,714,680.444224033,660.444224033,631,881,786,805,652,631,653,0.449720717872,0.00459299652571,0.0595397411183,0.999999742027,9.33227894847e-05,-0.000708886047195,-6.86760019868e-05,1793239693267762432
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,661,631,880.979168703,786,805,652,631,653,0.44959546371,0.00459390218027,0.0595380842666,0.999999739843,9.54034923051e-05,-0.000711763529958,-6.78589522626e-05,1793239693284429056
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,661,631,880.404029945,786,805,652,631,653,0.449447589703,0.00459458686704,0.0595375387692,0.999999739829,9.95512716062e-05,-0.000711349520315,-6.64310511195e-05,1793239693301095680
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.171487656,714,680.828512344,661,631,880,786,805,652,631,652.828512344,0.449290280854,0.00459500000916,0.0595375806462,0.999999739677,0.000103363666092,-0.000711155972328,-6.49614317484e-05,1793239693317762560
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.747899713,714,680.252100287,661,631,880,786,805,652,631,652.252100287,0.449110694046,0.00459477196771,0.059539009458,0.999999739228,0.000106384134212,-0.000711482988442,-6.3393305617e-05,1793239693334429440
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.665475566,714,680.334524434,661,631,880,786.334524434,805,652,631,652.334524434,0.448915482373,0.00459571855978,0.0595411208539,0.999999740099,0.000111321436926,-0.000709614319801,-6.21069147769e-05,1793239693351096064
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.070912076,714,680.929087924,661,631,880,786.929087924,805,652,631,652.929087924,0.448708124854,0.00459757824086,0.0595437628495,0.999999741959,0.000117748771198,-0.000706038858682,-6.1039527737e-05,1793239693367762688
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.505956753,745.505956753,714,681,661,631,880.505956753,786.494043247,805,652,631.505956753,652.494043247,0.448464164143,0.00459682223477,0.0595484962253,0.999999744704,0.000121684568521,-0.000701703455346,-5.82805550122e-05,1793239693384429312
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.919299974,745.919299974,714,681,661,631.080700026,881,786.080700026,805,652,631.919299974,652.080700026,0.448211908667,0.00459602366716,0.0595544996032,0.999999748897,0.000125556936316,-0.000695251540915,-5.53713638069e-05,1793239693401095936
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.342894097,745.342894097,714,681,661,631.657105903,881,786.657105903,805,652,631.342894097,652.657105903,0.447939149073,0.00459713943736,0.0595665644176,0.999999761224,0.000131112190275,-0.000676430932918,-5.29465345846e-05,1793239693417762560
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.238084423,714,680.761915577,661.238084423,632,880.761915577,786.761915577,805,652,631,652.761915577,0.44765378221,0.00459764290167,0.0595808769808,0.999999775412,0.000137217394972,-0.000654087520676,-5.01683533867e-05,1793239693434429184
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.825777481,714,680.174222519,661.825777481,632,880.174222519,786.174222519,805,652,631,652.174222519,0.447349902562,0.00459724724187,0.0595984901892,0.999999792219,0.000144130159609,-0.000626571142819,-4.68713021715e-05,1793239693451095808
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.407905538,661.592094462,632,880.407905538,786.407905538,805,652,631.407905538,652.407905538,0.446996385886,0.00459843355765,0.0596084084767,0.999999798704,0.000152854337687,-0.000614271269,-4.35712974611e-05,1793239693467762432
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.987688676,661.012311324,632,880.987688676,786.987688676,805,652,631.987688676,652.987688676,0.446621953853,0.00460028646445,0.0596150843844,0.999999800947,0.00016234178398,-0.000608383116221,-4.02700483364e-05,1793239693484429312
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,661.564431048,632.564431048,880.435568952,786.435568952,804.435568952,652,631.435568952,653,0.446187619713,0.00460093444723,0.059609434467,0.999999792017,0.000169481090056,-0.000621200642228,-3.67787241144e-05,1793239693501095936
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.85951565,714,681,662,633,880,786,804.14048435,652,631,653,0.445744266385,0.00460162737444,0.0596032488199,0.999999783022,0.000177025199719,-0.000633646971388,-3.33074553638e-05,1793239693517762560
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.285385836,714,681,662,633,880,786,804.714614164,652,631,653,0.445277084336,0.00460253972686,0.0595962349248,0.999999775088,0.0001859761014,-0.000643694810373,-2.99108232396e-05,1793239693534429184
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.296210302,745,714,681,662.296210302,633,880,786,805,652,631,653,0.444815328269,0.00460225431887,0.0596008558442,0.99999978209,0.000194767942934,-0.000630246112523,-2.59997043702e-05,1793239693551095808
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.885185999,745,714,681,662.885185999,633,880,786,805,652,631,653,0.444358935024,0.00460078508047,0.0596169762649,0.999999802916,0.000203402575067,-0.000593574141672,-2.15800817738e-05,1793239693567762432
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745.467529429,714,680.532470571,663.467529429,633.467529429,880,786,805,652,631,653,0.443863527927,0.00459966884162,0.0596484789655,0.999999829251,0.000211922481633,-0.000544359266402,-1.60932791142e-05,1793239693584429312
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.952356347,745.952356347,714,680,663.952356347,634,880,786.047643653,804.952356347,652,631,652.952356347,0.443353277336,0.00459873699354,0.0596829919073,0.999999853929,0.000220505986255,-0.000493366053621,-1.03941196516e-05,1793239693601095936
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.37911741,745.37911741,714,680,663.37911741,634,880,786.62088259,804.37911741,652,631,652.37911741,0.44278349172,0.00459889635642,0.0597096233161,0.999999869428,0.000230097564028,-0.000456259804386,-5.20298492642e-06,1793239693617762560
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.199339812,745,714,680,663.199339812,634,880,787,804.199339812,652,631,652.199339812,0.442192232992,0.00459934519575,0.0597236195243,0.999999874504,0.000239996428835,-0.000439765289119,-2.49617221425e-07,1793239693634429184
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.787988258,745,714,680,663.787988258,634,880,787,804.787988258,652,631,652.787988258,0.441559037525,0.00460035937964,0.0597129393119,0.999999861189,0.000250495421989,-0.00046352528474,4.2393935781e-06,1793239693651095808
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.62894119,745,714,680.37105881,664.37105881,634,880,787,805,652.37105881,631.37105881,653,0.440908925884,0.00459997867782,0.0597128987824,0.999999857149,0.000259186585553,-0.000467385629606,8.69019690716e-06,1793239693667762432
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.049010498,745,714,680.950989502,664.950989502,634,880,787,805,652.950989502,631.950989502,653,0.440249292019,0.00459881278399,0.0597188474133,0.999999858486,0.000266860107507,-0.000460044306016,1.31194928038e-05,1793239693684429056
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,680.473211599,665,634.526788401,880,787,804.473211599,652.473211599,631.473211599,652.473211599,0.439605439398,0.00460012354867,0.0597629622329,0.999999887936,0.000276909774023,-0.000383578956524,1.77976688423e-05,1793239693701096192
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.898811791,665,635,880.101188209,787,804.101188209,652,631.101188209,652.101188209,0.438950492182,0.00460147269573,0.0598088549514,0.999999911641,0.000287129505968,-0.000306201920643,2.26981250766e-05,1793239693717763072
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.329123979,665,635,880.670876021,787,804.670876021,652,631.670876021,652.670876021,0.438237432411,0.0046019410168,0.059846666891,0.999999923157,0.000297121066896,-0.000254147755128,2.85213611739e-05,1793239693734429184
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.252059848,745,714.252059848,679.252059848,665.252059848,635,880.747940152,787,804.747940152,652,632,653,0.437475642366,0.00460463228959,0.0598477363718,0.999999918044,0.00030971779043,-0.000258633931174,3.31106401017e-05,1793239693751095808
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.848971867,745,714.848971867,679.848971867,665.848971867,635,880.151028133,787,804.151028133,652,632,653,0.436647182574,0.00461036486287,0.0597985371744,0.999999888291,0.000325878731733,-0.000340474980446,3.60116984673e-05,1793239693767762688
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.567528359,745,714.567528359,680,665.567528359,634.567528359,880,787,804,652,632,652.567528359,0.435841228145,0.00461159977983,0.0597697054131,0.999999874531,0.000333824660091,-0.000371492442297,3.86241125492e-05,1793239693784429312
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,665.011354634,634,880,787,804,652,631.988645366,652,0.435042813181,0.00461138697288,0.0597485883223,0.999999868261,0.00033787878403,-0.000384258471867,4.07677343187e-05,1793239693801095936
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,665.586572786,634,880,787,804,652,631.413427214,652,0.434240250839,0.00461493365159,0.0597679876318,0.999999898859,0.000286848498103,-0.000345544894726,2.44865674598e-05,1793239693817762560
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,665.834451975,634.165548025,880,787,804,652,631,652.165548025,0.433425999007,0.00461447926804,0.0597855585908,0.999999921653,0.000240322863035,-0.000314319627628,1.19127652202e-05,1793239693834429440
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,665.245876223,634.754123777,880,787,804,652,631,652.754123777,0.432581876871,0.00460380090084,0.0597984575331,0.999999933214,0.000205308045613,-0.000302229373738,8.8124569583e-06,1793239693851095808
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.337519216,745,714,680,665,635,880,787,804,652,631.337519216,653,0.431736776739,0.00460129802459,0.059811393721,0.999999939364,0.000202358148422,-0.000283191702164,1.11838342823e-05,1793239693867762432
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.917197919,745,714,680,665,635,880,787,804,652,631.917197919,653,0.430890974962,0.00460466080798,0.059824356631,0.999999941529,0.000222413830575,-0.000259169476088,1.74809750907e-05,1793239693884429056
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.505374825,745,714,680,665,635,880,787,804,652,632,653,0.430015439713,0.00461100514126,0.0598304229465,0.999999937597,0.00023928510048,-0.000258992236169,2.16975408236e-05,1793239693901095680
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.071170623,714,680,665,635,880,787,804,652,632,653,0.429128631477,0.00461676650879,0.0598290771805,0.999999930877,0.000252549080217,-0.000271734292109,2.50088371834e-05,1793239693917762560
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.644143791,714,680,665,635,880,787,804,652,632,653,0.428197277029,0.00461491434216,0.0597835743204,0.99999990951,0.000244120710627,-0.000347549380274,2.43819529772e-05,1793239693934429440
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.224482252,745.775517748,714,680,665.224482252,635,880,787,804,652,631.775517748,653,0.427290584643,0.00461415513129,0.0597597457501,0.999999899375,0.000236195943515,-0.000380677485209,2.3353371549e-05,1793239693951096320
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.816892573,745.183107427,714,680,665.816892573,635,880,787,804,652,631.183107427,653,0.426424313411,0.0046151872827,0.0597714414938,0.999999914409,0.000229096584898,-0.000343841323596,2.1666405471e-05,1793239693967762944
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.599712521,745,714,680,666,635,880,787.400287479,804,652,631.400287479,652.599712521,0.425544812099,0.00461556383061,0.0597958133872,0.999999924413,0.000227789617041,-0.000314187151331,2.39039085291e-05,1793239693984429312
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.020350822,745,714,680,666,635,880,787.979649178,804,652,631.979649178,652.020350822,0.424659392175,0.00461564708504,0.0598258561333,0.999999931975,0.000229073956831,-0.000287745944911,2.78970780057e-05,1793239694001095680
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,665.446879844,635,879.446879844,787.446879844,803.446879844,652,631.446879844,652,0.423795805068,0.00461473860817,0.0598356101057,0.999999937526,0.000224701231448,-0.00027133180422,2.89055297127e-05,1793239694017762560
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,879.126633674,787,803.126633674,652,631,652.126633674,0.422932967519,0.00461407751224,0.0598444122141,0.999999942724,0.000220108980468,-0.000255397732497,2.9596516672e-05,1793239694034429184
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,665,635,879.701055914,787,803.701055914,652,631,652.701055914,0.422069969947,0.00461441884589,0.05985246025,0.999999947581,0.000215468710338,-0.000239870429567,2.95491462177e-05,1793239694051096064
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.283975655,745,714,680,665,634.716024345,880,787,804,652,631,653,0.421160894495,0.00461552888924,0.0598305077979,0.999999937503,0.000212194137212,-0.000281207507187,2.98282382326e-05,1793239694067762432
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.876116695,745,714,680,665,634.123883305,880,787,804,652,631,653,0.420201816194,0.00461747312281,0.0597759993434,0.999999903577,0.000210401593133,-0.000384252809386,3.04616013529e-05,1793239694084429056
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.541854704,745,714,679.541854704,665,634.458145296,879.541854704,787,804,652,631,652.541854704,0.419326964218,0.00461638710876,0.0597491599786,0.999999893936,0.000201194765167,-0.000413312974457,2.86486321317e-05,1793239694101095680
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.037157061,665,635,879,787,804,652,631.037157061,652,0.418479207154,0.00461462573085,0.0597335428389,0.999999894015,0.000190702683124,-0.000418212766788,2.6472304705e-05,1793239694117762560
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.611234015,665,635,879,787,804,652,631.611234015,652,0.417700981698,0.00461468975505,0.0597743100829,0.999999917885,0.000189982937596,-0.000356834667682,2.83975986477e-05,1793239694134429184
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.809813989,665,635,879,787.190186011,803.809813989,652,631.809813989,652.190186011,0.416916820612,0.00461407951941,0.0598111089724,0.99999993539,0.000188373344266,-0.000304650749614,3.03926906024e-05,1793239694151095808
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.220634478,665,635,879,787.779365522,803.220634478,652,631.220634478,652.779365522,0.416120206951,0.00461205474606,0.0598395826115,0.999999945452,0.000184896929609,-0.000271755404251,3.25342131644e-05,1793239694167762432
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.362785125,665,635,879,787.637214875,803.362785125,652.362785125,631,653,0.415332655395,0.00461027162595,0.0598465416192,0.999999935855,0.000236334309327,-0.000267066595954,3.33450598302e-05,1793239694184429056
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.942756446,665,635,879,787.057243554,803.942756446,652.942756446,631,653,0.414550529038,0.00460863317493,0.0598406206018,0.999999909042,0.000320646569767,-0.000279264011067,3.33592791586e-05,1793239694201095680
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.517931541,745.517931541,714,680,665,635,879,787,804,653,631,653,0.413794035933,0.00460892988932,0.0598404650726,0.999999908346,0.000323532225131,-0.000278395662285,3.36141018509e-05,1793239694217762560
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.907685738,745.907685738,714,680,665,635,879,787.092314262,804,652.907685738,631.092314262,653,0.413037346795,0.00460909585984,0.0598335065395,0.999999907624,0.000316330226259,-0.000289049977735,3.37337162149e-05,1793239694234429184
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.334694028,745.334694028,714,680,665,635,879,787.665305972,804,652.334694028,631.665305972,653,0.412265020558,0.00460747759758,0.0597878374326,0.99999988614,0.000303032514636,-0.000367152688888,3.30121100839e-05,1793239694251095808
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.245921065,714.245921065,680,665,635,879,787.754078935,803.754078935,652,631.754078935,653,0.411532642832,0.00460658997132,0.0597594326267,0.999999873582,0.000290740885151,-0.000409012953545,3.18390001219e-05,1793239694267762432
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.83724331,714.83724331,680,665,635,879,787.16275669,803.16275669,652,631.16275669,653,0.410856373674,0.00460672853843,0.0597552758893,0.9999998804,0.00027986232184,-0.000399969954843,3.00317440557e-05,1793239694284429312
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745.579421079,714.579421079,680,665,635,879.420578921,787,803.420578921,652.420578921,631,653,0.41023286252,0.00460463050583,0.0597858295981,0.999999902623,0.000266733385868,-0.000350237417896,3.06868278671e-05,1793239694301095936
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.000872255,745,714,680,665.000872255,635,879.999127745,787,803.999127745,653,631.000872255,653,0.409629407717,0.00460168259226,0.0598295321874,0.999999926893,0.000252758035617,-0.000285107424305,3.22774873519e-05,1793239694317762304
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.575094445,745,714,680,665.575094445,635,879.424905555,787,803.424905555,653,631.575094445,653,0.409039396295,0.00459841560063,0.0598514527324,0.999999936761,0.000244181738203,-0.00025629380725,3.41644879614e-05,1793239694334429184
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.846874433,745.153125567,714,679.846874433,665.846874433,635,879.306251134,787,803.153125567,653,631.846874433,652.846874433,0.408456543418,0.00459612727316,0.0598649099636,0.999999943182,0.000235936852941,-0.000238180245252,3.52051954869e-05,1793239694351096064
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.258004221,745.741995779,714,679.258004221,665.258004221,635,880.483991558,787,803.741995779,653,631.258004221,652.258004221,0.407894061258,0.004596623899,0.0598542834118,0.999999941912,0.000228635055427,-0.000250515489745,3.3837633715e-05,1793239694367762688
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745.67426616,714,679,665,635,880.34853232,787,804,653,631,652.32573384,0.40733625552,0.00459492182429,0.0598408727713,0.99999993953,0.000217776831194,-0.00026915704334,3.2668642801e-05,1793239694384429312
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.094530107,714,679,665,635,879.189060213,787,804,653,631,652.905469893,0.406782096419,0.00459150523685,0.0598252911422,0.99999993582,0.000204145360707,-0.000292716158439,3.16544944395e-05,1793239694401095936
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.479539869,714,679,665,635,879,787,804,653,631,653,0.406306434066,0.00459002013687,0.0598296267505,0.999999940312,0.000197399964543,-0.0002818789087,3.08659188418e-05,1793239694417762304
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.053056982,746,714,679.053056982,665.053056982,635,879.053056982,787.053056982,804,652.946943018,631,653,0.40584777518,0.00458884700915,0.0598369212407,0.999999945732,0.000191917308513,-0.000266062104796,3.02315417898e-05,1793239694434429184
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.632036161,746,714,679.632036161,665.632036161,635,879.632036161,787.632036161,804,652.367963839,631,653,0.405406070037,0.00458703622409,0.0598350815691,0.999999946568,0.00018565318568,-0.000267311559691,3.06900210578e-05,1793239694451095808
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.784712211,746,714,680,665.784712211,635,879.784712211,787.784712211,803.784712211,652,631,652.784712211,0.404973550713,0.00458572119147,0.0598270237924,0.999999943757,0.000181749113126,-0.000280128814647,3.13324413835e-05,1793239694467762432
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.19401044,746,714,680,665.19401044,635,879.19401044,787.19401044,803.19401044,652,631,652.19401044,0.404557049458,0.00458527064093,0.0598081230245,0.999999933902,0.000181960443444,-0.000313117737616,3.22956138997e-05,1793239694484429312
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.389034067,745.610965933,714.389034067,679.610965933,665.389034067,635,879,787.389034067,803.389034067,652.389034067,631,652.389034067,0.404162879728,0.00458423372563,0.0597889740636,0.99999992336,0.000181277455486,-0.00034547791879,3.26198787552e-05,1793239694501095936
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.968333677,745.031666323,714.968333677,679.031666323,665.968333677,635,879,787.968333677,803.968333677,652.968333677,631,652.968333677,0.403779631677,0.00458291003591,0.0597697037168,0.999999911975,0.00018015708172,-0.000377530602928,3.26316720418e-05,1793239694517762816
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.457513574,745.542486426,714.457513574,679,666,635,879.542486426,787.457513574,803.457513574,653,631,653,0.403493440519,0.00458145681182,0.0597828016723,0.999999921629,0.000177693917042,-0.000352196156567,3.3548459588e-05,1793239694534429440
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.116531875,745.883468125,714,679.116531875,666,635,880,787.116531875,803.116531875,653,631,653,0.403221816513,0.00457984786621,0.0597997597311,0.999999932515,0.000175561120031,-0.000320850263462,3.46880571572e-05,1793239694551095808
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.691325893,745.308674107,714,679.691325893,666,635,880,787.691325893,803.691325893,653,631,653,0.40298540776,0.00457765599978,0.0598245373446,0.999999945119,0.000175032836191,-0.000278913750619,3.64980671866e-05,1793239694567762432
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,665.726348899,635,879.726348899,788,804,653,631,653,0.4027573927,0.00457598649185,0.0598431586475,0.999999953221,0.000174263761893,-0.000248506027887,3.78749864321e-05,1793239694584429056
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,665.135288255,635,879.135288255,788,804,653,631,653,0.40253911355,0.00457492287078,0.0598546392076,0.999999957458,0.000173215393574,-0.000231470620474,3.87495610344e-05,1793239694601095680
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.553329777,745,714,680,665,635,879,787.553329777,803.553329777,653,631,652.553329777,0.402319158337,0.00457412299055,0.0598511274682,0.999999954762,0.000173607374929,-0.000242422204493,3.95936093359e-05,1793239694617762560
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765,745.025674995,714.025674995,680,665,635,879,787.025674995,803,653,631,652.025674995,0.402100917046,0.00457318518654,0.059843262476,0.999999950364,0.000171470790139,-0.00026133183281,3.96950479473e-05,1793239694634429184
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765,745.599304307,714.599304307,680,665,635,879,787.599304307,803,653,631,652.599304307,0.401929871981,0.00456763302455,0.0598374667002,0.999999956859,0.000106245084519,-0.00027278424243,2.41411361101e-05,1793239694651096064
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.177752243,746,714.822247757,680,665,635,879,787.822247757,803.177752243,653,631,653,0.401772751223,0.00456300070605,0.0598335747733,0.999999958838,6.18477486327e-05,-0.000279833510635,1.3852769567e-05,1793239694667762944
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.767365085,746,714.232634915,680,665,635,879,787.232634915,803.767365085,653,631,653,0.401647893786,0.00456049971045,0.0598340941576,0.999999959441,6.57107693746e-05,-0.000276680486723,1.57649301788e-05,1793239694684429568
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,714.350782901,680,665,635,879,787,803.649217099,653,631,653,0.401532718134,0.00456087348151,0.0598350221876,0.99999995424,0.000125074598576,-0.00027494970694,1.67041363476e-05,1793239694701095936
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,746,714.930163606,680,665,635,879,787,803.069836394,653,631,653,0.401423851886,0.00456312067699,0.0598362165233,0.999999937944,0.000220607131494,-0.000274145771279,1.70092887317e-05,1793239694717762560
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.492063616,746,714.492063616,680,665.507936384,635,879,787.507936384,803.507936384,653,631,653,0.40133861782,0.00456075714003,0.0598376259258,0.999999936412,0.000231158713772,-0.000270916292029,1.86024452696e-05,1793239694734429440
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765,746,714,679.915161271,666,635,878.915161271,787.915161271,803.915161271,653,631,653,0.401259021457,0.00455831058508,0.0598382618956,0.999999937062,0.000230481985739,-0.000268974804135,2.01611198998e-05,1793239694751096320
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,746,714,679.34200034,666,635,878.34200034,787.34200034,803.34200034,653,631,653,0.40119323204,0.00455902351148,0.0598342764112,0.99999993464,0.000232216322407,-0.000276360315573,2.05052376265e-05,1793239694767762688
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.238723064,745.761276936,714,679.238723064,665.761276936,635,878.477446128,787,803.238723064,653,631,653,0.401136512402,0.00455980114869,0.0598321987581,0.999999933059,0.000234212385842,-0.000280342071285,2.0854261554e-05,1793239694784429568
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.830635055,745.169364945,714,679.830635055,665.169364945,635,879.66127011,787,803.830635055,653,631,653,0.401093211435,0.004560674525,0.0598329437271,0.999999932785,0.000236595671918,-0.000279287996294,2.12105441481e-05,1793239694801096448
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.412032271,680,665,635,879.587967729,787,803.587967729,653,631.412032271,653,0.40105806764,0.00455819290478,0.0598322267631,0.999999932731,0.000234177024668,-0.000281482679675,2.16106239362e-05,1793239694817763072
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.989214949,680,665,635,879.010785051,787,803.010785051,653,631.989214949,653,0.401026193396,0.00455436653781,0.0598309238286,0.999999932739,0.000229833670715,-0.00028497952751,2.20282584675e-05,1793239694834429440
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.43396123,745,714.43396123,679.43396123,665.56603877,635,879,787.56603877,803.56603877,653,632,653.56603877,0.401009616272,0.00455638328962,0.0598327923751,0.999999933162,0.000230915284672,-0.000282614270334,2.19715586315e-05,1793239694851095808
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.145004779,745.145004779,714.145004779,679,665.854995221,635,879,787.854995221,804,653,631.854995221,653.709990443,0.400995677896,0.0045577690574,0.0598347508922,0.999999933762,0.000231916527353,-0.000279652364883,2.20204669739e-05,1793239694867762688
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.730498884,745.730498884,714.730498884,679,665.269501116,635,879,787.269501116,804,653,631.269501116,652.539002232,0.400988870562,0.00455690006258,0.0598367992683,0.999999934881,0.000232359822782,-0.000275217071334,2.24176244588e-05,1793239694884429312
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.687194029,714.687194029,678.687194029,665.312805971,635,879.312805971,787.312805971,804,653,631.312805971,652,0.400982805495,0.00455692116703,0.0598382389169,0.999999935508,0.000232635895586,-0.000272682457333,2.25481683977e-05,1793239694901095936
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.107604992,714.107604992,678.107604992,665.892395008,635,879.892395008,787.892395008,804,653,631.892395008,652,0.400977373486,0.00455770141102,0.0598391593999,0.999999935728,0.000232769349153,-0.000271768876856,2.24513254828e-05,1793239694917762560
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.530245474,745.469754526,714,678.469754526,666.469754526,635.469754526,879.530245474,787.530245474,803.530245474,653,632,652,0.40097541587,0.00455587119766,0.0598400404627,0.999999936859,0.000230117379377,-0.000269833137259,2.27747821621e-05,1793239694934429440
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765,745.953531673,714,679.046468327,666.907063346,635.953531673,879.046468327,787,803,653,631.953531673,652.046468327,0.400974190295,0.0045537415619,0.0598408088028,0.999999938034,0.000227204291173,-0.000267909767078,2.31228469292e-05,1793239694951096320
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765,745.378380912,714,679.621619088,665.756761823,635.378380912,879.621619088,787,803,653,631.378380912,652.621619088,0.400972281327,0.00455497642148,0.0598403969184,0.999999937506,0.000228545325696,-0.000268778441191,2.26606954337e-05,1793239694967762688
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.197022639,745.197022639,714,680,665,635.197022639,879.802977361,787,803,653,631,653,0.400971175967,0.00455546501066,0.0598408350915,0.999999937399,0.000229125791652,-0.000268702574492,2.24149262086e-05,1793239694984429056
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.772912259,745.772912259,714,680,665,635.772912259,879.227087741,787,803,653,631,653,0.400971615912,0.00455451855042,0.0598429078927,0.999999938103,0.000228243713333,-0.000266810391972,2.25852518211e-05,1793239695001095936
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.639586733,746,714,679.639586733,665.360413267,635.639586733,879,787.360413267,803,653,631,653,0.400971690572,0.00455456724746,0.059843864679,0.999999938402,0.000228507808101,-0.000265459105021,2.26312735156e-05,1793239695017762560
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.044526145,746,714,679.044526145,665.955473855,635.044526145,879,787.955473855,803,653,631,653,0.400971527411,0.0045552638424,0.0598440948829,0.999999938436,0.00022951811973,-0.000264459968602,2.25963670469e-05,1793239695034429184
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.53162984,745.46837016,714,679.53162984,665.46837016,635,879,787.46837016,803,653,631,653,0.400971054178,0.00455620441138,0.0598435447417,0.99999993807,0.000230365478487,-0.000265093760042,2.27459419197e-05,1793239695051096064
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.893624859,745.106375141,714,679.893624859,665,635,879,787.106375141,803,653,631,653,0.400970242324,0.00455669781946,0.059842867552,0.999999937747,0.000230596999445,-0.000266098739786,2.2873214654e-05,1793239695067762688
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.318358341,745.681641659,714,679.318358341,665,635,879,787.681641659,803,653,631,653,0.400968048406,0.00455513320766,0.0598419085398,0.999999937754,0.000228172059597,-0.000268157738563,2.28364135845e-05,1793239695084429568
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.26326263,746,714.26326263,679.26326263,665.26326263,635.26326263,879,787.73673737,803.52652526,653,631.26326263,653,0.400967361748,0.00455359390689,0.0598421790189,0.999999938255,0.000226176968685,-0.000267975918432,2.28509153447e-05,1793239695101096448
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.852758062,746,714.852758062,679.852758062,665.852758062,635.852758062,879,787.147241938,804.705516124,653,631.852758062,653,0.400968542873,0.00455208597112,0.0598439730732,0.999999939372,0.000224714542578,-0.000265017294932,2.29289911284e-05,1793239695117762816
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,666,636,879.43290309,787,804.56709691,653,631.56709691,653,0.400970372848,0.00455213276982,0.0598453025699,0.999999940037,0.000224034706583,-0.000263071547078,2.29924442492e-05,1793239695134429440
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.990092794,746,714.990092794,679.990092794,666,635.990092794,879.990092794,787,803.990092794,653,631,653,0.400972356214,0.00455271129439,0.0598464326041,0.999999940526,0.000223665992727,-0.000261516233862,2.30442089715e-05,1793239695151096064
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.414675233,746,714.414675233,679.414675233,666,635.414675233,879.414675233,787,803.414675233,653,631,653,0.400970764373,0.00455409462429,0.0598450057205,0.999999939579,0.000226183850278,-0.000262998309025,2.27066838164e-05,1793239695167762944
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.165010612,745.834989388,714,679,666,635,879,787,803,653,631.165010612,653,0.400969560955,0.0045552601487,0.0598440080833,0.999999938906,0.000228074221624,-0.000263943550338,2.24665383014e-05,1793239695184429568
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.755707532,745.244292468,714,679,666,635,879,787,803,653,631.755707532,653,0.400969359576,0.00455586378905,0.0598441177951,0.999999938959,0.000228345834597,-0.00026350389386,2.24776080399e-05,1793239695201095936
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745.339853382,714.339853382,679.339853382,666,635,879.339853382,787,803.339853382,653,631.660146618,653,0.400969642967,0.00455508565458,0.0598444063728,0.999999939494,0.000226567715881,-0.000263023000799,2.23120686783e-05,1793239695217762816
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.919379239,714.919379239,679.919379239,666,635,879.919379239,787,803.919379239,653,631.080620761,653,0.400970268228,0.00455333306048,0.0598448210907,0.99999994036,0.000223344078894,-0.000262513026762,2.20219804887e-05,1793239695234429952
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,714.504452408,679.504452408,665.504452408,635,879.504452408,787,803.504452408,653,631.495547592,653,0.400969546682,0.004553754775,0.0598450743765,0.999999940296,0.000223346612149,-0.000262748245689,2.20696791419e-05,1793239695251096320
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.929187461,746,714,679.070812539,665.070812539,635.070812539,879,787,803.070812539,653,632,653,0.400968801781,0.0045542765758,0.0598453820915,0.99999994016,0.000223740756148,-0.000262921809875,2.21993055197e-05,1793239695267762944
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.356480367,746,714,679.643519633,665.643519633,635.643519633,879,787,803.643519633,653,632,653,0.400969433888,0.00455301744834,0.0598462604742,0.999999940563,0.000223215465163,-0.000261804893498,2.25227289858e-05,1793239695284429568
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.224494443,746,714,679.775505557,665.775505557,635.775505557,879.224494443,787,803.775505557,653,631.775505557,653,0.400969681973,0.0045528892171,0.0598466204136,0.999999940528,0.000223887711688,-0.000261347225681,2.27154715077e-05,1793239695301095936
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.819099848,746,714,679.180900152,665.180900152,635.180900152,879.819099848,787,803.180900152,653,631.180900152,653,0.400969296946,0.00455462542862,0.0598461256255,0.999999939768,0.000226534268731,-0.000261976422527,2.26927679916e-05,1793239695317762560
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,665.401094397,635,879.598905603,787.401094397,803.401094397,653,631,653,0.400969304952,0.00455428966847,0.0598458341948,0.999999939912,0.000226128690998,-0.000261786029289,2.25930018462e-05,1793239695334429184
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,665.977574585,635,879.022425415,787.977574585,803.977574585,653,631,653,0.40096948482,0.00455304790107,0.0598456316858,0.99999994045,0.000224388511882,-0.0002612372554,2.24595386714e-05,1793239695351096064
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.447749347,746,714,679,666,635,879,788,804,653,631,653,0.40097016169,0.00455298550639,0.0598465127853,0.999999940538,0.000224600907339,-0.000260709828311,2.25610381154e-05,1793239695367762688
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9caa6868ba08078dfbecf630335229491c5d3d5f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/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,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+1,0.016666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+2,0.033333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+3,0.050000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+4,0.066666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+5,0.083333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+6,0.100000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+7,0.116666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+8,0.133333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+9,0.150000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+10,0.166666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+11,0.183333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+12,0.200000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+13,0.216666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+14,0.233333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+15,0.250000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+16,0.266666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+17,0.283333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+18,0.300000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+19,0.316666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+20,0.333333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+21,0.350000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+22,0.366666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+23,0.383333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+24,0.400000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+25,0.416666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+26,0.433333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+27,0.450000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+28,0.466666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+29,0.483333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+30,0.500000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+31,0.516666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+32,0.533333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+33,0.550000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+34,0.566666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+35,0.583333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+36,0.600000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+37,0.616666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+38,0.633333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+39,0.650000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+40,0.666666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+41,0.683333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+42,0.700000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+43,0.716666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+44,0.733333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+45,0.750000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+46,0.766666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+47,0.783333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+48,0.800000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+49,0.816666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+50,0.833333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+51,0.850000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+52,0.866666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+53,0.883333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+54,0.900000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+55,0.916666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+56,0.933333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+57,0.950000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+58,0.966666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+59,0.983333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+60,1.000000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+61,1.016666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+62,1.033333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+63,1.050000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+64,1.066666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+65,1.083333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+66,1.100000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+67,1.116666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+68,1.133333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+69,1.150000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+70,1.166666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+71,1.183333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+72,1.200000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+73,1.216666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+74,1.233333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+75,1.250000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+76,1.266666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+77,1.283333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+78,1.300000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+79,1.316666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+80,1.333333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+81,1.350000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+82,1.366666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+83,1.383333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+84,1.400000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+85,1.416666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+86,1.433333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+87,1.450000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+88,1.466666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+89,1.483333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+90,1.500000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+91,1.516666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+92,1.533333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+93,1.550000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+94,1.566666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+95,1.583333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+96,1.600000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+97,1.616666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+98,1.633333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+99,1.650000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+100,1.666666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+101,1.683333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+102,1.700000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+103,1.716666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+104,1.733333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+105,1.750000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+106,1.766666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+107,1.783333333,pose1_to_pose2_press,0.575664423396,0.0100907859351,1.05003235146,0.546234876015,0.0187625290287,1.04970048322
+108,1.800000000,pose1_to_pose2_press,0.575664423131,0.0100907516213,1.05003225123,0.546234875681,0.0187624945866,1.04970038585
+109,1.816666667,pose1_to_pose2_press,0.57566452565,0.0100907409816,1.05003221246,0.546234978038,0.0187624834408,1.04970034817
+110,1.833333333,pose1_to_pose2_press,0.575664549854,0.010090741653,1.05003221261,0.54623500221,0.0187624840048,1.04970034831
+111,1.850000000,pose1_to_pose2_press,0.575664706801,0.010090746007,1.05003221356,0.546235158953,0.0187624876618,1.0497003492
+112,1.866666667,pose1_to_pose2_press,0.575665050951,0.0100907555456,1.05003221573,0.546235502655,0.0187624956766,1.04970035125
+113,1.883333333,pose1_to_pose2_press,0.575665413825,0.0100907619058,1.05003225019,0.546235865603,0.0187625022974,1.04970038593
+114,1.900000000,pose1_to_pose2_press,0.57566574644,0.0100907677356,1.05003228178,0.546236198286,0.018762508366,1.04970041772
+115,1.916666667,pose1_to_pose2_press,0.575667966746,0.0100907923553,1.05003228601,0.546238418944,0.0187625340029,1.04970041741
+116,1.933333333,pose1_to_pose2_press,0.575674586148,0.0100908776587,1.05003207099,0.54624503717,0.0187626158123,1.04970021544
+117,1.950000000,pose1_to_pose2_press,0.575687354563,0.0100908964051,1.05003240802,0.546257804612,0.0187626307334,1.04970053857
+118,1.966666667,pose1_to_pose2_press,0.575710048373,0.0100906844105,1.05003225015,0.546280500804,0.0187624269327,1.04970038344
+119,1.983333333,pose1_to_pose2_press,0.575743106611,0.0100907727844,1.05003235833,0.546313557806,0.0187625110483,1.04970048997
+120,2.000000000,pose1_to_pose2_press,0.575786590371,0.0100908110419,1.05003251488,0.546357043583,0.018762556087,1.04970064476
+121,2.016666667,pose1_to_pose2_press,0.575839548692,0.0100908136683,1.05003253854,0.5464100012,0.0187625560943,1.04970066234
+122,2.033333333,pose1_to_pose2_press,0.575902163095,0.0100908162845,1.05003226927,0.546472614155,0.018762554044,1.04970039944
+123,2.050000000,pose1_to_pose2_press,0.575972489847,0.0100906349257,1.05003229793,0.546542943308,0.0187623804453,1.04970041795
+124,2.066666667,pose1_to_pose2_press,0.576050455851,0.0100908350821,1.05003244993,0.546620907931,0.0187625763159,1.04970058036
+125,2.083333333,pose1_to_pose2_press,0.57613899331,0.0100906741374,1.05003228959,0.546709445475,0.0187624156797,1.04970042047
+126,2.100000000,pose1_to_pose2_press,0.576237914694,0.0100907546341,1.05003231763,0.546808366303,0.0187624943486,1.04970045006
+127,2.116666667,pose1_to_pose2_press,0.576348103211,0.0100907982476,1.05003237709,0.546918555101,0.0187625387399,1.0497005049
+128,2.133333333,pose1_to_pose2_press,0.576472082502,0.0100907680956,1.05003237412,0.547042534433,0.0187625087184,1.04970050168
+129,2.150000000,pose1_to_pose2_press,0.576612287686,0.0100907737533,1.0500323085,0.547182738982,0.0187625124056,1.04970044074
+130,2.166666667,pose1_to_pose2_press,0.576769798887,0.0100908185286,1.05003231131,0.547340250082,0.0187625567857,1.04970044218
+131,2.183333333,pose1_to_pose2_press,0.576945131505,0.0100908071346,1.05003246669,0.547515583395,0.0187625476326,1.04970059442
+132,2.200000000,pose1_to_pose2_press,0.57714042226,0.0100907540004,1.05003233956,0.54771087464,0.0187624964484,1.04970047478
+133,2.216666667,pose1_to_pose2_press,0.577352733659,0.0100907671816,1.05003231299,0.547923185995,0.0187625096688,1.04970045307
+134,2.233333333,pose1_to_pose2_press,0.577581567345,0.0100908408487,1.05003223346,0.548152017905,0.0187625770366,1.04970036633
+135,2.250000000,pose1_to_pose2_press,0.577826834636,0.0100907422513,1.05003234666,0.548397286708,0.0187624834959,1.04970047752
+136,2.266666667,pose1_to_pose2_press,0.578089219611,0.010090774705,1.05003238178,0.548659671514,0.0187625151998,1.04970050792
+137,2.283333333,pose1_to_pose2_press,0.578368144296,0.010090701137,1.05003235544,0.548938596174,0.0187624417071,1.04970048576
+138,2.300000000,pose1_to_pose2_press,0.578664303203,0.0100907238816,1.05003226832,0.549234754348,0.0187624621116,1.04970040241
+139,2.316666667,pose1_to_pose2_press,0.578983024857,0.0100907568874,1.05003221891,0.549553475953,0.0187624949546,1.04970035301
+140,2.333333333,pose1_to_pose2_press,0.579325131314,0.0100907873095,1.05003223592,0.549895582891,0.0187625269201,1.04970036766
+141,2.350000000,pose1_to_pose2_press,0.579694251996,0.0100908379246,1.05003224729,0.550264703648,0.0187625777207,1.04970037716
+142,2.366666667,pose1_to_pose2_press,0.580096960769,0.0100906959618,1.05003225069,0.550667413686,0.0187624400431,1.04970038032
+143,2.383333333,pose1_to_pose2_press,0.580532759078,0.0100907249805,1.05003231603,0.551103211331,0.0187624666165,1.04970044057
+144,2.400000000,pose1_to_pose2_press,0.580987693241,0.0100909392295,1.05003247974,0.551558143208,0.018762673301,1.04970060931
+145,2.416666667,pose1_to_pose2_press,0.581457015572,0.0100908633236,1.05003245038,0.55202746473,0.0187625949055,1.04970058654
+146,2.433333333,pose1_to_pose2_press,0.581937507209,0.0100907051467,1.05003249153,0.552507959536,0.0187624472198,1.04970062079
+147,2.450000000,pose1_to_pose2_press,0.582427659578,0.0100906365317,1.0500324697,0.552998113721,0.0187623848511,1.04970060106
+148,2.466666667,pose1_to_pose2_press,0.582930959596,0.0100907424136,1.05003252638,0.553501410504,0.0187624792884,1.04970064548
+149,2.483333333,pose1_to_pose2_press,0.583464452272,0.0100908344134,1.05003211663,0.554034903685,0.0187625735309,1.04970024956
+150,2.500000000,pose1_to_pose2_press,0.584027527835,0.0100907948474,1.05003217446,0.554597978903,0.018762532616,1.04970030262
+151,2.516666667,pose1_to_pose2_press,0.584615086749,0.0100907203257,1.05003225223,0.555185538087,0.0187624590123,1.04970038038
+152,2.533333333,pose1_to_pose2_press,0.58521426343,0.0100908433505,1.05003231498,0.55578471371,0.0187625784814,1.04970044408
+153,2.550000000,pose1_to_pose2_press,0.585815667562,0.010090867573,1.05003231042,0.556386117425,0.018762601326,1.04970044042
+154,2.566666667,pose1_to_pose2_press,0.586426376485,0.010090770481,1.05003230542,0.556996827593,0.018762508583,1.04970043865
+155,2.583333333,pose1_to_pose2_press,0.587052667415,0.0100908730554,1.05003245043,0.557623118551,0.0187626111495,1.04970058096
+156,2.600000000,pose1_to_pose2_press,0.58771276309,0.0100909739958,1.05003241131,0.558283212806,0.018762707046,1.04970053593
+157,2.616666667,pose1_to_pose2_press,0.588405144304,0.010090861867,1.05003247042,0.558975593198,0.0187625923026,1.04970059954
+158,2.633333333,pose1_to_pose2_press,0.589122116268,0.0100907611217,1.05003241959,0.559692567825,0.0187625001172,1.04970053626
+159,2.650000000,pose1_to_pose2_press,0.589848401092,0.0100908030872,1.05003250802,0.560418852024,0.0187625402244,1.04970063155
+160,2.666666667,pose1_to_pose2_press,0.590580500418,0.0100907675831,1.05003225075,0.561150952658,0.0187625094843,1.04970038281
+161,2.683333333,pose1_to_pose2_press,0.591303363737,0.0100908658015,1.05003231565,0.561873814386,0.0187626025256,1.04970045347
+162,2.700000000,pose1_to_pose2_press,0.592021786152,0.0100906651073,1.05003235175,0.56259223941,0.0187624104102,1.04970048242
+163,2.716666667,pose1_to_pose2_press,0.592748219625,0.0100907447105,1.05003243715,0.563318672313,0.0187624880601,1.04970056735
+164,2.733333333,pose1_to_pose2_press,0.593483040401,0.0100908203946,1.05003240472,0.564053491916,0.0187625598707,1.04970053774
+165,2.750000000,pose1_to_pose2_press,0.594230399897,0.010090778556,1.05003228751,0.564800851503,0.0187625183973,1.04970042201
+166,2.766666667,pose1_to_pose2_press,0.594996614573,0.0100907783198,1.0500322148,0.565567066229,0.0187625183872,1.04970035073
+167,2.783333333,pose1_to_pose2_press,0.595784701446,0.0100908375713,1.05003221236,0.566355152094,0.0187625742511,1.0497003492
+168,2.800000000,pose1_to_pose2_press,0.596583761904,0.0100908097528,1.05003229555,0.56715421238,0.0187625456936,1.04970042839
+169,2.816666667,pose1_to_pose2_press,0.597389200724,0.0100908288539,1.05003243181,0.567959651953,0.0187625671489,1.04970055941
+170,2.833333333,pose1_to_pose2_press,0.598194959536,0.0100908624567,1.05003225799,0.568765409445,0.0187625962512,1.04970038512
+171,2.850000000,pose1_to_pose2_press,0.598988491555,0.010090819198,1.05003222269,0.569558942004,0.0187625552003,1.04970035963
+172,2.866666667,pose1_to_pose2_press,0.599760584955,0.0100907055457,1.05003235361,0.570331036842,0.0187624460619,1.04970048105
+173,2.883333333,pose1_to_pose2_press,0.600520229875,0.0100907811355,1.05003220544,0.571090683436,0.0187625277196,1.04970034307
+174,2.900000000,pose1_to_pose2_press,0.601268682108,0.0100908320232,1.05003233785,0.571839132079,0.0187625662988,1.04970047226
+175,2.916666667,pose1_to_pose2_press,0.602022926921,0.010090867762,1.05003215428,0.572593377064,0.0187626026931,1.04970029067
+176,2.933333333,pose1_to_pose2_press,0.602784467597,0.0100908836965,1.05003230301,0.573354917342,0.0187626169374,1.04970043059
+177,2.950000000,pose1_to_pose2_press,0.603550858516,0.0100906670315,1.05003228698,0.574121310174,0.018762406824,1.04970041615
+178,2.966666667,pose1_to_pose2_press,0.604316277055,0.01009067927,1.05003214966,0.574886728386,0.0187624181409,1.04970028384
+179,2.983333333,pose1_to_pose2_press,0.605075499043,0.0100907494808,1.05003216158,0.575645949813,0.0187624865331,1.04970029804
+180,3.000000000,pose1_to_pose2_press,0.605806031174,0.0100907684433,1.05003236078,0.576376482564,0.0187625073711,1.04970049137
+181,3.016666667,pose1_to_pose2_press,0.606510859755,0.0100908116221,1.05003243572,0.577081310379,0.0187625478927,1.04970056493
+182,3.033333333,pose1_to_pose2_press,0.60719624248,0.0100908442736,1.05003230508,0.57776669178,0.0187625762428,1.04970043938
+183,3.050000000,pose1_to_pose2_press,0.607867346499,0.0100909065352,1.05003223109,0.578437795469,0.0187626372869,1.04970036292
+184,3.066666667,pose1_to_pose2_press,0.608525534442,0.0100910096482,1.05003227251,0.579095982069,0.018762735865,1.04970040496
+185,3.083333333,pose1_to_pose2_press,0.609179184272,0.010090788558,1.05003247376,0.579749636184,0.0187625291216,1.04970060118
+186,3.100000000,pose1_to_pose2_press,0.609830587326,0.0100906228354,1.05003206883,0.580401041134,0.0187623704133,1.0497002116
+187,3.116666667,pose1_to_pose2_press,0.610463537185,0.0100907861626,1.05003236102,0.581033989966,0.0187625297187,1.04970048982
+188,3.133333333,pose1_to_pose2_press,0.611075940272,0.0100907688855,1.05003231916,0.581646392288,0.0187625102658,1.04970045899
+189,3.150000000,pose1_to_pose2_press,0.611660936015,0.0100907065234,1.05003224608,0.582231389229,0.018762451738,1.04970038006
+190,3.166666667,pose1_to_pose2_press,0.612213233431,0.0100907395701,1.05003237965,0.582783686811,0.0187624855726,1.04970051981
+191,3.183333333,pose1_to_pose2_press,0.612730790023,0.0100907847119,1.0500322304,0.583301242566,0.0187625278046,1.04970036859
+192,3.200000000,pose1_to_pose2_press,0.61323204158,0.0100908132627,1.05003222338,0.58380249324,0.018762553274,1.04970035862
+193,3.216666667,pose1_to_pose2_press,0.613719641739,0.010090819483,1.05003231131,0.584290092745,0.0187625572553,1.04970044445
+194,3.233333333,pose1_to_pose2_press,0.614197771826,0.0100907983173,1.05003227256,0.584768222712,0.018762535709,1.04970040438
+195,3.250000000,pose1_to_pose2_press,0.614661937432,0.0100907750566,1.05003231074,0.585232389296,0.0187625160476,1.0497004481
+196,3.266666667,pose1_to_pose2_press,0.615103395766,0.0100908186842,1.05003221294,0.585673848337,0.0187625621785,1.04970035074
+197,3.283333333,pose1_to_pose2_press,0.615518417368,0.0100907789441,1.05003217467,0.586088870122,0.0187625234497,1.04970031939
+198,3.300000000,pose1_to_pose2_press,0.615905630195,0.0100906259387,1.05003209383,0.586476085151,0.0187623778226,1.04970023228
+199,3.316666667,pose1_to_pose2_press,0.616270767812,0.0100906530491,1.05003199199,0.58684122228,0.0187624035736,1.04970013149
+200,3.333333333,pose1_to_pose2_press,0.616618412609,0.0100907750985,1.05003230675,0.587188866013,0.0187625220244,1.04970044153
+201,3.350000000,pose1_to_pose2_press,0.616954572799,0.0100907303055,1.05003232796,0.58752502644,0.0187624782869,1.04970046432
+202,3.366666667,pose1_to_pose2_press,0.617279886377,0.0100907408287,1.05003235261,0.587850338948,0.0187624852413,1.04970048483
+203,3.383333333,pose1_to_pose2_press,0.617592212131,0.0100908482605,1.05003242091,0.588162663024,0.018762587095,1.04970055229
+204,3.400000000,pose1_to_pose2_press,0.617881921647,0.0100908096725,1.05003237162,0.588452373501,0.0187625521751,1.04970051025
+205,3.416666667,pose1_to_pose2_press,0.618146932763,0.0100907246443,1.05003241549,0.588717385323,0.0187624695991,1.04970055089
+206,3.433333333,pose1_to_pose2_press,0.61838346282,0.0100907446032,1.05003230721,0.588953914117,0.0187624853217,1.04970044189
+207,3.450000000,pose1_to_pose2_press,0.618593810756,0.0100908120368,1.05003221272,0.589164262575,0.0187625549559,1.04970035373
+208,3.466666667,pose1_to_pose2_press,0.618779882951,0.0100908339146,1.0500322856,0.589350333489,0.0187625731728,1.04970043393
+209,3.483333333,pose1_to_pose2_press,0.618950595539,0.0100909094872,1.05003238843,0.589521044433,0.0187626422763,1.04970051425
+210,3.500000000,pose1_to_pose2_press,0.619108795888,0.0100908045626,1.05003238515,0.589679245765,0.0187625406937,1.04970051092
+211,3.516666667,pose1_to_pose2_press,0.619256394807,0.0100908056036,1.05003238896,0.589826844558,0.0187625413607,1.04970051324
+212,3.533333333,pose1_to_pose2_press,0.619393112548,0.010090805683,1.05003233777,0.589963563185,0.0187625445558,1.04970046234
+213,3.550000000,pose1_to_pose2_press,0.61951769043,0.0100907827882,1.05003231997,0.590088141992,0.018762525075,1.04970044992
+214,3.566666667,pose1_to_pose2_press,0.619628721179,0.0100909093206,1.05003236436,0.59019916991,0.0187626421825,1.04970049585
+215,3.583333333,pose1_to_pose2_press,0.619723495787,0.0100908355428,1.05003197647,0.590293945964,0.0187625738424,1.0497001215
+216,3.600000000,pose1_to_pose2_press,0.619805540519,0.0100907087695,1.05003228576,0.590375992263,0.0187624525609,1.04970043083
+217,3.616666667,pose1_to_pose2_press,0.619875779665,0.0100906953016,1.05003223962,0.590446230969,0.0187624380885,1.04970037432
+218,3.633333333,pose1_to_pose2_press,0.619936288365,0.0100907531624,1.05003211692,0.590506738348,0.0187624912179,1.04970025696
+219,3.650000000,pose1_to_pose2_press,0.619988477536,0.0100907878586,1.05003224594,0.590558927813,0.0187625263527,1.04970038132
+220,3.666666667,pose1_to_pose2_press,0.620033279189,0.0100908085462,1.05003224453,0.590603729044,0.0187625455531,1.04970037553
+221,3.683333333,pose1_to_pose2_press,0.620070924913,0.0100907922898,1.05003218892,0.5906413746,0.018762528963,1.04970032478
+222,3.700000000,pose1_to_pose2_press,0.620100665761,0.010090756948,1.05003229355,0.590671116283,0.018762496303,1.04970043194
+223,3.716666667,pose1_to_pose2_press,0.620123530738,0.0100907854799,1.05003224706,0.590693980034,0.018762520441,1.04970037652
+224,3.733333333,pose1_to_pose2_press,0.620139869111,0.0100907541177,1.05003221201,0.590710320099,0.0187624952687,1.0497003482
+225,3.750000000,pose1_to_pose2_press,0.620151449203,0.0100907928731,1.05003234806,0.590721898776,0.0187625293744,1.04970048551
+226,3.766666667,pose1_to_pose2_press,0.620159825941,0.0100908200334,1.05003242371,0.59073027457,0.0187625533138,1.04970055935
+227,3.783333333,pose1_to_pose2_press,0.62016632519,0.0100907988281,1.0500323096,0.590736775024,0.0187625359133,1.04970043795
+228,3.800000000,pose1_to_pose2_press,0.620171348555,0.010090736741,1.05003225452,0.59074179958,0.0187624777974,1.0497003822
+229,3.816666667,pose1_to_pose2_press,0.620174966248,0.0100906568791,1.05003224032,0.590745418331,0.018762401588,1.04970037134
+230,3.833333333,pose1_to_pose2_press,0.620177318782,0.0100907337215,1.05003219552,0.590747770015,0.0187624756084,1.04970032886
+231,3.850000000,pose1_to_pose2_press,0.620178631691,0.0100908338227,1.05003215471,0.590749081766,0.0187625718255,1.04970028942
+232,3.866666667,pose1_to_pose2_press,0.620179636387,0.0100909104246,1.05003212348,0.590750085577,0.0187626454551,1.04970025923
+233,3.883333333,pose1_to_pose2_press,0.620180385624,0.0100909675493,1.05003210019,0.590750834153,0.0187627003632,1.04970023673
+234,3.900000000,pose1_to_pose2_press,0.620180690141,0.0100909536002,1.05003214549,0.590751138828,0.0187626869256,1.04970028164
+235,3.916666667,pose1_to_pose2_press,0.620181060788,0.0100909351992,1.05003220273,0.590751509682,0.0187626692013,1.04970033838
+236,3.933333333,pose1_to_pose2_press,0.62018144092,0.0100909163273,1.05003226143,0.590751890027,0.0187626510234,1.04970039657
+237,3.950000000,pose1_to_pose2_press,0.620181560705,0.0100909103805,1.05003227992,0.59075200988,0.0187626452953,1.04970041491
+238,3.966666667,pose1_to_pose2_press,0.620181599616,0.0100909084487,1.05003228593,0.590752048813,0.0187626434345,1.04970042086
+239,3.983333333,pose1_to_pose2_press,0.620181707797,0.010090903078,1.05003230264,0.590752157055,0.0187626382613,1.04970043742
+240,4.000000000,pose1_to_pose2_press,0.620181736838,0.0100909016363,1.05003230712,0.590752186112,0.0187626368726,1.04970044187
+241,4.016666667,pose1_to_pose2_press,0.620181880129,0.0100908945225,1.05003232925,0.590752329484,0.0187626300204,1.0497004638
+242,4.033333333,pose1_to_pose2_press,0.620182058882,0.0100908856482,1.05003235685,0.590752508337,0.0187626214724,1.04970049117
+243,4.050000000,pose1_to_pose2_press,0.620182188416,0.0100908792174,1.05003237686,0.590752637944,0.0187626152781,1.04970051099
+244,4.066666667,pose1_to_pose2_press,0.620182342033,0.010090871591,1.05003240058,0.590752791646,0.0187626079322,1.04970053451
+245,4.083333333,pose1_to_pose2_press,0.620182352636,0.0100908710646,1.05003240222,0.590752802256,0.0187626074251,1.04970053613
+246,4.100000000,pose1_to_pose2_press,0.620182750056,0.0100908513345,1.05003246359,0.590753199898,0.0187625884205,1.04970059697
+247,4.116666667,pose1_to_pose2_press,0.620183149018,0.0100908078528,1.05003239946,0.590753599307,0.0187625463952,1.04970053161
+248,4.133333333,pose1_to_pose2_press,0.620183563371,0.0100907608785,1.05003232322,0.59075401414,0.0187625009893,1.04970045403
+249,4.150000000,pose1_to_pose2_press,0.620183950848,0.0100907225953,1.05003225908,0.590754402087,0.0187624642629,1.04970038905
+250,4.166666667,pose1_to_pose2_press,0.620184082511,0.0100907683346,1.05003231173,0.590754534135,0.0187625114705,1.0497004457
+251,4.183333333,pose1_to_pose2_press,0.620184196564,0.010090820227,1.05003235936,0.590754647867,0.0187625621855,1.04970049097
+252,4.200000000,pose1_to_pose2_press,0.620184237093,0.0100908440353,1.05003237718,0.590754687996,0.018762584504,1.04970050538
+253,4.216666667,pose1_to_pose2_press,0.620184237093,0.0100908440353,1.05003237718,0.590754687997,0.018762584504,1.04970050538
+254,4.233333333,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687998,0.0187625845036,1.04970050538
+255,4.250000000,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687998,0.0187625845035,1.04970050538
+256,4.266666667,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.018762584503,1.04970050538
+257,4.283333333,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845032,1.04970050538
+258,4.300000000,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845031,1.04970050538
+259,4.316666667,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687998,0.0187625845031,1.04970050538
+260,4.333333333,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845031,1.04970050538
+261,4.350000000,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845028,1.04970050538
+262,4.366666667,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845028,1.04970050538
+263,4.383333333,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845028,1.04970050538
+264,4.400000000,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845027,1.04970050538
+265,4.416666667,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845034,1.04970050538
+266,4.433333333,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845034,1.04970050538
+267,4.450000000,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845034,1.04970050538
+268,4.466666667,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845034,1.04970050538
+269,4.483333333,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845031,1.04970050538
+270,4.500000000,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845028,1.04970050538
+271,4.516666667,pose2_hold,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.0187625845028,1.04970050538
+272,4.533333333,pose2_to_pose3_retreat,0.620184237093,0.0100908440353,1.05003237718,0.590754687999,0.018762584503,1.04970050538
+273,4.550000000,pose2_to_pose3_retreat,0.620184237398,0.0100908363066,1.05003237788,0.590754688088,0.0187625760268,1.04970050574
+274,4.566666667,pose2_to_pose3_retreat,0.620184237834,0.0100908252546,1.05003237888,0.590754688214,0.0187625639058,1.04970050625
+275,4.583333333,pose2_to_pose3_retreat,0.620184204353,0.0100908069245,1.05003236349,0.590754654635,0.0187625452727,1.04970049166
+276,4.600000000,pose2_to_pose3_retreat,0.620184124807,0.0100907834256,1.05003232551,0.590754575408,0.0187625229593,1.04970045644
+277,4.616666667,pose2_to_pose3_retreat,0.6201841145,0.0100907803808,1.05003232059,0.590754565143,0.0187625200681,1.04970045187
+278,4.633333333,pose2_to_pose3_retreat,0.620183996518,0.010090745527,1.05003226427,0.590754447633,0.0187624869728,1.04970039962
+279,4.650000000,pose2_to_pose3_retreat,0.620182999367,0.0100907414355,1.05003240149,0.590753450292,0.0187624822882,1.04970053849
+280,4.666666667,pose2_to_pose3_retreat,0.620179188451,0.0100910476198,1.05003240599,0.590749636668,0.0187627791645,1.04970053901
+281,4.683333333,pose2_to_pose3_retreat,0.620168782562,0.0100908521387,1.05003222978,0.590739230129,0.0187625812202,1.04970035648
+282,4.700000000,pose2_to_pose3_retreat,0.620149371113,0.0100907900624,1.05003233709,0.590719820943,0.0187625271917,1.04970047297
+283,4.716666667,pose2_to_pose3_retreat,0.620120004712,0.0100908615546,1.05003235001,0.590690454072,0.0187625969715,1.04970048194
+284,4.733333333,pose2_to_pose3_retreat,0.62008073007,0.0100907547214,1.05003222798,0.590651183313,0.0187625035371,1.04970036371
+285,4.750000000,pose2_to_pose3_retreat,0.620031009055,0.0100908901559,1.050032214,0.590601459355,0.018762628976,1.04970034616
+286,4.766666667,pose2_to_pose3_retreat,0.619972767967,0.0100906845183,1.05003202408,0.590543219092,0.0187624263385,1.04970015842
+287,4.783333333,pose2_to_pose3_retreat,0.61990650014,0.0100908500969,1.05003227542,0.59047695017,0.0187625881727,1.04970041027
+288,4.800000000,pose2_to_pose3_retreat,0.619829891363,0.0100908480547,1.0500325831,0.5904003407,0.0187625832799,1.0497007106
+289,4.816666667,pose2_to_pose3_retreat,0.619742039198,0.0100908038452,1.05003229621,0.590312489183,0.0187625414877,1.04970044109
+290,4.833333333,pose2_to_pose3_retreat,0.619641152139,0.0100907843248,1.05003219391,0.590211603595,0.0187625267894,1.04970033752
+291,4.850000000,pose2_to_pose3_retreat,0.619527038657,0.0100908318235,1.05003242017,0.590097488949,0.0187625700085,1.04970055532
+292,4.866666667,pose2_to_pose3_retreat,0.619397023804,0.010090671435,1.05003229665,0.589967475279,0.018762413349,1.04970042769
+293,4.883333333,pose2_to_pose3_retreat,0.619252852292,0.0100907486832,1.0500321291,0.589823303525,0.0187624898951,1.0497002672
+294,4.900000000,pose2_to_pose3_retreat,0.619093813043,0.0100908084966,1.05003219084,0.589664263995,0.0187625488514,1.04970033449
+295,4.916666667,pose2_to_pose3_retreat,0.618917300354,0.0100907888757,1.05003226911,0.589487750961,0.0187625278997,1.0497004109
+296,4.933333333,pose2_to_pose3_retreat,0.618723548432,0.0100908065846,1.05003221838,0.589293998684,0.0187625441143,1.04970035501
+297,4.950000000,pose2_to_pose3_retreat,0.618513035957,0.0100908697692,1.05003226879,0.589083487066,0.0187626099705,1.04970040245
+298,4.966666667,pose2_to_pose3_retreat,0.618286271396,0.010090881521,1.05003246401,0.588856722819,0.0187626225567,1.04970059528
+299,4.983333333,pose2_to_pose3_retreat,0.618041793009,0.0100906734878,1.05003215355,0.588612245014,0.0187624166796,1.0497002863
+300,5.000000000,pose2_to_pose3_retreat,0.617777588197,0.0100907538968,1.05003231833,0.588348039585,0.0187624939561,1.04970044524
+301,5.016666667,pose2_to_pose3_retreat,0.617491210237,0.0100908762572,1.05003229209,0.588061660923,0.0187626140411,1.04970042249
+302,5.033333333,pose2_to_pose3_retreat,0.617175679322,0.0100908175382,1.05003224446,0.587746130393,0.0187625566739,1.04970037568
+303,5.050000000,pose2_to_pose3_retreat,0.616831505161,0.0100907266271,1.05003222648,0.587401957024,0.0187624683561,1.04970036105
+304,5.066666667,pose2_to_pose3_retreat,0.616457749943,0.0100907523599,1.05003224618,0.587028202071,0.0187624949639,1.04970038602
+305,5.083333333,pose2_to_pose3_retreat,0.616064513499,0.0100907914114,1.05003235777,0.58663496526,0.0187625322528,1.04970048881
+306,5.100000000,pose2_to_pose3_retreat,0.615656318427,0.0100908465282,1.05003245796,0.586226769226,0.0187625834558,1.04970057601
+307,5.116666667,pose2_to_pose3_retreat,0.615237026742,0.0100908550178,1.05003263689,0.585807478137,0.0187625937404,1.049700757
+308,5.133333333,pose2_to_pose3_retreat,0.614805551538,0.010090743202,1.05003250867,0.585376003937,0.0187624854275,1.04970063549
+309,5.150000000,pose2_to_pose3_retreat,0.614355440773,0.0100906404253,1.05003226768,0.584925893948,0.0187623856107,1.04970040546
+310,5.166666667,pose2_to_pose3_retreat,0.613881942193,0.010090731361,1.05003228255,0.584452393368,0.0187624697451,1.0497004207
+311,5.183333333,pose2_to_pose3_retreat,0.613376504235,0.010090813113,1.05003241186,0.583946954409,0.0187625479214,1.04970054527
+312,5.200000000,pose2_to_pose3_retreat,0.612843068417,0.0100907789777,1.05003233155,0.583413519367,0.0187625163511,1.04970046268
+313,5.216666667,pose2_to_pose3_retreat,0.612282539135,0.0100907249801,1.05003215702,0.582852990765,0.0187624646641,1.0497002877
+314,5.233333333,pose2_to_pose3_retreat,0.611708564832,0.0100907833143,1.05003221437,0.582279016047,0.0187625215158,1.04970034301
+315,5.250000000,pose2_to_pose3_retreat,0.611123171497,0.0100908855609,1.05003215461,0.581693622138,0.0187626219786,1.04970028644
+316,5.266666667,pose2_to_pose3_retreat,0.610523130269,0.0100908490878,1.05003248222,0.581093581476,0.0187625873325,1.04970061334
+317,5.283333333,pose2_to_pose3_retreat,0.609902913531,0.0100909439957,1.05003248258,0.580473362801,0.0187626756646,1.04970061299
+318,5.300000000,pose2_to_pose3_retreat,0.609252192675,0.0100907673614,1.05003247831,0.579822644916,0.0187625091396,1.04970061018
+319,5.316666667,pose2_to_pose3_retreat,0.608572117168,0.0100908124092,1.05003247055,0.579142568988,0.0187625527702,1.04970060303
+320,5.333333333,pose2_to_pose3_retreat,0.607866088488,0.0100908135529,1.05003226452,0.578436539603,0.0187625514551,1.04970039489
+321,5.350000000,pose2_to_pose3_retreat,0.607143858265,0.0100907805926,1.05003225553,0.577714309646,0.0187625193378,1.04970038466
+322,5.366666667,pose2_to_pose3_retreat,0.606412057144,0.0100907457954,1.05003248465,0.576982509086,0.0187624863288,1.04970061131
+323,5.383333333,pose2_to_pose3_retreat,0.60567737745,0.0100907354419,1.05003250548,0.576247829324,0.018762475594,1.04970062807
+324,5.400000000,pose2_to_pose3_retreat,0.604935645361,0.0100907754844,1.0500322614,0.575506097119,0.0187625153377,1.04970038657
+325,5.416666667,pose2_to_pose3_retreat,0.604185304386,0.0100907065105,1.05003221172,0.574755757914,0.0187624527894,1.049700348
+326,5.433333333,pose2_to_pose3_retreat,0.603421832998,0.0100907562102,1.0500322245,0.573992283182,0.0187624909756,1.04970035695
+327,5.450000000,pose2_to_pose3_retreat,0.602645201111,0.0100907250373,1.05003197327,0.573215653708,0.0187624683856,1.04970011483
+328,5.466666667,pose2_to_pose3_retreat,0.60185281305,0.0100906825298,1.05003225635,0.572423266723,0.0187624296848,1.04970040028
+329,5.483333333,pose2_to_pose3_retreat,0.601049223919,0.0100906994318,1.05003245593,0.571619676222,0.0187624413604,1.04970058585
+330,5.500000000,pose2_to_pose3_retreat,0.600241926128,0.0100907441326,1.0500322264,0.570812378248,0.0187624854899,1.04970035798
+331,5.516666667,pose2_to_pose3_retreat,0.59943391632,0.0100907672426,1.05003225758,0.570004366724,0.0187625028167,1.04970039147
+332,5.533333333,pose2_to_pose3_retreat,0.59862614346,0.0100907920397,1.05003227555,0.569196593867,0.0187625276613,1.04970041114
+333,5.550000000,pose2_to_pose3_retreat,0.597830596617,0.0100907771243,1.0500322687,0.568401048951,0.0187625193394,1.04970040467
+334,5.566666667,pose2_to_pose3_retreat,0.597042955571,0.0100907225157,1.05003238435,0.567613408729,0.0187624674681,1.04970051763
+335,5.583333333,pose2_to_pose3_retreat,0.596255908126,0.0100907261307,1.0500324265,0.56682635999,0.0187624666201,1.04970055767
+336,5.600000000,pose2_to_pose3_retreat,0.595463590091,0.0100908321333,1.05003223867,0.566034040615,0.0187625681538,1.04970037213
+337,5.616666667,pose2_to_pose3_retreat,0.594658080129,0.0100908526422,1.05003221279,0.56522853055,0.0187625883953,1.04970034983
+338,5.633333333,pose2_to_pose3_retreat,0.593850378624,0.0100906269336,1.05003223795,0.564420830272,0.0187623666679,1.04970036752
+339,5.650000000,pose2_to_pose3_retreat,0.59304540335,0.0100907313243,1.05003231628,0.56361585613,0.018762475142,1.04970045387
+340,5.666666667,pose2_to_pose3_retreat,0.592255752531,0.0100907088034,1.05003227283,0.562826205319,0.0187624523265,1.04970040133
+341,5.683333333,pose2_to_pose3_retreat,0.591488811356,0.0100907683655,1.05003240751,0.562059262742,0.0187625072442,1.04970053871
+342,5.700000000,pose2_to_pose3_retreat,0.590751212664,0.0100907611757,1.05003238874,0.561321663924,0.0187624998153,1.04970052476
+343,5.716666667,pose2_to_pose3_retreat,0.590029303678,0.0100907519896,1.05003221319,0.560599755241,0.0187624917889,1.04970035268
+344,5.733333333,pose2_to_pose3_retreat,0.589319350405,0.0100907401485,1.05003214075,0.55988980211,0.0187624803071,1.04970027689
+345,5.750000000,pose2_to_pose3_retreat,0.588613514713,0.0100907139841,1.05003231377,0.559183966708,0.0187624547737,1.04970044101
+346,5.766666667,pose2_to_pose3_retreat,0.587912547684,0.0100907914042,1.05003246877,0.558482999849,0.0187625328932,1.04970059985
+347,5.783333333,pose2_to_pose3_retreat,0.587215991401,0.0100907047291,1.05003233741,0.557786444191,0.0187624486928,1.04970047557
+348,5.800000000,pose2_to_pose3_retreat,0.586529421455,0.0100906250469,1.05003248079,0.557099874711,0.0187623702658,1.04970061015
+349,5.816666667,pose2_to_pose3_retreat,0.585862085454,0.0100907155799,1.05003239499,0.556432537567,0.0187624567505,1.04970052143
+350,5.833333333,pose2_to_pose3_retreat,0.585218735193,0.0100908427207,1.05003228241,0.555789184095,0.0187625729331,1.04970040743
+351,5.850000000,pose2_to_pose3_retreat,0.58460313332,0.0100909161921,1.05003231827,0.555173582467,0.0187626475134,1.04970044963
+352,5.866666667,pose2_to_pose3_retreat,0.584020500938,0.0100907753251,1.05003229978,0.554590952456,0.0187625145773,1.04970042781
+353,5.883333333,pose2_to_pose3_retreat,0.583465000919,0.0100906647517,1.0500322609,0.554035453092,0.0187624061692,1.04970038732
+354,5.900000000,pose2_to_pose3_retreat,0.582930139795,0.0100907746638,1.05003220528,0.553500590052,0.0187625097039,1.04970033493
+355,5.916666667,pose2_to_pose3_retreat,0.582407121707,0.0100909453559,1.0500321462,0.552977570883,0.0187626768624,1.04970027935
+356,5.933333333,pose2_to_pose3_retreat,0.581893005702,0.0100907882179,1.05003223646,0.552463458477,0.0187625320744,1.04970037311
+357,5.950000000,pose2_to_pose3_retreat,0.581399794765,0.0100908796574,1.05003240608,0.551970244905,0.018762613907,1.0497005256
+358,5.966666667,pose2_to_pose3_retreat,0.580929025207,0.0100907666445,1.05003238057,0.551499476488,0.0187625050466,1.04970050721
+359,5.983333333,pose2_to_pose3_retreat,0.580480036407,0.0100908516035,1.05003232863,0.551050487232,0.0187625888483,1.04970046618
+360,6.000000000,pose2_to_pose3_retreat,0.580053747376,0.0100907548722,1.05003231658,0.550624199829,0.0187624978221,1.04970045896
+361,6.016666667,pose2_to_pose3_retreat,0.579652494941,0.0100907428716,1.05003226525,0.550222946568,0.0187624827937,1.04970040137
+362,6.033333333,pose2_to_pose3_retreat,0.579266073199,0.0100908282029,1.05003223017,0.549836524395,0.0187625665607,1.04970036347
+363,6.050000000,pose2_to_pose3_retreat,0.578893247577,0.010090822751,1.05003237441,0.549463699381,0.0187625630295,1.04970050378
+364,6.066666667,pose2_to_pose3_retreat,0.57854855844,0.010090715547,1.05003245914,0.549119011998,0.0187624615448,1.04970058268
+365,6.083333333,pose2_to_pose3_retreat,0.578232972166,0.0100906931898,1.05003226988,0.548803426586,0.0187624423894,1.04970040079
+366,6.100000000,pose2_to_pose3_retreat,0.577949895495,0.010090698368,1.0500321416,0.548520349569,0.0187624468021,1.04970028303
+367,6.116666667,pose2_to_pose3_retreat,0.577696974299,0.010090581964,1.05003234606,0.548267429731,0.0187623345745,1.04970047617
+368,6.133333333,pose2_to_pose3_retreat,0.577473898982,0.0100908373294,1.05003226256,0.548044350825,0.0187625776916,1.04970039124
+369,6.150000000,pose2_to_pose3_retreat,0.577262717392,0.0100908027053,1.0500324624,0.547833170268,0.0187625463588,1.0497005852
+370,6.166666667,pose2_to_pose3_retreat,0.577061293485,0.010090749834,1.05003235693,0.547631745538,0.0187624907177,1.04970048059
+371,6.183333333,pose2_to_pose3_retreat,0.576871782666,0.0100907085667,1.05003225949,0.54744223344,0.0187624451793,1.04970038498
+372,6.200000000,pose2_to_pose3_retreat,0.576695146636,0.0100907254058,1.05003226541,0.547265598678,0.0187624662859,1.04970039001
+373,6.216666667,pose2_to_pose3_retreat,0.576535385321,0.0100907883903,1.05003235317,0.547105838168,0.0187625320376,1.0497004786
+374,6.233333333,pose2_to_pose3_retreat,0.576394582065,0.0100907851185,1.05003247477,0.546965033395,0.0187625238547,1.04970060647
+375,6.250000000,pose2_to_pose3_retreat,0.576273617674,0.0100907205649,1.05003244158,0.546844070652,0.0187624650506,1.04970057732
+376,6.266666667,pose2_to_pose3_retreat,0.576168035382,0.0100908586636,1.05003237301,0.546738485249,0.0187625922681,1.04970050038
+377,6.283333333,pose2_to_pose3_retreat,0.576076549398,0.01009073543,1.05003226909,0.546647002568,0.0187624802183,1.0497003965
+378,6.300000000,pose2_to_pose3_retreat,0.575995784265,0.0100907483625,1.05003224135,0.546566237025,0.0187624919246,1.04970037311
+379,6.316666667,pose2_to_pose3_retreat,0.575925616421,0.0100907932773,1.05003225767,0.546496066928,0.0187625290225,1.04970038482
+380,6.333333333,pose2_to_pose3_retreat,0.575867200741,0.0100907758023,1.05003214355,0.546437651846,0.0187625138828,1.04970027866
+381,6.350000000,pose2_to_pose3_retreat,0.575817876094,0.010090804876,1.05003223615,0.546388326365,0.0187625399876,1.04970036766
+382,6.366666667,pose2_to_pose3_retreat,0.57577718675,0.0100907860529,1.05003231882,0.546347636841,0.0187625204206,1.04970044681
+383,6.383333333,pose2_to_pose3_retreat,0.575745276905,0.010090729428,1.05003228917,0.54631572877,0.0187624699971,1.04970042197
+384,6.400000000,pose2_to_pose3_retreat,0.575721038823,0.0100907974529,1.050032336,0.546291490864,0.0187625385539,1.04970046713
+385,6.416666667,pose2_to_pose3_retreat,0.575703398107,0.0100908984182,1.05003223735,0.546273849669,0.0187626379147,1.04970036913
+386,6.433333333,pose2_to_pose3_retreat,0.575690809397,0.0100906669277,1.05003212415,0.546261263352,0.0187624145563,1.04970025632
+387,6.450000000,pose2_to_pose3_retreat,0.575682746284,0.0100908020606,1.05003226016,0.546253197716,0.0187625410016,1.04970038905
+388,6.466666667,pose2_to_pose3_retreat,0.575677161802,0.0100909366578,1.05003235999,0.546247611064,0.0187626681684,1.04970048699
+389,6.483333333,pose2_to_pose3_retreat,0.575673785073,0.0100909487284,1.05003229073,0.546244234546,0.0187626810584,1.04970042032
+390,6.500000000,pose2_to_pose3_retreat,0.575671181672,0.0100909561208,1.05003223901,0.546241631344,0.0187626892061,1.04970037066
+391,6.516666667,pose2_to_pose3_retreat,0.575669500356,0.010090883536,1.05003227338,0.546239951597,0.0187626221032,1.0497004091
+392,6.533333333,pose2_to_pose3_retreat,0.575668667966,0.0100908476006,1.0500322904,0.546239119984,0.0187625888818,1.04970042813
+393,6.550000000,pose2_to_pose3_retreat,0.575668129388,0.0100908243494,1.05003230141,0.546238581909,0.0187625673866,1.04970044045
+394,6.566666667,pose2_to_pose3_retreat,0.575667744407,0.0100908077292,1.05003230928,0.546238197287,0.0187625520217,1.04970044925
+395,6.583333333,pose2_to_pose3_retreat,0.575667566994,0.0100908000701,1.05003231291,0.54623802004,0.018762544941,1.0497004533
+396,6.600000000,pose2_to_pose3_retreat,0.575667432014,0.0100907942428,1.05003231567,0.546237885187,0.0187625395538,1.04970045639
+397,6.616666667,pose2_to_pose3_retreat,0.575666944382,0.0100907978941,1.05003231864,0.546237397272,0.0187625422563,1.04970045957
+398,6.633333333,pose2_to_pose3_retreat,0.575666359862,0.010090808935,1.05003232032,0.546236812215,0.018762551475,1.04970046124
+399,6.650000000,pose2_to_pose3_retreat,0.575665956861,0.0100908165472,1.05003232148,0.546236408844,0.0187625578308,1.04970046239
+400,6.666666667,pose2_to_pose3_retreat,0.575665864861,0.010090818285,1.05003232174,0.546236316759,0.0187625592818,1.04970046266
+401,6.683333333,pose2_to_pose3_retreat,0.575665579423,0.0100908236766,1.05003232256,0.546236031059,0.0187625637835,1.04970046347
+402,6.700000000,pose2_to_pose3_retreat,0.575665236682,0.0100908347255,1.05003233575,0.54623568795,0.0187625735483,1.04970047581
+403,6.716666667,pose2_to_pose3_retreat,0.575665033274,0.0100908564034,1.05003238392,0.546235484143,0.018762593751,1.04970052068
+404,6.733333333,pose2_to_pose3_retreat,0.575664957735,0.0100908644538,1.05003240181,0.546235408457,0.0187626012536,1.04970053734
+405,6.750000000,pose2_to_pose3_retreat,0.575664890227,0.0100908716483,1.05003241779,0.546235340817,0.0187626079586,1.04970055224
+406,6.766666667,pose2_to_pose3_retreat,0.575664697105,0.0100908922299,1.05003246352,0.546235147318,0.0187626271396,1.04970059484
+407,6.783333333,pose2_to_pose3_retreat,0.575664584479,0.0100909042329,1.05003249019,0.546235034471,0.0187626383258,1.04970061968
+408,6.800000000,pose2_to_pose3_retreat,0.575664545785,0.0100908784779,1.05003246366,0.546234996269,0.0187626142539,1.04970059355
+409,6.816666667,pose2_to_pose3_retreat,0.575664542385,0.0100908755482,1.05003246054,0.546234992925,0.0187626115158,1.04970059048
+410,6.833333333,pose2_to_pose3_retreat,0.5756645406,0.0100908740105,1.05003245889,0.54623499117,0.0187626100787,1.04970058886
+411,6.850000000,pose2_to_pose3_retreat,0.575664496162,0.0100908357183,1.05003241802,0.546234947461,0.018762574292,1.04970054874
+412,6.866666667,pose2_to_pose3_retreat,0.575664485102,0.0100908261882,1.05003240784,0.546234936583,0.0187625653855,1.04970053875
+413,6.883333333,pose2_to_pose3_retreat,0.575664453851,0.0100907992599,1.0500323791,0.546234905846,0.0187625402191,1.04970051053
+414,6.900000000,pose2_to_pose3_retreat,0.575664416755,0.0100907790663,1.05003234349,0.546234869209,0.018762521613,1.04970047559
+415,6.916666667,pose2_to_pose3_retreat,0.575664367205,0.0100908219246,1.05003228709,0.546234819389,0.0187625636017,1.04970042039
+416,6.933333333,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56cb40c47661175997c266ed05ff65f675dab874
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0424791b0a0f7c9ebe2b3291f5d3a02f5f87509e1f082870f25af1150b9bdbd9
+size 26476980
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c212e4b840eacf785ae2aebe2782547b0711ea2a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,714,680,667,636,879,788,804,653,631,652,0.400972598436,0.00455527759944,0.0598477011086,0.999999941163,0.000225866467865,-0.000257250374374,2.19106091778e-05,1793239695524093440
+1,0.016666667,BASELINE,766,745.58051662,714,679.41948338,665.838966759,636,879.58051662,787.41948338,804,653,631,652.58051662,0.400972521909,0.00455386599731,0.0598483490588,0.999999941708,0.000223912026409,-0.000256824083457,2.21123575427e-05,1793239695540759808
+2,0.033333333,BASELINE,766,746,714,679,665.159862332,636,879.840137668,787,804,652.840137668,631.159862332,653,0.400971926609,0.00455289125841,0.0598485829323,0.999999942007,0.000222417621059,-0.000256944758529,2.22611883761e-05,1793239695557426176
+3,0.050000000,BASELINE,766,746,714,679,665.736158012,636,879.263841988,787,804,652.263841988,631.736158012,653,0.400969979928,0.00455305452593,0.0598477381569,0.999999941674,0.000222121586237,-0.000258490252441,2.22721717404e-05,1793239695574092544
+4,0.066666667,BASELINE,765.682036613,745.682036613,714.317963387,679.317963387,665.682036613,635.682036613,879,787.317963387,804,652.317963387,631.682036613,653,0.40097047874,0.00455386623408,0.0598478622133,0.99999994148,0.00022347641814,-0.000258070701964,2.23043159323e-05,1793239695590759424
+5,0.083333333,BASELINE,765.095578779,745.095578779,714.904421221,679.904421221,665.095578779,635.095578779,879,787.904421221,804,652.904421221,631.095578779,653,0.400973042572,0.00455522549804,0.0598488043699,0.999999941395,0.00022622527392,-0.000255991829822,2.23543287364e-05,1793239695607425792
+6,0.100000000,BASELINE,765.4852381,745.4852381,714.5147619,680,665,635.4852381,879,787.5147619,804,653,631,653,0.400973011848,0.00455448700572,0.0598485347498,0.999999941638,0.000224896561092,-0.000256228432704,2.22118067776e-05,1793239695624092160
+7,0.116666667,BASELINE,766,746,714,680,665.064653466,635.935346534,879,787,804,653,631,653,0.400972509688,0.00455348278296,0.059848157798,0.999999941928,0.000222972443709,-0.000256788144349,2.20912345462e-05,1793239695640758784
+8,0.133333333,BASELINE,766,746,714,680,665.641666359,635.358333641,879,787,804,653,631,653,0.400972274967,0.00455360959323,0.0598488000625,0.999999942114,0.000222621668663,-0.000256335585969,2.24416911996e-05,1793239695657425920
+9,0.150000000,BASELINE,766,745.78158066,714,680,666,635,879,787.21841934,804,653,631,652.78158066,0.400972214523,0.00455364915427,0.0598491358691,0.999999942261,0.000222250398209,-0.000256078585153,2.25103529263e-05,1793239695674092544
+10,0.166666667,BASELINE,766,745.205253633,714,680,666,635,879,787.794746367,804,653,631,652.205253633,0.400972439655,0.00455354574639,0.0598489695058,0.999999942343,0.000221845543475,-0.000256142030159,2.21172580252e-05,1793239695690759168
+11,0.183333333,BASELINE,765.620748693,745.379251307,714.379251307,680,665.620748693,635,879,788,804,653,631,652.379251307,0.400972856321,0.00455314518325,0.059848885564,0.99999994239,0.000221863304784,-0.00025593362354,2.22311863698e-05,1793239695707425536
+12,0.200000000,BASELINE,765.031720208,745.968279792,714.968279792,680,665.031720208,635,879,788,804,653,631,652.968279792,0.400973378933,0.00455258025313,0.0598488472126,0.999999942417,0.000222114829787,-0.000255574846275,2.26255669885e-05,1793239695724092160
+13,0.216666667,BASELINE,765,745.45169522,715,680,665.54830478,635,879,787.45169522,804,653,631,653,0.400971393397,0.0045543393649,0.0598484616187,0.99999994169,0.000224135139494,-0.000256695303607,2.21353603654e-05,1793239695740758784
+14,0.233333333,BASELINE,765.126725602,745,715,680,665.873274398,635.126725602,879,787,803.873274398,653,631,653,0.400969665332,0.00455562859872,0.059847991404,0.99999994108,0.000225731556557,-0.000257703164301,2.17799653023e-05,1793239695757425408
+15,0.250000000,BASELINE,765.701288554,745,715,680,665.298711446,635.701288554,879,787,803.298711446,653,631,653,0.400969351633,0.00455478986921,0.0598472919907,0.999999941051,0.000225474202404,-0.000258015586621,2.20789075949e-05,1793239695774092288
+16,0.266666667,BASELINE,766,745.274288149,714.725711851,680,665.274288149,636,879.274288149,787,803.274288149,653,631,652.725711851,0.400969278501,0.00455428164512,0.0598471569315,0.999999941043,0.000225176889163,-0.000258297842456,2.21837052618e-05,1793239695790758912
+17,0.283333333,BASELINE,766,745.845594797,714.154405203,680,665.845594797,636,879.845594797,787,803.845594797,653,631,652.154405203,0.40096946587,0.00455413131558,0.0598476329946,0.999999941057,0.000224836305429,-0.00025854743188,2.20782694557e-05,1793239695807425792
+18,0.300000000,BASELINE,766,746,714,679.566819311,666,635.566819311,879.566819311,787.433180689,803.566819311,653,631.433180689,652.433180689,0.40097068955,0.00455336347916,0.0598485722463,0.999999941696,0.000223701146218,-0.000257040534122,2.22659313512e-05,1793239695824092416
+19,0.316666667,BASELINE,766,745.973973376,714,679.026026624,666,635.026026624,879,788,803.026026624,653,631.973973376,653,0.400972144603,0.00455242022135,0.059849584909,0.99999994249,0.000222363975445,-0.000255078611592,2.25481369778e-05,1793239695840759296
+20,0.333333333,BASELINE,766,745.397398279,714,679.602601721,666,635.602601721,879,788,803.602601721,653,631.397398279,653,0.400970375073,0.00455260402731,0.0598485216464,0.999999941797,0.000222978626416,-0.000257252461078,2.25340054261e-05,1793239695857425664
+21,0.350000000,BASELINE,766,745,714,680,666,635.820900805,879,788,803.820900805,653,631,653,0.400970022554,0.00455286358536,0.059848178256,0.999999941567,0.00022329548,-0.000257875236248,2.24659397846e-05,1793239695874092288
+22,0.366666667,BASELINE,766,745,714,680,666,635.244575572,879,788,803.244575572,653,631,653,0.400972812843,0.00455329115475,0.0598494314779,0.999999942371,0.000222951845459,-0.000255057866655,2.2278253144e-05,1793239695890758912
+23,0.383333333,BASELINE,765.660689061,745,714.339310939,680,666,635.339310939,879,788,803.339310939,653,631,653,0.400973038918,0.00455222472916,0.0598495128643,0.999999942693,0.000222110701476,-0.00025451255304,2.24740918123e-05,1793239695907425536
+24,0.400000000,BASELINE,765.071228092,745,714.928771908,680,666,635.928771908,879,788,803.928771908,653,631,653,0.400971374578,0.00455005688647,0.0598487303393,0.999999942661,0.000220902778823,-0.000255642265799,2.29526766277e-05,1793239695924092160
+25,0.416666667,BASELINE,765.509459241,745,715,680,666,636,879,788,804,653,631.509459241,653,0.400971473636,0.00455176654851,0.0598492562682,0.999999942395,0.000222078156082,-0.000255674377994,2.28454945185e-05,1793239695940759040
+26,0.433333333,BASELINE,766,745,714.911836239,679.911836239,666,635.911836239,879.088163761,787.911836239,803.911836239,653,632,652.911836239,0.400971930474,0.00455378566268,0.0598498935064,0.999999942179,0.000223399846001,-0.000255387875444,2.26140151286e-05,1793239695957425664
+27,0.450000000,BASELINE,766,745,714.337416538,679.337416538,666,635.337416538,879.662583462,787.337416538,803.337416538,653,632,652.337416538,0.400973023842,0.00455457215649,0.0598501527749,0.999999942426,0.000223721830967,-0.000254176136439,2.21410339248e-05,1793239695974092544
+28,0.466666667,BASELINE,766,745.243271798,714,679,665.756728202,635,879.756728202,787,803,653,631.756728202,652.243271798,0.400972830069,0.00455463334676,0.0598500397706,0.999999942363,0.000223929199174,-0.000254243884034,2.21086869278e-05,1793239695990758912
+29,0.483333333,BASELINE,766,745.832884626,714,679,665.167115374,635,879.167115374,787,803,653,631.167115374,652.832884626,0.400970803822,0.00455366193735,0.0598493967691,0.999999941858,0.000223973389849,-0.000256133210326,2.27036617713e-05,1793239696007425280
+30,0.500000000,BASELINE,766,746,714,679,665.41505316,635.41505316,879.41505316,787,803.83010632,653,631,653,0.400971033974,0.0045530513021,0.0598491710217,0.999999942366,0.000221943100039,-0.000255931999841,2.2537414925e-05,1793239696024091904
+31,0.516666667,BASELINE,766,746,714,679,665.994277151,635.994277151,879.994277151,787,804.988554302,653,631,653,0.400972156626,0.0045525833681,0.0598491103158,0.999999943268,0.000219092266695,-0.000254903894844,2.20700731459e-05,1793239696040758784
+32,0.533333333,BASELINE,765.429273096,746,714.570726904,679,665.429273096,635.429273096,879.429273096,787,804.429273096,653,631.570726904,653,0.400971414255,0.00455322530259,0.0598488007519,0.999999942256,0.000222627976965,-0.000255797129982,2.21941070354e-05,1793239696057425408
+33,0.550000000,BASELINE,765.146592233,745.853407767,714.853407767,679,665,635,879.146592233,787,804,653,631.853407767,653,0.400971199874,0.00455380218031,0.0598489552344,0.999999941695,0.000224916923354,-0.000255982096005,2.22672632317e-05,1793239696074092032
+34,0.566666667,BASELINE,765.720833298,745.279166702,714.279166702,679,665,635,879.720833298,787,804,653,631.279166702,653,0.400972580075,0.00455415696073,0.0598504707087,0.999999942535,0.000223382807267,-0.000254044919276,2.21747801141e-05,1793239696090758912
+35,0.583333333,BASELINE,766,745.302562848,714.302562848,679.302562848,665.302562848,635,879.697437152,787.302562848,803.697437152,653,631,653,0.400972709014,0.00455419012213,0.0598506554084,0.999999942701,0.000223076382592,-0.000253653531558,2.22518545531e-05,1793239696107425536
+36,0.600000000,BASELINE,766,745.891377242,714.891377242,679.891377242,665.891377242,635,879.108622758,787.891377242,803.108622758,653,631,653,0.400971654147,0.00455391900318,0.0598495810763,0.999999942232,0.000223931463744,-0.000254724598438,2.24893456129e-05,1793239696124092416
+37,0.616666667,BASELINE,766,746,714.527036194,679.527036194,665.527036194,635,879,787.527036194,803.472963806,653,631,653,0.400970569179,0.00455384183951,0.0598489343424,0.999999942135,0.000222940336665,-0.00025598565802,2.23388182978e-05,1793239696140759040
+38,0.633333333,BASELINE,765.947533473,745.947533473,714,679.052466527,665,635.052466527,879,787,803.947533473,653,631,653,0.40096981146,0.00455366080112,0.0598485814844,0.999999942212,0.00022150580585,-0.000256946518112,2.21383465751e-05,1793239696157425408
+39,0.650000000,BASELINE,765.372500981,745.372500981,714,679.627499019,665,635.627499019,879,787,803.372500981,653,631,653,0.40097238096,0.00455200818673,0.0598501922395,0.999999943209,0.000219814522321,-0.000254489338502,2.23146421494e-05,1793239696174092032
+40,0.666666667,BASELINE,765.201727216,745,714.201727216,680,665,636,879.201727216,787.201727216,803,653,631.201727216,653,0.400973703807,0.00455161415756,0.0598509290068,0.999999943578,0.000219556721002,-0.000253257452988,2.2338364167e-05,1793239696190758656
+41,0.683333333,BASELINE,765.774476098,745,714.774476098,680,665,636,879.774476098,787.774476098,803,653,631.774476098,653,0.400972733779,0.00455353494945,0.059850058314,0.9999999428,0.000221935415587,-0.00025427915872,2.20814691293e-05,1793239696207425536
+42,0.700000000,BASELINE,766,745.359167915,714.640832085,679.640832085,665.359167915,635.640832085,879.640832085,787.640832085,803.359167915,653,632,653.359167915,0.400973067181,0.00455324246387,0.05985018671,0.999999943074,0.000221339884528,-0.000253711548817,2.21640975717e-05,1793239696224092416
+43,0.716666667,BASELINE,766,745.951616688,714.048383312,679.048383312,665.951616688,635.048383312,879.048383312,787.048383312,803.951616688,653,632,653.951616688,0.400974247168,0.00455151244649,0.0598509640177,0.999999944028,0.000218812583069,-0.000252111672622,2.24672477515e-05,1793239696240759296
+44,0.733333333,BASELINE,766,745.468622544,714,679.531377456,666,635,879.531377456,787,803.468622544,653,631.468622544,653.468622544,0.400973594113,0.00455220701707,0.0598511659872,0.99999994344,0.00022135460628,-0.000252215573927,2.25590056971e-05,1793239696257425664
+45,0.750000000,BASELINE,765.890765467,745,714,680,666,635.109234533,879.890765467,787,803,653,631,653,0.400973024922,0.00455302639411,0.0598513218632,0.999999942879,0.000223674263004,-0.000252393762506,2.25771093926e-05,1793239696274092544
+46,0.766666667,BASELINE,765.316211428,745,714,680,666,635.683788572,879.316211428,787,803,653,631,653,0.400973507368,0.00455345893564,0.0598514993399,0.999999943044,0.000223126303488,-0.000252242972268,2.23615393128e-05,1793239696290758912
+47,0.783333333,BASELINE,765,745,714,680,665.741347965,635.741347965,879,787,803.258652035,653,631.258652035,652.741347965,0.400972847777,0.0045532953431,0.0598508463285,0.99999994305,0.000222114635873,-0.000253115937909,2.22847452375e-05,1793239696307425536
+48,0.800000000,BASELINE,765,745,714,680,665.16610569,635.16610569,879,787,803.83389431,653,631.83389431,652.16610569,0.40097079033,0.00455240208219,0.0598491767993,0.999999942857,0.000220535389204,-0.000255241981315,2.2377813043e-05,1793239696324092416
+49,0.816666667,BASELINE,765.422091632,745,714,680,665,635,879,787.422091632,803.577908368,653,631.577908368,652.422091632,0.400970989174,0.00455266886502,0.0598497807463,0.999999942879,0.000221137145175,-0.000254649419862,2.22130016837e-05,1793239696340759040
+50,0.833333333,BASELINE,766,745.015167296,714,680.015167296,665.015167296,635.015167296,879,788,803.015167296,653,631,653,0.400972089365,0.0045533808145,0.0598512612827,0.999999942987,0.000222556481062,-0.000253006578782,2.19573898601e-05,1793239696357425664
+51,0.850000000,BASELINE,766,745.594072623,714,680.594072623,665.594072623,635.594072623,879,788,803.594072623,653,631,653,0.400972643735,0.00455313381435,0.0598510164395,0.999999943139,0.000221452592936,-0.000253350323937,2.22182678205e-05,1793239696374092288
+52,0.866666667,BASELINE,765.830359759,746,714,680.830359759,665.830359759,635.830359759,879,787.830359759,804,653,631.169640241,653,0.400972923209,0.004553359184,0.0598505710665,0.999999943079,0.000221302435021,-0.000253704355869,2.23688487766e-05,1793239696390759168
+53,0.883333333,BASELINE,765.262624777,746,714,680.262624777,665.262624777,635.262624777,879,787.262624777,804,653,631.737375223,653,0.400972557583,0.00455469306388,0.0598496551099,0.999999942522,0.000223390395782,-0.000254082527755,2.22605957462e-05,1793239696407426048
+54,0.900000000,BASELINE,765,745.679394169,714,680,665.320605831,635,879.320605831,787,803.679394169,653,632,653,0.400972194479,0.00455520107747,0.0598496875051,0.999999942413,0.000224048349778,-0.000253942327725,2.21123689848e-05,1793239696424092416
+55,0.916666667,BASELINE,765,745.082825671,714,680,665.917174329,635,879.917174329,787,803.082825671,653,632,653,0.400971833544,0.0045549982235,0.0598505361974,0.999999942694,0.000223475420003,-0.000253355937114,2.19297346909e-05,1793239696440759040
+56,0.933333333,BASELINE,765,745.498840563,714,679.501159437,665.501159437,635.498840563,879.501159437,787.498840563,803,653,631.501159437,653,0.400971840952,0.0045530999746,0.0598502218935,0.999999943102,0.000221048735469,-0.000253863482244,2.20497837906e-05,1793239696457425920
+57,0.950000000,BASELINE,765.077618431,745.922381569,714.077618431,679,665.077618431,635.922381569,879,787.922381569,803.077618431,653,631.077618431,653,0.400971949509,0.00455148059141,0.0598498711198,0.999999943452,0.000218870137009,-0.000254363646105,2.21454955182e-05,1793239696474092544
+58,0.966666667,BASELINE,765.653278742,745.346721258,714.653278742,679,665.653278742,635.346721258,879,787.346721258,803.653278742,653,631.653278742,653,0.400972326052,0.00455340440699,0.0598504894283,0.999999943341,0.000220201058181,-0.000253684797761,2.17719268674e-05,1793239696490759168
+59,0.983333333,BASELINE,766,745.228327693,714.771672307,679,665.771672307,635.228327693,879,787,803.771672307,653,631.771672307,653,0.400972449583,0.00455446251421,0.0598508836668,0.999999943173,0.000221179262367,-0.000253506798061,2.16403360146e-05,1793239696507425792
+60,1.000000000,BASELINE,766,745.802450842,714.197549158,679,665.197549158,635.802450842,879,787,803.197549158,653,631.197549158,653,0.400972189936,0.00455420953232,0.0598509385584,0.999999942922,0.000221623287433,-0.00025408731854,2.18752132381e-05,1793239696524092416
+61,1.016666667,BASELINE,766,746,714.388901597,679.388901597,665,635.611098403,879.388901597,787.388901597,803.388901597,653,631,653,0.400971757767,0.00455365599564,0.0598505934347,0.999999942751,0.00022207378911,-0.000254347093806,2.21303385259e-05,1793239696540759040
+62,1.033333333,BASELINE,766,746,714.981819327,679.981819327,665,635.018180673,879.981819327,787.981819327,803.981819327,653,631,653,0.400971235094,0.00455294478919,0.0598500384649,0.99999994262,0.000222527688364,-0.000254438607456,2.23960858485e-05,1793239696557425664
+63,1.050000000,BASELINE,766,745.442047757,714.442047757,680,665.557952243,635,880,787.442047757,804,652.442047757,631,653,0.400973551409,0.00455324722887,0.0598512023305,0.999999943051,0.000223567328639,-0.000251841778047,2.21463745097e-05,1793239696574092288
+64,1.066666667,BASELINE,766,745.133562705,714.133562705,680,666,635,880,787.133562705,803.866437295,652.133562705,631.133562705,653,0.40097509623,0.00455288253895,0.0598518302779,0.999999943461,0.000223459770273,-0.000250313138731,2.20543621445e-05,1793239696590758912
+65,1.083333333,BASELINE,766,745.70920127,714.70920127,680,666,635,880,787.70920127,803.29079873,652.70920127,631.70920127,653,0.40097379026,0.00455020360327,0.059850504438,0.999999943753,0.000219493799831,-0.000252601548459,2.25382829141e-05,1793239696607425536
+66,1.100000000,BASELINE,766,746,714.707525469,679.707525469,666,635,879.707525469,788,803.292474531,653,631.707525469,653,0.400973250933,0.00454942972489,0.0598501935464,0.999999943877,0.000218106731241,-0.000253290913596,2.28043455839e-05,1793239696624092160
+67,1.116666667,BASELINE,766,746,714.11645783,679.11645783,666,635,879.11645783,788,803.88354217,653,631.11645783,653,0.400973494287,0.00455060075784,0.059850918836,0.999999943842,0.000219352515478,-0.000252347781935,2.28479925248e-05,1793239696640758784
+68,1.133333333,BASELINE,766,746,714.464098741,679.464098741,666,635,879,788,804,653,631.464098741,653,0.400973242007,0.00455169215595,0.0598512322069,0.999999943574,0.000220962455128,-0.000252028070809,2.25915305654e-05,1793239696657425664
+69,1.150000000,BASELINE,765.957866143,746,714.957866143,680,666,635,879,787.957866143,804,653,631.957866143,653,0.400972975253,0.00455269595962,0.0598514387087,0.999999943288,0.000222494998084,-0.000251842165514,2.2273905043e-05,1793239696674092032
+70,1.166666667,BASELINE,765.379096573,746,714.379096573,680,666,635,879,787.379096573,804,653,631.379096573,653,0.400974073112,0.00455283299645,0.0598515714143,0.999999943531,0.000221903715273,-0.000251412146329,2.2115179031e-05,1793239696690758656
+71,1.183333333,BASELINE,765.19742036,745.80257964,714,679.80257964,666,635,879,787.19742036,804,653,631.19742036,653,0.400974238399,0.00455302274838,0.0598515253219,0.999999943547,0.000221749009015,-0.000251490107189,2.20439649938e-05,1793239696707425280
+72,1.200000000,BASELINE,765.769660562,745.230339438,714,679.230339438,666,635,879,787.769660562,804,653,631.769660562,653,0.400972633115,0.00455331258455,0.0598511397658,0.999999943133,0.000222423181471,-0.000252532512581,2.21389000775e-05,1793239696724092416
+73,1.216666667,BASELINE,766,745.352484697,714,679.352484697,666,635.352484697,879,787.647515303,804,653,632,653,0.40097229087,0.00455321373212,0.0598508143646,0.999999943153,0.000221832371978,-0.00025297166514,2.21446422682e-05,1793239696740759296
+74,1.233333333,BASELINE,766,745.94243922,714,679.94243922,666,635.94243922,879,787.05756078,804,653,632,653,0.400972799536,0.00455285301918,0.0598505294899,0.999999943465,0.000220389340932,-0.000253004404685,2.20902949771e-05,1793239696757425664
+75,1.250000000,BASELINE,766,746,714.52268743,680,666,636,879,787,804,653,631.47731257,653,0.400972696496,0.00455289665213,0.0598508601621,0.999999943634,0.000220074700026,-0.000252620745312,2.19384825416e-05,1793239696774092288
+76,1.266666667,BASELINE,766,746,714.898771016,679.898771016,666,635.898771016,879,787,804,653,631,653,0.400972422268,0.00455301450727,0.0598511122454,0.999999943655,0.000220190423869,-0.000252448123125,2.18342451717e-05,1793239696790758912
+77,1.283333333,BASELINE,766,746,714.323308488,679.323308488,666,635.323308488,879,787,804,653,631,653,0.400971655895,0.00455327527364,0.0598506843832,0.999999943046,0.000221750771689,-0.000253475066481,2.20022518783e-05,1793239696807425536
+78,1.300000000,BASELINE,766,746,714.257558359,679.257558359,665.742441641,635.257558359,879,787.257558359,804,653,631.257558359,653,0.400971284781,0.00455364753095,0.0598503750672,0.999999942778,0.00022240007207,-0.000253965145506,2.20061961633e-05,1793239696824092416
+79,1.316666667,BASELINE,766,746,714.845354505,679.845354505,665.154645495,635.845354505,879,787.845354505,804,653,631.845354505,653,0.400971420466,0.00455416274039,0.0598502177495,0.999999942948,0.000221881239827,-0.000253766864386,2.17997818537e-05,1793239696840759296
+80,1.333333333,BASELINE,766,746,714.572683119,680,665,635.572683119,879,787.572683119,804,653,632,653,0.400971739454,0.00455444777433,0.0598502999095,0.999999942877,0.000222372939011,-0.000253620507738,2.17482828455e-05,1793239696857426176
+81,1.350000000,BASELINE,766,745.992841452,714,680,665,635.007158548,879,787,804,653,632,653,0.400972129326,0.00455463330783,0.0598504699719,0.999999942731,0.00022318415756,-0.000253484579752,2.17540901959e-05,1793239696874092544
+82,1.366666667,BASELINE,766,745.416020197,714,680,665,635.583979803,879,787,804,653,632,653,0.400972952075,0.00455344038236,0.059850831261,0.999999943474,0.000220711558085,-0.000252703302275,2.19188755824e-05,1793239696890758912
+83,1.383333333,BASELINE,766,745,714.160353417,679.839646583,665.160353417,636,879,787,804,653,632,652.839646583,0.400973088071,0.00455285562745,0.0598507177722,0.999999943767,0.000219517344759,-0.000252577963687,2.19846811005e-05,1793239696907425536
+84,1.400000000,BASELINE,766,745,714.735569028,679.264430972,665.735569028,636,879,787,804,653,632,652.264430972,0.400971447319,0.00455384431533,0.0598493759503,0.999999942906,0.000221630538354,-0.000254149652991,2.17944085091e-05,1793239696924092416
+85,1.416666667,BASELINE,765.682865979,745,714.682865979,679,666,636,879,787.317134021,803.682865979,653,631.682865979,652.317134021,0.400970527955,0.00455404862139,0.0598488650696,0.999999942432,0.000222774910399,-0.000255013239157,2.17882765843e-05,1793239696940758784
+86,1.433333333,BASELINE,765.095898655,745,714.095898655,679,666,636,879,787.904101345,803.095898655,653,631.095898655,652.904101345,0.400970222383,0.00455358553655,0.0598490611946,0.999999942291,0.000223094961047,-0.000255274336072,2.19388206542e-05,1793239696957425408
+87,1.450000000,BASELINE,765.485021948,745,714,679.485021948,666,636,879,788,803.485021948,653,631,653,0.400971242024,0.00455256732533,0.0598498581028,0.999999942825,0.000221876277717,-0.000254230222559,2.21069180019e-05,1793239696974092544
+88,1.466666667,BASELINE,765.935446369,745,714,679.935446369,666,635.935446369,879,788,804,652.935446369,631.064553631,653,0.400972354106,0.00455152498517,0.0598506210805,0.999999943426,0.000220402174928,-0.000253133526871,2.22502875395e-05,1793239696990759680
+89,1.483333333,BASELINE,765.357569313,745,714,679.357569313,666,635.357569313,879,788,804,652.357569313,631.642430687,653,0.400972143352,0.00455115282447,0.0598501812957,0.999999943543,0.000219286489072,-0.000253645551659,2.21697659293e-05,1793239697007426304
+90,1.500000000,BASELINE,765.218582352,745.218582352,714,679.218582352,666.218582352,635,879,788,804,652.218582352,631.781417648,653,0.400972444826,0.00455168478089,0.059850445666,0.999999943479,0.000220161303249,-0.00025314267852,2.21165015915e-05,1793239697024092672
+91,1.516666667,BASELINE,765.791933575,745.791933575,714,679.791933575,666.791933575,635,879,788,804,652.791933575,631.208066425,653,0.400973577665,0.00455368415962,0.0598518529113,0.999999943109,0.000224266787546,-0.000250992580887,2.21074770259e-05,1793239697040759040
+92,1.533333333,BASELINE,766,746,714,680,666.623190761,635.376809239,879,788,804,653,631,653,0.400973524823,0.00455310134828,0.0598517646619,0.999999943455,0.000222585711963,-0.000251096879383,2.22498538105e-05,1793239697057425664
+93,1.550000000,BASELINE,766,746,714,680,666.031750713,635.968249287,879,788,804,653,631,653,0.400972796615,0.00455104771984,0.059850824578,0.999999944196,0.000217608608155,-0.000252485283304,2.24784689105e-05,1793239697074092288
+94,1.566666667,BASELINE,766,746,714.548020712,679.451979288,666,636,879,788,804,653,631.548020712,653,0.400972337718,0.00455133963829,0.0598509684938,0.999999943789,0.000219080245606,-0.000252838007867,2.23338435736e-05,1793239697090759168
+95,1.583333333,BASELINE,766,746,715,679.125991823,666,636,879,788,804,653,631.874008177,653,0.400971994493,0.00455158307377,0.059851072669,0.999999943519,0.000220109397294,-0.000253024669717,2.21934445651e-05,1793239697107425792
+96,1.600000000,BASELINE,766,746,715,679.699915926,666,636,879,788,804,653,631.300084074,653,0.40097200819,0.00455118107561,0.0598508169289,0.999999943974,0.00021826477956,-0.000252829819744,2.21433486528e-05,1793239697124092416
+97,1.616666667,BASELINE,766,746,714.725146177,680,665.725146177,636,879.274853823,788,804,653,631.274853823,653,0.4009725583,0.0045521123357,0.0598508561979,0.99999994387,0.000219435366804,-0.000252240002081,2.19949017012e-05,1793239697140759296
+98,1.633333333,BASELINE,766,746,714.149097361,680,665.149097361,636,879.850902639,788,804,653,631.850902639,653,0.400973696232,0.00455450462957,0.059851218749,0.999999943141,0.000223910127375,-0.00025121736421,2.17386780431e-05,1793239697157426176
+99,1.650000000,BASELINE,766,746,714.43990021,680,665.43990021,636,879.56009979,787.56009979,803.56009979,653,631.56009979,653,0.400973806686,0.00455395577367,0.0598515643012,0.999999943683,0.000221676041092,-0.000251048224491,2.16432208705e-05,1793239697174093312
+100,1.666666667,BASELINE,766,745.967572606,715,679.967572606,666,636,879,787.032427394,803,653,631.032427394,653,0.40097344552,0.00455255485294,0.0598518192055,0.999999944535,0.000217515903425,-0.000251296783552,2.16006402794e-05,1793239697190760192
+101,1.683333333,BASELINE,766,745.391675345,715,679.391675345,666,636,879,787.608324655,803,653,631.608324655,653,0.400971193697,0.0045540872859,0.0598506543802,0.99999994335,0.000220340673731,-0.000253550550781,2.15033345577e-05,1793239697207426304
+102,1.700000000,BASELINE,766,745.183800834,714.816199166,679,666,636,879,787.816199166,803.183800834,653,631.816199166,652.816199166,0.400970379531,0.00455479784526,0.0598503350887,0.999999942848,0.000222035749883,-0.000254047482831,2.15516569067e-05,1793239697224092416
+103,1.716666667,BASELINE,766,745.758381672,714.241618328,679,666,636,879,787.241618328,803.758381672,653,631.241618328,652.241618328,0.400972621977,0.00455376101423,0.0598518134917,0.999999943814,0.000221328976473,-0.000250809197256,2.19095999437e-05,1793239697240759040
+104,1.733333333,BASELINE,766,746,714,679.341133019,666,636,879,787,803.658866981,653,631,652.341133019,0.400972587138,0.00455335762929,0.0598515549908,0.999999943735,0.000220823641276,-0.000251554392899,2.20772871487e-05,1793239697257425664
+105,1.750000000,BASELINE,766,746,714,679.929813458,666,636,879,787,803.070186542,653,631,652.929813458,0.400970899759,0.00455341391229,0.0598500360843,0.999999942892,0.000220464482152,-0.000255190250905,2.21069128791e-05,1793239697274092544
+106,1.766666667,BASELINE,765.486780165,746,714.513219835,679.486780165,666,635.486780165,879,787.513219835,803,653,631.513219835,653,0.400971208579,0.00455246698871,0.0598510277948,0.999999943513,0.00021927006136,-0.000253776599517,2.2161238056e-05,1793239697290759424
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,714,680,665,636,879,787,803,653,631,652,0.400973508456,0.0045518741668,0.0598516227933,0.999999944102,0.00021962266557,-0.00025114001888,2.21664858338e-05,1793239697333734400
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.586338845,746,714,679.413661155,665,635.413661155,879,787,803.586338845,653,631,652,0.400973763239,0.00455230405623,0.0598514118585,0.999999944017,0.000219846058187,-0.000251292116965,2.20265670958e-05,1793239697350400768
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.829303674,745.829303674,714,679.170696326,665.170696326,635.170696326,879.170696326,787,804,653,631,652.170696326,0.400973612887,0.00455253750988,0.0598511584412,0.999999943809,0.000220407537232,-0.000251636488059,2.19613081901e-05,1793239697367066880
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.249692566,745.249692566,714,679.750307434,665.750307434,635.750307434,879.750307434,787,804,653,631,652.750307434,0.400972492004,0.0045523003882,0.059850803254,0.9999999433,0.000221778925606,-0.000252441462388,2.20749020163e-05,1793239697383733248
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,714,679.672158613,665.672158613,635.672158613,879.672158613,787,804,653,631,653,0.400972089386,0.00455227108752,0.0598506036578,0.999999943201,0.000221736676918,-0.000252877583468,2.19886015094e-05,1793239697400399872
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,714,679.096196751,665.096196751,635.096196751,879.096196751,787,804,653,631,653,0.400972230372,0.00455239907218,0.0598505218178,0.999999943413,0.00022062454401,-0.000253034544983,2.1751014798e-05,1793239697417066752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.47991834,745,714,679,665.47991834,635,879.47991834,787,804,653,631,653,0.400973298971,0.00455328193845,0.0598515552124,0.999999943587,0.000221009417004,-0.00025199978873,2.18358755218e-05,1793239697433733632
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.943900448,745,714,679,666,635,880,787.056099552,804,653,631,653,0.400974816478,0.00455409386143,0.0598528748334,0.999999943849,0.000221491373213,-0.000250523010066,2.19671135368e-05,1793239697450400256
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.367390847,745,714,679,666,635,880,787.632609153,804,653,631,653,0.400978772923,0.00455284357953,0.059854775287,0.999999944995,0.000220089462802,-0.000247162411273,2.19288133701e-05,1793239697467066880
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.215460839,745,714.215460839,679,666,635,880,787.784539161,803.784539161,652.784539161,631.215460839,652.784539161,0.400988164735,0.00455223638916,0.0598589324473,0.999999946827,0.000219665248003,-0.00024001283564,2.20519113638e-05,1793239697483732992
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.809454572,745,714.809454572,679,666,635,880,787.190545428,803.190545428,652.190545428,631.809454572,652.190545428,0.401007105683,0.00455275901581,0.0598670543082,0.999999949752,0.000220958700216,-0.000226206587266,2.24585621053e-05,1793239697500399616
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.390949047,715,679.390949047,666,635.390949047,879.609050953,787.390949047,803.390949047,652.390949047,631.609050953,652.390949047,0.401046294259,0.00455315385279,0.0598818240378,0.999999955609,0.00022129571048,-0.00019826722524,2.23598759515e-05,1793239697517066240
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.966540273,715,679.966540273,666,635.966540273,879.033459727,787.966540273,803.966540273,652.966540273,631.033459727,652.966540273,0.401095045635,0.00455348833577,0.0598997335046,0.999999961906,0.000221181000593,-0.000163652902706,2.2022523147e-05,1793239697533732864
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.461669903,745.461669903,714.461669903,679.461669903,666,635.461669903,879.538330097,788,803.461669903,653,631.538330097,653,0.401156934183,0.00455283428111,0.0599151868161,0.999999965762,0.000218843736334,-0.000141708569368,2.24077179647e-05,1793239697550399744
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.113761288,745,714,679,666,635.113761288,879.886238712,787.886238712,803,653,631.886238712,653,0.401222521965,0.00455219210843,0.0599294168204,0.999999968883,0.000216855502441,-0.000121211799939,2.26975679538e-05,1793239697567066368
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.705477143,745,714,679,666,635.705477143,879.294522857,787.294522857,803,653,631.294522857,653,0.40130024513,0.00455185618836,0.0599391441413,0.999999970867,0.000216909995882,-0.000103511408423,2.23994783383e-05,1793239697583733248
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,714,679,666,635.708847532,879,787,803,653,631,653,0.401383647536,0.00455119074341,0.0599443231678,0.999999972251,0.000215041255112,-9.3684342114e-05,2.186200274e-05,1793239697600399872
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,714,679,666,635.129158501,879,787,803,653,631,653,0.401472678153,0.00455019873429,0.0599449947641,0.99999997326,0.000211266559773,-9.16598629765e-05,2.10872919821e-05,1793239697617066496
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.55264807,745.44735193,714,679,666,635,879,787,803.44735193,653,631,652.55264807,0.401584735893,0.00455063942586,0.0599485096143,0.999999974178,0.000210183359939,-8.40748996385e-05,1.99578190709e-05,1793239697633733376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745.976578215,714,679,666,635,879.023421785,787,804,653,631,652.023421785,0.401704377864,0.00455144464959,0.0599527169483,0.999999975006,0.000209782167212,-7.50323977212e-05,1.87142020447e-05,1793239697650399744
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745.389174762,714,679,666,635,879.610825238,787,804,653,631,652.610825238,0.401847684964,0.00455113750856,0.0599539716064,0.999999975982,0.000207223625996,-6.92778350938e-05,1.71710233965e-05,1793239697667066368
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.195548704,745,714,679,665.804451296,635.195548704,880,787,804,653,631,653,0.401998831516,0.0045502980724,0.0599543577328,0.999999976982,0.000203749651908,-6.53810206587e-05,1.57274845604e-05,1793239697683733248
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.775010589,745,714,679,665.224989411,635.775010589,880,787,804,653,631,653,0.402165368943,0.00454841360191,0.0599530387046,0.999999978077,0.000198478444299,-6.51314518356e-05,1.44795648832e-05,1793239697700399872
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.647139706,745.352860294,714,679.352860294,665.352860294,635.647139706,879.647139706,787,804,653,631,653,0.402355263856,0.00454779377078,0.0599538956113,0.9999999794,0.000193324733093,-6.0588764088e-05,1.2464820816e-05,1793239697717066752
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.070313221,745.929686779,714,679.929686779,665.929686779,635.070313221,879.070313221,787,804,653,631,653,0.402559984165,0.00454797662672,0.0599561336193,0.999999980811,0.000188245598245,-5.33211636128e-05,9.96336066104e-06,1793239697733733632
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,746,714,679.494222984,666,635.505777016,879,787,804,653,631,653,0.402799723087,0.00454706165109,0.0599579037333,0.999999982429,0.000181625217551,-4.57521488085e-05,7.86691192644e-06,1793239697750400256
+133,2.216666667,POSE1_TO_POSE2_PRESS,765,745.916768033,714,679.083231967,666,635.916768033,879,787,804,653,631,653,0.40304953564,0.00454606031624,0.0599600197737,0.99999998392,0.00017519551314,-3.78629646701e-05,5.78654367293e-06,1793239697767066880
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.330446144,714,679.669553856,666,635.330446144,879,787,804,653,631,653,0.403330854366,0.00454545815334,0.0599646193425,0.999999984937,0.000171211559026,-2.82914454529e-05,3.46353630861e-06,1793239697783733248
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.254325864,714,679.745674136,666,635.254325864,879,787.254325864,803.745674136,653,631,653,0.403620522606,0.00454582937559,0.0599632419239,0.999999985785,0.000165986759978,-2.96379412482e-05,6.3179488497e-07,1793239697800399616
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745.83709627,714,679.16290373,666,635.83709627,879,787.83709627,803.16290373,653,631,653,0.403920973658,0.00454745765855,0.0599541456328,0.999999986314,0.000159159494383,-4.50843108409e-05,-2.85694180854e-06,1793239697817066496
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745.586460001,714,679.413539999,666,635.586460001,879,787.586460001,803.413539999,653,631,653,0.40423993221,0.0045458292072,0.0599411808753,0.999999986461,0.000150175625139,-6.69871895841e-05,-6.12981113675e-06,1793239697833733376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745.012470968,714,679.987529032,666,635.012470968,879,787.012470968,803.987529032,653,631,653,0.404566071465,0.00454293717822,0.0599267151949,0.99999998593,0.000140355017153,-9.13951234463e-05,-9.31892618425e-06,1793239697850400000
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.560135755,745.560135755,714,680,665.439864245,635,879.560135755,787,803.439864245,653,631,652.439864245,0.40494088477,0.00454168839567,0.0599191877099,0.999999985681,0.000130647304504,-0.000106805268435,-1.27228223097e-05,1793239697867066624
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.862563529,745.862563529,714,680,665.137436471,635,879.862563529,787,803.137436471,653,631.137436471,652,0.405335840178,0.00454052427959,0.0599163148879,0.999999986126,0.00012098488306,-0.000113364421702,-1.6125136939e-05,1793239697883733504
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.269603257,745.269603257,714,680,665.730396743,635,879.269603257,787,803.730396743,653,631.730396743,652,0.405793972169,0.00453951982321,0.0599283588996,0.999999989434,0.00011146426789,-9.12499046679e-05,-1.95063987702e-05,1793239697900399872
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.31661623,745.31661623,714,680,666,635.31661623,879,787,804,653,631.68338377,652.31661623,0.406282951752,0.004537520184,0.0599502252737,0.999999993242,0.000100049428081,-5.4668236919e-05,-2.27266559943e-05,1793239697917066240
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.897215562,745.897215562,714,680,666,635.897215562,879,787,804,653,631.102784438,652.897215562,0.406797650988,0.00453469079741,0.0599802811779,0.999999995859,8.7055251422e-05,-6.02438234081e-06,-2.58126737663e-05,1793239697933733120
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.528369346,714,680,666,635.528369346,879,787,803.528369346,652.528369346,631,653,0.407322479453,0.00452993190464,0.059999902808,0.999999996662,7.37198723218e-05,2.14476974354e-05,-2.7969058251e-05,1793239697950399744
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.954053156,745.045946844,714,679.954053156,666,635.045946844,879,787,803.045946844,652.045946844,631,652.954053156,0.407847947976,0.00452438284639,0.0600150560296,0.99999999694,6.00204016081e-05,4.03378113672e-05,-2.9845385307e-05,1793239697967066112
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.365185815,745.634814185,714,679.365185815,666,635.634814185,879,787,803.634814185,652.634814185,631,652.365185815,0.408355233132,0.00451440146862,0.0600039315823,0.999999998539,4.28859966203e-05,1.1636351127e-05,-3.0775457871e-05,1793239697983732736
+147,2.450000000,POSE1_TO_POSE2_PRESS,765,745.779814273,714.220185727,679,666,635.779814273,879,787,804,652.779814273,631.220185727,652,0.408897723291,0.00450480447515,0.0599926193297,0.999999999037,2.51560289513e-05,-1.52369003734e-05,-3.25686019852e-05,1793239698000399360
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,745.200150061,714.799849939,679,666,635.200150061,879,787,804,652.200150061,631.799849939,652,0.409497689632,0.00449583503381,0.059981000464,0.999999998574,6.45373787689e-06,-3.91253894044e-05,-3.57708094943e-05,1793239698017066240
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.377562389,745.377562389,715,679.377562389,666,635.377562389,879,787,804,652.377562389,631.622437611,652.377562389,0.410133822207,0.00449446180959,0.0599830375904,0.999999998669,-5.69836184806e-06,-3.12138908009e-05,-4.06907509692e-05,1793239698033732864
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.954245491,745.954245491,715,679.954245491,666,635.954245491,879,787,804,652.954245491,631.045754509,652.954245491,0.41078902829,0.00449709471606,0.0599922766817,0.999999998793,-1.43959887935e-05,-6.53155728846e-06,-4.65165993329e-05,1793239698050399488
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.460486219,745.460486219,715,679.460486219,666,635.460486219,879,787,803.460486219,653,631,653,0.411450832805,0.00449634151014,0.0599980573771,0.999999998374,-2.42995319428e-05,5.83917879004e-06,-5.12621499094e-05,1793239698067066368
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745,714.875839969,679,666,635,879,787,803,652.875839969,631,653,0.412117321993,0.00449551482709,0.0599977093127,0.999999998324,-2.35092283044e-05,5.63220948158e-06,-5.26174307429e-05,1793239698083732992
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745,714.296190076,679,666,635,879,787,803,652.296190076,631,653,0.412798910972,0.0044954891114,0.0599759708332,0.999999998302,1.68934634909e-05,-3.68246401564e-05,-4.18768031527e-05,1793239698100399616
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.283454853,745.283454853,714.283454853,679,666,635,879.283454853,787.283454853,803.283454853,652,631,652.716545147,0.413483873565,0.00450181283903,0.0599511752127,0.999999993626,6.84517528651e-05,-8.41427089468e-05,-3.13355615537e-05,1793239698117066240
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.863094667,745.863094667,714.863094667,679,666,635,879.863094667,787.863094667,803.863094667,652,631,652.136905333,0.414172361368,0.00451477116684,0.0599231851507,0.99999998179,0.000131666648359,-0.000136540321784,-2.10026590973e-05,1793239698133732864
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.561596437,746,714.561596437,679.438403563,666,635,879.561596437,788,804,652,631,652.438403563,0.414963952992,0.00451112165988,0.0599480639369,0.999999993691,6.30576870787e-05,-9.02155515936e-05,-2.24319802378e-05,1793239698150399488
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.012391232,746,714,679.987608768,666,635,879.012391232,787.987608768,803.987608768,652,631.012391232,653,0.415786926445,0.0045025202027,0.0599889737255,0.999999998555,-4.40210483714e-05,-1.41109108504e-05,-2.74502629412e-05,1793239698167066112
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.587197839,746,714,679.412802161,666,635,879.587197839,787.412802161,803.412802161,652,631.587197839,653,0.416587179646,0.00450225362929,0.060015474772,0.999999998044,-4.69938671815e-05,2.8055852282e-05,-3.02793976684e-05,1793239698183732992
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.833536716,745.833536716,714,679.166463284,666,635,880,787,803.166463284,652,631.833536716,653,0.417387825146,0.00450330873864,0.0600296202667,0.999999997208,-4.50113781929e-05,4.98559769325e-05,-3.27506238782e-05,1793239698200399616
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.242909774,745.242909774,714,679.757090226,666,635,880,787,803.757090226,652,631.242909774,653,0.418189470212,0.00450773161646,0.0600122826853,0.999999998754,-3.04023121638e-05,1.97600434828e-05,-3.43098664118e-05,1793239698217066240
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745.339986146,714,679.660013854,666.339986146,635.339986146,880,787,804,652,631,653,0.418997541653,0.00450677726712,0.0599934287681,0.999999998977,-2.53078773774e-05,-1.05178870811e-05,-3.59851912059e-05,1793239698233732864
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745.917481273,714,679.082518727,666.917481273,635.917481273,880,787,804,652,631,653,0.419810102426,0.00450206647117,0.0599735155631,0.99999999809,-2.68602150893e-05,-4.09229566971e-05,-3.77416091706e-05,1793239698250399488
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,714,679.493648913,666.506351087,635.506351087,880,787,804,652,631,653,0.420616959803,0.00450519070504,0.0599498750714,0.999999996293,-1.57097669795e-05,-7.45754646243e-05,-4.00778970353e-05,1793239698267066112
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.071213306,745.928786694,714.071213306,680,666,635,880,787,804,652,631,653,0.421421354646,0.00450858723752,0.0599256392955,0.999999992927,-4.08908892803e-06,-0.00011115468568,-4.21148242265e-05,1793239698283732992
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.66054986,745.33945014,714.66054986,680,666,635,880,787,804,652,631,653,0.422214750422,0.00450446148271,0.059901593433,0.999999985511,-4.45492804493e-06,-0.000165088682971,-4.12703578481e-05,1793239698300399616
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745,714.754314627,680,666,635.245685373,880.245685373,787,804.245685373,652,631,653,0.423087515717,0.00450219211562,0.0599136007888,0.999999988056,-2.81937947952e-06,-0.000148923999432,-4.12511197496e-05,1793239698317066240
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,714.174885801,680,666,635.825114199,880.825114199,787,804.825114199,652,631,653,0.424068098113,0.00450244449863,0.0599745834845,0.999999998397,1.53489027089e-06,-3.7536006968e-05,-4.23528863138e-05,1793239698333733120
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745.40075673,714.40075673,680,666,635.59924327,880.59924327,787,804.59924327,652,631,652.59924327,0.424986968131,0.00450334839927,0.0600177930009,0.999999998514,7.08436957879e-06,3.31663392141e-05,-4.26855663982e-05,1793239698350399744
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745.974762394,714.974762394,680,666,635.025237606,880.025237606,787,804.025237606,652,631,652.025237606,0.425879159551,0.0045045339539,0.0600533190882,0.99999999528,1.31505430776e-05,8.62800911496e-05,-4.2685766925e-05,1793239698367066368
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.450437158,714.450437158,680,666,635.549562842,880,787,804,652,631,652,0.426742027667,0.00450077088805,0.0600372806605,0.999999996367,7.59637376103e-06,7.21939695125e-05,-4.46724715054e-05,1793239698383732736
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.127746401,714,679.872253599,666,635.872253599,880,787,804,652,631,652,0.427596497317,0.00449764085201,0.0600175508118,0.999999997639,3.61568008599e-06,5.04191838892e-05,-4.65436786349e-05,1793239698400399616
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.718047426,714,679.281952574,666,635.281952574,880,787,804,652,631,652,0.428425440072,0.00449762700045,0.0599930414319,0.999999998766,7.26740810527e-06,1.19949660418e-05,-4.76658848207e-05,1793239698417066240
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.697279364,714.302720636,679.302720636,666,635,880,787,804,652,631.302720636,652.302720636,0.429250732403,0.00449832881756,0.0599652149006,0.999999998147,9.77211217634e-06,-3.56832381445e-05,-4.83521382708e-05,1793239698433732864
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.117752237,714.882247763,679.882247763,666,635,880,787,804,652,631.882247763,652.882247763,0.430072686757,0.00449968503913,0.0599343551811,0.999999994538,1.12279821068e-05,-9.18232467643e-05,-4.86397582242e-05,1793239698450399488
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714.541946787,679.541946787,666,635,880,787,804,652,632,653,0.430934619199,0.00449851039857,0.0599360717933,0.999999995454,4.36027218688e-06,-8.09033341963e-05,-5.02734035593e-05,1793239698467066112
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.033695086,714.033695086,679.033695086,666.033695086,635,880,787.033695086,804,652,632,653,0.431806638029,0.00449665027935,0.0599481469868,0.999999997367,-4.22634100965e-06,-5.02997464385e-05,-5.21269264618e-05,1793239698483732992
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.622270769,714.622270769,679.622270769,666.622270769,635,880,787.622270769,804,652,632,653,0.432676877381,0.00449412963004,0.0599940079967,0.999999998371,-6.16652806889e-06,2.28472485782e-05,-5.19490267439e-05,1793239698500399360
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.792483123,746,714.792483123,680,666.792483123,635,880,787.792483123,804.207516877,652,631.792483123,653,0.433526047752,0.00449187228415,0.0600205544899,0.999999996694,-7.2162162013e-06,6.22549042418e-05,-5.18034733281e-05,1793239698517066240
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.213201816,746,714.213201816,680,666.213201816,635,880,787.213201816,804.786798184,652,631.213201816,653,0.4343374734,0.00449008664332,0.0600124992252,0.999999997791,-6.67058469619e-06,4.12188799861e-05,-5.17158683553e-05,1793239698533732864
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.364140268,746,714,680,666,635,880,787.364140268,804.635859732,652,631.364140268,653,0.43513366205,0.00448802772558,0.0599881508783,0.99999999859,-7.87324536543e-06,-5.49588694702e-07,-5.25120155584e-05,1793239698550399744
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.940352929,746,714,680,666,635,880,787.940352929,804.059647071,652,631.940352929,653,0.435920976744,0.00448580965366,0.0599543135704,0.999999997021,-1.00940974955e-05,-5.43924667116e-05,-5.38228528836e-05,1793239698567066368
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666,635,880,788,804,652,632,653,0.436667425303,0.00448398892307,0.0599462475017,0.999999996254,-7.82032056311e-06,-6.69847380107e-05,-5.42587478686e-05,1793239698583732992
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666,635.11136486,880,788,804,652,632,653,0.437401477534,0.00448250551876,0.0599390912931,0.999999995212,-5.0052942397e-06,-8.11960107939e-05,-5.43845471104e-05,1793239698600399360
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666,635.691141389,880,788,804,652,632,653,0.438103237098,0.00448224796473,0.0599232456737,0.999999991087,-2.09663530746e-06,-0.000122251234195,-5.36309878484e-05,1793239698617066240
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.729908172,746,714,680,666,635.729908172,880.270091828,787.729908172,804.270091828,652,631.729908172,653,0.438826047989,0.00448094743768,0.0599218227214,0.999999990029,-2.49269063751e-07,-0.00013076602611,-5.33147571716e-05,1793239698633732864
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.151899552,746,714,680,666,635.151899552,880.848100448,787.151899552,804.848100448,652,631.151899552,653,0.439572858288,0.00447845787465,0.0599368422573,0.999999993348,3.88175735745e-07,-0.000102183264628,-5.34971007862e-05,1793239698650399488
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,881,787,804.576165811,652.423834189,631.423834189,653,0.440296318302,0.00447911271605,0.0599572647301,0.999999995842,5.3544441623e-06,-7.39597461014e-05,-5.30749150129e-05,1793239698667066112
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,881,787,804.001242972,652.998757028,631.998757028,653,0.441011454453,0.00448088847631,0.0599796132461,0.999999997503,1.18638541135e-05,-4.5864288341e-05,-5.24372262503e-05,1793239698683732736
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680,665.412156667,635,881,787,804,652.412156667,631.412156667,653,0.441583437798,0.00448296740659,0.0599368159632,0.999999991535,1.7835762761e-05,-0.000117793123808,-5.23080568173e-05,1793239698700399616
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.174115633,745.825884367,714,680,665,635,880.825884367,787,804.174115633,652,631.174115633,652.825884367,0.44214687995,0.00448511466264,0.0598903225339,0.999999980052,1.8211153098e-05,-0.000191682185036,-5.31164168837e-05,1793239698717066240
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.753762502,745.246237498,714,680,665,635,880.246237498,787,804.753762502,652,631.753762502,652.246237498,0.442691151398,0.00448741952615,0.0598355491822,0.99999996206,5.55445407267e-06,-0.000269632047845,-5.61058030457e-05,1793239698733732864
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.669071116,745.330928884,714,680,665,634.669071116,880,787,805,652,632,652,0.443240654475,0.00448949640779,0.0598052232048,0.99999994872,-3.03978097371e-05,-0.000313480471225,-5.80171202419e-05,1793239698750399488
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.093736717,745.906263283,714,680,665,634.093736717,880,787,805,652,632,652,0.443794021308,0.00449140491467,0.0597929526902,0.999999939601,-8.35548703815e-05,-0.000332143479481,-5.91322360249e-05,1793239698767066368
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.479771617,746,714,680.479771617,664.520228383,634,880.479771617,787.479771617,805,652,631.520228383,652.479771617,0.444343617212,0.00449312191046,0.0597984572026,0.999999942435,-8.91922604224e-05,-0.000321717886829,-6.05967890958e-05,1793239698783732992
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.945422729,746,714,680.945422729,664,634,880.945422729,787.945422729,805,652,631,653,0.444882956776,0.00449503770481,0.0598050807763,0.999999946129,-8.57564951997e-05,-0.000310680980966,-6.21740004065e-05,1793239698800399616
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.354371244,746,714,680.354371244,664,634,880.354371244,787.354371244,805,652,631,653,0.445328694966,0.00449927401552,0.0597886969662,0.999999933407,-8.40500540624e-05,-0.000349287662693,-6.4190053631e-05,1793239698817066240
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,746,714,680.232082677,663.767917323,634,880.232082677,787,805,652,631,653,0.445756458187,0.00450357904547,0.0597654202226,0.999999917053,-8.1351185213e-05,-0.000393519174826,-6.64732948789e-05,1793239698833732864
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,746,714,680.811652809,663.188347191,634,880.811652809,787,805,652,631,653,0.446157308217,0.00450798696543,0.0597318229861,0.999999895096,-7.716639698e-05,-0.000446172501141,-6.91565851207e-05,1793239698850399744
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714,681,663,634,881,786.612056923,805,652,631.387943077,653,0.446557352073,0.0045165951003,0.0597131048839,0.999999883866,-6.94758392465e-05,-0.00047126444909,-7.31497422745e-05,1793239698867066368
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,681,663,634,881,786.037345635,805,652,631.962654365,653,0.446957007846,0.00452722535343,0.0597015500701,0.999999878483,-6.00974915774e-05,-0.000483087472576,-7.77735115591e-05,1793239698883733248
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.4499459,714,681,663.5500541,633.4499459,881,786.5500541,805,652,632,653,0.447349574224,0.00454444418348,0.0597158262468,0.999999891311,-4.39822824575e-05,-0.000456649836188,-8.31591203579e-05,1793239698900400128
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.136325677,745.136325677,714,681,663.727348645,633,880.863674323,786.863674323,805,652,631.863674323,652.863674323,0.447727794436,0.0045602860302,0.059728683062,0.999999901682,-2.46691912098e-05,-0.000434202123439,-8.65754773329e-05,1793239698917066496
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.71605983,745.71605983,714,681,662.56788034,633,880.28394017,786.28394017,805,652,631.28394017,652.28394017,0.448060955397,0.00457015983057,0.0597310843275,0.999999902605,3.52239314862e-06,-0.000433380558749,-8.3414500777e-05,1793239698933733120
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.705670997,746,714,680.705670997,662,632.705670997,880,786,805,652,631,652.294329003,0.448360031425,0.00457524640003,0.0597247742694,0.999999897794,4.32259903012e-05,-0.000443937081762,-7.39085078551e-05,1793239698950399488
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.12880813,746,714,680.12880813,662,632.12880813,880,786,805,652,631,652.87119187,0.448626388442,0.00457573758469,0.059710101991,0.999999885578,9.39802583331e-05,-0.000465415718542,-5.831177307e-05,1793239698967066112
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,680,662,632,880.446851368,786.446851368,805,652,631,653,0.448853926214,0.00457939521005,0.0596844482422,0.999999865761,0.000103867561339,-0.000504385175297,-5.73103849007e-05,1793239698983732736
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.022614691,746,714,680,662,632,880.977385309,786.977385309,805,652,631,653,0.449069813723,0.00458374027635,0.0596562334825,0.999999843179,0.00010190926217,-0.000547357325627,-6.04750987673e-05,1793239699000399616
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.609602771,746,714,680,662,632,880.390397229,786.390397229,805,652,631,653,0.449273463158,0.00458252371356,0.059642891903,0.999999833804,9.75291412801e-05,-0.000564734075899,-6.28958175887e-05,1793239699017066240
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.805834709,746,714,680,662,632,880.194165291,786,805,652,631,653,0.449471589457,0.00458211778049,0.0596342772716,0.999999827689,9.34135982756e-05,-0.000575899981927,-6.50785174411e-05,1793239699033732608
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.226089022,746,714,680,662,632,880.773910978,786,805,652,631,653,0.449658747689,0.00458332162513,0.0596350495848,0.999999828577,8.98234640956e-05,-0.000574732169011,-6.67885504364e-05,1793239699050399488
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,714,680.352179225,661.647820775,632,881,786,805,652,631,653,0.449826414875,0.00458456056822,0.0596364800733,0.999999829481,8.88759357442e-05,-0.000573134756303,-6.82281527537e-05,1793239699067066112
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,714,680.929503016,661.070496984,632,881,786,805,652,631,653,0.449981621654,0.00458582194951,0.0596383313268,0.999999830399,8.96177978374e-05,-0.000571262704743,-6.94948716814e-05,1793239699083732736
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714,681,661,632,881,786.51402738,805,652,631,653,0.450109054988,0.00458854460379,0.0596350743683,0.999999827742,9.03291017178e-05,-0.000575640286157,-7.06767328625e-05,1793239699100399616
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.901524573,881,786.901524573,805,652,631,653,0.450229417809,0.00459081313974,0.0596322031611,0.999999825568,9.07523206871e-05,-0.000579224932591,-7.15998155565e-05,1793239699117065984
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631.322338021,881,786.322338021,805,652,631,653,0.450334123781,0.00458987268418,0.0596346834663,0.999999828288,8.97899925917e-05,-0.000574695365846,-7.13172808156e-05,1793239699133732608
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631,881,786.256594085,805,652,631,653,0.450427581137,0.00458914076885,0.0596370309044,0.999999830567,8.98447411083e-05,-0.000570735850272,-7.10886851306e-05,1793239699150399232
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631,881,786.835206835,805,652,631,653,0.450506921778,0.00458867056597,0.0596392115975,0.999999832305,9.11758934331e-05,-0.000567491733841,-7.09277815255e-05,1793239699167065856
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631,881,786.588712641,805,652,631,652.588712641,0.450570152268,0.00458976711971,0.0596382196947,0.999999831619,9.09935970502e-05,-0.000568655274754,-7.15035587482e-05,1793239699183732736
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631,881,786.013640526,805,652,631,652.013640526,0.450626967298,0.00459148759455,0.059635964386,0.999999829964,9.02086080839e-05,-0.000571574053455,-7.23727004239e-05,1793239699200399360
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.424891918,714,681,661,631.575108082,881,786,805,652,631.575108082,652.575108082,0.450667832477,0.00459128243336,0.0596341529855,0.999999827956,9.07712013692e-05,-0.000575029912327,-7.20343707878e-05,1793239699217065984
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,714,680.8384776,660.8384776,631.8384776,881,786,805,652,631.8384776,653,0.450704290693,0.00459145068649,0.0596321294245,0.99999982583,9.18170708677e-05,-0.000578573435082,-7.1845925822e-05,1793239699233732864
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,714,680.258963995,660.258963995,631.258963995,881,786,805,652,631.258963995,653,0.45073034729,0.00459270634121,0.0596295289203,0.999999823436,9.4028845634e-05,-0.000582310047618,-7.21212738775e-05,1793239699250399488
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.318235741,714,680.318235741,660,631,881,786.318235741,805,652,631,653,0.450751413198,0.00459370044769,0.0596269638868,0.999999821249,9.59962770047e-05,-0.000585704307774,-7.23713008354e-05,1793239699267066112
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.893566222,714,680.893566222,660,631,881,786.893566222,805,652,631,653,0.450768447255,0.00459448325599,0.059624427509,0.99999981923,9.77663096639e-05,-0.000588821990365,-7.26008715383e-05,1793239699283732736
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.467594521,746,714,681,660.467594521,631,881,786.532405479,805,652,631,653,0.450779002275,0.00459424629235,0.0596225434577,0.999999818243,9.72009514011e-05,-0.000590590972246,-7.25826276542e-05,1793239699300399360
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,745.957246627,714,681,661,631.042753373,881,786,805,652,631,653,0.450787935625,0.00459374489662,0.0596209464745,0.999999817533,9.62567093106e-05,-0.000591960069939,-7.24708496867e-05,1793239699317066240
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.363714881,714,681,661,631.636285119,881,786,805,652,631,653,0.450794923604,0.00459281893311,0.0596211401588,0.999999817383,9.7260601312e-05,-0.000592121471819,-7.1878763514e-05,1793239699333732864
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745.223606294,714,681,661,631.776393706,880.776393706,786.223606294,805,652,631.223606294,653,0.450800558433,0.00459312077758,0.0596214458242,0.999999817494,9.83613082691e-05,-0.000591782333996,-7.16253977179e-05,1793239699350399488
+229,3.816666667,POSE1_TO_POSE2_PRESS,766,745.801098404,714,681,661,631.198901596,880.198901596,786.801098404,805,652,631.801098404,653,0.450804051725,0.00459536578671,0.0596219287144,0.999999818019,9.96152373277e-05,-0.000590651027491,-7.19081006653e-05,1793239699367066112
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.622787329,746,714,681,660.622787329,631.377212671,880.377212671,786.622787329,804.622787329,652,631.622787329,653,0.450804771549,0.00459547996409,0.0596213945829,0.999999817295,9.9921976913e-05,-0.000591837215199,-7.17935579063e-05,1793239699383732992
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.047396963,746,714,681,660.047396963,631.952603037,880.952603037,786.047396963,804.047396963,652,631.047396963,653,0.450804034266,0.00459447465799,0.0596203261347,0.999999815912,9.9731087823e-05,-0.000594240953931,-7.1470312609e-05,1793239699400399616
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.538166926,746,714,681,660.538166926,631.461833074,881,786.538166926,804.538166926,652,631,653,0.450804201722,0.00459497393738,0.0596192350034,0.99999981505,9.99047822904e-05,-0.00059568800213,-7.1243800165e-05,1793239699417066240
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.876819036,746,714,681,661,631.123180964,881,786.876819036,805,652,631,652.876819036,0.450804523836,0.00459551798492,0.0596183839149,0.999999814383,0.000100323215747,-0.000596760603738,-7.10285508908e-05,1793239699433732864
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.29722627,746,714,681,661,631.70277373,881,786.29722627,805,652,631,652.29722627,0.450805118064,0.00459572746771,0.059618429781,0.999999814275,0.000101527195292,-0.000596764005194,-7.08228598083e-05,1793239699450399488
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714,681,660.71891668,631.71891668,881,786,805,652,631,652.28108332,0.450805264736,0.00459534276408,0.0596181333988,0.999999813883,0.000101912010432,-0.000597360646358,-7.0772139141e-05,1793239699467066112
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660.141957725,631.141957725,881,786,805,652,631,652.858042275,0.450804940298,0.00459433260437,0.0596174767571,0.999999813193,0.000101434551897,-0.000598581747119,-7.08845443507e-05,1793239699483732992
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,881,786,805,652,631,653,0.450806551569,0.0045950623458,0.059618291545,0.999999813853,0.000102068784486,-0.000597375866714,-7.08381940063e-05,1793239699500399616
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.00811312,746,714,680.99188688,660,631,881,786,805,652.00811312,631,653,0.450808767423,0.00459631689741,0.0596195597723,0.999999814934,0.000103028300857,-0.000595410958772,-7.07349272621e-05,1793239699517066240
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.59943463,746,714,680.40056537,660,631,881,786,805,652.59943463,631,653,0.450809034193,0.00459448136297,0.0596189054471,0.999999814902,0.000101291859709,-0.00059581753514,-7.02644503755e-05,1793239699533732864
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.813612717,746,714,680.186387283,660,631,881,786,805,652.813612717,631,653,0.450809246758,0.00459375447065,0.0596185744442,0.999999814933,0.000100039392881,-0.000595988391726,-7.0177061677e-05,1793239699550399232
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.235834184,746,714,680.764165816,660,631,881,786,805,652.235834184,631,653,0.450809345497,0.00459535559576,0.0596189223801,0.999999815099,9.98032149915e-05,-0.000595664264628,-7.08941128926e-05,1793239699567066112
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,880.659208039,786,805,652,631,653,0.45080881803,0.00459605452563,0.0596188432665,0.999999814432,0.00010136809583,-0.000596503756813,-7.10262219821e-05,1793239699583732736
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,880.083376702,786,805,652,631,653,0.450807858678,0.0045961312242,0.0596184696229,0.999999813181,0.0001041751413,-0.000598145780697,-7.07549047649e-05,1793239699600399360
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,880,786,805,652,631,653,0.450810131522,0.00459590527075,0.0596193131051,0.999999814705,0.000103049506311,-0.000595791742504,-7.07298837538e-05,1793239699617066240
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,880.066992016,786,805,652,631,653,0.450812275402,0.00459565282351,0.0596199891273,0.999999816172,0.000101557883339,-0.000593586365581,-7.06917247655e-05,1793239699633732608
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,880.658110534,786,805,652,631,653,0.450809128866,0.00459559399567,0.0596177427588,0.999999813585,0.000102412185506,-0.000597837340701,-7.02245289029e-05,1793239699650399232
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.2443563,746,714,681,660,631,880.7556437,786,805,652,631,652.7556437,0.450807950674,0.0045959109405,0.0596166696073,0.99999981255,0.000103266744351,-0.000599420670339,-7.02165051832e-05,1793239699667066112
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.823917766,746,714,681,660,631,880.176082234,786,805,652,631,652.176082234,0.450809472632,0.00459674336597,0.0596172058611,0.99999981366,0.000104121655427,-0.000597344555153,-7.08383684707e-05,1793239699683732736
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.601220787,745.601220787,714,681,660,631,880,786,805,652,631,652.398779213,0.450809568605,0.00459643275135,0.0596171964597,0.999999813623,0.000103680948781,-0.000597497987813,-7.07195188009e-05,1793239699700399616
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.028410509,745.028410509,714,681,660,631,880,786,805,652,631,652.971589491,0.450809042264,0.00459562330305,0.0596169489292,0.999999813084,0.000102674822108,-0.000598624416617,-7.027741487e-05,1793239699717066240
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.560791624,714,680.439208376,660.560791624,631,880,786,805,652,631,653,0.450811317054,0.0045950523001,0.0596185799672,0.999999814601,0.00010266786731,-0.000596099250538,-7.01606531508e-05,1793239699733732864
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.851771768,714,680.148228232,660.851771768,631,880.148228232,786,805,652,631,653,0.450813116812,0.00459479767766,0.0596198916794,0.99999981585,0.000102970504638,-0.000593953619666,-7.01136953572e-05,1793239699750399488
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.271966316,714,680.728033684,660.271966316,631,880.728033684,786,805,652,631,653,0.450813107862,0.00459542798925,0.0596199882108,0.999999816022,0.000104022721879,-0.000593467877608,-7.02205423704e-05,1793239699767065856
+254,4.233333333,HOLD_POSE2,765,745,714,681,660,631,880,786,805,652,631,653,0.450812979668,0.00459524844758,0.0596187458708,0.999999815041,0.000101990312092,-0.000595531924386,-6.97002163731e-05,1793239699803827200
+255,4.250000000,HOLD_POSE2,765,745.574750034,714,681,660,631,880.574750034,786,805,652,631,653,0.450812469386,0.00459440063635,0.0596188523797,0.999999814765,0.000102841032753,-0.000595840102193,-6.97673507656e-05,1793239699820494592
+256,4.266666667,HOLD_POSE2,765,746,714,681,660,631,881,786.153991788,805,652,631,653,0.450812033554,0.00459413849241,0.059618815387,0.999999814485,0.000103483286356,-0.000596188653504,-6.98628314378e-05,1793239699837161984
+257,4.283333333,HOLD_POSE2,765,746,714,681,660,631,881,786.746010287,805,652,631,653,0.450811809495,0.00459554226778,0.059618370207,0.999999814191,0.000103532559571,-0.000596652046547,-7.00389425793e-05,1793239699853828096
+258,4.300000000,HOLD_POSE2,765,746,714,681,660,631,881,786.669513952,805,652,631,652.669513952,0.450812237319,0.00459564421686,0.0596182966071,0.999999814255,0.000102693854265,-0.00059667619051,-7.01516464437e-05,1793239699870494464
+259,4.316666667,HOLD_POSE2,765,746,714,681,660,631,881,786.090705724,805,652,631,652.090705724,0.450813154958,0.00459476799343,0.0596185022069,0.999999814587,0.00010118793543,-0.000596370289383,-7.02167070357e-05,1793239699887161088
+260,4.333333333,HOLD_POSE2,765,746,714,680.516203641,660,631,880.516203641,786.483796359,805,652,631,652.483796359,0.450812170199,0.00459513636626,0.0596177928403,0.999999813901,0.000101925698045,-0.000597391260876,-7.02364444061e-05,1793239699903827968
+261,4.350000000,HOLD_POSE2,765.058751606,746,714,680.058751606,660.058751606,631,880.058751606,786.941248394,805,652,631,653,0.450811069195,0.00459573789688,0.0596170546242,0.999999813149,0.000103202995783,-0.000598429851644,-7.023852263e-05,1793239699920495104
+262,4.366666667,HOLD_POSE2,765.644959459,746,714,680.644959459,660.644959459,631,880.644959459,786.355040541,805,652,631,653,0.450812098448,0.00459635621857,0.0596175838993,0.999999813514,0.000105580822526,-0.00059741291943,-7.01576773017e-05,1793239699937161728
+263,4.383333333,HOLD_POSE2,765.770000836,746,714,680.770000836,660.770000836,631,880.770000836,786.229999164,805,652,631,653,0.450812927108,0.00459575923977,0.0596181214231,0.999999814043,0.000105403542495,-0.000596587604597,-6.99088682494e-05,1793239699953828352
+264,4.400000000,HOLD_POSE2,765.186755299,746,714,680.186755299,660.186755299,631,880.186755299,786.813244701,805,652,631,653,0.450813447686,0.00459329573023,0.0596186716157,0.999999814819,0.00010130197753,-0.000596056587214,-6.94020905432e-05,1793239699970494720
+265,4.416666667,HOLD_POSE2,765,745.608475556,714,680.391524444,660,631,880,786.608475556,805,652,631,652.608475556,0.450813841082,0.00459333327322,0.0596189740251,0.999999814986,0.00010178287171,-0.000595682510625,-6.95016107935e-05,1793239699987161088
+266,4.433333333,HOLD_POSE2,765,745.032534757,714,680.967465243,660,631,880,786.032534757,805,652,631,652.032534757,0.450814174572,0.00459454886503,0.0596191597234,0.999999814866,0.000104422201425,-0.000595382356448,-6.98867102553e-05,1793239700003827456
+267,4.450000000,HOLD_POSE2,765,745.538391059,714,681,660,631,880.538391059,786,805,652,631,652.538391059,0.450813284653,0.00459543963309,0.0596181391573,0.999999814232,0.000104414388741,-0.000596418360649,-7.0130080939e-05,1793239700020494080
+268,4.466666667,HOLD_POSE2,765,746,714,681,660.11317124,630.88682876,881,786.11317124,805,652,631,653,0.450812664108,0.00459598834935,0.0596173926317,0.999999813796,0.000104415651288,-0.000597143081097,-7.01839278969e-05,1793239700037160704
+269,4.483333333,HOLD_POSE2,765,746,714,681,660.705543513,630.294456487,881,786.705543513,805,652,631,653,0.45081349433,0.00459517106368,0.0596181122826,0.999999814327,0.000105126433065,-0.000596210995894,-6.94712049897e-05,1793239700053827584
+270,4.500000000,HOLD_POSE2,765,746,714,681,660.710315624,630.289684376,881,786.710315624,804.710315624,652,631.289684376,653,0.450813525063,0.00459464493367,0.0596179493495,0.999999814252,0.00010438615212,-0.000596499977579,-6.91970456657e-05,1793239700070494464
+271,4.516666667,HOLD_POSE2,765,746,714,681,660.134310627,630.865689373,881,786.134310627,804.134310627,652,631.865689373,653,0.450812765589,0.00459440657853,0.0596169140807,0.999999813572,0.000102211657847,-0.000597995847434,-6.93563574593e-05,1793239700087161088
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,881,786,805,652,631,653,0.45081584239,0.00459392763309,0.0596199336583,0.999999816506,0.000101413781931,-0.000593168339201,-6.96787959319e-05,1793239700119802880
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.587184991,745.412815009,714,681.587184991,660,631,881,786,805,652,631,653,0.450814306445,0.00459583453879,0.0596185351752,0.999999814629,0.00010435787057,-0.000595813781328,-6.96943932217e-05,1793239700136469504
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.82795866,745.17204134,714,681.82795866,660.17204134,631,881,786,805,652,631,652.82795866,0.450813551244,0.00459673979594,0.059617914525,0.999999813657,0.00010576486592,-0.00059719070762,-6.97289771228e-05,1793239700153136384
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.248615172,745.751384828,714,681.248615172,660.751384828,631,881,786,805,652,631,652.248615172,0.450814644431,0.00459527368388,0.059619135368,0.999999814855,0.000103532844664,-0.00059556446544,-6.98085111991e-05,1793239700169802496
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.33070575,746,714,681,660.66929425,631,881,786,805,652,631,652.33070575,0.450814834714,0.00459482230536,0.059619150464,0.999999815202,0.000102396283616,-0.000595194851561,-6.96776881493e-05,1793239700186468864
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.910009674,746,714,681,660.089990326,631,881,786,805,652,631,652.910009674,0.450814346268,0.00459513372255,0.0596182591757,0.999999814911,0.000102083202208,-0.000595769870589,-6.93887354057e-05,1793239700203135488
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,660,631,881,786,805.483344238,652,631,653,0.450813504249,0.00459649107638,0.0596179630674,0.999999814145,0.000103883623065,-0.000596727643897,-6.95325741524e-05,1793239700219802368
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.942867479,746,714,681,659.942867479,631,881,786,805.942867479,652,631,653,0.450812427795,0.00459774049318,0.0596176242013,0.999999813332,0.000105652719988,-0.000597754875427,-6.97353338786e-05,1793239700236469248
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.354656636,746,714,681,659.354656636,631,881,786,805.354656636,652,631,653,0.450809776596,0.00459619848705,0.0596158703827,0.999999812945,0.000103517490021,-0.000598773419052,-6.9745914684e-05,1793239700253135616
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.230986243,746,714,681,659.230986243,631,881,786,805,652,631,653,0.450800950627,0.00459528438073,0.0596117399448,0.999999809667,0.000102215060589,-0.000604441541082,-6.97786195778e-05,1793239700269801984
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.812729568,746,714,681,659.812729568,631,881,786,805,652,631,653,0.450782748149,0.00459532375257,0.0596040005644,0.999999801891,0.000102177255068,-0.000617170137743,-6.98449203195e-05,1793239700286468608
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.608682987,745.608682987,714,681,660,631,880.608682987,786.391317013,805,652,631,653,0.450748588456,0.00459622659154,0.059591675021,0.999999789989,0.000103074754047,-0.000635992343656,-7.00758171776e-05,1793239700303135232
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.031593699,745.031593699,714,681,660,631,880.031593699,786.968406301,805,652,631,653,0.450706853297,0.00459753934947,0.0595771722602,0.999999775782,0.000104416275705,-0.000657707406175,-7.03848537196e-05,1793239700319802112
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.540679165,745.540679165,714,681,660,631,880.540679165,786.459320835,805,652,631,653,0.45064524873,0.00459886784871,0.059561971384,0.999999764178,0.000105622265463,-0.000674850028892,-7.11764518804e-05,1793239700336468480
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.883505671,746,714,681,660,631,880.883505671,786,805,652,631.116494329,653,0.450580288513,0.0045995759116,0.059549083679,0.999999753917,0.000106561678068,-0.000689696989295,-7.16162067378e-05,1793239700353135104
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.292112675,746,714,681,660,631,880.292112675,786,805,652,631.707887325,653,0.450506339965,0.00459775099874,0.0595457906303,0.999999749456,0.000106446367322,-0.000696265076564,-7.05077086161e-05,1793239700369801728
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,880,786,805,652,632,653,0.450423051468,0.00459726390393,0.0595442047019,0.999999747249,0.000108265519946,-0.000699245028325,-6.95469534056e-05,1793239700386468352
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,880,786,805,652,632,653,0.450330646716,0.0045980825869,0.059544285009,0.999999747262,0.00011197280607,-0.000698722779077,-6.87304027714e-05,1793239700403134976
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.448387793,746,714,681.448387793,660,631,880.448387793,786.448387793,805,652,631.551612207,653,0.450216453914,0.00459923478234,0.0595437958543,0.999999745408,0.000115972078276,-0.000700814986676,-6.77653913588e-05,1793239700419801600
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.976736252,746,714,682,660.023263748,631,880.976736252,787,805,652,631,653,0.45009478945,0.00460043302252,0.0595430864065,0.999999742926,0.000119927360802,-0.000703781643562,-6.67660642198e-05,1793239700436468480
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.402491185,746,714,682,660.597508815,631,880.402491185,787,805,652,631,653,0.449941765834,0.00460049306501,0.0595409649892,0.999999738477,0.000120889565054,-0.000709987519307,-6.59461015033e-05,1793239700453135104
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,660.822398003,631,880,787,805,652,631.177601997,653,0.449779384217,0.00460023126154,0.0595377751708,0.999999733771,0.000122361670444,-0.000716442045901,-6.47840578761e-05,1793239700469801728
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,660.228600322,631,880,787,805,652,631.771399678,653,0.449595072916,0.00459921523847,0.0595320816426,0.9999997285,0.000125028687115,-0.000723479264481,-6.28203758659e-05,1793239700486468608
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714,681.645555282,660.708889436,631,880,787,805,652,631.645555282,653,0.449391800341,0.00460034600679,0.0595301539087,0.999999725542,0.000131067118198,-0.000726633053792,-6.11770001154e-05,1793239700503135232
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714,681.06924095,661.8615181,631,880,787,805,652,631.06924095,653,0.449176658676,0.004602820589,0.0595305834255,0.999999724002,0.000139215933403,-0.000727355957066,-5.97341243411e-05,1793239700519801856
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.504524244,746,714,681,661.495475756,631.504524244,880.504524244,786.495475756,805,652,631,653,0.448934072775,0.00460330430079,0.0595336659468,0.999999724102,0.000144606073071,-0.000726346255991,-5.74991166277e-05,1793239700536468992
+298,4.966666667,POSE2_TO_POSE3_RETREAT,766,746,714,681,661,632,880.9199221,786,805,652,631,653,0.44868345412,0.0046036013898,0.0595377800611,0.999999725666,0.000149612949172,-0.000723355910538,-5.51357587947e-05,1793239700553136384
+299,4.983333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,661,632,880.330786074,786,805,652,631,653,0.448405593932,0.00460444029482,0.059546149099,0.999999735129,0.00015457808726,-0.000709278530858,-5.26440870942e-05,1793239700569802240
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.745559278,746,714,681,661,631.745559278,880.254440722,786.254440722,805,652,631.254440722,653,0.44811238578,0.00460486438252,0.0595570845495,0.99999974665,0.000159430195417,-0.000691951218808,-4.98603613365e-05,1793239700586468352
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.165337814,746,714,681,661,631.165337814,880.834662186,786.834662186,805,652,631.834662186,653,0.447799526425,0.00460475734647,0.059571305982,0.999999760679,0.000164137582028,-0.000670462760011,-4.67026956294e-05,1793239700603135232
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.410089485,746,714,681.410089485,661.410089485,631.410089485,880.589910515,786.589910515,805,652,631.589910515,653,0.447459169498,0.0046056702893,0.0595879325258,0.999999776579,0.000172579327457,-0.000644335971755,-4.34580119637e-05,1793239700619802112
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.983606219,746,714,681.983606219,661.983606219,631.983606219,880.016393781,786.016393781,805,652,631.016393781,653,0.447107854355,0.0046069897101,0.0596055175447,0.999999792588,0.000182509274656,-0.000616360734784,-4.0178650291e-05,1793239700636468992
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.428121497,746,714,681.428121497,662,632,880,786.571878503,805,652,631,653,0.44670762369,0.00460644984784,0.0596142335142,0.99999979627,0.000189569978608,-0.00060845793583,-3.60884112884e-05,1793239700653135616
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,746,713.841873605,681,662,632.158126395,880.158126395,787,804.841873605,652,631,653,0.44628371512,0.00460619773812,0.0596182635625,0.99999979557,0.00019718306631,-0.000607417025859,-3.19936948792e-05,1793239700669802496
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,746,713.262180426,681,662,632.737819574,880.737819574,787,804.262180426,652,631,653,0.445800518446,0.0046068586399,0.0596104966621,0.999999784166,0.000206493904926,-0.000623095319517,-2.79506552373e-05,1793239700686469120
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,746,713.316142427,680.683857573,662.316142427,633,881,787,804,652,631,652.683857573,0.445304696224,0.00460748989428,0.0596037351217,0.999999776007,0.00021552306142,-0.00063320990831,-2.41164640152e-05,1793239700703135744
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,713.89333382,680.10666618,662.89333382,633,881,787,804,652,631,652.10666618,0.444798448627,0.00460809666793,0.0595978037387,0.999999770643,0.000224319624973,-0.000638730368893,-2.04547252092e-05,1793239700719802368
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.466569799,745.533430201,714,680,663,633,881,787,804,652,631,652.466569799,0.44430147202,0.00460664926938,0.0596182578863,0.999999791644,0.000231728437601,-0.000602292454818,-1.60759515285e-05,1793239700736468992
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.959665095,745.040334905,714,680.040334905,663.040334905,633,881,787,804.040334905,652,631,653,0.443804215253,0.00460501683672,0.0596457382764,0.999999817339,0.000239186327148,-0.000554958801797,-1.1500199136e-05,1793239700753135360
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.366352204,745.633647796,714,680.633647796,663.633647796,633,881,787,804.633647796,652,631,653,0.443274303607,0.00460723186158,0.0596875418397,0.99999984893,0.000251630083406,-0.00048865172022,-6.45242239391e-06,1793239700769802496
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.221699028,746,714,681,664,633.221699028,880.778300972,787,805,652,631,652.778300972,0.442702187419,0.00460865620112,0.0597150985037,0.999999865593,0.000263791891329,-0.000446346463634,-1.40271091691e-06,1793239700786469632
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.801257034,746,714,681,664,633.801257034,880.198742966,787,805,652,631,652.198742966,0.442061946137,0.00460880424334,0.0597196583082,0.999999864015,0.000275498588633,-0.000442784137617,3.65012320387e-06,1793239700803136256
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,746,714.377031224,681,664.377031224,634,880,787,804.622968776,652,631,652.377031224,0.441401403456,0.00460835704543,0.0597195175793,0.999999858757,0.000283921946906,-0.000449222910787,8.55706324222e-06,1793239700819802880
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,746,714.950830668,681,664.950830668,634,880,787,804.049169332,652,631,652.950830668,0.440730265729,0.00460759919861,0.0597169236966,0.999999851471,0.000290631768254,-0.000460881141592,1.33878626933e-05,1793239700836469504
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.47503513,746,714.47503513,681,665,634.52496487,880,787,804,652,631.52496487,653,0.440061034149,0.0046075546627,0.0597390881838,0.99999986472,0.000298118883983,-0.000425872264895,1.78159253312e-05,1793239700853135872
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.102772529,745.897227471,714.102772529,680.897227471,665,634.897227471,880,787,804.102772529,652,631.897227471,653,0.439393161641,0.00460760362875,0.0597688390643,0.999999881645,0.000305846906213,-0.000377717584136,2.22851753568e-05,1793239700869802240
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.698032937,745.301967063,714.698032937,680.301967063,665,634.301967063,880,787,804.698032937,652,631.301967063,653,0.438730945958,0.00460778029783,0.0598238246683,0.999999908879,0.000314380258868,-0.000287526974297,2.71326707515e-05,1793239700886468864
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.716161659,745.283838341,714.716161659,680,665.283838341,634.283838341,880.283838341,787,804.716161659,651.716161659,631.283838341,653,0.437989968707,0.00460986229669,0.0598446752169,0.999999913392,0.000326790726285,-0.000255712605956,3.21617721149e-05,1793239700903135488
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.140090808,745.859909192,714.140090808,680,665.859909192,634.859909192,880.859909192,787,804.140090808,651.140090808,631.859909192,653,0.437167900531,0.00461390597314,0.0598303812142,0.999999900082,0.000343192972164,-0.000284000875277,3.73778509641e-05,1793239700919802112
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.436324559,665.563675441,634.563675441,880.563675441,787,804,651.436324559,632,652.563675441,0.436338763437,0.00461747708268,0.0597934195345,0.999999878745,0.000355062728028,-0.000338830849434,4.04130940119e-05,1793239700936468992
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.986925129,714,680.986925129,665.013074871,634.013074871,880,787,804,652,632,652.013074871,0.435508493939,0.00462085170057,0.0597503828096,0.999999852964,0.000363741127573,-0.000399978412967,4.22170956852e-05,1793239700953136128
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745.400337079,714,680.400337079,665.599662921,634.599662921,880,787,804,652,632,652.599662921,0.43472818334,0.00462226804662,0.0597603606507,0.999999889581,0.0002963177622,-0.000364148013396,2.07519612979e-05,1793239700969802752
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.184060261,714,680,665.815939739,635,880,787,804,652,631.815939739,652.815939739,0.433929303662,0.00461967171691,0.0597732898584,0.999999915961,0.000241074640846,-0.000331549625547,5.9376662705e-06,1793239700986469120
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.763748748,714,680,665.236251252,635,880,787,804,652,631.236251252,652.236251252,0.433090510735,0.00460845034346,0.0597925628788,0.999999930724,0.000212012345389,-0.000305898289441,5.41901572433e-06,1793239701003135488
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.671106039,714,680,665,634.671106039,880,787,804,652.328893961,631,652.328893961,0.432239633262,0.00460697325751,0.0598055197004,0.999999935109,0.000214123714463,-0.000289576364671,8.86509148276e-06,1793239701019802112
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.1159652,714,680,665,634.1159652,880,787,804,652.8840348,631,652.8840348,0.431380442838,0.00461219928881,0.0598141315942,0.999999932533,0.000237679517106,-0.000279672163576,1.50385111999e-05,1793239701036468736
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.47307333,745,714,680,665,634.47307333,880,787.47307333,804,652.52692667,631,652.52692667,0.430510809647,0.00461464401836,0.0598333866769,0.99999993716,0.000248473211728,-0.000252075048097,1.99632215012e-05,1793239701053135104
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.069833811,714,680,665,635,880,788,804,652,631,652.069833811,0.429631485843,0.00461653800582,0.0598475478027,0.999999939747,0.000255225916186,-0.000234055619347,2.41556423602e-05,1793239701069801984
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745.657482436,714,680,665,635,880,788,804,652,631,652.657482436,0.428700753291,0.0046197938693,0.0598030987692,0.999999914909,0.000257002214217,-0.000321695928201,2.53630560553e-05,1793239701086468864
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.757268803,746,714,680,665,635,880,787.757268803,804,652,631.242731197,653,0.427787605397,0.00462130437935,0.0597723726443,0.999999900144,0.000251431838982,-0.000368640699744,2.44616696201e-05,1793239701103135744
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.17537325,746,714,680,665,635,880,787.17537325,804,652,631.82462675,653,0.426899028125,0.00462037613587,0.0597608213103,0.999999907694,0.000235596078931,-0.000358722273516,2.06136914088e-05,1793239701119801856
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.40290851,746,714,680,665.40290851,635,879.59709149,787,804,652,631.59709149,653,0.426003280229,0.00462038147741,0.0597795600142,0.999999917998,0.000231762247012,-0.000331380800273,2.18292207762e-05,1793239701136468480
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.979631248,746,714,680,665.979631248,635,879.020368752,787,804,652,631.020368752,653,0.425104438987,0.00462078956642,0.0598113658032,0.99999992855,0.00023310603264,-0.000296523046577,2.52291412041e-05,1793239701153135104
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.446828404,746,714,680,665.446828404,635,879.553171596,787,804,652,631.553171596,653,0.42422681165,0.00462055848396,0.059828726018,0.99999993372,0.000228726548083,-0.000281933057557,2.75222910248e-05,1793239701169801728
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.130413169,745.869586831,714,680,665,635,879.869586831,787,804,652.130413169,631.869586831,653,0.423359524112,0.00462063863162,0.0598446802116,0.999999939649,0.000223904790599,-0.000264045523208,2.91168070072e-05,1793239701186468352
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.721129706,745.278870294,714,680,665,635,879.278870294,787,804,652.721129706,631.278870294,653,0.422525990443,0.00462189988502,0.0598575384275,0.999999948889,0.000218261568339,-0.000231900010316,2.83884596181e-05,1793239701203134976
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.69439993,745.30560007,714,680,665,635,879.30560007,787,804,653,631,653,0.421634222538,0.00462238989571,0.0598447201434,0.999999944416,0.000215521395306,-0.000252756832127,2.88491298498e-05,1793239701219801856
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.115515273,745.884484727,714,680,665,635,879.884484727,787,804,653,631,653,0.420690378383,0.00462219021816,0.0598089405035,0.999999924821,0.000215377290117,-0.000321011291889,3.03730857562e-05,1793239701236468480
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.460328441,745.539671559,714.460328441,680,665,634.539671559,880,787,804,652.539671559,631,652.539671559,0.419773705544,0.00462244808474,0.0597663539574,0.999999903886,0.000205729721987,-0.000386095971363,2.88793341626e-05,1793239701253135104
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.963740168,745,714.963740168,680,665,634.036259832,880,787.036259832,804,652.036259832,631,652.036259832,0.418871977332,0.00462265973246,0.0597267920379,0.999999882893,0.000193845751779,-0.000442629001135,2.67995293234e-05,1793239701269801728
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.374920885,745,714.374920885,680,665,634.625079115,880,787.625079115,804,652.625079115,631,652.625079115,0.418094766753,0.00462042886194,0.0597591813091,0.999999910166,0.0001839848512,-0.000380886243896,2.72530949403e-05,1793239701286468352
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.210589029,714.210589029,680,665.210589029,635,879.789410971,788,804,652.789410971,631,653,0.417315101586,0.0046192836954,0.0597937816615,0.999999931688,0.00017629266159,-0.00032363679641,2.83531538655e-05,1793239701303134976
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.790298379,714.790298379,680,665.790298379,635,879.209701621,788,804,652.209701621,631,653,0.41653113389,0.00462004154976,0.0598322576011,0.999999947061,0.000172401786347,-0.000274263210866,3.05863860493e-05,1793239701319801600
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,746,714.633395618,679.633395618,665.633395618,635,879,788,803.633395618,652,631,652.633395618,0.415740436129,0.00461799671064,0.0598443101163,0.999999950823,0.000163752742418,-0.000265549683679,3.19880721552e-05,1793239701336468480
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,746,714.059018493,679.059018493,665.059018493,635,879,788,803.059018493,652,631,652.059018493,0.414945924155,0.00461436344717,0.0598413871745,0.999999948678,0.000152407010513,-0.000279880215421,3.29184800686e-05,1793239701353135104
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,746,714.51655065,679.51655065,665.51655065,635,879,787.48344935,803.51655065,652,631,652.51655065,0.414172433492,0.00461499635858,0.0598435021483,0.999999951398,0.000148432968003,-0.000272237010817,3.25258053494e-05,1793239701369801728
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,746,714.905039041,680,666,635,879,787,804,652.094960959,631,653,0.413400384932,0.00461564322317,0.0598400808751,0.999999948133,0.000166402775909,-0.00027388859499,3.20779329936e-05,1793239701386468352
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,746,714.312455574,680,666,635,879,787,804,652.687544426,631,653,0.412623278252,0.00461380301678,0.0598046247667,0.999999899058,0.000294940765847,-0.000337434258965,3.21348088283e-05,1793239701403134976
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.273400427,746,714,680,665.726599573,635,879,787.273400427,804,653,631,653,0.411880798348,0.00461266162986,0.0597736729774,0.99999986147,0.000355618020036,-0.000386809260984,3.12187376206e-05,1793239701419801600
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.851752553,746,714,680,665.148247447,635,879,787.851752553,804,653,631,653,0.41117694131,0.00461229970853,0.0597477453221,0.999999853209,0.00034060319229,-0.000420378263458,2.92174387434e-05,1793239701436468224
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.57348379,745.57348379,714,680,665.42651621,635,879,787.57348379,803.57348379,653,631.42651621,653,0.410542576191,0.00461056068317,0.0597695819337,0.999999873385,0.000327691335561,-0.000380776722016,2.92666903912e-05,1793239701453134848
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,666,635,879,787.000044085,803.000044085,653,632,653,0.409932164905,0.00460834697305,0.0598078815547,0.999999899864,0.000315504441469,-0.000315956119584,3.00227954201e-05,1793239701469801472
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,666,635,879,787.587376695,803.587376695,653,632,653,0.409342739979,0.0046057644759,0.0598426334847,0.999999917366,0.000304886369375,-0.000267026749752,3.17726065045e-05,1793239701486469120
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.827623061,666,635,879,787.827623061,803.827623061,653,632,653,0.408753778333,0.00460368626133,0.0598654715379,0.999999928512,0.000294407442644,-0.000234988081901,3.28913088193e-05,1793239701503136768
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.248131217,666,635,879,787.248131217,803.248131217,653,632,653,0.40816591073,0.00460279904637,0.0598601717458,0.999999929584,0.000284257144796,-0.0002428413806,3.2519477067e-05,1793239701519802880
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.32970202,745.32970202,714,679.32970202,665.67029798,635,879,787.32970202,803,653,631.67029798,653,0.407597813915,0.00460028854727,0.0598476534712,0.999999927634,0.000271743768453,-0.000264275483673,3.2343732532e-05,1793239701536469504
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.906293214,745.906293214,714,679.906293214,665.093706786,635,879,787.906293214,803,653,631.093706786,653,0.407044522,0.00459656249217,0.0598297298154,0.999999922563,0.000257460859796,-0.000295879234367,3.23148230379e-05,1793239701553136128
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.491208291,635,879,787.508791709,803,652.508791709,631,653,0.40654903908,0.00459612412381,0.0598290331974,0.999999927295,0.000247555040124,-0.000288379886368,3.1033983761e-05,1793239701569802496
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.923169277,746,714.076830723,680,665.923169277,635,879.076830723,787.076830723,803.076830723,652.076830723,631,653,0.406070181766,0.00459587486138,0.0598322196659,0.999999933605,0.000238443020688,-0.000273940495493,2.98558186523e-05,1793239701586468864
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.343489258,746,714.656510742,680,665.343489258,635,879.656510742,787.656510742,803.656510742,652.656510742,631,653,0.405626715346,0.00459268765571,0.0598389408403,0.999999938528,0.000228967093948,-0.000263743257452,3.09396954684e-05,1793239701603135488
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.235078429,746,714.764921571,680,665,635,879.764921571,787.764921571,804,652.764921571,631,653,0.405189910807,0.00459026785212,0.0598366539626,0.999999939075,0.000222441269708,-0.000267157270094,3.15611686807e-05,1793239701619802112
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.812028417,746,714.187971583,680,665,635,879.187971583,787.187971583,804,652.187971583,631,653,0.404762794594,0.00458896407187,0.0598212667893,0.999999933102,0.000220205742661,-0.000290365951672,3.15101741358e-05,1793239701636468736
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.611304867,746,714.388695133,680,665,635,879.388695133,787.388695133,803.611304867,652.388695133,631,653,0.404357363497,0.00458806833001,0.0598005367553,0.999999922212,0.000218124421211,-0.000327068520463,3.19911041322e-05,1793239701653135616
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.03477499,746,714.96522501,680,665,635,879.96522501,787.96522501,803.03477499,652.96522501,631,653,0.403962411573,0.00458736977029,0.0597772248125,0.999999907553,0.00021611761825,-0.000370291936248,3.27290836333e-05,1793239701669802496
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.539527116,745.460472884,715,679.460472884,665.539527116,635.539527116,879.460472884,787.460472884,803.539527116,653,631,653,0.403660002473,0.0045866459889,0.0597862309048,0.999999916292,0.000214420650493,-0.000346881695358,3.33644069429e-05,1793239701686469120
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,714.882882558,679,665.882882558,635.882882558,879,787,803.882882558,653,631,653,0.403370599039,0.00458571097578,0.0597989057091,0.99999992568,0.000213312757713,-0.000319320780321,3.4236406055e-05,1793239701703135744
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,714.291394297,679,665.291394297,635.291394297,879,787,803.291394297,653,631,653,0.40310981305,0.00458392694991,0.0598180377737,0.99999993363,0.000214510290985,-0.000292272266921,3.60937235536e-05,1793239701719802112
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.29331905,714,679,665,635,879,787.29331905,803.29331905,653,631,653,0.402866391239,0.00458259873973,0.0598346473913,0.999999940798,0.000214996087615,-0.000266033799151,3.75034878122e-05,1793239701736468480
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.87145385,714,679,665,635,879,787.87145385,803.87145385,653,631,653,0.402639830234,0.00458171313128,0.0598488076862,0.999999947252,0.000214790780736,-0.000240581895487,3.84786732591e-05,1793239701753135104
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,714.447013194,679.447013194,665,635,879,787.552986806,803.552986806,653,631,653,0.402423320839,0.00458072154783,0.059850243435,0.999999946644,0.000216415797687,-0.000241450796413,3.97143109021e-05,1793239701769801984
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.977587716,714.977587716,679.977587716,665,635,879.022412284,787.022412284,803,652.977587716,631,653,0.402210641386,0.00457970261666,0.0598478070001,0.999999944007,0.000218518940502,-0.000250113453685,4.09844113866e-05,1793239701786468864
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.387598589,714.387598589,679.387598589,665,635,879.612401411,787.612401411,803,652.387598589,631,653,0.402022171686,0.00457875845778,0.0598394449597,0.999999939802,0.000219477438695,-0.000265566227602,4.12413981047e-05,1793239701803135744
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.801117597,745,714,679,665,635,879.801117597,787.801117597,803.198882403,652.198882403,631,653,0.401849491835,0.00457744178157,0.0598334174804,0.999999937463,0.000216965996043,-0.00027643311429,3.98038565315e-05,1793239701819802368
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.22135511,745,714,679,665,635,879.22135511,787.22135511,803.77864489,652.77864489,631,653,0.401707051176,0.00457541169676,0.0598318609245,0.999999939005,0.000207809262797,-0.000278517557614,3.51211204701e-05,1793239701836469248
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.354694826,665.354694826,635,879.354694826,787,804,653,631,653,0.401583751478,0.00456949383065,0.0598324839076,0.999999941015,0.000200300556702,-0.00027780099186,2.6006313512e-05,1793239701853135872
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.928451918,665.928451918,635,879.928451918,787,804,653,631,653,0.401472273372,0.00456117484054,0.0598344529906,0.999999943209,0.000193809684009,-0.000275354501418,1.41542248466e-05,1793239701869802496
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765,745.501799515,714,679.498200485,665.498200485,635.501799515,879.498200485,787,804,653,631,652.498200485,0.401385660418,0.00456204811591,0.0598392702076,0.999999944666,0.0001957816632,-0.00026862713912,1.32939361535e-05,1793239701886468864
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.077598435,745.922401565,714,679,665,635.922401565,879,787,804,653,631,652.077598435,0.401304488259,0.00456387218035,0.0598435664625,0.999999945672,0.000198901931277,-0.000262484835637,1.39741425997e-05,1793239701903135232
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.670048788,745.329951212,714,679,665,635.329951212,879,787,804,653,631,652.670048788,0.401235911202,0.00456331565076,0.0598417140525,0.999999944646,0.000201641454526,-0.000264270749387,1.4485355139e-05,1793239701919801856
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.743683256,745,714,679,665,635,879,787.256316744,804,653,631,653,0.40117336433,0.00456191616253,0.0598393745408,0.999999943635,0.000201528387705,-0.000268118726119,1.51393204304e-05,1793239701936468480
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.165186368,745,714,679,665,635,879,787.834813632,804,653,631,653,0.401118397171,0.00455945710823,0.0598364227614,0.999999942613,0.000197829726314,-0.000274558635436,1.59727203292e-05,1793239701953135104
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.409423839,745,714,679,665,635,879.409423839,788,804,653,631,653,0.401077334149,0.00455984731459,0.059834933535,0.999999941243,0.000199115076889,-0.000278563689198,1.6413747711e-05,1793239701969802240
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.982480656,745,714,679,665,635,879.982480656,788,804,653,631,653,0.401041828146,0.00456137627494,0.0598340288422,0.999999939731,0.000202392369999,-0.000281595612692,1.66979569359e-05,1793239701986469120
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.574082911,665,635,879.425917089,788,804,653,631,653,0.401021123113,0.00455852521173,0.0598342962114,0.999999940403,0.000200593421938,-0.000280439253579,1.76091321485e-05,1793239702003135744
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,714.162781664,680,665,635,879,788,804,653,631.162781664,653,0.40100426809,0.00455678666697,0.0598355446152,0.999999941309,0.000199659300362,-0.000277821716269,1.82667771368e-05,1793239702019802112
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,714.742544574,680,665,635,879,788,804,653,631.742544574,653,0.400996079597,0.00455825177591,0.0598392113541,0.999999942625,0.000201350586988,-0.000271799566017,1.82243316938e-05,1793239702036468736
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.319303556,714.680696444,679.680696444,665,635.319303556,879,787.680696444,804,652.680696444,632,653,0.400988007451,0.00455828138144,0.0598408151367,0.999999943279,0.000201486597634,-0.000269274489479,1.83588446455e-05,1793239702053135360
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.893663099,714.106336901,679.106336901,665,635.893663099,879,787.106336901,804,652.106336901,632,653,0.400980028239,0.00455716432363,0.059840771054,0.999999943424,0.00020038027201,-0.000269542834319,1.86347099113e-05,1793239702069801728
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.53083874,746,714,679,665,636,879,787,803.53083874,652.46916126,631.53083874,653,0.400976169193,0.00455748707168,0.0598412555675,0.999999943202,0.000201773577127,-0.00026933183271,1.85464735214e-05,1793239702086468608
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.046230716,745.953769284,714.046230716,679,665,635.953769284,879,787,803,653,631,653,0.400973446249,0.00455806714527,0.0598418873152,0.999999943017,0.000203277087661,-0.000268900126279,1.83791298018e-05,1793239702103135232
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.638812786,745.361187214,714.638812786,679,665,635.361187214,879,787,803,653,631,653,0.400973086675,0.00455782226885,0.0598428397404,0.999999944275,0.000199371270838,-0.00026714723296,1.82545461075e-05,1793239702119802112
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.224811073,715,679.224811073,665,635,879,787,803,652.775188927,631,653,0.400973083569,0.00455749057848,0.0598440067911,0.99999994514,0.000197744689954,-0.000265109611795,1.82680518381e-05,1793239702136468992
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.800532616,715,679.800532616,665,635,879,787,803,652.199467384,631,653,0.400973636881,0.00455702337913,0.0598455088535,0.999999945407,0.000199675797731,-0.000262627555411,1.84971031198e-05,1793239702153135872
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714.623395313,679.623395313,665,635,879,787.376604687,803.376604687,652.376604687,631,653,0.400972777091,0.00455745342387,0.0598456547557,0.999999945014,0.000201811624225,-0.000262481012417,1.86412123983e-05,1793239702169802240
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,714.047137433,679.047137433,665,635,879,787.952862567,803.952862567,652.952862567,631,653,0.400971168158,0.00455835913357,0.0598450817031,0.99999994427,0.000204055980229,-0.00026357261848,1.8740290519e-05,1793239702186468352
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.539077231,664.460922769,635,879,787.460922769,803.460922769,653,631.539077231,653,0.4009712739,0.00455694082869,0.0598447898551,0.999999945282,0.000199829551858,-0.000262983932562,1.85557723567e-05,1793239702203135232
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,714.124553043,679.875446957,664.124553043,635,879,787.124553043,803.124553043,653,631.875446957,653,0.400971800904,0.00455583397881,0.0598449231481,0.999999946177,0.000196739505155,-0.000261913993946,1.84816487321e-05,1793239702219801856
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,714.70408954,679.29591046,664.70408954,635,879,787.70408954,803.70408954,653,631.29591046,653,0.400973308751,0.00455662114784,0.0598465179398,0.999999946135,0.000199906344857,-0.000259632884654,1.89030782844e-05,1793239702236468736
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.717258071,746,715,679,665,635,879,788,803.717258071,653,631,653,0.400973468382,0.00455694414102,0.0598470804666,0.999999946057,0.000200993280051,-0.000259084501505,1.90749947692e-05,1793239702253135616
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.139528011,746,715,679,665,635,879,788,803.139528011,653,631,653,0.400972221403,0.00455678285391,0.0598465660192,0.999999945948,0.000199910225692,-0.000260343892563,1.89865912554e-05,1793239702269802752
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,746,714.564945688,679,665.435054312,635,879,788,803,652.564945688,631,653,0.400972843238,0.00455714837068,0.0598473975415,0.999999946412,0.000199359304894,-0.000258990309246,1.88815189933e-05,1793239702286469120
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.008857487,746,714,679.008857487,665.991142513,635,879,787.991142513,803,652.008857487,631,652.991142513,0.400974035524,0.00455766550277,0.0598486410923,0.999999947043,0.000198985189236,-0.000256840988026,1.87678056952e-05,1793239702303135488
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.597261907,746,714,679.597261907,665.402738093,635,879,787.402738093,803,652.597261907,631,652.402738093,0.400973618331,0.00455712761267,0.0598488022943,0.99999994697,0.000199093186225,-0.000257064146471,1.84359781107e-05,1793239702319801856
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.816419663,714,679.816419663,665,635,879,787,803.183580337,652.816419663,631,652.183580337,0.40097317993,0.00455646520998,0.0598489041952,0.999999946963,0.000198783597919,-0.000257335507979,1.83750510441e-05,1793239702336468480
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.234626093,714,679.234626093,665,635,879,787,803.765373907,652.234626093,631,652.765373907,0.400972695528,0.00455553272085,0.0598488774628,0.999999947097,0.000197568204589,-0.000257711429132,1.89017477736e-05,1793239702353135360
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,665,635,879.342513629,787.342513629,803.657486371,652.342513629,631,653,0.400972340296,0.00455598796462,0.0598485976012,0.999999946809,0.000198180402528,-0.000258353418612,1.89671471586e-05,1793239702369801984
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,665,635,879.916508118,787.916508118,803.083491882,652.916508118,631,653,0.400972072361,0.00455738107943,0.0598481466673,0.999999946233,0.000200027740853,-0.000259175224935,1.87207881069e-05,1793239702386468864
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.498525227,745.501474773,714,679,665.501474773,635,879.498525227,787.498525227,803,653,631.501474773,652.498525227,0.4009718558,0.00455781968868,0.0598483357959,0.999999945868,0.000202194170678,-0.000258884912329,1.89666878741e-05,1793239702403135744
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.087258362,746,714,679,665.912741638,635,879,787.087258362,803.087258362,653,631.912741638,652.087258362,0.400972070615,0.00455798847123,0.0598487802693,0.999999945719,0.000204018402704,-0.000258009699666,1.92366275264e-05,1793239702419802368
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.667110184,746,714,679,665.332889816,635,879,787.667110184,803.667110184,653,631.332889816,652.667110184,0.400974671289,0.00455755121776,0.0598500511776,0.999999946602,0.000203604229326,-0.000254901242901,1.91692593263e-05,1793239702436468736
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.246149086,665,635,879.246149086,787.753850914,804,653,631,653,0.400974608157,0.00455714869279,0.0598497805615,0.999999946838,0.000202295398845,-0.000255019540412,1.91236338017e-05,1793239702453135360
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.824092305,665,635,879.824092305,787.175907695,804,653,631,653,0.400970954376,0.00455679297968,0.0598474320638,0.999999946194,0.000199780624456,-0.000259487307753,1.91073160834e-05,1793239702469801984
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.599967201,745.599967201,714,679.599967201,665,635,880,787,804,653,631,653,0.40097084934,0.00455745455989,0.059847777382,0.999999946199,0.00020003897963,-0.000259280802167,1.89533595715e-05,1793239702486468352
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.024903017,745.024903017,714,679.024903017,665,635,880,787,804,653,631,653,0.400972297032,0.00455856124927,0.0598493013594,0.999999946489,0.000201510697225,-0.000257029102869,1.87391802277e-05,1793239702503134976
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,745.550507548,714,679.550507548,665.550507548,635,879.449492452,787.550507548,804,653,631,652.449492452,0.400972573039,0.0045578039939,0.0598493062898,0.999999946536,0.000202021006654,-0.000256423909237,1.90557932261e-05,1793239702519801856
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d596373ad8e512a85d5f57e5704936cd3269023
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/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,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+1,0.016666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+2,0.033333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+3,0.050000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+4,0.066666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+5,0.083333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+6,0.100000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+7,0.116666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+8,0.133333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+9,0.150000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+10,0.166666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+11,0.183333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+12,0.200000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+13,0.216666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+14,0.233333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+15,0.250000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+16,0.266666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+17,0.283333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+18,0.300000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+19,0.316666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+20,0.333333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+21,0.350000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+22,0.366666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+23,0.383333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+24,0.400000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+25,0.416666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+26,0.433333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+27,0.450000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+28,0.466666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+29,0.483333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+30,0.500000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+31,0.516666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+32,0.533333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+33,0.550000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+34,0.566666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+35,0.583333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+36,0.600000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+37,0.616666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+38,0.633333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+39,0.650000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+40,0.666666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+41,0.683333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+42,0.700000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+43,0.716666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+44,0.733333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+45,0.750000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+46,0.766666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+47,0.783333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+48,0.800000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+49,0.816666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+50,0.833333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+51,0.850000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+52,0.866666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+53,0.883333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+54,0.900000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+55,0.916666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+56,0.933333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+57,0.950000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+58,0.966666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+59,0.983333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+60,1.000000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+61,1.016666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+62,1.033333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+63,1.050000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+64,1.066666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+65,1.083333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+66,1.100000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+67,1.116666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+68,1.133333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+69,1.150000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+70,1.166666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+71,1.183333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+72,1.200000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+73,1.216666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+74,1.233333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+75,1.250000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+76,1.266666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+77,1.283333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+78,1.300000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+79,1.316666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+80,1.333333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+81,1.350000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+82,1.366666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+83,1.383333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+84,1.400000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+85,1.416666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+86,1.433333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+87,1.450000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+88,1.466666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+89,1.483333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+90,1.500000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+91,1.516666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+92,1.533333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+93,1.550000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+94,1.566666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+95,1.583333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+96,1.600000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+97,1.616666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+98,1.633333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+99,1.650000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+100,1.666666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+101,1.683333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+102,1.700000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+103,1.716666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+104,1.733333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+105,1.750000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+106,1.766666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+107,1.783333333,pose1_to_pose2_press,0.575664423396,0.0100907859351,1.05003235146,0.546234876015,0.0187625290287,1.04970048322
+108,1.800000000,pose1_to_pose2_press,0.575664423216,0.0100907626667,1.0500322835,0.546234875789,0.0187625056733,1.04970041719
+109,1.816666667,pose1_to_pose2_press,0.575664460005,0.0100907425909,1.05003221082,0.546234912461,0.0187624852988,1.04970034697
+110,1.833333333,pose1_to_pose2_press,0.575664596038,0.0100907589843,1.05003220707,0.546235048253,0.0187625009308,1.04970034472
+111,1.850000000,pose1_to_pose2_press,0.575664645453,0.0100907649392,1.05003220571,0.54623509758,0.0187625066092,1.0497003439
+112,1.866666667,pose1_to_pose2_press,0.575664773557,0.0100907803771,1.05003220218,0.546235225458,0.0187625213302,1.04970034178
+113,1.883333333,pose1_to_pose2_press,0.575665522093,0.0100908139891,1.05003225426,0.546235973692,0.0187625539545,1.04970039477
+114,1.900000000,pose1_to_pose2_press,0.575667749531,0.0100908087432,1.05003234354,0.546238201037,0.018762548161,1.04970047797
+115,1.916666667,pose1_to_pose2_press,0.575673072508,0.010090782957,1.05003224636,0.546243522826,0.0187625182742,1.04970037899
+116,1.933333333,pose1_to_pose2_press,0.575685125956,0.010090808949,1.05003200775,0.546255576686,0.0187625458746,1.04970014577
+117,1.950000000,pose1_to_pose2_press,0.575705590323,0.0100906978609,1.05003218821,0.546276042522,0.0187624396698,1.04970032348
+118,1.966666667,pose1_to_pose2_press,0.575736586274,0.01009064381,1.05003220289,0.546307038471,0.0187623853832,1.04970033215
+119,1.983333333,pose1_to_pose2_press,0.575777851153,0.0100907309945,1.05003219978,0.546348302373,0.0187624693952,1.04970033275
+120,2.000000000,pose1_to_pose2_press,0.575830080116,0.010090834611,1.05003249053,0.546400530241,0.0187625691303,1.04970061903
+121,2.016666667,pose1_to_pose2_press,0.575890390415,0.0100908695853,1.05003242344,0.546460840862,0.0187626049375,1.04970054512
+122,2.033333333,pose1_to_pose2_press,0.575958127064,0.0100907712756,1.05003220101,0.546528578558,0.0187625102291,1.0497003239
+123,2.050000000,pose1_to_pose2_press,0.576035087009,0.0100907765235,1.05003211501,0.546605538106,0.0187625144368,1.04970024589
+124,2.066666667,pose1_to_pose2_press,0.576121973609,0.0100907246373,1.05003218985,0.546692425145,0.01876246409,1.049700322
+125,2.083333333,pose1_to_pose2_press,0.576220945192,0.0100906862519,1.05003239421,0.54679139809,0.0187624302353,1.04970052391
+126,2.100000000,pose1_to_pose2_press,0.576332344491,0.0100907446691,1.05003255938,0.546902797008,0.0187624873041,1.04970068756
+127,2.116666667,pose1_to_pose2_press,0.576457974459,0.0100908057209,1.05003262165,0.547028426022,0.0187625450136,1.04970074706
+128,2.133333333,pose1_to_pose2_press,0.576597825802,0.0100908715941,1.05003251831,0.547168276256,0.0187626072037,1.04970064574
+129,2.150000000,pose1_to_pose2_press,0.576753142303,0.0100908732281,1.05003230057,0.547323592625,0.0187626086952,1.04970043592
+130,2.166666667,pose1_to_pose2_press,0.576926175224,0.0100906548488,1.05003227953,0.547496629221,0.0187624027296,1.04970041336
+131,2.183333333,pose1_to_pose2_press,0.577117379389,0.0100907151236,1.05003242009,0.547687832724,0.0187624606232,1.04970055036
+132,2.200000000,pose1_to_pose2_press,0.577329479296,0.010090842384,1.05003200055,0.547899929154,0.0187625762902,1.04970013607
+133,2.216666667,pose1_to_pose2_press,0.577559938643,0.0100907776388,1.05003216603,0.548130391391,0.0187625218273,1.04970031396
+134,2.233333333,pose1_to_pose2_press,0.577808080972,0.0100907232785,1.05003222215,0.548378532109,0.018762461545,1.04970035816
+135,2.250000000,pose1_to_pose2_press,0.578070584652,0.0100908238023,1.05003232099,0.548641035896,0.0187625623734,1.04970045539
+136,2.266666667,pose1_to_pose2_press,0.578347206316,0.0100909198393,1.05003241463,0.548917656162,0.018762653865,1.04970055419
+137,2.283333333,pose1_to_pose2_press,0.578640951042,0.0100908839161,1.05003231303,0.54921140149,0.0187626198574,1.04970044916
+138,2.300000000,pose1_to_pose2_press,0.578953954146,0.0100907723988,1.05003228804,0.54952440618,0.0187625136492,1.04970042222
+139,2.316666667,pose1_to_pose2_press,0.579295906203,0.0100907494945,1.05003234018,0.549866357758,0.0187624891918,1.0497004762
+140,2.333333333,pose1_to_pose2_press,0.579669002085,0.0100907983453,1.05003233774,0.550239452661,0.0187625346864,1.04970047278
+141,2.350000000,pose1_to_pose2_press,0.580076474127,0.0100908266908,1.05003230598,0.550646925573,0.0187625659896,1.04970044111
+142,2.366666667,pose1_to_pose2_press,0.580511545709,0.0100909511697,1.05003227527,0.551081995524,0.0187626850835,1.04970041424
+143,2.383333333,pose1_to_pose2_press,0.580970527236,0.0100908353726,1.05003244479,0.551540978302,0.0187625732733,1.04970057693
+144,2.400000000,pose1_to_pose2_press,0.581438527598,0.010090754371,1.05003231223,0.552008977794,0.0187624892797,1.04970044337
+145,2.416666667,pose1_to_pose2_press,0.581916365973,0.0100906966299,1.05003214694,0.552486819212,0.0187624420629,1.04970028313
+146,2.433333333,pose1_to_pose2_press,0.582409975482,0.0100907118398,1.05003251916,0.552980428791,0.0187624569422,1.04970064041
+147,2.450000000,pose1_to_pose2_press,0.582923832562,0.0100906972281,1.05003236452,0.553494284359,0.0187624375799,1.0497004957
+148,2.466666667,pose1_to_pose2_press,0.583461496876,0.0100908025601,1.05003236286,0.554031949583,0.0187625460047,1.04970049405
+149,2.483333333,pose1_to_pose2_press,0.584027482813,0.0100909032983,1.05003219868,0.554597933327,0.0187626398181,1.04970034343
+150,2.500000000,pose1_to_pose2_press,0.584616211335,0.0100908120135,1.05003234764,0.555186661087,0.018762545259,1.04970047434
+151,2.516666667,pose1_to_pose2_press,0.585219795519,0.0100907340393,1.05003223643,0.555790248167,0.0187624776305,1.0497003766
+152,2.533333333,pose1_to_pose2_press,0.58583250122,0.0100908051845,1.05003227651,0.55640295209,0.018762542688,1.04970041517
+153,2.550000000,pose1_to_pose2_press,0.586451344094,0.0100908785997,1.05003243065,0.557021793984,0.0187626123688,1.04970055868
+154,2.566666667,pose1_to_pose2_press,0.587093897437,0.0100908326804,1.05003243967,0.557664349127,0.0187625725785,1.04970056826
+155,2.583333333,pose1_to_pose2_press,0.587765119248,0.0100907645153,1.05003235985,0.558335572136,0.0187625086199,1.04970049194
+156,2.600000000,pose1_to_pose2_press,0.588458092921,0.0100907827456,1.05003237039,0.559028545315,0.0187625250556,1.04970049946
+157,2.616666667,pose1_to_pose2_press,0.589172225933,0.0100907912363,1.05003239276,0.559742676697,0.0187625280607,1.04970052296
+158,2.633333333,pose1_to_pose2_press,0.589907065917,0.0100908264486,1.05003248613,0.560477517456,0.0187625659239,1.04970061688
+159,2.650000000,pose1_to_pose2_press,0.590645104497,0.0100907111176,1.05003240454,0.561215557643,0.0187624561837,1.0497005389
+160,2.666666667,pose1_to_pose2_press,0.591381052845,0.0100907501359,1.05003211766,0.561951503931,0.0187624881943,1.04970025163
+161,2.683333333,pose1_to_pose2_press,0.592118296462,0.010090753997,1.05003233792,0.562688746287,0.0187624878003,1.04970047249
+162,2.700000000,pose1_to_pose2_press,0.592856354082,0.0100906968763,1.0500323972,0.563426806634,0.0187624394531,1.0497005192
+163,2.716666667,pose1_to_pose2_press,0.59359280352,0.0100908990125,1.05003227786,0.564163252908,0.0187626310869,1.04970040601
+164,2.733333333,pose1_to_pose2_press,0.594341057331,0.010090747367,1.05003204711,0.56491150882,0.0187624868764,1.04970018325
+165,2.750000000,pose1_to_pose2_press,0.595120149377,0.0100907825283,1.05003228064,0.565690601218,0.0187625231662,1.04970041507
+166,2.766666667,pose1_to_pose2_press,0.595919764741,0.0100907757772,1.05003239136,0.566490216542,0.0187625162551,1.04970052522
+167,2.783333333,pose1_to_pose2_press,0.596735429519,0.0100906818597,1.05003233843,0.56730588298,0.0187624279916,1.04970047281
+168,2.800000000,pose1_to_pose2_press,0.59756377412,0.010090766036,1.05003221638,0.568134226585,0.0187625087765,1.04970035047
+169,2.816666667,pose1_to_pose2_press,0.598388735576,0.0100908930392,1.05003214488,0.568959185369,0.0187626268686,1.04970028314
+170,2.833333333,pose1_to_pose2_press,0.599186027897,0.0100908702406,1.05003225973,0.569756477258,0.0187626025845,1.04970039756
+171,2.850000000,pose1_to_pose2_press,0.599966268601,0.0100907184304,1.05003226398,0.57053671965,0.0187624563154,1.04970039696
+172,2.866666667,pose1_to_pose2_press,0.600733549025,0.0100905872741,1.05003213583,0.571304001899,0.0187623313653,1.04970026919
+173,2.883333333,pose1_to_pose2_press,0.601500547539,0.0100907335364,1.05003227099,0.572070998796,0.0187624719576,1.04970039965
+174,2.900000000,pose1_to_pose2_press,0.602271009359,0.0100907774705,1.05003235777,0.572841460805,0.0187625166359,1.0497004892
+175,2.916666667,pose1_to_pose2_press,0.603048756677,0.010090997033,1.05003238948,0.573619204502,0.0187627235709,1.04970051207
+176,2.933333333,pose1_to_pose2_press,0.603831023485,0.0100907992778,1.05003237768,0.574401475949,0.018762541738,1.04970050504
+177,2.950000000,pose1_to_pose2_press,0.604611366107,0.0100907470379,1.05003239363,0.575181817918,0.0187624871521,1.04970051776
+178,2.966666667,pose1_to_pose2_press,0.605379512398,0.0100907352297,1.05003236077,0.575949963506,0.0187624732096,1.0497004914
+179,2.983333333,pose1_to_pose2_press,0.606132265168,0.0100907446419,1.05003222539,0.576702717712,0.0187624878078,1.04970036437
+180,3.000000000,pose1_to_pose2_press,0.606862195666,0.0100908136947,1.05003219543,0.577432647499,0.0187625545657,1.04970033752
+181,3.016666667,pose1_to_pose2_press,0.607571129562,0.0100906905019,1.05003223259,0.578141581915,0.0187624328051,1.04970036612
+182,3.033333333,pose1_to_pose2_press,0.608260083669,0.0100906982577,1.05003231909,0.578830536052,0.0187624405204,1.04970044898
+183,3.050000000,pose1_to_pose2_press,0.608935519928,0.0100907442758,1.05003229358,0.579505972727,0.0187624881038,1.04970042755
+184,3.066666667,pose1_to_pose2_press,0.609603524534,0.0100908114975,1.05003232754,0.580173976718,0.0187625533031,1.0497004633
+185,3.083333333,pose1_to_pose2_press,0.610267283218,0.010090875652,1.05003243111,0.580837734464,0.018762614181,1.04970056453
+186,3.100000000,pose1_to_pose2_press,0.610927406436,0.0100907845674,1.05003230834,0.581497859193,0.01876252823,1.04970044203
+187,3.116666667,pose1_to_pose2_press,0.611563890474,0.010090741309,1.05003224996,0.582134343092,0.018762484604,1.04970038643
+188,3.133333333,pose1_to_pose2_press,0.612171209174,0.010090704018,1.05003231441,0.582741662038,0.0187624483641,1.04970045667
+189,3.150000000,pose1_to_pose2_press,0.612741433479,0.0100907222847,1.05003234201,0.583311886529,0.0187624670548,1.04970047889
+190,3.166666667,pose1_to_pose2_press,0.613279854779,0.0100906898718,1.05003250194,0.583850306396,0.0187624294781,1.04970063045
+191,3.183333333,pose1_to_pose2_press,0.613788521256,0.0100908056782,1.05003249265,0.584358971671,0.0187625412074,1.04970061933
+192,3.200000000,pose1_to_pose2_press,0.614293192795,0.0100907529178,1.05003240016,0.584863643659,0.018762490015,1.049700526
+193,3.216666667,pose1_to_pose2_press,0.614793261505,0.0100908262818,1.05003225104,0.585363712396,0.0187625639447,1.04970038707
+194,3.233333333,pose1_to_pose2_press,0.615275301461,0.010090877286,1.05003228048,0.585845751772,0.0187626131561,1.04970041803
+195,3.250000000,pose1_to_pose2_press,0.615735050425,0.0100908141391,1.05003240471,0.586305501597,0.0187625529835,1.04970053907
+196,3.266666667,pose1_to_pose2_press,0.616166838706,0.0100906915684,1.05003237585,0.586737291002,0.0187624343441,1.0497005074
+197,3.283333333,pose1_to_pose2_press,0.616571200287,0.0100906950223,1.05003220747,0.587141651777,0.018762435235,1.0497003377
+198,3.300000000,pose1_to_pose2_press,0.616949947021,0.010090874891,1.05003217622,0.587520397169,0.0187626108997,1.04970030985
+199,3.316666667,pose1_to_pose2_press,0.617319137739,0.0100906918499,1.05003247399,0.587889590022,0.0187624352252,1.04970060262
+200,3.333333333,pose1_to_pose2_press,0.617678974269,0.010090858189,1.05003220221,0.588249423851,0.0187625929444,1.04970034146
+201,3.350000000,pose1_to_pose2_press,0.618026502413,0.0100908674239,1.05003220771,0.588596952584,0.0187626043236,1.04970034495
+202,3.366666667,pose1_to_pose2_press,0.618355449903,0.0100906376196,1.05003220991,0.588925902483,0.0187623828901,1.04970034737
+203,3.383333333,pose1_to_pose2_press,0.618659931447,0.0100908123754,1.05003221731,0.589230381102,0.0187625478692,1.04970035248
+204,3.400000000,pose1_to_pose2_press,0.618934260591,0.0100908287495,1.05003241059,0.589504710572,0.0187625654582,1.04970054351
+205,3.416666667,pose1_to_pose2_press,0.619178796931,0.0100908919479,1.0500323814,0.58974924696,0.0187626290867,1.04970051632
+206,3.433333333,pose1_to_pose2_press,0.619399714992,0.0100908218539,1.05003222935,0.589970166415,0.0187625637882,1.04970036246
+207,3.450000000,pose1_to_pose2_press,0.619602209514,0.0100907320364,1.05003210916,0.590172661503,0.0187624760446,1.04970024321
+208,3.466666667,pose1_to_pose2_press,0.619790125432,0.0100907783123,1.05003210315,0.590360575351,0.0187625156761,1.04970024331
+209,3.483333333,pose1_to_pose2_press,0.61996696025,0.0100907808322,1.05003222765,0.590537409827,0.0187625168448,1.04970035965
+210,3.500000000,pose1_to_pose2_press,0.620132657226,0.0100907028154,1.05003220687,0.590703109597,0.0187624486664,1.04970034641
+211,3.516666667,pose1_to_pose2_press,0.62028450967,0.0100908942956,1.05003233312,0.590854959605,0.0187626317356,1.04970046591
+212,3.533333333,pose1_to_pose2_press,0.620422111184,0.0100908085023,1.05003248418,0.590992561697,0.0187625475907,1.04970060901
+213,3.550000000,pose1_to_pose2_press,0.620544440896,0.0100907068723,1.05003239241,0.591114891601,0.0187624469341,1.0497005216
+214,3.566666667,pose1_to_pose2_press,0.620653140843,0.0100906931032,1.05003211644,0.591223591255,0.0187624323257,1.04970024765
+215,3.583333333,pose1_to_pose2_press,0.620748074632,0.010090744739,1.05003212411,0.591318525221,0.0187624848179,1.04970025902
+216,3.600000000,pose1_to_pose2_press,0.620831210981,0.010090761162,1.05003222012,0.591401661978,0.0187625027362,1.04970035719
+217,3.616666667,pose1_to_pose2_press,0.620902689837,0.0100907745275,1.05003217254,0.591473141681,0.0187625192327,1.0497003089
+218,3.633333333,pose1_to_pose2_press,0.620962579264,0.0100908438184,1.05003220147,0.591533030448,0.0187625864156,1.04970033591
+219,3.650000000,pose1_to_pose2_press,0.621012069639,0.0100908410869,1.05003236966,0.591582519044,0.0187625771808,1.04970049988
+220,3.666666667,pose1_to_pose2_press,0.621051849133,0.0100906842996,1.05003238731,0.59162230096,0.0187624285865,1.04970051495
+221,3.683333333,pose1_to_pose2_press,0.621084034245,0.0100908404761,1.05003245993,0.591654485555,0.0187625829035,1.04970059303
+222,3.700000000,pose1_to_pose2_press,0.62110889658,0.0100908483629,1.05003236532,0.591679346365,0.0187625856683,1.04970049852
+223,3.716666667,pose1_to_pose2_press,0.621128231436,0.010090793885,1.05003248535,0.591698682048,0.0187625341252,1.04970061819
+224,3.733333333,pose1_to_pose2_press,0.621142701265,0.0100907580729,1.05003251765,0.591713152826,0.0187625016587,1.04970065122
+225,3.750000000,pose1_to_pose2_press,0.621153857022,0.0100907679399,1.05003234811,0.591724308697,0.0187625120075,1.0497004839
+226,3.766666667,pose1_to_pose2_press,0.621162141414,0.010090774331,1.05003219719,0.591732591668,0.0187625133422,1.04970032941
+227,3.783333333,pose1_to_pose2_press,0.621168098687,0.0100907866027,1.05003216112,0.591738547875,0.0187625219262,1.0497002922
+228,3.800000000,pose1_to_pose2_press,0.6211723544,0.0100908103694,1.05003227933,0.591742802966,0.0187625437657,1.04970041317
+229,3.816666667,pose1_to_pose2_press,0.621174982511,0.0100908154956,1.05003232616,0.591745430933,0.0187625485219,1.04970046185
+230,3.833333333,pose1_to_pose2_press,0.621176421567,0.0100907943761,1.05003228624,0.591746870513,0.0187625292547,1.04970042332
+231,3.850000000,pose1_to_pose2_press,0.62117703661,0.0100907853498,1.05003226917,0.59174748578,0.01876252102,1.04970040685
+232,3.866666667,pose1_to_pose2_press,0.621177202001,0.0100907829225,1.05003226459,0.591747651232,0.0187625188056,1.04970040242
+233,3.883333333,pose1_to_pose2_press,0.621177278496,0.0100907817999,1.05003226246,0.591747727754,0.0187625177814,1.04970040038
+234,3.900000000,pose1_to_pose2_press,0.621177419023,0.0100907797375,1.05003225856,0.591747868333,0.0187625158999,1.04970039661
+235,3.916666667,pose1_to_pose2_press,0.62117778349,0.0100907743886,1.05003224845,0.591748232932,0.0187625110202,1.04970038686
+236,3.933333333,pose1_to_pose2_press,0.621178441679,0.010090764729,1.05003223019,0.591748891361,0.0187625022078,1.04970036923
+237,3.950000000,pose1_to_pose2_press,0.621179049079,0.0100907558149,1.05003221334,0.591749498983,0.0187624940755,1.04970035297
+238,3.966666667,pose1_to_pose2_press,0.621179661069,0.0100907565585,1.05003220561,0.591750111201,0.0187624955851,1.04970034476
+239,3.983333333,pose1_to_pose2_press,0.621180328364,0.010090774331,1.05003221331,0.591750778756,0.0187625141548,1.04970035005
+240,4.000000000,pose1_to_pose2_press,0.621180671685,0.0100907834749,1.05003221727,0.591751122212,0.0187625237088,1.04970035278
+241,4.016666667,pose1_to_pose2_press,0.621180809341,0.0100907871411,1.05003221886,0.591751259921,0.0187625275396,1.04970035387
+242,4.033333333,pose1_to_pose2_press,0.621180975563,0.0100907915682,1.05003222078,0.591751426208,0.0187625321653,1.04970035519
+243,4.050000000,pose1_to_pose2_press,0.62118143434,0.0100908037871,1.05003222607,0.591751885163,0.0187625449322,1.04970035883
+244,4.066666667,pose1_to_pose2_press,0.621181467155,0.0100908046611,1.05003222645,0.591751917991,0.0187625458454,1.04970035909
+245,4.083333333,pose1_to_pose2_press,0.621181598541,0.0100908081603,1.05003222797,0.591752049429,0.0187625495016,1.04970036014
+246,4.100000000,pose1_to_pose2_press,0.621181843021,0.0100908146717,1.05003223079,0.591752294004,0.0187625563051,1.04970036208
+247,4.116666667,pose1_to_pose2_press,0.621181928291,0.0100908169428,1.05003223177,0.591752379308,0.018762558678,1.04970036276
+248,4.133333333,pose1_to_pose2_press,0.621182405434,0.0100908203975,1.05003223754,0.591752856644,0.0187625627282,1.04970036692
+249,4.150000000,pose1_to_pose2_press,0.621182679405,0.010090785504,1.05003224187,0.591753130757,0.0187625282774,1.04970037079
+250,4.166666667,pose1_to_pose2_press,0.621183326228,0.010090703123,1.0500322521,0.591753777915,0.0187624469417,1.04970037995
+251,4.183333333,pose1_to_pose2_press,0.62118374238,0.010090687191,1.05003223503,0.591754193797,0.0187624300998,1.0497003635
+252,4.200000000,pose1_to_pose2_press,0.62118400405,0.010090826368,1.05003212912,0.591754453345,0.0187625623361,1.04970026325
+253,4.216666667,pose1_to_pose2_press,0.62118422441,0.0100908073819,1.05003210725,0.591754674365,0.018762545571,1.04970024033
+254,4.233333333,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455699,1.04970024033
+255,4.250000000,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455691,1.04970024033
+256,4.266666667,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674367,0.0187625455705,1.04970024033
+257,4.283333333,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455692,1.04970024033
+258,4.300000000,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455709,1.04970024033
+259,4.316666667,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455704,1.04970024033
+260,4.333333333,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455702,1.04970024033
+261,4.350000000,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455695,1.04970024033
+262,4.366666667,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674367,0.0187625455696,1.04970024033
+263,4.383333333,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455695,1.04970024033
+264,4.400000000,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455695,1.04970024033
+265,4.416666667,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455694,1.04970024033
+266,4.433333333,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674367,0.0187625455696,1.04970024033
+267,4.450000000,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674367,0.0187625455694,1.04970024033
+268,4.466666667,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455692,1.04970024033
+269,4.483333333,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455695,1.04970024033
+270,4.500000000,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674367,0.0187625455689,1.04970024033
+271,4.516666667,pose2_hold,0.62118422441,0.0100908073819,1.05003210725,0.591754674366,0.0187625455694,1.04970024033
+272,4.533333333,pose2_to_pose3_retreat,0.62118422441,0.0100908073819,1.05003210725,0.591754674367,0.0187625455687,1.04970024033
+273,4.550000000,pose2_to_pose3_retreat,0.621184183947,0.0100908699893,1.05003222556,0.59175463296,0.0187626046801,1.04970035089
+274,4.566666667,pose2_to_pose3_retreat,0.621184149508,0.0100908723948,1.05003225211,0.591754598408,0.0187626066456,1.049700376
+275,4.583333333,pose2_to_pose3_retreat,0.621184097828,0.0100908077147,1.05003219247,0.591754547483,0.0187625447087,1.04970032111
+276,4.600000000,pose2_to_pose3_retreat,0.621184070118,0.0100907730344,1.0500321605,0.591754520178,0.0187625114992,1.04970029168
+277,4.616666667,pose2_to_pose3_retreat,0.621184031311,0.0100907244656,1.05003211571,0.591754481938,0.0187624649903,1.04970025046
+278,4.633333333,pose2_to_pose3_retreat,0.621183458002,0.0100906566311,1.05003220981,0.591753909462,0.0187623999963,1.04970034491
+279,4.650000000,pose2_to_pose3_retreat,0.621181590051,0.0100906977185,1.05003228318,0.591752041202,0.018762440011,1.0497004174
+280,4.666666667,pose2_to_pose3_retreat,0.621176880272,0.0100908320253,1.05003229263,0.591747329863,0.0187625691608,1.04970042934
+281,4.683333333,pose2_to_pose3_retreat,0.621166486628,0.010090709054,1.05003225762,0.591736937244,0.0187624492281,1.04970038653
+282,4.700000000,pose2_to_pose3_retreat,0.621148727322,0.0100908338209,1.05003239316,0.59171917879,0.0187625770341,1.04970052708
+283,4.716666667,pose2_to_pose3_retreat,0.621120360769,0.0100908254228,1.05003239085,0.591690810974,0.0187625641988,1.04970052244
+284,4.733333333,pose2_to_pose3_retreat,0.621081829122,0.0100907506024,1.05003213421,0.591652281634,0.0187624970252,1.0497002631
+285,4.750000000,pose2_to_pose3_retreat,0.621033023357,0.0100908343202,1.05003245491,0.591603473929,0.0187625741533,1.04970058437
+286,4.766666667,pose2_to_pose3_retreat,0.620974971864,0.0100908894135,1.05003225158,0.591545421818,0.0187626279394,1.0497003879
+287,4.783333333,pose2_to_pose3_retreat,0.62090755571,0.0100908863689,1.0500323219,0.591478004775,0.0187626217632,1.04970045486
+288,4.800000000,pose2_to_pose3_retreat,0.620830589806,0.0100907992191,1.05003224127,0.591401040726,0.0187625411881,1.04970038137
+289,4.816666667,pose2_to_pose3_retreat,0.620743243912,0.0100908878174,1.05003251008,0.591313693974,0.0187626255546,1.04970063276
+290,4.833333333,pose2_to_pose3_retreat,0.620641239631,0.010090736158,1.05003245431,0.591211689246,0.0187624727365,1.04970058768
+291,4.850000000,pose2_to_pose3_retreat,0.620524965802,0.010090964119,1.0500323928,0.591095412573,0.018762690632,1.04970051819
+292,4.866666667,pose2_to_pose3_retreat,0.620391667855,0.010090775319,1.05003220446,0.590962119193,0.0187625178124,1.04970034696
+293,4.883333333,pose2_to_pose3_retreat,0.620242130631,0.0100906346031,1.05003242632,0.590812584285,0.0187623844215,1.04970055772
+294,4.900000000,pose2_to_pose3_retreat,0.620075377846,0.0100906907924,1.05003229426,0.590645831001,0.0187624389237,1.04970042947
+295,4.916666667,pose2_to_pose3_retreat,0.6198923091,0.0100907466931,1.05003231134,0.590462760735,0.0187624895767,1.0497004441
+296,4.933333333,pose2_to_pose3_retreat,0.619693044699,0.0100908356842,1.05003233849,0.590263495889,0.0187625770784,1.04970047527
+297,4.950000000,pose2_to_pose3_retreat,0.619476615537,0.0100908776994,1.05003238815,0.590047066646,0.0187626185796,1.04970052538
+298,4.966666667,pose2_to_pose3_retreat,0.619243675394,0.0100908105189,1.05003246013,0.589814126567,0.0187625511069,1.04970058879
+299,4.983333333,pose2_to_pose3_retreat,0.618992710639,0.0100907455696,1.0500323428,0.589563162878,0.0187624897329,1.04970047339
+300,5.000000000,pose2_to_pose3_retreat,0.618723857037,0.0100907596363,1.05003223079,0.58929430853,0.0187625012759,1.04970036716
+301,5.016666667,pose2_to_pose3_retreat,0.618436585961,0.0100907952856,1.05003248767,0.589007037421,0.0187625363381,1.04970061428
+302,5.033333333,pose2_to_pose3_retreat,0.61812685571,0.0100907367066,1.05003240883,0.588697307173,0.0187624775332,1.04970053403
+303,5.050000000,pose2_to_pose3_retreat,0.617793161968,0.0100908094296,1.05003251043,0.588363613148,0.01876254935,1.04970064258
+304,5.066666667,pose2_to_pose3_retreat,0.617428261201,0.010090787164,1.05003237805,0.587998713111,0.018762529448,1.04970051346
+305,5.083333333,pose2_to_pose3_retreat,0.6170349046,0.0100907830522,1.0500322099,0.587605356126,0.0187625239057,1.04970034747
+306,5.100000000,pose2_to_pose3_retreat,0.616613137056,0.0100907766583,1.05003225872,0.587183588982,0.0187625186273,1.04970039637
+307,5.116666667,pose2_to_pose3_retreat,0.616173569914,0.0100906810547,1.05003230908,0.586744023496,0.0187624281809,1.04970044238
+308,5.133333333,pose2_to_pose3_retreat,0.61572056295,0.0100907522995,1.05003228594,0.586291014302,0.0187624915981,1.04970041906
+309,5.150000000,pose2_to_pose3_retreat,0.615258895526,0.0100909919179,1.05003243561,0.585829344717,0.0187627237864,1.04970057156
+310,5.166666667,pose2_to_pose3_retreat,0.614783276614,0.0100907356058,1.05003219143,0.585353730171,0.0187624824755,1.04970033717
+311,5.183333333,pose2_to_pose3_retreat,0.614283117195,0.0100907345316,1.05003222439,0.584853569294,0.0187624759125,1.04970035837
+312,5.200000000,pose2_to_pose3_retreat,0.61375300094,0.0100907756594,1.05003243928,0.584323452499,0.0187625147468,1.04970056273
+313,5.216666667,pose2_to_pose3_retreat,0.61319095084,0.0100908113552,1.05003243598,0.583761402052,0.0187625493416,1.04970056036
+314,5.233333333,pose2_to_pose3_retreat,0.612603428354,0.010090741023,1.05003241578,0.583173880935,0.0187624839712,1.04970054776
+315,5.250000000,pose2_to_pose3_retreat,0.611998362233,0.0100906953376,1.05003245985,0.582568815717,0.0187624415169,1.0497005957
+316,5.266666667,pose2_to_pose3_retreat,0.61138915379,0.0100908124978,1.05003239637,0.581959605397,0.0187625522568,1.04970053027
+317,5.283333333,pose2_to_pose3_retreat,0.610765200105,0.0100909087641,1.05003219995,0.581335650063,0.0187626428846,1.04970033328
+318,5.300000000,pose2_to_pose3_retreat,0.610113684227,0.0100906245908,1.05003208213,0.58068413794,0.0187623717459,1.04970022345
+319,5.316666667,pose2_to_pose3_retreat,0.609432780648,0.0100908578183,1.05003218407,0.580003232907,0.0187626001239,1.04970032899
+320,5.333333333,pose2_to_pose3_retreat,0.608722172291,0.0100906775053,1.05003222951,0.579292625126,0.0187624213469,1.04970036303
+321,5.350000000,pose2_to_pose3_retreat,0.607989851344,0.0100907760711,1.05003244353,0.578560302477,0.018762513923,1.04970057133
+322,5.366666667,pose2_to_pose3_retreat,0.607246957088,0.0100908587506,1.05003250729,0.577817408489,0.0187625973974,1.04970063301
+323,5.383333333,pose2_to_pose3_retreat,0.606501050944,0.0100908586269,1.05003244021,0.577071501752,0.0187625951484,1.04970056277
+324,5.400000000,pose2_to_pose3_retreat,0.605751046017,0.0100908047457,1.05003240387,0.576321497506,0.0187625435441,1.0497005253
+325,5.416666667,pose2_to_pose3_retreat,0.604995677601,0.0100908425327,1.05003239814,0.575566128244,0.0187625785134,1.0497005209
+326,5.433333333,pose2_to_pose3_retreat,0.604223958016,0.0100908790396,1.05003238431,0.574794407744,0.0187626120546,1.04970051093
+327,5.450000000,pose2_to_pose3_retreat,0.603437565528,0.010090784793,1.05003239798,0.574008016808,0.01876252324,1.04970052938
+328,5.466666667,pose2_to_pose3_retreat,0.602634410041,0.0100907384766,1.05003238309,0.573204861997,0.0187624793409,1.04970051795
+329,5.483333333,pose2_to_pose3_retreat,0.601819669171,0.010090825951,1.05003209926,0.572390121765,0.0187625693681,1.04970024247
+330,5.500000000,pose2_to_pose3_retreat,0.600999734163,0.010090796629,1.05003229928,0.571570186698,0.0187625400619,1.04970044653
+331,5.516666667,pose2_to_pose3_retreat,0.600174870537,0.0100908237806,1.0500325146,0.570745320461,0.0187625572919,1.04970063583
+332,5.533333333,pose2_to_pose3_retreat,0.599346401047,0.0100907812087,1.05003203359,0.569916852668,0.0187625209286,1.04970016653
+333,5.550000000,pose2_to_pose3_retreat,0.598527721129,0.010090833964,1.05003228743,0.569098172465,0.0187625726319,1.04970041984
+334,5.566666667,pose2_to_pose3_retreat,0.597717468912,0.0100909049111,1.05003220413,0.568287919018,0.0187626392144,1.04970033172
+335,5.583333333,pose2_to_pose3_retreat,0.596917249435,0.0100908443053,1.05003219736,0.567487700299,0.0187625813953,1.04970032922
+336,5.600000000,pose2_to_pose3_retreat,0.596117745047,0.0100907847725,1.05003221825,0.566688197162,0.0187625263409,1.04970035544
+337,5.616666667,pose2_to_pose3_retreat,0.595310007784,0.0100907873986,1.0500322194,0.565880460183,0.0187625298732,1.04970035494
+338,5.633333333,pose2_to_pose3_retreat,0.594495106967,0.010090800098,1.05003227682,0.565065558493,0.0187625394285,1.04970040821
+339,5.650000000,pose2_to_pose3_retreat,0.593673938272,0.0100907889198,1.05003231396,0.564244388784,0.0187625248922,1.04970044785
+340,5.666666667,pose2_to_pose3_retreat,0.592863198507,0.0100907321679,1.05003217687,0.563433650324,0.0187624728233,1.04970031576
+341,5.683333333,pose2_to_pose3_retreat,0.592072909411,0.0100906035583,1.05003206997,0.562643364651,0.0187623557616,1.04970020856
+342,5.700000000,pose2_to_pose3_retreat,0.591311871061,0.0100906157192,1.05003197019,0.561882324953,0.0187623634318,1.04970011
+343,5.716666667,pose2_to_pose3_retreat,0.590573872065,0.0100907446186,1.05003219057,0.561144323896,0.0187624852464,1.04970032791
+344,5.733333333,pose2_to_pose3_retreat,0.589855656946,0.0100907290003,1.05003239066,0.560426108864,0.0187624700372,1.04970053086
+345,5.750000000,pose2_to_pose3_retreat,0.589138080077,0.0100908064509,1.05003236088,0.559708531364,0.0187625453387,1.04970050087
+346,5.766666667,pose2_to_pose3_retreat,0.588421943714,0.010090914799,1.0500323797,0.558992393917,0.0187626495223,1.04970050703
+347,5.783333333,pose2_to_pose3_retreat,0.587707050361,0.0100909088322,1.05003238419,0.558277500406,0.0187626429381,1.04970051001
+348,5.800000000,pose2_to_pose3_retreat,0.587001025776,0.0100908691794,1.05003235813,0.557571475686,0.0187626030166,1.0497004884
+349,5.816666667,pose2_to_pose3_retreat,0.586311617843,0.0100908711818,1.05003230815,0.556882067517,0.0187626043016,1.04970044001
+350,5.833333333,pose2_to_pose3_retreat,0.585647644363,0.0100908386603,1.05003222177,0.556218095228,0.0187625759623,1.04970035809
+351,5.850000000,pose2_to_pose3_retreat,0.585013428302,0.0100907946489,1.0500322535,0.555583880547,0.0187625363675,1.04970038161
+352,5.866666667,pose2_to_pose3_retreat,0.584413586127,0.0100907126622,1.05003228916,0.554984038798,0.0187624558593,1.04970041779
+353,5.883333333,pose2_to_pose3_retreat,0.583841759969,0.0100908786504,1.05003258662,0.554412210834,0.018762615866,1.04970071938
+354,5.900000000,pose2_to_pose3_retreat,0.583291167619,0.0100907127959,1.0500324863,0.553861621808,0.0187624613622,1.04970062055
+355,5.916666667,pose2_to_pose3_retreat,0.582752799153,0.0100907896797,1.05003230427,0.55332325032,0.0187625278849,1.04970043592
+356,5.933333333,pose2_to_pose3_retreat,0.582225007229,0.0100907531862,1.05003231153,0.552795458577,0.0187624920521,1.04970044417
+357,5.950000000,pose2_to_pose3_retreat,0.581714478027,0.0100907152236,1.05003228778,0.552284930781,0.0187624588875,1.04970042123
+358,5.966666667,pose2_to_pose3_retreat,0.581224083054,0.0100907072274,1.05003236902,0.551794535772,0.0187624505782,1.04970049757
+359,5.983333333,pose2_to_pose3_retreat,0.58076010553,0.0100906860346,1.05003245909,0.551330558543,0.0187624302749,1.0497005854
+360,6.000000000,pose2_to_pose3_retreat,0.580320198177,0.0100906609085,1.05003229549,0.550890652315,0.0187624091478,1.04970042734
+361,6.016666667,pose2_to_pose3_retreat,0.579903428202,0.0100906407333,1.05003215808,0.550473881676,0.0187623868385,1.04970029233
+362,6.033333333,pose2_to_pose3_retreat,0.579503303924,0.0100906696098,1.05003234003,0.550073757532,0.0187624163054,1.04970047727
+363,6.050000000,pose2_to_pose3_retreat,0.579118541603,0.0100906831733,1.0500323271,0.549688995007,0.0187624291621,1.04970046385
+364,6.066666667,pose2_to_pose3_retreat,0.578759714151,0.0100907476617,1.05003222712,0.549330167361,0.0187624928884,1.0497003612
+365,6.083333333,pose2_to_pose3_retreat,0.578427778062,0.0100908021077,1.05003260335,0.548998228675,0.0187625380897,1.04970072612
+366,6.100000000,pose2_to_pose3_retreat,0.578126272373,0.0100907728045,1.05003250206,0.54869672497,0.0187625158826,1.04970063438
+367,6.116666667,pose2_to_pose3_retreat,0.577854548515,0.0100906313926,1.05003237876,0.548425002282,0.0187623785144,1.04970051309
+368,6.133333333,pose2_to_pose3_retreat,0.57761360673,0.010090633854,1.05003230408,0.548184060806,0.0187623817722,1.04970043206
+369,6.150000000,pose2_to_pose3_retreat,0.577388383077,0.0100907642558,1.050032246,0.547958835661,0.018762507179,1.04970037581
+370,6.166666667,pose2_to_pose3_retreat,0.577177238777,0.0100908490186,1.05003220724,0.547747689256,0.0187625851411,1.04970034584
+371,6.183333333,pose2_to_pose3_retreat,0.57697941584,0.0100907487928,1.0500322417,0.547549866706,0.0187624859882,1.04970037397
+372,6.200000000,pose2_to_pose3_retreat,0.576794651074,0.0100908985637,1.0500323639,0.547365100482,0.0187626306826,1.04970049288
+373,6.216666667,pose2_to_pose3_retreat,0.576625204668,0.0100908869338,1.05003246005,0.547195654264,0.0187626198321,1.04970059287
+374,6.233333333,pose2_to_pose3_retreat,0.576472967143,0.0100907448821,1.05003236994,0.547043419609,0.0187624874634,1.0497005012
+375,6.250000000,pose2_to_pose3_retreat,0.576339294118,0.0100907512178,1.05003243361,0.54690974748,0.0187624970129,1.04970056947
+376,6.266666667,pose2_to_pose3_retreat,0.576224168793,0.01009077229,1.05003247885,0.546794622365,0.0187625186108,1.04970060984
+377,6.283333333,pose2_to_pose3_retreat,0.576125781871,0.0100907179788,1.05003240018,0.546696234532,0.0187624612114,1.04970053179
+378,6.300000000,pose2_to_pose3_retreat,0.576040887394,0.0100907937172,1.05003222267,0.546611337668,0.018762529027,1.04970035924
+379,6.316666667,pose2_to_pose3_retreat,0.575967105534,0.0100908971862,1.05003221757,0.546537554658,0.0187626285517,1.04970035298
+380,6.333333333,pose2_to_pose3_retreat,0.575903712648,0.0100908107841,1.05003244593,0.54647416398,0.0187625493559,1.04970057378
+381,6.350000000,pose2_to_pose3_retreat,0.575848722141,0.0100907950678,1.05003220913,0.546419174304,0.0187625368039,1.04970034589
+382,6.366666667,pose2_to_pose3_retreat,0.575801909504,0.0100908365856,1.05003211348,0.546372359688,0.0187625714676,1.04970024664
+383,6.383333333,pose2_to_pose3_retreat,0.57576402679,0.0100907873968,1.05003224165,0.546334477713,0.0187625247249,1.04970037319
+384,6.400000000,pose2_to_pose3_retreat,0.575734423555,0.0100907136342,1.05003225931,0.546304875008,0.0187624525208,1.04970038463
+385,6.416666667,pose2_to_pose3_retreat,0.575713235302,0.0100907739748,1.05003222174,0.546283688402,0.0187625188253,1.04970035697
+386,6.433333333,pose2_to_pose3_retreat,0.575697922035,0.0100907642875,1.05003236292,0.546268374772,0.018762507962,1.04970049965
+387,6.450000000,pose2_to_pose3_retreat,0.575687492715,0.0100907519177,1.05003238857,0.546257944684,0.0187624928762,1.04970052268
+388,6.466666667,pose2_to_pose3_retreat,0.575680053591,0.0100907651329,1.05003224311,0.546250505097,0.0187625043923,1.04970037405
+389,6.483333333,pose2_to_pose3_retreat,0.575675078197,0.0100907914023,1.05003207201,0.546245530284,0.0187625328355,1.04970020772
+390,6.500000000,pose2_to_pose3_retreat,0.575671435969,0.0100908131267,1.05003202799,0.546241888347,0.0187625556211,1.04970016535
+391,6.516666667,pose2_to_pose3_retreat,0.575669193623,0.0100908299879,1.05003216219,0.546239645858,0.0187625718722,1.04970029653
+392,6.533333333,pose2_to_pose3_retreat,0.575668233308,0.0100908372089,1.05003221966,0.546238685481,0.0187625788319,1.04970035271
+393,6.550000000,pose2_to_pose3_retreat,0.575667749323,0.0100908362826,1.05003225709,0.546238201488,0.0187625778671,1.04970038976
+394,6.566666667,pose2_to_pose3_retreat,0.575667447498,0.0100908313597,1.05003228847,0.546237899681,0.0187625730089,1.04970042119
+395,6.583333333,pose2_to_pose3_retreat,0.575667207322,0.0100908274424,1.05003231344,0.54623765952,0.018762569143,1.04970044621
+396,6.600000000,pose2_to_pose3_retreat,0.575667037381,0.0100908246706,1.05003233112,0.54623748959,0.0187625664076,1.0497004639
+397,6.616666667,pose2_to_pose3_retreat,0.575666993907,0.0100908239615,1.05003233564,0.546237446118,0.0187625657079,1.04970046843
+398,6.633333333,pose2_to_pose3_retreat,0.575666902318,0.0100908224677,1.05003234516,0.546237354534,0.0187625642336,1.04970047797
+399,6.650000000,pose2_to_pose3_retreat,0.575666762773,0.0100908201917,1.05003235967,0.546237214998,0.0187625619875,1.0497004925
+400,6.666666667,pose2_to_pose3_retreat,0.57566655485,0.0100908168004,1.05003238129,0.546237007088,0.0187625586408,1.04970051415
+401,6.683333333,pose2_to_pose3_retreat,0.575666258785,0.0100908119715,1.05003241208,0.54623671104,0.0187625538753,1.04970054499
+402,6.700000000,pose2_to_pose3_retreat,0.575666217768,0.0100908113025,1.05003241634,0.546236670026,0.0187625532151,1.04970054926
+403,6.716666667,pose2_to_pose3_retreat,0.575666179551,0.0100908106791,1.05003242032,0.546236631812,0.0187625526,1.04970055324
+404,6.733333333,pose2_to_pose3_retreat,0.575666116734,0.0100908096546,1.05003242685,0.546236568998,0.0187625515889,1.04970055978
+405,6.750000000,pose2_to_pose3_retreat,0.575666050099,0.0100908085677,1.05003243378,0.546236502367,0.0187625505163,1.04970056672
+406,6.766666667,pose2_to_pose3_retreat,0.575665789999,0.0100908043254,1.05003246082,0.546236242283,0.0187625463297,1.0497005938
+407,6.783333333,pose2_to_pose3_retreat,0.575665582998,0.0100907843412,1.0500324751,0.546236035646,0.0187625275269,1.04970060667
+408,6.800000000,pose2_to_pose3_retreat,0.5756654622,0.0100907659768,1.05003248051,0.546235915203,0.0187625103107,1.04970061067
+409,6.816666667,pose2_to_pose3_retreat,0.575665247053,0.0100907332685,1.05003249015,0.546235700687,0.0187624796476,1.04970061779
+410,6.833333333,pose2_to_pose3_retreat,0.575665000097,0.0100906957246,1.05003250121,0.546235454455,0.0187624444512,1.04970062597
+411,6.850000000,pose2_to_pose3_retreat,0.575664878356,0.0100906772166,1.05003250666,0.546235333071,0.0187624271005,1.04970063
+412,6.866666667,pose2_to_pose3_retreat,0.575664768759,0.0100906605549,1.05003251157,0.546235223795,0.0187624114805,1.04970063363
+413,6.883333333,pose2_to_pose3_retreat,0.575664745305,0.0100906610511,1.05003250943,0.546235200339,0.0187624119622,1.04970063137
+414,6.900000000,pose2_to_pose3_retreat,0.57566457567,0.010090834196,1.05003236087,0.546235027692,0.0187625750897,1.04970048816
+415,6.916666667,pose2_to_pose3_retreat,0.575664410363,0.0100909696279,1.0500322292,0.546234860106,0.0187627029839,1.04970036156
+416,6.933333333,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae75917001854e0745daf4216a23de8c1cd35225
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c08cc5c7fddbcb45e9562dd95afa38bf5702a254be0ccfbd84530b871a077ce
+size 26599739
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00ed83551ca7a5a12fa409ec6dfda7a893c9c1cf
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,714,679,666,635,879,787,804,653,631,653,0.400972878654,0.00455853989919,0.0598499773093,0.99999994665,0.000203771860113,-0.00025459688723,1.89280046963e-05,1793239702675860480
+1,0.016666667,BASELINE,766,746,714,679.573658982,666,635,879.573658982,787,804,653,631,653,0.400973739797,0.00455846511644,0.0598503754345,0.999999946711,0.000203888073647,-0.000254252976029,1.90708992989e-05,1793239702692527872
+2,0.033333333,BASELINE,766,746,714,679.848842295,665.848842295,635,879.848842295,787.151157705,804,653,631,653,0.400974203973,0.00455825471206,0.0598505443982,0.999999946847,0.000203452774987,-0.000254059124474,1.91294586293e-05,1793239702709195264
+3,0.050000000,BASELINE,766,746,714,679.26023115,665.26023115,635,879.26023115,787.73976885,804,653,631,653,0.400973519319,0.0045576518159,0.0598500501638,0.999999947201,0.000201421388962,-0.000254299548476,1.89439500185e-05,1793239702725861632
+4,0.066666667,BASELINE,766,746,714,679.323334017,665.323334017,635.323334017,879.323334017,788,803.676665983,653,631.323334017,653,0.400973073169,0.00455666252902,0.0598502558824,0.999999947639,0.000199062645423,-0.000254428869661,1.90347273447e-05,1793239702742527744
+5,0.083333333,BASELINE,766,746,714,679.902900366,665.902900366,635.902900366,879.902900366,788,803.097099634,653,631.902900366,653,0.400972816027,0.00455536703934,0.0598510162923,0.99999994814,0.000196444481175,-0.00025447014524,1.93444528478e-05,1793239702759194112
+6,0.100000000,BASELINE,765.519899451,746,714,679.519899451,665.519899451,635.519899451,879.519899451,787.519899451,803,653,631.519899451,653,0.400973312975,0.00455499236119,0.0598511487475,0.999999948255,0.000196565679422,-0.000253913282267,1.94876505865e-05,1793239702775860736
+7,0.116666667,BASELINE,765.05677653,745.94322347,714,679.05677653,665,635,879,787,803.05677653,652.94322347,631,653,0.400973767378,0.00455491576042,0.0598510795194,0.999999948233,0.000197305816951,-0.000253417468554,1.95741842275e-05,1793239702792527616
+8,0.133333333,BASELINE,765.633013417,745.366986583,714,679.633013417,665,635,879,787,803.633013417,652.366986583,631,653,0.400972443997,0.00455587080549,0.059850321327,0.999999947671,0.000198664663984,-0.000254581583226,1.94489202891e-05,1793239702809193984
+9,0.150000000,BASELINE,766,745.214038437,714,679.785961563,665,635,879,787.214038437,804,652.214038437,631,653,0.400971656325,0.00455609196275,0.0598499905692,0.99999994737,0.000199302285173,-0.000255265683877,1.94471265919e-05,1793239702825860608
+10,0.166666667,BASELINE,766,745.803460902,714,679.196539098,665,635,879,787.803460902,804,652.803460902,631,653,0.400971808188,0.00455502601572,0.0598504094533,0.999999947531,0.000198675008821,-0.000255107928156,1.96618769879e-05,1793239702842527488
+11,0.183333333,BASELINE,766,746,714,679,665.386138656,635,879,787.613861344,804,653,631,653,0.400972850979,0.00455580195035,0.0598510715275,0.999999947601,0.00019980374096,-0.000253965649552,1.94295453006e-05,1793239702859194368
+12,0.200000000,BASELINE,766,746,714,679,665.965442433,635,879,787.034557567,804,653,631,653,0.400974339456,0.00455749928266,0.0598518552571,0.999999947621,0.000201810912919,-0.000252330865251,1.89735616781e-05,1793239702875861504
+13,0.216666667,BASELINE,766,746,714,679,665.460114104,635,879,787,804,653,631,653,0.400975015539,0.00455854656661,0.0598517005602,0.999999947679,0.000202547800138,-0.000251508700532,1.89634781696e-05,1793239702892527872
+14,0.233333333,BASELINE,765.885444254,746,714,679,665.114555746,635.114555746,879,787,804,653,631.114555746,653,0.400975034843,0.00455882265167,0.0598513060332,0.999999947743,0.000202272903725,-0.000251473681085,1.90022511709e-05,1793239702909194240
+15,0.250000000,BASELINE,765.308616471,746,714,679,665.691383529,635.691383529,879,787,804,653,631.691383529,653,0.400972611786,0.00455615309136,0.0598501839401,0.999999947806,0.000198240295975,-0.000254407039007,1.91240293575e-05,1793239702925860864
+16,0.266666667,BASELINE,765,745.724664687,714,679.275335313,666,636,879,787,804,653,632,652.724664687,0.400971762909,0.00455547364764,0.0598500169752,0.999999947704,0.000197431028659,-0.000255424144027,1.92772574691e-05,1793239702942527232
+17,0.283333333,BASELINE,765,745.13251573,714,679.86748427,666,636,879,787,804,653,632,652.13251573,0.400972725358,0.00455708412499,0.0598509490255,0.999999947426,0.000200330687324,-0.000254236318974,1.94666733234e-05,1793239702959193856
+18,0.300000000,BASELINE,765.446526985,745.446526985,714,679.553473015,665.553473015,635.553473015,879,787,804,653,631.553473015,652.446526985,0.400973195762,0.00455610304664,0.0598513476837,0.999999947875,0.000199081114702,-0.000253456453795,1.93997300589e-05,1793239702975860736
+19,0.316666667,BASELINE,766,746,714,679.021730604,665.021730604,635.021730604,879.021730604,787,803.978269396,653,631.021730604,653,0.400973493906,0.00455448604424,0.0598515656536,0.999999948477,0.000196820831082,-0.000252854895134,1.92633601247e-05,1793239702992527872
+20,0.333333333,BASELINE,766,746,714,679.595398654,665.595398654,635.595398654,879.595398654,787,803.404601346,653,631.595398654,653,0.400973019871,0.00455569446153,0.0598511002036,0.999999947754,0.000199273186811,-0.00025379477128,1.92408694661e-05,1793239703009194752
+21,0.350000000,BASELINE,765.826049939,746,714,679.826049939,666,636,879.826049939,787,803.173950061,653,631.826049939,653,0.400972496954,0.00455576842349,0.059850754796,0.999999947563,0.000199488944297,-0.000254370666766,1.9346970348e-05,1793239703025861120
+22,0.366666667,BASELINE,765.235812033,746,714,679.235812033,666,636,879.235812033,787,803.764187967,653,631.235812033,653,0.400971857053,0.00455312746836,0.0598506966675,0.999999948641,0.000194352195874,-0.000254075503355,1.97608095302e-05,1793239703042527232
+23,0.383333333,BASELINE,765.348109866,745.651890134,714,679,665.651890134,635.651890134,879,787,803.651890134,652.651890134,631,652.651890134,0.400971538203,0.00455360528693,0.0598503371303,0.999999948379,0.000195021768877,-0.000254598180998,1.97263267075e-05,1793239703059194112
+24,0.400000000,BASELINE,765.92782956,745.07217044,714,679,665.07217044,635.07217044,879,787,803.07217044,652.07217044,631,652.07217044,0.40097143296,0.00455615813589,0.0598497770553,0.999999947219,0.000199554492733,-0.000255664997241,1.93935594118e-05,1793239703075860736
+25,0.416666667,BASELINE,766,745,714,679,665,635,879.504136658,787,803.504136658,652.504136658,631,652.504136658,0.400971202275,0.00455666587886,0.0598498520889,0.999999947379,0.000199055475685,-0.000255457117522,1.90026844024e-05,1793239703092527104
+26,0.433333333,BASELINE,765.919975573,745.080024427,714,679.080024427,665.080024427,635.080024427,879.919975573,787,804,653,631,653,0.400971138077,0.00455683796438,0.0598500525159,0.999999947687,0.000198086322145,-0.000255025232054,1.8688779356e-05,1793239703109193984
+27,0.450000000,BASELINE,765.343678737,745.656321263,714,679.656321263,665.656321263,635.656321263,879.343678737,787,804,653,631,653,0.400972216965,0.00455673187667,0.0598504705218,0.999999947751,0.000198638688381,-0.000254328221393,1.89034446482e-05,1793239703125860864
+28,0.466666667,BASELINE,765,745.76182323,714,679.76182323,666,635.76182323,879,787,803.76182323,653,631.23817677,653,0.400972479813,0.00455668683201,0.0598507839917,0.99999994769,0.000199150595872,-0.000254151298553,1.91350995507e-05,1793239703142527744
+29,0.483333333,BASELINE,765,745.171755166,714,679.171755166,666,635.171755166,879,787,803.171755166,653,631.828244834,653,0.400971537009,0.00455673197464,0.0598509430163,0.999999947444,0.000199602728067,-0.000254742773002,1.93918555279e-05,1793239703159194112
+30,0.500000000,BASELINE,765.409773864,745,714,679,665.590226136,635,879,787,803.409773864,653,631.590226136,652.590226136,0.40097265884,0.00455710172193,0.0598516916484,0.999999947652,0.000200800090295,-0.000252982856396,1.93495205071e-05,1793239703175860992
+31,0.516666667,BASELINE,765.987796837,745,714,679,665.012203163,635,879,787,803.987796837,653,631.012203163,652.012203163,0.400974628389,0.00455760474869,0.0598526823675,0.999999948038,0.000202303436614,-0.000250257481789,1.91843816648e-05,1793239703192527616
+32,0.533333333,BASELINE,766,745.562606098,714,679.562606098,665,635,879,787,803.437393902,653,631,652.562606098,0.4009723246,0.00455734596534,0.0598511079173,0.999999947587,0.000200316809894,-0.000253652621409,1.8942106292e-05,1793239703209193984
+33,0.550000000,BASELINE,765.862593915,746,714.137406085,679.862593915,665,635.137406085,879,787.137406085,803.137406085,653,631,653,0.400970917367,0.00455695002018,0.05985010686,0.999999947341,0.000198766152606,-0.000255844409593,1.87984404028e-05,1793239703225860608
+34,0.566666667,BASELINE,765.287602845,746,714.712397155,679.287602845,665,635.712397155,879,787.712397155,803.712397155,653,631,653,0.400972658826,0.00455616959157,0.0598511080205,0.999999947848,0.000198843591572,-0.0002537836137,1.89741054351e-05,1793239703242527744
+35,0.583333333,BASELINE,765.295321966,745.704678034,714.704678034,679.295321966,665,636,879,788,804,653,631.295321966,653,0.400972767452,0.0045560707092,0.0598513052855,0.999999947907,0.000198842216465,-0.000253552702221,1.89649350304e-05,1793239703259194624
+36,0.600000000,BASELINE,765.886186515,745.113813485,714.113813485,679.886186515,665,636,879,788,804,653,631.886186515,653,0.400971242023,0.00455665388211,0.0598506980545,0.999999947519,0.000198761968418,-0.000255153041906,1.87707911304e-05,1793239703275861248
+37,0.616666667,BASELINE,766,745,714,679.532906806,665.467093194,636,879,788,804,653,631.532906806,653,0.400972266405,0.0045575057536,0.0598512456675,0.999999947761,0.000199493147466,-0.000253638390037,1.86719216667e-05,1793239703292527616
+38,0.633333333,BASELINE,766,745.045218979,714.045218979,679.045218979,666,635.954781021,879,787.954781021,804,653,631,653,0.40097367722,0.00455821791158,0.0598519310068,0.999999948104,0.000200296074967,-0.000251645815901,1.86348947649e-05,1793239703309193984
+39,0.650000000,BASELINE,766,745.618612612,714.618612612,679.618612612,666,635.381387388,879,787.381387388,804,653,631,653,0.40097249625,0.00455654938964,0.0598510068726,0.999999947942,0.000199675871906,-0.000252751384349,1.90547136627e-05,1793239703325860864
+40,0.666666667,BASELINE,766,746,714.802079197,679.802079197,665.802079197,635,879,787,804,653,631,653,0.400971670712,0.00455532216497,0.0598504559553,0.999999947725,0.000199407407263,-0.000253795816482,1.93700204531e-05,1793239703342527744
+41,0.683333333,BASELINE,766,746,714.211022786,679.211022786,665.211022786,635,879,787,804,653,631,653,0.40097155118,0.00455497150148,0.0598506463696,0.999999947402,0.000199837610484,-0.000254718811784,1.94777319059e-05,1793239703359194112
+42,0.700000000,BASELINE,766,746,714,679.372278406,665,635.372278406,879.744556811,787.372278406,803.627721594,653,631,653,0.400971870267,0.00455503361135,0.0598509671464,0.99999994753,0.000199334467936,-0.000254609591593,1.95075235371e-05,1793239703375860480
+43,0.716666667,BASELINE,766,746,714,679.951273307,665,635.951273307,880.902546614,787.951273307,803.048726693,653,631,653,0.400972432907,0.00455532492352,0.0598513603102,0.999999947906,0.000198313062792,-0.000253927209009,1.94940483185e-05,1793239703392527104
+44,0.733333333,BASELINE,766,745.472761402,714,680,665.527238598,635.472761402,879.945522804,788,803.527238598,653,631,653,0.400971750734,0.00455716350785,0.0598511202084,0.999999947173,0.000201636389395,-0.000254210842333,1.93117066507e-05,1793239703409193984
+45,0.750000000,BASELINE,766,745.10503067,714,680,666,635,878.89496933,787.89496933,803.89496933,653,631,653,0.400971503873,0.00455852760477,0.0598510238133,0.999999946742,0.000203956114248,-0.000254066078426,1.91811552928e-05,1793239703425860608
+46,0.766666667,BASELINE,766,745.69249213,714,680,666,635,878.30750787,787.30750787,803.30750787,653,631,653,0.400973781912,0.00455705920198,0.0598518547823,0.999999948208,0.000199832251806,-0.000251545852547,1.93597635843e-05,1793239703442527488
+47,0.783333333,BASELINE,766,745.723689357,714,680,665.723689357,635,878.276310643,787.276310643,803,653,631,653,0.400974032738,0.00455685407802,0.0598518204636,0.999999948574,0.000198359157614,-0.000251267686306,1.92513092925e-05,1793239703459194368
+48,0.800000000,BASELINE,766,745.143872272,714,680,665.143872272,635,878.856127728,787.856127728,803,653,631,653,0.400972056821,0.00455803657055,0.0598508356916,0.999999947744,0.000199797732278,-0.000253452253482,1.88275383855e-05,1793239703475860992
+49,0.816666667,BASELINE,766,745.433284693,714,679.566715307,665.433284693,635.433284693,879,788,803,653,631,653,0.400971665845,0.00455775415481,0.0598506600669,0.999999947315,0.00020091152665,-0.00025426323994,1.8824348496e-05,1793239703492527360
+50,0.833333333,BASELINE,766,746,714.009554174,679.009554174,666,635.990445826,879,787.990445826,803.009554174,653,631,653,0.40097180747,0.00455700698591,0.0598507545252,0.999999947029,0.000201901794987,-0.000254592033637,1.89622251082e-05,1793239703509193728
+51,0.850000000,BASELINE,766,746,714.585258052,679.585258052,666,635.414741948,879,787.414741948,803.585258052,653,631,653,0.400972514011,0.00455736802277,0.0598510294243,0.999999947371,0.000201923767897,-0.000253209605436,1.92342982311e-05,1793239703525860608
+52,0.866666667,BASELINE,766,745.834798279,714.834798279,679.834798279,665.834798279,635.165201721,879,787,804.165201721,653,631.165201721,653,0.400973226448,0.00455717550314,0.059851328291,0.999999947693,0.000201708889693,-0.000252091613195,1.94297271032e-05,1793239703542527232
+53,0.883333333,BASELINE,766,745.243930204,714.243930204,679.243930204,665.243930204,635.756069796,879,787,804.756069796,653,631.756069796,653,0.400973954074,0.00455555666441,0.0598516889135,0.999999947969,0.000200883730016,-0.000251654978888,1.94276708579e-05,1793239703559193856
+54,0.900000000,BASELINE,766,745.339594267,714,679,665.339594267,635.660405733,879.339594267,787.339594267,804.660405733,653,631.660405733,653,0.400973252853,0.00455523101935,0.0598514413766,0.999999947791,0.000200577616429,-0.000252597400174,1.95000451805e-05,1793239703575860736
+55,0.916666667,BASELINE,766,745.917955464,714,679,665.917955464,635.082044536,879.917955464,787.917955464,804.082044536,653,631.082044536,653,0.400971547017,0.00455581461198,0.0598507662461,0.999999947292,0.000200636441436,-0.000254509428162,1.96247512414e-05,1793239703592527616
+56,0.933333333,BASELINE,766,746,714,679.493032288,666,635.493032288,879.506967712,788,804,653,631,653,0.400972792665,0.00455666748913,0.0598515065116,0.999999947789,0.000200188571785,-0.000252937188225,1.92251604133e-05,1793239703609194496
+57,0.950000000,BASELINE,765.932284753,745.932284753,714,679.932284753,666,635.932284753,879,788,804,653,631,653,0.400974332774,0.00455738517768,0.0598523701913,0.999999948365,0.000199775190313,-0.000251009546609,1.88240186589e-05,1793239703625860864
+58,0.966666667,BASELINE,765.356483636,745.356483636,714,679.356483636,666,635.356483636,879,788,804,653,631,653,0.400974421456,0.00455675450418,0.059852404305,0.999999948334,0.000200249057975,-0.000250736914888,1.90615476152e-05,1793239703642527488
+59,0.983333333,BASELINE,765.224556545,745.224556545,714,679.224556545,666,635,879.224556545,788,804,653,631,653,0.400974369005,0.00455631923048,0.0598524781331,0.999999948374,0.000200245717994,-0.000250569517482,1.92235174867e-05,1793239703659194112
+60,1.000000000,BASELINE,765.814112512,745.814112512,714,679.814112512,666,635,879.814112512,788,804,653,631,653,0.400974087153,0.00455620156406,0.0598526165139,0.999999948528,0.00019946671371,-0.000250573170331,1.92626719059e-05,1793239703675860736
+61,1.016666667,BASELINE,766,746,714,679.60349533,666,635,880,788,804,653,631,653,0.400974216317,0.00455680174437,0.0598525844305,0.999999948481,0.00019974000157,-0.000250540811544,1.9255928596e-05,1793239703692527360
+62,1.033333333,BASELINE,766,746,714,679.024402109,666,635,880,788,804,653,631,653,0.400974534751,0.00455773248977,0.0598524738491,0.999999948342,0.000200497865102,-0.000250491869566,1.92280495934e-05,1793239703709193984
+63,1.050000000,BASELINE,766,746,714,679,665.450285873,635,880,788,803.450285873,653,631,653,0.400973364709,0.00455695461396,0.0598520815032,0.999999948253,0.000199982582687,-0.000251271491576,1.90537072408e-05,1793239703725860864
+64,1.066666667,BASELINE,766,746,714,679,665.126979941,635.126979941,879.873020059,787.873020059,803,653,631.126979941,653,0.400972414115,0.00455622191437,0.0598517697282,0.999999948186,0.000199597798232,-0.00025185293635,1.89381941036e-05,1793239703742527744
+65,1.083333333,BASELINE,766,746,714,679,665.716516436,635.716516436,879.283483564,787.283483564,803,653,631.716516436,653,0.400972501451,0.00455592759214,0.0598517966065,0.999999948194,0.000199892410951,-0.000251579690587,1.9060452449e-05,1793239703759194624
+66,1.100000000,BASELINE,765.698998582,746,714.301001418,679.301001418,665.698998582,636,879.301001418,787.301001418,803.301001418,653,631.698998582,653,0.400972661471,0.00455582078697,0.0598514625129,0.999999948019,0.00020036083681,-0.000251894727135,1.91519916166e-05,1793239703775860992
+67,1.116666667,BASELINE,765.119192632,746,714.880807368,679.880807368,665.119192632,636,879.880807368,787.880807368,803.880807368,653,631.119192632,653,0.400972888816,0.00455588767071,0.0598507940666,0.999999947674,0.000200990258209,-0.000252754664037,1.92150769381e-05,1793239703792527104
+68,1.133333333,BASELINE,765.458765327,745.541234673,714.541234673,679.541234673,665.458765327,635.541234673,879.541234673,787.541234673,804,653,631,653,0.400973246197,0.00455561881595,0.0598513103927,0.999999947769,0.000201226307751,-0.000252178196101,1.9417564141e-05,1793239703809193984
+69,1.150000000,BASELINE,766,745.035898072,714.035898072,679.035898072,666,635.035898072,879,787,804,653,631.035898072,653,0.400973527904,0.00455531203925,0.0598520043923,0.999999947961,0.000201234383963,-0.000251392005556,1.96354573749e-05,1793239703825860608
+70,1.166666667,BASELINE,766,745.607848384,714.607848384,679.607848384,666,635.607848384,879,787,804,653,631.607848384,653,0.400972177135,0.00455573631781,0.0598507734391,0.999999947926,0.000199358251202,-0.000253024527233,1.95447392372e-05,1793239703842527488
+71,1.183333333,BASELINE,766,746,714.814640736,680,665.814640736,635.814640736,879,787,803.814640736,653,632,653,0.400971398207,0.00455605539323,0.0598500979319,0.999999947924,0.000198241500392,-0.000253919715598,1.94111861591e-05,1793239703859194112
+72,1.200000000,BASELINE,766,746,714.225001819,680,665.225001819,635.225001819,879,787,803.225001819,653,632,653,0.400971866497,0.00455614501437,0.0598506338856,0.999999948002,0.000198781006735,-0.00025320673617,1.91842074939e-05,1793239703875860992
+73,1.216666667,BASELINE,766,746,714.356561662,679.643438338,665.356561662,635,879,787.356561662,803,653,632,653,0.400973032829,0.0045558261937,0.0598516244177,0.999999948503,0.000197911025883,-0.000251913760269,1.90741031989e-05,1793239703892527616
+74,1.233333333,BASELINE,766,746,714.933142105,679.066857895,665.933142105,635,879,787.933142105,803,653,632,653,0.400974629891,0.00455525534123,0.0598528954503,0.999999949261,0.000196171311406,-0.000250262893672,1.90361170374e-05,1793239703909194496
+75,1.250000000,BASELINE,766,745.488367517,714.488367517,679.511632483,666,635,879.511632483,787.488367517,803,653,632,653,0.400974502258,0.00455601159139,0.0598524214767,0.999999948675,0.000198774869862,-0.00025055143824,1.90147321838e-05,1793239703925860864
+76,1.266666667,BASELINE,766,745.089644299,714,680,666,635.089644299,880,787.089644299,803.089644299,653,632,653,0.400974104226,0.00455682060054,0.0598518257254,0.999999947988,0.000201545487542,-0.00025107870073,1.90456878577e-05,1793239703942526976
+77,1.283333333,BASELINE,766,745.663716235,714,680,666,635.663716235,880,787.663716235,803.663716235,653,632,653,0.400973467459,0.00455697405992,0.0598518087661,0.999999947751,0.000202140352618,-0.000251521308822,1.93477187699e-05,1793239703959193856
+78,1.300000000,BASELINE,766,746,714,679.754360123,666,635.754360123,879.754360123,787.754360123,804,653,631.754360123,653,0.400973289859,0.00455712357799,0.059851770994,0.999999947677,0.000202253680729,-0.000251716676678,1.94274680619e-05,1793239703975860736
+79,1.316666667,BASELINE,766,746,714,679.161332526,666,635.161332526,879.161332526,787.161332526,804,653,631.161332526,653,0.400973761622,0.00455726752219,0.0598517037882,0.999999947835,0.000201686011757,-0.000251562393525,1.91928632179e-05,1793239703992527360
+80,1.333333333,BASELINE,765.579604748,746,714,679,666,635,879,787.420395252,803.579604748,653,631.420395252,653,0.400974094908,0.0045561886007,0.0598517674893,0.999999948328,0.000199758251722,-0.000251133346037,1.92954965322e-05,1793239704009193984
+81,1.350000000,BASELINE,765.002099877,746,714,679,666,635,879,787.997900123,803.002099877,653,631.997900123,653,0.400974376444,0.0045546526713,0.0598518801128,0.999999948941,0.000197322200005,-0.000250601613929,1.95241620755e-05,1793239704025860864
+82,1.366666667,BASELINE,765.573710429,746,714.573710429,679.573710429,666,635,879,788,803.573710429,653,631.426289571,653,0.400975715796,0.00455503988066,0.0598530274393,0.999999949389,0.000197368500822,-0.000248778613197,1.93883874736e-05,1793239704042527232
+83,1.383333333,BASELINE,765.84696953,745.84696953,714.84696953,680,665.84696953,635,879.15303047,788,804.15303047,653,631,653,0.400976156859,0.00455511405618,0.0598535559079,0.999999949637,0.000197076686791,-0.000248021724519,1.9301444717e-05,1793239704059193856
+84,1.400000000,BASELINE,765.257624911,745.257624911,714.257624911,680,665.257624911,635,879.742375089,788,804.742375089,653,631,653,0.400974025756,0.00455427571239,0.0598523091485,0.999999949315,0.000195795024861,-0.000250317925664,1.93575212631e-05,1793239704075860480
+85,1.416666667,BASELINE,765.326180238,745.326180238,714,680,665,635,880,787.673819762,804.673819762,653,631,653,0.400973292997,0.00455445870696,0.0598520796974,0.999999948998,0.000196631145308,-0.000250930893389,1.93445217817e-05,1793239704092527104
+86,1.433333333,BASELINE,765.90568321,745.90568321,714,680,665,635,880,787.09431679,804.09431679,653,631,653,0.400973646241,0.0045554349079,0.0598526403228,0.999999948682,0.000199112008092,-0.000250236604306,1.92778754906e-05,1793239704109193728
+87,1.450000000,BASELINE,766,745.51884416,714,680,665,635,879.51884416,787,804,653,631,653,0.400973279873,0.00455558732492,0.059851994721,0.999999948347,0.000199514895677,-0.000251255033973,1.92749654502e-05,1793239704125860352
+88,1.466666667,BASELINE,765.942900034,745,714.057099966,680,665,635,879.057099966,787.057099966,804,653,631,653,0.400973053926,0.00455554368841,0.0598514044749,0.999999948134,0.000199412233631,-0.000252177881854,1.93062901444e-05,1793239704142526976
+89,1.483333333,BASELINE,765.355296237,745,714.644703763,680,665,635,879.644703763,787.644703763,804,653,631,653,0.400975432261,0.00455516636647,0.0598535070518,0.999999949104,0.000198365573088,-0.000249119418895,1.95405708096e-05,1793239704159193856
+90,1.500000000,BASELINE,765.229285553,745.229285553,715,679.770714447,665.229285553,635.229285553,879.770714447,788,803.770714447,653,631,653,0.400975853509,0.00455491013455,0.0598540214852,0.99999994945,0.000197607706693,-0.000248328497904,1.95954249376e-05,1793239704175860480
+91,1.516666667,BASELINE,765.809245364,745.809245364,715,679.190754636,665.809245364,635.809245364,879.190754636,788,803.190754636,653,631,653,0.400973281545,0.00455483910035,0.0598521069776,0.999999948848,0.000197291528378,-0.000251005604684,1.93758602364e-05,1793239704192526848
+92,1.533333333,BASELINE,766,746,715,679,666,636,879,788,803.386704367,653,631,653,0.400973387938,0.00455525281581,0.0598523062362,0.999999948991,0.000197011958121,-0.000250673987071,1.91612469994e-05,1793239704209193728
+93,1.550000000,BASELINE,766,746,715,679,666,636,879,788,803.962937742,653,631,653,0.40097480703,0.0045559041136,0.0598535414799,0.999999949498,0.000196750329936,-0.000248867753432,1.89490605219e-05,1793239704225860608
+94,1.566666667,BASELINE,766,745.459749277,714.459749277,679,665.459749277,635.459749277,879,788,803.459749277,653,631,652.459749277,0.400974629052,0.00455590139354,0.059853654341,0.999999949355,0.000198034406669,-0.00024841720841,1.90290416325e-05,1793239704242527232
+95,1.583333333,BASELINE,765.880771797,745,714,679,665,635,879,787.880771797,803.119228203,653,631,652.119228203,0.40097421943,0.00455585535326,0.0598535010884,0.999999949147,0.000199056300435,-0.000248428022721,1.91174344311e-05,1793239704259193856
+96,1.600000000,BASELINE,765.295579026,745,714,679,665,635,879,787.295579026,803.704420974,653,631,652.704420974,0.400973333547,0.00455581570873,0.0598526093395,0.999999948868,0.000198638291669,-0.000249877710207,1.9160212167e-05,1793239704275860480
+97,1.616666667,BASELINE,765.288562281,745.288562281,714.288562281,679.288562281,665,635.288562281,879.288562281,787.288562281,803.711437719,653,631,653,0.400972735664,0.00455630056399,0.0598519824904,0.999999948491,0.000199072012658,-0.00025104612812,1.90894012267e-05,1793239704292527104
+98,1.633333333,BASELINE,765.871630429,745.871630429,714.871630429,679.871630429,665,635.871630429,879.871630429,787.871630429,803.128369571,653,631,653,0.400972431712,0.0045573207223,0.0598516259974,0.999999948013,0.00020037500671,-0.000251927482998,1.89026619941e-05,1793239704309193728
+99,1.650000000,BASELINE,766,745.55238062,715,679.55238062,665.44761938,636,879.55238062,787.55238062,803,653,631.44761938,653,0.400973749855,0.00455624808586,0.0598526043223,0.999999948568,0.000199528079597,-0.00025037358331,1.91407670272e-05,1793239704325860352
+100,1.666666667,BASELINE,766,745.02168041,715,679,666,635.97831959,879,787,803.02168041,653,631.97831959,652.97831959,0.400975383983,0.00455469000794,0.0598538522358,0.999999949346,0.000198174010465,-0.00024830374957,1.94769190182e-05,1793239704342526976
+101,1.683333333,BASELINE,766,745.597547903,715,679,666,635.402452097,879,787,803.597547903,653,631.402452097,652.402452097,0.400973389353,0.00455582592451,0.0598523585491,0.999999948535,0.000199371487579,-0.00025061983508,1.92534190949e-05,1793239704359193856
+102,1.700000000,BASELINE,766,745.822667097,715,679,666,635,879,787,803.822667097,653,631.177332903,652.177332903,0.400972102328,0.00455639789164,0.0598513909679,0.99999994808,0.000199770234464,-0.000252116828377,1.91833525672e-05,1793239704375860480
+103,1.716666667,BASELINE,766,745.233790664,715,679,666,635,879,787,803.233790664,653,631.766209336,652.766209336,0.400972457473,0.00455566107873,0.0598516443409,0.999999948466,0.000198315336136,-0.000251712921435,1.94693650624e-05,1793239704392527104
+104,1.733333333,BASELINE,766,745.349615631,714.650384369,679,666,635,879,787.349615631,803.349615631,653,632,653,0.400973466376,0.004555490508,0.0598523450109,0.999999948721,0.000198479363336,-0.000250561939312,1.95723449702e-05,1793239704409193728
+105,1.750000000,BASELINE,766,745.929420412,714.070579588,679,666,635,879,787.929420412,803.929420412,653,632,653,0.400974905717,0.00455569275465,0.0598533401839,0.999999948887,0.000199709301232,-0.000248919078109,1.95548150897e-05,1793239704425860352
+106,1.766666667,BASELINE,766,745.495168124,714.504831876,679.504831876,665.495168124,635,879,788,804,653,631.495168124,653,0.400975717346,0.00455627041089,0.0598535983787,0.999999948849,0.000200620766998,-0.00024833908235,1.95111875075e-05,1793239704442526976
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,666,636,879,787,803,653,631,653,0.400973635323,0.00455303188048,0.0598528178109,0.999999949365,0.000195437896328,-0.000250359823776,1.98618119006e-05,1793239704485242880
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,715,679.420279479,666,636,879,787.579720521,803,653,631.579720521,652.420279479,0.400973519798,0.00455471842769,0.0598527635388,0.999999948852,0.000197752880687,-0.000250597420898,1.97638371148e-05,1793239704501909504
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.84116809,746,714.84116809,679.15883191,666,636,879,788,803,653,631.84116809,652.15883191,0.400973678668,0.00455585637509,0.0598528788605,0.999999948601,0.00019913254507,-0.000250513682409,1.96627474159e-05,1793239704518576128
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.263662218,746,714.263662218,679.736337782,666,636,879,788,803,653,631.263662218,652.736337782,0.40097456083,0.00455554823773,0.0598534412243,0.999999949052,0.000198046747447,-0.000249582917375,1.95534469219e-05,1793239704535242752
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.312135642,745.687864358,714,680,666,635.687864358,879,788,803.312135642,653,631,653,0.400974500407,0.00455588719537,0.0598535396918,0.999999949085,0.000198174871755,-0.00024935584731,1.94442339765e-05,1793239704551909376
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.886498555,745.113501445,714,680,666,635.113501445,879,788,803.886498555,653,631,653,0.40097364811,0.00455676978193,0.059853248437,0.999999948768,0.000199322820177,-0.00024971995622,1.93350945878e-05,1793239704568576000
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.471253431,714,680,666,635,879.471253431,787.528746569,804,653,631,653,0.400974492709,0.00455552499539,0.0598537243223,0.999999949232,0.000197911412943,-0.000248967335386,1.95668713974e-05,1793239704585242880
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714,679.942180624,666,635,879.942180624,787,803.942180624,653,631,653,0.400975991339,0.00455405544729,0.0598544291372,0.999999949825,0.000196284060041,-0.000247850253199,1.98254444315e-05,1793239704601909504
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714,679.362370029,666,635,879.362370029,787,803.362370029,653,631,653,0.400979621641,0.00455528679595,0.0598554950488,0.999999949888,0.000198397670502,-0.00024592578227,1.9567934188e-05,1793239704618576128
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.783324588,745.783324588,714,679.216675412,666,635,879,787,803.216675412,653,631.216675412,653,0.400989090836,0.00455574592368,0.0598593435288,0.999999951317,0.000199402830915,-0.000239211169045,1.9575790951e-05,1793239704635242752
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.205554352,745.205554352,714,679.794445648,666,635,879,787,803.794445648,653,631.794445648,653,0.401008290687,0.00455491812643,0.0598678292261,0.999999954883,0.000198560732232,-0.000224513667819,2.00258882815e-05,1793239704651909376
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.376752454,745.376752454,714,680,665.623247546,635.376752454,879,787,804,652.623247546,632,653,0.401044638812,0.00455464093708,0.059881375448,0.999999960427,0.000197488488757,-0.000199363746381,1.99756670095e-05,1793239704668576000
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.961564613,745.961564613,714,680,665.038435387,635.961564613,879,787,804,652.038435387,632,653,0.401090456989,0.0045546678182,0.0598977163207,0.999999966356,0.000196289148725,-0.00016844152534,1.96491472571e-05,1793239704685242624
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,714.54119823,679.45880177,665,635.45880177,879,787,804,652.54119823,632,653,0.401154343605,0.00455388233012,0.0599149729655,0.999999970861,0.000194082485149,-0.000142195762406,1.9757430762e-05,1793239704701909248
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714.880256969,679.119743031,665.119743031,635.119743031,879,787,804,653,631.880256969,653,0.40122247804,0.00455347482608,0.0599305791102,0.999999974287,0.000192476758844,-0.000118262319322,1.98163397914e-05,1793239704718575872
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,714.304471367,679.695528633,665.695528633,635.695528633,879,787,804,653,631.304471367,653,0.401301949584,0.00455472452233,0.0599396539656,0.999999975911,0.000193429583352,-0.000101882478039,1.95707161549e-05,1793239704735242752
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.729090763,714.270909237,679.729090763,665.729090763,636,879.270909237,787,803.729090763,653,631,653,0.401387313034,0.00455471819577,0.059945934275,0.999999977091,0.000193098857471,-9.036587359e-05,1.90898608845e-05,1793239704751909632
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.154164686,714.845835314,679.154164686,665.154164686,636,879.845835314,787,803.154164686,653,631,653,0.40147928843,0.00455330234879,0.0599490785185,0.999999977975,0.000191327719512,-8.43068392828e-05,1.83450265281e-05,1793239704768576256
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,679.433232993,665.433232993,636,880,787,803.433232993,653,631.433232993,653,0.401587533642,0.00455281388213,0.0599520112061,0.999999978842,0.000189394208729,-7.83949784671e-05,1.73353815299e-05,1793239704785242880
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.975374941,745,714.975374941,680,666,636,880,787,803.975374941,653,631.975374941,653,0.40170286813,0.00455262757097,0.0599547481524,0.999999979695,0.000187274450113,-7.2628696334e-05,1.62222632251e-05,1793239704801909504
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.396917828,745,714.396917828,680,666,636,880,787,803.396917828,653,631.396917828,653,0.401843574413,0.00455159490295,0.0599548260751,0.999999980895,0.000182303889215,-6.89237891149e-05,1.49641222784e-05,1793239704818576128
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.180729177,745.180729177,714.180729177,679.819270823,666,635.819270823,880,787,803,653,631,652.819270823,0.401993894283,0.00455092534598,0.0599548304973,0.999999981907,0.000178111315117,-6.54019302564e-05,1.35875156359e-05,1793239704835243008
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.756604882,745.756604882,714.756604882,679.243395118,666,635.243395118,880,787,803,653,631,652.243395118,0.402165233293,0.00455104969568,0.0599546742177,0.999999982568,0.000175619733131,-6.2280289084e-05,1.19518955937e-05,1793239704851909632
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.660806836,746,714.660806836,679.339193164,666,635,879.321613672,787.339193164,803.339193164,652.660806836,631,652.339193164,0.402354636275,0.00455160796904,0.0599562291318,0.999999983526,0.000172236654505,-5.6457422148e-05,9.80118553111e-06,1793239704868576000
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.073304498,746,714.073304498,679.926695502,666,635,878.146608996,787.926695502,803.926695502,652.073304498,631,652.926695502,0.402557263155,0.00455248389983,0.0599590367394,0.999999984644,0.000168200948084,-4.86571001175e-05,7.2733993682e-06,1793239704885242624
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.507320317,745.492679683,714,679.492679683,666,635.507320317,878.507320317,788,804,652.507320317,631,652.492679683,0.40279465824,0.00455204774659,0.0599608521588,0.99999998567,0.000164333604121,-4.0342244004e-05,5.16222353396e-06,1793239704901909248
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,714,679,666,635.913486826,879,788,803.913486826,653,631,652,0.403041790445,0.00455143073186,0.0599623597563,0.99999998664,0.000160071809773,-3.29836730452e-05,3.00657256829e-06,1793239704918576128
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,714,679,666,635.336851569,879,788,803.336851569,653,631,652,0.40331600586,0.00455084878714,0.0599629247944,0.999999987733,0.000153439361059,-3.14582926503e-05,2.62481620977e-07,1793239704935243008
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.239506306,714,679.239506306,666,635.239506306,879.239506306,787.760493694,803.239506306,653,631,652.239506306,0.403602472207,0.00454987963778,0.0599593002815,0.999999988538,0.000146607224684,-3.7738904436e-05,-2.47786241276e-06,1793239704951909632
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.815474478,714,679.815474478,666,635.815474478,879.815474478,787.184525522,803.815474478,653,631,652.815474478,0.403906148819,0.00454836653787,0.0599497902276,0.999999988745,0.000139494564609,-5.49854851759e-05,-5.21294256397e-06,1793239704968576000
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.611754632,714.388245368,680,666,636,879.611754632,787.388245368,804,653,631,653,0.404230626555,0.00454698137304,0.0599414775083,0.999999988912,0.000131905146421,-6.86200252461e-05,-8.23758210416e-06,1793239704985242624
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.040490952,714.959509048,680,666,636,879.040490952,787.959509048,804,653,631,653,0.404564909902,0.00454565651668,0.059933729211,0.999999988991,0.000124090985332,-8.05518540075e-05,-1.13987194489e-05,1793239705001909248
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680,666,636,879.556346299,787.443653701,804,653,631,653,0.404930862619,0.00454337290507,0.0599217298009,0.99999998803,0.000114461663898,-0.000103132233051,-1.42440121741e-05,1793239705018575872
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.149121356,715,680,666,636,880,787,804,653,631,653,0.405320183312,0.00453868053362,0.05991557537,0.999999988044,0.000101746819242,-0.000115241551346,-1.67169562331e-05,1793239705035242496
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.724699979,715,680,666,636,880,787,804,653,631,653,0.405769422528,0.00452730875781,0.0599270638578,0.999999992066,8.0604001327e-05,-9.50825839727e-05,-1.81939632701e-05,1793239705051909120
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.701847712,746,714.701847712,679.701847712,666,636,880,787,804,653,631,653,0.406255496553,0.0045156471394,0.0599478071468,0.999999996241,5.9281080842e-05,-6.02006626182e-05,-1.94628982479e-05,1793239705068576000
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.130344775,746,714.130344775,679.130344775,666,636,880,787,804,653,631,653,0.406775341356,0.00450371978747,0.0599770353826,0.999999999005,3.77930369977e-05,-1.18205058982e-05,-2.0541069669e-05,1793239705085242624
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.45679674,746,714.45679674,679,666,635.54320326,879.54320326,787,803.54320326,652.54320326,631,653,0.407298073825,0.00450185629044,0.0599976087678,0.999999999167,2.90602567799e-05,1.6924740672e-05,-2.31200877851e-05,1793239705101908992
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715,679.047567959,666,635.047567959,879.047567959,787,803.047567959,652,631,653,0.407822043008,0.00450299698318,0.0600135396615,0.999999998712,2.3990248556e-05,3.62251647075e-05,-2.6217285595e-05,1793239705118575616
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,679.62725515,666,635.62725515,879.62725515,787,803.62725515,652,631,653,0.408350302851,0.00450448131482,0.0600061430621,0.999999999279,1.77355461251e-05,1.47677547018e-05,-3.01505527226e-05,1793239705135242496
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.794614839,746,714.794614839,680,666,636,879.794614839,787,804,652,631,652.794614839,0.408894019911,0.00450410101442,0.059996494351,0.999999999338,8.37985271651e-06,-8.89379958441e-06,-3.42758004653e-05,1793239705151909376
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.219289655,746,714.219289655,680,666,636,879.219289655,787,804,652,631,652.219289655,0.4094655785,0.00450036213627,0.059982789134,0.999999998561,-6.56134933054e-06,-3.65254601445e-05,-3.87468437084e-05,1793239705168576000
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,746,714,679.643689269,666,635.643689269,879,787.356310731,804,652,631,652.356310731,0.410097924632,0.00449948641255,0.0599824739893,0.999999998355,-1.78578603953e-05,-3.22431883362e-05,-4.3939672516e-05,1793239705185242624
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,746,714,679.067919401,666,635.067919401,879,787.932080599,804,652,631,652.932080599,0.410767711047,0.00450037416492,0.0599904060671,0.999999998375,-2.69095304609e-05,-8.304465505e-06,-4.95770637866e-05,1793239705201909248
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.521625504,746,714,679,666.521625504,635.521625504,879,788,804,652.521625504,631.521625504,653,0.411436825529,0.00449913353392,0.0599972313621,0.999999997826,-3.72088219033e-05,5.21500316796e-06,-5.41929095587e-05,1793239705218575872
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.889960909,635.889960909,879.110039091,787.889960909,804,653,631.889960909,653,0.412103474455,0.00449859362336,0.0599982595772,0.999999997982,-3.17692767907e-05,6.83384825206e-06,-5.45904798182e-05,1793239705235242496
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.314134427,635.314134427,879.685865573,787.314134427,804,653,631.314134427,653,0.412760067052,0.00450222470472,0.0599753757343,0.9999999978,4.09978983753e-05,-3.60233604605e-05,-3.77107024323e-05,1793239705251909120
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.737710122,746,714,679.262289878,666,635,880,787,804,652.737710122,631,653,0.413430993995,0.00450998627351,0.0599508387301,0.999999990776,0.00010403504067,-8.34820913023e-05,-2.55865996899e-05,1793239705268575744
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.160568117,746,714,679.839431883,666,635,880,787,804,652.160568117,631,653,0.414119127937,0.00452270606977,0.0599243172723,0.999999978432,0.000155392284968,-0.000136464483723,-1.91711950384e-05,1793239705285242368
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,880,787,804,652,631,653,0.414917858811,0.00451906426312,0.0599454808964,0.999999983596,0.000151587666425,-9.68862713464e-05,-2.10254619243e-05,1793239705301909248
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635,880,787,804,652,631,653,0.415759219144,0.00450911588855,0.0599850246999,0.999999991423,0.000126520946946,-2.16306421125e-05,-2.60672675862e-05,1793239705318575872
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.583071959,745.416928041,714,680,666,635,879.416928041,787,804,652.583071959,631,653,0.416562739064,0.00450892579781,0.0600128491383,0.999999992472,0.000116523336179,2.32005009024e-05,-3.06547865534e-05,1793239705335242496
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.827329031,745.172670969,714,680,666,635,879.172670969,787.172670969,804,652.827329031,631,653,0.41735945244,0.004509599957,0.0600273095439,0.999999992051,0.000112503520846,4.55748494267e-05,-3.41201961668e-05,1793239705351909120
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.252886556,745.747113444,714,680,666,635,879.747113444,787.747113444,804,652.252886556,631,653,0.418142297532,0.00451177722514,0.0600112843507,0.999999991844,0.000121608652718,1.7279957945e-05,-3.49983186235e-05,1793239705368575744
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635.322029457,880,788,804,652,631,653,0.41894663101,0.00451085767932,0.0599938058062,0.999999993548,0.000106987317285,-1.08521359675e-05,-3.66091053572e-05,1793239705385242368
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,635.897317857,880,788,804,652,631,653,0.419767863918,0.00450750265485,0.0599751842796,0.999999995776,7.37063839265e-05,-3.88561969518e-05,-3.87960932768e-05,1793239705401909248
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,714,679.516059358,666,635.516059358,879.516059358,787.516059358,803.516059358,652,631,653,0.420580758864,0.00451120058888,0.0599514533426,0.99999999658,2.13467709654e-07,-7.1970880699e-05,-4.07510679023e-05,1793239705418575872
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.072024607,746,714,679.072024607,666,635.072024607,879.072024607,787,803.072024607,652,631,653,0.421393312966,0.00451549866405,0.0599269562218,0.999999990752,-7.10289204381e-05,-0.000107974178254,-4.23479238961e-05,1793239705435242752
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.65303147,746,714,679.65303147,666,635.65303147,879.65303147,787,803.65303147,652,631,653,0.422216259961,0.00451320879931,0.059904889569,0.999999984786,-6.46264111408e-05,-0.000156543895894,-4.17702637896e-05,1793239705451909376
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,714.231450022,680,666,635.768549978,880,787,804,652,631,653,0.423087549005,0.00451133444099,0.0599151576912,0.999999987012,-5.91508695856e-05,-0.000143935803374,-4.19430234368e-05,1793239705468576000
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,714.806031415,680,666,635.193968585,880,787,804,652,631,653,0.424030506659,0.00451007608266,0.0599733630521,0.999999996725,-5.50495833676e-05,-4.06298392561e-05,-4.32283018553e-05,1793239705485242624
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,714.611261395,680,666,635,880,787.388738605,804,652,631,653,0.424950688156,0.00451096013275,0.060016738888,0.999999997592,-4.61063267423e-05,2.84182416764e-05,-4.33879069482e-05,1793239705501909248
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,714.024413158,680,666,635,880,787.975586842,804,652,631,653,0.425859262372,0.00451293600075,0.0600525572725,0.999999995274,-3.46954972096e-05,8.00077553352e-05,-4.29738444575e-05,1793239705518575872
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,714.555484455,680,666,635,880.555484455,787.444515545,804,652,631,653,0.426735354102,0.00450799550464,0.0600376047187,0.999999995839,-3.51106998097e-05,7.12259515774e-05,-4.49061221473e-05,1793239705535242752
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.865580242,746,715,680,666,635,880.865580242,787,804,652,631,653,0.42760372754,0.00450439056709,0.0600186128669,0.999999996912,-3.39316779836e-05,5.31508044403e-05,-4.68967258595e-05,1793239705551909376
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.288818865,746,715,680,666,635,880.288818865,787,804,652,631,653,0.428451341736,0.00450616854244,0.0599935807631,0.999999998393,-2.58172479704e-05,1.31169695553e-05,-4.87441172404e-05,1793239705568576000
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.285207271,745.714792729,714.714792729,680,666,635,880,787,804.285207271,652,631,652.714792729,0.429270750034,0.00450717192435,0.0599659654726,0.999999998021,-1.77300937211e-05,-3.4196729132e-05,-4.97400374745e-05,1793239705585242624
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.856489808,745.143510192,714.143510192,680,666,635,880,787,804.856489808,652,631,652.143510192,0.430061866541,0.00450739835534,0.0599357591355,0.999999994765,-9.67029871966e-06,-8.88124445814e-05,-4.98818950455e-05,1793239705601909248
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.554746695,745.445253305,714,680,666,635.445253305,880,787,805,652,631,652.445253305,0.430936435617,0.00450417882019,0.0599357284633,0.999999995297,-8.76181829477e-06,-8.20905982667e-05,-5.09038404179e-05,1793239705618576128
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.03881681,745.96118319,714,680,666,635.96118319,880,787.03881681,804.96118319,652,631.03881681,653,0.431838527913,0.00450005324102,0.0599480930386,0.999999997241,-9.95240539078e-06,-5.1976863104e-05,-5.21189121119e-05,1793239705635242752
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.61757185,745.38242815,714,680,666,635.38242815,880,787.61757185,804.38242815,652,631.61757185,653,0.432734030551,0.00449940539077,0.0599920586311,0.999999998479,-6.96898491097e-06,1.72821331336e-05,-5.19133932778e-05,1793239705651909376
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.19553288,714.19553288,680,666,635.19553288,880,787.80446712,804,652,631.80446712,653,0.433600727457,0.00449792159306,0.0600179404529,0.999999997109,-4.19989493052e-06,5.55433083812e-05,-5.17711592564e-05,1793239705668576000
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.771947349,714.771947349,680,666,635.771947349,880,787.228052651,804,652,631.228052651,653,0.434411313379,0.00449480943997,0.0600085966196,0.999999998101,-1.84830224195e-06,3.34233503917e-05,-5.1752199072e-05,1793239705685242624
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,714.65475039,680,666,635.65475039,880,787,804,652,631,653,0.435194943095,0.00449288873075,0.0599855777186,0.9999999986,-1.04890084032e-06,-4.65404518421e-06,-5.26946132793e-05,1793239705701909760
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,714.08348555,680,666,635.08348555,880,787,804,652,631,653,0.435960926071,0.00449174799207,0.0599536065313,0.999999997113,-1.26563069433e-06,-5.31778637888e-05,-5.42663843885e-05,1793239705718577152
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.493793544,746,714.506206456,680.506206456,666.506206456,635,880.506206456,787.506206456,804.506206456,652,631.506206456,653,0.436738251049,0.00449061694328,0.0599426875357,0.999999995883,-9.38170097333e-07,-7.20932878349e-05,-5.51028438404e-05,1793239705735243520
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.096605084,745.903394916,715,680.903394916,666.903394916,635,880.903394916,788,805,652,631.903394916,652.903394916,0.437506827361,0.00448924701768,0.0599343460803,0.999999994419,1.1452336897e-07,-8.98956664572e-05,-5.55032257638e-05,1793239705751909632
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.674803644,745.325196356,715,680.325196356,666.325196356,635,880.325196356,788,805,652,631.325196356,652.325196356,0.438222112618,0.00448667798107,0.0599208916571,0.999999990396,4.31830906961e-06,-0.000127412228992,-5.43570773014e-05,1793239705768577024
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.74863289,745.25136711,714.74863289,680.25136711,666,635,880.25136711,787.74863289,804.74863289,652,631,652,0.438952931448,0.00448508893892,0.059921081316,0.999999989459,6.97008264183e-06,-0.000134611587774,-5.39816870765e-05,1793239705785244160
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.174171136,745.825828864,714.174171136,680.825828864,666,635,880.825828864,787.174171136,804.174171136,652,631,652,0.439703716295,0.00448475953257,0.0599388083928,0.999999993192,7.62697753712e-06,-0.000102842734388,-5.45969908635e-05,1793239705801910784
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.411473537,746,714.411473537,680.588526463,666.411473537,635,881,787,804.411473537,652,631,652.411473537,0.440415897772,0.00448485854224,0.0599586851657,0.999999995645,1.23460657331e-05,-7.51050324791e-05,-5.40104356162e-05,1793239705818576640
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.998056136,745.998056136,714.998056136,680,666.996112272,635,880.998056136,787,805,652,631,652.998056136,0.441110987799,0.00448514919031,0.0599792571576,0.999999997199,1.88456154305e-05,-4.94786480393e-05,-5.29052828117e-05,1793239705835242752
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.419514874,745.419514874,714.419514874,680,665.839029749,635,880.419514874,787,805,652,631,652.419514874,0.441718653166,0.00448699105092,0.0599285975931,0.999999989735,2.91873599485e-05,-0.000129841639155,-5.30891104047e-05,1793239705851909376
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.158290645,745.158290645,714.158290645,680,665,634.841709355,880.158290645,787,805,652,631,652,0.442313819918,0.00448944902745,0.0598783491127,0.999999976602,3.75677757734e-05,-0.000206045134648,-5.41379978485e-05,1793239705868576000
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.734155387,745.734155387,714.734155387,680,665,634.265844613,880.734155387,787,805,652,631,652,0.442876015188,0.00449353233132,0.0598291850696,0.999999960722,4.07741672787e-05,-0.000271275811001,-5.74689323146e-05,1793239705885242624
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.691366791,634,880.691366791,787,805,652,631,652.308633209,0.443438088468,0.00449566941004,0.0598022525809,0.999999948876,4.31685090878e-05,-0.000311256533662,-5.92012369142e-05,1793239705901909760
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.118078298,634,880.118078298,787,805,652,631,652.881921702,0.444000057106,0.00449613758589,0.0597943838194,0.999999942906,4.48665121206e-05,-0.000329585229065,-5.95627043943e-05,1793239705918577152
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680.469167708,664,634,880.469167708,787,805,652,631.469167708,653,0.444543640105,0.00449843413681,0.0597996213638,0.999999945443,4.53686856791e-05,-0.000321390170262,-6.13551610139e-05,1793239705935244288
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.941040712,745.941040712,714.941040712,681,664,634,880.941040712,787,805,652,631.941040712,652.941040712,0.44507548254,0.00450104605065,0.0598048288595,0.999999947902,4.52957410558e-05,-0.000313240476457,-6.34391214722e-05,1793239705951911168
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.360753573,745.360753573,714.360753573,681,664,634,880.360753573,787,805,652,631.360753573,652.360753573,0.445545682207,0.00450225290364,0.0597797100978,0.999999929882,4.28802545424e-05,-0.000366326665893,-6.48184975579e-05,1793239705968577536
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.217391447,714,680.782608553,664,634,880.217391447,787,805,652,631,652.217391447,0.445996650108,0.00450478021146,0.0597521122224,0.999999911114,2.50675292876e-05,-0.000415556589023,-6.6750353468e-05,1793239705985244160
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.792016323,714,680.207983677,664,634,880.792016323,787,805,652,631,652.792016323,0.446416014925,0.00450947738658,0.0597204404899,0.999999892328,-1.80470577406e-05,-0.000458449610152,-6.95900843315e-05,1793239706001910272
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,746,714,680.366007992,663.633992008,633.633992008,881,787,805,652,631.366007992,653,0.446834398405,0.00451232930798,0.0597092965214,0.999999884661,-6.05004724355e-05,-0.000471094153501,-7.13322735262e-05,1793239706018576640
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,680.939640517,663.060359483,633.060359483,881,787,805,652,631.939640517,653,0.447252225242,0.00451413447689,0.0597097972886,0.999999883266,-0.000102578829405,-0.000466579714706,-7.24518629832e-05,1793239706035243264
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.531082147,746,714,680.468917853,663,633,881,787,804.468917853,652,631.468917853,653,0.447649334693,0.00452128340305,0.0597203538206,0.999999891319,-9.57188218653e-05,-0.000450289545812,-7.37458360405e-05,1793239706051909888
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.87838201,746,714,680,662.87838201,632.87838201,880.87838201,787,804.12161799,652.12161799,631.12161799,652.87838201,0.448033897828,0.0045318847102,0.0597293269172,0.999999899972,-6.8817463193e-05,-0.000436042128983,-7.20288724633e-05,1793239706068576768
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.299134848,746,714,680,662.299134848,632.299134848,880.299134848,787,804.700865152,652.700865152,631.700865152,652.299134848,0.448380418717,0.00455311216993,0.0597278921287,0.999999903716,1.18411097232e-05,-0.000434692013736,-5.89050682337e-05,1793239706085242880
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.277528212,746,714,680.277528212,662,632,880,787,805,652.722471788,631.722471788,652.277528212,0.448681099265,0.00457478807933,0.0597116628587,0.999999891153,6.32187292191e-05,-0.000459027622023,-5.46854050353e-05,1793239706101909504
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.851431649,746,714,680.851431649,662,632,880,787,805,652.148568351,631.148568351,652.851431649,0.448932826423,0.00459694289146,0.0596796344103,0.999999864275,8.33269133664e-05,-0.000510793279364,-5.99745663536e-05,1793239706118576896
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,714,681,662,632,880,786.562806536,805,652,631,653,0.449163175419,0.00459834779306,0.059655798696,0.999999844932,8.09917044776e-05,-0.000547449157687,-6.22554540124e-05,1793239706135243776
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,714,681,661.973386593,632,880,786,805,652,631,652.973386593,0.449386757767,0.00459288403592,0.0596356031332,0.99999982865,7.12812521626e-05,-0.000577567882189,-6.35227259788e-05,1793239706151910144
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,714,681,661.394018389,632,880,786,805,652,631,652.394018389,0.449624893255,0.00459529673562,0.0596315758569,0.999999826227,7.12115241285e-05,-0.000581530181119,-6.55619255536e-05,1793239706168576256
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.816191829,746,714,680.816191829,661.183808171,632,880.183808171,786,805,652,631.183808171,652.183808171,0.449850316988,0.00459767856696,0.0596292638752,0.999999825118,7.12354990458e-05,-0.000583219233269,-6.74152702518e-05,1793239706185242624
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.241642584,746,714,680.241642584,661.758357416,632,880.758357416,786,805,652,631.758357416,652.758357416,0.450048717927,0.00459999477776,0.0596305982828,0.999999826831,7.14586685573e-05,-0.000580075796324,-6.88735227112e-05,1793239706201909760
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.341102133,746,714,680.341102133,661.658897867,631.658897867,881,786,805,652,631.658897867,653,0.45022616418,0.00460016108984,0.0596322022235,0.999999828219,6.96858591876e-05,-0.000577805189481,-6.96240755889e-05,1793239706218576384
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.92979565,746,714,680.92979565,661.07020435,631.07020435,881,786,805,652,631.07020435,653,0.450388400348,0.00459876688304,0.0596340018069,0.999999829366,6.6464254522e-05,-0.000576168132182,-6.98609398948e-05,1793239706235242496
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.489363902,746,714,681,661,631,881,786.510636098,805,652,631,653,0.450530970933,0.00460224264442,0.0596379698452,0.999999833576,6.92598298391e-05,-0.000568367184431,-7.07786096053e-05,1793239706251909120
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631,881,786.910514043,805,652,631,653,0.450665873585,0.00460581496412,0.0596416146224,0.999999837254,7.2589631697e-05,-0.000561329755704,-7.16418396956e-05,1793239706268575744
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,681,661,631,881,786.336682832,805,652,631,653,0.450773685617,0.00460634087662,0.059641920555,0.999999836209,7.44011653014e-05,-0.00056294219692,-7.17114751901e-05,1793239706285243136
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.238699345,746,714.238699345,681,661,631,881,786,805,652,631.238699345,653,0.450869943768,0.00460661039947,0.0596399197348,0.999999834067,7.46663054148e-05,-0.000566685552131,-7.1825423851e-05,1793239706301910272
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.816283415,746,714.816283415,681,661,631,881,786,805,652,631.816283415,653,0.45094979871,0.00460651592239,0.0596346439863,0.999999830338,7.27360094252e-05,-0.00057345419498,-7.20022845144e-05,1793239706318576384
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.599115558,746,714.599115558,681,660.599115558,631,881,786.400884442,805,652,631.599115558,653,0.451012636533,0.00460771294737,0.0596279097196,0.999999824597,7.48878440507e-05,-0.000583050966397,-7.24518084193e-05,1793239706335242752
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.011241538,746,714.011241538,681,660.011241538,631,881,786.988758462,805,652,631.011241538,653,0.451067536845,0.00460951238392,0.0596204951381,0.999999817819,7.89437582929e-05,-0.000593966897178,-7.30285140604e-05,1793239706351909376
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.568581207,746,714,681,660,631,881.568581207,786.431418793,805.568581207,652,631,653,0.451114725942,0.00461159506742,0.0596201847678,0.999999818127,8.02490610933e-05,-0.000593283196288,-7.29399661459e-05,1793239706368576512
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.852569466,746,714,680.852569466,660,631,881.852569466,786,805.852569466,652.147430534,631,653,0.451158457475,0.00461270824269,0.059620164959,0.999999818607,8.08143965028e-05,-0.000592412665507,-7.28110787625e-05,1793239706385243136
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.276096242,746,714,680.276096242,660,631,881.276096242,786,805.276096242,652.723903758,631,653,0.451192564508,0.00461098394857,0.0596205876757,0.999999819185,7.93823788821e-05,-0.000591656522681,-7.26025402887e-05,1793239706401909504
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.299379105,745.700620895,714,680.299379105,660,631,881,786,805,652.700620895,631,653,0.451220125954,0.00461110301009,0.0596209401967,0.999999819244,8.0201843496e-05,-0.000591474393776,-7.23767095045e-05,1793239706418576128
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.873937303,745.126062697,714,680.873937303,660,631,881,786,805,652.126062697,631,653,0.451241670924,0.00461291642122,0.0596212281962,0.999999818821,8.30907938563e-05,-0.00059181987886,-7.21349841921e-05,1793239706435242752
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.537826354,745.462173646,714,681,660,631,881,786,805,652,631,653,0.451258430944,0.00461429110325,0.0596218030287,0.999999819528,8.56533744018e-05,-0.000590248749184,-7.22079874772e-05,1793239706451909376
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,881,786,804.947151134,652,631,653,0.451272758251,0.00461543200381,0.0596221318331,0.999999820182,8.78984941475e-05,-0.000588793265196,-7.23354250294e-05,1793239706468576000
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660,631,881,786,804.370410879,652,631,653,0.45127630254,0.00461547787536,0.0596192225437,0.999999817221,8.79060003302e-05,-0.000593824517011,-7.21255293319e-05,1793239706485242880
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.205459257,746,714,681,660,631,881,786,804.205459257,652,631,653,0.451279547302,0.00461525497321,0.0596171008772,0.99999981493,8.88449043275e-05,-0.000597565600811,-7.18405636508e-05,1793239706501909504
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.779767288,746,714,681,660,631,881,786,804.779767288,652,631,653,0.451282254339,0.00461454955766,0.0596163931833,0.999999813873,9.14558913733e-05,-0.000598990522497,-7.14208293119e-05,1793239706518575872
+230,3.833333333,POSE1_TO_POSE2_PRESS,766,746,714,681,660,631,880.637077626,786,805,652,631,653,0.451286228216,0.00461493443222,0.0596174916003,0.999999814637,9.15323973179e-05,-0.000597703345418,-7.14069092064e-05,1793239706535242240
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,746,714,681,660,631,880.048419747,786,805,652,631,653,0.45129099006,0.00461599746062,0.0596197134072,0.999999816529,9.00324713645e-05,-0.000594729259376,-7.16454030961e-05,1793239706551909120
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.468050106,746,714,681,660.531949894,631,880,786,805,652,631,653,0.451290803073,0.00461750849539,0.0596191195786,0.999999815493,9.29722374869e-05,-0.000596056820215,-7.13181263964e-05,1793239706568575744
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660.889361604,631,880,786,805,652,631,653,0.451290617218,0.00461873542631,0.0596184893719,0.999999814572,9.56696223741e-05,-0.000597210483452,-7.10150427559e-05,1793239706585242368
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714,681,660.314609271,631,880,786,805,652,631,653,0.451292296736,0.00461860213945,0.0596187651646,0.999999815282,9.56810461596e-05,-0.000596017367339,-7.10261601653e-05,1793239706601909248
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.738864399,714,681,660,631,880.261135601,786,805.261135601,652,631,653,0.451292749245,0.0046184702516,0.0596185191697,0.999999815289,9.53049335638e-05,-0.000596044395128,-7.12073915717e-05,1793239706618575616
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.161919105,714,681,660,631,880.838080895,786,805.838080895,652,631,653,0.451291717844,0.00461834005564,0.0596176421403,0.999999814445,9.44601458997e-05,-0.000597547028803,-7.15943538298e-05,1793239706635242240
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.425100055,745.425100055,714,681,660,631,881,786,805.14979989,652,631,653,0.451292564171,0.00461962135622,0.0596176007081,0.999999814243,9.74437865974e-05,-0.000597431762479,-7.13726616056e-05,1793239706651909120
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.984278041,745.984278041,714,681,660,631,880.984278041,786,804,652,631,653,0.451294100589,0.00462140491579,0.0596178806542,0.999999814261,0.000101793135949,-0.000596728269039,-7.09265997008e-05,1793239706668575744
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.405385844,745.405385844,714,681,660,631,880.405385844,786,804,652,631,653,0.451294115073,0.004621453868,0.0596179949919,0.999999813784,0.000101560263011,-0.000597564468385,-7.09494979548e-05,1793239706685242368
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.171899276,745.171899276,714,681,660,631,880,786,804.171899276,652,631,653,0.451293942783,0.00462173048291,0.0596177717349,0.999999813282,0.000101598551402,-0.000598398571396,-7.09476102695e-05,1793239706701908992
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.745429534,745.745429534,714,681,660,631,880,786,804.745429534,652,631,653,0.451293334111,0.00462253901622,0.0596167597106,0.999999812721,0.000102270389836,-0.000599227776417,-7.08878119187e-05,1793239706718575616
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.673743733,746,714,681.326256267,660,631,880.326256267,786,805,652,631.326256267,653,0.451293142481,0.00462201575358,0.059616042068,0.999999812363,0.000101298631698,-0.000600017893638,-7.0652266445e-05,1793239706735242496
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.087093515,746,714,681.912906485,660,631,880.912906485,786,805,652,631.912906485,653,0.451293283704,0.00462042954853,0.0596155593795,0.999999812162,9.90150746441e-05,-0.000600776813789,-7.02764524409e-05,1793239706751909120
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.506358676,714,681.506358676,660,631,881,786.493641324,805,652,631.506358676,653,0.451294697011,0.00461936290274,0.0596162036524,0.999999812777,9.72701668527e-05,-0.000600023101674,-7.04072085331e-05,1793239706768576000
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.073300996,714,681,660,631,881,786.926699004,805,652,631,653,0.451295964992,0.0046184765904,0.0596168547297,0.999999813342,9.59440382769e-05,-0.000599279371128,-7.05396223757e-05,1793239706785242368
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.652657514,714,681,660,631,881,786.347342486,805,652,631,653,0.451294698577,0.00461820991308,0.0596161963504,0.999999812599,9.68607501395e-05,-0.000600425185981,-7.00737631042e-05,1793239706801909248
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,680.770252765,660,631,880.770252765,786,805,652,631,653,0.451294286348,0.00461812011077,0.0596161414382,0.999999812585,9.71478868434e-05,-0.000600429872361,-6.98321736356e-05,1793239706818576384
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,680.196556521,660,631,880.196556521,786,805,652,631,653,0.451295152903,0.00461829510373,0.059616989962,0.999999813663,9.64925019978e-05,-0.000598726203178,-6.99263329749e-05,1793239706835243776
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680.387624775,660,631,880.387624775,786,805,652,631,653,0.451295757169,0.00461814902256,0.0596170035023,0.999999813771,9.70828756622e-05,-0.000598444996904,-6.9970068117e-05,1793239706851910400
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714,680.977270603,660,631,880.977270603,786,805,652,631,653,0.451296224737,0.00461783560498,0.0596165818685,0.999999813374,9.83225098446e-05,-0.000598905145449,-6.99875233298e-05,1793239706868576256
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714.557066448,681,660,631,881,786,805,652,631,653,0.451297424234,0.00461893427358,0.0596175233795,0.999999814176,9.91611961794e-05,-0.00059739301591,-7.02657079257e-05,1793239706885242880
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,714.864371704,681,660,631,881,786.135628296,805,652,631,653,0.451298183345,0.00461977134425,0.059618030157,0.999999814553,0.000100000781574,-0.000596604016744,-7.04041793287e-05,1793239706901909504
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,714.288533299,681,660,631,881,786.711466701,805,652,631,653,0.451297417846,0.00461957558861,0.0596169485287,0.999999813404,0.000100895460496,-0.000598418742333,-7.00552534134e-05,1793239706918576128
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,746,714,681,660.29310501,631,880.70689499,786.70689499,805.29310501,652.29310501,631,653,0.451297263653,0.00461998365062,0.0596168457065,0.999999813006,0.000101812241489,-0.000598929061884,-7.00492368669e-05,1793239706935242752
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,746,714,681,660.880567981,631,880.119432019,786.119432019,805.880567981,652.880567981,631,653,0.451297723379,0.00462099811147,0.0596177258747,0.999999813364,0.000102751218981,-0.000598129399269,-7.03875955649e-05,1793239706951909120
+256,4.266666667,HOLD_POSE2,766,746,715,681,660,631,881,786,804,653,631,653,0.451296958553,0.00462151730453,0.0596174712616,0.999999813177,0.000104080255478,-0.000598288473696,-6.97390898138e-05,1793239706984046080
+257,4.283333333,HOLD_POSE2,765.423396503,745.423396503,713.846793006,681,660,631,880.423396503,786,804.576603497,652.423396503,631.576603497,653,0.4512968255,0.0046198395534,0.0596173845068,0.999999813363,9.99336723007e-05,-0.000598656632666,-6.99851879499e-05,1793239707000712448
+258,4.300000000,HOLD_POSE2,765.152797142,745.152797142,713.152797142,681,660,631,880.152797142,786,805,652,631.847202858,653,0.451296798478,0.00461854910011,0.0596172786631,0.999999813451,9.69725928332e-05,-0.000598978117107,-7.01389331757e-05,1793239707017379328
+259,4.316666667,HOLD_POSE2,765.727858264,745.727858264,713.727858264,681,660,631,880.727858264,786,805,652,631.272141736,653,0.451297064477,0.00461832896705,0.0596171200658,0.999999813312,9.72877223871e-05,-0.000599170613822,-7.00374557044e-05,1793239707034045952
+260,4.333333333,HOLD_POSE2,765.690742203,746,714.309257797,681,660,631,881,786.309257797,805.309257797,652,631,653,0.451297365457,0.00461925666757,0.0596171084416,0.999999813167,9.98297246274e-05,-0.000599017692541,-6.98349941369e-05,1793239707050712320
+261,4.350000000,HOLD_POSE2,765.103648298,746,714.896351702,681,660,631,881,786.896351702,805.896351702,652,631,653,0.451297697864,0.00462121557773,0.0596172288574,0.999999813001,0.000104372341365,-0.000598554448934,-6.95418088203e-05,1793239707067378944
+262,4.366666667,HOLD_POSE2,765,746,714.522569261,681,660,631,881.477430739,786.522569261,805.522569261,652,631,653,0.451298395204,0.00462141576521,0.0596178297709,0.999999813416,0.000105153557594,-0.000597714257617,-6.96281023074e-05,1793239707084045568
+263,4.383333333,HOLD_POSE2,765,746,714,681,659.943036363,630.943036363,881.886072726,786,805,652,631,653,0.451299005164,0.00462123083547,0.059618372905,0.999999813837,0.000105017314436,-0.000597016807529,-6.97730810773e-05,1793239707100712448
+264,4.400000000,HOLD_POSE2,765,746,714,681,659.365846683,630.365846683,880.731693367,786,805,652,631,653,0.451298102576,0.00462097233397,0.0596174475575,0.999999813158,0.000103867041366,-0.000598361013004,-6.97109959169e-05,1793239707117379072
+265,4.416666667,HOLD_POSE2,765,746,714,681,659.209663367,630.419326734,880.209663367,786.209663367,805.209663367,652,631.209663367,653,0.45129723173,0.00462046802428,0.0596165131372,0.999999812562,0.000102907437061,-0.000599532365396,-6.96194900903e-05,1793239707134045696
+266,4.433333333,HOLD_POSE2,765,746,714,681,659.782265824,631.564531649,880.782265824,786.782265824,805.782265824,652,631.782265824,653,0.451296415834,0.00461953820684,0.0596155630114,0.999999812113,0.000102277891243,-0.000600404499234,-6.94770554416e-05,1793239707150712576
+267,4.450000000,HOLD_POSE2,765,745.632455602,714,681,660,631.632455602,880.632455602,786.632455602,805.632455602,652,631.632455602,653,0.451296692841,0.00462109552924,0.0596154428529,0.999999811929,0.000103898795394,-0.000600425415094,-6.95438245004e-05,1793239707167379200
+268,4.466666667,HOLD_POSE2,765,745.03939937,714,681,660,631.03939937,880.03939937,786.03939937,805.03939937,652,631.03939937,653,0.451297640414,0.00462417886981,0.0596158319319,0.9999998119,0.000106900493484,-0.000599924054737,-6.97389533077e-05,1793239707184046080
+269,4.483333333,HOLD_POSE2,765,745.539646398,714,681,660,631,880.539646398,786,805,652.539646398,631,653,0.451297100188,0.00462178579596,0.0596158055617,0.999999811954,0.000104553255075,-0.000600264665952,-6.95930245075e-05,1793239707200713472
+270,4.500000000,HOLD_POSE2,765,746,714,681,659.88279658,631,881,786,805,653,631,653,0.45129688813,0.00461949651162,0.0596158519916,0.999999812178,0.000102261386999,-0.000600298451164,-6.94850899013e-05,1793239707217381120
+271,4.516666667,HOLD_POSE2,765,746,714,681,659.307162752,631,881,786,805,653,631,653,0.451298373785,0.00461913751623,0.0596162988095,0.999999813068,0.00010167493798,-0.000598897757134,-6.96206973528e-05,1793239707234047232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,630,881,787,805,652,631,653,0.451295988576,0.00461862053369,0.0596149581506,0.99999981105,0.000101305993427,-0.000602365044616,-6.92305923771e-05,1793239707272860416
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.610016274,745.389983726,714,681,660,630.610016274,881,787,804.389983726,652,631,653,0.451296458641,0.00462080066167,0.0596152529656,0.99999981095,0.000101928075773,-0.000602385384145,-6.95916320479e-05,1793239707289527552
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.791127702,745.208872298,714,681,660,631,881,786.791127702,804.208872298,652.208872298,631,653,0.45129734942,0.00462156176063,0.0596157087773,0.999999811507,0.000101928553716,-0.000601442080193,-6.97366617496e-05,1793239707306194176
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.21205191,745.78794809,714,681,660,631,881,786.21205191,804.78794809,652.78794809,631,653,0.45129898587,0.0046198077849,0.0596164499381,0.999999813227,0.000100827305381,-0.000598790822692,-6.94988372698e-05,1793239707322860032
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,681.363620805,660,631,881,786,805,652.636379195,631,653,0.451299027037,0.00462003662564,0.0596167133835,0.999999813328,0.000101406425199,-0.000598497056975,-6.97245903031e-05,1793239707339526400
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,681.937327322,660,631,881,786,805,652.062672678,631,653,0.451298146513,0.00462141105937,0.0596167008238,0.999999812495,0.000102956395311,-0.000599565356884,-7.02181800945e-05,1793239707356193024
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.525645613,745.474354387,714,681.474354387,660,630.474354387,880.474354387,786.525645613,805,652,631,653,0.45129886407,0.00461999034319,0.0596169128261,0.999999813078,0.000102085003196,-0.000598792686264,-6.97856041657e-05,1793239707372859904
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.886297976,745.113702024,714,681,660,630.113702024,880.113702024,786.886297976,805,652,631,653,0.451299382293,0.00461887536077,0.0596170820443,0.999999813573,0.000101424421952,-0.000598135600747,-6.92908657701e-05,1793239707389526784
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.306658036,745.693341964,714,681,660,630.693341964,880.693341964,786.306658036,805,652,631,653,0.451298280544,0.00462041797278,0.0596169630829,0.999999813003,0.000102844600904,-0.000598877369094,-6.90068471094e-05,1793239707406193664
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,881,786,805,652.271455571,631,653,0.451294507907,0.00462096015604,0.059614867522,0.999999811272,0.000103462716517,-0.000601661506776,-6.89614944659e-05,1793239707422860032
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,881,786,805,652.847854511,631,653,0.451287734891,0.00462037849373,0.0596105515208,0.999999808217,0.00010317982309,-0.000606739968226,-6.91842506106e-05,1793239707439526656
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,881,786.422719122,805,652.577280878,631,653,0.451267663801,0.00462101137677,0.0596016386059,0.999999799805,0.000104098364115,-0.00062029837076,-6.91558523441e-05,1793239707456193024
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,660,631,881,786.99703354,805,652.00296646,631,653,0.451242823762,0.00462207981934,0.059591077148,0.999999789238,0.000105447762844,-0.000636897845297,-6.90373852249e-05,1793239707472859648
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.411198506,714,681,660,631,881,786.411198506,804.411198506,652.588801494,631,653,0.451195572717,0.00462139908375,0.0595753288506,0.999999776002,0.000104121267898,-0.00065749931343,-6.96370663275e-05,1793239707489526272
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.176359265,660.176359265,631,881,786.176359265,804.176359265,653,631,653,0.451143101494,0.00462122504933,0.0595607463568,0.999999763353,0.000104242378718,-0.000676378264133,-7.02800620417e-05,1793239707506192896
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681.754128138,660.754128138,631,881,786.754128138,804.754128138,653,631,653,0.451079013509,0.00462222498337,0.0595488786298,0.99999975274,0.000107689993252,-0.000691289320409,-7.10131591364e-05,1793239707522859520
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.329394279,714,681.341211442,660.341211442,631,881,786.670605721,805,652.670605721,631.329394279,653,0.451004290036,0.00462235337932,0.0595413077152,0.999999745813,0.000108396850883,-0.000701139749247,-7.09025144582e-05,1793239707539526144
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.902806342,714,680.194387316,659.194387316,631,881,786.097193658,805,652.097193658,631.902806342,653,0.450921687718,0.00462183613318,0.0595369199127,0.999999741711,0.000107073334787,-0.000707241226012,-7.01668194285e-05,1793239707556193024
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.488888376,659.977776751,631,881,786,805,652,631.511111624,653,0.450827863262,0.00462152687928,0.059536196479,0.999999740311,0.000108440082447,-0.000709108151394,-6.91651466566e-05,1793239707572859904
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.076372152,746,714,681,660.923627848,631,880.923627848,786,804.923627848,652,631,653,0.450728702911,0.00462158410149,0.0595368841643,0.999999740235,0.000110839944658,-0.000708949833136,-6.80818749247e-05,1793239707589526528
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.656052271,746,714,681,660.343947729,631,880.343947729,786,804.343947729,652,631,653,0.450609471992,0.00462377672084,0.0595419427401,0.999999745191,0.000116429767841,-0.00070114032831,-6.68185963279e-05,1793239707606193152
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,745.765048236,714,681,660,631,880.234951764,786,804.234951764,652,631,653,0.450474040159,0.00462502730498,0.0595445489494,0.999999746501,0.000120723682914,-0.000698665377532,-6.54968948926e-05,1793239707622859776
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.187287775,714,681,660,631,880.812712225,786,804.812712225,652,631,653,0.45031497023,0.00462490340315,0.0595435770087,0.999999742577,0.000123126789951,-0.000703973861389,-6.40899511526e-05,1793239707639526400
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.611976748,745,714,681,660,631,880.611976748,786.388023252,805,652,631,652.611976748,0.450127917856,0.00462518168577,0.059538935521,0.999999735457,0.000125582159257,-0.000713677956983,-6.30831583049e-05,1793239707656193024
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.037840525,745,714,681,660,631,880.037840525,786.962159475,805,652,631,652.037840525,0.449927443859,0.00462565287369,0.0595325339577,0.999999726693,0.000128062596038,-0.000725490381147,-6.22682952433e-05,1793239707672859648
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,631,881.104107061,786.44794647,805,652,631,652.55205353,0.449701191987,0.00462663594575,0.0595248304796,0.999999716513,0.000136240762202,-0.000738106662326,-6.00849915091e-05,1793239707689526528
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.140005983,714,681,660,631,881.859994017,786,805,652,631,653,0.449466773131,0.00462790378325,0.0595194803836,0.999999709433,0.000144218784579,-0.000746308686767,-5.79495107667e-05,1793239707706193152
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.718397608,714,681,660,631,881.281602392,786,805,652,631,653,0.449212477034,0.00462995018376,0.0595217868146,0.999999712942,0.000150311298301,-0.000740511229146,-5.62661075556e-05,1793239707722859776
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.295258885,746,714,681,660.295258885,631.295258885,881,786.295258885,804.704741115,652.295258885,631,653,0.448939218905,0.00463032052049,0.0595275325152,0.99999971906,0.000154303710473,-0.000731544312537,-5.39825906431e-05,1793239707739526400
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.870668088,746,714,681,660.870668088,631.870668088,881,786.870668088,804.129331912,652.870668088,631,653,0.448647969055,0.00462910055846,0.0595365414957,0.999999727587,0.000156303484116,-0.00071957012027,-5.11296682883e-05,1793239707756193024
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.553934872,746,714,680.553934872,660.553934872,631.553934872,880.553934872,787,804.446065128,652.553934872,631,653,0.448325139316,0.00463002621902,0.0595469011457,0.999999737111,0.000164936399703,-0.000704457851489,-4.80853370584e-05,1793239707772859648
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.977879037,714,680.022120963,660.022120963,631.022120963,880.022120963,786.977879037,805,652,631,653,0.447992388491,0.00463153050352,0.0595580202663,0.999999747093,0.000175281672292,-0.000687799336655,-4.49771651355e-05,1793239707789526528
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.384725793,714,680.615274207,660.615274207,631.615274207,880.615274207,786.384725793,805,652,631,653,0.447639887766,0.00463191291125,0.0595786355852,0.999999768575,0.000180185326977,-0.000654712264866,-4.16535685092e-05,1793239707806192896
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.202078762,714,681,661.202078762,632.202078762,880.797921238,786.202078762,805,652,631,653,0.447268388356,0.00463264302775,0.0595977248046,0.999999785694,0.000187061850785,-0.000626234745368,-3.8065750827e-05,1793239707822859520
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.777164529,714,681,661.777164529,632.777164529,880.222835471,786.777164529,805,652,631,653,0.446861820267,0.00463401496231,0.0596139970718,0.999999796124,0.000197579993992,-0.000606265770718,-3.39902212384e-05,1793239707839526656
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.351048316,746,714,681,662,633,880,787,805,652,631,653,0.446412817831,0.00463423691083,0.0596193349952,0.999999795621,0.000206968340907,-0.000604167096761,-3.00830535901e-05,1793239707856193280
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.924171778,746,714,681,662,633,880,787,805,652,631,653,0.445936971146,0.00463373137182,0.0596177557927,0.99999978829,0.000215641973355,-0.000613373274059,-2.62823922603e-05,1793239707872859904
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,746,713.486929457,681,662,633,880.513070543,787,805,652,631,653,0.44541128228,0.00463396239115,0.0596067610728,0.999999774875,0.000224510327913,-0.000631956066633,-2.18347470463e-05,1793239707889526272
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745.898622053,713.101377947,681,662.101377947,633,880.898622053,787,805,652,631.101377947,652.898622053,0.444880289729,0.00463432156392,0.0595986050036,0.999999765607,0.000233631410603,-0.000643350649511,-1.73955729725e-05,1793239707906193152
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745.324295128,713.675704872,681,662.675704872,633,880.324295128,787,805,652,631.675704872,652.324295128,0.444360009781,0.00463475464336,0.0596103896103,0.999999781362,0.000243793008486,-0.000614540645824,-1.34561532526e-05,1793239707922859776
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,663,633.251321624,880.251321624,787,805,652,631.748678376,652.251321624,0.443833231466,0.00463455175601,0.0596372087952,0.999999807764,0.000253160793967,-0.000565951153147,-8.95491877803e-06,1793239707939526656
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,663,633.828611266,880.828611266,787,805,652,631.171388734,652.828611266,0.443298024698,0.0046335240099,0.059683528059,0.999999844914,0.000261498991151,-0.000491707358491,-3.72500211829e-06,1793239707956193280
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.597062678,745.402937322,714,680.597062678,663.402937322,633.597062678,881,787,805,652,631,653,0.442706393287,0.00463258388244,0.0597104383015,0.999999860661,0.000270545195909,-0.000453300866874,1.49903612489e-06,1793239707972859904
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.023987989,745.976012011,714,680.023987989,663.976012011,633.023987989,881,787,805,652,631,653,0.442090936991,0.00463168075135,0.0597291532241,0.999999868347,0.000279890351785,-0.000430026419385,6.72059211381e-06,1793239707989526272
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.569675633,745.430324367,714.569675633,680.569675633,664,633.569675633,881,787,804.430324367,651.430324367,631,653,0.441395379274,0.00462878560799,0.0597251103871,0.999999861763,0.000283337576239,-0.000442790761843,1.13886264649e-05,1793239708006193152
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.839925302,745.160074698,714.839925302,680.839925302,664.160074698,634,881,787,804.160074698,651.160074698,631.160074698,653,0.440696231986,0.00462577172146,0.059725199252,0.999999858408,0.000287330887661,-0.000447623567649,1.60789233952e-05,1793239708022859776
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.26043656,745.73956344,714.26043656,680.26043656,664.73956344,634,881,787,804.73956344,651.73956344,631.73956344,653,0.439996848544,0.00462267473065,0.0597387186194,0.999999865332,0.000293430116484,-0.000427549652105,2.08909089966e-05,1793239708039526144
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.682263014,714,680,665.317736986,634.317736986,880.682263014,787,805,652,631.682263014,653,0.439313036114,0.00462051852589,0.0597756252668,0.999999887138,0.000299827329257,-0.000367665092094,2.55004774503e-05,1793239708056193024
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.105162976,714,680,665.894837024,634.894837024,880.105162976,787,805,652,631.105162976,653,0.438641933948,0.00461913026773,0.0598316225365,0.9999999147,0.000306467779786,-0.000275283806142,2.99448167508e-05,1793239708072859648
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.478861394,745,714,680,665.521138606,635,880.478861394,787,804.521138606,652,631,653,0.437863781004,0.00462175439515,0.0598404401297,0.999999913252,0.000319553579451,-0.000264901605447,3.47794871731e-05,1793239708089526528
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,665,635,880.9362227,787,804,652,631.0637773,653,0.437056113691,0.00462490088244,0.0598334760459,0.999999904274,0.000333570299435,-0.000280394680729,3.95178891012e-05,1793239708106192896
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,665,635,880.356575649,787,804,652,631.643424351,653,0.436202664716,0.0046250405879,0.0597838970694,0.999999876226,0.000343499737747,-0.000357387117881,4.27740796914e-05,1793239708122860032
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,680.222110244,665,635,880,787,804,652,632,653,0.435365799956,0.00462401470998,0.0597568213479,0.999999874665,0.000310277092243,-0.000391544533628,3.30338036212e-05,1793239708139526912
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.799259709,665,635,880,787,804,652,632,653,0.434555444816,0.00462112566803,0.0597657166771,0.999999914542,0.000208076617565,-0.000357230934392,2.51890958882e-06,1793239708156193280
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745.375761642,714,681,665.375761642,635,880,787,804,652,631.624238358,653,0.433729458629,0.00461721335677,0.0597796931321,0.999999929866,0.000180308425319,-0.000328250843341,-2.98481521935e-06,1793239708172859904
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745.951918225,714,681,665.951918225,635,880,787,804,652,631.048081775,653,0.432895136379,0.00461275533266,0.0597963793684,0.999999935874,0.000192235222396,-0.00030211513247,4.85000119595e-06,1793239708189526784
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.460303857,745.460303857,714,680.460303857,665.460303857,634.460303857,880,787,804,652,631,653,0.43202145604,0.0046144415152,0.0598047599348,0.999999935347,0.000208786238009,-0.000292558115524,1.11006311221e-05,1793239708206193152
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.126618734,745.126618734,714,680.126618734,665,634.126618734,880,787,804.126618734,652,631,653,0.431147729838,0.00461595038028,0.0598157077826,0.999999936049,0.000223382857177,-0.000278780174179,1.68520079093e-05,1793239708222859776
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.706688635,745.706688635,714,680.706688635,665,634.706688635,880,787,804.706688635,652,631,653,0.430286673288,0.00461482075706,0.059838557933,0.999999943558,0.000229472481342,-0.000244480222997,2.13320052676e-05,1793239708239526656
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.716055549,745.716055549,714,680.716055549,665,635,880,787.283944451,804.716055549,652,631.283944451,653,0.42938051136,0.00461555402501,0.0598303361551,0.999999936941,0.00023299817631,-0.00026692023296,2.41367550668e-05,1793239708256193536
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.141678053,745.141678053,714,680.141678053,665,635,880,787.858321947,804.141678053,652,631.858321947,653,0.428428213219,0.00461819275409,0.0597903324075,0.999999911985,0.000233901351953,-0.000347396799445,2.52279756218e-05,1793239708272860672
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.4316389,745,714,679.5683611,665,635,880,787.5683611,804.4316389,652.4316389,631.5683611,653,0.427537451075,0.00461730596191,0.0597698571431,0.999999909045,0.000221941536654,-0.000363508250513,2.26734173579e-05,1793239708289527296
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.995236258,745.004763742,714,679.004763742,665.004763742,635,880,787,804.995236258,652.995236258,631.004763742,653,0.426666636611,0.00461526807275,0.0597561618344,0.99999991445,0.000205860707087,-0.000358276295194,1.89789415479e-05,1793239708306193920
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.402974141,745.597025859,714,679.597025859,665.597025859,635,880,787,804.402974141,652.402974141,631.597025859,653,0.42577103345,0.00461363203246,0.0597900431779,0.999999928386,0.000200964662042,-0.000319937753066,2.19211201402e-05,1793239708322860544
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.814944811,635,880,787,804,652,631.814944811,652.814944811,0.424876635169,0.0046115581339,0.0598181983106,0.999999938546,0.00019563071279,-0.000289879354303,2.46235478742e-05,1793239708339527168
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.235926671,635,880,787,804,652,631.235926671,652.235926671,0.423984802003,0.00460855208143,0.0598341629432,0.999999943222,0.000189364512543,-0.000277448509261,2.68155712347e-05,1793239708356193280
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.3420666,745.6579334,714,680,665,635,880,787,804,652,631.3420666,652,0.423113392168,0.00460369722663,0.0598481328085,0.999999951438,0.000178174271509,-0.000254188289463,2.767266923e-05,1793239708372859904
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.919355096,745.080644904,714,680,665,635,880,787,804,652,631.919355096,652,0.42225602646,0.00459757104412,0.0598607309727,0.999999961265,0.000163598016823,-0.000223481256762,2.76118064671e-05,1793239708389526784
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.495243387,745.504756613,714,680,665,635,880,787,804.504756613,652,632,652,0.421349338782,0.00459351850351,0.0598338839105,0.999999950115,0.000153977948444,-0.000274314729148,2.85024601031e-05,1793239708406193664
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.909644022,714,680,665,634.909644022,879.909644022,787.090355978,804.909644022,652,631.909644022,652,0.420432829604,0.00458985370417,0.0597984359803,0.999999931482,0.000144844698183,-0.000339415562921,2.92107199972e-05,1793239708422860544
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.330106014,714,680,665,634.330106014,879.330106014,787.669893986,804.330106014,652,631.330106014,652,0.419506507424,0.00458646514529,0.0597511003523,0.999999906548,0.00013399000101,-0.000410075562891,2.80950184361e-05,1793239708439527168
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.248291436,745.248291436,714,680,665,634.248291436,879,787.751708564,804,652,631,652.248291436,0.418636998431,0.00458461849295,0.0597377001067,0.999999902181,0.00012486922246,-0.000423430527963,2.74096208273e-05,1793239708456193536
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.825179517,745.825179517,714,680,665,634.825179517,879,787.174820483,804,652,631,652.825179517,0.417842677654,0.00458481244743,0.0597692109994,0.999999927519,0.000118043164815,-0.000360946230404,2.72937008278e-05,1793239708472859904
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745.599114372,714,680,665,635,879,787,804,652,631.400885628,653,0.417054585053,0.00458445620734,0.0598049771007,0.999999945114,0.000116849560043,-0.000308716940659,2.84850230191e-05,1793239708489526528
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745.02392222,714,680,665,635,879,787,804,652,631.97607778,653,0.416269200532,0.00458386074063,0.0598425933803,0.999999958522,0.000118104966512,-0.000260946569012,3.02447388368e-05,1793239708506193152
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.434487965,745.565512035,714,680,665,635,879.565512035,787,804,652.565512035,631.434487965,653,0.415487951176,0.00458029893262,0.0598414291639,0.999999936105,0.000227011462743,-0.00027432882883,3.1600978946e-05,1793239708522859776
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.152704877,745.847295123,714,680,665.152704877,635,880,787,804,652.847295123,631,653,0.414708859279,0.00457813200347,0.0598404858891,0.999999912152,0.000308269402228,-0.000282157832445,3.24395498882e-05,1793239708539526656
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.731911321,745.268088679,714,680,665.731911321,635,880,787,804,652.268088679,631,653,0.413935291979,0.00458022046483,0.0598448599201,0.999999919052,0.000299258114954,-0.000267064976224,3.18811839603e-05,1793239708556193536
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.692706016,745.307293984,714,680,665.692706016,635,879.692706016,787.307293984,804,652,631,653,0.413157313147,0.00457981294068,0.0598281969157,0.999999914861,0.000288089714773,-0.000293730506041,3.17038206601e-05,1793239708572860416
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.120618316,745.879381684,714,680,665.120618316,635,879.120618316,787.879381684,804,652,631,653,0.412375532958,0.00457725463799,0.059793406401,0.99999989816,0.000275062540614,-0.000356379031793,3.18547653868e-05,1793239708589527296
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,746,714.464205405,680,665,635,879.464205405,788,804,652,631.464205405,653,0.411666648964,0.00457699236111,0.05976449015,0.99999988559,0.000263802871605,-0.000397882162829,3.0299779953e-05,1793239708606193408
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.051636913,746,714.948363087,680,665.051636913,635,879.948363087,787.948363087,803.948363087,652.051636913,632,653,0.410983613051,0.00457711254513,0.0597429834309,0.999999877379,0.000252981478232,-0.000424766408474,2.85736679642e-05,1793239708622859776
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.630945241,746,714.369054759,680,665.630945241,635,879.369054759,787.369054759,803.369054759,652.630945241,632,653,0.410365697786,0.00457487253073,0.0597811561649,0.999999905523,0.000241813206567,-0.000359992324435,2.9756299833e-05,1793239708639526656
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635,879,787,803.210376917,652.789623083,631.789623083,653,0.409753121566,0.00457260602153,0.0598189297623,0.999999928266,0.000229969713879,-0.00029936697673,3.10031714741e-05,1793239708656193280
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635,879,787,803.790025197,652.209974803,631.209974803,653,0.409149916787,0.00457029300606,0.0598560027676,0.999999945681,0.000216941015289,-0.000246023832891,3.23628025165e-05,1793239708672859904
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745.6362806,714,680,665.6362806,635,879,787.3637194,804,652,631.3637194,653,0.408560489565,0.00456804402786,0.0598644250862,0.999999950896,0.000204785241392,-0.000234993121407,3.23904927213e-05,1793239708689526528
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.065968351,714,680,665.065968351,635,879,787.934031649,804,652,631.934031649,653,0.407978888041,0.00456583142302,0.0598565737945,0.999999950099,0.000193125290251,-0.000247995901596,3.1661639639e-05,1793239708706193664
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,665,635,879,788,803.47585404,652,631.47585404,653,0.407428128345,0.00456354767427,0.0598397400822,0.999999944074,0.000185517140343,-0.000276513986906,3.12331390883e-05,1793239708722860288
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.114403158,714,680,665,635,879,788,803.114403158,652.114403158,631,652.885596842,0.40689352139,0.00456175507366,0.059826171923,0.999999939251,0.000178545931005,-0.000297779246678,3.07682604846e-05,1793239708739526912
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.694694398,714,680,665,635,879,788,803.694694398,652.694694398,631,652.305305602,0.406408265544,0.00456200048906,0.059830686796,0.999999945207,0.000172010314187,-0.000281244137391,2.99952516872e-05,1793239708756193280
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.727518189,746,714,679.727518189,665,635,879.272481811,788,803.727518189,653,631,652.272481811,0.405938054925,0.00456117866984,0.0598360611343,0.999999949747,0.000167514382116,-0.000267496398647,2.98326750425e-05,1793239708772859904
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.152510713,746,714,679.152510713,665,635,879.847489287,788,803.152510713,653,631,652.847489287,0.405484548453,0.00455917194267,0.0598423897024,0.999999952896,0.000165283030959,-0.000256843367153,3.0347836874e-05,1793239708789526528
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.420953331,745.579046669,714,679,665,635,880,787.579046669,803,652.579046669,631.420953331,653,0.405050601264,0.00455666936346,0.0598308301982,0.999999948645,0.000162475882443,-0.000274519505236,3.08359363036e-05,1793239708806193152
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.993860282,745.006139718,714,679,665,635,880,787.006139718,803,652.006139718,631.993860282,653,0.40462371445,0.00455398779391,0.059812813548,0.999999941066,0.000159460885198,-0.000302421763679,3.13142669052e-05,1793239708822859776
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745.584943024,714,679,665,635,879.415056976,787.584943024,803.584943024,652.584943024,632,653,0.404238511111,0.00455451209349,0.0597912668347,0.999999928656,0.000161226345802,-0.000340108019364,3.19344085206e-05,1793239708839526656
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.827482478,745.827482478,714,679,665,635,879,787.827482478,804,653,631.827482478,653,0.40387678265,0.00455449292657,0.0597782207317,0.999999921025,0.000162246466691,-0.000361346236815,3.24926727369e-05,1793239708856193536
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.248634573,745.248634573,714,679,665,635,879,787.248634573,804,653,631.248634573,653,0.403569280937,0.00455311193689,0.0597852861735,0.999999927407,0.000161389118584,-0.000343594776104,3.29015791145e-05,1793239708872859648
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745.327890457,714,679,665,635,879,787,804,653,631,652.672109543,0.403289764818,0.00455197430234,0.0598013406219,0.999999936745,0.000160618039949,-0.000315515070281,3.41036650823e-05,1793239708889526784
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765,745.902666442,714,679,665,635,879,787,804,653,631,652.097333558,0.403031320505,0.00455101990242,0.0598241633536,0.999999947465,0.000159911917938,-0.000279658700266,3.59029765551e-05,1793239708906194176
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.489604757,745.510395243,714,679.489604757,665,635,879,787.489604757,803.510395243,653,631.489604757,652.489604757,0.402802974097,0.00454866742366,0.0598409257627,0.99999995467,0.000160178863932,-0.000252175150846,3.75529969644e-05,1793239708922860288
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.077723633,714,680,665,635.077723633,879.077723633,787.922276367,803.077723633,653,631.922276367,653,0.402581110571,0.00454636599572,0.0598536463149,0.999999959506,0.000160737114578,-0.00023158264327,3.90092017228e-05,1793239708939526400
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.657453073,714,680,665,635.657453073,879.657453073,787.342546927,803.657453073,653,631.342546927,653,0.402361488195,0.00454623519204,0.0598482409101,0.999999956235,0.000161895591308,-0.000244473630399,3.94101553535e-05,1793239708956193024
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.764558265,746,714,679.764558265,665,635.764558265,879.764558265,787.235441735,804,653,631.235441735,653,0.402156685902,0.00454557267046,0.0598428950359,0.999999953258,0.000161867972807,-0.000256335571529,3.96735063451e-05,1793239708972859648
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.189083741,746,714,679.189083741,665,635.189083741,879.189083741,787.810916259,804,653,631.810916259,653,0.401973287286,0.00454414222422,0.0598376351385,0.999999950823,0.000160127356022,-0.000266711329098,3.97381269958e-05,1793239708989526528
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.393209444,746,714,679.393209444,665,635,879,787.606790556,803.606790556,653,631.606790556,653,0.401815910312,0.00454303919967,0.0598356591832,0.999999951282,0.000149085989092,-0.000271652731479,3.7611431471e-05,1793239709006193152
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.978839455,746,714,679.978839455,665,635,879,787.021160545,803.021160545,653,631.021160545,653,0.401671267244,0.00454209640174,0.059835290254,0.999999952978,0.000133493216539,-0.000273934784323,3.44123957355e-05,1793239709022860288
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.439772862,714,679.439772862,665.560227138,635,879.560227138,787.560227138,803.560227138,653,631,653,0.40155417225,0.00453600233069,0.0598346916926,0.999999959527,7.42477621475e-05,-0.000273861712888,2.08278422457e-05,1793239709039526656
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,665.859013759,635.140986241,879.859013759,787.859013759,804,653,631.140986241,653,0.401445656546,0.00453107470741,0.0598353797963,0.999999962477,2.90239457559e-05,-0.00027220245262,1.04995869735e-05,1793239709056193024
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,665.279714291,635.720285709,879.279714291,787.279714291,804,653,631.720285709,653,0.401360602441,0.00453037381713,0.0598400947853,0.999999964059,3.2479604195e-05,-0.000265886358609,1.15052413535e-05,1793239709072859648
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.296385442,714,679,665.296385442,635.703614558,879.296385442,787.296385442,804,653,631.703614558,653,0.401285644498,0.0045292976707,0.0598426785711,0.999999965016,3.40231464078e-05,-0.000262022127924,1.24045032233e-05,1793239709089526528
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.869497637,714,679,665.869497637,635.130502363,879.869497637,787.869497637,804,653,631.130502363,653,0.401220113062,0.00452787115817,0.059843272512,0.999999965426,3.37813992614e-05,-0.000260447133469,1.32044293379e-05,1793239709106193152
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.546848995,746,714,679.453151005,666,635,879.546848995,787.546848995,804.453151005,653,631.453151005,653,0.401160537138,0.00452668232918,0.0598399004688,0.999999963646,3.32906252158e-05,-0.000267212324703,1.40401530848e-05,1793239709122859776
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.039425342,746,714,680,666,635,879.039425342,787,804.921149315,653,632,653,0.401104230722,0.00452571149217,0.0598356420844,0.999999961273,3.31049502715e-05,-0.00027593013455,1.48336571407e-05,1793239709139526656
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.619026338,746,714,680,666,635,879.619026338,787,803.761947324,653,632,653,0.401068661648,0.00452676722593,0.0598352614054,0.999999960602,3.81055198792e-05,-0.000277708773201,1.49040854263e-05,1793239709156193536
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.802629655,635,879.802629655,787,803.197370345,653,631.802629655,653,0.401038551892,0.00452674516743,0.0598353065232,0.999999960404,4.0954427623e-05,-0.000277997865752,1.52077774468e-05,1793239709172860416
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,665.226696657,635,879.226696657,787,803.773303343,653,631.226696657,653,0.40101891329,0.00452465586865,0.0598361683327,0.999999961155,3.9676378329e-05,-0.000275429960914,1.59588767842e-05,1793239709189526784
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.651113249,665,635.348886751,879,787.348886751,804,653,631,653,0.401003475184,0.00452507457585,0.0598365985462,0.999999961556,4.07771221657e-05,-0.000273800135593,1.60601653247e-05,1793239709206193408
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.075756711,665,635.924243289,879,787.924243289,804,653,631,653,0.400990763708,0.0045271212827,0.0598367486017,0.999999961729,4.34219909384e-05,-0.000272779237323,1.57396479718e-05,1793239709222860032
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,714.513920659,679.513920659,665,635.486079341,879,788,804,653,631.513920659,653,0.400983590462,0.00452662534247,0.0598388344911,0.99999996196,4.45269674399e-05,-0.000271718287802,1.63513043377e-05,1793239709239526656
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.896435317,745.896435317,715,679.896435317,665.103564683,635,879,787.896435317,804,653,631.896435317,653,0.400978010982,0.00452586853769,0.0598409662842,0.999999962233,4.51118551395e-05,-0.000270575518564,1.69680977464e-05,1793239709256193280
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.316923948,745.316923948,715,679.316923948,665.683076052,635,879,787.316923948,804,653,631.316923948,653,0.400975896522,0.00452568476,0.0598419600299,0.999999962668,4.43796879196e-05,-0.000269084644574,1.69589049861e-05,1793239709272859904
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765,745.257962013,714.742037987,679,665.742037987,635,879,787.257962013,803.742037987,652.742037987,631,653.257962013,0.400975045342,0.00452514740183,0.059843065463,0.999999963372,4.41457172695e-05,-0.000266498453577,1.69245597238e-05,1793239709289526784
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765,745.827265407,714.172734593,679,665.172734593,635,879,787.827265407,803.172734593,652.172734593,631,653.827265407,0.400975718848,0.00452418329776,0.0598443056946,0.99999996439,4.45130336762e-05,-0.000262590294729,1.68598572221e-05,1793239709306194432
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.405366546,745.594633454,714,679,665,635.405366546,879,787.594633454,803.405366546,652.405366546,631.405366546,653.594633454,0.400975094803,0.0045242587462,0.0598449913613,0.999999964643,4.45578061664e-05,-0.000261604484613,1.70761260238e-05,1793239709322860800
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.987299728,745.012700272,714,679,665,635.987299728,879,787.012700272,803.987299728,652.987299728,631.987299728,653.012700272,0.40097390558,0.00452478699546,0.0598454354746,0.999999964566,4.44620872944e-05,-0.000261891570182,1.74147782808e-05,1793239709339526912
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.575682937,714,679,665,636,879,787.575682937,804,653,632,653,0.40097098035,0.00452482771358,0.0598439374988,0.999999963854,4.44464284942e-05,-0.000264625200433,1.70536739566e-05,1793239709356193280
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.838386779,714,679,665,636,879.161613221,788,803.838386779,653,631.838386779,653,0.400969708292,0.00452456168736,0.059843366708,0.999999963598,4.428205728e-05,-0.000265630458131,1.68412187188e-05,1793239709372859904
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.259166773,714,679,665,636,879.740833227,788,803.259166773,653,631.259166773,653,0.400972808095,0.00452353114426,0.0598453037184,0.999999964569,4.37287992125e-05,-0.000262028571779,1.70532134462e-05,1793239709389526528
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.682938184,745.317061816,714,679.317061816,665,635.682938184,879.682938184,787.682938184,803.317061816,652.682938184,631,653,0.400974232083,0.00452388861354,0.0598463823025,0.999999965111,4.38520584244e-05,-0.000259931018961,1.70552483407e-05,1793239709406193152
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.109131866,745.890868134,714,679.890868134,665,635.109131866,879.109131866,787.109131866,803.890868134,652.109131866,631,653,0.400974299059,0.00452537004191,0.0598467657661,0.999999965312,4.45231353309e-05,-0.000259051617371,1.68872658355e-05,1793239709422859776
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.477034501,746,714,680,665.477034501,635,879,787,804,652,631.477034501,653,0.400973899754,0.00452492010716,0.0598470088564,0.999999965327,4.52142213672e-05,-0.000258866913875,1.70369806861e-05,1793239709439526656
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.934907858,714,679.934907858,665.934907858,635,879,787,804,652.065092142,631.934907858,653,0.400973400238,0.00452415995294,0.0598471391095,0.999999965273,4.59304443888e-05,-0.000258934716014,1.72440562821e-05,1793239709456193536
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.354852695,714,679.354852695,665.354852695,635,879,787,804,652.645147305,631.354852695,653,0.400972974285,0.00452453407134,0.0598466374911,0.99999996503,4.68083564929e-05,-0.000259709401668,1.73146417948e-05,1793239709472859904
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.214976143,714,679.214976143,665.214976143,635,879,787,804,653,631,653,0.400973210559,0.00452463606998,0.0598469140852,0.999999965135,4.72515185601e-05,-0.000259222579331,1.73303500025e-05,1793239709489526528
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.768691275,714,679.768691275,665.768691275,635,879,787,804,653,631,653,0.400974490308,0.00452430928811,0.0598484169125,0.999999965786,4.70096427583e-05,-0.000256747992468,1.72595877608e-05,1793239709506193152
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.65076206,745.65076206,714,680,665.65076206,635,879,787,804,653,631,653,0.40097426907,0.00452406353176,0.0598483360567,0.999999965929,4.59720737739e-05,-0.000256386396635,1.71510645181e-05,1793239709522859520
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.050965283,745.050965283,714,680,665.050965283,635,879,787,804,653,631,653,0.400972970956,0.00452387590674,0.059847118996,0.999999965708,4.43636391086e-05,-0.000257540754686,1.70154498561e-05,1793239709539526144
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.537415721,745,714,680,665,635,879.537415721,787,804,653,631,653,0.400972121016,0.00452449620439,0.0598470260413,0.999999965534,4.50499157117e-05,-0.00025808554792,1.7131845948e-05,1793239709556192768
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,714.123824454,679.876175546,665.123824454,635,880,787,804,653,631,652.876175546,0.400971663581,0.00452489358923,0.0598471335214,0.999999965453,4.57233163373e-05,-0.00025827664093,1.72249507233e-05,1793239709572859648
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.706850212,679.293149788,665.706850212,635,880,787,804,653,631,652.293149788,0.400972507409,0.00452418607608,0.059847597197,0.999999965697,4.55587242729e-05,-0.000257365960467,1.71448936327e-05,1793239709589527040
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.285389854,714.714610146,679,666,635.285389854,880,787,804,653,631,652.285389854,0.400973081103,0.00452395605191,0.0598482215089,0.999999965952,4.51592116155e-05,-0.000256442908616,1.71185697688e-05,1793239709606193920
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.859392785,714.140607215,679,666,635.859392785,880,787,804,653,631,652.859392785,0.400973381614,0.00452420890946,0.0598490082716,0.99999996622,4.45221251284e-05,-0.000255507345545,1.71465859905e-05,1793239709622860544
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.442473413,666,635.557526587,879.557526587,787.442473413,803.557526587,653,631.442473413,653,0.40097372574,0.00452453086432,0.0598493245159,0.999999966346,4.43853038178e-05,-0.000255033065445,1.71850807336e-05,1793239709639526656
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.971799025,746,714,679.971799025,666,635,879.028200975,787.971799025,803,653,631.971799025,653,0.400974035533,0.00452488713725,0.0598494719071,0.999999966407,4.45214101484e-05,-0.000254767553794,1.72236434486e-05,1793239709656193024
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.391903605,746,714,679.391903605,666,635,879.608096395,787.391903605,803,653,631.391903605,653,0.400973396861,0.0045254762237,0.0598493023365,0.999999966075,4.68216855429e-05,-0.000255658481064,1.71970304545e-05,1793239709672859904
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765.186473495,745.813526505,714,679.186473495,666,635,879.813526505,787,803.186473495,653,631.186473495,653,0.400972779924,0.00452521060133,0.0598490684276,0.999999965822,4.80412697165e-05,-0.00025641424519,1.72991089386e-05,1793239709689526272
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765.76168534,745.23831466,714,679.76168534,666,635,879.23831466,787,803.76168534,653,631.76168534,653,0.400972208294,0.00452316318093,0.0598487003939,0.999999965743,4.70079538293e-05,-0.000256888236793,1.76694685173e-05,1793239709706192896
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..327ebb2556684710fa9db5c25fea05a1b99def8b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_09/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,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+1,0.016666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+2,0.033333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+3,0.050000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+4,0.066666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+5,0.083333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+6,0.100000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+7,0.116666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+8,0.133333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+9,0.150000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+10,0.166666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+11,0.183333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+12,0.200000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+13,0.216666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+14,0.233333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+15,0.250000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+16,0.266666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+17,0.283333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+18,0.300000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+19,0.316666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+20,0.333333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+21,0.350000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+22,0.366666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+23,0.383333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+24,0.400000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+25,0.416666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+26,0.433333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+27,0.450000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+28,0.466666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+29,0.483333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+30,0.500000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+31,0.516666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+32,0.533333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+33,0.550000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+34,0.566666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+35,0.583333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+36,0.600000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+37,0.616666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+38,0.633333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+39,0.650000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+40,0.666666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+41,0.683333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+42,0.700000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+43,0.716666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+44,0.733333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+45,0.750000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+46,0.766666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+47,0.783333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+48,0.800000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+49,0.816666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+50,0.833333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+51,0.850000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+52,0.866666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+53,0.883333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+54,0.900000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+55,0.916666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+56,0.933333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+57,0.950000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+58,0.966666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+59,0.983333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+60,1.000000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+61,1.016666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+62,1.033333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+63,1.050000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+64,1.066666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+65,1.083333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+66,1.100000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+67,1.116666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+68,1.133333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+69,1.150000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+70,1.166666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+71,1.183333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+72,1.200000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+73,1.216666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+74,1.233333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+75,1.250000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+76,1.266666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+77,1.283333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+78,1.300000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+79,1.316666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+80,1.333333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+81,1.350000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+82,1.366666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+83,1.383333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+84,1.400000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+85,1.416666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+86,1.433333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+87,1.450000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+88,1.466666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+89,1.483333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+90,1.500000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+91,1.516666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+92,1.533333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+93,1.550000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+94,1.566666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+95,1.583333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+96,1.600000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+97,1.616666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+98,1.633333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+99,1.650000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+100,1.666666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+101,1.683333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+102,1.700000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+103,1.716666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+104,1.733333333,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+105,1.750000000,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+106,1.766666667,pose1_baseline,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164434,1.04970035091
+107,1.783333333,pose1_to_pose2_press,0.575664423396,0.0100907859351,1.05003235146,0.546234876015,0.0187625290287,1.04970048322
+108,1.800000000,pose1_to_pose2_press,0.575664423329,0.0100907908102,1.05003228059,0.546234875716,0.0187625332472,1.04970041583
+109,1.816666667,pose1_to_pose2_press,0.575664423267,0.010090795367,1.05003221435,0.546234875436,0.0187625371903,1.04970035284
+110,1.833333333,pose1_to_pose2_press,0.575664423266,0.0100907954343,1.05003221337,0.546234875432,0.0187625372486,1.0497003519
+111,1.850000000,pose1_to_pose2_press,0.575664491975,0.0100907839259,1.05003219114,0.54623494429,0.0187625263252,1.04970033178
+112,1.866666667,pose1_to_pose2_press,0.575664702246,0.0100907452164,1.05003217398,0.546235155183,0.0187624898769,1.04970031858
+113,1.883333333,pose1_to_pose2_press,0.575665313385,0.0100907275865,1.05003218813,0.546235766471,0.0187624726658,1.04970033046
+114,1.900000000,pose1_to_pose2_press,0.575667416662,0.0100907704629,1.05003224919,0.546237868698,0.0187625114715,1.04970037817
+115,1.916666667,pose1_to_pose2_press,0.575672743984,0.0100907654164,1.05003235908,0.546243197113,0.0187625100624,1.0497004861
+116,1.933333333,pose1_to_pose2_press,0.575684403984,0.0100907852471,1.0500324083,0.546254854253,0.0187625204186,1.04970054134
+117,1.950000000,pose1_to_pose2_press,0.575704047137,0.010090732846,1.05003230054,0.546274500507,0.0187624786944,1.04970043751
+118,1.966666667,pose1_to_pose2_press,0.575734924235,0.0100907259493,1.05003246326,0.54630537578,0.018762465364,1.049700594
+119,1.983333333,pose1_to_pose2_press,0.57577656265,0.0100907697211,1.05003249301,0.54634701509,0.0187625119883,1.04970061878
+120,2.000000000,pose1_to_pose2_press,0.575829361389,0.0100907449906,1.05003238208,0.54639981316,0.0187624848113,1.04970050324
+121,2.016666667,pose1_to_pose2_press,0.575891372733,0.0100906899915,1.05003224339,0.546461824468,0.0187624299768,1.04970037188
+122,2.033333333,pose1_to_pose2_press,0.575961928138,0.0100907805777,1.05003234355,0.546532379068,0.0187625179719,1.04970047574
+123,2.050000000,pose1_to_pose2_press,0.57604086387,0.0100906484568,1.05003235512,0.546611318868,0.0187623997304,1.0497004892
+124,2.066666667,pose1_to_pose2_press,0.576128715686,0.0100908433212,1.05003239679,0.546699167597,0.0187625836818,1.04970051934
+125,2.083333333,pose1_to_pose2_press,0.576227764566,0.0100907404256,1.05003217796,0.546798216014,0.0187624794874,1.04970030756
+126,2.100000000,pose1_to_pose2_press,0.576338950544,0.0100908307956,1.05003227602,0.546909401373,0.0187625678579,1.04970040828
+127,2.116666667,pose1_to_pose2_press,0.576464805434,0.0100908396117,1.05003228461,0.547035255959,0.0187625756354,1.04970041665
+128,2.133333333,pose1_to_pose2_press,0.576605710759,0.0100907542598,1.05003222322,0.547176162034,0.0187624929546,1.04970035853
+129,2.150000000,pose1_to_pose2_press,0.576762816192,0.010090801178,1.05003232571,0.54733326692,0.0187625380052,1.04970046069
+130,2.166666667,pose1_to_pose2_press,0.576937837502,0.0100908709804,1.05003247704,0.547508287577,0.0187626054391,1.04970060795
+131,2.183333333,pose1_to_pose2_press,0.577130822305,0.0100908239251,1.05003243542,0.547701273647,0.0187625627687,1.0497005685
+132,2.200000000,pose1_to_pose2_press,0.577342872964,0.0100908768583,1.0500323095,0.547913323479,0.018762612989,1.04970044494
+133,2.216666667,pose1_to_pose2_press,0.577572955778,0.0100907990581,1.05003227925,0.548143405972,0.0187625339347,1.04970041032
+134,2.233333333,pose1_to_pose2_press,0.577821827222,0.0100908505232,1.05003245111,0.54839227987,0.0187625938414,1.04970058512
+135,2.250000000,pose1_to_pose2_press,0.578086685309,0.0100907960599,1.05003222056,0.548657136089,0.0187625331526,1.04970035747
+136,2.266666667,pose1_to_pose2_press,0.578367839507,0.0100908736945,1.05003207173,0.548938292305,0.018762617928,1.04970021621
+137,2.283333333,pose1_to_pose2_press,0.578666141827,0.0100907086193,1.05003221106,0.549236595259,0.0187624545485,1.04970034352
+138,2.300000000,pose1_to_pose2_press,0.578983376718,0.0100907814171,1.05003221147,0.54955382815,0.0187625207431,1.04970034877
+139,2.316666667,pose1_to_pose2_press,0.579327695561,0.010090836404,1.05003221189,0.549898146048,0.0187625725711,1.0497003503
+140,2.333333333,pose1_to_pose2_press,0.579701904213,0.010090785771,1.0500320754,0.550272354914,0.018762522664,1.04970021375
+141,2.350000000,pose1_to_pose2_press,0.58011050903,0.0100907239874,1.05003223143,0.55068096104,0.0187624651712,1.04970036585
+142,2.366666667,pose1_to_pose2_press,0.580548171285,0.0100907169925,1.05003240948,0.551118623701,0.0187624595328,1.04970054315
+143,2.383333333,pose1_to_pose2_press,0.581010746156,0.0100907914507,1.05003227143,0.551581196917,0.0187625285412,1.04970040952
+144,2.400000000,pose1_to_pose2_press,0.581488120493,0.0100908590047,1.05003233849,0.552058570531,0.0187625934523,1.0497004715
+145,2.416666667,pose1_to_pose2_press,0.581976294594,0.0100908263868,1.05003231,0.552546744916,0.0187625616477,1.04970043905
+146,2.433333333,pose1_to_pose2_press,0.582474052298,0.0100907460442,1.05003212487,0.553044503816,0.0187624855765,1.04970025943
+147,2.450000000,pose1_to_pose2_press,0.582992061048,0.010090691266,1.05003244226,0.553562515294,0.0187624399983,1.04970057529
+148,2.466666667,pose1_to_pose2_press,0.583537055417,0.0100908326519,1.05003237945,0.554107505601,0.0187625673591,1.04970050606
+149,2.483333333,pose1_to_pose2_press,0.584108218072,0.0100909540647,1.05003231455,0.554678667046,0.0187626852097,1.04970045543
+150,2.500000000,pose1_to_pose2_press,0.584702145003,0.0100909599783,1.0500323319,0.555272593589,0.0187626896396,1.04970046826
+151,2.516666667,pose1_to_pose2_press,0.585312059786,0.0100907511352,1.0500322004,0.555882512284,0.0187624942383,1.04970034111
+152,2.533333333,pose1_to_pose2_press,0.585928995461,0.0100906668425,1.05003245323,0.556499448224,0.0187624104373,1.04970058328
+153,2.550000000,pose1_to_pose2_press,0.586549339556,0.0100907322158,1.05003248219,0.557119791725,0.0187624737404,1.04970061071
+154,2.566666667,pose1_to_pose2_press,0.587193917138,0.0100907090461,1.050032246,0.55776436959,0.0187624514759,1.04970037308
+155,2.583333333,pose1_to_pose2_press,0.587870663168,0.0100907555562,1.05003210466,0.558441114159,0.0187624933191,1.04970023936
+156,2.600000000,pose1_to_pose2_press,0.588574692222,0.0100908479289,1.05003230307,0.559145142183,0.0187625822582,1.04970043932
+157,2.616666667,pose1_to_pose2_press,0.589302041448,0.0100908286476,1.05003230337,0.559872492064,0.0187625653384,1.04970044316
+158,2.633333333,pose1_to_pose2_press,0.590046953167,0.0100908249361,1.05003228816,0.560617403162,0.0187625592782,1.04970042166
+159,2.650000000,pose1_to_pose2_press,0.590792950869,0.0100908310941,1.0500322907,0.561363400991,0.018762565407,1.04970041227
+160,2.666666667,pose1_to_pose2_press,0.591535250603,0.0100907552396,1.05003228775,0.562105702714,0.0187624964329,1.04970041261
+161,2.683333333,pose1_to_pose2_press,0.592279332729,0.0100907509178,1.05003247686,0.562849784732,0.0187624920576,1.04970060993
+162,2.700000000,pose1_to_pose2_press,0.593026283481,0.0100907983683,1.05003245208,0.563596734488,0.0187625360498,1.04970058313
+163,2.716666667,pose1_to_pose2_press,0.593780765377,0.0100906105808,1.05003240172,0.564351219598,0.0187623587483,1.04970052174
+164,2.733333333,pose1_to_pose2_press,0.594547594984,0.0100907770288,1.05003234604,0.565118048008,0.018762521632,1.04970047914
+165,2.750000000,pose1_to_pose2_press,0.595337027574,0.0100909176746,1.05003234521,0.56590747924,0.0187626577038,1.04970047916
+166,2.766666667,pose1_to_pose2_press,0.596146296684,0.0100906577466,1.05003240718,0.566716749083,0.0187623997232,1.04970052713
+167,2.783333333,pose1_to_pose2_press,0.596973404311,0.0100906748224,1.05003215957,0.567543857107,0.0187624184562,1.04970028764
+168,2.800000000,pose1_to_pose2_press,0.597810314715,0.010090916712,1.05003221206,0.568380763729,0.0187626477152,1.04970034542
+169,2.816666667,pose1_to_pose2_press,0.598646626836,0.0100908093259,1.05003221095,0.569217079345,0.0187625523689,1.0497003491
+170,2.833333333,pose1_to_pose2_press,0.599465371147,0.0100907958812,1.0500321925,0.570035822727,0.018762535902,1.04970033413
+171,2.850000000,pose1_to_pose2_press,0.600265448991,0.0100907421903,1.05003229544,0.57083590214,0.0187624874156,1.04970043395
+172,2.866666667,pose1_to_pose2_press,0.601043781447,0.010090727333,1.05003223918,0.571614233391,0.0187624685361,1.04970037951
+173,2.883333333,pose1_to_pose2_press,0.601821795753,0.010090768786,1.0500322727,0.572392246968,0.0187625074277,1.04970041078
+174,2.900000000,pose1_to_pose2_press,0.602606011633,0.0100907853137,1.05003240328,0.573176463771,0.0187625269383,1.0497005376
+175,2.916666667,pose1_to_pose2_press,0.603399069441,0.010090788389,1.0500324479,0.573969521438,0.0187625296721,1.04970058586
+176,2.933333333,pose1_to_pose2_press,0.604200932568,0.0100907953795,1.05003233842,0.574771383559,0.0187625334046,1.04970048045
+177,2.950000000,pose1_to_pose2_press,0.605006466807,0.0100907464772,1.05003219889,0.575576918492,0.0187624867612,1.04970033843
+178,2.966666667,pose1_to_pose2_press,0.605795058529,0.0100907234919,1.05003221154,0.576365511386,0.0187624677009,1.04970034981
+179,2.983333333,pose1_to_pose2_press,0.606558386927,0.0100907670541,1.05003223961,0.577128839976,0.0187625116693,1.04970037161
+180,3.000000000,pose1_to_pose2_press,0.60729983823,0.0100908747782,1.05003227818,0.577870289287,0.0187626124516,1.04970040544
+181,3.016666667,pose1_to_pose2_press,0.608023150788,0.0100907443635,1.05003237199,0.578593602021,0.0187624825361,1.04970049683
+182,3.033333333,pose1_to_pose2_press,0.608728755171,0.0100908383258,1.05003221805,0.579299205487,0.0187625737902,1.04970035352
+183,3.050000000,pose1_to_pose2_press,0.609424567068,0.0100909808911,1.05003236136,0.579995015276,0.018762708966,1.04970049083
+184,3.066666667,pose1_to_pose2_press,0.610117539367,0.0100906778207,1.05003226477,0.58068799065,0.0187624163471,1.0497003947
+185,3.083333333,pose1_to_pose2_press,0.610798334194,0.0100907696022,1.0500323096,0.58136878658,0.0187625122304,1.04970044898
+186,3.100000000,pose1_to_pose2_press,0.611465515023,0.0100908148624,1.05003232495,0.582035966136,0.0187625531725,1.04970046443
+187,3.116666667,pose1_to_pose2_press,0.612112786517,0.0100907241424,1.05003224832,0.582683237955,0.0187624634261,1.04970038484
+188,3.133333333,pose1_to_pose2_press,0.612734889159,0.010090717072,1.05003222281,0.583305340293,0.0187624551712,1.04970035705
+189,3.150000000,pose1_to_pose2_press,0.613322069652,0.0100907261627,1.05003239193,0.583892520898,0.0187624644574,1.04970051963
+190,3.166666667,pose1_to_pose2_press,0.613881382283,0.0100907810006,1.05003244493,0.584451832881,0.0187625171526,1.04970057117
+191,3.183333333,pose1_to_pose2_press,0.614416004921,0.0100908587705,1.05003222856,0.584986454235,0.018762590859,1.04970036024
+192,3.200000000,pose1_to_pose2_press,0.614938758928,0.0100908271655,1.05003196026,0.585509208718,0.0187625613268,1.04970010111
+193,3.216666667,pose1_to_pose2_press,0.615449699571,0.0100906933223,1.05003200947,0.586020151883,0.0187624365293,1.04970015943
+194,3.233333333,pose1_to_pose2_press,0.615943632739,0.0100908201942,1.05003249311,0.586514084056,0.0187625594229,1.04970062196
+195,3.250000000,pose1_to_pose2_press,0.616416906263,0.0100907804567,1.05003254039,0.58698735733,0.018762518618,1.04970065733
+196,3.266666667,pose1_to_pose2_press,0.616863745814,0.0100909386984,1.05003252326,0.587434195566,0.01876267293,1.04970064517
+197,3.283333333,pose1_to_pose2_press,0.617287304379,0.0100907673867,1.05003217767,0.587857757031,0.0187625121527,1.04970031236
+198,3.300000000,pose1_to_pose2_press,0.617689777573,0.0100908239002,1.05003217923,0.588260228988,0.0187625648101,1.04970031536
+199,3.316666667,pose1_to_pose2_press,0.618078706994,0.0100908024851,1.05003222641,0.588649159235,0.0187625463427,1.04970035986
+200,3.333333333,pose1_to_pose2_press,0.618455226449,0.010090749213,1.05003215721,0.589025678596,0.0187624930108,1.04970029123
+201,3.350000000,pose1_to_pose2_press,0.61881816266,0.0100907374982,1.05003222722,0.589388614351,0.0187624799472,1.0497003596
+202,3.366666667,pose1_to_pose2_press,0.619159277944,0.0100907823072,1.05003236831,0.589729729236,0.0187625235001,1.04970049633
+203,3.383333333,pose1_to_pose2_press,0.619469623859,0.0100908662397,1.05003231344,0.590040073309,0.0187626014589,1.04970044373
+204,3.400000000,pose1_to_pose2_press,0.619749102101,0.0100908907296,1.05003225266,0.590319550695,0.0187626232951,1.04970038668
+205,3.416666667,pose1_to_pose2_press,0.619998810141,0.0100908098299,1.05003235921,0.590569260346,0.0187625478616,1.04970048957
+206,3.433333333,pose1_to_pose2_press,0.620228390464,0.0100906972897,1.05003231357,0.590798842681,0.0187624426937,1.04970045451
+207,3.450000000,pose1_to_pose2_press,0.620443869612,0.0100907148961,1.05003222226,0.591014321427,0.0187624590637,1.0497003629
+208,3.466666667,pose1_to_pose2_press,0.620649623839,0.0100908178252,1.05003239254,0.591220074023,0.0187625564427,1.04970052777
+209,3.483333333,pose1_to_pose2_press,0.620845468649,0.0100908343429,1.05003242448,0.591415918789,0.0187625726779,1.04970055146
+210,3.500000000,pose1_to_pose2_press,0.621029780394,0.0100907753143,1.05003239262,0.591600231687,0.0187625176146,1.04970051783
+211,3.516666667,pose1_to_pose2_press,0.621196373605,0.0100907533824,1.0500324337,0.591766824973,0.0187624961259,1.04970056281
+212,3.533333333,pose1_to_pose2_press,0.621346214204,0.0100906906363,1.0500322921,0.591916666343,0.0187624363352,1.04970042712
+213,3.550000000,pose1_to_pose2_press,0.621479351212,0.0100907049368,1.05003214495,0.592049803495,0.0187624514183,1.04970028306
+214,3.566666667,pose1_to_pose2_press,0.6215974525,0.0100908168889,1.05003227493,0.592167902846,0.0187625567478,1.04970040901
+215,3.583333333,pose1_to_pose2_press,0.621700131286,0.0100907795367,1.05003231984,0.592270581582,0.0187625192552,1.04970045216
+216,3.600000000,pose1_to_pose2_press,0.621788088154,0.0100907784002,1.05003226023,0.592358538677,0.0187625191879,1.04970039828
+217,3.616666667,pose1_to_pose2_press,0.621861480982,0.0100907973598,1.05003246778,0.59243192901,0.018762529383,1.0497005974
+218,3.633333333,pose1_to_pose2_press,0.621923504458,0.0100908184296,1.05003223124,0.592493954167,0.0187625561302,1.0497003676
+219,3.650000000,pose1_to_pose2_press,0.621975774605,0.010090693781,1.050032338,0.592546225706,0.0187624360161,1.04970046989
+220,3.666666667,pose1_to_pose2_press,0.622019729662,0.0100907139737,1.05003245192,0.592590179933,0.018762454114,1.04970058024
+221,3.683333333,pose1_to_pose2_press,0.622057117078,0.0100907593444,1.05003236025,0.592627566681,0.0187624972843,1.04970049265
+222,3.700000000,pose1_to_pose2_press,0.622088286937,0.0100907187495,1.05003226785,0.592658737404,0.0187624592998,1.04970040201
+223,3.716666667,pose1_to_pose2_press,0.622113865635,0.0100906596092,1.05003234756,0.592684317336,0.0187624045091,1.04970047517
+224,3.733333333,pose1_to_pose2_press,0.622134074864,0.0100908590138,1.05003222577,0.592704524749,0.0187625977113,1.04970035869
+225,3.750000000,pose1_to_pose2_press,0.622148639942,0.0100906752451,1.0500322544,0.592719090661,0.0187624165598,1.04970038312
+226,3.766666667,pose1_to_pose2_press,0.62215887202,0.0100906215114,1.05003209492,0.592729322637,0.0187623625972,1.04970022706
+227,3.783333333,pose1_to_pose2_press,0.622165790956,0.0100906382401,1.05003208162,0.592736241552,0.0187623793338,1.04970021595
+228,3.800000000,pose1_to_pose2_press,0.62217043736,0.0100907224644,1.05003234501,0.592740888348,0.0187624648289,1.04970047765
+229,3.816666667,pose1_to_pose2_press,0.622173461133,0.0100907605314,1.05003245343,0.592743912291,0.0187625034516,1.04970058521
+230,3.833333333,pose1_to_pose2_press,0.622175797691,0.0100907413275,1.0500323543,0.592746248738,0.0187624838892,1.04970048611
+231,3.850000000,pose1_to_pose2_press,0.622177581454,0.0100907266669,1.05003227862,0.592748032415,0.0187624689551,1.04970041046
+232,3.866666667,pose1_to_pose2_press,0.622179154604,0.0100907487852,1.05003226097,0.592749605499,0.0187624909268,1.0497003947
+233,3.883333333,pose1_to_pose2_press,0.62218014398,0.0100907884278,1.05003228591,0.59275059484,0.0187625305467,1.0497004222
+234,3.900000000,pose1_to_pose2_press,0.6221802544,0.0100907928522,1.0500322887,0.592750705256,0.0187625349686,1.04970042527
+235,3.916666667,pose1_to_pose2_press,0.622180521596,0.0100908035582,1.05003229543,0.592750972442,0.0187625456685,1.0497004327
+236,3.933333333,pose1_to_pose2_press,0.622181050096,0.0100908247343,1.05003230876,0.592751500923,0.0187625668325,1.04970044739
+237,3.950000000,pose1_to_pose2_press,0.622181325975,0.0100908357884,1.05003231571,0.592751776793,0.0187625778802,1.04970045506
+238,3.966666667,pose1_to_pose2_press,0.62218150706,0.0100908430441,1.05003232028,0.592751957871,0.0187625851318,1.0497004601
+239,3.983333333,pose1_to_pose2_press,0.622181748003,0.0100908470139,1.05003232888,0.592752198845,0.0187625892221,1.04970046903
+240,4.000000000,pose1_to_pose2_press,0.62218182757,0.0100908393403,1.05003233572,0.592752278486,0.0187625817873,1.0497004755
+241,4.016666667,pose1_to_pose2_press,0.622181939961,0.0100908285011,1.05003234538,0.592752390981,0.0187625712854,1.04970048465
+242,4.033333333,pose1_to_pose2_press,0.622182020027,0.0100908207793,1.05003235226,0.592752471121,0.018762563804,1.04970049116
+243,4.050000000,pose1_to_pose2_press,0.622182298253,0.0100907939466,1.05003237618,0.592752749603,0.0187625378065,1.0497005138
+244,4.066666667,pose1_to_pose2_press,0.622182485983,0.0100907758415,1.05003239232,0.592752937507,0.0187625202649,1.04970052908
+245,4.083333333,pose1_to_pose2_press,0.622182643362,0.0100907606635,1.05003240585,0.592753095032,0.0187625055593,1.04970054188
+246,4.100000000,pose1_to_pose2_press,0.622182900536,0.0100907358611,1.05003242796,0.592753352443,0.0187624815288,1.04970056281
+247,4.116666667,pose1_to_pose2_press,0.622183046398,0.0100907217938,1.0500324405,0.59275349844,0.0187624678994,1.04970057468
+248,4.133333333,pose1_to_pose2_press,0.622183082135,0.0100907183472,1.05003244357,0.59275353421,0.0187624645601,1.04970057759
+249,4.150000000,pose1_to_pose2_press,0.622183449873,0.0100906990089,1.05003246488,0.592753902005,0.0187624453638,1.04970059722
+250,4.166666667,pose1_to_pose2_press,0.622183913426,0.0100908153406,1.05003240185,0.592754363162,0.0187625534828,1.04970053226
+251,4.183333333,pose1_to_pose2_press,0.622184172013,0.0100908570194,1.05003237044,0.592754620698,0.018762591532,1.04970049935
+252,4.200000000,pose1_to_pose2_press,0.622184283285,0.0100907393449,1.05003237879,0.592754733183,0.0187624778555,1.04970050463
+253,4.216666667,pose1_to_pose2_press,0.622184360065,0.010090658147,1.05003238456,0.5927548108,0.0187623994164,1.04970050828
+254,4.233333333,pose1_to_pose2_press,0.622184360065,0.010090658147,1.05003238456,0.5927548108,0.0187623994165,1.04970050827
+255,4.250000000,pose1_to_pose2_press,0.622184360065,0.010090658147,1.05003238456,0.5927548108,0.0187623994163,1.04970050827
+256,4.266666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810801,0.0187623994157,1.04970050827
+257,4.283333333,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994151,1.04970050827
+258,4.300000000,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994153,1.04970050827
+259,4.316666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.018762399415,1.04970050827
+260,4.333333333,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994151,1.04970050827
+261,4.350000000,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994149,1.04970050827
+262,4.366666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994148,1.04970050827
+263,4.383333333,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994145,1.04970050827
+264,4.400000000,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994143,1.04970050827
+265,4.416666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994141,1.04970050827
+266,4.433333333,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994139,1.04970050827
+267,4.450000000,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.0187623994138,1.04970050827
+268,4.466666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810803,0.0187623994135,1.04970050827
+269,4.483333333,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810803,0.0187623994133,1.04970050827
+270,4.500000000,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810803,0.0187623994133,1.04970050827
+271,4.516666667,pose2_hold,0.622184360065,0.010090658147,1.05003238456,0.592754810803,0.0187623994132,1.04970050827
+272,4.533333333,pose2_to_pose3_retreat,0.622184360065,0.010090658147,1.05003238456,0.592754810802,0.018762399413,1.04970050827
+273,4.550000000,pose2_to_pose3_retreat,0.622184122462,0.0100907847638,1.0500323535,0.592754573931,0.0187625288157,1.049700485
+274,4.566666667,pose2_to_pose3_retreat,0.622183989493,0.0100908845904,1.05003236713,0.592754438863,0.0187626214584,1.0497004971
+275,4.583333333,pose2_to_pose3_retreat,0.622183712259,0.0100908529469,1.0500323906,0.592754162345,0.0187625922797,1.04970052136
+276,4.600000000,pose2_to_pose3_retreat,0.622183403228,0.0100908176743,1.05003241677,0.592753854113,0.0187625597546,1.0497005484
+277,4.616666667,pose2_to_pose3_retreat,0.622183142061,0.0100907878647,1.05003243889,0.592753593621,0.018762532267,1.04970057125
+278,4.633333333,pose2_to_pose3_retreat,0.622183051446,0.010090777522,1.05003244656,0.59275350324,0.0187625227299,1.04970057918
+279,4.650000000,pose2_to_pose3_retreat,0.622182430924,0.0100907143951,1.05003246909,0.592752883405,0.0187624619617,1.04970060232
+280,4.666666667,pose2_to_pose3_retreat,0.622180934495,0.0100905742105,1.05003247644,0.592751387195,0.0187623225222,1.04970060936
+281,4.683333333,pose2_to_pose3_retreat,0.622176246786,0.0100907478803,1.05003226583,0.592746697664,0.0187624899686,1.04970039737
+282,4.700000000,pose2_to_pose3_retreat,0.622167003286,0.0100906545807,1.05003232048,0.592737454586,0.0187623983643,1.04970045921
+283,4.716666667,pose2_to_pose3_retreat,0.622149519305,0.010090854589,1.05003210033,0.59271996923,0.0187625937076,1.04970023929
+284,4.733333333,pose2_to_pose3_retreat,0.622123124052,0.0100907770636,1.05003208653,0.592693574452,0.0187625177565,1.04970022482
+285,4.750000000,pose2_to_pose3_retreat,0.622086206755,0.0100907619039,1.05003210433,0.592656658652,0.0187625073072,1.04970023793
+286,4.766666667,pose2_to_pose3_retreat,0.622039022639,0.0100908075378,1.0500320955,0.592609474558,0.0187625529186,1.04970023513
+287,4.783333333,pose2_to_pose3_retreat,0.621981222762,0.0100908598923,1.05003227256,0.592551672235,0.0187625970237,1.04970041039
+288,4.800000000,pose2_to_pose3_retreat,0.621914750031,0.0100907315419,1.05003251284,0.592485200646,0.0187624723686,1.0497006436
+289,4.816666667,pose2_to_pose3_retreat,0.621839408686,0.0100907299303,1.05003206703,0.592409858723,0.0187624691128,1.04970020635
+290,4.833333333,pose2_to_pose3_retreat,0.621753763342,0.010090786886,1.05003200445,0.592324214129,0.0187625284196,1.04970014063
+291,4.850000000,pose2_to_pose3_retreat,0.621656979032,0.0100907313758,1.05003225404,0.592227430696,0.0187624754588,1.04970038139
+292,4.866666667,pose2_to_pose3_retreat,0.621545976625,0.0100907744448,1.05003226674,0.592116426919,0.018762513669,1.04970039058
+293,4.883333333,pose2_to_pose3_retreat,0.621417719359,0.0100907237488,1.05003220955,0.591988170676,0.0187624668265,1.04970034677
+294,4.900000000,pose2_to_pose3_retreat,0.62127079219,0.010090825403,1.05003241787,0.59184124175,0.0187625621012,1.04970054696
+295,4.916666667,pose2_to_pose3_retreat,0.621103929886,0.0100906824399,1.05003241916,0.59167438148,0.0187624258372,1.04970054589
+296,4.933333333,pose2_to_pose3_retreat,0.62091862523,0.0100906951368,1.05003228193,0.591489077897,0.0187624422715,1.04970041517
+297,4.950000000,pose2_to_pose3_retreat,0.620715714822,0.0100907324485,1.05003207437,0.591286166969,0.0187624779084,1.04970021424
+298,4.966666667,pose2_to_pose3_retreat,0.620496838599,0.0100907264706,1.0500321229,0.591067290591,0.0187624712069,1.04970026186
+299,4.983333333,pose2_to_pose3_retreat,0.620261031053,0.0100907124859,1.05003231367,0.59083148316,0.0187624572406,1.04970044727
+300,5.000000000,pose2_to_pose3_retreat,0.620007220025,0.0100906778085,1.05003222567,0.590577671745,0.0187624210727,1.04970035905
+301,5.016666667,pose2_to_pose3_retreat,0.619735241955,0.0100908912346,1.05003224519,0.590305692119,0.0187626291309,1.04970038159
+302,5.033333333,pose2_to_pose3_retreat,0.619445103134,0.010090826768,1.05003246739,0.590015553013,0.0187625634227,1.04970060191
+303,5.050000000,pose2_to_pose3_retreat,0.619136660677,0.0100909765166,1.05003226702,0.589707109504,0.0187627092673,1.04970039856
+304,5.066666667,pose2_to_pose3_retreat,0.618806770883,0.0100907897835,1.0500321492,0.589377221494,0.0187625283789,1.04970027997
+305,5.083333333,pose2_to_pose3_retreat,0.618453556656,0.0100907634262,1.05003210331,0.589024007697,0.0187625033969,1.04970023704
+306,5.100000000,pose2_to_pose3_retreat,0.618073724393,0.0100908256417,1.0500320948,0.588644175515,0.0187625657821,1.04970023301
+307,5.116666667,pose2_to_pose3_retreat,0.617661761955,0.010090794769,1.05003208732,0.588232214781,0.0187625404991,1.0497002281
+308,5.133333333,pose2_to_pose3_retreat,0.617220307452,0.0100907651153,1.05003207395,0.587790761073,0.0187625133117,1.04970021565
+309,5.150000000,pose2_to_pose3_retreat,0.616757752612,0.0100908348748,1.05003211965,0.587328204055,0.0187625753171,1.04970025945
+310,5.166666667,pose2_to_pose3_retreat,0.616280737667,0.0100907358834,1.05003226996,0.586851189179,0.0187624759264,1.04970040045
+311,5.183333333,pose2_to_pose3_retreat,0.615792661469,0.0100906888293,1.05003233234,0.586363112436,0.018762426811,1.04970046313
+312,5.200000000,pose2_to_pose3_retreat,0.615292256151,0.0100906973169,1.05003207586,0.585862708723,0.0187624409932,1.04970022174
+313,5.216666667,pose2_to_pose3_retreat,0.614776093312,0.0100909426584,1.05003228965,0.585346543243,0.0187626768867,1.04970042666
+314,5.233333333,pose2_to_pose3_retreat,0.614227621749,0.0100908017664,1.050032346,0.584798072645,0.0187625390712,1.04970047995
+315,5.250000000,pose2_to_pose3_retreat,0.61364717189,0.0100907746198,1.05003211669,0.584217622228,0.0187625101675,1.04970025466
+316,5.266666667,pose2_to_pose3_retreat,0.613036257849,0.0100907674404,1.05003209434,0.583606709128,0.0187625061557,1.04970023142
+317,5.283333333,pose2_to_pose3_retreat,0.612408243796,0.0100907203102,1.05003235552,0.582978696517,0.0187624635861,1.04970048374
+318,5.300000000,pose2_to_pose3_retreat,0.611769853472,0.0100907466408,1.05003242215,0.582340305761,0.0187624884338,1.04970054951
+319,5.316666667,pose2_to_pose3_retreat,0.611116103593,0.0100907608216,1.05003222861,0.581686556641,0.0187625056469,1.04970036788
+320,5.333333333,pose2_to_pose3_retreat,0.61044225598,0.0100907450305,1.05003232268,0.581012708575,0.0187624880507,1.04970045519
+321,5.350000000,pose2_to_pose3_retreat,0.609739678308,0.0100906370743,1.05003194187,0.580310131157,0.0187623814181,1.0497000871
+322,5.366666667,pose2_to_pose3_retreat,0.609008971161,0.0100906986829,1.05003212614,0.579579423589,0.0187624409686,1.04970025585
+323,5.383333333,pose2_to_pose3_retreat,0.608252381455,0.0100908530938,1.0500323922,0.578822830859,0.0187625847272,1.04970050978
+324,5.400000000,pose2_to_pose3_retreat,0.607486824423,0.010090741856,1.05003236787,0.578057276979,0.0187624846253,1.04970049776
+325,5.416666667,pose2_to_pose3_retreat,0.606716349227,0.0100907325115,1.05003226675,0.577286801624,0.0187624747669,1.04970039844
+326,5.433333333,pose2_to_pose3_retreat,0.605942115258,0.0100906982977,1.05003204316,0.576512567706,0.0187624410287,1.04970018266
+327,5.450000000,pose2_to_pose3_retreat,0.605161038421,0.0100907678509,1.05003217953,0.575731489421,0.0187625055341,1.04970031528
+328,5.466666667,pose2_to_pose3_retreat,0.604370530406,0.010090841986,1.05003240884,0.57494098145,0.0187625797327,1.04970054237
+329,5.483333333,pose2_to_pose3_retreat,0.60356512971,0.0100908729986,1.05003236781,0.574135581131,0.0187626121334,1.04970050437
+330,5.500000000,pose2_to_pose3_retreat,0.60273792657,0.0100909110296,1.05003222463,0.573308376341,0.0187626444543,1.04970035866
+331,5.516666667,pose2_to_pose3_retreat,0.601907596918,0.0100908910507,1.05003225051,0.572478047137,0.0187626260159,1.04970038484
+332,5.533333333,pose2_to_pose3_retreat,0.601077616207,0.010090874824,1.05003235122,0.571648066347,0.0187626095182,1.04970048416
+333,5.550000000,pose2_to_pose3_retreat,0.600241420267,0.0100907722875,1.05003232807,0.570811871904,0.0187625123222,1.04970046644
+334,5.566666667,pose2_to_pose3_retreat,0.599407311837,0.0100907890681,1.05003237794,0.569977762718,0.0187625260735,1.04970050557
+335,5.583333333,pose2_to_pose3_retreat,0.598584324407,0.010090670529,1.05003232564,0.569154777682,0.0187624160776,1.04970046404
+336,5.600000000,pose2_to_pose3_retreat,0.597765015017,0.0100908889532,1.05003226357,0.568335465439,0.018762624503,1.04970039561
+337,5.616666667,pose2_to_pose3_retreat,0.596948277905,0.0100909352337,1.05003224872,0.567518728683,0.0187626718937,1.04970037826
+338,5.633333333,pose2_to_pose3_retreat,0.596129397539,0.0100908457217,1.05003215289,0.566699848147,0.0187625820354,1.04970028712
+339,5.650000000,pose2_to_pose3_retreat,0.595306425735,0.0100907730985,1.05003231386,0.565876876486,0.0187625098705,1.04970044656
+340,5.666666667,pose2_to_pose3_retreat,0.594477086277,0.0100906979824,1.05003238042,0.565047538054,0.0187624380736,1.04970050879
+341,5.683333333,pose2_to_pose3_retreat,0.593648134794,0.0100907061586,1.05003231739,0.564218585654,0.0187624430148,1.04970044325
+342,5.700000000,pose2_to_pose3_retreat,0.592830847937,0.0100907644018,1.05003233292,0.563401298177,0.0187624992266,1.04970046066
+343,5.716666667,pose2_to_pose3_retreat,0.592035506424,0.010090727433,1.05003227342,0.562605958865,0.0187624699666,1.04970040609
+344,5.733333333,pose2_to_pose3_retreat,0.591264610111,0.0100907720773,1.05003235151,0.561835061634,0.0187625112702,1.04970047961
+345,5.750000000,pose2_to_pose3_retreat,0.590520391762,0.0100906611986,1.050032217,0.561090845547,0.0187624084553,1.04970035425
+346,5.766666667,pose2_to_pose3_retreat,0.589793016821,0.0100907695813,1.05003234095,0.560363468639,0.0187625100368,1.0497004748
+347,5.783333333,pose2_to_pose3_retreat,0.589069624795,0.0100907211346,1.05003237703,0.559640077084,0.0187624628713,1.04970050259
+348,5.800000000,pose2_to_pose3_retreat,0.588348037676,0.0100908241176,1.05003240062,0.558918489353,0.0187625635768,1.049700521
+349,5.816666667,pose2_to_pose3_retreat,0.587627164142,0.010090890637,1.05003257497,0.558197614463,0.0187626254888,1.04970069515
+350,5.833333333,pose2_to_pose3_retreat,0.586919775232,0.0100907540661,1.05003247022,0.557490227314,0.018762495103,1.04970059653
+351,5.850000000,pose2_to_pose3_retreat,0.586230210233,0.0100907293352,1.05003235096,0.556800663342,0.0187624741682,1.04970048454
+352,5.866666667,pose2_to_pose3_retreat,0.585569521442,0.0100907905324,1.05003235634,0.556139973549,0.0187625319183,1.04970048865
+353,5.883333333,pose2_to_pose3_retreat,0.584939449899,0.0100908032037,1.05003233463,0.555509901139,0.0187625413976,1.04970046079
+354,5.900000000,pose2_to_pose3_retreat,0.584342403752,0.0100907751084,1.0500322241,0.554912855602,0.0187625154608,1.04970035149
+355,5.916666667,pose2_to_pose3_retreat,0.583767569218,0.0100907370234,1.05003216505,0.554338022304,0.018762481909,1.04970030096
+356,5.933333333,pose2_to_pose3_retreat,0.583211667971,0.0100908543997,1.05003246933,0.553782118768,0.0187625913298,1.04970060067
+357,5.950000000,pose2_to_pose3_retreat,0.582668157888,0.0100909375885,1.05003224185,0.553238607299,0.018762670005,1.04970037787
+358,5.966666667,pose2_to_pose3_retreat,0.582139205542,0.0100908049951,1.05003248352,0.552709656288,0.018762541466,1.04970060715
+359,5.983333333,pose2_to_pose3_retreat,0.58163203858,0.0100908110882,1.05003226528,0.552202489614,0.0187625490658,1.0497004026
+360,6.000000000,pose2_to_pose3_retreat,0.581147128003,0.0100907440568,1.05003232939,0.551717579214,0.0187624823712,1.04970045999
+361,6.016666667,pose2_to_pose3_retreat,0.580685942828,0.010090852464,1.0500325622,0.551256392734,0.0187625858962,1.049700681
+362,6.033333333,pose2_to_pose3_retreat,0.580246376493,0.0100908106654,1.05003240279,0.550816827465,0.0187625476458,1.04970052016
+363,6.050000000,pose2_to_pose3_retreat,0.579826766853,0.0100907385316,1.0500322394,0.55039721871,0.0187624789219,1.0497003678
+364,6.066666667,pose2_to_pose3_retreat,0.579425792228,0.0100908060153,1.05003232717,0.549996243036,0.0187625432078,1.0497004648
+365,6.083333333,pose2_to_pose3_retreat,0.579045073868,0.0100908546171,1.05003228627,0.549615525056,0.0187625931186,1.04970042401
+366,6.100000000,pose2_to_pose3_retreat,0.578691383445,0.0100908929092,1.05003223633,0.549261834708,0.0187626317501,1.04970037628
+367,6.116666667,pose2_to_pose3_retreat,0.578366241428,0.0100908525296,1.0500323598,0.548936690659,0.0187625843711,1.04970049705
+368,6.133333333,pose2_to_pose3_retreat,0.578072406506,0.0100907008422,1.05003249176,0.548642857745,0.0187624391894,1.04970062095
+369,6.150000000,pose2_to_pose3_retreat,0.577807727478,0.0100908441494,1.05003246723,0.548378177741,0.0187625793201,1.04970059994
+370,6.166666667,pose2_to_pose3_retreat,0.577568731903,0.0100908103464,1.0500321806,0.5481391817,0.0187625439837,1.04970031469
+371,6.183333333,pose2_to_pose3_retreat,0.577346206507,0.010090748872,1.05003209601,0.547916658711,0.0187624908461,1.04970023459
+372,6.200000000,pose2_to_pose3_retreat,0.577137577873,0.0100906983042,1.05003223293,0.547708030789,0.0187624425812,1.04970036852
+373,6.216666667,pose2_to_pose3_retreat,0.576942850026,0.0100907290407,1.05003236204,0.547513302279,0.0187624709049,1.0497004934
+374,6.233333333,pose2_to_pose3_retreat,0.576761312464,0.0100908008632,1.05003233949,0.5473317635,0.0187625384545,1.04970046712
+375,6.250000000,pose2_to_pose3_retreat,0.576594161166,0.0100908403559,1.05003227704,0.547164610419,0.0187625716561,1.04970039848
+376,6.266666667,pose2_to_pose3_retreat,0.576446008554,0.0100909168843,1.05003228424,0.547016458234,0.0187626497479,1.04970040886
+377,6.283333333,pose2_to_pose3_retreat,0.576315663297,0.0100908211028,1.05003237386,0.546886114511,0.0187625591427,1.04970049754
+378,6.300000000,pose2_to_pose3_retreat,0.576203470394,0.0100906734861,1.05003222683,0.546773923584,0.0187624186761,1.04970036211
+379,6.316666667,pose2_to_pose3_retreat,0.576106607356,0.0100907012979,1.05003200924,0.546677058583,0.0187624397855,1.04970014443
+380,6.333333333,pose2_to_pose3_retreat,0.576024452522,0.0100907559785,1.0500322085,0.546594902919,0.0187624913257,1.04970033517
+381,6.350000000,pose2_to_pose3_retreat,0.575952962628,0.0100907145945,1.05003235804,0.546523413963,0.0187624529826,1.04970048086
+382,6.366666667,pose2_to_pose3_retreat,0.575891017878,0.0100907428633,1.05003228635,0.546461469573,0.0187624828889,1.04970042
+383,6.383333333,pose2_to_pose3_retreat,0.575838263406,0.0100907757104,1.05003220292,0.546408715253,0.0187625165067,1.04970034318
+384,6.400000000,pose2_to_pose3_retreat,0.575793874327,0.0100907444225,1.05003216878,0.546364326726,0.0187624870103,1.04970030685
+385,6.416666667,pose2_to_pose3_retreat,0.575757937407,0.0100907520101,1.05003217598,0.546328389083,0.0187624920599,1.04970031195
+386,6.433333333,pose2_to_pose3_retreat,0.575730204282,0.0100907763087,1.050032327,0.546300654915,0.0187625124227,1.04970045259
+387,6.450000000,pose2_to_pose3_retreat,0.575710267323,0.0100906896077,1.05003217459,0.546280720885,0.0187624357113,1.04970030155
+388,6.466666667,pose2_to_pose3_retreat,0.575695546459,0.0100908573039,1.0500325648,0.546265997141,0.0187625936054,1.04970069124
+389,6.483333333,pose2_to_pose3_retreat,0.575685295231,0.0100908145051,1.05003243029,0.546255746339,0.0187625524277,1.04970056136
+390,6.500000000,pose2_to_pose3_retreat,0.575678148574,0.0100907862216,1.05003225717,0.546248599983,0.0187625251898,1.04970038867
+391,6.516666667,pose2_to_pose3_retreat,0.575673500406,0.0100907855807,1.05003213043,0.54624395176,0.0187625242905,1.04970025969
+392,6.533333333,pose2_to_pose3_retreat,0.575671200264,0.01009086673,1.05003226313,0.546241650496,0.0187626014647,1.0497003881
+393,6.550000000,pose2_to_pose3_retreat,0.5756699014,0.010090912554,1.05003233807,0.546240350999,0.0187626450441,1.04970046061
+394,6.566666667,pose2_to_pose3_retreat,0.575669273743,0.0100909346978,1.05003237428,0.546239723036,0.0187626661032,1.04970049565
+395,6.583333333,pose2_to_pose3_retreat,0.575668529772,0.0100909413631,1.05003239268,0.546238979077,0.0187626728106,1.04970051415
+396,6.600000000,pose2_to_pose3_retreat,0.575667745135,0.0100908887722,1.05003233742,0.546238195592,0.0187626243074,1.04970046353
+397,6.616666667,pose2_to_pose3_retreat,0.575667317205,0.0100908600899,1.05003230728,0.54623776829,0.0187625978545,1.04970043592
+398,6.633333333,pose2_to_pose3_retreat,0.575667190371,0.0100908515888,1.05003229834,0.546237641642,0.0187625900141,1.04970042774
+399,6.650000000,pose2_to_pose3_retreat,0.575667132523,0.0100908477115,1.05003229427,0.546237583879,0.0187625864381,1.049700424
+400,6.666666667,pose2_to_pose3_retreat,0.575666703321,0.0100908189439,1.05003226404,0.546237155308,0.0187625599066,1.04970039631
+401,6.683333333,pose2_to_pose3_retreat,0.575666160542,0.0100907825638,1.05003222581,0.546236613326,0.0187625263541,1.04970036129
+402,6.700000000,pose2_to_pose3_retreat,0.57566613611,0.0100907809262,1.05003222409,0.546236588929,0.0187625248438,1.04970035972
+403,6.716666667,pose2_to_pose3_retreat,0.575665989473,0.0100907723742,1.05003221599,0.546236442478,0.0187625169521,1.04970035242
+404,6.733333333,pose2_to_pose3_retreat,0.575665967557,0.0100907731388,1.05003221835,0.546236420542,0.0187625176494,1.04970035478
+405,6.750000000,pose2_to_pose3_retreat,0.575665925236,0.0100907746151,1.05003222291,0.546236378183,0.0187625189959,1.04970035935
+406,6.766666667,pose2_to_pose3_retreat,0.575665876044,0.0100907763312,1.0500322282,0.546236328946,0.018762520561,1.04970036466
+407,6.783333333,pose2_to_pose3_retreat,0.575665778266,0.0100907797422,1.05003223873,0.54623623108,0.018762523672,1.04970037521
+408,6.800000000,pose2_to_pose3_retreat,0.575665600995,0.0100907859264,1.05003225782,0.546236053648,0.0187625293122,1.04970039434
+409,6.816666667,pose2_to_pose3_retreat,0.575665373771,0.0100907938531,1.05003228229,0.546235826217,0.0187625365418,1.04970041886
+410,6.833333333,pose2_to_pose3_retreat,0.57566523764,0.0100907986021,1.05003229694,0.546235689962,0.018762540873,1.04970043355
+411,6.850000000,pose2_to_pose3_retreat,0.575665190582,0.0100908002437,1.05003230201,0.546235642862,0.0187625423703,1.04970043863
+412,6.866666667,pose2_to_pose3_retreat,0.575665006693,0.0100908066587,1.05003232181,0.546235458806,0.018762548221,1.04970045847
+413,6.883333333,pose2_to_pose3_retreat,0.57566477945,0.0100908055796,1.05003234719,0.546235231245,0.0187625459631,1.04970048117
+414,6.900000000,pose2_to_pose3_retreat,0.575664710891,0.0100908012278,1.05003235526,0.546235162541,0.0187625410405,1.0497004872
+415,6.916666667,pose2_to_pose3_retreat,0.575664687676,0.0100907997542,1.05003235799,0.546235139277,0.0187625393736,1.04970048924
+416,6.933333333,pose2_to_pose3_retreat,0.575664597236,0.0100907940136,1.05003236864,0.546235048646,0.01876253288,1.0497004972
+417,6.950000000,pose2_to_pose3_retreat,0.575664491855,0.0100907880797,1.05003237142,0.546234943445,0.0187625275182,1.04970049899
+418,6.966666667,pose2_to_pose3_retreat,0.575664304847,0.0100908758605,1.05003221611,0.546234756693,0.0187626164433,1.04970035091
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a1c40fc1812ca5c9ceb87b9cbc6281785cdd8a81
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41b93916b87e7f36597ac3e5474894152c593215636e4b4ff5d89a4242081c42
+size 26154822
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee0bd3f9e3ced37880ba16e31789c08e1affff3e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/franka_data.csv
@@ -0,0 +1,413 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,714,679,666,635,880,788,804,653,631,653,0.400933291446,0.0045640767112,0.0499338702605,0.999999971398,9.9282302501e-05,-0.000216343987041,-2.32678442207e-05,1793239711063012608
+1,0.016666667,BASELINE,766,745.442206585,714,679.557793415,666,635.557793415,879.442206585,788.557793415,804,653,631,653,0.400934638644,0.00456399629395,0.0499350291742,0.999999971902,9.78782326011e-05,-0.000214649474422,-2.32882287353e-05,1793239711079679232
+2,0.033333333,BASELINE,766,745,714,679.873537737,666,635.873537737,879,788.873537737,803.873537737,653,631,653,0.40093556337,0.00456412146981,0.049935749893,0.999999972182,9.75134077392e-05,-0.000213503607669,-2.32907900234e-05,1793239711096345600
+3,0.050000000,BASELINE,766,745,714,679.263261999,666,635.263261999,879,788.263261999,803.263261999,653,631,653,0.400934871826,0.00456503319428,0.0499347941865,0.999999971621,0.000101124478038,-0.000214456724386,-2.32251640426e-05,1793239711113011712
+4,0.066666667,BASELINE,766,745.327083961,714,679,666,635,879,788,803,653,631,653,0.400934672061,0.00456487847127,0.0499344208959,0.999999971443,0.000102020752308,-0.000214870009502,-2.3173184722e-05,1793239711129678080
+5,0.083333333,BASELINE,766,745.902310159,714,679,666,635,879,788,803,653,631,653,0.400934845384,0.00456391468786,0.0499344894551,0.999999971561,0.00010085744643,-0.000214873751332,-2.31315584439e-05,1793239711146344960
+6,0.100000000,BASELINE,766,746,714,679,666,635,879,788,803.474260741,653,631.474260741,653,0.400934921098,0.00456357485794,0.0499345010265,0.999999971666,9.99286960473e-05,-0.00021482415752,-2.30758335253e-05,1793239711163011328
+7,0.116666667,BASELINE,766,746,714,679.047534085,665.952465915,635.047534085,879,788,804,653,631.952465915,653,0.400935016628,0.00456342062614,0.0499345375252,0.999999971781,9.90909801836e-05,-0.000214683402282,-2.3033709677e-05,1793239711179678208
+8,0.133333333,BASELINE,766,746,714,679.643813494,665.356186506,635.643813494,879,788,804,653,631.356186506,653,0.400935571433,0.00456393544891,0.0499349963748,0.99999997204,9.87502602051e-05,-0.000213616214925,-2.31818954943e-05,1793239711196345088
+9,0.150000000,BASELINE,766,746,714,679.76769244,665.23230756,635.76769244,879,788,804,653,631,653,0.400936206292,0.00456444721163,0.0499350411895,0.999999972124,9.89360491441e-05,-0.000213133994522,-2.31663209776e-05,1793239711213011712
+10,0.166666667,BASELINE,766,746,714,679.190748264,665.809251736,635.190748264,879,788,804,653,631,653,0.400936959916,0.00456495443463,0.0499344717687,0.999999971952,9.9902933018e-05,-0.000213519593717,-2.29078021057e-05,1793239711229678592
+11,0.183333333,BASELINE,765.612845667,746,714,678.612845667,666,635,879,788,804,653,631,653,0.40093681526,0.00456473254063,0.0499347116202,0.999999971956,0.00010023293983,-0.000213348734647,-2.28713098616e-05,1793239711246344960
+12,0.200000000,BASELINE,765.034469637,746,714,678.034469637,666,635,879,788,804,653,631,653,0.400936226929,0.00456415052417,0.049935351184,0.999999972048,0.000100248382997,-0.000212903032007,-2.29444800842e-05,1793239711263011584
+13,0.216666667,BASELINE,765.536364298,746,714,678.536364298,666,635,879,787.463635702,804,653.536364298,631.536364298,653,0.400936021258,0.00456425101673,0.0499347066207,0.999999972079,9.87408660122e-05,-0.000213417122624,-2.33545886452e-05,1793239711279678208
+14,0.233333333,BASELINE,766,745.888921081,714,679,666,635,879,787.111078919,804,653.888921081,631.888921081,653,0.40093589061,0.00456438176935,0.0499341851879,0.999999972124,9.71869859703e-05,-0.000213881550254,-2.36740023753e-05,1793239711296344832
+15,0.250000000,BASELINE,766,745.295270501,714,679,666,635,879,787.704729499,804,653.295270501,631.295270501,653,0.400935980536,0.0045644560734,0.0499345522336,0.999999972261,9.5850991758e-05,-0.000213865968708,-2.35066343698e-05,1793239711313011456
+16,0.266666667,BASELINE,766,745.290980315,714,679,666,635,879,787.709019685,804,653,631.290980315,653,0.400935791209,0.0045646126363,0.0499347733789,0.999999972258,9.61284619677e-05,-0.000213760613736,-2.34611142575e-05,1793239711329678336
+17,0.283333333,BASELINE,766,745.869908451,714,679,666,635,879,787.130091549,804,653,631.869908451,653,0.40093532554,0.00456485060079,0.0499348501444,0.999999972115,9.80025817172e-05,-0.000213566420925,-2.35361721923e-05,1793239711346344960
+18,0.300000000,BASELINE,766,746,714,679,666,635,879,787.446486232,804,653,631.553513768,653,0.400935485703,0.00456409681841,0.0499342961036,0.999999972149,9.75999180285e-05,-0.000213614704181,-2.33651190901e-05,1793239711363011840
+19,0.316666667,BASELINE,766,746,714,679,666,635.022837267,879,788,804,653,631,653,0.400935823549,0.00456312955924,0.04993361597,0.99999997223,9.66163087728e-05,-0.00021370437977,-2.31342926144e-05,1793239711379678976
+20,0.333333333,BASELINE,766,746,714,679,666,635.610427702,879,788,804,653,631,653,0.400936069665,0.00456399160629,0.0499343390141,0.999999972268,9.75853655766e-05,-0.000213079687315,-2.31893351327e-05,1793239711396345344
+21,0.350000000,BASELINE,766,745.804703244,714,679,666,635.804703244,879,788,804,653,631,653,0.400936059475,0.00456433581021,0.0499348398812,0.999999972284,9.76541425654e-05,-0.000212971106987,-2.32092629377e-05,1793239711413011712
+22,0.366666667,BASELINE,766,745.225188188,714,679,666,635.225188188,879,788,804,653,631,653,0.400935545039,0.0045636612321,0.0499349036468,0.999999972257,9.59517482812e-05,-0.000213877903172,-2.31601075839e-05,1793239711429678336
+23,0.383333333,BASELINE,766,745.353810985,714,679,666.353810985,635.353810985,879.353810985,788,803.646189015,653,631.353810985,653,0.400935031867,0.00456332938264,0.0499345925514,0.999999972238,9.53521359674e-05,-0.000214246970034,-2.30169999499e-05,1793239711446344960
+24,0.400000000,BASELINE,766,745.932482351,714,679,666.932482351,635.932482351,879.932482351,788,803.067517649,653,631.932482351,653,0.4009345195,0.00456321535025,0.0499340432176,0.999999972227,9.54533835073e-05,-0.000214274289481,-2.28141820522e-05,1793239711463011840
+25,0.416666667,BASELINE,766,746,714,679,666.494376373,635.494376373,879.494376373,788,803.505623627,653,631.494376373,653,0.400935285207,0.00456322110859,0.0499346111007,0.999999972302,9.7274650028e-05,-0.000213104133548,-2.27875845449e-05,1793239711479678464
+26,0.433333333,BASELINE,766,746,714,679.080595779,666,635,879.080595779,788,804,653,631,653,0.400936084697,0.00456338572439,0.0499351887068,0.999999972365,9.90508148219e-05,-0.000211986540975,-2.28199744632e-05,1793239711496345088
+27,0.450000000,BASELINE,766,746,714,679.671795191,666,635,879.671795191,788,804,653,631,653,0.400936028686,0.00456445651559,0.0499348929905,0.999999972308,9.91018806445e-05,-0.000212204039534,-2.30786046595e-05,1793239711513011968
+28,0.466666667,BASELINE,766,745.742790442,714,679.742790442,666,635,879.742790442,788,803.742790442,653,631,653,0.400935808139,0.00456440840592,0.0499344885842,0.999999972311,9.79742339969e-05,-0.000212699956275,-2.31748538275e-05,1793239711529678336
+29,0.483333333,BASELINE,766,745.164595573,714,679.164595573,666,635,879.164595573,788,803.164595573,653,631,653,0.400935382259,0.00456296396105,0.0499339485381,0.999999972385,9.53756101745e-05,-0.000213543325669,-2.30684591699e-05,1793239711546344960
+30,0.500000000,BASELINE,766,745.412403126,714,679.412403126,666,635,879,788,803.412403126,653,631.412403126,653,0.400934958514,0.00456267433882,0.0499333336734,0.999999972121,9.51008542949e-05,-0.000214912168019,-2.29475260906e-05,1793239711563011584
+31,0.516666667,BASELINE,766,745.988925784,714,679.988925784,666,635,879,788,803.988925784,653,631.988925784,653,0.400934535617,0.00456284428869,0.0499326890341,0.999999971721,9.57509026192e-05,-0.000216490127036,-2.28208073182e-05,1793239711579678208
+32,0.533333333,BASELINE,766,746,714,679.43742509,666,635,879.56257491,788,804,653,631.43742509,653,0.400935226952,0.00456373926615,0.0499336660818,0.999999971858,9.88120900385e-05,-0.000214487589041,-2.26978054536e-05,1793239711596345088
+33,0.550000000,BASELINE,766,746,714,679,666,635.140131096,879.859868904,788,804,653,631.140131096,653,0.400936111356,0.00456425804163,0.0499346575278,0.999999972086,0.000100596881759,-0.000212592951061,-2.26370851885e-05,1793239711613011712
+34,0.566666667,BASELINE,766,746,714,679,666,635.730418985,879.269581015,788,804,653,631.730418985,653,0.400937545874,0.00456352269197,0.0499355931992,0.999999972608,9.81296873104e-05,-0.000211270195653,-2.27762043616e-05,1793239711629678592
+35,0.583333333,BASELINE,766,746,714,679,666,636,879.315110217,788,804,653,632,653,0.400937429232,0.00456346922434,0.0499354923519,0.999999972699,9.70215154893e-05,-0.00021133522712,-2.29274415935e-05,1793239711646345472
+36,0.600000000,BASELINE,766,746,714,679,666,636,879.895097052,788,804,653,632,653,0.40093600871,0.00456398893579,0.0499345202235,0.999999972431,9.70557161239e-05,-0.000212566809935,-2.30888650876e-05,1793239711663012096
+37,0.616666667,BASELINE,766,746,714,679,666,635.52842004,880,788,803.52842004,653,632,653,0.400936346946,0.00456361046907,0.0499344568017,0.9999999725,9.67726198368e-05,-0.000212396176569,-2.28752633147e-05,1793239711679678720
+38,0.633333333,BASELINE,766,746,714,679,666,635.048219489,880,788,803.048219489,653,632,653,0.400936957841,0.00456307500287,0.0499345567238,0.999999972625,9.63939144707e-05,-0.000212006875032,-2.26146143679e-05,1793239711696345088
+39,0.650000000,BASELINE,766,746,714,679,666,635.635255074,880,788,803.635255074,653,632,653,0.400936275989,0.00456300132989,0.0499342397705,0.999999972552,9.57297409772e-05,-0.000212633917362,-2.27535772009e-05,1793239711713011712
+40,0.666666667,BASELINE,766,745.780552603,714,679,666,636,879.780552603,788,804,653,632,653,0.400935685999,0.00456282981893,0.0499339507867,0.999999972469,9.53197860033e-05,-0.000213205548711,-2.2802119397e-05,1793239711729678336
+41,0.683333333,BASELINE,766,745.201025672,714,679,666,636,879.201025672,788,804,653,632,653,0.400935246739,0.00456249777086,0.0499337076964,0.999999972368,9.53269646842e-05,-0.0002136862591,-2.27022951826e-05,1793239711746345216
+42,0.700000000,BASELINE,766,745.376649288,714,679,666,635.623350712,879,788,804,653,631.623350712,653,0.40093521425,0.00456272782175,0.0499337172757,0.999999972237,9.67567703161e-05,-0.000213667076207,-2.26102286867e-05,1793239711763011840
+43,0.716666667,BASELINE,766,745.953340631,714,679,666,635.046659369,879,788,804,653,631.046659369,653,0.400935397801,0.00456325640878,0.0499338610502,0.999999972086,9.89421467851e-05,-0.000213382395173,-2.25222823927e-05,1793239711779678720
+44,0.733333333,BASELINE,766,746,714,679.526531476,666,635.526531476,880.053062952,788,804,653.526531476,631,653,0.400935298848,0.00456421950849,0.0499340488458,0.999999972128,9.97445138238e-05,-0.000212812267964,-2.25106468062e-05,1793239711796345344
+45,0.750000000,BASELINE,765.897083871,746,714,679.897083871,666,636,880.897083871,788,804,653.897083871,631.102916129,653,0.400935336794,0.00456478780586,0.0499342570707,0.999999972209,9.98679425826e-05,-0.000212372055879,-2.25045359707e-05,1793239711813011968
+46,0.766666667,BASELINE,765.304021012,746,714,679.304021012,666,636,880.304021012,788,804,653.304021012,631.695978988,653,0.400936145176,0.0045632936514,0.0499345441359,0.999999972395,9.7337705645e-05,-0.000212670250763,-2.24927434929e-05,1793239711829678336
+47,0.783333333,BASELINE,765.281993092,745.718006908,714,679,666,635.718006908,879.718006908,788,804,653,632,653,0.400936191366,0.00456323525153,0.0499343612668,0.999999972368,9.68250100352e-05,-0.000213018967295,-2.26311076994e-05,1793239711846344960
+48,0.800000000,BASELINE,765.860593222,745.139406778,714,679,666,635.139406778,879.139406778,788,804,653,632,653,0.400935435863,0.00456468701229,0.0499336841098,0.999999972118,9.84344120474e-05,-0.00021342082373,-2.29274102748e-05,1793239711863011584
+49,0.816666667,BASELINE,766,745.436700767,714,679,666,635.436700767,879.436700767,788,804,653,631.563299233,653,0.400935862674,0.00456345016515,0.0499335293038,0.999999972249,9.71254007553e-05,-0.000213425098372,-2.27498822214e-05,1793239711879678208
+50,0.833333333,BASELINE,766,746,714,679.012290777,666,635.987709223,880,788,803.987709223,653,631.012290777,653,0.400936615342,0.00456141203039,0.0499335266296,0.999999972486,9.49563366766e-05,-0.000213327826695,-2.24256069106e-05,1793239711896344832
+51,0.850000000,BASELINE,766,746,714,679.600709718,666,635.399290282,880,788,803.399290282,653,631.600709718,653,0.40093505109,0.00456181692159,0.0499328831482,0.999999972173,9.58949197345e-05,-0.000214386127517,-2.22726080289e-05,1793239711913011456
+52,0.866666667,BASELINE,766,745.813571889,714,679.813571889,666,635,880,788,803.186428111,653,632,653,0.400934516479,0.00456224482707,0.0499327709443,0.999999972071,9.69241022185e-05,-0.00021441054889,-2.21827249875e-05,1793239711929678336
+53,0.883333333,BASELINE,766,745.233554953,714,679.233554953,666,635,880,788,803.766445047,653,632,653,0.400936155657,0.00456272132049,0.0499337803789,0.999999972411,9.81445590271e-05,-0.000212252233943,-2.22260927252e-05,1793239711946344960
+54,0.900000000,BASELINE,766,745.343945517,714,679.343945517,666,635.343945517,880,788,804,653,632,653,0.40093567524,0.00456241922939,0.0499338511193,0.999999972423,9.73988926907e-05,-0.000212538898571,-2.22353852848e-05,1793239711963011328
+55,0.916666667,BASELINE,766,745.919749579,714,679.919749579,666,635.919749579,880,788,804,653,632,653,0.400933765974,0.00456159228342,0.0499332890727,0.99999997221,9.53278348439e-05,-0.000214473758649,-2.22217072823e-05,1793239711979677952
+56,0.933333333,BASELINE,766,746,714,679.509339248,666.490660752,635.509339248,880,788,804,653.490660752,632,653,0.40093456997,0.00456332270467,0.0499334610863,0.999999972151,9.67977238834e-05,-0.000214057659678,-2.2538928455e-05,1793239711996345856
+57,0.950000000,BASELINE,766,745.936761534,714,679,666.936761534,635.063238466,880,788,804,653.936761534,631.936761534,653,0.40093569663,0.00456507670674,0.0499337558698,0.99999997215,9.84128302119e-05,-0.000213292482823,-2.28463726966e-05,1793239712013013248
+58,0.966666667,BASELINE,766,745.343578319,714,679,666.343578319,635.656421681,880,788,804,653.343578319,631.343578319,653,0.40093584514,0.00456355776169,0.0499340832972,0.999999972454,9.64395176312e-05,-0.000212792441327,-2.26228279219e-05,1793239712029679104
+59,0.983333333,BASELINE,766,745.243852858,714,679,666,636,879.756147142,788,804,653.243852858,631,653,0.400935483702,0.00456249638293,0.0499338242984,0.999999972426,9.59420841016e-05,-0.000213178368651,-2.22971305728e-05,1793239712046345216
+60,1.000000000,BASELINE,766,745.823366504,714,679,666,636,879.176633496,788,804,653.823366504,631,653,0.400934420324,0.00456206483894,0.0499327580903,0.999999971945,9.74761816326e-05,-0.000214783822275,-2.18308212924e-05,1793239712063011584
+61,1.016666667,BASELINE,766,746,714,679.400964524,666,636,879.400964524,788,804,653.599035476,631,653,0.400935138011,0.00456315738456,0.049933122425,0.999999971906,9.91580844104e-05,-0.000214150077238,-2.22451811545e-05,1793239712079678720
+62,1.033333333,BASELINE,766,746,714,679.977722647,666,636,879.977722647,788,804,653.022277353,631,653,0.400936636566,0.00456491813197,0.049934113948,0.999999972058,0.00010090478888,-0.000212534607367,-2.30456500111e-05,1793239712096345856
+63,1.050000000,BASELINE,766,746,714,678.872626129,666,635.436313065,879.436313065,788,803.436313065,653,631,653,0.400935759537,0.00456356415276,0.0499331420303,0.999999972087,9.95464959497e-05,-0.000213059233918,-2.28463452405e-05,1793239712113012480
+64,1.066666667,BASELINE,766,746,714,678.296703286,666,635.148351643,879.148351643,788,803.148351643,653,631.148351643,653,0.400934937599,0.00456268501457,0.0499324751766,0.999999972089,9.83823514506e-05,-0.000213608664383,-2.2688271346e-05,1793239712129678848
+65,1.083333333,BASELINE,766,746,714,679.456321936,666,635.728160968,879.728160968,788,803.728160968,653,631.728160968,653,0.400934553471,0.00456355082863,0.0499329249794,0.999999972031,9.81456716594e-05,-0.000213980166209,-2.2766933048e-05,1793239712146345216
+66,1.100000000,BASELINE,766,745.693537609,714,680,666,635.693537609,880,788,803.693537609,653,631.693537609,653,0.400934728932,0.00456349415088,0.0499332817634,0.999999972074,9.81173765592e-05,-0.00021379870468,-2.26920770189e-05,1793239712163011840
+67,1.116666667,BASELINE,766,745.116567209,714,680,666,635.116567209,880,788,803.116567209,653,631.116567209,653,0.400935398332,0.00456262320866,0.0499335564418,0.999999972206,9.82730183239e-05,-0.000213129153828,-2.24817140625e-05,1793239712179678464
+68,1.133333333,BASELINE,766,745.458507526,714,680,666,635.458507526,879.541492474,788,803,653,631.458507526,653,0.400935561187,0.00456234143971,0.0499333667301,0.999999972306,9.6306149861e-05,-0.000213564361612,-2.24526067955e-05,1793239712196345088
+69,1.150000000,BASELINE,766,745.966193668,714,679.966193668,666,636,879,788,803.033806332,653,631.966193668,653,0.400935642675,0.00456222968666,0.0499331177633,0.999999972394,9.40360479206e-05,-0.000214160416758,-2.24741731863e-05,1793239712213011712
+70,1.166666667,BASELINE,766,745.379379034,714,679.379379034,666,636,879,788,803.620620966,653,631.379379034,653,0.400936491065,0.00456245893584,0.0499338228274,0.999999972531,9.5596276666e-05,-0.000212812127283,-2.25739710899e-05,1793239712229678592
+71,1.183333333,BASELINE,766,745,714,679,666,635.794925819,879.205074181,788,804,653,631,653,0.400937663225,0.00456244560762,0.0499346398222,0.999999972842,9.58932181979e-05,-0.000211207585736,-2.26113537223e-05,1793239712246345472
+72,1.200000000,BASELINE,766,745,714,679,666,635.214791306,879.785208694,788,804,653,631,653,0.400939427529,0.00456198862944,0.0499356615271,0.999999973471,9.3879733018e-05,-0.000209134384347,-2.25345850331e-05,1793239712263011840
+73,1.216666667,BASELINE,766,745.363245134,714,679,666.363245134,635.363245134,880,788,803.636754866,653,631.363245134,653,0.400939052246,0.00456197592838,0.0499351981305,0.999999973339,9.41973311416e-05,-0.000209624626959,-2.24931737815e-05,1793239712279678464
+74,1.233333333,BASELINE,766,745.940048049,714,679,666.940048049,635.940048049,880,788,803.059951951,653,631.940048049,653,0.400937419066,0.00456222442518,0.0499338616181,0.999999972759,9.58854115492e-05,-0.00021162196053,-2.24725497528e-05,1793239712296345088
+75,1.250000000,BASELINE,766,745.483936504,714,679,666.483936504,635.483936504,880,788,803,653,632,653,0.400936515283,0.00456312991773,0.0499339886035,0.999999972468,9.70914938156e-05,-0.000212456679364,-2.23345953501e-05,1793239712313011712
+76,1.266666667,BASELINE,766,745,714,679,666,635.094164593,879.905835407,788,803.094164593,653,631.905835407,653,0.400935588643,0.00456375445434,0.0499340137618,0.999999972171,9.82484214127e-05,-0.000213339972557,-2.21800805616e-05,1793239712329678592
+77,1.283333333,BASELINE,766,745,714,679,666,635.683718585,879.316281415,788,803.683718585,653,631.316281415,653,0.400934096651,0.00456249999138,0.0499326101423,0.999999971661,9.9440883868e-05,-0.000215188278124,-2.20100425325e-05,1793239712346345216
+78,1.300000000,BASELINE,766,745.268460412,714,679,666,635.731539588,879,788,804,653,631.268460412,653,0.400933730309,0.0045624448361,0.0499321045229,0.999999971525,9.95686874462e-05,-0.000215749162827,-2.20775271168e-05,1793239712363011840
+79,1.316666667,BASELINE,766,745.847632673,714,679,666,635.152367327,879,788,804,653,631.847632673,653,0.400934666774,0.00456377774073,0.0499326382347,0.999999971827,9.84642715361e-05,-0.000214820006784,-2.24199166425e-05,1793239712379678720
+80,1.333333333,BASELINE,765.57579994,746,714,679,666,635.42420006,879,788,804,653,631.57579994,653,0.400935287906,0.00456329544376,0.0499324742165,0.999999971908,9.75634753255e-05,-0.000214836713734,-2.2597782075e-05,1793239712396345600
+81,1.350000000,BASELINE,765.000162433,746,714,679,666,635.999837567,879,788,804,653,631.000162433,653,0.400935796466,0.00456216512839,0.049932061112,0.99999997191,9.67353703093e-05,-0.000215191089293,-2.27169132003e-05,1793239712413011968
+82,1.366666667,BASELINE,765.587551705,746,714,679,666,635.412448295,879.587551705,788,804,653,631,653,0.400935850658,0.00456205206067,0.0499325784663,0.999999972076,9.75492323909e-05,-0.000214065196751,-2.25348498373e-05,1793239712429678592
+83,1.383333333,BASELINE,766,746,714,679,666,635.172821321,879.827178679,788,803.827178679,653,631,653,0.400936147366,0.00456233817513,0.0499328834082,0.999999972183,9.81934759235e-05,-0.000213275972592,-2.24940948506e-05,1793239712446344960
+84,1.400000000,BASELINE,766,746,714,679,666,635.752330514,879.247669486,788,803.247669486,653,631,653,0.400937015073,0.00456356298032,0.0499326878776,0.999999972151,9.84374779692e-05,-0.000213279988705,-2.27860706342e-05,1793239712463011584
+85,1.416666667,BASELINE,766,745.669981719,714,679,666,636,879.330018281,788,803.330018281,653,631.330018281,653,0.400937057115,0.0045636031184,0.0499328534838,0.999999972347,9.7085985677e-05,-0.00021296943187,-2.2885991074e-05,1793239712479678208
+86,1.433333333,BASELINE,766,745.093653411,714,679,666,636,879.906346589,788,803.906346589,653,631.906346589,653,0.400936482919,0.00456275907695,0.0499332886254,0.999999972708,9.45436919061e-05,-0.000212424092672,-2.28425704772e-05,1793239712496345088
+87,1.450000000,BASELINE,766,745.48166783,713.51833217,679,666,636,880.48166783,788.48166783,803.51833217,653,631.51833217,653,0.400936998353,0.00456242312611,0.0499339170027,0.999999972867,9.51073619818e-05,-0.00021145229696,-2.25701847837e-05,1793239712513011968
+88,1.466666667,BASELINE,766,745.941630893,713.058369107,679,666,636,880.883261787,788.941630893,803.058369107,653,631,653,0.400937623752,0.00456225312656,0.0499344712952,0.999999972948,9.61175641187e-05,-0.00021063810209,-2.22960021383e-05,1793239712529679104
+89,1.483333333,BASELINE,766,745.350551236,713.649448764,679,666,636,879.701102472,788.350551236,803.649448764,653,631,653,0.400937323198,0.00456269795281,0.0499340072586,0.999999972694,9.57029412588e-05,-0.000212017446956,-2.24108779609e-05,1793239712546345728
+90,1.500000000,BASELINE,766,745.235461698,714,679,666.235461698,635.764538302,879.235461698,787.764538302,803.764538302,653,631,653,0.400936879245,0.00456239004577,0.0499334839016,0.999999972584,9.45427089054e-05,-0.000213050870307,-2.24149451753e-05,1793239712563012096
+91,1.516666667,BASELINE,766,745.814090232,714,679,666.814090232,635.185909768,879.814090232,787.185909768,803.185909768,653,631,653,0.4009362263,0.00456098508938,0.04993287409,0.999999972685,9.22958096155e-05,-0.000213580140239,-2.22575175813e-05,1793239712579678464
+92,1.533333333,BASELINE,766,746,714,679,666.610535418,635.389464582,879.610535418,787.389464582,803.389464582,653,631,653,0.400936685995,0.00456088511713,0.0499334055162,0.999999972748,9.29305380019e-05,-0.00021300601377,-2.22641912569e-05,1793239712596344832
+93,1.550000000,BASELINE,766,746,714,679,666.03670152,635.96329848,879.03670152,787.96329848,803.96329848,653,631,653,0.400937672405,0.00456140291349,0.049934477195,0.999999972792,9.49294049267e-05,-0.000211909548606,-2.23485491041e-05,1793239712613011456
+94,1.566666667,BASELINE,766,746,714,679,666,635.46138216,879.53861784,788,804,653,631,653,0.40093666518,0.00456268826979,0.0499336625187,0.999999972494,9.51871738642e-05,-0.000213168010132,-2.25938617841e-05,1793239712629678336
+95,1.583333333,BASELINE,766,745.882860309,714,679,666.117139691,635.117139691,879.882860309,788,803.882860309,653,631,653,0.400936306072,0.00456372897048,0.0499332406077,0.999999972349,9.55245132912e-05,-0.000213674000652,-2.27973732058e-05,1793239712646345216
+96,1.600000000,BASELINE,766,745.291792167,714,679,666.708207833,635.708207833,879.291792167,788,803.291792167,653,631,653,0.400939120271,0.00456356764466,0.0499349292386,0.999999972916,9.66651030472e-05,-0.000210484602526,-2.27872680666e-05,1793239712663012096
+97,1.616666667,BASELINE,766,745,714,679,667,636,879.293538688,788,803.293538688,653,631,653,0.400939844787,0.00456243968313,0.0499352793708,0.99999997322,9.61564379452e-05,-0.000209300715265,-2.25249419995e-05,1793239712679678976
+98,1.633333333,BASELINE,766,745,714,679,667,636,879.87327569,788,803.87327569,653,631,653,0.400938531875,0.00456036925807,0.0499343244754,0.999999973271,9.40397600087e-05,-0.000210072188252,-2.20167021677e-05,1793239712696345856
+99,1.650000000,BASELINE,765.551696411,745,714,679,666.551696411,635.551696411,880,788,804,653,631.448303589,653,0.400937122009,0.00456072141991,0.0499335564977,0.999999973074,9.29216612159e-05,-0.000211479248864,-2.22266304345e-05,1793239712713012224
+100,1.666666667,BASELINE,765.02262477,745,714,679,666,635,879.97737523,788,803.97737523,653,631.97737523,653,0.400935766978,0.0045617312723,0.0499328963408,0.999999972813,9.22066379537e-05,-0.000212978333327,-2.26228271579e-05,1793239712729678848
+101,1.683333333,BASELINE,765.612248153,745,714,679,666,635,879.387751847,788,803.387751847,653,631.387751847,653,0.400936465831,0.00456224000348,0.0499336278959,0.999999972728,9.45925636891e-05,-0.000212327854466,-2.26523927827e-05,1793239712746345216
+102,1.700000000,BASELINE,766,745,714,679,666,635.198362846,879,788,803.198362846,653.198362846,631.198362846,653,0.400936513844,0.00456242279712,0.0499335799702,0.999999972524,9.58522038584e-05,-0.000212718181676,-2.27071000859e-05,1793239712763011840
+103,1.716666667,BASELINE,766,745,714,679,666,635.777738033,879,788,803.777738033,653.777738033,631.777738033,653,0.400935311733,0.00456197953484,0.0499320348294,0.999999972097,9.4948491544e-05,-0.000215107673462,-2.28100991398e-05,1793239712779678464
+104,1.733333333,BASELINE,766.354177818,745.354177818,714,679,666,635.645822182,878.645822182,788,804,653.645822182,631.645822182,653,0.400935438068,0.00456123908385,0.0499318425483,0.999999972258,9.4192341075e-05,-0.00021471801126,-2.25323803598e-05,1793239712796345344
+105,1.750000000,BASELINE,766.928790708,745.928790708,714,679,666,635.071209292,878.071209292,788,804,653.071209292,631.071209292,653,0.400936391208,0.00456031366692,0.0499324922671,0.999999972785,9.35280308434e-05,-0.000212598644661,-2.20177084008e-05,1793239712813012224
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,714,679,666,636,879,788,804,653,631,653,0.400940314531,0.00456170431044,0.0499348915833,0.999999973445,9.48341296298e-05,-0.000208864681191,-2.22021477361e-05,1793239712844055808
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.589296942,714,679,666,635.410703058,879,788,804,653,631.589296942,653,0.400937955268,0.00456293426919,0.0499339618278,0.999999973017,9.4973205866e-05,-0.000210797233597,-2.26019850882e-05,1793239712860722432
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.824295933,714,678.824295933,666,635.175704067,879,788,803.824295933,653,631.824295933,653,0.400936056455,0.00456371800063,0.0499332077777,0.999999972688,9.48837827585e-05,-0.000212364250154,-2.28532998637e-05,1793239712877388800
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.244534253,714,678.244534253,666,635.755465747,879,788,803.244534253,653,631.244534253,653,0.400935216516,0.00456347556633,0.0499328577881,0.999999972594,9.42688914819e-05,-0.00021309066309,-2.27630649817e-05,1793239712894055424
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.333170763,714,678.333170763,666,636,879,788,803.333170763,653,631,653,0.400935164809,0.00456336260325,0.0499327477946,0.999999972473,9.53532493479e-05,-0.000213205405869,-2.24788020919e-05,1793239712910721792
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.909375496,714,678.909375496,666,636,879,788,803.909375496,653,631,653,0.400935688086,0.00456334408397,0.0499328128683,0.999999972329,9.76771375773e-05,-0.000212873961112,-2.20530039883e-05,1793239712927388160
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.505793242,879.494206758,788,804,653,631.494206758,653,0.400937401185,0.00456347363207,0.0499328045776,0.999999972336,9.81851333149e-05,-0.00021259074768,-2.22227787852e-05,1793239712944055040
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.07965238,879.92034762,788,804,653,631.92034762,653.07965238,0.40094063611,0.00456357232474,0.0499333213026,0.999999972647,9.81777440749e-05,-0.000211100081432,-2.24508622697e-05,1793239712960721664
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.658853852,879.341146148,788,804,653,631.341146148,653.658853852,0.400952022681,0.0045633041941,0.0499372165952,0.999999974642,9.70635246651e-05,-0.000201980281752,-2.234752914e-05,1793239712977389056
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.237372096,635.762627904,879.237372096,788,804,653,631,653.762627904,0.400968363068,0.00456290823311,0.0499417920949,0.999999977114,9.55175563902e-05,-0.000190104877737,-2.25347962294e-05,1793239712994055936
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.814911188,635.185088812,879.814911188,788,804,653,631,653.185088812,0.400991802536,0.00456232908437,0.0499473423674,0.999999980188,9.33528688323e-05,-0.000174280545105,-2.31385090866e-05,1793239713010722304
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.6085786,714,679,666.6085786,635,880,788,803.6085786,653.3914214,631.3914214,653,0.401025363914,0.00456202810668,0.0499532940005,0.999999983646,9.21239958499e-05,-0.000153808701014,-2.37446170993e-05,1793239713027388672
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.032553581,714,679,666.032553581,635,880,788,803.032553581,653.967446419,631.967446419,653,0.401063699028,0.00456185832101,0.0499594349253,0.999999986933,9.13364750001e-05,-0.000131144978808,-2.4351854769e-05,1793239713044055296
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.55582182,714,679,666,635,880,788,803,653.44417818,631.44417818,653,0.401111599758,0.00456215668599,0.0499633948888,0.99999998954,9.11796206129e-05,-0.000109414299921,-2.52005288355e-05,1793239713060721920
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635,879.857420824,788,803.285158353,653,631.142579176,653,0.401163303269,0.0045625053755,0.0499671056934,0.999999991413,9.14791663966e-05,-9.02164046209e-05,-2.58101389389e-05,1793239713077388288
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635,879.277889183,788,804.444221634,653,631.722110817,653,0.401224904955,0.00456292235307,0.0499704532764,0.999999992251,9.30616390214e-05,-7.860927134e-05,-2.5642786295e-05,1793239713094055168
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.299389535,879.299389535,788,804.700610465,653,632,653,0.401294465589,0.0045623786167,0.0499736351351,0.999999992877,9.208173165e-05,-7.15782924065e-05,-2.53548005795e-05,1793239713110722048
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.874592704,879.874592704,788,804.125407296,653,632,653,0.401371358428,0.00456094981931,0.0499766643196,0.999999993387,8.87412228337e-05,-6.87631120589e-05,-2.49556812454e-05,1793239713127388928
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,636,879.551048886,788,804,653,631.551048886,653,0.401465069088,0.00456006841429,0.0499776089798,0.999999993604,8.79217776536e-05,-6.69690619801e-05,-2.40016746274e-05,1793239713144055552
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.023739387,746,714,679,666,636,879,788,804,653,631.023739387,653,0.401564395495,0.00455930254822,0.0499779063426,0.999999993743,8.76926434427e-05,-6.55587095706e-05,-2.29201203508e-05,1793239713160721920
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.614418618,746,714,679,666,636,879,788,804,653,631.614418618,653,0.401685855125,0.00455765116433,0.0499766248138,0.999999993942,8.47747706748e-05,-6.65125855055e-05,-2.24871985003e-05,1793239713177388288
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.79858022,746,714,679,666,636,879.20141978,788,803.79858022,653,632,653,0.401819072082,0.00455625804714,0.049976634753,0.999999994215,8.23714632033e-05,-6.56443233898e-05,-2.18073800942e-05,1793239713194055168
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.218493845,746,714,679,666,636,879.781506155,788,803.218493845,653,632,653,0.401974392651,0.00455535046824,0.0499790726355,0.999999994629,8.09355321994e-05,-6.135046507e-05,-2.06633993884e-05,1793239713210721792
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.642648247,879.642648247,787.642648247,803.357351753,653,631.642648247,653,0.402140025839,0.00455476381847,0.0499769409464,0.999999994511,7.95210605495e-05,-6.53335316288e-05,-1.9668715754e-05,1793239713227388416
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635.069365103,879.069365103,787.069365103,803.930634897,653,631.069365103,653,0.402311890488,0.00455437109147,0.0499720480736,0.999999994011,7.81195556674e-05,-7.43179665726e-05,-1.87642454301e-05,1793239713244055040
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.500425394,635.500425394,879.500425394,787.500425394,804,653,631,653,0.402525175146,0.00455045151635,0.049972225974,0.999999994857,7.17963614781e-05,-6.95533963708e-05,-1.71287140026e-05,1793239713260721920
+132,2.200000000,POSE1_TO_POSE2_PRESS,766.073543538,746,714,679,667,635.926456462,880,788,803.926456462,653,631,653,0.40274995244,0.00454634984289,0.0499736008475,0.999999995815,6.5146468481e-05,-6.23607561081e-05,-1.54172386603e-05,1793239713277388544
+133,2.216666667,POSE1_TO_POSE2_PRESS,766.673945034,746,714,679,667,635.326054966,880,788,803.326054966,653,631,653,0.403016216716,0.00454442153297,0.049978550312,0.999999996725,6.10095177608e-05,-5.13318622584e-05,-1.38826231006e-05,1793239713294055168
+134,2.233333333,POSE1_TO_POSE2_PRESS,766.737081446,745.737081446,714,679,666.737081446,635.262918554,880.262918554,788,803,653,631.262918554,653,0.403298236262,0.00454248968772,0.0499842402611,0.999999997583,5.66157729786e-05,-3.84590277704e-05,-1.22314290138e-05,1793239713310722048
+135,2.250000000,POSE1_TO_POSE2_PRESS,766.161689863,745.161689863,714,679,666.161689863,635.838310137,880.838310137,788,803,653,631.838310137,653,0.40359898059,0.00454055364092,0.0499908102599,0.999999998324,5.19168342401e-05,-2.33947102822e-05,-1.04416839546e-05,1793239713327388672
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.411778085,714,679.411778085,666,636,880.588221915,787.588221915,803,653,632,653,0.403930129789,0.00453704060855,0.0499999112904,0.999999998864,4.67325384248e-05,-4.79355257648e-06,-8.06289820614e-06,1793239713344055552
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.984494193,714,679.984494193,666,636,880.015505807,787.015505807,803,653,632,653,0.404273162322,0.00453291123226,0.050010001541,0.999999999014,4.13585473066e-05,1.51899320316e-05,-5.45389372884e-06,1793239713360722432
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,714,679.424398496,666,635.424398496,880,787.575601504,803.575601504,653,631.424398496,653,0.404656419996,0.00452855095975,0.0500151411163,0.999999999064,3.47299606626e-05,2.56795514623e-05,-2.60380397679e-06,1793239713377388544
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.164222278,635.164222278,879.835777722,788,804,653,631,653,0.405047669616,0.00452442446828,0.0500168124848,0.999999999157,2.82715611479e-05,2.97655491037e-05,1.09562948523e-07,1793239713394055168
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.745233353,635.745233353,879.254766647,788,804,653,631,653,0.405456361475,0.00452090761038,0.0500100313409,0.999999999581,2.23336959713e-05,1.82699447423e-05,2.45890632772e-06,1793239713410722304
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.673105375,714,679,666.673105375,636,879,788,803.673105375,653,631,653,0.40586013538,0.00451749999497,0.0499956357745,0.999999999772,1.83944419873e-05,-9.52364877809e-06,5.26225521271e-06,1793239713427389184
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.090936298,714,679,666.090936298,636,879,788,803.090936298,653,631,653,0.406260068862,0.00451417768746,0.0499752940478,0.999999998584,1.60159177394e-05,-5.00444648609e-05,8.42014062986e-06,1793239713444056064
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.479515124,714,679.479515124,666.479515124,636,879.479515124,788,803.479515124,653,631.479515124,653,0.406734320363,0.0045090568261,0.0499603603982,0.999999997373,1.15252119628e-05,-7.06531493977e-05,1.13727103572e-05,1793239713460722176
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714,679.950266806,667,635.950266806,880,788.049733194,804,653,632,653,0.407227884584,0.00450363502876,0.0499481649417,0.999999996268,7.5776109891e-06,-8.48590135019e-05,1.43031125748e-05,1793239713477388288
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714,679.358968582,667,635.358968582,880,788.641031418,804,653,632,653,0.407781940636,0.00449856179416,0.0499548850058,0.999999997339,1.3801897983e-05,-6.94814659876e-05,1.74060076356e-05,1793239713494054912
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788.774993314,804,653,631.774993314,653,0.408354319016,0.0044924108847,0.0499692881005,0.999999998616,2.28227732941e-05,-4.26878895639e-05,2.05965251491e-05,1793239713510721536
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788.202332655,804,653,631.202332655,653,0.408955006881,0.00448459487861,0.0499955621137,0.999999999058,3.61646088889e-05,1.7443966156e-06,2.39224264033e-05,1793239713527388416
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.62649125,746,714,679,667,635.37350875,880,788,804,653,631.37350875,653,0.409563293103,0.0044764088106,0.0500084182879,0.999999999313,2.07236193222e-05,1.85546893841e-05,2.44879034044e-05,1793239713544055552
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.04891203,746,714,679,667,635.95108797,880,788,804,653,631.95108797,653,0.410175730751,0.00446802055558,0.0500139434826,0.999999999463,-1.04431727864e-05,2.02734113292e-05,2.35451931984e-05,1793239713560722944
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.538794207,746,714,679,667,636,880,788,804,653,631.461205793,652.461205793,0.410773591758,0.00446043629986,0.0499991389008,0.999999999366,-2.37961330423e-05,-1.04751159193e-05,2.43188059793e-05,1793239713577389568
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804.12577282,653,631.12577282,652.12577282,0.411387033451,0.00445347826965,0.0499812274051,0.999999998117,-3.31568198878e-05,-4.50204064825e-05,2.52783968513e-05,1793239713594055936
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804.706727088,653,631.706727088,652.706727088,0.412061743467,0.00444851739191,0.0499588788789,0.999999995676,-3.40338590274e-05,-8.24352884725e-05,2.63363711839e-05,1793239713610722048
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,714,679.285953941,667,636,880,788,804.714046059,653,631.714046059,653,0.412782178216,0.00444303373941,0.0499625246079,0.999999996599,-3.36669068594e-05,-7.02771949547e-05,2.7029914711e-05,1793239713627388160
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,714,679.863419874,667,636,880,788,804.136580126,653,631.136580126,653,0.413549226524,0.00443701715042,0.0499926698366,0.999999999084,-3.203178412e-05,-7.58258645179e-06,2.7351944113e-05,1793239713644054784
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.562873648,746,714,679.562873648,667,635.562873648,880.437126352,787.562873648,804,653,631.437126352,653,0.414280248594,0.00443498149005,0.0499958562472,0.999999998837,-3.85247505259e-05,-5.19183927928e-06,2.85621844891e-05,1793239713660721408
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.009981815,746,714,679,667,635,880.990018185,787.009981815,804,653,631.990018185,653,0.415000116836,0.00443437780508,0.049990237974,0.999999998191,-4.72384792868e-05,-2.20329593206e-05,3.0006050741e-05,1793239713677388288
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.601097461,746,714,679,667,635,880.398902539,787.601097461,804,653,631.398902539,653,0.415720371175,0.00444534464462,0.0499582331486,0.999999996316,-3.86492686169e-05,-7.09292077272e-05,2.90321225415e-05,1793239713694055168
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.811516105,714,679,666.811516105,635,880,788,804,653,631.188483895,653,0.416475814336,0.00445609658606,0.0499409474651,0.999999994626,-2.53137672866e-05,-9.6405435986e-05,2.85017078068e-05,1793239713710722304
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.231868988,714,679,666.231868988,635,880,788,804,653,631.768131012,653,0.417304285296,0.00446640254586,0.0499542086217,0.999999996896,-2.12822429317e-06,-7.32777714614e-05,2.88917228312e-05,1793239713727389440
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.345180741,714,679,666.345180741,635.345180741,880,788,804.345180741,653,632,653,0.418135838833,0.00446431342198,0.0499737013632,0.999999998899,-2.1692584769e-06,-3.61916190206e-05,2.97761758115e-05,1793239713744055808
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.92049873,714,679,666.92049873,635.92049873,880,788,804.92049873,653,632,653,0.418969447536,0.00445396030697,0.0499973487967,0.999999999311,-1.76958056661e-05,1.02008686261e-05,3.0990278035e-05,1793239713760721664
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,714,679.506265976,667,635.493734024,880,788,804.493734024,653,632,653,0.41973941982,0.00444864396001,0.0499836513499,0.999999998814,-2.76995032482e-05,-2.4075448621e-05,3.20275666818e-05,1793239713777388544
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880.092453458,788,804.092453458,653,631.907546542,653,0.42051986559,0.00444497022288,0.0499691588629,0.999999997204,-3.53464924858e-05,-5.72580789672e-05,3.26323941156e-05,1793239713794055168
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880.672027097,788,804.672027097,653,631.327972903,653,0.421409255474,0.0044456959162,0.0499820272862,0.999999998759,-3.5242249692e-05,-1.65273752322e-05,3.11080394585e-05,1793239713810721792
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.749579421,746,714,679.749579421,667,635,880.749579421,788,804.749579421,653,631,653,0.422295721018,0.00444636960191,0.0499941544633,0.999999998849,-3.38793951806e-05,1.46658395439e-05,3.06502207665e-05,1793239713827388416
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.172724246,746,714,679.172724246,667,635,880.172724246,788,804.172724246,653,631,653,0.423178374673,0.00444697549342,0.050005315394,0.999999998466,-3.08758831844e-05,3.34265100217e-05,3.1582679965e-05,1793239713844055296
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.401788102,746,714,679,667,635,880,788,804,653,631,653,0.424022729753,0.0044494487873,0.0499955739367,0.999999998937,-2.90778198598e-05,1.58665476541e-05,3.20634133545e-05,1793239713860722176
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.975299098,746,714,679,667,635,880,788,804,653,631,653,0.424850716096,0.0044527202027,0.0499768988677,0.999999998942,-2.77949614329e-05,-1.72167331908e-05,3.23510805572e-05,1793239713877388800
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.433242862,746,714,679,667,635,880,788,804.566757138,652.433242862,631,653,0.425712410162,0.00444872051633,0.0499924345254,0.999999998814,-3.46198270361e-05,7.31562237631e-06,3.34528062907e-05,1793239713894055680
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.155138477,746,714,679.310276955,667,635.155138477,880,788,805,652.155138477,631.155138477,653,0.426571080002,0.00444493565855,0.0500062313573,0.999999998308,-3.9971541676e-05,2.3869974533e-05,3.48736395306e-05,1793239713910722048
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.73293694,746,714,680.465873881,667,635.73293694,880,788,805,652.73293694,631.73293694,653,0.42741737733,0.00444262766556,0.0500110959944,0.999999998433,-4.03156252596e-05,1.16241700825e-05,3.70640306421e-05,1793239713927388672
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.690048973,746,714,680.690048973,667,636,880,788,804.690048973,653,632,653,0.428253289441,0.00444151149317,0.0499935259469,0.999999998351,-3.7092435112e-05,-2.25970115076e-05,3.75731443336e-05,1793239713944055296
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.113709052,746,714,680.113709052,667,636,880,788,804.113709052,653,632,653,0.429080275885,0.0044414196368,0.0499566743021,0.999999995989,-3.08033343838e-05,-7.57050355019e-05,3.6637275907e-05,1793239713960721920
+174,2.900000000,POSE1_TO_POSE2_PRESS,765,746,714.471834407,680,667,635.528165593,880,788,804,653,632,653,0.429935804632,0.00444029728472,0.049962387693,0.999999997349,-3.4997884931e-05,-5.24792971663e-05,3.63705576617e-05,1793239713977388544
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.058875131,745.941124869,715,679.941124869,667,635,880,788,804,652.941124869,631.941124869,653,0.430791422865,0.00443914080002,0.0499756778399,0.999999998352,-4.05522162439e-05,-1.81124608845e-05,3.638342942e-05,1793239713994055168
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.639142021,745.360857979,715,679.360857979,667,635,880,788,804,652.360857979,631.360857979,653,0.431585705807,0.0044399250912,0.0499634168442,0.999999997363,-3.53291588202e-05,-5.12347547376e-05,3.74158007531e-05,1793239714010721792
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.782236593,745.217763407,714.782236593,679.217763407,667,635.217763407,880,788,804,652.217763407,631,653,0.432383574819,0.00444036487718,0.0499521731785,0.999999995848,-3.32140767362e-05,-7.58347455393e-05,3.80662613447e-05,1793239714027388416
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.206321447,745.793678553,714.206321447,679.793678553,667,635.793678553,880,788,804,652.793678553,631,653,0.433187341902,0.00444023806148,0.049942602696,0.999999994885,-3.62106276024e-05,-8.64182560296e-05,3.80886001077e-05,1793239714044055040
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.367671606,746,714.367671606,679.632328394,667,635.632328394,880,788,804.367671606,652.632328394,631.367671606,653,0.434009768386,0.00443979591517,0.0499580710656,0.999999996662,-3.90352470827e-05,-6.04223504325e-05,3.87491582128e-05,1793239714060721920
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.940591639,746,714.940591639,679.059408361,667,635.059408361,880,788,804.940591639,652.059408361,631.940591639,653,0.434842611217,0.00443917773918,0.0499875170856,0.999999998239,-4.17638876063e-05,-1.40064076412e-05,3.97659948245e-05,1793239714077389056
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,714.470778809,679,667,635.529221191,880.529221191,788,805,652,631.470778809,653,0.435574818112,0.00443992268515,0.0499860870264,0.999999997972,-4.02039152436e-05,-2.80776455005e-05,4.06379171698e-05,1793239714094055424
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.882576924,880.882576924,788,804.882576924,652,631.117423076,653,0.436292962923,0.00444065348403,0.0499776259651,0.99999999701,-3.81862222236e-05,-5.30363600275e-05,4.1346444031e-05,1793239714110721792
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.303207391,880.303207391,788,804.303207391,652,631.696792609,653,0.437001589412,0.00444070823012,0.0499555573261,0.999999994128,-3.63197165829e-05,-9.32972561238e-05,4.14781221815e-05,1793239714127388416
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.726150053,745.726150053,714,679.273849947,667,635,880,787.726150053,804.273849947,652,632,653,0.437735468545,0.00443920287622,0.0499585372261,0.999999995093,-3.71210731661e-05,-8.19123148204e-05,4.15401368701e-05,1793239714144055040
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.151631387,745.151631387,714,679.848368613,667,635,880,787.151631387,804.848368613,652,632,653,0.438497073326,0.00443598463808,0.0499890187289,0.999999998208,-4.08515620697e-05,-1.38237344251e-05,4.15256656945e-05,1793239714160721920
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,745.433148763,714,680,667,635,880,787.433148763,805,652.433148763,632,653,0.439185403277,0.00443513245271,0.0499941229104,0.999999998611,-3.11703326918e-05,-6.2354963828e-06,4.20532185317e-05,1793239714177388800
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.021250723,746,714,680,667,635,880.021250723,788,805,653,632,653,0.43984513434,0.00443523079267,0.0499890878547,0.999999998706,-1.71626828512e-05,-2.16039809134e-05,4.27422099451e-05,1793239714194055424
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.599971277,746,714,680,667,635,880.599971277,788,805,653,632,653,0.440443864315,0.00443800878633,0.049956773407,0.999999996511,-1.58128591009e-05,-7.01201066179e-05,4.25678521682e-05,1793239714210721792
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.821980845,746,714.178019155,680,667,635,881,788,805,652.821980845,631.821980845,652.821980845,0.441037520301,0.0044411894728,0.0499324734092,0.999999993238,-1.46859255491e-05,-0.00010726507827,4.24465293748e-05,1793239714227388416
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.245438742,746,714.754561258,680,667,635,881,788,805,652.245438742,631.245438742,652.245438742,0.441619817507,0.00444527164891,0.0499261149698,0.999999991925,-1.40579654048e-05,-0.000118954002277,4.24439336085e-05,1793239714244055040
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.330365979,746,715,680,667,635,881,788,805,652.330365979,631,652.330365979,0.442192119188,0.00445133979428,0.0499238818429,0.999999991959,-1.02739446205e-05,-0.000119175915859,4.21033270384e-05,1793239714260721664
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.905624064,746,715,680,667,635,881,788,805,652.905624064,631,652.905624064,0.442757011397,0.00445888008913,0.0499247067082,0.999999992981,-4.15041441635e-06,-0.000110897618382,4.15121614441e-05,1793239714277388800
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.508508818,746,714.508508818,680,666.508508818,635,881,787.508508818,805,652.508508818,631.491491182,653,0.443256384854,0.00446594377152,0.0499096989339,0.999999989979,2.6071159148e-06,-0.000135441783243,4.11102036949e-05,1793239714294055424
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714,680,666,634.921597312,881,787.078402688,805,652.078402688,631.921597312,653,0.443734083562,0.0044726953393,0.0498881231008,0.999999984233,1.01903916983e-05,-0.000172532928213,4.07714017054e-05,1793239714310722048
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,634.341328235,881,787.658671765,805,652.658671765,631.341328235,653,0.444155347866,0.00447804776825,0.0498443941431,0.999999968001,2.22629083467e-05,-0.000248705449475,4.05991741161e-05,1793239714327388672
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.237282503,746,714,680,666,634,881,788,804.762717497,652.762717497,631.237282503,653,0.444576770787,0.00448493438543,0.0498123041183,0.999999953453,3.31616808201e-05,-0.000300699938704,3.96653661294e-05,1793239714344055296
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.813524246,746,714,680,666,634,881,788,804.186475754,652.186475754,631.813524246,653,0.444998420255,0.0044940125977,0.0497968403708,0.999999947782,4.23837530068e-05,-0.000318155983789,3.76436370259e-05,1793239714360721920
+198,3.300000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666,634,881,787.610783481,804.389216519,652.389216519,632,653,0.445415586025,0.00449799280015,0.049796393311,0.999999950489,4.79268061729e-05,-0.000308825864282,3.67523551682e-05,1793239714377388288
+199,3.316666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666,634,881,787.035354039,804.964645961,652.964645961,632,653,0.445830606697,0.00449953396175,0.0498031306861,0.999999956908,5.17097064742e-05,-0.000286680437149,3.64019131801e-05,1793239714394054912
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666,634,880.445538849,787,805,652.445538849,632,652.445538849,0.446202897223,0.00450354036094,0.0498068592905,0.999999958861,5.54796616282e-05,-0.000279099565806,3.60929099204e-05,1793239714410721536
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.857408404,746,714,680,665.857408404,633.857408404,880.142591596,787.142591596,805,652,632,652.142591596,0.446550973865,0.00450765567561,0.0498037887595,0.999999957425,5.9576336117e-05,-0.000283425624718,3.56384253288e-05,1793239714427388416
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.27733596,746,714,680,665.27733596,633.27733596,880.72266404,787.72266404,805,652,632,652.72266404,0.446833342648,0.00451161003371,0.0497804622938,0.99999994567,6.467800883e-05,-0.000321357822649,3.47292713284e-05,1793239714444055296
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.30017088,745.69982912,714,680.30017088,665,633.30017088,880.69982912,787.69982912,805,652,632,653,0.44709310348,0.00451789453986,0.0497534002305,0.999999930932,7.18036896601e-05,-0.000363119579064,3.35200360548e-05,1793239714460721920
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.875327343,745.124672657,714,680.875327343,665,633.875327343,880.124672657,787.124672657,805,652,632,653,0.447332153224,0.00452631368695,0.0497229159996,0.999999912833,8.07835574959e-05,-0.000408389579232,3.20358973209e-05,1793239714477388544
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.550897998,745.449102002,714.449102002,680.550897998,665,633.550897998,880,787,805,652.449102002,632,653,0.447563591391,0.0045330688023,0.049708110617,0.99999990332,8.67339585426e-05,-0.000430010743894,3.04738335885e-05,1793239714494055168
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714.976689555,680.023310445,665,633,880.023310445,787,805,652.976689555,632,653,0.447792556668,0.00453952859573,0.0496983353477,0.999999896769,9.20969611774e-05,-0.000444014714232,2.88371204307e-05,1793239714510721536
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714.382491627,680.617508373,665,633,880.617508373,787,805,652.382491627,632,653,0.448012549535,0.00455003433004,0.0497054818288,0.99999990109,0.000103607481227,-0.000431757073159,2.59003591565e-05,1793239714527388160
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.205286399,745.794713601,714,680.794713601,665,632.794713601,881,787,805,652,632,653,0.448218329325,0.00456428899172,0.0497117971822,0.999999903877,0.000119094203843,-0.000421375005227,2.24871772876e-05,1793239714544055040
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.78146547,745.21853453,714,680.21853453,665,632.21853453,881,787,805,652,632,653,0.448398430205,0.00458531687102,0.0497166109293,0.999999903929,0.000141764763979,-0.000414381552484,1.8213242625e-05,1793239714560721664
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.643623944,745.356376056,714,680,664.643623944,632,881,787,805,652,631.643623944,653,0.448557016502,0.0045963945953,0.0497186580012,0.999999903501,0.000153455939297,-0.000411317970436,1.63119564148e-05,1793239714577388544
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.069488394,745.930511606,714,680,664.069488394,632,881,787,805,652,631.069488394,653,0.448702456578,0.00460139239375,0.0497190145285,0.999999903004,0.000158438289932,-0.000410655690128,1.58604493633e-05,1793239714594055936
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.518130144,746,714,680.518130144,664,632,880.481869856,787,805,652,631.518130144,652.481869856,0.448818916103,0.00459857721653,0.0497168793573,0.999999900289,0.00015641401096,-0.000417947395574,1.66151739358e-05,1793239714610722304
+213,3.550000000,POSE1_TO_POSE2_PRESS,766,746,714,681,664,632,880,787,805,652.10581177,632,652.10581177,0.448927490952,0.00459601790176,0.0497147212911,0.999999897631,0.000154797028241,-0.000424825382677,1.72807496029e-05,1793239714627388672
+214,3.566666667,POSE1_TO_POSE2_PRESS,766,746,714,681,664,632,880,787,805,652.685462167,632,652.685462167,0.449018627379,0.00459942204436,0.0497139971405,0.999999896877,0.000159324430232,-0.000424946064861,1.6803313157e-05,1793239714644055296
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.736899676,745.736899676,714,681,664,632,880.263100324,787.263100324,805,653,632,653,0.449097132518,0.00460096262441,0.0497115999663,0.999999894802,0.000161898338255,-0.0004288453356,1.66096301951e-05,1793239714660721408
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.161648938,745.161648938,714,681,664,632,880.838351062,787.838351062,805,653,632,653,0.449160651497,0.00460029221563,0.0497072178649,0.999999891129,0.000162154559946,-0.000437227641407,1.67526012282e-05,1793239714677388032
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.42114234,745.42114234,714,680.15771532,664.42114234,632,881,787.57885766,805,652.57885766,632,653,0.44921645577,0.00460073467152,0.0497057314176,0.999999890414,0.000161995374391,-0.000438933206422,1.63195199947e-05,1793239714694054656
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.993174718,746,714,679.006825282,664.993174718,632,881,787,805,652.006825282,631.993174718,653,0.449269079885,0.00460163323278,0.0497053893626,0.999999890858,0.000161733211003,-0.000438042983881,1.56684044637e-05,1793239714710721536
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.412153286,746,714,679.587846714,664.412153286,632,881,787,805,652.587846714,631.412153286,653,0.449307822799,0.00460431210212,0.049706113809,0.999999889967,0.000166466282108,-0.000438305170191,1.56150603311e-05,1793239714727388672
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714,680,664,632,881,787,805,653,631.16812183,653,0.449342387281,0.00460531225518,0.049706502545,0.999999889348,0.000168852134017,-0.000438797057182,1.57944267828e-05,1793239714744055808
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,714,680,664,632,881,787,805,653,631.746575344,653,0.449366753541,0.00460221519764,0.0497060719189,0.999999889433,0.000165509172957,-0.000439849570141,1.65417654442e-05,1793239714760722176
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,714,680.32215151,664,632,880.67784849,787,805,653,632,653,0.449384827558,0.00460157016297,0.0497046652078,0.999999888327,0.00016567923487,-0.000442289919003,1.66395412495e-05,1793239714777388544
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714,680.895484272,664,632,880.104515728,787,805,653,632,653,0.44939799552,0.00460283696807,0.0497024974439,0.999999886283,0.000168588397377,-0.00044581236242,1.62308535412e-05,1793239714794055168
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714.4804173,680.5195827,664,632,880.4804173,787,804.5195827,652.5195827,631.5195827,652.5195827,0.449405743529,0.00460561154351,0.0496997089748,0.999999883979,0.000171138558548,-0.00045001419157,1.54986238078e-05,1793239714810721792
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.066993577,746,714.933006423,680,664,631.933006423,880.933006423,787,804.066993577,652.066993577,631.066993577,652.066993577,0.449412008462,0.00460831004562,0.0496971669636,0.999999881889,0.000173164895995,-0.000453891558032,1.47990825747e-05,1793239714827388416
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.646359117,746,714.353640883,680,664,631.353640883,880.353640883,787,804.646359117,652.646359117,631.646359117,652.646359117,0.44941617187,0.00460785595032,0.0496975681968,0.999999882015,0.000171797096988,-0.000454129042677,1.49011919269e-05,1793239714844055296
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.775134709,745.775134709,714,680,664,631.224865291,880,787,805,653,632,653,0.449419328769,0.0046069232108,0.0496973695325,0.999999881801,0.000171338127712,-0.00045476391157,1.52319165913e-05,1793239714860721920
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.197974931,745.197974931,714,680,664,631.802025069,880,787,805,653,632,653,0.449420908778,0.00460524058356,0.049696231014,0.999999881051,0.000172303014118,-0.000456021358878,1.59208108625e-05,1793239714877388544
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.383364474,745,714.383364474,680,664,632,880.383364474,787,805,653,631.616635526,652.616635526,0.449422528627,0.00460638049586,0.0496960158184,0.999999880839,0.000173211104688,-0.000456154715539,1.55936769842e-05,1793239714894055424
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.966886072,745,714.966886072,680,664,632,880.966886072,787,805,653,631.033113928,652.033113928,0.449424169276,0.00460899407475,0.049696282696,0.999999880906,0.000174089541746,-0.000455701177009,1.47360680776e-05,1793239714910722048
+231,3.850000000,POSE1_TO_POSE2_PRESS,766,745.549671851,714.450328149,680,664,632,881,787,805,653,631,652.549671851,0.449424903259,0.00460864755494,0.0496968251974,0.999999880459,0.000175502461503,-0.000456130836544,1.50157282829e-05,1793239714927388416
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.868452858,746,714,680,664,631.868452858,880.868452858,787,805,653,631,653,0.449425237594,0.00460814315883,0.049696873718,0.999999880019,0.000176101702286,-0.000456857954691,1.51877928574e-05,1793239714944055040
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.289523642,746,714,680,664,631.289523642,880.289523642,787,805,653,631,653,0.449424398267,0.00460770749816,0.0496951858513,0.999999879711,0.00017382432128,-0.000458415997702,1.47612378233e-05,1793239714960721664
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.712679325,714,680,664,631.287320675,880.287320675,787,804.712679325,652.712679325,631,652.712679325,0.449424760098,0.0046083383823,0.0496946825871,0.999999879399,0.000174297984468,-0.000458922909729,1.45253180072e-05,1793239714977388288
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.137920689,714,680,664,631.862079311,880.862079311,787,804.137920689,652.137920689,631,652.137920689,0.44942632358,0.00461003624656,0.0496953644087,0.999999879082,0.000177523814562,-0.000458378261884,1.44801111758e-05,1793239714994054912
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.445083455,714,680,664,632,881,787,804.445083455,652.445083455,631.445083455,652.445083455,0.449427285378,0.00460953710736,0.0496952607964,0.999999879433,0.000177394418491,-0.000457661183028,1.45724360182e-05,1793239715010721792
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714.030405058,680,664,632,881.030405058,787,805,652.969594942,631.969594942,652.969594942,0.449428031129,0.00460842812867,0.0496949344138,0.999999879976,0.000176231198887,-0.000456917421745,1.47007603034e-05,1793239715027388416
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714.610558836,680,664,632,881.610558836,787,805,652.389441164,631.389441164,652.389441164,0.449428305337,0.00460883449525,0.0496950638653,0.999999880211,0.000175529137881,-0.000456675553875,1.46948751884e-05,1793239715044055040
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.809709598,714.809709598,680.190290402,664,632,881.809709598,787,805,652.190290402,631,652.190290402,0.449428080414,0.00460917653053,0.0496947732923,0.99999988009,0.0001750782295,-0.000457114416563,1.45981811639e-05,1793239715060721920
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.230840237,714.230840237,680.769159763,664,632,881.230840237,787,805,652.769159763,631,652.769159763,0.44942683625,0.00460938719927,0.0496936250158,0.999999879246,0.000175140182687,-0.000458943352383,1.43160525019e-05,1793239715077388544
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.344234999,714.344234999,681,664,632,881,787,805,653,631.344234999,653,0.449426078755,0.00460983992165,0.0496930515529,0.999999878336,0.000176280536277,-0.000460494074025,1.40901036333e-05,1793239715094054912
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.916793649,714.916793649,681,664,632,881,787,805,653,631.916793649,653,0.449425644057,0.00461045319298,0.0496928593514,0.99999987738,0.000178136169597,-0.000461860262129,1.39014176214e-05,1793239715110721536
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.505684557,746,714.494315443,681,664,632,881,787,805,653,632,653,0.449427918342,0.00460857255473,0.049694595207,0.99999987898,0.000176484917206,-0.000459013571619,1.41423185336e-05,1793239715127388416
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,714,681,664,632,881,787,805,653,631.904571018,652.904571018,0.44943008885,0.00460677770165,0.0496961123749,0.999999880509,0.000174746163988,-0.000456332058078,1.43586984351e-05,1793239715144054784
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,714,681,664,632,881,787,805,653,631.324593608,652.324593608,0.449429393592,0.00460757157145,0.0496948545311,0.999999879545,0.000175590822575,-0.000458126474703,1.40796827869e-05,1793239715160721664
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.747565586,746,714.252434414,681,664,631.747565586,881,787,805,653,631,652.252434414,0.449429241853,0.00460793540846,0.0496941021587,0.999999879184,0.000175762060423,-0.0004588485162,1.40749776242e-05,1793239715177388032
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.174286169,746,714.825713831,681,664,631.174286169,881,787,805,653,631,652.825713831,0.44942978093,0.00460775267244,0.0496939922423,0.999999879593,0.000175077378325,-0.000458207565492,1.44189219891e-05,1793239715194054656
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,715,680.600227503,664,631,881,787,805,653,631.399772497,653,0.449430145631,0.00460829256855,0.0496946411269,0.999999879777,0.000174752604304,-0.000457934427653,1.42574121811e-05,1793239715210722048
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,715,680.025828485,664,631,881,787,805,653,631.974171515,653,0.449430434161,0.00460914812106,0.0496956214671,0.999999879863,0.000174585043478,-0.000457821955941,1.3875112516e-05,1793239715227389952
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.454496123,714.454496123,680,664,631.545503877,881,787,805,652.454496123,631.454496123,653,0.449430678206,0.00460949373384,0.0496949933283,0.99999987979,0.000175106106651,-0.000457786116398,1.37954977698e-05,1793239715244055808
+251,4.183333333,HOLD_POSE2,765,746,715,681,664,631,881,788,805,653,632,653,0.449429343513,0.00460635097521,0.0496942295468,0.999999879558,0.000173194654056,-0.000458995084306,1.45021677568e-05,1793239715285072384
+252,4.200000000,HOLD_POSE2,765,746,714.426214365,680.426214365,664,631.573785635,881,787.426214365,805,653,632,653,0.449431161679,0.00460810603892,0.0496942981657,0.999999879874,0.0001750397583,-0.000457617438034,1.40846285333e-05,1793239715301739264
+253,4.216666667,HOLD_POSE2,765.151748035,746,714,680.151748035,664,631.848251965,881,787,805,652.848251965,632,653,0.449432261314,0.00460898187784,0.0496943100808,0.999999879959,0.000176099335614,-0.000457032757183,1.38428782119e-05,1793239715318406144
+254,4.233333333,HOLD_POSE2,765.741773875,746,714,680.741773875,664,631.258226125,881,787,805,652.258226125,632,653,0.449431285691,0.00460731834512,0.0496941582239,0.999999879387,0.000174890158968,-0.000458738314206,1.41088402943e-05,1793239715335072768
+255,4.250000000,HOLD_POSE2,765.675786637,745.675786637,714,680.675786637,664,631.324213363,880.675786637,787,805.324213363,652,632,653,0.449431486432,0.0046066370544,0.049694735092,0.999999879527,0.000174274103818,-0.000458659161679,1.43691788989e-05,1793239715351739392
+256,4.266666667,HOLD_POSE2,765.09925133,745.09925133,714,680.09925133,664,631.90074867,880.09925133,787,805.90074867,652,632,653,0.44943260269,0.00460672020237,0.0496958790968,0.999999880222,0.000174119650837,-0.000457191042908,1.46251409659e-05,1793239715368406016
+257,4.283333333,HOLD_POSE2,765.476664658,745.476664658,714,680.476664658,664,632,880.476664658,787.476664658,805.523335342,652.476664658,632,653,0.449431090614,0.00460858944965,0.0496947669097,0.999999879479,0.00017413382315,-0.000458828956731,1.39502483971e-05,1793239715385072640
+258,4.300000000,HOLD_POSE2,766,746,714.052486659,681,664,632,881,788,805,653,632,653,0.449429329545,0.0046105744284,0.0496933496674,0.999999878538,0.000174301259285,-0.000460834312758,1.31863033243e-05,1793239715401739008
+259,4.316666667,HOLD_POSE2,766,746,714.628655915,681,664,632,881,788,805,653,632,653,0.449430537461,0.00461000829159,0.0496935699268,0.999999878655,0.000175648010599,-0.000460061369431,1.34651901012e-05,1793239715418405888
+260,4.333333333,HOLD_POSE2,766,746,715,681,664,632,881.21012647,787.78987353,805,653,632,653,0.449431427288,0.00460927643534,0.0496938922033,0.999999878884,0.00017614528289,-0.000459364922711,1.37243267656e-05,1793239715435072512
+261,4.350000000,HOLD_POSE2,766,746,715,681,664,632,881.801208112,787.198791888,805,653,632,653,0.449431740429,0.00460824413308,0.0496943994347,0.99999987932,0.00017510246621,-0.000458807162925,1.39476568327e-05,1793239715451739136
+262,4.366666667,HOLD_POSE2,765.61544195,746,714.61544195,680.61544195,664,631.61544195,881.61544195,787.38455805,805,652.61544195,631.61544195,653,0.44943222368,0.00460802726183,0.0496947356119,0.999999879871,0.000174555158212,-0.00045781646213,1.38986195291e-05,1793239715468406016
+263,4.383333333,HOLD_POSE2,765.036009981,746,714.036009981,680.036009981,664,631.036009981,881.036009981,787.963990019,805,652.036009981,631.036009981,653,0.449432793135,0.00460822360831,0.0496949851077,0.999999880478,0.000174258948019,-0.000456606369409,1.37115606992e-05,1793239715485072640
+264,4.400000000,HOLD_POSE2,765.538057149,746,714.538057149,680.538057149,664,631.538057149,881,787.461942851,805,652.538057149,631.538057149,653,0.449431770967,0.00460959255239,0.0496937216267,0.999999878875,0.000177464765346,-0.000458882309906,1.35577942349e-05,1793239715501739264
+265,4.416666667,HOLD_POSE2,765.885144594,746,714.885144594,681,664,632,881,787,805,652.885144594,631.885144594,653,0.449431138696,0.00461037100107,0.0496929789624,0.999999877803,0.000179354658921,-0.000460480688739,1.35246135153e-05,1793239715518405888
+266,4.433333333,HOLD_POSE2,765.295589045,746,714.295589045,681,664,632,881,787,805,652.295589045,631.295589045,653,0.449432553787,0.00460838777248,0.0496948032125,0.999999879586,0.000174846688697,-0.000458323949757,1.39806985483e-05,1793239715535072512
+267,4.450000000,POSE2_TO_POSE3_RETREAT,765,746,715,681,664,632,881,787,805,653,632,653,0.449428982907,0.00460896971048,0.0496924650444,0.999999877917,0.000175137918812,-0.000461862019007,1.32974125296e-05,1793239715572199680
+268,4.466666667,POSE2_TO_POSE3_RETREAT,765.575972605,746,715,680.424027395,664,631.424027395,881,787,805,653,632,653,0.449431669501,0.00460874283392,0.0496941714089,0.999999879244,0.000175200830088,-0.000458948237645,1.35267561002e-05,1793239715588866560
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.848251439,746,715,680.151748561,664,631.151748561,880.848251439,787,805,653,632,653,0.449433483349,0.00460828423371,0.0496952421719,0.999999880092,0.000175256088894,-0.000457069123434,1.37445266573e-05,1793239715605533184
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.273024134,746,715,680.726975866,664,631.726975866,880.273024134,787,805,653,632,653,0.449432861657,0.00460717897137,0.0496945391875,0.999999879622,0.000175289992272,-0.000458077413515,1.39300009128e-05,1793239715622199808
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,715,681,664,631.691073037,880.308926963,787,805,653,631.691073037,653,0.449432925547,0.00460755585756,0.0496944191252,0.999999879603,0.000175088178033,-0.000458204102483,1.37054626438e-05,1793239715638866688
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,715,681,664,631.103047394,880.896952606,787,805,653,631.103047394,653,0.449433608822,0.00460927178426,0.0496948257013,0.99999987999,0.000174673405768,-0.000457534312823,1.31105003878e-05,1793239715655533312
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.520133922,664,631.479866078,881,787,805,653,631,653,0.449432908531,0.00460833917153,0.0496947981234,0.999999879732,0.000174830048638,-0.000458021423177,1.3689217096e-05,1793239715672199680
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714.93904821,680,664,631.93904821,880.93904821,787,805,652.93904821,631,653,0.449432049847,0.00460696483091,0.0496946469299,0.999999879405,0.000175030823923,-0.000458635341835,1.44062671994e-05,1793239715688866048
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714.364214319,680,664,631.364214319,880.364214319,787,805,652.364214319,631,653,0.449432334261,0.00460661088502,0.049694231282,0.999999879666,0.000174580046654,-0.000458245909347,1.41870759977e-05,1793239715705532672
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,664,631,880,787,805,652.214847262,631,653,0.449430939145,0.0046066394773,0.0496933736192,0.999999879534,0.000173946872533,-0.000458782347848,1.38861983982e-05,1793239715722199552
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,664,631,880,787,805,652.801219525,631,653,0.449426639699,0.00460732957441,0.0496917516015,0.999999878722,0.000172998288385,-0.000460919850403,1.34440644761e-05,1793239715738866432
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.616695384,714,680,664,631.383304616,880.383304616,787,805,653,631,653,0.449407723157,0.00460799547137,0.049684252094,0.999999872216,0.000174210688479,-0.000474382360483,1.34210913644e-05,1793239715755533056
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.036808963,714,680,664,631.963191037,880.963191037,787,805,653,631,653,0.449381310082,0.00460864895709,0.0496737382537,0.999999862479,0.000176531371945,-0.000493653019911,1.36130892414e-05,1793239715772199936
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,664,632,881,787,804.459296715,652.459296715,631,653,0.449328843637,0.00460971608525,0.0496577718142,0.99999984836,0.000175309682521,-0.000521905967596,1.27105539006e-05,1793239715788866560
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.117965161,745.117965161,714,680,664,632,880.882034839,787,804.117965161,652.117965161,631,653,0.449270908149,0.00461053830631,0.0496418504381,0.999999834202,0.000174506145236,-0.000548639084757,1.18108504302e-05,1793239715805533184
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.694879181,745.694879181,714,680,664,632,880.305120819,787,804.694879181,652.694879181,631,653,0.449198565232,0.00461029862984,0.0496275422037,0.999999823607,0.000176263554961,-0.00056709065462,1.12107874516e-05,1793239715822199808
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.722904721,746,714,680,664,632,880.277095279,787,805,652.722904721,631.277095279,653,0.449119900478,0.00461023428858,0.0496183396102,0.999999816095,0.000177509437242,-0.000579812378613,1.08888066054e-05,1793239715838866432
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.134736432,746,714,680,664,632,880.865263568,787,805,652.134736432,631.865263568,653,0.449034138699,0.00461036678233,0.0496148687177,0.999999812309,0.000178181067959,-0.000586101655722,1.087900667e-05,1793239715855533056
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,714.446675988,680.446675988,664.446675988,632,880.553324012,787.446675988,805,652.446675988,632,653,0.448936985828,0.00461135223714,0.0496163514843,0.999999813567,0.000180524950508,-0.0005832349265,1.06263320569e-05,1793239715872199680
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.025925371,746,715,680.974074629,664.974074629,632,880.025925371,787.974074629,805,652.974074629,631.974074629,653,0.448835146083,0.00461257207804,0.0496192666844,0.999999816243,0.000183331408408,-0.000577751572703,1.0294670504e-05,1793239715888866560
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.601874993,746,715,680.398125007,664.398125007,632,880.601874993,787.398125007,805,652.398125007,631.398125007,653,0.448705682845,0.00461338734282,0.0496213430798,0.999999817752,0.000185409508368,-0.000574476040932,9.81837775098e-06,1793239715905533184
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.824426474,746,714.824426474,680.175573526,664,632,880.824426474,787,805,652.175573526,631,653,0.448565920407,0.00461534720301,0.0496219892434,0.999999817628,0.000188973017312,-0.00057354298483,9.06797509471e-06,1793239715922200064
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.255767895,746,714.255767895,680.744232105,664,632,880.255767895,787,805,652.744232105,631,653,0.448403099488,0.00461986965528,0.0496194333136,0.999999813831,0.000195862153034,-0.000577854411017,7.70387801058e-06,1793239715938866944
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,714.329384201,680.670615799,664,632,880.329384201,787,805,652.670615799,631,653,0.448215821742,0.00462237674956,0.0496155460597,0.999999809472,0.000200556084549,-0.00058377093356,6.62645796314e-06,1793239715955533312
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714.928018747,680.071981253,664,632,880.928018747,787,805,652.071981253,631,653,0.448008552098,0.00462323641912,0.0496105705339,0.999999804646,0.000203455578929,-0.000590999519338,5.78337775842e-06,1793239715972199680
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.492056666,714.492056666,680,664,632,880.492056666,787,805,652,631.507943334,652.492056666,0.447772711023,0.00462481095893,0.0496058114454,0.999999798304,0.00020855502887,-0.00059989019989,5.35489744424e-06,1793239715988866304
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.084686947,714,680,664,632.084686947,880.084686947,787,805,652.084686947,632,652.084686947,0.447529214221,0.00462661363167,0.0496021597241,0.999999792856,0.000213662973072,-0.00060713543693,4.80428619399e-06,1793239716005532928
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.657833075,714,680,664,632.657833075,880.657833075,787,805,652.657833075,632,652.657833075,0.44726408408,0.00462916858355,0.0496047244741,0.999999794277,0.00021708562859,-0.000603579779555,3.22240508602e-06,1793239716022199296
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.230608864,746,714,680,664,632.769391136,881,787,804.769391136,652.769391136,632,653,0.446985550037,0.00463208965145,0.0496078604899,0.999999795952,0.000222356469648,-0.000598873085474,1.91606527974e-06,1793239716038866176
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.802836006,746,714,680,664,632.197163994,881,787,804.197163994,652.197163994,632,653,0.446687159801,0.00463555307445,0.0496118427642,0.99999979796,0.000230365166932,-0.000592461274211,1.01790565153e-06,1793239716055533056
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.608788713,746,714.391211287,680,664.391211287,632.391211287,880.608788713,787,804.391211287,652.391211287,632,653,0.446355413849,0.00463741226817,0.0496185445766,0.999999801458,0.000236812339492,-0.000583954746433,1.45707886448e-07,1793239716072199936
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.011924663,746,714.988075337,680,664.988075337,632.988075337,880.011924663,787,804.988075337,652.988075337,632,653,0.446006133404,0.00463842814721,0.0496266760013,0.999999805674,0.000242438646221,-0.000574347063881,-7.12842164075e-07,1793239716088866560
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,714.441464379,680,665,633,880.558535621,787,804.441464379,652.441464379,632,653,0.445644391041,0.00464188646672,0.0496502852744,0.999999825582,0.000249332084099,-0.000535411997044,-1.72385963113e-06,1793239716105532928
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.869035449,714,680,665,633,881,787.130964551,804,652,632,653,0.445266803746,0.00464513545053,0.0496725975181,0.999999841571,0.000255976266722,-0.000501325156751,-2.76051319832e-06,1793239716122199296
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.287991235,714,680,665,633,881,787.712008765,804,652,632,653,0.444835636083,0.00464749390186,0.0496893679371,0.99999984768,0.000261675069973,-0.000485954677678,-3.87458704437e-06,1793239716138865920
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.298590072,714,680,665,633.298590072,881,788,804.298590072,652,632,653,0.444384797541,0.00465041899818,0.0496996947245,0.999999851963,0.000267731130196,-0.00047367090187,-5.38824232178e-06,1793239716155532544
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.890612903,714,680,665,633.890612903,881,788,804.890612903,652,632,653,0.443914627827,0.00465390095255,0.0497036891782,0.999999854554,0.000274138277476,-0.000464420513343,-7.29457750682e-06,1793239716172199168
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.468066082,746,714,680,665.468066082,634,880.531933918,787.531933918,805,652,631.531933918,652.531933918,0.443381935335,0.00465603889414,0.0496985646416,0.999999848004,0.000279703238979,-0.000475051947055,-9.17072378623e-06,1793239716188866048
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.9576878,746,714,680,666,634,880.0423122,787.0423122,805,652,631.0423122,652.0423122,0.442837191474,0.00465782637645,0.0496937848731,0.999999841548,0.000284813982398,-0.000485449874496,-1.10810680758e-05,1793239716205533184
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.382243179,746,714,680,666,634,880.617756821,787.617756821,805,652,631.617756821,652.617756821,0.442319148036,0.00465903621267,0.0497193904792,0.999999863733,0.000286606646137,-0.000436128662507,-1.35085189326e-05,1793239716222200064
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.193263819,746,714,680.193263819,666,634.193263819,881,787.806736181,805,652,632,653,0.441789116454,0.0046602853491,0.0497510991672,0.999999885702,0.000289788785397,-0.000379963748773,-1.56947457141e-05,1793239716238866688
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.768894193,746,714,680.768894193,666,634.768894193,881,787.231105807,805,652,632,653,0.441235366728,0.00466161223974,0.0497948826148,0.999999907993,0.000295719959584,-0.000310258783793,-1.74037179003e-05,1793239716255533056
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,745.644191442,714,680.644191442,666,634.644191442,880.644191442,787.355808558,805,652,632,653,0.440640078601,0.00466336389893,0.0498224605275,0.999999919311,0.000301153491529,-0.000265145166522,-1.95768704198e-05,1793239716272199424
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,745.04970784,714,680.04970784,666,634.04970784,880.04970784,787.95029216,805,652,632,653,0.440016926691,0.00466540049122,0.0498391678265,0.999999924889,0.000306253207169,-0.000236527336113,-2.20613933208e-05,1793239716288866048
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.471056559,666,634.528943441,880.528943441,787.471056559,805,652,632,652.471056559,0.439287583668,0.00466681457867,0.0498145895478,0.999999913408,0.000306083216246,-0.00028057159624,-2.78837752906e-05,1793239716305532672
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.106082088,679.106082088,666,635,880.893917912,787,804.893917912,652,632,652.106082088,0.438547631882,0.00466279948707,0.0497881176552,0.999999905886,0.000282314269495,-0.000327774278011,-3.30190117211e-05,1793239716322199296
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745,714.682918715,679.682918715,666,635,880.317081285,787,804.317081285,652,632,652.682918715,0.437803600349,0.00463494369035,0.0497699595708,0.999999922624,0.000155955320257,-0.000359571215655,-3.37534031925e-05,1793239716338866176
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,666.263325398,635,880,787.263325398,804,652,632,653,0.437079139519,0.00461566488389,0.0497748298235,0.999999932343,8.66176365752e-05,-0.000355861963148,-3.42529824322e-05,1793239716355533312
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,666.848090098,635,880,787.848090098,804,652,632,653,0.436378568399,0.00460685594018,0.0498078105887,0.99999994795,8.68853611403e-05,-0.000308810585188,-3.4465928762e-05,1793239716372200192
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.570579856,745,714.570579856,680,667,635,880,788,804,652,632,653,0.435596088743,0.00461292089345,0.0498132718205,0.999999946131,0.000104321305432,-0.000309046590292,-3.6671218764e-05,1793239716388866560
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,680,667,635,880.009514957,788,804,652,632,653,0.434784605599,0.00462398507864,0.0498089223173,0.999999938039,0.00012742125292,-0.000325758727557,-3.95821914613e-05,1793239716405532672
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,667,635,880.587827749,788,804,652,632,653,0.433957709512,0.00462185329222,0.0497954393594,0.999999934543,0.000128931137386,-0.000335337975374,-4.28800634786e-05,1793239716422199296
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.163963237,745.163963237,714,680,667,635,881,788,804.163963237,652,631.836036763,652.836036763,0.433140557715,0.00461979538596,0.0497930664379,0.999999935182,0.00012907403253,-0.000333012256775,-4.56017829138e-05,1793239716438866176
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.734697095,745.734697095,714,680,667,635,881,788,804.734697095,652,631.265302905,652.265302905,0.432347580232,0.00461792076655,0.049818256015,0.999999945638,0.000125825611861,-0.000301151925547,-4.68941454815e-05,1793239716455533056
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.682395992,714,680,666.682395992,635,880.682395992,788,804.682395992,652,631,652.317604008,0.431526899094,0.00461390072329,0.0498233556307,0.999999947891,0.000127660157989,-0.000293608573292,-4.14109901137e-05,1793239716472199936
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745.088915372,714,680,666.088915372,635,880.088915372,788,804.088915372,652,631,652.911084628,0.430682154099,0.00460801712598,0.0498110047394,0.999999943401,0.000133909861648,-0.000307187392565,-3.00424967131e-05,1793239716488866816
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.507941687,745,714,680,666,635,880,787.507941687,804,652,631.492058313,653,0.429783890305,0.00460292845294,0.049784973631,0.999999928668,0.000142227944649,-0.000348742339362,-2.85269929395e-05,1793239716505533440
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.070346346,745,714,680,666.070346346,635,880.070346346,787.070346346,804,652.070346346,632,652.929653654,0.428880312814,0.00459908171022,0.049763023021,0.999999914272,0.000149501907399,-0.000385042023049,-2.91246670202e-05,1793239716522200064
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.645179895,745,714,680,666.645179895,635,880.645179895,787.645179895,804,652.645179895,632,652.354820105,0.428006264195,0.00460313684316,0.0497876242762,0.999999928062,0.000146674027004,-0.000348298292217,-3.24250327245e-05,1793239716538866432
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.779352827,745.220647173,714,680,666.779352827,635,880.779352827,788,804,652.779352827,632,652.220647173,0.427123592287,0.00460789257092,0.0497975855812,0.999999932847,0.000144949228978,-0.000334721892451,-3.54553638679e-05,1793239716555532800
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.202863432,745.797136568,714,680,666.202863432,635,880.202863432,788,804,652.202863432,632,652.797136568,0.426227013288,0.00461377816297,0.0497839367416,0.999999924499,0.000145003394282,-0.000358507917632,-3.80502052957e-05,1793239716572199424
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.615603289,714,679.615603289,666.384396711,635,880.384396711,788,804,652.384396711,632,652.615603289,0.425387309805,0.00461354366944,0.0497959429401,0.999999935969,0.000142394108794,-0.000325866496409,-3.99658982566e-05,1793239716588866048
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.022495111,714,679.022495111,666.977504889,635,880.977504889,788,804,652.977504889,632,652.022495111,0.424578487421,0.004609986223,0.0498218787606,0.999999955093,0.000138338679581,-0.00026258731038,-4.1512841496e-05,1793239716605532928
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.555287718,745,714,679.555287718,667,635,880.444712282,788,804,653,632,652.555287718,0.423714638647,0.00460619708433,0.049845214863,0.999999963849,0.000135970466109,-0.000228527695488,-3.98577490103e-05,1793239716622199552
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.868403438,666.868403438,635,879.868403438,788,804,652.868403438,631.868403438,653,0.422832563721,0.00460330109216,0.0498550139345,0.999999966223,0.000134745626827,-0.000218905619499,-3.84409519954e-05,1793239716638866432
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.295014752,666.295014752,635,879.295014752,788,804,652.295014752,631.295014752,653,0.421896583206,0.00460343420964,0.0498197109505,0.99999994855,0.000137135989119,-0.000287457361509,-3.82479390955e-05,1793239716655533312
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745.285969733,714,679,666,635,879.285969733,788,804,652,631.285969733,652.714030267,0.421008218253,0.00460454197264,0.0498030611154,0.999999939273,0.000136754035282,-0.000318198368792,-3.8759214127e-05,1793239716672199936
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.875004047,714,679,666,635,879.875004047,788,804,652,631.875004047,652.124995953,0.420170315309,0.00460668264402,0.0498061794893,0.999999942597,0.000133434040716,-0.00030886836834,-4.00168785337e-05,1793239716688866048
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.542469099,746,714,679.457530901,666,635,880,788,804,652.457530901,632,652.457530901,0.419309019159,0.00460956386897,0.0498078799236,0.999999939508,0.000138022138131,-0.000316857242917,-3.91736460653e-05,1793239716705532928
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,666,635,880,788,804,652.96206198,631.96206198,653,0.41844403125,0.00461237633752,0.049808317995,0.999999934513,0.000144293138341,-0.000329715014845,-3.7966374264e-05,1793239716722199296
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680,666,635,880,788,804,652.386850776,631.386850776,653,0.417616000565,0.00461139007996,0.0497962876899,0.999999929143,0.000144230026486,-0.000345458804523,-3.96179591828e-05,1793239716738865920
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,679.808058716,666,635,879.808058716,788,804,652.191941284,631.191941284,653,0.416809125513,0.0046096444825,0.0497961762258,0.999999931226,0.000143612342925,-0.000339486270743,-4.08878674874e-05,1793239716755532544
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,679.221912264,666,635,879.221912264,788,804,652.778087736,631.778087736,653,0.416045699329,0.00460633936774,0.0498205434364,0.999999947347,0.000141855690894,-0.000288913188679,-4.1373896247e-05,1793239716772199424
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.639806738,714,679,666,635,879.360193262,788,804,653,632,653,0.415268757485,0.00460598863649,0.0498285218412,0.999999951825,0.000141279846639,-0.000273226204466,-4.16797705545e-05,1793239716788866560
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.06016321,714,679,666,635,879.93983679,788,804,653,632,653,0.414483581178,0.00460743788426,0.0498265152497,0.99999995026,0.000141423418041,-0.000278793822899,-4.18758845152e-05,1793239716805533440
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.519593332,666,635,879.480406668,788,804,652.480406668,632,653,0.413693556711,0.00460942344988,0.0497996091302,0.999999934862,0.000142437092645,-0.000328954662063,-4.21551823808e-05,1793239716822200064
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.098325163,714,680,666,635,879,788,804,652.098325163,632,653,0.41291971698,0.00461131677784,0.0497775929373,0.999999920329,0.000143814163862,-0.000369946808513,-4.2401094345e-05,1793239716838866688
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.672039363,714,680,666,635,879,788,804,652.672039363,632,653,0.412226843017,0.0046124638398,0.0497931612861,0.999999930015,0.000146460999828,-0.000341639742831,-4.2439011923e-05,1793239716855533056
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.252333007,746,714,680,666,635,879.252333007,788,804,653,632,653,0.411541406848,0.00461286142907,0.049809446134,0.999999938643,0.000147747210375,-0.000314768485722,-4.24874308925e-05,1793239716872199680
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.841406939,746,714,680,666,635,879.841406939,788,804,653,632,653,0.410865896548,0.00461225883943,0.0498266871558,0.999999946262,0.000147217652515,-0.000289813331948,-4.25498640885e-05,1793239716888866304
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.57651055,745.57651055,714,680,666,635,879.57651055,788,804,653,631.57651055,653,0.410190241565,0.00460926364458,0.0498143976887,0.999999938276,0.00014171682328,-0.000318723157998,-4.21904903041e-05,1793239716905533184
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.002967071,745.002967071,714,680,666,635,879.002967071,788,803.997032929,653,631.002967071,653,0.409515079725,0.00460540253306,0.0497913964218,0.999999922726,0.000134405910318,-0.000367076219222,-4.1683863221e-05,1793239716922199808
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.576819838,745.576819838,714,680,666,635,879.576819838,788,803.423180162,653,631.576819838,653,0.408945068201,0.00460453164734,0.0498006237822,0.999999933272,0.000131208403618,-0.000338251740962,-4.27442666073e-05,1793239716938866176
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.848624918,666,635,880,788,803.151375082,653,632,652.848624918,0.40838124322,0.00460395475225,0.0498122358807,0.999999942443,0.000129917919431,-0.000310419691885,-4.32977269323e-05,1793239716955532544
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.272096556,666,635,880,788,803.727903444,653,632,652.272096556,0.407834793681,0.00460420356137,0.0498305457758,0.999999949405,0.000133983513564,-0.000285374981409,-4.24273831925e-05,1793239716972199424
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.688936875,714,679.311063125,666.311063125,635,879.688936875,788,804,653,632,652.311063125,0.407291624358,0.00460557047699,0.049834160463,0.999999948924,0.000138607335775,-0.000284903573508,-4.20638964405e-05,1793239716988866048
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.099850257,714,679.900149743,666.900149743,635,879.099850257,788,804,653,632,652.900149743,0.406751386875,0.00460793673921,0.0498246407954,0.999999941843,0.000143730093522,-0.000306395411512,-4.21534308158e-05,1793239717005532672
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.519187095,667,635,879,788.480812905,803.519187095,653,631.519187095,653,0.40623241044,0.00460934380162,0.0498022258576,0.999999929108,0.00013962469169,-0.000347152473667,-4.21129105385e-05,1793239717022199552
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.059353376,714,679.059353376,667,635,879.059353376,788.940646624,803.059353376,653,631,653,0.405725995703,0.00461060255821,0.049779796024,0.999999915041,0.000134558959949,-0.000387356226141,-4.20362035839e-05,1793239717038867200
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.634388016,714,679.634388016,667,635,879.634388016,788.365611984,803.634388016,653,631,653,0.405291020165,0.00461227367299,0.0497801031177,0.999999914167,0.000137513273052,-0.000388590876143,-4.18757132386e-05,1793239717055533312
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.785646275,667,635.214353725,879.785646275,788,803.785646275,653,631.214353725,653,0.404882663266,0.00461389593195,0.0497882549446,0.999999919378,0.000140953784426,-0.000373652713433,-4.19523604193e-05,1793239717072199936
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.197071923,667,635.802928077,879.197071923,788,803.197071923,653,631.802928077,653,0.404520777466,0.00461543289782,0.0498101021758,0.999999933943,0.000145243104549,-0.000330479910724,-4.24430043525e-05,1793239717088867072
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.385891886,666.614108114,635.614108114,879.385891886,788,803.385891886,653,632,653,0.404181026858,0.0046144611666,0.0498344461253,0.999999945896,0.000145338429641,-0.000292111460483,-4.19013592063e-05,1793239717105533696
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.966031547,666.033968453,635.033968453,879.966031547,788,803.966031547,653,632,653,0.403852418488,0.00461222662371,0.0498600468589,0.999999956086,0.000143322608804,-0.000256161390284,-4.08400870465e-05,1793239717122199808
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.456399495,714,679.456399495,666.543600505,635.543600505,880,788,804,653.543600505,631.456399495,653,0.403532959532,0.00461300369197,0.0498564213451,0.999999953112,0.000146736456677,-0.00026562049853,-4.11019288319e-05,1793239717138866176
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,666.881014511,635.881014511,880,788,804,653.881014511,631,653,0.403221760487,0.00461198209764,0.0498496227141,0.999999949009,0.000147338797834,-0.000280306498255,-4.12532673099e-05,1793239717155532800
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,666.313263424,635.313263424,880,788,804,653.313263424,631,653,0.402939568245,0.00460347023515,0.0498377119561,0.999999943691,0.000136063625524,-0.000304054609919,-4.06774688037e-05,1793239717172199424
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.266513638,714,679,666,635,880,788,804,653,631.266513638,653,0.402670816813,0.00459381543868,0.0498267820901,0.999999938528,0.000121838015418,-0.000326348826265,-3.99390695079e-05,1793239717188866048
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745.861094125,714,679,666,635,880,788,804,653,631.861094125,653,0.402418610458,0.00458275374006,0.0498170596605,0.99999993368,0.000103980543734,-0.000346853358491,-3.90005156596e-05,1793239717205532928
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714.445592382,679,666.445592382,635,880.445592382,788,804,653,632,653,0.402215269114,0.00458043183964,0.0498162137799,0.999999934797,9.59984828838e-05,-0.000345968582321,-3.86715420401e-05,1793239717222199808
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714.973352828,679.026647172,667,635.026647172,880.946705657,788,804,653,632,653,0.402028518309,0.00458102059892,0.0498183171886,0.999999937791,9.18735138001e-05,-0.000338369755719,-3.85013671812e-05,1793239717238866688
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714.399891382,679.600108618,667,635.600108618,879.799782764,788,804,653,632,653,0.401876544452,0.00458666679795,0.0498254153084,0.999999940364,0.000105123575138,-0.000326793506439,-3.77766649988e-05,1793239717255533312
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.822024059,666.822024059,635.822024059,879.177975941,788,804,653,632,653,0.401734892887,0.00459029403489,0.049832047571,0.999999943099,0.000115464759406,-0.00031478812806,-3.7128852138e-05,1793239717272199936
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.234006037,666.234006037,635.234006037,879.765993963,788,804,653,632,653,0.401617023064,0.00458926974673,0.0498376065357,0.999999946695,0.000119104125871,-0.000301794072919,-3.66581861347e-05,1793239717288866304
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.651075289,714.348924711,679.348924711,666,635.348924711,880,788,804,653.348924711,632,653,0.401507898916,0.00458879728953,0.0498404591489,0.999999948462,0.000119968801052,-0.000295540714701,-3.65872984993e-05,1793239717305532672
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.071507233,714.928492767,679.928492767,666,635.928492767,880,788,804,653.928492767,632,653,0.401404555751,0.00458868959899,0.0498415228324,0.999999949101,0.000118999372967,-0.000293743035318,-3.67806690326e-05,1793239717322199296
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.505818145,714.494181855,679.494181855,666,635.494181855,879.494181855,788,804,653.494181855,632,653,0.401322967469,0.00458881308909,0.049842700636,0.999999949875,0.000119329945217,-0.000290945454477,-3.68841646942e-05,1793239717338865920
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.082577124,635,879.082577124,788,803.917422876,653,632,653,0.40124758339,0.00458920773053,0.0498437783308,0.999999950594,0.000119890143365,-0.000288215649414,-3.70212330138e-05,1793239717355532800
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.657840266,635,879.657840266,788,803.342159734,653,632,653,0.401190947436,0.00459102603084,0.0498441629082,0.999999950905,0.000120728713699,-0.000286729875857,-3.74340799211e-05,1793239717372200448
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.760662766,635.239337234,880,788,803.239337234,653,632,653,0.401142060042,0.00459166712325,0.0498447474879,0.999999951594,0.000121231008938,-0.000284059565931,-3.77472203234e-05,1793239717388867328
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.170015542,635.829984458,880,788,803.829984458,653,632,653,0.401104546338,0.0045905802567,0.0498456256403,0.99999995283,0.00012123970437,-0.000279650540175,-3.79140069948e-05,1793239717405533696
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.58777456,746,714,679,666.41222544,635.58777456,880.41222544,788,803.58777456,653,631.58777456,653,0.401075791627,0.00459053936761,0.0498473339332,0.99999995399,0.000121195128869,-0.000275502908532,-3.78253297014e-05,1793239717422199808
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.008931319,746,714,679,666.991068681,635.008931319,880.991068681,788,803.008931319,653,631.008931319,653,0.401050577221,0.0045909212532,0.0498493777614,0.99999995511,0.000121129021736,-0.000271460930136,-3.76333961756e-05,1793239717438866432
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.565833854,746,714,679.565833854,667,635.565833854,880.434166146,788,803.565833854,653.565833854,631,652.434166146,0.401032959495,0.00459029426942,0.0498501035371,0.999999955147,0.000122160774729,-0.000270893525527,-3.74076698874e-05,1793239717455532800
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.859779818,667,636,879.859779818,788,803.859779818,653.859779818,631.140220182,652.140220182,0.401017170021,0.00458996508166,0.0498503643797,0.999999955122,0.00012273968012,-0.000270739615903,-3.73070416533e-05,1793239717472199424
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.286366556,667,636,879.286366556,788,803.286366556,653.286366556,631.713633444,652.713633444,0.401006660916,0.00459060474263,0.0498492526817,0.999999954959,0.000121866415351,-0.000271694927407,-3.75945246504e-05,1793239717488866304
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.29810368,666.70189632,635.70189632,879.29810368,788,803.29810368,653,631.70189632,653,0.400998662066,0.0045900945213,0.0498487055676,0.999999955114,0.000120033746857,-0.000271951957578,-3.74868394502e-05,1793239717505533184
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.893604765,666.106395235,635.106395235,879.893604765,788,803.893604765,653,631.106395235,653,0.400993167521,0.0045884371421,0.0498487216994,0.999999955584,0.000117243947582,-0.000271512360923,-3.69849223316e-05,1793239717522200064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.526281387,714,679.526281387,666.473718613,635,879.526281387,788,804.473718613,653,631,653,0.400992147308,0.00458819583854,0.049849804537,0.999999956267,0.000117443103944,-0.000268878853998,-3.70996412115e-05,1793239717538866944
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.05016864,714,679.05016864,666.94983136,635,879.10033728,788,804.94983136,653,631,653,0.400992100966,0.00458831763867,0.0498511652836,0.999999956964,0.000118324897365,-0.000265857837156,-3.73051629726e-05,1793239717555533312
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.623318336,714,679.623318336,666.376681664,635,880.246636672,788,804.376681664,653,631,653,0.400992060563,0.00458901345808,0.0498530041831,0.99999995738,0.00011954495784,-0.000263772221411,-3.70589513253e-05,1793239717572199680
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.202054372,881,788,803.797945628,653,631.202054372,653,0.400992044654,0.00458968112455,0.0498544098791,0.999999957739,0.000120567829037,-0.000261967808229,-3.68571741389e-05,1793239717588866304
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.791500879,881,788,803.208499121,653,631.791500879,653,0.400992075709,0.0045902948143,0.0498549850084,0.999999957996,0.000121212635708,-0.000260702535506,-3.67405896832e-05,1793239717605532672
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.625407354,880.625407354,788,803,653,632,653,0.400993099901,0.00459074232734,0.049855596882,0.999999958448,0.00012109044181,-0.000259013183316,-3.68002632731e-05,1793239717622199552
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635.045793665,880.045793665,788,803,653,632,653,0.400994667653,0.00459109888898,0.0498562288662,0.999999959003,0.000120548455197,-0.000257091725132,-3.69564059476e-05,1793239717638866176
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.53078582,746,714,679.46921418,666,635.53078582,879.46921418,788,803.53078582,653,631.46921418,653,0.400993140216,0.00459140952116,0.0498560104995,0.999999958606,0.00012148223874,-0.000258214223135,-3.68113064847e-05,1793239717655533056
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766.893293612,746,714,679,666,635.893293612,879.106706388,788,804,653,631,653,0.400991376291,0.00459139165818,0.049855650925,0.99999995818,0.000122184522492,-0.000259559719747,-3.66110468737e-05,1793239717672200192
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766.319119551,746,714,679,666,635.319119551,879.680880449,788,804,653,631,653,0.400989739556,0.00458995195868,0.0498549923096,0.999999957991,0.000121318020101,-0.000260738187607,-3.628234812e-05,1793239717688866816
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.261748441,666.261748441,635,880,788,804,653.261748441,631,653,0.400989362591,0.00458922183357,0.0498550997365,0.999999958031,0.000121081134855,-0.000260724354401,-3.60460157073e-05,1793239717705533440
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.850991838,666.850991838,635,880,788,804,653.850991838,631,653,0.40099056183,0.00458937951499,0.0498561656219,0.99999995836,0.000121632015177,-0.000259218735633,-3.592525036e-05,1793239717722199808
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.565573378,714,679.565573378,667,635,880.434426622,788,804,653.565573378,631,653,0.400991179815,0.00458959384054,0.0498571875858,0.999999958781,0.000121056373869,-0.000257849983928,-3.60117495228e-05,1793239717738866432
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.015675353,714,679,667,635,880.984324647,788,804,653,631.015675353,653,0.400991580289,0.00458981436802,0.0498581309918,0.999999959216,0.000120091748304,-0.000256589213597,-3.61702610978e-05,1793239717755533056
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.589097887,714,679,667,635,880.410902113,788,804,653,631.589097887,653,0.400991241652,0.00458957338631,0.0498568081759,0.999999959116,0.000118853642969,-0.000257522212147,-3.63949103285e-05,1793239717772199680
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.833568985,714,679,667,635,880,788,804,653,631.833568985,653.166431015,0.400991310637,0.0045889676782,0.0498562086514,0.999999959256,0.000117592950853,-0.000257546384862,-3.64699486575e-05,1793239717788866304
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.246348693,714,679,667,635,880,788,804,653,631.246348693,653.753651307,0.400992410215,0.00458743982857,0.0498574378322,0.999999960004,0.00011627515242,-0.000255272763657,-3.61667241657e-05,1793239717805533184
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.336531278,714,679,667,635,880,788,803.663468722,653,631,653.663468722,0.40099244397,0.00458749200729,0.049857808942,0.999999960203,0.000116328542644,-0.000254474208133,-3.61249090488e-05,1793239717822200064
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.916274465,714,679,667,635,880,788,803.083725535,653,631,653.083725535,0.400991707451,0.00458868607611,0.0498575599219,0.999999960007,0.000117372894041,-0.000254741685984,-3.62720150864e-05,1793239717838866432
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.494429402,746,714,679,666.505570598,635.494429402,880,788,803.494429402,653,631,653,0.400990766373,0.00458897858689,0.0498576470662,0.99999995968,0.000118547482791,-0.000255462057466,-3.64178541959e-05,1793239717855533056
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.92679732,746,714,679,666.07320268,636,880,788,803.92679732,653,631,653,0.400990009611,0.00458905758981,0.0498578112561,0.999999959408,0.000119572647727,-0.000256032910372,-3.65188523108e-05,1793239717872199424
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.341827193,746,714,679,666.658172807,636,880,788,803.341827193,653,631,653,0.40099078282,0.00458870783568,0.0498581173839,0.999999959694,0.000119399486127,-0.000255024018588,-3.63078574228e-05,1793239717888866048
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,667,635.758974916,880,788,803.241025084,653,631.241025084,653,0.40099199278,0.00458860634783,0.0498586375355,0.999999960023,0.000119195626817,-0.000253858093259,-3.60886258407e-05,1793239717905532928
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,667,635.179099974,880,788,803.820900026,653,631.820900026,653,0.400993816755,0.00458885388996,0.0498594585768,0.999999960412,0.000118948610502,-0.000252471399088,-3.58578145098e-05,1793239717922199552
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,667,635.400304703,880,788,804,653.400304703,631.599695297,653,0.400992968452,0.0045886997392,0.0498589067506,0.999999960152,0.000118685513681,-0.000253619084241,-3.5878457426e-05,1793239717938866432
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,667,635.97949919,880,788,804,653.97949919,631.02050081,653,0.400990925951,0.00458836607828,0.0498577414118,0.999999959598,0.000118415230753,-0.000255899343162,-3.60114712468e-05,1793239717955533312
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,714.55586803,679,666.44413197,636,879.44413197,788,804,653.44413197,631,653,0.400989886715,0.00458965346074,0.0498574919015,0.999999959253,0.000119555899521,-0.000256679540126,-3.62819849477e-05,1793239717972199936
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b414feeaccc4817b09e2028adb9c4e82cf2da97d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/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,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+1,0.016666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+2,0.033333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+3,0.050000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+4,0.066666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+5,0.083333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+6,0.100000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+7,0.116666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+8,0.133333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+9,0.150000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+10,0.166666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+11,0.183333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+12,0.200000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+13,0.216666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+14,0.233333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+15,0.250000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+16,0.266666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+17,0.283333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+18,0.300000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+19,0.316666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+20,0.333333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+21,0.350000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+22,0.366666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+23,0.383333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+24,0.400000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+25,0.416666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+26,0.433333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+27,0.450000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+28,0.466666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+29,0.483333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+30,0.500000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+31,0.516666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+32,0.533333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+33,0.550000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+34,0.566666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+35,0.583333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+36,0.600000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+37,0.616666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+38,0.633333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+39,0.650000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+40,0.666666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+41,0.683333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+42,0.700000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+43,0.716666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+44,0.733333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+45,0.750000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+46,0.766666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+47,0.783333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+48,0.800000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+49,0.816666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+50,0.833333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+51,0.850000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+52,0.866666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+53,0.883333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+54,0.900000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+55,0.916666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+56,0.933333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+57,0.950000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+58,0.966666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+59,0.983333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+60,1.000000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+61,1.016666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+62,1.033333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+63,1.050000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+64,1.066666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+65,1.083333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+66,1.100000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+67,1.116666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+68,1.133333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+69,1.150000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+70,1.166666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+71,1.183333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+72,1.200000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+73,1.216666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+74,1.233333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+75,1.250000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+76,1.266666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+77,1.283333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+78,1.300000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+79,1.316666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+80,1.333333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+81,1.350000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+82,1.366666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+83,1.383333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+84,1.400000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+85,1.416666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+86,1.433333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+87,1.450000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+88,1.466666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+89,1.483333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+90,1.500000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+91,1.516666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+92,1.533333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+93,1.550000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+94,1.566666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+95,1.583333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+96,1.600000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+97,1.616666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+98,1.633333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+99,1.650000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+100,1.666666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+101,1.683333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+102,1.700000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+103,1.716666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+104,1.733333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+105,1.750000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+106,1.766666667,pose1_to_pose2_press,0.575664395412,0.0100908556686,1.04003237669,0.546234847011,0.0187625952058,1.03970050606
+107,1.783333333,pose1_to_pose2_press,0.575664705008,0.0100906645884,1.04003218211,0.546235158571,0.0187624109803,1.03970031633
+108,1.800000000,pose1_to_pose2_press,0.575665273772,0.0100906341113,1.04003210548,0.546235727105,0.018762379641,1.03970023758
+109,1.816666667,pose1_to_pose2_press,0.575665827854,0.0100907106717,1.04003203882,0.546236279965,0.0187624522245,1.03970017543
+110,1.833333333,pose1_to_pose2_press,0.575665894213,0.0100907198409,1.04003203083,0.546236346178,0.0187624609174,1.03970016799
+111,1.850000000,pose1_to_pose2_press,0.575666445326,0.0100907926859,1.04003196842,0.546236896129,0.0187625299875,1.03970010985
+112,1.866666667,pose1_to_pose2_press,0.575668712892,0.0100907862732,1.04003207292,0.546239164084,0.0187625247765,1.03970021129
+113,1.883333333,pose1_to_pose2_press,0.575673628096,0.0100907585361,1.04003215967,0.546244080296,0.018762499957,1.03970028485
+114,1.900000000,pose1_to_pose2_press,0.575682199791,0.0100908666301,1.04003220814,0.546252651135,0.0187626056885,1.03970034746
+115,1.916666667,pose1_to_pose2_press,0.575696420535,0.0100907355811,1.04003247287,0.546266874017,0.0187624817721,1.0397006089
+116,1.933333333,pose1_to_pose2_press,0.57571657832,0.0100906549627,1.040032565,0.546287031801,0.0187624008368,1.03970069276
+117,1.950000000,pose1_to_pose2_press,0.575742930638,0.0100908318116,1.04003223113,0.5463133822,0.0187625716404,1.03970037117
+118,1.966666667,pose1_to_pose2_press,0.575775566831,0.010090738965,1.04003234191,0.546346019141,0.0187624810446,1.03970047432
+119,1.983333333,pose1_to_pose2_press,0.575814772769,0.0100906971045,1.04003220367,0.546385225469,0.0187624408393,1.03970034468
+120,2.000000000,pose1_to_pose2_press,0.575860258863,0.0100907258627,1.0400322423,0.546430711278,0.0187624683405,1.03970037568
+121,2.016666667,pose1_to_pose2_press,0.575912487979,0.0100908024663,1.04003233383,0.546482942515,0.0187625522286,1.03970046945
+122,2.033333333,pose1_to_pose2_press,0.575972807364,0.0100908031265,1.04003236132,0.546543259599,0.0187625450072,1.03970049495
+123,2.050000000,pose1_to_pose2_press,0.576041377959,0.0100907867617,1.04003236997,0.546611830468,0.0187625294926,1.03970050143
+124,2.066666667,pose1_to_pose2_press,0.576120274868,0.0100907654542,1.04003226293,0.546690728014,0.0187625104593,1.03970039729
+125,2.083333333,pose1_to_pose2_press,0.576210205471,0.010090766303,1.04003212392,0.546780657238,0.0187625067806,1.03970026226
+126,2.100000000,pose1_to_pose2_press,0.576313790475,0.0100908327973,1.0400322632,0.546884240183,0.018762565967,1.03970039317
+127,2.116666667,pose1_to_pose2_press,0.576429820751,0.0100908623082,1.04003237463,0.547000271536,0.0187625990761,1.03970050309
+128,2.133333333,pose1_to_pose2_press,0.576558446645,0.0100907835562,1.04003236462,0.547128898969,0.0187625256867,1.03970049661
+129,2.150000000,pose1_to_pose2_press,0.576703201806,0.0100907126973,1.0400322958,0.547273653817,0.0187624536415,1.03970042451
+130,2.166666667,pose1_to_pose2_press,0.576863878793,0.010090617618,1.04003220765,0.547434331209,0.0187623597855,1.03970033233
+131,2.183333333,pose1_to_pose2_press,0.577043723953,0.0100906441357,1.0400321162,0.547614176772,0.018762387987,1.03970024908
+132,2.200000000,pose1_to_pose2_press,0.5772436989,0.0100907046571,1.04003211403,0.547814151966,0.0187624497094,1.03970025633
+133,2.216666667,pose1_to_pose2_press,0.577466082939,0.01009058987,1.04003224026,0.548036536729,0.018762336998,1.03970037257
+134,2.233333333,pose1_to_pose2_press,0.57770911709,0.0100907211477,1.04003227926,0.548279568303,0.0187624595361,1.03970041169
+135,2.250000000,pose1_to_pose2_press,0.577972847308,0.0100908062897,1.0400325172,0.54854329859,0.0187625446288,1.03970064216
+136,2.266666667,pose1_to_pose2_press,0.578256718365,0.0100907751733,1.04003251995,0.548827169825,0.0187625140998,1.03970064441
+137,2.283333333,pose1_to_pose2_press,0.578559597283,0.0100908961769,1.04003225814,0.54913004578,0.0187626253493,1.03970039042
+138,2.300000000,pose1_to_pose2_press,0.578881303708,0.0100908865608,1.04003225211,0.549451754184,0.018762622459,1.03970038455
+139,2.316666667,pose1_to_pose2_press,0.579215619699,0.0100909300386,1.04003234623,0.549786068776,0.018762661143,1.03970047736
+140,2.333333333,pose1_to_pose2_press,0.57955992591,0.0100908681322,1.04003227999,0.550130375806,0.0187626021874,1.03970041558
+141,2.350000000,pose1_to_pose2_press,0.579920110088,0.0100908170654,1.04003214805,0.550490561011,0.0187625548121,1.039700289
+142,2.366666667,pose1_to_pose2_press,0.580298106452,0.0100908358677,1.04003204789,0.550868556849,0.018762571794,1.03970018786
+143,2.383333333,pose1_to_pose2_press,0.58070139346,0.0100908548731,1.04003210463,0.551271843206,0.0187625883314,1.03970023784
+144,2.400000000,pose1_to_pose2_press,0.58113403754,0.0100907927537,1.04003244349,0.551704489288,0.0187625330352,1.03970057731
+145,2.416666667,pose1_to_pose2_press,0.581601484364,0.0100909248586,1.04003221704,0.55217193352,0.0187626565041,1.03970035503
+146,2.433333333,pose1_to_pose2_press,0.582092177152,0.0100908714126,1.04003223338,0.552662626819,0.0187626046132,1.03970036661
+147,2.450000000,pose1_to_pose2_press,0.582603657759,0.0100908857769,1.04003243684,0.553174108442,0.0187626225615,1.0397005736
+148,2.466666667,pose1_to_pose2_press,0.58312285076,0.0100907814505,1.04003247064,0.553693303877,0.0187625264567,1.03970060629
+149,2.483333333,pose1_to_pose2_press,0.58364916293,0.0100908260178,1.04003213731,0.554219614443,0.0187625655579,1.03970027239
+150,2.500000000,pose1_to_pose2_press,0.58418831703,0.0100907883623,1.04003214104,0.554758769046,0.0187625295772,1.03970027525
+151,2.516666667,pose1_to_pose2_press,0.584747072448,0.0100908424464,1.04003224872,0.555317523581,0.0187625805991,1.03970038119
+152,2.533333333,pose1_to_pose2_press,0.585332738339,0.0100908722424,1.04003227141,0.55590318789,0.0187626047849,1.03970039757
+153,2.550000000,pose1_to_pose2_press,0.585941420851,0.0100907132424,1.04003227807,0.556511872107,0.0187624514959,1.0397004022
+154,2.566666667,pose1_to_pose2_press,0.586568582755,0.0100907100429,1.04003226277,0.557139035354,0.0187624533819,1.03970040065
+155,2.583333333,pose1_to_pose2_press,0.587203849326,0.0100907873244,1.04003248696,0.557774300721,0.0187625262311,1.03970061577
+156,2.600000000,pose1_to_pose2_press,0.587845116735,0.0100905925852,1.04003235667,0.558415572103,0.0187623451178,1.03970048923
+157,2.616666667,pose1_to_pose2_press,0.588497243173,0.0100907547243,1.0400323892,0.559067695367,0.0187624962323,1.03970051507
+158,2.633333333,pose1_to_pose2_press,0.589166627633,0.0100906447971,1.0400323852,0.559737080109,0.0187623873225,1.03970051269
+159,2.650000000,pose1_to_pose2_press,0.589855857328,0.010090718163,1.0400323779,0.560426308108,0.0187624549414,1.03970050562
+160,2.666666667,pose1_to_pose2_press,0.590553831135,0.0100907540624,1.04003229932,0.561124282023,0.0187624912359,1.03970042775
+161,2.683333333,pose1_to_pose2_press,0.591256113176,0.010090724203,1.04003238368,0.561826564862,0.0187624640408,1.03970051104
+162,2.700000000,pose1_to_pose2_press,0.591968923219,0.0100907529083,1.04003238852,0.562539374555,0.0187624917071,1.03970051977
+163,2.716666667,pose1_to_pose2_press,0.592691315703,0.0100907909042,1.04003223172,0.56326176715,0.0187625302757,1.0397003681
+164,2.733333333,pose1_to_pose2_press,0.593422297293,0.0100907076857,1.04003223961,0.56399275026,0.0187624520899,1.03970037266
+165,2.750000000,pose1_to_pose2_press,0.594166182695,0.0100906599965,1.04003222631,0.564736634759,0.0187624014227,1.0397003617
+166,2.766666667,pose1_to_pose2_press,0.594918371967,0.01009068025,1.04003230127,0.565488824416,0.018762422552,1.0397004255
+167,2.783333333,pose1_to_pose2_press,0.595665715854,0.0100907646493,1.04003250459,0.566236166624,0.0187625013514,1.03970063137
+168,2.800000000,pose1_to_pose2_press,0.596408265352,0.0100908511808,1.04003239852,0.566978715613,0.0187625861662,1.03970052559
+169,2.816666667,pose1_to_pose2_press,0.597144359809,0.0100908580666,1.0400320571,0.567714809777,0.0187625923169,1.03970019102
+170,2.833333333,pose1_to_pose2_press,0.597879083667,0.0100907958383,1.04003237117,0.568449535137,0.0187625348882,1.03970049733
+171,2.850000000,pose1_to_pose2_press,0.598613703928,0.0100907716914,1.04003245528,0.569184155354,0.0187625104196,1.03970057706
+172,2.866666667,pose1_to_pose2_press,0.599347174463,0.0100907509417,1.04003225383,0.569917625238,0.0187624877001,1.03970038191
+173,2.883333333,pose1_to_pose2_press,0.600080085906,0.0100907644208,1.04003215656,0.570650536901,0.018762502229,1.03970029262
+174,2.900000000,pose1_to_pose2_press,0.600803996544,0.0100908163877,1.0400322177,0.571374447817,0.0187625552472,1.03970035664
+175,2.916666667,pose1_to_pose2_press,0.601521245872,0.0100908067956,1.04003227704,0.572091696838,0.0187625445568,1.03970041458
+176,2.933333333,pose1_to_pose2_press,0.602234427219,0.0100907650411,1.04003247871,0.572804878831,0.0187625046937,1.03970060835
+177,2.950000000,pose1_to_pose2_press,0.602941979055,0.0100909543561,1.04003234676,0.573512428254,0.0187626860075,1.03970048153
+178,2.966666667,pose1_to_pose2_press,0.603645419097,0.0100906774384,1.04003228754,0.574215873273,0.0187624255683,1.03970041159
+179,2.983333333,pose1_to_pose2_press,0.604338051412,0.0100907578189,1.04003235734,0.57490850398,0.018762500802,1.03970048957
+180,3.000000000,pose1_to_pose2_press,0.605016943754,0.010090847361,1.04003227656,0.575587394746,0.0187625849323,1.03970040721
+181,3.016666667,pose1_to_pose2_press,0.605679185303,0.0100908555593,1.04003239605,0.576249636632,0.0187625945048,1.03970053287
+182,3.033333333,pose1_to_pose2_press,0.606325997073,0.0100907885902,1.04003223156,0.576896448678,0.0187625285829,1.0397003713
+183,3.050000000,pose1_to_pose2_press,0.606960461996,0.0100907006748,1.04003215199,0.577530914315,0.0187624431208,1.03970029251
+184,3.066666667,pose1_to_pose2_press,0.607587310722,0.01009073679,1.04003226873,0.578157761902,0.0187624752668,1.03970040673
+185,3.083333333,pose1_to_pose2_press,0.608203975869,0.0100908280688,1.04003231421,0.578774425393,0.0187625607002,1.03970044641
+186,3.100000000,pose1_to_pose2_press,0.608801481647,0.0100908089719,1.040032255,0.579371931751,0.0187625435092,1.03970038565
+187,3.116666667,pose1_to_pose2_press,0.609374551305,0.0100907593052,1.0400321831,0.57994500137,0.0187624938725,1.03970031809
+188,3.133333333,pose1_to_pose2_press,0.609916511016,0.0100906786756,1.04003200554,0.580486962528,0.0187624182779,1.0397001438
+189,3.150000000,pose1_to_pose2_press,0.610438378951,0.0100907748359,1.04003221166,0.581008830196,0.018762513684,1.03970035399
+190,3.166666667,pose1_to_pose2_press,0.610943549567,0.0100906090801,1.040032232,0.581514002849,0.0187623545705,1.03970036736
+191,3.183333333,pose1_to_pose2_press,0.611431526823,0.0100907649728,1.04003221669,0.582001979464,0.0187625083867,1.03970035466
+192,3.200000000,pose1_to_pose2_press,0.611899381831,0.0100907127077,1.04003233933,0.582469833805,0.0187624535181,1.03970046874
+193,3.216666667,pose1_to_pose2_press,0.61233915423,0.0100907775611,1.04003243856,0.582909606345,0.0187625189121,1.03970057027
+194,3.233333333,pose1_to_pose2_press,0.612752713297,0.0100908482675,1.0400323671,0.583323164358,0.0187625861659,1.03970050072
+195,3.250000000,pose1_to_pose2_press,0.61314139393,0.0100908518909,1.04003224954,0.583711844165,0.0187625870198,1.03970038111
+196,3.266666667,pose1_to_pose2_press,0.613515718321,0.0100908420296,1.04003227274,0.584086170015,0.0187625822076,1.03970040459
+197,3.283333333,pose1_to_pose2_press,0.613879133261,0.010090799609,1.04003236406,0.584449585764,0.0187625425583,1.03970049512
+198,3.300000000,pose1_to_pose2_press,0.61423397231,0.010090605348,1.04003225053,0.584804426519,0.0187623542741,1.03970038246
+199,3.316666667,pose1_to_pose2_press,0.614575909479,0.0100906605764,1.04003234568,0.585146362711,0.0187624063992,1.03970047918
+200,3.333333333,pose1_to_pose2_press,0.614893796931,0.01009083412,1.04003249211,0.585464248722,0.0187625748465,1.03970061819
+201,3.350000000,pose1_to_pose2_press,0.615184255688,0.0100906926465,1.0400323402,0.585754707355,0.0187624330511,1.03970046573
+202,3.366666667,pose1_to_pose2_press,0.615444104784,0.0100907395883,1.04003225477,0.586014556609,0.0187624808087,1.03970038441
+203,3.383333333,pose1_to_pose2_press,0.615679499288,0.0100907926015,1.04003234712,0.58624995091,0.0187625333253,1.0397004789
+204,3.400000000,pose1_to_pose2_press,0.615894195219,0.0100907817876,1.04003248841,0.586464646248,0.0187625205801,1.03970061962
+205,3.416666667,pose1_to_pose2_press,0.616097965015,0.0100908617427,1.04003249208,0.586668415386,0.0187625984069,1.03970062335
+206,3.433333333,pose1_to_pose2_press,0.616292508211,0.0100908348909,1.04003249157,0.586862959202,0.0187625737837,1.03970062277
+207,3.450000000,pose1_to_pose2_press,0.616476498359,0.0100908712107,1.04003225824,0.587046949285,0.0187626102367,1.03970039689
+208,3.466666667,pose1_to_pose2_press,0.616647875458,0.0100908309057,1.04003235424,0.587218327436,0.018762573219,1.03970048308
+209,3.483333333,pose1_to_pose2_press,0.616804797324,0.010090737114,1.04003236891,0.587375249638,0.0187624807594,1.03970050076
+210,3.500000000,pose1_to_pose2_press,0.616943632788,0.0100906694944,1.04003238517,0.587514084915,0.0187624124045,1.03970051327
+211,3.516666667,pose1_to_pose2_press,0.61706556503,0.0100906470403,1.04003233094,0.587636017984,0.0187623927526,1.03970045662
+212,3.533333333,pose1_to_pose2_press,0.617172114394,0.010090719864,1.04003241721,0.587742566707,0.0187624635651,1.03970054501
+213,3.550000000,pose1_to_pose2_press,0.617264736371,0.0100907468545,1.04003255575,0.587835187602,0.0187624866613,1.03970068076
+214,3.566666667,pose1_to_pose2_press,0.617343067978,0.0100906191085,1.04003239984,0.587913520765,0.0187623637327,1.03970051858
+215,3.583333333,pose1_to_pose2_press,0.617410929227,0.0100907478242,1.04003226985,0.587981380561,0.0187624882624,1.03970039712
+216,3.600000000,pose1_to_pose2_press,0.617469076755,0.0100907300274,1.04003236891,0.588039529081,0.0187624743737,1.03970049846
+217,3.616666667,pose1_to_pose2_press,0.617518088357,0.0100908699742,1.04003228214,0.588088539838,0.0187626113239,1.03970041227
+218,3.633333333,pose1_to_pose2_press,0.617559468164,0.0100908128087,1.04003230521,0.588129919937,0.0187625553329,1.03970044021
+219,3.650000000,pose1_to_pose2_press,0.61759416528,0.0100907940307,1.04003229882,0.588164616457,0.0187625345398,1.0397004338
+220,3.666666667,pose1_to_pose2_press,0.61762236398,0.0100908442861,1.04003228757,0.588192813924,0.0187625804464,1.03970042034
+221,3.683333333,pose1_to_pose2_press,0.617643728529,0.0100908734962,1.04003237806,0.588214177895,0.0187626076629,1.0397005108
+222,3.700000000,pose1_to_pose2_press,0.617659837876,0.0100910030646,1.04003250966,0.588230286186,0.0187627334988,1.0397006342
+223,3.716666667,pose1_to_pose2_press,0.617671091315,0.010090855654,1.04003232661,0.588241540038,0.0187625876133,1.03970045697
+224,3.733333333,pose1_to_pose2_press,0.617678990915,0.0100907773974,1.04003238966,0.588249441001,0.018762513878,1.03970051739
+225,3.750000000,pose1_to_pose2_press,0.617684437417,0.0100907587069,1.04003262045,0.588254889351,0.0187625012015,1.03970073969
+226,3.766666667,pose1_to_pose2_press,0.617688010642,0.0100907378373,1.04003258257,0.588258462923,0.0187624815831,1.03970070297
+227,3.783333333,pose1_to_pose2_press,0.617690608315,0.0100907187225,1.04003246833,0.588261060453,0.0187624621437,1.03970059264
+228,3.800000000,pose1_to_pose2_press,0.617692490331,0.0100907048739,1.04003238556,0.588262942366,0.0187624480598,1.03970051271
+229,3.816666667,pose1_to_pose2_press,0.617693695231,0.0100907141975,1.04003225978,0.588264146935,0.0187624563092,1.03970039027
+230,3.833333333,pose1_to_pose2_press,0.617694505812,0.010090721141,1.04003217247,0.588264957283,0.0187624624959,1.03970030528
+231,3.850000000,pose1_to_pose2_press,0.617694984504,0.0100907252415,1.04003212091,0.588265435838,0.0187624661496,1.03970025508
+232,3.866666667,pose1_to_pose2_press,0.61769529062,0.0100907278637,1.04003208794,0.588265741866,0.018762468486,1.03970022298
+233,3.883333333,pose1_to_pose2_press,0.617695586151,0.0100907303953,1.04003205611,0.588266037312,0.0187624707416,1.03970019199
+234,3.900000000,pose1_to_pose2_press,0.617695912933,0.0100907331945,1.04003202091,0.588266364,0.0187624732358,1.03970015773
+235,3.916666667,pose1_to_pose2_press,0.617696296153,0.0100907364772,1.04003197963,0.588266747111,0.0187624761607,1.03970011754
+236,3.933333333,pose1_to_pose2_press,0.617696803556,0.0100907582189,1.04003204333,0.588267254041,0.0187624962415,1.03970017952
+237,3.950000000,pose1_to_pose2_press,0.617697234182,0.0100907770412,1.04003209991,0.588267684258,0.018762513629,1.03970023458
+238,3.966666667,pose1_to_pose2_press,0.617697300672,0.0100907799475,1.04003210865,0.588267750686,0.0187625163137,1.03970024308
+239,3.983333333,pose1_to_pose2_press,0.617697457164,0.0100907867876,1.04003212921,0.588267907029,0.0187625226325,1.03970026309
+240,4.000000000,pose1_to_pose2_press,0.617697766753,0.0100908003195,1.04003216989,0.588268216325,0.0187625351328,1.03970030267
+241,4.016666667,pose1_to_pose2_press,0.617697816945,0.0100908025133,1.04003217649,0.588268266469,0.0187625371594,1.03970030908
+242,4.033333333,pose1_to_pose2_press,0.617698077427,0.0100908138989,1.04003221071,0.588268526705,0.018762547677,1.03970034239
+243,4.050000000,pose1_to_pose2_press,0.617698406553,0.0100908188457,1.04003224482,0.588268855696,0.0187625521351,1.03970037541
+244,4.066666667,pose1_to_pose2_press,0.617698791153,0.0100907406383,1.0400322034,0.588269241721,0.0187624787652,1.03970033345
+245,4.083333333,pose1_to_pose2_press,0.617699294154,0.0100906383544,1.04003214921,0.588269746585,0.0187623828081,1.03970027857
+246,4.100000000,pose1_to_pose2_press,0.617699474642,0.0100906480361,1.04003218627,0.588269927453,0.0187623938208,1.03970031655
+247,4.116666667,pose1_to_pose2_press,0.617699496477,0.0100906539435,1.04003219652,0.588269949305,0.0187623997933,1.03970032703
+248,4.133333333,pose1_to_pose2_press,0.617699577709,0.0100906759199,1.04003223465,0.588270030598,0.0187624220121,1.03970036604
+249,4.150000000,pose1_to_pose2_press,0.617699577447,0.0100906688519,1.0400322436,0.588270030833,0.0187624167359,1.03970037722
+250,4.166666667,pose1_to_pose2_press,0.617699553804,0.010090658027,1.04003223824,0.588270007493,0.0187624069773,1.03970037302
+251,4.183333333,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007496,0.018762406977,1.03970037303
+252,4.200000000,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007496,0.0187624069768,1.03970037303
+253,4.216666667,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007497,0.0187624069766,1.03970037303
+254,4.233333333,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007497,0.0187624069764,1.03970037303
+255,4.250000000,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007497,0.0187624069763,1.03970037303
+256,4.266666667,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007497,0.0187624069762,1.03970037303
+257,4.283333333,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007497,0.018762406976,1.03970037303
+258,4.300000000,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007497,0.018762406976,1.03970037303
+259,4.316666667,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007497,0.0187624069756,1.03970037303
+260,4.333333333,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007497,0.018762406975,1.03970037302
+261,4.350000000,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007497,0.0187624069752,1.03970037302
+262,4.366666667,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007497,0.0187624069751,1.03970037302
+263,4.383333333,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007498,0.0187624069748,1.03970037302
+264,4.400000000,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007498,0.0187624069748,1.03970037303
+265,4.416666667,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007498,0.018762406975,1.03970037303
+266,4.433333333,pose2_hold,0.617699553804,0.010090658027,1.04003223824,0.588270007498,0.0187624069744,1.03970037303
+267,4.450000000,pose2_to_pose3_retreat,0.617699553804,0.010090658027,1.04003223824,0.588270007498,0.018762406976,1.03970037303
+268,4.466666667,pose2_to_pose3_retreat,0.617699452299,0.0100906931547,1.04003231126,0.588269904965,0.0187624383816,1.03970043994
+269,4.483333333,pose2_to_pose3_retreat,0.617699094286,0.0100907125595,1.04003237994,0.588269546472,0.018762456024,1.03970050472
+270,4.500000000,pose2_to_pose3_retreat,0.617698538463,0.0100907559624,1.04003225522,0.588268990197,0.0187624980947,1.0397003849
+271,4.516666667,pose2_to_pose3_retreat,0.617698389588,0.0100907675877,1.04003222181,0.588268841202,0.0187625093632,1.0397003528
+272,4.533333333,pose2_to_pose3_retreat,0.617698217347,0.0100907810376,1.04003218316,0.58826866882,0.0187625224003,1.03970031567
+273,4.550000000,pose2_to_pose3_retreat,0.617698153978,0.0100907859859,1.04003216894,0.5882686054,0.0187625271967,1.03970030201
+274,4.566666667,pose2_to_pose3_retreat,0.617697915304,0.0100908046234,1.04003211538,0.588268366532,0.0187625452622,1.03970025056
+275,4.583333333,pose2_to_pose3_retreat,0.617696991601,0.010090801772,1.04003214657,0.588267442828,0.0187625424461,1.03970028284
+276,4.600000000,pose2_to_pose3_retreat,0.61769355634,0.0100907465202,1.04003219222,0.58826400759,0.0187624872275,1.0397003283
+277,4.616666667,pose2_to_pose3_retreat,0.617686024372,0.010090687057,1.04003217854,0.588256476011,0.0187624289666,1.03970031124
+278,4.633333333,pose2_to_pose3_retreat,0.617669814712,0.0100907788737,1.04003235592,0.588240265676,0.0187625185678,1.03970048881
+279,4.650000000,pose2_to_pose3_retreat,0.617643738982,0.0100908785122,1.0400321604,0.588214190117,0.0187626189399,1.03970029666
+280,4.666666667,pose2_to_pose3_retreat,0.617605972102,0.0100908066042,1.04003236874,0.588176422155,0.0187625431043,1.03970049998
+281,4.683333333,pose2_to_pose3_retreat,0.61755775749,0.0100907300247,1.04003235685,0.588128209299,0.0187624725345,1.03970049057
+282,4.700000000,pose2_to_pose3_retreat,0.617499120818,0.0100906523475,1.04003204862,0.588069572973,0.0187623961829,1.03970018461
+283,4.716666667,pose2_to_pose3_retreat,0.617432551882,0.0100907960822,1.04003235967,0.588003004966,0.0187625433166,1.03970050235
+284,4.733333333,pose2_to_pose3_retreat,0.617358264437,0.0100907849216,1.04003236904,0.587928714962,0.018762522878,1.0397005041
+285,4.750000000,pose2_to_pose3_retreat,0.617273985692,0.0100906890913,1.04003216635,0.587844436736,0.0187624289446,1.03970030699
+286,4.766666667,pose2_to_pose3_retreat,0.617179124384,0.0100906904803,1.04003218736,0.587749576663,0.0187624341626,1.03970031947
+287,4.783333333,pose2_to_pose3_retreat,0.617070790923,0.0100907512706,1.04003236154,0.587641243425,0.0187624954636,1.03970048884
+288,4.800000000,pose2_to_pose3_retreat,0.616946712961,0.0100907861551,1.04003232069,0.587517164933,0.0187625289242,1.03970045927
+289,4.816666667,pose2_to_pose3_retreat,0.616804417115,0.0100907755044,1.04003201598,0.587374868671,0.0187625169006,1.03970015751
+290,4.833333333,pose2_to_pose3_retreat,0.616643525956,0.0100907089355,1.04003222846,0.58721397751,0.0187624499416,1.03970036356
+291,4.850000000,pose2_to_pose3_retreat,0.616464550885,0.0100907637847,1.04003220995,0.587035001996,0.0187625034052,1.03970035015
+292,4.866666667,pose2_to_pose3_retreat,0.616267850642,0.0100908160905,1.0400323557,0.586838302343,0.0187625573108,1.03970048748
+293,4.883333333,pose2_to_pose3_retreat,0.616055172063,0.0100907853419,1.04003248786,0.586625623149,0.0187625240696,1.03970061204
+294,4.900000000,pose2_to_pose3_retreat,0.615826560136,0.0100907911064,1.0400324476,0.58639701125,0.0187625296696,1.03970056891
+295,4.916666667,pose2_to_pose3_retreat,0.615581181912,0.0100908283556,1.0400323829,0.586151632136,0.0187625640014,1.03970051064
+296,4.933333333,pose2_to_pose3_retreat,0.615317386378,0.0100908432634,1.04003240262,0.585887836327,0.0187625780844,1.03970053623
+297,4.950000000,pose2_to_pose3_retreat,0.615036793531,0.0100908470911,1.04003245115,0.585607244087,0.0187625837933,1.03970058255
+298,4.966666667,pose2_to_pose3_retreat,0.614738927378,0.0100909063766,1.04003235771,0.585309376862,0.0187626391488,1.03970048444
+299,4.983333333,pose2_to_pose3_retreat,0.614417847178,0.0100908283702,1.04003214778,0.584988296999,0.0187625622618,1.03970027674
+300,5.000000000,pose2_to_pose3_retreat,0.614076199601,0.0100909170238,1.04003220251,0.584646649748,0.018762652193,1.03970033944
+301,5.016666667,pose2_to_pose3_retreat,0.613713284022,0.0100907919147,1.04003207233,0.584283735267,0.0187625306437,1.03970020716
+302,5.033333333,pose2_to_pose3_retreat,0.613320659747,0.0100907569686,1.0400320462,0.583891111319,0.0187624968446,1.03970018425
+303,5.050000000,pose2_to_pose3_retreat,0.612898982385,0.0100907722074,1.04003212316,0.583469434419,0.0187625138642,1.03970026916
+304,5.066666667,pose2_to_pose3_retreat,0.612462174029,0.01009073179,1.04003215768,0.583032626807,0.0187624758419,1.03970030159
+305,5.083333333,pose2_to_pose3_retreat,0.612011579701,0.0100907251373,1.04003213257,0.582582031842,0.0187624664807,1.0397002621
+306,5.100000000,pose2_to_pose3_retreat,0.611546193433,0.0100908427765,1.04003215177,0.582116643503,0.0187625770959,1.03970028033
+307,5.116666667,pose2_to_pose3_retreat,0.611069928408,0.0100907544367,1.04003242221,0.581640380673,0.0187624965241,1.03970055974
+308,5.133333333,pose2_to_pose3_retreat,0.610580126806,0.0100907735227,1.04003255984,0.581150579135,0.0187625157139,1.03970069462
+309,5.150000000,pose2_to_pose3_retreat,0.610053438878,0.0100907903951,1.04003248195,0.58062389147,0.0187625332389,1.03970061057
+310,5.166666667,pose2_to_pose3_retreat,0.60949025184,0.0100908324271,1.04003232725,0.580060703712,0.0187625727479,1.03970045439
+311,5.183333333,pose2_to_pose3_retreat,0.608893988861,0.0100908181556,1.04003219166,0.579464440139,0.0187625566467,1.03970032399
+312,5.200000000,pose2_to_pose3_retreat,0.608275191171,0.0100907427542,1.04003219509,0.57884564269,0.0187624820908,1.03970032734
+313,5.216666667,pose2_to_pose3_retreat,0.607642940735,0.0100908153656,1.04003239435,0.578213391089,0.0187625504517,1.03970051884
+314,5.233333333,pose2_to_pose3_retreat,0.6070013529,0.0100909430238,1.04003235884,0.577571803445,0.0187626791962,1.0397004959
+315,5.250000000,pose2_to_pose3_retreat,0.606347309561,0.0100908040514,1.04003252051,0.576917761373,0.0187625440973,1.0397006447
+316,5.266666667,pose2_to_pose3_retreat,0.605678745832,0.01009062479,1.04003243031,0.576249200306,0.0187623736328,1.039700549
+317,5.283333333,pose2_to_pose3_retreat,0.604994062927,0.0100906295043,1.0400323782,0.575564516203,0.0187623746013,1.03970050523
+318,5.300000000,pose2_to_pose3_retreat,0.604293292139,0.0100907408521,1.04003236652,0.574863743783,0.0187624805598,1.03970049745
+319,5.316666667,pose2_to_pose3_retreat,0.603585850065,0.0100908792092,1.0400323476,0.574156300536,0.0187626151078,1.03970048299
+320,5.333333333,pose2_to_pose3_retreat,0.602872618455,0.0100908841913,1.04003225451,0.573443068941,0.0187626199725,1.0397003859
+321,5.350000000,pose2_to_pose3_retreat,0.602146986535,0.0100907972917,1.0400322343,0.572717437852,0.0187625356795,1.03970035994
+322,5.366666667,pose2_to_pose3_retreat,0.601406313648,0.0100907580669,1.04003237772,0.571976765662,0.0187624990868,1.03970050889
+323,5.383333333,pose2_to_pose3_retreat,0.600651488477,0.0100907160935,1.04003235911,0.571221941117,0.0187624593597,1.03970049329
+324,5.400000000,pose2_to_pose3_retreat,0.599885857556,0.0100908067378,1.04003230993,0.570456310375,0.0187625509337,1.03970045227
+325,5.416666667,pose2_to_pose3_retreat,0.599111120365,0.0100906668458,1.0400320966,0.569681574078,0.018762414029,1.03970023765
+326,5.433333333,pose2_to_pose3_retreat,0.598346742204,0.0100906889057,1.04003233754,0.568917194591,0.0187624311486,1.03970046701
+327,5.450000000,pose2_to_pose3_retreat,0.59759873126,0.0100907279217,1.04003244951,0.568169183893,0.0187624710999,1.03970058157
+328,5.466666667,pose2_to_pose3_retreat,0.596852503783,0.0100908391172,1.04003241734,0.567422953931,0.0187625738776,1.03970054966
+329,5.483333333,pose2_to_pose3_retreat,0.596106367837,0.0100908797598,1.04003237887,0.566676817355,0.0187626122719,1.03970050834
+330,5.500000000,pose2_to_pose3_retreat,0.595353398251,0.010090835044,1.04003233206,0.565923849492,0.0187625734517,1.03970046273
+331,5.516666667,pose2_to_pose3_retreat,0.594592053305,0.0100907826041,1.04003216714,0.565162504923,0.0187625225616,1.03970030478
+332,5.533333333,pose2_to_pose3_retreat,0.593825616393,0.0100906062307,1.04003199903,0.564396069864,0.0187623524622,1.03970013623
+333,5.550000000,pose2_to_pose3_retreat,0.593059404028,0.0100906705274,1.04003221577,0.563629855257,0.0187624090981,1.03970035162
+334,5.566666667,pose2_to_pose3_retreat,0.592296573304,0.0100907201645,1.04003222124,0.562867026228,0.0187624645284,1.03970035807
+335,5.583333333,pose2_to_pose3_retreat,0.591552335905,0.0100907549016,1.04003237996,0.562122787847,0.0187624953748,1.03970050225
+336,5.600000000,pose2_to_pose3_retreat,0.590822213278,0.0100907497033,1.04003234674,0.56139266636,0.0187624945403,1.03970048196
+337,5.616666667,pose2_to_pose3_retreat,0.590105111765,0.0100907746949,1.04003232754,0.560675564164,0.0187625174017,1.03970046753
+338,5.633333333,pose2_to_pose3_retreat,0.589402697112,0.0100907623588,1.040032342,0.559973148374,0.018762501076,1.03970047859
+339,5.650000000,pose2_to_pose3_retreat,0.588714168244,0.0100906856646,1.0400323509,0.55928462035,0.0187624271612,1.03970048522
+340,5.666666667,pose2_to_pose3_retreat,0.588032322291,0.0100906577511,1.04003236424,0.558602776,0.0187624046051,1.03970049634
+341,5.683333333,pose2_to_pose3_retreat,0.58735625916,0.010090817408,1.04003236555,0.557926710834,0.0187625573481,1.03970049749
+342,5.700000000,pose2_to_pose3_retreat,0.586692414526,0.0100907636329,1.04003234405,0.557262867418,0.0187625078809,1.03970048053
+343,5.716666667,pose2_to_pose3_retreat,0.586044622996,0.0100909164143,1.04003245748,0.556615072657,0.0187626495701,1.03970059056
+344,5.733333333,pose2_to_pose3_retreat,0.585415852693,0.0100907433376,1.04003248235,0.555986305371,0.0187624866733,1.03970061383
+345,5.750000000,pose2_to_pose3_retreat,0.584807022273,0.0100906232508,1.04003232703,0.55537747722,0.0187623742729,1.03970045932
+346,5.766666667,pose2_to_pose3_retreat,0.584215416875,0.0100907495133,1.04003226979,0.554785870091,0.018762494395,1.03970039569
+347,5.783333333,pose2_to_pose3_retreat,0.583645197834,0.010090877991,1.04003237351,0.554215648451,0.0187626140041,1.03970049822
+348,5.800000000,pose2_to_pose3_retreat,0.583096155935,0.0100908124185,1.04003248679,0.55366660623,0.0187625475847,1.03970061739
+349,5.816666667,pose2_to_pose3_retreat,0.582569631606,0.0100906760556,1.04003245396,0.553140082999,0.0187624149279,1.03970058272
+350,5.833333333,pose2_to_pose3_retreat,0.582066180702,0.0100906439888,1.0400322578,0.552636632254,0.0187623833939,1.03970038635
+351,5.850000000,pose2_to_pose3_retreat,0.581586200376,0.0100907512077,1.04003230875,0.552156651027,0.0187624880538,1.03970045035
+352,5.866666667,pose2_to_pose3_retreat,0.581115132946,0.0100908907982,1.04003246045,0.551685582892,0.0187626249133,1.03970059336
+353,5.883333333,pose2_to_pose3_retreat,0.580654131863,0.0100907525029,1.04003222986,0.551224583302,0.0187624917134,1.03970036374
+354,5.900000000,pose2_to_pose3_retreat,0.580212646566,0.0100906697739,1.04003217742,0.550783098573,0.0187624110524,1.03970031497
+355,5.916666667,pose2_to_pose3_retreat,0.579794622229,0.0100907427146,1.04003229883,0.550365074154,0.0187624835754,1.03970043304
+356,5.933333333,pose2_to_pose3_retreat,0.579407581977,0.0100907990962,1.04003231948,0.549978034011,0.0187625401594,1.03970044966
+357,5.950000000,pose2_to_pose3_retreat,0.579051734192,0.0100907700062,1.04003219727,0.549622186265,0.018762511351,1.03970033114
+358,5.966666667,pose2_to_pose3_retreat,0.578726855182,0.0100907446642,1.04003212538,0.549297306973,0.0187624853228,1.03970026604
+359,5.983333333,pose2_to_pose3_retreat,0.578422102421,0.0100907861191,1.04003235873,0.548992554108,0.0187625261597,1.03970049228
+360,6.000000000,pose2_to_pose3_retreat,0.578134404322,0.0100907468843,1.04003236674,0.548704856662,0.0187624890609,1.03970049828
+361,6.016666667,pose2_to_pose3_retreat,0.577860573613,0.0100907456193,1.04003243751,0.548431024856,0.0187624842074,1.03970057281
+362,6.033333333,pose2_to_pose3_retreat,0.577599133278,0.0100907753406,1.04003232891,0.548169585266,0.0187625162864,1.03970045981
+363,6.050000000,pose2_to_pose3_retreat,0.577351074863,0.0100907820543,1.04003232476,0.547921527038,0.0187625235703,1.0397004539
+364,6.066666667,pose2_to_pose3_retreat,0.57712321375,0.0100907675187,1.04003231213,0.547693666114,0.0187625096978,1.03970044186
+365,6.083333333,pose2_to_pose3_retreat,0.576917032501,0.0100907592038,1.0400323632,0.547487484757,0.0187625010299,1.03970049332
+366,6.100000000,pose2_to_pose3_retreat,0.576733532908,0.0100907911751,1.04003237911,0.547303984188,0.0187625299081,1.03970051502
+367,6.116666667,pose2_to_pose3_retreat,0.576572122924,0.0100908296059,1.04003220703,0.547142573834,0.018762567279,1.03970034796
+368,6.133333333,pose2_to_pose3_retreat,0.576434075472,0.0100907987605,1.04003225343,0.547004526791,0.0187625375039,1.03970038618
+369,6.150000000,pose2_to_pose3_retreat,0.576312271466,0.0100908664084,1.04003234252,0.546882722886,0.0187626056192,1.03970047866
+370,6.166666667,pose2_to_pose3_retreat,0.576205249498,0.0100906771114,1.04003211514,0.546775702797,0.0187624229825,1.03970025861
+371,6.183333333,pose2_to_pose3_retreat,0.576110358764,0.0100907422084,1.040032188,0.546680810764,0.0187624833984,1.03970032509
+372,6.200000000,pose2_to_pose3_retreat,0.576026983293,0.0100907534544,1.04003233384,0.546597435128,0.0187624936938,1.03970046087
+373,6.216666667,pose2_to_pose3_retreat,0.575954266539,0.010090733944,1.04003243945,0.546524719291,0.0187624773015,1.03970056639
+374,6.233333333,pose2_to_pose3_retreat,0.57589204885,0.0100907247072,1.04003246553,0.54646250252,0.0187624713234,1.03970059619
+375,6.250000000,pose2_to_pose3_retreat,0.575841269789,0.0100906581567,1.04003237769,0.546411724247,0.0187624071779,1.03970050124
+376,6.266666667,pose2_to_pose3_retreat,0.575799499971,0.0100906994022,1.04003207531,0.546369953385,0.0187624457582,1.03970022174
+377,6.283333333,pose2_to_pose3_retreat,0.575766503055,0.0100906728643,1.0400324081,0.546336956381,0.0187624182971,1.03970053812
+378,6.300000000,pose2_to_pose3_retreat,0.575740213626,0.0100906735645,1.04003243015,0.546310666975,0.0187624190705,1.03970056011
+379,6.316666667,pose2_to_pose3_retreat,0.575719626369,0.0100906897296,1.04003240606,0.546290080252,0.0187624371812,1.03970053962
+380,6.333333333,pose2_to_pose3_retreat,0.575703682056,0.0100907164099,1.04003247743,0.546274136687,0.0187624663641,1.03970061004
+381,6.350000000,pose2_to_pose3_retreat,0.575691269308,0.0100908202991,1.04003238218,0.546261720782,0.0187625595265,1.03970051449
+382,6.366666667,pose2_to_pose3_retreat,0.575682254915,0.0100907010312,1.04003222757,0.546252707331,0.0187624433602,1.03970035744
+383,6.383333333,pose2_to_pose3_retreat,0.575675966699,0.0100906619241,1.04003212903,0.546246419639,0.018762406072,1.03970026003
+384,6.400000000,pose2_to_pose3_retreat,0.575672178359,0.0100907594616,1.04003211028,0.546242630352,0.0187625005821,1.03970024626
+385,6.416666667,pose2_to_pose3_retreat,0.575670040395,0.0100908064455,1.04003210281,0.54624049156,0.0187625448308,1.03970024068
+386,6.433333333,pose2_to_pose3_retreat,0.575669097981,0.0100908239214,1.04003210077,0.546239548663,0.0187625606892,1.03970023911
+387,6.450000000,pose2_to_pose3_retreat,0.575668942491,0.0100908268047,1.04003210044,0.546239393094,0.0187625633056,1.03970023885
+388,6.466666667,pose2_to_pose3_retreat,0.575668806828,0.0100908293204,1.04003210014,0.546239257361,0.0187625655885,1.03970023863
+389,6.483333333,pose2_to_pose3_retreat,0.575668441295,0.0100908360988,1.04003209935,0.546238891641,0.0187625717394,1.03970023802
+390,6.500000000,pose2_to_pose3_retreat,0.575668287537,0.01009083895,1.04003209902,0.546238737804,0.0187625743268,1.03970023776
+391,6.516666667,pose2_to_pose3_retreat,0.575668192352,0.0100908407151,1.04003209881,0.546238642571,0.0187625759285,1.0397002376
+392,6.533333333,pose2_to_pose3_retreat,0.575667859651,0.0100908468846,1.04003209809,0.546238309698,0.018762581527,1.03970023705
+393,6.550000000,pose2_to_pose3_retreat,0.575667327404,0.0100908567544,1.04003209694,0.546237777179,0.0187625904833,1.03970023616
+394,6.566666667,pose2_to_pose3_retreat,0.575666819236,0.0100908251527,1.04003218798,0.546237269464,0.0187625602518,1.03970032288
+395,6.583333333,pose2_to_pose3_retreat,0.575666586942,0.0100908043318,1.04003224391,0.546237037487,0.0187625404057,1.03970037612
+396,6.600000000,pose2_to_pose3_retreat,0.575666562769,0.0100908021652,1.04003224973,0.546237013348,0.0187625383405,1.03970038166
+397,6.616666667,pose2_to_pose3_retreat,0.575666384781,0.0100907862118,1.04003229259,0.546236835603,0.018762523134,1.03970042246
+398,6.633333333,pose2_to_pose3_retreat,0.57566615395,0.0100907655221,1.04003234817,0.546236605088,0.018762503413,1.03970047537
+399,6.650000000,pose2_to_pose3_retreat,0.575665934929,0.0100907458909,1.0400324009,0.546236386366,0.0187624847009,1.03970052557
+400,6.666666667,pose2_to_pose3_retreat,0.575665785135,0.0100907324646,1.04003243697,0.546236236777,0.0187624719032,1.03970055991
+401,6.683333333,pose2_to_pose3_retreat,0.575665770067,0.010090731114,1.0400324406,0.546236221729,0.0187624706159,1.03970056336
+402,6.700000000,pose2_to_pose3_retreat,0.575665713749,0.0100907260662,1.04003245416,0.546236165489,0.0187624658044,1.03970057627
+403,6.716666667,pose2_to_pose3_retreat,0.575665559586,0.0100907122484,1.04003249128,0.546236011537,0.0187624526335,1.03970061161
+404,6.733333333,pose2_to_pose3_retreat,0.575665366751,0.0100906949642,1.04003253771,0.546235818965,0.0187624361586,1.03970065581
+405,6.750000000,pose2_to_pose3_retreat,0.575665314382,0.0100906986575,1.04003252842,0.546235766604,0.0187624399081,1.03970064736
+406,6.766666667,pose2_to_pose3_retreat,0.575665072057,0.010090735266,1.04003243447,0.546235524161,0.0187624763961,1.03970056066
+407,6.783333333,pose2_to_pose3_retreat,0.575664819073,0.0100907734846,1.04003233638,0.546235271054,0.0187625144889,1.03970047014
+408,6.800000000,pose2_to_pose3_retreat,0.5756647138,0.0100907893884,1.04003229557,0.54623516573,0.0187625303402,1.03970043247
+409,6.816666667,pose2_to_pose3_retreat,0.575664610852,0.0100908049409,1.04003225565,0.546235062732,0.0187625458416,1.03970039564
+410,6.833333333,pose2_to_pose3_retreat,0.57566444052,0.0100908346935,1.04003223485,0.546234892279,0.0187625752317,1.03970037616
+411,6.850000000,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..983a2f446425ef3d33710fd7e28406ed7fe2eb5e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1dc97ebcaa652236cdff91506e4e66fbd374b350d9e7948cfa0164b7114fa07
+size 26288104
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e136eebd7d07f313ca57e068b3e0d35e5be01f9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,714,679,666,636,879,788,803,653,631,653,0.400993409553,0.00459306997171,0.0498597742897,0.999999959541,0.000125314235173,-0.000252683318128,-3.69477266993e-05,1793239718100120576
+1,0.016666667,BASELINE,765.411966355,746,714,679,666,635.411966355,879,788,803,653,631.588033645,653,0.400991917824,0.00458988534343,0.0498588062845,0.999999960001,0.000119724668054,-0.000253687258267,-3.615955605e-05,1793239718116787712
+2,0.033333333,BASELINE,765.17383989,745.82616011,714,679,666,635,879,788,803,653,632,653,0.400991090919,0.00458768648614,0.0498582237361,0.99999996032,0.000116177559819,-0.000254141523428,-3.57077528604e-05,1793239718133454592
+3,0.050000000,BASELINE,765.75443453,745.24556547,714,679,666,635,879,788,803,653,632,653,0.400991819584,0.00458779415887,0.0498585430884,0.999999960375,0.000117409444822,-0.000253309646096,-3.60429901746e-05,1793239718150120960
+4,0.066666667,BASELINE,766,745.3320628,714,679,666,635.3320628,879.3320628,788,803.3320628,653,632,653,0.400991107363,0.00458882328905,0.0498584093886,0.999999960119,0.000118336254356,-0.000253853979909,-3.62966770924e-05,1793239718166787328
+5,0.083333333,BASELINE,766,745.907516784,714,679,666,635.907516784,879.907516784,788,803.907516784,653,632,653,0.400989339019,0.00459052781743,0.0498579436163,0.999999959633,0.000119039453465,-0.000255407031585,-3.64905902137e-05,1793239718183453696
+6,0.100000000,BASELINE,766,746,714,679,666.492783324,635.507216676,879.507216676,788,804,653,632,653,0.400989114169,0.00458895692854,0.0498577660627,0.999999959591,0.00011933526865,-0.000255488384306,-3.60882813369e-05,1793239718200120320
+7,0.116666667,BASELINE,766,746,714,679.078886547,667,635,879.157773094,788,804,653,632,653,0.400989440786,0.00458718630562,0.0498578297681,0.999999959721,0.000119435150943,-0.000254993506124,-3.56565430775e-05,1793239718216787200
+8,0.133333333,BASELINE,766,746,714,679.658375455,667,635,880.31675091,788,804,653,632,653,0.400991391352,0.00458812834283,0.049859074237,0.999999960394,0.0001187867071,-0.000252630295608,-3.57625530246e-05,1793239718233453568
+9,0.150000000,BASELINE,766,745.763287577,714,679.763287577,667,635,880.526575155,788,804,653,632,653,0.400992470547,0.0045886476844,0.0498597776016,0.999999960763,0.000118217924314,-0.000251417298765,-3.58813551222e-05,1793239718250120448
+10,0.166666667,BASELINE,766,745.186605094,714,679.186605094,667,635,879.373210188,788,804,653,632,653,0.400992298266,0.00458855994383,0.0498597038235,0.999999960701,0.000117763552032,-0.00025185625688,-3.60185294963e-05,1793239718266787328
+11,0.183333333,BASELINE,766,745.389223501,714,679,666.610776499,635.389223501,879,788,804,653,631.610776499,653,0.400991290935,0.00458756982624,0.0498591739612,0.999999960574,0.000116912651498,-0.000252815643736,-3.56098016712e-05,1793239718283453952
+12,0.200000000,BASELINE,766,745.964643665,714,679,666.035356335,635.964643665,879,788,804,653,631.035356335,653,0.400989884133,0.00458614802971,0.0498584259174,0.999999960412,0.000115872059818,-0.00025402399323,-3.49399252709e-05,1793239718300120320
+13,0.216666667,BASELINE,766,746,714,679.551099075,666.551099075,635.448900925,879.551099075,788.551099075,804,653,631.551099075,653,0.40099064797,0.00458711909153,0.0498583511012,0.999999960394,0.000116920254651,-0.000253536657273,-3.55010458398e-05,1793239718316787200
+14,0.233333333,BASELINE,766,745.863542216,714,680,667,635,880,788.863542216,804,653,632,653,0.400991502142,0.00458832327233,0.0498586103623,0.999999960452,0.000118236821929,-0.00025263333534,-3.59632821352e-05,1793239718333453824
+15,0.250000000,BASELINE,766,745.284089014,714,680,667,635,880,788.284089014,804,653,632,653,0.400992188247,0.00458977569143,0.0498598110873,0.999999960725,0.0001199806989,-0.000250739946212,-3.58428760262e-05,1793239718350120192
+16,0.266666667,BASELINE,766,745.295194119,714,679.704805881,667,635.295194119,879.704805881,788,804,653,632,653,0.400992109839,0.0045900287266,0.0498600244041,0.999999960689,0.000120222111775,-0.000250761054093,-3.58940450626e-05,1793239718366787072
+17,0.283333333,BASELINE,766,745.874313639,714,679.125686361,667,635.874313639,879.125686361,788,804,653,632,653,0.400991296103,0.00458912816295,0.0498592880058,0.999999960356,0.000119018415392,-0.000252623575244,-3.61102395559e-05,1793239718383453952
+18,0.300000000,BASELINE,766,746,714,679,666.550973995,636,879.449026005,788,804.449026005,653,632,653,0.400991894941,0.00458968187644,0.0498598957556,0.99999996061,0.000119771347014,-0.000251271803415,-3.60088822865e-05,1793239718400120832
+19,0.316666667,BASELINE,766,746,714,679,666,636,879.976856103,788,804.976856103,652.976856103,631.976856103,653,0.400992829966,0.00459058926431,0.0498608066865,0.999999960995,0.000120973368843,-0.000249179848111,-3.58334917831e-05,1793239718416787712
+20,0.333333333,BASELINE,766,746,714,679,666,636,879.38739223,788,804.38739223,652.38739223,631.38739223,653,0.400992410307,0.00459028702131,0.0498600194082,0.99999996072,0.000119893262236,-0.000250777427604,-3.6000390494e-05,1793239718433454336
+21,0.350000000,BASELINE,766,746,714,679,666.198698157,636,879.198698157,788,804,652.198698157,631,653,0.400992087569,0.00459046789518,0.0498595007776,0.999999960405,0.000120319941103,-0.000251812591881,-3.60969342303e-05,1793239718450120704
+22,0.366666667,BASELINE,766,746,714,679,666.778321159,636,879.778321159,788,804,652.778321159,631,653,0.400991950637,0.0045915749539,0.0498594971724,0.999999960013,0.000123635283123,-0.000251769548045,-3.60586002111e-05,1793239718466787072
+23,0.383333333,BASELINE,766,746,714,679,666.645710045,636,880,788,804,653,631.354289955,653,0.40099205901,0.00459101475583,0.0498600941389,0.99999996016,0.000123681286264,-0.000251183718186,-3.59183578729e-05,1793239718483453440
+24,0.400000000,BASELINE,766,746,714,679,666.072004283,636,880,788,804,653,631.927995717,653,0.400992319301,0.00458942200675,0.0498610630465,0.999999960641,0.000121702550903,-0.000250261734754,-3.5715002548e-05,1793239718500120064
+25,0.416666667,BASELINE,766,745.485081039,714,679,666,635.485081039,880,788,803.485081039,653,632,653,0.400992423337,0.00458944361987,0.0498604364706,0.999999960546,0.000120892154633,-0.000251004956338,-3.59078366749e-05,1793239718516786688
+26,0.433333333,BASELINE,766,745.102097739,714,679,666.204195479,635,879.897902261,788,803.102097739,653,631.897902261,653,0.400992294036,0.0045898553162,0.0498596480609,0.999999960389,0.000120495516435,-0.000251785692242,-3.61365450303e-05,1793239718533453568
+27,0.450000000,BASELINE,766,745.681601391,714,679,667.363202782,635,879.318398609,788,803.681601391,653,631.318398609,653,0.400991178524,0.00459100763784,0.0498591736435,0.999999960334,0.000121249530499,-0.000251624331975,-3.6267119134e-05,1793239718550120960
+28,0.466666667,BASELINE,766,746,714,679.259847072,667.740152928,635,879,788,804,653.259847072,631,653,0.400990382275,0.00459119431239,0.0498588420242,0.999999960245,0.000121018926962,-0.000252088251257,-3.62631731454e-05,1793239718566787584
+29,0.483333333,BASELINE,766,746,714,679.836558714,667.163441286,635,879,788,804,653.836558714,631,653,0.400989975345,0.00459020345063,0.0498586845371,0.999999960114,0.000119587653962,-0.0002533146534,-3.60951896981e-05,1793239718583454208
+30,0.500000000,BASELINE,766,746,714,679.590809524,667,635.409190476,879,788,804,653.590809524,631.409190476,653,0.400991442779,0.00458956225872,0.0498596913434,0.999999960655,0.000118700396416,-0.000251624419926,-3.58527048002e-05,1793239718600120576
+31,0.516666667,BASELINE,766,746,714,679.019791297,667,635.980208703,879,788,804,653.019791297,631.980208703,653,0.400993651491,0.0045890593552,0.0498611586077,0.999999961456,0.000118028287599,-0.000248780707527,-3.5580755872e-05,1793239718616786944
+32,0.533333333,BASELINE,766,746,714,679.574547527,666.425452473,636,879.574547527,788,804,653,631.425452473,653,0.400991396664,0.0045881285435,0.0498599226686,0.999999960819,0.000117568303932,-0.000251568868305,-3.53855073275e-05,1793239718633453824
+33,0.550000000,BASELINE,766,746,714,679.8348482,666,636,879.8348482,788,804,653,631.1651518,653,0.400989750807,0.00458761742756,0.0498590073608,0.999999960372,0.000117163321862,-0.000253537282292,-3.53315419098e-05,1793239718650120448
+34,0.566666667,BASELINE,766,746,714,679.255704456,666,636,879.255704456,788,804,653,631.744295544,653,0.400990033203,0.0045881968908,0.0498591390853,0.999999960545,0.000116877122641,-0.000252943926982,-3.56248328137e-05,1793239718666787072
+35,0.583333333,BASELINE,766,746,714,679,666,636,879,788,804,653,632,652.679122659,0.40099046494,0.00458904014339,0.0498593334925,0.999999960575,0.000118258497325,-0.000252156375424,-3.58043003007e-05,1793239718683453696
+36,0.600000000,BASELINE,766,746,714,679,666,636,879,788,804,653,632,652.104566224,0.400991014744,0.00459009194251,0.0498595774556,0.999999960486,0.000120958221966,-0.000251215296201,-3.58937813423e-05,1793239718700120320
+37,0.616666667,BASELINE,766,745.528604372,714,679,666.471395628,636,879.471395628,788,804,653.471395628,632,652.471395628,0.400990769847,0.00458915053208,0.0498595566698,0.999999960568,0.000119347806559,-0.000251684857992,-3.56983866143e-05,1793239718716786944
+38,0.633333333,BASELINE,766,745.048997892,714,679,667,636,880,788,804,653.951002108,632,653,0.400990451695,0.00458791920996,0.0498595034721,0.999999960693,0.000117047922696,-0.000252298032871,-3.54809875138e-05,1793239718733453568
+39,0.650000000,BASELINE,766,745.64132345,714,679,667,636,880,788,804,653.35867655,632,653,0.400991281833,0.00458839056556,0.0498597440281,0.999999960925,0.00011773621484,-0.000251023509968,-3.57224036833e-05,1793239718750120192
+40,0.666666667,BASELINE,766,746,714,679,667,636,880,788,804,653,632,653,0.400991872616,0.00458871754101,0.0498600949477,0.999999961139,0.000118117661709,-0.000249969321327,-3.58476884543e-05,1793239718766787072
+41,0.683333333,BASELINE,766,746,714,679,667,636,880,788,804,653,632,653,0.400992095964,0.00458882287727,0.0498606152873,0.99999996133,0.000118028067829,-0.000249253369705,-3.57946989449e-05,1793239718783453696
+42,0.700000000,BASELINE,766,746,714,679.378896823,666.621103177,636,880,788,804,653.378896823,632,653,0.400992222676,0.00458876948961,0.0498605568304,0.999999961373,0.000118259671226,-0.000248991119645,-3.56749973632e-05,1793239718800120320
+43,0.716666667,BASELINE,766,746,714,679.953112129,666.046887871,636,880,788,804,653.953112129,632,653,0.400992299574,0.00458863428094,0.0498602000083,0.999999961338,0.000118656849422,-0.000248962749372,-3.55209062083e-05,1793239718816786944
+44,0.733333333,BASELINE,766,746,714.540598313,679.459401687,666.540598313,636,879.459401687,788,803.459401687,654,632,653,0.40099122341,0.00458784031074,0.0498600123549,0.999999961062,0.000116746550374,-0.000250969171245,-3.55042108609e-05,1793239718833453568
+45,0.750000000,BASELINE,766,746,714.872706664,679,667,635.872706664,879.127293336,788,803.127293336,653.872706664,632,653,0.400990558322,0.00458752281816,0.0498598482901,0.999999960909,0.000115451959683,-0.000252160468069,-3.56184386977e-05,1793239718850120192
+46,0.766666667,BASELINE,766,746,714.293017195,679,667,635.293017195,879.706982805,788,803.706982805,653.293017195,632,653,0.400991718558,0.00458910688249,0.0498597146006,0.99999996129,0.00011707474916,-0.000249811834403,-3.61545453234e-05,1793239718866786816
+47,0.783333333,BASELINE,766,746,714,679,666.715287189,635,879.715287189,788,804,653,632,653,0.400992263266,0.00458907527434,0.0498600558018,0.999999961418,0.000117706026241,-0.000248993053108,-3.62314070037e-05,1793239718883453696
+48,0.800000000,BASELINE,766,746,714,679,666.139559943,635,879.139559943,788,804,653,632,653,0.400992178822,0.00458739223379,0.0498608824048,0.999999961291,0.000117323845723,-0.00024973798452,-3.58388592168e-05,1793239718900120320
+49,0.816666667,BASELINE,766,746,714,679.435583898,666,635,879.435583898,788,803.564416102,653,631.564416102,653,0.400991512381,0.00458816892485,0.0498604858952,0.999999960906,0.000118887442712,-0.000250570132089,-3.56006831721e-05,1793239718916787200
+50,0.833333333,BASELINE,766,745.98914432,714,679.98914432,666.01085568,635,880,788,803,653,631.01085568,653,0.400990684561,0.00458968671543,0.0498597108621,0.999999960448,0.000121018197924,-0.000251406242754,-3.54180622085e-05,1793239718933453824
+51,0.850000000,BASELINE,766,745.397024948,714,679.397024948,666.602975052,635,880,788,803,653,631.602975052,653,0.400991186955,0.00458874477903,0.0498596230353,0.999999960655,0.000120180982994,-0.000250960317419,-3.55653258165e-05,1793239718950120448
+52,0.866666667,BASELINE,765.809536467,745.190463533,714,679,667,635,879.809536467,788,803.190463533,653,632,653,0.400991651072,0.0045885739062,0.0498595868349,0.999999960812,0.000119560354189,-0.000250614129882,-3.56904816724e-05,1793239718966787072
+53,0.883333333,BASELINE,765.23147207,745.76852793,714,679,667,635,879.23147207,788,803.76852793,653,632,653,0.40099203729,0.00458997217845,0.0498596556963,0.999999960867,0.000119380486813,-0.000250470912762,-3.5770647365e-05,1793239718983453696
+54,0.900000000,BASELINE,765.344559983,745.655440017,714,679.344559983,667,635.344559983,879,788,804,653,631.655440017,653,0.400992188963,0.00458903229182,0.0498600312719,0.999999961142,0.000118996536069,-0.000249601687946,-3.54305134773e-05,1793239719000120320
+55,0.916666667,BASELINE,765.91923471,745.08076529,714,679.91923471,667,635.91923471,879,788,804,653,631.08076529,653,0.400992183996,0.00458653086327,0.0498606116869,0.999999961562,0.000118476288043,-0.000248247598141,-3.4809682074e-05,1793239719016786944
+56,0.933333333,BASELINE,766,745,714,679.495885775,666.495885775,635.495885775,879.504114225,788,804,653,631,653,0.400992503685,0.00458728593347,0.0498610487189,0.999999961626,0.000117920578085,-0.00024821885664,-3.50785458544e-05,1793239719033453568
+57,0.950000000,BASELINE,766,745,714,679,666.089584476,635.089584476,880,788,803.910415524,653,631,653,0.400992750787,0.00458853671176,0.0498613021898,0.999999961596,0.000117458887031,-0.000248494948051,-3.55177965997e-05,1793239719050120192
+58,0.966666667,BASELINE,766,745,714,679,666.669158417,635.669158417,880,788,803.330841583,653,631,653,0.400992310495,0.00458958619469,0.0498606799002,0.999999961377,0.00011754315725,-0.000249252956909,-3.60932496443e-05,1793239719066786816
+59,0.983333333,BASELINE,765.751619447,745,714,679,666.751619447,635.751619447,880.248380553,788,803,653,631.248380553,653,0.400992029569,0.00458964877111,0.0498605552143,0.99999996135,0.00011714431573,-0.000249531257658,-3.62025501757e-05,1793239719083453440
+60,1.000000000,BASELINE,765.172865171,745,714,679,666.172865171,635.172865171,880.827134829,788,803,653,631.827134829,653,0.40099196062,0.00458839865239,0.0498610923967,0.99999996158,0.000116102881949,-0.000249171493449,-3.56918161696e-05,1793239719100120320
+61,1.016666667,BASELINE,765.402287327,745,714,679,666,635,880.195425346,788,803,653,631.597712673,653,0.400992183784,0.00458774830902,0.0498612813057,0.999999961566,0.000116556079423,-0.000249055119166,-3.54205084104e-05,1793239719116786944
+62,1.033333333,BASELINE,765.97590582,745,714,679,666,635,879.048188361,788,803,653,631.02409418,653,0.400992531357,0.00458735340555,0.0498613218877,0.999999961447,0.000117645829239,-0.000249042402853,-3.52511705308e-05,1793239719133453568
+63,1.050000000,BASELINE,766,745.562293051,714,679.562293051,666.562293051,635,879,788,803.562293051,653,631,653,0.400992525964,0.00458767648982,0.0498612980778,0.999999961318,0.00011867962521,-0.000249077365929,-3.5213976552e-05,1793239719150120192
+64,1.066666667,BASELINE,766,746,714,679.851825893,667,635,879.148174107,788,804,653,631.148174107,653,0.400992313482,0.00458758001957,0.0498610285688,0.999999961242,0.000118972047371,-0.000249252459721,-3.51321712512e-05,1793239719166786816
+65,1.083333333,BASELINE,766,746,714,679.269071422,667,635,879.730928578,788,804,653,631.730928578,653,0.400991539016,0.00458616070695,0.0498600467286,0.999999961327,0.000117097286965,-0.000249832412066,-3.49025322435e-05,1793239719183453440
+66,1.100000000,BASELINE,766,745.690389255,714,679,667,635.309610745,879.690389255,788,804,653,631.690389255,653,0.400991611179,0.00458629985113,0.0498602084637,0.999999961554,0.000116745539552,-0.000249063044401,-3.50832971634e-05,1793239719200120064
+67,1.116666667,BASELINE,766,745.115200264,714,679,667,635.884799736,879.115200264,788,804,653,631.115200264,653,0.400992409566,0.00458777581016,0.0498613511359,0.999999961901,0.000117700203996,-0.000247136255501,-3.56160988277e-05,1793239719216786688
+68,1.133333333,BASELINE,766,745.458969064,714,679,667,635.541030936,879.458969064,788,804,653,631,653,0.400992184868,0.00458924324167,0.0498607124197,0.999999961443,0.000119248536275,-0.000248203751508,-3.58855480538e-05,1793239719233453312
+69,1.150000000,BASELINE,766,745.966168906,714,679.033831094,667,635.033831094,879.966168906,788,804,653.033831094,631.033831094,653,0.400991664902,0.00459058808765,0.0498596980647,0.999999960794,0.000120891844864,-0.000249993651683,-3.60623286986e-05,1793239719250119936
+70,1.166666667,BASELINE,766,745.375708844,714,679.624291156,667,635.624291156,879.375708844,788,804,653.624291156,631.624291156,653,0.400990502546,0.00458995114859,0.0498598435757,0.999999960376,0.000121651570541,-0.000251331267987,-3.57995755764e-05,1793239719266786560
+71,1.183333333,BASELINE,766,745.210554574,714,679.789445426,666.789445426,636,879,788,803.789445426,653.789445426,632,653,0.400990427224,0.00458957324974,0.0498602147169,0.999999960428,0.00012132936924,-0.000251294295444,-3.56965375384e-05,1793239719283453440
+72,1.200000000,BASELINE,766,745.789476028,714,679.210523972,666.210523972,636,879,788,803.210523972,653.210523972,632,653,0.400992253679,0.00458964854368,0.0498609806,0.999999961299,0.000119114328324,-0.000248852469138,-3.58729222511e-05,1793239719300120064
+73,1.216666667,BASELINE,766,746,714,679,666.365790107,635.634209893,879,788,803.365790107,653,632,653,0.400991981892,0.00458902334532,0.0498604549008,0.999999961211,0.000118703723532,-0.00024941151753,-3.58050721397e-05,1793239719316786688
+74,1.233333333,BASELINE,766,746,714,679,666.940614145,635.059385855,879,788,803.940614145,653,632,653,0.400990511045,0.00458799784455,0.0498591911155,0.999999960574,0.000119324279553,-0.000251685441951,-3.55976519083e-05,1793239719333453568
+75,1.250000000,BASELINE,766,746,714,679,667,635,879.528092341,788,804,653,632,653,0.400992544806,0.00458869698597,0.0498608368304,0.99999996124,0.000119303207376,-0.000249066168232,-3.53845217188e-05,1793239719350120192
+76,1.266666667,BASELINE,766,746,714,679,667,635.11517721,880,788,804,653,632,653,0.400994196534,0.00458906840116,0.0498622059789,0.999999961824,0.000118893163045,-0.000246929262482,-3.52339746624e-05,1793239719366786816
+77,1.283333333,BASELINE,766,746,714,679,667,635.694796971,880,788,804,653,632,653,0.40099267953,0.00458731703224,0.0498611081651,0.999999961503,0.000117212716182,-0.000249010807214,-3.5338441713e-05,1793239719383453440
+78,1.300000000,BASELINE,766,746,714,679,666.727492986,636,880,788,804,653,632,653,0.400992311018,0.00458722915235,0.0498608544606,0.999999961457,0.000116730109772,-0.000249409658494,-3.54131647281e-05,1793239719400120064
+79,1.316666667,BASELINE,766,746,714,679,666.151906949,636,880,788,804,653,632,653,0.400993219845,0.00458899138508,0.0498615395644,0.999999961723,0.000117579727221,-0.000247937038216,-3.5454806778e-05,1793239719416786944
+80,1.333333333,BASELINE,766,745.577883605,714,679,666.422116395,636,879.577883605,788,804,653.422116395,632,653,0.400993138818,0.00458884864458,0.0498615175978,0.999999961782,0.000116951444623,-0.000247983431377,-3.55296409916e-05,1793239719433453824
+81,1.350000000,BASELINE,766,745.004420506,714,679,666.995579494,636,879.004420506,788,804,653.995579494,632,653,0.400992702886,0.00458802289019,0.0498612421164,0.999999961767,0.000115793271991,-0.000248574455425,-3.5616376013e-05,1793239719450120192
+82,1.366666667,BASELINE,766,745.588523729,714,679.588523729,666.411476271,636,879.588523729,787.411476271,804,654,632,653,0.400992248995,0.00458816792203,0.0498610095768,0.999999961565,0.000116876974803,-0.000248900180522,-3.54779472764e-05,1793239719466786816
+83,1.383333333,BASELINE,766,746,714,679.822802392,666,635.822802392,880,787.177197608,804,653.822802392,631.822802392,653,0.400991662434,0.00458859859595,0.049860652333,0.999999961295,0.000117903520256,-0.000249502243314,-3.5460383749e-05,1793239719483453440
+84,1.400000000,BASELINE,766,746,714,679.244146175,666,635.244146175,880,787.755853825,804,653.244146175,631.244146175,653,0.400990775611,0.00458965933441,0.0498600118036,0.999999960876,0.00011876111353,-0.000250735045627,-3.5720615073e-05,1793239719500120320
+85,1.416666667,BASELINE,766,746,714,679,666.332607602,635.332607602,880,788,804,653,631,653,0.400992048621,0.00458931611604,0.0498607554913,0.999999961278,0.00011811276673,-0.000249448820647,-3.5606272868e-05,1793239719516787200
+86,1.433333333,BASELINE,766,746,714,679,666.907972826,635.907972826,880,788,804,653,631,653,0.40099489801,0.00458794820299,0.0498625094662,0.999999962272,0.00011636529157,-0.000246324053508,-3.52185436937e-05,1793239719533453824
+87,1.450000000,BASELINE,766,746,714,679.480162035,666.519837965,635.519837965,879.519837965,788,804,653,631,653,0.400994091612,0.00458786572235,0.0498626267526,0.999999962087,0.000117182398775,-0.000246717348374,-3.50062732768e-05,1793239719550121216
+88,1.466666667,BASELINE,765.945966592,746,714,679.945966592,666,635.054033408,879.054033408,788,803.945966592,653,631,653,0.400992679552,0.00458806911545,0.0498623368735,0.999999961704,0.000118344266735,-0.000247724478048,-3.49180511123e-05,1793239719566788608
+89,1.483333333,BASELINE,765.34912158,746,714,679.34912158,666,635.65087842,879.65087842,788,803.34912158,653,631,653,0.400992175596,0.00458868567878,0.0498610872001,0.999999961598,0.00011806421697,-0.000248169026466,-3.57403954574e-05,1793239719583455488
+90,1.500000000,BASELINE,765.239011451,746,714,679,666.239011451,636,880,788,803.239011451,653,631.239011451,653,0.400992047857,0.00458860982508,0.049860538882,0.999999961625,0.000116986007049,-0.000248524588344,-3.60476549003e-05,1793239719600121856
+91,1.516666667,BASELINE,765.814866464,746,714,679,666.814866464,636,880,788,803.814866464,653,631.814866464,653,0.400992450328,0.00458755813434,0.049860978998,0.999999961838,0.000114782934271,-0.000248754739696,-3.56289949431e-05,1793239719616787712
+92,1.533333333,BASELINE,766,746,714,679,667,635.609230384,880,788,804,653,631.609230384,653,0.400993063277,0.00458690450221,0.0498613230413,0.999999961916,0.000115261566251,-0.000248273171542,-3.52602298211e-05,1793239719633454080
+93,1.550000000,BASELINE,766,746,714,679,667,635.033304372,880,788,804,653,631.033304372,653,0.400993775954,0.00458643948009,0.0498616215631,0.999999961928,0.000117010856681,-0.000247454372942,-3.49151060802e-05,1793239719650120704
+94,1.566666667,BASELINE,766,746,714,679,666.446825789,635.553174211,879.446825789,788,803.446825789,653,631,653,0.400991956916,0.00458641274713,0.0498608393035,0.999999961804,0.000114288819562,-0.000249186046267,-3.51650952058e-05,1793239719666787328
+95,1.583333333,BASELINE,766,746,714,679,666,635.8615486,879.1384514,788,803,653,631.1384514,653,0.400990500331,0.00458698821526,0.0498601037526,0.999999961578,0.000113109533122,-0.000250589341732,-3.5440257303e-05,1793239719683453952
+96,1.600000000,BASELINE,766,746,714,679,666,635.28216016,879.71783984,788,803,653,631.71783984,653,0.400990692956,0.00458939588745,0.0498597282199,0.999999961073,0.000117717582032,-0.000250448282448,-3.5679262226e-05,1793239719700120576
+97,1.616666667,BASELINE,765.703840474,745.703840474,714,679,666.296159526,635.296159526,879.703840474,788,803,653,631.703840474,653,0.400991693293,0.0045896150444,0.049860309185,0.999999961221,0.000118712053856,-0.000249396999271,-3.55886328681e-05,1793239719716787200
+98,1.633333333,BASELINE,765.126535395,745.126535395,714,679,666.873464605,635.873464605,879.126535395,788,803,653,631.126535395,653,0.400993460394,0.00458775663396,0.0498617981578,0.999999961997,0.000116276140639,-0.000247481636523,-3.51850802106e-05,1793239719733454080
+99,1.650000000,BASELINE,765.457145692,745.457145692,714,679,666.542854308,635.542854308,879,788,803.457145692,653,631,653,0.400992992374,0.00458842259473,0.0498617681909,0.999999961979,0.000117053794034,-0.000247141362556,-3.55151129262e-05,1793239719750120704
+100,1.666666667,BASELINE,765.95781256,746,714,679,666.04218744,635,879.04218744,788,803.95781256,653,631,653,0.400992040016,0.00458965296905,0.0498613773711,0.999999961764,0.000118526006838,-0.000247241293754,-3.59954677102e-05,1793239719766787584
+101,1.683333333,BASELINE,765.378237243,746,714,679,666.621762757,635,879.621762757,788,803.378237243,653,631,653,0.400992910249,0.0045890464868,0.0498618212574,0.999999961892,0.000117354812811,-0.000247316545726,-3.57675533718e-05,1793239719783454208
+102,1.700000000,BASELINE,765.201329134,746,714,679.201329134,666.798670866,635.201329134,880,788,803.201329134,653,631.201329134,653,0.400993218597,0.0045886703657,0.0498619748132,0.999999961932,0.000116583358983,-0.000247551825678,-3.55439408864e-05,1793239719800120576
+103,1.716666667,BASELINE,765.78087865,746,714,679.78087865,666.21912135,635.78087865,880,788,803.78087865,653,631.78087865,653,0.400992471377,0.00458872700508,0.0498615829495,0.999999961809,0.000116562864111,-0.000248087736941,-3.53284099619e-05,1793239719816786944
+104,1.733333333,BASELINE,766,746,714,679.643089707,666.356910293,635.643089707,880,788,804,653,631.643089707,653,0.400992790039,0.00458876860114,0.0498615229582,0.999999961824,0.000116788882962,-0.0002479201231,-3.53162109369e-05,1793239719833453568
+105,1.750000000,BASELINE,766,746,714,679.06919669,666.93080331,635.06919669,880,788,804,653,631.06919669,653,0.400993756701,0.00458880105166,0.0498616647279,0.999999961924,0.000117164769215,-0.000247324802974,-3.54276270135e-05,1793239719850120448
+106,1.766666667,BASELINE,766,746,714,679,666.485110023,635.514889977,879.485110023,788,804,653,631,653,0.40099325168,0.00458873665234,0.0498616711957,0.999999961799,0.000117431689285,-0.000247689639677,-3.55298250719e-05,1793239719866787328
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666,635,880,788,803,653,632,653,0.400990763486,0.00459004976117,0.0498599762093,0.99999996079,0.000121424737553,-0.000249782144471,-3.58437449696e-05,1793239719909351168
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.423601239,714,679,666,635.576398761,880,788,803.576398761,653,632,653,0.40099226103,0.0045883686983,0.0498614626274,0.999999961585,0.000117988398771,-0.000248270874056,-3.5640761159e-05,1793239719926017792
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.153258479,714,679,666,636,879.846741521,788,803.846741521,653,631.846741521,653,0.400993451154,0.00458752953071,0.0498625309909,0.999999962136,0.000116036567044,-0.000246981681753,-3.55407250065e-05,1793239719942684416
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.731396241,714,679,666,636,879.268603759,788,803.268603759,653,631.268603759,653,0.400993789012,0.00458902435347,0.0498624403795,0.999999962042,0.000118200241235,-0.000246308157434,-3.57260911424e-05,1793239719959351040
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714.314675522,679,666,635.685324478,879,788,803.314675522,653.314675522,631,653,0.400993813869,0.00458881420575,0.0498624399321,0.999999962157,0.000118299697988,-0.000245833242926,-3.54430024215e-05,1793239719976017664
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714.902416412,679,666,635.097583588,879,788,803.902416412,653.902416412,631,653,0.400993567115,0.004587124539,0.0498625177261,0.999999962455,0.000116607892636,-0.00024553067571,-3.47534035239e-05,1793239719992684288
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.516227898,714.516227898,679,666.483772102,635,879.483772102,788,804,653.516227898,631.483772102,653,0.4009933124,0.00458845369955,0.0498620883693,0.99999996192,0.000118872818735,-0.000246574517382,-3.50786911277e-05,1793239720009351424
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679,667,635,880,788,804,653,632,653,0.400993073154,0.0045900088305,0.0498616149436,0.999999961307,0.000121382828953,-0.000247767401491,-3.55385807369e-05,1793239720026018048
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714,679,667,635,880,788,804,653,632,653,0.400992971779,0.00458853209898,0.0498616014893,0.999999961479,0.000119505986955,-0.00024799819522,-3.54532091507e-05,1793239720042684672
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.782781311,745,714,679,667,635.217218689,880,788,804,653,631.782781311,653,0.4009969362,0.00458802249778,0.0498633710869,0.999999962396,0.00011857129475,-0.000244734266646,-3.54073443372e-05,1793239720059351296
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.194830352,745,714,679,667,635.805169648,880,788,804,653,631.194830352,653,0.40100783981,0.00458916352093,0.0498681838612,0.999999964531,0.000119244592047,-0.000235505812894,-3.54289066732e-05,1793239720076017920
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.387491677,745.387491677,714,679,667,636,880,788,804,653.387491677,631.387491677,653,0.401032377572,0.00458991564061,0.0498771869561,0.999999968618,0.000119592773791,-0.000217279022488,-3.53760411865e-05,1793239720092684800
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.967024063,745.967024063,714,679,667,636,880,788,804,653.967024063,631.967024063,653,0.401063672415,0.00459047502001,0.0498882667725,0.999999973271,0.00011977982842,-0.00019459265937,-3.52862892907e-05,1793239720109351424
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,653.455294357,632,653,0.401126038894,0.00458968213269,0.0499084396636,0.999999980679,0.000119138396517,-0.000152337960853,-3.52299745124e-05,1793239720126017792
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,653,631.878380971,653,0.401191675468,0.00458855585599,0.0499276901018,0.999999985967,0.000117903296446,-0.000113770754526,-3.49328712128e-05,1793239720142684672
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,653,631.303912009,653,0.401262507921,0.00458649199226,0.0499414629815,0.999999988504,0.000114643789358,-9.3330071054e-05,-3.37316773203e-05,1793239720159351808
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,714.278181187,679,667,635.721818813,880,788,804,653,631,653,0.401338655259,0.00458474428896,0.049951780829,0.999999990178,0.000111769846604,-7.8040024724e-05,-3.2569671441e-05,1793239720176018688
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,714.868838521,679,667,635.131161479,880,788,804,653,631,653,0.401420772713,0.00458335172337,0.0499582176972,0.99999999118,0.000109329001869,-6.85356018414e-05,-3.14516848655e-05,1793239720192685056
+125,2.083333333,POSE1_TO_POSE2_PRESS,766.450160201,745.549839799,714.549839799,679,666.549839799,635,879.549839799,788,804,653.450160201,631,653,0.401513592382,0.00458258352003,0.0499580758821,0.999999991205,0.000107587665669,-7.12323148834e-05,-3.06609245333e-05,1793239720209351424
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.97136728,745.02863272,714,679,666.02863272,635.02863272,879.02863272,788,804.02863272,653.97136728,631.02863272,653,0.401610888927,0.0045819677372,0.0499560905151,0.999999990945,0.000106007182923,-7.72895665142e-05,-2.99663795928e-05,1793239720226017792
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.396411691,745.603588309,714,679,666.603588309,635.603588309,879.603588309,788,804.603588309,653.396411691,631.603588309,653,0.401735317112,0.00458085965186,0.0499547597959,0.999999990913,0.000103686022716,-8.10145721324e-05,-2.93254466684e-05,1793239720242684416
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.822136358,879.822136358,788,804.644272716,653,632,653,0.401870248664,0.00457963708832,0.0499549830812,0.999999991097,0.000101699960106,-8.15764616134e-05,-2.84157336018e-05,1793239720259351040
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.249371439,879.249371439,788,803.498742878,653,632,653,0.402028500271,0.00457816035497,0.0499586566408,0.999999991771,0.00010045789735,-7.51154504393e-05,-2.69092622275e-05,1793239720276017664
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,714,679.334671455,667,635.334671455,879.334671455,788,803,653,632,653,0.402198135557,0.00457594838991,0.0499588428389,0.99999999201,9.7954505734e-05,-7.57763340203e-05,-2.5363673345e-05,1793239720292684544
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,714,679.927410953,667,635.927410953,879.927410953,788,803,653,632,653,0.402376548912,0.00457316948118,0.049956339903,0.999999991898,9.44784924263e-05,-8.19289713586e-05,-2.37879204543e-05,1793239720309351168
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,714,679.491441763,667,635.491441763,879.491441763,788,803.508558237,653,631.491441763,653,0.402593308911,0.00457221976301,0.0499582618593,0.999999992607,9.07059162651e-05,-7.77258118331e-05,-2.27246970526e-05,1793239720326017536
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.912616544,746,714,679,667,635,879.087383456,788,804.087383456,653,631,653.087383456,0.402821944515,0.00457123462548,0.0499606413885,0.999999993368,8.69896541971e-05,-7.23264159344e-05,-2.15752463223e-05,1793239720342684160
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.337720537,746,714,679,667,635,879.662279463,788,804.662279463,653,631,653.662279463,0.403086978623,0.0045686277267,0.0499621286226,0.999999993963,8.38184626226e-05,-6.83159436309e-05,-1.95456916506e-05,1793239720359350784
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.24241337,746,714,679.24241337,667,635,880,788,804.75758663,653,631,653.75758663,0.403369048254,0.00456584527165,0.0499674866192,0.999999995061,7.98209394041e-05,-5.65813595377e-05,-1.74561179446e-05,1793239720376017408
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.830005628,746,714,679.830005628,667,635,880,788,804.169994372,653,631,653.169994372,0.403675375203,0.00456281283745,0.0499783562982,0.999999996524,7.46467805939e-05,-3.38482060642e-05,-1.52810816441e-05,1793239720392684032
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714,679.588025441,667,635,880,788,804,653,631.411974559,653,0.404010151166,0.00455933102097,0.0499880666505,0.999999997369,6.95525187719e-05,-1.61813865951e-05,-1.27681841511e-05,1793239720409350656
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,714,679.00834565,667,635,880,788,804,653,631.99165435,653,0.40435650805,0.00455566627152,0.0499973050676,0.999999997869,6.44907812704e-05,-5.76954069162e-07,-1.01177513003e-05,1793239720426017280
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714,679.567099369,667,635.567099369,880,788,804,653,631.432900631,653,0.404741469158,0.00455191134982,0.0500016748534,0.999999998192,5.90100090553e-05,8.57526117385e-06,-7.82420722566e-06,1793239720442683904
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,714,679.857155426,667,636,879.857155426,788,804,653.142844574,631,653,0.40513398584,0.00454780911386,0.0500022124361,0.99999999852,5.3192871234e-05,1.02051568023e-05,-5.2071019478e-06,1793239720459350784
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,714,679.280310333,667,636,879.280310333,788,804,653.719689667,631,653,0.405547745038,0.00454265564574,0.0499913228214,0.999999998866,4.63723617368e-05,-1.07334388423e-05,-1.59109143545e-06,1793239720476017408
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,879,788,804,653.696655381,631,653,0.405960272125,0.00453839559338,0.0499747216856,0.999999998207,4.07664160262e-05,-4.38300102551e-05,1.63185344059e-06,1793239720492684032
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,879,788,804,653.106563089,631,653,0.406371634561,0.00453498007455,0.049952721523,0.999999995422,3.63085806169e-05,-8.84193583743e-05,4.48323896937e-06,1793239720509350656
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.526352733,879.473647267,788,804,653,631,653,0.406842995786,0.00452981321783,0.0499410749162,0.999999994146,3.01930777031e-05,-0.0001036549239,7.27766045631e-06,1793239720526017280
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714.051345344,679,667,635.051345344,880,788,804,653,631.051345344,653,0.407334556967,0.00452428221438,0.049933826473,0.99999999373,2.38440813366e-05,-0.00010894432238,1.00922274789e-05,1793239720542684160
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714.625637598,679,667,635.625637598,880,788,804,653,631.625637598,653,0.407897179082,0.00451897347932,0.0499481331748,0.999999996629,1.88377891247e-05,-7.88208185272e-05,1.32398384862e-05,1793239720559350784
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,879.800527685,788,804,652.800527685,631.800527685,653,0.408480483463,0.00451292856777,0.0499667922702,0.999999998714,1.66464864868e-05,-4.48214963064e-05,1.69362484485e-05,1793239720576017664
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,679,667,636,879.227549726,788,804,652.227549726,631.227549726,653,0.409102514701,0.00450550518918,0.0499936010852,0.999999999565,1.97261637276e-05,-3.56482776125e-06,2.16602670316e-05,1793239720592684288
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.642353139,746,714.642353139,679,667,635.642353139,879,788,804,652.357646861,631,653,0.409714979449,0.00449933152427,0.0500062449346,0.999999998138,5.36674718652e-05,1.44046587892e-05,2.52139127921e-05,1793239720609350912
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.049107596,746,714.049107596,679,667,635.049107596,879,788,804,652.950892404,631,653,0.410321142279,0.00449398110441,0.0500095576589,0.999999993638,0.000107938776742,1.70337898068e-05,2.79965791114e-05,1793239720626017280
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.468179244,714,679,667,635,879.531820756,788,804,653,631,653,0.410922446534,0.00448595449873,0.0499882990725,0.999999995073,8.9350578922e-05,-3.11322981725e-05,3.00236971559e-05,1793239720642683904
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.110474575,745.110474575,714,679,667,635,880,788,804,653,631,652.889525425,0.411537556506,0.0044772322644,0.0499666339544,0.99999999506,5.562751137e-05,-7.69397879938e-05,2.94096753108e-05,1793239720659350528
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.684251222,745.684251222,714,679,667,635,880,788,804,653,631,652.315748778,0.412212402819,0.00446660562354,0.0499525636731,0.999999995357,-1.39915386647e-05,-9.36309932881e-05,1.80053479111e-05,1793239720676017408
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.735191771,714,679,667,635,880,788,804,653,631,652.264808229,0.412931899467,0.00445716669851,0.0499579611096,0.999999995817,-4.91242242234e-05,-7.59939548975e-05,1.33452067599e-05,1793239720692684032
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.146337559,714,679,667,635,880,788,804,653,631,652.853662441,0.413706034847,0.00444918118062,0.0499871812017,0.999999998839,-4.20559347654e-05,-1.63494271738e-05,1.69379287762e-05,1793239720709350656
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.435459374,714,679,667,635,880,788,803.564540626,652.564540626,631,653,0.414446001114,0.00444524783766,0.0499877560375,0.999999998881,-3.89283570781e-05,-1.79513226055e-05,2.00246840735e-05,1793239720726017280
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,714,679.014854229,667,635.014854229,880,788,803.014854229,652.014854229,631,653,0.415174918837,0.00444291878867,0.0499784185042,0.999999998244,-3.69706618464e-05,-4.02632320124e-05,2.28956605067e-05,1793239720742684160
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,714,679.591667319,667,635.591667319,880,788,803.591667319,652.591667319,631,653,0.415913332918,0.00445058727273,0.0499524517897,0.999999996078,-2.99705087156e-05,-7.98337798983e-05,2.39333725167e-05,1793239720759350528
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.828907587,746,714,680,667,635.828907587,880,788,804,653,631.171092413,653,0.416676883567,0.00446376213039,0.049939740211,0.999999994868,-1.44693220901e-05,-9.73980629002e-05,2.38220206906e-05,1793239720776017152
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.243152019,746,714,680,667,635.243152019,880,788,804,653,631.756847981,653,0.417501355681,0.0044902823499,0.0499591540583,0.999999997648,2.16351467801e-05,-6.16274994201e-05,2.09257736757e-05,1793239720792683776
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.33907329,746,714,679.66092671,667,635,880,788,804,652.66092671,632,653,0.418331908137,0.00449788360719,0.0499795815097,0.999999999018,2.95590055927e-05,-2.58819272646e-05,2.05066743273e-05,1793239720809350656
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.918793085,746,714,679.081206915,667,635,880,788,804,652.081206915,632,653,0.419166775888,0.00449205773038,0.0500007283336,0.99999999956,1.74825693201e-05,9.8459065364e-06,2.18456520385e-05,1793239720826017280
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.503358979,635,880,788,804,652,631.503358979,653,0.419966901555,0.00448166151821,0.0499832346759,0.999999999499,3.00008031969e-06,-2.20068782144e-05,2.2533776391e-05,1793239720842684160
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.073698635,635,880,788,804,652,631,653,0.42077294818,0.00447164859301,0.0499655142282,0.999999998291,-9.93948340125e-06,-5.2819554787e-05,2.30049936216e-05,1793239720859350784
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.647462404,635,880,788,804,652,631,653,0.421657570465,0.00446928801212,0.0499889646376,0.999999999693,-9.75044341588e-06,-1.87732095462e-06,2.27238315847e-05,1793239720876017408
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788,804,652.227862299,631.227862299,653,0.422533871275,0.00446695566826,0.050003374543,0.999999999253,-1.03639818709e-05,2.92677904931e-05,2.30134612508e-05,1793239720892684032
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788,804,652.818837365,631.818837365,653,0.423396911433,0.0044646683215,0.0500033778456,0.999999999215,-1.22564790668e-05,2.88649621822e-05,2.4212683083e-05,1793239720909350912
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,714,679.401991607,667,635,880,788,804,652.598008393,631.598008393,653,0.424249769824,0.00446944065467,0.0499928887068,0.99999999959,-9.03534085272e-06,1.1941105216e-05,2.44077500083e-05,1793239720926017280
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679.981688522,667,635,880,788,804,652.018311478,631.018311478,653,0.425098127187,0.00447733380586,0.0499777612559,0.999999999626,-3.55365742466e-06,-1.22860745755e-05,2.41589178869e-05,1793239720942684160
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.443023782,746,714.556976218,680,667,635,880,788,804,652,631.556976218,653,0.425981648639,0.00448123368172,0.0499986942863,0.999999999534,7.79713117659e-07,1.66962553559e-05,2.55415142192e-05,1793239720959350784
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.132042025,746,714.867957975,680,667,635,880,787.867957975,804,652.132042025,632,653,0.426849530924,0.00448230394091,0.0500130920036,0.999999999147,3.04069216745e-06,3.08795179994e-05,2.72529731941e-05,1793239720976017152
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.706846019,746,714.293153981,680,667,635,880,787.293153981,804,652.706846019,632,653,0.427661125973,0.00447432272502,0.050001631438,0.999999999498,-1.52185363169e-06,-1.03811239584e-05,2.9888732546e-05,1793239720992683776
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.711493632,714,679.711493632,667,635,880,787.288506368,804.288506368,653,632,653,0.428485326533,0.00446923621764,0.0499809231684,0.999999998235,-5.65676244794e-06,-5.06946686896e-05,3.04757910392e-05,1793239721009351168
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.122696919,714,679.122696919,667,635,880,787.877303081,804.877303081,653,632,653,0.429322647422,0.00446716265298,0.0499505894752,0.999999995486,-9.34656725886e-06,-9.00224296242e-05,2.89304697938e-05,1793239721026018816
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.460046893,714,679,667,635,880,788,805,652.539953107,631.539953107,653,0.430197952292,0.00446703654232,0.0499594764787,0.999999997471,-1.16305868258e-05,-6.41569475455e-05,2.84017068418e-05,1793239721042685184
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714.040666876,679.040666876,667,635.040666876,880.040666876,788,805,652,631.040666876,653,0.431076969747,0.00446760638096,0.049976050219,0.999999999169,-1.27661658276e-05,-2.65252835067e-05,2.82178655458e-05,1793239721059351296
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714.614333894,679.614333894,667,635.614333894,880.614333894,788,805,652,631.614333894,653,0.431873593884,0.00447057861495,0.0499580517942,0.999999997795,-3.69992089861e-06,-5.96084448328e-05,2.90474333199e-05,1793239721076017920
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.807316648,714.807316648,680,667,635.807316648,881,788,804.807316648,652,631.807316648,653,0.432671255048,0.00447246969622,0.0499468075765,0.999999996427,7.9286607946e-07,-7.91765316918e-05,2.96162280054e-05,1793239721092684544
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.219361499,714.219361499,680,667,635.219361499,881,788,804.219361499,652,631.219361499,653,0.433471043721,0.00447214289479,0.0499494189767,0.99999999703,-4.09636464658e-06,-7.10197190592e-05,2.96500714056e-05,1793239721109351424
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.636663867,745.363336133,714.363336133,680,667.363336133,635,880.636663867,788,804,652,631,653,0.434300224068,0.00446865487099,0.0499685847436,0.999999998561,-8.87774047608e-06,-4.29195101983e-05,3.09496347966e-05,1793239721126017792
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.05709518,745.94290482,714.94290482,680,667.94290482,635,880.05709518,788,804,652,631,653,0.43514689626,0.00446328550615,0.0499976025251,0.999999999359,-1.35949282216e-05,-2.95037078167e-06,3.30024672005e-05,1793239721142684160
+182,3.033333333,POSE1_TO_POSE2_PRESS,765,746,714.479882729,680,667.479882729,635,880.520117271,788,804,652,631.520117271,653,0.435875023691,0.00446533692803,0.0499829358277,0.999999998422,-1.37007570913e-05,-4.3317792214e-05,3.30329484935e-05,1793239721159351040
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.096852709,746,714,680,667,635,881,788,804.096852709,652,632,653,0.436594761061,0.00446783074422,0.0499656840419,0.999999995807,-1.36858640874e-05,-8.43906763603e-05,3.28116621137e-05,1793239721176017920
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.672502885,746,714,680,667,635,881,788,804.672502885,652,632,653,0.437337062543,0.00446850266477,0.0499592521884,0.999999995693,-1.55653496439e-05,-8.55511836691e-05,3.24382727668e-05,1793239721192684800
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,745.745577839,714,680,667,635,881,788,804.745577839,652,632,653,0.438078169229,0.0044672706164,0.0499665951707,0.999999997274,-1.53565137541e-05,-6.43681127885e-05,3.27490585273e-05,1793239721209351680
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,745.155385037,714,680,667,635,881,788,804.155385037,652,632,653,0.438817699037,0.00446352582749,0.0499921173303,0.999999999253,-1.23916401341e-05,-1.36973683869e-05,3.3962776271e-05,1793239721226018304
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,745.426077144,714,680,667,635,880.573922856,787.573922856,804,652,631.573922856,653,0.439506046719,0.00446324100295,0.0499860676672,0.999999999167,6.06334341095e-06,-2.05839476418e-05,3.47224164076e-05,1793239721242684928
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714.0043929,680,667,635,880.0043929,787.0043929,804.008785801,652,631.0043929,653,0.440175581858,0.0044641837982,0.049968661462,0.999999997771,2.9817558398e-05,-4.8171069664e-05,3.5325830559e-05,1793239721259351296
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,714.579273024,680,667,635,880.579273024,787.579273024,805.158546048,652,631.579273024,653,0.440777340057,0.00446397726295,0.0499416608863,0.999999994754,2.28725254901e-05,-9.28449973821e-05,3.67143334805e-05,1793239721276017920
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.846268346,746,714.846268346,680,667,635,881,787.846268346,805.692536691,652,632,653,0.441378373425,0.00446550927274,0.0499226329451,0.999999991415,1.88310649902e-05,-0.000123991529597,3.79671744615e-05,1793239721292684032
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.27295996,746,714.27295996,680,667,635,881,787.27295996,804.54591992,652,632,653,0.44197742866,0.00447178625871,0.0499253645497,0.999999992,2.27142651735e-05,-0.000118218022136,3.88497565076e-05,1793239721309350656
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.310451142,745.689548858,714.310451142,680,667,635,881,787.310451142,804.310451142,652,632,653,0.442551150112,0.0044808377194,0.0499245300356,0.999999991899,3.20697279517e-05,-0.000116688029283,3.94665774858e-05,1793239721326017792
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.903043669,745.096956331,714.903043669,680,667,635,881,787.903043669,804.903043669,652,632,653,0.44310184791,0.0044924106526,0.0499204545937,0.999999991048,4.63984424268e-05,-0.000119014589122,3.98418718487e-05,1793239721342684672
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.516523264,745.483476736,714.516523264,680,666.516523264,634.516523264,880.516523264,787.516523264,805,652.483476736,632,653,0.443595862557,0.00450760375341,0.0498915596627,0.999999982771,6.62144695338e-05,-0.00016878851079,3.97960133054e-05,1793239721359351552
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.93863699,714,680,666,634,880.06136301,787.06136301,805,652.93863699,631.93863699,653,0.444073955661,0.00452206950976,0.0498575089323,0.999999969696,8.47345328201e-05,-0.00022773879654,3.95281306169e-05,1793239721376018432
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.362162325,714,680,666,634,880.637837675,787.637837675,805,652.362162325,631.362162325,653,0.444511476606,0.00452448478466,0.0498209347128,0.999999954957,8.33647451599e-05,-0.00028580525955,3.80880561251e-05,1793239721392684544
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.218606339,714,680,666,634,881,787.781393661,805,652,631.218606339,653,0.444946013048,0.00452556293171,0.0497959170156,0.999999945382,6.45782228946e-05,-0.000322549323714,3.20472894674e-05,1793239721409351168
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.806631291,714,680,666,634,881,787.193368709,805,652,631.806631291,653,0.445375505991,0.0045243814921,0.0497904284649,0.999999947451,1.63594990075e-05,-0.000323261074527,1.82319026088e-05,1793239721426018048
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.388933074,746,714,680,665.611066926,634,880.611066926,787,805,652,631.611066926,652.611066926,0.445806390564,0.00452268272089,0.0497956900556,0.999999953223,-1.16204392257e-06,-0.000305526482971,1.43703313823e-05,1793239721442684672
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.968430741,746,714,680,665.031569259,634,880.031569259,787,805,652,631.031569259,652.031569259,0.446237957028,0.00452073047387,0.0498062188664,0.999999961023,-3.64296795092e-06,-0.000278753781979,1.53858057976e-05,1793239721459351296
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,746,714,680,665,634,880.544990989,787.544990989,805,652,631,652.544990989,0.446596278612,0.00452405361702,0.0497969249219,0.999999957232,2.56619773017e-06,-0.00029202545351,1.58423986829e-05,1793239721476018176
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.880198756,745.880198756,714,680,665,633.880198756,880.880198756,788,805,652,631.119801244,653,0.446932628831,0.00452884672565,0.0497817468981,0.999999950031,1.05206327524e-05,-0.00031555930895,1.58132848963e-05,1793239721492684800
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.311313894,745.311313894,714,680,665,633.311313894,880.311313894,788,805,652,631.688686106,653,0.447202437078,0.00453801074692,0.0497487932244,0.999999931585,2.31404828932e-05,-0.000368913063588,1.40841699392e-05,1793239721509351680
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.270816954,714,680,665,633,880,787.729183046,805,652,632,653,0.447466155644,0.00454689994109,0.049720740049,0.999999912866,6.41856233188e-05,-0.000412292506918,1.27985570579e-05,1793239721526018048
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.868957567,714,680,665,633,880,787.131042433,805,652,632,653,0.447722513885,0.00455545696419,0.0496986098766,0.999999891787,0.000139587068378,-0.000443616467262,1.20489842638e-05,1793239721542684416
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714,680.45056646,665,632.54943354,880.45056646,787,805,652,631.54943354,652.54943354,0.447979844547,0.00456738129306,0.0496992254632,0.999999889061,0.000164656812526,-0.000441118873893,1.34458788187e-05,1793239721559351296
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714.027529829,680.972470171,665,632,881,787,805,652.027529829,631,652,0.448236009122,0.00458070368702,0.0497062149801,0.999999892309,0.000175985356199,-0.00042915991838,1.524178408e-05,1793239721576017664
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,714.604341307,680.395658693,665,632,881,787,805,652.604341307,631,652,0.448463464569,0.00460307206126,0.0497130589061,0.999999893673,0.000194878728206,-0.000417742310072,1.29839599651e-05,1793239721592684288
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,746,714.816325302,680,664.816325302,632,881,787,805,652.816325302,631.183674698,652.183674698,0.448674390477,0.00461731893408,0.0497188807799,0.999999894787,0.000205979070745,-0.00040970409406,1.18417748153e-05,1793239721609351168
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,746,714.231483838,680,664.231483838,632,881,787,805,652.231483838,631.768516162,652.768516162,0.448849213935,0.0046138275064,0.0497224703726,0.999999896242,0.000200058534091,-0.000409046863191,1.31362743913e-05,1793239721626018304
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.649686955,714,680,664,632,881,787.350313045,805,652,632,653,0.449004626663,0.00460999562201,0.0497214309743,0.999999896541,0.000193175937346,-0.000411588722618,1.39786168252e-05,1793239721642685184
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.069884514,714,680,664,632,881,787.930115486,805,652,632,653,0.449147323476,0.00460594070473,0.0497173591333,0.999999896037,0.000185663096301,-0.00041622629981,1.45247521199e-05,1793239721659351808
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.508600292,714,680,664,632,880.491399708,787.491399708,805,652,632,653,0.449266403744,0.00460832829812,0.0497138623562,0.999999892802,0.000187795813559,-0.000422985272101,1.4560542832e-05,1793239721676017920
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,680.086233799,664.086233799,632,880,787,805,652,632,653,0.449379663462,0.00461087987439,0.0497108609155,0.999999889697,0.000190167237565,-0.000429218290478,1.46020869287e-05,1793239721692684288
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,680.660074987,664.660074987,632,880,787,805,652,632,653,0.449478312673,0.00460936606935,0.0497102146984,0.999999889703,0.00018641360474,-0.000430833341137,1.50716547233e-05,1793239721709350912
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714.240801861,681,664.759198139,632,880.240801861,787,804.759198139,652,632,653,0.449566927504,0.00460859465439,0.0497098740696,0.999999889742,0.000184622238739,-0.000431504984971,1.52925924506e-05,1793239721726017792
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714.831534917,681,664.168465083,632,880.831534917,787,804.168465083,652,632,653,0.449640960457,0.0046089020744,0.0497099775193,0.999999889849,0.000185682422267,-0.000430805678021,1.51522230714e-05,1793239721742684416
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.586309919,714.586309919,680.586309919,664,631.586309919,880.586309919,787.413690081,804.413690081,652.413690081,632,652.586309919,0.44970033997,0.00461070494971,0.0497078810792,0.99999988783,0.000187715191303,-0.000434602168673,1.49686097595e-05,1793239721759351296
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.007576946,714.007576946,680.007576946,664,631.007576946,880.007576946,787.992423054,804.992423054,652.992423054,632,652.007576946,0.449753873448,0.00461310444136,0.0497049069865,0.99999988493,0.000190135976198,-0.000440192271199,1.47677441547e-05,1793239721776018176
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.566788881,745.566788881,714,680,664,631.566788881,880.566788881,787.433211119,805,653,632,652.566788881,0.449794293333,0.00461266141947,0.0497046193244,0.999999884718,0.000191042677882,-0.00044028370575,1.47293959132e-05,1793239721792685056
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,714,680,664,632,881,787,805.141795425,653,632,653,0.449831710041,0.00461311847928,0.0497046014042,0.999999884503,0.000192741035996,-0.000440038257246,1.45284938032e-05,1793239721809351680
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,714,680,664,632,881,787,805.718946943,653,632,653,0.44986044018,0.00461645484775,0.0497053022557,0.999999884161,0.000196931695278,-0.000438982437457,1.38218812768e-05,1793239721826017792
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.69628273,746,714,680,664,632,881,787,805.69628273,653,631.69628273,653,0.449883124488,0.00461746443398,0.0497057575724,0.999999884092,0.000197542481928,-0.000438868922082,1.36885966406e-05,1793239721842684160
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.104280654,746,714,680,664,632,881,787,805.104280654,653,631.104280654,653,0.449900070168,0.00461626546667,0.0497059798306,0.99999988429,0.000194755296713,-0.000439649830687,1.40995079097e-05,1793239721859350784
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.476005187,745.523994813,714.476005187,680,664,632,881,787,805,653,631.476005187,653,0.449911017181,0.00461366667271,0.0497055069968,0.999999884404,0.000192651841278,-0.000440298390094,1.46518519383e-05,1793239721876017408
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.946600342,745,714.946600342,680.053399658,664,631.946600342,881,787,805,653,631.946600342,653,0.449920264839,0.00461113108296,0.0497050211637,0.999999884447,0.000190995495814,-0.000440905530465,1.51525034874e-05,1793239721892684288
+227,3.783333333,POSE1_TO_POSE2_PRESS,765.372968923,745,714.372968923,680.627031077,664,631.372968923,881,787,805,653,631.372968923,653,0.449925452246,0.00461212708736,0.0497058565684,0.999999883995,0.000192270784873,-0.000441384841477,1.48549502284e-05,1793239721909350912
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745.205356482,714,680.794643518,664,631,881,787,805,652.794643518,631.205356482,653,0.449928962072,0.00461358767196,0.0497056766471,0.99999988326,0.000193897240913,-0.00044235255552,1.44151381146e-05,1793239721926017792
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745.792406505,714,680.207593495,664,631,881,787,805,652.207593495,631.792406505,653,0.449929353802,0.00461591176595,0.0497036095519,0.999999881994,0.000196176406583,-0.000444228058176,1.37109112527e-05,1793239721942684928
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.374797206,746,714,680,664,631,881,787,805,652,631.625202794,653,0.449929387407,0.00461654252088,0.0497016272406,0.999999880658,0.000197652890682,-0.00044657343157,1.3763484308e-05,1793239721959351552
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.954638861,746,714,680,664,631,881,787,805,652,631.045361139,653,0.449929225088,0.00461624688202,0.0496996913129,0.99999987928,0.00019869024283,-0.000449175862277,1.42300882783e-05,1793239721976017920
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.468500769,746,714.531499231,680,663.468500769,631,880.468500769,787,805.531499231,652,631,653,0.449933582841,0.00461505921077,0.049701768998,0.999999881358,0.000196520212941,-0.000445491564706,1.4190792229e-05,1793239721992684288
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714.890166716,680,663.219666569,631,880,787,805.890166716,652,631,653,0.44993725903,0.00461467597444,0.0497035108617,0.999999882941,0.000195461347773,-0.00044239825096,1.40333802627e-05,1793239722009350912
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,746,714.30434982,680,664.391300359,631,880,787,805.30434982,652,631,653,0.449936319053,0.00461810699984,0.0497023211769,0.999999881181,0.000200397599538,-0.000444178330264,1.35501596646e-05,1793239722026017536
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.721722708,714,680,664.721722708,631,880.278277292,787,805,652.278277292,631.278277292,653,0.449936627678,0.00461909676535,0.049702211592,0.999999880727,0.000201847247793,-0.000444546164991,1.34892367837e-05,1793239722042684416
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.14254463,714,680,664.14254463,631,880.85745537,787,805,652.85745537,631.85745537,653,0.449938286414,0.00461744680093,0.0497032699173,0.999999881702,0.000199526837922,-0.000443386942167,1.38849436827e-05,1793239722059351296
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.436908638,745,714,680,664,631,880.563091362,787,805,653,631.563091362,653,0.449938317632,0.00461650562981,0.049703251828,0.999999881955,0.00019794290769,-0.000443535177444,1.36328902045e-05,1793239722076017920
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.983706825,745.016293175,714,680,664,631,880,786.983706825,805,653,631,653,0.449937799774,0.00461579616144,0.0497028780268,0.999999881948,0.000196629063254,-0.000444146760556,1.31863988928e-05,1793239722092684544
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.40974841,745.59025159,714,680,664,631,880,786.40974841,805,653,631,653,0.449936674322,0.00461509723396,0.0497023569636,0.999999881177,0.000196330129907,-0.000446008012511,1.332285645e-05,1793239722109351168
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714,680.167933614,664,631,880,786.167933614,804.832066386,652.832066386,631,653,0.449936098692,0.00461499139357,0.0497020814163,0.999999880662,0.000196450729993,-0.000447103850979,1.3460572482e-05,1793239722126017792
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,680.754907016,664,631,880,786.754907016,804.245092984,652.245092984,631,653,0.449936895013,0.00461636546592,0.0497024184976,0.999999880794,0.000197618179488,-0.000446289775664,1.36014287405e-05,1793239722142684416
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.339369803,746,714,681,664,631,880,787,804.339369803,652,631,653,0.449937721583,0.00461618892698,0.0497028141825,0.999999881359,0.000197136824384,-0.000445236945732,1.35029988093e-05,1793239722159350784
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.922032712,746,714,681,664,631,880,787,804.922032712,652,631,653,0.449938569838,0.00461490075978,0.0497032518801,0.999999882234,0.000195473446577,-0.000444012953428,1.32330253809e-05,1793239722176017408
+244,4.066666667,POSE1_TO_POSE2_PRESS,766,746,714,680.500358608,664,631,880,787,805.499641392,652,631,653,0.449939624407,0.00461508717584,0.0497040415296,0.999999882402,0.000195949488709,-0.000443422755743,1.32723025774e-05,1793239722192684288
+245,4.083333333,POSE1_TO_POSE2_PRESS,766,746,714,680,664,631,880,787,805.924243103,652.075756897,631,653,0.44994042777,0.00461555191305,0.0497045545807,0.999999882317,0.000196790302319,-0.000443239153868,1.33385025333e-05,1793239722209351168
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,746,714,680,664,631,880,787,805.352789135,652.647210865,631,653,0.449939378881,0.00461634722842,0.0497029020129,0.999999881293,0.000197855325574,-0.000445075357241,1.32682660159e-05,1793239722226018048
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.773896838,746,714,680.226103162,664,631,880,787,805,653,631,652.773896838,0.449938550615,0.00461697959872,0.0497016562786,0.999999880529,0.000198383884235,-0.000446554702949,1.32519279962e-05,1793239722242684672
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.183003611,746,714,680.816996389,664,631,880,787,805,653,631,652.183003611,0.449938078297,0.00461734907701,0.0497010669205,0.99999988019,0.000198046922417,-0.000447458302322,1.33225486633e-05,1793239722259351296
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714.401141981,680.598858019,664,631,880.401141981,787,805,652.598858019,631.401141981,652,0.449939469627,0.00461627037021,0.0497020831267,0.999999880758,0.000198376152785,-0.000446036486383,1.35297025206e-05,1793239722276017664
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714.982260147,680.017739853,664,631,880.982260147,787,805,652.017739853,631.982260147,652,0.4499416971,0.0046145419213,0.0497038196848,0.999999881726,0.000199004276665,-0.000443571350574,1.37981132948e-05,1793239722292684288
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714.443704138,680,664,631,881,787,804.443704138,652.556295862,631.443704138,652,0.449939964264,0.00461638143198,0.0497029774922,0.999999880613,0.000200496173771,-0.000445415397741,1.34225901974e-05,1793239722309350912
+252,4.200000000,HOLD_POSE2,766,746,714,680,664,631,881,788,805,652,631,653,0.449940781171,0.00461686499111,0.0497018923776,0.999999880704,0.000200615839286,-0.000445165071158,1.31478311777e-05,1793239722350577408
+253,4.216666667,HOLD_POSE2,765.420744866,746,714.579255134,680,664,631.579255134,881,787.420744866,805,652.579255134,631.579255134,653,0.4499409641,0.00461834508567,0.0497024907128,0.999999881021,0.000199330649867,-0.000445046028838,1.2630403847e-05,1793239722367244288
+254,4.233333333,HOLD_POSE2,765,746,714.842129434,680,664,631.842129434,880.842129434,787,805,652.842129434,631.842129434,653,0.449941116935,0.00461896834932,0.0497028015853,0.99999988121,0.00019824005925,-0.000445116929416,1.23599867567e-05,1793239722383910912
+255,4.250000000,HOLD_POSE2,765,746,714.265211879,680,664,631.265211879,880.265211879,787,805,652.265211879,631.265211879,653,0.449941189888,0.00461731726649,0.0497023494256,0.999999881062,0.000197666005691,-0.000445692008809,1.27452262699e-05,1793239722400577792
+256,4.266666667,HOLD_POSE2,765,745.689462416,714,680,664,631,880.310537584,787,804.689462416,652,631,652.689462416,0.449940327572,0.00461768317324,0.049701531003,0.999999880354,0.000198368147608,-0.000446973274263,1.25678204595e-05,1793239722417244160
+257,4.283333333,HOLD_POSE2,765,745.114706847,714,680,664,631,880.885293153,787,804.114706847,652,631,652.114706847,0.44993866949,0.00461976521673,0.049700400949,0.999999879162,0.000200156128488,-0.000448855391456,1.19116931401e-05,1793239722433910528
+258,4.300000000,HOLD_POSE2,765.472592711,745,714,680,664,631,881,787,804.472592711,652,631.472592711,652.472592711,0.449938594992,0.00461917670139,0.049700580385,0.999999879038,0.000200864948326,-0.000448810087255,1.21178961856e-05,1793239722450577152
+259,4.316666667,HOLD_POSE2,766,745.061794266,714,680,664,631,881,787,805,652.061794266,631.938205734,653,0.449939043344,0.00461802145278,0.0497011446463,0.999999879247,0.000201193174991,-0.000448186383482,1.24905521332e-05,1793239722467244032
+260,4.333333333,HOLD_POSE2,766,745.640738309,714,680,664,631,881,787,805,652.640738309,631.359261691,653,0.449940562951,0.00461769584622,0.0497021969975,0.999999880015,0.000200588109531,-0.000446744005426,1.24568366023e-05,1793239722483910656
+261,4.350000000,HOLD_POSE2,765.781859085,746,714.218140915,680,663.781859085,631,881,787,805.218140915,652.781859085,631.218140915,653,0.449941613395,0.00461757329227,0.0497029018696,0.999999880615,0.000199881456196,-0.000445713235863,1.25310676125e-05,1793239722500577280
+262,4.366666667,HOLD_POSE2,765.206977356,746,714.793022644,680,663.206977356,631,881,787,805.793022644,652.206977356,631.793022644,653,0.449941896584,0.00461778280421,0.0497030384848,0.999999880945,0.000199008669293,-0.000445355598072,1.27818310163e-05,1793239722517244416
+263,4.383333333,HOLD_POSE2,765.363469423,746,714.636530577,680,663.363469423,631,881,787,805.636530577,652.363469423,631.636530577,653,0.449942078324,0.00461812443471,0.0497029448174,0.99999988084,0.000199300961526,-0.000445464721169,1.26944261815e-05,1793239722533911040
+264,4.400000000,HOLD_POSE2,765.931421219,746,714.068578781,680,663.931421219,631,881,787,805.068578781,652.931421219,631.068578781,653,0.449942202989,0.00461854039312,0.0497027215966,0.999999880488,0.000200248709491,-0.000445836436815,1.24167730588e-05,1793239722550577664
+265,4.416666667,HOLD_POSE2,765.474836763,746,714,680,664,631,881,787,805,653,631.525163237,653,0.449942153986,0.00461944747669,0.04970325948,0.99999988075,0.000200385633579,-0.000445189264594,1.23475413326e-05,1793239722567244288
+266,4.433333333,HOLD_POSE2,765.118795174,746,714.118795174,680,664,631,880.881204826,787,805,653,631.881204826,653,0.449942013223,0.00461996256691,0.0497034565112,0.999999880953,0.000200045852616,-0.000444887996525,1.22917503551e-05,1793239722583910912
+267,4.450000000,HOLD_POSE2,765.698265802,746,714.698265802,680,664,631,880.301734198,787,805,653,631.301734198,653,0.449941609112,0.00461869599856,0.0497019264262,0.999999880598,0.000198289263371,-0.000446470718381,1.21770862425e-05,1793239722600577280
+268,4.466666667,HOLD_POSE2,766,746,715,680,664,631.275412128,880.275412128,787,805,653,631.275412128,653,0.449941621792,0.00461825631902,0.0497015583865,0.999999880408,0.000198260346061,-0.000446906522522,1.22699033041e-05,1793239722617243904
+269,4.483333333,HOLD_POSE2,766,746,715,680,664,631.850033284,880.850033284,787,805,653,631.850033284,653,0.449942087274,0.00461871497544,0.0497024527983,0.999999880398,0.000200108379767,-0.000446096309776,1.25881288951e-05,1793239722633910784
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,714,679,664,631,881,787,805,653,631,653,0.449939437416,0.0046183036364,0.0497021341393,0.99999987992,0.000199408391095,-0.00044748322895,1.24140976554e-05,1793239722666559744
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,679.579813394,664,631,881,787,805,653,631,653,0.449941512157,0.00461871467956,0.0497030294484,0.999999880222,0.000199695849225,-0.000446690016999,1.20870177405e-05,1793239722683226368
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,664,631,881,787,805,653,631,653,0.449942748137,0.00461861495559,0.0497033332009,0.999999880466,0.000199530529859,-0.000446218338116,1.20163380674e-05,1793239722699892736
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,664,631,881,787,805,653,631,653,0.449941776242,0.00461717073577,0.0497020797951,0.999999880561,0.000198173361116,-0.000446593032852,1.26205825127e-05,1793239722716559104
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,746,714.311269674,680,663.688730326,631,880.688730326,787,805,653,631,653,0.449941186273,0.0046168592455,0.0497014018815,0.999999880324,0.000198181133454,-0.000447117097278,1.27686014943e-05,1793239722733225472
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,714.883767321,680,663.116232679,631,880.116232679,787,805,653,631,653,0.449940916831,0.00461749838002,0.0497012069405,0.999999879807,0.000199334410308,-0.000447766517747,1.25337406952e-05,1793239722749892096
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.469750718,746,715,680,663,631,880.469750718,787,805,653,631.469750718,653,0.449940949536,0.00461897639552,0.0497013137232,0.999999879571,0.000200702413123,-0.000447696227916,1.20564240861e-05,1793239722766558720
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.941525628,746,714.941525628,680,663.058474372,631,881,787,805,653,631.941525628,653,0.449940531751,0.00462021122264,0.0497012838951,0.999999879364,0.000201600783721,-0.000447764450917,1.16511266128e-05,1793239722783225344
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.359032098,746,714.359032098,680,663.640967902,631,881,787,805,653,631.359032098,653,0.449935387111,0.00461735160579,0.0496993410124,0.999999878787,0.000197800332281,-0.000450717007864,1.24447396965e-05,1793239722799892480
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.220434995,746,714,680.220434995,664,631,881,787,805,653,631.220434995,653,0.449922010601,0.00461624209959,0.0496936696749,0.999999874721,0.000196621096353,-0.000460146479924,1.27693587248e-05,1793239722816559872
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.795039506,746,714,680.795039506,664,631,881,787,805,653,631.795039506,653,0.449895408074,0.0046179444695,0.0496820078867,0.999999864802,0.000199653327373,-0.000479982311441,1.23404521405e-05,1793239722833226240
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,663.623571906,631,881,787,805,653,631.623571906,653,0.449851899826,0.00461933925441,0.0496655109614,0.999999849885,0.000201070145149,-0.000509568586373,1.18779432947e-05,1793239722849892608
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,714,681,663.038421622,631,881,787,805,653,631.038421622,653,0.449799017678,0.00462056348946,0.0496463330438,0.999999831342,0.000201591247243,-0.000544561297374,1.13968025863e-05,1793239722866558720
+283,4.716666667,POSE2_TO_POSE3_RETREAT,766,746,714.541823966,680.458176034,663.541823966,631,881,787,805,652.458176034,631,652.458176034,0.449731813437,0.00462119600079,0.0496317301649,0.999999820451,0.000202821310328,-0.000563777034045,1.08362335988e-05,1793239722883225344
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,631,881,787,805,652.121258081,631,652.121258081,0.4496597828,0.00462182587296,0.0496187753996,0.999999810665,0.000204162051155,-0.000580418426582,1.01589921523e-05,1793239722899891968
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,631,881,787,805,652.698935336,631,652.698935336,0.449573373903,0.00462260233363,0.049610813996,0.999999803834,0.000205731853238,-0.00059154322482,9.06360210034e-06,1793239722916558848
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.724134453,746,714.724134453,680,664,631,881,787,805,653,631.275865547,653,0.449476908964,0.00462390791867,0.0496057961648,0.999999799213,0.00020779987292,-0.000598602332422,8.27555507011e-06,1793239722933225728
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.148017358,746,714.148017358,680,664,631,881,787,805,653,631.851982642,653,0.449369499053,0.00462578940162,0.0496039821128,0.999999797091,0.000210410151632,-0.000601236349298,7.82201967885e-06,1793239722949892608
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.437727001,664,631.437727001,881,787,805,653,631.562272999,653,0.449251967215,0.0046268543973,0.0496064475448,0.999999798177,0.000212937422498,-0.000598536330884,7.57986308195e-06,1793239722966559488
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.026302957,746,714,681,664,632,881,787,805,653,631.026302957,653,0.449129390801,0.00462762295298,0.0496102405263,0.999999800225,0.000215443580024,-0.000594204352932,7.39837569505e-06,1793239722983226112
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.604450392,746,714,681,664,632,881,787,805,653,631.604450392,653,0.448974402377,0.00462809493212,0.0496108423851,0.999999799578,0.000218108915956,-0.000594326632264,6.9563979826e-06,1793239722999892736
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,746,714.181849305,681,664,632,881,787,805,653,632,653,0.448809726296,0.00462906899373,0.0496120378803,0.999999799646,0.000221382694938,-0.000593005510584,6.43663933486e-06,1793239723016559360
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,746,714.757626672,681,664,632,881,787,805,653,632,653,0.448624064507,0.00463113068315,0.0496145193303,0.999999801251,0.000225974503302,-0.000588557645216,5.74838907473e-06,1793239723033225472
+293,4.883333333,POSE2_TO_POSE3_RETREAT,766,746,714.666984896,680.333969791,664,632,880.666984896,787,805.333015104,653,631.666984896,653,0.448408548159,0.00463369967093,0.0496125519072,0.999999797944,0.000230683522457,-0.000592346350221,4.70690251326e-06,1793239723049891840
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,746,714.091879146,679.183758292,664,632,880.091879146,787,805.908120854,653,631.091879146,653,0.448171328543,0.00463663744757,0.049607350305,0.999999790993,0.000235477750325,-0.000602122761022,3.40862511263e-06,1793239723066558464
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,664,632,880,787,805.503948981,653,631,652.503948981,0.447911774649,0.00463755169178,0.0496020286411,0.999999785665,0.000239446930707,-0.000609367864725,2.37703115322e-06,1793239723083225856
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.915107023,745.915107023,714,679.084892977,664,632,880,787,805,653,631,652.084892977,0.447643110601,0.00463854407839,0.0495977932192,0.999999781617,0.000243708324739,-0.000614303997222,1.36707289948e-06,1793239723099892992
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.335167069,745.335167069,714,679.664832931,664,632,880,787,805,653,631,652.664832931,0.447346084807,0.00464223577511,0.0496000252537,0.999999783417,0.000250588528577,-0.000608582174457,1.87591107658e-07,1793239723116559616
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.241955674,714.241955674,680,664.241955674,632.241955674,880.241955674,787,805,652.758044326,631,653,0.447031154917,0.00464614063141,0.0496021749192,0.999999783629,0.000258443608096,-0.000604936205822,-1.12620615545e-06,1793239723133225984
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.815220781,714.815220781,680,664.815220781,632.815220781,880.815220781,787,805,652.184779219,631,653,0.446691709,0.00465033736648,0.0496042117966,0.999999781695,0.000267633582573,-0.000604132700553,-2.62392126026e-06,1793239723149892352
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.399722925,746,714.600277075,680,664.600277075,632.600277075,880.600277075,787,805,652.399722925,631,653,0.44633183104,0.00465288572848,0.0496121694852,0.999999787045,0.000272493248975,-0.000592995459532,-3.79394275747e-06,1793239723166558976
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.989569832,746,714.010430168,680,664.010430168,632.010430168,880.010430168,787,805,652.989569832,631,653,0.445962234803,0.00465465005913,0.049622943345,0.999999795664,0.000275293249829,-0.000576943086319,-4.80810021311e-06,1793239723183225600
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745.430843077,714,680,664.569156923,632.569156923,880,787,805,652.430843077,631.569156923,653,0.445562289675,0.00465636359837,0.0496491753056,0.999999816647,0.000279669798521,-0.000537077694358,-6.12098136883e-06,1793239723199892224
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745.147388178,714.147388178,679.852611822,665,633.147388178,880,787.147388178,805,652,632,653,0.445148933797,0.00465822262209,0.0496746276613,0.999999834466,0.000284456042472,-0.000500100411764,-7.20986315055e-06,1793239723216558848
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.722222837,714.722222837,679.277777163,665,633.722222837,880,787.722222837,805,652,632,653,0.444698269318,0.0046605062226,0.0496970120444,0.999999846077,0.000290348155565,-0.00047274224174,-7.63351984854e-06,1793239723233225984
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.297757247,665,634,880,788,804.702242753,652,632,653,0.444209835083,0.00466308121259,0.0497070773855,0.999999849724,0.000296600465583,-0.000460974569454,-9.04555277474e-06,1793239723249892352
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.873946058,665,634,880,788,804.126053942,652,632,653,0.443686082453,0.00466592867995,0.0497056232443,0.999999846425,0.000303189595079,-0.000463785503828,-1.13818122551e-05,1793239723266558720
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.540577769,746,714.540577769,680,665,634,880,787.540577769,804.459422231,652.459422231,631.540577769,653,0.443131273907,0.00466759251227,0.0497013054629,0.999999841235,0.00030734800591,-0.00047211428038,-1.32699906252e-05,1793239723283225344
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.046815721,634,880.046815721,787.046815721,804.953184279,652.953184279,631,653,0.442569451305,0.00466881348976,0.0496995147653,0.99999983849,0.000310618989698,-0.00047571897209,-1.50953066092e-05,1793239723299891968
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,665.626431123,634,880.626431123,787.626431123,804.373568877,652.373568877,631,653,0.442026778919,0.00466876671131,0.0497356107663,0.999999868095,0.000311537129527,-0.000407974350118,-1.76332480387e-05,1793239723316558592
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,746,714.204964645,680.204964645,666.204964645,634,881,788,804,652,631,653,0.441468218929,0.00466910011658,0.0497741006001,0.999999892354,0.000314048821213,-0.000340987172325,-1.98281370295e-05,1793239723333225216
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,746,714.781536651,680.781536651,666.781536651,634,881,788,804,652,631,653,0.440880854246,0.00467012280691,0.0498169305262,0.999999910832,0.000319449673797,-0.000275373270446,-2.14010610509e-05,1793239723349891840
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.357482483,746,714.642517517,680.642517517,667,634,881,788,804.357482483,652,631.357482483,653,0.440236084837,0.00467427407367,0.0498338866822,0.999999915283,0.000327318566196,-0.000248389258243,-2.44705672444e-05,1793239723366558208
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.933046297,746,714.066953703,680.066953703,667,634,881,788,804.933046297,652,631.933046297,653,0.439556295836,0.00468033392096,0.049835058605,0.999999912909,0.000336693080732,-0.000244971320552,-2.84530597878e-05,1793239723383225088
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,746,714.521918986,680,667,634.521918986,881,788,805,652,632,653,0.438799660176,0.00467194928933,0.0498039975219,0.999999906902,0.000310130107854,-0.000298026253018,-3.45773451602e-05,1793239723399891712
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745.890032808,714.890032808,680,667,635,880.890032808,788,805,652,632,653,0.438036589393,0.00465739372708,0.0497759127061,0.999999905603,0.000258687373973,-0.000346878513246,-3.93615888444e-05,1793239723416558592
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745.312929512,714.312929512,680,667,635,880.312929512,788,805,652,632,653,0.437289155612,0.00462470171235,0.0497784957721,0.999999931945,0.000121652820608,-0.000346298150195,-3.72556908051e-05,1793239723433226496
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745.263969994,714.263969994,680,667,635,880,788,804.736030006,652,632,653,0.43654029193,0.00460346395466,0.0497941352294,0.999999946051,4.92883791939e-05,-0.000322799408681,-3.56188519616e-05,1793239723449893632
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745.840628175,714.840628175,680,667,635,880,788,804.159371825,652,632,653,0.435789734345,0.00459579444265,0.0498252407603,0.999999960937,5.35295223779e-05,-0.000272152487502,-3.45376419734e-05,1793239723466560256
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.573918656,746,715,680,667,635,880.426081344,788,804,652,632,653,0.434968564942,0.00459502644346,0.0498136607971,0.999999952825,6.48288072198e-05,-0.000298087443082,-3.59428384856e-05,1793239723483226368
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.014627881,746,714.985372119,680,667,635,881,788,804.014627881,652,632,653,0.434121499496,0.0045968849793,0.0497867319896,0.999999934423,7.86971782212e-05,-0.000351412786385,-3.83264571677e-05,1793239723499892736
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.592938968,746,714.407061032,680,667,635,881,788,804.592938968,652,632,653,0.433315754211,0.00459838434146,0.0497965571037,0.999999939791,8.76874575012e-05,-0.000333136805419,-4.18200017688e-05,1793239723516559360
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745.8298852,714,680,667,635,880.8298852,788,804.8298852,652,632,653,0.432504069206,0.00459934979966,0.0498082498905,0.999999945851,9.25571527842e-05,-0.000312545507805,-4.52465317279e-05,1793239723533226240
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745.255407897,714,680,667,635,880.255407897,788,804.255407897,652,632,653,0.43167826555,0.00459904616926,0.0498243821305,0.999999953956,8.76322285412e-05,-0.000286450708891,-4.85137678382e-05,1793239723549893120
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,667,635,880.320320453,788,804.320320453,652.320320453,631.679679547,653,0.430811992609,0.00459477318982,0.0498131201497,0.999999950547,6.06469136652e-05,-0.000304232488397,-5.16746431603e-05,1793239723566559744
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,667,635,880.897050211,788,804.897050211,652.897050211,631.102949789,653,0.429913324958,0.00458732283595,0.0497799297117,0.9999999346,1.6002753234e-05,-0.000357136480439,-5.47503787411e-05,1793239723583226368
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.513135432,745.486864568,714,680,666.513135432,635,880.513135432,788,805,652.513135432,631.486864568,653,0.429026697181,0.00458112862396,0.0497773706818,0.999999932487,8.50255684515e-05,-0.000355664286147,-3.60627718201e-05,1793239723599892480
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,746,714,679.922529081,666,635,880,788,805,652,631.922529081,653,0.428139729797,0.00457794083548,0.0497810951226,0.999999926092,0.0001664311276,-0.000346185237999,-1.6497497905e-05,1793239723616558848
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,746,714,679.34515897,666,635,880,788,805,652,631.34515897,653,0.427233689804,0.00459239140793,0.04978241549,0.999999920327,0.000168361771216,-0.000361283340623,-2.17842167276e-05,1793239723633225728
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.222758058,745.777241942,714,679.222758058,666,635,880,787.777241942,804.777241942,652,631.222758058,653,0.426347111377,0.00460008753959,0.0497839766231,0.999999921217,0.000161875979967,-0.000361452890217,-2.67307876967e-05,1793239723649892352
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.776624093,745.223375907,714,679.776624093,666,635,880,787.223375907,804.223375907,652,631.776624093,653,0.425489460523,0.00459774386051,0.0497858956308,0.9999999317,0.000142879985069,-0.00033943261394,-3.11717630666e-05,1793239723666558976
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745.364227521,714,680,666.364227521,635,880,787.364227521,804,652.364227521,631.635772479,653,0.424659949799,0.00459650490598,0.0498110894058,0.999999948465,0.000134238505309,-0.000289685035211,-3.36400480474e-05,1793239723683225600
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745.974633774,714,680,666.974633774,635,880,787.974633774,804,652.974633774,631.025366226,653,0.423849458836,0.00459601262689,0.0498520144267,0.999999966141,0.000132595567689,-0.00022119677484,-3.47750055676e-05,1793239723699892480
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,667,635,880,788,804,652.444255347,631.555744653,653,0.422931987762,0.00459548498632,0.0498435874116,0.999999962776,0.000133760293604,-0.000235236592883,-3.49414041101e-05,1793239723716558848
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.865096357,714,680,666.865096357,635,879.865096357,788,804,652.134903643,632,653,0.422014080778,0.00459532736259,0.0498289101522,0.999999956473,0.000134174538595,-0.000260402144531,-3.52378623548e-05,1793239723733225472
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745.288171028,714,680,666.288171028,635,879.288171028,788,804,652.711828972,632,653,0.421109943784,0.00459638714988,0.0498007647565,0.99999994253,0.000131730904026,-0.000310297542724,-3.60980700228e-05,1793239723749892096
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,666.293118104,635,879.293118104,788,804,653,632,653,0.420252177601,0.00459959180855,0.0497988203166,0.99999993942,0.000132535723665,-0.000319794134617,-3.64014865456e-05,1793239723766558976
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,666.878762189,635,879.878762189,788,804,653,632,653,0.419440688611,0.00460493700573,0.0498230239063,0.999999948266,0.000136582435676,-0.000288973526306,-3.61492366743e-05,1793239723783225600
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.459235505,714,679.540764495,666.540764495,635,879.540764495,788,804,653,631.540764495,653,0.418571372102,0.00460622747277,0.0498110142384,0.999999938111,0.000141357975938,-0.000320204893687,-3.55765680838e-05,1793239723799892224
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745.96169167,714,679,666.03830833,635,879,788,803.96169167,653,631.03830833,653,0.417692156926,0.00460609922023,0.0497916269051,0.999999923078,0.000145406007321,-0.000362587725539,-3.51027165683e-05,1793239723816559104
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745.383332942,714,679,666.616667058,635,879,788,803.383332942,653,631.616667058,653,0.416886218126,0.00460089316522,0.0498015082001,0.999999934275,0.000136515711518,-0.000333809152936,-3.72011682423e-05,1793239723833225728
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.194190127,714,679.194190127,666.805809873,635,879,788,803.194190127,653,632,653,0.416096233887,0.00459767856841,0.049814902238,0.999999945697,0.000130456199461,-0.00030013174007,-3.88330616589e-05,1793239723849892352
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.770070767,714,679.770070767,666.229929233,635,879,788,803.770070767,653,632,653,0.415337609003,0.00459837828244,0.0498352007516,0.999999957793,0.000129960734448,-0.000256825403939,-3.95479116101e-05,1793239723866558976
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.659537878,666,635,879.340462122,788,804,653,631.659537878,653,0.414582536392,0.0046008694624,0.0498283184586,0.999999954105,0.000131303209589,-0.000270132223802,-3.97181699211e-05,1793239723883225600
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.092794895,666,635,879.907205105,788,804,653,631.092794895,653,0.413829824769,0.00460455130181,0.0498033710231,0.999999938717,0.000133867232184,-0.000321065768266,-3.95264769645e-05,1793239723899891968
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.503036022,666,635,879.496963978,788,804,652.496963978,631,653,0.413052149311,0.00460737211049,0.0497883881868,0.999999930398,0.000137722412332,-0.00034436874417,-4.05895849544e-05,1793239723916558592
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.100236443,635,879.100236443,788,804,652.100236443,631,653,0.412285648698,0.00460949426695,0.0497825955589,0.999999927007,0.000141666185384,-0.000352419035112,-4.14448831759e-05,1793239723933225216
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.676877809,635,879.676877809,788,804,652.676877809,631,653,0.411595490344,0.00460909710093,0.0498112096123,0.999999939506,0.000144829525403,-0.000313688061899,-4.01448343846e-05,1793239723949891840
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.747291794,667,635,880,788,804,653,631,653,0.410910100516,0.00460731939814,0.0498227456596,0.999999943527,0.000143861534687,-0.000301140962557,-3.95564376627e-05,1793239723966558976
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.172495059,667,635,880,788,804,653,631,653,0.410230788453,0.00460378213616,0.0498125149807,0.999999937903,0.000137627968035,-0.00032196644869,-3.98750752126e-05,1793239723983226112
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.411665344,666.588334656,635,880,788,804,653,631,653,0.409605915463,0.00459889887236,0.0498042968833,0.999999935466,0.000126208386889,-0.000333939760799,-4.02961288614e-05,1793239723999892736
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.999840663,666.000159337,635,880,788,804,653,631,653,0.409004384286,0.00459343848233,0.0497969417206,0.999999934312,0.000112565194934,-0.000342117523175,-4.07610955407e-05,1793239724016559360
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.420674587,745.420674587,714,679.420674587,666,635,880,788,803.420674587,653,631.579325413,653,0.408445351257,0.00459440266337,0.0498156618272,0.99999994501,0.00011657699571,-0.000307746910999,-4.10077360218e-05,1793239724033225984
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.158211109,745.158211109,714,679.158211109,666.158211109,635,880,788,803.158211109,653,631.841788891,653,0.407889820575,0.00459577903227,0.0498317974281,0.999999952532,0.000121736660142,-0.000280085128078,-4.08580613698e-05,1793239724049892352
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.735516302,745.735516302,714,679.735516302,666.735516302,635,880,788,803.735516302,653,631.264483698,653,0.407343536829,0.00459824265691,0.0498410680776,0.999999954263,0.000129924292076,-0.000270225265358,-3.96587226958e-05,1793239724066558976
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.688798715,635.311201285,880,788,804,653,631.311201285,653,0.406803015756,0.00460079676094,0.0498305001006,0.999999946756,0.000134595053149,-0.000294686186393,-3.91531693827e-05,1793239724083225600
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.11448362,635.88551638,880,788,804,653,631.88551638,653,0.406267366929,0.00460342736315,0.0498031590028,0.999999929333,0.000136292376832,-0.000348164571841,-3.9234196254e-05,1793239724099892224
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,636,880,788,804,653,631.529863254,653,0.405790722484,0.00460660690084,0.0497863864064,0.999999919692,0.000136755518259,-0.00037453879177,-4.04204777219e-05,1793239724116559360
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.943205499,714,679.943205499,666.056794501,635.943205499,879.943205499,788,804,653,631.056794501,653,0.405334804126,0.00460987403692,0.0497749096632,0.999999913729,0.000137019837333,-0.000389896294772,-4.18220750543e-05,1793239724133226496
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.36143104,714,679.36143104,666.63856896,635.36143104,879.36143104,788,804,653,631.63856896,653,0.404934678076,0.00461268760102,0.049788063404,0.999999922624,0.000138286616856,-0.000365796722046,-4.26703761942e-05,1793239724149892864
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.217493932,714,679,667,635,879.217493932,788,804,653,632,653,0.404557333845,0.0046138189307,0.049808396072,0.999999934113,0.000139364542282,-0.000332433394586,-4.28788752593e-05,1793239724166558976
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.791744811,714,679,667,635,879.791744811,788,804,653,632,653,0.404217358843,0.00461219087827,0.0498405043874,0.999999949005,0.000140132688659,-0.000283874662111,-4.20379020116e-05,1793239724183225600
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,746,714.373708728,679,666.626291272,635,879.626291272,788,804,653,631.626291272,653,0.403896018548,0.0046144537084,0.0498584187517,0.999999955513,0.000145230519381,-0.000257067563833,-4.24100000216e-05,1793239724199892224
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,746,714.960061497,679,666.039938503,635,879.039938503,788,804,653,631.039938503,653,0.403585281557,0.00461893048987,0.0498682566176,0.999999957946,0.000152791984392,-0.000242637360705,-4.3472347778e-05,1793239724216559104
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,714.459534801,679.540465199,666,635,879,788,804,653,631,653,0.403275095907,0.00461888526544,0.0498573638277,0.999999951523,0.000155114735506,-0.000266414704309,-4.37783370253e-05,1793239724233225472
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635,879.120095513,788,804,653,631,653,0.402973636243,0.00461836409465,0.0498450213998,0.999999944224,0.000156305394794,-0.000291843941178,-4.41354076376e-05,1793239724249891840
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635,879.698434172,788,804,653,631,653,0.402705318089,0.00461728803591,0.0498329293008,0.999999938076,0.00015463742731,-0.000312920392276,-4.48983310631e-05,1793239724266558720
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.724738632,714,680,666,635,879.724738632,788,803.724738632,653.275261368,631.275261368,653,0.402457037301,0.00461233997916,0.0498229607776,0.999999933746,0.000149305731728,-0.00032950656724,-4.05000995906e-05,1793239724283225600
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.149558331,714,680,666,635,879.149558331,788,803.149558331,653.850441669,631.850441669,653,0.402230588818,0.00460317307579,0.0498153060581,0.999999931529,0.000139982116024,-0.00034120023157,-3.047838343e-05,1793239724299892480
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.435554214,714,679.564445786,666,635,879.435554214,788,803.435554214,653.564445786,632,653,0.402051007048,0.00458833792049,0.0498180337998,0.999999935557,0.000119247602631,-0.000337537962522,-2.70924152465e-05,1793239724316559104
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,714.023783225,679,666,635.023783225,880,788,804,653,632,653,0.401889191219,0.00457243831107,0.0498245083576,0.999999941236,9.58078809938e-05,-0.000328121429847,-2.61854782456e-05,1793239724333225728
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,714.603282933,679,666,635.603282933,880,788,804,653,632,653,0.40175769384,0.00457820589278,0.0498332855548,0.999999946146,0.000102847588702,-0.000310331087963,-2.87205926491e-05,1793239724349892096
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,746,714.818454629,679,666,635.818454629,880,788,804,653,631.818454629,653,0.40163394558,0.0045822311869,0.0498409272009,0.999999950287,0.000107586847788,-0.000294796356896,-3.07666184201e-05,1793239724366558720
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,714.242877676,679,666,635.242877676,880,788,804,653,631.242877676,653,0.401527016258,0.0045824749664,0.0498461042112,0.999999953363,0.00010733314252,-0.000284157274503,-3.17511110673e-05,1793239724383225344
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.33919806,635.33919806,880,788,804,653,631.33919806,653,0.401428336973,0.00458169824475,0.0498468896966,0.999999953818,0.000107920601723,-0.000282290853227,-3.20843662447e-05,1793239724399892224
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.926018108,635.926018108,880,788,804,653,631.926018108,653,0.401335680382,0.004580176535,0.0498444692734,0.999999952401,0.000109122129328,-0.000286828664976,-3.19422039563e-05,1793239724416559360
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.493644825,635.493644825,879.493644825,788,804,653,632,653.506355175,0.401260490273,0.00458389962514,0.0498428973527,0.99999995115,0.000113444404513,-0.000289394478293,-3.28755693581e-05,1793239724433225728
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.914385472,714,679,666,635,879.085614528,788,804,653,632,653.914385472,0.401191969167,0.00458717655082,0.0498418014556,0.999999950376,0.000116796180365,-0.000290631318925,-3.37646891542e-05,1793239724449892608
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.335946052,714,679,666,635,879.664053948,788,804,653,632,653.335946052,0.401147332711,0.00458352990013,0.0498427411028,0.999999952313,0.00011196996402,-0.000285855722776,-3.35059931529e-05,1793239724466558976
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.240599985,714,679,666.240599985,635,880,788,804,653,632,653,0.401109783679,0.00458258889023,0.0498450865169,0.999999954256,0.00011126622881,-0.00027924307749,-3.36242529604e-05,1793239724483225600
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.814522928,714,679,666.814522928,635,880,788,804,653,632,653,0.401082053439,0.00458539622735,0.0498493794556,0.99999995618,0.00011627370621,-0.000270085417162,-3.42647406813e-05,1793239724499892224
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.600510753,635,880,788,804,653,632,653,0.401059301509,0.0045851620975,0.0498517703871,0.999999957412,0.000116218945416,-0.000265508034537,-3.42667414018e-05,1793239724516558848
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.010271404,635,880,788,804,653,632,653,0.401038926647,0.00458347571287,0.0498532531386,0.999999958339,0.000113747041944,-0.000263117665837,-3.39638741734e-05,1793239724533225472
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.431269327,714,679,666,635,879.431269327,788,803.431269327,653,632,653,0.401023867133,0.00458143704605,0.0498528041218,0.999999958394,0.00011050884093,-0.000264310691442,-3.37483426121e-05,1793239724549892352
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.146581103,714,679,666.146581103,635,879.146581103,788,803,653,631.853418897,653,0.401010591348,0.00458051168856,0.0498519650144,0.999999958122,0.000109011256095,-0.000265962210851,-3.37175504593e-05,1793239724566559232
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.72164671,714,679,666.72164671,635,879.72164671,788,803,653,631.27835329,653,0.401002254569,0.00458285898461,0.0498500856071,0.999999956952,0.00011264149635,-0.000268768480449,-3.42222654304e-05,1793239724583226368
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,667,635,879.702873064,788,803.297126936,653,631,653,0.400997645667,0.00458434233585,0.0498498708354,0.999999956833,0.000113733492176,-0.000268719430899,-3.44631484729e-05,1793239724599893248
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,667,635,879.127003805,788,803.872996195,653,631,653,0.400996533982,0.0045850151988,0.0498512177006,0.999999957709,0.000112444296888,-0.000265991734295,-3.4456524144e-05,1793239724616559104
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.541009519,714,679,667,635,879.917980962,788,804,653.458990481,631,653,0.400995172735,0.00458498350821,0.0498515726243,0.999999958153,0.000111882376882,-0.000264602095988,-3.40894595099e-05,1793239724633225472
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.047176075,714,679,667,635,880.952823925,788,804,653.952823925,631,653,0.400993940538,0.0045847555739,0.0498518061649,0.999999958513,0.000111630560273,-0.000263396639507,-3.36739481085e-05,1793239724649891840
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.627747113,714,679,667,635,880.372252887,788,804,653.372252887,631,653,0.400994965801,0.00458456275175,0.0498538406107,0.999999959294,0.000112558293235,-0.000259993048219,-3.38637584991e-05,1793239724666558464
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.793481945,635,879.793481945,788,803.793481945,653,631,653,0.400995769588,0.00458445066473,0.0498554531863,0.999999959844,0.000113562390771,-0.000257427291457,-3.38771554804e-05,1793239724683225600
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.217927705,635,879.217927705,788,803.217927705,653,631,653,0.400996177611,0.00458448284688,0.0498563119035,0.999999959998,0.000114702947463,-0.000256358698216,-3.35753115805e-05,1793239724699893248
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.636312711,714,679,666.363687289,635,879,788,803.363687289,653,631.363687289,653,0.40099524065,0.00458430627732,0.049855903272,0.999999959921,0.000113779262328,-0.000257059280326,-3.36483021986e-05,1793239724716560128
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.051004484,714,679,666.948995516,635,879,788,803.948995516,653,631.948995516,653,0.400993484093,0.00458400250026,0.0498547223532,0.999999959698,0.000111597685481,-0.000258837948825,-3.39497065785e-05,1793239724733226752
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.529278495,666.470721505,635.529278495,879.529278495,788,804,653,631.470721505,653,0.400994508997,0.00458342676303,0.0498563351213,0.999999960332,0.000111696578162,-0.000256362951886,-3.37291169056e-05,1793239724749892864
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.108604246,714,679.891395754,666,635.891395754,879.891395754,788,804,653,631,653,0.400995401647,0.00458303303737,0.0498577490436,0.999999960838,0.000112333898868,-0.00025413542929,-3.34705915631e-05,1793239724766558976
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.685869188,714,679.314130812,666,635.314130812,879.314130812,788,804,653,631,653,0.400994577789,0.00458353677851,0.0498571540583,0.999999960465,0.000114355289794,-0.000254728081852,-3.32633914175e-05,1793239724783225600
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.262096053,635.262096053,879.262096053,788,804,653,631.262096053,653,0.400994782945,0.00458420178362,0.049857203339,0.999999960383,0.000115951247554,-0.000254337262837,-3.32006048989e-05,1793239724799892224
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.837083731,635.837083731,879.837083731,788,804,653,631.837083731,653,0.400996216544,0.00458505930658,0.0498580217477,0.999999960649,0.000117039321265,-0.00025277237044,-3.33102200886e-05,1793239724816558848
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.576931067,746,714,679,667,635.576931067,880,788,804,653,631.576931067,653,0.40099510677,0.00458391032193,0.0498575859431,0.999999960652,0.00011487517835,-0.000253769158881,-3.31768613622e-05,1793239724833225984
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.013169964,746,714,679,666.986830036,635.013169964,879.986830036,788,804,653,631.013169964,653,0.400993055961,0.00458203026359,0.0498567103409,0.999999960552,0.000111506527739,-0.000255688957943,-3.29512340434e-05,1793239724849892864
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.593279196,746,714,679,666.406720804,635.593279196,879.406720804,788,804,653,631.593279196,653,0.400993782219,0.00458282854474,0.0498582483192,0.999999961035,0.000111637078268,-0.000253744190892,-3.28889043891e-05,1793239724866559488
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.171498425,666,635.828501575,879,788,804,653,632,653,0.400993816293,0.00458297682434,0.0498588762806,0.999999961222,0.000111478256646,-0.000253080141308,-3.28590752763e-05,1793239724883226112
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.745284204,666,635.254715796,879,788,804,653,632,653,0.400992226698,0.00458160038203,0.0498573695969,0.999999960718,0.000110640648864,-0.000255420296925,-3.2905483351e-05,1793239724899892480
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.680320766,714,679.680320766,666,635,879,788,804,653,632,653,0.400992717609,0.00458149362542,0.0498574510311,0.999999960946,0.000109978350503,-0.000254792350369,-3.30791374577e-05,1793239724916559104
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.105439393,714,679.105439393,666,635,879,788,804,653,632,653,0.400994869403,0.00458240046775,0.0498588002708,0.999999961753,0.000109456002904,-0.000251794947252,-3.33543729476e-05,1793239724933225472
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745.484920485,714,679,666.484920485,635,879,788,804,653,632,653,0.400994900243,0.00458308963697,0.0498586435528,0.999999961827,0.000109132224068,-0.000251610407057,-3.35922127857e-05,1793239724949892096
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.923611213,635.076388787,879.076388787,788,804,653.076388787,632,653,0.40099469489,0.00458357163215,0.0498583330224,0.999999961773,0.000108959492523,-0.000251882865819,-3.372404541e-05,1793239724966558720
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.347631084,635.652368916,879.652368916,788,804,653.652368916,632,653,0.400996060386,0.00458301843558,0.0498592287142,0.999999961951,0.000109482940463,-0.000251012201598,-3.32175109549e-05,1793239724983225600
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,636,880,788,804,653.771521401,632,653,0.40099648671,0.00458271011051,0.049859818455,0.999999962053,0.00011012353724,-0.000250364464058,-3.29168113743e-05,1793239724999892224
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,636,880,788,804,653.195214402,632,653,0.40099548327,0.00458277456978,0.0498599424262,0.99999996204,0.000110942477684,-0.000250056102724,-3.29294680452e-05,1793239725016559360
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.388246962,746,714,679,666,635.611753038,880,788,804,653.388246962,632,653,0.400995408043,0.00458263219584,0.0498600954864,0.999999962077,0.000111195258349,-0.000249816324317,-3.27732291196e-05,1793239725033225728
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.97537311,746,714,679,666,635.02462689,880,788,804,653.97537311,632,653,0.400995808292,0.00458238387175,0.0498602634473,0.99999996214,0.000111158024086,-0.000249611677477,-3.25304735638e-05,1793239725049892096
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..02f591eb30dd36119e10c3244376d1be198890e3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_02/simulation_data.csv
@@ -0,0 +1,415 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+1,0.016666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+2,0.033333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+3,0.050000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+4,0.066666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+5,0.083333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+6,0.100000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+7,0.116666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+8,0.133333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+9,0.150000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+10,0.166666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+11,0.183333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+12,0.200000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+13,0.216666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+14,0.233333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+15,0.250000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+16,0.266666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+17,0.283333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+18,0.300000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+19,0.316666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+20,0.333333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+21,0.350000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+22,0.366666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+23,0.383333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+24,0.400000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+25,0.416666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+26,0.433333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+27,0.450000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+28,0.466666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+29,0.483333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+30,0.500000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+31,0.516666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+32,0.533333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+33,0.550000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+34,0.566666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+35,0.583333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+36,0.600000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+37,0.616666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+38,0.633333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+39,0.650000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+40,0.666666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+41,0.683333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+42,0.700000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+43,0.716666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+44,0.733333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+45,0.750000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+46,0.766666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+47,0.783333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+48,0.800000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+49,0.816666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+50,0.833333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+51,0.850000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+52,0.866666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+53,0.883333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+54,0.900000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+55,0.916666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+56,0.933333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+57,0.950000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+58,0.966666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+59,0.983333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+60,1.000000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+61,1.016666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+62,1.033333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+63,1.050000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+64,1.066666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+65,1.083333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+66,1.100000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+67,1.116666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+68,1.133333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+69,1.150000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+70,1.166666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+71,1.183333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+72,1.200000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+73,1.216666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+74,1.233333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+75,1.250000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+76,1.266666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+77,1.283333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+78,1.300000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+79,1.316666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+80,1.333333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+81,1.350000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+82,1.366666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+83,1.383333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+84,1.400000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+85,1.416666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+86,1.433333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+87,1.450000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+88,1.466666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+89,1.483333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+90,1.500000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+91,1.516666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+92,1.533333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+93,1.550000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+94,1.566666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+95,1.583333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+96,1.600000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+97,1.616666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+98,1.633333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+99,1.650000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+100,1.666666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+101,1.683333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+102,1.700000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+103,1.716666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+104,1.733333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+105,1.750000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+106,1.766666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+107,1.783333333,pose1_to_pose2_press,0.575664395412,0.0100908556686,1.04003237669,0.546234847011,0.0187625952058,1.03970050606
+108,1.800000000,pose1_to_pose2_press,0.575664501706,0.010090714941,1.04003221177,0.546234954922,0.0187624602572,1.03970034879
+109,1.816666667,pose1_to_pose2_press,0.575664830982,0.0100906772586,1.04003216307,0.546235284005,0.0187624217611,1.03970029586
+110,1.833333333,pose1_to_pose2_press,0.575665139181,0.0100906569036,1.04003212087,0.546235592166,0.0187624012113,1.03970025197
+111,1.850000000,pose1_to_pose2_press,0.575665258196,0.0100906581033,1.04003210662,0.546235711252,0.0187624026801,1.03970023847
+112,1.866666667,pose1_to_pose2_press,0.575665300986,0.0100906585347,1.0400321015,0.546235754067,0.0187624032082,1.03970023361
+113,1.883333333,pose1_to_pose2_press,0.575665393496,0.0100906594673,1.04003209042,0.546235846632,0.0187624043499,1.03970022311
+114,1.900000000,pose1_to_pose2_press,0.575665746943,0.0100906630303,1.04003204811,0.54623620029,0.0187624087119,1.03970018299
+115,1.916666667,pose1_to_pose2_press,0.575667614782,0.0100907304227,1.04003207784,0.54623806714,0.0187624729924,1.03970021904
+116,1.933333333,pose1_to_pose2_press,0.57567349169,0.0100907076225,1.0400321477,0.546243942967,0.0187624461702,1.03970027964
+117,1.950000000,pose1_to_pose2_press,0.575684552715,0.0100908710513,1.04003238441,0.546255004493,0.0187626113336,1.03970051724
+118,1.966666667,pose1_to_pose2_press,0.575706440284,0.0100907960017,1.04003239545,0.546276892869,0.0187625391115,1.03970053047
+119,1.983333333,pose1_to_pose2_press,0.575739104654,0.0100908176274,1.04003251845,0.546309556274,0.0187625570747,1.03970064329
+120,2.000000000,pose1_to_pose2_press,0.575782280416,0.0100908677755,1.0400324657,0.546352732523,0.0187626089133,1.03970059149
+121,2.016666667,pose1_to_pose2_press,0.575834674247,0.0100907703276,1.04003232021,0.546405126913,0.0187625133282,1.03970044506
+122,2.033333333,pose1_to_pose2_press,0.575896106122,0.0100907245249,1.04003220767,0.546466558956,0.0187624680026,1.03970033002
+123,2.050000000,pose1_to_pose2_press,0.575962996587,0.0100906353461,1.04003237832,0.546533449998,0.0187623810226,1.03970050679
+124,2.066666667,pose1_to_pose2_press,0.576035672206,0.0100907298629,1.04003219143,0.546606124214,0.0187624711033,1.03970032844
+125,2.083333333,pose1_to_pose2_press,0.576117803185,0.0100907875481,1.04003208547,0.546688254233,0.0187625255758,1.03970022356
+126,2.100000000,pose1_to_pose2_press,0.576210249106,0.0100907156532,1.04003224332,0.546780700729,0.0187624554242,1.03970037597
+127,2.116666667,pose1_to_pose2_press,0.576316126466,0.010090686455,1.04003226825,0.546886578887,0.0187624289157,1.03970040037
+128,2.133333333,pose1_to_pose2_press,0.576435542626,0.0100908068504,1.04003233014,0.547005994045,0.0187625461519,1.03970046851
+129,2.150000000,pose1_to_pose2_press,0.576569221863,0.0100907344891,1.04003223134,0.547139673637,0.0187624748779,1.0397003666
+130,2.166666667,pose1_to_pose2_press,0.576719242866,0.010090773741,1.04003243481,0.547289695495,0.0187625170856,1.0397005715
+131,2.183333333,pose1_to_pose2_press,0.576885770383,0.0100906127438,1.04003217609,0.547456224624,0.018762361678,1.03970031579
+132,2.200000000,pose1_to_pose2_press,0.577071073898,0.0100906121955,1.04003224705,0.547641528535,0.0187623624614,1.03970038632
+133,2.216666667,pose1_to_pose2_press,0.577276313347,0.0100907264918,1.04003251042,0.547846765932,0.0187624694448,1.03970064056
+134,2.233333333,pose1_to_pose2_press,0.577504074557,0.0100907577539,1.04003238087,0.548074526451,0.0187624983076,1.03970050951
+135,2.250000000,pose1_to_pose2_press,0.577752620748,0.0100907608916,1.04003223235,0.548323072859,0.0187625022829,1.03970036357
+136,2.266666667,pose1_to_pose2_press,0.57802202544,0.0100908291706,1.04003233825,0.548592476398,0.0187625665342,1.0397004664
+137,2.283333333,pose1_to_pose2_press,0.578312560432,0.0100909064892,1.04003217503,0.548883011036,0.0187626427639,1.03970030611
+138,2.300000000,pose1_to_pose2_press,0.578622485826,0.0100909636648,1.04003197353,0.549192936579,0.0187627007283,1.03970011192
+139,2.316666667,pose1_to_pose2_press,0.578951433553,0.0100908182892,1.04003208316,0.549521883794,0.0187625536243,1.03970022177
+140,2.333333333,pose1_to_pose2_press,0.579294239555,0.0100906629551,1.04003261387,0.549864691684,0.0187624041126,1.03970073709
+141,2.350000000,pose1_to_pose2_press,0.579648435562,0.0100907458309,1.0400322832,0.550218887004,0.0187624847377,1.0397004085
+142,2.366666667,pose1_to_pose2_press,0.580017976177,0.0100907964307,1.0400323342,0.550588426969,0.0187625334499,1.03970046768
+143,2.383333333,pose1_to_pose2_press,0.580404959847,0.0100907843345,1.04003246166,0.550975411234,0.0187625231769,1.03970059006
+144,2.400000000,pose1_to_pose2_press,0.580818202816,0.0100908621427,1.04003241416,0.551388654099,0.0187626007378,1.03970054524
+145,2.416666667,pose1_to_pose2_press,0.581261543526,0.0100907977627,1.04003223539,0.551831994859,0.0187625365876,1.03970036802
+146,2.433333333,pose1_to_pose2_press,0.581742017027,0.0100906945958,1.04003216297,0.552312469124,0.0187624361114,1.03970029804
+147,2.450000000,pose1_to_pose2_press,0.582247400324,0.0100907546767,1.04003223943,0.552817851862,0.0187624942303,1.03970037278
+148,2.466666667,pose1_to_pose2_press,0.582773026022,0.0100907909812,1.04003226049,0.553343477019,0.0187625284706,1.03970038786
+149,2.483333333,pose1_to_pose2_press,0.583305546291,0.0100907649847,1.04003222473,0.553875998958,0.0187625084668,1.03970036049
+150,2.500000000,pose1_to_pose2_press,0.583843692149,0.0100908288539,1.04003223699,0.554414143464,0.0187625676904,1.03970037129
+151,2.516666667,pose1_to_pose2_press,0.584391119783,0.0100907692964,1.04003225109,0.554961572313,0.0187625123359,1.03970038739
+152,2.533333333,pose1_to_pose2_press,0.584957487548,0.0100907882484,1.04003259351,0.555527940719,0.0187625332805,1.03970072504
+153,2.550000000,pose1_to_pose2_press,0.585553434417,0.0100906379229,1.04003239384,0.556123888458,0.0187623860517,1.03970052912
+154,2.566666667,pose1_to_pose2_press,0.586173967776,0.0100906598403,1.04003238892,0.55674442082,0.0187624042935,1.03970051646
+155,2.583333333,pose1_to_pose2_press,0.586814450612,0.010090816242,1.04003236802,0.557384901808,0.0187625545701,1.0397004994
+156,2.600000000,pose1_to_pose2_press,0.587466118663,0.0100908897129,1.04003232679,0.558036569794,0.0187626281994,1.03970046806
+157,2.616666667,pose1_to_pose2_press,0.588125676142,0.0100908762661,1.04003226999,0.558696127456,0.0187626153008,1.03970040932
+158,2.633333333,pose1_to_pose2_press,0.588794152475,0.0100908338185,1.0400322781,0.559364603067,0.0187625702386,1.03970041302
+159,2.650000000,pose1_to_pose2_press,0.589478566405,0.0100907896927,1.04003235455,0.560049017176,0.0187625266862,1.03970048863
+160,2.666666667,pose1_to_pose2_press,0.590181672803,0.010090771215,1.04003235044,0.560752125489,0.018762514543,1.03970048021
+161,2.683333333,pose1_to_pose2_press,0.590895645873,0.0100908100407,1.04003224332,0.561466098176,0.0187625522074,1.03970037675
+162,2.700000000,pose1_to_pose2_press,0.591617080329,0.0100909050869,1.0400322327,0.56218752928,0.0187626358532,1.03970036546
+163,2.716666667,pose1_to_pose2_press,0.592349079111,0.0100906711396,1.04003208119,0.562919530532,0.0187624106282,1.03970022279
+164,2.733333333,pose1_to_pose2_press,0.593089289747,0.0100905787696,1.04003220025,0.563659743634,0.0187623265588,1.03970034012
+165,2.750000000,pose1_to_pose2_press,0.593834421932,0.0100906209628,1.04003212526,0.564404876073,0.0187623694379,1.0397002606
+166,2.766666667,pose1_to_pose2_press,0.594588858754,0.0100906981511,1.04003200667,0.565159312183,0.0187624443515,1.03970014572
+167,2.783333333,pose1_to_pose2_press,0.595350860381,0.0100907565341,1.04003215661,0.565921312185,0.0187624971556,1.03970029404
+168,2.800000000,pose1_to_pose2_press,0.596112570951,0.0100907441562,1.04003225525,0.566683023858,0.0187624882639,1.03970038604
+169,2.816666667,pose1_to_pose2_press,0.596872754707,0.0100907688788,1.04003230652,0.567443208046,0.0187625145471,1.03970043983
+170,2.833333333,pose1_to_pose2_press,0.597623954534,0.0100908280522,1.04003241792,0.568194406737,0.0187625698833,1.0397005517
+171,2.850000000,pose1_to_pose2_press,0.59837010815,0.0100908431919,1.04003234367,0.568940559495,0.0187625819151,1.03970047234
+172,2.866666667,pose1_to_pose2_press,0.599114262102,0.0100907841319,1.04003207569,0.569684713733,0.0187625238984,1.03970020634
+173,2.883333333,pose1_to_pose2_press,0.599857066003,0.0100906897683,1.04003227676,0.570427518781,0.0187624335186,1.03970040984
+174,2.900000000,pose1_to_pose2_press,0.60060172849,0.0100907598441,1.04003247233,0.571172178845,0.0187624953635,1.03970060527
+175,2.916666667,pose1_to_pose2_press,0.601343805515,0.0100908114333,1.04003237311,0.571914256244,0.0187625480963,1.03970050281
+176,2.933333333,pose1_to_pose2_press,0.60208111664,0.0100908146905,1.04003237188,0.57265156818,0.018762554197,1.03970050408
+177,2.950000000,pose1_to_pose2_press,0.602811844311,0.0100908845052,1.04003249736,0.573382293746,0.0187626165173,1.03970062047
+178,2.966666667,pose1_to_pose2_press,0.603534366548,0.0100908531373,1.04003230582,0.574104816529,0.0187625872849,1.03970043637
+179,2.983333333,pose1_to_pose2_press,0.604251236117,0.0100907934186,1.04003217202,0.574821687851,0.0187625334998,1.0397003022
+180,3.000000000,pose1_to_pose2_press,0.604956015114,0.0100907590609,1.04003212683,0.575526467363,0.0187625009664,1.03970025918
+181,3.016666667,pose1_to_pose2_press,0.6056470045,0.0100907928542,1.04003204299,0.576217455634,0.0187625311644,1.03970018032
+182,3.033333333,pose1_to_pose2_press,0.606327860882,0.0100907869602,1.04003209643,0.576898311412,0.0187625230932,1.03970023051
+183,3.050000000,pose1_to_pose2_press,0.606993225534,0.0100907037765,1.04003239971,0.577563677742,0.0187624452619,1.03970052494
+184,3.066666667,pose1_to_pose2_press,0.60763966739,0.010090748421,1.04003258052,0.578210119993,0.0187624911874,1.0397007043
+185,3.083333333,pose1_to_pose2_press,0.608279020907,0.010090920762,1.04003234572,0.578849468819,0.0187626478563,1.03970047599
+186,3.100000000,pose1_to_pose2_press,0.608909648532,0.0100907108868,1.0400322125,0.579480099421,0.0187624482282,1.03970034668
+187,3.116666667,pose1_to_pose2_press,0.609515306099,0.0100906842613,1.04003214411,0.580085756387,0.0187624193475,1.03970027277
+188,3.133333333,pose1_to_pose2_press,0.610096403094,0.0100909520996,1.04003223772,0.580666851872,0.0187626821777,1.03970036946
+189,3.150000000,pose1_to_pose2_press,0.610652524219,0.0100906801579,1.04003238952,0.581222976782,0.0187624226455,1.03970051003
+190,3.166666667,pose1_to_pose2_press,0.611188554648,0.0100907922272,1.04003219063,0.581759006438,0.0187625324363,1.03970032025
+191,3.183333333,pose1_to_pose2_press,0.61170354518,0.0100908642631,1.04003216416,0.58227399683,0.0187626044867,1.03970030701
+192,3.200000000,pose1_to_pose2_press,0.612199538903,0.0100908194964,1.04003231223,0.582769990879,0.0187625604087,1.03970044447
+193,3.216666667,pose1_to_pose2_press,0.61267392951,0.0100908249174,1.04003220923,0.583244380578,0.0187625626344,1.0397003371
+194,3.233333333,pose1_to_pose2_press,0.613119843984,0.0100908319324,1.04003208245,0.583690294467,0.0187625679488,1.03970021488
+195,3.250000000,pose1_to_pose2_press,0.613541121183,0.0100907569888,1.04003228532,0.584111572671,0.01876249633,1.03970041316
+196,3.266666667,pose1_to_pose2_press,0.613940967448,0.0100908079545,1.04003235087,0.58451141848,0.0187625461014,1.03970048559
+197,3.283333333,pose1_to_pose2_press,0.614329795651,0.0100907132097,1.04003236566,0.584900249059,0.0187624594894,1.03970049853
+198,3.300000000,pose1_to_pose2_press,0.614710304686,0.0100906110893,1.04003202896,0.585280757602,0.0187623560564,1.03970016797
+199,3.316666667,pose1_to_pose2_press,0.615076849518,0.0100907389636,1.04003227785,0.585647301067,0.0187624792034,1.03970041059
+200,3.333333333,pose1_to_pose2_press,0.615425975805,0.0100907616704,1.04003226467,0.58599642708,0.0187625012777,1.03970040165
+201,3.350000000,pose1_to_pose2_press,0.615746960205,0.0100907904375,1.04003214405,0.586317411208,0.0187625293709,1.03970028326
+202,3.366666667,pose1_to_pose2_press,0.616038423144,0.0100908332131,1.04003228588,0.586608874057,0.0187625718739,1.03970041975
+203,3.383333333,pose1_to_pose2_press,0.616299005749,0.0100908387643,1.04003250283,0.586869456791,0.0187625777819,1.03970063
+204,3.400000000,pose1_to_pose2_press,0.616541869016,0.010090809754,1.04003248957,0.587112320053,0.0187625486907,1.0397006148
+205,3.416666667,pose1_to_pose2_press,0.616770677366,0.0100907956857,1.04003236512,0.58734112875,0.0187625361436,1.03970049692
+206,3.433333333,pose1_to_pose2_press,0.616991744983,0.0100906410376,1.04003226954,0.587562197373,0.0187623850426,1.03970040115
+207,3.450000000,pose1_to_pose2_press,0.617203497768,0.0100907198279,1.04003212885,0.587773948036,0.0187624569433,1.03970026579
+208,3.466666667,pose1_to_pose2_press,0.617400882002,0.0100906918689,1.04003218862,0.587971332925,0.0187624313041,1.03970032385
+209,3.483333333,pose1_to_pose2_press,0.617580335023,0.0100906850032,1.04003239186,0.588150787409,0.0187624293441,1.03970052324
+210,3.500000000,pose1_to_pose2_press,0.617739800974,0.0100906955392,1.04003242479,0.588310253252,0.0187624395189,1.03970055408
+211,3.516666667,pose1_to_pose2_press,0.617880056605,0.0100906692264,1.04003231955,0.588450508602,0.0187624123694,1.03970044921
+212,3.533333333,pose1_to_pose2_press,0.618003054924,0.0100906355459,1.040032282,0.588573507708,0.0187623815426,1.03970041449
+213,3.550000000,pose1_to_pose2_press,0.618112752922,0.0100906676671,1.04003232964,0.588683206294,0.0187624158739,1.03970046639
+214,3.566666667,pose1_to_pose2_press,0.618210657685,0.0100908587656,1.04003221344,0.588781108727,0.0187625992548,1.03970035313
+215,3.583333333,pose1_to_pose2_press,0.618296481301,0.0100907961723,1.04003263809,0.588866932416,0.0187625362291,1.03970075575
+216,3.600000000,pose1_to_pose2_press,0.618371667755,0.0100907889266,1.04003229339,0.588942118314,0.0187625277748,1.03970043274
+217,3.616666667,pose1_to_pose2_press,0.618436372778,0.0100909005703,1.04003233096,0.589006823535,0.0187626401219,1.03970046249
+218,3.633333333,pose1_to_pose2_press,0.618490980668,0.0100908581447,1.0400323902,0.589061430477,0.0187625942518,1.0397005176
+219,3.650000000,pose1_to_pose2_press,0.618536541793,0.0100907532307,1.04003236152,0.589106991916,0.0187624905117,1.03970049418
+220,3.666666667,pose1_to_pose2_press,0.618574022222,0.0100907331572,1.04003235314,0.589144474298,0.0187624774074,1.03970048755
+221,3.683333333,pose1_to_pose2_press,0.618605144846,0.0100907490122,1.04003237163,0.589175595713,0.0187624890152,1.03970050112
+222,3.700000000,pose1_to_pose2_press,0.618629814511,0.0100909870734,1.04003228057,0.589200263713,0.0187627209187,1.03970040703
+223,3.716666667,pose1_to_pose2_press,0.618649447691,0.0100908907088,1.04003227604,0.589219897985,0.0187626283675,1.03970040134
+224,3.733333333,pose1_to_pose2_press,0.618664192608,0.0100908562796,1.04003221213,0.589234642931,0.0187625940348,1.03970033797
+225,3.750000000,pose1_to_pose2_press,0.618674889468,0.0100908717287,1.04003218027,0.589245339169,0.0187626073464,1.03970030742
+226,3.766666667,pose1_to_pose2_press,0.618682330091,0.0100908796061,1.04003225026,0.58925277927,0.0187626135562,1.03970037886
+227,3.783333333,pose1_to_pose2_press,0.618686821517,0.0100908539458,1.04003230477,0.58925727097,0.0187625890414,1.03970043721
+228,3.800000000,pose1_to_pose2_press,0.618689591639,0.0100908322922,1.04003234074,0.589260041375,0.0187625685066,1.0397004761
+229,3.816666667,pose1_to_pose2_press,0.618690939,0.0100908116051,1.0400323444,0.589261389058,0.0187625489908,1.03970048136
+230,3.833333333,pose1_to_pose2_press,0.618692148315,0.010090757356,1.04003229904,0.589262599316,0.0187624979961,1.03970043805
+231,3.850000000,pose1_to_pose2_press,0.618693382375,0.0100907019969,1.04003225276,0.589263834338,0.0187624459579,1.03970039386
+232,3.866666667,pose1_to_pose2_press,0.618694418361,0.0100906555232,1.0400322139,0.589264871132,0.0187624022722,1.03970035676
+233,3.883333333,pose1_to_pose2_press,0.618695478423,0.0100906371796,1.04003217998,0.589265931558,0.0187623851479,1.03970032268
+234,3.900000000,pose1_to_pose2_press,0.618696721835,0.0100907624949,1.04003216953,0.589267173075,0.018762503682,1.03970030227
+235,3.916666667,pose1_to_pose2_press,0.618697371552,0.0100908279755,1.04003216406,0.589267821801,0.0187625656193,1.0397002916
+236,3.933333333,pose1_to_pose2_press,0.618697445754,0.0100908354538,1.04003216344,0.58926789589,0.0187625726929,1.03970029038
+237,3.950000000,pose1_to_pose2_press,0.618697494505,0.0100908403671,1.04003216303,0.589267944566,0.0187625773403,1.03970028958
+238,3.966666667,pose1_to_pose2_press,0.618697567093,0.0100908476828,1.04003216242,0.589268017044,0.0187625842601,1.03970028839
+239,3.983333333,pose1_to_pose2_press,0.618697758024,0.0100908669254,1.04003216081,0.589268207683,0.0187626024615,1.03970028525
+240,4.000000000,pose1_to_pose2_press,0.618697838778,0.0100908726614,1.04003215777,0.589268288349,0.0187626078879,1.03970028188
+241,4.016666667,pose1_to_pose2_press,0.618697939258,0.0100908707638,1.04003214511,0.589268388852,0.0187626060967,1.03970027001
+242,4.033333333,pose1_to_pose2_press,0.618698324194,0.0100908634938,1.04003209659,0.589268773875,0.0187625992347,1.03970022453
+243,4.050000000,pose1_to_pose2_press,0.618698889064,0.0100908528256,1.0400320254,0.589269338874,0.0187625891652,1.0397001578
+244,4.066666667,pose1_to_pose2_press,0.618699164575,0.0100908444691,1.04003197083,0.589269614482,0.0187625812841,1.03970010719
+245,4.083333333,pose1_to_pose2_press,0.618699210642,0.0100908395689,1.04003193966,0.589269660602,0.0187625766671,1.03970007866
+246,4.100000000,pose1_to_pose2_press,0.618699237955,0.0100908366634,1.04003192117,0.589269687947,0.0187625739296,1.03970006175
+247,4.116666667,pose1_to_pose2_press,0.618699246555,0.0100908357486,1.04003191535,0.589269696558,0.0187625730676,1.03970005642
+248,4.133333333,pose1_to_pose2_press,0.618699317087,0.0100908282458,1.04003186762,0.589269767172,0.0187625659984,1.03970001274
+249,4.150000000,pose1_to_pose2_press,0.618699349614,0.0100908247857,1.0400318456,0.589269799738,0.0187625627383,1.0396999926
+250,4.166666667,pose1_to_pose2_press,0.618699432198,0.010090782548,1.0400319046,0.589269882615,0.0187625214478,1.0397000503
+251,4.183333333,pose1_to_pose2_press,0.618699574096,0.0100907102171,1.04003213608,0.58927002541,0.0187624515512,1.03970026576
+252,4.200000000,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025412,0.0187624515485,1.03970026576
+253,4.216666667,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025413,0.0187624515476,1.03970026576
+254,4.233333333,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025413,0.0187624515473,1.03970026576
+255,4.250000000,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515482,1.03970026576
+256,4.266666667,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515482,1.03970026576
+257,4.283333333,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515472,1.03970026576
+258,4.300000000,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515471,1.03970026576
+259,4.316666667,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515469,1.03970026576
+260,4.333333333,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515471,1.03970026576
+261,4.350000000,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025413,0.0187624515464,1.03970026576
+262,4.366666667,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025415,0.0187624515474,1.03970026576
+263,4.383333333,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515475,1.03970026576
+264,4.400000000,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515472,1.03970026576
+265,4.416666667,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515482,1.03970026576
+266,4.433333333,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515475,1.03970026576
+267,4.450000000,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515469,1.03970026576
+268,4.466666667,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515471,1.03970026576
+269,4.483333333,pose2_hold,0.618699574096,0.0100907102171,1.04003213608,0.589270025414,0.0187624515471,1.03970026576
+270,4.500000000,pose2_to_pose3_retreat,0.618699514633,0.0100907403362,1.04003209567,0.589269965152,0.0187624792676,1.03970023395
+271,4.516666667,pose2_to_pose3_retreat,0.618699491997,0.0100906969753,1.04003191445,0.589269943307,0.0187624384471,1.03970004848
+272,4.533333333,pose2_to_pose3_retreat,0.618699309346,0.0100906879638,1.0400320331,0.589269760871,0.018762430278,1.0397001697
+273,4.550000000,pose2_to_pose3_retreat,0.618699154835,0.0100906803406,1.04003213347,0.589269606543,0.0187624233674,1.03970027225
+274,4.566666667,pose2_to_pose3_retreat,0.618699096075,0.0100906774415,1.04003217164,0.589269547852,0.0187624207394,1.03970031125
+275,4.583333333,pose2_to_pose3_retreat,0.618698864637,0.0100906915587,1.04003221773,0.589269316308,0.0187624344707,1.03970035673
+276,4.600000000,pose2_to_pose3_retreat,0.618698197517,0.010090758107,1.04003224503,0.589268648498,0.0187624984357,1.03970037833
+277,4.616666667,pose2_to_pose3_retreat,0.618695661048,0.0100906067015,1.04003233154,0.589266114662,0.0187623558941,1.03970046398
+278,4.633333333,pose2_to_pose3_retreat,0.618689142374,0.0100908574198,1.04003239234,0.589259591929,0.0187625923767,1.03970051476
+279,4.650000000,pose2_to_pose3_retreat,0.618674999055,0.0100909203947,1.04003232886,0.589245448283,0.0187626545759,1.03970045795
+280,4.666666667,pose2_to_pose3_retreat,0.618651938272,0.0100909019835,1.04003248652,0.589222387416,0.0187626357922,1.03970061583
+281,4.683333333,pose2_to_pose3_retreat,0.618617880944,0.0100908304619,1.04003241019,0.589188331847,0.0187625703576,1.03970053972
+282,4.700000000,pose2_to_pose3_retreat,0.618573415364,0.010090846586,1.0400323944,0.589143866553,0.0187625874399,1.03970052307
+283,4.716666667,pose2_to_pose3_retreat,0.618518411634,0.0100908117803,1.04003224722,0.589088862847,0.0187625529879,1.03970037989
+284,4.733333333,pose2_to_pose3_retreat,0.618453959845,0.0100907418382,1.04003233623,0.589024411769,0.0187624849499,1.03970046548
+285,4.750000000,pose2_to_pose3_retreat,0.618379810099,0.0100906151315,1.0400322364,0.588950263227,0.0187623622141,1.03970036669
+286,4.766666667,pose2_to_pose3_retreat,0.618296730708,0.0100906408544,1.04003228109,0.588867183773,0.0187623881355,1.03970042042
+287,4.783333333,pose2_to_pose3_retreat,0.618204695058,0.01009073672,1.04003247053,0.588775147424,0.0187624815353,1.03970060754
+288,4.800000000,pose2_to_pose3_retreat,0.618100562708,0.0100907373469,1.04003247557,0.588671014949,0.0187624812973,1.03970060272
+289,4.816666667,pose2_to_pose3_retreat,0.617984345592,0.0100907620313,1.0400323291,0.588554797363,0.0187625046688,1.03970046559
+290,4.833333333,pose2_to_pose3_retreat,0.617854361099,0.0100908045053,1.04003226476,0.588424811175,0.0187625410058,1.03970039386
+291,4.850000000,pose2_to_pose3_retreat,0.617707067993,0.0100907915448,1.04003237421,0.58827751869,0.0187625299929,1.03970050068
+292,4.866666667,pose2_to_pose3_retreat,0.617539495369,0.0100907917995,1.04003230134,0.588109945683,0.0187625288333,1.03970042777
+293,4.883333333,pose2_to_pose3_retreat,0.617353501544,0.0100908897815,1.0400322441,0.587923951979,0.0187626273729,1.03970037807
+294,4.900000000,pose2_to_pose3_retreat,0.61714926483,0.0100908715984,1.04003231397,0.58771971506,0.0187626082562,1.03970044551
+295,4.916666667,pose2_to_pose3_retreat,0.616925361127,0.0100907379664,1.0400323788,0.587495811729,0.0187624756182,1.03970050661
+296,4.933333333,pose2_to_pose3_retreat,0.616683816634,0.010090695979,1.04003228718,0.587254267895,0.0187624359233,1.03970041999
+297,4.950000000,pose2_to_pose3_retreat,0.616424256035,0.0100907877476,1.04003219999,0.586994706864,0.0187625261228,1.03970033464
+298,4.966666667,pose2_to_pose3_retreat,0.616146956938,0.010090671298,1.0400325905,0.586717410733,0.0187624195441,1.03970072408
+299,4.983333333,pose2_to_pose3_retreat,0.615851757913,0.0100908402525,1.04003229352,0.586422208908,0.0187625787643,1.039700424
+300,5.000000000,pose2_to_pose3_retreat,0.615538422987,0.0100908663265,1.04003241284,0.586108873609,0.018762603674,1.03970054996
+301,5.016666667,pose2_to_pose3_retreat,0.615207729041,0.010090738237,1.04003239623,0.585778181008,0.0187624799756,1.03970053273
+302,5.033333333,pose2_to_pose3_retreat,0.614857389443,0.0100906734631,1.04003224747,0.585427841916,0.018762416691,1.03970038187
+303,5.050000000,pose2_to_pose3_retreat,0.614484334806,0.0100907393226,1.04003215316,0.585054786272,0.0187624789907,1.03970028731
+304,5.066666667,pose2_to_pose3_retreat,0.614084074471,0.0100908239383,1.04003222156,0.584654524977,0.0187625602787,1.03970035682
+305,5.083333333,pose2_to_pose3_retreat,0.613656523775,0.0100907912082,1.04003220982,0.584226975404,0.0187625314012,1.03970034922
+306,5.100000000,pose2_to_pose3_retreat,0.613202744063,0.010090763106,1.04003225614,0.583773196169,0.0187625044762,1.03970038692
+307,5.116666667,pose2_to_pose3_retreat,0.612732716822,0.0100908381503,1.04003232551,0.583303167601,0.0187625751069,1.03970046092
+308,5.133333333,pose2_to_pose3_retreat,0.612250217262,0.0100908805247,1.04003224585,0.58282066951,0.0187626226085,1.0397003855
+309,5.150000000,pose2_to_pose3_retreat,0.611756557878,0.0100908568133,1.04003228049,0.582327009439,0.0187625965655,1.03970042009
+310,5.166666667,pose2_to_pose3_retreat,0.611247004365,0.0100908665339,1.04003234344,0.581817454225,0.0187626003948,1.03970047973
+311,5.183333333,pose2_to_pose3_retreat,0.610716584697,0.0100908404264,1.04003231871,0.581287034789,0.0187625749989,1.03970045286
+312,5.200000000,pose2_to_pose3_retreat,0.610148484714,0.0100906109163,1.04003222669,0.580718938152,0.0187623569461,1.03970036374
+313,5.216666667,pose2_to_pose3_retreat,0.60954428668,0.0100906533448,1.04003223203,0.5801147411,0.0187624026287,1.0397003681
+314,5.233333333,pose2_to_pose3_retreat,0.608911854455,0.0100907570856,1.04003225036,0.579482306322,0.0187624974535,1.03970037977
+315,5.250000000,pose2_to_pose3_retreat,0.608261050449,0.0100907927917,1.04003209151,0.578831501518,0.0187625309959,1.03970023446
+316,5.266666667,pose2_to_pose3_retreat,0.60759773475,0.0100906661822,1.04003232099,0.578168188526,0.0187624131553,1.03970045233
+317,5.283333333,pose2_to_pose3_retreat,0.606922958511,0.0100906937393,1.04003226209,0.57749341191,0.0187624395932,1.03970039738
+318,5.300000000,pose2_to_pose3_retreat,0.606233442902,0.0100907749035,1.04003223379,0.576803894751,0.0187625154181,1.03970036787
+319,5.316666667,pose2_to_pose3_retreat,0.605533551612,0.0100907836302,1.04003230477,0.576104003033,0.0187625225921,1.03970043636
+320,5.333333333,pose2_to_pose3_retreat,0.604822600443,0.0100907788441,1.04003243317,0.575393051996,0.0187625180853,1.03970055988
+321,5.350000000,pose2_to_pose3_retreat,0.604098445973,0.0100907825434,1.04003245352,0.574668898028,0.0187625234023,1.03970057801
+322,5.366666667,pose2_to_pose3_retreat,0.60336615355,0.0100907208048,1.04003227564,0.573936607086,0.0187624671985,1.03970041336
+323,5.383333333,pose2_to_pose3_retreat,0.602624838348,0.0100907832854,1.04003247855,0.573195290492,0.0187625247512,1.03970061102
+324,5.400000000,pose2_to_pose3_retreat,0.601869263402,0.0100907770812,1.04003237683,0.572439715299,0.0187625175958,1.0397005073
+325,5.416666667,pose2_to_pose3_retreat,0.601100289055,0.0100908172525,1.04003239962,0.571670739966,0.0187625542426,1.03970052345
+326,5.433333333,pose2_to_pose3_retreat,0.600317372756,0.0100907853627,1.04003249981,0.570887822762,0.0187625192462,1.03970062223
+327,5.450000000,pose2_to_pose3_retreat,0.599530722518,0.0100907379183,1.04003233153,0.570101172585,0.0187624722643,1.03970046039
+328,5.466666667,pose2_to_pose3_retreat,0.598751330369,0.0100907101176,1.04003221549,0.569321782161,0.0187624506855,1.03970035392
+329,5.483333333,pose2_to_pose3_retreat,0.597981992584,0.0100907127916,1.0400322221,0.568552445088,0.0187624557218,1.03970035896
+330,5.500000000,pose2_to_pose3_retreat,0.59722611879,0.0100907546532,1.04003221131,0.567796570638,0.0187624951249,1.03970034204
+331,5.516666667,pose2_to_pose3_retreat,0.596468231168,0.0100908142281,1.0400320959,0.567038682625,0.0187625534931,1.03970022979
+332,5.533333333,pose2_to_pose3_retreat,0.595704707801,0.0100908000819,1.04003196266,0.566275159838,0.018762541636,1.03970010492
+333,5.550000000,pose2_to_pose3_retreat,0.594933200448,0.0100905745266,1.0400319785,0.565503654504,0.0187623228148,1.03970011756
+334,5.566666667,pose2_to_pose3_retreat,0.594156722096,0.0100906614324,1.04003219959,0.564727176666,0.018762411366,1.03970033611
+335,5.583333333,pose2_to_pose3_retreat,0.593379934412,0.0100906961415,1.04003241188,0.563950386803,0.0187624386876,1.03970054853
+336,5.600000000,pose2_to_pose3_retreat,0.592611690091,0.0100906745915,1.04003231505,0.56318214239,0.0187624166326,1.03970044663
+337,5.616666667,pose2_to_pose3_retreat,0.591850340865,0.0100907058424,1.04003208003,0.562420792559,0.0187624459895,1.03970021572
+338,5.633333333,pose2_to_pose3_retreat,0.591106295682,0.0100907369494,1.04003223172,0.56167674685,0.0187624751657,1.03970036354
+339,5.650000000,pose2_to_pose3_retreat,0.590374208718,0.0100907244479,1.04003236265,0.560944659978,0.0187624628074,1.03970048996
+340,5.666666667,pose2_to_pose3_retreat,0.589651462806,0.0100907377539,1.04003214833,0.560221913901,0.0187624757749,1.03970028143
+341,5.683333333,pose2_to_pose3_retreat,0.588948808141,0.0100908125516,1.04003227779,0.559519259166,0.0187625501343,1.03970040564
+342,5.700000000,pose2_to_pose3_retreat,0.588268519418,0.0100906793079,1.04003241584,0.558838973651,0.0187624274357,1.03970053475
+343,5.716666667,pose2_to_pose3_retreat,0.587593191455,0.010090692716,1.04003224477,0.558163644555,0.0187624375993,1.03970037929
+344,5.733333333,pose2_to_pose3_retreat,0.58692216355,0.010090800929,1.04003234202,0.557492613721,0.0187625357573,1.03970047358
+345,5.750000000,pose2_to_pose3_retreat,0.58626312671,0.0100907003386,1.04003229799,0.556833578417,0.0187624402609,1.03970042633
+346,5.766666667,pose2_to_pose3_retreat,0.58561630343,0.0100906879907,1.04003223862,0.556186756442,0.0187624325096,1.0397003725
+347,5.783333333,pose2_to_pose3_retreat,0.584982532963,0.010090699098,1.04003229272,0.55555298621,0.0187624444593,1.03970042925
+348,5.800000000,pose2_to_pose3_retreat,0.584375787658,0.0100907114594,1.04003226136,0.5549462403,0.0187624546839,1.03970039525
+349,5.816666667,pose2_to_pose3_retreat,0.583798155859,0.0100907450921,1.04003208563,0.554368607184,0.0187624838734,1.03970021856
+350,5.833333333,pose2_to_pose3_retreat,0.583243675212,0.0100907329997,1.04003208325,0.553814125729,0.0187624691148,1.03970021799
+351,5.850000000,pose2_to_pose3_retreat,0.582711913979,0.0100907474366,1.04003244742,0.553282365315,0.0187624863623,1.03970058313
+352,5.866666667,pose2_to_pose3_retreat,0.582203771444,0.0100907674919,1.04003228069,0.552774222665,0.0187625057341,1.03970040864
+353,5.883333333,pose2_to_pose3_retreat,0.58171049109,0.0100907276986,1.04003205283,0.55228094314,0.0187624689148,1.03970018504
+354,5.900000000,pose2_to_pose3_retreat,0.581229000759,0.0100908525911,1.040032069,0.551799451697,0.0187625902188,1.03970020607
+355,5.916666667,pose2_to_pose3_retreat,0.580762026153,0.0100908595399,1.04003218282,0.55133247703,0.0187625968874,1.03970031793
+356,5.933333333,pose2_to_pose3_retreat,0.58031263427,0.0100908451956,1.04003237886,0.550883084561,0.018762580334,1.0397005081
+357,5.950000000,pose2_to_pose3_retreat,0.579889089086,0.0100908727177,1.04003243427,0.55045953922,0.0187626072852,1.03970056311
+358,5.966666667,pose2_to_pose3_retreat,0.579494319246,0.0100908517897,1.04003236329,0.550064770017,0.0187625886295,1.03970049546
+359,5.983333333,pose2_to_pose3_retreat,0.579133980687,0.0100907826153,1.04003232775,0.549704431631,0.0187625201167,1.03970046135
+360,6.000000000,pose2_to_pose3_retreat,0.578801045939,0.0100907796839,1.04003224075,0.549371497377,0.018762518953,1.03970037646
+361,6.016666667,pose2_to_pose3_retreat,0.57849375407,0.0100908386978,1.04003237334,0.549064205984,0.0187625793014,1.03970050152
+362,6.033333333,pose2_to_pose3_retreat,0.578202381591,0.0100907415959,1.04003241645,0.548772834185,0.0187624842227,1.03970053728
+363,6.050000000,pose2_to_pose3_retreat,0.5779244414,0.0100906964502,1.04003229079,0.548494894456,0.0187624409862,1.03970042061
+364,6.066666667,pose2_to_pose3_retreat,0.577659210306,0.0100907254699,1.04003239797,0.54822966298,0.0187624686422,1.03970052604
+365,6.083333333,pose2_to_pose3_retreat,0.577406870036,0.0100907685216,1.04003236475,0.547977322221,0.0187625101147,1.03970049491
+366,6.100000000,pose2_to_pose3_retreat,0.577169464304,0.0100906942227,1.04003218122,0.547739916733,0.0187624367454,1.03970031425
+367,6.116666667,pose2_to_pose3_retreat,0.576955132083,0.0100906638648,1.04003216929,0.547525584338,0.018762405828,1.0397003032
+368,6.133333333,pose2_to_pose3_retreat,0.576765411339,0.0100907851015,1.04003221256,0.547335862738,0.018762524404,1.03970035279
+369,6.150000000,pose2_to_pose3_retreat,0.576599824294,0.0100908207199,1.04003228082,0.547170275728,0.0187625601258,1.03970042067
+370,6.166666667,pose2_to_pose3_retreat,0.576456110965,0.0100907907801,1.04003247093,0.547026562737,0.0187625312226,1.03970060784
+371,6.183333333,pose2_to_pose3_retreat,0.576333402706,0.0100909321914,1.0400324862,0.546903852974,0.018762667397,1.03970061971
+372,6.200000000,pose2_to_pose3_retreat,0.576225022529,0.0100908475993,1.04003234395,0.546795473535,0.0187625855901,1.03970048473
+373,6.216666667,pose2_to_pose3_retreat,0.576128906219,0.0100907569386,1.04003254872,0.546699358319,0.0187624980994,1.03970067622
+374,6.233333333,pose2_to_pose3_retreat,0.576042685324,0.0100907462472,1.04003247843,0.546613137342,0.0187624872535,1.0397006093
+375,6.250000000,pose2_to_pose3_retreat,0.575966209758,0.0100907371646,1.04003241742,0.546536662227,0.0187624797677,1.03970054981
+376,6.266666667,pose2_to_pose3_retreat,0.575900722279,0.0100907162846,1.04003248025,0.546471174943,0.0187624592257,1.03970060404
+377,6.283333333,pose2_to_pose3_retreat,0.575845985148,0.0100907641629,1.04003242115,0.546416436271,0.018762501932,1.0397005464
+378,6.300000000,pose2_to_pose3_retreat,0.575802664959,0.010090820728,1.04003249345,0.546373116926,0.0187625615725,1.03970062415
+379,6.316666667,pose2_to_pose3_retreat,0.575768560483,0.0100907203535,1.04003251506,0.54633901431,0.018762467317,1.03970064073
+380,6.333333333,pose2_to_pose3_retreat,0.575742697449,0.0100906506761,1.04003233427,0.546313152135,0.018762400699,1.03970046377
+381,6.350000000,pose2_to_pose3_retreat,0.575721972134,0.0100906862246,1.04003230505,0.546292426352,0.0187624347256,1.03970043627
+382,6.366666667,pose2_to_pose3_retreat,0.575705489877,0.0100907504822,1.04003235077,0.546275943104,0.0187624955694,1.03970048075
+383,6.383333333,pose2_to_pose3_retreat,0.575692459002,0.0100907111979,1.04003228239,0.546262911941,0.0187624551665,1.03970040868
+384,6.400000000,pose2_to_pose3_retreat,0.575682545682,0.0100905786038,1.04003201108,0.546253,0.0187623278673,1.03970015353
+385,6.416666667,pose2_to_pose3_retreat,0.575675928352,0.0100905840739,1.04003218559,0.546246383294,0.0187623351971,1.03970032104
+386,6.433333333,pose2_to_pose3_retreat,0.575671585737,0.0100906372412,1.04003241201,0.546242040387,0.0187623869341,1.0397005358
+387,6.450000000,pose2_to_pose3_retreat,0.575669199964,0.0100906827711,1.04003242112,0.54623965313,0.0187624272744,1.03970054114
+388,6.466666667,pose2_to_pose3_retreat,0.57566815561,0.0100907027015,1.0400324251,0.546238608126,0.0187624449331,1.03970054347
+389,6.483333333,pose2_to_pose3_retreat,0.575667894833,0.0100907076363,1.04003241094,0.546238347212,0.0187624494155,1.03970052969
+390,6.500000000,pose2_to_pose3_retreat,0.575667848601,0.0100907084934,1.040032402,0.546238300966,0.0187624502411,1.03970052116
+391,6.516666667,pose2_to_pose3_retreat,0.575667839791,0.0100907086567,1.04003240029,0.546238292153,0.0187624503984,1.03970051954
+392,6.533333333,pose2_to_pose3_retreat,0.575667780577,0.0100907097545,1.04003238884,0.546238232921,0.0187624514559,1.03970050861
+393,6.550000000,pose2_to_pose3_retreat,0.575667721316,0.0100907108532,1.04003237739,0.546238173643,0.0187624525142,1.03970049768
+394,6.566666667,pose2_to_pose3_retreat,0.575667673583,0.0100907117381,1.04003236816,0.546238125896,0.0187624533666,1.03970048887
+395,6.583333333,pose2_to_pose3_retreat,0.57566746604,0.0100907155858,1.04003232802,0.54623791829,0.018762457073,1.03970045058
+396,6.600000000,pose2_to_pose3_retreat,0.575667406663,0.0100907166866,1.04003231654,0.546237858895,0.0187624581333,1.03970043962
+397,6.616666667,pose2_to_pose3_retreat,0.575667052185,0.0100907232584,1.040032248,0.546237504311,0.0187624644637,1.03970037421
+398,6.633333333,pose2_to_pose3_retreat,0.575666974637,0.0100907246961,1.040032233,0.546237426739,0.0187624658486,1.03970035991
+399,6.650000000,pose2_to_pose3_retreat,0.575666670334,0.0100907303376,1.04003217416,0.546237122345,0.0187624712829,1.03970030376
+400,6.666666667,pose2_to_pose3_retreat,0.575666567125,0.010090732251,1.0400321542,0.546237019105,0.018762473126,1.03970028472
+401,6.683333333,pose2_to_pose3_retreat,0.575666441722,0.0100907345759,1.04003212995,0.546236893665,0.0187624753655,1.03970026158
+402,6.700000000,pose2_to_pose3_retreat,0.575665924124,0.0100907441718,1.04003202986,0.546236375911,0.0187624846089,1.03970016607
+403,6.716666667,pose2_to_pose3_retreat,0.575665621612,0.0100907506586,1.04003198913,0.54623607334,0.0187624909705,1.03970012726
+404,6.733333333,pose2_to_pose3_retreat,0.575665414668,0.0100907578423,1.04003201678,0.546235866457,0.0187624983212,1.03970015386
+405,6.750000000,pose2_to_pose3_retreat,0.575665287083,0.0100907622712,1.04003203383,0.54623573891,0.0187625028531,1.03970017026
+406,6.766666667,pose2_to_pose3_retreat,0.575665186821,0.0100907657517,1.04003204723,0.546235638677,0.0187625064145,1.03970018315
+407,6.783333333,pose2_to_pose3_retreat,0.575664749334,0.0100907809384,1.04003210569,0.546235201319,0.0187625219541,1.03970023939
+408,6.800000000,pose2_to_pose3_retreat,0.575664472192,0.0100908211828,1.04003220198,0.546234924398,0.0187625629464,1.03970033562
+409,6.816666667,pose2_to_pose3_retreat,0.575664436307,0.0100908292685,1.04003222001,0.546234888555,0.0187625711781,1.03970035376
+410,6.833333333,pose2_to_pose3_retreat,0.575664406623,0.0100908359571,1.04003223492,0.546234858906,0.0187625779875,1.03970036877
+411,6.850000000,pose2_to_pose3_retreat,0.575664375609,0.0100908247952,1.04003224016,0.546234828087,0.018762567528,1.03970037501
+412,6.866666667,pose2_to_pose3_retreat,0.575664370422,0.0100908208767,1.04003223987,0.546234822951,0.0187625637921,1.03970037499
+413,6.883333333,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2dd779815a7b21d910eb671b1ab66159388d2023
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d24621ca09676705b16709e30dbc69df4636b1a66b7d1319b115eab64f28ac06
+size 26213517
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea6eb439e8d2dd401acc750311c2231f2a69644c
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/franka_data.csv
@@ -0,0 +1,414 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,714,680,667,636,879,788,804,654,632,653,0.400995963793,0.00458492476746,0.0498602716068,0.999999962329,0.00011241396231,-0.000248158354509,-3.35106671523e-05,1793239725194327040
+1,0.016666667,BASELINE,767,746.575905773,714.575905773,680,667,636,879.575905773,788.575905773,804,654,632,653,0.400996911963,0.00458240426521,0.0498609424635,0.999999962883,0.000108579758576,-0.000247732715645,-3.27472044787e-05,1793239725210993152
+2,0.033333333,BASELINE,766.844763925,746.844763925,715,680,667,636,880,788.844763925,804,654,632,653,0.400997495482,0.00458082542971,0.0498613879138,0.999999963163,0.000106871417135,-0.000247413533966,-3.22471012746e-05,1793239725227659520
+3,0.050000000,BASELINE,766.255866872,746.255866872,715,680,667,636,880,788.255866872,804,654,632,653,0.400997060324,0.00458187719435,0.0498612036789,0.999999962699,0.000111101794426,-0.000247391746518,-3.24827078483e-05,1793239725244325888
+4,0.066666667,BASELINE,766,745.672402704,714.672402704,680,667,635.672402704,880,788,804,654,632,653,0.400996519799,0.00458190526832,0.049860811848,0.99999996248,0.000111624447785,-0.000248046407164,-3.24432995219e-05,1793239725260992768
+5,0.083333333,BASELINE,766,745.093112653,714.093112653,680,667,635.093112653,880,788,804,654,632,653,0.400995898321,0.00458114684148,0.0498602605213,0.999999962453,0.000109298459391,-0.000249220782375,-3.21925974409e-05,1793239725277659392
+6,0.100000000,BASELINE,766,745.482938332,714,679.517061668,667,635.482938332,880,788,804,654,632,653,0.400995254785,0.0045818248964,0.0498601851315,0.999999962442,0.000108833560392,-0.00024939250211,-3.27794301814e-05,1793239725294326272
+7,0.116666667,BASELINE,766,746,714.058325248,679.058325248,666.941674752,636,880,788,804,653.941674752,632,653,0.400994797315,0.00458273862968,0.0498602806221,0.999999962454,0.000108981791922,-0.000249194089434,-3.34376130139e-05,1793239725310992896
+8,0.133333333,BASELINE,766,746,714.633324853,679.633324853,666.366675147,636,880,788,804,653.366675147,632,653,0.400996025535,0.00458330301457,0.049861082392,0.999999962632,0.000111403955398,-0.000247417942737,-3.33069063218e-05,1793239725327659520
+9,0.150000000,BASELINE,766,745.786768453,714.786768453,679.786768453,666.213231547,636,880.213231547,788,804,653,632,653,0.400996676044,0.00458329113167,0.0498614886662,0.999999962807,0.000112163001272,-0.00024637841604,-3.32063483929e-05,1793239725344326144
+10,0.166666667,BASELINE,766,745.198224778,714.198224778,679.198224778,666.801775222,636,880.801775222,788,804,653,632,653,0.400996309715,0.00458226495093,0.0498611988223,0.999999962986,0.000109994768,-0.000246635425739,-3.315885578e-05,1793239725360992512
+11,0.183333333,BASELINE,766,745.385275121,714,679.385275121,667,636,880.614724879,788,804,653,632,653,0.400996419983,0.00458246212978,0.0498612943428,0.999999962967,0.000110361003968,-0.000246564387192,-3.30449064954e-05,1793239725377659392
+12,0.200000000,BASELINE,766,745.966213573,714,679.966213573,667,636,880.033786427,788,804,653,632,653,0.400996772293,0.00458328059602,0.0498615855719,0.999999962847,0.000112014378902,-0.000246326748208,-3.28972069509e-05,1793239725394326016
+13,0.216666667,BASELINE,766,746,714.542220574,680,667.542220574,636,880,788,804,653.542220574,632,653,0.400994667287,0.00458241526066,0.0498604668582,0.999999962315,0.000110365788611,-0.000249233839058,-3.27302335378e-05,1793239725410992640
+14,0.233333333,BASELINE,766,746,714.882217893,680,667.882217893,636,879.882217893,788,804,653.882217893,632,653,0.400993396727,0.00458169400704,0.0498597524919,0.999999962022,0.000109062349267,-0.000250995617929,-3.26038971286e-05,1793239725427659520
+15,0.250000000,BASELINE,766,746,714.307203375,680,667.307203375,636,879.307203375,788,804,653.307203375,632,653,0.400995954554,0.00458193571071,0.0498609457913,0.999999962787,0.000109890316646,-0.000247557441307,-3.26399345038e-05,1793239725444326144
+16,0.266666667,BASELINE,766,746,714,679.725269889,666.725269889,635.725269889,879,788,804,653,632,653,0.400997614196,0.00458238618729,0.0498618756902,0.999999963224,0.00011034663547,-0.000245578386684,-3.26636522985e-05,1793239725460993024
+17,0.283333333,BASELINE,766,746,714,679.135399762,666.135399762,635.135399762,879,788,804,653,632,653,0.40099824354,0.00458307614506,0.0498625034451,0.999999963295,0.000110376640105,-0.000245273075737,-3.267323843e-05,1793239725477659904
+18,0.300000000,BASELINE,766,746,714,679,666,635,879.445623201,788,804,653,632,653,0.400997241378,0.00458241813057,0.0498618051107,0.999999963079,0.00011036709743,-0.000246177634039,-3.25336478759e-05,1793239725494326272
+19,0.316666667,BASELINE,766,746,714,679,666,635,880,788,804,653,631.976139605,653,0.400995829473,0.00458137456837,0.0498607659238,0.999999962788,0.000110363621803,-0.000247381272556,-3.23593771932e-05,1793239725510992640
+20,0.333333333,BASELINE,766,746,714,679,666,635,880,788,804,653,631.401364314,653,0.400996179935,0.00458070162933,0.049860978802,0.999999962794,0.000110772270922,-0.000247167828858,-3.24105457332e-05,1793239725527659264
+21,0.350000000,BASELINE,766,745.822108077,714,679.177891923,666.177891923,635.177891923,880,788,804,653.177891923,631.177891923,653,0.400996244096,0.00458068598911,0.0498610907637,0.999999962772,0.000111130947386,-0.000247078739266,-3.25230354106e-05,1793239725544326144
+22,0.366666667,BASELINE,766,745.232480654,714,679.767519346,666.767519346,635.767519346,880,788,804,653.767519346,631.767519346,653,0.400995645608,0.00458219168429,0.0498609691516,0.999999962688,0.000111373960783,-0.000247277470534,-3.27774544552e-05,1793239725560992768
+23,0.383333333,BASELINE,766,745.350805342,714.350805342,679.649194658,667,636,880,788,804,653.649194658,632,653,0.400995866328,0.00458301421878,0.049860924047,0.99999996273,0.000111409126073,-0.000247073851227,-3.29033757066e-05,1793239725577659648
+24,0.400000000,BASELINE,766,745.929963515,714.929963515,679.070036485,667,636,880,788,804,653.070036485,632,653,0.400996620302,0.00458339205757,0.0498609287441,0.999999962855,0.000111308994977,-0.000246608326312,-3.29456527752e-05,1793239725594326784
+25,0.416666667,BASELINE,766,746,714.493010572,679,667,635.493010572,879.493010572,787.493010572,804,653,632,653,0.400997832785,0.00458369441084,0.0498621744591,0.999999963321,0.000111230052873,-0.000244745995828,-3.29300381233e-05,1793239725610993408
+26,0.433333333,BASELINE,766,746,714,679.08345161,667,635,879,787.08345161,804,653,631.91654839,653,0.400998631382,0.00458369385054,0.0498632181289,0.999999963724,0.000110843850384,-0.00024327499752,-3.29004716168e-05,1793239725627659776
+27,0.450000000,BASELINE,766,746,714,679.65832168,667,635,879,787.65832168,804,653,631.34167832,653,0.400996621323,0.00458197068233,0.0498620667188,0.999999963489,0.000108631130374,-0.000245239924239,-3.28356433375e-05,1793239725644326144
+28,0.466666667,BASELINE,766,746,714,679.759989104,667,635.240010896,879,788,804,653,631,653,0.400995891195,0.00458178165305,0.0498614773194,0.999999963235,0.000108932669719,-0.000246143797821,-3.28248774603e-05,1793239725660992768
+29,0.483333333,BASELINE,766,746,714,679.168308344,667,635.831691656,879,788,804,653,631,653,0.400997036454,0.00458384048193,0.0498617113917,0.99999996295,0.0001129181638,-0.000245492990148,-3.28933251473e-05,1793239725677659392
+30,0.500000000,BASELINE,766,746,714,679,666.587242474,635.587242474,879.412757526,788,803.587242474,653,631.412757526,653.412757526,0.400996930856,0.00458284113512,0.0498613429539,0.999999963068,0.000111025106154,-0.000245877750555,-3.28846938045e-05,1793239725694326272
+31,0.516666667,BASELINE,766,746,714,679,666.010396484,635.010396484,879.989603516,788,803.010396484,653,631.989603516,653.989603516,0.400996327989,0.0045806260349,0.0498607349931,0.999999963334,0.000106795077016,-0.00024667419281,-3.28454203055e-05,1793239725710992896
+32,0.533333333,BASELINE,766,746,714,679,666.564857797,635.564857797,880,788,803.564857797,653,632,653.435142203,0.400996471377,0.00458184152351,0.0498613972646,0.999999963024,0.000110796157345,-0.000246149106771,-3.2955890427e-05,1793239725727659520
+33,0.550000000,BASELINE,766,746,714,679,666.856927721,635.856927721,879.856927721,788,804,653,632,653,0.400996468645,0.004582683205,0.0498617646111,0.999999962762,0.000113531733334,-0.000245962279717,-3.29928655409e-05,1793239725744326400
+34,0.566666667,BASELINE,766,746,714,679,666.269427268,635.269427268,879.269427268,788,804,653,632,653,0.400995969467,0.00458216813492,0.0498611434066,0.999999962725,0.000111866970541,-0.000246901537031,-3.27930043948e-05,1793239725760993024
+35,0.583333333,BASELINE,766,746,714,679,666,635.313829248,879.313829248,788,804,653,631.686170752,653,0.400996301454,0.00458154402965,0.0498614806746,0.999999963074,0.000110020291502,-0.000246341989574,-3.26129170555e-05,1793239725777659648
+36,0.600000000,BASELINE,766,746,714,679,666,635.893490954,879.893490954,788,804,653,631.106509046,653,0.400997337489,0.00458082756488,0.049862629827,0.999999963746,0.000108019518155,-0.000244512863422,-3.24495793109e-05,1793239725794326016
+37,0.616666667,BASELINE,766,746,714,679,666.472302112,635.527697888,880,788,804,653,631.472302112,653,0.400998186036,0.00458174415103,0.0498630981426,0.999999963954,0.000108859508595,-0.000243262056803,-3.26233158815e-05,1793239725810992384
+38,0.633333333,BASELINE,766,746,714,679,666.949705565,635.050294435,879.949705565,788.050294435,804,653,632,653,0.400998843545,0.00458282662279,0.0498633297741,0.999999964037,0.000110121119365,-0.000242324472301,-3.28419984232e-05,1793239725827659264
+39,0.650000000,BASELINE,766,746,714,679,666.378214249,635.621785751,879.378214249,788.621785751,804,653,632,653,0.400997958707,0.00458181866398,0.0498626968876,0.999999963916,0.000109125171527,-0.000243283709321,-3.27401442636e-05,1793239725844325888
+40,0.666666667,BASELINE,766,745.799685781,714.200314219,679.200314219,666.200314219,636,879.200314219,788.799685781,804,653,632,653.200314219,0.400997289709,0.00458145228585,0.0498621393221,0.999999963647,0.000109138709815,-0.000244397462713,-3.26419618223e-05,1793239725860992512
+41,0.683333333,BASELINE,766,745.207386697,714.792613303,679.792613303,666.792613303,636,879.792613303,788.207386697,804,653,632,653.792613303,0.400997043081,0.00458234138491,0.0498617291488,0.999999963083,0.000111127661008,-0.000245813581394,-3.25509643886e-05,1793239725877659648
+42,0.700000000,BASELINE,766,745.376458613,714.623541387,679.623541387,667,636,879.623541387,788,804,653.376458613,632,653.623541387,0.40099604937,0.00458252407286,0.0498613719716,0.999999962789,0.000111642789578,-0.000246769661712,-3.2587091892e-05,1793239725894326528
+43,0.716666667,BASELINE,766,745.955749101,714.044250899,679.044250899,667,636,879.044250899,788,804,653.955749101,632,653.044250899,0.400994653139,0.00458232615402,0.0498610433482,0.999999962642,0.000111363838215,-0.000247477878233,-3.26917129553e-05,1793239725910993152
+44,0.733333333,BASELINE,766.531004498,746,714.531004498,679.531004498,667,636,879.531004498,788.531004498,804.531004498,653.468995502,632,653,0.400996035211,0.00458206083843,0.049862342075,0.999999963179,0.000111618241472,-0.000245218525512,-3.24089671236e-05,1793239725927659776
+45,0.750000000,BASELINE,767,746,714.894194135,679.894194135,667,635.894194135,880,788.894194135,804.894194135,653,632,653,0.400997111634,0.00458168523605,0.0498633198055,0.999999963635,0.000111293413209,-0.000243531713263,-3.21733435557e-05,1793239725944326144
+46,0.766666667,BASELINE,767,746,714.319925587,679.319925587,667,635.319925587,880,788.319925587,804.319925587,653,632,653,0.400995817398,0.00458084601121,0.0498622803908,0.999999963497,0.000108208690952,-0.000245466545277,-3.22882053508e-05,1793239725960992768
+47,0.783333333,BASELINE,766.736974393,746,714,678.736974393,667,635,880,788,804,653,631.736974393,653,0.400995353386,0.00458063097058,0.0498618142015,0.999999963417,0.000106963351125,-0.000246333452879,-3.23354752788e-05,1793239725977659648
+48,0.800000000,BASELINE,766.143101642,746,714,678.143101642,667,635,880,788,804,653,631.143101642,653,0.400995933671,0.00458120106086,0.0498620690443,0.99999996342,0.000108031680763,-0.000245857070462,-3.22977246939e-05,1793239725994326272
+49,0.816666667,BASELINE,766,745.563596805,714,678.436403195,667,635.436403195,880,788,804,653.436403195,631,653,0.400995938933,0.00458119956207,0.0498619616747,0.999999963332,0.000108538797473,-0.000245978576505,-3.23890787775e-05,1793239726010992896
+50,0.833333333,BASELINE,766,745.011362115,714,679.011362115,667,636,880,788,804,653.988637885,631.011362115,653.011362115,0.400995783801,0.00458101135837,0.0498617443528,0.99999996322,0.0001088698955,-0.000246273930882,-3.25158113702e-05,1793239726027659776
+51,0.850000000,BASELINE,766,745.587083534,714,679.587083534,667,636,880,788,804,653.412916466,631.587083534,653.587083534,0.400996729024,0.00458056246257,0.0498617771471,0.999999963299,0.000109307476657,-0.000245776691178,-3.23640424481e-05,1793239726044326656
+52,0.866666667,BASELINE,766.166392627,746,714,680,667,635.833607373,880,788,804,653,632,653.833607373,0.400997017644,0.00458031366292,0.0498617870446,0.99999996335,0.000109197313733,-0.000245624229987,-3.23272640376e-05,1793239726060993536
+53,0.883333333,BASELINE,766.75480098,746,714,680,667,635.24519902,880,788,804,653,632,653.24519902,0.400995640944,0.00458057236003,0.0498617388699,0.999999963327,0.000107697926883,-0.000246346218355,-3.25821319969e-05,1793239726077659904
+54,0.900000000,BASELINE,766.662160709,746,714,679.662160709,667,635,880,788,803.662160709,653,632,653,0.400996541484,0.00458189168233,0.0498623595573,0.999999963421,0.000109288377877,-0.000245246803679,-3.26784103219e-05,1793239726094326016
+55,0.916666667,BASELINE,766.08295894,746,714,679.08295894,667,635,880,788,803.08295894,653,632,653,0.400999068953,0.00458396874694,0.0498634580997,0.999999963585,0.000113086301349,-0.000242846124248,-3.26613874655e-05,1793239726110992640
+56,0.933333333,BASELINE,766,746,714,679,667,635,880,788,803.493159386,653,632,653,0.400996760685,0.00458319579049,0.0498617168277,0.999999963031,0.000111414511697,-0.000245897201954,-3.25483610576e-05,1793239726127659264
+57,0.950000000,BASELINE,766,746,714,679,666.931217609,635.068782391,880,788,803.931217609,653,632,653,0.400994276976,0.0045820710348,0.0498600416564,0.999999962525,0.000109082341482,-0.00024899476234,-3.24438230307e-05,1793239726144326144
+58,0.966666667,BASELINE,766,746,714,679,666.355446369,635.644553631,880,788,803.355446369,653,632,653,0.400996458823,0.00458186506672,0.0498623529991,0.999999963383,0.000108622485011,-0.00024571714777,-3.25201501674e-05,1793239726160992768
+59,0.983333333,BASELINE,766,746,714,679.226373752,666.226373752,635.773626248,879.773626248,788,803,653.226373752,631.773626248,653.226373752,0.400997332337,0.00458215258295,0.0498633491367,0.999999963687,0.000109100451855,-0.000244252461281,-3.2621229993e-05,1793239726177659648
+60,1.000000000,BASELINE,766,746,714,679.817952522,666.817952522,635.182047478,879.182047478,788,803,653.817952522,631.182047478,653.817952522,0.400996095142,0.00458323622919,0.0498622234757,0.999999963105,0.000111091393417,-0.000245712541065,-3.27622429333e-05,1793239726194326528
+61,1.016666667,BASELINE,766,746,714,679.600530329,667,635,879.399469671,788,803.399469671,653.600530329,631,653.600530329,0.400996955184,0.00458291179255,0.049862371251,0.999999963522,0.000109636854861,-0.000244655218698,-3.28588417323e-05,1793239726210993152
+62,1.033333333,BASELINE,766,746,714,679.023485872,667,635,879.976514128,788,803.976514128,653.023485872,631,653.023485872,0.400998747503,0.00458196142594,0.0498630851022,0.999999964372,0.000106650709553,-0.000242478844704,-3.2935697267e-05,1793239726227659520
+63,1.050000000,BASELINE,765.447513459,746,714.552486541,679,667.552486541,635.552486541,880,788,803.447513459,653,631.552486541,653,0.400996173586,0.00458208059736,0.0498616808307,0.999999963346,0.000108854935014,-0.000245786141424,-3.23743895047e-05,1793239726244326144
+64,1.066666667,BASELINE,765.127658664,745.872341336,714.872341336,679.127658664,667.872341336,635.872341336,880,788,803.127658664,653,631.872341336,653,0.400994563997,0.00458214966974,0.0498607283123,0.999999962641,0.000110646665595,-0.000247887366867,-3.20368763196e-05,1793239726260992512
+65,1.083333333,BASELINE,765.700200306,745.299799694,714.299799694,679.700200306,667.299799694,635.299799694,880,788,803.700200306,653,631.299799694,653,0.400996960606,0.00458188601237,0.0498616633043,0.999999963387,0.000110233448723,-0.000244974711356,-3.25736303683e-05,1793239726277659136
+66,1.100000000,BASELINE,766.282859866,745.282859866,714,679.717140134,667,635.282859866,879.717140134,788,804,653,631,653,0.400997886076,0.00458218787354,0.0498625004617,0.999999963721,0.000110296964181,-0.000243561714507,-3.2716992554e-05,1793239726294326016
+67,1.116666667,BASELINE,766.876641067,745.876641067,714,679.123358933,667,635.876641067,879.123358933,788,804,653,631,653,0.400997194463,0.00458311135626,0.0498632300787,0.999999963608,0.000110884506828,-0.00024379715204,-3.24279359057e-05,1793239726310992640
+68,1.133333333,BASELINE,766.542259574,745.542259574,714,679,667,635.542259574,879,788,804,653,631.457740426,653,0.400995547865,0.00458256937164,0.0498619606012,0.99999996337,0.000109376846925,-0.000245431683439,-3.25433730637e-05,1793239726327659264
+69,1.150000000,BASELINE,766,745.035421921,714.035421921,679,667,635,879.035421921,788,804,653,631.964578079,653,0.400993816406,0.00458170311411,0.0498603020774,0.999999963118,0.00010748549413,-0.000247260829189,-3.27435060796e-05,1793239726344325888
+70,1.166666667,BASELINE,766,745.61169341,714.61169341,679,667,635,879.61169341,788,804,653,631.38830659,653,0.400994612929,0.00458175324269,0.0498607075386,0.999999963251,0.000108124677403,-0.000246459614566,-3.26172741345e-05,1793239726360992512
+71,1.183333333,BASELINE,766,746,714.807871634,679,667,635,880,788,803.807871634,653,631.192128366,653,0.400995480888,0.00458200748776,0.0498615140537,0.999999963413,0.000109145438955,-0.000245363432659,-3.25311602517e-05,1793239726377659136
+72,1.200000000,BASELINE,766,746,714.218835488,679,667,635,880,788,803.218835488,653,631.781164512,653,0.400996496422,0.00458268340627,0.0498631490845,0.999999963631,0.000110954482911,-0.000243657893376,-3.25279241184e-05,1793239726394325760
+73,1.216666667,BASELINE,766.364377659,746,714,679,667,635,880,788,803,653.364377659,632,653,0.400996661317,0.00458311233146,0.0498629816322,0.999999963571,0.000111493017951,-0.000243659645517,-3.25279112105e-05,1793239726410992384
+74,1.233333333,BASELINE,766.944148641,746,714,679,667,635,880,788,803,653.944148641,632,653,0.400996323377,0.0045833952523,0.0498617486842,0.999999963347,0.000111280521279,-0.000244670623121,-3.25298036371e-05,1793239726427659264
+75,1.250000000,BASELINE,766.481141199,746,714.518858801,679.518858801,667,635.518858801,880,788,803.518858801,654,632,653,0.400996516762,0.00458266586767,0.0498625046436,0.999999963643,0.000110444934711,-0.000243844131868,-3.24893620885e-05,1793239726444325888
+76,1.266666667,BASELINE,766,746.095345621,714.904654379,680,666.904654379,636,880,788,804,653.904654379,631.904654379,653.095345621,0.400996638232,0.00458202548327,0.0498632226497,0.99999996386,0.000109965789576,-0.000243176995964,-3.2444730375e-05,1793239726460992256
+77,1.283333333,BASELINE,766,746.683811418,714.316188582,680,666.316188582,636,880,788,804,653.316188582,631.316188582,653.683811418,0.400996094821,0.00458240352778,0.0498626477959,0.999999963387,0.000111673667611,-0.000244347107403,-3.24017679527e-05,1793239726477659136
+78,1.300000000,BASELINE,766,746.463603294,714.268198353,679.731801647,666.268198353,636,880,788,804,653,631.268198353,653.731801647,0.400996294691,0.00458226363045,0.0498627101359,0.999999963352,0.000111435518216,-0.000244587891432,-3.24637998487e-05,1793239726494325760
+79,1.316666667,BASELINE,766,745.304302863,714.847848569,679.152151431,666.847848569,636,880,788,804,653,631.847848569,653.152151431,0.400997357714,0.00458152226055,0.049863512433,0.999999963826,0.000108937497002,-0.000243749471314,-3.26477589542e-05,1793239726510992384
+80,1.333333333,BASELINE,766,745,715,679,667,635.575256627,880,788,804,653.424743373,631.575256627,653,0.400997516332,0.00458158878179,0.0498632112144,0.999999963917,0.000108124716838,-0.000243742224089,-3.26264877234e-05,1793239726527659008
+81,1.350000000,BASELINE,766,745.000657074,715,679,667,635.000657074,880,788,804,653.999342926,631.000657074,653,0.400997351972,0.00458194227839,0.0498625178743,0.999999963873,0.000107913471725,-0.000244031402873,-3.25322773902e-05,1793239726544325632
+82,1.366666667,BASELINE,766,745.576159199,715,679,667,635.576159199,880,788,804,653.423840801,631.576159199,653,0.400996232173,0.00458180423348,0.0498623771246,0.999999963531,0.000109224118122,-0.000244847754114,-3.25295744241e-05,1793239726560992256
+83,1.383333333,BASELINE,766.154337153,745.845662847,715,679,667,636,879.845662847,788,804.154337153,653,632,653,0.400995471423,0.00458177298729,0.0498622307028,0.999999963245,0.000110217115344,-0.00024556962306,-3.2524641388e-05,1793239726577659136
+84,1.400000000,BASELINE,766.739993257,745.260006743,715,679,667,636,879.260006743,788,804.739993257,653,632,653,0.400995714089,0.00458204020656,0.0498620684294,0.999999963121,0.000110322393305,-0.000246027446861,-3.25134760767e-05,1793239726594325760
+85,1.416666667,BASELINE,766.675671981,745.324328019,714.675671981,679.324328019,666.675671981,636,879,788,804.675671981,653,632,653,0.400996086132,0.00458304801155,0.0498622698054,0.999999963092,0.000111313397432,-0.000245687271475,-3.25958268536e-05,1793239726610992640
+86,1.433333333,BASELINE,766.092392248,745.907607752,714.092392248,679.907607752,666.092392248,636,879,788,804.092392248,653,632,653,0.400996561475,0.00458464711894,0.0498627615282,0.999999963136,0.000113011587782,-0.000244709953277,-3.27528432471e-05,1793239726627659264
+87,1.450000000,BASELINE,766,745.516436889,714,679.516436889,666.483563111,635.516436889,879.483563111,788,804,653,632,653,0.400996969129,0.00458286070403,0.049863192776,0.999999963544,0.000110945347825,-0.000243981820884,-3.28133408487e-05,1793239726644325888
+88,1.466666667,BASELINE,766,745.057997139,714,679,667,635.057997139,880,788,804,653,631.942002861,653,0.400997318723,0.00458066414535,0.0498635393063,0.999999963977,0.000108433041452,-0.000243332184553,-3.28210901058e-05,1793239726660992512
+89,1.483333333,BASELINE,766,745.631162963,714,679,667,635.631162963,880,788,804,653,631.368837037,653,0.400997265748,0.00458048449459,0.0498632344253,0.999999964096,0.000108252030573,-0.000242963201336,-3.25216585481e-05,1793239726677658880
+90,1.500000000,BASELINE,766,745.788666193,714,679,667,636,880,788.211333807,804,653,631.211333807,653,0.400996672243,0.00458031008284,0.0498627988749,0.999999964014,0.000107932230646,-0.00024347139432,-3.23309597193e-05,1793239726694325760
+91,1.516666667,BASELINE,766,745.195850542,714,679,667,636,880,788.804149458,804,653,631.804149458,653,0.400995103019,0.00458014512813,0.0498621274516,0.999999963563,0.000107361900535,-0.000245562991331,-3.23365360114e-05,1793239726710992640
+92,1.533333333,BASELINE,766,745.386665167,714.386665167,679,667,635.613334833,880,788.613334833,804,653,632,653,0.400995198379,0.0045817261113,0.0498620381376,0.999999963212,0.000109701261853,-0.000245939662367,-3.2481143231e-05,1793239726727659008
+93,1.550000000,BASELINE,766,745.964099249,714.964099249,679,667,635.035900751,880,788.035900751,804,653,632,653,0.400996114995,0.00458416848747,0.0498622360187,0.999999962899,0.000113476176986,-0.000245470240907,-3.26943441111e-05,1793239726744325632
+94,1.566666667,BASELINE,766,746,714.458147846,679,667,635.541852154,880,788,804,653,631.458147846,653,0.400996557035,0.00458344988382,0.0498628649809,0.999999963452,0.000111793025615,-0.00024400285419,-3.25635020873e-05,1793239726760992512
+95,1.583333333,BASELINE,766,746,714,679.121681844,667,636,880,788,804,653,631.121681844,653,0.400996874063,0.00458267717838,0.049863266188,0.999999963903,0.000110202946172,-0.000242892426784,-3.24387671555e-05,1793239726777659392
+96,1.600000000,BASELINE,766,746,714,679.709384491,667,636,880,788,804,653,631.709384491,653,0.40099683281,0.00458249983575,0.0498626856814,0.999999963763,0.000110355103452,-0.000243402473054,-3.24247728245e-05,1793239726794325760
+97,1.616666667,BASELINE,766,746,714,680,667,636,879.707455394,788,804,653.292544606,631.707455394,653,0.400996410912,0.00458282386684,0.0498623723436,0.999999963576,0.000111121470884,-0.000243798531504,-3.25969951278e-05,1793239726810992640
+98,1.633333333,BASELINE,766,746,714,680,667,636,879.128738894,788,804,653.871261106,631.128738894,653,0.400995616661,0.00458363834988,0.0498623203545,0.999999963342,0.000112488668677,-0.000244083085183,-3.29513775747e-05,1793239726827659264
+99,1.650000000,BASELINE,766,746,714,679.551888411,667,636,879.448111589,788,804.448111589,654,631.448111589,653,0.40099765564,0.00458293438224,0.0498636044441,0.999999963978,0.000111251452792,-0.000242062984498,-3.27557708606e-05,1793239726844325888
+100,1.666666667,BASELINE,766,746,714,679.024362132,666.975637868,635.975637868,880,788,804.975637868,653.975637868,631.975637868,653,0.40100030636,0.00458185920539,0.0498651414404,0.999999964799,0.000109310385043,-0.000239586014908,-3.24334955451e-05,1793239726860992768
+101,1.683333333,BASELINE,766,746,714,679.599120158,666.400879842,635.400879842,880,788,804.400879842,653.400879842,631.400879842,653,0.400998464655,0.0045822123238,0.0498637562091,0.999999964392,0.000108301759078,-0.000241683849556,-3.28044338071e-05,1793239726877659136
+102,1.700000000,BASELINE,766,746,714,679.821880519,666.178119481,635.178119481,880,788,804,653,631,653,0.400997234815,0.00458252293939,0.0498629107421,0.99999996407,0.00010825567392,-0.00024301943021,-3.291047352e-05,1793239726894325760
+103,1.716666667,BASELINE,766,746,714,679.23310288,666.76689712,635.76689712,880,788,804,653,631,653,0.40099741564,0.00458273556376,0.0498633097129,0.999999963951,0.00011042874671,-0.00024259761818,-3.24057840808e-05,1793239726910992384
+104,1.733333333,BASELINE,766,746,714,679.350755172,667,635.649244828,879.649244828,788,803.649244828,653,631,653,0.400998415844,0.00458225307824,0.0498639348948,0.999999964159,0.000110919583536,-0.000241531657287,-3.22784285421e-05,1793239726927659264
+105,1.750000000,BASELINE,766,746,714,679.931389071,667,635.068610929,879.068610929,788,803.068610929,653,631,653,0.400999953055,0.00458131503001,0.0498647083315,0.999999964581,0.000110307912919,-0.000240043532593,-3.23983709094e-05,1793239726944325888
+106,1.766666667,BASELINE,766,746,714,679.492995802,666.492995802,635.507004198,879.507004198,788,803.507004198,653,631,653,0.400997394653,0.0045821235321,0.0498633775147,0.999999964007,0.000110120211947,-0.000242485878244,-3.25665164609e-05,1793239726960992512
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804,653,631,653,0.400997489114,0.00458423876884,0.049864217886,0.999999963956,0.000112888486295,-0.000241413646667,-3.26119174977e-05,1793239727004343296
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,714,679.407542213,666.407542213,635.592457787,880.592457787,788,804,653,631.592457787,653,0.40099842387,0.00458167000869,0.0498642677022,0.999999964415,0.000109278445538,-0.000241217181059,-3.22817268932e-05,1793239727021009920
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679.180354628,666.180354628,636,880.819645372,788,804,653,631.819645372,653,0.400998898266,0.00458033936143,0.0498642351667,0.999999964655,0.000107316051648,-0.000241126866716,-3.21117468e-05,1793239727037676800
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,714,679.758199541,666.758199541,636,880.241800459,788,804,653,631.241800459,653,0.400998358056,0.0045817374368,0.0498640211331,0.999999964434,0.000108984967403,-0.000241270503067,-3.22948605611e-05,1793239727054343424
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666.665584999,635.665584999,880,788,804,653,631.334415001,653,0.400997235766,0.00458194945656,0.0498633788129,0.999999964063,0.00010992835138,-0.000242371330964,-3.23435131618e-05,1793239727071010048
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666.090542046,635.090542046,880,788,804,653,631.909457954,653,0.400995694641,0.00458130805122,0.0498624283196,0.999999963583,0.000110349679651,-0.000244160904993,-3.22954143691e-05,1793239727087676672
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.503140512,714,679.503140512,666,635,880,788,804,653.496859488,631.503140512,653,0.400996040873,0.00458025701126,0.0498628386724,0.999999963862,0.000108048014856,-0.000244064286108,-3.21522122582e-05,1793239727104343296
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,714,679,666.084941525,635,880,788,803.915058475,653.915058475,631.084941525,653,0.400997130385,0.00457951143978,0.049863557435,0.999999964253,0.000105982857441,-0.000243381254101,-3.20589878717e-05,1793239727121009920
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,714,679,666.663555782,635,880,788,803.336444218,653.336444218,631.663555782,653,0.401000489892,0.00458098613372,0.0498645906165,0.999999964495,0.000108249736953,-0.000241338657836,-3.23595225568e-05,1793239727137676544
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,714,679.241491461,666.758508539,635,880,788.241491461,803.241491461,653.241491461,632,653,0.401010838811,0.00458158188781,0.0498685560169,0.999999966254,0.000109315849157,-0.000233435940525,-3.24077399203e-05,1793239727154343168
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714,679.818484352,666.181515648,635,880,788.818484352,803.818484352,653.818484352,632,653,0.401030898041,0.00458095654032,0.0498765951165,0.999999969946,0.000108713748338,-0.00021739182164,-3.21054155733e-05,1793239727171010048
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.402122094,714,679.597877906,666,635,880,788.597877906,804,653.597877906,632,653,0.401070078376,0.00458096365712,0.0498902107311,0.99999997586,0.000108338750754,-0.000188432769496,-3.21684298791e-05,1793239727187676672
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.988809731,714,679.011190269,666,635,880,788.011190269,804,653.011190269,632,653,0.401118034895,0.00458126106161,0.0499063858489,0.999999981848,0.000108067988601,-0.000153546034304,-3.23991268497e-05,1793239727204343296
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.568236392,635.568236392,880.568236392,788,804,653,631.431763608,653,0.401187199787,0.00457982429242,0.0499254813645,0.999999986899,0.000107602693741,-0.000116747013341,-3.15153244495e-05,1793239727221009920
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,881,788,804,653,631.146924795,653,0.401257880179,0.00457867844025,0.0499421426089,0.999999990013,0.00010688872075,-8.72832307128e-05,-3.05039655444e-05,1793239727237676800
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,881,788,804,653,631.723865835,653,0.401331789157,0.00457848272866,0.0499515130874,0.999999990862,0.000105457993161,-7.93968811903e-05,-2.91827028874e-05,1793239727254343424
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880.400409619,788,804,653,632,653,0.401411436297,0.00457779034986,0.049955916057,0.99999999126,0.000104164520621,-7.63965776465e-05,-2.81616134989e-05,1793239727271010048
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,879.250408386,788,804,653,632,653,0.401496350939,0.00457664204143,0.0499557589616,0.999999991287,0.000102997045301,-7.78815578938e-05,-2.74160766842e-05,1793239727287676672
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,714,679.459334906,667,636,879,788,804,653,631.540665094,653,0.40160313197,0.00457590981122,0.0499554320997,0.999999991458,0.000100712716909,-7.88617994055e-05,-2.68690522322e-05,1793239727304343296
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714,679.953809418,666.953809418,636,879.046190582,788,804,653,631,653,0.401718211709,0.00457522875389,0.0499551426448,0.999999991655,9.82906578607e-05,-7.95962137322e-05,-2.63266714286e-05,1793239727321009920
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714,679.370887365,666.370887365,636,879.629112635,788,804,653,631,653,0.401858995159,0.00457379651876,0.0499558369651,0.999999991763,9.78806332791e-05,-7.91067077226e-05,-2.51961621774e-05,1793239727337676544
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.208532583,746,714.208532583,679,666.208532583,635.791467417,879.791467417,788,804,653,631.208532583,653,0.402011647077,0.00457201612391,0.0499577417763,0.999999992186,9.57389495863e-05,-7.6748024251e-05,-2.39163541551e-05,1793239727354343168
+129,2.150000000,POSE1_TO_POSE2_PRESS,766.781826652,746,714.781826652,679,666.781826652,635.218173348,879.218173348,788,804,653,631.781826652,653,0.402185059095,0.0045696267344,0.0499617639565,0.999999993119,9.05682786138e-05,-7.11198088556e-05,-2.23753954951e-05,1793239727371010048
+130,2.166666667,POSE1_TO_POSE2_PRESS,766.641878469,746,714.641878469,679.358121531,667,635.358121531,879.358121531,788,803.641878469,653,632,653,0.402373311505,0.00456781938577,0.0499615235685,0.999999993433,8.73789791737e-05,-7.10967324565e-05,-2.10987609379e-05,1793239727387676672
+131,2.183333333,POSE1_TO_POSE2_PRESS,766.063739945,746,714.063739945,679.936260055,667,635.936260055,879.936260055,788,803.063739945,653,632,653,0.402570681335,0.00456636962189,0.0499586644123,0.999999993377,8.54069626713e-05,-7.45172514033e-05,-1.99845174578e-05,1793239727404343296
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.477445293,714,680,666.477445293,635.477445293,879.477445293,788,803.522554707,653,631.477445293,653,0.402805742423,0.00456447640797,0.0499594662131,0.999999994037,8.06291057636e-05,-7.13371779905e-05,-1.83505013645e-05,1793239727421009920
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.891839188,745,714,679.891839188,666,635,879,788,804,653,631.108160812,653,0.403054491084,0.00456224425473,0.0499618742695,0.999999994863,7.56923403558e-05,-6.53527315436e-05,-1.65409005316e-05,1793239727437676544
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.313617465,745,714,679.313617465,666,635,879,788,804,653,631.686382535,653,0.403342428031,0.00455877789282,0.049969291552,0.99999999605,7.15759470293e-05,-5.07351377869e-05,-1.42481218423e-05,1793239727454343424
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.263786734,745.263786734,714.263786734,679,666.527573468,635.263786734,879,788,804,653,632,653,0.403648193413,0.00455539542623,0.0499770769647,0.999999997054,6.69099382561e-05,-3.56226724803e-05,-1.20909176268e-05,1793239727471010048
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.840221942,745.840221942,714.840221942,679,667.680443884,635.840221942,879,788,804,653,632,653,0.40397508961,0.00455211239526,0.0499852986968,0.999999997854,6.15925079254e-05,-1.99236704645e-05,-1.00944007517e-05,1793239727487676672
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714.575077087,679,667.575077087,635.575077087,879.424922913,788,804,653,631.575077087,653,0.404323794748,0.00454899853824,0.0499922895505,0.99999999824,5.83745110875e-05,-7.64530172758e-06,-7.34676630489e-06,1793239727504343296
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.987376036,746,714,679,667,635,880,788,803.987376036,653,631,653,0.40468215028,0.00454593102354,0.0499987531056,0.999999998424,5.58750640769e-05,3.24728851256e-06,-4.31854628907e-06,1793239727521009920
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.407299952,746,714,679,667,635,880,788,803.407299952,653,631,653,0.405098365696,0.00454203049196,0.0500027315343,0.999999998716,4.94859345242e-05,1.08114302396e-05,-1.62520673128e-06,1793239727537676544
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.1714993,746,714,679,667,635.1714993,880,788,803,653,631,653,0.405509452729,0.00453759511075,0.0499994285772,0.999999999063,4.30927813053e-05,4.01608370656e-06,1.23138352838e-06,1793239727554343680
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.747288482,746,714,679,667,635.747288482,880,788,803,653,631,653,0.405908450129,0.00453189888359,0.0499789605897,0.999999998646,3.66901436194e-05,-3.66301066511e-05,4.47281816848e-06,1793239727571011584
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,714,679.321969881,667,635.678030119,879.678030119,788,803.321969881,653,631.321969881,653,0.406338407683,0.00452719142296,0.0499592178865,0.999999996986,3.18088896934e-05,-7.04630183984e-05,7.18293370481e-06,1793239727587677952
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,714,679.895784832,667,635.104215168,879.104215168,788,803.895784832,653,631.895784832,653,0.406792582336,0.00452325737561,0.049940042499,0.999999994663,2.81176625564e-05,-9.89665831116e-05,9.47745140694e-06,1793239727604343552
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714,679.517982358,667,635.482017642,879.482017642,788,804,653,632,653,0.407282273922,0.0045194764411,0.0499332727136,0.999999993568,2.43594870574e-05,-0.000110067072648,1.24656672476e-05,1793239727621009920
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.92979276,880,788,804,653,631.92979276,653,0.407794486855,0.00451516267576,0.0499328958245,0.999999993632,1.96982232818e-05,-0.000110009499999,1.56744358508e-05,1793239727637677056
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.347431655,880,788,804,653,631.347431655,653,0.408413492145,0.00450671409275,0.0499590708868,0.999999998167,8.55741401414e-06,-5.672907158e-05,1.93690814269e-05,1793239727654344192
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714.231759032,679,667,635,880,788,804,653,631,653,0.409031113837,0.00449837158761,0.0499823754994,0.999999999594,5.91197475493e-06,-1.50093323882e-05,2.34987052016e-05,1793239727671010816
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,714.806261029,679,667,635,880,788,804,653,631,653,0.409646689322,0.00449018595903,0.0500014350699,0.999999999429,1.58301384254e-05,9.61357294521e-06,2.8271607806e-05,1793239727687677184
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,714.611745928,679,667,635,880,788,804,653,631,652.611745928,0.410245415605,0.00448485964736,0.0500023906293,0.999999997404,6.43144272675e-05,6.09673181951e-06,3.19287557322e-05,1793239727704343808
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,714.025941325,679,667,635,880,788,804,653,631,652.025941325,0.410835568699,0.00448098820688,0.0499941345475,0.99999999055,0.000132421841358,-1.17381101983e-05,3.50181876974e-05,1793239727721010432
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.554112322,880,788,804,653,631,652.554112322,0.411461771636,0.00447340924071,0.0499670699259,0.999999989767,0.000119147420599,-6.88026649329e-05,3.9186502349e-05,1793239727737676800
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.866532299,746,714,679,667,635.866532299,880,788,804,653,631,653,0.412118734351,0.00446541106709,0.0499486052904,0.999999988998,9.64657095284e-05,-0.000104806747099,4.13982836924e-05,1793239727754343680
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.288614932,746,714,679,667,635.288614932,880,788,804,653,631,653,0.412872565134,0.00445658898623,0.0499616808528,0.999999995717,5.50145167182e-05,-6.46260792042e-05,3.69283080094e-05,1793239727771010304
+154,2.566666667,POSE1_TO_POSE2_PRESS,765,746,714,679,667,635.286978505,880,788,804,653,631,653,0.413624231807,0.00444500538304,0.049977631152,0.99999999906,-6.85719607363e-06,-3.2202739775e-05,2.81984496409e-05,1793239727787677184
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,714,679,667,635.860253603,880,788,804,653,631,653,0.414373739602,0.00443066681831,0.0499964493587,0.999999995886,-8.91009110779e-05,-7.51829116037e-06,1.52188301836e-05,1793239727804344320
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.446712209,745.553287791,714,679,667,635.553287791,880,788,804,652.553287791,631.446712209,653,0.415088361205,0.00442586258951,0.049977583808,0.999999994415,-9.72118984118e-05,-3.87123564691e-05,1.4893921199e-05,1793239727821011200
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745,714,679.036691886,667,635,880,788,804,652.036691886,632,653,0.415796930252,0.00442556755036,0.0499480127829,0.999999992988,-7.98263938333e-05,-8.54742408555e-05,1.86066823763e-05,1793239727837677568
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745,714,679.615899492,667,635,880,788,804,652.615899492,632,653,0.416582280425,0.0044465022991,0.0499397589919,0.999999994395,-3.87825881643e-05,-9.60937355165e-05,2.17054022589e-05,1793239727854343936
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.19437219,714,680,667,635,880,788,804,653,631.80562781,653,0.417393746853,0.00446834200847,0.0499448962181,0.999999996162,-1.57956107985e-06,-8.44551402765e-05,2.32583091249e-05,1793239727871010048
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.771398068,714,680,667,635,880,788,804,653,631.228601932,653,0.418256627388,0.00449196328071,0.0499763958689,0.999999998949,2.80622578973e-05,-2.8997826481e-05,2.1768028146e-05,1793239727887676672
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,714,679.65366887,667,635,880,788,804,653,631,653,0.419076983621,0.00449424498107,0.0499857545589,0.999999999205,2.63862445063e-05,-1.97661614335e-05,2.2409003026e-05,1793239727904343552
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,714,679.080108931,667,635,880,788,804,653,631,653,0.419869439509,0.00448252572865,0.0499805865022,0.999999998858,4.16251399887e-06,-4.08632739207e-05,2.444830082e-05,1793239727921010176
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.490432739,745.490432739,714,679,667,635,880.509567261,788,804,652.490432739,631,653,0.420698448907,0.00447381804019,0.0499757580066,0.999999999011,-6.51931734528e-06,-3.68218866937e-05,2.4084256816e-05,1793239727937677056
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.099378573,745.099378573,714,679.198757145,667,635,880.900621427,788,804,652.099378573,631,653,0.421544149937,0.00446631951513,0.0499757233187,0.999999999386,-1.35107312221e-05,-2.21968291463e-05,2.35270765831e-05,1793239727954343680
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.67724296,745.67724296,714,680.35448592,667,635,880.32275704,788,804,652.67724296,631,653,0.42244164509,0.00446228885302,0.0499985043353,0.999999999363,-1.17553432148e-05,2.37367058897e-05,2.39185643356e-05,1793239727971010304
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,714,680.494402463,667,635.252798768,880,788,804,652.747201232,631.252798768,653,0.423316454477,0.00446041876755,0.0500024712952,0.999999999106,-1.23122480951e-05,3.20058553665e-05,2.47499122406e-05,1793239727987676928
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679.349132233,667,635.825433884,880,788,804,652.174566116,631.825433884,653,0.424162562373,0.00446128220333,0.0499826350601,0.999999999506,-1.57946231318e-05,-7.3772759726e-06,2.61377631868e-05,1793239728004343296
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,652,631.590802297,653,0.425019811323,0.00447016454404,0.0499821171784,0.999999999563,-9.43267096116e-06,-9.70597734122e-06,2.62815450032e-05,1793239728021010176
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,636,880,788,804,652,631.002158217,653,0.425881945934,0.00448256343289,0.0499900710184,0.999999999655,1.24633608406e-06,4.2148851039e-06,2.58797623433e-05,1793239728037677056
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,745.419875996,714,679.580124004,667,635.419875996,879.419875996,788,804,652,631,653,0.426763625684,0.00448085204787,0.0500081259301,0.999999999309,3.47087033759e-06,2.44649531229e-05,2.77791055956e-05,1793239728054343680
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745,714.160241096,680,667,635,879.160241096,788,804,652.160241096,631.160241096,653,0.427622148619,0.00447730536245,0.0500103954403,0.999999999394,4.32987579562e-06,1.78052966454e-05,2.95951993474e-05,1793239728071010048
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745,714.734820275,680,667,635,879.734820275,788,804,652.734820275,631.734820275,653,0.428420608558,0.00446914737236,0.0499717522587,0.999999997802,1.73845652858e-06,-5.84955100733e-05,3.11741375786e-05,1793239728087676928
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,667,635,880,788,804,652.691076823,631.691076823,653,0.429276060808,0.00446266117914,0.0499562324372,0.999999996404,-7.31901004085e-06,-7.8648325977e-05,3.08578041915e-05,1793239728104343808
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,667,635,880,788,804,652.11738216,631.11738216,653,0.430180359915,0.00445760784789,0.049960531158,0.999999998058,-2.19183881458e-05,-5.06778889523e-05,2.89170738037e-05,1793239728121010432
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714.52925186,679.52925186,667,635.47074814,880,788,804.47074814,652,631,653,0.431019253828,0.0044592049645,0.0499623041548,0.999999998174,-1.91489480359e-05,-4.90409599528e-05,2.96660169046e-05,1793239728137677056
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.06118463,714.06118463,679.06118463,667,635.93881537,880.06118463,788,804.93881537,652,631,653,0.43183995111,0.00446263443541,0.0499615235284,0.999999997865,-1.21445278083e-05,-5.62695160049e-05,3.0918673747e-05,1793239728154343424
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.639721675,714.639721675,679.639721675,667,635.360278325,880.639721675,788,804.360278325,652,631,653,0.432649048901,0.00446709200532,0.0499446442602,0.999999996212,-7.1101581447e-06,-8.11823891003e-05,3.05801574271e-05,1793239728171010048
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,714.782356088,679.782356088,667,635,880.782356088,788,804.217643912,652,631.217643912,653,0.433472361665,0.00446894561765,0.0499452134066,0.99999999648,-4.72495684208e-06,-7.80245157381e-05,3.04771846626e-05,1793239728187676672
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,714.205448619,679.205448619,667,635,880.205448619,788,804.794551381,652,631.794551381,653,0.434319139132,0.00446650089286,0.0499745845483,0.999999999097,-6.71272177802e-06,-2.85304258471e-05,3.07630222171e-05,1793239728204343552
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,746,714,679.368486639,667,635,880.368486639,788,805,652.368486639,631.631513361,653,0.43512799384,0.0044635117977,0.0499878003818,0.999999999344,-1.09789391239e-05,-1.3292105642e-05,3.18632859458e-05,1793239728221010432
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,746,714,679.940777974,667,635,880.940777974,788,805,652.940777974,631.059222026,653,0.43591587396,0.00446022161922,0.0499920809433,0.999999999161,-1.65053358356e-05,-1.70001652609e-05,3.3413997167e-05,1793239728237677312
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.466836957,745.466836957,714,680,667,635,880.466836957,788,805,652.466836957,631,653,0.436635839219,0.00446216480357,0.0499668410646,0.999999996706,-1.91078735713e-05,-7.1101499978e-05,3.41640057853e-05,1793239728254343936
+183,3.050000000,POSE1_TO_POSE2_PRESS,765,745.1240221,714,680,667,635,880.1240221,787.8759779,805,652.1240221,631.1240221,653,0.437362710763,0.00446406556473,0.0499498157222,0.9999999937,-2.02478699111e-05,-0.000104826813999,3.46550012033e-05,1793239728271010560
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,745.700841903,714,680,667,635,880.700841903,787.299158097,805,652.700841903,631.700841903,653,0.438143417244,0.00446360601154,0.0499752216151,0.999999998333,-1.72803748063e-05,-4.29238244811e-05,3.45377842138e-05,1793239728287676928
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,714,680,667.276417244,635,880.723582756,787.276417244,805,652.723582756,632,653,0.438885471598,0.00446302075314,0.0499894334227,0.999999999308,-1.40539258427e-06,-1.19688773558e-05,3.52052963677e-05,1793239728304343552
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,714,680,667.85065174,635,880.14934826,787.85065174,805,652.14934826,632,653,0.43958588136,0.00446230005759,0.0499915845061,0.99999999882,2.83763641292e-05,-1.43579500797e-05,3.6718290878e-05,1793239728321010176
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.435184414,746,714,679.564815586,667.564815586,635,880,788,805,652,632,653,0.440237294249,0.00446048551136,0.0499697251209,0.999999997754,2.8328403626e-05,-4.71554355693e-05,3.82864423782e-05,1793239728337676800
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.976902171,745.976902171,714,679.023097829,667,635,880,788,805,652,632,653,0.440870920517,0.0044585365537,0.0499401761503,0.999999995012,1.83432033216e-05,-8.97247569e-05,3.98525921101e-05,1793239728354343424
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.394776425,745.394776425,714,679.605223575,667,635,880,788,805,652,632,653,0.441490891981,0.00446264016671,0.049928782507,0.999999992868,2.16200497486e-05,-0.00011010564604,4.09010570981e-05,1793239728371010304
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.184729246,745,714,680,666.815270754,635,880.184729246,788,805,652,631.815270754,653,0.442102722506,0.00446963828134,0.0499218569603,0.999999991535,2.85249180364e-05,-0.000119882656975,4.17649554377e-05,1793239728387677184
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.758714088,745,714,680,666.241285912,635,880.758714088,788,805,652,631.241285912,653,0.442697398818,0.00448273559854,0.0499243464429,0.999999992422,4.30746393061e-05,-0.000107315516619,4.22399410177e-05,1793239728404343808
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.660074448,745,714,680,666,634.660074448,880.660074448,787.660074448,804.660074448,652,631,653,0.443247041482,0.00449673038017,0.0499126690082,0.999999989226,6.12767678301e-05,-0.000126299754005,4.29228692424e-05,1793239728421010432
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.073622,745,714,680,666,634.073622,880.073622,787.073622,804.073622,652,631,653,0.443764024001,0.00451137603625,0.0498907171879,0.99999998153,8.21277595903e-05,-0.000168166247188,4.37566052614e-05,1793239728437676800
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.506825311,745.506825311,714,680.506825311,666,634,880.506825311,787.506825311,804,652,631,653,0.444227899731,0.00451905525797,0.0498466077425,0.999999965583,9.10649734536e-05,-0.000242174398184,4.34956435384e-05,1793239728454343680
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,746,714,680.913638857,666.086361143,634,880.913638857,787.913638857,804,652,631.086361143,653,0.444686144676,0.00452430182122,0.0498045833424,0.999999946319,9.7051255052e-05,-0.000309960549492,4.32135180948e-05,1793239728471010304
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,746,714,680.334384865,666.665615135,634,880.334384865,787.334384865,804,652,631.665615135,653,0.445155765688,0.00452137229106,0.0497926138026,0.999999944544,9.59570703043e-05,-0.000315900432269,4.37075427531e-05,1793239728487676928
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.757261042,745.757261042,714,680,666.514522084,633.757261042,880.242738958,787,804.242738958,652,632,652.757261042,0.445616734665,0.00451946295945,0.0497895046706,0.999999946688,9.32153143582e-05,-0.000309877044427,4.37248679227e-05,1793239728504343808
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.183046152,745.183046152,714,680,665.366092304,633.183046152,880.816953848,787,804.816953848,652,632,652.183046152,0.446065888681,0.00451894677596,0.0497984950064,0.999999953847,8.82236921831e-05,-0.000287517027092,4.30912286904e-05,1793239728521010432
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.401443293,714,680,665,633,881,787,805,652.401443293,632,652.401443293,0.446474978151,0.00451877706096,0.0497978814873,0.999999957384,4.24828782301e-05,-0.00028729630429,2.97884428883e-05,1793239728537677312
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.990740735,714,680,665,633,881,787,805,652.990740735,632,652.990740735,0.446865319578,0.00451876947479,0.0497927738749,0.999999955461,-2.23263947019e-05,-0.000297435592903,1.0557168928e-05,1793239728554343936
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.570807498,746,714,680,665,633,881,787.570807498,805,652.429192502,632,653,0.447171218427,0.00451833827383,0.0497572042724,0.999999937677,-2.15321648773e-05,-0.000352228712895,1.08619718985e-05,1793239728571010560
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.850456863,746,714,680,665,633,880.850456863,787.850456863,805,652,632,653,0.447471196163,0.00451962293341,0.0497247680701,0.999999919205,-7.60831843351e-06,-0.000401747209888,1.14271166706e-05,1793239728587677184
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.275091863,746,714,680,665,633,880.275091863,787.275091863,805,652,632,653,0.447758152024,0.0045258127357,0.0497026388191,0.999999904829,4.0719911241e-05,-0.000434216572099,1.18455691961e-05,1793239728604343552
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.700414778,714,680,665,633,880.299585222,787,805,652,632,653,0.448041768566,0.00453278049802,0.0496957736168,0.999999898215,8.40051699131e-05,-0.000443107714636,1.29942513941e-05,1793239728621010176
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.126367952,714,680,665,633,880.873632048,787,805,652,632,653,0.448322325809,0.00454046097924,0.0497028924009,0.999999899745,0.000122670365039,-0.000430397937206,1.48119252091e-05,1793239728637676800
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.459679619,714,680,664.540320381,632.540320381,881,787,805,652,631.540320381,652.540320381,0.448584637935,0.00456116923921,0.0497116644322,0.999999902755,0.000148465281514,-0.000415008719372,1.4722335142e-05,1793239728654343680
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.04827762,746,714,680,664,632,881,787.04827762,804.95172238,652,631,652.04827762,0.448837399451,0.00458522558975,0.0497205106055,0.99999990542,0.000170083650006,-0.000400051847813,1.37862107336e-05,1793239728671010304
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.627666971,746,714,680,664,632,881,787.627666971,804.372333029,652,631,652.627666971,0.449041750282,0.00460565915834,0.0497250385211,0.999999903439,0.000185721688596,-0.00039817190057,9.45991269448e-06,1793239728687676928
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,714,680,664.205034524,631.794965476,881,787.794965476,804,652,631.205034524,653,0.449231237818,0.0046198829882,0.0497257866081,0.999999900335,0.000197250160445,-0.00040046806137,6.88027621739e-06,1793239728704343552
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,714,680,664.778766375,631.221233625,881,787.221233625,804,652,631.778766375,653,0.449393997847,0.00462294033511,0.0497197377285,0.999999895531,0.000201388722679,-0.000410273786434,7.4415231887e-06,1793239728721010176
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,746,714,680,664.637695293,631,880.637695293,787,804.362304707,652,631.637695293,653,0.449539309053,0.00461955537339,0.0497144066518,0.999999892447,0.000195967024648,-0.000420270171956,8.76473132021e-06,1793239728737676800
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,746,714,680,664.048002196,631,880.048002196,787,804.951997804,652,631.048002196,653,0.449673669108,0.00461212711317,0.0497095260792,0.9999998903,0.0001845451505,-0.000430386220015,1.05661588547e-05,1793239728754343424
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.467678377,746,714,680,664,631,880,787,805,652,631,653,0.449794831294,0.00461527247911,0.0497070838386,0.999999887821,0.00018880026373,-0.000434291202442,1.01665434722e-05,1793239728771010304
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.11118054,745.88881946,714.11118054,680,664.11118054,631,880.11118054,787,805,652.11118054,631,653,0.449910352095,0.00461885352665,0.0497064306796,0.99999988632,0.000193945737632,-0.000435487223577,9.80904632176e-06,1793239728787676928
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.687385188,745.312614812,714.687385188,680,664.687385188,631,880.687385188,787,805,652.687385188,631,653,0.450007168955,0.00462033781415,0.0497123567878,0.999999889096,0.000197004667154,-0.000427654825408,1.04435148582e-05,1793239728804343808
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.736843226,745.263156774,714.736843226,680.263156774,664.473686452,631,881,787,805,653,631,653,0.450095238658,0.00462086898762,0.0497177461886,0.999999892454,0.000196965237206,-0.000419735568455,1.09047743358e-05,1793239728821010688
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.161585281,745.838414719,714.161585281,680.838414719,663.323170561,631,881,787,805,653,631,653,0.450172934318,0.00462026977777,0.0497224990598,0.999999896511,0.000193251185269,-0.000411713298368,1.11606096497e-05,1793239728837677312
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.422938095,746,714.422938095,680.577061905,663.422938095,631,880.577061905,787,805,653,631,653,0.450230228077,0.00462091460372,0.0497226478668,0.999999896552,0.00019293920939,-0.000411761660916,1.11105316956e-05,1793239728854343936
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.978070996,746,714.989035498,680,664,631,880.010964502,787,804.989035498,652.989035498,631.010964502,653,0.450279250856,0.00462200297655,0.0497209440393,0.999999894998,0.000193947230523,-0.000415052019708,1.09476787873e-05,1793239728871010560
+220,3.666666667,POSE1_TO_POSE2_PRESS,764.814114887,746,714.407057443,680,664,631,880.592942557,787,804.407057443,652.407057443,631.592942557,653,0.450312558298,0.00462088386503,0.0497164157819,0.999999891558,0.000194492126774,-0.000423004162986,1.11347024428e-05,1793239728887677184
+221,3.683333333,POSE1_TO_POSE2_PRESS,764.171394364,746,714,680,664,631,880.828605636,787,804.171394364,652,631.828605636,653,0.450343872996,0.00462033653282,0.0497133340703,0.999999889308,0.00019507361411,-0.000428025411253,1.11705534311e-05,1793239728904343808
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.741640165,746,714,680,664,631,880.258359835,787,804.741640165,652,631.258359835,653,0.450370550377,0.00462111978709,0.0497136186133,0.99999988995,0.000195740252426,-0.000426226179264,1.08546108207e-05,1793239728921010432
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714.316322332,680,664,631,880.316322332,787,805,652.316322332,631,653,0.450390868702,0.00462090163956,0.0497137848392,0.999999890491,0.000194388891116,-0.000425573261724,1.09011753087e-05,1793239728937676800
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714.894679556,680,664,631,880.894679556,787,805,652.894679556,631,653,0.450405919319,0.00461985395152,0.0497138530538,0.999999890944,0.000191365860645,-0.000425869927212,1.12480331593e-05,1793239728954343424
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714.516008709,680,664,631,881,787,805,652.516008709,631,653,0.45041484204,0.00462043973387,0.0497140313663,0.999999890056,0.000193641887796,-0.000426922590821,1.13251093132e-05,1793239728971010560
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714.074157767,680.074157767,664,631,881,787,805,652.074157767,631,652.925842233,0.450422061296,0.00462146737391,0.0497141796327,0.999999888955,0.000196832066803,-0.000428041422619,1.13054930552e-05,1793239728987677440
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714.653531443,680.653531443,664,631,881,787,805,652.653531443,631,652.346468557,0.450426970345,0.00462302756196,0.0497139562041,0.999999888504,0.000198212313193,-0.000428464316287,1.10363528665e-05,1793239729004344064
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714.768974585,680.768974585,663.768974585,631,881,787,805,653,631,652,0.450430016189,0.00462423528237,0.0497132249332,0.999999887694,0.000199568154389,-0.000429728798288,1.0867006768e-05,1793239729021010688
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714.194276887,680.194276887,663.194276887,631,881,787,805,653,631,652,0.450430290337,0.00462491867356,0.0497117381987,0.999999886345,0.000200887690456,-0.000432245222967,1.08461138883e-05,1793239729037677312
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,680,663.389727003,631,881,787,805,652.610272997,631.389727003,652,0.450431508782,0.00462351600826,0.0497117492019,0.999999886745,0.000198286101279,-0.000432517635411,1.10230618934e-05,1793239729054343680
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,680,663.978483449,631,881,787,805,652.021516551,631.978483449,652,0.45043320947,0.00462104801604,0.0497125250839,0.999999888021,0.000193682035034,-0.000431644054551,1.13010451381e-05,1793239729071010304
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714,680,664,631,880.441534703,787,805,652.558465297,631.441534703,652.558465297,0.450431830559,0.00462232090888,0.0497108458553,0.99999988631,0.000195854934479,-0.00043461568973,1.14182605295e-05,1793239729087677184
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.13705419,746,714,680.13705419,663.86294581,631,880.13705419,787,805,652.86294581,631,652.86294581,0.45043112182,0.00462398974087,0.0497096140997,0.999999884842,0.000198475781157,-0.000436800608522,1.13629350552e-05,1793239729104344064
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.7122539,746,714,680.7122539,663.2877461,631,880.7122539,787,805,652.2877461,631,652.2877461,0.450432928983,0.00462647070699,0.0497101105774,0.999999884549,0.000201706857905,-0.000436004204066,1.07755128216e-05,1793239729121010944
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.712387805,746,714.287612195,680.712387805,663.287612195,631,881,787,805,652.287612195,631,652.287612195,0.450433914507,0.0046276850972,0.049709994792,0.999999884267,0.000203407691201,-0.00043586782441,1.05374781815e-05,1793239729137677312
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.136870696,746,714.863129304,680.136870696,663.863129304,631,881,787,805,652.863129304,631,652.863129304,0.450434077558,0.00462763162272,0.0497092661204,0.999999884002,0.000203576724017,-0.000436392141206,1.06491866564e-05,1793239729154343680
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714.550954058,680,663.550954058,631,881,787,805,653,631,653,0.450434624836,0.00462730845959,0.0497093238107,0.999999884193,0.000202316207706,-0.000436543107535,1.05633205637e-05,1793239729171010304
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.03759686,746,714.03759686,680,663.03759686,631,880.96240314,787,805,652.96240314,631,653,0.450435218578,0.0046268772625,0.0497095795507,0.999999884512,0.000200645933884,-0.000436586070212,1.04340930907e-05,1793239729187676928
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.617342265,746,714.617342265,680,663.617342265,631,880.382657735,787,805,652.382657735,631,653,0.450434753508,0.00462610166981,0.0497091529546,0.999999884668,0.000199499167311,-0.000436751499102,1.05685756834e-05,1793239729204343552
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.804279475,746,715,680.195720525,664,631,880.195720525,787,805,652.195720525,631,653,0.450434890646,0.00462600922095,0.0497090825339,0.999999884727,0.000199585320335,-0.00043657677673,1.0613646059e-05,1793239729221010176
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.228555645,746,715,680.771444355,664,631,880.771444355,787,805,652.771444355,631,653,0.450436197009,0.0046272431374,0.0497097036495,0.999999884594,0.000202065261828,-0.000435741629982,1.04851171677e-05,1793239729237677056
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714.645875274,680.645875274,664,631,881,787,805,653,631,653,0.450436458541,0.00462704204941,0.0497097964135,0.999999884438,0.000203336010933,-0.000435507692819,1.05368485781e-05,1793239729254343936
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714.058615138,680.058615138,664,631,881,787,805,653,631,653,0.450436032215,0.00462589623675,0.0497095413409,0.999999884269,0.00020381069702,-0.000435669557602,1.0707253038e-05,1793239729271010816
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714.521584716,680,664,631,880.478415284,787,805,653,631,653,0.450435768332,0.00462680007051,0.0497092602133,0.999999884368,0.000202592559921,-0.000436024637274,1.01616244015e-05,1793239729287677184
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714.89937786,680,663.89937786,631,880.10062214,787,805,653,631.10062214,653,0.450435472075,0.0046273329164,0.0497089211161,0.999999884413,0.000201255658701,-0.000436548994896,9.79287388079e-06,1793239729304343808
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714.322138668,680,663.322138668,631,880.677861332,787,805,653,631.677861332,653,0.450434937162,0.0046250320363,0.0497083211185,0.999999884071,0.00020024527226,-0.000437773695783,1.06380003653e-05,1793239729321010176
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,680,663.253595274,631,881,787,805,653,631.746404726,653,0.450435023578,0.00462431536271,0.0497083225893,0.999999883986,0.000199802814947,-0.000438164178083,1.08770149756e-05,1793239729337676544
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,680,663.827428481,631,881,787,805,653,631.172571519,653,0.450435894604,0.00462559921117,0.0497090835893,0.999999884227,0.000200077533518,-0.000437501216492,1.0350636838e-05,1793239729354343168
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680.413669106,663.586330894,631,881,787,805,653,631,653,0.450436393907,0.00462696002217,0.0497088210824,0.999999883879,0.000201150159989,-0.000437811867631,1.00682745136e-05,1793239729371010304
+250,4.166666667,POSE1_TO_POSE2_PRESS,765.005131616,746,714,680.994868384,663.005131616,631,881,787,805,653,631,652.994868384,0.450436726761,0.00462834040459,0.0497081227774,0.999999883279,0.000202558778042,-0.000438535725376,9.89469397137e-06,1793239729387676928
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.583833523,746,714,680.416166477,663.583833523,631,881,787,805,653,631,652.416166477,0.450436323941,0.00462820874129,0.0497079144542,0.999999883106,0.000203166396077,-0.000438642918166,1.01500200863e-05,1793239729404344064
+252,4.200000000,HOLD_POSE2,766,746,715,680,664,631,881,787,805,652,631,653,0.45043902425,0.00462653385773,0.0497094637272,0.999999884446,0.000203193249827,-0.000435554947761,1.06111544254e-05,1793239729445314816
+253,4.216666667,HOLD_POSE2,765.424101729,746,715,680,663.424101729,631,880.424101729,787,805,652.575898271,631,653,0.450438619008,0.00462704117837,0.0497091365067,0.99999988442,0.000201431178583,-0.000436439351324,1.02882557881e-05,1793239729461980928
+254,4.233333333,HOLD_POSE2,765,746,715,680.15505376,663.15505376,631,880.15505376,787,805,652.84494624,631,653,0.45043809172,0.00462773599373,0.0497087563483,0.999999884134,0.00020073343803,-0.00043742124991,1.00212478108e-05,1793239729478646784
+255,4.250000000,HOLD_POSE2,765,746,715,680.743309669,663.743309669,631,880.743309669,787,805,652.256690331,631,653,0.450437223451,0.00462895464764,0.0497082282872,0.999999883126,0.000203009313082,-0.00043867553844,9.91039175501e-06,1793239729495313664
+256,4.266666667,HOLD_POSE2,765.326048064,746,715,680.673951936,663.673951936,631,881,787,805,652,631,653,0.450437407535,0.00462834003947,0.0497083132675,0.999999883342,0.000202516146236,-0.000438409000333,1.00059286694e-05,1793239729511980288
+257,4.283333333,HOLD_POSE2,765.904514894,746,715,680.095485106,663.095485106,631,881,787,805,652,631,653,0.450438406327,0.0046263061627,0.0497088728502,0.999999884502,0.00019987925194,-0.000436965073824,1.0261250189e-05,1793239729528647168
+258,4.300000000,HOLD_POSE2,765.519671702,746,714.519671702,680.480328298,663,631,881,787,804.519671702,652,631,653,0.450437417782,0.0046260360085,0.0497080861286,0.999999883711,0.0002002466389,-0.000438603932061,1.02409867948e-05,1793239729545313792
+259,4.316666667,HOLD_POSE2,765.056993314,746,714,680.943006686,663.056993314,631,880.943006686,787,804.056993314,652,631,653,0.450436160091,0.0046262339039,0.0497071341175,0.999999882615,0.000201218918845,-0.00044065616387,1.01597211684e-05,1793239729561980672
+260,4.333333333,HOLD_POSE2,765.646517131,746,714,680.353482869,663.646517131,631,880.353482869,787,804.646517131,652,631,653,0.450436058673,0.00462754709611,0.0497071246453,0.999999882303,0.00020229350297,-0.000440876177482,1.00175408006e-05,1793239729578647552
+261,4.350000000,HOLD_POSE2,765.768355633,746,714.231644367,680,664,631,880.231644367,787,805,652.231644367,631,652.768355633,0.45043637069,0.00462862756621,0.0497072492424,0.999999882244,0.000203404465755,-0.000440500134854,9.89981343022e-06,1793239729595314176
+262,4.366666667,HOLD_POSE2,765.189812544,746,714.810187456,680,664,631,880.810187456,787,805,652.810187456,631,652.189812544,0.450437301846,0.00462935952349,0.0497075746151,0.999999882565,0.00020456990726,-0.000439231468957,9.81870562739e-06,1793239729611980288
+263,4.383333333,HOLD_POSE2,765.38657843,745.61342157,714.61342157,680.38657843,664,631,881,787,805,653,631,652.38657843,0.450438990328,0.00462965035618,0.0497087641173,0.999999883741,0.000203551468986,-0.000437027185913,9.63338889851e-06,1793239729628646656
+264,4.400000000,HOLD_POSE2,765.961918603,745.038081397,714.038081397,680.961918603,664,631,881,787,805,653,631,652.961918603,0.450441048604,0.00462972579294,0.0497103755639,0.999999885324,0.000201466667767,-0.000434366051804,9.39718815808e-06,1793239729645313280
+265,4.416666667,HOLD_POSE2,766,745.537342025,714,680.462657975,663.462657975,631,881,787,805,652.462657975,631.537342025,653,0.450440207319,0.00462829676024,0.0497093892078,0.999999884511,0.00020172220037,-0.000436109850268,9.69390409227e-06,1793239729661980160
+266,4.433333333,HOLD_POSE2,765.883867903,746,714,680,663.116132097,631,881,787,805.116132097,652,632,653,0.450439188145,0.00462685890775,0.0497084210599,0.999999883763,0.000201527015922,-0.000437905389963,9.97703214211e-06,1793239729678647040
+267,4.450000000,HOLD_POSE2,765.291289774,746,714,680,663.708710226,631,881,787,805.708710226,652,632,653,0.450438282348,0.00462582236661,0.0497082830483,0.999999883989,0.000198802146714,-0.000438632261197,1.00494434636e-05,1793239729695313920
+268,4.466666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,664,631,881,787,805,652,631,653,0.450439488779,0.00462804739303,0.049709271302,0.999999883501,0.000204367854006,-0.000437192299112,9.77981135971e-06,1793239729732403456
+269,4.483333333,POSE2_TO_POSE3_RETREAT,765.423930224,746,714,680,663.423930224,631,881,787,804.423930224,652.576069776,631.576069776,652.423930224,0.450438601915,0.00462712708604,0.0497083784834,0.999999883674,0.000201160060363,-0.000438275031712,1.00859268314e-05,1793239729749070336
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765.151437205,746,714,680,663.151437205,631,880.848562795,787,804.151437205,653,631.848562795,652.151437205,0.450437726588,0.00462653546683,0.0497074941177,0.999999883529,0.000198913295195,-0.000439625551178,1.02507327834e-05,1793239729765737216
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.724847704,746,714,680,663.724847704,631,880.275152296,787,804.724847704,653,631.275152296,652.724847704,0.450436883407,0.0046268597218,0.0497066333051,0.999999882521,0.000199344394039,-0.000441722247544,1.00217858737e-05,1793239729782403584
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.689856285,746,714,680,663.689856285,631,880.310143715,787,805,653,631,653,0.450437502363,0.00462732763713,0.0497067859672,0.999999882489,0.000200458225822,-0.000441296810506,9.79810609959e-06,1793239729799069952
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.093595562,746,714,680,663.093595562,631,880.906404438,787,805,653,631,653,0.450439470187,0.00462792808348,0.0497078735906,0.999999883351,0.000202201899473,-0.000438544628591,9.57928543193e-06,1793239729815736576
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.482609253,746,714,680,663.482609253,631,880.517390747,787,805,653,631.482609253,652.517390747,0.450438546714,0.00462904762702,0.0497076627717,0.99999988283,0.000203965095195,-0.000438914095341,9.64104162248e-06,1793239729832403456
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.944296137,745.944296137,714,680,664,631,880,787,805,653,632,652.055703863,0.450437141769,0.0046299753802,0.0497071727266,0.999999882141,0.000205342130079,-0.000439837966407,9.75215141068e-06,1793239729849070336
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.365338298,745.365338298,714,680,664,631,880,787,805,653,632,652.634661702,0.450436271151,0.00462819362165,0.0497063308201,0.999999882311,0.000203057619853,-0.000440509693785,9.83611937769e-06,1793239729865736704
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.216843344,745,714,680,663.783156656,630.783156656,880.216843344,787,805,652.783156656,631.783156656,653,0.450431532299,0.00462743287116,0.0497040649171,0.999999880959,0.000202175334338,-0.000443972438832,9.77241620068e-06,1793239729882403328
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.804538364,745,714,680,663.195461636,630.195461636,880.804538364,787,805,652.195461636,631.195461636,653,0.450420177886,0.00462841827796,0.0496993636546,0.999999876964,0.000203691173778,-0.000452208461892,9.45616160837e-06,1793239729899069696
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745,714.386489132,680,663.386489132,630.386489132,881,787.386489132,805,652.386489132,631,653,0.450391425921,0.00462875740425,0.049686990592,0.999999866788,0.000203542180962,-0.000474244799498,9.2860451549e-06,1793239729915736576
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.965577418,680,663.965577418,630.965577418,881,787.965577418,805,652.965577418,631,653,0.450354004232,0.00462877446963,0.0496707944403,0.999999852858,0.000202563552175,-0.000503158249187,9.18875369514e-06,1793239729932403200
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,745.541910873,714.458089127,680,663.458089127,631,881,787.458089127,805,653,631,652.458089127,0.450294220086,0.00462896728409,0.0496519897563,0.999999836319,0.000202363932446,-0.000535102085689,8.79888616817e-06,1793239729949069824
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.879721035,746,714.120278965,680,663.120278965,631,881,787,805,652.879721035,631,652.120278965,0.450230225176,0.00462931242544,0.0496341178188,0.999999820489,0.000202700673363,-0.00056379587856,8.2944079495e-06,1793239729965736448
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.292783297,746,714.707216703,680,663.707216703,631,881,787,805,652.292783297,631,652.707216703,0.450155376617,0.00463020547133,0.0496205043656,0.999999811275,0.0002049273747,-0.000579137095781,7.41700275161e-06,1793239729982403328
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.290539556,746,714.709460444,680,664,631,881,787.290539556,804.709460444,652,631.290539556,652.709460444,0.450071540908,0.00463168301269,0.0496115966741,0.99999980423,0.00020755940934,-0.000590267335671,6.59827673956e-06,1793239729999069952
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.870264337,746,714.129735663,680,664,631,881,787.870264337,804.129735663,652,631.870264337,652.129735663,0.449978759946,0.00463374232488,0.0496073728095,0.99999979948,0.000210594887743,-0.000597206226567,5.83795643803e-06,1793239730015736576
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.553381358,746,714.446618642,680,664,631,881,787.553381358,804.446618642,652.446618642,632,652.446618642,0.449874343425,0.00463365490822,0.0496098112125,0.999999800195,0.000211376113927,-0.000595730618815,5.9239380046e-06,1793239730032403456
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,714.977941407,680,663.977941407,631,881,787,805,653,632,653,0.449765423761,0.00463312152785,0.0496140110062,0.999999802415,0.000211723471384,-0.000591864962805,6.18715164356e-06,1793239730049069824
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,714.401057954,680,663.401057954,631,881,787,805,653,632,653,0.449627616255,0.0046369384009,0.0496142015859,0.999999802931,0.000217505019098,-0.000588902846434,4.77109815602e-06,1793239730065736448
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.17878672,746,714,680,663.357573439,631,881,787,805,653,631.82121328,653,0.449477803556,0.00463959919798,0.0496124767881,0.999999800888,0.000222053703153,-0.000590680489466,3.60657930353e-06,1793239730082403072
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.765385856,746,714,680,664.530771711,631,881,787,805,653,631.234614144,653,0.449300607036,0.00463962298582,0.0496063830156,0.999999792987,0.000223790225033,-0.00060326952167,3.01581101901e-06,1793239730099069696
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.650740065,746,714,680,664.650740065,631.349259935,881,787,805.349259935,653,631,653,0.449102955327,0.00464145079693,0.0496030044818,0.999999787499,0.000227592423279,-0.000610898729983,2.38522940159e-06,1793239730115736576
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.068682302,746,714,680,664.068682302,631.931317698,881,787,805.931317698,653,631,653,0.448891669276,0.00464448107261,0.049601435779,0.999999783658,0.000232771490114,-0.000615221988592,1.72811030577e-06,1793239730132403456
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,746,714.507534094,680.507534094,664,631.492465906,880.492465906,787,804.984931811,652.492465906,631,653,0.448661677532,0.00464729448123,0.0496051913923,0.999999785582,0.000238045655587,-0.000610056854154,7.5410040465e-07,1793239730149069824
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.917291161,664,631.082708839,880,787,804.082708839,652.082708839,631.082708839,653,0.448422565344,0.00464995962173,0.049608668706,0.999999787577,0.000243495528284,-0.00060461166655,-2.94345632776e-07,1793239730165736704
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,715,680.343660374,664,631.656339626,880,787,804.656339626,652.656339626,631.656339626,653,0.448144172279,0.00465191692357,0.0496062661709,0.999999785735,0.000249912804249,-0.000605038855975,-1.53297092049e-06,1793239730182403328
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.762886944,714.762886944,680,664,632,880,787,805,652.762886944,631.762886944,653,0.447850753003,0.0046545463441,0.0496040220302,0.999999783174,0.000256719570017,-0.00060641419196,-2.86148589357e-06,1793239730199069952
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.171439817,714.171439817,680,664,632,880,787,805,652.171439817,631.171439817,653,0.447534879061,0.00465818015688,0.0496020145893,0.999999779548,0.00026410837635,-0.000609206407441,-4.32432902727e-06,1793239730215736832
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.411223445,745.411223445,714,680,664,632.411223445,880.411223445,787,805.411223445,652,631,653,0.447183147272,0.00466137146272,0.0496024141024,0.999999777714,0.000270350468542,-0.000609468975986,-5.4462003221e-06,1793239730232403200
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.990301269,745.990301269,714,680,664,632.990301269,880.990301269,787,805.990301269,652,631,653,0.446816778932,0.0046643821447,0.0496037960932,0.9999997766,0.000276124491444,-0.000608698985834,-6.42889270704e-06,1793239730249069824
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.434968821,746,714,680,664,633,881,787,804.869937642,652,631.565031179,653,0.446423083221,0.0046664707433,0.0496059684007,0.999999775953,0.000283085524831,-0.000606546277818,-7.66620845496e-06,1793239730265736448
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.139412307,746,714,680,664.139412307,633,881.139412307,787,804,652,632,653,0.446025280203,0.0046681135815,0.0496137361262,0.99999978196,0.000288665262961,-0.000593861645528,-9.02051944918e-06,1793239730282403328
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.712937883,746,714,680,664.712937883,633,881.712937883,787,804,652,632,653,0.445616137079,0.00466841728335,0.0496388853947,0.999999807525,0.000289880850291,-0.000548455200455,-1.07256338254e-05,1793239730299069952
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,745.7034282,714,680,665,633,882,787,804.2965718,652.2965718,632,653,0.445184097964,0.00467018081731,0.0496668721039,0.999999827712,0.000294471226158,-0.000507669914508,-1.1581932622e-05,1793239730315736832
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,745.109664747,714,680,665,633,882,787,804.890335253,652.890335253,632,653,0.444729114953,0.00467340723457,0.0496977021873,0.999999843033,0.000302443444375,-0.000471515441048,-1.15876419722e-05,1793239730332403200
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,745.470792373,714,680.470792373,665,633.470792373,881.529207627,787,804.529207627,652.529207627,632,653,0.444202044398,0.00467471171833,0.0497096329402,0.999999848594,0.000306796376791,-0.000456629423055,-1.32944349462e-05,1793239730349069824
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,746,714,680.952035319,665.047964681,634,881,787,804.047964681,652.047964681,632,653,0.443655468826,0.00467546211958,0.0497157804105,0.999999850992,0.000310192107674,-0.00044895436222,-1.53745333234e-05,1793239730365736192
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,680.377830102,665.622169898,634,881,787,804.622169898,652.622169898,632,653,0.443074061394,0.00467491021968,0.0497054494287,0.999999841859,0.000312081347081,-0.000467533148261,-1.73224536111e-05,1793239730382402816
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,634,880.798707292,787.201292708,804.798707292,652.798707292,632,652.798707292,0.442504155368,0.00467460483683,0.0497085750993,0.99999984447,0.000314222142763,-0.000460374530301,-1.9500110027e-05,1793239730399069440
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,634,880.210122956,787.789877044,804.210122956,652.210122956,632,652.210122956,0.441956378337,0.00467477375829,0.0497375916681,0.999999868074,0.000316846937667,-0.000403696575146,-2.21197836944e-05,1793239730415736320
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.627786725,745.627786725,714,680,666.372213275,634,880.372213275,788,804.372213275,652.372213275,631.627786725,652.372213275,0.441371049221,0.00467604195635,0.0497780961515,0.99999989063,0.000323094256991,-0.000337302973873,-2.40077419908e-05,1793239730432403200
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.048919479,745.048919479,714,680,666.951080521,634,880.951080521,788,804.951080521,652.951080521,631.048919479,652.951080521,0.440764871089,0.0046779204762,0.0498249787598,0.999999909529,0.000331352812071,-0.000265515216485,-2.54894494716e-05,1793239730449070080
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.52776959,745.52776959,714,680,667,634.52776959,880.47223041,788,805,652.47223041,631,653,0.440064643101,0.00467382081211,0.0498311630973,0.999999913536,0.000326259508378,-0.000255894273906,-3.16263922105e-05,1793239730465736448
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.893755978,635,880.106244022,788,805,652,631.106244022,653,0.439347978259,0.00466396667196,0.0498275287987,0.999999915458,0.000314618180049,-0.000262190656521,-3.68261859752e-05,1793239730482403328
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.306284268,635,880.693715732,788,805,652,631.693715732,653,0.438596187181,0.00463054744669,0.0497964379358,0.999999910981,0.000278900460036,-0.000314591048665,-3.58347823047e-05,1793239730499069952
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635,881,787.722780831,805,652,631.722780831,653,0.437841262042,0.00460428085728,0.0497805421035,0.999999923212,0.000185791201035,-0.000343372861938,-3.39550945619e-05,1793239730515736576
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635,881,787.143599774,805,652,631.143599774,653,0.437082923021,0.00458580529569,0.0497811975042,0.999999939055,3.01680126908e-05,-0.000346428062352,-3.11078398583e-05,1793239730532403456
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745.566012238,714,680,666.433987762,635,881,787,805,652,631.433987762,653,0.436310903033,0.00458543553306,0.0498034984352,0.999999950479,6.19096325352e-06,-0.000312986424394,-3.22939113547e-05,1793239730549069824
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745.011050657,714,680,667,635,880.988949343,787.011050657,805,652,632,653,0.435532596569,0.00459112254577,0.0498318150514,0.999999962777,2.56528856993e-05,-0.00026939423358,-3.4845032093e-05,1793239730565736704
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745.588151275,714,680,667,635,880.411848725,787.588151275,805,652,632,653,0.434663304127,0.00460130524422,0.0498027473979,0.999999946223,4.70960846005e-05,-0.000322178369296,-3.92077634674e-05,1793239730582403584
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,745.831833001,714,680,667,635,880,788,804.831833001,652.168166999,632,653,0.433816659473,0.00460822330714,0.049786079963,0.999999934985,6.4767512929e-05,-0.000352086438847,-4.32502003235e-05,1793239730599070208
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,745.244552145,714,680,667,635,880,788,804.244552145,652.755447855,632,653,0.433026458778,0.00460700508827,0.0498003169489,0.999999943445,7.30387528199e-05,-0.000324981678457,-4.64943838158e-05,1793239730615736576
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,745.338683609,714,679.661316391,667,635,880,787.661316391,804,653,632,653,0.432208425704,0.00460340165759,0.04981535276,0.99999995104,7.31049345393e-05,-0.000300140873078,-4.99127051635e-05,1793239730632403200
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,745.919032977,714,679.080967023,667,635,880,787.080967023,804,653,632,653,0.431370533029,0.00459809627267,0.0498309585676,0.999999957964,6.73164433883e-05,-0.000276915501048,-5.34552814438e-05,1793239730649069824
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,745.505184385,714,679.494815615,666.505184385,635,880,787.494815615,804,652.505184385,631.505184385,653,0.430466140463,0.00458597359287,0.0498032999177,0.999999946639,2.61642240316e-05,-0.000320860081123,-5.55608345652e-05,1793239730665736448
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,666,635,880,787.930091045,804,652.069908955,631.069908955,652.930091045,0.42955348549,0.00457535249656,0.0497735095322,0.99999993115,-1.22083458617e-06,-0.000367066801281,-5.44154753356e-05,1793239730682403072
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,666,635,880,787.354628264,804,652.645371736,631.645371736,652.354628264,0.428659051059,0.00458358348095,0.0497790304916,0.99999993163,0.00011241643439,-0.000350876226192,-3.14457051108e-05,1793239730699069696
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,666.22716138,634.77283862,880,787.22716138,804,653,632,652.22716138,0.42776141314,0.00459288314808,0.0497825071563,0.999999922418,0.000183230706377,-0.000348198197345,-1.86871177537e-05,1793239730715736576
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,666.819111143,634.180888857,880,787.819111143,804,653,632,652.819111143,0.426858630738,0.0046038989667,0.04978270098,0.999999915162,0.000185277447138,-0.000367219370659,-2.23262128984e-05,1793239730732403712
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.401896724,714,680,666.598103276,634.401896724,880,788,804,653,632,653,0.425988116223,0.00460332963462,0.0497836359439,0.999999921745,0.000167833583294,-0.000357234891439,-2.69143790818e-05,1793239730749070336
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745.980649538,714,680,666.019350462,634.980649538,880,788,804,653,632,653,0.42513180136,0.00459766221488,0.0497848970491,0.999999933495,0.000141812808901,-0.000334486369601,-3.19201871271e-05,1793239730765736960
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.446177122,746,714,679.446177122,666.553822878,635,880,788,804,653,632,653,0.424299024273,0.00459679852948,0.0498270947095,0.999999956506,0.000133292130551,-0.000260836995926,-3.4420804234e-05,1793239730782403328
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.129893888,746,714,679,666.870106112,635,880.129893888,788,804,653,631.870106112,653,0.42345044618,0.00459683353276,0.0498574855741,0.99999996927,0.000128963305713,-0.000208610494979,-3.61944920478e-05,1793239730799069952
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.71683988,746,714,679,666.28316012,635,880.71683988,788,804,653,631.28316012,653,0.422543404902,0.00459944602733,0.049841349774,0.999999961631,0.000137254156412,-0.000237959150529,-3.57152843926e-05,1793239730815736576
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.699959729,714,679.300040271,666.300040271,635,880.699959729,788,804,652.699959729,631.300040271,653,0.421636498059,0.00459957931033,0.0498208710773,0.999999952136,0.00013840822787,-0.000274411665501,-3.56155569985e-05,1793239730832403200
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745.120250661,714,679.879749339,666.879749339,635,880.120250661,788,804,652.120250661,631.879749339,653,0.420729716575,0.00459740170968,0.0497963443495,0.999999940126,0.000132910076863,-0.000317485715798,-3.58695447475e-05,1793239730849069824
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745,714.458500944,680,667,635,880,788,804,652.458500944,632,653,0.419870065501,0.00459994281668,0.0498065182658,0.999999941739,0.000133322743519,-0.000312201914235,-3.57463012874e-05,1793239730865736704
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.963417592,745,714.963417592,680,666.963417592,635,879.963417592,788,804,652.963417592,631.963417592,653,0.419021703209,0.00460346030149,0.0498232731374,0.99999994582,0.000135350889021,-0.000297956067053,-3.55362447134e-05,1793239730882403328
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.391476622,745,714.391476622,680,666.391476622,635,879.391476622,788,804,652.391476622,631.391476622,653,0.41815802979,0.00460319313163,0.0498034277281,0.99999993275,0.000138381250594,-0.000337773774599,-3.55005830035e-05,1793239730899070208
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,666,635,879,788,804,652,631.186919027,653,0.417318093326,0.0046017816553,0.0497940450337,0.999999927103,0.000138295287059,-0.000354066962212,-3.61165029326e-05,1793239730915736832
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,666,635,879,788,804,652,631.779316756,653,0.416529648672,0.00459788786393,0.049807358838,0.999999939647,0.00013144915939,-0.000319329013786,-3.81458824483e-05,1793239730932403200
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.363510708,714,679.636489292,666,635,879.727021417,788,804,652.363510708,631.636489292,653,0.415753145346,0.00459737351881,0.0498225613094,0.999999950565,0.000129707102672,-0.000283745263305,-3.91870719491e-05,1793239730949069568
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745.942834124,714,679.057165876,666,635,880.885668248,788,804,652.942834124,631.057165876,653,0.414983731517,0.00459886551768,0.0498388850629,0.999999959967,0.000130995282668,-0.000247659370456,-3.96415826815e-05,1793239730965736192
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745.481750268,714,679,666,635,880.481750268,788,804,652.481750268,631.518249732,653,0.414191704061,0.00460379405926,0.0498163812333,0.999999946621,0.000132943844096,-0.000295837842327,-3.95575621981e-05,1793239730982403072
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.093073442,666,635,879.906926558,788,803.906926558,652.093073442,631.906926558,653,0.413407825645,0.00460875224475,0.0497935412479,0.999999931026,0.000135338434942,-0.000343600211733,-3.96262823137e-05,1793239730999069696
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,679.667049394,666,635,879.332950606,788,803.332950606,652.667049394,631.332950606,653,0.412678844596,0.00461191963317,0.0497909281473,0.999999931088,0.000139664062568,-0.000341546418192,-4.07888339709e-05,1793239731015736576
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.247933166,745,714,680,666,635,879,788,803.247933166,652.752066834,631.247933166,653,0.411971709447,0.00461313974817,0.0498003441858,0.999999935998,0.000144654092088,-0.00032466358481,-4.0909840607e-05,1793239731032403456
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.8383593,745,714,680,666,635,879,788,803.8383593,652.1616407,631.8383593,653,0.41129475212,0.0046116699144,0.0498263771845,0.999999946612,0.000150561920772,-0.000287296029728,-3.95920648278e-05,1793239731049070336
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.421922937,714,679.578077063,666,635,879,788,803.578077063,652.421922937,631.578077063,653,0.410606905796,0.00460481192256,0.0498210558604,0.999999943015,0.000141928103785,-0.000303819289625,-3.89920438967e-05,1793239731065736704
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746.002866483,714,679,666,635,879,788,803.002866483,653,631,653,0.409915408793,0.00459595664157,0.0498039826521,0.999999933125,0.00012783689812,-0.000340460058706,-3.86693939521e-05,1793239731082403072
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746.577199167,714,679,666,635,879,788,803.577199167,653,631,653,0.409314469806,0.00459386047286,0.0498004386353,0.999999935174,0.000118615319664,-0.000337647818881,-3.97017186489e-05,1793239731099069696
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746.690603789,714,679.154698105,666.154698105,635,879.154698105,788,804,653,631.154698105,653,0.408726387599,0.00459296920599,0.0498038854547,0.999999939621,0.000113221338644,-0.000326053857679,-4.03447680797e-05,1793239731115736320
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745.517936826,714,679.741031587,666.741031587,635,879.741031587,788,804,653,631.741031587,653,0.408174177967,0.00459543983024,0.0498268379566,0.999999950144,0.000118507036737,-0.000289957322699,-3.99016701205e-05,1793239731132402944
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.676390006,745,714,679.676390006,666.676390006,635,879.676390006,788,804,653,631.676390006,653,0.407630869258,0.00459681430187,0.049838428983,0.999999954032,0.00012222044633,-0.000274684404471,-3.93355659371e-05,1793239731149069824
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.096782157,745,714,679.096782157,666.096782157,635,879.096782157,788,804,653,631.096782157,653,0.407094601829,0.00459732164094,0.0498410322964,0.999999953422,0.000124690066906,-0.000275884407613,-3.8672155392e-05,1793239731165736704
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.478544053,745.478544053,714,679,666.478544053,635,879,788,803.521455947,653,631.478544053,653,0.406562219947,0.0045996472956,0.0498186017367,0.999999940575,0.000127880517105,-0.000317759835725,-3.90446942193e-05,1793239731182403584
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.946714142,714,679,666.946714142,635,879.053285858,788,803,652.946714142,631.946714142,653,0.406036765712,0.0046026282694,0.0497926063459,0.99999992399,0.000131529110495,-0.000364889906974,-3.96863803817e-05,1793239731199070464
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745.369278594,714,679,666.369278594,635,879.630721406,788,803,652.369278594,631.369278594,653,0.405571794407,0.0046084700968,0.0497809054043,0.999999916065,0.000138262976873,-0.000383506502214,-4.09329356043e-05,1793239731215736832
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,635,880,788,803,652.212653011,631.212653011,653,0.405136200191,0.00461235366657,0.0497808613815,0.999999916334,0.00014215087564,-0.000381247525848,-4.21360889085e-05,1793239731232403200
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,666,635,880,788,803,652.802560733,631.802560733,653,0.404752722124,0.00461276321052,0.049801497187,0.999999930659,0.000140989916396,-0.000341954471405,-4.32622453681e-05,1793239731249069824
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.385000959,666.385000959,635,879.614999041,788,803,653,631.614999041,653,0.40440329421,0.00461418573201,0.0498279812769,0.999999943579,0.000142807355965,-0.000300943960863,-4.33734661304e-05,1793239731265736448
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.963684561,666.963684561,635,879.036315439,788,803,653,631.036315439,653,0.40407099589,0.0046161178527,0.0498574074683,0.999999954842,0.000146123140016,-0.000259069444921,-4.29741026962e-05,1793239731282403328
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745,714,679.461367331,666.461367331,635,879.538632669,787.461367331,803,653,631,653,0.403749817332,0.00461820749325,0.049862358446,0.99999995592,0.0001498885246,-0.000252498050068,-4.4014760963e-05,1793239731299069952
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.116327387,714,679,666.116327387,635,879.883672613,787.116327387,803,653,631.116327387,653,0.403433478647,0.0046199485531,0.0498629204464,0.999999955052,0.000153438345515,-0.000253630913719,-4.49854316681e-05,1793239731315737088
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.706221914,714,679,666.706221914,635,879.293778086,787.706221914,803,653,631.706221914,653,0.403133811874,0.00462022760943,0.0498522864793,0.999999948581,0.000155988057997,-0.000276504718048,-4.52786607646e-05,1793239731332403456
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.290681196,666.709318804,635,879,788,803,653,632,653,0.402849534961,0.00461975580034,0.0498412424393,0.999999942178,0.000154799119651,-0.000299304373666,-4.58016332374e-05,1793239731349070080
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.86974812,666.13025188,635,879,788,803,653,632,653,0.402580526394,0.0046185390553,0.0498297915653,0.999999935829,0.00014990105391,-0.000322030464736,-4.65525348179e-05,1793239731365736448
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.552817539,666,635,879,788,803,653,631.552817539,653,0.402356605228,0.00461820241997,0.0498247713612,0.999999936904,0.000121366076408,-0.00033044689194,-4.76246018238e-05,1793239731382403072
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.975912988,714,679,666,635.024087012,879.024087012,788,803,653,631,653,0.402147740853,0.00461725563997,0.0498219579122,0.999999939304,8.58194052184e-05,-0.000334151091152,-4.86841452105e-05,1793239731399069440
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.400290328,714,679,666,635.599709672,879.599709672,788,803,653,631,653,0.401984027106,0.00459648949439,0.0498269409263,0.999999944958,4.67932253341e-05,-0.000325046816776,-4.73227242074e-05,1793239731415736320
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766.179724629,745.179724629,714,679.179724629,666.179724629,635.820275371,879.820275371,788,803.179724629,653,631.179724629,653,0.401831424422,0.00457875453476,0.0498325559589,0.999999949346,3.42583962522e-05,-0.000313649833191,-4.19188492005e-05,1793239731432403200
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766.769767284,745.769767284,714,679.769767284,666.769767284,635.230232716,879.230232716,788,803.769767284,653,631.769767284,653,0.401704188733,0.00456793988846,0.0498396139124,0.999999952139,8.22043138177e-05,-0.00029701851071,-2.72859012916e-05,1793239731449069824
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766.647240565,746,714,679.647240565,666.647240565,635,879,788,803.647240565,653.352759435,631.647240565,653,0.401587862204,0.00457123855242,0.0498443876011,0.999999952779,0.000110066738264,-0.000285958925966,-2.35357437194e-05,1793239731465736448
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766.068759786,746,714,679.068759786,666.068759786,635,879,788,803.068759786,653.931240214,631.068759786,653,0.401478516142,0.00458356794577,0.0498476996504,0.999999953049,0.000125078276464,-0.000278464546104,-2.67491917191e-05,1793239731482403072
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.506380311,635,879,788,803,653.493619689,631,653,0.401387536016,0.00457988044994,0.0498470872475,0.999999953053,0.000121483099836,-0.000280068507332,-2.63952443573e-05,1793239731499069952
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.918771388,714,679,666.918771388,635.081228612,879.081228612,788,803.081228612,653.081228612,631.081228612,653,0.401302130069,0.00457553389639,0.049845877275,0.999999952893,0.000117006130076,-0.000282578196791,-2.59488802327e-05,1793239731515736320
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.342955629,714,679,666.342955629,635.657044371,879.657044371,788,803.657044371,653.657044371,631.657044371,653,0.401235579184,0.0045803301504,0.0498442522078,0.999999952034,0.000122442960104,-0.000283129660015,-2.786993685e-05,1793239731532403456
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.239305539,714,679.239305539,666,635.760694461,880,788,803.760694461,653.760694461,632,653,0.40117900678,0.00458238785747,0.0498443444219,0.999999952326,0.000124526644761,-0.000281067864188,-2.90102036185e-05,1793239731549070080
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.831059448,714,679.831059448,666,635.168940552,880,788,803.168940552,653.168940552,632,653,0.401137130653,0.00458041224178,0.0498469658421,0.999999954322,0.000121671828185,-0.000275157269441,-2.90005256829e-05,1793239731565736192
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,714.412963823,680,666,635,879.587036177,788,803,653,631.587036177,653,0.401103989542,0.00457978839262,0.0498495058844,0.999999956014,0.000120447261237,-0.000269480066994,-2.90547155946e-05,1793239731582402816
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,746,714.990932675,680,666,635,879.009067325,788,803,653,631.009067325,653,0.40107433862,0.00457970465928,0.0498520134111,0.99999995757,0.000119874081652,-0.000263896119594,-2.91344247293e-05,1793239731599069696
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.564351277,746,715,679.435648723,666.564351277,635,879,788,803.564351277,653,631.564351277,653,0.40105195298,0.00458245651863,0.0498522133866,0.999999957168,0.000120846628558,-0.000264886760836,-2.99172316607e-05,1793239731615736832
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.858781522,745.858781522,714.858781522,679,667,635,879,788,803.858781522,653,632,653,0.401032518846,0.00458396986697,0.0498523573586,0.999999956912,0.000121453428633,-0.000265515144313,-3.04318204723e-05,1793239731632403456
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.270774267,745.270774267,714.270774267,679,667,635,879,788,803.270774267,653,632,653,0.401022056371,0.00458142181118,0.0498524405063,0.999999957225,0.000120825129636,-0.000264665883029,-3.00623630306e-05,1793239731649069824
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.312707441,714,679.312707441,666.687292559,635,879.312707441,788,803.312707441,653,632,653,0.401013820725,0.00458093874854,0.0498529852212,0.999999957751,0.000121022442311,-0.000262586481732,-2.99915273943e-05,1793239731665736192
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.892326431,714,679.892326431,666.107673569,635,879.892326431,788,803.892326431,653,632,653,0.401007485788,0.00458221826127,0.0498539239071,0.999999958453,0.000121924456055,-0.000259457093889,-3.01755804658e-05,1793239731682402816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.530052921,714,679.530052921,666.469947079,635,880,788,804,653,632,653,0.401004122148,0.00458258800753,0.0498539295992,0.999999958839,0.000120404445433,-0.000258624052098,-3.06365445167e-05,1793239731699069440
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.046755403,714,679,667,635,880,788,803.953244597,653,631.953244597,653,0.401001707027,0.00458273912106,0.0498538622504,0.999999959167,0.000118580582705,-0.000258142179983,-3.10891208233e-05,1793239731715736320
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.619554238,714,679,667,635,880,788,803.380445762,653,631.380445762,653,0.401002336686,0.00458276567497,0.0498553680114,0.999999959685,0.000119555157131,-0.000255716839619,-3.07365274782e-05,1793239731732403200
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.801062747,635,880,788,803.198937253,653,631.198937253,653,0.401002191742,0.0045825895266,0.0498563197474,0.999999960065,0.000119558428933,-0.000254260704957,-3.04372284688e-05,1793239731749070080
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.208657241,635,880,788,803.791342759,653,631.791342759,653,0.401000514749,0.00458201246332,0.0498561757041,0.999999960181,0.00011764060877,-0.000254721514951,-3.02433377382e-05,1793239731765736960
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.374242677,666,635,879.625757323,788,804,653,632,653,0.401000481457,0.00458166149009,0.049856685388,0.999999960488,0.000117166248297,-0.000253751277884,-3.00978008246e-05,1793239731782403328
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.951974058,666,635,879.048025942,788,804,653,632,653,0.401001341902,0.00458143344989,0.0498575505261,0.999999960898,0.000117476746911,-0.000252002930951,-2.99785555622e-05,1793239731799069696
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.470327883,666,635,879.529672117,788,804,653,632,653,0.401001319382,0.00458243738076,0.049858409908,0.999999961067,0.000117637735614,-0.0002511956354,-3.04600950435e-05,1793239731815736320
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.108986048,666.108986048,635,880,788.108986048,803.891013952,653,632,653,0.401000592163,0.00458322166809,0.0498586960824,0.999999961038,0.000117676115861,-0.00025124338303,-3.0862050639e-05,1793239731832403200
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.695391466,666.695391466,635,880,788.695391466,803.304608534,653,632,653,0.400997128655,0.00458255449919,0.049856473576,0.999999960231,0.000117236783044,-0.000254662942132,-3.06767740335e-05,1793239731849069568
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.721718516,666.721718516,635,879.721718516,788.721718516,803,653,631.721718516,653,0.400996882939,0.00458265274395,0.0498563156918,0.999999960275,0.000117838932241,-0.000254208458708,-3.06882989787e-05,1793239731865736192
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.142628399,666.142628399,635,879.142628399,788.142628399,803,653,631.142628399,653,0.401000115498,0.00458357836324,0.0498583895624,0.999999961232,0.000119566872351,-0.000249566325773,-3.09125567232e-05,1793239731882403072
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.565679613,714,679,666.434320387,635,879,788,803,653,631,653,0.401000789074,0.00458282304991,0.049859216312,0.999999961615,0.000118318278627,-0.000248644479894,-3.07810609207e-05,1793239731899070208
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745,714,679,666.989488188,635,879.010511812,788,803.010511812,653,631.010511812,653,0.401000597405,0.00458154484801,0.0498596129959,0.999999961798,0.000116140072152,-0.000248963085061,-3.05348246691e-05,1793239731915736832
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,666.416378146,635,879.583621854,788,803.583621854,653,631.583621854,653,0.40099885295,0.0045816802338,0.0498588039994,0.999999961378,0.000116266924559,-0.000250604900683,-3.03696106831e-05,1793239731932403456
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745.162284831,714,679,666,635,880,788,803.837715169,653,631.837715169,653,0.400997911981,0.00458179913065,0.0498583884301,0.999999961141,0.000116762705718,-0.000251335619805,-3.0246580301e-05,1793239731949070080
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.755699846,714,679,666,635,880,788,803.244300154,653,631.244300154,653,0.40099910558,0.00458187422253,0.0498590180501,0.999999961391,0.000118238592781,-0.000249645895707,-3.02356160101e-05,1793239731965736448
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.340392642,666.340392642,635,880,788,803.340392642,653,631.340392642,652.659607358,0.401000021432,0.00458095245103,0.0498597485961,0.999999961877,0.000116862420919,-0.000248356715396,-3.01384808608e-05,1793239731982403072
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.918981865,666.918981865,635,880,788,803.918981865,653,631.918981865,652.081018135,0.401000742926,0.0045793331044,0.0498605497671,0.99999996252,0.000113490463543,-0.000247347823705,-2.99810459247e-05,1793239731999069440
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.503840225,714,679.503840225,667,635,879.503840225,788,804,653,631.503840225,652,0.401000953142,0.00458082427072,0.0498600076002,0.999999962285,0.000115679341628,-0.000247225933721,-3.04498923836e-05,1793239732015736320
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,714,679,666.925653126,635,879,788,803.925653126,653,631.074346874,652.074346874,0.401000993262,0.00458237762219,0.0498594462637,0.999999962012,0.000117978058666,-0.000247190590678,-3.08968843283e-05,1793239732032403200
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,714,679,666.338927527,635,879,788,803.338927527,653,631.661072473,652.661072473,0.401000434868,0.00458086903725,0.0498602602589,0.999999962502,0.000114793597752,-0.000246756346533,-3.04904714952e-05,1793239732049070080
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.244268258,714,679,666.244268258,635,879,788,803.244268258,653,632,653,0.401000125279,0.00458021052457,0.0498608648497,0.999999962719,0.000113546890584,-0.000246478651975,-3.02980530109e-05,1793239732065736704
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.822636199,714,679,666.822636199,635,879,788,803.822636199,653,632,653,0.401000155993,0.00458071470417,0.0498611830261,0.999999962571,0.000114950559714,-0.00024641507919,-3.03983267926e-05,1793239732082403072
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.600659203,635,879.399340797,788,804,653,631.600659203,653,0.400999894653,0.00458081933318,0.0498607771535,0.999999962422,0.000115210710236,-0.000246881059801,-3.05391538239e-05,1793239732099069696
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.024690335,635,879.975309665,788,804,653,631.024690335,653,0.400999504138,0.00458074724131,0.0498600510347,0.999999962272,0.000114965083432,-0.0002475812614,-3.06979175145e-05,1793239732115736320
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,746,714.550047703,679.550047703,666.550047703,635,880,788,803.449952297,653,631.550047703,653,0.400999853424,0.00458142791167,0.0498598816916,0.999999962112,0.000116421306255,-0.000247558290034,-3.06013309814e-05,1793239732132403200
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7a5182c8d87ab40c996566c27af18d51390a9731
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_03/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,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+1,0.016666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+2,0.033333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+3,0.050000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+4,0.066666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+5,0.083333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+6,0.100000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+7,0.116666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+8,0.133333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+9,0.150000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+10,0.166666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+11,0.183333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+12,0.200000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+13,0.216666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+14,0.233333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+15,0.250000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+16,0.266666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+17,0.283333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+18,0.300000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+19,0.316666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+20,0.333333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+21,0.350000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+22,0.366666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+23,0.383333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+24,0.400000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+25,0.416666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+26,0.433333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+27,0.450000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+28,0.466666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+29,0.483333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+30,0.500000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+31,0.516666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+32,0.533333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+33,0.550000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+34,0.566666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+35,0.583333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+36,0.600000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+37,0.616666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+38,0.633333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+39,0.650000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+40,0.666666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+41,0.683333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+42,0.700000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+43,0.716666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+44,0.733333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+45,0.750000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+46,0.766666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+47,0.783333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+48,0.800000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+49,0.816666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+50,0.833333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+51,0.850000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+52,0.866666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+53,0.883333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+54,0.900000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+55,0.916666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+56,0.933333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+57,0.950000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+58,0.966666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+59,0.983333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+60,1.000000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+61,1.016666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+62,1.033333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+63,1.050000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+64,1.066666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+65,1.083333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+66,1.100000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+67,1.116666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+68,1.133333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+69,1.150000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+70,1.166666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+71,1.183333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+72,1.200000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+73,1.216666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+74,1.233333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+75,1.250000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+76,1.266666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+77,1.283333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+78,1.300000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+79,1.316666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+80,1.333333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+81,1.350000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+82,1.366666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+83,1.383333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+84,1.400000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+85,1.416666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+86,1.433333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+87,1.450000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+88,1.466666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+89,1.483333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+90,1.500000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+91,1.516666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+92,1.533333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+93,1.550000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+94,1.566666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+95,1.583333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+96,1.600000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+97,1.616666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+98,1.633333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+99,1.650000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+100,1.666666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+101,1.683333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+102,1.700000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+103,1.716666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+104,1.733333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+105,1.750000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+106,1.766666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+107,1.783333333,pose1_to_pose2_press,0.575664395412,0.0100908556686,1.04003237669,0.546234847011,0.0187625952058,1.03970050606
+108,1.800000000,pose1_to_pose2_press,0.57566440594,0.0100908039201,1.04003231648,0.546234858192,0.0187625458065,1.03970044925
+109,1.816666667,pose1_to_pose2_press,0.575664409009,0.0100907888323,1.04003229892,0.546234861452,0.0187625314036,1.03970043269
+110,1.833333333,pose1_to_pose2_press,0.575664501281,0.0100907252201,1.04003221265,0.546234954413,0.018762470245,1.03970034945
+111,1.850000000,pose1_to_pose2_press,0.575664768044,0.0100907291976,1.04003217596,0.546235220739,0.0187624725777,1.03970030857
+112,1.866666667,pose1_to_pose2_press,0.575664965949,0.0100907321484,1.04003214873,0.546235418318,0.0187624743082,1.03970027823
+113,1.883333333,pose1_to_pose2_press,0.575665213459,0.0100907300158,1.04003213917,0.546235665716,0.0187624717862,1.03970026849
+114,1.900000000,pose1_to_pose2_press,0.575666922166,0.0100907519111,1.04003214929,0.546237373815,0.0187624917916,1.0397002832
+115,1.916666667,pose1_to_pose2_press,0.575672093464,0.0100908120141,1.04003212969,0.546242545032,0.018762551906,1.03970027105
+116,1.933333333,pose1_to_pose2_press,0.575683897266,0.0100907901564,1.04003215719,0.546254349648,0.0187625325014,1.0397002903
+117,1.950000000,pose1_to_pose2_press,0.575703967173,0.0100907957715,1.0400322008,0.546274419468,0.0187625380451,1.03970033966
+118,1.966666667,pose1_to_pose2_press,0.575735549574,0.0100907163092,1.04003237852,0.546306002917,0.0187624618674,1.03970051021
+119,1.983333333,pose1_to_pose2_press,0.575778037435,0.0100907831794,1.0400324961,0.54634848971,0.0187625250667,1.03970062656
+120,2.000000000,pose1_to_pose2_press,0.575830179057,0.0100907739596,1.04003235666,0.546400630655,0.0187625135598,1.03970048741
+121,2.016666667,pose1_to_pose2_press,0.575889650976,0.0100907384274,1.04003222113,0.546460103308,0.0187624808133,1.03970035944
+122,2.033333333,pose1_to_pose2_press,0.575955932423,0.0100907947951,1.04003239767,0.546526384306,0.0187625354889,1.03970053156
+123,2.050000000,pose1_to_pose2_press,0.576028962563,0.0100908118987,1.04003249434,0.546599414413,0.0187625523996,1.03970062606
+124,2.066666667,pose1_to_pose2_press,0.576109861262,0.0100908408477,1.04003236956,0.54668031283,0.0187625805206,1.03970050456
+125,2.083333333,pose1_to_pose2_press,0.576202678863,0.0100908824952,1.04003230601,0.5467731297,0.0187626197602,1.03970044284
+126,2.100000000,pose1_to_pose2_press,0.576308590996,0.0100907929296,1.04003248465,0.546879042883,0.0187625335533,1.0397006161
+127,2.116666667,pose1_to_pose2_press,0.57643033572,0.0100906497802,1.04003245783,0.547000790203,0.0187623989255,1.03970058174
+128,2.133333333,pose1_to_pose2_press,0.576566639222,0.0100907345507,1.04003215346,0.547137088788,0.0187624672628,1.03970028399
+129,2.150000000,pose1_to_pose2_press,0.576717624345,0.0100910263318,1.0400326211,0.547288072195,0.018762752961,1.03970074483
+130,2.166666667,pose1_to_pose2_press,0.576885542602,0.0100907262435,1.04003250042,0.547455994217,0.0187624659533,1.03970063202
+131,2.183333333,pose1_to_pose2_press,0.577070457904,0.0100907157514,1.04003248918,0.547640910827,0.0187624598445,1.03970061915
+132,2.200000000,pose1_to_pose2_press,0.577275855397,0.0100907601794,1.04003230679,0.547846307985,0.0187625033008,1.03970044113
+133,2.216666667,pose1_to_pose2_press,0.577502311778,0.0100907546472,1.0400322158,0.548072764526,0.0187624984575,1.03970035382
+134,2.233333333,pose1_to_pose2_press,0.577751915242,0.0100908094253,1.04003228561,0.548322367365,0.0187625510819,1.03970042275
+135,2.250000000,pose1_to_pose2_press,0.578021853059,0.0100907868223,1.04003227829,0.548592305175,0.0187625284708,1.03970041574
+136,2.266666667,pose1_to_pose2_press,0.578311368359,0.0100907432504,1.04003233093,0.548881821131,0.0187624871068,1.0397004679
+137,2.283333333,pose1_to_pose2_press,0.578623807025,0.0100907666236,1.04003235507,0.549194259454,0.0187625091672,1.03970048806
+138,2.300000000,pose1_to_pose2_press,0.578955112978,0.0100907624252,1.04003215682,0.5495255649,0.0187625032566,1.03970028996
+139,2.316666667,pose1_to_pose2_press,0.579299250493,0.0100908367103,1.04003223553,0.549869702036,0.018762576488,1.03970037469
+140,2.333333333,pose1_to_pose2_press,0.579657993629,0.0100908044556,1.04003230337,0.550228444962,0.0187625436556,1.03970044597
+141,2.350000000,pose1_to_pose2_press,0.580033983476,0.0100907896644,1.04003226137,0.55060443519,0.0187625296939,1.03970039182
+142,2.366666667,pose1_to_pose2_press,0.580423099665,0.0100907429984,1.04003259506,0.550993552248,0.0187624858657,1.03970072249
+143,2.383333333,pose1_to_pose2_press,0.580830173933,0.0100906530746,1.04003232501,0.551400627843,0.018762400705,1.03970045924
+144,2.400000000,pose1_to_pose2_press,0.5812765978,0.0100908184437,1.0400324188,0.551847049635,0.0187625589139,1.03970054987
+145,2.416666667,pose1_to_pose2_press,0.581756532151,0.0100908243659,1.04003250056,0.552326983759,0.0187625640194,1.03970063031
+146,2.433333333,pose1_to_pose2_press,0.58226525915,0.010090758147,1.04003227854,0.552835711236,0.0187624995538,1.03970041166
+147,2.450000000,pose1_to_pose2_press,0.582793522264,0.0100907204902,1.04003231842,0.553363973835,0.0187624600744,1.03970044962
+148,2.466666667,pose1_to_pose2_press,0.583335787675,0.0100907195746,1.04003249099,0.553906239228,0.018762459115,1.03970062255
+149,2.483333333,pose1_to_pose2_press,0.583879342413,0.0100907394547,1.04003252242,0.554449794144,0.0187624797195,1.03970065714
+150,2.500000000,pose1_to_pose2_press,0.584429944048,0.0100907106557,1.04003254061,0.555000395845,0.0187624511031,1.03970067414
+151,2.516666667,pose1_to_pose2_press,0.585005368069,0.0100906881424,1.04003232723,0.555575821197,0.0187624332372,1.03970046413
+152,2.533333333,pose1_to_pose2_press,0.585607951305,0.0100907731374,1.0400322422,0.556178402568,0.0187625117104,1.03970037405
+153,2.550000000,pose1_to_pose2_press,0.586239070227,0.0100906901886,1.04003210987,0.55680952164,0.0187624294258,1.03970024571
+154,2.566666667,pose1_to_pose2_press,0.586886063439,0.0100908305431,1.04003239729,0.557456514667,0.0187625686045,1.03970051888
+155,2.583333333,pose1_to_pose2_press,0.587542310399,0.0100907223851,1.04003219812,0.55811276295,0.0187624649759,1.03970032065
+156,2.600000000,pose1_to_pose2_press,0.588204068522,0.0100908249598,1.04003243671,0.55877452029,0.0187625649863,1.0397005616
+157,2.616666667,pose1_to_pose2_press,0.588876503028,0.0100908577785,1.04003231198,0.559446954672,0.0187625978744,1.03970044967
+158,2.633333333,pose1_to_pose2_press,0.589569218813,0.010090709988,1.04003217551,0.560139671161,0.0187624522935,1.03970030849
+159,2.650000000,pose1_to_pose2_press,0.590280916965,0.0100906768864,1.04003225978,0.560851370397,0.0187624227429,1.03970038947
+160,2.666666667,pose1_to_pose2_press,0.591007617815,0.0100907666483,1.04003230865,0.561578071012,0.0187625118969,1.03970044329
+161,2.683333333,pose1_to_pose2_press,0.591742066499,0.0100908362733,1.04003229482,0.562312517992,0.0187625756179,1.03970042625
+162,2.700000000,pose1_to_pose2_press,0.592482637913,0.0100908611594,1.04003235205,0.563053088581,0.0187625975397,1.03970047922
+163,2.716666667,pose1_to_pose2_press,0.593229417512,0.0100907350046,1.04003227632,0.563799868647,0.018762473275,1.0397004115
+164,2.733333333,pose1_to_pose2_press,0.593985980078,0.010090777757,1.04003243585,0.564556431292,0.0187625164878,1.03970057612
+165,2.750000000,pose1_to_pose2_press,0.594752086215,0.0100907635921,1.04003234186,0.565322538107,0.0187625045017,1.03970047898
+166,2.766666667,pose1_to_pose2_press,0.595523237962,0.0100908611047,1.04003239677,0.566093687547,0.0187625936967,1.03970052111
+167,2.783333333,pose1_to_pose2_press,0.596297313159,0.0100907253948,1.04003225377,0.566867765913,0.0187624690601,1.03970038645
+168,2.800000000,pose1_to_pose2_press,0.597068534052,0.0100907265564,1.04003234356,0.56763898603,0.0187624675738,1.03970047591
+169,2.816666667,pose1_to_pose2_press,0.59783689415,0.010090840631,1.04003230339,0.56840734566,0.0187625797912,1.03970042877
+170,2.833333333,pose1_to_pose2_press,0.598596780541,0.0100908575506,1.04003252123,0.569167232703,0.0187625988606,1.039700645
+171,2.850000000,pose1_to_pose2_press,0.599356283645,0.0100908778475,1.04003247395,0.569926734942,0.018762616514,1.03970060541
+172,2.866666667,pose1_to_pose2_press,0.600123286379,0.010090921375,1.04003234843,0.570693736875,0.0187626575524,1.03970048596
+173,2.883333333,pose1_to_pose2_press,0.60088270892,0.0100908071525,1.04003240635,0.571453160677,0.0187625475138,1.03970054142
+174,2.900000000,pose1_to_pose2_press,0.601635364137,0.010090707119,1.04003249743,0.572205816068,0.0187624477985,1.03970062545
+175,2.916666667,pose1_to_pose2_press,0.602389829207,0.0100908442215,1.04003241012,0.572960279556,0.0187625795166,1.03970053776
+176,2.933333333,pose1_to_pose2_press,0.603138637261,0.0100906484651,1.04003208818,0.573709091809,0.0187623986288,1.03970023211
+177,2.950000000,pose1_to_pose2_press,0.603877118267,0.0100907158395,1.04003220355,0.574447571185,0.0187624603312,1.03970034391
+178,2.966666667,pose1_to_pose2_press,0.604610389103,0.0100906566353,1.04003222493,0.575180843207,0.0187624050654,1.03970036306
+179,2.983333333,pose1_to_pose2_press,0.605337578494,0.0100907103154,1.04003235343,0.575908030745,0.0187624523458,1.03970048878
+180,3.000000000,pose1_to_pose2_press,0.606048865434,0.0100907539497,1.04003225649,0.576619317219,0.018762494273,1.0397003886
+181,3.016666667,pose1_to_pose2_press,0.606743000806,0.0100909473876,1.04003258816,0.577313449143,0.0187626755387,1.03970070813
+182,3.033333333,pose1_to_pose2_press,0.607425283253,0.0100909022492,1.04003234165,0.577995733719,0.0187626380401,1.03970047248
+183,3.050000000,pose1_to_pose2_press,0.608095659682,0.0100908244491,1.04003225783,0.578666112111,0.0187625668036,1.03970038622
+184,3.066666667,pose1_to_pose2_press,0.608750308533,0.0100907886352,1.04003224324,0.57932076104,0.0187625313646,1.03970037458
+185,3.083333333,pose1_to_pose2_press,0.609392699898,0.0100906731549,1.0400322407,0.579963152265,0.018762415455,1.03970037336
+186,3.100000000,pose1_to_pose2_press,0.610018488709,0.0100906193193,1.04003225085,0.580588940866,0.0187623608054,1.03970038093
+187,3.116666667,pose1_to_pose2_press,0.610615523102,0.0100906980548,1.04003222584,0.581185974867,0.0187624383764,1.0397003603
+188,3.133333333,pose1_to_pose2_press,0.611189211874,0.0100907836484,1.04003220029,0.581759663867,0.0187625250012,1.03970034156
+189,3.150000000,pose1_to_pose2_press,0.611744053698,0.0100908814912,1.0400322589,0.582314505762,0.0187626230207,1.03970039861
+190,3.166666667,pose1_to_pose2_press,0.612280845924,0.0100908910182,1.0400324883,0.582851296113,0.0187626257998,1.03970061794
+191,3.183333333,pose1_to_pose2_press,0.6127965865,0.0100907429766,1.04003249353,0.583367040483,0.0187624907404,1.03970062544
+192,3.200000000,pose1_to_pose2_press,0.61328462519,0.010090909225,1.0400323925,0.583855075173,0.0187626433342,1.03970051839
+193,3.216666667,pose1_to_pose2_press,0.613745026384,0.0100908111338,1.04003248116,0.584315477085,0.0187625477774,1.03970060712
+194,3.233333333,pose1_to_pose2_press,0.614183180838,0.0100907752752,1.04003232826,0.584753633336,0.0187625184048,1.03970046103
+195,3.250000000,pose1_to_pose2_press,0.614605507209,0.010090813707,1.04003224247,0.585175960061,0.018762558199,1.03970037571
+196,3.266666667,pose1_to_pose2_press,0.61501567685,0.010090788624,1.04003232072,0.585586129448,0.0187625321231,1.0397004469
+197,3.283333333,pose1_to_pose2_press,0.615416009122,0.0100907338713,1.04003240817,0.585986461329,0.0187624760268,1.03970053009
+198,3.300000000,pose1_to_pose2_press,0.61580414069,0.010090804886,1.04003235724,0.586374591805,0.0187625437316,1.03970048437
+199,3.316666667,pose1_to_pose2_press,0.616162971379,0.0100907851979,1.04003223119,0.586733423154,0.0187625267138,1.0397003643
+200,3.333333333,pose1_to_pose2_press,0.616493003961,0.0100907130508,1.04003208865,0.587063455905,0.0187624556194,1.03970023125
+201,3.350000000,pose1_to_pose2_press,0.616794296401,0.0100907076886,1.04003220897,0.587364749087,0.0187624528603,1.03970034885
+202,3.366666667,pose1_to_pose2_press,0.617073034156,0.0100906744736,1.04003224734,0.587643486238,0.0187624174926,1.03970037931
+203,3.383333333,pose1_to_pose2_press,0.617332155581,0.0100907992478,1.04003223349,0.587902606588,0.0187625388988,1.03970036802
+204,3.400000000,pose1_to_pose2_press,0.61758349124,0.0100908118409,1.04003226594,0.58815394251,0.0187625522412,1.03970039312
+205,3.416666667,pose1_to_pose2_press,0.617826311702,0.0100907440328,1.04003223433,0.58839676331,0.0187624856196,1.03970035822
+206,3.433333333,pose1_to_pose2_press,0.61805425942,0.0100907662797,1.04003214555,0.588624710279,0.0187625059474,1.03970028114
+207,3.450000000,pose1_to_pose2_press,0.618265437277,0.010090808029,1.0400322359,0.588835888089,0.0187625475061,1.03970036899
+208,3.466666667,pose1_to_pose2_press,0.618455709494,0.0100909006588,1.04003226452,0.589026159585,0.0187626376999,1.0397003957
+209,3.483333333,pose1_to_pose2_press,0.61862493853,0.0100907605444,1.04003239769,0.589195389927,0.0187625017555,1.03970052015
+210,3.500000000,pose1_to_pose2_press,0.618773010192,0.0100907399587,1.04003224952,0.589343461123,0.0187624802272,1.03970038248
+211,3.516666667,pose1_to_pose2_press,0.61890629939,0.0100907767949,1.0400322328,0.589476751755,0.0187625220831,1.03970036913
+212,3.533333333,pose1_to_pose2_press,0.619026483305,0.0100908242067,1.04003224566,0.589596932961,0.0187625602456,1.03970037928
+213,3.550000000,pose1_to_pose2_press,0.619134667639,0.0100907968346,1.04003224031,0.589705118329,0.0187625365323,1.03970037591
+214,3.566666667,pose1_to_pose2_press,0.619232632084,0.0100907212034,1.04003230084,0.589803084402,0.0187624664502,1.03970043479
+215,3.583333333,pose1_to_pose2_press,0.619320505767,0.0100907083756,1.04003235057,0.589890958575,0.0187624556434,1.03970048657
+216,3.600000000,pose1_to_pose2_press,0.619396924421,0.010090741699,1.04003233046,0.58996737833,0.0187624933287,1.03970047135
+217,3.616666667,pose1_to_pose2_press,0.619461596084,0.0100907111606,1.04003233905,0.590032049308,0.0187624601773,1.03970046992
+218,3.633333333,pose1_to_pose2_press,0.619514837466,0.0100907182881,1.04003221662,0.590085289265,0.0187624623308,1.03970035056
+219,3.650000000,pose1_to_pose2_press,0.619558026388,0.0100907402199,1.04003210104,0.59012847791,0.018762483295,1.03970023923
+220,3.666666667,pose1_to_pose2_press,0.619592159228,0.0100907736086,1.04003211844,0.590162609997,0.0187625137602,1.03970025112
+221,3.683333333,pose1_to_pose2_press,0.619619810762,0.0100906623383,1.04003220457,0.590190262958,0.0187624072332,1.03970034068
+222,3.700000000,pose1_to_pose2_press,0.619641444642,0.0100907416696,1.04003239355,0.590211896187,0.0187624843262,1.03970052499
+223,3.716666667,pose1_to_pose2_press,0.619658734338,0.0100907911411,1.04003256043,0.590229185678,0.0187625331595,1.03970068751
+224,3.733333333,pose1_to_pose2_press,0.619671721636,0.0100908228,1.04003253344,0.590242172581,0.0187625638175,1.03970066604
+225,3.750000000,pose1_to_pose2_press,0.619680863938,0.0100909257919,1.04003231066,0.590251313075,0.0187626612719,1.0397004581
+226,3.766666667,pose1_to_pose2_press,0.619687195882,0.0100908271958,1.0400325218,0.59025764686,0.0187625686071,1.03970066189
+227,3.783333333,pose1_to_pose2_press,0.619691041308,0.010090739563,1.04003240332,0.590261492733,0.0187624821568,1.03970053747
+228,3.800000000,pose1_to_pose2_press,0.619693619777,0.0100906656685,1.04003218935,0.590264071135,0.0187624077359,1.0397003187
+229,3.816666667,pose1_to_pose2_press,0.61969528505,0.0100906707137,1.04003217278,0.590265736193,0.0187624120403,1.03970030198
+230,3.833333333,pose1_to_pose2_press,0.61969599475,0.0100906878542,1.04003220027,0.590266445752,0.0187624287512,1.03970033024
+231,3.850000000,pose1_to_pose2_press,0.619696156197,0.0100906917534,1.04003220652,0.590266607167,0.0187624325528,1.03970033667
+232,3.866666667,pose1_to_pose2_press,0.619696541498,0.0100907010591,1.04003222144,0.590266992392,0.0187624416253,1.03970035201
+233,3.883333333,pose1_to_pose2_press,0.619696892787,0.0100907095434,1.04003223505,0.590267343612,0.0187624498969,1.039700366
+234,3.900000000,pose1_to_pose2_press,0.619697019547,0.0100907126049,1.04003223996,0.590267470348,0.0187624528817,1.03970037104
+235,3.916666667,pose1_to_pose2_press,0.619697420939,0.0100907211573,1.04003225363,0.590267871698,0.0187624613202,1.03970038515
+236,3.933333333,pose1_to_pose2_press,0.619697923066,0.0100907167478,1.04003224591,0.59026837428,0.0187624584747,1.03970037793
+237,3.950000000,pose1_to_pose2_press,0.619698146692,0.010090714784,1.04003224247,0.590268598108,0.0187624572074,1.03970037471
+238,3.966666667,pose1_to_pose2_press,0.619698266334,0.0100907137333,1.04003224063,0.590268717859,0.0187624565294,1.03970037299
+239,3.983333333,pose1_to_pose2_press,0.619698526109,0.0100907114521,1.04003223664,0.590268977869,0.0187624550573,1.03970036926
+240,4.000000000,pose1_to_pose2_press,0.61969875086,0.0100907094784,1.04003223319,0.590269202824,0.0187624537837,1.03970036603
+241,4.016666667,pose1_to_pose2_press,0.619698849158,0.0100907096674,1.0400322333,0.590269301205,0.0187624542587,1.03970036616
+242,4.033333333,pose1_to_pose2_press,0.619698946245,0.0100907289346,1.04003226278,0.590269398283,0.018762473442,1.03970039427
+243,4.050000000,pose1_to_pose2_press,0.61969900187,0.0100907399735,1.04003227967,0.590269453903,0.0187624844329,1.03970041038
+244,4.066666667,pose1_to_pose2_press,0.619699122399,0.0100907638926,1.04003231628,0.59026957442,0.018762508248,1.03970044529
+245,4.083333333,pose1_to_pose2_press,0.619699259681,0.0100907911365,1.04003235797,0.590269711688,0.0187625353733,1.03970048504
+246,4.100000000,pose1_to_pose2_press,0.619699272846,0.0100907937491,1.04003236197,0.590269724852,0.0187625379746,1.03970048885
+247,4.116666667,pose1_to_pose2_press,0.619699332694,0.0100908056261,1.04003238014,0.590269784695,0.0187625497999,1.03970050618
+248,4.133333333,pose1_to_pose2_press,0.619699442435,0.0100908254436,1.04003240116,0.590269894121,0.0187625685231,1.03970052653
+249,4.150000000,pose1_to_pose2_press,0.619699541724,0.0100908387891,1.0400323914,0.590269992415,0.0187625785411,1.03970051822
+250,4.166666667,pose1_to_pose2_press,0.619699548851,0.0100908455613,1.04003227234,0.590269999988,0.0187625871545,1.03970040784
+251,4.183333333,pose1_to_pose2_press,0.619699530239,0.0100908455305,1.04003222388,0.590269981782,0.0187625886304,1.03970036275
+252,4.200000000,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981784,0.0187625886309,1.03970036275
+253,4.216666667,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981784,0.0187625886309,1.03970036275
+254,4.233333333,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981784,0.0187625886309,1.03970036275
+255,4.250000000,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981784,0.0187625886311,1.03970036275
+256,4.266666667,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981784,0.018762588631,1.03970036275
+257,4.283333333,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981784,0.0187625886309,1.03970036275
+258,4.300000000,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981785,0.0187625886308,1.03970036275
+259,4.316666667,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981785,0.0187625886307,1.03970036275
+260,4.333333333,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981785,0.0187625886305,1.03970036275
+261,4.350000000,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981785,0.0187625886295,1.03970036275
+262,4.366666667,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981785,0.0187625886296,1.03970036275
+263,4.383333333,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981785,0.0187625886296,1.03970036275
+264,4.400000000,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981785,0.0187625886296,1.03970036275
+265,4.416666667,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981785,0.0187625886295,1.03970036275
+266,4.433333333,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981785,0.0187625886299,1.03970036275
+267,4.450000000,pose2_hold,0.619699530239,0.0100908455305,1.04003222388,0.590269981785,0.0187625886299,1.03970036275
+268,4.466666667,pose2_to_pose3_retreat,0.619699530239,0.0100908455305,1.04003222388,0.590269981786,0.0187625886296,1.03970036275
+269,4.483333333,pose2_to_pose3_retreat,0.619699520634,0.0100907223346,1.04003244548,0.590269971984,0.0187624644775,1.03970057658
+270,4.500000000,pose2_to_pose3_retreat,0.619699281899,0.0100908042802,1.04003234128,0.59026973269,0.0187625445922,1.03970047306
+271,4.516666667,pose2_to_pose3_retreat,0.619699279665,0.0100908050472,1.0400323403,0.590269730451,0.018762545342,1.03970047209
+272,4.533333333,pose2_to_pose3_retreat,0.61969927303,0.0100908073244,1.0400323374,0.590269723801,0.0187625475683,1.03970046921
+273,4.550000000,pose2_to_pose3_retreat,0.619699202745,0.0100908314499,1.04003230673,0.590269653351,0.0187625711548,1.03970043874
+274,4.566666667,pose2_to_pose3_retreat,0.619699129161,0.0100908567073,1.04003227461,0.590269579595,0.0187625958479,1.03970040683
+275,4.583333333,pose2_to_pose3_retreat,0.619698490748,0.0100908567956,1.04003237832,0.590268941184,0.0187625958628,1.03970050815
+276,4.600000000,pose2_to_pose3_retreat,0.619696121853,0.0100907706297,1.04003230164,0.590266572497,0.0187625104036,1.03970043244
+277,4.616666667,pose2_to_pose3_retreat,0.619689017865,0.0100908041025,1.04003226641,0.590259469729,0.018762548128,1.03970040298
+278,4.633333333,pose2_to_pose3_retreat,0.619675796864,0.0100907444124,1.04003255446,0.590246249092,0.0187624896436,1.0397006854
+279,4.650000000,pose2_to_pose3_retreat,0.619652372464,0.0100907574372,1.04003223309,0.59022282345,0.0187624986787,1.0397003683
+280,4.666666667,pose2_to_pose3_retreat,0.619618208345,0.01009059254,1.04003231545,0.590188662403,0.0187623437994,1.03970045128
+281,4.683333333,pose2_to_pose3_retreat,0.619572675369,0.0100905473917,1.04003220765,0.590143128493,0.0187622955076,1.03970034678
+282,4.700000000,pose2_to_pose3_retreat,0.619517265673,0.0100907024288,1.04003224828,0.590087717194,0.0187624449453,1.03970038015
+283,4.716666667,pose2_to_pose3_retreat,0.61945195799,0.010090699188,1.0400325106,0.590022409484,0.0187624415719,1.03970063892
+284,4.733333333,pose2_to_pose3_retreat,0.619378519692,0.0100906789869,1.04003217095,0.589948972424,0.018762425543,1.03970031029
+285,4.750000000,pose2_to_pose3_retreat,0.619297024631,0.0100908111051,1.04003228377,0.589867475587,0.0187625514149,1.03970041541
+286,4.766666667,pose2_to_pose3_retreat,0.619204222314,0.0100907961908,1.04003241307,0.589774672822,0.0187625347393,1.03970053391
+287,4.783333333,pose2_to_pose3_retreat,0.619099606844,0.0100907544578,1.0400322442,0.589670057409,0.0187624931604,1.0397003661
+288,4.800000000,pose2_to_pose3_retreat,0.618979974807,0.0100908597546,1.04003220898,0.589550423578,0.0187625924865,1.03970033612
+289,4.816666667,pose2_to_pose3_retreat,0.618843602463,0.0100907625525,1.04003234733,0.589414052917,0.0187625009344,1.0397004754
+290,4.833333333,pose2_to_pose3_retreat,0.618688962993,0.0100907374398,1.04003212772,0.589259413851,0.0187624772372,1.03970026122
+291,4.850000000,pose2_to_pose3_retreat,0.618517965254,0.0100906832923,1.04003234248,0.589088417423,0.0187624274471,1.03970047614
+292,4.866666667,pose2_to_pose3_retreat,0.618330909876,0.0100908053107,1.04003228915,0.5889013611,0.0187625459243,1.03970041711
+293,4.883333333,pose2_to_pose3_retreat,0.61812561271,0.0100909077268,1.04003225068,0.588696061056,0.0187626385821,1.03970038125
+294,4.900000000,pose2_to_pose3_retreat,0.617903303272,0.0100908185514,1.04003224795,0.588473753494,0.0187625556912,1.03970038084
+295,4.916666667,pose2_to_pose3_retreat,0.617662233948,0.0100907803375,1.04003237753,0.588232685455,0.0187625215336,1.03970050638
+296,4.933333333,pose2_to_pose3_retreat,0.617399400763,0.0100908530173,1.04003255076,0.587969851353,0.0187625908467,1.03970067663
+297,4.950000000,pose2_to_pose3_retreat,0.617113947084,0.0100908506482,1.04003251404,0.587684397689,0.0187625885834,1.03970064596
+298,4.966666667,pose2_to_pose3_retreat,0.616807795153,0.0100907322984,1.04003224114,0.587378246514,0.0187624728522,1.03970037892
+299,4.983333333,pose2_to_pose3_retreat,0.61648294904,0.0100908719211,1.04003236474,0.587053399633,0.0187626094414,1.0397004972
+300,5.000000000,pose2_to_pose3_retreat,0.616141446818,0.0100908245996,1.04003229523,0.586711896427,0.0187625583117,1.03970041963
+301,5.016666667,pose2_to_pose3_retreat,0.615785376614,0.0100907884335,1.04003223646,0.586355828313,0.0187625294697,1.03970037169
+302,5.033333333,pose2_to_pose3_retreat,0.615413494262,0.0100908925213,1.04003229446,0.585983945243,0.0187626309713,1.03970043113
+303,5.050000000,pose2_to_pose3_retreat,0.615017848943,0.0100908590467,1.04003230719,0.585588299844,0.0187625969658,1.03970044041
+304,5.066666667,pose2_to_pose3_retreat,0.614595660438,0.0100907913436,1.04003229578,0.585166111707,0.0187625302834,1.03970042608
+305,5.083333333,pose2_to_pose3_retreat,0.614142678748,0.0100909162732,1.04003239489,0.584713128784,0.0187626507804,1.03970052436
+306,5.100000000,pose2_to_pose3_retreat,0.613664984658,0.0100908281393,1.04003247796,0.584235436047,0.0187625672279,1.0397006097
+307,5.116666667,pose2_to_pose3_retreat,0.613170737019,0.0100907893671,1.04003240752,0.583741188444,0.0187625281409,1.03970053097
+308,5.133333333,pose2_to_pose3_retreat,0.612665887882,0.0100908070382,1.04003250908,0.583236338926,0.0187625443474,1.03970063037
+309,5.150000000,pose2_to_pose3_retreat,0.612150363506,0.010090814948,1.04003236798,0.582720815966,0.0187625577636,1.03970050802
+310,5.166666667,pose2_to_pose3_retreat,0.611613660645,0.0100908808491,1.04003226531,0.582184111941,0.0187626197703,1.03970040609
+311,5.183333333,pose2_to_pose3_retreat,0.611050821253,0.0100909367711,1.04003234819,0.58162127051,0.0187626684365,1.03970048042
+312,5.200000000,pose2_to_pose3_retreat,0.610451623893,0.0100909206991,1.04003248133,0.581022072698,0.0187626504642,1.03970060522
+313,5.216666667,pose2_to_pose3_retreat,0.609822091202,0.0100908305445,1.04003245703,0.580392541233,0.0187625641552,1.03970057295
+314,5.233333333,pose2_to_pose3_retreat,0.609165154954,0.010090695091,1.04003250853,0.579735607028,0.0187624360717,1.03970063581
+315,5.250000000,pose2_to_pose3_retreat,0.608495399985,0.0100907712845,1.04003248049,0.579065853848,0.0187625186781,1.03970061566
+316,5.266666667,pose2_to_pose3_retreat,0.607814536104,0.0100909225337,1.04003249874,0.578384986666,0.0187626585278,1.03970062866
+317,5.283333333,pose2_to_pose3_retreat,0.607112877223,0.0100907524577,1.04003249236,0.57768332966,0.01876249484,1.03970062236
+318,5.300000000,pose2_to_pose3_retreat,0.606394661926,0.0100907988682,1.04003228644,0.576965114037,0.0187625402509,1.03970042052
+319,5.316666667,pose2_to_pose3_retreat,0.60567081914,0.0100908345838,1.04003232624,0.576241270188,0.0187625723123,1.03970045867
+320,5.333333333,pose2_to_pose3_retreat,0.604938807128,0.0100907430753,1.04003242312,0.575509258664,0.0187624825038,1.03970055633
+321,5.350000000,pose2_to_pose3_retreat,0.604196010301,0.0100906709062,1.04003241345,0.574766462744,0.0187624134548,1.03970054763
+322,5.366666667,pose2_to_pose3_retreat,0.60344688597,0.0100907016443,1.0400324178,0.574017338733,0.018762445192,1.03970054967
+323,5.383333333,pose2_to_pose3_retreat,0.602686061458,0.0100907800503,1.04003250378,0.573256513382,0.0187625205823,1.0397006312
+324,5.400000000,pose2_to_pose3_retreat,0.601906598156,0.0100908203232,1.0400324374,0.572477048493,0.0187625553936,1.03970056311
+325,5.416666667,pose2_to_pose3_retreat,0.601112828531,0.0100907895158,1.04003216067,0.571683280568,0.0187625305985,1.0397002934
+326,5.433333333,pose2_to_pose3_retreat,0.600307707126,0.010090889452,1.04003245779,0.570878158819,0.0187626296434,1.03970059551
+327,5.450000000,pose2_to_pose3_retreat,0.599508367851,0.0100908888775,1.04003242927,0.570078818702,0.0187626264895,1.03970057393
+328,5.466666667,pose2_to_pose3_retreat,0.598719265035,0.0100907176182,1.04003248318,0.569289717065,0.0187624587702,1.03970061573
+329,5.483333333,pose2_to_pose3_retreat,0.597941044386,0.0100907861361,1.04003240225,0.568511495631,0.0187625246061,1.0397005341
+330,5.500000000,pose2_to_pose3_retreat,0.597171576688,0.0100907916639,1.04003237619,0.567742027981,0.0187625302473,1.03970050677
+331,5.516666667,pose2_to_pose3_retreat,0.59640140131,0.0100907541359,1.04003226382,0.566971852258,0.0187624915282,1.03970039377
+332,5.533333333,pose2_to_pose3_retreat,0.595624718334,0.0100907572601,1.04003222025,0.56619516899,0.0187624936798,1.03970035067
+333,5.550000000,pose2_to_pose3_retreat,0.594838979009,0.0100908200107,1.04003233917,0.565409430192,0.0187625582334,1.03970046989
+334,5.566666667,pose2_to_pose3_retreat,0.594048497153,0.010090850759,1.04003222565,0.564618948037,0.0187625879769,1.03970035668
+335,5.583333333,pose2_to_pose3_retreat,0.593258055815,0.0100906634356,1.04003216272,0.563828507642,0.018762403608,1.03970028728
+336,5.600000000,pose2_to_pose3_retreat,0.592475446166,0.0100907904119,1.04003223207,0.563045896808,0.0187625269111,1.03970036568
+337,5.616666667,pose2_to_pose3_retreat,0.591704697462,0.0100908120302,1.0400321077,0.562275148502,0.0187625500868,1.0397002467
+338,5.633333333,pose2_to_pose3_retreat,0.590955122679,0.0100908748302,1.04003251124,0.561525572318,0.0187626077872,1.0397006411
+339,5.650000000,pose2_to_pose3_retreat,0.590220414831,0.0100908219364,1.04003226782,0.560790865034,0.0187625568824,1.03970039962
+340,5.666666667,pose2_to_pose3_retreat,0.58949991003,0.0100908377053,1.04003231812,0.560070361174,0.0187625759773,1.03970045341
+341,5.683333333,pose2_to_pose3_retreat,0.588792180016,0.0100908636454,1.04003229697,0.559362631541,0.01876260319,1.03970043164
+342,5.700000000,pose2_to_pose3_retreat,0.588094388338,0.0100908027632,1.04003224359,0.558664839861,0.0187625422382,1.03970037657
+343,5.716666667,pose2_to_pose3_retreat,0.587407215225,0.0100907159181,1.04003237996,0.557977667247,0.0187624571059,1.03970051338
+344,5.733333333,pose2_to_pose3_retreat,0.586732502731,0.0100907305068,1.04003218072,0.557302955979,0.0187624758545,1.03970031451
+345,5.750000000,pose2_to_pose3_retreat,0.586074473343,0.0100907228181,1.0400324583,0.556644925673,0.0187624650485,1.03970059378
+346,5.766666667,pose2_to_pose3_retreat,0.585434975785,0.0100907516186,1.0400322261,0.556005427553,0.018762491899,1.03970036196
+347,5.783333333,pose2_to_pose3_retreat,0.584811907393,0.010090765338,1.04003232215,0.555382359167,0.0187625058026,1.03970045954
+348,5.800000000,pose2_to_pose3_retreat,0.584211897725,0.0100907596929,1.04003246597,0.554782349612,0.0187625002901,1.03970059631
+349,5.816666667,pose2_to_pose3_retreat,0.583633156311,0.0100907053429,1.04003215966,0.554203609375,0.0187624499996,1.03970029177
+350,5.833333333,pose2_to_pose3_retreat,0.583076636322,0.0100907977477,1.04003220843,0.55364708827,0.0187625385892,1.03970033983
+351,5.850000000,pose2_to_pose3_retreat,0.582545954469,0.0100908538534,1.04003231075,0.55311640582,0.0187625926386,1.03970044141
+352,5.866666667,pose2_to_pose3_retreat,0.582043044136,0.0100907879483,1.04003228129,0.552613496452,0.0187625301151,1.03970041473
+353,5.883333333,pose2_to_pose3_retreat,0.581552413092,0.0100907309559,1.04003235421,0.552122866007,0.0187624752301,1.03970048962
+354,5.900000000,pose2_to_pose3_retreat,0.581073034049,0.0100907435282,1.04003234552,0.551643487181,0.0187624884176,1.03970047759
+355,5.916666667,pose2_to_pose3_retreat,0.580609351278,0.0100907809697,1.04003224846,0.551179801843,0.0187625171343,1.03970038024
+356,5.933333333,pose2_to_pose3_retreat,0.580164877617,0.0100907189603,1.04003227444,0.550735329936,0.0187624608062,1.03970040029
+357,5.950000000,pose2_to_pose3_retreat,0.579747798279,0.0100907833224,1.04003225792,0.550318249429,0.0187625213574,1.03970038737
+358,5.966666667,pose2_to_pose3_retreat,0.579363326124,0.0100907334496,1.0400323333,0.549933778778,0.0187624767812,1.03970046745
+359,5.983333333,pose2_to_pose3_retreat,0.579013301468,0.010090766397,1.04003236039,0.549583754319,0.0187625103895,1.03970049407
+360,6.000000000,pose2_to_pose3_retreat,0.578688980739,0.0100908058672,1.0400322134,0.549259432487,0.0187625462666,1.03970035106
+361,6.016666667,pose2_to_pose3_retreat,0.578386051733,0.0100907727587,1.04003214175,0.548956503078,0.0187625118642,1.03970028128
+362,6.033333333,pose2_to_pose3_retreat,0.578098168076,0.0100907077656,1.0400322681,0.548668620123,0.018762449066,1.03970040282
+363,6.050000000,pose2_to_pose3_retreat,0.577821903582,0.0100907548791,1.04003235199,0.548392355264,0.0187624948094,1.03970048338
+364,6.066666667,pose2_to_pose3_retreat,0.577557067859,0.0100908522039,1.04003223521,0.548127518046,0.0187625872443,1.03970037147
+365,6.083333333,pose2_to_pose3_retreat,0.577309607476,0.0100906410429,1.04003234779,0.547880061084,0.0187623875707,1.03970048117
+366,6.100000000,pose2_to_pose3_retreat,0.577081436927,0.0100905304603,1.04003197321,0.547651891917,0.0187622819841,1.03970011426
+367,6.116666667,pose2_to_pose3_retreat,0.576877632078,0.0100907625556,1.04003244012,0.547448083812,0.0187625028014,1.03970057534
+368,6.133333333,pose2_to_pose3_retreat,0.57669720678,0.0100907343296,1.04003235956,0.547267659026,0.0187624764395,1.03970049801
+369,6.150000000,pose2_to_pose3_retreat,0.576542164193,0.0100906419836,1.04003248257,0.547112616566,0.0187623840677,1.03970060907
+370,6.166666667,pose2_to_pose3_retreat,0.576406258982,0.0100907001435,1.0400324194,0.546976712156,0.0187624450931,1.03970054969
+371,6.183333333,pose2_to_pose3_retreat,0.576288179392,0.0100907547492,1.04003239255,0.546858631533,0.0187624960634,1.03970051967
+372,6.200000000,pose2_to_pose3_retreat,0.576183089424,0.0100907937238,1.04003254053,0.546753540347,0.018762530734,1.03970066317
+373,6.216666667,pose2_to_pose3_retreat,0.57608991769,0.0100908319263,1.04003269454,0.54666036946,0.0187625719891,1.03970082208
+374,6.233333333,pose2_to_pose3_retreat,0.576007656045,0.0100907784303,1.04003247851,0.546578109229,0.0187625232943,1.03970060665
+375,6.250000000,pose2_to_pose3_retreat,0.575936039035,0.0100907503071,1.04003227013,0.546506490945,0.0187624907652,1.03970039608
+376,6.266666667,pose2_to_pose3_retreat,0.575876428136,0.0100907280517,1.04003222996,0.546446881305,0.018762473212,1.03970036701
+377,6.283333333,pose2_to_pose3_retreat,0.575827286637,0.0100907673383,1.04003230519,0.546397738643,0.0187625086745,1.03970044542
+378,6.300000000,pose2_to_pose3_retreat,0.575787886266,0.0100908051485,1.0400322783,0.546358337789,0.0187625446505,1.0397004134
+379,6.316666667,pose2_to_pose3_retreat,0.575756339828,0.010090817224,1.04003235777,0.546326791891,0.018762558461,1.03970049038
+380,6.333333333,pose2_to_pose3_retreat,0.575731387489,0.010090803451,1.04003252691,0.54630184008,0.0187625464353,1.0397006584
+381,6.350000000,pose2_to_pose3_retreat,0.575711900488,0.0100907694174,1.04003261767,0.546282352795,0.0187625112126,1.03970074342
+382,6.366666667,pose2_to_pose3_retreat,0.575696950307,0.010090679156,1.04003242271,0.546267404393,0.0187624269489,1.03970054746
+383,6.383333333,pose2_to_pose3_retreat,0.575685962527,0.0100907379407,1.04003212174,0.546256414535,0.0187624789626,1.03970025395
+384,6.400000000,pose2_to_pose3_retreat,0.575678262194,0.0100907791868,1.04003205721,0.546248712874,0.0187625157433,1.03970019029
+385,6.416666667,pose2_to_pose3_retreat,0.575673413605,0.0100907823001,1.04003214633,0.54624386413,0.0187625182212,1.03970027632
+386,6.433333333,pose2_to_pose3_retreat,0.575670490361,0.0100906928628,1.04003236545,0.546240943037,0.0187624360518,1.03970049473
+387,6.450000000,pose2_to_pose3_retreat,0.575668766482,0.0100906401203,1.04003249466,0.546239220426,0.0187623875954,1.03970062353
+388,6.466666667,pose2_to_pose3_retreat,0.57566779666,0.0100906495202,1.04003235489,0.546238249996,0.0187623951411,1.03970048926
+389,6.483333333,pose2_to_pose3_retreat,0.575667291954,0.010090655586,1.04003227577,0.546237744933,0.0187624001138,1.03970041317
+390,6.500000000,pose2_to_pose3_retreat,0.575667241337,0.0100906561943,1.04003226784,0.54623769428,0.0187624006125,1.03970040554
+391,6.516666667,pose2_to_pose3_retreat,0.575667100309,0.0100906578893,1.04003224573,0.546237553153,0.018762402002,1.03970038428
+392,6.533333333,pose2_to_pose3_retreat,0.57566687856,0.0100906605543,1.04003221096,0.546237331247,0.0187624041868,1.03970035085
+393,6.550000000,pose2_to_pose3_retreat,0.575666409148,0.0100906661959,1.04003213738,0.546236861504,0.0187624088118,1.03970028008
+394,6.566666667,pose2_to_pose3_retreat,0.575665922956,0.0100906755426,1.04003207041,0.54623637501,0.0187624172227,1.03970021543
+395,6.583333333,pose2_to_pose3_retreat,0.575665787435,0.0100906867109,1.04003207436,0.546236239506,0.0187624284169,1.03970021854
+396,6.600000000,pose2_to_pose3_retreat,0.575665728834,0.0100906915402,1.04003207607,0.546236180913,0.0187624332574,1.03970021988
+397,6.616666667,pose2_to_pose3_retreat,0.575665728255,0.0100906915879,1.04003207609,0.546236180333,0.0187624333052,1.0397002199
+398,6.633333333,pose2_to_pose3_retreat,0.575665537715,0.0100907072903,1.04003208164,0.546235989817,0.018762449044,1.03970022427
+399,6.650000000,pose2_to_pose3_retreat,0.575665424002,0.0100907166613,1.04003208496,0.546235876119,0.0187624584367,1.03970022688
+400,6.666666667,pose2_to_pose3_retreat,0.575665312403,0.0100907258582,1.04003208821,0.546235764534,0.0187624676549,1.03970022944
+401,6.683333333,pose2_to_pose3_retreat,0.575665227577,0.0100907328488,1.04003209068,0.546235679718,0.0187624746616,1.03970023138
+402,6.700000000,pose2_to_pose3_retreat,0.575665211496,0.010090734174,1.04003209115,0.54623566364,0.0187624759899,1.03970023175
+403,6.716666667,pose2_to_pose3_retreat,0.575664979418,0.0100907532995,1.04003209792,0.546235431591,0.0187624951597,1.03970023708
+404,6.733333333,pose2_to_pose3_retreat,0.575664678087,0.0100907788392,1.04003213871,0.54623513029,0.0187625207815,1.03970027732
+405,6.750000000,pose2_to_pose3_retreat,0.575664564618,0.0100907887936,1.04003216934,0.546235016829,0.0187625307786,1.03970030836
+406,6.766666667,pose2_to_pose3_retreat,0.575664555753,0.0100907895713,1.04003217173,0.546235007965,0.0187625315596,1.03970031078
+407,6.783333333,pose2_to_pose3_retreat,0.575664505652,0.0100907939665,1.04003218525,0.546234957867,0.0187625359737,1.03970032449
+408,6.800000000,pose2_to_pose3_retreat,0.575664415299,0.010090801893,1.04003220964,0.54623486752,0.0187625439342,1.03970034921
+409,6.816666667,pose2_to_pose3_retreat,0.575664374026,0.0100908118247,1.04003223133,0.546234826493,0.0187625545963,1.03970036822
+410,6.833333333,pose2_to_pose3_retreat,0.575664364803,0.0100908156046,1.04003223879,0.546234817385,0.0187625587163,1.03970037437
+411,6.850000000,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816514,0.0187625591101,1.03970037496
+412,6.866666667,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aaea6c1a41b4f4887c62cffd65dfafa4c4bafbae
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae9ae8579ff869eafce464ac70caafd31bc2c00b8125e48dae0e13bd72afe38c
+size 26345996
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec3f8c0b0bf5b261fe6379dd16ac437800104701
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/franka_data.csv
@@ -0,0 +1,416 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,714,680,666,636,880,788,803,653,631,653,0.400998198754,0.00458231092805,0.0498607556969,0.999999962392,0.00011491074559,-0.000247138386951,-3.05634925801e-05,1793239732288570368
+1,0.016666667,BASELINE,766,745.578814132,714,680,666.578814132,635.421185868,879.421185868,788,803.578814132,653.578814132,631,653,0.400998147647,0.00458146374507,0.0498610015559,0.999999962579,0.000115051222798,-0.000246340270089,-3.03520572314e-05,1793239732305237248
+2,0.033333333,BASELINE,766,746,714,679.843148567,666.843148567,635,879.156851433,788,803.843148567,653.843148567,631.156851433,653,0.400998283364,0.0045807571057,0.0498611193006,0.999999962763,0.000114628980006,-0.000245806688751,-3.02359976976e-05,1793239732321904128
+3,0.050000000,BASELINE,766,746,714,679.26718685,666.26718685,635,879.73281315,788,803.26718685,653.26718685,631.73281315,653,0.400998918282,0.00458042600159,0.0498608947212,0.999999962935,0.000112703137711,-0.000245979951647,-3.03747842753e-05,1793239732338571008
+4,0.066666667,BASELINE,766,746,714,679,666.30699733,635,879.69300267,788,803.30699733,653,631.69300267,653,0.400999862807,0.00458116619781,0.0498610803175,0.999999962881,0.000114222345321,-0.000245494275802,-3.03826521948e-05,1793239732355237632
+5,0.083333333,BASELINE,766,746,714,679,666.879643351,635,879.120356649,788,803.879643351,653,631.120356649,653,0.401001075237,0.00458283340384,0.049861620844,0.999999962619,0.00011872259849,-0.000244438411882,-3.02772345273e-05,1793239732371904000
+6,0.100000000,BASELINE,765.532759675,745.532759675,714,679,667,635,879,788,803.532759675,653.467240325,631,653,0.401001582467,0.00458291065979,0.0498622747031,0.999999963011,0.000118208178513,-0.000243094245376,-3.01667698762e-05,1793239732388570368
+7,0.116666667,BASELINE,765.057478454,745.057478454,714.057478454,679.057478454,666.942521546,635,879.057478454,788,803.057478454,654,631,653,0.401001816809,0.00458264666605,0.0498628409291,0.999999963515,0.000116524419191,-0.000241836113103,-3.01181498428e-05,1793239732405236736
+8,0.133333333,BASELINE,765.635602565,745.635602565,714.635602565,679.635602565,666.364397435,635,879.635602565,788,803.635602565,654,631,653,0.401001279134,0.00458312402925,0.0498623401866,0.999999963469,0.00011633608267,-0.00024205221488,-3.0641889907e-05,1793239732421903360
+9,0.150000000,BASELINE,766,746,714.787147664,679.787147664,666.212852336,635,880,788,803.787147664,653.787147664,631,653,0.40100049291,0.00458244515642,0.0498619237986,0.999999963456,0.0001151263308,-0.000242677634897,-3.0698071261e-05,1793239732438569984
+10,0.166666667,BASELINE,766,746,714.211388676,679.211388676,666.788611324,635,880,788,803.211388676,653.211388676,631,653,0.400999282921,0.00457979493687,0.0498616512327,0.999999963491,0.000112175097359,-0.000244000929836,-2.99570794163e-05,1793239732455236608
+11,0.183333333,BASELINE,766,746,714,679,667,635,880,788,803.372379762,653,631.372379762,653,0.400998749326,0.00458033400391,0.0498611783527,0.999999963145,0.000113019364442,-0.000245020142807,-3.00441447679e-05,1793239732471903488
+12,0.200000000,BASELINE,766,746,714,679,667,635,880,788,803.960794923,653,631.960794923,653,0.400998608139,0.00458272332914,0.0498605892609,0.999999962572,0.00011606558352,-0.000245862943339,-3.06116058279e-05,1793239732488570624
+13,0.216666667,BASELINE,766,745.458442212,714,679,666.458442212,635.541557788,880,788,804,653,631.458442212,653,0.400999372838,0.00458267876366,0.0498614284873,0.999999962969,0.000115446804891,-0.000244542455232,-3.05563452635e-05,1793239732505237504
+14,0.233333333,BASELINE,766,745.121037672,714,679,666,635.878962328,880,788,804,653,631,653,0.401000094998,0.00458219523393,0.0498620740409,0.999999963368,0.000114636001245,-0.000243303757217,-3.04298404973e-05,1793239732521904384
+15,0.250000000,BASELINE,766,745.69774418,714,679,666,635.30225582,880,788,804,653,631,653,0.40100041357,0.00458071322577,0.0498616066312,0.999999963523,0.000114087215528,-0.000242954335353,-3.02024739621e-05,1793239732538570496
+16,0.266666667,BASELINE,766,746,714,679,666,635,880.278816297,788,803.721183703,653,631,653,0.40100036342,0.0045796086634,0.0498617564795,0.999999963669,0.000112955835187,-0.000242898828746,-3.0061857637e-05,1793239732555236608
+17,0.283333333,BASELINE,766,746,714,679,666,635,880.864696275,788,803.135303725,653,631,653,0.400999907192,0.00457891978663,0.0498625861214,0.999999963804,0.000111182836537,-0.0002431670145,-3.00167803562e-05,1793239732571903232
+18,0.300000000,BASELINE,766,746,714,679,666,635,880.554832715,788,803.445167285,653,631.445167285,653,0.400999761116,0.00457944192135,0.0498626850375,0.999999963721,0.000111316976573,-0.000243440792941,-3.00374327364e-05,1793239732588569856
+19,0.316666667,BASELINE,766,745.976096088,714,679,666.023903912,635,880,788,803.976096088,653,632,653,0.400999719748,0.00458031214796,0.0498625430063,0.999999963569,0.000112082483143,-0.000243711512255,-3.00802028979e-05,1793239732605236736
+20,0.333333333,BASELINE,766,745.399903566,714,679,666.600096434,635,880,788,803.399903566,653,632,653,0.40099994576,0.0045808227938,0.0498619038287,0.999999963286,0.000114203557686,-0.000243872749535,-3.01779571077e-05,1793239732621903616
+21,0.350000000,BASELINE,766,745,714,679,667,635,879.823368036,788,803,653,632,653,0.40099989467,0.00458092505853,0.0498614038347,0.99999996314,0.000114903873622,-0.000244137859705,-3.0236905823e-05,1793239732638570496
+22,0.366666667,BASELINE,766,745,714,679,667,635,879.246054483,788,803,653,632,653,0.400999214987,0.00458010092918,0.0498612195723,0.999999963305,0.000112381262909,-0.000244638600785,-3.02078260241e-05,1793239732655237376
+23,0.383333333,BASELINE,766,745.33872922,714,679,666.66127078,635.33872922,879,787.66127078,803.67745844,653,632,653,0.40099883475,0.00458002040447,0.0498612937101,0.999999963342,0.000111591509026,-0.0002448511243,-3.01850356224e-05,1793239732671904000
+24,0.400000000,BASELINE,766,745.929061706,714,679,666.070938294,635.929061706,879,787.070938294,804.858123413,653,632,653,0.400998676936,0.00458049221866,0.0498615597838,0.999999963287,0.000112088896385,-0.000244849563942,-3.01669168928e-05,1793239732688570368
+25,0.416666667,BASELINE,766,746,714,679,666,635.490035623,879,787.509964377,803.980071245,653,631.490035623,653,0.400999646889,0.0045809682682,0.0498621791034,0.999999963351,0.000113830651834,-0.000243762394724,-3.03230188713e-05,1793239732705236736
+26,0.433333333,BASELINE,766,745.911127912,714,679,666.088872088,635,879,788,803,653.088872088,631,653,0.401000482398,0.00458114411035,0.0498627318391,0.999999963471,0.000114986983371,-0.000242709904009,-3.04545137524e-05,1793239732721903360
+27,0.450000000,BASELINE,766,745.336087821,714,679,666.663912179,635,879,788,803,653.663912179,631,653,0.400999739838,0.00457967452655,0.0498626564066,0.999999963826,0.000112011075776,-0.000242658225672,-3.03212293935e-05,1793239732738569984
+28,0.466666667,BASELINE,766,745.238867226,714,679,666.761132774,635,879,788,803,653.761132774,631,653,0.40099959106,0.00457921975762,0.049862583366,0.999999964026,0.000110854157036,-0.00024236615748,-3.03021334426e-05,1793239732755236864
+29,0.483333333,BASELINE,766,745.813702623,714,679,666.186297377,635,879,788,803,653.186297377,631,653,0.40100027744,0.00458019233193,0.0498625136897,0.999999964018,0.000112255657109,-0.000241735979532,-3.04436441742e-05,1793239732771903488
+30,0.500000000,BASELINE,766,745.601755139,714,679,666.398244861,635,879.398244861,788,803,653,631,653,0.401000628453,0.00458062701055,0.0498626239672,0.999999963971,0.00011329091874,-0.000241443476182,-3.04533834795e-05,1793239732788569856
+31,0.516666667,BASELINE,766,745.012558652,714,679,666.987441348,635,879.987441348,788,803,653,631,653,0.401000818663,0.00458080377732,0.0498628205296,0.999999963907,0.000114150575236,-0.000241312882068,-3.03999406273e-05,1793239732805236480
+32,0.533333333,BASELINE,766,745,714,679.565953707,667,635,879.434046293,788,803.565953707,653,631,652.434046293,0.400999173107,0.0045791758461,0.0498618291464,0.999999963691,0.000111199347289,-0.000243610947275,-3.0092725134e-05,1793239732821903360
+33,0.550000000,BASELINE,766,745.143244258,714,679.856755742,666.856755742,635,879,788,804,653,631.143244258,652.143244258,0.400997945572,0.00457812861088,0.0498610861792,0.999999963488,0.0001092215592,-0.000245367871511,-2.98206341187e-05,1793239732838569728
+34,0.566666667,BASELINE,766,745.717558122,714,679.282441878,666.282441878,635,879,788,804,653,631.717558122,652.717558122,0.400998096315,0.00457894716423,0.0498611686372,0.999999963368,0.000110422943358,-0.000245337146538,-2.96708767945e-05,1793239732855236352
+35,0.583333333,BASELINE,766,746,714,679,666,635,879.299591114,788,804,653,632,653,0.400998326934,0.00457984349008,0.0498614256251,0.999999963272,0.000111887663239,-0.000245070635195,-2.96312628867e-05,1793239732871903232
+36,0.600000000,BASELINE,766,746,714,679,666,635,879.889093906,788,804,653,632,653,0.400998634848,0.00458081507579,0.049861851504,0.999999963197,0.000113607210918,-0.000244575955457,-2.96982337739e-05,1793239732888569856
+37,0.616666667,BASELINE,766,745.529456776,714,679,666,635,880,788,803.529456776,653,632,653,0.40099950062,0.00458037714497,0.0498624946652,0.999999963667,0.000112586775047,-0.000243086200029,-2.99854240717e-05,1793239732905236480
+38,0.633333333,BASELINE,766,745,714,679,666,635,880,788,803,653,631.950288402,653,0.401000343475,0.00457972094251,0.0498630240824,0.999999964162,0.000111245284811,-0.000241623017442,-3.03045824649e-05,1793239732921903360
+39,0.650000000,BASELINE,766,745,714,679,666,635,880,788,803,653,631.375499855,653,0.400999578845,0.00458020926921,0.0498618202495,0.999999963634,0.000113219214181,-0.000242876114471,-3.04223808854e-05,1793239732938569984
+40,0.666666667,BASELINE,766,745.199694622,714,679,666.199694622,635,880,788,803,653,631,653,0.400999115074,0.00458086174569,0.0498613639215,0.999999963285,0.000114934034684,-0.000243492954809,-3.05103076534e-05,1793239732955236864
+41,0.683333333,BASELINE,766,745.775653916,714,679,666.775653916,635,880,788,803,653,631,653,0.40099921818,0.00458182351318,0.0498623160425,0.999999963284,0.000116160642057,-0.000242910960009,-3.05419502364e-05,1793239732971903232
+42,0.700000000,BASELINE,766,745.640547073,714,679,667,635,879.640547073,788,803,653,631,653,0.400999015419,0.00458068692712,0.0498623897948,0.99999996338,0.000114210601881,-0.000243465857781,-3.03294738002e-05,1793239732988569856
+43,0.716666667,BASELINE,766,745.051745971,714,679,667,635,879.051745971,788,803,653,631,653,0.400998617501,0.00457821149099,0.0498619031057,0.999999963525,0.000110233708442,-0.000244746147461,-2.99612377414e-05,1793239733005236480
+44,0.733333333,BASELINE,766,745,714,679,666.47134361,635,879.52865639,788,803.52865639,653,631,653,0.400998207553,0.00457810202857,0.0498622475364,0.999999963487,0.000111087061277,-0.000244516899812,-2.99600711933e-05,1793239733021903360
+45,0.750000000,BASELINE,766,745.107705202,714.107705202,679,666.107705202,635,880,788,804,653,631.107705202,653,0.400997985482,0.0045783808396,0.049862582071,0.999999963456,0.000112178684222,-0.00024413819141,-3.00066008192e-05,1793239733038569728
+46,0.766666667,BASELINE,766,745.684383754,714.684383754,679,666.684383754,635,880,788,804,653,631.684383754,653,0.400998586515,0.00457935767194,0.0498625248305,0.999999963538,0.000112281328079,-0.000243742001585,-3.01068117565e-05,1793239733055236608
+47,0.783333333,BASELINE,766,746,714.734481213,679.265518787,666.734481213,635,879.734481213,788,803.734481213,653,631.734481213,653,0.400998824272,0.00458004203316,0.0498623260738,0.999999963464,0.000113129118481,-0.000243655647287,-3.0099597559e-05,1793239733071903488
+48,0.800000000,BASELINE,766,746,714.147958353,679.852041647,666.147958353,635,879.147958353,788,803.147958353,653,631.147958353,653,0.40099862284,0.0045803728059,0.0498619562283,0.999999963198,0.000114877768218,-0.000243943874585,-2.99625096808e-05,1793239733088569856
+49,0.816666667,BASELINE,766,746,714,679.566770581,666.433229419,635.433229419,879.433229419,788,803,653,631,652.566770581,0.400998479531,0.00458020836205,0.0498618230982,0.999999963243,0.000114513767802,-0.000243933156227,-2.99609327052e-05,1793239733105236736
+50,0.833333333,BASELINE,766,746,714,679.012562353,667.012562353,635.987437647,880,788,803,653,631.012562353,652.012562353,0.400998379472,0.00457988097304,0.0498617899612,0.999999963397,0.000113415480153,-0.000243808676996,-3.00021633463e-05,1793239733121903360
+51,0.850000000,BASELINE,766,746,714,679.589428889,667.589428889,635.410571111,880,788,803,653,631.589428889,652.589428889,0.4009993414,0.00457973891921,0.0498626611748,0.999999963803,0.000111349463622,-0.000243104470868,-2.99126919237e-05,1793239733138569728
+52,0.866666667,BASELINE,766,745.834061177,714,679.834061177,667.834061177,635,880,788.165938823,803.165938823,653,631.834061177,653,0.400999934171,0.00457985245489,0.0498632902484,0.999999964034,0.000110399338797,-0.00024258519166,-2.99372211968e-05,1793239733155236864
+53,0.883333333,BASELINE,766,745.258431697,714,679.258431697,667.258431697,635,880,788.741568303,803.741568303,653,631.258431697,653,0.400999615522,0.00458059702211,0.0498633214965,0.999999963839,0.000112204268017,-0.000242522483356,-3.02432097433e-05,1793239733171904512
+54,0.900000000,BASELINE,766,745.324985775,714,679,666.675014225,635,880,788.675014225,803.675014225,653,631.324985775,653,0.400999842236,0.00458053965796,0.0498633306595,0.999999963997,0.000112015635879,-0.000241953942259,-3.02653043743e-05,1793239733188571392
+55,0.916666667,BASELINE,766,745.914748358,714,679,666.085251642,635,880,788.085251642,803.085251642,653,631.914748358,653,0.401000513276,0.0045798289334,0.0498633218291,0.999999964442,0.000110202782368,-0.000240973282226,-3.00561010983e-05,1793239733205237504
+56,0.933333333,BASELINE,766,746,714,679.495181263,666,635,880,788,803.495181263,653,631.504818737,653,0.401000101688,0.00458002422186,0.0498629617397,0.999999964383,0.000110033356809,-0.000241266561763,-3.02846457409e-05,1793239733221904384
+57,0.950000000,BASELINE,766,746,714,679.926384314,666,635,879.926384314,788,803.926384314,653,631,653,0.400999632578,0.00458035721106,0.0498626002309,0.999999964225,0.000110497224167,-0.00024168059037,-3.04993212395e-05,1793239733238571008
+58,0.966666667,BASELINE,766,746,714,679.350827296,666,635,879.350827296,788,803.350827296,653,631,653,0.401000018624,0.00458058522235,0.0498626337528,0.999999963969,0.000113385636537,-0.000241450145556,-3.01150732748e-05,1793239733255237120
+59,0.983333333,BASELINE,766,746,714,679,666,635,879.448275332,788,803.224137666,653,631.224137666,653,0.401000540888,0.00458078793486,0.0498628905227,0.999999963882,0.00011482648376,-0.000241148562079,-2.99668511463e-05,1793239733271903744
+60,1.000000000,BASELINE,766,746,714,679,666,635,880.596356912,788,803.798178456,653,631.798178456,653,0.401001275802,0.00458095115324,0.0498634958066,0.999999964069,0.000114007525765,-0.000240735923431,-3.0187090801e-05,1793239733288570368
+61,1.016666667,BASELINE,766,745.615694758,714,679,666.384305242,635,880.615694758,788.384305242,804,653.384305242,631.615694758,653,0.400999911334,0.00458181222369,0.0498632169483,0.999999963731,0.000114092392028,-0.000242080109225,-3.02971544053e-05,1793239733305236992
+62,1.033333333,BASELINE,766,745.023014841,714,679,666.976985159,635,880.023014841,788.976985159,804,653.976985159,631.023014841,653,0.400997408557,0.00458305167746,0.0498624586979,0.999999963105,0.000114667322136,-0.000244376865242,-3.03474792884e-05,1793239733321903616
+63,1.050000000,BASELINE,766.555165756,745.555165756,714,679,666.444834244,635,880,788.444834244,803.444834244,653.444834244,631,653,0.400999493766,0.00458162719325,0.0498630949079,0.999999963623,0.000113859159331,-0.000242671858255,-2.99915534095e-05,1793239733338570240
+64,1.066666667,BASELINE,766.86784641,745.86784641,714,679,666.13215359,635,880,788,803.13215359,653,631.13215359,653,0.401001114807,0.00458031123025,0.0498635031445,0.999999964074,0.000112913313871,-0.000241278716094,-2.97819090163e-05,1793239733355237120
+65,1.083333333,BASELINE,766.292892388,745.292892388,714,679,666.707107612,635,880,788,803.707107612,653,631.707107612,653,0.401000559518,0.00457971949705,0.049862958756,0.999999964154,0.000111693369202,-0.000241472236377,-3.0117396246e-05,1793239733371904000
+66,1.100000000,BASELINE,766,745.288433441,714,679,666.711566559,635,879.711566559,788,803.711566559,653,631.711566559,653,0.401000094208,0.004580042889,0.0498628915236,0.999999964193,0.000111297712132,-0.000241467766867,-3.03441029567e-05,1793239733388570368
+67,1.116666667,BASELINE,766,745.87637571,714,679,666.12362429,635,879.12362429,788,803.12362429,653,631.12362429,653,0.400999722332,0.00458131654547,0.0498633197693,0.999999964189,0.000111757994071,-0.00024125770506,-3.04578521287e-05,1793239733405236992
+68,1.133333333,BASELINE,766,746,714,679,666,635.456618028,879.456618028,787.543381972,803,653,631,653,0.40099864073,0.00458056935477,0.0498625715003,0.999999963933,0.000111714788117,-0.000242339665422,-3.04191057694e-05,1793239733421903616
+69,1.150000000,BASELINE,766,746,714,679,666,635.965250552,879.965250552,787.034749448,803.034749448,653,631,653,0.400997546159,0.00457933794269,0.0498616550471,0.999999963654,0.0001115535379,-0.000243575747881,-3.03251697712e-05,1793239733438570240
+70,1.166666667,BASELINE,766,746,714,679,666,635.388068773,879.388068773,787.611931227,803.611931227,653,631,653,0.400999198838,0.00457894677015,0.0498630029859,0.999999964073,0.000111642185159,-0.000241847872453,-3.00035206563e-05,1793239733455236864
+71,1.183333333,BASELINE,766,745.807611873,714,679,666.192388127,635,879,788,804,653.192388127,631,653,0.401000492392,0.00457885742092,0.0498639436766,0.999999964306,0.000112497675314,-0.00024051472866,-2.97567848971e-05,1793239733471903488
+72,1.200000000,BASELINE,766,745.220434164,714,679,666.779565836,635,879,788,804,653.779565836,631,653,0.401001049005,0.00457938742739,0.0498640486751,0.999999964158,0.000114926763571,-0.000239991592639,-2.96637748465e-05,1793239733488570368
+73,1.216666667,BASELINE,766,745.361821414,714,679,667,635,879,788,803.638178586,653.638178586,631,653,0.401000551389,0.0045797948101,0.0498638514831,0.999999964039,0.000115149835938,-0.000240364737389,-2.97978126868e-05,1793239733505237248
+74,1.233333333,BASELINE,766,745.941118472,714,679,667,635,879,788,803.058881528,653.058881528,631,653,0.400999420119,0.00458012848879,0.0498634726571,0.999999963937,0.000114046964734,-0.000241276598866,-3.00683194762e-05,1793239733521904128
+75,1.250000000,BASELINE,766,746,714,679,667,635,879.518495453,788,803.518495453,653,631,653,0.400999820021,0.00458048043984,0.0498636730628,0.999999964134,0.000113125038682,-0.000240888177036,-3.01181122831e-05,1793239733538571008
+76,1.266666667,BASELINE,766,746,713.904574484,679.095425516,666.904574484,635,880,788,803.904574484,653,631,653,0.401000059083,0.0045808504462,0.0498637714361,0.99999996427,0.00011242467698,-0.000240645342363,-3.01900721004e-05,1793239733555237632
+77,1.283333333,BASELINE,766,746,713.328800553,679.671199447,666.328800553,635,880,788,803.328800553,653,631,653,0.40099861646,0.00458130093171,0.0498630263113,0.999999963928,0.000112736560704,-0.000241875914678,-3.04993195685e-05,1793239733571904000
+78,1.300000000,BASELINE,766,745.749228501,713.250771499,679.749228501,666.250771499,635.250771499,879.749228501,788,803.250771499,653.250771499,631.250771499,653,0.400998851229,0.00458046226569,0.0498628530502,0.999999964119,0.000111311873587,-0.000241742168841,-3.05308073662e-05,1793239733588570368
+79,1.316666667,BASELINE,766,745.164599982,713.835400018,679.164599982,666.835400018,635.835400018,879.164599982,788,803.835400018,653.835400018,631.835400018,653,0.401001319143,0.00457790732686,0.0498634411226,0.999999965008,0.000107575255589,-0.000239792079365,-3.01925082366e-05,1793239733605236992
+80,1.333333333,BASELINE,766,745.417281582,714,679,666.582718418,635.582718418,879,788,804,653.582718418,631.582718418,653,0.400999910506,0.00457846390284,0.0498627027953,0.999999964461,0.000109156452075,-0.000241353742725,-3.01849459058e-05,1793239733621903872
+81,1.350000000,BASELINE,766,745.998086723,714,679,666.001913277,635.001913277,879,788,804,653.001913277,631.001913277,653,0.400996982734,0.00458023981343,0.049861444681,0.999999963337,0.000112821583852,-0.000244291585326,-3.03069920901e-05,1793239733638571008
+82,1.366666667,BASELINE,766,746,714,679,666,635,879,788,804,653,631,653,0.400998589458,0.00457999146014,0.0498626260067,0.999999964072,0.000111415372496,-0.000241945004092,-3.00849472804e-05,1793239733655237632
+83,1.383333333,BASELINE,765.846003701,746,714,679,666.153996299,635,879.153996299,788,804,653,631,653,0.400999567949,0.00457987157582,0.0498632043394,0.999999964461,0.000110612839679,-0.000240715359241,-2.99766645918e-05,1793239733671904512
+84,1.400000000,BASELINE,765.272052817,746,714,679,666.727947183,635,879.727947183,788,804,653,631,653,0.400998792353,0.00458012027676,0.0498621162978,0.999999963906,0.000111502272426,-0.000242579276647,-3.01817174034e-05,1793239733688570624
+85,1.416666667,BASELINE,765.310295655,745.689704345,714,679,667,635.310295655,880,788,804,653,631.310295655,653,0.400999177215,0.00458010638571,0.0498622395476,0.999999963954,0.000111364733333,-0.000242430399063,-3.0299696813e-05,1793239733705237248
+86,1.433333333,BASELINE,765.900211506,745.099788494,714,679,667,635.900211506,880,788,804,653,631.900211506,653,0.401000607814,0.00457985586221,0.0498634543422,0.999999964544,0.000110301747562,-0.000240467708901,-3.03392107815e-05,1793239733721903872
+87,1.450000000,BASELINE,766,745.481728764,714,679,667,635.518271236,879.518271236,788,804,653.481728764,632,653,0.40100080813,0.00458022430749,0.0498636767695,0.999999964429,0.000111774503732,-0.000240270689393,-3.03037055592e-05,1793239733738570240
+88,1.466666667,BASELINE,766,745.938859308,714,679,666.938859308,635,879.061140692,788,803.938859308,653.938859308,631.938859308,653,0.401000529729,0.00458061404155,0.0498635939239,0.999999964169,0.000113421261851,-0.000240589376952,-3.02544079943e-05,1793239733755237120
+89,1.483333333,BASELINE,766,745.36277752,714,679,666.36277752,635,879.63722248,788,803.36277752,653.36277752,631.36277752,653,0.400998329082,0.00458012170299,0.0498626416522,0.999999963914,0.000112185362193,-0.000242223799899,-3.02175866589e-05,1793239733771903744
+90,1.500000000,BASELINE,766,745.211859741,714,679,666.211859741,635.211859741,879.788140259,788,803.211859741,653,631.211859741,653,0.400997338057,0.00457946445126,0.049862205949,0.999999963844,0.00011101390091,-0.000243070498793,-3.00830430735e-05,1793239733788570368
+91,1.516666667,BASELINE,766,745.784040163,714,679,666.784040163,635.784040163,879.215959837,788,803.784040163,653,631.784040163,653,0.400998404301,0.00457852672333,0.0498626488003,0.99999996409,0.000109952033388,-0.000242577475006,-2.97822982713e-05,1793239733805237248
+92,1.533333333,BASELINE,766,746,714,679,666.629872209,635.629872209,879.370127791,788,803.629872209,653,632,653,0.400999314116,0.00457892039335,0.0498632254187,0.99999996422,0.000110921726338,-0.000241569315471,-3.00098019948e-05,1793239733821904128
+93,1.550000000,BASELINE,766,746,714,679,666.035353236,635.035353236,879.964646764,788,803.035353236,653,632,653,0.401000129095,0.00458012122765,0.0498638831338,0.999999964275,0.000113123059354,-0.000240248853157,-3.05575580829e-05,1793239733838570752
+94,1.566666667,BASELINE,766,746,713.458261348,679,666.541738652,635.541738652,879.458261348,788,803.541738652,653,631.458261348,653,0.401000420171,0.00458053890848,0.0498646539485,0.999999964777,0.000110909059366,-0.000239160557737,-3.07644703727e-05,1793239733855237120
+95,1.583333333,BASELINE,765.882122464,745.882122464,713.117877536,679,666.882122464,635.882122464,879.117877536,788,804,653,631,653,0.401000516584,0.00458105846708,0.0498650657013,0.999999965065,0.000109396741849,-0.000238634867865,-3.09201858155e-05,1793239733871903488
+96,1.600000000,BASELINE,765.305404122,745.305404122,713.694595878,679,666.305404122,635.305404122,879.694595878,788,804,653,631,653,0.400999984201,0.00458216732476,0.0498640519646,0.999999964424,0.000111702370963,-0.000240241994382,-3.09604997056e-05,1793239733888570112
+97,1.616666667,BASELINE,765.268638465,745.268638465,714,679,666,635,879.731361535,788,804.268638465,653,631,653,0.400999885804,0.00458228372228,0.0498635217619,0.999999964147,0.000112451860805,-0.000241062187368,-3.08232054163e-05,1793239733905236736
+98,1.633333333,BASELINE,765.839669061,745.839669061,714,679,666,635,879.160330939,788,804.839669061,653,631,653,0.401000275921,0.00458128295973,0.049863535848,0.999999964285,0.000111449686726,-0.000240996570752,-3.04859869783e-05,1793239733921903360
+99,1.650000000,BASELINE,766,746,714,679,666,635,879.429716294,788,804.570283706,653,631,653,0.40099974308,0.00458104285405,0.0498634666273,0.999999964284,0.000111857599417,-0.000240819819135,-3.04284408268e-05,1793239733938570240
+100,1.666666667,BASELINE,766,746,714,679.026286361,666.026286361,635,880,788,804,653,631,653,0.40099886447,0.0045811245501,0.0498633586031,0.999999964216,0.000112816510349,-0.000240647955808,-3.04690848285e-05,1793239733955237120
+101,1.683333333,BASELINE,766,746,714,679.603957775,666.603957775,635,880,788,804,653,631,653,0.400998290865,0.00458172756054,0.049863118812,0.99999996391,0.000113786364426,-0.000241488686119,-3.02792083244e-05,1793239733971903744
+102,1.700000000,BASELINE,766,746,714,680,667,635,880,788.180438869,804,653,631.180438869,653,0.400997994194,0.00458231662869,0.0498629136225,0.999999963638,0.000114844878421,-0.000242122660374,-3.01757691299e-05,1793239733988570624
+103,1.716666667,BASELINE,766,746,714,680,667,635,880,788.754324397,804,653,631.754324397,653,0.400998301375,0.00458287529562,0.0498627838817,0.999999963447,0.000116096715095,-0.000242305803273,-3.02608063728e-05,1793239734005236992
+104,1.733333333,BASELINE,766,746,714.336939172,679.663060828,667,635,879.663060828,788.663060828,803.663060828,653,632,653,0.400999046584,0.00458098792687,0.0498628053854,0.999999963853,0.000113244660641,-0.000241996618887,-3.0118346909e-05,1793239734021903616
+105,1.750000000,BASELINE,766,746,714.92608813,679.07391187,667,635,879.07391187,788.07391187,803.07391187,653,632,653,0.401000119672,0.00457726962194,0.0498629401004,0.99999996468,0.000107320712078,-0.000241318911739,-2.98055988662e-05,1793239734038570240
+106,1.766666667,BASELINE,765.494285598,746,714.494285598,679,666.494285598,635.505714402,879.505714402,788,803,653,631.494285598,653,0.401000469216,0.0045794970914,0.0498633305701,0.999999964496,0.000110032076404,-0.000240817921527,-3.01359546628e-05,1793239734055236608
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,679,667,635,880,788,803,653,631,653,0.40099924616,0.00457968722625,0.0498625639227,0.99999996401,0.000112541058299,-0.00024165310634,-3.02889696896e-05,1793239734098464768
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714,679.589633619,667,635.589633619,880,788,803,653,631.589633619,653,0.400998008164,0.00457972844828,0.049862017421,0.999999963538,0.000112276509275,-0.000243752812136,-3.00399206424e-05,1793239734115131648
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.17611924,714,679.82388076,667,636,879.82388076,788,803.17611924,653.17611924,631.82388076,653,0.400997560946,0.00458017523217,0.0498617241335,0.999999963348,0.000112518241625,-0.000244427952406,-2.99686535635e-05,1793239734131798272
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.755398796,714,679.244601204,667,636,879.244601204,788,803.755398796,653.755398796,631.244601204,653,0.400998923923,0.00458155040101,0.0498620104866,0.999999963808,0.000113918919182,-0.000241842073533,-3.03043529561e-05,1793239734148464640
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,714,679,666.666755055,635.666755055,879.333244945,788,804,653.666755055,631,653,0.400999350985,0.00458122134967,0.0498625574088,0.999999964031,0.000113726637417,-0.000241003313749,-3.03618978255e-05,1793239734165131008
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,714,679,666.089956552,635.089956552,879.910043448,788,804,653.089956552,631,653,0.400999094029,0.00457964676132,0.0498632947692,0.999999964083,0.000112370134124,-0.000241441443921,-3.02161521976e-05,1793239734181797632
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714,679.483795635,666,635,880,788,803.516204365,653,631,652.516204365,0.400999019084,0.00458006187423,0.049863253346,0.999999964043,0.00011229948691,-0.00024165342949,-3.01191269051e-05,1793239734198464512
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714.058644165,679.941355835,666,635,879.941355835,788,803.058644165,653,631,652.058644165,0.400999069223,0.0045807629116,0.0498630981199,0.999999964004,0.000112338495954,-0.000241798882823,-3.00847099186e-05,1793239734215131136
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714.648523019,679.351476981,666,635,879.351476981,788,803.648523019,653,631,652.648523019,0.400999947808,0.00458072364359,0.0498632155355,0.999999964135,0.000111218558312,-0.000241720169836,-3.05358885932e-05,1793239734231798016
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.766285941,714.766285941,679,666.233714059,635,879,788,803.766285941,653,631,653,0.401005324568,0.00458048014391,0.0498651503851,0.999999965071,0.000110615985887,-0.000238085921927,-3.06024626139e-05,1793239734248464640
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.188006217,714.188006217,679,666.811993783,635,879,788,803.188006217,653,631,653,0.401017333008,0.00457993554458,0.0498697646855,0.999999967143,0.000110776167371,-0.000229209733233,-3.01020122598e-05,1793239734265131264
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.390390462,714,679,666.609609538,635.390390462,879.390390462,788,803,653,631,653,0.401050385415,0.0045800285322,0.0498821971082,0.999999972447,0.000111677212997,-0.000204323977634,-2.97653464247e-05,1793239734281797632
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.968843535,714,679,666.031156465,635.968843535,879.968843535,788,803,653,631,653,0.401093575324,0.00458042866423,0.0498983957517,0.999999978443,0.000112935154669,-0.000171725940092,-2.95075803568e-05,1793239734298464000
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,714,679.554990276,666.554990276,635.445009724,880,788,803,653,631,653,0.401154386062,0.00458022969607,0.0499157174749,0.999999984378,0.000110615171273,-0.00013462004615,-2.97626204734e-05,1793239734315130880
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.139652025,746,714,680,666.860347975,635,880,788,803.139652025,653,631.139652025,653,0.401219241436,0.00457940952392,0.049931971754,0.999999988463,0.000108086659644,-0.000102570130125,-2.95063963568e-05,1793239734331797760
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.718269471,746,714,680,666.281730529,635,880,788,803.718269471,653,631.718269471,653,0.401293657172,0.00457674393684,0.0499446697974,0.999999990247,0.000105542920629,-8.7219197384e-05,-2.75513640093e-05,1793239734348464128
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.703844172,745.703844172,714,679.703844172,666.296155828,635.296155828,879.703844172,788,803.703844172,653,631.703844172,652.703844172,0.401372690114,0.00457463941842,0.0499524305279,0.999999991182,0.000104247983996,-7.79599573095e-05,-2.62756838074e-05,1793239734365130752
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.126651613,745.126651613,714,679.126651613,666.873348387,635.873348387,879.126651613,788,803.126651613,653,631.126651613,652.126651613,0.401456104543,0.00457306732561,0.0499555060003,0.999999991475,0.000104138097108,-7.44814228733e-05,-2.5644674159e-05,1793239734381797632
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714,679.449275805,667,635.550724195,879.449275805,788,803,653,631.449275805,652.449275805,0.401557545676,0.00457274194082,0.0499554762801,0.999999991517,0.000102834981864,-7.595843972e-05,-2.49355290638e-05,1793239734398464256
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,714,679.974660753,667,635.025339247,879.974660753,788,803.025339247,653.025339247,632,653,0.401664967154,0.00457268841591,0.0499546051949,0.999999991499,0.000101084854738,-7.87353121839e-05,-2.41938190576e-05,1793239734415131136
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,714,679.387699774,667,635.612300226,879.387699774,788,803.612300226,653.612300226,632,653,0.401792621326,0.00457089274059,0.0499544330788,0.999999991884,9.68615824575e-05,-7.94464923925e-05,-2.32171638396e-05,1793239734431797248
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.196589941,714,679,666.803410059,635.803410059,879.196589941,788,804,653.803410059,631.803410059,653,0.40193286515,0.00456915563364,0.0499556304105,0.999999992329,9.3587893806e-05,-7.80670561488e-05,-2.21269955903e-05,1793239734448463872
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.775682151,714,679,666.224317849,635.224317849,879.775682151,788,804,653.224317849,631.224317849,653,0.402097604467,0.00456753248258,0.0499594922572,0.9999999929,9.21617970816e-05,-7.26199369645e-05,-2.08159667568e-05,1793239734465130496
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.646235759,745.646235759,714,679.353764241,666,635,879.646235759,788,804,653,631,653,0.402275876211,0.00456734048758,0.0499582058429,0.999999992716,9.24012058356e-05,-7.51407586688e-05,-1.95852959806e-05,1793239734481797632
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.068792294,745.068792294,714,679.931207706,666,635,879.068792294,788,804,653,631,653,0.402462704298,0.00456805338852,0.0499536642694,0.999999992022,9.36936857557e-05,-8.26995758372e-05,-1.84054341338e-05,1793239734498464256
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.501148867,745,714,679.498851133,666.501148867,635,879,788,804,653.501148867,631,653,0.402690967491,0.00456350387437,0.0499562973196,0.999999993056,8.65833666849e-05,-7.82470911322e-05,-1.64210353415e-05,1793239734515131136
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.073542084,714,679,667,635,879.073542084,788,804,653.926457916,631,653,0.402929396035,0.00455877457984,0.0499600980302,0.99999999423,7.8847969178e-05,-7.15217166105e-05,-1.4395991022e-05,1793239734531798016
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.670614269,714,679,667,635,879.670614269,788,804,653.329385731,631,653,0.403200296872,0.0045578319947,0.0499653035047,0.999999995313,7.47527873837e-05,-6.01803296942e-05,-1.28561882597e-05,1793239734548464640
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.259247047,880,788,804,653,631.259247047,653,0.403489358007,0.00455547875853,0.0499708185289,0.999999996302,7.03351138696e-05,-4.82663916759e-05,-1.09375293966e-05,1793239734565131264
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.837495176,880,788,804,653,631.837495176,653,0.403800765205,0.00455138972943,0.0499767144507,0.999999997182,6.55206175363e-05,-3.56479355268e-05,-8.5526917132e-06,1793239734581797632
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714.410932767,679,667,635.589067233,880,788,803.589067233,653,632,653,0.404143031751,0.00454852281986,0.0499838398633,0.999999997811,6.1762562409e-05,-2.2919024151e-05,-6.23409492917e-06,1793239734598464256
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,714.982490013,679,667,635.017509987,880,788,803.017509987,653,632,653,0.404497360522,0.00454613360973,0.0499914458565,0.999999998234,5.8417446756e-05,-1.01469385778e-05,-3.94139029456e-06,1793239734615131136
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,714.425238797,679.574761203,667,635,879.425238797,788,803.574761203,653,632,653,0.404896630335,0.00454255685016,0.0499982114421,0.999999998518,5.41107869021e-05,5.85691962361e-06,-1.4759135683e-06,1793239734631797504
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.836098318,746,714.163901682,679.836098318,667,635,879.163901682,788,804,653,632,653,0.405298850136,0.00453815999676,0.0499994167981,0.999999998733,4.93036867646e-05,1.01097359732e-05,1.32591135403e-06,1793239734648464128
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.256557226,746,714.743442774,679.256557226,667,635,879.743442774,788,804,653,632,653,0.405704949,0.00453177863756,0.0499865892819,0.999999998927,4.330457957e-05,-1.56960065542e-05,4.9668369178e-06,1793239734665131008
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.320030119,746,714.679969881,679,667,635.320030119,879.679969881,788,803.679969881,653,632,653,0.406123084904,0.00452713215167,0.04996856781,0.999999997996,3.81434778749e-05,-4.98969564307e-05,7.94812917455e-06,1793239734681797632
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.894271263,746,714.105728737,679,667,635.894271263,879.105728737,788,803.105728737,653,632,653,0.40655078229,0.00452386373513,0.0499464205975,0.99999999526,3.36480323383e-05,-9.0766513464e-05,1.04054521975e-05,1793239734698464512
+144,2.400000000,POSE1_TO_POSE2_PRESS,766.480302872,746,714,679,667,636,879.960605745,788,803.480302872,653,632,653,0.407036347697,0.00451858030584,0.0499331944663,0.99999999348,2.65443750541e-05,-0.000110253310146,1.33926936182e-05,1793239734715131136
+145,2.416666667,POSE1_TO_POSE2_PRESS,766.932122582,746,714,679,667,635.932122582,880.932122582,788,804,653,631.932122582,653,0.407544598183,0.00451282269183,0.0499259735313,0.999999992711,1.88805414642e-05,-0.000118101330462,1.65291435704e-05,1793239734731797504
+146,2.433333333,POSE1_TO_POSE2_PRESS,766.352967467,746,714,679,667,635.352967467,880.352967467,788,804,653,631.352967467,653,0.40812535594,0.00450691850428,0.0499488216877,0.999999996952,1.14307458904e-05,-7.46287004998e-05,1.98887216498e-05,1793239734748464128
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788,804,653,631,653,0.408720389727,0.00450067951387,0.0499722741738,0.999999999149,3.05756596557e-06,-3.36994725637e-05,2.35927071733e-05,1793239734765131008
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788,804,653,631,653,0.409337701327,0.00449391806155,0.0499966697196,0.999999999584,-6.75656134325e-06,3.2607556811e-06,2.78341427897e-05,1793239734781797632
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.623030417,714,679.376969583,667.376969583,635,879.623030417,788,804,653,631.376969583,653,0.409946710624,0.00448668522653,0.0500040819434,0.999999997631,5.97265531937e-05,1.20720340122e-05,3.20204883761e-05,1793239734798464256
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.048836437,714,679.951163563,667.951163563,635,879.048836437,788,804,653,631.951163563,653,0.41055137627,0.0044792057719,0.0500026087667,0.999999985528,0.000166127152119,6.15623514722e-06,3.61780113325e-05,1793239734815131136
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.473215123,745,714,679.473215123,667.473215123,635,879.526784877,788,803.473215123,653,631.473215123,653,0.411160674321,0.00447406263736,0.0499772038304,0.999999984604,0.000163581556009,-4.94286390947e-05,3.98708106946e-05,1793239734831798016
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.106024847,714,679,667,635,880,788,803,653,631,653,0.411789384933,0.00446872887289,0.0499543211589,0.999999983204,0.000149709113583,-9.64658076089e-05,4.32926497731e-05,1793239734848464384
+153,2.550000000,POSE1_TO_POSE2_PRESS,765,745.701352339,714,679,667,635,880,788,803,653,631,653,0.41250569665,0.00446151307138,0.0499533454632,0.999999987045,0.00013030158918,-8.27473475051e-05,4.56633788724e-05,1793239734865131008
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.287201759,746,714,679.287201759,667,635,880,788,803.287201759,653,631,653,0.413245186798,0.00445213605866,0.04996398513,0.99999999626,5.47252855845e-05,-5.74521271447e-05,3.44236861301e-05,1793239734881797632
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.863510312,746,714,679.863510312,667,635,880,788,803.863510312,653,631,653,0.414008009206,0.00444058349838,0.0499863172049,0.99999999675,-7.73923730837e-05,-2.05033542991e-05,9.48329216465e-06,1793239734898464256
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804,653,631.43775677,653,0.414737646181,0.00442820711022,0.049979778737,0.999999992676,-0.000116750516484,-3.09113686144e-05,7.86753217109e-06,1793239734915130880
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804,653,631.988325881,653,0.415457929665,0.00441618117317,0.0499641666323,0.999999990382,-0.000126079935372,-5.61886192312e-05,1.34904440061e-05,1793239734931797760
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804,653,631.399027481,653,0.416224972868,0.00443414498857,0.0499429042003,0.999999993032,-7.39308215926e-05,-9.00223215911e-05,1.91282713415e-05,1793239734948464384
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.812845976,746,714,680,667,635,880,787.812845976,804,653,631.187154024,653,0.417014641721,0.00445726307023,0.049937718726,0.999999994852,-2.18325099825e-05,-9.64977181518e-05,2.25296888632e-05,1793239734965131264
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.233201117,746,714,680,667,635,880,787.233201117,804,653,631.766798883,653,0.417851760003,0.00449119044162,0.0499662491114,0.99999999828,3.01592581701e-05,-4.5598528722e-05,2.12410100066e-05,1793239734981797888
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,746,714,679.656383232,667,635,879.656383232,787,804,653,631.656383232,653,0.418673767564,0.00449885985528,0.0499816673835,0.999999998763,3.78916644398e-05,-2.36015589953e-05,2.1946307112e-05,1793239734998464256
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,714,679.081468286,667,635,879.081468286,787,804,653,631.081468286,653,0.419485603637,0.00448885429255,0.0499882595197,0.999999999365,1.58318387324e-05,-2.10594940264e-05,2.39938060056e-05,1793239735015130880
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,714,679,667,635,879.495359265,787.495359265,804,653,631.495359265,653,0.420303917652,0.0044770766415,0.0499748900681,0.99999999905,-3.50351231976e-06,-3.62813550153e-05,2.38992400971e-05,1793239735031797504
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.074119541,746,714,679,666.925880459,635,880,788,804,652.925880459,631.925880459,653,0.42113565746,0.00446592923437,0.0499639928781,0.999999998531,-1.86623735716e-05,-4.50941793788e-05,2.35935485952e-05,1793239735048464384
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.664134018,746,714,679,666.335865982,635,880,788,804,652.335865982,631.335865982,653,0.422053400406,0.00446120492214,0.04999324227,0.999999999612,-7.88239574113e-06,1.11153076592e-05,2.42799127617e-05,1793239735065131008
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.751440696,746,714,679.248559304,666.248559304,635,880,788,804.248559304,652,631.248559304,653,0.422938222587,0.00445834412493,0.0500055643027,0.999999999089,-6.22856127871e-06,3.3951466868e-05,2.51023568906e-05,1793239735081797632
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.174401638,746,714,679.825598362,666.825598362,635,880,788,804.825598362,652,631.825598362,653,0.423779538963,0.0044579460269,0.0499955162463,0.99999999944,-1.66352408101e-05,1.26836219406e-05,2.6104635585e-05,1793239735098464256
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,746,714,679.598893096,667,635,880,788,804.197786191,652.401106904,632,653,0.424639394914,0.00446422589326,0.0499889701354,0.999999999511,-1.63324913634e-05,3.40199792225e-06,2.64700165699e-05,1793239735115131136
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,746,714,679.024047527,667,635,880,788,803.048095054,652.975952473,632,653,0.425507281194,0.00447339830675,0.0499839408858,0.999999999582,-1.13909732599e-05,-6.87816878241e-07,2.65595265116e-05,1793239735131798016
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.448535315,714,679.551464685,667,635,880,788,803.551464685,652.448535315,632,653,0.426390840476,0.00447753904571,0.0500061895111,0.999999999276,-5.60952129727e-07,2.61337631092e-05,2.76591151698e-05,1793239735148464384
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.131174209,745.131174209,714,680,667,635.131174209,880.131174209,788,804,652,632,653,0.427262400266,0.00447810037188,0.0500176640526,0.999999998994,6.73817845209e-06,3.34955886134e-05,2.90484007971e-05,1793239735165131008
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.725604174,745.725604174,714,680,667,635.725604174,880.725604174,788,804,652,632,653,0.428089165932,0.00446679644206,0.049986882844,0.999999998977,6.59654486258e-07,-3.26329570113e-05,3.1305040258e-05,1793239735181797376
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.690187696,880.690187696,787.690187696,804,652.309812304,632,653,0.42893562242,0.00446044294426,0.049965638804,0.999999997227,-7.46532848642e-06,-6.69740672952e-05,3.16891401018e-05,1793239735198464256
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.114743751,880.114743751,787.114743751,804,652.885256249,632,653,0.429798961685,0.00445833392461,0.0499525718899,0.999999996643,-1.73449356631e-05,-7.40607738233e-05,3.04677330811e-05,1793239735215131136
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,787.461245536,804,653,632,653,0.430663250855,0.00445887006903,0.0499579784067,0.999999997434,-1.36804950765e-05,-6.29589557186e-05,3.13228730349e-05,1793239735231797504
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804.03806156,652.96193844,632,653,0.431523318551,0.00446035519508,0.0499660897756,0.999999998181,-6.73619059692e-06,-5.03254080066e-05,3.25515129895e-05,1793239735248464384
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804.624837478,652.375162522,632,653,0.432319115698,0.00446602351106,0.0499468644109,0.999999996223,-1.13938048192e-06,-8.09179246666e-05,3.17086058527e-05,1793239735265131008
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.790529822,746,714.209470178,679.790529822,667,635,880,788,805,652.209470178,631.790529822,653,0.433144033149,0.00446914878375,0.0499427836286,0.999999995856,4.47212684912e-07,-8.56443588439e-05,3.08544729954e-05,1793239735281797632
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.209696668,746,714.790303332,679.209696668,667,635,880,788,805,652.790303332,631.209696668,653,0.434020577186,0.00446776557727,0.0499655521886,0.999999998547,-5.0757785551e-06,-4.45136479738e-05,2.99804382848e-05,1793239735298464256
+180,3.000000000,POSE1_TO_POSE2_PRESS,765,746,714.632169124,679,667.367830876,635,880.367830876,788,805,652.632169124,631.367830876,653,0.434851781041,0.00446527275394,0.0499834487106,0.999999999304,-8.06337803602e-06,-1.88764502681e-05,3.11558708228e-05,1793239735315130880
+181,3.016666667,POSE1_TO_POSE2_PRESS,765,746,714.056509324,679,667.943490676,635,880.943490676,788,805,652.056509324,631.943490676,653,0.435657367088,0.00446215298364,0.0499985924705,0.999999999391,-9.61844998041e-06,-1.99327858996e-06,3.34892773698e-05,1793239735331797248
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.517780476,746,714,679,667.482219524,635,880.482219524,787.482219524,804.482219524,652,631.482219524,653,0.436387463422,0.00446267316319,0.0499729946609,0.999999997461,-1.3980609584e-05,-6.0480769301e-05,3.4996695072e-05,1793239735348464128
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.905373265,746,714,679.094626735,667,635,880.094626735,787,804.094626735,652,631.094626735,653,0.43711835011,0.00446308099251,0.049950320842,0.999999993279,-1.75014112727e-05,-0.000108779546371,3.61059434348e-05,1793239735365130752
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.314333496,746,714,679.685666504,667,635,880.685666504,787,804.685666504,652,631.685666504,653,0.437896489601,0.00446082092373,0.0499662508269,0.999999997418,-1.50055178915e-05,-6.05895674579e-05,3.5598052534e-05,1793239735381797632
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,714,679.729292687,667,635,881,787.270707313,805,652.270707313,631.729292687,653,0.438662484134,0.0044598264289,0.0499790295837,0.9999999989,-2.48942514991e-06,-2.97652087972e-05,3.61528687854e-05,1793239735398464256
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,714,679.151066631,667,635,881,787.848933369,805,652.848933369,631.151066631,653,0.439414682154,0.00446026960397,0.0499882285999,0.999999998878,2.14094375573e-05,-1.86678925572e-05,3.79149017511e-05,1793239735415131136
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,746,714.426027138,679.426027138,667,635,880.573972862,788,805,653,631.426027138,653,0.440089141128,0.00446132960137,0.0499686443606,0.999999997757,2.3860694483e-05,-4.93769936234e-05,3.84493603381e-05,1793239735431797760
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,746,714.997228936,679.997228936,666.997228936,635,880,788,804.997228936,652.997228936,632,653,0.440735977342,0.00446260395466,0.0499389709893,0.999999994594,1.87415098099e-05,-9.47355389508e-05,3.85575794803e-05,1793239735448464128
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714.409820418,679.409820418,666.409820418,635,880,788,804.409820418,652.409820418,632,653,0.44135536757,0.00446307956686,0.0499283244338,0.999999992832,1.67005166163e-05,-0.000111492615255,4.033193994e-05,1793239735465130752
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714,679.174875084,666,634.825124916,880.174875084,788,804.174875084,652,632,653,0.441977463808,0.00446566315452,0.0499223762508,0.999999991871,1.8730953911e-05,-0.000118922557312,4.20145223932e-05,1793239735481797632
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,746,714,679.753309867,666,634.246690133,880.753309867,788,804.753309867,652,632,653,0.442605804837,0.00447311132288,0.0499272705123,0.999999993105,3.01570418298e-05,-0.000104828250091,4.3485308862e-05,1793239735498464000
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,746,714,680,666,634.331593477,881,788,805,652,632,653,0.443190956125,0.00448677212901,0.0499165000374,0.999999990541,4.91894783153e-05,-0.000120591114918,4.42252956391e-05,1793239735515130624
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,746,714,680,666,634.909764638,881,788,805,652,632,653,0.44374399086,0.00450505274157,0.0498940810389,0.999999983714,7.38781043403e-05,-0.000158556203369,4.4421849093e-05,1793239735531797248
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,746,714.483997636,680,666,634.516002364,881,787.516002364,805,652,632,652.516002364,0.444225143759,0.00451505032172,0.04984945178,0.999999967694,8.80821975222e-05,-0.000234235056788,4.45699374963e-05,1793239735548464128
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.940733744,714.940733744,680,666,634,881,787,805,652,632,652.059266256,0.444693717064,0.00452247756036,0.0498042822114,0.999999946213,9.88006817126e-05,-0.000309542747129,4.46729931726e-05,1793239735565131264
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,745.349636436,714.349636436,680,666,634,881,787,805,652,632,652.650363564,0.445168695006,0.00452058539771,0.0497911223056,0.999999943579,9.56399500686e-05,-0.000318933359246,4.44523743024e-05,1793239735581797632
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.236758304,745.236758304,714,680.236758304,666,634,881,787,805,652,632,653,0.445647117545,0.00451926223055,0.0497873364501,0.999999945005,9.43451673141e-05,-0.000314800129362,4.46180436597e-05,1793239735598464256
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.816343653,745.816343653,714,680.816343653,666,634,881,787,805,652,632,653,0.446130527833,0.00451876297149,0.049797124261,0.999999952023,9.57522868528e-05,-0.000291084316981,4.53430600441e-05,1793239735615130880
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.609273841,745.609273841,714.390726159,680.609273841,665.609273841,633.609273841,881,787,805,652,631.609273841,652.609273841,0.446563737128,0.00451986632724,0.0497949739438,0.999999952831,8.96697721435e-05,-0.000290644091996,4.26980104117e-05,1793239735631797504
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.037304686,745.037304686,714.962695314,680.037304686,665.037304686,633.037304686,881,787,805,652,631.037304686,652.037304686,0.446973660134,0.00452171307496,0.049787285984,0.99999995075,8.01131012242e-05,-0.00030100052424,3.8489715455e-05,1793239735648464128
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.552186823,745,714.447813177,680,665,633,881,787,805,652,631.552186823,652.552186823,0.447298123825,0.00452220463023,0.0497510724408,0.999999935712,3.11469331708e-05,-0.00035651061893,2.24996774039e-05,1793239735665131008
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.859759845,745.140240155,714,680,665,633,881,787,805,652.140240155,631.859759845,653,0.447614952448,0.00452307288501,0.0497178838259,0.999999916759,-7.12295578019e-06,-0.000407837773727,9.93067696274e-06,1793239735681797376
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.280044446,745.719955554,714,680,665,633,881,787,805,652.719955554,631.280044446,653,0.447926540331,0.00452541792489,0.0497004115621,0.99999990481,-3.25679146836e-06,-0.00043618400516,1.06583383461e-05,1793239735698464000
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.29775112,746,714.29775112,680,665,632.70224888,880.70224888,787,805,653,631,652.70224888,0.448235645834,0.00453053013393,0.0496939720473,0.999999901033,7.34558876779e-06,-0.000444685912586,1.16340782968e-05,1793239735715130880
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.873752554,746,714.873752554,680,665,632.126247446,880.126247446,787,805,653,631,652.126247446,0.448542431517,0.00453822828,0.0496978427076,0.999999905166,2.42430053671e-05,-0.000434643171514,1.28416492046e-05,1793239735731797504
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,714.550586931,680,665,632,880.449413069,787,805,653,631.449413069,652,0.448828806416,0.00455474037862,0.0497100945105,0.999999908409,9.14592014e-05,-0.00041787737874,1.39789039453e-05,1793239735748464128
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.975177889,746,714,680,664.975177889,632,881,787,804.975177889,652.975177889,631.975177889,652,0.449106557816,0.0045735463874,0.0497240254354,0.999999905414,0.000169768786683,-0.000400156052063,1.49934093877e-05,1793239735765130752
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.403202447,746,714,680,664.403202447,632,881,787,804.403202447,652.403202447,631.403202447,652,0.449320514198,0.00458838035042,0.0497231105791,0.999999902285,0.000181260396808,-0.00040297110002,1.37372404905e-05,1793239735781797632
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.176605566,746,714.176605566,680.176605566,664.176605566,632,880.823394434,787,804,652,631,652.176605566,0.449523205375,0.00460317854594,0.0497193512804,0.9999998969,0.000193242613381,-0.000410758014493,1.16519157493e-05,1793239735798464512
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.775125679,746,714.775125679,680.775125679,664.775125679,632,880.224874321,787,804,652,631,652.775125679,0.449698983698,0.00461789128996,0.0497087965468,0.999999886039,0.000206396897792,-0.000430422826051,7.58571979496e-06,1793239735815131136
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.642453286,746,715,680.642453286,664.642453286,632,880.357546714,787,804.357546714,652,631,652.642453286,0.449868004898,0.00462711812009,0.049705823659,0.999999882369,0.000213501680788,-0.000435479470177,6.02652267247e-06,1793239735831797504
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.069721237,746,715,680.069721237,664.069721237,632,880.930278763,787,804.930278763,652,631,652.069721237,0.450032959419,0.00463304331811,0.0497074138158,0.999999883243,0.00021696564297,-0.000431744360486,5.97613327269e-06,1793239735848464384
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714.494225461,680.505774539,664,631.494225461,881,787,804.494225461,652,631.505774539,652.505774539,0.450176390025,0.00462751913777,0.0497130750519,0.999999888789,0.000208785108835,-0.000422816224595,7.57801528839e-06,1793239735865131008
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.916312212,714,680.916312212,664,631,881,787,804.167375577,652,631.916312212,653,0.450310994955,0.00462190515187,0.0497182767082,0.999999893571,0.000200882950255,-0.000415234314866,9.18145045037e-06,1793239735881797376
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.326085049,714,680.326085049,664,631,881,787,805.347829902,652,631.326085049,653,0.450410238136,0.00462535311233,0.0497172812026,0.999999890793,0.000204434932334,-0.000420157458967,9.40810511596e-06,1793239735898464000
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.258961781,745.258961781,714.258961781,680.258961781,664,631,881,787,805.741038219,652.258961781,631,653,0.45050131466,0.00462828022785,0.0497164129048,0.999999888675,0.000207395646064,-0.000423730116602,9.4859337215e-06,1793239735915130880
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.837613423,745.837613423,714.837613423,680.837613423,664,631,881,787,805.162386577,652.837613423,631,653,0.450582309389,0.00463056435697,0.0497157016458,0.999999887402,0.000209626435289,-0.000425635590365,9.38003565595e-06,1793239735931797248
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.58516737,746,715,680.58516737,664,631,881,787,805,652.58516737,631,653,0.450648502183,0.00462868183199,0.0497133453246,0.999999886165,0.00020820445225,-0.000429219840088,9.54499359542e-06,1793239735948464128
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.008506975,746,715,680.008506975,664,631,881,787,805,652.008506975,631,653,0.450708920685,0.00462517387956,0.0497103472585,0.999999884923,0.00020535750899,-0.000433458986557,9.81561348085e-06,1793239735965131008
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.577583883,746,715,680,664,631,881,787,805,652.577583883,631,652.422416117,0.450753892335,0.00462801549942,0.0497109223819,0.99999988465,0.00020497499682,-0.000434273532347,9.61107528836e-06,1793239735981797632
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,745.837099902,715,680.162900098,664,631,881,787,805,653,631,652.162900098,0.450793830722,0.0046307097722,0.0497104863012,0.999999883533,0.00020588392094,-0.000436412280803,9.49209166708e-06,1793239735998464512
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,745.254145375,715,680.745854625,664,631,881,787,805,653,631,652.745854625,0.45082138672,0.00463277894159,0.0497073047689,0.999999880173,0.000210027794228,-0.000442097842014,9.61206481632e-06,1793239736015131136
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.676639336,745.323360664,715,680.676639336,664,631,881,787,804.676639336,653,631,653,0.450843720549,0.00463266266687,0.0497049914193,0.999999878431,0.000210631382941,-0.000445730267097,9.84831403031e-06,1793239736031797504
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.103344518,745.896655482,715,680.103344518,664,631,881,787,804.103344518,653,631,653,0.450862018024,0.00463085720386,0.0497033491111,0.999999877961,0.000208498590932,-0.00044777576866,1.0174436155e-05,1793239736048464128
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714.527427934,680.472572066,664,631,881,787,804.472572066,653,631.472572066,652.527427934,0.450874242037,0.00463161641099,0.0497020380817,0.999999876607,0.000210339366959,-0.0004499290759,1.0360367969e-05,1793239736065130752
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714.050078461,680.949921539,664,631,881,787,805.050078461,652.949921539,631.949921539,652.050078461,0.450884677516,0.0046328040664,0.049700785018,0.999999875139,0.000212645728618,-0.000452099924282,1.04607239082e-05,1793239736081797376
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714.63847746,680.36152254,664,631,881,787,805.63847746,652.36152254,631.36152254,652.63847746,0.450890244018,0.00463253477233,0.0496993719568,0.999999874631,0.000210563885332,-0.000454204493777,9.97257159196e-06,1793239736098464000
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.223362426,746,715,680.223362426,664,631,880.776637574,787,805.776637574,652.223362426,631.223362426,653,0.450894231854,0.00463269096214,0.0496978469342,0.999999873706,0.000210130851764,-0.000456440426899,9.78855871427e-06,1793239736115130880
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.802647826,746,715,680.802647826,664,631,880.197352174,787,805.197352174,652.802647826,631.802647826,653,0.45089570412,0.00463352515089,0.0496961435038,0.99999987212,0.00021232515932,-0.000458885684868,1.00891851826e-05,1793239736131797760
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.621971391,746,714.621971391,680.621971391,664,631,880.378028609,787,805,652.621971391,632,653,0.45089768035,0.0046351415057,0.0496950812342,0.999999871307,0.000213897563696,-0.000459935053163,9.69016606778e-06,1793239736148464384
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.048608215,746,714.048608215,680.048608215,664,631,880.951391785,787,805,652.048608215,632,653,0.450899916986,0.00463716202056,0.0496943502648,0.999999870895,0.000215148618813,-0.000460263138662,8.92962677365e-06,1793239736165130752
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.539380111,746,714.539380111,680.539380111,663.460619889,631,881,787,805,652,631.460619889,652.460619889,0.45090029827,0.00463510300081,0.0496938456554,0.999999870979,0.000212155656173,-0.000461466841801,9.00231764778e-06,1793239736181797632
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.873593738,746,714.873593738,680.873593738,663.126406262,631,880.873593738,787,805,652.126406262,631,652.126406262,0.450900256473,0.00463347703839,0.049693337064,0.999999870793,0.00021018757256,-0.000462764754937,9.16085873261e-06,1793239736198464512
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.294858494,746,714.294858494,680.294858494,663.705141506,631,880.294858494,787,805,652.705141506,631,652.705141506,0.450899315719,0.00463475294491,0.0496927391925,0.99999986951,0.000213293638526,-0.000464109549017,9.35041656558e-06,1793239736215130880
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714.283523788,680,663.716476212,631,880.283523788,787,805,653,631,653,0.450899902756,0.00463496472805,0.049692856127,0.999999869143,0.000214728523219,-0.00046423707133,9.45566842596e-06,1793239736231797248
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714.861539524,680,663.138460476,631,880.861539524,787,805,653,631,653,0.450902076687,0.00463407122217,0.0496937155197,0.999999869735,0.000214427577118,-0.000463100231699,9.47335294774e-06,1793239736248463872
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,715,680,663.434898957,631,881,787,805,653,631.434898957,653,0.450901850151,0.00463435942094,0.0496925573466,0.999999869101,0.000214514474186,-0.000464432572458,9.17146727426e-06,1793239736265130752
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,715,680.007053866,663.992946134,631,881,787,805,653,631.992946134,653,0.45090088244,0.00463501632174,0.0496907879277,0.999999868092,0.000214716270207,-0.000466513578967,8.77454125539e-06,1793239736281797120
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,715,680.601029669,663.398970331,631,881,787,805,653,631.398970331,653,0.450901160666,0.00463537897182,0.0496910395735,0.999999868338,0.000214312983237,-0.000466170874725,8.84561867675e-06,1793239736298464000
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714.810564739,680.810564739,663,630.810564739,881,787,805,653,631,653,0.450901156172,0.004635566265,0.0496908919828,0.999999868317,0.000214095628612,-0.000466314428625,8.92874854789e-06,1793239736315130624
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714.233555522,680.233555522,663,630.233555522,881,787,805,653,631,653,0.450900573252,0.00463539478772,0.049689927577,0.99999986775,0.000214258681197,-0.000467452839528,9.03653705337e-06,1793239736331797248
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714.343399648,680,663.343399648,630.343399648,881,787,805,652.656600352,631,653,0.450900692017,0.00463504546303,0.0496895233655,0.999999867596,0.000214303813298,-0.00046775942971,9.12104054886e-06,1793239736348464128
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714.920318041,680,663.920318041,630.920318041,881,787,805,652.079681959,631,653,0.450901287942,0.00463457519848,0.0496895000976,0.999999867724,0.000214268757066,-0.000467500364837,9.18970975948e-06,1793239736365130752
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.506005697,714.506005697,680,664,631,881,787,804.506005697,652.493994303,631,653,0.450902166872,0.00463458022883,0.0496907249687,0.999999868437,0.000213269529825,-0.000466432775214,9.07168782647e-06,1793239736381797376
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.069377222,714,680,663.930622778,631,881,787,804.069377222,653,631,653,0.450902948809,0.00463484865216,0.0496919024206,0.999999869041,0.000212461212145,-0.00046550869097,8.9129733255e-06,1793239736398464000
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.661535051,714,680,663.338464949,631,881,787,804.661535051,653,631,653,0.450902658123,0.00463652789474,0.0496912153816,0.999999868132,0.00021425573255,-0.000466642290174,8.67306280756e-06,1793239736415130624
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.247756577,746,714.247756577,680,663.247756577,630.752243423,881,787,805,653,631.247756577,653,0.450902730765,0.0046368480429,0.0496908435137,0.999999867788,0.000214618690898,-0.000467213101886,8.62966673236e-06,1793239736431797248
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.826058252,746,714.826058252,680,663.826058252,630.173941748,881,787,805,653,631.826058252,653,0.45090328814,0.00463535495186,0.0496908921319,0.999999868201,0.000213071727163,-0.000467033069324,8.84845089155e-06,1793239736448463872
+249,4.150000000,POSE1_TO_POSE2_PRESS,766,746,714.596969722,679.596969722,664,630.403030278,881,787,805,653,631.596969722,653,0.450902983372,0.00463578682673,0.049690687635,0.999999868069,0.000213578677036,-0.000467087222833,8.69108887482e-06,1793239736465130752
+250,4.166666667,POSE1_TO_POSE2_PRESS,766,746,714.0205697,679.0205697,664,630.9794303,881,787,805,653,631.0205697,653,0.45090230774,0.00463704675572,0.0496903742566,0.999999867701,0.000214969149892,-0.000467242115134,8.37192171584e-06,1793239736481797632
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.434872881,745.434872881,714,679.565127119,664,630.434872881,880.434872881,787,805,652.434872881,631.565127119,653,0.450902516031,0.00463774309014,0.0496891867693,0.999999866962,0.000216129163979,-0.000468295038312,8.02719132345e-06,1793239736498464256
+252,4.200000000,HOLD_POSE2,766,746,715,680,664,630,881,787,805,653,631,653,0.450902058306,0.00463575994207,0.0496885108483,0.999999866988,0.000213109462241,-0.000469613478961,8.45020103495e-06,1793239736539525632
+253,4.216666667,HOLD_POSE2,765.425019662,745.425019662,714.425019662,680.574980338,664,630.574980338,881,787,805,653,631,653,0.450904458531,0.00463525144139,0.0496906198076,0.999999868485,0.000212744567975,-0.00046657663944,8.72745138802e-06,1793239736556192256
+254,4.233333333,HOLD_POSE2,765.150193218,745.150193218,714.150193218,680.849806782,664,631,881,787,805,652.849806782,631.150193218,653,0.450906222206,0.00463553328865,0.0496921132093,0.999999869383,0.000213389619894,-0.000464350804951,8.79615711367e-06,1793239736572858880
+255,4.250000000,HOLD_POSE2,765.726065303,745.726065303,714.726065303,680.273934697,664,631,881,787,805,652.273934697,631.726065303,653,0.450906181768,0.00463805514653,0.0496918619931,0.999999868599,0.000216897069592,-0.000464423526965,8.27380398931e-06,1793239736589525504
+256,4.266666667,HOLD_POSE2,766,746,714.689975924,680,664,631,881,787,805,652.310024076,631.689975924,653,0.450905162841,0.00463852255982,0.0496909630741,0.999999867723,0.000217299681299,-0.000466119100681,8.21045848156e-06,1793239736606192128
+257,4.283333333,HOLD_POSE2,766,746,714.098680484,680,664,631,881,787,805,652.901319516,631.098680484,653,0.450903256173,0.0046371260647,0.0496894765225,0.99999986676,0.000214885408285,-0.00046928701718,8.56355065804e-06,1793239736622858752
+258,4.300000000,HOLD_POSE2,766,746,714,680.482835779,664,631,880.517164221,787,805,653,631,653,0.450903544758,0.00463525866623,0.0496896159515,0.999999867501,0.000212755337249,-0.000468677807039,8.59888392846e-06,1793239736639525376
+259,4.316666667,HOLD_POSE2,765.938286418,746,714,680.938286418,664,631,880.061713582,787,805,653,631,652.938286418,0.450904396709,0.00463352286667,0.049690167237,0.999999868546,0.000211044914636,-0.000467219304009,8.59600376436e-06,1793239736656192256
+260,4.333333333,HOLD_POSE2,765.365040832,746,714,680.365040832,664,631,880.634959168,787,805,653,631,652.365040832,0.450906273259,0.00463365975846,0.049691432524,0.999999869308,0.000212340984751,-0.000464992760145,8.80399033999e-06,1793239736672858880
+261,4.350000000,HOLD_POSE2,765,746,714,680,664,631,881,787,805,653,631,652.209079978,0.450907685459,0.00463445944433,0.0496922638644,0.999999869557,0.000213827723416,-0.000463772693255,8.91745747194e-06,1793239736689525504
+262,4.366666667,HOLD_POSE2,765,746,714,680,664,631,881,787,805,653,631,652.784735239,0.450908283527,0.00463642119235,0.0496923343757,0.999999868913,0.000215648756883,-0.000464317260331,8.86520574067e-06,1793239736706192128
+263,4.383333333,HOLD_POSE2,765,746,714.371395531,680.371395531,663.628604469,630.628604469,881,787,805,653,631,653,0.450907098709,0.00463660076431,0.0496916196483,0.999999868241,0.000215291775856,-0.000465926663786,8.89976435578e-06,1793239736722859008
+264,4.400000000,HOLD_POSE2,765,746,714.964629292,680.964629292,663.035370708,630.035370708,881,787,805,653,631,653,0.450904848957,0.00463571582504,0.0496904358902,0.999999867547,0.000213633845367,-0.000468172104608,8.98617564572e-06,1793239736739525376
+265,4.416666667,HOLD_POSE2,765.542149132,746,715,681,663.542149132,630.542149132,881.542149132,787.542149132,805,653,631.542149132,653,0.45090739806,0.00463531509871,0.0496922492964,0.999999868949,0.000213409589477,-0.00046526943449,9.09598704463e-06,1793239736756192000
+266,4.433333333,HOLD_POSE2,765.882083545,746,714.882083545,680.882083545,664,630.882083545,881.882083545,787.882083545,805,653,631.882083545,653,0.450909125875,0.00463526953481,0.049693354737,0.99999986977,0.000213626379833,-0.000463401734979,9.08674835225e-06,1793239736772858880
+267,4.450000000,HOLD_POSE2,765.309233522,746,714.309233522,680.309233522,664,630.309233522,881.309233522,787.309233522,805,653,631.309233522,653,0.450906511194,0.00463647577577,0.0496909956129,0.999999867864,0.000215194067357,-0.000466786379878,8.61247833426e-06,1793239736789525504
+268,4.466666667,HOLD_POSE2,765.271644912,746,714,680,663.728355088,630.271644912,881,787,805,653,631,653,0.450905637977,0.00463662571307,0.0496899853616,0.999999867185,0.000215552307688,-0.000468078589062,8.38745354945e-06,1793239736806192128
+269,4.483333333,HOLD_POSE2,765.861940983,746,714,680,663.138059017,630.861940983,881,787,805,653,631,653,0.450906807572,0.0046355365607,0.0496905573962,0.999999867955,0.000214491814383,-0.000466916281013,8.45480416511e-06,1793239736822858752
+270,4.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,631,882,787,804,653,631,653,0.45090712351,0.00463594148178,0.049692177327,0.999999868024,0.000216789198138,-0.000465707321006,8.40668167527e-06,1793239736855532800
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.424144271,745.575855729,714.424144271,680.575855729,663.575855729,630.424144271,881.424144271,787,804.575855729,653,631,653,0.450907140138,0.0046364550904,0.0496918415374,0.999999867453,0.000217433385362,-0.000466631273859,8.47706750157e-06,1793239736872199168
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.154674113,746,714,681,663.845325887,630,881,787,805,653,631,653,0.450907066492,0.00463686250007,0.0496914612584,0.999999867147,0.000217721317806,-0.000467152766008,8.5030051799e-06,1793239736888865792
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.741775415,746,714,681,663.258224585,630,881,787,805,653,631,653,0.450906740461,0.00463697300619,0.0496909565992,0.999999867583,0.000217013257915,-0.000466549086567,8.40467781575e-06,1793239736905532672
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.675745746,746,714,680.675745746,663,630,881,787,804.675745746,652.675745746,631,653,0.450906406052,0.00463634914028,0.0496906416023,0.999999867821,0.000215716410321,-0.000466642850345,8.25230117593e-06,1793239736922199296
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.096896368,746,714,680.096896368,663,630,881,787,804.096896368,652.096896368,631,653,0.450906065064,0.00463514866656,0.0496904755228,0.999999867901,0.000213957263583,-0.000467284226535,8.05748660374e-06,1793239736938866176
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.481476079,746,714.481476079,680,663,630.481476079,880.518523921,787,804.481476079,652.481476079,631.481476079,653,0.450905106997,0.00463627532165,0.0496905018907,0.999999867361,0.000214892695632,-0.000468008127432,8.26294122304e-06,1793239736955532800
+277,4.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,631,880.059445879,787,805,653,632,652.940554121,0.450904011236,0.00463770671256,0.0496905151947,0.999999866774,0.000216137734715,-0.000468682995264,8.51023872891e-06,1793239736972199424
+278,4.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,631,880.634753686,787,805,653,632,652.365246314,0.450902797187,0.00463772246941,0.0496900793737,0.999999866891,0.00021536833059,-0.000468788383167,8.42230256236e-06,1793239736988866048
+279,4.650000000,POSE2_TO_POSE3_RETREAT,766,745.784633186,715,680,663,630.784633186,880.784633186,787,805,653,631.784633186,652.215366814,0.450894276658,0.00463789959744,0.0496858018304,0.999999863864,0.000215086778521,-0.00047533541582,8.08008148962e-06,1793239737005532672
+280,4.666666667,POSE2_TO_POSE3_RETREAT,766,745.194795444,715,680,663,630.194795444,880.194795444,787,805,653,631.194795444,652.805204556,0.450873051923,0.00463835731103,0.0496748444589,0.999999855155,0.000215653483506,-0.000493082914459,7.29572032177e-06,1793239737022199552
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.612797058,745,714.612797058,680,663,630,880.387202942,787,805,652.612797058,631,653,0.450834268775,0.00463843171713,0.0496594968844,0.99999984098,0.000216935327928,-0.000520506492475,7.27306856937e-06,1793239737038866176
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.034664209,745,714.034664209,680,663,630,880.965335791,787,805,652.034664209,631,653,0.450786827566,0.00463831711422,0.0496419844983,0.999999823345,0.000218569807743,-0.000552701349845,7.62601592318e-06,1793239737055532800
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.541864555,714,680,664.083729111,630,881,787,805,652.541864555,631,653,0.450725334505,0.00463950790539,0.0496272901298,0.999999809445,0.000220657364348,-0.000576510852438,7.45672437988e-06,1793239737072199680
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,714,680,664.882052549,630,881,787,805,653,631,653,0.450660605383,0.00464058837545,0.0496148238049,0.999999797901,0.000222048523075,-0.000595686852797,7.02364598502e-06,1793239737088866048
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,664.307300058,630,881,787,805,653,631,653,0.450586814358,0.00464091910627,0.0496102904517,0.999999796251,0.000220630642498,-0.000598988951853,5.69794173304e-06,1793239737105532672
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.274011398,746,714,680,663.725988602,630.274011398,880.725988602,787,805,652.725988602,631,653,0.450506117536,0.00464133746033,0.0496088701421,0.999999796163,0.000220538975074,-0.000599175715,4.94210045395e-06,1793239737122199296
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.862859001,746,714,680,663.137140999,630.862859001,880.137140999,787,805,652.137140999,631,653,0.45041748603,0.00464185649256,0.0496110266867,0.999999797874,0.00022197111265,-0.000595782989875,4.84102579488e-06,1793239737138866176
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.554103418,745.554103418,714,680,663.445896582,631,880.445896582,787,804.554103418,652,631,652.554103418,0.450309949279,0.00464358643896,0.0496145391942,0.999999800238,0.000225694705485,-0.000590394200364,4.5239469222e-06,1793239737155533056
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.026820927,714,680,663.973179073,631,881,787,804.026820927,652.026820927,631,652.026820927,0.450194798257,0.00464558486343,0.0496181041469,0.999999802425,0.000229979517556,-0.000585014636379,4.13633754972e-06,1793239737172199680
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.60062237,714,680,663.39937763,631,881,787,804.60062237,652.60062237,631,652.60062237,0.450041418637,0.00464556097473,0.0496143429626,0.999999797852,0.000231521749789,-0.000592182219159,3.64777374604e-06,1793239737188866304
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.825293943,714,680,663,630.825293943,880.825293943,787,805,653,631,653,0.44987820106,0.00464648314368,0.049611479322,0.999999794114,0.000234199087898,-0.000597421935338,3.0383090877e-06,1793239737205532928
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745.250564086,714,680,663,630.250564086,880.250564086,787,805,653,631,653,0.449692457572,0.00464957149728,0.0496106707842,0.999999792373,0.000239475473463,-0.000598247421678,2.15201826478e-06,1793239737222199552
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.333386743,714,680,663,630.333386743,880.333386743,787,805,653,631,653,0.449488348693,0.00465177829445,0.0496081810884,0.999999788912,0.00024420431367,-0.000602112041258,1.22058782646e-06,1793239737238866432
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.924464989,714,680,663,630.924464989,880.924464989,787,805,653,631,653,0.449270044251,0.00465330369234,0.0496043919403,0.999999784091,0.000248509928884,-0.000608325760948,2.54266598334e-07,1793239737255533056
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.505739141,746,714,680,663.505739141,631,881,787,804.494260859,652.494260859,631,653,0.449020785996,0.00465560997646,0.0496028168797,0.999999779502,0.000252636860129,-0.000614142043871,-7.46674046101e-07,1793239737272199424
+296,4.933333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,664,631,880.915499441,787,804.084500559,652.084500559,631.084500559,652.915499441,0.448762573721,0.00465816138064,0.0496021333084,0.999999775921,0.000257424607994,-0.000617969905669,-1.75872519185e-06,1793239737288866304
+297,4.950000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,664,631,880.342954009,787,804.657045991,652.657045991,631.657045991,652.342954009,0.448478839894,0.00466146770954,0.0496047250533,0.999999778124,0.000266180202973,-0.000610649682754,-2.80565136267e-06,1793239737305532928
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.762853448,746,714,680.237146552,664,631.237146552,880,787,805,653,631.762853448,652.237146552,0.448175447939,0.00466497899048,0.0496064284481,0.999999779164,0.000274052270953,-0.000605434461497,-4.16452820833e-06,1793239737322199552
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.171467391,746,714,680.828532609,664,631.828532609,880,787,805,653,631.171467391,652.828532609,0.44784269152,0.00466879641992,0.049606804863,0.999999778589,0.000280604563117,-0.000603363603344,-5.98938373745e-06,1793239737338866176
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.410806819,746,714.410806819,681,664,632,880.410806819,787,805,653,631.410806819,653,0.447479445771,0.00467094469427,0.0496038765559,0.999999775117,0.000286394446523,-0.000606373921949,-7.38003100449e-06,1793239737355533056
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.989360332,746,714.989360332,681,664,632,880.989360332,787,805,653,631.989360332,653,0.44710375018,0.00467241139452,0.0495995988161,0.999999770427,0.000291873011781,-0.000611459061538,-8.59337591168e-06,1793239737372199936
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,746,714.43654579,680.43654579,664.56345421,632.56345421,881,787,805,653,631.43654579,653,0.446698209674,0.00467741809799,0.0496007465604,0.999999769373,0.000297909016898,-0.000610241061723,-1.0530212585e-05,1793239737388866304
+303,5.050000000,POSE2_TO_POSE3_RETREAT,766,746,714.141021162,680,665,632.858978838,881,787,805,653,631.141021162,653,0.446284712563,0.00468156539495,0.0496059109336,0.999999772417,0.000303690726891,-0.000602316952249,-1.23567986457e-05,1793239737405532672
+304,5.066666667,POSE2_TO_POSE3_RETREAT,766,746,714.72988276,680,665,632.27011724,881,787,805,653,631.72988276,653,0.445847723407,0.004682772862,0.0496235081096,0.999999787843,0.000308631706197,-0.000573471281393,-1.37902172595e-05,1793239737422199552
+305,5.083333333,POSE2_TO_POSE3_RETREAT,766,746,714.686078716,680.313921284,665,632.313921284,880.686078716,787.313921284,805,652.686078716,632,653,0.445392001748,0.00468256832832,0.0496490292403,0.999999806603,0.000311345685477,-0.000538190488227,-1.44468817659e-05,1793239737438866432
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,746,714.1061274,680.8938726,665,632.8938726,880.1061274,787.8938726,805,652.1061274,632,653,0.444920405334,0.00468116720626,0.0496812654638,0.999999827438,0.000312172412071,-0.000497456299576,-1.44452924904e-05,1793239737455533056
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,680.529346888,665,633,880.470653112,788,805,652,632,653,0.444404041705,0.00468170724507,0.0497021607073,0.999999841002,0.000316064931372,-0.000466746561357,-1.57233695699e-05,1793239737472199424
+308,5.133333333,POSE2_TO_POSE3_RETREAT,766,746,714.046470558,680,665.046470558,633.046470558,881.046470558,787.953529442,805,652.046470558,632,653,0.443871886589,0.00468281769486,0.0497180857035,0.999999850585,0.000320730701713,-0.000442333511024,-1.73742672168e-05,1793239737488865792
+309,5.150000000,POSE2_TO_POSE3_RETREAT,766,746,714.619423596,680,665.619423596,633.619423596,881.619423596,787.380576404,805,652.619423596,632,653,0.443274422934,0.00468546473142,0.0497064793403,0.999999838974,0.000326377292169,-0.000463820333901,-2.00017588028e-05,1793239737505532928
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,746,714.800885056,680.199114944,666,634,881.601770113,787.199114944,805,652.800885056,632,653,0.442676337315,0.00468589305401,0.0497051681913,0.99999983692,0.000330448610732,-0.000465253015176,-2.24472557372e-05,1793239737522199552
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,746,714.207863424,680.792136576,666,634,880.415726849,787.792136576,805,652.207863424,632,653,0.442077021307,0.00468193212138,0.049724223941,0.999999853615,0.000331403587543,-0.000427012828941,-2.45327146885e-05,1793239737538866176
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,745.625161202,714.374838798,680.625161202,666,634,880.374838798,788,804.625161202,652,632,653,0.44147617667,0.00468061696977,0.049764606923,0.999999879514,0.000333397020416,-0.000359274370495,-2.72213136201e-05,1793239737555532800
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745.04802821,714.95197179,680.04802821,666,634,880.95197179,788,804.04802821,652,632,653,0.440874507077,0.00468072970178,0.0498164998531,0.999999905129,0.000335950888776,-0.000275616190109,-3.02354168426e-05,1793239737572199680
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,666.527676232,634,880.472323768,788,804.527676232,652,631.472323768,653,0.440193389486,0.00465632034365,0.0498344534609,0.999999920657,0.000310902890855,-0.000246853581577,-3.29815426998e-05,1793239737588866560
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745.105703602,715,680,667,634.105703602,880.105703602,787.894296398,805,652,631.105703602,652.894296398,0.439490749367,0.00462993546208,0.0498403237907,0.999999931058,0.000282701343175,-0.000238233933791,-3.47725893373e-05,1793239737605533696
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745.69495027,715,680,667,634.69495027,880.69495027,787.30504973,805,652,631.69495027,652.30504973,0.438722644311,0.00460469609432,0.0498050119331,0.999999923154,0.000251535255732,-0.000298963751709,-3.23058829494e-05,1793239737622200064
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745.720564244,714.720564244,680,666.720564244,635,881,787,804.720564244,652,632,652.279435756,0.437936562396,0.00458921817492,0.0497831814866,0.999999928725,0.000164664826761,-0.000338293441431,-3.15138386168e-05,1793239737638866688
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745.141189218,714.141189218,680,666.141189218,635,881,787,804.141189218,652,632,652.858810782,0.437131184478,0.00458421794407,0.0497758216415,0.99999993642,1.80027608941e-05,-0.000354652778367,-3.25193334696e-05,1793239737655533056
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.562368849,745,714,680,666.437631151,634.562368849,881,787.437631151,804,652,632,653,0.436346072155,0.00458841087536,0.0497982966434,0.999999947645,-2.27520334057e-06,-0.000321707073622,-3.47705273274e-05,1793239737672199424
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.016112941,745.016112941,714.016112941,680,666.983887059,634.016112941,880.983887059,787.983887059,804.016112941,652,632,652.983887059,0.435565513452,0.00459561201954,0.0498287441837,0.999999961155,1.81746493575e-05,-0.000275601344407,-3.74552389362e-05,1793239737688866048
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.589071296,745.589071296,714.589071296,680,666.410928704,634.589071296,880.410928704,787.410928704,804.589071296,652,632,652.410928704,0.434716657098,0.00460440480218,0.0498024930601,0.999999945997,3.88042823835e-05,-0.000323727463622,-4.12505795779e-05,1793239737705532928
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.837161637,745.837161637,715,680,666,635,880,787.162838363,805,652,632,652.162838363,0.433878376297,0.00461115030567,0.0497873474068,0.999999935854,5.68931546364e-05,-0.000350741588885,-4.51273301942e-05,1793239737722199552
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.261343604,745.261343604,715,680,666,635,880,787.738656396,805,652,632,652.738656396,0.433066916549,0.0046127036374,0.0498003666993,0.999999943883,6.85383198329e-05,-0.00032421289855,-4.92105472911e-05,1793239737738866432
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.324740993,745.324740993,714.675259007,680,666.324740993,635,880,788,805,652.324740993,632,653,0.432226192473,0.00460698592405,0.0498160521044,0.999999951888,6.74951263508e-05,-0.000298077489494,-5.30843717215e-05,1793239737755533056
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.919357577,745.919357577,714.080642423,680,666.919357577,635,880,788,805,652.919357577,632,653,0.431361148353,0.00459522561781,0.0498339531784,0.99999995976,5.59072878668e-05,-0.000272268917643,-5.67841804309e-05,1793239737772199680
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745.504550718,714,680,667,635,880,788,804.504550718,652.504550718,632,653,0.430454109353,0.00458275880731,0.0498047747244,0.99999994729,1.55874533332e-05,-0.000319187932145,-5.74068988162e-05,1793239737788866304
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.931239952,745,714,680,667,635,880.068760048,788,804.068760048,652.068760048,632,653,0.429544916994,0.00457323343087,0.0497735414286,0.999999930559,-9.13185724544e-06,-0.000368523733518,-5.46629413617e-05,1793239737805533440
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.357006089,745,714,680,667,635,880.642993911,788,804.642993911,652.642993911,632,653,0.4286683326,0.00458614623383,0.0497815045812,0.999999931172,0.000113972404385,-0.000351741039872,-3.07187906593e-05,1793239737822199808
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.222813511,745.222813511,714,680,667,635,880.777186489,788,804.777186489,652.777186489,632,653,0.42778040986,0.00459672798441,0.0497849327254,0.999999920669,0.000189398351452,-0.000349982618178,-1.73779636211e-05,1793239737838866176
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.811813165,745.811813165,714,680,667,635,880.188186835,788,804.188186835,652.188186835,632,653,0.426873852808,0.00460347873469,0.0497809077446,0.999999912852,0.000186466693158,-0.000372916061946,-2.14633216558e-05,1793239737855533056
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.60474113,635,880,788,804.39525887,652,632,653.39525887,0.425978621389,0.00460339903246,0.0497819458333,0.999999920259,0.000169149042386,-0.000360787359512,-2.65222052843e-05,1793239737872199680
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.023903112,635,880,788,804.976096888,652,632,653.976096888,0.425088707555,0.00460011234409,0.0497853610989,0.999999933786,0.000145076982206,-0.000332196524505,-3.20381714894e-05,1793239737888866304
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.550055872,635,880.550055872,788,804.449944128,652.550055872,631.449944128,653.449944128,0.424256242409,0.00459925069772,0.0498265072708,0.99999995625,0.000136221604053,-0.000260259799187,-3.47627732517e-05,1793239737905533184
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.872887084,714.127112916,680,667,635,881,787.872887084,804,652.872887084,631.127112916,653,0.4234134737,0.00459883779294,0.0498566194866,0.999999968905,0.000131036428287,-0.000209002073797,-3.65637019284e-05,1793239737922200064
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745.283489292,714.716510708,680,667,635,881,787.283489292,804,652.283489292,631.716510708,653,0.422524265919,0.00459967835347,0.0498407140061,0.99999996128,0.00013682392111,-0.000239715625786,-3.54411112377e-05,1793239737938866432
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,745.300355546,714.699644454,679.699644454,667,635,880.699644454,787.300355546,804,652.300355546,632,653,0.421624561884,0.00460085566914,0.0498212422181,0.999999951874,0.000139971937625,-0.000274595203051,-3.54669231728e-05,1793239737955532800
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745.879054358,714.120945642,679.120945642,667,635,880.120945642,787.879054358,804,652.879054358,632,653,0.420715130888,0.00460234505999,0.0497984654891,0.999999940348,0.000140673917817,-0.000313335486562,-3.65569743302e-05,1793239737972199424
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.54279162,746,714,679.45720838,666.54279162,635,880,788.45720838,804,653,632,653,0.41983025132,0.00460568782544,0.0498073736985,0.999999941028,0.000140957973906,-0.000311007096805,-3.67294314945e-05,1793239737988866304
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,746,714.035058958,679.964941042,666.035058958,635,880,788.964941042,804,653,632,653,0.418952911691,0.00460908860874,0.0498222844187,0.999999944072,0.000140947153813,-0.000301077893759,-3.66377571016e-05,1793239738005532928
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,746,714.610450615,679.389549385,666.610450615,635,880,788.389549385,804,653,632,653,0.418091802987,0.00460583639224,0.0498006814762,0.999999931587,0.000138093506745,-0.000341240869582,-3.6211814237e-05,1793239738022199552
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,746,714.809711725,679,666.809711725,635,879.809711725,788,804,653,632,653,0.417264032052,0.00460207638584,0.0497915768065,0.999999927154,0.000135277603506,-0.000355052732217,-3.64675615422e-05,1793239738038866432
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,746,714.220554562,679,666.220554562,635,879.220554562,788,804,653,632,653,0.416506141242,0.0045972519854,0.0498086701327,0.999999941307,0.00013254081593,-0.000313629253965,-3.81522197881e-05,1793239738055533056
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.362299256,746,714,679.362299256,666.362299256,635,879.362299256,788,804,653,632,653,0.415736436537,0.00459842950714,0.0498239060937,0.999999951148,0.000135398864897,-0.000278960409832,-3.93907221024e-05,1793239738072199680
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.94138141,746,714,679.94138141,666.94138141,635,879.94138141,788,804,653,632,653,0.414959662995,0.00460319829818,0.0498380306933,0.999999958325,0.000141604602062,-0.000248333224752,-4.03622655064e-05,1793239738088866304
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.482896269,746,714,680,666.482896269,635,880,788,803.482896269,652.482896269,632,653,0.414145181968,0.00460858714856,0.0498150264255,0.999999945905,0.000137169155869,-0.000296218556565,-4.03610028142e-05,1793239738105532928
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.094449819,746,714.094449819,680,666.094449819,635,879.905550181,788,803.094449819,652,632,653,0.413343841304,0.00461352648578,0.0497918169225,0.999999931173,0.000134044735103,-0.000343591128744,-4.03789425951e-05,1793239738122199552
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.682254181,746,714.682254181,680,666.682254181,635,879.317745819,788,803.682254181,652,632,653,0.412633322301,0.00461575302594,0.0497893785061,0.99999993027,0.000144028669474,-0.000342095967517,-4.10694935846e-05,1793239738138866176
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,635,879.265827802,788,804,652.265827802,632,653,0.4119407003,0.00461537345865,0.0498001409567,0.999999935017,0.00015108777867,-0.000324725597715,-4.11250721928e-05,1793239738155532800
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,635,879.844423573,788,804,652.844423573,632,653,0.411269135625,0.00461192759445,0.0498264352979,0.999999945549,0.000154705593002,-0.000288676757328,-4.04335542119e-05,1793239738172199424
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746,714.578020865,679.578020865,667,635,879.578020865,788,804,653,632,653,0.410584385133,0.00460520621405,0.049821176209,0.999999942416,0.000143869268192,-0.000304802946741,-3.95530981774e-05,1793239738188866304
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,746,714.000847821,679.000847821,667,635,879.000847821,788,804,653,632,653,0.409894785155,0.00459728017625,0.0498043125197,0.999999933259,0.000127717054244,-0.000340117870424,-3.86031551151e-05,1793239738205532928
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.57424117,666.42575883,635,879,788,804,653,631.42575883,653,0.40928109867,0.00459607550402,0.0498022519691,0.999999936734,0.000116939981959,-0.000333638867811,-3.92667844534e-05,1793239738222199808
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.153424037,635.153424037,879.153424037,788,804,653,631.153424037,653,0.408685791257,0.00459499470417,0.049805543337,0.999999941544,0.000110315712455,-0.000321181681053,-3.98194114939e-05,1793239738238866432
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.744288167,635.744288167,879.744288167,788,804,653,631.744288167,653,0.408142567407,0.00459423889538,0.0498240319176,0.999999949937,0.000115509298431,-0.000291854889488,-4.00487829125e-05,1793239738255533056
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.672067234,714,679.672067234,666.672067234,635.672067234,879.672067234,788,803.672067234,653,631.672067234,653,0.407604622018,0.00459574913814,0.0498334376362,0.999999952424,0.000122058080824,-0.00028046117739,-3.99351127781e-05,1793239738272199936
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745.09393097,714,679.09393097,666.09393097,635.09393097,879.09393097,788,803.09393097,653,631.09393097,653,0.40707070398,0.00459898831468,0.0498359133848,0.99999995084,0.000129640839794,-0.00028274990359,-3.95597115682e-05,1793239738288866304
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.484288467,666,635,879.484288467,788,803,653,631,653,0.406536231104,0.00460365572841,0.049813317562,0.999999936991,0.000137211940635,-0.000324924688019,-4.01728316136e-05,1793239738305533184
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.061771804,714,679.938228196,666.061771804,635,880,788,803.061771804,653,631.061771804,653,0.406008576757,0.00460825370601,0.0497878274972,0.999999919929,0.00014387829665,-0.000371166305991,-4.09565056287e-05,1793239738322199808
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.633050566,714,679.366949434,666.633050566,635,880,788,803.633050566,653,631.633050566,653,0.405538050845,0.00460999367966,0.0497785813908,0.999999913962,0.000143100781741,-0.000387131534213,-4.15652420866e-05,1793239738338866944
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.212055955,746,714,679,666.787944045,635,880,788.212055955,804,653,632,653,0.405102805847,0.00461247390785,0.0497798699381,0.999999914943,0.000144084049526,-0.000384122709259,-4.24647083896e-05,1793239738355533568
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.804937317,746,714,679,666.195062683,635,880,788.804937317,804,653,632,653,0.404730920914,0.00461628353847,0.0498000773787,0.999999927833,0.000148229458098,-0.000347038906735,-4.38862882646e-05,1793239738372199680
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.612170344,746,714.387829656,679.387829656,666,635,880,788.612170344,803.612170344,653,631.612170344,653,0.404388367701,0.00461826010144,0.0498259432987,0.999999940766,0.00015179192479,-0.000305751201574,-4.40909160518e-05,1793239738388866304
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.034175876,746,714.965824124,679.965824124,666,635,880,788.034175876,803.034175876,653,631.034175876,653,0.404060196701,0.00461933785528,0.0498545837469,0.999999952595,0.000155068557346,-0.000262402189971,-4.36988348698e-05,1793239738405533184
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.457083296,714.457083296,680,666.542916704,635,880,788,803.542916704,653,631.542916704,653.542916704,0.403736783893,0.00462273445123,0.0498599852565,0.999999953517,0.000160342227294,-0.000255453913369,-4.47241634741e-05,1793239738422199552
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,667,635,879.878517238,788,803.878517238,653,632,653.878517238,0.403418196476,0.00462538492835,0.0498608466484,0.999999952476,0.000164665252476,-0.000256610369299,-4.56657782369e-05,1793239738438866176
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,667,635,879.2941203,788,803.2941203,653,632,653.2941203,0.403116856832,0.00462463700196,0.0498499728022,0.999999946169,0.000164887584194,-0.000279933291217,-4.59489715105e-05,1793239738455532800
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,714.28778712,680,666.71221288,635,879.28778712,788.28778712,803.28778712,653,632,653,0.40283572255,0.00462511884997,0.049840432206,0.999999940159,0.000165061976207,-0.000300458665392,-4.64842998092e-05,1793239738472199680
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,714.86717202,680,666.13282798,635,879.86717202,788.86717202,803.86717202,653,632,653,0.402575061191,0.00462684675618,0.0498322425145,0.999999934629,0.000165187793752,-0.000318149447446,-4.72751017069e-05,1793239738488866560
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.445398763,714.554601237,680,666.445398763,635,880,788.554601237,804,653,632,653,0.402355119154,0.00462591939582,0.0498268161966,0.999999934225,0.000150164781066,-0.000326651565405,-4.79612522586e-05,1793239738505533184
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.976793609,714,679.976793609,667,635,880,788,803.976793609,653,632,653,0.402148971383,0.00462411061713,0.049822586624,0.999999935374,0.00012940540338,-0.000331880980972,-4.85936639595e-05,1793239738522199808
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.400763408,714,679.400763408,667,635,880,788,803.400763408,653,632,653,0.401982900256,0.00462011946361,0.0498272851283,0.999999943096,7.93363650388e-05,-0.000324257404328,-4.86874502011e-05,1793239738538866432
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.179069381,679,667,635,880,788,803.179069381,653,631.820930619,653,0.401827236487,0.00461001491608,0.04983208429,0.999999947827,5.74132467452e-05,-0.000314850959049,-4.38131179212e-05,1793239738555533312
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,714.767597054,679,667,635,880,788,803.767597054,653,631.232402946,653,0.401695370104,0.00458593154232,0.0498371136134,0.999999949224,9.98483205853e-05,-0.000301367826012,-2.75787346751e-05,1793239738572199936
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.350296821,714.649703179,679.350296821,667,635,880,788,803.649703179,653,631.350296821,653,0.401578556851,0.00457710132928,0.0498402169362,0.99999994999,0.000118110319094,-0.000292552111545,-2.19646328745e-05,1793239738588866304
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.929193422,714.070806578,679.929193422,667,635,880,788,803.070806578,653,631.929193422,653,0.401471567089,0.00457822515558,0.0498420633732,0.999999951335,0.000120597243897,-0.000286782301081,-2.32812061242e-05,1793239738605532672
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666.492952642,635,880,788,803.507047358,653,632,653,0.401381340282,0.00458207235373,0.0498405297285,0.999999950261,0.00012502641236,-0.000288499078633,-2.47882140643e-05,1793239738622199552
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.083760306,746,714,679.916239694,666,635,879.916239694,788,804,653,632,653,0.401296687913,0.00458483192145,0.0498389471893,0.999999949201,0.000128287659094,-0.000290631206373,-2.59699050254e-05,1793239738638866176
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.654682452,746,714,679.345317548,666,635,879.345317548,788,804,653,632,653,0.401230870389,0.00457905830907,0.0498398199221,0.999999950305,0.000123181866453,-0.000289110982805,-2.51051542262e-05,1793239738655533312
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.76555218,745.76555218,714,679,666,635,879.23444782,788,804,653,631.76555218,653,0.401173447188,0.00457812474497,0.0498408862142,0.999999951102,0.000122695048345,-0.000286528242757,-2.53784953205e-05,1793239738672199936
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766.172251131,745.172251131,714,679,666,635,879.827748869,788,804,653,631.172251131,653,0.401128872603,0.00458459951179,0.0498422487744,0.999999951416,0.000129278178691,-0.000282319181552,-2.73938358257e-05,1793239738688866048
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.411833715,745,714.411833715,679.411833715,666.411833715,635,879.588166285,788,804,653,631,653,0.401097014385,0.00458390081149,0.0498450695985,0.999999953245,0.000128945096549,-0.000275901300345,-2.75916539332e-05,1793239738705535744
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.992148206,745,714.992148206,679.992148206,666.992148206,635,879.007851794,788,804,653,631,653,0.401070358422,0.00458026745255,0.0498484869971,0.999999955656,0.000125782598371,-0.000268579793094,-2.70459253276e-05,1793239738722206208
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.438715667,745.561284333,714.438715667,678.877431335,667,635,879,788,803.438715667,653,631,653,0.401050493922,0.00458221066884,0.0498495000195,0.99999995595,0.000127617092089,-0.000266593480868,-2.72281121375e-05,1793239738738869248
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,714,678.272444185,666.863777908,635,879.136222092,788,803.136222092,653,631,653,0.401031744286,0.0045839542992,0.0498499951605,0.999999955954,0.00012912079627,-0.000265826654311,-2.75021970525e-05,1793239738755532800
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.462429828,666.268785086,635,879.731214914,788,803.731214914,653,631,653,0.401016435597,0.00458476816578,0.0498488572362,0.999999955091,0.00012927963958,-0.000268920384493,-2.80521535845e-05,1793239738772199424
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.682122657,666.317877343,635,879.682122657,788,803.682122657,653,631,653,0.401006783136,0.00458388185504,0.0498487704159,0.999999955209,0.000128013758691,-0.00026908259924,-2.81001278298e-05,1793239738788866048
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.102324149,666.897675851,635,879.102324149,788,803.102324149,653,631,653,0.40100179123,0.00458159465051,0.0498495496728,0.999999956132,0.000125573948851,-0.000266829335675,-2.7734484154e-05,1793239738805532672
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.52538432,635,879.47461568,788,803.47461568,653.47461568,631,653,0.400999602704,0.00458345773064,0.0498504165879,0.9999999566,0.000126897964627,-0.000264374051839,-2.83564090255e-05,1793239738822199552
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766.050564976,746,714,679,666.050564976,635,880,788,804,653.949435024,631.050564976,653,0.400998082773,0.00458585964841,0.0498513657145,0.99999995702,0.000128611538109,-0.000261864100846,-2.90979728523e-05,1793239738838866176
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766.622617194,746,714,679,666.622617194,635,880,788,804,653.377382806,631.622617194,653,0.400997262296,0.00458464595777,0.0498529689695,0.99999995804,0.000126024080262,-0.000259236849604,-2.88907232458e-05,1793239738855533312
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766.798997644,746,714,679,667,635,879.798997644,788,803.798997644,653,632,653,0.400996197688,0.0045840734838,0.0498536869285,0.999999958531,0.000124744486545,-0.000257962601299,-2.88327921399e-05,1793239738872200448
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766.208335579,746,714,679,667,635,879.208335579,788,803.208335579,653,632,653,0.400994659812,0.0045847440615,0.0498526886676,0.999999958018,0.000126000295886,-0.000259311261371,-2.90643273231e-05,1793239738888866816
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,714.374620291,679,667,635,879,788,803.374620291,653,631.625379709,653,0.400994430707,0.0045854410698,0.0498529330133,0.999999957874,0.000127426581824,-0.000259167472521,-2.90827294655e-05,1793239738905533184
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,714.953376918,679,667,635,879,788,803.953376918,653,631.046623082,653,0.400994914771,0.00458615248053,0.0498538544743,0.99999995793,0.00012894576303,-0.000258210425342,-2.89849921405e-05,1793239738922200064
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714.47142588,679,666.47142588,635,879.52857412,788,803.47142588,653,631,653,0.40099543968,0.00458546853529,0.0498544921965,0.999999958367,0.000128560331482,-0.000256739309196,-2.86987640786e-05,1793239738938866688
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766.10312073,746,714,679,666.10312073,635,880,788,803,653,631,653,0.400995539891,0.00458478274324,0.0498547958046,0.999999958701,0.000127903119945,-0.000255789278151,-2.84718748888e-05,1793239738955533056
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766.676123702,746,714,679,666.676123702,635,880,788,803,653,631,653,0.400993688607,0.00458464560452,0.0498536902578,0.999999958424,0.000126767888694,-0.000257418867537,-2.85906218273e-05,1793239738972199680
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.741128853,745.741128853,714,679,666.741128853,635,880,788,803,653,631,653,0.400993195893,0.00458475053081,0.0498539205809,0.999999958525,0.000126040283293,-0.000257381199966,-2.86145870642e-05,1793239738988866304
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.145713056,745.145713056,714,679,666.145713056,635,880,788,803,653,631,653,0.400994469384,0.00458517015297,0.0498558875974,0.999999959118,0.000125842610488,-0.000255176020275,-2.85153316543e-05,1793239739005532928
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.436629216,745.436629216,714,679,666.436629216,635,880,788,803.436629216,653.436629216,631.436629216,653,0.400995121999,0.00458470470888,0.0498563778465,0.999999959371,0.000126880223351,-0.000253678231772,-2.8419258924e-05,1793239739022199808
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.985376789,745.985376789,714,679.014623211,667,635,880,788,804,653.985376789,631.985376789,653,0.400995527677,0.00458396738484,0.0498563765134,0.999999959501,0.000128263252682,-0.000252476554315,-2.83251846546e-05,1793239739038866688
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.411670474,745.411670474,714,679.588329526,667,635,880,788,804,653.411670474,631.411670474,653,0.400994183847,0.0045837997226,0.0498558751436,0.99999995925,0.000127549540917,-0.000253832693321,-2.8268088957e-05,1793239739055533312
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.166053279,745,714,680,666.833946721,635.166053279,880,788,803.833946721,653,631.166053279,653,0.40099379325,0.00458372925024,0.0498559371093,0.999999959215,0.000127305631544,-0.000254102004333,-2.82138919004e-05,1793239739072199936
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.753983752,745,714,680,666.246016248,635.753983752,880,788,803.246016248,653,631.753983752,653,0.400995824448,0.0045839056998,0.0498574302927,0.999999959725,0.000128255308496,-0.000251610105441,-2.81670591737e-05,1793239739088866304
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766.661927771,745.338072229,714,679.661927771,666.338072229,635.661927771,880.338072229,788,803,653,632,653,0.400995456675,0.00458395829342,0.0498570183129,0.999999959833,0.000126726276713,-0.00025193384892,-2.83623500577e-05,1793239739105532928
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766.080603738,745.919396262,714,679.080603738,666.919396262,635.080603738,880.919396262,788,803,653,632,653,0.40099336278,0.00458392176943,0.0498552355182,0.999999959642,0.000123413749166,-0.000254283520784,-2.87318552099e-05,1793239739122199552
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,667,635,880.012119236,788,803,653,632,653,0.400994405362,0.00458359279201,0.0498562089565,0.999999960086,0.000124026503952,-0.000252259600962,-2.84625237771e-05,1793239739138866176
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.930938407,635,879,788,803.069061593,653,632,653,0.400995748811,0.00458329728869,0.0498574739586,0.999999960539,0.000125151188771,-0.000249930899267,-2.81679580444e-05,1793239739155532800
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.343288684,635,879,788,803.656711316,653,632,653,0.400995560189,0.00458360665565,0.0498575966635,0.999999960335,0.000125375201273,-0.000250600265863,-2.84561170378e-05,1793239739172199680
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745.76047426,714,679,666.23952574,635.23952574,879.23952574,788,804,653.23952574,631.76047426,653,0.400994848733,0.00458400868762,0.0498573670404,0.999999960137,0.000124820071585,-0.000251624808227,-2.88162590154e-05,1793239739188866304
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745.184452585,714,679,666.815547415,635.815547415,879.815547415,788,804,653.815547415,631.184452585,653,0.400993402776,0.00458454089937,0.0498566424522,0.999999959944,0.000123170369884,-0.000253148316694,-2.92775257881e-05,1793239739205533184
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.395683906,714.395683906,679.395683906,666.604316094,636,879.604316094,788,804,654,631.395683906,653,0.400993026361,0.0045838904489,0.0498561346308,0.999999959773,0.00012326541425,-0.000253810579258,-2.89830878205e-05,1793239739222199808
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.977758689,714.977758689,679.977758689,666.022241311,636,879.022241311,788,804,654,631.977758689,653,0.400993153763,0.00458268289348,0.0498557289196,0.999999959613,0.000124182338869,-0.000254067143201,-2.83326675195e-05,1793239739238866432
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,746,714.447368809,679.447368809,666,635.447368809,879.552631191,788,803.447368809,653.447368809,632,653,0.400994501777,0.00458351649547,0.0498567103906,0.999999959987,0.000125354010177,-0.000252010511199,-2.83408519199e-05,1793239739255533056
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6f03740c215f0ef3a7e0cb507f86c50ff0ec36d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_04/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,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+1,0.016666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+2,0.033333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+3,0.050000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+4,0.066666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+5,0.083333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+6,0.100000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+7,0.116666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+8,0.133333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+9,0.150000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+10,0.166666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+11,0.183333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+12,0.200000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+13,0.216666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+14,0.233333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+15,0.250000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+16,0.266666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+17,0.283333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+18,0.300000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+19,0.316666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+20,0.333333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+21,0.350000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+22,0.366666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+23,0.383333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+24,0.400000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+25,0.416666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+26,0.433333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+27,0.450000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+28,0.466666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+29,0.483333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+30,0.500000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+31,0.516666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+32,0.533333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+33,0.550000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+34,0.566666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+35,0.583333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+36,0.600000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+37,0.616666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+38,0.633333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+39,0.650000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+40,0.666666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+41,0.683333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+42,0.700000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+43,0.716666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+44,0.733333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+45,0.750000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+46,0.766666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+47,0.783333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+48,0.800000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+49,0.816666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+50,0.833333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+51,0.850000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+52,0.866666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+53,0.883333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+54,0.900000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+55,0.916666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+56,0.933333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+57,0.950000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+58,0.966666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+59,0.983333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+60,1.000000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+61,1.016666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+62,1.033333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+63,1.050000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+64,1.066666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+65,1.083333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+66,1.100000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+67,1.116666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+68,1.133333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+69,1.150000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+70,1.166666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+71,1.183333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+72,1.200000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+73,1.216666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+74,1.233333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+75,1.250000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+76,1.266666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+77,1.283333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+78,1.300000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+79,1.316666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+80,1.333333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+81,1.350000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+82,1.366666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+83,1.383333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+84,1.400000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+85,1.416666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+86,1.433333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+87,1.450000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+88,1.466666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+89,1.483333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+90,1.500000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+91,1.516666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+92,1.533333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+93,1.550000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+94,1.566666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+95,1.583333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+96,1.600000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+97,1.616666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+98,1.633333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+99,1.650000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+100,1.666666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+101,1.683333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+102,1.700000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+103,1.716666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+104,1.733333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+105,1.750000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+106,1.766666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+107,1.783333333,pose1_to_pose2_press,0.575664395412,0.0100908556686,1.04003237669,0.546234847011,0.0187625952058,1.03970050606
+108,1.800000000,pose1_to_pose2_press,0.575664399454,0.0100908358021,1.04003235358,0.546234851304,0.0187625762412,1.03970048425
+109,1.816666667,pose1_to_pose2_press,0.575664400769,0.0100908293395,1.04003234606,0.5462348527,0.0187625700719,1.03970047716
+110,1.833333333,pose1_to_pose2_press,0.575664402677,0.0100908199603,1.04003233514,0.546234854727,0.0187625611186,1.03970046686
+111,1.850000000,pose1_to_pose2_press,0.575664415356,0.0100907576353,1.04003226262,0.546234868193,0.0187625016229,1.03970039845
+112,1.866666667,pose1_to_pose2_press,0.575664539367,0.0100907270952,1.04003220818,0.546234992446,0.0187624719196,1.03970034447
+113,1.883333333,pose1_to_pose2_press,0.575664663905,0.0100907303415,1.04003219186,0.546235116789,0.0187624744344,1.03970032629
+114,1.900000000,pose1_to_pose2_press,0.57566539658,0.0100906991576,1.04003219725,0.546235849598,0.0187624435486,1.03970032753
+115,1.916666667,pose1_to_pose2_press,0.575667765417,0.0100906972073,1.04003215996,0.546238218812,0.0187624430609,1.03970029502
+116,1.933333333,pose1_to_pose2_press,0.575675686829,0.0100906870142,1.04003226603,0.546246139275,0.0187624293653,1.03970039367
+117,1.950000000,pose1_to_pose2_press,0.575691263109,0.0100907098143,1.04003234817,0.546261715319,0.0187624514775,1.03970047878
+118,1.966666667,pose1_to_pose2_press,0.575717509257,0.0100907218106,1.0400323575,0.546287963184,0.0187624694563,1.03970049208
+119,1.983333333,pose1_to_pose2_press,0.575754549973,0.0100907186006,1.04003219257,0.546325001963,0.0187624595503,1.03970032392
+120,2.000000000,pose1_to_pose2_press,0.575802874839,0.0100907291522,1.04003249358,0.546373326807,0.0187624699724,1.03970062335
+121,2.016666667,pose1_to_pose2_press,0.575859630989,0.0100907569012,1.0400323568,0.546430083313,0.018762498885,1.03970048531
+122,2.033333333,pose1_to_pose2_press,0.575923818953,0.0100906561991,1.04003224462,0.546494271406,0.0187623987521,1.03970037656
+123,2.050000000,pose1_to_pose2_press,0.575995359742,0.0100906967467,1.0400321929,0.546565812734,0.0187624413067,1.03970032944
+124,2.066666667,pose1_to_pose2_press,0.576074736582,0.0100907847986,1.04003218062,0.546645188822,0.0187625266987,1.03970031424
+125,2.083333333,pose1_to_pose2_press,0.57616387519,0.0100907485144,1.04003249473,0.546734327751,0.0187624911735,1.03970061968
+126,2.100000000,pose1_to_pose2_press,0.576263890418,0.0100907309415,1.04003224991,0.546834342337,0.0187624716707,1.03970038139
+127,2.116666667,pose1_to_pose2_press,0.576378662699,0.0100906681753,1.04003233504,0.546949116119,0.0187624141687,1.03970047088
+128,2.133333333,pose1_to_pose2_press,0.576507398016,0.0100907921129,1.04003239964,0.54707784957,0.0187625313601,1.03970052466
+129,2.150000000,pose1_to_pose2_press,0.576650577674,0.0100908788716,1.04003248669,0.547221028237,0.0187626146696,1.03970060939
+130,2.166666667,pose1_to_pose2_press,0.576811867979,0.010090757423,1.04003227688,0.547382319565,0.0187624970971,1.03970041006
+131,2.183333333,pose1_to_pose2_press,0.576990864568,0.0100906838775,1.0400322171,0.547561316939,0.0187624263652,1.03970035416
+132,2.200000000,pose1_to_pose2_press,0.577189125071,0.0100907436789,1.04003225304,0.547759576984,0.0187624845202,1.03970038767
+133,2.216666667,pose1_to_pose2_press,0.577407471703,0.0100907646325,1.04003218743,0.547977923364,0.0187625046471,1.03970032272
+134,2.233333333,pose1_to_pose2_press,0.577648333009,0.0100907490664,1.0400323294,0.548218784804,0.018762489416,1.03970046148
+135,2.250000000,pose1_to_pose2_press,0.577909889335,0.0100907354605,1.04003223318,0.54848034101,0.0187624755102,1.03970036797
+136,2.266666667,pose1_to_pose2_press,0.57819238929,0.0100907450403,1.04003220256,0.548762842304,0.0187624899108,1.03970034458
+137,2.283333333,pose1_to_pose2_press,0.578498122544,0.0100907943618,1.04003227999,0.54906857408,0.0187625338201,1.03970041157
+138,2.300000000,pose1_to_pose2_press,0.578824419953,0.0100908204711,1.04003244323,0.54939487277,0.0187625645144,1.03970058104
+139,2.316666667,pose1_to_pose2_press,0.579167920876,0.0100907019707,1.04003225582,0.549738373252,0.0187624442554,1.03970038662
+140,2.333333333,pose1_to_pose2_press,0.579525008364,0.0100907040898,1.04003222847,0.550095460871,0.0187624469368,1.03970036223
+141,2.350000000,pose1_to_pose2_press,0.579895609973,0.0100907123828,1.04003246645,0.550466061438,0.0187624514762,1.03970059457
+142,2.366666667,pose1_to_pose2_press,0.580281817387,0.0100907375053,1.04003241719,0.550852268817,0.0187624765044,1.03970054592
+143,2.383333333,pose1_to_pose2_press,0.580687206647,0.0100907693278,1.04003227721,0.551257658578,0.0187625103072,1.0397004131
+144,2.400000000,pose1_to_pose2_press,0.581124166192,0.0100907988696,1.0400322398,0.551694618371,0.0187625406414,1.03970037442
+145,2.416666667,pose1_to_pose2_press,0.581593146244,0.010090726857,1.04003215317,0.552163598631,0.0187624691853,1.03970028378
+146,2.433333333,pose1_to_pose2_press,0.582096432328,0.0100907307585,1.04003208528,0.552666884142,0.0187624713545,1.0397002214
+147,2.450000000,pose1_to_pose2_press,0.582622105311,0.0100908500175,1.0400322051,0.55319255646,0.0187625885699,1.03970034674
+148,2.466666667,pose1_to_pose2_press,0.583165326225,0.0100907446027,1.0400321729,0.553735778221,0.0187624859709,1.03970031292
+149,2.483333333,pose1_to_pose2_press,0.583713637796,0.0100907514639,1.04003215684,0.554284088706,0.0187624889967,1.0397002929
+150,2.500000000,pose1_to_pose2_press,0.58426813002,0.0100908362889,1.04003236992,0.554838580619,0.0187625726753,1.03970050355
+151,2.516666667,pose1_to_pose2_press,0.584840608849,0.0100907068252,1.04003249983,0.555411062049,0.0187624518096,1.03970062746
+152,2.533333333,pose1_to_pose2_press,0.585436667364,0.0100909490143,1.04003224195,0.55600711757,0.0187626841746,1.0397003783
+153,2.550000000,pose1_to_pose2_press,0.586061324525,0.0100908573831,1.04003233715,0.556631775414,0.0187625948834,1.03970047406
+154,2.566666667,pose1_to_pose2_press,0.586707811178,0.010090720705,1.04003249624,0.557278264329,0.0187624653961,1.03970062044
+155,2.583333333,pose1_to_pose2_press,0.587370828857,0.010090869912,1.04003223241,0.557941278653,0.0187626033903,1.03970036106
+156,2.600000000,pose1_to_pose2_press,0.588043051402,0.0100908048377,1.04003231442,0.558613503088,0.0187625446371,1.0397004407
+157,2.616666667,pose1_to_pose2_press,0.588724380946,0.0100907739531,1.04003238739,0.559294833016,0.0187625151213,1.03970051535
+158,2.633333333,pose1_to_pose2_press,0.589419170479,0.0100908035963,1.04003237357,0.559989621932,0.0187625427983,1.03970050488
+159,2.650000000,pose1_to_pose2_press,0.590130719863,0.0100908307142,1.04003223133,0.560701170643,0.0187625679027,1.03970036968
+160,2.666666667,pose1_to_pose2_press,0.590858836436,0.0100908660744,1.04003210828,0.561429286569,0.0187626012783,1.03970025211
+161,2.683333333,pose1_to_pose2_press,0.591596202356,0.0100908813755,1.04003221497,0.562166652951,0.0187626179326,1.0397003532
+162,2.700000000,pose1_to_pose2_press,0.592341231287,0.0100908425282,1.04003222246,0.562911681312,0.0187625771414,1.0397003604
+163,2.716666667,pose1_to_pose2_press,0.593100779084,0.0100907556365,1.04003219139,0.563671230136,0.0187624938101,1.03970033136
+164,2.733333333,pose1_to_pose2_press,0.593871817304,0.0100908101828,1.04003214331,0.564442269129,0.0187625507778,1.039700278
+165,2.750000000,pose1_to_pose2_press,0.594648206387,0.0100907632693,1.04003240225,0.565218657906,0.0187625024156,1.03970052627
+166,2.766666667,pose1_to_pose2_press,0.595431916276,0.0100906772235,1.04003233074,0.566002369462,0.0187624225656,1.03970046882
+167,2.783333333,pose1_to_pose2_press,0.596222306702,0.0100907195055,1.04003224743,0.566792760125,0.0187624655197,1.03970038209
+168,2.800000000,pose1_to_pose2_press,0.597006545054,0.0100906838675,1.0400323278,0.567576998265,0.0187624291338,1.03970046182
+169,2.816666667,pose1_to_pose2_press,0.597788361464,0.0100906657666,1.0400321601,0.568358816107,0.0187624159964,1.03970029683
+170,2.833333333,pose1_to_pose2_press,0.598567508249,0.0100907473162,1.04003211468,0.569137961783,0.0187624937327,1.03970025018
+171,2.850000000,pose1_to_pose2_press,0.599344279239,0.0100908029812,1.0400324033,0.569914730933,0.0187625430703,1.03970053669
+172,2.866666667,pose1_to_pose2_press,0.600120221442,0.0100908232381,1.0400324184,0.570690673115,0.0187625632803,1.03970055244
+173,2.883333333,pose1_to_pose2_press,0.600892640828,0.0100907901222,1.04003235837,0.57146309277,0.0187625309659,1.03970048951
+174,2.900000000,pose1_to_pose2_press,0.601663012148,0.0100907710464,1.04003242207,0.572233463065,0.0187625082019,1.03970054782
+175,2.916666667,pose1_to_pose2_press,0.602427822182,0.0100907548794,1.04003221998,0.572998273756,0.0187624943514,1.03970034812
+176,2.933333333,pose1_to_pose2_press,0.603188653375,0.0100905623028,1.04003216435,0.573759108619,0.0187623144266,1.03970029763
+177,2.950000000,pose1_to_pose2_press,0.603951793372,0.0100907641224,1.04003234704,0.574522246527,0.0187625092149,1.039700482
+178,2.966666667,pose1_to_pose2_press,0.604709078565,0.0100907631576,1.04003232434,0.575279531036,0.0187625061494,1.03970046516
+179,2.983333333,pose1_to_pose2_press,0.605456341428,0.0100906892601,1.04003221859,0.576026795632,0.0187624379802,1.03970035545
+180,3.000000000,pose1_to_pose2_press,0.606191835811,0.0100908632815,1.04003222724,0.576762287503,0.018762603421,1.03970036274
+181,3.016666667,pose1_to_pose2_press,0.606910183086,0.0100907705347,1.04003221515,0.577480634103,0.0187625084477,1.03970035239
+182,3.033333333,pose1_to_pose2_press,0.607610884188,0.0100907030011,1.04003221491,0.57818133749,0.0187624486727,1.03970035238
+183,3.050000000,pose1_to_pose2_press,0.608299667929,0.0100907673766,1.04003221337,0.578870120941,0.018762512139,1.03970035291
+184,3.066666667,pose1_to_pose2_press,0.608978801468,0.0100908751869,1.04003224241,0.579549251942,0.0187626110447,1.03970037435
+185,3.083333333,pose1_to_pose2_press,0.609647857584,0.0100908709567,1.0400322613,0.580218308894,0.0187626095148,1.03970038976
+186,3.100000000,pose1_to_pose2_press,0.610301689554,0.0100908153541,1.04003224762,0.580872141639,0.0187625566656,1.03970037939
+187,3.116666667,pose1_to_pose2_press,0.610926731476,0.0100907556443,1.04003231189,0.581497183767,0.018762497567,1.03970044146
+188,3.133333333,pose1_to_pose2_press,0.611525732573,0.0100907330512,1.0400323894,0.58209618504,0.018762475427,1.03970051558
+189,3.150000000,pose1_to_pose2_press,0.612102386888,0.0100907912479,1.04003231675,0.582672838934,0.0187625321845,1.03970044283
+190,3.166666667,pose1_to_pose2_press,0.612662818198,0.0100908825114,1.04003221507,0.583233269985,0.0187626225164,1.03970033842
+191,3.183333333,pose1_to_pose2_press,0.613206200574,0.0100909214784,1.04003233196,0.583776649991,0.0187626538535,1.03970046379
+192,3.200000000,pose1_to_pose2_press,0.613724686123,0.0100907033076,1.04003211053,0.584295139733,0.0187624502352,1.03970024757
+193,3.216666667,pose1_to_pose2_press,0.614215203576,0.0100908051891,1.04003234569,0.584785656192,0.0187625487001,1.03970047925
+194,3.233333333,pose1_to_pose2_press,0.614678134282,0.0100907417824,1.0400322526,0.585248586407,0.0187624838864,1.03970038734
+195,3.250000000,pose1_to_pose2_press,0.615121676629,0.010090696732,1.04003233275,0.585692129038,0.0187624398387,1.0397004635
+196,3.266666667,pose1_to_pose2_press,0.615552512491,0.010090680411,1.04003235671,0.586122965983,0.0187624274766,1.03970049057
+197,3.283333333,pose1_to_pose2_press,0.615974602714,0.0100907722578,1.040032296,0.586545054544,0.0187625138946,1.03970043128
+198,3.300000000,pose1_to_pose2_press,0.61638612747,0.0100908443664,1.04003221913,0.586956577492,0.018762579816,1.03970034724
+199,3.316666667,pose1_to_pose2_press,0.616770455042,0.0100907952512,1.04003229454,0.587340906174,0.018762534481,1.03970041605
+200,3.333333333,pose1_to_pose2_press,0.617125455981,0.0100907881208,1.04003242634,0.58769590774,0.0187625298521,1.0397005521
+201,3.350000000,pose1_to_pose2_press,0.617449437494,0.0100908118445,1.04003210672,0.588019890339,0.0187625579671,1.03970024642
+202,3.366666667,pose1_to_pose2_press,0.617750974958,0.0100907125593,1.04003223615,0.588321427578,0.0187624579121,1.03970037101
+203,3.383333333,pose1_to_pose2_press,0.618033770125,0.0100908870244,1.04003224822,0.588604221197,0.0187626272326,1.03970038172
+204,3.400000000,pose1_to_pose2_press,0.618309617481,0.0100907055235,1.04003212747,0.588880070196,0.0187624517085,1.03970026786
+205,3.416666667,pose1_to_pose2_press,0.618578305924,0.0100907406408,1.04003209476,0.58914875751,0.0187624831248,1.039700233
+206,3.433333333,pose1_to_pose2_press,0.618829281192,0.0100907715994,1.04003217497,0.589399732769,0.0187625142097,1.03970031226
+207,3.450000000,pose1_to_pose2_press,0.619060995765,0.0100907435706,1.04003234843,0.589631448117,0.0187624890182,1.03970048714
+208,3.466666667,pose1_to_pose2_press,0.619269019738,0.0100907653347,1.04003242072,0.589839471392,0.0187625083905,1.03970055551
+209,3.483333333,pose1_to_pose2_press,0.619455774362,0.0100907878089,1.04003236448,0.590026225918,0.0187625305697,1.03970049743
+210,3.500000000,pose1_to_pose2_press,0.619622155166,0.010090798149,1.04003234362,0.590192607069,0.0187625423882,1.03970048161
+211,3.516666667,pose1_to_pose2_press,0.619775901306,0.010090842306,1.0400323502,0.590346350512,0.0187625774069,1.03970048596
+212,3.533333333,pose1_to_pose2_press,0.619917241131,0.0100908066935,1.04003239485,0.590487691308,0.0187625448092,1.03970052074
+213,3.550000000,pose1_to_pose2_press,0.620044453926,0.0100907424646,1.04003236596,0.590614904351,0.018762481658,1.03970049675
+214,3.566666667,pose1_to_pose2_press,0.620157841816,0.0100908647082,1.04003237653,0.590728290173,0.0187625969497,1.03970050611
+215,3.583333333,pose1_to_pose2_press,0.620255850278,0.0100907601506,1.04003225609,0.590826303158,0.0187625078888,1.039700388
+216,3.600000000,pose1_to_pose2_press,0.620340035843,0.010090765062,1.04003236056,0.59091048584,0.0187625029895,1.03970049019
+217,3.616666667,pose1_to_pose2_press,0.620410758917,0.0100907757562,1.04003227539,0.590981208698,0.0187625134502,1.03970040674
+218,3.633333333,pose1_to_pose2_press,0.620471712906,0.0100907267582,1.04003231273,0.5910421638,0.0187624680053,1.03970044708
+219,3.650000000,pose1_to_pose2_press,0.620523437425,0.0100907268213,1.04003235154,0.591093888621,0.0187624692174,1.03970048689
+220,3.666666667,pose1_to_pose2_press,0.620565416329,0.0100908173347,1.04003229293,0.591135866043,0.018762554919,1.03970042748
+221,3.683333333,pose1_to_pose2_press,0.620599533648,0.0100907451611,1.04003234955,0.591169984356,0.0187624858987,1.03970047903
+222,3.700000000,pose1_to_pose2_press,0.620626253574,0.0100905802621,1.04003248141,0.591196707427,0.0187623313928,1.03970060599
+223,3.716666667,pose1_to_pose2_press,0.620647069266,0.0100907124024,1.04003238597,0.59121752203,0.0187624599274,1.03970051412
+224,3.733333333,pose1_to_pose2_press,0.620662464053,0.0100906693999,1.04003252036,0.591232915652,0.0187624129025,1.03970064264
+225,3.750000000,pose1_to_pose2_press,0.620674032268,0.0100906943214,1.0400324532,0.591244484195,0.0187624385011,1.03970057298
+226,3.766666667,pose1_to_pose2_press,0.620682462902,0.0100907332776,1.04003228392,0.591252914358,0.0187624761258,1.03970040815
+227,3.783333333,pose1_to_pose2_press,0.62068799813,0.0100907447988,1.04003213672,0.591258449241,0.0187624869479,1.03970026808
+228,3.800000000,pose1_to_pose2_press,0.620691607633,0.0100906721467,1.04003209486,0.591262059934,0.0187624186056,1.03970023543
+229,3.816666667,pose1_to_pose2_press,0.620693920607,0.0100906819023,1.04003210829,0.59126437309,0.0187624290277,1.03970025166
+230,3.833333333,pose1_to_pose2_press,0.620695409107,0.0100907513535,1.04003216211,0.591265861054,0.0187624965572,1.03970030378
+231,3.850000000,pose1_to_pose2_press,0.620696301033,0.0100907929694,1.04003219435,0.591266752659,0.0187625370216,1.03970033502
+232,3.866666667,pose1_to_pose2_press,0.620696824829,0.0100908094164,1.04003222487,0.591267276284,0.0187625528174,1.03970036405
+233,3.883333333,pose1_to_pose2_press,0.620697136778,0.0100908114417,1.0400322543,0.591267588147,0.0187625544793,1.03970039174
+234,3.900000000,pose1_to_pose2_press,0.620697439925,0.0100908134099,1.0400322829,0.591267891211,0.0187625560944,1.03970041864
+235,3.916666667,pose1_to_pose2_press,0.620697657756,0.0100908148241,1.04003230345,0.591268108982,0.0187625572548,1.03970043797
+236,3.933333333,pose1_to_pose2_press,0.62069774562,0.0100908153946,1.04003231174,0.591268196822,0.0187625577229,1.03970044577
+237,3.950000000,pose1_to_pose2_press,0.620698004586,0.0100908170759,1.04003233618,0.591268455718,0.0187625591026,1.03970046875
+238,3.966666667,pose1_to_pose2_press,0.620698180523,0.0100908182182,1.04003235278,0.591268631606,0.0187625600399,1.03970048437
+239,3.983333333,pose1_to_pose2_press,0.620698391553,0.0100908195883,1.04003237269,0.591268842578,0.0187625611641,1.03970050309
+240,4.000000000,pose1_to_pose2_press,0.620698554115,0.0100908206437,1.04003238802,0.591269005095,0.0187625620302,1.03970051752
+241,4.016666667,pose1_to_pose2_press,0.620698600405,0.0100908105697,1.040032395,0.591269051515,0.0187625523841,1.0397005242
+242,4.033333333,pose1_to_pose2_press,0.620698708761,0.0100907791767,1.04003241329,0.591269160279,0.0187625223556,1.03970054178
+243,4.050000000,pose1_to_pose2_press,0.620698901807,0.0100907232476,1.04003244589,0.591269354052,0.0187624688573,1.03970057309
+244,4.066666667,pose1_to_pose2_press,0.620699126322,0.010090658201,1.0400324838,0.591269579413,0.0187624066378,1.03970060951
+245,4.083333333,pose1_to_pose2_press,0.620699344672,0.0100906012422,1.04003251903,0.59126979846,0.0187623520055,1.03970064343
+246,4.100000000,pose1_to_pose2_press,0.620699532922,0.0100906894957,1.04003251373,0.591269984552,0.0187624330428,1.03970064008
+247,4.116666667,pose1_to_pose2_press,0.620699609767,0.0100907255216,1.04003251156,0.591270060517,0.018762466123,1.03970063871
+248,4.133333333,pose1_to_pose2_press,0.620699630415,0.0100907435292,1.04003250872,0.591270080875,0.0187624831775,1.03970063635
+249,4.150000000,pose1_to_pose2_press,0.62069962673,0.0100907453812,1.04003250786,0.59127007721,0.0187624851012,1.03970063556
+250,4.166666667,pose1_to_pose2_press,0.620699621161,0.0100907481799,1.04003250654,0.591270071672,0.0187624880083,1.03970063437
+251,4.183333333,pose1_to_pose2_press,0.620699608747,0.0100907544188,1.04003250362,0.591270059326,0.0187624944872,1.03970063171
+252,4.200000000,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.591270059329,0.0187624944872,1.03970063171
+253,4.216666667,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.591270059329,0.0187624944873,1.03970063171
+254,4.233333333,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.591270059329,0.0187624944868,1.03970063171
+255,4.250000000,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.59127005933,0.0187624944867,1.03970063171
+256,4.266666667,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.59127005933,0.0187624944867,1.03970063171
+257,4.283333333,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.59127005933,0.0187624944866,1.03970063171
+258,4.300000000,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.59127005933,0.0187624944866,1.03970063171
+259,4.316666667,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.59127005933,0.0187624944865,1.03970063171
+260,4.333333333,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.59127005933,0.0187624944865,1.03970063171
+261,4.350000000,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.59127005933,0.0187624944864,1.03970063171
+262,4.366666667,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.59127005933,0.0187624944865,1.03970063171
+263,4.383333333,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.591270059331,0.0187624944864,1.03970063171
+264,4.400000000,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.591270059331,0.0187624944863,1.03970063171
+265,4.416666667,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.591270059331,0.0187624944862,1.03970063171
+266,4.433333333,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.591270059331,0.0187624944867,1.03970063171
+267,4.450000000,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.591270059332,0.0187624944866,1.03970063171
+268,4.466666667,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.591270059332,0.0187624944865,1.03970063171
+269,4.483333333,pose2_hold,0.620699608747,0.0100907544188,1.04003250362,0.591270059332,0.0187624944856,1.03970063171
+270,4.500000000,pose2_to_pose3_retreat,0.620699608747,0.0100907544188,1.04003250362,0.591270059332,0.0187624944855,1.03970063171
+271,4.516666667,pose2_to_pose3_retreat,0.620699595452,0.0100907630529,1.04003250226,0.591270046014,0.0187625030537,1.03970063065
+272,4.533333333,pose2_to_pose3_retreat,0.620699570549,0.0100907792247,1.04003249971,0.591270021069,0.0187625191022,1.03970062866
+273,4.550000000,pose2_to_pose3_retreat,0.620699522767,0.0100907756251,1.04003251236,0.591269973505,0.0187625162252,1.03970064091
+274,4.566666667,pose2_to_pose3_retreat,0.620699401361,0.0100906950547,1.0400325807,0.591269853268,0.0187624394691,1.03970070516
+275,4.583333333,pose2_to_pose3_retreat,0.620699155321,0.0100906321278,1.04003263233,0.59126960814,0.0187623795282,1.03970075394
+276,4.600000000,pose2_to_pose3_retreat,0.620698666513,0.010090707491,1.04003256147,0.591269118227,0.0187624513511,1.03970068831
+277,4.616666667,pose2_to_pose3_retreat,0.62069706458,0.0100908363903,1.04003238613,0.591267514097,0.0187625729933,1.03970051819
+278,4.633333333,pose2_to_pose3_retreat,0.620692269198,0.010090792424,1.04003240601,0.591262719381,0.0187625312327,1.03970053853
+279,4.650000000,pose2_to_pose3_retreat,0.620681053353,0.0100908668503,1.04003222729,0.591251503142,0.0187626047781,1.03970036772
+280,4.666666667,pose2_to_pose3_retreat,0.620661527244,0.0100906856224,1.04003224323,0.591231978653,0.0187624286171,1.03970037566
+281,4.683333333,pose2_to_pose3_retreat,0.620631269959,0.0100907241345,1.04003235323,0.591201722863,0.0187624721113,1.03970048389
+282,4.700000000,pose2_to_pose3_retreat,0.62059078865,0.0100908402535,1.04003230915,0.591161238314,0.0187625772886,1.03970044287
+283,4.716666667,pose2_to_pose3_retreat,0.620540680855,0.0100908857609,1.04003203512,0.59111113072,0.0187626238589,1.03970018084
+284,4.733333333,pose2_to_pose3_retreat,0.620482975542,0.0100908387706,1.04003231391,0.591053427034,0.0187625818879,1.03970044874
+285,4.750000000,pose2_to_pose3_retreat,0.620417637063,0.0100909262634,1.04003231916,0.590988085096,0.0187626572359,1.03970044626
+286,4.766666667,pose2_to_pose3_retreat,0.620343910904,0.0100909331747,1.04003249184,0.590914359181,0.0187626650565,1.03970062164
+287,4.783333333,pose2_to_pose3_retreat,0.620261067228,0.0100906685949,1.04003250185,0.590831520887,0.0187624186933,1.0397006289
+288,4.800000000,pose2_to_pose3_retreat,0.620163844355,0.0100908172504,1.04003235151,0.59073429596,0.0187625606751,1.03970048731
+289,4.816666667,pose2_to_pose3_retreat,0.620051654936,0.0100907167946,1.0400323622,0.590622106118,0.0187624586325,1.03970049563
+290,4.833333333,pose2_to_pose3_retreat,0.61992196066,0.0100907394675,1.0400323946,0.590492411707,0.0187624803991,1.03970051928
+291,4.850000000,pose2_to_pose3_retreat,0.61977472394,0.0100906936714,1.04003231294,0.590345175756,0.0187624371164,1.03970043817
+292,4.866666667,pose2_to_pose3_retreat,0.619608912947,0.010090833965,1.04003224037,0.590179364107,0.018762575364,1.03970037307
+293,4.883333333,pose2_to_pose3_retreat,0.619425752982,0.0100908491986,1.04003224883,0.589996203906,0.018762589616,1.03970037966
+294,4.900000000,pose2_to_pose3_retreat,0.619225284839,0.0100907139542,1.0400323079,0.589795737201,0.0187624590383,1.03970043637
+295,4.916666667,pose2_to_pose3_retreat,0.619007042026,0.0100907150048,1.04003235928,0.589577494133,0.0187624593071,1.03970049307
+296,4.933333333,pose2_to_pose3_retreat,0.618770871031,0.0100907570636,1.04003236233,0.589341320521,0.0187624923293,1.03970049524
+297,4.950000000,pose2_to_pose3_retreat,0.618513938864,0.010090721481,1.04003235396,0.589084391615,0.0187624676736,1.03970048872
+298,4.966666667,pose2_to_pose3_retreat,0.618236334332,0.0100907184939,1.04003236571,0.588806786571,0.0187624627418,1.0397004997
+299,4.983333333,pose2_to_pose3_retreat,0.617937463772,0.01009081417,1.04003224945,0.588507914509,0.0187625532317,1.03970038514
+300,5.000000000,pose2_to_pose3_retreat,0.617616501469,0.0100907390606,1.04003242735,0.588186953087,0.0187624807258,1.03970055947
+301,5.016666667,pose2_to_pose3_retreat,0.617275559963,0.010090673899,1.04003226084,0.587846012943,0.0187624197651,1.03970038737
+302,5.033333333,pose2_to_pose3_retreat,0.616915741234,0.0100907025774,1.04003227233,0.587486193602,0.0187624462504,1.03970040104
+303,5.050000000,pose2_to_pose3_retreat,0.616539215778,0.0100908159302,1.04003231978,0.58710966616,0.0187625526389,1.0397004498
+304,5.066666667,pose2_to_pose3_retreat,0.616145274649,0.0100908578828,1.04003225807,0.586715724246,0.0187625916578,1.03970038816
+305,5.083333333,pose2_to_pose3_retreat,0.615731161679,0.0100907597556,1.04003225877,0.586301612452,0.0187624975567,1.03970039363
+306,5.100000000,pose2_to_pose3_retreat,0.615295747097,0.0100908804632,1.040032368,0.585866196649,0.0187626137004,1.03970049723
+307,5.116666667,pose2_to_pose3_retreat,0.61483107174,0.0100908485533,1.04003235689,0.58540152336,0.0187625888495,1.03970049053
+308,5.133333333,pose2_to_pose3_retreat,0.614340617008,0.0100907020613,1.04003242826,0.58491107109,0.0187624507125,1.03970056639
+309,5.150000000,pose2_to_pose3_retreat,0.613827091289,0.0100907257254,1.04003236796,0.584397544921,0.0187624727545,1.03970050712
+310,5.166666667,pose2_to_pose3_retreat,0.613298304848,0.0100907856548,1.04003226792,0.583868757881,0.0187625304838,1.03970040614
+311,5.183333333,pose2_to_pose3_retreat,0.612756924638,0.0100908471616,1.04003222466,0.583327377218,0.0187625902846,1.03970036106
+312,5.200000000,pose2_to_pose3_retreat,0.612200345504,0.010090848731,1.04003223081,0.582770798079,0.0187625917435,1.03970036585
+313,5.216666667,pose2_to_pose3_retreat,0.611624769859,0.0100908037402,1.04003228085,0.582195222203,0.0187625459622,1.03970041519
+314,5.233333333,pose2_to_pose3_retreat,0.611018643511,0.0100909611956,1.04003247088,0.58158909196,0.018762690158,1.0397006028
+315,5.250000000,pose2_to_pose3_retreat,0.610379066767,0.0100908406084,1.04003235253,0.580949518683,0.0187625813949,1.0397004886
+316,5.266666667,pose2_to_pose3_retreat,0.609702528691,0.0100906651543,1.04003214178,0.580272983761,0.0187624164839,1.03970027381
+317,5.283333333,pose2_to_pose3_retreat,0.609007239248,0.0100906422904,1.04003234908,0.579577693337,0.0187623901549,1.03970047639
+318,5.300000000,pose2_to_pose3_retreat,0.608297844271,0.0100907564496,1.04003227564,0.578868296798,0.0187624991637,1.03970040694
+319,5.316666667,pose2_to_pose3_retreat,0.607573710723,0.0100907426859,1.04003242512,0.578144163608,0.0187624865028,1.03970055345
+320,5.333333333,pose2_to_pose3_retreat,0.606840143761,0.010090747235,1.04003233715,0.577410596911,0.0187624921049,1.039700469
+321,5.350000000,pose2_to_pose3_retreat,0.606105475329,0.0100908281161,1.04003208707,0.576675927496,0.0187625699439,1.0397002272
+322,5.366666667,pose2_to_pose3_retreat,0.605360683383,0.0100908460474,1.04003212084,0.575931135803,0.0187625887408,1.03970026157
+323,5.383333333,pose2_to_pose3_retreat,0.604600593933,0.0100907792228,1.04003232197,0.575171047243,0.0187625247038,1.0397004559
+324,5.400000000,pose2_to_pose3_retreat,0.603830029916,0.0100907936209,1.04003224069,0.574400481566,0.0187625333864,1.03970037245
+325,5.416666667,pose2_to_pose3_retreat,0.603046583699,0.0100908552452,1.04003222342,0.573617035229,0.0187625947664,1.03970035942
+326,5.433333333,pose2_to_pose3_retreat,0.602251401767,0.0100906459523,1.04003216586,0.572821855425,0.0187623932859,1.03970031724
+327,5.450000000,pose2_to_pose3_retreat,0.60144757455,0.0100908032121,1.04003224736,0.572018025581,0.018762540794,1.03970037685
+328,5.466666667,pose2_to_pose3_retreat,0.600636299117,0.0100908313742,1.04003210141,0.57120675008,0.018762569062,1.03970024123
+329,5.483333333,pose2_to_pose3_retreat,0.599827128128,0.0100906941012,1.04003210795,0.570397581226,0.0187624389694,1.03970024384
+330,5.500000000,pose2_to_pose3_retreat,0.599021449811,0.0100908469281,1.04003220246,0.569591901721,0.0187625876847,1.03970033534
+331,5.516666667,pose2_to_pose3_retreat,0.598223797425,0.0100908636612,1.04003232243,0.568794247829,0.0187625991712,1.03970045162
+332,5.533333333,pose2_to_pose3_retreat,0.597434238957,0.0100907939841,1.0400323203,0.568004690873,0.0187625346152,1.03970044916
+333,5.550000000,pose2_to_pose3_retreat,0.59664777382,0.0100907931903,1.0400321583,0.56721822702,0.0187625383399,1.03970029124
+334,5.566666667,pose2_to_pose3_retreat,0.595860561922,0.0100908321636,1.04003211496,0.566431013434,0.0187625716376,1.03970024921
+335,5.583333333,pose2_to_pose3_retreat,0.595069851717,0.0100908022444,1.04003251031,0.565640303442,0.0187625421669,1.0397006374
+336,5.600000000,pose2_to_pose3_retreat,0.59426966922,0.0100907758805,1.04003246877,0.56484012255,0.0187625214184,1.03970060024
+337,5.616666667,pose2_to_pose3_retreat,0.593463125276,0.0100908319305,1.04003213949,0.564033575964,0.0187625684597,1.0397002698
+338,5.633333333,pose2_to_pose3_retreat,0.592661908409,0.0100907217427,1.04003245519,0.563232359463,0.0187624594931,1.03970058486
+339,5.650000000,pose2_to_pose3_retreat,0.591873690347,0.0100908381598,1.0400322767,0.562444140065,0.0187625716073,1.0397004124
+340,5.666666667,pose2_to_pose3_retreat,0.591112729471,0.0100908640309,1.04003220576,0.561683180036,0.0187626005888,1.03970034757
+341,5.683333333,pose2_to_pose3_retreat,0.590372601433,0.0100908135129,1.04003212088,0.560943052539,0.0187625519466,1.03970026371
+342,5.700000000,pose2_to_pose3_retreat,0.589650765502,0.0100907573862,1.04003221986,0.560221217816,0.0187624997203,1.03970035748
+343,5.716666667,pose2_to_pose3_retreat,0.588937399724,0.0100907567421,1.04003243157,0.559507852218,0.0187624992973,1.03970055893
+344,5.733333333,pose2_to_pose3_retreat,0.588228782014,0.0100908279345,1.04003248093,0.558799232955,0.0187625651026,1.03970060523
+345,5.750000000,pose2_to_pose3_retreat,0.587528760798,0.0100908741235,1.04003234155,0.558099211442,0.0187626107602,1.03970047827
+346,5.766666667,pose2_to_pose3_retreat,0.586842757296,0.0100907416523,1.0400323705,0.557413208556,0.0187624802439,1.03970050393
+347,5.783333333,pose2_to_pose3_retreat,0.586175823318,0.0100907320785,1.04003250937,0.556746275737,0.0187624742073,1.03970063432
+348,5.800000000,pose2_to_pose3_retreat,0.585532427264,0.0100907765176,1.04003238096,0.55610287905,0.0187625166866,1.03970051223
+349,5.816666667,pose2_to_pose3_retreat,0.584909116419,0.0100906892178,1.04003213963,0.555479569264,0.018762433404,1.03970027939
+350,5.833333333,pose2_to_pose3_retreat,0.58430347944,0.0100907954252,1.04003230134,0.554873931009,0.0187625349823,1.03970043272
+351,5.850000000,pose2_to_pose3_retreat,0.583715500601,0.0100907739778,1.04003232637,0.554285951981,0.0187625125823,1.03970044961
+352,5.866666667,pose2_to_pose3_retreat,0.583150732925,0.0100907470068,1.04003234964,0.553721186053,0.0187624915216,1.03970047249
+353,5.883333333,pose2_to_pose3_retreat,0.582612500623,0.0100907970446,1.04003242901,0.553182953658,0.0187625414952,1.03970055838
+354,5.900000000,pose2_to_pose3_retreat,0.582102449798,0.0100907889826,1.04003240285,0.55267290099,0.018762527318,1.03970053585
+355,5.916666667,pose2_to_pose3_retreat,0.581606814813,0.0100906704854,1.04003226244,0.552177266368,0.0187624100051,1.03970039416
+356,5.933333333,pose2_to_pose3_retreat,0.581123463349,0.0100907209386,1.04003228572,0.551693916907,0.0187624676762,1.03970042827
+357,5.950000000,pose2_to_pose3_retreat,0.580653265075,0.0100908584066,1.04003211716,0.551223716039,0.018762595966,1.03970025003
+358,5.966666667,pose2_to_pose3_retreat,0.580201625471,0.0100907985945,1.04003209603,0.55077207804,0.0187625418527,1.03970023662
+359,5.983333333,pose2_to_pose3_retreat,0.579779570694,0.0100907873967,1.04003237474,0.550350022726,0.0187625283291,1.03970050167
+360,6.000000000,pose2_to_pose3_retreat,0.579392138089,0.0100906661153,1.04003228397,0.54996259128,0.0187624110278,1.03970041178
+361,6.016666667,pose2_to_pose3_retreat,0.579040749645,0.0100907224131,1.04003240532,0.549611202623,0.0187624668801,1.03970054013
+362,6.033333333,pose2_to_pose3_retreat,0.578715961503,0.0100906795593,1.0400323377,0.549286414763,0.0187624249755,1.03970047224
+363,6.050000000,pose2_to_pose3_retreat,0.578412294185,0.0100907297829,1.04003223856,0.548982746436,0.018762471722,1.03970037184
+364,6.066666667,pose2_to_pose3_retreat,0.578121478296,0.0100908280255,1.04003227373,0.548691929515,0.0187625664433,1.03970040655
+365,6.083333333,pose2_to_pose3_retreat,0.577841884127,0.0100907546276,1.04003235495,0.548412336241,0.0187624959553,1.03970048449
+366,6.100000000,pose2_to_pose3_retreat,0.577574519159,0.0100907987716,1.0400322283,0.548144968664,0.0187625313001,1.03970035934
+367,6.116666667,pose2_to_pose3_retreat,0.577325998857,0.0100907880501,1.04003213776,0.547896449712,0.0187625253188,1.0397002732
+368,6.133333333,pose2_to_pose3_retreat,0.577097743885,0.0100906795912,1.04003243924,0.54766819682,0.018762424051,1.03970057792
+369,6.150000000,pose2_to_pose3_retreat,0.576894122685,0.0100909320935,1.04003211078,0.547464572766,0.0187626667372,1.03970024618
+370,6.166666667,pose2_to_pose3_retreat,0.576713040435,0.0100908186696,1.04003232292,0.547283492138,0.0187625588446,1.03970045897
+371,6.183333333,pose2_to_pose3_retreat,0.576555344133,0.0100907707642,1.04003213899,0.547125796275,0.0187625125296,1.03970027766
+372,6.200000000,pose2_to_pose3_retreat,0.57641628943,0.0100907655984,1.0400321904,0.546986742768,0.0187625113286,1.03970032667
+373,6.216666667,pose2_to_pose3_retreat,0.576295157602,0.0100908417811,1.04003231872,0.54686561021,0.0187625848095,1.03970044917
+374,6.233333333,pose2_to_pose3_retreat,0.576187793305,0.0100908420095,1.04003238423,0.546758245347,0.018762583001,1.03970051177
+375,6.250000000,pose2_to_pose3_retreat,0.576093222275,0.0100907865428,1.04003233787,0.546663674772,0.018762529142,1.03970046727
+376,6.266666667,pose2_to_pose3_retreat,0.576010532696,0.0100907635678,1.04003230162,0.546580985579,0.0187625075743,1.03970043402
+377,6.283333333,pose2_to_pose3_retreat,0.575938740287,0.0100906914429,1.04003245426,0.546509193112,0.0187624352798,1.03970058727
+378,6.300000000,pose2_to_pose3_retreat,0.575878024503,0.01009074952,1.04003223631,0.546448477041,0.0187624924984,1.03970037233
+379,6.316666667,pose2_to_pose3_retreat,0.57582814894,0.010090625246,1.04003223496,0.546398602457,0.0187623714539,1.03970036851
+380,6.333333333,pose2_to_pose3_retreat,0.57578846291,0.0100907385088,1.04003244187,0.546358915771,0.0187624823501,1.03970057175
+381,6.350000000,pose2_to_pose3_retreat,0.575757033687,0.0100907655948,1.04003240748,0.546327485694,0.0187625066036,1.03970053909
+382,6.366666667,pose2_to_pose3_retreat,0.575732532091,0.0100907774886,1.0400323501,0.546302983851,0.0187625177618,1.03970048451
+383,6.383333333,pose2_to_pose3_retreat,0.575713253221,0.0100908182033,1.04003238333,0.54628370527,0.0187625594562,1.03970051772
+384,6.400000000,pose2_to_pose3_retreat,0.575697938803,0.0100908852133,1.0400325115,0.546268391182,0.0187626273514,1.03970063986
+385,6.416666667,pose2_to_pose3_retreat,0.575686494877,0.0100906854226,1.04003238779,0.54625694801,0.0187624302593,1.0397005199
+386,6.433333333,pose2_to_pose3_retreat,0.575678270758,0.0100907012934,1.04003229503,0.546248723118,0.0187624434461,1.03970042554
+387,6.450000000,pose2_to_pose3_retreat,0.575672984181,0.0100907121976,1.04003219704,0.546243436488,0.0187624542948,1.03970033066
+388,6.466666667,pose2_to_pose3_retreat,0.575670041441,0.0100906805499,1.04003210985,0.546240494412,0.0187624251446,1.03970024979
+389,6.483333333,pose2_to_pose3_retreat,0.57566850576,0.0100906859444,1.04003204632,0.546238958267,0.0187624290714,1.03970018896
+390,6.500000000,pose2_to_pose3_retreat,0.575667502092,0.0100906975249,1.04003199818,0.546237953999,0.018762438674,1.03970014237
+391,6.516666667,pose2_to_pose3_retreat,0.575666774192,0.0100907059236,1.04003196326,0.546237225664,0.0187624456382,1.03970010857
+392,6.533333333,pose2_to_pose3_retreat,0.575666343367,0.0100907070028,1.04003195674,0.546236794718,0.0187624462981,1.03970010174
+393,6.550000000,pose2_to_pose3_retreat,0.575666128586,0.0100906986796,1.04003198569,0.546236580191,0.0187624387441,1.03970012831
+394,6.566666667,pose2_to_pose3_retreat,0.57566605107,0.0100906956757,1.04003199614,0.546236502767,0.0187624360179,1.03970013791
+395,6.583333333,pose2_to_pose3_retreat,0.575665936621,0.0100906912405,1.04003201157,0.546236388453,0.0187624319926,1.03970015207
+396,6.600000000,pose2_to_pose3_retreat,0.575665791109,0.0100906856016,1.04003203118,0.546236243112,0.0187624268748,1.03970017007
+397,6.616666667,pose2_to_pose3_retreat,0.575665738623,0.0100906835677,1.04003203826,0.546236190688,0.0187624250289,1.03970017657
+398,6.633333333,pose2_to_pose3_retreat,0.575665701187,0.0100906821169,1.0400320433,0.546236153296,0.0187624237123,1.0397001812
+399,6.650000000,pose2_to_pose3_retreat,0.575665699748,0.0100906820611,1.0400320435,0.546236151859,0.0187624236616,1.03970018138
+400,6.666666667,pose2_to_pose3_retreat,0.575665641388,0.0100906797996,1.04003205136,0.546236093567,0.0187624216091,1.0397001886
+401,6.683333333,pose2_to_pose3_retreat,0.575665570994,0.0100906770716,1.04003206085,0.546236023257,0.0187624191333,1.03970019731
+402,6.700000000,pose2_to_pose3_retreat,0.575665411311,0.0100906708835,1.04003208238,0.546235863762,0.0187624135171,1.03970021707
+403,6.716666667,pose2_to_pose3_retreat,0.575665371872,0.0100906693552,1.04003208769,0.546235824369,0.01876241213,1.03970022195
+404,6.733333333,pose2_to_pose3_retreat,0.575665116756,0.0100906594689,1.04003212208,0.546235569555,0.0187624031575,1.03970025352
+405,6.750000000,pose2_to_pose3_retreat,0.575665090653,0.0100906584573,1.0400321256,0.546235543482,0.0187624022394,1.03970025675
+406,6.766666667,pose2_to_pose3_retreat,0.575664878521,0.0100906718182,1.04003215604,0.546235331517,0.0187624162035,1.03970028821
+407,6.783333333,pose2_to_pose3_retreat,0.575664850963,0.0100906749719,1.04003216012,0.546235303975,0.0187624194253,1.03970029265
+408,6.800000000,pose2_to_pose3_retreat,0.575664787565,0.0100906822273,1.04003216949,0.546235240613,0.0187624268373,1.03970030284
+409,6.816666667,pose2_to_pose3_retreat,0.575664783394,0.0100906827046,1.04003217011,0.546235236445,0.0187624273249,1.03970030351
+410,6.833333333,pose2_to_pose3_retreat,0.575664639586,0.010090699162,1.04003219138,0.546235092721,0.0187624441375,1.03970032663
+411,6.850000000,pose2_to_pose3_retreat,0.575664416279,0.0100907530997,1.04003225735,0.546234869173,0.0187624972931,1.03970039347
+412,6.866666667,pose2_to_pose3_retreat,0.57566440402,0.0100908133594,1.04003232746,0.546234856153,0.0187625548173,1.03970045961
+413,6.883333333,pose2_to_pose3_retreat,0.575664400001,0.010090833113,1.04003235045,0.546234851884,0.0187625736742,1.0397004813
+414,6.900000000,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816514,0.0187625591101,1.03970037496
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..436badb3d20be3fffcfd29b930134501043a559d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8c5e9b8fcc6edb20f1db9b0195cf67b44086704565650a2d8ccc1828601866a
+size 26457546
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8bf93c1320297637c6cd2640bf8795f2ace9b3e3
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/franka_data.csv
@@ -0,0 +1,418 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,767,746,715,680,667,635,880,788,804,653,631,653,0.400994247922,0.00458446462556,0.0498577063838,0.999999960516,0.00012490709166,-0.000250072286135,-2.88120407106e-05,1793239739411757568
+1,0.016666667,BASELINE,766.421136635,746,715,679.421136635,667,635.578863365,880,788,804,653,631,653,0.400993723877,0.00458474138583,0.0498577899108,0.999999960496,0.000123670040293,-0.000250755158137,-2.88924435193e-05,1793239739428424192
+2,0.033333333,BASELINE,766,746,715,679.156901878,667,635.843098122,880,788,804,653,631.156901878,653,0.400993570314,0.00458465562361,0.0498578520161,0.999999960521,0.000122761130159,-0.000251105049817,-2.88747742664e-05,1793239739445090560
+3,0.050000000,BASELINE,766,746,715,679.732738128,667,635.267261872,880,788,804,653,631.732738128,653,0.400994405957,0.00458360191172,0.0498578569248,0.999999960668,0.000122728370147,-0.000250565870686,-2.85952486507e-05,1793239739461757184
+4,0.066666667,BASELINE,766,745.685288126,715,679.685288126,667,635.314711874,880,788,803.685288126,653,632,653,0.400994867497,0.0045827619607,0.0498580994018,0.99999996084,0.000122962843889,-0.000249780564168,-2.84584713571e-05,1793239739478424064
+5,0.083333333,BASELINE,766,745.097998619,715,679.097998619,667,635.902001381,880,788,803.097998619,653,632,653,0.40099500502,0.0045821071519,0.0498585476413,0.999999961032,0.00012342877361,-0.000248782082308,-2.84453309772e-05,1793239739495090688
+6,0.100000000,BASELINE,766,745.483228263,715,679,667,636,880.483228263,788.483228263,803.483228263,653.483228263,632,653,0.400996043869,0.00458194196031,0.0498590591425,0.999999961425,0.000122104404387,-0.000247847096088,-2.85143516225e-05,1793239739511757312
+7,0.116666667,BASELINE,766,746,714.937184788,679,666.937184788,636,880.937184788,788.937184788,804,653.937184788,631.937184788,653,0.400997053784,0.00458198267886,0.0498595234671,0.999999961811,0.000120630268797,-0.000246997671124,-2.86042193559e-05,1793239739528424192
+8,0.133333333,BASELINE,766,746,714.361076157,679,666.361076157,636,880.361076157,788.361076157,804,653.361076157,631.361076157,653,0.400996352106,0.0045829046604,0.0498594987503,0.999999961842,0.000120862398355,-0.000246743488828,-2.87299705259e-05,1793239739545090560
+9,0.150000000,BASELINE,766,745.785229983,714.214770017,679.214770017,666,635.785229983,880,788,804,653.214770017,631.214770017,653,0.400995828636,0.00458364962346,0.0498593467032,0.999999961751,0.00012155682381,-0.000246760855672,-2.88425621537e-05,1793239739561757184
+10,0.166666667,BASELINE,766,745.20982458,714.79017542,679.79017542,666,635.20982458,880,788,804,653.79017542,631.79017542,653,0.400995604407,0.00458409734229,0.0498589808468,0.999999961451,0.000123027522684,-0.000247234199733,-2.89330566594e-05,1793239739578424064
+11,0.183333333,BASELINE,766,745.375195467,714.624804533,679.624804533,666,635,879.624804533,788,804,653.624804533,631.624804533,653,0.40099470792,0.00458297952823,0.0498585186294,0.999999961295,0.000121437762412,-0.000248677369864,-2.86775239813e-05,1793239739595090944
+12,0.200000000,BASELINE,766,745.965733879,714.034266121,679.034266121,666,635,879.034266121,788,804,653.034266121,631.034266121,653,0.40099342559,0.00458096317867,0.0498580011056,0.999999961209,0.000118091455765,-0.000250677170437,-2.82233894633e-05,1793239739611757824
+13,0.216666667,BASELINE,766,746,714,679.54593276,666.54593276,635,879.54593276,788,803.45406724,653,631.54593276,653,0.400995338073,0.0045811895612,0.0498591054803,0.999999961839,0.000118082618371,-0.000248128366852,-2.84915663542e-05,1793239739628424448
+14,0.233333333,BASELINE,765.875895404,746,714,679.875895404,666.875895404,635,880,788,803,653,631.875895404,653,0.40099637832,0.00458175903874,0.0498597202858,0.999999962116,0.000118849908278,-0.000246612619752,-2.87148032617e-05,1793239739645091072
+15,0.250000000,BASELINE,765.302753218,746,714,679.302753218,666.302753218,635,880,788,803,653,631.302753218,653,0.400993550566,0.00458307004771,0.0498582022329,0.999999960975,0.000121681539406,-0.000249848492142,-2.86144483317e-05,1793239739661757696
+16,0.266666667,BASELINE,765,746,714,679,666,635.271507013,879.728492987,788,803,653,631,653,0.400992905674,0.00458384702728,0.0498581200489,0.999999960636,0.000123424595651,-0.000250356565767,-2.85699613314e-05,1793239739678424064
+17,0.283333333,BASELINE,765,746,714,679,666,635.84701908,879.15298092,788,803,653,631,653,0.400994704919,0.00458402605671,0.0498596456002,0.999999961205,0.00012394877984,-0.000247810336482,-2.85880293807e-05,1793239739695090432
+18,0.300000000,BASELINE,765.43349675,746,714,679,666.43349675,635.56650325,879.43349675,788,803,653,631,653,0.400995349631,0.0045836252429,0.0498595846594,0.999999961308,0.000123476363604,-0.0002476315961,-2.85772366108e-05,1793239739711757056
+19,0.316666667,BASELINE,766,746,714,679,666.976567756,635,880,788,803.023432244,653,631.023432244,653,0.400995541136,0.00458302802906,0.0498589639896,0.999999961237,0.000122698984422,-0.00024830401668,-2.85571053823e-05,1793239739728423680
+20,0.333333333,BASELINE,766,746,714,679,666.398753988,635,880,788,803.601246012,653,631.601246012,653,0.400994899882,0.00458275108685,0.0498586904827,0.999999961038,0.000123243299267,-0.000248834292191,-2.85632554476e-05,1793239739745090560
+21,0.350000000,BASELINE,766,746,714,679.178794136,666.178794136,635.178794136,880,788,803.821205864,653,631.821205864,653,0.400994927034,0.00458240133585,0.0498589061709,0.999999961237,0.000122564611512,-0.000248370803915,-2.85727381813e-05,1793239739761757440
+22,0.366666667,BASELINE,766,746,714,679.755750615,666.755750615,635.755750615,880,788,803.244249385,653,631.244249385,653,0.400996442681,0.00458188944469,0.0498602112633,0.999999962309,0.000119162380326,-0.00024569427141,-2.85896425389e-05,1793239739778424320
+23,0.383333333,BASELINE,766,746,714,679.660639747,666.660639747,635.660639747,879.660639747,788,803,653,631,653,0.400996184675,0.00458167769005,0.0498599846757,0.999999962257,0.000118482996634,-0.000246240126395,-2.85315345517e-05,1793239739795090688
+24,0.400000000,BASELINE,766,746,714,679.072145781,666.072145781,635.072145781,879.072145781,788,803,653,631,653,0.400994624581,0.00458168627385,0.0498586336399,0.999999961382,0.000119802529966,-0.000249151624556,-2.84183579368e-05,1793239739811757056
+25,0.416666667,BASELINE,766,746,714,679,666,635,879.507572719,788,803.507572719,653,631,653,0.400995938496,0.0045815948977,0.0498594018484,0.999999961818,0.000120216483784,-0.00024719597472,-2.8380006304e-05,1793239739828423680
+26,0.433333333,BASELINE,766,745.914178098,714,679,666.085821902,635,879.914178098,788,803.914178098,653,631,653,0.40099730179,0.00458158890052,0.049860244911,0.999999962298,0.000120385854111,-0.000245166565194,-2.8371565111e-05,1793239739845090560
+27,0.450000000,BASELINE,766,745.337320068,714,679,666.662679932,635,879.337320068,788,803.337320068,653,631,653,0.400996650021,0.00458215131675,0.0498598220568,0.999999962002,0.000119879775375,-0.000246606105667,-2.84744408516e-05,1793239739861757184
+28,0.466666667,BASELINE,766,745,714,679.238441887,666.761558113,635,879.238441887,788,803,653,631,653,0.400995418084,0.00458185629233,0.0498589701033,0.999999961663,0.000119072227114,-0.000248370756156,-2.84232800095e-05,1793239739878423808
+29,0.483333333,BASELINE,766,745,714,679.812660304,666.187339696,635,879.812660304,788,803,653,631,653,0.400993369147,0.00458035381036,0.0498575138874,0.999999961262,0.000117840146126,-0.000250593230116,-2.81552031246e-05,1793239739895090432
+30,0.500000000,BASELINE,766,745,714,680,666.397018632,635,880,788,803.397018632,653,631.397018632,653,0.400994258844,0.00458152536784,0.0498584896364,0.999999961387,0.000120145517177,-0.000248976393554,-2.83281620392e-05,1793239739911757312
+31,0.516666667,BASELINE,766,745,714,680,666.986287029,635,880,788,803.986287029,653,631.986287029,653,0.400996571526,0.00458399178514,0.0498606430247,0.999999961744,0.000124163841433,-0.000245500433728,-2.87146853183e-05,1793239739928424448
+32,0.533333333,BASELINE,766,745.567867148,714,679.432132852,667,635,879.432132852,788,804,653,632,653,0.400994526465,0.00458299047141,0.0498592410068,0.999999961449,0.000120957344544,-0.000248284787959,-2.87518631203e-05,1793239739945090560
+33,0.550000000,BASELINE,766,746,714.147477657,679,666.852522343,635,879.147477657,788,804,653,631.852522343,653,0.400993300563,0.00458214926991,0.0498583258185,0.999999961261,0.00011883180822,-0.000250061455582,-2.87573029631e-05,1793239739961757184
+34,0.566666667,BASELINE,766,746,714.721916186,679,666.278083814,635,879.721916186,788,804,653,631.278083814,653,0.400994746785,0.0045820108024,0.0498590652876,0.999999961475,0.000120334097731,-0.000248488961153,-2.86949555109e-05,1793239739978423808
+35,0.583333333,BASELINE,766,745.697535787,714.697535787,679,666,635,880,788,804,653,631.302464213,653,0.400996325324,0.00458220127812,0.0498597006818,0.999999961801,0.000121419953124,-0.000246653493314,-2.85703095419e-05,1793239739995090432
+36,0.600000000,BASELINE,766,745.111254859,714.111254859,679,666,635,880,788,804,653,631.888745141,653,0.400998028024,0.00458270041709,0.0498602384179,0.999999962233,0.000122115048531,-0.000244571264694,-2.83872058716e-05,1793239740011757056
+37,0.616666667,BASELINE,766,745,714,679,666.469811465,635,879.530188535,788,803.530188535,653,632,653,0.400996550462,0.00458253157359,0.0498598462111,0.999999962185,0.000119818028168,-0.000245874678547,-2.86137847988e-05,1793239740028423680
+38,0.633333333,BASELINE,766,745.049177292,714,679,666.950822708,635,879.049177292,788,803,653,631.950822708,653,0.40099461536,0.00458227211266,0.0498593302164,0.999999962028,0.000117345738842,-0.000247667485664,-2.88942479329e-05,1793239740045090304
+39,0.650000000,BASELINE,766,745.623427082,714,679,666.376572918,635,879.623427082,788,803,653,631.376572918,653,0.400995747828,0.00458271552013,0.0498598179997,0.999999962017,0.000120484368385,-0.000246219240265,-2.87255595938e-05,1793239740061757184
+40,0.666666667,BASELINE,766,746,714.198037345,679.198037345,666.198037345,635,880,788,803,653,631.198037345,653,0.400996394566,0.00458302682,0.0498598945517,0.999999961924,0.000122244011484,-0.000245736095656,-2.8660226999e-05,1793239740078423808
+41,0.683333333,BASELINE,766,746,714.773334269,679.773334269,666.773334269,635,880,788,803,653,631.773334269,653,0.400996115993,0.00458308645588,0.0498591877114,0.999999961692,0.000121376696096,-0.000247091460533,-2.87917862926e-05,1793239740095090688
+42,0.700000000,BASELINE,766,745.640495768,714.640495768,679.640495768,666.640495768,635,880,788,803,653,632,653,0.400996643667,0.00458319382791,0.0498595504795,0.999999961793,0.000122017018678,-0.000246370614123,-2.87708565651e-05,1793239740111757312
+43,0.716666667,BASELINE,766,745.047256623,714.047256623,679.047256623,666.047256623,635,880,788,803,653,632,653,0.400997695529,0.00458333223603,0.0498606086631,0.999999962105,0.000123637545696,-0.000244299900193,-2.86507847219e-05,1793239740128423936
+44,0.733333333,BASELINE,766,745.531415446,714.531415446,679,666.531415446,635,879.468584554,788,803,653,632,653,0.400997859041,0.00458434740065,0.0498609957449,0.999999962084,0.000124469398949,-0.000243957892428,-2.87208078691e-05,1793239740145090560
+45,0.750000000,BASELINE,766,746,714.89217085,679,667,635,879.10782915,788,803,653.10782915,631.89217085,653,0.40099795295,0.00458501806827,0.0498612197022,0.999999962092,0.000124556956257,-0.000243869112462,-2.88156637851e-05,1793239740161756928
+46,0.766666667,BASELINE,766,746,714.320052475,679,667,635,879.679947525,788,803,653.679947525,631.320052475,653,0.400998078238,0.00458387865547,0.0498609913863,0.999999962348,0.000121733657567,-0.000244226422591,-2.89465996155e-05,1793239740178423808
+47,0.783333333,BASELINE,766,745.747056197,714,679.252943803,666.747056197,635,879.747056197,788,803,654,631,653,0.400997160637,0.0045826355315,0.0498604974304,0.999999962368,0.000119830328238,-0.000245087548329,-2.89263214869e-05,1793239740195090432
+48,0.800000000,BASELINE,766,745.172945151,714,679.827054849,666.172945151,635,879.172945151,788,803,654,631,653,0.400994918862,0.00458126072346,0.0498596661867,0.999999962093,0.000119095099974,-0.000246588377755,-2.87140443248e-05,1793239740211757056
+49,0.816666667,BASELINE,766,745,714,679.583505609,666.416494391,635,879.416494391,788,803.416494391,653.583505609,631,653,0.400995430134,0.00458198290974,0.0498598332824,0.999999961981,0.000120295817226,-0.000246471515074,-2.86122867561e-05,1793239740228423680
+50,0.833333333,BASELINE,766,745.012210029,714,679.012210029,667,635,880,788,804,653,631.012210029,653,0.400997094304,0.00458355608774,0.0498604260004,0.999999961948,0.000122241826476,-0.000245654749117,-2.85599563845e-05,1793239740245090304
+51,0.850000000,BASELINE,766,745.592476151,714,679.592476151,667,635,880,788,804,653,631.592476151,653,0.400997178576,0.00458266184823,0.0498607968843,0.999999962443,0.000120032977546,-0.000244721392793,-2.85905080015e-05,1793239740261756928
+52,0.866666667,BASELINE,766,746,714,679.829214016,666.829214016,635,879.829214016,788,803.829214016,653,632,653,0.400996967034,0.00458261928669,0.0498607609139,0.999999962542,0.000119617226757,-0.000244512033666,-2.86625634644e-05,1793239740278423552
+53,0.883333333,BASELINE,766,746,714,679.255519387,666.255519387,635,879.255519387,788,803.255519387,653,632,653,0.400996057624,0.00458458595579,0.0498597651155,0.999999961706,0.000123431651953,-0.000246010687887,-2.88325324546e-05,1793239740295090432
+54,0.900000000,BASELINE,766,745.673584696,714,679,666.326415304,635,879.326415304,788,803,653,631.673584696,653,0.40099527523,0.0045855291485,0.0498594829144,0.999999961368,0.000124921450639,-0.000246622042625,-2.89160657123e-05,1793239740311757056
+55,0.916666667,BASELINE,766,745.085032624,714,679,666.914967376,635,879.914967376,788,803,653,631.085032624,653,0.400994594838,0.00458565041032,0.0498597737874,0.99999996144,0.000124544394033,-0.000246520827097,-2.89301843751e-05,1793239740328423680
+56,0.933333333,BASELINE,766,745.495155921,714.495155921,679,667,635.495155921,880,788,803.495155921,653,631,653,0.400994048765,0.00458416820922,0.0498591227401,0.999999961498,0.000122026850033,-0.000247560718209,-2.87531381055e-05,1793239740345090560
+57,0.950000000,BASELINE,766,745.926888056,714.926888056,679,666.926888056,635.926888056,880,788,803.926888056,653,631,653,0.400993866169,0.00458271265499,0.0498586478716,0.999999961628,0.000119597432844,-0.000248239345372,-2.86016748799e-05,1793239740361757440
+58,0.966666667,BASELINE,766,745.354532479,714.354532479,679,666.354532479,635.354532479,880,788,803.354532479,653,631,653,0.400996010687,0.00458328812552,0.0498604622314,0.99999996231,0.000120238136412,-0.000245135196851,-2.88453508892e-05,1793239740378424064
+59,0.983333333,BASELINE,766.225040865,745.225040865,714,679,666.225040865,635,879.774959135,788,803.225040865,653,631,653,0.400997186383,0.00458381294107,0.0498615241792,0.999999962675,0.000121142363381,-0.000243179525691,-2.89449610369e-05,1793239740395090944
+60,1.000000000,BASELINE,766.816362061,745.816362061,714,679,666.816362061,635,879.183637939,788,803.816362061,653,631,653,0.400996785212,0.00458425530978,0.0498613614887,0.999999962538,0.000122475505612,-0.000243093135284,-2.88100871823e-05,1793239740411757568
+61,1.016666667,BASELINE,766.600248985,746,714,679,667,635,879.399751015,788,804,653,631.399751015,653,0.400996672622,0.00458389553734,0.0498612076341,0.999999962528,0.000121815863674,-0.000243476021355,-2.87110798005e-05,1793239740428423936
+62,1.033333333,BASELINE,766.020433084,746,714,679,667,635,879.979566916,788,804,653,631.979566916,653,0.400996690021,0.00458317444632,0.0498610577597,0.999999962574,0.000120258586784,-0.000244070289545,-2.86282282139e-05,1793239740445090560
+63,1.050000000,BASELINE,766,745.441285144,714,679,666.441285144,635.558714856,879.441285144,788,804,653,632,653,0.400997258784,0.0045823590203,0.0498614701233,0.99999996268,0.000120565865009,-0.000243501174998,-2.84840394893e-05,1793239740461757184
+64,1.066666667,BASELINE,766,745.136518152,714.136518152,679,666.136518152,636,879,788,803.863481848,653,632,653,0.400997435257,0.0045821385368,0.0498614768305,0.999999962575,0.00012149383217,-0.000243474289226,-2.84496780592e-05,1793239740478423808
+65,1.083333333,BASELINE,766,745.710094695,714.710094695,679,666.710094695,636,879,788,803.289905305,653,632,653,0.400996291342,0.00458383377418,0.0498601190927,0.999999961784,0.00012419086813,-0.000245319380508,-2.87740980661e-05,1793239740495090432
+66,1.100000000,BASELINE,766,745.710024844,714.710024844,679.289975156,667,635.710024844,879,788,803,653,632,653,0.400995407481,0.00458421977076,0.0498594163157,0.999999961504,0.000124085783556,-0.000246502810601,-2.88216066349e-05,1793239740511757056
+67,1.116666667,BASELINE,766,745.123701965,714.123701965,679.876298035,667,635.123701965,879,788,803,653,632,653,0.400994789388,0.00458326775423,0.0498593828933,0.99999996175,0.000121116998174,-0.000247010038558,-2.85861182699e-05,1793239740528423936
+68,1.133333333,BASELINE,766,745,714,680,667,635,879.459676023,788,803.459676023,653,632,653,0.400995550846,0.00458330448381,0.0498601631069,0.999999961998,0.000121192190327,-0.000245968190026,-2.85672543429e-05,1793239740545090560
+69,1.150000000,BASELINE,766,745.041641392,714.041641392,680,667,635,880,788,803.958358608,653,632,653,0.400996658353,0.00458357356561,0.0498611133672,0.999999962255,0.000121925416174,-0.000244554415261,-2.85965919153e-05,1793239740561756928
+70,1.166666667,BASELINE,766,745.615614176,714.615614176,680,667,635,880,788,803.384385824,653,632,653,0.400997473971,0.00458343315498,0.0498614562159,0.999999962623,0.00012066557124,-0.000243681229362,-2.85016394361e-05,1793239740578423808
+71,1.183333333,BASELINE,766.189719023,746,714.810280977,679.810280977,667,635,879.810280977,788,803.189719023,653,631.810280977,653,0.400997734042,0.00458334464264,0.0498615141234,0.999999962713,0.000120513132781,-0.000243393392584,-2.84631129322e-05,1793239740595090432
+72,1.200000000,BASELINE,766.764091729,746,714.235908271,679.235908271,667,635,879.235908271,788,803.764091729,653,631.235908271,653,0.400996867745,0.0045833613536,0.0498609943151,0.999999962237,0.00012260595117,-0.000244292345941,-2.85389895899e-05,1793239740611757312
+73,1.216666667,BASELINE,766.652131751,746,714,679,666.652131751,635.347868249,879.347868249,788,804,653,631,653,0.400996301539,0.00458357507779,0.0498607767237,0.999999962086,0.000123022684024,-0.000244686825966,-2.8670240411e-05,1793239740628423936
+74,1.233333333,BASELINE,766.061800847,746,714,679,666.061800847,635.938199153,879.938199153,788,804,653,631,653,0.400995944495,0.00458392611934,0.0498607697762,0.999999962163,0.000122271192436,-0.000244729690221,-2.88400867785e-05,1793239740645090560
+75,1.250000000,BASELINE,766,746,714,679,666.513307949,635.486692051,880.513307949,788,803.486692051,653,631.513307949,653,0.40099565995,0.00458372721192,0.0498604117455,0.999999962182,0.000121101497536,-0.000245193774092,-2.91561715965e-05,1793239740661757184
+76,1.266666667,BASELINE,766,745.912289418,714.087710582,679.087710582,666.912289418,635,880.912289418,788,803,653,631.912289418,653,0.400995340708,0.00458347129631,0.0498600792703,0.999999962179,0.000120322874636,-0.00024556502135,-2.93564567988e-05,1793239740678424064
+77,1.283333333,BASELINE,766,745.331854874,714.668145126,679.668145126,666.331854874,635,880.331854874,788,803,653,631.331854874,653,0.40099477893,0.00458325637331,0.0498601209698,0.999999962095,0.000122015845584,-0.000245138063967,-2.88101657689e-05,1793239740695090432
+78,1.300000000,BASELINE,766,745,714.747780198,679.747780198,666.252219802,635.252219802,880,788,803.252219802,653.252219802,631,653,0.400994413258,0.00458247265678,0.0498599993277,0.999999962122,0.00012135319135,-0.00024539635835,-2.84771563685e-05,1793239740711757056
+79,1.316666667,BASELINE,766,745,714.15884598,679.15884598,666.84115402,635.84115402,880,788,803.84115402,653.84115402,631,653,0.400994309387,0.0045809295987,0.0498596596236,0.999999962289,0.0001175457682,-0.000246569466539,-2.84288788162e-05,1793239740728423680
+80,1.333333333,BASELINE,766.42312827,745.42312827,714,679,666.57687173,635.57687173,879.57687173,788,803.57687173,653.57687173,631,653,0.40099513067,0.00458179052575,0.0498599455899,0.999999962212,0.000119155801263,-0.000246113349105,-2.84029124683e-05,1793239740745090304
+81,1.350000000,BASELINE,766.997480299,746,714,679,666.002519701,635,879.002519701,788,803,653,631,653,0.400996282841,0.00458352560384,0.0498604604692,0.999999962036,0.000122748563326,-0.000245062746617,-2.83845363499e-05,1793239740761757184
+82,1.366666667,BASELINE,766.420894974,746,714,679,666.579105026,635,879.579105026,788,803,653,631,653,0.400994973942,0.00458213455437,0.0498604813824,0.999999961959,0.000122213218414,-0.000245662227036,-2.82180603332e-05,1793239740778423808
+83,1.383333333,BASELINE,766,746,714,679.155077491,667,635,880,788,803.155077491,653,631,653,0.400994339003,0.00458115089238,0.0498606251759,0.999999962044,0.000121097597387,-0.000245877336715,-2.81348643668e-05,1793239740795090688
+84,1.400000000,BASELINE,766,746,714,679.729393274,667,635,880,788,803.729393274,653,631,653,0.400995526059,0.00458126856611,0.0498611011653,0.999999962564,0.000118413251052,-0.000245053334198,-2.82768086188e-05,1793239740811757312
+85,1.416666667,BASELINE,766,745.686962881,714,680,667,635,880,788,804,653,631,653,0.40099591153,0.0045816429842,0.0498610993418,0.999999962713,0.000117417455697,-0.000244906290945,-2.84265133706e-05,1793239740828423936
+86,1.433333333,BASELINE,766,745.095007708,714,680,667,635,880,788,804,653,631,653,0.400995582784,0.00458224616314,0.0498606717839,0.999999962537,0.000117926170106,-0.000245362422728,-2.85831327684e-05,1793239740845090560
+87,1.450000000,BASELINE,766,745.486117776,714,679.513882224,666.513882224,635,880,788,804,653,631,653,0.400996464654,0.00458295974021,0.0498610147459,0.999999962738,0.000117838492707,-0.000244555562954,-2.88183853601e-05,1793239740861757184
+88,1.466666667,BASELINE,766,746,714,679,666.064495646,635,879.935504354,788,803.935504354,653,631,653,0.400997358883,0.00458348314676,0.0498614089429,0.999999962972,0.000117591071035,-0.000243691546454,-2.90211344864e-05,1793239740878423808
+89,1.483333333,BASELINE,766,746,714,679,666.637534145,635,879.362465855,788,803.362465855,653,631,653,0.400996525602,0.0045823406539,0.049861045596,0.999999962905,0.000116983115147,-0.000244280761874,-2.88490601547e-05,1793239740895090432
+90,1.500000000,BASELINE,766,746,714,679,666.788623152,635.211376848,879.211376848,788,803,653,631,653,0.400996115804,0.00458162657039,0.0498607645748,0.999999962851,0.000116853730322,-0.000244573620439,-2.87714185767e-05,1793239740911757312
+91,1.516666667,BASELINE,766,746,714,679,666.213396205,635.786603795,879.786603795,788,803,653,631,653,0.400996434961,0.00458164992248,0.0498606252637,0.99999996282,0.000117548126084,-0.000244356349888,-2.88563273016e-05,1793239740928424192
+92,1.533333333,BASELINE,766,745.626147527,714,679,666,635.626147527,879.626147527,788,803,653,631,653,0.400996151778,0.00458210954498,0.0498605821836,0.999999962785,0.000117944737341,-0.000244283501445,-2.9045017578e-05,1793239740945090816
+93,1.550000000,BASELINE,766,745.031808761,714,679,666,635.031808761,879.031808761,788,803,653,631,653,0.400995513352,0.00458282646589,0.0498605958575,0.999999962749,0.000118165724838,-0.000244295828547,-2.92949149193e-05,1793239740961757696
+94,1.566666667,BASELINE,766,745.545847048,714,679,666.545847048,635,879,788,803.545847048,653,631,653,0.400996384427,0.00458342497943,0.0498609958454,0.999999962621,0.000119467492509,-0.000244206328888,-2.91333785585e-05,1793239740978424320
+95,1.583333333,BASELINE,766,745.877528675,714,679.122471325,666.877528675,635,879,788,804,653.122471325,631.122471325,652.877528675,0.400996913742,0.00458363856844,0.0498611099236,0.999999962494,0.000120559268295,-0.000244210040091,-2.89548088634e-05,1793239740995090944
+96,1.600000000,BASELINE,766,745.301230982,714,679.698769018,666.301230982,635,879,788,804,653.698769018,631.698769018,652.301230982,0.400995860353,0.00458245060242,0.0498600835959,0.999999962398,0.000120646443156,-0.00024458048713,-2.879933058e-05,1793239741011757312
+97,1.616666667,BASELINE,766,745.279611373,714,680,666.279611373,635.279611373,879,788,803.720388627,653.720388627,631.720388627,652.279611373,0.400995947133,0.00458262909905,0.0498602305013,0.999999962423,0.000121202486834,-0.000244210519142,-2.87322053014e-05,1793239741028423680
+98,1.633333333,BASELINE,766,745.865430642,714,680,666.865430642,635.865430642,879,788,803.134569358,653.134569358,631.134569358,652.865430642,0.400997282533,0.00458430403579,0.0498616622374,0.999999962579,0.000122271997939,-0.000243029708118,-2.87618371399e-05,1793239741045090304
+99,1.650000000,BASELINE,766,746,714,679.553197928,667,635.553197928,879.446802072,788,803,653,631,653,0.400996381894,0.00458320994652,0.0498613725297,0.999999962515,0.000121143378172,-0.000243884973761,-2.85537290653e-05,1793239741061757184
+100,1.666666667,BASELINE,766,746,714.026661751,679,667,635,880,788,803.026661751,653,631.026661751,653,0.400994891963,0.00458139785814,0.0498606011646,0.999999962397,0.000119389420151,-0.000245258241888,-2.83018313155e-05,1793239741078424320
+101,1.683333333,BASELINE,766,746,714.602702562,679,667,635,880,788,803.602702562,653,631.602702562,653,0.400994999528,0.00458180632596,0.0498604830436,0.999999962636,0.000118257267833,-0.000244793797164,-2.86085049027e-05,1793239741095090944
+102,1.700000000,BASELINE,766,746,714.821791921,679,667,635,880,788,803.821791921,653.178208079,632,653,0.400995523794,0.00458251911651,0.0498607835239,0.999999962837,0.000118322616519,-0.000243917335782,-2.88269357137e-05,1793239741111757312
+103,1.716666667,BASELINE,766,746,714.247476296,679,667,635,880,788,803.247476296,653.752523704,632,653,0.40099697427,0.00458390833272,0.0498620144395,0.999999962945,0.000121049680739,-0.000242125074752,-2.88492270614e-05,1793239741128423936
+104,1.733333333,BASELINE,766,746,714,679,667,635,880,788,803.336716237,653.663283763,631.663283763,653,0.400996392971,0.00458431414236,0.0498613979103,0.999999962608,0.000121426143327,-0.00024332084108,-2.88840511135e-05,1793239741145090304
+105,1.750000000,BASELINE,766,746,714,679,667,635,880,788,803.928387433,653.071612567,631.071612567,653,0.400994273253,0.00458397533589,0.0498593825321,0.999999961929,0.000120022776548,-0.000246779083185,-2.89283646867e-05,1793239741161756928
+106,1.766666667,BASELINE,766,746,714,679.503755792,667,635,880,788,803.496244208,653,631,653,0.400995376886,0.00458205454704,0.0498601682271,0.999999962735,0.000116749094728,-0.000245081058188,-2.88940464796e-05,1793239741178423808
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,879,788,804,653,631,653,0.400996343794,0.00458239003073,0.0498604876067,0.999999962573,0.000118220020679,-0.000245010796767,-2.91278523165e-05,1793239741221755392
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.407407733,714,679.592592267,666.407407733,635.592592267,879.592592267,788,804,653,631.592592267,653,0.400996122021,0.00458372823696,0.049860682983,0.999999962443,0.000119929607312,-0.000244733288739,-2.89140794988e-05,1793239741238421760
+109,1.816666667,POSE1_TO_POSE2_PRESS,766.18103914,745.18103914,714,679.81896086,666.18103914,635.81896086,880,788,803.81896086,653,632,653,0.400996110532,0.00458450303004,0.0498610657935,0.999999962424,0.00012111897127,-0.000244243668681,-2.87700398648e-05,1793239741255088128
+110,1.833333333,POSE1_TO_POSE2_PRESS,766.760366215,745.760366215,714,679.239633785,666.760366215,635.239633785,880,788,803.239633785,653,632,653,0.400996561668,0.00458403830874,0.0498618609611,0.999999962651,0.000121163840413,-0.000243287399963,-2.8779413898e-05,1793239741271754752
+111,1.850000000,POSE1_TO_POSE2_PRESS,766.661727456,746,714.338272544,679.338272544,667,635.338272544,880,788,803.338272544,653.338272544,632,653,0.400996475589,0.00458296355996,0.0498618719585,0.999999962795,0.000119832476307,-0.000243363489251,-2.86959979536e-05,1793239741288421120
+112,1.866666667,POSE1_TO_POSE2_PRESS,766.084823416,746,714.915176584,679.915176584,667,635.915176584,880,788,803.915176584,653.915176584,632,653,0.400996010536,0.00458145847249,0.0498613297696,0.999999962877,0.000117530260125,-0.000244167846796,-2.85471241061e-05,1793239741305087744
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,714.510210581,680,667,636,880,788,804,653.510210581,632,653,0.400995144799,0.00458169268416,0.0498609887733,0.99999996261,0.000117933417353,-0.000245041714011,-2.87551002484e-05,1793239741321755136
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.934553918,880,788,804,653,631.934553918,653,0.400994918339,0.00458199830853,0.0498609577645,0.999999962457,0.000118581550194,-0.000245330064485,-2.89417093305e-05,1793239741338422272
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.347428535,880,788,804,653,631.347428535,653,0.401000338209,0.00458048330596,0.0498631212607,0.99999996369,0.000117465123916,-0.000240855675197,-2.84676725429e-05,1793239741355088640
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.236943752,880,788,803.763056248,653,631,653,0.40101153753,0.00458033944626,0.0498675120557,0.999999965748,0.00011744022126,-0.00023218279229,-2.83236020778e-05,1793239741371755264
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635.817325517,880,788,803.182674483,653,631,653,0.401031113874,0.00458218298908,0.0498751312077,0.999999968872,0.000118997427092,-0.000217424405114,-2.86578011832e-05,1793239741388421888
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.604179333,714,680,666.604179333,635.604179333,880,788,803.395820667,653,631,653,0.40107126148,0.00458145229928,0.0498893041468,0.999999975081,0.00011661957675,-0.000188233807293,-2.83736466627e-05,1793239741405088256
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.026550689,714,680,666.026550689,635.026550689,880,788,803.973449311,653,631,653,0.401120857861,0.00457953921554,0.0499064873658,0.999999981678,0.000112434280123,-0.000152414218567,-2.78054705363e-05,1793239741421754880
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.548742828,714,679.451257172,666.548742828,635,880,788,803.451257172,653.548742828,631.548742828,653,0.401188532325,0.00457910622599,0.0499243577914,0.999999986199,0.000113422392429,-0.000118271029804,-2.73782454761e-05,1793239741438421504
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.87311627,714.12688373,679,667,635,879.87311627,788,803.12688373,653.87311627,632,653,0.401258670848,0.00457879820869,0.0499401899219,0.999999989032,0.000114501389657,-9.00662433409e-05,-2.67251444599e-05,1793239741455088128
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.284197035,714.715802965,679,667,635,879.284197035,788,803.715802965,653.284197035,632,653,0.401334610389,0.00457868559648,0.0499484792283,0.999999989609,0.000115003706503,-8.31914869238e-05,-2.52248081211e-05,1793239741471754752
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.299610281,714.700389719,679,667,635,879.599220562,788,804,653.299610281,632,653,0.401417011659,0.00457783014197,0.0499530098787,0.999999990185,0.000113124522657,-7.90102822135e-05,-2.42934312819e-05,1793239741488421632
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.878649965,714.121350035,679,667,635,880.75729993,788,804,653.878649965,632,653,0.401505439411,0.00457628188087,0.0499540350449,0.999999990781,0.000109024249052,-7.73411998145e-05,-2.38926905755e-05,1793239741505088256
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,714,679,666.547024001,635.452975999,880.094048003,788,803.547024001,653.547024001,631.547024001,653,0.401610150138,0.00457559846587,0.0499528747212,0.999999990678,0.000108039255813,-8.02572057338e-05,-2.30382521115e-05,1793239741521754880
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.973117769,714,679,666,636,879.026882231,788,803.026882231,653.026882231,631,653,0.4017205112,0.00457508409744,0.0499513348482,0.999999990416,0.000107759538546,-8.40825698824e-05,-2.20456216981e-05,1793239741538422016
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.381784608,714,679,666,636,879.618215392,788,803.618215392,653.618215392,631,653,0.40185886429,0.00457330453679,0.0499539923707,0.99999999096,0.000104945520551,-8.14762049666e-05,-2.06771350878e-05,1793239741555088384
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.204902835,714.204902835,679.204902835,666.204902835,635.795097165,880,788,803.795097165,653.795097165,631,653,0.402009098148,0.00457129397926,0.0499556479303,0.999999991405,0.000101701964217,-8.04646930713e-05,-1.92836862916e-05,1793239741571755008
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.783126003,714.783126003,679.783126003,666.783126003,635.216873997,880,788,803.216873997,653.216873997,631,653,0.402180978016,0.00456886255984,0.049955477975,0.999999991679,9.76758158186e-05,-8.2358905337e-05,-1.78447580815e-05,1793239741588421632
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.640294042,714.640294042,679.640294042,667,635,879.640294042,788,803.359705958,653,631.359705958,653,0.40237234536,0.00456761560297,0.0499553856509,0.999999991967,9.56180759942e-05,-8.14622046254e-05,-1.69315032851e-05,1793239741605088256
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.064700252,714.064700252,679.064700252,667,635,879.064700252,788,803.935299748,653,631.935299748,653,0.402575408685,0.00456707953499,0.0499553399194,0.999999992267,9.47417325591e-05,-7.88904577476e-05,-1.63337463035e-05,1793239741621754880
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.510668429,714,679.510668429,667,635,879,788,803.489331571,653,631.489331571,653,0.402810078517,0.00456474803108,0.0499573412662,0.999999993055,9.00754040411e-05,-7.45902634119e-05,-1.45875139362e-05,1793239741638421504
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666.911737311,635,879,788,803,653,631.088262689,653,0.403054676177,0.00456197464526,0.0499599601653,0.999999993919,8.48783477627e-05,-6.92740643243e-05,-1.26259162396e-05,1793239741655088384
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666.32131856,635,879,788,803,653,631.67868144,653,0.403332984025,0.00455798086485,0.0499646175968,0.99999999503,7.93925050161e-05,-5.94228267795e-05,-1.02665146264e-05,1793239741671755008
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,714,679.73570489,666.26429511,635.26429511,879.26429511,788,803,653,631.73570489,653,0.403639534372,0.00455443535773,0.0499720067998,0.999999996201,7.45280736692e-05,-4.44972444098e-05,-7.9542814801e-06,1793239741688421632
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,714,679.155828752,666.844171248,635.844171248,879.844171248,788,803,653,631.155828752,653,0.403979807599,0.00455142511065,0.0499826578686,0.999999997229,7.04056376282e-05,-2.35126517119e-05,-5.6983698837e-06,1793239741705088256
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.579808513,880,788,803,653,631.420191487,653,0.404335017976,0.00454835698771,0.0499892799263,0.999999997647,6.75389640544e-05,-1.15707221076e-05,-3.29096605265e-06,1793239741721754880
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.00520525,880,788,803,653,631.99479475,653,0.404695717442,0.00454526759664,0.0499944214045,0.999999997874,6.51337575914e-05,-2.9517866676e-06,-8.27891974452e-07,1793239741738421504
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.416774199,714,679,667,635.583225801,880,788,803,653,632,653,0.40508707423,0.00454006153431,0.0499975153092,0.999999998238,5.92513178617e-05,2.57230635341e-06,2.58232783073e-06,1793239741755088128
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.163136594,714,679,667,636,880,788,803.163136594,653,632,653,0.405483570561,0.00453498753904,0.0499941337344,0.999999998551,5.33570952583e-05,-4.12245320729e-06,5.79031135384e-06,1793239741771754752
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.722069082,714,679,667,636,880,788,803.722069082,653,632,653,0.405891856243,0.00453028090674,0.0499750870069,0.99999999802,4.75114085148e-05,-4.03934948351e-05,8.48662936116e-06,1793239741788421376
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.699261084,880,788,804,653,631.699261084,653,0.406330277404,0.00452648223043,0.0499568892374,0.999999996456,4.19546175148e-05,-7.21597769145e-05,1.1004009352e-05,1793239741805088000
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635.101069513,880,788,804,653,631.101069513,653,0.406798504792,0.00452358158804,0.0499395311468,0.999999994291,3.66835647346e-05,-9.9470528595e-05,1.33444069586e-05,1793239741821754880
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,714.475635413,679.475635413,667,635,880,788,804,653,631.475635413,653,0.407297613422,0.00451975868139,0.0499331834507,0.999999993413,3.05600390549e-05,-0.000109462402801,1.60888898596e-05,1793239741838421760
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,714.950697673,679.950697673,667,635,880,788,804,653,631.950697673,653,0.40780931181,0.0045153772579,0.0499315046922,0.999999993358,2.37245106656e-05,-0.000111187567281,1.89557443634e-05,1793239741855088640
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,714.362487937,679.362487937,667,635,880,788,804,653,631.362487937,653,0.408389997469,0.00450694042243,0.0499563920743,0.999999997829,1.10007676429e-05,-6.10399169477e-05,2.22622031201e-05,1793239741871755008
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788.221958721,804,653,631.221958721,653,0.408987914066,0.00449975906172,0.049979669688,0.999999999468,1.05938121289e-06,-1.95062026926e-05,2.61207664588e-05,1793239741888421376
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880,788.800362194,804,653,631.800362194,653,0.409613501891,0.0044945938755,0.0500003621642,0.99999999948,-4.41380239498e-06,8.19434020881e-06,3.08659575024e-05,1793239741905088000
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.620385193,746,714,679,667,635,880,788.620385193,804,653,631.620385193,653,0.410240467347,0.00448813720402,0.0500018612829,0.999999996693,7.31560983865e-05,6.0162684289e-06,3.50238870683e-05,1793239741921754624
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.040685037,746,714,679,667,635,880,788.040685037,804,653,631.040685037,653,0.410868158897,0.00448099982356,0.0499932440683,0.999999980259,0.000194495904568,-1.19100651899e-05,3.88722854128e-05,1793239741938421504
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.532680098,746,714.532680098,679,667,635,880,788.532680098,804,653,631,653,0.411483198864,0.00447338811655,0.0499636794855,0.999999978277,0.000190436371033,-7.31654887021e-05,4.27496498329e-05,1793239741955088128
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745.890686345,715,679.109313655,667,635,880,788.890686345,803.890686345,653,631,653,0.412117845513,0.0044658459663,0.0499412802529,0.999999976917,0.000174004125123,-0.000117415361557,4.58427201186e-05,1793239741971755008
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745.297467703,715,679.702532297,667,635,880,788.297467703,803.297467703,653,631,653,0.412843513314,0.00445877021727,0.049957599502,0.999999985912,0.000144700959749,-7.19080945832e-05,4.54542317397e-05,1793239741988421632
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.288541555,714.711458445,680,667,635.288541555,880,788,803,652.711458445,631,653,0.413588578977,0.0044480854102,0.0499750103822,0.999999996785,6.28449539724e-05,-3.63202371134e-05,3.40913790535e-05,1793239742005088256
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.86729965,714.13270035,680,667,635.86729965,880,788,803,652.13270035,631,653,0.414353155197,0.00443377059363,0.0499935192326,0.999999997292,-7.18689660277e-05,-1.07093653742e-05,1.169045536e-05,1793239742021754880
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.555612815,746,714,679.555612815,667,635.555612815,880,788,803.444387185,652.444387185,631.444387185,653,0.415101993635,0.00442547924394,0.0499751055596,0.999999993374,-0.000107177054503,-4.08666027413e-05,9.69704549791e-06,1793239742038422016
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.020781366,746,714,679,667,635,880,788,804,653,631.979218634,653,0.41584726298,0.0044201565063,0.0499466102668,0.999999990075,-0.000110613898508,-8.61610507323e-05,1.37886688751e-05,1793239742055089152
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.591975466,746,714,679,667,635,880,788,804,653,631.408024534,653,0.416622007912,0.00444599850808,0.049942023185,0.999999994099,-5.31751483156e-05,-9.29564148208e-05,1.82479640925e-05,1793239742071755520
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880.169250669,788,804,653,631,653,0.417412572976,0.00447209937357,0.049947646453,0.999999996457,-5.08803643009e-07,-8.14391721801e-05,2.12746031054e-05,1793239742088421888
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,714,679,667,635,880.761732346,788,804,653,631,653,0.418242698076,0.00449884755639,0.0499788018899,0.999999998685,4.02235814775e-05,-2.41291236852e-05,2.07187182309e-05,1793239742105088512
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.65275128,745.65275128,714.34724872,679,667,635,880.65275128,788,803.65275128,653,631,653,0.419061412922,0.00449984024328,0.0499874193256,0.999999998919,3.75273222193e-05,-1.61483920875e-05,2.21856887587e-05,1793239742121755136
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.071920251,745.071920251,714.928079749,679,667,635,880.071920251,788,803.071920251,653,631,653,0.419872452447,0.00448350808998,0.0499808762195,0.999999998816,5.6181012351e-06,-4.13498030538e-05,2.50133648046e-05,1793239742138421760
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745,714.498918139,679.501081861,667,635,880,788,803.501081861,652.498918139,631,652.498918139,0.420736254099,0.00447435750277,0.0499760940172,0.999999999047,-7.57189884761e-06,-3.5361631377e-05,2.44448260027e-05,1793239742155088384
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.075400735,745.075400735,714,679.924599265,667,635,880,788,804,652.075400735,631.075400735,652.075400735,0.421608614097,0.00446679832825,0.0499750887138,0.999999999387,-1.53420693448e-05,-2.07920511999e-05,2.36327901819e-05,1793239742171755264
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.666285499,745.666285499,714,679.333714501,667,635,880,788,804,652.666285499,631.666285499,652.666285499,0.422488506933,0.00446318045222,0.0499982032126,0.999999999444,-4.14484135812e-06,2.23109732392e-05,2.44373530467e-05,1793239742188421632
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.748958353,746,714.251041647,679.251041647,667,635.251041647,880.251041647,788,804,652.748958353,632,653,0.423348639046,0.00446054694147,0.0500023190874,0.999999999214,-2.96158061841e-06,3.03768763764e-05,2.53180369492e-05,1793239742205088256
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.172154865,746,714.827845135,679.827845135,667,635.827845135,880.827845135,788,804,652.172154865,632,653,0.424183128966,0.0044591907826,0.049981781579,0.99999999952,-1.47728491643e-05,-7.02280688995e-06,2.62974987364e-05,1793239742221754880
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.595860767,715,679.595860767,666.595860767,635.595860767,881,788,804,652.404139233,632,653,0.425059209567,0.00446542562129,0.0499824454141,0.999999999495,-1.58489876497e-05,-6.60894846898e-06,2.67245578594e-05,1793239742238421504
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.019783419,715,679.019783419,666.019783419,635.019783419,881,788,804,652.980216581,632,653,0.425952984573,0.00447488999506,0.0499921292087,0.999999999512,-1.23579419736e-05,9.89241006565e-06,2.69166012096e-05,1793239742255088384
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.569462725,714.430537275,680.138925449,666.569462725,635,881,788,804,653,631.430537275,653,0.426834577226,0.00447984321348,0.0500048131815,0.999999999421,7.35416363271e-06,1.71080562132e-05,2.84647629415e-05,1793239742271755008
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.156000599,746,714,680.843999401,667,635,880.843999401,788,804,653,631,653,0.427698749555,0.0044802364703,0.05000454282,0.999999999373,1.83940785123e-05,3.96010933639e-06,3.00148121122e-05,1793239742288421632
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.733946509,746,714,680.266053491,667,635,880.266053491,788,804,653,631,653,0.428516975726,0.00446873001717,0.0499689454138,0.999999997488,4.41744193765e-06,-6.33734307178e-05,3.14395220966e-05,1793239742305088256
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,714,679.688268603,667,635,880,788,804,652.688268603,631,653,0.429379447889,0.00446164839641,0.0499568748751,0.999999996603,-6.95546437062e-06,-7.58434603647e-05,3.15263211048e-05,1793239742321754880
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,714,679.1106211,667,635,880,788,804,652.1106211,631,653,0.430279663149,0.00445834128919,0.0499648734525,0.999999998544,-1.61073109893e-05,-4.15132888194e-05,3.04718424487e-05,1793239742338421504
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,714,679.464370878,667,635,880,788,804,652.464370878,631.464370878,652.535629122,0.431131043261,0.00445946261646,0.049962524314,0.999999998281,-1.28019748495e-05,-4.81592621892e-05,3.09120347755e-05,1793239742355088128
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804.039901618,652.960098382,632,652.039901618,0.431970377194,0.00446173339396,0.049957009858,0.999999997371,-6.77616112788e-06,-6.49107257116e-05,3.16142859514e-05,1793239742371755008
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,714,680,667,635,880,788,804.631579997,652.368420003,632,652.631579997,0.43280308702,0.00446539419762,0.0499416173364,0.999999995709,-3.93315316576e-06,-8.71904035651e-05,3.10446961941e-05,1793239742388421632
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,714.217995252,679.782004748,667,635,880.217995252,788,805,652.217995252,631.782004748,653,0.433644973508,0.00446761196376,0.0499431266486,0.999999996067,-2.26717941114e-06,-8.31577335205e-05,3.07581622589e-05,1793239742405088256
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,714.795725412,679.204274588,667,635,880.795725412,788,805,652.795725412,631.204274588,653,0.434502003421,0.00446744843566,0.0499725272978,0.999999998881,-2.54354242645e-06,-3.57045338443e-05,3.09387258109e-05,1793239742421754880
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.628200201,746,715,679,667,635,880.628200201,788,804.628200201,652.628200201,631,653,0.435305987915,0.00446665999047,0.0499827731065,0.999999999079,-5.121839319e-06,-2.77487993407e-05,3.23260196499e-05,1793239742438421504
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.053031531,746,715,679,667,635,880.053031531,788,804.053031531,652.053031531,631,653,0.436080957314,0.00446552972509,0.0499825415049,0.999999998512,-8.9592592396e-06,-4.1397584245e-05,3.43733767288e-05,1793239742455088128
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.519141909,745.480858091,714.480858091,679.519141909,666.480858091,635,880,788,804,652,631,653,0.436835841004,0.00446274594372,0.0499618315803,0.9999999962,-1.67024783418e-05,-7.79763285204e-05,3.52165326009e-05,1793239742471755008
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.905373253,745.094626747,714,680,666.094626747,635,880.094626747,788,804.094626747,652,631.094626747,653,0.437598942618,0.00446033259366,0.0499474193965,0.999999994161,-1.84158989034e-05,-0.000100286168556,3.58075939618e-05,1793239742488421632
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.310785321,745.689214679,714,680,666.689214679,635,880.689214679,788,804.689214679,652,631.689214679,653,0.438416242192,0.00446076374069,0.0499772705849,0.999999998658,1.3825124955e-05,-3.49013166234e-05,3.5712918099e-05,1793239742505088512
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,714.275695556,680,667,635,880.724304444,788,805,652,632,653,0.439179629468,0.00446092018965,0.0499881515986,0.999999998901,2.71613707947e-05,-1.06451089946e-05,3.67125904307e-05,1793239742521755136
+186,3.100000000,POSE1_TO_POSE2_PRESS,765,746,714.853298556,680,667,635,880.146701444,788,805,652,632,653,0.439883978653,0.00446077582347,0.0499782588371,0.999999998553,1.97954555856e-05,-3.14278759773e-05,3.89106567962e-05,1793239742538421760
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.571275155,714.571275155,680,667,635,880.428724845,787.571275155,805,652.428724845,632,652.571275155,0.440543918531,0.0044630705869,0.0499536819614,0.999999996476,1.88797001162e-05,-7.14848798122e-05,3.97726691526e-05,1793239742555088640
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.003507868,745.003507868,714,680,667,635,881,787.003507868,805,652.996492132,632,652.003507868,0.441188829808,0.00446620224675,0.0499242783935,0.999999992049,2.01787173537e-05,-0.000117816407313,4.0183565469e-05,1793239742571755008
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.594667082,745.594667082,714,680,667,635,881,787.594667082,805,652.405332918,632,652.594667082,0.441848918785,0.00447042093314,0.0499237812977,0.99999999212,2.46272911877e-05,-0.000115995057202,4.12221255717e-05,1793239742588421632
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,746,714,680,667,634.817951278,881,788,805,652.182048722,632,653,0.44249199093,0.00447601546592,0.0499219194107,0.999999991861,3.14660039416e-05,-0.000116199143749,4.22652075185e-05,1793239742605088256
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,746,714,680,667,634.238809345,881,788,805,652.761190655,632,653,0.443097945289,0.00448461106015,0.0499170805769,0.999999990816,4.35182006373e-05,-0.000120821207359,4.33181529194e-05,1793239742621754880
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,746,714,680,666.661587593,634.338412407,881,788,805,653,631.661587593,653,0.443647396819,0.00449746127663,0.0498900853419,0.999999983163,6.19568576276e-05,-0.000167057992794,4.38923487626e-05,1793239742638421504
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,746,714,680,666.085713255,634.914286745,881,788,805,653,631.085713255,653,0.444157200619,0.00451329693519,0.049847543095,0.999999966022,8.48768540167e-05,-0.00024249557479,4.41306086725e-05,1793239742655088384
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,746,714,680,666,634.511482354,880.511482354,787.511482354,805,653,631.488517646,653,0.444652602408,0.00452243037909,0.0498124269638,0.999999950836,9.75878545917e-05,-0.000294822081579,4.34154187373e-05,1793239742671755264
+195,3.250000000,POSE1_TO_POSE2_PRESS,766,745.935882141,714,680,666,634,880.064117859,787,805,652.935882141,632,653,0.445148087088,0.00452896315678,0.0497826399986,0.999999937057,0.000106540884755,-0.000335727912823,4.26791948614e-05,1793239742688422144
+196,3.266666667,POSE1_TO_POSE2_PRESS,766,745.346715558,714,680,666,634,880.653284442,787,805,652.346715558,632,653,0.44566487361,0.00452379686128,0.0497858586688,0.999999944142,9.9339460368e-05,-0.000316206098688,4.31360271121e-05,1793239742705088768
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.76177726,745.23822274,714,680,665.76177726,633.76177726,881,787,805,652,632,653,0.446161538553,0.00452255059462,0.0497902121201,0.999999949524,9.69395527288e-05,-0.000299556805203,4.26579509128e-05,1793239742721755136
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.182885646,745.817114354,714,680,665.182885646,633.182885646,881,787,805,652,632,653,0.446629428719,0.00452691014009,0.0497961883573,0.999999952835,0.000101406023427,-0.000287015342918,4.08429149639e-05,1793239742738421504
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.394569972,746,714,680,665,633,880.605430028,787,805,652,631.605430028,652.605430028,0.447029764466,0.00452953094804,0.0497755849409,0.999999946443,6.38582582842e-05,-0.000319787472653,2.77947771041e-05,1793239742755088128
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.971362461,746,714,680,665,633,880.028637539,787,805,652,631.028637539,652.028637539,0.447398901892,0.00453134876286,0.0497427063603,0.999999930184,6.90724312041e-06,-0.000373486576813,9.55890479947e-06,1793239742771754752
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.442561478,746,714,680,665,633,880,787,805,652.557438522,631,652.557438522,0.447728642661,0.00453075181047,0.0497129100498,0.999999912492,3.54691761881e-06,-0.000418224994094,9.55471306574e-06,1793239742788421376
+202,3.366666667,POSE1_TO_POSE2_PRESS,765.141933329,746,714,680,665,632.858066671,880.141933329,787,805,652.858066671,631.141933329,653,0.44806035982,0.00453131868743,0.0496904012266,0.999999898065,4.97351652235e-06,-0.000451368966097,1.05311807868e-05,1793239742805088000
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.72007793,746,714,680,665,632.27992207,880.72007793,787,805,652.27992207,631.72007793,653,0.448404476841,0.00453585014475,0.0496897945218,0.999999898461,1.25073560252e-05,-0.000450317876248,1.15942327159e-05,1793239742821755136
+204,3.400000000,POSE1_TO_POSE2_PRESS,766,746,714.299079458,680,665,632,881,787,805,652.299079458,631.700920542,653,0.448734255383,0.00454179489583,0.0496975324332,0.999999903674,2.11301410445e-05,-0.00043820995539,1.33200531166e-05,1793239742838421760
+205,3.416666667,POSE1_TO_POSE2_PRESS,766,746,714.878885294,680,665,632,881,787,805,652.878885294,631.121114706,653,0.44905057531,0.0045490662133,0.0497131028914,0.999999912991,3.07750477199e-05,-0.000415723708457,1.56679709755e-05,1793239742855088384
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.545005364,632,881,787,805,653,631.454994636,653,0.449322580581,0.00456176814761,0.0497199363574,0.999999916026,4.73493646203e-05,-0.000406723381406,1.68179372894e-05,1793239742871755008
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.030853277,632,881,787,805,653,632,653,0.449580289353,0.00457600074503,0.0497237641747,0.999999916456,6.97751294843e-05,-0.000402381530132,1.75490083173e-05,1793239742888421632
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.619833163,632,881,787,805,653,632,653,0.449791046817,0.00459198335306,0.0497149527714,0.999999898942,0.00016495366371,-0.000417894891932,1.64243799831e-05,1793239742905088256
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.794843224,746,715,680,664.794843224,632,881,787,805,653,631.794843224,653,0.449995815962,0.00460486109039,0.0497085148965,0.999999882196,0.000226887864996,-0.000428850534551,1.47254721077e-05,1793239742921754880
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.216176318,746,715,680,664.216176318,632,881,787,805,653,631.216176318,653,0.450189682698,0.00461208607262,0.049706398288,0.999999880769,0.000228297149759,-0.000431508359934,1.19810264838e-05,1793239742938421504
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,746,715,680,664,631.640183513,881,787,805,653,631.359816487,653,0.450362423602,0.00462435475687,0.049706913671,0.99999987812,0.000237599598544,-0.000432681960283,9.60014534501e-06,1793239742955088128
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,746,715,680,664,631.065785391,881,787,805,653,631.934214609,653,0.450522565839,0.00463963132463,0.0497089986791,0.999999874587,0.000251609247102,-0.000432970422291,7.43608074942e-06,1793239742971755008
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,715,680,664,631,881,787,804.478622818,653,632,653,0.45065351385,0.00464137947391,0.0497112620392,0.999999874502,0.000252216066436,-0.000432806171575,7.89420167643e-06,1793239742988421888
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,715,680,664,630.891509025,880.891509025,787,804,652.891509025,631.891509025,653,0.450776453579,0.00464064405873,0.0497128715434,0.99999987486,0.000250115510745,-0.000433182494161,8.7181208513e-06,1793239743005088512
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,715,680,664,630.311778139,880.311778139,787,804,652.311778139,631.311778139,653,0.450881010341,0.00463672148914,0.0497115407691,0.999999875119,0.000243785102253,-0.000436161182675,9.65774235344e-06,1793239743021754880
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,715,680,664,630.267006044,880.267006044,787,804.267006044,652,631.267006044,653,0.450973431402,0.00463657059935,0.0497082920158,0.99999987301,0.000241745510914,-0.000442088962209,9.84263235682e-06,1793239743038421504
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,715,680,664,630.84468865,880.84468865,787,804.84468865,652,631.84468865,653,0.451051731886,0.00464080827156,0.049702811586,0.999999868117,0.000244698527257,-0.000451448174974,9.14934971732e-06,1793239743055088384
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.419297624,746,715,680,664,631,881,787,805,652,631.580702376,653,0.451112009837,0.00464082145594,0.0496972437944,0.999999864269,0.000243057090529,-0.000460762199217,9.10679544449e-06,1793239743071754752
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.99277637,746,715,680,664,631,881,787,805,652,631.00722363,653,0.451165660671,0.00463928124178,0.049691643879,0.999999860744,0.000239726214304,-0.000470059606824,9.30352236646e-06,1793239743088421376
+220,3.666666667,POSE1_TO_POSE2_PRESS,766,746,714.416311194,680.583688806,664,631,880.416311194,787,805,652.583688806,631.583688806,653,0.451205928184,0.00463979467376,0.0496886930194,0.999999857914,0.00024083067591,-0.000475478178221,9.63178825463e-06,1793239743105088256
+221,3.683333333,POSE1_TO_POSE2_PRESS,766,746,714.170396801,680.829603199,664,631,880.170396801,787,805,653,631.829603199,653,0.451244970158,0.00464075504512,0.049687909751,0.999999856885,0.000240981002992,-0.000477560494825,9.70597340511e-06,1793239743121755136
+222,3.700000000,POSE1_TO_POSE2_PRESS,766,746,714.746562984,680.253437016,664,631,880.746562984,787,805,653,631.253437016,653,0.451281500288,0.00464271733637,0.0496922077389,0.999999860158,0.000238724492571,-0.000471815950822,9.17111494915e-06,1793239743138421760
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.67639167,746,714.67639167,680,664,631,881,787,805,652.67639167,631,653,0.45131024855,0.00464227312936,0.0496943567516,0.999999861443,0.000237676927036,-0.000469608876136,9.54179708398e-06,1793239743155088384
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.098655863,746,714.098655863,680,664,631,881,787,805,652.098655863,631,653,0.451332885767,0.00463993911542,0.0496948181888,0.999999861187,0.000237578737673,-0.000470179752062,1.06235941883e-05,1793239743171755008
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.472998714,746,714,680,664,630.527001286,881.472998714,787,805,652.472998714,631,653,0.451343463446,0.00464010310794,0.0496921134536,0.999999859035,0.000236887527913,-0.00047508334975,1.05092958778e-05,1793239743188421632
+226,3.766666667,POSE1_TO_POSE2_PRESS,766,746,714,680.045275456,664,630,881.909449087,787,805,653,631.045275456,653,0.451351363195,0.00464094257444,0.0496889868719,0.999999856529,0.000236546847547,-0.000480503515703,1.01590880581e-05,1793239743205088256
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,746,714,680.640313503,664,630,880.719372994,787,805,653,631.640313503,653,0.451356900753,0.00464373779353,0.0496886549869,0.999999854827,0.000241945360147,-0.000481362197021,9.93516013321e-06,1793239743221754624
+228,3.800000000,POSE1_TO_POSE2_PRESS,765.772282842,746,714.227717158,681,664,630.227717158,880.227717158,787,805,653,631.772282842,653,0.451361782197,0.00464496689133,0.0496883342817,0.999999853877,0.00024396337841,-0.000482320087288,9.79974702242e-06,1793239743238421504
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.19654682,746,714.80345318,681,664,630.80345318,880.80345318,787,805,653,631.19654682,653,0.451365660905,0.00464380249453,0.0496880306626,0.999999854104,0.00024081500571,-0.000483429598,9.79961062196e-06,1793239743255088384
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.379106312,746,715,680.620893688,663.620893688,630.620893688,881,787,804.620893688,653,631,653,0.451367192401,0.00464240058499,0.0496867036043,0.999999853559,0.000238870760684,-0.000485512523012,1.00373464397e-05,1793239743271755008
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.954716463,746,715,680.045283537,663.045283537,630.045283537,881,787,804.045283537,653,631,653,0.451367507258,0.00464087556447,0.0496848460623,0.99999985261,0.000237550656535,-0.000488100002094,1.03983796082e-05,1793239743288421888
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.455120446,746,714.455120446,680.544879554,663,630,881,787,804.544879554,652.455120446,631,653,0.451368908611,0.00464179159646,0.0496848106412,0.999999852632,0.000239283697786,-0.000487211678194,1.02394797248e-05,1793239743305088512
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.133253842,746,714.133253842,680.866746158,663.133253842,630,881,787,805,652,631.133253842,653,0.451369967894,0.00464303492442,0.0496847017348,0.999999852658,0.000240536561828,-0.000486546767654,9.89361510877e-06,1793239743321755136
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.711504574,746,714.711504574,680.288495426,663.711504574,630,881,787,805,652,631.711504574,653,0.451369575034,0.00464467517901,0.0496838278479,0.999999852437,0.000239315283225,-0.000487619066067,9.07164704587e-06,1793239743338421504
+235,3.916666667,POSE1_TO_POSE2_PRESS,766,746,714.712125524,680.287874476,664,630.287874476,881,787,805.287874476,652,631.712125524,653,0.451370579195,0.00464517556619,0.0496840489513,0.999999852544,0.000239351095929,-0.000487381018634,9.07299297565e-06,1793239743355088128
+236,3.933333333,POSE1_TO_POSE2_PRESS,766,746,714.137628206,680.862371794,664,630.862371794,881,787,805.862371794,652,631.137628206,653,0.451372974304,0.00464454104212,0.0496853602841,0.999999852978,0.000240638534153,-0.000485838322666,9.89407315605e-06,1793239743371755008
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.562587041,746,714.437412959,680.562587041,664,630.562587041,880.562587041,787,805.562587041,652.437412959,631,653,0.451373917605,0.00464490141317,0.0496859681458,0.999999853281,0.00024091344123,-0.000485076394837,9.92961852107e-06,1793239743388421888
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714.98704203,680,663.98704203,630.01295797,880,787,805,652.98704203,631.01295797,652.98704203,0.451374384501,0.00464552901227,0.0496863326615,0.999999853535,0.000240848722172,-0.000484590171943,9.71771600462e-06,1793239743405088512
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714.396678575,680,663.396678575,630.603321425,880,787,805,652.396678575,631.603321425,652.396678575,0.451374003147,0.00464409808997,0.04968572892,0.999999853367,0.00023986404817,-0.000485429032131,9.50677286208e-06,1793239743421755136
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.809243197,714.190756803,680,663.190756803,630.809243197,880.190756803,787,804.809243197,652.190756803,631.809243197,652.190756803,0.451373541248,0.00464345773574,0.0496853756368,0.999999852954,0.000239922177163,-0.000486250722472,9.47835043643e-06,1793239743438421504
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.227804737,714.772195263,680,663.772195263,630.227804737,880.772195263,787,804.227804737,652.772195263,631.227804737,652.772195263,0.451372914386,0.00464443651357,0.0496855353075,0.999999852039,0.000242116030847,-0.000487037247859,9.82374167107e-06,1793239743455088128
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.349743182,715,680,663.650256818,630,881,787,804.349743182,653,631.349743182,653,0.451373295734,0.00464422280275,0.049685339166,0.999999852424,0.000240774515319,-0.000486915640292,9.67619546826e-06,1793239743471754752
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.924784861,715,680,663.075215139,630,881,787,804.924784861,653,631.924784861,653,0.451374326552,0.00464324091138,0.0496849138166,0.999999853637,0.000237155576137,-0.000486209029181,9.21110749917e-06,1793239743488421632
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,746,714.508476886,680,663,630,880.508476886,787,805,652.508476886,631.508476886,652.508476886,0.451373945383,0.00464415924841,0.049684864829,0.999999852998,0.000238641670797,-0.000486795492429,9.22483343688e-06,1793239743505088256
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,746,714,680,663,630,880,787.060554421,805,652.060554421,631.060554421,652.060554421,0.451373201666,0.0046452668827,0.0496845880606,0.999999851981,0.000240725156327,-0.000487855388371,9.2911791705e-06,1793239743521755136
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,746,714,680,663,630,880,787.661180833,805,652.661180833,631.661180833,652.661180833,0.451371119519,0.00464551248123,0.0496817746391,0.99999985011,0.000241285068091,-0.000491402266715,9.18420329157e-06,1793239743538421760
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,680,663,630.251394527,880,787.748605473,805,652.748605473,631.748605473,653,0.451370715787,0.00464510171921,0.0496811726729,0.999999849753,0.000241009103258,-0.000492261872448,9.27022870986e-06,1793239743555088384
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,680,663,630.828132626,880,787.171867374,805,652.171867374,631.171867374,653,0.451372484184,0.00464384152467,0.049683432673,0.999999851362,0.000239651384327,-0.000489643730427,9.60602777574e-06,1793239743571755008
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,680,663,630.59626574,880.40373426,787,805,652.40373426,631.40373426,653,0.451372908427,0.00464470296147,0.049683376366,0.999999851389,0.000239376934911,-0.00048972855387,9.35163490545e-06,1793239743588421632
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714,680,663,630.021146569,880.978853431,787,805,652.978853431,631.978853431,653,0.451372762079,0.00464646502936,0.0496823367882,0.999999850745,0.000239562332727,-0.00049096078441,8.84670595255e-06,1793239743605088256
+251,4.183333333,POSE1_TO_POSE2_PRESS,765.569370483,746,714,680,663,630,881,787,804.430629517,652.430629517,632,653,0.451372156313,0.00464485456048,0.0496816498428,0.999999850341,0.000239542166122,-0.000491782394949,9.3981338148e-06,1793239743621754880
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.842946069,746,714.157053931,680,663,630.157053931,881,787,804.157053931,652.157053931,631.842946069,652.842946069,0.451371982847,0.00464394166226,0.0496815229291,0.999999850238,0.000239801247669,-0.000491858850981,9.75628281495e-06,1793239743638421760
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.264443799,746,714.735556201,680,663,630.735556201,881,787,804.735556201,652.735556201,631.264443799,652.264443799,0.451373016503,0.00464524613372,0.0496828627176,0.999999850916,0.000240830738103,-0.000489977774521,9.48756759138e-06,1793239743655088384
+254,4.233333333,HOLD_POSE2,766,745,714,680,664,631,881,787,805,653,631,652,0.45137544976,0.00464134679028,0.0496848905085,0.999999853826,0.00023260766173,-0.000488011152328,9.29581432057e-06,1793239743691759872
+255,4.250000000,HOLD_POSE2,765.409879251,745.590120749,714,680.590120749,663.409879251,630.409879251,881,787,805,653,631,652.590120749,0.451375013908,0.00464456074291,0.0496847782032,0.999999852669,0.000237271747827,-0.000488142127076,9.05347347365e-06,1793239743708426496
+256,4.266666667,HOLD_POSE2,765,746,714.176695037,680.823304963,663.176695037,630,880.823304963,787,805,653,631.176695037,653,0.451374537389,0.0046462978147,0.0496843674218,0.999999851811,0.000240091477007,-0.000488521419594,8.94466905207e-06,1793239743725093120
+257,4.283333333,HOLD_POSE2,765,746,714.75520459,680.24479541,663.75520459,630,880.24479541,787,805,653,631.75520459,653,0.451373968387,0.00464467637647,0.0496832778891,0.999999851677,0.000238717035088,-0.000489465400815,9.13953397328e-06,1793239743741759744
+258,4.300000000,HOLD_POSE2,765.33182587,746,714.66817413,680,663.66817413,630,880.33182587,787,805,652.66817413,631.66817413,653,0.451373836248,0.00464494367619,0.0496825782605,0.999999851157,0.00023867933905,-0.000490548150746,9.00037908791e-06,1793239743758426368
+259,4.316666667,HOLD_POSE2,765.907061975,746,714.092938025,680,663.092938025,630,880.907061975,787,805,652.092938025,631.092938025,653,0.451374024568,0.00464659645613,0.0496821646454,0.999999850353,0.000239622210493,-0.000491732694141,8.61620459662e-06,1793239743775092992
+260,4.333333333,HOLD_POSE2,766,746,714.482793963,680,663.482793963,630,881,787,804.517206037,652.482793963,631,653,0.451374778433,0.00464605868606,0.0496826425826,0.999999851025,0.000239798863952,-0.000490277245341,8.69136157004e-06,1793239743791759872
+261,4.350000000,HOLD_POSE2,766,746,715,680.059957961,664,630,881,787,804.059957961,653,631,653,0.451375533943,0.00464516080396,0.0496832256181,0.999999851842,0.000239791247671,-0.000488607585147,8.87549718161e-06,1793239743808426496
+262,4.366666667,HOLD_POSE2,766,746,715,680.648913268,664,630,881,787,804.648913268,653,631,653,0.451375342467,0.00464480996441,0.0496832201517,0.999999851464,0.000239460533001,-0.000489536334563,9.24020243544e-06,1793239743825093120
+263,4.383333333,HOLD_POSE2,766,746,715,680.765605713,663.765605713,630,881,787,805,653,631,653,0.451374870275,0.00464448420847,0.0496828656988,0.999999851206,0.000238529854711,-0.000490513535967,9.34051642649e-06,1793239743841759488
+264,4.400000000,HOLD_POSE2,766,746,715,680.185252687,663.185252687,630,881,787,805,653,631,653,0.451373983755,0.00464419547519,0.0496819961528,0.999999851126,0.000236713648648,-0.00049156225093,9.05059703523e-06,1793239743858426368
+265,4.416666667,HOLD_POSE2,766,746,714.608598838,680,663,630,881,787,805,653,631,653,0.451374384586,0.0046432892541,0.0496818396245,0.999999851446,0.00023553859335,-0.00049147537576,8.98398839282e-06,1793239743875093248
+266,4.433333333,HOLD_POSE2,766,746,714.03367939,680,663,630,881,787,805,653,631,653,0.451375389025,0.00464209350828,0.0496820174123,0.999999851956,0.000234664157563,-0.00049085605067,9.02208458961e-06,1793239743891759872
+267,4.450000000,HOLD_POSE2,766,745.459285799,714,680,663,630.540714201,881,787,805,653,631.540714201,653,0.451375644716,0.00464332125784,0.0496830668645,0.999999851917,0.000235966592474,-0.000490308727829,9.10727843423e-06,1793239743908426496
+268,4.466666667,HOLD_POSE2,765.881285558,745,714.118714442,680,663,630.881285558,881,787,805,653,631.881285558,653,0.451375590109,0.00464443422519,0.0496836761896,0.999999851677,0.000237270519235,-0.000490167420737,9.17383311181e-06,1793239743925093376
+269,4.483333333,HOLD_POSE2,765.288759738,745,714.711240262,680,663,630.288759738,881,787,805,653,631.288759738,653,0.451374482996,0.00464448718406,0.049682312402,0.999999850777,0.000238039759846,-0.000491628715465,9.15429841407e-06,1793239743941760256
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,714,680,663,630,881,787,805,652,632,653,0.451375807619,0.00464229833308,0.0496829925754,0.999999851924,0.000235831241962,-0.000490350389303,9.5581672867e-06,1793239743978852096
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765.578306832,745.421693168,714,680,663,630.578306832,880.421693168,787,805,652.578306832,632,653,0.451376225147,0.00464334779602,0.0496833269701,0.99999985218,0.000235616625189,-0.000489943532232,8.91013919554e-06,1793239743995519232
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.845471239,745.154528761,714.154528761,680,663,630.845471239,880,787,805,652.845471239,631.845471239,653,0.451376410606,0.00464436249198,0.0496834994542,0.999999852162,0.00023612790693,-0.000489740710325,8.5542999654e-06,1793239744012186112
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765.27486293,745.72513707,714.72513707,680,663,630.27486293,880,787,805,652.27486293,631.27486293,653,0.451375971201,0.00464528357565,0.0496832359825,0.999999851403,0.000238593721371,-0.000490087267341,8.9851996315e-06,1793239744028852480
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.689690872,715,680,663,630,880.310309128,787,805,652.310309128,631.310309128,653,0.451375633248,0.00464491327443,0.0496827841959,0.999999850988,0.000239037660879,-0.000490713545969,9.20941400647e-06,1793239744045518848
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.090983441,715,680,663,630,880.909016559,787,805,652.909016559,631.909016559,653,0.451375389584,0.00464334277253,0.0496821573912,0.999999850895,0.000237602489225,-0.000491599795139,9.24153704453e-06,1793239744062185216
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.487843362,745,714.512156638,680,663,630,880.512156638,787,804.512156638,653,631.512156638,652.512156638,0.451376618286,0.0046432267476,0.0496836738006,0.999999852073,0.000236372595618,-0.000489792037339,9.2528189964e-06,1793239744078851840
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.93683563,745.06316437,714,680.06316437,663,630,880,787.06316437,804.06316437,652.93683563,631.06316437,652,0.451377834634,0.00464340052981,0.0496852515994,0.99999985325,0.000235448225367,-0.0004878296317,9.25499682131e-06,1793239744095518720
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.361053743,745.638946257,714,680.638946257,663,630,880,787.638946257,804.638946257,652.361053743,631.638946257,652,0.451376809446,0.00464381101912,0.0496842107203,0.999999852612,0.000236704826913,-0.000488530076036,9.21359841175e-06,1793239744112185344
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.219249447,746,714,681,663,630.219249447,880.438498894,787.780750553,805,652,631.780750553,652.219249447,0.451373402827,0.0046445671523,0.0496819540476,0.999999850987,0.000237978587654,-0.000491232797045,9.05224318069e-06,1793239744128852224
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.807154903,746,714,681,663,630.807154903,881.614309807,787.192845097,805,652,631.192845097,652.807154903,0.45136599196,0.00464590446677,0.0496776530844,0.99999984768,0.000239281200514,-0.000497302237192,8.6891870886e-06,1793239744145519104
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.610300926,745.610300926,714,680.610300926,663,631,881.610300926,787,805,652.389699074,631.389699074,652.610300926,0.451342233224,0.0046454676468,0.0496671150454,0.999999838638,0.000238396276527,-0.000515573373381,8.68111560525e-06,1793239744162185728
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.030373766,745.030373766,714,680.030373766,663,631,881.030373766,787,805,652.969626234,631.969626234,652.030373766,0.451310494422,0.00464416479924,0.0496535324338,0.999999826316,0.00023644352617,-0.000539800657666,8.84632661835e-06,1793239744178852352
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.545226301,714.545226301,680.545226301,663.545226301,630.454773699,881,787,805,653,631.454773699,652,0.45125510958,0.00464613160138,0.0496340771787,0.99999980639,0.000239899002114,-0.000574104257845,8.52257237073e-06,1793239744195518720
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.120311786,746,714.879688214,680.879688214,663.879688214,630,881,787,805.120311786,652.879688214,631,652.120311786,0.451195788336,0.00464810607039,0.0496155867775,0.999999787497,0.000243032410324,-0.000604878461729,7.98058943561e-06,1793239744212185344
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.694358725,746,714.305641275,680.305641275,663.305641275,630,881,787,805.694358725,652.305641275,631,652.694358725,0.451126550415,0.00464942792548,0.0496019592499,0.999999777902,0.000243823901902,-0.000620241851685,6.71751494389e-06,1793239744228851968
+286,4.766666667,POSE2_TO_POSE3_RETREAT,766,746,714.275461881,680,663,630,880.724538119,787,806,652,631.275461881,652.724538119,0.451052877104,0.0046501829913,0.0495935322434,0.99999977204,0.0002446900512,-0.000629295689488,5.75054559966e-06,1793239744245518592
+287,4.783333333,POSE2_TO_POSE3_RETREAT,766,746,714.86460012,680,663,630,880.13539988,787,806,652,631.86460012,652.13539988,0.45097415309,0.00465029263779,0.0495910272204,0.999999770633,0.00024564121539,-0.00063116465818,5.12075977113e-06,1793239744262185216
+288,4.800000000,POSE2_TO_POSE3_RETREAT,766,746,714.55212555,680,663,630,880.44787445,787,805.55212555,652,631.55212555,652.44787445,0.450877487085,0.00465026055231,0.0495922807285,0.999999771844,0.000247340017473,-0.000628578645269,4.87217898566e-06,1793239744278852096
+289,4.816666667,POSE2_TO_POSE3_RETREAT,766,746,714.028987516,680,663,630,880.971012484,787,805,652.028987516,631.028987516,653,0.450774529812,0.00465022539349,0.0495948837792,0.999999774012,0.000249218471957,-0.000624374831357,4.72044435048e-06,1793239744295518976
+290,4.833333333,POSE2_TO_POSE3_RETREAT,766,746,714.60237413,680,663,630,880.39762587,787,805,652.60237413,631.60237413,653,0.450653971359,0.00465092682046,0.0496017680439,0.999999779709,0.000250280917245,-0.000614754884557,4.25114902964e-06,1793239744312185600
+291,4.850000000,POSE2_TO_POSE3_RETREAT,766,745.822899365,715,680,663.177100635,630.177100635,880.177100635,787,805,652.822899365,631.822899365,653,0.45052255581,0.00465236291287,0.0496078209552,0.999999784485,0.000252641062815,-0.000605961131382,3.65679270263e-06,1793239744328852224
+292,4.866666667,POSE2_TO_POSE3_RETREAT,766,745.245141688,715,680,663.754858312,630.754858312,880.754858312,787,805,652.245141688,631.245141688,653,0.450366578129,0.00465546104822,0.0496119930845,0.999999787308,0.000257937012294,-0.000599036488042,2.77950931867e-06,1793239744345518848
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.671305782,745.328694218,715,680.328694218,664,631,881,787,805,652.328694218,631,653,0.450189926174,0.00465777846809,0.0496128096557,0.99999978687,0.000262730955558,-0.000597684873176,2.07654749048e-06,1793239744362185216
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.100360206,745.899639794,715,680.899639794,664,631,881,787,805,652.899639794,631,653,0.449998037031,0.00465952049216,0.049611153143,0.999999784048,0.000267154915121,-0.000600440642647,1.5020625301e-06,1793239744378851840
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714.507598678,681,663.507598678,631,881,787,805,653,631,653,0.449766367197,0.00466061649687,0.0496077391,0.99999977942,0.000271797537546,-0.000606039657209,1.08675679001e-06,1793239744395518464
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,746,714.086713635,681,663.086713635,631,880.913286365,787,805,653,631,653,0.449521640988,0.00466209076903,0.0496043797977,0.999999774805,0.000276535812975,-0.000611487697642,4.65094352894e-07,1793239744412185344
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,746,714.663495944,681,663.663495944,631,880.336504056,787,805,653,631,653,0.449251072996,0.00466648149136,0.0496034482037,0.99999977269,0.000281551127698,-0.000612655555272,-1.51466634874e-06,1793239744428852224
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.244888784,746,714.755111216,680.755111216,664,631,880.244888784,787,804.755111216,652.755111216,631,652.755111216,0.448971230084,0.00466966306669,0.0496041814761,0.999999772342,0.000286655445819,-0.000610848782419,-3.02706984326e-06,1793239744445518592
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.832738529,746,714.167261471,680.167261471,664,631,880.832738529,787,804.167261471,652.167261471,631,652.167261471,0.448678397885,0.00467115125995,0.0496072463547,0.999999774457,0.000291884410796,-0.00060487610973,-3.88495048518e-06,1793239744462185216
+300,5.000000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,664,631,881,787,804.412971002,652.412971002,631,652.412971002,0.448346725957,0.00467459648301,0.0496088279983,0.999999775137,0.000299781196911,-0.000599859548343,-5.12968774255e-06,1793239744478851840
+301,5.016666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,664,631,881,787,804.99017419,652.99017419,631,652.99017419,0.447999608076,0.00467881998653,0.0496098197821,0.999999775173,0.000308738934119,-0.000595223217744,-6.52827187635e-06,1793239744495518464
+302,5.033333333,POSE2_TO_POSE3_RETREAT,766,745.434133328,714,680,664.565866672,631.565866672,881,787,805,652.434133328,631,652.434133328,0.447597871035,0.00468192239087,0.0496054724451,0.99999976932,0.000315741224419,-0.000601329353899,-8.38208272958e-06,1793239744512185344
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.855079223,745.144920777,714,680.144920777,664.855079223,632,881,787,804.855079223,652.144920777,631,652.144920777,0.447190373755,0.00468517124773,0.0496016734135,0.999999763791,0.000321951558434,-0.000607175197989,-1.01998516851e-05,1793239744528851712
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.265633661,745.734366339,714,680.734366339,664.265633661,632,881,787,804.265633661,652.734366339,631,652.734366339,0.446768109198,0.00468892888047,0.0495998398519,0.999999759786,0.00032583654715,-0.000611651985886,-1.18828848256e-05,1793239744545518592
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.317496225,746,714,680.682503775,664,632.317496225,881,787,804.317496225,652.682503775,631.317496225,653,0.446327347521,0.00469117365746,0.04960450601,0.999999761815,0.000329974876068,-0.00060605972129,-1.33715241528e-05,1793239744562185216
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765.895445215,746,714,680.104554785,664,632.895445215,881,787,804.895445215,652.104554785,631.895445215,653,0.445871411994,0.00469217738875,0.0496145041053,0.999999768652,0.000334321028798,-0.000592207476805,-1.47006959199e-05,1793239744578852096
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.527424922,746,714,680.472575078,664.472575078,633,880.527424922,787.472575078,804.527424922,652.472575078,632,653,0.445395689509,0.00469181767751,0.0496459937201,0.999999794187,0.000337918500127,-0.00054515873224,-1.54715298489e-05,1793239744595518976
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.049525728,746,714,680.950474272,665,633,880.049525728,787.950474272,804.049525728,652.950474272,632,653,0.444908658486,0.0046913640075,0.0496809368308,0.999999819891,0.000341660817167,-0.000493178426572,-1.61574553618e-05,1793239744612185600
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.62649489,746,714,680.37350511,665,633,880.62649489,787.37350511,804.62649489,652.37350511,632,653,0.444347734465,0.00469311671535,0.0497021079169,0.99999983012,0.000348706751093,-0.000466760850608,-1.72524139749e-05,1793239744628852224
+310,5.166666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,665,633.208122763,880.791877237,787,805,652,631.791877237,653,0.443771105991,0.00469549824,0.0497130085914,0.999999833455,0.000355055123332,-0.000454597569163,-1.91780521757e-05,1793239744645518848
+311,5.183333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,665,633.798302739,880.201697261,787,805,652,631.201697261,653,0.443165648417,0.00469903410244,0.049705055561,0.999999825106,0.000360122960525,-0.00046860132675,-2.26285938207e-05,1793239744662185728
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,746,714.380998828,680,665.380998828,634,880.380998828,787.380998828,804.619001172,652,631.380998828,653,0.442560824214,0.00469943523142,0.0497125064479,0.999999831195,0.000363977416345,-0.000452204664879,-2.53269707581e-05,1793239744678852352
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,746,714.959809322,680,665.959809322,634,880.959809322,787.959809322,804.040190678,652,631.959809322,653,0.441956328872,0.00469820883076,0.0497279549305,0.999999843989,0.000367201893426,-0.000420024337884,-2.76348294278e-05,1793239744695518464
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,746,714.465268675,680,666,634,881,788,804,652.534731325,632,653,0.441338179162,0.00468639668426,0.0497752143235,0.999999878441,0.000354165728573,-0.000341515607709,-3.24413742925e-05,1793239744712185344
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,745.890725488,714,680,666.109274512,634,880.890725488,788,804.109274512,653,632,652.890725488,0.440700945721,0.00466914900486,0.0498189936658,0.999999906814,0.000335159185209,-0.000269712332752,-3.59808250032e-05,1793239744728852224
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745.316559677,714,680,666.683440323,634,880.316559677,788,804.683440323,653,632,652.316559677,0.439986858294,0.00463213715201,0.049837869285,0.999999926587,0.000295914557157,-0.000241143356986,-3.33364131014e-05,1793239744745518848
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,666.73481954,634,880,788,805,652.73481954,632,652.26518046,0.43924140231,0.00460363604405,0.0498324730143,0.999999948307,0.000196973137653,-0.000252246452586,-3.09734597529e-05,1793239744762185728
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,666.143771604,634,880,788,805,652.143771604,632,652.856228396,0.438457398924,0.00458559337503,0.0497972501915,0.999999950573,2.46732003463e-05,-0.000312100634023,-2.89563762058e-05,1793239744778852096
+319,5.316666667,POSE2_TO_POSE3_RETREAT,766,745.438382311,714.438382311,680,666.438382311,634.438382311,880.438382311,788,805,652,632,653,0.437667271407,0.0045820618092,0.0497845425847,0.999999942707,-7.8518339315e-06,-0.000337017458317,-3.07054498325e-05,1793239744795518720
+320,5.333333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,635,880.98252623,788,805,652,632,653,0.43687511003,0.00458352653695,0.0497800836687,0.99999993852,4.86121971296e-06,-0.000348999475427,-3.36982319859e-05,1793239744812185344
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,667,635,880.409901463,788,805,652,632,653,0.436080871534,0.00459553507411,0.0498077588918,0.999999951842,2.73953590602e-05,-0.000306824973148,-3.77433352741e-05,1793239744828851968
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,746,714.832133158,680.167866842,667,634.832133158,880.167866842,788,804.832133158,652,632,653,0.43526609874,0.00460583192145,0.0498204312543,0.999999956014,4.88424177085e-05,-0.000289579038306,-4.15981133438e-05,1793239744845518848
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,746,714.241408266,680.758591734,667,634.241408266,880.758591734,788,804.241408266,652,632,653,0.434399599918,0.00461181700639,0.0497953112782,0.999999940552,6.75511092641e-05,-0.000335128387119,-4.49734604013e-05,1793239744862185216
+324,5.400000000,POSE2_TO_POSE3_RETREAT,766,746,714,680.657205278,667,634.342794722,880.657205278,788,804,652,632,653,0.433552141585,0.00461254285152,0.0497934809512,0.999999938463,7.57239689392e-05,-0.000339095487382,-4.85093426693e-05,1793239744878851840
+325,5.416666667,POSE2_TO_POSE3_RETREAT,766,746,714,680.077509519,667,634.922490481,880.077509519,788,804,652,632,653,0.432717841925,0.00460963410318,0.0498077458035,0.999999946305,7.66156495157e-05,-0.000314325626999,-5.21561686542e-05,1793239744895518464
+326,5.433333333,POSE2_TO_POSE3_RETREAT,766,745.499323344,714,680,667,635,880.500676656,788,804.500676656,652,631.499323344,653,0.431866421272,0.00459862822163,0.0498184865474,0.999999953004,6.3244747745e-05,-0.000294756668999,-5.57738110479e-05,1793239744912185088
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,667,635,880.922015033,788,805,652,631.077984967,653,0.431002077763,0.00458692569333,0.0498225149301,0.999999956226,4.3703158548e-05,-0.00028665133937,-5.88989469407e-05,1793239744928851712
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,667,635,880.348802081,788,805,652,631.651197919,653,0.430072451436,0.00457873551242,0.0497873718879,0.99999993832,-1.04493241235e-06,-0.000346245934211,-5.89251206555e-05,1793239744945518592
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745.231230914,714,680,666.768769086,635,880,788,804.768769086,652,632,653,0.429158969052,0.00457910336246,0.0497705536018,0.999999928807,2.28631384992e-05,-0.000373469833216,-4.88200965672e-05,1793239744962185216
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745.821864401,714,680,666.178135599,635,880,788,804.178135599,652,632,653,0.42827057908,0.00459277297212,0.0497822175072,0.999999926575,0.000153483582475,-0.00035037991582,-2.2968135584e-05,1793239744978852096
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635,880,788,804,652.404933931,632,653,0.42734904408,0.00460197665788,0.0497805730726,0.99999991598,0.000193860906471,-0.000360722542927,-1.83475979718e-05,1793239744995518720
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,746,714,680,666,635,880,788,804,652.984736963,632,653,0.426413195584,0.00460925175142,0.0497731814838,0.999999906367,0.000195267092891,-0.000385502883698,-2.28957672926e-05,1793239745012185344
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745.440394478,714,680,666.559605522,635,879.440394478,788,804,652.440394478,631.440394478,653,0.425565227991,0.00460662492085,0.049783604516,0.999999925384,0.000168540839532,-0.000346400696458,-2.88485544765e-05,1793239745028851968
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,745.134685391,714,679.865314609,667,635,879.134685391,788,804,652.134685391,631.134685391,653,0.424717966973,0.00460370399737,0.0498014288392,0.99999994391,0.000145571212994,-0.000299749883484,-3.37438537433e-05,1793239745045518848
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,745.710895284,714,679.289104716,667,635,879.710895284,788,804,652.710895284,631.710895284,653,0.423865233412,0.00460069658834,0.0498419371013,0.999999962564,0.000137409907767,-0.00023401513981,-3.50480137033e-05,1793239745062185216
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.294588387,666.705411613,635,880,788.294588387,804,652.705411613,632,653,0.422976081649,0.00459991219992,0.0498510410618,0.999999965546,0.000135210276925,-0.000222162387481,-3.56425036833e-05,1793239745078851840
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.885816783,666.114183217,635,880,788.885816783,804,652.114183217,632,653,0.422050258104,0.00460136631422,0.0498285220072,0.999999954709,0.000139013840518,-0.000264566884861,-3.55223812713e-05,1793239745095518464
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.53486675,666,635,879.53486675,788.53486675,804.46513325,652,631.53486675,653,0.421150449666,0.00460345519003,0.0498111487726,0.999999946068,0.000143845477209,-0.000293020822274,-3.62225879987e-05,1793239745112185088
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.958469754,745.958469754,714,679,666.041530246,635,879.083060492,788,804.958469754,652.041530246,631,653,0.420259789179,0.00460572967327,0.0497972957903,0.999999938506,0.000148150084986,-0.00031570409655,-3.70130590312e-05,1793239745128851712
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.382951373,745.382951373,714,679,666.617048627,635,880.234097253,788,804.382951373,652.617048627,631,653,0.41940668851,0.00460843712822,0.0498128688784,0.999999942019,0.00014251426829,-0.000307123255732,-3.6439499356e-05,1793239745145518336
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714,679,666.803333651,635,880.803333651,788,803.803333651,653,631.196666349,653,0.418548353197,0.00460921554126,0.0498156888065,0.999999940118,0.000139189556608,-0.000314787904842,-3.60351135238e-05,1793239745162185216
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,679,666.215563603,635,880.215563603,788,803.215563603,653,631.784436397,653,0.417679607772,0.00460615773454,0.0497931469603,0.999999926561,0.000140460859945,-0.000354759406951,-3.596715784e-05,1793239745178851840
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.366580366,666,635,880,788,803.366580366,653,631.633419634,653,0.416870192545,0.00460187994453,0.0497982901376,0.999999932105,0.000138658020413,-0.000339389619527,-3.71215510454e-05,1793239745195518464
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.945465954,666,635,880,788,803.945465954,653,631.054534046,653,0.416095138485,0.00459689560069,0.0498194671129,0.999999947495,0.000135074789102,-0.000291968891017,-3.8983868241e-05,1793239745212185088
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.520216291,745.520216291,714,679.479783709,666,635,880,788,804,652.479783709,631.520216291,653,0.41532301782,0.00460200891773,0.0498278714959,0.999999952191,0.000140892267319,-0.000272377303318,-3.97152630851e-05,1793239745228851968
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.905246862,746,714,679.094753138,666,635,879.905246862,788,804,652,631.905246862,653,0.414547861242,0.00460794505201,0.0498292289082,0.999999952838,0.000145550717903,-0.000267437556167,-4.02089329455e-05,1793239745245518592
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.329610822,746,714,679.670389178,666,635,879.329610822,788,804,652,631.329610822,653,0.413755748764,0.0046127272672,0.0498015638547,0.999999937589,0.000139365031359,-0.000322168610116,-4.00930519445e-05,1793239745262185216
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.253718358,745.746281642,714,679.746281642,666,634.746281642,879,788,804,652.253718358,631.253718358,653,0.412991520069,0.0046164539579,0.0497886427485,0.999999929047,0.000141349530015,-0.000346818805049,-4.05350275185e-05,1793239745278851840
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.847354326,745.152645674,714,679.152645674,666,634.152645674,879,788,804,652.847354326,631.847354326,653,0.412264648563,0.00461876651576,0.0497954747576,0.999999932392,0.000154279984998,-0.000331168350455,-4.17243881379e-05,1793239745295518464
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,745,714.427550446,679,666,634.427550446,879,788,804,653,632,652.572449554,0.411581024526,0.00461415754925,0.0498145403387,0.999999941461,0.000155763600744,-0.00030183085854,-4.14000381344e-05,1793239745312185344
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.996910498,679.003089502,666.003089502,635,879.003089502,788,803.996910498,653,632,652.003089502,0.41091231027,0.00460716114341,0.0498375935564,0.999999951484,0.000153180427309,-0.000268186685064,-4.05502026209e-05,1793239745328851712
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,714.422296835,679.577703165,666.577703165,635,879.577703165,788,803.422296835,653,632,652.577703165,0.410232502233,0.00460171827159,0.0498149674271,0.999999941226,0.000131257325273,-0.000314271454664,-3.94182275479e-05,1793239745345518592
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.151798471,714,679.848201529,667,635,880,787.848201529,803.151798471,653,631.848201529,653,0.409577193662,0.00459821920055,0.0497986200265,0.999999932825,0.00011622277592,-0.000345447758517,-3.88393755986e-05,1793239745362185472
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.724456763,714,679.275543237,667,635,880,787.275543237,803.724456763,653,631.275543237,653,0.408989809479,0.00460010929752,0.0497996803364,0.999999935764,0.000120286669514,-0.000335290494619,-3.97940522606e-05,1793239745378852096
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.309664453,667,635,880,787.309664453,804,653,631,653,0.408417700872,0.00460089045656,0.0498130864552,0.999999943108,0.000125040350674,-0.000310698907958,-4.01926610875e-05,1793239745395518720
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.906510363,667,635,880,787.906510363,804,653,631,653,0.407859758803,0.0046006431913,0.0498379420231,0.999999953502,0.000130433737428,-0.000272720993862,-4.00755749404e-05,1793239745412185600
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.514711607,746,714,679.514711607,666.514711607,635,879.514711607,788,804,653,631,653,0.407322460171,0.00460064395336,0.0498369591514,0.999999951472,0.000133694242848,-0.000278522058811,-4.00841208355e-05,1793239745428852224
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.060734236,746,714,679.060734236,666,635,879,788,803.939265764,653,631.060734236,653,0.406789810812,0.00460100735554,0.0498287104713,0.999999945935,0.000136392060505,-0.000296499113091,-4.01966786116e-05,1793239745445518592
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.636380237,746,714,679.636380237,666,635,879,788,803.363619763,653,631.636380237,653,0.406264072076,0.00460405470282,0.0497995482382,0.999999928862,0.000137677913444,-0.000348768514874,-4.09932329499e-05,1793239745462185216
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766.217593462,746,714,679.782406538,666,635,879.435186923,788,803.217593462,653,631.782406538,653,0.405767603478,0.00460761257048,0.0497799191691,0.999999915101,0.000140293374616,-0.000385175058545,-4.19072728278e-05,1793239745478852096
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766.808354277,746,714,679.191645723,666,635,880.616708554,788,803.808354277,653,631.191645723,653,0.405321332489,0.00461204596755,0.0497766392413,0.999999910768,0.000145189081094,-0.000394377192579,-4.30227975447e-05,1793239745495518720
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766.609237384,746,714,679,666,635,880.609237384,788,804,653,631,653,0.404924666185,0.00461486463993,0.0497913056329,0.999999921152,0.000150138647046,-0.000365011068431,-4.38288392412e-05,1793239745512185344
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766.030839657,746,714,679,666,635,880.030839657,788,804,653,631,653,0.404551818856,0.00461690795949,0.0498145894291,0.999999936696,0.000155114075213,-0.000317125364733,-4.44862744117e-05,1793239745528851712
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,714.545194218,679,666.545194218,635,880,788,803.454805782,653,631,653,0.404216700459,0.00461841500592,0.0498384096612,0.999999946416,0.000157010319189,-0.00028384558649,-4.41299194347e-05,1793239745545518592
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,746,714.876425729,679,666.876425729,635,880,788,803.123574271,653,631,653,0.403888828374,0.00461999861365,0.0498581161244,0.999999953135,0.000159278892347,-0.000257742369847,-4.39109061724e-05,1793239745562185216
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,746,714.288733755,679,666.288733755,635,880,788,803.711266245,653,631,653,0.403580190804,0.00462198320894,0.0498622587116,0.99999995299,0.000163597203804,-0.000255503082634,-4.44221688332e-05,1793239745578851840
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,679.294818129,666,635,880,788,804,653,631,653,0.403274784553,0.0046228468413,0.0498585953806,0.99999994968,0.000165666154599,-0.000266819232483,-4.47489786373e-05,1793239745595518720
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.874371479,666,635,880,788,804,653,631,653,0.402972499127,0.00462262784801,0.0498473930969,0.99999994288,0.000165562673506,-0.000291227217614,-4.48976439023e-05,1793239745612185344
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.548903055,746,714,679.548903055,666.451096945,635,879.548903055,788,804,653,631,653,0.402706134236,0.00462507335547,0.0498382425439,0.999999937084,0.000168403344293,-0.000308843163877,-4.56930089955e-05,1793239745628852224
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.026982702,745.973017298,714,679.026982702,666.973017298,635,879.026982702,788,804,653,631,653,0.40245211678,0.00462809255164,0.0498297184402,0.999999931953,0.000169757949153,-0.000324190888671,-4.66489918289e-05,1793239745645518848
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.601710286,745.398289714,714,679.601710286,666.398289714,635,879.601710286,788,804,653,631,653,0.402246941598,0.00462778784726,0.0498223841282,0.999999936149,0.000124404802145,-0.000331653089533,-4.72322024876e-05,1793239745662185472
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714,679.81852542,666,635,880,788,803.81852542,653,631.18147458,653,0.402055997721,0.00462658659543,0.0498184131049,0.999999938747,8.71213029118e-05,-0.000335665103716,-4.73702587364e-05,1793239745678852096
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,714,679.227391366,666,635,880,788,803.227391366,653,631.772608634,653,0.401897179524,0.00462336148357,0.0498220343477,0.999999941528,6.80541778425e-05,-0.0003318886904,-4.65034265731e-05,1793239745695518720
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.355746419,714,679.355746419,666.355746419,635,880,787.644253581,803,653,631.644253581,653,0.40175872452,0.00461483291632,0.0498286627251,0.999999944349,9.10624796066e-05,-0.000318671801928,-3.81869893643e-05,1793239745712185088
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.933885445,714,679.933885445,666.933885445,635,880,787.066114555,803,653,631.066114555,653,0.401632999422,0.0046029889274,0.049837170994,0.999999944964,0.00014037396439,-0.000299553259467,-2.5213478842e-05,1793239745728851968
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.489826096,714,680,666.489826096,635,880,787.510173904,803.510173904,653.510173904,631.510173904,653,0.401525845314,0.00458682620911,0.0498409398863,0.999999949143,0.000128474990189,-0.000291031273621,-2.25731426117e-05,1793239745745518848
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.085947002,745,714,680,666,635,879.914052998,788,803.914052998,653.914052998,631.914052998,653,0.401424385737,0.0045739971657,0.0498435085388,0.999999952772,0.000113222525128,-0.000284878846333,-2.19063141011e-05,1793239745762185472
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.660150082,745,714,680,666,635,879.339849918,788,803.339849918,653.339849918,631.339849918,653,0.401341653609,0.00458327433663,0.0498427352714,0.999999951579,0.000123819482781,-0.000284414645842,-2.48709916675e-05,1793239745778852352
+379,6.316666667,POSE2_TO_POSE3_RETREAT,767,745.241651716,714,679.758348284,666,635,879,788,803.241651716,653.241651716,631,653,0.40126691285,0.0045877269913,0.0498421690502,0.999999950818,0.000129446442425,-0.000284434220912,-2.65412293689e-05,1793239745795518976
+380,6.333333333,POSE2_TO_POSE3_RETREAT,767,745.833737396,714,679.166262604,666,635,879,788,803.833737396,653.833737396,631,653,0.401203760869,0.00458518331866,0.0498419030793,0.999999950822,0.000127866102718,-0.000285155348645,-2.63343203088e-05,1793239745812185344
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766.585847241,746,714,679,666.414152759,635,879,788,804,653.585847241,631,653,0.401156812082,0.00458497797425,0.0498433780869,0.999999951833,0.000127851385577,-0.000281559100068,-2.66959869129e-05,1793239745828852224
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.009988568,746,714,679,666.990011432,635,879,788,804,653.009988568,631,653,0.401116189833,0.00458568562999,0.0498455328596,0.999999953214,0.000128447965689,-0.000276277132195,-2.72796538486e-05,1793239745845518848
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.56609974,746,714,679.56609974,666.43390026,635,879.56609974,788,804,653.56609974,631,653,0.401087456101,0.00458771307132,0.049848327016,0.999999954488,0.000130159677507,-0.000270787797326,-2.7494338558e-05,1793239745862185472
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.85405096,746,714,680,666.14594904,635,879.85405096,788,803.85405096,653.85405096,631,653,0.401061671227,0.00458818546084,0.0498508059549,0.999999955865,0.000129786380865,-0.000265828961544,-2.75819640397e-05,1793239745878852096
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766.262737443,746,714,680,666.737262557,635,879.262737443,788,803.262737443,653.262737443,631,653,0.401044244452,0.00458384150965,0.0498522885648,0.999999957611,0.000122990600812,-0.000262500118001,-2.73017423559e-05,1793239745895518976
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.678738732,666.678738732,635,879.321261268,788,803.321261268,653,631,653,0.401029316777,0.00458305088524,0.0498529273936,0.999999957972,0.000122158251944,-0.000261479202502,-2.76068650074e-05,1793239745912185600
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,714,679.100589057,666.100589057,635,879.899410943,788,803.899410943,653,631,653,0.401016387443,0.00458510158782,0.0498528915143,0.999999957246,0.000126094408524,-0.00026230376265,-2.83800433496e-05,1793239745928852224
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,635,879.528011828,788,803.528011828,653,631.471988172,653,0.401010286099,0.00458486548245,0.0498529468373,0.999999957648,0.000124862164823,-0.000261371283065,-2.82413673925e-05,1793239745945518848
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,635,879.043876225,788,803,653.043876225,631.956123775,653,0.401005846406,0.00458412561513,0.0498531222993,0.999999958285,0.000122731343416,-0.000259974742037,-2.7944860069e-05,1793239745962185216
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666,635,879.621661022,788,803,653.621661022,631.378338978,653,0.40100412593,0.00458311695237,0.0498545259175,0.999999958916,0.00012291311593,-0.00025743467029,-2.8064922061e-05,1793239745978851840
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.795753216,714,679,666,635,880,788,803,653.795753216,631,653,0.401002709283,0.00458337882956,0.0498559651418,0.999999959341,0.000124024348915,-0.000255208258986,-2.83500262965e-05,1793239745995518720
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.204060294,714,679,666,635,880,788,803,653.204060294,631,653,0.401001868984,0.0045860508588,0.049857471909,0.999999959379,0.000126898722845,-0.000253576846325,-2.89482075712e-05,1793239746012185344
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.378470098,714,679.378470098,666.378470098,635,880,788,803.378470098,653.378470098,631,653,0.401000680859,0.00458611023466,0.0498575110061,0.999999959701,0.000125131321952,-0.000253157818378,-2.91673882282e-05,1793239746028851968
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.956177068,714,679.956177068,666.956177068,635,880,788,803.956177068,653.956177068,631,653,0.400999309628,0.00458479423919,0.049856777482,0.999999960163,0.000120920365446,-0.000253377022507,-2.91870527136e-05,1793239746045518848
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714,679.468097883,666.468097883,635,880,788,804,653.468097883,631,653,0.401001131887,0.00458596738862,0.0498581475787,0.999999960442,0.00012319781615,-0.000251187138362,-2.90479219237e-05,1793239746062185472
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.109996074,635,879.890003926,788,804,653,631,653,0.401002325798,0.00458680852988,0.0498592140801,0.9999999606,0.000125234991071,-0.000249568125895,-2.8842458952e-05,1793239746078852096
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.699117064,635,879.300882936,788,804,653,631,653,0.400999640925,0.00458531352571,0.0498582060384,0.999999960345,0.000123905690424,-0.00025129708608,-2.84048397344e-05,1793239746095518464
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766.283397655,745.716602345,714,679,667,635.283397655,879,788,804,653,631,653,0.400998041078,0.0045845303634,0.0498576841154,0.999999960172,0.000123456677487,-0.000252215834416,-2.83082624719e-05,1793239746112185088
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766.862625572,745.137374428,714,679,667,635.862625572,879,788,804,653,631,653,0.400997573856,0.00458449027114,0.0498576696368,0.999999960088,0.000123926570165,-0.000252288827265,-2.8567688562e-05,1793239746128851968
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.558530493,745.441469507,714,679.441469507,667,635.558530493,879.441469507,788,804,653,631.441469507,653,0.400998918582,0.00458489067337,0.0498583340742,0.999999960401,0.000124099818902,-0.000250978384087,-2.84013084283e-05,1793239746145518592
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.019952904,746,714,679.980047096,667,635,879.980047096,788,804,653,631.980047096,653,0.401000678099,0.00458539187572,0.0498591287264,0.999999960804,0.000124131760434,-0.00024938383265,-2.81098562281e-05,1793239746162185216
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.591767327,746,714,679.408232673,667,635,879.408232673,788,804,653,631.408232673,653,0.400998328904,0.0045848931856,0.0498576868394,0.999999960358,0.000122806261082,-0.000251827620349,-2.80206731728e-05,1793239746178852096
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766.830601352,746,714,679,667,635,879,788,803.830601352,653.169398648,631,653,0.400997114847,0.00458484417928,0.0498573531576,0.999999960184,0.000122564628195,-0.00025262172471,-2.81304638273e-05,1793239746195519232
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766.238453489,746,714,679,667,635,879,788,803.238453489,653.761546511,631,653,0.400998733629,0.00458591739842,0.0498597850993,0.999999960696,0.000125027879426,-0.000249298899138,-2.87368108707e-05,1793239746212185600
+405,6.750000000,POSE2_TO_POSE3_RETREAT,765.653781087,746,714,679,667,635,879,788,803.346218913,653.653781087,631.346218913,653,0.400999108578,0.00458557906594,0.0498604585609,0.999999960945,0.000125047838817,-0.000248288649656,-2.87427543281e-05,1793239746228852224
+406,6.766666667,POSE2_TO_POSE3_RETREAT,765.07414851,746,714,679,667,635,879,788,803.92585149,653.07414851,631.92585149,653,0.400998644959,0.00458428909438,0.0498599464913,0.999999961022,0.000123420581053,-0.0002488374915,-2.83439180243e-05,1793239746245518848
+407,6.783333333,POSE2_TO_POSE3_RETREAT,765.499852602,745.500147398,714,679.499852602,666.500147398,635,879.999705205,788,804,653,632,653,0.400999826287,0.00458302353163,0.049860429431,0.999999961704,0.000121091659409,-0.000247238479275,-2.83219142381e-05,1793239746262185472
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.073058346,714,679.926941654,666.073058346,635,880.926941654,788,804,653,632,653,0.401000878357,0.00458206359712,0.0498608826163,0.999999962301,0.000119140709558,-0.000245763290277,-2.83614614052e-05,1793239746278852096
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745.646474073,714,679.353525927,666.646474073,635,880.353525927,788,804,653,632,653,0.400999392625,0.00458317230877,0.0498601324064,0.99999996176,0.00012048330163,-0.000247293930008,-2.84439781993e-05,1793239746295518464
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.77267082,635.22732918,879.77267082,788,804,653,631.77267082,653,0.400998505497,0.00458402844519,0.0498596852242,0.999999961441,0.000121297914609,-0.00024816773826,-2.85813634402e-05,1793239746312185088
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,714,679,666.179855022,635.820144978,879.179855022,788,804,653,631.179855022,653,0.40099858077,0.00458447850602,0.049859725232,0.999999961484,0.00012126367376,-0.000247985531344,-2.88069629877e-05,1793239746328851968
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.596603136,746,714.403396864,679.403396864,666.403396864,635.596603136,879.403396864,788,803.596603136,653,631.403396864,653,0.40099963537,0.00458545029489,0.049860793721,0.999999961654,0.000122978311917,-0.000246447221572,-2.88325115552e-05,1793239746345518592
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.017516615,746,714.982483385,679.982483385,666.982483385,635.017516615,879.982483385,788,803.017516615,653,631.982483385,653,0.401001116492,0.00458664930966,0.0498623101397,0.999999961871,0.000125454631636,-0.000244318294311,-2.87709327875e-05,1793239746362185216
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.555077601,745.444922399,715,679.444922399,666.444922399,635,879.444922399,788,803.555077601,653,632,653,0.401000092302,0.00458520268782,0.0498613771507,0.999999961978,0.000121936104341,-0.000245668652642,-2.86789835283e-05,1793239746378852096
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745.131539946,714.868460054,679,666,635,879,788,804,653,631.868460054,653,0.400999352249,0.00458399754878,0.049860734008,0.999999962055,0.000119471641368,-0.000246580170398,-2.85482022139e-05,1793239746395518976
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745.722210531,714.277789469,679,666,635,879,788,804,653,631.277789469,653,0.400999876716,0.00458392332959,0.0498613692305,0.999999962083,0.000121338997803,-0.000245581142476,-2.82851869972e-05,1793239746412185600
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e942a3eacb29b0b161bd3611ad1d4482a449d58a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_10/depth_05/simulation_data.csv
@@ -0,0 +1,418 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+1,0.016666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+2,0.033333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+3,0.050000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+4,0.066666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+5,0.083333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+6,0.100000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+7,0.116666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+8,0.133333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+9,0.150000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+10,0.166666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+11,0.183333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+12,0.200000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+13,0.216666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+14,0.233333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+15,0.250000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+16,0.266666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+17,0.283333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+18,0.300000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+19,0.316666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+20,0.333333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+21,0.350000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+22,0.366666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+23,0.383333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+24,0.400000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+25,0.416666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+26,0.433333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+27,0.450000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+28,0.466666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+29,0.483333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+30,0.500000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+31,0.516666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+32,0.533333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+33,0.550000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+34,0.566666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+35,0.583333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+36,0.600000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+37,0.616666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+38,0.633333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+39,0.650000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+40,0.666666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+41,0.683333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+42,0.700000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+43,0.716666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+44,0.733333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+45,0.750000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+46,0.766666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+47,0.783333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+48,0.800000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+49,0.816666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+50,0.833333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+51,0.850000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+52,0.866666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+53,0.883333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+54,0.900000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+55,0.916666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+56,0.933333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+57,0.950000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+58,0.966666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+59,0.983333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+60,1.000000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+61,1.016666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+62,1.033333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+63,1.050000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+64,1.066666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+65,1.083333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+66,1.100000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+67,1.116666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+68,1.133333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+69,1.150000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+70,1.166666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+71,1.183333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+72,1.200000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+73,1.216666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+74,1.233333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+75,1.250000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+76,1.266666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+77,1.283333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+78,1.300000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+79,1.316666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+80,1.333333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+81,1.350000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+82,1.366666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+83,1.383333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+84,1.400000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+85,1.416666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+86,1.433333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+87,1.450000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+88,1.466666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+89,1.483333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+90,1.500000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+91,1.516666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+92,1.533333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+93,1.550000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+94,1.566666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+95,1.583333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+96,1.600000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+97,1.616666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+98,1.633333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+99,1.650000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+100,1.666666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+101,1.683333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+102,1.700000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+103,1.716666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+104,1.733333333,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+105,1.750000000,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+106,1.766666667,pose1_baseline,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
+107,1.783333333,pose1_to_pose2_press,0.575664395412,0.0100908556686,1.04003237669,0.546234847011,0.0187625952058,1.03970050606
+108,1.800000000,pose1_to_pose2_press,0.575664398238,0.0100908417782,1.04003236053,0.546234850012,0.018762581946,1.03970049081
+109,1.816666667,pose1_to_pose2_press,0.575664399947,0.0100908333757,1.04003235075,0.546234851828,0.0187625739249,1.03970048159
+110,1.833333333,pose1_to_pose2_press,0.57566440427,0.0100908121291,1.04003232603,0.546234856419,0.0187625536428,1.03970045826
+111,1.850000000,pose1_to_pose2_press,0.575664416945,0.010090749827,1.04003225354,0.54623486988,0.018762494169,1.03970038988
+112,1.866666667,pose1_to_pose2_press,0.575664502008,0.0100907182782,1.04003219957,0.546234955249,0.0187624637636,1.03970033867
+113,1.883333333,pose1_to_pose2_press,0.575664884668,0.010090690651,1.04003208467,0.546235337813,0.0187624360056,1.03970022887
+114,1.900000000,pose1_to_pose2_press,0.575666905583,0.0100906904049,1.04003220088,0.546237358324,0.0187624337812,1.03970032929
+115,1.916666667,pose1_to_pose2_press,0.575672211039,0.0100907624547,1.04003222673,0.546242661684,0.0187624986161,1.03970035257
+116,1.933333333,pose1_to_pose2_press,0.575684699369,0.0100907703883,1.04003209783,0.546255150827,0.01876250975,1.03970023496
+117,1.950000000,pose1_to_pose2_press,0.575706182183,0.0100907256318,1.04003242792,0.546276635541,0.0187624711567,1.03970055751
+118,1.966666667,pose1_to_pose2_press,0.57573894138,0.0100908729454,1.04003253184,0.546309392867,0.0187626122801,1.03970066557
+119,1.983333333,pose1_to_pose2_press,0.575782606159,0.0100907980098,1.04003239868,0.546353057688,0.0187625371607,1.03970052382
+120,2.000000000,pose1_to_pose2_press,0.575836543583,0.0100907705099,1.0400322798,0.546406997066,0.018762516507,1.03970041052
+121,2.016666667,pose1_to_pose2_press,0.575898457732,0.0100907799923,1.04003239437,0.546468909039,0.0187625183012,1.03970051711
+122,2.033333333,pose1_to_pose2_press,0.57596756499,0.0100907643759,1.040032477,0.546538017119,0.0187625058414,1.03970060925
+123,2.050000000,pose1_to_pose2_press,0.57604353099,0.0100908014317,1.04003226676,0.546613982751,0.0187625415809,1.03970039717
+124,2.066666667,pose1_to_pose2_press,0.576126911415,0.0100907937352,1.04003225923,0.546697363315,0.018762534296,1.03970038797
+125,2.083333333,pose1_to_pose2_press,0.576221708464,0.0100908167053,1.04003232513,0.5467921592,0.018762553433,1.03970045682
+126,2.100000000,pose1_to_pose2_press,0.576328945714,0.0100908706637,1.04003235988,0.54689939532,0.0187626036354,1.03970049369
+127,2.116666667,pose1_to_pose2_press,0.576451481871,0.0100908761876,1.04003241899,0.547021932334,0.018762612046,1.03970055219
+128,2.133333333,pose1_to_pose2_press,0.576589840511,0.0100907585821,1.04003253443,0.547160293266,0.0187625021524,1.03970066584
+129,2.150000000,pose1_to_pose2_press,0.576745128186,0.0100906739215,1.04003254094,0.547315581333,0.0187624188515,1.03970067316
+130,2.166666667,pose1_to_pose2_press,0.576918163449,0.0100908225841,1.04003235071,0.547488614576,0.0187625608442,1.03970048768
+131,2.183333333,pose1_to_pose2_press,0.577108553336,0.010090860974,1.04003236437,0.547679004864,0.01876260059,1.03970050117
+132,2.200000000,pose1_to_pose2_press,0.57731841794,0.0100908541671,1.04003248294,0.547888867598,0.0187625870975,1.03970061078
+133,2.216666667,pose1_to_pose2_press,0.577549288094,0.010090782412,1.0400322037,0.548119740072,0.0187625237445,1.03970034531
+134,2.233333333,pose1_to_pose2_press,0.577805331576,0.0100908938243,1.04003223897,0.548375780326,0.0187626238538,1.03970037138
+135,2.250000000,pose1_to_pose2_press,0.578083568997,0.0100907960373,1.04003250808,0.54865402088,0.0187625363142,1.03970063035
+136,2.266666667,pose1_to_pose2_press,0.578383040743,0.0100907083868,1.04003203828,0.548953493091,0.0187624506969,1.03970017239
+137,2.283333333,pose1_to_pose2_press,0.578703062267,0.0100908623559,1.04003225888,0.549273513247,0.0187626004142,1.03970040318
+138,2.300000000,pose1_to_pose2_press,0.57903997698,0.0100908092287,1.04003235962,0.549610428748,0.0187625495375,1.03970049272
+139,2.316666667,pose1_to_pose2_press,0.579389176351,0.0100908223925,1.04003228258,0.549959627674,0.0187625612101,1.0397004162
+140,2.333333333,pose1_to_pose2_press,0.579753651258,0.01009085079,1.04003224082,0.550324101291,0.0187625852418,1.03970037463
+141,2.350000000,pose1_to_pose2_press,0.580137878757,0.0100907725618,1.04003216983,0.550708329749,0.0187625102813,1.03970030394
+142,2.366666667,pose1_to_pose2_press,0.580541890228,0.0100907255091,1.04003216828,0.551112341943,0.0187624656598,1.0397003018
+143,2.383333333,pose1_to_pose2_press,0.580967040073,0.0100907546777,1.04003233057,0.551537491075,0.0187624923408,1.0397004622
+144,2.400000000,pose1_to_pose2_press,0.58142374181,0.0100907654012,1.04003243198,0.551994193361,0.0187625049436,1.03970056393
+145,2.416666667,pose1_to_pose2_press,0.581909674343,0.010090922955,1.04003226316,0.55248012488,0.0187626591039,1.03970039637
+146,2.433333333,pose1_to_pose2_press,0.582424490561,0.0100908847447,1.04003229004,0.552994940144,0.0187626180097,1.0397004324
+147,2.450000000,pose1_to_pose2_press,0.582962708043,0.0100908571373,1.04003220032,0.553533159153,0.018762594586,1.03970031652
+148,2.466666667,pose1_to_pose2_press,0.583522217582,0.0100907104134,1.04003224923,0.554092669378,0.0187624508312,1.03970038209
+149,2.483333333,pose1_to_pose2_press,0.584088051608,0.0100906458806,1.04003236422,0.554658503529,0.0187623866821,1.039700496
+150,2.500000000,pose1_to_pose2_press,0.584660541934,0.0100907262801,1.04003235045,0.555230994605,0.0187624697892,1.03970048652
+151,2.516666667,pose1_to_pose2_press,0.585251550917,0.0100908548078,1.04003225151,0.555822002159,0.0187625934932,1.0397003882
+152,2.533333333,pose1_to_pose2_press,0.585864238177,0.0100907913499,1.04003215231,0.556434690348,0.0187625331119,1.0397002869
+153,2.550000000,pose1_to_pose2_press,0.586501988666,0.0100906510436,1.04003228949,0.557072442118,0.0187623970018,1.03970042012
+154,2.566666667,pose1_to_pose2_press,0.587164169541,0.0100906771631,1.04003238752,0.557734621553,0.018762418079,1.03970051409
+155,2.583333333,pose1_to_pose2_press,0.587846594527,0.0100906880229,1.04003235873,0.558417046968,0.0187624306427,1.03970049176
+156,2.600000000,pose1_to_pose2_press,0.58853812118,0.0100906761225,1.04003241175,0.559108574319,0.0187624211411,1.03970054559
+157,2.616666667,pose1_to_pose2_press,0.58923803367,0.0100907019136,1.0400323358,0.559808485481,0.0187624423734,1.03970046811
+158,2.633333333,pose1_to_pose2_press,0.589949912513,0.0100907357673,1.04003208548,0.56052036363,0.0187624741642,1.03970022548
+159,2.650000000,pose1_to_pose2_press,0.590674633255,0.0100907817875,1.04003223443,0.561245084956,0.0187625219543,1.03970036888
+160,2.666666667,pose1_to_pose2_press,0.591411446076,0.0100906942798,1.04003257503,0.561981899154,0.0187624387419,1.03970069964
+161,2.683333333,pose1_to_pose2_press,0.592164484711,0.0100907968722,1.04003219852,0.56273493655,0.0187625378246,1.03970034134
+162,2.700000000,pose1_to_pose2_press,0.592932699174,0.0100906334194,1.04003226349,0.563503153851,0.0187623834458,1.03970039164
+163,2.716666667,pose1_to_pose2_press,0.593709739377,0.0100907262201,1.04003223452,0.564280193309,0.0187624740381,1.03970037112
+164,2.733333333,pose1_to_pose2_press,0.594494680938,0.0100908040477,1.04003224751,0.565065132955,0.0187625451819,1.03970037929
+165,2.750000000,pose1_to_pose2_press,0.595283774919,0.0100907523466,1.04003222551,0.565854227585,0.0187624958644,1.03970036197
+166,2.766666667,pose1_to_pose2_press,0.596075126484,0.0100906721774,1.04003215718,0.56664557908,0.0187624151673,1.03970028616
+167,2.783333333,pose1_to_pose2_press,0.596870321746,0.0100907654928,1.04003217905,0.567440775148,0.0187625116218,1.03970031862
+168,2.800000000,pose1_to_pose2_press,0.597666007149,0.0100907616396,1.04003233999,0.568236460239,0.0187625063068,1.03970046906
+169,2.816666667,pose1_to_pose2_press,0.598462388691,0.0100908130093,1.04003238762,0.569032840376,0.0187625527893,1.03970051358
+170,2.833333333,pose1_to_pose2_press,0.59925577141,0.0100907136356,1.04003243721,0.569826224469,0.0187624582183,1.03970056688
+171,2.850000000,pose1_to_pose2_press,0.600046669713,0.0100906642296,1.04003238158,0.570617123303,0.0187624106597,1.03970051249
+172,2.866666667,pose1_to_pose2_press,0.600838722928,0.0100908082709,1.04003230689,0.571409173504,0.0187625443646,1.03970043503
+173,2.883333333,pose1_to_pose2_press,0.601625231493,0.0100908524353,1.04003235362,0.572195680898,0.0187625844801,1.03970047991
+174,2.900000000,pose1_to_pose2_press,0.602407184283,0.0100907915339,1.04003223165,0.572977636063,0.0187625319528,1.03970036616
+175,2.916666667,pose1_to_pose2_press,0.603191848488,0.0100907854453,1.0400322347,0.573762300309,0.0187625260742,1.03970037109
+176,2.933333333,pose1_to_pose2_press,0.60397262688,0.0100907038797,1.04003225801,0.574543079559,0.0187624473987,1.0397003939
+177,2.950000000,pose1_to_pose2_press,0.60474552493,0.010090895409,1.04003248803,0.575315977096,0.0187626369854,1.03970061873
+178,2.966666667,pose1_to_pose2_press,0.60550979207,0.0100908316774,1.0400323329,0.576080243869,0.0187625723642,1.03970047306
+179,2.983333333,pose1_to_pose2_press,0.606262210363,0.0100908080682,1.04003247969,0.576832661831,0.0187625473156,1.03970061155
+180,3.000000000,pose1_to_pose2_press,0.607000349829,0.0100907063091,1.04003226109,0.577570802618,0.0187624501895,1.03970039703
+181,3.016666667,pose1_to_pose2_press,0.60772399464,0.0100908024528,1.04003235739,0.578294446023,0.0187625412156,1.03970048434
+182,3.033333333,pose1_to_pose2_press,0.608440436713,0.0100908794727,1.04003228668,0.579010887799,0.0187626173629,1.03970041726
+183,3.050000000,pose1_to_pose2_press,0.609149437384,0.010090777051,1.04003224887,0.579719889888,0.0187625197938,1.03970038055
+184,3.066666667,pose1_to_pose2_press,0.609845385779,0.0100907450902,1.04003225499,0.580415837633,0.0187624855577,1.03970038507
+185,3.083333333,pose1_to_pose2_press,0.61052389773,0.0100907633204,1.0400322989,0.581094350531,0.0187625072003,1.03970043422
+186,3.100000000,pose1_to_pose2_press,0.611180851297,0.0100907958152,1.04003233586,0.58175130339,0.0187625374007,1.03970047409
+187,3.116666667,pose1_to_pose2_press,0.611808982351,0.0100908457173,1.04003225967,0.582379432308,0.0187625802406,1.03970040301
+188,3.133333333,pose1_to_pose2_press,0.612415011525,0.0100908541525,1.0400322381,0.582985460863,0.01876258659,1.03970038192
+189,3.150000000,pose1_to_pose2_press,0.613003043475,0.0100908094674,1.04003237093,0.583573493105,0.0187625424782,1.03970050224
+190,3.166666667,pose1_to_pose2_press,0.613570771058,0.0100907777628,1.04003232167,0.584141222032,0.0187625154264,1.03970045121
+191,3.183333333,pose1_to_pose2_press,0.61411373234,0.0100907728592,1.04003214263,0.584684183612,0.018762511677,1.03970027185
+192,3.200000000,pose1_to_pose2_press,0.614626586771,0.0100907879567,1.04003224631,0.58519703917,0.0187625309387,1.03970037951
+193,3.216666667,pose1_to_pose2_press,0.615112436516,0.0100908032907,1.04003235077,0.585682886885,0.0187625395378,1.0397004834
+194,3.233333333,pose1_to_pose2_press,0.615581820354,0.0100908626971,1.04003227695,0.586152270939,0.0187625998185,1.03970040749
+195,3.250000000,pose1_to_pose2_press,0.61604142923,0.0100907873579,1.0400323132,0.586611880216,0.0187625261574,1.03970044692
+196,3.266666667,pose1_to_pose2_press,0.616493357469,0.0100908144807,1.04003235139,0.587063807432,0.0187625500484,1.03970048533
+197,3.283333333,pose1_to_pose2_press,0.616927862689,0.0100908714183,1.04003241119,0.587498312964,0.0187626083628,1.03970054703
+198,3.300000000,pose1_to_pose2_press,0.617339243683,0.0100908225485,1.04003241745,0.587909694888,0.0187625628553,1.03970055255
+199,3.316666667,pose1_to_pose2_press,0.617716391325,0.0100907990997,1.04003246439,0.588286842193,0.0187625382731,1.03970059361
+200,3.333333333,pose1_to_pose2_press,0.618063257727,0.010090862766,1.04003257112,0.588633708252,0.0187626009203,1.039700698
+201,3.350000000,pose1_to_pose2_press,0.618387372181,0.0100908147087,1.04003236756,0.588957823587,0.0187625561865,1.03970049782
+202,3.366666667,pose1_to_pose2_press,0.618698667819,0.0100907307072,1.04003239802,0.589269120944,0.018762478054,1.03970052307
+203,3.383333333,pose1_to_pose2_press,0.619000081703,0.0100907569283,1.04003236359,0.5895705352,0.0187625060264,1.03970049718
+204,3.400000000,pose1_to_pose2_press,0.619291033819,0.0100906464362,1.04003228014,0.589861487182,0.0187623951642,1.03970041146
+205,3.416666667,pose1_to_pose2_press,0.619568237916,0.0100907293717,1.04003225695,0.590138688511,0.0187624687963,1.03970038612
+206,3.433333333,pose1_to_pose2_press,0.619821023487,0.010090762786,1.04003214614,0.590391473671,0.0187625012132,1.03970028139
+207,3.450000000,pose1_to_pose2_press,0.620050954481,0.0100908284636,1.04003217635,0.59062140454,0.0187625667648,1.03970031537
+208,3.466666667,pose1_to_pose2_press,0.620258411502,0.0100908624155,1.04003215681,0.590828861272,0.0187625997237,1.03970029201
+209,3.483333333,pose1_to_pose2_press,0.620447687215,0.0100908010391,1.04003221518,0.591018137232,0.0187625394195,1.03970035279
+210,3.500000000,pose1_to_pose2_press,0.620619081667,0.0100907501481,1.04003226454,0.591189531897,0.0187624895424,1.03970040671
+211,3.516666667,pose1_to_pose2_press,0.620775800784,0.0100907126954,1.04003216363,0.591346251403,0.0187624534222,1.03970030334
+212,3.533333333,pose1_to_pose2_press,0.620917568657,0.0100906360055,1.04003220613,0.591488020524,0.018762380927,1.03970034228
+213,3.550000000,pose1_to_pose2_press,0.621043012855,0.0100906619604,1.04003243667,0.591613464976,0.018762407632,1.03970056816
+214,3.566666667,pose1_to_pose2_press,0.621153648485,0.0100906102529,1.04003227946,0.591724099887,0.0187623534342,1.03970040774
+215,3.583333333,pose1_to_pose2_press,0.621249301814,0.010090774962,1.04003235818,0.591819752727,0.0187625167119,1.03970049085
+216,3.600000000,pose1_to_pose2_press,0.621332016781,0.0100909182788,1.04003209427,0.591902466097,0.0187626550761,1.039700237
+217,3.616666667,pose1_to_pose2_press,0.621402106946,0.0100910067559,1.04003220049,0.591972555372,0.0187627399369,1.03970033934
+218,3.633333333,pose1_to_pose2_press,0.621460537345,0.0100907741076,1.04003222693,0.592030989123,0.0187625189834,1.03970036374
+219,3.650000000,pose1_to_pose2_press,0.621509185222,0.0100906689443,1.0400322241,0.592079637467,0.0187624156211,1.03970036048
+220,3.666666667,pose1_to_pose2_press,0.621550161915,0.0100906518753,1.0400322369,0.59212061404,0.0187623981501,1.03970036985
+221,3.683333333,pose1_to_pose2_press,0.621585377037,0.0100906400709,1.04003225865,0.592155830196,0.0187623897944,1.03970038697
+222,3.700000000,pose1_to_pose2_press,0.621615003251,0.0100907053717,1.04003223765,0.592185455492,0.0187624519082,1.03970037067
+223,3.716666667,pose1_to_pose2_press,0.62163906332,0.0100907177965,1.04003223042,0.592209515134,0.0187624630498,1.03970036443
+224,3.733333333,pose1_to_pose2_press,0.621657515452,0.010090725623,1.04003221988,0.592227968116,0.0187624740399,1.03970035805
+225,3.750000000,pose1_to_pose2_press,0.621670481078,0.0100907986419,1.0400321001,0.592240931716,0.018762540463,1.03970024654
+226,3.766666667,pose1_to_pose2_press,0.621679219523,0.0100908043791,1.04003212227,0.59224966936,0.0187625433746,1.03970026728
+227,3.783333333,pose1_to_pose2_press,0.621684710964,0.0100907739057,1.04003221218,0.592255160916,0.018762513024,1.03970035134
+228,3.800000000,pose1_to_pose2_press,0.621688534549,0.0100908000123,1.04003226196,0.592258984944,0.0187625406634,1.03970040419
+229,3.816666667,pose1_to_pose2_press,0.621691121384,0.0100908223801,1.04003229437,0.592261572115,0.0187625642121,1.03970043938
+230,3.833333333,pose1_to_pose2_press,0.621692977825,0.0100908193602,1.04003232221,0.592263428545,0.0187625610072,1.03970046434
+231,3.850000000,pose1_to_pose2_press,0.621694211711,0.0100908081053,1.04003234294,0.592264662301,0.0187625491287,1.03970048078
+232,3.866666667,pose1_to_pose2_press,0.621694801714,0.0100908027236,1.04003235285,0.592265252243,0.0187625434488,1.03970048864
+233,3.883333333,pose1_to_pose2_press,0.621695312229,0.010090798067,1.04003236142,0.592265762704,0.0187625385341,1.03970049545
+234,3.900000000,pose1_to_pose2_press,0.621696126374,0.010090796499,1.0400323738,0.592266576772,0.0187625365935,1.03970050513
+235,3.916666667,pose1_to_pose2_press,0.62169684504,0.0100908113819,1.04003238114,0.592267295394,0.018762551255,1.03970051044
+236,3.933333333,pose1_to_pose2_press,0.621697478713,0.0100908245047,1.04003238761,0.592267929028,0.0187625641826,1.03970051513
+237,3.950000000,pose1_to_pose2_press,0.621698114037,0.0100908376617,1.0400323941,0.592268564313,0.0187625771439,1.03970051983
+238,3.966666667,pose1_to_pose2_press,0.621698464571,0.0100908004009,1.04003242155,0.592268915399,0.0187625418397,1.03970054855
+239,3.983333333,pose1_to_pose2_press,0.621698471304,0.0100907994258,1.04003242222,0.592268922146,0.0187625409142,1.03970054925
+240,4.000000000,pose1_to_pose2_press,0.621698541184,0.0100907893051,1.04003242913,0.59226899217,0.0187625313084,1.03970055656
+241,4.016666667,pose1_to_pose2_press,0.621698547695,0.010090788362,1.04003242978,0.592268998695,0.0187625304132,1.03970055724
+242,4.033333333,pose1_to_pose2_press,0.621698554186,0.0100907874219,1.04003243042,0.592269005199,0.018762529521,1.03970055792
+243,4.050000000,pose1_to_pose2_press,0.621698592345,0.0100907818954,1.0400324342,0.592269043437,0.0187625242756,1.03970056191
+244,4.066666667,pose1_to_pose2_press,0.621698794033,0.0100907526846,1.04003245416,0.592269245543,0.018762496551,1.039700583
+245,4.083333333,pose1_to_pose2_press,0.62169908394,0.010090710697,1.04003248286,0.59226953605,0.0187624566996,1.03970061331
+246,4.100000000,pose1_to_pose2_press,0.621699302557,0.0100907441773,1.04003249851,0.592269753628,0.0187624865825,1.03970062673
+247,4.116666667,pose1_to_pose2_press,0.621699428393,0.0100907782972,1.04003250615,0.592269878526,0.0187625174445,1.03970063231
+248,4.133333333,pose1_to_pose2_press,0.621699481737,0.0100907927613,1.04003250939,0.592269931473,0.0187625305276,1.03970063467
+249,4.150000000,pose1_to_pose2_press,0.621699607553,0.0100908268759,1.04003251703,0.592270056352,0.0187625613848,1.03970064025
+250,4.166666667,pose1_to_pose2_press,0.621699628605,0.0100909110055,1.04003248478,0.592270076501,0.0187626427409,1.03970061555
+251,4.183333333,pose1_to_pose2_press,0.621699639449,0.0100909353425,1.04003247788,0.592270087199,0.0187626666573,1.03970061053
+252,4.200000000,pose1_to_pose2_press,0.621699653929,0.0100909244756,1.04003248723,0.5922701019,0.0187626564672,1.03970061803
+253,4.216666667,pose1_to_pose2_press,0.621699688018,0.0100908988937,1.04003250922,0.592270136507,0.0187626324787,1.03970063569
+254,4.233333333,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136511,0.0187626324769,1.03970063569
+255,4.250000000,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136511,0.0187626324768,1.03970063569
+256,4.266666667,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136512,0.0187626324766,1.03970063569
+257,4.283333333,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136512,0.0187626324766,1.03970063569
+258,4.300000000,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136512,0.0187626324768,1.03970063569
+259,4.316666667,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136512,0.0187626324767,1.03970063569
+260,4.333333333,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136512,0.0187626324766,1.03970063569
+261,4.350000000,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136512,0.0187626324765,1.03970063569
+262,4.366666667,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136513,0.0187626324762,1.03970063569
+263,4.383333333,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136512,0.0187626324762,1.03970063569
+264,4.400000000,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136513,0.0187626324761,1.03970063569
+265,4.416666667,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136513,0.0187626324757,1.03970063569
+266,4.433333333,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136514,0.0187626324756,1.03970063569
+267,4.450000000,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136514,0.0187626324756,1.03970063569
+268,4.466666667,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136514,0.0187626324755,1.03970063569
+269,4.483333333,pose2_hold,0.621699688018,0.0100908988937,1.04003250922,0.592270136515,0.0187626324755,1.03970063569
+270,4.500000000,pose2_to_pose3_retreat,0.621699688018,0.0100908988937,1.04003250922,0.592270136515,0.0187626324753,1.03970063569
+271,4.516666667,pose2_to_pose3_retreat,0.621699681913,0.0100908916016,1.04003250683,0.592270130535,0.0187626256267,1.03970063374
+272,4.533333333,pose2_to_pose3_retreat,0.621699675405,0.0100908838285,1.04003250427,0.592270124161,0.0187626183264,1.03970063167
+273,4.550000000,pose2_to_pose3_retreat,0.621699659803,0.0100908651934,1.04003249815,0.592270108879,0.0187626008248,1.03970062669
+274,4.566666667,pose2_to_pose3_retreat,0.62169964513,0.0100908476682,1.0400324924,0.592270094507,0.0187625843655,1.03970062201
+275,4.583333333,pose2_to_pose3_retreat,0.621699526229,0.0100907992731,1.04003248576,0.592269976508,0.0187625390956,1.03970061673
+276,4.600000000,pose2_to_pose3_retreat,0.621699434567,0.0100907757575,1.04003248654,0.592269885314,0.018762517177,1.03970061747
+277,4.616666667,pose2_to_pose3_retreat,0.62169919067,0.0100907131868,1.04003248861,0.592269642663,0.0187624588557,1.03970061943
+278,4.633333333,pose2_to_pose3_retreat,0.621698075546,0.0100907490842,1.04003248811,0.592268528293,0.0187624974192,1.03970062156
+279,4.650000000,pose2_to_pose3_retreat,0.621693222577,0.0100908190859,1.04003228987,0.592263672473,0.0187625578097,1.0397004268
+280,4.666666667,pose2_to_pose3_retreat,0.62168240164,0.01009081269,1.04003240879,0.592252852739,0.018762554951,1.03970053284
+281,4.683333333,pose2_to_pose3_retreat,0.621661940516,0.0100908191148,1.04003237819,0.592232390838,0.0187625590299,1.03970050667
+282,4.700000000,pose2_to_pose3_retreat,0.621631237442,0.0100907803334,1.0400322025,0.592201687833,0.0187625211232,1.03970034487
+283,4.716666667,pose2_to_pose3_retreat,0.621589297558,0.0100908806263,1.04003242606,0.592159747644,0.0187626197532,1.03970055584
+284,4.733333333,pose2_to_pose3_retreat,0.621538006263,0.0100907955791,1.0400324668,0.592108457204,0.0187625372466,1.03970060049
+285,4.750000000,pose2_to_pose3_retreat,0.62147794519,0.0100907650382,1.04003235483,0.592048395374,0.0187625044105,1.03970048483
+286,4.766666667,pose2_to_pose3_retreat,0.621410308438,0.0100908601197,1.04003239235,0.591980756888,0.0187625934015,1.03970052281
+287,4.783333333,pose2_to_pose3_retreat,0.621334546365,0.0100908307216,1.04003228348,0.591904995087,0.0187625640541,1.03970041449
+288,4.800000000,pose2_to_pose3_retreat,0.621249339182,0.0100906403195,1.040032366,0.591819790578,0.018762383556,1.0397004965
+289,4.816666667,pose2_to_pose3_retreat,0.621153552712,0.0100909590552,1.04003236339,0.591724001,0.018762691844,1.03970049785
+290,4.833333333,pose2_to_pose3_retreat,0.621043689825,0.0100908571981,1.04003236449,0.591614140629,0.0187625984457,1.03970049949
+291,4.850000000,pose2_to_pose3_retreat,0.620919131434,0.0100908266074,1.04003247996,0.591489582051,0.0187625669174,1.03970060943
+292,4.866666667,pose2_to_pose3_retreat,0.620778129804,0.0100908476399,1.04003228652,0.591348579215,0.0187625840815,1.03970042353
+293,4.883333333,pose2_to_pose3_retreat,0.620616966798,0.01009078868,1.04003222223,0.591187417166,0.01876252821,1.03970035835
+294,4.900000000,pose2_to_pose3_retreat,0.620435108832,0.0100907807068,1.04003216847,0.591005559905,0.0187625224848,1.0397003039
+295,4.916666667,pose2_to_pose3_retreat,0.620232069835,0.0100908314813,1.04003210388,0.590802520694,0.018762572522,1.03970024245
+296,4.933333333,pose2_to_pose3_retreat,0.620010096621,0.0100908491367,1.0400321697,0.590580547617,0.0187625902809,1.0397003029
+297,4.950000000,pose2_to_pose3_retreat,0.619769787549,0.0100907768245,1.04003227637,0.590340238978,0.0187625189607,1.03970040125
+298,4.966666667,pose2_to_pose3_retreat,0.619511058778,0.010090663914,1.04003225317,0.590081510344,0.0187624065745,1.03970038401
+299,4.983333333,pose2_to_pose3_retreat,0.619233400091,0.0100907379338,1.04003225208,0.589803851791,0.0187624808925,1.03970038379
+300,5.000000000,pose2_to_pose3_retreat,0.618931778444,0.0100906782715,1.04003221824,0.589502230917,0.0187624238896,1.03970035717
+301,5.016666667,pose2_to_pose3_retreat,0.618606672552,0.0100907779219,1.04003224349,0.589177123717,0.0187625186663,1.03970037514
+302,5.033333333,pose2_to_pose3_retreat,0.618257858698,0.0100908006068,1.04003225245,0.58882830959,0.0187625403294,1.03970038215
+303,5.050000000,pose2_to_pose3_retreat,0.617888994591,0.0100907662836,1.04003227103,0.58845944651,0.0187625089577,1.03970039668
+304,5.066666667,pose2_to_pose3_retreat,0.617500237962,0.0100907233821,1.04003224036,0.58807069091,0.0187624695088,1.03970037302
+305,5.083333333,pose2_to_pose3_retreat,0.61709775763,0.0100907335653,1.0400322295,0.587668210101,0.0187624779133,1.03970036479
+306,5.100000000,pose2_to_pose3_retreat,0.616680658282,0.0100907272906,1.04003218445,0.587251110368,0.0187624700843,1.03970032009
+307,5.116666667,pose2_to_pose3_retreat,0.616238255284,0.0100906875787,1.04003217948,0.586808707532,0.0187624306992,1.03970031563
+308,5.133333333,pose2_to_pose3_retreat,0.615770944771,0.0100907251277,1.0400323731,0.586341396179,0.0187624649621,1.03970050308
+309,5.150000000,pose2_to_pose3_retreat,0.615276126432,0.0100908520963,1.04003237886,0.585846578533,0.0187625940405,1.0397005086
+310,5.166666667,pose2_to_pose3_retreat,0.614757502054,0.0100907653602,1.04003224023,0.58532795641,0.0187625149201,1.03970037634
+311,5.183333333,pose2_to_pose3_retreat,0.614217500683,0.010090743644,1.0400323353,0.584787952766,0.0187624853504,1.0397004704
+312,5.200000000,pose2_to_pose3_retreat,0.613666966928,0.0100906376534,1.04003209886,0.584237420125,0.0187623829188,1.03970023181
+313,5.216666667,pose2_to_pose3_retreat,0.613105257671,0.0100907234155,1.04003213899,0.583675710418,0.0187624671352,1.03970027476
+314,5.233333333,pose2_to_pose3_retreat,0.612523667125,0.0100908229798,1.04003228371,0.583094119415,0.0187625650947,1.03970042003
+315,5.250000000,pose2_to_pose3_retreat,0.611916325572,0.0100908177103,1.04003230583,0.58248677835,0.0187625613743,1.03970043983
+316,5.266666667,pose2_to_pose3_retreat,0.611276057699,0.010090770831,1.04003230057,0.581846510382,0.018762514074,1.03970043177
+317,5.283333333,pose2_to_pose3_retreat,0.61060424037,0.0100907793477,1.04003246636,0.581174691407,0.0187625168017,1.03970059152
+318,5.300000000,pose2_to_pose3_retreat,0.6099039061,0.0100908136217,1.04003224458,0.580474357316,0.018762551757,1.0397003721
+319,5.316666667,pose2_to_pose3_retreat,0.609188945452,0.0100907180466,1.04003211383,0.579759397721,0.0187624599871,1.03970024759
+320,5.333333333,pose2_to_pose3_retreat,0.608461379513,0.0100908594936,1.0400321182,0.579031830541,0.0187625972225,1.03970025217
+321,5.350000000,pose2_to_pose3_retreat,0.607718465142,0.0100907811203,1.04003222832,0.578288917016,0.0187625216349,1.03970035992
+322,5.366666667,pose2_to_pose3_retreat,0.606965242417,0.0100907910291,1.04003234108,0.577535693148,0.0187625276988,1.03970047293
+323,5.383333333,pose2_to_pose3_retreat,0.606204166752,0.0100908269929,1.04003227262,0.576774617606,0.0187625641192,1.03970040521
+324,5.400000000,pose2_to_pose3_retreat,0.605432606577,0.0100908754909,1.04003223848,0.576003057335,0.0187626122299,1.03970037084
+325,5.416666667,pose2_to_pose3_retreat,0.604651917801,0.0100908510086,1.04003227411,0.575222369299,0.018762590526,1.03970041358
+326,5.433333333,pose2_to_pose3_retreat,0.60385966278,0.0100908054803,1.04003224908,0.574430115673,0.0187625500297,1.03970039565
+327,5.450000000,pose2_to_pose3_retreat,0.603055362037,0.0100907533106,1.04003218425,0.573625816303,0.0187625025221,1.03970033084
+328,5.466666667,pose2_to_pose3_retreat,0.602241127028,0.0100907107604,1.04003220324,0.572811581299,0.018762459789,1.03970034457
+329,5.483333333,pose2_to_pose3_retreat,0.601413973597,0.0100908106322,1.04003220857,0.571984425027,0.0187625497262,1.03970034219
+330,5.500000000,pose2_to_pose3_retreat,0.600573745534,0.0100908402191,1.04003210825,0.571144196604,0.0187625783338,1.0397002484
+331,5.516666667,pose2_to_pose3_retreat,0.599748574528,0.0100908390105,1.04003221856,0.570319026794,0.0187625810247,1.03970035597
+332,5.533333333,pose2_to_pose3_retreat,0.598935271313,0.0100908315585,1.04003223922,0.569505723241,0.0187625724196,1.03970037292
+333,5.550000000,pose2_to_pose3_retreat,0.598128738592,0.0100907722216,1.0400324544,0.568699192357,0.0187625192912,1.03970058761
+334,5.566666667,pose2_to_pose3_retreat,0.59732806392,0.0100907713568,1.04003239207,0.567898516473,0.0187625143703,1.03970052664
+335,5.583333333,pose2_to_pose3_retreat,0.596529248992,0.0100907026918,1.04003251967,0.567099702348,0.0187624483375,1.03970065178
+336,5.600000000,pose2_to_pose3_retreat,0.595720969427,0.0100906986813,1.04003253173,0.566291422582,0.0187624437329,1.03970066608
+337,5.616666667,pose2_to_pose3_retreat,0.594904703217,0.0100907566473,1.04003240024,0.565475155585,0.0187624992036,1.03970053917
+338,5.633333333,pose2_to_pose3_retreat,0.594088347636,0.0100908034987,1.04003229721,0.564658800117,0.0187625462944,1.03970043235
+339,5.650000000,pose2_to_pose3_retreat,0.593277683344,0.0100908309885,1.04003228453,0.563848135534,0.0187625725729,1.03970041372
+340,5.666666667,pose2_to_pose3_retreat,0.592477472855,0.0100908130515,1.04003238532,0.563047923623,0.0187625499586,1.03970051844
+341,5.683333333,pose2_to_pose3_retreat,0.591693787819,0.0100907414488,1.04003245808,0.562264237411,0.0187624742097,1.03970058705
+342,5.700000000,pose2_to_pose3_retreat,0.590931417654,0.0100908247524,1.04003222234,0.561501867859,0.0187625600029,1.03970036203
+343,5.716666667,pose2_to_pose3_retreat,0.5901838309,0.0100908633845,1.04003253489,0.560754281536,0.0187625993075,1.03970065388
+344,5.733333333,pose2_to_pose3_retreat,0.58945155407,0.0100907714543,1.04003243515,0.56002200599,0.0187625118183,1.03970055624
+345,5.750000000,pose2_to_pose3_retreat,0.588733281715,0.0100906910094,1.04003239309,0.559303733795,0.0187624321147,1.03970051941
+346,5.766666667,pose2_to_pose3_retreat,0.588023276615,0.0100906020476,1.04003236387,0.558593730698,0.0187623502,1.03970049661
+347,5.783333333,pose2_to_pose3_retreat,0.587322170792,0.0100907370414,1.040032291,0.557892622587,0.0187624774399,1.03970042404
+348,5.800000000,pose2_to_pose3_retreat,0.586637287738,0.0100908223436,1.04003224714,0.557207738321,0.0187625585633,1.03970037847
+349,5.816666667,pose2_to_pose3_retreat,0.585971968476,0.0100908177394,1.04003235501,0.556542419707,0.0187625560788,1.03970048418
+350,5.833333333,pose2_to_pose3_retreat,0.585327277355,0.0100908620409,1.04003246798,0.555897727886,0.0187625978894,1.03970059478
+351,5.850000000,pose2_to_pose3_retreat,0.584702453857,0.0100908030211,1.04003240785,0.555272905343,0.0187625420988,1.03970053553
+352,5.866666667,pose2_to_pose3_retreat,0.584103254424,0.0100906992831,1.04003249492,0.554673706829,0.018762441404,1.03970062058
+353,5.883333333,pose2_to_pose3_retreat,0.583524460076,0.010090760731,1.040032386,0.554094911128,0.0187624983661,1.03970051454
+354,5.900000000,pose2_to_pose3_retreat,0.582966123797,0.0100908615321,1.0400325702,0.553536576118,0.018762603908,1.03970070811
+355,5.916666667,pose2_to_pose3_retreat,0.58243378216,0.01009085982,1.04003237994,0.553004234249,0.0187626013769,1.03970051705
+356,5.933333333,pose2_to_pose3_retreat,0.581924041529,0.0100907082477,1.04003226767,0.552494493619,0.0187624496909,1.0397004025
+357,5.950000000,pose2_to_pose3_retreat,0.581425602536,0.0100908502411,1.04003225381,0.551996053563,0.0187625879396,1.03970038511
+358,5.966666667,pose2_to_pose3_retreat,0.580941114108,0.0100908327645,1.0400323091,0.551511566432,0.0187625749898,1.03970044347
+359,5.983333333,pose2_to_pose3_retreat,0.580477080609,0.0100907755422,1.04003234274,0.55104753346,0.0187625196775,1.03970048007
+360,6.000000000,pose2_to_pose3_retreat,0.580038843527,0.0100907894021,1.04003235097,0.550609295978,0.0187625320581,1.03970048542
+361,6.016666667,pose2_to_pose3_retreat,0.579629962779,0.0100907953308,1.04003225696,0.550200414638,0.0187625359956,1.03970039216
+362,6.033333333,pose2_to_pose3_retreat,0.579255997883,0.0100907987034,1.04003220285,0.549826448929,0.0187625367208,1.0397003409
+363,6.050000000,pose2_to_pose3_retreat,0.578912945321,0.010090690938,1.04003247092,0.549483398572,0.0187624361288,1.03970060052
+364,6.066666667,pose2_to_pose3_retreat,0.578595053817,0.0100906306503,1.04003226281,0.549165506891,0.0187623752708,1.03970039314
+365,6.083333333,pose2_to_pose3_retreat,0.578293969855,0.0100908038586,1.04003246023,0.548864420947,0.018762541829,1.03970059259
+366,6.100000000,pose2_to_pose3_retreat,0.578005847318,0.0100909262016,1.04003239934,0.548576297262,0.0187626602719,1.03970053157
+367,6.116666667,pose2_to_pose3_retreat,0.577730321673,0.0100907525812,1.04003235966,0.548300774392,0.0187624961194,1.03970049345
+368,6.133333333,pose2_to_pose3_retreat,0.577468444084,0.0100908481703,1.04003243384,0.548038895524,0.0187625873989,1.03970056849
+369,6.150000000,pose2_to_pose3_retreat,0.577225709529,0.0100907422149,1.04003240597,0.547796162287,0.0187624859114,1.03970054057
+370,6.166666667,pose2_to_pose3_retreat,0.57700387364,0.0100906875671,1.04003228664,0.547574326555,0.0187624317726,1.03970042052
+371,6.183333333,pose2_to_pose3_retreat,0.576808380431,0.0100908011412,1.04003230219,0.547378832229,0.0187625415472,1.03970043593
+372,6.200000000,pose2_to_pose3_retreat,0.576636259098,0.010090815549,1.04003214759,0.547206711279,0.0187625575597,1.03970028929
+373,6.216666667,pose2_to_pose3_retreat,0.576487531725,0.0100907092436,1.04003204675,0.547057984856,0.0187624545403,1.03970019004
+374,6.233333333,pose2_to_pose3_retreat,0.576356844033,0.0100906438674,1.0400323089,0.546927297331,0.0187623892786,1.03970044047
+375,6.250000000,pose2_to_pose3_retreat,0.57624250059,0.010090751076,1.04003244888,0.546812952301,0.0187624909878,1.03970057754
+376,6.266666667,pose2_to_pose3_retreat,0.576142051352,0.0100908559686,1.04003211614,0.546712501278,0.0187625899501,1.03970024805
+377,6.283333333,pose2_to_pose3_retreat,0.576053380211,0.0100907395254,1.04003232937,0.546623832388,0.0187624811883,1.03970046306
+378,6.300000000,pose2_to_pose3_retreat,0.575976120602,0.0100907511759,1.0400322331,0.54654657217,0.018762491039,1.03970037381
+379,6.316666667,pose2_to_pose3_retreat,0.575909880477,0.0100907145937,1.04003221598,0.546480333242,0.0187624584675,1.03970035526
+380,6.333333333,pose2_to_pose3_retreat,0.575854837207,0.0100907524167,1.04003230605,0.546425289535,0.0187624946273,1.03970044056
+381,6.350000000,pose2_to_pose3_retreat,0.575809673927,0.0100907275032,1.04003243895,0.546380126653,0.0187624708257,1.03970056721
+382,6.366666667,pose2_to_pose3_retreat,0.575773372812,0.0100906646061,1.04003250953,0.546343826498,0.0187624111224,1.03970063604
+383,6.383333333,pose2_to_pose3_retreat,0.575745296511,0.0100906991738,1.04003246914,0.546315749563,0.0187624437178,1.03970060045
+384,6.400000000,pose2_to_pose3_retreat,0.57572307106,0.0100907723441,1.04003239933,0.546293524579,0.0187625182886,1.03970052587
+385,6.416666667,pose2_to_pose3_retreat,0.575705838926,0.0100908860591,1.04003229178,0.546276289221,0.0187626211067,1.03970041952
+386,6.433333333,pose2_to_pose3_retreat,0.575692746013,0.0100907995529,1.04003226269,0.546263196337,0.0187625346854,1.0397003902
+387,6.450000000,pose2_to_pose3_retreat,0.575683404517,0.0100906752431,1.04003222442,0.546253856279,0.0187624153045,1.0397003532
+388,6.466666667,pose2_to_pose3_retreat,0.575676742956,0.0100906146815,1.04003212911,0.546247195983,0.0187623591927,1.03970026219
+389,6.483333333,pose2_to_pose3_retreat,0.575672569511,0.0100906925297,1.04003227799,0.546243022236,0.0187624360844,1.03970041257
+390,6.500000000,pose2_to_pose3_retreat,0.575670306322,0.0100907373919,1.04003235761,0.546240758824,0.0187624802336,1.03970049309
+391,6.516666667,pose2_to_pose3_retreat,0.575668896757,0.010090732717,1.04003224573,0.546239348847,0.0187624742704,1.0397003841
+392,6.533333333,pose2_to_pose3_retreat,0.575667937487,0.0100907295355,1.04003216959,0.546238389298,0.0187624702121,1.03970030993
+393,6.550000000,pose2_to_pose3_retreat,0.575667498112,0.0100907280783,1.04003213471,0.546237949795,0.0187624683533,1.03970027596
+394,6.566666667,pose2_to_pose3_retreat,0.575667441836,0.0100907278916,1.04003213025,0.546237893502,0.0187624681152,1.0397002716
+395,6.583333333,pose2_to_pose3_retreat,0.575667114869,0.0100907268072,1.0400321043,0.54623756644,0.018762466732,1.03970024632
+396,6.600000000,pose2_to_pose3_retreat,0.575666749216,0.0100907333825,1.04003210116,0.546237200701,0.0187624730006,1.03970024277
+397,6.616666667,pose2_to_pose3_retreat,0.575666526993,0.0100907442918,1.04003212223,0.546236978444,0.018762483748,1.03970026255
+398,6.633333333,pose2_to_pose3_retreat,0.575666243633,0.0100907582024,1.04003214909,0.546236695042,0.0187624974522,1.03970028777
+399,6.650000000,pose2_to_pose3_retreat,0.575666032685,0.0100907685583,1.04003216909,0.546236484063,0.0187625076543,1.03970030654
+400,6.666666667,pose2_to_pose3_retreat,0.575665864713,0.0100907768043,1.04003218501,0.546236316066,0.018762515778,1.03970032149
+401,6.683333333,pose2_to_pose3_retreat,0.575665746132,0.0100907826257,1.04003219626,0.546236197467,0.018762521513,1.03970033205
+402,6.700000000,pose2_to_pose3_retreat,0.575665597651,0.0100907899149,1.04003221033,0.546236048964,0.018762528694,1.03970034526
+403,6.716666667,pose2_to_pose3_retreat,0.575665573327,0.010090791109,1.04003221264,0.546236024636,0.0187625298704,1.03970034743
+404,6.733333333,pose2_to_pose3_retreat,0.575665313033,0.0100908038873,1.04003223732,0.546235764303,0.0187625424591,1.03970037059
+405,6.750000000,pose2_to_pose3_retreat,0.57566513315,0.0100908090098,1.04003224817,0.546235584498,0.0187625478246,1.03970038088
+406,6.766666667,pose2_to_pose3_retreat,0.57566472337,0.0100908065242,1.0400322492,0.546235175296,0.0187625473207,1.03970038246
+407,6.783333333,pose2_to_pose3_retreat,0.575664651617,0.0100908060889,1.04003224938,0.546235103644,0.0187625472324,1.03970038274
+408,6.800000000,pose2_to_pose3_retreat,0.575664585952,0.0100908056906,1.04003224955,0.546235038072,0.0187625471517,1.03970038299
+409,6.816666667,pose2_to_pose3_retreat,0.575664578963,0.0100908056482,1.04003224957,0.546235031092,0.0187625471431,1.03970038302
+410,6.833333333,pose2_to_pose3_retreat,0.575664558176,0.0100908055221,1.04003224962,0.546235010334,0.0187625471175,1.0397003831
+411,6.850000000,pose2_to_pose3_retreat,0.575664532247,0.0100908053648,1.04003224969,0.546234984442,0.0187625470856,1.0397003832
+412,6.866666667,pose2_to_pose3_retreat,0.575664475724,0.0100908097167,1.04003226146,0.546234927926,0.0187625514496,1.03970039465
+413,6.883333333,pose2_to_pose3_retreat,0.575664448777,0.0100908251351,1.04003230012,0.546234900776,0.0187625661313,1.03970043203
+414,6.900000000,pose2_to_pose3_retreat,0.575664407534,0.0100908487327,1.0400323593,0.546234859224,0.0187625886014,1.03970048924
+415,6.916666667,pose2_to_pose3_retreat,0.575664399854,0.0100908531273,1.04003237032,0.546234851485,0.018762592786,1.03970049989
+416,6.933333333,pose2_to_pose3_retreat,0.575664363922,0.0100908159658,1.0400322395,0.546234816515,0.0187625591101,1.03970037496
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb9159f8a40ad9f82c4dc14042f1b8bd16269156
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca73337194ed6c1f96f1f0a0832d54c132a80a180322e2a699b6f103f76aecd9
+size 26219633
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9acd54eae3ab18b2188fee637420b8ff4ca0fb66
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/franka_data.csv
@@ -0,0 +1,415 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,715,680,664,635,880,788,804,653,632,653,0.401034032665,0.00447391695893,0.0698556275869,0.999999989123,6.93906265444e-07,-0.000146095040003,2.02252294765e-05,1793239748057732608
+1,0.016666667,BASELINE,766,746,715,680,664,635,880,788,804,653,631.409385749,653,0.401032041152,0.00447344577136,0.069854654146,0.999999988794,-3.43681890211e-07,-0.000148366257705,1.99755908027e-05,1793239748074399232
+2,0.033333333,BASELINE,766,745.821757028,715,680.178242972,664,635,880,787.821757028,803.821757028,653,631,653,0.401031160631,0.00447293543689,0.0698543607079,0.999999988662,-6.69817665217e-07,-0.000149259706593,1.99080906425e-05,1793239748091065856
+3,0.050000000,BASELINE,766,745.240872353,715,680.759127647,664,635,880,787.240872353,803.240872353,653,631,653,0.401032789787,0.00447233667148,0.0698556033608,0.999999988984,6.11180681346e-07,-0.000147040847057,2.02520319655e-05,1793239748107732736
+4,0.066666667,BASELINE,766,745,715,680.66280651,664,635,880,787.33719349,803.33719349,653,631,653,0.401034405532,0.00447222747799,0.0698569570179,0.999999989296,6.37204308205e-07,-0.000144911823798,2.01894360686e-05,1793239748124399360
+5,0.083333333,BASELINE,766,745,715,680.086737624,664,635,880,787.913262376,803.913262376,653,631,653,0.401036011778,0.00447246510821,0.0698583893128,0.999999989601,-2.25824245254e-07,-0.000142846442695,1.98388401104e-05,1793239748141065984
+6,0.100000000,BASELINE,766,745.496392796,715,680,664,635,880.496392796,788,804,653,631.496392796,653,0.401035477447,0.00447327102916,0.0698574373812,0.999999989415,1.34947687072e-06,-0.000144106388635,2.00554851705e-05,1793239748157734400
+7,0.116666667,BASELINE,766.080122504,746,715,680,664,635,880.919877496,788,804,653,632,653,0.401034620298,0.0044739271044,0.0698562182971,0.999999989174,3.02602589922e-06,-0.000145706341634,2.03293062489e-05,1793239748174402560
+8,0.133333333,BASELINE,766.659784559,746,715,680,664,635,880.340215441,788,804,653,632,653,0.401034116134,0.00447302089229,0.0698559685175,0.999999989168,2.63911306222e-06,-0.000145751161553,2.03327179601e-05,1793239748191067392
+9,0.150000000,BASELINE,766.761185629,746,715,680,664.238814371,635,880,788,803.761185629,653,632,653,0.401033612185,0.00447245368948,0.0698556045937,0.999999989092,1.71318555358e-06,-0.000146305080901,2.01886288123e-05,1793239748207732992
+10,0.166666667,BASELINE,766.183054184,746,715,680,664.816945816,635,880,788,803.183054184,653,632,653,0.401033108542,0.00447236816481,0.069855078489,0.999999988913,2.14043274936e-08,-0.000147582349216,1.98349645039e-05,1793239748224399872
+11,0.183333333,BASELINE,766,746,715,680,664.606980499,635,880,787.606980499,803,653,631.606980499,653,0.401033543061,0.00447273784873,0.0698557224339,0.999999988972,6.90376814907e-07,-0.000147164553427,1.99437452064e-05,1793239748241066752
+12,0.200000000,BASELINE,766,746,715,680,664.031860203,635,880,787.031860203,803,653,631.031860203,653,0.401034412268,0.004473318448,0.0698569085069,0.999999989139,2.45317561689e-06,-0.000145961370456,2.02667941379e-05,1793239748257733376
+13,0.216666667,BASELINE,766,746,715,680.556313418,664,635,880,787.556313418,803.556313418,653,631,653,0.40103478891,0.00447268753343,0.0698570757483,0.999999989273,1.02053151097e-06,-0.000145080712123,2.0128688451e-05,1793239748274400000
+14,0.233333333,BASELINE,765.85685334,745.85685334,715,680.85685334,664.14314666,635,880,788,804,653,631.14314666,653,0.401034632653,0.00447220704823,0.0698569871879,0.999999989287,3.26433502723e-08,-0.000144995629474,2.00697632549e-05,1793239748291066368
+15,0.250000000,BASELINE,765.276452638,745.276452638,715,680.276452638,664.723547362,635,880,788,804,653,631.723547362,653,0.401032936847,0.00447240309355,0.0698562997721,0.999999988947,9.75733550957e-07,-0.000147282925228,2.03353131659e-05,1793239748307732992
+16,0.266666667,BASELINE,765.301169775,745.301169775,715,680,665,635,879.698830225,788,803.698830225,653,632,653,0.401032676995,0.0044729082606,0.0698562199352,0.999999988908,1.91389821351e-06,-0.000147543766861,2.02794320636e-05,1793239748324399616
+17,0.283333333,BASELINE,765.876265191,745.876265191,715,680,665,635,879.123734809,788,803.123734809,653,632,653,0.401033723199,0.00447369458589,0.069856692715,0.999999989145,2.84758285071e-06,-0.000145961469406,1.99311969188e-05,1793239748341066240
+18,0.300000000,BASELINE,766,746,715,680,665,635,879.451125433,788,803.451125433,653,631.548874567,653,0.401034197113,0.00447356308975,0.0698571478732,0.999999989169,3.24292020874e-06,-0.000145788389078,1.99093097114e-05,1793239748357732864
+19,0.316666667,BASELINE,766,746,715,680,665,635,880,788,803.973447692,653,631,653,0.401034480216,0.00447319331915,0.0698576058345,0.99999998914,3.45140462849e-06,-0.000145976627934,1.99817321562e-05,1793239748374399744
+20,0.333333333,BASELINE,766,746,715,680,665,635,880,788,803.384657212,653,631,653,0.401034044953,0.00447310590695,0.0698582254374,0.999999989188,2.82831836597e-06,-0.000145635500734,2.01567565526e-05,1793239748391066368
+21,0.350000000,BASELINE,766,746,715,680,665,635,879.798922342,788,803,653,631.201077658,653,0.401033876728,0.00447263413152,0.0698583014981,0.999999989199,1.60288702606e-06,-0.000145577544034,2.01701936117e-05,1793239748407732992
+22,0.366666667,BASELINE,766,746,715,680,665,635,879.218945356,788,803,653,631.781054644,653,0.401034211694,0.00447143808384,0.0698573533383,0.999999989136,-7.57569130282e-07,-0.000146053177791,1.98791446412e-05,1793239748424399616
+23,0.383333333,BASELINE,766,746,715,680,665,635,879.357267101,788,803.357267101,653,631.642732899,653,0.401034095974,0.00447239031154,0.0698570734585,0.999999989051,-2.37044253023e-07,-0.000146638586091,1.98513001642e-05,1793239748441066240
+24,0.400000000,BASELINE,766,746,715,680,665,635,879.93119664,788,803.93119664,653,631.06880336,653,0.401033706938,0.00447464534752,0.0698571988528,0.999999988951,2.03063362934e-06,-0.000147290566532,1.99830744056e-05,1793239748457732864
+25,0.416666667,BASELINE,766,745.481922752,715,680,665,635,879.481922752,788,803.481922752,653,631,653,0.401033574665,0.0044745324667,0.0698570076204,0.999999988983,3.19916931933e-06,-0.000147047682639,2.00098191413e-05,1793239748474399488
+26,0.433333333,BASELINE,765.895066302,745.104933698,715,680,664.895066302,635,879.104933698,788,803,652.895066302,631,653,0.401033563707,0.00447389917896,0.0698569342462,0.999999989042,3.67259741206e-06,-0.000146632380139,2.00155600845e-05,1793239748491065856
+27,0.450000000,BASELINE,765.316284732,745.683715268,715,680,664.316284732,635,879.683715268,788,803,652.316284732,631,653,0.401033942642,0.00447237236109,0.0698575878349,0.999999989142,1.68320030027e-06,-0.000145988904675,1.99910563154e-05,1793239748507732480
+28,0.466666667,BASELINE,765.26212208,746,715,680,664.26212208,635,879.73787792,787.73787792,803.26212208,652.26212208,631,653,0.401034036377,0.00447275716397,0.069857773284,0.999999989172,1.43158567546e-06,-0.00014581987294,1.97462292168e-05,1793239748524399360
+29,0.483333333,BASELINE,765.840077308,746,715,680,664.840077308,635,879.159922692,787.159922692,803.840077308,652.840077308,631,653,0.401033786473,0.00447544529524,0.0698573946675,0.999999989119,3.27384023871e-06,-0.000146222502576,1.92359326446e-05,1793239748541065984
+30,0.500000000,BASELINE,766,746,715,680,665,635,879,787.415547898,804,653,631.415547898,653,0.401033154878,0.00447498801991,0.0698568057983,0.999999989006,2.80189329816e-06,-0.000146991903296,1.93474922396e-05,1793239748557732608
+31,0.516666667,BASELINE,766,746,715,680,665,635,879,787.99006795,804,653,631.99006795,653,0.401032377263,0.00447332743664,0.0698561364947,0.999999988868,1.44462455069e-06,-0.000147901616085,1.96969493667e-05,1793239748574399232
+32,0.533333333,BASELINE,766,746,715,680,665,635,879.580592542,788,804,653,632,653,0.401033951589,0.00447416698325,0.0698570090641,0.999999989016,3.74364450126e-06,-0.000146810457872,2.00166589219e-05,1793239748591066112
+33,0.550000000,BASELINE,766,746,715,680,664.832120003,635,880,788,804,653,632,653,0.401035121534,0.00447469300345,0.0698578411369,0.999999989159,4.97986561854e-06,-0.000145776745451,2.01753957938e-05,1793239748607732480
+34,0.566666667,BASELINE,766,746,715,680,664.253442751,635,880,788,804,653,632,653,0.401035200728,0.00447434421258,0.069858507744,0.999999989287,3.45806019796e-06,-0.000144969731399,1.99415178709e-05,1793239748624399360
+35,0.583333333,BASELINE,766,746,715,680,664.321991657,635,879.678008343,788,804,653,632,653,0.401035126594,0.00447414594601,0.0698589051298,0.999999989361,3.27381413022e-06,-0.000144470314922,1.99061272608e-05,1793239748641065984
+36,0.600000000,BASELINE,766,746,715,680,664.8948991,635,879.1051009,788,804,653,632,653,0.401034932976,0.00447406497723,0.0698590927219,0.999999989393,4.13187676222e-06,-0.000144210597387,2.00254101994e-05,1793239748657732608
+37,0.616666667,BASELINE,766,746,715,680,665,635,879.482840667,788,804,653,632,653,0.401035037155,0.00447269139374,0.0698586411525,0.999999989376,2.19985137877e-06,-0.000144333528392,2.02654042604e-05,1793239748674399488
+38,0.633333333,BASELINE,766,745.927343568,715,680,665.072656432,635,879.927343568,788,803.927343568,653,632,653,0.401035115585,0.00447143193067,0.0698581456569,0.999999989345,1.01675795386e-07,-0.000144542019577,2.04322423121e-05,1793239748691066112
+39,0.650000000,BASELINE,766,745.348012143,715,680,665.651987857,635,879.348012143,788,803.348012143,653,632,653,0.401034547878,0.00447299347877,0.0698583452345,0.999999989325,1.21616683193e-06,-0.00014474766224,1.98997993222e-05,1793239748707732736
+40,0.666666667,BASELINE,766,745.229551486,715,680,665.770448514,635.229551486,879.229551486,788,803.229551486,653,631.770448514,653,0.4010340573,0.00447398252868,0.0698582355563,0.999999989242,2.48066856055e-06,-0.000145326429896,1.97748886498e-05,1793239748724399360
+41,0.683333333,BASELINE,766,745.80445549,715,680,665.19554451,635.80445549,879.80445549,788,803.80445549,653,631.19554451,653,0.40103368276,0.00447411027415,0.0698576606131,0.999999989061,3.97085628177e-06,-0.000146466551587,2.02630967254e-05,1793239748741066240
+42,0.700000000,BASELINE,766,746,715,680,665,635.620440953,880,788,803.620440953,653,631,652.620440953,0.40103366368,0.00447471725548,0.0698575467315,0.999999989043,5.55051490146e-06,-0.00014653044344,2.0313412127e-05,1793239748757732864
+43,0.716666667,BASELINE,766,746,715,680,665,635.045234553,880,788,803.045234553,653,631,652.045234553,0.401033827826,0.00447557126353,0.0698576705086,0.999999989108,7.17629210834e-06,-0.000146039582261,2.01380115323e-05,1793239748774399488
+44,0.733333333,BASELINE,766,746,715,680,664.457132264,635,879.457132264,788,803,653,631.542867736,652.542867736,0.401033435097,0.00447473662505,0.0698577467935,0.999999989066,5.3296808184e-06,-0.000146407084914,2.01274804769e-05,1793239748791066112
+45,0.750000000,BASELINE,766,746,715,680,664.260142412,635,879.130071206,787.869928794,803.130071206,653,631.869928794,653,0.401033491324,0.00447421795898,0.0698579556627,0.999999989079,4.17035827646e-06,-0.000146359162358,2.01015360063e-05,1793239748807732736
+46,0.766666667,BASELINE,766,746,715,680,665.420707345,635,879.710353672,787.289646328,803.710353672,653,631.289646328,653,0.401035266027,0.00447529183287,0.0698586374721,0.999999989323,6.4157697681e-06,-0.000144619756548,1.99735343865e-05,1793239748824399360
+47,0.783333333,BASELINE,766,745.711334009,715,680,665.711334009,635,880,787.288665991,804,652.711334009,631,653,0.401036433198,0.00447544023479,0.0698593478791,0.999999989515,6.51136785175e-06,-0.000143275129538,1.99799475202e-05,1793239748841066240
+48,0.800000000,BASELINE,766,745.134985059,715,680,665.134985059,635,880,787.865014941,804,652.134985059,631,653,0.401036994906,0.00447466631651,0.0698600867863,0.99999998966,4.46447383885e-06,-0.000142323936727,2.01203176518e-05,1793239748857732864
+49,0.816666667,BASELINE,766,745.43913856,715,680,665,635,879.56086144,788,803.56086144,652,631,653,0.401035775837,0.00447463606556,0.0698591965905,0.99999998938,3.21373007792e-06,-0.000144352196247,1.98221278158e-05,1793239748874399488
+50,0.833333333,BASELINE,766,746,715,679.987016106,665,635,879.012983894,788,803,652.012983894,631,653,0.401034040336,0.00447480022793,0.0698578413746,0.999999988973,2.20754923098e-06,-0.000147215488932,1.94108574848e-05,1793239748891065856
+51,0.850000000,BASELINE,766,746,715,679.395235351,665,635,879.604764649,788,803,652.604764649,631,653,0.401033561624,0.00447349210753,0.0698579669799,0.999999989043,1.24912380961e-06,-0.000146682331677,1.9937821516e-05,1793239748907732736
+52,0.866666667,BASELINE,766,745.807893539,715,679,665,635,879.807893539,788,803,653,631,653,0.401033578676,0.00447256949506,0.0698582826741,0.999999989155,4.82764479306e-07,-0.000145882986718,2.02103291918e-05,1793239748924399360
+53,0.883333333,BASELINE,766,745.229478082,715,679,665,635,879.229478082,788,803,653,631,653,0.401034592664,0.00447242210476,0.0698589806205,0.999999989353,1.02633021691e-07,-0.000144548362011,1.99711477518e-05,1793239748941065984
+54,0.900000000,BASELINE,766,745,715,679,664.654850777,635.345149223,879,787.654850777,803.345149223,653,631,653,0.401034654175,0.00447205287911,0.0698589958445,0.999999989318,6.41573690195e-07,-0.000144792194212,1.99535621332e-05,1793239748957732608
+55,0.916666667,BASELINE,766,745,715,679,664.082714766,635.917285234,879,787.082714766,803.917285234,653,631,653,0.401034089292,0.00447153776383,0.0698585620774,0.999999989128,1.7849405625e-06,-0.000146074095913,2.00817086313e-05,1793239748974399232
+56,0.933333333,BASELINE,766,745.506207346,715,679,664.506207346,635.493792654,879,787.506207346,804,653,631,653,0.401033180826,0.00447290514112,0.0698579758961,0.999999989016,2.43015940525e-06,-0.000146858885448,1.98549884745e-05,1793239748991066112
+57,0.950000000,BASELINE,766,746,714.904078114,679.095921886,664.904078114,635,879,787.904078114,804,653,631,653,0.401032472419,0.00447429557036,0.0698575122473,0.999999988954,2.93743498018e-06,-0.000147300213461,1.96526443763e-05,1793239749007732736
+58,0.966666667,BASELINE,766,746,714.324668988,679.675331012,664.324668988,635,879,787.324668988,804,653,631,653,0.401033065079,0.00447419857317,0.0698577960501,0.999999989076,3.17376912274e-06,-0.000146433817878,1.98754623454e-05,1793239749024399360
+59,0.983333333,BASELINE,765.748315234,745.748315234,714.251684766,680,664.251684766,635,879.251684766,787,803.748315234,652.748315234,631,653,0.401033787674,0.00447422424045,0.0698584466152,0.999999989233,3.17119754585e-06,-0.000145349764689,1.99520644099e-05,1793239749041065984
+60,1.000000000,BASELINE,765.175855504,745.175855504,714.824144496,680,664.824144496,635,879.824144496,787,803.175855504,652.175855504,631,653,0.401034675872,0.00447440624492,0.0698595646227,0.999999989433,2.86413807086e-06,-0.000143988304404,1.98423127486e-05,1793239749057732864
+61,1.016666667,BASELINE,765,745,715,680,665,635.398965297,879.601034703,787,803,652,631.398965297,653,0.401034555044,0.00447358995537,0.0698588348732,0.999999989283,1.83043392889e-06,-0.000145024545669,1.99778201561e-05,1793239749074399488
+62,1.033333333,BASELINE,765,745,715,680,665,635.974832969,879.025167031,787,803,652,631.974832969,653,0.40103398681,0.00447233101932,0.0698572858228,0.999999988973,4.74533442721e-07,-0.000147123934867,2.02220761558e-05,1793239749091066112
+63,1.050000000,BASELINE,765.564606718,745.564606718,715,680,665,636,879,787.564606718,803,652.564606718,632,653,0.401033357851,0.00447420398136,0.0698579393813,0.999999989064,4.77823949683e-06,-0.000146426328323,2.02278330897e-05,1793239749107732736
+64,1.066666667,BASELINE,766,745.848341051,715,680,665,636,879,787.848341051,803.151658949,653,631.848341051,653,0.401032944914,0.00447589590324,0.0698583351817,0.999999989107,8.01378622233e-06,-0.000146000805598,2.01226193857e-05,1793239749124399616
+65,1.083333333,BASELINE,766,745.270717726,715,680,665,636,879,787.270717726,803.729282274,653,631.270717726,653,0.401033146513,0.00447667733471,0.0698577242953,0.999999989017,7.52274083076e-06,-0.000146698500238,1.9736335708e-05,1793239749141066240
+66,1.100000000,BASELINE,766.301326195,745.301326195,714.698673805,679.698673805,664.698673805,635.698673805,879.60265239,787.301326195,804,652.698673805,631,652.698673805,0.401033489112,0.00447581462004,0.0698575395673,0.999999989028,4.82781206278e-06,-0.000146762012005,1.95233648198e-05,1793239749157733120
+67,1.116666667,BASELINE,766.868448563,745.868448563,714.131551437,679.131551437,664.131551437,635.131551437,880.736897126,787.868448563,804,652.131551437,631,652.131551437,0.401033956086,0.004473501624,0.0698577307483,0.999999989114,1.8886459546e-07,-0.000146266118734,1.94632710556e-05,1793239749174399744
+68,1.133333333,BASELINE,766.550604142,745.550604142,714.449395858,679.449395858,664,635,880.101208283,787.550604142,804,652,631,652.449395858,0.401034719074,0.00447305345878,0.0698588027435,0.999999989328,1.59974675362e-06,-0.000144733266319,1.98625686242e-05,1793239749191066112
+69,1.150000000,BASELINE,766,745,714.964869661,680,664,635,879,787,804,652.035130339,631.035130339,653,0.401035470458,0.00447323680585,0.0698600215706,0.999999989542,4.72108839682e-06,-0.000143106751005,2.03563716695e-05,1793239749207732736
+70,1.166666667,BASELINE,766,745,714.369377598,680,664,635,879,787,804,652.630622402,631.630622402,653,0.401034610703,0.00447450951837,0.0698593391705,0.999999989269,5.98072403199e-06,-0.000144981790726,2.01445012881e-05,1793239749224399360
+71,1.183333333,BASELINE,766,745,714.218867058,680,664,635,879,787.218867058,804,653,632,652.781132942,0.401033836013,0.00447502118146,0.0698586837761,0.999999989091,6.14887881567e-06,-0.000146226388899,1.99509397615e-05,1793239749241065984
+72,1.200000000,BASELINE,766,745,714.795272537,680,664,635,879,787.795272537,804,653,632,652.204727463,0.401033200288,0.00447428960416,0.0698580724979,0.999999989071,4.53400467272e-06,-0.000146441106139,1.97872873117e-05,1793239749257732608
+73,1.216666667,BASELINE,766,745,715,680,664,635,879.73978702,787.63010649,803.63010649,653,631.63010649,652.36989351,0.401033337444,0.00447373040874,0.0698579161678,0.999999989087,3.01890292189e-06,-0.000146367649399,1.98112650543e-05,1793239749274399488
+74,1.233333333,BASELINE,766,745,715,680,664,635,880.887063018,787.056468491,803.056468491,653,631.056468491,652.943531509,0.401033900318,0.00447326616462,0.0698580104318,0.999999989122,1.55875782829e-06,-0.000146135460854,1.99385931402e-05,1793239749291066112
+75,1.250000000,BASELINE,766,745.530781409,714.469218591,680,664,635,879.938437181,787,803.530781409,653,631,653,0.401035047523,0.00447314870416,0.0698594003772,0.999999989323,2.69972466519e-06,-0.000144692160776,2.02605295924e-05,1793239749307732480
+76,1.266666667,BASELINE,766,746,714.118000795,679.881999205,664.118000795,635,879.118000795,787.118000795,804,653,631,653,0.401035897857,0.00447298635365,0.0698604913349,0.999999989486,3.89309019207e-06,-0.000143507984672,2.04633771171e-05,1793239749324399616
+77,1.283333333,BASELINE,766,746,714.69926543,679.30073457,664.69926543,635,879.69926543,787.69926543,804,653,631,653,0.401035332211,0.00447249911404,0.069859853074,0.999999989441,4.17716734342e-06,-0.000143860272955,2.01152672975e-05,1793239749341066240
+78,1.300000000,BASELINE,766,745.722719148,715,679.277280852,665,635,880,787.722719148,803.722719148,653,631,653,0.401034740569,0.00447319269544,0.0698593629391,0.999999989321,5.86309931393e-06,-0.000144650796339,1.99855729749e-05,1793239749357732864
+79,1.316666667,BASELINE,766,745.148186995,715,679.851813005,665,635,880,787.148186995,803.148186995,653,631,653,0.401034121057,0.0044751521435,0.0698590315989,0.999999989112,9.05185112265e-06,-0.000145911117577,2.00900249936e-05,1793239749374399488
+80,1.333333333,BASELINE,766,745,715,680,665,635,879.574136568,787.425863432,803,653,631,652.574136568,0.401034969245,0.00447368048611,0.0698596608615,0.999999989356,5.84518704056e-06,-0.000144388868729,2.01499245578e-05,1793239749391066112
+81,1.350000000,BASELINE,766,745,715,680,665,635,879.00025353,787.99974647,803,653,631,652.00025353,0.401036327569,0.0044710162614,0.0698606240058,0.999999989728,4.15634681232e-07,-0.000141899467375,2.01943387975e-05,1793239749407732736
+82,1.366666667,BASELINE,766,745.592057063,715,680,665,635,879,787.407942937,803.592057063,652.407942937,631,652.592057063,0.401035298484,0.00447363328243,0.0698594219601,0.999999989491,4.21365342116e-06,-0.000143555601072,1.98012654105e-05,1793239749424399360
+83,1.383333333,BASELINE,766,746,715,679.819575592,665,635,879.180424408,787.180424408,803.819575592,652.180424408,631,653,0.401034566423,0.00447530773422,0.0698587858249,0.999999989344,6.55182599207e-06,-0.000144522488967,1.95770585262e-05,1793239749441066240
+84,1.400000000,BASELINE,766,746,715,679.239950837,665,635,879.760049163,787.760049163,803.239950837,652.760049163,631,653,0.401034493881,0.00447489152832,0.0698594039192,0.999999989427,5.65097422678e-06,-0.000143960323597,1.97269071406e-05,1793239749457732864
+85,1.416666667,BASELINE,765.664704731,746,715,679.335295269,665,635,879.664704731,788,803.335295269,653,631.335295269,653,0.401034117506,0.00447422619372,0.069859290122,0.999999989385,4.8044315461e-06,-0.000144278612545,1.97644440314e-05,1793239749474400000
+86,1.433333333,BASELINE,765.092551804,746,715,679.907448196,665,635,879.092551804,788,803.907448196,653,631.907448196,653,0.401033526498,0.00447338487085,0.0698586593056,0.999999989253,3.99625367973e-06,-0.000145218867798,1.972264221e-05,1793239749491067648
+87,1.450000000,BASELINE,765.494494836,745.505505164,715,680,665,635,879,788,804,653,631.505505164,653,0.401034470776,0.00447355399766,0.069858885412,0.999999989329,3.85622909738e-06,-0.000144730222054,1.94884922086e-05,1793239749507734016
+88,1.466666667,BASELINE,766,745,715,680,665,635,879.082955927,788,804,653,631,653,0.401035413729,0.00447406352765,0.0698592205019,0.999999989403,3.98496028483e-06,-0.000144249032126,1.92645220226e-05,1793239749524399872
+89,1.483333333,BASELINE,766,745,715,680,665,635,879.66267599,788,804,653,631,653,0.401034574572,0.00447544381498,0.0698592179571,0.999999989221,4.95096102333e-06,-0.000145463727699,1.93237890662e-05,1793239749541066752
+90,1.500000000,BASELINE,766,745.241319039,715,680,665,635,880,788,804,653,631,653,0.401034935498,0.00447593799119,0.0698598198495,0.999999989298,5.00935889325e-06,-0.00014490955153,1.94816260066e-05,1793239749557733632
+91,1.516666667,BASELINE,766,745.818463242,715,680,665,635,880,788,804,653,631,653,0.401036966488,0.00447519903449,0.0698612628905,0.99999998973,3.80471550338e-06,-0.000141893772362,1.97766350942e-05,1793239749574400512
+92,1.533333333,BASELINE,766,746,715,680,665,635.393778602,880,787.606221398,803.606221398,653,631,653,0.401036624543,0.00447567606077,0.0698608980593,0.999999989723,5.5303031429e-06,-0.000141887489272,1.97639528951e-05,1793239749591066880
+93,1.550000000,BASELINE,766,746,715,680,665,635.968254791,880,787.031745209,803.031745209,653,631,653,0.401035193705,0.00447671107867,0.0698597036297,0.999999989509,8.60051852706e-06,-0.000143262207004,1.96100769836e-05,1793239749607733248
+94,1.566666667,BASELINE,766,746,715,680,665,635.442106305,880,787.557893695,803,653,631,653,0.401033158722,0.00447464520211,0.069858689839,0.999999989131,5.13120042779e-06,-0.000146005085006,1.98306143561e-05,1793239749624399872
+95,1.583333333,BASELINE,766,745.854597834,715,679.854597834,664.854597834,635,880,788,803.145402166,652.854597834,631,653,0.401031736705,0.00447315466636,0.0698580018648,0.999999988872,2.58468967209e-06,-0.000147811495341,2.00179730802e-05,1793239749641066240
+96,1.600000000,BASELINE,766,745.276077116,715,679.276077116,664.276077116,635,880,788,803.723922884,652.276077116,631,653,0.40103224583,0.00447391821083,0.0698582529474,0.999999989047,3.92640220927e-06,-0.000146590013229,2.00412655321e-05,1793239749657733120
+97,1.616666667,BASELINE,766,745,715,679.300809107,664.300809107,635.300809107,880,788,804,652.300809107,631,653,0.401033544876,0.00447425040983,0.069859025722,0.99999998928,4.69105063647e-06,-0.000144989484419,1.98863764042e-05,1793239749674399744
+98,1.633333333,BASELINE,766,745,715,679.876203292,664.876203292,635.876203292,880,788,804,652.876203292,631,653,0.401035564981,0.00447418886729,0.0698602747083,0.999999989566,4.9289423447e-06,-0.000143042953633,1.95688392633e-05,1793239749691066368
+99,1.650000000,BASELINE,766,745.459264125,715,680,665,636,880,788,804,653,631.459264125,653,0.401034573201,0.00447333531393,0.0698598855987,0.999999989452,3.52128723222e-06,-0.000143884586262,1.95113600152e-05,1793239749707732992
+100,1.666666667,BASELINE,766,746,715,679.955969876,665,635.955969876,880,788,803.955969876,653,631.955969876,652.955969876,0.401033055283,0.00447239464316,0.06985918838,0.999999989263,1.79020752594e-06,-0.000145223710458,1.95199519708e-05,1793239749724399616
+101,1.683333333,BASELINE,766,746,715,679.376029735,665,635.376029735,880,788,803.376029735,653,631.376029735,652.376029735,0.401035182862,0.00447303622312,0.0698602066434,0.99999998954,1.61305798353e-06,-0.000143315135972,1.94650256319e-05,1793239749741066240
+102,1.700000000,BASELINE,766,745.796333382,715,679.203666618,664.796333382,635,879.796333382,788,803.203666618,653,631,652.203666618,0.401035929688,0.00447382615855,0.0698604686874,0.999999989577,1.95932075405e-06,-0.000143053392965,1.94236211552e-05,1793239749757732864
+103,1.716666667,BASELINE,766,745.217086663,715,679.782913337,664.217086663,635,879.217086663,788,803.782913337,653,631,652.782913337,0.401034130279,0.00447488967512,0.0698593361926,0.999999989173,3.27080431315e-06,-0.000145828559899,1.94071522502e-05,1793239749774399488
+104,1.733333333,BASELINE,766,745,715,680,664.358913743,635,879.358913743,788,804,653,631,653,0.401034193562,0.00447460207654,0.0698592403348,0.999999989112,3.85550561622e-06,-0.000146203775128,1.96615449293e-05,1793239749791066112
+105,1.750000000,BASELINE,766,745,715,680,664.932968294,635,879.932968294,788,804,653,631,653,0.401035373384,0.00447350458984,0.0698597658599,0.999999989258,4.00455774314e-06,-0.000145140406675,2.007829801e-05,1793239749807732736
+106,1.766666667,BASELINE,766,745.519900301,715,680,665,635,880,788,803.480099699,652.480099699,631,653,0.401035371164,0.00447413263239,0.069859510751,0.99999998936,4.32966012451e-06,-0.000144471416265,1.97106905549e-05,1793239749824399360
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,880,788,804,653,632,653,0.401033698699,0.00447396711071,0.0698589396864,0.999999989338,3.22345004732e-06,-0.000144635503313,1.98557118598e-05,1793239749866726400
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.424546856,715,680,665,635,880,787.424546856,803.424546856,653,631.424546856,653,0.401033890245,0.00447530152212,0.0698593643357,0.999999989377,6.00077247471e-06,-0.000144306094668,1.96462719897e-05,1793239749883393024
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.154028591,715,680,665,635,880,787.154028591,803.154028591,653,631,653,0.401033990764,0.00447599499655,0.069859632025,0.999999989375,7.32410561523e-06,-0.000144275637341,1.94999130864e-05,1793239749900059648
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.741388192,715,680,665,635,880,787.741388192,803.741388192,653,631,653,0.401033835198,0.00447488531341,0.0698594581364,0.999999989274,4.55690892345e-06,-0.000145086224289,1.95310207908e-05,1793239749916726272
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,880,788,803.676390362,653,631,653,0.401033503199,0.00447408844606,0.0698592193374,0.999999989204,3.61210642056e-06,-0.000145601967199,1.94663325278e-05,1793239749933392896
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,880,788,803.098210917,653,631,653,0.401033032408,0.00447353765753,0.0698589294761,0.999999989164,4.10090333621e-06,-0.000145885768917,1.9326285689e-05,1793239749950059520
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.519114162,715,680,664.519114162,635,879.519114162,787.519114162,803.480885838,653,631.480885838,653,0.401032825765,0.00447437086757,0.0698587413112,0.999999989001,4.65299943982e-06,-0.000146957062326,1.94864206113e-05,1793239749966725888
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879.05938391,787,804,652.94061609,632,653,0.401032532059,0.00447526623921,0.069858555128,0.999999988761,5.10966345399e-06,-0.000148536834249,1.9702109516e-05,1793239749983392512
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879.631097558,787,804,652.368902442,632,653,0.401031020912,0.00447425468012,0.0698582065135,0.99999998807,4.63125065805e-06,-0.000153113273522,1.98671636238e-05,1793239750000059392
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.21047454,635,879.78952546,787.21047454,804,652.21047454,631.78952546,653,0.401034577605,0.00447390694973,0.0698603775967,0.999999987749,4.45709823329e-06,-0.000155168922783,2.01239875883e-05,1793239750016726016
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.803790642,635,879.196209358,787.803790642,804,652.803790642,631.196209358,653,0.401047352421,0.00447476668718,0.0698671318707,0.999999988128,4.83637866961e-06,-0.000152639393754,2.0547735836e-05,1793239750033392640
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.387520877,715,680,665,635,879.387520877,787.612479123,803.612479123,653,631,653,0.40107500783,0.00447392018548,0.069878612529,0.999999989529,4.07142951094e-06,-0.000143106169568,2.11110172437e-05,1793239750050059264
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.966514813,715,680,665,635,879.966514813,787.033485187,803.033485187,653,631,653,0.401110015704,0.00447223063551,0.0698924284821,0.999999991295,2.74111951325e-06,-0.000130112437538,2.17432416584e-05,1793239750066726144
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,715,679.456719742,665,635,880,787.543280258,803,653,631,653,0.401168052802,0.00447260600498,0.0699089840129,0.999999993825,1.44728405372e-06,-0.000109020522146,2.14973553828e-05,1793239750083392768
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,715,679.120911846,664.879088154,635,880,787.879088154,803.120911846,652.879088154,631.120911846,653,0.401230146321,0.00447301090705,0.069923830239,0.999999995725,3.46147313327e-07,-9.00221052946e-05,2.11174465039e-05,1793239750100059392
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,715,679.702363668,664.297636332,635,880,787.297636332,803.702363668,652.297636332,631.702363668,653,0.401302306025,0.00447304551201,0.0699315253953,0.99999999652,-2.95493286818e-08,-8.08909660159e-05,2.04323647916e-05,1793239750116726016
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.283960591,635.283960591,879.716039409,787,803.716039409,652.283960591,632,653,0.401383636035,0.00447342759261,0.0699366786156,0.999999997046,-9.7936751483e-07,-7.44413675044e-05,1.9136023075e-05,1793239750133392640
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.865709648,635.865709648,879.134290352,787,803.134290352,652.865709648,632,653,0.401474582907,0.00447417406966,0.0699391661163,0.999999997342,-2.53126490437e-06,-7.08038918312e-05,1.71986552034e-05,1793239750150059264
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.554727383,715,680,665,636,879.445272617,787,803,653,631.554727383,653,0.401576536327,0.00447533601285,0.0699365665618,0.999999996859,-4.04903458978e-06,-7.77951673196e-05,1.46385814871e-05,1793239750166726144
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635.975911162,879.975911162,787.024088838,803,652.975911162,631,653,0.401683155482,0.00447657936077,0.0699326530848,0.999999996079,-5.58757659225e-06,-8.75704600471e-05,1.18928384894e-05,1793239750183392512
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635.399174773,879.399174773,787.600825227,803,652.399174773,631,653,0.401821032631,0.00447682968318,0.0699336215295,0.999999996052,-7.83765909416e-06,-8.80344715786e-05,9.17498910533e-06,1793239750200059136
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.180607649,715,680,665,635.180607649,879.180607649,788,803.180607649,652,631.180607649,653,0.401970074756,0.00447705461782,0.0699351457971,0.999999996086,-1.14718371323e-05,-8.75107924749e-05,6.14870850795e-06,1793239750216726016
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.767237756,715,680,665,635.767237756,879.767237756,788,803.767237756,652,631.767237756,653,0.402144216749,0.0044772224784,0.0699379196051,0.999999996238,-1.82175877862e-05,-8.47666947354e-05,2.42904679745e-06,1793239750233392640
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.650166453,879.650166453,788,804,652.349833547,632,653,0.402336083871,0.00447828453729,0.0699406665691,0.999999996383,-2.2129485603e-05,-8.21031751871e-05,-1.62765671031e-06,1793239750250059264
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.070224239,879.070224239,788,804,652.929775761,632,653,0.40253961,0.00447993476958,0.0699433958763,0.999999996531,-2.41773716106e-05,-7.94926569734e-05,-5.90605527453e-06,1793239750266725888
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.494013771,635,880.011972457,788,804,653,631.494013771,653,0.402773198569,0.00447880844097,0.069943239735,0.999999996207,-3.08278947839e-05,-8.07611286147e-05,-1.0611691698e-05,1793239750283392512
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715,680.081686012,664.081686012,635,880.836627976,787.918313988,803.918313988,653,631.081686012,653,0.403016622985,0.00447779762667,0.0699433734663,0.999999995885,-3.74244705026e-05,-8.12039934507e-05,-1.53542364649e-05,1793239750300059136
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715,680.657406853,664.657406853,635,879.685186293,787.342593147,803.342593147,653,631.657406853,653,0.4032944854,0.00447979896406,0.0699476645942,0.999999996311,-3.98597029236e-05,-7.34215049471e-05,-1.99640148347e-05,1793239750316726016
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680.76613017,665,635.23386983,879,787.23386983,803.23386983,653,631.76613017,653,0.403592731462,0.00448107388624,0.0699551361635,0.999999997045,-4.07712090942e-05,-6.06975131237e-05,-2.37465024149e-05,1793239750333392640
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680.188576623,665,635.811423377,879,787.811423377,803.811423377,653,631.188576623,653,0.403920932322,0.00448128130385,0.0699672815546,0.999999998047,-3.94435211883e-05,-4.07117290287e-05,-2.63132434421e-05,1793239750350059264
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.602977958,745.602977958,715,679.602977958,665,635.602977958,879.397022042,787.602977958,804,652.602977958,631,653,0.404267733868,0.00448454338362,0.0699707748847,0.999999998567,-2.64506029951e-05,-3.79843058325e-05,-2.69167883769e-05,1793239750366726144
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.013479023,745.013479023,715,679.013479023,665,635.013479023,879.986520977,787.013479023,804,652.013479023,631,653,0.404623553046,0.00448928636828,0.069970073682,0.999999998665,-7.80236337743e-06,-4.36237629329e-05,-2.65685727678e-05,1793239750383392768
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.562658474,745.562658474,714.437341526,679.562658474,665,635,879.437341526,787,803.437341526,652,631,653,0.405025944237,0.00449333290892,0.0699762133698,0.999999999174,-2.27997957836e-07,-2.94942275833e-05,-2.79531652915e-05,1793239750400059392
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.858875991,714.141124009,680,664.858875991,635,879,787,803,652,631,652.858875991,0.405432319106,0.00449707110859,0.0699808177629,0.999999999371,4.45670634544e-06,-1.96339219495e-05,-2.92116886795e-05,1793239750416726016
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.272071025,714.727928975,680,664.272071025,635,879,787,803,652,631,652.272071025,0.405847833002,0.00449988700909,0.0699800680294,0.999999999246,8.33985960708e-07,-2.47171168043e-05,-2.99440209416e-05,1793239750433392640
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.689316832,745,715,680,664,635,879.310683168,787,803.310683168,652,631,652.310683168,0.406289999449,0.00450397552495,0.0699726717017,0.999999998757,5.02652034512e-06,-3.88247343802e-05,-3.08651961891e-05,1793239750450059520
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.110064255,745,715,680,664,635,879.889935745,787,803.889935745,652,631,652.889935745,0.406755205685,0.00450916415081,0.0699595297396,0.999999997518,1.59749348311e-05,-6.07334957041e-05,-3.19496164257e-05,1793239750466726144
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.468972944,745.468972944,715,680,664.468972944,635.468972944,880,787,803.531027056,652,631,652.531027056,0.407259970006,0.00451358091935,0.0699487900835,0.999999996679,2.28798488187e-05,-7.0485194792e-05,-3.39313303552e-05,1793239750483392768
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.952408906,880,787.047591094,803.047591094,652,631,652.047591094,0.407779296642,0.00451800350462,0.069940517839,0.999999996128,2.880999733e-05,-7.49465976457e-05,-3.60089774832e-05,1793239750500059392
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.377870792,880,787.622129208,803.622129208,652,631,652.622129208,0.408357114692,0.00452449532735,0.0699533259539,0.999999997355,3.44497946131e-05,-5.24086619247e-05,-3.68181968407e-05,1793239750516726016
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,879.798612448,788,804,652,631.201387552,653,0.40894133381,0.00453045674101,0.0699639740164,0.999999998028,3.97087150926e-05,-3.04752371293e-05,-3.79221633754e-05,1793239750533392640
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,879.210284831,788,804,652,631.789715169,653,0.409537851716,0.00453539904206,0.0699704718175,0.999999998191,4.42358298654e-05,-9.70330306954e-06,-3.959244836e-05,1793239750550059520
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.372596776,879.372596776,788,804,652.372596776,632,653,0.410152175641,0.00454041419557,0.0699659931851,0.999999997784,5.06328825006e-05,-1.63337789048e-05,-4.00296175446e-05,1793239750566726144
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.952449042,879.952449042,788,804,652.952449042,632,653,0.410776404074,0.0045454698728,0.0699554089545,0.999999996793,5.80700805425e-05,-3.82067380186e-05,-3.97808708551e-05,1793239750583392768
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.472446441,746,715,680,665,635.472446441,880,788,804,652.472446441,631.472446441,653,0.411437654042,0.00455244515129,0.0699583279741,0.99999999637,6.57087493641e-05,-3.50373696449e-05,-4.1409537317e-05,1793239750600059392
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.102547873,746,715,680,665,635,880,787.897452127,804,652,631,653,0.412115974299,0.00455927126075,0.0699677400993,0.999999996131,7.4018788811e-05,-2.06084028335e-05,-4.28358693875e-05,1793239750616726272
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.678992706,746,715,680,665,635,880,787.321007294,804,652,631,653,0.412857896862,0.00456461557749,0.0700015839461,0.999999994822,8.53482107757e-05,3.55157855571e-05,-4.2552137162e-05,1793239750633392896
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.738440779,715,680,665,635,880,787.261559221,804,652,631,653,0.413593497417,0.00457158445667,0.070026549231,0.999999991652,9.57514882629e-05,7.55358831619e-05,-4.26817544219e-05,1793239750650059520
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.148181091,715,680,665,635,880,787.851818909,804,652,631,653,0.414321153231,0.00458059491795,0.0700403568659,0.999999989007,0.000104990885324,9.53180394529e-05,-4.33308264752e-05,1793239750666726144
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635,880,788,804,652,631,653,0.41503305355,0.00458768645881,0.0700070996931,0.999999992101,0.000112736018291,3.39193281312e-05,-4.40125344889e-05,1793239750683392768
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.010983485,715,680.010983485,665,635,880,787.989016515,804,652,631,653,0.415740869149,0.0045940803698,0.0699585198321,0.999999990372,0.000119906978388,-5.36190177725e-05,-4.47496686832e-05,1793239750700059392
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.585864104,715,680.585864104,665,635,880,787.414135896,804,652,631,653,0.416510110299,0.00459768016808,0.0699331994222,0.999999987545,0.000123314339282,-8.61452456466e-05,-4.77707968244e-05,1793239750716726016
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,746,715,680.835690376,665,635,880,787,804,652,631,653,0.417291679277,0.00460059074523,0.069924095758,0.999999986347,0.000125260271752,-9.56949745938e-05,-4.95738939214e-05,1793239750733392640
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,680.248060433,665,635,880,787,804,652,631,653,0.418105009103,0.00460172564219,0.0699567722285,0.999999990157,0.000123441042151,-4.60490282206e-05,-4.82389075593e-05,1793239750750059264
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.663088164,746,715,680,665,635.336911836,880,787,804,652,631,652.663088164,0.418940123065,0.00460150359837,0.069982740975,0.999999991511,0.000120629205307,-9.31987190763e-06,-4.83807017162e-05,1793239750766726144
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.080057388,746,715,680,665,635.919942612,880,787,804,652,631,652.080057388,0.419791150616,0.00460029028977,0.0700038096313,0.999999991753,0.000117092254769,1.7973381392e-05,-4.96013053606e-05,1793239750783392768
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.49592124,745.50407876,715,680,665,635.50407876,880.49592124,787.49592124,804,652,631,652.49592124,0.420666605493,0.00459148011619,0.0700210202953,0.999999991956,0.000105995428066,4.74976736255e-05,-5.09598513813e-05,1793239750800059648
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.070866672,715,680,664.929133328,635,880.929133328,787.929133328,804,652,631,653,0.421538912091,0.00458245991027,0.070033556766,0.999999991653,9.5378767749e-05,6.98557920959e-05,-5.21342465034e-05,1793239750816726272
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.64644768,715,680,664.35355232,635,880.35355232,787.35355232,804,652,631,653,0.42236110529,0.00458055566303,0.0700171769212,0.999999993229,9.6751751087e-05,3.86471077132e-05,-5.18407420439e-05,1793239750833392640
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.227273577,635,880,787,804,652,631,652.772726423,0.4231522182,0.00458279790069,0.0699790509103,0.999999993181,0.000101018072997,-2.59641925518e-05,-5.25332742708e-05,1793239750850059520
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.816451381,635,880,787,804,652,631,652.183548619,0.423893839835,0.00459164288717,0.0699062968967,0.999999982126,0.000109891667467,-0.000143764909313,-5.47959438554e-05,1793239750866726144
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680.398815861,665.398815861,635,880,787,804.398815861,652,631,652.398815861,0.424736911196,0.00459616074082,0.0698859081182,0.999999978805,0.000108813577243,-0.000164905261752,-5.79212720199e-05,1793239750883392768
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680.978097254,665.978097254,635,880,787,804.978097254,652,631,652.978097254,0.425625888858,0.00459872055161,0.0698892147908,0.999999982659,0.000103232315761,-0.000142306464479,-6.14369561914e-05,1793239750900059392
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665.447452638,635,880.552547362,787,805,652.552547362,631,653,0.426548966973,0.00459978923493,0.069947140746,0.999999990695,0.0001073688373,-6.12652775006e-05,-5.76892162075e-05,1793239750916726016
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,681,665,635,880.872905088,787.127094912,804.872905088,652.872905088,631,653,0.427462391637,0.00460122493238,0.0699993095385,0.999999992172,0.00011200001147,1.02508073726e-05,-5.48296954968e-05,1793239750933392640
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665,635,880.297343832,787.702656168,804.297343832,652.297343832,631,653,0.428337024788,0.00460416243276,0.0700235901507,0.999999990776,0.000117029152065,4.00530702995e-05,-5.61114848628e-05,1793239750950059264
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.713192461,715,681.286807539,665,635,880.286807539,787.713192461,804,652,631,653,0.429199964541,0.00460536123103,0.0700403487981,0.99999998903,0.000119475867302,6.6288951413e-05,-5.71937344954e-05,1793239750966725888
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.119860475,715,681.880139525,665,635,880.880139525,787.119860475,804,652,631,653,0.430050406966,0.00460470179795,0.0700490683731,0.999999987279,0.000119162625154,8.87132738698e-05,-5.80627267484e-05,1793239750983392768
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.459292269,715,681.081415462,665,635,881,787.459292269,804,652,631,653,0.430830143651,0.00460465626032,0.0700112411518,0.999999990706,0.000121044946784,2.42178640192e-05,-5.78828776802e-05,1793239751000059392
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,680.069720745,665,635,880.965139628,788,804,652,631,652.965139628,0.431592717007,0.00460471150547,0.0699616262794,0.999999988862,0.000123039995445,-6.186822623e-05,-5.75215006445e-05,1793239751016726272
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,746,715,681.221006652,665,635,880.389496674,788,804,652,631,652.389496674,0.432366706945,0.0046039193418,0.069911946076,0.999999981293,0.000118161551257,-0.000141543336024,-5.8463032415e-05,1793239751033392896
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,681.809978564,665.190021436,635,880.190021436,787.809978564,804.190021436,652,631,652.190021436,0.433167883314,0.00460133031015,0.0698970979446,0.999999979115,0.000111660296976,-0.000160579792186,-5.92907281819e-05,1793239751050059520
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,681.22235188,665.77764812,635,880.77764812,787.22235188,804.77764812,652,631,652.77764812,0.434025945345,0.00459498147028,0.0699551332368,0.999999991639,0.000101763436849,-5.27345421107e-05,-5.98802312326e-05,1793239751066726144
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.63961375,715,681,666,635.36038625,880.63961375,787.36038625,804.63961375,652,631,653,0.434847499746,0.00459160045869,0.0699998367286,0.999999993259,9.75902824003e-05,2.12469874067e-05,-5.92237884688e-05,1793239751083392512
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.05985144,715,681,666,635.94014856,880.05985144,787.94014856,804.05985144,652,631,653,0.435646830995,0.00459002603825,0.0700364248189,0.99999999085,9.69012906028e-05,7.46148225917e-05,-5.78089076663e-05,1793239751100059392
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.483059102,745.516940898,715,681,666,635.483059102,880.516940898,788,804,652,631,653,0.43639906969,0.00458942419118,0.0700323093992,0.999999990902,9.85860982195e-05,7.09989594293e-05,-5.86217220886e-05,1793239751116726016
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.093193114,746,715,681,665.906806886,635,880.906806886,787.906806886,804.093193114,652,631,653,0.437139117559,0.00458969504255,0.0700198121655,0.999999991522,0.000100961697025,5.65961931047e-05,-5.96620570995e-05,1793239751133392896
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.668420027,746,715,681,665.331579973,635,880.331579973,787.331579973,804.668420027,652,631,653,0.437844150224,0.00459390074464,0.0699881972551,0.999999992395,0.000105496897308,2.032952813e-05,-6.05527607294e-05,1793239751150059264
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,714.749405635,681,665.250594365,635,880.250594365,787,805,652,631.250594365,653,0.438505976732,0.00459805516678,0.0699488126969,0.999999991746,0.0001074761745,-3.47608924773e-05,-6.12335647789e-05,1793239751166726144
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,714.15777657,681,665.84222343,635,880.84222343,787,805,652,631.84222343,653,0.439109003779,0.00460213980151,0.0698988544019,0.999999985819,0.000105977086805,-0.000115468621209,-6.16287155274e-05,1793239751183393024
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,714.424180883,681,665.151638233,635,880.575819117,787,804.575819117,652,631.575819117,653,0.439692177609,0.00460731843159,0.0698497374289,0.999999972302,0.000114355830167,-0.000196355684774,-6.13483527586e-05,1793239751200059392
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.997404736,715,681,663.997404736,635,880,787,804.002595264,652,631.002595264,653,0.440268395428,0.00461290135769,0.0698012274841,0.999999951863,0.000126308921875,-0.000276803108029,-6.08256781188e-05,1793239751216726272
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.424680894,715,681,663.424680894,635,880,787,804.575319106,652,631.575319106,653,0.440902574447,0.00461990095014,0.0698188575186,0.999999958772,0.000134337526301,-0.00024634187714,-6.10385900958e-05,1793239751233392896
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745,715,681,663.151989253,634.848010747,880.151989253,787,805,652,631.848010747,653,0.441529599022,0.00462669280942,0.0698406512705,0.99999996552,0.000141863653868,-0.000212325106589,-6.12596079624e-05,1793239751250059520
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745,715,681,663.739980037,634.260019963,880.739980037,787,805,652,631.260019963,653,0.442136100264,0.00463288875992,0.0698743892073,0.999999973034,0.00014794836127,-0.000168108787468,-6.15038787828e-05,1793239751266726144
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.322528762,715,681,663.677471238,634,881,787,804.677471238,652,631,653,0.44267849121,0.00463870639029,0.0698748222877,0.999999970353,0.000156133652849,-0.000176730524373,-6.06767249418e-05,1793239751283392768
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.900762908,715,681,663.099237092,634,881,787,804.099237092,652,631,653,0.443170054565,0.00464422408273,0.0698488508026,0.999999958664,0.000165984316892,-0.000227243025237,-5.90001303376e-05,1793239751300059392
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.520686687,746,714.520686687,681,662.041373375,634,880.520686687,787,804,652,631,653,0.443621238087,0.00465122599245,0.0698107919575,0.999999940584,0.000181485154927,-0.000287237318546,-5.82189730904e-05,1793239751316726016
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,746,714.057276015,681,661,634,880,787.057276015,804.057276015,652,631,653,0.444062735215,0.0046585472377,0.0697717696081,0.999999918776,0.000197500642234,-0.000346570642269,-5.77068859671e-05,1793239751333392640
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,714.629367373,681,661,634,880,787.629367373,804.629367373,652,631,653,0.444492362142,0.00466597490602,0.0697465957153,0.999999903689,0.000207620371953,-0.000382306237616,-5.79458310472e-05,1793239751350059520
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.208893975,746,714.791106025,681.208893975,660.791106025,634,880,787.791106025,805,652,631,653,0.444916370641,0.00467254766718,0.0697270538039,0.999999891585,0.000214787809083,-0.000408950211358,-5.87924842877e-05,1793239751366726144
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.802099463,746,714.197900537,681.802099463,660.197900537,634,880,787.197900537,805,652,631,653,0.445330042619,0.00467754761689,0.0697178733016,0.999999886988,0.000216523781848,-0.000418867922284,-6.07571652845e-05,1793239751383392768
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.61383996,745.61383996,714,682,660,634,880.38616004,787,805,652,631.38616004,653,0.445718610246,0.00468436522724,0.0697151092094,0.999999885056,0.000222441777087,-0.000420227522844,-6.17707660783e-05,1793239751400059648
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.034357524,745.034357524,714,682,660,634,880.965642476,787,805,652,631.965642476,653,0.446094609978,0.00469209280922,0.0697155573488,0.999999884434,0.00023045340857,-0.000417302697582,-6.2308229998e-05,1793239751416726272
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.541560115,714,682,660,633.458439885,881,787,805,652,631.458439885,653,0.446410824029,0.00470544380069,0.0697097000518,0.999999874483,0.00024437685642,-0.000432690987135,-6.39779639733e-05,1793239751433392896
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.880360548,714,682,659.880360548,633,881,786.880360548,804.880360548,652,631,653,0.446715163657,0.00471946981154,0.0697021033388,0.999999862148,0.000259784061929,-0.00045153706824,-6.58001643338e-05,1793239751450059776
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.292950705,714,682,659.292950705,633,881,786.292950705,804.292950705,652,631,653,0.446987809016,0.00473474929337,0.0696892596115,0.999999843715,0.000279535700656,-0.000479389742472,-6.79394642619e-05,1793239751466726400
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.290717273,714.290717273,682,659,633,880.709282727,786.290717273,804.290717273,652,631,653,0.447246102657,0.00474549350633,0.0696756712984,0.999999827778,0.000292344741047,-0.000504121327792,-6.95778937792e-05,1793239751483392768
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.87066252,714.87066252,682,659,633,880.12933748,786.87066252,804.87066252,652,631,653,0.447490118084,0.00475172568297,0.0696613422146,0.999999814819,0.000298246747906,-0.000525747811612,-7.07180186722e-05,1793239751500059392
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,746,714.551888684,682,659,632.551888684,880.448111316,787,805,652,631,653,0.447717485523,0.00475455764907,0.0696594098325,0.999999813202,0.000300212008055,-0.000527636869858,-7.11854234007e-05,1793239751516726272
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.975249932,714,682,659,632,881,786.975249932,805,652,631.024750068,653,0.447938651091,0.00475646193062,0.0696611907409,0.999999814908,0.000301180029474,-0.000523801968815,-7.14520444164e-05,1793239751533392896
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.400687827,714,682,659,632,881,786.400687827,805,652,631.599312173,653,0.448128196135,0.0047594386067,0.069666416641,0.999999816393,0.000305096403474,-0.000518662038095,-7.15477567217e-05,1793239751550059776
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.177824395,714,682,658.822175605,632.177824395,880.822175605,786,805,652,631.822175605,653,0.44830912721,0.00476217348311,0.0696697057606,0.999999817578,0.000308090442394,-0.000514578988531,-7.16434233381e-05,1793239751566726144
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.765439456,714,682,658.234560544,632.765439456,880.234560544,786,805,652,631.234560544,653,0.448470207642,0.00476435113944,0.0696685316305,0.99999981815,0.000308958988929,-0.000512931488743,-7.17389846582e-05,1793239751583392768
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.651573169,714,682,658,632.651573169,880.348426831,786,805,652,631,653,0.448607222104,0.00476667526258,0.0696643390245,0.999999814203,0.000312377951874,-0.000518569809606,-7.14165768743e-05,1793239751600059648
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745.071660255,714,682,658,632.071660255,880.928339745,786,805,652,631,653,0.448728247752,0.00476909669483,0.0696581410185,0.999999807146,0.000317491347831,-0.000529048647504,-7.08164808597e-05,1793239751616726272
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,682,658,632,881,786,805,652,631,653,0.448827635718,0.00477010133303,0.0696546839857,0.999999802668,0.000320326830237,-0.000535796805542,-7.05395476013e-05,1793239751633392896
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,681.920258631,657.920258631,632,881,786.079741369,804.920258631,652,631,653,0.448921986369,0.0047711104176,0.0696522568689,0.999999799217,0.000322682557823,-0.000540821949371,-7.03814325329e-05,1793239751650059520
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,681.348492288,657.348492288,632,881,786.651507712,804.348492288,652,631,653,0.449004079566,0.00477337950005,0.0696538000465,0.999999800025,0.000324059781329,-0.000538461214044,-7.06753159714e-05,1793239751666726144
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.232143874,714,681.232143874,657,632,881,787,804.232143874,652,631.232143874,653,0.449079083224,0.00477475160592,0.0696547948374,0.999999800665,0.000324962635053,-0.000536711528989,-7.07826719117e-05,1793239751683393024
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.826624259,714,681.826624259,657,632,881,787,804.826624259,652,631.826624259,653,0.449143021334,0.00477472368606,0.0696549336912,0.999999801052,0.000325125079364,-0.00053591558806,-7.05988906122e-05,1793239751700059648
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,881,786.590386242,805,652,631.590386242,653,0.449190229126,0.00477492238565,0.0696534481848,0.999999799355,0.000325897898544,-0.000538662760275,-7.0167215052e-05,1793239751716726016
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,881,786.012127746,805,652,631.012127746,653,0.449230548769,0.00477521438822,0.0696512939024,0.999999796783,0.000326922019113,-0.000542868690606,-6.96334773404e-05,1793239751733392640
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,746,714,682,657.563473324,632,880.436526676,786,805,652,631,653,0.449261872488,0.00477396783493,0.0696535252871,0.99999979888,0.00032524947235,-0.000540106036072,-6.88310147886e-05,1793239751750059520
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,746,714,682,658,632,880.141624438,786,805,652,631,653,0.449289585005,0.00477290069388,0.0696545864482,0.999999799935,0.000323956547366,-0.000539006092749,-6.82178714424e-05,1793239751766726144
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,746,714,682,658,632,880.72796155,786,805,652,631,653,0.449306563167,0.00477250041727,0.0696516779956,0.999999797425,0.000324037064912,-0.000543595961959,-6.8217282941e-05,1793239751783392768
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.689948379,714,682,657.689948379,632,880.689948379,786,805,652,631,653,0.449320444819,0.00477236727141,0.069649451831,0.999999795508,0.000324156563485,-0.000547017305179,-6.83975944664e-05,1793239751800059392
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.111534233,714,682,657.111534233,632,880.111534233,786,805,652,631,653,0.449331646314,0.00477246533824,0.0696478162145,0.999999794114,0.000324309801766,-0.00054942724125,-6.87344824616e-05,1793239751816726272
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.467077869,714,682.467077869,657.467077869,632,880.467077869,786,805,652,631,653,0.449337632451,0.00477337526454,0.0696467931469,0.999999792858,0.000325630077085,-0.000550964142268,-6.84633578399e-05,1793239751833392640
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,682.909177318,657.954588659,632,881,786,805,652,631,653,0.449342357763,0.00477421386814,0.069646042306,0.999999791825,0.000327051485046,-0.000552047511895,-6.80556515753e-05,1793239751850059520
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,681.760104615,657.380052307,632,881,786,805,652,631,653,0.449346909298,0.00477196159218,0.0696467583509,0.999999793033,0.000326402783643,-0.000550276539152,-6.77489450124e-05,1793239751866725888
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,681.399789751,657,632,881,786,805,652,631,653,0.449349940016,0.00477102594835,0.069646772855,0.999999793341,0.00032640218241,-0.000549736799657,-6.76014192339e-05,1793239751883392512
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714,682.58083127,657,632,881,786,805,652,631,653,0.449349998818,0.00477266320997,0.0696454164383,0.999999791888,0.000327668070422,-0.000551603082811,-6.77649576488e-05,1793239751900059392
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,682.626082786,657,632,880.626082786,786,804.626082786,652,631,653,0.449351223824,0.00477266325786,0.0696448811747,0.999999791719,0.000326759122468,-0.000552462440359,-6.76422159455e-05,1793239751916726272
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,682.046443053,657,632,880.046443053,786,804.046443053,652,631,653,0.449353090454,0.00477176254019,0.0696447976948,0.999999792255,0.00032465361888,-0.000552767805506,-6.73619680701e-05,1793239751933392896
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.472226955,714,682,657,632,880,786,804.527773045,652,631.527773045,653,0.449352695472,0.00477178866453,0.0696441437516,0.999999791923,0.000324072398111,-0.000553709807285,-6.73535289803e-05,1793239751950059520
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.104281062,745,714,682.104281062,657,632,880.104281062,786,805,652,631.895718938,653,0.44935231587,0.00477204033734,0.0696434907796,0.999999791498,0.000323980531193,-0.000554528378201,-6.73673021186e-05,1793239751966726144
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.693647793,745,714,682.693647793,657,632,880.693647793,786,805,652,631.306352207,653,0.449352924172,0.00477296566076,0.069643073465,0.999999790996,0.000325547392012,-0.000554514832315,-6.73742691248e-05,1793239751983393024
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.721563764,745,714,682.443127528,657.278436236,632,881,786,805,652,631,653,0.449353014074,0.00477196556777,0.0696425712459,0.999999790946,0.000324541474512,-0.000555213412341,-6.72170535668e-05,1793239752000059648
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.141731066,745,714,681.283462133,657.858268934,632,881,786,805,652,631,653,0.449352542826,0.00476888128607,0.0696419771209,0.999999791375,0.000320750624129,-0.000556682841135,-6.688211673e-05,1793239752016726272
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,714,681.434547611,657.565452389,632,881,786,805,652,631,653,0.449352260453,0.00476859161228,0.0696421348628,0.999999791408,0.00032012260156,-0.000556990655534,-6.68324940972e-05,1793239752033392896
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745.009671116,714,682,657.009671116,632,881,786,805,652,631,653,0.449352052586,0.0047692032795,0.0696425274223,0.999999791309,0.0003205423814,-0.000556922849973,-6.68717443392e-05,1793239752050059520
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.584480855,714,682,657.584480855,632,881,786,805,652,631,653,0.449352627867,0.00476965438242,0.069642427949,0.999999790755,0.000322399105925,-0.000556865331844,-6.67105806847e-05,1793239752066726144
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714,682.163316576,657.836683424,632,881,786.163316576,805,652,631,653,0.449353551134,0.00476970919566,0.0696427350794,0.999999790808,0.000322984954713,-0.000556451922269,-6.65251652682e-05,1793239752083393024
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,682.752654283,657.247345717,632,881,786.752654283,805,652,631,653,0.449355382141,0.00476873026337,0.0696441028599,0.999999792448,0.000320255647454,-0.000555110148415,-6.62764876789e-05,1793239752100059648
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,746,714,682.662780881,657,632,881,786.662780881,805,652,631,653,0.449355855333,0.00476801962469,0.0696440995852,0.999999792816,0.000319722171542,-0.000554786564707,-6.60128150883e-05,1793239752116726016
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,746,714,682.08166805,657,632,881,786.08166805,805,652,631,653,0.449355346483,0.00476750302939,0.0696431046949,0.999999792267,0.000320776830679,-0.00055519938704,-6.57382973744e-05,1793239752133392640
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.506850277,714,682,657,632,880.506850277,786.493149723,804.506850277,652,631,653,0.449354271468,0.00476741566063,0.0696421032166,0.999999791038,0.000321923486638,-0.000556774350046,-6.55093417519e-05,1793239752150059264
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.068562336,714,682,657,632,880.068562336,786.931437664,804.068562336,652,631,653,0.449353370017,0.00476764045589,0.0696412641524,0.999999789915,0.000322916562535,-0.000558225374635,-6.54114076924e-05,1793239752166726144
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.6562729,714,682,657,632,880.6562729,786.3437271,804.6562729,652,631,653,0.44935448377,0.00476969748738,0.0696416630318,0.999999790468,0.000322632837422,-0.000557299051832,-6.62491456296e-05,1793239752183392768
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.759766397,714,682,657,631.759766397,880.759766397,786,805,652,631,653,0.449355520353,0.00477045514467,0.06964226438,0.999999790964,0.000322387434398,-0.000556523973483,-6.64715844136e-05,1793239752200059648
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.181088461,714,682,657,631.181088461,880.181088461,786,805,652,631,653,0.449356448216,0.00476938222638,0.0696431509693,0.999999791381,0.000322196020011,-0.000555961970223,-6.5827181594e-05,1793239752216726272
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.39851873,714,682,657.39851873,631.39851873,880,786,805,652,631,653,0.449355586794,0.0047691096105,0.0696418637846,0.999999790909,0.000321846685593,-0.000556973465147,-6.61579614809e-05,1793239752233392896
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.978549129,714,682,657.978549129,631.978549129,880,786,805,652,631,653,0.449353910414,0.0047692015051,0.0696395865201,0.999999790029,0.000321425424002,-0.000558701634783,-6.693290382e-05,1793239752250059520
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714,681.447864468,657.447864468,632,880.552135532,786,805,652,631,653,0.449354063916,0.00476818975225,0.0696399957316,0.999999790037,0.000320650887797,-0.00055918529493,-6.64956649149e-05,1793239752266726144
+252,4.200000000,HOLD_POSE2,765,745,714,682,658,632,881,785,804,652,631,653,0.449356259256,0.00476415482586,0.0696414111873,0.999999792198,0.000316248226751,-0.000557900589964,-6.58627425428e-05,1793239752308070144
+253,4.216666667,HOLD_POSE2,765,745.580863054,714,682,657.419136946,632,880.419136946,785.580863054,804.580863054,652,631.580863054,653,0.449356581029,0.00476536587823,0.0696420809176,0.999999792183,0.000318109686815,-0.000556929730218,-6.53430150999e-05,1793239752324736768
+254,4.233333333,HOLD_POSE2,765,745.840113339,714,682,657,632,880.159886661,786,805,652,631.840113339,653,0.449356782506,0.00476595213945,0.0696425395089,0.999999792311,0.000318881718962,-0.000556305206697,-6.49448379483e-05,1793239752341403648
+255,4.250000000,HOLD_POSE2,765,745.265856802,714,682,657,632,880.734143198,786,805,652,631.265856802,653,0.449356672219,0.00476491916247,0.0696424509024,0.999999792816,0.000316830338297,-0.000556578264407,-6.48616762019e-05,1793239752358070272
+256,4.266666667,HOLD_POSE2,765,745,714,682.308603198,657,631.691396802,881,786,804.691396802,652,631,653,0.449356728785,0.00476537967157,0.0696422977824,0.999999792457,0.000317422653592,-0.000556868036086,-6.50064842226e-05,1793239752374736896
+257,4.283333333,HOLD_POSE2,765,745,714,682.88323856,657,631.11676144,881,786,804.11676144,652,631,653,0.449356929186,0.00476712764418,0.0696420890484,0.99999979135,0.000320293973762,-0.000557172216065,-6.53478141592e-05,1793239752391403520
+258,4.300000000,HOLD_POSE2,765,745.469581744,714,682.530418256,657,631.469581744,880.530418256,786,804.469581744,652,631,653,0.449358862091,0.0047678164706,0.069643288936,0.99999979218,0.000321118184662,-0.000555236305069,-6.50876012136e-05,1793239752408070144
+259,4.316666667,HOLD_POSE2,765,745.941937042,714,682,657,632,880.058062958,786,805,652.058062958,631,653,0.449360780764,0.004768048627,0.069644548945,0.999999793269,0.000321218839907,-0.000553251368507,-6.47497068739e-05,1793239752424737024
+260,4.333333333,HOLD_POSE2,765,745.361087,714,682,657,632,880.638913,786,805,652.638913,631,653,0.449358593405,0.00476660086006,0.0696431160249,0.999999792289,0.000319504989295,-0.00055596835137,-6.50935508115e-05,1793239752441403648
+261,4.350000000,HOLD_POSE2,765,745,714,681.782534066,656.782534066,632,881,786,805,652.782534066,631,653,0.449357039924,0.00476615738552,0.0696420149243,0.999999791471,0.000318427386778,-0.000558000465115,-6.55478226472e-05,1793239752458070272
+262,4.366666667,HOLD_POSE2,765,745,714,681.20775551,656.20775551,632,881,786,805,652.20775551,631,653,0.44935652795,0.00476736403785,0.069641459028,0.999999790933,0.000318395187143,-0.000558907287957,-6.6183535659e-05,1793239752474736896
+263,4.383333333,HOLD_POSE2,765,745,714,681.367046354,656.367046354,632,880.632953646,786,805,652,631,653,0.449356961372,0.00476735293856,0.0696419139292,0.999999791045,0.000319736614974,-0.000557967826167,-6.59556797377e-05,1793239752491403520
+264,4.400000000,HOLD_POSE2,765,745,714,681.941861465,656.941861465,632,880.058138535,786,805,652,631,653,0.449357929939,0.00476665252387,0.0696429409983,0.999999791518,0.00032185559274,-0.000555983264136,-6.52389955793e-05,1793239752508069888
+265,4.416666667,HOLD_POSE2,765,745,714,682,657,632,880,786,805,652,631,653,0.449359562297,0.00476619898013,0.0696432942497,0.999999792387,0.00032013167776,-0.000555412434114,-6.5257208778e-05,1793239752524737024
+266,4.433333333,HOLD_POSE2,765,745,714,682,656.876763078,632,880.123236922,786,804.876763078,652,631,653,0.449360569459,0.00476588787463,0.0696434151812,0.999999792895,0.000318704987575,-0.000555325447237,-6.51951686061e-05,1793239752541403392
+267,4.450000000,HOLD_POSE2,765,745,714,682,656.300103401,632,880.699896599,786,804.300103401,652,631,653,0.449359001539,0.00476599863247,0.0696429603089,0.999999791921,0.000319962853945,-0.00055643335805,-6.45336013769e-05,1793239752558070016
+268,4.466666667,HOLD_POSE2,765,745.275488212,714,682,656.275488212,632,881,786,804,652,631.275488212,653,0.449357814263,0.00476539402087,0.0696425350228,0.999999791641,0.00031904397922,-0.000557477161629,-6.44106143697e-05,1793239752574736896
+269,4.483333333,HOLD_POSE2,765,745.849920787,714,682,656.849920787,632,881,786,804,652,631.849920787,653,0.449357040041,0.00476401313047,0.0696421418419,0.999999792109,0.000315763027015,-0.000558451399562,-6.48720644643e-05,1793239752591403520
+270,4.500000000,POSE2_TO_POSE3_RETREAT,765,746,714,681,657,632,881,786,804,652,631,653,0.449356454609,0.00476616441135,0.0696409184823,0.999999790997,0.000318536612679,-0.000558909679765,-6.45004549272e-05,1793239752624091904
+271,4.516666667,POSE2_TO_POSE3_RETREAT,765,746,714,681.579639551,656.420360449,632,881,786,804.579639551,652,631.579639551,653,0.449358418132,0.00476487400508,0.0696421677142,0.999999792466,0.000316782177919,-0.000557241480071,-6.48005017963e-05,1793239752640758528
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765,745.841388789,714,682,656.158611211,632,881,786,805,652,631.841388789,653,0.449359575638,0.0047636434045,0.0696429342117,0.999999793492,0.000315355984981,-0.000556187312279,-6.497420813e-05,1793239752657425152
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.264179664,714,682,656.735820336,632,881,786,805,652,631.264179664,653,0.449358605954,0.00476257063955,0.0696424267035,0.999999793364,0.000314796069283,-0.000556753663078,-6.48144835957e-05,1793239752674091776
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,632,881,786,804.688838174,652,631,652.688838174,0.449358974757,0.00476286125071,0.0696426042485,0.999999793523,0.000315355471739,-0.000556155088617,-6.47849092273e-05,1793239752690758400
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,657,632,881,786,804.115072899,652,631,652.115072899,0.449360473169,0.00476430247632,0.0696433599405,0.99999979392,0.000316859517121,-0.000554573381338,-6.48651744425e-05,1793239752707425280
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.472688861,714,682,657,632,881,786,804.472688861,652,631,652.472688861,0.449360011675,0.0047636785788,0.069643285091,0.99999979357,0.000317248611824,-0.000555010660614,-6.46201983935e-05,1793239752724091904
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,746,713.937267034,682,657,632,880.937267034,786,805,652,631,653,0.449358734504,0.00476285736944,0.0696428099666,0.999999792956,0.000317277680747,-0.000556126047181,-6.43953870312e-05,1793239752740758272
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,713.35735474,682,657,632,880.35735474,786,805,652,631,653,0.449354786292,0.00476468062399,0.0696407526644,0.999999791707,0.000316644610919,-0.000558656135272,-6.500948684e-05,1793239752757424896
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.220829547,746,713.220829547,682,657,632,880.220829547,786,805,652,631,653,0.449345327477,0.00476537283296,0.0696360794733,0.999999787856,0.000316543638231,-0.000565539757146,-6.52178138995e-05,1793239752774091776
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.796239162,746,713.796239162,682,657,632,880.796239162,786,805,652,631,653,0.449327020436,0.00476424895226,0.0696272060202,0.999999779703,0.000317297039641,-0.000579413730895,-6.47746024941e-05,1793239752790758400
+281,4.683333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,657,632,881,786,805,652,631,653,0.449286260447,0.00476517643078,0.069609179635,0.999999760505,0.000319524274307,-0.000610493165483,-6.47507075315e-05,1793239752807425280
+282,4.700000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,657,632,881,786,805,652,631,653,0.449233190358,0.00476722859145,0.0695861350443,0.999999733964,0.000322559555362,-0.00065100570047,-6.49567077043e-05,1793239752824091904
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.454546371,745.454546371,714,682,657,632,881,786,805,652,631,653,0.449164140848,0.00476715853473,0.0695678435826,0.999999714654,0.00032267176187,-0.000680014679085,-6.44631682955e-05,1793239752840758528
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.124408898,714,682,657,631.875591102,880.875591102,786,805,652,631,653,0.449092137075,0.00476666975919,0.0695524597841,0.999999698192,0.00032257595198,-0.000703917020104,-6.3729044241e-05,1793239752857425152
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.700755296,714,682,657,631.299244704,880.299244704,786,805,652,631,653,0.44901304313,0.00476514356939,0.0695465553405,0.999999692699,0.000322390659293,-0.00071189027709,-6.22803797035e-05,1793239752874092032
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.275665342,745.724334658,714,682,657,631.275665342,880,786,804.724334658,652,631,653,0.448923797401,0.00476385443132,0.0695422890217,0.999999688131,0.000323058051855,-0.000718107730325,-6.07708408426e-05,1793239752890758400
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.849024223,745.150975777,714,682,657,631.849024223,880,786,804.150975777,652,631,653,0.448823588671,0.00476282128769,0.0695397917293,0.999999684598,0.000324646267082,-0.000722429074486,-5.9195563329e-05,1793239752907425024
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765.563818904,745,714,682,657,632,880.436181096,786,804,651.563818904,631,653,0.448708950266,0.00476090709423,0.0695419978696,0.999999686327,0.000324936017841,-0.000720096149182,-5.67716826673e-05,1793239752924091648
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.027702006,714,682,657,632,880.972297994,786.027702006,804.027702006,651.027702006,631,653,0.448587768003,0.00475886854514,0.0695455529027,0.999999689462,0.000325001493088,-0.000715908343181,-5.40839042536e-05,1793239752940758528
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.60789707,714,682,657,632,880.39210293,786.60789707,804.60789707,651.60789707,631,653,0.448438940236,0.00476063065399,0.0695424806415,0.999999683478,0.000329850474736,-0.00072216345698,-5.21824285022e-05,1793239752957425152
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.186134758,746,714,682,657,632,880,786.813865242,805,652,631,653,0.448275059707,0.00476066228778,0.0695392795511,0.999999677337,0.000333870367155,-0.000728971581511,-4.95736014986e-05,1793239752974091776
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.760291966,746,714,682,657,632,880,786.239708034,805,652,631,653,0.448079799727,0.00475708651785,0.0695358098995,0.999999670928,0.000336161913154,-0.000736932529104,-4.54902077719e-05,1793239752990758400
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.665786622,746,714,682,657.334213378,632,880.334213378,786,805,652,631,653,0.447870731965,0.00475520825906,0.0695344915803,0.999999665843,0.000339267845999,-0.000742623859504,-4.14822885267e-05,1793239753007425280
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.092034152,746,714,682,657.907965848,632,880.907965848,786,805,652,631,653,0.447651767799,0.00475454664863,0.0695347151745,0.999999661714,0.000342957470516,-0.000746688499282,-3.75284633112e-05,1793239753024091904
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632,881,786.499465313,805,652,631.499465313,653,0.447400468165,0.00475076859168,0.0695400409687,0.999999664589,0.000343927047889,-0.000742601178237,-3.28429207458e-05,1793239753040758528
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.908692097,714,682,658,632,881,786.908692097,805,652,631.908692097,653,0.447136520037,0.00474649152279,0.0695447382964,0.999999667422,0.00034500852754,-0.000738473471839,-2.79707637185e-05,1793239753057425152
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.333015641,714,682,658,632,881,786.333015641,805,652,631.333015641,653,0.446838246269,0.0047427258187,0.0695409306721,0.999999663111,0.000349440390345,-0.000742393533981,-2.28502507354e-05,1793239753074091776
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,632.242186781,881,786,805,652,631,653,0.446531345576,0.0047383342544,0.0695431803728,0.999999666849,0.000352376623396,-0.000736089601977,-1.74309125023e-05,1793239753090758400
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,658,632.816738626,881,786,805,652,631,653,0.446212605737,0.00473308379098,0.0695537428446,0.999999681384,0.000353260328384,-0.000715754769712,-1.16014816964e-05,1793239753107425024
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.400412046,745.400412046,714,682,658,633,881,786,805,652,631,653,0.445877633583,0.00472877237691,0.0695687227752,0.99999970195,0.000352609292243,-0.000686821717469,-6.56098670861e-06,1793239753124091648
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.98835755,745.98835755,714,682,658,633,881,786,805,652,631,653,0.445535059013,0.00472490076787,0.0695857716276,0.999999724546,0.000351239457965,-0.00065386167871,-1.88999090774e-06,1793239753140758272
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.43145035,746,714,682,659.1370993,633,881,786.56854965,804.43145035,652,631,653,0.445115698019,0.00471608117876,0.0695972920874,0.999999735527,0.000345772556183,-0.000639822035567,3.89624127654e-06,1793239753157425152
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,659.852480639,633,881,786.852480639,804.147519361,652,631.147519361,653,0.444682658071,0.00470776181339,0.069606278845,0.999999746864,0.000331752374663,-0.000629418857793,6.59023760947e-06,1793239753174091776
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,659.27660569,633,881,786.27660569,804.72339431,652,631.72339431,653,0.44421440265,0.00470118521465,0.0696082327278,0.999999759551,0.000293136163369,-0.0006284650882,2.39810951959e-07,1793239753190758400
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,659.298884114,633,881,786.298884114,805,652,632,653,0.443727163573,0.00469302995963,0.0696141560403,0.999999771218,0.000269634392742,-0.000620371937696,-3.68635091929e-07,1793239753207425280
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,659.874018005,633,881,786.874018005,805,652,632,653,0.443222378409,0.00468341559839,0.0696237481799,0.99999978274,0.000260102449928,-0.000605680068228,4.33006157962e-06,1793239753224091904
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765.461087166,745.538912834,714,682,660.461087166,633.461087166,881,787,804.538912834,652,632,653,0.442711857616,0.00467457567649,0.0696474197338,0.999999805752,0.00025004463811,-0.000570866032179,9.25752609683e-06,1793239753240758528
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.949515899,745.050484101,714,682,661.050484101,634,880.949515899,787,804,652,631.949515899,653,0.442194729026,0.00466600873845,0.0696748444549,0.999999831188,0.000238384690493,-0.000529725296113,1.3719880111e-05,1793239753257424896
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.370790642,745.629209358,714,682,661.629209358,634,880.370790642,787,804,652,631.370790642,653,0.441625292785,0.00465802526558,0.0697002188875,0.99999986166,0.00021150413844,-0.000481441503062,1.26441368776e-05,1793239753274091776
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,662,634,880,787,804.207283289,652,631,653,0.441050097236,0.00464891633698,0.0697282401768,0.999999890793,0.00018616735211,-0.000428481850818,1.26072779516e-05,1793239753290758656
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,662,634,880,787,804.784195737,652,631,653,0.440464631677,0.0046378004875,0.0697609813596,0.999999919104,0.000163583422693,-0.000367184174154,1.44229656135e-05,1793239753307425280
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.366858218,746,714,682,662.366858218,634,880,787,804.633141782,652,631,653,0.439832353057,0.00463047123995,0.0697726684205,0.999999927428,0.000147868548374,-0.000350733717366,1.62691953272e-05,1793239753324091904
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.952956994,746,714,682,662.952956994,634,880,787,804.047043006,652,631,653,0.439172098195,0.00462540492895,0.0697717731875,0.999999925361,0.000136258736409,-0.00036108470604,1.81336774361e-05,1793239753340758528
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,746,714.533914934,681.466085066,663,634.533914934,880,787,804.533914934,652,631,653,0.438440569442,0.00461793148089,0.069742799001,0.999999901823,0.00019277730481,-0.000398669074427,1.59309316505e-05,1793239753357425152
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,746,714.886501901,681,663,635,880,787,805,652,631,653,0.437707063068,0.00461039315435,0.0697228813581,0.999999882816,0.000237136975014,-0.000421822286238,1.41068354732e-05,1793239753374091776
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,746,714.310691334,681,663,635,880,787,805,652,631,653,0.436990837479,0.00460344623567,0.0697498351463,0.999999907422,0.000207751822834,-0.00037651220971,1.52708914948e-05,1793239753390758400
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,663.265207874,635,880.265207874,787,804.734792126,652,631.265207874,653,0.436266532743,0.00459858902732,0.0697834125767,0.999999930289,0.000184881378737,-0.000323938069783,1.74577428596e-05,1793239753407425280
+318,5.300000000,POSE2_TO_POSE3_RETREAT,766,746,714,681,663.841211035,635,880.841211035,787,804.158788965,652,631.841211035,653,0.435532760016,0.00459618073524,0.0698247522115,0.999999950848,0.000169645472454,-0.000262851217923,2.08432012069e-05,1793239753424091904
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.572246431,746,714.427753569,681,663.572246431,635,880.572246431,787,804,652,632,653,0.434761919712,0.00459093632114,0.069840723127,0.999999957699,0.000151067719113,-0.00024750401087,2.28533650937e-05,1793239753440758528
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.0179445,746,714.9820555,681,663.0179445,635,880,787,804,652,632,653,0.433975491843,0.00458462844705,0.0698465406667,0.999999959803,0.000131821079465,-0.000249852885946,2.42864860169e-05,1793239753457425152
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.596795621,746,714.403204379,681,663.596795621,635,880,787,804,652,632,653,0.433142804324,0.00457881910145,0.0698367852723,0.999999956962,0.000131422842009,-0.00026120013487,2.40437199654e-05,1793239753474091776
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,746,714,681,664,635,880,787,804.348444733,652,632,652.825777634,0.432295472737,0.00457387666791,0.0698269507513,0.999999953366,0.00013217356896,-0.000274234377585,2.43672876348e-05,1793239753490758400
+323,5.383333333,POSE2_TO_POSE3_RETREAT,766,746,714,681,664,635,880,787,805.496758723,652,632,652.251620639,0.431414525135,0.0045709242671,0.0698169345924,0.999999948092,0.000135561791132,-0.000291141183473,2.59908977384e-05,1793239753507425024
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.676467189,746,714.323532811,681,664,635,880,787,805.352934377,652.323532811,631.676467189,652.323532811,0.430514819551,0.00456569102171,0.0697817505335,0.999999930608,0.00013244621333,-0.000347146689738,2.70569730112e-05,1793239753524091904
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.1005364,746,714.8994636,681,664,635,880,787,804.2010728,652.8994636,631.1005364,652.8994636,0.429600480324,0.0045586784189,0.069726932216,0.999999897869,0.000124256818601,-0.000433654301688,2.76880978461e-05,1793239753540758528
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.489636776,745.510363224,714.510363224,681,663.510363224,635,880,787,804,652.510363224,631.489636776,653,0.428769844379,0.00455127819196,0.0697438667108,0.999999911239,0.000113551563297,-0.000404816228005,2.7428813567e-05,1793239753557425152
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.91963621,745.08036379,714,680.91963621,663.08036379,635,880,787,804,652,631.91963621,653,0.427955271962,0.00454458885542,0.0697801037497,0.999999934368,0.000103516658415,-0.000346122191882,2.73554026329e-05,1793239753574091520
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.34405695,745.65594305,714,680.34405695,663.65594305,635,880,787,804,652,631.34405695,653,0.427130606023,0.00454278529339,0.0698417798216,0.999999962274,0.00010089118252,-0.000253766344326,2.95877352573e-05,1793239753590758144
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.76925297,714,680,663.76925297,635,880,787,804,652.23074703,631.23074703,653,0.426273525596,0.00453724196573,0.0698745156646,0.999999973433,9.56515594572e-05,-0.000207339166338,3.15474519001e-05,1793239753607425024
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.195601017,714,680,663.195601017,635,880,787,804,652.804398983,631.804398983,653,0.425368275032,0.00452614110565,0.0698642444759,0.99999996945,8.65271462216e-05,-0.000229164932772,3.3102044291e-05,1793239753624091648
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.388887278,745.388887278,714.388887278,680,663,635,880,787.388887278,804,653,632,653,0.424477098316,0.00451778704564,0.0698436149848,0.999999961893,8.04719930532e-05,-0.000262037389117,3.2768550313e-05,1793239753640758272
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.978982188,745.978982188,714.978982188,680,663,635,880,787.978982188,804,653,632,653,0.423593203368,0.00451085416196,0.0698176261791,0.999999951429,7.60048546233e-05,-0.000300625326072,3.14581731661e-05,1793239753657425152
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,746,715,680.558931057,663.558931057,635,880,788,804,652.441068943,632,653,0.422627611897,0.00450702447923,0.0697563963469,0.999999911703,7.0597859999e-05,-0.000412968086802,3.26604262772e-05,1793239753674091520
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.86223198,745.86223198,715,680.86223198,663.724463961,635,880,787.86223198,804,652,631.86223198,652.86223198,0.421688300453,0.00450181303652,0.069710059628,0.999999875184,6.17521870413e-05,-0.000494690999652,3.31569910762e-05,1793239753690758144
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.2857426,745.2857426,715,680.2857426,662.571485199,635,880,787.2857426,804,652,631.2857426,652.2857426,0.420842286233,0.00449183641031,0.0697152947513,0.999999888073,4.20666078081e-05,-0.000470230660015,3.11107781751e-05,1793239753707425024
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.295458392,714.704541608,680,662.590916784,635,879.704541608,787.295458392,804,652,631.295458392,652.295458392,0.420043126179,0.0044831714582,0.0697599789305,0.999999922743,2.65326560661e-05,-0.000390966761177,3.08913029369e-05,1793239753724091648
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.881289866,714.118710134,680,663.762579732,635,879.118710134,787.881289866,804,652,631.881289866,652.881289866,0.419290013906,0.00447579560477,0.0698434331844,0.999999966118,1.50788764875e-05,-0.000257842555936,3.24671240266e-05,1793239753740758272
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.537932631,714.462067369,680,664,635,879.462067369,787.537932631,804,652.462067369,631.537932631,652.537932631,0.418484993459,0.00446850136369,0.0698780700649,0.999999977847,1.60188307844e-05,-0.000207010087275,3.45880166455e-05,1793239753757425152
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.958613906,635,879.958613906,787,804,653,631.041386094,652.041386094,0.417664963996,0.00446124505359,0.0698957658577,0.999999982353,1.89140494237e-05,-0.00018329118189,3.66029119488e-05,1793239753774091776
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.381553131,635,879.381553131,787,804,653,631.618446869,652.618446869,0.416821410456,0.0044542112562,0.0698547626684,0.999999970592,6.35010446522e-06,-0.000239829619375,3.54529347768e-05,1793239753790758400
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.194907144,635,879,787,804,652.805092856,631.805092856,653,0.415985545617,0.00444836486,0.0698199991728,0.999999957919,-3.97417264479e-06,-0.000288027205068,3.44499140037e-05,1793239753807425024
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,663.770195584,635,879,787,804,652.229804416,631.229804416,653,0.415164685918,0.00444483579783,0.0697974130726,0.999999948199,-9.92751028189e-06,-0.000319946773598,3.37336936898e-05,1793239753824091904
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.345906655,745,715,680,663.654093345,635,879.345906655,787,804,652,631,652.654093345,0.414340096944,0.00444625929218,0.0697730309463,0.999999932956,-8.1449634144e-06,-0.000364459214699,3.45259621359e-05,1793239753840758272
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.921898813,745,715,680,663.078101187,635,879.921898813,787,804,652,631,652.078101187,0.413513027431,0.00445097706118,0.069747454165,0.99999991225,-1.21676532942e-06,-0.000417348009597,3.63216266794e-05,1793239753857424896
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.486900524,745,715,680,663,635,880,787,804.513099476,652,631,652.513099476,0.412842945172,0.00447007005292,0.0697851713324,0.999999939539,2.00502233024e-05,-0.000345435104211,3.45763097821e-05,1793239753874091520
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.206777691,745.103388845,715,680.103388845,663.206777691,635,879.896611155,787.103388845,804.896611155,652,631.103388845,653,0.412198815375,0.0044871637111,0.069831557517,0.999999965134,3.95057383555e-05,-0.000259024158193,3.28147695736e-05,1793239753890758144
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766.357262568,745.678631284,715,680.678631284,664.357262568,635,879.321368716,787.678631284,804.321368716,652,631.678631284,653,0.411560740973,0.00448484133272,0.0698721953788,0.999999979454,4.04286686364e-05,-0.000195792488281,3.35142048326e-05,1793239753907424768
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766.746939804,746,715,680.746939804,664.746939804,635,879,788,804,652,631.746939804,652.746939804,0.410899321295,0.0044783772467,0.0698855756043,0.999999982788,3.46389853795e-05,-0.000179048338175,3.41524610073e-05,1793239753924091648
+349,5.816666667,POSE2_TO_POSE3_RETREAT,766.173540746,746,715,680.173540746,664.173540746,635,879,788,804,652,631.173540746,652.173540746,0.410208349809,0.00446667033751,0.0698644514668,0.999999974737,2.03520710397e-05,-0.00022115090004,3.47132730382e-05,1793239753940758528
+350,5.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.587841546,635,879.412158454,787.587841546,804,652,631.412158454,652,0.409533901025,0.00446513023136,0.0698284680639,0.999999959464,1.6376441158e-05,-0.000282247833489,3.37574587551e-05,1793239753957425152
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.996866428,745.996866428,714.996866428,680,663.003133572,635,879.996866428,787,804,652.003133572,631.996866428,652.003133572,0.408867097068,0.00446799149704,0.0697862424575,0.999999937669,1.68766173422e-05,-0.000351204401386,3.21458545297e-05,1793239753974091776
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.417380124,745.417380124,714.417380124,680,663.582619876,635,879.417380124,787,804,652.582619876,631.417380124,652.582619876,0.40828746395,0.00446881522813,0.069782054055,0.999999938283,1.74965078603e-05,-0.000349526202798,3.09820476197e-05,1793239753990758400
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.16078793,745.16078793,714.16078793,680,664,635,879,787,803.83921207,652.83921207,631.16078793,653,0.407726643951,0.00447045580561,0.0697852227239,0.999999941888,1.81910339269e-05,-0.000339089928896,3.01932664605e-05,1793239754007425024
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.735561967,745.735561967,714.735561967,680,664,635,879,787,803.264438033,652.264438033,631.735561967,653,0.407214262598,0.00447419954522,0.069807333892,0.999999952507,1.90777267792e-05,-0.000306103942386,3.03700764849e-05,1793239754024091904
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.682641526,746,715,680,664,635,879,787,803,652,632,653,0.406703133273,0.0044803318824,0.0698164971154,0.9999999553,2.36218368305e-05,-0.000296510994306,3.03811568055e-05,1793239754040758272
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.09486119,746,715,680,664,635,879,787,803,652,632,653,0.406193070834,0.00448849954868,0.069814627365,0.999999951974,3.1282440165e-05,-0.000306851308423,3.0251018483e-05,1793239754057424896
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,746,715,680,663.51374241,635,879,787,803.48625759,652,632,653,0.405726895281,0.00448681894933,0.0698100486175,0.999999948901,2.96043040698e-05,-0.000316890114063,3.00383914291e-05,1793239754074091776
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.06581764,746,715,680,663.06581764,635,879,787,803.93418236,652,632,653,0.405277781118,0.00448327320469,0.0698072641591,0.999999947242,2.61519524632e-05,-0.000322409812109,2.97425531412e-05,1793239754090758400
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.643226721,746,715,680,663.643226721,635,879,787,803.356773279,652,632,653,0.404895633692,0.00447996166761,0.0698224787691,0.999999956321,2.28784081993e-05,-0.000293254127525,2.89233178162e-05,1793239754107425024
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.780386778,715,680,664,635,879,787,803.219613222,652,631.780386778,653,0.404529415535,0.00447770989488,0.0698372080782,0.999999964109,2.09824168578e-05,-0.00026559591544,2.83035736217e-05,1793239754124091648
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.205653868,715,680,664,635,879,787,803.794346132,652,631.205653868,653,0.404188955411,0.00447717178607,0.0698511526432,0.999999970494,2.13139609601e-05,-0.000240359154245,2.80064113238e-05,1793239754140758528
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.378516754,715,680,664,635,879,787,804,652.378516754,631.378516754,653,0.403850591699,0.0044745934758,0.0698526589254,0.999999971509,1.73354541101e-05,-0.000236487044395,2.74767716823e-05,1793239754157425152
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.967946202,715,680,664,635,879,787,804,652.967946202,631.967946202,653,0.403513396094,0.00447087834821,0.0698472344938,0.999999969686,1.09553509356e-05,-0.000244519494246,2.68175937015e-05,1793239754174091776
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787,804,653,632,653,0.403212373411,0.00447071697635,0.0698368128037,0.999999965272,8.21041151696e-06,-0.000262091608328,2.63760733911e-05,1793239754190758400
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745.872319605,715,680,664,635.127680395,879,787.127680395,803.872319605,653,631.872319605,653,0.40292357208,0.0044712626818,0.0698272177125,0.999999960822,6.14019760194e-06,-0.000278651495849,2.59066558069e-05,1793239754207425024
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745.297453798,715,680,664,635.702546202,879,787.702546202,803.297453798,653,631.297453798,653,0.402670288675,0.00447356905668,0.0698215242131,0.999999957688,5.70094718323e-06,-0.000289744740083,2.5295691412e-05,1793239754224091648
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.276536719,715,680,663.723463281,635.723463281,879,787.723463281,803,653,631.276536719,653,0.402436326638,0.00447598337154,0.0698151803741,0.999999954177,6.86886090363e-06,-0.000301618914884,2.49861850208e-05,1793239754240758272
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.849588675,715,680,663.150411325,635.150411325,879,787.150411325,803,653,631.849588675,653,0.402223081865,0.0044785134244,0.0698081392118,0.999999950238,9.76004907249e-06,-0.000314330438251,2.49999156359e-05,1793239754257425152
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,746,714.561151445,680,663.438848555,635,879,787,803.438848555,652.561151445,631.561151445,653,0.402035208392,0.0044851112026,0.0698058534211,0.999999949164,1.93682428774e-05,-0.000317293059668,2.49354318295e-05,1793239754274091776
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,714.032788046,680,664,635.032788046,879,787.032788046,804,652.032788046,631,653,0.401858446662,0.00449304665546,0.069805342658,0.999999949045,3.12560085503e-05,-0.000316729770454,2.48134815055e-05,1793239754290758400
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,746,714.608696471,680,664,635.608696471,879,787.608696471,804,652.608696471,631,653,0.401716180405,0.00449916056149,0.0698062011854,0.999999949168,4.13066405616e-05,-0.000315231811786,2.4200702595e-05,1793239754307425024
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.815296845,715,679.815296845,664,635.815296845,879,787.815296845,804,653,631,653,0.401585132954,0.00450263378452,0.0698071872308,0.999999949743,4.63613200995e-05,-0.000312754814714,2.34515551289e-05,1793239754324091648
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.239081958,715,679.239081958,664,635.239081958,879,787.239081958,804,653,631,653,0.401477865811,0.00450050960166,0.0698084435739,0.999999951421,4.08261737709e-05,-0.000308202568956,2.24133499336e-05,1793239754340758272
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.342804655,664,635,879,787,804,653,631,653,0.401383350782,0.00449788962791,0.0698090242371,0.999999952335,3.57772384263e-05,-0.000305902381133,2.17498991027e-05,1793239754357424896
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.928713503,664,635,879,787,804,653,631,653,0.401297879061,0.00449491805766,0.0698091257336,0.999999952716,3.10731050923e-05,-0.000305199267794,2.13522098927e-05,1793239754374091520
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.4901643,745.5098357,715,680,664,635,879.5098357,787,804,653,631,653,0.401226299443,0.00449334640066,0.0698089071532,0.999999952798,3.00350148321e-05,-0.000305030338612,2.14210130115e-05,1793239754390758144
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.089284577,746,715,680,664,635.089284577,880,787.089284577,804,653,631.089284577,653,0.401160373044,0.0044921606946,0.0698087969088,0.999999952836,2.92198385521e-05,-0.000304972827354,2.1565338472e-05,1793239754407425024
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.663249475,746,715,680,664,635.663249475,880,787.663249475,804,653,631.663249475,653,0.401114688674,0.00449201743277,0.0698095154513,0.999999952854,2.68580123839e-05,-0.000305118459256,2.17688503076e-05,1793239754424092672
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,880,787.756607297,803.756607297,653,631.756607297,653,0.401077577917,0.00449204576972,0.0698113025819,0.99999995393,2.61484546671e-05,-0.000301619616847,2.1939367591e-05,1793239754440759808
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,880,787.16769332,803.16769332,653,631.16769332,653,0.401052638298,0.00449231770901,0.0698146066845,0.999999956462,2.77844641229e-05,-0.000292947063818,2.20630456603e-05,1793239754457425664
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.585772098,715,680,663.585772098,635.585772098,880,787,803.414227902,652.585772098,631,653,0.401032408053,0.0044914393626,0.0698180686126,0.999999958086,2.62543871962e-05,-0.000287489628921,2.21033546869e-05,1793239754474092032
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745.006634794,715,680,663.006634794,635.006634794,880,787,803.993365206,652.006634794,631,653,0.401014052672,0.00449010307281,0.069821593373,0.999999959347,2.34638509297e-05,-0.000283312173694,2.2110473433e-05,1793239754490758656
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.570835102,715,679.429164898,663.570835102,635,879.429164898,787,803.429164898,652.570835102,631,653,0.401002568985,0.00449129498317,0.0698225629963,0.999999959457,2.61755079067e-05,-0.000282684593109,2.2137818682e-05,1793239754507425280
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.147475579,664,635,879.147475579,787.147475579,803.147475579,652.852524421,631.147475579,652.852524421,0.400992910525,0.00449213993355,0.0698236125224,0.999999959717,2.83551483223e-05,-0.000281552614717,2.21290828764e-05,1793239754524092160
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.721771394,664,635,879.721771394,787.721771394,803.721771394,652.278228606,631.721771394,652.278228606,0.400988304112,0.00449189592238,0.0698249790028,0.999999960466,2.8810490244e-05,-0.000278841754505,2.20152437393e-05,1793239754540759040
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.697200559,714.697200559,680,664,635.302799441,879.697200559,787.697200559,803.697200559,652,632,652.302799441,0.400985802974,0.00449164837956,0.0698264370751,0.999999961298,2.90696715072e-05,-0.000275808788379,2.20813732844e-05,1793239754557425664
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.109845843,714.109845843,680,664,635.890154157,879.109845843,787.109845843,803.109845843,652,632,652.890154157,0.400985280263,0.00449139751785,0.0698279812208,0.999999962205,2.91445111677e-05,-0.000272473123437,2.23166280888e-05,1793239754574091776
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.529619782,745.470380218,714.470380218,680,664,635.529619782,879.470380218,787.470380218,803,652,631.529619782,652.529619782,0.40098444173,0.00449084059473,0.0698287680216,0.999999962458,2.8375620015e-05,-0.000271623323722,2.23307359082e-05,1793239754590758656
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.048984023,746,715,680,664,635,879.951015977,787.951015977,803.048984023,652,631,652.048984023,0.400983474293,0.00449041587832,0.0698293654582,0.999999962561,2.76469738092e-05,-0.000271328563164,2.2252598085e-05,1793239754607425536
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.627778757,746,715,680,664,635,879.372221243,787.372221243,803.627778757,652,631,652.627778757,0.400981898435,0.00449218262037,0.0698297990846,0.99999996265,2.94529056021e-05,-0.000270852010151,2.1726968884e-05,1793239754624091904
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787.20525842,804,652.20525842,631.20525842,653,0.400981354559,0.00449329913267,0.0698303635344,0.999999962855,3.02805197032e-05,-0.000270024114324,2.14418033629e-05,1793239754640758528
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787.780368441,804,652.780368441,631.780368441,653,0.400982670196,0.00449324400711,0.0698311637126,0.999999963273,2.9345319942e-05,-0.000268563139979,2.15899252258e-05,1793239754657425408
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,746,714.63651114,679.63651114,664,635,879,787.63651114,804,652.63651114,631.63651114,652.63651114,0.400982705832,0.00449304441053,0.0698311500093,0.999999963309,2.85939391657e-05,-0.000268511831458,2.15714146434e-05,1793239754674092032
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,714.048441539,679.048441539,664,635,879,787.048441539,804,652.048441539,631.048441539,652.048441539,0.400981950623,0.00449275555286,0.0698306334513,0.999999963109,2.7956130554e-05,-0.000269331481724,2.14499505889e-05,1793239754690758400
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714.533104312,679,664,635,879.533104312,787,803.466895688,652.533104312,631,652.533104312,0.400981715475,0.00449117182036,0.0698317705911,0.999999963461,2.60705967811e-05,-0.000268199053536,2.16440316181e-05,1793239754707425024
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.886926975,715,679.113073025,664,635,879.886926975,787,803.113073025,653,631.113073025,653,0.400981746023,0.00449010456711,0.0698328831459,0.999999963846,2.47366739156e-05,-0.000266876276954,2.17636160979e-05,1793239754724091392
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.311016923,715,679.688983077,664,635,879.311016923,787,803.688983077,653,631.688983077,653,0.400982673042,0.00449162719245,0.0698332874249,0.999999964186,2.61191076717e-05,-0.000265491637406,2.1462321447e-05,1793239754740758016
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.269722291,715,680,664,635,879.269722291,787,804,653,631.730277709,653,0.400982976678,0.00449187259795,0.0698331569401,0.999999964289,2.61445413671e-05,-0.00026511057339,2.13082261811e-05,1793239754757424896
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.856131608,715,680,664,635,879.856131608,787,804,653,631.143868392,653,0.400982548389,0.00449061839101,0.0698323985773,0.999999964117,2.45766908593e-05,-0.000265907829863,2.13269609949e-05,1793239754774091520
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766.437221666,746,715,680,664.437221666,635,879.562778334,787,804,653,631.437221666,653,0.400983473162,0.00449042624591,0.0698334646397,0.999999964586,2.58865379822e-05,-0.000263995967536,2.15400063348e-05,1793239754790758400
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766.983459359,746,715,680,664.983459359,635.016540641,879,787,804,652.983459359,631.983459359,653,0.400984796241,0.00449062502516,0.069835084971,0.999999965237,2.81096703348e-05,-0.000261268352409,2.17964876355e-05,1793239754807425024
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766.405558184,746,715,680,664.405558184,635.594441816,879,787,804,652.405558184,631.405558184,653,0.400984708515,0.00449237315553,0.0698353869758,0.99999996534,2.95779031019e-05,-0.000260745752594,2.13832434338e-05,1793239754824091904
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.828699389,715,680,664,636,879,787,803.828699389,652.171300611,631,653,0.40098416478,0.00449340898269,0.0698353398383,0.999999965234,3.04452718125e-05,-0.000261073410811,2.109058213e-05,1793239754840758784
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.25429356,715,680,664,636,879,787,803.25429356,652.74570644,631,653,0.400982547962,0.00449276861527,0.0698344710978,0.999999964641,2.98986849657e-05,-0.000263401899336,2.10816769618e-05,1793239754857426176
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.328815377,714.671184623,680,664,635.671184623,879,787,803.328815377,653,631,653,0.400982272849,0.00449255248559,0.0698346468174,0.999999964626,2.90842957012e-05,-0.000263546527738,2.10855833224e-05,1793239754874092800
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.918837938,714.081162062,680,664,635.081162062,879,787,803.918837938,653,631,653,0.400983063572,0.00449267336558,0.0698356522442,0.999999965073,2.80571672784e-05,-0.000261956322471,2.10996670156e-05,1793239754890758400
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766.499472036,745.500527964,714.499472036,680,664,635,879,787,804,653.499472036,631.499472036,653,0.400982667289,0.0044923327784,0.0698350394969,0.999999964873,2.81082654747e-05,-0.000262714121864,2.10948551974e-05,1793239754907425280
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766.921897586,745.078102414,715,680,664,635,879.078102414,787,803.921897586,653.921897586,632,653,0.400982153383,0.00449204577363,0.0698342910154,0.999999964602,2.84075974461e-05,-0.000263710704138,2.11319625047e-05,1793239754924091904
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766.346491129,745.653508871,715,680,664,635,879.653508871,787,803.346491129,653.346491129,632,653,0.400982096026,0.00449256860043,0.0698343216454,0.999999964537,2.91924966553e-05,-0.000263843121833,2.14551726314e-05,1793239754940758528
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,880,787,803.233685282,652.766314718,632,653,0.400982447807,0.00449265398788,0.0698346993,0.999999964648,2.91302037356e-05,-0.000263422927995,2.15509120279e-05,1793239754957425408
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,880,787,803.82108169,652.17891831,632,653,0.400983418868,0.00449207725768,0.0698356022187,0.999999965022,2.77855825068e-05,-0.000262166289349,2.13023468298e-05,1793239754974092544
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766.403198327,746,715,680,664,635.403198327,879.596801673,787,804,652,631.596801673,653,0.40098376355,0.00449115844277,0.0698360821505,0.999999965296,2.69484823999e-05,-0.000261210424908,2.12150480707e-05,1793239754990759168
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766.983002326,746,715,680,664,635.983002326,879.016997674,787,804,652,631.016997674,653,0.400983833871,0.00449008979071,0.0698363768088,0.999999965528,2.63336826745e-05,-0.00026038630323,2.11983859489e-05,1793239755007425536
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e228e3a247df55d1f7608c4f71f516c76a3d892
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/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,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+1,0.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+2,0.033333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+3,0.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+4,0.066666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+5,0.083333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+6,0.100000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+7,0.116666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+8,0.133333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+9,0.150000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+10,0.166666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+11,0.183333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+12,0.200000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+13,0.216666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+14,0.233333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+15,0.250000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+16,0.266666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+17,0.283333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+18,0.300000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+19,0.316666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+20,0.333333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+21,0.350000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+22,0.366666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+23,0.383333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+24,0.400000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+25,0.416666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+26,0.433333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+27,0.450000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+28,0.466666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+29,0.483333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+30,0.500000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+31,0.516666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+32,0.533333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+33,0.550000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+34,0.566666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+35,0.583333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+36,0.600000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+37,0.616666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+38,0.633333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+39,0.650000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+40,0.666666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+41,0.683333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+42,0.700000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+43,0.716666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+44,0.733333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+45,0.750000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+46,0.766666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+47,0.783333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+48,0.800000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+49,0.816666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+50,0.833333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+51,0.850000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+52,0.866666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+53,0.883333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+54,0.900000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+55,0.916666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+56,0.933333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+57,0.950000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+58,0.966666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+59,0.983333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+60,1.000000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+61,1.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+62,1.033333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+63,1.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+64,1.066666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+65,1.083333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+66,1.100000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+67,1.116666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+68,1.133333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+69,1.150000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+70,1.166666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+71,1.183333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+72,1.200000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+73,1.216666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+74,1.233333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+75,1.250000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+76,1.266666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+77,1.283333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+78,1.300000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+79,1.316666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+80,1.333333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+81,1.350000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+82,1.366666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+83,1.383333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+84,1.400000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+85,1.416666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+86,1.433333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+87,1.450000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+88,1.466666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+89,1.483333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+90,1.500000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+91,1.516666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+92,1.533333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+93,1.550000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+94,1.566666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+95,1.583333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+96,1.600000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+97,1.616666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+98,1.633333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+99,1.650000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+100,1.666666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+101,1.683333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+102,1.700000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+103,1.716666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+104,1.733333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+105,1.750000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+106,1.766666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+107,1.783333333,pose1_to_pose2_press,0.575664308767,0.0100907829807,1.06003209211,0.546234757813,0.0187625139963,1.05970022511
+108,1.800000000,pose1_to_pose2_press,0.575664314104,0.0100907937957,1.06003209077,0.546234763154,0.0187625248395,1.0597002242
+109,1.816666667,pose1_to_pose2_press,0.575664321749,0.0100908092853,1.06003208887,0.546234770804,0.0187625403696,1.05970022289
+110,1.833333333,pose1_to_pose2_press,0.575664347803,0.0100908620762,1.06003208236,0.546234796876,0.0187625932982,1.05970021844
+111,1.850000000,pose1_to_pose2_press,0.575664389428,0.0100909464161,1.06003207198,0.546234838529,0.0187626778581,1.05970021133
+112,1.866666667,pose1_to_pose2_press,0.575664545624,0.0100909037613,1.06003213797,0.546234995677,0.018762638365,1.0597002755
+113,1.883333333,pose1_to_pose2_press,0.575664879278,0.0100907699167,1.06003229143,0.546235331465,0.0187625115524,1.0597004234
+114,1.900000000,pose1_to_pose2_press,0.575665006656,0.0100907188191,1.06003235002,0.546235459659,0.0187624631393,1.05970047986
+115,1.916666667,pose1_to_pose2_press,0.575666769612,0.0100907753962,1.06003241136,0.546237221796,0.0187625164488,1.05970052836
+116,1.933333333,pose1_to_pose2_press,0.575672996365,0.0100907490624,1.06003208552,0.546243450191,0.0187624962839,1.05970021827
+117,1.950000000,pose1_to_pose2_press,0.575685325625,0.0100907504335,1.06003227697,0.546255778523,0.01876249489,1.0597004195
+118,1.966666667,pose1_to_pose2_press,0.575707990309,0.0100907213269,1.06003230646,0.546278442387,0.0187624626646,1.0597004402
+119,1.983333333,pose1_to_pose2_press,0.575741094253,0.0100908130988,1.06003223074,0.546311546428,0.0187625548396,1.0597003663
+120,2.000000000,pose1_to_pose2_press,0.575784815871,0.0100908675218,1.06003239687,0.546355266832,0.0187626050906,1.05970053103
+121,2.016666667,pose1_to_pose2_press,0.575838185272,0.0100908359959,1.06003238327,0.546408636519,0.0187625744811,1.0597005159
+122,2.033333333,pose1_to_pose2_press,0.575901536048,0.0100907912181,1.06003214194,0.546471987204,0.0187625295285,1.05970027807
+123,2.050000000,pose1_to_pose2_press,0.575972829478,0.0100907796319,1.0600321752,0.546543281087,0.0187625195418,1.05970031284
+124,2.066666667,pose1_to_pose2_press,0.576052168558,0.0100906943629,1.060032315,0.546622620757,0.0187624361193,1.05970044849
+125,2.083333333,pose1_to_pose2_press,0.576143134824,0.0100907066762,1.06003236105,0.546713586811,0.0187624475574,1.05970049045
+126,2.100000000,pose1_to_pose2_press,0.576246183681,0.0100907635179,1.06003241679,0.546816635621,0.0187625043234,1.05970054838
+127,2.116666667,pose1_to_pose2_press,0.576364063632,0.0100908428545,1.06003232606,0.546934514392,0.0187625797178,1.05970045922
+128,2.133333333,pose1_to_pose2_press,0.576497963601,0.01009083656,1.06003233211,0.547068413766,0.0187625714335,1.05970046593
+129,2.150000000,pose1_to_pose2_press,0.57664909263,0.0100908029077,1.06003235073,0.5472195435,0.0187625402302,1.05970048599
+130,2.166666667,pose1_to_pose2_press,0.576817255536,0.0100908242122,1.0600323256,0.54738770701,0.0187625634198,1.05970045651
+131,2.183333333,pose1_to_pose2_press,0.577002261484,0.0100908677781,1.06003241966,0.547572712207,0.0187626042741,1.05970054634
+132,2.200000000,pose1_to_pose2_press,0.577205739804,0.0100909512828,1.06003225665,0.547776188581,0.0187626814388,1.0597003901
+133,2.216666667,pose1_to_pose2_press,0.577428232166,0.0100907966347,1.06003232666,0.547998683844,0.0187625365612,1.05970045815
+134,2.233333333,pose1_to_pose2_press,0.577672817386,0.0100907525314,1.06003220036,0.548243269403,0.0187624938815,1.0597003389
+135,2.250000000,pose1_to_pose2_press,0.577937687783,0.0100907904887,1.06003222767,0.548508138281,0.0187625266103,1.05970036423
+136,2.266666667,pose1_to_pose2_press,0.578222509397,0.0100908164617,1.06003242043,0.548792960732,0.0187625556238,1.05970056211
+137,2.283333333,pose1_to_pose2_press,0.578529583341,0.0100907449083,1.06003218845,0.549100035821,0.0187624880087,1.05970033145
+138,2.300000000,pose1_to_pose2_press,0.578855954986,0.0100906790648,1.06003223177,0.549426409637,0.0187624290716,1.05970036265
+139,2.316666667,pose1_to_pose2_press,0.579197967126,0.0100907689141,1.0600322277,0.54976842034,0.0187625141161,1.05970036038
+140,2.333333333,pose1_to_pose2_press,0.579556884501,0.0100907625114,1.06003222905,0.550127336432,0.0187625033543,1.05970036156
+141,2.350000000,pose1_to_pose2_press,0.579935361589,0.0100907903562,1.06003245931,0.550505812679,0.0187625282255,1.05970058869
+142,2.366666667,pose1_to_pose2_press,0.580332064016,0.0100907236219,1.06003247693,0.550902516792,0.0187624671165,1.0597006037
+143,2.383333333,pose1_to_pose2_press,0.580748873371,0.0100907227009,1.06003240753,0.551319326632,0.0187624679971,1.05970053831
+144,2.400000000,pose1_to_pose2_press,0.581194614613,0.0100907412183,1.0600323746,0.55176506732,0.0187624847448,1.05970050825
+145,2.416666667,pose1_to_pose2_press,0.581665669452,0.010090640645,1.06003226453,0.552236123189,0.0187623875359,1.05970039462
+146,2.433333333,pose1_to_pose2_press,0.58216009466,0.0100907854177,1.06003227662,0.552730545553,0.018762522908,1.05970041325
+147,2.450000000,pose1_to_pose2_press,0.582674023461,0.0100908481107,1.06003212666,0.553244472722,0.0187625800305,1.05970026245
+148,2.466666667,pose1_to_pose2_press,0.583206717628,0.0100906935894,1.06003234065,0.553777169704,0.0187624349224,1.05970047264
+149,2.483333333,pose1_to_pose2_press,0.583754235595,0.0100907377388,1.06003221702,0.55432468635,0.0187624746345,1.05970035017
+150,2.500000000,pose1_to_pose2_press,0.584318632978,0.0100909609875,1.06003230574,0.55488908287,0.0187626951407,1.05970044382
+151,2.516666667,pose1_to_pose2_press,0.584908889049,0.0100908053312,1.06003233397,0.555479340749,0.0187625454906,1.05970046857
+152,2.533333333,pose1_to_pose2_press,0.585520691803,0.0100907715724,1.06003234933,0.556091141807,0.0187625058518,1.0597004806
+153,2.550000000,pose1_to_pose2_press,0.5861509273,0.0100908214337,1.06003223403,0.556721377364,0.0187625562108,1.05970037294
+154,2.566666667,pose1_to_pose2_press,0.586790286928,0.0100908926029,1.06003239981,0.557360736624,0.0187626257251,1.05970052808
+155,2.583333333,pose1_to_pose2_press,0.587434941247,0.0100908805079,1.06003244242,0.558005390645,0.0187626124359,1.05970056592
+156,2.600000000,pose1_to_pose2_press,0.588084439087,0.0100907880666,1.060032263,0.558654890314,0.0187625263353,1.05970039001
+157,2.616666667,pose1_to_pose2_press,0.588742084216,0.0100907838481,1.06003229263,0.559312535855,0.018762523472,1.05970041852
+158,2.633333333,pose1_to_pose2_press,0.589414966513,0.0100909002614,1.060032559,0.559985415182,0.0187626297588,1.05970068361
+159,2.650000000,pose1_to_pose2_press,0.590109841159,0.0100908480647,1.06003229514,0.56068029163,0.018762584064,1.05970042983
+160,2.666666667,pose1_to_pose2_press,0.590830325266,0.0100908719893,1.06003210365,0.561400775949,0.0187626086648,1.05970023726
+161,2.683333333,pose1_to_pose2_press,0.591569556612,0.0100907986451,1.06003224032,0.562140007265,0.0187625349577,1.05970036715
+162,2.700000000,pose1_to_pose2_press,0.592324973607,0.0100909389822,1.0600324653,0.562895424819,0.0187626773953,1.05970059739
+163,2.716666667,pose1_to_pose2_press,0.59308219275,0.0100908147252,1.06003237727,0.563652645887,0.0187625594722,1.05970050422
+164,2.733333333,pose1_to_pose2_press,0.593831255357,0.0100908183479,1.06003222717,0.564401706574,0.0187625568929,1.05970036231
+165,2.750000000,pose1_to_pose2_press,0.594561013652,0.0100907063414,1.06003210428,0.565131465971,0.0187624488267,1.05970024468
+166,2.766666667,pose1_to_pose2_press,0.595285086672,0.0100908140785,1.06003214466,0.565855537046,0.0187625499692,1.05970028527
+167,2.783333333,pose1_to_pose2_press,0.596012126368,0.0100908597704,1.06003233145,0.566582576071,0.0187625931686,1.05970046648
+168,2.800000000,pose1_to_pose2_press,0.596757026867,0.0100907298724,1.06003234692,0.567327479145,0.0187624721008,1.05970048443
+169,2.816666667,pose1_to_pose2_press,0.597523662655,0.0100906853732,1.06003220905,0.568094116303,0.0187624324825,1.05970035267
+170,2.833333333,pose1_to_pose2_press,0.598314083705,0.0100908376882,1.06003238991,0.568884534657,0.0187625750905,1.05970051892
+171,2.850000000,pose1_to_pose2_press,0.59910791598,0.0100907889758,1.06003241363,0.569678366825,0.0187625260346,1.05970054324
+172,2.866666667,pose1_to_pose2_press,0.599894856873,0.0100906661663,1.06003219844,0.570465310844,0.018762414358,1.05970034174
+173,2.883333333,pose1_to_pose2_press,0.600656500094,0.0100908419408,1.06003234627,0.571226951632,0.0187625812672,1.0597004738
+174,2.900000000,pose1_to_pose2_press,0.601391132614,0.0100906000372,1.06003222288,0.571961586039,0.0187623458859,1.05970035357
+175,2.916666667,pose1_to_pose2_press,0.602107824638,0.0100907505585,1.06003207667,0.572678277134,0.0187624936055,1.05970021661
+176,2.933333333,pose1_to_pose2_press,0.602813647816,0.0100907700098,1.06003205637,0.573384099745,0.0187625112652,1.05970019984
+177,2.950000000,pose1_to_pose2_press,0.603520817327,0.0100907830732,1.06003220144,0.574091268525,0.0187625213001,1.05970033071
+178,2.966666667,pose1_to_pose2_press,0.604235280594,0.010090673656,1.0600322314,0.57480573294,0.0187624158702,1.05970036312
+179,2.983333333,pose1_to_pose2_press,0.604956334459,0.0100906829717,1.06003217067,0.575526787153,0.0187624262843,1.05970030028
+180,3.000000000,pose1_to_pose2_press,0.6056734409,0.010090730443,1.06003219576,0.576243892819,0.0187624710081,1.05970032236
+181,3.016666667,pose1_to_pose2_press,0.606379688471,0.0100907627417,1.06003224283,0.57695013986,0.0187625015357,1.05970037028
+182,3.033333333,pose1_to_pose2_press,0.607058723447,0.010090765171,1.06003222698,0.577629174964,0.0187625045594,1.05970035866
+183,3.050000000,pose1_to_pose2_press,0.607709243363,0.0100907323221,1.06003226057,0.578279695727,0.0187624747273,1.05970039603
+184,3.066666667,pose1_to_pose2_press,0.608324803913,0.0100907443432,1.06003226312,0.578895257025,0.0187624892661,1.05970039816
+185,3.083333333,pose1_to_pose2_press,0.608910251971,0.0100907720734,1.06003213619,0.579480704684,0.0187625157257,1.05970027354
+186,3.100000000,pose1_to_pose2_press,0.609466730035,0.010090765729,1.06003248218,0.580037182235,0.0187625072846,1.05970061029
+187,3.116666667,pose1_to_pose2_press,0.610010463359,0.0100908521247,1.06003243135,0.580580914136,0.0187625893309,1.05970057213
+188,3.133333333,pose1_to_pose2_press,0.610547888429,0.0100908074698,1.06003242128,0.581118340373,0.0187625487228,1.05970056437
+189,3.150000000,pose1_to_pose2_press,0.611085923527,0.0100907306945,1.06003237146,0.581656377063,0.0187624769907,1.05970050526
+190,3.166666667,pose1_to_pose2_press,0.611616674133,0.0100907217687,1.06003251086,0.582187127074,0.0187624658142,1.05970063871
+191,3.183333333,pose1_to_pose2_press,0.612132348287,0.0100907141384,1.06003247341,0.582702800354,0.018762455256,1.05970060244
+192,3.200000000,pose1_to_pose2_press,0.61261539322,0.0100907198962,1.06003215427,0.583185844953,0.0187624602208,1.05970029237
+193,3.216666667,pose1_to_pose2_press,0.613065398255,0.0100907616857,1.06003198203,0.583635849133,0.01876249926,1.05970012408
+194,3.233333333,pose1_to_pose2_press,0.613483990744,0.010090776264,1.06003206604,0.584054441253,0.0187625123084,1.05970020039
+195,3.250000000,pose1_to_pose2_press,0.613881467485,0.0100907297291,1.06003197275,0.584451920528,0.0187624745952,1.05970011163
+196,3.266666667,pose1_to_pose2_press,0.614265096992,0.0100906875303,1.06003218697,0.584835549468,0.0187624304943,1.05970032521
+197,3.283333333,pose1_to_pose2_press,0.614637374578,0.0100908745309,1.06003232283,0.585207824686,0.0187626093592,1.05970045734
+198,3.300000000,pose1_to_pose2_press,0.614998023755,0.0100906740301,1.06003222198,0.585568476142,0.0187624168917,1.05970036286
+199,3.316666667,pose1_to_pose2_press,0.615338471738,0.0100907066181,1.06003227766,0.585908924985,0.0187624523831,1.05970041635
+200,3.333333333,pose1_to_pose2_press,0.615657625974,0.010090725539,1.06003242441,0.586228078723,0.0187624693555,1.05970055372
+201,3.350000000,pose1_to_pose2_press,0.615951613634,0.0100907332014,1.06003230129,0.586522065296,0.0187624735436,1.05970043279
+202,3.366666667,pose1_to_pose2_press,0.616222410688,0.0100908196665,1.06003211466,0.586792860597,0.0187625544835,1.05970025358
+203,3.383333333,pose1_to_pose2_press,0.616469809508,0.0100908527894,1.06003219069,0.587040258604,0.0187625848423,1.05970032579
+204,3.400000000,pose1_to_pose2_press,0.616701259052,0.0100906843663,1.06003212659,0.587271711978,0.018762429472,1.05970025954
+205,3.416666667,pose1_to_pose2_press,0.616917867751,0.010090728637,1.06003241907,0.587488320885,0.0187624746982,1.05970055606
+206,3.433333333,pose1_to_pose2_press,0.617119731288,0.0100906814279,1.06003219594,0.587690184246,0.0187624266508,1.05970032321
+207,3.450000000,pose1_to_pose2_press,0.617307754398,0.0100908881818,1.06003238162,0.587878204403,0.0187626235224,1.05970050911
+208,3.466666667,pose1_to_pose2_press,0.617480931134,0.0100909538778,1.06003229984,0.588051381173,0.0187626896539,1.059700433
+209,3.483333333,pose1_to_pose2_press,0.617638017408,0.0100909109941,1.06003235969,0.588208467884,0.0187626482627,1.05970049067
+210,3.500000000,pose1_to_pose2_press,0.617777287944,0.0100908989036,1.06003253894,0.588347738629,0.0187626369002,1.05970066746
+211,3.516666667,pose1_to_pose2_press,0.617900526254,0.0100909102803,1.06003253317,0.588470977322,0.0187626495864,1.05970065923
+212,3.533333333,pose1_to_pose2_press,0.618008403876,0.0100908380496,1.06003236409,0.588578855114,0.0187625778307,1.05970048599
+213,3.550000000,pose1_to_pose2_press,0.618102232771,0.0100906562534,1.06003222595,0.588672684689,0.0187623987305,1.05970035752
+214,3.566666667,pose1_to_pose2_press,0.618184988091,0.0100908426376,1.06003223586,0.588755438946,0.018762581446,1.059700364
+215,3.583333333,pose1_to_pose2_press,0.618257617013,0.0100907557149,1.06003244663,0.58882806817,0.0187624960292,1.0597005747
+216,3.600000000,pose1_to_pose2_press,0.618320935156,0.0100908401721,1.06003229063,0.588891384706,0.0187625753687,1.05970042293
+217,3.616666667,pose1_to_pose2_press,0.618374646213,0.0100908319461,1.06003224845,0.588945096533,0.0187625696405,1.0597003775
+218,3.633333333,pose1_to_pose2_press,0.618419197034,0.0100907788543,1.06003233587,0.588989647517,0.018762516561,1.05970045897
+219,3.650000000,pose1_to_pose2_press,0.618455428853,0.0100907551245,1.06003241573,0.589025879258,0.0187624926157,1.05970054371
+220,3.666666667,pose1_to_pose2_press,0.618483491859,0.0100907368953,1.06003237727,0.589053943168,0.0187624778745,1.05970051412
+221,3.683333333,pose1_to_pose2_press,0.618505612474,0.0100907001387,1.06003220851,0.589076064914,0.0187624448035,1.05970034362
+222,3.700000000,pose1_to_pose2_press,0.618522632147,0.0100908222186,1.06003210608,0.589093083169,0.0187625622227,1.05970024001
+223,3.716666667,pose1_to_pose2_press,0.618535339315,0.0100908629073,1.06003247472,0.589105789573,0.0187625998383,1.05970059703
+224,3.733333333,pose1_to_pose2_press,0.618544086595,0.0100907820381,1.06003252335,0.589114537668,0.0187625215097,1.05970064166
+225,3.750000000,pose1_to_pose2_press,0.618550675619,0.0100906172704,1.06003228561,0.589121128632,0.0187623633519,1.05970040654
+226,3.766666667,pose1_to_pose2_press,0.618555172539,0.0100906598585,1.06003247216,0.589125626319,0.0187624085651,1.05970059634
+227,3.783333333,pose1_to_pose2_press,0.618557949014,0.0100906978525,1.06003259803,0.589128403183,0.0187624479026,1.05970072462
+228,3.800000000,pose1_to_pose2_press,0.618559982901,0.0100907482892,1.0600323928,0.589130436293,0.0187624960389,1.05970052781
+229,3.816666667,pose1_to_pose2_press,0.618561588998,0.0100907881176,1.06003223073,0.589132041778,0.0187625340506,1.0597003724
+230,3.833333333,pose1_to_pose2_press,0.618562422353,0.0100907832379,1.06003220547,0.589132875076,0.0187625290199,1.05970034716
+231,3.850000000,pose1_to_pose2_press,0.61856274591,0.0100907661413,1.06003223068,0.589133198767,0.0187625123358,1.05970037032
+232,3.866666667,pose1_to_pose2_press,0.618563144301,0.0100907450905,1.06003226171,0.589133597322,0.0187624917929,1.05970039885
+233,3.883333333,pose1_to_pose2_press,0.618563388108,0.0100907322079,1.06003228071,0.589133841229,0.0187624792211,1.0597004163
+234,3.900000000,pose1_to_pose2_press,0.618563462687,0.0100907282671,1.06003228652,0.589133915839,0.0187624753755,1.05970042164
+235,3.916666667,pose1_to_pose2_press,0.61856352193,0.0100907251368,1.06003229113,0.589133975107,0.0187624723206,1.05970042588
+236,3.933333333,pose1_to_pose2_press,0.618563557786,0.0100907232422,1.06003229392,0.589134010977,0.0187624704718,1.05970042845
+237,3.950000000,pose1_to_pose2_press,0.618563598138,0.01009072111,1.06003229707,0.589134051346,0.018762468391,1.05970043134
+238,3.966666667,pose1_to_pose2_press,0.618563671278,0.0100907172453,1.06003230276,0.589134124516,0.0187624646196,1.05970043657
+239,3.983333333,pose1_to_pose2_press,0.618564057952,0.0100906968136,1.06003233289,0.58913451135,0.0187624446809,1.05970046426
+240,4.000000000,pose1_to_pose2_press,0.618564522248,0.0100906801119,1.06003231012,0.589134975625,0.0187624279012,1.05970044128
+241,4.016666667,pose1_to_pose2_press,0.618564910951,0.0100906781261,1.06003220078,0.589135363983,0.0187624248241,1.05970033593
+242,4.033333333,pose1_to_pose2_press,0.618565104908,0.0100906771352,1.06003214623,0.589135557768,0.0187624232887,1.05970028337
+243,4.050000000,pose1_to_pose2_press,0.618565126281,0.0100906770261,1.06003214021,0.589135579122,0.0187624231195,1.05970027757
+244,4.066666667,pose1_to_pose2_press,0.618565232295,0.0100906764845,1.06003211039,0.589135685043,0.0187624222802,1.05970024884
+245,4.083333333,pose1_to_pose2_press,0.618565271825,0.0100906762825,1.06003209927,0.589135724538,0.0187624219673,1.05970023813
+246,4.100000000,pose1_to_pose2_press,0.618565401503,0.0100906758511,1.06003206304,0.5891358541,0.0187624211706,1.05970020322
+247,4.116666667,pose1_to_pose2_press,0.618565468678,0.0100907363228,1.06003210823,0.589135921123,0.0187624811355,1.05970024808
+248,4.133333333,pose1_to_pose2_press,0.618565496277,0.0100907611674,1.06003212679,0.58913594866,0.0187625057718,1.05970026651
+249,4.150000000,pose1_to_pose2_press,0.618565517719,0.01009078047,1.06003214121,0.589135970053,0.0187625249127,1.05970028083
+250,4.166666667,pose1_to_pose2_press,0.618565592101,0.0100908474292,1.06003219124,0.589136044267,0.0187625913107,1.0597003305
+251,4.183333333,pose1_to_pose2_press,0.618565821482,0.0100907990661,1.06003236781,0.589136273032,0.0187625404226,1.05970049437
+252,4.200000000,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273035,0.0187625404204,1.05970049437
+253,4.216666667,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273036,0.0187625404198,1.05970049437
+254,4.233333333,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273034,0.0187625404219,1.05970049437
+255,4.250000000,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273034,0.0187625404219,1.05970049437
+256,4.266666667,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273037,0.0187625404194,1.05970049437
+257,4.283333333,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273034,0.0187625404219,1.05970049437
+258,4.300000000,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273036,0.0187625404189,1.05970049437
+259,4.316666667,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273036,0.018762540419,1.05970049437
+260,4.333333333,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273036,0.0187625404191,1.05970049437
+261,4.350000000,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273036,0.0187625404191,1.05970049437
+262,4.366666667,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273036,0.0187625404191,1.05970049437
+263,4.383333333,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273036,0.0187625404198,1.05970049437
+264,4.400000000,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273037,0.018762540419,1.05970049437
+265,4.416666667,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273036,0.0187625404202,1.05970049437
+266,4.433333333,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273037,0.0187625404188,1.05970049437
+267,4.450000000,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273036,0.01876254042,1.05970049437
+268,4.466666667,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273036,0.01876254042,1.05970049437
+269,4.483333333,pose2_hold,0.618565821482,0.0100907990661,1.06003236781,0.589136273036,0.0187625404201,1.05970049437
+270,4.500000000,pose2_to_pose3_retreat,0.618565821482,0.0100907990661,1.06003236781,0.589136273037,0.0187625404199,1.05970049437
+271,4.516666667,pose2_to_pose3_retreat,0.618565646142,0.0100907714779,1.06003234076,0.589136097788,0.0187625135063,1.05970047592
+272,4.533333333,pose2_to_pose3_retreat,0.618565443654,0.0100906751282,1.06003233061,0.589135895536,0.0187624179665,1.05970046616
+273,4.550000000,pose2_to_pose3_retreat,0.618565047435,0.0100906345057,1.06003232596,0.589135499538,0.0187623780967,1.0597004615
+274,4.566666667,pose2_to_pose3_retreat,0.618564861599,0.0100906626512,1.06003232863,0.589135313729,0.0187624063296,1.05970046392
+275,4.583333333,pose2_to_pose3_retreat,0.618564763507,0.0100906775074,1.06003233004,0.589135215652,0.0187624212321,1.05970046519
+276,4.600000000,pose2_to_pose3_retreat,0.618564318064,0.010090744971,1.06003233646,0.589134770274,0.0187624889053,1.05970047099
+277,4.616666667,pose2_to_pose3_retreat,0.618562545985,0.0100908060633,1.06003246169,0.589132997487,0.0187625477242,1.05970059941
+278,4.633333333,pose2_to_pose3_retreat,0.618557741868,0.0100906937673,1.0600323872,0.589128193518,0.0187624358535,1.05970052189
+279,4.650000000,pose2_to_pose3_retreat,0.618546235677,0.0100907590102,1.06003222901,0.589116687214,0.018762500576,1.05970036053
+280,4.666666667,pose2_to_pose3_retreat,0.618525686531,0.0100907904807,1.06003229248,0.589096136198,0.0187625256337,1.0597004236
+281,4.683333333,pose2_to_pose3_retreat,0.618493706327,0.0100908223495,1.06003212576,0.589064157801,0.0187625637259,1.05970026001
+282,4.700000000,pose2_to_pose3_retreat,0.618450586157,0.0100907093603,1.06003235073,0.589021039044,0.0187624553717,1.05970048259
+283,4.716666667,pose2_to_pose3_retreat,0.618396625949,0.0100907543883,1.0600323473,0.588967077594,0.0187624958596,1.05970047048
+284,4.733333333,pose2_to_pose3_retreat,0.618333884773,0.0100907179351,1.06003219766,0.588904336503,0.018762459984,1.05970032673
+285,4.750000000,pose2_to_pose3_retreat,0.618262573791,0.0100908312386,1.06003217999,0.588833024603,0.0187625703101,1.05970031466
+286,4.766666667,pose2_to_pose3_retreat,0.618183120119,0.010090913727,1.06003229202,0.588753570225,0.0187626505011,1.05970042796
+287,4.783333333,pose2_to_pose3_retreat,0.618094926541,0.0100908873134,1.06003224165,0.588665377206,0.018762625629,1.05970037686
+288,4.800000000,pose2_to_pose3_retreat,0.617994248561,0.0100908074861,1.06003231188,0.588564700764,0.018762551182,1.05970045303
+289,4.816666667,pose2_to_pose3_retreat,0.617880420511,0.0100907411619,1.06003233763,0.588450871637,0.01876248079,1.05970047075
+290,4.833333333,pose2_to_pose3_retreat,0.61774953048,0.0100907155919,1.06003216897,0.588319983232,0.0187624605595,1.05970029943
+291,4.850000000,pose2_to_pose3_retreat,0.617601844838,0.0100906502884,1.06003207679,0.588172296799,0.0187623928506,1.05970021638
+292,4.866666667,pose2_to_pose3_retreat,0.617436867065,0.0100906675532,1.06003221519,0.588007318615,0.0187624085906,1.05970035428
+293,4.883333333,pose2_to_pose3_retreat,0.617253666473,0.0100907789437,1.06003229763,0.587824117341,0.0187625172476,1.05970042885
+294,4.900000000,pose2_to_pose3_retreat,0.617052609659,0.0100908137705,1.06003223188,0.587623060523,0.0187625518881,1.05970036162
+295,4.916666667,pose2_to_pose3_retreat,0.616833189093,0.0100907370136,1.06003226021,0.587403641547,0.0187624806468,1.05970039661
+296,4.933333333,pose2_to_pose3_retreat,0.616596253578,0.0100908316116,1.06003240204,0.587166704878,0.0187625712314,1.05970053979
+297,4.950000000,pose2_to_pose3_retreat,0.616341566732,0.0100908241152,1.06003211723,0.586912017359,0.0187625610178,1.05970024791
+298,4.966666667,pose2_to_pose3_retreat,0.61607206996,0.0100906742843,1.06003210439,0.586642521338,0.018762413712,1.05970023784
+299,4.983333333,pose2_to_pose3_retreat,0.615788485649,0.0100907054494,1.06003219437,0.586358938036,0.018762448087,1.05970032604
+300,5.000000000,pose2_to_pose3_retreat,0.615483325035,0.0100908140926,1.06003236487,0.586053776424,0.0187625531321,1.05970049475
+301,5.016666667,pose2_to_pose3_retreat,0.615155724779,0.0100908038262,1.06003243771,0.585726175822,0.0187625415106,1.0597005661
+302,5.033333333,pose2_to_pose3_retreat,0.614801517771,0.0100907124672,1.06003235873,0.585371970219,0.0187624548624,1.05970048794
+303,5.050000000,pose2_to_pose3_retreat,0.614420164612,0.0100908442211,1.06003232838,0.584990616463,0.0187625847651,1.05970046283
+304,5.066666667,pose2_to_pose3_retreat,0.614010073993,0.0100908830817,1.06003235278,0.584580523611,0.0187626158113,1.05970048062
+305,5.083333333,pose2_to_pose3_retreat,0.613583570513,0.0100906791317,1.06003221006,0.58415402288,0.0187624214785,1.05970034612
+306,5.100000000,pose2_to_pose3_retreat,0.613142272434,0.0100907787713,1.06003225033,0.583712723706,0.018762517055,1.05970037721
+307,5.116666667,pose2_to_pose3_retreat,0.6126827679,0.0100907965306,1.06003220517,0.583253219271,0.0187625356197,1.05970034252
+308,5.133333333,pose2_to_pose3_retreat,0.612207534915,0.0100908271209,1.06003206838,0.582777985775,0.0187625646155,1.05970020909
+309,5.150000000,pose2_to_pose3_retreat,0.61171800824,0.0100908676599,1.06003211724,0.582288457616,0.0187625998814,1.05970025246
+310,5.166666667,pose2_to_pose3_retreat,0.611206875122,0.0100908535134,1.06003234655,0.581777323703,0.0187625829297,1.05970047931
+311,5.183333333,pose2_to_pose3_retreat,0.610670175797,0.0100907755146,1.06003228286,0.581240626238,0.0187625115087,1.05970042308
+312,5.200000000,pose2_to_pose3_retreat,0.610104672473,0.0100908671549,1.06003202863,0.580675122811,0.018762603155,1.05970017754
+313,5.216666667,pose2_to_pose3_retreat,0.609511009264,0.0100907683984,1.06003243931,0.580081461022,0.0187625083972,1.0597005683
+314,5.233333333,pose2_to_pose3_retreat,0.608894049217,0.0100906668823,1.06003206644,0.579464501011,0.0187624073,1.05970020312
+315,5.250000000,pose2_to_pose3_retreat,0.608260802107,0.0100907099364,1.0600323122,0.578831254357,0.0187624517419,1.05970044442
+316,5.266666667,pose2_to_pose3_retreat,0.607614393207,0.0100907953345,1.06003243162,0.578184844998,0.01876253526,1.05970055539
+317,5.283333333,pose2_to_pose3_retreat,0.606960861607,0.0100908213549,1.06003236437,0.577531312573,0.0187625586081,1.05970049156
+318,5.300000000,pose2_to_pose3_retreat,0.606297895368,0.0100907717041,1.06003241558,0.576868347353,0.0187625127061,1.0597005506
+319,5.316666667,pose2_to_pose3_retreat,0.605614289618,0.0100907304471,1.06003250866,0.57618474354,0.0187624779758,1.05970064281
+320,5.333333333,pose2_to_pose3_retreat,0.604908817764,0.0100908254073,1.06003222809,0.575479268333,0.0187625616195,1.05970036419
+321,5.350000000,pose2_to_pose3_retreat,0.604177182368,0.0100907948824,1.06003235254,0.57474763337,0.0187625324676,1.05970048299
+322,5.366666667,pose2_to_pose3_retreat,0.60342243168,0.010090812081,1.06003224762,0.573992883325,0.0187625517788,1.0597003766
+323,5.383333333,pose2_to_pose3_retreat,0.602645009277,0.0100908840437,1.06003222152,0.573215459017,0.0187626174235,1.05970035562
+324,5.400000000,pose2_to_pose3_retreat,0.601867962142,0.0100907945238,1.06003241483,0.572438414736,0.0187625376006,1.05970054927
+325,5.416666667,pose2_to_pose3_retreat,0.601096792589,0.0100906671,1.06003246196,0.571667245483,0.0187624110873,1.05970059504
+326,5.433333333,pose2_to_pose3_retreat,0.600335567563,0.0100907728106,1.0600322996,0.570906018401,0.0187625099558,1.05970043544
+327,5.450000000,pose2_to_pose3_retreat,0.59958190215,0.0100908580711,1.06003212984,0.570152352445,0.0187625935724,1.05970027
+328,5.466666667,pose2_to_pose3_retreat,0.598829850547,0.0100908442445,1.06003212486,0.569400301118,0.0187625805644,1.05970026202
+329,5.483333333,pose2_to_pose3_retreat,0.598067028779,0.0100908238773,1.06003226818,0.568637479136,0.0187625591405,1.05970039666
+330,5.500000000,pose2_to_pose3_retreat,0.597291909071,0.0100907515763,1.0600323456,0.567862361795,0.0187624950787,1.05970047933
+331,5.516666667,pose2_to_pose3_retreat,0.596491616047,0.0100907439979,1.06003233345,0.567062067805,0.0187624842253,1.05970046619
+332,5.533333333,pose2_to_pose3_retreat,0.595676862669,0.0100907509204,1.06003220915,0.566247314488,0.0187624914242,1.05970034645
+333,5.550000000,pose2_to_pose3_retreat,0.594872600719,0.0100908421237,1.06003220601,0.565443051386,0.0187625787047,1.05970034151
+334,5.566666667,pose2_to_pose3_retreat,0.594084613178,0.0100907146619,1.06003232235,0.564655064303,0.0187624526848,1.05970045455
+335,5.583333333,pose2_to_pose3_retreat,0.593320022076,0.0100907419392,1.06003225284,0.563890473963,0.0187624826004,1.05970038635
+336,5.600000000,pose2_to_pose3_retreat,0.592583898423,0.01009067959,1.06003227695,0.563154351924,0.018762425776,1.05970041166
+337,5.616666667,pose2_to_pose3_retreat,0.591868980367,0.0100907600584,1.06003228074,0.562439432449,0.0187625014207,1.05970041523
+338,5.633333333,pose2_to_pose3_retreat,0.59115451637,0.0100909286224,1.06003217641,0.561724965673,0.018762660589,1.05970031218
+339,5.650000000,pose2_to_pose3_retreat,0.590433453166,0.0100908167423,1.06003205008,0.56100390454,0.0187625559194,1.05970019124
+340,5.666666667,pose2_to_pose3_retreat,0.589700520481,0.010090736648,1.06003196455,0.560270973915,0.0187624829356,1.05970010643
+341,5.683333333,pose2_to_pose3_retreat,0.588964254021,0.0100907340004,1.06003238316,0.559534705636,0.018762473346,1.05970050476
+342,5.700000000,pose2_to_pose3_retreat,0.588226630916,0.010090706811,1.06003225297,0.558797082281,0.0187624454896,1.05970038242
+343,5.716666667,pose2_to_pose3_retreat,0.587519862088,0.0100908062854,1.06003212895,0.558090312938,0.0187625433761,1.05970026146
+344,5.733333333,pose2_to_pose3_retreat,0.586847142361,0.0100908435916,1.06003216927,0.557417592375,0.0187625781067,1.05970030734
+345,5.750000000,pose2_to_pose3_retreat,0.586206920299,0.0100908259791,1.06003235768,0.556777372489,0.0187625678553,1.05970049465
+346,5.766666667,pose2_to_pose3_retreat,0.585595743833,0.0100908478682,1.06003241793,0.556166196578,0.0187625913998,1.05970054882
+347,5.783333333,pose2_to_pose3_retreat,0.585008774317,0.0100908776088,1.06003239761,0.555579225372,0.0187626153358,1.05970052675
+348,5.800000000,pose2_to_pose3_retreat,0.584421080737,0.0100908546218,1.06003243463,0.554991530663,0.0187625886589,1.05970056734
+349,5.816666667,pose2_to_pose3_retreat,0.583829554653,0.010090834703,1.06003236504,0.554400005955,0.0187625730996,1.05970048953
+350,5.833333333,pose2_to_pose3_retreat,0.583248296479,0.0100907850861,1.06003220382,0.553818748759,0.0187625272909,1.05970034143
+351,5.850000000,pose2_to_pose3_retreat,0.582685087198,0.0100907328288,1.06003235102,0.55325553799,0.0187624695929,1.05970047831
+352,5.866666667,pose2_to_pose3_retreat,0.582153553025,0.0100908140744,1.06003210562,0.55272400263,0.0187625472034,1.05970024314
+353,5.883333333,pose2_to_pose3_retreat,0.581651185869,0.0100907657985,1.06003237617,0.552221638133,0.0187625077391,1.05970050816
+354,5.900000000,pose2_to_pose3_retreat,0.581176600109,0.0100906800725,1.0600324387,0.551747053397,0.0187624256716,1.05970057542
+355,5.916666667,pose2_to_pose3_retreat,0.580722297995,0.0100907558024,1.06003246501,0.55129275015,0.0187624973068,1.0597005958
+356,5.933333333,pose2_to_pose3_retreat,0.580287874458,0.0100907842967,1.0600324352,0.550858326096,0.0187625238561,1.0597005614
+357,5.950000000,pose2_to_pose3_retreat,0.579876606272,0.010090670908,1.06003239994,0.550447058462,0.0187624124594,1.05970052923
+358,5.966666667,pose2_to_pose3_retreat,0.579491185989,0.0100906331723,1.06003249443,0.550061638102,0.0187623745105,1.05970062488
+359,5.983333333,pose2_to_pose3_retreat,0.579135851851,0.0100907636244,1.06003252023,0.549706303821,0.0187625047306,1.05970065655
+360,6.000000000,pose2_to_pose3_retreat,0.578803443995,0.0100907015731,1.06003215289,0.549373896187,0.0187624431491,1.05970028171
+361,6.016666667,pose2_to_pose3_retreat,0.578490856106,0.010090905462,1.06003234414,0.549061306646,0.0187626411552,1.05970046619
+362,6.033333333,pose2_to_pose3_retreat,0.57819273319,0.010090856823,1.06003244356,0.548763185281,0.0187625980238,1.05970057192
+363,6.050000000,pose2_to_pose3_retreat,0.577908426368,0.0100907785095,1.06003240195,0.548478878845,0.0187625211314,1.05970053318
+364,6.066666667,pose2_to_pose3_retreat,0.577639707609,0.010090749306,1.06003239467,0.548210159505,0.0187624900694,1.05970052902
+365,6.083333333,pose2_to_pose3_retreat,0.577389640537,0.0100907533825,1.06003244852,0.547960091805,0.0187624919929,1.05970058235
+366,6.100000000,pose2_to_pose3_retreat,0.57716161017,0.010090765548,1.06003243191,0.547732061315,0.0187625035501,1.05970056046
+367,6.116666667,pose2_to_pose3_retreat,0.576953647885,0.0100907439185,1.06003235022,0.547524100176,0.0187624859174,1.05970048168
+368,6.133333333,pose2_to_pose3_retreat,0.576765637004,0.0100907260127,1.06003234282,0.547336089524,0.0187624690703,1.05970048169
+369,6.150000000,pose2_to_pose3_retreat,0.576597504327,0.010090883094,1.06003243828,0.547167953716,0.0187626155124,1.05970057699
+370,6.166666667,pose2_to_pose3_retreat,0.576447721291,0.0100909730558,1.06003248015,0.547018170476,0.0187627044466,1.05970061017
+371,6.183333333,pose2_to_pose3_retreat,0.576316726961,0.0100906454369,1.0600326256,0.546887179513,0.0187623879619,1.05970074789
+372,6.200000000,pose2_to_pose3_retreat,0.576202285975,0.0100908290847,1.06003251494,0.546772737362,0.018762567751,1.05970063965
+373,6.216666667,pose2_to_pose3_retreat,0.576104015344,0.0100908468861,1.06003230141,0.546674466603,0.0187625852546,1.05970043048
+374,6.233333333,pose2_to_pose3_retreat,0.576018369302,0.0100908056152,1.06003230313,0.546588820677,0.0187625444923,1.05970043529
+375,6.250000000,pose2_to_pose3_retreat,0.575944323645,0.0100907493199,1.06003220309,0.546514775598,0.0187624902418,1.05970033737
+376,6.266666667,pose2_to_pose3_retreat,0.575881215032,0.0100906801002,1.06003227108,0.546451668245,0.0187624253182,1.05970040577
+377,6.283333333,pose2_to_pose3_retreat,0.575828346836,0.010090746608,1.06003238547,0.546398799192,0.0187624886225,1.05970051249
+378,6.300000000,pose2_to_pose3_retreat,0.575786193887,0.0100909064929,1.06003234648,0.546356644061,0.0187626409104,1.05970046838
+379,6.316666667,pose2_to_pose3_retreat,0.575753046109,0.0100909141025,1.06003246462,0.546323496947,0.0187626511889,1.05970059741
+380,6.333333333,pose2_to_pose3_retreat,0.575728312554,0.0100909253548,1.06003246782,0.546298762942,0.0187626608523,1.05970059906
+381,6.350000000,pose2_to_pose3_retreat,0.575709406489,0.0100907161265,1.06003233846,0.546279858464,0.0187624573124,1.05970047774
+382,6.366666667,pose2_to_pose3_retreat,0.57569541285,0.010090710985,1.06003240731,0.546265864846,0.0187624520935,1.05970054276
+383,6.383333333,pose2_to_pose3_retreat,0.575684947735,0.0100907386424,1.06003241176,0.546255399087,0.0187624774304,1.05970054371
+384,6.400000000,pose2_to_pose3_retreat,0.57567751375,0.0100907385592,1.06003235663,0.546247964814,0.0187624763482,1.0597004878
+385,6.416666667,pose2_to_pose3_retreat,0.575673187928,0.0100906931245,1.06003244586,0.546243640936,0.018762437455,1.05970057559
+386,6.433333333,pose2_to_pose3_retreat,0.575670491372,0.010090674102,1.06003241769,0.546240944166,0.0187624176347,1.05970054549
+387,6.450000000,pose2_to_pose3_retreat,0.575669109413,0.0100906714482,1.06003233931,0.54623956101,0.0187624108523,1.05970046536
+388,6.466666667,pose2_to_pose3_retreat,0.575668171285,0.0100906696467,1.06003228611,0.54623862207,0.0187624062482,1.05970041096
+389,6.483333333,pose2_to_pose3_retreat,0.575667519804,0.0100906683957,1.06003224916,0.546237970025,0.0187624030509,1.05970037318
+390,6.500000000,pose2_to_pose3_retreat,0.575667179763,0.0100906889188,1.0600322627,0.546237630078,0.0187624239107,1.05970038711
+391,6.516666667,pose2_to_pose3_retreat,0.575666958107,0.0100907048335,1.06003227545,0.546237408531,0.0187624402067,1.05970040023
+392,6.533333333,pose2_to_pose3_retreat,0.57566676355,0.0100907188024,1.06003228664,0.546237214069,0.0187624545104,1.05970041174
+393,6.550000000,pose2_to_pose3_retreat,0.575666740188,0.0100907204797,1.06003228798,0.546237190718,0.018762456228,1.05970041312
+394,6.566666667,pose2_to_pose3_retreat,0.575666690202,0.0100907240687,1.06003229086,0.546237140757,0.0187624599029,1.05970041608
+395,6.583333333,pose2_to_pose3_retreat,0.575666689839,0.0100907240948,1.06003229088,0.546237140394,0.0187624599297,1.0597004161
+396,6.600000000,pose2_to_pose3_retreat,0.575666655254,0.0100907265779,1.06003229287,0.546237105826,0.0187624624723,1.05970041814
+397,6.616666667,pose2_to_pose3_retreat,0.575666578926,0.0100907320581,1.06003229726,0.546237029535,0.0187624680839,1.05970042266
+398,6.633333333,pose2_to_pose3_retreat,0.575666354488,0.0100907481725,1.06003231017,0.546236805206,0.0187624845845,1.05970043594
+399,6.650000000,pose2_to_pose3_retreat,0.575665965007,0.0100907761367,1.06003233257,0.546236415916,0.0187625132189,1.05970045898
+400,6.666666667,pose2_to_pose3_retreat,0.575665705098,0.0100907947978,1.06003234752,0.546236156134,0.0187625323273,1.05970047436
+401,6.683333333,pose2_to_pose3_retreat,0.57566555339,0.0100908056903,1.06003235625,0.5462360045,0.0187625434808,1.05970048333
+402,6.700000000,pose2_to_pose3_retreat,0.575665553336,0.0100908056942,1.06003235625,0.546236004445,0.0187625434848,1.05970048334
+403,6.716666667,pose2_to_pose3_retreat,0.575665408647,0.0100908182325,1.06003236296,0.5462358597,0.0187625558364,1.05970049024
+404,6.733333333,pose2_to_pose3_retreat,0.57566523595,0.0100908427973,1.06003236373,0.546235686363,0.0187625782334,1.0597004911
+405,6.750000000,pose2_to_pose3_retreat,0.575665032499,0.0100908717367,1.06003236463,0.546235482158,0.0187626046188,1.05970049211
+406,6.766666667,pose2_to_pose3_retreat,0.575664832021,0.0100909002532,1.06003236553,0.546235280937,0.0187626306186,1.05970049311
+407,6.783333333,pose2_to_pose3_retreat,0.575664786976,0.0100909066605,1.06003236573,0.546235235725,0.0187626364605,1.05970049333
+408,6.800000000,pose2_to_pose3_retreat,0.575664769537,0.010090909141,1.06003236581,0.546235218222,0.018762638722,1.05970049342
+409,6.816666667,pose2_to_pose3_retreat,0.575664734125,0.0100909141782,1.06003236596,0.546235182678,0.0187626433147,1.0597004936
+410,6.833333333,pose2_to_pose3_retreat,0.575664627766,0.0100909202815,1.0600323614,0.546235076138,0.0187626488067,1.05970048914
+411,6.850000000,pose2_to_pose3_retreat,0.575664495411,0.0100908300011,1.06003230106,0.546234945864,0.018762565615,1.05970042951
+412,6.866666667,pose2_to_pose3_retreat,0.575664359059,0.0100907432904,1.06003223214,0.546234811363,0.0187624852218,1.0597003615
+413,6.883333333,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f4221a2ae03d5dd454d5fa31b382c66c8345bcb
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5494e6e00827f7e0b54e11a15ef1fe764982b882c913a165b8b1413992a4d375
+size 26334825
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1444253f94bd6d991165f695626f1720a27a6ff
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,680,665,635,880,788,804,653,632,653,0.400983100245,0.00449224985301,0.0698358669168,0.999999965329,3.00915511576e-05,-0.000260780512782,2.07158509841e-05,1793239755151739136
+1,0.016666667,BASELINE,766,745.572223306,715,680,664.427776694,635,879.427776694,787.427776694,804,653,631.427776694,652.427776694,0.400984095384,0.00449130001441,0.0698372176591,0.999999966042,2.91059136313e-05,-0.000258123647907,2.09853309747e-05,1793239755168405248
+2,0.033333333,BASELINE,766,745.85074403,715,680,664.14925597,635,879,787,804,653,631.14925597,652.14925597,0.400984674327,0.00449071546772,0.0698381588032,0.999999966486,2.78968294065e-05,-0.000256516645011,2.11796857587e-05,1793239755185071616
+3,0.050000000,BASELINE,766,745.259468378,715,680,664.740531622,635,879,787,804,653,631.740531622,652.740531622,0.400984020707,0.00449121272817,0.0698378869278,0.999999966151,2.60260103546e-05,-0.000258018794558,2.11515582503e-05,1793239755201737984
+4,0.066666667,BASELINE,766,745.325111144,715,680,664.674888856,635,879,787,803.674888856,653,632,653,0.4009837123,0.00449132847441,0.0698377565973,0.999999965985,2.60348086845e-05,-0.000258668978966,2.10554346388e-05,1793239755218404864
+5,0.083333333,BASELINE,766,745.904454355,715,680,664.095545645,635,879,787,803.095545645,653,632,653,0.400983673844,0.00449114588218,0.0698377369528,0.999999965952,2.75134398987e-05,-0.000258652939244,2.09061390901e-05,1793239755235071488
+6,0.100000000,BASELINE,766,746,715,680,664.48082343,635.48082343,879,787.48082343,803,652.51917657,631.51917657,653,0.400983092667,0.0044904341518,0.0698374713816,0.999999965817,2.71967194272e-05,-0.000259202397574,2.10002164748e-05,1793239755251738112
+7,0.116666667,BASELINE,766,745.942255634,715,680,664.942255634,635.942255634,879.057744366,787.942255634,803.057744366,652,631,653,0.400982606812,0.00448960445352,0.0698372495706,0.999999965716,2.63833054958e-05,-0.000259666045771,2.11280791934e-05,1793239755268404480
+8,0.133333333,BASELINE,766,745.354885801,715,680,664.354885801,635.354885801,879.645114199,787.354885801,803.645114199,652,631,653,0.400983978304,0.00448865122899,0.069837874586,0.999999966118,2.42663103786e-05,-0.000258318327631,2.11249798625e-05,1793239755285071104
+9,0.150000000,BASELINE,766,745.229342149,715,680,664.229342149,635,879.770657851,787,804,652.229342149,631.229342149,653,0.400984297432,0.00448892820339,0.0698378831128,0.999999966224,2.42407615954e-05,-0.000257918354165,2.10546204408e-05,1793239755301737472
+10,0.166666667,BASELINE,766,745.808773977,715,680,664.808773977,635,879.191226023,787,804,652.808773977,631.808773977,653,0.400983010131,0.00449108307056,0.0698369505727,0.999999965875,2.74077956953e-05,-0.000258965108473,2.08815888167e-05,1793239755318404096
+11,0.183333333,BASELINE,766,746,715,680,664.611645282,635,879,787,803.611645282,653,631.611645282,653,0.400982611442,0.00449191347001,0.0698369785226,0.999999965763,2.79417902712e-05,-0.000259355467843,2.06918860127e-05,1793239755335070720
+12,0.200000000,BASELINE,766,746,715,680,664.031991135,635,879,787,803.031991135,653,631.031991135,653,0.400982650473,0.00449209145085,0.0698374795997,0.999999965771,2.71787776976e-05,-0.0002594224941,2.04939711464e-05,1793239755351737344
+13,0.216666667,BASELINE,766,746,715,680,664.540332452,635,879,787,803.540332452,652.459667548,631,653,0.400983698983,0.00449149896522,0.0698383299866,0.999999966138,2.66216625032e-05,-0.000258036046576,2.08020050148e-05,1793239755368404480
+14,0.233333333,BASELINE,766,745.887648798,715,680,664.887648798,635,879,787.112351202,804,652,631.112351202,653,0.400984518859,0.00449087856934,0.0698387825984,0.999999966382,2.63472869509e-05,-0.000257093049641,2.10788860797e-05,1793239755385071104
+15,0.250000000,BASELINE,766,745.315124567,715,680,664.315124567,635,879,787.684875433,804,652,631.684875433,653,0.40098416077,0.00449032819459,0.0698375224125,0.999999966045,2.71817069498e-05,-0.000258314106595,2.11071198276e-05,1793239755401737728
+16,0.266666667,BASELINE,766,745.268969959,715,680,664,635,879.268969959,787.731030041,803.731030041,652.268969959,631.731030041,653,0.40098351033,0.00449038080901,0.0698364769566,0.999999965687,2.81544563879e-05,-0.000259585836677,2.11971509499e-05,1793239755418404352
+17,0.283333333,BASELINE,766,745.867229519,715,680,664,635,879.867229519,787.132770481,803.132770481,652.867229519,631.132770481,653,0.400982501976,0.00449117163996,0.0698356943867,0.999999965303,2.92965572013e-05,-0.000260919603855,2.13628382248e-05,1793239755435070976
+18,0.300000000,BASELINE,766,746,715,680,664,635.448516338,879.551483662,787.448516338,803.448516338,653,631,653,0.400983505721,0.00449230987494,0.0698367389508,0.999999965696,2.86102905154e-05,-0.000259521891988,2.09484061731e-05,1793239755451737856
+19,0.316666667,BASELINE,766,745.975217515,715,680,664,635.975217515,879,788,804,653,631,653,0.400984933377,0.00449341937308,0.0698381903897,0.999999966263,2.74165948142e-05,-0.000257499875508,2.04133239624e-05,1793239755468404224
+20,0.333333333,BASELINE,766,745.402918437,715,680,664,635.402918437,879,788,804,653,631,653,0.400983047185,0.004491704823,0.069837117169,0.999999965916,2.65337995518e-05,-0.000258897604233,2.08683578187e-05,1793239755485071104
+21,0.350000000,BASELINE,766,745.175657078,715,680,664,635,879,787.824342922,803.824342922,653,631,653,0.400981890378,0.00449079142518,0.0698365753227,0.9999999657,2.58613125498e-05,-0.000259784809229,2.10678129305e-05,1793239755501737984
+22,0.366666667,BASELINE,766,745.769162743,715,680,664,635,879,787.230837257,803.230837257,653,631,653,0.400982468612,0.00449178378819,0.0698372974967,0.999999965798,2.56891016087e-05,-0.000259457593176,2.06593037677e-05,1793239755518404608
+23,0.383333333,BASELINE,766,746,714.648315445,679.648315445,664,635.351684555,879,787.351684555,803,653,631.351684555,653,0.400982997731,0.00449180207018,0.0698380861977,0.99999996598,2.7145915203e-05,-0.000258599731133,2.07347321099e-05,1793239755535071232
+24,0.400000000,BASELINE,766,746,714.072784763,679.072784763,664,635.927215237,879,787.927215237,803,653,631.927215237,653,0.400983495588,0.00449120035272,0.069838917243,0.999999966209,2.96395978433e-05,-0.00025740411453,2.11181851324e-05,1793239755551737856
+25,0.416666667,BASELINE,766,746,714,679,664,635.49686535,879.50313465,788,803.50313465,653,632,653,0.400983422761,0.0044907938016,0.0698381779485,0.999999966246,2.7414736399e-05,-0.000257514685362,2.10171906206e-05,1793239755568404736
+26,0.433333333,BASELINE,766,746,714.080650464,679.080650464,664.080650464,635,879.919349536,787.919349536,804,653,631.919349536,653,0.4009833927,0.00449060499361,0.0698374813949,0.999999966263,2.50921707254e-05,-0.000257698840968,2.08564931422e-05,1793239755585071104
+27,0.450000000,BASELINE,766,746,714.66783953,679.66783953,664.66783953,635,879.33216047,787.33216047,804,653,631.33216047,653,0.400984150159,0.00449160629649,0.0698384811604,0.99999996637,2.64464335087e-05,-0.000257157468092,2.0761319623e-05,1793239755601737728
+28,0.466666667,BASELINE,766,745.74754312,715,680,664.74754312,635,879.25245688,787,803.74754312,652.74754312,631,653,0.400985004465,0.00449213124838,0.0698393167606,0.99999996654,2.73475319292e-05,-0.000256404328721,2.07305072233e-05,1793239755618404352
+29,0.483333333,BASELINE,766,745.166275322,715,680,664.166275322,635,879.833724678,787,803.166275322,652.166275322,631,653,0.400985984908,0.00449203577977,0.0698399385446,0.999999966793,2.76584091164e-05,-0.000255375375403,2.07835215754e-05,1793239755635071232
+30,0.500000000,BASELINE,766,745.41117733,715,680,664,635,879.58882267,787,803.41117733,652.41117733,631,653,0.400985429676,0.0044912535209,0.0698392608136,0.999999966555,2.79658025877e-05,-0.000256271099182,2.08306077716e-05,1793239755651737856
+31,0.516666667,BASELINE,766,745.987101352,715,680,664,635,879.012898648,787,803.987101352,652.987101352,631,653,0.400984259145,0.00449019608533,0.069838062405,0.999999966116,2.82718002289e-05,-0.000257937984624,2.08753187283e-05,1793239755668404480
+32,0.533333333,BASELINE,766,746,715,680,664.560759321,635,880.121518643,787,804,652.439240679,631.560759321,652.439240679,0.400983777821,0.00449107779033,0.0698382933537,0.999999966128,2.80894266031e-05,-0.000257926617834,2.07112654082e-05,1793239755685071104
+33,0.550000000,BASELINE,766,746,715,679.861647063,664.861647063,635,880.723294127,787.138352937,803.861647063,652.138352937,631.861647063,652.138352937,0.400983438211,0.00449160919399,0.0698384957636,0.999999966199,2.82629811843e-05,-0.000257640356913,2.06279206222e-05,1793239755701737728
+34,0.566666667,BASELINE,766,746,715,679.271018224,664.271018224,635,879.542036448,787.728981776,803.271018224,652.728981776,631.271018224,652.728981776,0.400983510253,0.00449085023727,0.069838497834,0.999999966427,2.96366402588e-05,-0.000256581153245,2.08240467823e-05,1793239755718404608
+35,0.583333333,BASELINE,766,746,715,679.313681717,664,635,879,788,803.313681717,652.686318283,631,653,0.400984501087,0.00449091721488,0.0698390381827,0.999999966758,2.91921714397e-05,-0.000255338765234,2.08235805118e-05,1793239755735071232
+36,0.600000000,BASELINE,766,746,715,679.89335423,664,635,879,788,803.89335423,652.10664577,631,653,0.400986271023,0.00449168455498,0.069840034972,0.999999967174,2.72059958117e-05,-0.000253941043382,2.06564109635e-05,1793239755751737856
+37,0.616666667,BASELINE,765.531453445,746,715,680,664,635,879,787.531453445,804,652,631,652.531453445,0.400985690932,0.00449150686013,0.069839680195,0.999999966921,2.61496095576e-05,-0.000255044442246,2.06307167652e-05,1793239755768404480
+38,0.633333333,BASELINE,765,745.956221109,715,680,664,635,879.043778891,787,803.956221109,652.043778891,631,652.043778891,0.400984556637,0.00449117592896,0.0698390211915,0.999999966515,2.54729975465e-05,-0.000256700271625,2.06368941612e-05,1793239755785071104
+39,0.650000000,BASELINE,765,745.367927514,715,680,664,635,879.632072486,787,803.367927514,652.632072486,631,652.632072486,0.400983119086,0.00449158909837,0.0698383682744,0.999999966088,2.69126767394e-05,-0.000258213600177,2.06427657315e-05,1793239755801737728
+40,0.666666667,BASELINE,765,745.217050156,715,680,664,635,879.782949844,787,803.217050156,653,631.217050156,653,0.400982549031,0.00449148391248,0.0698378930626,0.999999965879,2.73152823082e-05,-0.00025897659927,2.0667535068e-05,1793239755818404352
+41,0.683333333,BASELINE,765,745.796491457,715,680,664,635,879.203508543,787,803.796491457,653,631.796491457,653,0.400983427366,0.00449051327049,0.0698377145508,0.99999996604,2.5986369577e-05,-0.000258486833677,2.07238564807e-05,1793239755835070976
+42,0.700000000,BASELINE,765.37490296,746,715,680,664,635,879,787,803.62509704,653,631.62509704,653,0.400984014832,0.00449055382605,0.0698383643699,0.999999966325,2.67700722584e-05,-0.000257302752391,2.0718702352e-05,1793239755851737856
+43,0.716666667,BASELINE,765.952756969,746,715,680,664,635,879,787,803.047243031,653,631.047243031,653,0.400984444839,0.00449114178625,0.0698394626002,0.999999966672,2.86974243041e-05,-0.000255742808261,2.06802688746e-05,1793239755868404480
+44,0.733333333,BASELINE,766,745.473329814,715,680,664,635.526670186,879,787.526670186,803,652.473329814,631,652.473329814,0.400985264647,0.0044920587804,0.0698394112083,0.999999966622,2.92571101861e-05,-0.000255899328385,2.04010132802e-05,1793239755885071104
+45,0.750000000,BASELINE,766,745,714.896781398,680,664.103218602,635.896781398,879,787.896781398,803,652.103218602,631,652.103218602,0.400985705389,0.00449262003141,0.0698392058403,0.999999966512,2.91265336705e-05,-0.000256357315213,2.02047293987e-05,1793239755901737728
+46,0.766666667,BASELINE,766,745,714.306132004,680,664.693867996,635.306132004,879,787.306132004,803,652.693867996,631,652.693867996,0.400984192173,0.00449136300786,0.0698387567098,0.999999966286,2.63113583774e-05,-0.000257517231822,2.05015183686e-05,1793239755918404608
+47,0.783333333,BASELINE,766,745,714.279032085,680,664.720967915,635,879,787,803.279032085,652.720967915,631,653,0.400983718491,0.00449126392575,0.0698390364718,0.999999966296,2.61433831563e-05,-0.000257487432712,2.06253878967e-05,1793239755935071232
+48,0.800000000,BASELINE,766,745,714.858294225,680,664.141705775,635,879,787,803.858294225,652.141705775,631,653,0.400984363315,0.00449241075334,0.0698401004999,0.99999996656,2.88237145224e-05,-0.00025617753574,2.05632013903e-05,1793239755951737856
+49,0.816666667,BASELINE,766,745,715,680,664.434599281,635,879,787,803.565400719,652,631,653,0.400985319307,0.00449264294725,0.0698402410448,0.9999999667,2.97405865445e-05,-0.000255519159226,2.06318324425e-05,1793239755968404480
+50,0.833333333,BASELINE,766,745,715,680,664.990073902,635,879,787,803,652.009926098,631,653,0.400986358457,0.0044925781366,0.0698400816521,0.999999966801,3.00569050048e-05,-0.00025507620102,2.07431529136e-05,1793239755985071360
+51,0.850000000,BASELINE,766,745,715,680,664.415914064,635,879,787,803,652.584085936,631,653,0.400986396258,0.00449246819905,0.0698398733243,0.999999966887,2.86994932731e-05,-0.000254884416797,2.08728462587e-05,1793239756001737984
+52,0.866666667,BASELINE,765.837355995,745,715,680,664,635,879,787,803,653,631,653,0.400986536257,0.0044921920535,0.0698399024583,0.999999966982,2.75608684066e-05,-0.000254628871396,2.09718246345e-05,1793239756018404608
+53,0.883333333,BASELINE,765.247238187,745,715,680,664,635,879,787,803,653,631,653,0.400986944861,0.00449147906699,0.0698405557082,0.999999967105,2.6997276522e-05,-0.000254205743853,2.09900754975e-05,1793239756035071232
+54,0.900000000,BASELINE,765.337218547,745.337218547,715,679.662781453,664,635,879.337218547,787.337218547,803,653,631,653,0.400985958025,0.00449152743719,0.0698402634727,0.999999966874,2.74715460788e-05,-0.000255063923333,2.09454398503e-05,1793239756051737856
+55,0.916666667,BASELINE,765.917593258,745.917593258,715,679.082406742,664,635,879.917593258,787.917593258,803,653,631,653,0.400983964988,0.00449212479435,0.0698392894815,0.999999966386,2.86941802098e-05,-0.000256846007231,2.08554590018e-05,1793239756068404480
+56,0.933333333,BASELINE,766,746,714.50611479,679.49388521,664,635.49388521,879.50611479,787.50611479,803,652.50611479,631,653,0.400985292178,0.00449140569348,0.0698397495976,0.999999966705,2.7079361912e-05,-0.00025579789035,2.06043987032e-05,1793239756085071104
+57,0.950000000,BASELINE,766,745.929237019,714.070762981,680,664,635.929237019,879.070762981,787,803,652.070762981,631,653,0.400986767144,0.00449058537845,0.0698403059578,0.999999967055,2.53749260559e-05,-0.000254618736833,2.03794050746e-05,1793239756101737728
+58,0.966666667,BASELINE,766,745.343173527,714.656826473,680,664,635.343173527,879.656826473,787,803,652.656826473,631,653,0.400985317098,0.00449061445285,0.0698398349602,0.999999966698,2.64372469991e-05,-0.000255895984655,2.05383443152e-05,1793239756118404352
+59,0.983333333,BASELINE,766,745.240175793,714.759824207,680,664,635,879.759824207,787,803.240175793,652.759824207,631,653,0.400984679333,0.00449078036217,0.0698395862626,0.99999996658,2.70720989823e-05,-0.000256282987659,2.06400741046e-05,1793239756135070976
+60,1.000000000,BASELINE,766,745.819690406,714.180309594,680,664,635,879.180309594,787,803.819690406,652.180309594,631,653,0.400985189222,0.00449113960241,0.0698396516476,0.999999966802,2.71029901183e-05,-0.000255412184544,2.06609740073e-05,1793239756151737600
+61,1.016666667,BASELINE,766,746,714.397612231,680,664,635,879.397612231,787.397612231,804,652,631.397612231,653,0.400984379956,0.00449066812511,0.0698390068641,0.999999966528,2.67071047617e-05,-0.000256512936588,2.07912942285e-05,1793239756168404224
+62,1.033333333,BASELINE,766,746,714.974814605,680,664,635,879.974814605,787.974814605,804,652,631.974814605,653,0.400982974865,0.00448982143628,0.0698380413176,0.999999966027,2.61184565938e-05,-0.000258504184101,2.09710364957e-05,1793239756185071104
+63,1.050000000,BASELINE,766,746,715,680,664.549932139,635.549932139,879.450067861,788,804,652.549932139,632,653,0.400983715585,0.00449009311427,0.0698389469124,0.999999966424,2.4387936671e-05,-0.000257152147715,2.07434783445e-05,1793239756201737984
+64,1.066666667,BASELINE,766,745.87189354,714.87189354,680,664.87189354,635.87189354,879.12810646,787.87189354,804,653,631.87189354,653,0.400984232904,0.00448997220058,0.069839663381,0.999999966724,2.29777643598e-05,-0.000256123081203,2.06098194689e-05,1793239756218404352
+65,1.083333333,BASELINE,766,745.282366554,714.282366554,680,664.282366554,635.282366554,879.717633446,787.282366554,804,653,631.282366554,653,0.40098359294,0.00448825344621,0.0698393911565,0.999999966545,2.29090829765e-05,-0.000256806713137,2.0881304418e-05,1793239756235070976
+66,1.100000000,BASELINE,766,745,714.301864639,680,664,635.301864639,879.698135361,787,804,653,631,653,0.400983654035,0.00448888602029,0.06983944164,0.999999966527,2.43094841985e-05,-0.000256749738458,2.08339194303e-05,1793239756251737600
+67,1.116666667,BASELINE,766,745,714.88122748,680,664,635.88122748,879.11877252,787,804,653,631,653,0.400984359598,0.00449168012429,0.0698397887823,0.999999966653,2.70603840573e-05,-0.000256011938706,2.04934035901e-05,1793239756268404224
+68,1.133333333,BASELINE,766,745,715,680.457109958,664.457109958,635.542890042,879.457109958,787.457109958,803.542890042,652.542890042,631.457109958,653,0.400984389952,0.00449102079943,0.0698389559275,0.999999966615,2.67129852613e-05,-0.000256195141164,2.05145334538e-05,1793239756285071104
+69,1.150000000,BASELINE,765.967199693,745.032800307,715,680.967199693,664.967199693,635,880,787.967199693,803.032800307,652.032800307,631.967199693,652.967199693,0.400984239628,0.00448953617887,0.0698379364953,0.999999966535,2.56661269561e-05,-0.000256604883054,2.0638996336e-05,1793239756301737984
+70,1.166666667,BASELINE,765.379578955,745.620421045,715,680.379578955,664.379578955,635,880,787.379578955,803.620421045,652.620421045,631.379578955,652.379578955,0.400983978309,0.00448915511314,0.0698389081209,0.999999966454,2.63023122437e-05,-0.000256829241739,2.09338848954e-05,1793239756318404608
+71,1.183333333,BASELINE,765.205725854,745.794274146,715,680,664,635.205725854,880,787,804,653,631,652,0.400984095543,0.00448919413921,0.0698397569741,0.999999966585,2.66669178787e-05,-0.000256268236613,2.11162868472e-05,1793239756335071232
+72,1.200000000,BASELINE,765.786805276,745.213194724,715,680,664,635.786805276,880,787,804,653,631,652,0.40098490346,0.00448999963646,0.0698403818251,0.999999967098,2.65360176387e-05,-0.000254274309495,2.10934533445e-05,1793239756351737856
+73,1.216666667,BASELINE,766,745,715,680,664.364951334,635.635048666,879.635048666,787,804,653,631.364951334,652,0.400985262085,0.00449048578419,0.0698404875655,0.999999967114,2.69489225979e-05,-0.000254190086814,2.08189060484e-05,1793239756368404480
+74,1.233333333,BASELINE,766,745,715,680,664.941397427,635.058602573,879.058602573,787,804,653,631.941397427,652,0.400985360338,0.00449078686406,0.0698402924734,0.999999966842,2.76769708169e-05,-0.000255212566554,2.03984868433e-05,1793239756385071104
+75,1.250000000,BASELINE,766,745.515702677,715,680,664.484297323,635,879,787,804,653,631.484297323,652,0.400985758789,0.0044898540826,0.0698404284076,0.999999967089,2.63508601647e-05,-0.00025437752681,2.04919459459e-05,1793239756401737728
+76,1.266666667,BASELINE,766,746,715,680.09208529,664.09208529,635.09208529,879,787,803.90791471,652.90791471,631.09208529,652.09208529,0.400986070547,0.00448924421318,0.0698404059852,0.999999967302,2.53174987274e-05,-0.000253639768094,2.05504191066e-05,1793239756418404352
+77,1.283333333,BASELINE,766,746,715,680.68098262,664.68098262,635.68098262,879,787,803.31901738,652.31901738,631.68098262,652.68098262,0.400985731303,0.00449112982779,0.0698393271002,0.99999996703,2.71177202631e-05,-0.000254560958391,2.0106391088e-05,1793239756435070976
+78,1.300000000,BASELINE,766,746,715,680.734347101,665,635.734347101,879,787.265652899,803.265652899,652.265652899,632,653,0.400985308589,0.0044924730305,0.0698389552122,0.999999966887,2.89621618788e-05,-0.000254929756396,1.99592041511e-05,1793239756451737856
+79,1.316666667,BASELINE,766,746,715,680.15467354,665,635.15467354,879,787.84532646,803.84532646,652.84532646,632,653,0.400984787205,0.00449317506353,0.0698394190449,0.999999966898,3.08588746536e-05,-0.00025464558727,2.01629045639e-05,1793239756468404480
+80,1.333333333,BASELINE,766,746,715,680,664.576684027,635,879,788,803.576684027,652.576684027,631.576684027,653,0.400984124005,0.00449211465876,0.0698390381275,0.999999966515,2.90053653994e-05,-0.000256348652476,2.03615069876e-05,1793239756485070848
+81,1.350000000,BASELINE,765.999298159,746,715,680,664,635,879.000701841,787.999298159,803,652.000701841,631,653,0.40098341057,0.00449041403801,0.0698383515269,0.999999965975,2.57898495114e-05,-0.00025877009762,2.05579321846e-05,1793239756501737472
+82,1.366666667,BASELINE,765.414255322,746,715,680,664,635,879.585744678,787.414255322,803,652.585744678,631,653,0.400983843551,0.00448971398532,0.0698391247365,0.999999966415,2.49396132486e-05,-0.000257153684524,2.04863553684e-05,1793239756518404352
+83,1.383333333,BASELINE,765.169217405,745.830782595,715,680,664,635,879.830782595,787,803,652.830782595,631,653,0.40098476157,0.00448915785722,0.0698399598254,0.999999966885,2.430350842e-05,-0.000255381755241,2.04671124505e-05,1793239756535070976
+84,1.400000000,BASELINE,765.748881853,745.251118147,715,680,664,635,879.251118147,787,803,652.251118147,631,653,0.400986856083,0.00448895082674,0.0698409450063,0.999999967432,2.41867921548e-05,-0.000253232611715,2.05748085519e-05,1793239756551737600
+85,1.416666667,BASELINE,766,745.327218616,715,680,664,635,879,787,803.327218616,652,631.327218616,653,0.400986986737,0.00449006743525,0.0698408279073,0.999999967464,2.57618983074e-05,-0.000252971489679,2.03170288243e-05,1793239756568404224
+86,1.433333333,BASELINE,766,745.904540553,715,680,664,635,879,787,803.904540553,652,631.904540553,653,0.400985616353,0.00449219574204,0.0698398683016,0.999999967098,2.86301167265e-05,-0.000254153441058,1.97799045973e-05,1793239756585071104
+87,1.450000000,BASELINE,766,745.520473341,715,680,664,635,879,787,804,652,631.520473341,653,0.400985998526,0.00449239543147,0.0698402603386,0.999999967179,2.97873703229e-05,-0.000253651562403,2.03616736555e-05,1793239756601737728
+88,1.466666667,BASELINE,766,745,715,680,664,635,879,787.055243281,804,652,631.055243281,653,0.400986490408,0.00449217177951,0.0698407733402,0.999999967302,3.04041536168e-05,-0.000253037333191,2.10701740768e-05,1793239756618404608
+89,1.483333333,BASELINE,766,745,715,680,664,635,879,787.642450352,804,652,631.642450352,653,0.400984695463,0.00449155069676,0.0698398727092,0.999999966961,2.90804115396e-05,-0.000254553383257,2.08645756979e-05,1793239756635071232
+90,1.500000000,BASELINE,766,745,715,680,664,635,879,787.772140941,803.772140941,652,632,653,0.400984036799,0.00449121645306,0.0698394219171,0.999999966805,2.84268302582e-05,-0.000255250801721,2.06886332171e-05,1793239756651737856
+91,1.516666667,BASELINE,766,745,715,680,664,635,879,787.189532128,803.189532128,652,632,653,0.400985147194,0.00449132878408,0.0698396714715,0.999999966944,2.88166106309e-05,-0.000254673706933,2.05588615006e-05,1793239756668404480
+92,1.533333333,BASELINE,766,745.387967627,715,679.612032373,664,635.387967627,879,787,803.387967627,652.387967627,632,652.612032373,0.400984793517,0.00449137056823,0.0698396246963,0.999999966909,2.87001889127e-05,-0.000254823330561,2.05830739567e-05,1793239756685071104
+93,1.550000000,BASELINE,766,745.963003968,715,679.036996032,664,635.963003968,879,787,803.963003968,652.963003968,632,652.036996032,0.400983733899,0.00449137833636,0.0698394350379,0.99999996679,2.83396886833e-05,-0.000255323360383,2.06815338877e-05,1793239756701737984
+94,1.566666667,BASELINE,766.547522775,746,715,679.547522775,664.547522775,635.452477225,879,787,803.452477225,653,631.452477225,652.547522775,0.400984457599,0.00449003462586,0.0698387975487,0.99999996674,2.73430717182e-05,-0.000255614247575,2.08087879028e-05,1793239756718404352
+95,1.583333333,BASELINE,766.737311685,746,715,679.868655843,664.868655843,635,879,787,803.131344157,653,631,653,0.40098510117,0.00448907931273,0.0698384439554,0.999999966742,2.63826078983e-05,-0.000255710916691,2.0791172528e-05,1793239756735071232
+96,1.600000000,BASELINE,765.578871674,746,715,679.289435837,664.289435837,635,879,787,803.710564163,653,631,653,0.400985053374,0.00448976529255,0.0698391634335,0.999999966902,2.56945741682e-05,-0.000255194351341,2.02728097443e-05,1793239756751737856
+97,1.616666667,BASELINE,765.290082645,745.709917355,715,679,664,635,879,787,804,653,631,653,0.4009844959,0.00449060890424,0.0698391441836,0.999999966725,2.70632720214e-05,-0.000255748136102,2.0238831298e-05,1793239756768404480
+98,1.633333333,BASELINE,765.869899211,745.130100789,715,679,664,635,879,787,804,653,631,653,0.400983429361,0.00449160995825,0.0698383870937,0.999999966201,3.04862289849e-05,-0.000257370984275,2.0688654914e-05,1793239756785071104
+99,1.650000000,BASELINE,766,745.445527027,715,679.445527027,664,635,879,787,803.554472973,653,631,653,0.400983171096,0.00449151080346,0.0698384005474,0.999999966272,3.03325743554e-05,-0.000257118383615,2.06234864721e-05,1793239756801737728
+100,1.666666667,BASELINE,766,746,715,680,664.020011275,635.020011275,879.020011275,787,803.020011275,653,631.020011275,652.979988725,0.40098315846,0.0044911141377,0.069838664198,0.999999966517,2.91357207253e-05,-0.000256321754876,2.04183185358e-05,1793239756818404096
+101,1.683333333,BASELINE,766,746,715,680,664.59639246,635.59639246,879.59639246,787,803.59639246,653,631.59639246,652.40360754,0.40098347385,0.00449129506347,0.0698396863625,0.999999966771,2.77025131409e-05,-0.000255484282994,2.04629709178e-05,1793239756835070720
+102,1.700000000,BASELINE,766,745.82257799,715,680,664.82257799,635.82257799,880,787,803.82257799,653,632,652.17742201,0.400984084082,0.00449163888895,0.069840429953,0.99999996701,2.7100203745e-05,-0.000254613037844,2.04568910762e-05,1793239756851737344
+103,1.716666667,BASELINE,766,745.230689717,715,680,664.230689717,635.230689717,880,787,803.230689717,653,632,652.769310283,0.400985383079,0.00449236325585,0.0698405227807,0.999999967216,2.84389122759e-05,-0.000253662896846,2.03322983392e-05,1793239756868404224
+104,1.733333333,BASELINE,766,745.351406756,714.648593244,679.648593244,664,635,879.648593244,787.351406756,803.351406756,653,631.648593244,653,0.400985305525,0.00449204654618,0.0698404575929,0.999999967214,2.86477553256e-05,-0.000253649126961,2.0352389359e-05,1793239756885071360
+105,1.750000000,BASELINE,766,745.927249472,714.072750528,679.072750528,664,635,879.072750528,787.927249472,803.927249472,653,631.072750528,653,0.400984348798,0.00449106492328,0.0698402914839,0.999999967077,2.81349776464e-05,-0.00025423339714,2.04648867803e-05,1793239756901739008
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,636,879,787,804,653,631,652,0.400983673757,0.00449145724769,0.0698404975528,0.999999967085,2.71288417401e-05,-0.000254311997034,2.04816259973e-05,1793239756932258048
+107,1.783333333,POSE1_TO_POSE2_PRESS,765.420231705,745.579768295,715,680,664.420231705,635.420231705,879,787,804,653,631,652.579768295,0.400985085311,0.00449191076306,0.0698408336093,0.999999967269,2.78950045765e-05,-0.000253526901877,2.02087439201e-05,1793239756948925440
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.158978211,745.841021789,714.841021789,680,664,635,879,787,803.841021789,652.841021789,631,653,0.400985725993,0.00449256228771,0.069840825147,0.999999967289,2.90688702302e-05,-0.000253321834791,2.01130940022e-05,1793239756965592832
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.736717443,745.263282557,714.263282557,680,664,635,879,787,803.263282557,652.263282557,631,653,0.400984336137,0.00449373538437,0.0698399091954,0.999999966878,3.13166571022e-05,-0.000254644606757,2.04842873696e-05,1793239756982259200
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,714,680,664,635,879.313332773,787,803.313332773,652.313332773,631,653,0.40098414965,0.0044936654867,0.069839866617,0.999999966923,3.08642948517e-05,-0.000254518901882,2.05265708767e-05,1793239756998925312
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,714,680,664,635,879.889007067,787,803.889007067,652.889007067,631,653,0.400984970697,0.00449255487745,0.0698405552803,0.999999967348,2.81512010907e-05,-0.000253180442783,2.02934707409e-05,1793239757015591424
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.465459242,714.465459242,680,664,635,879.534540758,787,804,653,631,653,0.400985034892,0.00449151639888,0.0698405528933,0.999999967346,2.64507719901e-05,-0.000253372264068,2.02770909438e-05,1793239757032257792
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.956984038,715,680,664,635,879,787.043015962,803.956984038,652.956984038,631,652.956984038,0.400984900925,0.00449055088102,0.0698403389409,0.999999967219,2.52113848224e-05,-0.000253994400926,2.03186520628e-05,1793239757048924416
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.367761279,715,680,664,635,879,787.632238721,803.367761279,652.367761279,631,652.367761279,0.400984546244,0.00449029303151,0.0698395345133,0.999999966809,2.6754824541e-05,-0.000255439297777,2.04386282155e-05,1793239757065591040
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787.782612791,803.217387209,652.217387209,631,652,0.400986243613,0.00449021338454,0.0698401450842,0.999999966939,2.78037628577e-05,-0.000254806837809,2.05495457044e-05,1793239757082258176
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787.204230138,803.795769862,652.795769862,631,652,0.400991348633,0.00449042966258,0.0698431054166,0.999999967963,2.8031526889e-05,-0.000250724697526,2.06454202708e-05,1793239757098925568
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787,804,653,631.371069994,652.371069994,0.401009159747,0.00448996882566,0.0698516683488,0.999999971384,2.7575654109e-05,-0.000236723593591,2.08036769361e-05,1793239757115592192
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787,804,653,631.944687593,652.944687593,0.40103390645,0.00448913838729,0.0698632894461,0.99999997581,2.67466199394e-05,-0.000217308248309,2.09959847127e-05,1793239757132258304
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.466436609,745,715,680,664,635,879,787,804,652.466436609,631.466436609,653,0.401079389624,0.00448941012115,0.0698801784019,0.999999981578,2.56379553784e-05,-0.000189093536701,2.07402596981e-05,1793239757148925184
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.121781365,745,715,680,664,635,879,787,804,652.121781365,631.121781365,653,0.401130113203,0.00448979274793,0.0698968065672,0.999999986217,2.44453253247e-05,-0.000162939050449,2.04541040345e-05,1793239757165592064
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.701404649,745,715,680,664,635,879,787,804,652.701404649,631.701404649,653,0.401192218634,0.00449015007869,0.069910340768,0.999999988569,2.30492138771e-05,-0.000148060449515,2.02332983126e-05,1793239757182258688
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787.279442385,803.720557615,652.720557615,631.720557615,653,0.401261707756,0.00449070103511,0.0699194002288,0.999999990316,2.25178777194e-05,-0.000135967042896,1.93336617609e-05,1793239757198925056
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787.855795426,803.144204574,652.144204574,631.144204574,653,0.401339042129,0.00449145772091,0.0699237052276,0.999999991538,2.29053750519e-05,-0.000126832937255,1.77127598868e-05,1793239757215591680
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.42991199,635,879,787.57008801,803,652,631,653,0.40142701885,0.00449197824145,0.0699243676437,0.999999991676,2.17847276561e-05,-0.000126208271868,1.56200787869e-05,1793239757232258304
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.996607572,635,879,787,803.003392428,652,631.003392428,652.996607572,0.401518657861,0.00449241053702,0.0699238003533,0.999999991458,2.01432036521e-05,-0.000128448786711,1.33713588373e-05,1793239757248925184
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.40398995,635,879,787,803.59601005,652,631.59601005,652.40398995,0.401629580147,0.00449120695881,0.0699207658266,0.999999990684,1.54412035305e-05,-0.000135143783424,1.13640926617e-05,1793239757265591808
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879.183835214,787,804,652,631.816164786,652,0.401754475228,0.00449002871083,0.0699207438119,0.999999990618,1.04344777381e-05,-0.000136277359358,9.13351886738e-06,1793239757282258432
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879.76139614,787,804,652,631.23860386,652,0.401909296272,0.00448890471355,0.0699271737903,0.999999992093,4.77511190663e-06,-0.000125499862992,6.42468031525e-06,1793239757298925312
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745,715,679.662758672,664,635,879.662758672,787,803.662758672,652.337241328,631.337241328,652,0.402082230294,0.00448739966219,0.069931494067,0.999999993161,-1.6221592957e-06,-0.000116901577462,3.1678086365e-06,1793239757315591936
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745,715,679.088121195,664,635,879.088121195,787,803.088121195,652.911878805,631.911878805,652,0.402267914699,0.00448562637322,0.0699343292505,0.999999993931,-8.53886887617e-06,-0.000109837314736,-4.74843302211e-07,1793239757332258304
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,679.497069416,664,635,879,787,803,652.502930584,632,652.497069416,0.402470283,0.00447952479956,0.0699352485282,0.999999993998,-2.15299351181e-05,-0.000107363057493,-3.81686833915e-06,1793239757348924928
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.082999746,715,679.917000254,664,635,879,787,803,652.082999746,631.917000254,653,0.402681754526,0.00447217072365,0.0699359349779,0.999999993765,-3.6151180003e-05,-0.000105417198119,-7.04894998628e-06,1793239757365591808
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.661929103,715,679.338070897,664,635,879,787,803,652.661929103,631.338070897,653,0.402929562489,0.00446201712339,0.0699373037461,0.999999993328,-5.39389160126e-05,-0.000101661036048,-9.9494656162e-06,1793239757382258176
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.759735051,715,679.240264949,664.240264949,635,879,787,803.240264949,652.759735051,631,653,0.403200901673,0.00445782646697,0.0699433620127,0.99999999384,-6.36739685913e-05,-8.98804082745e-05,-1.37054896226e-05,1793239757398924544
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.182232295,715,679.817767705,664.817767705,635,879,787,803.817767705,652.182232295,631,653,0.403505269452,0.00446200544691,0.0699560024967,0.999999995664,-6.21062091487e-05,-6.6836576404e-05,-1.86623118623e-05,1793239757415591168
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635,879.392322451,787,804,652.392322451,631,652.607677549,0.403828789216,0.0044649505596,0.0699633521313,0.999999996508,-5.83735818202e-05,-5.54920659856e-05,-2.23182977676e-05,1793239757432258304
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635,879.965518055,787,804,652.965518055,631,652.034481945,0.404161138646,0.00446732682005,0.0699682625152,0.999999997012,-5.36428814522e-05,-4.95413162591e-05,-2.53745565303e-05,1793239757448925440
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.44383336,745,714.44383336,680,665,635,879.44383336,787,803.44383336,653,631.55616664,652.55616664,0.404519320561,0.00447130317278,0.0699692117148,0.99999999837,-2.15147561124e-05,-4.83810406243e-05,-2.13777779534e-05,1793239757465592064
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.144605777,714.144605777,680,664.855394223,635,879,787,803,652.855394223,631.855394223,653,0.404890176296,0.00447628457763,0.0699705199639,0.999999998721,6.63343419543e-06,-4.63591346542e-05,-1.9113913147e-05,1793239757482258432
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.723064249,714.723064249,680,664.276935751,635,879,787,803,652.276935751,631.276935751,653,0.405294095667,0.00448397410308,0.0699736661526,0.999999998738,1.75794533504e-05,-4.0832167291e-05,-2.34036757238e-05,1793239757498925056
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.300183437,746,715,680,664,635,878.699816563,787,803,652.300183437,631,653,0.405718084353,0.00448758746949,0.0699756945036,0.999999998687,2.54151308071e-05,-3.62427141526e-05,-2.58289779318e-05,1793239757515592192
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.876072614,746,715,680,664,635,878.123927386,787,803,652.876072614,631,653,0.406160505901,0.0044874570578,0.0699766961688,0.999999998657,3.03940927498e-05,-3.25143273876e-05,-2.65418529571e-05,1793239757532259328
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.550826489,746,714.550826489,679.550826489,664.449173511,635,878.898347022,787,803,653,631,652.550826489,0.406620232118,0.00449603200415,0.0699621278547,0.999999997901,9.31732537124e-06,-5.75671023488e-05,-2.82414341398e-05,1793239757548925952
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.022436903,746,714.022436903,679.022436903,665,635,880,787,803,653,631,652.022436903,0.407086971506,0.00450673973073,0.0699437314801,0.999999995403,-1.70512788354e-05,-8.93924041038e-05,-3.02126931618e-05,1793239757565592320
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.619440927,746,714.619440927,679.619440927,665,635,880,787,803,653,631,652.619440927,0.407611797291,0.004510937412,0.0699366336211,0.99999999519,4.02203094953e-06,-9.25562827834e-05,-3.22127447203e-05,1793239757582258688
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,679.790769589,665,635,880,787,803,652.790769589,631,653,0.408161315216,0.00451567340684,0.0699385663019,0.999999995791,2.19738446218e-05,-8.23000041723e-05,-3.40961736417e-05,1793239757598925568
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,679.213664929,665,635,880,787,803,652.213664929,631,653,0.408754247461,0.0045213558781,0.0699563767086,0.999999997594,3.44373628754e-05,-4.84480622455e-05,-3.57745535371e-05,1793239757615592704
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.63910536,746,714.63910536,679.721789281,665,635,879.63910536,787.36089464,803,652,631,653,0.409352469308,0.00452789899035,0.0699629968871,0.999999997892,4.27474101484e-05,-3.19885616899e-05,-3.69449797759e-05,1793239757632259072
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.06604206,746,714.06604206,680.86791588,665,635,879.06604206,787.93395794,803,652,631,653,0.409953800872,0.00453494807014,0.0699630383701,0.999999997772,4.86156463642e-05,-2.57540160091e-05,-3.78167818466e-05,1793239757648924928
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,746,714.520998054,680.479001946,665,635,879,787.479001946,803,652,631,653,0.410569104432,0.00454219668507,0.069952668535,0.999999996964,4.94611503035e-05,-4.55837633456e-05,-3.93448168605e-05,1793239757665591552
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.108068872,746,715,679.891931128,665,635,879,787.108068872,803.108068872,652.108068872,631.108068872,653,0.411201138593,0.00454957753557,0.069945818647,0.999999995983,5.29532243529e-05,-5.97985106796e-05,-4.06796884306e-05,1793239757682257920
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.687335502,746,715,679.312664498,665,635,879,787.687335502,803.687335502,652.687335502,631.687335502,653,0.411898185532,0.00455742162981,0.0699602292313,0.999999996056,7.0837347095e-05,-3.47281729477e-05,-4.07996394312e-05,1793239757698924544
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.734597049,746,715,679,665,635,879,787.734597049,803.734597049,653,631.734597049,652.734597049,0.412616744692,0.00456371642266,0.0699842326256,0.999999995643,8.36715609458e-05,4.05854361568e-06,-4.118732107e-05,1793239757715591680
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.157935896,746,715,679,665,635,879,787.157935896,803.157935896,653,631.157935896,652.157935896,0.413360532959,0.00456819423307,0.0700194862387,0.999999993284,9.05833652137e-05,5.89315029267e-05,-4.18889907269e-05,1793239757732258816
+155,2.583333333,POSE1_TO_POSE2_PRESS,765,746,715,679.425581592,664.574418408,635,879,787,803.425581592,652.574418408,631,652.425581592,0.414096639287,0.0045766896434,0.0700284143815,0.999999991688,9.88005203292e-05,7.11741257436e-05,-4.2378920624e-05,1793239757748925696
+156,2.600000000,POSE1_TO_POSE2_PRESS,765,745.988442814,714.988442814,680,664.011557186,635,879,787.011557186,804,652,631.011557186,653,0.414829101956,0.00458665061314,0.0700263176325,0.99999999116,0.000107520497643,6.54608564613e-05,-4.2819487384e-05,1793239757765592576
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.408756914,714.408756914,680,664.591243086,635,879,787.591243086,804,652,631.591243086,653,0.415524886783,0.00459416307444,0.0699703740635,0.999999991654,0.000116755011664,-3.24960055148e-05,-4.47594442593e-05,1793239757782258944
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.170596068,745.170596068,714.170596068,680,665,635,879.170596068,788,804,652,631.829403932,653,0.416253372792,0.00460092411493,0.0699298239643,0.999999985972,0.000124273863017,-0.00010211032587,-4.67449797694e-05,1793239757798925568
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.74915288,745.74915288,714.74915288,680,665,635,879.74915288,788,804,652,631.25084712,653,0.417060059849,0.00460588821911,0.0699260855686,0.999999985253,0.000127689907522,-0.000103946734759,-4.88395120739e-05,1793239757815591936
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.32538583,879.67461417,788,804,652,631,652.67461417,0.417877075883,0.00461087336091,0.0699424440351,0.999999987213,0.000131635262608,-7.64733145274e-05,-4.89603628901e-05,1793239757832258304
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635.899839941,879.100160059,788,804,652,631,652.100160059,0.418701998251,0.00461587460583,0.0699741857499,0.99999998927,0.000135985780827,-2.65645323931e-05,-4.75704487193e-05,1793239757848924928
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,636,879.472729303,787.527270697,804,652,631,652.472729303,0.419545619358,0.00461902847928,0.0699951495744,0.999999988936,0.000140599380888,1.73453586847e-06,-4.85538854137e-05,1793239757865591808
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,746,714.952785769,680.047214231,665,635.952785769,880.047214231,787,804,652,631,653,0.420395550882,0.00462083976208,0.0700135618121,0.999999988049,0.000144044719047,2.55426607923e-05,-5.00074944232e-05,1793239757882258688
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,746,714.355877726,680.644122274,665,635.355877726,880.644122274,787,804,652,631,653,0.421272977524,0.00461156189066,0.0700287660156,0.999999988558,0.000133241688493,5.01952474067e-05,-5.10998909191e-05,1793239757898925312
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.76765537,714.23234463,680.76765537,665,635,880.53531074,787,803.76765537,652,631,653,0.42212022827,0.00459728702014,0.0700230621489,0.999999991223,0.000114880560084,4.07987458648e-05,-5.18844258842e-05,1793239757915591936
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.192257217,714.807742783,680.192257217,665,635,879.384514434,787,803.192257217,652,631,653,0.42292292487,0.00457563415058,0.069986487818,0.999999994816,8.53600064306e-05,-1.88707437319e-05,-5.22144077486e-05,1793239757932258304
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.616143683,635,879.383856317,787,803.383856317,652,631.383856317,653,0.423702938151,0.00457363719369,0.0699235973695,0.999999988334,8.38047852428e-05,-0.000115822283194,-5.37906512089e-05,1793239757948924928
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.039671211,635,879.960328789,787,803.960328789,652,631.960328789,653,0.424471569069,0.00458150342431,0.0698475016972,0.999999967005,9.6282354313e-05,-0.00023148166456,-5.59922586313e-05,1793239757965591296
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.453447232,745,714.453447232,680,664.546552768,635,879.453447232,787,804,652.546552768,631.453447232,653,0.4253876383,0.00458951929584,0.0698813075631,0.999999979196,9.59845696366e-05,-0.000170306262226,-5.82225203767e-05,1793239757982258176
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,745.131860918,714.131860918,680.131860918,665,635.131860918,879.131860918,787,804,652.868139082,631,652.868139082,0.426309567822,0.00459634807904,0.0699257134952,0.999999988796,9.77909065365e-05,-9.67245518719e-05,-5.90708626093e-05,1793239757998924800
+171,2.850000000,POSE1_TO_POSE2_PRESS,765,745.711610402,714.711610402,680.711610402,665,635.711610402,879.711610402,787,804,652.288389598,631,652.288389598,0.427214392196,0.00459910714615,0.0699785364359,0.999999992108,0.000109951184437,-2.53924944662e-05,-5.52180822076e-05,1793239758015591424
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.288873441,746,715,680.711126559,665,635.711126559,880,787,804,652,631,652,0.428109658174,0.00460160273921,0.0700170917575,0.999999991267,0.000117212944213,2.83891699355e-05,-5.40493352361e-05,1793239758032258304
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.863675349,746,715,680.136324651,665,635.136324651,880,787,804,652,631,652,0.428995463148,0.00460383754409,0.0700415249108,0.999999989203,0.000119626124326,6.47993578175e-05,-5.55372591985e-05,1793239758048925184
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.56345494,746,715,680.43654506,665,635,880,787.43654506,804,652,631.43654506,652.43654506,0.429837430215,0.00460390829239,0.070040069463,0.999999989209,0.000119433392728,6.46758501032e-05,-5.59922556301e-05,1793239758065591808
+175,2.916666667,POSE1_TO_POSE2_PRESS,765.009178592,745.990821408,715,680.990821408,665,635,880,787.990821408,804,652,631.990821408,652.990821408,0.43066464323,0.00460337856191,0.0700296190684,0.999999990071,0.000118557972489,5.14910338574e-05,-5.61358093247e-05,1793239758082258176
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.60511371,745.39488629,715,680.39488629,665,635,880,787.39488629,804,652,631.39488629,652.39488629,0.431419957636,0.00460747307204,0.0699586903838,0.999999987976,0.000125833304683,-7.05486375336e-05,-5.68994057898e-05,1793239758098924800
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.194744541,715,680.194744541,665,635,880,787,804,652,631,652,0.43219378906,0.0046090076033,0.0699074785391,0.999999978287,0.000126712917467,-0.000154943477406,-5.79895986175e-05,1793239758115591680
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,745.771993028,715,680.771993028,665,635,880,787,804,652,631,652,0.433003990486,0.00460551399934,0.069894993154,0.999999977922,0.000115030498638,-0.000165398929569,-5.97212712657e-05,1793239758132258304
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,745.652824598,715,681,665.347175402,635,880,787,804,652,631,652.347175402,0.433851345553,0.00459886090017,0.0699283802485,0.999999987538,0.000103286868174,-0.000103141517073,-6.01535192864e-05,1793239758148925184
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.07899115,715,681,665.92100885,635,880,787,804,652,631,652.92100885,0.434722956817,0.00459014508304,0.069991715798,0.999999994008,9.15032745745e-05,6.58745132648e-06,-5.97374200894e-05,1793239758165591552
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714.490823196,680.490823196,665.490823196,635,880,787,804,652,631,653,0.435507245651,0.00458245126924,0.0700151275593,0.999999993493,8.92173412351e-05,4.13767341063e-05,-5.78083055081e-05,1793239758182258176
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.097920008,714.097920008,680.097920008,665,635,880,787,804.097920008,652,631,653,0.436276483848,0.00457720702996,0.0700265936171,0.999999992811,8.90058818132e-05,5.72048526459e-05,-5.64211052451e-05,1793239758198924800
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.678224665,714.678224665,680.678224665,665,635,880,787,804.678224665,652,631,653,0.437040246676,0.00458322647736,0.0700106067505,0.999999993332,9.15451401107e-05,3.8555565545e-05,-5.8893352889e-05,1793239758215591168
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665.25540702,635,880.25540702,787,804.74459298,652,631.25540702,652.74459298,0.437763530367,0.00458853143601,0.0699844553111,0.999999993702,9.41984793933e-05,6.51590572036e-06,-6.06712197457e-05,1793239758232258304
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,715,681,665.828703199,635,880.828703199,787,804.171296801,652,631.828703199,652.171296801,0.438436432148,0.0045929471147,0.0699456526643,0.99999999251,9.69938078319e-05,-4.2189912983e-05,-6.15848339565e-05,1793239758248925696
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,715,681,665.596330418,635,880.596330418,787,804,652,631.596330418,652.403669582,0.439054140902,0.00459830404047,0.0698937010443,0.999999984264,0.000105069349142,-0.000129088878275,-6.1393575779e-05,1793239758265592320
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,715,681,665.020652291,635,880.020652291,787,804,652,631.020652291,652.979347709,0.439648331291,0.00460406204351,0.0698361464826,0.999999964525,0.000115394853073,-0.000232262413437,-6.07315175234e-05,1793239758282258944
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.42878983,746,715,681,664.42878983,635,880,787,804,652,631,653,0.440260821871,0.00461057475148,0.0698103530153,0.999999955617,0.000121192148253,-0.000265181435004,-6.12923909887e-05,1793239758298925312
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714.840851291,681.159148709,664,634.840851291,880,787,804,652,631,652.840851291,0.440889311192,0.00461747555789,0.0698027835134,0.999999952815,0.000127193533002,-0.000272784279923,-6.14786429317e-05,1793239758315591680
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714.264770046,681.735229954,664,634.264770046,880,787,804,652,631,652.264770046,0.44155792971,0.00462531952419,0.0698398604623,0.999999964764,0.000134170998077,-0.000220913091367,-6.05642619034e-05,1793239758332258816
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.310882171,746,714.310882171,682,663.689117829,634,880,787,804.310882171,652,631.310882171,652.310882171,0.442171129966,0.0046324202579,0.0698615395585,0.99999996868,0.00014445600543,-0.000195281309948,-6.03174540461e-05,1793239758348925696
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.886169464,746,714.886169464,682,663.113830536,634,880,787,804.886169464,652,631.886169464,652.886169464,0.442737196977,0.00463888887221,0.0698701227869,0.999999967324,0.000157554075542,-0.000191966133933,-6.06384169687e-05,1793239758365592064
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.537318832,746,715,681.537318832,662.537318832,634,880,787,804.537318832,652,631.537318832,653,0.443238195625,0.00464461304932,0.0698417762251,0.999999954339,0.000173184796874,-0.000240481287124,-5.91495015035e-05,1793239758382259200
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.959399027,714.959399027,681.040600973,661.959399027,634,880,787,804.040600973,652,631,653,0.443720695634,0.00465021659479,0.0698043116592,0.999999934995,0.000189298412641,-0.000301476814183,-5.73372082541e-05,1793239758398926336
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745.366431344,714.366431344,681.633568656,661.366431344,634,880,787,804.633568656,652,631,653,0.444169893955,0.00465667728917,0.0697667342643,0.999999913464,0.000203482187649,-0.000358323584858,-5.71993467124e-05,1793239758415593216
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.219548319,745,714,682,660.780451681,634,880,786.780451681,804.780451681,652,631.219548319,653,0.44461912866,0.00466227234321,0.0697371223083,0.999999894783,0.00021457699281,-0.000401372367703,-5.73649081323e-05,1793239758432260096
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.794224532,745,714,682,660.205775468,634,880,786.205775468,804.205775468,652,631.794224532,653,0.445068422174,0.00466646718991,0.0697203947613,0.999999884883,0.000220675269295,-0.000422102367781,-5.80212681747e-05,1793239758448926208
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.629611688,745.370388312,714,682,660,634,880,786,804.370388312,652,631.629611688,653,0.445496839562,0.00467034890694,0.0697136939588,0.999999881088,0.000227061948978,-0.000427531644777,-5.90195535238e-05,1793239758465592576
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.052618077,745.947381923,714,682,660,634,880,786,804.947381923,652,631.052618077,653,0.445913612137,0.00467405595835,0.0697125861458,0.999999880832,0.000233609502667,-0.000424426069001,-6.02085673683e-05,1793239758482258944
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,746,714,682,660,633.465573582,880.534426418,786.534426418,804.465573582,652,631,653,0.44626919199,0.00467830186999,0.0697081743775,0.999999872365,0.000247340813199,-0.000436674790634,-5.83781748108e-05,1793239758498925568
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,746,714,682.120858858,660,633,881,787,804.120858858,652,631,653,0.446611212865,0.00468265876063,0.0697022860285,0.999999861916,0.000260968130092,-0.000452631142543,-5.64682842539e-05,1793239758515591936
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,746,714,682.701131162,660,633,881,787,804.701131162,652,631,653,0.446925033821,0.00468723197146,0.0696920450773,0.999999847939,0.000271460027828,-0.00047682445983,-5.5407902147e-05,1793239758532258048
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.721476534,714,682.721476534,659.721476534,633,881,786.721476534,805,652,631.278523466,653,0.447221453987,0.00469299606844,0.0696768743639,0.9999998334,0.000273540674986,-0.000505177463583,-5.63182127635e-05,1793239758548924416
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.147143013,714,682.147143013,659.147143013,633,881,786.147143013,805,652,631.852856987,653,0.447499393365,0.00470002496378,0.0696564679227,0.999999817985,0.000266688025659,-0.000537948323601,-5.9321527413e-05,1793239758565591296
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.427255442,745.427255442,714,682,659,633,880.572744558,786,805,652,631.572744558,653,0.447762383538,0.00471831549569,0.0696511757621,0.99999981913,0.000247114101719,-0.00054449011184,-6.48434665118e-05,1793239758582257920
+206,3.433333333,POSE1_TO_POSE2_PRESS,766,746,714,682,658.99826876,633,880.00173124,786,805,652,631,653,0.44802013361,0.00474047747361,0.0696511161552,0.999999825661,0.000223320718833,-0.00054197204457,-7.1220932317e-05,1793239758598924544
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,746,714,682,658.405004394,633,880.594995606,786,805,652,631,653,0.448246811752,0.00476005921452,0.0696601238386,0.999999823933,0.000254982810257,-0.000530768121658,-7.34992158456e-05,1793239758615591424
+208,3.466666667,POSE1_TO_POSE2_PRESS,765.817019397,746,714,682,658,632.817019397,880.817019397,786.182980603,805,652,631,652.817019397,0.448462857822,0.00477130915693,0.0696666899953,0.999999821636,0.000281002492828,-0.000521964296785,-7.29278289924e-05,1793239758632258560
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.240392001,746,714,682,658,632.240392001,880.240392001,786.759607999,805,652,631,652.240392001,0.448656031052,0.00476463487033,0.0696680036859,0.999999819999,0.000294883638438,-0.000518323813436,-6.62259363985e-05,1793239758648925184
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.663588203,714,682,658,632,880.336411797,786.663588203,804.663588203,652,631,652.336411797,0.448826514918,0.00476478371115,0.0696639923094,0.999999814574,0.000305159312567,-0.000523053637717,-6.43716842696e-05,1793239758665591552
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.086658227,714,682,658,632,880.913341773,786.086658227,804.086658227,652,631,652.913341773,0.448980777005,0.00476981075769,0.0696561737672,0.999999806429,0.00031285725023,-0.000533767827109,-6.59832601399e-05,1793239758682257920
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,714,682.499185326,657.500814674,632,880.500814674,786,804,652,631,653,0.449106282064,0.00477261905523,0.0696517559855,0.999999799343,0.000316772242772,-0.000544553463475,-6.65589854053e-05,1793239758698924544
+213,3.550000000,POSE1_TO_POSE2_PRESS,764.914411287,745.085588713,714,682.914411287,657,632,880,786,804,652,631,653,0.449225072835,0.0047745216754,0.0696488885767,0.999999793907,0.000319472373715,-0.000552844946074,-6.69765524777e-05,1793239758715591424
+214,3.566666667,POSE1_TO_POSE2_PRESS,764.33388118,745.66611882,714,682.33388118,657,632,880,786,804,652,631,653,0.449334430053,0.00477345482745,0.0696515105931,0.999999797427,0.000319013916892,-0.000546640241756,-6.75383083352e-05,1793239758732258048
+215,3.583333333,POSE1_TO_POSE2_PRESS,764.244472919,746,714,682,657,632,880,786,804.244472919,652,631,653,0.449433099044,0.00477460767285,0.0696535481652,0.99999979962,0.000319809432285,-0.00054202540989,-6.84921767981e-05,1793239758748924928
+216,3.600000000,POSE1_TO_POSE2_PRESS,764.819881388,746,714,682,657,632,880,786,804.819881388,652,631,653,0.449517299703,0.00477876524964,0.0696547945927,0.999999800048,0.000322302411727,-0.000539562740354,-6.99768361262e-05,1793239758765592064
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.394486329,746,714,682,657,632,880.394486329,786,805,652,631,653,0.449583815504,0.00477782307369,0.069652450012,0.999999798266,0.00032199414279,-0.000543064648626,-6.97756623337e-05,1793239758782258688
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.968725119,746,714,682,657,632,880.968725119,786,805,652,631,653,0.449642272984,0.00477455713372,0.0696484691449,0.999999795445,0.00032040945112,-0.000549284388862,-6.88063182772e-05,1793239758798925056
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.442997614,746,714,682.557002386,657,632,881,786,805,652,631,653,0.449682334533,0.00477477656128,0.0696444536987,0.999999792728,0.000320651542408,-0.000554075517381,-6.87566865959e-05,1793239758815591680
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.856019191,714,682.856019191,657,632,881,786,804.856019191,652,631,653,0.449718672615,0.00477635543882,0.0696409546442,0.999999789714,0.000322543929941,-0.000558387097082,-6.88628780859e-05,1793239758832258048
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.27543155,714,682.27543155,657,632,881,786,804.27543155,652,631,653,0.449746932823,0.00478144792864,0.0696390275346,0.999999785802,0.000329121590665,-0.000561494025143,-6.92809438267e-05,1793239758848924928
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.301786294,745,714,681.698213706,657,632,880.698213706,786,804.301786294,652,631,653,0.449770209114,0.00478243558612,0.0696376937238,0.999999783463,0.000332004276135,-0.000563991204685,-6.90012896435e-05,1793239758865591552
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.875962648,745,714,681.124037352,657,632,880.124037352,786,804.875962648,652,631,653,0.449788986961,0.00477971825311,0.0696368954197,0.999999782575,0.000331551905222,-0.000565938030125,-6.80918787032e-05,1793239758882258176
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.539721404,745.460278596,714,681.460278596,657,632,880,786,805,652,631,653,0.449799918976,0.00477993428859,0.0696346455809,0.999999780704,0.000331624473246,-0.000569191437602,-6.81004562719e-05,1793239758898924800
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,880.046867558,786,805,652,631,653,0.449808435305,0.0047810494241,0.0696321109431,0.999999778597,0.000331993443715,-0.000572641702481,-6.83154026622e-05,1793239758915591168
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,880.627523305,786,805,652,631,653,0.449814061735,0.00478319871073,0.0696308880811,0.999999777008,0.000334090781342,-0.000574233513948,-6.79997669928e-05,1793239758932257792
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,881,786,805.206942387,652,631,653,0.449818688356,0.00478428505521,0.0696299402262,0.999999775877,0.000335134752828,-0.000575637563661,-6.76137524573e-05,1793239758948924672
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,881,786,805.784148778,652,631,653,0.449821526107,0.00478346956969,0.0696294844175,0.999999775578,0.000334294027824,-0.000576705667514,-6.7101815161e-05,1793239758965591296
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,880.64052774,786,805.64052774,652,631,653,0.449823791405,0.00478207063865,0.0696294162209,0.999999776014,0.000332332802714,-0.000577119288588,-6.67846779382e-05,1793239758982258176
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,880.066329013,786,805.066329013,652,631,653,0.449825714754,0.00478032319341,0.0696295795599,0.999999776885,0.000329702260255,-0.000577141962138,-6.6583902234e-05,1793239758998924544
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,682,656.477328072,632,880.522671928,786.522671928,805,652,631.522671928,653,0.449825405758,0.00478106428259,0.069629017483,0.999999776227,0.000330091721025,-0.000578039376894,-6.67564048592e-05,1793239759015591424
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656,632,881,786.888784694,805,652,631.888784694,653,0.449825258918,0.00478189237593,0.0696287136102,0.999999775693,0.000330884787964,-0.000578503220765,-6.68078518314e-05,1793239759032258048
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,746,714,682,656,632,881,786.310286546,805,652,631.310286546,653,0.449827018371,0.00478172046817,0.0696298926739,0.999999776523,0.000331716452499,-0.000576665365193,-6.61458379564e-05,1793239759048924672
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.733301327,714,682,656,631.733301327,881,786,804.733301327,652,631,653,0.44982730166,0.00478185477615,0.0696296089673,0.999999776394,0.000331672483621,-0.000576956222409,-6.578384354e-05,1793239759065591552
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.158066299,714,682,656,631.158066299,881,786,804.158066299,652,631,653,0.449825877216,0.00478234333665,0.0696276330221,0.999999775152,0.000330615518652,-0.000579709728632,-6.57689332936e-05,1793239759082258176
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.427123471,714,682,656.427123471,631,880.572876529,786,804,652,631,653,0.449827005032,0.00478155525338,0.0696278873629,0.999999775234,0.000330744592095,-0.000579526495368,-6.54846811061e-05,1793239759098924544
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,714,682,656.984175667,631.015824333,880,786,804.015824333,652,631,653,0.449829023312,0.00478033261086,0.0696289490882,0.999999775793,0.000331276176535,-0.000578298221306,-6.51202885612e-05,1793239759115591168
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656.404761526,631.595238474,880,786,804.595238474,652,631,653,0.449828313689,0.00478086097302,0.0696286689522,0.999999775458,0.000330138041677,-0.000579481010644,-6.55363706231e-05,1793239759132257792
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745.826658281,714,682.173341719,656,632,880.173341719,786,805,652,631,653,0.449827515194,0.00478154478825,0.0696281040481,0.999999774735,0.00033016005717,-0.000580685627475,-6.57957702409e-05,1793239759148924416
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.251593106,714,682.748406894,656,632,880.748406894,786,805,652,631,653,0.449826510734,0.00478258886953,0.0696268791873,0.999999773113,0.0003328707481,-0.000581940829953,-6.56920546328e-05,1793239759165591296
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,714,682.675737172,656.324262828,632,881,786,804.675737172,652,631,653,0.449827592957,0.00478241914268,0.0696273290598,0.999999773658,0.000332472862349,-0.000581235850747,-6.56569385554e-05,1793239759182257920
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682.099266221,656.900733779,632,881,786,804.099266221,652,631,653,0.449830298179,0.00478130532894,0.0696290815216,0.999999775882,0.000329657159128,-0.000579006263354,-6.56751784558e-05,1793239759198924544
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.486630018,714,682,657,632,881,786,804,652,631,652.513369982,0.449831362498,0.00478209452789,0.0696297674345,0.999999775999,0.000330911811637,-0.000578090476437,-6.56622317459e-05,1793239759215591424
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.073447733,745.926552267,714,682,656.926552267,632,881,786,804.073447733,652,631,652.073447733,0.449831914983,0.00478289487993,0.0696300980898,0.999999775754,0.000332560940559,-0.000577574552816,-6.55945265112e-05,1793239759232257792
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.653103351,745.346896649,714,682,656.346896649,632,881,786,804.653103351,652,631,652.653103351,0.449831292367,0.00478104381947,0.069629509352,0.999999776061,0.000331093311882,-0.000577930972716,-6.51941320871e-05,1793239759248924416
+246,4.100000000,POSE1_TO_POSE2_PRESS,766,745.231016129,713.768983871,682,656.231016129,632,880.768983871,786,804.768983871,652,631,653,0.449830673335,0.00478003240443,0.0696290213244,0.999999776335,0.000329277475978,-0.000578518412874,-6.49797154858e-05,1793239759265591040
+247,4.116666667,POSE1_TO_POSE2_PRESS,766,745.806331516,713.193668484,682,656.806331516,632,880.193668484,786,804.193668484,652,631,653,0.449830059644,0.00478027237055,0.0696286833922,0.999999776558,0.000326942682629,-0.000579450158496,-6.5042474392e-05,1793239759282257920
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.618147326,746,713,682,656.618147326,632,880.381852674,786,804,652,631,653,0.449829465487,0.00478047450474,0.0696279086627,0.999999776233,0.000326344989781,-0.000580329002026,-6.52005511729e-05,1793239759298924544
+249,4.150000000,POSE1_TO_POSE2_PRESS,765.042521783,746,713,682,656.042521783,632,880.957478217,786,804,652,631,653,0.449828881242,0.00478065744094,0.0696269122785,0.999999775632,0.000326628796592,-0.000581181000095,-6.54069974374e-05,1793239759315591168
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,713.547881569,682.547881569,656.547881569,632,881,786,804,652,631,653,0.44982896225,0.00478085265154,0.0696269089083,0.999999774589,0.000329736296064,-0.000581298453063,-6.47138496996e-05,1793239759332258048
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.863789869,714,682.863789869,656.863789869,632,880.863789869,786,804.136210131,652,631,653,0.449829154198,0.00478075456914,0.0696269270275,0.999999774012,0.000331484816838,-0.00058135222932,-6.42162265895e-05,1793239759348924672
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.286008672,714,682.286008672,656.286008672,632,880.286008672,786,804.713991328,652,631,653,0.449829533777,0.00477970250473,0.0696267580406,0.999999775083,0.000328097606135,-0.000581389512976,-6.45850773852e-05,1793239759365591552
+253,4.216666667,HOLD_POSE2,765,745,714,682,657,632,880,786,804,652,631,653,0.449831360892,0.00478125667187,0.0696288258875,0.999999776728,0.000327505743034,-0.000578850389014,-6.49295544682e-05,1793239759402842112
+254,4.233333333,HOLD_POSE2,765,745.585345291,714,682,656.414654709,631.414654709,880.585345291,786,804,652,631,653,0.449832419898,0.00478168682392,0.0696291922264,0.999999776614,0.000329278638721,-0.000578029007189,-6.5038816819e-05,1793239759419508736
+255,4.250000000,HOLD_POSE2,765,746,714,682.169511737,656.169511737,631.169511737,881,786,804.169511737,652,631,653,0.44983270075,0.00478212506048,0.0696291415777,0.999999776241,0.00033042412559,-0.000578017274089,-6.50750769943e-05,1793239759436175616
+256,4.266666667,HOLD_POSE2,765,746,714,682.750814562,656.750814562,631.750814562,881,786,804.750814562,652,631,653,0.449831091249,0.00478258293665,0.0696280779503,0.999999775243,0.000330045462553,-0.000579972402443,-6.4933994633e-05,1793239759452842240
+257,4.283333333,HOLD_POSE2,765,745.669878455,714,682.669878455,656.669878455,632,881,786,804.669878455,652,631,653,0.449831595184,0.00478250312853,0.0696285479802,0.999999775562,0.000329473187497,-0.000579774270779,-6.46981495004e-05,1793239759469508864
+258,4.300000000,HOLD_POSE2,765,745.092068975,714,682.092068975,656.092068975,632,881,786,804.092068975,652,631,653,0.449833684817,0.00478201989951,0.0696301687029,0.999999776868,0.000328755646692,-0.000577960562742,-6.43912045175e-05,1793239759486175488
+259,4.316666667,HOLD_POSE2,765,745.482915496,714,682,656.482915496,632,880.517084504,786,804,652,631,653,0.449832518368,0.00478262934603,0.0696294049237,0.99999977651,0.000328272188658,-0.000578798582342,-6.48793938123e-05,1793239759502842112
+260,4.333333333,HOLD_POSE2,765,745.940962132,714,682,656.940962132,631.940962132,880.059037868,786,804.059037868,652,631,653,0.449831113503,0.00478306924607,0.0696284073545,0.999999776096,0.000327604897903,-0.000579832637845,-6.53972755485e-05,1793239759519508736
+261,4.350000000,HOLD_POSE2,765,745.349756023,714,682,656.349756023,631.349756023,880.650243977,786,804.650243977,652,631,653,0.449833122724,0.00478011396268,0.0696293764362,0.999999778024,0.000324880594445,-0.000578103159126,-6.48242800622e-05,1793239759536175360
+262,4.366666667,HOLD_POSE2,765,745.235999317,714,682,656,631,881,786,804.764000683,652,631,653,0.449833909898,0.00477888972883,0.0696294830874,0.99999977846,0.000324112496273,-0.000577831582752,-6.43569859288e-05,1793239759552842240
+263,4.383333333,HOLD_POSE2,765,745.813858816,714,682,656,631,881,786,804.186141184,652,631,653,0.449832926858,0.00478017303177,0.0696283404527,0.999999776743,0.000326178087446,-0.000579671871801,-6.40428070504e-05,1793239759569508864
+264,4.400000000,HOLD_POSE2,765,746,714,682,656,631.39079368,880.60920632,786,804.39079368,652,631,653,0.449832259887,0.00478133776108,0.0696278131494,0.999999775647,0.000327516363576,-0.000580756359397,-6.45081378673e-05,1793239759586175488
+265,4.416666667,HOLD_POSE2,765,746,714,682,656,631.967289217,880.032710783,786,804.967289217,652,631,653,0.44983174311,0.00478244614531,0.0696275782464,0.999999774845,0.000328509025924,-0.000581481696687,-6.53438850819e-05,1793239759602842112
+266,4.433333333,HOLD_POSE2,765,745.445595338,714,682,656,632,880.554404662,786,805,652,631,653,0.449832036523,0.00478120798967,0.069628208865,0.999999775898,0.000326196747722,-0.000581028469568,-6.48499255856e-05,1793239759619508736
+267,4.450000000,HOLD_POSE2,765,745.13984014,714,682,656,631.86015986,880.86015986,786,804.86015986,652,631,653,0.44983233523,0.00478035322556,0.0696285942594,0.999999776525,0.000324977664235,-0.000580680696535,-6.44120522041e-05,1793239759636175616
+268,4.466666667,HOLD_POSE2,765,745.718007525,714,682,656,631.281992475,880.281992475,786,804.281992475,652,631,653,0.449832497769,0.00478114264145,0.0696280478061,0.999999775483,0.000327808338136,-0.000580885688307,-6.44006984383e-05,1793239759652842240
+269,4.483333333,HOLD_POSE2,765.294293382,746,714,682,656.294293382,631,880,786,804.294293382,652,631,653,0.449833375006,0.00478112005136,0.0696284475858,0.999999775962,0.000327782205856,-0.000580063302397,-6.45118908149e-05,1793239759669509120
+270,4.500000000,HOLD_POSE2,765.868787774,746,714,682,656.868787774,631,880,786,804.868787774,652,631,653,0.449834932719,0.00478032433852,0.0696297482875,0.999999777886,0.000325036066674,-0.000578262735233,-6.47397611572e-05,1793239759686176768
+271,4.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,656,632,880,786,804,652,631,653,0.449833546442,0.00477944588063,0.0696291156353,0.999999777307,0.000325299290938,-0.000579173531093,-6.42181849046e-05,1793239759718845696
+272,4.533333333,POSE2_TO_POSE3_RETREAT,765.411286395,745.588713605,714,682,656,632,880.588713605,786,804,652,631,653,0.449834133528,0.00478002525916,0.0696288345927,0.999999777486,0.000326023832748,-0.000578457718574,-6.42126353782e-05,1793239759735512064
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745.825366014,714,682,656,631.825366014,881,786,804,652,631,653,0.449834682279,0.00478044687757,0.0696286890713,0.999999777526,0.000326486252265,-0.000578120844897,-6.42693072823e-05,1793239759752178432
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745.245920367,714,682,656,631.245920367,881,786,804,652,631,653,0.449835142167,0.00478050279902,0.0696288576958,0.999999777247,0.000326341057315,-0.000578662373187,-6.44702120532e-05,1793239759768845056
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765.331517008,745,714,682,656.331517008,631,881,786,804,652,631,653,0.449834818794,0.00478032808411,0.0696290302281,0.999999777067,0.000326470674342,-0.000578914166827,-6.43560894218e-05,1793239759785511680
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.907473576,745,714,682,656.907473576,631,881,786,804,652,631,653,0.449833917895,0.00477998331259,0.0696292056418,0.999999776958,0.000326802920252,-0.000578952328531,-6.40096856051e-05,1793239759802178048
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.515380353,745.484619647,714,682,656.515380353,631,881,786,804,652,631,653,0.449833860388,0.00478020657268,0.069628902117,0.999999776877,0.000326617443083,-0.000579195514151,-6.4032505492e-05,1793239759818844672
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,656,631,880.93667585,786,804.06332415,652,631,653,0.449833754435,0.00478044824248,0.0696285034043,0.999999776726,0.000326362646825,-0.000579594527324,-6.40695478787e-05,1793239759835511296
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,656,631,880.346908043,786,804.653091957,652,631,653,0.449831903741,0.00477993913029,0.0696280754186,0.999999775962,0.000326355349755,-0.000580962782353,-6.36373336799e-05,1793239759852178176
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.237771808,656,631.237771808,880,786,805,652,631,653,0.44982582598,0.0047796371983,0.0696254759767,0.999999773588,0.00032622756977,-0.000585113063939,-6.35774274097e-05,1793239759868844800
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.815183825,656,631.815183825,880,786,805,652,631,653,0.449813710152,0.0047796312086,0.0696197747632,0.999999768869,0.00032592768845,-0.000593237273521,-6.40493367131e-05,1793239759885511424
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.608937125,656,631.608937125,880,786,804.608937125,652,631,652.608937125,0.449778691662,0.00477994910761,0.0696029582368,0.999999752257,0.000327374620541,-0.000619834589204,-6.41575383239e-05,1793239759902177792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.033779675,656,631.033779675,880,786,804.033779675,652,631,652.033779675,0.44973289164,0.00478041947866,0.0695809091271,0.999999729017,0.000329643872396,-0.000655128201254,-6.40945229075e-05,1793239759918844416
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.459839347,714,682,656,631.540160653,880.540160653,786,804,652,631,652.540160653,0.449670379503,0.00478049566692,0.0695627890563,0.999999710498,0.000329217775473,-0.00068304588059,-6.37825153934e-05,1793239759935511040
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.117691777,714,682,656,631.882308223,881,786,804,652,631.117691777,653,0.449604496883,0.00478030386535,0.0695469341364,0.999999693795,0.000328726309816,-0.000707343676302,-6.33521665295e-05,1793239759952177664
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.710010283,714,682,656,631.289989717,881,786,804,652,631.710010283,653,0.44952922703,0.00477913050386,0.0695392254371,0.999999685633,0.000328649454687,-0.000718899236321,-6.25072250933e-05,1793239759968844288
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.705461304,714,682,656,631.294538696,880.705461304,786,804.294538696,652,631.705461304,653,0.449445301632,0.00477843716098,0.069535919683,0.99999968154,0.00032977462952,-0.000724166443115,-6.1244450794e-05,1793239759985511424
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.128405079,714,682,656,631.871594921,880.128405079,786,804.871594921,652,631.128405079,653,0.449353073957,0.00477820424551,0.0695368371745,0.99999968144,0.00033205277525,-0.000723401946006,-5.95808969258e-05,1793239760002178816
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,631.544250258,880.455749742,786,804.544250258,652,631,652.544250258,0.449243313602,0.00477868374681,0.0695395458612,0.999999680912,0.00033567352126,-0.000722648175542,-5.72647777036e-05,1793239760018844928
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,631.041426472,880.958573528,786,804.041426472,652,631,652.041426472,0.449126316072,0.00477921529979,0.0695426262331,0.999999680321,0.000339476618893,-0.000721883992947,-5.47431976702e-05,1793239760035511552
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,631.620488045,880.379511955,786,804.620488045,652,631,652.620488045,0.448980516604,0.00477777621575,0.0695438772279,0.999999680744,0.000340659396565,-0.000720944838624,-5.19789927798e-05,1793239760052178176
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.19923721,656,631.80076279,880.19923721,786,805,652,631,653,0.44882304318,0.00477672380428,0.069544674805,0.999999679941,0.000343294601317,-0.000721015835083,-4.90234722269e-05,1793239760068844800
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.77739216,656,631.22260784,880.77739216,786,805,652,631,653,0.448643367748,0.00477640678319,0.0695446100533,0.999999676792,0.000348692093087,-0.000723007979057,-4.57040997827e-05,1793239760085511424
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.645888566,656.354111434,631.354111434,880.645888566,786,804.645888566,652.354111434,631,653,0.448440330298,0.00477452145013,0.0695416622131,0.999999670981,0.000352400613032,-0.000729438780417,-4.20812688504e-05,1793239760102178304
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.070068112,656.929931888,631.929931888,880.070068112,786,804.070068112,652.929931888,631,653,0.44822266588,0.00477165419757,0.0695369092725,0.999999663436,0.000355051668928,-0.00073864862345,-3.82684423595e-05,1793239760118844928
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.501475864,745.501475864,714,682,657,632,880,786,804,652.498524136,631,653,0.447971142567,0.00476888014434,0.069535148578,0.999999657251,0.000357787446799,-0.000745918569327,-3.30314867671e-05,1793239760135511296
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.924575115,746,714,682,657.075424885,632,880,786,804.075424885,652,631,653,0.447711893879,0.00476635020547,0.0695349277449,0.999999652421,0.000360795413588,-0.000751145068457,-2.76709734882e-05,1793239760152178176
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.329993617,746,714,682,657.670006383,632,880,786,804.670006383,652,631,653,0.447431758417,0.00476541165255,0.0695424525167,0.999999656025,0.000365596092981,-0.000744156220055,-2.28180479325e-05,1793239760168844800
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.742532027,632,880.257467973,786,805,652,631,653,0.447130720998,0.00476330221686,0.0695457231143,0.999999658182,0.000369094747978,-0.000739652585989,-1.78557603513e-05,1793239760185511168
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.163950411,632,880.836049589,786,805,652,631,653,0.446803614709,0.00475973245809,0.0695436879121,0.999999658604,0.000370969519975,-0.000738248507724,-1.27570769205e-05,1793239760202177792
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.412245927,632.412245927,881,786,805,652,631,653,0.446456485259,0.00475630865185,0.069549019008,0.999999667326,0.00037268734748,-0.000725530372697,-7.59784783838e-06,1793239760218844672
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.987499082,632.987499082,881,786,805,652,631,653,0.446101438406,0.00475294255715,0.069557262831,0.999999679059,0.000374343117012,-0.000708338517055,-2.41467836271e-06,1793239760235511552
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,658.575982743,633,881,786.575982743,804.424017257,652,631,652.424017257,0.445718024493,0.00474364932674,0.0695758432061,0.999999705461,0.000368238206609,-0.000673404238855,2.37899824199e-06,1793239760252178176
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.162161702,746,714,682,659,633,881,786.837838298,804,652,631,652.162161702,0.445318035805,0.00473130733029,0.0695928860007,0.999999729466,0.000357557094162,-0.000642787522597,6.66483677582e-06,1793239760268844800
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.741652962,746,714,682,659,633,881,786.258347038,804,652,631,652.741652962,0.44487701304,0.0047114580597,0.0696053808447,0.999999748786,0.000335542611593,-0.000624296534781,9.66599983916e-06,1793239760285511424
+306,5.100000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,659.318851617,633,881.318851617,786.318851617,804.318851617,652,631,653,0.444404818035,0.0046885264915,0.069615757748,0.999999770851,0.000288663169199,-0.000612307626424,7.13676671453e-06,1793239760302177792
+307,5.116666667,POSE2_TO_POSE3_RETREAT,766,746,714,682,659.89420603,633,881.89420603,786.89420603,804.89420603,652,631,653,0.44390754622,0.00466311534157,0.0696244308579,0.999999792062,0.000221780902804,-0.000605549365297,1.58561352943e-07,1793239760318844416
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.52061342,745.52061342,714,682,660,633,881.04122684,787,805,652,631,653,0.443372798609,0.0046557219742,0.06963279595,0.999999800744,0.000211881992438,-0.000594644954844,3.95301635645e-06,1793239760335511296
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.065948112,714,681.934051888,660.065948112,633,880,787,805,652,631.065948112,653,0.442828587217,0.00465256565493,0.0696434356693,0.999999809514,0.000213929653339,-0.000578884892468,9.90000785709e-06,1793239760352177920
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.646016903,714,681.353983097,660.646016903,633,880,787,805,652,631.646016903,653,0.442276421259,0.00465079360059,0.0696723490264,0.999999836254,0.000209023259542,-0.000532553396461,1.37063455386e-05,1793239760368845056
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.225520898,745.774479102,714,681.225520898,661,633.225520898,880.225520898,787,804.774479102,652,632,653,0.441712605297,0.00464587424352,0.0697003694266,0.99999986445,0.000191987848104,-0.000483747748299,1.50937841489e-05,1793239760385511936
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.804140558,745.195859442,714,681.804140558,661,633.804140558,880.804140558,787,804.195859442,652,632,653,0.441130548922,0.00463602714501,0.0697269917194,0.999999894847,0.000155961996856,-0.000431068315337,1.26939448337e-05,1793239760402178560
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,745.379029213,714,682,661.379029213,634.379029213,880.620970787,787,804,652,631.620970787,653,0.440525344331,0.00462875143538,0.0697576263815,0.999999919229,0.000134927622044,-0.000378327974901,1.43137224358e-05,1793239760418845184
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,745.952008684,714,682,661.952008684,634.952008684,880.047991316,787,804,652,631.047991316,653,0.439908294754,0.00462279151259,0.0697903141828,0.999999939456,0.00012156442664,-0.000325556469194,1.79903487804e-05,1793239760435511808
+315,5.250000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,662.526065709,635,880,787,804.526065709,652,631,653,0.439185814298,0.00461737913161,0.0697710653277,0.999999930314,0.000104244270343,-0.000357962746606,1.91946623505e-05,1793239760452178176
+316,5.266666667,POSE2_TO_POSE3_RETREAT,766,745.89604639,714,681.89604639,663.10395361,635,880.10395361,787,804.89604639,652,631.10395361,653,0.438452628985,0.00461135734676,0.0697490474153,0.999999917342,0.000104991312411,-0.000392314667534,1.95250289306e-05,1793239760468844544
+317,5.283333333,POSE2_TO_POSE3_RETREAT,766,745.300508727,714,681.300508727,663.699491273,635,880.699491273,787,804.300508727,652,631.699491273,653,0.437714398239,0.0046022170716,0.0697363864721,0.999999901638,0.000192886496428,-0.00039904611061,1.67913522743e-05,1793239760485511424
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.714134889,745,714,681,664,635,880.714134889,787,804.285865111,652,631.714134889,653,0.436979635182,0.00459575314825,0.0697458444952,0.999999900467,0.000235854294073,-0.000378368048113,1.6640059587e-05,1793239760502178304
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.137095012,745,714,681,664,635,880.137095012,787,804.862904988,652,631.137095012,653,0.436248404133,0.00459201528614,0.0697778323203,0.999999918284,0.000233060236034,-0.000329771378698,1.91191157775e-05,1793239760518845184
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.43627645,745.43627645,714,681.43627645,663.56372355,635,880,787,804.56372355,652,631,652.56372355,0.435500966113,0.00459006743725,0.0698161771281,0.999999937759,0.000214488010154,-0.000279329553395,2.12801184794e-05,1793239760535511552
+321,5.350000000,POSE2_TO_POSE3_RETREAT,766,746,714,681.991195177,663.008804823,635,880,787,804.008804823,652,631,652.008804823,0.434747031646,0.00458857140185,0.0698557721689,0.999999955207,0.00019084309588,-0.000229391449696,2.33415520112e-05,1793239760552178432
+322,5.366666667,POSE2_TO_POSE3_RETREAT,766,746,714,681.398775632,663.601224368,635,880,787,804.601224368,652,631,652.601224368,0.433897244633,0.00458005010514,0.0698469325937,0.999999955886,0.000156863359063,-0.000250953651632,2.5372653835e-05,1793239760568844800
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.811588324,745.811588324,714.188411676,681,663.811588324,635,880,787,804.811588324,652,631.188411676,653,0.433054534116,0.00457290723143,0.0698411075543,0.99999995664,0.000131648893771,-0.000262041811521,2.687180289e-05,1793239760585511424
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.235175923,745.235175923,714.764824077,681,663.235175923,635,880,787,804.235175923,652,631.764824077,653,0.432226396447,0.00456860297809,0.069841490422,0.999999960238,0.00012448496684,-0.000251560522375,2.72754886733e-05,1793239760602178048
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.658471408,681,663.341528592,635,880,787,804,652,631.658471408,652.658471408,0.431341299196,0.00456617586422,0.0698167935369,0.999999948827,0.000125978336832,-0.000292761887096,2.76580245731e-05,1793239760618844672
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714.081565596,681,663.918434404,635,880,787,804,652,631.081565596,652.081565596,0.430416946151,0.00456504245148,0.0697748120007,0.999999922409,0.00013343820696,-0.00036958228756,2.8025984093e-05,1793239760635511296
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745,714,680.497096796,663.497096796,635,880,787,804,652,631,652,0.429545009286,0.00455756989177,0.0697447509643,0.999999908069,0.000123732955373,-0.000409638813421,2.73491115586e-05,1793239760652177920
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.087492745,714,680,663.087492745,635,880,787,804,652,631.087492745,652,0.428685717828,0.00454933939535,0.0697315653431,0.99999990407,0.000111547356721,-0.000422716262406,2.69864896824e-05,1793239760668844800
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765,745.665773512,714,680,663.665773512,635,880,787,804,652,631.665773512,652,0.427848944553,0.00454271267276,0.0698020310629,0.999999943744,0.000101303545703,-0.000318413697338,2.93517469482e-05,1793239760685511680
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.244585651,745.755414349,714.244585651,680.244585651,664,635,880,787,804.244585651,652,631.755414349,652.244585651,0.427003104669,0.00453606793314,0.0698543884474,0.999999965906,9.41994962279e-05,-0.000241462840161,3.17882186901e-05,1793239760702178560
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.824125574,745.175874426,714.824125574,680.824125574,664,635,880,787,804.824125574,652,631.175874426,652.824125574,0.426144848162,0.00452939851868,0.0698819469045,0.999999974839,9.13952756378e-05,-0.000201969489304,3.43222176288e-05,1793239760718844672
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.599221823,745,714.599221823,681,663.599221823,635,880,787.400778177,804.599221823,652,631,653,0.425255213901,0.00452074553903,0.0698699209765,0.999999972148,8.33528718539e-05,-0.000218142732049,3.42177485995e-05,1793239760735511296
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.02382724,745,714.02382724,681,663.02382724,635,880,787.97617276,804.02382724,652,631,653,0.424351908612,0.00451122833352,0.0698406483917,0.999999963361,7.30282263345e-05,-0.000258569544089,3.29637163164e-05,1793239760752177920
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.564161749,745,714,681,663.564161749,635,880,787.435838251,804,652,631,653,0.423451742715,0.00450616257351,0.069805785251,0.99999994637,6.67621098852e-05,-0.000318948433337,3.27827733382e-05,1793239760768844544
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.849619554,745.150380446,714,680.849619554,663.849619554,635,879.849619554,787.150380446,804,652,631.150380446,653,0.42253140006,0.00450085969784,0.0697672329068,0.999999922912,6.09568786527e-05,-0.000386481265633,3.30510884924e-05,1793239760785511168
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.270006787,745.729993213,714,680.270006787,663.270006787,635,879.270006787,787.729993213,804,652,631.729993213,653,0.421553079641,0.00449433114106,0.0697188397727,0.99999988646,5.59667252541e-05,-0.00047197349723,3.44694095927e-05,1793239760802178048
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,746,714.307802445,680.307802445,663,635,879.307802445,788,804,652,631.692197555,653,0.420682067741,0.00448616287939,0.0697281252861,0.999999894961,4.03164029107e-05,-0.000455324268678,3.36500914638e-05,1793239760818844928
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,746,714.884038788,680.884038788,663,635,879.884038788,788,804,652,631.115961212,653,0.419904639437,0.00447656463469,0.0697877122355,0.999999938296,1.53693686069e-05,-0.000349597670052,3.08793324069e-05,1793239760835511552
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.459908024,746,715,680.540091976,663.459908024,635,880,788,804,652,631,653,0.419127053184,0.00446996164564,0.0698476816799,0.999999967361,1.30999692299e-05,-0.000252970090228,3.33395590129e-05,1793239760852178176
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879.96340252,787.96340252,804,652.03659748,631.03659748,652.96340252,0.41834550295,0.00446387678529,0.0699025835253,0.999999985152,1.59609235379e-05,-0.000167564010958,3.69235344402e-05,1793239760868844800
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879.372899802,787.372899802,804,652.627100198,631.627100198,652.372899802,0.417504560756,0.00445421259879,0.0698793283648,0.999999975635,9.99775749477e-06,-0.000217300626125,3.75691876157e-05,1793239760885511424
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.787105303,746,714.787105303,680.212894697,664,635,879.212894697,787.212894697,804,652.787105303,631.787105303,652.212894697,0.41666266717,0.00444542165451,0.0698522461657,0.999999965895,-3.99115391691e-07,-0.000258560081413,3.68349962009e-05,1793239760902178048
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.209379048,746,714.209379048,680.790620952,664,635,879.790620952,787.790620952,804,652.209379048,631.209379048,652.790620952,0.415819143075,0.00443812715891,0.0698186056763,0.999999958566,-1.83939059068e-05,-0.000285292478817,3.37362047622e-05,1793239760918844672
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,746,714.365537562,680.634462438,663.634462438,635,879.634462438,787.634462438,804,652,631.365537562,653,0.414986536023,0.00443312471751,0.0697881417395,0.999999943517,-2.51496145134e-05,-0.000333493657824,3.33998181657e-05,1793239760935511296
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,746,714.938857056,680.061142944,663.061142944,635,879.061142944,787.061142944,804,652,631.938857056,653,0.414160134578,0.00442942514526,0.0697594834475,0.999999921497,-2.55167086199e-05,-0.000393898299565,3.46336610357e-05,1793239760952177920
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,746,714.486667262,680,662.486667262,635,879,787,804,652,631.486667262,652.486667262,0.413431742499,0.00442821201221,0.069771333321,0.999999929819,-2.79143435622e-05,-0.00037190411539,3.56459460637e-05,1793239760968844544
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.909771561,714.090228439,680,662.180456878,635,879,787,804,652,631,652,0.412729252664,0.00443193646716,0.0697936777467,0.999999944382,-2.52109742031e-05,-0.00033059481261,3.61672936588e-05,1793239760985511168
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.320248057,714.679751943,680,663.359503886,635,879,787,804,652,631,652,0.412105352229,0.00446134139182,0.0698473358249,0.999999971348,7.06108835359e-06,-0.000236834780621,3.41183135699e-05,1793239761002178048
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.264513386,715,680,664,635,879.264513386,787.264513386,804,652,631,652.264513386,0.411451539246,0.00447997047294,0.0698811089765,0.99999998254,3.16232394521e-05,-0.0001810786326,3.36213851597e-05,1793239761018844672
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.84361129,715,680,664,635,879.84361129,787.84361129,804,652,631,652.84361129,0.410762151456,0.00448578389225,0.0698912330751,0.999999983745,4.70160271517e-05,-0.000170520332518,3.49703049058e-05,1793239761035511296
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,746,714.582108879,680,663.582108879,635,879.582108879,787.582108879,804,652.417891121,631,653,0.410081446647,0.00447741787082,0.0698654862518,0.999999975428,3.29211049897e-05,-0.00021650639415,3.44231483332e-05,1793239761052178176
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,746,714.009611532,680,663.009611532,635,879.009611532,787.009611532,804,652.990388468,631,653,0.409403954203,0.00446380591449,0.0698264683461,0.999999959257,7.91668311618e-06,-0.000283412042653,3.31745046866e-05,1793239761068845312
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.583865029,745.416134971,714.583865029,680,663,635,879.583865029,787,804,653,631.583865029,653,0.408786120991,0.0044644903132,0.0697971375483,0.999999944363,1.06707986435e-05,-0.000331813031087,3.25596162818e-05,1793239761085511680
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.827045942,745.172954058,715,680,663.172954058,635,879.827045942,787,803.827045942,653,631.827045942,652.827045942,0.408190855026,0.00446519212161,0.0697807032312,0.999999935828,1.22986225363e-05,-0.000356622571907,3.18301565956e-05,1793239761102178304
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.249070355,745.750929645,715,680,663.750929645,635,879.249070355,787,803.249070355,653,631.249070355,652.249070355,0.407646051019,0.00446536303058,0.0697940823575,0.999999946033,1.01789294939e-05,-0.00032692593066,3.08070533842e-05,1793239761118845184
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.326379145,745.673620855,714.673620855,680,664,635,879,787,803,653,631,652,0.407117339395,0.00447084656005,0.0698077714376,0.999999952493,1.43155693576e-05,-0.000306391826375,3.05375495986e-05,1793239761135511808
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.89991568,745.10008432,714.10008432,680,664,635,879,787,803,653,631,652,0.406600814095,0.00448035318176,0.069821695236,0.999999956391,2.31899474403e-05,-0.000292796245459,3.08387247069e-05,1793239761152178432
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.489110293,714.489110293,680,664,635.489110293,879,787,803.489110293,653,631.489110293,652.489110293,0.40611007088,0.00448834198918,0.069814616311,0.999999950772,3.33599451309e-05,-0.000310432591891,3.12305161233e-05,1793239761168845056
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.920159828,664,635.920159828,879,787,804,652.920159828,632,653,0.405636249667,0.00449385442535,0.0698066970514,0.999999944967,4.1324058647e-05,-0.00032766863935,3.14965315753e-05,1793239761185511680
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.340539361,664,635.340539361,879,787,804,652.340539361,632,653,0.405234239528,0.00448587384644,0.0698213097141,0.999999953632,3.37654165754e-05,-0.000301070727036,3.08553102228e-05,1793239761202178304
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.763109571,745.763109571,714.763109571,679.236890429,664,635,879,787,803.763109571,652,631.763109571,652.763109571,0.404847182212,0.00447986194058,0.0698343755557,0.999999961055,2.82215063862e-05,-0.000276016603582,3.01528485321e-05,1793239761218844928
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.18880016,745.18880016,714.18880016,679.81119984,664,635,879,787,803.18880016,652,631.18880016,652.18880016,0.404481423243,0.00447665414893,0.0698452381545,0.999999967197,2.55473150836e-05,-0.000253161404931,2.93631581758e-05,1793239761235511296
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.385560991,745,714.385560991,680,664,635,879,787,803,652,631.385560991,652,0.404129640358,0.00447465670652,0.0698527175389,0.999999970873,1.90850269137e-05,-0.000238874224508,2.87760686695e-05,1793239761252178176
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.959947533,745,714.959947533,680,664,635,879,787,803,652,631.959947533,652,0.403784702119,0.00447325202311,0.0698585400209,0.999999973371,1.07675469904e-05,-0.000228783163551,2.82882013127e-05,1793239761268845312
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.447553112,663.447553112,635,879,787,803,652,631.447553112,652,0.403466352043,0.00447046069069,0.06984759406,0.999999968953,2.66511891562e-06,-0.000247607902421,2.78935058324e-05,1793239761285511936
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.14223026,663.14223026,635,879,787,803,652,631.14223026,652.14223026,0.40316037239,0.00446796027261,0.0698367638717,0.999999964034,-5.67985755245e-06,-0.000266734916039,2.74085524237e-05,1793239761302178304
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.719552132,663.719552132,635,879,787,803,652,631.719552132,652.719552132,0.402886137911,0.00446666773909,0.0698301328497,0.999999960292,-1.4816118794e-05,-0.000280156204244,2.66261297193e-05,1793239761318844928
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.295471297,715,680,664,635,879,787,803.295471297,652,631.704528703,652.704528703,0.402633928654,0.00446601642205,0.0698236558411,0.999999957215,-2.05246019451e-05,-0.000290645634095,2.59659289403e-05,1793239761335511296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.870065333,715,680,664,635,879,787,803.870065333,652,631.129934667,652.129934667,0.402402525971,0.00446597084278,0.0698173243246,0.999999954902,-2.29949669317e-05,-0.000298365425835,2.54211875444e-05,1793239761352177920
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787,804,652.454702301,631,652,0.40219791939,0.00446844896989,0.0698126646821,0.999999952765,-1.52103882404e-05,-0.000305881412695,2.59659692394e-05,1793239761368844800
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.958324913,714.958324913,680,664,635,879,787,803.958324913,652.958324913,631,652.041675087,0.402003870409,0.00447244374629,0.0698088724599,0.999999950705,-1.52477694302e-06,-0.000312842129818,2.67948771215e-05,1793239761385511168
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.379076598,714.379076598,680,664,635,879,787,803.379076598,652.379076598,631,652.620923402,0.401845003363,0.00448648944793,0.0698099674575,0.999999949287,4.96253632112e-05,-0.00031340853857,2.71820511743e-05,1793239761402178048
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.199140472,714.199140472,680,663.800859528,635,879,787.199140472,803,652.199140472,631,653,0.401697395658,0.00449918343039,0.0698105194414,0.999999947048,8.3960512698e-05,-0.000313262151176,2.68641869085e-05,1793239761418844928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.775404549,714.775404549,680,663.224595451,635,879,787.775404549,803,652.775404549,631,653,0.401571110424,0.004509317584,0.0698100430897,0.999999947346,8.64521552122e-05,-0.00031176590252,2.52111516646e-05,1793239761435511808
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.648741825,745.648741825,714.648741825,679.648741825,663,635,879,787.648741825,803,653,631,653,0.401461667143,0.00450735567428,0.0698088290758,0.999999949151,6.79078383857e-05,-0.00031080140591,2.20929425359e-05,1793239761452178176
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.073150282,745.073150282,714.073150282,679.073150282,663,635,879,787.073150282,803,653,631,653,0.401362980075,0.00449766853425,0.069807143949,0.999999951087,3.59287664164e-05,-0.000310176515875,1.80389901807e-05,1793239761468844544
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766.030349403,745,714.515174702,679.515174702,663,635,879,787,803.515174702,652.484825298,631,653,0.401282072823,0.00449758662411,0.0698064921067,0.999999950754,3.27309639809e-05,-0.000311596002636,1.81448296835e-05,1793239761485511424
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766.8967188,745,715,680,663.1032812,635,879,787.1032812,803.8967188,652.1032812,631,652.8967188,0.401207785544,0.00449865673815,0.0698063877693,0.999999950363,3.40720965233e-05,-0.00031265864543,1.89323331702e-05,1793239761502178048
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766.318148799,745,715,680,663.681851201,635,879,787.681851201,803.318148799,652.681851201,631,652.318148799,0.401152050363,0.00449859295355,0.0698081107011,0.999999950843,3.70178077583e-05,-0.000310709423846,2.00697695457e-05,1793239761518844672
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787.739755569,803,652.739755569,631.260244431,652.260244431,0.401106737769,0.00449793780553,0.0698105009393,0.999999952221,3.72641928938e-05,-0.000306170267036,2.0720176207e-05,1793239761535511296
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787.161578331,803,652.161578331,631.838421669,652.838421669,0.401074158141,0.00449656020658,0.0698137064055,0.999999954658,3.42128922047e-05,-0.000298467064233,2.0775593221e-05,1793239761552178176
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766.411910096,745.411910096,715,679.588089904,664,635,879,787,803.411910096,652,631.588089904,653,0.401048193795,0.00449641313362,0.0698160217877,0.999999955904,3.49628241974e-05,-0.000294146845752,2.11686601845e-05,1793239761568845056
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766.98357995,745.98357995,715,679.01642005,664,635,879,787,803.98357995,652,631.01642005,653,0.401024795195,0.00449674332148,0.0698179919498,0.999999956692,3.71870682926e-05,-0.000291138721424,2.16926850295e-05,1793239761585511936
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766.42629132,746,715,679.57370868,664,635,879.57370868,787,804,652.57370868,631,653,0.401010072027,0.00449600130382,0.0698206772671,0.999999957916,3.5861731068e-05,-0.000287052020391,2.19994707988e-05,1793239761602178560
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.83893669,715,680,664,635,879.83893669,787,803.83893669,653,631,653,0.400997342698,0.00449569392557,0.0698227917302,0.999999958754,3.53924801913e-05,-0.000284169347567,2.20866493107e-05,1793239761618844928
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.260191759,715,680,664,635,879.260191759,787,803.260191759,653,631,653,0.400989118633,0.00449659591412,0.0698233709659,0.999999958599,3.74155126671e-05,-0.000284491768188,2.16209854554e-05,1793239761635511296
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.317092722,715,680.317092722,664,635.317092722,879.317092722,787,803,653,631,653,0.400985383974,0.00449696548635,0.0698250602186,0.999999959418,3.72305424569e-05,-0.000281656325292,2.11375966136e-05,1793239761652178176
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.893184382,715,680.893184382,664,635.893184382,879.893184382,787,803,653,631,653,0.400985316228,0.00449690018504,0.0698276561248,0.999999961011,3.52420925699e-05,-0.000276241563383,2.06397300855e-05,1793239761668844800
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.520443624,664.479556376,635.520443624,879.520443624,787,803.479556376,653,631,653,0.400985375924,0.00449637804138,0.0698296870275,0.999999961997,3.39772767645e-05,-0.000272795392606,2.08203397583e-05,1793239761685511424
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.932829382,715,679.932829382,664.932829382,635,879,787,803.932829382,652.932829382,631,653,0.400985176374,0.00449578373089,0.0698313127681,0.999999962709,3.31650474179e-05,-0.000270249593273,2.11273865374e-05,1793239761702178048
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745.353583469,715,679.353583469,664.353583469,635,879,787,803.353583469,652.353583469,631,653,0.400982779308,0.00449543198955,0.069830830176,0.999999962416,3.45474284092e-05,-0.000271151786991,2.12210043539e-05,1793239761718845184
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.224712372,664,635,879,787,803,652.224712372,631,653,0.400981668623,0.00449483182527,0.0698310820935,0.999999962518,3.45576239229e-05,-0.000270779157426,2.11620329692e-05,1793239761735512320
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.801519539,664,635,879,787,803,652.801519539,631,653,0.400982573527,0.00449384241488,0.069832484891,0.999999963235,3.24177848007e-05,-0.000268409047037,2.0863974327e-05,1793239761752178432
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.622422399,664,635,878.622422399,787.377577601,803,652.622422399,631,653,0.400982603133,0.00449405871123,0.0698329074333,0.999999963355,3.24075681221e-05,-0.000267969196378,2.07791911038e-05,1793239761768844800
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.046757356,664,635,878.046757356,787.953242644,803,652.046757356,631,653,0.400982173535,0.00449490755404,0.0698328157071,0.999999963165,3.35146091636e-05,-0.000268542012364,2.08062979552e-05,1793239761785511424
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745.541263604,715,679.541263604,664,635.541263604,878.541263604,787.458736396,803.541263604,652.541263604,631,652.458736396,0.400982035983,0.00449479140588,0.0698326573017,0.999999963242,3.30723185231e-05,-0.000268291174104,2.10087887485e-05,1793239761802178304
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.872126505,879,787.127873495,804,653,631,652.127873495,0.400981868187,0.00449505667607,0.069832741727,0.999999963337,3.31553862266e-05,-0.000267921364351,2.10845133214e-05,1793239761818845440
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.294324983,879,787.705675017,804,653,631,652.705675017,0.400981503139,0.0044969641442,0.0698337013029,0.999999963406,3.55688707454e-05,-0.000267389147754,2.06596523345e-05,1793239761835512576
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,745.716777595,715,679.716777595,664,635,879,787.716777595,803.716777595,652.716777595,631,653,0.40098103756,0.00449792608634,0.0698336015119,0.999999963324,3.65472645028e-05,-0.000267577509842,2.04806515584e-05,1793239761852179712
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745.139493998,715,679.139493998,664,635,879,787.139493998,803.139493998,652.139493998,631,653,0.400980467603,0.00449790631792,0.0698324018128,0.99999996309,3.60356475469e-05,-0.000268514026762,2.05569198956e-05,1793239761868846080
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.445959927,664,635,879,787,803.445959927,652.445959927,631.445959927,653,0.400980331612,0.00449720754924,0.0698325676592,0.999999963151,3.59730789716e-05,-0.000268309433359,2.03504970897e-05,1793239761885512192
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745.033530103,715,680,664,635,879,787,803.966469897,652.966469897,632,652.966469897,0.400980299583,0.0044963280933,0.0698331388823,0.999999963293,3.59929971376e-05,-0.000267797245009,2.01031884221e-05,1793239761902178304
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745.61316778,715,680,664,635,879,787,803.38683222,652.38683222,632,652.38683222,0.400979708658,0.00449602950374,0.0698332258814,0.999999963208,3.50260049649e-05,-0.000268197131012,2.06570203109e-05,1793239761918844928
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745.808548294,715,680,664,635,879,787,803,652,631.808548294,652.191451706,0.400979211071,0.00449645442378,0.0698332922095,0.999999963166,3.52899151379e-05,-0.000268303739606,2.08797776884e-05,1793239761935511552
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.232980479,715,680,664,635,879,787,803,652,631.232980479,652.767019521,0.400978900753,0.00449833094592,0.0698333170648,0.999999963204,3.80234268738e-05,-0.000267821935671,2.04382889087e-05,1793239761952178176
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745.341859449,715,680,664,635,879,787,803.341859449,652.341859449,631,653,0.400980314665,0.00449833658921,0.0698344227235,0.999999963658,3.82566681053e-05,-0.000266086162094,2.04454004195e-05,1793239761968844800
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745.916204345,715,680,664,635,879,787,803.916204345,652.916204345,631,653,0.400982901159,0.00449706991975,0.069836263395,0.999999964392,3.67895715298e-05,-0.000263497612068,2.07575877323e-05,1793239761985511424
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745.496805687,715,680,664,635,879,787,803.496805687,653,631.503194313,653,0.400982778389,0.00449660984173,0.0698364126264,0.999999964593,3.67246110414e-05,-0.000262740389816,2.0811394571e-05,1793239762002178304
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879.090882284,787,803,653,631.909117716,653,0.400982498238,0.0044962616314,0.0698363953906,0.999999964737,3.66673321452e-05,-0.0002621986213,2.0820252017e-05,1793239762018845184
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879.670704432,787,803,653,631.329295568,653,0.400983861206,0.00449577400412,0.0698370370052,0.999999965063,3.5362817711e-05,-0.000261132989209,2.0824736535e-05,1793239762035511808
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,679.751228992,664,635,879.751228992,787,803.248771008,653,631.248771008,652.751228992,0.40098342243,0.00449641523884,0.069836700048,0.999999964919,3.51352201825e-05,-0.000261732836736,2.05745907949e-05,1793239762052178432
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.175469885,664,635,879.175469885,787,803.824530115,653,631.824530115,652.175469885,0.400980615418,0.00449854026554,0.0698350768424,0.999999964155,3.63231371492e-05,-0.000264521813871,1.99897554746e-05,1793239762068844800
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.599353027,745,715,679.400646973,664,635,879,787,803.599353027,653,631.599353027,652.400646973,0.400979830738,0.00449843416968,0.0698341974337,0.999999963833,3.64553382566e-05,-0.000265729312882,1.98342895523e-05,1793239762085511680
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.02307938,745,715,679.97692062,664,635,879,787,803.02307938,653,631.02307938,652.97692062,0.400979932564,0.004497350044,0.0698336440741,0.999999963707,3.61247581494e-05,-0.000266243558661,1.98670410337e-05,1793239762102178048
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765,745.566330616,715,679.433669384,664,635,879,787,803,653,631,653,0.400980737973,0.00449559692216,0.0698348087813,0.99999996443,3.40196585991e-05,-0.000263773484633,2.01342883616e-05,1793239762118844672
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c62e430c89bb2feda007fe3e0ac7170f0217e9d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/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,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+1,0.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+2,0.033333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+3,0.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+4,0.066666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+5,0.083333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+6,0.100000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+7,0.116666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+8,0.133333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+9,0.150000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+10,0.166666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+11,0.183333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+12,0.200000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+13,0.216666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+14,0.233333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+15,0.250000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+16,0.266666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+17,0.283333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+18,0.300000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+19,0.316666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+20,0.333333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+21,0.350000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+22,0.366666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+23,0.383333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+24,0.400000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+25,0.416666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+26,0.433333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+27,0.450000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+28,0.466666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+29,0.483333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+30,0.500000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+31,0.516666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+32,0.533333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+33,0.550000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+34,0.566666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+35,0.583333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+36,0.600000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+37,0.616666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+38,0.633333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+39,0.650000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+40,0.666666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+41,0.683333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+42,0.700000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+43,0.716666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+44,0.733333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+45,0.750000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+46,0.766666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+47,0.783333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+48,0.800000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+49,0.816666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+50,0.833333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+51,0.850000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+52,0.866666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+53,0.883333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+54,0.900000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+55,0.916666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+56,0.933333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+57,0.950000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+58,0.966666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+59,0.983333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+60,1.000000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+61,1.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+62,1.033333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+63,1.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+64,1.066666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+65,1.083333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+66,1.100000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+67,1.116666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+68,1.133333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+69,1.150000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+70,1.166666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+71,1.183333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+72,1.200000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+73,1.216666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+74,1.233333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+75,1.250000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+76,1.266666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+77,1.283333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+78,1.300000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+79,1.316666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+80,1.333333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+81,1.350000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+82,1.366666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+83,1.383333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+84,1.400000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+85,1.416666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+86,1.433333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+87,1.450000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+88,1.466666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+89,1.483333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+90,1.500000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+91,1.516666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+92,1.533333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+93,1.550000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+94,1.566666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+95,1.583333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+96,1.600000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+97,1.616666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+98,1.633333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+99,1.650000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+100,1.666666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+101,1.683333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+102,1.700000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+103,1.716666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+104,1.733333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+105,1.750000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+106,1.766666667,pose1_to_pose2_press,0.575664308767,0.0100907829807,1.06003209211,0.546234757813,0.0187625139963,1.05970022511
+107,1.783333333,pose1_to_pose2_press,0.575664335573,0.0100908372947,1.06003208542,0.546234784637,0.018762568452,1.05970022053
+108,1.800000000,pose1_to_pose2_press,0.575664354832,0.0100908763171,1.06003208061,0.546234803909,0.0187626075762,1.05970021724
+109,1.816666667,pose1_to_pose2_press,0.575664426916,0.0100909513808,1.06003208337,0.546234876209,0.0187626834827,1.05970022289
+110,1.833333333,pose1_to_pose2_press,0.575664433101,0.0100909488998,1.06003208622,0.546234882434,0.0187626811321,1.05970022563
+111,1.850000000,pose1_to_pose2_press,0.575664534309,0.0100909083003,1.06003213277,0.546234984289,0.0187626426656,1.05970027049
+112,1.866666667,pose1_to_pose2_press,0.575664560082,0.0100908979615,1.06003214462,0.546235010227,0.0187626328699,1.05970028191
+113,1.883333333,pose1_to_pose2_press,0.575664816941,0.0100907949229,1.06003226276,0.54623526873,0.0187625352448,1.05970039577
+114,1.900000000,pose1_to_pose2_press,0.575665616845,0.0100907393855,1.0600324356,0.546236069472,0.0187624822398,1.05970056043
+115,1.916666667,pose1_to_pose2_press,0.575668848533,0.0100908612932,1.06003238341,0.546239298826,0.0187625962965,1.05970051008
+116,1.933333333,pose1_to_pose2_press,0.575676513689,0.0100907888602,1.06003247696,0.546246965026,0.0187625275386,1.05970060706
+117,1.950000000,pose1_to_pose2_press,0.57569203766,0.010090679639,1.06003224002,0.546262489994,0.0187624220568,1.05970037925
+118,1.966666667,pose1_to_pose2_press,0.575716316399,0.0100908153806,1.06003239812,0.546286768126,0.0187625558492,1.05970054027
+119,1.983333333,pose1_to_pose2_press,0.575750889704,0.0100907501685,1.06003240125,0.546321341221,0.0187624896174,1.05970053534
+120,2.000000000,pose1_to_pose2_press,0.575794825522,0.010090754268,1.06003236868,0.546365276662,0.0187624923837,1.05970050117
+121,2.016666667,pose1_to_pose2_press,0.575848280284,0.0100908601323,1.06003232962,0.546418729059,0.0187625902851,1.05970046377
+122,2.033333333,pose1_to_pose2_press,0.57590956326,0.0100908135924,1.06003250328,0.546480013694,0.0187625488882,1.05970062458
+123,2.050000000,pose1_to_pose2_press,0.575978181738,0.0100906504764,1.06003235228,0.546548635054,0.0187623960054,1.05970048544
+124,2.066666667,pose1_to_pose2_press,0.576055759264,0.0100906981113,1.06003233698,0.546626213167,0.0187624457752,1.05970047381
+125,2.083333333,pose1_to_pose2_press,0.576143257819,0.0100908200639,1.06003246511,0.546713708709,0.0187625571569,1.05970059275
+126,2.100000000,pose1_to_pose2_press,0.576244717559,0.0100908847228,1.06003246035,0.546815167999,0.0187626204638,1.05970059263
+127,2.116666667,pose1_to_pose2_press,0.576361494815,0.0100908237728,1.06003223548,0.546931945961,0.0187625618786,1.05970036685
+128,2.133333333,pose1_to_pose2_press,0.576495175199,0.0100907876594,1.06003223855,0.547065626474,0.0187625262074,1.05970036995
+129,2.150000000,pose1_to_pose2_press,0.576645326867,0.0100908110885,1.06003225402,0.547215777651,0.0187625482247,1.05970039206
+130,2.166666667,pose1_to_pose2_press,0.576811146022,0.0100907143807,1.06003224911,0.54738159816,0.0187624560968,1.05970038673
+131,2.183333333,pose1_to_pose2_press,0.576993734929,0.0100906773906,1.06003229047,0.547564188452,0.0187624236732,1.05970042448
+132,2.200000000,pose1_to_pose2_press,0.577194050815,0.0100908051311,1.06003225173,0.547764503097,0.0187625471958,1.0597003855
+133,2.216666667,pose1_to_pose2_press,0.577415823318,0.0100907254047,1.06003230085,0.547986275436,0.0187624666834,1.05970042867
+134,2.233333333,pose1_to_pose2_press,0.577659402112,0.0100907975169,1.06003214488,0.548229853627,0.0187625372117,1.05970028467
+135,2.250000000,pose1_to_pose2_press,0.577924814657,0.0100907996693,1.06003245622,0.548495265937,0.0187625383279,1.05970058967
+136,2.266666667,pose1_to_pose2_press,0.578210038516,0.0100907452393,1.06003247536,0.548780490344,0.0187624854371,1.05970060044
+137,2.283333333,pose1_to_pose2_press,0.578513326354,0.0100907575309,1.06003236694,0.5490837768,0.0187624931276,1.0597004943
+138,2.300000000,pose1_to_pose2_press,0.578834595105,0.0100908098621,1.06003236533,0.549405045705,0.0187625459671,1.05970049227
+139,2.316666667,pose1_to_pose2_press,0.579174002818,0.0100908615526,1.06003225455,0.549744452597,0.0187625949534,1.05970038346
+140,2.333333333,pose1_to_pose2_press,0.579533164128,0.0100908439518,1.06003219345,0.550103614233,0.0187625789157,1.0597003343
+141,2.350000000,pose1_to_pose2_press,0.579910714136,0.0100908074482,1.0600322895,0.550481164497,0.0187625431241,1.05970042615
+142,2.366666667,pose1_to_pose2_press,0.580305640149,0.0100907605711,1.06003218866,0.550876091282,0.018762498745,1.05970032205
+143,2.383333333,pose1_to_pose2_press,0.580722347487,0.0100907690408,1.06003223211,0.551292798167,0.0187625055544,1.05970036229
+144,2.400000000,pose1_to_pose2_press,0.58116172211,0.0100907724726,1.06003225168,0.551732172299,0.0187625072734,1.05970038052
+145,2.416666667,pose1_to_pose2_press,0.581628194639,0.0100907421508,1.06003214085,0.552198646232,0.0187624819067,1.05970027469
+146,2.433333333,pose1_to_pose2_press,0.582119552858,0.0100907896923,1.06003227647,0.55269000529,0.0187625324322,1.05970041379
+147,2.450000000,pose1_to_pose2_press,0.582635336268,0.0100908904014,1.06003240826,0.553205786394,0.0187626251545,1.05970054133
+148,2.466666667,pose1_to_pose2_press,0.583167322969,0.0100908539644,1.06003219026,0.553737772819,0.0187625879009,1.05970032635
+149,2.483333333,pose1_to_pose2_press,0.583714397524,0.0100907476336,1.060032123,0.554284848501,0.0187624852719,1.05970025583
+150,2.500000000,pose1_to_pose2_press,0.584280114484,0.0100907073081,1.06003234117,0.554850566496,0.0187624485028,1.05970047524
+151,2.516666667,pose1_to_pose2_press,0.584867617804,0.01009084524,1.06003223074,0.555438069315,0.018762584695,1.05970036372
+152,2.533333333,pose1_to_pose2_press,0.585480702023,0.0100907919583,1.06003231132,0.556051153349,0.0187625309221,1.05970044784
+153,2.550000000,pose1_to_pose2_press,0.586115653252,0.0100906862331,1.06003226954,0.556686105762,0.018762428859,1.05970039672
+154,2.566666667,pose1_to_pose2_press,0.586768655707,0.0100908269491,1.06003261408,0.557339107543,0.018762567166,1.05970073799
+155,2.583333333,pose1_to_pose2_press,0.587421485013,0.0100908278266,1.06003250348,0.557991936883,0.0187625681139,1.05970062616
+156,2.600000000,pose1_to_pose2_press,0.588076217107,0.0100908318993,1.06003244535,0.558646668654,0.0187625711931,1.05970057069
+157,2.616666667,pose1_to_pose2_press,0.588742245947,0.0100908049564,1.06003233959,0.559312696722,0.0187625420256,1.05970047534
+158,2.633333333,pose1_to_pose2_press,0.589422771483,0.0100908126958,1.060032248,0.559993222367,0.0187625505825,1.05970039539
+159,2.650000000,pose1_to_pose2_press,0.590120019441,0.0100908870732,1.06003233474,0.560690470916,0.0187626269496,1.05970048167
+160,2.666666667,pose1_to_pose2_press,0.590844000913,0.0100908153707,1.0600322121,0.561414451642,0.0187625522676,1.05970034732
+161,2.683333333,pose1_to_pose2_press,0.591589719502,0.0100908908406,1.06003223782,0.562160170537,0.0187626287302,1.05970037193
+162,2.700000000,pose1_to_pose2_press,0.5923483138,0.0100908167674,1.06003240034,0.56291876397,0.018762551256,1.0597005223
+163,2.716666667,pose1_to_pose2_press,0.593112311101,0.0100907181444,1.06003245339,0.563682761665,0.01876245441,1.05970058681
+164,2.733333333,pose1_to_pose2_press,0.593872362561,0.0100907099439,1.06003249117,0.564442813967,0.0187624487953,1.05970061754
+165,2.750000000,pose1_to_pose2_press,0.594620870392,0.0100907065492,1.06003222609,0.565191322739,0.0187624490742,1.05970036504
+166,2.766666667,pose1_to_pose2_press,0.595354836845,0.0100908224245,1.06003242162,0.565925288909,0.0187625636053,1.05970055058
+167,2.783333333,pose1_to_pose2_press,0.596095815581,0.0100907336169,1.06003222338,0.566666269377,0.0187624807648,1.05970035474
+168,2.800000000,pose1_to_pose2_press,0.596850174489,0.0100907803453,1.0600323882,0.567420627607,0.0187625251029,1.05970051718
+169,2.816666667,pose1_to_pose2_press,0.597622920891,0.0100908292684,1.06003241645,0.568193373273,0.0187625715836,1.05970054692
+170,2.833333333,pose1_to_pose2_press,0.598416420591,0.01009079201,1.06003226347,0.568986873632,0.0187625367531,1.05970039904
+171,2.850000000,pose1_to_pose2_press,0.599231019568,0.0100907230382,1.06003224129,0.569801472945,0.0187624688691,1.05970037555
+172,2.866666667,pose1_to_pose2_press,0.600032277721,0.0100906785171,1.06003218427,0.570602731144,0.0187624245351,1.05970031931
+173,2.883333333,pose1_to_pose2_press,0.600816454546,0.0100907818143,1.06003229674,0.571386906909,0.0187625242206,1.05970043154
+174,2.900000000,pose1_to_pose2_press,0.601573841269,0.0100907957341,1.06003223148,0.572144292844,0.0187625353253,1.05970036264
+175,2.916666667,pose1_to_pose2_press,0.602309287936,0.0100907504554,1.06003223174,0.572879741193,0.0187624957754,1.05970036345
+176,2.933333333,pose1_to_pose2_press,0.60303095175,0.0100907351754,1.06003224786,0.573601403948,0.0187624767699,1.05970037632
+177,2.950000000,pose1_to_pose2_press,0.603753700571,0.0100907681928,1.06003237611,0.574324152096,0.0187625074185,1.05970050238
+178,2.966666667,pose1_to_pose2_press,0.604484440626,0.0100907077998,1.06003238062,0.575054892022,0.0187624464744,1.05970050396
+179,2.983333333,pose1_to_pose2_press,0.605220321665,0.0100906619541,1.06003233932,0.575790774116,0.0187624045423,1.05970047146
+180,3.000000000,pose1_to_pose2_press,0.605955308287,0.0100907986474,1.06003232757,0.57652575996,0.018762538722,1.05970046315
+181,3.016666667,pose1_to_pose2_press,0.606682016445,0.0100907769477,1.06003256274,0.57725246816,0.018762516679,1.0597006857
+182,3.033333333,pose1_to_pose2_press,0.607386250655,0.0100908207078,1.06003241924,0.577956701797,0.0187625587702,1.05970054952
+183,3.050000000,pose1_to_pose2_press,0.608054700997,0.0100908715571,1.06003242952,0.578625152078,0.0187626094255,1.05970056026
+184,3.066666667,pose1_to_pose2_press,0.608693152231,0.0100908718529,1.06003234702,0.579263603854,0.0187626115305,1.05970047703
+185,3.083333333,pose1_to_pose2_press,0.609300094442,0.0100908203673,1.06003227558,0.579870546684,0.0187625622758,1.05970040911
+186,3.100000000,pose1_to_pose2_press,0.609879767901,0.0100908261941,1.06003229925,0.580450219087,0.0187625646047,1.05970043503
+187,3.116666667,pose1_to_pose2_press,0.610442262,0.0100909470325,1.06003220682,0.581012710318,0.0187626757222,1.05970034303
+188,3.133333333,pose1_to_pose2_press,0.611003981598,0.010090849877,1.06003217591,0.581574432393,0.0187625872452,1.05970031933
+189,3.150000000,pose1_to_pose2_press,0.611564852022,0.0100908464827,1.06003224549,0.582135303023,0.0187625839165,1.0597003724
+190,3.166666667,pose1_to_pose2_press,0.612120781941,0.0100908820394,1.06003242393,0.582691233149,0.0187626204712,1.05970055859
+191,3.183333333,pose1_to_pose2_press,0.612656328768,0.0100907699787,1.06003213216,0.583226779774,0.0187625078669,1.05970027034
+192,3.200000000,pose1_to_pose2_press,0.613165655256,0.0100907770803,1.06003210318,0.583736105111,0.0187625108393,1.05970023686
+193,3.216666667,pose1_to_pose2_press,0.613635497418,0.0100907540528,1.06003236414,0.584205949417,0.0187624949511,1.05970049302
+194,3.233333333,pose1_to_pose2_press,0.614075842506,0.0100907558308,1.06003234215,0.584646295771,0.0187625011964,1.05970047368
+195,3.250000000,pose1_to_pose2_press,0.614495096984,0.0100907450292,1.06003228178,0.585065549891,0.0187624892579,1.05970041379
+196,3.266666667,pose1_to_pose2_press,0.614901149552,0.0100907395573,1.06003232522,0.585471601912,0.0187624818811,1.05970045466
+197,3.283333333,pose1_to_pose2_press,0.615295295458,0.0100908306593,1.06003223059,0.58586574718,0.0187625709837,1.05970036239
+198,3.300000000,pose1_to_pose2_press,0.615672628176,0.0100909134461,1.06003225352,0.586243077028,0.0187626438441,1.05970037762
+199,3.316666667,pose1_to_pose2_press,0.616030522076,0.0100909255696,1.06003210931,0.586600971593,0.0187626586372,1.05970024076
+200,3.333333333,pose1_to_pose2_press,0.616364068944,0.0100908640639,1.06003219934,0.586934519871,0.0187626023586,1.05970033705
+201,3.350000000,pose1_to_pose2_press,0.616673673919,0.0100907516999,1.06003231791,0.587244125766,0.0187624930823,1.05970045054
+202,3.366666667,pose1_to_pose2_press,0.616958432787,0.0100907944309,1.06003225932,0.587528884908,0.0187625369812,1.059700394
+203,3.383333333,pose1_to_pose2_press,0.617226422384,0.0100908140931,1.06003222124,0.587796873929,0.0187625547655,1.05970035365
+204,3.400000000,pose1_to_pose2_press,0.61747913776,0.0100908268516,1.06003234372,0.588049588276,0.0187625639911,1.05970047118
+205,3.416666667,pose1_to_pose2_press,0.617716178555,0.0100908465921,1.06003250083,0.588286628989,0.0187625835238,1.05970062609
+206,3.433333333,pose1_to_pose2_press,0.617938758785,0.0100907992995,1.06003246161,0.58850921064,0.0187625412992,1.05970058887
+207,3.450000000,pose1_to_pose2_press,0.618145970353,0.0100907283029,1.0600323438,0.588716422808,0.0187624726762,1.05970047728
+208,3.466666667,pose1_to_pose2_press,0.61833645526,0.0100906607594,1.06003236652,0.588906908308,0.0187624069865,1.0597004924
+209,3.483333333,pose1_to_pose2_press,0.618508334564,0.0100909024497,1.06003220216,0.589078785297,0.0187626413372,1.05970033843
+210,3.500000000,pose1_to_pose2_press,0.618661861856,0.0100908231177,1.06003235411,0.589232312045,0.0187625598041,1.05970048207
+211,3.516666667,pose1_to_pose2_press,0.618797938745,0.0100907883889,1.06003223215,0.589368389232,0.0187625265531,1.05970036648
+212,3.533333333,pose1_to_pose2_press,0.618918959916,0.0100907860684,1.06003221396,0.589489409516,0.0187625213306,1.05970034755
+213,3.550000000,pose1_to_pose2_press,0.619026955681,0.0100907042617,1.06003220914,0.589597407894,0.0187624485536,1.05970034521
+214,3.566666667,pose1_to_pose2_press,0.61912236061,0.0100907336972,1.06003232443,0.589692813507,0.0187624804821,1.05970046369
+215,3.583333333,pose1_to_pose2_press,0.619207133241,0.0100907754988,1.06003233278,0.589777584465,0.0187625169192,1.05970046892
+216,3.600000000,pose1_to_pose2_press,0.619281026276,0.0100907624563,1.06003221889,0.589851476973,0.0187625023687,1.05970035266
+217,3.616666667,pose1_to_pose2_press,0.619342449847,0.0100908061216,1.06003222026,0.589912900798,0.018762546419,1.05970035393
+218,3.633333333,pose1_to_pose2_press,0.619392640211,0.0100908180755,1.060032186,0.589963090867,0.0187625566895,1.05970031522
+219,3.650000000,pose1_to_pose2_press,0.619432933172,0.0100907254802,1.06003201135,0.590003384044,0.0187624655465,1.05970014594
+220,3.666666667,pose1_to_pose2_press,0.61946535119,0.0100908347876,1.06003216337,0.590035801313,0.0187625726356,1.05970030758
+221,3.683333333,pose1_to_pose2_press,0.619490785682,0.0100907668388,1.06003241824,0.590061236496,0.0187625068472,1.05970055167
+222,3.700000000,pose1_to_pose2_press,0.61951098376,0.0100908571969,1.06003232633,0.590081432594,0.0187625902553,1.05970045739
+223,3.716666667,pose1_to_pose2_press,0.619526280147,0.0100908800024,1.06003223057,0.590096728365,0.0187626108882,1.05970036148
+224,3.733333333,pose1_to_pose2_press,0.619537626781,0.0100908101639,1.06003223827,0.590108076163,0.018762545046,1.05970036797
+225,3.750000000,pose1_to_pose2_press,0.61954558357,0.0100908658723,1.06003224446,0.590116032275,0.0187625983664,1.05970037122
+226,3.766666667,pose1_to_pose2_press,0.61955087804,0.0100908787441,1.06003228744,0.590121326813,0.0187626114347,1.05970041296
+227,3.783333333,pose1_to_pose2_press,0.619554724374,0.0100908679965,1.06003235093,0.590125173628,0.0187626023127,1.05970047615
+228,3.800000000,pose1_to_pose2_press,0.619557438336,0.0100908707113,1.06003234047,0.59012788803,0.018762606585,1.05970046795
+229,3.816666667,pose1_to_pose2_press,0.619559159655,0.0100908815357,1.06003228498,0.590129609717,0.0187626187599,1.05970041608
+230,3.833333333,pose1_to_pose2_press,0.619560156659,0.0100908878053,1.06003225284,0.590130606935,0.0187626258118,1.05970038603
+231,3.850000000,pose1_to_pose2_press,0.619560990044,0.010090893046,1.06003222598,0.590131440498,0.0187626317063,1.05970036092
+232,3.866666667,pose1_to_pose2_press,0.619561499586,0.0100908755519,1.06003224264,0.590131950107,0.0187626143938,1.05970037648
+233,3.883333333,pose1_to_pose2_press,0.619561522786,0.0100908743973,1.06003224397,0.590131973309,0.0187626132437,1.05970037772
+234,3.900000000,pose1_to_pose2_press,0.619561751171,0.0100908630313,1.06003225707,0.590132201717,0.018762601922,1.05970038996
+235,3.916666667,pose1_to_pose2_press,0.619562288746,0.0100908362779,1.0600322879,0.590132739346,0.0187625752728,1.05970041877
+236,3.933333333,pose1_to_pose2_press,0.619562473724,0.0100908270721,1.06003229851,0.590132924343,0.0187625661029,1.05970042868
+237,3.950000000,pose1_to_pose2_press,0.619562504217,0.0100908255545,1.06003230026,0.59013295484,0.0187625645912,1.05970043031
+238,3.966666667,pose1_to_pose2_press,0.619562594687,0.0100908210521,1.06003230545,0.590133045319,0.0187625601064,1.05970043516
+239,3.983333333,pose1_to_pose2_press,0.619562678646,0.0100908168737,1.06003231027,0.590133129286,0.0187625559443,1.05970043966
+240,4.000000000,pose1_to_pose2_press,0.619562860703,0.0100908078133,1.06003232071,0.590133311362,0.0187625469192,1.05970044942
+241,4.016666667,pose1_to_pose2_press,0.619563296089,0.0100907861455,1.06003234568,0.590133746791,0.0187625253358,1.05970047275
+242,4.033333333,pose1_to_pose2_press,0.619563918611,0.0100907583816,1.06003237396,0.590134369384,0.018762497732,1.05970049901
+243,4.050000000,pose1_to_pose2_press,0.619564525158,0.0100907705855,1.06003231088,0.590134976097,0.0187625105732,1.05970043792
+244,4.066666667,pose1_to_pose2_press,0.619564915902,0.0100907784474,1.06003227025,0.590135366948,0.0187625188457,1.05970039857
+245,4.083333333,pose1_to_pose2_press,0.61956494616,0.0100907790562,1.0600322671,0.590135397214,0.0187625194863,1.05970039552
+246,4.100000000,pose1_to_pose2_press,0.619565186794,0.0100907838979,1.06003224207,0.590135637915,0.0187625245808,1.05970037129
+247,4.116666667,pose1_to_pose2_press,0.619565459868,0.0100908712687,1.06003245882,0.590135910391,0.018762609771,1.0597005841
+248,4.133333333,pose1_to_pose2_press,0.619565663005,0.010090941322,1.06003263761,0.59013611304,0.0187626780431,1.05970075965
+249,4.150000000,pose1_to_pose2_press,0.619565746624,0.0100908099558,1.06003252246,0.590136197575,0.0187625499859,1.05970064994
+250,4.166666667,pose1_to_pose2_press,0.619565775569,0.0100907644819,1.0600324826,0.590136226837,0.0187625056574,1.05970061196
+251,4.183333333,pose1_to_pose2_press,0.619565779263,0.0100907603806,1.06003247824,0.590136230535,0.0187625015744,1.05970060778
+252,4.200000000,pose1_to_pose2_press,0.619565811185,0.010090814669,1.06003247862,0.590136260527,0.0187625492743,1.05970060682
+253,4.216666667,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260527,0.0187625492733,1.05970060681
+254,4.233333333,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260526,0.0187625492738,1.05970060681
+255,4.250000000,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260527,0.0187625492737,1.05970060681
+256,4.266666667,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260527,0.0187625492736,1.05970060681
+257,4.283333333,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260527,0.0187625492735,1.05970060681
+258,4.300000000,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260527,0.0187625492735,1.05970060681
+259,4.316666667,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260527,0.0187625492736,1.05970060682
+260,4.333333333,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260529,0.0187625492713,1.05970060681
+261,4.350000000,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260527,0.0187625492737,1.05970060681
+262,4.366666667,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260528,0.0187625492737,1.05970060681
+263,4.383333333,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260528,0.018762549272,1.05970060681
+264,4.400000000,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260528,0.018762549272,1.05970060681
+265,4.416666667,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260528,0.0187625492741,1.05970060681
+266,4.433333333,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260528,0.0187625492719,1.05970060681
+267,4.450000000,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260529,0.018762549272,1.05970060681
+268,4.466666667,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260528,0.0187625492731,1.05970060681
+269,4.483333333,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260528,0.0187625492735,1.05970060681
+270,4.500000000,pose2_hold,0.619565811185,0.010090814669,1.06003247862,0.590136260529,0.018762549272,1.05970060681
+271,4.516666667,pose2_to_pose3_retreat,0.619565778743,0.010090759496,1.06003247823,0.590136230047,0.0187625008063,1.05970060782
+272,4.533333333,pose2_to_pose3_retreat,0.6195656985,0.0100908223487,1.06003245093,0.590136148934,0.0187625608662,1.05970058505
+273,4.550000000,pose2_to_pose3_retreat,0.619565619811,0.0100908181675,1.06003239841,0.590136070145,0.018762556321,1.05970053187
+274,4.566666667,pose2_to_pose3_retreat,0.61956559617,0.0100908144778,1.06003238169,0.590136046501,0.0187625526098,1.05970051476
+275,4.583333333,pose2_to_pose3_retreat,0.619565578785,0.0100908117647,1.06003236938,0.590136029115,0.0187625498808,1.05970050217
+276,4.600000000,pose2_to_pose3_retreat,0.619565519732,0.0100908025484,1.0600323276,0.590135970057,0.0187625406107,1.05970045941
+277,4.616666667,pose2_to_pose3_retreat,0.619565246438,0.0100907825276,1.06003225408,0.590135696739,0.0187625204175,1.05970038344
+278,4.633333333,pose2_to_pose3_retreat,0.619564184675,0.0100907816835,1.06003237066,0.590134634875,0.0187625191415,1.0597004974
+279,4.650000000,pose2_to_pose3_retreat,0.619561339808,0.0100908534131,1.0600322141,0.5901317886,0.0187625864193,1.05970034988
+280,4.666666667,pose2_to_pose3_retreat,0.61955290989,0.0100907997045,1.06003231036,0.59012335907,0.018762533647,1.0597004366
+281,4.683333333,pose2_to_pose3_retreat,0.619536594637,0.0100906310167,1.06003252361,0.590107046902,0.0187623752043,1.05970064125
+282,4.700000000,pose2_to_pose3_retreat,0.619509301715,0.0100908605351,1.06003231563,0.590079753538,0.0187626037292,1.05970044689
+283,4.716666667,pose2_to_pose3_retreat,0.619471270706,0.0100907874326,1.06003218685,0.590041722763,0.0187625318081,1.05970032978
+284,4.733333333,pose2_to_pose3_retreat,0.619421951606,0.0100906947592,1.06003230774,0.589992403407,0.0187624376577,1.05970044266
+285,4.750000000,pose2_to_pose3_retreat,0.619363613363,0.0100908409521,1.06003235789,0.589934062535,0.0187625748424,1.05970048746
+286,4.766666667,pose2_to_pose3_retreat,0.619296742842,0.0100906868039,1.06003211252,0.589867193722,0.0187624265625,1.0597002436
+287,4.783333333,pose2_to_pose3_retreat,0.619221243127,0.0100909029116,1.06003206975,0.589791694836,0.0187626455869,1.05970021173
+288,4.800000000,pose2_to_pose3_retreat,0.619136649674,0.0100908215522,1.0600323196,0.589707100501,0.0187625609486,1.05970045113
+289,4.816666667,pose2_to_pose3_retreat,0.619039215483,0.0100907972709,1.06003235492,0.589609666133,0.0187625360521,1.05970048637
+290,4.833333333,pose2_to_pose3_retreat,0.618928575231,0.0100907321346,1.06003233205,0.589499027023,0.0187624748266,1.05970046677
+291,4.850000000,pose2_to_pose3_retreat,0.618802166317,0.0100907632326,1.06003239791,0.589372617008,0.0187625021516,1.05970053225
+292,4.866666667,pose2_to_pose3_retreat,0.618658963412,0.0100907603279,1.06003239725,0.589229414449,0.0187625004217,1.05970053413
+293,4.883333333,pose2_to_pose3_retreat,0.618497641347,0.0100906784307,1.06003227147,0.589068094399,0.0187624252745,1.05970041156
+294,4.900000000,pose2_to_pose3_retreat,0.61831719647,0.0100907404846,1.06003222549,0.588887648045,0.0187624821087,1.05970036351
+295,4.916666667,pose2_to_pose3_retreat,0.618118358775,0.0100909060398,1.06003227311,0.588688809082,0.0187626435419,1.05970041736
+296,4.933333333,pose2_to_pose3_retreat,0.617901396518,0.0100908178127,1.060032191,0.588471848735,0.0187625617574,1.05970033257
+297,4.950000000,pose2_to_pose3_retreat,0.617666791791,0.0100908179063,1.06003221056,0.588237242331,0.0187625553214,1.05970034469
+298,4.966666667,pose2_to_pose3_retreat,0.617412385988,0.0100907617291,1.06003221539,0.58798283706,0.0187625006485,1.05970034882
+299,4.983333333,pose2_to_pose3_retreat,0.617140749286,0.0100908676602,1.06003219444,0.587711198684,0.0187626011878,1.05970033319
+300,5.000000000,pose2_to_pose3_retreat,0.616851813975,0.0100907687711,1.06003229001,0.587422266013,0.0187625109545,1.05970042474
+301,5.016666667,pose2_to_pose3_retreat,0.616544208224,0.0100907304604,1.06003228709,0.587114660056,0.0187624716259,1.05970041927
+302,5.033333333,pose2_to_pose3_retreat,0.616218762642,0.0100907885351,1.06003221904,0.586789212664,0.0187625234393,1.05970035265
+303,5.050000000,pose2_to_pose3_retreat,0.615872782262,0.010090796351,1.06003216688,0.586443233808,0.0187625363366,1.05970030268
+304,5.066666667,pose2_to_pose3_retreat,0.615504100472,0.0100907815012,1.06003196253,0.58607455347,0.0187625264952,1.05970010459
+305,5.083333333,pose2_to_pose3_retreat,0.615109942177,0.0100907944135,1.06003220537,0.585680394117,0.0187625353507,1.05970034088
+306,5.100000000,pose2_to_pose3_retreat,0.614688371261,0.0100906979295,1.06003218726,0.585258824603,0.0187624437739,1.05970032793
+307,5.116666667,pose2_to_pose3_retreat,0.614240805516,0.0100906972584,1.0600321963,0.584811258561,0.0187624419794,1.05970033392
+308,5.133333333,pose2_to_pose3_retreat,0.613773186609,0.0100907936975,1.06003205081,0.584343638532,0.0187625345766,1.05970018757
+309,5.150000000,pose2_to_pose3_retreat,0.613289047128,0.0100908043153,1.06003208554,0.583859498678,0.0187625439433,1.05970022223
+310,5.166666667,pose2_to_pose3_retreat,0.612789640907,0.0100907926564,1.06003220758,0.583360092562,0.0187625325997,1.05970034294
+311,5.183333333,pose2_to_pose3_retreat,0.612277510516,0.0100908297137,1.06003224738,0.582847962417,0.0187625703986,1.05970038125
+312,5.200000000,pose2_to_pose3_retreat,0.611752152134,0.0100907978778,1.06003234866,0.582322604793,0.0187625410897,1.05970048273
+313,5.216666667,pose2_to_pose3_retreat,0.611196054959,0.0100907079499,1.06003244781,0.581766505939,0.018762445605,1.05970058384
+314,5.233333333,pose2_to_pose3_retreat,0.610609467915,0.0100907377484,1.06003234835,0.581179920313,0.0187624802878,1.05970048543
+315,5.250000000,pose2_to_pose3_retreat,0.609994759909,0.0100907009991,1.06003220592,0.580565212339,0.0187624439137,1.05970034959
+316,5.266666667,pose2_to_pose3_retreat,0.609356645043,0.010090813913,1.06003246554,0.57992709662,0.0187625534987,1.05970059856
+317,5.283333333,pose2_to_pose3_retreat,0.608697975665,0.0100907581472,1.06003231269,0.57926842654,0.0187624951279,1.05970044077
+318,5.300000000,pose2_to_pose3_retreat,0.608034780043,0.0100906712273,1.0600322319,0.578605230535,0.0187624069133,1.05970036039
+319,5.316666667,pose2_to_pose3_retreat,0.607367765664,0.0100907291835,1.06003233375,0.577938216051,0.018762464431,1.05970045975
+320,5.333333333,pose2_to_pose3_retreat,0.606680620278,0.0100908454985,1.06003230118,0.577251070494,0.0187625800586,1.05970042441
+321,5.350000000,pose2_to_pose3_retreat,0.605974050398,0.0100908233347,1.06003232862,0.576544500474,0.0187625576196,1.05970045725
+322,5.366666667,pose2_to_pose3_retreat,0.605249914518,0.0100906290838,1.06003206954,0.575820368945,0.0187623786827,1.05970021278
+323,5.383333333,pose2_to_pose3_retreat,0.604501071594,0.0100905981198,1.06003232637,0.575071526886,0.0187623502113,1.05970045862
+324,5.400000000,pose2_to_pose3_retreat,0.603721463813,0.0100909346821,1.06003236636,0.57429191356,0.0187626677809,1.05970049297
+325,5.416666667,pose2_to_pose3_retreat,0.60293788924,0.0100907675799,1.06003215256,0.573508340456,0.0187625058773,1.05970028312
+326,5.433333333,pose2_to_pose3_retreat,0.602151377052,0.0100908155333,1.06003240105,0.572721828259,0.0187625535982,1.05970052715
+327,5.450000000,pose2_to_pose3_retreat,0.60136311463,0.0100907830707,1.06003239639,0.57193356687,0.0187625247357,1.05970052679
+328,5.466666667,pose2_to_pose3_retreat,0.600582021833,0.0100907385784,1.06003233952,0.57115247421,0.018762480812,1.05970047302
+329,5.483333333,pose2_to_pose3_retreat,0.599812886762,0.0100907383932,1.06003235696,0.570383338664,0.0187624788539,1.05970048611
+330,5.500000000,pose2_to_pose3_retreat,0.599040472369,0.0100907427557,1.06003237049,0.569610924014,0.0187624822589,1.05970049744
+331,5.516666667,pose2_to_pose3_retreat,0.598260054696,0.010090750402,1.0600322883,0.56883050628,0.0187624900487,1.05970042397
+332,5.533333333,pose2_to_pose3_retreat,0.597468244897,0.0100908248593,1.06003210761,0.568038697277,0.0187625674952,1.05970024931
+333,5.550000000,pose2_to_pose3_retreat,0.596663198724,0.0100907436021,1.06003245839,0.567233651042,0.0187624856749,1.05970059085
+334,5.566666667,pose2_to_pose3_retreat,0.595836452135,0.010090780164,1.06003222232,0.566406903284,0.0187625183314,1.05970035795
+335,5.583333333,pose2_to_pose3_retreat,0.595012908623,0.0100906774299,1.06003233857,0.565583361386,0.0187624209972,1.05970046963
+336,5.600000000,pose2_to_pose3_retreat,0.594212191224,0.0100906111297,1.06003233901,0.564782644928,0.0187623579522,1.05970047316
+337,5.616666667,pose2_to_pose3_retreat,0.593433537502,0.0100908029741,1.06003226686,0.564003989634,0.0187625442944,1.05970039614
+338,5.633333333,pose2_to_pose3_retreat,0.592679854933,0.0100908254505,1.06003222827,0.563250306878,0.0187625662118,1.05970035927
+339,5.650000000,pose2_to_pose3_retreat,0.591950899962,0.0100908465556,1.06003229663,0.562521350514,0.0187625825433,1.05970042621
+340,5.666666667,pose2_to_pose3_retreat,0.591227231975,0.0100909115093,1.06003233527,0.56179768103,0.0187626423213,1.05970046235
+341,5.683333333,pose2_to_pose3_retreat,0.590491719057,0.0100908542001,1.06003225456,0.561062169918,0.0187625913392,1.05970038673
+342,5.700000000,pose2_to_pose3_retreat,0.5897462477,0.0100906757164,1.06003232347,0.560316701106,0.018762421612,1.05970045896
+343,5.716666667,pose2_to_pose3_retreat,0.588992854452,0.0100907681813,1.06003218022,0.55956330559,0.0187625066301,1.05970032323
+344,5.733333333,pose2_to_pose3_retreat,0.58825965386,0.0100906897109,1.06003217763,0.558830106192,0.0187624323477,1.05970032177
+345,5.750000000,pose2_to_pose3_retreat,0.587551603961,0.0100908314389,1.0600323095,0.558122056261,0.0187625736551,1.05970044749
+346,5.766666667,pose2_to_pose3_retreat,0.586883158523,0.0100907194353,1.06003224221,0.557453610287,0.0187624597502,1.05970037677
+347,5.783333333,pose2_to_pose3_retreat,0.586246932778,0.0100907764821,1.06003240678,0.55681738307,0.0187625115756,1.05970053489
+348,5.800000000,pose2_to_pose3_retreat,0.585635357003,0.0100908564724,1.06003235158,0.556205806476,0.0187625887355,1.05970047838
+349,5.816666667,pose2_to_pose3_retreat,0.585032454313,0.0100908570666,1.06003234347,0.555602904532,0.0187625918169,1.05970046902
+350,5.833333333,pose2_to_pose3_retreat,0.584434143065,0.0100907844981,1.06003242327,0.555004594559,0.0187625235491,1.05970054793
+351,5.850000000,pose2_to_pose3_retreat,0.583836893852,0.0100907258531,1.06003225754,0.554407345395,0.0187624653047,1.05970038838
+352,5.866666667,pose2_to_pose3_retreat,0.583250264309,0.0100907242616,1.06003231649,0.553820716342,0.0187624654078,1.05970044802
+353,5.883333333,pose2_to_pose3_retreat,0.58268975828,0.0100907877581,1.06003211377,0.553260209431,0.0187625260616,1.05970024942
+354,5.900000000,pose2_to_pose3_retreat,0.582156640236,0.0100910153332,1.06003251946,0.552727087814,0.0187627408668,1.0597006383
+355,5.916666667,pose2_to_pose3_retreat,0.581652522236,0.0100907824487,1.06003261599,0.552222973408,0.0187625203135,1.05970073822
+356,5.933333333,pose2_to_pose3_retreat,0.581171281886,0.0100907577777,1.06003232424,0.551741733774,0.0187624982526,1.05970045225
+357,5.950000000,pose2_to_pose3_retreat,0.58071196478,0.0100907818978,1.06003221297,0.551282415953,0.018762520207,1.05970034772
+358,5.966666667,pose2_to_pose3_retreat,0.580278468725,0.0100907418734,1.06003221462,0.550848920649,0.0187624827335,1.05970034902
+359,5.983333333,pose2_to_pose3_retreat,0.579870529273,0.0100907222906,1.06003226028,0.550440982331,0.0187624671466,1.05970039825
+360,6.000000000,pose2_to_pose3_retreat,0.579489704358,0.0100908342535,1.06003231277,0.550060156019,0.0187625744564,1.05970045293
+361,6.016666667,pose2_to_pose3_retreat,0.579133909612,0.0100909596405,1.06003229796,0.549704358736,0.0187626911195,1.05970043516
+362,6.033333333,pose2_to_pose3_retreat,0.578801480291,0.0100907900628,1.06003215176,0.549371931864,0.0187625302851,1.05970030028
+363,6.050000000,pose2_to_pose3_retreat,0.578484197879,0.010090746466,1.06003210838,0.549054648819,0.0187624838776,1.05970023963
+364,6.066666667,pose2_to_pose3_retreat,0.578181532786,0.0100907229834,1.06003211695,0.548751985184,0.0187624652848,1.05970024673
+365,6.083333333,pose2_to_pose3_retreat,0.577895320901,0.0100908133339,1.06003228211,0.548465771946,0.0187625511101,1.05970041407
+366,6.100000000,pose2_to_pose3_retreat,0.577627155922,0.0100907243787,1.06003242662,0.548197608772,0.0187624683085,1.05970055906
+367,6.116666667,pose2_to_pose3_retreat,0.577379539005,0.0100908020511,1.06003237912,0.547949991672,0.0187625454546,1.05970051383
+368,6.133333333,pose2_to_pose3_retreat,0.577152404551,0.0100908481292,1.06003240906,0.547722855288,0.018762584899,1.05970054162
+369,6.150000000,pose2_to_pose3_retreat,0.576945413805,0.0100908425028,1.06003241381,0.547515863388,0.018762575354,1.05970054635
+370,6.166666667,pose2_to_pose3_retreat,0.576759294808,0.0100908773757,1.06003235173,0.547329744509,0.018762610576,1.05970048312
+371,6.183333333,pose2_to_pose3_retreat,0.576592086772,0.010090823984,1.06003233137,0.547162537828,0.0187625615522,1.0597004567
+372,6.200000000,pose2_to_pose3_retreat,0.576443693716,0.0100907179423,1.06003225539,0.547014146357,0.0187624610703,1.05970038549
+373,6.216666667,pose2_to_pose3_retreat,0.576312457854,0.0100907766255,1.06003234656,0.546882909683,0.0187625172468,1.05970048321
+374,6.233333333,pose2_to_pose3_retreat,0.576198614776,0.0100907535279,1.06003247181,0.546769065741,0.0187624908662,1.05970059937
+375,6.250000000,pose2_to_pose3_retreat,0.576098625154,0.0100908174038,1.06003220802,0.546669074661,0.0187625500925,1.0597003444
+376,6.266666667,pose2_to_pose3_retreat,0.576011984073,0.010090765029,1.06003248301,0.546582435521,0.0187625037711,1.05970060524
+377,6.283333333,pose2_to_pose3_retreat,0.575937922937,0.0100907445329,1.06003247145,0.546508374048,0.0187624824185,1.05970060101
+378,6.300000000,pose2_to_pose3_retreat,0.575875430961,0.0100907624084,1.06003216465,0.546445882206,0.0187625011042,1.05970030347
+379,6.316666667,pose2_to_pose3_retreat,0.575824874703,0.0100907615766,1.06003217851,0.546395326249,0.0187625011022,1.05970031236
+380,6.333333333,pose2_to_pose3_retreat,0.575784124646,0.0100907503264,1.0600322289,0.546354576901,0.0187624921901,1.05970036095
+381,6.350000000,pose2_to_pose3_retreat,0.575752396215,0.0100907222157,1.06003221356,0.546322849196,0.0187624666506,1.05970034843
+382,6.366666667,pose2_to_pose3_retreat,0.575727981499,0.0100907109593,1.06003220739,0.546298434108,0.0187624541483,1.05970034268
+383,6.383333333,pose2_to_pose3_retreat,0.575709420328,0.0100907699651,1.06003222975,0.546279870707,0.0187625054139,1.0597003607
+384,6.400000000,pose2_to_pose3_retreat,0.575695083607,0.0100906885117,1.0600320026,0.546265535494,0.0187624292629,1.05970013854
+385,6.416666667,pose2_to_pose3_retreat,0.575684686686,0.0100906869545,1.06003204129,0.546255138596,0.0187624278656,1.05970017915
+386,6.433333333,pose2_to_pose3_retreat,0.575678297494,0.0100907012729,1.06003212432,0.54624874925,0.0187624416274,1.05970026116
+387,6.450000000,pose2_to_pose3_retreat,0.575674432228,0.0100907133583,1.0600321934,0.546244883977,0.0187624535742,1.05970032728
+388,6.466666667,pose2_to_pose3_retreat,0.575672538126,0.0100907247425,1.06003222457,0.546242989779,0.018762464583,1.05970035707
+389,6.483333333,pose2_to_pose3_retreat,0.575671611823,0.010090763314,1.0600322236,0.546242062877,0.0187625011126,1.05970035587
+390,6.500000000,pose2_to_pose3_retreat,0.575671068936,0.01009078592,1.06003222302,0.546241519639,0.0187625225219,1.05970035517
+391,6.516666667,pose2_to_pose3_retreat,0.575670668172,0.0100908026079,1.0600322226,0.546241118616,0.0187625383265,1.05970035465
+392,6.533333333,pose2_to_pose3_retreat,0.575670263012,0.0100908194788,1.06003222217,0.546240713194,0.0187625543044,1.05970035412
+393,6.550000000,pose2_to_pose3_retreat,0.575669824237,0.0100908377495,1.06003222171,0.546240274135,0.0187625716079,1.05970035356
+394,6.566666667,pose2_to_pose3_retreat,0.575669715622,0.0100908422723,1.0600322216,0.54624016545,0.0187625758912,1.05970035342
+395,6.583333333,pose2_to_pose3_retreat,0.575669686462,0.0100908434865,1.06003222157,0.546240136271,0.0187625770412,1.05970035338
+396,6.600000000,pose2_to_pose3_retreat,0.575669530057,0.0100908499993,1.0600322214,0.546239979764,0.0187625832092,1.05970035318
+397,6.616666667,pose2_to_pose3_retreat,0.575669301295,0.010090859525,1.06003222116,0.546239750855,0.0187625922306,1.05970035288
+398,6.633333333,pose2_to_pose3_retreat,0.575669052024,0.0100908699047,1.0600322209,0.546239501423,0.0187626020609,1.05970035256
+399,6.650000000,pose2_to_pose3_retreat,0.575668802982,0.0100908802749,1.06003222063,0.546239252219,0.0187626118821,1.05970035224
+400,6.666666667,pose2_to_pose3_retreat,0.575668573777,0.010090889819,1.06003222039,0.546239022866,0.018762620921,1.05970035194
+401,6.683333333,pose2_to_pose3_retreat,0.575668311567,0.0100909007375,1.06003222012,0.546238760487,0.0187626312615,1.0597003516
+402,6.700000000,pose2_to_pose3_retreat,0.575668059626,0.0100909014929,1.0600322158,0.546238508544,0.0187626319947,1.05970034685
+403,6.716666667,pose2_to_pose3_retreat,0.575667855313,0.010090893953,1.0600322089,0.546238304365,0.0187626248832,1.05970033928
+404,6.733333333,pose2_to_pose3_retreat,0.575667853103,0.0100908938715,1.06003220882,0.546238302156,0.0187626248063,1.0597003392
+405,6.750000000,pose2_to_pose3_retreat,0.575667513865,0.0100908813524,1.06003219737,0.54623796314,0.0187626129986,1.05970032664
+406,6.766666667,pose2_to_pose3_retreat,0.57566711358,0.0100908665806,1.06003218385,0.546237563117,0.0187625990661,1.05970031182
+407,6.783333333,pose2_to_pose3_retreat,0.575666684942,0.0100908507624,1.06003216937,0.546237134759,0.0187625841468,1.05970029595
+408,6.800000000,pose2_to_pose3_retreat,0.575666038112,0.0100908268922,1.06003214753,0.546236488352,0.0187625616329,1.05970027201
+409,6.816666667,pose2_to_pose3_retreat,0.575665641804,0.0100908133126,1.0600321852,0.54623609247,0.0187625494871,1.05970030943
+410,6.833333333,pose2_to_pose3_retreat,0.575665355585,0.0100908041348,1.06003224314,0.546235806657,0.0187625417077,1.05970036782
+411,6.850000000,pose2_to_pose3_retreat,0.575664986481,0.0100907922992,1.06003231787,0.546235438079,0.0187625316756,1.05970044312
+412,6.866666667,pose2_to_pose3_retreat,0.575664674242,0.0100907809981,1.06003236204,0.54623512623,0.0187625217353,1.05970048819
+413,6.883333333,pose2_to_pose3_retreat,0.575664408665,0.0100907545729,1.06003215123,0.546234860293,0.0187624943177,1.05970028348
+414,6.900000000,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+415,6.916666667,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a8ccf4a6aceb71160a4401be349b4e2cb02369d8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:593aeba700f6e194c13de7b3a6b437bdfbbb0ec2c3cf37445688e9a5b5a92af1
+size 26535206
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3fb37da02077ac86a9f78f268c88dcdfd73d0637
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,680,664,636,879,788,803,653,631,653,0.40098197643,0.00449568622877,0.0698356665552,0.999999964595,3.31112857253e-05,-0.000263251385384,2.02875734741e-05,1793239762245978368
+1,0.016666667,BASELINE,766,745.575574429,714.424425571,680,664,635.424425571,879,787.424425571,803,653,631,653,0.400981189099,0.00449590732971,0.0698356157992,0.9999999645,3.40694522655e-05,-0.000263507036573,2.00696562009e-05,1793239762262645760
+2,0.033333333,BASELINE,766,745.849115396,714.150884604,680,664,635,879,787,803.150884604,653,631,652.849115396,0.400980960101,0.00449623259205,0.0698358174479,0.999999964576,3.46551201325e-05,-0.000263156928454,1.99079357357e-05,1793239762279312640
+3,0.050000000,BASELINE,766,745.274547116,714.725452884,680,664,635,879,787,803.725452884,653,631,652.274547116,0.400982298901,0.00449685033947,0.0698367278486,0.999999965129,3.41948126613e-05,-0.000261105849425,1.99040157492e-05,1793239762295979008
+4,0.066666667,BASELINE,766,745.309387941,715,680,664,635,879,787,803.690612059,653,631,652.309387941,0.400982912039,0.00449619497437,0.0698373901857,0.999999965353,3.35227371191e-05,-0.000260312601001,2.01997884477e-05,1793239762312645376
+5,0.083333333,BASELINE,766,745.901894431,715,680,664,635,879,787,803.098105569,653,631,652.901894431,0.400982861131,0.00449437459368,0.0698378255218,0.999999965277,3.26568742559e-05,-0.000260670383909,2.07698076401e-05,1793239762329312000
+6,0.100000000,BASELINE,766,746,715,680,664,635,879.481112248,787,803.481112248,652.518887752,631,653,0.400980601352,0.00449427359612,0.0698357652454,0.999999964481,3.32005564332e-05,-0.00026363973872,2.07405318035e-05,1793239762345978368
+7,0.116666667,BASELINE,766,745.942460958,715,680,664,635,879.942460958,787,803.942460958,652.057539042,631,653,0.400978464503,0.00449458002531,0.0698337105521,0.999999963723,3.39614924944e-05,-0.000266415935642,2.05898246488e-05,1793239762362644736
+8,0.133333333,BASELINE,766,745.367420187,715,680,664,635,879.367420187,787,803.367420187,652.632579813,631,653,0.400981375436,0.00449548224812,0.0698361599749,0.999999964678,3.41607878986e-05,-0.000262794030866,2.04165312982e-05,1793239762379311616
+9,0.150000000,BASELINE,766,745.207917809,715,680,664,635,879.207917809,787,803,652.792082191,631,653,0.400982616211,0.00449579004792,0.0698371965818,0.999999965071,3.40890888856e-05,-0.000261309587306,2.03383737963e-05,1793239762395978240
+10,0.166666667,BASELINE,766,745.783781735,715,680,664,635,879.783781735,787,803,652.216218265,631,653,0.400980901355,0.00449504591446,0.069835732969,0.999999964484,3.35378188893e-05,-0.000263607747271,2.04285754665e-05,1793239762412644864
+11,0.183333333,BASELINE,766.371319843,746,714.628680157,680,664,635,879.628680157,787,803.371319843,652,631,653,0.400981701961,0.00449549081877,0.0698365851141,0.999999964916,3.38682689979e-05,-0.000261928123943,2.03689583991e-05,1793239762429311744
+12,0.200000000,BASELINE,766.965876503,746,714.034123497,680,664,635,879.034123497,787,803.965876503,652,631,653,0.400984014857,0.00449665057036,0.0698388294885,0.999999965947,3.47288075839e-05,-0.000257857064719,2.02192705863e-05,1793239762445978368
+13,0.216666667,BASELINE,766.458164536,745.458164536,714.541835464,680,664,635,879,787,804,652.541835464,631.541835464,653,0.400982877046,0.00449616472012,0.0698378362665,0.999999965568,3.46297801463e-05,-0.000259330511073,2.03245681931e-05,1793239762462645248
+14,0.233333333,BASELINE,766,745,714.883635375,679.883635375,664,635,879,787.116364625,803.883635375,652.883635375,631.883635375,653,0.400981942706,0.00449581624573,0.0698370201485,0.999999965233,3.45315370313e-05,-0.000260627054789,2.03799956718e-05,1793239762479311872
+15,0.250000000,BASELINE,766,745,714.310274132,679.310274132,664,635,879,787.689725868,803.310274132,652.310274132,631.310274132,653,0.400982632601,0.00449640078636,0.0698376737517,0.999999965421,3.46658286228e-05,-0.000259903032709,2.01785962352e-05,1793239762495978496
+16,0.266666667,BASELINE,766,745,714.270790719,679.270790719,664,635.270790719,879,787.729209281,803,652.270790719,631,652.729209281,0.400982398621,0.00449660306185,0.0698377231997,0.999999965378,3.47007369387e-05,-0.00026006797597,2.00903380043e-05,1793239762512645120
+17,0.283333333,BASELINE,766,745,714.860940853,679.860940853,664,635.860940853,879,787.139059147,803,652.860940853,631,652.139059147,0.40098107506,0.00449635450958,0.0698370601319,0.999999965064,3.46184367059e-05,-0.000261281328367,2.01355138614e-05,1793239762529311744
+18,0.300000000,BASELINE,766,745,715,680,664,635.572440481,879,787,803,653,631,652.427559519,0.400980932022,0.00449590930883,0.0698367978139,0.999999964861,3.39097544747e-05,-0.000262140919286,2.02406083386e-05,1793239762545978368
+19,0.316666667,BASELINE,766,745,715,680,664,635.01307594,879,787,803,653,631,652.98692406,0.400981152906,0.00449540348669,0.0698366590361,0.999999964692,3.30079756364e-05,-0.000262891455098,2.03641741032e-05,1793239762562644992
+20,0.333333333,BASELINE,765.414878293,745.585121707,715,680,664,635,879.585121707,787,803,653,631,653,0.400982860286,0.00449486403964,0.0698382238634,0.999999965336,3.22900652147e-05,-0.000260514768992,2.04541612821e-05,1793239762579311872
+21,0.350000000,BASELINE,765.175263686,745.824736314,714.824736314,680,664,635,879.824736314,787,803,653,631,653,0.400983630508,0.00449476857975,0.0698389083202,0.999999965675,3.24030915337e-05,-0.000259194285873,2.04675289175e-05,1793239762595978752
+22,0.366666667,BASELINE,765.745173417,745.254826583,714.254826583,680,664,635,879.254826583,787,803,653,631,653,0.400982210388,0.0044956746703,0.0698375186024,0.999999965293,3.43772509758e-05,-0.000260420632961,2.0310180009e-05,1793239762612645632
+23,0.383333333,BASELINE,766,745,714.329495861,680,664.329495861,635.329495861,879,787,803.329495861,652.670504139,631.329495861,653,0.400982530489,0.00449586934682,0.0698375744569,0.999999965409,3.52841870767e-05,-0.000259850518199,2.03662987099e-05,1793239762629312000
+24,0.400000000,BASELINE,766,745,714.925474791,680,664.925474791,635.925474791,879,787,803.925474791,652.074525209,631.925474791,653,0.40098425801,0.00449548866024,0.0698387994323,0.999999965926,3.53279958521e-05,-0.000257827497103,2.05950614554e-05,1793239762645978368
+25,0.416666667,BASELINE,766,745.505026103,715,680,664.494973897,636,879,787,804,652,631.494973897,653,0.400983825833,0.00449558240523,0.0698383894251,0.999999965845,3.488405325e-05,-0.000258231087486,2.02534196696e-05,1793239762662644992
+26,0.433333333,BASELINE,766,746,715,679.917827025,664.082172975,635.917827025,879,787,804,652.082172975,631,652.917827025,0.400983095417,0.00449566219285,0.069837691158,0.999999965659,3.42639484676e-05,-0.00025906093389,1.98973000923e-05,1793239762679311616
+27,0.450000000,BASELINE,766,746,715,679.341020822,664.658979178,635.341020822,879,787,804,652.658979178,631,652.341020822,0.400982427738,0.00449524981953,0.0698366642828,0.99999996536,3.30030547955e-05,-0.000260369018089,1.99447422398e-05,1793239762695978240
+28,0.466666667,BASELINE,766,745.759536045,715,679.240463955,664.759536045,635,879,787,804,652.759536045,631,652.240463955,0.400982636023,0.00449551156535,0.0698367833426,0.999999965379,3.33521234824e-05,-0.000260253301143,1.99553607225e-05,1793239762712644864
+29,0.483333333,BASELINE,766,745.171284594,715,679.828715406,664.171284594,635,879,787,804,652.171284594,631,652.828715406,0.400984111231,0.00449674830227,0.0698385597897,0.99999996585,3.6029710779e-05,-0.000258078314014,1.99127204506e-05,1793239762729312000
+30,0.500000000,BASELINE,766,745,714.588992827,680,664,635,879,787,804,652,631.411007173,653,0.400982990353,0.00449701267965,0.0698381289773,0.999999965531,3.60008323733e-05,-0.00025930581284,2.00686679999e-05,1793239762745978880
+31,0.516666667,BASELINE,766,745,714.009149236,680,664,635,879,787,804,652,631.990850764,653,0.400980803036,0.0044968776243,0.0698367914513,0.999999964882,3.48601728792e-05,-0.000261931008838,2.03061928527e-05,1793239762762645760
+32,0.533333333,BASELINE,766,745,714.57030327,680,664,635,879,787,803.42969673,652,632,652.42969673,0.400982657239,0.00449579566253,0.0698382154749,0.999999965644,3.25284673641e-05,-0.000259317959379,2.02021310751e-05,1793239762779311872
+33,0.550000000,BASELINE,766,745.147674482,715,680,664,635,879,787,803,652,631.852325518,652,0.400983823074,0.00449533582528,0.0698391930602,0.999999966092,3.16419362162e-05,-0.000257701270413,2.01034376852e-05,1793239762795978240
+34,0.566666667,BASELINE,766,745.71909144,715,680,664,635,879,787,803,652,631.28090856,652,0.400982827762,0.00449670469441,0.069838762582,0.9999999656,3.49570315025e-05,-0.000259184544983,2.00358622669e-05,1793239762812645120
+35,0.583333333,BASELINE,766,746,714.70153951,680,664,635,879,787,803.29846049,652,631,652.29846049,0.400982333658,0.00449680415246,0.0698382214837,0.999999965436,3.49050693977e-05,-0.000259826260912,1.9999043824e-05,1793239762829311744
+36,0.600000000,BASELINE,766,746,714.114481077,680,664,635,879,787,803.885518923,652,631,652.885518923,0.400982324197,0.00449567614694,0.0698375734209,0.999999965591,3.15973137947e-05,-0.000259654227452,1.99919659927e-05,1793239762845978112
+37,0.616666667,BASELINE,766,746,714.467082524,680,664,635,879,787,803.532917476,652,631,652.532917476,0.400983143081,0.00449597513282,0.0698383268696,0.999999965858,3.24205572251e-05,-0.000258534010418,1.98399203386e-05,1793239762862645248
+38,0.633333333,BASELINE,766,745.953064994,715,680,664,635,879,787,803,652,631,652.046935006,0.400984040873,0.00449660796097,0.0698392640371,0.999999966109,3.4048626272e-05,-0.000257363149388,1.96644094132e-05,1793239762879312384
+39,0.650000000,BASELINE,766,745.377492156,715,680,664,635,879,787,803,652,631,652.622507844,0.400983567307,0.00449710738811,0.0698384464555,0.999999965911,3.34702152774e-05,-0.000258208982681,1.96201476399e-05,1793239762895979008
+40,0.666666667,BASELINE,765.802336921,745,715,679.802336921,664,635,879.197663079,787,803,652.197663079,631,653,0.400983388809,0.00449694260808,0.0698382762396,0.999999965906,3.28440062288e-05,-0.000258308674096,1.96475459912e-05,1793239762912645888
+41,0.683333333,BASELINE,765.227977571,745,715,679.227977571,664,635,879.772022429,787,803,652.772022429,631,653,0.400983772637,0.0044955120157,0.0698393397403,0.999999966267,3.21267061076e-05,-0.00025698640611,1.98115105766e-05,1793239762929312000
+42,0.700000000,BASELINE,765.357054122,745,715,679.357054122,664,635.357054122,879.642945878,787,803.357054122,653,631.357054122,653,0.40098379553,0.00449526045554,0.0698395081165,0.999999966285,3.39585175492e-05,-0.000256668537797,1.99728346483e-05,1793239762945978112
+43,0.716666667,BASELINE,765.949109993,745,715,679.949109993,664,635.949109993,879.050890007,787,803.949109993,653,631.949109993,653,0.400983580865,0.00449578489721,0.0698390873501,0.999999966068,3.74680737513e-05,-0.000257011733682,2.0132420811e-05,1793239762962644736
+44,0.733333333,BASELINE,766,745,715,680.528262598,664.528262598,635.471737402,879,787,803.471737402,652.471737402,631.471737402,653,0.40098287645,0.00449406342423,0.0698387201951,0.999999965996,3.27408195154e-05,-0.000257929423104,2.02095251649e-05,1793239762979311616
+45,0.750000000,BASELINE,766,745.105302309,715,681,664.894697691,635,879,787,803,652,631,653,0.400982264816,0.00449280092983,0.0698384291694,0.999999965918,2.88953776642e-05,-0.000258690007957,2.02060118364e-05,1793239762995978496
+46,0.766666667,BASELINE,766,745.678346359,715,681,664.321653641,635,879,787,803,652,631,653,0.400982269879,0.00449451530169,0.0698384539077,0.999999965863,3.24074172508e-05,-0.000258512781445,1.98788563717e-05,1793239763012645120
+47,0.783333333,BASELINE,766,746,714.740268066,680.740268066,664,635,879,787,803,652.259731934,631,652.740268066,0.400982356728,0.00449637176025,0.0698382928784,0.999999965757,3.54587906371e-05,-0.000258538076093,1.96689944555e-05,1793239763029312000
+48,0.800000000,BASELINE,766,746,714.148209441,680.148209441,664,635,879,787,803,652.851790559,631,652.148209441,0.400982548221,0.0044984100188,0.0698378941594,0.999999965594,3.79207426641e-05,-0.000258822496297,1.96092094463e-05,1793239763045978880
+49,0.816666667,BASELINE,766,745.565360937,714,680,664,635,879,787,803.434639063,653,631,652,0.4009833857,0.00449776374178,0.0698386022086,0.999999965837,3.78263870785e-05,-0.000257896509379,1.96311581381e-05,1793239763062645248
+50,0.833333333,BASELINE,765.985713864,745,714.014286136,680,664,635,879,787,803.985713864,652.985713864,631,652,0.400984408428,0.00449628955001,0.0698396447051,0.999999966201,3.69222820822e-05,-0.000256605235546,1.96854574878e-05,1793239763079311616
+51,0.850000000,BASELINE,765.411008204,745,714.588991796,680,664,635,879,787,803.411008204,652.411008204,631,652,0.400984236326,0.00449750253593,0.0698393093911,0.999999966106,3.77382891788e-05,-0.000256839558336,1.99381836478e-05,1793239763095978240
+52,0.866666667,BASELINE,765,745.167439764,715,680,664,635,879,787,803,652.167439764,631,652,0.400983765389,0.00449746212132,0.0698389604086,0.99999996598,3.74757999975e-05,-0.000257350173331,2.01621473939e-05,1793239763112644864
+53,0.883333333,BASELINE,765,745.755283807,715,680,664,635,879,787,803,652.755283807,631,652,0.400982544139,0.00449427469462,0.0698385771073,0.999999965773,3.4505444728e-05,-0.000258554497035,2.03138950534e-05,1793239763129311488
+54,0.900000000,BASELINE,765.338356179,745.661643821,715,680,664.338356179,635,879.338356179,787,803,653,631,652.338356179,0.400981979452,0.00449416519206,0.0698383798912,0.999999965655,3.3803774286e-05,-0.000259113216959,2.01774702095e-05,1793239763145978368
+55,0.916666667,BASELINE,765.918025406,745.081974594,715,680,664.918025406,635,879.918025406,787,803,653,631,652.918025406,0.400981883019,0.00449625084167,0.0698383153898,0.999999965605,3.47201127012e-05,-0.000259211497136,1.9835522926e-05,1793239763162645248
+56,0.933333333,BASELINE,765.504619416,745,714.504619416,680,664.504619416,635,879.504619416,787,803,652.504619416,631,653,0.40098233697,0.00449564778318,0.0698383136079,0.999999965681,3.515800996e-05,-0.00025885500027,1.98895934823e-05,1793239763179312128
+57,0.950000000,BASELINE,765.07199751,745.07199751,714.07199751,680,664,635,879,787.07199751,803,652,631,652.92800249,0.400982663299,0.00449481169947,0.0698382064486,0.999999965714,3.53152543306e-05,-0.000258703510458,1.99414848958e-05,1793239763195979008
+58,0.966666667,BASELINE,765.646123586,745.646123586,714.646123586,680,664,635,879,787.646123586,803,652,631,652.353876414,0.40098146732,0.00449543901032,0.0698372923141,0.999999965298,3.40647497876e-05,-0.000260504202086,1.95232651816e-05,1793239763212645376
+59,0.983333333,BASELINE,765.774405358,745.774405358,715,680,664,635,879,787.774405358,803,652.225594642,631,652.225594642,0.400981248596,0.00449582746982,0.0698371469635,0.999999965233,3.33946871431e-05,-0.000260849930923,1.9377073708e-05,1793239763229312000
+60,1.000000000,BASELINE,765.1863464,745.1863464,715,680,664,635,879,787.1863464,803,652.8136536,631,652.8136536,0.400982600034,0.00449583216547,0.0698382368226,0.999999965736,3.36572239123e-05,-0.000258857962275,1.96679516354e-05,1793239763245978368
+61,1.016666667,BASELINE,765.396819213,745,715,680,664.396819213,635.396819213,879.396819213,787,803.396819213,652.603180787,631,653,0.400983119833,0.00449612497097,0.0698384011732,0.999999965798,3.48443769688e-05,-0.000258459394155,1.97129412099e-05,1793239763262645248
+62,1.033333333,BASELINE,765.977714867,745,715,680,664.977714867,635.977714867,879.977714867,787,803.977714867,652.022285133,631,653,0.400983253851,0.00449655142482,0.0698381361991,0.999999965654,3.64604408842e-05,-0.00025879997257,1.96438681119e-05,1793239763279311872
+63,1.050000000,BASELINE,765.445831032,745.554168968,715,680,664.445831032,636,879.445831032,787,803.445831032,652.554168968,631,652.445831032,0.400984030742,0.00449695938664,0.0698391669022,0.999999966055,3.59718626819e-05,-0.000257305590606,1.97421872626e-05,1793239763295978240
+64,1.066666667,BASELINE,765.132418463,746,715,680.132418463,664,635.867581537,879,787,803.132418463,652.867581537,631.132418463,652.132418463,0.400984401443,0.00449684738771,0.0698399448655,0.999999966343,3.50708992081e-05,-0.000256301045962,1.98387177062e-05,1793239763312645120
+65,1.083333333,BASELINE,765.717409723,746,715,680.717409723,664,635.282590277,879,787,803.717409723,652.282590277,631.717409723,652.717409723,0.400983296236,0.00449496081582,0.0698396823666,0.999999966175,3.30474691952e-05,-0.000257220832998,1.99063113424e-05,1793239763329311744
+66,1.100000000,BASELINE,766,746,715,680.700238055,664,635,879,787,803.700238055,652,631.700238055,653,0.400982998855,0.00449544653074,0.0698395197017,0.999999966111,3.27992134028e-05,-0.000257522309125,1.96268376804e-05,1793239763345978112
+67,1.116666667,BASELINE,766,746,715,680.120352016,664,635,879,787,803.120352016,652,631.120352016,653,0.400983456379,0.00449814912053,0.0698394503307,0.999999966146,3.42098376348e-05,-0.00025724598076,1.90230336125e-05,1793239763362644736
+68,1.133333333,BASELINE,766,745.541940154,715,679.541940154,664,635,879,787,803,652,631,653,0.400982880264,0.0044984621903,0.0698388757948,0.999999965971,3.4717139337e-05,-0.000257862063441,1.8964576561e-05,1793239763379311360
+69,1.150000000,BASELINE,766,745.036017596,715,679.036017596,664,635,879,787,803,652,631,653,0.400982172578,0.00449804479253,0.0698382902617,0.999999965787,3.4926438012e-05,-0.000258538679653,1.90583556559e-05,1793239763395977984
+70,1.166666667,BASELINE,766,745.612953064,715,679.612953064,664,635,879,787,803,652,631,653,0.400983554494,0.00449605571565,0.069839526515,0.999999966303,3.42132799962e-05,-0.00025661431502,1.92934509447e-05,1793239763412644608
+71,1.183333333,BASELINE,765.806980578,745.806980578,715,680,664,635,879,787,803.193019422,652,631,652.806980578,0.400984414545,0.00449504176906,0.0698402765542,0.99999996661,3.38423148831e-05,-0.000255445662762,1.95594710887e-05,1793239763429311488
+72,1.200000000,BASELINE,765.22053247,745.22053247,715,680,664,635,879,787,803.77946753,652,631,652.22053247,0.400984210885,0.00449601541603,0.0698400355506,0.999999966497,3.41688364705e-05,-0.000255817367723,1.98885249596e-05,1793239763445978368
+73,1.216666667,BASELINE,765.362227441,745,715,680,664,635,879,787,804,652.362227441,631.362227441,652.362227441,0.400984379967,0.00449610115236,0.0698401634582,0.999999966449,3.49657939441e-05,-0.000255887723272,2.00076784595e-05,1793239763462644992
+74,1.233333333,BASELINE,765.94276449,745,715,680,664,635,879,787,804,652.94276449,631.94276449,652.94276449,0.400984773695,0.00449565175682,0.0698405137038,0.99999996644,3.60462767802e-05,-0.000255776459561,2.00003278089e-05,1793239763479311616
+75,1.250000000,BASELINE,766,745.518954611,714.481045389,680,664,635.518954611,879,787,803.481045389,653,631.481045389,653,0.400984404605,0.00449653295638,0.0698403590239,0.999999966364,3.65014431282e-05,-0.000256014247431,1.98929035732e-05,1793239763495978240
+76,1.266666667,BASELINE,765.905345063,745.905345063,714.094654937,680,664,636,879,787,803,653,631,653,0.40098391948,0.00449706970184,0.0698400106303,0.999999966257,3.63500571688e-05,-0.000256458481472,1.9838444366e-05,1793239763512645120
+77,1.283333333,BASELINE,765.329717691,745.329717691,714.670282309,680,664,636,879,787,803,653,631,653,0.400983268695,0.00449511666736,0.0698389585346,0.999999966018,3.3464110629e-05,-0.000257757745128,2.01087349513e-05,1793239763529311744
+78,1.300000000,BASELINE,765.250676584,745.250676584,715,680,664,636,879,787,803.250676584,653,631,653,0.400983062861,0.00449461197717,0.0698386315498,0.999999965932,3.2886938425e-05,-0.000258162752874,2.01750770583e-05,1793239763545978368
+79,1.316666667,BASELINE,765.837462316,745.837462316,715,680,664,636,879,787,803.837462316,653,631,653,0.400983453622,0.00449604923863,0.0698392767995,0.999999966055,3.54053893391e-05,-0.000257368735119,1.99679634112e-05,1793239763562644992
+80,1.333333333,BASELINE,766,746,715,680,664,636,879,787,803.580372448,653,631.419627552,653,0.400985021835,0.00449613828952,0.0698401410692,0.99999996651,3.47767483446e-05,-0.000255693156039,1.97939284277e-05,1793239763579311616
+81,1.350000000,BASELINE,766,746,715,680,664,635.999977477,879,787,803,652.999977477,631.999977477,653,0.400987040995,0.00449571085266,0.0698410891738,0.999999967088,3.2942556792e-05,-0.000253679992365,1.96325729958e-05,1793239763595978496
+82,1.366666667,BASELINE,766,746,715,680,664,635.422468784,879,787,803,652.422468784,631.422468784,653,0.400985014099,0.00449625733488,0.0698400877669,0.999999966484,3.52559063687e-05,-0.0002557404978,1.96374948063e-05,1793239763612645120
+83,1.383333333,BASELINE,766,745.845979275,715,680,664,635.154020725,879,787,803,652,631,653,0.400983551799,0.00449633702414,0.069839412803,0.999999966069,3.62554167618e-05,-0.000257214193943,1.97226067961e-05,1793239763629312000
+84,1.400000000,BASELINE,766,745.272266818,715,680,664,635.727733182,879,787,803,652,631,653,0.400983627964,0.00449514474738,0.0698396273648,0.999999966185,3.36748416612e-05,-0.000257088891401,2.00262293496e-05,1793239763645979648
+85,1.416666667,BASELINE,766,745.310526917,715,680,664,635.689473083,879.931580751,787,803,652.310526917,631,653,0.400983747915,0.00449492142762,0.0698397002843,0.999999966271,3.3115962332e-05,-0.00025682215008,2.00799670164e-05,1793239763662646016
+86,1.433333333,BASELINE,766,745.901522862,715,680,664,635.098477138,881.704568586,787,803,652.901522862,631,653,0.400983907413,0.00449557327338,0.0698396452717,0.999999966333,3.43830860446e-05,-0.000256427660751,1.99080077372e-05,1793239763679311616
+87,1.450000000,BASELINE,766,745.522194546,715,680,664,635.477805454,880.566583638,787,803,653,631,653,0.400983690285,0.00449641741405,0.0698392619966,0.99999996612,3.76379795975e-05,-0.000256800283758,1.99114795398e-05,1793239763695978240
+88,1.466666667,BASELINE,766,745.051714822,715,680,664,635.948285178,879,787,803.051714822,652.948285178,631,653,0.400983468207,0.0044972611567,0.0698388207483,0.999999965871,4.07075237838e-05,-0.000257303146119,1.99233102416e-05,1793239763712645120
+89,1.483333333,BASELINE,766,745.631430066,715,680,664,635.368569934,879,787,803.631430066,652.368569934,631,653,0.400983964443,0.00449770828153,0.0698384577239,0.99999996592,3.78268113789e-05,-0.000257569735859,1.96623559465e-05,1793239763729312000
+90,1.500000000,BASELINE,766,745.7852579,715,680,664,635,879,787,803.7852579,652,631,653,0.400984806133,0.00449741550656,0.0698389080651,0.99999996621,3.60820903688e-05,-0.000256694596289,1.96684167941e-05,1793239763745978368
+91,1.516666667,BASELINE,766,745.195667458,715,680,664,635,879,787,803.195667458,652,631,653,0.400986250836,0.00449583118128,0.0698407781964,0.999999966924,3.6320327308e-05,-0.000253826483088,2.01405725016e-05,1793239763762644992
+92,1.533333333,BASELINE,765.612913297,745.387086703,715,679.612913297,664,635,879,787,803,652,631,652.612913297,0.400984688858,0.00449613232734,0.0698402753527,0.999999966545,3.69331129919e-05,-0.000255248275911,1.98440758408e-05,1793239763779311872
+93,1.550000000,BASELINE,765.033554765,745.966445235,715,679.033554765,664,635,879,787,803,652,631,652.033554765,0.400981633416,0.00449737001543,0.0698385938164,0.999999965616,3.77319427308e-05,-0.000258800929766,1.91657779501e-05,1793239763795978496
+94,1.566666667,BASELINE,765.541957935,745.458042065,715,680.08391587,664,635.541957935,879.541957935,787,803,652,631.541957935,652.541957935,0.400983406355,0.00449697883157,0.0698402231413,0.99999996629,3.54355043712e-05,-0.000256498243652,1.93355327443e-05,1793239763812645376
+95,1.583333333,BASELINE,766,745.116665293,715,680.766669413,664,635.883334707,880,787,803.116665293,652,632,653,0.400984812371,0.00449666473771,0.069841456942,0.999999966797,3.39786728409e-05,-0.000254696324739,1.95439997973e-05,1793239763829312000
+96,1.600000000,BASELINE,766,745.689150055,715,679.62169989,664,635.310849945,880,787,803.689150055,652,632,653,0.40098362503,0.00449704309104,0.0698403501418,0.999999966304,3.65457195653e-05,-0.000256257376848,1.97000181051e-05,1793239763845978880
+97,1.616666667,BASELINE,766,746,715,679.27208136,664,635.27208136,879.72791864,787,803.72791864,652.27208136,631.72791864,653,0.400983275644,0.00449733791103,0.069839874656,0.999999966099,3.74185975593e-05,-0.000256929256137,1.9704528835e-05,1793239763862645760
+98,1.633333333,BASELINE,766,746,715,679.867424233,664,635.867424233,879.132575767,787,803.132575767,652.867424233,631.132575767,653,0.400983921836,0.00449753348451,0.0698401492386,0.999999966244,3.62786232661e-05,-0.000256544703718,1.95290324844e-05,1793239763879312384
+99,1.650000000,BASELINE,766,746,715,680,664,635.551988366,879,787.448011634,803.448011634,653,631,653,0.40098504013,0.00449794230905,0.0698411428563,0.999999966644,3.67805620959e-05,-0.000254920049091,1.93677470273e-05,1793239763895979008
+100,1.666666667,BASELINE,766,746,715,680,664.024293206,635,879.024293206,787.975706794,803.975706794,652.975706794,631,652.975706794,0.400986184793,0.00449831003711,0.0698422394139,0.999999967076,3.75810773201e-05,-0.00025311045132,1.92322055969e-05,1793239763912645632
+101,1.683333333,BASELINE,766,746,715,680,664.598794588,635,879.598794588,787.401205412,803.401205412,652.401205412,631,652.401205412,0.400984863427,0.00449636330763,0.0698410019688,0.99999996666,3.44904006915e-05,-0.000255158536651,1.95875241316e-05,1793239763929312000
+102,1.700000000,BASELINE,766,746,715,680,665,635,879.822567816,787,803,652.177432184,631.177432184,652.177432184,0.400984121916,0.00449516956829,0.0698402236441,0.999999966383,3.30298364725e-05,-0.000256415285848,1.98571012634e-05,1793239763945978368
+103,1.716666667,BASELINE,766,746,715,680,665,635,879.234354364,787,803,652.765645636,631.765645636,652.765645636,0.40098472285,0.00449571911074,0.06984050825,0.99999996645,3.53432195835e-05,-0.000255839976728,1.99281745499e-05,1793239763962644992
+104,1.733333333,BASELINE,766,746,715,680,665,635,879,787,803,653,631.651248922,653,0.400984281414,0.00449647901065,0.0698402991708,0.999999966382,3.55019480577e-05,-0.000256105248698,1.96612175707e-05,1793239763979311616
+105,1.750000000,BASELINE,766,746,715,680,665,635,879,787,803,653,631.071526365,653,0.400983149634,0.00449737822653,0.0698397631331,0.999999966224,3.42336882827e-05,-0.00025692722214,1.9170389317e-05,1793239763995978240
+106,1.766666667,BASELINE,766,746,715,680,664.493869445,635.506130555,879.506130555,787,803.506130555,653,631,653,0.400983992736,0.00449623071222,0.0698404403854,0.999999966568,3.3090268425e-05,-0.000255709657605,1.95454674302e-05,1793239764012644864
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635,879,787,804,653,631,653,0.400983795387,0.00449681101065,0.0698395895912,0.999999966265,3.48634069046e-05,-0.000256705766219,1.88762897629e-05,1793239764056077824
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635.594629589,879,787,804,653,631,653,0.400984309223,0.00449616812801,0.0698398451521,0.999999966339,3.491697208e-05,-0.00025637197118,1.94062715962e-05,1793239764072744704
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635.8162125,879,787,804,653,631,653,0.400984562687,0.00449573489601,0.0698399361082,0.999999966339,3.48448211435e-05,-0.000256359440043,1.96779709189e-05,1793239764089411328
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635.238774157,879,787,804,653,631,653,0.400984258465,0.00449575071048,0.069839674501,0.999999966183,3.45034013405e-05,-0.000257035017696,1.93964600929e-05,1793239764106077952
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680.337904708,664,635.337904708,879.337904708,787.337904708,803.662095292,652.662095292,631.337904708,653,0.400984530157,0.00449575082148,0.0698399725204,0.999999966312,3.46796848089e-05,-0.000256509889808,1.9370700424e-05,1793239764122744576
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680.914048072,664,635.914048072,879.914048072,787.914048072,803.085951928,652.085951928,631.914048072,653,0.400985207895,0.00449573986078,0.0698406651027,0.999999966641,3.52209733657e-05,-0.000255138208203,1.9525257323e-05,1793239764139411200
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,746,715,680.512203167,664,636,879.512203167,787.512203167,803,652.487796833,631.512203167,653,0.400985169533,0.00449704612779,0.0698408285372,0.999999966674,3.54838029528e-05,-0.00025499530328,1.9261307383e-05,1793239764156077824
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,746,715,680.063058649,664,635.936941351,879,787.063058649,803,653,631.063058649,652.936941351,0.400984924831,0.00449830970745,0.0698408823627,0.99999996662,3.56511369292e-05,-0.00025520104862,1.90062829528e-05,1793239764172744448
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,746,715,680.65451751,664,635.34548249,879,787.65451751,803,653,631.65451751,652.34548249,0.40098400326,0.00449728019572,0.069840795192,0.999999966281,3.54274026868e-05,-0.000256522878086,1.94409587666e-05,1793239764189411328
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.75907025,746,715,680.518140501,664,635,879,787.75907025,803.24092975,653,632,652.24092975,0.400988212152,0.00449644949194,0.0698428292507,0.999999967008,3.52866190367e-05,-0.000253673310825,1.9734298317e-05,1793239764206077696
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.179746216,746,715,679.359492432,664,635,879,787.179746216,803.820253784,653,632,652.820253784,0.40099962696,0.00449589802098,0.0698478426502,0.999999969178,3.52623424201e-05,-0.000244964870411,1.98291260901e-05,1793239764222744320
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.760563047,745.619718477,715,679.380281523,664,635,879,787.380281523,803.619718477,653,632,653,0.401025971571,0.00449617509239,0.0698587025561,0.999999973553,3.51746023434e-05,-0.000226406876237,1.99066885154e-05,1793239764239411456
+119,1.983333333,POSE1_TO_POSE2_PRESS,766.863258117,745.068370941,715,679.931629059,664,635,879,787.931629059,803.068370941,653,632,653,0.401059032212,0.00449682487564,0.0698721924573,0.999999978496,3.50583138181e-05,-0.000203418153505,1.99764842889e-05,1793239764256078592
+120,2.000000000,POSE1_TO_POSE2_PRESS,766.461918926,745.538081074,715,680,664,635,879.538081074,787.461918926,803,652.461918926,632,653,0.401115208928,0.00449657231493,0.0698912553289,0.999999984335,3.28469331383e-05,-0.000172856033563,1.92807791391e-05,1793239764272744960
+121,2.016666667,POSE1_TO_POSE2_PRESS,766.144003676,746,714.855996324,680,664,635.144003676,879.855996324,787,803.144003676,652,631.855996324,653,0.401176095571,0.0044963508568,0.06990841916,0.999999988567,3.11896135146e-05,-0.000146797421737,1.85531239023e-05,1793239764289411584
+122,2.033333333,POSE1_TO_POSE2_PRESS,766.724667232,746,714.275332768,680,664,635.724667232,879.275332768,787,803.724667232,652,631.275332768,653,0.401241341368,0.00449661104587,0.0699174323437,0.999999989848,3.21116916209e-05,-0.000137645630422,1.80571817795e-05,1793239764306078208
+123,2.050000000,POSE1_TO_POSE2_PRESS,766.697712342,746,714.302287658,680,664,636,879.302287658,787,804,652,631.302287658,653,0.401314372504,0.00449630543055,0.06992234836,0.99999999085,3.02452823117e-05,-0.000130743893321,1.70453336245e-05,1793239764322744832
+124,2.066666667,POSE1_TO_POSE2_PRESS,766.1228361,746,714.8771639,680,664,636,879.8771639,787,804,652,631.8771639,653,0.401394424083,0.00449548959983,0.0699235697457,0.999999991623,2.58643480675e-05,-0.000125871148287,1.55682660595e-05,1793239764339411456
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,746,714.547242419,680,664,636,879.547242419,787,803.547242419,652.452757581,631.547242419,653,0.401485765777,0.00449649288311,0.0699210149206,0.999999990912,2.40590080631e-05,-0.000131989522097,1.3295015948e-05,1793239764356078080
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,746,714,680,664,635.970638252,879,787,803,652.970638252,631,653,0.401582075149,0.00449794487515,0.0699177587489,0.999999989826,2.29722080863e-05,-0.000140366366206,1.0799293221e-05,1793239764372744448
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,746,714,680,664,635.378399847,879,787,803,652.378399847,631,653,0.401714803237,0.00449852246498,0.0699207289364,0.999999990636,2.22430393192e-05,-0.000134782843256,8.18624238599e-06,1793239764389411072
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.79125824,714,680,664,635,879,787,803.20874176,652.20874176,631.20874176,653,0.40185768079,0.00449957622674,0.0699237222362,0.999999991391,2.08267353916e-05,-0.000129450329433,5.23814268284e-06,1793239764406077696
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.213135779,714,680,664,635,879,787,803.786864221,652.786864221,631.786864221,653,0.4020185184,0.00450147260242,0.0699267564341,0.999999992075,1.81945058531e-05,-0.000124561991475,1.69715476985e-06,1793239764422744576
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.361073263,714.361073263,680,664.361073263,635,879,787,803.638926737,652.638926737,631.638926737,652.638926737,0.402200419433,0.00450182113639,0.0699313212854,0.999999993214,1.30338776358e-05,-0.000115747669864,-2.07010645349e-06,1793239764439411200
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.932997099,714.932997099,680,664.932997099,635,879,787,803.067002901,652.067002901,631.067002901,652.067002901,0.402394620575,0.00450126580049,0.0699367799697,0.999999994487,6.39677786572e-06,-0.000104640749599,-5.96950146648e-06,1793239764456077824
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,746,715,679.479700476,665,635,879,787.520299524,803,652.520299524,631,652.520299524,0.402607900852,0.00450208322582,0.0699355840785,0.999999994439,2.29825668165e-06,-0.000104865636089,-1.09171017962e-05,1793239764472744448
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,746,715,679,664.892162331,635,879,787.892162331,803.107837669,652.892162331,631,653,0.402834681261,0.00450360704219,0.06993461641,0.999999994416,-9.23519347806e-07,-0.00010444300281,-1.60685046389e-05,1793239764489411328
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,746,715,679,664.312521167,635,879,787.312521167,803.687478833,652.312521167,631,653,0.403109449598,0.00450742441381,0.0699385107477,0.999999995292,-1.78326914786e-06,-9.46083864073e-05,-2.15030056103e-05,1793239764506077952
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.733311745,715,679,664,635,879.266688255,787,803.733311745,652,631,653,0.403400588332,0.00450922573429,0.0699454669948,0.999999996341,-5.76171140972e-06,-8.10710441257e-05,-2.66825446989e-05,1793239764522744576
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.154607482,715,679,664,635,879.845392518,787,803.154607482,652,631,653,0.403710879844,0.00450866834464,0.0699560055692,0.999999997415,-1.33889156365e-05,-6.32016415589e-05,-3.15637868964e-05,1793239764539411968
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.41718947,715,679.41718947,664,635.41718947,879.58281053,787,803.41718947,652,631.41718947,653,0.404040756022,0.00450904749094,0.0699615872952,0.999999997688,-1.57238185271e-05,-5.5684923343e-05,-3.5723136124e-05,1793239764556078592
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.986468299,715,679.986468299,664,635.986468299,879.013531701,787,803.986468299,652,631.986468299,653,0.404377771922,0.00450976805803,0.0699653619671,0.999999997736,-1.61293755147e-05,-5.19423495379e-05,-3.96193140792e-05,1793239764572744960
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.419662589,714.419662589,679.419662589,664,635.419662589,879,787,804,652,631.419662589,653,0.404753989212,0.00450497304486,0.069971020855,0.999999998349,2.1488331789e-05,-4.48016693701e-05,-2.88490428737e-05,1793239764589411840
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.170011987,714.170011987,679.170011987,664,635,879.170011987,787,804,652.170011987,631,653,0.405145772859,0.00449786384192,0.0699746224679,0.99999999803,4.38457230178e-05,-3.92907584227e-05,-2.17712948489e-05,1793239764606078464
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.748179051,714.748179051,679.748179051,664,635,879.748179051,787,804,652.748179051,631,653,0.405572635758,0.00448552127762,0.0699731749498,0.99999999861,2.73443672151e-05,-3.78911415281e-05,-2.44156730629e-05,1793239764622745088
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745.676186288,715,680,664,635.323813712,879.676186288,787,803.676186288,652.676186288,631,653,0.406004879081,0.0044854384673,0.0699677512612,0.999999998044,3.37355649204e-05,-4.55192650854e-05,-2.64970374346e-05,1793239764639411712
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745.102505665,715,680,664,635.897494335,879.102505665,787,803.102505665,652.102505665,631,653,0.406441274189,0.0044948157457,0.0699592594087,0.999999996127,5.77915213125e-05,-6.01135345817e-05,-2.81439592918e-05,1793239764656078592
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.484646542,715,680,664.484646542,635.515353458,879,787,803.484646542,652,631,653,0.406903276037,0.00450201014694,0.0699433340534,0.999999996066,9.7487708464e-06,-8.30521487867e-05,-2.95863098903e-05,1793239764672745216
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.926470382,745.926470382,715,680,664.926470382,635,879,787,804,652.073529618,631,653,0.407382678877,0.00450843972721,0.0699285454716,0.999999993277,-4.29569693908e-05,-0.000103122799683,-3.11016019053e-05,1793239764689412096
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.345861969,745.345861969,715,680,664.345861969,635,879,787,804,652.654138031,631,653,0.407943665729,0.00451286988824,0.0699327488614,0.999999995117,-1.96500303229e-05,-9.08962256646e-05,-3.34268365175e-05,1793239764706078976
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.232466966,745.232466966,715,680,664.232466966,635.232466966,879,787.232466966,804,653,631.232466966,653,0.408529921738,0.00451986007545,0.06994327995,0.99999999704,6.49113699145e-06,-6.79116294717e-05,-3.55816963306e-05,1793239764722745600
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.807437411,745.807437411,715,680,664.807437411,635.807437411,879,787.807437411,804,653,631.807437411,653,0.409153407839,0.00453062205796,0.0699631339067,0.999999998197,3.68080920697e-05,-2.90767817506e-05,-3.74855355254e-05,1793239764739412224
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.616218123,746,715,680,665,635.616218123,879,787.616218123,804,652.616218123,631.616218123,652.616218123,0.409756606704,0.00453583600573,0.069963333131,0.999999997761,4.81548656795e-05,-2.63923438077e-05,-3.82444448839e-05,1793239764756078592
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.039181782,746,715,680,665,635.039181782,879,787.039181782,804,652.039181782,631.039181782,652.039181782,0.410349589855,0.00453825622439,0.0699536351579,0.999999997136,4.99491491703e-05,-4.19115494689e-05,-3.84268215088e-05,1793239764772745472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.546579827,746,715,680,664.453420173,635,879,787,804,652,631,652.546579827,0.410967773721,0.00454715866836,0.0699485318181,0.99999999639,5.35110724871e-05,-5.26085092123e-05,-3.98500479105e-05,1793239764789412096
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.131776815,635.131776815,879.131776815,787,803.868223185,652.131776815,631.131776815,653,0.411612371304,0.00455610017142,0.0699504331511,0.999999996015,6.08609624271e-05,-5.08553828014e-05,-4.0981015494e-05,1793239764806078720
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.712881137,635.712881137,879.712881137,787,803.287118863,652.712881137,631.712881137,653,0.412340773486,0.00456356470048,0.0699750774638,0.999999995881,8.06878407458e-05,-7.84825313354e-06,-4.08072286217e-05,1793239764822745088
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680,664.708821958,635.708821958,879.708821958,787,803.291178042,653,631.708821958,653,0.413087375474,0.00457055715926,0.0700003839335,0.999999994236,9.36865822081e-05,3.21782947772e-05,-4.1411679323e-05,1793239764839411456
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.133266829,635.133266829,879.133266829,787,803.866733171,653,631.133266829,653,0.413851752266,0.00457708857464,0.0700263370974,0.999999991683,0.000100016671875,6.92938825305e-05,-4.27761905471e-05,1793239764856078080
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.548805019,746,715,680,664,635,879,787,804,652.548805019,631,653,0.414560300415,0.00458542189864,0.0700175189818,0.999999992613,0.000103420775244,4.69430373536e-05,-4.32958076744e-05,1793239764872744704
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.037851181,746,715,680,664,635,879.037851181,787,804,652,631,653,0.415253813295,0.00459423716243,0.0699958105087,0.999999993325,0.000106892274094,3.7279133722e-06,-4.37083087135e-05,1793239764889411328
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.617504058,746,715,680,664,635,879.617504058,787,804,652,631,653,0.41597289987,0.00460217932157,0.0699395573441,0.999999987915,0.000123948198264,-8.16608816414e-05,-4.62315632543e-05,1793239764906078208
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.803888879,715,680,664.196111121,635,879.803888879,787,803.803888879,652.196111121,631,653,0.416732592706,0.00460921685219,0.0699109778488,0.999999981774,0.000135633469884,-0.000125431867215,-4.81998207625e-05,1793239764922744832
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.227310789,715,680,664.772689211,635,879.227310789,787,803.227310789,652.772689211,631,653,0.417571064005,0.00461449935048,0.0699360868832,0.999999985512,0.000136899363941,-8.84618805801e-05,-4.90913521576e-05,1793239764939411456
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.347016936,715,680,664.652983064,635,879.347016936,787,803.347016936,652.652983064,631,652.652983064,0.418415802392,0.00461994212604,0.0699623123248,0.999999987751,0.000139940441252,-4.96945532428e-05,-4.94390694159e-05,1793239764956078080
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.919880053,715,680,664.080119947,635,879.919880053,787,803.919880053,652.080119947,631,652.080119947,0.419264619503,0.00462548921333,0.0699892643477,0.999999988343,0.000144136846345,-9.75747884565e-06,-4.94328605203e-05,1793239764972744704
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.491925565,714.491925565,680,664.508074435,635,879.491925565,787,804,652,631,652.508074435,0.420110095737,0.00462790227847,0.0700067536688,0.999999987493,0.00014888063675,1.79247888314e-05,-5.02764432175e-05,1793239764989411328
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.903058886,745.096941114,714.096941114,680,665,635,879.096941114,787.096941114,804,652.096941114,631,653,0.420955597632,0.0046267758696,0.070020601592,0.999999986693,0.000149798065954,3.93899733527e-05,-5.1210481399e-05,1793239765006077952
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.32326052,745.67673948,714.67673948,680,665,635,879.67673948,787.67673948,804,652.67673948,631,653,0.421803932819,0.004610557816,0.0700239757796,0.999999989252,0.000131213315871,3.98134245367e-05,-5.19068268523e-05,1793239765022744832
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.748058114,715,680,664.748058114,635,880,787.748058114,804,652.748058114,631,653,0.422621194073,0.00459262718652,0.0700002978835,0.999999992763,0.000108192386891,-1.09753742158e-06,-5.26036701929e-05,1793239765039411200
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.178646952,715,680,664.178646952,635,880,787.178646952,804,652.178646952,631,653,0.423399299511,0.0045725385563,0.0699425319464,0.999999990986,7.95814730284e-05,-9.40935516235e-05,-5.33011406703e-05,1793239765056078080
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745.399103426,715,680,664,635,880,787,804,652,631,652.600896574,0.424235032382,0.00457510751262,0.0698954527877,0.999999982729,7.90868830976e-05,-0.000158548295932,-5.61153786277e-05,1793239765072744960
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745.980666234,715,680,664,635,880,787,804,652,631,652.019333766,0.425097110925,0.00458803491111,0.0698532593409,0.999999971984,9.14463241934e-05,-0.00020995473147,-5.98973458897e-05,1793239765089411584
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.572206326,745.427793674,715,680,664.572206326,635,879.427793674,787,803.427793674,652,631,652,0.42600877042,0.00459260299153,0.0699101197721,0.999999986137,9.41772924747e-05,-0.00012409243321,-5.87990166447e-05,1793239765106078208
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.160234107,714.839765893,680,665,635,879.160234107,787,803.160234107,652,631,652,0.426915879299,0.00459691655603,0.0699644059423,0.999999992316,9.96465855883e-05,-4.64426929766e-05,-5.72783065241e-05,1793239765122745088
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.73821052,714.26178948,680,665,635,879.73821052,787,803.73821052,652,631,652,0.427806679333,0.00460131600212,0.0700031005074,0.999999992081,0.000113118103141,-2.51003576148e-06,-5.50939439034e-05,1793239765139411456
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.685483231,714.314516769,680,665,635,880,787,804,652,631,652.314516769,0.4287000134,0.00460414939133,0.0700307714322,0.999999990643,0.000118760757727,4.01522808584e-05,-5.47536441563e-05,1793239765156078080
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.110559836,714.889440164,680,665,635,880,787,804,652,631,652.889440164,0.429595445493,0.00460568615124,0.0700493152455,0.99999998814,0.000117921443166,8.17628068103e-05,-5.59401508266e-05,1793239765172744704
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.462913705,715,680.462913705,665,635,879.537086295,787,803.537086295,652,631,653,0.430430830717,0.00460576508045,0.0700258228878,0.999999990521,0.000118400525692,4.24667023302e-05,-5.60049799005e-05,1793239765189411584
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.962593853,745.962593853,715,680.962593853,664.962593853,635,879.037406147,787.037406147,803.037406147,652,631,652.962593853,0.431246279987,0.00460577052168,0.0699900251288,0.999999991083,0.000119683520056,-1.96621996909e-05,-5.58815230444e-05,1793239765206078720
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.367774796,745.367774796,715,680.367774796,664.367774796,635,879.632225204,787.632225204,803.632225204,652,631,652.367774796,0.4319776912,0.00460985313218,0.0699199975518,0.999999981042,0.000128268559864,-0.000134987236593,-5.6931916943e-05,1793239765222745344
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.220194187,714.779805813,680.220194187,664.220194187,635,880,787.779805813,804.220194187,652,631,652,0.432762125915,0.00460888539882,0.0698892675261,0.999999974111,0.000125824300566,-0.000180467358661,-5.81176914897e-05,1793239765239411712
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.797067251,714.202932749,680.797067251,664.797067251,635,880,787.202932749,804.797067251,652,631,652,0.433632450223,0.00459973692794,0.0699221931505,0.999999986299,0.00010551436824,-0.000112810063836,-5.95227617003e-05,1793239765256078336
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.369124843,745.630875157,714.369124843,681,665.369124843,635,880,787,804.630875157,652,631.369124843,652,0.434487136918,0.00458967606781,0.0699704112083,0.999999993673,9.00651969793e-05,-3.22748419066e-05,-5.91639631408e-05,1793239765272744960
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.938569102,745.061430898,714.938569102,681,665.938569102,635,880,787,804.061430898,652,631.938569102,652,0.435333337225,0.00457912006604,0.0700269282757,0.999999993816,7.72539005219e-05,5.52490654131e-05,-5.78479347907e-05,1793239765289411328
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680.468764549,665.468764549,635,880,787,804,652,631.468764549,652.531235451,0.436130210277,0.00457884606289,0.0700328009852,0.999999992545,8.245192416e-05,6.9008487105e-05,-5.78771853255e-05,1793239765306077952
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.122750809,714.877249191,680.122750809,665.122750809,635,880,787,804.122750809,652,631,653,0.436907851633,0.00458025771593,0.0700277895796,0.999999992099,8.89663922079e-05,6.71158742313e-05,-5.81639033302e-05,1793239765322744576
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.699619447,714.300380553,680.699619447,665.699619447,635,880,787,804.699619447,652,631,653,0.437636412091,0.00458330572881,0.0700051684788,0.999999993199,9.22944324251e-05,4.03175912245e-05,-5.88013023992e-05,1793239765339411200
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.724818392,745.724818392,714,680.724818392,665.449636785,635,880,787,804.724818392,652,631,652.724818392,0.438323226048,0.00458799147889,0.0699674338425,0.999999993558,9.55905981027e-05,-1.34402520574e-05,-5.97087114296e-05,1793239765356078080
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.150675643,745.150675643,714,680.150675643,664.301351286,635,880,787,804.150675643,652,631,652.150675643,0.438964685977,0.00459445648934,0.0699132796516,0.999999988604,9.88521341903e-05,-9.64873363933e-05,-6.09094627439e-05,1793239765372744960
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.420562706,714,680.420562706,664,635,880,787,804,652,631.420562706,652.420562706,0.439576413795,0.00460167069403,0.0698609037461,0.999999976039,0.000105267957232,-0.000182074897594,-6.07377613874e-05,1793239765389411584
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.990767675,714,680.990767675,664,635,880,787,804,652,631.990767675,652.990767675,0.440177562554,0.00460915147334,0.0698091605756,0.999999955769,0.000112806120692,-0.000268566402804,-6.0077721417e-05,1793239765406078464
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.591974443,745.408025557,714,681.591974443,663.408025557,635,880.591974443,787,804,652,631.408025557,652.408025557,0.440849839274,0.00461631512819,0.0698150858545,0.99999995737,0.000124164863949,-0.000257272570416,-6.04418739678e-05,1793239765422744832
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.815736206,745.184263794,714,682,663,634.815736206,881,787,804,652,631,652,0.441512887309,0.00462305414786,0.0698315104979,0.999999962013,0.000134638315318,-0.000232713504142,-6.07472275676e-05,1793239765439411456
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.243306775,745.756693225,714,682,663,634.243306775,881,787,804,652,631,652,0.442154028581,0.00462890963721,0.069868053518,0.999999971051,0.000143114376974,-0.000183600375567,-6.08932085646e-05,1793239765456078080
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.669147827,714,682,662.669147827,634,881,787,804.330852173,652,631,652.330852173,0.44272898002,0.0046341511935,0.069871459102,0.999999968585,0.000155178926213,-0.000187600832629,-5.96220676346e-05,1793239765472744960
+193,3.216666667,POSE1_TO_POSE2_PRESS,765,745.093710353,714,682,662.093710353,634,881,787,804.906289647,652,631,652.906289647,0.44325500002,0.00463893889417,0.0698503675506,0.999999957276,0.000169896295031,-0.000230865965188,-5.73033071669e-05,1793239765489411584
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.495013092,745,714,681.504986908,661.504986908,634,880.504986908,787,804.504986908,652,631.495013092,653,0.443753060617,0.00464516488556,0.0698100539206,0.999999937511,0.000187665992485,-0.000294413981381,-5.54903065367e-05,1793239765506078464
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.915183737,745.084816263,714,681.084816263,661,634,880.084816263,787,804,652,631.915183737,653,0.444241575462,0.00465189942357,0.0697681404879,0.99999991336,0.000204906971771,-0.000358250796426,-5.43063610454e-05,1793239765522745344
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.334183755,745.665816245,714,681.665816245,661,634,880.665816245,787,804,652,631.334183755,653,0.444706065057,0.0046599722073,0.0697387431552,0.999999894903,0.000215581289821,-0.000400694795945,-5.6226888183e-05,1793239765539412224
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.75623174,714,682,660.75623174,634,880.75623174,787,804,652,631,653,0.445165881112,0.00466603412602,0.0697198865425,0.999999883093,0.000223955121659,-0.000424636584957,-5.78154757636e-05,1793239765556078848
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.182406654,714,682,660.182406654,634,880.182406654,787,804,652,631,653,0.445619369258,0.00466937337736,0.0697153018337,0.999999882305,0.000229214145669,-0.000423526787957,-5.89546244921e-05,1793239765572745728
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,714,682,659.606700009,633.606700009,880,787,804.393299991,652,631,653,0.446035839963,0.00467319419219,0.0697131336317,0.999999877521,0.000239279693154,-0.000429276074669,-5.8522379833e-05,1793239765589412608
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,714,682,659.030116479,633.030116479,880,787,804.969883521,652,631,653,0.446435060039,0.00467723942294,0.0697120915568,0.999999870688,0.000251585151174,-0.00043822179436,-5.73578430007e-05,1793239765606079488
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,714.55686377,682,659,633,880.55686377,786.44313623,805,652,631,653,0.446786858,0.00468161649194,0.0697013777395,0.999999856966,0.000266131054828,-0.000460644931635,-5.52180752299e-05,1793239765622745344
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714.85875469,682,659,633,881,786,804.85875469,652,631,653,0.44712451423,0.00468656407508,0.0696876927548,0.999999841326,0.000277381629148,-0.000487300490813,-5.42707670757e-05,1793239765639411200
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714.284105167,682,659,633,881,786,804.284105167,652,631,653,0.447426796715,0.00469320613773,0.0696665264387,0.99999982205,0.000278141780018,-0.000524663918633,-5.7147379021e-05,1793239765656078080
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.290005375,714,682,658.709994625,633,881,786.290005375,804.290005375,652,631,652.709994625,0.447723706641,0.00470816156294,0.0696550002402,0.999999818541,0.000255380491907,-0.000542012196897,-6.26203797727e-05,1793239765672744960
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.863588847,714,682,658.136411153,633,881,786.863588847,804.863588847,652,631,652.136411153,0.448015363058,0.00473124610442,0.0696529005104,0.999999829849,0.000209619061293,-0.000539788911145,-7.06322263454e-05,1793239765689411328
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.441063207,745.558936793,714,682,658,632.558936793,881,787,805,652,631,652.441063207,0.44828679618,0.00475371704936,0.0696591732164,0.999999831879,0.000224875667912,-0.000529155186206,-7.52793605246e-05,1793239765706077952
+207,3.450000000,POSE1_TO_POSE2_PRESS,766,745.020369234,714,682.020369234,658,632,880.979630766,787,804.979630766,652,631,653,0.448550618832,0.00477500961305,0.0696677937005,0.999999830167,0.000258724790393,-0.000516312890719,-7.84175894579e-05,1793239765722744832
+208,3.466666667,POSE1_TO_POSE2_PRESS,766,745.617152313,714,682.617152313,658,632,880.382847687,787,804.382847687,652,631,653,0.448777648685,0.00476837406055,0.0696689242524,0.999999825736,0.000279925164682,-0.000515235433023,-6.85665833332e-05,1793239765739411200
+209,3.483333333,POSE1_TO_POSE2_PRESS,766,746,714,682.793653474,657.793653474,632,880,786.793653474,804,652.206346526,631,653,0.44898797896,0.00476585428763,0.069668242201,0.99999981933,0.000297700568038,-0.000518475107594,-6.24332359036e-05,1793239765756077824
+210,3.500000000,POSE1_TO_POSE2_PRESS,766,746,714,682.218039964,657.218039964,632,880,786.218039964,804,652.781960036,631,653,0.449168424518,0.00477069989999,0.069664316409,0.999999810017,0.000309346819873,-0.00052944049744,-6.29528177586e-05,1793239765772744448
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.643250738,746,714,682,657,632,880,786.356749262,804.356749262,652.643250738,631,653,0.449335527645,0.00477356586098,0.069661620201,0.999999806625,0.000314259486359,-0.000532804599238,-6.41181766806e-05,1793239765789411328
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.068964084,746,714,682,657,632,880,786.931035916,804.931035916,652.068964084,631,653,0.449494494884,0.00477522467713,0.0696596737643,0.999999806946,0.000315066170494,-0.000531533613743,-6.56773154734e-05,1793239765806078208
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,746,714,682.521453899,657,632,880.521453899,786.478546101,804.478546101,652,631,653,0.449621387145,0.0047741851409,0.0696566059475,0.999999804724,0.00031488416784,-0.000535765237566,-6.5992699125e-05,1793239765822745088
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,746,714,682.889027202,657,632,880.889027202,786,804.110972798,652.110972798,631,653,0.44973851232,0.00477445821226,0.0696522906362,0.999999800769,0.000316054444402,-0.000542350217108,-6.65417793081e-05,1793239765839411712
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,746,714,682.312515412,657,632,880.312515412,786,804.687484588,652.687484588,631,653,0.449833027589,0.00478178263976,0.0696433840108,0.999999790943,0.000323463677957,-0.00055565732058,-6.87833133863e-05,1793239765856078336
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,880.263518199,786,804.736481801,652.736481801,631,653,0.449918798661,0.00478440322257,0.0696375056607,0.999999785234,0.000326038858338,-0.000564237389558,-6.97620917468e-05,1793239765872744960
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,746,714,682,657,632,880.838985714,786,804.161014286,652.161014286,631,653,0.449994218465,0.00478145545654,0.0696352121429,0.999999784603,0.000322891550896,-0.000567221657686,-6.92460366697e-05,1793239765889411328
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,746,714,682.412916849,657,632,881,786,804.412916849,652,631,653,0.450054471483,0.00478055889821,0.0696325229533,0.99999978146,0.000321965866131,-0.000573280990679,-6.90438259141e-05,1793239765906077696
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,746,714,682.98625109,657,632,881,786,804.98625109,652,631,653,0.450108832232,0.00478045923015,0.0696296800459,0.999999777301,0.000321903277515,-0.000580534980299,-6.89635430762e-05,1793239765922744576
+220,3.666666667,POSE1_TO_POSE2_PRESS,765.580096255,746,714,683,657,632,880.419903745,786,805,652,631,653,0.450146508555,0.00478294636248,0.0696261374989,0.999999772454,0.000326898148286,-0.000586028937917,-6.92797801701e-05,1793239765939411456
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.829587763,746,714,682.829587763,656.829587763,632,880.170412237,786,805,652,631,653,0.450180568241,0.00478454081475,0.0696225566283,0.999999768264,0.000329659888475,-0.000591594139344,-6.9376681267e-05,1793239765956078336
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.248979936,746,714,682.248979936,656.248979936,632,880.751020064,786,805,652,631,653,0.450206909139,0.00478383352868,0.0696189248882,0.999999765779,0.000326747202271,-0.000597434920322,-6.89221726405e-05,1793239765972744960
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745.672385265,714,682,656.327614735,631.672385265,880.672385265,786,804.672385265,652,631,653,0.450227103058,0.00478346708967,0.0696156123212,0.999999762599,0.00032713736191,-0.000602563828613,-6.855773643e-05,1793239765989411840
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745.098803535,714,682,656.901196465,631.098803535,880.098803535,786,804.098803535,652,631,653,0.450242681943,0.00478335655216,0.0696125393832,0.999999758897,0.00033000723592,-0.000607158276862,-6.82609248514e-05,1793239766006078208
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.486197722,714,682,656.513802278,631.486197722,880.486197722,786,804.486197722,652,631,653,0.450253227215,0.00478482855899,0.069611070943,0.999999756683,0.000332226555758,-0.000609561149185,-6.85146536261e-05,1793239766022744832
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656.072497138,631.927502862,881,786,805,652,631,653,0.450262171159,0.0047864099624,0.0696099919191,0.999999754892,0.000333988503908,-0.000611501220114,-6.8803737066e-05,1793239766039411456
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,714,682,656.651266708,631.348733292,881,786,805,652,631,653,0.450267247659,0.00478645546261,0.0696093005602,0.999999753913,0.000333501897661,-0.000613394333722,-6.85396328439e-05,1793239766056078080
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,714,682,656.771885888,631,881,786,804.771885888,652,631.228114112,653,0.450270793114,0.00478605671034,0.0696080526814,0.999999752892,0.000332396098278,-0.000615684575887,-6.82712870307e-05,1793239766072744704
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656.197952511,631,881,786,804.197952511,652,631.802047489,653,0.450272017517,0.00478498447469,0.0696059611228,0.999999751803,0.000330351606817,-0.000618576861821,-6.79965110132e-05,1793239766089411328
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,746,714,682.377048397,656,631,881,786,804.377048397,652,631.622951603,653,0.450274722538,0.00478431051396,0.06960614261,0.999999752211,0.000329359424528,-0.000618517960778,-6.73551675343e-05,1793239766106077952
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,746,714,682.952611337,656,631,881,786,804.952611337,652,631.047388663,653,0.450278207099,0.0047838462435,0.0696075208471,0.999999753407,0.000328921279068,-0.000616905270954,-6.65208276932e-05,1793239766122744832
+232,3.866666667,POSE1_TO_POSE2_PRESS,765.542312765,746,714,682.457687235,656.542312765,631,881,786,805,652,631,652.457687235,0.450279279507,0.0047873152942,0.0696077672252,0.999999752312,0.000333072790878,-0.000616413387456,-6.68804745422e-05,1793239766139411200
+233,3.883333333,POSE1_TO_POSE2_PRESS,766,745.869638914,714,682,656.869638914,631.130361086,881,786,805,652,631,652.130361086,0.45027971375,0.00478965583138,0.0696074814516,0.999999751147,0.000335938824641,-0.000616708557308,-6.72406837551e-05,1793239766156077824
+234,3.900000000,POSE1_TO_POSE2_PRESS,766,745.291623499,714,682,656.291623499,631.708376501,881,786,805,652,631,652.708376501,0.45027869975,0.00478690924389,0.0696057170176,0.999999750499,0.000332976506904,-0.000619361113745,-6.72349564199e-05,1793239766172744704
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.7143143,745,714,682,656,631.7143143,880.7143143,786,805,652,631,652.7143143,0.450278718724,0.00478536468307,0.0696050121861,0.999999750161,0.000332142997732,-0.00062039022405,-6.68890237841e-05,1793239766189411072
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.137724148,745,714,682,656,631.137724148,880.137724148,786,805,652,631,652.137724148,0.450279789544,0.00478504410656,0.0696053863129,0.99999975015,0.000333477184693,-0.000619766232311,-6.61966711612e-05,1793239766206077696
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.435548517,714,682,656.435548517,631,880.435548517,786,805,652,631,652.435548517,0.450279986017,0.00478485954056,0.0696051526472,0.99999974985,0.000333059356217,-0.000620480441881,-6.61419594769e-05,1793239766222744320
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656.991882581,631,881,786,805,652,631,653,0.45027991418,0.00478474875806,0.0696047426353,0.99999974947,0.000332113192753,-0.000621584762717,-6.62874695882e-05,1793239766239411200
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714,682,656.394837923,631,881,786,805,652,631,653,0.450280283143,0.00478689437867,0.0696053766419,0.999999749915,0.000332725376126,-0.000620524115596,-6.64415741263e-05,1793239766256077824
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631,881,786,804.805608031,652,631,653,0.450280895887,0.00478743870074,0.069605780883,0.999999750628,0.000332504440396,-0.000619506196666,-6.63038606163e-05,1793239766272744448
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631,881,786,804.231637633,652,631,653,0.450281984651,0.00478485625575,0.0696057364735,0.999999751866,0.000330656719114,-0.000618571710776,-6.55963301619e-05,1793239766289411584
+242,4.033333333,POSE1_TO_POSE2_PRESS,764.656825073,745.656825073,714,682,656,631.343174927,881,786,804,652,631,653,0.450282334833,0.00478481353294,0.0696054154094,0.999999751305,0.000331478603875,-0.000619048237142,-6.55017459767e-05,1793239766306078208
+243,4.050000000,POSE1_TO_POSE2_PRESS,764.081442693,745.081442693,714,682,656,631.918557307,881,786,804,652,631,653,0.450282185259,0.00478648929949,0.0696049071484,0.999999749523,0.00033410686317,-0.00062047951734,-6.58219085908e-05,1793239766322744832
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.018596268,745.509298134,714,682,656.509298134,632,880.490701866,786,804,652,631,653,0.450283247101,0.00478659790083,0.0696060226368,0.999999750781,0.000332704844967,-0.000619187127738,-6.59787098877e-05,1793239766339411456
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.900458518,746,714,682,656.900458518,631.900458518,880.099541482,786,804.099541482,652,631,653,0.450284157087,0.00478649041986,0.0696070942238,0.999999752094,0.000331088441309,-0.00061791894564,-6.60904882644e-05,1793239766356078080
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.324710131,746,714,682,656.324710131,631.324710131,880.675289869,786,804.675289869,652,631,653,0.450283385021,0.00478658538831,0.0696066749634,0.999999751299,0.000331625521376,-0.000618915017975,-6.61157370068e-05,1793239766372744704
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.749846102,714,682,656,631,880.749846102,786,804.749846102,652,631,653,0.450283042726,0.0047865726691,0.0696064283976,0.999999750828,0.000332420789902,-0.000619255530478,-6.60514301504e-05,1793239766389411584
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.176125884,714,682,656,631,880.176125884,786,804.176125884,652,631,653,0.450283256328,0.00478642065921,0.0696064052067,0.999999750778,0.00033355001728,-0.000618748096776,-6.58712859038e-05,1793239766406078208
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.400633755,714,682,656,631.400633755,880,786,804,652,631,653,0.450283670628,0.00478576212667,0.0696064810941,0.999999750584,0.000333519805972,-0.000619092960975,-6.57251541083e-05,1793239766422744832
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745.978739758,714,682,656,631.978739758,880,786,804,652,631,653,0.450284173833,0.00478487921535,0.069606600871,0.999999750327,0.000332975987871,-0.000619815375084,-6.55940891174e-05,1793239766439411456
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714,682.569940857,656,632,880.569940857,786,804,652,631,653,0.450283324577,0.00478561669473,0.0696057056976,0.999999749933,0.000333364941093,-0.000620234408873,-6.56514717272e-05,1793239766456078080
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,714,682.841669934,656,632,881,786.158330066,804,652.158330066,631,653,0.450282939224,0.0047861948891,0.0696049914429,0.999999749911,0.000332949447817,-0.000620480269215,-6.57728814736e-05,1793239766472744448
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,714,682.262092177,656,632,881,786.737907823,804,652.737907823,631,653,0.4502839255,0.00478618469605,0.0696048616329,0.999999750887,0.000330298920268,-0.000620296207352,-6.60454972059e-05,1793239766489411328
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,746,714,682.313616675,656,632,881,786.686383325,804,652.686383325,631,653,0.450285709264,0.00478695017896,0.0696060295462,0.999999751765,0.000331495053356,-0.000618229018759,-6.61333884791e-05,1793239766506077952
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,746,714,682.886131623,656,632,881,786.113868377,804,652.113868377,631,653,0.450288151374,0.00478835600143,0.0696082687621,0.999999752543,0.000335866699473,-0.000614607262759,-6.60687851559e-05,1793239766522744576
+256,4.266666667,HOLD_POSE2,765,745,714,683,656,631,881,786,805,652,631,653,0.450285153343,0.00478568639036,0.0696063615871,0.999999751942,0.000329856532927,-0.000618899427791,-6.5377022839e-05,1793239766554967808
+257,4.283333333,HOLD_POSE2,765,745,714,682.406081156,656,631,881,786,805,652,631,653,0.450285879029,0.00478561585782,0.0696066804612,0.999999752718,0.000329074862427,-0.000618016667249,-6.580092577e-05,1793239766571634176
+258,4.300000000,HOLD_POSE2,765,745.181822456,714,682,656,631.181822456,880.818177544,786,804.818177544,652,631,653,0.45028616695,0.00478572072416,0.0696067665527,0.999999752669,0.000329472630877,-0.000617878374084,-6.58502197594e-05,1793239766588300544
+259,4.316666667,HOLD_POSE2,765,745.756722013,714,682,656,631.756722013,880.243277987,786,804.243277987,652,631,653,0.450285508483,0.00478620478066,0.0696063493976,0.999999750833,0.000332420196682,-0.000619349524844,-6.5089656784e-05,1793239766604966656
+260,4.333333333,HOLD_POSE2,765.331989763,746,714,682.331989763,656,631.668010237,880,785.668010237,804,652,631,653,0.450285475159,0.00478612054416,0.069605877755,0.999999750339,0.000332502719618,-0.000620102580101,-6.50916063262e-05,1793239766621632768
+261,4.350000000,HOLD_POSE2,765.907527586,746,714,682.907527586,656,631.092472414,880,785.092472414,804,652,631,653,0.450285900441,0.00478561940726,0.0696053661402,0.999999750831,0.000330483443743,-0.000620328839611,-6.56529359452e-05,1793239766638299392
+262,4.366666667,HOLD_POSE2,765.503657845,746,714,683,656,631,880.496342155,785.496342155,804,652,631,653,0.450285433682,0.00478541332192,0.0696055969722,0.999999751287,0.000328993550304,-0.000620378263566,-6.57271658432e-05,1793239766654966016
+263,4.383333333,HOLD_POSE2,765,746,714,682.91426369,656,631,880.91426369,786,804.08573631,652,631,653,0.450285049046,0.00478543810131,0.0696059933186,0.999999751709,0.000327949023083,-0.000620250731317,-6.57227413112e-05,1793239766671632640
+264,4.400000000,HOLD_POSE2,765,746,714,682.336137212,656,631,880.336137212,786,804.663862788,652,631,653,0.450286116745,0.00478646437843,0.0696065239904,0.999999751987,0.000328880271514,-0.000619301336912,-6.58021097868e-05,1793239766688299520
+265,4.416666667,HOLD_POSE2,765.240710291,746,714,682,656,631,880.240710291,786,805,652,631,653,0.450286678926,0.00478672583087,0.069606670169,0.999999751959,0.000329719175351,-0.000618908741536,-6.57182021525e-05,1793239766704966400
+266,4.433333333,HOLD_POSE2,765.815781175,746,714,682,656,631,880.815781175,786,805,652,631,653,0.450286538913,0.00478592489726,0.0696062822638,0.999999751509,0.0003304298071,-0.000619289572474,-6.54074944987e-05,1793239766721632768
+267,4.450000000,HOLD_POSE2,766,746,714,682,656,631,881,786,804.600635309,652,631.399364691,653,0.450286494822,0.00478641592605,0.0696061957486,0.999999751136,0.000331177097078,-0.000619478820042,-6.55468570461e-05,1793239766738299392
+268,4.466666667,HOLD_POSE2,766,746,714,682,656,631,881,786,804.013039514,652,631.986960486,653,0.450286495941,0.00478751589069,0.0696062512865,0.999999750798,0.000331941665109,-0.000619577769352,-6.58983495117e-05,1793239766754966016
+269,4.483333333,HOLD_POSE2,765.433421593,746,714,682,656,631.566578407,881,786,804.566578407,652.566578407,631.433421593,653,0.450287849043,0.00478758401118,0.0696072564789,0.999999751544,0.000332176140324,-0.000618285621058,-6.55265487033e-05,1793239766771632640
+270,4.500000000,HOLD_POSE2,765,746,714,682,656,631.855196203,880.855196203,786,805,653,631,653,0.450288604106,0.00478733373408,0.0696078687339,0.999999751971,0.000332412018008,-0.000617507379793,-6.51493532713e-05,1793239766788299520
+271,4.516666667,HOLD_POSE2,765,746,714,682,656,631.28056673,880.28056673,786,805,653,631,653,0.450287492915,0.00478620785872,0.069607250646,0.999999751382,0.000332687769014,-0.000618348297439,-6.48048701445e-05,1793239766804966144
+272,4.533333333,HOLD_POSE2,765,746,714,682,656,631,880.295177425,786,805,652.704822575,631,653,0.450286876675,0.00478565278919,0.069606407488,0.999999751043,0.000332129384062,-0.000619185706701,-6.49094017914e-05,1793239766821633024
+273,4.550000000,HOLD_POSE2,765,746,714,682,656,631,880.871985071,786,805,652.128014929,631,653,0.450286732668,0.00478564232835,0.0696053495895,0.99999975094,0.000330775145911,-0.000620019768546,-6.54423406435e-05,1793239766838300416
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,656,631,880,786,805,652,632,653,0.450285246632,0.00478821036099,0.0696049311224,0.999999749811,0.000331831960793,-0.000621269215705,-6.54991977467e-05,1793239766870177024
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655.420944146,631,880.579055854,786,804.420944146,652,631.420944146,653,0.450287173723,0.00478740437408,0.0696061520413,0.999999750917,0.000332136127253,-0.000619332017202,-6.54175451211e-05,1793239766886843392
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765.156690766,745,714,682.156690766,655.156690766,631,880.843309234,786,804,652,631,653,0.450288651906,0.00478654480879,0.0696071978214,0.999999752079,0.00033166700033,-0.000617717593961,-6.53037258999e-05,1793239766903509760
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765.730542801,745,714,682.730542801,655.730542801,631,880.269457199,786,804,652,631,653,0.450288934958,0.0047855426004,0.0696077773262,0.999999753393,0.000329139117509,-0.000616962501975,-6.51042688266e-05,1793239766920175872
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765.694364521,745.305635479,714,682.694364521,656,631,880,786,804,652,631,653,0.450288891414,0.00478512136607,0.0696077741244,0.999999753354,0.000328622004598,-0.000617312933642,-6.50001038749e-05,1793239766936842240
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.118173633,745.881826367,714,682.118173633,656,631,880,786,804,652,631,653,0.450288558761,0.00478521442312,0.0696072550978,0.999999752118,0.000329884870648,-0.000618641999788,-6.49802936673e-05,1793239766953508864
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.531245911,713.531245911,682,656,631.468754089,880.468754089,786,804.468754089,652,631.468754089,652.531245911,0.45028776338,0.00478539377684,0.0696068660384,0.999999751924,0.000329982547156,-0.000618892135093,-6.50907566591e-05,1793239766970176256
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.057486852,713.057486852,682,656,632,881,786,805,652,631.942513148,652.057486852,0.450286658018,0.00478569993255,0.0696064053924,0.999999751846,0.000329882713524,-0.000619057041912,-6.52247985495e-05,1793239766986843392
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745.637447516,713.637447516,682,656,632,881,786,805,652,631.362552484,652.637447516,0.450283820445,0.00478695617634,0.0696049893595,0.999999750376,0.000330720111839,-0.000620977388526,-6.52676541861e-05,1793239767003510016
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,713.785757811,682,655.785757811,631.785757811,880.785757811,786,805,652,631,652.785757811,0.450272809832,0.00478707555749,0.069599725885,0.999999745176,0.000331108543088,-0.000629109780193,-6.50833632552e-05,1793239767020176384
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,746,713.214242841,682,655.214242841,631.214242841,880.214242841,786,805,652,631,652.214242841,0.450248169762,0.00478529909307,0.0695880463719,0.999999733528,0.000330748271448,-0.000647601450506,-6.45202800321e-05,1793239767036842752
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.630162981,713.369837019,682,655.739674039,631,880,786,804.630162981,652,631,652.369837019,0.45020787332,0.00478538538532,0.0695711312939,0.999999714774,0.00033156517815,-0.00067555294026,-6.43749849594e-05,1793239767053509120
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.038548365,713.961451635,682,656.92290327,631,880,786,804.038548365,652,631,652.961451635,0.450158188327,0.00478658870375,0.0695510766401,0.999999690981,0.000333087994915,-0.000709177135475,-6.44802219002e-05,1793239767070175488
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.541206935,714,682.541206935,656.458793065,631,880.541206935,786,804.541206935,652.541206935,631,653,0.450091445472,0.00478627803608,0.0695351683063,0.999999674607,0.000335144782768,-0.000731005897587,-6.39844585158e-05,1793239767086842112
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.880362273,714.119637727,682.880362273,656,631,881,786,805,652.880362273,631,653,0.45002168422,0.00478579783985,0.0695219908623,0.999999660994,0.000336537290122,-0.000748829099043,-6.33274315889e-05,1793239767103508736
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.303832854,714.696167146,682.303832854,656,631,881,786,805,652.303832854,631,653,0.449944936253,0.00478507321212,0.0695181389092,0.999999657237,0.00033525080595,-0.000754494929213,-6.22145192877e-05,1793239767120175616
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.270939767,745,714.729060233,682,655.729060233,631,881,786,805,652,631,653,0.449862780548,0.00478538271464,0.0695193592278,0.999999658522,0.000336955041634,-0.000752123324527,-6.10583015224e-05,1793239767136842496
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.843754967,745,714.156245033,682,655.156245033,631,881,786,805,652,631,653,0.449774599658,0.00478684442356,0.0695262309658,0.99999966534,0.000341991474995,-0.00074079657732,-5.98538337748e-05,1793239767153509376
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.56975567,745,714,682,655.43024433,631,880.56975567,786,805,652,631,652.56975567,0.449666270363,0.00478635774461,0.0695320309962,0.999999671025,0.000343376165236,-0.000732611614098,-5.7641460127e-05,1793239767170176000
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.021408329,714,682,656,631,880.021408329,786,805,652,631,652.021408329,0.449548716266,0.00478515831013,0.0695372437621,0.999999675954,0.000343532524583,-0.000725981435422,-5.50331201792e-05,1793239767186842368
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.600735792,714,682,656,631,880.600735792,786,805,652,631,652.600735792,0.449387701944,0.00478442890646,0.069537627614,0.999999672479,0.00034737249209,-0.000729160036272,-5.19576108781e-05,1793239767203508992
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.821342416,714,682,656.178657584,631.178657584,880.821342416,786,805,652.178657584,631,653,0.44921798835,0.00478340303314,0.0695380405812,0.999999669129,0.000350971865087,-0.000732253032742,-4.86489328996e-05,1793239767220175616
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.246537574,714,682,656.753462426,631.753462426,880.246537574,786,805,652.753462426,631,653,0.449028985401,0.00478171978151,0.0695385181076,0.999999666097,0.00035403775419,-0.000735156213536,-4.48232376383e-05,1793239767236842240
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,656.664387034,632,880.335612966,786,804.664387034,652.664387034,631.335612966,653,0.448825019417,0.00477904756669,0.0695395978439,0.99999966564,0.00035689183826,-0.000734634527822,-4.07451556645e-05,1793239767253508864
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,656.076719616,632,880.923280384,786,804.076719616,652.076719616,631.923280384,653,0.448609815768,0.00477563261349,0.0695411298563,0.999999667107,0.000359586851313,-0.000731540674631,-3.64775240122e-05,1793239767270175744
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.502991235,714,682,656.502991235,632,881,786,804,652,631.497008765,653,0.448351008368,0.00477645816072,0.0695396297702,0.999999660679,0.000365361446829,-0.000737632969238,-3.24099408628e-05,1793239767286842368
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,880.918951314,786,804.081048686,652,631,653,0.448079461882,0.00477716516712,0.0695378370494,0.999999653371,0.000371155467299,-0.00074478946226,-2.81145590648e-05,1793239767303509504
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,880.343690694,786,804.656309306,652,631,653,0.447770158738,0.00477326682077,0.0695370360588,0.999999648453,0.000374248328938,-0.000750024470031,-2.22469631524e-05,1793239767320175872
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.768953414,714,682,657,632,880,786,804.768953414,652,631,653,0.447450370629,0.00476894749259,0.069537508752,0.999999646659,0.000377554510904,-0.000750916238147,-1.60757835549e-05,1793239767336842240
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.194992899,714,682,657,632,880,786,804.194992899,652,631,653,0.447115020999,0.00476400335327,0.0695398718168,0.999999649525,0.000381177297723,-0.000745361871456,-9.45403251905e-06,1793239767353508864
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.39371662,714,682,657,632,880.39371662,786.39371662,804,652,631,653,0.446752680281,0.00476085994092,0.0695402488863,0.999999651656,0.000384933261341,-0.000740605968587,-4.01530049509e-06,1793239767370175488
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.990015031,714,682,657,632,880.990015031,786.990015031,804,652,631,653,0.446376451659,0.00475864306948,0.0695396040876,0.999999653393,0.000388757749242,-0.0007362609051,8.14724204378e-07,1793239767386842112
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,746,713.435013549,682,657.564986451,632,880.435013549,787,804.564986451,652,631,653,0.445986731563,0.0047531422411,0.0695592019285,0.999999683477,0.000384119383938,-0.00069675697267,5.26802755148e-06,1793239767403508992
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,746,713.140401466,682,658,632.140401466,880.140401466,786.859598534,805,652,631,653,0.44558082397,0.00474690749285,0.0695790878142,0.999999711011,0.000377318323075,-0.000659940109086,9.34261742549e-06,1793239767420175616
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,713.718330556,682,658,632.718330556,880.718330556,786.281669444,805,652,631,653,0.445125187979,0.00473855994002,0.0695987970377,0.99999973302,0.000364226865931,-0.000633362752045,1.22570290949e-05,1793239767436842240
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.705959089,714,682,658.294040911,633,881,786,805,652,631,653,0.444643967212,0.0047257209929,0.0696125963799,0.999999756678,0.000328362938332,-0.000615426967112,8.47780275875e-06,1793239767453509120
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.132358131,714,682,658.867641869,633,881,786,805,652,631,653,0.444138421608,0.00470861184176,0.0696207768918,0.999999779879,0.000270848031952,-0.000605707171587,-1.66541437095e-06,1793239767470175744
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.455884238,714,682,659.455884238,633.455884238,880.544115762,786.455884238,804.544115762,652,631,653,0.443605867311,0.00467721184983,0.0696296667638,0.999999798008,0.000229529430764,-0.000592700345606,2.46354700761e-06,1793239767486842368
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,660.047025023,634,880,787,804,652,631,653,0.443062466213,0.0046437743623,0.0696399016742,0.999999814288,0.000195073110713,-0.000577285889677,1.05680777857e-05,1793239767503508992
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,660.621417009,634,880,787,804,652,631,653,0.442488279585,0.00463556163088,0.0696628343701,0.999999834104,0.000183090042187,-0.000545928406723,1.52453407571e-05,1793239767520175616
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.196152185,746,714,682,661,634,880.196152185,786.803847815,804,652,631,653,0.441903168799,0.00463063564255,0.0696866781983,0.999999857589,0.000167648666351,-0.000506382768359,1.70800063088e-05,1793239767536842496
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.771550859,746,714,682,661,634,880.771550859,786.228449141,804,652,631,653,0.441296936953,0.00463206434193,0.0697122836359,0.999999887619,0.000145520896543,-0.000451005907488,1.34187088477e-05,1793239767553509376
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.642204692,745.642204692,714.357795308,682,661.357795308,634,880.642204692,786.357795308,804,652,631.357795308,653,0.440685868778,0.00462448908317,0.0697463740879,0.999999916621,0.000122758062126,-0.000389205450053,1.43785478441e-05,1793239767570176000
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.04881886,745.04881886,714.95118114,682,661.95118114,634,880.04881886,786.95118114,804,652,631.95118114,653,0.440071616144,0.004610985163,0.0697860515015,0.999999942652,9.95770696629e-05,-0.000323175373141,1.83811768844e-05,1793239767586842368
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745.531833395,714.468166605,682,662,634,880,787,804,652,631.468166605,652.468166605,0.439346221369,0.00460961810598,0.0697740809261,0.999999935682,8.59784391802e-05,-0.000347627071211,1.99666405222e-05,1793239767603508992
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.88938561,714,681.88938561,662.11061439,634,880,787,804,652,631,652.11061439,0.438608076418,0.00460780322244,0.0697570050057,0.999999925016,8.37957309706e-05,-0.000377519130465,2.06129750015e-05,1793239767620175616
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745.313673061,714,681.313673061,662.686326939,634,880,787,804,652,631,652.686326939,0.437858214891,0.00459953053285,0.0697379308085,0.999999913416,0.000126001379717,-0.000396180188933,1.82216914239e-05,1793239767636842240
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.261025417,745.261025417,714,681,663.261025417,634.261025417,880,787,804,652,631.261025417,653,0.437105287975,0.00459157949054,0.0697412107505,0.999999910574,0.000172277010978,-0.000385804668966,1.81018772872e-05,1793239767653508864
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.834510084,745.834510084,714,681,663.834510084,634.834510084,880,787,804,652,631.834510084,653,0.436348691552,0.00458401347351,0.069771249607,0.999999916798,0.000223424600976,-0.000340671051173,2.07011146282e-05,1793239767670175488
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.579361965,745.579361965,714.420638035,681,664,635,880,787,804,652,631.579361965,653,0.435590745857,0.00458381053704,0.0698083292827,0.999999932383,0.000226249283464,-0.000289002218579,2.28694097044e-05,1793239767686842112
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714.988372451,681,664,635,880,787,804,652,631,653,0.434830739313,0.00458633937295,0.0698473912505,0.999999949978,0.000209068414056,-0.00023604404648,2.48534456391e-05,1793239767703508736
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714.410375678,681,664,635,880,787,804,652,631,653,0.433997006144,0.00457645593748,0.0698439014582,0.999999953731,0.000172164041349,-0.000249401413794,2.63766361398e-05,1793239767720175360
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.166284309,745.166284309,714.166284309,681,663.833715691,635,880,787,804,652,631.166284309,653,0.433162073832,0.00456810560105,0.0698411518344,0.999999956873,0.000139854362934,-0.000256787300113,2.74604094537e-05,1793239767736842240
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.739671496,745.739671496,714.739671496,681,663.260328504,635,880,787,804,652,631.739671496,653,0.432324205788,0.00456350865021,0.0698402143167,0.999999961428,0.000118793573424,-0.000249553604323,2.7468386713e-05,1793239767753508864
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.685794147,745.685794147,715,681,663.314205853,635,880,787,804,652,632,653,0.431423893841,0.00456013175344,0.0698159693847,0.999999951123,0.000114524904707,-0.00028958475842,2.7904084683e-05,1793239767770175488
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.110305873,745.110305873,715,681,663.889694127,635,880,787,804,652,632,653,0.430471655803,0.0045577694105,0.0697723428354,0.999999923822,0.000124219967434,-0.000368919681127,2.86954598669e-05,1793239767786842112
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745.479009543,714.520990457,681,663.520990457,634.520990457,880,787,804,652,632,653,0.429578429358,0.00455113179863,0.0697423255732,0.999999908394,0.000120830409246,-0.000409629274181,2.85687610651e-05,1793239767803508736
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745.930213395,714,681,663.069786605,634.069786605,880,787,804.069786605,652.069786605,631.930213395,653,0.428706303408,0.00454351511016,0.0697265960711,0.999999902418,0.000113097051695,-0.000426101774647,2.84685186331e-05,1793239767820175616
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.352657912,714,681,663.647342088,634.647342088,880,787,804.647342088,652.647342088,631.352657912,653,0.427885891788,0.0045361508449,0.0697913442816,0.999999939506,9.63332599532e-05,-0.000332865644358,3.01447437129e-05,1793239767836842240
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.224005009,745.224005009,714.224005009,681,664,635,880,787,804.775994991,652.775994991,631.224005009,652.775994991,0.42705082316,0.0045296949701,0.069844246541,0.999999962863,8.46563266303e-05,-0.000257046507642,3.21475702651e-05,1793239767853508864
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.79926841,745.79926841,714.79926841,681,664,635,880,787,804.20073159,652.20073159,631.79926841,652.20073159,0.426192771002,0.00452466352555,0.0698785733785,0.999999974378,8.09560065823e-05,-0.000208538646909,3.46625355026e-05,1793239767870175488
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.615887136,746,714.615887136,681,663.615887136,635,880,787,804,652.384112864,632,652.384112864,0.425298466586,0.00451699535583,0.0698718749923,0.999999972851,7.58994921945e-05,-0.00021753003694,3.48937155374e-05,1793239767886842112
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.02590772,746,714.02590772,681,663.02590772,635,880,787,804,652.97409228,632,652.97409228,0.424384732705,0.00450791402488,0.0698431890004,0.999999963856,7.01161211785e-05,-0.000257338342309,3.3900893215e-05,1793239767903508736
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,746,714,680.445913895,663.554086105,635,880,787.554086105,804,652.445913895,632,653,0.42344335891,0.00450263341572,0.0698047116208,0.999999945481,6.22136124438e-05,-0.000322557627152,3.35227164742e-05,1793239767920175360
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.13247927,663.86752073,635,879.86752073,788,804,652,632,653,0.422504028858,0.0044970452101,0.069764170632,0.999999921076,5.50867770682e-05,-0.000392020995525,3.36482150196e-05,1793239767936842240
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.707061302,663.292938698,635,879.292938698,788,804,652,632,653,0.421575755615,0.00448984795615,0.0697182438493,0.999999886805,5.08732884615e-05,-0.000471752635052,3.53603426593e-05,1793239767953509120
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765,745.712130608,714,680.712130608,663,635,879.287869392,787.712130608,804,652,631.712130608,652.712130608,0.420714333166,0.00448110767293,0.069723471816,0.999999892337,3.61297016284e-05,-0.000461317477014,3.47291700764e-05,1793239767970175744
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745.124846798,714,680.124846798,663,635,879.875153202,787.124846798,804,652,631.124846798,652.124846798,0.419922442624,0.00447076247759,0.0697819061002,0.999999935684,1.0433706309e-05,-0.000357099368242,3.16607187996e-05,1793239767986842624
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.456932069,745.456932069,714.456932069,680,663.456932069,635,879.543067931,787,804,652.456932069,631,652.456932069,0.419137658727,0.00446414782006,0.0698409448892,0.99999996577,7.04571847496e-06,-0.000259369864207,3.37169233829e-05,1793239768003509248
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.96299892,745.96299892,714.96299892,680,663.96299892,635,879,787,804,652.96299892,631,652.96299892,0.418350188579,0.00445829239928,0.0698949487122,0.999999984377,9.0629068121e-06,-0.000172617065696,3.69871961825e-05,1793239768020175616
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.386193415,745.386193415,714.386193415,680,663.386193415,635,879,787,804,652.386193415,631,652.386193415,0.417495539334,0.00444882013574,0.0698731170095,0.999999974986,2.07224849028e-06,-0.000220445954188,3.77851659831e-05,1793239768036842240
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,635,879,787,804,652,631,652.190109095,0.416653425921,0.00444074320227,0.0698480553695,0.99999996509,-7.2271664365e-06,-0.000261497061343,3.72454948748e-05,1793239768053508864
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714,680,663,635,879,787,804,652,631,652.76539261,0.41583671083,0.0044354933041,0.0698164496451,0.99999995749,-2.1204286144e-05,-0.000288815915468,3.3995669327e-05,1793239768070175488
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.349520961,745.349520961,714,680,663,635,879,787.349520961,804,652.349520961,631.349520961,652.650479039,0.415002411319,0.00443141950635,0.06978687924,0.99999994272,-2.65229887885e-05,-0.00033576146945,3.34790059428e-05,1793239768086842112
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765.939740292,745.939740292,714,680,663,635,879,787.939740292,804,652.939740292,631.939740292,652.060259708,0.414156002307,0.00442815563304,0.069758710464,0.999999920562,-2.58790527789e-05,-0.000396222990534,3.48445407427e-05,1793239768103508736
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.480468255,746,714,680,663,635,879,787.480468255,804,652.480468255,632,652.519531745,0.413419911102,0.00443201838319,0.0697681073042,0.999999927253,-2.22087974059e-05,-0.000379034762325,3.65092648992e-05,1793239768120175360
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.902603442,714.097396558,680,663,635,879,787.097396558,804,652,631.902603442,653,0.412711820638,0.00444135831089,0.0697888161108,0.99999994108,-1.25436591496e-05,-0.000340997957416,3.74500556879e-05,1793239768136841984
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745.328366111,714.671633889,680,663,635,879,787.671633889,804,652,631.328366111,653,0.412079405247,0.00447354645587,0.0698439943891,0.999999969295,2.47869152875e-05,-0.00024411615286,3.46800075058e-05,1793239768153508864
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.247233345,745.247233345,715,680,663.247233345,635,879,787.752766655,804,652,631.247233345,653,0.411433285145,0.00448943138548,0.0698803740035,0.999999981494,4.63057391407e-05,-0.00018365784018,3.37173727444e-05,1793239768170175488
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.824651903,745.824651903,715,680,663.824651903,635,879,787.175348097,804,652,631.824651903,653,0.41076886217,0.0044835430334,0.0698916476115,0.999999983526,4.67076425413e-05,-0.000171843859665,3.51685763517e-05,1793239768186842112
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.590581137,746,715,680,663.590581137,635,879.409418863,787,804,652.409418863,631.590581137,653,0.410085740108,0.00447339335437,0.0698670884599,0.99999997552,2.93152340126e-05,-0.000216479975084,3.51656398188e-05,1793239768203508736
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765.002609395,746,715,680,663.002609395,635,879.997390605,787,804,652.997390605,631.002609395,653,0.409394463074,0.00446138525484,0.0698269021777,0.999999958573,4.1624950043e-06,-0.000285734707989,3.45285338626e-05,1793239768220175360
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.578003305,746,715,680,663.578003305,635,880,787.578003305,803.421996695,652.421996695,631.578003305,652.421996695,0.408764945456,0.00446496693557,0.0697964540801,0.999999943583,1.39551164528e-05,-0.00033395561687,3.33543857882e-05,1793239768236841984
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,746,714.843341037,680.156658963,664,635,879.843341037,787.843341037,803,652.156658963,631.843341037,652.156658963,0.40816091043,0.00446687075161,0.0697781544142,0.999999933897,1.99424868884e-05,-0.000361612307351,3.23141539104e-05,1793239768253508864
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,714.269805731,680.730194269,664,635,879.269805731,787.269805731,803,652.730194269,631.269805731,652.730194269,0.407623952946,0.0044641247674,0.069792066732,0.999999943337,1.53893898789e-05,-0.000334796235333,3.16366493177e-05,1793239768270175488
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.696796147,714,681,664,635,879.303203853,787.303203853,803.303203853,652.696796147,631.303203853,653,0.407109098421,0.00446832466177,0.0698058859876,0.999999950391,1.62346306518e-05,-0.00031301107614,3.12913303735e-05,1793239768286842112
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.124253601,714,681,664,635,879.875746399,787.875746399,803.875746399,652.124253601,631.875746399,653,0.406613878182,0.00447869464234,0.0698196225743,0.999999955555,2.1875263408e-05,-0.000295694923468,3.12410949583e-05,1793239768303508992
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.466267562,714.466267562,680.533732438,663.533732438,635,879.533732438,787.533732438,804,652.466267562,631.533732438,653,0.406113091436,0.00448853379943,0.0698162787675,0.999999951087,3.61369350362e-05,-0.00030905963776,3.16600453719e-05,1793239768320175616
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.940064865,746,714.940064865,680,663.059935135,635,879,787,803.940064865,652.940064865,631.059935135,653,0.405620705459,0.0044962701841,0.0698098289242,0.999999944767,5.04287135172e-05,-0.00032694883568,3.20612834662e-05,1793239768336842240
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.362267684,746,714.362267684,680,663.637732316,635,879,787,803.362267684,652.362267684,631.637732316,653,0.40521423634,0.00448710908512,0.0698174472331,0.99999995034,4.43342844929e-05,-0.00031045431328,3.11858374645e-05,1793239768353508864
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.426966092,746,714,680,664,635,879,787.213483046,803,652,631.786516954,653,0.404827415879,0.00448021425868,0.0698284643634,0.999999957371,3.64758877483e-05,-0.000288094033964,3.04705576865e-05,1793239768370175232
+365,6.083333333,POSE2_TO_POSE3_RETREAT,766.571587976,746,714,680,664,635,879,787.785793988,803,652,631.214206012,653,0.404473621441,0.00447712864342,0.0698451943211,0.999999966484,2.56525684437e-05,-0.000255874438294,3.00244895707e-05,1793239768386842112
+366,6.100000000,POSE2_TO_POSE3_RETREAT,766.629932663,745.629932663,714,680,663.629932663,635,879,787.629932663,803.370067337,652.370067337,631,653,0.404130370788,0.00447566582807,0.0698535954201,0.99999997061,1.73358681371e-05,-0.000240031305768,2.94003055369e-05,1793239768403508992
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766.03850376,745.03850376,714,680,663.03850376,635,879,787.03850376,803.96149624,652.96149624,631,653,0.403793427031,0.00447517371558,0.0698570144837,0.999999972159,1.05185401708e-05,-0.000233984007887,2.86695786498e-05,1793239768420175616
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,714.541932621,680,663,635,879,787,804,652.458067379,631,653,0.403467246132,0.00447010469887,0.0698464831313,0.999999967994,-1.5168318263e-06,-0.000251455727006,2.79215087707e-05,1793239768436842496
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635,879,787.120229228,803.879770772,652.120229228,631,653,0.403152972706,0.00446519215903,0.0698360109662,0.999999963234,-1.42286434049e-05,-0.000269424374698,2.72069695631e-05,1793239768453509120
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663,635,879,787.693349183,803.306650817,652.693349183,631,653,0.40288073013,0.00446206963186,0.0698294211283,0.999999959179,-2.81197726627e-05,-0.000283095556414,2.66232859542e-05,1793239768470175744
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.26800578,635,879.26800578,787.73199422,803.26800578,653,631,652.73199422,0.402627304193,0.00446065639303,0.0698222086799,0.99999995531,-3.55638620646e-05,-0.000295659779039,2.64751297163e-05,1793239768486842368
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.844430701,635,879.844430701,787.155569299,803.844430701,653,631,652.155569299,0.402395532328,0.0044612101912,0.0698142797361,0.999999951898,-3.55887431521e-05,-0.000306950120286,2.68281753122e-05,1793239768503508992
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.432894524,715,680,663.567105476,635,879.567105476,787,804,653,631,652.432894524,0.402195538304,0.00446248271903,0.0698111883469,0.999999950757,-3.22463097845e-05,-0.000310924594333,2.77948635258e-05,1793239768520175360
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,635,879,787,803.97486265,652.97486265,631,653,0.402008484811,0.00446425014768,0.069810028229,0.999999950568,-2.51181158095e-05,-0.000312079245157,2.89929372162e-05,1793239768536842240
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,663,635,879,787,803.397367739,652.397367739,631,653,0.401847664401,0.00447105441278,0.0698120118471,0.999999950559,3.7845664759e-05,-0.000310695670644,3.02910451072e-05,1793239768553508864
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.820507131,714.820507131,680,663,635,879,787.179492869,803,652,631,653,0.401697916422,0.00448192630327,0.0698130365359,0.999999947941,8.59739506217e-05,-0.000309515734341,3.04473922619e-05,1793239768570175488
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.2450459,714.2450459,680,663,635,879,787.7549541,803,652,631,653,0.401572594684,0.0045017715352,0.0698119457886,0.999999946793,0.000101374540754,-0.000308785034406,2.80849701525e-05,1793239768586841856
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,714.336452352,680.336452352,663.336452352,635,879,787.663547648,803.336452352,652.336452352,631,652.663547648,0.401463728174,0.00450911712043,0.0698102215603,0.999999947914,8.88229130284e-05,-0.000309436319673,2.30498781595e-05,1793239768603508480
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,714.922427902,680.922427902,663.922427902,635,879,787.077572098,803.922427902,652.922427902,631,652.077572098,0.401367065342,0.00450719259328,0.0698080275232,0.999999949934,5.5541080223e-05,-0.000311112526471,1.60326534209e-05,1793239768620175360
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,745.505477795,714.494522205,680.494522205,664,635,879.505477795,787,804,653,631,652,0.401289271335,0.0045015115461,0.0698089985727,0.999999951164,4.6028452972e-05,-0.000308645189914,1.70524825729e-05,1793239768636842240
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,714.08670932,680,664,635,879.91329068,787,803.91329068,652.91329068,631,652,0.401216676976,0.00449663947581,0.069810308668,0.999999952089,4.16844610584e-05,-0.000306143052924,1.8978305652e-05,1793239768653508864
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,714.66023829,680,664,635,879.33976171,787,803.33976171,652.33976171,631,652,0.401157111587,0.00449952730491,0.0698108109524,0.999999951637,4.59974842242e-05,-0.00030699506481,1.9105851869e-05,1793239768670175488
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745.765115269,714.765115269,680,664,635.234884731,879,787.234884731,803.234884731,652.234884731,631.234884731,652.234884731,0.401109725911,0.00450039250423,0.0698132051312,0.999999952839,4.74915936344e-05,-0.000302795438997,1.95555103602e-05,1793239768686842112
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.188844711,714.188844711,680,664,635.811155289,879,787.811155289,803.811155289,652.811155289,631.811155289,652.811155289,0.401080042462,0.00449831797568,0.0698183490245,0.999999956369,4.48886412127e-05,-0.000291253669124,2.04733328e-05,1793239768703508992
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.396690184,714.396690184,680.396690184,664,635.603309816,879.396690184,787.603309816,803.603309816,653,632,653,0.401055064195,0.0044970569525,0.0698213845689,0.999999958059,4.14223360766e-05,-0.000285891581287,2.07920268929e-05,1793239768720175360
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.986740819,714.986740819,680.986740819,664,635.013259181,879.986740819,787.013259181,803.013259181,653,632,653,0.401032379397,0.00449619245989,0.0698233924314,0.999999958881,3.75352031865e-05,-0.000283541683535,2.08186851801e-05,1793239768736842240
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.434401013,715,680.434401013,663.434401013,635,879.434401013,787,803.565598987,653,631.434401013,653,0.401017147209,0.00449428082917,0.0698249310546,0.999999959683,3.67723022015e-05,-0.000280766718425,2.12334039885e-05,1793239768753508864
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.143409085,715,680,663.143409085,635,879,787,804,653,631,653,0.401003789921,0.00449306482315,0.0698264329208,0.99999996032,3.66421730981e-05,-0.000278480068803,2.15693288297e-05,1793239768770175232
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.718836858,715,680,663.718836858,635,879,787,804,653,631,653,0.400995564662,0.00449401689613,0.0698278565516,0.999999960479,3.82019091703e-05,-0.000277693902268,2.16410139784e-05,1793239768786842112
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.699106746,745.699106746,715,680,663.699106746,635,879,787.300893254,803.699106746,652.699106746,631.300893254,653,0.400990149184,0.00449561906709,0.069828921558,0.999999960905,3.99650345249e-05,-0.000275924490037,2.1389320399e-05,1793239768803508736
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.110716784,745.110716784,715,680,663.110716784,635,879,787.889283216,803.110716784,652.110716784,631.889283216,653,0.400987418387,0.0044978423921,0.069829643907,0.999999961581,4.19224939285e-05,-0.00027321560865,2.08286457559e-05,1793239768820175360
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.470649562,745,715,680,663.470649562,635.470649562,879.470649562,787.529350438,803.470649562,652.470649562,632,653,0.400986892246,0.00449628705493,0.0698314552676,0.999999962337,4.05197185653e-05,-0.000270620434351,2.11913415497e-05,1793239768836842240
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.950001926,745.049998074,715,679.950001926,664,635.950001926,879.950001926,787,803.950001926,653,631.950001926,653,0.400986782624,0.00449411332173,0.0698332746328,0.999999963029,3.84762224974e-05,-0.000268309786839,2.16915077456e-05,1793239768853508864
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.37474885,745.62525115,715,679.37474885,664,635.37474885,879.37474885,787,803.37474885,653,631.37474885,653,0.400985680415,0.00449464407866,0.0698325263455,0.999999962951,3.78838127896e-05,-0.000268711357964,2.13874603788e-05,1793239768870175488
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.204638151,745.795361849,715,679.204638151,663.795361849,635,879,787,803,653,631.204638151,653,0.400984981291,0.00449480410821,0.0698326249538,0.999999963086,3.74271999542e-05,-0.000268281333732,2.12482284954e-05,1793239768886842112
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.791751559,745.208248441,715,679.791751559,663.208248441,635,879,787,803,653,631.791751559,653,0.400985035547,0.00449427123638,0.0698343064373,0.999999963621,3.72243958557e-05,-0.000266297031135,2.14170420446e-05,1793239768903508736
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745.374195082,715,679.625804918,663.374195082,635,879,787,803.374195082,653,632,653,0.400986156088,0.00449482091428,0.069835868171,0.999999964285,3.72497609145e-05,-0.000263792388751,2.13760317613e-05,1793239768920175360
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.954071719,715,679.045928281,663.954071719,635,879,787,803.954071719,653,632,653,0.400987862727,0.00449596563076,0.0698373640825,0.999999965015,3.74005423448e-05,-0.000261001734399,2.12196888715e-05,1793239768936841984
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.531830214,664,635,879,787,803.468169786,653,632,653,0.400985243669,0.00449415632188,0.0698358089535,0.999999964128,3.5174142886e-05,-0.000264673060874,2.13198416678e-05,1793239768953508864
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.890806894,745.890806894,715,680,664,635,879.109193106,787.109193106,803.109193106,653,631.890806894,653,0.400982978391,0.00449267207218,0.0698345611997,0.999999963345,3.38519650066e-05,-0.000267779645294,2.14053076905e-05,1793239768970175232
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.314357377,745.314357377,715,680,664,635,879.685642623,787.685642623,803.685642623,653,631.314357377,653,0.400983819198,0.00449366612274,0.0698357517822,0.999999963676,3.72741004666e-05,-0.000266091079289,2.1333515741e-05,1793239768986841856
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.260802904,745.260802904,715,679.739197096,664,635,879.739197096,788,803.739197096,653,631.260802904,653,0.400984592691,0.00449480295515,0.0698364102754,0.999999964001,3.95882365484e-05,-0.000264541929578,2.11933414471e-05,1793239769003508736
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.83441693,745.83441693,715,679.16558307,664,635,879.16558307,788,803.16558307,653,631.83441693,653,0.400985285446,0.00449611104246,0.0698364305723,0.99999996433,4.05734211319e-05,-0.000263159997752,2.09711482803e-05,1793239769020175360
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,746,715,679.420087346,664,635,879,787.579912654,803,652.579912654,631.579912654,653,0.400984309931,0.00449535654979,0.0698356720666,0.999999964139,3.92569356976e-05,-0.000264081418041,2.10019550295e-05,1793239769036841984
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787.010455865,803,652,631,653,0.400982718627,0.00449378004026,0.0698346484609,0.999999963752,3.70223870844e-05,-0.000265853283722,2.11358338937e-05,1793239769053508608
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787.590235696,803,652,631,653,0.400984460247,0.00449302021705,0.0698363988728,0.999999964544,3.56578191394e-05,-0.000263036197078,2.12916131976e-05,1793239769070175232
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.166643157,879.166643157,787.833356843,803.166643157,652.166643157,631,653,0.400985395315,0.00449313705918,0.0698374605547,0.99999996495,3.57746858647e-05,-0.000261467439381,2.13417971671e-05,1793239769086842112
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.734922638,879.734922638,787.265077362,803.734922638,652.734922638,631,653,0.400984386462,0.00449536680326,0.0698368622884,0.999999964438,3.94620441751e-05,-0.000262907351752,2.11374796958e-05,1793239769103508992
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.682671388,787,804,653,631,652.682671388,0.400984973616,0.00449612925049,0.0698370493558,0.999999964587,4.01150245359e-05,-0.000262257848553,2.0933668334e-05,1793239769120175872
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,636,879.087915225,787,804,653,631,652.087915225,0.400986956093,0.00449560889941,0.0698379230088,0.999999965315,3.81151709718e-05,-0.000259781653879,2.0730299454e-05,1793239769136842240
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635.506445122,879.493554878,787.493554878,803.506445122,652.506445122,631,652.493554878,0.400985846657,0.00449506139246,0.0698382140096,0.999999965247,3.64867526261e-05,-0.000260265988986,2.08781555922e-05,1793239769153508864
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.927702869,715,680,664,635,879.927702869,787.927702869,803.072297131,652,631.072297131,653,0.400984434985,0.00449448211586,0.0698384122475,0.99999996509,3.5150552936e-05,-0.000261039354057,2.10549272745e-05,1793239769170175744
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.351908773,715,680,664,635,879.351908773,787.351908773,803.648091227,652,631.648091227,653,0.400984653502,0.00449371439142,0.0698386683049,0.999999965288,3.54007494802e-05,-0.000260249271885,2.10087935469e-05,1793239769186842368
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787,803.77160637,652,632,653,0.400985032883,0.00449405304873,0.0698388495333,0.999999965377,3.58861397881e-05,-0.000259857476215,2.07973416765e-05,1793239769203508992
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787,803.184217602,652,632,653,0.400985665115,0.00449613074598,0.0698389131433,0.999999965295,3.67412139025e-05,-0.000260091717665,2.0326038377e-05,1793239769220175616
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787,803.397903886,652.397903886,632,653,0.40098596059,0.00449550042263,0.0698389088392,0.999999965333,3.6717687902e-05,-0.000259933316937,2.05292602933e-05,1793239769236841984
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787,803.977618605,652.977618605,632,653,0.400986102194,0.00449363274637,0.0698388735037,0.999999965425,3.6292710584e-05,-0.000259595509551,2.10406872989e-05,1793239769253508864
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787,804,652.445220403,632,653,0.400984899392,0.0044932942666,0.0698384212204,0.99999996514,3.60099000943e-05,-0.000260725804579,2.10924733169e-05,1793239769270175744
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c92f1d31628b682478a77d2c347d8514257c865
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/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,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+1,0.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+2,0.033333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+3,0.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+4,0.066666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+5,0.083333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+6,0.100000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+7,0.116666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+8,0.133333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+9,0.150000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+10,0.166666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+11,0.183333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+12,0.200000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+13,0.216666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+14,0.233333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+15,0.250000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+16,0.266666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+17,0.283333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+18,0.300000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+19,0.316666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+20,0.333333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+21,0.350000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+22,0.366666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+23,0.383333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+24,0.400000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+25,0.416666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+26,0.433333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+27,0.450000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+28,0.466666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+29,0.483333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+30,0.500000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+31,0.516666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+32,0.533333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+33,0.550000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+34,0.566666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+35,0.583333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+36,0.600000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+37,0.616666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+38,0.633333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+39,0.650000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+40,0.666666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+41,0.683333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+42,0.700000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+43,0.716666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+44,0.733333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+45,0.750000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+46,0.766666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+47,0.783333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+48,0.800000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+49,0.816666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+50,0.833333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+51,0.850000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+52,0.866666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+53,0.883333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+54,0.900000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+55,0.916666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+56,0.933333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+57,0.950000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+58,0.966666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+59,0.983333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+60,1.000000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+61,1.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+62,1.033333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+63,1.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+64,1.066666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+65,1.083333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+66,1.100000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+67,1.116666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+68,1.133333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+69,1.150000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+70,1.166666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+71,1.183333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+72,1.200000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+73,1.216666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+74,1.233333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+75,1.250000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+76,1.266666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+77,1.283333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+78,1.300000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+79,1.316666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+80,1.333333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+81,1.350000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+82,1.366666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+83,1.383333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+84,1.400000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+85,1.416666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+86,1.433333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+87,1.450000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+88,1.466666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+89,1.483333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+90,1.500000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+91,1.516666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+92,1.533333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+93,1.550000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+94,1.566666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+95,1.583333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+96,1.600000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+97,1.616666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+98,1.633333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+99,1.650000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+100,1.666666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+101,1.683333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+102,1.700000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+103,1.716666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+104,1.733333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+105,1.750000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+106,1.766666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+107,1.783333333,pose1_to_pose2_press,0.575664308767,0.0100907829807,1.06003209211,0.546234757813,0.0187625139963,1.05970022511
+108,1.800000000,pose1_to_pose2_press,0.575664328172,0.0100908222989,1.06003208726,0.546234777231,0.0187625534171,1.0597002218
+109,1.816666667,pose1_to_pose2_press,0.575664358962,0.0100908846853,1.06003207958,0.546234808042,0.0187626159663,1.05970021653
+110,1.833333333,pose1_to_pose2_press,0.57566445655,0.0100909361741,1.06003208291,0.546234906225,0.0187626695727,1.05970022245
+111,1.850000000,pose1_to_pose2_press,0.575664560182,0.0100908887606,1.06003210577,0.546235010858,0.0187626255263,1.0597002445
+112,1.866666667,pose1_to_pose2_press,0.575664603805,0.0100908688021,1.0600321154,0.546235054903,0.0187626069852,1.05970025378
+113,1.883333333,pose1_to_pose2_press,0.575664634547,0.0100908547372,1.06003212218,0.546235085942,0.0187625939191,1.05970026032
+114,1.900000000,pose1_to_pose2_press,0.575665079309,0.0100906856598,1.0600322154,0.546235534197,0.0187624365569,1.05970034985
+115,1.916666667,pose1_to_pose2_press,0.575666932447,0.010090790798,1.06003241719,0.546237383769,0.0187625291135,1.05970053915
+116,1.933333333,pose1_to_pose2_press,0.575673132144,0.0100908435009,1.06003248086,0.546243582604,0.0187625791566,1.05970060974
+117,1.950000000,pose1_to_pose2_press,0.575685222017,0.0100908052371,1.06003203649,0.546255672147,0.0187625401107,1.05970017431
+118,1.966666667,pose1_to_pose2_press,0.575707565816,0.0100908423251,1.06003220024,0.546278016205,0.0187625780946,1.05970033831
+119,1.983333333,pose1_to_pose2_press,0.575740222101,0.0100908408673,1.060032495,0.546310674606,0.0187625836107,1.05970062754
+120,2.000000000,pose1_to_pose2_press,0.57578280868,0.0100907446311,1.06003234623,0.546353260084,0.0187624836583,1.05970047923
+121,2.016666667,pose1_to_pose2_press,0.575833896575,0.0100907352527,1.06003220363,0.546404348928,0.0187624776141,1.05970033951
+122,2.033333333,pose1_to_pose2_press,0.575893574607,0.0100907434769,1.06003229308,0.546464027023,0.0187624859609,1.05970042655
+123,2.050000000,pose1_to_pose2_press,0.575960000787,0.0100906895303,1.06003246504,0.546530453767,0.0187624336643,1.05970059149
+124,2.066666667,pose1_to_pose2_press,0.57603289208,0.0100906827947,1.06003216917,0.546603346317,0.0187624318789,1.05970031341
+125,2.083333333,pose1_to_pose2_press,0.576118112312,0.0100907510072,1.06003230581,0.546688563968,0.0187624909877,1.05970044107
+126,2.100000000,pose1_to_pose2_press,0.576215994203,0.0100908233382,1.06003234919,0.546786443326,0.0187625544708,1.05970047775
+127,2.116666667,pose1_to_pose2_press,0.57632855712,0.0100908389381,1.06003227292,0.546899006963,0.0187625727124,1.05970040673
+128,2.133333333,pose1_to_pose2_press,0.576457772497,0.0100908425986,1.06003230337,0.547028222827,0.0187625779216,1.05970043447
+129,2.150000000,pose1_to_pose2_press,0.576604858606,0.0100908748318,1.06003229664,0.547175307567,0.0187626052789,1.05970042161
+130,2.166666667,pose1_to_pose2_press,0.576766588907,0.0100908273553,1.06003232259,0.547337038955,0.0187625615883,1.05970045003
+131,2.183333333,pose1_to_pose2_press,0.576943837741,0.0100906977386,1.06003225616,0.547514289931,0.0187624395935,1.05970039275
+132,2.200000000,pose1_to_pose2_press,0.57714178211,0.0100907217979,1.06003244464,0.547712232517,0.0187624573728,1.05970057527
+133,2.216666667,pose1_to_pose2_press,0.577359661689,0.0100908273439,1.06003236662,0.547930111218,0.0187625596552,1.05970048968
+134,2.233333333,pose1_to_pose2_press,0.577598835631,0.0100907905844,1.06003227676,0.548169286129,0.0187625260552,1.05970039638
+135,2.250000000,pose1_to_pose2_press,0.577859193643,0.010090797502,1.06003221577,0.548429647798,0.0187625460253,1.05970035205
+136,2.266666667,pose1_to_pose2_press,0.578139729639,0.0100908750985,1.06003223201,0.548710181158,0.0187626144674,1.05970036283
+137,2.283333333,pose1_to_pose2_press,0.578438890315,0.0100907409748,1.0600324851,0.549009343013,0.0187624840435,1.0597006079
+138,2.300000000,pose1_to_pose2_press,0.578756440087,0.0100907655664,1.06003235245,0.549326891952,0.0187625062316,1.0597004863
+139,2.316666667,pose1_to_pose2_press,0.579095269442,0.0100907783927,1.06003222974,0.549665721434,0.0187625196147,1.05970036686
+140,2.333333333,pose1_to_pose2_press,0.579452917681,0.0100907379016,1.06003227111,0.550023371139,0.0187624842837,1.05970041296
+141,2.350000000,pose1_to_pose2_press,0.579828687759,0.0100906869553,1.06003241402,0.550399141711,0.0187624346737,1.05970054694
+142,2.366666667,pose1_to_pose2_press,0.580220114867,0.010090741131,1.06003246788,0.550790568701,0.0187624883951,1.05970059933
+143,2.383333333,pose1_to_pose2_press,0.580627658538,0.0100908301443,1.06003246702,0.55119811112,0.0187625731989,1.05970059949
+144,2.400000000,pose1_to_pose2_press,0.581059739469,0.010090822809,1.06003239809,0.551630190532,0.0187625605436,1.05970052617
+145,2.416666667,pose1_to_pose2_press,0.581519853127,0.0100907435938,1.06003227291,0.552090304303,0.018762481762,1.05970040221
+146,2.433333333,pose1_to_pose2_press,0.582014115829,0.0100907326845,1.06003228908,0.552584567675,0.0187624734792,1.05970042756
+147,2.450000000,pose1_to_pose2_press,0.58253421767,0.0100906999029,1.06003221105,0.553104669486,0.0187624404733,1.05970034636
+148,2.466666667,pose1_to_pose2_press,0.583075113346,0.0100906893612,1.06003227046,0.553645565649,0.01876243133,1.05970039897
+149,2.483333333,pose1_to_pose2_press,0.583626442267,0.0100907272608,1.06003241104,0.554196894609,0.0187624698744,1.05970055293
+150,2.500000000,pose1_to_pose2_press,0.584188491148,0.0100907737828,1.06003234183,0.554758941729,0.0187625100518,1.05970047406
+151,2.516666667,pose1_to_pose2_press,0.584769772451,0.0100908325484,1.06003258787,0.55534022391,0.0187625715905,1.0597007146
+152,2.533333333,pose1_to_pose2_press,0.585377167598,0.0100907497259,1.06003228381,0.555947618778,0.018762488062,1.05970041685
+153,2.550000000,pose1_to_pose2_press,0.586015854456,0.0100908253165,1.06003241677,0.556586305262,0.0187625622832,1.05970054713
+154,2.566666667,pose1_to_pose2_press,0.586671215098,0.0100907459619,1.06003249779,0.557241666356,0.0187624842332,1.0597006222
+155,2.583333333,pose1_to_pose2_press,0.587335476889,0.0100908124733,1.06003233521,0.557905927797,0.0187625496126,1.05970046103
+156,2.600000000,pose1_to_pose2_press,0.587997993217,0.0100908956759,1.06003224686,0.558568443465,0.0187626306873,1.05970037552
+157,2.616666667,pose1_to_pose2_press,0.588662922692,0.0100908349788,1.06003222904,0.559233373652,0.0187625725293,1.05970036091
+158,2.633333333,pose1_to_pose2_press,0.589341435414,0.0100908139235,1.06003225999,0.55991188689,0.0187625533171,1.05970039422
+159,2.650000000,pose1_to_pose2_press,0.590044848217,0.010090872489,1.06003237514,0.560615299285,0.018762610449,1.05970050812
+160,2.666666667,pose1_to_pose2_press,0.590776581493,0.0100907902375,1.06003242054,0.561347032947,0.0187625293723,1.05970054995
+161,2.683333333,pose1_to_pose2_press,0.591531310482,0.0100908249605,1.06003222904,0.562101760879,0.0187625605438,1.05970035935
+162,2.700000000,pose1_to_pose2_press,0.592301739085,0.0100907604677,1.06003222956,0.56287219093,0.018762501353,1.05970036999
+163,2.716666667,pose1_to_pose2_press,0.593074153423,0.0100908475152,1.06003244827,0.563644604788,0.0187625865546,1.05970058307
+164,2.733333333,pose1_to_pose2_press,0.593841528882,0.0100908577057,1.0600324355,0.564411979879,0.0187625955995,1.05970057297
+165,2.750000000,pose1_to_pose2_press,0.594595912899,0.0100907098032,1.06003222153,0.565166365407,0.0187624527989,1.05970035847
+166,2.766666667,pose1_to_pose2_press,0.595348551278,0.0100907065629,1.06003232387,0.565919003498,0.0187624483923,1.05970045584
+167,2.783333333,pose1_to_pose2_press,0.59610424514,0.0100907198196,1.06003246302,0.566674697817,0.0187624629371,1.05970058817
+168,2.800000000,pose1_to_pose2_press,0.596871499835,0.0100907207604,1.06003247349,0.567441952767,0.0187624649319,1.05970060359
+169,2.816666667,pose1_to_pose2_press,0.597655133933,0.0100906698396,1.06003232976,0.568225587928,0.0187624176333,1.05970046028
+170,2.833333333,pose1_to_pose2_press,0.598459346756,0.0100906081577,1.06003222303,0.569029801061,0.0187623570461,1.05970035478
+171,2.850000000,pose1_to_pose2_press,0.599274133285,0.0100907353034,1.06003233696,0.569844585937,0.0187624786478,1.05970047037
+172,2.866666667,pose1_to_pose2_press,0.600094919209,0.0100909087204,1.06003247198,0.570665369661,0.018762644479,1.0597006024
+173,2.883333333,pose1_to_pose2_press,0.600901738779,0.0100907780838,1.06003230959,0.571472190846,0.0187625193587,1.05970044095
+174,2.900000000,pose1_to_pose2_press,0.601691906471,0.0100906506463,1.06003224858,0.572262360875,0.0187623998159,1.05970037908
+175,2.916666667,pose1_to_pose2_press,0.602452985928,0.0100907977182,1.06003247166,0.573023437989,0.0187625386326,1.05970059431
+176,2.933333333,pose1_to_pose2_press,0.603194221452,0.010090806185,1.06003239076,0.57376467291,0.0187625450126,1.05970051237
+177,2.950000000,pose1_to_pose2_press,0.603930737631,0.0100906220732,1.06003236578,0.574501192256,0.018762371796,1.05970049128
+178,2.966666667,pose1_to_pose2_press,0.604670790963,0.0100907946125,1.06003222513,0.575241241904,0.018762532123,1.05970035833
+179,2.983333333,pose1_to_pose2_press,0.605416446132,0.010090848123,1.06003233973,0.575986897152,0.0187625859034,1.05970047315
+180,3.000000000,pose1_to_pose2_press,0.606173986246,0.0100907688237,1.06003220954,0.576744438756,0.0187625118043,1.05970034677
+181,3.016666667,pose1_to_pose2_press,0.606930360665,0.0100908488218,1.06003209581,0.577500812473,0.0187625894119,1.05970023284
+182,3.033333333,pose1_to_pose2_press,0.607660786886,0.0100907813099,1.06003199507,0.578231237693,0.018762518317,1.05970012732
+183,3.050000000,pose1_to_pose2_press,0.608360544915,0.0100906694408,1.06003209255,0.578930997216,0.0187624115001,1.05970022448
+184,3.066666667,pose1_to_pose2_press,0.609022974108,0.0100907860004,1.06003239224,0.579593424302,0.0187625208097,1.05970052164
+185,3.083333333,pose1_to_pose2_press,0.609651587873,0.0100908115686,1.06003247449,0.580222038329,0.0187625472184,1.05970060267
+186,3.100000000,pose1_to_pose2_press,0.610247985319,0.0100908343193,1.06003241672,0.580818437087,0.0187625744128,1.05970054487
+187,3.116666667,pose1_to_pose2_press,0.610834111944,0.0100907846648,1.06003230588,0.581404564712,0.0187625282376,1.05970043632
+188,3.133333333,pose1_to_pose2_press,0.611415820726,0.0100907044667,1.06003226547,0.581986272831,0.0187624457432,1.05970039475
+189,3.150000000,pose1_to_pose2_press,0.611997301682,0.0100908195827,1.06003235788,0.582567751586,0.0187625531252,1.05970048036
+190,3.166666667,pose1_to_pose2_press,0.612572137869,0.010090806577,1.06003220457,0.583142590401,0.0187625496609,1.05970034365
+191,3.183333333,pose1_to_pose2_press,0.613133306217,0.0100906904601,1.06003237181,0.583703758609,0.0187624326701,1.05970050075
+192,3.200000000,pose1_to_pose2_press,0.613662561554,0.0100907410782,1.06003245531,0.584233015583,0.0187624891943,1.05970059209
+193,3.216666667,pose1_to_pose2_press,0.614159902041,0.0100906405263,1.06003235614,0.5847303559,0.0187623879376,1.05970048792
+194,3.233333333,pose1_to_pose2_press,0.614625171726,0.0100907904267,1.06003226745,0.585195623847,0.0187625318399,1.05970039522
+195,3.250000000,pose1_to_pose2_press,0.61506924133,0.0100907903755,1.06003224417,0.585639692745,0.018762529485,1.05970037243
+196,3.266666667,pose1_to_pose2_press,0.615499977085,0.0100907455608,1.06003237097,0.586070428998,0.0187624865718,1.05970050205
+197,3.283333333,pose1_to_pose2_press,0.615915891527,0.0100907701826,1.06003240619,0.586486342944,0.0187625096857,1.05970053816
+198,3.300000000,pose1_to_pose2_press,0.616315483998,0.010090838,1.06003234784,0.586885934546,0.0187625747544,1.05970047959
+199,3.316666667,pose1_to_pose2_press,0.616694388851,0.0100908769739,1.06003238566,0.587264839459,0.0187626141608,1.05970051717
+200,3.333333333,pose1_to_pose2_press,0.617050991196,0.0100908299928,1.06003237632,0.587621442114,0.0187625684387,1.05970050874
+201,3.350000000,pose1_to_pose2_press,0.617379980484,0.010090631436,1.06003209449,0.58795043304,0.0187623759545,1.05970023538
+202,3.366666667,pose1_to_pose2_press,0.617687119055,0.010090632682,1.06003231995,0.588257573128,0.0187623823549,1.05970045609
+203,3.383333333,pose1_to_pose2_press,0.617974723281,0.0100906781323,1.06003211543,0.588545176952,0.0187624265634,1.0597002499
+204,3.400000000,pose1_to_pose2_press,0.618247426001,0.0100908469982,1.06003219672,0.588817876082,0.0187625833365,1.05970032887
+205,3.416666667,pose1_to_pose2_press,0.618506700994,0.0100907887872,1.06003230465,0.58907715163,0.0187625272367,1.05970043785
+206,3.433333333,pose1_to_pose2_press,0.618752112336,0.0100907196662,1.06003232024,0.589322563757,0.0187624611367,1.05970045837
+207,3.450000000,pose1_to_pose2_press,0.618981730393,0.0100907175049,1.06003247988,0.58955218279,0.0187624623139,1.05970061436
+208,3.466666667,pose1_to_pose2_press,0.619191049615,0.0100908211237,1.06003256352,0.589761501091,0.0187625630441,1.05970069918
+209,3.483333333,pose1_to_pose2_press,0.619381248118,0.0100908524601,1.06003243921,0.589951698681,0.0187625915276,1.05970057563
+210,3.500000000,pose1_to_pose2_press,0.619552269926,0.0100908072189,1.06003234108,0.590122720875,0.0187625475922,1.05970047474
+211,3.516666667,pose1_to_pose2_press,0.619705067729,0.0100908105162,1.06003245307,0.590275518943,0.018762551665,1.05970058333
+212,3.533333333,pose1_to_pose2_press,0.619840878678,0.0100908095586,1.06003263104,0.590411329722,0.0187625499475,1.05970075347
+213,3.550000000,pose1_to_pose2_press,0.619960900243,0.0100907274877,1.06003250942,0.590531350963,0.0187624668655,1.05970063053
+214,3.566666667,pose1_to_pose2_press,0.62006607727,0.0100906054392,1.06003216576,0.590636528865,0.0187623480688,1.0597002953
+215,3.583333333,pose1_to_pose2_press,0.620156092882,0.0100907563411,1.06003236372,0.590726544383,0.0187624989517,1.05970049564
+216,3.600000000,pose1_to_pose2_press,0.62023398617,0.0100908516442,1.06003247249,0.590804436687,0.0187625914381,1.05970060178
+217,3.616666667,pose1_to_pose2_press,0.620300288964,0.0100908080768,1.06003232622,0.590870740304,0.0187625505774,1.05970046573
+218,3.633333333,pose1_to_pose2_press,0.620356371091,0.0100907372045,1.06003237651,0.590926821742,0.0187624767929,1.0597005007
+219,3.650000000,pose1_to_pose2_press,0.620403017559,0.0100907182094,1.0600324586,0.590973467744,0.0187624562088,1.05970058318
+220,3.666666667,pose1_to_pose2_press,0.620440679762,0.0100907305802,1.06003235824,0.591011130145,0.0187624692189,1.05970048375
+221,3.683333333,pose1_to_pose2_press,0.620471116338,0.0100907477855,1.06003214994,0.59104156651,0.0187624857508,1.05970027797
+222,3.700000000,pose1_to_pose2_press,0.620494617997,0.0100907512292,1.06003206774,0.591065068007,0.0187624888303,1.05970020116
+223,3.716666667,pose1_to_pose2_press,0.62051311787,0.0100907244468,1.0600324133,0.591083570308,0.0187624703503,1.0597005485
+224,3.733333333,pose1_to_pose2_press,0.620527163934,0.010090784878,1.06003237549,0.591097614599,0.0187625246667,1.05970050873
+225,3.750000000,pose1_to_pose2_press,0.620537487175,0.0100907939401,1.06003230589,0.591107937006,0.0187625309619,1.0597004378
+226,3.766666667,pose1_to_pose2_press,0.620544915921,0.010090763348,1.06003224351,0.591115365848,0.0187625008685,1.05970037481
+227,3.783333333,pose1_to_pose2_press,0.620549737847,0.0100908124564,1.06003234193,0.59112018763,0.0187625494203,1.05970047303
+228,3.800000000,pose1_to_pose2_press,0.62055324377,0.0100908598852,1.06003243711,0.591123693413,0.0187625962947,1.05970056808
+229,3.816666667,pose1_to_pose2_press,0.620555790426,0.0100908580391,1.06003238687,0.591126240179,0.0187625948855,1.05970051851
+230,3.833333333,pose1_to_pose2_press,0.620557651041,0.0100908295271,1.06003226084,0.591128101032,0.0187625673211,1.05970039352
+231,3.850000000,pose1_to_pose2_press,0.620559030535,0.0100908083879,1.06003216739,0.591129480703,0.0187625468843,1.05970030086
+232,3.866666667,pose1_to_pose2_press,0.620560062411,0.0100907956321,1.06003210246,0.59113051271,0.0187625346451,1.05970023647
+233,3.883333333,pose1_to_pose2_press,0.620560668884,0.0100908102426,1.06003210017,0.591131119256,0.018762549495,1.05970023424
+234,3.900000000,pose1_to_pose2_press,0.620560909041,0.0100908160282,1.06003209927,0.591131359441,0.0187625553753,1.05970023336
+235,3.916666667,pose1_to_pose2_press,0.620561016263,0.0100908186113,1.06003209887,0.591131466676,0.0187625580007,1.05970023297
+236,3.933333333,pose1_to_pose2_press,0.620561046681,0.0100908193441,1.06003209875,0.591131497098,0.0187625587455,1.05970023285
+237,3.950000000,pose1_to_pose2_press,0.620561286981,0.0100908251331,1.06003209785,0.591131737427,0.0187625646294,1.05970023197
+238,3.966666667,pose1_to_pose2_press,0.620561617394,0.0100908330931,1.06003209661,0.591132067879,0.0187625727198,1.05970023076
+239,3.983333333,pose1_to_pose2_press,0.620561950531,0.0100908411187,1.06003209535,0.591132401055,0.0187625808768,1.05970022954
+240,4.000000000,pose1_to_pose2_press,0.620562306994,0.0100908497062,1.06003209401,0.591132757561,0.018762589605,1.05970022823
+241,4.016666667,pose1_to_pose2_press,0.62056265166,0.0100908580096,1.06003209272,0.591133102268,0.0187625980444,1.05970022696
+242,4.033333333,pose1_to_pose2_press,0.62056310148,0.0100908688461,1.06003209103,0.591133552141,0.0187626090585,1.05970022531
+243,4.050000000,pose1_to_pose2_press,0.620563539035,0.0100908703264,1.06003208815,0.591133989452,0.0187626097106,1.05970022311
+244,4.066666667,pose1_to_pose2_press,0.620563711504,0.0100908681556,1.06003208665,0.591134161735,0.0187626069092,1.05970022207
+245,4.083333333,pose1_to_pose2_press,0.620563798688,0.0100908670582,1.06003208589,0.591134248825,0.0187626054931,1.05970022154
+246,4.100000000,pose1_to_pose2_press,0.6205639306,0.0100908653979,1.06003208474,0.591134380594,0.0187626033504,1.05970022074
+247,4.116666667,pose1_to_pose2_press,0.620563982762,0.0100908647414,1.06003208428,0.5911344327,0.0187626025032,1.05970022043
+248,4.133333333,pose1_to_pose2_press,0.620563984824,0.0100908647154,1.06003208427,0.59113443476,0.0187626024697,1.05970022042
+249,4.150000000,pose1_to_pose2_press,0.620563992268,0.0100908646217,1.0600320842,0.591134442196,0.0187626023487,1.05970022037
+250,4.166666667,pose1_to_pose2_press,0.620564005016,0.0100908644613,1.06003208409,0.591134454929,0.0187626021417,1.05970022029
+251,4.183333333,pose1_to_pose2_press,0.620564087431,0.0100908634239,1.06003208337,0.591134537255,0.018762600803,1.05970021979
+252,4.200000000,pose1_to_pose2_press,0.620564338508,0.0100908602637,1.06003208118,0.591134788062,0.0187625967248,1.05970021827
+253,4.216666667,pose1_to_pose2_press,0.620564828435,0.0100908535768,1.06003207969,0.591135277485,0.0187625883329,1.05970021798
+254,4.233333333,pose1_to_pose2_press,0.620565425142,0.0100908246026,1.06003218943,0.591135874637,0.0187625607414,1.05970032473
+255,4.250000000,pose1_to_pose2_press,0.620565795788,0.0100908643801,1.06003234701,0.591136246554,0.0187626046693,1.05970047784
+256,4.266666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246556,0.0187626046671,1.05970047784
+257,4.283333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046665,1.05970047784
+258,4.300000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046669,1.05970047784
+259,4.316666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246556,0.0187626046672,1.05970047785
+260,4.333333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046666,1.05970047785
+261,4.350000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046666,1.05970047785
+262,4.366666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046665,1.05970047785
+263,4.383333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046665,1.05970047785
+264,4.400000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246558,0.0187626046664,1.05970047785
+265,4.416666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046667,1.05970047784
+266,4.433333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046654,1.05970047785
+267,4.450000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046654,1.05970047785
+268,4.466666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246558,0.0187626046658,1.05970047785
+269,4.483333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246557,0.0187626046648,1.05970047784
+270,4.500000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246558,0.0187626046656,1.05970047785
+271,4.516666667,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246558,0.0187626046657,1.05970047785
+272,4.533333333,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246558,0.0187626046656,1.05970047785
+273,4.550000000,pose2_hold,0.620565795788,0.0100908643801,1.06003234701,0.591136246559,0.0187626046639,1.05970047785
+274,4.566666667,pose2_to_pose3_retreat,0.620565795788,0.0100908643801,1.06003234701,0.591136246558,0.0187626046652,1.05970047784
+275,4.583333333,pose2_to_pose3_retreat,0.620565503917,0.0100909205704,1.06003219596,0.591135953322,0.0187626565168,1.05970033466
+276,4.600000000,pose2_to_pose3_retreat,0.620565195225,0.0100908964935,1.06003219378,0.591135643855,0.0187626297736,1.05970033176
+277,4.616666667,pose2_to_pose3_retreat,0.620564821256,0.0100908920109,1.06003220499,0.591135270328,0.0187626267009,1.05970034107
+278,4.633333333,pose2_to_pose3_retreat,0.620564754679,0.0100908912129,1.06003220699,0.591135203829,0.0187626261539,1.05970034273
+279,4.650000000,pose2_to_pose3_retreat,0.620564529551,0.0100908885144,1.06003221373,0.591134978967,0.0187626243042,1.05970034834
+280,4.666666667,pose2_to_pose3_retreat,0.620563895247,0.0100908669633,1.06003222708,0.591134345165,0.0187626043423,1.05970035898
+281,4.683333333,pose2_to_pose3_retreat,0.620561690843,0.0100907451525,1.06003225436,0.591132141675,0.0187624853559,1.05970037857
+282,4.700000000,pose2_to_pose3_retreat,0.620555443623,0.0100907371412,1.06003219247,0.591125894257,0.018762476991,1.05970032392
+283,4.716666667,pose2_to_pose3_retreat,0.62054247293,0.0100907584556,1.06003254894,0.591112923505,0.0187624977912,1.05970067382
+284,4.733333333,pose2_to_pose3_retreat,0.620520736217,0.0100909235382,1.06003248556,0.591091183853,0.0187626529122,1.05970061304
+285,4.750000000,pose2_to_pose3_retreat,0.620487490125,0.0100907379715,1.06003234866,0.591057940139,0.0187624754486,1.05970048114
+286,4.766666667,pose2_to_pose3_retreat,0.620443378979,0.0100908218422,1.06003230292,0.591013829868,0.0187625621073,1.0597004331
+287,4.783333333,pose2_to_pose3_retreat,0.620389769006,0.0100908041037,1.06003228887,0.590960219854,0.0187625442244,1.05970042214
+288,4.800000000,pose2_to_pose3_retreat,0.620328396068,0.0100909198683,1.06003249705,0.590898845547,0.0187626552195,1.05970062813
+289,4.816666667,pose2_to_pose3_retreat,0.620259876985,0.0100908639875,1.06003239603,0.590830326797,0.0187626005535,1.05970052828
+290,4.833333333,pose2_to_pose3_retreat,0.620183697288,0.0100907504648,1.06003219443,0.590754148143,0.0187624904389,1.05970032253
+291,4.850000000,pose2_to_pose3_retreat,0.620098677371,0.010090741313,1.06003225779,0.590669128943,0.0187624834436,1.05970037845
+292,4.866666667,pose2_to_pose3_retreat,0.619998220634,0.0100907774464,1.06003250643,0.59056867212,0.0187625193399,1.05970062965
+293,4.883333333,pose2_to_pose3_retreat,0.619881918068,0.0100907808914,1.06003247238,0.590452369688,0.0187625233799,1.05970059884
+294,4.900000000,pose2_to_pose3_retreat,0.619747306536,0.0100907337329,1.06003218002,0.590317757694,0.0187624751499,1.05970032306
+295,4.916666667,pose2_to_pose3_retreat,0.619595264099,0.0100908491285,1.06003231019,0.590165714412,0.0187625873126,1.05970044655
+296,4.933333333,pose2_to_pose3_retreat,0.619425190822,0.0100907700951,1.06003235248,0.589995641524,0.0187625091525,1.0597004836
+297,4.950000000,pose2_to_pose3_retreat,0.619237247423,0.0100908544449,1.06003242989,0.589807698669,0.0187625953676,1.05970056224
+298,4.966666667,pose2_to_pose3_retreat,0.61903070659,0.0100908769647,1.06003231525,0.589601157675,0.0187626171864,1.05970044689
+299,4.983333333,pose2_to_pose3_retreat,0.618802208243,0.0100908636201,1.06003221122,0.589372658546,0.0187626011718,1.0597003464
+300,5.000000000,pose2_to_pose3_retreat,0.618552574304,0.0100908787074,1.06003226519,0.589123023656,0.0187626128843,1.05970040075
+301,5.016666667,pose2_to_pose3_retreat,0.618280982465,0.0100908466219,1.0600322886,0.588851432699,0.0187625835333,1.05970042296
+302,5.033333333,pose2_to_pose3_retreat,0.617990418042,0.0100907050421,1.06003220577,0.588560870542,0.0187624496085,1.05970034255
+303,5.050000000,pose2_to_pose3_retreat,0.61768070841,0.0100906321584,1.06003223168,0.588251161267,0.0187623777664,1.05970036753
+304,5.066666667,pose2_to_pose3_retreat,0.61735628936,0.0100908293111,1.06003233353,0.587926741815,0.0187625728866,1.05970046824
+305,5.083333333,pose2_to_pose3_retreat,0.617016083417,0.0100906162677,1.06003237937,0.58758653643,0.018762361344,1.05970050329
+306,5.100000000,pose2_to_pose3_retreat,0.61665373808,0.0100906798623,1.06003223263,0.58722419045,0.0187624229419,1.05970036599
+307,5.116666667,pose2_to_pose3_retreat,0.616269746523,0.0100907342084,1.06003214011,0.58684019882,0.0187624767585,1.05970027342
+308,5.133333333,pose2_to_pose3_retreat,0.615862166457,0.010090676359,1.06003209571,0.58643261906,0.0187624198116,1.05970023025
+309,5.150000000,pose2_to_pose3_retreat,0.615428451258,0.0100907451162,1.0600322139,0.585998902283,0.0187624830096,1.05970034785
+310,5.166666667,pose2_to_pose3_retreat,0.614969614803,0.01009079354,1.06003234111,0.585540065133,0.0187625289002,1.0597004743
+311,5.183333333,pose2_to_pose3_retreat,0.614489125237,0.0100907302232,1.06003233706,0.585059576468,0.0187624686347,1.0597004708
+312,5.200000000,pose2_to_pose3_retreat,0.613989568941,0.0100908361974,1.06003232382,0.584560018415,0.018762568577,1.05970045573
+313,5.216666667,pose2_to_pose3_retreat,0.613471641932,0.0100907886491,1.06003221167,0.584042092799,0.0187625258869,1.05970034781
+314,5.233333333,pose2_to_pose3_retreat,0.61293923157,0.0100907629923,1.06003231278,0.583509683149,0.0187625027891,1.05970045119
+315,5.250000000,pose2_to_pose3_retreat,0.612393984894,0.0100909458951,1.06003208759,0.582964433575,0.0187626763072,1.05970023645
+316,5.266666667,pose2_to_pose3_retreat,0.611821025565,0.0100907436471,1.0600321692,0.582391477432,0.0187624844271,1.05970030795
+317,5.283333333,pose2_to_pose3_retreat,0.61122012678,0.0100906523322,1.06003231978,0.581790579414,0.018762395251,1.0597004477
+318,5.300000000,pose2_to_pose3_retreat,0.610592959937,0.0100907540387,1.06003242054,0.581163411377,0.0187624929128,1.05970054864
+319,5.316666667,pose2_to_pose3_retreat,0.60993988393,0.0100908282551,1.06003244275,0.580510335024,0.0187625662925,1.05970057912
+320,5.333333333,pose2_to_pose3_retreat,0.609260843871,0.0100908176167,1.06003234532,0.579831294798,0.0187625552935,1.05970048683
+321,5.350000000,pose2_to_pose3_retreat,0.608575764559,0.0100908687149,1.06003223198,0.579146214803,0.0187626038951,1.0597003688
+322,5.366666667,pose2_to_pose3_retreat,0.60788669411,0.0100909168582,1.06003236733,0.57845714436,0.0187626517723,1.05970049727
+323,5.383333333,pose2_to_pose3_retreat,0.607182266469,0.0100909806536,1.06003235536,0.577752716377,0.0187627145005,1.05970048747
+324,5.400000000,pose2_to_pose3_retreat,0.606462862543,0.0100908992541,1.06003255617,0.577033313341,0.0187626362311,1.05970069094
+325,5.416666667,pose2_to_pose3_retreat,0.605728725871,0.010090670402,1.06003228963,0.576299177981,0.0187624117795,1.05970042316
+326,5.433333333,pose2_to_pose3_retreat,0.604968408094,0.0100906571214,1.06003220624,0.575538860117,0.0187623982622,1.05970034144
+327,5.450000000,pose2_to_pose3_retreat,0.604173103845,0.0100907201348,1.06003214272,0.574743555481,0.0187624598077,1.05970027444
+328,5.466666667,pose2_to_pose3_retreat,0.603366903445,0.0100908772852,1.06003215236,0.573937353334,0.0187626112333,1.05970028885
+329,5.483333333,pose2_to_pose3_retreat,0.602553801526,0.0100908777945,1.06003219317,0.573124251771,0.0187626130684,1.05970033148
+330,5.500000000,pose2_to_pose3_retreat,0.601743944994,0.0100907114477,1.0600322027,0.572314397532,0.0187624544249,1.05970033886
+331,5.516666667,pose2_to_pose3_retreat,0.600946014664,0.0100906821384,1.0600323006,0.571516467367,0.0187624255873,1.05970043512
+332,5.533333333,pose2_to_pose3_retreat,0.600165201762,0.0100907984717,1.06003247245,0.570735653088,0.0187625370616,1.05970060245
+333,5.550000000,pose2_to_pose3_retreat,0.599384252349,0.0100907954831,1.06003244461,0.569954704357,0.0187625362824,1.05970057318
+334,5.566666667,pose2_to_pose3_retreat,0.598595532704,0.0100909214424,1.0600322137,0.569165982288,0.0187626542273,1.05970034816
+335,5.583333333,pose2_to_pose3_retreat,0.597784969707,0.010090834507,1.06003226889,0.568355419782,0.018762568543,1.05970039223
+336,5.600000000,pose2_to_pose3_retreat,0.596955251281,0.0100907876386,1.06003222065,0.567525701419,0.0187625223114,1.05970035329
+337,5.616666667,pose2_to_pose3_retreat,0.596112754632,0.0100907577305,1.06003209843,0.566683206972,0.0187625001479,1.05970023778
+338,5.633333333,pose2_to_pose3_retreat,0.595276259691,0.0100907717069,1.06003245261,0.565846712601,0.018762515846,1.05970058783
+339,5.650000000,pose2_to_pose3_retreat,0.59446198721,0.0100907161682,1.06003243259,0.565032441004,0.0187624631557,1.05970056215
+340,5.666666667,pose2_to_pose3_retreat,0.59367631383,0.0100907273917,1.06003250828,0.564246766361,0.0187624699706,1.05970063489
+341,5.683333333,pose2_to_pose3_retreat,0.592918328008,0.0100908192733,1.06003247888,0.56348877867,0.018762555679,1.05970061039
+342,5.700000000,pose2_to_pose3_retreat,0.592173794072,0.0100908785917,1.06003222976,0.562744244338,0.018762614043,1.05970037076
+343,5.716666667,pose2_to_pose3_retreat,0.591432884064,0.0100908610624,1.060032128,0.562003334863,0.0187625984181,1.05970027139
+344,5.733333333,pose2_to_pose3_retreat,0.590687475739,0.0100909063605,1.0600324435,0.5612579256,0.0187626400545,1.05970057438
+345,5.750000000,pose2_to_pose3_retreat,0.589932894271,0.010090803261,1.0600322228,0.560503345602,0.0187625420148,1.05970035549
+346,5.766666667,pose2_to_pose3_retreat,0.5891677417,0.0100907937441,1.06003219483,0.559738192094,0.0187625296241,1.0597003355
+347,5.783333333,pose2_to_pose3_retreat,0.588424264001,0.0100907905631,1.06003220831,0.558994717196,0.0187625358408,1.05970034719
+348,5.800000000,pose2_to_pose3_retreat,0.587705178904,0.010090836828,1.06003228553,0.558275630991,0.0187625784893,1.0597004263
+349,5.816666667,pose2_to_pose3_retreat,0.58701987626,0.0100909208117,1.0600323407,0.557590325682,0.0187626530846,1.05970047363
+350,5.833333333,pose2_to_pose3_retreat,0.5863688979,0.0100908738214,1.06003227783,0.556939347573,0.0187626068727,1.05970040828
+351,5.850000000,pose2_to_pose3_retreat,0.585751095626,0.0100908490144,1.06003234328,0.556321546133,0.0187625849978,1.05970047556
+352,5.866666667,pose2_to_pose3_retreat,0.585142997495,0.0100908602098,1.06003241178,0.555713448401,0.0187625976968,1.05970054785
+353,5.883333333,pose2_to_pose3_retreat,0.584538041835,0.0100908313749,1.0600322859,0.555108492979,0.0187625697863,1.05970042516
+354,5.900000000,pose2_to_pose3_retreat,0.583933656208,0.0100907945824,1.06003216879,0.554504107118,0.018762532072,1.05970030452
+355,5.916666667,pose2_to_pose3_retreat,0.583337023809,0.0100907581749,1.06003202046,0.553907476516,0.0187625015828,1.05970015134
+356,5.933333333,pose2_to_pose3_retreat,0.582763556971,0.0100908573632,1.06003233347,0.553334009553,0.0187626005698,1.05970047006
+357,5.950000000,pose2_to_pose3_retreat,0.582221066694,0.0100906689058,1.06003237982,0.552791519012,0.0187624107608,1.05970050476
+358,5.966666667,pose2_to_pose3_retreat,0.581714169961,0.0100906769231,1.06003221556,0.552284623243,0.0187624226386,1.05970035596
+359,5.983333333,pose2_to_pose3_retreat,0.581231056017,0.0100907007705,1.06003221939,0.55180150868,0.0187624441008,1.05970035296
+360,6.000000000,pose2_to_pose3_retreat,0.580768237447,0.0100908696606,1.06003218574,0.551338687087,0.0187626023608,1.05970030985
+361,6.016666667,pose2_to_pose3_retreat,0.58032932026,0.0100908349635,1.06003219414,0.550899769597,0.0187625668435,1.05970032329
+362,6.033333333,pose2_to_pose3_retreat,0.579913766622,0.0100906993047,1.06003233838,0.550484218718,0.0187624407169,1.0597004717
+363,6.050000000,pose2_to_pose3_retreat,0.579524010507,0.0100907127849,1.06003241597,0.550094463665,0.0187624578184,1.05970054962
+364,6.066666667,pose2_to_pose3_retreat,0.579163098085,0.0100908068656,1.06003235461,0.54973354973,0.0187625466813,1.05970048606
+365,6.083333333,pose2_to_pose3_retreat,0.578830611259,0.0100907408371,1.06003240298,0.549401063227,0.018762481261,1.05970052169
+366,6.100000000,pose2_to_pose3_retreat,0.578512706804,0.0100907810634,1.06003233073,0.549083156984,0.0187625159672,1.05970046376
+367,6.116666667,pose2_to_pose3_retreat,0.578208168596,0.0100909629122,1.06003225829,0.548778617981,0.0187626949049,1.05970038591
+368,6.133333333,pose2_to_pose3_retreat,0.577918673872,0.0100908952325,1.06003211821,0.548489122876,0.018762626176,1.05970025258
+369,6.150000000,pose2_to_pose3_retreat,0.577645516507,0.0100907436803,1.06003247567,0.548215966683,0.0187624783778,1.05970060395
+370,6.166666667,pose2_to_pose3_retreat,0.577391615422,0.0100907489987,1.06003223476,0.547962067001,0.0187624887382,1.05970037021
+371,6.183333333,pose2_to_pose3_retreat,0.577160910206,0.010090821446,1.06003225647,0.547731360311,0.0187625560813,1.05970038932
+372,6.200000000,pose2_to_pose3_retreat,0.576953370932,0.0100907864959,1.06003236219,0.547523822439,0.0187625257872,1.05970049242
+373,6.216666667,pose2_to_pose3_retreat,0.576766156211,0.0100907932166,1.060032232,0.547336607347,0.0187625312905,1.05970036345
+374,6.233333333,pose2_to_pose3_retreat,0.576597890013,0.0100907642007,1.06003220084,0.547168341134,0.0187625023138,1.05970033476
+375,6.250000000,pose2_to_pose3_retreat,0.576449046123,0.0100906788511,1.06003237055,0.547019499365,0.0187624242632,1.05970050701
+376,6.266666667,pose2_to_pose3_retreat,0.576316920241,0.0100907557889,1.06003245857,0.546887372242,0.0187624968692,1.05970059192
+377,6.283333333,pose2_to_pose3_retreat,0.57620132762,0.0100908281031,1.06003248069,0.546771780252,0.018762571145,1.05970060941
+378,6.300000000,pose2_to_pose3_retreat,0.576100857139,0.010090826047,1.06003245467,0.546671307992,0.0187625631473,1.05970058615
+379,6.316666667,pose2_to_pose3_retreat,0.576014407368,0.0100908079126,1.06003233953,0.546584859058,0.0187625479375,1.05970047414
+380,6.333333333,pose2_to_pose3_retreat,0.575939888162,0.0100907072211,1.06003223166,0.546510340065,0.0187624479308,1.05970036483
+381,6.350000000,pose2_to_pose3_retreat,0.575876836713,0.0100908333413,1.06003230675,0.546447287133,0.0187625691608,1.05970044351
+382,6.366666667,pose2_to_pose3_retreat,0.575825846906,0.0100908078722,1.06003243342,0.54639629832,0.0187625469601,1.05970056743
+383,6.383333333,pose2_to_pose3_retreat,0.575784494639,0.0100907899876,1.06003257971,0.546354946398,0.0187625299476,1.05970070587
+384,6.400000000,pose2_to_pose3_retreat,0.575752173933,0.0100907861862,1.06003237691,0.546322625014,0.0187625239411,1.05970050569
+385,6.416666667,pose2_to_pose3_retreat,0.57572782478,0.010090761041,1.0600323244,0.546298276002,0.0187624994198,1.059700457
+386,6.433333333,pose2_to_pose3_retreat,0.575709550607,0.0100907497849,1.0600324274,0.546280002395,0.0187624901602,1.05970056204
+387,6.450000000,pose2_to_pose3_retreat,0.575695097714,0.0100908164098,1.06003231515,0.546265548897,0.0187625549344,1.05970045514
+388,6.466666667,pose2_to_pose3_retreat,0.575684313891,0.010090754186,1.06003246155,0.546254767105,0.0187624992439,1.0597005923
+389,6.483333333,pose2_to_pose3_retreat,0.575677001012,0.0100906967316,1.0600323777,0.546247454649,0.0187624433706,1.05970051192
+390,6.500000000,pose2_to_pose3_retreat,0.575672188586,0.010090674904,1.06003234106,0.546242641597,0.018762419343,1.05970047317
+391,6.516666667,pose2_to_pose3_retreat,0.575669548289,0.0100906802956,1.06003237435,0.54624000034,0.0187624212004,1.05970049941
+392,6.533333333,pose2_to_pose3_retreat,0.575668124595,0.0100907019657,1.06003233874,0.546238576269,0.0187624416078,1.05970046421
+393,6.550000000,pose2_to_pose3_retreat,0.575667430374,0.010090721686,1.06003229524,0.546237881933,0.0187624610261,1.05970042297
+394,6.566666667,pose2_to_pose3_retreat,0.575667110279,0.0100907307788,1.06003227519,0.546237561785,0.0187624699796,1.05970040395
+395,6.583333333,pose2_to_pose3_retreat,0.575667011388,0.0100907335879,1.06003226899,0.546237462878,0.0187624727457,1.05970039808
+396,6.600000000,pose2_to_pose3_retreat,0.575666866294,0.0100907377095,1.0600322599,0.54623731776,0.0187624768042,1.05970038946
+397,6.616666667,pose2_to_pose3_retreat,0.575666807625,0.0100907393761,1.06003225623,0.546237259081,0.0187624784453,1.05970038598
+398,6.633333333,pose2_to_pose3_retreat,0.575666538568,0.010090747019,1.06003223937,0.54623698998,0.0187624859712,1.05970036999
+399,6.650000000,pose2_to_pose3_retreat,0.575666375172,0.0100907516605,1.06003222914,0.546236826556,0.0187624905416,1.05970036029
+400,6.666666667,pose2_to_pose3_retreat,0.57566616538,0.0100907569887,1.06003221711,0.546236616762,0.0187624958896,1.05970034894
+401,6.683333333,pose2_to_pose3_retreat,0.57566582345,0.0100907546454,1.06003221703,0.546236275404,0.0187624955198,1.05970034984
+402,6.700000000,pose2_to_pose3_retreat,0.575665699571,0.0100907537964,1.06003221701,0.546236151731,0.0187624953858,1.05970035016
+403,6.716666667,pose2_to_pose3_retreat,0.575665665108,0.0100907535602,1.060032217,0.546236117325,0.0187624953485,1.05970035026
+404,6.733333333,pose2_to_pose3_retreat,0.575665580059,0.0100907529774,1.06003221698,0.546236032419,0.0187624952565,1.05970035048
+405,6.750000000,pose2_to_pose3_retreat,0.575665473575,0.0100907522476,1.06003221696,0.546235926112,0.0187624951413,1.05970035076
+406,6.766666667,pose2_to_pose3_retreat,0.575665354306,0.0100907514303,1.06003221693,0.546235807042,0.0187624950123,1.05970035108
+407,6.783333333,pose2_to_pose3_retreat,0.575665266255,0.0100907508268,1.06003221691,0.546235719138,0.0187624949171,1.05970035131
+408,6.800000000,pose2_to_pose3_retreat,0.575664738995,0.0100907501116,1.06003220063,0.546235192371,0.0187624959373,1.05970033675
+409,6.816666667,pose2_to_pose3_retreat,0.57566464019,0.0100907564983,1.06003216119,0.546235092785,0.018762499707,1.05970029813
+410,6.833333333,pose2_to_pose3_retreat,0.57566457175,0.0100907609222,1.06003213388,0.546235023804,0.0187625023182,1.05970027137
+411,6.850000000,pose2_to_pose3_retreat,0.575664552719,0.0100907621523,1.06003212629,0.546235004623,0.0187625030443,1.05970026393
+412,6.866666667,pose2_to_pose3_retreat,0.575664548495,0.0100907624253,1.0600321246,0.546235000366,0.0187625032055,1.05970026228
+413,6.883333333,pose2_to_pose3_retreat,0.575664456491,0.0100907683724,1.06003208788,0.546234907635,0.0187625067157,1.05970022632
+414,6.900000000,pose2_to_pose3_retreat,0.575664448371,0.0100907688972,1.06003208464,0.546234899451,0.0187625070255,1.05970022315
+415,6.916666667,pose2_to_pose3_retreat,0.575664323696,0.0100907786944,1.06003208887,0.546234773423,0.0187625120735,1.05970022328
+416,6.933333333,pose2_to_pose3_retreat,0.575664305098,0.0100907802153,1.06003209135,0.546234754611,0.0187625128365,1.05970022497
+417,6.950000000,pose2_to_pose3_retreat,0.575664295002,0.0100907810409,1.06003209269,0.546234744398,0.0187625132507,1.05970022589
+418,6.966666667,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2d54b19c4b0edaf009d337ec1d8f8f5104bae8d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce74b963cc385aaedf70c9efedeee9665eb695bf65ccb2b792995f3165e5ecbc
+size 26592015
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe633ab583e9cd17d1c7fff6ee346d15ca4b1fc0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/franka_data.csv
@@ -0,0 +1,421 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,715,681,664,636,880,787,804,652,631,653,0.400985129606,0.00449385828755,0.0698393757952,0.999999965734,3.51037560766e-05,-0.000258572794478,2.09799308147e-05,1793239769399604736
+1,0.016666667,BASELINE,766,746,715,680.392730806,664,635.392730806,880,787,804,652,631.607269194,653,0.400985732884,0.00449413290744,0.0698396780662,0.999999965774,3.5785511917e-05,-0.000258345037393,2.07030223349e-05,1793239769416271360
+2,0.033333333,BASELINE,766,746,715,680,664,635.208512193,879.791487807,787.208512193,804,652.208512193,631.791487807,653,0.400986688092,0.0044938995207,0.0698397967976,0.999999965939,3.58806326601e-05,-0.000257700201269,2.06206246784e-05,1793239769432938240
+3,0.050000000,BASELINE,766,746,715,680,664,635.798723826,879.201276174,787.798723826,804,652.798723826,631.201276174,653,0.400988287538,0.00449273618434,0.0698395795444,0.99999996633,3.49018676917e-05,-0.000256291866174,2.08942957091e-05,1793239769449604864
+4,0.066666667,BASELINE,766.383626305,746,715,680,664,635.616373695,879.383626305,788,804,652.616373695,631,653,0.400988217697,0.00449310218639,0.0698402047021,0.999999966418,3.51468922257e-05,-0.000255909272403,2.0940126052e-05,1793239769466271488
+5,0.083333333,BASELINE,766.965781235,746,715,680,664,635.034218765,879.965781235,788,804,652.034218765,631,653,0.400987283992,0.00449425962916,0.0698412658118,0.999999966351,3.60252343022e-05,-0.000256057505231,2.08680476279e-05,1793239769482938112
+6,0.100000000,BASELINE,767,745.46004573,715,680,664,635,879.46004573,788,804,652.53995427,631.53995427,652.46004573,0.400986487097,0.00449464358034,0.0698404681682,0.999999966074,3.61106744745e-05,-0.000257131124742,2.07813432593e-05,1793239769499604736
+7,0.116666667,BASELINE,766.883925771,745.116074229,715,680,664,635.116074229,879.116074229,787.883925771,803.883925771,653,632,652.116074229,0.400985860504,0.00449472951589,0.0698398285492,0.999999965877,3.60935330333e-05,-0.000257903373671,2.07107140844e-05,1793239769516271360
+8,0.133333333,BASELINE,766.297905238,745.702094762,715,680,664,635.702094762,879.702094762,787.297905238,803.297905238,653,632,652.702094762,0.400985888814,0.0044938044544,0.069840298688,0.999999966061,3.58615502282e-05,-0.000257221497045,2.07088661089e-05,1793239769532937984
+9,0.150000000,BASELINE,766,745.714790485,715,680,664,636,880,787,803,653,631.714790485,653,0.400985523643,0.00449371924964,0.0698402069583,0.999999966005,3.64280697025e-05,-0.000257357662394,2.07611508908e-05,1793239769549604608
+10,0.166666667,BASELINE,766,745.134680284,715,680,664,636,880,787,803,653,631.134680284,653,0.400984751622,0.00449450243924,0.0698395342684,0.999999965697,3.78202238799e-05,-0.000258339666115,2.08694078139e-05,1793239769566271488
+11,0.183333333,BASELINE,766.441695677,745,715,680,664,635.558304323,879.558304323,787,803.441695677,652.558304323,631,653,0.400984853168,0.00449519728252,0.0698395146115,0.9999999657,3.74602313008e-05,-0.000258409278239,2.05362893842e-05,1793239769582938624
+12,0.200000000,BASELINE,766.983050644,745.016949356,715,680,664,635,879,787,803.983050644,652.016949356,631,653,0.400985230962,0.00449580604589,0.0698397159045,0.999999965805,3.6568424013e-05,-0.00025816412896,2.00865382498e-05,1793239769599606016
+13,0.216666667,BASELINE,766.407574273,745.592425727,715,680,664,635,879,787,803.407574273,652.592425727,631,653,0.400986007951,0.0044944584882,0.0698406915401,0.999999966231,3.5609552279e-05,-0.000256637433714,2.01911067879e-05,1793239769616272896
+14,0.233333333,BASELINE,766,745.827311279,715,680,664,635,879.172688721,787,803,653,631,653,0.400986711374,0.00449367135853,0.0698414490137,0.999999966606,3.54508413281e-05,-0.000255186899273,2.02780991426e-05,1793239769632939520
+15,0.250000000,BASELINE,766,745.23542887,715,680,664,635,879.76457113,787,803,653,631,653,0.400987236219,0.00449424464104,0.0698416769095,0.999999966862,3.72344825695e-05,-0.000253921241268,2.03224261663e-05,1793239769649606144
+16,0.266666667,BASELINE,766,745,715,680,664,635,879.650842638,787.349157362,803,652.650842638,631.349157362,653,0.400986069463,0.00449485323693,0.0698407677753,0.99999996652,3.78283064728e-05,-0.000255174762889,2.03691483857e-05,1793239769666272512
+17,0.283333333,BASELINE,766,745,715,680,664,635,879.071075386,787.928924614,803,652.071075386,631.928924614,653,0.400983785447,0.00449548515642,0.0698391076605,0.999999965778,3.76362850476e-05,-0.000258092141054,2.04174525705e-05,1793239769682938624
+18,0.300000000,BASELINE,766,745.50377888,715,680,664,635,879.50377888,787.49622112,803.50377888,652.50377888,632,653,0.400984471313,0.00449606906769,0.0698396425635,0.999999965998,3.7041573005e-05,-0.000257332375477,2.03081595255e-05,1793239769699605248
+19,0.316666667,BASELINE,766,745.921872396,715,680,664,635,879.921872396,787.078127604,803.921872396,652.921872396,632,653,0.400985413815,0.00449641443952,0.0698403648206,0.999999966294,3.65489831607e-05,-0.000256254513317,2.02407850016e-05,1793239769716271616
+20,0.333333333,BASELINE,766,745.346371975,715,680,664,635,879.346371975,787.653628025,803.346371975,652.346371975,632,653,0.400985348414,0.00449528393399,0.0698403273543,0.999999966225,3.70647095888e-05,-0.000256422386866,2.05804519401e-05,1793239769732938496
+21,0.350000000,BASELINE,766,745,715,680,664,635,879,787.764938544,803,652,631.764938544,653,0.400985839498,0.00449437784731,0.0698407865776,0.999999966338,3.62974909255e-05,-0.00025608683941,2.06404063661e-05,1793239769749604864
+22,0.366666667,BASELINE,766,745,715,680,664,635,879,787.174536274,803,652,631.174536274,653,0.400987171816,0.0044938110132,0.0698419966429,0.99999996672,3.35908527959e-05,-0.000254990273809,2.02775212476e-05,1793239769766271488
+23,0.383333333,BASELINE,766,745.40742071,715,680,664,635,879,787,803,652.40742071,631.40742071,653,0.400987701298,0.00449377774612,0.0698417870513,0.999999966782,3.37099787402e-05,-0.000254722650508,2.03820878345e-05,1793239769782938112
+24,0.400000000,BASELINE,766,745.985833311,715,680,664,635,879,787,803,652.985833311,631.985833311,653,0.400987893835,0.0044939684137,0.0698409816388,0.999999966711,3.50150597386e-05,-0.000254802928946,2.06828409106e-05,1793239769799604736
+25,0.416666667,BASELINE,766,745.440706278,715,680,664,635,879,787,803,653,632,652.440706278,0.400987102494,0.00449307131241,0.0698413439611,0.999999966664,3.42542945358e-05,-0.000255066222325,2.09622768813e-05,1793239769816271616
+26,0.433333333,BASELINE,766,745,715,680,664,635,879,787.136731807,803,652.863268193,632,652,0.400986570307,0.00449266309001,0.0698415794106,0.999999966656,3.37387692207e-05,-0.000255159580257,2.10494629943e-05,1793239769832938240
+27,0.450000000,BASELINE,766,745,715,680,664,635,879,787.727800327,803,652.272199673,632,652,0.400986981329,0.00449397007902,0.0698412958626,0.999999966776,3.42104824288e-05,-0.000254673003008,2.04996137849e-05,1793239769849604864
+28,0.466666667,BASELINE,766,745,715,680,664,635.312289698,879,787.687710302,803,652,631.687710302,652.312289698,0.400986747142,0.00449411603741,0.0698409803058,0.999999966603,3.47645201895e-05,-0.000255275059013,2.04813856782e-05,1793239769866271744
+29,0.483333333,BASELINE,766,745,715,680,664,635.891162799,879,787.108837201,803,652,631.108837201,652.891162799,0.400985962179,0.00449327089196,0.069840637425,0.99999996618,3.53888335653e-05,-0.000256806417426,2.09169713686e-05,1793239769882938368
+30,0.500000000,BASELINE,766,745,715,680,664,635.532737382,879,787,803.467262618,652.467262618,631,653,0.400987162465,0.00449395125097,0.069841470994,0.999999966475,3.73199741778e-05,-0.000255371416416,2.10187100667e-05,1793239769899604992
+31,0.516666667,BASELINE,766,745,714.957484089,680,664,635,879,787,803.957484089,653,631,653,0.400988669587,0.00449489131571,0.0698425086688,0.99999996691,3.92904815648e-05,-0.000253365757062,2.10303242968e-05,1793239769916271616
+32,0.533333333,BASELINE,766,745,714.384779293,680,664,635,879,787,803.384779293,653,631,653,0.400988270596,0.00449466507612,0.0698426945907,0.999999967105,3.79784133696e-05,-0.000252809211542,2.08820445051e-05,1793239769932938240
+33,0.550000000,BASELINE,765.805703822,745,714.194296178,680,664,635,878.805703822,787,803,653,631,653,0.400987634835,0.00449423035846,0.0698424062617,0.999999967042,3.70206577474e-05,-0.000253205585124,2.08169352846e-05,1793239769949604864
+34,0.566666667,BASELINE,765.213584408,745,714.786415592,680,664,635,878.213584408,787,803,653,631,653,0.400986514286,0.00449336878005,0.0698411468996,0.999999966451,3.67883605849e-05,-0.000255553069523,2.0922118603e-05,1793239769966271488
+35,0.583333333,BASELINE,765,745,715,680,664,635,878.369706687,787.369706687,803,652.630293313,631.369706687,652.630293313,0.400986045215,0.00449446611313,0.069840382128,0.999999966192,3.80632674014e-05,-0.000256389333741,2.07845718657e-05,1793239769982938112
+36,0.600000000,BASELINE,765,745,715,680,664,635,878.948016549,787.948016549,803,652.051983451,631.948016549,652.051983451,0.400985943733,0.00449666874169,0.0698398964238,0.999999966119,4.01885984583e-05,-0.000256372907816,2.05100672136e-05,1793239769999604736
+37,0.616666667,BASELINE,765.524017376,745,714.475982624,680,664,635,879,787.475982624,803,652,631.475982624,652.524017376,0.400985146949,0.00449423255591,0.0698405325079,0.999999966094,3.78303396894e-05,-0.000256797440349,2.09029782637e-05,1793239770016271360
+38,0.633333333,BASELINE,766,745,714.101758035,680,664,635,879,787,803.101758035,652,631,653,0.400984870458,0.00449221931927,0.0698412286325,0.999999966171,3.59992009604e-05,-0.000256735094754,2.12032826144e-05,1793239770032938496
+39,0.650000000,BASELINE,766,745,714.688885397,680,664,635,879,787,803.688885397,652,631,653,0.400987403239,0.00449440882818,0.0698416826654,0.999999966738,3.87945597521e-05,-0.000254142683859,2.07474483188e-05,1793239770049605120
+40,0.666666667,BASELINE,766,745,715,680,664.272953917,635,879,787,803.727046083,652.272953917,631,652.727046083,0.400987868389,0.00449469160272,0.0698419391477,0.999999966869,3.88815925103e-05,-0.000253625178292,2.06092341705e-05,1793239770066271488
+41,0.683333333,BASELINE,766,745,715,680,664.853574553,635,879,787,803.146425447,652.853574553,631,652.146425447,0.400986002956,0.00449282515459,0.0698419729557,0.999999966512,3.59158688307e-05,-0.000255446453427,2.08290334074e-05,1793239770082937856
+42,0.700000000,BASELINE,766,745,715,680,664.569285047,635,879,787,803,652.569285047,631.430714953,652.430714953,0.400986427501,0.00449335627008,0.0698412914218,0.99999996646,3.6162437689e-05,-0.000255645559006,2.04147939772e-05,1793239770099605504
+43,0.716666667,BASELINE,766,745.006607668,715,680,664,635,879,787,803,652,632,653,0.400987603156,0.0044946780573,0.069840387871,0.999999966513,3.7494475292e-05,-0.000255296641468,1.98030055618e-05,1793239770116273152
+44,0.733333333,BASELINE,766,745.576193973,715,680,664,635,879,787,803,652,632,653,0.400986976872,0.00449447742769,0.0698411219567,0.999999966549,3.90117410923e-05,-0.000254864896321,2.0577476333e-05,1793239770132939264
+45,0.750000000,BASELINE,766,745.846893527,715,680,663.846893527,635,879,787,803.153106473,652,631.846893527,652.846893527,0.400986822097,0.00449424657945,0.06984185351,0.999999966703,3.95006806603e-05,-0.000254149678266,2.10288961474e-05,1793239770149605376
+46,0.766666667,BASELINE,766,745.24868274,715,680,663.24868274,635,879,787,803.75131726,652,631.24868274,652.24868274,0.40098803807,0.00449392788095,0.0698425777011,0.999999967199,3.70001157638e-05,-0.000252610360486,2.05411564809e-05,1793239770166271744
+47,0.783333333,BASELINE,766,745,715,680,663.336068417,635,879,787,803.663931583,652.336068417,631,652.336068417,0.400987574963,0.00449435576176,0.0698423468878,0.999999967141,3.71912108786e-05,-0.000252813591369,2.04877623039e-05,1793239770182938624
+48,0.800000000,BASELINE,766,745,715,680,663.911243354,635,879,787,803.088756646,652.911243354,631,652.911243354,0.400985917223,0.00449531482003,0.0698414366063,0.99999996669,3.92973725142e-05,-0.000254256613535,2.07433969339e-05,1793239770199605248
+49,0.816666667,BASELINE,766,745.486271336,715,680,664,635,879,787,803,652.513728664,631,653,0.400986047871,0.00449463475271,0.069841175918,0.999999966651,3.83466729321e-05,-0.000254539441245,2.09331411135e-05,1793239770216272128
+50,0.833333333,BASELINE,766,746,715,680,664,635,879,787,803,652,631,653,0.400986482262,0.00449375787265,0.0698410672143,0.999999966688,3.70403990263e-05,-0.000254575543594,2.10456673735e-05,1793239770232938752
+51,0.850000000,BASELINE,766,746,715,680,664,635,879,787,803,652,631,653,0.400986727305,0.00449373852617,0.0698412389957,0.999999966748,3.74295243364e-05,-0.000254317985474,2.06115780444e-05,1793239770249605376
+52,0.866666667,BASELINE,766,745.762901606,714.762901606,679.762901606,664,635,879,787,803,652,631.237098394,653,0.400987523784,0.00449380880691,0.0698418949804,0.999999967009,3.71960289509e-05,-0.000253346544257,2.03612897582e-05,1793239770266272000
+53,0.883333333,BASELINE,766,745.183052078,714.183052078,679.183052078,664,635,879,787,803,652,631.816947922,653,0.400989117423,0.00449400865343,0.0698432509329,0.999999967555,3.60624686116e-05,-0.000251343108548,2.03767056005e-05,1793239770282938880
+54,0.900000000,BASELINE,766,745.394393329,714.394393329,679.394393329,664,635.394393329,879,787,803,652.394393329,631.605606671,653,0.400987988227,0.00449397132571,0.0698429090987,0.999999967268,3.70131940519e-05,-0.000252343588883,2.0423169214e-05,1793239770299605248
+55,0.916666667,BASELINE,766,745.970729643,714.970729643,679.970729643,664,635.970729643,879,787,803,652.970729643,631.029270357,653,0.400985602922,0.00449382458389,0.0698417840352,0.999999966589,3.89254499247e-05,-0.000254729846901,2.04839558995e-05,1793239770316271872
+56,0.933333333,BASELINE,766,745.456336573,715,680,664,635.456336573,879.543663427,787,803,652.456336573,631,652.456336573,0.400986927183,0.0044937078293,0.0698424249759,0.999999966799,3.79417750365e-05,-0.000254048625547,2.05496498007e-05,1793239770332938496
+57,0.950000000,BASELINE,766.120514497,745,714.879485503,680,664,635,879.879485503,787.120514497,803,652.120514497,631,652.120514497,0.400988000796,0.00449364223546,0.0698428630972,0.999999966993,3.68516414538e-05,-0.000253441261129,2.05775026358e-05,1793239770349605120
+58,0.966666667,BASELINE,766.713434435,745,714.286565565,680,664,635,879.286565565,787.713434435,803,652.713434435,631,652.713434435,0.400987313878,0.0044937708977,0.0698421357988,0.999999966946,3.5951568408e-05,-0.00025376675658,2.0455992851e-05,1793239770366272000
+59,0.983333333,BASELINE,766.401103341,745.29944833,714.29944833,680,664,635.29944833,879.29944833,788,803.29944833,653,631,653,0.400986663453,0.00449388418778,0.0698414510625,0.999999966842,3.66979808351e-05,-0.000254076893093,2.03571478993e-05,1793239770382938624
+60,1.000000000,BASELINE,765.241995322,745.879002339,714.879002339,680,664,635.879002339,879.879002339,788,803.879002339,653,631,653,0.400986047162,0.00449398309866,0.0698408061388,0.999999966682,3.89845250853e-05,-0.000254372662807,2.02795037479e-05,1793239770399605248
+61,1.016666667,BASELINE,765.449835964,746,714.550164036,680,664,635.550164036,879.550164036,787.550164036,803.550164036,652.550164036,631,653,0.40098610155,0.00449354455915,0.0698411059058,0.999999966678,3.8807919347e-05,-0.000254389584408,2.05682531657e-05,1793239770416271872
+62,1.033333333,BASELINE,766,746,714.018610626,680,664,635,879.018610626,787,803,652,631,653,0.400986366267,0.00449299809369,0.0698416741902,0.999999966732,3.79610365568e-05,-0.000254277962597,2.09333215331e-05,1793239770432938240
+63,1.050000000,BASELINE,766,746,714.594636202,680,664,635,879.594636202,787,803,652,631,653,0.400987630118,0.00449346665696,0.0698428188945,0.999999967236,3.65051115459e-05,-0.000252520067952,2.06885781635e-05,1793239770449604864
+64,1.066666667,BASELINE,766,746,715,680,664,635,879.822848252,787,803.177151748,652.177151748,631.177151748,653,0.400988602457,0.0044939169858,0.0698436702643,0.999999967584,3.60317203832e-05,-0.000251220722627,2.05487429967e-05,1793239770466271488
+65,1.083333333,BASELINE,766,746,715,680,664,635,879.224917463,787,803.775082537,652.775082537,631.775082537,653,0.400988882384,0.00449432400334,0.0698438248921,0.999999967566,3.78920892292e-05,-0.000251010544998,2.06580906693e-05,1793239770482938368
+66,1.100000000,BASELINE,765.640662585,745.640662585,715,680,664,635.359337415,879,787,803.640662585,653,631.640662585,653,0.400988870698,0.00449493536534,0.0698434928628,0.99999996743,3.77448377873e-05,-0.000251590255326,2.04199212976e-05,1793239770499605248
+67,1.116666667,BASELINE,765.06465395,745.06465395,715,680,664,635.93534605,879,787,803.06465395,653,631.06465395,653,0.400988683176,0.00449566994177,0.0698428673918,0.999999967223,3.63870428803e-05,-0.000252646247783,1.99722080824e-05,1793239770516272128
+68,1.133333333,BASELINE,765.508484007,745,714.491515993,680,664,635.491515993,879,787,803.508484007,653,631.508484007,653,0.400987150485,0.00449577443047,0.0698420063558,0.999999966829,3.83177418702e-05,-0.000253903967865,2.01811675009e-05,1793239770532938496
+69,1.150000000,BASELINE,766,745,714.081856703,680,664,635.081856703,879.081856703,787,803.918143297,652.918143297,631.918143297,653,0.400985734467,0.00449579343617,0.0698412888471,0.999999966461,4.02955681222e-05,-0.000255023218129,2.04146807326e-05,1793239770549604864
+70,1.166666667,BASELINE,766,745,714.658844501,680,664,635.658844501,879.658844501,787,803.341155499,652.341155499,631.341155499,653,0.400986052932,0.00449577725719,0.0698416196562,0.999999966441,4.00434672562e-05,-0.000255150619909,2.02945011311e-05,1793239770566271488
+71,1.183333333,BASELINE,766,745,715,680,664,635.757598678,879.757598678,787,803,652,631,652.757598678,0.400986405882,0.00449540465079,0.0698418419628,0.999999966542,3.96096303724e-05,-0.000254823006641,2.03197650956e-05,1793239770582938112
+72,1.200000000,BASELINE,766,745,715,680,664,635.164539006,879.164539006,787,803,652,631,652.164539006,0.400986808719,0.00449451643562,0.0698419073091,0.999999966815,3.89128936806e-05,-0.000253837167508,2.05554280633e-05,1793239770599605248
+73,1.216666667,BASELINE,765.585112627,745.414887373,715,679.585112627,664,635,879,787,803,652,631,652,0.400986888123,0.00449376886735,0.0698422977877,0.999999967035,3.7215830529e-05,-0.000253229711102,2.04861736763e-05,1793239770616271872
+74,1.233333333,BASELINE,765.010921055,745.989078945,715,679.010921055,664,635,879,787,803,652,631,652,0.400986843337,0.0044930753033,0.0698428131071,0.999999967231,3.51346723248e-05,-0.000252767542275,2.02998402367e-05,1793239770632938240
+75,1.250000000,BASELINE,765.562810512,745.437189488,715,679.562810512,664.562810512,635,879,787,803,652.562810512,631,652.562810512,0.400986399828,0.00449332607385,0.0698420787751,0.999999966997,3.61905266654e-05,-0.000253547531178,2.02641436823e-05,1793239770649605120
+76,1.266666667,BASELINE,766,745.141489603,715,680,664.858510397,635,879,787,803.141489603,653,631,653,0.400985893681,0.00449353826795,0.0698414228078,0.999999966779,3.6912551759e-05,-0.000254299357598,2.02887013029e-05,1793239770666271744
+77,1.283333333,BASELINE,766,745.736039568,715,680,664.263960432,635,879,787,803.736039568,653,631,653,0.400985211719,0.00449356830939,0.0698410953538,0.999999966646,3.63708723756e-05,-0.000254883887565,2.04968452024e-05,1793239770682938624
+78,1.300000000,BASELINE,766,746,715,680,664,635,879.323667387,787,804,652.676332613,631,653,0.400984982352,0.00449374638226,0.0698409818778,0.99999996663,3.61908496867e-05,-0.000254964145663,2.0571706095e-05,1793239770699605248
+79,1.316666667,BASELINE,766,746,715,680,664,635,879.905768166,787,804,652.094231834,631,653,0.40098511436,0.00449404265136,0.0698410392533,0.999999966709,3.62995931148e-05,-0.000254641766042,2.05401466806e-05,1793239770716271872
+80,1.333333333,BASELINE,766,745.519682208,715,680,664,635,879.519682208,787.480317792,804,652,631.480317792,652.519682208,0.400985481802,0.00449425315567,0.0698417335823,0.999999966906,3.49629133291e-05,-0.000254085248379,2.01420456639e-05,1793239770732938240
+81,1.350000000,BASELINE,766,745,715,679.946538278,664,635,879,787.946538278,804,652,631.946538278,652,0.400985952081,0.00449436416032,0.0698424659053,0.999999967096,3.37655795774e-05,-0.000253529055415,1.97727761564e-05,1793239770749604864
+82,1.366666667,BASELINE,766,745,715,679.372880915,664,635,879,787.372880915,804,652,631.372880915,652,0.400986980518,0.00449366819484,0.0698423708308,0.999999967011,3.66406402317e-05,-0.000253416060298,2.03729213505e-05,1793239770766271744
+83,1.383333333,BASELINE,766,745,715,679.207542682,664,635.207542682,879,787,803.792457318,652.207542682,631.207542682,652.207542682,0.400987756385,0.00449335415756,0.0698423556664,0.999999966993,3.82347403768e-05,-0.0002532298463,2.06489467237e-05,1793239770782938368
+84,1.400000000,BASELINE,766,745,715,679.800532595,664,635.800532595,879,787,803.199467405,652.800532595,631.800532595,652.800532595,0.40098806318,0.00449374943531,0.0698424889106,0.999999967111,3.74498475666e-05,-0.000252907650545,2.03230184898e-05,1793239770799605248
+85,1.416666667,BASELINE,766,745.383354146,715,680,664,635.616645854,879,787,803,653,632,652.616645854,0.400987643692,0.00449353062407,0.0698429106751,0.99999996712,3.70660885445e-05,-0.00025292755643,2.03644126702e-05,1793239770816272128
+86,1.433333333,BASELINE,766,745.961021555,715,680,664,635.038978445,879,787,803,653,632,652.038978445,0.400986856069,0.00449300054545,0.0698434786837,0.999999967073,3.68856549191e-05,-0.000253120865667,2.05919940241e-05,1793239770832938752
+87,1.450000000,BASELINE,766,746,715,679.465048658,664,635,879.534951342,787,802.465048658,653,632,652.534951342,0.400986848836,0.00449524351498,0.0698426689242,0.999999966937,3.89250817485e-05,-0.000253366900404,2.04133021388e-05,1793239770849605120
+88,1.466666667,BASELINE,766,745.88801406,715,679.11198594,664,635,879.88801406,787,802.11198594,653,631.88801406,653,0.400986885293,0.00449696186824,0.0698419808235,0.99999996684,4.04425617441e-05,-0.000253525753824,2.02412301885e-05,1793239770866271744
+89,1.483333333,BASELINE,766,745.296527324,715,679.703472676,664,635,879.296527324,787,802.703472676,653,631.296527324,653,0.400986867037,0.00449557477092,0.0698422405038,0.999999966954,3.90374108722e-05,-0.00025329497922,2.02233758398e-05,1793239770882938624
+90,1.500000000,BASELINE,766,745,714.711050511,680,664,635,879.288949489,787,803.288949489,652.711050511,631.288949489,653,0.400987893767,0.0044948322392,0.0698432281045,0.999999967455,3.75733121413e-05,-0.000251536238291,2.02164997832e-05,1793239770899605248
+91,1.516666667,BASELINE,766,745,714.131615601,680,664,635,879.868384399,787,803.868384399,652.131615601,631.868384399,653,0.400989971038,0.0044947376994,0.0698449474949,0.999999968334,3.60499522945e-05,-0.000248241409038,2.02206603755e-05,1793239770916271872
+92,1.533333333,BASELINE,766,745.44310056,714.44310056,680,664,635,879.55689944,787,803.55689944,652,631.55689944,653,0.400988711684,0.00449442323651,0.0698439507442,0.999999967871,3.65032096334e-05,-0.000250037932176,2.01555640107e-05,1793239770932939008
+93,1.550000000,BASELINE,766,745.983581463,715,680,664.016418537,635,879,787,803,652.016418537,631,653,0.400986516374,0.00449407875505,0.0698421999032,0.999999967022,3.75551039076e-05,-0.000253264379404,2.00737453411e-05,1793239770949605632
+94,1.566666667,BASELINE,766,745.410648988,715,680,664.589351012,635,879,787,803,652.589351012,631,653,0.400985835818,0.00449490765338,0.0698419469955,0.99999996671,3.92070298241e-05,-0.000254238752462,2.01150537919e-05,1793239770966272256
+95,1.583333333,BASELINE,766.168122644,745.168122644,715,680.168122644,664.831877356,635,879,787,803,653,631,653,0.400985878558,0.00449537824963,0.0698421689088,0.999999966675,4.04143874803e-05,-0.000254188489427,2.01433421108e-05,1793239770982938880
+96,1.600000000,BASELINE,766.761670053,745.761670053,715,680.761670053,664.238329947,635,879,787,803,653,631,653,0.400987751559,0.00449494218311,0.0698435923296,0.99999996734,4.04967908558e-05,-0.000251545443393,2.01386837372e-05,1793239770999605248
+97,1.616666667,BASELINE,766.653555868,745.653555868,715,680.653555868,664,635,879,787.346444132,803,653,631,653,0.400988309833,0.00449427945267,0.0698437425381,0.999999967517,3.85395852714e-05,-0.000251134533882,2.02884378263e-05,1793239771016271616
+98,1.633333333,BASELINE,766.07466821,745.07466821,715,680.07466821,664,635,879,787.92533179,803,653,631,653,0.400987986005,0.00449346464416,0.0698430384965,0.999999967361,3.52139226789e-05,-0.000252221256143,2.05417935469e-05,1793239771032938240
+99,1.650000000,BASELINE,766,745.499698448,715,680,664,635,879,787.500301552,803.499698448,653,631,652.500301552,0.40098709293,0.004494292866,0.0698425512432,0.999999967191,3.5451031019e-05,-0.000252889427114,2.02200497178e-05,1793239771049605120
+100,1.666666667,BASELINE,766,745.924733892,715,680,664,635,879,787,803.924733892,652.924733892,631,652,0.400986430567,0.00449516038827,0.0698422395543,0.999999967072,3.61258119392e-05,-0.000253289518477,1.99034097394e-05,1793239771066271744
+101,1.683333333,BASELINE,766,745.336415931,715,680,664,635,879,787,803.336415931,652.336415931,631,652,0.400987915467,0.00449463727137,0.0698429057678,0.999999967317,3.61876082334e-05,-0.000252284743591,2.02020852465e-05,1793239771082938624
+102,1.700000000,BASELINE,766.2488554,745,715,680,664,635,879,787,803,652,631,652,0.400988712746,0.00449459883107,0.0698433557901,0.999999967455,3.66345271156e-05,-0.000251665144354,2.03143294164e-05,1793239771099605504
+103,1.716666667,BASELINE,766.830057903,745,715,680,664,635,879,787,803,652,631,652,0.400988591702,0.00449520767781,0.0698435170882,0.999999967449,3.75957783168e-05,-0.000251559948384,2.01775939755e-05,1793239771116272640
+104,1.733333333,BASELINE,766.59169108,745.40830892,715,679.59169108,664,635,879,787,803.40830892,652.40830892,631,652.40830892,0.400988220906,0.0044954130974,0.0698432612756,0.999999967442,3.85394997872e-05,-0.00025145273814,2.00478533932e-05,1793239771132939008
+105,1.750000000,BASELINE,766.014659634,745.985340366,715,679.014659634,664,635,879,787,803.985340366,652.985340366,631,652.985340366,0.400987746906,0.00449545181177,0.0698428331034,0.999999967435,3.9475977656e-05,-0.000251344695543,1.99210032336e-05,1793239771149605120
+106,1.766666667,BASELINE,766,746,715,679.559792907,664,635,879,787,804,653,631.559792907,653,0.400988045686,0.00449475859587,0.0698430075611,0.999999967519,3.85688405923e-05,-0.000251136030061,2.01161193109e-05,1793239771166271744
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,746,715,679,664,635,879,788,803,653,631,653,0.400984673499,0.00449475474525,0.0698410606314,0.999999966474,3.7597218053e-05,-0.000255385099709,2.04101509652e-05,1793239771208564224
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,746,714.394475084,679.605524916,664.605524916,635,879,787.394475084,803,653,631.605524916,652.394475084,0.400985342241,0.00449490750381,0.0698420232385,0.999999966755,3.7376521739e-05,-0.000254318820532,2.03633050953e-05,1793239771225230848
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745.798891233,714.201108767,680,664.798891233,635,879.201108767,787,803.201108767,653,631.798891233,652.201108767,0.400985939763,0.00449513189433,0.0698425769193,0.999999966961,3.73071588629e-05,-0.0002535280857,2.02335834073e-05,1793239771241897472
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745.221888214,714.778111786,680,664.221888214,635,879.778111786,787,803.778111786,653,631.221888214,652.778111786,0.400986404166,0.00449549017286,0.0698423662726,0.999999967029,3.75206546745e-05,-0.000253252373165,1.99489577545e-05,1793239771258564096
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.640523711,745.359476289,715,680,664,635.359476289,879.640523711,787,803.640523711,652.640523711,631,653,0.400986530327,0.00449530387506,0.069842252061,0.999999966948,3.81173854065e-05,-0.000253481653854,1.9933814179e-05,1793239771275231232
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.056434034,745.943565966,715,680,664,635.943565966,879.056434034,787,803.056434034,652.056434034,631,653,0.400986445142,0.00449477730686,0.0698421981055,0.999999966775,3.89535747396e-05,-0.000254026472031,2.00870524702e-05,1793239771291898368
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.523540896,745.476459104,715,679.476459104,664,635.476459104,879.523540896,787.523540896,803,652.523540896,631.523540896,653,0.400987769864,0.00449450982741,0.0698436473563,0.999999967382,3.85217322317e-05,-0.000251687676282,2.01551865247e-05,1793239771308564480
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.102570217,715,679.102570217,664,635,880,788,803.102570217,653,632,652.897429783,0.400988635,0.00449446447187,0.0698447108503,0.999999967816,3.78520943059e-05,-0.000250053019819,2.02016710276e-05,1793239771325230592
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.679262763,715,679.679262763,664,635,880,788,803.679262763,653,632,652.320737237,0.400986678705,0.00449531777779,0.0698432480623,0.999999967093,3.67101545652e-05,-0.000253098785894,2.01901559824e-05,1793239771341897216
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.745439706,746,714.745439706,680,664,635,879.745439706,787.745439706,803.745439706,652.745439706,632,652.254560294,0.400989005668,0.00449571115554,0.0698441785554,0.999999967362,3.69920906295e-05,-0.000251987497084,2.02543712369e-05,1793239771358564096
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.171890308,746,714.171890308,680,664,635,879.171890308,787.171890308,803.171890308,652.171890308,632,652.828109692,0.400996699974,0.00449552819798,0.0698481080656,0.999999968853,3.90582833103e-05,-0.000245667009105,2.04134840113e-05,1793239771375230976
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.415211609,746,714.415211609,680,664,635,879,787,803,652.415211609,631.584788391,653,0.401017493905,0.00449561660865,0.0698578134294,0.999999972596,3.84892352302e-05,-0.000230027044534,2.03654581932e-05,1793239771391897856
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635,879,787,803.007929277,653,631.007929277,653,0.401044210195,0.00449581220197,0.0698700470238,0.999999977013,3.68071054108e-05,-0.000210260315961,2.0227356057e-05,1793239771408564480
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664,635,879,787,803.587376919,653,631.587376919,653,0.401093728886,0.00449536273529,0.0698863492665,0.999999982853,3.6182465341e-05,-0.000180511986739,1.99860984611e-05,1793239771425231104
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,746,715,679.835229114,664,635,879,787,803.835229114,653,631.835229114,652.835229114,0.401147021458,0.00449481107866,0.0699014821282,0.999999987134,3.50325826529e-05,-0.000155297698841,1.96651435863e-05,1793239771441897728
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,715,679.262914575,664,635,879,787,803.262914575,653,631.262914575,652.262914575,0.401209648338,0.0044940066657,0.0699137226508,0.999999989303,3.25835669013e-05,-0.000141297884782,1.91470657639e-05,1793239771458564352
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.681059638,714.681059638,679,664,635,879,787,803.318940362,653,631,652.318940362,0.401278377371,0.00449404704482,0.0699203622194,0.999999990547,3.16298757732e-05,-0.000132563975562,1.82300409526e-05,1793239771475231232
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.091097722,714.091097722,679,664,635,879,787,803.908902278,653,631,652.908902278,0.401352291741,0.00449480529131,0.069922242342,0.999999991115,3.19468461798e-05,-0.000128304802532,1.69740084935e-05,1793239771491897600
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714,679.490061891,664,635,879.490061891,787,803.509938109,652.509938109,631,652.509938109,0.401440011335,0.00449653970641,0.0699192702494,0.99999999054,3.04912456717e-05,-0.000133326119172,1.46129511709e-05,1793239771508564224
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.06921943,714.06921943,679.93078057,664,635,879.93078057,787,803.06921943,652,631.06921943,652.06921943,0.401533539777,0.00449810921337,0.0699159751804,0.999999989805,2.85015560259e-05,-0.000139399485244,1.2084951287e-05,1793239771525230848
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.645485844,714.645485844,679.354514156,664,635,879.354514156,787,803.645485844,652,631.645485844,652.645485844,0.401651152584,0.00449716495272,0.069916804849,0.999999989733,2.49706455005e-05,-0.000140765207186,9.81220803492e-06,1793239771541897728
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.77930977,715,679.22069023,664,635,879,787,804,652.22069023,632,653,0.401782515285,0.00449690035099,0.0699192768089,0.999999990193,2.12994329692e-05,-0.000138241153113,7.08738261051e-06,1793239771558564352
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.205803298,715,679.794196702,664,635,879,787,804,652.794196702,632,653,0.401935859855,0.00449772231625,0.0699243742908,0.999999991457,1.74039207392e-05,-0.000129498535624,3.6398161499e-06,1793239771575230976
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.380557287,714.619442713,680,664,635,879,787,803.619442713,652.619442713,632,653,0.402112226276,0.00449894161487,0.0699295474306,0.999999992801,1.44511618729e-05,-0.000119117589319,-1.34775803308e-07,1793239771591897344
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.974112369,714.025887631,680,664,635,879,787,803.025887631,652.025887631,632,653,0.402301478035,0.0045003833009,0.0699347629165,0.999999994107,1.20260614043e-05,-0.000107819670056,-4.09240414522e-06,1793239771608563968
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.448608341,714.551391659,679.448608341,664,635,879,787,803.551391659,652,631.448608341,653,0.402514073373,0.00450084916351,0.0699356966828,0.999999994434,6.46540833619e-06,-0.00010494275093,-8.76503686891e-06,1793239771625230848
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745,715,679.127657123,664,635.127657123,879,787,804,652.127657123,631,653,0.402735815449,0.00450190928068,0.069936935503,0.999999994759,1.49716146722e-06,-0.000101467358928,-1.36035789609e-05,1793239771641897472
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745,715,679.702970346,664,635.702970346,879,787,804,652.702970346,631,653,0.402985899449,0.00450520932638,0.0699399287825,0.999999995351,-8.92260307786e-07,-9.45466265405e-05,-1.89095756513e-05,1793239771658564864
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,745.279410877,715,680,664.279410877,635.720589123,879.279410877,787,804,652.720589123,631,653,0.40325946905,0.00450709082189,0.0699449848274,0.999999996135,-4.54191769599e-06,-8.4410194082e-05,-2.41908918655e-05,1793239771675231488
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,745.857054621,715,680,664.857054621,635.142945379,879.857054621,787,804,652.142945379,631,653,0.403558106299,0.00450745820906,0.0699522425917,0.999999997012,-9.53670396679e-06,-7.08414423426e-05,-2.94458647284e-05,1793239771691897856
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,746,715,680,664.55681023,635,879.55681023,787,804,652,631,653,0.403884247947,0.004507509185,0.0699596326421,0.999999997587,-1.63239975026e-05,-5.81022473655e-05,-3.44124930153e-05,1793239771708564480
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.968395351,715,680,664,635,879.031604649,787,803.968395351,652.031604649,631,653,0.404221133729,0.00450734822453,0.0699667842176,0.99999999793,-2.20879366317e-05,-4.63587326621e-05,-3.87645724273e-05,1793239771725230848
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745.388866587,715,680,664,635,879.611133413,787,803.388866587,652.611133413,631,653,0.404587485953,0.00450531682325,0.0699690472345,0.999999998307,1.08929646826e-07,-4.71478357764e-05,-3.41061842937e-05,1793239771741897472
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.188784191,635,879.811215809,787,803,653,631,652.811215809,0.404966372052,0.00450060345601,0.0699716554768,0.999999998363,2.04341752219e-05,-4.48911738743e-05,-2.90192550895e-05,1793239771758564096
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664.762604634,635,879.237395366,787,803,653,631,652.237395366,0.405370821669,0.00449042006464,0.0699749678259,0.999999998388,3.6942139633e-05,-3.64224983671e-05,-2.30582922302e-05,1793239771775230976
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664.666183441,635,879,787,803.333816559,652.666183441,631,652.333816559,0.405790187408,0.00448852528636,0.0699727808942,0.999999997956,4.61109732261e-05,-3.78262073062e-05,-2.30416639813e-05,1793239771791897600
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664.096812137,635,879,787,803.903187863,652.096812137,631,652.903187863,0.406220078621,0.00449247929465,0.0699667134432,0.999999997307,5.01010148072e-05,-4.61962774348e-05,-2.72196030413e-05,1793239771808563968
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.502868391,745.497131609,715,679.502868391,664,635,879,787,803.502868391,652,631.497131609,653,0.406683272561,0.00450107431714,0.0699515273005,0.999999996354,3.42003479043e-05,-7.27439417715e-05,-2.8819829296e-05,1793239771825230592
+145,2.416666667,POSE1_TO_POSE2_PRESS,765,746,715,679.092291862,664.092291862,635,879,787,803.092291862,652.092291862,632,653,0.407164067275,0.00450930886882,0.0699369843602,0.999999994752,1.2545941188e-05,-9.71183665855e-05,-3.00999489303e-05,1793239771841897472
+146,2.433333333,POSE1_TO_POSE2_PRESS,765,746,715,679.667477736,664.667477736,635,879,787,803.667477736,652.667477736,632,653,0.407701255965,0.00451068255896,0.0699355813092,0.999999995205,-1.78922417196e-05,-9.06369612948e-05,-3.24682912301e-05,1793239771858564352
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.241912064,745.758087936,715,680,665,635,879,787.241912064,803.758087936,653,631.758087936,653,0.408259969151,0.00451537979952,0.0699412648452,0.999999996407,-2.13725371557e-05,-7.44685544938e-05,-3.44086279212e-05,1793239771875231488
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.815316512,745.184683488,715,680,665,635,879,787.815316512,803.184683488,653,631.184683488,653,0.408848177346,0.00452463130503,0.0699566591396,0.999999998274,1.20875939478e-05,-4.50260385725e-05,-3.57624678712e-05,1793239771891898112
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.402238476,715,680,665,635,879,787.597761524,803,652.597761524,631,653,0.409451458226,0.00453219300044,0.0699612332805,0.999999998048,3.75967641183e-05,-3.35361769204e-05,-3.69450565391e-05,1793239771908564992
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.995582671,715,680,665,635,879,787.004417329,803,652.004417329,631,653,0.410061900207,0.00453895185749,0.0699606667064,0.999999997049,5.9328387947e-05,-3.0575721167e-05,-3.80462827475e-05,1793239771925231616
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.424523476,746,715,680,664.424523476,635,879,787,803.575476524,652,631,653,0.410686353245,0.00454500322092,0.0699520211128,0.999999996691,5.31523288592e-05,-4.73430725599e-05,-3.93908722149e-05,1793239771941898240
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.154024763,745.845975237,715,680,664.154024763,635,879.154024763,787.154024763,804,652,631,653,0.411330220775,0.00455205625441,0.0699499138308,0.999999996372,5.38331169221e-05,-5.21524841271e-05,-4.04767771927e-05,1793239771958565120
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.729169689,745.270830311,715,680,664.729169689,635,879.729169689,787.729169689,804,652,631,653,0.412026882166,0.00456186246889,0.0699658486739,0.999999996155,7.38335772792e-05,-2.3863038333e-05,-4.08504201211e-05,1793239771975231488
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745.304923308,715,680,665,635,879.695076692,788,803.695076692,652,631,653,0.412748060441,0.00456929155476,0.0699902517687,0.999999995034,8.93358564391e-05,1.50941627437e-05,-4.15037029346e-05,1793239771991898112
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745.881218708,715,680,665,635,879.118781292,788,803.118781292,652,631,653,0.413491058045,0.00457460507251,0.0700221913414,0.999999991998,0.000100834898864,6.35453315791e-05,-4.24058563917e-05,1793239772008564992
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.530253247,745.530253247,715,680,664.530253247,635,879.469746753,787.530253247,803.469746753,652.469746753,631,653,0.414229772232,0.00458181281865,0.0700251587021,0.999999991514,0.00010419134723,6.55774681957e-05,-4.26142467489e-05,1793239772025231360
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.059947418,745.059947418,715,680,664.059947418,635,880,787,804,652.940052582,631,653,0.414962860772,0.00458964228081,0.0700148865096,0.999999992348,0.000106604131331,4.58519105541e-05,-4.28641034897e-05,1793239772041897728
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.637176913,745.637176913,715,680,664.637176913,635,880,787,804,652.362823087,631,653,0.415657002452,0.00459859290709,0.069955276734,0.999999990232,0.000119115717359,-5.7628078252e-05,-4.50259875732e-05,1793239772058564352
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.786863822,746,715,680,664.786863822,635,880,787,804,652.213136178,631,652.786863822,0.416395656322,0.00460602582778,0.0699200064097,0.999999983536,0.000129425526413,-0.000118174790584,-4.70337248066e-05,1793239772075230720
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.213054101,746,715,680,664.213054101,635,880,787,804,652.786945899,631,652.213054101,0.417209634619,0.00461089045447,0.0699259238224,0.999999983936,0.000136009442999,-0.000106068900391,-4.87806120261e-05,1793239772091897600
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,746,715,680.360021596,664.720043193,635.360021596,880,787,804,653,631,652,0.418029537182,0.00461549427791,0.0699470406749,0.999999986849,0.000137151006462,-7.14411180722e-05,-4.88712121313e-05,1793239772108564480
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,746,715,680.932663775,665.86532755,635.932663775,880,787,804,653,631,652,0.418852938453,0.00461994407669,0.0699771339713,0.999999989449,0.000135078439237,-2.3512417818e-05,-4.79836465158e-05,1793239772125231360
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.525012016,746,715,680.474987984,665.474987984,635.474987984,880,787,804,652.474987984,631,652.525012016,0.41972257878,0.00462334952826,0.0699982602201,0.999999988465,0.000143745629463,4.19317990793e-06,-4.88837196894e-05,1793239772141897728
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.883816184,746,715,680,665,635.116183816,880,787,804,652,631,653,0.420595050251,0.00462311298102,0.0700163027636,0.999999987426,0.000147943007146,2.7519871503e-05,-5.00354678942e-05,1793239772158564352
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.307697203,746,715,680,665,635.692302797,880,787,804,652,631,653,0.421454336706,0.00460900982784,0.0700268682492,0.999999989419,0.000128780280614,4.4180093235e-05,-5.1240488997e-05,1793239772175230976
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.266257955,745.733742045,715,680.266257955,665,635.733742045,880,787,804,652,631,653,0.422286143824,0.00459165854781,0.0700149783876,0.999999992867,0.000104963499693,2.38910014508e-05,-5.17517671664e-05,1793239772191897856
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.837732752,745.162267248,715,680.837732752,665,635.162267248,880,787,804,652,631,653,0.423086450937,0.00457058387291,0.0699773475119,0.999999995051,7.58116799368e-05,-3.87538286726e-05,-5.14677938776e-05,1793239772208564480
+168,2.800000000,POSE1_TO_POSE2_PRESS,766.42611799,745.42611799,715.42611799,680.57388201,664.57388201,635,880,787.42611799,804.42611799,652,631,653,0.423874361611,0.00457338188219,0.0699156145028,0.999999986571,7.90496715401e-05,-0.000133036835923,-5.394584969e-05,1793239772225231104
+169,2.816666667,POSE1_TO_POSE2_PRESS,766.979451665,746,715.979451665,680,664.020548335,635,880,788,804.979451665,652,631,653,0.424663251965,0.00458543808611,0.0698484345279,0.99999996665,9.4589015482e-05,-0.000233355728246,-5.74213315213e-05,1793239772241897728
+170,2.833333333,POSE1_TO_POSE2_PRESS,766.402894185,746,715.402894185,680,664.597105815,635,880,788,804.402894185,652,631,653,0.425611663991,0.00459185842144,0.0698924787806,0.999999981341,9.54488368808e-05,-0.000157525405185,-5.8249700425e-05,1793239772258564352
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,879.82663516,788,804,652,631,652.82663516,0.426547270164,0.00459711639464,0.0699386948931,0.999999989848,9.94864584184e-05,-8.40968849475e-05,-5.77384029971e-05,1793239772275231232
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,680,665,635,879.251068577,788,804,652,631,652.251068577,0.427453167046,0.00459967771875,0.0699899496587,0.999999992255,0.000110896491105,-1.62404882833e-05,-5.41191163261e-05,1793239772291898112
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.675167367,715,680,665,635,879.324832633,787.675167367,804,652,631,652.324832633,0.428355082332,0.00460436604649,0.0700236476885,0.999999990731,0.000119998507925,3.51611652423e-05,-5.38789064603e-05,1793239772308564736
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.099007278,715,680,665,635,879.900992722,787.099007278,804,652,631,652.900992722,0.429253916959,0.00461070006594,0.0700437618292,0.999999987588,0.000127314780899,7.38315555406e-05,-5.62531348256e-05,1793239772325231360
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680.492412147,665.492412147,635.492412147,880,787.492412147,804.492412147,652,631,653,0.430101911351,0.00460925822916,0.0700371382156,0.999999988683,0.000124860981258,6.22538681286e-05,-5.62894842319e-05,1793239772341897728
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.084042616,715,680.915957384,665.915957384,635.915957384,880,787.915957384,804.915957384,651.915957384,631.084042616,653,0.430927741332,0.00460696191358,0.0700156585579,0.99999999071,0.000121789902156,2.46454006292e-05,-5.60297046095e-05,1793239772358564352
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.658430723,715,680.341569277,665.341569277,635.341569277,880,787.341569277,804.341569277,651.341569277,631.658430723,653,0.431685801829,0.0046090938572,0.06993987111,0.999999984916,0.000126945280939,-0.000104007340854,-5.68724757648e-05,1793239772375230976
+178,2.966666667,POSE1_TO_POSE2_PRESS,766,746,715,680.232786407,665,635,880.232786407,787,804,651.232786407,631.767213593,652.767213593,0.432479036647,0.00460759354071,0.069897278591,0.999999975991,0.000123233382832,-0.000171631173664,-5.80970572389e-05,1793239772391897600
+179,2.983333333,POSE1_TO_POSE2_PRESS,766,746,715,680.807094611,665,635,880.807094611,787,804,651.807094611,631.192905389,652.192905389,0.433323875952,0.00460076432232,0.0699033864636,0.999999981327,0.000106512273251,-0.000149719290729,-5.98817952395e-05,1793239772408564224
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.607546675,714.607546675,681,665.392453325,635,880.607546675,787.392453325,804.392453325,652,631,652,0.434187718127,0.00458976963188,0.0699505646298,0.999999991853,9.09396007686e-05,-6.70995647431e-05,-5.93475598754e-05,1793239772425231104
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.016598885,714.016598885,681,665.983401115,635,880.016598885,787.983401115,804.983401115,652,631,652,0.435061171496,0.00457666813551,0.0700185152684,0.999999994386,7.59477831503e-05,4.62248843195e-05,-5.76404368326e-05,1793239772441897728
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.436703019,745.563296981,714,681,665.436703019,635,880.563296981,787.436703019,805,652,631,652,0.435864072197,0.00457723566799,0.0700273306166,0.999999993124,8.27157788864e-05,6.01322731675e-05,-5.73982606865e-05,1793239772458564352
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.141058388,745.858941612,714.141058388,681,665,635.141058388,880.858941612,787.141058388,804.858941612,652,631.141058388,652,0.436655764825,0.00457938501775,0.0700279248674,0.99999999232,8.99928543518e-05,6.28705372603e-05,-5.75235476742e-05,1793239772475230720
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.713271915,745.286728085,714.713271915,681,665,635.713271915,880.286728085,787.713271915,804.286728085,652,631.713271915,652,0.437419431469,0.00458516183864,0.0700086145157,0.999999992775,9.69037932597e-05,4.02516712637e-05,-5.86426046654e-05,1793239772491897344
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.712512887,745,715,681,665,635.712512887,880,787.712512887,804,652,632,652,0.438139481108,0.00458965155814,0.0699747047864,0.999999993301,9.88831280443e-05,-6.29292906024e-06,-5.98346336406e-05,1793239772508564224
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.136287342,745,715,681,665,635.136287342,880,787.136287342,804,652,632,652,0.438815723849,0.00459284857363,0.0699261321353,0.99999999058,9.59093925991e-05,-7.68674018099e-05,-6.10999519534e-05,1793239772525230848
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.453816349,714.546183651,681,664.546183651,635,880,787,804,652,631.546183651,652,0.43943427415,0.0046002794302,0.0698698715187,0.999999978466,0.00010020641657,-0.000171130062558,-6.11627509208e-05,1793239772541897216
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.95317896,714,681,663.95317896,635,880.04682104,787,804.04682104,652,631,652.04682104,0.440040833619,0.00460863921415,0.0698156452148,0.999999957425,0.000107350648803,-0.000264420617869,-6.08880409178e-05,1793239772558564096
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,745.376013151,714,681,663.376013151,635,880.623986849,787,804.623986849,652,631,652.623986849,0.440714013362,0.00461266453733,0.0698114386769,0.999999956053,0.000121232425022,-0.000263578587666,-6.10099700478e-05,1793239772575230976
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.20053387,745,714,681,663,635,880.79946613,787,804.79946613,652,631,652.79946613,0.441392696335,0.00461846282803,0.0698237751055,0.999999959855,0.000134063073181,-0.000242072976279,-6.09730707843e-05,1793239772591897600
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.775924296,745,714,681,663,635,880.224075704,787,804.224075704,652,631,652.224075704,0.442081666573,0.00462757531516,0.0698670351841,0.999999971108,0.000144928857136,-0.000181941076983,-6.0639274606e-05,1793239772608564224
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.357910072,714,681.357910072,662.642089928,634.642089928,880,787,804,652,631,652.357910072,0.442680679853,0.00463359272014,0.0698734311068,0.99999996949,0.000156686982296,-0.000181550472012,-5.92316276166e-05,1793239772625230848
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.944102462,714,681.944102462,662.055897538,634.055897538,880,787,804,652,631,652.944102462,0.443222316716,0.00463763601825,0.069856314319,0.999999960046,0.00016901426021,-0.000219264082493,-5.71390567977e-05,1793239772641897472
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.474829849,745.474829849,714,682,661.474829849,634,880,787,804.525170151,652,631,652.474829849,0.443730048262,0.00464338752515,0.0698165517618,0.999999941216,0.000186683065176,-0.000282190550968,-5.55598521524e-05,1793239772658564096
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.104213918,745,714,682,660.895786082,634,880,787,804.895786082,652,631.104213918,652.104213918,0.444230419985,0.00464984519941,0.0697759685943,0.999999918447,0.00020354576027,-0.000344504059968,-5.46928026027e-05,1793239772675230976
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.676592222,745,714,682,660.323407778,634,880,787,804.323407778,652,631.676592222,652.676592222,0.444713784066,0.00465866632871,0.0697424224285,0.999999898554,0.000214257762143,-0.000392124892587,-5.67819025339e-05,1793239772691897344
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.747325156,745.252674844,714,682,660,633.747325156,880,787,804,652,631.747325156,652.747325156,0.445197684823,0.00466562913735,0.0697192824721,0.999999884075,0.000222457636218,-0.00042298603945,-5.86890809269e-05,1793239772708564224
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.166430742,745.833569258,714,682,660,633.166430742,880,787,804,652,631.166430742,652.166430742,0.445682282674,0.00467017802395,0.0697096599761,0.999999878979,0.000227394306202,-0.000432076686973,-6.03599468516e-05,1793239772725230848
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.420633425,745.579366575,714,681.579366575,659.579366575,633,880.420633425,787,804.420633425,652,631,652.420633425,0.446121322846,0.00467282897282,0.0697078767149,0.999999874897,0.000235354617234,-0.000437373830594,-5.93150685177e-05,1793239772741897216
+200,3.333333333,POSE1_TO_POSE2_PRESS,766,745.009988329,714,681.009988329,659,633,880.990011671,787,804.990011671,652,631,653,0.446541074218,0.00467479137778,0.06970900048,0.999999870949,0.000244621230756,-0.000441580888856,-5.7175435211e-05,1793239772758564096
+201,3.350000000,POSE1_TO_POSE2_PRESS,766,745.588705849,714,681.588705849,659,633,880.411294151,787,804.411294151,652,631,653,0.446904180248,0.00468094371772,0.0696964091066,0.999999854259,0.000259134115437,-0.000470455335671,-5.47950066765e-05,1793239772775230720
+202,3.366666667,POSE1_TO_POSE2_PRESS,766,746,714,682,658.833479466,633,880.166520534,786.833479466,804,652,631,653,0.447257879944,0.00468916135252,0.0696811690734,0.999999836536,0.000270475916721,-0.000500767734704,-5.479094261e-05,1793239772791897600
+203,3.383333333,POSE1_TO_POSE2_PRESS,766,746,714,682,658.257882575,633,880.742117425,786.257882575,804,652,631,653,0.447588472,0.00470245261693,0.0696594223084,0.999999817711,0.000274027599576,-0.000534612631193,-6.06246838069e-05,1793239772808564224
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.683083342,745.683083342,714,682,658,632.683083342,880.683083342,786,804,652,631,653,0.447914639984,0.0047245626781,0.0696504709364,0.999999808163,0.000280509859498,-0.000548107946047,-6.75751626685e-05,1793239772825230848
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.108931589,745.108931589,714,682,658,632.108931589,880.108931589,786,804,652,631,653,0.448237217014,0.00475383078454,0.0696519053379,0.999999806728,0.000289370811859,-0.000545085898982,-7.54320754904e-05,1793239772841897472
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.478225824,714,682.478225824,658,632,880,786,804,652,631,653,0.448527588675,0.00476285875063,0.0696591905119,0.999999820632,0.000264478471702,-0.000531754377096,-7.76127940554e-05,1793239772858564096
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.067202213,786,804,652,631,653,0.448805832931,0.00476620614406,0.0696672183299,0.999999834749,0.000237508412146,-0.000517755168098,-7.75951111914e-05,1793239772875230464
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,746,714,683,658,632,880.646827921,786,804,652,631,653,0.449049104704,0.00476237579377,0.0696704627866,0.999999831299,0.000254959393172,-0.000517071541013,-7.09488009391e-05,1793239772891897344
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.775595804,714,682.775595804,657.775595804,632,880.775595804,786,804,652,631,652.775595804,0.449276077583,0.00476333760524,0.0696697890146,0.999999824242,0.000277133696454,-0.000519980807323,-6.58229818196e-05,1793239772908564224
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.201215834,714,682.201215834,657.201215834,632,880.201215834,786,804,652,631,652.201215834,0.449477631048,0.00477177316556,0.0696630044605,0.999999811334,0.000306674385986,-0.000528493469912,-6.30684873355e-05,1793239772925230848
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.382701788,745.382701788,714,682,657,632,880,786,804.382701788,652,631,652.382701788,0.449660159953,0.00477444328773,0.0696582996488,0.999999805444,0.00031655464198,-0.000533823452581,-6.27511876672e-05,1793239772941897216
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.971762312,745.971762312,714,682,657,632,880,786,804.971762312,652,631,652.971762312,0.449832430538,0.00477400459707,0.0696547162659,0.999999803673,0.000315833690293,-0.000537437285867,-6.37480609882e-05,1793239772958563840
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.448474849,745.448474849,714,682,657,631.448474849,880,786,805,652,631,653,0.449966767316,0.00477458202382,0.0696464706761,0.999999796494,0.000315252667811,-0.000550770581312,-6.54187962303e-05,1793239772975230720
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.130082878,745.130082878,714,682,657,631.130082878,880.130082878,786,804.869917122,652,631,653,0.450092149953,0.00477621964986,0.0696376482969,0.999999787793,0.00031636447039,-0.000565550019257,-6.69429456799e-05,1793239772991897344
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.706114288,745.706114288,714,682,657,631.706114288,880.706114288,786,804.293885712,652,631,653,0.450193383935,0.00478131644547,0.0696276533207,0.999999775151,0.0003232554418,-0.000583609424653,-6.78482561175e-05,1793239773008563968
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.718374568,745.718374568,714,682,657,632,880.718374568,786,804,652,631,652.718374568,0.45028640436,0.00478255654365,0.069619759119,0.999999766212,0.000324885343053,-0.000597803951367,-6.82290700638e-05,1793239773025230848
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.143405373,745.143405373,714,682,657,632,880.143405373,786,804,652,631,652.143405373,0.450370869459,0.00477977946829,0.0696140531048,0.999999761336,0.00032103526257,-0.000607972782228,-6.80635633686e-05,1793239773041897472
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,714,682,656.555180718,631.555180718,880.444819282,786,804.444819282,652,631,652.444819282,0.45044329168,0.00478169016841,0.0696107737509,0.999999756738,0.000323525749697,-0.000614093142234,-6.88805919845e-05,1793239773058564096
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,714,682,656,631,880.963597319,786,805,652,631,653,0.450510479901,0.0047849122105,0.0696082489674,0.999999752372,0.000327805306041,-0.000618795645871,-6.9944856325e-05,1793239773075230720
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,682,656,631,880.387520051,786,805,652,631,653,0.450559399951,0.00478448178362,0.0696049563873,0.99999975027,0.000327372648648,-0.000622422137736,-6.98341805567e-05,1793239773091897344
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.18825898,714,682,656,631,880.18825898,786,805,652,631,653,0.450603619203,0.0047843430932,0.0696020723623,0.99999974799,0.000327429324375,-0.000626053507872,-6.97584347545e-05,1793239773108563712
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.763425005,714,682,656,631,880.763425005,786,805,652,631,653,0.450638177441,0.00478480397525,0.0696000279938,0.999999745356,0.000328491670283,-0.000629694903319,-6.97544765117e-05,1793239773125230336
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631,880.654020735,786,805,652,631,653,0.450666745011,0.00478550106956,0.0695975449814,0.999999743378,0.000328810913149,-0.000632656183044,-6.98071377057e-05,1793239773141897216
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631,880.066304224,786,805,652,631,653,0.450691126877,0.00478636320647,0.0695947554862,0.999999741862,0.000328610946735,-0.000635142263273,-6.98993591513e-05,1793239773158563840
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,746,714,682.514566717,656,631.514566717,880,786,804.485433283,652,631,653,0.45070893804,0.0047866360338,0.0695949500238,0.999999741367,0.000330323595947,-0.000635047786701,-6.97596217241e-05,1793239773175230720
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,746,713.905871244,682.905871244,656,632,880,786,804.094128756,652,631,653,0.450723998477,0.00478684495352,0.0695949879671,0.999999740542,0.000332029755958,-0.000635480839867,-6.95485290018e-05,1793239773191897344
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,746,713.328559392,682.328559392,656,632,880,786,804.671440608,652,631,653,0.450729227897,0.00478711049582,0.0695922742406,0.999999737352,0.000332454139275,-0.000640306284222,-6.9122566196e-05,1793239773208563968
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,746,713.247320433,682,656,632,880.247320433,786,804.752679567,652,631,653,0.450734595805,0.00478770389035,0.0695906441926,0.999999735135,0.000333510000956,-0.000643233432308,-6.8936829255e-05,1793239773225230592
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,746,713.82130876,682,656,632,880.82130876,786,804.17869124,652,631,653,0.45074014663,0.00478873032145,0.0695904454983,0.999999734223,0.000335399937282,-0.000643653256167,-6.90683895265e-05,1793239773241897216
+230,3.833333333,POSE1_TO_POSE2_PRESS,765.407134226,745.592865774,714,682,656,632,881,786,804,652,631,652.592865774,0.45074287171,0.00478803993577,0.069589952042,0.999999734159,0.000333835353414,-0.000644581472878,-6.8924575383e-05,1793239773258563840
+231,3.850000000,POSE1_TO_POSE2_PRESS,765.998310572,745.001689428,714,682,656,632,881,786,804,652,631,652.001689428,0.450744319431,0.00478657347531,0.0695893253407,0.999999734469,0.000330709178309,-0.000645739504929,-6.86562801979e-05,1793239773275230720
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.844987428,745.577506286,714,682,656,631.422493714,881,786,804.577506286,652,631,652.577506286,0.450746330913,0.00478978435203,0.069589292165,0.999999733449,0.000335742821593,-0.000644742958165,-6.84515958291e-05,1793239773291897600
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.155300236,746,714,682,656,631.155300236,880.844699764,786,805,652,631,653,0.450747786087,0.00479149926278,0.0695889984117,0.999999732803,0.000338347903444,-0.000644398359297,-6.82985510223e-05,1793239773308564224
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.729406477,746,714,682,656,631.729406477,880.270593523,786,805,652,631,653,0.450747736681,0.00478914377614,0.0695879973584,0.999999733229,0.000334340695217,-0.000645828553594,-6.82842736426e-05,1793239773325230848
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631.695203989,880,786,805,652,631,653,0.450747658107,0.00478776773098,0.06958739509,0.999999732953,0.000333355418423,-0.00064678480763,-6.80987599374e-05,1793239773341897728
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631.118670283,880,786,805,652,631,653,0.450747553529,0.00478726489635,0.0695871483539,0.99999973206,0.00033506431254,-0.000647318525351,-6.77605822764e-05,1793239773358564352
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,746,713.532002253,682,656,631,880.467997747,786,805,652,631,653,0.450747838533,0.00478703450131,0.069586424149,0.999999731922,0.000333550451077,-0.000648337190803,-6.75201513105e-05,1793239773375230720
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,713,682,656,631,881,786,805,652,631,652.943704398,0.450748176529,0.0047871130421,0.0695856907593,0.999999731883,0.000331772546649,-0.000649326685877,-6.73536279772e-05,1793239773391897600
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,713,682,656,631,881,786,805,652,631,652.364662345,0.450748068989,0.00478940459982,0.069586021209,0.999999730978,0.000335299024074,-0.000648878187529,-6.76381443948e-05,1793239773408564224
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.787423844,713.212576156,682,655.787423844,631,881,786,804.787423844,652,631,652.212576156,0.450748309165,0.00479026388099,0.0695862992135,0.999999730667,0.00033686101706,-0.000648531096149,-6.78037005937e-05,1793239773425230848
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.213253241,713.786746759,682,655.213253241,631,881,786,804.213253241,652,631,652.786746759,0.45074914081,0.00478868684339,0.0695864880083,0.999999731381,0.000335081399563,-0.000648356499205,-6.77669040978e-05,1793239773441897472
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655.37053328,631.37053328,881,786,804,652,631,653,0.450750728873,0.00478869555888,0.0695873188493,0.999999732686,0.00033387429194,-0.000646965262154,-6.77676984686e-05,1793239773458564352
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,714,682,655.960001483,631.960001483,881,786,804,652,631,653,0.450752763876,0.00478964123947,0.0695885290525,0.999999734337,0.000333005460082,-0.000644855155783,-6.77907039454e-05,1793239773475230976
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,714,682,656,632,881,786,804.54023991,652,631,653,0.45075060312,0.00478985860173,0.0695865295982,0.999999731674,0.000334672571502,-0.000648131803163,-6.76065684817e-05,1793239773491897600
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655.881113988,631.881113988,880.881113988,786,804.881113988,652,631,653,0.450748818524,0.00478988294958,0.0695848134149,0.999999729413,0.000336290727002,-0.000650796062167,-6.74361609447e-05,1793239773508564224
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,714,682,655.30600026,631.30600026,880.30600026,786,804.30600026,652,631,653,0.450749649549,0.0047893700571,0.0695850809138,0.999999729948,0.000337012592984,-0.000649605468354,-6.73762998243e-05,1793239773525230848
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655,631,880.268316227,786,804.268316227,652,631,653,0.450749851065,0.00478851787017,0.0695849417331,0.9999997301,0.000336303556882,-0.000649757931346,-6.71874250457e-05,1793239773541897472
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655,631,880.841726273,786,804.841726273,652,631,653,0.450749336788,0.00478727988227,0.0695843401299,0.999999729813,0.00033396748778,-0.000651437541203,-6.68518529465e-05,1793239773558564096
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.430550785,714,682,655.430550785,631,880.569449215,786,805,652,631,653,0.450750116046,0.0047873338443,0.0695853568302,0.999999730313,0.000334113531707,-0.00065060427788,-6.67576702656e-05,1793239773575230976
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714,682,655.975486799,631,880,786,804.975486799,652,631,653,0.450751343064,0.00478783895657,0.0695868967674,0.999999731108,0.000335048261135,-0.00064889850303,-6.67586376877e-05,1793239773591897344
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,714,682,655.398187785,631,880,786,804.398187785,652,631,653,0.450751546095,0.00478741013899,0.0695863225238,0.999999731833,0.000332428169396,-0.00064912168874,-6.68299321005e-05,1793239773608564224
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.821835698,714,682,655.178164302,631,880.178164302,786,804,652,631,653,0.450752011031,0.00478714080272,0.0695861607319,0.999999732477,0.000330943200474,-0.000648882752524,-6.6889988263e-05,1793239773625230848
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.247588792,714,682,655.752411208,631,880.752411208,786,804,652,631,653,0.450753058213,0.00478722601435,0.0695869158741,0.999999732951,0.000331981758573,-0.000647616458669,-6.6925060318e-05,1793239773641897472
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745,714,682.334318022,656,631,881,786,804,652,631,653,0.450753120995,0.00478784434522,0.0695867965144,0.999999732441,0.000333343325477,-0.000647703826434,-6.69269922703e-05,1793239773658564352
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745,714,682.922030596,656,631,881,786,804,652,631,653,0.450752437656,0.00478886675096,0.0695860143306,0.999999731184,0.000334949715124,-0.000648817194818,-6.6903805858e-05,1793239773675230976
+256,4.266666667,POSE1_TO_POSE2_PRESS,765,745.503029752,714,683,656,631.503029752,881,786,804.503029752,652,631,653,0.450753744402,0.00478917008743,0.0695871133725,0.999999731849,0.000335641168479,-0.000647442628265,-6.68249885663e-05,1793239773691897600
+257,4.283333333,HOLD_POSE2,765,746,714,682,656,631,881,786,804,652,631,653,0.450753168401,0.00478709488553,0.0695863978475,0.999999732848,0.000331097307047,-0.000648287057748,-6.63486723081e-05,1793239773735066112
+258,4.300000000,HOLD_POSE2,765.573748224,745.426251776,714,682,655.426251776,631.573748224,880.426251776,786,804.573748224,652,631,653,0.450751449308,0.00478700660793,0.0695852687765,0.999999730437,0.000333487661033,-0.000650793606892,-6.61826403324e-05,1793239773751732736
+259,4.316666667,HOLD_POSE2,765.847616172,745,714,682.152383828,655,632,880.152383828,785.847616172,805,652,631,652.847616172,0.450750881048,0.0047872449926,0.0695848559955,0.999999729289,0.000335052134369,-0.000651750915683,-6.62072980784e-05,1793239773768399360
+260,4.333333333,HOLD_POSE2,765.25485633,745,714,682.74514367,655,632,880.74514367,785.25485633,805,652,631,652.25485633,0.450753638598,0.0047884274028,0.0695865132301,0.999999731813,0.000334229885004,-0.00064823105516,-6.67830325025e-05,1793239773785065728
+261,4.350000000,HOLD_POSE2,765,745,713.670737863,682.670737863,655,631.670737863,881,785.329262137,805,652,631.329262137,652,0.450754334195,0.00478867590961,0.0695864095984,0.999999731992,0.000334063986897,-0.000648045746729,-6.67377806762e-05,1793239773801732608
+262,4.366666667,HOLD_POSE2,765,745,713.093136999,682.093136999,655,631.093136999,881,785.906863001,805,652,631.906863001,652,0.450753474608,0.00478822004025,0.0695849778721,0.999999730404,0.000334393127347,-0.000650375451113,-6.62241635889e-05,1793239773818399232
+263,4.383333333,HOLD_POSE2,765,745.479193614,713.479193614,682,655.479193614,631,881,786,805,652,631.520806386,652.479193614,0.450752738223,0.00478818808094,0.0695845738785,0.999999729984,0.00033379470106,-0.000651305659264,-6.64314059444e-05,1793239773835066112
+264,4.400000000,HOLD_POSE2,765,745.949111794,713.949111794,682,655.949111794,631,881,786,805,652,631,653,0.450752112883,0.00478816208469,0.0695844174132,0.99999972982,0.000333072531601,-0.000651897319327,-6.67218667855e-05,1793239773851732992
+265,4.416666667,HOLD_POSE2,765,745.373528256,713.373528256,682,655.373528256,631,881,786,805,652,631,653,0.450752388295,0.00478735729087,0.0695847759603,0.999999729974,0.000332913115096,-0.000651772399739,-6.64414733514e-05,1793239773868399616
+266,4.433333333,HOLD_POSE2,765,745.208879344,713.208879344,682,655,631,880.791120656,786,805,652,631,653,0.450752034146,0.00478729030771,0.069584459229,0.999999729526,0.000333139823049,-0.000652343639499,-6.64378948037e-05,1793239773885066240
+267,4.450000000,HOLD_POSE2,765,745.803902138,713.803902138,682,655,631,880.196097862,786,805,652,631,653,0.450750516162,0.00478858727357,0.0695828941484,0.999999727964,0.000334080337501,-0.000654201829753,-6.69460483384e-05,1793239773901733120
+268,4.466666667,HOLD_POSE2,765,745.638005631,713.638005631,682,655.361994369,631,880,786,805,652,631,653,0.45075101191,0.0047885259677,0.0695828886126,0.999999728145,0.000334322087869,-0.000653822663837,-6.67468170929e-05,1793239773918400000
+269,4.483333333,HOLD_POSE2,765,745.098067155,713.098067155,682,655.901932845,631,880,786,805,652,631,653,0.45075249754,0.0047877969818,0.0695836496957,0.999999729181,0.000334220349687,-0.000652343689963,-6.61998596174e-05,1793239773935067392
+270,4.500000000,HOLD_POSE2,765,745.50374218,713.50374218,682,656,631,880.50374218,786,804.49625782,652,631,653,0.450753456963,0.00478827787511,0.0695850867672,0.999999729933,0.000335010091765,-0.000650801854081,-6.60182910628e-05,1793239773951733504
+271,4.516666667,HOLD_POSE2,765,745.885820607,714,682,655.885820607,631,881,786,804,652,631,653,0.450753992631,0.00478884774864,0.069586201981,0.99999973037,0.000335814265585,-0.000649720490292,-6.59718724786e-05,1793239773968399616
+272,4.533333333,HOLD_POSE2,765,745.296615498,714,682,655.296615498,631,881,786,804,652,631,653,0.450753251191,0.00478867069252,0.0695853539961,0.999999729764,0.000335855349877,-0.000650612891407,-6.6150349713e-05,1793239773985066240
+273,4.550000000,HOLD_POSE2,765,745,714,682,655.278564559,631,881,786,804,652,631,653,0.450753208947,0.00478872151131,0.069585492735,0.999999729603,0.000336422479031,-0.000650565296415,-6.61745615637e-05,1793239774001732864
+274,4.566666667,HOLD_POSE2,765,745,714,682,655.83952655,631,881,786,804,652,631,653,0.450753875519,0.00478900334043,0.0695866317743,0.999999729891,0.000337522891093,-0.000649564771506,-6.60423854254e-05,1793239774018399744
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,632,880,786,805,652,631,653,0.450751876925,0.00479101556389,0.0695836872405,0.99999972857,0.000334975667688,-0.000652856861327,-6.65584045585e-05,1793239774051249408
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.424817838,682.575182162,655.575182162,631.424817838,880,786,805,652,631,653,0.450753139157,0.00478918669696,0.0695848377078,0.999999729212,0.000335779919641,-0.00065150537012,-6.60977549916e-05,1793239774067915776
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,682.844769506,656,631,880.155230494,786,805,652,631,653,0.450754163523,0.00478827633598,0.0695856594032,0.999999729734,0.000336427798627,-0.000650386571894,-6.5915142993e-05,1793239774084582400
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,682.250972862,656,631,880.749027138,786,805,652,631,653,0.450754515854,0.00478996099063,0.0695855522338,0.999999729925,0.00033663388387,-0.000649925191001,-6.65180586748e-05,1793239774101248768
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.33315461,713.33315461,682.33315461,655.66684539,631,880.66684539,786,805,652,631,653,0.450754583533,0.00478983205294,0.0695855729268,0.999999730347,0.000335475567669,-0.000649888705834,-6.63891380179e-05,1793239774117915648
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.910203482,713.910203482,682.910203482,655.089796518,631,880.089796518,786,805,652,631,653,0.450754442824,0.00478837542898,0.0695856872248,0.999999730933,0.00033331840685,-0.00065016327636,-6.57244580129e-05,1793239774134582272
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,655,631,880,786,804.518108853,652,631,653,0.450754992081,0.00478901218997,0.0695856338032,0.999999730719,0.000334471250824,-0.000649878114942,-6.5946332078e-05,1793239774151248896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.054286938,746,714,682.945713062,655,631,880,786,804,652,631,653,0.450755500371,0.00478985772997,0.069585544094,0.99999973043,0.000335956255231,-0.00064952199311,-6.62978346178e-05,1793239774167915776
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.643392733,746,714,682.356607267,655,631,880,786,804,652,631,653,0.450754352387,0.00478895937785,0.0695854013993,0.999999730874,0.000334704006515,-0.000649483031974,-6.63167830887e-05,1793239774184582656
+284,4.733333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,655,631,880.230039602,786,804.230039602,652,631,653,0.450749041171,0.00478818006264,0.0695830857219,0.999999729243,0.000333383509712,-0.000652670433322,-6.62582886598e-05,1793239774201249280
+285,4.750000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,655,631,880.812914903,786,804.812914903,652,631,653,0.450737344373,0.00478758332682,0.0695774371146,0.999999724386,0.000331958333808,-0.000660806442861,-6.60810119838e-05,1793239774217915904
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765.608893323,745.608893323,714,682,655,631,880.608893323,785.608893323,804.608893323,652,631,652.608893323,0.450706247627,0.00478761061045,0.0695632673933,0.999999708421,0.00033253788773,-0.000684289228737,-6.57660329993e-05,1793239774234582784
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765.032915344,745.032915344,714,682,655,631,880.032915344,785.032915344,804.032915344,652,631,652.032915344,0.450665980764,0.00478793286034,0.0695450698459,0.999999686431,0.000334065052333,-0.000715026246712,-6.53859637649e-05,1793239774251249408
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.540434692,714,682,655,631,880.540434692,785.540434692,804,652.540434692,631,652.540434692,0.450604139709,0.0047884596387,0.0695266727711,0.999999664923,0.000334456511148,-0.000744307324435,-6.5570344106e-05,1793239774267915776
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765.117759237,745.882240763,714,682,655,631,881,786,804.117759237,652.882240763,631,653,0.450538521848,0.00478892393915,0.0695103043276,0.999999645467,0.000335090568048,-0.000769726744956,-6.55778916602e-05,1793239774284582656
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765.711803336,745.288196664,714,682,655,631,881,786,804.711803336,652.288196664,631,653,0.450462917209,0.00478908540505,0.0695021897216,0.999999637016,0.000336984240481,-0.000779884367849,-6.47318566929e-05,1793239774301249280
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765.703364672,745.296635328,714,682,655.296635328,631,880.703364672,786,805,652,631,653,0.450380934601,0.00478897508576,0.0694985539647,0.999999632944,0.000338220551226,-0.000784654818608,-6.35239923374e-05,1793239774317915904
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765.127213182,745.872786818,714,682,655.872786818,631,880.127213182,786,805,652,631,653,0.450292942109,0.0047886086663,0.0694991385777,0.999999633072,0.000338837437296,-0.000784348996597,-6.19751802405e-05,1793239774334582784
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.448645294,746,714,682.448645294,656,631,880,786,804.551354706,652,631,653,0.450191578764,0.00478769253128,0.0695052094334,0.999999639061,0.000341298305956,-0.000775773856403,-5.97406030175e-05,1793239774351249408
+294,4.900000000,POSE2_TO_POSE3_RETREAT,766,745.97493364,714,682.97493364,655.97493364,631,880.02506636,786,804,652,631,653,0.450085052122,0.00478661825489,0.0695126571769,0.999999646348,0.000344289674865,-0.000765171026627,-5.72840556239e-05,1793239774367915776
+295,4.916666667,POSE2_TO_POSE3_RETREAT,766,745.383936039,714,682.383936039,655.383936039,631,880.616063961,786,804,652,631,653,0.449947493539,0.00478549043626,0.069516092512,0.999999648079,0.00034746123587,-0.000761692281034,-5.42032746544e-05,1793239774384582656
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.797851627,745.202148373,714,682,655.202148373,631,880.797851627,786,804,652,631,653,0.449800481409,0.00478446888884,0.0695199857728,0.999999650676,0.000350499636589,-0.000757085864442,-5.1171989429e-05,1793239774401249280
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765.220877372,745.779122628,714,682,655.779122628,631,880.220877372,786,804,652,631,653,0.449635940414,0.00478364439085,0.0695247281244,0.999999654888,0.000353291129595,-0.000750388507457,-4.82324801354e-05,1793239774417915904
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745.644883712,714,682,656,631.355116288,880.355116288,786,804.355116288,652,631,653,0.449445439048,0.00478328145621,0.0695281119814,0.999999656022,0.000356956539317,-0.000747339526013,-4.49620628728e-05,1793239774434582528
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.069498233,714,682,656,631.930501767,880.930501767,786,804.930501767,652,631,653,0.449238835138,0.00478320481696,0.0695306532008,0.999999655249,0.000361164016614,-0.000746553534261,-4.148639191e-05,1793239774451249408
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.505723183,745.505723183,714,682,656,632,880.494276817,786,805,652,631,653,0.44899891489,0.00477998062178,0.0695330980514,0.999999654015,0.000364558271108,-0.000746819174982,-3.64382130853e-05,1793239774467916032
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765.916753883,746,714,682,656,631.916753883,880.083246117,786,804.916753883,652,631,653,0.448748572793,0.0047765823343,0.0695354122889,0.999999652755,0.000368075881605,-0.000747019216091,-3.11907139855e-05,1793239774484582656
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765.325035213,746,714,682,656,631.325035213,880.674964787,786,804.325035213,652,631,653,0.448462529649,0.00477476185244,0.069537009599,0.999999651875,0.000373029350558,-0.000745936126112,-2.60452730315e-05,1793239774501249280
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,656.261283073,631.261283073,881,786,804.261283073,652,631,653,0.448157249297,0.00477250166646,0.0695369484694,0.999999649058,0.000377663583613,-0.000747546428774,-2.07096019001e-05,1793239774517915904
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,656.841019309,631.841019309,881,786,804.841019309,652,631,653,0.447828522553,0.00476970556694,0.0695348660247,0.999999643876,0.000381908730001,-0.000752439452383,-1.51420775533e-05,1793239774534582528
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,746,713.583867636,682,657,632,881,786,804.583867636,652,631,653,0.447472636007,0.00476610634842,0.0695336248466,0.999999640042,0.00038503759036,-0.000756029034287,-9.10988942666e-06,1793239774551249152
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,746,713.010501442,682,657,632,881,786,804.010501442,652,631,653,0.447106487253,0.00476220367489,0.0695327015375,0.999999636687,0.000387744666718,-0.000759126116194,-2.90213020881e-06,1793239774567915776
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,746,713.578857849,682,657,632,881,786,804.578857849,652,631,653,0.446712852354,0.00475748062096,0.0695342485308,0.999999643268,0.000388970137194,-0.0007497735712,2.27301464179e-06,1793239774584582656
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,714,682.165752828,657.165752828,632.165752828,880.834247172,786,804.834247172,652,631,652.834247172,0.446308355733,0.00475218381699,0.0695407317741,0.999999656319,0.000387703517085,-0.0007327998337,7.17280938236e-06,1793239774601249536
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.745743377,657.745743377,632.745743377,880.254256623,786,804.254256623,652,631,652.254256623,0.445877995911,0.00474549138984,0.0695594361615,0.999999684473,0.000380277922585,-0.000697360236543,1.14326151295e-05,1793239774617915904
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.322369741,746,714,682.677630259,658.322369741,633,880.322369741,786.322369741,804.322369741,652,631,652.322369741,0.445430122758,0.00473635621708,0.069579668448,0.999999715441,0.000358833250443,-0.000663497076134,1.13307883328e-05,1793239774634582528
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.8963702,746,714,682.1036298,658.8963702,633,880.8963702,786.8963702,804.8963702,652,631,652.8963702,0.444968579256,0.0047253143205,0.0696010933621,0.999999747691,0.000326445767971,-0.000630864423579,7.82442182383e-06,1793239774651249152
+312,5.200000000,POSE2_TO_POSE3_RETREAT,766,746,714,682,659,633,880.528822922,787,804.528822922,652,631.471177078,653,0.444446656432,0.00469434501241,0.0696098589167,0.999999771712,0.000267463680561,-0.000620495040845,4.99495129757e-06,1793239774667915776
+313,5.216666667,POSE2_TO_POSE3_RETREAT,766,746,714,682.047420685,659,633,880.047420685,787,804.047420685,652,631.952579315,653,0.443909411002,0.00466047883361,0.0696164228781,0.999999790179,0.000206602984521,-0.000613961337263,3.05347865627e-06,1793239774684582656
+314,5.233333333,POSE2_TO_POSE3_RETREAT,766,746,714,682.638088437,659,633,880.638088437,787,804.638088437,652,631.361911563,653,0.443349022805,0.00464372134952,0.0696297166857,0.999999804529,0.000191343491379,-0.000595178338886,9.57640246019e-06,1793239774701249280
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.777241133,746,714,682.777241133,659.445517734,633.222758867,880.777241133,787,804.777241133,652,631,653,0.442769429239,0.00463533422759,0.0696471282501,0.999999821072,0.000182826960194,-0.000569399018953,1.46932300053e-05,1793239774717915904
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.202059005,746,714,682.202059005,660.59588199,633.797940995,880.202059005,787,804.202059005,652,631,653,0.4421594512,0.00464018972352,0.0696710544512,0.999999840932,0.000184978362767,-0.00053255093101,1.7585494627e-05,1793239774734582784
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,661,634,880,787,804.375442828,652,631,653,0.441551282619,0.00463480419482,0.0696997507315,0.999999872276,0.00015880145928,-0.000479542979771,1.63780856188e-05,1793239774751249408
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,661,634,880,787,804.954200842,652,631,653,0.440944093943,0.00462387279941,0.0697310301729,0.999999905767,0.000117283804403,-0.000417783906784,1.29505623749e-05,1793239774767916288
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.469141144,714,682.530858856,661.530858856,634,880,787,804.469141144,652,631.530858856,653,0.440287687769,0.00461430345456,0.0697620152433,0.999999927543,9.77521683487e-05,-0.000367505053758,1.72568011725e-05,1793239774784582912
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.110324584,745,714,682.889675416,662.110324584,634.110324584,880,787.110324584,804,652,632,653,0.439609410516,0.00460652528255,0.0697824659462,0.999999940298,8.11760331704e-05,-0.000335201768273,2.13268038247e-05,1793239774801249280
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.70285072,745,714,682.29714928,662.70285072,634.70285072,880,787.70285072,804,652,632,653,0.438854026218,0.00460606430834,0.069756984082,0.999999926249,6.92598246839e-05,-0.000377153356743,2.14595108178e-05,1793239774817915904
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.711711123,745.288288877,714,682,663,635,880,787.711711123,804,652,631.711711123,652.711711123,0.438090913071,0.00460125024448,0.0697391158376,0.999999912208,0.0001248924038,-0.000399467152692,2.02957773103e-05,1793239774834582528
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.133403408,745.866596592,714,682,663,635,880,787.133403408,804,652,631.133403408,652.133403408,0.437320024605,0.00459205696893,0.0697289068977,0.999999888158,0.000248479114219,-0.00040202531487,1.78278234418e-05,1793239774851249152
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.559781907,714,681.559781907,663.440218093,635,880,787,804,652,631,652.440218093,0.436563586015,0.00458789048105,0.069757296626,0.999999900756,0.000262304271625,-0.000359558189634,2.00544821058e-05,1793239774867916032
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.012543582,714,681.012543582,664,635,879.987456418,787,804,652,631.012543582,652.987456418,0.435810469415,0.00458518723971,0.0697970190105,0.999999923984,0.000242961193802,-0.00030404409864,2.36541637383e-05,1793239774884582912
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.589783913,714,681.589783913,664,635,879.410216087,787,804,652,631.589783913,652.410216087,0.435011847165,0.00458050213989,0.0698258895104,0.999999941014,0.000212069983039,-0.000268957142208,2.56942038135e-05,1793239774901249536
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.165633743,746,714.165633743,681.834366257,663.834366257,634.834366257,879.165633743,787,804,652,632,652,0.434201182389,0.00457483887762,0.0698441061381,0.999999952475,0.000180418676729,-0.000248499851289,2.73123337038e-05,1793239774917916160
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.738068429,746,714.738068429,681.261931571,663.261931571,634.261931571,879.738068429,787,804,652,632,652,0.433360940892,0.00456677322221,0.0698361565665,0.99999995398,0.000146900557891,-0.000263973416947,2.78942407617e-05,1793239774934582784
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.676462521,745.676462521,714.676462521,681.323537479,663,634.323537479,880,787,804,652,631.676462521,652.323537479,0.43249970246,0.00456214357165,0.0698334065677,0.999999956184,0.000125295041061,-0.00026667738829,2.85620122394e-05,1793239774951249408
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.079998083,745.079998083,714.079998083,681.920001917,663,634.920001917,880,787,804,652,631.079998083,652.920001917,0.431620751657,0.00456041243687,0.0698350427803,0.999999959663,0.000113738656204,-0.000258609294664,2.93022164744e-05,1793239774967916032
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.495134337,745,714.495134337,681.504865663,663.495134337,635,879.504865663,787,804,652.495134337,631,653,0.430685048946,0.00455506296199,0.0697834465551,0.999999932668,0.000120964757363,-0.000345147696275,3.00908866298e-05,1793239774984582656
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.930379653,745.069620347,714.930379653,681,663.930379653,635,879.139240694,787,804,652.930379653,631,652.930379653,0.429751018529,0.00454891024195,0.0697307745486,0.999999897591,0.000127637155109,-0.000433112026705,3.06633849981e-05,1793239775001249280
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.335855294,745.664144706,714.335855294,681,663.335855294,635,880.328289413,787,804,652.335855294,631,652.335855294,0.42889587373,0.00454092706392,0.0697321583705,0.999999904945,0.000108200064778,-0.000421342429041,2.95494532611e-05,1793239775017915904
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.250517805,745.749482195,714.250517805,681,663.250517805,635,881,787,804,652,631,652.250517805,0.428050675015,0.00453457264182,0.0697638228212,0.999999926662,9.36422655773e-05,-0.000370135903746,3.01018069018e-05,1793239775034582784
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.826307405,745.173692595,714.826307405,681,663.826307405,635,881,787,804,652,631,652.826307405,0.427218390155,0.00453033299193,0.0698348035773,0.999999959975,8.541972446e-05,-0.000267724549378,3.28176616436e-05,1793239775051249408
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.597360444,745,714.597360444,681,663.597360444,635,880.597360444,787,804,652,631.402639556,652.597360444,0.426334887042,0.00452360819442,0.0698623336204,0.999999969545,7.96309100398e-05,-0.000231013487931,3.46766008655e-05,1793239775067916032
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.020793963,745,714.020793963,681,663.020793963,635,880.020793963,787,804,652,631.979206037,652.020793963,0.425429259393,0.00451580989587,0.0698710943932,0.999999971748,7.4893385508e-05,-0.000222682779237,3.61653809589e-05,1793239775084582656
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.549732536,745.549732536,714,680.450267464,663,635,880,787,804,652,632,652,0.424533404414,0.00450697616901,0.069847587195,0.999999964966,6.77568083293e-05,-0.000253494257608,3.48965951347e-05,1793239775101249280
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,746,714,680.125680192,663,635,880,787,804,652,631.874319808,652.125680192,0.423622226254,0.004499046602,0.0698152212576,0.999999951814,6.06783981514e-05,-0.000302561192623,3.3873331718e-05,1793239775117915904
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,714,680.72281134,663,635,880,787,804,652,631.27718866,652.72281134,0.422652196307,0.00449465403722,0.0697541532432,0.999999911998,5.41548889677e-05,-0.000414614335569,3.41580928834e-05,1793239775134582528
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.691169773,714.308830227,680.691169773,662.691169773,634.691169773,880.308830227,787,804,652,631,652.691169773,0.421728228311,0.00448952582432,0.0697187672881,0.999999885509,4.76450655677e-05,-0.000474910694542,3.42452775224e-05,1793239775151249152
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.114778248,714.885221752,680.114778248,662.114778248,634.114778248,880.885221752,787,804,652,631,652.114778248,0.420844167065,0.00448376026807,0.0697056315062,0.99999987834,4.11470998732e-05,-0.000490366517093,3.41612880026e-05,1793239775167915776
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.539193088,745,715,680,662.921613824,634.460806912,880.078386176,787,804,652,631.460806912,652.460806912,0.420041856022,0.00447404330954,0.0697660677175,0.999999924341,2.115286996e-05,-0.00038698502368,3.33724893245e-05,1793239775184582656
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.03719345,714.96280655,680,664,635,879.03719345,787,804.03719345,652,632,653,0.419259230419,0.00446347429999,0.0698421806342,0.999999965927,-3.01997223476e-07,-0.000258985924283,3.27309253645e-05,1793239775201249280
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.628505582,714.371494418,680,664,635,879.628505582,787,804.628505582,652,632,653,0.418467049754,0.0044548487683,0.0698793095782,0.999999978399,6.47770702405e-06,-0.0002044476167,3.68938089536e-05,1793239775217915904
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,746,714.215338492,680,663.784661508,635,880,787.215338492,804.569323016,652,631.784661508,653,0.417650619124,0.00444691205246,0.0698884094202,0.999999980546,5.96083506256e-06,-0.000193231028958,3.91600094132e-05,1793239775234582528
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,746,714.794601558,680,663.205398442,635,880,787.794601558,803.410796884,652,631.205398442,653,0.416793205641,0.00444013944207,0.0698501397574,0.999999966675,-6.88733509698e-06,-0.000255228646941,3.82207938781e-05,1793239775251249152
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.629137126,714.629137126,680,663.370862874,635,879.629137126,787.629137126,803.370862874,652,631.370862874,652.629137126,0.415956426067,0.00443484672038,0.069818436722,0.999999954836,-1.67042588859e-05,-0.000297824135868,3.67488579259e-05,1793239775267915776
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.054524983,714.054524983,680,663.945475017,635,879.054524983,787.054524983,803.945475017,652,631.945475017,652.054524983,0.415130982659,0.00443036703879,0.0697903413445,0.999999944708,-2.48558379926e-05,-0.000329760237724,3.49842494706e-05,1793239775284582400
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.518919561,745,714,680,664,635,879,787,804,652,631.481080439,652.518919561,0.41429694626,0.00442582862441,0.0697647605519,0.999999925979,-2.64125330361e-05,-0.000382170100601,3.5920238822e-05,1793239775301249024
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.904805667,745.095194333,714.095194333,680,663.904805667,635,879,787,804,652,631,653,0.413489479416,0.00442581665399,0.069749214315,0.999999912109,-2.42005785491e-05,-0.000416951929141,3.67073543102e-05,1793239775317915648
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.313131628,745.686868372,714.686868372,680,663.313131628,635,879,787,804,652,631,653,0.412825282786,0.00444944416433,0.0697846277196,0.9999999386,-5.93941104344e-06,-0.000348601350405,3.52414051035e-05,1793239775334582528
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.271630599,746,715,680,663.271630599,635,879,787.271630599,804,652.271630599,631,653,0.412174371008,0.00447203488779,0.0698277885717,0.999999961801,2.03115887394e-05,-0.000273459853742,3.47235941403e-05,1793239775351249152
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765.848622671,746,715,680,663.848622671,635,879,787.848622671,804,652.848622671,631,653,0.411538393829,0.00449346007538,0.0698796589407,0.999999979655,5.55445906063e-05,-0.000190684152589,3.52716605291e-05,1793239775367916032
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,746,714.575523814,680,664,635,879.424476186,787.575523814,804,652.575523814,631,653,0.410868333328,0.00448759316072,0.0698845723166,0.99999998074,4.72392252802e-05,-0.000187192930129,3.5317383753e-05,1793239775384582400
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,746,714.0000752,680,664,635,879.9999248,787.0000752,804,652.0000752,631,653,0.410186150442,0.00447201933119,0.0698727846155,0.999999976655,2.34486761529e-05,-0.000211900621608,3.51844398601e-05,1793239775401249024
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.409752728,745.409752728,714.590247272,680,663.409752728,635,879.409752728,787.590247272,803.409752728,652,631,653,0.409511832012,0.00446637428942,0.069831208036,0.999999959601,1.14695076631e-05,-0.000281903969444,3.45872817774e-05,1793239775417915904
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.177271482,714.822728518,680,663.177271482,635,879,788,803.177271482,652,631.177271482,653,0.408859476461,0.00446328533105,0.0697966427026,0.999999942424,7.91061689385e-06,-0.00033756653056,3.37428469342e-05,1793239775434582784
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.756806992,714.243193008,680,663.756806992,635,879,788,803.756806992,652,631.756806992,653,0.40825695656,0.00446599368532,0.069777996099,0.999999934159,2.34554951192e-05,-0.00036067359511,3.23374301286e-05,1793239775451249408
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765,745.664501021,714.335498979,680,664,635,879,787.664501021,804,652,632,653,0.407703910946,0.00446803067948,0.0697839850688,0.999999938545,2.48185252902e-05,-0.000348289546413,3.14343109428e-05,1793239775467916288
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745.086418979,714.913581021,680,664,635,879,787.086418979,804,652,632,653,0.407186637828,0.00446958224552,0.0698077868297,0.99999995127,1.59273470471e-05,-0.000310243590993,3.08943788972e-05,1793239775484582912
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745.488169089,715,680,663.511830911,635,879,787,804,652,632,653,0.406680708627,0.00447978391752,0.0698153843538,0.999999952813,2.3844228766e-05,-0.000304666215069,3.13567584944e-05,1793239775501249536
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.061870178,745.938129822,715,680,663,635,879,787,804,652,631.938129822,653,0.406180601069,0.00449038239744,0.0698191625507,0.999999952106,3.47607841969e-05,-0.000305879982909,3.18977985116e-05,1793239775517916416
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.633324014,745.366675986,715,680,663,635,879,787,804,652,631.366675986,653,0.405712020025,0.00449172644658,0.0698149421985,0.999999948504,4.60507984747e-05,-0.000316023452703,3.16356753965e-05,1793239775534582784
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.785803949,745.214196051,715,680,663,635,879,787,803.785803949,652,631.214196051,653,0.405271053664,0.00448993338207,0.0698156102217,0.99999994854,4.88890071195e-05,-0.000315523250752,3.12255811102e-05,1793239775551249408
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.18806771,745.81193229,715,680,663,635,879,787,803.18806771,652,631.81193229,653,0.404879534301,0.00448252299089,0.0698250313871,0.999999955066,3.65933822507e-05,-0.000295964452387,3.05505291626e-05,1793239775567915776
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.393849131,745.606150869,715,680,663.393849131,635,879,787,803,652.393849131,632,653,0.404521815429,0.00447868244429,0.0698391369553,0.999999962736,2.66717360735e-05,-0.000270017871489,3.01224503025e-05,1793239775584582656
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.968503766,745.031496234,715,680,663.968503766,635,879,787,803,652.968503766,632,653,0.404179613416,0.00447648071631,0.0698553930071,0.999999970323,1.78399183314e-05,-0.000241138830206,2.98077500422e-05,1793239775601249536
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787,803.538835482,653,632,653,0.403852723652,0.00447441036534,0.0698576679005,0.999999971951,1.09061350392e-05,-0.000234754765074,2.94827527565e-05,1793239775617916416
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.886169492,663.886169492,635,878.886169492,787,803.886169492,652.886169492,631.886169492,653,0.403529916642,0.00447204659168,0.0698565477642,0.999999972074,2.81554038515e-06,-0.000234537924982,2.89284532989e-05,1793239775634583040
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.290367927,663.290367927,635,878.290367927,787,803.290367927,652.290367927,631.290367927,653,0.403220636837,0.00446840817676,0.0698444854075,0.999999967078,-1.06391381306e-05,-0.000254910738989,2.74057909547e-05,1793239775651249408
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.702291245,679.297708755,663.297708755,635.297708755,878.297708755,787,803.297708755,652,631.297708755,652.702291245,0.402934436421,0.00446620292527,0.0698348034936,0.999999962357,-2.08096109186e-05,-0.000272288049391,2.66896783498e-05,1793239775667916032
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745,714.121558448,679.878441552,663.878441552,635.878441552,878.878441552,787,803.878441552,652,631.878441552,652.121558448,0.402670177006,0.00446536014554,0.0698273846062,0.999999958122,-2.78578731336e-05,-0.000286817610529,2.67403318991e-05,1793239775684582656
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.453857196,714.453857196,680,664,635.546142804,879,787,803.546142804,652,632,652.453857196,0.402437345634,0.00446588084524,0.0698179896743,0.999999953382,-2.92819740663e-05,-0.000302714366924,2.72556966354e-05,1793239775701249280
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745.971467931,715,680,663.971467931,635,879,787,803,652,631.971467931,652.971467931,0.402215111008,0.00446674641357,0.0698086235174,0.999999948613,-2.88120339152e-05,-0.000318059277816,2.79682517439e-05,1793239775717916160
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745.383722957,715,680,663.383722957,635,879,787,803,652,631.383722957,652.383722957,0.402037498732,0.00446729664841,0.0698100742679,0.999999949569,-2.04015349929e-05,-0.000315494474953,3.01344228183e-05,1793239775734582784
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.798718711,745.201281289,715,680,663,635,879,787,803.201281289,652,631.201281289,652.201281289,0.40187152476,0.00447263611101,0.0698120590111,0.999999950822,1.05190846639e-05,-0.00031181737784,3.18670540646e-05,1793239775751249408
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.21886927,745.78113073,715,680,663,635,879,787,803.78113073,652,631.78113073,652.78113073,0.40172744003,0.00448698311279,0.0698150480833,0.999999949121,8.37765489574e-05,-0.000306048286257,3.27842868981e-05,1793239775767916032
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.363022861,746,715,680,663.363022861,635,879,787,803.636977139,652.363022861,631.636977139,653,0.401601751092,0.00450100677625,0.069815434524,0.999999946151,0.000118633947699,-0.000304252995425,3.24521214083e-05,1793239775784582656
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.946153571,746,715,680,663.946153571,635,879,787,803.053846429,652.946153571,631.053846429,653,0.401487215866,0.00451483439473,0.0698142429388,0.999999944559,0.000130208644254,-0.000304867097671,3.13624214811e-05,1793239775801249280
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,745.475862621,715,680,663.475862621,635,879,787,803.524137379,653,631,653,0.401391777695,0.00450903149684,0.0698117986928,0.999999949039,8.46048494209e-05,-0.000307037927935,2.21532894675e-05,1793239775817915904
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,745,714.897664416,680,663.102335584,635,879.102335584,787,803.897664416,653,631,653,0.401302066799,0.00450186448356,0.0698097671475,0.999999951347,4.17458257409e-05,-0.000308803746005,1.42953502683e-05,1793239775834582528
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.316009306,680,663.683990694,635,879.683990694,787,803.316009306,653,631,653,0.401230081471,0.00449766223777,0.0698102655064,0.999999951691,3.8988515564e-05,-0.000307930784893,1.66350665244e-05,1793239775851249152
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.264051132,680,664,635,879.735948868,787,803.264051132,652.735948868,631,653,0.40116944924,0.00449636954064,0.0698117723108,0.999999952411,3.89449262454e-05,-0.000305498931911,1.82073593793e-05,1793239775867916032
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.842214531,680,664,635,879.157785469,787,803.842214531,652.157785469,631,653,0.401122322531,0.00449853801026,0.0698144787505,0.99999995357,4.21295490148e-05,-0.00030121263868,1.88667338151e-05,1793239775884582656
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.581653418,745,715,680,663.581653418,635,879,787,803.581653418,652.418346582,631,653,0.401089813229,0.00449615599512,0.0698193297742,0.999999956231,3.93998024218e-05,-0.000292559307118,1.98771547454e-05,1793239775901249536
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.00628383,745,715,680,663.00628383,635,879,787,803.00628383,652.99371617,631,653,0.401062790454,0.00449206599227,0.0698249857501,0.999999959348,3.44501450397e-05,-0.000282266843097,2.10193381217e-05,1793239775917916416
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.566467705,745.566467705,715,680,663.566467705,635,879,787,803.566467705,652.433532295,631.566467705,653,0.401039161871,0.0044945530463,0.0698251335701,0.999999959259,3.84614875956e-05,-0.000282064101747,2.10552058116e-05,1793239775934583040
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.855093325,715,680,663.855093325,635,879,787,804,652,632,653,0.401018668367,0.0044959638612,0.0698258208612,0.999999959468,4.05445689124e-05,-0.000281023026246,2.1104629433e-05,1793239775951249664
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.25884993,715,680,663.25884993,635,879,787,804,652,632,653,0.401007822876,0.00449379634512,0.0698283778646,0.999999960744,3.63135609369e-05,-0.000277023808139,2.12343238703e-05,1793239775967916032
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.325170025,635,879,787,803.674829975,652,631.674829975,653,0.400999326699,0.00449337200624,0.069830431582,0.999999961418,3.57455241371e-05,-0.00027463787244,2.14677839524e-05,1793239775984582656
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,663.899812158,635,879,787,803.100187842,652,631.100187842,653,0.400992632925,0.00449428504159,0.0698320991762,0.999999961643,3.79877371291e-05,-0.000273489654843,2.17808535828e-05,1793239776001249280
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.475878074,715,680,664,635,879,787,803,652,631.475878074,653,0.400991857588,0.00449541336403,0.0698334185814,0.999999962541,3.9625931827e-05,-0.000269965287909,2.16013727197e-05,1793239776017915904
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,746,714.946655466,680,664,635,879,787,803,652.053344534,631.946655466,652.946655466,0.400992088111,0.00449630503787,0.0698346024436,0.999999963484,4.08113159494e-05,-0.000266288619976,2.13632965845e-05,1793239776034582528
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,746,714.358154435,680,664,635,879,787,803,652.641845565,631.358154435,652.358154435,0.400989871773,0.00449436656742,0.0698351641392,0.999999963608,3.87336331162e-05,-0.000266117729983,2.15808154683e-05,1793239776051249408
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,746,714,680,664,635.226974826,879,787,803,653,631.226974826,652,0.400988383514,0.00449338947469,0.0698356536229,0.999999963775,3.74204065677e-05,-0.000265675608513,2.15855684209e-05,1793239776067916032
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,746,714,680,664,635.806861455,879,787,803,653,631.806861455,652,0.400988027309,0.00449390718023,0.0698360308278,0.999999964016,3.72957949787e-05,-0.000264811762797,2.12595022581e-05,1793239776084582656
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,746,714.383772423,680,664,635.616227577,879,787,803,653,631.616227577,652,0.400987975387,0.00449426107267,0.0698365629745,0.999999964164,3.80363894096e-05,-0.000264143697882,2.12978618267e-05,1793239776101249280
+399,6.650000000,POSE2_TO_POSE3_RETREAT,766,746,714.959197355,680,664,635.040802645,879,787,803,653,631.040802645,652,0.400988075422,0.00449453315831,0.0698371724977,0.999999964264,3.92090599759e-05,-0.000263573404171,2.15182123492e-05,1793239776117915904
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,879,787,803,653,631,652.546033413,0.40098772771,0.00449455816405,0.0698374014235,0.999999964387,3.76609197474e-05,-0.000263356478927,2.12507332077e-05,1793239776134582528
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765.868200382,745.868200382,715,680,663.868200382,635,879,787,803.131799618,653,631,653,0.400987431504,0.00449442608289,0.0698376652743,0.999999964548,3.62584408233e-05,-0.000262953818799,2.10838452243e-05,1793239776151249152
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.289021982,745.289021982,715,680,663.289021982,635,879,787,803.710978018,653,631,653,0.400987426126,0.00449382479701,0.069838146272,0.999999964844,3.60552496709e-05,-0.000261829158736,2.13847802999e-05,1793239776167916032
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.289127682,745,715,680,663.289127682,635,879,787,803.710872318,653,631,653,0.400986760842,0.00449361005051,0.0698378503938,0.999999964787,3.62189366244e-05,-0.000262013286655,2.1514013335e-05,1793239776184582912
+404,6.733333333,POSE2_TO_POSE3_RETREAT,765.8662527,745,715,680,663.8662527,635,879,787,803.1337473,653,631,653,0.400985438232,0.00449378033214,0.0698367806769,0.999999964378,3.67480673484e-05,-0.000263501085712,2.14722156353e-05,1793239776201250048
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745.440717566,714.559282434,680,664,635,879,787,803,653,631,653,0.40098631757,0.00449332344936,0.0698375238918,0.999999964587,3.73779930737e-05,-0.000262626568776,2.13781559699e-05,1793239776217916416
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,746,714.014753354,680,664,635,879.014753354,787.014753354,803.014753354,652.985246646,631.014753354,653,0.400987817224,0.00449270362936,0.069838788213,0.999999964979,3.79869508618e-05,-0.000261048478469,2.12739061988e-05,1793239776234582784
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,746,714.603312055,680,664,635,879.603312055,787.603312055,803.603312055,652.396687945,631.603312055,653,0.400987608976,0.00449310476756,0.06983905009,0.999999965348,3.65978375418e-05,-0.000259821671791,2.13864858614e-05,1793239776251249408
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,880,787.810378948,804,652,632,653,0.400986986321,0.00449306675261,0.0698391486955,0.999999965531,3.50767126393e-05,-0.000259334233076,2.128660913e-05,1793239776267915776
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,664,635,880,787.228721193,804,652,632,653,0.400985506887,0.00449212079969,0.0698389097413,0.999999965333,3.32826572309e-05,-0.000260375418894,2.07474842007e-05,1793239776284582400
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.65112992,745.65112992,715,680,664,635,879.65112992,787,804,652,632,653,0.400986350422,0.00449304019774,0.0698394856944,0.999999965489,3.53248852664e-05,-0.000259502352869,2.07968725485e-05,1793239776301249280
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.076173959,745.076173959,715,680,664,635,879.076173959,787,804,652,632,653,0.400988699361,0.00449516843987,0.0698405897497,0.999999965856,3.98532237248e-05,-0.000257388752462,2.12276479997e-05,1793239776317915904
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.491597785,745.491597785,714.508402215,680,664,635,879,787.491597785,804,652,632,653,0.400987903536,0.00449561268421,0.0698400425844,0.999999965647,3.98911596531e-05,-0.000258204337893,2.11042998278e-05,1793239776334582528
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.938075809,714.061924191,680,664,635.061924191,879,788,804,652,631.938075809,653,0.400986907591,0.00449559338454,0.0698394242322,0.999999965429,3.90859068442e-05,-0.000259185405849,2.0927326761e-05,1793239776351249408
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745.335889026,714.664110974,680,664,635.664110974,879,788,804,652,631.335889026,653,0.400988355829,0.00449377364575,0.0698403849206,0.999999965891,3.69072770179e-05,-0.000257707340324,2.10208230887e-05,1793239776367915776
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745.255363712,714.744636288,680,664,635.744636288,879.255363712,787.744636288,804,652.255363712,631,652.744636288,0.400988366277,0.00449316130025,0.0698402857115,0.999999965869,3.66046476176e-05,-0.000257839438995,2.10083926508e-05,1793239776384582400
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745.832825104,714.167174896,680,664,635.167174896,879.832825104,787.167174896,804,652.832825104,631,652.167174896,0.400986563196,0.00449407187476,0.0698388496231,0.999999965234,3.866827183e-05,-0.000260002484406,2.08623537151e-05,1793239776401249536
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,746,714.408194717,680,664,635,879.591805283,787.408194717,804,653,631,652.408194717,0.400986617771,0.0044940849428,0.0698394465717,0.999999965349,3.8845347523e-05,-0.000259516190697,2.10660516967e-05,1793239776417916416
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,746,714.982711982,680,664,635,879.017288018,787.982711982,804,653,631,652.982711982,0.400987429264,0.00449373231383,0.0698408718993,0.99999996577,3.82537322109e-05,-0.000257950400201,2.14122530877e-05,1793239776434582784
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766,745.43070819,714.43070819,680,664,635,879,787.43070819,803.43070819,652.43070819,631.56929181,653,0.400988141474,0.00449485647306,0.069841295955,0.999999966049,3.77346385399e-05,-0.000257002591786,2.06881137124e-05,1793239776451249152
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..444edfc8d7c975e057c40daf4ec6d54d3d520a55
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/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,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+1,0.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+2,0.033333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+3,0.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+4,0.066666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+5,0.083333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+6,0.100000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+7,0.116666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+8,0.133333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+9,0.150000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+10,0.166666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+11,0.183333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+12,0.200000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+13,0.216666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+14,0.233333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+15,0.250000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+16,0.266666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+17,0.283333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+18,0.300000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+19,0.316666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+20,0.333333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+21,0.350000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+22,0.366666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+23,0.383333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+24,0.400000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+25,0.416666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+26,0.433333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+27,0.450000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+28,0.466666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+29,0.483333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+30,0.500000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+31,0.516666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+32,0.533333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+33,0.550000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+34,0.566666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+35,0.583333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+36,0.600000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+37,0.616666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+38,0.633333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+39,0.650000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+40,0.666666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+41,0.683333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+42,0.700000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+43,0.716666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+44,0.733333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+45,0.750000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+46,0.766666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+47,0.783333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+48,0.800000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+49,0.816666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+50,0.833333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+51,0.850000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+52,0.866666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+53,0.883333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+54,0.900000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+55,0.916666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+56,0.933333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+57,0.950000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+58,0.966666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+59,0.983333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+60,1.000000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+61,1.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+62,1.033333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+63,1.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+64,1.066666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+65,1.083333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+66,1.100000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+67,1.116666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+68,1.133333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+69,1.150000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+70,1.166666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+71,1.183333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+72,1.200000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+73,1.216666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+74,1.233333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+75,1.250000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+76,1.266666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+77,1.283333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+78,1.300000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+79,1.316666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+80,1.333333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+81,1.350000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+82,1.366666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+83,1.383333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+84,1.400000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+85,1.416666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+86,1.433333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+87,1.450000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+88,1.466666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+89,1.483333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+90,1.500000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+91,1.516666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+92,1.533333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+93,1.550000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+94,1.566666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+95,1.583333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+96,1.600000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+97,1.616666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+98,1.633333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+99,1.650000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+100,1.666666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+101,1.683333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+102,1.700000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+103,1.716666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+104,1.733333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+105,1.750000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+106,1.766666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+107,1.783333333,pose1_to_pose2_press,0.575664308767,0.0100907829807,1.06003209211,0.546234757813,0.0187625139963,1.05970022511
+108,1.800000000,pose1_to_pose2_press,0.575664383775,0.0100909349614,1.06003207339,0.546234832872,0.0187626663735,1.0597002123
+109,1.816666667,pose1_to_pose2_press,0.575664580273,0.0100908798004,1.06003211793,0.546235031013,0.0187626167658,1.05970025621
+110,1.833333333,pose1_to_pose2_press,0.575664790857,0.0100907837219,1.0600321733,0.546235243482,0.0187625270068,1.05970030959
+111,1.850000000,pose1_to_pose2_press,0.575665087758,0.0100907075458,1.06003222568,0.546235541925,0.0187624559793,1.05970035975
+112,1.866666667,pose1_to_pose2_press,0.575665437186,0.0100907545721,1.06003222812,0.546235890597,0.0187625003934,1.05970036093
+113,1.883333333,pose1_to_pose2_press,0.575665472779,0.0100907593623,1.06003222837,0.546235926113,0.0187625049174,1.05970036106
+114,1.900000000,pose1_to_pose2_press,0.575665793698,0.0100908025519,1.06003223061,0.546236246338,0.018762545708,1.05970036214
+115,1.916666667,pose1_to_pose2_press,0.575667185921,0.0100908483334,1.06003222865,0.546237637222,0.0187625869169,1.05970035942
+116,1.933333333,pose1_to_pose2_press,0.575671697189,0.0100908393065,1.06003229016,0.546242148572,0.0187625782502,1.05970042316
+117,1.950000000,pose1_to_pose2_press,0.575680853532,0.0100909353188,1.06003248094,0.54625130431,0.0187626719565,1.05970060721
+118,1.966666667,pose1_to_pose2_press,0.575699120732,0.0100908113779,1.06003227747,0.546269570971,0.0187625463598,1.05970040822
+119,1.983333333,pose1_to_pose2_press,0.575726718424,0.0100908121574,1.06003213118,0.54629717013,0.018762552404,1.0597002693
+120,2.000000000,pose1_to_pose2_press,0.575764521743,0.010090727736,1.06003220988,0.54633497312,0.0187624669941,1.05970035128
+121,2.016666667,pose1_to_pose2_press,0.575811219425,0.0100907751579,1.0600323697,0.546381671506,0.018762516657,1.05970050721
+122,2.033333333,pose1_to_pose2_press,0.575866715209,0.0100908754079,1.06003231099,0.546437165281,0.0187626099882,1.0597004458
+123,2.050000000,pose1_to_pose2_press,0.575929389382,0.0100908423991,1.06003237191,0.546499839797,0.0187625780271,1.05970050363
+124,2.066666667,pose1_to_pose2_press,0.575999579549,0.0100908076706,1.06003218997,0.546570029897,0.0187625429792,1.05970031922
+125,2.083333333,pose1_to_pose2_press,0.576080003098,0.0100908812079,1.0600321906,0.546650452705,0.01876261395,1.05970031839
+126,2.100000000,pose1_to_pose2_press,0.576171900142,0.0100908623749,1.06003238615,0.546742350593,0.0187625980715,1.05970051629
+127,2.116666667,pose1_to_pose2_press,0.576278456988,0.0100907394941,1.06003245298,0.546848909892,0.0187624835844,1.0597005849
+128,2.133333333,pose1_to_pose2_press,0.576401457282,0.0100907944765,1.06003231539,0.546971907921,0.0187625309931,1.05970045022
+129,2.150000000,pose1_to_pose2_press,0.576542219135,0.0100907765628,1.06003209864,0.547112671203,0.0187625179968,1.05970023519
+130,2.166666667,pose1_to_pose2_press,0.576700407079,0.0100907101948,1.0600321868,0.547270859903,0.0187624543881,1.05970032833
+131,2.183333333,pose1_to_pose2_press,0.576875445816,0.0100905859919,1.06003224728,0.547445898919,0.018762330607,1.05970037505
+132,2.200000000,pose1_to_pose2_press,0.577068310518,0.0100907776815,1.06003230596,0.547638762865,0.0187625202058,1.05970044608
+133,2.216666667,pose1_to_pose2_press,0.577279119347,0.0100907149781,1.06003197464,0.547849571089,0.0187624555753,1.05970011793
+134,2.233333333,pose1_to_pose2_press,0.577510301426,0.0100907090662,1.06003227978,0.548080754624,0.0187624542911,1.05970041493
+135,2.250000000,pose1_to_pose2_press,0.577762499406,0.0100908081147,1.06003236568,0.548332949854,0.0187625436913,1.05970049245
+136,2.266666667,pose1_to_pose2_press,0.578035881067,0.0100908020392,1.06003225178,0.548606331505,0.0187625377618,1.05970038327
+137,2.283333333,pose1_to_pose2_press,0.578330836417,0.0100907190746,1.06003230563,0.54890129033,0.0187624666302,1.05970043808
+138,2.300000000,pose1_to_pose2_press,0.578645354733,0.0100907831884,1.06003234246,0.549215807052,0.0187625253404,1.05970047496
+139,2.316666667,pose1_to_pose2_press,0.578979478556,0.0100908009535,1.06003226963,0.5495499301,0.0187625405288,1.05970040344
+140,2.333333333,pose1_to_pose2_press,0.579330762284,0.0100907520218,1.06003212194,0.549901213553,0.0187624909689,1.05970026364
+141,2.350000000,pose1_to_pose2_press,0.579699267204,0.0100907452895,1.06003206831,0.550269718513,0.0187624843799,1.05970021018
+142,2.366666667,pose1_to_pose2_press,0.580085798732,0.0100908025559,1.0600322144,0.550656249837,0.0187625404731,1.0597003436
+143,2.383333333,pose1_to_pose2_press,0.5804912358,0.0100908310305,1.060032365,0.551061686625,0.0187625679013,1.05970049169
+144,2.400000000,pose1_to_pose2_press,0.580921203502,0.0100907774707,1.06003227649,0.551491656661,0.0187625228636,1.05970041879
+145,2.416666667,pose1_to_pose2_press,0.581376859175,0.0100908311949,1.06003225286,0.551947309936,0.0187625681318,1.05970038679
+146,2.433333333,pose1_to_pose2_press,0.581861977699,0.01009075792,1.06003246573,0.552432428232,0.0187624939281,1.05970059563
+147,2.450000000,pose1_to_pose2_press,0.582372979811,0.0100907014459,1.06003244438,0.552943431382,0.0187624410911,1.05970057718
+148,2.466666667,pose1_to_pose2_press,0.582907808571,0.0100906966204,1.06003209414,0.553478259979,0.0187624357864,1.05970022882
+149,2.483333333,pose1_to_pose2_press,0.583459024145,0.010090820934,1.06003234543,0.554029475016,0.0187625580115,1.05970047312
+150,2.500000000,pose1_to_pose2_press,0.584025925144,0.0100908306813,1.06003235992,0.554596376367,0.0187625689993,1.05970048874
+151,2.516666667,pose1_to_pose2_press,0.58461287156,0.0100907683251,1.06003240394,0.555183323128,0.0187625074816,1.05970052398
+152,2.533333333,pose1_to_pose2_press,0.585221592898,0.0100907814577,1.06003209003,0.55579204353,0.0187625177863,1.0597002192
+153,2.550000000,pose1_to_pose2_press,0.585854828261,0.0100907005359,1.06003223204,0.556425279792,0.0187624400062,1.05970036349
+154,2.566666667,pose1_to_pose2_press,0.586509238374,0.0100906948367,1.06003242007,0.557079690547,0.0187624364859,1.05970055156
+155,2.583333333,pose1_to_pose2_press,0.587180292172,0.0100907134853,1.06003238858,0.55775074494,0.0187624572309,1.05970052203
+156,2.600000000,pose1_to_pose2_press,0.587850830184,0.0100908239721,1.06003239436,0.558421281287,0.0187625621699,1.05970053042
+157,2.616666667,pose1_to_pose2_press,0.588524573212,0.0100909057159,1.06003228702,0.559095022788,0.0187626387666,1.05970042402
+158,2.633333333,pose1_to_pose2_press,0.589211538737,0.0100909122736,1.06003212104,0.55978198843,0.018762645736,1.05970025842
+159,2.650000000,pose1_to_pose2_press,0.589913546246,0.0100909400639,1.06003220681,0.560483995533,0.0187626720684,1.05970034208
+160,2.666666667,pose1_to_pose2_press,0.590632240602,0.0100908275129,1.06003225798,0.56120269081,0.0187625622329,1.05970038254
+161,2.683333333,pose1_to_pose2_press,0.591383413811,0.0100906875608,1.06003227068,0.561953866672,0.0187624314214,1.05970039883
+162,2.700000000,pose1_to_pose2_press,0.592159131595,0.0100907195712,1.06003242304,0.56272958495,0.0187624654506,1.05970056009
+163,2.716666667,pose1_to_pose2_press,0.592943294683,0.0100907403472,1.06003218983,0.563513747618,0.0187624849967,1.05970033192
+164,2.733333333,pose1_to_pose2_press,0.593729861874,0.0100907466013,1.06003234098,0.564300315857,0.0187624945184,1.05970047567
+165,2.750000000,pose1_to_pose2_press,0.594512111523,0.0100908386724,1.06003225342,0.565082561795,0.0187625736631,1.0597003794
+166,2.766666667,pose1_to_pose2_press,0.595279183545,0.0100906549344,1.06003245685,0.565849637526,0.0187624025177,1.05970058295
+167,2.783333333,pose1_to_pose2_press,0.596030855775,0.0100908777962,1.06003237625,0.566601305208,0.0187626101462,1.05970050761
+168,2.800000000,pose1_to_pose2_press,0.596799043346,0.0100908605943,1.06003240556,0.567369494169,0.0187625978623,1.05970054222
+169,2.816666667,pose1_to_pose2_press,0.597586378904,0.0100908139423,1.06003231412,0.568156830262,0.0187625529849,1.05970044984
+170,2.833333333,pose1_to_pose2_press,0.598393185959,0.0100908422518,1.06003230336,0.568963636372,0.0187625777959,1.05970043138
+171,2.850000000,pose1_to_pose2_press,0.599221125675,0.0100908392483,1.06003230084,0.569791575442,0.0187625726155,1.05970042941
+172,2.866666667,pose1_to_pose2_press,0.60006934377,0.0100907979855,1.06003208903,0.57063979494,0.0187625364457,1.05970022629
+173,2.883333333,pose1_to_pose2_press,0.600898976845,0.0100907774137,1.06003219151,0.571469429807,0.0187625218881,1.05970032706
+174,2.900000000,pose1_to_pose2_press,0.601708417297,0.0100907969228,1.06003248293,0.57227886937,0.0187625381016,1.05970061121
+175,2.916666667,pose1_to_pose2_press,0.602490512094,0.010090759536,1.06003238028,0.573060964687,0.0187625023416,1.05970050506
+176,2.933333333,pose1_to_pose2_press,0.603252500406,0.0100906562713,1.06003217735,0.573822954038,0.0187624025814,1.05970030162
+177,2.950000000,pose1_to_pose2_press,0.604004485708,0.0100907342638,1.06003219318,0.57457493714,0.0187624732627,1.05970032153
+178,2.966666667,pose1_to_pose2_press,0.604759412364,0.0100906602801,1.06003200088,0.575329864808,0.0187624029175,1.05970013467
+179,2.983333333,pose1_to_pose2_press,0.605523012998,0.0100906330537,1.06003234432,0.576093466283,0.0187623785227,1.05970047762
+180,3.000000000,pose1_to_pose2_press,0.606294893528,0.0100908130379,1.06003234083,0.576865344953,0.0187625521457,1.05970047298
+181,3.016666667,pose1_to_pose2_press,0.607066633362,0.0100908050378,1.06003225697,0.577637084064,0.0187625415097,1.0597003844
+182,3.033333333,pose1_to_pose2_press,0.607823147527,0.0100907922034,1.06003245228,0.578393599768,0.0187625340826,1.05970058465
+183,3.050000000,pose1_to_pose2_press,0.608553229414,0.0100908944584,1.06003260459,0.579123679,0.0187626270928,1.05970073086
+184,3.066666667,pose1_to_pose2_press,0.609246783954,0.0100908009107,1.06003228189,0.579817235318,0.0187625397819,1.05970041359
+185,3.083333333,pose1_to_pose2_press,0.609906263404,0.010090762138,1.0600323996,0.580476715871,0.0187625048206,1.05970053319
+186,3.100000000,pose1_to_pose2_press,0.610531444516,0.0100908071221,1.06003225182,0.58110189668,0.0187625486431,1.059700382
+187,3.116666667,pose1_to_pose2_press,0.611139956236,0.0100907991705,1.06003212382,0.581710407727,0.0187625383427,1.05970025241
+188,3.133333333,pose1_to_pose2_press,0.611740818174,0.0100907144073,1.06003226186,0.58231127042,0.018762456142,1.05970039045
+189,3.150000000,pose1_to_pose2_press,0.612343917872,0.0100907159009,1.0600323868,0.582914370346,0.0187624584745,1.05970051727
+190,3.166666667,pose1_to_pose2_press,0.612943345372,0.0100908242665,1.06003213585,0.583513795142,0.0187625578949,1.05970027256
+191,3.183333333,pose1_to_pose2_press,0.61353075856,0.0100907005985,1.06003199687,0.584101209479,0.0187624381416,1.05970013365
+192,3.200000000,pose1_to_pose2_press,0.614087666358,0.0100907517019,1.06003214516,0.584658117961,0.0187624914531,1.05970027715
+193,3.216666667,pose1_to_pose2_press,0.614611489011,0.0100907482738,1.06003237513,0.585181941237,0.0187624900322,1.05970050263
+194,3.233333333,pose1_to_pose2_press,0.615097604083,0.0100907434788,1.06003248456,0.585668056595,0.0187624862534,1.05970061121
+195,3.250000000,pose1_to_pose2_press,0.61556206264,0.0100908245533,1.06003236157,0.586132514175,0.0187625644376,1.05970049633
+196,3.266666667,pose1_to_pose2_press,0.616015952838,0.0100907674015,1.0600321704,0.586586403506,0.0187625044224,1.05970030298
+197,3.283333333,pose1_to_pose2_press,0.616457151936,0.010090773898,1.06003233146,0.587027603863,0.0187625153982,1.05970046439
+198,3.300000000,pose1_to_pose2_press,0.616883443442,0.010090746583,1.06003254309,0.587453895609,0.0187624889754,1.05970067126
+199,3.316666667,pose1_to_pose2_press,0.617287510911,0.0100907590349,1.06003241694,0.587857962633,0.0187625002307,1.05970054655
+200,3.333333333,pose1_to_pose2_press,0.617667471185,0.0100908110375,1.06003215694,0.588237922373,0.0187625509864,1.05970029489
+201,3.350000000,pose1_to_pose2_press,0.618018902383,0.0100908190518,1.06003218768,0.58858935247,0.0187625555138,1.05970032634
+202,3.366666667,pose1_to_pose2_press,0.618349430588,0.0100908297468,1.06003240049,0.588919880156,0.018762564475,1.05970053465
+203,3.383333333,pose1_to_pose2_press,0.618661998237,0.0100908648618,1.06003218105,0.5892324492,0.0187626048682,1.0597003233
+204,3.400000000,pose1_to_pose2_press,0.618961167286,0.0100906863993,1.06003223987,0.589531617998,0.0187624252133,1.05970036767
+205,3.416666667,pose1_to_pose2_press,0.619246149047,0.0100906648715,1.06003197873,0.589816600363,0.0187624061839,1.05970011298
+206,3.433333333,pose1_to_pose2_press,0.619515031254,0.010090842515,1.06003219409,0.590085481796,0.0187625813706,1.05970032702
+207,3.450000000,pose1_to_pose2_press,0.619765574497,0.010090763493,1.06003223257,0.590336024783,0.0187625015779,1.05970036355
+208,3.466666667,pose1_to_pose2_press,0.619993643395,0.0100907995517,1.06003230121,0.5905640947,0.0187625415468,1.05970044026
+209,3.483333333,pose1_to_pose2_press,0.620201844527,0.0100908009916,1.06003224299,0.590772295439,0.0187625415622,1.05970037648
+210,3.500000000,pose1_to_pose2_press,0.620390403913,0.0100907198418,1.06003213344,0.590960855404,0.0187624625111,1.05970026587
+211,3.516666667,pose1_to_pose2_press,0.620558822513,0.0100908345841,1.06003214328,0.591129271724,0.0187625694116,1.05970026838
+212,3.533333333,pose1_to_pose2_press,0.620708469848,0.0100909576789,1.0600322791,0.591278917969,0.0187626890375,1.0597004064
+213,3.550000000,pose1_to_pose2_press,0.620839513364,0.0100908966261,1.06003221043,0.591409962684,0.0187626323651,1.05970034415
+214,3.566666667,pose1_to_pose2_press,0.620954032441,0.0100907882761,1.06003220491,0.591524483283,0.0187625291954,1.05970033695
+215,3.583333333,pose1_to_pose2_press,0.621052390657,0.0100907833194,1.06003232513,0.591622841662,0.0187625248428,1.05970045523
+216,3.600000000,pose1_to_pose2_press,0.621139256993,0.0100908385728,1.06003221367,0.591709706614,0.0187625758296,1.05970035337
+217,3.616666667,pose1_to_pose2_press,0.621215465216,0.0100907844307,1.06003232392,0.591785914572,0.0187625205877,1.05970045915
+218,3.633333333,pose1_to_pose2_press,0.621282000156,0.0100906872449,1.06003214032,0.591852450863,0.01876242742,1.05970027097
+219,3.650000000,pose1_to_pose2_press,0.621339531248,0.010090780025,1.06003220759,0.591909981588,0.0187625196977,1.0597003379
+220,3.666666667,pose1_to_pose2_press,0.621387823146,0.0100907697617,1.06003237775,0.591958273968,0.0187625110219,1.05970050998
+221,3.683333333,pose1_to_pose2_press,0.621428035037,0.0100907977244,1.06003228296,0.591998485262,0.0187625370711,1.05970041744
+222,3.700000000,pose1_to_pose2_press,0.621460400118,0.0100908530297,1.0600321617,0.592030848817,0.0187625875341,1.05970029637
+223,3.716666667,pose1_to_pose2_press,0.62148703747,0.0100908143092,1.0600323286,0.592057485658,0.0187625469438,1.05970045992
+224,3.733333333,pose1_to_pose2_press,0.621508342099,0.0100906849078,1.06003225698,0.592078792836,0.0187624256301,1.05970038194
+225,3.750000000,pose1_to_pose2_press,0.621524142227,0.0100907788938,1.06003210266,0.592094592173,0.0187625173724,1.05970024233
+226,3.766666667,pose1_to_pose2_press,0.621535889454,0.0100907669781,1.06003219118,0.592106340398,0.0187625087795,1.05970033014
+227,3.783333333,pose1_to_pose2_press,0.621544323449,0.0100907451987,1.06003227716,0.59211477513,0.01876248932,1.05970041156
+228,3.800000000,pose1_to_pose2_press,0.621549981868,0.0100908496689,1.06003204448,0.592120430987,0.0187625852956,1.05970018399
+229,3.816666667,pose1_to_pose2_press,0.621553351812,0.0100909012016,1.06003200063,0.592123799771,0.0187626329396,1.05970014104
+230,3.833333333,pose1_to_pose2_press,0.621556133862,0.0100909123442,1.0600322428,0.592126581937,0.0187626443103,1.0597003776
+231,3.850000000,pose1_to_pose2_press,0.621558279449,0.0100909209376,1.06003242957,0.592128727614,0.0187626530798,1.05970056005
+232,3.866666667,pose1_to_pose2_press,0.621559480507,0.0100909040957,1.0600324832,0.592129929212,0.0187626380834,1.0597006127
+233,3.883333333,pose1_to_pose2_press,0.621560216352,0.0100908794838,1.06003248245,0.592130665711,0.0187626157555,1.0597006123
+234,3.900000000,pose1_to_pose2_press,0.621560713552,0.0100908628539,1.06003248194,0.592131163352,0.0187626006688,1.05970061203
+235,3.916666667,pose1_to_pose2_press,0.621560945329,0.0100908551016,1.0600324817,0.592131395335,0.0187625936359,1.0597006119
+236,3.933333333,pose1_to_pose2_press,0.621561005354,0.0100908530939,1.06003248164,0.592131455413,0.0187625918146,1.05970061187
+237,3.950000000,pose1_to_pose2_press,0.621561056442,0.0100908513852,1.06003248159,0.592131506547,0.0187625902644,1.05970061184
+238,3.966666667,pose1_to_pose2_press,0.621561156533,0.0100908480374,1.06003248149,0.592131606727,0.0187625872273,1.05970061178
+239,3.983333333,pose1_to_pose2_press,0.621561400557,0.0100908398755,1.06003248124,0.592131850968,0.0187625798228,1.05970061165
+240,4.000000000,pose1_to_pose2_press,0.621561844908,0.0100908250132,1.06003248078,0.592132295714,0.0187625663398,1.0597006114
+241,4.016666667,pose1_to_pose2_press,0.621562550152,0.0100908014248,1.06003248006,0.592133001584,0.0187625449404,1.05970061102
+242,4.033333333,pose1_to_pose2_press,0.621562907741,0.010090816276,1.06003247501,0.592133358823,0.0187625586236,1.05970060666
+243,4.050000000,pose1_to_pose2_press,0.621562977317,0.0100908212644,1.06003247367,0.592133428278,0.0187625632065,1.05970060548
+244,4.066666667,pose1_to_pose2_press,0.621563046808,0.0100908262468,1.06003247232,0.592133497649,0.0187625677837,1.05970060431
+245,4.083333333,pose1_to_pose2_press,0.621563166712,0.0100908348435,1.06003247,0.592133617346,0.0187625756816,1.05970060228
+246,4.100000000,pose1_to_pose2_press,0.621563634835,0.0100908684066,1.06003246093,0.592134084659,0.0187626065161,1.05970059438
+247,4.116666667,pose1_to_pose2_press,0.621563701367,0.0100908731768,1.06003245965,0.592134151075,0.0187626108984,1.05970059326
+248,4.133333333,pose1_to_pose2_press,0.621564046207,0.0100908979008,1.06003245297,0.592134495318,0.0187626336124,1.05970058744
+249,4.150000000,pose1_to_pose2_press,0.621564305265,0.0100909164745,1.06003244795,0.592134753928,0.0187626506761,1.05970058307
+250,4.166666667,pose1_to_pose2_press,0.621564600461,0.0100909369978,1.06003244255,0.592135048632,0.0187626695421,1.05970057836
+251,4.183333333,pose1_to_pose2_press,0.621565120354,0.0100909263403,1.06003245637,0.592135569062,0.0187626605888,1.0597005896
+252,4.200000000,pose1_to_pose2_press,0.621565540153,0.0100909177346,1.06003246752,0.592135989295,0.0187626533593,1.05970059868
+253,4.216666667,pose1_to_pose2_press,0.621565657046,0.0100909120962,1.0600324682,0.592136106428,0.0187626485342,1.05970059934
+254,4.233333333,pose1_to_pose2_press,0.621565770917,0.010090892371,1.0600324582,0.592136221064,0.0187626314897,1.05970059176
+255,4.250000000,pose1_to_pose2_press,0.621565769769,0.0100908995421,1.060032446,0.592136219688,0.0187626379854,1.05970058188
+256,4.266666667,pose1_to_pose2_press,0.6215657537,0.0100909049381,1.0600324428,0.592136203429,0.0187626427603,1.05970057921
+257,4.283333333,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203433,0.0187626427553,1.05970057922
+258,4.300000000,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203433,0.0187626427549,1.05970057922
+259,4.316666667,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203433,0.018762642755,1.05970057922
+260,4.333333333,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203433,0.0187626427554,1.05970057922
+261,4.350000000,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203433,0.0187626427552,1.05970057922
+262,4.366666667,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203433,0.0187626427552,1.05970057922
+263,4.383333333,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203433,0.0187626427553,1.05970057922
+264,4.400000000,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203433,0.0187626427553,1.05970057922
+265,4.416666667,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203434,0.0187626427554,1.05970057922
+266,4.433333333,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203434,0.0187626427554,1.05970057921
+267,4.450000000,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203434,0.0187626427554,1.05970057921
+268,4.466666667,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203434,0.0187626427555,1.05970057921
+269,4.483333333,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203434,0.0187626427555,1.05970057921
+270,4.500000000,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203434,0.0187626427554,1.05970057921
+271,4.516666667,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203434,0.0187626427554,1.05970057921
+272,4.533333333,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203434,0.0187626427553,1.05970057921
+273,4.550000000,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203434,0.0187626427552,1.05970057921
+274,4.566666667,pose2_hold,0.6215657537,0.0100909049381,1.0600324428,0.592136203434,0.0187626427551,1.05970057921
+275,4.583333333,pose2_to_pose3_retreat,0.6215657537,0.0100909049381,1.0600324428,0.592136203434,0.0187626427559,1.05970057921
+276,4.600000000,pose2_to_pose3_retreat,0.62156574895,0.0100908976757,1.06003244758,0.592136198414,0.0187626345338,1.05970058275
+277,4.616666667,pose2_to_pose3_retreat,0.621565487722,0.0100908382471,1.0600324265,0.592135938542,0.0187625798932,1.05970056657
+278,4.633333333,pose2_to_pose3_retreat,0.621565202599,0.0100908436956,1.06003243374,0.592135653425,0.018762585317,1.05970057258
+279,4.650000000,pose2_to_pose3_retreat,0.621564987211,0.0100908632767,1.06003244586,0.592135437718,0.0187626037246,1.05970058233
+280,4.666666667,pose2_to_pose3_retreat,0.621564831813,0.0100908774041,1.0600324546,0.59213528209,0.0187626170054,1.05970058936
+281,4.683333333,pose2_to_pose3_retreat,0.621564812811,0.0100908791316,1.06003245567,0.59213526306,0.0187626186293,1.05970059022
+282,4.700000000,pose2_to_pose3_retreat,0.621564136797,0.0100909271887,1.06003248046,0.592134586218,0.0187626636863,1.05970061012
+283,4.716666667,pose2_to_pose3_retreat,0.621561737047,0.0100909688792,1.06003244575,0.592132185194,0.0187627012753,1.05970058139
+284,4.733333333,pose2_to_pose3_retreat,0.621554090373,0.0100907844878,1.06003231827,0.59212454032,0.0187625226105,1.05970044463
+285,4.750000000,pose2_to_pose3_retreat,0.621539078809,0.0100908397284,1.06003251997,0.592109530364,0.0187625836787,1.05970065455
+286,4.766666667,pose2_to_pose3_retreat,0.621513155895,0.0100908520504,1.06003239232,0.592083606019,0.0187625907088,1.05970052173
+287,4.783333333,pose2_to_pose3_retreat,0.62147614191,0.0100908560384,1.06003238522,0.59204659211,0.0187625953107,1.05970051843
+288,4.800000000,pose2_to_pose3_retreat,0.621427292361,0.0100909582919,1.06003245259,0.591997741624,0.0187626939891,1.05970058463
+289,4.816666667,pose2_to_pose3_retreat,0.621368904465,0.0100908512746,1.06003205614,0.591939354494,0.0187625900826,1.05970020278
+290,4.833333333,pose2_to_pose3_retreat,0.62130149237,0.0100908174239,1.06003233958,0.591871943799,0.0187625611637,1.05970047318
+291,4.850000000,pose2_to_pose3_retreat,0.62122678455,0.0100907026934,1.06003222104,0.591797238103,0.0187624527826,1.05970035733
+292,4.866666667,pose2_to_pose3_retreat,0.621144210451,0.0100907150102,1.06003229869,0.591714662918,0.0187624619616,1.05970044213
+293,4.883333333,pose2_to_pose3_retreat,0.621050313368,0.0100907949105,1.06003214924,0.591620763789,0.0187625344923,1.05970028229
+294,4.900000000,pose2_to_pose3_retreat,0.620944394365,0.0100907808054,1.0600321869,0.591514844501,0.0187625192423,1.05970031841
+295,4.916666667,pose2_to_pose3_retreat,0.620824325223,0.0100908195438,1.06003221399,0.591394775004,0.0187625567393,1.05970034735
+296,4.933333333,pose2_to_pose3_retreat,0.620687769309,0.0100908758274,1.06003230439,0.591258218642,0.0187626115618,1.05970044205
+297,4.950000000,pose2_to_pose3_retreat,0.620532675115,0.0100908578197,1.06003234677,0.591103125382,0.0187625966589,1.05970048656
+298,4.966666667,pose2_to_pose3_retreat,0.620358611051,0.0100908296834,1.06003224189,0.590929062855,0.018762573364,1.05970037589
+299,4.983333333,pose2_to_pose3_retreat,0.620165452907,0.0100909277327,1.06003237283,0.59073590292,0.0187626649928,1.05970049991
+300,5.000000000,pose2_to_pose3_retreat,0.619949876771,0.0100908354765,1.06003240949,0.590520325418,0.0187625678646,1.0597005352
+301,5.016666667,pose2_to_pose3_retreat,0.619713115158,0.0100907963759,1.06003271286,0.590283566079,0.018762536394,1.05970084209
+302,5.033333333,pose2_to_pose3_retreat,0.61945363988,0.0100906250236,1.06003244054,0.590024093304,0.0187623738043,1.05970058061
+303,5.050000000,pose2_to_pose3_retreat,0.619172789221,0.010090811348,1.06003236081,0.589743239976,0.0187625503685,1.05970049013
+304,5.066666667,pose2_to_pose3_retreat,0.618870406749,0.0100907158128,1.06003212757,0.589440859376,0.0187624612911,1.05970026402
+305,5.083333333,pose2_to_pose3_retreat,0.618548143543,0.0100906823948,1.06003238561,0.589118596616,0.0187624287576,1.05970051287
+306,5.100000000,pose2_to_pose3_retreat,0.61820747118,0.0100907865275,1.06003233799,0.588777921908,0.0187625247669,1.05970046633
+307,5.116666667,pose2_to_pose3_retreat,0.617847886243,0.01009089865,1.06003235779,0.588418336173,0.018762634084,1.05970048906
+308,5.133333333,pose2_to_pose3_retreat,0.617471235595,0.0100908915654,1.06003233008,0.588041686365,0.0187626296107,1.05970046199
+309,5.150000000,pose2_to_pose3_retreat,0.61707697612,0.0100907913189,1.06003218584,0.587647427144,0.0187625298715,1.05970031499
+310,5.166666667,pose2_to_pose3_retreat,0.616659007914,0.0100907492342,1.06003239051,0.587229458539,0.0187624857938,1.05970050817
+311,5.183333333,pose2_to_pose3_retreat,0.616216332975,0.0100908290725,1.06003227747,0.586786783004,0.0187625635427,1.05970040015
+312,5.200000000,pose2_to_pose3_retreat,0.615749629331,0.0100907323859,1.0600324726,0.586320081189,0.0187624730006,1.05970059985
+313,5.216666667,pose2_to_pose3_retreat,0.615258606368,0.0100907855818,1.06003244801,0.585829057853,0.0187625250197,1.05970058283
+314,5.233333333,pose2_to_pose3_retreat,0.614740067549,0.0100908474081,1.0600323822,0.585310519252,0.0187625873887,1.05970051459
+315,5.250000000,pose2_to_pose3_retreat,0.614205563661,0.0100907898612,1.06003227595,0.584776014795,0.0187625278516,1.05970040765
+316,5.266666667,pose2_to_pose3_retreat,0.613658030007,0.010090772846,1.06003221769,0.584228480624,0.0187625091635,1.05970035113
+317,5.283333333,pose2_to_pose3_retreat,0.613092718809,0.0100907712077,1.06003226385,0.583663169885,0.0187625090644,1.05970039777
+318,5.300000000,pose2_to_pose3_retreat,0.612509214447,0.010090744508,1.06003230971,0.583079666329,0.0187624850373,1.05970044265
+319,5.316666667,pose2_to_pose3_retreat,0.611898799432,0.0100907609892,1.06003221585,0.582469251174,0.0187625011879,1.05970034922
+320,5.333333333,pose2_to_pose3_retreat,0.61125957063,0.0100906892372,1.06003221905,0.581830022418,0.0187624295731,1.05970035162
+321,5.350000000,pose2_to_pose3_retreat,0.610590277564,0.0100908055569,1.06003224245,0.581160729272,0.0187625454484,1.05970037154
+322,5.366666667,pose2_to_pose3_retreat,0.609902275611,0.0100908080375,1.0600321141,0.580472724874,0.01876253964,1.05970024507
+323,5.383333333,pose2_to_pose3_retreat,0.609200550207,0.0100908590751,1.06003253733,0.579771000223,0.0187625930305,1.05970066121
+324,5.400000000,pose2_to_pose3_retreat,0.608490741167,0.0100907813802,1.06003232911,0.579061192269,0.0187625192291,1.05970045902
+325,5.416666667,pose2_to_pose3_retreat,0.607772044719,0.0100907426044,1.06003221491,0.578342496767,0.0187624838343,1.05970035019
+326,5.433333333,pose2_to_pose3_retreat,0.607040503639,0.0100907132496,1.06003213321,0.577610955584,0.0187624542673,1.05970027227
+327,5.450000000,pose2_to_pose3_retreat,0.606289601192,0.0100907547201,1.06003225228,0.576860051865,0.0187624912268,1.05970038601
+328,5.466666667,pose2_to_pose3_retreat,0.605515478802,0.010090808356,1.06003243958,0.57608592925,0.0187625438237,1.05970056611
+329,5.483333333,pose2_to_pose3_retreat,0.604716007347,0.0100907503971,1.06003230389,0.575286459868,0.0187624931521,1.0597004372
+330,5.500000000,pose2_to_pose3_retreat,0.603893620075,0.0100907340174,1.06003222338,0.574464073294,0.0187624794162,1.05970036417
+331,5.516666667,pose2_to_pose3_retreat,0.603068565144,0.0100907501258,1.06003232486,0.573639016962,0.0187624907697,1.05970046603
+332,5.533333333,pose2_to_pose3_retreat,0.602246471754,0.0100908012414,1.06003242756,0.572816923413,0.0187625411968,1.05970056341
+333,5.550000000,pose2_to_pose3_retreat,0.601432961725,0.0100909434672,1.06003222447,0.572003410539,0.018762673748,1.05970035849
+334,5.566666667,pose2_to_pose3_retreat,0.600629026303,0.0100908010946,1.06003247668,0.571199478551,0.0187625426895,1.05970060302
+335,5.583333333,pose2_to_pose3_retreat,0.599830345722,0.0100908388137,1.06003225907,0.570400796402,0.018762575382,1.059700393
+336,5.600000000,pose2_to_pose3_retreat,0.599024182732,0.0100907833645,1.06003232035,0.569594634679,0.0187625240541,1.0597004511
+337,5.616666667,pose2_to_pose3_retreat,0.598205815422,0.0100906682873,1.06003222261,0.568776268632,0.0187624131108,1.05970034975
+338,5.633333333,pose2_to_pose3_retreat,0.597361942247,0.0100907741856,1.06003207357,0.567932393981,0.0187625144696,1.05970021281
+339,5.650000000,pose2_to_pose3_retreat,0.596510628538,0.0100908998699,1.06003209321,0.567081078677,0.0187626351245,1.05970024152
+340,5.666666667,pose2_to_pose3_retreat,0.595663350498,0.0100908506138,1.06003229382,0.566233802193,0.0187625909467,1.05970043593
+341,5.683333333,pose2_to_pose3_retreat,0.594833361421,0.010090767695,1.06003251497,0.565403814398,0.0187625119697,1.05970064698
+342,5.700000000,pose2_to_pose3_retreat,0.59402713459,0.0100907607497,1.06003256708,0.564597586352,0.0187625007165,1.05970069432
+343,5.716666667,pose2_to_pose3_retreat,0.593253779156,0.0100908717816,1.06003242895,0.563824230121,0.018762609216,1.05970055907
+344,5.733333333,pose2_to_pose3_retreat,0.592500354815,0.0100910371286,1.06003226036,0.56307080278,0.0187627641671,1.05970038664
+345,5.750000000,pose2_to_pose3_retreat,0.591751688248,0.0100909109781,1.06003233522,0.562322137857,0.0187626439532,1.05970046984
+346,5.766666667,pose2_to_pose3_retreat,0.590996776326,0.0100909230041,1.06003222002,0.561567227852,0.0187626626204,1.05970035797
+347,5.783333333,pose2_to_pose3_retreat,0.590234023496,0.0100908893953,1.06003209082,0.560804473951,0.0187626255594,1.05970023348
+348,5.800000000,pose2_to_pose3_retreat,0.589463485264,0.0100908142134,1.06003233612,0.560033935793,0.0187625503951,1.05970047262
+349,5.816666667,pose2_to_pose3_retreat,0.588694793166,0.0100906867142,1.06003245172,0.559265246616,0.0187624327313,1.05970058623
+350,5.833333333,pose2_to_pose3_retreat,0.587961811681,0.0100907108842,1.06003245658,0.558532265543,0.0187624582789,1.05970059123
+351,5.850000000,pose2_to_pose3_retreat,0.587263090454,0.0100907802919,1.06003245879,0.557833543158,0.0187625237901,1.05970059348
+352,5.866666667,pose2_to_pose3_retreat,0.586599419932,0.0100908106273,1.06003241208,0.557169872024,0.0187625520687,1.05970054701
+353,5.883333333,pose2_to_pose3_retreat,0.585966123742,0.0100908013226,1.06003234782,0.556536575619,0.018762541968,1.05970048182
+354,5.900000000,pose2_to_pose3_retreat,0.585355962966,0.0100907282354,1.06003232868,0.555926414908,0.0187624691287,1.05970046202
+355,5.916666667,pose2_to_pose3_retreat,0.584743943227,0.0100908074078,1.0600321921,0.555314395205,0.0187625487152,1.05970033288
+356,5.933333333,pose2_to_pose3_retreat,0.584131947775,0.0100906746157,1.0600321069,0.554702401282,0.0187624208447,1.05970024087
+357,5.950000000,pose2_to_pose3_retreat,0.583525949713,0.0100907320112,1.06003244248,0.554096402734,0.0187624764613,1.05970057287
+358,5.966666667,pose2_to_pose3_retreat,0.58294172246,0.0100907881845,1.06003202992,0.553512174712,0.0187625304687,1.05970017181
+359,5.983333333,pose2_to_pose3_retreat,0.582387984239,0.0100906394798,1.0600321379,0.55295843805,0.0187623870047,1.05970027843
+360,6.000000000,pose2_to_pose3_retreat,0.58186544612,0.0100906176123,1.06003247011,0.552435899329,0.0187623628131,1.05970060344
+361,6.016666667,pose2_to_pose3_retreat,0.581371062401,0.010090794536,1.06003234299,0.551941514593,0.0187625364692,1.05970048114
+362,6.033333333,pose2_to_pose3_retreat,0.580901462845,0.0100908659671,1.06003227449,0.551471913737,0.0187626033753,1.05970041009
+363,6.050000000,pose2_to_pose3_retreat,0.58045260951,0.010090833732,1.06003251843,0.551023060098,0.0187625697751,1.05970064576
+364,6.066666667,pose2_to_pose3_retreat,0.580027019552,0.0100907923443,1.06003255534,0.550597471173,0.0187625319421,1.05970068379
+365,6.083333333,pose2_to_pose3_retreat,0.579628845747,0.0100907076892,1.06003223869,0.550199297776,0.0187624489205,1.05970037314
+366,6.100000000,pose2_to_pose3_retreat,0.579259866,0.0100907362914,1.06003231122,0.549830317736,0.0187624765974,1.0597004475
+367,6.116666667,pose2_to_pose3_retreat,0.57891726366,0.0100908802548,1.06003220438,0.549487714028,0.0187626159938,1.05970034256
+368,6.133333333,pose2_to_pose3_retreat,0.578596551848,0.0100907947813,1.06003231906,0.549167002928,0.0187625328553,1.05970045506
+369,6.150000000,pose2_to_pose3_retreat,0.578290917176,0.0100908048082,1.0600323242,0.548861367529,0.0187625404224,1.05970046049
+370,6.166666667,pose2_to_pose3_retreat,0.577998631976,0.0100909144514,1.06003241932,0.548569082162,0.018762649407,1.05970055329
+371,6.183333333,pose2_to_pose3_retreat,0.577720878707,0.0100908455531,1.06003232154,0.548291329101,0.0187625811617,1.05970045441
+372,6.200000000,pose2_to_pose3_retreat,0.577460553523,0.0100907389449,1.06003230517,0.548031005606,0.0187624801252,1.05970043381
+373,6.216666667,pose2_to_pose3_retreat,0.577218849959,0.0100907100732,1.06003227952,0.54778930345,0.0187624562359,1.05970041343
+374,6.233333333,pose2_to_pose3_retreat,0.577001538363,0.0100907499745,1.06003223452,0.547571990504,0.0187624913787,1.05970036385
+375,6.250000000,pose2_to_pose3_retreat,0.576806467553,0.0100907688722,1.06003231824,0.54737691861,0.0187625063152,1.05970044014
+376,6.266666667,pose2_to_pose3_retreat,0.576633575886,0.0100907106855,1.06003230008,0.54720402768,0.0187624511229,1.05970043497
+377,6.283333333,pose2_to_pose3_retreat,0.576480528866,0.0100907864742,1.06003221091,0.547050980013,0.0187625247867,1.05970034768
+378,6.300000000,pose2_to_pose3_retreat,0.576347378562,0.0100909464799,1.06003226581,0.546917828725,0.0187626812948,1.05970039846
+379,6.316666667,pose2_to_pose3_retreat,0.576229372515,0.0100907452852,1.06003246244,0.546799824732,0.018762486847,1.05970058923
+380,6.333333333,pose2_to_pose3_retreat,0.576125535231,0.0100908497016,1.06003221349,0.546695984542,0.0187625816309,1.05970034633
+381,6.350000000,pose2_to_pose3_retreat,0.576034962628,0.010090891581,1.06003240267,0.546605412066,0.0187626242881,1.05970054547
+382,6.366666667,pose2_to_pose3_retreat,0.575956584854,0.0100907494815,1.06003222922,0.546527036232,0.0187624886502,1.05970036873
+383,6.383333333,pose2_to_pose3_retreat,0.575890616195,0.0100907888431,1.06003224237,0.546461066823,0.018762525075,1.0597003716
+384,6.400000000,pose2_to_pose3_retreat,0.575836292622,0.0100906263853,1.06003223292,0.546406745573,0.0187623704957,1.05970036191
+385,6.416666667,pose2_to_pose3_retreat,0.575793373139,0.0100907415458,1.06003214193,0.546363824674,0.0187624810233,1.05970027548
+386,6.433333333,pose2_to_pose3_retreat,0.575759347924,0.0100908167173,1.06003231959,0.54632979885,0.0187625539901,1.0597004495
+387,6.450000000,pose2_to_pose3_retreat,0.575732682628,0.0100907907425,1.06003243439,0.546303134299,0.0187625304093,1.05970056098
+388,6.466666667,pose2_to_pose3_retreat,0.57571259019,0.0100907583473,1.06003235526,0.546283042471,0.0187625002036,1.05970048499
+389,6.483333333,pose2_to_pose3_retreat,0.575696896242,0.0100907462154,1.06003234329,0.546267348713,0.0187624888895,1.05970047763
+390,6.500000000,pose2_to_pose3_retreat,0.575685074535,0.0100907223744,1.06003236352,0.546255526675,0.0187624636953,1.05970049207
+391,6.516666667,pose2_to_pose3_retreat,0.575677264684,0.0100907330667,1.06003224274,0.546247716685,0.0187624741089,1.05970037578
+392,6.533333333,pose2_to_pose3_retreat,0.575673024436,0.0100907334705,1.06003224369,0.54624347663,0.0187624749152,1.05970037006
+393,6.550000000,pose2_to_pose3_retreat,0.575670235669,0.0100907300743,1.06003228444,0.546240688135,0.0187624720728,1.05970040121
+394,6.566666667,pose2_to_pose3_retreat,0.575668598375,0.0100907888446,1.06003227751,0.546239049912,0.0187625277834,1.05970039677
+395,6.583333333,pose2_to_pose3_retreat,0.575667919565,0.0100908235355,1.06003226939,0.546238370531,0.0187625606306,1.05970039107
+396,6.600000000,pose2_to_pose3_retreat,0.575667347377,0.0100908527774,1.06003226255,0.546237797863,0.0187625883184,1.05970038627
+397,6.616666667,pose2_to_pose3_retreat,0.575666755958,0.0100908830021,1.06003225548,0.546237205946,0.0187626169369,1.05970038131
+398,6.633333333,pose2_to_pose3_retreat,0.575666457065,0.0100908768718,1.0600322622,0.546236907163,0.0187626112131,1.05970038888
+399,6.650000000,pose2_to_pose3_retreat,0.575666334696,0.0100908606816,1.06003227153,0.546236785071,0.0187625959681,1.05970039842
+400,6.666666667,pose2_to_pose3_retreat,0.575666257421,0.0100908504576,1.06003227743,0.54623670797,0.018762586341,1.05970040445
+401,6.683333333,pose2_to_pose3_retreat,0.575666101307,0.0100908298027,1.06003228933,0.546236552208,0.0187625668919,1.05970041663
+402,6.700000000,pose2_to_pose3_retreat,0.57566576233,0.0100907849537,1.06003231518,0.546236213995,0.0187625246611,1.05970044307
+403,6.716666667,pose2_to_pose3_retreat,0.575665581074,0.0100907609724,1.060032329,0.546236033149,0.0187625020798,1.0597004572
+404,6.733333333,pose2_to_pose3_retreat,0.575665531495,0.0100907544127,1.06003233278,0.546235983681,0.0187624959031,1.05970046107
+405,6.750000000,pose2_to_pose3_retreat,0.575665507992,0.0100907513031,1.06003233457,0.546235960231,0.018762492975,1.05970046291
+406,6.766666667,pose2_to_pose3_retreat,0.575665479009,0.0100907474685,1.06003233678,0.546235931314,0.0187624893643,1.05970046517
+407,6.783333333,pose2_to_pose3_retreat,0.575665470184,0.010090746301,1.06003233746,0.546235922509,0.0187624882649,1.05970046585
+408,6.800000000,pose2_to_pose3_retreat,0.575665465962,0.0100907457423,1.06003233778,0.546235918296,0.0187624877388,1.05970046618
+409,6.816666667,pose2_to_pose3_retreat,0.575665352574,0.0100907307404,1.06003234643,0.546235805164,0.0187624736127,1.05970047503
+410,6.833333333,pose2_to_pose3_retreat,0.575665314712,0.010090725731,1.06003234931,0.546235767388,0.0187624688957,1.05970047798
+411,6.850000000,pose2_to_pose3_retreat,0.575665304593,0.0100907243921,1.06003235008,0.546235757291,0.018762467635,1.05970047877
+412,6.866666667,pose2_to_pose3_retreat,0.575664951644,0.0100907313838,1.06003232472,0.546235404295,0.0187624745447,1.05970045547
+413,6.883333333,pose2_to_pose3_retreat,0.575664723524,0.0100908268072,1.06003221979,0.546235174715,0.0187625651603,1.05970035436
+414,6.900000000,pose2_to_pose3_retreat,0.575664481789,0.0100909279257,1.06003210861,0.546234931433,0.018762661184,1.05970024721
+415,6.916666667,pose2_to_pose3_retreat,0.575664377165,0.010090921569,1.06003207504,0.546234826258,0.0187626529461,1.05970021342
+416,6.933333333,pose2_to_pose3_retreat,0.575664357446,0.0100908816135,1.06003207996,0.546234806525,0.0187626128865,1.05970021679
+417,6.950000000,pose2_to_pose3_retreat,0.575664349343,0.0100908651958,1.06003208198,0.546234798417,0.018762596426,1.05970021818
+418,6.966666667,pose2_to_pose3_retreat,0.575664340845,0.0100908479779,1.0600320841,0.546234789913,0.0187625791632,1.05970021963
+419,6.983333333,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3ec41a67c6e8bdead5278c72b85da2278a9fad2
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:878132782e582be2655167bbde8d656886edcdcda555350a9ef13575c81b1ecc
+size 26717888
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..86cd9273ce24e8ab32ded3d93fec1a2497fdaebc
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/franka_data.csv
@@ -0,0 +1,423 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,680,664,635,879,787,803,653,631,653,0.400989079724,0.00449623558555,0.0698417231569,0.999999966531,4.22362218669e-05,-0.000254395768543,2.08866717383e-05,1793239776607110656
+1,0.016666667,BASELINE,765.426746216,745.573253784,715,680,663.426746216,635,879,787,803.573253784,653,631,652.426746216,0.400989894284,0.0044956865154,0.069842118547,0.999999966625,4.21745828878e-05,-0.000254029099337,2.09977708061e-05,1793239776623777536
+2,0.033333333,BASELINE,765.146758888,746,715,680,663.146758888,635.146758888,879,787,804,653,631.146758888,652.146758888,0.400990244026,0.00449515145242,0.0698422873729,0.999999966681,4.13329444189e-05,-0.000253943209766,2.1034928907e-05,1793239776640444416
+3,0.050000000,BASELINE,765.720996174,746,715,680,663.720996174,635.720996174,879,787,804,653,631.720996174,652.720996174,0.40098923985,0.00449465718933,0.0698417962642,0.999999966622,3.8219328164e-05,-0.000254675173321,2.08567122339e-05,1793239776657111040
+4,0.066666667,BASELINE,766,745.694018959,714.694018959,680,664,635.694018959,879,787,804,653,631.694018959,652.694018959,0.400988777626,0.00449460767356,0.06984174427,0.999999966619,3.74823522831e-05,-0.000254808433436,2.07334529628e-05,1793239776673777920
+5,0.083333333,BASELINE,766,745.098877364,714.098877364,680,664,635.098877364,879,787,804,653,631.098877364,652.098877364,0.400988827562,0.00449497845634,0.0698421072512,0.999999966673,3.8991367529e-05,-0.000254375902185,2.06621299685e-05,1793239776690444288
+6,0.100000000,BASELINE,766,745.481238284,714.481238284,680,664,635,879,787,803.518761716,653,631,652.481238284,0.400989093108,0.00449521737,0.0698428779506,0.999999966844,4.02643041361e-05,-0.000253486030211,2.08832297506e-05,1793239776707110912
+7,0.116666667,BASELINE,765.941888218,745.941888218,714.941888218,680,664,635,879,787,803.058111782,652.941888218,631,653,0.400989350315,0.00449518216525,0.0698435792947,0.999999967012,4.10278655579e-05,-0.000252676662935,2.11653062278e-05,1793239776723777536
+8,0.133333333,BASELINE,765.367222086,745.367222086,714.367222086,680,664,635,879,787,803.632777914,652.367222086,631,653,0.400989151543,0.00449294387738,0.0698429420438,0.999999966956,3.76817140183e-05,-0.000253392882572,2.14715020002e-05,1793239776740444160
+9,0.150000000,BASELINE,765.21189317,745,714,680,664,635.21189317,879,787,804,652.21189317,631.21189317,653,0.400989707389,0.00449181040687,0.069842961832,0.999999967086,3.61924033276e-05,-0.000253091646601,2.15301845363e-05,1793239776757110528
+10,0.166666667,BASELINE,765.798884304,745,714,680,664,635.798884304,879,787,804,652.798884304,631.798884304,653,0.400991599078,0.00449263270863,0.0698441447255,0.999999967557,3.79901136118e-05,-0.000250989288203,2.11507136509e-05,1793239776773777408
+11,0.183333333,BASELINE,766,745.381040231,714.381040231,680,663.618959769,635.618959769,879,787,803.618959769,653,631.618959769,653,0.400991283862,0.00449383547795,0.0698440965167,0.999999967494,3.94698477664e-05,-0.00025102759231,2.09725897882e-05,1793239776790444032
+12,0.200000000,BASELINE,766,745.960676133,714.960676133,680,663.039323867,635.039323867,879,787,803.039323867,653,631.039323867,653,0.400989818421,0.00449523654454,0.0698434066655,0.999999967152,4.07838550095e-05,-0.000252181595502,2.08994066399e-05,1793239776807110912
+13,0.216666667,BASELINE,766,745.463253984,715,679.463253984,663.536746016,635,879,787,803,653,631,653,0.400989293593,0.00449506704823,0.0698434600076,0.999999967062,4.03045957421e-05,-0.000252615597935,2.09018449047e-05,1793239776823777536
+14,0.233333333,BASELINE,766,745.112659084,715,679.112659084,664,635,879,787,803,652.887340916,631,653,0.400988902758,0.00449473512658,0.0698435075771,0.999999967007,3.94515128167e-05,-0.000252974112195,2.08135002795e-05,1793239776840443904
+15,0.250000000,BASELINE,766,745.688995099,715,679.688995099,664,635,879,787,803,652.311004901,631,653,0.400988781652,0.0044942051552,0.0698433087684,0.999999967022,3.75970264721e-05,-0.00025323760793,2.03288637798e-05,1793239776857110784
+16,0.266666667,BASELINE,766,745.72821932,715,680,664,635,879,787,803,652,631,653,0.40098864031,0.00449428894926,0.0698434252621,0.99999996703,3.77495574775e-05,-0.000253187757939,2.02678779134e-05,1793239776873777408
+17,0.283333333,BASELINE,766,745.137873989,715,680,664,635,879,787,803,652,631,653,0.400988475248,0.00449509216158,0.069843911334,0.999999967029,4.02545912954e-05,-0.00025277062328,2.07034693775e-05,1793239776890444288
+18,0.300000000,BASELINE,766,745,715,680,664,635,879,787,803,652.442982409,631,653,0.40098865564,0.00449454658365,0.0698438058559,0.999999967101,3.89396247378e-05,-0.000252690276055,2.06961502956e-05,1793239776907110912
+19,0.316666667,BASELINE,766,745,715,680,664,635,879,787,803,653,631,652.979129363,0.400988943901,0.00449364921004,0.0698435058702,0.999999967182,3.65872906098e-05,-0.000252734324957,2.05659123162e-05,1793239776923777792
+20,0.333333333,BASELINE,766,745,715,680,664,635,879,787,803,653,631,652.403282184,0.400989301387,0.00449432599861,0.0698428268364,0.999999966983,3.76023915052e-05,-0.000253357333496,2.07558806546e-05,1793239776940444416
+21,0.350000000,BASELINE,766,745,714.823723611,679.823723611,664,635,879,787,803.176276389,652.823723611,631,652.176276389,0.400989766021,0.00449450563934,0.0698427043496,0.999999967014,3.81455663726e-05,-0.00025313858694,2.0918415236e-05,1793239776957111296
+22,0.366666667,BASELINE,766,745,714.235491641,679.235491641,664,635,879,787,803.764508359,652.235491641,631,652.764508359,0.400990481055,0.00449352345207,0.0698438825057,0.999999967584,3.7585856231e-05,-0.000250952669809,2.10168374644e-05,1793239776973777920
+23,0.383333333,BASELINE,766,745,714,679.347472606,664,635,879,787,803.652527394,652.347472606,631,653,0.400990415048,0.00449319437704,0.0698440724305,0.999999967648,3.65683982444e-05,-0.00025086671434,2.07988188854e-05,1793239776990444288
+24,0.400000000,BASELINE,766,745,714,679.926920147,664,635,879,787,803.073079853,652.926920147,631,653,0.400989827612,0.0044933013238,0.0698436026058,0.999999967373,3.52453448128e-05,-0.000252182706488,2.03695424093e-05,1793239777007110656
+25,0.416666667,BASELINE,766,745,714.506805317,680,664,635,879,787,803,653,631,653,0.400988234646,0.00449308867361,0.0698427294314,0.999999966985,3.64919725743e-05,-0.000253532159884,2.05084054509e-05,1793239777023777280
+26,0.433333333,BASELINE,766,745,715,680,664,635,879.085429056,787,803.085429056,653,631.085429056,653,0.400987042004,0.00449300444097,0.0698421059935,0.999999966701,3.79729425502e-05,-0.000254418635775,2.06848308273e-05,1793239777040444160
+27,0.450000000,BASELINE,766,745,715,680,664,635,879.65652273,787,803.65652273,653,631.65652273,653,0.400988950213,0.00449391248236,0.0698432332443,0.999999967125,3.86778043465e-05,-0.000252645628787,2.06086571072e-05,1793239777057111040
+28,0.466666667,BASELINE,766,745.235704138,715,679.764295862,664,635,879.764295862,787,804,653,632,653,0.400990428436,0.00449457281396,0.0698442477718,0.999999967483,3.9581888651e-05,-0.000251084472603,2.05675812599e-05,1793239777073777664
+29,0.483333333,BASELINE,766,745.827090048,715,679.172909952,664,635,879.172909952,787,804,653,632,653,0.400991257801,0.00449485934699,0.0698450921975,0.999999967746,4.07866032513e-05,-0.00024984300319,2.05794687366e-05,1793239777090444544
+30,0.500000000,BASELINE,766,745.590683027,715,679,664,635,879,787,804,653,631.590683027,652.590683027,0.400991095418,0.00449474674274,0.0698447798615,0.999999967613,3.98949178606e-05,-0.000250508728511,2.07024121334e-05,1793239777107111424
+31,0.516666667,BASELINE,766,745.012240514,715,679,664,635,879,787,804,653,631.012240514,652.012240514,0.400990523256,0.00449446921909,0.0698439895635,0.999999967312,3.81370216509e-05,-0.000251962486998,2.08712426872e-05,1793239777123778048
+32,0.533333333,BASELINE,766,745,714.438430879,679.561569121,664,635,879,787,804,652.438430879,631,652.561569121,0.400990792735,0.00449505046944,0.0698440844549,0.999999967457,3.87439128874e-05,-0.000251310890086,2.06589326621e-05,1793239777140444416
+33,0.550000000,BASELINE,766,745.138220476,714.138220476,680,664,635,879,787,803.861779524,652,631,652.861779524,0.40099076006,0.00449527867003,0.0698440264508,0.999999967504,3.90677654406e-05,-0.000251082997177,2.05441960487e-05,1793239777157111040
+34,0.566666667,BASELINE,766,745.72440618,714.72440618,680,664,635,879,787,803.27559382,652,631,652.27559382,0.400989689149,0.00449430248509,0.0698434108998,0.999999967204,3.83086160344e-05,-0.000252375818003,2.07723942852e-05,1793239777173777664
+35,0.583333333,BASELINE,766,745.694016298,715,680,664,635,879,787.305983702,803,652.305983702,631.305983702,652.305983702,0.400989726833,0.00449426189665,0.0698434576522,0.999999967188,3.89467955542e-05,-0.000252344288506,2.0720110563e-05,1793239777190444288
+36,0.600000000,BASELINE,766,745.116527635,715,680,664,635,879,787.883472365,803,652.883472365,631.883472365,652.883472365,0.400990748193,0.00449505148005,0.0698440920785,0.999999967423,4.08248506209e-05,-0.000251137638779,2.04189500703e-05,1793239777207111168
+37,0.616666667,BASELINE,766,745.464606017,715,679.535393983,664,635,879,787.535393983,803,652.535393983,631.535393983,653,0.400989958179,0.00449448482047,0.0698435344622,0.999999967379,3.98676258037e-05,-0.000251464583443,2.04703758346e-05,1793239777223777792
+38,0.633333333,BASELINE,766,745.954019149,715,679.045980851,664,635,879,787,803,652,631,652.954019149,0.400988975136,0.00449366477478,0.0698428434347,0.9999999673,3.84032754272e-05,-0.000251991445792,2.06065261357e-05,1793239777240444160
+39,0.650000000,BASELINE,766,745.380449085,715,679.619550915,664,635,879,787,803,652,631,652.380449085,0.400991031273,0.00449387122914,0.0698440792365,0.999999967671,3.93440437401e-05,-0.000250363884919,2.06921131902e-05,1793239777257111040
+40,0.666666667,BASELINE,766,745,715,680,664,635,879,787,803.198508578,652.198508578,631,652.198508578,0.400991175933,0.0044937236577,0.0698443443372,0.999999967642,3.93787148913e-05,-0.000250468762863,2.0751609233e-05,1793239777273777920
+41,0.683333333,BASELINE,766,745,715,680,664,635,879,787,803.788079796,652.788079796,631,652.788079796,0.400987554976,0.00449287865409,0.0698426971529,0.999999966822,3.76283711944e-05,-0.000253986551844,2.07597058805e-05,1793239777290444288
+42,0.700000000,BASELINE,766,745.357391296,715,680,664,635,879,787,803.642608704,652.642608704,631,653,0.400987702195,0.00449381528082,0.0698429721634,0.999999966859,3.8374233e-05,-0.000253732652067,2.0692772546e-05,1793239777307110912
+43,0.716666667,BASELINE,766,745.915333965,715,680,664,635,879,787,803.084666035,652.084666035,631,653,0.40098996394,0.00449575167566,0.0698443258202,0.999999967376,4.05208492877e-05,-0.000251362255868,2.05837358751e-05,1793239777323777536
+44,0.733333333,BASELINE,766,745.49268999,714.49268999,680,664,635,879,787,803,652,631,653,0.400989667002,0.00449524369942,0.0698442468025,0.999999967288,3.99582237129e-05,-0.000251809918946,2.04666576125e-05,1793239777340444160
+45,0.750000000,BASELINE,765.896445151,745,714.103554849,679.896445151,664,635.103554849,879,787,803.103554849,652.103554849,631,653,0.400989263233,0.00449453174329,0.0698439907332,0.999999967177,3.92471321393e-05,-0.000252367890716,2.03755316489e-05,1793239777357110784
+46,0.766666667,BASELINE,765.308708018,745,714.691291982,679.308708018,664,635.691291982,879,787,803.691291982,652.691291982,631,653,0.400990500135,0.0044949106162,0.0698441051793,0.999999967466,4.01079784137e-05,-0.000251084497135,2.04124748772e-05,1793239777373777408
+47,0.783333333,BASELINE,765.275101446,745,714.724898554,679.550202891,664,635.724898554,878.724898554,787,804,653,631,653,0.400990622838,0.00449515960951,0.0698442825344,0.999999967541,4.00528398638e-05,-0.000250790928027,2.04168755515e-05,1793239777390443776
+48,0.800000000,BASELINE,765.854565547,745,714.145434453,680.709131093,664,635.145434453,878.145434453,787,804,653,631,653,0.40098951283,0.0044952649086,0.0698445294897,0.999999967383,3.89842877243e-05,-0.000251592466074,2.03852722825e-05,1793239777407110400
+49,0.816666667,BASELINE,765.566748654,745,714.433251346,680.566748654,664,635,878.433251346,787,803.566748654,652.566748654,631,652.566748654,0.400989739231,0.00449486908042,0.0698441495863,0.999999967496,3.79957112819e-05,-0.00025129518697,2.03825330068e-05,1793239777423777024
+50,0.833333333,BASELINE,765.011586864,745,714.988413136,680,664,635,879,787,803,652,631,652.011586864,0.400990380582,0.00449431491638,0.0698435739451,0.999999967692,3.7102588122e-05,-0.000250647255231,2.03956515964e-05,1793239777440443648
+51,0.850000000,BASELINE,765.585580444,745,714.414419556,680,664,635,879,787,803,652,631,652.585580444,0.400989427333,0.00449422582665,0.0698436928715,0.999999967541,3.95418624254e-05,-0.000250850610942,2.07090345499e-05,1793239777457110784
+52,0.866666667,BASELINE,766,745.163086843,714,680,664,635,879,787.163086843,803,652.163086843,631,652.836913157,0.400988515909,0.00449423057181,0.0698435946632,0.999999967293,4.08457445149e-05,-0.000251609487649,2.09154960997e-05,1793239777473777664
+53,0.883333333,BASELINE,766,745.74971613,714,680,664,635,879,787.74971613,803,652.74971613,631,652.25028387,0.400987713108,0.00449447900962,0.0698429325485,0.999999966804,3.92009717286e-05,-0.000253811072507,2.08442788708e-05,1793239777490444288
+54,0.900000000,BASELINE,765.66794077,745.66794077,714,679.66794077,664,635,879,787.66794077,803,652.66794077,631,652.33205923,0.400987996118,0.00449495845941,0.0698431141351,0.99999996678,3.91388827142e-05,-0.000253935689857,2.06186653916e-05,1793239777507110912
+55,0.916666667,BASELINE,765.088787165,745.088787165,714,679.088787165,664,635,879,787.088787165,803,652.088787165,631,652.911212835,0.400989087111,0.00449560981153,0.0698439235429,0.999999967102,4.02545121488e-05,-0.000252514778658,2.02781614337e-05,1793239777523777792
+56,0.933333333,BASELINE,765.489308847,745,714,679.489308847,664,635,879,787,803,652.489308847,631,653,0.400990884735,0.00449519960393,0.0698448156418,0.999999967588,3.92062885691e-05,-0.000250733748384,2.04996404405e-05,1793239777540444672
+57,0.950000000,BASELINE,766,745.066506478,714,680,664.066506478,635,879,787.066506478,803,652.933493522,631,653,0.400992403826,0.00449473355885,0.0698455733616,0.999999967992,3.82367636448e-05,-0.000249238398732,2.08248733815e-05,1793239777557111296
+58,0.966666667,BASELINE,766,745.63833281,714,680,664.63833281,635,879,787.63833281,803,652.36166719,631,653,0.400990834468,0.00449530367287,0.0698451963009,0.99999996759,4.08420644813e-05,-0.000250409092137,2.11652997863e-05,1793239777573777664
+59,0.983333333,BASELINE,766,745.781794409,714.218205591,679.781794409,664.781794409,635,879,787.781794409,803,652,631,653,0.400990106444,0.00449553947964,0.0698449308509,0.999999967452,4.18881173341e-05,-0.000250774633825,2.12850788168e-05,1793239777590444032
+60,1.000000000,BASELINE,766,745.188074233,714.811925767,679.188074233,664.188074233,635,879,787.188074233,803,652,631,653,0.400990826289,0.00449519997017,0.0698448574743,0.99999996778,4.02508279913e-05,-0.000249754573196,2.10251411999e-05,1793239777607110656
+61,1.016666667,BASELINE,766,745.395914074,715,679.395914074,664,635,879,787,803.395914074,652,631.395914074,653,0.400990676768,0.00449626603537,0.0698448901687,0.999999967774,4.19888640206e-05,-0.000249520604533,2.07079171116e-05,1793239777623777280
+62,1.033333333,BASELINE,766,745.975390249,715,679.975390249,664,635,879,787,803.975390249,652,631.975390249,653,0.400990124173,0.00449798378301,0.069844972042,0.999999967604,4.52918402612e-05,-0.000249651100599,2.03641326667e-05,1793239777640443904
+63,1.050000000,BASELINE,766,745.449777687,714.449777687,680,664,635,879,787,803.449777687,652,631.449777687,653,0.400990310965,0.00449516944224,0.0698445695347,0.999999967542,4.07753516083e-05,-0.000250660785746,2.0563829165e-05,1793239777657110784
+64,1.066666667,BASELINE,765.872143698,745,714.127856302,680,664,635,879,787.127856302,803,652,631.127856302,652.872143698,0.400990210138,0.00449309789174,0.0698440924621,0.999999967437,3.72677839952e-05,-0.000251614607267,2.0685448146e-05,1793239777673777664
+65,1.083333333,BASELINE,765.283673496,745,714.716326504,680,664,635,879,787.716326504,803,652,631.716326504,652.283673496,0.400988954993,0.0044944264664,0.0698434241577,0.999999967235,3.86443724972e-05,-0.000252226694507,2.04389461575e-05,1793239777690444288
+66,1.100000000,BASELINE,765.300145413,745,714.699854587,680,664,635,879,787.699854587,803,652,632,652,0.400989172362,0.0044951517568,0.0698440699871,0.999999967361,3.97559378026e-05,-0.000251556118734,2.0402753947e-05,1793239777707110912
+67,1.116666667,BASELINE,765.879635343,745,714.120364657,680,664,635,879,787.120364657,803,652,632,652,0.400990760197,0.00449531557212,0.0698459388774,0.999999967791,4.06208466642e-05,-0.000249691771954,2.05622964877e-05,1793239777723777536
+68,1.133333333,BASELINE,766,745.457562211,714.457562211,679.542437789,664,635,879,787,803,652,631.542437789,652.457562211,0.400990173194,0.00449484512533,0.0698452508491,0.999999967491,4.06348084347e-05,-0.000250865535427,2.08355730459e-05,1793239777740443904
+69,1.150000000,BASELINE,766,745.965163598,715,679.034836402,664.034836402,635,879,787,803,652,631,653,0.400989203105,0.00449428870576,0.0698440485062,0.999999967069,4.04486294272e-05,-0.000252547771764,2.11042660018e-05,1793239777757110784
+70,1.166666667,BASELINE,766,745.391646133,715,679.608353867,664.608353867,635,879,787,803,652,631,653,0.400991125715,0.0044949740701,0.0698452585595,0.999999967764,4.06172407538e-05,-0.000249776604669,2.08410225231e-05,1793239777773777408
+71,1.183333333,BASELINE,766,745,714.812413654,680,664.812413654,635,879,787,803,652,631.187586346,652.812413654,0.400992234857,0.00449516921218,0.0698457928783,0.999999968154,4.01767091365e-05,-0.000248299686426,2.06255951628e-05,1793239777790444032
+72,1.200000000,BASELINE,766,745,714.22087421,680,664.22087421,635,879,787,803,652,631.77912579,652.22087421,0.400991592254,0.00449430869759,0.0698448720535,0.999999967899,3.84244340066e-05,-0.000249609835284,2.05131361696e-05,1793239777807111168
+73,1.216666667,BASELINE,766,745,714,680,664,635,879,787,803,652,631.63708828,652,0.400991052915,0.00449336586869,0.0698445777569,0.999999967859,3.78956965126e-05,-0.000249846469947,2.05647384417e-05,1793239777823777792
+74,1.233333333,BASELINE,766,745,714,680,664,635,879,787,803,652,631.057922594,652,0.400990575108,0.00449237398991,0.0698446567996,0.999999967949,3.80960479122e-05,-0.00024944341259,2.07141025104e-05,1793239777840444416
+75,1.250000000,BASELINE,766,745,714.516095856,680,664,635,879,787,803.516095856,652,631,652.516095856,0.400990669814,0.00449279164854,0.0698450811143,0.999999968004,3.82001750158e-05,-0.000249201875035,2.07432657967e-05,1793239777857111296
+76,1.266666667,BASELINE,765.910002676,745,715,680,664,635,879.089997324,787,803.910002676,652,631,652.910002676,0.400990562683,0.00449326125426,0.069845247457,0.999999967971,3.79255181818e-05,-0.000249380273631,2.07056625123e-05,1793239777873777920
+77,1.283333333,BASELINE,765.33364232,745,715,680,664,635,879.66635768,787,803.33364232,652,631,652.33364232,0.40098902097,0.004493165115,0.0698438123212,0.999999967472,3.56616254353e-05,-0.00025173109043,2.03794245351e-05,1793239777890444288
+78,1.300000000,BASELINE,765.248508602,745,714.751491398,680,664,635,879.751491398,787,803.248508602,652.248508602,631.248508602,652.248508602,0.400988344165,0.00449325750946,0.0698434038902,0.999999967223,3.57145492505e-05,-0.000252718137319,2.02976803725e-05,1793239777907110912
+79,1.316666667,BASELINE,765.838619237,745,714.161380763,680,664,635,879.161380763,787,803.838619237,652.838619237,631.838619237,652.838619237,0.400988856268,0.00449360906397,0.0698444067765,0.999999967321,3.89521889737e-05,-0.000251830534314,2.05520195112e-05,1793239777923777536
+80,1.333333333,BASELINE,766,745.419183802,714,680,664.419183802,635,879,787,803.580816198,653,631.580816198,653,0.400989410985,0.00449446268217,0.0698445806454,0.999999967526,4.00328717197e-05,-0.000250848003082,2.05242000894e-05,1793239777940444160
+81,1.350000000,BASELINE,766,745.996155121,714,680,664.996155121,635,879,787,803.003844879,653,631.003844879,653,0.400989981743,0.00449550528525,0.0698444424587,0.999999967773,4.03016414783e-05,-0.00024982973927,2.03901716741e-05,1793239777957110784
+82,1.366666667,BASELINE,766.570616468,745.429383532,714,680,664.429383532,635,879,787,803,652.429383532,631,652.429383532,0.400989443478,0.00449445182314,0.0698441145377,0.999999967771,3.75953321259e-05,-0.000250272237886,2.02047900311e-05,1793239777973777920
+83,1.383333333,BASELINE,766.850672672,745,714.149327328,680,664,635,879,787,803.149327328,652,631,652,0.400989019194,0.00449387343565,0.0698442007985,0.999999967803,3.60162419886e-05,-0.000250382880396,2.01296355956e-05,1793239777990444800
+84,1.400000000,BASELINE,766.259333182,745,714.740666818,680,664,635,879,787,803.740666818,652,631,652,0.400988954324,0.00449474290205,0.0698455168142,0.999999967956,3.78328227721e-05,-0.000249482214408,2.03817758193e-05,1793239778007110912
+85,1.416666667,BASELINE,766,745,715,680,664,635,879,787,804,652,631.325411339,652.325411339,0.400989398256,0.004494487518,0.0698456727159,0.999999967988,3.84724973164e-05,-0.000249243276811,2.05567720805e-05,1793239778023777024
+86,1.433333333,BASELINE,766,745,715,680,664,635,879,787,804,652,631.905004433,652.905004433,0.400990239617,0.00449335350297,0.0698449224419,0.999999967927,3.81928795865e-05,-0.000249521221335,2.06715104759e-05,1793239778040443648
+87,1.450000000,BASELINE,766,745,715,680,664,635,879,787,803.518364476,652,631.518364476,652.518364476,0.400989803205,0.00449449079177,0.0698443882694,0.99999996775,3.92530630613e-05,-0.000250094826974,2.02960882991e-05,1793239778057110528
+88,1.466666667,BASELINE,766,745.057323536,715,680,664,635,878.942676464,787,803,652.057323536,631,652,0.40098918593,0.00449581730346,0.0698439953185,0.999999967581,4.02381154683e-05,-0.000250644630013,1.99119890259e-05,1793239778073777408
+89,1.483333333,BASELINE,766,745.629754722,715,680,664,635,878.370245278,787,803,652.629754722,631,652,0.400989194253,0.0044948432233,0.0698444907134,0.999999967699,3.81879579017e-05,-0.000250459731119,2.03133444387e-05,1793239778090444032
+90,1.500000000,BASELINE,766,745.791784812,714.791784812,680,664,635,878.208215188,787,803,652.791784812,631,652,0.400989583468,0.0044949018465,0.0698449026976,0.999999967812,3.80285324577e-05,-0.00025002842195,2.03863143104e-05,1793239778107110912
+91,1.516666667,BASELINE,766,745.20228352,714.20228352,680,664,635,878.79771648,787,803,652.20228352,631,652,0.400990670177,0.00449685156837,0.0698451619388,0.999999967912,4.13314381464e-05,-0.000249145883413,1.98579406719e-05,1793239778123777792
+92,1.533333333,BASELINE,766,745,714,680,664,635,879,787,803,652,631,652,0.400990827629,0.00449777259201,0.0698453212226,0.999999967871,4.39463959542e-05,-0.00024886250218,1.98513882937e-05,1793239778140444416
+93,1.550000000,BASELINE,766,745,714,680,664,635,879,787,803,652,631,652,0.400990499634,0.00449815622117,0.0698454282885,0.999999967757,4.62019682947e-05,-0.000248892122207,2.01174366557e-05,1793239778157110784
+94,1.566666667,BASELINE,766,745.538669555,714.538669555,680,664,635,879.538669555,787,803,652,631,652.538669555,0.400989529425,0.00449574891764,0.0698444169166,0.999999967498,4.26173094277e-05,-0.000250537401785,2.04588817531e-05,1793239778173777408
+95,1.583333333,BASELINE,766,745.88428603,714.88428603,679.88428603,664,635,879.88428603,787,803,652.11571397,631,653,0.400988788574,0.00449380674379,0.0698436290429,0.999999967337,3.94111014772e-05,-0.000251682773596,2.07079156952e-05,1793239778190444032
+96,1.600000000,BASELINE,766,745.297269592,714.297269592,679.297269592,664,635,879.297269592,787,803,652.702730408,631,653,0.40098915635,0.00449451719299,0.0698440552977,0.999999967677,3.9332811276e-05,-0.000250353132397,2.05600781199e-05,1793239778207110912
+97,1.616666667,BASELINE,765.714018086,745.285981914,714.285981914,679.285981914,664,635,879,787,803,652.714018086,631,653,0.400989856005,0.00449533309959,0.0698446698844,0.999999967967,3.99318082038e-05,-0.000249098149155,2.05122727646e-05,1793239778223777792
+98,1.633333333,BASELINE,765.134629299,745.865370701,714.865370701,679.865370701,664,635,879,787,803,652.134629299,631,653,0.400990896157,0.00449625720155,0.0698454776927,0.999999968207,4.1225676699e-05,-0.000247919762297,2.05670967789e-05,1793239778240444416
+99,1.650000000,BASELINE,765,745.556923204,715,680,664,635,879,787,803,652.443076796,631,652.556923204,0.400990497413,0.00449593195482,0.0698453949377,0.999999968065,4.17032383794e-05,-0.000248402987518,2.06531958314e-05,1793239778257110784
+100,1.666666667,BASELINE,765.020201114,745,715,679.979798886,664,635,879,787,803,653,631,652.020201114,0.400989707938,0.0044952318277,0.0698450497138,0.99999996782,4.18796915273e-05,-0.000249353312463,2.07353819921e-05,1793239778273777664
+101,1.683333333,BASELINE,765.595336181,745,715,679.404663819,664,635,879,787,803,653,631,652.595336181,0.400990149784,0.00449462232918,0.0698448996923,0.999999967888,4.0572427823e-05,-0.000249318203671,2.04500164723e-05,1793239778290444288
+102,1.700000000,BASELINE,766,745,715,679,664,635,879,787,803,652.82506101,631,653,0.400990555408,0.00449441077875,0.0698450117552,0.999999968001,3.95709938639e-05,-0.00024904014616,2.02906296172e-05,1793239778307110656
+103,1.716666667,BASELINE,766,745,715,679,664,635,879,787,803,652.234852784,631,653,0.400990875046,0.00449514387543,0.0698457459525,0.999999968221,3.92955371024e-05,-0.000248185378286,2.04302902823e-05,1793239778323777280
+104,1.733333333,BASELINE,766,745,714.650974257,679,664,635,879,787,803,652,631,653,0.400990814959,0.00449574818299,0.0698457602415,0.999999968176,4.01816088989e-05,-0.000248227574664,2.04234588953e-05,1793239778340443904
+105,1.750000000,BASELINE,766,745,714.07127894,679,664,635,879,787,803,652,631,653,0.400990503913,0.00449626737447,0.0698452987464,0.999999967952,4.18353297652e-05,-0.00024886257067,2.03198115716e-05,1793239778357110528
+106,1.766666667,BASELINE,766,745,714.503303729,679,664,635.503303729,878.496696271,787,803,652,631,653,0.400990502756,0.00449346140263,0.0698453275478,0.999999968093,3.84412021443e-05,-0.000248797011089,2.08705604891e-05,1793239778373777152
+107,1.783333333,POSE1_TO_POSE2_PRESS,765,746,715,680,664,635,880,787,803,653,631,652,0.400989780157,0.00449467680896,0.0698443115839,0.999999967863,3.66785458636e-05,-0.000250070975607,1.98182478848e-05,1793239778416517632
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.579932972,745.420067028,715,680,664,635.579932972,879.420067028,787,803,653,631.579932972,652.579932972,0.400989934832,0.00449423615636,0.0698444411702,0.999999967915,3.74735634292e-05,-0.000249711330668,2.02575693699e-05,1793239778433184256
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635.840820047,878.840820047,787,803,652.840820047,631.840820047,652.840820047,0.400989819321,0.00449406796585,0.0698442711852,0.999999967816,3.84955071949e-05,-0.000249928038398,2.05624649321e-05,1793239778449850880
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635.263375461,878.263375461,787,803,652.263375461,631.263375461,652.263375461,0.400988993861,0.00449461570238,0.0698433140405,0.999999967319,4.01137272445e-05,-0.000251659182581,2.05141401752e-05,1793239778466517504
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.68795611,745.31204389,715,679.68795611,664,635,878.31204389,787,803,652.31204389,631,652.31204389,0.400988413533,0.00449451387794,0.0698432019797,0.99999996725,4.01966271488e-05,-0.000251908510222,2.06307214849e-05,1793239778483184128
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.114235137,745.885764863,715,679.114235137,664,635,878.885764863,787,803,652.885764863,631,652.885764863,0.400988038771,0.00449386733773,0.0698437985984,0.999999967542,3.89920218586e-05,-0.000250915200284,2.08855914808e-05,1793239778499850752
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.473633849,745.526366151,715,679.473633849,664,635,879,787,803.473633849,652.526366151,631,653,0.400989273542,0.00449529050526,0.0698447642563,0.999999967843,4.04981198897e-05,-0.000249507492271,2.04923858676e-05,1793239778516517376
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.06363139,714.93636861,680,664,635.06363139,879,787,804,652.06363139,631,653,0.40099093258,0.00449680372836,0.0698458244494,0.999999968141,4.2112755948e-05,-0.000248083227173,1.99902461777e-05,1793239778533184256
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.642385611,714.357614389,680,664,635.642385611,879,787,804,652.642385611,631,653,0.400992786824,0.00449488040428,0.0698469071994,0.999999968442,3.91503722652e-05,-0.000247358961222,1.99105848359e-05,1793239778549850880
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745.780368674,714,680,664,636,879,787,804,652.780368674,631,653,0.400998894809,0.00449352662484,0.0698499162994,0.999999969508,3.67000017629e-05,-0.000243385734976,2.00173225736e-05,1793239778566517504
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.205562484,714,680,664,636,879,787,804,652.205562484,631,653,0.401011881696,0.00449309387967,0.0698560405793,0.999999971761,3.50776291535e-05,-0.000234158481252,2.04254939483e-05,1793239778583184128
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714,680,664,635.6321265,879,787,803.6321265,652.3678735,631,653,0.401041869128,0.00449319705409,0.0698681781988,0.999999976364,3.57272098476e-05,-0.000213472392315,2.06160805391e-05,1793239778599850496
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714,680,664,635.059453273,879,787,803.059453273,652.940546727,631,653,0.401081320975,0.00449359858153,0.0698836635194,0.999999981704,3.76416148762e-05,-0.000186407027093,2.06855350156e-05,1793239778616517120
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745,714,680,664,635,879,787,803,653,631,653,0.401137669354,0.00449479977833,0.0698990545907,0.999999985757,3.80844554024e-05,-0.0001631758257,2.02240974713e-05,1793239778633183744
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,714.120450773,680,664,635,879,787.120450773,803.120450773,652.879549227,631,653,0.401198671623,0.00449570233478,0.0699127046362,0.999999988832,3.77244995939e-05,-0.000143283946299,1.95836185294e-05,1793239778649850624
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,714.699984328,680,664,635,879,787.699984328,803.699984328,652.300015672,631,653,0.401269951404,0.00449511358931,0.0699197606014,0.999999990183,3.49545179717e-05,-0.000134426588307,1.8495147187e-05,1793239778666517248
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787.722664454,803.722664454,652.277335546,631,653,0.40134676677,0.00449548315844,0.0699229281484,0.99999999082,3.36686772703e-05,-0.000130149470064,1.69643481725e-05,1793239778683184128
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,664,635,879,787.147655644,803.147655644,652.852344356,631,653,0.401429523656,0.00449688131785,0.0699219221294,0.999999990758,3.39758134675e-05,-0.000130788472684,1.49587845448e-05,1793239778699850752
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745,714.563428204,679.563428204,664,635,879,787,803,652.563428204,631,652.563428204,0.401524232345,0.00449740591714,0.0699189967907,0.999999990173,3.08925063887e-05,-0.000136162499869,1.26553692695e-05,1793239778716517376
+126,2.100000000,POSE1_TO_POSE2_PRESS,766,745.023670988,714,679.023670988,664,635,879,787,803,652,631.023670988,652.023670988,0.401624609694,0.00449766888246,0.0699156119572,0.999999989398,2.68140245399e-05,-0.000142761334309,1.02267593511e-05,1793239778733184000
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.603408292,714,679.603408292,664,635,879,787,803,652,631.603408292,652.603408292,0.401761144401,0.0044988760057,0.0699170112329,0.999999989854,2.68762425097e-05,-0.000139700467084,7.27468031906e-06,1793239778749850624
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.817990044,714.182009956,679.817990044,664.182009956,635,879,787.182009956,803,652,631.817990044,653,0.401910595935,0.00449994672081,0.0699198200998,0.999999990695,2.51345842687e-05,-0.000134018214501,4.04841431972e-06,1793239778766517248
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.241847622,714.758152378,679.241847622,664.758152378,635,879,787.758152378,803,652,631.241847622,653,0.402088018127,0.00450072205152,0.069925681358,0.999999992287,1.94867321052e-05,-0.000122659497664,2.28412028828e-07,1793239778783184128
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.334682378,715,679.334682378,664.665317622,635,879,787.665317622,803,652,631,652.665317622,0.402277986011,0.00450217689698,0.0699301431926,0.999999993328,1.66567748455e-05,-0.000114241695328,-3.8392466636e-06,1793239778799850496
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.911492833,715,679.911492833,664.088507167,635,879,787.088507167,803,652,631,652.088507167,0.402477030174,0.00450412334175,0.0699335926061,0.999999994015,1.58654408484e-05,-0.000107951514973,-8.0860743371e-06,1793239778816517120
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.501132461,715,680,664,635,879,787,803.498867539,652.498867539,631,652,0.402699417219,0.00450513139826,0.0699344763077,0.999999994342,9.35592189569e-06,-0.000105138020174,-1.32161566095e-05,1793239778833184000
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.913437856,745,714.913437856,679.913437856,664,635,879,787,804,653,631,652.086562144,0.402933257306,0.00450603674421,0.0699353437296,0.99999999462,2.51442690687e-06,-0.000102047812418,-1.8451365668e-05,1793239778849850368
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.334809403,745,714.334809403,679.334809403,664,635,879,787,804,653,631,652.665190597,0.403208151479,0.00450732509539,0.0699387621883,0.999999995327,-3.2247641331e-07,-9.38024168165e-05,-2.33741140555e-05,1793239778866517248
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745,714,679.24232291,664.24232291,635,879,787,803.75767709,652.75767709,631,653,0.403507625649,0.00450872938415,0.0699468991964,0.999999996525,-4.83425679398e-06,-7.81698149283e-05,-2.85788991368e-05,1793239778883183872
+136,2.266666667,POSE1_TO_POSE2_PRESS,765,745,714,679.817400705,664.817400705,635,879,787,803.182599295,652.182599295,631,653,0.403840852758,0.00451029287694,0.0699615156594,0.999999997976,-1.16459579048e-05,-5.23931912636e-05,-3.41709732842e-05,1793239778899850752
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.391999355,745.391999355,714.391999355,679.608000645,664.608000645,635,879,787.391999355,803,652,631,653,0.404176691687,0.00451115684132,0.0699646960358,0.999999997749,-1.76898702345e-05,-5.13480844113e-05,-3.94016915887e-05,1793239778916517376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.96637507,745.96637507,714.96637507,679.03362493,664.03362493,635,879,787.96637507,803,652,631,653,0.404513745747,0.00451169535246,0.0699625558117,0.999999996828,-2.3376571271e-05,-6.18092318717e-05,-4.44642901699e-05,1793239778933184000
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,746,715,679.559173522,664.559173522,635,879,787.440826478,803,652,631,653,0.404907247056,0.00451670652927,0.0699714954,0.999999997588,4.92745852599e-05,-3.95919289098e-05,-2.87749361016e-05,1793239778949850624
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.851367148,714.851367148,680,664.851367148,635,879,787,803,652.148632852,631,652.851367148,0.405308592184,0.0045180878908,0.0699774126986,0.999999994433,0.000101106935316,-2.46072449444e-05,-1.7474073964e-05,1793239778966517248
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.274819361,714.274819361,680,664.274819361,635,879,787,803,652.725180639,631,652.274819361,0.405722414335,0.00450821828347,0.0699726452716,0.999999995969,7.89775795622e-05,-3.629549038e-05,-2.25227718767e-05,1793239778983183872
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,714.301172027,680,664,635,879,787,803.301172027,652.698827973,631,652.301172027,0.406159550036,0.00449962085177,0.0699643287963,0.999999996281,6.39912238513e-05,-5.15649276934e-05,-2.61706376435e-05,1793239778999850496
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,714.876656705,680,664,635,879,787,803.876656705,652.123343295,631,652.876656705,0.406617920166,0.00449218213832,0.0699527797863,0.999999995595,5.55108326173e-05,-7.00961773596e-05,-2.85426020365e-05,1793239779016517376
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.538645724,745.461354276,714.538645724,680,664,635.461354276,879,787,803.538645724,652,631,652.538645724,0.407095608804,0.00450273766329,0.0699401349085,0.999999995795,7.12481268532e-06,-8.6266409829e-05,-3.02819445126e-05,1793239779033184000
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.048008031,745.951991969,714,680,664.048008031,635.951991969,879.048008031,787,803.048008031,652,631,652.048008031,0.407585891614,0.00451692711329,0.0699291154478,0.999999993571,-4.57716579909e-05,-9.87321204593e-05,-3.1871769411e-05,1793239779049850624
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.628483567,745.371516433,714,680,664.628483567,635.371516433,879.628483567,787,803.628483567,652,631,652.628483567,0.408157408197,0.00451697673209,0.0699394395586,0.999999996057,-2.79535910992e-05,-7.72538299304e-05,-3.3717365031e-05,1793239779066517248
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.207117436,714,680,664.792882564,635,879.792882564,787,803.792882564,652.207117436,631,652.792882564,0.408743405161,0.00452033199568,0.0699507894157,0.999999997988,-3.92718384455e-06,-5.24929753835e-05,-3.54092752972e-05,1793239779083183872
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.7824769,714,680,664.2175231,635,879.2175231,787,803.2175231,652.7824769,631,652.2175231,0.409355147316,0.0045295644918,0.0699639629857,0.999999998597,3.11372685967e-05,-2.18959257481e-05,-3.68279423589e-05,1793239779099850752
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.635463404,745.635463404,714.364536596,680,664,635,879,787.364536596,803,652.635463404,631,652.364536596,0.409958136998,0.00453906257055,0.0699612039026,0.999999997408,5.55820128354e-05,-2.52332568973e-05,-3.81955536279e-05,1793239779116517632
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.049330763,745.049330763,714.950669237,680,664,635,879,787.950669237,803,652.049330763,631,652.950669237,0.410555806169,0.00454872209245,0.0699487596105,0.999999995302,7.35712027423e-05,-4.91987638019e-05,-3.95321288404e-05,1793239779133184512
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.530934633,745.530934633,715,680,664,635,879,787.469065367,803.530934633,652,631.530934633,653,0.411208771115,0.00455201037172,0.0699480900267,0.999999995826,6.1119479391e-05,-5.46272286891e-05,-4.0355677082e-05,1793239779149850880
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.88967554,745.88967554,715,680,664,635,879,787,804,652,631.88967554,652.88967554,0.411882534973,0.00455630124827,0.0699551304062,0.999999996658,5.39879040382e-05,-4.56183952744e-05,-4.10856645093e-05,1793239779166517504
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.311711719,745.311711719,715,680,664,635,879,787,804,652,631.311711719,652.311711719,0.412622920861,0.0045673236998,0.0699902648774,0.999999995681,8.12648925854e-05,1.73659716826e-05,-4.16189097934e-05,1793239779183184128
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.264773655,745.264773655,715,680,664,635,879,787,803.735226345,652,631,652,0.413363233189,0.00457443702293,0.0700166566601,0.999999992345,9.95224487458e-05,6.04109034244e-05,-4.19028435045e-05,1793239779199850752
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.839528228,745.839528228,715,680,664,635,879,787,803.160471772,652,631,652,0.414103459491,0.00457697377733,0.0700328130384,0.999999990165,0.000107220605038,8.01119635015e-05,-4.18948985978e-05,1793239779216517888
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,746,715,680,664.42492141,635.42492141,879.42492141,787.42492141,803.42492141,652,631.42492141,652,0.414812991234,0.00458473845691,0.0700080699717,0.999999993147,0.000104202995139,3.14473672561e-05,-4.31120155903e-05,1793239779233184512
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.985814515,714.985814515,680,664.985814515,635.985814515,879.985814515,787.985814515,803.985814515,652,631.985814515,652,0.415512330295,0.00459451381552,0.0699676458958,0.999999993287,9.78244555944e-05,-4.29726378291e-05,-4.48258672129e-05,1793239779249850624
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.406506791,714.406506791,680,664.406506791,635.406506791,879.406506791,787.406506791,803.406506791,652,631.406506791,652,0.416279268512,0.00460371754888,0.0699336485811,0.999999987408,0.000122910221548,-8.84736735492e-05,-4.74244900319e-05,1793239779266517760
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.828364128,745,714.171635872,680,664,635,879,787,803,652,631,652.171635872,0.417064464312,0.00461147659035,0.069917878129,0.999999983098,0.000140241496063,-0.000108167418005,-4.93524645166e-05,1793239779283184640
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.252962255,745,714.747037745,680,664,635,879,787,803,652,631,652.747037745,0.417892610245,0.00461583705577,0.0699449855887,0.999999986804,0.000139330662265,-6.71506182428e-05,-4.97027677099e-05,1793239779299851008
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,745,715,679.677890161,664.322109839,635,879.322109839,787,803.644219677,652,631,653,0.418727147528,0.00462033037452,0.0699692899321,0.999999988479,0.000139231236768,-3.4435376576e-05,-4.97090688321e-05,1793239779316517376
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,745,715,679.103076815,664.896923185,635,879.896923185,787,804.79384637,652,631,653,0.419566698953,0.00462492791995,0.0699913951569,0.999999988976,0.000139768382191,-8.23292413194e-06,-4.9445491427e-05,1793239779333184000
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.485944708,745,715,679.485944708,665,635,880,787,804.514055292,652,631.485944708,653,0.420441738719,0.00461718558628,0.0700117063474,0.999999989097,0.00013610918601,2.55879280054e-05,-5.12324285438e-05,1793239779349850624
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635,880,787,804.076113143,652,631.923886857,652.923886857,0.421320558053,0.00460475632929,0.0700286356807,0.999999989039,0.000126887701681,5.49625263429e-05,-5.2925197708e-05,1793239779366517504
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745,715,680,665,635,880,787,804.653391222,652,631.346608778,652.346608778,0.422173204904,0.00457922004241,0.0700258784067,0.999999993933,8.70789313575e-05,4.40999687649e-05,-5.10477612445e-05,1793239779383184128
+166,2.766666667,POSE1_TO_POSE2_PRESS,766,745.229671313,715,680,665,635,879.770328687,787.229671313,804.770328687,652,631,652.229671313,0.422989676442,0.0045666194408,0.0699936618941,0.999999996341,6.80239583268e-05,-1.13980298891e-05,-5.06024496181e-05,1793239779399850752
+167,2.783333333,POSE1_TO_POSE2_PRESS,766,745.804451892,715,680,665,635,879.195548108,787.804451892,804.195548108,652,631,652.804451892,0.423751790272,0.0045734562861,0.0699171792687,0.999999986446,8.01540999802e-05,-0.000133966245025,-5.23090801753e-05,1793239779416517632
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.619626721,746,715,680,664.619626721,635.380373279,879.380373279,787.619626721,804,652,631,653,0.424595640284,0.00458262382379,0.0698852187022,0.999999979276,9.07984678459e-05,-0.000173473800103,-5.5762769037e-05,1793239779433184256
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.04311712,746,715,680,664.04311712,635.95688288,879.95688288,787.04311712,804,652,631,653,0.425481636833,0.00459299316325,0.0698762155703,0.999999978649,0.000100676708505,-0.000170151809167,-6.0117314175e-05,1793239779449850624
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.545897129,746,715,680.545897129,664.545897129,635.454102871,880,787,804.545897129,652,631,653,0.42640977793,0.00459342724276,0.0699330886003,0.999999989498,9.81324495862e-05,-9.01202229378e-05,-5.70283514421e-05,1793239779466517504
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.866554577,746,715,681,665,635,880,787,804.866554577,652,631,652.866554577,0.427336777916,0.00459558956398,0.0699880852538,0.999999993421,9.99289026177e-05,-1.47668216018e-05,-5.43522392754e-05,1793239779483184128
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.287280976,746,715,681,665,635,880,787,804.287280976,652,631,652.287280976,0.4282485838,0.00460620892868,0.0700190223333,0.99999999104,0.000119582124093,2.42407135123e-05,-5.50656454808e-05,1793239779499850752
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.293724298,746,715,681,665,635,880.293724298,787,804,652,631,652.293724298,0.429138393593,0.00461029168309,0.0700401974448,0.999999988578,0.000127727829568,5.87108436648e-05,-5.55168491352e-05,1793239779516517632
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.876433267,746,715,681,665,635,880.876433267,787,804,652,631,652.876433267,0.430006562179,0.00460794330336,0.0700517681086,0.999999986756,0.00012455170682,8.87167835388e-05,-5.57100812182e-05,1793239779533184512
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.542975635,715,680.542975635,665,635,880.542975635,787.457024365,804.457024365,652,631,653,0.430824903558,0.00460528373304,0.0700120122281,0.999999990782,0.000122008783529,1.99543137074e-05,-5.61350299602e-05,1793239779549850880
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.037013501,714.962986499,680.037013501,664.962986499,635,880,788,804.962986499,652,631.037013501,652.962986499,0.431628894441,0.00460237091168,0.0699586635172,0.999999988532,0.000119189274417,-7.42941645568e-05,-5.66581366904e-05,1793239779566517504
+177,2.950000000,POSE1_TO_POSE2_PRESS,766,745.616533131,714.383466869,680.616533131,664.383466869,635,880,788,804.383466869,652,631.616533131,652.383466869,0.432419096017,0.00459697370854,0.0699085457696,0.999999980678,0.000109818173929,-0.000152492311322,-5.77059278991e-05,1793239779583184128
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.805458341,746,714,681,664.194541659,635,880,787.805458341,804,652,631.805458341,652,0.433249327969,0.00459147390302,0.069895638352,0.999999979513,9.89365552381e-05,-0.000166546196717,-5.87139411148e-05,1793239779599851008
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.230405334,746,714,681,664.769594666,635,880,787.230405334,804,652,631.230405334,652,0.434157856979,0.00458577341266,0.0699555120095,0.99999999308,8.51004557424e-05,-5.51379223495e-05,-5.96441513342e-05,1793239779616517632
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.352147425,746,714.352147425,681,665,635,880,787.352147425,804.352147425,652,631.352147425,652.352147425,0.435011209674,0.00458243665478,0.0700003505498,0.999999994725,8.20255423469e-05,1.96991279276e-05,-5.8590621303e-05,1793239779633184256
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.939713913,746,714.939713913,681,665,635,880,787.939713913,804.939713913,652,631.939713913,652.939713913,0.435827675616,0.00458068010954,0.0700351377473,0.999999992254,8.61447430728e-05,7.00874242309e-05,-5.62109131488e-05,1793239779649850624
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.480034474,714.480034474,680.480034474,665,635,880,787.480034474,805,652,632,652.480034474,0.436635764034,0.00458438444701,0.0700309976663,0.999999991864,9.31487541442e-05,6.54849148835e-05,-5.7509223534e-05,1793239779666517248
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.09906411,714,680.09906411,665,635,880.09906411,787,805,652,632,652,0.437428350525,0.0045884082848,0.0700177346779,0.999999992099,9.94132673369e-05,4.92561049114e-05,-5.91004747832e-05,1793239779683184128
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.676632988,714,680.676632988,665,635,880.676632988,787,805,652,632,652,0.438150685347,0.00459095955042,0.0699819038023,0.999999993118,0.000100512645982,7.23866375936e-06,-6.00754736117e-05,1793239779699850752
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,714,681.252281779,665,635,881,787,804.747718221,652,631.747718221,652.252281779,0.438827885018,0.00459467737234,0.0699314827504,0.999999990867,9.89140849687e-05,-6.96785963824e-05,-6.02319403175e-05,1793239779716517632
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,714,681.825488009,665,635,881,787,804.174511991,652,631.174511991,652.825488009,0.439447668784,0.00459987915553,0.0698625017232,0.999999975593,9.38835081726e-05,-0.000190991469915,-5.9347162084e-05,1793239779733184256
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,714.411396187,681.588603813,664.177207626,635,881,787,804,652,631,652.588603813,0.440091471193,0.00460605727457,0.0698231700241,0.999999961167,0.000105653249206,-0.000250901435104,-5.96030572245e-05,1793239779749850880
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,745.997193349,714.997193349,681.002806651,663.002806651,635,880.997193349,787,804,652,631.002806651,652.002806651,0.440746107047,0.00461266234739,0.0697971264993,0.999999950208,0.000124733751951,-0.000283517860459,-6.03530167035e-05,1793239779766517504
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,745.417603646,714.417603646,681.582396354,663.582396354,635,880.417603646,787,804,652,631.582396354,652.582396354,0.441466549098,0.00461918571089,0.0698348727135,0.999999962532,0.000135000572732,-0.000230449098993,-6.00304997887e-05,1793239779783184128
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.160463752,714,681.839536248,663.839536248,634.839536248,880,787,804,652,632,653,0.442156005612,0.00462614466031,0.0698638126649,0.999999969046,0.000146063880018,-0.000192427704496,-5.95443089113e-05,1793239779799851008
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.734606739,714,681.265393261,663.265393261,634.265393261,880,787,804,652,632,653,0.442765580856,0.00463422656165,0.0698700498772,0.999999966949,0.000159180550852,-0.000193198757299,-5.8636163117e-05,1793239779816517888
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.692224056,745.692224056,714,681,662.384448112,634,880,787,804.307775944,652,632,652.692224056,0.443331924668,0.00464043410333,0.0698530152313,0.999999957811,0.000172994687586,-0.000226141011102,-5.75482868217e-05,1793239779833184512
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.119891923,745.119891923,714,681,661.239783845,634,880,787,804.880108077,652,632,652.119891923,0.443861107831,0.00464503049375,0.0698159767016,0.999999939745,0.000187408346572,-0.000286736791163,-5.63059187548e-05,1793239779849851392
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745.471011214,714,681.471011214,660.528988786,634,880.471011214,787,805,651.528988786,631.528988786,652,0.44436861806,0.00465284155887,0.0697770839339,0.999999918082,0.00020388323022,-0.000345064183889,-5.65523061736e-05,1793239779866518016
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.064721886,746,714,681.935278114,660,634,880.935278114,787,804.935278114,651.064721886,631,652.064721886,0.444871038124,0.00466109019554,0.0697404683146,0.999999895052,0.000219371104602,-0.000398093955665,-5.73972770337e-05,1793239779883184640
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.641703996,746,714,681.358296004,660,634,880.358296004,787,804.358296004,651.641703996,631,652.641703996,0.44537862606,0.00466605986434,0.0697257648095,0.999999887728,0.000222723929069,-0.000413951745918,-5.98574902334e-05,1793239779899851264
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.781484165,745.781484165,714,681.218515835,659.781484165,633.781484165,880.218515835,787,804.218515835,652,631,653,0.445866567141,0.00467069829926,0.0697154559725,0.999999881209,0.000226800781381,-0.000427045971955,-6.14458946359e-05,1793239779916518144
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.204951356,745.204951356,714,681.795048644,659.204951356,633.204951356,880.795048644,787,804.795048644,652,631,653,0.44632231871,0.00467479403916,0.069712347374,0.999999876296,0.000232063882741,-0.000435612364979,-6.16059247679e-05,1793239779933184768
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.37735484,745.37735484,714,682,659,633,881,787,804.62264516,652,631,653,0.446734045632,0.00468105121181,0.0697056098061,0.999999865109,0.000246814682527,-0.000453199567637,-5.89452615996e-05,1793239779949851136
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.96284549,745.96284549,714,682,659,633,881,787,804.03715451,652,631,653,0.447121490133,0.00468850055599,0.0696968706245,0.999999849737,0.000266798567188,-0.000475762335705,-5.47288020549e-05,1793239779966517504
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.457485407,745.457485407,714,682.542514593,658.457485407,633,880.457485407,786.457485407,804.542514593,652,631,653,0.447477431012,0.00470832693876,0.0696732230767,0.999999825745,0.000279976392373,-0.000516126895668,-6.11179580816e-05,1793239779983184384
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,682.878706498,658,632.878706498,880.121293502,786,805,652,631,653,0.447831766464,0.00472972361781,0.06965366196,0.999999803816,0.000294499059957,-0.000548621468066,-6.82054620538e-05,1793239779999851264
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,682.301789582,658,632.301789582,880.698210418,786,805,652,631,653,0.448188089949,0.004753868633,0.0696532455631,0.999999797688,0.000315805783144,-0.000547022431607,-7.52168113005e-05,1793239780016517632
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745.274397429,713.725602571,682,658,632,880.725602571,786,804.725602571,652,631,652.725602571,0.448527447366,0.00476462313264,0.0696591334613,0.999999800717,0.000325844708953,-0.000535008073696,-7.84697344262e-05,1793239780033184512
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745.849783768,713.150216232,682,658,632,880.150216232,786,804.150216232,652,631,652.150216232,0.448848194536,0.00476068945868,0.0696719365952,0.999999813804,0.000323523889224,-0.000511569059834,-7.76000070594e-05,1793239780049851136
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.563823365,713.436176635,682,657.563823365,632,880,786,804,652,631,652,0.449127042746,0.00476151978443,0.0696769824404,0.999999818739,0.000318434027621,-0.000505596416433,-7.41256504216e-05,1793239780066517760
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.025850002,714,682,657,632,880.025850002,786,804.025850002,652,631,652.025850002,0.449389448829,0.0047642717383,0.0696788917531,0.99999982072,0.000312163417138,-0.000506218745696,-6.96946161329e-05,1793239780083184384
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.602562882,714,682,657,632,880.602562882,786,804.602562882,652,631,652.602562882,0.449616930817,0.00477210540367,0.0696723662363,0.999999819382,0.000301579180877,-0.000515875537554,-6.44870473674e-05,1793239780099851008
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.179262869,745.820737131,713.820737131,682,657.179262869,632,880.820737131,786,804.820737131,652,631,653,0.449833625932,0.00477642451869,0.0696649569089,0.999999816403,0.000294383577372,-0.000526098582134,-6.12534088223e-05,1793239780116517376
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.755934199,745.244065801,713.244065801,682,657.755934199,632,880.244065801,786,804.244065801,652,631,653,0.450026407563,0.00477295221413,0.0696555882594,0.999999810135,0.000294700246767,-0.000537576953175,-6.23957835553e-05,1793239780133184000
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.668054676,745,713.331945324,682.331945324,657.668054676,631.668054676,880,786,804.331945324,652,631,652.668054676,0.450189094934,0.00477413595979,0.0696423008857,0.999999797352,0.000297394089128,-0.000559267621817,-6.38225109078e-05,1793239780149850880
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.092527948,745,713.907472052,682.907472052,657.092527948,631.092527948,880,786,804.907472052,652,631,652.092527948,0.450329699162,0.00477873631367,0.0696261379519,0.999999779168,0.000301832300324,-0.000588452072978,-6.54578962273e-05,1793239780166518016
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745.497694802,713.502305198,682.502305198,656.502305198,631,880,786,804.502305198,652,631,652.497694802,0.450455194964,0.00478196835474,0.069617759052,0.999999768724,0.00030551856794,-0.000603942282186,-6.68189913742e-05,1793239780183184640
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745.911762784,713.088237216,682,656,631.088237216,880,786,804,652,631,652.911762784,0.450575585724,0.00478450936374,0.0696110860132,0.999999760508,0.000308870178891,-0.000615589658888,-6.80679337697e-05,1793239780199851264
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.33503628,713.66496372,682,656,631.66496372,880,786,804,652,631,652.33503628,0.450683737761,0.00478467591812,0.0696056014371,0.999999756707,0.000311166573374,-0.000620486163767,-6.89868865908e-05,1793239780216517632
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.241124109,745.241124109,714,682,656,632,880.241124109,786,804,652,631,652.241124109,0.450785439162,0.00478539374575,0.0696023042469,0.999999754582,0.000312979800505,-0.000622900273607,-6.98170070855e-05,1793239780233184256
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.816499701,745.816499701,714,682,656,632,880.816499701,786,804,652,631,652.816499701,0.450878198542,0.00478687576035,0.0696020392591,0.999999754813,0.000314123250415,-0.000621873233186,-7.05239862248e-05,1793239780249850880
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.603271689,745.603271689,714,682,656,631.603271689,880.603271689,786,804.396728311,652,631,653,0.450947583325,0.00478772120992,0.0695988862801,0.999999750238,0.000316951928623,-0.000627751195621,-7.06624437157e-05,1793239780266517504
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.020770613,745.020770613,714,682,656,631.020770613,880.020770613,786,804.979229387,652,631,653,0.451006022671,0.00478826858029,0.0695943809648,0.999999743333,0.000320569735035,-0.000636862508021,-7.0534684135e-05,1793239780283184384
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,714,682,656,631,880,786,805,652,631,652.436795987,0.451051114433,0.00478993857853,0.0695896904366,0.999999737861,0.000321997438709,-0.000644659384287,-7.07797556671e-05,1793239780299851008
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.145360679,714,682,656,631,880.145360679,786,805,652,631,652.145360679,0.451093853667,0.00479102464959,0.0695866368146,0.999999734152,0.000323160550924,-0.000649796267681,-7.09013736948e-05,1793239780316517632
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745.721962261,714,682,656,631,880.721962261,786,805,652,631,652.721962261,0.451131077845,0.00479025523729,0.0695884597132,0.999999735665,0.00032377894807,-0.000647185949882,-7.06158442876e-05,1793239780333184256
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631.298265533,880.701734467,786,804.701734467,652,631,653,0.451161210068,0.00479015815733,0.069588974382,0.999999736104,0.000324329969375,-0.000646285324355,-7.01298161077e-05,1793239780349851136
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,746,714,682,656,631.87429107,880.12570893,786,804.12570893,652,631,653,0.451184737907,0.00479068718728,0.0695882707611,0.999999735545,0.00032481824695,-0.000646976850752,-6.94570732612e-05,1793239780366517504
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745.539055068,714,682,655.539055068,631.539055068,880.460944932,786,804.460944932,652,631,653,0.451198051723,0.00479075211434,0.0695866793302,0.999999733641,0.000324121638577,-0.000650243211168,-6.96136501882e-05,1793239780383184128
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655,631.049512854,880.950487146,786,805,652,631,653,0.451208193834,0.00479081180701,0.0695849198106,0.999999731399,0.000323375859936,-0.000654015548712,-6.99497490434e-05,1793239780399850752
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,714,682,655,631.626856664,880.373143336,786,805,652,631,653,0.451214920433,0.00479219684357,0.0695840104573,0.999999729698,0.000325632058558,-0.000655519282556,-6.97316277396e-05,1793239780416517632
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,714,682,655.203110791,631.796889209,880,786,805,652,631,653,0.451221598237,0.0047921770062,0.0695835497508,0.999999729177,0.00032649423161,-0.000655918325003,-6.94157176112e-05,1793239780433184512
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,714,682,655.777373665,631.222626335,880,786,805,652,631,653,0.451228186873,0.00478958998911,0.0695839088737,0.999999730821,0.000324809048524,-0.000654298722707,-6.89211142537e-05,1793239780449851392
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.637979396,745,714,682,655.637979396,631,880,785.637979396,804.637979396,652,631,653,0.45123139687,0.00479081414678,0.0695832594948,0.999999729921,0.000326904927243,-0.000654652179283,-6.871672627e-05,1793239780466518016
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.046758172,745,714,682,655.046758172,631,880,785.046758172,804.046758172,652,631,653,0.4512324678,0.00479445121587,0.0695819716184,0.999999727394,0.00033139465238,-0.000656254808772,-6.86960779656e-05,1793239780483184640
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.533892228,745,714,682,655,631,880,785.533892228,804,652,631,652.466107772,0.45123285082,0.00479390692654,0.069581741364,0.99999972714,0.000330002703301,-0.000657320677455,-6.89065070007e-05,1793239780499851008
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713.887220692,682,655,631,880.112779308,786,804,652,631,652,0.451233215845,0.004793207426,0.0695813795604,0.999999726881,0.000328883535966,-0.000658267826371,-6.89704307395e-05,1793239780516517376
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713.31184288,682,655,631,880.68815712,786,804,652,631,652,0.451233749375,0.00479334420715,0.0695801056093,0.999999725812,0.000330955147455,-0.000658917089546,-6.83520191414e-05,1793239780533184000
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713.263800788,682,655,631,880.736199212,786,804.263800788,652,631,652.263800788,0.451234695809,0.00479316356121,0.0695796613936,0.999999725671,0.000331800187513,-0.00065875028296,-6.79294950328e-05,1793239780549850624
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713.839759122,682,655,631,880.160240878,786,804.839759122,652,631,652.839759122,0.451236130838,0.0047926073013,0.0695801990101,0.99999972663,0.000331193816228,-0.000657617814696,-6.77387660493e-05,1793239780566517248
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745.426271873,714,682,655,631,880,786,804.573728127,652,631,653,0.451235827732,0.00479319003824,0.0695794026164,0.999999725418,0.000331714706014,-0.000659186500533,-6.78462831454e-05,1793239780583184128
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,746,714,682.01649539,655,631,880,785.98350461,804.01649539,652,631,653,0.451234867692,0.00479415667321,0.0695781196806,0.999999723435,0.000332568757444,-0.000661737187234,-6.806480085e-05,1793239780599851520
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,746,714,682.594549617,655,631,880,785.405450383,804.594549617,652,631,653,0.451234351644,0.00479324631561,0.069577778396,0.999999723934,0.000329972577471,-0.000662273335949,-6.81485005363e-05,1793239780616517888
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745.828449986,714,682.828449986,655,631,880,785.171550014,804.828449986,652,631,653,0.451234371428,0.00479271504543,0.0695777331487,0.999999724409,0.000328437096302,-0.000662308399559,-6.82475433542e-05,1793239780633184512
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.253925097,714,682.253925097,655,631,880,785.746074903,804.253925097,652,631,653,0.451235649891,0.00479307426027,0.0695783832998,0.999999724841,0.000329393220864,-0.000661166402859,-6.83826275323e-05,1793239780649850880
+242,4.033333333,POSE1_TO_POSE2_PRESS,765.327284126,745,714,682.327284126,655,631,880.327284126,786,804.327284126,652,631,652.672715874,0.451236420608,0.00479232546758,0.0695788120354,0.999999724987,0.00032942993743,-0.00066097218521,-6.7951512215e-05,1793239780666517504
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.913787522,745,714,682.913787522,655,631,880.913787522,786,804.913787522,652,631,652.086212478,0.451236789176,0.00479069909824,0.0695790654031,0.999999724906,0.000328738454043,-0.000661528638286,-6.70719491712e-05,1793239780683184384
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.50555002,745,714,682.50555002,655,631,881,786,805,652,631,652.49444998,0.451236089561,0.00479286963235,0.0695782098578,0.999999724089,0.000330073557262,-0.000662065335823,-6.74060779461e-05,1793239780699851008
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.073867977,714,682,655.073867977,631,880.926132023,786,804.926132023,652,631,652.926132023,0.451235139187,0.00479496535053,0.0695771657933,0.999999723155,0.000331288198205,-0.000662825017157,-6.78284395268e-05,1793239780716517376
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.651662589,714,682,655.651662589,631,880.348337411,786,804.348337411,652,631,652.348337411,0.451233733894,0.00479208704395,0.0695761392895,0.99999972231,0.000329298595899,-0.00066512911612,-6.74259112565e-05,1793239780733184256
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,746,714,682.228699267,655.771300733,631,880.228699267,786,804,652,631,652.228699267,0.451234043775,0.00479027279216,0.0695762166115,0.999999722962,0.000327608150977,-0.000665015196419,-6.71104556635e-05,1793239780749850880
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,746,714,682.80458542,655.19541458,631,880.80458542,786,804,652,631,652.80458542,0.451236957452,0.00479007387465,0.0695779696443,0.999999725888,0.000326371854656,-0.000661230498506,-6.69271844807e-05,1793239780766517504
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,746,714,682.61102634,655,631,880.61102634,785.61102634,804.38897366,652,631,653,0.451237401962,0.00479055539471,0.0695781009852,0.999999725688,0.000327156132907,-0.000661168209063,-6.67051313259e-05,1793239780783183872
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,746,714,682.022271365,655,631,880.022271365,785.022271365,804.977728635,652,631,653,0.451236578278,0.00479138639529,0.0695773994065,0.999999723882,0.000328978201414,-0.000663017791359,-6.64631593182e-05,1793239780799850496
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,746,713.442353032,682,655,631,880.557646968,785.557646968,804.442353032,652,631,653,0.451235531386,0.00479349861329,0.069576680416,0.999999722382,0.000331498115271,-0.000663952146613,-6.7176999e-05,1793239780816517120
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,746,713,682,654.863620845,631,880.863620845,786,804,652,631,653,0.451234672681,0.00479475461486,0.0695760295303,0.999999721312,0.000332606203633,-0.000664957922988,-6.76737493995e-05,1793239780833184000
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,746,713,682,654.287592536,631,880.287592536,786,804,652,631,653,0.45123444893,0.00479308802534,0.0695756004029,0.999999721602,0.000329074506241,-0.000666309938473,-6.73495224936e-05,1793239780849850880
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745.712988578,713.287011422,682,654.287011422,631,880,786,804,652,631,653,0.451234945723,0.00479198961155,0.0695758467524,0.99999972223,0.000327641376216,-0.000666111049979,-6.69934091503e-05,1793239780866517504
+255,4.250000000,POSE1_TO_POSE2_PRESS,765,745.139804841,713.860195159,682,654.860195159,631,880,786,804,652,631,653,0.451236160953,0.00479145771245,0.0695767666039,0.9999997232,0.000328300678402,-0.000664365791652,-6.66055026129e-05,1793239780883184128
+256,4.266666667,POSE1_TO_POSE2_PRESS,765,745.446143927,714,682,655,631,880.446143927,786,804,652,631,653,0.451237652427,0.00479093845693,0.0695780458972,0.999999724406,0.000328120705749,-0.000662652482838,-6.64521792411e-05,1793239780899851008
+257,4.283333333,POSE1_TO_POSE2_PRESS,765,746,714,682.03556234,655,631,880.96443766,785.96443766,804,652,631,653,0.451239134385,0.00479049339888,0.0695793431899,0.999999725593,0.000327743918833,-0.000661052679606,-6.6390555458e-05,1793239780916517376
+258,4.300000000,POSE1_TO_POSE2_PRESS,765,746,714,682.615064642,655,631,880.384935358,785.384935358,804,652,631,653,0.451239107746,0.00479112083534,0.0695791422387,0.999999725347,0.000328497915061,-0.000661031346247,-6.6574037175e-05,1793239780933184000
+259,4.316666667,HOLD_POSE2,765,746,714,682,655,631,880,786,805,652,631,653,0.451240574674,0.00479060734704,0.0695791116901,0.999999726597,0.000327288552777,-0.000659745173335,-6.65156872168e-05,1793239780973513728
+260,4.333333333,HOLD_POSE2,765,745.406584315,713.406584315,682.593415685,655,631,880,785.406584315,804.406584315,652,631,652.406584315,0.451240121714,0.00479165735988,0.0695783701173,0.99999972493,0.000330692606954,-0.000660577180416,-6.64868283361e-05,1793239780990180608
+261,4.350000000,HOLD_POSE2,765,745,713.182274503,682.817725497,655.182274503,631,880.182274503,785.182274503,804,652,631,652.182274503,0.451239209925,0.00479236057642,0.0695775784146,0.999999723466,0.000332208381994,-0.000662030215862,-6.64921477762e-05,1793239781006847744
+262,4.366666667,HOLD_POSE2,765,745,713.76121673,682.23878327,655.76121673,631,880.76121673,785.76121673,804,652,631,652.76121673,0.451237299626,0.00479230909134,0.0695766776185,0.999999722458,0.000329614864416,-0.000664834740047,-6.657184644e-05,1793239781023514624
+263,4.383333333,HOLD_POSE2,765,745,714,682,655.661948406,631,880.661948406,786,804.338051594,652,631,653,0.45123766102,0.00479101448873,0.069576861868,0.999999722873,0.00032827110061,-0.000664901195155,-6.63202658746e-05,1793239781040181760
+264,4.400000000,HOLD_POSE2,765,745,714,682,655.086592895,631,880.086592895,786,804.913407105,652,631,653,0.451239617087,0.00478884724816,0.069577807793,0.99999972429,0.00032780463342,-0.000663045592845,-6.58361354212e-05,1793239781056848896
+265,4.416666667,HOLD_POSE2,765,745,714,682,655,631,880.490924337,786,805,652,631,653,0.451239217595,0.00478945034367,0.0695775757888,0.99999972444,0.000327716278449,-0.000662845712522,-6.6006451029e-05,1793239781073514240
+266,4.433333333,HOLD_POSE2,765,745.07025547,713.92974453,682,655,631,880.92974453,785.92974453,805,652,631,653,0.451238445167,0.00479040965875,0.0695771558054,0.999999724263,0.000327809559891,-0.000663044868619,-6.62368151564e-05,1793239781090179072
+267,4.450000000,HOLD_POSE2,765,745.660170674,713.339829326,682,655,631,880.339829326,785.339829326,805,652,631,653,0.451238001096,0.0047903734189,0.0695768890201,0.999999723315,0.000328750853912,-0.00066402582904,-6.60537168508e-05,1793239781106845440
+268,4.466666667,HOLD_POSE2,765.245771936,746,713.245771936,682,655,631,880,785.245771936,804.754228064,652,631,653,0.451238234959,0.00478997484716,0.0695772766101,0.999999723333,0.000328939141775,-0.00066391340531,-6.59675515981e-05,1793239781123512064
+269,4.483333333,HOLD_POSE2,765.82551115,746,713.82551115,682,655,631,880,785.82551115,804.17448885,652,631,653,0.451239390033,0.00478908392059,0.0695785533984,0.999999724664,0.000328104206889,-0.000662315236075,-6.60131038718e-05,1793239781140178688
+270,4.500000000,HOLD_POSE2,765.598732717,745.598732717,714,682,655,631,880,786,804,652,631,653,0.451240375126,0.00478871766053,0.0695789191753,0.999999725117,0.000327732392129,-0.000661839169676,-6.57741344915e-05,1793239781156845312
+271,4.516666667,HOLD_POSE2,765.024691532,745.024691532,714,682,655,631,880,786,804,652,631,653,0.45124128703,0.00478857730637,0.0695788926976,0.999999725193,0.000327559983216,-0.000661846247651,-6.54126584507e-05,1793239781173511936
+272,4.533333333,HOLD_POSE2,765,745,714,682.56395814,654.43604186,631,880.56395814,786,804.56395814,652,631,652.43604186,0.451240431851,0.00478995403189,0.0695776425461,0.999999723976,0.000328493118281,-0.000663189505598,-6.57189818495e-05,1793239781190178816
+273,4.550000000,HOLD_POSE2,765,745.150691187,714,682.849308813,654.150691187,631,880.849308813,785.849308813,804.849308813,652,631,652.150691187,0.451239453994,0.00479123664606,0.0695766200542,0.999999722923,0.000329249089946,-0.000664368625009,-6.60621567544e-05,1793239781206845952
+274,4.566666667,HOLD_POSE2,765,745.730103455,714,682.269896545,654.730103455,631,880.269896545,785.269896545,804.269896545,652,631,652.730103455,0.45123835308,0.00479205751408,0.0695764017381,0.999999722502,0.000329359654896,-0.000664909901323,-6.64247804563e-05,1793239781223512576
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,746,713,682,655,631,880,785,804,652,631,653,0.45124023324,0.00479110636895,0.0695769584344,0.999999723031,0.000330101245222,-0.000663760668775,-6.62816386161e-05,1793239781261670912
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.39575942,713.60424058,682,655,631,880.60424058,785.60424058,804.60424058,652,631,653,0.45124017805,0.00479177870915,0.0695776393706,0.999999722958,0.00033109000005,-0.000663357443523,-6.64889619783e-05,1793239781278337792
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,631,881,786,804.796853732,652,631,653,0.451240448213,0.0047918647489,0.0695780661061,0.999999723211,0.000331214789652,-0.000662911542837,-6.65129345809e-05,1793239781295004928
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,631,881,786,804.208075157,652,631,653,0.451241335995,0.00479083781535,0.0695780102931,0.999999724082,0.000329699515315,-0.000662384631355,-6.61888527003e-05,1793239781311671296
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765.37553455,745.37553455,713.62446545,682,654.62446545,631,880.62446545,786,804,652,631,653,0.45124175357,0.00479079062996,0.0695786999817,0.999999725166,0.000328060550505,-0.000661562969989,-6.61694512965e-05,1793239781328337920
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765.956319153,745.956319153,713.043680847,682,654.043680847,631,880.043680847,786,804,652,631,653,0.451241914153,0.00479127893028,0.0695797971275,0.999999726364,0.000326353982216,-0.000660580211811,-6.63165743615e-05,1793239781345004544
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765.467662898,746,713.532337102,682.532337102,654.532337102,631,880,786,804.532337102,652,631.532337102,653,0.451241479,0.00479127929029,0.0695794347156,0.999999725962,0.000326022867155,-0.000661336700574,-6.64668126939e-05,1793239781361671168
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,746,713.890941484,682.890941484,655,631,880,786,805,652,631.890941484,653,0.451240907394,0.00479085241862,0.069578871709,0.999999725463,0.000325711385213,-0.000662243068365,-6.64802022613e-05,1793239781378337792
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,746,713.309493876,682.309493876,655,631,880,786,805,652,631.309493876,653,0.451239954593,0.00478874687029,0.0695779539779,0.999999725108,0.000325000416421,-0.000663185959097,-6.58997313129e-05,1793239781395004416
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.726804466,713,682,654.726804466,631,880,785.726804466,804.726804466,652,631,653,0.451235695742,0.00478965713321,0.0695754968173,0.999999722183,0.000327171733075,-0.000666533555629,-6.57687709144e-05,1793239781411670784
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.142701878,713,682,654.142701878,631,880,785.142701878,804.142701878,652,631,653,0.451227674478,0.00479399950579,0.0695712877269,0.999999716286,0.000332623201758,-0.000672617800003,-6.6149370894e-05,1793239781428337408
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.43519236,713.43519236,681.56480764,654.43519236,631,880.43519236,785.43519236,804.43519236,652,631,653,0.451203414631,0.00479246000584,0.0695598104954,0.999999705305,0.000329128800951,-0.000690405501303,-6.63630285319e-05,1793239781445004288
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,746,713.988862281,681.011137719,655,631,881,786,805,652,631,653,0.451173329227,0.00478912646362,0.0695458465518,0.999999691999,0.000322963736503,-0.000712230064422,-6.651702237e-05,1793239781461671168
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,746,713.409950459,681.590049541,655,631,881,786,805,652,631,653,0.451113894516,0.00479127443011,0.0695249002046,0.999999664999,0.00032808900554,-0.000746962742237,-6.63808288341e-05,1793239781478337536
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,713.171476338,682,655,631,880.828523662,786,804.828523662,652,631,653,0.451052106941,0.00479271270832,0.0695063402,0.99999964193,0.000331497362477,-0.00077580565277,-6.61402308373e-05,1793239781495003904
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,746,713.75900533,682,655,631,880.24099467,786,804.24099467,652,631,653,0.450984610605,0.00479242907188,0.0694935701685,0.999999630818,0.00033073998127,-0.000790358243049,-6.56463166629e-05,1793239781511670528
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,655,631,880.341671268,786,804.341671268,652,631,653,0.450907663743,0.00479122387949,0.0694873673001,0.999999623773,0.000330591422942,-0.000799396410601,-6.42536828499e-05,1793239781528337408
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,655,631,880.920955198,786,804.920955198,652,631,653,0.450824144589,0.0047893777981,0.0694857315155,0.999999619637,0.000330866265885,-0.000804599614377,-6.22360413966e-05,1793239781545004288
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745.502577395,713.502577395,682,655,631,880.502577395,785.502577395,804.502577395,652,631,653,0.450724092628,0.0047897609961,0.0694867135411,0.999999619257,0.00033637586913,-0.000802924951793,-6.04091280123e-05,1793239781561670656
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.073376054,682,655,631,880,785.073376054,804,652,631,653,0.450617525058,0.00479051465622,0.0694882934493,0.999999619455,0.000342051939078,-0.000800411885319,-5.8578011726e-05,1793239781578337280
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713.648857975,682,655,631,880,785.648857975,804,652,631,653,0.450484248266,0.00479139288935,0.0694911340402,0.999999619829,0.000343206905004,-0.000799598567585,-5.65119056606e-05,1793239781595003904
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,631,880.229011632,786,804.229011632,652,631,653,0.450343139795,0.00479115256741,0.0694947159063,0.999999621974,0.000344545565138,-0.000796499697112,-5.41157302363e-05,1793239781611670272
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,655,631,880.816477544,786,804.816477544,652,631,653,0.450189773012,0.00478916145721,0.0694994580331,0.999999626861,0.000346171747557,-0.000789823426918,-5.12029228435e-05,1793239781628336896
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765.399126683,745.399126683,714,682,655,631,881,786,804.600873317,652,631,652.600873317,0.450011805845,0.00478709507543,0.0695032386215,0.999999628987,0.000349595146727,-0.000785845537339,-4.74940846333e-05,1793239781645003776
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765.979587481,745.979587481,714,682,655,631,881,786,804.020412519,652,631,652.020412519,0.449822662042,0.00478499449553,0.0695065823573,0.99999962984,0.000353835070518,-0.00078309359492,-4.34235877012e-05,1793239781661670400
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765.442901472,746,714,682,655,631,881,786,804.557098528,652,631,652.557098528,0.449611696353,0.00478233123685,0.0695160980616,0.999999640948,0.000355394324667,-0.0007682826744,-3.92544071586e-05,1793239781678337280
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.863973873,714,682,655.136026127,631,881,786,804.863973873,652,631,653,0.449388627207,0.00478022604765,0.0695255969669,0.999999650543,0.000358426854171,-0.000754474548099,-3.48197171532e-05,1793239781695003904
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.280027536,714,682,655.719972464,631,881,786,804.280027536,652,631,653,0.449128321587,0.00478002605588,0.0695342998049,0.999999654532,0.000366632461149,-0.000745415822439,-2.95225743183e-05,1793239781711670528
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765.301532137,745,714,682.301532137,656,631.301532137,881,786,804.301532137,652,631.301532137,653,0.448842592294,0.00477818095808,0.0695399820247,0.999999657993,0.00037124679935,-0.000738654810492,-2.40425091905e-05,1793239781728337152
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765.880892728,745,714,682.880892728,656,631.880892728,881,786,804.880892728,652,631.880892728,653,0.448533437917,0.00477482007736,0.069542881079,0.999999661047,0.000372552180819,-0.000734010887747,-1.83939017578e-05,1793239781745003776
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765.540741209,745,714,682.540741209,656,632,881,786,804.540741209,652,631.540741209,653,0.448190594975,0.00477193673605,0.0695412280627,0.999999655033,0.000378556570239,-0.000739241982085,-1.22838645431e-05,1793239781761670400
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745.037276237,714,682,656.037276237,632,880.962723763,786,804,652,631,653,0.447836183353,0.0047691699051,0.06953857605,0.999999646917,0.000385410676212,-0.000746717359442,-6.11291118782e-06,1793239781778337024
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745.613973332,714,682,656.613973332,632,880.386026668,786,804,652,631,653,0.447440521808,0.00476630075969,0.0695385145816,0.999999644112,0.000386963765839,-0.000749688865371,-7.88440832162e-07,1793239781795003904
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,880.194333014,786,804.194333014,652,631,653,0.447031375764,0.00476229957745,0.069536922233,0.999999642703,0.000387033674203,-0.000751519602205,4.24788218016e-06,1793239781811670528
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,657,632,880.782107809,786,804.782107809,652,631,653,0.446594929385,0.00475600650199,0.069532230503,0.999999644164,0.000384100770547,-0.00075104076601,8.70082861047e-06,1793239781828337152
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.364650957,632,880.635349043,786,804.635349043,652,631,652.635349043,0.446153653392,0.0047479766114,0.0695425697519,0.999999666094,0.00037220013921,-0.000727432623072,1.09779780313e-05,1793239781845003776
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,746,714,682,657.944112278,632,880.055887722,786,804.055887722,652,631,652.055887722,0.445709532304,0.00473892358868,0.0695617635229,0.999999698722,0.000355016754344,-0.000690199354323,1.19733987528e-05,1793239781861670400
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,746,714,682,658,632.520284371,880,786,804,652,631,652.520284371,0.445226348741,0.00471614222021,0.0695823549382,0.999999738351,0.000301060947285,-0.000657743385417,5.78398650523e-06,1793239781878337024
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.095765907,746,714,682,658.191531815,633,880,786,804.095765907,652,631.095765907,653,0.444728165411,0.00469093428011,0.0696021962138,0.999999772489,0.000245831439484,-0.000628163100999,6.77740634484e-07,1793239781895003904
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.669553242,746,714,682,659.339106483,633,880,786,804.669553242,652,631.669553242,653,0.44417592265,0.00466092859554,0.0696175484445,0.999999792925,0.000203836998214,-0.000610391563683,4.80635905567e-06,1793239781911670784
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.748524145,746,714,682.251475855,659.748524145,633,880.251475855,786.251475855,804.748524145,652,632,652.748524145,0.443600661056,0.00464439200355,0.0696302754647,0.99999980698,0.000180256899367,-0.000594530142946,9.00458462294e-06,1793239781928337152
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.155554184,746,714,682.844445816,659.155554184,633,880.844445816,786.844445816,804.155554184,652,632,652.155554184,0.442994140844,0.00464614589991,0.0696394375535,0.999999814474,0.000181682740568,-0.000581262586118,1.32973336613e-05,1793239781945004032
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,746,714,683,659.854393733,633,881,786.572803134,804,652,631.572803134,652.427196866,0.442379515834,0.00464195466402,0.0696604913061,0.999999835603,0.000173029296452,-0.000546391708857,1.76080523212e-05,1793239781961670656
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,746,714,682.993745587,661,633.006254413,880.993745587,786.006254413,804,652,631.006254413,652.993745587,0.441762009315,0.00463560863126,0.0696858693847,0.999999860093,0.000160470760307,-0.00050357394587,2.18343269591e-05,1793239781978337280
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,746,714,682.420079966,661,633.579920034,880.420079966,786.579920034,804,652,631.579920034,652.420079966,0.441144567616,0.00462558076325,0.0697199025591,0.999999897394,0.000118818878743,-0.000436778980822,1.78199577633e-05,1793239781995003904
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.156928315,745.843071685,714,682,661.313856631,634,880,787,804,652,631.843071685,652,0.440506513155,0.00461705638702,0.0697519687859,0.999999925049,8.52269190588e-05,-0.000377336799336,1.59815383264e-05,1793239782011670528
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.743079179,745.256920821,714,682,662.486158358,634,880,787,804,652,631.256920821,652,0.439812079795,0.00461264428859,0.06977865511,0.99999993996,7.36800666075e-05,-0.000338005603885,2.00946697003e-05,1793239782028337152
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.673081798,745.326918202,714,682,662.673081798,634,880,787,804,652,631.326918202,652,0.43905965975,0.00460853851376,0.0697731956411,0.999999932144,0.00011727018025,-0.000348543574688,2.18577635075e-05,1793239782045003776
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.091046801,745.908953199,714,682,662.091046801,634,880,787,804,652,631.908953199,652,0.438261988626,0.00460467178387,0.0697426505983,0.999999899776,0.000203887465004,-0.00039799788492,2.17869613947e-05,1793239782061670400
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745.513830501,714,681.513830501,662,634.486169499,880,787,804,652,632,652.486169499,0.437497196156,0.00459791969384,0.0697371748448,0.999999893451,0.000236820843295,-0.000395724378582,2.04208538274e-05,1793239782078337280
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.062325873,714.062325873,681.062325873,662.124651747,634.937674127,880,787,804,652,631.937674127,653,0.436737852015,0.00459126440613,0.0697413259068,0.999999895808,0.000254914417616,-0.000378194054616,1.92929845433e-05,1793239782095003648
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.637114639,714.637114639,681.637114639,663.274229277,634.362885361,880,787,804,652,631.362885361,653,0.43597317486,0.00458980439533,0.0697864082318,0.999999923322,0.000232842949974,-0.000314087378239,2.20989513566e-05,1793239782111670528
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.782846293,714.782846293,682,663.782846293,634.217153707,880,787,804,652,631,653,0.435196540506,0.00458594590338,0.0698233446163,0.999999942628,0.000208656145551,-0.00026565472597,2.51649775988e-05,1793239782128337152
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.193816094,714.193816094,682,663.193816094,634.806183906,880,787,804,652,631,653,0.43439942945,0.00457798000408,0.0698463310465,0.999999953452,0.000180846822041,-0.000244063900898,2.86763564862e-05,1793239782145003776
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.388856673,745,714,681.611143327,663,634.611143327,880,787,804,652,631,653,0.433535157933,0.00457220248519,0.0698473093126,0.999999957941,0.000152292498689,-0.000245111758918,2.90695674368e-05,1793239782161670656
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.968411691,745,714,681.031588309,663,634.031588309,880,787,804,652,631,653,0.432637950426,0.00456749816534,0.0698374946027,0.999999958908,0.000123372822368,-0.000257261804131,2.79336044094e-05,1793239782178337280
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.455099453,745,714,681,663,634.544900547,880,787,804,652,631,652.455099453,0.431745443165,0.00456482773881,0.0698270804006,0.999999955651,0.000118942675577,-0.000271433787484,2.95714049896e-05,1793239782195003904
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745.120521531,714,681,663,635,880,787,804,652,631,652.120521531,0.430843060977,0.0045610654375,0.0698064444312,0.999999946669,0.00011856689307,-0.000302723030749,3.10249175956e-05,1793239782211670784
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745.693547534,714,681,663,635,880,787,804,652,631,652.693547534,0.429902585762,0.0045527634264,0.0697475600496,0.999999912168,0.000128113008792,-0.000397842307085,3.11861670529e-05,1793239782228337408
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,746,714,681,663.276313556,635,880,787,804,652,631.276313556,652.723686444,0.428992867936,0.00454527753821,0.0697309379745,0.999999901643,0.000122236552495,-0.000425213365729,3.10914672085e-05,1793239782245004288
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,746,714,681,663.870276763,635,880,787,804,652,631.870276763,652.129723237,0.428118508639,0.00453872986263,0.0697629005763,0.999999924464,9.86303323597e-05,-0.000374701188844,3.07025286297e-05,1793239782261670912
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.549517189,714,681,663.549517189,635,880,787.450482811,804,652,631.549517189,652.450482811,0.427274192018,0.00453228968909,0.069819566223,0.999999954115,9.00926690198e-05,-0.000287312480971,3.32371923714e-05,1793239782278337280
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.02679023,745,714,680.97320977,663,635,880,787.97320977,804.02679023,652,631,653,0.42643504417,0.00452580243653,0.0698795516424,0.99999997657,8.56957231702e-05,-0.000195422569787,3.64260763184e-05,1793239782295003904
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.601983866,745,714,680.398016134,663,635,880,787.398016134,804.601983866,652,631,653,0.425529856175,0.00451773653934,0.069866191444,0.999999971438,7.98676922817e-05,-0.000222326879184,3.62839204346e-05,1793239782311670528
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745.180791173,714,680,663,635,880,787,804.819208827,652,631,653,0.4246275852,0.00450997487982,0.0698487223813,0.999999964703,7.34716165621e-05,-0.000252803107695,3.58637444104e-05,1793239782328337408
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745.767716288,714,680,663,635,880,787,804.232283712,652,631,653,0.423731867148,0.00450289666814,0.0698220230609,0.9999999548,6.57994707033e-05,-0.000291303385695,3.48190168128e-05,1793239782345004032
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,746,714.350065446,680,663,635,880.350065446,787.350065446,804,652,631.350065446,653,0.422767276775,0.00449769875298,0.0697720872389,0.999999925625,6.03178022236e-05,-0.000379320394902,3.50477230362e-05,1793239782361670656
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,746,714.929417412,680,663,635,880.929417412,787.929417412,804,652,631.929417412,653,0.421757576315,0.00449373239821,0.0697069319309,0.99999987288,5.62708563431e-05,-0.00049976995957,3.61105049785e-05,1793239782378337280
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.494704345,745.494704345,714.494704345,680.505295655,662.494704345,635,879.989408691,787.494704345,804,652,632,652.494704345,0.42091372119,0.00448478869138,0.0697227609959,0.999999892512,4.05255310495e-05,-0.000460612926166,3.41868712823e-05,1793239782395004160
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.078321787,714,680.921678213,662.078321787,635,879.078321787,787,804,652,631.921678213,652.078321787,0.420099157172,0.00447529274755,0.0697564533715,0.999999922525,2.39946242995e-05,-0.000391557434106,3.25030196166e-05,1793239782411670784
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.636816562,714,680.363183438,662.636816562,635,879.636816562,787,804,652,631.363183438,652.636816562,0.419323113468,0.00446664457659,0.0698307816397,0.999999961515,1.25973756711e-05,-0.000274952208548,3.48292665112e-05,1793239782428337408
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745.786589322,714,680,663,635,880,787,804,652,631,652.786589322,0.418533851642,0.00445863801037,0.0698812960879,0.999999979536,6.86959296913e-06,-0.000198791453163,3.69120931919e-05,1793239782445004288
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745.176339192,714,680,663,635,880,787,804,652,631,652.176339192,0.417720010444,0.0044518245136,0.0698875284946,0.999999979619,1.16842413947e-05,-0.000197837610383,3.85422785065e-05,1793239782461670912
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.411668624,714,680,662.588331376,635,880,787,803.588331376,652,631,652.411668624,0.416867550662,0.0044445846981,0.0698609047978,0.999999972415,-2.738924695e-06,-0.00023193147103,3.7017207201e-05,1793239782478337536
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.990637243,714,680,662.009362757,635,880,787,803.009362757,652,631,652.990637243,0.415999396535,0.00443717162927,0.0698209285506,0.999999959828,-2.49802391502e-05,-0.000280268536146,3.42098557759e-05,1793239782495004160
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.56613856,746,714.56613856,680,662.56613856,635,879.43386144,787,803.56613856,652,631,653,0.415168577939,0.00443311228205,0.0697936669862,0.999999944789,-2.30853798171e-05,-0.000329645863163,3.49636467897e-05,1793239782511670784
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.85800229,746,714.85800229,680,663,635,879,787,803.85800229,652,631,653,0.414350780501,0.00443061141633,0.0697709042603,0.999999929906,-2.04038433726e-05,-0.000372111373432,3.61153866303e-05,1793239782528337408
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.280871991,746,714.280871991,680,663,635,879,787,803.280871991,652,631,653,0.413571004087,0.00443271737854,0.069761287177,0.99999992177,-1.65273750014e-05,-0.00039334416677,3.83072127142e-05,1793239782545004288
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745.697083594,714,680,663,635,879,787,803.302916406,652,631,653,0.412864682277,0.00444837210166,0.0697810347658,0.999999935802,-2.64502995304e-06,-0.000356347571061,3.7484249151e-05,1793239782561670912
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745.106982924,714,680,663,635,879,787,803.893017076,652,631,653,0.412228000207,0.0044768719227,0.0698286219556,0.999999964327,2.07235304759e-05,-0.000264145760397,3.3803070449e-05,1793239782578337536
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745.471698257,714.471698257,680,663.471698257,635,879.471698257,787,803.528301743,652.471698257,631,653,0.411569114373,0.00448423739035,0.0698674037035,0.999999977962,4.26278629959e-05,-0.000202655449527,3.44935212486e-05,1793239782595004160
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,746,715,680,663.952207054,635,879.952207054,787.047792946,803.047792946,653,631,653,0.410903367532,0.00448559380432,0.069898626913,0.999999985226,5.97798154975e-05,-0.000157099912374,3.59768771091e-05,1793239782611670784
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,746,715,680,663.376750194,635,879.376750194,787.623249806,803.623249806,653,631,653,0.41021615666,0.00447227718045,0.0698679272413,0.999999976421,2.80423545258e-05,-0.000212388755055,3.55263498684e-05,1793239782628337408
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765,745.796016194,715,680,663,635,879,787.796016194,803.796016194,652.796016194,631,652.796016194,0.409545543093,0.00446407334064,0.0698346026562,0.999999962512,7.76514870512e-06,-0.000271477073916,3.48729341951e-05,1793239782645004032
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765,745.205276569,715,680,663,635,879,787.205276569,803.205276569,652.205276569,631,652.205276569,0.408906398102,0.00446556340028,0.0697963011975,0.999999942341,9.2167229807e-06,-0.000337769256853,3.38348395887e-05,1793239782661670656
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.377283007,745.377283007,714.622716993,680,663.377283007,635,879,787,803.377283007,652,631,652.377283007,0.408315104304,0.00446630759646,0.0697841483504,0.999999937316,1.78709888033e-05,-0.000352099068563,3.28003156633e-05,1793239782678337280
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.955486301,745.955486301,714.044513699,680,663.955486301,635,879,787,803.955486301,652,631,652.955486301,0.407749293471,0.00446665458647,0.0697859208255,0.999999941657,3.0361013981e-05,-0.000338756560904,3.17676933932e-05,1793239782695003904
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.468882332,745.468882332,714,680.531117668,663.468882332,635,879,787,803.468882332,652,631,653,0.407218656604,0.00447122631942,0.0698036426024,0.999999949442,2.38969905581e-05,-0.000315512307813,3.15705584445e-05,1793239782711670528
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765,745.108864552,714.108864552,680.891135448,663.108864552,635,879,787,803,652,631,652.891135448,0.406699518411,0.00447646227577,0.0698191587031,0.999999955106,1.90374727662e-05,-0.000297363253853,3.16386187388e-05,1793239782728337408
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765,745.69686642,714.69686642,680.30313358,663.69686642,635,879,787,803,652,631,652.30313358,0.406218076297,0.00448307074617,0.0698191122178,0.999999952476,2.81976809051e-05,-0.000305274197182,3.25671596601e-05,1793239782745004032
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.28074546,746,714.71925454,679.71925454,663.71925454,635,879,787,803.28074546,652.28074546,631,652.28074546,0.40575644076,0.00448673604011,0.0698171927938,0.999999949828,4.02742011853e-05,-0.00031247911297,3.28321455302e-05,1793239782761670912
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.860237284,746,714.139762716,679.139762716,663.139762716,635,879,787,803.860237284,652.860237284,631,652.860237284,0.405315881796,0.00448726944587,0.0698132803414,0.999999947079,5.54540218208e-05,-0.000318932731441,3.23910303045e-05,1793239782778337536
+367,6.116666667,POSE2_TO_POSE3_RETREAT,766,745.562481836,714.437518164,679.437518164,663.437518164,635,879,787,803.562481836,653,631,653,0.404925284769,0.0044837561955,0.0698240547709,0.999999954387,4.50139062588e-05,-0.000297022681391,3.12553529693e-05,1793239782795004160
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745,714.985962043,680,664,635,879,787,803,652.985962043,631,652.985962043,0.40455124028,0.00447906920051,0.0698394336607,0.999999963741,2.67415022812e-05,-0.000266284795703,2.99257922753e-05,1793239782811670528
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,714.411773009,680,664,635,879,787,803,652.411773009,631,652.411773009,0.404204040468,0.00447886876426,0.069852275011,0.999999969813,2.08671563896e-05,-0.000243017675085,2.96686207218e-05,1793239782828338176
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,714.160931223,680,663.839068777,635,879,787,803,652,631,652,0.403864233117,0.00447766294889,0.0698591363266,0.999999972985,1.25879362921e-05,-0.000230265436051,2.91591852665e-05,1793239782845005312
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,714.729871159,680,663.270128841,635,879,787,803,652,631,652,0.403543167786,0.00447390819719,0.0698508364707,0.999999969796,-1.78835935359e-06,-0.000244171557393,2.80101854569e-05,1793239782861671168
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745.315290712,715,680,663,635,879,787,803,652,631,652,0.403239338964,0.00447015492381,0.0698418545248,0.999999965662,-1.43118325925e-05,-0.00026023835443,2.73465556067e-05,1793239782878337536
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.915608004,715,680,663,635,879,787,803,652,631,652,0.402951092172,0.0044664029871,0.0698322559619,0.999999960602,-2.51603313242e-05,-0.000278258427314,2.71217060792e-05,1793239782895004416
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.505283163,715,680,663.494716837,635,879,787,803,652.494716837,631,652.494716837,0.402698858895,0.00446544878628,0.0698268007704,0.999999957567,-2.82014866016e-05,-0.000288633156521,2.75984651097e-05,1793239782911670784
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,714.929612263,680,663.929612263,635,879.070387737,787,803.070387737,652.929612263,631,652.929612263,0.402456722751,0.00446514053448,0.0698219535039,0.999999954829,-2.92096947513e-05,-0.000297806213546,2.82849585034e-05,1793239782928337408
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,714.353717131,680,663.353717131,635,879.646282869,787,803.646282869,652.353717131,631,652.353717131,0.402244794897,0.00446618469304,0.0698166047848,0.999999952027,-2.47894432825e-05,-0.000307330513998,2.96534987674e-05,1793239782945004288
+377,6.283333333,POSE2_TO_POSE3_RETREAT,765.772012534,745,714,679.772012534,663,635,879.772012534,787,803.772012534,652,631.227987466,652.227987466,0.402050791608,0.00446717830285,0.0698129760166,0.999999950443,-9.09423780523e-06,-0.000313135423562,3.12748588777e-05,1793239782961671168
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.181059072,745,714,679.181059072,663,635,879.181059072,787,803.181059072,652,631.818940928,652.818940928,0.401885325027,0.00446809143676,0.0698120854861,0.999999950154,2.45511861905e-05,-0.000313018899374,3.32987190679e-05,1793239782978337792
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.401123447,745,714.401123447,679,663,635,879.401123447,787,803,652.401123447,631.598876553,653,0.40173806037,0.00447853755903,0.069810760947,0.99999994779,6.75598104725e-05,-0.000314104730005,3.45670040941e-05,1793239782995004416
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.979431704,745,714.979431704,679,663,635,879.979431704,787,803,652.979431704,631.020568296,653,0.401598835877,0.00449319460633,0.069809244697,0.999999942951,0.000114704363473,-0.000315721665989,3.55015355238e-05,1793239783011670784
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.444903038,745,714.444903038,679.555096962,663.555096962,635,879.444903038,787,803,653,631,653,0.401492690244,0.00450416236852,0.069810046712,0.999999943665,0.000120909685968,-0.000311308653451,3.37328488666e-05,1793239783028337408
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.133558264,745,714.133558264,680,664,635,879,787,803,653,631,653.133558264,0.401392463978,0.00450970659313,0.0698105761248,0.999999945946,0.000110718931338,-0.000308141541838,2.99704262048e-05,1793239783045004288
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.721871899,745,714.721871899,680,664,635,879,787,803,653,631,653.721871899,0.401308239066,0.00449724735278,0.0698098862521,0.999999950521,4.98414204417e-05,-0.000309973782031,1.97589224214e-05,1793239783061670912
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.30424507,715,680,663.69575493,635,879,787,803.30424507,652.69575493,631,653.69575493,0.401235424723,0.00449288297396,0.0698105888219,0.999999951631,2.46212851331e-05,-0.000309651470909,1.57625594207e-05,1793239783078337536
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.881291685,715,680,663.118708315,635,879,787,803.881291685,652.118708315,631,653.118708315,0.401172841677,0.00449577685887,0.0698125399261,0.999999952111,3.13733631545e-05,-0.000307397280573,1.73390072011e-05,1793239783095004672
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,663.460072957,635,879.460072957,786.539927043,803.539927043,652.460072957,631,653,0.401127255734,0.00449624624317,0.0698144503306,0.999999953372,3.38654617492e-05,-0.00030295098158,1.81639871731e-05,1793239783111671552
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,746,715,679.961130181,663.961130181,635,879.961130181,786.038869819,803,653,631,653,0.401087089998,0.00449591867843,0.0698164318294,0.999999954836,3.4951913769e-05,-0.000297914440973,1.88084472125e-05,1793239783128338432
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,746,715,679.388290864,663.388290864,635,879.388290864,786.611709136,803,653,631,653,0.401060908997,0.00449326935487,0.0698195347869,0.9999999565,3.18852256665e-05,-0.000292568922419,1.96467155613e-05,1793239783145004544
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.809249594,746,714.809249594,679.190750406,663,635,879,787,803.190750406,652.809249594,631,652.809249594,0.401038311103,0.00449231101689,0.0698229458099,0.999999958246,3.11002978047e-05,-0.000286582877139,2.02680310587e-05,1793239783161670912
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.217159461,746,714.217159461,679.782840539,663,635,879,787,803.782840539,652.217159461,631,652.217159461,0.401023252084,0.00449491052062,0.0698270050036,0.999999960185,3.5116204318e-05,-0.000279249161377,2.04328766584e-05,1793239783178337792
+391,6.516666667,POSE2_TO_POSE3_RETREAT,765.363476771,745.636523229,714.363476771,680,663,635,878.636523229,787,804,652.363476771,631,652,0.401009631259,0.00449446128388,0.069828471144,0.999999960756,3.56423177147e-05,-0.000277094914039,2.08984273734e-05,1793239783195004416
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.93747897,745.06252103,714.93747897,680,663,635,878.06252103,787,804,652.93747897,631,652,0.400996843434,0.00449224621958,0.0698284353907,0.99999996056,3.41471463757e-05,-0.00027794060959,2.15381462442e-05,1793239783211671040
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.516741699,715,679.483258301,663,635,878.516741699,787,804,652.483258301,631,652.516741699,0.400992174574,0.00449239997783,0.0698292532205,0.999999960818,3.47031070765e-05,-0.000276937053045,2.15570324983e-05,1793239783228337664
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.901856877,715,679.098143123,663,635,879,787,803.901856877,652,631,652.901856877,0.400989052759,0.00449268774918,0.0698304087761,0.999999961254,3.5368595114e-05,-0.000275277487711,2.15085207322e-05,1793239783245004288
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.312976554,715,679.687023446,663,635,879,787,803.312976554,652,631,652.312976554,0.400988704168,0.00449219778379,0.0698327313221,0.999999962297,3.53280858492e-05,-0.000271468002399,2.15024588711e-05,1793239783261671168
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765.728584483,745,715,679.728584483,663.271415517,635,879,787,803,652,631,652.271415517,0.400989308354,0.00449119716563,0.0698349253319,0.999999963331,3.43505380044e-05,-0.000267753604664,2.157146285e-05,1793239783278337536
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.149283781,745,715,679.149283781,663.850716219,635,879,787,803,652,631,652.850716219,0.400990993341,0.00448961727914,0.0698369735341,0.999999964355,3.23100432078e-05,-0.0002641470715,2.17256191458e-05,1793239783295004160
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745,714.572835468,679.427164532,663.572835468,635,879,787,803,652,631,653,0.400989275068,0.0044914332822,0.0698365060227,0.999999964198,3.3364080966e-05,-0.000264628360274,2.15146359375e-05,1793239783311670784
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.002615743,745,714,680,663,635,879,787,803,652,631,653,0.400986396964,0.00449440972234,0.0698351802581,0.999999963633,3.54820213161e-05,-0.00026650783936,2.11799172515e-05,1793239783328337408
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.576568391,745,714,680,663,635,879,787,803,652,631,653,0.40098824541,0.004493351288,0.0698371519486,0.999999964345,3.53308028561e-05,-0.000263815864927,2.15060545247e-05,1793239783345004032
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.155410276,680,663.155410276,635,879,787,803,652,631,653,0.400989359489,0.00449225895383,0.0698385736015,0.99999996487,3.49618636487e-05,-0.000261851008211,2.17403725875e-05,1793239783361670656
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,714.748005998,680,663.748005998,635,879,787,803,652,631,653,0.400988407722,0.00449107125603,0.0698384479404,0.999999964883,3.39804531112e-05,-0.000261931610556,2.17163935019e-05,1793239783378337792
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787,803.33158887,652,631,653,0.400986952161,0.0044910210231,0.0698375834513,0.999999964561,3.42948761156e-05,-0.000263115679051,2.17334008645e-05,1793239783395004416
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,664,635,879,787,803.908503649,652,631,653,0.400985123868,0.00449181234302,0.0698361723407,0.999999963987,3.55680210069e-05,-0.000265116146597,2.1780732034e-05,1793239783411671040
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,664.484379928,635,879,787.484379928,803.515620072,652,631,652.515620072,0.400985936507,0.00449284988957,0.0698367418231,0.999999964374,3.6610231806e-05,-0.00026353260878,2.1510099136e-05,1793239783428337664
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,714.940127111,679.940127111,664.880254223,635,879,787.940127111,803,652,631,652.059872889,0.400987189874,0.00449365421191,0.0698377264751,0.999999964947,3.72732796984e-05,-0.000261281848551,2.11693919951e-05,1793239783445004032
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,714.366244133,679.366244133,663.732488265,635,879,787.366244133,803,652,631,652.633755867,0.400987953384,0.0044920578588,0.0698390703973,0.999999965603,3.5054900869e-05,-0.000259102561789,2.07416213274e-05,1793239783461670912
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.785776368,745.214223632,714.214223632,679.214223632,663.214223632,635,879,787,803,652,631,653,0.40098823935,0.00449160503455,0.0698398147406,0.999999965924,3.39056767286e-05,-0.000258030385882,2.05673597963e-05,1793239783478337280
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.193694053,745.806305947,714.806305947,679.806305947,663.806305947,635,879,787,803,652,631,653,0.400987682998,0.00449316922554,0.0698395015156,0.999999965665,3.46422828663e-05,-0.000258910989296,2.08402507722e-05,1793239783495003904
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,746,714.610854295,679.610854295,664,635,879,787,803,652.389145705,631.389145705,653,0.400987088952,0.00449287145165,0.069839269216,0.999999965516,3.51233709675e-05,-0.000259413081475,2.09694012966e-05,1793239783511670784
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,746,714.03250823,679.03250823,664,635,879,787,803,652.96749177,631.96749177,653,0.400986476579,0.0044916684013,0.069839076262,0.999999965419,3.54802276767e-05,-0.000259731143687,2.10286660488e-05,1793239783528337664
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.542754093,746,714.542754093,679.542754093,664,635,879,787,803.542754093,653,631.457245907,652.457245907,0.400986899895,0.00449175035316,0.0698394273868,0.999999965545,3.53170796848e-05,-0.000259267081503,2.10683118275e-05,1793239783545004800
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.879334574,745.879334574,714.879334574,680,664,635,879,787,803.879334574,653,631,652,0.400987471069,0.00449195295025,0.0698397967468,0.999999965695,3.52868631942e-05,-0.000258688648335,2.10737340754e-05,1793239783561671424
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.29043132,745.29043132,714.29043132,680,664,635,879,787,803.29043132,653,631,652,0.40098837664,0.00449232673356,0.0698401111273,0.999999965894,3.58926594313e-05,-0.000257847157344,2.09508872223e-05,1793239783578337792
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,679.706259071,664,635,879,787,803,652.706259071,631,652.293740929,0.400988060595,0.0044927400052,0.0698399948156,0.99999996578,3.59506212948e-05,-0.000258289052023,2.08197548247e-05,1793239783595004416
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765,745,714,679.126690309,664,635,879,787,803,652.126690309,631,652.873309691,0.400986555843,0.00449319170142,0.0698394594142,0.999999965362,3.5475506983e-05,-0.000259979759107,2.06805600723e-05,1793239783611671040
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.450111513,679,664,635,879,787,803,652.450111513,631,652.549888487,0.400988108762,0.00449248369526,0.069840911942,0.999999966012,3.42737471618e-05,-0.000257622498535,2.07663764824e-05,1793239783628337664
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765,745,714.973967672,679.026032328,664,635,879,787,803,652.973967672,631,652,0.400990382211,0.00449151469233,0.0698428175205,0.999999966901,3.29544543158e-05,-0.000254313373364,2.0913526779e-05,1793239783645004032
+419,6.983333333,POSE2_TO_POSE3_RETREAT,765,745,714.400296448,679.599703552,664,635,879,787,803,652.400296448,631,652,0.400989819094,0.00449187992553,0.069842555007,0.999999966758,3.34389066515e-05,-0.000254802085089,2.10267705618e-05,1793239783661670912
+420,7.000000000,POSE2_TO_POSE3_RETREAT,765.17830087,745,714.17830087,680,664,635,879,787,803.17830087,652.17830087,631,652,0.4009887581,0.00449189912031,0.0698420514542,0.999999966503,3.39748825323e-05,-0.000255724445225,2.11058063267e-05,1793239783678337792
+421,7.016666667,POSE2_TO_POSE3_RETREAT,765.768271765,745,714.768271765,680,664,635,879,787,803.768271765,652.768271765,631,652,0.400986547585,0.00449111936413,0.0698409913777,0.999999965986,3.4629818539e-05,-0.00025764803462,2.11058608904e-05,1793239783695004672
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e938840d608a7b9b21e0c071045995c5a4e31c9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_11/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,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+1,0.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+2,0.033333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+3,0.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+4,0.066666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+5,0.083333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+6,0.100000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+7,0.116666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+8,0.133333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+9,0.150000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+10,0.166666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+11,0.183333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+12,0.200000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+13,0.216666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+14,0.233333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+15,0.250000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+16,0.266666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+17,0.283333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+18,0.300000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+19,0.316666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+20,0.333333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+21,0.350000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+22,0.366666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+23,0.383333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+24,0.400000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+25,0.416666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+26,0.433333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+27,0.450000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+28,0.466666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+29,0.483333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+30,0.500000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+31,0.516666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+32,0.533333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+33,0.550000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+34,0.566666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+35,0.583333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+36,0.600000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+37,0.616666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+38,0.633333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+39,0.650000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+40,0.666666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+41,0.683333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+42,0.700000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+43,0.716666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+44,0.733333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+45,0.750000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+46,0.766666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+47,0.783333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+48,0.800000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+49,0.816666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+50,0.833333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+51,0.850000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+52,0.866666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+53,0.883333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+54,0.900000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+55,0.916666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+56,0.933333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+57,0.950000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+58,0.966666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+59,0.983333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+60,1.000000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+61,1.016666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+62,1.033333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+63,1.050000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+64,1.066666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+65,1.083333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+66,1.100000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+67,1.116666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+68,1.133333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+69,1.150000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+70,1.166666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+71,1.183333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+72,1.200000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+73,1.216666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+74,1.233333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+75,1.250000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+76,1.266666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+77,1.283333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+78,1.300000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+79,1.316666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+80,1.333333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+81,1.350000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+82,1.366666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+83,1.383333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+84,1.400000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+85,1.416666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+86,1.433333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+87,1.450000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+88,1.466666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+89,1.483333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+90,1.500000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+91,1.516666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+92,1.533333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+93,1.550000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+94,1.566666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+95,1.583333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+96,1.600000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+97,1.616666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+98,1.633333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+99,1.650000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+100,1.666666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+101,1.683333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+102,1.700000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+103,1.716666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+104,1.733333333,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+105,1.750000000,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+106,1.766666667,pose1_baseline,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
+107,1.783333333,pose1_to_pose2_press,0.575664308767,0.0100907829807,1.06003209211,0.546234757813,0.0187625139963,1.05970022511
+108,1.800000000,pose1_to_pose2_press,0.575664343972,0.0100908543127,1.06003208332,0.546234793042,0.0187625855144,1.0597002191
+109,1.816666667,pose1_to_pose2_press,0.575664418209,0.010090953742,1.06003207532,0.546234867499,0.0187626858439,1.05970021513
+110,1.833333333,pose1_to_pose2_press,0.575664631989,0.0100908562053,1.06003213153,0.546235083192,0.0187625947227,1.05970026932
+111,1.850000000,pose1_to_pose2_press,0.575664713171,0.0100908191658,1.06003215288,0.546235165101,0.0187625601194,1.0597002899
+112,1.866666667,pose1_to_pose2_press,0.57566484984,0.0100907568111,1.06003218881,0.546235302992,0.0187625018661,1.05970032454
+113,1.883333333,pose1_to_pose2_press,0.575665329173,0.0100907568965,1.060032228,0.546235782633,0.0187625028971,1.05970036121
+114,1.900000000,pose1_to_pose2_press,0.575666723367,0.0100908881219,1.06003231258,0.546237174511,0.0187626260659,1.05970044056
+115,1.916666667,pose1_to_pose2_press,0.575670308518,0.0100907487479,1.06003259109,0.546240760541,0.0187624894879,1.0597007142
+116,1.933333333,pose1_to_pose2_press,0.575679012362,0.0100908197314,1.06003234494,0.546249464112,0.0187625594631,1.05970046592
+117,1.950000000,pose1_to_pose2_press,0.575694542542,0.0100906531624,1.06003235877,0.546264994862,0.0187623951574,1.05970048822
+118,1.966666667,pose1_to_pose2_press,0.575720131466,0.0100907258821,1.06003227459,0.546290583249,0.0187624662188,1.05970040826
+119,1.983333333,pose1_to_pose2_press,0.575755853511,0.0100907904961,1.0600325511,0.546326305104,0.0187625300761,1.05970068183
+120,2.000000000,pose1_to_pose2_press,0.575802588226,0.0100908647121,1.06003260555,0.546373037567,0.0187625966344,1.05970073583
+121,2.016666667,pose1_to_pose2_press,0.575858142099,0.0100907335549,1.06003256577,0.546428595709,0.0187624800159,1.05970069736
+122,2.033333333,pose1_to_pose2_press,0.575921817073,0.0100907162953,1.06003220587,0.546492269463,0.0187624587625,1.0597003411
+123,2.050000000,pose1_to_pose2_press,0.575992820426,0.0100908396228,1.06003227646,0.546563271084,0.0187625763546,1.05970041547
+124,2.066666667,pose1_to_pose2_press,0.576071317784,0.0100909606375,1.06003243283,0.546641767123,0.0187626926825,1.05970056622
+125,2.083333333,pose1_to_pose2_press,0.576161989845,0.0100908231774,1.06003240685,0.546732440588,0.0187625598227,1.05970053589
+126,2.100000000,pose1_to_pose2_press,0.576266213626,0.0100909148213,1.06003258566,0.546836663234,0.0187626472632,1.05970070546
+127,2.116666667,pose1_to_pose2_press,0.576388034896,0.0100908640509,1.06003223368,0.546958484255,0.0187625961343,1.05970036623
+128,2.133333333,pose1_to_pose2_press,0.576527782527,0.0100908321548,1.06003220368,0.547098233941,0.018762571455,1.05970034245
+129,2.150000000,pose1_to_pose2_press,0.576685978647,0.0100907564349,1.06003234396,0.547256430366,0.0187624965421,1.05970047668
+130,2.166666667,pose1_to_pose2_press,0.576860193426,0.0100909073311,1.06003222552,0.547430642725,0.0187626392077,1.05970035774
+131,2.183333333,pose1_to_pose2_press,0.577050277701,0.0100906856368,1.06003221921,0.547620730821,0.0187624305324,1.05970035274
+132,2.200000000,pose1_to_pose2_press,0.57725864404,0.0100907139395,1.06003209235,0.547829098099,0.0187624621895,1.05970023021
+133,2.216666667,pose1_to_pose2_press,0.577487538341,0.0100907233864,1.06003227002,0.548057989154,0.018762459862,1.05970038805
+134,2.233333333,pose1_to_pose2_press,0.577741384074,0.0100907360079,1.06003236329,0.548311834635,0.018762471859,1.05970048727
+135,2.250000000,pose1_to_pose2_press,0.578016585286,0.0100908829956,1.0600324525,0.548587035405,0.0187626176395,1.05970058404
+136,2.266666667,pose1_to_pose2_press,0.578311174718,0.0100908529262,1.06003238285,0.548881624977,0.0187625879975,1.0597005131
+137,2.283333333,pose1_to_pose2_press,0.578627896937,0.0100906924969,1.06003235332,0.549198350129,0.0187624375633,1.05970048458
+138,2.300000000,pose1_to_pose2_press,0.578963746947,0.0100907773388,1.06003225405,0.549534198816,0.0187625180227,1.05970038806
+139,2.316666667,pose1_to_pose2_press,0.579314751125,0.0100907874776,1.06003219067,0.549885201512,0.0187625233636,1.05970033064
+140,2.333333333,pose1_to_pose2_press,0.579684734978,0.0100907953603,1.06003210678,0.550255185114,0.018762530561,1.05970025105
+141,2.350000000,pose1_to_pose2_press,0.580077425984,0.0100908705263,1.06003219281,0.550647876421,0.0187626065938,1.059700333
+142,2.366666667,pose1_to_pose2_press,0.580485892706,0.0100909104204,1.06003228824,0.55105634332,0.018762646886,1.05970042304
+143,2.383333333,pose1_to_pose2_press,0.580911044149,0.0100908190071,1.06003229498,0.55148149583,0.0187625590367,1.05970042827
+144,2.400000000,pose1_to_pose2_press,0.5813657193,0.0100906718095,1.06003242177,0.551936173001,0.0187624185512,1.05970055117
+145,2.416666667,pose1_to_pose2_press,0.58184819576,0.0100907505415,1.06003223452,0.552418647665,0.0187624912119,1.05970036459
+146,2.433333333,pose1_to_pose2_press,0.582359411714,0.010090756213,1.06003217562,0.552929864511,0.0187625003208,1.05970031631
+147,2.450000000,pose1_to_pose2_press,0.582894053067,0.0100906655727,1.06003210628,0.553464506077,0.0187624102497,1.05970024289
+148,2.466666667,pose1_to_pose2_press,0.583448919165,0.0100907596673,1.0600321753,0.554019370921,0.0187625003718,1.05970031928
+149,2.483333333,pose1_to_pose2_press,0.584018967993,0.0100907824391,1.06003223423,0.554589420389,0.0187625247884,1.05970036438
+150,2.500000000,pose1_to_pose2_press,0.584605521265,0.0100906992488,1.06003219753,0.555175972294,0.0187624372311,1.0597003348
+151,2.516666667,pose1_to_pose2_press,0.585216100504,0.0100907023743,1.06003216138,0.555786552003,0.0187624414039,1.05970028418
+152,2.533333333,pose1_to_pose2_press,0.585852508264,0.01009091287,1.06003242533,0.556422958324,0.0187626472147,1.05970055334
+153,2.550000000,pose1_to_pose2_press,0.586515499651,0.0100907917558,1.06003215201,0.557085952215,0.01876253503,1.05970029126
+154,2.566666667,pose1_to_pose2_press,0.587189116462,0.0100908177669,1.06003235734,0.557759568571,0.0187625593472,1.05970049269
+155,2.583333333,pose1_to_pose2_press,0.587867521251,0.0100908236656,1.06003230923,0.558437972688,0.0187625627737,1.05970043952
+156,2.600000000,pose1_to_pose2_press,0.588551013633,0.0100908034797,1.06003221535,0.559121464538,0.0187625408904,1.05970034837
+157,2.616666667,pose1_to_pose2_press,0.589242854589,0.0100907470198,1.06003222478,0.559813305895,0.0187624857299,1.05970035623
+158,2.633333333,pose1_to_pose2_press,0.589951146767,0.0100907414456,1.0600322295,0.560521598401,0.0187624812892,1.0597003614
+159,2.650000000,pose1_to_pose2_press,0.590682879855,0.0100908148937,1.0600322168,0.561253330223,0.0187625505659,1.05970035201
+160,2.666666667,pose1_to_pose2_press,0.591440772602,0.0100908117223,1.06003222847,0.562011223144,0.018762547879,1.05970036086
+161,2.683333333,pose1_to_pose2_press,0.592218932684,0.0100907668584,1.06003225401,0.562789385356,0.0187625102704,1.05970038711
+162,2.700000000,pose1_to_pose2_press,0.59301469129,0.0100908395387,1.06003236752,0.56358514065,0.0187625715008,1.0597004952
+163,2.716666667,pose1_to_pose2_press,0.593815005231,0.0100907064319,1.06003232966,0.564385456914,0.018762446411,1.0597004608
+164,2.733333333,pose1_to_pose2_press,0.594611888057,0.0100906451897,1.06003221107,0.565182341028,0.018762389868,1.05970035074
+165,2.750000000,pose1_to_pose2_press,0.595394397675,0.010090719447,1.06003232379,0.565964850926,0.0187624649132,1.05970045933
+166,2.766666667,pose1_to_pose2_press,0.596170955351,0.0100907284803,1.06003232735,0.566741408468,0.0187624734578,1.05970046203
+167,2.783333333,pose1_to_pose2_press,0.596948966786,0.0100907217981,1.06003237635,0.567519419844,0.0187624662181,1.0597005016
+168,2.800000000,pose1_to_pose2_press,0.597741111129,0.0100908172784,1.06003246994,0.568311563452,0.0187625593086,1.05970059805
+169,2.816666667,pose1_to_pose2_press,0.598553982768,0.0100907773699,1.06003238082,0.569124434723,0.0187625183077,1.05970051302
+170,2.833333333,pose1_to_pose2_press,0.599394682864,0.0100908232664,1.06003225704,0.569965134254,0.0187625623367,1.05970039068
+171,2.850000000,pose1_to_pose2_press,0.600244025479,0.0100907270564,1.06003224552,0.570814476681,0.0187624652627,1.05970037328
+172,2.866666667,pose1_to_pose2_press,0.601090060206,0.0100908144052,1.06003249258,0.571660511077,0.0187625514804,1.05970062017
+173,2.883333333,pose1_to_pose2_press,0.601915541724,0.0100907307572,1.06003235398,0.572485993413,0.0187624707149,1.05970048444
+174,2.900000000,pose1_to_pose2_press,0.602718047105,0.0100907111472,1.06003221476,0.573288499302,0.0187624530296,1.0597003505
+175,2.916666667,pose1_to_pose2_press,0.603497732946,0.0100907454324,1.06003221619,0.574068185149,0.0187624872891,1.05970035075
+176,2.933333333,pose1_to_pose2_press,0.604266302997,0.0100907941864,1.06003223442,0.574836754447,0.0187625333142,1.05970036456
+177,2.950000000,pose1_to_pose2_press,0.605042473362,0.0100909090945,1.06003227673,0.575612923602,0.0187626441731,1.05970040838
+178,2.966666667,pose1_to_pose2_press,0.605825096796,0.010090925885,1.06003237211,0.576395547326,0.018762662089,1.05970050761
+179,2.983333333,pose1_to_pose2_press,0.606610080423,0.0100907577796,1.06003240363,0.577180531936,0.0187624971791,1.05970053551
+180,3.000000000,pose1_to_pose2_press,0.607398436403,0.0100908028287,1.06003227969,0.577968885965,0.0187625354332,1.05970040711
+181,3.016666667,pose1_to_pose2_press,0.608179628975,0.0100910159701,1.06003237228,0.578750077127,0.0187627440016,1.0597005053
+182,3.033333333,pose1_to_pose2_press,0.608926027811,0.0100908731177,1.06003246705,0.579496477538,0.0187626062194,1.059700593
+183,3.050000000,pose1_to_pose2_press,0.609639375544,0.0100907105326,1.06003233085,0.580209827183,0.0187624502855,1.05970046113
+184,3.066666667,pose1_to_pose2_press,0.610316162559,0.0100907602336,1.06003223837,0.580886614646,0.018762501522,1.05970036916
+185,3.083333333,pose1_to_pose2_press,0.610962025661,0.0100909181836,1.06003221761,0.581532474523,0.0187626487343,1.05970035387
+186,3.100000000,pose1_to_pose2_press,0.611582083542,0.0100907244194,1.06003217272,0.582152534711,0.0187624631483,1.05970031817
+187,3.116666667,pose1_to_pose2_press,0.612201740099,0.0100908023609,1.06003219784,0.582772190198,0.0187625371564,1.05970033572
+188,3.133333333,pose1_to_pose2_press,0.612823661097,0.0100908699108,1.06003239084,0.583394111374,0.0187626050364,1.05970052177
+189,3.150000000,pose1_to_pose2_press,0.613443702195,0.0100909091303,1.06003249384,0.584014151788,0.0187626417766,1.05970062015
+190,3.166666667,pose1_to_pose2_press,0.614049142229,0.0100908539226,1.06003223696,0.584619592958,0.0187625909192,1.0597003744
+191,3.183333333,pose1_to_pose2_press,0.614631106556,0.0100907710778,1.06003213522,0.585201558434,0.0187625121369,1.05970027471
+192,3.200000000,pose1_to_pose2_press,0.615173333224,0.0100907903561,1.06003234076,0.585743784653,0.0187625296371,1.05970047105
+193,3.216666667,pose1_to_pose2_press,0.615680538636,0.010090842834,1.06003247726,0.586250990232,0.0187625827705,1.0597006066
+194,3.233333333,pose1_to_pose2_press,0.616168573364,0.0100908201709,1.06003244228,0.586739025578,0.0187625624317,1.05970057281
+195,3.250000000,pose1_to_pose2_press,0.616641942557,0.0100907734827,1.06003239643,0.587212393953,0.0187625129392,1.05970051997
+196,3.266666667,pose1_to_pose2_press,0.617101546351,0.0100907824855,1.06003248665,0.587671998605,0.0187625251965,1.0597006118
+197,3.283333333,pose1_to_pose2_press,0.617543145029,0.0100908399855,1.060032323,0.588113595668,0.018762577927,1.05970045988
+198,3.300000000,pose1_to_pose2_press,0.617963289084,0.0100907510559,1.06003233947,0.58853374082,0.0187624929163,1.05970047437
+199,3.316666667,pose1_to_pose2_press,0.618354979248,0.010090756379,1.06003237322,0.588925428856,0.0187624909346,1.05970049907
+200,3.333333333,pose1_to_pose2_press,0.618721749116,0.0100907850551,1.06003246049,0.589292199984,0.018762524036,1.0597005856
+201,3.350000000,pose1_to_pose2_press,0.619069788984,0.010090893916,1.06003216553,0.589640238046,0.0187626274262,1.0597003011
+202,3.366666667,pose1_to_pose2_press,0.619404215666,0.0100908555131,1.06003199768,0.58997466559,0.0187625925678,1.05970014162
+203,3.383333333,pose1_to_pose2_press,0.619726139178,0.0100907980218,1.0600321245,0.590296590667,0.018762540545,1.05970026582
+204,3.400000000,pose1_to_pose2_press,0.62003360894,0.0100908508282,1.06003221365,0.590604059377,0.0187625898014,1.0597003491
+205,3.416666667,pose1_to_pose2_press,0.620323846015,0.0100908560586,1.06003215525,0.590894295821,0.0187625932233,1.05970029337
+206,3.433333333,pose1_to_pose2_press,0.620589962892,0.0100908774678,1.06003220795,0.591160411898,0.0187626121262,1.0597003473
+207,3.450000000,pose1_to_pose2_press,0.620833199662,0.0100908936804,1.06003251598,0.591403649589,0.0187626312762,1.05970064629
+208,3.466666667,pose1_to_pose2_press,0.621052497988,0.0100908756318,1.0600324213,0.59162294774,0.0187626129791,1.05970055465
+209,3.483333333,pose1_to_pose2_press,0.621249943892,0.0100908093338,1.06003201132,0.591820394203,0.0187625491501,1.05970015481
+210,3.500000000,pose1_to_pose2_press,0.621424664169,0.0100907461976,1.06003237102,0.591995115003,0.0187624876031,1.05970050334
+211,3.516666667,pose1_to_pose2_press,0.621580379806,0.0100908431104,1.06003259133,0.59215082954,0.0187625808739,1.05970072212
+212,3.533333333,pose1_to_pose2_press,0.621717947527,0.0100906392716,1.06003235296,0.592288399788,0.0187623860208,1.05970049291
+213,3.550000000,pose1_to_pose2_press,0.62183981343,0.0100906808614,1.06003223265,0.592410265744,0.0187624278573,1.05970037065
+214,3.566666667,pose1_to_pose2_press,0.62195021248,0.0100907035472,1.06003227432,0.592520664831,0.0187624506601,1.0597004102
+215,3.583333333,pose1_to_pose2_press,0.622051576171,0.0100907680948,1.06003234579,0.592622027398,0.0187625113385,1.05970047873
+216,3.600000000,pose1_to_pose2_press,0.622142475604,0.0100908276426,1.0600323099,0.592712925287,0.0187625654928,1.05970044066
+217,3.616666667,pose1_to_pose2_press,0.622221846529,0.0100907521543,1.06003225159,0.59279229694,0.0187624922933,1.05970038362
+218,3.633333333,pose1_to_pose2_press,0.622289357233,0.0100906707633,1.06003232087,0.592859809677,0.0187624178924,1.05970045403
+219,3.650000000,pose1_to_pose2_press,0.622345841564,0.0100907291006,1.06003220169,0.592916293189,0.0187624740879,1.05970033872
+220,3.666666667,pose1_to_pose2_press,0.622391995365,0.0100908490943,1.06003218151,0.592962446054,0.0187625917245,1.0597003236
+221,3.683333333,pose1_to_pose2_press,0.622430891295,0.0100907106798,1.06003209753,0.593001342718,0.0187624556801,1.05970023949
+222,3.700000000,pose1_to_pose2_press,0.622463349175,0.0100907197222,1.06003218238,0.593033799015,0.01876245882,1.0597003145
+223,3.716666667,pose1_to_pose2_press,0.622489779246,0.0100907492132,1.06003229893,0.593060228837,0.0187624872783,1.05970042734
+224,3.733333333,pose1_to_pose2_press,0.622510172674,0.0100907720133,1.06003239059,0.593080623328,0.0187625137858,1.05970052009
+225,3.750000000,pose1_to_pose2_press,0.622525154521,0.0100908550819,1.06003249152,0.593095605124,0.0187625966403,1.05970061676
+226,3.766666667,pose1_to_pose2_press,0.622535611761,0.0100907716952,1.06003220643,0.593106061817,0.018762511469,1.05970033803
+227,3.783333333,pose1_to_pose2_press,0.622543099229,0.0100907544461,1.06003211079,0.593113548996,0.0187624934059,1.05970024753
+228,3.800000000,pose1_to_pose2_press,0.6225488046,0.0100907891918,1.06003216028,0.593119254264,0.0187625280542,1.05970030161
+229,3.816666667,pose1_to_pose2_press,0.622552917911,0.0100907532171,1.06003218857,0.593123367755,0.0187624926311,1.05970032837
+230,3.833333333,pose1_to_pose2_press,0.622555933121,0.0100906911517,1.06003220498,0.593126383247,0.0187624313338,1.05970034083
+231,3.850000000,pose1_to_pose2_press,0.62255787237,0.0100906556795,1.06003221373,0.593128322692,0.0187623964239,1.0597003475
+232,3.866666667,pose1_to_pose2_press,0.622558738203,0.0100906593477,1.06003220973,0.593129188677,0.0187624006421,1.05970034453
+233,3.883333333,pose1_to_pose2_press,0.6225592517,0.0100906615233,1.06003220736,0.593129702264,0.0187624031438,1.05970034278
+234,3.900000000,pose1_to_pose2_press,0.62255982187,0.0100906639389,1.06003220472,0.593130272536,0.0187624059216,1.05970034083
+235,3.916666667,pose1_to_pose2_press,0.622560285242,0.010090665902,1.06003220258,0.593130735989,0.018762408179,1.05970033924
+236,3.933333333,pose1_to_pose2_press,0.622560542361,0.0100906669914,1.06003220139,0.593130993153,0.0187624094317,1.05970033836
+237,3.950000000,pose1_to_pose2_press,0.622560636107,0.0100906673885,1.06003220096,0.593131086916,0.0187624098884,1.05970033804
+238,3.966666667,pose1_to_pose2_press,0.622560686598,0.0100906676025,1.06003220073,0.593131137416,0.0187624101344,1.05970033787
+239,3.983333333,pose1_to_pose2_press,0.62256076146,0.0100906679196,1.06003220038,0.593131212291,0.0187624104991,1.05970033762
+240,4.000000000,pose1_to_pose2_press,0.622560853745,0.0100906683106,1.06003219995,0.593131304592,0.0187624109487,1.0597003373
+241,4.016666667,pose1_to_pose2_press,0.622561152833,0.0100906695777,1.06003219857,0.593131603733,0.0187624124058,1.05970033628
+242,4.033333333,pose1_to_pose2_press,0.622561423349,0.0100906707238,1.06003219732,0.593131874297,0.0187624137238,1.05970033535
+243,4.050000000,pose1_to_pose2_press,0.622561542855,0.0100906712301,1.06003219677,0.593131993824,0.018762414306,1.05970033494
+244,4.066666667,pose1_to_pose2_press,0.62256184109,0.0100906724937,1.06003219539,0.593132292111,0.0187624157589,1.05970033392
+245,4.083333333,pose1_to_pose2_press,0.622562187846,0.0100906741791,1.0600321943,0.59313263914,0.0187624183787,1.05970033319
+246,4.100000000,pose1_to_pose2_press,0.622562212121,0.0100906742998,1.06003219423,0.593132663437,0.0187624185738,1.05970033315
+247,4.116666667,pose1_to_pose2_press,0.62256240145,0.0100906752412,1.06003219368,0.593132852936,0.0187624200957,1.0597003328
+248,4.133333333,pose1_to_pose2_press,0.622562609055,0.0100906762736,1.06003219308,0.593133060727,0.0187624217644,1.05970033241
+249,4.150000000,pose1_to_pose2_press,0.622562868364,0.0100906775631,1.06003219233,0.593133320268,0.0187624238487,1.05970033193
+250,4.166666667,pose1_to_pose2_press,0.622562959091,0.0100906780142,1.06003219207,0.593133411076,0.018762424578,1.05970033176
+251,4.183333333,pose1_to_pose2_press,0.622563320973,0.0100906798138,1.06003219102,0.593133773283,0.0187624274868,1.05970033108
+252,4.200000000,pose1_to_pose2_press,0.622563675314,0.0100906815758,1.06003219,0.593134127941,0.0187624303349,1.05970033042
+253,4.216666667,pose1_to_pose2_press,0.622563735517,0.0100906818752,1.06003218982,0.593134188199,0.0187624308189,1.05970033031
+254,4.233333333,pose1_to_pose2_press,0.622564041502,0.0100906833967,1.06003218894,0.593134494458,0.0187624332783,1.05970032974
+255,4.250000000,pose1_to_pose2_press,0.622564683339,0.0100906955452,1.06003220521,0.593135136545,0.018762446107,1.05970034192
+256,4.266666667,pose1_to_pose2_press,0.62256535283,0.0100907116944,1.06003222921,0.59313580617,0.0187624624658,1.05970035981
+257,4.283333333,pose1_to_pose2_press,0.622565711212,0.0100907900156,1.0600323198,0.593136162686,0.0187625345482,1.05970045215
+258,4.300000000,pose1_to_pose2_press,0.622565742628,0.0100910142077,1.0600322329,0.59313619139,0.0187627495986,1.05970036649
+259,4.316666667,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191389,0.018762749598,1.05970036649
+260,4.333333333,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191389,0.0187627495981,1.05970036649
+261,4.350000000,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191389,0.0187627495988,1.05970036649
+262,4.366666667,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191388,0.0187627495989,1.05970036649
+263,4.383333333,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191389,0.0187627495986,1.05970036649
+264,4.400000000,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191388,0.0187627495988,1.05970036649
+265,4.416666667,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191388,0.018762749599,1.05970036649
+266,4.433333333,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191388,0.0187627495986,1.05970036649
+267,4.450000000,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191388,0.0187627495986,1.05970036649
+268,4.466666667,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191388,0.0187627495985,1.05970036649
+269,4.483333333,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191388,0.0187627495987,1.05970036649
+270,4.500000000,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191387,0.0187627495988,1.05970036649
+271,4.516666667,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191387,0.018762749599,1.05970036648
+272,4.533333333,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191387,0.0187627495991,1.05970036648
+273,4.550000000,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191387,0.0187627495992,1.05970036648
+274,4.566666667,pose2_hold,0.622565742628,0.0100910142077,1.0600322329,0.593136191387,0.0187627495991,1.05970036649
+275,4.583333333,pose2_to_pose3_retreat,0.622565742628,0.0100910142077,1.0600322329,0.593136191387,0.0187627495987,1.05970036648
+276,4.600000000,pose2_to_pose3_retreat,0.622565761383,0.0100908737506,1.06003229666,0.593136211055,0.0187626122773,1.05970043132
+277,4.616666667,pose2_to_pose3_retreat,0.622565689609,0.0100907774375,1.06003233319,0.593136140218,0.0187625191087,1.05970046699
+278,4.633333333,pose2_to_pose3_retreat,0.62256555829,0.0100907227566,1.06003234623,0.593136009763,0.0187624672771,1.05970047784
+279,4.650000000,pose2_to_pose3_retreat,0.622565456655,0.0100906804361,1.06003235633,0.593135908797,0.0187624271617,1.05970048624
+280,4.666666667,pose2_to_pose3_retreat,0.622565411251,0.0100906748776,1.0600323541,0.593135863498,0.018762421954,1.05970048387
+281,4.683333333,pose2_to_pose3_retreat,0.622565249322,0.0100906830909,1.06003233201,0.593135701536,0.0187624300854,1.05970046258
+282,4.700000000,pose2_to_pose3_retreat,0.622564539217,0.0100907191084,1.06003223513,0.593134991287,0.0187624657436,1.05970036922
+283,4.716666667,pose2_to_pose3_retreat,0.622562457547,0.0100907545006,1.06003209111,0.593132907893,0.0187624956062,1.05970023393
+284,4.733333333,pose2_to_pose3_retreat,0.622556603436,0.0100907187269,1.06003221238,0.593127052817,0.0187624562252,1.05970034636
+285,4.750000000,pose2_to_pose3_retreat,0.622545347438,0.0100907766957,1.06003226386,0.593115797864,0.0187625176413,1.05970039624
+286,4.766666667,pose2_to_pose3_retreat,0.622523535498,0.0100906910619,1.06003233804,0.59309398773,0.0187624383021,1.05970047241
+287,4.783333333,pose2_to_pose3_retreat,0.622491083983,0.0100909231894,1.06003209294,0.593061533078,0.0187626601816,1.05970024011
+288,4.800000000,pose2_to_pose3_retreat,0.622447412356,0.010090706031,1.06003235723,0.593017864564,0.0187624528488,1.05970048706
+289,4.816666667,pose2_to_pose3_retreat,0.622393834252,0.0100907042035,1.06003232817,0.592964285875,0.018762449207,1.05970046406
+290,4.833333333,pose2_to_pose3_retreat,0.62233012166,0.0100908206511,1.06003224162,0.592900571712,0.0187625600744,1.05970037692
+291,4.850000000,pose2_to_pose3_retreat,0.622258696845,0.0100907743272,1.06003239152,0.592829146778,0.0187625134598,1.05970052383
+292,4.866666667,pose2_to_pose3_retreat,0.622178853801,0.0100906692613,1.06003241096,0.592749305269,0.0187624133051,1.05970053848
+293,4.883333333,pose2_to_pose3_retreat,0.622086708663,0.0100908076847,1.06003235154,0.592657159703,0.0187625501649,1.05970048188
+294,4.900000000,pose2_to_pose3_retreat,0.621982555153,0.0100908057108,1.06003246986,0.592553006635,0.0187625495169,1.05970059798
+295,4.916666667,pose2_to_pose3_retreat,0.621865285542,0.0100907004425,1.06003257129,0.592435738345,0.0187624485634,1.05970069768
+296,4.933333333,pose2_to_pose3_retreat,0.621733359738,0.0100908172471,1.06003237128,0.592303811357,0.018762561594,1.05970050725
+297,4.950000000,pose2_to_pose3_retreat,0.621585996451,0.0100908135437,1.06003215307,0.592156446672,0.0187625529689,1.05970028819
+298,4.966666667,pose2_to_pose3_retreat,0.621424100248,0.0100908229146,1.06003244103,0.591994551987,0.0187625674124,1.05970057791
+299,4.983333333,pose2_to_pose3_retreat,0.621246825101,0.010090798798,1.06003224466,0.591817276388,0.0187625414957,1.05970037905
+300,5.000000000,pose2_to_pose3_retreat,0.621049576153,0.0100907676333,1.0600325181,0.59162002748,0.0187625101287,1.0597006486
+301,5.016666667,pose2_to_pose3_retreat,0.620832175505,0.0100907685411,1.06003246567,0.591402625692,0.0187625067698,1.0597005901
+302,5.033333333,pose2_to_pose3_retreat,0.620592213717,0.0100908364046,1.06003229117,0.591162662598,0.0187625701925,1.05970042097
+303,5.050000000,pose2_to_pose3_retreat,0.620327537749,0.0100908049422,1.06003225792,0.590897988367,0.0187625446956,1.05970039547
+304,5.066666667,pose2_to_pose3_retreat,0.620038369588,0.0100908030053,1.06003227891,0.590608820834,0.0187625446244,1.05970041483
+305,5.083333333,pose2_to_pose3_retreat,0.619723898939,0.0100908844797,1.06003223697,0.590294348013,0.0187626182552,1.05970036646
+306,5.100000000,pose2_to_pose3_retreat,0.619386227348,0.0100907743078,1.06003220891,0.589956677983,0.0187625130695,1.05970033728
+307,5.116666667,pose2_to_pose3_retreat,0.6190247248,0.0100907632151,1.06003209883,0.589595175606,0.018762502518,1.05970023284
+308,5.133333333,pose2_to_pose3_retreat,0.618644743837,0.0100907683447,1.06003212932,0.589215194437,0.0187625067102,1.05970026256
+309,5.150000000,pose2_to_pose3_retreat,0.618248043273,0.0100907008428,1.06003239062,0.588818495632,0.0187624443965,1.05970051207
+310,5.166666667,pose2_to_pose3_retreat,0.617834760052,0.0100908030514,1.06003212681,0.588405211629,0.018762543577,1.05970025709
+311,5.183333333,pose2_to_pose3_retreat,0.617404736621,0.0100907681825,1.06003237752,0.587975187392,0.0187625061127,1.05970051047
+312,5.200000000,pose2_to_pose3_retreat,0.616953136971,0.0100908121517,1.06003228952,0.587523588222,0.0187625515324,1.05970042302
+313,5.216666667,pose2_to_pose3_retreat,0.616476417852,0.0100907524731,1.06003236585,0.587046869804,0.0187624938804,1.05970049643
+314,5.233333333,pose2_to_pose3_retreat,0.615969284165,0.010090774717,1.06003248804,0.586539735238,0.018762512761,1.05970061496
+315,5.250000000,pose2_to_pose3_retreat,0.615437551807,0.0100908595667,1.0600323413,0.586008002354,0.0187625956838,1.05970047092
+316,5.266666667,pose2_to_pose3_retreat,0.614883444256,0.0100908143171,1.06003216181,0.585453896053,0.0187625547501,1.05970029724
+317,5.283333333,pose2_to_pose3_retreat,0.614317093924,0.0100907699567,1.06003239403,0.584887545713,0.0187625101443,1.0597005248
+318,5.300000000,pose2_to_pose3_retreat,0.613739095687,0.0100908041181,1.06003259813,0.584309548145,0.0187625463182,1.05970072205
+319,5.316666667,pose2_to_pose3_retreat,0.613144439999,0.0100907295964,1.06003223337,0.583714894109,0.0187624778302,1.05970036799
+320,5.333333333,pose2_to_pose3_retreat,0.612524017853,0.0100907559856,1.06003244512,0.583094469928,0.0187624970714,1.05970057276
+321,5.350000000,pose2_to_pose3_retreat,0.611869926091,0.0100907040622,1.06003235234,0.582440378996,0.0187624483805,1.05970048939
+322,5.366666667,pose2_to_pose3_retreat,0.611188194393,0.0100907435085,1.06003242176,0.58175864719,0.0187624872462,1.05970055413
+323,5.383333333,pose2_to_pose3_retreat,0.610483736576,0.0100908018807,1.06003248537,0.581054187691,0.018762539722,1.05970061395
+324,5.400000000,pose2_to_pose3_retreat,0.609766163833,0.0100908095129,1.06003233554,0.580336614268,0.0187625453044,1.05970047089
+325,5.416666667,pose2_to_pose3_retreat,0.609044045628,0.0100907906988,1.06003221179,0.579614496823,0.0187625291519,1.0597003488
+326,5.433333333,pose2_to_pose3_retreat,0.608321958314,0.0100907885757,1.06003226047,0.578892409456,0.0187625267208,1.0597003946
+327,5.450000000,pose2_to_pose3_retreat,0.607581224586,0.0100908098508,1.06003233885,0.578151674081,0.018762542501,1.05970047726
+328,5.466666667,pose2_to_pose3_retreat,0.606814737472,0.0100908324411,1.06003244907,0.57738518691,0.0187625645314,1.05970057711
+329,5.483333333,pose2_to_pose3_retreat,0.606024314935,0.0100909253885,1.06003220467,0.576594765409,0.01876266141,1.05970034336
+330,5.500000000,pose2_to_pose3_retreat,0.605210315592,0.0100908455024,1.06003231697,0.575780765786,0.0187625805499,1.05970045492
+331,5.516666667,pose2_to_pose3_retreat,0.604369547766,0.0100907471068,1.06003247429,0.574940000786,0.0187624913712,1.0597006027
+332,5.533333333,pose2_to_pose3_retreat,0.603520206158,0.0100907055805,1.0600324969,0.57409065941,0.0187624505014,1.05970062216
+333,5.550000000,pose2_to_pose3_retreat,0.602675216558,0.0100907563335,1.06003237348,0.573245668787,0.0187624980255,1.0597005039
+334,5.566666667,pose2_to_pose3_retreat,0.60183910273,0.0100908003917,1.06003235232,0.572409552512,0.0187625337997,1.05970048339
+335,5.583333333,pose2_to_pose3_retreat,0.601014884501,0.010090826221,1.06003234229,0.571585334864,0.0187625615959,1.05970047432
+336,5.600000000,pose2_to_pose3_retreat,0.60019722903,0.0100908836118,1.06003233853,0.570767680212,0.0187626218485,1.0597004723
+337,5.616666667,pose2_to_pose3_retreat,0.599380990717,0.0100908285396,1.06003228084,0.569951443886,0.0187625735401,1.05970041559
+338,5.633333333,pose2_to_pose3_retreat,0.598560804276,0.0100907705144,1.06003227249,0.569131257225,0.0187625146544,1.05970040529
+339,5.650000000,pose2_to_pose3_retreat,0.597718060409,0.0100908097013,1.06003227214,0.568288510797,0.0187625451748,1.05970040526
+340,5.666666667,pose2_to_pose3_retreat,0.596843352274,0.0100907664645,1.0600321345,0.567413804736,0.0187625093043,1.05970027527
+341,5.683333333,pose2_to_pose3_retreat,0.595980216753,0.0100908501337,1.06003226069,0.566550668171,0.0187625894602,1.05970039968
+342,5.700000000,pose2_to_pose3_retreat,0.59513344394,0.0100909335806,1.0600321151,0.565703894312,0.0187626692674,1.05970025305
+343,5.716666667,pose2_to_pose3_retreat,0.594309160584,0.0100908007801,1.06003230459,0.564879612344,0.0187625410821,1.0597004399
+344,5.733333333,pose2_to_pose3_retreat,0.593517527719,0.0100908657567,1.06003201608,0.564087978253,0.0187626026648,1.05970016993
+345,5.750000000,pose2_to_pose3_retreat,0.592762629875,0.0100908120857,1.06003218183,0.563333081904,0.0187625533614,1.05970032002
+346,5.766666667,pose2_to_pose3_retreat,0.592006246302,0.0100906443148,1.06003240514,0.562576699452,0.0187623891427,1.05970053588
+347,5.783333333,pose2_to_pose3_retreat,0.591239842429,0.0100906930448,1.06003242093,0.561810294337,0.0187624334356,1.05970054536
+348,5.800000000,pose2_to_pose3_retreat,0.590463080883,0.0100908006573,1.0600323474,0.561033532329,0.0187625397742,1.05970047932
+349,5.816666667,pose2_to_pose3_retreat,0.58968099479,0.0100907973113,1.06003228771,0.560251445934,0.0187625353891,1.0597004192
+350,5.833333333,pose2_to_pose3_retreat,0.588905370135,0.0100907338033,1.0600323581,0.559475821442,0.0187624723046,1.05970048619
+351,5.850000000,pose2_to_pose3_retreat,0.588157096817,0.010090775877,1.06003246884,0.558727548405,0.0187625154513,1.0597006006
+352,5.866666667,pose2_to_pose3_retreat,0.587452123332,0.0100908453412,1.06003237967,0.558022573928,0.0187625815938,1.05970051239
+353,5.883333333,pose2_to_pose3_retreat,0.586779331151,0.0100907695771,1.06003223366,0.557349781913,0.0187625065574,1.05970036956
+354,5.900000000,pose2_to_pose3_retreat,0.586135008857,0.0100906995426,1.06003235301,0.556705461424,0.0187624423225,1.05970048187
+355,5.916666667,pose2_to_pose3_retreat,0.58550809326,0.0100907391914,1.0600322356,0.556078545129,0.0187624797345,1.05970036649
+356,5.933333333,pose2_to_pose3_retreat,0.584887803044,0.0100907165402,1.06003220097,0.555458254982,0.0187624575516,1.05970033747
+357,5.950000000,pose2_to_pose3_retreat,0.584267144557,0.0100907412794,1.06003221793,0.554837598054,0.018762487558,1.05970035405
+358,5.966666667,pose2_to_pose3_retreat,0.583659201183,0.0100909895863,1.06003243747,0.5542296499,0.0187627192779,1.05970056382
+359,5.983333333,pose2_to_pose3_retreat,0.583069978081,0.0100908773829,1.06003223958,0.553640427508,0.0187626095115,1.05970036677
+360,6.000000000,pose2_to_pose3_retreat,0.582510029238,0.0100908395818,1.06003227028,0.553080479906,0.0187625760022,1.0597003994
+361,6.016666667,pose2_to_pose3_retreat,0.58197846022,0.0100907929023,1.06003229715,0.552548911502,0.0187625313228,1.05970042414
+362,6.033333333,pose2_to_pose3_retreat,0.581476426805,0.0100908010648,1.06003235292,0.552046878159,0.0187625398243,1.05970048253
+363,6.050000000,pose2_to_pose3_retreat,0.580998712426,0.0100908451839,1.06003246449,0.55156916332,0.0187625824576,1.05970059666
+364,6.066666667,pose2_to_pose3_retreat,0.580544494159,0.0100908183455,1.06003243346,0.551114945054,0.0187625555893,1.05970056558
+365,6.083333333,pose2_to_pose3_retreat,0.580116431605,0.0100908180167,1.06003230076,0.550686883032,0.018762557343,1.05970043945
+366,6.100000000,pose2_to_pose3_retreat,0.579715448581,0.0100907926891,1.06003219484,0.550285900131,0.0187625325049,1.05970033482
+367,6.116666667,pose2_to_pose3_retreat,0.57933965752,0.0100907676739,1.06003219592,0.549910109193,0.0187625078873,1.05970033521
+368,6.133333333,pose2_to_pose3_retreat,0.578986856902,0.0100908075276,1.06003221328,0.5495573078,0.0187625449756,1.0597003491
+369,6.150000000,pose2_to_pose3_retreat,0.578656396297,0.0100908180597,1.06003229743,0.549226847433,0.0187625563874,1.05970043519
+370,6.166666667,pose2_to_pose3_retreat,0.5783421136,0.0100908490431,1.06003217462,0.548912564184,0.0187625853898,1.05970030963
+371,6.183333333,pose2_to_pose3_retreat,0.578044057712,0.0100909180093,1.06003242758,0.548614507187,0.018762650264,1.059700554
+372,6.200000000,pose2_to_pose3_retreat,0.577763707652,0.010090828476,1.06003254038,0.548334158112,0.0187625640898,1.05970066748
+373,6.216666667,pose2_to_pose3_retreat,0.577501663562,0.0100907184969,1.06003235139,0.548072115291,0.0187624585377,1.05970048169
+374,6.233333333,pose2_to_pose3_retreat,0.577260194645,0.010090795898,1.06003223503,0.547830645551,0.0187625331455,1.05970036512
+375,6.250000000,pose2_to_pose3_retreat,0.577039270453,0.0100908395637,1.06003226689,0.547609721665,0.0187625780217,1.05970040153
+376,6.266666667,pose2_to_pose3_retreat,0.576841275036,0.0100907440259,1.06003233962,0.547411727699,0.0187624873545,1.05970047297
+377,6.283333333,pose2_to_pose3_retreat,0.576662940002,0.0100907116017,1.06003237274,0.54723339201,0.0187624523896,1.05970049786
+378,6.300000000,pose2_to_pose3_retreat,0.576503878709,0.0100906909374,1.06003238159,0.54707433156,0.0187624348367,1.05970051315
+379,6.316666667,pose2_to_pose3_retreat,0.576364603125,0.010090747502,1.06003244391,0.546935055997,0.0187624913401,1.05970057206
+380,6.333333333,pose2_to_pose3_retreat,0.576242887361,0.0100906437548,1.06003226842,0.546813340837,0.018762389545,1.05970039412
+381,6.350000000,pose2_to_pose3_retreat,0.576136452131,0.0100908471752,1.06003234655,0.546706902744,0.0187625835535,1.05970048032
+382,6.366666667,pose2_to_pose3_retreat,0.576043911005,0.0100909194916,1.06003246163,0.546614359804,0.0187626495978,1.05970059313
+383,6.383333333,pose2_to_pose3_retreat,0.575965598788,0.0100906686736,1.06003236721,0.546536050446,0.0187624084585,1.05970049794
+384,6.400000000,pose2_to_pose3_retreat,0.575898649401,0.0100907871546,1.06003236815,0.546469100933,0.0187625263812,1.05970049545
+385,6.416666667,pose2_to_pose3_retreat,0.575842972657,0.0100909344497,1.06003232862,0.546413422205,0.0187626673028,1.05970046518
+386,6.433333333,pose2_to_pose3_retreat,0.575798182492,0.0100907719557,1.06003224428,0.546368633055,0.0187625081991,1.05970037943
+387,6.450000000,pose2_to_pose3_retreat,0.575762601854,0.0100907343249,1.06003228588,0.54633305352,0.0187624742871,1.05970042042
+388,6.466666667,pose2_to_pose3_retreat,0.575735786912,0.0100907601043,1.06003228667,0.546306238655,0.0187625002579,1.05970041946
+389,6.483333333,pose2_to_pose3_retreat,0.575714912115,0.0100908027681,1.0600323187,0.546285363418,0.0187625412708,1.05970044741
+390,6.500000000,pose2_to_pose3_retreat,0.575699071607,0.0100908886428,1.06003247697,0.546269522618,0.018762626022,1.05970060237
+391,6.516666667,pose2_to_pose3_retreat,0.5756872979,0.0100908576527,1.06003239308,0.546257749789,0.0187625979632,1.05970051734
+392,6.533333333,pose2_to_pose3_retreat,0.575678877977,0.010090745562,1.06003217013,0.54624932929,0.0187624841696,1.05970030085
+393,6.550000000,pose2_to_pose3_retreat,0.575673240439,0.0100907905709,1.0600323227,0.546243690918,0.0187625262411,1.05970045048
+394,6.566666667,pose2_to_pose3_retreat,0.575670057914,0.0100908514619,1.06003248514,0.546240507933,0.018762585445,1.05970060945
+395,6.583333333,pose2_to_pose3_retreat,0.575669194115,0.0100908441181,1.06003245081,0.546239644267,0.0187625785965,1.05970057626
+396,6.600000000,pose2_to_pose3_retreat,0.575668765986,0.0100908404783,1.06003243379,0.546239216205,0.0187625752022,1.05970055981
+397,6.616666667,pose2_to_pose3_retreat,0.575668373843,0.0100908371444,1.06003241821,0.546238824122,0.0187625720932,1.05970054474
+398,6.633333333,pose2_to_pose3_retreat,0.575668306105,0.0100908365685,1.06003241552,0.546238756394,0.0187625715561,1.05970054213
+399,6.650000000,pose2_to_pose3_retreat,0.575668298554,0.0100908365044,1.06003241522,0.546238748845,0.0187625714962,1.05970054184
+400,6.666666667,pose2_to_pose3_retreat,0.575667916773,0.0100908332586,1.06003240004,0.546238367123,0.0187625684694,1.05970052717
+401,6.683333333,pose2_to_pose3_retreat,0.575667573783,0.0100908303426,1.06003238641,0.546238024185,0.01876256575,1.05970051399
+402,6.700000000,pose2_to_pose3_retreat,0.575667385803,0.0100908287444,1.06003237894,0.546237836234,0.0187625642597,1.05970050677
+403,6.716666667,pose2_to_pose3_retreat,0.575667045028,0.0100908261026,1.06003236589,0.546237495511,0.0187625618101,1.05970049416
+404,6.733333333,pose2_to_pose3_retreat,0.575666734767,0.0100908409166,1.06003238786,0.546237185246,0.0187625765847,1.05970051544
+405,6.750000000,pose2_to_pose3_retreat,0.575666669795,0.0100908440187,1.06003239246,0.546237120274,0.0187625796786,1.0597005199
+406,6.766666667,pose2_to_pose3_retreat,0.575666485723,0.0100908528075,1.06003240549,0.546236936199,0.018762588444,1.05970053252
+407,6.783333333,pose2_to_pose3_retreat,0.57566611976,0.010090870281,1.0600324314,0.546236570232,0.0187626058711,1.05970055763
+408,6.800000000,pose2_to_pose3_retreat,0.575665954957,0.0100908781498,1.06003244307,0.546236405427,0.018762613719,1.05970056893
+409,6.816666667,pose2_to_pose3_retreat,0.575665852954,0.0100908830201,1.06003245029,0.546236303422,0.0187626185764,1.05970057593
+410,6.833333333,pose2_to_pose3_retreat,0.575665702302,0.0100908902132,1.06003246095,0.546236152768,0.0187626257504,1.05970058626
+411,6.850000000,pose2_to_pose3_retreat,0.575665592436,0.010090895459,1.06003246873,0.5462360429,0.0187626309822,1.0597005938
+412,6.866666667,pose2_to_pose3_retreat,0.575665493243,0.0100909001951,1.06003247575,0.546235943706,0.0187626357057,1.0597006006
+413,6.883333333,pose2_to_pose3_retreat,0.575665354295,0.0100909068294,1.06003248559,0.546235804757,0.0187626423224,1.05970061013
+414,6.900000000,pose2_to_pose3_retreat,0.57566534296,0.0100909073706,1.06003248639,0.546235793422,0.0187626428621,1.05970061091
+415,6.916666667,pose2_to_pose3_retreat,0.57566517069,0.0100909154638,1.06003249755,0.546235621147,0.0187626509277,1.05970062171
+416,6.933333333,pose2_to_pose3_retreat,0.5756648664,0.010090905388,1.06003232491,0.546235316489,0.0187626397286,1.05970045238
+417,6.950000000,pose2_to_pose3_retreat,0.575664715626,0.0100909003955,1.06003223937,0.546235165533,0.0187626341795,1.05970036847
+418,6.966666667,pose2_to_pose3_retreat,0.575664642719,0.0100908979814,1.060032198,0.546235092537,0.0187626314963,1.0597003279
+419,6.983333333,pose2_to_pose3_retreat,0.575664641856,0.0100908979528,1.06003219752,0.546235091673,0.0187626314645,1.05970032742
+420,7.000000000,pose2_to_pose3_retreat,0.575664483672,0.0100908883298,1.06003211373,0.546234933387,0.0187626215578,1.05970024524
+421,7.016666667,pose2_to_pose3_retreat,0.57566427881,0.010090782365,1.06003209484,0.54623472802,0.0187625139149,1.05970022736
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab95b26e25693d2bd07b3d86d094c261ecc1d07a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e480cb85e01ff042747c4c3afe74d43671b480818a02919d1a6a2d69a1de5d2
+size 26293950
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..35307756926940b76a170f10a2575ec517d93dbe
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/franka_data.csv
@@ -0,0 +1,417 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,680,661,636,879,787,804,652,631,653,0.401043103629,0.00448616538384,0.0798710669014,0.999999984529,0.000105161612333,-0.000132205269382,4.90446670028e-05,1793239785051326720
+1,0.016666667,BASELINE,766,745,715,680,661,635.424573737,879,787.575426263,804,652.575426263,631,653,0.401042614278,0.00448670060206,0.0798702717883,0.999999984425,0.00010497146998,-0.000133265970612,4.87030409101e-05,1793239785067992832
+2,0.033333333,BASELINE,766,745,715,680,661.150834546,635.150834546,879,787.849165454,804,652.849165454,631,653,0.40104243221,0.00448712306394,0.0798698553581,0.999999984334,0.000105099910171,-0.000133926437194,4.84720265729e-05,1793239785084659200
+3,0.050000000,BASELINE,766,745,715,680,661.726192356,635.726192356,879,787.273807644,804,652.273807644,631,653,0.401043114986,0.00448722817367,0.0798705047293,0.999999984284,0.000106124999689,-0.000133460445103,4.85523285288e-05,1793239785101325824
+4,0.066666667,BASELINE,765.691786546,745,715,680,661.691786546,636,879,787,803.691786546,652.308213454,631.308213454,653,0.401043500943,0.00448657409205,0.0798708170953,0.999999984312,0.000106430097834,-0.000132928207832,4.87815682143e-05,1793239785117992448
+5,0.083333333,BASELINE,765.103715216,745,715,680,661.103715216,636,879,787,803.103715216,652.896284784,631.896284784,653,0.401043617387,0.00448523066452,0.0798708234605,0.999999984409,0.000106081443612,-0.000132335819952,4.9146043383e-05,1793239785134659072
+6,0.100000000,BASELINE,765.479538955,745,715.479538955,679.520461045,661,636,879,787,803,652.520461045,631.520461045,652.520461045,0.401043107781,0.0044860554893,0.0798712187657,0.999999984386,0.00010655157865,-0.000132202437893,4.89552296845e-05,1793239785151325952
+7,0.116666667,BASELINE,765.939213719,745.060786281,715.939213719,679.060786281,661.060786281,635.939213719,879,787,802.939213719,652,631,652.060786281,0.401042492774,0.00448726756723,0.0798715869463,0.999999984344,0.000107028441946,-0.000132247841589,4.86592924385e-05,1793239785167992320
+8,0.133333333,BASELINE,765.366185544,745.633814456,715.366185544,679.633814456,661.633814456,635.366185544,879,787,802.366185544,652,631,652.633814456,0.401042119252,0.00448783047722,0.0798710247227,0.999999984357,0.00010608453155,-0.000132971603237,4.84794825631e-05,1793239785184659200
+9,0.150000000,BASELINE,765.20691594,745.79308406,715,680,661.79308406,635,879,787,802.20691594,652,631,652.79308406,0.401041444574,0.00448785780704,0.0798704631383,0.999999984349,0.000105121706946,-0.000133816002658,4.84215355462e-05,1793239785201325824
+10,0.166666667,BASELINE,765.780147149,745.219852851,715,680,661.219852851,635,879,787,802.780147149,652,631,652.219852851,0.401040236744,0.00448693696822,0.0798699026859,0.999999984303,0.000104125397524,-0.000134873974036,4.85793294221e-05,1793239785217992448
+11,0.183333333,BASELINE,766,745.365806168,715,680,661,635,879,787,803.365806168,652,631.365806168,652.365806168,0.401040694671,0.0044866019319,0.0798698336301,0.999999984154,0.000104964436911,-0.000135301787615,4.86630473547e-05,1793239785234659328
+12,0.200000000,BASELINE,766,745.959197155,715,680,661,635,879,787,803.959197155,652,631.959197155,652.959197155,0.401042188943,0.00448663135014,0.0798700702947,0.999999983937,0.000106945330995,-0.000135337551186,4.87006792557e-05,1793239785251325952
+13,0.216666667,BASELINE,766,746,715,679.461908427,661,635,879,787,803.461908427,652,631.461908427,653,0.401043050214,0.0044859001517,0.0798712295829,0.999999984546,0.000104085854784,-0.000133084210296,4.86074154536e-05,1793239785267992320
+14,0.233333333,BASELINE,765.884597843,746,715,679.230804315,661,635,879,787,803,652,631,653,0.401043639725,0.00448550004086,0.0798722433589,0.99999998502,0.000102071921395,-0.000131111588474,4.84958396e-05,1793239785284659200
+15,0.250000000,BASELINE,765.309332973,746,715,680.381334054,661,635,879,787,803,652,631,653,0.401043332563,0.00448664307577,0.0798724058141,0.999999984763,0.000104851601421,-0.000130931143546,4.83498074355e-05,1793239785301326080
+16,0.266666667,BASELINE,765.272451233,746,715,680.727548767,661,635,879,787.272451233,803,652,631,653,0.401043552219,0.00448682720833,0.0798724006143,0.999999984666,0.000106032467734,-0.000130692857313,4.84191509796e-05,1793239785317992960
+17,0.283333333,BASELINE,765.86181872,746,715,680.13818128,661,635,879,787.86181872,803,652,631,653,0.401044384673,0.00448589594217,0.0798722003974,0.999999984762,0.000105353588025,-0.000130387289877,4.8739020331e-05,1793239785334659328
+18,0.300000000,BASELINE,766,745.55647288,715,680,661,635,879,787.55647288,803.44352712,652,631.44352712,653,0.401044246906,0.00448557099189,0.0798722037789,0.999999984798,0.000104841667485,-0.000130512302397,4.87733084519e-05,1793239785351325696
+19,0.316666667,BASELINE,765.977209841,745.022790159,715,680,661,635,879,787.022790159,804,652,631.977209841,653,0.401043846652,0.00448550427635,0.0798723070803,0.999999984815,0.000104438680637,-0.000130726160234,4.872362391e-05,1793239785367992320
+20,0.333333333,BASELINE,765.400369695,745.599630305,715,680,661,635,879,787.599630305,804,652,631.400369695,653,0.401044288933,0.00448720115128,0.0798733236326,0.999999984816,0.000105440875388,-0.000129894039199,4.87587862551e-05,1793239785384658944
+21,0.350000000,BASELINE,765,745.820841967,715,680,661,635,878.820841967,788,804,652,631,653,0.401044105987,0.00448833663639,0.079873500142,0.99999998475,0.000105881733968,-0.000130090550445,4.86390896752e-05,1793239785401325568
+22,0.366666667,BASELINE,765,745.235216834,715,680,661,635,878.235216834,788,804,652,631,653,0.401042504553,0.00448819846087,0.0798717707929,0.999999984528,0.000105049053728,-0.000132620784575,4.81680549048e-05,1793239785417992448
+23,0.383333333,BASELINE,765.346564344,745.346564344,715,680,661.346564344,635,878.346564344,787.653435656,804,652,631.346564344,653,0.401042217496,0.00448762979049,0.0798714156926,0.999999984415,0.000105396477735,-0.00013316675695,4.82424455287e-05,1793239785434659072
+24,0.400000000,BASELINE,765.925765267,745.925765267,715,680,661.925765267,635,878.925765267,787.074234733,804,652,631.925765267,653,0.401042812735,0.00448677214387,0.0798719830774,0.999999984378,0.000106536064558,-0.000132380763744,4.8682961184e-05,1793239785451325952
+25,0.416666667,BASELINE,765.495319883,746,715,680.504680117,661.495319883,635.504680117,879,787.504680117,803.495319883,652,631.495319883,653,0.40104142023,0.00448653505674,0.079870762264,0.999999984123,0.000106028462397,-0.000134731055172,4.85791437139e-05,1793239785467992576
+26,0.433333333,BASELINE,765.165476546,746,715,680.917261727,661,635.917261727,878.917261727,787.917261727,803.082738273,652,631,653,0.401040238517,0.00448652749358,0.0798697480418,0.999999983891,0.000105668174772,-0.000136765371748,4.84406862917e-05,1793239785484658944
+27,0.450000000,BASELINE,766.311934625,746,715,680.344032688,661,635.344032688,878.344032688,787.344032688,803.655967312,652,631,653,0.401042038744,0.00448733977932,0.0798715169585,0.999999984026,0.000107616731251,-0.000134193237098,4.8571263836e-05,1793239785501325568
+28,0.466666667,BASELINE,766.764008302,746,715,680,661.235991698,635,878.235991698,787,804,652,631,653,0.401042703528,0.00448737515539,0.079872120506,0.999999984121,0.000108038057653,-0.000133162335147,4.85084344779e-05,1793239785517992192
+29,0.483333333,BASELINE,766.173783871,746,715,680,661.826216129,635,878.826216129,787,804,652,631,653,0.401041663969,0.00448624435973,0.0798709747888,0.999999984167,0.0001061669521,-0.000134444883676,4.81552938175e-05,1793239785534658816
+30,0.500000000,BASELINE,765.590985311,745.590985311,715,680,661.590985311,635.409014689,879,787,804,652.409014689,631,653,0.401041507319,0.00448625443829,0.0798709887695,0.999999984192,0.000105982153603,-0.000134456836187,4.80206270257e-05,1793239785551325440
+31,0.516666667,BASELINE,765.011285639,745.011285639,715,680,661.011285639,635.988714361,879,787,804,652.988714361,631,653,0.401041719115,0.00448674061249,0.0798714867012,0.999999984208,0.000106501064085,-0.000133938559155,4.7977131072e-05,1793239785567992064
+32,0.533333333,BASELINE,765.563051087,745,715,680,661.563051087,635.436948913,879,787.563051087,804,652.436948913,631,653,0.401041871805,0.00448770605933,0.0798712719082,0.999999984044,0.000107458957251,-0.000134364850918,4.80716013233e-05,1793239785584658944
+33,0.550000000,BASELINE,765.862278163,745,715,680,661.862278163,635.137721837,879,787.862278163,804,652.137721837,631,652.862278163,0.401042048516,0.00448848416086,0.079871115801,0.99999998394,0.000108107972507,-0.00013459266413,4.8146267868e-05,1793239785601325824
+34,0.566666667,BASELINE,765.28620546,745,715,680,661.28620546,635.71379454,879,787.28620546,804,652.71379454,631,652.28620546,0.401042305413,0.00448863567874,0.0798711915234,0.999999984041,0.000107746127603,-0.000134129053884,4.81491830177e-05,1793239785617992704
+35,0.583333333,BASELINE,765.296113929,745.296113929,715,680,661,635.703886071,879,787,803.703886071,652.703886071,631,652.296113929,0.401041817886,0.00448863960775,0.0798711137639,0.999999983942,0.000108340131434,-0.000134344198684,4.82780965322e-05,1793239785634659328
+36,0.600000000,BASELINE,765.884601163,745.884601163,715,680,661,635.115398837,879,787,803.115398837,652.115398837,631,652.884601163,0.401040595338,0.00448849781232,0.0798708844612,0.999999983642,0.000109877909308,-0.000135229524179,4.85314167519e-05,1793239785651325696
+37,0.616666667,BASELINE,766,746,715,680,661.467490062,635,879,787.467490062,803.467490062,652.467490062,631.467490062,653,0.401040549443,0.00448767172068,0.0798709838788,0.999999983912,0.000107566415701,-0.000135118380243,4.8462772153e-05,1793239785667992320
+38,0.633333333,BASELINE,765.951582961,745.951582961,715,680,661.951582961,635,878.951582961,787.951582961,804,653,631.951582961,653,0.401040840309,0.00448681048104,0.0798711697395,0.999999984261,0.00010483427118,-0.000134738005148,4.83131096239e-05,1793239785684658688
+39,0.650000000,BASELINE,765.377134553,745.377134553,715,680,661.377134553,635,878.377134553,787.377134553,804,653,631.377134553,653,0.401041671632,0.00448738086838,0.079871423606,0.99999998405,0.000107733119968,-0.000134073349368,4.81364794273e-05,1793239785701325568
+40,0.666666667,BASELINE,765,745,715,680,661,635,878.195325875,787,804,652.804674125,631.195325875,653,0.401041860533,0.00448842507138,0.0798712279903,0.999999983855,0.000109913078906,-0.000133819086099,4.79753661291e-05,1793239785717992448
+41,0.683333333,BASELINE,765,745,715,680,661,635,878.763986554,787,804,652.236013446,631.763986554,653,0.401040821546,0.00449037489872,0.0798701732594,0.999999983701,0.000110718992371,-0.000134349223848,4.78439109619e-05,1793239785734659328
+42,0.700000000,BASELINE,765.349380139,745,715,680,661.349380139,635,879,787.349380139,804,652,632,653,0.401040759004,0.0044903425875,0.0798702223462,0.999999983626,0.000111018709984,-0.000134606180561,4.80097707786e-05,1793239785751325952
+43,0.716666667,BASELINE,765.946645706,745,715,680,661.946645706,635,879,787.946645706,804,652,632,653,0.401041389251,0.00448890394764,0.0798710545922,0.999999983605,0.000110959281288,-0.000134669315134,4.83865757699e-05,1793239785767992064
+44,0.733333333,BASELINE,766,745,715,680,662,635.526743212,879.526743212,788,804,652,632,653,0.401041301643,0.00448905381458,0.0798706551461,0.99999998356,0.000110721983078,-0.000135338723957,4.80073081424e-05,1793239785784658688
+45,0.750000000,BASELINE,766,745,714.895592406,680,661.895592406,635.895592406,879.895592406,787.895592406,803.895592406,652,631.895592406,653,0.401041281545,0.00448921566029,0.0798704582488,0.999999983582,0.000110280324561,-0.00013563931859,4.77097557752e-05,1793239785801325568
+46,0.766666667,BASELINE,766,745,714.321299262,680,661.321299262,635.321299262,879.321299262,787.321299262,803.321299262,652,631.321299262,653,0.401041882181,0.00448873013804,0.0798717166761,0.999999983923,0.000108997468253,-0.0001340124157,4.81137458925e-05,1793239785817992704
+47,0.783333333,BASELINE,766,745,714.259549972,680,661.259549972,635,879,787,803,652,631,653,0.401041342762,0.00448794004306,0.0798719428901,0.999999984049,0.000107553626399,-0.000134173336331,4.82820512452e-05,1793239785834659840
+48,0.800000000,BASELINE,766,745,714.848725442,680,661.848725442,635,879,787,803,652,631,653,0.401039355484,0.00448676314415,0.0798708582049,0.999999983902,0.000105905334567,-0.000136604772195,4.81510396939e-05,1793239785851325952
+49,0.816666667,BASELINE,766,745,715,680,661.569570166,635,879,787,803,652,631,653,0.401039591166,0.00448683265807,0.0798708226258,0.999999983913,0.000106354331689,-0.000136205936521,4.80736283783e-05,1793239785867992576
+50,0.833333333,BASELINE,766,745,715,680,661,635,879,787.009485186,803.009485186,652,631,652.990514814,0.401040573928,0.00448734158087,0.079871137724,0.999999983974,0.000107513358446,-0.00013486181204,4.80094508569e-05,1793239785884659712
+51,0.850000000,BASELINE,766,745,715,680,661,635,879,787.584480838,803.584480838,652,631,652.415519162,0.401040313692,0.00448837699905,0.0798707528504,0.999999983881,0.000107808673889,-0.000135451732356,4.76303216285e-05,1793239785901326336
+52,0.866666667,BASELINE,765.840143299,745,715,680,661.159856701,635,879,787.840143299,803.840143299,652.159856701,631,652.159856701,0.401040529502,0.00448891765311,0.0798707471854,0.999999983895,0.00010780763712,-0.000135398719822,4.74844604128e-05,1793239785917992960
+53,0.883333333,BASELINE,765.263776825,745,715,680,661.736223175,635,879,787.263776825,803.263776825,652.736223175,631,652.736223175,0.40104198566,0.0044881691895,0.0798717295558,0.999999984188,0.000107034448822,-0.000133670533084,4.79463836096e-05,1793239785934659328
+54,0.900000000,BASELINE,765,745,715,680,661.679513479,635,879,787,803.320486521,652.679513479,631,652.679513479,0.401042571764,0.00448799382333,0.0798719498914,0.99999998418,0.00010777973304,-0.000133056817122,4.81533055875e-05,1793239785951325952
+55,0.916666667,BASELINE,765,745,715,680,661.088586438,635,879,787,803.911413562,652.088586438,631,652.088586438,0.401042423679,0.00448830206185,0.0798715271886,0.999999983917,0.000109806370714,-0.000133383540352,4.81450463785e-05,1793239785967992576
+56,0.933333333,BASELINE,765.493032218,745.493032218,715,680,661.493032218,635,879,787,803.506967782,652,631,652.493032218,0.401041651625,0.00448857887984,0.079871159828,0.999999983707,0.000110541161083,-0.000134296886241,4.82900751827e-05,1793239785984659200
+57,0.950000000,BASELINE,766,746,715,680,662,635,879,787.072229993,803.072229993,652,631,653,0.401040827159,0.00448886514687,0.0798708557412,0.999999983539,0.000110885946433,-0.000135219019765,4.84023541e-05,1793239786001325824
+58,0.966666667,BASELINE,766,746,715,680,662,635,879,787.646015629,803.646015629,652,631,653,0.401040402822,0.00448925550217,0.0798709232518,0.999999983604,0.000110104497299,-0.000135483834165,4.80995157621e-05,1793239786017992960
+59,0.983333333,BASELINE,766,746,715,680,661.774651732,635,879,787.774651732,804,652,631,653,0.401039992101,0.00448896068938,0.0798706661783,0.999999983661,0.00010914585018,-0.000135880891212,4.79814980192e-05,1793239786034660096
+60,1.000000000,BASELINE,766,746,715,680,661.186385691,635,879,787.186385691,804,652,631,653,0.401039603306,0.00448756243051,0.0798698863699,0.999999983704,0.000107901829998,-0.000136490921793,4.81611291943e-05,1793239786051326720
+61,1.016666667,BASELINE,766,745.60410306,715,680,661.39589694,635,879,787,803.60410306,652,631,652.60410306,0.401040051581,0.00448855503424,0.0798707274411,0.999999983632,0.000109743314041,-0.000135581665559,4.80666747472e-05,1793239786067992832
+62,1.033333333,BASELINE,766,745.024595474,715,680,661.975404526,635,879,787,803.024595474,652,631,652.024595474,0.401040888076,0.00449065648176,0.0798723202504,0.999999983495,0.000113015805492,-0.000133967788448,4.78451037769e-05,1793239786084659200
+63,1.050000000,BASELINE,766,745,715,680,662,635,879,787,803,652,631,652.551463569,0.401040271301,0.00448892862483,0.0798712194285,0.999999983811,0.000108669232362,-0.000135193726021,4.78728086048e-05,1793239786101325568
+64,1.066666667,BASELINE,766,745,715,680,661.870293265,635,879,787,803.129706735,652,631,652.870293265,0.401039789756,0.00448756055194,0.0798704877758,0.999999984044,0.000105428071668,-0.000136009062378,4.79337827585e-05,1793239786117992192
+65,1.083333333,BASELINE,766,745,715,680,661.283820407,635,879,787,803.716179593,652,631,652.283820407,0.40104001126,0.00448805716793,0.0798714765999,0.999999983987,0.000107268878874,-0.000134935200621,4.80730075151e-05,1793239786134658816
+66,1.100000000,BASELINE,765.700930822,745.299069178,715,680,661.299069178,635.299069178,879,787,804,652.299069178,631,652,0.401040113631,0.00448853670667,0.079871952766,0.999999983949,0.000108227511993,-0.00013441812767,4.81662568036e-05,1793239786151325696
+67,1.116666667,BASELINE,765.12140158,745.87859842,715,680,661.87859842,635.87859842,879,787,804,652.87859842,631,652,0.401040104282,0.00448900023072,0.0798719481734,0.999999983932,0.000108358862826,-0.000134423198271,4.82163913676e-05,1793239786167992832
+68,1.133333333,BASELINE,765.456446018,745.543553982,715,680,661.543553982,635.543553982,879,787,803.543553982,653,631.456446018,652.456446018,0.401040738597,0.00448764379885,0.0798718754735,0.999999984126,0.000106720207398,-0.000134240419245,4.83601071442e-05,1793239786184659200
+69,1.150000000,BASELINE,765.966312593,745.033687407,715,680,661,635,879,787,803.033687407,652.966312593,631.966312593,652.966312593,0.401041412396,0.00448597428858,0.0798717622999,0.99999998433,0.00010487796358,-0.000134118061133,4.85078502016e-05,1793239786201325568
+70,1.166666667,BASELINE,765.391650647,745.608349353,715,680,661,635,879,787,803.608349353,652.391650647,631.391650647,652.391650647,0.401039981156,0.00448702192113,0.0798712890017,0.99999998386,0.000107298566506,-0.000135765369709,4.83220341652e-05,1793239786217992192
+71,1.183333333,BASELINE,765,745.812169388,715,680,661.187830612,635,879,787,804,652,631,652.187830612,0.40103918281,0.00448770815177,0.0798710251584,0.999999983544,0.000109374910406,-0.000136461815125,4.82411383692e-05,1793239786234658816
+72,1.200000000,BASELINE,765,745.222374519,715,680,661.777625481,635,879,787,804,652,631,652.777625481,0.401039738878,0.00448762096952,0.079871209556,0.999999983571,0.000110714528076,-0.000135123379525,4.83847756228e-05,1793239786251325440
+73,1.216666667,BASELINE,765,745,715,680.360042604,661.639957396,635,879,787,803.639957396,652,631,652.639957396,0.401040094166,0.0044877409919,0.0798711922747,0.999999983698,0.000110071756656,-0.000134735927169,4.83195117844e-05,1793239786267992320
+74,1.233333333,BASELINE,765,745,715,680.937994446,661.062005554,635,879,787,803.062005554,652,631,652.062005554,0.401040327934,0.00448798642113,0.0798710529309,0.999999983883,0.000108229180217,-0.0001349240402,4.81278143514e-05,1793239786284658944
+75,1.250000000,BASELINE,765.512965064,745,715,681,661.512965064,635,879,787.512965064,803,652.512965064,631,652.512965064,0.401040299853,0.00448753538134,0.0798712671949,0.999999983961,0.000107355366337,-0.000135150253058,4.78320111412e-05,1793239786301325568
+76,1.266666667,BASELINE,766,745,715,680.912425656,661.912425656,635,879,787.912425656,803,653,631,653,0.401040354691,0.00448711192985,0.0798715809348,0.999999984041,0.000106739666532,-0.000135115995096,4.7630752034e-05,1793239786317992448
+77,1.283333333,BASELINE,766,745,715,680.337833402,661.337833402,635,879,787.337833402,803,653,631,653,0.401041045667,0.00448730737676,0.0798722115521,0.999999984206,0.000106911931333,-0.000133607744954,4.80248485465e-05,1793239786334659072
+78,1.300000000,BASELINE,766,745.243714416,715,680,661,635,879,787.243714416,803,653,631,652.756285584,0.401041702252,0.00448778196901,0.079872455403,0.999999984191,0.000108184049225,-0.000132618032042,4.82390720278e-05,1793239786351325696
+79,1.316666667,BASELINE,766,745.835187145,715,680,661,635,879,787.835187145,803,653,631,652.164812855,0.401042309764,0.00448865487626,0.0798721473734,0.999999983915,0.000111025557454,-0.00013236822474,4.8196633015e-05,1793239786367992320
+80,1.333333333,BASELINE,766,745.581333256,715,680,661.418666744,635,879,788,803.418666744,652.581333256,631.418666744,652.418666744,0.401041922782,0.00448864561336,0.0798718091206,0.999999983842,0.000110563154188,-0.000133323833716,4.81398594712e-05,1793239786384658944
+81,1.350000000,BASELINE,766,745.000941245,715,680,661.999058755,635,879,788,803.999058755,652.000941245,631.999058755,652.999058755,0.401041151641,0.00448829558019,0.079871459193,0.999999983845,0.000108824495097,-0.000134745078581,4.80775486894e-05,1793239786401325568
+82,1.366666667,BASELINE,766,745,715,680,662,635,878.427160318,787.427160318,804,652.572839682,632,652.427160318,0.401041806126,0.00448692284846,0.0798722511891,0.999999984084,0.000108232389996,-0.000133400300245,4.81926898357e-05,1793239786417992192
+83,1.383333333,BASELINE,766,745,715,680,661.853567742,635,878.146432258,787.146432258,803.853567742,653,631.853567742,652.146432258,0.401041700675,0.00448598719165,0.0798724329528,0.999999984184,0.000107424288119,-0.000133269935175,4.82824712366e-05,1793239786434659072
+84,1.400000000,BASELINE,766,745,715,680,661.280492521,635,878.719507479,787.719507479,803.280492521,653,631.280492521,652.719507479,0.401039374341,0.00448632983003,0.0798708313477,0.999999983875,0.000105981434579,-0.000136690958076,4.82975250314e-05,1793239786451325952
+85,1.416666667,BASELINE,766,745,715,680,661,635,879,787.696707995,803.303292005,653,631,653,0.401039709767,0.00448744021878,0.0798709489541,0.99999998381,0.000106996529347,-0.000136391172048,4.82560973216e-05,1793239786467992832
+86,1.433333333,BASELINE,766,745,715,680,661,635,879,787.102656732,803.897343268,653,631,653,0.401042596963,0.0044892866326,0.07987271473,0.999999983968,0.000110368004236,-0.000132524329563,4.81605220558e-05,1793239786484659712
+87,1.450000000,BASELINE,766,745,715,680,661,635,879,787,804,653,631,653,0.401041667962,0.00448956316115,0.0798722630523,0.999999983895,0.000110592377273,-0.000132952839239,4.79874682981e-05,1793239786501326080
+88,1.466666667,BASELINE,765.941040992,745.058959008,715,680,661.058959008,635,879,787,803.941040992,653,631,652.941040992,0.401040145589,0.00448943158034,0.0798714549089,0.999999983783,0.000110189179392,-0.000134181049318,4.78235734108e-05,1793239786517992192
+89,1.483333333,BASELINE,765.365588876,745.634411124,715,680,661.634411124,635,879,787,803.365588876,653,631,652.365588876,0.401040409119,0.00448859790207,0.0798715821839,0.999999983746,0.000110047797154,-0.000134553936971,4.78817044105e-05,1793239786534659072
+90,1.500000000,BASELINE,765.213844611,746,715,680,662,635,879,787,803,652.786155389,631,652.213844611,0.40104063701,0.0044876333132,0.07987141978,0.999999983756,0.000109385484366,-0.00013500781842,4.79184691214e-05,1793239786551325696
+91,1.516666667,BASELINE,765.800213717,746,715,680,662,635,879,787,803,652.199786283,631,652.800213717,0.401040802818,0.00448644067379,0.0798707527461,0.999999983846,0.000107815693073,-0.000135602793745,4.79180130337e-05,1793239786567992320
+92,1.533333333,BASELINE,765.619420203,745.619420203,715,680,662,635,879,787,803.380579797,652,631,652.619420203,0.401040467759,0.00448685873638,0.0798706352186,0.999999983866,0.000107247069142,-0.000135956151471,4.77771335934e-05,1793239786584658944
+93,1.550000000,BASELINE,765.04215644,745.04215644,715,680,662,635,879,787,803.95784356,652,631,652.04215644,0.401039873853,0.00448810921103,0.0798708016766,0.99999998385,0.000107195849219,-0.000136184641066,4.75636832439e-05,1793239786601325824
+94,1.566666667,BASELINE,765.534192703,745,714.465807297,680,661.465807297,635,878.465807297,787,803.465807297,652,631,652.534192703,0.401041558835,0.0044892841407,0.0798722173988,0.999999983902,0.000109461328001,-0.000133953848745,4.7656522817e-05,1793239786617992448
+95,1.583333333,BASELINE,766,745,714.112996189,680,661,635,878.112996189,787,803.112996189,652,631,653,0.401043021749,0.00448994278369,0.0798733663201,0.999999983974,0.000111004724866,-0.000132086611966,4.77805864684e-05,1793239786634658816
+96,1.600000000,BASELINE,766,745,714.702452675,680,661,635,878.702452675,787,803.702452675,652,631,653,0.401042791266,0.00448844954528,0.0798729752555,0.999999984152,0.000108733805179,-0.000132569292302,4.79345634538e-05,1793239786651325440
+97,1.616666667,BASELINE,766,745,715,680,661,635,879,787,803.713251436,652,631,652.713251436,0.401041773391,0.004487725959,0.0798721687385,0.999999984037,0.000108192305369,-0.000133826792874,4.8069814928e-05,1793239786667992064
+98,1.633333333,BASELINE,766,745,715,680,661,635,879,787,803.134215855,652,631,652.134215855,0.401039952918,0.00448778689054,0.0798709387451,0.999999983623,0.000109413628735,-0.000135874079043,4.81859792048e-05,1793239786684658944
+99,1.650000000,BASELINE,765.55749253,745,715,680,661.44250747,635,879,787,803.44250747,652,631,652.44250747,0.401040749295,0.00448782906496,0.0798717134859,0.999999983935,0.000108222997439,-0.00013463341502,4.78691690862e-05,1793239786701325568
+100,1.666666667,BASELINE,765.018439303,745.018439303,715,680,661.981560697,635,879,787,804,652,631.018439303,652.981560697,0.401042276653,0.0044878697721,0.0798730404291,0.999999984433,0.000106442182606,-0.000132487984603,4.74494423727e-05,1793239786717992448
+101,1.683333333,BASELINE,765.591549429,745.591549429,715,680,661.408450571,635,879,787,804,652,631.591549429,652.408450571,0.401042041117,0.00448803658774,0.0798727824752,0.999999984095,0.000108799828148,-0.000132968909652,4.78637131517e-05,1793239786734659328
+102,1.700000000,BASELINE,766,745.829495175,715,680,661,635,879,787,803.829495175,652,631.829495175,652,0.401041784519,0.00448790971307,0.0798725074537,0.999999983895,0.00010985243463,-0.000133498087428,4.81767392359e-05,1793239786751325952
+103,1.716666667,BASELINE,766,745.236040231,715,680,661,635,879,787,803.236040231,652,631.236040231,652,0.401041475674,0.00448705431735,0.0798721900943,0.999999984043,0.000107667792618,-0.000134146959674,4.8238620132e-05,1793239786767992576
+104,1.733333333,BASELINE,766,745,715,680,661.348055422,635,879.348055422,787,803,652.348055422,631.348055422,652.348055422,0.401040974598,0.0044876477066,0.0798720768822,0.999999983913,0.000108106734995,-0.000134785020071,4.81646882154e-05,1793239786784658944
+105,1.750000000,BASELINE,766,745,715,680,661.925970163,635,879.925970163,787,803,652.925970163,631.925970163,652.925970163,0.401040346572,0.004489197888,0.0798720984909,0.999999983599,0.000110278318806,-0.000135415940279,4.80010641505e-05,1793239786801325568
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,746,715,680,661,635,879,787,803,652,631,653,0.401040487285,0.00448907340134,0.0798732391992,0.999999983784,0.000110524390613,-0.000133745253026,4.82455444163e-05,1793239786834852864
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.371063474,715,680,661,635,879,787,803,652,631,653,0.401042260618,0.00448906220997,0.0798736006558,0.999999983936,0.000110818364175,-0.000132351665379,4.82779646966e-05,1793239786851520256
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,803.242615062,652,631,652.757384938,0.401042587033,0.00448906681768,0.0798731400858,0.999999983897,0.000111164739131,-0.000132357558865,4.82667332468e-05,1793239786868187392
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680,661,635,879,787,803.834338375,652,631,652.165661625,0.401040831424,0.00448909415929,0.0798714966699,0.999999983584,0.000111586516531,-0.000134377219983,4.81926896293e-05,1793239786884854528
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.584321998,745,715,679.584321998,661,635,879,787.415678002,804,652,631.415678002,652,0.401040608373,0.00448888510354,0.0798715993068,0.999999983588,0.000111438874952,-0.000134467844685,4.81986731699e-05,1793239786901520896
+111,1.850000000,POSE1_TO_POSE2_PRESS,765.007019799,745,715,679.007019799,661,635,879,787.992980201,804,652,631.992980201,652,0.401040981214,0.0044885841316,0.0798723808452,0.999999983716,0.000111069831482,-0.000133808420043,4.82357729278e-05,1793239786918187264
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.568931913,745,715,679.568931913,661,635,879,787.431068087,803.431068087,652.568931913,632,652.568931913,0.401041118833,0.00448756515805,0.0798721618309,0.999999983867,0.000108912887129,-0.000134441324499,4.82556480077e-05,1793239786934853376
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.852542744,745,715,680,661.147457256,635,879,787,803,652.852542744,631.852542744,652.852542744,0.401040749083,0.00448726337349,0.0798717483492,0.999999983825,0.000107907172081,-0.000135588701768,4.81915343391e-05,1793239786951519488
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.266309838,745,715,680,661.733690162,635,879,787,803,652.266309838,631.266309838,652.266309838,0.401038878217,0.00448912196434,0.079870792856,0.999999983208,0.000110392556354,-0.000138219615525,4.78781336043e-05,1793239786968186112
+115,1.916666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879,787,803,652,631,652,0.401039867279,0.00448939942792,0.0798713669597,0.999999982794,0.000111354832546,-0.000140382768313,4.80153523512e-05,1793239786984852480
+116,1.933333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879,787,803,652,631,652,0.401043236998,0.00448836073217,0.0798732143276,0.999999982552,0.000111049245608,-0.00014215654819,4.85276750072e-05,1793239787001519104
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.475486262,745,715,680,662,635,879,787,803.475486262,652.475486262,631,652.475486262,0.40105726543,0.00448795131577,0.0798792771303,0.999999983025,0.000110332957995,-0.000139345584708,4.85779250166e-05,1793239787018186240
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.05465926,715,680,661.94534074,635,878.94534074,787,803.94534074,652.94534074,631,652.94534074,0.401076291074,0.00448774844429,0.0798869960907,0.999999983809,0.000109531196963,-0.000134282205501,4.85141916616e-05,1793239787034853120
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.626961045,715,680,661.373038955,635,878.373038955,787,803.373038955,652.373038955,631,652.373038955,0.401120476207,0.00448819297763,0.0799016330303,0.999999986022,0.000108774065802,-0.000117422084302,4.83319214915e-05,1793239787051519744
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.794539853,745.794539853,715,680,661,635,878.410920294,787,803,652,631,652,0.40117158624,0.00448817756379,0.0799150137393,0.999999987938,0.000107937051944,-0.000100926021289,4.78278138803e-05,1793239787068186368
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.204438682,745.204438682,715,680,661,635,879.591122636,787,803,652,631,652,0.401235660354,0.00448730108498,0.0799260426669,0.999999989567,0.000106950489943,-8.51115071021e-05,4.6721195814e-05,1793239787084852736
+122,2.033333333,POSE1_TO_POSE2_PRESS,765,745,715,680,661.378874479,635,879.621125521,787,803,652,631,652.378874479,0.401310118241,0.00448938475497,0.0799337684762,0.999999990559,0.000106548047263,-7.44431231047e-05,4.45950621303e-05,1793239787101519360
+123,2.050000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.958589299,635,879.041410701,787,803,652,631,652.958589299,0.401390080535,0.00449303759191,0.0799397433107,0.999999991243,0.000106455244724,-6.6502689808e-05,4.19284860325e-05,1793239787118185984
+124,2.066666667,POSE1_TO_POSE2_PRESS,765,745.534568799,715,680,661.465431201,635,879,787,803.534568799,652,631,652.465431201,0.401483785113,0.00449331085446,0.0799412867698,0.999999991363,0.000105671156851,-6.75673960222e-05,3.92715519377e-05,1793239787134852864
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.110260259,745.889739741,715,680,661,635,879,787,804,652,631,652.110260259,0.401584770144,0.00449328390504,0.0799432603773,0.999999991639,0.000104174874016,-6.74294804789e-05,3.63614292668e-05,1793239787151519488
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.685948791,745.314051209,715,680,661,635,879,787,804,652,631,652.685948791,0.401712024773,0.00449308714684,0.0799484887058,0.999999992728,9.98967680341e-05,-5.92908698322e-05,3.23794214178e-05,1793239787168186112
+127,2.116666667,POSE1_TO_POSE2_PRESS,766,745.268376727,715,680,661.268376727,635.268376727,879,787.268376727,803.731623273,652,631,653,0.401854948726,0.00449423842468,0.079954877201,0.999999993837,9.55961990916e-05,-4.91392143783e-05,2.77894945835e-05,1793239787184852992
+128,2.133333333,POSE1_TO_POSE2_PRESS,766,745.858894133,715,680,661.858894133,635.858894133,879,787.858894133,803.141105867,652,631,653,0.402016681031,0.00449700779086,0.0799626582792,0.999999994914,9.12686674841e-05,-3.65712411223e-05,2.24698645446e-05,1793239787201519616
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635.559403813,879,787.559403813,803.440596187,652,631,652.559403813,0.402192431878,0.00449915055795,0.0799669833735,0.999999995486,8.81245925925e-05,-3.11480512391e-05,1.71118645189e-05,1793239787218186496
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.98069523,715,680,661.98069523,635.01930477,879,787,803.98069523,652.01930477,631,652.01930477,0.402373318375,0.00450107226052,0.0799700021879,0.999999995907,8.51298015783e-05,-2.83152007445e-05,1.16779375046e-05,1793239787234853120
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745.408450744,715,680,661.408450744,635.591549256,879,787,803.408450744,652.591549256,631,652.591549256,0.402575231549,0.00450229721317,0.0799666860181,0.999999996493,7.57678454113e-05,-3.54221047109e-05,4.41434147412e-06,1793239787251521024
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.830661037,745.169338963,715,680,661,635.830661037,879,787,803,652.830661037,631,652.830661037,0.402783883918,0.00450457852466,0.0799618777928,0.999999996637,6.7740711346e-05,-4.61418316005e-05,-2.91091450195e-06,1793239787268187904
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.239043145,745.760956855,715,680,661,635.239043145,879,787,803,652.239043145,631,652.239043145,0.403009341793,0.00450949406815,0.0799533488429,0.999999995789,6.30422082431e-05,-6.5870821428e-05,-1.03899328065e-05,1793239787284853504
+134,2.233333333,POSE1_TO_POSE2_PRESS,765,745.654958007,715,680.345041993,661,635,879,787.345041993,803.345041993,652,631,652.345041993,0.403274681775,0.00451336075192,0.0799501411886,0.999999995566,5.7584160307e-05,-7.24706008061e-05,-1.73420880218e-05,1793239787301519360
+135,2.250000000,POSE1_TO_POSE2_PRESS,765,745.075980055,715,680.924019945,661,635,879,787.924019945,803.924019945,652,631,652.924019945,0.403567061523,0.00451651631612,0.0799505413346,0.99999999592,5.16111467989e-05,-7.01688699703e-05,-2.39370334535e-05,1793239787318185984
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.500722079,745.500722079,715,680.499277921,661.500722079,635,878.499277921,787.499277921,803.499277921,652,631,652.499277921,0.403892369995,0.00452220782434,0.0799561300099,0.999999996283,5.26537361527e-05,-6.39332236628e-05,-2.39691012155e-05,1793239787334853120
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.923223799,745.923223799,715,680,661.923223799,635.076776201,878.076776201,787,803.076776201,652,631,652,0.404227665864,0.00452815809851,0.0799615417565,0.999999996543,5.48017730644e-05,-5.79507899977e-05,-2.34929352174e-05,1793239787351520256
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.349140354,745.349140354,715,680,661.349140354,635.650859646,878.650859646,787,803.650859646,652,631,652,0.404595435127,0.00453330323926,0.0799607308369,0.999999996369,5.72458884969e-05,-5.74575835721e-05,-2.61460988735e-05,1793239787368186624
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745.232087743,714.767912257,680,661.232087743,635.767912257,879,787,803.767912257,652,631,652,0.404977620578,0.00453729814267,0.079959056801,0.999999996146,6.01085192904e-05,-5.72772144297e-05,-2.85297297358e-05,1793239787384852992
+140,2.333333333,POSE1_TO_POSE2_PRESS,765,745.824405196,714.175594804,680,661.824405196,635.175594804,879,787,803.175594804,652,631,652,0.405382181754,0.00453950773088,0.0799560430986,0.999999995853,6.36207389521e-05,-5.75824086055e-05,-3.04950111571e-05,1793239787401519872
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.40623881,745.59376119,714.40623881,680,661.59376119,635,878.59376119,787,803,652,631,652.40623881,0.405821876063,0.00453714263972,0.0799525185537,0.999999995888,5.71258969956e-05,-6.32897395425e-05,-3.08934733087e-05,1793239787418187008
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.983654887,745.016345113,714.983654887,680,661.016345113,635,878.016345113,787,803,652,631,652.983654887,0.40627637449,0.00453284991137,0.0799487787543,0.999999995914,4.64143694173e-05,-7.12733744552e-05,-3.06317233658e-05,1793239787434854144
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.442327231,745.557672769,715,680,661,635,878.557672769,787,803.557672769,652,631,653,0.406756189195,0.00454099313682,0.07994543625,0.9999999942,7.00925867706e-05,-7.66974486412e-05,-2.83588133937e-05,1793239787451520512
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.132069228,746,715,680,661.132069228,635.132069228,879,787,803.867930772,652,631.132069228,653,0.407243599974,0.00455040564818,0.0799418978122,0.99999999203,9.11107015448e-05,-8.30232222803e-05,-2.73014282876e-05,1793239787468186624
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.708071134,746,715,680,661.708071134,635.708071134,879,787,803.291928866,652,631.708071134,653,0.407754064995,0.00456286692466,0.0799376618658,0.999999990262,9.98196973349e-05,-9.26305774363e-05,-3.05268027288e-05,1793239787484852992
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.708342041,746,715,680,662,635.708342041,879,787,803,652,631.708342041,653,0.408280217805,0.00457255806943,0.0799306069851,0.999999988212,0.000105282241495,-0.00010692445054,-3.25290989602e-05,1793239787501519360
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.11696058,746,715,680,662,635.11696058,879,787,803,652,631.11696058,653,0.408822492204,0.00457940247619,0.0799206552153,0.999999985736,0.00010740855572,-0.000126034442536,-3.32744936306e-05,1793239787518185728
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.463723725,746,715,680.463723725,662,635,879,787,803,652.463723725,631,652.536276275,0.409461535478,0.00458865378876,0.0799423027312,0.999999988132,0.000119413224861,-9.08451205808e-05,-3.49819212394e-05,1793239787534852352
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.958448437,745.958448437,715,680.958448437,662,635.041551563,879,787,803,652.958448437,631,652.041551563,0.41012500843,0.00459784623322,0.0799713865834,0.999999989565,0.00013293387801,-4.2844345663e-05,-3.69068772815e-05,1793239787551518976
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.3834355,745.3834355,715,680.3834355,662,635.6165645,879,787,803,652.3834355,631,652.6165645,0.410795836917,0.00459866473261,0.0799959263385,0.999999990188,0.00013465129517,-2.22752420567e-06,-3.85796241059e-05,1793239787568185600
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.196374812,745.196374812,715,680,661.803625188,635.803625188,879.196374812,787,803.196374812,652,631,652.803625188,0.411452731886,0.00459577160155,0.0800058078608,0.999999990627,0.000130367649133,1.26246728738e-05,-3.98914758476e-05,1793239787584852480
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.785786834,745.785786834,715,680,661.214213166,635.214213166,879.785786834,787,803.785786834,652,631,652.214213166,0.412081739334,0.00458544977388,0.079986351448,0.999999992384,0.000114073088316,-2.40901153418e-05,-4.04810087655e-05,1793239787601519360
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,746,715,680,661.369021955,635,880,787,804,652,631,652.369021955,0.412743611652,0.00458134492531,0.0799543578856,0.999999990426,0.00011208105978,-6.90930168594e-05,-4.25716124457e-05,1793239787618185984
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680,661.948730539,635,880,787,804,652,631,652.948730539,0.413424247652,0.00458078955118,0.0799152064552,0.999999984912,0.000118254810094,-0.000118827874994,-4.55192262063e-05,1793239787634852608
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.476317288,745.476317288,715,680.523682712,662,635,880,787,803.476317288,652,631,652.476317288,0.414189706168,0.00459112349348,0.0799240904648,0.999999988329,0.00010709888107,-9.80248940685e-05,-4.7578525508e-05,1793239787651519232
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.098470192,745.098470192,715,680.901529808,662,635,879.901529808,787,803.098470192,652,631,652.098470192,0.41496447864,0.00460098708245,0.079939656348,0.999999991428,0.000100220753334,-6.84307767916e-05,-4.91627362743e-05,1793239787668185856
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.674697769,745.674697769,715,680.325302231,662,635,879.325302231,787,803.674697769,652,631,652.674697769,0.415744512809,0.00460344275318,0.0799650298926,0.999999990901,0.000122255142273,-2.93876998898e-05,-4.8860065687e-05,1793239787684852480
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.743727765,746,715,680.256272235,661.743727765,635,879,787,804,652,631,653,0.416505059503,0.00460665994502,0.0799725667516,0.999999989279,0.000136274210355,-2.12808506727e-05,-4.91826125604e-05,1793239787701519104
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.155221574,746,715,680.844778426,661.155221574,635,879,787,804,652,631,653,0.41724034239,0.00461086438049,0.0799569799467,0.999999987528,0.000139902132996,-5.32800471114e-05,-5.03156978518e-05,1793239787718185728
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.428809558,746,715,681,661.428809558,635,879,787,804,652,631,653,0.418076583477,0.00461323551042,0.0799708288548,0.99999998868,0.000139320408281,-2.17015724851e-05,-5.25281743304e-05,1793239787734852608
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.988938654,745.988938654,715,681,662.011061346,635,879,787.011061346,804.011061346,652.011061346,631,653,0.418948321616,0.00461488740331,0.0799947327912,0.999999988578,0.000137148468753,3.16225324582e-05,-5.50821857822e-05,1793239787751519232
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.415641445,745.415641445,715,681,662.584358555,635,879,787.584358555,804.584358555,652.584358555,631,653,0.41978597439,0.00461336419608,0.079993723668,0.999999989384,0.000130801748885,3.25582239871e-05,-5.53412645339e-05,1793239787768186112
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,745.160731399,715,680.839268601,662.839268601,635,879,787.839268601,804.839268601,652.839268601,631.160731399,652.839268601,0.420611661701,0.00461234799826,0.0799881119299,0.999999989977,0.000127796817995,2.47528368914e-05,-5.56891131206e-05,1793239787784852480
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,745.745212712,715,680.254787288,662.254787288,635,879,787.254787288,804.254787288,652.254787288,631.745212712,652.254787288,0.421405803305,0.00461266847287,0.0799703659253,0.999999989473,0.000133602131699,-6.09740239671e-06,-5.62709931331e-05,1793239787801519104
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,745.671722979,715,680.328277021,662.328277021,635.328277021,879.328277021,787,804,652,631.671722979,652.328277021,0.42224750733,0.00461311101774,0.0799774089435,0.999999988818,0.000138909125049,1.83125461208e-06,-5.53535629966e-05,1793239787818185728
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745.089753668,715,680.910246332,662.910246332,635.910246332,879.910246332,787,804,652,631.089753668,652.910246332,0.423125967649,0.00461364789845,0.0800036089021,0.999999987448,0.000143831017252,3.97282166846e-05,-5.32774668839e-05,1793239787834852608
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745.488150776,715,681,663,635.511849224,880,787,804,652,631,653,0.423977658724,0.00461659119393,0.0800062943508,0.9999999873,0.000145106876852,3.79895352165e-05,-5.38627354701e-05,1793239787851519232
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.065029392,746,715,681,662.934970608,635,879.934970608,787,804,652,631,653,0.424821925237,0.0046196890391,0.0799994966727,0.999999987732,0.000145213538886,2.10524812021e-05,-5.48318500493e-05,1793239787868185856
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.639677865,746,715,681,662.360322135,635,879.360322135,787,804,652,631,653,0.425646261062,0.00462055928211,0.0799519843781,0.999999986792,0.000141367678948,-5.83510155025e-05,-5.50059750187e-05,1793239787884852736
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,714.779659924,681,662.220340076,635,879,787,804.220340076,652,631,653,0.426487123332,0.00462019415564,0.07992317349,0.999999983952,0.000137802073599,-9.97526054921e-05,-5.61716125292e-05,1793239787901519360
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,714.188887543,681,662.811112457,635,879,787,804.811112457,652,631,653,0.427355769552,0.00461775214518,0.0799258031179,0.999999986201,0.000134707629301,-7.72659776507e-05,-5.90041659241e-05,1793239787918185984
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.606580936,714,681.393419064,663,635,879.393419064,787,804.606580936,652,631,652.606580936,0.428197507755,0.00461671319599,0.079930965017,0.999999985908,0.00013773900226,-7.64531888307e-05,-5.80269072947e-05,1793239787934852608
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.028253294,714,681.971746706,663,635,879.971746706,787,804.028253294,652,631,652.028253294,0.429026599055,0.00461633369143,0.0799373170938,0.999999984472,0.000143649534607,-8.58271940887e-05,-5.5259021275e-05,1793239787951518976
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.547778749,714.547778749,681.452221251,663,635,879.452221251,787,804,652,631,652.547778749,0.429900334215,0.0046205549633,0.0799601995483,0.999999987361,0.000142011281107,-4.40610767784e-05,-5.62945670371e-05,1793239787968185856
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745.876819764,715,681.123180236,663.123180236,635,879.123180236,787,804,652,631,652.876819764,0.430776842372,0.00462387870307,0.0799869391257,0.999999988404,0.000141253048676,1.52933149501e-06,-5.69038517687e-05,1793239787984852480
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,745.303292649,715,681.696707351,663.696707351,635,879.696707351,787,804,652,631,652.303292649,0.431655105091,0.00462305712219,0.0800246762308,0.999999986617,0.000145129699628,5.14981435875e-05,-5.52405105633e-05,1793239788001519104
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.719902124,745.280097876,715,682,663.719902124,635,880,787,804,652,631,652.280097876,0.432465962562,0.00462259751131,0.0800237994244,0.999999987306,0.000143903960513,4.1220081868e-05,-5.45975478555e-05,1793239788018185728
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.125441507,745.874558493,715,682,663.125441507,635,880,787,804,652,631,652.874558493,0.433201169096,0.00462254415077,0.0799795850039,0.999999988432,0.00013695164717,-3.66749530228e-05,-5.50997879953e-05,1793239788034852096
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.454157226,746,715,682,663,635.454157226,880,787,804,652,631,652.545842774,0.43395169024,0.0046245073468,0.0799351821351,0.99999998496,0.000136827371272,-9.00615632331e-05,-5.69927610151e-05,1793239788051518976
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.970238725,745.970238725,714.970238725,682,663,635.970238725,880,787,804,652,631,652.029761275,0.434708736255,0.00462672513536,0.0798947894966,0.999999980034,0.000138136870944,-0.000131706141911,-5.91965336351e-05,1793239788068185600
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.394996887,745.394996887,714.394996887,682,663,635.394996887,880,787,804,652,631,652.605003113,0.435510301346,0.00462372395651,0.0799288222368,0.999999986374,0.000132253942247,-7.82782702821e-05,-6.02793573656e-05,1793239788084852224
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.184272565,745.184272565,714,682,662.815727435,635,880,787,804,652,631,653,0.436289834456,0.00462269562605,0.0799561737785,0.999999988903,0.000129556884394,-4.19083201226e-05,-6.04320020465e-05,1793239788101519104
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.772368277,745.772368277,714,682,662.227631723,635,880,787,804,652,631,653,0.437021085647,0.00462599068402,0.0799688838409,0.999999988408,0.000133841487555,-4.29198661506e-05,-5.8546210982e-05,1793239788118185728
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,746,714.355616841,682,662,635,880.711233682,787,804.355616841,652,631,652.644383159,0.437728284927,0.0046318801882,0.0799637400863,0.999999987049,0.000138384553154,-5.73149933875e-05,-5.88782552144e-05,1793239788134852608
+185,3.083333333,POSE1_TO_POSE2_PRESS,766,746,714.935804426,682,662,635,881.871608853,787,804.935804426,652,631,652.064195574,0.438420295485,0.00463940807562,0.0799473217108,0.999999984713,0.000143090836621,-8.01618035081e-05,-6.06108544312e-05,1793239788151519232
+186,3.100000000,POSE1_TO_POSE2_PRESS,766,746,714.488133943,682.511866057,662,635,880.976267886,787,804.488133943,652,631.511866057,652.511866057,0.439060048954,0.00464332021393,0.0799184290342,0.999999978454,0.000156910752264,-0.000122590217271,-5.86662077958e-05,1793239788168186880
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.912920859,746,714,683,661.912920859,635,880,787,804,652,631.912920859,653,0.439683490146,0.0046477065442,0.0798842003586,0.999999968995,0.000169179792945,-0.000173671329865,-5.67953711794e-05,1793239788184854528
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.339579951,746,714,683,661.339579951,635,880,787,804,652,631.339579951,653,0.440252145875,0.00465725280663,0.0798288410624,0.999999950809,0.000166456988904,-0.000259466281851,-5.7891406028e-05,1793239788201520640
+189,3.150000000,POSE1_TO_POSE2_PRESS,765,746,714,683,661,634.758322918,880.241677082,787,804.241677082,652,631,653,0.440805503799,0.00466654700672,0.0797698729208,0.999999921766,0.00017241199552,-0.000351033655382,-5.93087438811e-05,1793239788218186752
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,746,714,683,661,634.165566196,880.834433804,787,804.834433804,652,631,653,0.441336638982,0.00467547504212,0.0797056622712,0.999999878198,0.000190973090217,-0.000450986527027,-6.11928326443e-05,1793239788234853376
+191,3.183333333,POSE1_TO_POSE2_PRESS,765.416641646,746,714,683,660.583358354,634,880.583358354,787,805,652,631,653,0.441899858935,0.00468130717576,0.0796959456559,0.999999870946,0.000200381315031,-0.000462846128152,-6.10666426912e-05,1793239788251520256
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.994761024,746,714,683,660.005238976,634,880.005238976,787,805,652,631,653,0.442475513946,0.00468593943072,0.0797073492883,0.999999879874,0.0002062421629,-0.00044056343022,-6.01613293703e-05,1793239788268186880
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.430580861,745.430580861,714,683,660,634,880,786.430580861,805,652,631,653,0.443039480729,0.00469275695377,0.0797520866203,0.999999904901,0.000220816178268,-0.000371490528549,-5.8585933727e-05,1793239788284853504
+194,3.233333333,POSE1_TO_POSE2_PRESS,765,745,714,683,660,634,880,786,804.85540979,652,631,653,0.443577612311,0.00469989048328,0.0797838079318,0.999999918419,0.000234508629871,-0.000323865248725,-5.72641006339e-05,1793239788301519872
+195,3.250000000,POSE1_TO_POSE2_PRESS,765,745,714,683,660,634,880,786,804.278610808,652,631,653,0.44403883684,0.00470790888149,0.0797757105629,0.999999909943,0.000245327730446,-0.000341630230481,-5.67185345278e-05,1793239788318186752
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.306602292,745,714,683,660,634,880.306602292,786,804.306602292,652,631,653,0.44446883901,0.00471524484127,0.0797546551009,0.999999894877,0.00025395840296,-0.000377589139894,-5.63783984878e-05,1793239788334853120
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.899677053,745,714,683,660,634,880.899677053,786,804.899677053,652,631,653,0.444869668684,0.00472194316732,0.0797214923034,0.999999871792,0.000260544326506,-0.000430547461889,-5.62302050295e-05,1793239788351519744
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.522784219,745,714,683.477215781,659.522784219,634,880.522784219,786.477215781,804.522784219,652,631,653.477215781,0.445254827159,0.00472666757905,0.0797023976576,0.999999856048,0.000267227721612,-0.000461818546997,-5.67251294834e-05,1793239788368186112
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.051638704,713.948361296,683.948361296,658.948361296,633.948361296,880,786.948361296,804,652,631,653.948361296,0.445634786383,0.00473284335644,0.0796875635108,0.999999842362,0.000275181339022,-0.000486002454869,-5.78984514195e-05,1793239788384852992
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.626540403,713.373459597,683.373459597,658.373459597,633.373459597,880,786.373459597,804,652,631,653.373459597,0.445994391501,0.00475779839336,0.0796868779052,0.999999837462,0.000295805219897,-0.000483113452439,-6.4619274166e-05,1793239788401519616
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.793173942,713.206826058,683,658,633,880.206826058,786,804.206826058,652,631,653,0.446343159443,0.00478019792177,0.079685203362,0.999999831898,0.000317491188828,-0.000480184964154,-6.94702384444e-05,1793239788418186496
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.202906707,713.797093293,683,658,633,880.797093293,786,804.797093293,652,631,653,0.446671836071,0.00479785971878,0.0796816953969,0.999999825447,0.000341146199039,-0.000477183271502,-7.08546158894e-05,1793239788434852864
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.380073988,745,714,683,658,633,880.619926012,786,805,652,631,653,0.446969097136,0.00480034716116,0.0796776440232,0.999999823757,0.000343737692432,-0.000478816561761,-7.11727168726e-05,1793239788451519232
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.959237822,745,714,683,658,633,880.040762178,786,805,652,631,653,0.447249902124,0.00479488599241,0.079673308002,0.999999824687,0.000335295721339,-0.000482877742788,-7.09322822765e-05,1793239788468186112
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.464312902,745,714,683,658,633,880.535687098,786,805,652,631,653,0.447484011205,0.00479649875484,0.0796613842747,0.999999817452,0.000334059119244,-0.000498383838749,-7.15080314426e-05,1793239788484852480
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.111348921,714,683,658.111348921,632.888651079,881,786,804.888651079,652,631,653,0.447707698752,0.00479886167928,0.0796494237389,0.999999808948,0.000334786354245,-0.000514636193083,-7.1908866954e-05,1793239788501519104
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.684596735,714,683,658.684596735,632.315403265,881,786,804.315403265,652,631,653,0.447902820848,0.00480211479934,0.079639693505,0.999999798523,0.000341397087089,-0.00053038980086,-7.13277933892e-05,1793239788518186240
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.732832532,713.732832532,683.267167468,658.465665064,632,881,786,804.267167468,652,631,653,0.448089019319,0.00480359466169,0.0796329660598,0.999999791304,0.000344594575678,-0.000541861763066,-7.09370439889e-05,1793239788534854912
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.138857767,713.138857767,683.861142233,657.277715533,632,881,786,804.861142233,652,631,653,0.448264302128,0.00480290542153,0.0796299117167,0.999999788254,0.000343616880649,-0.000548096286375,-7.07791049013e-05,1793239788551524864
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745,713,684,657.44199269,632.44199269,880.55800731,786,805,652,631,653,0.448412506788,0.00480277995312,0.0796252423793,0.999999784266,0.000343171341487,-0.000555641063156,-7.0464859697e-05,1793239788568189696
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.018761669,745,713.018761669,684,657.981238331,632.981238331,880.037523339,786,805,652,631,653,0.448551856021,0.00480282314675,0.0796202869296,0.999999780108,0.000342908909045,-0.000563278201302,-7.01126906397e-05,1793239788584852992
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.593242472,745,713.593242472,684,657.406757528,632.406757528,881.186484944,786,805,652,631,653,0.448673616891,0.00480276721214,0.0796214518036,0.999999780817,0.000343260917164,-0.000561810114439,-7.00497812456e-05,1793239788601519616
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.828486553,745,714,684,657,632,881.828486553,786,804.828486553,652,631.171513447,653,0.448787900689,0.00480267197388,0.0796230584458,0.999999782048,0.000343076762065,-0.000559733867762,-7.0009168751e-05,1793239788618185984
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.241023643,745,714,684,657,632,881.241023643,786,804.241023643,652,631.758976357,653,0.448884051335,0.00480248141748,0.0796257364519,0.999999784536,0.000341592319476,-0.000556182729147,-7.0022630041e-05,1793239788634852608
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,714,683.656297432,656.656297432,632,881,786,804.343702568,652,631.656297432,653,0.448968203002,0.00480391573368,0.079626715759,0.999999784453,0.000343007665863,-0.000555451624999,-7.0100695642e-05,1793239788651519488
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,714,683.073475222,656.073475222,632,881,786,804.926524778,652,631.073475222,653,0.449044006772,0.00480648050099,0.0796265132525,0.999999782576,0.000346440444163,-0.000556682466339,-7.02237075446e-05,1793239788668186368
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,714,683,656,632,881,786,805,652,631,653,0.449100493248,0.00480740030689,0.0796258913073,0.999999781583,0.000347775539817,-0.000557625138003,-7.02929629712e-05,1793239788684852992
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.075055112,713.924944888,683.075055112,656,632,881,786,804.924944888,652,631,653,0.449151680384,0.0048081791488,0.0796244755497,0.999999780192,0.000348764326988,-0.000559486299005,-7.03873338185e-05,1793239788701519360
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.651789525,713.348210475,683.651789525,656,632,881,786,804.348210475,652,631,653,0.449186071946,0.00480960186026,0.0796181582629,0.999999775261,0.000349460951066,-0.00056776463348,-7.07014124946e-05,1793239788718185984
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.766830417,713,683.766830417,656,632,881,785.766830417,804,652,631,653,0.449216476646,0.00481069003786,0.0796140428938,0.999999771935,0.000350001517638,-0.000573240399011,-7.08883429179e-05,1793239788734852608
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745.17837167,713,683.17837167,656,632,881,785.17837167,804,652,631,653,0.449240806415,0.00481126847364,0.0796132826692,0.999999771137,0.000350304293546,-0.000574445785313,-7.08815327973e-05,1793239788751519232
+222,3.700000000,POSE1_TO_POSE2_PRESS,764.595361565,745,713,683.404638435,656,632,881.404638435,785,804.404638435,652,631,653,0.449260380606,0.0048119531211,0.0796132471553,0.999999770579,0.000351436945985,-0.000574733738313,-7.08209050186e-05,1793239788768185856
+223,3.716666667,POSE1_TO_POSE2_PRESS,764.014721354,745,713,683.985278646,656,632,881.985278646,785,804.985278646,652,631,653,0.449277886311,0.0048126839665,0.079613526862,0.999999770123,0.000352930562042,-0.000574622644077,-7.07368686785e-05,1793239788784852736
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,745.558724699,713,683.441275301,656,632,881.441275301,785,804.441275301,652,631,653,0.4492851034,0.00481109390496,0.0796113724448,0.99999976878,0.000350837445069,-0.000578276609176,-7.03520771905e-05,1793239788801519360
+225,3.750000000,POSE1_TO_POSE2_PRESS,764.271176085,745.864411958,713.135588042,683.135588042,656,632,881,785,804,652,631,653,0.449291674216,0.00480994988932,0.0796093720808,0.999999767628,0.000349163046873,-0.000581314450893,-7.00251320574e-05,1793239788818186240
+226,3.766666667,POSE1_TO_POSE2_PRESS,765.449005274,745.275497363,713.724502637,683.724502637,656,632,881,785,804,652,631,653,0.449296979108,0.00481049904373,0.0796080984821,0.999999767244,0.000349200545243,-0.000581964882236,-6.99177484769e-05,1793239788834853120
+227,3.783333333,POSE1_TO_POSE2_PRESS,766,745.308534304,714,684,656,632,881,785,804,652,631,653,0.449300231003,0.00481093379841,0.0796074362809,0.999999766435,0.00035000038697,-0.00058288759812,-6.97969938438e-05,1793239788851519744
+228,3.800000000,POSE1_TO_POSE2_PRESS,766,745.888273785,714,684,656,632,881,785,804,652,631,653,0.44930167829,0.00481126799439,0.0796073115051,0.999999765251,0.000351470337216,-0.000584049655184,-6.96644859093e-05,1793239788868186112
+229,3.816666667,POSE1_TO_POSE2_PRESS,765.069505989,745.534752995,713.534752995,683.534752995,656,632,881,785.465247005,804,652,631,653,0.449302880703,0.00481157010907,0.0796060900088,0.999999764331,0.000351476426169,-0.000585597684577,-6.98379488582e-05,1793239788884852736
+230,3.833333333,POSE1_TO_POSE2_PRESS,764.041462494,745,713,683.041462494,655.958537506,632,880.958537506,786,804,652,631,653,0.449303937498,0.00481181873477,0.0796046685935,0.999999763578,0.000351018950268,-0.00058712657581,-7.00799972289e-05,1793239788901519616
+231,3.850000000,POSE1_TO_POSE2_PRESS,764.616425363,745,713,683.616425363,655.383574637,632,880.383574637,786,804,652,631,653,0.449303872791,0.00481147765795,0.0796040435856,0.999999764183,0.000349093273933,-0.000587223631246,-7.02646931297e-05,1793239788918186240
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,684.19560117,655.19560117,632,880,785.80439883,804.19560117,652,631,653,0.449304311615,0.00481108916611,0.0796038594347,0.999999764511,0.000347886711046,-0.000587379034761,-7.02765841119e-05,1793239788934852864
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713,684.783220354,655.783220354,632,880,785.216779646,804.783220354,652,631,653,0.449305759602,0.00481060564655,0.0796045588363,0.999999764293,0.000348121374052,-0.000587651377741,-6.99421446236e-05,1793239788951519744
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713.367703468,684.632296532,656,632,880.367703468,785.367703468,805,652,631,653,0.449305676759,0.00481023731481,0.079604115476,0.99999976398,0.000348089366834,-0.00058824771935,-6.95653824871e-05,1793239788968186368
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713.950353402,684.049646598,656,632,880.950353402,785.950353402,805,652,631,653,0.449304699047,0.00480993631778,0.0796030040975,0.99999976361,0.00034790147364,-0.000589033459146,-6.9163879993e-05,1793239788984853248
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713.474957647,683.474957647,656,632,881,785.474957647,804.474957647,652,631,653,0.449304617452,0.0048097760338,0.0796028181455,0.999999763677,0.000347006215095,-0.000589403368612,-6.95393526528e-05,1793239789001519616
+237,3.950000000,POSE1_TO_POSE2_PRESS,765.10110527,745,713.10110527,683.10110527,656,632.10110527,881,785,804,652,631,653,0.449304735526,0.00480957516409,0.0796026571891,0.999999763709,0.000346191621338,-0.000589784871663,-6.99119596335e-05,1793239789018186240
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.687318623,745,713.687318623,683.687318623,656,632.687318623,881,785,804,652,631,653,0.449305411135,0.00480911667531,0.079602202576,0.999999763379,0.000346080192607,-0.000590407841949,-6.99235757699e-05,1793239789034852864
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.729720385,745.270279615,713.729720385,683.729720385,656,632.729720385,881,785.270279615,804.270279615,652,631,652.729720385,0.449305561731,0.00480921435894,0.0796020249216,0.999999762698,0.00034722506414,-0.000590907094663,-6.97735116214e-05,1793239789051519488
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.150477285,745.849522715,713.150477285,683.150477285,656,632.150477285,881,785.849522715,804.849522715,652,631,652.150477285,0.44930511217,0.00480994781739,0.0796021638656,0.99999976161,0.000349806044392,-0.000591264922642,-6.94386266353e-05,1793239789068185856
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.573692665,713.426307335,683.426307335,656,632,881,786,805,652,631,652.426307335,0.449305234999,0.00480967104202,0.0796019380661,0.99999976165,0.00034943528048,-0.000591423169473,-6.93822811668e-05,1793239789084852736
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.002213638,713.997786362,683.997786362,656,632,881,786,805,652,631,653,0.449305566733,0.00480903387325,0.07960159064,0.99999976209,0.000348027073973,-0.000591504196635,-6.94216652274e-05,1793239789101519616
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.574133299,713.425866701,683.425866701,656,632,881,786,805,652,631,653,0.449307963,0.00480689182563,0.0796028855978,0.999999763791,0.000346229020488,-0.000589738454492,-6.89398497746e-05,1793239789118186240
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745.848105106,713,683.151894894,656,632,881,785.848105106,805,652,631,653,0.449309312248,0.0048054452934,0.0796034938933,0.999999764803,0.000345065963682,-0.000588752861583,-6.8512861663e-05,1793239789134853120
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745.253309484,713,683.746690516,656,632,881,785.253309484,805,652,631,653,0.449307608556,0.00480602677097,0.0796020999931,0.999999763823,0.000345754453905,-0.000590042056866,-6.82457412183e-05,1793239789151519488
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,713.332464098,684,656,631.667535902,881,785.332464098,804.667535902,652,631,653,0.44930699432,0.00480605696306,0.0796016621697,0.99999976316,0.000345363313793,-0.000591394225007,-6.82478134311e-05,1793239789168185856
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,713.911545322,684,656,631.088454678,881,785.911545322,804.088454678,652,631,653,0.449307188225,0.00480567821953,0.0796019335504,0.999999762729,0.000344171319367,-0.00059279310565,-6.844956889e-05,1793239789184852480
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745,714,683.512079686,655.512079686,631.487920314,881,785.512079686,804.487920314,652,631,653,0.449307253951,0.00480611913945,0.0796014993841,0.999999762447,0.000345135638603,-0.000592716259553,-6.83722114693e-05,1793239789201519104
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745,713.936287277,683.063712723,655,632,881,785,804.936287277,652,631,653,0.449307178842,0.00480668468723,0.0796009619393,0.999999762148,0.000346347103604,-0.000592526469778,-6.82623139094e-05,1793239789218185984
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745,713.361254388,683.638745612,655,632,881,785,804.361254388,652,631,653,0.449306158928,0.00480706445821,0.0796006164928,0.999999761504,0.000346422057367,-0.000593565480688,-6.82951151775e-05,1793239789234852864
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745.219928315,713,683.780071685,655,632,881,785,804.219928315,652,631,653,0.449306192191,0.00480688196122,0.079600850959,0.99999976169,0.00034613955065,-0.000593417727511,-6.82830530509e-05,1793239789251519744
+252,4.200000000,POSE1_TO_POSE2_PRESS,765,745.81150327,713,683.18849673,655,632,881,785,804.81150327,652,631,653,0.449308005169,0.00480574931367,0.0796020653927,0.999999763278,0.000345252988072,-0.000591264516791,-6.81951783562e-05,1793239789268186112
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.39343554,745.60656446,713,683.39343554,655.39343554,632,881,785.39343554,805,652,631,653,0.449308433556,0.00480572074726,0.0796025299025,0.999999763628,0.000344755215549,-0.000590968823287,-6.81417187335e-05,1793239789284852736
+254,4.233333333,POSE1_TO_POSE2_PRESS,765.970858459,745.029141541,713,683.970858459,655.970858459,632,881,785.970858459,805,652,631,653,0.449308214449,0.0048062084967,0.0796026437157,0.999999763401,0.000344439258002,-0.000591541784781,-6.81043530812e-05,1793239789301519360
+255,4.250000000,HOLD_POSE2,765,746,713,684,655,632,881,785,806,652,631,653,0.4493064505,0.00480841461286,0.0796006577114,0.999999759823,0.000348436384034,-0.000595278714515,-6.77426824719e-05,1793239789331367424
+256,4.266666667,HOLD_POSE2,765,745.412621065,713,683.412621065,655,632,881,785.587378935,805.412621065,652,631,653,0.449309700725,0.00480874851696,0.0796028872622,0.99999976251,0.000348613264791,-0.000590600169922,-6.81245967979e-05,1793239789348033792
+257,4.283333333,HOLD_POSE2,765.172423294,745.172423294,713,683.172423294,655,631.827576706,881,786,805,652,631,653,0.449311689733,0.00480826865949,0.079604107574,0.999999764551,0.000347397851393,-0.000587832166352,-6.83115779673e-05,1793239789364700672
+258,4.300000000,HOLD_POSE2,765.7519556,745.7519556,713,683.7519556,655,631.2480444,881,786,805,652,631,653,0.44931070088,0.00480586742787,0.0796029449701,0.999999765097,0.00034289508931,-0.000589575144385,-6.80383021202e-05,1793239789381369600
+259,4.316666667,HOLD_POSE2,765.669459816,745.669459816,713.330540184,683.669459816,655,631,881,785.669459816,804.669459816,652,631,653,0.44931002812,0.00480500412225,0.0796024685433,0.999999764744,0.000342472482694,-0.000590416934641,-6.8065578975e-05,1793239789398035968
+260,4.333333333,HOLD_POSE2,765.091584423,745.091584423,713.908415577,683.091584423,655,631,881,785.091584423,804.091584423,652,631,653,0.449309591884,0.00480529160953,0.0796025055661,0.999999763723,0.000345102957795,-0.000590584387827,-6.83177521492e-05,1793239789414700544
+261,4.350000000,HOLD_POSE2,765,745.484144312,713.515855688,683,655,631.484144312,880.515855688,785.484144312,804.484144312,652,631,653,0.44930926652,0.00480603692103,0.0796022259693,0.999999763458,0.000344911343006,-0.000591157122516,-6.82128649604e-05,1793239789431366912
+262,4.366666667,HOLD_POSE2,765,745.939159789,713,683.060840211,655.060840211,632,880,785.939159789,805,652,631,653,0.449309054916,0.00480681339254,0.0796019844521,0.999999763336,0.000344361118524,-0.000591700408398,-6.80692764761e-05,1793239789448033536
+263,4.383333333,HOLD_POSE2,765,745.350567367,713,683.649432633,655.649432633,632,880,785.350567367,805,652,631,653,0.449309648982,0.00480711222393,0.0796025905049,0.999999763223,0.000345310538903,-0.000591326146776,-6.81732969176e-05,1793239789464699904
+264,4.400000000,HOLD_POSE2,765,745,713.234602459,683.765397541,656,632,880.234602459,785,804.765397541,652,631,653,0.449310061275,0.00480747823614,0.0796028279735,0.999999763077,0.000346200206348,-0.000591048171915,-6.82131446002e-05,1793239789481366784
+265,4.416666667,HOLD_POSE2,765,745,713.814731378,683.185268622,656,632,880.814731378,785,804.185268622,652,631,653,0.449310205848,0.00480794319338,0.079602522585,0.999999762884,0.000347001868586,-0.000590912009856,-6.81584775518e-05,1793239789498033408
+266,4.433333333,HOLD_POSE2,765,745,713.608659322,683,655.608659322,632,881,785,804,652,631,653,0.449309778343,0.00480655830693,0.0796020262681,0.999999762903,0.000346061923998,-0.000591434614763,-6.81209178249e-05,1793239789514700032
+267,4.450000000,HOLD_POSE2,765,745,713.033701378,683,655.033701378,632,881,785,804,652,631,653,0.449309082417,0.00480430547283,0.0796014403674,0.999999763019,0.000344304816578,-0.000592266313485,-6.8091384858e-05,1793239789531366656
+268,4.466666667,HOLD_POSE2,765,745,713,683,655,631.45843289,881,785,804,652,631,653,0.449310546324,0.00480479652921,0.0796019638923,0.999999764107,0.00034381836814,-0.00059074012614,-6.78362758523e-05,1793239789548033024
+269,4.483333333,HOLD_POSE2,765,745,713.120224531,683,655,631,881,785,804,652,631,653,0.449311707903,0.00480531828204,0.0796024676374,0.999999764941,0.000343298990036,-0.00058964855712,-6.7662086571e-05,1793239789564699392
+270,4.500000000,HOLD_POSE2,765,745,713.712101369,683,655,631,881,785,804,652,631,653,0.449311155837,0.00480529020511,0.0796026227832,0.999999764554,0.000342340039419,-0.000590838001881,-6.786045488e-05,1793239789581366016
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,746,713,684,655,631,880,785,805,652,631,653,0.449312696786,0.00480614430495,0.0796032569767,0.999999764343,0.000344849307508,-0.000589740138562,-6.78174760541e-05,1793239789618274560
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.580974012,745.419025988,713,683.419025988,655,631.580974012,880.580974012,785.580974012,805,652,631,653,0.44931347891,0.00480483910605,0.0796047315002,0.999999766353,0.000341372558297,-0.000588376523018,-6.76205215658e-05,1793239789634941184
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.837601676,745,713.162398324,683,655,632,880.837601676,785.837601676,805,651.837601676,631,653,0.449313402067,0.00480385490076,0.0796052251485,0.999999767125,0.000339341529269,-0.000588253036101,-6.74982698078e-05,1793239789651608064
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.255012128,745,713.744987872,683,655,632,880.255012128,785.255012128,805,651.255012128,631,653,0.449311102724,0.00480370123765,0.0796031808693,0.999999764719,0.000341051171907,-0.000591338271442,-6.7569304681e-05,1793239789668274688
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.325854546,745,713.674145454,683,655,631.674145454,880,785,804.674145454,651.325854546,631,653,0.449309516062,0.00480438306797,0.0796018294385,0.999999762993,0.000342596638695,-0.000593352088845,-6.76374494159e-05,1793239789684941312
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764.905379965,745,713.094620035,683,655,631.094620035,880,785,804.094620035,651.905379965,631,653,0.449308484207,0.00480571531228,0.0796010173754,0.999999761801,0.000344014297953,-0.000594531829857,-6.77033442352e-05,1793239789701607936
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745.479737911,713,683.479737911,655.479737911,631.479737911,880.479737911,785.479737911,804,652,631,653,0.449310631909,0.00480505182627,0.0796023232293,0.999999763576,0.000342997056625,-0.000592131191851,-6.76808694732e-05,1793239789718274816
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745.94670707,713,683.94670707,656,632,880.94670707,786,804,652,631,652.94670707,0.449312914976,0.00480404374058,0.079603700289,0.99999976559,0.000341617811475,-0.000589525462714,-6.76510322781e-05,1793239789734941696
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745.371139016,713,683.371139016,656,632,880.371139016,786,804,652,631,652.371139016,0.449310444369,0.00480347498291,0.0796017250813,0.99999976436,0.000341347157239,-0.000591756579227,-6.77180317125e-05,1793239789751608320
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.209757587,655.790242413,632,880.209757587,785.790242413,804,652,631,652.209757587,0.449305896319,0.00480368993155,0.0795990070787,0.999999762041,0.000341743140436,-0.000595429100623,-6.77767248117e-05,1793239789768274944
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.800328057,655.199671943,632,880.800328057,785.199671943,804,652,631,652.800328057,0.449297576695,0.00480532769153,0.0795949405392,0.999999757723,0.000343349397505,-0.000601718478471,-6.78203378298e-05,1793239789784941568
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713.383615196,684,655,632,880.616384804,785.383615196,804.383615196,652,631,653,0.449269796005,0.00480551569832,0.0795814933452,0.999999744327,0.000343450563914,-0.000623537712015,-6.77308505903e-05,1793239789801608192
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713.963182043,684,655,632,880.036817957,785.963182043,804.963182043,652,631,653,0.449232074551,0.00480496316751,0.079563254488,0.999999725573,0.000342782925949,-0.000653289636836,-6.7573375344e-05,1793239789818274816
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.461872807,684,655,632,880.538127193,785.461872807,804.461872807,652,631,653,0.449169081387,0.00480392890504,0.0795419278593,0.999999699181,0.000343662479843,-0.000692206967018,-6.62024846569e-05,1793239789834941440
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.115514315,684,655,632,881,785.115514315,804.115514315,652,631,653,0.449103189066,0.00480305899059,0.0795225740957,0.99999967438,0.000345082174193,-0.000726605706509,-6.48236783121e-05,1793239789851608064
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713.704188411,684,655,632,881,785.704188411,804.704188411,652,631,653,0.449032443557,0.00480299612004,0.0795121593871,0.999999663555,0.000348284438087,-0.000739949061007,-6.37496132782e-05,1793239789868274688
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745.288169048,713.711830952,683.711830952,655,632,881,785.711830952,804.711830952,652,631,653,0.448953385515,0.00480245744855,0.0795073740662,0.999999657842,0.000350087285295,-0.000746930800414,-6.20413963189e-05,1793239789884941312
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.867408928,713.132591072,683.132591072,655,632,881,785.132591072,804.132591072,652,631,653,0.44886593124,0.00480143818494,0.07950827482,0.999999657433,0.000350476623931,-0.000747486864312,-5.96926417714e-05,1793239789901607936
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,746,713,683.443931777,655.443931777,632,881,785,804,652,631,653,0.448765071925,0.00479979542519,0.0795118221519,0.999999661399,0.000350147155999,-0.000742516524992,-5.71641818498e-05,1793239789918274816
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.98036342,713,683.98036342,655.98036342,632,881,785.01963658,804.01963658,651.98036342,631,652.98036342,0.448659175176,0.00479802222093,0.0795160818549,0.999999666401,0.000349723609791,-0.000736149964936,-5.45445850483e-05,1793239789934941440
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.4049831,713,683.4049831,655.4049831,632,881,785.5950169,804.5950169,651.4049831,631,652.4049831,0.448523334088,0.00479779554963,0.0795182674741,0.999999665154,0.00035267656524,-0.000736698404217,-5.08554757963e-05,1793239789951608064
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.174174153,683,655.174174153,632,881,786,805,651.174174153,630.825825847,652,0.44837754826,0.00479718485505,0.0795180838857,0.999999661765,0.000356386223703,-0.000739776567082,-4.68002321586e-05,1793239789968274944
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.762307961,683,655.762307961,632,881,786,805,651.762307961,630.237692039,652,0.448208126788,0.00479566145247,0.0795122694021,0.999999653238,0.00036189433754,-0.000748867123059,-4.1874797568e-05,1793239789984941568
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713.6543427,683,655.6543427,632,881,786,804.6543427,652,630.3456573,652.3456573,0.448015939161,0.00479338251023,0.0795095030616,0.999999648209,0.000364958390677,-0.000754350025158,-3.66525954783e-05,1793239790001608960
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713.074238436,683,655.074238436,632,881,786,804.074238436,652,630.925761564,652.925761564,0.447808310049,0.00479059111236,0.0795088041665,0.999999645584,0.000366364725563,-0.000757385985808,-3.12291061307e-05,1793239790018276608
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713.501870061,683,655,632,881,785.498129939,804,652,631,653,0.44758500668,0.004788007799,0.0795143971,0.999999651144,0.000370852785614,-0.000748030941685,-2.50991439022e-05,1793239790034942720
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.077157961,655.077157961,632,881,785.077157961,804,652,631,653,0.447354002208,0.00478528923319,0.0795209443209,0.999999657342,0.000375366000785,-0.00073760756704,-1.87248504584e-05,1793239790051608576
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.650938717,655.650938717,632,881,785.650938717,804,652,631,653,0.44708823554,0.00478150356881,0.0795276906172,0.9999996609,0.000377130187816,-0.000732012252246,-1.14452515067e-05,1793239790068275200
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.767846493,656,632.232153507,881,785.767846493,804.232153507,652,631,653,0.44680587511,0.00477847843731,0.0795343882619,0.99999966416,0.000380451467348,-0.000725891431145,-4.36301505923e-06,1793239790084941824
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.175084305,656,632.824915695,881,785.175084305,804.824915695,652,631,653,0.446497739275,0.00477663465694,0.0795410103345,0.999999666977,0.000386191409686,-0.000718954330945,2.41265382826e-06,1793239790101608192
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713.592076287,683,656.407923713,632.592076287,881,785.407923713,805,652,631,653,0.446145890721,0.00477083026645,0.0795495824099,0.999999674444,0.000380914872448,-0.000711311368152,7.23016123192e-06,1793239790118275072
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713.013157085,683,656.986842915,632.013157085,881,785.986842915,805,652,631,653,0.44577571846,0.00476336564778,0.0795589718969,0.999999683742,0.000371020392386,-0.000703372518464,1.12268366058e-05,1793239790134941696
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,657,632.560399264,880.439600736,786,805,652,631,653,0.445376203125,0.00475758232782,0.0795628562426,0.999999696999,0.000343946434398,-0.00069829849836,9.01907634808e-06,1793239790151608576
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745,713.13770945,683,657.13770945,633,880,786,805,652,631,653,0.444970282831,0.00475095519921,0.0795687713494,0.999999710554,0.000320162968607,-0.000690158174383,8.26461686232e-06,1793239790168274944
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713.727759583,683,657.727759583,633,880,786,805,652,631,653,0.444545565421,0.00474142794207,0.079581777521,0.999999726724,0.000308500256747,-0.000671726980802,1.27578302842e-05,1793239790184941568
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.68776573,683.31223427,658,633,880,786,804.68776573,652,631,653,0.44409249274,0.00473273231275,0.0795937589147,0.999999738058,0.000307087185997,-0.000655235740785,1.57146705435e-05,1793239790201608192
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.108066986,683.891933014,658,633,880,786,804.108066986,652,631,653,0.443615130469,0.004724749067,0.0796048624699,0.999999745349,0.000314454107476,-0.00064040629157,1.7355431431e-05,1793239790218274816
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765.46803488,745.46803488,713.46803488,683.53196512,658,633,880,786,804.46803488,652,631,653,0.443098306284,0.00471661583332,0.079613167867,0.999999754594,0.000311918523806,-0.000627066612281,1.75214090272e-05,1793239790234941696
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765.95666279,745.95666279,714,683,658.04333721,633.04333721,880,786,805,652,631.04333721,653,0.442571529336,0.00470810825275,0.0796219940109,0.999999765918,0.000305582127503,-0.000611943706108,1.75425663313e-05,1793239790251608576
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765.38105745,745.38105745,714,683,658.61894255,633.61894255,880,786,805,652,631.61894255,653,0.442033566912,0.00469542503308,0.0796450906399,0.999999797616,0.00028043202345,-0.00057072662148,1.99354175811e-05,1793239790268275200
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765.19993898,745,714,683,659,634,880.19993898,786,805,652,632,653,0.441475451188,0.00468436114143,0.0796614283891,0.999999819983,0.000258382259025,-0.000541108147708,2.18012526325e-05,1793239790284941568
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765.791494806,745,714,683,659,634,880.791494806,786,805,652,632,653,0.440877861597,0.00467646899888,0.0796645276419,0.999999827675,0.000242405076007,-0.000534207666785,2.26348305609e-05,1793239790301608448
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765.625995555,745.374004445,714,683.374004445,659,634,881,786.374004445,804.625995555,652,631.625995555,652.625995555,0.440216511745,0.00466695731564,0.0796420486307,0.999999811344,0.00023714025501,-0.000566161374134,2.31917820732e-05,1793239790318275072
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765.04841003,745.95158997,714,683.95158997,659,634,881,786.95158997,804.04841003,652,631.04841003,652.04841003,0.439520455419,0.00465656407136,0.079605646655,0.999999779725,0.000237706472308,-0.000619264501977,2.3598158011e-05,1793239790334941696
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765.526951349,745.473048651,714,683.473048651,660.053902697,634,880.473048651,786.473048651,804,652,631,652.526951349,0.438863666782,0.00464474346771,0.0796360225953,0.999999815347,0.000218107666346,-0.00056668245345,2.4628079241e-05,1793239790351608320
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765.898266718,745.101733282,714,683,661,634.101733282,880,786.101733282,804.101733282,652,631,653,0.438212893858,0.00463356707443,0.0796797126951,0.999999856787,0.000198906529105,-0.000496169041666,2.60545970817e-05,1793239790368274944
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765.325226767,745.674773233,714,683,661,634.674773233,880,786.674773233,804.674773233,652,631,653,0.437573348304,0.0046259800979,0.0797567827216,0.99999990648,0.000190093943392,-0.000387374757938,2.90541870879e-05,1793239790384941568
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745.742307509,714,683,661,635,880,787,804.742307509,652,631.257692491,653,0.436905759366,0.00461634736782,0.079817019246,0.999999938383,0.000182495771433,-0.000298142569363,3.22630634582e-05,1793239790401608448
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765,745.146422696,714,683,661,635,880,787,804.146422696,652,631.853577304,653,0.436201366562,0.00460402981598,0.0798551637089,0.999999956272,0.00017649138106,-0.000234583412101,3.57466052559e-05,1793239790418275072
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,661,635,880,787,804.433928696,652,631.566071304,652.566071304,0.435421103111,0.00459615716703,0.0798509893368,0.999999955938,0.000169377132742,-0.00024103506318,3.65699106626e-05,1793239790434941696
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765,745,714.009177846,683,661,635,880,787,804.990822154,652,631,652.009177846,0.4346154794,0.00458965603965,0.0798329316364,0.999999949668,0.000161983156489,-0.000270348808422,3.65546366472e-05,1793239790451608320
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714.581858355,683,661,635,880,787,804.418141645,652,631,652.581858355,0.433770334413,0.00457845740745,0.0798089190165,0.999999940623,0.000159613606642,-0.000303005887595,3.826183834e-05,1793239790468275200
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765.159464843,745.159464843,714.840535157,683,661,635,880.159464843,787,804,652,631.159464843,652.840535157,0.432911310545,0.00456784118148,0.079779873742,0.999999925714,0.00015486025494,-0.000350697716053,4.00152262369e-05,1793239790484941568
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765.750399705,745.750399705,714.249600295,683,661,635,880.750399705,787,804,652,631.750399705,652.249600295,0.432014734122,0.00455880079459,0.0797372114259,0.999999892413,0.000143656960687,-0.000439069628082,4.18935816786e-05,1793239790501608448
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.66575082,746,714,682.66575082,661,635,880.66575082,786.66575082,804,652,631.66575082,652.33424918,0.431161217753,0.00454907514233,0.0797277914152,0.99999988423,0.000135048582859,-0.000459756238505,4.38782411918e-05,1793239790518275840
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.087082548,746,714,682.087082548,661,635,880.087082548,786.087082548,804,652,631.087082548,652.912917452,0.430339189008,0.00453884839143,0.0797426797805,0.999999897851,0.000128337733824,-0.000430948095604,4.59406354222e-05,1793239790534943488
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.491212169,745.508787831,714,682.491212169,661,635,879.508787831,786.491212169,804,652,631,652.508787831,0.429544884436,0.00452720497849,0.079804484947,0.999999938324,0.00011340351868,-0.000329029215567,4.72347898442e-05,1793239790551609088
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,682.929684113,661,635,879.070315887,787,804,652,631,652.070315887,0.428744896518,0.00451530575073,0.0798657233054,0.999999967861,9.86866710813e-05,-0.000228451770268,4.84624209985e-05,1793239790568274944
+329,5.483333333,POSE2_TO_POSE3_RETREAT,766,745,714,682.344168349,661,635,879.655831651,787,804,652,631,652.655831651,0.427867283224,0.00450337093115,0.0798619135321,0.999999967059,9.62359038766e-05,-0.000232596266915,5.01997720723e-05,1793239790584941824
+330,5.500000000,POSE2_TO_POSE3_RETREAT,766,745,714,682,660.768566112,635,880,787,804,652,631,652.768566112,0.426965579107,0.00449238697272,0.0798382429312,0.99999995954,8.81940915963e-05,-0.000265633139751,5.08109151512e-05,1793239790601608448
+331,5.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,682,660.207100767,635,880,787,804,652,631,652.207100767,0.426029520649,0.00448275896818,0.0797862502117,0.999999938398,7.21792856641e-05,-0.000339871381117,4.98160529149e-05,1793239790618275072
+332,5.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,682,660.752646246,634.623676877,879.623676877,787,804,652,631.376323123,652.376323123,0.425113651038,0.00447281600577,0.0797597920315,0.999999922858,6.54799084106e-05,-0.000383854437291,5.14978756417e-05,1793239790634941696
+333,5.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,682,661.945160352,634.027419824,879.027419824,787,804,652,631.972580176,652.972580176,0.42420958042,0.00446268897359,0.0797482569651,0.999999912325,6.42247335606e-05,-0.000410155499358,5.47440292951e-05,1793239790651608064
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.463591952,745,714,682,661.463591952,634.536408048,879.536408048,787,804,652,631.463591952,653,0.42334045518,0.00445767131206,0.0797430614152,0.999999909091,5.82648649612e-05,-0.000418788391245,5.51261630475e-05,1793239790668274688
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.105991122,714.105991122,682,661,635,879.894008878,787,804,652,631.105991122,653,0.422483964105,0.00445632103551,0.0797500516646,0.999999915261,5.51562738782e-05,-0.000404227024324,5.51070582808e-05,1793239790684941568
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,745.709958026,714.709958026,682,661,635,879.290041974,787,804,652,631.709958026,653,0.421678917725,0.00447104402242,0.0798128584641,0.999999955813,6.65092612164e-05,-0.000284693926316,5.38514444591e-05,1793239790701608448
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765,745.698682974,714.698682974,681.698682974,661.301317026,635,879,787.301317026,804,652,631.698682974,652.698682974,0.42085670548,0.00448417948778,0.0798556967692,0.999999973219,8.29443195797e-05,-0.00020929360298,5.36429391195e-05,1793239790718275072
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765,745.118972716,714.118972716,681.118972716,661.881027284,635,879,787.881027284,804,652,631.118972716,652.118972716,0.42001863337,0.00449584820726,0.0798800857527,0.99999997785,0.000104074811767,-0.00017466850096,5.44018801843e-05,1793239790734941696
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,661.54234143,635,879.45765857,787.54234143,804,652,631,652.45765857,0.419136174969,0.00448910357761,0.079847833314,0.99999996676,9.62423264091e-05,-0.000232960239399,5.42795122238e-05,1793239790751608320
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.033365288,745,714.033365288,681,661,635,879.966634712,787,804,652,631.033365288,653,0.418246362966,0.00447790170671,0.0798037933592,0.99999994712,8.12650664757e-05,-0.000310240412637,5.39065019773e-05,1793239790768274944
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.606974319,745,714.606974319,681,661,635,879.393025681,787,804,652,631.606974319,653,0.417423066799,0.00447151685037,0.0798057148812,0.99999994905,7.16977162838e-05,-0.000306484366418,5.31599749258e-05,1793239790784941568
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.813398519,745.186601481,714.813398519,681.186601481,661.373202962,635,879,786.813398519,804,652,632,653,0.416599219702,0.00446778111155,0.0798074398849,0.999999949515,6.58814319009e-05,-0.000306316581415,5.29213844607e-05,1793239790801608192
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.220673249,745.779326751,714.220673249,681.779326751,662.558653501,635,879,786.220673249,804,652,632,653,0.415774173391,0.00446981097228,0.079808737182,0.999999946941,6.82290522722e-05,-0.000313958370616,5.37882788208e-05,1793239790818274816
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745.637682139,714.362317861,681.637682139,661.913046416,635,879.362317861,786.362317861,804,652,631.637682139,652.637682139,0.414983960101,0.00447436246122,0.0798021742042,0.999999942596,7.72291282886e-05,-0.00032548552692,5.38764936027e-05,1793239790834941440
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745.060464633,714.939535367,681.060464633,660.181393899,635,879.939535367,786.939535367,804,652,631.060464633,652.060464633,0.414214407183,0.00448040958983,0.0797909491038,0.999999936935,9.01749393833e-05,-0.000339317189571,5.35028542878e-05,1793239790851608064
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.484352103,681,660.515647897,635,879.484352103,787,803.484352103,652,631,652.515647897,0.413501911705,0.00448172300715,0.0798067380964,0.99999994748,9.13986780799e-05,-0.00030629072628,5.3597910799e-05,1793239790868274944
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714,681,661,635,879,787,803.088535202,652,631,652.911464798,0.412796118572,0.00448164538622,0.0798214945866,0.999999956167,8.95853502275e-05,-0.000277030995478,5.37981243822e-05,1793239790884941568
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,661,635,879,787,803.645057731,652,631,652.354942269,0.412090463541,0.00447714267006,0.0798140852845,0.999999951405,7.89684742086e-05,-0.000296663346021,5.42643006869e-05,1793239790901608192
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.222693747,745,714,681,661,635,879,787,804,652,631,652.222693747,0.411377155081,0.00447275803025,0.0798053316023,0.999999946342,6.58823118509e-05,-0.000316228809534,5.45410676451e-05,1793239790918274816
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.8375063,745,714,681,661,635,879,787,804,652,631,652.8375063,0.410650370552,0.00446858129957,0.0797942107386,0.999999941003,4.84482350485e-05,-0.000335676496467,5.44843228817e-05,1793239790934941440
+351,5.850000000,POSE2_TO_POSE3_RETREAT,766,745,714.422082861,680.577917139,660.577917139,635,879,787,804,652,631,652.577917139,0.41001189363,0.00447098364587,0.0798043347757,0.99999994584,6.85938741284e-05,-0.000317221170221,5.46497975016e-05,1793239790951608064
+352,5.866666667,POSE2_TO_POSE3_RETREAT,766,745,714.995797312,680.004202688,660.004202688,635,879,787,804,652,631,652.004202688,0.409405140806,0.00447574949908,0.0798220909581,0.999999952612,0.000102239875263,-0.000285149338154,5.48951034532e-05,1793239790968274688
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.427986143,745,714.427986143,680.572013857,660.572013857,635,879,787.572013857,803.427986143,652,631,652.572013857,0.408829546299,0.00447950521424,0.0798411829036,0.999999961256,9.4349965799e-05,-0.000256007094683,5.51905089977e-05,1793239790984941568
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.151682399,681,661,635,879,787.848317601,803.151682399,652,631.151682399,652.848317601,0.408247742333,0.00448192278327,0.079848553041,0.999999963943,8.91226414742e-05,-0.000247192625266,5.53811379983e-05,1793239791001607936
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.741263496,681,661,635,879,787.258736504,803.741263496,652,631.741263496,652.258736504,0.407647348071,0.00448049871934,0.0798220545138,0.999999950093,9.24669360002e-05,-0.000297000896996,5.52682156911e-05,1793239791018274816
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765.325147152,745.325147152,714.674852848,680.674852848,661,635,879,787,804,652,631.674852848,652,0.407084035155,0.00447942025987,0.079796434693,0.999999937089,9.0441479015e-05,-0.00033860412245,5.46683548503e-05,1793239791034941184
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.904575097,745.904575097,714.095424903,680.095424903,661,635,879,787,804,652,631.095424903,652,0.406549721679,0.00447861207991,0.0797715020647,0.999999925153,8.42166165598e-05,-0.000373790602117,5.36876845624e-05,1793239791051608064
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,746,714,680.480313726,661,635,879,787,803.519686274,652.480313726,631,652,0.406096919736,0.00447949432114,0.0797850546649,0.999999936011,8.07265287474e-05,-0.000344446213814,5.30828568779e-05,1793239791068274688
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.943464524,714.056535476,680.943464524,661,635,879,787,803.056535476,652.943464524,631,652.056535476,0.405663399306,0.00448093541551,0.0798054520154,0.999999949138,7.91770045638e-05,-0.000304443123277,5.26165753617e-05,1793239791084941568
+360,6.000000000,POSE2_TO_POSE3_RETREAT,766,745.355872121,714.644127879,680.355872121,661,635,879,787,803.644127879,652.355872121,631,652.644127879,0.40526003984,0.00448449540002,0.0798188709901,0.999999954208,9.07911373607e-05,-0.000283828377421,5.27556569547e-05,1793239791101608192
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.228480728,715,680,661,635,878.771519272,787,804,652,631,653,0.404857448781,0.00448573998506,0.079829173938,0.99999995709,9.70119804904e-05,-0.000271207272541,5.34296340474e-05,1793239791118274560
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.807858271,715,680,661,635,878.192141729,787,804,652,631,653,0.404456037866,0.00448342861866,0.0798346913434,0.999999957301,9.49499000767e-05,-0.000270862667597,5.49250945736e-05,1793239791134941440
+363,6.050000000,POSE2_TO_POSE3_RETREAT,766,745.613127913,714.613127913,680.386872087,661,635,878.386872087,787,803.613127913,652.386872087,631,652.613127913,0.404085734136,0.00448309125263,0.0798373144092,0.999999956561,9.51098163761e-05,-0.000273251258849,5.62713725186e-05,1793239791151608064
+364,6.066666667,POSE2_TO_POSE3_RETREAT,766,745.034294523,714.034294523,680.965705477,661,635,878.965705477,787,803.034294523,652.965705477,631,652.034294523,0.403730865384,0.00448373336178,0.0798385013387,0.999999955337,9.63722606879e-05,-0.000276996029334,5.75436279843e-05,1793239791168274432
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.461231644,745.538768356,714.538768356,680.461231644,661,635,879,787,803.538768356,652.461231644,631,652.538768356,0.403430976261,0.00448391536989,0.0798400741202,0.999999956967,8.92765928567e-05,-0.00027421390603,5.38815793722e-05,1793239791184941312
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745.884953729,715,680,661,635,879,787,804,652,631,653,0.403140819969,0.00448322255004,0.0798406529341,0.999999957761,8.3628448027e-05,-0.000273624911909,5.11285880587e-05,1793239791201608192
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745.29386869,715,680,661,635,879,787,804,652,631,653,0.402876608714,0.00447902976471,0.0798370183557,0.999999954588,8.61479455034e-05,-0.000283811526854,5.34229489575e-05,1793239791218274560
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,804,652,631.291060601,652.708939399,0.402632869893,0.00447645309426,0.0798359850561,0.99999995403,8.48236375464e-05,-0.000286084220769,5.38673434676e-05,1793239791234941184
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,804,652,631.869903445,652.130096555,0.402409372932,0.00447547433583,0.0798375237361,0.999999956098,7.96988186652e-05,-0.00028053213141,5.24826085281e-05,1793239791251608064
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.445847525,745,715,680,661,635,878.554152475,787,803.554152475,652,631.554152475,652,0.402221850157,0.00447594527546,0.0798425246729,0.999999958409,8.1519264032e-05,-0.000271532485902,5.29818980062e-05,1793239791268274688
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745,714.979213086,680,661,635,878.020786914,787,803,652,631,652.020786914,0.402045922035,0.00447684063406,0.0798486151862,0.999999960721,8.53186043375e-05,-0.000261462530962,5.39956002355e-05,1793239791284941568
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.408619326,680,661,635,878.591380674,787,803,652,631,652.591380674,0.401900816506,0.00447784537145,0.0798569758666,0.999999963513,8.8202400713e-05,-0.000249519290068,5.416854907e-05,1793239791301608192
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,745.168591533,714,680,661.168591533,635,879,787,803,652,631.168591533,653,0.401761097771,0.00448021880422,0.0798619610467,0.999999965022,9.24176977876e-05,-0.000241871318875,5.39764238147e-05,1793239791318274816
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745.76249552,714,680,661.76249552,635,879,787,803,652,631.76249552,653,0.401634968535,0.00448604509815,0.0798584307191,0.999999963577,9.9992023332e-05,-0.000245059194397,5.28633118659e-05,1793239791334941440
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,714.347612098,680,661.652387902,635,879,787,803,652,631.652387902,653,0.401514642833,0.00449091573601,0.0798522906399,0.99999996027,0.000108247223722,-0.000254946511071,5.23830726844e-05,1793239791351608064
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,714.926872809,680,661.073127191,635,879,787,803,652,631.073127191,653,0.401398184592,0.00449514952549,0.0798444114224,0.999999955531,0.000116956159672,-0.000269298333876,5.23245796309e-05,1793239791368274688
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.4963811,715,680,661,635,879,787,803,652.5036189,631,652.4963811,0.401309660502,0.00449464672669,0.0798379733811,0.999999952917,0.000113474360055,-0.000280408608869,5.15904691175e-05,1793239791384941312
+378,6.300000000,POSE2_TO_POSE3_RETREAT,765.9186364,745.0813636,714.9186364,680.0813636,661,635,879,787,803,652.9186364,631,652.0813636,0.401229383078,0.00449319293239,0.079832277688,0.999999950904,0.000108471457115,-0.000289540781524,5.09039352283e-05,1793239791401607936
+379,6.316666667,POSE2_TO_POSE3_RETREAT,765.332441191,745.667558809,714.332441191,680.667558809,661,635,879,787,803,652.332441191,631,652.667558809,0.401175231383,0.00449008471035,0.0798298960393,0.999999951336,0.000104959146112,-0.000289305464894,5.1118259691e-05,1793239791418274816
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765,746,714,680.749057922,661,635,879,787,803.250942078,652,631,653,0.401127026998,0.0044887897675,0.0798287983582,0.999999951319,0.000104598544517,-0.000289441392368,5.14210506598e-05,1793239791434941696
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765,746,714,680.169358588,661,635,879,787,803.830641412,652,631,653,0.401086614142,0.00448987038773,0.0798293827932,0.999999950716,0.000108366973006,-0.000290063683861,5.18397408945e-05,1793239791451608320
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765,745.591268751,714.408731249,680,661.408731249,635,879,787,803.591268751,652,631.408731249,652.591268751,0.4010562238,0.00449016245829,0.079830637101,0.999999951205,0.000107897749088,-0.00028854253051,5.18855676151e-05,1793239791468274944
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765,745.013843211,714.986156789,680,661.986156789,635,879,787,803.013843211,652,631.986156789,652.013843211,0.401029970017,0.00449012907334,0.0798321678832,0.999999952138,0.000105679532877,-0.000286136720273,5.17775036056e-05,1793239791484941568
+384,6.400000000,POSE2_TO_POSE3_RETREAT,765.560650315,745,714.439349685,680.560650315,661.439349685,635,879,787,803.560650315,652,631.439349685,652,0.401012799366,0.00448989237142,0.0798308380987,0.999999951786,0.00010494142007,-0.000287669878035,5.15888849538e-05,1793239791501608192
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.865293852,661,635,879,787,803.865293852,652,631,652.134706148,0.400998383586,0.00448945852165,0.079830130369,0.999999951663,0.000104486199733,-0.000288278918782,5.14876910181e-05,1793239791518274816
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,714,680.292427565,661,635,879,787,803.292427565,652,631,652.707572435,0.400992202904,0.00448839965122,0.0798316745516,0.999999952395,0.000104832892615,-0.000285567366116,5.16773004301e-05,1793239791534941440
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879,787,803.292319146,652,631,653,0.400988054612,0.00448797103226,0.0798337321714,0.999999953394,0.000103877263243,-0.000282427487251,5.15480056902e-05,1793239791551608320
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879,787,803.889454244,652,631,653,0.400986025595,0.00448819960826,0.0798363251784,0.999999954661,0.000101563636656,-0.000278840970669,5.10861734903e-05,1793239791568274944
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.46808842,680,661,635,878.53191158,787,803.53191158,652,631,653,0.400983264305,0.00448957479829,0.0798370774457,0.999999954727,0.000103541166722,-0.000277884982487,5.10478648276e-05,1793239791584941568
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.043588036,878,787,803.043588036,652,631,653,0.400980496784,0.00449105422954,0.0798373531038,0.999999954537,0.000106188742342,-0.000277562421448,5.10729129825e-05,1793239791601608192
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.632455772,878,787,803.632455772,652,631,653,0.400979732473,0.00449057897119,0.0798368979242,0.999999954645,0.000105022812328,-0.000277687847663,5.06868708426e-05,1793239791618275072
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.782170291,745,714.782170291,680,661,635.782170291,878.217829709,787,803.782170291,652.217829709,631,652.782170291,0.400979459615,0.00449022095855,0.0798369845281,0.99999995493,0.000104485815219,-0.000276890329887,5.05485462911e-05,1793239791634941696
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.20259842,745,714.20259842,680,661,635.20259842,878.79740158,787,803.20259842,652.79740158,631,652.20259842,0.400980002898,0.00449005765178,0.0798379708528,0.999999955505,0.000104993265012,-0.000274560111365,5.08215976794e-05,1793239791651608320
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.37479787,745,714.37479787,680,661,635,878.62520213,787,803.37479787,653,631,652.37479787,0.400979029538,0.00449086008009,0.0798377559557,0.999999955244,0.000106558510396,-0.000274901772375,5.08607670186e-05,1793239791668274688
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.951024909,745,714.951024909,680,661,635,878.048975091,787,803.951024909,653,631,652.951024909,0.400977241084,0.0044921815274,0.079836895481,0.999999954528,0.000108692251224,-0.000276679392729,5.07742401512e-05,1793239791684941568
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,878,787,803.473977639,652.473977639,631,653,0.400976445448,0.00449243472478,0.0798367098121,0.999999954347,0.000109307487808,-0.000277164652918,5.03808599301e-05,1793239791701608192
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.103717701,878.103717701,787,803,652,631,653,0.400976259718,0.00449226471888,0.0798368561105,0.999999954438,0.000109128968366,-0.000276954548625,5.01057398607e-05,1793239791718274816
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635.694621969,878.694621969,787,803,652,631,653,0.400978505682,0.00449057291984,0.0798382673106,0.999999955569,0.00010588453422,-0.000274042028089,5.05200003316e-05,1793239791734941440
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.720832376,745,715,680.279167624,661.279167624,635.720832376,879,787,803,652,631.279167624,653,0.400979266058,0.00449021164385,0.0798390181662,0.999999955905,0.000105643709864,-0.000272875425726,5.06819106859e-05,1793239791751608320
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.143087356,745,715,680.856912644,661.856912644,635.143087356,879,787,803,652,631.856912644,653,0.400978437556,0.00449127339838,0.0798390627654,0.999999955401,0.000108615327777,-0.000273576130153,5.05739257535e-05,1793239791768274944
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.567563178,661.567563178,635,878.567563178,787,803,652,631.567563178,653,0.400977232307,0.00449140101498,0.079838354945,0.999999955205,0.000108852406115,-0.000274282865853,5.00976290115e-05,1793239791784941568
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765.007230416,745,715,680,661.007230416,635.007230416,878,787,803.007230416,652,631,652.992769584,0.400975925271,0.00449121472098,0.0798374145561,0.999999955114,0.000108182791551,-0.000274985855634,4.95095358082e-05,1793239791801608192
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.582066601,745,715,680,661.582066601,635.582066601,878,787,803.582066601,652,631,652.417933399,0.400976363952,0.00449052627935,0.0798376614886,0.999999955164,0.000107003321922,-0.000275238920473,4.96632991623e-05,1793239791818275840
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.838811536,635.838811536,878.161188464,787,803.838811536,652.161188464,631.161188464,652.161188464,0.400977292368,0.00448986640121,0.0798383303239,0.999999955507,0.000105644598966,-0.000274497088307,4.97632041686e-05,1793239791834943232
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.248274184,635.248274184,878.751725816,787,803.248274184,652.751725816,631.751725816,652.751725816,0.400979525259,0.00448928260611,0.0798401229586,0.999999956627,0.000103808408805,-0.000271105203434,4.9719649632e-05,1793239791851609344
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.336130461,635,879,787,803.336130461,652.663869539,632,653,0.400980584281,0.00448996319695,0.0798409788733,0.999999956983,0.000104397973416,-0.000269577839658,4.96259047072e-05,1793239791868275712
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661.916086479,635,879,787,803.916086479,652.083913521,632,653,0.400980791789,0.00449156096029,0.0798411553008,0.999999956789,0.000106747155503,-0.00026940298033,4.94957521966e-05,1793239791884942336
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.510374859,745.489625141,715,680,662,635,878.510374859,787.489625141,804,652.489625141,631.510374859,653,0.400979015511,0.00449049829703,0.0798396623948,0.999999956468,0.000104465331932,-0.000271454068242,4.96375670568e-05,1793239791901609216
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765,745.935911236,715,680,662,635,878.064088764,787.935911236,803.935911236,652.935911236,631,653,0.400977297416,0.00448927642839,0.0798382434117,0.999999956186,0.000101998425732,-0.000273398154,4.97710740208e-05,1793239791918275840
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745.344918168,715,680,662,635,878.655081832,787.344918168,803.344918168,652.344918168,631,653,0.400978816721,0.00449044576341,0.0798397538849,0.999999956502,0.00010445064511,-0.000271366687863,4.94580270305e-05,1793239791934942208
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,745.24118535,715,680,661.75881465,635,879,787,803.24118535,652,631,653,0.400979270001,0.00449093178524,0.0798405336899,0.999999956567,0.000106071253658,-0.000270505714912,4.94127767186e-05,1793239791951608576
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,745.82043537,715,680,661.17956463,635,879,787,803.82043537,652,631,653,0.400978229056,0.00449046002086,0.0798402893323,0.999999956291,0.000106526210325,-0.000271285398508,4.97428915987e-05,1793239791968275200
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765.397072602,745.602927398,715,680,661.397072602,635,878.602927398,787,803.602927398,652,631,652.602927398,0.400977742869,0.00449123577258,0.07984037238,0.999999956207,0.000106520912099,-0.00027163193444,4.95541017888e-05,1793239791984941824
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765.972535964,745.027464036,715,680,661.972535964,635,878.027464036,787,803.027464036,652,631,652.027464036,0.400977505915,0.00449257198946,0.0798406025194,0.999999956209,0.000106308837502,-0.000271783872309,4.91321863245e-05,1793239792001608448
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,662,635,878.546088702,787,803.546088702,652,631,652.546088702,0.400977339377,0.0044916706746,0.0798402150785,0.999999956148,0.00010602307006,-0.000272117443352,4.9148958771e-05,1793239792018275584
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff01ab0f36a824076708b3c7f6038f24e4d4bea1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/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,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+1,0.016666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+2,0.033333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+3,0.050000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+4,0.066666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+5,0.083333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+6,0.100000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+7,0.116666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+8,0.133333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+9,0.150000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+10,0.166666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+11,0.183333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+12,0.200000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+13,0.216666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+14,0.233333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+15,0.250000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+16,0.266666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+17,0.283333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+18,0.300000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+19,0.316666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+20,0.333333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+21,0.350000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+22,0.366666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+23,0.383333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+24,0.400000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+25,0.416666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+26,0.433333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+27,0.450000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+28,0.466666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+29,0.483333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+30,0.500000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+31,0.516666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+32,0.533333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+33,0.550000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+34,0.566666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+35,0.583333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+36,0.600000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+37,0.616666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+38,0.633333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+39,0.650000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+40,0.666666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+41,0.683333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+42,0.700000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+43,0.716666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+44,0.733333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+45,0.750000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+46,0.766666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+47,0.783333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+48,0.800000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+49,0.816666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+50,0.833333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+51,0.850000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+52,0.866666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+53,0.883333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+54,0.900000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+55,0.916666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+56,0.933333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+57,0.950000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+58,0.966666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+59,0.983333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+60,1.000000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+61,1.016666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+62,1.033333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+63,1.050000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+64,1.066666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+65,1.083333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+66,1.100000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+67,1.116666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+68,1.133333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+69,1.150000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+70,1.166666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+71,1.183333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+72,1.200000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+73,1.216666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+74,1.233333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+75,1.250000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+76,1.266666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+77,1.283333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+78,1.300000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+79,1.316666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+80,1.333333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+81,1.350000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+82,1.366666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+83,1.383333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+84,1.400000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+85,1.416666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+86,1.433333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+87,1.450000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+88,1.466666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+89,1.483333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+90,1.500000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+91,1.516666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+92,1.533333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+93,1.550000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+94,1.566666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+95,1.583333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+96,1.600000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+97,1.616666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+98,1.633333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+99,1.650000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+100,1.666666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+101,1.683333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+102,1.700000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+103,1.716666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+104,1.733333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+105,1.750000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+106,1.766666667,pose1_to_pose2_press,0.57566445623,0.0100907823659,1.07003220599,0.546234906544,0.0187625177256,1.06970034009
+107,1.783333333,pose1_to_pose2_press,0.575664470305,0.0100907951911,1.07003220286,0.546234920323,0.0187625295803,1.06970033789
+108,1.800000000,pose1_to_pose2_press,0.575664475257,0.0100907997037,1.07003220176,0.546234925171,0.0187625337515,1.06970033711
+109,1.816666667,pose1_to_pose2_press,0.575664495459,0.0100908181112,1.07003219726,0.546234944947,0.0187625507662,1.06970033395
+110,1.833333333,pose1_to_pose2_press,0.575664542158,0.0100908606625,1.07003218686,0.546234990663,0.0187625900979,1.06970032664
+111,1.850000000,pose1_to_pose2_press,0.575664715371,0.01009086626,1.07003226915,0.546235164378,0.0187625973139,1.0697004067
+112,1.866666667,pose1_to_pose2_press,0.57566490803,0.0100908667011,1.07003236526,0.546235357753,0.0187626000706,1.06970049981
+113,1.883333333,pose1_to_pose2_press,0.57566498113,0.0100908668684,1.07003240173,0.546235431124,0.0187626011165,1.06970053514
+114,1.900000000,pose1_to_pose2_press,0.575665227757,0.0100908476071,1.07003246755,0.546235678395,0.0187625839688,1.06970059911
+115,1.916666667,pose1_to_pose2_press,0.575667293656,0.0100907744498,1.07003251939,0.546237745394,0.0187625144145,1.06970064758
+116,1.933333333,pose1_to_pose2_press,0.575672543297,0.0100908540974,1.07003235526,0.546242992612,0.0187625858296,1.06970048319
+117,1.950000000,pose1_to_pose2_press,0.575685705011,0.0100908293729,1.07003239866,0.546256156981,0.0187625701771,1.06970052806
+118,1.966666667,pose1_to_pose2_press,0.575707596701,0.0100907610688,1.07003238949,0.546278048867,0.0187625026903,1.06970052286
+119,1.983333333,pose1_to_pose2_press,0.575740377114,0.0100909060636,1.07003219466,0.546310825461,0.0187626350094,1.06970033535
+120,2.000000000,pose1_to_pose2_press,0.575784106612,0.01009091319,1.070032294,0.546354556753,0.018762647776,1.06970042294
+121,2.016666667,pose1_to_pose2_press,0.575838800603,0.0100908616479,1.07003220131,0.546409251352,0.018762598528,1.06970033618
+122,2.033333333,pose1_to_pose2_press,0.575902499738,0.0100908655714,1.07003230616,0.546472950699,0.0187626031786,1.06970044124
+123,2.050000000,pose1_to_pose2_press,0.575975158891,0.0100908906423,1.07003233064,0.546545608434,0.0187626234572,1.06970046616
+124,2.066666667,pose1_to_pose2_press,0.576059202737,0.0100907296608,1.07003222263,0.546629655161,0.0187624721622,1.06970035564
+125,2.083333333,pose1_to_pose2_press,0.576155558528,0.0100907347658,1.07003242198,0.546726010469,0.0187624755258,1.06970055224
+126,2.100000000,pose1_to_pose2_press,0.576266553228,0.0100907986129,1.07003220849,0.546837006358,0.0187625438913,1.06970035146
+127,2.116666667,pose1_to_pose2_press,0.576392433719,0.0100908499535,1.07003232214,0.546962885581,0.0187625903886,1.06970045087
+128,2.133333333,pose1_to_pose2_press,0.576532544322,0.010090902641,1.07003217661,0.547102993896,0.0187626352826,1.06970030465
+129,2.150000000,pose1_to_pose2_press,0.576686130112,0.010090896013,1.07003228764,0.547256579445,0.0187626277403,1.06970041297
+130,2.166666667,pose1_to_pose2_press,0.576851597663,0.0100907127299,1.07003229194,0.547422048779,0.0187624504997,1.06970041699
+131,2.183333333,pose1_to_pose2_press,0.577028480699,0.0100906876362,1.07003235631,0.547598932027,0.0187624260952,1.06970048058
+132,2.200000000,pose1_to_pose2_press,0.577221438547,0.0100907763945,1.07003238396,0.547791889459,0.0187625136291,1.06970051303
+133,2.216666667,pose1_to_pose2_press,0.577434466438,0.0100907386559,1.07003217718,0.548004918209,0.0187624792508,1.06970031785
+134,2.233333333,pose1_to_pose2_press,0.577669616582,0.0100907584396,1.07003220022,0.548240067524,0.0187624959959,1.06970033491
+135,2.250000000,pose1_to_pose2_press,0.577927479491,0.0100907244956,1.07003221743,0.548497931792,0.0187624665198,1.06970034838
+136,2.266666667,pose1_to_pose2_press,0.578210917143,0.010090852325,1.07003210187,0.548781366291,0.0187625836443,1.06970023264
+137,2.283333333,pose1_to_pose2_press,0.578515248554,0.0100909156121,1.07003229701,0.549085697573,0.0187626468106,1.06970043593
+138,2.300000000,pose1_to_pose2_press,0.578839860418,0.0100907879986,1.07003233539,0.549410311038,0.0187625244254,1.06970046892
+139,2.316666667,pose1_to_pose2_press,0.579184976116,0.0100907472564,1.07003236895,0.549755429426,0.0187624925068,1.0697004944
+140,2.333333333,pose1_to_pose2_press,0.579551531624,0.0100907354838,1.07003224686,0.550121983335,0.0187624755315,1.06970037809
+141,2.350000000,pose1_to_pose2_press,0.57993820596,0.0100907973449,1.07003239036,0.550508656931,0.0187625348376,1.06970052037
+142,2.366666667,pose1_to_pose2_press,0.580343833104,0.010090818738,1.07003248252,0.550914284402,0.0187625572215,1.06970060934
+143,2.383333333,pose1_to_pose2_press,0.580768440786,0.0100908331151,1.07003240883,0.551338891624,0.0187625701346,1.0697005382
+144,2.400000000,pose1_to_pose2_press,0.581208577312,0.0100907823747,1.07003235545,0.551779028315,0.0187625199038,1.06970048345
+145,2.416666667,pose1_to_pose2_press,0.581664538166,0.0100906903822,1.07003233017,0.552234990003,0.0187624305902,1.06970045415
+146,2.433333333,pose1_to_pose2_press,0.582149039461,0.0100907301757,1.07003225005,0.552719490897,0.0187624692668,1.0697003804
+147,2.450000000,pose1_to_pose2_press,0.582665076294,0.0100908068536,1.07003225588,0.553235528309,0.0187625481123,1.06970039148
+148,2.466666667,pose1_to_pose2_press,0.583210060786,0.0100906853106,1.07003200439,0.553780513075,0.0187624274697,1.06970013915
+149,2.483333333,pose1_to_pose2_press,0.583778520114,0.0100908737264,1.07003232472,0.554348969604,0.01876260637,1.06970045899
+150,2.500000000,pose1_to_pose2_press,0.584362498781,0.0100907639838,1.07003217802,0.55493294916,0.0187624999455,1.06970032018
+151,2.516666667,pose1_to_pose2_press,0.584950542731,0.0100909493928,1.07003227883,0.555520992709,0.0187626841094,1.0697004239
+152,2.533333333,pose1_to_pose2_press,0.585541820039,0.0100907946623,1.070032317,0.556112270058,0.0187625291869,1.06970045338
+153,2.550000000,pose1_to_pose2_press,0.586150105184,0.0100908058694,1.07003243268,0.556720557237,0.0187625470778,1.06970056328
+154,2.566666667,pose1_to_pose2_press,0.586779592928,0.0100908705004,1.07003229753,0.557350044445,0.0187626099871,1.06970043071
+155,2.583333333,pose1_to_pose2_press,0.587436068716,0.0100908553429,1.07003229835,0.558006520936,0.0187625971562,1.06970042998
+156,2.600000000,pose1_to_pose2_press,0.58811024901,0.010090845435,1.07003247721,0.558680701611,0.0187625884858,1.06970060736
+157,2.616666667,pose1_to_pose2_press,0.588794303121,0.0100908277423,1.0700324081,0.559364754471,0.0187625667229,1.06970054279
+158,2.633333333,pose1_to_pose2_press,0.589491096928,0.010090718309,1.07003230693,0.560061548453,0.0187624577684,1.06970043857
+159,2.650000000,pose1_to_pose2_press,0.590205345934,0.0100906412526,1.07003241077,0.560775798795,0.0187623849912,1.06970053573
+160,2.666666667,pose1_to_pose2_press,0.590929922957,0.0100907519839,1.07003221233,0.561500374,0.0187624900961,1.0697003515
+161,2.683333333,pose1_to_pose2_press,0.591666077031,0.0100908330079,1.07003231914,0.562236526709,0.018762566478,1.06970045811
+162,2.700000000,pose1_to_pose2_press,0.592412896157,0.0100907516479,1.07003243789,0.562983347267,0.0187624898158,1.06970057264
+163,2.716666667,pose1_to_pose2_press,0.593160586128,0.0100909217729,1.07003232689,0.563731035345,0.0187626535687,1.06970046307
+164,2.733333333,pose1_to_pose2_press,0.593909730266,0.010090847137,1.07003244424,0.564480180848,0.0187625834043,1.06970057617
+165,2.750000000,pose1_to_pose2_press,0.594661208864,0.0100909119083,1.07003232588,0.565231659441,0.0187626483308,1.06970046231
+166,2.766666667,pose1_to_pose2_press,0.595416126826,0.0100908151856,1.0700325425,0.565986579089,0.0187625570051,1.0697006705
+167,2.783333333,pose1_to_pose2_press,0.596176370569,0.0100908235437,1.07003241282,0.566746822534,0.0187625644581,1.06970054362
+168,2.800000000,pose1_to_pose2_press,0.59693652167,0.0100908370971,1.07003230773,0.567506972983,0.0187625760963,1.06970044643
+169,2.816666667,pose1_to_pose2_press,0.597694911148,0.0100908236908,1.07003225005,0.568265362872,0.0187625640483,1.06970038779
+170,2.833333333,pose1_to_pose2_press,0.598451491295,0.0100908115672,1.07003214906,0.569021943937,0.0187625549697,1.06970028502
+171,2.850000000,pose1_to_pose2_press,0.599205366241,0.0100908134131,1.07003212406,0.569775818578,0.0187625557797,1.06970026004
+172,2.866666667,pose1_to_pose2_press,0.599968121794,0.0100908095748,1.0700322822,0.570538573472,0.0187625495885,1.06970041521
+173,2.883333333,pose1_to_pose2_press,0.60073728324,0.0100907960051,1.07003249078,0.571307736026,0.018762539713,1.06970062204
+174,2.900000000,pose1_to_pose2_press,0.601508121974,0.0100908209799,1.07003259306,0.572078573116,0.0187625586179,1.06970071165
+175,2.916666667,pose1_to_pose2_press,0.602273333971,0.0100907628865,1.07003232173,0.572843786688,0.0187625065297,1.06970045763
+176,2.933333333,pose1_to_pose2_press,0.603021779634,0.0100908915087,1.07003232369,0.573592229761,0.0187626262811,1.06970045754
+177,2.950000000,pose1_to_pose2_press,0.60374809704,0.0100906112545,1.07003217131,0.574318549666,0.0187623547735,1.06970031212
+178,2.966666667,pose1_to_pose2_press,0.604452945942,0.0100906390191,1.07003219367,0.575023399137,0.0187623843787,1.06970033226
+179,2.983333333,pose1_to_pose2_press,0.605144107117,0.0100907486539,1.07003232488,0.575714559358,0.0187624904049,1.06970045386
+180,3.000000000,pose1_to_pose2_press,0.605829649115,0.0100907350408,1.07003255207,0.576400100797,0.0187624746105,1.06970067373
+181,3.016666667,pose1_to_pose2_press,0.606514336128,0.0100907873538,1.0700322563,0.57708478727,0.0187625255849,1.06970039096
+182,3.033333333,pose1_to_pose2_press,0.607191315645,0.0100907912441,1.07003222827,0.577761765692,0.0187625257464,1.06970036265
+183,3.050000000,pose1_to_pose2_press,0.607856549998,0.0100907929968,1.07003239968,0.578427000154,0.0187625277749,1.06970053164
+184,3.066666667,pose1_to_pose2_press,0.608492693889,0.010090718502,1.07003239921,0.579063145926,0.0187624596858,1.06970053195
+185,3.083333333,pose1_to_pose2_press,0.60910090443,0.0100906619854,1.0700322992,0.579671357153,0.018762405425,1.06970043005
+186,3.100000000,pose1_to_pose2_press,0.609679966077,0.0100907917755,1.07003230449,0.580250417217,0.0187625299051,1.06970043702
+187,3.116666667,pose1_to_pose2_press,0.6102314076,0.0100908396301,1.07003257046,0.580801858526,0.0187625770167,1.06970070276
+188,3.133333333,pose1_to_pose2_press,0.610753936675,0.0100907124856,1.0700324562,0.581324389372,0.0187624559798,1.06970059106
+189,3.150000000,pose1_to_pose2_press,0.611262657319,0.0100908515855,1.07003236308,0.581833107435,0.0187625862034,1.069700495
+190,3.166666667,pose1_to_pose2_press,0.611762898151,0.0100908341374,1.07003251246,0.582333348615,0.0187625698438,1.06970064203
+191,3.183333333,pose1_to_pose2_press,0.612262241435,0.0100908057424,1.07003252183,0.58283269282,0.0187625445336,1.06970065038
+192,3.200000000,pose1_to_pose2_press,0.612758718769,0.0100907968298,1.07003248027,0.583329170809,0.018762537768,1.06970060681
+193,3.216666667,pose1_to_pose2_press,0.613242643907,0.0100907331094,1.07003247845,0.583813096486,0.0187624758696,1.06970060518
+194,3.233333333,pose1_to_pose2_press,0.6137026648,0.0100907271566,1.07003246273,0.584273117273,0.018762469727,1.06970059355
+195,3.250000000,pose1_to_pose2_press,0.614131266134,0.0100908061038,1.07003238276,0.584701717526,0.0187625450876,1.06970051431
+196,3.266666667,pose1_to_pose2_press,0.614527818479,0.0100907724062,1.07003227783,0.5850982689,0.0187625080583,1.06970040724
+197,3.283333333,pose1_to_pose2_press,0.61489588661,0.0100907689959,1.07003242985,0.585466337378,0.0187625061177,1.06970056581
+198,3.300000000,pose1_to_pose2_press,0.615245814094,0.0100908020947,1.07003237702,0.585816266097,0.0187625429722,1.0697005004
+199,3.316666667,pose1_to_pose2_press,0.615581041741,0.0100908639486,1.07003233204,0.586151493331,0.0187626038469,1.06970046505
+200,3.333333333,pose1_to_pose2_press,0.615903352566,0.0100908706084,1.07003241507,0.586473803868,0.01876260965,1.06970054901
+201,3.350000000,pose1_to_pose2_press,0.616209843684,0.0100909167411,1.07003228001,0.586780293365,0.018762650423,1.06970041367
+202,3.366666667,pose1_to_pose2_press,0.616498477188,0.0100908154266,1.07003237204,0.587068928611,0.0187625550558,1.06970050286
+203,3.383333333,pose1_to_pose2_press,0.616764542053,0.0100908536497,1.07003238361,0.587334992567,0.0187625904122,1.06970051748
+204,3.400000000,pose1_to_pose2_press,0.617008168425,0.0100909304437,1.07003219728,0.587578617532,0.0187626627301,1.06970033558
+205,3.416666667,pose1_to_pose2_press,0.6172278853,0.010090912434,1.07003212154,0.587798335699,0.0187626491864,1.06970025791
+206,3.433333333,pose1_to_pose2_press,0.617427698647,0.0100908215788,1.07003222982,0.587998150685,0.0187625637561,1.06970035969
+207,3.450000000,pose1_to_pose2_press,0.61760857323,0.0100905988352,1.07003227876,0.588179026107,0.0187623437437,1.06970040349
+208,3.466666667,pose1_to_pose2_press,0.617773953309,0.01009087092,1.07003246547,0.588344404686,0.0187626111074,1.06970059475
+209,3.483333333,pose1_to_pose2_press,0.617924182955,0.0100908482553,1.07003214386,0.588494633603,0.0187625861507,1.06970027663
+210,3.500000000,pose1_to_pose2_press,0.618061241051,0.0100908611239,1.070032258,0.588631691495,0.0187625985646,1.06970039428
+211,3.516666667,pose1_to_pose2_press,0.61818537268,0.0100908908159,1.07003230174,0.5887558222,0.0187626252764,1.06970044172
+212,3.533333333,pose1_to_pose2_press,0.618295316348,0.0100908131303,1.07003216358,0.588865766469,0.0187625497633,1.06970030455
+213,3.550000000,pose1_to_pose2_press,0.618393762159,0.0100907567798,1.07003224616,0.58896421338,0.0187624969809,1.06970038045
+214,3.566666667,pose1_to_pose2_press,0.618480771542,0.0100907441864,1.07003252045,0.589051223947,0.0187624881837,1.06970064849
+215,3.583333333,pose1_to_pose2_press,0.618556057246,0.010090716038,1.07003251906,0.589126509805,0.0187624605862,1.06970064903
+216,3.600000000,pose1_to_pose2_press,0.618620064177,0.0100907949687,1.07003231494,0.589190513693,0.0187625290983,1.06970044644
+217,3.616666667,pose1_to_pose2_press,0.618672942112,0.0100907907544,1.0700321946,0.589243393327,0.0187625310187,1.06970033504
+218,3.633333333,pose1_to_pose2_press,0.618716345447,0.0100907697126,1.07003230816,0.589286796138,0.0187625084111,1.06970044795
+219,3.650000000,pose1_to_pose2_press,0.618750615749,0.0100906795147,1.07003221352,0.589321067052,0.0187624203505,1.06970035137
+220,3.666666667,pose1_to_pose2_press,0.6187781326,0.0100907839367,1.07003230137,0.58934858281,0.0187625209954,1.06970043429
+221,3.683333333,pose1_to_pose2_press,0.618799735699,0.0100908543273,1.07003239289,0.589370185092,0.0187625886723,1.06970052653
+222,3.700000000,pose1_to_pose2_press,0.618816591011,0.0100908228775,1.07003236839,0.589387041694,0.0187625615826,1.06970050401
+223,3.716666667,pose1_to_pose2_press,0.618829263618,0.0100907153904,1.07003222107,0.589399717782,0.0187624656691,1.0697003554
+224,3.733333333,pose1_to_pose2_press,0.618838491228,0.0100907211392,1.07003229858,0.589408944521,0.0187624684985,1.06970043394
+225,3.750000000,pose1_to_pose2_press,0.618844948206,0.0100908277699,1.07003220652,0.589415399817,0.0187625694615,1.06970034265
+226,3.766666667,pose1_to_pose2_press,0.618848771072,0.0100909283494,1.07003209862,0.589419221296,0.0187626653624,1.06970023523
+227,3.783333333,pose1_to_pose2_press,0.618851510291,0.0100908623434,1.07003219058,0.589421960964,0.0187626010046,1.06970032718
+228,3.800000000,pose1_to_pose2_press,0.618853385073,0.010090798977,1.07003227581,0.589423836242,0.018762539425,1.06970041237
+229,3.816666667,pose1_to_pose2_press,0.618854427871,0.0100907695946,1.07003231433,0.58942487923,0.0187625107416,1.06970045102
+230,3.833333333,pose1_to_pose2_press,0.6188549838,0.0100907867006,1.0700322852,0.589425434776,0.0187625265726,1.06970042276
+231,3.850000000,pose1_to_pose2_press,0.618855539824,0.0100908038097,1.07003225606,0.589425990417,0.0187625424062,1.06970039451
+232,3.866666667,pose1_to_pose2_press,0.618855920749,0.0100908155308,1.07003223609,0.58942637108,0.0187625532536,1.06970037515
+233,3.883333333,pose1_to_pose2_press,0.6188560245,0.0100908187233,1.07003223065,0.589426474759,0.018762556208,1.06970036988
+234,3.900000000,pose1_to_pose2_press,0.61885612595,0.0100908218449,1.07003222534,0.58942657614,0.018762559097,1.06970036472
+235,3.916666667,pose1_to_pose2_press,0.618856183703,0.010090823622,1.07003222231,0.589426633852,0.0187625607416,1.06970036178
+236,3.933333333,pose1_to_pose2_press,0.618856231177,0.0100908250828,1.07003221982,0.589426681293,0.0187625620935,1.06970035937
+237,3.950000000,pose1_to_pose2_press,0.618856246848,0.010090825565,1.070032219,0.589426696954,0.0187625625397,1.06970035858
+238,3.966666667,pose1_to_pose2_press,0.61885630313,0.0100908272968,1.07003221605,0.589426753197,0.0187625641424,1.06970035572
+239,3.983333333,pose1_to_pose2_press,0.618856387263,0.0100908298856,1.07003221164,0.589426837272,0.0187625665382,1.06970035144
+240,4.000000000,pose1_to_pose2_press,0.618856500504,0.01009083337,1.0700322057,0.589426950435,0.0187625697629,1.06970034568
+241,4.016666667,pose1_to_pose2_press,0.618856848161,0.0100908440675,1.07003218748,0.589427297853,0.018762579663,1.06970032802
+242,4.033333333,pose1_to_pose2_press,0.618857351759,0.0100908593306,1.07003219973,0.589427801141,0.0187625938231,1.06970033924
+243,4.050000000,pose1_to_pose2_press,0.618857681784,0.010090869167,1.07003223532,0.589428130991,0.0187626029738,1.06970037287
+244,4.066666667,pose1_to_pose2_press,0.618857914368,0.0100908760992,1.0700322604,0.589428363452,0.0187626094227,1.06970039657
+245,4.083333333,pose1_to_pose2_press,0.618858128731,0.0100908824883,1.07003228352,0.589428577701,0.0187626153664,1.06970041841
+246,4.100000000,pose1_to_pose2_press,0.618858222468,0.0100908852821,1.07003229363,0.589428671388,0.0187626179655,1.06970042796
+247,4.116666667,pose1_to_pose2_press,0.618858504507,0.0100908936883,1.07003232405,0.589428953277,0.0187626257857,1.0697004567
+248,4.133333333,pose1_to_pose2_press,0.618858674227,0.0100908926674,1.0700323374,0.589429123413,0.0187626261322,1.06970046919
+249,4.150000000,pose1_to_pose2_press,0.618858755349,0.010090888174,1.07003234052,0.589429205065,0.0187626234259,1.06970047199
+250,4.166666667,pose1_to_pose2_press,0.618858837968,0.0100908835977,1.0700323437,0.589429288226,0.0187626206695,1.06970047485
+251,4.183333333,pose1_to_pose2_press,0.618858957265,0.0100908769898,1.07003234829,0.589429408303,0.0187626166895,1.06970047897
+252,4.200000000,pose1_to_pose2_press,0.618859061998,0.0100908711885,1.07003235232,0.589429513723,0.0187626131953,1.06970048259
+253,4.216666667,pose1_to_pose2_press,0.618859259567,0.0100908884165,1.07003245671,0.589429710887,0.0187626290222,1.06970058629
+254,4.233333333,pose1_to_pose2_press,0.618859317192,0.010090931408,1.07003256109,0.589429766371,0.0187626648859,1.06970069496
+255,4.250000000,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766371,0.0187626648859,1.06970069497
+256,4.266666667,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766371,0.0187626648858,1.06970069497
+257,4.283333333,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.58942976637,0.0187626648857,1.06970069497
+258,4.300000000,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.58942976637,0.0187626648857,1.06970069497
+259,4.316666667,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.58942976637,0.0187626648855,1.06970069497
+260,4.333333333,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766371,0.0187626648853,1.06970069497
+261,4.350000000,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766371,0.0187626648852,1.06970069497
+262,4.366666667,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766372,0.0187626648842,1.06970069497
+263,4.383333333,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766372,0.0187626648837,1.06970069497
+264,4.400000000,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766373,0.0187626648836,1.06970069497
+265,4.416666667,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766373,0.0187626648834,1.06970069497
+266,4.433333333,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766373,0.0187626648831,1.06970069497
+267,4.450000000,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766373,0.0187626648829,1.06970069497
+268,4.466666667,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766373,0.0187626648828,1.06970069497
+269,4.483333333,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766373,0.0187626648826,1.06970069497
+270,4.500000000,pose2_hold,0.618859317192,0.010090931408,1.07003256109,0.589429766373,0.0187626648825,1.06970069497
+271,4.516666667,pose2_to_pose3_retreat,0.618859376085,0.0100909165618,1.07003258006,0.589429826089,0.0187626526648,1.06970070929
+272,4.533333333,pose2_to_pose3_retreat,0.618859323253,0.0100908861709,1.07003258769,0.589429773586,0.0187626233674,1.06970071688
+273,4.550000000,pose2_to_pose3_retreat,0.618859018433,0.0100908630859,1.07003256634,0.589429469057,0.0187626014156,1.06970069962
+274,4.566666667,pose2_to_pose3_retreat,0.618858573781,0.0100908463218,1.07003247693,0.589429024417,0.0187625847269,1.06970061125
+275,4.583333333,pose2_to_pose3_retreat,0.618858262081,0.0100908401724,1.07003238743,0.589428712556,0.0187625779597,1.06970052005
+276,4.600000000,pose2_to_pose3_retreat,0.618858208753,0.0100908391203,1.07003237212,0.589428659199,0.0187625768019,1.06970050445
+277,4.616666667,pose2_to_pose3_retreat,0.618858136674,0.0100908376983,1.07003235142,0.589428587083,0.0187625752371,1.06970048336
+278,4.633333333,pose2_to_pose3_retreat,0.618857740371,0.0100908298797,1.07003223762,0.589428190575,0.0187625666331,1.06970036741
+279,4.650000000,pose2_to_pose3_retreat,0.618856266196,0.0100908640032,1.07003233978,0.589426716465,0.0187626011314,1.06970047376
+280,4.666666667,pose2_to_pose3_retreat,0.618850344746,0.0100908255507,1.07003233988,0.589420794665,0.0187625614035,1.06970047242
+281,4.683333333,pose2_to_pose3_retreat,0.618837412666,0.0100907198978,1.07003207202,0.589407863572,0.0187624593633,1.06970021082
+282,4.700000000,pose2_to_pose3_retreat,0.618813987125,0.0100907417852,1.07003244213,0.589384439128,0.0187624850596,1.06970058162
+283,4.716666667,pose2_to_pose3_retreat,0.618779639937,0.0100908932377,1.07003235812,0.589350089062,0.018762626353,1.06970048934
+284,4.733333333,pose2_to_pose3_retreat,0.618733992295,0.0100907550776,1.07003251973,0.589304444385,0.0187624980721,1.0697006498
+285,4.750000000,pose2_to_pose3_retreat,0.618679051963,0.0100907595486,1.07003253895,0.589249504552,0.018762503958,1.06970066535
+286,4.766666667,pose2_to_pose3_retreat,0.618615034908,0.0100907457656,1.07003232434,0.589185486432,0.0187624869876,1.06970045541
+287,4.783333333,pose2_to_pose3_retreat,0.618544210675,0.0100907354251,1.0700322832,0.589114662128,0.018762476298,1.06970041488
+288,4.800000000,pose2_to_pose3_retreat,0.618466137141,0.0100907293587,1.070032367,0.589036589418,0.0187624725829,1.06970049202
+289,4.816666667,pose2_to_pose3_retreat,0.618376330793,0.0100907073407,1.07003226497,0.588946783639,0.0187624525464,1.06970038913
+290,4.833333333,pose2_to_pose3_retreat,0.618274570291,0.0100907568706,1.07003197844,0.588845021794,0.018762497887,1.06970011431
+291,4.850000000,pose2_to_pose3_retreat,0.618158078862,0.0100906215081,1.070032119,0.588728530608,0.0187623630723,1.06970025001
+292,4.866666667,pose2_to_pose3_retreat,0.618025273728,0.0100907068496,1.07003231708,0.588595725346,0.0187624478529,1.06970044671
+293,4.883333333,pose2_to_pose3_retreat,0.617874244307,0.010090786077,1.0700322453,0.588444694919,0.0187625235995,1.06970037426
+294,4.900000000,pose2_to_pose3_retreat,0.617707545579,0.0100908108494,1.07003228603,0.588277996217,0.0187625485688,1.06970042091
+295,4.916666667,pose2_to_pose3_retreat,0.617525499131,0.0100907995512,1.07003240329,0.588095950597,0.0187625398707,1.0697005356
+296,4.933333333,pose2_to_pose3_retreat,0.617326208187,0.0100908637448,1.07003242362,0.587896658548,0.018762600018,1.06970055107
+297,4.950000000,pose2_to_pose3_retreat,0.617110725514,0.010090883758,1.07003240585,0.58768117544,0.0187626183631,1.06970053199
+298,4.966666667,pose2_to_pose3_retreat,0.616877109243,0.0100907581612,1.07003247434,0.587447562244,0.0187625031325,1.0697006025
+299,4.983333333,pose2_to_pose3_retreat,0.616620466166,0.0100908224129,1.07003243417,0.587190918983,0.0187625669041,1.06970056866
+300,5.000000000,pose2_to_pose3_retreat,0.616338941255,0.0100906899751,1.07003234391,0.586909392989,0.0187624304366,1.06970047243
+301,5.016666667,pose2_to_pose3_retreat,0.616033359087,0.0100907928701,1.07003223165,0.586603810237,0.0187625313719,1.06970036456
+302,5.033333333,pose2_to_pose3_retreat,0.615705637201,0.0100906182878,1.07003229024,0.586276090733,0.0187623647803,1.06970042542
+303,5.050000000,pose2_to_pose3_retreat,0.615356980111,0.0100907068483,1.07003218159,0.585927432651,0.0187624497394,1.06970031393
+304,5.066666667,pose2_to_pose3_retreat,0.61499018202,0.0100907486119,1.07003223432,0.585560634343,0.0187624906573,1.06970036562
+305,5.083333333,pose2_to_pose3_retreat,0.61460418775,0.0100907086785,1.07003235558,0.585174640607,0.0187624524272,1.06970048459
+306,5.100000000,pose2_to_pose3_retreat,0.614197096316,0.0100906925093,1.07003238422,0.584767549388,0.0187624367524,1.06970050691
+307,5.116666667,pose2_to_pose3_retreat,0.613768225658,0.0100907094787,1.07003241444,0.584338679086,0.0187624548251,1.06970053458
+308,5.133333333,pose2_to_pose3_retreat,0.6133191439,0.010090853104,1.07003244402,0.583889595195,0.0187625916937,1.069700576
+309,5.150000000,pose2_to_pose3_retreat,0.612851015896,0.010090746745,1.07003223732,0.583421467291,0.0187624856639,1.06970036828
+310,5.166666667,pose2_to_pose3_retreat,0.612361429251,0.0100907458748,1.07003212575,0.582931882535,0.0187624912447,1.0697002573
+311,5.183333333,pose2_to_pose3_retreat,0.611845908651,0.0100907120448,1.07003216182,0.582416361072,0.0187624545982,1.06970029751
+312,5.200000000,pose2_to_pose3_retreat,0.611300042139,0.0100907920901,1.07003236882,0.581870493745,0.0187625315908,1.06970049819
+313,5.216666667,pose2_to_pose3_retreat,0.610732866539,0.0100908740532,1.07003239893,0.581303317262,0.0187626106207,1.06970052944
+314,5.233333333,pose2_to_pose3_retreat,0.610149037419,0.0100908340698,1.07003226045,0.580719488346,0.0187625716402,1.06970039829
+315,5.250000000,pose2_to_pose3_retreat,0.609557658965,0.010090839501,1.07003226207,0.580128110346,0.0187625785879,1.06970039996
+316,5.266666667,pose2_to_pose3_retreat,0.608965180927,0.0100910273008,1.07003243626,0.579535630378,0.0187627596685,1.06970057027
+317,5.283333333,pose2_to_pose3_retreat,0.608371081324,0.0100907338568,1.07003234625,0.578941533084,0.0187624739347,1.06970047677
+318,5.300000000,pose2_to_pose3_retreat,0.607754959248,0.0100907837021,1.07003227074,0.578325409988,0.0187625201166,1.06970039597
+319,5.316666667,pose2_to_pose3_retreat,0.607110914099,0.0100908105143,1.07003231324,0.577681364757,0.0187625467574,1.06970044141
+320,5.333333333,pose2_to_pose3_retreat,0.606430087314,0.0100907365227,1.0700324309,0.577000539417,0.0187624776023,1.06970055756
+321,5.350000000,pose2_to_pose3_retreat,0.605714968753,0.0100907662843,1.07003253085,0.576285420678,0.0187625068333,1.06970065981
+322,5.366666667,pose2_to_pose3_retreat,0.604965383875,0.0100907654841,1.07003241829,0.575535835557,0.0187625053564,1.06970055084
+323,5.383333333,pose2_to_pose3_retreat,0.604202663349,0.0100907048243,1.0700322161,0.574773114798,0.0187624439221,1.06970034885
+324,5.400000000,pose2_to_pose3_retreat,0.603436996078,0.0100907770633,1.07003223096,0.574007445567,0.0187625096392,1.06970036738
+325,5.416666667,pose2_to_pose3_retreat,0.602680445097,0.0100907289578,1.07003232198,0.573250896016,0.018762466316,1.06970045568
+326,5.433333333,pose2_to_pose3_retreat,0.601934371196,0.010090784683,1.07003237099,0.572504822638,0.0187625233491,1.06970049252
+327,5.450000000,pose2_to_pose3_retreat,0.601191666665,0.0100908410283,1.07003235074,0.571762116532,0.0187625744746,1.06970047731
+328,5.466666667,pose2_to_pose3_retreat,0.600440372315,0.0100907575251,1.07003246346,0.571010825062,0.0187625008177,1.06970059017
+329,5.483333333,pose2_to_pose3_retreat,0.599668655498,0.0100907514768,1.07003244345,0.570239107978,0.0187624941531,1.06970057742
+330,5.500000000,pose2_to_pose3_retreat,0.598875125216,0.0100907214559,1.07003240243,0.569445577022,0.0187624615123,1.06970052766
+331,5.516666667,pose2_to_pose3_retreat,0.59806291887,0.0100907148337,1.07003234356,0.568633370537,0.0187624546164,1.06970047392
+332,5.533333333,pose2_to_pose3_retreat,0.597252300282,0.0100907490745,1.07003226445,0.567822751436,0.0187624873195,1.06970039928
+333,5.550000000,pose2_to_pose3_retreat,0.596449776131,0.0100907927095,1.07003222163,0.567020226994,0.0187625297774,1.0697003522
+334,5.566666667,pose2_to_pose3_retreat,0.595670667823,0.0100907943073,1.07003230062,0.566241119549,0.0187625342327,1.06970043062
+335,5.583333333,pose2_to_pose3_retreat,0.594908377943,0.0100907740543,1.07003243919,0.565478830316,0.0187625162612,1.06970057005
+336,5.600000000,pose2_to_pose3_retreat,0.594157896498,0.0100908737271,1.0700323585,0.564728347031,0.0187626095887,1.06970048677
+337,5.616666667,pose2_to_pose3_retreat,0.593405009094,0.0100907119323,1.07003237735,0.56397546033,0.0187624499527,1.06970049964
+338,5.633333333,pose2_to_pose3_retreat,0.592646209922,0.0100908453225,1.07003223494,0.563216661212,0.0187625838815,1.06970036646
+339,5.650000000,pose2_to_pose3_retreat,0.591884153361,0.0100908530093,1.07003212308,0.56245460437,0.0187625906538,1.0697002555
+340,5.666666667,pose2_to_pose3_retreat,0.591121834155,0.0100908120323,1.07003224892,0.561692285708,0.018762551461,1.06970038063
+341,5.683333333,pose2_to_pose3_retreat,0.590361832272,0.0100908068383,1.07003218957,0.560932284715,0.0187625494284,1.06970032386
+342,5.700000000,pose2_to_pose3_retreat,0.589618392588,0.0100907951447,1.07003218959,0.560188844608,0.0187625365414,1.06970032901
+343,5.716666667,pose2_to_pose3_retreat,0.588896536439,0.0100908327581,1.07003242026,0.559466986946,0.0187625689023,1.06970055647
+344,5.733333333,pose2_to_pose3_retreat,0.588194547469,0.0100908844896,1.07003260957,0.558764997303,0.0187626178839,1.0697007343
+345,5.750000000,pose2_to_pose3_retreat,0.587513747412,0.0100907966984,1.0700325731,0.558084197937,0.01876253231,1.06970069632
+346,5.766666667,pose2_to_pose3_retreat,0.58685428568,0.0100908123232,1.07003232817,0.557424735987,0.018762547697,1.06970046369
+347,5.783333333,pose2_to_pose3_retreat,0.586208640947,0.0100907161396,1.07003230179,0.556779092832,0.0187624570896,1.06970044209
+348,5.800000000,pose2_to_pose3_retreat,0.585570727908,0.0100906998574,1.07003223973,0.556141181253,0.0187624455199,1.06970037314
+349,5.816666667,pose2_to_pose3_retreat,0.584946064242,0.0100906962247,1.07003229316,0.555516517453,0.0187624414704,1.0697004277
+350,5.833333333,pose2_to_pose3_retreat,0.584339220136,0.0100907375656,1.07003238991,0.554909672144,0.0187624788087,1.06970052658
+351,5.850000000,pose2_to_pose3_retreat,0.583755673326,0.0100908257368,1.07003221702,0.554326123399,0.0187625605793,1.06970035796
+352,5.866666667,pose2_to_pose3_retreat,0.583195779019,0.0100908542778,1.07003223175,0.553766228439,0.0187625867617,1.06970036899
+353,5.883333333,pose2_to_pose3_retreat,0.582658609164,0.0100907980337,1.0700324185,0.553229060057,0.0187625352746,1.06970054938
+354,5.900000000,pose2_to_pose3_retreat,0.582134851202,0.0100907646767,1.07003235846,0.552705303619,0.0187625071947,1.06970049202
+355,5.916666667,pose2_to_pose3_retreat,0.581624066486,0.0100908219862,1.07003240134,0.552194517897,0.018762561036,1.06970053342
+356,5.933333333,pose2_to_pose3_retreat,0.58113539355,0.0100908323058,1.07003209111,0.551705844677,0.0187625707033,1.06970023137
+357,5.950000000,pose2_to_pose3_retreat,0.580673407859,0.0100908332913,1.07003259123,0.551243859816,0.0187625739779,1.06970071763
+358,5.966666667,pose2_to_pose3_retreat,0.580246502891,0.010090860047,1.07003246774,0.550816953594,0.0187625966313,1.06970059902
+359,5.983333333,pose2_to_pose3_retreat,0.579848610884,0.0100908697846,1.07003236256,0.550419060566,0.0187626029385,1.06970049467
+360,6.000000000,pose2_to_pose3_retreat,0.579474529441,0.0100908588001,1.07003243693,0.550044979008,0.0187625912856,1.06970056187
+361,6.016666667,pose2_to_pose3_retreat,0.579115262817,0.010090849267,1.07003244188,0.54968571258,0.0187625822854,1.06970056314
+362,6.033333333,pose2_to_pose3_retreat,0.578770155558,0.0100908051617,1.07003236111,0.549340606048,0.0187625408256,1.06970048667
+363,6.050000000,pose2_to_pose3_retreat,0.578443595843,0.0100907283025,1.07003228036,0.549014048103,0.0187624701368,1.06970041036
+364,6.066666667,pose2_to_pose3_retreat,0.578137178145,0.0100907255785,1.07003213199,0.548707631537,0.0187624712351,1.06970026133
+365,6.083333333,pose2_to_pose3_retreat,0.577855510552,0.0100907733679,1.07003218995,0.548425961023,0.0187625093548,1.06970032562
+366,6.100000000,pose2_to_pose3_retreat,0.577596403895,0.0100908298115,1.07003218567,0.548166853791,0.0187625639286,1.06970032347
+367,6.116666667,pose2_to_pose3_retreat,0.577360932183,0.0100908515424,1.07003187328,0.547931382925,0.0187625885417,1.06970001171
+368,6.133333333,pose2_to_pose3_retreat,0.577145590981,0.0100908217741,1.07003200513,0.547716041776,0.018762559003,1.06970014468
+369,6.150000000,pose2_to_pose3_retreat,0.576950802831,0.0100907507537,1.0700321406,0.547521254379,0.0187624904585,1.06970027817
+370,6.166666667,pose2_to_pose3_retreat,0.576777360923,0.0100907807258,1.07003219103,0.547347811266,0.0187625162748,1.06970032678
+371,6.183333333,pose2_to_pose3_retreat,0.576622522006,0.0100908304071,1.07003230053,0.547192971419,0.0187625625766,1.06970043048
+372,6.200000000,pose2_to_pose3_retreat,0.576485078329,0.0100908103987,1.0700324891,0.547055528993,0.0187625464131,1.0697006086
+373,6.216666667,pose2_to_pose3_retreat,0.576359663789,0.0100908876201,1.07003237752,0.546930112861,0.0187626182764,1.06970049819
+374,6.233333333,pose2_to_pose3_retreat,0.576244962057,0.0100907865976,1.07003233175,0.5468154133,0.0187625250085,1.06970046267
+375,6.250000000,pose2_to_pose3_retreat,0.576140531944,0.0100906855187,1.07003239969,0.546710984644,0.018762429106,1.06970053662
+376,6.266666667,pose2_to_pose3_retreat,0.576046730641,0.0100909208506,1.07003243038,0.546617180308,0.0187626541602,1.06970056816
+377,6.283333333,pose2_to_pose3_retreat,0.575965904393,0.0100909075004,1.07003230019,0.546536353632,0.0187626391355,1.06970043247
+378,6.300000000,pose2_to_pose3_retreat,0.575898048906,0.0100907858181,1.07003220944,0.546468499723,0.0187625228186,1.06970034189
+379,6.316666667,pose2_to_pose3_retreat,0.575843636071,0.0100908134997,1.07003228049,0.546414086366,0.0187625486375,1.06970041049
+380,6.333333333,pose2_to_pose3_retreat,0.575799580427,0.0100908763804,1.0700323163,0.546370029871,0.0187626085374,1.0697004439
+381,6.350000000,pose2_to_pose3_retreat,0.575765212204,0.0100908489398,1.07003226165,0.546335662489,0.0187625841786,1.06970039522
+382,6.366666667,pose2_to_pose3_retreat,0.575737337967,0.0100907865141,1.07003243585,0.54630778789,0.0187625205953,1.06970057127
+383,6.383333333,pose2_to_pose3_retreat,0.575715543673,0.0100907981015,1.07003236787,0.546285995127,0.0187625370642,1.06970049518
+384,6.400000000,pose2_to_pose3_retreat,0.575699710466,0.0100907612559,1.070032254,0.54627016225,0.0187625014596,1.06970038453
+385,6.416666667,pose2_to_pose3_retreat,0.575688462577,0.0100907861542,1.07003238458,0.546258914769,0.0187625278231,1.06970051737
+386,6.433333333,pose2_to_pose3_retreat,0.575681312247,0.0100908187246,1.07003254,0.54625176491,0.0187625620302,1.06970067385
+387,6.450000000,pose2_to_pose3_retreat,0.575676619821,0.0100907450489,1.07003233275,0.546247073252,0.018762491083,1.06970046942
+388,6.466666667,pose2_to_pose3_retreat,0.575673778029,0.01009070043,1.07003220724,0.546244231926,0.0187624481164,1.06970034562
+389,6.483333333,pose2_to_pose3_retreat,0.575671904582,0.0100907623115,1.07003224337,0.546242357517,0.0187625066603,1.06970037989
+390,6.500000000,pose2_to_pose3_retreat,0.575670622029,0.0100908124524,1.07003227824,0.546241074198,0.0187625541392,1.06970041323
+391,6.516666667,pose2_to_pose3_retreat,0.575669723318,0.0100908475872,1.07003230267,0.546240174949,0.0187625874087,1.06970043658
+392,6.533333333,pose2_to_pose3_retreat,0.575669091402,0.0100908722917,1.07003231984,0.546239542656,0.0187626108016,1.06970045301
+393,6.550000000,pose2_to_pose3_retreat,0.575668605584,0.0100908912845,1.07003233305,0.546239056547,0.0187626287861,1.06970046564
+394,6.566666667,pose2_to_pose3_retreat,0.575668168194,0.0100908695945,1.07003235117,0.546238619247,0.0187626074165,1.06970048412
+395,6.583333333,pose2_to_pose3_retreat,0.575667743201,0.0100908478604,1.07003236888,0.546238194348,0.0187625860146,1.0697005022
+396,6.600000000,pose2_to_pose3_retreat,0.57566754435,0.0100908376911,1.07003237717,0.54623799554,0.0187625760008,1.06970051066
+397,6.616666667,pose2_to_pose3_retreat,0.575667512936,0.0100908360846,1.07003237848,0.546237964134,0.0187625744189,1.06970051199
+398,6.633333333,pose2_to_pose3_retreat,0.575667354028,0.010090827958,1.0700323851,0.54623780526,0.0187625664165,1.06970051875
+399,6.650000000,pose2_to_pose3_retreat,0.575667249521,0.0100908226135,1.07003238946,0.546237700777,0.0187625611538,1.0697005232
+400,6.666666667,pose2_to_pose3_retreat,0.575667205102,0.0100908203419,1.07003239131,0.546237656368,0.0187625589169,1.06970052509
+401,6.683333333,pose2_to_pose3_retreat,0.575666920649,0.010090805795,1.07003240317,0.546237371978,0.0187625445923,1.06970053719
+402,6.700000000,pose2_to_pose3_retreat,0.575666658515,0.0100907923894,1.07003241409,0.546237109901,0.0187625313917,1.06970054834
+403,6.716666667,pose2_to_pose3_retreat,0.575666514052,0.0100907850016,1.07003242011,0.54623696547,0.0187625241168,1.06970055449
+404,6.733333333,pose2_to_pose3_retreat,0.575666068862,0.0100907622346,1.07003243867,0.546236520378,0.0187625016978,1.06970057343
+405,6.750000000,pose2_to_pose3_retreat,0.575665537477,0.0100907606546,1.07003233872,0.546235988436,0.0187624982189,1.06970047325
+406,6.766666667,pose2_to_pose3_retreat,0.575665254909,0.0100907616997,1.07003227658,0.546235705522,0.0187624980838,1.06970041094
+407,6.783333333,pose2_to_pose3_retreat,0.575665254371,0.0100907617017,1.07003227646,0.546235704984,0.0187624980836,1.06970041082
+408,6.800000000,pose2_to_pose3_retreat,0.575665178865,0.010090761981,1.07003225985,0.546235629385,0.0187624980475,1.06970039417
+409,6.816666667,pose2_to_pose3_retreat,0.575665038806,0.010090762499,1.07003222905,0.546235489155,0.0187624979805,1.06970036328
+410,6.833333333,pose2_to_pose3_retreat,0.57566479051,0.0100907505553,1.07003223255,0.546235240639,0.018762485295,1.06970036691
+411,6.850000000,pose2_to_pose3_retreat,0.575664679353,0.0100907382816,1.07003226541,0.546235129428,0.0187624728481,1.06970039998
+412,6.866666667,pose2_to_pose3_retreat,0.575664661142,0.0100907362708,1.07003227079,0.546235111208,0.018762470809,1.0697004054
+413,6.883333333,pose2_to_pose3_retreat,0.575664532105,0.0100907220229,1.07003230894,0.54623498211,0.0187624563601,1.06970044379
+414,6.900000000,pose2_to_pose3_retreat,0.575664391863,0.0100907091194,1.07003213535,0.546234843094,0.018762447688,1.06970027195
+415,6.916666667,pose2_to_pose3_retreat,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2cbe15644c5f8a5f838392381882197245c62540
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72d630944e4209f5fa9b9315644f32c0c7519a99581697f93e96308e86c6616d
+size 26445442
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38a9eb6255141b7c85cd378ae7036f0a206dbce5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,745,715,680,662,635,879,787,804,652,631,653,0.400977656491,0.00449271546306,0.0798391980991,0.9999999558,0.000109426542705,-0.000272008639786,4.93761071016e-05,1793239792174429952
+1,0.016666667,BASELINE,765.423195913,745,715,680.576804087,662,635,879,787,803.423195913,652,631,652.423195913,0.400977683939,0.00449359019043,0.0798402390982,0.999999955993,0.000109780965207,-0.000271178227647,4.92401170535e-05,1793239792191096320
+2,0.033333333,BASELINE,765.152419122,745.152419122,714.847580878,681,661.847580878,635,879,787,803,652,631,652.152419122,0.400977932685,0.00449352757457,0.0798408775665,0.999999956225,0.000109209381381,-0.000270561449885,4.91892246704e-05,1793239792207762432
+3,0.050000000,BASELINE,765.724758404,745.724758404,714.275241596,681,661.275241596,635,879,787,803,652,631,652.724758404,0.400978791113,0.0044908825446,0.0798404070481,0.99999995656,0.000106086616912,-0.000270533242323,4.9372779383e-05,1793239792224428800
+4,0.066666667,BASELINE,765.702604665,745.702604665,714.297395335,680.702604665,661,635,878.702604665,787,803,652,631,652.702604665,0.40097963058,0.00449100248845,0.0798404836392,0.999999956757,0.000105601416672,-0.000270011460205,4.92694453115e-05,1793239792241095424
+5,0.083333333,BASELINE,765.129692017,745.129692017,714.870307983,680.129692017,661,635,878.129692017,787,803,652,631,652.129692017,0.40098045248,0.00449368399973,0.0798410670914,0.999999956831,0.000107559747243,-0.000269032413569,4.89003275484e-05,1793239792257761792
+6,0.100000000,BASELINE,765,745,715,680,661.462659792,635,878.462659792,787.462659792,803,652,631,652.462659792,0.400979592964,0.00449324906634,0.07984072887,0.999999956525,0.000108250553318,-0.000269876001394,4.89703520559e-05,1793239792274428416
+7,0.116666667,BASELINE,765.058331689,745,715,680,662,635,879,787.941668311,803,652,631.058331689,652.941668311,0.400978461528,0.00449207210437,0.0798402357788,0.999999956192,0.000108388408777,-0.000271026616665,4.91262135087e-05,1793239792291095040
+8,0.133333333,BASELINE,765.633040564,745,715,680,662,635,879,787.366959436,803,652,631.633040564,652.366959436,0.400979278364,0.00449239901897,0.079840759156,0.999999956592,0.000106914619554,-0.00027017393892,4.89044153443e-05,1793239792307761920
+9,0.150000000,BASELINE,766,745,715,680,662,635,879,787,803,652,631.792782728,652,0.400979449121,0.00449253330974,0.0798411164134,0.999999956761,0.000106264351986,-0.000269799547832,4.89216174579e-05,1793239792324428544
+10,0.166666667,BASELINE,766,745,715,680,662,635,879,787,803,652,631.219546078,652,0.400978478671,0.00449232735832,0.079841180244,0.999999956527,0.000107068716621,-0.000270269981129,4.9360979063e-05,1793239792341095424
+11,0.183333333,BASELINE,765.633223931,745.366776069,715,680,661.633223931,635,879,787,803,652.366776069,631,652.366776069,0.400978233293,0.00449247174654,0.0798409420267,0.999999956358,0.000107870972769,-0.000270570773216,4.93933099115e-05,1793239792357762048
+12,0.200000000,BASELINE,765.038779174,745.961220826,715,680,661.038779174,635,879,787,803,652.961220826,631,652.961220826,0.400978437988,0.00449283360087,0.0798405163195,0.999999956229,0.000108671920193,-0.000270766264062,4.91729848479e-05,1793239792374428672
+13,0.216666667,BASELINE,765.54036494,745.45963506,715,680.54036494,661.54036494,635,878.45963506,787,803.54036494,652.45963506,631,652.45963506,0.400978343656,0.00449287330134,0.0798409505741,0.99999995631,0.000108877902169,-0.000270444566342,4.88439496074e-05,1793239792391095040
+14,0.233333333,BASELINE,766,745.117966657,715,680.882033343,662,635,878,787,804,652,631,652.117966657,0.400978295097,0.00449284315166,0.0798414341795,0.999999956448,0.000108765508683,-0.000270017626701,4.86303674218e-05,1793239792407761664
+15,0.250000000,BASELINE,766,745.693726818,715,680.306273182,662,635,878,787,804,652,631,652.693726818,0.400978505159,0.00449262918303,0.0798418763984,0.999999956751,0.000107578728773,-0.000269322344104,4.88942659873e-05,1793239792424428544
+16,0.266666667,BASELINE,766,745.7247419,715,680,662,635,878.2752581,787,804,652,631,653,0.400978705655,0.00449216910148,0.0798421009217,0.999999956962,0.000107670248524,-0.000268470003369,4.90604122964e-05,1793239792441095424
+17,0.283333333,BASELINE,766,745.13665175,715,680,662,635,878.86334825,787,804,652,631,653,0.400978895278,0.0044914293115,0.079842078033,0.999999957068,0.000109214561579,-0.000267439165403,4.91154627165e-05,1793239792457762048
+18,0.300000000,BASELINE,765.555532364,745,714.555532364,680,661.555532364,635,878.555532364,787,804,652,631,653,0.40097842051,0.00449175603391,0.0798418531987,0.999999956955,0.000107795739099,-0.000268437701424,4.90949961494e-05,1793239792474428928
+19,0.316666667,BASELINE,765,745,714.023297115,680,661.023297115,635,878.023297115,787,803.976702885,652,631.023297115,653,0.400977843883,0.00449241351285,0.0798416147878,0.999999956791,0.000105654577383,-0.000269904363692,4.90528548224e-05,1793239792491095808
+20,0.333333333,BASELINE,765,745,714.597871402,680,661.597871402,635,878.597871402,787,803.402128598,652,631.597871402,653,0.400979615883,0.00449325840341,0.0798425016151,0.999999957115,0.000107645209999,-0.000267912190386,4.90387411729e-05,1793239792507762176
+21,0.350000000,BASELINE,765.173236039,745,715,680,662,635,879,787,803.173236039,652.173236039,632,653,0.400980518258,0.00449350426205,0.0798427884599,0.999999957302,0.000107973209549,-0.000267105889146,4.89122902489e-05,1793239792524428800
+22,0.366666667,BASELINE,765.750443624,745,715,680,662,635,879,787,803.750443624,652.750443624,632,653,0.400979392741,0.00449235322965,0.0798416761967,0.999999957173,0.00010442409149,-0.000269064939862,4.85238784643e-05,1793239792541095424
+23,0.383333333,BASELINE,766,745.333682153,715,680.333682153,662.333682153,635,879,787,804,652.666317847,631.666317847,652.666317847,0.400978447184,0.00449149726397,0.0798409289725,0.999999956953,0.00010352703337,-0.000270242285084,4.84225550667e-05,1793239792557762048
+24,0.400000000,BASELINE,766,745.921514227,715,680.921514227,662.921514227,635,879,787,804,652.078485773,631.078485773,652.078485773,0.400977638693,0.00449086603656,0.0798404597809,0.999999956673,0.000104649923554,-0.000270824242396,4.85398932809e-05,1793239792574428416
+25,0.416666667,BASELINE,765.497389301,745.497389301,715,680.497389301,662.497389301,635,879,787,803.497389301,652,631,652,0.400978629998,0.00449193954355,0.0798413534891,0.999999957043,0.000106451193167,-0.000268698786511,4.88221567178e-05,1793239792591095040
+26,0.433333333,BASELINE,765,745,715,680,662,635.081721656,879,787,803.081721656,652,631,652.081721656,0.400979592391,0.00449300367266,0.0798421980985,0.999999957385,0.000107885933709,-0.000266808051971,4.90281762982e-05,1793239792607762176
+27,0.450000000,BASELINE,765,745,715,680,662,635.655131406,879,787,803.655131406,652,631,652.655131406,0.400978712218,0.00449243090639,0.079841483745,0.999999957011,0.000106486478199,-0.00026883960972,4.86225622648e-05,1793239792624429056
+28,0.466666667,BASELINE,765.234954019,745,715,680,661.765045981,635.765045981,878.765045981,787,803.765045981,652,631,653,0.400978154788,0.00449221248121,0.0798410912046,0.999999956788,0.000106244341136,-0.000269775072553,4.85501447419e-05,1793239792641095680
+29,0.483333333,BASELINE,765.824453606,745,715,680,661.175546394,635.175546394,878.175546394,787,803.175546394,652,631,653,0.400978084377,0.0044925287567,0.0798411842803,0.9999999568,0.000107748597471,-0.000269056528247,4.89805207135e-05,1793239792657762048
+30,0.500000000,BASELINE,766,745,715,680.406754868,661,635,878,787,803,652,631,653,0.400977440506,0.0044932821184,0.0798407027216,0.999999956507,0.000108206682408,-0.000270002346277,4.87423926956e-05,1793239792674428416
+31,0.516666667,BASELINE,766,745,715,680.9860035,661,635,878,787,803,652,631,653,0.400976553447,0.00449422083656,0.0798399774759,0.999999956084,0.000108221114248,-0.000271653975475,4.82207701649e-05,1793239792691095040
+32,0.533333333,BASELINE,766,745,715,680.437297858,661.562702142,635,878.562702142,787,803.562702142,652,631,652.437297858,0.400976451094,0.00449268322234,0.0798401926629,0.999999956085,0.000107624374921,-0.000271832276765,4.85231423634e-05,1793239792707761664
+33,0.550000000,BASELINE,766,745,715,680,662,635,879,787,803.860778581,652,631,652.139221419,0.400976453585,0.00449192024393,0.0798404314895,0.999999956095,0.000107475834478,-0.000271809209307,4.87777791657e-05,1793239792724428544
+34,0.566666667,BASELINE,766,745,715,680,662,635,879,787,803.284624169,652,631,652.715375831,0.400976724142,0.00449378082538,0.079840671424,0.999999956098,0.000108781418218,-0.000271268660151,4.88185689951e-05,1793239792741095424
+35,0.583333333,BASELINE,766,745.298412651,715,680,662,635,879,787,803,652,631,652.701587349,0.400977192924,0.00449409072116,0.0798409467031,0.999999956377,0.000108874704192,-0.000270207448789,4.87843520046e-05,1793239792757762304
+36,0.600000000,BASELINE,766,745.888168911,715,680,662,635,879,787,803,652,631,652.111831089,0.400977855236,0.0044928866654,0.0798412564897,0.999999956923,0.000107784410455,-0.000268637909027,4.86769050219e-05,1793239792774428928
+37,0.616666667,BASELINE,766,745.530205867,715,680.469794133,662,635,878.530205867,787,803,652.469794133,631,652.469794133,0.400978764244,0.00449203254559,0.0798419789191,0.999999957456,0.000105921722071,-0.000267398174394,4.86505459908e-05,1793239792791095552
+38,0.633333333,BASELINE,766,745,715,680.951065255,662,635,878.048934745,787,803,652.951065255,631,653,0.400979540634,0.00449141624383,0.0798426754484,0.999999957884,0.000104311576089,-0.000266432596885,4.86360311184e-05,1793239792807761920
+39,0.650000000,BASELINE,766,745,715,680.378156138,662,635,878.621843862,787,803,652.378156138,631,653,0.400978278914,0.00449246963923,0.0798420607694,0.999999957262,0.000107340794387,-0.000267576258726,4.85451726139e-05,1793239792824428544
+40,0.666666667,BASELINE,766,745,715,680,661.804694583,635,879,787,803.195305417,652,631,653,0.400977871169,0.00449246555667,0.0798416717515,0.999999957051,0.000107870722217,-0.000268161579188,4.8498501384e-05,1793239792841094912
+41,0.683333333,BASELINE,766,745,715,680,661.230160385,635,879,787,803.769839615,652,631,653,0.400979121604,0.00449040814606,0.0798417209048,0.999999957639,0.000103547723123,-0.000267662755972,4.85376295537e-05,1793239792857761792
+42,0.700000000,BASELINE,766,745,714.643267474,680,661.356732526,635,879,787,803.643267474,652,631,652.643267474,0.400978488748,0.00449043644508,0.0798415578436,0.999999957285,0.00010423928094,-0.000268655828863,4.88707158793e-05,1793239792874428672
+43,0.716666667,BASELINE,766,745,714.048114708,680,661.951885292,635,879,787,803.048114708,652,631,652.048114708,0.400976597204,0.00449185871687,0.07984125295,0.999999956293,0.000108282290731,-0.00027064600241,4.94002675357e-05,1793239792891095552
+44,0.733333333,BASELINE,766,745,714,680.528995698,661.471004302,635,879,787,803.528995698,652,631,652.528995698,0.400978301182,0.00449237441295,0.0798418713974,0.999999956766,0.000108873598359,-0.000268717331651,4.90442933495e-05,1793239792907762944
+45,0.750000000,BASELINE,766,745,714.104284094,681,661.104284094,635,879,787,803.895715906,652,631,653,0.400979790635,0.0044926672427,0.0798423148351,0.999999957215,0.000108946314201,-0.000267077142143,4.86953351408e-05,1793239792924430080
+46,0.766666667,BASELINE,766,745,714.678512892,681,661.678512892,635,879,787,803.321487108,652,631,653,0.400978888241,0.00449231507961,0.0798416036353,0.999999956985,0.000108050167664,-0.000268290232273,4.87289801469e-05,1793239792941095936
+47,0.783333333,BASELINE,766,745,715,680.7406283,662,635,879,787,803.2593717,652,631,652.7406283,0.400978728225,0.00449231141237,0.0798416110463,0.999999957015,0.000107877475058,-0.000268232579635,4.8813638793e-05,1793239792957762048
+48,0.800000000,BASELINE,766,745,715,680.151336046,662,635,879,787,803.848663954,652,631,652.151336046,0.400979512512,0.00449275103147,0.0798425325295,0.999999957375,0.000108625015035,-0.000266558543581,4.89631867444e-05,1793239792974428416
+49,0.816666667,BASELINE,766,745,715,680,662,635,878.569369404,787,803.569369404,652,631,652.430630596,0.400980002852,0.00449254952336,0.0798431424873,0.999999957683,0.000108303827301,-0.000265539400549,4.89177460601e-05,1793239792991095296
+50,0.833333333,BASELINE,765.98998839,745,715,680,662,635,878.01001161,787,803.01001161,652,631.01001161,653,0.400980368206,0.00449214153466,0.079843622332,0.999999957963,0.000107624885669,-0.000264780730345,4.88043165515e-05,1793239793007761920
+51,0.850000000,BASELINE,765.413674477,745,715,680,662,635,878.586325523,787,803.586325523,652,631.586325523,653,0.400979409282,0.00449258548259,0.0798428314424,0.999999957661,0.000107599015924,-0.000265955101782,4.86563609492e-05,1793239793024428800
+52,0.866666667,BASELINE,765.16559198,745.16559198,715,680,661.83440802,635,879,787,803.83440802,652.16559198,631.83440802,653,0.400978595432,0.00449303644871,0.079842129293,0.999999957326,0.000108049342548,-0.000267064691682,4.84843050037e-05,1793239793041095680
+53,0.883333333,BASELINE,765.752368214,745.752368214,715,680,661.247631786,635,879,787,803.247631786,652.752368214,631.247631786,653,0.400978150578,0.00449350526564,0.0798416528552,0.999999956903,0.000109710877667,-0.000268009509256,4.82509496909e-05,1793239793057762304
+54,0.900000000,BASELINE,766,745.665428151,715,680.334571849,661.334571849,635,879,787,803,652.665428151,631,653,0.400978876754,0.00449377227432,0.079842060165,0.999999956985,0.000110584622284,-0.000267345069937,4.82548630444e-05,1793239793074428928
+55,0.916666667,BASELINE,766,745.086563298,715,680.913436702,661.913436702,635,879,787,803,652.086563298,631,653,0.400980457978,0.00449389192946,0.0798431127572,0.999999957433,0.000110883148955,-0.000265505605837,4.84320219313e-05,1793239793091095552
+56,0.933333333,BASELINE,766,745.491729333,715,680.508270667,662,635,879,787,803.491729333,652,631.491729333,653,0.40098001028,0.00449276136362,0.0798431812974,0.999999957569,0.00010967901174,-0.000265466095766,4.85782787397e-05,1793239793107762176
+57,0.950000000,BASELINE,766,746,715,680,662,635,878.930371736,787,804,652,631.930371736,653,0.400979064614,0.00449175665452,0.0798429228327,0.999999957571,0.00010838476197,-0.000265974371247,4.86597584378e-05,1793239793124428544
+58,0.966666667,BASELINE,766,746,715,680,662,635,878.354603579,787,804,652,631.354603579,653,0.400977092441,0.00449326481184,0.0798415450958,0.999999957007,0.000108356124536,-0.00026816395275,4.83098600609e-05,1793239793141095424
+59,0.983333333,BASELINE,766,745.774939636,715,680,662,635,878.225060364,787,803.774939636,652,631.225060364,653,0.40097636135,0.00449385228511,0.0798408421732,0.999999956718,0.00010846555934,-0.000269228827684,4.81148437964e-05,1793239793157761792
+60,1.000000000,BASELINE,766,745.189029305,715,680,662,635,878.810970695,787,803.189029305,652,631.810970695,653,0.400977620145,0.00449296358219,0.0798412212122,0.999999956878,0.000108796371914,-0.000268490407521,4.81681573218e-05,1793239793174428416
+61,1.016666667,BASELINE,766,745,715,680.394352937,662,635,879,787,803.394352937,652,632,652.605647063,0.400978639346,0.00449185892121,0.0798418799459,0.999999957282,0.000107286034534,-0.000267569461828,4.82989972078e-05,1793239793191095552
+62,1.033333333,BASELINE,766,745,715,680.976531049,662,635,879,787,803.976531049,652,632,652.023468951,0.40097954443,0.00449065140227,0.0798426718945,0.999999957796,0.000104898781361,-0.000266561581643,4.84667618874e-05,1793239793207762944
+63,1.050000000,BASELINE,766,745.552606574,715,681,662,635,879,787,804,652,631.447393426,652,0.400979531622,0.00449219346614,0.0798432437667,0.999999957753,0.000107014225538,-0.000265860176036,4.85907168044e-05,1793239793224429312
+64,1.066666667,BASELINE,766,745.871918553,715,680.871918553,662,635.128081447,879,787,804,652,631.128081447,652,0.400979310915,0.00449302630709,0.0798435241492,0.999999957687,0.000108313836481,-0.000265555812811,4.87203744357e-05,1793239793241095680
+65,1.083333333,BASELINE,766,745.297643174,715,680.297643174,662,635.702356826,879,787,804,652,631.702356826,652,0.400978500273,0.00449098608941,0.0798428212811,0.999999957641,0.000106112452916,-0.000266589767959,4.8876309314e-05,1793239793257762048
+66,1.100000000,BASELINE,766,745,715,680,662,635.715894611,879,787,804,652,631.715894611,652,0.400978623486,0.0044906032416,0.0798425783389,0.999999957675,0.000105620949061,-0.000266660297002,4.88467542225e-05,1793239793274428672
+67,1.116666667,BASELINE,766,745,715,680,662,635.126105293,879,787,804,652,631.126105293,652,0.40097975148,0.00449200364534,0.0798428302553,0.9999999578,0.000106969194842,-0.000265694225172,4.86176207086e-05,1793239793291095296
+68,1.133333333,BASELINE,766,745,715,680.455661077,662,635,879,787,804,652,631.455661077,652.455661077,0.400979201961,0.00449197271451,0.0798425100807,0.99999995757,0.000106895789574,-0.000266604182179,4.85324774835e-05,1793239793307761920
+69,1.150000000,BASELINE,765.965073081,745,715,681,662,635,879,787.034926919,803.965073081,652,631.965073081,653,0.400978337914,0.00449162259896,0.0798420961661,0.999999957278,0.000106535623817,-0.000267854212352,4.84682525905e-05,1793239793324428544
+70,1.166666667,BASELINE,765.390728066,745,715,681,662,635,879,787.609271934,803.390728066,652,631.390728066,653,0.400979662246,0.00449235491413,0.0798426374468,0.999999957536,0.000107717981473,-0.000266476583325,4.8122297532e-05,1793239793341095424
+71,1.183333333,BASELINE,765,745,715,680.815495902,662,635,879.369008195,788,803.184504098,652,631,653,0.400980353831,0.00449284092314,0.0798428453893,0.999999957706,0.000108183861622,-0.000265700772547,4.78283112497e-05,1793239793357762304
+72,1.200000000,BASELINE,765,745,715,680.238375821,662,635,880.523248359,788,803.761624179,652,631,653,0.40097969896,0.00449280280446,0.0798423440039,0.999999957694,0.000107125111776,-0.000266205602249,4.76449119975e-05,1793239793374428672
+73,1.216666667,BASELINE,765,745.346977345,715,680,662,635,880.306045311,787.653022655,804,652.346977345,631.346977345,653,0.400979422122,0.00449232429742,0.0798423084875,0.999999957599,0.000106987882031,-0.000266588126874,4.78073765477e-05,1793239793391095296
+74,1.233333333,BASELINE,765,745.938124131,715,680,662,635,879.123751737,787.061875869,804,652.938124131,631.938124131,653,0.40097941131,0.00449153588722,0.079842600805,0.999999957446,0.000107499129984,-0.000266884584861,4.82132269469e-05,1793239793407762176
+75,1.250000000,BASELINE,765.516539301,745.483460699,715,680,662,635,879,787,803.483460699,652.483460699,631.483460699,653,0.400978230411,0.00449271270043,0.0798418002319,0.99999995682,0.000110508588743,-0.000267955983349,4.84412331494e-05,1793239793424428544
+76,1.266666667,BASELINE,766,745.093062498,714.906937502,680,661.906937502,635,879,787,803.093062498,652,631,653,0.400977151612,0.00449360735423,0.079840990908,0.999999956283,0.00011274434941,-0.000268996703632,4.86151183427e-05,1793239793441095168
+77,1.283333333,BASELINE,766,745.6674983,714.3325017,680,661.3325017,635,879,787,803.6674983,652,631,653,0.400977308492,0.00449185411608,0.0798407972076,0.999999956536,0.000109467389053,-0.000269410120451,4.86166032456e-05,1793239793457761792
+78,1.300000000,BASELINE,766,745.75243944,714.24756056,680,661.24756056,635,878.75243944,787,804,652,631,653,0.400977851893,0.00449137335215,0.0798411279397,0.999999956877,0.000108220879696,-0.000268643891475,4.86331304333e-05,1793239793474428672
+79,1.316666667,BASELINE,766,745.164644517,714.835355483,680,661.835355483,635,878.164644517,787,804,652,631,653,0.400978926506,0.00449264141078,0.0798421794247,0.999999957345,0.000109764916901,-0.000266256418616,4.86703309552e-05,1793239793491095552
+80,1.333333333,BASELINE,765.581646538,745,715,680,662,635,878.418353462,787,804,652,631,653,0.400979410697,0.00449305188345,0.0798423797008,0.999999957581,0.000108784352631,-0.000265795345641,4.85423488897e-05,1793239793507762432
+81,1.350000000,BASELINE,765.000514964,745,715,680,662,635,878.999485036,787,804,652,631,653,0.400979665159,0.00449312867612,0.0798422487782,0.999999957725,0.000106821485487,-0.000266083819833,4.83500955537e-05,1793239793524429056
+82,1.366666667,BASELINE,765,745,715,680,662,635,879,787,803.423627293,652,631,652.423627293,0.400979865093,0.00449214371751,0.0798429641502,0.999999957932,0.000106330755322,-0.000265501613369,4.83579214553e-05,1793239793541095680
+83,1.383333333,BASELINE,765.15275962,745.15275962,715,680.15275962,662,635,879,787,803,652,631.15275962,652.15275962,0.400979691581,0.00449157902921,0.0798433300233,0.99999995793,0.000106501738063,-0.000265436752459,4.83769555153e-05,1793239793557762048
+84,1.400000000,BASELINE,765.727772888,745.727772888,715,680.727772888,662,635,879,787,803,652,631.727772888,652.727772888,0.400978485935,0.00449217864251,0.0798427277476,0.999999957349,0.000108498198923,-0.000266804057345,4.84264803214e-05,1793239793574428416
+85,1.416666667,BASELINE,766,745.698550121,715,680.698550121,662,635,879,787,803.301449879,652,631.698550121,653,0.400978218896,0.00449150241266,0.0798424077167,0.999999957304,0.000107984209532,-0.000267138446913,4.86609046187e-05,1793239793591095040
+86,1.433333333,BASELINE,766,745.126074577,715,680.126074577,662,635,879,787,803.873925423,652,631.126074577,653,0.400978795732,0.00448967910572,0.0798423414449,0.999999957739,0.000105213140168,-0.000266544169376,4.90615671871e-05,1793239793607761920
+87,1.450000000,BASELINE,766,745,715,680.463898677,662,635,879,787,804,652,631,652.536101323,0.400979307542,0.00449065789309,0.0798425527321,0.999999957745,0.000106054463458,-0.000266268511999,4.86127944282e-05,1793239793624428800
+88,1.466666667,BASELINE,766,745,715,680.9433978,662,635,878.9433978,787,804,652,631,652.0566022,0.40097977079,0.00449223862422,0.0798427983513,0.999999957663,0.000107641260918,-0.000266048487327,4.80158442158e-05,1793239793641095936
+89,1.483333333,BASELINE,766,745,715,680.370852696,662,635,878.370852696,787,804,652,631,652.629147304,0.400979958795,0.00449209259679,0.0798426423766,0.999999957892,0.00010672360798,-0.00026551532264,4.82549797851e-05,1793239793657762560
+90,1.500000000,BASELINE,766,745,715,680,661.791000678,635,878,787,803.791000678,652,631,653,0.400979715837,0.00449240434619,0.0798423593593,0.999999957885,0.000106402268315,-0.000265668877724,4.82591090313e-05,1793239793674428928
+91,1.516666667,BASELINE,766,745,715,680,661.197713469,635,878,787,803.197713469,652,631,653,0.400978680463,0.0044935578117,0.0798418427485,0.999999957445,0.000107177372349,-0.00026708510725,4.7831131187e-05,1793239793691095296
+92,1.533333333,BASELINE,765.613797792,745,715,680,661.386202208,635,878.772404415,787,803,652,631,653,0.400979829861,0.00449352191669,0.0798427291618,0.999999957724,0.000107284384186,-0.000265994925388,4.78387424801e-05,1793239793707761920
+93,1.550000000,BASELINE,765.034566091,745,715,680,661.965433909,635,879.930867817,787,803,652,631,653,0.40098207124,0.00449289156206,0.079844316827,0.999999958358,0.000107057473875,-0.000263652002706,4.80640675355e-05,1793239793724428544
+94,1.566666667,BASELINE,765.542468474,745.542468474,715,680,662,635.542468474,880,787,803.542468474,652,631.542468474,653,0.400980647191,0.00449177686196,0.0798438063677,0.999999958225,0.000105648103568,-0.000264688569766,4.82624469915e-05,1793239793741095168
+95,1.583333333,BASELINE,766,745.882309188,715,680,662,635.882309188,879.882309188,787,803.882309188,652,631.882309188,653,0.400979291617,0.00449092772707,0.0798432534702,0.999999958041,0.000104620697247,-0.00026575158126,4.84654029327e-05,1793239793757762048
+96,1.600000000,BASELINE,766,745.313498649,715,680,662,635.313498649,879.313498649,787,803.313498649,652,631.313498649,653,0.400979090164,0.00449121434938,0.0798430482915,0.999999957863,0.000105345038132,-0.000266093864528,4.86924557901e-05,1793239793774428928
+97,1.616666667,BASELINE,766,745,715,680,662,635.266766117,879,787,803.266766117,652,631,652.733233883,0.400979006505,0.00449153021452,0.0798426835424,0.999999957694,0.000105716409406,-0.000266589034076,4.86435330772e-05,1793239793791095552
+98,1.633333333,BASELINE,766,745,715,680,662,635.861095544,879,787,803.861095544,652,631,652.138904456,0.400979067487,0.00449188198705,0.0798421228561,0.999999957537,0.000105654367672,-0.000267271933353,4.82557387121e-05,1793239793807762432
+99,1.650000000,BASELINE,766,745.444060708,715,680,662,635.555939292,879,787,804,652,631,652.444060708,0.400979546548,0.00449248574416,0.0798427818382,0.99999995764,0.000106515231368,-0.000266548507417,4.82352578215e-05,1793239793824429056
+100,1.666666667,BASELINE,766,745.976608238,715,680.023391762,662,635.023391762,879,787.023391762,804,652,631,653,0.400980068685,0.00449310056218,0.0798437373419,0.99999995781,0.000107563353015,-0.00026547176775,4.83170642778e-05,1793239793841095424
+101,1.683333333,BASELINE,766,745.401241584,715,680.598758416,662,635.598758416,879,787.598758416,804,652,631,653,0.400978598356,0.00449216283361,0.0798429118208,0.999999957755,0.000106387981901,-0.000266179312319,4.81689622513e-05,1793239793857762048
+102,1.700000000,BASELINE,766,745,715,680.822046168,662,635.822046168,878.822046168,787.822046168,804,652,631,653,0.400977747363,0.00449118426831,0.0798423076987,0.999999957695,0.000105449224256,-0.000266768338291,4.82127510565e-05,1793239793874428672
+103,1.716666667,BASELINE,766,745,715,680.234028104,662,635.234028104,878.234028104,787.234028104,804,652,631,653,0.400978323527,0.00449011160185,0.0798422137527,0.999999957629,0.000105055702126,-0.00026708425829,4.86987195521e-05,1793239793891095552
+104,1.733333333,BASELINE,766,745,715,680,662,635,878.348762063,787,803.651237937,652,631,652.651237937,0.400979362367,0.00449053609794,0.0798429434923,0.99999995786,0.000105529027817,-0.000266019716363,4.87630568309e-05,1793239793907762432
+105,1.750000000,BASELINE,766,745,715,680,662,635,878.928096045,787,803.071903955,652,631,652.071903955,0.400980707091,0.0044919503909,0.0798442177829,0.999999958283,0.000106575439783,-0.000264042530031,4.85486473295e-05,1793239793924429824
+106,1.766666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,635,878,787,803,652,631,653,0.400978974112,0.00449038392076,0.0798430794081,0.999999957812,0.000105093258783,-0.000266397550213,4.86179870551e-05,1793239793955667968
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745.578415391,715,681,662,635,878.578415391,787,803.578415391,652,631,653,0.400978915178,0.00449088355796,0.0798427288238,0.999999957589,0.000106998699211,-0.000266479313468,4.85993149459e-05,1793239793972334592
+108,1.800000000,POSE1_TO_POSE2_PRESS,765.840234768,745.840234768,715,681,662,635,879,787,803.840234768,652.159765232,631.159765232,653,0.40097891251,0.0044917861746,0.0798426137995,0.99999995744,0.000108458926985,-0.000266461661373,4.85285413965e-05,1793239793989001472
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.250996558,745.250996558,715,681,662,635,879,787,803.250996558,652.749003442,631.749003442,653,0.400979061089,0.00449377206072,0.0798431319959,0.999999957497,0.000108722356587,-0.000266176765886,4.83177113346e-05,1793239794005667840
+110,1.833333333,POSE1_TO_POSE2_PRESS,765,745,715,680.66576518,662,635,879,787,803.33423482,652.66576518,632,652.66576518,0.400979168192,0.00449412249981,0.0798430654021,0.999999957561,0.000108703739465,-0.000265940339716,4.83413677045e-05,1793239794022334208
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680.083507158,662,635,879,787,803.916492842,652.083507158,632,652.083507158,0.400979244516,0.0044932593345,0.0798425648574,0.99999995763,0.000108475825965,-0.000265739880836,4.85390277281e-05,1793239794039000576
+112,1.866666667,POSE1_TO_POSE2_PRESS,765.490350854,745,715,680,662,635,879,787,803.509649146,652,631.509649146,652.490350854,0.400978520082,0.00449351567531,0.0798420983804,0.999999957374,0.000108453135847,-0.000266715240587,4.8504847372e-05,1793239794055667200
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680.063271179,662,635,879,787,803,652.063271179,631.063271179,653,0.400977850088,0.00449381611163,0.0798417980627,0.999999957126,0.000108494666826,-0.000267643479893,4.84235521254e-05,1793239794072334080
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680.639995474,662,635,879,787,803,652.639995474,631.639995474,653,0.400978709887,0.0044929532755,0.0798427998576,0.999999957383,0.000108778515338,-0.000266591704771,4.8274923703e-05,1793239794089000960
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662,635,879,787,803,652.777857544,631.777857544,653,0.400983033816,0.00449278015601,0.0798452935461,0.999999958259,0.000109042848981,-0.000263186870831,4.82098236053e-05,1793239794105667584
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,635,879,787,803,652.186702712,631.186702712,653,0.400993112193,0.00449375276076,0.0798502654966,0.999999960128,0.000109274765425,-0.000255873248715,4.82834767613e-05,1793239794122334464
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745.395325267,715,680.604674733,661.604674733,635,879,787,803.395325267,652,631,653,0.401017519903,0.00449333506125,0.0798609517473,0.999999964891,0.00010832243778,-0.000236989479689,4.8169306484e-05,1793239794139001088
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745.973140171,715,680.026859829,661.026859829,635,879,787,803.973140171,652,631,653,0.401048542304,0.00449227557103,0.0798742758277,0.999999970509,0.000106823440586,-0.000212764710792,4.79684333335e-05,1793239794155667200
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745.450032755,715,680.549967245,661.549967245,635,879,787,803.450032755,652,631.549967245,653,0.401104893879,0.00449384801474,0.0798929017489,0.99999997724,0.000107580081698,-0.000178160356284,4.69596837427e-05,1793239794172333568
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.129144652,715,680.870855348,662,635,879,787,803,652.129144652,632,653,0.401165079494,0.00449513170065,0.079910436516,0.999999982491,0.000107586000363,-0.000146105918549,4.57950902484e-05,1793239794189000448
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.71683845,715,680.28316155,662,635,879,787,803,652.71683845,632,653,0.401234494036,0.00449493451817,0.0799231792206,0.999999985758,0.000104535906663,-0.000124902071203,4.4216990674e-05,1793239794205667072
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,879,787,803.299551462,652.700448538,632,653,0.401310271054,0.0044959323285,0.0799317001176,0.999999987509,0.000104416587948,-0.000110897771538,4.22025708918e-05,1793239794222333952
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,879,787,803.877633183,652.122366817,632,653,0.401391964054,0.0044980412723,0.0799362954742,0.999999988117,0.000107022375542,-0.000103587788301,3.97824500396e-05,1793239794239000832
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.544631765,746,715,680,662,635,879,787,804,652,631.544631765,653,0.40148707763,0.00449896673347,0.0799372256585,0.999999988416,0.000105234085365,-0.000103574404372,3.69565800359e-05,1793239794255667456
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.067030113,745.966484943,715,680,662,635,879,787,804,652,631,653,0.401587618032,0.00449956365307,0.0799374695629,0.999999988701,0.000102154998966,-0.000104921613452,3.39534448154e-05,1793239794272333824
+126,2.100000000,POSE1_TO_POSE2_PRESS,766.239983093,745.380008454,715,680,662,635,879,787,804,652,631,653,0.401718238989,0.00449998308827,0.0799426281251,0.999999990181,9.72459316445e-05,-9.63915634644e-05,2.98231867289e-05,1793239794289000448
+127,2.116666667,POSE1_TO_POSE2_PRESS,766.796088275,745.203911725,715,680,662,635.203911725,879,787,804,652,631.203911725,652.796088275,0.401860765262,0.00450097185432,0.0799485621862,0.999999991638,9.32093986173e-05,-8.59593888793e-05,2.541887523e-05,1793239794305667072
+128,2.133333333,POSE1_TO_POSE2_PRESS,766.216873101,745.783126899,715,680,662,635.783126899,879,787,804,652,631.783126899,652.216873101,0.402025203484,0.00450300848466,0.0799559235673,0.999999993075,9.07787822744e-05,-7.20263183554e-05,2.05101636151e-05,1793239794322333440
+129,2.150000000,POSE1_TO_POSE2_PRESS,766,745.639528233,715,680,662,635.639528233,879,787,803.639528233,652,631.639528233,652,0.402204580137,0.00450594129226,0.0799621817046,0.99999999414,8.86048315801e-05,-6.0402419263e-05,1.48268733803e-05,1793239794339000320
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,745.063302748,715,680,662,635.063302748,879,787,803.063302748,652,631.063302748,652,0.402392897926,0.0045094104904,0.0799677795165,0.999999994956,8.65845031342e-05,-5.01606307466e-05,8.67997294701e-06,1793239794355666944
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,745,715,680.513029729,662,635,878.486970271,787,803,652,631,652.513029729,0.402598447174,0.00451121353135,0.0799638250626,0.999999995395,7.69974962127e-05,-5.72689326619e-05,1.2124044412e-06,1793239794372341248
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.09143441,715,680.90856559,662,635,878.09143441,787,803.09143441,652,631,653,0.402811008773,0.00451328745338,0.0799583713383,0.999999995478,6.72082983256e-05,-6.69696777979e-05,-6.5084787849e-06,1793239794389014016
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.681057974,715,680.318942026,662,635,878.681057974,787,803.681057974,652,631,653,0.403050190752,0.00451795769264,0.0799511720437,0.999999994876,6.14055964216e-05,-7.91286624419e-05,-1.47215010591e-05,1793239794405671680
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.733986192,745.733986192,715,680.266013808,662,635,879,787,803.733986192,652,631,653,0.403313568364,0.00452191948094,0.0799467599769,0.99999999427,6.09304758141e-05,-8.54940006131e-05,-2.09178437451e-05,1793239794422333440
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.154530346,745.154530346,715,680.845469654,662,635,879,787,803.154530346,652,631,653,0.40360545549,0.00452504650663,0.0799456320797,0.999999993852,6.67328039375e-05,-8.503272866e-05,-2.47379477779e-05,1793239794439000064
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.421027927,745,715,681,662,635,879,787,803.421027927,652,631,653,0.403931060661,0.00453000524526,0.0799513253765,0.999999992944,8.78032631673e-05,-7.66263380209e-05,-2.30628720709e-05,1793239794455666688
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.995168777,745,715,681,662,635,879,787,803.995168777,652,631,653,0.404268927884,0.00453563011286,0.0799594992997,0.999999991131,0.00011442619996,-6.53305894679e-05,-1.93893942956e-05,1793239794472333312
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.570881909,715,681,662,635.570881909,879,787,803.429118091,652,631,653,0.404646835718,0.00453953199799,0.0799600835903,0.999999995264,7.16981056554e-05,-6.13241789851e-05,-2.38904652679e-05,1793239794489000448
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.849894789,745.849894789,715,680.849894789,662.150105211,635.849894789,879,787,803.150105211,652.150105211,631,653,0.405035408484,0.00454156569404,0.079959777943,0.99999999699,4.33450620049e-05,-5.84042649592e-05,-2.70338222107e-05,1793239794505667072
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.260436489,745.260436489,715,680.260436489,662.739563511,635.260436489,879,787,803.739563511,652.739563511,631,653,0.405454202542,0.00453817405692,0.0799570559917,0.999999996224,5.87899137241e-05,-5.84834351587e-05,-2.60001494483e-05,1793239794522333952
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.323253549,745,715,680,662.676746451,635.323253549,879,787,804,652.676746451,631,653,0.405887538875,0.00453476978762,0.0799499160923,0.999999995254,6.2996834671e-05,-6.94661473204e-05,-2.64085669857e-05,1793239794539000576
+142,2.366666667,POSE1_TO_POSE2_PRESS,765.902377793,745,715,680,662.097622207,635.902377793,879,787,804,652.097622207,631,653,0.406332386163,0.00453135551898,0.0799392791747,0.999999993942,5.83083958011e-05,-8.90795361533e-05,-2.79584680791e-05,1793239794555666944
+143,2.383333333,POSE1_TO_POSE2_PRESS,765.522284189,745.477715811,715,680,662,635.522284189,879,787,804,652,631,652.522284189,0.406809365648,0.00454442468492,0.0799357120754,0.999999992224,7.52979570901e-05,-9.54819539066e-05,-2.76780318707e-05,1793239794572333824
+144,2.400000000,POSE1_TO_POSE2_PRESS,765.053536757,746,715,680.053536757,662,635,879,787,804,652,631,652.053536757,0.40729675491,0.00455995747331,0.079933619748,0.999999990149,9.52601316372e-05,-9.94123320921e-05,-2.72712011499e-05,1793239794589000960
+145,2.416666667,POSE1_TO_POSE2_PRESS,765.641849935,746,715,680.641849935,662,635,879,787,804,652,631,652.641849935,0.407823052779,0.00456671682957,0.0799319409676,0.999999988914,0.00010101306415,-0.000105404642554,-2.93086433347e-05,1793239794605667584
+146,2.433333333,POSE1_TO_POSE2_PRESS,765.773477815,746,715,681,661.773477815,635,879,787,803.773477815,652,631,653,0.408364737601,0.004573920218,0.0799291655008,0.999999987441,0.000106855222425,-0.000112874709123,-3.09837824631e-05,1793239794622334464
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.194471141,746,715,681,661.194471141,635,879,787,803.194471141,652,631,653,0.408930365577,0.00458181455138,0.0799246835128,0.999999985598,0.000112836221933,-0.000122644268017,-3.20951523699e-05,1793239794639001856
+148,2.466666667,POSE1_TO_POSE2_PRESS,765,746,715,681,661.383590428,635,879,787,803.383590428,652.383590428,631,653,0.40955609479,0.0045930168324,0.0799437770105,0.999999987136,0.000127589385924,-9.13175055317e-05,-3.33267697507e-05,1793239794655668480
+149,2.483333333,POSE1_TO_POSE2_PRESS,765,746,715,681,661.961174012,635,879,787,803.961174012,652.961174012,631,653,0.410212218978,0.00460589204126,0.0799747933368,0.99999998786,0.000146778895452,-3.92071032042e-05,-3.46191997592e-05,1793239794672334848
+150,2.500000000,POSE1_TO_POSE2_PRESS,765,746,715,680.463860868,662,635,879.536139132,787,803.463860868,652.463860868,631.536139132,653,0.410877236083,0.00460912646644,0.0799956184782,0.999999988113,0.00014975103226,-5.00521783459e-06,-3.63745334639e-05,1793239794689001472
+151,2.516666667,POSE1_TO_POSE2_PRESS,765,745.886096083,715,680,662,635.113903917,879.886096083,787,803.227807835,652,632,652.886096083,0.411540784052,0.00460883026615,0.0800064581392,0.999999988236,0.000148073758487,1.24692280874e-05,-3.80330061733e-05,1793239794705667840
+152,2.533333333,POSE1_TO_POSE2_PRESS,765,745.295833781,715,680,662,635.704166219,879.295833781,787,804.408332438,652,632,652.295833781,0.412195507547,0.00459667421639,0.0799786089351,0.999999989944,0.000131839853872,-3.46148874481e-05,-3.91468823402e-05,1793239794722334208
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.288985481,745,715,680.288985481,662,635.711014519,879,787,804.711014519,652,631.711014519,652.288985481,0.412870545511,0.00458617896844,0.0799500576835,0.999999989157,0.000119996125291,-7.45966866569e-05,-4.1510756589e-05,1793239794739000576
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.868335796,745,715,680.868335796,662,635.131664204,879,787,804.131664204,652,631.131664204,652.868335796,0.413565994985,0.00457735244798,0.0799208010301,0.999999986874,0.000112563525603,-0.000107442275275,-4.5130595438e-05,1793239794755666944
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662.44389666,635.44389666,879.44389666,787,804,652,631,653,0.414312802397,0.00458486634646,0.0799276629539,0.999999989397,0.000103650743528,-9.13204243559e-05,-4.60663182945e-05,1793239794772333312
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.018370978,714.981629022,681,663,635.981629022,879.981629022,787,804,652,631,652.981629022,0.415074972699,0.00459697396381,0.0799452006361,0.999999992509,9.55523723568e-05,-6.09548139252e-05,-4.62109844637e-05,1793239794789000192
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.593693098,714.406306902,681,663,635.406306902,879.406306902,787,804,652,631,652.406306902,0.415844982918,0.00460265478221,0.0799643544694,0.999999990447,0.000125341975778,-3.53650827921e-05,-4.63053300884e-05,1793239794805667072
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.826830212,714.173169788,681,662.826830212,635.173169788,879.173169788,787,804,652,631,652,0.416616569936,0.0046085443049,0.0799724741881,0.999999987853,0.000146303831766,-2.58706041273e-05,-4.71053344879e-05,1793239794822334208
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745.23736611,714.76263389,681,662.23736611,635.76263389,879.76263389,787,804,652,631,652,0.417391947481,0.0046149355453,0.079954068267,0.999999986589,0.000146044080019,-5.50685696755e-05,-4.96017188309e-05,1793239794839000832
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745.346183818,715,681,662,635.653816182,879.653816182,787,804,652,631,652.346183818,0.418224693087,0.0046173739783,0.0799649763945,0.999999987881,0.000143912255161,-2.9085293807e-05,-5.17835690836e-05,1793239794855667200
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.925746695,715,681,662,635.074253305,879.074253305,787,804,652,631,652.925746695,0.419096113215,0.00461714763462,0.0799956465241,0.999999988101,0.000140518375948,3.40982956641e-05,-5.37533766269e-05,1793239794872333568
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.49791037,746,715,681,662.50208963,635,879,787,804,652,631,652.49791037,0.419920621565,0.0046117500907,0.0799927866478,0.999999988852,0.000135420111792,3.26002086521e-05,-5.37976154792e-05,1793239794889000192
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,746,715,681,662.920528242,635.079471758,879.079471758,787,804,652,631,652,0.420737481455,0.00460656299914,0.0799846890979,0.999999989816,0.000130612460868,2.03226269669e-05,-5.38172313018e-05,1793239794905666816
+164,2.733333333,POSE1_TO_POSE2_PRESS,765,746,715,681,662.333487302,635.666512698,879.666512698,787,804,652,631,652,0.421549519259,0.00460757326773,0.0799746080208,0.999999990106,0.000129260485763,-9.66361503741e-08,-5.54867579956e-05,1793239794922333696
+165,2.750000000,POSE1_TO_POSE2_PRESS,765,746,715,681,662.250217679,635.749782321,879.749782321,787,804,652,631,652.250217679,0.42240229935,0.00461109071259,0.0799808881269,0.999999989399,0.000134599462889,4.7634732632e-06,-5.53412006013e-05,1793239794939000576
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,746,715,681,662.829535108,635.170464892,879.170464892,787,804,652,631,652.829535108,0.423308666001,0.00461790573068,0.08000868734,0.999999986625,0.000148738740042,4.2872370494e-05,-5.28083471619e-05,1793239794955667712
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.407122118,746,715,681,663,635,879,787.407122118,804,652,631,653,0.424155569404,0.00462097999041,0.0800049505548,0.999999986799,0.000151390410867,2.78139442208e-05,-5.20580821886e-05,1793239794972334336
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.983987621,746,715,681,663,635,879,787.983987621,804,652,631,653,0.424977680455,0.00462249459732,0.0799880653124,0.999999987463,0.000149252497719,-9.41179250947e-06,-5.205104052e-05,1793239794989000960
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662.439458255,635,879,787.439458255,804,652,631.560541745,653,0.425810674872,0.00462266382943,0.0799487805244,0.999999985718,0.000147013517104,-6.33080276286e-05,-5.42591926178e-05,1793239795005667072
+170,2.833333333,POSE1_TO_POSE2_PRESS,766,746,715,681.139979935,662.139979935,635,879.139979935,787,804,652,631.860020065,653,0.426650394251,0.00462211502622,0.0799196377307,0.999999982771,0.00014520206465,-0.000101122069385,-5.61045811848e-05,1793239795022333696
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,746,715,681.728692007,662.728692007,635,879.728692007,787,804,652,631.271307993,653,0.42751067564,0.00461938755724,0.0799250570821,0.999999984234,0.000144770385773,-8.58558720264e-05,-5.6584322826e-05,1793239795039000320
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,746,715,682,663.312186351,635,880,787,804,652,631,652.687813649,0.428375040005,0.00461844982764,0.0799318744509,0.999999984643,0.000146264627335,-7.88042398438e-05,-5.57661371956e-05,1793239795055666944
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,746,715,682,663.891220699,635,880,787,804,652,631,652.108779301,0.429242894335,0.00461904191641,0.0799398868048,0.999999984287,0.000149405090851,-7.87741846964e-05,-5.38385203006e-05,1793239795072333312
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,746,715,682,663.532594107,635.467405893,880.467405893,787,804.467405893,652,631,652.467405893,0.430124530649,0.00462122726919,0.0799701523656,0.999999987053,0.000148034285498,-3.20915917527e-05,-5.4321350738e-05,1793239795089000192
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,746,715,682,663,635.956148579,880.956148579,787.043851421,805,652,631,653,0.431005349941,0.00462378458429,0.0800048453316,0.999999987516,0.000146135944718,2.3632704517e-05,-5.52610782012e-05,1793239795105667328
+176,2.933333333,POSE1_TO_POSE2_PRESS,766,746,715,682,663,635.36829797,880.36829797,787.63170203,805,652,631,653,0.431836483517,0.00462638418501,0.0800306037917,0.999999985482,0.000150638982526,5.76478997279e-05,-5.49517311793e-05,1793239795122333952
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.783593614,746,715,681.783593614,663,635,880,787.783593614,804.783593614,652,631,653,0.432636177038,0.00462862796939,0.080025379723,0.999999985958,0.000152081972712,4.40016632885e-05,-5.49513978195e-05,1793239795139000576
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.204166984,746,715,681.204166984,663,635,880,787.204166984,804.204166984,652,631,653,0.433383130212,0.00463027487469,0.0799681826765,0.999999986222,0.000148391753805,-4.95962963771e-05,-5.54694324905e-05,1793239795155666944
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.374212974,746,715,681.748425949,663,635,880.374212974,787,804.374212974,652,631,652.625787026,0.434170777219,0.00462766686209,0.0799310830553,0.999999983527,0.00014262112474,-9.65621149269e-05,-5.7279806761e-05,1793239795172333568
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.952023436,746,715,682.904046873,663,635,880.952023436,787,804.952023436,652,631,652.047976564,0.434980564412,0.00462274388265,0.0799049178135,0.999999982022,0.000135718610699,-0.000118156849563,-5.97933024084e-05,1793239795188999936
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.474231458,714.474231458,682.474231458,663,635,880.474231458,787,804.474231458,652,631,652.525768542,0.435770327359,0.00461908770732,0.0799366857664,0.999999986565,0.00013364477706,-7.43635336362e-05,-5.89842674722e-05,1793239795205666816
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.897863388,745.102136612,714,682,662.897863388,635,880,787,804,652,631,653,0.43654580311,0.00461713217871,0.0799680955845,0.999999988871,0.000133038744448,-3.4919044015e-05,-5.77895653056e-05,1793239795222333696
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.307188428,745.692811572,714,682,662.307188428,635,880,787,804,652,631,653,0.4372616134,0.00462276248253,0.0799727004449,0.999999987993,0.000137362087424,-4.45965654395e-05,-5.61891949724e-05,1793239795239000576
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,746,714.277478971,682,662,635,880.277478971,787,804,652,631.277478971,653,0.437966903161,0.00462961056235,0.0799657638208,0.999999986016,0.000145198248303,-6.11800223246e-05,-5.60589783979e-05,1793239795255667456
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,746,714.855636488,682,662,635,880.855636488,787,804,652,631.855636488,653,0.438660792741,0.00463777823413,0.0799463207467,0.999999982413,0.000156840927865,-8.52468083089e-05,-5.75218328823e-05,1793239795272334080
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.43221637,746,714.56778363,682.43221637,662,635,880.56778363,787,804.43221637,652,631.56778363,653,0.439319495881,0.00464523598643,0.079910401192,0.999999975567,0.000162945844035,-0.000137876225138,-5.74952634491e-05,1793239795289000704
+187,3.116666667,POSE1_TO_POSE2_PRESS,766,746,714,682.991751088,661.991751088,635,880.008248912,787,804.991751088,652,631,652.991751088,0.439965061394,0.00465250885517,0.0798685961698,0.999999964244,0.000167298437185,-0.000200687224941,-5.69958068846e-05,1793239795305667328
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714,682.417253513,661.417253513,635,880.582746487,787,804.417253513,652,631,652.417253513,0.440512609346,0.00466330816335,0.0797991813058,0.999999934473,0.00017787062124,-0.000309912106745,-5.80602687908e-05,1793239795322333952
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.838651627,745.838651627,714,682.161348373,661.161348373,634.838651627,881,787,804.161348373,652,631,652.161348373,0.441058488599,0.00467355516268,0.0797367785007,0.999999897221,0.000189541603273,-0.000407595102905,-5.91395485087e-05,1793239795339000320
+190,3.166666667,POSE1_TO_POSE2_PRESS,765.249158655,745.249158655,714,682.750841345,661.750841345,634.249158655,881,787,804.750841345,652,631,652.750841345,0.441599940014,0.00468233658997,0.0796929824696,0.999999864703,0.000204128297976,-0.000474651258317,-6.02581495634e-05,1793239795355666944
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.334231288,714,683,661.665768712,634,881,786.665768712,805,652,631,653,0.442180556311,0.00468961026788,0.0796942574998,0.999999864499,0.000216441463252,-0.000469654824767,-5.98282676992e-05,1793239795372333568
+192,3.200000000,POSE1_TO_POSE2_PRESS,765,745.913153169,714,683,661.086846831,634,881,786.086846831,805,652,631,653,0.442789845171,0.00469578012254,0.0797285290389,0.999999887683,0.000227090177577,-0.000411908715027,-5.82647420163e-05,1793239795389000960
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.490064112,746,714,683,661,634,881,786.490064112,804.509935888,652,631,653,0.443364079733,0.00470482366609,0.0797612321371,0.999999904197,0.000240657556994,-0.000361092605089,-5.74628304558e-05,1793239795405667840
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.932173709,746,714,683,660.932173709,634,880.932173709,787,804.067826291,652,631,653,0.443916788035,0.00471412498622,0.0797872477999,0.999999914206,0.000254324376328,-0.000322000269007,-5.67707879134e-05,1793239795422334720
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.3451792,746,714,683,660.3451792,634,880.3451792,787,804.6548208,652,631,653,0.444352082039,0.00472151727581,0.0797641941431,0.999999897388,0.000264809439731,-0.000363284218987,-5.58908384745e-05,1793239795439000832
+196,3.266666667,POSE1_TO_POSE2_PRESS,765,746,714,683,660,634,880.477616998,786.761191501,804.761191501,652,631,653,0.444775659705,0.00472822842384,0.0797387298245,0.999999878618,0.000271173022292,-0.000407622270147,-5.54454537767e-05,1793239795455667200
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,746,714,683,660,634,881.637008155,786.181495923,804.181495923,652,631,653,0.445182512852,0.00473396727607,0.0797098244098,0.999999857441,0.000271653398156,-0.000456319893166,-5.56203884121e-05,1793239795472333824
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.396695294,745.603304706,714,683,659.206609413,634,881.603304706,786,804,652,631,652.603304706,0.445588904038,0.0047453602674,0.0796958890139,0.999999844746,0.000282077775861,-0.000477111513982,-5.74831997453e-05,1793239795489000192
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.974200885,745.025799115,714,683,658.051598229,634,881.025799115,786,804,652,631,652.025799115,0.445995084702,0.00475933036714,0.0796887768211,0.999999836377,0.000297034544121,-0.00048518382382,-6.011533078e-05,1793239795505666816
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.453153357,745,713.453153357,683,658.546846643,633.453153357,881,786,804,652,631,652.546846643,0.446369324796,0.00478682595336,0.0796838500304,0.99999982503,0.000332681399631,-0.000484736701611,-6.55185766204e-05,1793239795522333696
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,713.123438749,683,658.876561251,633,880.876561251,786,804,652,631,653,0.446731327801,0.00481101808659,0.0796795812211,0.999999814015,0.000364851179958,-0.000483685749777,-7.00135957004e-05,1793239795539000320
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,713.715888828,683,658.284111172,633,880.284111172,786,804,652,631,653,0.447052510594,0.00482025544986,0.0796774241483,0.999999809168,0.000380133531604,-0.0004818542186,-7.05654060402e-05,1793239795555666944
+203,3.383333333,POSE1_TO_POSE2_PRESS,765.301229325,745,714,683,658,633,880,786,804,652,631,652.698770675,0.447350242875,0.00482326404205,0.0796720145415,0.999999805333,0.000384552884083,-0.000486193991184,-7.11987769967e-05,1793239795572333312
+204,3.400000000,POSE1_TO_POSE2_PRESS,765.880018839,745,714,683,658,633,880,786,804,652,631,652.119981161,0.447626367254,0.00482053328913,0.0796636079691,0.999999802491,0.000378962798139,-0.000496220156636,-7.19072999044e-05,1793239795589000192
+205,3.416666667,POSE1_TO_POSE2_PRESS,765.543264942,745.456735058,713.543264942,683,657.543264942,633,880.456735058,786,804,652,631,652,0.447866003902,0.00482429042528,0.0796503809574,0.999999793014,0.000373039530597,-0.000519191900588,-7.2480174176e-05,1793239795605666816
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.966463318,713,683,657,633,880.966463318,786,804,652,631,652.033536682,0.448094544196,0.00482936303141,0.0796361788817,0.999999781855,0.000366388263012,-0.000544726228951,-7.29636137847e-05,1793239795622333440
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.379301407,713,683,657,633,880.379301407,786,804,652,631,652.620698593,0.448297421271,0.00482814355791,0.0796266900185,0.999999781467,0.000349157466561,-0.000556678359341,-7.25562513651e-05,1793239795639000064
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.205065954,713,683.205065954,657,632.794934046,880.205065954,786,804.205065954,652,631,653,0.448492579153,0.00482428578975,0.0796202698812,0.999999780097,0.0003393449526,-0.000565280935123,-7.14665567105e-05,1793239795655666688
+209,3.483333333,POSE1_TO_POSE2_PRESS,765,745.784333792,713,683.784333792,657,632.215666208,880.784333792,786,804.784333792,652,631,653,0.448673651122,0.00481561369339,0.0796194495192,0.99999977758,0.000343069233282,-0.000567771283049,-6.91317505038e-05,1793239795672333312
+210,3.500000000,POSE1_TO_POSE2_PRESS,765,745.637833341,713,683.637833341,656.637833341,632,881,786,805,652,631,653,0.448837986863,0.00480396774514,0.0796222501935,0.999999780483,0.000338975952778,-0.000565303650129,-6.75390904576e-05,1793239795689000192
+211,3.516666667,POSE1_TO_POSE2_PRESS,765,745.060851556,713,683.060851556,656.060851556,632,881,786,805,652,631,653,0.448992395714,0.00479055788886,0.0796271986452,0.999999786524,0.000330245773118,-0.000559895246198,-6.63866259253e-05,1793239795705667072
+212,3.533333333,POSE1_TO_POSE2_PRESS,765,745,713.510705403,683.510705403,656,632,881,786,804.489294597,652.510705403,631,653,0.449125027447,0.00478604796137,0.0796308130049,0.999999791661,0.000324397735924,-0.000554026368507,-6.70755313425e-05,1793239795722334208
+213,3.550000000,POSE1_TO_POSE2_PRESS,765,745,714,683.915002297,656.084997703,632,881,785.915002297,804.084997703,652.915002297,631,653,0.449250057951,0.0047841278108,0.0796331342776,0.999999795007,0.00032103611799,-0.000549808933395,-6.8051561219e-05,1793239795739001344
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,714,683.320478468,656.679521532,632,881,785.320478468,804.679521532,652.320478468,631,653,0.449344913465,0.00479144219267,0.0796286469109,0.999999788493,0.000330542572863,-0.000555816656385,-6.94473783299e-05,1793239795755667456
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745.266933372,713.733066628,683.266933372,656.733066628,632,880.733066628,785,804.733066628,652,631,653,0.449426464845,0.00479549631507,0.0796219497122,0.999999780777,0.000336121064961,-0.000566168512641,-7.01518263496e-05,1793239795772333568
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.846028163,713.153971837,683.846028163,656.153971837,632,880.153971837,785,804.153971837,652,631,653,0.44949245789,0.00479573777317,0.0796126682575,0.999999771597,0.000337106056518,-0.000581600553084,-7.00477625757e-05,1793239795789000192
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.577965823,713,683.577965823,656,631.577965823,880,785,804.422034177,652,631,653,0.449549054933,0.00479783851914,0.0796072201254,0.999999766046,0.000340235529088,-0.000589171629974,-7.08865288284e-05,1793239795805666816
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.003078521,713,683.003078521,656,631.003078521,880,785,804.996921479,652,631,653,0.449602248912,0.00480061266547,0.0796031603534,0.99999976183,0.000344141693775,-0.000593895608097,-7.20667710227e-05,1793239795822333440
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,713,683.58489445,656,631.58489445,880,785.58489445,805,652,631,653,0.44964815454,0.00480209672451,0.0796064487177,0.999999764639,0.000344473475152,-0.000589033982773,-7.1400747405e-05,1793239795839000064
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713.170409245,684,656,632,880.170409245,786,805,652,631,653,0.449689218087,0.00480321700063,0.0796093113391,0.999999766782,0.000345259386572,-0.000585002313428,-7.0738092124e-05,1793239795855666944
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,713.749854449,684,656,632,880.749854449,786,805,652,631,653,0.449718753288,0.00480348075443,0.0796110570836,0.99999976728,0.000347181544727,-0.000583086674763,-7.01073811077e-05,1793239795872333568
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,713.673639495,683.673639495,656,632,881,785.673639495,804.673639495,652,631,652.673639495,0.449739692805,0.0048036849379,0.0796104483312,0.999999765784,0.00034889878693,-0.000584660592834,-6.98145518457e-05,1793239795889000192
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,713.09936604,683.09936604,656,632,881,785.09936604,804.09936604,652,631,652.09936604,0.449754102794,0.00480384387004,0.0796080510344,0.999999762761,0.000350460369203,-0.000588885279674,-6.97783873424e-05,1793239795905666816
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,713.477676479,683,656,632,880.522323521,785.477676479,804,652,631,652.477676479,0.449764485593,0.00480342569079,0.0796068111336,0.999999761941,0.000348798350461,-0.000591266526245,-6.9725512933e-05,1793239795922333440
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,714,683.056176162,656,632,880.056176162,785.943823838,804.056176162,652,631,653,0.449773503036,0.00480306657691,0.0796056856384,0.999999761475,0.000346725563812,-0.000593275244207,-6.96775027326e-05,1793239795939000320
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,714,683.642967367,656,632,880.642967367,785.357032633,804.642967367,652,631,653,0.449777582941,0.00480440592265,0.079603353387,0.99999976006,0.000347143701087,-0.000595408445563,-6.97084617224e-05,1793239795955666944
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713.772431053,684,655.772431053,631.772431053,881,785.227568947,804.772431053,652,631,653,0.449780966112,0.00480505966029,0.0796020159762,0.999999758831,0.000347868195864,-0.000597076829386,-6.94670193637e-05,1793239795972333568
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713.191232071,684,655.191232071,631.191232071,881,785.808767929,804.191232071,652,631,653,0.449783266595,0.00480464799937,0.0796022244948,0.999999757893,0.000349068753871,-0.000598022911374,-6.88022798021e-05,1793239795989000192
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713,683.613283451,655,631,881,785.613283451,804.386716549,652,631,653,0.449784159722,0.00480491436811,0.0796013317002,0.99999975649,0.000349311574822,-0.00060022950038,-6.87523049808e-05,1793239796005667072
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713,683.036928762,655,631,881,785.036928762,804.963071238,652,631,653,0.44978436271,0.00480551322919,0.0795998988434,0.999999754852,0.00034908474044,-0.000603054217045,-6.90037986391e-05,1793239796022333440
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713,683.536177148,655,631,881,785.536177148,805,652.536177148,631,653,0.449784897498,0.00480455223661,0.0795995518565,0.999999755995,0.000346413517301,-0.000602737432525,-6.86617492119e-05,1793239796039001088
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,683.887395948,655,631,880.887395948,785.887395948,804.887395948,652.887395948,631,653,0.44978545953,0.00480422259153,0.0795992094109,0.999999756763,0.000344795646663,-0.00060241859288,-6.84272806208e-05,1793239796055668480
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713,683.295899499,655,631,880.295899499,785.295899499,804.295899499,652.295899499,631,653,0.449786040829,0.00480703214832,0.0795985701278,0.999999755143,0.000348369250662,-0.000603005661372,-6.88231514502e-05,1793239796072334080
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745.289261923,713,683,655,631,880,785,804.289261923,652,631,653,0.449786230239,0.00480888161514,0.0795979725066,0.999999753893,0.000350230173238,-0.000603981970742,-6.89880195603e-05,1793239796089000192
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745.868081905,713,683,655,631,880,785,804.868081905,652,631,653,0.449786027359,0.00480977000944,0.07959741659,0.99999975302,0.000350376661442,-0.000605347919553,-6.89216485068e-05,1793239796105667072
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745.556243821,713,683,655,631.443756179,880,785,804.556243821,652,630.556243821,653,0.449786345476,0.00480831704458,0.0795973330857,0.999999753898,0.000348690206151,-0.000604904266054,-6.86349712264e-05,1793239796122333952
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713,683.01894398,655,632,880.01894398,785.01894398,804.01894398,652,630.01894398,653,0.449786814484,0.00480629490624,0.0795974059245,0.999999755205,0.000346619108072,-0.000603971611879,-6.82946057439e-05,1793239796139001344
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713,683.607423879,655,632,880.607423879,785.607423879,804.607423879,652,630.607423879,653,0.449787196394,0.00480793931383,0.0795979866921,0.999999754032,0.000349250410889,-0.000604396782237,-6.82952453139e-05,1793239796155667456
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713.192967736,684,655,632,881,786,804.807032264,652,631,653,0.449787496298,0.00480892862937,0.079598362871,0.999999753287,0.00035097385797,-0.000604627477371,-6.83245484234e-05,1793239796172333824
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713.772627956,684,655,632,881,786,804.227372044,652,631,653,0.449787631866,0.0048086051908,0.0795983290696,0.999999753411,0.0003508780319,-0.000604468459115,-6.84112910603e-05,1793239796189000448
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745.349740882,713.650259118,684,655,631.650259118,881,786,804.349740882,652,631,653,0.449788116594,0.00480775348268,0.0795982923242,0.999999754124,0.000348971577518,-0.000604406679264,-6.82867174911e-05,1793239796205667072
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.925209723,713.074790277,684,655,631.074790277,881,786,804.925209723,652,631,653,0.449788826675,0.00480656082155,0.0795982536787,0.99999975521,0.000345896516735,-0.000604407658525,-6.80257573005e-05,1793239796222333696
+243,4.050000000,POSE1_TO_POSE2_PRESS,765.499752719,745.500247281,713,683.500247281,655,631.499752719,880.500247281,785.500247281,805,652,631,652.500247281,0.449788211339,0.00480701863243,0.079596910199,0.999999754348,0.000345986811452,-0.000605750025137,-6.82921090493e-05,1793239796239000064
+244,4.066666667,POSE1_TO_POSE2_PRESS,765.92352991,745,713,683,655,631.92352991,880.07647009,785,805,652,631,652.07647009,0.44978770261,0.00480763227294,0.079595825828,0.999999753486,0.000346591347468,-0.000606794061182,-6.85812444211e-05,1793239796255666688
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.331212077,745,713,683,655,631.331212077,880.668787923,785,805,652,631,652.668787923,0.449789248601,0.00480763397756,0.0795978041746,0.99999975459,0.000347475206757,-0.000604473965785,-6.84927184853e-05,1793239796272333568
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745.255174416,713,683.255174416,655,631.255174416,881,785.255174416,805,652,631,653,0.449789983869,0.00480725863928,0.0795984743244,0.999999755147,0.00034767031854,-0.000603449909806,-6.84119795662e-05,1793239796289000448
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.834037097,713,683.834037097,655,631.834037097,881,785.834037097,805,652,631,653,0.449789690737,0.00480640502276,0.0795974850293,0.999999755013,0.00034699175553,-0.000604069877073,-6.83411184512e-05,1793239796305667328
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.590030741,713,684,655,631.590030741,880.590030741,785.590030741,805,652,631,652.590030741,0.449789969055,0.00480475391333,0.0795974612806,0.999999755775,0.000344774910312,-0.000604117418873,-6.79868396956e-05,1793239796322333696
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.015276519,713,684,655,631.015276519,880.015276519,785.015276519,805,652,631,652.015276519,0.449790477065,0.00480278225591,0.0795978256282,0.999999756891,0.000341939760788,-0.000603934877261,-6.75186427319e-05,1793239796339000064
+250,4.166666667,POSE1_TO_POSE2_PRESS,764.44123274,745,713,683.44123274,654.44123274,631,880.55876726,785,804.44123274,652,631,652,0.449790844285,0.00480423369475,0.0795983250926,0.999999757104,0.000342021296206,-0.000603509167222,-6.774607806e-05,1793239796355666688
+251,4.183333333,POSE1_TO_POSE2_PRESS,764.137554326,745,713.137554326,683,654.137554326,631.137554326,880.862445674,785,804,652,631,652.137554326,0.449790708563,0.00480576554773,0.0795982417315,0.999999756545,0.000342817996305,-0.000603952980666,-6.80204095573e-05,1793239796372333312
+252,4.200000000,POSE1_TO_POSE2_PRESS,764.732166547,745,713.732166547,683,654.732166547,631.732166547,880.267833453,785,804,652,631,652.732166547,0.449788914466,0.00480725402751,0.0795962095312,0.999999753487,0.000345726382649,-0.000607308060625,-6.83874521037e-05,1793239796388999936
+253,4.216666667,POSE1_TO_POSE2_PRESS,765,745.316913056,713.683086944,683,655,632,880,785.316913056,804,652,631,652.683086944,0.449789614867,0.00480870684799,0.0795969419977,0.999999753237,0.000347419549523,-0.000606727863347,-6.86020350541e-05,1793239796405667072
+254,4.233333333,POSE1_TO_POSE2_PRESS,765,745.893573432,713.106426568,683,655,632,880,785.893573432,804,652,631,652.106426568,0.4497923598,0.00481013044144,0.0795999404321,0.99999975529,0.000348116701754,-0.000602922245899,-6.86916595143e-05,1793239796422333952
+255,4.250000000,HOLD_POSE2,766,745,714,684,655,631,881,786,805,652,631,652,0.449792349479,0.0048058768922,0.0795982676543,0.999999756223,0.000345301710049,-0.000603124849769,-6.75328559449e-05,1793239796454456576
+256,4.266666667,HOLD_POSE2,765.411639553,745.588360447,714,683.411639553,655,631.588360447,881,785.411639553,805,652,631,652.588360447,0.449791654209,0.00480572566477,0.0795981039886,0.999999755537,0.000345352811079,-0.000604226657911,-6.7586417467e-05,1793239796471123200
+257,4.283333333,HOLD_POSE2,765,745.82558847,713.82558847,683.17441153,655,631.82558847,881,785,805,652,631,653,0.449791653405,0.00480576920328,0.0795982545622,0.999999755306,0.000345525664917,-0.000604506834816,-6.76161917013e-05,1793239796487789824
+258,4.300000000,HOLD_POSE2,765,745.244916519,713.244916519,683.755083481,655,631.244916519,881,785,805,652,631,653,0.449793270236,0.00480626641412,0.0795991370997,0.999999756136,0.00034598212013,-0.000602873169126,-6.75905577202e-05,1793239796504456448
+259,4.316666667,HOLD_POSE2,765,745.333213629,713,683.666786371,655,631,881,785.333213629,804.666786371,652,631,653,0.449793171444,0.00480581736422,0.0795991896359,0.999999756173,0.00034587035331,-0.000602893882709,-6.74285756147e-05,1793239796521123072
+260,4.333333333,HOLD_POSE2,765,745.909489627,713,683.090510373,655,631,881,785.909489627,804.090510373,652,631,653,0.44979182119,0.00480467806528,0.0795986367284,0.999999755632,0.000345344097435,-0.000604121381795,-6.71671344997e-05,1793239796537789184
+261,4.350000000,HOLD_POSE2,765,745.515275779,713.484724221,683.484724221,655,631,881,786,804,652,631,653,0.449792058118,0.00480543372049,0.0795986393675,0.999999755611,0.000345329651375,-0.000604153149801,-6.72655125012e-05,1793239796554455808
+262,4.366666667,HOLD_POSE2,765,745,713.938705497,684,655,631.061294503,881,785.938705497,804.061294503,652,631,653,0.449792527786,0.00480632874899,0.0795986665907,0.999999755715,0.000345185195333,-0.000604044962304,-6.74297399768e-05,1793239796571122432
+263,4.383333333,HOLD_POSE2,765,745,713.348946289,684,655,631.651053711,881,785.348946289,804.651053711,652,631,653,0.449792454358,0.00480538127563,0.0795980133159,0.999999756057,0.000343097633576,-0.000604650993097,-6.75836740461e-05,1793239796587789056
+264,4.400000000,HOLD_POSE2,765,745,713,684,654.763777999,631.763777999,881,785,804.763777999,652,631,653,0.449792533001,0.0048052037706,0.0795977932061,0.999999756133,0.000342689412299,-0.000604748882433,-6.765742992e-05,1793239796604455680
+265,4.416666667,HOLD_POSE2,765,745,713,684,654.185262161,631.185262161,881,785,804.185262161,652,631,653,0.449792832001,0.00480614197637,0.0795982007676,0.999999755825,0.000344714613561,-0.000604110457196,-6.76150048062e-05,1793239796621122304
+266,4.433333333,HOLD_POSE2,765,745,713,684,654.390695701,631.390695701,881,785.390695701,804,652,631,653,0.44979230553,0.00480599579188,0.0795978709206,0.999999755586,0.000344301599147,-0.000604737937733,-6.76519311875e-05,1793239796637788928
+267,4.450000000,HOLD_POSE2,765,745,713,684,654.965448549,631.965448549,881,785.965448549,804,652,631,653,0.449791390177,0.00480533875011,0.0795971936798,0.999999755376,0.000342739938991,-0.000605961787727,-6.7726240136e-05,1793239796654455808
+268,4.466666667,HOLD_POSE2,765,745,713,683.44639422,655,631.44639422,881,785.44639422,804,652,631,653,0.449792653821,0.00480537152555,0.0795975642961,0.999999755751,0.000343362596452,-0.000605008532238,-6.75613465768e-05,1793239796671122176
+269,4.483333333,HOLD_POSE2,765,745,713,683,655,631.140402683,881,785.140402683,804,652,631,653,0.449793569503,0.00480518806048,0.0795978930205,0.999999756019,0.000343803218184,-0.000604331147492,-6.74169163552e-05,1793239796687788800
+270,4.500000000,HOLD_POSE2,765,745,713,683,655,631.720258519,881,785.720258519,804,652,631,653,0.449792959866,0.00480418967751,0.0795978808523,0.99999975584,0.000343236793704,-0.000604953063814,-6.73844218233e-05,1793239796704455424
+271,4.516666667,HOLD_POSE2,765,745,713,683,655,631.701867845,881,785.701867845,804,652,631,653,0.449792861984,0.00480452805595,0.079597964822,0.999999756071,0.00034287719243,-0.000604767475116,-6.74504296138e-05,1793239796721122304
+272,4.533333333,HOLD_POSE2,765,745,713,683,655,631.125841885,881,785.125841885,804,652,631,653,0.449793241117,0.00480611245137,0.0795981384034,0.999999756684,0.000342710374449,-0.000603829197886,-6.76082530145e-05,1793239796737789184
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,655,631,881,785,804,652,631,653,0.449794812672,0.00480376295794,0.0795988135615,0.999999756649,0.000344063037101,-0.000603178570741,-6.70698342378e-05,1793239796770381568
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.413222842,631,880.413222842,784.413222842,804.586777158,652,631,652.413222842,0.449793174756,0.00480272176044,0.0795973646973,0.99999975629,0.00034137757904,-0.000605294533445,-6.70848390839e-05,1793239796787048192
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713.171490268,683,654,631,880,784.171490268,805,652,631,652,0.449792326131,0.00480264876447,0.0795966374934,0.999999755991,0.000340008729019,-0.000606544616525,-6.72054457614e-05,1793239796803714816
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713.751289119,683,654,631,880,784.751289119,805,652,631,652,0.449793356761,0.00480488100108,0.0795976285215,0.999999755855,0.000341774647375,-0.00060573308987,-6.75774844019e-05,1793239796820381440
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713.67293709,683.32706291,654.32706291,631.32706291,880.32706291,785,805,652,631,652.32706291,0.449793835971,0.0048048472255,0.0795978465723,0.999999755984,0.000342744330308,-0.000605008475196,-6.72594320471e-05,1793239796837048064
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713.100186928,683.899813072,654.899813072,631.899813072,880.899813072,785,805,652,631,652.899813072,0.44979390096,0.00480311123808,0.0795974839682,0.999999756311,0.00034311588695,-0.000604349148211,-6.64229883926e-05,1793239796853714944
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.51298406,745,713,683.51298406,655,632,881,785,805,652,631,653,0.449793820771,0.00480321042891,0.0795979069934,0.999999756378,0.000343031775481,-0.000604248612177,-6.67623612321e-05,1793239796870381568
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764.075776367,745,713.075776367,683,655,631.924223633,881.075776367,785,805,652,631,653,0.44979324666,0.00480376289238,0.0795981101976,0.999999756152,0.000342944959641,-0.000604613150177,-6.72826686375e-05,1793239796887047936
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764.654536899,745,713.654536899,683,655,631.345463101,881.654536899,785,805,652,631,653,0.449789598319,0.00480474150685,0.0795957487086,0.999999754349,0.000343481432412,-0.000607278371493,-6.7349304163e-05,1793239796903714560
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,631.232051091,881.767948909,785,805,652,631,653,0.449779109203,0.00480529993674,0.0795897796557,0.999999749078,0.000343200444755,-0.000616054862187,-6.73322570004e-05,1793239796920381440
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,655,631.807719674,881.192280326,785,805,652,631,653,0.449758490377,0.00480523616405,0.0795784685808,0.999999738458,0.000341708974833,-0.000633880821051,-6.71912938503e-05,1793239796937048064
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713.61701548,683.38298452,655,632,880.61701548,785.38298452,805,652,631,653,0.449717357137,0.00480445597055,0.0795599654358,0.999999718777,0.000341801503188,-0.000664235065898,-6.6411060665e-05,1793239796953714688
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713.041953068,683.958046932,655,632,880.041953068,785.958046932,805,652,631,653,0.44966593532,0.00480331647115,0.0795378552571,0.999999693538,0.000342688452337,-0.000700872612013,-6.53102148568e-05,1793239796970381312
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.450752705,655,632,880.549247295,785.450752705,805,652,631,653,0.449598467719,0.00480278011215,0.0795197842906,0.999999672893,0.000342139278648,-0.000730040319721,-6.47798766376e-05,1793239796987048448
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,655,631.861556585,880.861556585,785.138443415,804.861556585,652,631,653,0.449527297318,0.00480254029338,0.0795048233223,0.999999655299,0.000342746594694,-0.000753547216088,-6.39752039172e-05,1793239797003715072
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,655,631.282774433,880.282774433,785.717225567,804.282774433,652,631,653,0.449448365898,0.00480309269596,0.0794987431181,0.999999648229,0.000347391751895,-0.000760918820605,-6.21551733312e-05,1793239797020381440
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.294515428,713.294515428,683,655,631.294515428,880.294515428,785.705484572,804,652,631,653,0.449361625519,0.00480298210389,0.0794959951035,0.999999644898,0.000350769786243,-0.000763919727529,-5.99329402006e-05,1793239797037048064
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.870379678,713.870379678,683,655,631.870379678,880.870379678,785.129620322,804,652,631,653,0.449267425291,0.00480223815699,0.0794964303099,0.999999645184,0.000352937345473,-0.000762745332858,-5.73264855045e-05,1793239797053714944
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.544316935,714,683.455683065,655,632,881,785,804.455683065,652,631,653,0.449152658423,0.00480005596084,0.0794993026892,0.999999648028,0.000352147170189,-0.000759577989061,-5.45607882868e-05,1793239797070381568
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713.956921263,684,655,632,881,785,805,652,631,652.956921263,0.449029776135,0.00479765977268,0.0795029501678,0.999999651477,0.000350926079337,-0.0007557957038,-5.16664693591e-05,1793239797087048192
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713.377610271,684,655,632,881,785,805,652,631,652.377610271,0.448880237825,0.00479780012851,0.0795074338193,0.99999965341,0.000355035310171,-0.000751564675015,-4.77468733902e-05,1793239797103714816
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,655.200822505,632,881,785.200822505,804.799177495,652,631,652.200822505,0.448718586888,0.00479732206343,0.0795109216533,0.999999654002,0.00035930390239,-0.000749008116188,-4.33881446719e-05,1793239797120381696
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,655.777611082,632,881,785.777611082,804.222388918,652,631,652.777611082,0.448534259542,0.00479568623329,0.0795125451858,0.999999652129,0.000363870839576,-0.000749586385272,-3.82073022872e-05,1793239797137048320
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,656,632,881,785.64627201,804.35372799,652,631,653,0.448328948754,0.00479299397551,0.0795102521523,0.999999647048,0.000369418262102,-0.000753922271707,-3.21754285714e-05,1793239797153714688
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,656,632,881,785.070576523,804.929423477,652,631,653,0.448110470648,0.00478963879974,0.0795055014386,0.999999639873,0.000375580948413,-0.000760616096832,-2.56095245308e-05,1793239797170381312
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,656,632,880.485044377,785,804.485044377,652,631,653,0.447857797687,0.00478680545031,0.0795054190802,0.9999996373,0.000377349983663,-0.000763314420534,-1.89446657774e-05,1793239797187048192
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.899391653,656,632,880.100608347,785,804.100608347,652,631,653,0.447596030326,0.00478418299147,0.0795071342453,0.999999636959,0.000379293489943,-0.000762932903062,-1.22953038161e-05,1793239797203714560
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.31970916,656,632,880.68029084,785,804.68029084,652,631,653,0.447313708177,0.00478221755951,0.0795143028269,0.999999644216,0.0003849910039,-0.000750544196594,-5.78556902571e-06,1793239797220381440
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.257986866,713,683,656,632,881,785.257986866,805,652,631,653,0.447014948058,0.00477887540267,0.0795245207359,0.999999654111,0.000387375077266,-0.000736014483291,4.2104026501e-07,1793239797237048064
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.833239947,713,683,656,632,881,785.833239947,805,652,631,653,0.446695972923,0.00477384018189,0.0795384886361,0.99999966723,0.000385684358521,-0.000718851810575,6.25487251303e-06,1793239797253714688
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.590546361,713.409453639,683.409453639,656,632,881,785.590546361,804.590546361,652,631,653,0.446336761444,0.00476902287148,0.0795479047643,0.999999678653,0.000372227350315,-0.000709986745849,7.77487454914e-06,1793239797270382080
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.01394053,713.98605947,683.98605947,656,632,881,785.01394053,804.01394053,652,631,653,0.445961124198,0.00476429451926,0.0795554627119,0.999999689159,0.000353966962917,-0.000704509032797,7.53383170691e-06,1793239797287049728
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.424091957,656.575908043,632.575908043,880.424091957,785.575908043,804,652,631,653,0.445534011,0.00475602676348,0.079560888604,0.999999700291,0.000331457703398,-0.000699636180928,7.97122859515e-06,1793239797303715840
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,633,880.162972443,785.837027557,804.162972443,652,631,653,0.445097998894,0.00474820346761,0.079569234142,0.999999713986,0.000311396604134,-0.000689184391041,9.17436421372e-06,1793239797320381952
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,657,633,880.742089664,785.257910336,804.742089664,652,631,653,0.444642520383,0.00474173900508,0.0795851697823,0.999999734819,0.000297855607755,-0.000664448701298,1.22898673638e-05,1793239797337048576
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.318000354,713.681999646,683,657.318000354,633,880.681999646,785.318000354,804.681999646,652,631,653,0.444166047444,0.00473421377244,0.079597175679,0.999999748952,0.000288578312283,-0.000646998153406,1.45237307895e-05,1793239797353715456
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.891336449,713.108663551,683,657.891336449,633,880.108663551,785.891336449,804.108663551,652,631,653,0.443672717154,0.00472583680255,0.0796060262227,0.99999975804,0.000282724518645,-0.000635397147146,1.60496892689e-05,1793239797370382336
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.521592238,713,683,658,633,880.478407762,786,804.956815525,652,631,652.521592238,0.443153795162,0.00471604150984,0.0796123963094,0.999999758307,0.000304468382787,-0.000624797284365,1.77258557598e-05,1793239797387048960
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.067405239,683,658.067405239,633,880.932594761,786,805.932594761,652,631,652.067405239,0.442623014303,0.00470598068743,0.0796202485993,0.999999760117,0.000325614538224,-0.000611036802833,1.93533408393e-05,1793239797403715840
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.646639436,683,658.646639436,633,880.353360564,786,805.353360564,652,631,652.646639436,0.44204762814,0.00469642211719,0.0796437602544,0.999999793499,0.00029321713097,-0.000571499032377,2.034445033e-05,1793239797420382208
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.22466896,713.77533104,683,659,633.22466896,880.22466896,786,805,652,631,652.77533104,0.441452822629,0.00468627816495,0.0796594257649,0.999999817403,0.000263745567923,-0.000543306308514,2.12473021082e-05,1793239797437048832
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.800813837,713.199186163,683,659,633.800813837,880.800813837,786,805,652,631,652.199186163,0.440827637197,0.00467521843179,0.0796628166327,0.999999829262,0.00023885124775,-0.00053286197122,2.20120820262e-05,1793239797453715968
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745.624317301,713.375682699,683,659.375682699,634,880.624317301,786,805,652,631,652,0.440151580789,0.00466535192688,0.0796426531228,0.999999813943,0.000235854896653,-0.000562087118856,2.33350939242e-05,1793239797470382848
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.050122708,713.949877292,683,659.949877292,634,880.050122708,786,805,652,631,652,0.439448644019,0.00465611592779,0.0796100434073,0.999999782376,0.000244429500162,-0.000612273743704,2.49530772504e-05,1793239797487049216
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,660,634,880.53751312,786,804.46248688,652,631,652,0.438807176745,0.0046430270789,0.0796432164844,0.999999821956,0.000221886134759,-0.000553377440355,2.50756692705e-05,1793239797503715584
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.12441652,745.12441652,714,683,660,634,880.87558348,786.12441652,804,652,631,652.12441652,0.438161519445,0.00463078073326,0.0796912067846,0.999999866942,0.000199130286054,-0.00047517760813,2.58690350152e-05,1793239797520381440
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.703938246,745.703938246,714,683,660,634,880.296061754,786.703938246,804,652,631,652.703938246,0.437479030654,0.00462296410284,0.0797703833624,0.999999915732,0.000186483709144,-0.000364529377142,2.96391923569e-05,1793239797537048064
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.717554923,745.717554923,714,683,660,634.282445077,880,787,804,651.717554923,631,652.717554923,0.436774024673,0.00461307127098,0.0798286946632,0.999999945063,0.000178530624475,-0.000277342593742,3.28904598287e-05,1793239797553714688
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.140108037,745.140108037,714,683,660,634.859891963,880,787,804,651.140108037,631,652.140108037,0.436045500366,0.00460100993451,0.0798652130838,0.99999996093,0.000175479691543,-0.000214660278363,3.55997696778e-05,1793239797570381312
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.567353787,660.432646213,635,879.567353787,787,804,651.432646213,631,652.432646213,0.43525280609,0.00459131188003,0.0798578097513,0.999999959863,0.000165779911013,-0.000226850172246,3.64594953898e-05,1793239797587047936
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,682.004053194,661,635,879.004053194,787,804,652,631.004053194,652.995946806,0.43443938082,0.00458236463911,0.0798363184054,0.999999952871,0.000154035834168,-0.000263022601099,3.67394124003e-05,1793239797603714816
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.598188903,661,635,879.598188903,787,804,652,631.598188903,652.401811097,0.433600735297,0.00457250026278,0.0798123485405,0.999999942677,0.000154777200583,-0.000298628118561,3.88730950822e-05,1793239797620381440
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765.187094404,745,714,683,661,634.812905596,880,787,804,652,631.812905596,652,0.432725753086,0.00456301638339,0.0797798598818,0.999999925121,0.000151100571786,-0.00035390593108,4.0944407958e-05,1793239797637048064
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.765072742,745,714,683,661,634.234927258,880,787,804,652,631.234927258,652,0.431774855092,0.00455432745163,0.0797295734735,0.999999888154,0.000138193717859,-0.000450283761807,4.28854154409e-05,1793239797653714688
+327,5.450000000,POSE2_TO_POSE3_RETREAT,766,745.341756804,714,683,661,634.341756804,880,786.658243196,804,652,631.341756804,652.341756804,0.43090945726,0.00454429326082,0.0797283686414,0.999999887827,0.000128358501946,-0.000453779490324,4.42173063756e-05,1793239797670381568
+328,5.466666667,POSE2_TO_POSE3_RETREAT,766,745.917554501,714,683,661,634.917554501,880,786.082445499,804,652,631.917554501,652.917554501,0.430102611436,0.00453333781401,0.0797607757123,0.999999914219,0.000120626796926,-0.000393667967022,4.51320638926e-05,1793239797687048192
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.495905434,745.495905434,714.504094566,683,661.504094566,635,880,786.504094566,804.504094566,652,632,652.495905434,0.429316259592,0.00452118252304,0.0798196185118,0.999999947447,0.000106117880306,-0.000302650005575,4.74120046234e-05,1793239797703714560
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.908895053,683,661.908895053,635,880,787,804.908895053,652,632,652,0.428514390148,0.00450855614008,0.0798706446919,0.999999969361,9.22782930049e-05,-0.000224269187956,4.96638353254e-05,1793239797720381184
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.328993115,683,661.328993115,635,880,787,804.328993115,652,632,652,0.427610891048,0.00449447802979,0.0798560309098,0.999999965705,8.81062229106e-05,-0.000241399890745,5.05408340616e-05,1793239797737048064
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,661,635,879.751057865,787,804,651.751057865,631.751057865,652,0.426687027707,0.00448264391257,0.0798258943752,0.999999955582,7.95918905359e-05,-0.000282718152802,5.07204391124e-05,1793239797753714944
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,661,635,879.175701267,787,804,651.175701267,631.175701267,652,0.425736462524,0.00447375213097,0.0797754043099,0.999999933334,6.53839561861e-05,-0.000355751293215,4.99856171962e-05,1793239797770381568
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745.407874898,714,682.592125102,661,635,879.407874898,787,804,651.407874898,631,652.407874898,0.42482097268,0.00446401153684,0.0797541097845,0.999999919528,5.71933715272e-05,-0.00039373067766,5.1473868206e-05,1793239797787048192
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745.995064612,714,682.004935388,661,635,879.995064612,787,804,651.995064612,631,652.995064612,0.423920903133,0.00445389777818,0.0797456505528,0.999999910559,5.16482066585e-05,-0.000416299308861,5.39394530864e-05,1793239797803714816
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765,746,714.574707061,682,661,635,879.425292939,787,804,652,631.574707061,652.425292939,0.423054743488,0.00444679179033,0.0797499714626,0.999999915151,4.32111981863e-05,-0.000406063092836,5.4256246473e-05,1793239797820381440
+337,5.616666667,POSE2_TO_POSE3_RETREAT,765.153615504,745.846384496,715,682,661,635,879,787,804,652,632,652,0.422209204333,0.00444542207826,0.0797699638267,0.999999930216,3.99762198349e-05,-0.000367461290591,5.42402740726e-05,1793239797837048064
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.730676944,745.269323056,715,682,661,635,879,787,804,652,632,652,0.421419713934,0.00445979431247,0.0798328564314,0.999999965659,5.11483690424e-05,-0.00025143535644,5.33572290993e-05,1793239797853714688
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,635,879.307096261,787.307096261,804.307096261,652,632,652,0.42058606674,0.00447777951474,0.0798667111265,0.999999977199,7.6402017286e-05,-0.000192123285863,5.34232670913e-05,1793239797870381312
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,635,879.882953581,787.882953581,804.882953581,652,632,652,0.41971377494,0.0044989266731,0.0798751527463,0.999999975386,0.000113979353657,-0.000182445425827,5.43199133116e-05,1793239797887047936
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.533418704,682,660.533418704,635,879.533418704,787.533418704,804.533418704,652,631.533418704,652,0.418837112368,0.00449348545733,0.0798391706791,0.999999963467,0.000101645142612,-0.000244769497481,5.31304895007e-05,1793239797903714560
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765.948046597,745,714,682,660.051953403,635,879,787,804,652,631.051953403,652.051953403,0.417964588824,0.00448170144472,0.0797969367736,0.999999945304,7.82569529097e-05,-0.000317181681278,5.16037308096e-05,1793239797920381184
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.365106384,745,714,682,660.634893616,635,879,787,804,652,631.634893616,652.634893616,0.417145764666,0.00447441561367,0.0798066330591,0.999999949548,7.20275418314e-05,-0.000304966806289,5.20683142e-05,1793239797937048064
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765,745,714,682,661,635,879,787,804,652,631.784252133,653,0.41632482951,0.00446985702148,0.0798103513543,0.999999950114,6.80263370187e-05,-0.000303919625923,5.26931483335e-05,1793239797953714688
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765,745,714,682,661,635,879,787,804,652,631.206894023,653,0.415500356024,0.00446986949304,0.0798040500732,0.999999944558,6.77597786014e-05,-0.00032159037033,5.35865752808e-05,1793239797970381312
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765,745,714.367952216,681.632047784,660.632047784,635,879,787,804,652,631,653,0.414713729251,0.00447425541119,0.0797992828793,0.999999941747,7.52624290945e-05,-0.00032867379411,5.30543113218e-05,1793239797987047936
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765,745,714.941395608,681.058604392,660.058604392,635,879,787,804,652,631,653,0.413948238873,0.00448108377879,0.0797953724314,0.99999994047,8.71039687771e-05,-0.000329844489888,5.17258382088e-05,1793239798003714560
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745,714.472135077,681,660.527864923,635,879,787,804,652,631,652.472135077,0.413250269799,0.00448328340626,0.0798139757222,0.999999951469,8.93380413349e-05,-0.000293896570202,5.20212421077e-05,1793239798020381184
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745,714.114239486,681,660.885760514,635,879,787,804,652,631,652,0.412551277944,0.00448380592297,0.0798277463853,0.999999958702,8.74955269951e-05,-0.000268685619831,5.24291823547e-05,1793239798037048064
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.69418326,681,660.30581674,635,879,787,804,652,631,652,0.411816784288,0.0044796395018,0.079811369333,0.999999949568,7.349277734e-05,-0.000304469002615,5.25423449652e-05,1793239798053714944
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.727734124,681,660.272265876,635,878.727734124,787,803.727734124,652,631,652.272265876,0.411107732394,0.00447457081317,0.0798006364904,0.999999943205,6.15634141841e-05,-0.000327120565614,5.28385167995e-05,1793239798070381312
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.151727858,681,660.848272142,635,878.151727858,787,803.151727858,652,631,652.848272142,0.410427063435,0.00446849555333,0.0797962003413,0.999999941075,5.19471264324e-05,-0.000335122240511,5.33388541653e-05,1793239798087047936
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.432087264,681,661,635,878.432087264,787,803.432087264,652.432087264,631,652.567912736,0.40980836371,0.00447083889969,0.0798117157852,0.999999948986,6.81949240515e-05,-0.00030736281245,5.38943010243e-05,1793239798103715584
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.981522857,681,661,635,878.981522857,787,804,653,631,652.018477143,0.409212220935,0.0044761767628,0.0798341243326,0.999999958433,9.27181117572e-05,-0.000267526725619,5.44733553676e-05,1793239798120383488
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714.40175065,681,661,635,878.40175065,787,804,653,631,652.59824935,0.408628105892,0.00448102571611,0.0798491855378,0.999999963556,8.76542755196e-05,-0.000249320025122,5.5170871602e-05,1793239798137049088
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745,714.177056642,680.822943358,660.822943358,635,878.177056642,787,803.822943358,652.822943358,631.177056642,652.822943358,0.40804154827,0.00448391313051,0.0798482108695,0.999999961935,8.57013839093e-05,-0.000256394342836,5.52046012684e-05,1793239798153715200
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765,745,714.753686472,680.246313528,660.246313528,635,878.753686472,787,803.246313528,652.246313528,631.753686472,652.246313528,0.407449478233,0.00448237383616,0.0798110471917,0.999999943069,9.07691261575e-05,-0.000320521681561,5.37403283316e-05,1793239798170382592
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.329848774,745,715,680,660.329848774,635,879,787,803,652,631.670151226,652,0.406903105347,0.00447991136329,0.079787239697,0.999999931479,8.60073804452e-05,-0.000356165151523,5.28261697084e-05,1793239798187049472
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.90566241,745,715,680,660.90566241,635,879,787,803,652,631.09433759,652,0.406390808395,0.00447676048572,0.079773391774,0.999999927239,7.39158858242e-05,-0.000370568488257,5.23222259012e-05,1793239798203716352
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.509434996,745,715,680,661,635,879,787,803,652,631,652.490565004,0.405948156017,0.00447865392656,0.0797884942214,0.999999939285,7.5462066737e-05,-0.000336220724342,5.187947286e-05,1793239798220382464
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745,714.923787155,680,661,635,879,787,803,652,631,653,0.405521077711,0.00448197754291,0.0798080584955,0.999999951404,8.06259067702e-05,-0.000296710498032,5.15183478724e-05,1793239798237048576
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765,745,714.344968776,680,661,635,879,787,803,652,631,653,0.405106716227,0.00448821486582,0.0798196395541,0.999999953493,9.20255762303e-05,-0.000286148257426,5.16164739992e-05,1793239798253714944
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.233066896,745,714.233066896,680,661,635,879,787,803,652,631,653,0.404709147898,0.00449098507391,0.0798302349489,0.99999995565,9.83966274875e-05,-0.000276178975387,5.2367753265e-05,1793239798270381568
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.809947888,745,714.809947888,680,661,635,879,787,803,652,631,653,0.404336352421,0.00448864068573,0.0798393763176,0.999999958132,9.73495937355e-05,-0.00026708441108,5.40825466978e-05,1793239798287048192
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.617482622,745,715,680,661,635,878.617482622,787,803,652,631,653,0.403981104217,0.00448541275671,0.0798407416939,0.999999957892,9.09901574695e-05,-0.000270265529143,5.37959661399e-05,1793239798303714816
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765.047031356,745,715,680,661,635,878.047031356,787,803,652,631,653,0.403634477096,0.0044817507367,0.0798382866629,0.999999956203,8.20206946891e-05,-0.000279477788601,5.25260944674e-05,1793239798320381696
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.453268377,680,661,635,878,787,803.546731623,652,631,652.453268377,0.403335630561,0.00448013715713,0.0798389618744,0.999999956806,7.93557885177e-05,-0.000278239434198,5.17034484809e-05,1793239798337048576
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.138477025,745.138477025,714.138477025,680,661,635,878,787,804,652,631,652,0.403049515339,0.00447834775336,0.0798395725926,0.999999957179,7.64718497027e-05,-0.000277775960994,5.13240473114e-05,1793239798353715200
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765.71715046,745.71715046,714.71715046,680,661,635,878,787,804,652,631,652,0.402790223224,0.00447541433307,0.0798390842013,0.999999956132,7.10908607894e-05,-0.000282760735212,5.22259089106e-05,1793239798370381568
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745.705618885,714.705618885,680,661,635,878.294381115,787,804,652,631.294381115,652.294381115,0.402557305073,0.00447334064377,0.079839951308,0.9999999568,6.54902727023e-05,-0.000281736958605,5.23066366944e-05,1793239798387048192
+371,6.183333333,POSE2_TO_POSE3_RETREAT,766,745.129767767,714.129767767,680,661,635,878.870232233,787,804,652,631.870232233,652.870232233,0.402349604178,0.00447208897914,0.0798421144627,0.999999959084,5.96797170523e-05,-0.000274968156858,5.16022443001e-05,1793239798403714816
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,714.455911276,680,661,635,879,787,803.544088724,652,631.544088724,652.544088724,0.402168278496,0.00447161077231,0.0798475955225,0.999999961535,5.98124127153e-05,-0.000265714418673,5.24281197557e-05,1793239798420381440
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.956222687,745,714.956222687,679.956222687,661,635,879,787,803,652,631,652.043777313,0.401996550904,0.0044715752417,0.0798537459604,0.999999963756,6.26913774842e-05,-0.000256286558385,5.36209182315e-05,1793239798437048320
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.376582223,745,714.376582223,679.376582223,661,635,879,787,803,652,631,652.623417777,0.401848391654,0.0044742041802,0.0798562754119,0.999999963356,7.80233652475e-05,-0.00025357585272,5.3856017969e-05,1793239798453714944
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.201155067,745,714,679.201155067,661,635,878.798844933,787,803,652,631,652.798844933,0.401708467248,0.00448013103719,0.0798562196378,0.999999961539,9.89802376469e-05,-0.000253479057801,5.35960369468e-05,1793239798470381568
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.775362756,745,714,679.775362756,661,635,878.224637244,787,803,652,631,652.224637244,0.401583814809,0.0044921740567,0.079851369427,0.999999956787,0.000130368751887,-0.000258229897682,5.24179026463e-05,1793239798487048448
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,714.34760085,680,661,635,878.34760085,787,803,652,631.34760085,652,0.401471259617,0.00449854719078,0.0798459069052,0.999999953733,0.000136988289838,-0.0002668283306,5.07083674886e-05,1793239798503715328
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,714.918573321,680,661,635,878.918573321,787,803,652,631.918573321,652,0.401366478218,0.00450127680362,0.079840050906,0.99999995205,0.000127691050624,-0.000277899264027,4.86573489724e-05,1793239798520381952
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745.512401414,715,680.512401414,661,635,878.487598586,787,803,652,631.487598586,652.512401414,0.401282713936,0.0044969996872,0.079834630432,0.999999951289,0.000115682095706,-0.000285825273982,4.84125883925e-05,1793239798537048320
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.893864994,745.893864994,714.893864994,680.893864994,661,635,878,787,803,652,631,653,0.401207739647,0.00449281053189,0.0798300866612,0.999999950622,0.000105884495569,-0.000291870999327,4.85361718236e-05,1793239798553714688
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.317396635,745.317396635,714.317396635,680.317396635,661,635,878,787,803,652,631,653,0.401156226358,0.00449417576143,0.0798291069451,0.999999950378,0.000107885207005,-0.000291902407262,4.89606834669e-05,1793239798570381568
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.258332459,745,714,680,661,635,878,787,803.258332459,652,631,652.741667541,0.401112185361,0.00449419627433,0.079829518258,0.999999950784,0.000108591617322,-0.000290168294465,4.9416400395e-05,1793239798587048192
+383,6.383333333,POSE2_TO_POSE3_RETREAT,765.833155822,745,714,680,661,635,878,787,803.833155822,652,631,652.166844178,0.401077298898,0.00449256933415,0.0798316337625,0.999999951978,0.000107712340094,-0.000286271188843,4.99103478348e-05,1793239798603714816
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.408952574,680,661,635,878,787,804,652,631,652.408952574,0.401048542585,0.00449187524736,0.0798318951878,0.999999951936,0.000107094457723,-0.000286624720387,5.00548242029e-05,1793239798620381440
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745,714.985147381,680,661,635,878,787,804,652,631,652.985147381,0.401022293213,0.00449156265347,0.0798313983824,0.999999951389,0.000106583473491,-0.000288716561303,5.00563834425e-05,1793239798637048576
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.424236225,635,878,787,804,652,631,652.424236225,0.401008258627,0.00449347074474,0.0798315794986,0.999999951438,0.00010850563667,-0.000287837320002,5.00057146889e-05,1793239798653714944
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765.836818578,745,714.836818578,680,660.163181422,635,878,787,803.836818578,652,631,652.163181422,0.400997230793,0.00449377693422,0.0798325168426,0.999999952022,0.000108890506005,-0.000285658788638,4.99756693073e-05,1793239798670381568
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.258509258,745,714.258509258,680,660.741490742,635,878,787,803.258509258,652,631,652.741490742,0.400993029841,0.00448985846384,0.0798353323726,0.999999953911,0.000105200774823,-0.00028037489516,5.00016046007e-05,1793239798687048192
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.317142141,745,714,680.317142141,661,635,878,787,803,652,631,653,0.400987838996,0.00448919808459,0.0798363389124,0.999999954396,0.000104414847557,-0.000278951078532,4.99190267606e-05,1793239798703714816
+390,6.500000000,POSE2_TO_POSE3_RETREAT,765.890645081,745,714,680.890645081,661,635,878,787,803,652,631,653,0.400981847974,0.00449117137207,0.0798358831612,0.999999953766,0.000105976200159,-0.00028064754166,4.97487326924e-05,1793239798720381440
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680.522366865,661,635,878.477633135,787,803.477633135,652,631,652.522366865,0.400979909158,0.0044902437098,0.0798364953713,0.999999954412,0.000103718955414,-0.000279199416761,4.96672196122e-05,1793239798737048320
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879,787,803.933461006,652,631,652,0.400979048501,0.00448892416593,0.0798373176229,0.999999955258,0.00010094677268,-0.000277190412286,4.95913437925e-05,1793239798753714944
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879,787,803.354257667,652,631,652,0.400979138951,0.00448985125943,0.0798378195594,0.99999995542,0.000101138879927,-0.000276568229478,4.93977409363e-05,1793239798770382080
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.775582462,745,714,680.224417538,661,635,879,787,803,652,631,652,0.400979382968,0.00449040400629,0.0798383535306,0.99999995565,0.000101574702679,-0.000275583001568,4.93614529312e-05,1793239798787048704
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.197739026,745,714,680.802260974,661,635,879,787,803,652,631,652,0.400979868833,0.00449036721007,0.0798389379516,0.999999955984,0.000102394342884,-0.000274026028979,4.9572913589e-05,1793239798803715328
+396,6.600000000,POSE2_TO_POSE3_RETREAT,765,745,714.377461107,681,661,635,878.622538893,787,803.377461107,652,631,652.377461107,0.400979800275,0.0044908459598,0.0798393524207,0.999999955988,0.000104266634793,-0.000273336974022,4.93868407871e-05,1793239798820381952
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765,745,714.951286114,681,661,635,878.048713886,787,803.951286114,652,631,652.951286114,0.400979443294,0.00449159290834,0.0798396784768,0.999999955817,0.000106686540167,-0.000273099429716,4.89939619808e-05,1793239798837048320
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765,745.540068327,715,681,661,635,878.540068327,787,804,652,631,652.459931673,0.40097904204,0.00449100461417,0.079839796313,0.999999956255,0.00010289338589,-0.000272966534723,4.89136350577e-05,1793239798853714944
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.127448905,745.872551095,715,680.872551095,661,635,879,787,803.872551095,652,631,652,0.400978805804,0.00449087559646,0.0798398923587,0.99999995655,0.000100345310416,-0.000272848042836,4.88246233891e-05,1793239798870381312
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.704979392,745.295020608,715,680.295020608,661,635,879,787,803.295020608,652,631,652,0.40097916683,0.00449280593691,0.0798399796667,0.999999956192,0.000104229648759,-0.000272746130954,4.86025468294e-05,1793239798887048192
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803,652,631,652.280596776,0.400978573224,0.00449387467864,0.0798399165512,0.999999955887,0.000106411636043,-0.000273050019543,4.84318936023e-05,1793239798903715328
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803,652,631,652.854216409,0.400976982709,0.00449404366645,0.0798396963507,0.999999955651,0.00010681588502,-0.000273777679256,4.83149409366e-05,1793239798920382720
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,679.569770405,661,635,879,787,803.430229595,652,631,652.569770405,0.40097625933,0.00449442578965,0.0798392869725,0.999999955186,0.000109106356466,-0.00027454141228,4.84856989903e-05,1793239798937049600
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,679.014535979,661,635,879,787,804,652.007267989,631,652.007267989,0.400975857147,0.00449485399101,0.0798388316294,0.999999954653,0.000111962736825,-0.00027528538769,4.87496780887e-05,1793239798953716224
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.202459515,661,635,879,787,804,652.601229757,631,652.601229757,0.400977531364,0.00449313924534,0.0798398693959,0.999999955533,0.000108618427499,-0.000273442238698,4.8624949331e-05,1793239798970382080
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,635,879.189269183,787,803.810730817,652.810730817,631,653,0.400978568162,0.0044921172822,0.0798407053782,0.999999956144,0.000106272092172,-0.000272149589992,4.85105830907e-05,1793239798987048448
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,635,879.76520941,787,803.23479059,652.23479059,631,653,0.400978302729,0.0044925106523,0.0798411291216,0.999999956227,0.000105964586841,-0.000271981596337,4.84173871593e-05,1793239799003715072
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.65934967,745,715,680.65934967,661,635,879.65934967,787,803,652,631,652.65934967,0.400978034951,0.00449309260794,0.079841418081,0.999999956228,0.000106397084451,-0.000271823675862,4.83367572509e-05,1793239799020381696
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.084252413,745,715,680.084252413,661,635,879.084252413,787,803,652,631,652.084252413,0.400977765557,0.00449380435442,0.0798416142776,0.999999956171,0.000107338876795,-0.000271672688094,4.82647757029e-05,1793239799037048320
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765,745,714.495568854,680,661,635,878.495568854,787,803,652,631,652.504431146,0.400977350964,0.00449355854271,0.0798409325539,0.999999956014,0.000107209987333,-0.000272316146575,4.81963909761e-05,1793239799053714944
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765.093324053,745,714.093324053,680.093324053,661,635,878.093324053,787,803.093324053,652,631,652.906675947,0.400976950168,0.00449329536154,0.0798402664981,0.999999955907,0.000106866397831,-0.00027285225888,4.81301450115e-05,1793239799070381824
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765.671195433,745,714.671195433,680.671195433,661,635,878.671195433,787,803.671195433,652,631,652.328804567,0.400976750422,0.00449379538341,0.0798404642044,0.999999956163,0.000106362269315,-0.000272122999842,4.80717981993e-05,1793239799087048448
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.753220851,661,635,878.753220851,787,804,652,631.246779149,652,0.40097618872,0.00449374333405,0.0798401231976,0.999999956173,0.000105368576961,-0.000272471578926,4.80794298701e-05,1793239799103715072
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.180657107,661,635,878.180657107,787,804,652,631.819342893,652,0.400975149181,0.00449296246994,0.0798390710107,0.999999955855,0.000103728588614,-0.000274243061984,4.81741627873e-05,1793239799120381440
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,714.59517363,680,661,635,878.40482637,787,803.59517363,652,631.59517363,652.40482637,0.40097588667,0.00449299003418,0.0798399688759,0.999999956192,0.000103524585271,-0.000273124684208,4.79691486727e-05,1793239799137048320
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,714.003734583,680,661,635,878.996265417,787,803.003734583,652,631.003734583,652.996265417,0.400977443315,0.00449339025942,0.079841765656,0.999999956827,0.000103982527558,-0.000270674168136,4.76259602627e-05,1793239799153714944
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,714.57598845,680,661,635,879,787,803.57598845,652,631.57598845,653,0.400979525627,0.00449240778954,0.0798431035528,0.999999957311,0.000105422489544,-0.000268232516062,4.81100590272e-05,1793239799170381312
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df809dfafc7bd3bbdd8c9b2d9e208acdeb7717f1
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_02/simulation_data.csv
@@ -0,0 +1,419 @@
+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,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+1,0.016666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+2,0.033333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+3,0.050000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+4,0.066666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+5,0.083333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+6,0.100000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+7,0.116666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+8,0.133333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+9,0.150000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+10,0.166666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+11,0.183333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+12,0.200000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+13,0.216666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+14,0.233333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+15,0.250000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+16,0.266666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+17,0.283333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+18,0.300000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+19,0.316666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+20,0.333333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+21,0.350000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+22,0.366666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+23,0.383333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+24,0.400000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+25,0.416666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+26,0.433333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+27,0.450000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+28,0.466666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+29,0.483333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+30,0.500000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+31,0.516666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+32,0.533333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+33,0.550000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+34,0.566666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+35,0.583333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+36,0.600000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+37,0.616666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+38,0.633333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+39,0.650000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+40,0.666666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+41,0.683333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+42,0.700000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+43,0.716666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+44,0.733333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+45,0.750000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+46,0.766666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+47,0.783333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+48,0.800000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+49,0.816666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+50,0.833333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+51,0.850000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+52,0.866666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+53,0.883333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+54,0.900000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+55,0.916666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+56,0.933333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+57,0.950000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+58,0.966666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+59,0.983333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+60,1.000000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+61,1.016666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+62,1.033333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+63,1.050000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+64,1.066666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+65,1.083333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+66,1.100000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+67,1.116666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+68,1.133333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+69,1.150000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+70,1.166666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+71,1.183333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+72,1.200000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+73,1.216666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+74,1.233333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+75,1.250000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+76,1.266666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+77,1.283333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+78,1.300000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+79,1.316666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+80,1.333333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+81,1.350000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+82,1.366666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+83,1.383333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+84,1.400000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+85,1.416666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+86,1.433333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+87,1.450000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+88,1.466666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+89,1.483333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+90,1.500000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+91,1.516666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+92,1.533333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+93,1.550000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+94,1.566666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+95,1.583333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+96,1.600000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+97,1.616666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+98,1.633333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+99,1.650000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+100,1.666666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+101,1.683333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+102,1.700000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+103,1.716666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+104,1.733333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+105,1.750000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+106,1.766666667,pose1_to_pose2_press,0.57566445623,0.0100907823659,1.07003220599,0.546234906544,0.0187625177256,1.06970034009
+107,1.783333333,pose1_to_pose2_press,0.575664459909,0.0100907857182,1.07003220517,0.546234910146,0.0187625208242,1.06970033951
+108,1.800000000,pose1_to_pose2_press,0.575664468118,0.0100907931985,1.07003220335,0.546234918182,0.0187625277385,1.06970033823
+109,1.816666667,pose1_to_pose2_press,0.575664479556,0.0100908036205,1.0700322008,0.546234929379,0.0187625373719,1.06970033644
+110,1.833333333,pose1_to_pose2_press,0.575664496268,0.0100908188484,1.07003219708,0.546234945739,0.0187625514476,1.06970033382
+111,1.850000000,pose1_to_pose2_press,0.575664541208,0.0100908597965,1.07003218708,0.546234989733,0.0187625892975,1.06970032679
+112,1.866666667,pose1_to_pose2_press,0.575664567585,0.0100908630758,1.07003219574,0.546235016067,0.0187625924353,1.06970033555
+113,1.883333333,pose1_to_pose2_press,0.575664961324,0.0100908071114,1.07003239859,0.54623541176,0.0187625428388,1.06970053148
+114,1.900000000,pose1_to_pose2_press,0.575666720027,0.0100906051248,1.07003247023,0.546237173933,0.0187623523662,1.06970059624
+115,1.916666667,pose1_to_pose2_press,0.575672405437,0.0100908832557,1.07003240155,0.546242855959,0.0187626194154,1.06970053806
+116,1.933333333,pose1_to_pose2_press,0.575683869124,0.0100908760891,1.07003255976,0.546254321336,0.0187626178587,1.06970069293
+117,1.950000000,pose1_to_pose2_press,0.575705143423,0.0100907648108,1.07003222159,0.546275595816,0.0187625071647,1.06970035393
+118,1.966666667,pose1_to_pose2_press,0.575736511626,0.0100908616599,1.0700323658,0.546306961387,0.0187625949575,1.06970049479
+119,1.983333333,pose1_to_pose2_press,0.575778714175,0.0100908986418,1.07003246377,0.546349165012,0.0187626356423,1.06970059407
+120,2.000000000,pose1_to_pose2_press,0.575830316597,0.0100907286336,1.07003239203,0.546400769326,0.0187624720826,1.06970052295
+121,2.016666667,pose1_to_pose2_press,0.575891237168,0.0100906194716,1.07003216137,0.546461690246,0.0187623642155,1.0697002952
+122,2.033333333,pose1_to_pose2_press,0.575959192285,0.0100907330568,1.07003232799,0.546529644356,0.0187624744702,1.06970046404
+123,2.050000000,pose1_to_pose2_press,0.576034593092,0.0100907960516,1.07003243932,0.546605044517,0.01876253531,1.06970057619
+124,2.066666667,pose1_to_pose2_press,0.576121054111,0.010090794398,1.07003246207,0.546691505996,0.018762535034,1.06970059411
+125,2.083333333,pose1_to_pose2_press,0.576219650374,0.0100907667742,1.07003222427,0.546790102221,0.0187625072285,1.06970035493
+126,2.100000000,pose1_to_pose2_press,0.576333304477,0.0100907820284,1.07003212152,0.54690375529,0.0187625190834,1.06970025504
+127,2.116666667,pose1_to_pose2_press,0.576462245627,0.0100908159114,1.07003225388,0.547032697074,0.0187625553973,1.06970039458
+128,2.133333333,pose1_to_pose2_press,0.576607143069,0.0100907771246,1.07003224033,0.547177596047,0.0187625219767,1.06970038547
+129,2.150000000,pose1_to_pose2_press,0.576765665393,0.0100907867788,1.07003242904,0.547336116379,0.0187625243863,1.06970056151
+130,2.166666667,pose1_to_pose2_press,0.576936903282,0.010090903685,1.07003230747,0.547507352303,0.0187626348102,1.06970044472
+131,2.183333333,pose1_to_pose2_press,0.577121786313,0.0100909209349,1.07003236665,0.54769223483,0.0187626499391,1.06970049312
+132,2.200000000,pose1_to_pose2_press,0.57732191281,0.0100909193016,1.07003255237,0.547892362047,0.0187626509005,1.06970068271
+133,2.216666667,pose1_to_pose2_press,0.57754090418,0.0100907736202,1.07003232916,0.54811135572,0.018762513632,1.06970047513
+134,2.233333333,pose1_to_pose2_press,0.577781724868,0.0100907167785,1.07003221885,0.548352176315,0.0187624562493,1.06970035882
+135,2.250000000,pose1_to_pose2_press,0.578045245907,0.0100907482092,1.07003228626,0.548615696864,0.0187624857441,1.06970041907
+136,2.266666667,pose1_to_pose2_press,0.578333963533,0.0100907469511,1.07003243831,0.548904415053,0.0187624860931,1.06970056308
+137,2.283333333,pose1_to_pose2_press,0.578645328816,0.0100907571094,1.07003240865,0.549215780648,0.0187624975842,1.06970054052
+138,2.300000000,pose1_to_pose2_press,0.578979775229,0.0100908266274,1.07003235752,0.549550226767,0.0187625663747,1.06970049641
+139,2.316666667,pose1_to_pose2_press,0.579333973724,0.0100908267994,1.07003248195,0.5499044256,0.0187625672229,1.06970060847
+140,2.333333333,pose1_to_pose2_press,0.57970751524,0.010090746518,1.07003237582,0.550277967598,0.0187624886756,1.06970050479
+141,2.350000000,pose1_to_pose2_press,0.580099051526,0.0100907549729,1.07003215608,0.550669503465,0.0187624959287,1.06970029077
+142,2.366666667,pose1_to_pose2_press,0.580508508457,0.0100907904224,1.07003242575,0.551078958801,0.0187625261344,1.06970056477
+143,2.383333333,pose1_to_pose2_press,0.580937705942,0.0100907767691,1.07003250912,0.551508158123,0.0187625179337,1.06970062773
+144,2.400000000,pose1_to_pose2_press,0.581386482017,0.0100908544659,1.07003247799,0.551956933159,0.0187625924435,1.06970060539
+145,2.416666667,pose1_to_pose2_press,0.581857242846,0.0100907518886,1.07003244977,0.552427693443,0.0187624882148,1.06970058226
+146,2.433333333,pose1_to_pose2_press,0.582354973014,0.0100907560355,1.0700324709,0.552925423412,0.0187624915485,1.06970059967
+147,2.450000000,pose1_to_pose2_press,0.582883311102,0.0100907973456,1.07003230028,0.553453760654,0.0187625299954,1.06970042923
+148,2.466666667,pose1_to_pose2_press,0.58343688556,0.0100908284245,1.07003220762,0.554007335635,0.0187625630098,1.06970034084
+149,2.483333333,pose1_to_pose2_press,0.584012650739,0.0100906967777,1.0700321534,0.554583103875,0.0187624417164,1.06970028553
+150,2.500000000,pose1_to_pose2_press,0.584604633826,0.0100908079088,1.07003226894,0.555175085206,0.018762546596,1.06970039339
+151,2.516666667,pose1_to_pose2_press,0.585205529317,0.0100909145128,1.07003234266,0.555775978458,0.0187626458294,1.06970047315
+152,2.533333333,pose1_to_pose2_press,0.585813633925,0.0100908371653,1.07003231011,0.556384084147,0.0187625724481,1.06970044828
+153,2.550000000,pose1_to_pose2_press,0.586436620049,0.0100907627844,1.07003225856,0.557007071282,0.0187625013298,1.06970039225
+154,2.566666667,pose1_to_pose2_press,0.587077362705,0.0100906594383,1.07003213609,0.557647814883,0.0187624013268,1.06970027334
+155,2.583333333,pose1_to_pose2_press,0.587739290496,0.0100907287098,1.07003230439,0.558309743377,0.0187624730376,1.06970044302
+156,2.600000000,pose1_to_pose2_press,0.588418730893,0.0100907349808,1.07003229622,0.558989183678,0.0187624790622,1.06970043695
+157,2.616666667,pose1_to_pose2_press,0.589112478535,0.0100908391981,1.07003231964,0.559682928645,0.0187625739942,1.06970045493
+158,2.633333333,pose1_to_pose2_press,0.5898220283,0.01009082561,1.07003233321,0.560392480034,0.0187625658096,1.06970046565
+159,2.650000000,pose1_to_pose2_press,0.590551381528,0.0100906958773,1.07003209769,0.561121833666,0.0187624377016,1.06970023673
+160,2.666666667,pose1_to_pose2_press,0.591290611774,0.0100907237807,1.07003238844,0.561861064699,0.0187624680305,1.06970052111
+161,2.683333333,pose1_to_pose2_press,0.592038085501,0.0100908584663,1.07003235572,0.562608537091,0.0187625982715,1.06970049062
+162,2.700000000,pose1_to_pose2_press,0.592792265664,0.0100907860449,1.07003225848,0.56336271728,0.0187625258334,1.06970039071
+163,2.716666667,pose1_to_pose2_press,0.593549982474,0.010090639604,1.07003221719,0.564120435259,0.0187623833713,1.06970034963
+164,2.733333333,pose1_to_pose2_press,0.594314190775,0.0100906600469,1.07003227632,0.564884643059,0.0187624021306,1.06970040925
+165,2.750000000,pose1_to_pose2_press,0.595082449078,0.0100907413724,1.07003226879,0.56565290068,0.0187624811902,1.06970040307
+166,2.766666667,pose1_to_pose2_press,0.595851567241,0.0100907752905,1.07003219515,0.566422018883,0.0187625153618,1.06970033253
+167,2.783333333,pose1_to_pose2_press,0.596624595633,0.0100907608601,1.07003220252,0.567195047448,0.0187625014899,1.06970033918
+168,2.800000000,pose1_to_pose2_press,0.597395236042,0.0100907424577,1.0700321721,0.567965688265,0.018762484436,1.06970030782
+169,2.816666667,pose1_to_pose2_press,0.598157417457,0.010090974691,1.07003209136,0.568727867065,0.0187627081118,1.0697002354
+170,2.833333333,pose1_to_pose2_press,0.598922872676,0.0100908217935,1.07003244618,0.569493322681,0.0187625560729,1.06970057758
+171,2.850000000,pose1_to_pose2_press,0.599696632653,0.0100907134076,1.07003234799,0.570267085067,0.018762455815,1.06970047817
+172,2.866666667,pose1_to_pose2_press,0.600479243198,0.0100906309177,1.07003259534,0.571049695768,0.0187623735569,1.06970071773
+173,2.883333333,pose1_to_pose2_press,0.601269073036,0.0100908312749,1.07003205365,0.571839524032,0.0187625689362,1.06970018572
+174,2.900000000,pose1_to_pose2_press,0.602053844061,0.0100907071022,1.07003228742,0.572624296362,0.0187624490918,1.06970041691
+175,2.916666667,pose1_to_pose2_press,0.602826850759,0.0100908726901,1.07003241131,0.573397302232,0.0187626121437,1.06970054798
+176,2.933333333,pose1_to_pose2_press,0.603577856932,0.0100908519296,1.07003217254,0.574148308083,0.0187625903591,1.06970031117
+177,2.950000000,pose1_to_pose2_press,0.604311760589,0.0100908244878,1.07003224362,0.574882212124,0.0187625640067,1.06970037673
+178,2.966666667,pose1_to_pose2_press,0.605032797376,0.0100907148427,1.07003242599,0.575603250685,0.0187624601603,1.06970055333
+179,2.983333333,pose1_to_pose2_press,0.605746272028,0.0100907061015,1.07003237971,0.576316725189,0.0187624507921,1.06970050384
+180,3.000000000,pose1_to_pose2_press,0.606455322132,0.0100908887356,1.07003227836,0.577025772252,0.0187626232457,1.06970040631
+181,3.016666667,pose1_to_pose2_press,0.607158777296,0.0100909445391,1.07003232428,0.577729226385,0.0187626757939,1.06970045859
+182,3.033333333,pose1_to_pose2_press,0.607847226062,0.0100908143632,1.0700322666,0.578417677003,0.0187625518527,1.06970039978
+183,3.050000000,pose1_to_pose2_press,0.608514585224,0.0100908592809,1.07003219476,0.579085035403,0.018762594161,1.06970032737
+184,3.066666667,pose1_to_pose2_press,0.609158302277,0.0100908597726,1.07003259981,0.579728752498,0.0187625944072,1.06970072233
+185,3.083333333,pose1_to_pose2_press,0.609778219243,0.0100907440468,1.07003243714,0.580348670884,0.0187624838865,1.06970056992
+186,3.100000000,pose1_to_pose2_press,0.610367594361,0.0100908757069,1.07003210849,0.580938044002,0.0187626088683,1.0697002442
+187,3.116666667,pose1_to_pose2_press,0.61092815085,0.010090852565,1.07003230277,0.581498601643,0.0187625894577,1.06970043385
+188,3.133333333,pose1_to_pose2_press,0.61146100045,0.0100907358315,1.07003226953,0.582031452065,0.0187624754506,1.06970039901
+189,3.150000000,pose1_to_pose2_press,0.611979641533,0.0100906872849,1.07003227154,0.582550093124,0.0187624269413,1.0697004043
+190,3.166666667,pose1_to_pose2_press,0.612491639924,0.0100907238726,1.07003231744,0.583062091862,0.0187624648331,1.06970045375
+191,3.183333333,pose1_to_pose2_press,0.613008459733,0.0100908082489,1.07003237257,0.583578912114,0.0187625505526,1.06970050496
+192,3.200000000,pose1_to_pose2_press,0.61352652715,0.0100908652541,1.07003243355,0.584096978434,0.0187626035397,1.06970055791
+193,3.216666667,pose1_to_pose2_press,0.614025094615,0.0100908017314,1.0700322177,0.584595546078,0.0187625409574,1.06970034956
+194,3.233333333,pose1_to_pose2_press,0.614495230639,0.0100909591123,1.07003221923,0.585065679979,0.0187626913322,1.06970035474
+195,3.250000000,pose1_to_pose2_press,0.614928609223,0.0100908499403,1.07003231708,0.58549906064,0.0187625892883,1.06970045339
+196,3.266666667,pose1_to_pose2_press,0.615331625836,0.0100907990265,1.07003232834,0.585902076868,0.0187625369701,1.0697004605
+197,3.283333333,pose1_to_pose2_press,0.615707891209,0.0100908151563,1.07003244601,0.586278342405,0.0187625536144,1.06970057523
+198,3.300000000,pose1_to_pose2_press,0.616073169392,0.010090841767,1.07003257582,0.58664361957,0.0187625766926,1.0697006997
+199,3.316666667,pose1_to_pose2_press,0.616427181304,0.0100908472499,1.0700323772,0.586997630277,0.0187625783407,1.06970050307
+200,3.333333333,pose1_to_pose2_press,0.616765495878,0.0100908001486,1.0700324212,0.587335946716,0.0187625380073,1.06970055384
+201,3.350000000,pose1_to_pose2_press,0.617084080293,0.0100906782958,1.07003230731,0.587654534055,0.0187624264867,1.06970044657
+202,3.366666667,pose1_to_pose2_press,0.617379056811,0.0100906997004,1.07003205395,0.58794950994,0.0187624460273,1.06970019547
+203,3.383333333,pose1_to_pose2_press,0.617649621816,0.0100908315847,1.07003211751,0.588220072759,0.0187625704993,1.0697002551
+204,3.400000000,pose1_to_pose2_press,0.617896043117,0.010090813805,1.07003227064,0.588466494219,0.0187625531099,1.06970040303
+205,3.416666667,pose1_to_pose2_press,0.618120835706,0.0100908677591,1.07003242828,0.588691285951,0.0187626043815,1.06970056145
+206,3.433333333,pose1_to_pose2_press,0.618327052488,0.0100908792811,1.07003220005,0.588897502159,0.0187626141755,1.06970033724
+207,3.450000000,pose1_to_pose2_press,0.61851609738,0.0100907765932,1.0700325312,0.589086548819,0.0187625174333,1.06970066199
+208,3.466666667,pose1_to_pose2_press,0.618691373591,0.0100907081773,1.07003252751,0.589261826245,0.0187624529658,1.06970065058
+209,3.483333333,pose1_to_pose2_press,0.618853082492,0.0100907029747,1.07003238173,0.589423534821,0.0187624470523,1.069700513
+210,3.500000000,pose1_to_pose2_press,0.619002001061,0.0100907992686,1.07003233489,0.589572451663,0.0187625375449,1.06970046608
+211,3.516666667,pose1_to_pose2_press,0.619138190339,0.0100908296419,1.07003226432,0.589708640981,0.0187625682074,1.06970039795
+212,3.533333333,pose1_to_pose2_press,0.619258796497,0.0100907970111,1.07003225683,0.589829248101,0.0187625389318,1.06970039199
+213,3.550000000,pose1_to_pose2_press,0.61936433739,0.0100908330077,1.07003233536,0.589934787874,0.0187625711198,1.06970046793
+214,3.566666667,pose1_to_pose2_press,0.619453752423,0.0100908246959,1.07003235737,0.590024202316,0.0187625611106,1.06970049419
+215,3.583333333,pose1_to_pose2_press,0.619529461342,0.0100907108271,1.07003243354,0.590099913404,0.0187624546802,1.06970056996
+216,3.600000000,pose1_to_pose2_press,0.619592307142,0.0100908620125,1.0700324325,0.590162757455,0.0187626002602,1.06970056771
+217,3.616666667,pose1_to_pose2_press,0.619646134566,0.0100908538893,1.07003225608,0.59021658387,0.0187625886126,1.0697003864
+218,3.633333333,pose1_to_pose2_press,0.619692731476,0.0100908741597,1.07003228321,0.590263180647,0.0187626086441,1.06970041904
+219,3.650000000,pose1_to_pose2_press,0.61973265216,0.0100908420119,1.07003232819,0.590303101326,0.0187625763008,1.06970046208
+220,3.666666667,pose1_to_pose2_press,0.619766046911,0.0100908103985,1.07003226654,0.590336496257,0.018762545177,1.06970039969
+221,3.683333333,pose1_to_pose2_press,0.619792447725,0.0100907957038,1.07003219228,0.590362897812,0.0187625330203,1.06970033067
+222,3.700000000,pose1_to_pose2_press,0.619812484725,0.0100907844493,1.07003218031,0.59038293591,0.0187625254996,1.06970032192
+223,3.716666667,pose1_to_pose2_press,0.619826860681,0.0100907922699,1.07003219122,0.590397312279,0.0187625346726,1.06970032958
+224,3.733333333,pose1_to_pose2_press,0.619836858867,0.0100908494191,1.07003220479,0.590407308931,0.0187625864393,1.06970033865
+225,3.750000000,pose1_to_pose2_press,0.619843648281,0.0100907957086,1.07003242799,0.590414099401,0.0187625364469,1.06970056066
+226,3.766666667,pose1_to_pose2_press,0.619848370065,0.0100907688686,1.07003254755,0.590418821859,0.0187625120198,1.06970068069
+227,3.783333333,pose1_to_pose2_press,0.619851465584,0.0100908067778,1.07003247245,0.590421916954,0.018762548558,1.06970060812
+228,3.800000000,pose1_to_pose2_press,0.619853173683,0.0100908275289,1.07003243106,0.590423624822,0.0187625685591,1.06970056809
+229,3.816666667,pose1_to_pose2_press,0.619854272805,0.0100908254678,1.07003240933,0.590424724016,0.018762566617,1.06970054341
+230,3.833333333,pose1_to_pose2_press,0.619854948009,0.0100908242017,1.07003239599,0.590425399263,0.018762565424,1.06970052824
+231,3.850000000,pose1_to_pose2_press,0.61985536488,0.01009082342,1.07003238775,0.590425816161,0.0187625646874,1.06970051888
+232,3.866666667,pose1_to_pose2_press,0.619855676006,0.0100908228366,1.0700323816,0.590426127307,0.0187625641376,1.06970051189
+233,3.883333333,pose1_to_pose2_press,0.619855926145,0.0100908223675,1.07003237666,0.590426377462,0.0187625636957,1.06970050628
+234,3.900000000,pose1_to_pose2_press,0.619856143725,0.0100908219595,1.07003237236,0.590426595057,0.0187625633112,1.06970050139
+235,3.916666667,pose1_to_pose2_press,0.619856347328,0.0100908215777,1.07003236833,0.590426798672,0.0187625629515,1.06970049682
+236,3.933333333,pose1_to_pose2_press,0.619856520969,0.0100908212521,1.0700323649,0.590426972324,0.0187625626446,1.06970049292
+237,3.950000000,pose1_to_pose2_press,0.619856701178,0.0100908176166,1.07003235865,0.590427152542,0.0187625590178,1.06970048629
+238,3.966666667,pose1_to_pose2_press,0.61985690296,0.0100908043175,1.07003234414,0.590427354322,0.0187625456981,1.06970047165
+239,3.983333333,pose1_to_pose2_press,0.619857125695,0.0100907896374,1.07003232812,0.590427577055,0.0187625309953,1.06970045549
+240,4.000000000,pose1_to_pose2_press,0.619857378747,0.0100907729592,1.07003230993,0.590427830104,0.0187625142913,1.06970043713
+241,4.016666667,pose1_to_pose2_press,0.619857506385,0.0100907645467,1.07003230075,0.590427957742,0.0187625058658,1.06970042786
+242,4.033333333,pose1_to_pose2_press,0.619857532331,0.0100907628367,1.07003229888,0.590427983688,0.0187625041531,1.06970042598
+243,4.050000000,pose1_to_pose2_press,0.619857735651,0.0100907494362,1.07003228426,0.590428187005,0.018762490732,1.06970041123
+244,4.066666667,pose1_to_pose2_press,0.619857970478,0.0100907339592,1.07003226737,0.590428421831,0.018762475231,1.06970039419
+245,4.083333333,pose1_to_pose2_press,0.619858079142,0.0100907267973,1.07003225956,0.590428530494,0.018762468058,1.0697003863
+246,4.100000000,pose1_to_pose2_press,0.619858300191,0.0100907122283,1.07003224366,0.590428751541,0.0187624534665,1.06970037027
+247,4.116666667,pose1_to_pose2_press,0.619858593955,0.010090688207,1.07003222701,0.590429045797,0.018762431233,1.06970035697
+248,4.133333333,pose1_to_pose2_press,0.619858761143,0.0100906743588,1.07003221771,0.590429213284,0.0187624184714,1.06970034971
+249,4.150000000,pose1_to_pose2_press,0.619858837074,0.0100906680695,1.07003221348,0.59042928935,0.0187624126755,1.06970034641
+250,4.166666667,pose1_to_pose2_press,0.619858918408,0.0100906613325,1.07003220896,0.590429370829,0.0187624064672,1.06970034288
+251,4.183333333,pose1_to_pose2_press,0.619858955518,0.0100906582587,1.07003220689,0.590429408006,0.0187624036346,1.06970034127
+252,4.200000000,pose1_to_pose2_press,0.61985916973,0.0100906398804,1.07003226889,0.590429622316,0.018762385485,1.06970040035
+253,4.216666667,pose1_to_pose2_press,0.619859350648,0.0100906240659,1.07003235533,0.590429803186,0.0187623693271,1.06970048177
+254,4.233333333,pose1_to_pose2_press,0.61985939022,0.0100906206067,1.07003237424,0.590429842747,0.0187623657909,1.06970049959
+255,4.250000000,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.590429842748,0.0187623657902,1.06970049959
+256,4.266666667,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.590429842749,0.0187623657896,1.06970049959
+257,4.283333333,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.590429842749,0.0187623657896,1.06970049959
+258,4.300000000,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.590429842749,0.018762365788,1.06970049959
+259,4.316666667,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.590429842749,0.0187623657897,1.06970049959
+260,4.333333333,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.590429842749,0.0187623657886,1.06970049959
+261,4.350000000,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.590429842749,0.0187623657886,1.06970049959
+262,4.366666667,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.59042984275,0.0187623657887,1.06970049959
+263,4.383333333,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.59042984275,0.0187623657888,1.06970049959
+264,4.400000000,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.59042984275,0.0187623657888,1.06970049959
+265,4.416666667,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.59042984275,0.0187623657889,1.06970049959
+266,4.433333333,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.59042984275,0.0187623657886,1.06970049959
+267,4.450000000,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.59042984275,0.0187623657886,1.06970049959
+268,4.466666667,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.59042984275,0.0187623657887,1.06970049959
+269,4.483333333,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.59042984275,0.018762365789,1.06970049959
+270,4.500000000,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.59042984275,0.018762365788,1.06970049959
+271,4.516666667,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.59042984275,0.0187623657878,1.06970049959
+272,4.533333333,pose2_hold,0.61985939022,0.0100906206067,1.07003237424,0.59042984275,0.0187623657877,1.06970049959
+273,4.550000000,pose2_to_pose3_retreat,0.61985939022,0.0100906206067,1.07003237424,0.590429842751,0.0187623657877,1.06970049959
+274,4.566666667,pose2_to_pose3_retreat,0.619859241183,0.0100906802463,1.07003223116,0.590429692739,0.018762422481,1.06970036634
+275,4.583333333,pose2_to_pose3_retreat,0.619859153518,0.0100906943262,1.07003216471,0.590429605037,0.018762436521,1.06970030219
+276,4.600000000,pose2_to_pose3_retreat,0.61985907647,0.0100906973992,1.07003211414,0.590429528194,0.0187624403088,1.06970025211
+277,4.616666667,pose2_to_pose3_retreat,0.619859021876,0.0100906995767,1.07003207831,0.590429473745,0.0187624429927,1.06970021663
+278,4.633333333,pose2_to_pose3_retreat,0.619858944083,0.0100907026793,1.07003202725,0.590429396158,0.0187624468172,1.06970016606
+279,4.650000000,pose2_to_pose3_retreat,0.619858559,0.0100906928311,1.07003200281,0.590429011584,0.018762438721,1.06970014235
+280,4.666666667,pose2_to_pose3_retreat,0.619856718769,0.0100906425419,1.07003220127,0.590427171637,0.0187623892582,1.06970033745
+281,4.683333333,pose2_to_pose3_retreat,0.619851581867,0.0100906810268,1.07003229645,0.590422033779,0.0187624243274,1.06970043037
+282,4.700000000,pose2_to_pose3_retreat,0.61983933243,0.0100907793938,1.07003232248,0.590409783787,0.0187625209686,1.06970045732
+283,4.716666667,pose2_to_pose3_retreat,0.619818033612,0.0100908216492,1.07003234871,0.590388484336,0.0187625609635,1.06970047943
+284,4.733333333,pose2_to_pose3_retreat,0.61978511546,0.0100907298999,1.07003200261,0.590355567546,0.0187624738114,1.06970013453
+285,4.750000000,pose2_to_pose3_retreat,0.619741378664,0.0100908100239,1.07003240283,0.590311829646,0.0187625500655,1.06970053356
+286,4.766666667,pose2_to_pose3_retreat,0.619686887551,0.01009075417,1.07003247559,0.590257339833,0.0187624982309,1.06970060393
+287,4.783333333,pose2_to_pose3_retreat,0.619623956023,0.0100908260859,1.07003234486,0.590194406668,0.0187625643981,1.06970047515
+288,4.800000000,pose2_to_pose3_retreat,0.619553207481,0.0100908488557,1.07003226573,0.590123657253,0.0187625846227,1.06970040036
+289,4.816666667,pose2_to_pose3_retreat,0.619473775987,0.0100908602501,1.07003209384,0.590044225521,0.0187625955432,1.06970023183
+290,4.833333333,pose2_to_pose3_retreat,0.619384916365,0.0100908119972,1.07003209308,0.589955366683,0.0187625495306,1.06970022464
+291,4.850000000,pose2_to_pose3_retreat,0.619283241419,0.0100906714593,1.07003231641,0.589853693596,0.0187624149626,1.06970044137
+292,4.866666667,pose2_to_pose3_retreat,0.619167892003,0.0100907652369,1.07003207293,0.589738343409,0.0187625065113,1.06970020928
+293,4.883333333,pose2_to_pose3_retreat,0.619036281362,0.0100908695153,1.07003210111,0.589606731809,0.0187626072927,1.06970023368
+294,4.900000000,pose2_to_pose3_retreat,0.618888154405,0.0100908903082,1.07003227243,0.589458605378,0.0187626300818,1.06970041296
+295,4.916666667,pose2_to_pose3_retreat,0.618722649102,0.0100907980261,1.07003232268,0.589293099477,0.0187625354186,1.06970045775
+296,4.933333333,pose2_to_pose3_retreat,0.618538465824,0.0100908372902,1.07003241006,0.589108916615,0.0187625759109,1.0697005427
+297,4.950000000,pose2_to_pose3_retreat,0.618336080352,0.0100908455465,1.07003238587,0.588906531588,0.0187625856231,1.06970052017
+298,4.966666667,pose2_to_pose3_retreat,0.618115818717,0.0100908331739,1.0700322693,0.588686269387,0.0187625712074,1.0697004049
+299,4.983333333,pose2_to_pose3_retreat,0.61787857282,0.0100908568533,1.07003228833,0.588449022914,0.0187625926022,1.06970041952
+300,5.000000000,pose2_to_pose3_retreat,0.617623150915,0.0100908120152,1.07003252252,0.588193601945,0.0187625504819,1.06970064463
+301,5.016666667,pose2_to_pose3_retreat,0.617348292173,0.0100906641745,1.07003258981,0.587918744342,0.0187624065727,1.06970071698
+302,5.033333333,pose2_to_pose3_retreat,0.617052717377,0.0100906746237,1.07003247819,0.587623169616,0.0187624171177,1.06970060646
+303,5.050000000,pose2_to_pose3_retreat,0.616730858773,0.0100907735577,1.07003231358,0.587301310431,0.018762514425,1.06970045596
+304,5.066666667,pose2_to_pose3_retreat,0.616384066345,0.01009074275,1.07003213979,0.586954517357,0.0187624811185,1.06970027814
+305,5.083333333,pose2_to_pose3_retreat,0.616012381889,0.0100907483312,1.07003214893,0.586582833825,0.0187624896121,1.06970028615
+306,5.100000000,pose2_to_pose3_retreat,0.615619392508,0.0100907230163,1.07003218167,0.586189845314,0.0187624671691,1.06970032112
+307,5.116666667,pose2_to_pose3_retreat,0.615205129865,0.0100907211494,1.07003238392,0.585775582452,0.0187624643789,1.06970052173
+308,5.133333333,pose2_to_pose3_retreat,0.614774199266,0.0100907856355,1.07003254027,0.585344650916,0.0187625254914,1.06970067428
+309,5.150000000,pose2_to_pose3_retreat,0.614325926111,0.010090825429,1.07003218067,0.584896376483,0.0187625609759,1.06970031497
+310,5.166666667,pose2_to_pose3_retreat,0.613855859989,0.0100908942031,1.07003211165,0.584426309446,0.0187626266598,1.06970024713
+311,5.183333333,pose2_to_pose3_retreat,0.613364253892,0.0100906409522,1.07003258485,0.583934708951,0.0187623919603,1.06970070797
+312,5.200000000,pose2_to_pose3_retreat,0.612848629841,0.0100907215198,1.0700323828,0.583419084082,0.0187624701016,1.06970051505
+313,5.216666667,pose2_to_pose3_retreat,0.612304508778,0.0100907956963,1.07003225528,0.582874960627,0.0187625361994,1.06970038669
+314,5.233333333,pose2_to_pose3_retreat,0.61172918916,0.0100907949807,1.0700322864,0.582299639858,0.0187625316354,1.06970042018
+315,5.250000000,pose2_to_pose3_retreat,0.611141825635,0.0100907634336,1.07003239809,0.58171227811,0.0187625061114,1.06970053194
+316,5.266666667,pose2_to_pose3_retreat,0.610545139671,0.0100907302959,1.07003235755,0.581115592718,0.018762474802,1.06970048868
+317,5.283333333,pose2_to_pose3_retreat,0.609937983694,0.0100907708259,1.07003221051,0.580508434694,0.0187625083964,1.06970034285
+318,5.300000000,pose2_to_pose3_retreat,0.609325567719,0.0100909100515,1.07003219612,0.579896017222,0.018762642732,1.0697003333
+319,5.316666667,pose2_to_pose3_retreat,0.608708599382,0.0100909049711,1.07003221972,0.579279048641,0.0187626365841,1.06970035006
+320,5.333333333,pose2_to_pose3_retreat,0.608063909336,0.010090696607,1.07003221472,0.578634362173,0.0187624404707,1.0697003487
+321,5.350000000,pose2_to_pose3_retreat,0.607388888248,0.0100907037706,1.07003239512,0.577959341414,0.0187624487243,1.06970052843
+322,5.366666667,pose2_to_pose3_retreat,0.606685508044,0.0100906765266,1.07003218985,0.577255961728,0.0187624234812,1.06970032958
+323,5.383333333,pose2_to_pose3_retreat,0.605951331622,0.0100907523069,1.07003210905,0.576521783715,0.0187624940114,1.06970025287
+324,5.400000000,pose2_to_pose3_retreat,0.605176845246,0.0100908821864,1.07003223745,0.575747296002,0.0187626192035,1.06970037773
+325,5.416666667,pose2_to_pose3_retreat,0.604389127421,0.0100908715824,1.07003235122,0.574959577902,0.0187626072208,1.06970047957
+326,5.433333333,pose2_to_pose3_retreat,0.603602491825,0.0100907913339,1.07003233144,0.574172942332,0.0187625268471,1.06970045303
+327,5.450000000,pose2_to_pose3_retreat,0.602825245568,0.0100908078674,1.07003226613,0.573395696556,0.0187625453291,1.06970039556
+328,5.466666667,pose2_to_pose3_retreat,0.602061267319,0.0100908580507,1.07003231364,0.572631717985,0.0187625946815,1.06970045072
+329,5.483333333,pose2_to_pose3_retreat,0.601305921673,0.0100908017133,1.07003231773,0.571876372,0.0187625370149,1.06970045023
+330,5.500000000,pose2_to_pose3_retreat,0.600540066716,0.0100908502647,1.07003222073,0.571110518055,0.0187625889128,1.0697003527
+331,5.516666667,pose2_to_pose3_retreat,0.599748127293,0.0100907439614,1.07003223748,0.57031857929,0.0187624847164,1.06970036589
+332,5.533333333,pose2_to_pose3_retreat,0.598932544087,0.0100907754781,1.07003233439,0.569502996067,0.0187625161428,1.06970046181
+333,5.550000000,pose2_to_pose3_retreat,0.598099166028,0.0100907757757,1.07003231956,0.568669617813,0.0187625161118,1.06970045443
+334,5.566666667,pose2_to_pose3_retreat,0.59727272677,0.0100908645258,1.07003224433,0.567843177398,0.0187626009188,1.06970037824
+335,5.583333333,pose2_to_pose3_retreat,0.596460441044,0.0100909414364,1.07003234527,0.567030890415,0.0187626735301,1.06970047931
+336,5.600000000,pose2_to_pose3_retreat,0.595677323578,0.0100908494374,1.07003238467,0.566247774147,0.018762585669,1.06970051977
+337,5.616666667,pose2_to_pose3_retreat,0.594909114302,0.0100907964375,1.0700323118,0.565479565605,0.0187625352885,1.06970044958
+338,5.633333333,pose2_to_pose3_retreat,0.594146021734,0.0100908975659,1.07003230082,0.564716471304,0.0187626304998,1.06970043887
+339,5.650000000,pose2_to_pose3_retreat,0.593381005498,0.010090836781,1.07003237416,0.563951455854,0.0187625718795,1.06970049806
+340,5.666666667,pose2_to_pose3_retreat,0.59261099075,0.0100908670504,1.07003230674,0.563181442941,0.0187626088332,1.06970044256
+341,5.683333333,pose2_to_pose3_retreat,0.591835629274,0.0100909547571,1.07003199397,0.562406077927,0.0187626845064,1.06970012893
+342,5.700000000,pose2_to_pose3_retreat,0.591062746915,0.010090928737,1.07003238919,0.561633196668,0.0187626621089,1.06970052125
+343,5.716666667,pose2_to_pose3_retreat,0.590298532188,0.0100907830379,1.0700322658,0.560868983145,0.0187625205001,1.06970039804
+344,5.733333333,pose2_to_pose3_retreat,0.589550688151,0.0100908433619,1.07003247798,0.560121138163,0.0187625774685,1.06970060728
+345,5.750000000,pose2_to_pose3_retreat,0.588822171449,0.0100908153454,1.07003243381,0.559392622308,0.0187625524047,1.06970056389
+346,5.766666667,pose2_to_pose3_retreat,0.588115647571,0.0100907178183,1.07003225201,0.558686100272,0.0187624614252,1.06970038861
+347,5.783333333,pose2_to_pose3_retreat,0.587431386343,0.0100907035786,1.07003219115,0.558001839051,0.0187624471939,1.06970032872
+348,5.800000000,pose2_to_pose3_retreat,0.5867634414,0.010090795,1.0700322027,0.557333892352,0.0187625324553,1.06970033662
+349,5.816666667,pose2_to_pose3_retreat,0.586109485587,0.0100908455055,1.07003218978,0.556679936273,0.0187625822213,1.06970032638
+350,5.833333333,pose2_to_pose3_retreat,0.585471105626,0.0100906857792,1.07003224845,0.556041559025,0.0187624314886,1.06970037849
+351,5.850000000,pose2_to_pose3_retreat,0.584847115641,0.0100908619697,1.07003244399,0.555417565179,0.0187625947553,1.06970057861
+352,5.866666667,pose2_to_pose3_retreat,0.584241773188,0.0100907927304,1.07003231094,0.554812226097,0.0187625371407,1.06970045024
+353,5.883333333,pose2_to_pose3_retreat,0.583663738701,0.0100908189078,1.07003198713,0.554234190809,0.0187625608376,1.06970013271
+354,5.900000000,pose2_to_pose3_retreat,0.58310800541,0.0100907055458,1.07003206617,0.553678457483,0.0187624467981,1.06970019704
+355,5.916666667,pose2_to_pose3_retreat,0.58256845396,0.0100906669805,1.07003226171,0.553138906747,0.0187624105687,1.06970039034
+356,5.933333333,pose2_to_pose3_retreat,0.582042056487,0.0100907769397,1.07003237003,0.552612507995,0.0187625160656,1.06970049562
+357,5.950000000,pose2_to_pose3_retreat,0.581530858297,0.0100908505097,1.07003233673,0.552101308189,0.0187625844162,1.06970046907
+358,5.966666667,pose2_to_pose3_retreat,0.581045347362,0.0100907867337,1.07003219296,0.551615797678,0.0187625225655,1.06970033851
+359,5.983333333,pose2_to_pose3_retreat,0.580588843566,0.0100907373571,1.07003209981,0.551159294506,0.0187624749892,1.06970023789
+360,6.000000000,pose2_to_pose3_retreat,0.580164636705,0.0100907769562,1.07003220764,0.550735087437,0.0187625137128,1.06970034071
+361,6.016666667,pose2_to_pose3_retreat,0.57976741267,0.0100908075469,1.0700321985,0.550337864018,0.0187625464502,1.06970033257
+362,6.033333333,pose2_to_pose3_retreat,0.579395585508,0.0100908766341,1.07003195087,0.549966034228,0.0187626069894,1.06970009447
+363,6.050000000,pose2_to_pose3_retreat,0.579039651949,0.0100908424761,1.07003214738,0.549610102898,0.0187625800759,1.06970028266
+364,6.066666667,pose2_to_pose3_retreat,0.578698372365,0.0100908359307,1.0700322897,0.549268823239,0.0187625731963,1.06970042293
+365,6.083333333,pose2_to_pose3_retreat,0.578378132423,0.0100907903255,1.07003239826,0.548948583304,0.0187625276158,1.06970053152
+366,6.100000000,pose2_to_pose3_retreat,0.578078123402,0.0100907700867,1.07003230444,0.548648574442,0.0187625081201,1.06970044313
+367,6.116666667,pose2_to_pose3_retreat,0.577798706921,0.0100907944929,1.07003211115,0.548369158358,0.0187625341029,1.06970025607
+368,6.133333333,pose2_to_pose3_retreat,0.577541575377,0.0100908602943,1.07003209406,0.548112026259,0.0187625979166,1.06970023639
+369,6.150000000,pose2_to_pose3_retreat,0.577309738124,0.0100909488149,1.0700322472,0.547880186617,0.0187626779703,1.06970037981
+370,6.166666667,pose2_to_pose3_retreat,0.577099182766,0.0100908884765,1.07003238232,0.547669632095,0.0187626201786,1.06970050733
+371,6.183333333,pose2_to_pose3_retreat,0.576909402485,0.0100907148585,1.07003248812,0.547479855646,0.018762459533,1.06970061256
+372,6.200000000,pose2_to_pose3_retreat,0.576739779599,0.0100907545689,1.07003248975,0.547310231677,0.0187624955094,1.0697006128
+373,6.216666667,pose2_to_pose3_retreat,0.57658697417,0.0100907673565,1.0700322751,0.547157426002,0.0187625079594,1.06970041104
+374,6.233333333,pose2_to_pose3_retreat,0.576449330944,0.0100907616636,1.07003217977,0.547019782566,0.0187625017336,1.06970032031
+375,6.250000000,pose2_to_pose3_retreat,0.576324230125,0.0100907791287,1.07003224402,0.546894681223,0.0187625172975,1.0697003813
+376,6.266666667,pose2_to_pose3_retreat,0.576211288152,0.0100907927231,1.07003234104,0.546781738615,0.0187625285317,1.06970047306
+377,6.283333333,pose2_to_pose3_retreat,0.576110090945,0.0100907609049,1.07003238333,0.546680541347,0.0187624963303,1.069700511
+378,6.300000000,pose2_to_pose3_retreat,0.576020762212,0.0100908116019,1.07003244727,0.546591213607,0.0187625505119,1.06970057856
+379,6.316666667,pose2_to_pose3_retreat,0.575944674174,0.0100908138928,1.07003235078,0.546515125163,0.0187625514088,1.06970048162
+380,6.333333333,pose2_to_pose3_retreat,0.575880917748,0.0100906926435,1.07003248765,0.546451370365,0.0187624355088,1.0697006137
+381,6.350000000,pose2_to_pose3_retreat,0.575829912871,0.0100908212816,1.07003235434,0.546400362778,0.0187625551706,1.06970048621
+382,6.366666667,pose2_to_pose3_retreat,0.575788732994,0.0100907600434,1.07003237739,0.546359184735,0.0187624998343,1.06970050082
+383,6.383333333,pose2_to_pose3_retreat,0.575756351991,0.0100908561238,1.0700324278,0.546326802796,0.01876259292,1.06970055599
+384,6.400000000,pose2_to_pose3_retreat,0.575730721885,0.0100908517947,1.07003226856,0.546301173123,0.0187625902764,1.06970040251
+385,6.416666667,pose2_to_pose3_retreat,0.575710981399,0.0100907707843,1.07003212871,0.546281433297,0.0187625114958,1.06970026241
+386,6.433333333,pose2_to_pose3_retreat,0.575696656034,0.0100907501186,1.07003222846,0.546267106756,0.0187624866755,1.06970035805
+387,6.450000000,pose2_to_pose3_retreat,0.575686604398,0.0100907945322,1.07003231678,0.546257056115,0.018762534552,1.06970044876
+388,6.466666667,pose2_to_pose3_retreat,0.575679992067,0.0100907872143,1.07003240022,0.546250444688,0.0187625302537,1.06970053067
+389,6.483333333,pose2_to_pose3_retreat,0.575675392228,0.0100907668658,1.07003246884,0.546245845582,0.0187625123153,1.06970059693
+390,6.500000000,pose2_to_pose3_retreat,0.575672588302,0.010090712107,1.07003223477,0.546243041474,0.0187624572052,1.06970036983
+391,6.516666667,pose2_to_pose3_retreat,0.575670463155,0.0100906654255,1.07003202363,0.546240916113,0.0187624100349,1.069700165
+392,6.533333333,pose2_to_pose3_retreat,0.575669196321,0.0100906440339,1.07003194827,0.546239649221,0.0187623885216,1.06970009172
+393,6.550000000,pose2_to_pose3_retreat,0.575668921652,0.0100906447423,1.07003197389,0.546239374596,0.0187623893446,1.06970011638
+394,6.566666667,pose2_to_pose3_retreat,0.575668906541,0.0100906447812,1.0700319753,0.546239359487,0.0187623893899,1.06970011774
+395,6.583333333,pose2_to_pose3_retreat,0.575668851751,0.0100906449225,1.07003198041,0.546239304706,0.018762389554,1.06970012266
+396,6.600000000,pose2_to_pose3_retreat,0.575668838301,0.0100906449572,1.07003198167,0.546239291259,0.0187623895943,1.06970012386
+397,6.616666667,pose2_to_pose3_retreat,0.575668758201,0.0100906451638,1.07003198914,0.546239211172,0.0187623898343,1.06970013106
+398,6.633333333,pose2_to_pose3_retreat,0.575668660776,0.010090645415,1.07003199823,0.546239113762,0.0187623901262,1.0697001398
+399,6.650000000,pose2_to_pose3_retreat,0.575668490483,0.0100906458542,1.07003201411,0.546238943497,0.0187623906364,1.0697001551
+400,6.666666667,pose2_to_pose3_retreat,0.575668148998,0.0100906467348,1.07003204597,0.546238602067,0.0187623916596,1.06970018576
+401,6.683333333,pose2_to_pose3_retreat,0.575667762808,0.0100906477307,1.07003208199,0.54623821594,0.0187623928167,1.06970022044
+402,6.700000000,pose2_to_pose3_retreat,0.575667353587,0.010090648786,1.07003212017,0.546237806785,0.0187623940427,1.06970025718
+403,6.716666667,pose2_to_pose3_retreat,0.575667126614,0.0100906493714,1.07003214134,0.546237579849,0.0187623947228,1.06970027756
+404,6.733333333,pose2_to_pose3_retreat,0.575667125911,0.0100906493732,1.0700321414,0.546237579146,0.0187623947249,1.06970027763
+405,6.750000000,pose2_to_pose3_retreat,0.575666942716,0.0100906498456,1.07003215849,0.546237395981,0.0187623952738,1.06970029408
+406,6.766666667,pose2_to_pose3_retreat,0.575666696292,0.0100906504811,1.07003218148,0.546237149597,0.0187623960121,1.0697003162
+407,6.783333333,pose2_to_pose3_retreat,0.575666434286,0.0100906525927,1.07003220728,0.546236887607,0.0187623981422,1.06970034111
+408,6.800000000,pose2_to_pose3_retreat,0.575666413365,0.0100906547215,1.0700322112,0.54623686665,0.0187624001485,1.06970034498
+409,6.816666667,pose2_to_pose3_retreat,0.575666225723,0.0100906738145,1.07003224634,0.546236678689,0.0187624181429,1.0697003797
+410,6.833333333,pose2_to_pose3_retreat,0.575666045698,0.0100906921323,1.07003228006,0.546236498358,0.0187624354067,1.069700413
+411,6.850000000,pose2_to_pose3_retreat,0.575665831587,0.0100907139185,1.07003232015,0.546236283882,0.0187624559393,1.06970045262
+412,6.866666667,pose2_to_pose3_retreat,0.57566552816,0.0100907447927,1.07003237698,0.54623597994,0.018762485037,1.06970050875
+413,6.883333333,pose2_to_pose3_retreat,0.575665358342,0.010090762072,1.07003240878,0.546235809834,0.018762501322,1.06970054017
+414,6.900000000,pose2_to_pose3_retreat,0.575665301151,0.0100907678913,1.0700324195,0.546235752545,0.0187625068065,1.06970055075
+415,6.916666667,pose2_to_pose3_retreat,0.575664979215,0.0100907932695,1.07003239082,0.546235430032,0.0187625303381,1.06970052503
+416,6.933333333,pose2_to_pose3_retreat,0.57566459189,0.0100908047368,1.07003212647,0.546235041935,0.0187625396827,1.06970027372
+417,6.950000000,pose2_to_pose3_retreat,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97ba6ec7b06c27b53a039a0f7c45c58bdc3e8203
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88ee8ebbcc8e463125263cefc91d1c3210fde8e842fd72d8ac9c2ff5be740553
+size 26434525
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4694e6f88cde46125a9a25b593da973e0424fef
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/franka_data.csv
@@ -0,0 +1,419 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,715,680,661,635,879,787,804,652,632,652,0.40097915317,0.00449412417697,0.0798425757513,0.999999957036,0.000107967729911,-0.00026820495075,4.83438343573e-05,1793239799299624704
+1,0.016666667,BASELINE,766,745.380390897,715,680,661,635,878.380390897,787,803.380390897,652,631.380390897,652,0.400979617454,0.00449320992954,0.0798432018622,0.999999957094,0.000108614210207,-0.000267702731209,4.84848715084e-05,1793239799316291840
+2,0.033333333,BASELINE,766,745,715,680,661,635,878.22631749,787,803.22631749,652,631.22631749,652.22631749,0.400979691939,0.00449269504618,0.0798434647814,0.999999957129,0.000108550373564,-0.000267605137278,4.84314281181e-05,1793239799332958976
+3,0.050000000,BASELINE,766,745,715,680,661,635,878.812511998,787,803.812511998,652,631.812511998,652.812511998,0.400979146585,0.00449281520836,0.0798431501741,0.999999957129,0.000107357032001,-0.00026815095557,4.80687330118e-05,1793239799349625600
+4,0.066666667,BASELINE,765.605983983,745.394016017,715,680,661,635,878.605983983,787,803.605983983,652.394016017,631.605983983,652.605983983,0.400977804313,0.00449253332781,0.0798420963936,0.999999956822,0.000106471372567,-0.00026964370498,4.8091585928e-05,1793239799366291968
+5,0.083333333,BASELINE,765.026685657,745.973314343,715,680,661,635,878.026685657,787,803.026685657,652.973314343,631.026685657,652.026685657,0.400976087297,0.00449206239047,0.0798406950239,0.999999956366,0.000105730397816,-0.000271581739768,4.82957391805e-05,1793239799382958592
+6,0.100000000,BASELINE,765.55145702,745.44854298,715,680,661,635,878.55145702,787,803,653,631,652,0.400977039037,0.00449230073856,0.0798416707972,0.999999956792,0.000105248086097,-0.000270225531861,4.81454004916e-05,1793239799399625216
+7,0.116666667,BASELINE,766,745,714.871058481,680,661,635,879,787,803,652.871058481,631,652,0.400977828811,0.0044927217861,0.0798424221304,0.999999957065,0.000105491956508,-0.000269128376114,4.80861328568e-05,1793239799416291584
+8,0.133333333,BASELINE,766,745,714.295659707,680,661,635,879,787,803,652.295659707,631,652,0.400977611561,0.00449365683189,0.0798419988794,0.999999956665,0.000108206967805,-0.000269478990392,4.84014689369e-05,1793239799432958208
+9,0.150000000,BASELINE,765.714013489,745,714.285986511,680.285986511,661.285986511,635,878.714013489,787,803,652,631,652,0.400977263621,0.00449483809984,0.079841721812,0.999999956407,0.000109748832089,-0.000269815907329,4.8382745336e-05,1793239799449624576
+10,0.166666667,BASELINE,765.125764308,745,714.874235692,680.874235692,661.874235692,635,878.125764308,787,803,652,631,652,0.400976777554,0.00449627960296,0.0798415992477,0.999999956305,0.00011005078265,-0.000270138347361,4.80109499175e-05,1793239799466291200
+11,0.183333333,BASELINE,765.455668848,745,715,680.544331152,661.544331152,635,878.455668848,787,803.455668848,652,631,652,0.400977991129,0.00449579280165,0.0798427456963,0.999999957063,0.000108614739717,-0.000267900636893,4.80217036579e-05,1793239799482958080
+12,0.200000000,BASELINE,766,745,715,680,661.035064118,635,878.964935882,787,803.964935882,652,631,652,0.400979538814,0.00449476162512,0.079844114636,0.999999957974,0.000106785125387,-0.000265205749474,4.81089211188e-05,1793239799499624704
+13,0.216666667,BASELINE,766,745,715,680,661.611611227,635,878.388388773,787,803.388388773,652,631,652,0.400979108651,0.00449342147193,0.0798435903998,0.999999957791,0.000106176164871,-0.000266201801196,4.77704844363e-05,1793239799516291840
+14,0.233333333,BASELINE,765.809230157,745,715,680,662,635,878.190769843,787,803.190769843,652,631,652,0.400978153626,0.00449220666985,0.0798428241863,0.999999957445,0.000105563137794,-0.000267760237798,4.76585440275e-05,1793239799532958976
+15,0.250000000,BASELINE,765.224680868,745,715,680,662,635,878.775319132,787,803.775319132,652,631,652,0.400976115204,0.00449125061225,0.0798415584932,0.999999956761,0.000104941716571,-0.00027047952686,4.80141280659e-05,1793239799549625344
+16,0.266666667,BASELINE,765,745,715,680.357551323,662,635,879,787,803.642448677,652,631,652.357551323,0.400976794651,0.00449103276076,0.0798419645207,0.999999957029,0.000103726147696,-0.00026995928797,4.80194349429e-05,1793239799566291712
+17,0.283333333,BASELINE,765,745,715,680.938336817,662,635,879,787,803.061663183,652,631,652.938336817,0.400979170978,0.00449127580213,0.0798434142732,0.999999957885,0.000102139627751,-0.000267416476793,4.78060491886e-05,1793239799582958336
+18,0.300000000,BASELINE,765.517730684,745,715,680.482269316,661.482269316,635,879,787,803.517730684,652,631,653,0.400980154877,0.00449271573492,0.0798439304293,0.999999957926,0.000104970952599,-0.000266171061449,4.77626138414e-05,1793239799599624960
+19,0.316666667,BASELINE,766,745,715,680.096078756,661,635,878.903921244,787,804,652,631,652.903921244,0.400980578878,0.00449393075122,0.0798441428119,0.999999957792,0.000107733191126,-0.000265572878915,4.77529986513e-05,1793239799616291840
+20,0.333333333,BASELINE,766,745,715,680.670047296,661,635,878.329952704,787,804,652,631,652.329952704,0.400979040658,0.00449331989704,0.0798433958334,0.999999957316,0.000107541638827,-0.000267427462418,4.78111924024e-05,1793239799632958208
+21,0.350000000,BASELINE,766,745,715,681,661.250322918,635,878,787,803.749677082,652.250322918,631,652.250322918,0.400977407034,0.00449280827838,0.0798424802918,0.999999956866,0.000106805120012,-0.000269408331971,4.77535126534e-05,1793239799649624832
+22,0.366666667,BASELINE,766,745,715,681,661.839126786,635,878,787,803.160873214,652.839126786,631,652.839126786,0.400975644406,0.00449243084378,0.0798413368231,0.99999995645,0.000105331709892,-0.000271559962498,4.75391513903e-05,1793239799666291456
+23,0.383333333,BASELINE,766,745,715,680.578760833,661.578760833,635,878,787,803,653,631,653,0.400976891647,0.00449259777221,0.0798423160527,0.999999956925,0.000105846099076,-0.000269591977931,4.76022228287e-05,1793239799682958080
+24,0.400000000,BASELINE,765.999167258,745,715,680,661,635,878.000832742,787,803.000832742,652.999167258,631.000832742,652.999167258,0.400979267257,0.00449296904709,0.0798440903633,0.999999957724,0.000107106445488,-0.000266080889441,4.77692637316e-05,1793239799699624960
+25,0.416666667,BASELINE,765.421860225,745,715,680,661,635,878.578139775,787,803.578139775,652.421860225,631.578139775,652.421860225,0.40097946896,0.00449313432706,0.079843849307,0.999999957593,0.000107451597151,-0.000266443158824,4.77101918511e-05,1793239799716291584
+26,0.433333333,BASELINE,765.155029168,745,715,680.155029168,661.155029168,635,879,787,804,652,631.844970832,652.155029168,0.400979383738,0.00449344415298,0.0798436425967,0.9999999575,0.000107596288522,-0.000266739311456,4.76723938166e-05,1793239799732958208
+27,0.450000000,BASELINE,765.730785272,745,715,680.730785272,661.730785272,635,879,787,804,652,631.269214728,652.730785272,0.400978519845,0.00449414625593,0.0798435290962,0.999999957511,0.000107196959486,-0.000266856032789,4.7692329937e-05,1793239799749624832
+28,0.466666667,BASELINE,766,745,715,680.686459977,662,635,879,787,804,652,631,652.686459977,0.400977636247,0.00449432632729,0.0798432285711,0.99999995735,0.000107345865968,-0.000267390595449,4.77427242655e-05,1793239799766291456
+29,0.483333333,BASELINE,766,745,715,680.097558819,662,635,879,787,804,652,631,652.097558819,0.400976735342,0.00449404793334,0.0798427637949,0.999999957037,0.000107976250896,-0.000268292120067,4.78198679906e-05,1793239799782958080
+30,0.500000000,BASELINE,765.516364272,745,715,680.483635728,662,635,879,787,803.516364272,652,631.483635728,652.483635728,0.400977874542,0.00449417255181,0.0798430917439,0.999999957056,0.000108476149323,-0.000268015550663,4.78346173519e-05,1793239799799625216
+31,0.516666667,BASELINE,765.062641497,745,714.937358503,680.937358503,662,635,879,787,803.062641497,652,631.937358503,653,0.400978981368,0.00449430744132,0.0798434319514,0.999999957085,0.000108855575337,-0.000267757620644,4.78247281696e-05,1793239799816292096
+32,0.533333333,BASELINE,765.636274935,745,714.363725065,680.363725065,662,635,879,787,803.636274935,652,631.363725065,653,0.400976519752,0.00449387335716,0.0798425881805,0.999999956648,0.000108463608163,-0.000269559897086,4.77149125332e-05,1793239799832958720
+33,0.550000000,BASELINE,765.78890352,745,714.21109648,680.21109648,661.78890352,635.21109648,879,787,804,652,631.21109648,653,0.400975820063,0.00449320449172,0.0798425516352,0.99999995668,0.000107444976345,-0.000269861714321,4.76502663407e-05,1793239799849625344
+34,0.566666667,BASELINE,765.212023307,745,714.787976693,680.787976693,661.212023307,635.787976693,879,787,804,652,631.787976693,653,0.400978173407,0.00449212880205,0.0798439138344,0.999999957521,0.000105340472679,-0.000267563565843,4.76638888629e-05,1793239799866291712
+35,0.583333333,BASELINE,765,745,715,680.625789205,661.374210795,635.625789205,878.625789205,787,804,652,631.625789205,652.625789205,0.400979468665,0.00449241466096,0.0798443442453,0.999999957951,0.000104780471021,-0.000266179475222,4.76124054759e-05,1793239799882958080
+36,0.600000000,BASELINE,765,745,715,680.034119374,661.965880626,635.034119374,878.034119374,787,804,652,631.034119374,652.034119374,0.400980149056,0.00449349173436,0.0798442331815,0.999999958147,0.000105118000506,-0.000265326555963,4.75230881517e-05,1793239799899624704
+37,0.616666667,BASELINE,765,745,714.455481232,680,662,635,878,787,803.455481232,652,631,652,0.400978395463,0.00449303276394,0.0798426749099,0.999999957693,0.000102599107302,-0.000268043143694,4.73251372886e-05,1793239799916291328
+38,0.633333333,BASELINE,765.121211253,745,714.121211253,680,661.878788747,635,878,787,803,652,631,652.121211253,0.400976661065,0.00449265611076,0.079841273845,0.999999957155,0.000101209982204,-0.000270579678504,4.72463011658e-05,1793239799932958208
+39,0.650000000,BASELINE,765.693629813,745,714.693629813,680,661.306370187,635,878,787,803,652,631,652.693629813,0.400975552575,0.00449293579011,0.0798407876501,0.999999956495,0.000104677090963,-0.000271632842677,4.76356145633e-05,1793239799949624832
+40,0.666666667,BASELINE,766,745.273468684,715,680.273468684,661.273468684,635,878,787.273468684,803,652,631,653,0.400975526012,0.00449296196306,0.0798408977709,0.99999995643,0.000106346546191,-0.000271203845301,4.77396867794e-05,1793239799966291456
+41,0.683333333,BASELINE,766,745.861852442,715,680.861852442,661.861852442,635,878,787.861852442,803,652,631,653,0.400976745352,0.00449269620864,0.0798416945837,0.99999995706,0.00010594589876,-0.000269068052754,4.7515287185e-05,1793239799982957824
+42,0.700000000,BASELINE,766,746,715,680.556501019,662,635,878.443498981,787.556501019,803.443498981,652,631.443498981,653,0.400976926116,0.00449370457829,0.0798418320843,0.999999957088,0.000106657217604,-0.000268710170417,4.73643996239e-05,1793239799999625216
+43,0.716666667,BASELINE,765.97698358,745.97698358,715,680,661.97698358,635,879,787,803.97698358,652,631.97698358,652.97698358,0.400976785336,0.00449500715204,0.0798417893787,0.999999956934,0.00010770062102,-0.000268885905854,4.72536238184e-05,1793239800016292864
+44,0.733333333,BASELINE,765.398958417,745.398958417,715,680,661.398958417,635,879,787,803.398958417,652,631.398958417,652.398958417,0.400976575249,0.00449397697955,0.0798422794108,0.99999995686,0.000108524495767,-0.000268774576877,4.75661815036e-05,1793239800032958720
+45,0.750000000,BASELINE,765.17790105,745.17790105,714.82209895,680,661.17790105,635,878.82209895,787,803,652.17790105,631.17790105,652.17790105,0.400976402204,0.00449319016337,0.0798423968909,0.999999956786,0.000108352231671,-0.000269092001949,4.77313526266e-05,1793239800049624832
+46,0.766666667,BASELINE,765.752163286,745.752163286,714.247836714,680,661.752163286,635,878.247836714,787,803,652.752163286,631.752163286,652.752163286,0.400976311686,0.00449294554192,0.0798416843302,0.999999956706,0.000105960583309,-0.000270364685377,4.75681483981e-05,1793239800066291456
+47,0.783333333,BASELINE,766,745.664676882,714.335323118,680.335323118,661.664676882,635,878.335323118,787,803,652.664676882,632,652.664676882,0.400976859786,0.00449278446139,0.0798419111015,0.99999995683,0.000105314985024,-0.00027014454292,4.76438560099e-05,1793239800082957824
+48,0.800000000,BASELINE,766,745.074761539,714.925238461,680.925238461,661.074761539,635,878.925238461,787,803,652.074761539,632,652.074761539,0.400977892753,0.00449268680882,0.0798428510555,0.999999957111,0.000105995065365,-0.000268790980789,4.79009561002e-05,1793239800099624448
+49,0.816666667,BASELINE,766,745,715,680.493823811,661,635,878.493823811,787,803,652,631.493823811,652.506176189,0.400979194434,0.00449401123849,0.0798441662933,0.999999957804,0.000106379394709,-0.000266117936675,4.75017142575e-05,1793239800116291072
+50,0.833333333,BASELINE,766,745,715,680,661,635.085247555,878.085247555,787,803,652,631,652.914752445,0.400980171351,0.00449513953591,0.0798451929168,0.999999958372,0.000106505634219,-0.000264000254544,4.70822854376e-05,1793239800132957952
+51,0.850000000,BASELINE,766,745,715,680,661,635.661076405,878.661076405,787,803,652,631,652.338923595,0.400979054896,0.00449395146701,0.0798442452048,0.999999957911,0.000105393622337,-0.000266180540014,4.70948361161e-05,1793239800149625600
+52,0.866666667,BASELINE,766,745,715,680.241334591,661.241334591,635.758665409,879,787,803,652,631,652,0.400978539609,0.00449369654089,0.0798435533226,0.999999957675,0.000104764425846,-0.000267316932713,4.70707518681e-05,1793239800166292736
+53,0.883333333,BASELINE,766,745,715,680.82792948,661.82792948,635.17207052,879,787,803,652,631,652,0.40097888437,0.0044947765961,0.0798432274377,0.999999957768,0.000104825959187,-0.000266959901871,4.69942566266e-05,1793239800182959360
+54,0.900000000,BASELINE,765.590751941,745,715,680.590751941,662,635,879,787,803.409248059,652,631.409248059,652,0.400979768642,0.00449480483752,0.0798439408726,0.99999995801,0.000105956328876,-0.000265550918859,4.72958920606e-05,1793239800199625728
+55,0.916666667,BASELINE,765.011623592,745,715,680.011623592,662,635,879,787,803.988376408,652,631.988376408,652,0.400980876868,0.00449439646736,0.0798450857328,0.999999958308,0.000107530376243,-0.000263705266853,4.77544908527e-05,1793239800216291584
+56,0.933333333,BASELINE,765.564428936,745,715,680,662,635,879,787,803.435571064,652,632,652,0.400979434584,0.00449438753595,0.0798443905289,0.999999958135,0.000106190431981,-0.000264956103708,4.7448762292e-05,1793239800232958464
+57,0.950000000,BASELINE,765.859461748,745,715,680,662,635,879,787,803,652,631.859461748,652.140538252,0.400978256319,0.0044942965232,0.0798438887518,0.999999957972,0.000105373748641,-0.00026591415957,4.73469793871e-05,1793239800249625088
+58,0.966666667,BASELINE,765.282980966,745,715,680,662,635,879,787,803,652,631.282980966,652.717019034,0.400978059072,0.00449392552038,0.0798441038816,0.999999957879,0.000106365331674,-0.000265767291363,4.79263863235e-05,1793239800266291456
+59,0.983333333,BASELINE,765,745,715,680,662,635,879,787,803,652,631,652.701240361,0.400977980775,0.00449340050821,0.0798439204354,0.999999957777,0.000106385685976,-0.000266129054333,4.79860662164e-05,1793239800282957824
+60,1.000000000,BASELINE,765,745,715,680,662,635,879,787,803,652,631,652.114428371,0.400978017163,0.0044927270062,0.079843352698,0.999999957668,0.000105469619665,-0.000266981219558,4.75446457037e-05,1793239800299624448
+61,1.016666667,BASELINE,765.469064698,745,715,680.469064698,661.530935302,635,879,787,803.469064698,652.469064698,631,652.469064698,0.400979177063,0.0044930894417,0.0798440298939,0.99999995799,0.000105757036743,-0.000265682952293,4.74147328072e-05,1793239800316291328
+62,1.033333333,BASELINE,765.949049819,745,714.949049819,681,661.050950181,635,878.949049819,787,804,653,631,653,0.40098043418,0.00449369311535,0.0798448741629,0.999999958347,0.000106396115853,-0.000264089663125,4.73607757575e-05,1793239800332957952
+63,1.050000000,BASELINE,765.375408212,745,714.375408212,681,661.624591788,635,878.375408212,787,804,653,631,653,0.400979896619,0.0044941972443,0.0798443386673,0.999999958023,0.000107652111633,-0.000264813754659,4.73119219817e-05,1793239800349624576
+64,1.066666667,BASELINE,765.197704555,745,714.197704555,680.802295445,662,635,878.197704555,787,804,652.802295445,631,653,0.400979061375,0.00449495569635,0.0798438442363,0.999999957648,0.000109109212234,-0.000265635811832,4.73013305114e-05,1793239800366291200
+65,1.083333333,BASELINE,765.769815786,745,714.769815786,680.230184214,662,635,878.769815786,787,804,652.230184214,631,653,0.400977662391,0.00449619577744,0.0798434275721,0.999999957174,0.000110947158756,-0.000266643393207,4.7363198997e-05,1793239800382958848
+66,1.100000000,BASELINE,766,745,715,680.356665822,662,635,879,787,803.643334178,652,631,652.643334178,0.400977596723,0.00449559106021,0.0798434876513,0.999999957416,0.000109334290755,-0.000266415014465,4.72929165438e-05,1793239800399625984
+67,1.116666667,BASELINE,766,745,715,680.953437953,662,635,879,787,803.046562047,652,631,652.046562047,0.400978428639,0.0044937444305,0.0798438686725,0.999999958128,0.000105398345203,-0.000265354591217,4.71336704915e-05,1793239800416292352
+68,1.133333333,BASELINE,765.468732839,745.531267161,715,680.468732839,662,635,879,787,803,652,631,652,0.400979038512,0.00449331576112,0.0798441761506,0.999999958095,0.000106618714441,-0.000264921270602,4.75315418382e-05,1793239800432958464
+69,1.150000000,BASELINE,765.107065103,745.892934897,715,680,662,635,878.892934897,787,803,652,631,652.107065103,0.400979599541,0.00449327704925,0.0798444656907,0.999999958014,0.000108071035751,-0.000264589679709,4.7800082598e-05,1793239800449624576
+70,1.166666667,BASELINE,765.680995669,745.319004331,715,680,662,635,878.319004331,787,803,652,631,652.680995669,0.400980029514,0.00449441552398,0.0798447041495,0.999999958009,0.00010863202914,-0.000264470277025,4.72990812093e-05,1793239800466291200
+71,1.183333333,BASELINE,766,745,715,680,662,635,878.261532473,787.261532473,803.261532473,652,631,653,0.400978911178,0.00449444730415,0.0798440401172,0.999999957718,0.000107955087873,-0.000265887656931,4.70540519012e-05,1793239800482958080
+72,1.200000000,BASELINE,766,745,715,680,662,635,878.850336134,787.850336134,803.850336134,652,631,653,0.400975855351,0.00449309421154,0.0798422467439,0.999999957058,0.00010572904519,-0.000269228104561,4.71293356617e-05,1793239800499624448
+73,1.216666667,BASELINE,766,745,715,680,662,635,878.566206583,787.566206583,804,652,631,652.566206583,0.40097672749,0.00449317734388,0.0798425982219,0.99999995738,0.00010514753643,-0.000268266291405,4.70796351778e-05,1793239800516291072
+74,1.233333333,BASELINE,765.984786281,745.015213719,715,680,662,635.015213719,878.015213719,787,803.984786281,652.015213719,631.015213719,652.015213719,0.400978903819,0.00449374303242,0.0798436709914,0.999999958024,0.000105151278511,-0.000265870223895,4.69909784758e-05,1793239800532957696
+75,1.250000000,BASELINE,765.411250264,745.588749736,715,680,662,635.588749736,878.588749736,787,803.411250264,652.588749736,631.588749736,652.588749736,0.400979813852,0.00449405455929,0.0798443878465,0.99999995825,0.000106064223603,-0.000264648702312,4.70358986999e-05,1793239800549625344
+76,1.266666667,BASELINE,765,745.837825356,714.837825356,680.162174644,662.162174644,635.837825356,879.162174644,787,803.162174644,652.837825356,631.837825356,653,0.400980189192,0.00449405209376,0.0798449200479,0.999999958409,0.000106764642212,-0.000263736914376,4.7189374581e-05,1793239800566292480
+77,1.283333333,BASELINE,765,745.264682041,714.264682041,680.735317959,662.735317959,635.264682041,879.735317959,787,803.735317959,652.264682041,631.264682041,653,0.400979209561,0.0044932539364,0.079844984316,0.999999958405,0.000106926494913,-0.000263610026193,4.76179426246e-05,1793239800582958592
+78,1.300000000,BASELINE,765.319408694,745,714.319408694,680.680591306,662.680591306,635.319408694,879.680591306,787,804,652,631,652.680591306,0.400978581994,0.00449262780664,0.0798448515774,0.999999958371,0.00010616571975,-0.000264042861075,4.76185991329e-05,1793239800599624960
+79,1.316666667,BASELINE,765.912893076,745,714.912893076,680.087106924,662.087106924,635.912893076,879.087106924,787,804,652,631,652.087106924,0.400978256525,0.00449214928901,0.0798445497928,0.999999958311,0.000104613263355,-0.000264955978708,4.72520766716e-05,1793239800616291584
+80,1.333333333,BASELINE,766,745,715,680.493961998,662,636,879,787,803.506038002,652,631,652.493961998,0.400977947412,0.00449203843161,0.0798442818186,0.999999958106,0.0001049534216,-0.000265530753942,4.76062518149e-05,1793239800632957952
+81,1.350000000,BASELINE,765.927410296,745.072589704,715,680.927410296,662,635.927410296,878.927410296,787,803.072589704,652,631,653,0.400977875787,0.00449221817704,0.0798441855297,0.999999957947,0.000105732267348,-0.000265752857371,4.79720484754e-05,1793239800649624576
+82,1.366666667,BASELINE,765.350903731,745.649096269,715,680.350903731,662,635.350903731,878.350903731,787,803.649096269,652,631,653,0.400979433265,0.00449397623908,0.0798452407029,0.999999958283,0.000107296393289,-0.00026393075172,4.755789377e-05,1793239800666291456
+83,1.383333333,BASELINE,765.229599952,745.770400048,715,680,662,635,878.459199904,787,804,652,631,653,0.400979795339,0.00449485007952,0.0798453641369,0.999999958236,0.000108294461807,-0.00026374605404,4.7307128615e-05,1793239800682958336
+84,1.400000000,BASELINE,765.816320862,745.183679138,715,680,662,635,879.632641724,787,804,652,631,653,0.400978298075,0.00449434859734,0.0798440383393,0.999999957597,0.000108412081904,-0.000266108188947,4.7310500352e-05,1793239800699625472
+85,1.416666667,BASELINE,766,745,715,680,662,635,879.203539989,787,804,652,631,653,0.400977940089,0.00449354015562,0.0798439023637,0.999999957654,0.000107959823424,-0.00026607523425,4.73392526962e-05,1793239800716291840
+86,1.433333333,BASELINE,766,745,715,680,662,635,878.044107526,787,804,652,631,653,0.400978101309,0.00449259182259,0.0798443086285,0.999999958027,0.000107247852934,-0.000264950760024,4.73795717993e-05,1793239800732958464
+87,1.450000000,BASELINE,766,745,715,680,662,635,878.553263006,787,804,652,631,653,0.400978304992,0.00449318988042,0.0798444085869,0.999999957998,0.000106865659584,-0.000265235593572,4.72709582823e-05,1793239800749624832
+88,1.466666667,BASELINE,765.871104755,745.128895245,715,680,662,635.128895245,878.871104755,787,803.871104755,652,631.128895245,652.871104755,0.400978386359,0.00449404724051,0.0798444467309,0.999999957834,0.000107316267962,-0.000265683142798,4.72043189211e-05,1793239800766291200
+89,1.483333333,BASELINE,765.293769679,745.706230321,715,680,662,635.706230321,878.293769679,787,803.293769679,652,631.706230321,652.293769679,0.400978036331,0.00449559397599,0.0798443119599,0.999999957251,0.000110618906151,-0.000266502893656,4.7304203223e-05,1793239800782957824
+90,1.500000000,BASELINE,765.287920299,745.712079701,715,680,662,635.712079701,878,787,803,652,631.712079701,652,0.400977971976,0.00449562586234,0.0798440950983,0.999999957185,0.000110979417321,-0.000266608247597,4.72584404991e-05,1793239800799624704
+91,1.516666667,BASELINE,765.874121858,745.125878142,715,680,662,635.125878142,878,787,803,652,631.125878142,652,0.400978203576,0.00449408838684,0.0798437931922,0.999999957658,0.000108291927312,-0.000265973496629,4.70617895605e-05,1793239800816291584
+92,1.533333333,BASELINE,765.543355678,745,715,680.456644322,662,635.456644322,878.456644322,787.456644322,803.456644322,652.456644322,631,652.456644322,0.400978608298,0.00449360568186,0.0798440097436,0.99999995802,0.000106937811934,-0.000265166090752,4.70215462591e-05,1793239800832960256
+93,1.550000000,BASELINE,765,745,715,680.962309141,662,635.962309141,879,787.962309141,803.962309141,652.962309141,631,653,0.400979005636,0.00449338181111,0.0798443252608,0.999999958318,0.00010599514201,-0.000264415724356,4.70377613756e-05,1793239800849629440
+94,1.566666667,BASELINE,765,745,715,680.387953319,662,635.387953319,879,787.387953319,803.387953319,652.387953319,631,653,0.400978623791,0.0044927364929,0.0798440312313,0.999999958143,0.000105719214454,-0.000265149775087,4.72488719998e-05,1793239800866293504
+95,1.583333333,BASELINE,765.186618709,745.186618709,715,680,662.186618709,635,879,787,803.186618709,652,631,653,0.400978214363,0.00449283028994,0.0798438825699,0.999999957939,0.000106091743122,-0.000265756016621,4.73414886136e-05,1793239800882958336
+96,1.600000000,BASELINE,765.761640825,745.761640825,715,680,662.761640825,635,879,787,803.761640825,652,631,653,0.400977747531,0.00449446238321,0.079844036458,0.999999957671,0.00010781388244,-0.000266096253199,4.71874875634e-05,1793239800899624704
+97,1.616666667,BASELINE,766,746,714.653555181,680,662.653555181,635,879,787,803.653555181,652,631,652.653555181,0.400977926181,0.00449515866912,0.0798442304013,0.99999995762,0.000109080580866,-0.000265786225226,4.70989334951e-05,1793239800916291584
+98,1.633333333,BASELINE,766,746,714.061825601,680,662.061825601,635,879,787,803.061825601,652,631,652.061825601,0.400978561834,0.00449519239837,0.0798444527038,0.999999957723,0.000110024824629,-0.000265015806497,4.70567162444e-05,1793239800932958464
+99,1.650000000,BASELINE,766,745.481297186,714.518702814,680,662,635,878.481297186,787,803.518702814,652,631,652,0.400978835126,0.00449330350181,0.0798448025656,0.999999958098,0.000107325027026,-0.000264663524959,4.73036068457e-05,1793239800949625088
+100,1.666666667,BASELINE,766,745.096855145,715,680,662,635,878,787,803.903144855,652.096855145,631.096855145,652,0.400979044121,0.00449164831664,0.0798450255641,0.999999958402,0.000104766351713,-0.000264507685285,4.7504351254e-05,1793239800966291712
+101,1.683333333,BASELINE,766,745.669752314,715,680,662,635,878,787,803.330247686,652.669752314,631.669752314,652,0.400979144895,0.00449224434575,0.0798445518818,0.999999958236,0.000104990957969,-0.000265077575543,4.73124993877e-05,1793239800982958592
+102,1.700000000,BASELINE,765.749896448,746,715,680,662,635,878.250103552,787,803,652.749896448,632,652.250103552,0.400979314283,0.00449263283598,0.0798443288184,0.99999995819,0.000105395172089,-0.000265126284121,4.71135915191e-05,1793239800999625472
+103,1.716666667,BASELINE,765.159400215,746,715,680,662,635,878.840599785,787,803,652.159400215,632,652.840599785,0.400979577054,0.0044927388643,0.0798444468492,0.999999958306,0.000106043833747,-0.000264465660743,4.69050803979e-05,1793239801016291840
+104,1.733333333,BASELINE,765.42297616,745.57702384,715,680.42297616,661.57702384,635,879.42297616,787,803.42297616,652,631.57702384,652.57702384,0.400979441113,0.00449271456625,0.0798446119729,0.999999958434,0.000105601436761,-0.00026414645459,4.69889309815e-05,1793239801032958208
+105,1.750000000,BASELINE,766,745,715,681,661.002332837,635,879.997667163,787,804,652,631,652,0.400979159898,0.00449264097425,0.0798447952833,0.999999958564,0.000104765150412,-0.000263952283068,4.71803850029e-05,1793239801049624832
+106,1.766666667,BASELINE,766,745,715,681,661.577421958,635,879.422578042,787,804,652,631,652,0.400979407141,0.00449229607563,0.0798451685425,0.999999958531,0.000106270103524,-0.000263461936404,4.72493277743e-05,1793239801066291456
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,661,635,878,787,804,652,632,653,0.400978585971,0.00449496227039,0.0798445502611,0.999999957756,0.000108882528604,-0.000265374468674,4.69922952806e-05,1793239801107588864
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714.593331563,680,661.593331563,635.593331563,878.593331563,787,804,652,632,652.406668437,0.400979039672,0.00449431279083,0.0798450421504,0.999999958073,0.000108284110408,-0.000264385630436,4.72182605326e-05,1793239801124256256
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680.181775052,662,635.818224948,879,787,804,652,631.818224948,652,0.400979165896,0.00449398502622,0.0798451389942,0.999999958202,0.000107835801155,-0.000264074922423,4.72420928306e-05,1793239801140923648
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680.759569383,662,635.240430617,879,787,804,652,631.240430617,652,0.400978578671,0.004494358157,0.0798443751832,0.999999957926,0.000107714522561,-0.000265241604213,4.68255537023e-05,1793239801157590272
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745,715,680.664476566,662,635,879.335523434,787,803.664476566,652,631,652,0.400978365283,0.00449419994418,0.0798441772597,0.999999957934,0.000107183654562,-0.000265426809567,4.682533762e-05,1793239801174256640
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745,715,680.089834072,662,635,879.910165928,787,803.089834072,652,631,652,0.400978418319,0.00449366305621,0.0798443826299,0.999999958144,0.000106360882567,-0.000264912541431,4.71218244622e-05,1793239801190923008
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879.512368839,787,803,652,631,652.487631161,0.40097942237,0.0044936645325,0.0798445439605,0.999999957988,0.00010857788049,-0.000264522983662,4.75579847197e-05,1793239801207589120
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745.067167724,714.932832276,680,662,635.067167724,879,787,803,652.067167724,631,652.932832276,0.400980513488,0.00449373302788,0.0798447479064,0.99999995785,0.000110742353565,-0.000264084456577,4.7914287602e-05,1793239801224255488
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745.658793582,714.341206418,680,662,635.658793582,879,787,803,652.658793582,631,652.341206418,0.400980908472,0.00449354589272,0.0798453483201,0.999999958425,0.000108098635999,-0.000263083131731,4.74449638305e-05,1793239801240922112
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.757120928,746,714.242879072,680,662,635.757120928,879,787,803,653,631.242879072,652.242879072,0.400984882991,0.00449352723726,0.0798475848282,0.999999959466,0.000106601245388,-0.00025977295336,4.71418903302e-05,1793239801257588992
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.183309532,746,714.816690468,680,662,635.183309532,879,787,803,653,631.816690468,652.816690468,0.400993734768,0.00449373814203,0.0798520505792,0.999999961119,0.000106665770715,-0.000253316871005,4.7065339424e-05,1793239801274256384
+118,1.966666667,POSE1_TO_POSE2_PRESS,765.391973446,746,715,680,662,635,878.608026554,787,803,652.608026554,631.608026554,653,0.401018636662,0.00449357915744,0.0798631972133,0.999999965811,0.00010613393055,-0.000234355813163,4.68018157915e-05,1793239801290923264
+119,1.983333333,POSE1_TO_POSE2_PRESS,765.967947265,746,715,680,662,635,878.032052735,787,803,652.032052735,631.032052735,653,0.401051072811,0.00449324653921,0.0798774799913,0.999999971425,0.000105322144144,-0.000209524662691,4.64505232966e-05,1793239801307590144
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.444030145,715,680,662,635,878.555969855,787,803,652,631.555969855,653,0.401105249858,0.00449372490785,0.0798941473112,0.999999977983,0.000104941061191,-0.000175910964977,4.55653445546e-05,1793239801324256000
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879,787,803.142531595,652,631.857468405,652.857468405,0.401163529276,0.00449405204799,0.0799093000579,0.999999982836,0.00010457267125,-0.000146318598882,4.45336560337e-05,1793239801340922368
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,879,787,803.722431999,652,631.277568001,652.277568001,0.401230465774,0.00449376848315,0.0799193740363,0.999999985109,0.0001041653477,-0.000130654111487,4.31489328788e-05,1793239801357588736
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,878.699395307,787,804,652,631,652.300604693,0.401305030546,0.00449455756482,0.0799270818046,0.999999986753,0.000103508859309,-0.000118659167251,4.12278686593e-05,1793239801374255360
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635,878.12280884,787,804,652,631,652.87719116,0.401386598747,0.00449633143115,0.0799326171816,0.999999987927,0.000102623615523,-0.000110033190111,3.88143958523e-05,1793239801390921984
+125,2.083333333,POSE1_TO_POSE2_PRESS,765.539382074,745,715,680.460617926,662,635,878,787,803.539382074,652,631,653,0.401478515565,0.00449861304025,0.079933904366,0.999999988152,0.000102198002143,-0.000109384753836,3.5866550056e-05,1793239801407589376
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,745,715,680.954520102,662,635,878.045479898,787,803,652,631.045479898,653,0.401576231339,0.00450090517696,0.0799344832071,0.999999988262,0.00010168972228,-0.000109852135108,3.26811812634e-05,1793239801424256256
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,745,715,680.374547369,662,635,878.625452631,787,803,652,631.625452631,653,0.40170918332,0.0045017061112,0.0799402491941,0.999999989913,9.87480219703e-05,-9.80595643334e-05,2.84039998613e-05,1793239801440922368
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.204505908,745.204505908,715,680.204505908,662.204505908,635,879,787,803,652,631.795494092,652.795494092,0.401853024926,0.00450279959473,0.0799463277379,0.999999991417,9.56179462543e-05,-8.63320345303e-05,2.38724677099e-05,1793239801457588992
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.7818827,745.7818827,715,680.7818827,662.7818827,635,879,787,803,652,631.2181173,652.2181173,0.402016721316,0.00450442647649,0.0799529761588,0.999999992785,9.2144410362e-05,-7.47230937262e-05,1.8877184205e-05,1793239801474255616
+130,2.166666667,POSE1_TO_POSE2_PRESS,765.641449021,745.641449021,715,681,662.641449021,635,879,787,803.358550979,652,631,652,0.402197897068,0.00450681200666,0.0799604784354,0.999999994193,8.7654400497e-05,-6.13042712319e-05,1.31562592227e-05,1793239801490921984
+131,2.183333333,POSE1_TO_POSE2_PRESS,765.065210845,745.065210845,715,681,662.065210845,635,879,787,803.934789155,652,631,652,0.402389685088,0.00450965813548,0.0799684991142,0.999999995474,8.25472580407e-05,-4.67866134261e-05,6.99477476098e-06,1793239801507588608
+132,2.200000000,POSE1_TO_POSE2_PRESS,765,745,714.478508979,680.478508979,662,635,878.478508979,787,803.478508979,652,631,652.521491021,0.402586916733,0.00451173260135,0.0799647541215,0.999999995573,7.58762999448e-05,-5.56534743893e-05,4.31297520352e-07,1793239801524256000
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.108020716,745.108020716,714.108020716,680,662,635,878,787,803.108020716,652,631,652.891979284,0.402792900067,0.0045140545766,0.0799592913503,0.999999995348,6.90355889229e-05,-6.70615703612e-05,-6.44289108039e-06,1793239801540923392
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.687964968,745.687964968,714.687964968,680,662,635,878,787,803.687964968,652,631,652.312035032,0.40303408326,0.00451788807502,0.079952883198,0.999999995025,6.23250730263e-05,-7.65351481262e-05,-1.44504165684e-05,1793239801557589760
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.734663039,745.734663039,715,680.265336961,662,635,878.265336961,787,803.734663039,652,631,652.265336961,0.403299596124,0.00452228106088,0.0799485220632,0.999999994521,6.2211736794e-05,-8.14942627861e-05,-2.11247236408e-05,1793239801574256128
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.160287003,745.160287003,715,680.839712997,662,635,878.839712997,787,803.160287003,652,631,652.839712997,0.40359344584,0.00452732568387,0.0799465450986,0.999999993924,6.97821639053e-05,-8.1195362699e-05,-2.62462251319e-05,1793239801590923008
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635,878.585212167,787,803.414787833,652,631,652.585212167,0.403918716849,0.00453343415569,0.0799523662703,0.999999991758,0.000102673696644,-7.35153407317e-05,-2.32062782691e-05,1793239801607589632
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662,635,878.00986685,787,803.99013315,652,631,652.00986685,0.404256150511,0.00453995442561,0.079961205971,0.999999987307,0.000145366608603,-6.2978208921e-05,-1.70071700994e-05,1793239801624256256
+139,2.316666667,POSE1_TO_POSE2_PRESS,765.582011138,745.582011138,715,680.417988862,662,635,878.582011138,787,804,652.582011138,631,652.582011138,0.404617575893,0.00454351630071,0.0799589111969,0.999999994727,7.57733651302e-05,-6.55432669215e-05,-2.25449400667e-05,1793239801640922880
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,746,715,680.169818846,662,635,879,787,803.830181154,652.830181154,631,653,0.404997024251,0.00454449512116,0.0799570260039,0.999999997101,2.84040280502e-05,-6.56118256672e-05,-2.61876552303e-05,1793239801657588992
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,746,715,680.747166396,662,635,879,787,803.252833604,652.252833604,631,653,0.40541871922,0.0045393990426,0.0799565899525,0.999999997181,3.90690631943e-05,-5.9140694564e-05,-2.47911867765e-05,1793239801674255616
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,879,787,803.3231291,652,631,653,0.40585766847,0.00453546266897,0.0799511355978,0.999999996299,4.81510280584e-05,-6.67907388125e-05,-2.49446699709e-05,1793239801690922496
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,879,787,803.898012912,652,631,653,0.406310060835,0.00453242983825,0.079941771408,0.999999994436,5.59996003296e-05,-8.54428011645e-05,-2.63057435094e-05,1793239801707589376
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,746,715,680.528816279,662,635,879,787,804,652,631,653,0.406782908077,0.00454578398444,0.0799366800856,0.999999992003,7.91442571418e-05,-9.50091195719e-05,-2.6510806222e-05,1793239801724256512
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662.090412214,635,879,787,804,652,631,652.954793893,0.407262737259,0.00456186687208,0.079932907836,0.999999989079,0.000103623285248,-0.000101955884533,-2.66300010581e-05,1793239801740923904
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,746,715,680,663.267817422,635,879,787,804,652,631,652.366091289,0.407773471536,0.00456826734964,0.0799339153779,0.999999989032,0.000104484436434,-0.000100966755526,-2.87142084672e-05,1793239801757590016
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,746,715,680,663.341887832,635,879,787,804,652,631,652,0.408305725834,0.00457525775281,0.0799322140154,0.999999988123,0.000108614342088,-0.000105085659048,-3.02280909817e-05,1793239801774256128
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,746,715,680,661.60148967,635,879,787,804,652,631,652,0.408873370448,0.00458321830666,0.0799260577753,0.999999985634,0.000118119816373,-0.000117604881474,-3.08040562833e-05,1793239801790922752
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,745.624570268,715,680.375429732,661.750859464,635,879,787,803.624570268,652,631.375429732,652.375429732,0.40950353612,0.00459439815412,0.0799438894456,0.999999986608,0.000132465617654,-9.05428004015e-05,-3.22367419659e-05,1793239801807589120
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,745.050865533,715,680.949134467,662.898268934,635,879,787,803.050865533,652,631.949134467,652.949134467,0.410166720904,0.00460727820083,0.0799743898065,0.999999987356,0.000149367731215,-4.25767188718e-05,-3.41218856985e-05,1793239801824255488
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745,715,680.459497009,663,635,879,787,803.540502991,652,631.459497009,652.459497009,0.410832248333,0.00461027108241,0.0799981893466,0.999999988047,0.000150525067965,-2.27424439204e-06,-3.52707640767e-05,1793239801840922112
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.869868193,745.130131807,715,680.130131807,662.869868193,635,879.130131807,787,804,652,631,652.130131807,0.411492091801,0.00461086447319,0.0800102165463,0.999999988127,0.000148574448966,1.81678512225e-05,-3.66314215456e-05,1793239801857588992
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.292134248,745.707865752,715,680.707865752,662.292134248,635,879.707865752,787,804,652,631,652.707865752,0.412131600614,0.00460651309715,0.0799839938206,0.999999988904,0.000141202353212,-2.71374710503e-05,-3.89668915526e-05,1793239801874255872
+154,2.566666667,POSE1_TO_POSE2_PRESS,765.284879276,746,715,680.715120724,662.284879276,635,879.715120724,787,803.715120724,652,631,652.715120724,0.412797772086,0.00459481215815,0.0799549569509,0.999999988538,0.000128418281011,-6.87404534725e-05,-4.13193028793e-05,1793239801890922752
+155,2.583333333,POSE1_TO_POSE2_PRESS,765.861155966,746,715,680.138844034,662.861155966,635,879.138844034,787,803.138844034,652,631,652.138844034,0.413491216347,0.00457559349506,0.0799230415453,0.999999987308,0.000110098403581,-0.000106556390677,-4.36890434429e-05,1793239801907589120
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.566254422,746,715,680.433745578,663,635,879.433745578,787,803.433745578,652,631,652.433745578,0.414247998878,0.00457894906897,0.0799287783222,0.999999990048,9.83839553484e-05,-9.083576864e-05,-4.44217963687e-05,1793239801924256000
+157,2.616666667,POSE1_TO_POSE2_PRESS,765,745.994601725,715,681,663,635,879.994601725,787,804,652,631,652.994601725,0.415024830143,0.00458948553523,0.0799464802263,0.999999993334,8.91865544611e-05,-5.8177000771e-05,-4.46393713316e-05,1793239801940922368
+158,2.633333333,POSE1_TO_POSE2_PRESS,765,745.39735756,715,681,663,635,879.39735756,787,804,652,631,652.39735756,0.415795608597,0.0046017410975,0.0799657252602,0.999999990527,0.000126084525342,-3.15166691244e-05,-4.53407533231e-05,1793239801957588992
+159,2.650000000,POSE1_TO_POSE2_PRESS,765.192283066,745,715,681,662.807716934,635,879,787,804,652,631,652.192283066,0.41656206827,0.00461116740166,0.0799728525579,0.999999987496,0.000149346879947,-2.35151430976e-05,-4.63770285121e-05,1793239801974255616
+160,2.666666667,POSE1_TO_POSE2_PRESS,765.766808471,745,715,681,662.233191529,635,879,787,804,652,631,652.766808471,0.417319942528,0.00461496938123,0.0799558908279,0.999999986875,0.00014550279036,-5.26057331405e-05,-4.80790429056e-05,1793239801990922496
+161,2.683333333,POSE1_TO_POSE2_PRESS,765.657364973,745.342635027,715,681.342635027,662,635,879,787,804,652,631,653,0.418146716408,0.00461781141659,0.0799662307854,0.999999987851,0.000144639212117,-2.91020725372e-05,-5.03082513742e-05,1793239802007589120
+162,2.700000000,POSE1_TO_POSE2_PRESS,765.080649525,745.919350475,715,681.919350475,662,635,879,787,804,652,631,653,0.419020560903,0.00461999763985,0.0799952226328,0.99999998751,0.00014581185094,3.03327797596e-05,-5.28976265996e-05,1793239802024255744
+163,2.716666667,POSE1_TO_POSE2_PRESS,765.508660564,746,715,681.491339436,662.508660564,635.508660564,879.508660564,787,804,652,631,653,0.419856848475,0.00461083107779,0.0799948149074,0.999999988852,0.000135455716098,3.39689683221e-05,-5.28517102982e-05,1793239802040922368
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.902428592,745.902428592,715,681,662.902428592,635.902428592,879.902428592,787,804,652,631,653,0.420686907666,0.00460141588124,0.0799880693253,0.99999999052,0.000124727321484,2.49327696606e-05,-5.27438081791e-05,1793239802057588992
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.325538136,745.325538136,715,681,662.325538136,635.325538136,879.325538136,787,804,652,631,653,0.421516365074,0.00459984634253,0.0799736694596,0.99999999115,0.000121377832116,-1.79203798952e-06,-5.44361156682e-05,1793239802074255616
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,745,715,681.250137836,662.250137836,635,878.749862164,787,804,652,631.250137836,652.749862164,0.422366919147,0.00460344662702,0.0799787796237,0.999999990496,0.000126658831766,2.46203750169e-06,-5.44008118765e-05,1793239802090921984
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,745,715,681.824240952,662.824240952,635,878.175759048,787,804,652,631.824240952,652.175759048,0.423244796619,0.00461374259256,0.080009158143,0.999999987303,0.000143117583194,4.68383182772e-05,-5.21279976249e-05,1793239802107588608
+168,2.800000000,POSE1_TO_POSE2_PRESS,765.39660112,745.39660112,715,681.60339888,663,635,878.793202241,787,804,652,631.60339888,652,0.424088236163,0.00462008651697,0.0800093467055,0.999999986423,0.000152106072481,3.72911985822e-05,-5.12623585564e-05,1793239802124255488
+169,2.816666667,POSE1_TO_POSE2_PRESS,765.968192223,745.968192223,715,681.031807777,663,635,879.936384446,787,804,652,631.031807777,652,0.424916480811,0.00462468670489,0.079996214729,0.999999986241,0.000157798500852,3.95177103494e-06,-5.10175992468e-05,1793239802140922112
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.433549453,746,714.433549453,681.566450547,662.433549453,635,880,787,804,652,631,652,0.425766485641,0.0046213158467,0.0799545296555,0.999999985939,0.000148554902891,-5.71408154021e-05,-5.27956633401e-05,1793239802157588992
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.159560561,745.840439439,714.159560561,682,662.319121122,635,880,787,804,652,631,652,0.426625420104,0.00461721257591,0.0799238645924,0.999999983727,0.000140812427702,-9.88198377488e-05,-5.43351651166e-05,1793239802174255872
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.735149923,745.264850077,714.735149923,682,663.470299847,635,880,787,804,652,631,652,0.427504293832,0.00461242434828,0.0799263194294,0.999999985126,0.000139278703527,-8.5617006732e-05,-5.49418620434e-05,1793239802190923008
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.688948025,745.311051975,714.688948025,682,663.377896051,635.311051975,880,787,804,652,631,652,0.428361348228,0.00461168936002,0.0799299145786,0.999999985057,0.000141433082101,-8.31677354232e-05,-5.44642806907e-05,1793239802207589888
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.112779492,745.887220508,714.112779492,682,662.225558983,635.887220508,880,787,804,652,631,652,0.429199805474,0.00461440903861,0.0799344816414,0.999999983788,0.000146730913269,-8.98839643843e-05,-5.30625446675e-05,1793239802224256256
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,746,714.47187971,682,662.47187971,635.52812029,880,787,804.47187971,652,631,652,0.43009256217,0.00461919594446,0.0799653964518,0.99999998709,0.000145390547903,-4.18545750374e-05,-5.41319298494e-05,1793239802240922624
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745.942098034,715,682,663.057901966,635,880,787,804.942098034,652,631,652,0.430994370483,0.00462423137978,0.0800016270881,0.999999987996,0.000143678374557,1.68894168069e-05,-5.54985017742e-05,1793239802257589248
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745.362414855,715,682,663.637585145,635,880,787,804.362414855,652,631,652,0.431858656562,0.00462697256866,0.080027975,0.999999985446,0.000153174609766,5.21191317783e-05,-5.41234815692e-05,1793239802274255872
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.215889886,745,715,682,663.784110114,635,880,787,804,652,631,652,0.432677259847,0.0046288420865,0.0800223839964,0.999999985794,0.000155176137846,3.79834701652e-05,-5.37624382182e-05,1793239802290922752
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.791895416,745,715,682,663.208104584,635,880,787,804,652,631,652,0.433419661974,0.00462925761183,0.0799635172123,0.999999986306,0.000144676102487,-5.84962210527e-05,-5.50927609244e-05,1793239802307589888
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745.366833353,714.633166647,682,663,635,880,787,804,652,631,652,0.434192722348,0.00462567487358,0.0799265916932,0.999999983271,0.000138023049949,-0.000105626842288,-5.7014744815e-05,1793239802324256512
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745.941167369,714.058832631,682,663,635,880,787,804,652,631,652,0.43498312463,0.00461983050253,0.0799020773364,0.999999981533,0.00013354605877,-0.000124842971485,-5.92714041775e-05,1793239802340922624
+182,3.033333333,POSE1_TO_POSE2_PRESS,766,745.468196342,714,682,663,635,879.468196342,787,804,651.468196342,631,652.531803658,0.435797215437,0.00461443147829,0.0799324203487,0.999999986478,0.000128950755241,-8.36883627677e-05,-5.84070467179e-05,1793239802357588992
+183,3.050000000,POSE1_TO_POSE2_PRESS,766,745.121409672,714,682,662.878590328,635,879.242819344,787,804,651.121409672,631,652.878590328,0.43659901296,0.00461231624336,0.0799626977585,0.999999989187,0.000127272700041,-4.66351143884e-05,-5.70279767913e-05,1793239802374255360
+184,3.066666667,POSE1_TO_POSE2_PRESS,766,745.700127017,714,682,662.299872983,635,880.400254034,787,804,651.700127017,631,652.299872983,0.437344322823,0.00462237844762,0.0799691461756,0.999999987851,0.000136633757377,-5.09822122193e-05,-5.50518174832e-05,1793239802390921984
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.723488646,745.723488646,714,682,662,635,881,787,804,652,631,652,0.438065966991,0.00463159255343,0.0799631298245,0.999999985244,0.000149434065971,-6.46475981842e-05,-5.47871267655e-05,1793239802407588864
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.149613295,745.149613295,714,682,662,635,881,787,804,652,631,652,0.438762160707,0.00463989460219,0.0799437086949,0.999999980743,0.000165932990558,-8.83339951863e-05,-5.63629722967e-05,1793239802424255488
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.424894822,745,714,682,661.575105178,635,880.575105178,787,804,652,631,652,0.439413136853,0.00464619946142,0.0799077489767,0.999999974781,0.00016503870729,-0.000141269926399,-5.69488135607e-05,1793239802440922368
+188,3.133333333,POSE1_TO_POSE2_PRESS,765.999626126,745,714,682,661.000373874,635,880.000373874,787,804,652,631,652,0.440048167365,0.00465180002501,0.0798659570278,0.999999964967,0.000158010819614,-0.000204520523067,-5.71855359934e-05,1793239802457589248
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.405228722,745,714,682,661,635,880.594771278,787,804,652,631,652,0.440617356675,0.00466127917043,0.0797871117491,0.999999929172,0.000174799011848,-0.000328189658012,-5.82430738654e-05,1793239802474255872
+190,3.166666667,POSE1_TO_POSE2_PRESS,765,745.183313729,714,682,661,635,880.816686271,786.816686271,804,652,631,652,0.441187583934,0.00467062340484,0.0797210297104,0.999999887782,0.000190201107704,-0.000429824414279,-5.92411025001e-05,1793239802490922496
+191,3.183333333,POSE1_TO_POSE2_PRESS,765,745.757740597,714,682,661,635,880.242259403,786.242259403,804,652,631,652,0.441760117285,0.00467967441191,0.079682230416,0.999999860363,0.000202612797446,-0.000484363345515,-6.01110255872e-05,1793239802507589120
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.332897525,745.667102475,714,682.332897525,660.667102475,635,880,786.332897525,804.332897525,652,631,652.332897525,0.442361553927,0.00468930245616,0.079691829851,0.999999865224,0.0002158847077,-0.000468366705787,-5.98171682076e-05,1793239802524255744
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.908586872,745.091413128,714,682.908586872,660.091413128,635,880,786.908586872,804.908586872,652,631,652.908586872,0.442984070544,0.00469935134981,0.0797367278857,0.999999891507,0.000229784000517,-0.000400926423696,-5.86745317939e-05,1793239802540922624
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.504770198,745,714,683,660,634.504770198,880,787,804.504770198,652,631,653,0.443540796841,0.00470862240945,0.0797643628037,0.99999990255,0.00024712773603,-0.000361175135815,-5.81448135626e-05,1793239802557589248
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.082747545,745.082747545,714,683,659.917252455,633.917252455,880.082747545,786.917252455,804.082747545,652,631,653,0.444076108083,0.00471730889077,0.0797817935587,0.999999906923,0.000262980589425,-0.000337157171164,-5.76224483913e-05,1793239802574256384
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.663092392,745.663092392,714,683,659.336907608,633.336907608,880.663092392,786.336907608,804.663092392,652,631,653,0.444557320523,0.00472336297413,0.079757457757,0.999999892231,0.000265958290674,-0.000376320503594,-5.6448570448e-05,1793239802590923008
+197,3.283333333,POSE1_TO_POSE2_PRESS,765.758003696,746,714,683.241996304,659,633,880.758003696,786,805,652,631,653,0.445012576175,0.00473170600914,0.0797311108497,0.999999873467,0.00027120349054,-0.000419998106921,-5.58191569662e-05,1793239802607589632
+198,3.300000000,POSE1_TO_POSE2_PRESS,765.181094029,746,714,683.818905971,659,633,880.181094029,786,805,652,631,653,0.445431908615,0.00474321686265,0.0797019806537,0.999999848937,0.000279586818971,-0.000469923280171,-5.59432609629e-05,1793239802624256256
+199,3.316666667,POSE1_TO_POSE2_PRESS,765.392176545,745.607823455,714,683.607823455,659,633,880.392176545,786,804.607823455,652,631,653,0.445847347,0.00475869997188,0.0796888099884,0.999999835127,0.000297999148395,-0.000487237148139,-5.95122377031e-05,1793239802640922880
+200,3.333333333,POSE1_TO_POSE2_PRESS,765.963782209,745.036217791,714,683.036217791,659,633,880.963782209,786,804.036217791,652,631,653,0.446261003808,0.00477600047368,0.0796829411457,0.99999982652,0.000320999960064,-0.00048963065428,-6.46573170779e-05,1793239802657589248
+201,3.350000000,POSE1_TO_POSE2_PRESS,765.443947651,745,714,683,658.443947651,633,881,786,804,652,631,653,0.446642896136,0.00479833769346,0.0796810759599,0.99999981853,0.000351733216306,-0.000484372605354,-6.78694242549e-05,1793239802674255360
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,714,683,658,633,881,786,804.146095329,652,631,653,0.447013162789,0.00481656481197,0.0796782263213,0.999999810356,0.000377340738105,-0.000481618852798,-7.032345956e-05,1793239802690921984
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,714,683,658,633,881,786,804.725389482,652,631,653,0.447355328893,0.00482159444541,0.0796716545196,0.999999803924,0.000386198513768,-0.000487825595501,-7.09174073693e-05,1793239802707588864
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,714,683.300902142,657.699097858,633,881,786,804.699097858,652,631,653,0.447662418049,0.00482320570012,0.0796613540073,0.999999795379,0.000389429598075,-0.000502535586027,-7.10230915781e-05,1793239802724255744
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,714,683.873006519,657.126993481,633,881,786,804.126993481,652,631,653,0.447937892433,0.00482173597962,0.0796476928192,0.999999784624,0.000387589361004,-0.00052490952882,-7.06887051516e-05,1793239802740922624
+206,3.433333333,POSE1_TO_POSE2_PRESS,765.459781731,745,714,684,657,632.540218269,881,786,804,652,631,653,0.448184547467,0.00482666340493,0.0796359354887,0.999999782631,0.000365597142169,-0.000544151735743,-7.05364718679e-05,1793239802757589504
+207,3.450000000,POSE1_TO_POSE2_PRESS,765.90043143,745.049784285,714,683.950215715,657.049784285,632,881,786,804,652,631,653,0.448421751545,0.00483303799358,0.0796252256049,0.999999781723,0.000340750080378,-0.000561670272054,-7.04932045963e-05,1793239802774256128
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.740831983,745.629584008,714,683.370415992,657.629584008,632,881,786,804,652,631,653,0.448645875902,0.0048353884067,0.0796198842128,0.999999774718,0.000346720356189,-0.000570350702618,-7.10567347904e-05,1793239802790922496
+209,3.483333333,POSE1_TO_POSE2_PRESS,764.413229928,745.793385036,714,683,657.793385036,632,880.793385036,786,804,652,631,653,0.448860672875,0.00483698797102,0.0796178135234,0.999999769738,0.000354625280079,-0.000574246534914,-7.07472284357e-05,1793239802807588864
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.557495391,745.221252305,714,683,657.221252305,632,880.221252305,786,804,652,631,653,0.449058968966,0.00483725922582,0.0796215289592,0.9999997684,0.000365952744644,-0.000569678043896,-6.88932532061e-05,1793239802824255488
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.646689422,745,713.646689422,683,657,632,880.353310578,785.646689422,804.353310578,652.353310578,631,653,0.449238040652,0.00483687053744,0.0796254076522,0.999999768579,0.000374048329649,-0.000564237702792,-6.75631311068e-05,1793239802840922112
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.070594118,745,713.070594118,683,657,632,880.929405882,785.070594118,804.929405882,652.929405882,631,653,0.449404990152,0.00483606571306,0.0796293892895,0.999999769724,0.000380106010745,-0.000558247604477,-6.65633314464e-05,1793239802857588736
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.518271943,745,713,683,656.481728057,632,880.481728057,785.518271943,804.481728057,652.481728057,631,653,0.449534830634,0.00483539059624,0.0796228451117,0.999999765827,0.000379281960345,-0.000565589417971,-6.78268365062e-05,1793239802874255872
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.893189495,745,713,683,656,632,880.106810505,786,804.106810505,652,631,653,0.449655486237,0.00483171329478,0.0796159568122,0.999999762667,0.000374410316638,-0.000574176723493,-6.93076765568e-05,1793239802890922752
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.313986901,745,713,683,656,632,880.686013099,786,804.686013099,652,631,653,0.449758439798,0.00481467808294,0.0796140477172,0.999999765975,0.000355887761834,-0.000580038170557,-7.03518210254e-05,1793239802907589376
+216,3.600000000,POSE1_TO_POSE2_PRESS,765.263469317,745,713,683,655.736530683,632,881,786,805,652,631,653,0.449852618069,0.00480092276097,0.0796127987426,0.999999768618,0.000341269359458,-0.000584198797285,-7.07900002459e-05,1793239802924256000
+217,3.616666667,POSE1_TO_POSE2_PRESS,765.83885798,745,713,683,655.16114202,632,881,786,805,652,631,653,0.449936407335,0.004791050477,0.0796123312795,0.999999770742,0.000331273055031,-0.000586345835393,-7.05107817164e-05,1793239802940922880
+218,3.633333333,POSE1_TO_POSE2_PRESS,765.586038107,745,713,683,655,632,880.586038107,785.586038107,804.586038107,652,631,652.586038107,0.450004732694,0.00479509708601,0.0796105722838,0.999999767773,0.000335032739053,-0.000589201678733,-7.10478337801e-05,1793239802957589504
+219,3.650000000,POSE1_TO_POSE2_PRESS,765.011044974,745,713,683,655,632,880.011044974,785.011044974,804.011044974,652,631,652.011044974,0.450067042587,0.00480455814674,0.0796083108817,0.999999762768,0.000344143504893,-0.000592333247335,-7.19024152316e-05,1793239802974256384
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713,683,655,632,880,785,804,652,631,652.581352051,0.450112341732,0.00480594237568,0.0796082968519,0.999999761703,0.000346815895281,-0.000592587517874,-7.17861344528e-05,1793239802990922496
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.169262214,745,713,683.169262214,655,631.830737786,880.169262214,785,804.169262214,652,631,653,0.450153775034,0.00480760619605,0.0796087283813,0.999999760965,0.00034928818535,-0.00059238205079,-7.17666227931e-05,1793239803007589120
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.745562697,745,713,683.745562697,655,631.254437303,880.745562697,785,804.745562697,652,631,653,0.450186712999,0.00481032277306,0.079610125536,0.999999760838,0.00035158251134,-0.000591206530608,-7.20255450136e-05,1793239803024256000
+223,3.716666667,POSE1_TO_POSE2_PRESS,766,745,713,684,655,631.321349043,881,785.321349043,805,652,631,653,0.450212160309,0.00481198000222,0.0796093450111,0.999999759092,0.000353282700322,-0.000593164798853,-7.18576248543e-05,1793239803040922624
+224,3.733333333,POSE1_TO_POSE2_PRESS,766,745,713,684,655,631.89672902,881,785.89672902,805,652,631,653,0.450231686153,0.00481279980231,0.079606843,0.999999756051,0.000354513215893,-0.000597600370748,-7.13522798231e-05,1793239803057589248
+225,3.750000000,POSE1_TO_POSE2_PRESS,765.51529633,745,713,683.51529633,655,632,881,785.51529633,805,652,631,653,0.450244721207,0.00481127401349,0.0796053892943,0.999999755909,0.000352017330522,-0.000599351129535,-7.10211555721e-05,1793239803074255616
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713.071154174,683,655,631.928845826,881,785,804.928845826,652,631,653,0.450255793907,0.00480990027106,0.079604469025,0.999999756316,0.000349369740403,-0.000600248088581,-7.07950144201e-05,1793239803090922240
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713.628373393,683,655,631.371626607,881,785,804.371626607,652,631,653,0.45026316049,0.00481307013064,0.0796056262856,0.999999756193,0.000351254091784,-0.000599324456054,-7.10256952867e-05,1793239803107588864
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713.800779183,683,655,631.199220817,880.800779183,785,804.199220817,652,631,653,0.450269169101,0.00481550318486,0.0796061750611,0.99999975561,0.000353062641905,-0.00059923085525,-7.10609084978e-05,1793239803124255488
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713.20264297,683,655,631.79735703,880.20264297,785,804.79735703,652,631,653,0.45027245854,0.004816460876,0.0796055054194,0.999999754108,0.00035471940913,-0.000600799291813,-7.07047215501e-05,1793239803140922368
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713,683.388796964,655,631.611203036,880.388796964,785,805,652,631,653,0.450274457146,0.00481528752741,0.0796043880729,0.999999753481,0.000354246613314,-0.000602172960711,-7.02547541471e-05,1793239803157588736
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713,683.976805838,655,631.023194162,880.976805838,785,805,652,631,653,0.450275794354,0.00481302227598,0.0796030413313,0.9999997533,0.000352682671265,-0.000603446834442,-6.97567354958e-05,1793239803174255360
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,684,655,631,880.442994321,785,805,652,631,653,0.450277472575,0.00481445493135,0.0796029591562,0.999999753127,0.000353412047108,-0.000603269767471,-7.00837513244e-05,1793239803190922496
+233,3.883333333,POSE1_TO_POSE2_PRESS,765.136061543,745,713,684,655,631,880.136061543,785,804.863938457,652,631,652.863938457,0.450278868413,0.00481566379166,0.0796029994396,0.999999752982,0.000353968446378,-0.00060316208163,-7.02749996866e-05,1793239803207589376
+234,3.900000000,POSE1_TO_POSE2_PRESS,765.712452889,745,713,684,655,631,880.712452889,785,804.287547111,652,631,652.287547111,0.450279305068,0.00481565695294,0.0796032679728,0.999999752929,0.000353660274032,-0.000603471756593,-6.99172252231e-05,1793239803224255744
+235,3.916666667,POSE1_TO_POSE2_PRESS,765.711891736,745,713,684,655,631,881,785,804,652,631,652.288108264,0.450279268614,0.00481535636234,0.0796029577772,0.999999752501,0.00035300839084,-0.000604614684825,-6.94545037569e-05,1793239803240922368
+236,3.933333333,POSE1_TO_POSE2_PRESS,765.136968956,745,713,684,655,631,881,785,804,652,631,652.863031044,0.450278761176,0.00481476333895,0.0796020714516,0.999999751696,0.000352014340194,-0.000606587124641,-6.88873065089e-05,1793239803257588992
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.549842686,745,713.450157314,684,655,631,880.549842686,785,804.450157314,652,631,653,0.450279322613,0.00481470485584,0.0796017195221,0.99999975212,0.000351987813469,-0.000605909288564,-6.88314050259e-05,1793239803274255616
+238,3.966666667,POSE1_TO_POSE2_PRESS,764.040251037,745,713.959748963,684,655,631.040251037,880.040251037,785,805,652,631,653,0.450280169617,0.00481477127296,0.0796015542383,0.999999752855,0.000352206264546,-0.000604556702817,-6.89323584674e-05,1793239803290921984
+239,3.983333333,POSE1_TO_POSE2_PRESS,764.618985136,745,713.381014864,684,655,631.618985136,880.618985136,785,805,652,631,653,0.450280364843,0.00481427211817,0.0796016500239,0.999999752616,0.000351653964167,-0.00060526591695,-6.89924881456e-05,1793239803307589632
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713,684,655,632,881,785.195896425,804.804103575,652,631,653,0.450280465842,0.00481401956643,0.0796013754301,0.999999752132,0.000351505819341,-0.000606148635809,-6.90205052039e-05,1793239803324257024
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713,684,655,632,881,785.769295033,804.230704967,652,631,653,0.450280385264,0.00481424223111,0.0796003870969,0.999999751174,0.000352136502466,-0.000607365706886,-6.89866396378e-05,1793239803340923392
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713,684,654.656665709,631.656665709,881,785.656665709,804.343334291,652,631,653,0.450280443204,0.00481355149677,0.0796001025449,0.999999751387,0.000350953337794,-0.000607712310324,-6.88662445551e-05,1793239803357589504
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654.082195184,631.082195184,881,785.082195184,804.917804816,652,631,653,0.450280594398,0.00481224585265,0.0796002917859,0.999999752386,0.000348549071787,-0.000607472905793,-6.86875968981e-05,1793239803374255872
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631,880.492690834,785,804.492690834,652,631,653,0.45028125244,0.00481412974921,0.0796005464576,0.99999975214,0.000350257733443,-0.000606869446297,-6.89119810492e-05,1793239803390922496
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,713,684,654.097231778,631,880,785,804,652,631,653,0.450282016578,0.0048160929228,0.0796009060552,0.999999751801,0.000352327972135,-0.000606204707641,-6.91340373045e-05,1793239803407588864
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654.676777243,631,880,785,804,652,631,653,0.450282887207,0.00481580761939,0.07960173194,0.999999752052,0.000352785277744,-0.000605537524105,-6.90107363279e-05,1793239803424255232
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745.254240184,713,683.745759816,655,631,880.254240184,785,804,652,631,652.745759816,0.45028257583,0.00481493918793,0.0796014910301,0.999999751806,0.000351758251428,-0.00060656230229,-6.88269225903e-05,1793239803440922112
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745.829077143,713,683.170922857,655,631,880.829077143,785,804,652,631,652.170922857,0.450280773943,0.00481333543217,0.0795999048925,0.999999750918,0.000348859483185,-0.000609720643457,-6.85668022668e-05,1793239803457588736
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745.586714986,713,683,654.586714986,631,880.586714986,785,804,652,631,652.413285014,0.450281266519,0.00481212847567,0.0795997251619,0.999999751472,0.000347092838314,-0.000609835629546,-6.84395185483e-05,1793239803474255872
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745,713,683.001438172,654,631,880.001438172,785,804.001438172,652,631,653,0.450282728101,0.00481109723761,0.0796001416314,0.999999752631,0.000345821702668,-0.000608662715742,-6.8367451438e-05,1793239803490922496
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745,713,683.581491256,654,631,880.581491256,785,804.581491256,652,631,653,0.450283411771,0.00481320667685,0.0796009829908,0.999999751529,0.000351161851116,-0.000607467876312,-6.78949173382e-05,1793239803507589120
+252,4.200000000,POSE1_TO_POSE2_PRESS,764.840056084,745,713,684,654,631,881,785,805,652,631,653,0.450284053795,0.00481433687647,0.0796015656295,0.9999997512,0.000353760180148,-0.000606526666329,-6.76711394861e-05,1793239803524255488
+253,4.216666667,POSE1_TO_POSE2_PRESS,764.265749637,745,713,684,654,631,881,785,805,652,631,653,0.450284587929,0.00481293018541,0.079601478007,0.999999752927,0.000349255348802,-0.000606242527647,-6.80918079914e-05,1793239803540922368
+254,4.233333333,POSE1_TO_POSE2_PRESS,764.307604581,745,713,683.692395419,654,631.307604581,881,785,804.692395419,652,631,653,0.450284297905,0.00481287060765,0.0796009908714,0.999999752936,0.000348207122743,-0.000606807703467,-6.8290674843e-05,1793239803557588992
+255,4.250000000,POSE1_TO_POSE2_PRESS,764.880138645,745,713,683.119861355,654,631.880138645,881,785,804.119861355,652,631,653,0.450283298061,0.00481397125335,0.0796001596486,0.999999751475,0.000350135954849,-0.000608104365336,-6.82985113661e-05,1793239803574255360
+256,4.266666667,POSE1_TO_POSE2_PRESS,765,745,713,683,654.468390303,631.531609697,881,785,804.468390303,652,631,653,0.450282616491,0.00481292803983,0.079599503031,0.99999975116,0.000348607914878,-0.000609502506301,-6.82532619307e-05,1793239803590922240
+257,4.283333333,HOLD_POSE2,766,745,713,684,654,632,881,786,805,652,631,653,0.450285920444,0.00481488371217,0.0796013622291,0.999999751707,0.000352378163018,-0.000606391005707,-6.86032823647e-05,1793239803634682112
+258,4.300000000,HOLD_POSE2,765.42433611,745.57566389,713,684,654.57566389,631.42433611,881,785.42433611,804.42433611,652,631,653,0.450286307071,0.0048146129962,0.0796018308877,0.999999753044,0.000350591747699,-0.000605252001889,-6.832343519e-05,1793239803651348224
+259,4.316666667,HOLD_POSE2,765,745.848313887,713,683.848313887,654.848313887,631,880.848313887,785,804,652,631,653,0.450286188803,0.00481384715602,0.0796018048926,0.999999753787,0.000349031358764,-0.000604953290469,-6.80816677695e-05,1793239803668014336
+260,4.333333333,HOLD_POSE2,765,745.271286736,713,683.271286736,654.271286736,631,880.271286736,785,804,652,631,653,0.45028465477,0.00481169294449,0.0796003918456,0.999999752872,0.000348104767042,-0.000607010831672,-6.79466792245e-05,1793239803684680960
+261,4.350000000,HOLD_POSE2,765,745,713,683,654,631,880,785,804.312981636,652,631,653,0.450285041329,0.00481102819669,0.0796005726122,0.99999975298,0.000347765759142,-0.000607070711063,-6.75515940425e-05,1793239803701347584
+262,4.366666667,HOLD_POSE2,765,745,713,683,654,631,880,785,804.903675186,652,631,653,0.450287132052,0.00481168506591,0.0796021675864,0.999999753997,0.000347948120634,-0.000605358043893,-6.69257223736e-05,1793239803718013952
+263,4.383333333,HOLD_POSE2,765,745.48319289,713,683.48319289,654,631,880,785,805,652,631,652.51680711,0.450287696188,0.00481236029881,0.0796025374942,0.999999754707,0.000347062952067,-0.000604640690893,-6.74015720142e-05,1793239803734680576
+264,4.400000000,HOLD_POSE2,765,745.939821224,713,683.939821224,654.060178776,631,880.060178776,785,804.939821224,652,631,652.060178776,0.450287861373,0.00481278596217,0.0796026105348,0.99999975522,0.000346083261345,-0.00060428632976,-6.7999366193e-05,1793239803751347456
+265,4.416666667,HOLD_POSE2,765,745.365859939,713,683.365859939,654.634140061,631,880.634140061,785,804.365859939,652,631,652.634140061,0.450287159935,0.00481105035201,0.079602186941,0.999999754578,0.000346072415595,-0.000605375342705,-6.78055596198e-05,1793239803768014336
+266,4.433333333,HOLD_POSE2,765,745.214594572,713,683.214594572,655,631.214594572,881,785,804.214594572,652,631,653,0.45028648202,0.0048106790008,0.07960170919,0.999999753712,0.000346668027225,-0.000606469272751,-6.77688248592e-05,1793239803784680960
+267,4.450000000,HOLD_POSE2,765,745.806464663,713,683.806464663,655,631.806464663,881,785,804.806464663,652,631,653,0.450285845463,0.00481270613313,0.0796011362262,0.999999752449,0.000348329842542,-0.000607571847363,-6.80082357337e-05,1793239803801347328
+268,4.466666667,HOLD_POSE2,765,745.61036848,713,684,654.61036848,632,881,785,805,652,631,653,0.450286483568,0.00481272840936,0.0796012028555,0.999999753087,0.000347801621622,-0.000606809138617,-6.81332594287e-05,1793239803818013952
+269,4.483333333,HOLD_POSE2,765,745.031430134,713,684,654.031430134,632,881,785,805,652,631,653,0.450287740981,0.00481177660404,0.0796015802382,0.999999754646,0.000346209347282,-0.000605140161214,-6.82027068561e-05,1793239803834680576
+270,4.500000000,HOLD_POSE2,765,745,713.543218593,683.456781407,654,632,881,785,805,652,631,653,0.450287603598,0.00481171001959,0.0796014036996,0.999999753816,0.000346749252655,-0.000606205740556,-6.81735245557e-05,1793239803851347200
+271,4.516666667,HOLD_POSE2,765,745,713.882317851,683.117682149,654,632,881,785,805,652,631,652.882317851,0.450287480683,0.00481160835965,0.0796012930333,0.999999753179,0.000347086900995,-0.000607078285452,-6.80387105776e-05,1793239803868014080
+272,4.533333333,HOLD_POSE2,765,745,713.307616927,683.692383073,654,632,881,785,805,652,631,652.307616927,0.450287724906,0.00481117313693,0.0796015616702,0.999999753829,0.00034616374575,-0.000606591551686,-6.7515663895e-05,1793239803884680704
+273,4.550000000,POSE2_TO_POSE3_RETREAT,766,745,713,684,654,631,880,785,805,652,631,653,0.450285735901,0.00481172470611,0.0795999912487,0.999999752768,0.000345961544492,-0.00060837803891,-6.81923701945e-05,1793239803921834240
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765.421546426,745,713,683.421546426,654,631,880,785,804.421546426,652,631,653,0.450286696355,0.00481119039054,0.0796004973669,0.99999975342,0.000345195797062,-0.000607741856237,-6.81862953188e-05,1793239803938501632
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880,785,804,652,631,653,0.450287568687,0.00481046861058,0.0796010746177,0.999999754198,0.000344399606153,-0.000606939249709,-6.79469489002e-05,1793239803955168512
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880,785,804,652,631,653,0.450288204271,0.0048092431889,0.0796018429733,0.999999755317,0.000343521625662,-0.000605689528924,-6.70808954383e-05,1793239803971834368
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.31226994,654,631,880,785,804.31226994,652,631,652.68773006,0.450288599024,0.00480987890259,0.0796021520778,0.999999755462,0.000343902520382,-0.000605254357261,-6.68947738285e-05,1793239803988500736
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.90225746,654,631,880,785,804.90225746,652,631,652.09774254,0.450288779594,0.00481216981891,0.0796020527469,0.999999754741,0.000345402997064,-0.00060554360574,-6.7313350334e-05,1793239804005167104
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,684,654,631,880,785,805,652,631,652.483455707,0.450287331764,0.00481265022781,0.0796012406278,0.99999975286,0.000347785122626,-0.000607311215455,-6.70652540199e-05,1793239804021833472
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.937456621,654,631,880.062543379,785,804.937456621,652,631,653,0.450285699583,0.00481262741818,0.0796003403612,0.999999751088,0.000349771153468,-0.000609120219986,-6.67651780957e-05,1793239804038500352
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.361368699,654,631,880.638631301,785,804.361368699,652,631,653,0.450285208675,0.00481142455911,0.0795998784557,0.999999752165,0.000347067388608,-0.0006088587705,-6.71252525848e-05,1793239804055167488
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880.785665683,785,804,652,631,653,0.450281498338,0.00481069772809,0.0795977006253,0.999999751067,0.000345574643089,-0.000611470832541,-6.74415783871e-05,1793239804071834368
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880.210610513,785,804,652,631,653,0.450272369762,0.00481077204396,0.0795926349237,0.99999974628,0.000346120021899,-0.000618918963501,-6.76842758874e-05,1793239804088500992
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880,785,804,652,631,652.625123686,0.450245380516,0.00481090466671,0.0795792799535,0.999999732284,0.000347142576932,-0.000640612123151,-6.73817601282e-05,1793239804105167360
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880,785,804,652,631,652.033608407,0.450208069688,0.00481107098469,0.0795611346598,0.999999712255,0.00034844088929,-0.000670537406964,-6.67641685934e-05,1793239804121833728
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880.54583824,785,804.54583824,652,631,652.54583824,0.450141971465,0.00481105242943,0.0795361068297,0.999999684152,0.000346777217192,-0.000712058168816,-6.64373492165e-05,1793239804138500352
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713.123421707,683,654,631,881,785,804.876578293,652,631,653,0.450072650546,0.00481138200597,0.0795134334769,0.999999657938,0.0003463009854,-0.000748227987128,-6.59828964024e-05,1793239804155166720
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.696862668,683,654,631,881,785,804.303137332,652,631,653,0.449997902112,0.00481302154484,0.0795008567239,0.999999645774,0.000350804982165,-0.00076234033813,-6.49992005251e-05,1793239804171833600
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.730926943,683,654,631,881,785,804,652,631,653,0.449919086752,0.00481289892941,0.0794949391858,0.99999963975,0.000353971941924,-0.000768911046271,-6.30761778648e-05,1793239804188500480
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.160096638,683,654,631,881,785,804,652,631,653,0.449835710462,0.00481080011143,0.0794964897554,0.999999640791,0.000355639455144,-0.000767024030624,-6.00997288593e-05,1793239804205167616
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880.57080095,785,804,652,630.57080095,652.57080095,0.449736792261,0.00480941059645,0.079498467491,0.999999643335,0.000355693201138,-0.000763857394287,-5.77331640032e-05,1793239804221834240
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.024875927,631,880.024875927,785,804,652,630.024875927,652,0.449630419673,0.00480832788197,0.0795005921586,0.99999964632,0.000355327811605,-0.000760274898639,-5.55335454505e-05,1793239804238501120
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.602417705,631,880.602417705,785,804,652,630.602417705,652,0.449493022752,0.00480791893615,0.0795022820504,0.999999646308,0.000359625349942,-0.000758534491974,-5.17615111767e-05,1793239804255167232
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745.178243491,713,683.178243491,655,631,881,785,804,652,631,652,0.449343855694,0.00480673123832,0.079502748451,0.999999644808,0.00036318386625,-0.000759081876718,-4.77165868254e-05,1793239804271833600
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745.750278077,713,683.750278077,655,631,881,785,804,652,631,652,0.449168685036,0.00480382305356,0.0795005118075,0.999999640049,0.000365109669952,-0.000764683650402,-4.3068770371e-05,1793239804288500480
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745.665811661,713,684,655,631.334188339,881,785,804,652,631,652.334188339,0.448981003454,0.00480115171397,0.0795010028703,0.999999638779,0.00036780372813,-0.000765328940985,-3.78628576273e-05,1793239804305167104
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745.072700282,713,684,655,631.927299718,881,785,804,652,631,652.927299718,0.448783628616,0.00479866387741,0.07950360731,0.999999640202,0.000371093016088,-0.000762134039298,-3.22245415452e-05,1793239804321833472
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.49167279,655,632,881,785,804,652,631,653,0.448552543485,0.0047964028392,0.0795074327737,0.999999639963,0.000375771464247,-0.000760397048482,-2.57914688071e-05,1793239804338500608
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713.087216543,683,655,632,880.912783457,785,804,652,631,653,0.448310018603,0.00479397641629,0.0795101480113,0.999999638251,0.000380702675359,-0.000760393486228,-1.90963699266e-05,1793239804355167232
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713.663581936,683,655,632,880.336418064,785,804,652,631,653,0.448029746025,0.00479044474857,0.0795056799563,0.999999629792,0.000385963105875,-0.000768969501609,-1.15543916482e-05,1793239804371833856
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764.762460087,745,713.762460087,683,655,632,880.237539913,785,804,652,631,653,0.447736685459,0.00478711694616,0.0795052685773,0.999999628349,0.000389965286244,-0.000768899995154,-4.57197916079e-06,1793239804388500480
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764.191877462,745,713.191877462,683,655,632,880.808122538,785,804,652,631,653,0.447425695515,0.00478407497322,0.0795105448589,0.999999636783,0.000392203337344,-0.000756709038762,1.62589394344e-06,1793239804405167104
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.393292309,745,713,683.393292309,655.393292309,632,881,785,804.393292309,652,631,653,0.447099282612,0.00478032771751,0.0795216918868,0.999999650541,0.000387939197955,-0.000740532422114,5.70644738735e-06,1793239804421833728
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.985852889,745,713,683.985852889,655.985852889,632,881,785,804.985852889,652,631,653,0.446765055413,0.00477622311833,0.0795358134286,0.999999666732,0.00038038061245,-0.000722336402748,8.71422444581e-06,1793239804438500096
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.43115556,656,632,881,785.56884444,805,652,631,652.43115556,0.446373614627,0.00477026203863,0.079549795846,0.999999685881,0.000354372037165,-0.000708955490409,6.34412068081e-06,1793239804455166976
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,656.149129013,632,881,785.850870987,805,652,631,652.149129013,0.445967961505,0.0047636964309,0.0795621476575,0.999999702131,0.000331817736392,-0.000696853253604,5.46191011386e-06,1793239804471833856
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,656.72238047,632,881,785.27761953,805,652,631,652.72238047,0.445525868384,0.00475554068488,0.0795698717058,0.999999711931,0.000320370764825,-0.000688052631729,9.18534800812e-06,1793239804488500992
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713.302456661,683.302456661,657.302456661,632.302456661,881,785.302456661,804.697543339,652,631,652.697543339,0.445062732836,0.00474795981747,0.0795787920405,0.999999725069,0.00030724505773,-0.000674770159969,1.21605876743e-05,1793239804505167616
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.888941833,683.888941833,657.888941833,632.888941833,881,785.888941833,804.111058167,652,631,652.111058167,0.444579836887,0.00474091880137,0.0795888357749,0.999999741097,0.000292542896091,-0.000657278908328,1.44332159377e-05,1793239804521834240
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.470261291,714,683.529738709,658,632.529738709,880.529738709,786,804,652,631,652,0.444067895214,0.00473224220472,0.0795996133445,0.999999739385,0.000327727866911,-0.000643104261806,1.55634239511e-05,1793239804538500352
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.9500497,714,683,658,632.0499503,880,786,804.0499503,652,631,652.0499503,0.443546279321,0.00472303659715,0.0796101977724,0.999999733881,0.000367725770553,-0.000629877253859,1.64652434759e-05,1793239804555167232
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.374816558,714,683,658,632.625183442,880,786,804.625183442,652,631,652.625183442,0.442994279545,0.00471228569624,0.0796169484217,0.999999752214,0.000335787891164,-0.000618468386669,1.77716931375e-05,1793239804571835136
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.200578542,714,683,658.401157084,633.200578542,880.200578542,786,805,652,631,652.799421458,0.442433624525,0.00470177440305,0.0796307069403,0.999999776637,0.000304753056975,-0.000594545864176,1.91564168753e-05,1793239804588502272
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.776276499,714,683,659.552552999,633.776276499,880.776276499,786,805,652,631,652.223723501,0.44185678261,0.00469171122182,0.0796575714857,0.999999812136,0.000275407088179,-0.000547220464596,2.06875277009e-05,1793239804605168640
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,746,713.638562072,683,659.638562072,634,880.638562072,786,805,652,631,652,0.441230566238,0.00468218905659,0.0796673370208,0.99999982905,0.000251357483915,-0.000527477257944,2.2063476233e-05,1793239804621835008
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,746,713.047385453,683,659.047385453,634,880.047385453,786,805,652,631,652,0.440572966288,0.0046730107746,0.0796662340105,0.99999983517,0.00023067437845,-0.000525265962633,2.33407998209e-05,1793239804638501376
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.468584534,713.531415466,683,659,633.468584534,880,786.531415466,804.468584534,652,631,652,0.439850714858,0.00466273425667,0.0796354167643,0.999999806029,0.000241963552607,-0.000573417420345,2.42471297341e-05,1793239804655168000
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.108728495,745,714,683,659.108728495,633.108728495,880,787,804.108728495,652,631.108728495,652.108728495,0.4391370492,0.00465199438868,0.0796175814562,0.999999788858,0.000247719305099,-0.000600236578186,2.52125788885e-05,1793239804671834368
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.684283246,745,714,683,659.684283246,633.684283246,880,787,804.684283246,652,631.684283246,652.684283246,0.438484434981,0.00463967601328,0.0796666012089,0.999999842489,0.000217755434319,-0.00051662308922,2.65706572477e-05,1793239804688500480
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.733716875,745,714,683,660.266283125,634,880,787,805,652,631.733716875,653,0.437815585918,0.00462826924843,0.0797294691912,0.999999892286,0.000192579053081,-0.000421327698769,2.87033375739e-05,1793239804705166848
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.143885749,745,714,683,660.856114251,634,880,787,805,652,631.143885749,653,0.43712701058,0.00461797013671,0.0798091635069,0.999999935871,0.000173219719205,-0.000311838172311,3.17772001512e-05,1793239804721833472
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,660.561931133,634,880,787,804.561931133,652,631.438068867,653,0.436386939707,0.00460950475397,0.0798489847632,0.999999953759,0.000175125055551,-0.000246274937543,3.40952336467e-05,1793239804738500096
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,660,634,880,787,804,652,631.982617427,652.982617427,0.43562793131,0.00460158441592,0.0798744187798,0.999999963047,0.000183160751797,-0.000197620855751,3.61054747829e-05,1793239804755166720
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,660,634,880,787,804,652,631.406501751,652.406501751,0.434794274399,0.00459216573341,0.0798509286633,0.999999957222,0.000167707555902,-0.000236916812285,3.60610691217e-05,1793239804771833600
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,683,660.168718461,634.168718461,880,787,804,652,631,652,0.433952455512,0.00458244643892,0.0798263327672,0.999999948301,0.000156069985577,-0.000278745922402,3.66282033261e-05,1793239804788500224
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,660.741792544,634.741792544,880,787,804,652,631,652,0.433091075448,0.0045720066895,0.0797990867287,0.999999934111,0.000153577056927,-0.000326646060964,3.86609720252e-05,1793239804805166848
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.32451665,745,714,683,661,635,879.67548335,786.67548335,804.32451665,652,631,652.32451665,0.432184040887,0.00456059771496,0.0797606716377,0.999999909858,0.000145718650245,-0.000396700898374,4.09702567826e-05,1793239804821833728
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.915154259,745,714,683,661,635,879.084845741,786.084845741,804.915154259,652,631,652.915154259,0.431239567247,0.00454839392465,0.0797130973292,0.999999872572,0.000133460264846,-0.000484923766154,4.35062991592e-05,1793239804838500352
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.521145116,745,714,682.521145116,660.521145116,635,879.478854884,786.478854884,804.521145116,652,631,652.521145116,0.430417759699,0.00453666143786,0.0797513936719,0.999999906144,0.000122251618685,-0.000413276708177,4.43756371278e-05,1793239804855166976
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714.040601855,682.040601855,660.040601855,635,880,787,804,652,631,652.040601855,0.429614360003,0.00452516055688,0.0798038197799,0.999999942449,0.000111498204125,-0.00031722844632,4.51354688008e-05,1793239804871833600
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765,745,714.637491171,682.637491171,660.637491171,635,880,787,804,652,631,652.637491171,0.428781241069,0.00451574971744,0.0798524795197,0.999999961038,0.000104569314871,-0.000254291737851,4.8225584812e-05,1793239804888500224
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765,745,715,683,660.769331665,635,880,787.230668335,804,652,631.230668335,652.769331665,0.427924540509,0.00450528829751,0.0798694799369,0.999999967108,9.81751007766e-05,-0.000231576667524,5.01693355562e-05,1793239804905166848
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765,745,715,683,660.18189588,635,880,787.81810412,804,652,631.81810412,652.18189588,0.427031366866,0.00449320197635,0.0798375138841,0.999999957705,9.26078512686e-05,-0.000271071129901,5.03400398946e-05,1793239804921833728
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765,745,714.59998875,682.59998875,660,635,880,787.59998875,804.40001125,652,632,652,0.426096689459,0.00448045655337,0.0798002740443,0.999999943973,7.41364988758e-05,-0.000322607108035,4.98315580791e-05,1793239804938500608
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765,745,714.020561409,682.020561409,660,635,880,787.020561409,804.979438591,652,632,652,0.425143396522,0.00446741550576,0.0797606687674,0.999999925528,4.98773001623e-05,-0.000379544035206,4.90184423717e-05,1793239804955167744
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.557376299,745,714,682,660.557376299,635,880,787,805,652,631.442623701,652,0.424205522346,0.00446029111794,0.0797436531535,0.999999910148,5.46246923685e-05,-0.000417239857386,5.12928745724e-05,1793239804971834112
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745.134999998,714.134999998,682.134999998,660.865000002,635,879.865000002,787,804.865000002,652,631,652.134999998,0.423293536545,0.00445287180159,0.0797375839334,0.999999903687,5.5297767228e-05,-0.000432136932438,5.31581277253e-05,1793239804988500480
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.711775446,714.711775446,682.711775446,660.288224554,635,879.288224554,787,804.288224554,652,631,652.711775446,0.422464411835,0.00444377501444,0.0797646160998,0.999999927596,3.91457162606e-05,-0.000374743697045,5.33126496256e-05,1793239805005167104
+339,5.650000000,POSE2_TO_POSE3_RETREAT,766,746,715,682.707775161,660.584449678,635,879,787,804.292224839,652,631,653,0.421664162747,0.00445103948502,0.0798081127102,0.999999954647,4.16490802696e-05,-0.000293617398622,5.25424499465e-05,1793239805021833728
+340,5.666666667,POSE2_TO_POSE3_RETREAT,766,746,715,682.123656012,661.752687976,635,879,787,804.876343988,652,631,653,0.420892756672,0.00447464670796,0.0798680551403,0.999999978916,6.27867592323e-05,-0.000188784882855,5.08485743006e-05,1793239805038500352
+341,5.683333333,POSE2_TO_POSE3_RETREAT,766,745.542828095,715,682,661.542828095,635,879.457171905,787.457171905,804.542828095,652,631.457171905,653,0.420020244991,0.00449410364983,0.0798722986065,0.999999976776,9.37259196012e-05,-0.000187136987433,5.14128152594e-05,1793239805055166976
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,635,879.962962657,787.962962657,804,652,631.962962657,652.962962657,0.419121458455,0.00451035974798,0.0798597258839,0.999999967779,0.000123378790051,-0.000215591610934,5.23452391782e-05,1793239805071833856
+343,5.716666667,POSE2_TO_POSE3_RETREAT,766,745,715,682,661,635,879.384247829,787.384247829,804,652,631.384247829,652.384247829,0.41823549564,0.00449610335974,0.0798199737991,0.999999955248,9.57236393744e-05,-0.000279038312071,4.97935425011e-05,1793239805088500480
+344,5.733333333,POSE2_TO_POSE3_RETREAT,766,745,714.806942325,681.806942325,661,635,879,787,804,652,631.193057675,652.193057675,0.417376017783,0.00448368640222,0.0797996254961,0.999999946309,7.51374311541e-05,-0.000315215826565,4.8731875406e-05,1793239805105167104
+345,5.750000000,POSE2_TO_POSE3_RETREAT,766,745,714.232421401,681.232421401,661,635,879,787,804,652,631.767578599,652.767578599,0.416568871476,0.00447490397891,0.0798176171776,0.999999952115,6.8518763624e-05,-0.000297512085701,5.06143622194e-05,1793239805121833728
+346,5.766666667,POSE2_TO_POSE3_RETREAT,766,745.350879605,714,681.350879605,661,635,879,787,804,652,631.649120395,653,0.415766837971,0.00447217921628,0.0798141130393,0.999999948921,6.83469322602e-05,-0.000307918939652,5.17019796875e-05,1793239805138500352
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745.940145738,714,681.940145738,661,635,879,787,804,652,631.059854262,653,0.414968278137,0.00447357001028,0.0797960047059,0.999999939075,7.25550619729e-05,-0.000337424046392,5.22495652197e-05,1793239805155166976
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.479330133,714.520669867,681.479330133,660.479330133,635,879.520669867,787,804,652,631,652.479330133,0.414205787861,0.00448089725411,0.0797990835579,0.999999943276,7.91935521786e-05,-0.000323386741228,5.09598894093e-05,1793239805171833600
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.900342258,745,714.900342258,681.099657742,660.099657742,635,880,787,803.900342258,652,631.099657742,652.099657742,0.413455886461,0.0044880768572,0.079806202269,0.999999949005,8.64588179978e-05,-0.000303374229788,4.97811130819e-05,1793239805188500224
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.323975266,745,714.323975266,681.676024734,660.676024734,635,880,787,803.323975266,652,631.676024734,652.676024734,0.41274669678,0.00449133974015,0.0798211872805,0.999999955459,9.54078815569e-05,-0.000278327663237,5.01264281109e-05,1793239805205166848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765,745,714,681.743243574,661,634.743243574,879.743243574,787,803.256756426,652.256756426,631.743243574,652.743243574,0.412038284859,0.00448962435697,0.0798222734693,0.999999955554,9.03065878354e-05,-0.000279595979665,5.06177160974e-05,1793239805221833472
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765,745,714,681.156909308,661,634.156909308,879.156909308,787,803.843090692,652.843090692,631.156909308,652.156909308,0.411330871343,0.00448151876856,0.0798055188418,0.999999946928,6.71699652769e-05,-0.000314642623851,5.12963779248e-05,1793239805238500352
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.424542515,745.424542515,714,681,661,634.424542515,878.575457485,787,804,652.575457485,631,652,0.410652904316,0.00447713836746,0.0797996441856,0.999999943341,6.55414792644e-05,-0.000326187746659,5.12210025747e-05,1793239805255167488
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745.995817532,714.004182468,681,661,635,878.004182468,787,804,652,631.004182468,652,0.409986187072,0.00447417861023,0.0797979641335,0.999999942082,7.18043248275e-05,-0.000328772959049,5.08795000855e-05,1793239805271834368
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745.419991188,714.580008812,681,661,635,878.580008812,787,804,652,631.580008812,652,0.409386477605,0.00447934875846,0.0798262336684,0.999999955933,8.24936640081e-05,-0.000280433225979,5.18218709622e-05,1793239805288500736
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,714.844126143,680.844126143,661,635.155873857,879,787,804,652,631.844126143,652,0.408791655166,0.00448457359698,0.0798468444341,0.999999964156,9.03998804211e-05,-0.000246453191419,5.26969839025e-05,1793239805305167360
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,714.268156663,680.268156663,661,635.731843337,879,787,804,652,631.268156663,652,0.408210003623,0.00448994583243,0.0798468140577,0.999999962908,9.08053056629e-05,-0.000251173970363,5.33908304867e-05,1793239805321833728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.684355665,745,714,680,661,635.684355665,879,787,804,652,631,652.315644335,0.407632666376,0.00448912219899,0.079825837786,0.999999952117,9.04399366468e-05,-0.000291147105249,5.3102099703e-05,1793239805338500352
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.093732135,745,714,680,661,635.093732135,879,787,804,652,631,652.906267865,0.407059087639,0.0044829009235,0.0797866141237,0.999999929193,8.9403076089e-05,-0.000361830957682,5.19573788676e-05,1793239805355166976
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.487399081,745,714.487399081,680,660.512600919,635,879,787,804,652,631,652.512600919,0.406556514549,0.0044805595392,0.079779686682,0.99999992802,8.23091527858e-05,-0.000366771455959,5.16041904879e-05,1793239805371834368
+361,6.016666667,POSE2_TO_POSE3_RETREAT,766,745.066060967,715,680.066060967,660.132121934,635,879,787,804,652,631.066060967,652,0.406073807103,0.00447974009012,0.0797808987797,0.999999932443,7.61325277426e-05,-0.000355918018537,5.13878394961e-05,1793239805388501504
+362,6.033333333,POSE2_TO_POSE3_RETREAT,766,745.639509825,715,680.639509825,661.27901965,635,879,787,804,652,631.639509825,652,0.405640803468,0.00448498865271,0.07979783518,0.999999944133,8.57770542405e-05,-0.000319009661363,5.10756730043e-05,1793239805405168640
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.785988149,745.785988149,715,680.785988149,661.785988149,635,879,787,803.785988149,652,631.785988149,652.214011851,0.405220200581,0.00449025489249,0.0798137525895,0.99999995187,9.41153318446e-05,-0.000291271691714,5.06369199723e-05,1793239805421835520
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.209703408,745.209703408,715,680.209703408,661.209703408,635,879,787,803.209703408,652,631.209703408,652.790296592,0.404820589354,0.00449555105516,0.0798279450799,0.99999995479,0.000100242429407,-0.00027905708531,4.9983885143e-05,1793239805438502144
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,714.625083643,680,661,635,878.625083643,787,803.374916357,652,631,652.625083643,0.404448691264,0.00449383674991,0.0798376822363,0.999999957304,0.000100151795948,-0.000269695859404,5.1242653341e-05,1793239805455168000
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.035695758,680,661,635,878.035695758,787,803.964304242,652,631,652.035695758,0.404092646483,0.00448811209526,0.0798448707128,0.999999959594,9.6504299657e-05,-0.000261966913429,5.35950715921e-05,1793239805471833856
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.545039397,680,660.454960603,635,878.545039397,787,804,652,631.545039397,652.545039397,0.403749227798,0.0044850497748,0.079841214865,0.999999957563,8.84977875721e-05,-0.000272618648518,5.21695666132e-05,1793239805488500224
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.123842177,660.123842177,635,879,787,804,652,631.876157823,653,0.403418268912,0.00448228215682,0.0798376877975,0.999999955554,8.11720928617e-05,-0.000282323467745,5.09507926676e-05,1793239805505166848
+369,6.150000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.697650866,660.697650866,635,879,787,804,652,631.302349134,653,0.403129623676,0.00447996168265,0.0798371688045,0.999999955282,7.73411217172e-05,-0.000284282300044,5.13680903823e-05,1793239805521833728
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.278204885,745,715,680.721795115,661,635,879,786.721795115,803.721795115,652,631,652.721795115,0.402866394119,0.00447710447056,0.0798390484774,0.999999956237,7.04634225037e-05,-0.000282693239595,5.14406037746e-05,1793239805538500608
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.866271754,745,715,680.133728246,661,635,879,786.133728246,803.133728246,652,631,652.133728246,0.402631472324,0.00447364944499,0.0798435997615,0.999999958475,6.0192306447e-05,-0.00027715256943,5.11290996025e-05,1793239805555166976
+372,6.200000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.448038646,661,635,878.551961354,786.448038646,803.448038646,652,631,652,0.402421506807,0.00447083780875,0.0798451166925,0.999999959928,5.1736083142e-05,-0.000273555401308,5.13367555689e-05,1793239805571833600
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.972203986,745.027796014,715,681,661,635,878.027796014,787,804,652,631,652.027796014,0.40222056078,0.00446831916212,0.079845887255,0.999999961133,4.42497072424e-05,-0.000270368470955,5.17431807015e-05,1793239805588500224
+374,6.233333333,POSE2_TO_POSE3_RETREAT,765.395511501,745.604488499,715,681,661,635,878.604488499,787,804,652,631,652.604488499,0.402052670833,0.00446784666982,0.0798495557575,0.999999962719,4.53664219627e-05,-0.00026398632681,5.30572240822e-05,1793239805605166848
+375,6.250000000,POSE2_TO_POSE3_RETREAT,765.17938594,745.82061406,715,680.82061406,660.82061406,635,879,787,804,652,631,652.82061406,0.401893469635,0.00446855770568,0.0798529118762,0.999999963954,5.01447697896e-05,-0.000258182813068,5.40378259755e-05,1793239805621833472
+376,6.266666667,POSE2_TO_POSE3_RETREAT,765.750364787,745.249635213,715,680.249635213,660.249635213,635,879,787,804,652,631,652.249635213,0.401753235677,0.00447185234005,0.0798555860721,0.99999996438,6.29163278473e-05,-0.000253642429041,5.42905371924e-05,1793239805638500096
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745.334666793,714.665333207,680,660.334666793,635,878.665333207,787,803.665333207,652,631.334666793,652.334666793,0.401623966729,0.00448137490261,0.079853068013,0.999999961138,9.53457431796e-05,-0.00025659122316,5.28548562113e-05,1793239805655167232
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745.929318934,714.070681066,680,660.929318934,635,878.070681066,787,803.070681066,652,631.929318934,652.929318934,0.401503215916,0.00449573562131,0.0798465163596,0.999999953306,0.000143046333817,-0.000265357972083,5.01075504618e-05,1793239805671833856
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,714.506135341,680,661,635.506135341,878.506135341,787,803.506135341,652,632,653,0.401401984963,0.00449972807715,0.0798418720656,0.999999951166,0.00013947234155,-0.000275563536208,4.77441613904e-05,1793239805688500480
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,635.918788852,879,787,803.918788852,652,631.918788852,652.918788852,0.401307169591,0.00450106791332,0.0798374447017,0.999999949992,0.000128914154496,-0.00028511017263,4.59311912556e-05,1793239805705167104
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,635.339633214,879,787,803.339633214,652,631.339633214,652.339633214,0.401235546194,0.00449471891766,0.0798327698506,0.999999950048,0.000117942019657,-0.000289426559413,4.7175562864e-05,1793239805721833728
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.234318175,661,635,879,787,803.234318175,652,631,652.234318175,0.401173356938,0.00449221177242,0.079829611539,0.999999949839,0.000112202398116,-0.000292286026188,4.79648294133e-05,1793239805738500352
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.800890114,661,635,879,787,803.800890114,652,631,652.800890114,0.401124544919,0.00449515221721,0.07982860362,0.99999994941,0.000113882271032,-0.000293079638672,4.81087751929e-05,1793239805755166976
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,661,635.390653621,879.390653621,787,804,652,631,653,0.401086941399,0.00449423799942,0.079829640757,0.999999950312,0.000111994985304,-0.000290646876875,4.85614636862e-05,1793239805771833344
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,661,635.992983496,879.992983496,787,804,652,631,653,0.401055411223,0.00449123512682,0.0798317860105,0.999999951908,0.00010817482923,-0.000286465899276,4.91814448784e-05,1793239805788499968
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745.430388734,715,680.430388734,661,635.430388734,878.860777468,787,804,652.569611266,631,652.430388734,0.401031163428,0.00449117421188,0.0798306931185,0.999999951381,0.000107441583776,-0.00028856717824,4.92368464623e-05,1793239805805167104
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745.145635878,715,680,661,635,878,787,804,652.854364122,631,652,0.401010131667,0.00449128619679,0.0798297351478,0.999999950912,0.000107219802529,-0.000290274138047,4.9207272689e-05,1793239805821833984
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745.720774969,715,680,661,635,878,787,804,652.279225031,631,652,0.400998331374,0.00449180582981,0.0798292876379,0.999999950703,0.000108399110762,-0.00029059982003,4.89467176451e-05,1793239805838500864
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745.697513963,715,680,661,635,878.302486037,787,803.697513963,652,631,652.302486037,0.400989282992,0.00449137219066,0.0798297001674,0.999999950857,0.000107722347483,-0.000290337910272,4.88406634385e-05,1793239805855167232
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745.109601497,715,680,661,635,878.890398503,787,803.109601497,652,631,652.890398503,0.400982831317,0.00449003904204,0.0798309242317,0.999999951351,0.000105294191557,-0.000289521547809,4.88803964999e-05,1793239805871833600
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879.47127608,787,803.47127608,652,631,653,0.400981664382,0.00449037146208,0.0798333431258,0.999999952589,0.000105324660868,-0.000285184852077,4.89748184471e-05,1793239805888500224
+392,6.533333333,POSE2_TO_POSE3_RETREAT,766,745.050333979,715,680,661.050333979,635,879.949666021,786.949666021,804,652,631,652.949666021,0.400981669737,0.00449112262975,0.0798358975334,0.999999953878,0.000106087695963,-0.000280322218653,4.90781986523e-05,1793239805905166848
+393,6.550000000,POSE2_TO_POSE3_RETREAT,766,745.627219663,715,680,661.627219663,635,879.372780337,786.372780337,804,652,631,652.372780337,0.400981270556,0.0044922618506,0.0798370054454,0.999999954141,0.000108620650688,-0.000278396250583,4.91441980396e-05,1793239805921833728
+394,6.566666667,POSE2_TO_POSE3_RETREAT,766,745.796701892,715,680,661.796701892,635,879,786.203298108,804,652,631,652,0.400981152204,0.00449233667006,0.0798380105519,0.999999954518,0.000109780931379,-0.000276573665376,4.91851365867e-05,1793239805938500352
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745.222097832,715,680,661.222097832,635,879,786.777902168,804,652,631,652,0.400981546762,0.00449046745476,0.079838827893,0.999999955116,0.000108434144614,-0.000274939899913,4.91803037298e-05,1793239805955166976
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.362471663,661,635,879,787,804,652,631,652.362471663,0.4009804912,0.0044904963403,0.0798388368895,0.999999955106,0.00010797184571,-0.000275181426474,4.90534375256e-05,1793239805971833600
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.953319895,661,635,879,787,804,652,631,652.953319895,0.400978521985,0.00449172113112,0.0798383365855,0.999999954713,0.000108066821597,-0.000276604487544,4.88496837746e-05,1793239805988500224
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.466687587,661,635,879,787,804,652,631,653,0.400978849531,0.00449058564126,0.0798385598224,0.99999995519,0.000105343218508,-0.000275955446729,4.86990317836e-05,1793239806005166848
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.888319959,745,715,680,661,635,879,787,804,652,631,652.888319959,0.400978994593,0.00448991890052,0.0798385738619,0.999999955434,0.000103972009474,-0.000275613923196,4.85589454463e-05,1793239806021833472
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.312833254,745,715,680,661,635,879,787,804,652,631,652.312833254,0.400977563567,0.00449203973311,0.0798374613405,0.999999954418,0.000109221418083,-0.000277287712921,4.84438205251e-05,1793239806038500864
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,803.731873766,652,631,652.268126234,0.400977771525,0.00449291615458,0.0798380519182,0.999999954412,0.000110670262964,-0.00027674891518,4.83569233859e-05,1793239806055167744
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,745,715,680,661,635,879,787,803.144395843,652,631,652.855604157,0.400979931594,0.00449231042076,0.0798406709716,0.999999955624,0.000107592448008,-0.000273574815882,4.83036469255e-05,1793239806071833856
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.43715526,745,715,680,661,635,879,787,803.43715526,652,631.43715526,652.56284474,0.40097891468,0.00449185126655,0.0798405386528,0.999999955453,0.000107974393321,-0.000274032725383,4.83852921406e-05,1793239806088500224
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.016624231,661,635,879,787,803.983375769,652,631.983375769,652.016624231,0.400976920127,0.00449148555548,0.079839535991,0.999999954854,0.000109417223832,-0.000275623081291,4.84882948357e-05,1793239806105167104
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.591039834,661,635,879,787,803.408960166,652,631.408960166,652.591039834,0.400976861867,0.00449265235174,0.0798394157886,0.999999955007,0.000108624939962,-0.000275495950845,4.78325962481e-05,1793239806121833984
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.166077143,635,878.833922857,787,803.166077143,652.166077143,631,653,0.400977134068,0.0044931624828,0.0798394782731,0.999999955231,0.000107949701739,-0.000275013786418,4.74512308888e-05,1793239806138500352
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661.742651103,635,878.257348897,787,803.742651103,652.742651103,631,653,0.400978223073,0.00449204951881,0.0798399923095,0.999999955632,0.000107563768067,-0.000273654076078,4.77479415236e-05,1793239806155166976
+408,6.800000000,POSE2_TO_POSE3_RETREAT,765.672607526,745.327392474,715,681,661.672607526,635,878,787.327392474,803.672607526,652.672607526,631,653,0.400978568827,0.00449184389165,0.0798403197377,0.999999955856,0.000106563761128,-0.00027322666252,4.77353032567e-05,1793239806171833344
+409,6.816666667,POSE2_TO_POSE3_RETREAT,765.081281883,745.918718117,715,681,661.081281883,635,878,787.918718117,803.081281883,652.081281883,631,653,0.400978315396,0.00449236973,0.0798404967284,0.999999955938,0.000105068708302,-0.000273550836384,4.74732779473e-05,1793239806188499968
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.499517048,745.500482952,715,680.500482952,661,635,878,787.500482952,803,652,631,653,0.400977024227,0.00449174186838,0.0798398919008,0.999999955566,0.000105258717493,-0.00027479364258,4.7717260474e-05,1793239806205166848
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.077602572,661,635,878.077602572,787,803.077602572,652,631,652.922397428,0.400975940845,0.0044912082073,0.0798394273429,0.999999955216,0.000106037581667,-0.000275718308179,4.79900276944e-05,1793239806221833728
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.649095378,661,635,878.649095378,787,803.649095378,652,631,652.350904622,0.4009772324,0.00449244420051,0.0798406484631,0.999999955474,0.000108855070224,-0.000273686500358,4.79327774752e-05,1793239806238501120
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,635.228347159,879,787,804,652,631.228347159,652,0.4009781233,0.00449302856429,0.0798412101889,0.999999955776,0.000109204928831,-0.000272468257834,4.77915888378e-05,1793239806255167744
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,745,715,681,661,635.819941762,879,787,804,652,631.819941762,652,0.40097837685,0.00449257633676,0.0798407229715,0.999999956152,0.000105629360131,-0.000272544208959,4.7516873609e-05,1793239806271833856
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.596871309,661,635.596871309,879,787,804,652,632,652.403128691,0.400977806772,0.00449234073095,0.0798405659785,0.999999956133,0.000104729775942,-0.000272935638889,4.76532399508e-05,1793239806288500480
+416,6.933333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.017362997,661,635.017362997,879,787,804,652,632,652.982637003,0.400976876336,0.00449219990298,0.0798405534676,0.999999955945,0.000105001007001,-0.00027346509926,4.79694655276e-05,1793239806305166848
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.560641871,661,635,879,787,804,652,631.439358129,653,0.400976870861,0.00449169975101,0.0798409281734,0.999999955972,0.000105253264281,-0.000273260142784,4.80264923409e-05,1793239806321833472
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a46b7e3c26d3459b3f6f49d1496fa6aeeb9ba605
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_03/simulation_data.csv
@@ -0,0 +1,419 @@
+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,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+1,0.016666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+2,0.033333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+3,0.050000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+4,0.066666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+5,0.083333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+6,0.100000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+7,0.116666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+8,0.133333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+9,0.150000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+10,0.166666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+11,0.183333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+12,0.200000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+13,0.216666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+14,0.233333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+15,0.250000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+16,0.266666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+17,0.283333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+18,0.300000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+19,0.316666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+20,0.333333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+21,0.350000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+22,0.366666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+23,0.383333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+24,0.400000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+25,0.416666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+26,0.433333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+27,0.450000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+28,0.466666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+29,0.483333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+30,0.500000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+31,0.516666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+32,0.533333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+33,0.550000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+34,0.566666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+35,0.583333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+36,0.600000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+37,0.616666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+38,0.633333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+39,0.650000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+40,0.666666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+41,0.683333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+42,0.700000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+43,0.716666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+44,0.733333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+45,0.750000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+46,0.766666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+47,0.783333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+48,0.800000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+49,0.816666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+50,0.833333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+51,0.850000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+52,0.866666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+53,0.883333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+54,0.900000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+55,0.916666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+56,0.933333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+57,0.950000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+58,0.966666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+59,0.983333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+60,1.000000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+61,1.016666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+62,1.033333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+63,1.050000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+64,1.066666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+65,1.083333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+66,1.100000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+67,1.116666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+68,1.133333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+69,1.150000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+70,1.166666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+71,1.183333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+72,1.200000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+73,1.216666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+74,1.233333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+75,1.250000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+76,1.266666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+77,1.283333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+78,1.300000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+79,1.316666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+80,1.333333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+81,1.350000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+82,1.366666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+83,1.383333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+84,1.400000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+85,1.416666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+86,1.433333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+87,1.450000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+88,1.466666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+89,1.483333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+90,1.500000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+91,1.516666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+92,1.533333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+93,1.550000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+94,1.566666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+95,1.583333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+96,1.600000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+97,1.616666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+98,1.633333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+99,1.650000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+100,1.666666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+101,1.683333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+102,1.700000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+103,1.716666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+104,1.733333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+105,1.750000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+106,1.766666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+107,1.783333333,pose1_to_pose2_press,0.57566445623,0.0100907823659,1.07003220599,0.546234906544,0.0187625177256,1.06970034009
+108,1.800000000,pose1_to_pose2_press,0.57566445654,0.0100907825601,1.07003220547,0.546234906854,0.0187625179178,1.0697003396
+109,1.816666667,pose1_to_pose2_press,0.575664465927,0.0100907884311,1.07003218982,0.546234916215,0.0187625237294,1.06970032473
+110,1.833333333,pose1_to_pose2_press,0.575664473059,0.0100907928912,1.07003217794,0.546234923326,0.0187625281444,1.06970031343
+111,1.850000000,pose1_to_pose2_press,0.575664489337,0.0100908030722,1.0700321508,0.546234939559,0.0187625382223,1.06970028764
+112,1.866666667,pose1_to_pose2_press,0.575664548629,0.0100908378001,1.07003205992,0.5462349987,0.018762572613,1.06970020134
+113,1.883333333,pose1_to_pose2_press,0.575664795204,0.0100908157932,1.07003224534,0.546235245715,0.0187625519093,1.06970038183
+114,1.900000000,pose1_to_pose2_press,0.57566552985,0.0100907276265,1.07003251165,0.546235982054,0.018762469222,1.06970064111
+115,1.916666667,pose1_to_pose2_press,0.575667555969,0.0100906874402,1.07003246233,0.546238008578,0.0187624305401,1.06970059519
+116,1.933333333,pose1_to_pose2_press,0.575673629597,0.0100907838103,1.07003219041,0.546244079788,0.018762518997,1.06970033089
+117,1.950000000,pose1_to_pose2_press,0.575685315608,0.0100908081249,1.07003247526,0.546255767409,0.0187625483769,1.06970060519
+118,1.966666667,pose1_to_pose2_press,0.575706525958,0.0100907973021,1.07003242403,0.546276976955,0.0187625347998,1.06970055334
+119,1.983333333,pose1_to_pose2_press,0.575737694927,0.010090878669,1.0700322745,0.546308144151,0.0187626101384,1.0697004034
+120,2.000000000,pose1_to_pose2_press,0.575779636445,0.0100907987956,1.07003235141,0.546350087375,0.0187625361267,1.06970048205
+121,2.016666667,pose1_to_pose2_press,0.575830635953,0.0100908578584,1.07003228732,0.546401086876,0.0187625953382,1.06970042244
+122,2.033333333,pose1_to_pose2_press,0.57589086489,0.0100907393603,1.07003203455,0.546461316282,0.0187624785446,1.06970017262
+123,2.050000000,pose1_to_pose2_press,0.575958189426,0.0100907900362,1.07003227564,0.546528640593,0.0187625280223,1.06970040226
+124,2.066666667,pose1_to_pose2_press,0.576032763543,0.0100907043838,1.07003244345,0.546603217139,0.0187624506277,1.06970057035
+125,2.083333333,pose1_to_pose2_press,0.576119380823,0.0100907447916,1.0700322831,0.54668983411,0.0187624903644,1.0697004198
+126,2.100000000,pose1_to_pose2_press,0.576218776575,0.0100907270208,1.07003227815,0.546789230115,0.0187624733976,1.06970041343
+127,2.116666667,pose1_to_pose2_press,0.576333288482,0.0100907619878,1.07003236778,0.546903741095,0.0187625048819,1.06970049421
+128,2.133333333,pose1_to_pose2_press,0.576464148593,0.010090806364,1.07003235844,0.547034598998,0.0187625417777,1.06970048519
+129,2.150000000,pose1_to_pose2_press,0.576612310949,0.0100907623655,1.07003245143,0.547182761928,0.0187624997871,1.06970057969
+130,2.166666667,pose1_to_pose2_press,0.576772416249,0.0100907458394,1.07003244029,0.547342868455,0.0187624872236,1.06970056323
+131,2.183333333,pose1_to_pose2_press,0.576943962379,0.0100907714696,1.07003216038,0.547514413516,0.0187625093637,1.06970028678
+132,2.200000000,pose1_to_pose2_press,0.577129668571,0.0100908539119,1.07003218939,0.547700119322,0.0187625910112,1.0697003292
+133,2.216666667,pose1_to_pose2_press,0.577330927174,0.0100907479436,1.07003218851,0.547901379675,0.0187624909641,1.06970032783
+134,2.233333333,pose1_to_pose2_press,0.577551058108,0.0100907598603,1.07003218219,0.548121510879,0.0187625038435,1.06970032274
+135,2.250000000,pose1_to_pose2_press,0.577794645345,0.0100907388278,1.07003210164,0.548365098208,0.0187624830057,1.06970023901
+136,2.266666667,pose1_to_pose2_press,0.578062429235,0.0100908053831,1.07003237397,0.548632880929,0.0187625454372,1.06970050718
+137,2.283333333,pose1_to_pose2_press,0.578352368384,0.0100907226148,1.07003239031,0.54892281985,0.0187624617112,1.06970051871
+138,2.300000000,pose1_to_pose2_press,0.578663151995,0.0100907709413,1.07003236081,0.549233603517,0.0187625101984,1.06970048835
+139,2.316666667,pose1_to_pose2_press,0.578997399927,0.0100908480145,1.07003243645,0.549567850925,0.0187625854534,1.06970056287
+140,2.333333333,pose1_to_pose2_press,0.579352637637,0.0100908241219,1.07003231885,0.549923088924,0.018762562916,1.069700455
+141,2.350000000,pose1_to_pose2_press,0.579729083402,0.0100907663459,1.07003223654,0.550299534304,0.0187625039718,1.06970037622
+142,2.366666667,pose1_to_pose2_press,0.580126040303,0.0100907814031,1.07003223149,0.550696490157,0.0187625153406,1.06970036763
+143,2.383333333,pose1_to_pose2_press,0.580541484625,0.0100908245883,1.07003208896,0.551111935208,0.018762561265,1.06970023205
+144,2.400000000,pose1_to_pose2_press,0.580973313584,0.010090804694,1.07003221322,0.551543764988,0.0187625439736,1.06970035149
+145,2.416666667,pose1_to_pose2_press,0.581422254537,0.0100908885646,1.07003229896,0.551992705817,0.0187626272329,1.06970043209
+146,2.433333333,pose1_to_pose2_press,0.581892361948,0.0100909471826,1.0700320841,0.552462810606,0.0187626770687,1.06970022023
+147,2.450000000,pose1_to_pose2_press,0.582391565174,0.0100908900809,1.07003228269,0.552962016623,0.0187626296829,1.06970042513
+148,2.466666667,pose1_to_pose2_press,0.582924361287,0.0100906994173,1.07003222768,0.553494814476,0.0187624445303,1.06970035978
+149,2.483333333,pose1_to_pose2_press,0.583485609442,0.010090748995,1.07003207936,0.554056060102,0.0187624857434,1.06970021713
+150,2.500000000,pose1_to_pose2_press,0.58407033408,0.0100907710216,1.07003229699,0.554640785266,0.0187625093333,1.06970042893
+151,2.516666667,pose1_to_pose2_press,0.584668277454,0.0100907272759,1.07003234536,0.555238728575,0.0187624652968,1.06970047542
+152,2.533333333,pose1_to_pose2_press,0.585273004447,0.0100906377935,1.07003237287,0.555843457568,0.0187623823465,1.06970049618
+153,2.550000000,pose1_to_pose2_press,0.585883214722,0.0100906465943,1.07003225716,0.556453668568,0.0187623939209,1.06970038865
+154,2.566666667,pose1_to_pose2_press,0.586510261208,0.0100907571562,1.07003236733,0.557080713458,0.0187624988923,1.06970049429
+155,2.583333333,pose1_to_pose2_press,0.587158825515,0.0100908321264,1.07003250383,0.557729276339,0.018762568836,1.06970062575
+156,2.600000000,pose1_to_pose2_press,0.587831450356,0.0100908492093,1.07003245757,0.558401900753,0.0187625848811,1.06970059033
+157,2.616666667,pose1_to_pose2_press,0.588522517359,0.0100908576638,1.07003229998,0.559092967886,0.0187625940419,1.06970043963
+158,2.633333333,pose1_to_pose2_press,0.589225514375,0.0100908309903,1.07003211088,0.559795965528,0.018762569376,1.06970024743
+159,2.650000000,pose1_to_pose2_press,0.589941484811,0.0100908167308,1.07003220207,0.560511935035,0.0187625521344,1.06970034305
+160,2.666666667,pose1_to_pose2_press,0.590675164052,0.0100907869969,1.0700323655,0.561245614669,0.0187625233229,1.06970049568
+161,2.683333333,pose1_to_pose2_press,0.591420972251,0.0100907485087,1.07003248236,0.561991425447,0.0187624934269,1.0697006084
+162,2.700000000,pose1_to_pose2_press,0.592178343172,0.0100906979847,1.07003232079,0.562748796243,0.0187624429086,1.0697004581
+163,2.716666667,pose1_to_pose2_press,0.592948865891,0.0100906497582,1.07003224645,0.563519318336,0.0187623921346,1.06970037269
+164,2.733333333,pose1_to_pose2_press,0.593723927108,0.010090775649,1.07003220541,0.564294378595,0.0187625150496,1.06970033892
+165,2.750000000,pose1_to_pose2_press,0.594499642613,0.0100907583125,1.07003221838,0.56507009318,0.018762494443,1.06970034806
+166,2.766666667,pose1_to_pose2_press,0.595276652037,0.010090785415,1.07003225517,0.565847103687,0.0187625249439,1.06970037762
+167,2.783333333,pose1_to_pose2_press,0.596053441063,0.0100907129405,1.07003232219,0.566623894249,0.0187624578471,1.06970044896
+168,2.800000000,pose1_to_pose2_press,0.596833947537,0.0100907792538,1.07003232121,0.567404398866,0.0187625181376,1.06970045529
+169,2.816666667,pose1_to_pose2_press,0.597616012626,0.0100907937749,1.0700323836,0.568186463413,0.0187625308436,1.06970051837
+170,2.833333333,pose1_to_pose2_press,0.598398271884,0.0100907823749,1.07003230954,0.568968723453,0.0187625222335,1.06970044794
+171,2.850000000,pose1_to_pose2_press,0.599183019199,0.0100907687399,1.07003217794,0.569753471413,0.0187625108602,1.06970031826
+172,2.866666667,pose1_to_pose2_press,0.599969643337,0.0100907454265,1.07003223508,0.570540095982,0.0187624888572,1.06970037143
+173,2.883333333,pose1_to_pose2_press,0.600764047345,0.0100908465543,1.07003238122,0.571334498966,0.018762586583,1.06970051953
+174,2.900000000,pose1_to_pose2_press,0.601566308289,0.0100908674014,1.07003255773,0.572136759521,0.0187626058724,1.06970069001
+175,2.916666667,pose1_to_pose2_press,0.602366094869,0.0100906674077,1.07003249298,0.572936547671,0.0187624108998,1.06970061718
+176,2.933333333,pose1_to_pose2_press,0.60315859848,0.0100908318675,1.07003246095,0.573729048251,0.0187625652048,1.06970058876
+177,2.950000000,pose1_to_pose2_press,0.603933481641,0.0100906968914,1.07003232145,0.574503934741,0.0187624417679,1.06970045553
+178,2.966666667,pose1_to_pose2_press,0.604686480489,0.0100908661524,1.07003236768,0.575256932523,0.018762607056,1.06970049266
+179,2.983333333,pose1_to_pose2_press,0.605419001151,0.0100908794158,1.07003247007,0.575989450019,0.0187626096259,1.0697005964
+180,3.000000000,pose1_to_pose2_press,0.606142160531,0.0100908948216,1.07003246156,0.576712608965,0.0187626236868,1.06970059128
+181,3.016666667,pose1_to_pose2_press,0.606862157061,0.0100908039734,1.0700322385,0.577432608557,0.0187625435595,1.06970037697
+182,3.033333333,pose1_to_pose2_press,0.607582823884,0.0100908070682,1.07003218652,0.578153275491,0.0187625470286,1.06970032503
+183,3.050000000,pose1_to_pose2_press,0.608293889231,0.0100908579171,1.07003241884,0.578864339782,0.0187625937184,1.06970054238
+184,3.066666667,pose1_to_pose2_press,0.608987680259,0.0100908682116,1.07003229219,0.579558130218,0.0187626024234,1.0697004268
+185,3.083333333,pose1_to_pose2_press,0.609651500476,0.0100907055552,1.07003211797,0.580221952348,0.0187624464063,1.06970025649
+186,3.100000000,pose1_to_pose2_press,0.610284679193,0.0100906617747,1.07003221995,0.580855131557,0.0187624039639,1.06970034995
+187,3.116666667,pose1_to_pose2_press,0.610885506424,0.01009076551,1.07003240169,0.581455957836,0.0187625043473,1.06970052864
+188,3.133333333,pose1_to_pose2_press,0.611458483735,0.0100908308349,1.07003243385,0.582028935118,0.0187625696867,1.06970056374
+189,3.150000000,pose1_to_pose2_press,0.612008742733,0.0100909062254,1.07003233497,0.582579193112,0.0187626417846,1.06970046801
+190,3.166666667,pose1_to_pose2_press,0.612549837119,0.0100907848496,1.07003228047,0.583120288702,0.0187625249319,1.06970042543
+191,3.183333333,pose1_to_pose2_press,0.613088646085,0.0100908751107,1.07003242055,0.583659096372,0.0187626105166,1.06970055801
+192,3.200000000,pose1_to_pose2_press,0.613625089449,0.0100908554226,1.07003226905,0.584195540141,0.0187625920398,1.0697004021
+193,3.216666667,pose1_to_pose2_press,0.614155072749,0.0100908730865,1.07003229482,0.584725523562,0.0187626101972,1.06970042849
+194,3.233333333,pose1_to_pose2_press,0.614668202811,0.0100906451358,1.07003223821,0.585238656487,0.0187623921381,1.06970037484
+195,3.250000000,pose1_to_pose2_press,0.615154462851,0.0100907239811,1.07003221732,0.585724914497,0.0187624640055,1.06970034988
+196,3.266666667,pose1_to_pose2_press,0.615603427813,0.0100907776109,1.07003230172,0.586173878168,0.0187625131186,1.06970042871
+197,3.283333333,pose1_to_pose2_press,0.616026389717,0.0100907654582,1.07003230243,0.586596840973,0.0187625041579,1.06970042995
+198,3.300000000,pose1_to_pose2_press,0.616426953726,0.0100908263104,1.0700322208,0.586997405078,0.0187625656331,1.06970035145
+199,3.316666667,pose1_to_pose2_press,0.61680928557,0.0100908199417,1.07003228378,0.58737973644,0.0187625577659,1.06970041229
+200,3.333333333,pose1_to_pose2_press,0.617175976951,0.0100908160668,1.07003247573,0.587746427268,0.0187625520293,1.06970060026
+201,3.350000000,pose1_to_pose2_press,0.617528389656,0.010090784007,1.07003232455,0.588098842535,0.0187625291742,1.06970045695
+202,3.366666667,pose1_to_pose2_press,0.617860686838,0.0100907676975,1.07003207099,0.588431137433,0.0187625053835,1.06970020771
+203,3.383333333,pose1_to_pose2_press,0.618167913365,0.010090779151,1.07003256858,0.588738365258,0.0187625210518,1.06970069379
+204,3.400000000,pose1_to_pose2_press,0.618450104035,0.0100907384608,1.07003258892,0.58902055588,0.0187624805471,1.06970071868
+205,3.416666667,pose1_to_pose2_press,0.618707881581,0.0100909018689,1.07003258878,0.589278330681,0.0187626348451,1.06970071874
+206,3.433333333,pose1_to_pose2_press,0.618943900267,0.0100908807951,1.0700323794,0.589514350541,0.0187626178674,1.06970050783
+207,3.450000000,pose1_to_pose2_press,0.619162977432,0.0100908303909,1.07003236054,0.589733428805,0.0187625712185,1.06970048669
+208,3.466666667,pose1_to_pose2_press,0.619367892492,0.0100907849154,1.07003248184,0.58993834401,0.0187625263709,1.06970060907
+209,3.483333333,pose1_to_pose2_press,0.619560322452,0.0100907380387,1.07003249044,0.590130774368,0.018762481151,1.06970062193
+210,3.500000000,pose1_to_pose2_press,0.61973978136,0.01009083434,1.07003253501,0.590310231832,0.0187625726396,1.06970066551
+211,3.516666667,pose1_to_pose2_press,0.619901881905,0.0100907109103,1.07003234323,0.59047233301,0.018762451474,1.0697004757
+212,3.533333333,pose1_to_pose2_press,0.620046561658,0.0100908123348,1.07003232354,0.590617011132,0.018762547609,1.06970045724
+213,3.550000000,pose1_to_pose2_press,0.620173873776,0.0100908694986,1.07003236596,0.590744322406,0.0187626016892,1.06970049309
+214,3.566666667,pose1_to_pose2_press,0.620285627993,0.0100907416431,1.07003234461,0.590856078779,0.0187624814287,1.0697004751
+215,3.583333333,pose1_to_pose2_press,0.620382096727,0.0100907518619,1.07003213194,0.590952547165,0.0187624907797,1.06970026992
+216,3.600000000,pose1_to_pose2_press,0.620467231517,0.0100907877759,1.07003241561,0.591037681903,0.0187625264042,1.06970054866
+217,3.616666667,pose1_to_pose2_press,0.620541537993,0.0100907762391,1.07003243071,0.591111988821,0.0187625164551,1.06970056577
+218,3.633333333,pose1_to_pose2_press,0.620605310454,0.0100907546873,1.07003237333,0.591175761083,0.0187624942243,1.06970050993
+219,3.650000000,pose1_to_pose2_press,0.62065949558,0.0100907753656,1.07003241127,0.591229945673,0.0187625128601,1.06970054418
+220,3.666666667,pose1_to_pose2_press,0.620704334594,0.0100907902749,1.07003238628,0.591274785178,0.0187625294003,1.06970051772
+221,3.683333333,pose1_to_pose2_press,0.620741292598,0.010090704346,1.07003260342,0.591311744348,0.018762447614,1.0697007314
+222,3.700000000,pose1_to_pose2_press,0.620770575116,0.0100908459662,1.07003271106,0.591341024598,0.0187625813341,1.06970083607
+223,3.716666667,pose1_to_pose2_press,0.620793885612,0.0100908028755,1.07003230181,0.591364337639,0.0187625474179,1.06970043925
+224,3.733333333,pose1_to_pose2_press,0.620811746414,0.0100908123728,1.07003240318,0.591382196847,0.0187625516402,1.06970053907
+225,3.750000000,pose1_to_pose2_press,0.620824990194,0.0100908152101,1.07003250274,0.591395439039,0.0187625490549,1.06970063439
+226,3.766666667,pose1_to_pose2_press,0.620834713962,0.0100907780955,1.07003234495,0.591405163336,0.0187625137263,1.06970047627
+227,3.783333333,pose1_to_pose2_press,0.620841519252,0.0100907229311,1.07003227913,0.591411969315,0.0187624606455,1.06970040632
+228,3.800000000,pose1_to_pose2_press,0.620846429912,0.0100906968372,1.07003223867,0.591416880602,0.0187624366181,1.06970036485
+229,3.816666667,pose1_to_pose2_press,0.620849638779,0.0100907110009,1.07003222257,0.59142009012,0.01876245322,1.06970035255
+230,3.833333333,pose1_to_pose2_press,0.620851929237,0.0100907202672,1.07003222049,0.591422381009,0.0187624641032,1.06970035298
+231,3.850000000,pose1_to_pose2_press,0.620853393875,0.0100907133542,1.07003236252,0.591423845427,0.0187624563423,1.06970049332
+232,3.866666667,pose1_to_pose2_press,0.620854427731,0.0100907084744,1.07003246277,0.591424879127,0.0187624508641,1.06970059238
+233,3.883333333,pose1_to_pose2_press,0.620855154283,0.010090705045,1.07003253322,0.59142560557,0.0187624470142,1.06970066199
+234,3.900000000,pose1_to_pose2_press,0.620855602286,0.0100907029305,1.07003257667,0.591426053506,0.0187624446403,1.06970070492
+235,3.916666667,pose1_to_pose2_press,0.620855875099,0.0100906979323,1.07003258801,0.591426326388,0.0187624398534,1.06970071598
+236,3.933333333,pose1_to_pose2_press,0.620856059822,0.0100906903962,1.07003257877,0.591426511279,0.0187624328735,1.06970070659
+237,3.950000000,pose1_to_pose2_press,0.620856210271,0.0100906842584,1.07003257126,0.591426661865,0.0187624271886,1.06970069894
+238,3.966666667,pose1_to_pose2_press,0.620856380234,0.0100906773246,1.07003256276,0.591426831982,0.0187624207664,1.0697006903
+239,3.983333333,pose1_to_pose2_press,0.620856610794,0.0100906679185,1.07003255124,0.591427062752,0.0187624120545,1.06970067858
+240,4.000000000,pose1_to_pose2_press,0.620856769877,0.0100906614285,1.07003254329,0.591427221979,0.0187624060434,1.06970067049
+241,4.016666667,pose1_to_pose2_press,0.62085683018,0.0100906589683,1.07003254027,0.591427282338,0.0187624037648,1.06970066743
+242,4.033333333,pose1_to_pose2_press,0.620856956186,0.0100906538277,1.07003253398,0.591427408458,0.0187623990035,1.06970066102
+243,4.050000000,pose1_to_pose2_press,0.620857176333,0.0100906448465,1.07003252297,0.591427628806,0.0187623906851,1.06970064983
+244,4.066666667,pose1_to_pose2_press,0.620857531517,0.0100906303562,1.07003250522,0.591427984313,0.0187623772641,1.06970063177
+245,4.083333333,pose1_to_pose2_press,0.620857834271,0.0100906180049,1.07003249009,0.591428287343,0.0187623658243,1.06970061638
+246,4.100000000,pose1_to_pose2_press,0.62085785976,0.0100906169651,1.07003248882,0.591428312855,0.0187623648612,1.06970061509
+247,4.116666667,pose1_to_pose2_press,0.620857861759,0.0100906168835,1.07003248872,0.591428314855,0.0187623647856,1.06970061498
+248,4.133333333,pose1_to_pose2_press,0.620857962025,0.0100906147671,1.07003248263,0.591428415178,0.0187623628523,1.06970060883
+249,4.150000000,pose1_to_pose2_press,0.620858033303,0.0100906203281,1.07003247444,0.59142848637,0.0187623681181,1.06970060068
+250,4.166666667,pose1_to_pose2_press,0.620858234129,0.0100906359961,1.07003245138,0.591428686956,0.0187623829545,1.0697005777
+251,4.183333333,pose1_to_pose2_press,0.620858752374,0.0100906764285,1.07003239185,0.59142920458,0.0187624212409,1.06970051842
+252,4.200000000,pose1_to_pose2_press,0.620859089931,0.0100907326273,1.07003238156,0.591429541534,0.0187624754236,1.06970050904
+253,4.216666667,pose1_to_pose2_press,0.620859117115,0.0100907549368,1.07003239769,0.591429568551,0.0187624972026,1.0697005257
+254,4.233333333,pose1_to_pose2_press,0.620859155046,0.0100907860657,1.07003242019,0.591429606249,0.0187625275915,1.06970054895
+255,4.250000000,pose1_to_pose2_press,0.620859223597,0.010090842325,1.07003246086,0.59142967438,0.018762582513,1.06970059096
+256,4.266666667,pose1_to_pose2_press,0.620859318235,0.0100907986313,1.07003247466,0.591429769869,0.0187625416656,1.0697006038
+257,4.283333333,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769868,0.0187625416673,1.0697006038
+258,4.300000000,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769868,0.0187625416674,1.0697006038
+259,4.316666667,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769868,0.0187625416675,1.0697006038
+260,4.333333333,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769868,0.0187625416676,1.0697006038
+261,4.350000000,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769867,0.0187625416677,1.0697006038
+262,4.366666667,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769867,0.0187625416685,1.0697006038
+263,4.383333333,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769866,0.018762541669,1.0697006038
+264,4.400000000,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769867,0.0187625416681,1.0697006038
+265,4.416666667,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769867,0.018762541669,1.0697006038
+266,4.433333333,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769866,0.018762541669,1.0697006038
+267,4.450000000,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769866,0.0187625416689,1.0697006038
+268,4.466666667,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769867,0.018762541668,1.0697006038
+269,4.483333333,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769868,0.0187625416681,1.0697006038
+270,4.500000000,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769867,0.018762541668,1.0697006038
+271,4.516666667,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769867,0.0187625416677,1.0697006038
+272,4.533333333,pose2_hold,0.620859318235,0.0100907986313,1.07003247466,0.591429769867,0.0187625416681,1.0697006038
+273,4.550000000,pose2_to_pose3_retreat,0.620859318235,0.0100907986313,1.07003247466,0.591429769866,0.0187625416685,1.0697006038
+274,4.566666667,pose2_to_pose3_retreat,0.620859151977,0.0100907965102,1.07003244609,0.591429603684,0.0187625396314,1.06970057054
+275,4.583333333,pose2_to_pose3_retreat,0.620858979995,0.0100907161593,1.07003227391,0.591429431008,0.0187624570084,1.06970040043
+276,4.600000000,pose2_to_pose3_retreat,0.620858647972,0.0100907006407,1.07003224813,0.591429099081,0.0187624418998,1.06970037696
+277,4.616666667,pose2_to_pose3_retreat,0.620858567401,0.0100907026752,1.07003225461,0.591429018593,0.018762444233,1.06970038393
+278,4.633333333,pose2_to_pose3_retreat,0.620858330395,0.0100907086596,1.07003227369,0.591428781831,0.0187624510963,1.06970040444
+279,4.650000000,pose2_to_pose3_retreat,0.620857950547,0.0100907182508,1.07003230426,0.591428402375,0.0187624620961,1.06970043731
+280,4.666666667,pose2_to_pose3_retreat,0.620856971863,0.0100907405238,1.07003236155,0.591427423622,0.0187624841529,1.06970049559
+281,4.683333333,pose2_to_pose3_retreat,0.620854625561,0.0100907917613,1.07003244531,0.591425076424,0.0187625322689,1.06970057775
+282,4.700000000,pose2_to_pose3_retreat,0.62084822705,0.010090870769,1.07003231553,0.591418677211,0.0187626088182,1.06970044479
+283,4.716666667,pose2_to_pose3_retreat,0.620835394363,0.0100908238613,1.07003214632,0.591405845153,0.0187625640256,1.06970027817
+284,4.733333333,pose2_to_pose3_retreat,0.620811020774,0.0100908806382,1.07003235237,0.591381468519,0.0187626102618,1.06970047814
+285,4.750000000,pose2_to_pose3_retreat,0.620774591831,0.0100908093544,1.0700324073,0.591345042049,0.0187625474298,1.06970053532
+286,4.766666667,pose2_to_pose3_retreat,0.620726022322,0.0100907066393,1.07003229434,0.591296473047,0.018762446616,1.06970042398
+287,4.783333333,pose2_to_pose3_retreat,0.62066782927,0.0100907950379,1.07003232804,0.591238281066,0.018762538768,1.06970045977
+288,4.800000000,pose2_to_pose3_retreat,0.62060096499,0.0100909492927,1.07003230101,0.591171414705,0.0187626865018,1.06970044238
+289,4.816666667,pose2_to_pose3_retreat,0.620528088876,0.0100909205322,1.07003234829,0.591098538207,0.0187626560374,1.06970047998
+290,4.833333333,pose2_to_pose3_retreat,0.620448193389,0.0100908533856,1.07003222749,0.591018644547,0.0187625948347,1.06970036443
+291,4.850000000,pose2_to_pose3_retreat,0.620356723099,0.0100907684741,1.07003216657,0.590927173924,0.0187625088632,1.0697003098
+292,4.866666667,pose2_to_pose3_retreat,0.620252448894,0.0100907883494,1.07003218921,0.590822898691,0.0187625249384,1.06970032609
+293,4.883333333,pose2_to_pose3_retreat,0.620131361598,0.0100908251399,1.07003226838,0.590701811585,0.0187625620084,1.06970039837
+294,4.900000000,pose2_to_pose3_retreat,0.619993902106,0.0100907941208,1.07003233468,0.59056435326,0.0187625349511,1.06970046737
+295,4.916666667,pose2_to_pose3_retreat,0.61983974997,0.0100907713399,1.07003238614,0.590410201651,0.0187625138762,1.06970051873
+296,4.933333333,pose2_to_pose3_retreat,0.619668284281,0.0100907258767,1.0700325585,0.590238736519,0.018762470078,1.06970068861
+297,4.950000000,pose2_to_pose3_retreat,0.619479642991,0.0100908235515,1.07003231818,0.590050094203,0.0187625643108,1.06970045329
+298,4.966666667,pose2_to_pose3_retreat,0.619271689795,0.0100907183825,1.0700323173,0.589842142001,0.0187624623705,1.06970045253
+299,4.983333333,pose2_to_pose3_retreat,0.619044393866,0.0100908324086,1.07003243,0.589614844617,0.018762571269,1.0697005639
+300,5.000000000,pose2_to_pose3_retreat,0.61879613821,0.0100907490371,1.07003236168,0.58936659025,0.018762492188,1.06970049759
+301,5.016666667,pose2_to_pose3_retreat,0.618530340626,0.0100907035474,1.07003232945,0.589100792589,0.0187624462054,1.06970046411
+302,5.033333333,pose2_to_pose3_retreat,0.61824764381,0.010090750977,1.07003239563,0.588818094988,0.0187624907278,1.06970052835
+303,5.050000000,pose2_to_pose3_retreat,0.617944501646,0.0100908152394,1.07003242187,0.588514952546,0.018762553845,1.06970055406
+304,5.066666667,pose2_to_pose3_retreat,0.617620668649,0.010090846209,1.07003239742,0.588191119072,0.0187625829195,1.06970052841
+305,5.083333333,pose2_to_pose3_retreat,0.617272658017,0.0100908592453,1.07003254958,0.587843107293,0.0187625917922,1.06970067887
+306,5.100000000,pose2_to_pose3_retreat,0.616899519471,0.0100908277607,1.07003218127,0.587469970378,0.0187625660726,1.06970032115
+307,5.116666667,pose2_to_pose3_retreat,0.616499053463,0.0100907026515,1.07003231017,0.587069506161,0.0187624465374,1.06970044467
+308,5.133333333,pose2_to_pose3_retreat,0.616076378167,0.0100906427224,1.07003232468,0.586646832486,0.0187623920054,1.06970045993
+309,5.150000000,pose2_to_pose3_retreat,0.615632357361,0.0100907012379,1.07003225098,0.586202809292,0.018762442103,1.06970038277
+310,5.166666667,pose2_to_pose3_retreat,0.615168177551,0.0100907610693,1.0700323989,0.585738628784,0.0187624991569,1.06970052313
+311,5.183333333,pose2_to_pose3_retreat,0.614685963835,0.0100907872002,1.07003229258,0.585256415319,0.0187625262969,1.06970042145
+312,5.200000000,pose2_to_pose3_retreat,0.614186429454,0.0100908071027,1.07003217925,0.584756881374,0.0187625478803,1.06970031312
+313,5.216666667,pose2_to_pose3_retreat,0.613665958818,0.0100908219283,1.07003238555,0.584236411052,0.0187625635198,1.06970051347
+314,5.233333333,pose2_to_pose3_retreat,0.613120467756,0.0100908012351,1.07003243705,0.58369091881,0.0187625387638,1.06970056407
+315,5.250000000,pose2_to_pose3_retreat,0.612543561039,0.0100908134469,1.07003226341,0.583114011684,0.0187625496026,1.06970038912
+316,5.266666667,pose2_to_pose3_retreat,0.611938627716,0.0100908801187,1.07003245849,0.582509078193,0.0187626158938,1.06970058924
+317,5.283333333,pose2_to_pose3_retreat,0.61131965222,0.010090742594,1.07003248242,0.581890104022,0.0187624827511,1.0697006098
+318,5.300000000,pose2_to_pose3_retreat,0.61069284253,0.0100909050825,1.07003248629,0.581263292971,0.0187626406206,1.06970061363
+319,5.316666667,pose2_to_pose3_retreat,0.610060239953,0.0100907691529,1.07003246377,0.580630692778,0.0187625129064,1.06970059531
+320,5.333333333,pose2_to_pose3_retreat,0.609424313487,0.0100907767513,1.07003225025,0.579994766339,0.018762520779,1.06970038704
+321,5.350000000,pose2_to_pose3_retreat,0.608780081244,0.0100908334162,1.070032116,0.579350533524,0.0187625755868,1.06970025473
+322,5.366666667,pose2_to_pose3_retreat,0.608102630325,0.0100907623406,1.07003223365,0.578673083189,0.0187625063934,1.06970036964
+323,5.383333333,pose2_to_pose3_retreat,0.607393357836,0.0100907486472,1.07003231163,0.577963808871,0.0187624863338,1.06970044411
+324,5.400000000,pose2_to_pose3_retreat,0.606652309112,0.0100908245016,1.07003220356,0.577222760615,0.018762563786,1.06970033615
+325,5.416666667,pose2_to_pose3_retreat,0.605880555529,0.0100907006237,1.0700320479,0.576451007425,0.0187624416557,1.06970019145
+326,5.433333333,pose2_to_pose3_retreat,0.605074752652,0.0100908357246,1.07003236212,0.575645204067,0.0187625743253,1.06970048497
+327,5.450000000,pose2_to_pose3_retreat,0.604271177835,0.0100908374013,1.07003245661,0.574841629047,0.0187625755851,1.06970058707
+328,5.466666667,pose2_to_pose3_retreat,0.603474488369,0.0100908977213,1.07003223507,0.574044939382,0.0187626354943,1.0697003715
+329,5.483333333,pose2_to_pose3_retreat,0.602683081416,0.0100906393936,1.07003232474,0.573253534578,0.0187623841376,1.06970045136
+330,5.500000000,pose2_to_pose3_retreat,0.601900777,0.0100906903431,1.07003234126,0.572471228763,0.0187624304858,1.06970047227
+331,5.516666667,pose2_to_pose3_retreat,0.601127902692,0.0100907829131,1.07003232518,0.57169835374,0.0187625207422,1.0697004596
+332,5.533333333,pose2_to_pose3_retreat,0.600334336479,0.0100907849332,1.07003221623,0.570904787935,0.0187625241826,1.06970035239
+333,5.550000000,pose2_to_pose3_retreat,0.599513269254,0.0100907318373,1.07003216947,0.570083720558,0.0187624704364,1.06970030316
+334,5.566666667,pose2_to_pose3_retreat,0.59867299464,0.0100906437732,1.07003232827,0.56924344628,0.018762383207,1.06970045376
+335,5.583333333,pose2_to_pose3_retreat,0.597822468278,0.0100906412351,1.07003220474,0.56839292086,0.0187623842239,1.06970033914
+336,5.600000000,pose2_to_pose3_retreat,0.596983705224,0.0100907866294,1.07003224777,0.567554155819,0.0187625227247,1.06970037681
+337,5.616666667,pose2_to_pose3_retreat,0.596169652645,0.0100908173954,1.07003232947,0.566740103635,0.018762554877,1.0697004597
+338,5.633333333,pose2_to_pose3_retreat,0.595389065118,0.0100907996062,1.07003209765,0.565959514412,0.0187625314285,1.0697002319
+339,5.650000000,pose2_to_pose3_retreat,0.59462051407,0.0100906474446,1.07003230238,0.565190966623,0.018762390284,1.06970043309
+340,5.666666667,pose2_to_pose3_retreat,0.593854319871,0.0100908070397,1.07003242324,0.564424771292,0.0187625461305,1.06970055754
+341,5.683333333,pose2_to_pose3_retreat,0.59307770592,0.0100907330248,1.07003244874,0.563648159045,0.0187624779757,1.06970058498
+342,5.700000000,pose2_to_pose3_retreat,0.59229025947,0.010090789837,1.07003237445,0.562860711634,0.0187625315968,1.069700512
+343,5.716666667,pose2_to_pose3_retreat,0.591496237505,0.0100908593227,1.07003233018,0.562066688446,0.0187625968146,1.0697004646
+344,5.733333333,pose2_to_pose3_retreat,0.590715154944,0.0100907560589,1.07003223384,0.561285607726,0.0187624998352,1.06970036913
+345,5.750000000,pose2_to_pose3_retreat,0.589952552375,0.0100907436996,1.07003205123,0.560523004934,0.0187624870126,1.06970019415
+346,5.766666667,pose2_to_pose3_retreat,0.589212682267,0.0100907405275,1.07003213631,0.559783133063,0.018762477597,1.06970027269
+347,5.783333333,pose2_to_pose3_retreat,0.588492957111,0.0100906859479,1.0700323418,0.559063408763,0.0187624255658,1.0697004695
+348,5.800000000,pose2_to_pose3_retreat,0.587791282716,0.0100905816619,1.07003225787,0.558361735959,0.018762326636,1.06970038232
+349,5.816666667,pose2_to_pose3_retreat,0.587106739739,0.0100907109311,1.07003232824,0.557677192117,0.0187624531076,1.06970045823
+350,5.833333333,pose2_to_pose3_retreat,0.586439005844,0.0100908400175,1.07003240528,0.55700945643,0.0187625764889,1.06970054371
+351,5.850000000,pose2_to_pose3_retreat,0.585786812107,0.0100907480981,1.07003248429,0.55635726495,0.0187624917047,1.06970060852
+352,5.866666667,pose2_to_pose3_retreat,0.585149932742,0.0100908113853,1.07003223063,0.555720385344,0.0187625543922,1.06970036064
+353,5.883333333,pose2_to_pose3_retreat,0.584533249818,0.0100907927234,1.07003224112,0.555103701125,0.018762531384,1.06970037235
+354,5.900000000,pose2_to_pose3_retreat,0.583937438532,0.0100907357376,1.07003233921,0.554507890246,0.0187624758184,1.0697004713
+355,5.916666667,pose2_to_pose3_retreat,0.583364775041,0.0100907809377,1.07003227408,0.553935226701,0.0187625210219,1.06970041094
+356,5.933333333,pose2_to_pose3_retreat,0.582810618529,0.0100908420662,1.07003219398,0.553381068396,0.0187625760958,1.06970033164
+357,5.950000000,pose2_to_pose3_retreat,0.582273462126,0.0100908179599,1.07003218963,0.552843912004,0.0187625520033,1.06970032689
+358,5.966666667,pose2_to_pose3_retreat,0.581754471344,0.0100908946376,1.07003222936,0.552324921263,0.0187626285716,1.06970036011
+359,5.983333333,pose2_to_pose3_retreat,0.58125597886,0.0100908073022,1.0700323088,0.551826429542,0.0187625440905,1.06970044643
+360,6.000000000,pose2_to_pose3_retreat,0.58078487885,0.010090825353,1.07003220669,0.551355329554,0.0187625620351,1.06970034087
+361,6.016666667,pose2_to_pose3_retreat,0.580342589722,0.0100908430884,1.07003221326,0.550913040568,0.0187625801452,1.06970034422
+362,6.033333333,pose2_to_pose3_retreat,0.579932273165,0.0100908617613,1.0700322093,0.550502723067,0.0187625957019,1.06970034273
+363,6.050000000,pose2_to_pose3_retreat,0.579545987901,0.0100908503369,1.07003227999,0.550116439149,0.0187625889133,1.0697004145
+364,6.066666667,pose2_to_pose3_retreat,0.579183034246,0.0100908408143,1.0700322012,0.549753485409,0.018762579052,1.06970033411
+365,6.083333333,pose2_to_pose3_retreat,0.578836628122,0.0100908055148,1.07003215383,0.549407079175,0.0187625433066,1.06970028498
+366,6.100000000,pose2_to_pose3_retreat,0.578506746451,0.0100907774735,1.07003227387,0.549077198648,0.0187625190352,1.06970040237
+367,6.116666667,pose2_to_pose3_retreat,0.578197226464,0.0100908024552,1.07003239624,0.548767679232,0.0187625458455,1.06970052174
+368,6.133333333,pose2_to_pose3_retreat,0.577907629813,0.0100907720495,1.07003239698,0.548478082689,0.0187625160589,1.06970052912
+369,6.150000000,pose2_to_pose3_retreat,0.577640374927,0.0100907496854,1.07003204717,0.548210826437,0.0187624894744,1.06970019048
+370,6.166666667,pose2_to_pose3_retreat,0.577397757611,0.0100906381808,1.07003204585,0.547968210184,0.0187623815925,1.06970018929
+371,6.183333333,pose2_to_pose3_retreat,0.577178996398,0.0100907767287,1.07003241634,0.547749448484,0.0187625179874,1.06970054659
+372,6.200000000,pose2_to_pose3_retreat,0.576982415229,0.0100906972458,1.07003235153,0.547552868679,0.0187624432709,1.06970048538
+373,6.216666667,pose2_to_pose3_retreat,0.576805049137,0.0100907150512,1.07003241348,0.547375501298,0.0187624565959,1.06970054474
+374,6.233333333,pose2_to_pose3_retreat,0.576644984339,0.010090776428,1.0700322666,0.54721543522,0.0187625137708,1.06970040158
+375,6.250000000,pose2_to_pose3_retreat,0.576499733367,0.0100907678218,1.07003203404,0.547070184494,0.0187625064323,1.06970018034
+376,6.266666667,pose2_to_pose3_retreat,0.576369341694,0.0100907101718,1.07003201455,0.546939793577,0.0187624515466,1.06970016605
+377,6.283333333,pose2_to_pose3_retreat,0.576251243292,0.0100907802609,1.07003208632,0.546821694456,0.0187625186898,1.06970022467
+378,6.300000000,pose2_to_pose3_retreat,0.576144961762,0.0100908816866,1.0700322567,0.546715410703,0.0187626120349,1.06970038115
+379,6.316666667,pose2_to_pose3_retreat,0.576051376189,0.010090972639,1.07003235427,0.546621826256,0.0187627069073,1.06970048205
+380,6.333333333,pose2_to_pose3_retreat,0.575969983807,0.0100908594868,1.07003247488,0.546540433748,0.0187625932334,1.0697006002
+381,6.350000000,pose2_to_pose3_retreat,0.575901861637,0.0100908122945,1.07003227353,0.546472312252,0.0187625484105,1.06970040082
+382,6.366666667,pose2_to_pose3_retreat,0.575845462249,0.0100907788548,1.07003217161,0.546415914243,0.0187625202544,1.06970031464
+383,6.383333333,pose2_to_pose3_retreat,0.575800636311,0.0100907932808,1.0700321823,0.546371087811,0.0187625329172,1.06970032305
+384,6.400000000,pose2_to_pose3_retreat,0.575764352235,0.0100908236252,1.07003220098,0.546334803391,0.018762561913,1.06970033701
+385,6.416666667,pose2_to_pose3_retreat,0.575735684783,0.0100907960326,1.07003228985,0.546306135769,0.0187625334635,1.0697004186
+386,6.433333333,pose2_to_pose3_retreat,0.575713776944,0.0100907646639,1.07003236553,0.546284227427,0.0187625002203,1.06970049
+387,6.450000000,pose2_to_pose3_retreat,0.575696949117,0.0100908269836,1.07003236153,0.546267399332,0.0187625616455,1.0697004866
+388,6.466666667,pose2_to_pose3_retreat,0.575684713113,0.0100909003809,1.07003236359,0.546255164059,0.0187626373843,1.06970048508
+389,6.483333333,pose2_to_pose3_retreat,0.575676628954,0.0100906836362,1.07003221016,0.546247080646,0.018762423731,1.0697003457
+390,6.500000000,pose2_to_pose3_retreat,0.575672019142,0.0100907214953,1.07003227213,0.546242472462,0.0187624673402,1.06970041369
+391,6.516666667,pose2_to_pose3_retreat,0.575669379511,0.0100907401672,1.07003230113,0.546239832912,0.0187624862923,1.06970044286
+392,6.533333333,pose2_to_pose3_retreat,0.575668219676,0.0100907456185,1.07003230824,0.546238672403,0.0187624893553,1.06970044734
+393,6.550000000,pose2_to_pose3_retreat,0.575668036438,0.0100907464797,1.07003230937,0.546238489058,0.0187624898392,1.06970044805
+394,6.566666667,pose2_to_pose3_retreat,0.575667869086,0.0100907472663,1.0700323104,0.546238321609,0.0187624902811,1.0697004487
+395,6.583333333,pose2_to_pose3_retreat,0.575667420068,0.0100907493767,1.07003231315,0.54623787233,0.0187624914669,1.06970045043
+396,6.600000000,pose2_to_pose3_retreat,0.575667074715,0.0100907509999,1.07003231527,0.546237526777,0.0187624923789,1.06970045177
+397,6.616666667,pose2_to_pose3_retreat,0.575666786489,0.0100907556146,1.07003232833,0.546237238415,0.018762496493,1.0697004637
+398,6.633333333,pose2_to_pose3_retreat,0.575666303341,0.0100907720665,1.0700323804,0.546236755129,0.0187625123542,1.06970051265
+399,6.650000000,pose2_to_pose3_retreat,0.575665973455,0.0100907832996,1.07003241596,0.546236425147,0.018762523184,1.06970054607
+400,6.666666667,pose2_to_pose3_retreat,0.575665802474,0.0100907891217,1.07003243439,0.546236254118,0.0187625287971,1.06970056339
+401,6.683333333,pose2_to_pose3_retreat,0.575665794572,0.0100907893908,1.07003243524,0.546236246213,0.0187625290566,1.06970056419
+402,6.700000000,pose2_to_pose3_retreat,0.575665542947,0.010090797959,1.07003246236,0.546235994516,0.0187625373171,1.06970058968
+403,6.716666667,pose2_to_pose3_retreat,0.575665457833,0.0100908008573,1.07003247154,0.546235909377,0.0187625401113,1.0697005983
+404,6.733333333,pose2_to_pose3_retreat,0.575665380512,0.0100908034902,1.07003247987,0.546235832034,0.0187625426497,1.06970060613
+405,6.750000000,pose2_to_pose3_retreat,0.57566518109,0.0100908141882,1.07003244492,0.546235632128,0.0187625517663,1.06970057272
+406,6.766666667,pose2_to_pose3_retreat,0.575665141943,0.0100908169231,1.07003242889,0.546235592818,0.0187625539734,1.06970055746
+407,6.783333333,pose2_to_pose3_retreat,0.575664984013,0.0100908279565,1.07003236421,0.546235434226,0.0187625628775,1.06970049586
+408,6.800000000,pose2_to_pose3_retreat,0.575664965636,0.0100908292404,1.07003235668,0.546235415772,0.0187625639136,1.06970048869
+409,6.816666667,pose2_to_pose3_retreat,0.575664830576,0.010090838676,1.07003230137,0.546235280146,0.0187625715283,1.06970043601
+410,6.833333333,pose2_to_pose3_retreat,0.575664718443,0.01009084651,1.07003225544,0.546235167542,0.0187625778505,1.06970039227
+411,6.850000000,pose2_to_pose3_retreat,0.575664668014,0.0100908500331,1.07003223479,0.546235116902,0.0187625806937,1.0697003726
+412,6.866666667,pose2_to_pose3_retreat,0.575664661058,0.010090850519,1.07003223194,0.546235109917,0.0187625810858,1.06970036989
+413,6.883333333,pose2_to_pose3_retreat,0.575664572482,0.0100908567071,1.07003219567,0.54623502097,0.0187625860798,1.06970033534
+414,6.900000000,pose2_to_pose3_retreat,0.575664524009,0.0100908386152,1.0700321909,0.546234972896,0.0187625693019,1.06970032948
+415,6.916666667,pose2_to_pose3_retreat,0.575664511991,0.0100908286416,1.07003219358,0.546234961131,0.018762560157,1.06970033136
+416,6.933333333,pose2_to_pose3_retreat,0.575664470359,0.0100907940915,1.07003220285,0.546234920375,0.0187625284772,1.06970033788
+417,6.950000000,pose2_to_pose3_retreat,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6043a24baf7495385b355d1f9ed26e4deaa3fc1b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb68674ae255a76fec7a4730913a8a2c228a1bef879c0bd38a9e866b2c50a221
+size 26497013
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..859b54a4acee921356d175d297dd86a3b6de0bff
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/franka_data.csv
@@ -0,0 +1,420 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,745,714,681,661,636,879,787,804,653,631,652,0.400978805558,0.00449229774051,0.0798427517915,0.999999956463,0.000107895848612,-0.000270521393374,4.74354473112e-05,1793239806478653952
+1,0.016666667,BASELINE,765.590857699,745,714.590857699,680.409142301,661,635.409142301,878.409142301,787,803.409142301,652.409142301,631.590857699,652.590857699,0.400978415585,0.0044925961848,0.0798416370591,0.99999995639,0.000106318317955,-0.000271382916817,4.76304948378e-05,1793239806495320576
+2,0.033333333,BASELINE,766,745,715,680,661,635,878.176515318,787.176515318,803.176515318,652,632,652.823484682,0.40097798279,0.00449248173489,0.0798410000787,0.999999956358,0.000105431673235,-0.000271825287119,4.77329973871e-05,1793239806511987200
+3,0.050000000,BASELINE,766,745,715,680,661,635,878.750464779,787.750464779,803.750464779,652,632,652.249535221,0.400977453579,0.00449143763057,0.0798414387834,0.999999956429,0.000106100596662,-0.000271323910771,4.76271297652e-05,1793239806528654080
+4,0.066666667,BASELINE,766,745,715,680.326033304,661.652066608,635,879,787.673966696,803.673966696,652,632,652,0.400976845047,0.00449094443221,0.0798412757938,0.999999956316,0.000105700871423,-0.000271910880677,4.7546792212e-05,1793239806545320704
+5,0.083333333,BASELINE,766,745,715,680.902847158,662.805694316,635,879,787.097152842,803.097152842,652,632,652,0.400976175502,0.00449087498357,0.0798406499887,0.999999956059,0.000104479155575,-0.000273334992305,4.74860920598e-05,1793239806561987584
+6,0.100000000,BASELINE,765.507955173,745,714.507955173,680.507955173,662.015910345,635,879,787,803,652,631.507955173,652.492044827,0.4009760193,0.00449119210159,0.0798406747143,0.999999955978,0.00010481988982,-0.000273477535981,4.76019385044e-05,1793239806578654208
+7,0.116666667,BASELINE,765.081678843,745,714.081678843,680,661.081678843,635,879,787,803.081678843,652,631,652.918321157,0.400976076355,0.00449148660398,0.0798408743375,0.99999995602,0.000105239064653,-0.00027314472396,4.77142112707e-05,1793239806595320832
+8,0.133333333,BASELINE,765.658746437,745,714.658746437,680,661.658746437,635,879,787,803.658746437,652,631,652.341253563,0.400976796219,0.00449116906267,0.0798413355837,0.99999995658,0.000104214595397,-0.000271503184171,4.75879306414e-05,1793239806611987200
+9,0.150000000,BASELINE,765.763262778,745,715,680,662,635,879,787,804,652,631,652.236737222,0.400977217277,0.00449184519434,0.0798413669524,0.999999956705,0.000104868549996,-0.000270823669632,4.74131851922e-05,1793239806628653824
+10,0.166666667,BASELINE,765.183936065,745,715,680,662,635,879,787,804,652,631,652.816063935,0.400977205924,0.00449395929982,0.0798407762324,0.999999956195,0.000107951401877,-0.00027153633065,4.71683048678e-05,1793239806645320448
+11,0.183333333,BASELINE,765.391460917,745,715,680,662,635,879,787,804,652,631,653,0.400977683825,0.00449334044991,0.0798414348805,0.999999956366,0.000107469019446,-0.000271077964195,4.72733997796e-05,1793239806661987328
+12,0.200000000,BASELINE,765.965029836,745,715,680,662,635,879,787,804,652,631,653,0.400978389329,0.00449145022666,0.0798426747357,0.999999956853,0.000105328086792,-0.000270074834674,4.75413034925e-05,1793239806678654208
+13,0.216666667,BASELINE,766,745,715,680,661.444321023,635,878.444321023,787,803.444321023,652,631,653,0.400978331453,0.00449178313593,0.0798421497049,0.999999956785,0.000105737669688,-0.000270170109989,4.75101681477e-05,1793239806695321088
+14,0.233333333,BASELINE,766,745.144486752,715,680.144486752,661.144486752,635,878,787.144486752,803.144486752,652,631,652.855513248,0.400978145695,0.00449222926788,0.0798417645378,0.999999956755,0.000105867973176,-0.000270238408027,4.74678851982e-05,1793239806711987456
+15,0.250000000,BASELINE,766,745.724403399,715,680.724403399,661.724403399,635,878,787.724403399,803.724403399,652,631,652.275596601,0.400977723918,0.00449258161281,0.0798421462025,0.999999956945,0.000104657574036,-0.000270010482492,4.74505202005e-05,1793239806728654080
+16,0.266666667,BASELINE,766,745.698712987,715,680.698712987,662,635,878.301287013,787.698712987,804,652,631,652.301287013,0.400977720472,0.00449273878307,0.0798422613366,0.999999956978,0.000104692441956,-0.000269888906587,4.73570700726e-05,1793239806745320704
+17,0.283333333,BASELINE,766,745.124576166,715,680.124576166,662,635,878.875423834,787.124576166,804,652,631,652.875423834,0.400978095872,0.00449271920035,0.0798421350968,0.99999995687,0.000105855041528,-0.000269863642433,4.71947161685e-05,1793239806761987328
+18,0.300000000,BASELINE,766,745,715,680.460498321,661.539501679,635,879,787,803.539501679,652,631.460498321,652.539501679,0.400978477505,0.00449231528903,0.0798424977747,0.999999957012,0.000106093528241,-0.00026923810201,4.7226465623e-05,1793239806778653952
+19,0.316666667,BASELINE,766,745,715,680.952120144,661.047879856,635,879,787,803,652,632,652.047879856,0.400978636333,0.00449184225765,0.0798427898101,0.999999957131,0.000106076250447,-0.00026879345222,4.72931400598e-05,1793239806795320832
+20,0.333333333,BASELINE,766,745,715,680.372773288,661.627226712,635,879,787,803,652,632,652.627226712,0.400976302862,0.00449178414331,0.0798407938582,0.999999956217,0.000106062448568,-0.00027220307153,4.71504425834e-05,1793239806811987456
+21,0.350000000,BASELINE,765.794159124,745,715,680,661.794159124,635,878.794159124,787,803,652.205840876,631.794159124,652.794159124,0.400975675814,0.00449213613508,0.0798402938977,0.999999955903,0.000106764154867,-0.000273090204017,4.70877138573e-05,1793239806828654080
+22,0.366666667,BASELINE,765.216867209,745,715,680,661.216867209,635,878.216867209,787,803,652.783132791,631.216867209,652.216867209,0.4009781281,0.00449322818562,0.0798424935351,0.999999956678,0.000108757034538,-0.000269425371654,4.71692931002e-05,1793239806845320704
+23,0.383333333,BASELINE,765.365409816,745,715,680.365409816,661.365409816,635,878.365409816,787,803.365409816,652.634590184,631,652,0.400979225116,0.00449264055616,0.0798431101253,0.999999957138,0.000107585945975,-0.000268169527343,4.72730450113e-05,1793239806861987328
+24,0.400000000,BASELINE,765.950686431,745,715,680.950686431,661.950686431,635,878.950686431,787,803.950686431,652.049313569,631,652,0.400979506668,0.00449104226466,0.0798427741976,0.999999957406,0.000104511100394,-0.000268363168906,4.73901382075e-05,1793239806878653952
+25,0.416666667,BASELINE,765.469263549,745,715,680.469263549,661.469263549,635,879,787,804,652.530736451,631,652,0.400979381994,0.00449022181372,0.079842672899,0.999999957363,0.000104177306387,-0.00026862159061,4.7569785655e-05,1793239806895320832
+26,0.433333333,BASELINE,765.110048423,745.110048423,715,680.110048423,661,635.110048423,878.889951577,787,804,652.889951577,631,652.110048423,0.400979183119,0.00449003672917,0.0798426842294,0.99999995731,0.000104503595279,-0.000268677946627,4.76557589634e-05,1793239806911987456
+27,0.450000000,BASELINE,765.688266596,745.688266596,715,680.688266596,661,635.688266596,878.311733404,787,804,652.311733404,631,652.688266596,0.400978827581,0.00449225016216,0.0798430828676,0.999999957331,0.000106565096879,-0.000267849314958,4.73187368781e-05,1793239806928654080
+28,0.466666667,BASELINE,766,745.734114107,715,681,661.265885893,636,878.265885893,787,803.734114107,652,631,652.734114107,0.400978925303,0.00449325807964,0.0798435340839,0.999999957411,0.000107478527941,-0.000267208769478,4.71849430653e-05,1793239806945320960
+29,0.483333333,BASELINE,766,745.157195409,715,681,661.842804591,636,878.842804591,787,803.157195409,652,631,652.157195409,0.400979553247,0.00449285578726,0.0798440468059,0.999999957564,0.000107048948171,-0.000266788246909,4.7288885315e-05,1793239806961987584
+30,0.500000000,BASELINE,766,745,715,680.572727685,662,635.572727685,879,787,803,652,631,652,0.400980222884,0.00449294882291,0.079844583101,0.999999957712,0.000107199088251,-0.000266157965084,4.73668153179e-05,1793239806978654208
+31,0.516666667,BASELINE,766,745,715,680,661.985704243,635,879,787,803,652,631,652,0.400980847965,0.004493231479,0.0798450777381,0.999999957839,0.000107574200226,-0.000265518068304,4.7430715198e-05,1793239806995320576
+32,0.533333333,BASELINE,766,745,715,680,661.409356803,635,879,787,803,652,631,652,0.400979107372,0.00449367570145,0.0798435874428,0.999999957218,0.000108258113195,-0.000267588787731,4.73260291513e-05,1793239807011987200
+33,0.550000000,BASELINE,766,745,715,680,661,635.167177003,879,787.167177003,803.167177003,652.167177003,631,652.167177003,0.400977974271,0.00449391194688,0.0798424807933,0.999999956826,0.000108281407976,-0.000269068123093,4.71733329823e-05,1793239807028654336
+34,0.566666667,BASELINE,766,745,715,680,661,635.744167577,879,787.744167577,803.744167577,652.744167577,631,652.744167577,0.400978330358,0.00449363836255,0.0798423146038,0.999999957002,0.000106685279573,-0.000269097753884,4.69029460029e-05,1793239807045322240
+35,0.583333333,BASELINE,766,745,715,680.320867525,661,635.679132475,879,787.679132475,804,652.679132475,631,653,0.400978557074,0.00449369446919,0.0798424329872,0.999999957175,0.000106736546379,-0.000268461917105,4.67409708795e-05,1793239807061988864
+36,0.600000000,BASELINE,766,745,715,680.897336024,661,635.102663976,879,787.102663976,804,652.102663976,631,653,0.400978680733,0.00449401320548,0.0798427780594,0.999999957345,0.000108100117274,-0.000267295973211,4.6665355903e-05,1793239807078654464
+37,0.616666667,BASELINE,765.516775876,745,714.516775876,681,661,635,878.516775876,787,804,652,631,652.516775876,0.40097932844,0.00449403448236,0.0798433496387,0.999999957456,0.000109054176643,-0.000266441013467,4.69575070347e-05,1793239807095321088
+38,0.633333333,BASELINE,765,745,714.070385987,680.929614013,661,635,878.070385987,787,803.929614013,652.070385987,631,652.070385987,0.400980116263,0.00449395634936,0.0798439710554,0.999999957578,0.00010960456392,-0.000265703001584,4.7260252791e-05,1793239807111987456
+39,0.650000000,BASELINE,765,745,714.651975518,680.348024482,661,635,878.651975518,787,803.348024482,652.651975518,631,652.651975518,0.400981097026,0.00449362433303,0.0798445979763,0.999999957876,0.000107867592992,-0.000265324964281,4.70611863714e-05,1793239807128654592
+40,0.666666667,BASELINE,765,745,714.769332545,680.230667455,661.230667455,635,878.769332545,787,803.230667455,652.769332545,631,653,0.400980723493,0.00449320254208,0.0798443693152,0.999999957807,0.000106787297776,-0.000266030497012,4.70116065789e-05,1793239807145321216
+41,0.683333333,BASELINE,765,745,714.194958211,680.805041789,661.805041789,635,878.194958211,787,803.805041789,652.194958211,631,653,0.400978331987,0.00449264698215,0.0798428657911,0.99999995719,0.000106685484695,-0.000268350607225,4.71847698896e-05,1793239807161987840
+42,0.700000000,BASELINE,765.378901494,745,714,681,661.621098506,635,878.757802989,787,803.621098506,652,631,653,0.400977866442,0.00449227012364,0.0798428142646,0.999999957177,0.000105878986743,-0.000268737833986,4.70668566395e-05,1793239807178654464
+43,0.716666667,BASELINE,765.952496747,745,714,681,661.047503253,635,879.904993493,787,803.047503253,652,631,653,0.400978390528,0.00449198508862,0.0798435088287,0.999999957475,0.000104710395355,-0.000268131872874,4.67993773616e-05,1793239807195320832
+44,0.733333333,BASELINE,766,745.542901887,714.542901887,681,661,635,879.457098113,787,803,652,631,653,0.400979220012,0.00449199249121,0.0798441306585,0.999999957799,0.00010402350929,-0.000267204454854,4.67169377933e-05,1793239807211987456
+45,0.750000000,BASELINE,766,745.867999661,715,680.867999661,661,635,879,787.132000339,803,652,631,653,0.400979686717,0.00449231737636,0.0798443638106,0.999999957914,0.000104018965671,-0.000266782408744,4.66855270642e-05,1793239807228654336
+46,0.766666667,BASELINE,766,745.28847737,715,680.28847737,661,635,879,787.71152263,803,652,631,653,0.400978830002,0.00449362910261,0.0798433014908,0.999999957311,0.000106180311216,-0.000268172136314,4.67704743253e-05,1793239807245320960
+47,0.783333333,BASELINE,766,745,715,680,661.288369603,635,879,787.711630397,803.288369603,652,631,653,0.400978317503,0.00449321189297,0.0798424306288,0.999999956972,0.000106741086714,-0.00026916579904,4.70377242275e-05,1793239807261987584
+48,0.800000000,BASELINE,766,745,715,680,661.862564928,635,879,787.137435072,803.862564928,652,631,653,0.400978146183,0.00449108099957,0.0798417495355,0.999999956898,0.000105715412006,-0.000269766891013,4.74856685807e-05,1793239807278654208
+49,0.816666667,BASELINE,766,745.44748203,715,680.44748203,662,635,879,787,803.55251797,652,631,653,0.400978359007,0.00449123174774,0.0798419477561,0.99999995694,0.000106497363831,-0.000269322324204,4.73681501122e-05,1793239807295321088
+50,0.833333333,BASELINE,766,745.964550533,715,681,662,635,879,787,803.035449467,652,631,653,0.400978646704,0.00449210181572,0.0798424091377,0.99999995701,0.000107760942653,-0.00026860991928,4.70846326872e-05,1793239807311987456
+51,0.850000000,BASELINE,766,745.381578694,715,681,662,635,879,787,803.618421306,652,631,653,0.400978223854,0.00449299284522,0.0798426615143,0.999999956961,0.000107678050093,-0.000268842736336,4.69854508634e-05,1793239807328654080
+52,0.866666667,BASELINE,766,745,715,680.802032584,661.802032584,635,879,787,804,652,631,653,0.40097798344,0.00449311097617,0.0798427555498,0.999999956959,0.000107182128527,-0.000269053018522,4.69419373735e-05,1793239807345320960
+53,0.883333333,BASELINE,766,745,715,680.22897722,661.22897722,635,879,787,804,652,631,653,0.400978088686,0.00449176469977,0.0798425495774,0.999999957048,0.000105903642814,-0.000269220603983,4.7003898424e-05,1793239807361987584
+54,0.900000000,BASELINE,766,745,715,680,661,635,879,787,803.65485948,652,631,653,0.400979060792,0.00449202823586,0.0798431849216,0.999999957384,0.000105994961359,-0.000267938084492,4.69650164793e-05,1793239807378654208
+55,0.916666667,BASELINE,766,745,715,680,661,635,879,787,803.080034774,652,631,653,0.400980609775,0.00449336307038,0.0798443801455,0.999999957882,0.000106997857582,-0.000265690548843,4.6859025514e-05,1793239807395321088
+56,0.933333333,BASELINE,766,745.50832661,715,680,661,635,879,787,803.50832661,652,631.50832661,653,0.400979123541,0.00449317626415,0.0798437208344,0.999999957545,0.000107575776981,-0.000266711768146,4.6923797916e-05,1793239807411987712
+57,0.950000000,BASELINE,766,746,715,680,661.097105238,635,879.097105238,787.097105238,804,652,631.902894762,653,0.400977405588,0.00449271450863,0.0798429048792,0.999999957112,0.000107893585274,-0.000268177910028,4.70625473491e-05,1793239807428654592
+58,0.966666667,BASELINE,766,746,715,680,661.677070418,635,879.677070418,787.677070418,804,652,631.322929582,653,0.400976976735,0.00449210946348,0.0798428016705,0.999999956881,0.000107259803087,-0.000269227277394,4.74317999255e-05,1793239807445321216
+59,0.983333333,BASELINE,766,746,714.74599529,680,662,635,879.74599529,787.74599529,804,652,631,653,0.400977233223,0.00449186532744,0.0798428618916,0.999999956827,0.000107185548696,-0.000269431805896,4.75697927377e-05,1793239807461987840
+60,1.000000000,BASELINE,766,746,714.172868812,680,662,635,879.172868812,787.172868812,804,652,631,653,0.400978350746,0.00449207462367,0.0798431274396,0.999999956998,0.000107814263466,-0.000268574911418,4.74172397082e-05,1793239807478654464
+61,1.016666667,BASELINE,766,746,714.41137201,680.41137201,662,635,878.58862799,787,803.58862799,652,631,653,0.400978330298,0.00449236752132,0.0798428379491,0.999999957041,0.00010663002339,-0.000268934334676,4.71411611434e-05,1793239807495321088
+62,1.033333333,BASELINE,766,746,715,681,661.99959388,635,878.00040612,787.00040612,803.00040612,652,631,653,0.400977818519,0.00449269534493,0.0798423089766,0.999999957026,0.000104663408471,-0.000269818086485,4.68120209437e-05,1793239807511987968
+63,1.050000000,BASELINE,766,746,715,681,661.420381745,635,878.579618255,787.579618255,803.579618255,652,631,653,0.400977524982,0.00449134007139,0.0798421159477,0.999999957276,0.000103593293497,-0.000269288735204,4.68937123828e-05,1793239807528654336
+64,1.066666667,BASELINE,766,746,715,681,661.157444536,635,878.842555464,787.842555464,804,652,631,653,0.400977604101,0.00449102169759,0.0798423686335,0.999999957461,0.000103815988366,-0.000268505989403,4.69516844987e-05,1793239807545320960
+65,1.083333333,BASELINE,766,746,715,681,661.731602797,635,878.268397203,787.268397203,804,652,631,653,0.400978669542,0.00449344772113,0.0798438010077,0.999999957466,0.000107460406384,-0.000267052575869,4.69468778828e-05,1793239807561987840
+66,1.100000000,BASELINE,766,746,714.695569683,680.695569683,662,635,878.304430317,787,803.695569683,652,631,653,0.400978857696,0.00449400346886,0.0798440056673,0.999999957346,0.000108613750785,-0.000267039019911,4.6909694226e-05,1793239807578654464
+67,1.116666667,BASELINE,766,746,714.12391032,680.12391032,662,635,878.87608968,787,803.12391032,652,631,653,0.400978275766,0.00449291748765,0.0798431326386,0.999999957126,0.000107580429631,-0.000268289371553,4.68440899914e-05,1793239807595321344
+68,1.133333333,BASELINE,766,745.532617854,714,680,662,635,879,787,803.467382146,652.467382146,631.467382146,652.532617854,0.400979123109,0.00449313138823,0.0798439063153,0.999999957509,0.000106758250732,-0.000267212097985,4.67256628245e-05,1793239807611987712
+69,1.150000000,BASELINE,766,745.062219894,714.062219894,680,662,635,879,787,804,652.937780106,631.937780106,652,0.400980045835,0.004493569078,0.0798448436784,0.999999957933,0.000106133729203,-0.000265883846307,4.66413733648e-05,1793239807628654080
+70,1.166666667,BASELINE,766,745.641371547,714.641371547,680,662,635,879,787,804,652.358628453,631.358628453,652,0.400978308674,0.00449287735168,0.0798433548662,0.999999957344,0.00010666591553,-0.000267822109774,4.69621554222e-05,1793239807645320704
+71,1.183333333,BASELINE,765.781138549,745.781138549,715,680,662,635,878.781138549,787,803.781138549,652,631,652.218861451,0.40097797682,0.00449267357115,0.079842938777,0.999999957153,0.000107053315853,-0.000268364461659,4.7048500369e-05,1793239807661987584
+72,1.200000000,BASELINE,765.206350993,745.206350993,715,680,662,635,878.206350993,787,803.206350993,652,631,652.793649007,0.400979930363,0.00449326331827,0.0798442672166,0.999999957613,0.00010720525626,-0.000266636695607,4.6753589155e-05,1793239807678654208
+73,1.216666667,BASELINE,765.376689861,745,715,680.376689861,662,635,878.376689861,787.376689861,803.376689861,652,631.376689861,653,0.400980627142,0.00449269155899,0.0798447404297,0.999999957763,0.000107269159631,-0.000266010742115,4.69722515271e-05,1793239807695320832
+74,1.233333333,BASELINE,765.964353121,745,715,680.964353121,662,635,878.964353121,787.964353121,803.964353121,652,631.964353121,653,0.400980620043,0.00449146927259,0.0798447346545,0.999999957739,0.000107283755925,-0.00026600188296,4.7478552041e-05,1793239807711987456
+75,1.250000000,BASELINE,766,745,715,680.455662053,662,635.544337947,878.455662053,787.455662053,804,652,631.455662053,652.455662053,0.40098099336,0.00449124249174,0.0798445632409,0.999999958174,0.00010572298603,-0.000265041893012,4.72055114229e-05,1793239807728654336
+76,1.266666667,BASELINE,766,745,715,680,662,635.876568013,878.123431987,787,804,652.123431987,631,652,0.400981035834,0.00449135776277,0.079844237504,0.999999958376,0.000104839719682,-0.0002646759092,4.69308924264e-05,1793239807745321216
+77,1.283333333,BASELINE,766,745,715,680,662,635.298927332,878.701072668,787,804,652.701072668,631,652,0.400979770469,0.00449249516663,0.0798433832439,0.999999957627,0.000106823901909,-0.000266721781994,4.68356584098e-05,1793239807761988352
+78,1.300000000,BASELINE,766,745.28028641,715,680.28028641,662,635,879.28028641,787,804,652.71971359,631,652.28028641,0.400979486168,0.00449322356172,0.0798434207434,0.999999957281,0.00010853605712,-0.000267328899622,4.68371901787e-05,1793239807778654720
+79,1.316666667,BASELINE,766,745.861187261,715,680.861187261,662,635,879.861187261,787,804,652.138812739,631,652.861187261,0.400980254083,0.00449351328421,0.0798444146783,0.99999995737,0.000109956456173,-0.000266392914899,4.69425057679e-05,1793239807795321088
+80,1.333333333,BASELINE,765.556520772,746,715,680.113041544,662,635.443479228,879.556520772,787.443479228,803.556520772,652,631,653,0.400979427691,0.00449350755668,0.0798439099386,0.999999957344,0.000108235925837,-0.000267211819047,4.68541806343e-05,1793239807811987712
+81,1.350000000,BASELINE,765,745.97394581,715,679.02605419,661.97394581,635.97394581,879,787.97394581,803,652,631,652.97394581,0.400978144214,0.00449336774076,0.0798429837582,0.999999957273,0.000105676927128,-0.0002685212726,4.67250181074e-05,1793239807828654336
+82,1.366666667,BASELINE,765,745.394637844,715,679.605362156,661.394637844,635.394637844,879,787.394637844,803,652,631,652.394637844,0.40097778481,0.0044923505261,0.0798431009091,0.999999957191,0.000106255633329,-0.00026854657306,4.7019796898e-05,1793239807845321216
+83,1.383333333,BASELINE,765.183372278,745,715,680,661.183372278,635,879,787,803,652,631,652.183372278,0.400977272479,0.00449196984363,0.079843048986,0.999999957111,0.000106334518376,-0.000268795406708,4.71068294172e-05,1793239807861988096
+84,1.400000000,BASELINE,765.758609033,745,715,680,661.758609033,635,879,787,803,652,631,652.758609033,0.400976433342,0.00449294942305,0.0798426357538,0.999999957037,0.000105345291399,-0.000269521928247,4.67499105676e-05,1793239807878654720
+85,1.416666667,BASELINE,766,745.333387894,715,680,662,635,879,787,803.333387894,652.333387894,631,652.666612106,0.400976861681,0.00449354809028,0.0798427160217,0.999999957145,0.00010600910011,-0.000268892372511,4.65682596199e-05,1793239807895321088
+86,1.433333333,BASELINE,766,745.907835635,715,680,662,635,879,787,803.907835635,652.907835635,631,652.092164365,0.400978206484,0.00449387133465,0.0798431531203,0.999999957381,0.000107868154826,-0.000267282289887,4.65133381108e-05,1793239807911987456
+87,1.450000000,BASELINE,766,745.502940369,715,680,662,635,879,787,803.502940369,652.502940369,631,652,0.400977839683,0.0044923703143,0.0798428680563,0.999999957248,0.000106136566464,-0.000268434683163,4.67157741024e-05,1793239807928654336
+88,1.466666667,BASELINE,766,745.087236236,715,680,662,635,879,787,803,652,631,652.087236236,0.400977401513,0.00449089974394,0.0798426243093,0.99999995717,0.000103998457154,-0.000269526492678,4.68936100477e-05,1793239807945320960
+89,1.483333333,BASELINE,766,745.666851784,715,680,662,635,879,787,803,652,631,652.666851784,0.400978406669,0.00449156870605,0.0798433926949,0.999999957838,0.000103438755945,-0.000267296726448,4.66550104076e-05,1793239807961987584
+90,1.500000000,BASELINE,765.756366505,745.756366505,715,680,661.756366505,635,879,787,803,652,631.243633495,653,0.4009789975,0.00449199175345,0.0798439702017,0.999999958087,0.000104059324114,-0.000266138621352,4.6565772335e-05,1793239807978654208
+91,1.516666667,BASELINE,765.183415319,745.183415319,715,680,661.183415319,635,879,787,803,652,631.816584681,653,0.400979028293,0.00449208239959,0.0798442896987,0.999999957771,0.000106275254186,-0.00026642907329,4.6678425267e-05,1793239807995320832
+92,1.533333333,BASELINE,765.401080957,745,715,680,661.401080957,635,879,787,803,652,631.598919043,652.598919043,0.400978688381,0.00449167307464,0.0798438080729,0.999999957532,0.000106214790424,-0.000267339391092,4.67438749586e-05,1793239808011987456
+93,1.550000000,BASELINE,765.991013359,745,715,680,661.991013359,635,879,787,803,652,631.008986641,652.008986641,0.400978173921,0.0044910283352,0.0798429492335,0.999999957327,0.000105082472758,-0.000268541576589,4.67870987231e-05,1793239808028654592
+94,1.566666667,BASELINE,766,745.566629787,714.433370213,680,662,635,878.433370213,787,803,652,631,652,0.400978126194,0.00449110427166,0.0798435130747,0.999999957305,0.000105856112666,-0.000268287265655,4.69776119957e-05,1793239808045320960
+95,1.583333333,BASELINE,766,746,714.142843229,680,661.857156771,635,878.142843229,787,803.142843229,652,631,652.142843229,0.400978295041,0.00449138384805,0.0798439872687,0.999999957346,0.000106241502625,-0.000267965328201,4.70643079016e-05,1793239808061987584
+96,1.600000000,BASELINE,766,746,714.721554259,680,661.278445741,635,878.721554259,787,803.721554259,652,631,652.721554259,0.400979102708,0.00449225078857,0.079844120763,0.999999957574,0.000105352233548,-0.000267505786017,4.6827266166e-05,1793239808078654208
+97,1.616666667,BASELINE,766,745.701403617,715,680,661,635,879,787,803.701403617,652,631,652.701403617,0.400979096468,0.00449219240062,0.0798439730867,0.999999957689,0.000104461670688,-0.000267438349383,4.67530182684e-05,1793239808095320576
+98,1.633333333,BASELINE,766,745.125909158,715,680,661,635,879,787,803.125909158,652,631,652.125909158,0.400978335464,0.00449127592562,0.0798435646719,0.999999957699,0.000103569908115,-0.000267734524926,4.68297343726e-05,1793239808111987456
+99,1.650000000,BASELINE,765.537726329,745.462273671,715,680,661,635,879,787,803,652,631,652,0.400978695366,0.00449151211327,0.0798437420227,0.999999957776,0.000103887253484,-0.000267356040949,4.66598505366e-05,1793239808128654336
+100,1.666666667,BASELINE,765.052785074,745.947214926,715,680.052785074,661.052785074,635,878.947214926,787,803,652,631,652,0.40097935139,0.00449201696363,0.0798440732068,0.99999995786,0.000104637886,-0.0002667824793,4.64545896165e-05,1793239808145320960
+101,1.683333333,BASELINE,765.631101544,745.368898456,715,680.631101544,661.631101544,635,878.368898456,787,803,652,631,652,0.40097983025,0.004491982717,0.0798443027002,0.999999957844,0.00010633104841,-0.000266147836356,4.65846961934e-05,1793239808161988096
+102,1.700000000,BASELINE,766,745,714.791784868,680.791784868,661.791784868,635.208215132,878.208215132,787,803.208215132,652,631,652.208215132,0.400979796225,0.00449146225151,0.0798442810561,0.999999957856,0.000106155499428,-0.000266155550078,4.67026517826e-05,1793239808178654720
+103,1.716666667,BASELINE,766,745,714.216790268,680.216790268,661.216790268,635.783209732,878.783209732,787,803.783209732,652,631,652.783209732,0.400978858734,0.00449008529164,0.0798438170231,0.999999957909,0.000102688138731,-0.000267294801398,4.67992028963e-05,1793239808195321088
+104,1.733333333,BASELINE,766,745,714.364841658,680.364841658,661.364841658,635.635158342,879,787,804,652,631.364841658,653,0.400977555654,0.00449026937604,0.079843200366,0.999999957596,0.000102342324457,-0.000268576411152,4.69021618423e-05,1793239808211987712
+105,1.750000000,BASELINE,766,745,714.950490641,680.950490641,661.950490641,635.049509359,879,787,804,652,631.950490641,653,0.400976031315,0.00449139822635,0.0798424913388,0.999999957064,0.000103885713844,-0.000269944178351,4.70089989083e-05,1793239808228654336
+106,1.766666667,BASELINE,766,745,714.469467638,681,662,635,878.469467638,787,803.469467638,652,632,653,0.400978514742,0.00449211764549,0.0798436501073,0.999999957808,0.000105038681348,-0.000266760395713,4.68019089099e-05,1793239808245321216
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,635,878,787,804,652,632,653,0.400980392265,0.00449251941336,0.0798445147426,0.999999958405,0.000105751049532,-0.000264272630521,4.65576257956e-05,1793239808287686912
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745.574804267,715,680.425195733,662,635,878.574804267,787,804,652,632,653,0.400979593148,0.00449276197533,0.079844625776,0.999999958233,0.000104517931646,-0.00026545377024,4.62958619807e-05,1793239808304353792
+109,1.816666667,POSE1_TO_POSE2_PRESS,765.846547756,745.846547756,715,680,661.846547756,635,879,787,803.846547756,652,632,653,0.400979121097,0.00449313792855,0.0798447109536,0.999999958093,0.000104219806682,-0.000266131662931,4.61036071078e-05,1793239808321020416
+110,1.833333333,POSE1_TO_POSE2_PRESS,765.256975605,745.256975605,715,680,661.256975605,635,879,787,803.256975605,652,632,653,0.400979578586,0.00449389298728,0.0798447226472,0.999999958044,0.000106578983884,-0.000265379299542,4.61089004956e-05,1793239808337686528
+111,1.850000000,POSE1_TO_POSE2_PRESS,765,745,715,680,661.32725887,635,879,787,803,652.32725887,631.67274113,653,0.400979883207,0.0044932396476,0.0798445972588,0.999999958023,0.000106451517164,-0.000265494542916,4.61923799757e-05,1793239808354352640
+112,1.866666667,POSE1_TO_POSE2_PRESS,765,745,715,680,661.907369237,635,879,787,803,652.907369237,631.092630763,653,0.400980069716,0.00449149813066,0.0798443659561,0.999999958024,0.000104402783383,-0.000266280129265,4.63362687289e-05,1793239808371019008
+113,1.883333333,POSE1_TO_POSE2_PRESS,765.483337597,745,715,680,662,635,878.516662403,787,803,652.516662403,631,653,0.40098083731,0.00449198052345,0.0798448244457,0.999999958087,0.000105442904032,-0.000265610351523,4.64612352453e-05,1793239808387685632
+114,1.900000000,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.059723293,878.059723293,787,803,652,631,653,0.400981881854,0.0044927962512,0.0798454983775,0.999999958197,0.000106869967643,-0.000264602913256,4.65822693941e-05,1793239808404352512
+115,1.916666667,POSE1_TO_POSE2_PRESS,766,745,715,680,662,635.646742654,878.646742654,787,803,652,631,653,0.400984396726,0.00449282397564,0.079846917194,0.999999958636,0.000106531230346,-0.000263055912955,4.67003302265e-05,1793239808421019136
+116,1.933333333,POSE1_TO_POSE2_PRESS,766,745,714.769347653,680,662,635.769347653,879,787,803,652,631.230652347,653,0.400992942713,0.00449285189185,0.0798508194877,0.999999960347,0.000106318607337,-0.000256554592437,4.6711384528e-05,1793239808437685760
+117,1.950000000,POSE1_TO_POSE2_PRESS,766,745,714.19013729,680,662,635.19013729,879,787,803,652,631.80986271,653,0.401010602823,0.00449288009786,0.0798584747708,0.999999963847,0.000106296566176,-0.00024256638516,4.65607323109e-05,1793239808454352640
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,714.389127348,680,662,635,879.389127348,787,803.389127348,652,631.610872652,653,0.401048043292,0.00449330475859,0.0798736098483,0.999999970054,0.00010690781089,-0.00021523314127,4.62312541091e-05,1793239808471019264
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,714.968418561,680,662,635,879.968418561,787,803.968418561,652,631.031581439,653,0.401095150289,0.00449392316403,0.0798924002507,0.999999976688,0.000107828537969,-0.000181378268124,4.58143848208e-05,1793239808487685376
+120,2.000000000,POSE1_TO_POSE2_PRESS,765.457924434,745,715,680.542075566,662,635,879.457924434,787,803.457924434,652,631,653,0.401160889148,0.00449472360879,0.0799094930334,0.999999982122,0.000107579504759,-0.000149052898117,4.43285084646e-05,1793239808504352256
+121,2.016666667,POSE1_TO_POSE2_PRESS,765.118653955,745,715,680.881346045,662,635,879,787,803.118653955,652,631.118653955,653,0.401229183911,0.00449507221799,0.0799245312713,0.999999986047,0.000106453315907,-0.000121426215882,4.27612593755e-05,1793239808521018880
+122,2.033333333,POSE1_TO_POSE2_PRESS,765.708113297,745,715,680.291886703,662,635,879,787,803.708113297,652,631.708113297,653,0.401303357407,0.00449358634616,0.0799318057158,0.999999987659,0.000102114305242,-0.000112093444963,4.11157123796e-05,1793239808537685504
+123,2.050000000,POSE1_TO_POSE2_PRESS,765.707458379,745,715,680,662,635,879,787,803.707458379,652.292541621,631.707458379,653,0.401383973811,0.00449363298842,0.0799353914134,0.999999988581,9.8793469186e-05,-0.00010755592594,3.88479237091e-05,1793239808554352128
+124,2.066666667,POSE1_TO_POSE2_PRESS,765.127964978,745,715,680,662,635,879,787,803.127964978,652.872035022,631.127964978,653,0.40147091001,0.00449518286179,0.0799353588478,0.999999988898,9.64713528835e-05,-0.00010772203245,3.59697831628e-05,1793239808571019008
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879,787,803,652.551511547,631,653,0.401578197901,0.00449736998053,0.0799353403765,0.999999989153,9.62116063076e-05,-0.000106803487707,3.20913633705e-05,1793239808587685632
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.024031566,745,715,680,662,635,879,787,803,652,631,653,0.401692775033,0.00449969315015,0.0799357120439,0.999999989453,9.63944964703e-05,-0.00010498684244,2.79282312166e-05,1793239808604352512
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.598457686,745,715,680,662,635,879,787,803,652,631,653,0.40184219883,0.00450099606089,0.0799449275671,0.999999991345,9.33286633983e-05,-8.96412675208e-05,2.37369456955e-05,1793239808621019136
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.821764985,745,715,680,662,635,879,787,803,652.178235015,631,653,0.401999917956,0.00450257054662,0.0799533837898,0.999999992922,9.0300259149e-05,-7.50785888042e-05,1.91243129244e-05,1793239808637685504
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.229558952,745,715,680,662,635,879,787,803,652.770441048,631,653,0.402176903905,0.00450477579586,0.0799600764498,0.99999999415,8.73587880456e-05,-6.23342774106e-05,1.35330540113e-05,1793239808654352128
+130,2.166666667,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879,787,803,652.646515525,631,653,0.402368093391,0.00450811623233,0.0799639910644,0.999999995077,8.22988970001e-05,-5.50013276948e-05,6.92354975377e-06,1793239808671018752
+131,2.183333333,POSE1_TO_POSE2_PRESS,765,745,715,680,662,635,879,787,803,652.069272055,631,653,0.402568273868,0.0045121752532,0.0799661471507,0.999999995814,7.5898025938e-05,-5.10938195207e-05,-3.30513922056e-07,1793239808687685376
+132,2.200000000,POSE1_TO_POSE2_PRESS,765.506650376,745.506650376,715,680,662,635,879,787,803.506650376,652,631,652.493349624,0.402785252503,0.00451527280844,0.0799599186178,0.999999995551,6.951684111e-05,-6.33092446471e-05,-7.58269593657e-06,1793239808704352256
+133,2.216666667,POSE1_TO_POSE2_PRESS,765.918847565,745.918847565,715,680,662,635,879,787,803.918847565,652,631,652,0.403010620559,0.00451832254034,0.0799534034427,0.999999994991,6.37296510041e-05,-7.57554665314e-05,-1.47394528164e-05,1793239808721019136
+134,2.233333333,POSE1_TO_POSE2_PRESS,765.35177145,745.35177145,715,680,662,635,879,787,803.35177145,652,631,652,0.403272506175,0.00452187100672,0.0799520184119,0.999999994963,6.14830986548e-05,-7.6418399276e-05,-2.13263636311e-05,1793239808737685760
+135,2.250000000,POSE1_TO_POSE2_PRESS,765.228798505,745,714.771201495,680,662,635,879,787,803.228798505,652,631,652,0.403560001228,0.00452591029659,0.0799525766757,0.999999993885,7.96255416256e-05,-7.35186339413e-05,-2.20006194483e-05,1793239808754352128
+136,2.266666667,POSE1_TO_POSE2_PRESS,765.831415078,745,714.168584922,680,662,635,879,787,803.831415078,652,631,652,0.403889337754,0.00453075150884,0.0799563099544,0.999999989225,0.000131080155308,-6.47980221933e-05,-1.30145963518e-05,1793239808771018752
+137,2.283333333,POSE1_TO_POSE2_PRESS,765.586056508,745,714.413943492,680.413943492,662,635,878.586056508,787,804,652,631,652,0.404230173989,0.00453597275452,0.0799565066752,0.999999987083,0.000146278939455,-6.4792568818e-05,-1.54097080591e-05,1793239808787685376
+138,2.300000000,POSE1_TO_POSE2_PRESS,765.011330674,745,714.988669326,680.988669326,662,635,878.011330674,787,804,652,631,652,0.404575476889,0.00454134161122,0.0799553297398,0.999999986567,0.000147395372379,-6.81722240427e-05,-2.22254366695e-05,1793239808804352000
+139,2.316666667,POSE1_TO_POSE2_PRESS,765,745,715,680.435211079,662,635,878.564788921,787.564788921,803.435211079,652,631,652.564788921,0.404976718611,0.00453937206153,0.0799568571704,0.999999995757,6.43208393492e-05,-6.12496044748e-05,-2.44419741495e-05,1793239808821018880
+140,2.333333333,POSE1_TO_POSE2_PRESS,765.143848705,745,715,680,662,635,879,787.856151295,803,652,631,652.856151295,0.405381712166,0.00453651761073,0.0799572309898,0.999999998044,5.5399777761e-06,-5.6792089396e-05,-2.56305495722e-05,1793239808837685504
+141,2.350000000,POSE1_TO_POSE2_PRESS,765.731901106,745,715,680,662,635,879,787.268098894,803,652,631,652.268098894,0.405794817261,0.00453138633608,0.0799538745146,0.999999997514,2.70063910424e-05,-6.05866119346e-05,-2.39304138026e-05,1793239808854352128
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,745,715,680.316201071,662,635,879,787,803.316201071,652.316201071,631,652,0.406248044386,0.0045355734278,0.0799475049752,0.999999995499,5.73766572668e-05,-7.18852348074e-05,-2.32728948474e-05,1793239808871018496
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,745,715,680.89735682,662,635,879,787,803.89735682,652.89735682,631,652,0.406734891051,0.0045475686669,0.0799386106956,0.999999991189,9.52077401342e-05,-8.94717762551e-05,-2.34890166212e-05,1793239808887685376
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745,715,680.527173275,662,635.472826725,879,787,803.527173275,652.527173275,631,652,0.407233817392,0.00455883103315,0.079937349343,0.999999990082,0.000103044600222,-9.22307036182e-05,-2.66747133539e-05,1793239808904352000
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745.047074485,715,680.047074485,662,635.952925515,879,787,803.047074485,652,631,652,0.407737731981,0.00456953703224,0.0799370100159,0.999999989676,0.000104957251867,-9.34076334418e-05,-3.01048534975e-05,1793239808921019136
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745.621294618,715,680.621294618,662,635.378705382,879,787,803.621294618,652,631,652,0.408268489961,0.0045757731704,0.0799286609792,0.999999986912,0.000112577499725,-0.000112485817384,-2.9139239122e-05,1793239808937686528
+147,2.450000000,POSE1_TO_POSE2_PRESS,765.798898283,745.798898283,715,680.798898283,662,635,878.798898283,787,803.798898283,652,631,652,0.408821480009,0.00458404283358,0.0799266817318,0.99999998507,0.000120913401374,-0.000119873496786,-2.95019932722e-05,1793239808954353664
+148,2.466666667,POSE1_TO_POSE2_PRESS,765.208269458,745.208269458,715,680.208269458,662,635,878.208269458,787,803.208269458,652,631,652,0.409417532774,0.00459625136444,0.0799370405478,0.999999985469,0.000130635499399,-0.000104617069857,-3.24377516428e-05,1793239808971020544
+149,2.483333333,POSE1_TO_POSE2_PRESS,765.376083789,745,715,680,662,635,878.376083789,787,803.376083789,652,631,652,0.410085562877,0.00460604218292,0.0799672707603,0.999999987782,0.000143328190997,-5.18897633811e-05,-3.46391592896e-05,1793239808987686656
+150,2.500000000,POSE1_TO_POSE2_PRESS,765.957018739,745,715,680,662,635,878.957018739,787,803.957018739,652,631,652,0.410792798695,0.00461451608387,0.0800083248336,0.999999986685,0.000157638950691,2.1247763539e-05,-3.64405691282e-05,1793239809004352768
+151,2.516666667,POSE1_TO_POSE2_PRESS,765.469489828,745,715,680.530510172,662,635,879,787,804,652,631,652,0.411437466816,0.00461769484278,0.0800019833094,0.999999987281,0.000154907879809,7.55197109772e-06,-3.72087249575e-05,1793239809021019648
+152,2.533333333,POSE1_TO_POSE2_PRESS,765.106443026,745.106443026,715,681,662.106443026,635,879,787,804,652,631,652,0.412077798549,0.00461607429579,0.0799872867239,0.999999988049,0.000148667818415,-1.86674949687e-05,-3.80880318038e-05,1793239809037686528
+153,2.550000000,POSE1_TO_POSE2_PRESS,765.696160451,745.696160451,715,681,662.696160451,635,879,787,804,652,631,652,0.412721138559,0.00459458468738,0.0799518492408,0.999999987937,0.000132678153672,-7.02481116316e-05,-3.98468039548e-05,1793239809054353664
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,746,715,680.719112389,662.438224778,635.280887611,878.719112389,787,804,652,631,652.280887611,0.413411489091,0.00458056184106,0.0799292235236,0.999999987759,0.000114530468157,-9.79342383503e-05,-4.21112593983e-05,1793239809071020288
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,746,715,680.139688962,661.279377923,635.860311038,878.139688962,787,804,652,631,652.860311038,0.414151803901,0.0045744748918,0.0799202145329,0.999999989543,9.40891714268e-05,-0.00010022458769,-4.49131705815e-05,1793239809087686144
+156,2.600000000,POSE1_TO_POSE2_PRESS,765.563315847,745.563315847,715,680.436684153,661.436684153,635.563315847,878.436684153,787,804,652.436684153,631,652.563315847,0.414938647872,0.0045844227032,0.079941259921,0.999999991255,0.000106927045526,-6.35185451394e-05,-4.49576055383e-05,1793239809104352256
+157,2.616666667,POSE1_TO_POSE2_PRESS,765.01208716,745,715,681,662.01208716,635.01208716,879.01208716,787,804,652.98791284,631,652.01208716,0.415739215857,0.00459933498374,0.0799710784596,0.999999990415,0.000130248087233,-1.59942236258e-05,-4.41573016815e-05,1793239809121019136
+158,2.633333333,POSE1_TO_POSE2_PRESS,765.587439349,745,715,681,662.587439349,635.587439349,879.587439349,787,804,652.412560651,631,652.587439349,0.416490541466,0.0046082247303,0.0799648227655,0.999999986963,0.000149444425911,-4.16123132176e-05,-4.48118306029e-05,1793239809137685760
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.665377042,635.832688521,880,787,804,652,631,652.832688521,0.417259022964,0.00461515167006,0.0799614371982,0.999999984744,0.000159933692853,-5.28774756122e-05,-4.6240235293e-05,1793239809154352384
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,715,681,661.482723183,635.241361591,880,787,804,652,631,652.241361591,0.418070982378,0.0046171042918,0.0799653253588,0.999999987378,0.000148356732701,-2.77681873857e-05,-4.96298639879e-05,1793239809171019264
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.342767656,714.657232344,681,661.685535312,635,879.657232344,787,804,652,631,652.342767656,0.418914816956,0.00461466860626,0.0799799354159,0.999999988892,0.000139837109391,4.344957641e-06,-5.14025700367e-05,1793239809187685888
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.921932833,714.078067167,681,662.843865666,635,879.078067167,787,804,652,631,652.921932833,0.419780634934,0.00460920642456,0.0800019400728,0.999999988891,0.000133426048449,4.1288470995e-05,-5.20601283742e-05,1793239809204352512
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.504167894,714.495832106,681,663,635,879,787,803.504167894,652,631,652.504167894,0.420615423613,0.00460143175292,0.0799857245087,0.999999990644,0.000125369982011,1.6899352526e-05,-5.2036683095e-05,1793239809221019136
+164,2.733333333,POSE1_TO_POSE2_PRESS,766,745.068900375,714.931099625,681,662.931099625,635,879,787,803,652,631,652.068900375,0.421449824594,0.00459532123669,0.0799680803737,0.999999991494,0.000119217657508,-1.0165051213e-05,-5.19253615703e-05,1793239809237685504
+165,2.750000000,POSE1_TO_POSE2_PRESS,766,745.641890681,714.358109319,681,662.358109319,635,879,787,803,652,631,652.641890681,0.422316756155,0.00460402184,0.0799835482792,0.999999990261,0.000128868515017,1.31051019837e-05,-5.19473332e-05,1793239809254352128
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.77623068,745.77623068,714.22376932,681,662.22376932,635,879,787,803.22376932,652,631.22376932,653,0.423183666105,0.00461288806038,0.0800010317341,0.999999988198,0.000139956513166,3.68083255841e-05,-5.15900503586e-05,1793239809271018752
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.179539117,745.179539117,714.820460883,681,662.820460883,635,879,787,803.820460883,652,631.820460883,653,0.424050540179,0.00462203029088,0.0800218742005,0.999999985073,0.000153439576309,6.12332853845e-05,-5.06007218762e-05,1793239809287685376
+168,2.800000000,POSE1_TO_POSE2_PRESS,765,745,715,681,662.597994544,635,879.402005456,787,804,652,631.597994544,653,0.424874360296,0.00462386006254,0.0799953308189,0.999999986689,0.000155110450795,7.13558404819e-06,-5.01193744337e-05,1793239809304352256
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,745,715,681,662.022969149,635,879.977030851,787,804,652,631.022969149,653,0.425679650281,0.00462254260975,0.0799483929452,0.99999998399,0.000151697451806,-8.07576451778e-05,-4.98566577156e-05,1793239809321019136
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.552588255,745,715,681.552588255,662.552588255,635,880,787,804,652,631,653,0.42658480535,0.00461422083616,0.0799348482173,0.999999985452,0.000141977273721,-7.79879010373e-05,-5.34410857869e-05,1793239809337685760
+171,2.850000000,POSE1_TO_POSE2_PRESS,766,745.131080184,715,681.868919816,663,635,880,787,804,652,631,652.868919816,0.42746796866,0.004607174484,0.0799254969666,0.999999986512,0.000134281220254,-7.62041588916e-05,-5.60118521284e-05,1793239809354352384
+172,2.866666667,POSE1_TO_POSE2_PRESS,766,745.719738734,715,681.280261266,663,635,880,787,804,652,631,652.280261266,0.42825985795,0.00460559772547,0.0799259343616,0.999999985318,0.000134567100677,-9.10303850601e-05,-5.44853354189e-05,1793239809371019008
+173,2.883333333,POSE1_TO_POSE2_PRESS,765.695634196,746,714.695634196,681.304365804,662.695634196,635,880,787,803.695634196,652,631,652,0.429119773411,0.00460939750958,0.0799377238003,0.999999985869,0.000137169606188,-8.09755897273e-05,-5.37546819187e-05,1793239809387685632
+174,2.900000000,POSE1_TO_POSE2_PRESS,765.114670836,746,714.114670836,681.885329164,662.114670836,635,880,787,803.114670836,652,631,652,0.430041508758,0.00461808331757,0.0799598296004,0.999999987324,0.000141877383703,-4.8309745671e-05,-5.37472825772e-05,1793239809404352256
+175,2.916666667,POSE1_TO_POSE2_PRESS,765,745.539523169,714,682,662.460476831,635,880,787,803.460476831,652,631,652.460476831,0.430946037909,0.00462344424567,0.0799990087678,0.999999987257,0.000149971678185,1.07142735009e-05,-5.36554994466e-05,1793239809421018880
+176,2.933333333,POSE1_TO_POSE2_PRESS,765,745,714.034259081,682,663,635,880,787,804.034259081,652,631,652.965740919,0.431840839661,0.00462773788708,0.0800382865784,0.999999983653,0.00015824065158,6.92278755445e-05,-5.34877875992e-05,1793239809437685504
+177,2.950000000,POSE1_TO_POSE2_PRESS,765,745,714.609062773,682,663,635,880,787,804.609062773,652,631,652.390937227,0.432648922982,0.00462809281066,0.0800128732363,0.999999986285,0.000156125481784,1.74138600763e-05,-5.24494880455e-05,1793239809454352384
+178,2.966666667,POSE1_TO_POSE2_PRESS,765,745.190347721,715,682,662.809652279,635,880,787,805,652,631,652.190347721,0.433442532301,0.00462677575441,0.0799767645441,0.999999986523,0.000150085321125,-4.05404909276e-05,-5.27676059163e-05,1793239809471019008
+179,2.983333333,POSE1_TO_POSE2_PRESS,765,745.785413238,715,682,662.214586762,635,880,787,805,652,631,652.785413238,0.434205367114,0.00462190373058,0.0799179153675,0.999999983005,0.000135699834978,-0.000111550448162,-5.59697417544e-05,1793239809487685888
+180,3.000000000,POSE1_TO_POSE2_PRESS,765.367874904,745.632125096,715,682.367874904,662.735749808,635,880,787,805,651.632125096,631.367874904,653,0.435007963336,0.00461543719345,0.0799137975906,0.999999984316,0.000127515804091,-0.000108463950305,-5.78126846123e-05,1793239809504352256
+181,3.016666667,POSE1_TO_POSE2_PRESS,765.943228071,745.056771929,715,682.943228071,663.886456142,635,880,787,805,651.056771929,631.943228071,653,0.435832984605,0.0046080713649,0.0799405478534,0.999999988701,0.000122829341242,-6.358768854e-05,-5.88890542134e-05,1793239809521018624
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.481648756,745.518351244,715,683,662.963297512,635,879.481648756,787,804.481648756,651.518351244,631.481648756,652.481648756,0.436610961194,0.00461277389299,0.0799607103878,0.99999998918,0.000125654574541,-5.11607954364e-05,-5.68557595369e-05,1793239809537685504
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.095759471,746,715,682.904240529,661.904240529,634.904240529,879.095759471,787,804,651.904240529,631,652,0.437377546347,0.00461949086627,0.0799749649099,0.99999998879,0.00013130279579,-4.62775171702e-05,-5.51193709127e-05,1793239809554352128
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.685074901,746,715,682.314925099,661.314925099,634.314925099,879.685074901,787,804,651.314925099,631,652,0.438111963583,0.00462978096559,0.0799624859433,0.999999985631,0.000147262566088,-6.19653935036e-05,-5.6667900064e-05,1793239809571018752
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.730054953,745.730054953,714.730054953,682.269945047,661,634.269945047,880,787,804,651.269945047,631,652,0.438821607323,0.0046379149708,0.0799408314478,0.999999981519,0.000158170485719,-9.32125837661e-05,-5.70514644084e-05,1793239809587685632
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.15028682,745.15028682,714.15028682,682.84971318,661,634.84971318,880,787,804,651.84971318,631,652,0.439502817813,0.00464357436893,0.0799086459553,0.999999974969,0.000163280261094,-0.000142317609927,-5.60979675755e-05,1793239809604352768
+187,3.116666667,POSE1_TO_POSE2_PRESS,765,745.425397278,714.425397278,683,661.425397278,635,880,787,804.425397278,651.574602722,631.425397278,652.425397278,0.440118302297,0.00465086082624,0.0798520684422,0.999999957673,0.000171514841661,-0.000228179042408,-5.63190948689e-05,1793239809621019904
+188,3.133333333,POSE1_TO_POSE2_PRESS,765,745.999652312,714.999652312,683,661.999652312,635,880,787,804.999652312,651.000347688,631.999652312,652.999652312,0.440710787568,0.00465871663503,0.0797869555135,0.999999928594,0.000180842873219,-0.000326902515407,-5.69512536718e-05,1793239809637686784
+189,3.150000000,POSE1_TO_POSE2_PRESS,765.576125707,746,714.423874293,683,661.423874293,634.423874293,880,787,805,651.576125707,632,653,0.441283267389,0.00467119329125,0.0797225860503,0.999999887268,0.000195759094313,-0.000428537597711,-5.9143550023e-05,1793239809654353152
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.843439852,714,683,661,634,880.156560148,787,804.843439852,652,631.843439852,653,0.44187267097,0.00468227761772,0.0796812479401,0.999999855404,0.000208010828713,-0.000492188999475,-6.06157116745e-05,1793239809671019520
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.25200652,714,683,661,634,880.74799348,787,804.25200652,652,631.25200652,653,0.442509117049,0.00468948673179,0.079703882174,0.999999874144,0.000212852089814,-0.000450329220873,-6.00849498321e-05,1793239809687685888
+192,3.200000000,POSE1_TO_POSE2_PRESS,765.669595968,745.330404032,714,683,660.669595968,634,880.669595968,786.669595968,804.330404032,652,631,653,0.443129513044,0.00469823412177,0.0797379493906,0.999999894237,0.000227607852186,-0.000395208691895,-5.94260367415e-05,1793239809704352256
+193,3.216666667,POSE1_TO_POSE2_PRESS,765.093884388,745.906115612,714,683,660.093884388,634,880.093884388,786.093884388,804.906115612,652,631,653,0.443737992662,0.00470812359995,0.0797805049918,0.999999912567,0.000249724607311,-0.000330242757394,-5.86719779833e-05,1793239809721018880
+194,3.233333333,POSE1_TO_POSE2_PRESS,765.482274188,745.517725812,714,683,659.517725812,633.517725812,880,786,805,652,631,653,0.444253646571,0.0047163816581,0.0797760988272,0.999999905332,0.000262470148381,-0.000342288940324,-5.7308654923e-05,1793239809737686016
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.940726552,745,714,683,659,633.059273448,880.059273448,786,805,652,631,652.940726552,0.444746225975,0.00472482143752,0.079760471511,0.9999998921,0.000272179442945,-0.000372255841846,-5.60728947308e-05,1793239809754352896
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.35706029,745,714,683,659,633.64293971,880.64293971,786,805,652,631,652.35706029,0.445194682301,0.0047376812253,0.079726525428,0.999999870008,0.000271181568796,-0.000428010453002,-5.70159627232e-05,1793239809771019264
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633.773518198,881,786,804.773518198,652,631,652.226481802,0.445640559608,0.00475473157858,0.0797011823879,0.999999848446,0.000283178646052,-0.000468325579657,-5.99126035378e-05,1793239809787685376
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745,714,683,659,633.190171815,881,786,804.190171815,652,631,652.809828185,0.446082373142,0.00477838495303,0.0796893950595,0.999999830732,0.000315651708816,-0.000484312897082,-6.58874650281e-05,1793239809804352000
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745,713.611004285,683,658.611004285,633,881,786,804,652,631,652.611004285,0.446507350105,0.00479813924834,0.0796836682119,0.999999820389,0.00034692066402,-0.000483848196852,-6.89826248239e-05,1793239809821018624
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745,713.033857943,683,658.033857943,633,881,786,804,652,631,652.033857943,0.446924183544,0.00481600762734,0.0796808727148,0.999999813193,0.000377607215566,-0.000475425936048,-7.06849222727e-05,1793239809837685248
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745,713.539575033,683,658,633,881,786,804.539575033,652,631,652.539575033,0.447281692148,0.00481431013914,0.0796725566938,0.999999809422,0.000376380750475,-0.000484196482065,-7.10506507551e-05,1793239809854352128
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745,713.883490229,683,658,633,880.883490229,785.883490229,805,652,631,653,0.447628031667,0.00481305652947,0.0796634742511,0.99999980393,0.000375644051402,-0.000495936229196,-7.12673363573e-05,1793239809871018496
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745,713.291314116,683,658,633,880.291314116,785.291314116,805,652,631,653,0.447943866136,0.00481859327617,0.0796526673823,0.999999790511,0.000385026549228,-0.000515423745301,-7.12155997665e-05,1793239809887685120
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,713,683,657.706221406,632.706221406,880,785.293778594,804.706221406,652,631,653,0.448235439347,0.00482412497451,0.0796401188435,0.999999781496,0.000378940760194,-0.000537005436858,-7.0978777591e-05,1793239809904352000
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,713,683,657.127987339,632.127987339,880,785.872012661,804.127987339,652,631,653,0.448503521216,0.00482965178435,0.0796258839075,0.999999776328,0.000357877572769,-0.000560614843391,-7.05627435322e-05,1793239809921018624
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745.449155747,713,683.449155747,657,632,880.449155747,785.550844253,804.449155747,652,631,653,0.448753716118,0.00483175093946,0.0796167893804,0.999999771891,0.000349361699421,-0.0005737237419,-7.07545315151e-05,1793239809937685248
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745.973553749,713,684,656.973553749,632,881,785.026446251,804.973553749,652,631,653,0.448998012308,0.00483296317528,0.0796100058311,0.999999768135,0.00034526093525,-0.000582643692459,-7.1074139384e-05,1793239809954352128
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745.386565256,713,684,656.386565256,632,881,785.613434744,804.386565256,652,631,653,0.449225052139,0.00483602848155,0.0796212334502,0.999999772825,0.000359142538658,-0.000566042772613,-7.04407987932e-05,1793239809971018752
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.197673322,745,713.197673322,683.802326678,656,632,881,786,804,652,631,652.802326678,0.449439777215,0.00483845044857,0.0796285384938,0.9999997746,0.000370686721315,-0.000555496345144,-6.93977147994e-05,1793239809987685376
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.776607948,745,713.776607948,683.223392052,656,632,881,786,804,652,631,652.223392052,0.44963075025,0.00483963157827,0.0796282778911,0.999999771463,0.000377722615544,-0.00055662748799,-6.75643406543e-05,1793239810004352000
+211,3.516666667,POSE1_TO_POSE2_PRESS,765.645562209,745,714,683.354437791,656,632,881,786,804,652,631,652.354437791,0.449794989715,0.00483918525336,0.0796254843206,0.999999766427,0.000382827332333,-0.000562294022235,-6.64415482974e-05,1793239810021018624
+212,3.533333333,POSE1_TO_POSE2_PRESS,765.06842646,745,714,683.93157354,656,632,881,786,804,652,631,652.93157354,0.449942432141,0.00483771637727,0.079621099253,0.99999976015,0.000386718665422,-0.00057081020306,-6.57652237087e-05,1793239810037685248
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.507327056,745,713.492672944,683.492672944,656,632,881,785.492672944,804.507327056,652,631,653,0.450067226672,0.00483851414895,0.0796163900689,0.999999755577,0.000387482806042,-0.000578193869441,-6.62923627207e-05,1793239810054351872
+214,3.566666667,POSE1_TO_POSE2_PRESS,765.91495911,745.08504089,713.08504089,683.08504089,655.91495911,632,880.91495911,785,804.91495911,652,631,653,0.450185895715,0.0048380133393,0.079612367905,0.999999752409,0.000385971341954,-0.000584537033434,-6.72596370083e-05,1793239810071018496
+215,3.583333333,POSE1_TO_POSE2_PRESS,765.324489132,745.675510868,713.675510868,683.675510868,655.324489132,632,880.324489132,785,804.324489132,652,631,653,0.450286264466,0.00482798253368,0.0796126880639,0.999999756367,0.000373435135914,-0.000585601493912,-6.98806973131e-05,1793239810087685376
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745.738960683,713.738960683,683.738960683,655,632,880,785,804,652,631,653,0.450378482782,0.00481666986428,0.0796124463475,0.999999761408,0.000358066216487,-0.000586402449106,-7.14422639381e-05,1793239810104352000
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745.159460794,713.159460794,683.159460794,655,632,880,785,804,652,631,653,0.450460757792,0.00480379335797,0.0796115191592,0.999999767671,0.000339241467685,-0.000586881935193,-7.17112781204e-05,1793239810121018624
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745.416066707,713,683.416066707,655,632,880.416066707,785.416066707,804.416066707,652,631,652.583933293,0.450527657055,0.00480809228152,0.0796123012209,0.999999767271,0.000342237049344,-0.000585626794969,-7.3296301933e-05,1793239810137685248
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745.990086145,713,683.990086145,655,632,880.990086145,785.990086145,804.990086145,652,631,652.009913855,0.450588719174,0.00481891156855,0.0796137321705,0.999999764311,0.000353516353028,-0.000583713133001,-7.53809266679e-05,1793239810154351872
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745.433653665,713.566346335,683.433653665,655,632,880.433653665,786,805,652,631,652,0.450630498569,0.00482148386961,0.0796124560715,0.999999762516,0.000355538081343,-0.000585564938501,-7.53304652105e-05,1793239810171018496
+221,3.683333333,POSE1_TO_POSE2_PRESS,765.14650754,745,713.85349246,683,654.85349246,632,880.14650754,785.85349246,804.85349246,652,631,652.14650754,0.45066839189,0.00482265747201,0.0796109084839,0.999999761015,0.000355829093371,-0.000587954454558,-7.52662744924e-05,1793239810187685376
+222,3.700000000,POSE1_TO_POSE2_PRESS,765.738408278,745,713.261591722,683,654.261591722,632,880.738408278,785.261591722,804.261591722,652,631,652.738408278,0.450695501491,0.00482001954869,0.0796086801836,0.999999760342,0.000351353216292,-0.000591777468128,-7.52744184332e-05,1793239810204351744
+223,3.716666667,POSE1_TO_POSE2_PRESS,765.678751448,745,713,683,654.321248552,631.678751448,881,785,804.321248552,652,631,653,0.450718504532,0.00482012319542,0.0796075055487,0.99999975893,0.000351265444851,-0.000594236938245,-7.50654153822e-05,1793239810221018368
+224,3.733333333,POSE1_TO_POSE2_PRESS,765.103086643,745,713,683,654.896913357,631.103086643,881,785,804.896913357,652,631,653,0.45073825534,0.00482239805781,0.0796071653754,0.999999756942,0.000354652880479,-0.000595616535848,-7.46844404324e-05,1793239810237685248
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,713,683,655,631,881,785,805,652,631,652.530098111,0.450751373063,0.00482089627396,0.0796067822371,0.999999757639,0.000353165689823,-0.00059542448114,-7.39290745501e-05,1793239810254352896
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713,683.043618173,655,631,881,785,805,652,631,652.043618173,0.450762595067,0.00481889374323,0.0796064313066,0.999999758773,0.000350875821429,-0.00059496827243,-7.31650093326e-05,1793239810271020544
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713,683.633768468,655,631,881,785,805,652,631,652.633768468,0.450768193656,0.00482093935503,0.07960660137,0.999999758104,0.000351851964063,-0.000595497930505,-7.33152398877e-05,1793239810287686912
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654.780346551,631.219653449,880.780346551,785.219653449,805,652,631,653,0.450772880916,0.00482256212436,0.0796066948645,0.999999757472,0.000352815956093,-0.000595978830775,-7.33948139247e-05,1793239810304353024
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654.201437759,631.798562241,880.201437759,785.798562241,805,652,631,653,0.450776077648,0.00482349331139,0.0796066631264,0.999999756902,0.000353760075077,-0.00059637998493,-7.33588253169e-05,1793239810321019392
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745.376744986,713,684,654,631.623255014,880.376744986,785.623255014,804.623255014,652,631,652.623255014,0.450776976141,0.00482312697768,0.0796056494085,0.99999975596,0.000353641204904,-0.000598057161245,-7.31103242067e-05,1793239810337686016
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745.954540259,713,684,654,631.045459741,880.954540259,785.045459741,804.045459741,652,631,652.045459741,0.450776648176,0.00482206822088,0.0796041116562,0.999999754816,0.000352955069622,-0.000600415287869,-7.27484156175e-05,1793239810354352896
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745.47149213,713,683.47149213,654,631,880.47149213,785,804.52850787,652,631,652,0.450778633728,0.00482270772687,0.0796050661881,0.999999755163,0.000353859960012,-0.000599322527788,-7.2595224984e-05,1793239810371019520
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713,683.105243083,654,631,880.105243083,785,805,652,631,652.105243083,0.450779939226,0.00482315332856,0.0796054633834,0.999999755218,0.000354392239568,-0.000598937377068,-7.24144284086e-05,1793239810387685888
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713,683.696261425,654,631,880.696261425,785,805,652,631,652.696261425,0.450777193848,0.0048220345133,0.0796023056722,0.999999753339,0.000352577507889,-0.000603178606562,-7.20239395682e-05,1793239810404352512
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.718803495,745,713.281196505,683.718803495,654,631,880.718803495,785,805,652,631,652.718803495,0.450777304521,0.00482145345064,0.0796015948453,0.999999753168,0.000351811602483,-0.000603922494058,-7.19043072677e-05,1793239810421018880
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.140300127,745,713.859699873,683.140300127,654,631,880.140300127,785,805,652,631,652.140300127,0.450780434873,0.00482144094946,0.0796034710895,0.999999754815,0.000352154612664,-0.000600968669772,-7.20710494186e-05,1793239810437685504
+237,3.950000000,POSE1_TO_POSE2_PRESS,764.435829579,745,713.564170421,683.435829579,654,631.435829579,880,785,805,652,631,652.435829579,0.450781433773,0.00482242625126,0.0796036268792,0.999999754266,0.000353767711106,-0.000600923654392,-7.2159444981e-05,1793239810454352128
+238,3.966666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631.98855895,880.01144105,785,804.98855895,652,631,653,0.450781734845,0.00482369049509,0.0796032271305,0.999999753026,0.000355754376429,-0.000601807180974,-7.22086635193e-05,1793239810471018752
+239,3.983333333,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631.400767716,880.599232284,785,804.400767716,652,631,653,0.450781260279,0.00482291322439,0.079602590717,0.999999752512,0.000356074672373,-0.000602550901104,-7.15479540193e-05,1793239810487686144
+240,4.000000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631,881,785,804.184381213,652,631,653,0.450781030353,0.00482240211229,0.0796023653525,0.999999752401,0.000355896240362,-0.00060288497908,-7.11665608413e-05,1793239810504353280
+241,4.016666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631,881,785,804.763867985,652,631,653,0.450781324662,0.00482246134436,0.0796030208139,0.999999753157,0.000354649097562,-0.000602341245817,-7.13837071631e-05,1793239810521019648
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745,713,683.657719518,654,631,880.657719518,785,805,652,631,653,0.450782481723,0.00482192623992,0.0796036284604,0.99999975406,0.00035365106114,-0.000601448707226,-7.12088067249e-05,1793239810537685760
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745,713,683.080045847,654,631,880.080045847,785,805,652,631,653,0.450784232117,0.00482098239827,0.0796042032237,0.999999755064,0.000352824340249,-0.000600316288199,-7.07642878149e-05,1793239810554352128
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,683.495812701,654,631,880.495812701,785,805,652,631,653,0.450783961723,0.00482172167443,0.0796040157387,0.999999754255,0.000354569373244,-0.000600612225294,-7.09560909114e-05,1793239810571018752
+245,4.083333333,POSE1_TO_POSE2_PRESS,765.073012359,745.073012359,713,684,654,631.073012359,880.926987641,785,804.926987641,652,631,653,0.450783430269,0.00482246422868,0.0796037079953,0.999999753311,0.000356158064283,-0.000601220911492,-7.11490767939e-05,1793239810587685376
+246,4.100000000,POSE1_TO_POSE2_PRESS,765.661746988,745.661746988,713,684,654,631.661746988,880.338253012,785,804.338253012,652,631,653,0.45078335082,0.00482131758369,0.0796034168721,0.999999753494,0.000353720414827,-0.000602415804465,-7.06274299492e-05,1793239810604352000
+247,4.116666667,POSE1_TO_POSE2_PRESS,765.753641778,745.753641778,713,683.753641778,654,631.753641778,880.246358222,785,804.246358222,652.246358222,631,653,0.450782951159,0.00482077901907,0.0796028972854,0.99999975347,0.000351940976561,-0.000603509167465,-7.05326606749e-05,1793239810621018880
+248,4.133333333,POSE1_TO_POSE2_PRESS,765.17459874,745.17459874,713,683.17459874,654,631.17459874,880.82540126,785,804.82540126,652.82540126,631,653,0.450782119077,0.00482106161261,0.0796020691791,0.999999753171,0.000351050393488,-0.000604465423461,-7.10143514323e-05,1793239810637686016
+249,4.150000000,POSE1_TO_POSE2_PRESS,764.598416831,745,713,683,653.598416831,631,880.598416831,785,804.598416831,652.598416831,631,653,0.450782324005,0.00482144276294,0.0796019405337,0.999999753113,0.000351111451022,-0.000604536888033,-7.09240079025e-05,1793239810654352896
+250,4.166666667,POSE1_TO_POSE2_PRESS,764.023470108,745,713,683,653.023470108,631,880.023470108,785,804.023470108,652.023470108,631,653,0.450782976611,0.00482186646024,0.0796021138459,0.999999753159,0.000351583332097,-0.000604226387867,-7.05867169988e-05,1793239810671019520
+251,4.183333333,POSE1_TO_POSE2_PRESS,764.550687136,745,713,683,653.550687136,631,880,785,804,652,631,653,0.450782670574,0.00482124473654,0.0796019253051,0.99999975257,0.00035285698876,-0.000604518698259,-7.00671449698e-05,1793239810687685632
+252,4.200000000,POSE1_TO_POSE2_PRESS,765.129054243,745,713.129054243,683.129054243,654,631,880.129054243,785,804,652,631,653,0.450782790163,0.00482075653001,0.0796020747649,0.999999752429,0.000353681478938,-0.000604299157605,-6.9818711216e-05,1793239810704352256
+253,4.216666667,POSE1_TO_POSE2_PRESS,765.722697576,745,713.722697576,683.722697576,654,631,880.722697576,785,804,652,631,653,0.450784588853,0.00482090914697,0.0796034964501,0.999999753999,0.000352766151872,-0.000602144621606,-7.05742894262e-05,1793239810721018880
+254,4.233333333,POSE1_TO_POSE2_PRESS,765.6917528,745,713.6917528,684,654.3082472,631,881,785,804,652,631,653,0.450786304409,0.00482136352602,0.0796049311275,0.99999975555,0.000351822728261,-0.000600081008831,-7.08734458789e-05,1793239810737685504
+255,4.250000000,POSE1_TO_POSE2_PRESS,765.113298102,745,713.113298102,684,654.886701898,631,881,785,804,652,631,653,0.45078794709,0.00482208242774,0.0796063771937,0.999999757086,0.00035085467545,-0.000598097098881,-7.07725059352e-05,1793239810754352128
+256,4.266666667,HOLD_POSE2,765,745,713,684,654,631,881,785,805,652,631,652,0.450784021434,0.00482087759071,0.0796020666527,0.999999753328,0.000351046477866,-0.000604216223418,-7.09431078996e-05,1793239810786712320
+257,4.283333333,HOLD_POSE2,765,745,713,684,654,631,881,785,805,652,631,652.587463262,0.450785786481,0.00482200296507,0.0796033614643,0.999999754322,0.000351626776443,-0.000602235277102,-7.09071821466e-05,1793239810803379200
+258,4.300000000,HOLD_POSE2,765,745,713,683.82635655,654,631.17364345,881,785,805,652,631,653,0.450786692641,0.004822315498,0.0796041792908,0.999999755001,0.000351519327769,-0.000601190336543,-7.07301067824e-05,1793239810820045824
+259,4.316666667,HOLD_POSE2,765,745,713,683.243202172,654,631.756797828,881,785,805,652,631,653,0.450785573249,0.00482071107172,0.0796038722227,0.999999754944,0.000349789934847,-0.000602352818824,-7.02201521208e-05,1793239810836711424
+260,4.333333333,HOLD_POSE2,765,745,713,683,653.665377205,631.665377205,881,785,804.665377205,652,631,653,0.450786365195,0.00482052966941,0.0796044476958,0.999999755436,0.000350161326053,-0.000601341278906,-7.00283389373e-05,1793239810853377792
+261,4.350000000,HOLD_POSE2,765,745,713,683,653.091364939,631.091364939,881,785,804.091364939,652,631,653,0.450788524514,0.00482136629993,0.0796056545398,0.999999756316,0.000352035620367,-0.000598774441322,-7.00641245056e-05,1793239810870044416
+262,4.366666667,HOLD_POSE2,765,745.482504847,713,683,653.482504847,631,881,785,804,652,631,653,0.450788647555,0.00482064794564,0.0796051221788,0.999999756148,0.000351870084171,-0.000599160534681,-6.99880873597e-05,1793239810886710784
+263,4.383333333,HOLD_POSE2,765.058037895,745.941962105,713,683,654,631,881,785,804,652,631,653,0.450788341729,0.00481983927077,0.0796043610679,0.999999755797,0.00035134515405,-0.000600061183136,-6.99173702464e-05,1793239810903377664
+264,4.400000000,HOLD_POSE2,765.649094012,745.350905988,713,683,654,631,881,785,804,652,631,653,0.450787637306,0.00482090446895,0.0796045227697,0.999999755588,0.000351065850492,-0.000600553755674,-7.00899183392e-05,1793239810920044544
+265,4.416666667,HOLD_POSE2,765.528995746,745,713,683.235502127,654,631,881,785,804,652,631,653,0.450787474933,0.00482147169541,0.0796045490559,0.999999755654,0.000350583351181,-0.000600699621185,-7.03025618958e-05,1793239810936711680
+266,4.433333333,HOLD_POSE2,764.369762886,745,713,683.815118557,654,631,881,785,804,652,631,653,0.4507881046,0.00482131128846,0.0796043774737,0.999999756125,0.000349803943472,-0.000600338880415,-7.057379269e-05,1793239810953378816
+267,4.450000000,HOLD_POSE2,764.391664959,745,713,684,654,631,881,785,804,652,631,653,0.45078827069,0.00482015177549,0.0796039665137,0.999999756104,0.000349048338349,-0.000600844593304,-7.0312931813e-05,1793239810970045184
+268,4.466666667,HOLD_POSE2,764.966773507,745,713,684,654,631,881,785,804,652,631,653,0.450788219654,0.00481852431256,0.0796034434365,0.999999755851,0.000348303881541,-0.000601756125896,-6.98028559007e-05,1793239810986711552
+269,4.483333333,HOLD_POSE2,765,745,713.55391677,684,654,631,881,785,804,652,631,653,0.450787478652,0.0048194667216,0.0796031878126,0.999999755103,0.00034871208415,-0.000602741528683,-6.99787605976e-05,1793239811003377920
+270,4.500000000,HOLD_POSE2,765,745,713.860265995,684,654,631,880.860265995,785,804.139734005,652,631,652.860265995,0.450786670366,0.00482073233063,0.0796029430992,0.999999754245,0.000349631142786,-0.000603609201444,-7.01767185915e-05,1793239811020044288
+271,4.516666667,HOLD_POSE2,765,745,713.280941638,684,654,631,880.280941638,785,804.719058362,652,631,652.280941638,0.450785783502,0.00482251897646,0.0796026811184,0.999999753135,0.000351934963003,-0.000604092257248,-7.03117305921e-05,1793239811036710912
+272,4.533333333,HOLD_POSE2,765.297758783,745.297758783,713,683.702241217,653.702241217,631,880.297758783,785,805,652,631,652.297758783,0.450785862582,0.00482207943813,0.079603017326,0.999999752941,0.000352391029974,-0.000604173950696,-7.00918180309e-05,1793239811053377536
+273,4.550000000,HOLD_POSE2,765.875871705,745.875871705,713,683.124128295,653.124128295,631,880.875871705,785,805,652,631,652.875871705,0.450786851143,0.00481954384083,0.0796039167565,0.99999975361,0.000351107348735,-0.00060387774226,-6.95377270088e-05,1793239811070044416
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,881,785,804,652,631,653,0.450788407251,0.0048203025808,0.0796047386815,0.999999756422,0.00034760300614,-0.000601111892649,-7.0663154875e-05,1793239811102750720
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.588890124,631,880.411109876,785,804,652,631,653,0.450788917086,0.00482127652743,0.0796043537637,0.999999755261,0.000350612157093,-0.00060135755736,-7.01338601499e-05,1793239811119417088
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.824238474,631,880,785,804,652,631,653,0.450789419824,0.00482125596349,0.0796043699305,0.999999754953,0.000351674186103,-0.000601285811174,-6.98137795352e-05,1793239811136083456
+277,4.616666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.242035171,631,880,785,804,652,631,653,0.450789906151,0.00481893563226,0.0796053135897,0.99999975663,0.000348233571031,-0.000600480064542,-6.9977498408e-05,1793239811152749568
+278,4.633333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880,785,804.33462613,652,630.66537387,652.66537387,0.450790602703,0.00481838691421,0.079605582457,0.999999757424,0.000347610412465,-0.00059952476118,-6.99172778049e-05,1793239811169415936
+279,4.650000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880,785,804.907344171,652,630.092655829,652.092655829,0.450791448835,0.00481909872778,0.079605371199,0.999999757594,0.000348991920047,-0.000598463045831,-6.96977206278e-05,1793239811186082560
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654,631,880.484533472,785,804.515466528,652,630.484533472,652,0.450789953779,0.00481991577405,0.079604691043,0.999999756469,0.000349284960528,-0.000600134120633,-7.00015424837e-05,1793239811202748928
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.063736697,654,631,881,785,804,652,631,652.063736697,0.45078802133,0.00482074976886,0.0796039145168,0.999999755085,0.000349554146333,-0.000602241111211,-7.03390249447e-05,1793239811219415808
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.652419242,654,631,881,785,804,652,631,652.652419242,0.450786208098,0.00482155607191,0.0796030896519,0.999999753653,0.000351357137521,-0.000603594208954,-7.01217547484e-05,1793239811236083200
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765,745.236164815,713,683.763835185,654,631,880.763835185,785,804.236164815,652,630.763835185,653,0.450778552005,0.00482147599339,0.0795989979768,0.999999749982,0.000351751465676,-0.000609454453075,-6.98014612711e-05,1793239811252750080
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765,745.812793029,713,683.187206971,654,631,880.187206971,785,804.812793029,652,630.187206971,653,0.45076247264,0.00482011807634,0.0795901967547,0.999999742981,0.000350115016093,-0.000621812355751,-6.93326458659e-05,1793239811269416448
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765,745.61086596,713,683.38913404,654,631,880.38913404,785,805,652,630.38913404,652.61086596,0.450725350349,0.00481926885114,0.0795719711242,0.999999724526,0.000349132285079,-0.000651354622676,-6.9224748476e-05,1793239811286082560
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745.034662966,713,683.965337034,654,631,880.965337034,785,805,652,630.965337034,652.034662966,0.450678112062,0.00481866416999,0.0795492148836,0.999999699417,0.000348463816566,-0.000689157953529,-6.92903555898e-05,1793239811302749184
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.446232005,653.446232005,631,881,785,804.446232005,652,631,652,0.450612010122,0.00481977642469,0.0795267139324,0.999999672093,0.000351519141872,-0.000726324262413,-6.85671469504e-05,1793239811319415552
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745.140483194,713,683,653.140483194,631.140483194,881.140483194,785,804,652,631,652.140483194,0.450541562589,0.00482032160358,0.0795069594096,0.999999648012,0.000353893950838,-0.000757728657965,-6.76895694184e-05,1793239811336082176
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745.719401109,713,683,653.719401109,631.719401109,881.719401109,785,804,652,631,652.719401109,0.450461321125,0.00481875401221,0.0794957252263,0.999999637909,0.00035340105752,-0.000771277933919,-6.64877977039e-05,1793239811352749056
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745.703224204,713,683.296775796,654,631.703224204,881.406448408,785,804,652,631,653,0.450376207917,0.00481719779815,0.079491197286,0.999999633174,0.000353850934084,-0.000777358048302,-6.44718864505e-05,1793239811369415680
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745.127301112,713,683.872698888,654,631.127301112,880.254602225,785,804,652,631,653,0.450286512354,0.0048156522857,0.0794929772383,0.99999963361,0.000355187580017,-0.000776412669036,-6.16901956752e-05,1793239811386082560
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.553803316,654,631,880.446196684,785,804,652,631,653,0.450176077719,0.00481551517011,0.0794943549523,0.999999634016,0.000357537374243,-0.000775035968275,-5.87645213844e-05,1793239811402749184
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765.019709543,745,713,683.019709543,654,631,881,785,804.019709543,652,631,652.980290457,0.450058975222,0.00481568099922,0.0794956828954,0.999999634492,0.000360169033925,-0.000773423509123,-5.57609165218e-05,1793239811419415808
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765.613714333,745,713,683.613714333,654,631,881,785,804.613714333,652,631,652.386285667,0.449919059503,0.00481302912,0.0794988863957,0.99999963761,0.000362636770191,-0.000768507785507,-5.16770577014e-05,1793239811436082432
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765.797343143,745,713.202656857,683.797343143,654,631,880.797343143,785,805,652,631,652.202656857,0.449764581272,0.00481141653095,0.0795010273662,0.999999639034,0.000366204894132,-0.000765235651803,-4.73282214546e-05,1793239811452749056
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765.217814747,745,713.782185253,683.217814747,654,631,880.217814747,785,805,652,631,652.782185253,0.449583021831,0.0048117366618,0.0795011923989,0.999999637345,0.000371819357628,-0.000765020026445,-4.24866194602e-05,1793239811469415680
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713.642795305,683.357204695,654,631.357204695,880.357204695,785,804.642795305,652,631,653,0.44938510897,0.00480922828554,0.0795008037604,0.999999635428,0.000374929891607,-0.000766277240045,-3.72829483498e-05,1793239811486082560
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713.070490985,683.929509015,654,631.929509015,880.929509015,785,804.070490985,652,631,653,0.449177348476,0.00480501665392,0.0795000817151,0.999999633368,0.00037653262316,-0.000768421359954,-3.18612479187e-05,1793239811502749184
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745.505933661,713,683.494066339,654.505933661,632,880.494066339,785,804,652,631,653,0.448932726136,0.0048038540419,0.0795002953179,0.999999628297,0.000383109999649,-0.000772005321289,-2.52925082688e-05,1793239811519416064
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745.914779933,713,683,655,632,880,785.085220067,804,652,631,652.914779933,0.448678272688,0.0048027424484,0.0795007117394,0.999999623273,0.000389712510804,-0.000775395082063,-1.84326702841e-05,1793239811536082688
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745.321893362,713,683,655,632,880,785.678106638,804,652,631,652.321893362,0.448396100439,0.00479938332133,0.0795015534158,0.999999621575,0.000392301911817,-0.000776423091091,-1.0798577087e-05,1793239811552749312
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745.264498679,713.264498679,683.264498679,655,631.735501321,880.264498679,785.735501321,804,652,631,652,0.448090613046,0.00479535598967,0.0795016063026,0.999999619886,0.000395314815374,-0.000777136404981,-3.69097788994e-06,1793239811569415680
+303,5.050000000,POSE2_TO_POSE3_RETREAT,765,745.843176299,713.843176299,683.843176299,655,631.156823701,880.843176299,785.156823701,804,652,631,652,0.447757431287,0.00479053494606,0.079500722243,0.999999618229,0.000398830766971,-0.000777475915123,2.79123652408e-06,1793239811586082304
+304,5.066666667,POSE2_TO_POSE3_RETREAT,765,745.579194011,713.579194011,683.579194011,655,631.420805989,881,785,804,652,631,652.420805989,0.447425137278,0.00478518404972,0.0795097118629,0.999999632443,0.000393558864604,-0.000761692780742,7.02085919966e-06,1793239811602749184
+305,5.083333333,POSE2_TO_POSE3_RETREAT,765,745.0019539,713.0019539,683.0019539,655,631.9980461,881,785,804,652,631,652.9980461,0.447093173297,0.00477963618137,0.0795223720113,0.999999652088,0.000385020087801,-0.000739916072223,1.04130834493e-05,1793239811619415808
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,655.584028924,632,880.415971076,785,804.584028924,652,631,652.415971076,0.446697761554,0.00477508114263,0.0795326671947,0.999999673708,0.00035383888461,-0.000726193153158,4.95416541743e-06,1793239811636082432
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,656,632,880,785,805,652,631,652.168020328,0.446285177584,0.00476919401545,0.0795438980452,0.999999691542,0.000328747689601,-0.000713325589407,2.64805721808e-06,1793239811652748800
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,656,632,880,785,805,652,631,652.74706741,0.445831112555,0.00476003996292,0.0795574374584,0.999999702427,0.00031874256355,-0.000702483562546,8.12818312976e-06,1793239811669415936
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745,713.323980657,683.323980657,656.323980657,632.323980657,880,785.323980657,804.676019343,651.676019343,631,653,0.445351994177,0.00475276509295,0.0795714280802,0.999999716656,0.000314457508477,-0.000683875160083,1.09560560321e-05,1793239811686083072
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745,713.899238975,683.899238975,656.899238975,632.899238975,880,785.899238975,804.100761025,651.100761025,631,653,0.444853444505,0.00474694770593,0.0795857686584,0.999999733141,0.000314608908604,-0.00065924319697,1.17268563048e-05,1793239811702750208
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745,713.578809332,684,657.421190668,633,880.421190668,786,804.421190668,651.421190668,631,653,0.444430420149,0.00473858711704,0.0795939235669,0.999999732237,0.000336001611035,-0.000649958739953,1.35143882117e-05,1793239811719416832
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745,713.068177502,684,657.931822498,633,880.931822498,786,804.931822498,651.931822498,631,653,0.444023433862,0.0047296864716,0.0796007649281,0.999999727067,0.000361904970547,-0.000643933375182,1.55178262218e-05,1793239811736083456
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.590189951,713.590189951,684,658,633,881,786,805,652,631,653,0.443340312365,0.00471830045256,0.0796074677821,0.999999742469,0.000333735122342,-0.000635121762897,1.74361274233e-05,1793239811752749824
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,746,714,684,658,633.22951228,881,786,804.77048772,652,631,653,0.442670612869,0.00470666161294,0.0796214117933,0.999999767628,0.000299783181128,-0.000611977971742,1.8899751012e-05,1793239811769416192
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,746,714,684,658,633.805684504,881,786,804.194315496,652,631,653,0.442085453876,0.00469521935354,0.0796463252293,0.999999802223,0.000269682831636,-0.000567835040981,1.9696435041e-05,1793239811786083328
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745.620141496,713.620141496,683.620141496,658.379858504,634,880.620141496,786,804.379858504,652,631,653,0.441449281308,0.00468324300056,0.0796606449504,0.999999822971,0.000245636382795,-0.000541565839769,2.06508283619e-05,1793239811802750208
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745.04698435,713.04698435,683.04698435,658.95301565,634,880.04698435,786,804.95301565,652,631,653,0.440787149474,0.00467099486368,0.0796695738459,0.999999837033,0.000224670584117,-0.000524392046993,2.16854752116e-05,1793239811819416832
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765,745,713.541532389,683,659.541532389,634,880,786,805,652,631.541532389,653,0.440070575877,0.00466046628981,0.0796400940751,0.999999809519,0.000241865310724,-0.000567392250254,2.29984818416e-05,1793239811836083200
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.129086226,745,714,682.870913774,660,634,880,786.129086226,804.870913774,652,631.870913774,652.870913774,0.439357243682,0.00465003635335,0.0796210548244,0.999999792239,0.000250955094894,-0.000593262102644,2.41564625188e-05,1793239811852749568
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.708496158,745,714,682.291503842,660,634,880,786.708496158,804.291503842,652,631.291503842,652.291503842,0.438672178511,0.00463941486245,0.0796504024754,0.999999829382,0.000219883058418,-0.00054062716409,2.46869158887e-05,1793239811869416192
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.713302048,745,714,682.286697952,660,634,880,786.713302048,804,652,631,652,0.437986896715,0.00462813078789,0.0797057471266,0.999999877046,0.000191668340718,-0.000456574869569,2.66497763886e-05,1793239811886082560
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765.136323419,745,714,682.863676581,660,634,880,786.136323419,804,652,631,652,0.437301395502,0.00461617584839,0.0797874136534,0.99999992767,0.000166346643098,-0.000340712601629,3.00629439801e-05,1793239811902748928
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,745,714,683,660,634.438120202,880,786.438120202,804,652,631,652.438120202,0.436555852932,0.00460566992297,0.0798382934685,0.999999951045,0.000170601388935,-0.000260341851956,3.20481966808e-05,1793239811919415808
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,745,714,682.987851722,660,635,880,786.987851722,804.012148278,652,631,653,0.43579039825,0.00459565369841,0.0798783454044,0.999999963989,0.000183245298681,-0.000193171664897,3.35845367558e-05,1793239811936082688
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745,714,682.396235153,660,635,880,786.396235153,804.603764847,652,631,653,0.43496114784,0.00458761345972,0.0798562191045,0.999999959763,0.000159601271014,-0.000231928773556,3.47790994907e-05,1793239811952749312
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765.190992799,745.190992799,714,682.190992799,660,634.809007201,880,786.190992799,804.809007201,652,631,652.809007201,0.434117977201,0.004578833228,0.0798316837869,0.999999951442,0.000146115266293,-0.000272879517099,3.61101370017e-05,1793239811969416192
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765.769320567,745.769320567,714,682.769320567,660,634.230679433,880,786.769320567,804.230679433,652,631,652.230679433,0.433246576274,0.00456855228479,0.0798022629631,0.999999936898,0.00015322981747,-0.000318278968368,3.77179464816e-05,1793239811986082816
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765.655476581,745.655476581,714,683,660,634.344523419,879.655476581,787,804,652,631,652,0.432331490016,0.00455917323072,0.0797598721363,0.999999910867,0.000144912222245,-0.000394597158535,3.95016673695e-05,1793239812002749184
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.082347264,745.082347264,714,683,660,634.917652736,879.082347264,787,804,652,631,652,0.431387416723,0.00455039261875,0.0797088751637,0.999999870408,0.000126354742268,-0.000491431238502,4.14021126035e-05,1793239812019415552
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765,745,714,683,660.506070578,635,879.506070578,787,804,652,631,652,0.430550388722,0.00453813949504,0.0797382508318,0.999999895488,0.000122210546253,-0.000438438423365,4.31233928772e-05,1793239812036082176
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.095055657,745,714.095055657,682.904944343,661.095055657,635,879.904944343,787,804.095055657,652,631,652.095055657,0.429730072862,0.00452539945103,0.0797841549985,0.999999927974,0.000117855043782,-0.000357973172905,4.49172686184e-05,1793239812052748800
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.673872262,745,714.673872262,682.326127738,661.673872262,635,879.326127738,787,804.673872262,652,631,652.673872262,0.42890340206,0.00451314657875,0.0798455454302,0.999999958592,0.000100116472401,-0.000265633220713,4.72335913302e-05,1793239812069415424
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.749349882,745.250650118,714.749349882,682.501300235,661.498699765,635,879.250650118,787.250650118,804.749349882,652,631,653,0.42804191456,0.00450241803099,0.0798690461604,0.999999968738,8.95929641073e-05,-0.000228358163989,4.84635215379e-05,1793239812086082304
+334,5.566666667,POSE2_TO_POSE3_RETREAT,765.175203217,745.824796783,714.175203217,683.649593566,660.350406434,635,879.824796783,787.824796783,804.175203217,652,631,653,0.427135491475,0.00449365682042,0.0798436453157,0.999999960567,8.83814306438e-05,-0.000262151499627,4.82913217516e-05,1793239812102749184
+335,5.583333333,POSE2_TO_POSE3_RETREAT,765.399299975,745.600700025,714,683.20140005,660,635,880.399299975,787.600700025,804.399299975,652,631,652.600700025,0.426209749744,0.00448262652277,0.0798045154469,0.999999946098,7.27959846741e-05,-0.000316602629574,4.7624303795e-05,1793239812119416064
+336,5.600000000,POSE2_TO_POSE3_RETREAT,765.973959707,745.026040293,714,682.052080586,660,635,880.973959707,787.026040293,804.973959707,652,631,652.026040293,0.425275523936,0.00447059971529,0.079759356232,0.999999925364,5.08979766168e-05,-0.000380125997874,4.67399773929e-05,1793239812136082944
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745.567275507,714.567275507,682.567275507,660.567275507,635,880.432724493,787,805,652,631.567275507,652.567275507,0.424321955786,0.00446279453827,0.079743002903,0.999999910343,5.62580874097e-05,-0.000416732466284,4.98205314626e-05,1793239812152749312
+338,5.633333333,POSE2_TO_POSE3_RETREAT,765.843571922,745.843571922,714.843571922,682.843571922,661,635,880,787,804.843571922,652,632,652.843571922,0.423397269302,0.00445499253965,0.0797367721728,0.999999903881,5.67226085003e-05,-0.000431641657479,5.20144930236e-05,1793239812169415680
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.267948964,745.267948964,714.267948964,682.267948964,661,635,880,787,804.267948964,652,632,652.267948964,0.422552440036,0.00444666208134,0.0797540038996,0.999999921093,4.06008184217e-05,-0.000391830375672,5.13282501977e-05,1793239812186082560
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.307344141,745.307344141,714,682,661.307344141,635,879.692655859,787,804,652,631.692655859,652,0.421739908956,0.00445654512521,0.0797965955733,0.999999948405,4.64925108344e-05,-0.000313807779452,5.0526415702e-05,1793239812202749184
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765.88234995,745.88234995,714,682,661.88234995,635,879.11765005,787,804,652,631.11765005,652,0.420955505952,0.00448229005115,0.0798612728655,0.999999975704,7.15554344807e-05,-0.000202507488757,4.96239136446e-05,1793239812219415808
+342,5.700000000,POSE2_TO_POSE3_RETREAT,766,745.541245675,714,682,661.541245675,635,879.458754325,787,804,652,631,652,0.420102927874,0.00450161519515,0.0798735876669,0.999999975912,0.000102714497052,-0.000187240621547,5.06553373115e-05,1793239812236082432
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765.963616854,745,714.036383146,681.963616854,660.963616854,635,879.963616854,787,804.036383146,652,631.036383146,652.036383146,0.419230706601,0.00451725661456,0.0798696137062,0.999999969798,0.000131691761407,-0.000200898825942,5.19625305328e-05,1793239812252749312
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.372812354,745,714.627187646,681.372812354,660.372812354,635,879.372812354,787,804.627187646,652,631.627187646,652.627187646,0.418326396366,0.00450192896115,0.07982268188,0.999999954508,0.000103525445876,-0.000278885426034,4.98911689168e-05,1793239812269415936
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.212930595,745.212930595,715,681.212930595,660.212930595,635,879.212930595,787,804.787069405,652,631.787069405,653,0.417456425579,0.00448951565423,0.0797996507438,0.999999944024,8.38381584251e-05,-0.000320194574471,4.89842533526e-05,1793239812286082560
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.790017325,745.790017325,715,681.790017325,660.790017325,635,879.790017325,787,804.209982675,652,631.209982675,653,0.416645182331,0.0044820864907,0.0798174948107,0.999999951019,7.86517900226e-05,-0.00029877757603,5.00687857527e-05,1793239812302749440
+347,5.783333333,POSE2_TO_POSE3_RETREAT,766,745.634433754,714.634433754,682,661,635,879.634433754,787,804,652,631.365566246,653,0.415831450958,0.00447910215318,0.0798107148571,0.999999946605,7.62275779877e-05,-0.000313681087811,5.0819786887e-05,1793239812319415808
+348,5.800000000,POSE2_TO_POSE3_RETREAT,766,745.059764491,714.059764491,682,661,635,879.059764491,787,804,652,631.940235509,653,0.415016296433,0.00447866024593,0.0797898500218,0.999999934813,7.53833130209e-05,-0.0003493598454,5.13800088285e-05,1793239812336082176
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765.470876885,745,714,681.470876885,661,635,879,787,804,652,631.470876885,653,0.414262198359,0.00448698624892,0.0797944315652,0.999999939022,8.4629996561e-05,-0.000335129119659,4.98147974823e-05,1793239812352748800
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765.117136268,745,714,681,661,635,879.117136268,787,804.117136268,652,631.117136268,652.882863732,0.413522308772,0.00449505719833,0.0798034651173,0.999999945126,9.51608317303e-05,-0.00031358084856,4.85692425209e-05,1793239812369415424
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.695214239,745,714,681,661,635,879.695214239,787,804.695214239,652,631.695214239,652.304785761,0.412810443834,0.00449811981613,0.0798183952929,0.999999952232,0.00010613595852,-0.000286033138192,4.95523387647e-05,1793239812386082304
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.728335771,745,714,681,660.728335771,635,879.728335771,786.728335771,804.456671541,652,632,652,0.412092998729,0.00449550230251,0.0798201257055,0.999999952931,0.000100729961132,-0.000285404480692,5.03526328261e-05,1793239812402749184
+353,5.883333333,POSE2_TO_POSE3_RETREAT,765.153701404,745,714,681,660.153701404,635,879.153701404,786.153701404,803.307402809,652,632,652,0.411369330461,0.00448655009309,0.0798071352465,0.999999946185,7.70551189683e-05,-0.000314796962236,5.09490589572e-05,1793239812419415808
+354,5.900000000,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,635,879,786.420176857,803.420176857,652,631.579823143,652,0.410708288197,0.00448259858932,0.0797992809199,0.99999994203,7.06208120958e-05,-0.000329204385984,5.07729699521e-05,1793239812436082432
+355,5.916666667,POSE2_TO_POSE3_RETREAT,765,745,714,681,660,635,879,786.993779078,803.993779078,652,631.006220922,652,0.410070113429,0.00448047306612,0.079793302024,0.999999939081,7.04817938516e-05,-0.000338140097388,5.03148011808e-05,1793239812452748800
+356,5.933333333,POSE2_TO_POSE3_RETREAT,765,745.58867609,714.58867609,681,660.58867609,635,879,786.41132391,803.41132391,652,631,652.58867609,0.409449604686,0.00448705374718,0.0798232986562,0.999999953499,8.88549889797e-05,-0.000287278522388,5.07763243549e-05,1793239812469415424
+357,5.950000000,POSE2_TO_POSE3_RETREAT,765.177457299,745.822542701,715,681,661,635,879,786.177457299,803,652,631,652.822542701,0.408842034634,0.00449314629538,0.0798453881276,0.999999962036,0.000100876399301,-0.000251228514552,5.13357455677e-05,1793239812486082304
+358,5.966666667,POSE2_TO_POSE3_RETREAT,765.752030135,745.247969865,715,681,661,635,879,786.752030135,803,652,631,652.247969865,0.408262985323,0.00449793288181,0.0798489001962,0.999999962621,9.8229518079e-05,-0.000249791139086,5.2091678757e-05,1793239812502749184
+359,5.983333333,POSE2_TO_POSE3_RETREAT,765.67100764,745.32899236,714.67100764,681,661,635,879,787.32899236,803.32899236,652,631,652.32899236,0.407678906178,0.00449693004801,0.0798289315002,0.999999952508,9.94516029724e-05,-0.000287031172025,5.20277689363e-05,1793239812519416064
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.092231331,745.907768669,714.092231331,681,661,635,879,787.907768669,803.907768669,652,631,652.907768669,0.40709100822,0.00449153165821,0.0797911352835,0.999999930785,0.000103611159031,-0.000353636614827,5.13414018075e-05,1793239812536082688
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765,745.505001238,714,680.505001238,661,635,879,787.505001238,803.505001238,652,631,652.505001238,0.406595839816,0.00448705205649,0.0797821515131,0.999999928879,9.0663327122e-05,-0.000362621496869,5.02840826646e-05,1793239812552749312
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.082544825,745,714.082544825,680,661.082544825,635,879,787,803,652,631,652,0.406123070637,0.00448423691992,0.0797814643681,0.999999932342,7.86114254123e-05,-0.000355941972521,4.94107596256e-05,1793239812569416192
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.662340636,745,714.662340636,680,661.662340636,635,879,787,803,652,631,652,0.405679343545,0.00449039934464,0.0797978542585,0.999999943137,9.14921375473e-05,-0.000320698800683,5.00694341043e-05,1793239812586082560
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.759403888,745,714.759403888,680.240596112,661.759403888,635,878.759403888,787,803.240596112,652,631,652.240596112,0.405254550834,0.00449708213453,0.0798141141572,0.999999950436,0.000102461796996,-0.000293463699166,5.00871188664e-05,1793239812602749184
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765.183296457,745,714.183296457,680.816703543,661.183296457,635,878.183296457,787,803.816703543,652,631,652.816703543,0.404856162159,0.00450449057321,0.0798301927812,0.99999995418,0.000110766492196,-0.00027739585643,4.92109433722e-05,1793239812619415808
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,714.391843366,680.608156634,661,635,878.391843366,787,803.608156634,652,631,652.608156634,0.404475446615,0.00450273280109,0.0798369412228,0.999999955311,0.000112805001152,-0.00027223462478,5.04162555629e-05,1793239812636082432
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765,745,714.966531725,680.033468275,661,635,878.966531725,787,803.033468275,652,631,652.033468275,0.404102977811,0.00449669782114,0.0798393359437,0.999999955318,0.000111919534362,-0.000272162719308,5.25928476293e-05,1793239812652749056
+368,6.133333333,POSE2_TO_POSE3_RETREAT,765.553360277,745,715,680,661,635,879,787,803.553360277,652,631,652,0.403770586135,0.00449255783084,0.0798364697357,0.999999954551,9.94750451989e-05,-0.00027993616302,5.1364953489e-05,1793239812669415680
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879.138435459,787,804,652,631,652.138435459,0.403450060577,0.00448666801034,0.0798349523584,0.999999954196,8.58002061626e-05,-0.000285773832209,5.07812088806e-05,1793239812686082560
+370,6.166666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879.715575246,787,804,652,631,652.715575246,0.403159285057,0.00447486159076,0.0798387404186,0.999999955805,7.04915565952e-05,-0.000283939567907,5.29059533393e-05,1793239812702749440
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.704950012,745.295049988,714.704950012,680,661,635,879.704950012,787,804,652,631,653,0.40289123853,0.00446649918089,0.0798416975575,0.999999957243,5.60361871808e-05,-0.000281966831778,5.35577800189e-05,1793239812719415808
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.123206479,745.876793521,714.123206479,680,661,635,879.123206479,787,804,652,631,653,0.402645277278,0.00446148323976,0.0798438473083,0.999999958547,4.24099321311e-05,-0.000279859545757,5.277840496e-05,1793239812736082432
+373,6.216666667,POSE2_TO_POSE3_RETREAT,765.452702873,745.547297127,714.452702873,680,661,635,879,787,803.547297127,652,631,653,0.402434409167,0.00445892255068,0.0798452597657,0.999999960005,3.63056014792e-05,-0.000275465738969,5.28307794e-05,1793239812752749312
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.027850781,652,631,653,0.402234548798,0.00445715661695,0.0798464971898,0.99999996147,3.23558744376e-05,-0.000270535071424,5.31428780627e-05,1793239812769415936
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.619313147,652,631,653,0.40206663024,0.00445812350736,0.0798482015524,0.999999962357,3.11078109418e-05,-0.000267173066017,5.41883097467e-05,1793239812786082304
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.205524392,661,635,879,787,804,652.205524392,631,653,0.401906450246,0.00446020304286,0.0798497275191,0.999999962959,3.2815300858e-05,-0.000264522217413,5.50659880249e-05,1793239812802749184
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.782251395,661,635,879,787,804,652.782251395,631,653,0.401760247082,0.00446429215365,0.0798509312804,0.999999963032,3.98608879427e-05,-0.000263155806798,5.56406826756e-05,1793239812819415808
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.64200216,661,635,879,787,804,652.64200216,631,653,0.401630485787,0.00447293659021,0.0798493019807,0.999999960064,8.23314609303e-05,-0.000264692274538,5.50648937853e-05,1793239812836082432
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.066850446,661,635,879,787,804,652.066850446,631,653,0.401510697766,0.00448434419087,0.0798459542064,0.999999951944,0.000146290077227,-0.00026798956553,5.37912459254e-05,1793239812852749312
+380,6.333333333,POSE2_TO_POSE3_RETREAT,765.480902462,745,714.480902462,680,661,635,879,787,803.480902462,652,631.519097538,653,0.401412370322,0.00449434748615,0.0798431146064,0.999999950716,0.000144850990055,-0.000274178098714,4.91155528854e-05,1793239812869416192
+381,6.350000000,POSE2_TO_POSE3_RETREAT,765.105312682,745,714.105312682,680,661,635,879,787,803,652,631.894687318,653,0.401320533319,0.00450094421301,0.0798400423054,0.999999950621,0.000134174912899,-0.000280572260271,4.51069052024e-05,1793239812886082816
+382,6.366666667,POSE2_TO_POSE3_RETREAT,765.686321124,745,714.686321124,680,661,635,879,787,803,652,631.313678876,653,0.40124526459,0.00449298777047,0.0798356170095,0.999999950712,0.000120625777063,-0.000286177667047,4.61323149158e-05,1793239812902749184
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,745,714.735539831,680,661,635,879,787,803.264460169,652,631,652.735539831,0.401181531217,0.00448956664377,0.079833030046,0.999999950693,0.000113815882757,-0.000288890732994,4.69358045162e-05,1793239812919415808
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745,714.160767711,680,661,635,879,787,803.839232289,652,631,652.160767711,0.401131333191,0.0044914671609,0.0798326001431,0.999999950738,0.000114913672274,-0.000288209987312,4.74788977129e-05,1793239812936082688
+385,6.416666667,POSE2_TO_POSE3_RETREAT,765.588240306,745,714,680,661,635,878.588240306,787,803.588240306,652,631,652.411759694,0.401092179956,0.00449174875629,0.0798329166071,0.999999950621,0.000116091971721,-0.000288007685207,4.82994828484e-05,1793239812952749312
+386,6.433333333,POSE2_TO_POSE3_RETREAT,765.016584589,745,714,680,661,635,878.016584589,787,803.016584589,652,631,652.983415411,0.401057315674,0.00449140168606,0.0798335229029,0.999999950439,0.000117301535051,-0.000287991174066,4.92278246502e-05,1793239812969415936
+387,6.450000000,POSE2_TO_POSE3_RETREAT,765,745,714.576907379,680.576907379,661,635,878.576907379,787,803,652,631,652.423092621,0.401035595433,0.00449049093541,0.0798347644385,0.999999951144,0.000113531250235,-0.000287036956797,4.93104519038e-05,1793239812986082816
+388,6.466666667,POSE2_TO_POSE3_RETREAT,765.167035141,745,714.832964859,680.832964859,661,635,879,787,803.167035141,652,631,652,0.401017041023,0.00448991152526,0.0798360503553,0.999999951939,0.000110700378749,-0.000285373186451,4.92961501407e-05,1793239813002749696
+389,6.483333333,POSE2_TO_POSE3_RETREAT,765.747227756,745,714.252772244,680.252772244,661,635,879,787,803.747227756,652,631,652,0.401005345838,0.00449019333601,0.0798373991018,0.999999952914,0.000110561151756,-0.000282023653077,4.9104597838e-05,1793239813019416320
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879,787,804,652,631,652,0.400997021354,0.00449006569816,0.0798383941337,0.999999953699,0.000109958840507,-0.000279445380723,4.92012582747e-05,1793239813036082944
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714,680,661,635,879,787,804,652,631,652,0.400991299088,0.0044896219613,0.0798391160941,0.999999954341,0.000108999022848,-0.000277462530426,4.95204222539e-05,1793239813052749312
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.516626164,745,714,680,661,635,879,786.516626164,803.516626164,652,631,652,0.400988343833,0.00448967763014,0.0798403593086,0.999999954727,0.00011028359933,-0.000275578679579,4.94047201528e-05,1793239813069415936
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.070155835,745,714.070155835,680,660.929844165,635,878.929844165,786.070155835,803,652,631,652.070155835,0.400985823134,0.00448995050123,0.0798413144532,0.999999954938,0.000111690195712,-0.00027428173325,4.91799209243e-05,1793239813086082560
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.649807442,745,714.649807442,680,660.350192558,635,878.350192558,786.649807442,803,652,631,652.649807442,0.400982118594,0.00449101750939,0.0798393600085,0.999999954316,0.000110462869226,-0.000277091818934,4.88448582369e-05,1793239813102749184
+395,6.583333333,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.22820489,635,878.22820489,787,803,652,631,652.77179511,0.400980466303,0.00449140801024,0.0798388181639,0.999999954245,0.000109424672023,-0.000277792500716,4.86649033854e-05,1793239813119415808
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,660.804688249,635,878.804688249,787,803,652,631,652.195311751,0.400981946085,0.00449076604879,0.0798404321812,0.99999995502,0.000108675117513,-0.00027527388251,4.87216688094e-05,1793239813136082944
+397,6.616666667,POSE2_TO_POSE3_RETREAT,765.618852404,745,714.618852404,680.381147596,661,635,878.618852404,787,803,652,631,652,0.400981386836,0.00449023301907,0.0798408044758,0.999999954994,0.00010956255508,-0.000275000960177,4.88208793451e-05,1793239813152749568
+398,6.633333333,POSE2_TO_POSE3_RETREAT,765.042405379,745,714.042405379,680.957594621,661,635,878.042405379,787,803,652,631,652,0.40097978279,0.00448975580581,0.0798405405135,0.999999954555,0.000111288784842,-0.000275878728963,4.89418386878e-05,1793239813169416192
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.546249477,745,714,680.453750523,661,635,878,787,803,652,631.546249477,652.546249477,0.400979834115,0.00448937256784,0.0798410361809,0.999999954998,0.000108844845045,-0.000275259034073,4.88900474181e-05,1793239813186082816
+400,6.666666667,POSE2_TO_POSE3_RETREAT,766,745,714.133413661,680,661,635,878.133413661,787,803,652,631.866586339,653,0.400980337034,0.0044892387432,0.0798416711296,0.999999955549,0.000106635996731,-0.000274137138204,4.87839191493e-05,1793239813202749440
+401,6.683333333,POSE2_TO_POSE3_RETREAT,766,745,714.712362445,680,661,635,878.712362445,787,803,652,631.287637555,653,0.400981909095,0.00448991291527,0.0798425697751,0.99999995625,0.000106318049078,-0.000271735226841,4.85421410102e-05,1793239813219416064
+402,6.700000000,POSE2_TO_POSE3_RETREAT,766,745,714.710409141,680,661,635,878.710409141,787,803.289590859,652,631,652.710409141,0.400981918022,0.00449081629034,0.0798426605206,0.999999956288,0.00010733554483,-0.000271229318277,4.83570303563e-05,1793239813236082432
+403,6.716666667,POSE2_TO_POSE3_RETREAT,766,745,714.134879333,680,661,635,878.134879333,787,803.865120667,652,631,652.134879333,0.400980383529,0.0044919459781,0.0798419535543,0.999999955669,0.00010967164323,-0.000272595502528,4.82278725491e-05,1793239813252749056
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,714.437937587,680,661,635,878,787,803.562062413,652,631,652.437937587,0.400978922649,0.00449181667301,0.0798414479093,0.999999955514,0.000109018440537,-0.000273418549669,4.82526828926e-05,1793239813269415936
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,878.010322144,787,803.010322144,652,631,652.989677856,0.400977544964,0.00449131249374,0.0798410404161,0.999999955515,0.00010749866981,-0.000274007586383,4.8319262171e-05,1793239813286082816
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,878.605251525,787,803.605251525,652,631,652.394748475,0.40097960293,0.00449140258193,0.0798427017897,0.999999956279,0.000108721865601,-0.000270758908717,4.80823057378e-05,1793239813302749184
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,714.805788526,680,661,635,879,787,804,652,631,652,0.400980414767,0.00449101628438,0.0798433162868,0.999999956598,0.000109044477646,-0.000269477918417,4.78958989129e-05,1793239813319415552
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,714.228600085,680,661,635,879,787,804,652,631,652,0.40097876929,0.00448969057389,0.0798418663869,0.999999956056,0.00010759117585,-0.000272077126147,4.78091738328e-05,1793239813336082176
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,714.346652841,680,661,635,879,787,804,652,631,652,0.400978935414,0.00449003830024,0.0798423340492,0.999999956236,0.000107715602882,-0.000271377611101,4.77500368271e-05,1793239813352748800
+410,6.833333333,POSE2_TO_POSE3_RETREAT,766,745,714.920636458,680,661,635,879,787,804,652,631,652,0.400980289565,0.00449148344643,0.0798440592257,0.999999956885,0.000108874685619,-0.000268514833115,4.77089917531e-05,1793239813369415424
+411,6.850000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,804,652,631,652.496571279,0.40097992457,0.00449157745562,0.0798439682615,0.999999956803,0.000107325246961,-0.00026945410506,4.76355926153e-05,1793239813386082048
+412,6.866666667,POSE2_TO_POSE3_RETREAT,766,745.074745905,714.925254095,680,661,635,879,787,803.925254095,652,631,652.925254095,0.400979208745,0.00449157988354,0.0798434532132,0.999999956526,0.000105951421457,-0.00027103719931,4.75499831688e-05,1793239813402748928
+413,6.883333333,POSE2_TO_POSE3_RETREAT,766,745.666240507,714.333759493,680,661,635,879,787,803.333759493,652,631,652.333759493,0.400977974504,0.00449244796285,0.0798420209086,0.999999955733,0.000108796191038,-0.000272853758037,4.74158486798e-05,1793239813419415552
+414,6.900000000,POSE2_TO_POSE3_RETREAT,766,746,714.251168305,680,661,635,879,787,803.251168305,652,631,652,0.400978125016,0.00449263757494,0.0798418996641,0.999999955715,0.000109653083349,-0.000272545804965,4.75838616048e-05,1793239813436082176
+415,6.916666667,POSE2_TO_POSE3_RETREAT,766,746,714.827592363,680,661,635,879,787,803.827592363,652,631,652,0.400980068744,0.00449194859157,0.0798434762047,0.999999956705,0.000107935731986,-0.00026948667028,4.81431467491e-05,1793239813452749056
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.61033072,745.61033072,715,680,661,635,879,787,804,652,631,652.38966928,0.400980132912,0.00449060051507,0.0798437012088,0.99999995688,0.000107186721389,-0.000269119165772,4.82198491236e-05,1793239813469415680
+417,6.950000000,POSE2_TO_POSE3_RETREAT,765.054376252,745.054376252,715,680,661,635,879,787,804,652,631,652.945623748,0.400979395008,0.00448897118108,0.0798433494662,0.999999956712,0.000106850934964,-0.000269900271953,4.80906169189e-05,1793239813486082304
+418,6.966666667,POSE2_TO_POSE3_RETREAT,765.551787081,745,715,680.551787081,661,635,879,787,803.448212919,652,631,653,0.400978848456,0.00449085162729,0.0798430451701,0.99999995672,0.000106502135598,-0.000270110229806,4.75190707528e-05,1793239813502749184
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38c793a72badc2e42d6b7ce14df9cfc2e9f537ec
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/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,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+1,0.016666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+2,0.033333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+3,0.050000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+4,0.066666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+5,0.083333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+6,0.100000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+7,0.116666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+8,0.133333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+9,0.150000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+10,0.166666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+11,0.183333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+12,0.200000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+13,0.216666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+14,0.233333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+15,0.250000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+16,0.266666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+17,0.283333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+18,0.300000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+19,0.316666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+20,0.333333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+21,0.350000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+22,0.366666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+23,0.383333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+24,0.400000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+25,0.416666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+26,0.433333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+27,0.450000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+28,0.466666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+29,0.483333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+30,0.500000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+31,0.516666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+32,0.533333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+33,0.550000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+34,0.566666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+35,0.583333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+36,0.600000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+37,0.616666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+38,0.633333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+39,0.650000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+40,0.666666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+41,0.683333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+42,0.700000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+43,0.716666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+44,0.733333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+45,0.750000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+46,0.766666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+47,0.783333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+48,0.800000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+49,0.816666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+50,0.833333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+51,0.850000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+52,0.866666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+53,0.883333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+54,0.900000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+55,0.916666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+56,0.933333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+57,0.950000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+58,0.966666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+59,0.983333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+60,1.000000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+61,1.016666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+62,1.033333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+63,1.050000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+64,1.066666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+65,1.083333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+66,1.100000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+67,1.116666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+68,1.133333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+69,1.150000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+70,1.166666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+71,1.183333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+72,1.200000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+73,1.216666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+74,1.233333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+75,1.250000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+76,1.266666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+77,1.283333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+78,1.300000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+79,1.316666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+80,1.333333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+81,1.350000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+82,1.366666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+83,1.383333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+84,1.400000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+85,1.416666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+86,1.433333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+87,1.450000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+88,1.466666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+89,1.483333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+90,1.500000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+91,1.516666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+92,1.533333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+93,1.550000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+94,1.566666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+95,1.583333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+96,1.600000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+97,1.616666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+98,1.633333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+99,1.650000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+100,1.666666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+101,1.683333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+102,1.700000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+103,1.716666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+104,1.733333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+105,1.750000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+106,1.766666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+107,1.783333333,pose1_to_pose2_press,0.57566445623,0.0100907823659,1.07003220599,0.546234906544,0.0187625177256,1.06970034009
+108,1.800000000,pose1_to_pose2_press,0.575664443952,0.0100907933197,1.07003212854,0.546234894025,0.0187625281476,1.06970027016
+109,1.816666667,pose1_to_pose2_press,0.575664436271,0.0100908001726,1.07003208008,0.546234886193,0.0187625346679,1.06970022642
+110,1.833333333,pose1_to_pose2_press,0.575664431405,0.0100908045148,1.07003204938,0.546234881231,0.0187625387993,1.0697001987
+111,1.850000000,pose1_to_pose2_press,0.575664530417,0.0100908072555,1.07003211242,0.546234980377,0.018762541982,1.06970026142
+112,1.866666667,pose1_to_pose2_press,0.575664865974,0.0100907995587,1.07003243082,0.546235316726,0.0187625365005,1.06970056746
+113,1.883333333,pose1_to_pose2_press,0.575665451592,0.0100907500999,1.07003248951,0.546235903414,0.0187624905319,1.06970062236
+114,1.900000000,pose1_to_pose2_press,0.575667179841,0.0100907656827,1.07003226833,0.54623763162,0.0187625062139,1.06970040774
+115,1.916666667,pose1_to_pose2_press,0.575671906093,0.010090919173,1.07003228733,0.546242355718,0.0187626522376,1.0697004226
+116,1.933333333,pose1_to_pose2_press,0.575682982751,0.0100908762848,1.07003248084,0.546253434501,0.0187626162351,1.06970060747
+117,1.950000000,pose1_to_pose2_press,0.575702447915,0.0100908578284,1.0700322751,0.546272898792,0.0187625953899,1.06970041667
+118,1.966666667,pose1_to_pose2_press,0.575733795858,0.0100907651598,1.07003225901,0.546304247577,0.018762505084,1.06970038756
+119,1.983333333,pose1_to_pose2_press,0.575775984433,0.0100908898211,1.07003240926,0.546346432944,0.0187626188974,1.06970053876
+120,2.000000000,pose1_to_pose2_press,0.57582883819,0.0100908397969,1.07003244877,0.546399288616,0.0187625751376,1.06970057208
+121,2.016666667,pose1_to_pose2_press,0.575889798883,0.0100907944906,1.07003236464,0.546460249305,0.0187625301483,1.06970049657
+122,2.033333333,pose1_to_pose2_press,0.575958324147,0.0100907781971,1.07003254717,0.546528776208,0.0187625193911,1.06970067829
+123,2.050000000,pose1_to_pose2_press,0.576034654041,0.0100908256314,1.07003239058,0.546605105741,0.0187625655505,1.06970052037
+124,2.066666667,pose1_to_pose2_press,0.576119558751,0.0100907858243,1.07003233795,0.546690009963,0.0187625241494,1.0697004693
+125,2.083333333,pose1_to_pose2_press,0.576218377465,0.0100907942708,1.07003249589,0.546788829121,0.018762534104,1.06970062721
+126,2.100000000,pose1_to_pose2_press,0.576331623187,0.0100907487174,1.07003235976,0.546902076044,0.0187624926251,1.06970049101
+127,2.116666667,pose1_to_pose2_press,0.576461642306,0.0100907751454,1.07003230642,0.547032094639,0.0187625170535,1.06970043191
+128,2.133333333,pose1_to_pose2_press,0.576607191212,0.0100908431056,1.07003228238,0.547177641504,0.0187625782353,1.06970041171
+129,2.150000000,pose1_to_pose2_press,0.576768682246,0.0100908309532,1.07003220184,0.547339132221,0.0187625652075,1.06970033631
+130,2.166666667,pose1_to_pose2_press,0.576942844065,0.0100907726303,1.07003230693,0.547513295459,0.01876251159,1.06970043845
+131,2.183333333,pose1_to_pose2_press,0.57712958628,0.0100907599433,1.07003246341,0.547700037707,0.018762498997,1.06970059436
+132,2.200000000,pose1_to_pose2_press,0.577332077615,0.0100908512006,1.07003244923,0.547902527172,0.0187625836879,1.06970057444
+133,2.216666667,pose1_to_pose2_press,0.577552474999,0.0100908493359,1.07003216745,0.548122925002,0.0187625839427,1.0697003084
+134,2.233333333,pose1_to_pose2_press,0.57779700959,0.0100907043797,1.0700320738,0.548367461027,0.018762443768,1.06970021252
+135,2.250000000,pose1_to_pose2_press,0.578064515788,0.0100907389038,1.07003202806,0.548634966694,0.0187624767932,1.06970017462
+136,2.266666667,pose1_to_pose2_press,0.578354344499,0.0100908489599,1.07003214205,0.548924795397,0.0187625867377,1.06970028635
+137,2.283333333,pose1_to_pose2_press,0.578670098373,0.0100909037028,1.07003229913,0.54924054918,0.018762640803,1.06970043372
+138,2.300000000,pose1_to_pose2_press,0.579007704769,0.0100908819074,1.07003242514,0.549578154684,0.0187626159362,1.06970055843
+139,2.316666667,pose1_to_pose2_press,0.579360955137,0.0100907793969,1.07003239154,0.549931406225,0.0187625172696,1.06970052128
+140,2.333333333,pose1_to_pose2_press,0.579735166817,0.0100907430839,1.07003236673,0.550305618612,0.0187624831556,1.06970049114
+141,2.350000000,pose1_to_pose2_press,0.580135677723,0.0100907608226,1.07003238353,0.550706128952,0.0187624988449,1.06970050457
+142,2.366666667,pose1_to_pose2_press,0.580554328422,0.010090759523,1.07003230198,0.551124779682,0.0187624979413,1.06970043051
+143,2.383333333,pose1_to_pose2_press,0.580991375889,0.0100907249103,1.07003218915,0.551561827477,0.0187624648408,1.06970032803
+144,2.400000000,pose1_to_pose2_press,0.581450408408,0.0100907146467,1.07003223371,0.552020859495,0.0187624527666,1.06970036966
+145,2.416666667,pose1_to_pose2_press,0.581928117596,0.010090741317,1.07003231729,0.552498568797,0.0187624795887,1.06970044704
+146,2.433333333,pose1_to_pose2_press,0.582425949538,0.0100907023857,1.07003226349,0.552996401529,0.0187624434756,1.06970039684
+147,2.450000000,pose1_to_pose2_press,0.582955345175,0.010090928843,1.07003261659,0.553525795091,0.018762662449,1.06970073825
+148,2.466666667,pose1_to_pose2_press,0.583522465692,0.0100909147107,1.07003254007,0.554092916339,0.0187626513324,1.0697006757
+149,2.483333333,pose1_to_pose2_press,0.584110902715,0.0100907653865,1.07003231497,0.5546813544,0.0187625055509,1.06970045106
+150,2.500000000,pose1_to_pose2_press,0.584715618033,0.0100908095222,1.07003220061,0.555286068788,0.0187625464818,1.06970033541
+151,2.516666667,pose1_to_pose2_press,0.585329024525,0.0100907562824,1.07003250108,0.555899476823,0.0187624979017,1.06970062071
+152,2.533333333,pose1_to_pose2_press,0.585946761947,0.0100907347894,1.07003224413,0.556517215059,0.0187624797173,1.069700378
+153,2.550000000,pose1_to_pose2_press,0.586570613783,0.0100908783884,1.07003251692,0.557141064242,0.0187626140653,1.06970064423
+154,2.566666667,pose1_to_pose2_press,0.587220761271,0.0100908805719,1.0700323155,0.557791211148,0.0187626145068,1.06970044901
+155,2.583333333,pose1_to_pose2_press,0.587900895043,0.0100908584744,1.07003229406,0.558471345207,0.018762593277,1.06970042461
+156,2.600000000,pose1_to_pose2_press,0.588601187577,0.0100907679661,1.07003228415,0.559171638726,0.0187625060185,1.06970041234
+157,2.616666667,pose1_to_pose2_press,0.589315902677,0.0100906772147,1.07003228924,0.559886355238,0.0187624201315,1.06970041926
+158,2.633333333,pose1_to_pose2_press,0.590043910695,0.010090681734,1.07003228828,0.560614363489,0.0187624254586,1.06970041871
+159,2.650000000,pose1_to_pose2_press,0.590782555348,0.0100907574462,1.0700323165,0.561353007167,0.0187624978907,1.0697004478
+160,2.666666667,pose1_to_pose2_press,0.591533353604,0.010090758116,1.07003238891,0.562103805464,0.0187624989279,1.06970052609
+161,2.683333333,pose1_to_pose2_press,0.592299739613,0.0100907390085,1.07003234493,0.562870191816,0.0187624810423,1.06970048365
+162,2.700000000,pose1_to_pose2_press,0.593078392464,0.0100909287244,1.07003240165,0.563648842457,0.0187626627398,1.06970052684
+163,2.716666667,pose1_to_pose2_press,0.593867136415,0.0100907974432,1.07003219887,0.564437586628,0.0187625323768,1.06970032849
+164,2.733333333,pose1_to_pose2_press,0.594660414293,0.0100907518782,1.07003256755,0.565230865764,0.0187624909324,1.06970069334
+165,2.750000000,pose1_to_pose2_press,0.595453758403,0.0100907195008,1.07003229983,0.566024209736,0.0187624584868,1.06970043615
+166,2.766666667,pose1_to_pose2_press,0.596245143665,0.010090710766,1.07003221569,0.566815595431,0.0187624510864,1.06970034848
+167,2.783333333,pose1_to_pose2_press,0.597031035854,0.0100907476167,1.07003237119,0.567601485881,0.018762481677,1.06970049464
+168,2.800000000,pose1_to_pose2_press,0.597823947857,0.0100908683325,1.07003223821,0.568394396071,0.0187625965645,1.06970037019
+169,2.816666667,pose1_to_pose2_press,0.598620139238,0.0100908547088,1.07003230664,0.569190588575,0.0187625867005,1.06970043731
+170,2.833333333,pose1_to_pose2_press,0.599402248232,0.0100908036438,1.07003230557,0.56997269962,0.0187625428533,1.06970044299
+171,2.850000000,pose1_to_pose2_press,0.600191023169,0.0100907601495,1.0700324812,0.57076147462,0.0187624993982,1.06970061414
+172,2.866666667,pose1_to_pose2_press,0.601001456353,0.0100907575813,1.07003243911,0.571571907142,0.018762494527,1.06970057062
+173,2.883333333,pose1_to_pose2_press,0.601811752924,0.0100907258342,1.07003227231,0.572382204223,0.0187624645238,1.06970040426
+174,2.900000000,pose1_to_pose2_press,0.602624270432,0.0100906939136,1.07003227446,0.57319472267,0.0187624358175,1.06970040715
+175,2.916666667,pose1_to_pose2_press,0.603439777527,0.0100908257499,1.07003226686,0.574010228506,0.0187625635242,1.06970040339
+176,2.933333333,pose1_to_pose2_press,0.604242899126,0.0100909124872,1.07003228039,0.574813349109,0.0187626466525,1.06970041104
+177,2.950000000,pose1_to_pose2_press,0.605016536331,0.0100908576334,1.07003227483,0.575586986636,0.018762592747,1.06970040173
+178,2.966666667,pose1_to_pose2_press,0.605771187872,0.0100908841108,1.07003211522,0.576341637335,0.0187626167373,1.06970025183
+179,2.983333333,pose1_to_pose2_press,0.606512823735,0.0100908528849,1.07003220267,0.577083274386,0.0187625894671,1.06970033741
+180,3.000000000,pose1_to_pose2_press,0.607248872696,0.0100908641544,1.07003220201,0.577819323796,0.0187626022403,1.0697003363
+181,3.016666667,pose1_to_pose2_press,0.607979936129,0.0100907802992,1.07003227046,0.578550388,0.0187625207501,1.06970039828
+182,3.033333333,pose1_to_pose2_press,0.608705644228,0.0100907275025,1.07003259781,0.579276097628,0.0187624731436,1.06970072579
+183,3.050000000,pose1_to_pose2_press,0.609414026086,0.0100908375866,1.07003244922,0.579984478574,0.0187625803796,1.06970058377
+184,3.066666667,pose1_to_pose2_press,0.610095678019,0.0100908730149,1.07003220687,0.580666128473,0.0187626090455,1.06970034516
+185,3.083333333,pose1_to_pose2_press,0.610747064932,0.0100908658467,1.07003216867,0.581317516087,0.0187626044394,1.06970031184
+186,3.100000000,pose1_to_pose2_press,0.611366163268,0.0100907858087,1.07003221071,0.581936614364,0.0187625238448,1.06970034458
+187,3.116666667,pose1_to_pose2_press,0.611955126827,0.0100907628378,1.07003222828,0.582525577533,0.0187624993894,1.06970035805
+188,3.133333333,pose1_to_pose2_press,0.612521700789,0.0100907423808,1.07003221298,0.58309215215,0.0187624812786,1.06970034637
+189,3.150000000,pose1_to_pose2_press,0.613079916898,0.0100906915243,1.07003220092,0.583650369441,0.0187624345433,1.06970033754
+190,3.166666667,pose1_to_pose2_press,0.613639017642,0.0100906448267,1.0700321642,0.584209470783,0.018762389951,1.06970030243
+191,3.183333333,pose1_to_pose2_press,0.61420110061,0.0100906788619,1.07003207341,0.584771553635,0.0187624240093,1.06970022052
+192,3.200000000,pose1_to_pose2_press,0.614752631792,0.0100907939498,1.07003230014,0.585323082558,0.0187625310605,1.06970043565
+193,3.216666667,pose1_to_pose2_press,0.615286085346,0.0100906917374,1.07003219784,0.58585653734,0.0187624333415,1.06970033979
+194,3.233333333,pose1_to_pose2_press,0.615784581501,0.0100907638904,1.07003245412,0.586355030094,0.0187624936051,1.06970058485
+195,3.250000000,pose1_to_pose2_press,0.616250537976,0.0100907962327,1.07003239081,0.586820989929,0.0187625371473,1.06970051232
+196,3.266666667,pose1_to_pose2_press,0.616685595467,0.010090798677,1.07003235532,0.587256046463,0.0187625367761,1.06970048322
+197,3.283333333,pose1_to_pose2_press,0.617103566123,0.0100907525342,1.07003212113,0.587674017767,0.0187624935605,1.06970026244
+198,3.300000000,pose1_to_pose2_press,0.617507576942,0.0100906046942,1.07003223137,0.58807803116,0.0187623545078,1.06970036778
+199,3.316666667,pose1_to_pose2_press,0.617894619347,0.0100906969367,1.07003224235,0.588465072626,0.0187624437975,1.069700379
+200,3.333333333,pose1_to_pose2_press,0.618263080576,0.0100907626223,1.07003213035,0.588833532391,0.0187625047989,1.06970026834
+201,3.350000000,pose1_to_pose2_press,0.618608175709,0.0100907134929,1.07003231577,0.589178628066,0.0187624575146,1.06970044736
+202,3.366666667,pose1_to_pose2_press,0.618928459708,0.0100907439609,1.0700324654,0.589498910993,0.0187624845084,1.06970059355
+203,3.383333333,pose1_to_pose2_press,0.619220994504,0.0100908097301,1.07003224858,0.58979144353,0.0187625430295,1.06970038076
+204,3.400000000,pose1_to_pose2_press,0.619493564823,0.0100907753642,1.07003234961,0.590064016487,0.0187625176658,1.06970048279
+205,3.416666667,pose1_to_pose2_press,0.619747242471,0.0100906531227,1.0700324334,0.590317695454,0.0187624002085,1.06970057016
+206,3.433333333,pose1_to_pose2_press,0.619984407057,0.0100907877324,1.07003221097,0.590554858247,0.0187625289989,1.06970034974
+207,3.450000000,pose1_to_pose2_press,0.620207152641,0.0100907881913,1.07003221239,0.59077760248,0.0187625248153,1.06970034576
+208,3.466666667,pose1_to_pose2_press,0.62041555132,0.0100907669972,1.07003220991,0.590986001065,0.0187625035157,1.06970034201
+209,3.483333333,pose1_to_pose2_press,0.620607925602,0.0100908642045,1.07003221425,0.591178375,0.0187625996659,1.0697003471
+210,3.500000000,pose1_to_pose2_press,0.620782261675,0.0100907681329,1.0700322059,0.591352712029,0.018762507067,1.06970034018
+211,3.516666667,pose1_to_pose2_press,0.62093762798,0.0100908485159,1.07003233878,0.591508077349,0.0187625842187,1.069700472
+212,3.533333333,pose1_to_pose2_press,0.621075069054,0.0100908910392,1.07003232652,0.59164551825,0.0187626263227,1.06970046219
+213,3.550000000,pose1_to_pose2_press,0.62119567839,0.0100908279734,1.07003219152,0.591766128154,0.0187625653048,1.06970032845
+214,3.566666667,pose1_to_pose2_press,0.621303008133,0.0100908919846,1.07003220889,0.591873456829,0.018762625642,1.0697003418
+215,3.583333333,pose1_to_pose2_press,0.621398130434,0.010090831237,1.07003218319,0.591968580667,0.0187625704585,1.06970032326
+216,3.600000000,pose1_to_pose2_press,0.621482473178,0.010090832372,1.0700321705,0.592052923842,0.0187625732559,1.06970031412
+217,3.616666667,pose1_to_pose2_press,0.621556208902,0.0100908037434,1.070032328,0.592126659585,0.0187625439426,1.06970045977
+218,3.633333333,pose1_to_pose2_press,0.621619047418,0.0100908122691,1.07003250049,0.59218949793,0.018762552194,1.06970062054
+219,3.650000000,pose1_to_pose2_press,0.621671711295,0.0100907711323,1.07003250696,0.592242162032,0.0187625116729,1.06970062873
+220,3.666666667,pose1_to_pose2_press,0.621714189881,0.0100908244998,1.07003232326,0.592284640203,0.018762563923,1.06970045063
+221,3.683333333,pose1_to_pose2_press,0.621748546415,0.0100908506711,1.07003232323,0.592318996399,0.0187625893006,1.06970045933
+222,3.700000000,pose1_to_pose2_press,0.621775324842,0.0100908328978,1.07003246784,0.592345775218,0.0187625729152,1.06970060533
+223,3.716666667,pose1_to_pose2_press,0.621796863024,0.0100908086302,1.07003258028,0.592367314321,0.0187625515385,1.06970070798
+224,3.733333333,pose1_to_pose2_press,0.621813479637,0.0100907956246,1.07003250208,0.592383930528,0.0187625369702,1.06970062646
+225,3.750000000,pose1_to_pose2_press,0.621826215112,0.0100908297818,1.07003240997,0.592396666127,0.0187625715767,1.0697005352
+226,3.766666667,pose1_to_pose2_press,0.621835601803,0.0100908694279,1.07003229421,0.592406052422,0.0187626097568,1.06970041825
+227,3.783333333,pose1_to_pose2_press,0.621841997273,0.0100909031072,1.07003216951,0.592412446998,0.0187626401208,1.06970029005
+228,3.800000000,pose1_to_pose2_press,0.621846242572,0.0100908912622,1.07003211162,0.592416691346,0.0187626254087,1.06970024061
+229,3.816666667,pose1_to_pose2_press,0.621848558185,0.0100908787543,1.07003208445,0.592419006377,0.0187626112192,1.06970021995
+230,3.833333333,pose1_to_pose2_press,0.621850278457,0.0100908694622,1.07003206426,0.592420726216,0.0187626006779,1.0697002046
+231,3.850000000,pose1_to_pose2_press,0.621851415132,0.0100908170372,1.07003207077,0.592421864094,0.0187625522729,1.06970020922
+232,3.866666667,pose1_to_pose2_press,0.621851594407,0.0100908079091,1.07003207217,0.592422043587,0.0187625438689,1.06970021022
+233,3.883333333,pose1_to_pose2_press,0.621851647149,0.0100908052237,1.07003207258,0.592422096392,0.0187625413965,1.06970021051
+234,3.900000000,pose1_to_pose2_press,0.621852255337,0.010090774257,1.07003207732,0.592422705318,0.018762512886,1.06970021391
+235,3.916666667,pose1_to_pose2_press,0.621852705058,0.0100907513588,1.07003208083,0.592423155584,0.0187624918041,1.06970021643
+236,3.933333333,pose1_to_pose2_press,0.621852993456,0.0100907366746,1.07003208307,0.592423444332,0.0187624782847,1.06970021804
+237,3.950000000,pose1_to_pose2_press,0.621853646573,0.0100907034203,1.07003208816,0.592424098241,0.018762447668,1.0697002217
+238,3.966666667,pose1_to_pose2_press,0.621854244986,0.0100906729513,1.07003209282,0.59242469738,0.0187624196158,1.06970022504
+239,3.983333333,pose1_to_pose2_press,0.621854387897,0.0100906656748,1.07003209394,0.592424840464,0.0187624129165,1.06970022584
+240,4.000000000,pose1_to_pose2_press,0.62185455621,0.0100906571049,1.07003209525,0.592425008981,0.0187624050263,1.06970022678
+241,4.016666667,pose1_to_pose2_press,0.621854957302,0.0100906366827,1.07003209837,0.592425410559,0.0187623862241,1.06970022903
+242,4.033333333,pose1_to_pose2_press,0.62185535945,0.0100906694521,1.07003214584,0.592425812236,0.0187624173772,1.06970027604
+243,4.050000000,pose1_to_pose2_press,0.621855710036,0.0100907101047,1.07003219727,0.592426162193,0.0187624558852,1.06970032719
+244,4.066666667,pose1_to_pose2_press,0.621856006023,0.010090744426,1.0700322407,0.592426457648,0.0187624883961,1.06970037038
+245,4.083333333,pose1_to_pose2_press,0.621856074599,0.0100907523779,1.07003225076,0.592426526101,0.0187624959285,1.06970038038
+246,4.100000000,pose1_to_pose2_press,0.621856383277,0.010090788171,1.07003229605,0.592426834225,0.0187625298334,1.06970042541
+247,4.116666667,pose1_to_pose2_press,0.621856622519,0.0100908159125,1.07003233115,0.592427073038,0.0187625561115,1.06970046032
+248,4.133333333,pose1_to_pose2_press,0.621856688791,0.0100908235971,1.07003234087,0.59242713919,0.0187625633907,1.06970046999
+249,4.150000000,pose1_to_pose2_press,0.621856788163,0.0100908351199,1.07003235545,0.592427238384,0.0187625743056,1.06970048448
+250,4.166666667,pose1_to_pose2_press,0.621856811682,0.010090837847,1.0700323589,0.592427261861,0.0187625768889,1.06970048792
+251,4.183333333,pose1_to_pose2_press,0.621857172473,0.0100908796829,1.07003241184,0.592427622004,0.0187626165179,1.06970054055
+252,4.200000000,pose1_to_pose2_press,0.621857721515,0.0100909279514,1.07003247189,0.592428170428,0.018762662673,1.06970060024
+253,4.216666667,pose1_to_pose2_press,0.621858312079,0.0100909320748,1.07003247286,0.592428761464,0.0187626683884,1.06970060108
+254,4.233333333,pose1_to_pose2_press,0.621858909702,0.0100909065516,1.07003247263,0.59242935926,0.0187626434729,1.06970060148
+255,4.250000000,pose1_to_pose2_press,0.621859305651,0.0100907771422,1.07003220843,0.592429756269,0.0187625178178,1.06970034144
+256,4.266666667,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.59242975627,0.0187625178202,1.06970034144
+257,4.283333333,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.59242975627,0.0187625178203,1.06970034144
+258,4.300000000,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756268,0.0187625178221,1.06970034144
+259,4.316666667,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756269,0.0187625178209,1.06970034144
+260,4.333333333,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756269,0.018762517821,1.06970034144
+261,4.350000000,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756268,0.0187625178221,1.06970034144
+262,4.366666667,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756269,0.0187625178214,1.06970034144
+263,4.383333333,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756268,0.0187625178221,1.06970034144
+264,4.400000000,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756269,0.0187625178216,1.06970034144
+265,4.416666667,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756269,0.0187625178217,1.06970034144
+266,4.433333333,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756269,0.0187625178218,1.06970034144
+267,4.450000000,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756268,0.0187625178229,1.06970034144
+268,4.466666667,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756268,0.0187625178222,1.06970034144
+269,4.483333333,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756268,0.0187625178227,1.06970034144
+270,4.500000000,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756268,0.0187625178227,1.06970034144
+271,4.516666667,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756268,0.0187625178233,1.06970034144
+272,4.533333333,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756268,0.0187625178228,1.06970034144
+273,4.550000000,pose2_hold,0.621859305651,0.0100907771422,1.07003220843,0.592429756268,0.0187625178228,1.06970034144
+274,4.566666667,pose2_to_pose3_retreat,0.621859305651,0.0100907771422,1.07003220843,0.592429756268,0.0187625178233,1.06970034144
+275,4.583333333,pose2_to_pose3_retreat,0.621859308616,0.0100908784079,1.07003238301,0.592429758231,0.0187626152018,1.06970050315
+276,4.600000000,pose2_to_pose3_retreat,0.621859093022,0.0100908323676,1.07003224299,0.592429543223,0.0187625714676,1.06970037131
+277,4.616666667,pose2_to_pose3_retreat,0.621858762116,0.0100907808725,1.07003209399,0.592429212774,0.0187625219082,1.06970023228
+278,4.633333333,pose2_to_pose3_retreat,0.621858636978,0.0100907917639,1.0700321204,0.592429087274,0.0187625315615,1.06970025846
+279,4.650000000,pose2_to_pose3_retreat,0.621858468166,0.0100908064563,1.07003215601,0.592428917975,0.0187625445836,1.06970029378
+280,4.666666667,pose2_to_pose3_retreat,0.621858021777,0.0100908453076,1.07003225019,0.592428470296,0.0187625790182,1.06970038716
+281,4.683333333,pose2_to_pose3_retreat,0.62185639701,0.0100908042296,1.07003217177,0.592426845642,0.0187625383899,1.06970031053
+282,4.700000000,pose2_to_pose3_retreat,0.621852001162,0.0100908432413,1.07003217452,0.592422449867,0.0187625774506,1.0697003077
+283,4.716666667,pose2_to_pose3_retreat,0.621841552856,0.010090755585,1.07003238868,0.592412004079,0.0187624978331,1.06970050837
+284,4.733333333,pose2_to_pose3_retreat,0.621822767752,0.0100907427302,1.07003233902,0.592393217621,0.0187624807664,1.06970046938
+285,4.750000000,pose2_to_pose3_retreat,0.621792208327,0.0100907782622,1.07003244049,0.592362659094,0.0187625196241,1.0697005752
+286,4.766666667,pose2_to_pose3_retreat,0.621749989383,0.010090791216,1.07003253656,0.592320440779,0.0187625344583,1.06970066743
+287,4.783333333,pose2_to_pose3_retreat,0.621695869603,0.0100907276967,1.07003235225,0.592266319509,0.0187624656787,1.06970048052
+288,4.800000000,pose2_to_pose3_retreat,0.62163265346,0.0100908074179,1.07003234193,0.592203103916,0.0187625470212,1.06970047287
+289,4.816666667,pose2_to_pose3_retreat,0.621561387725,0.0100909457614,1.07003237581,0.592131837839,0.01876268446,1.0697005141
+290,4.833333333,pose2_to_pose3_retreat,0.621481814586,0.0100910161224,1.0700323888,0.592052262837,0.0187627484141,1.06970052349
+291,4.850000000,pose2_to_pose3_retreat,0.621393508558,0.0100909785734,1.07003228857,0.591963956543,0.018762709905,1.06970042224
+292,4.866666667,pose2_to_pose3_retreat,0.621294107215,0.0100909411396,1.07003225168,0.591864555426,0.0187626731542,1.0697003852
+293,4.883333333,pose2_to_pose3_retreat,0.621181808789,0.0100908218932,1.07003234464,0.591752259754,0.0187625629064,1.06970047223
+294,4.900000000,pose2_to_pose3_retreat,0.621052404823,0.010090804131,1.07003222083,0.591622854998,0.0187625425341,1.06970035301
+295,4.916666667,pose2_to_pose3_retreat,0.620906698417,0.0100907785169,1.07003216275,0.591477150519,0.0187625238233,1.06970030805
+296,4.933333333,pose2_to_pose3_retreat,0.620744173457,0.0100906378941,1.07003231813,0.591314626315,0.0187623850499,1.06970044885
+297,4.950000000,pose2_to_pose3_retreat,0.6205621726,0.0100907482849,1.07003243474,0.591132623605,0.0187624889147,1.06970056296
+298,4.966666667,pose2_to_pose3_retreat,0.620361519347,0.0100907321193,1.07003239123,0.590931969992,0.0187624714253,1.0697005217
+299,4.983333333,pose2_to_pose3_retreat,0.620142140947,0.0100907967468,1.07003233693,0.590712591403,0.0187625352747,1.06970046884
+300,5.000000000,pose2_to_pose3_retreat,0.619902772531,0.0100908310571,1.07003233507,0.590473223471,0.0187625710492,1.06970046722
+301,5.016666667,pose2_to_pose3_retreat,0.61964006037,0.0100907907184,1.07003233195,0.590210511125,0.0187625299814,1.06970046574
+302,5.033333333,pose2_to_pose3_retreat,0.619360974914,0.0100908812699,1.07003237597,0.589931423075,0.0187626116093,1.06970051056
+303,5.050000000,pose2_to_pose3_retreat,0.619067494557,0.0100908368199,1.07003253279,0.589637943837,0.0187625703816,1.0697006602
+304,5.066666667,pose2_to_pose3_retreat,0.618752899942,0.0100907804534,1.07003207996,0.589323351816,0.0187625231488,1.06970021911
+305,5.083333333,pose2_to_pose3_retreat,0.618418296626,0.0100908388123,1.0700321591,0.58898874736,0.0187625774213,1.06970030112
+306,5.100000000,pose2_to_pose3_retreat,0.618061224405,0.0100908132963,1.07003220014,0.588631675564,0.0187625529244,1.06970033602
+307,5.116666667,pose2_to_pose3_retreat,0.617676852675,0.0100907706823,1.07003229835,0.588247304099,0.0187625108436,1.06970042902
+308,5.133333333,pose2_to_pose3_retreat,0.617261475975,0.0100907505262,1.07003234747,0.587831928296,0.0187624935086,1.06970047712
+309,5.150000000,pose2_to_pose3_retreat,0.616840889165,0.0100907505669,1.07003238338,0.587411341569,0.0187624936896,1.06970051631
+310,5.166666667,pose2_to_pose3_retreat,0.61642127283,0.010090806657,1.07003230591,0.586991723509,0.0187625438384,1.06970044437
+311,5.183333333,pose2_to_pose3_retreat,0.615959076762,0.010090948405,1.07003196211,0.586529525219,0.0187626779528,1.06970010417
+312,5.200000000,pose2_to_pose3_retreat,0.61546151981,0.0100908504557,1.07003220288,0.586031969888,0.018762584832,1.06970033498
+313,5.216666667,pose2_to_pose3_retreat,0.614947786751,0.0100908219435,1.0700320757,0.585518237982,0.0187625602261,1.06970021474
+314,5.233333333,pose2_to_pose3_retreat,0.614394341258,0.0100907305755,1.07003219512,0.584964793364,0.018762471308,1.06970032875
+315,5.250000000,pose2_to_pose3_retreat,0.613793522875,0.0100906582857,1.0700323902,0.584363975952,0.0187624020587,1.06970052541
+316,5.266666667,pose2_to_pose3_retreat,0.613186390344,0.0100907011387,1.07003244325,0.583756844101,0.0187624478688,1.06970057738
+317,5.283333333,pose2_to_pose3_retreat,0.612571167311,0.0100907166845,1.07003232129,0.583141620476,0.0187624613741,1.0697004478
+318,5.300000000,pose2_to_pose3_retreat,0.611937201613,0.010090707157,1.07003221586,0.582507654096,0.0187624497638,1.06970034753
+319,5.316666667,pose2_to_pose3_retreat,0.611294139233,0.0100907378573,1.07003238617,0.581864591716,0.0187624804856,1.06970051779
+320,5.333333333,pose2_to_pose3_retreat,0.610646764371,0.0100908241716,1.07003256044,0.581217216478,0.0187625653317,1.06970068722
+321,5.350000000,pose2_to_pose3_retreat,0.609993867578,0.0100908945774,1.07003240959,0.580564318487,0.0187626318815,1.06970054177
+322,5.366666667,pose2_to_pose3_retreat,0.60933131374,0.0100908369999,1.07003220821,0.579901764562,0.0187625741396,1.06970034222
+323,5.383333333,pose2_to_pose3_retreat,0.608641930005,0.0100907270505,1.07003217803,0.579212382137,0.018762468793,1.06970031842
+324,5.400000000,pose2_to_pose3_retreat,0.607923122481,0.0100908743716,1.07003239466,0.57849357346,0.0187626120471,1.06970053183
+325,5.416666667,pose2_to_pose3_retreat,0.607169833445,0.0100908060035,1.07003226594,0.57774028485,0.0187625449926,1.0697003992
+326,5.433333333,pose2_to_pose3_retreat,0.606385040241,0.0100906393375,1.07003221675,0.5769554942,0.0187623869792,1.06970034968
+327,5.450000000,pose2_to_pose3_retreat,0.605566896808,0.0100907097285,1.07003229684,0.576137348664,0.0187624501823,1.06970042942
+328,5.466666667,pose2_to_pose3_retreat,0.604747316452,0.0100908574476,1.07003240394,0.575317768131,0.0187625973584,1.06970053792
+329,5.483333333,pose2_to_pose3_retreat,0.603932048533,0.0100908393138,1.07003232588,0.574502500511,0.0187625801635,1.06970045742
+330,5.500000000,pose2_to_pose3_retreat,0.603125066269,0.0100908333256,1.07003235247,0.573695517344,0.0187625709501,1.06970047982
+331,5.516666667,pose2_to_pose3_retreat,0.60232797612,0.0100908401654,1.07003236213,0.572898426972,0.0187625772057,1.06970049407
+332,5.533333333,pose2_to_pose3_retreat,0.60153786075,0.0100907648167,1.07003221463,0.572108312029,0.0187625035486,1.06970035315
+333,5.550000000,pose2_to_pose3_retreat,0.600731305917,0.0100907604739,1.07003234155,0.571301757311,0.0187624992236,1.06970047062
+334,5.566666667,pose2_to_pose3_retreat,0.599903598343,0.0100907705192,1.07003233445,0.570474052156,0.0187625175786,1.06970046495
+335,5.583333333,pose2_to_pose3_retreat,0.599052297342,0.0100907491649,1.07003225273,0.56962274932,0.0187624896749,1.06970037655
+336,5.600000000,pose2_to_pose3_retreat,0.598189308066,0.0100908513207,1.07003214681,0.568759759612,0.0187625903108,1.06970026738
+337,5.616666667,pose2_to_pose3_retreat,0.597337539528,0.010090836435,1.07003230542,0.5679079916,0.0187625778663,1.06970044275
+338,5.633333333,pose2_to_pose3_retreat,0.596506983564,0.0100907185193,1.07003232845,0.567077435701,0.0187624599416,1.06970046171
+339,5.650000000,pose2_to_pose3_retreat,0.595704158097,0.0100907985618,1.0700323977,0.566274610103,0.0187625397213,1.06970053563
+340,5.666666667,pose2_to_pose3_retreat,0.594920230555,0.0100908208305,1.07003222821,0.565490681976,0.0187625598572,1.06970036218
+341,5.683333333,pose2_to_pose3_retreat,0.59414605706,0.0100907683407,1.07003202592,0.56471650882,0.0187625086045,1.06970016128
+342,5.700000000,pose2_to_pose3_retreat,0.593360799452,0.0100908053872,1.07003208122,0.56393125083,0.0187625445924,1.06970022175
+343,5.716666667,pose2_to_pose3_retreat,0.592564930695,0.0100908612696,1.07003231022,0.56313538198,0.0187626000731,1.06970044871
+344,5.733333333,pose2_to_pose3_retreat,0.591764125842,0.010090718906,1.07003236467,0.562334579966,0.0187624671257,1.06970049765
+345,5.750000000,pose2_to_pose3_retreat,0.59097043741,0.0100907827405,1.07003244298,0.561540889548,0.0187625241831,1.06970057386
+346,5.766666667,pose2_to_pose3_retreat,0.590187384042,0.0100908055202,1.07003233973,0.560757836157,0.0187625468732,1.06970047175
+347,5.783333333,pose2_to_pose3_retreat,0.589432358325,0.0100907809214,1.07003231724,0.560002809757,0.0187625201009,1.06970045207
+348,5.800000000,pose2_to_pose3_retreat,0.588701550761,0.0100908149315,1.07003233065,0.559272000896,0.018762549652,1.06970046388
+349,5.816666667,pose2_to_pose3_retreat,0.587989157469,0.0100908433379,1.07003223128,0.558559608137,0.0187625797565,1.06970036155
+350,5.833333333,pose2_to_pose3_retreat,0.587294768025,0.010090843583,1.07003240457,0.557865218454,0.0187625792546,1.06970053646
+351,5.850000000,pose2_to_pose3_retreat,0.586617357118,0.010090769962,1.07003237413,0.557187808756,0.0187625097472,1.06970050634
+352,5.866666667,pose2_to_pose3_retreat,0.58595725021,0.0100908086157,1.07003234449,0.556527701644,0.0187625476406,1.06970047542
+353,5.883333333,pose2_to_pose3_retreat,0.585316133015,0.0100907804291,1.07003220928,0.555886584188,0.0187625187282,1.06970034362
+354,5.900000000,pose2_to_pose3_retreat,0.584692008264,0.0100907936346,1.07003224791,0.555262459051,0.0187625305247,1.06970037957
+355,5.916666667,pose2_to_pose3_retreat,0.584088306695,0.0100908767616,1.07003243291,0.554658756969,0.0187626117008,1.06970055962
+356,5.933333333,pose2_to_pose3_retreat,0.583511564915,0.0100908157977,1.07003235419,0.554082015933,0.0187625535587,1.0697004875
+357,5.950000000,pose2_to_pose3_retreat,0.582949094615,0.0100908502821,1.07003246584,0.553519545734,0.0187625881512,1.06970059301
+358,5.966666667,pose2_to_pose3_retreat,0.58239602846,0.0100907061741,1.07003229264,0.552966481194,0.0187624500207,1.06970043284
+359,5.983333333,pose2_to_pose3_retreat,0.58186646134,0.0100906287235,1.07003220823,0.552436913578,0.0187623706129,1.06970034114
+360,6.000000000,pose2_to_pose3_retreat,0.581361913746,0.0100908702126,1.07003231596,0.551932363126,0.0187626025107,1.0697004515
+361,6.016666667,pose2_to_pose3_retreat,0.580882613745,0.0100906817312,1.07003253368,0.551453066378,0.0187624249827,1.069700667
+362,6.033333333,pose2_to_pose3_retreat,0.580432880464,0.0100907535407,1.07003237946,0.551003332855,0.0187624959767,1.06970051305
+363,6.050000000,pose2_to_pose3_retreat,0.580018303747,0.0100908128066,1.07003216978,0.550588754794,0.0187625506185,1.06970030239
+364,6.066666667,pose2_to_pose3_retreat,0.579625117492,0.0100908112294,1.07003230638,0.550195569416,0.0187625519845,1.06970043809
+365,6.083333333,pose2_to_pose3_retreat,0.579250658468,0.0100907725196,1.07003239812,0.549821110834,0.0187625148756,1.06970053209
+366,6.100000000,pose2_to_pose3_retreat,0.578896954953,0.0100907558404,1.0700323233,0.549467406538,0.0187624956088,1.06970045878
+367,6.116666667,pose2_to_pose3_retreat,0.578562626487,0.0100907804258,1.07003229097,0.54913307812,0.0187625203478,1.06970042626
+368,6.133333333,pose2_to_pose3_retreat,0.578248168423,0.0100908174081,1.0700321762,0.54881861995,0.0187625572135,1.06970031784
+369,6.150000000,pose2_to_pose3_retreat,0.577954936185,0.0100909236762,1.07003216954,0.548525386253,0.0187626585753,1.06970031245
+370,6.166666667,pose2_to_pose3_retreat,0.577685200848,0.0100907229929,1.07003223263,0.548255653087,0.0187624647017,1.06970036127
+371,6.183333333,pose2_to_pose3_retreat,0.57743812593,0.0100907308713,1.07003217128,0.548008578591,0.0187624745119,1.06970031291
+372,6.200000000,pose2_to_pose3_retreat,0.577213402876,0.0100906969457,1.07003240729,0.547783856352,0.0187624431197,1.0697005429
+373,6.216666667,pose2_to_pose3_retreat,0.577011617906,0.0100907224111,1.07003206043,0.547582070862,0.0187624670861,1.06970020306
+374,6.233333333,pose2_to_pose3_retreat,0.576829938404,0.0100907410755,1.07003221026,0.547400389938,0.0187624804213,1.06970033964
+375,6.250000000,pose2_to_pose3_retreat,0.576666752008,0.0100907885385,1.07003236692,0.54723720287,0.0187625253996,1.069700491
+376,6.266666667,pose2_to_pose3_retreat,0.576518644662,0.0100908304166,1.07003240605,0.547089095284,0.0187625665232,1.06970053174
+377,6.283333333,pose2_to_pose3_retreat,0.57638544292,0.0100908197764,1.07003249171,0.546955893407,0.0187625553598,1.06970061561
+378,6.300000000,pose2_to_pose3_retreat,0.57626512705,0.0100907935564,1.07003243067,0.546835578706,0.0187625335221,1.06970056557
+379,6.316666667,pose2_to_pose3_retreat,0.576157643613,0.0100907574752,1.07003231689,0.546728095394,0.0187624979164,1.06970045312
+380,6.333333333,pose2_to_pose3_retreat,0.576063355594,0.0100907491695,1.07003231369,0.546633806645,0.0187624871393,1.0697004513
+381,6.350000000,pose2_to_pose3_retreat,0.575981331339,0.0100907217991,1.07003232098,0.546551784846,0.0187624681394,1.0697004591
+382,6.366666667,pose2_to_pose3_retreat,0.575912189587,0.0100907591962,1.07003240859,0.546482642439,0.0187625033864,1.06970054843
+383,6.383333333,pose2_to_pose3_retreat,0.575854168669,0.0100908008186,1.07003225734,0.546424619839,0.0187625390916,1.06970039161
+384,6.400000000,pose2_to_pose3_retreat,0.575806631313,0.0100908623511,1.07003237951,0.546377082373,0.0187626001776,1.06970051186
+385,6.416666667,pose2_to_pose3_retreat,0.575768985833,0.0100908342931,1.07003236693,0.546339436492,0.0187625708021,1.06970050049
+386,6.433333333,pose2_to_pose3_retreat,0.575739637576,0.0100907703822,1.0700323664,0.546310089762,0.0187625123071,1.06970050611
+387,6.450000000,pose2_to_pose3_retreat,0.575717387481,0.0100907335645,1.07003228038,0.546287840252,0.0187624775485,1.06970042198
+388,6.466666667,pose2_to_pose3_retreat,0.575700805042,0.0100907553579,1.07003212802,0.546271256116,0.0187624933568,1.06970026383
+389,6.483333333,pose2_to_pose3_retreat,0.575689368652,0.0100908593347,1.07003232703,0.546259820002,0.0187625981455,1.0697004597
+390,6.500000000,pose2_to_pose3_retreat,0.575681396519,0.0100908495971,1.07003251009,0.546251848833,0.0187625915452,1.06970063937
+391,6.516666667,pose2_to_pose3_retreat,0.575676258884,0.0100907979592,1.07003256715,0.546246711309,0.0187625402035,1.06970069419
+392,6.533333333,pose2_to_pose3_retreat,0.575672606822,0.0100907011665,1.07003250665,0.546243058429,0.0187624405843,1.06970063213
+393,6.550000000,pose2_to_pose3_retreat,0.575670054375,0.0100907073358,1.07003239975,0.546240505704,0.0187624458844,1.0697005271
+394,6.566666667,pose2_to_pose3_retreat,0.575668640667,0.0100907529574,1.07003230361,0.546239092011,0.0187624916572,1.06970043369
+395,6.583333333,pose2_to_pose3_retreat,0.575667589115,0.0100907868919,1.07003223209,0.54623804047,0.018762525704,1.06970036421
+396,6.600000000,pose2_to_pose3_retreat,0.575666709891,0.0100907677264,1.07003220617,0.54623716163,0.0187625079657,1.06970034141
+397,6.616666667,pose2_to_pose3_retreat,0.575666380578,0.0100907558516,1.0700321998,0.546236832499,0.0187624967572,1.06970033636
+398,6.633333333,pose2_to_pose3_retreat,0.575666361944,0.0100907551796,1.07003219944,0.546236813875,0.0187624961229,1.06970033607
+399,6.650000000,pose2_to_pose3_retreat,0.575666356611,0.0100907549873,1.07003219934,0.546236808545,0.0187624959415,1.06970033599
+400,6.666666667,pose2_to_pose3_retreat,0.57566628004,0.0100907522262,1.07003219786,0.546236732016,0.0187624933353,1.06970033482
+401,6.683333333,pose2_to_pose3_retreat,0.575666193442,0.0100907491035,1.07003219619,0.546236645466,0.0187624903878,1.06970033349
+402,6.700000000,pose2_to_pose3_retreat,0.575666062052,0.0100907443657,1.07003219365,0.546236514148,0.0187624859158,1.06970033147
+403,6.716666667,pose2_to_pose3_retreat,0.575665659569,0.0100907298524,1.07003218587,0.546236111887,0.0187624722168,1.0697003253
+404,6.733333333,pose2_to_pose3_retreat,0.575665327131,0.0100907178648,1.07003217944,0.546235779631,0.0187624609018,1.0697003202
+405,6.750000000,pose2_to_pose3_retreat,0.575665165445,0.0100907383732,1.07003217611,0.546235617625,0.0187624803513,1.06970031764
+406,6.766666667,pose2_to_pose3_retreat,0.575665005226,0.010090767296,1.07003217274,0.546235456954,0.0187625077722,1.06970031508
+407,6.783333333,pose2_to_pose3_retreat,0.575665003959,0.0100907675247,1.07003217272,0.546235455684,0.018762507989,1.06970031506
+408,6.800000000,pose2_to_pose3_retreat,0.575664731546,0.0100908167006,1.07003216699,0.546235182503,0.0187625546113,1.0697003107
+409,6.816666667,pose2_to_pose3_retreat,0.575664699622,0.0100908224635,1.07003216632,0.546235150489,0.0187625600749,1.06970031019
+410,6.833333333,pose2_to_pose3_retreat,0.57566457992,0.0100908440721,1.07003216381,0.546235030449,0.0187625805615,1.06970030828
+411,6.850000000,pose2_to_pose3_retreat,0.57566452054,0.0100908486373,1.07003214939,0.546234971057,0.018762585071,1.06970029355
+412,6.866666667,pose2_to_pose3_retreat,0.575664476184,0.0100908452618,1.07003212411,0.546234926862,0.0187625822065,1.06970026735
+413,6.883333333,pose2_to_pose3_retreat,0.575664464097,0.010090844342,1.07003211722,0.546234914819,0.018762581426,1.06970026021
+414,6.900000000,pose2_to_pose3_retreat,0.575664452694,0.0100908434742,1.07003211072,0.546234903457,0.0187625806895,1.06970025348
+415,6.916666667,pose2_to_pose3_retreat,0.575664442499,0.0100908426984,1.07003210491,0.546234893299,0.0187625800311,1.06970024746
+416,6.933333333,pose2_to_pose3_retreat,0.575664394664,0.0100908390582,1.07003207764,0.546234845638,0.0187625769419,1.0697002192
+417,6.950000000,pose2_to_pose3_retreat,0.575664365191,0.0100908156905,1.07003206435,0.546234816353,0.018762554168,1.06970020467
+418,6.966666667,pose2_to_pose3_retreat,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466798,1.06970021941
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e83bbf45ef9d6f26cbc68b0910188a2093c6d9f9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d534a39153b721d77aea040c8bee2a6414e8a1ae33a35f15d14494dfafb43f3
+size 26563188
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..befb9a70725b97bab315e63abaea19702492c302
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/franka_data.csv
@@ -0,0 +1,421 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,766,746,714,680,661,635,878,787,803,652,631,652,0.400980914688,0.00449358403394,0.0798446839596,0.999999956825,0.000111388852353,-0.000267747187841,4.7474324152e-05,1793239813658791680
+1,0.016666667,BASELINE,766,745.425429541,714,680,661,635,878,787,803.574570459,652,631,652,0.400981155235,0.00449342717122,0.0798449632915,0.999999957164,0.000109656385071,-0.000267237035894,4.72485614511e-05,1793239813675458304
+2,0.033333333,BASELINE,766,745,714,680,661.153679992,635,878.153679992,787,804,652,631,652,0.400980991803,0.00449312392375,0.0798449802037,0.99999995735,0.000108134645292,-0.000267187385894,4.71013962825e-05,1793239813692124672
+3,0.050000000,BASELINE,766,745,714,680,661.745737523,635,878.745737523,787,804,652,631,652,0.400979676005,0.00449240310866,0.0798442485543,0.999999957107,0.000107214012667,-0.00026845133366,4.71784332669e-05,1793239813708791296
+4,0.066666667,BASELINE,766,745,714.33023053,680,661.66976947,635.33023053,879,787,804,652,631,652,0.400979549131,0.00449222371396,0.0798440056585,0.99999995699,0.000107772874111,-0.000268663352668,4.71789242979e-05,1793239813725458176
+5,0.083333333,BASELINE,766,745,714.909029592,680,661.090970408,635.909029592,879,787,804,652,631,652,0.400980317174,0.00449245185302,0.0798441306537,0.999999956966,0.000109445368767,-0.000268083572046,4.71217982555e-05,1793239813742125056
+6,0.100000000,BASELINE,766,745.486063414,715,680,661.486063414,635.513936586,879,787,804,652,631,652,0.400980232369,0.00449224055204,0.0798440471608,0.999999956939,0.000109461580702,-0.000268171164728,4.717228943e-05,1793239813758791424
+7,0.116666667,BASELINE,765.936148727,745.936148727,715,680,661.936148727,635,878.936148727,786.936148727,803.936148727,652,631,652,0.400979888863,0.00449205465807,0.0798439262492,0.999999956905,0.000109165080026,-0.000268408321075,4.72224870734e-05,1793239813775458304
+8,0.133333333,BASELINE,765.349491585,745.349491585,715,680,661.349491585,635,878.349491585,786.349491585,803.349491585,652,631,652,0.400978729344,0.00449274776366,0.0798438172925,0.999999956827,0.000108837067502,-0.000268851088953,4.71059631933e-05,1793239813792124928
+9,0.150000000,BASELINE,765.234241901,745,714.765758099,680,661,635,878.234241901,786.234241901,803.234241901,652,631,652,0.400977619966,0.00449298220357,0.0798434898189,0.999999956635,0.000108606694339,-0.000269660335644,4.71033987393e-05,1793239813808791296
+10,0.166666667,BASELINE,765.81366698,745,714.18633302,680,661,635,878.81366698,786.81366698,803.81366698,652,631,652,0.400976584475,0.00449254074522,0.0798428403346,0.999999956271,0.000108520204364,-0.00027100963222,4.72687670044e-05,1793239813825457920
+11,0.183333333,BASELINE,765.608528835,745,714.391471165,680,661,635,879,787,804,652,631,652,0.400977292403,0.00449167947052,0.079843135907,0.999999956541,0.000107560426922,-0.000270363958341,4.7456445096e-05,1793239813842124800
+12,0.200000000,BASELINE,765.031492934,745,714.968507066,680,661,635,879,787,804,652,631,652,0.400978826745,0.00449061919489,0.0798438794541,0.999999957107,0.000106186694695,-0.000268772630853,4.7654698482e-05,1793239813858791424
+13,0.216666667,BASELINE,765,745,714.456059706,680.543940294,661,635,879,787,804,652,631,652.543940294,0.400978671335,0.00449154868101,0.0798435070895,0.999999956768,0.000108559054227,-0.000269130058424,4.74182784667e-05,1793239813875458304
+14,0.233333333,BASELINE,765.121664969,745,714.121664969,681,661,635,878.878335031,787,804.121664969,652,631,653,0.400978593111,0.00449262919869,0.0798432944723,0.999999956467,0.000110712125165,-0.000269407701542,4.72049251197e-05,1793239813892124928
+15,0.250000000,BASELINE,765.708504688,745,714.708504688,681,661,635,878.291495312,787,804.708504688,652,631,653,0.400979182955,0.00449384799862,0.0798439389347,0.999999956537,0.000111199943068,-0.000268950173991,4.71757045468e-05,1793239813908791552
+16,0.266666667,BASELINE,766,745,714.706987554,680.706987554,661.293012446,635,878.293012446,787,804.706987554,652,631.293012446,653,0.400979247961,0.00449384795788,0.0798439670193,0.999999956655,0.000110575867203,-0.000268796682864,4.70322799685e-05,1793239813925458176
+17,0.283333333,BASELINE,766,745,714.124781398,680.124781398,661.875218602,635,878.875218602,787,804.124781398,652,631.875218602,653,0.40097879497,0.00449264496114,0.0798433867591,0.999999956816,0.000108854388493,-0.000268943265782,4.67761397701e-05,1793239813942124800
+18,0.300000000,BASELINE,766,745,714.45155707,680.45155707,661.54844293,635,879,787,804,652,631.54844293,652.54844293,0.400978120837,0.00449238801773,0.0798432719951,0.99999995662,0.000108800906611,-0.000269676320965,4.68714918383e-05,1793239813958791680
+19,0.316666667,BASELINE,766,745,715,680.973287543,661.026712457,635,879,787,804,652,631,652.026712457,0.400977441371,0.00449239253169,0.0798433077261,0.999999956354,0.000109160997968,-0.000270482264987,4.70661285235e-05,1793239813975458304
+20,0.333333333,BASELINE,766,745,715,680.389422516,661.610577484,635,879,787,804,652,631,652.610577484,0.400977908923,0.00449246759491,0.0798438338535,0.999999956669,0.000108656728678,-0.000269471621584,4.73316941932e-05,1793239813992124928
+21,0.350000000,BASELINE,766,745,715,680,661.806527352,635,879,787,804,652,631,652.806527352,0.400978517809,0.00449262493865,0.0798444636336,0.999999956975,0.000108384433262,-0.000268429675517,4.74118209422e-05,1793239814008791552
+22,0.366666667,BASELINE,766,745,715,680,661.225574664,635,879,787,804,652,631,652.225574664,0.400979409755,0.00449294707085,0.0798453010057,0.999999957264,0.000108576726812,-0.000267325037725,4.71205572784e-05,1793239814025458432
+23,0.383333333,BASELINE,766,745,714.647298135,680.352701865,661,635,878.647298135,786.647298135,804,652,631,652.352701865,0.400979014379,0.0044924639943,0.0798444179056,0.999999957273,0.00010741047134,-0.000267777651691,4.70290184525e-05,1793239814042124800
+24,0.400000000,BASELINE,766,745,714.070720231,680.929279769,661,635,878.070720231,786.070720231,804,652,631,652.929279769,0.400977801882,0.00449146981491,0.079842442743,0.9999999571,0.000105381882554,-0.000269218724617,4.70642541069e-05,1793239814058791680
+25,0.416666667,BASELINE,766,745,714.506457496,681,661,635,878.506457496,786.506457496,803.493542504,652,631,653,0.400978491349,0.0044927070642,0.0798433464245,0.999999956942,0.000108506035803,-0.000268582733643,4.69649562362e-05,1793239814075459072
+26,0.433333333,BASELINE,766,745.08533573,714.91466427,680.91466427,661.08533573,635,879,787,803,652,631,652.91466427,0.400979325458,0.00449391957081,0.0798445167682,0.999999956853,0.000111362961706,-0.000267764304264,4.68557102597e-05,1793239814092126208
+27,0.450000000,BASELINE,766,745.673744721,714.326255279,680.326255279,661.673744721,635,879,787,803,652,631,652.326255279,0.400979444724,0.0044931471427,0.0798448864958,0.99999995723,0.000108397799952,-0.000267582208442,4.67986961246e-05,1793239814108792320
+28,0.466666667,BASELINE,766,745.741701951,714.258298049,680,661.741701951,635.258298049,879,787,803.258298049,652,631,652,0.400979541026,0.00449260200583,0.0798449391574,0.999999957435,0.000107067294733,-0.000267351775535,4.67864609103e-05,1793239814125458432
+29,0.483333333,BASELINE,766,745.161947103,714.838052897,680,661.161947103,635.838052897,879,787,803.838052897,652,631,652,0.400979608751,0.00449233973725,0.0798445972242,0.999999957435,0.000107771150621,-0.000267061186226,4.68299539123e-05,1793239814142125312
+30,0.500000000,BASELINE,766,745,715,680,661,635.584531868,878.584531868,787,804,652,631,652.415468132,0.40097994489,0.00449271758116,0.0798448188645,0.999999957375,0.00010872666845,-0.00026689305274,4.68629622578e-05,1793239814158792192
+31,0.516666667,BASELINE,766,745,715,680,661,635.008023509,878.008023509,787,804,652,631,652.991976491,0.400980385069,0.00449334354004,0.0798452589524,0.999999957291,0.000109779733328,-0.000266772384547,4.68919066288e-05,1793239814175459072
+32,0.533333333,BASELINE,766,745,715,680,661.565683526,635,878.565683526,787,804,652,631.565683526,652.434316474,0.400980186538,0.00449266520561,0.0798453282679,0.999999957484,0.000107546409267,-0.000266957763086,4.69072276942e-05,1793239814192125696
+33,0.550000000,BASELINE,766,745,715,680,662,635,879,787,803.85599537,652,632,652.14400463,0.400979989451,0.00449204505135,0.0798452636749,0.999999957597,0.000106222442583,-0.000267056160582,4.69402564838e-05,1793239814208792064
+34,0.566666667,BASELINE,766,745,715,680,662,635,879,787,803.263170441,652,632,652.736829559,0.400979824963,0.004491663602,0.0798447980377,0.999999957466,0.000107877241305,-0.000266870000972,4.70290743384e-05,1793239814225458432
+35,0.583333333,BASELINE,766,745,715,680,661.678799623,635,879,787,803.321200377,652,632,653,0.400978816419,0.00449259071498,0.0798443156448,0.999999957213,0.000108212221457,-0.000267727906057,4.67557602424e-05,1793239814242125056
+36,0.600000000,BASELINE,766,745,715,680,661.101177846,635,879,787,803.898822154,652,632,653,0.400977134048,0.00449456248234,0.0798438198755,0.999999956862,0.000107493561286,-0.000269419311177,4.61933481695e-05,1793239814258791424
+37,0.616666667,BASELINE,766,745.473751372,715,680.473751372,661.473751372,635,879,787,804,652,631.526248628,652.526248628,0.40097867182,0.00449332410627,0.0798443832974,0.999999957278,0.000107118505982,-0.000267952239371,4.65874285688e-05,1793239814275458304
+38,0.633333333,BASELINE,766,745.950893485,715,680.90178697,661.950893485,635,879,787,803.950893485,652,631,652,0.400980602132,0.00449170034445,0.0798451043561,0.999999957772,0.000107059318486,-0.000266031349661,4.71298151537e-05,1793239814292125440
+39,0.650000000,BASELINE,766,745.364624168,715,679.729248335,661.364624168,635,879,787,803.364624168,652,631,652,0.400979346074,0.00449331796418,0.0798450893104,0.999999957373,0.000109657144784,-0.000266483261731,4.70725959931e-05,1793239814308793088
+40,0.666666667,BASELINE,766,745,714.77947541,679.44104918,661,635.22052459,878.77947541,787,803.22052459,652.22052459,631,652,0.400978969362,0.00449379406466,0.0798452874228,0.999999957266,0.000110529812193,-0.000266514927883,4.71322373838e-05,1793239814325459968
+41,0.683333333,BASELINE,766,745,714.196170099,680.607659802,661,635.803829901,878.196170099,787,803.803829901,652.803829901,631,652,0.400980039245,0.00449239227387,0.0798458361976,0.999999957645,0.000108564454052,-0.00026585525561,4.73841238022e-05,1793239814342126080
+42,0.700000000,BASELINE,766,745.380581208,714.380581208,680.619418792,661.380581208,635.619418792,878.380581208,787,803.619418792,652.619418792,631,652,0.400980530883,0.00449210290108,0.0798457034674,0.999999957627,0.000109129734245,-0.000265702710536,4.73233938903e-05,1793239814358792448
+43,0.716666667,BASELINE,766,745.954011436,714.954011436,680.045988564,661.954011436,635.045988564,878.954011436,787,803.045988564,652.045988564,631,652,0.40098072951,0.00449237721545,0.0798452254031,0.999999957406,0.000110977345609,-0.000265807138189,4.7104254276e-05,1793239814375458816
+44,0.733333333,BASELINE,766,745.471717568,715,680.528282432,661.471717568,635,878.471717568,787,803,652.528282432,631,652.528282432,0.400979969587,0.00449239033004,0.0798450516898,0.999999957395,0.000110349289259,-0.000266116127957,4.70719924868e-05,1793239814392125184
+45,0.750000000,BASELINE,766,745,714.894223466,681,661,635,878,787,803.105776534,653,631,653,0.400979348236,0.00449218599166,0.0798449071102,0.999999957458,0.000109140148428,-0.000266380160942,4.70432146346e-05,1793239814408791808
+46,0.766666667,BASELINE,766,745,714.30225169,681,661,635,878,787,803.69774831,653,631,653,0.400979747984,0.0044910868257,0.0798447744663,0.99999995778,0.000106252266245,-0.000266355570128,4.69555551866e-05,1793239814425458432
+47,0.783333333,BASELINE,766,745,714.283503179,680.716496821,661.283503179,635.283503179,878.567006358,787,803.716496821,652.716496821,631,652.716496821,0.400978831265,0.00449136450599,0.0798441541813,0.999999957541,0.000106039029285,-0.000267342394509,4.69302829393e-05,1793239814442125312
+48,0.800000000,BASELINE,766,745,714.862772305,680.137227695,661.862772305,635.862772305,879.725544611,787,803.137227695,652.137227695,631,652.137227695,0.400976541138,0.00449307858706,0.0798430251625,0.999999956714,0.000108616127445,-0.000269384382263,4.69700964048e-05,1793239814458792192
+49,0.816666667,BASELINE,766,745,715,680.438351265,661.561648735,635.561648735,879.12329747,787,803,652,631,652.438351265,0.400977460329,0.0044914945178,0.079843816566,0.999999957183,0.000106772268478,-0.000268338379373,4.72032449512e-05,1793239814475459072
+50,0.833333333,BASELINE,766,745.012836714,715,680.987163286,661,635,878.012836714,787,803.012836714,652,631,652.987163286,0.400979350914,0.00448900539884,0.0798451826584,0.999999958023,0.000103700026734,-0.000266356797972,4.74832454312e-05,1793239814492125696
+51,0.850000000,BASELINE,766,745.589611139,715,680.410388861,661,635,878.589611139,787,803.589611139,652,631,652.410388861,0.400980147182,0.0044917366996,0.0798456047299,0.999999957951,0.0001069566838,-0.00026538826444,4.71847918643e-05,1793239814508792064
+52,0.866666667,BASELINE,766,745.829502294,715,680,661,635,879,787,804,652,631,652,0.400980196281,0.00449345656431,0.0798457159498,0.999999957796,0.000109124319141,-0.000265120257158,4.70130475871e-05,1793239814525458688
+53,0.883333333,BASELINE,766,745.238473194,715,680,661,635,879,787,804,652,631,652,0.40097840249,0.00449268172894,0.0798450604565,0.999999957458,0.000108605889846,-0.000266580093021,4.71538309025e-05,1793239814542125312
+54,0.900000000,BASELINE,766,745,715,680,661,635,879,787,803.656121018,652,631.343878982,652.343878982,0.400978423495,0.00449266923265,0.0798449427429,0.999999957386,0.000108952988992,-0.000266719578311,4.71010391135e-05,1793239814558791680
+55,0.916666667,BASELINE,766,745,715,680,661,635,879,787,803.079638043,652,631.920361957,652.920361957,0.400979672051,0.00449317239197,0.0798451887902,0.999999957493,0.000109885542291,-0.000265965962102,4.69173107268e-05,1793239814575458560
+56,0.933333333,BASELINE,765.504633666,745,714.504633666,680.495366334,661.495366334,635,878.504633666,787,803,652,631.504633666,652.504633666,0.400979703319,0.00449285977627,0.0798451357595,0.99999995755,0.000109884845567,-0.000265760050833,4.68817450506e-05,1793239814592124928
+57,0.950000000,BASELINE,765.071783409,745,714,680.928216591,661.928216591,635,878.071783409,787,803,652,631,652,0.400979573059,0.00449246186797,0.0798450881114,0.99999995761,0.000109653707591,-0.000265628296266,4.68884541509e-05,1793239814608791552
+58,0.966666667,BASELINE,765.660070277,745,714,680.339929723,661.339929723,635,878.660070277,787,803,652,631,652,0.400979684479,0.00449239110128,0.0798454241241,0.999999957753,0.000108840808347,-0.000265398444098,4.70284644875e-05,1793239814625458176
+59,0.983333333,BASELINE,766,745,714.244733401,680.244733401,661.244733401,635,878.755266599,787,803.244733401,652,631,652,0.400979468796,0.00449277569193,0.0798453701669,0.99999995769,0.000108713061708,-0.000265681418943,4.70625228615e-05,1793239814642124800
+60,1.000000000,BASELINE,766,745,714.824436742,680.824436742,661.824436742,635,878.175563258,787,803.824436742,652,631,652,0.400978805405,0.00449378353635,0.0798447824527,0.999999957345,0.000109523092659,-0.000266666307075,4.69515633605e-05,1793239814658791424
+61,1.016666667,BASELINE,766,745,714.599801967,680.599801967,661.599801967,635,878,787,804,652,631,652,0.400979426502,0.00449288692281,0.079845016822,0.999999957693,0.000107639743428,-0.000266134378659,4.69069631096e-05,1793239814675458816
+62,1.033333333,BASELINE,766,745,714.025753184,680.025753184,661.025753184,635,878,787,804,652,631,652,0.400980605597,0.0044911629902,0.079845608314,0.999999958334,0.000104586358004,-0.000264943527167,4.68911901064e-05,1793239814692126464
+63,1.050000000,BASELINE,765.4472116,745,714.5527884,680,661.5527884,635,878.5527884,787,803.4472116,652,631,652.5527884,0.400979804651,0.0044914284084,0.0798451978012,0.999999957929,0.000106240172069,-0.000265804746945,4.69408454052e-05,1793239814708792320
+64,1.066666667,BASELINE,765,745,715,680.133876864,662,635,879,787,803,652.133876864,631.133876864,653,0.400979063766,0.00449182296695,0.0798448207492,0.999999957536,0.000107945803083,-0.000266587373883,4.69729630706e-05,1793239814725458688
+65,1.083333333,BASELINE,765,745,715,680.722906708,662,635,879,787,803,652.722906708,631.722906708,653,0.400978843258,0.00449233890299,0.0798447174633,0.999999957365,0.000109075924741,-0.00026677511382,4.69350084824e-05,1793239814742126080
+66,1.100000000,BASELINE,765.306505073,745,715,681,661.693494927,635.306505073,879,787,803.306505073,652.693494927,632,653,0.400978353915,0.0044918425144,0.0798445959744,0.999999957262,0.000108812128432,-0.000267259038089,4.69887277782e-05,1793239814758792704
+67,1.116666667,BASELINE,765.885278623,745,715,681,661.114721377,635.885278623,879,787,803.885278623,652.114721377,632,653,0.400977625766,0.00449044687775,0.079844458316,0.999999957218,0.00010731011464,-0.000268006062909,4.7123880993e-05,1793239814775459328
+68,1.133333333,BASELINE,765.539182058,745,715,681,661,636,879,787,803.539182058,652,631.539182058,653,0.400978289389,0.00449219882603,0.0798444035616,0.999999957258,0.00010833032947,-0.000267483777898,4.69199651483e-05,1793239814792125696
+69,1.150000000,BASELINE,765.036428194,745.036428194,715,681,661.036428194,636,879,787,803,652,631.036428194,652.963571806,0.400979157969,0.00449446881465,0.0798443325341,0.999999957304,0.000109748374193,-0.000266778811869,4.66617317414e-05,1793239814808791808
+70,1.166666667,BASELINE,765.625237492,745.625237492,715,681,661.625237492,636,879,787,803,652,631.625237492,652.374762508,0.40097791711,0.00449279483817,0.0798437039694,0.99999995717,0.000107743898996,-0.000268061992402,4.68509134629e-05,1793239814825458432
+71,1.183333333,BASELINE,766,745.789333668,715,680.789333668,662,635.789333668,879,787,803,652,631.789333668,652.210666332,0.400977856176,0.00449185541089,0.0798438773171,0.999999957318,0.000106700939144,-0.000267909477879,4.69410357275e-05,1793239814842124800
+72,1.200000000,BASELINE,766,745.209823388,715,680.209823388,662,635.209823388,879,787,803,652,631.209823388,652.790176612,0.400979861108,0.0044922020646,0.0798454546882,0.999999957964,0.000107341442636,-0.000265243285036,4.68577203364e-05,1793239814858791680
+73,1.216666667,BASELINE,766,745,715,680.367597728,662,635,879,787,803.367597728,652,631,652.632402272,0.400979849275,0.00449293415287,0.0798454987165,0.999999957835,0.000108421919524,-0.000265277130457,4.69249611117e-05,1793239814875458304
+74,1.233333333,BASELINE,766,745,715,680.943833061,662,635,879,787,803.943833061,652,631,652.056166939,0.400978692785,0.00449388500237,0.0798446724647,0.999999957266,0.000109752112268,-0.000266843437944,4.70776531215e-05,1793239814892125184
+75,1.250000000,BASELINE,766,745.518629774,714.481370226,680.481370226,661.481370226,635,879,787,804,652,631.518629774,652.518629774,0.400978480714,0.00449445847434,0.0798448575212,0.999999957378,0.000109361147332,-0.000266652811776,4.66967155202e-05,1793239814908791808
+76,1.266666667,BASELINE,766,745.90397612,714.09602388,680,661,635,879,787.09602388,804,652,631.90397612,652.90397612,0.400978610396,0.0044945777179,0.0798452337932,0.999999957617,0.00010868082423,-0.000266092575785,4.63522148485e-05,1793239814925458432
+77,1.283333333,BASELINE,766,745.312375085,714.687624915,680,661,635,879,787.687624915,804,652,631.312375085,652.312375085,0.400979977457,0.00449256304161,0.0798460332401,0.999999958137,0.0001074664709,-0.000264604073357,4.64931995081e-05,1793239814942125056
+78,1.300000000,BASELINE,766,745,715,680,661,635,879,788,804,652,631,652.272783421,0.400979714274,0.00449155735333,0.0798457470002,0.999999957992,0.000107271688993,-0.000265180912162,4.67742264853e-05,1793239814958791680
+79,1.316666667,BASELINE,766,745,715,680,661,635,879,788,804,652,631,652.850734516,0.400977627308,0.00449168043807,0.0798442461829,0.9999999571,0.000108217519884,-0.000268068285104,4.72119212888e-05,1793239814975458304
+80,1.333333333,BASELINE,765.573161593,745,715,680,661.426838407,635,879,787.573161593,804,652,631,653,0.400978104898,0.00449255980302,0.0798444134676,0.999999957237,0.000109413159986,-0.00026707078443,4.72077810636e-05,1793239814992124928
+81,1.350000000,BASELINE,765.002351074,745.002351074,714.997648926,680,662,635,879,787,803.997648926,652,631,652.997648926,0.400979464568,0.00449369619724,0.0798451542545,0.999999957724,0.000110683613627,-0.000264738820193,4.70489721979e-05,1793239815008791552
+82,1.366666667,BASELINE,765.590805251,745.590805251,714.409194749,680,662,635,879,787,803.409194749,652,631,652.409194749,0.400978111653,0.00449326141326,0.0798440702504,0.999999957347,0.000108920568635,-0.000266949905562,4.66845967345e-05,1793239815025458432
+83,1.383333333,BASELINE,765.823468603,745.823468603,714.176531397,680,662,635,879.176531397,787,803.176531397,652,631,652.176531397,0.40097707314,0.0044929643328,0.0798432809994,0.99999995698,0.000108050136496,-0.000268721531484,4.64042996677e-05,1793239815042125312
+84,1.400000000,BASELINE,765.243969606,745.243969606,714.756030394,680,662,635,879.756030394,787,803.756030394,652,631,652.756030394,0.400976752309,0.00449298158759,0.07984316458,0.999999956651,0.00010921726824,-0.000269490005309,4.6315927991e-05,1793239815058792192
+85,1.416666667,BASELINE,765.33327484,745,715,680.33327484,662,635,879.66672516,787,803.66672516,652.33327484,631.33327484,652.66672516,0.400978031629,0.00449217973256,0.0798443899549,0.999999957109,0.000109284488675,-0.00026771395139,4.65665708093e-05,1793239815075458816
+86,1.433333333,BASELINE,765.908879927,745,715,680.908879927,662,635,879.091120073,787,803.091120073,652.908879927,631.908879927,652.091120073,0.400980474447,0.00449078228778,0.0798465909729,0.99999995813,0.000108551943363,-0.000264087724651,4.70637172869e-05,1793239815092125184
+87,1.450000000,BASELINE,766,745,714.515605959,680.515605959,662,635,879,787,803.484394041,653,631.515605959,652.484394041,0.400979281016,0.00449144816427,0.0798455539825,0.999999957571,0.000110109345939,-0.000265520979225,4.72392454197e-05,1793239815108792064
+88,1.466666667,BASELINE,766,745,714.061158731,680.061158731,661.938841269,635,879,787,804,652.938841269,631,653,0.400977669661,0.00449240092898,0.0798441912282,0.999999956859,0.000111695846024,-0.000267518324685,4.7332076403e-05,1793239815125458432
+89,1.483333333,BASELINE,766,745,714.648837035,680.648837035,661.351162965,635,879,787,804,652.351162965,631,653,0.400978348041,0.00449248268618,0.0798452668047,0.999999957428,0.000109825056575,-0.00026617985636,4.72337137092e-05,1793239815142125056
+90,1.500000000,BASELINE,766,745,715,681,661.234169729,635,879,787,804,652,631.234169729,652.765830271,0.400978837524,0.00449213401427,0.0798455336726,0.999999957699,0.000108333545218,-0.000265777038073,4.72061113931e-05,1793239815158791936
+91,1.516666667,BASELINE,766,745,715,681,661.816019758,635,879,787,804,652,631.816019758,652.183980242,0.400979046545,0.00449114626861,0.0798445998214,0.999999957533,0.000107405161982,-0.000266763413492,4.72835695884e-05,1793239815175458816
+92,1.533333333,BASELINE,766,745,715,680.607023978,662,635,879,787,804,652,632,652.392976022,0.400978135479,0.00449119716314,0.0798441987577,0.999999957452,0.000107486321622,-0.000267053978655,4.71705954866e-05,1793239815192125440
+93,1.550000000,BASELINE,766,745,715,680.032330605,662,635,879,787,804,652,632,652.967669395,0.40097670647,0.00449172833866,0.079844044062,0.999999957411,0.000108034307265,-0.000267022791965,4.69695629588e-05,1793239815208792320
+94,1.566666667,BASELINE,766,745.539548133,715,680,662,635,878.460451867,787,804,652,631.460451867,653,0.400977365941,0.00449249725175,0.0798446129142,0.99999995735,0.000108348508588,-0.000267157734119,4.6772039448e-05,1793239815225458688
+95,1.583333333,BASELINE,765.884397186,745.884397186,715,680,661.884397186,635,878.115602814,787,803.884397186,652,631,653,0.400978292019,0.00449303229961,0.0798451598339,0.999999957389,0.000108280216209,-0.000267068670506,4.66050676222e-05,1793239815242125312
+96,1.600000000,BASELINE,765.290365579,745.290365579,715,680,661.290365579,635,878.709634421,787,803.290365579,652,631,653,0.400979806236,0.00449254083279,0.0798454374842,0.999999957844,0.000106686627159,-0.000266011562047,4.65636699323e-05,1793239815258791680
+97,1.616666667,BASELINE,765.295919622,745,715,680,661.295919622,635,878.704080378,787.295919622,803,652,631.295919622,653,0.400979623592,0.00449304312218,0.0798449514936,0.999999957653,0.000107955994798,-0.000266227646316,4.65036507234e-05,1793239815275458560
+98,1.633333333,BASELINE,765.874797669,745,715,680,661.874797669,635,878.125202331,787.874797669,803,652,631.874797669,653,0.400977818407,0.00449449564154,0.0798437353093,0.999999956833,0.00011196292253,-0.000267661157891,4.64258256149e-05,1793239815292125184
+99,1.650000000,BASELINE,766,745,715,680,662,635,878.449846916,787.550153084,803,652,631.550153084,652.550153084,0.400977766308,0.00449385982215,0.0798446098226,0.999999957021,0.000111466584351,-0.0002670876697,4.68660957282e-05,1793239815308791808
+100,1.666666667,BASELINE,766,745,715,680,661.975503215,635,879,787,803.024496785,652,631,652,0.400978190355,0.00449274933447,0.0798459671033,0.99999995746,0.000109825009537,-0.000266030813584,4.74018174439e-05,1793239815325458432
+101,1.683333333,BASELINE,766,745,715,680,661.38568515,635,879,787,803.61431485,652,631,652,0.400978437648,0.00449398482677,0.0798451502854,0.999999957267,0.000110434492432,-0.000266601146535,4.68407001764e-05,1793239815342125056
+102,1.700000000,BASELINE,765.799395465,745,715,680.200604535,661.200604535,635,878.799395465,787,803.799395465,652,631,652.200604535,0.400978756228,0.00449416854569,0.0798449273114,0.999999957379,0.000110116106933,-0.000266361638956,4.65525808239e-05,1793239815358791424
+103,1.716666667,BASELINE,765.219772302,745,715,680.780227698,661.780227698,635,878.219772302,787,803.219772302,652,631,652.780227698,0.400979209494,0.00449236506265,0.0798458263355,0.999999958065,0.000108044623391,-0.000264592033079,4.67802589205e-05,1793239815375458048
+104,1.733333333,BASELINE,765,745.355986899,715,681,661.644013101,635,878,787,803,652,631,652.644013101,0.400978985829,0.00449201529765,0.0798459340808,0.999999958011,0.000107928564758,-0.000264832619107,4.68228781762e-05,1793239815392124672
+105,1.750000000,BASELINE,765,745.929386311,715,681,661.070613689,635,878,787,803,652,631,652.070613689,0.40097834874,0.00449255336429,0.079845558567,0.999999957508,0.000109006746065,-0.000266300893053,4.67524761377e-05,1793239815408791296
+106,1.766666667,BASELINE,765.505734605,745.494265395,714.494265395,680.494265395,661.505734605,635,878.505734605,787,803.505734605,652,631,652.505734605,0.400978708301,0.00449210404086,0.07984550744,0.999999957709,0.000107485067895,-0.0002661874088,4.6623108027e-05,1793239815425458176
+107,1.783333333,POSE1_TO_POSE2_PRESS,766,745,714,680,662,635,879,787,803,652,631,652,0.400978332479,0.00449375855553,0.0798442111856,0.999999956776,0.000112608435656,-0.000267469951122,4.71943343755e-05,1793239815468044544
+108,1.800000000,POSE1_TO_POSE2_PRESS,766,745,714.580001287,680.580001287,662,635,879,787,803,652,631,652,0.400977468699,0.0044934309306,0.0798440701874,0.999999956962,0.00011019966741,-0.000267831423404,4.68854041624e-05,1793239815484711168
+109,1.816666667,POSE1_TO_POSE2_PRESS,766,745,715,680.840804734,662,635,879,787,803.159195266,652,631,652.159195266,0.400977330465,0.00449294557359,0.0798440886454,0.999999957216,0.000108454429029,-0.000267643156621,4.66077973119e-05,1793239815501377536
+110,1.833333333,POSE1_TO_POSE2_PRESS,766,745,715,680.263729773,662,635,879,787,803.736270227,652,631,652.736270227,0.400979096755,0.00449204617762,0.079844525668,0.999999957661,0.000108450923192,-0.000266011852084,4.64124126721e-05,1793239815518044160
+111,1.850000000,POSE1_TO_POSE2_PRESS,766,745.317467832,714.682532168,680,662.317467832,635,879,787,804,652,631.317467832,652.682532168,0.400979582791,0.00449211946432,0.0798448811272,0.999999957779,0.000108363351118,-0.000265580414696,4.65456478909e-05,1793239815534711296
+112,1.866666667,POSE1_TO_POSE2_PRESS,766,745.902135263,714.097864737,680,662.902135263,635,879,787,804,652,631.902135263,652.097864737,0.40097899129,0.00449301141801,0.0798451679379,0.999999957623,0.000108205023955,-0.000266158856163,4.69554689207e-05,1793239815551378688
+113,1.883333333,POSE1_TO_POSE2_PRESS,766,745.517618759,714.482381241,680,662.517618759,635,879,787,803.517618759,652,631.517618759,652.482381241,0.400979140268,0.00449271985917,0.0798457427938,0.99999995779,0.000108573817028,-0.000265412357305,4.67795525485e-05,1793239815568044800
+114,1.900000000,POSE1_TO_POSE2_PRESS,765.938341026,745,714.938341026,680,662,635,879,787,803.061658974,652,631,653,0.400979593912,0.00449207002104,0.0798463468866,0.999999958012,0.000108790615148,-0.000264517668627,4.65854846834e-05,1793239815584711168
+115,1.916666667,POSE1_TO_POSE2_PRESS,765.359728758,745,714.359728758,680,662,635,879,787,803.640271242,652,631,653,0.400981353809,0.00449041115169,0.0798467106044,0.999999958167,0.000106844616441,-0.000264613730193,4.72264926716e-05,1793239815601377792
+116,1.933333333,POSE1_TO_POSE2_PRESS,765.220934521,745,714.220934521,680.220934521,662,635,879,787,804,652,631.220934521,653,0.400989198169,0.00449002717222,0.0798503877037,0.999999959675,0.00010593161006,-0.000259181040596,4.7483384432e-05,1793239815618044416
+117,1.950000000,POSE1_TO_POSE2_PRESS,765.80496852,745,714.80496852,680.80496852,662,635,879,787,804,652,631.80496852,653,0.401007042171,0.00449173843747,0.0798595102494,0.999999963266,0.000106716296786,-0.000244662008738,4.71089922403e-05,1793239815634711040
+118,1.966666667,POSE1_TO_POSE2_PRESS,766,745,715,680.613915492,662,635,878.613915492,787,804,652,631.613915492,652.613915492,0.401041966871,0.0044920111225,0.079872920322,0.999999968964,0.000107801733104,-0.000219708104448,4.66743118377e-05,1793239815651377920
+119,1.983333333,POSE1_TO_POSE2_PRESS,766,745,715,680.034262434,662,635,878.034262434,787,804,652,631.034262434,652.034262434,0.401085455206,0.00449156255654,0.0798884800035,0.999999975028,0.000109037954184,-0.000189522538055,4.62094050813e-05,1793239815668044544
+120,2.000000000,POSE1_TO_POSE2_PRESS,766,745.545180348,715,680,661.454819652,635,878.545180348,787,804,652,631,652.545180348,0.401149218249,0.00449256190866,0.0799064227911,0.999999981163,0.00010739367068,-0.000155350719175,4.47879723532e-05,1793239815684710912
+121,2.016666667,POSE1_TO_POSE2_PRESS,766,745.876315947,715,680,661.123684053,635,879,787,804,652,631.123684053,652.876315947,0.401215991678,0.00449337414255,0.0799219698791,0.999999985529,0.000105397242412,-0.000126354244695,4.3228628975e-05,1793239815701377536
+122,2.033333333,POSE1_TO_POSE2_PRESS,766,745.301191443,715,680,661.698808557,635,879,787,804,652,631.698808557,652.301191443,0.401289103964,0.00449317140235,0.079928226354,0.999999986999,0.000102775993126,-0.000117161536243,4.13852465393e-05,1793239815718044160
+123,2.050000000,POSE1_TO_POSE2_PRESS,766,745.273747478,715,680.273747478,661.726252522,635,878.726252522,787.273747478,804,652,632,652.273747478,0.401369943083,0.00449418302031,0.0799325185653,0.999999987966,0.000101179294186,-0.00011096887571,3.89553735901e-05,1793239815734710784
+124,2.066666667,POSE1_TO_POSE2_PRESS,766,745.848482315,715,680.848482315,661.151517685,635,878.151517685,787.848482315,804,652,632,652.848482315,0.401459277906,0.00449652983398,0.079934651054,0.999999988445,0.000100709096028,-0.000108074790411,3.5880650136e-05,1793239815751377664
+125,2.083333333,POSE1_TO_POSE2_PRESS,766,745.56369476,714.56369476,680.56369476,661.43630524,635,878.43630524,787.56369476,803.56369476,652,632,653,0.401564462124,0.0044987189941,0.0799359946323,0.999999988877,0.000100662599553,-0.000105103468184,3.26473709286e-05,1793239815768045056
+126,2.100000000,POSE1_TO_POSE2_PRESS,765.971956499,745.028043501,714.028043501,680.028043501,661.971956499,635,879,787.028043501,803,652,632,653,0.401676881769,0.00450079959865,0.0799373518272,0.999999989339,0.000100595723841,-0.000101709185772,2.92830342403e-05,1793239815784712448
+127,2.116666667,POSE1_TO_POSE2_PRESS,765.395289274,745.604710726,714.604710726,680.604710726,661.395289274,635,879,787.604710726,803,652,632,653,0.401819842146,0.00450186069366,0.079944500892,0.999999990878,9.71625816681e-05,-9.05813636429e-05,2.4465293148e-05,1793239815801378560
+128,2.133333333,POSE1_TO_POSE2_PRESS,765.180903257,746,715,680.819096743,661.180903257,635,879,787.819096743,803.180903257,652.180903257,631.819096743,652.819096743,0.401972069281,0.00450388746472,0.0799513256583,0.999999992238,9.43837266157e-05,-7.89876138514e-05,1.93870009455e-05,1793239815818044416
+129,2.150000000,POSE1_TO_POSE2_PRESS,765.756061184,746,715,680.243938816,661.756061184,635,879,787.243938816,803.756061184,652.756061184,631.243938816,652.243938816,0.402144492067,0.00450801879863,0.0799574436582,0.999999993375,9.3030804078e-05,-6.63784379523e-05,1.37408727701e-05,1793239815834710784
+130,2.166666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,879,787,804,652.659840379,631,652.340159621,0.402332306524,0.00451023266803,0.0799611699891,0.99999999444,8.7130643935e-05,-5.89007974724e-05,7.69186327496e-06,1793239815851377664
+131,2.183333333,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,879,787,804,652.069157303,631,652.930842697,0.402531456779,0.0045110343484,0.0799631348853,0.999999995443,7.78814980506e-05,-5.52024695642e-05,1.34613596361e-06,1793239815868044288
+132,2.200000000,POSE1_TO_POSE2_PRESS,766,745.488398964,715,680,662,635,879,787,803.488398964,652,631,653,0.402744885936,0.00451433190715,0.0799569755311,0.999999995243,6.938566424e-05,-6.82705371917e-05,-6.19081242805e-06,1793239815884710656
+133,2.216666667,POSE1_TO_POSE2_PRESS,766,745.09021514,715,680,662,635,878.90978486,787,803.09021514,652,631.09021514,652.90978486,0.402967144474,0.00451782835742,0.0799507877002,0.999999994699,6.20971675964e-05,-8.0979073101e-05,-1.3717133665e-05,1793239815901377536
+134,2.233333333,POSE1_TO_POSE2_PRESS,766,745.664386826,715,680,662,635,878.335613174,787,803.664386826,652,631.664386826,652.335613174,0.403226610623,0.00452061628988,0.0799502263672,0.999999994761,6.07495178935e-05,-7.98319803334e-05,-2.03390621914e-05,1793239815918044416
+135,2.250000000,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,878.239270736,787,804,652,631.760729264,652,0.403509221221,0.00452492036598,0.0799515524325,0.999999993852,7.78384263353e-05,-7.59342042433e-05,-2.17150843772e-05,1793239815934711552
+136,2.266666667,POSE1_TO_POSE2_PRESS,766,746,715,680,662,635,878.815156595,787,804,652,631.184843405,652,0.403824392291,0.00453135741016,0.0799555337613,0.999999990249,0.000120864582163,-6.8166662771e-05,-1.57109666595e-05,1793239815951378176
+137,2.283333333,POSE1_TO_POSE2_PRESS,766,745.597886914,715,680,662,635,879,787,804,652,631.402113086,652.402113086,0.404165077411,0.00454046260391,0.0799582665848,0.999999987247,0.000145408252636,-6.38904931867e-05,-1.67741517382e-05,1793239815968044800
+138,2.300000000,POSE1_TO_POSE2_PRESS,766,745.005697419,715,680,662,635,879,787,804,652,631.994302581,652.994302581,0.404517822857,0.00455082901555,0.0799604092474,0.999999984904,0.000161215363602,-6.12646740897e-05,-2.11780080101e-05,1793239815984710912
+139,2.316666667,POSE1_TO_POSE2_PRESS,766,745,715,680.57002541,662,635,879,787,804,652,631.42997459,652.42997459,0.404908117475,0.00455352585706,0.0799573004529,0.999999995047,7.40631530139e-05,-6.12844964127e-05,-2.57869464049e-05,1793239816001377280
+140,2.333333333,POSE1_TO_POSE2_PRESS,766,745.145669005,715,681,662,635,879,787,804,652,631.145669005,652.145669005,0.405307666427,0.00455638299507,0.0799546386453,0.999999997562,1.70098670971e-05,-6.11912721003e-05,-2.90093678873e-05,1793239816018043904
+141,2.350000000,POSE1_TO_POSE2_PRESS,766,745.721550919,715,681,662,635,879,787,804,652,631.721550919,652.721550919,0.405733469394,0.00455993358663,0.0799534476163,0.999999996421,5.18034524809e-05,-6.06882778624e-05,-2.81310225955e-05,1793239816034710528
+142,2.366666667,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,879,787,803.696659834,652,632,652.696659834,0.406179859067,0.00455924185636,0.0799484759689,0.999999994284,7.66727012959e-05,-6.93817926743e-05,-2.71793267787e-05,1793239816051377152
+143,2.383333333,POSE1_TO_POSE2_PRESS,766,746,715,681,662,635,879,787,803.109340221,652,632,652.109340221,0.406645521548,0.00455457857134,0.0799399650014,0.999999991646,9.22510395099e-05,-8.66848482702e-05,-2.61589619526e-05,1793239816068044032
+144,2.400000000,POSE1_TO_POSE2_PRESS,766,745.528348786,715,680.528348786,661.528348786,635,879,787,803.471651214,652,631.528348786,652,0.407140848799,0.00455671198403,0.0799383050452,0.999999990621,9.92039847871e-05,-9.0407214905e-05,-2.72605322611e-05,1793239816084710656
+145,2.416666667,POSE1_TO_POSE2_PRESS,766,745,715,680.051147417,661.051147417,635.051147417,879,787,804,652,631,652,0.40764545114,0.0045613485771,0.0799375670735,0.999999989852,0.0001045933273,-9.23713625568e-05,-2.87158603753e-05,1793239816101377280
+146,2.433333333,POSE1_TO_POSE2_PRESS,766,745,715,680.630152456,661.630152456,635.630152456,879,787,804,652,631,652,0.408175742346,0.00457577297441,0.0799301702323,0.999999987204,0.00011420884161,-0.000108251766481,-2.88125643447e-05,1793239816118043904
+147,2.450000000,POSE1_TO_POSE2_PRESS,766,745.206948286,715,681,662,635.793051714,878.793051714,787,804,652,631,652.206948286,0.408729183987,0.0045873059989,0.0799287332992,0.999999985579,0.000122559584361,-0.000113773987646,-2.96139282493e-05,1793239816134711040
+148,2.466666667,POSE1_TO_POSE2_PRESS,766,745.779837598,715,681,662,635.220162402,878.220162402,787,804,652,631,652.779837598,0.409323561884,0.00459372628662,0.0799378351098,0.999999986122,0.000128673865423,-0.000100980115042,-3.16613231565e-05,1793239816151378944
+149,2.483333333,POSE1_TO_POSE2_PRESS,766,746,715,680.636545525,662,635,878.363454475,787,803.636545525,652,631,652.636545525,0.409972571959,0.00460116974602,0.07996236672,0.999999988161,0.000138115784254,-5.88427113256e-05,-3.37429463679e-05,1793239816168045824
+150,2.500000000,POSE1_TO_POSE2_PRESS,766,746,715,680.046232818,662,635,878.953767182,787,803.046232818,652,631,652.046232818,0.410655681907,0.00460925184063,0.079996529184,0.999999988161,0.000149634721905,1.61011264004e-06,-3.58459337635e-05,1793239816184712192
+151,2.516666667,POSE1_TO_POSE2_PRESS,766,745.467774546,715,680.532225454,662,635.532225454,879,787,803.532225454,652,631,652.532225454,0.411313582816,0.00461262044178,0.0800009092293,0.999999987943,0.000150937441913,6.19155270879e-06,-3.59621547217e-05,1793239816201379328
+152,2.533333333,POSE1_TO_POSE2_PRESS,766,745,715,681,662,636,879.109366272,787,804,652,631,652.890633728,0.411968974475,0.00461105052632,0.079995603465,0.999999988431,0.000147631170836,-4.2755912098e-06,-3.64106765644e-05,1793239816218045696
+153,2.550000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662,636,879.685184199,787,804,652,631,652.314815801,0.412622800132,0.00459012589258,0.0799597810367,0.999999989279,0.000128369913347,-5.86767166139e-05,-3.89965171486e-05,1793239816234711296
+154,2.566666667,POSE1_TO_POSE2_PRESS,766,745,715,680.732953683,662,635.732953683,879.732953683,787,804,652,631,652.267046317,0.413301763577,0.00457613102111,0.0799330939509,0.999999988667,0.000110316888335,-9.34891468275e-05,-4.18932137194e-05,1793239816251377408
+155,2.583333333,POSE1_TO_POSE2_PRESS,766,745,715,680.143801102,662,635.143801102,879.143801102,787,804,652,631,652.856198898,0.414011047839,0.00457049469632,0.0799174257391,0.99999998911,9.37212085114e-05,-0.000104674067193,-4.51648594121e-05,1793239816268043776
+156,2.600000000,POSE1_TO_POSE2_PRESS,766,745.437856163,715,680.437856163,662,635.437856163,879,787,804,652,631,652.562143837,0.414792684359,0.00458116667026,0.0799352166014,0.999999991001,0.000103283211214,-7.27873459186e-05,-4.50858394471e-05,1793239816284710656
+157,2.616666667,POSE1_TO_POSE2_PRESS,766,745.982959964,715,681.017040036,662,635.982959964,879,787.017040036,804,652,631.017040036,652.017040036,0.415596382582,0.00459682701204,0.0799629831257,0.999999991251,0.000121411445079,-2.87366864605e-05,-4.39549041113e-05,1793239816301377280
+158,2.633333333,POSE1_TO_POSE2_PRESS,766,745.405524622,715,681.594475378,662,635.405524622,879,787.594475378,804,652,631.594475378,652.594475378,0.416357317151,0.00460336204086,0.0799635174504,0.999999987863,0.000143488965059,-4.20281781749e-05,-4.38103425247e-05,1793239816318044160
+159,2.650000000,POSE1_TO_POSE2_PRESS,766,745,714.829247502,681.829247502,661.829247502,635,879,787.829247502,804,652,632,652.829247502,0.417135247885,0.00460936191799,0.0799641757792,0.999999985872,0.000155449277799,-4.55401201812e-05,-4.49251089792e-05,1793239816334710528
+160,2.666666667,POSE1_TO_POSE2_PRESS,766,745,714.25570258,681.25570258,661.25570258,635,879,787.25570258,804,652,632,652.25570258,0.417953271261,0.00461409941173,0.0799651266245,0.999999988159,0.000143543850946,-2.59828319951e-05,-4.90105365467e-05,1793239816351377152
+161,2.683333333,POSE1_TO_POSE2_PRESS,766,745.327711162,714.327711162,681,661.655422324,635,879.327711162,787,804,652.327711162,632,652.327711162,0.418788966616,0.00461327997369,0.0799788715572,0.999999989318,0.000136840190824,5.18823780973e-06,-5.11038265235e-05,1793239816368044032
+162,2.700000000,POSE1_TO_POSE2_PRESS,766,745.91906429,714.91906429,681,662.83812858,635,879.91906429,787,804,652.91906429,632,652.91906429,0.419638878947,0.00460799001201,0.0800029092683,0.999999988604,0.000134321326077,4.57025350322e-05,-5.15944516728e-05,1793239816384710656
+163,2.716666667,POSE1_TO_POSE2_PRESS,766,745.50316976,715,681.49683024,662.50316976,635,880,787,804,652.50316976,631.50316976,653,0.420474625849,0.00460120256924,0.0799870104802,0.999999990224,0.000128459443212,2.12968276826e-05,-5.09652916924e-05,1793239816401377280
+164,2.733333333,POSE1_TO_POSE2_PRESS,765.927308992,745.072691008,715,682,662,635,880,787,804,652,631,653,0.421312635602,0.00459560335791,0.0799690102281,0.999999991079,0.000123523356532,-7.03736177224e-06,-5.03496153667e-05,1793239816418044160
+165,2.750000000,POSE1_TO_POSE2_PRESS,765.349716861,745.650283139,715,682,662,635,880,787,804,652,631,653,0.422181964022,0.00459990673969,0.0799803991054,0.999999990375,0.000128699678852,8.84391660907e-06,-5.10609131507e-05,1793239816434710784
+166,2.766666667,POSE1_TO_POSE2_PRESS,765.226576697,745.773423303,715,681.773423303,662.226576697,635.226576697,880,787,804,652,631,652.773423303,0.423057335759,0.00460636453973,0.079997343204,0.999999988901,0.000136472725626,3.07685388365e-05,-5.12568115234e-05,1793239816451377408
+167,2.783333333,POSE1_TO_POSE2_PRESS,765.80087744,745.19912256,715,681.19912256,662.80087744,635.80087744,880,787,804,652,631,652.19912256,0.423941982223,0.00461612869562,0.080022812824,0.99999998581,0.000148230929358,6.19677976433e-05,-5.06617338083e-05,1793239816468044032
+168,2.800000000,POSE1_TO_POSE2_PRESS,766,745,715,681,662.612275992,635.612275992,880,787,804,652,631,652,0.424768616212,0.00461945067816,0.0800016707993,0.99999998723,0.000150792315575,1.67418527474e-05,-5.02176886847e-05,1793239816484710656
+169,2.816666667,POSE1_TO_POSE2_PRESS,766,745,715,681,662.01877087,635.01877087,880,787,804,652,631,652,0.425564460537,0.00461935353318,0.079955790052,0.999999985352,0.000148472570093,-6.90460998781e-05,-4.98538025329e-05,1793239816501377280
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.440447566,745,715,681.559552434,661.440447566,635,880,787,804,652,631,652.559552434,0.426473117641,0.00461352575863,0.0799385095144,0.999999986032,0.000141764185818,-7.11253726484e-05,-5.27356058707e-05,1793239816518043904
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.136608853,745.136608853,715,682,661.409826558,635,880.136608853,787,804.136608853,652,631,653,0.427370664171,0.00460841469828,0.0799261754914,0.999999986375,0.000136759187252,-7.44852082744e-05,-5.47633641428e-05,1793239816534710784
+172,2.866666667,POSE1_TO_POSE2_PRESS,765.711193222,745.711193222,715,682,663.133579667,635,880.711193222,787,804.711193222,652,631,653,0.428220776909,0.00460620151795,0.0799267055389,0.999999984966,0.00013767487206,-9.07157381193e-05,-5.37131503767e-05,1793239816551377408
+173,2.883333333,POSE1_TO_POSE2_PRESS,766,745.708036155,715,682,663.416072309,635,880.708036155,787,804.708036155,652,631,652.708036155,0.429076169764,0.00460847859658,0.0799368661832,0.999999985391,0.000138759889401,-8.45016606774e-05,-5.31302339155e-05,1793239816568044032
+174,2.900000000,POSE1_TO_POSE2_PRESS,766,745.121013741,715,682,662.242027481,635,880.121013741,787,804.121013741,652,631,652.121013741,0.429936898653,0.00461529352959,0.0799567595055,0.999999987246,0.000140016034031,-5.5605069267e-05,-5.30195680028e-05,1793239816584710912
+175,2.916666667,POSE1_TO_POSE2_PRESS,766,745,714.540104011,682,662.919791978,635,880,787,804.459895989,652,631,652,0.43084364951,0.00462144008138,0.0799951236783,0.999999987758,0.000147240701926,3.22566347359e-06,-5.28610610344e-05,1793239816601377536
+176,2.933333333,POSE1_TO_POSE2_PRESS,765.961230185,745.038769815,714,682,664,635,880,787,805,652,631,652.038769815,0.43175558718,0.00462688387266,0.0800340166613,0.999999984614,0.00015524439328,6.24069715213e-05,-5.26992671162e-05,1793239816618043904
+177,2.950000000,POSE1_TO_POSE2_PRESS,765.388534308,745.611465692,714,682,664,635,880,787,805,652,631,652.611465692,0.432574368955,0.004625039754,0.080014135801,0.999999986778,0.000152631614834,1.93642024164e-05,-5.26633008525e-05,1793239816634710784
+178,2.966666667,POSE1_TO_POSE2_PRESS,765.184614575,745.815385425,714,682,663.63077085,635,880,787,804.815385425,652,631,652.815385425,0.433378056488,0.00462266252641,0.0799811851122,0.999999987147,0.000147560752183,-3.31975525447e-05,-5.31969734585e-05,1793239816651377664
+179,2.983333333,POSE1_TO_POSE2_PRESS,765.758719293,745.241280707,714,682,662.482561415,635,880,787,804.241280707,652,631,652.241280707,0.434149899133,0.00461916057326,0.0799206603816,0.999999983464,0.000137303951931,-0.000105841972356,-5.49324402421e-05,1793239816668044288
+180,3.000000000,POSE1_TO_POSE2_PRESS,766,745,714.345398296,682.345398296,662.345398296,635,880,787,804.345398296,652,631,652,0.434956157156,0.0046147244628,0.0799107035575,0.999999983729,0.000130416055058,-0.000111064963072,-5.65556611367e-05,1793239816684710912
+181,3.016666667,POSE1_TO_POSE2_PRESS,766,745,714.941192988,682.941192988,662.941192988,635,880,787,804.941192988,652,631,652,0.435787364552,0.00460961113548,0.0799374059266,0.999999988106,0.000125970444531,-6.74108035659e-05,-5.80975093697e-05,1793239816701377536
+182,3.033333333,POSE1_TO_POSE2_PRESS,765.479314266,745.520685734,714.479314266,682.479314266,662.479314266,635,880.520685734,787,805,652,631.520685734,652.520685734,0.436580591425,0.0046130888294,0.0799601632135,0.999999989308,0.000124679023287,-5.19685658313e-05,-5.60175012972e-05,1793239816718043904
+183,3.050000000,POSE1_TO_POSE2_PRESS,765.097617346,745.902382654,714.097617346,682,662,635,880.902382654,787,805,652,632,653,0.437364668208,0.00461867648231,0.079976880586,0.999999989443,0.000127472582771,-4.38393510417e-05,-5.42525701568e-05,1793239816734710784
+184,3.066666667,POSE1_TO_POSE2_PRESS,765.670769392,745.329230608,714.670769392,682,662,635,880.329230608,787,805,652,632,653,0.43812443301,0.00462995946538,0.0799662796537,0.999999985827,0.000148483078543,-5.62843528326e-05,-5.59547060707e-05,1793239816751377408
+185,3.083333333,POSE1_TO_POSE2_PRESS,765.748272318,745.251727682,715,682.251727682,662,635,880,787,805,652,631.748272318,653,0.438847552408,0.00463968232148,0.0799460305516,0.999999982084,0.000159195867698,-8.52876794706e-05,-5.6702791764e-05,1793239816768044032
+186,3.100000000,POSE1_TO_POSE2_PRESS,765.156777675,745.843222325,715,682.843222325,662,635,880,787,805,652,631.156777675,653,0.439521209971,0.00464729941064,0.0799127589281,0.999999976918,0.000156009426783,-0.00013664044101,-5.61631573521e-05,1793239816784710912
+187,3.116666667,POSE1_TO_POSE2_PRESS,765.425721785,746,714.574278215,683,661.574278215,635,880,787,804.574278215,652,631,653,0.440144520444,0.00465255355767,0.0798521303724,0.999999958016,0.000167112612702,-0.000229879286152,-5.65449248008e-05,1793239816801377536
+188,3.133333333,POSE1_TO_POSE2_PRESS,766,746,714,683,661,635,880.004958292,786.995041708,804.004958292,652,631.004958292,653,0.440749521672,0.00465702091766,0.0797816718652,0.999999924382,0.000183315958471,-0.000338159163971,-5.72703608242e-05,1793239816818044160
+189,3.150000000,POSE1_TO_POSE2_PRESS,766,746,714,683,661,635,880.582008438,786.417991562,804.582008438,652,631.582008438,653,0.441336989027,0.0046690331886,0.079715383583,0.999999883206,0.000193370063587,-0.000438950718885,-5.9307889585e-05,1793239816834710784
+190,3.166666667,POSE1_TO_POSE2_PRESS,766,745.842234485,714,683,660.842234485,635,881,786.157765515,805,652,631.842234485,653,0.44194541542,0.00468000790389,0.0796753611632,0.99999985338,0.000203369220213,-0.00049822042498,-6.04689489382e-05,1793239816851377408
+191,3.183333333,POSE1_TO_POSE2_PRESS,766,745.269875351,714,683,660.269875351,635,881,786.730124649,805,652,631.269875351,653,0.442608920415,0.00468825601862,0.0797043630591,0.999999874988,0.000213223983498,-0.000448374468925,-5.93267270454e-05,1793239816868044032
+192,3.200000000,POSE1_TO_POSE2_PRESS,766,745.301814602,714,683,660.301814602,634.698185398,881,787,805,652,631.301814602,653,0.443243185,0.00469697468648,0.0797388455604,0.999999893986,0.000230891834306,-0.000394105419381,-5.82860209441e-05,1793239816884710656
+193,3.216666667,POSE1_TO_POSE2_PRESS,766,745.872907478,714,683,660.872907478,634.127092522,881,787,805,652,631.872907478,653,0.443851361323,0.00470611318025,0.079778217843,0.999999909297,0.000255530502421,-0.000335890098766,-5.73358869821e-05,1793239816901377280
+194,3.233333333,POSE1_TO_POSE2_PRESS,766,745.538408879,714,683,660.076817759,634,881,786.538408879,805,652,631.538408879,653,0.444378506702,0.00471554088147,0.0797730922157,0.999999902638,0.000266238895826,-0.000347157738033,-5.76465438316e-05,1793239816918044160
+195,3.250000000,POSE1_TO_POSE2_PRESS,765.945807562,745,713.945807562,682.945807562,659,633.945807562,881,786,804.945807562,652,631,652.945807562,0.444879670439,0.00472580242745,0.0797541221478,0.999999888809,0.000272653607859,-0.000380304454107,-5.84073004339e-05,1793239816934710784
+196,3.266666667,POSE1_TO_POSE2_PRESS,765.364085125,745,713.364085125,682.364085125,659,633.364085125,881,786,804.364085125,652,631,652.364085125,0.445353704456,0.00474337508876,0.0797243744358,0.999999866418,0.000276087445989,-0.000432822435293,-6.00364197342e-05,1793239816951377408
+197,3.283333333,POSE1_TO_POSE2_PRESS,765,745.21462462,713,682.429249241,658.78537538,633,881,786.21462462,804,652,631,652.21462462,0.445823358321,0.00476472563294,0.0797004451629,0.999999844489,0.000292463324737,-0.000470649314228,-6.30536162043e-05,1793239816968044032
+198,3.300000000,POSE1_TO_POSE2_PRESS,765,745.788294383,713,683.576588767,658.211705617,633,881,786.788294383,804,652,631,652.788294383,0.44628568459,0.00479239618884,0.0796862495494,0.99999982597,0.00033048992042,-0.000483899470382,-6.83929244785e-05,1793239816984710656
+199,3.316666667,POSE1_TO_POSE2_PRESS,765,745.626105311,713.373894689,684,658,633,880.626105311,786.626105311,804,652,631,653,0.446724430254,0.00480442878138,0.0796802584854,0.999999819841,0.00034991532683,-0.0004825773232,-7.06881140864e-05,1793239817001377280
+200,3.333333333,POSE1_TO_POSE2_PRESS,765,745.033527013,713.966472987,684,658,633,880.033527013,786.033527013,804,652,631,653,0.447149384133,0.00480731504104,0.079679066099,0.99999982148,0.000358461269287,-0.000472732125494,-7.12028594312e-05,1793239817018043904
+201,3.350000000,POSE1_TO_POSE2_PRESS,765,745.545099063,714,683.454900937,657.454900937,633,880,786,804,652,631,652.454900937,0.447519468076,0.00480711843187,0.0796689412334,0.999999813575,0.000362875768526,-0.00048585988938,-7.14878103987e-05,1793239817034710784
+202,3.366666667,POSE1_TO_POSE2_PRESS,765,745.878349895,714,683.121650105,657,632.878349895,880.243300209,786,804,652,631,652.121650105,0.447874806018,0.00480909630845,0.079657086482,0.99999980271,0.000368252204742,-0.000503822434828,-7.16516248115e-05,1793239817051377408
+203,3.383333333,POSE1_TO_POSE2_PRESS,765,745.306382565,714,683.693617435,657,632.306382565,881.38723487,786,804,652,631,652.693617435,0.448187739203,0.00481980795985,0.0796408111311,0.999999783078,0.000378106656666,-0.000534582141233,-7.14180370275e-05,1793239817068044032
+204,3.400000000,POSE1_TO_POSE2_PRESS,765,745,713.724718423,683.724718423,657,632,881.449436847,786,804.275281577,652,631.275281577,653,0.448490625734,0.00482505245874,0.0796251904029,0.999999769657,0.000375578998917,-0.000560914352304,-7.07190580113e-05,1793239817084710912
+205,3.416666667,POSE1_TO_POSE2_PRESS,765,745,713.13186793,683.13186793,657,632,880.26373586,786,804.86813207,652,631.86813207,653,0.448781922276,0.00482398996862,0.0796103248582,0.999999763786,0.000358767155064,-0.00058213893734,-6.9483196798e-05,1793239817101377792
+206,3.433333333,POSE1_TO_POSE2_PRESS,765,745,713,683,656.549202672,632,880,786,804.549202672,652,631.549202672,653,0.449061315897,0.00482568741765,0.0796111951076,0.999999766695,0.000355080510569,-0.000579357297346,-6.98092731794e-05,1793239817118044672
+207,3.450000000,POSE1_TO_POSE2_PRESS,765,745,713,683,656,632,880,786,804,652,631,653,0.449335217712,0.00482822027034,0.0796164658444,0.999999771921,0.000355561012138,-0.000569874671153,-7.05458305548e-05,1793239817134711296
+208,3.466666667,POSE1_TO_POSE2_PRESS,765,745,713,683,656,632,880,786,804,652,631,653,0.449571602263,0.00483157830093,0.0796199231927,0.999999772756,0.000363458644926,-0.000563379871834,-7.06293574696e-05,1793239817151377664
+209,3.483333333,POSE1_TO_POSE2_PRESS,765.183064556,745.183064556,713,683.183064556,656,632,880.183064556,785.816935444,804,652,631,653,0.449793208782,0.00483367870252,0.0796215383316,0.999999771477,0.000369307112863,-0.000561937429297,-6.98905732961e-05,1793239817168044288
+210,3.500000000,POSE1_TO_POSE2_PRESS,765.755768344,745.755768344,713,683.755768344,656,632,880.755768344,785.244231656,804,652,631,653,0.449983361335,0.00483310233431,0.0796192324654,0.999999765822,0.000370794085531,-0.000571248551648,-6.74015613981e-05,1793239817184711168
+211,3.516666667,POSE1_TO_POSE2_PRESS,766,745.661126055,713.338873945,683.661126055,656,632,881,785,804,652,631,653,0.450162685652,0.00483394155828,0.0796193788389,0.999999763647,0.000374088102571,-0.000573145653425,-6.53363335999e-05,1793239817201377792
+212,3.533333333,POSE1_TO_POSE2_PRESS,766,745.070286243,713.929713757,683.070286243,656,632,881,785,804,652,631,653,0.450333958776,0.00483583332965,0.0796213485472,0.999999764079,0.000378725727053,-0.00056953014556,-6.35862053878e-05,1793239817218044416
+213,3.550000000,POSE1_TO_POSE2_PRESS,765.489815969,745,713.489815969,683,655.489815969,631.489815969,881.510184031,785,804,652,631,653,0.450475150313,0.00483803615919,0.0796193431053,0.999999761048,0.000380802965594,-0.000573397879537,-6.40870376403e-05,1793239817234711296
+214,3.566666667,POSE1_TO_POSE2_PRESS,765,745,713,683.088691599,655,631.088691599,881.911308401,785,804,652,631,653,0.450608045912,0.00483995516906,0.0796170591259,0.999999758086,0.000382016771904,-0.000577643743097,-6.49544784213e-05,1793239817251377920
+215,3.583333333,POSE1_TO_POSE2_PRESS,765,745,713,683.664111961,655,631.664111961,881.335888039,785,804,652,631,653,0.450717704464,0.00484008612233,0.0796161920927,0.999999758178,0.000380389374954,-0.000578419767846,-6.61658947671e-05,1793239817268044544
+216,3.600000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654.761151928,631.761151928,881,785,804.238848072,652,631,653,0.450816683513,0.00483970185471,0.079615686223,0.999999758034,0.000378192709648,-0.000579993580179,-6.71468969554e-05,1793239817284710912
+217,3.616666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654.187375354,631.187375354,881,785,804.812624646,652,631,653,0.450900687052,0.00483859511041,0.0796156868005,0.999999757553,0.000375197778848,-0.000582686102769,-6.78047971605e-05,1793239817301377536
+218,3.633333333,POSE1_TO_POSE2_PRESS,765,745,713.398962938,683.601037062,654,631,881,785,805,652,631,653,0.450971058791,0.00483451012763,0.0796129730108,0.99999975621,0.000371027569501,-0.000587476160635,-6.92078397748e-05,1793239817318044416
+219,3.650000000,POSE1_TO_POSE2_PRESS,765,745,713.991392695,683.008607305,654,631,881,785,805,652,631,653,0.451034820137,0.00482898092468,0.0796089429584,0.999999754406,0.000366287439108,-0.000593283364204,-7.09722200217e-05,1793239817334711040
+220,3.666666667,POSE1_TO_POSE2_PRESS,765,745,713.43080575,683.56919425,654.56919425,631,881,785,805,652,631,653,0.451085844457,0.00481728280171,0.0796102496197,0.999999760581,0.000352439991614,-0.000591064762838,-7.2576944091e-05,1793239817351377408
+221,3.683333333,POSE1_TO_POSE2_PRESS,765,745,713,684,654.853745208,631,881,785,805,652.146254792,631,653,0.451130998671,0.00481092319114,0.0796104141873,0.999999763434,0.000344162257772,-0.000590921095431,-7.41433630214e-05,1793239817368044288
+222,3.700000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654.278226688,631,881,785,805,652.721773312,631,653,0.451159475021,0.00482049926999,0.0796069957364,0.999999756637,0.000352625947301,-0.000597214731222,-7.56042631061e-05,1793239817384711168
+223,3.716666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631,881,785,805,652.695522778,631,653,0.451183888623,0.00482502298578,0.0796043994074,0.999999752363,0.00035579145772,-0.000602390079764,-7.62357053571e-05,1793239817401377792
+224,3.733333333,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631,881,785,805,652.106094206,631,653,0.451204500019,0.00482481834345,0.0796025724779,0.999999750515,0.000353998557844,-0.000606518856654,-7.60908823882e-05,1793239817418044416
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,745,713,683.524343631,654,631,881,785,804.524343631,652,631,653,0.451219879935,0.00482437178028,0.0796023372301,0.999999750072,0.000354387709272,-0.00060707132071,-7.56976307771e-05,1793239817434711040
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,745,713,683,654,631,881,785,804,652,631,653,0.451233284686,0.00482415691771,0.0796021587769,0.999999749671,0.000355418509916,-0.000607175980678,-7.53213509276e-05,1793239817451377664
+227,3.783333333,POSE1_TO_POSE2_PRESS,765,745,713,683,654,631,881,785,804,652,631,653,0.451238908906,0.0048266220744,0.0795992270583,0.999999746739,0.000357980127254,-0.000610453844705,-7.56179193431e-05,1793239817468044288
+228,3.800000000,POSE1_TO_POSE2_PRESS,765,745,713,683.201733736,654,631.201733736,880.798266264,785,804.201733736,652,631,653,0.451242858102,0.00482656139614,0.0795968123819,0.999999744847,0.000357239823223,-0.000614002442835,-7.54032191013e-05,1793239817484711168
+229,3.816666667,POSE1_TO_POSE2_PRESS,765,745,713,683.775551083,654,631.775551083,880.224448917,785,804.775551083,652,631,653,0.451243717833,0.00482184199383,0.0795953513533,0.999999744857,0.000350409358573,-0.000618050390666,-7.42455199577e-05,1793239817501377792
+230,3.833333333,POSE1_TO_POSE2_PRESS,765,745,713,684,654,632,880.720313745,785.360156873,805,652,631,653,0.451245873384,0.00482085781969,0.0795943800953,0.999999744474,0.000349545554379,-0.000619194913051,-7.39480416996e-05,1793239817518044416
+231,3.850000000,POSE1_TO_POSE2_PRESS,765,745,713,684,654,632,881.903387173,785.951693587,805,652,631,653,0.451248861425,0.00482227331258,0.0795937234864,0.999999743858,0.000352514982733,-0.000618474153329,-7.42032053698e-05,1793239817534711552
+232,3.866666667,POSE1_TO_POSE2_PRESS,765,745,713,683.467418268,654,631.467418268,881.467418268,785.467418268,805,652,631,653,0.451249456643,0.00482299418042,0.0795931150556,0.999999742957,0.000353380559632,-0.00061942758828,-7.42852443648e-05,1793239817551377920
+233,3.883333333,POSE1_TO_POSE2_PRESS,765,745,713,683.111653289,654,631,880.888346711,785.111653289,804.888346711,652,631,652.888346711,0.451249694994,0.0048231684803,0.0795925077544,0.999999742139,0.000353678027126,-0.000620583490123,-7.42227670589e-05,1793239817568044544
+234,3.900000000,POSE1_TO_POSE2_PRESS,765,745,713,683.687112096,654,631,880.312887904,785.687112096,804.312887904,652,631,652.312887904,0.451249334814,0.00482132893524,0.0795918873488,0.999999741781,0.000352392721179,-0.000621962004209,-7.36239224604e-05,1793239817584710912
+235,3.916666667,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631,880.267855348,785.732144652,804,652,631,652.267855348,0.451249618344,0.00482134010423,0.0795917743557,0.999999741635,0.000352056981589,-0.000622398268517,-7.35202854068e-05,1793239817601377536
+236,3.933333333,POSE1_TO_POSE2_PRESS,765,745,713,684,654,631,880.854895792,785.145104208,804,652,631,652.854895792,0.451250668939,0.0048235566437,0.0795922660117,0.999999741746,0.000352852775812,-0.0006217117177,-7.40067535997e-05,1793239817618044160
+237,3.950000000,POSE1_TO_POSE2_PRESS,765,745,713,683.563783196,654,631,880.563783196,785,804.436216804,652,631,653,0.451251263887,0.00482278600514,0.0795923892443,0.999999742095,0.000352422725983,-0.000621433328446,-7.36861130788e-05,1793239817634710784
+238,3.966666667,POSE1_TO_POSE2_PRESS,765.015613226,745,713,683,654,631,880,785,805,652,631,653,0.451251725415,0.00482107982311,0.0795923907179,0.999999742523,0.000351560776236,-0.000621298178106,-7.31262161119e-05,1793239817651377664
+239,3.983333333,POSE1_TO_POSE2_PRESS,765.593330129,745,713,683,654,631,880,785,805,652,631,653,0.451252769675,0.00482100303647,0.0795923636855,0.999999743047,0.0003496400332,-0.000621495114734,-7.34932751999e-05,1793239817668044288
+240,4.000000000,POSE1_TO_POSE2_PRESS,765.829707248,745.170292752,713.170292752,683,654,631,880.170292752,785,805,652,631,653,0.451253376074,0.00482106477808,0.0795922887674,0.999999743159,0.000348511908588,-0.000621919542865,-7.3733404584e-05,1793239817684711168
+241,4.016666667,POSE1_TO_POSE2_PRESS,765.254537982,745.745462018,713.745462018,683,654,631,880.745462018,785,805,652,631,653,0.451252941445,0.00482145587506,0.0795920999997,0.999999742299,0.000349268259975,-0.000622884839372,-7.36717544807e-05,1793239817701377792
+242,4.033333333,POSE1_TO_POSE2_PRESS,765,745.671157369,713.671157369,683.328842631,654,631,880.671157369,785,804.671157369,652,631,653,0.451253212644,0.00482099716996,0.0795925877375,0.999999742409,0.000349458520886,-0.000622639482525,-7.33568212096e-05,1793239817718044416
+243,4.050000000,POSE1_TO_POSE2_PRESS,765,745.081258082,713.081258082,683.918741918,654,631,880.081258082,785,804.081258082,652,631,653,0.451254044174,0.00481986383671,0.0795936125293,0.999999743287,0.000349199382347,-0.000621433030304,-7.28408152986e-05,1793239817734711040
+244,4.066666667,POSE1_TO_POSE2_PRESS,765,745,713,684,653.500728764,631,880,785,804.499271236,652,631,653,0.451254980739,0.00482134522789,0.0795934698679,0.999999743361,0.00035028626315,-0.000620678089474,-7.30489672165e-05,1793239817751377664
+245,4.083333333,POSE1_TO_POSE2_PRESS,765,745,713,684,653,631,880.07762166,785,805,652,631,653,0.451255771265,0.00482289362996,0.0795932099733,0.999999743323,0.000351336482996,-0.000620118629126,-7.32807447782e-05,1793239817768044032
+246,4.100000000,POSE1_TO_POSE2_PRESS,765,745,713,684,653,631,880.651610694,785,805,652,631,653,0.451255520618,0.00482219937763,0.0795933930631,0.999999743403,0.00035077719061,-0.000620347950353,-7.29238109709e-05,1793239817784710656
+247,4.116666667,POSE1_TO_POSE2_PRESS,765,745,713,684,653,631,881,785,805,652,631,653,0.451255504208,0.0048216552112,0.0795934421438,0.999999743232,0.000350748802176,-0.00062067370025,-7.26362763298e-05,1793239817801377536
+248,4.133333333,POSE1_TO_POSE2_PRESS,765,745,713,684,653,631,881,785,805,652,631,653,0.451255849524,0.00482134281952,0.0795932842767,0.999999742672,0.000351540278595,-0.000621148363151,-7.24559134546e-05,1793239817818044672
+249,4.150000000,POSE1_TO_POSE2_PRESS,765,745,713,684,653.40351917,631,880.59648083,785,804.59648083,652,631,653,0.45125671781,0.00482155225443,0.0795931134563,0.999999742225,0.000352813658515,-0.000621151579073,-7.24153486753e-05,1793239817834711296
+250,4.166666667,POSE1_TO_POSE2_PRESS,765,745,713,684,653.983033084,631,880.016966916,785,804.016966916,652,631,653,0.451257814189,0.00482198928385,0.0795929369863,0.999999741824,0.000354297220429,-0.000620949173533,-7.24357567965e-05,1793239817851377920
+251,4.183333333,POSE1_TO_POSE2_PRESS,765,745,713,683.441101698,653.441101698,631,880.558898302,785,804,652,631,653,0.451256807268,0.00482297788725,0.0795928616935,0.999999741712,0.000353647333505,-0.000621476204129,-7.26431115642e-05,1793239817868044288
+252,4.200000000,POSE1_TO_POSE2_PRESS,764.865302659,745,713,683,653.134697341,631,880.865302659,785,804.134697341,652,631,653,0.45125595428,0.00482312575972,0.0795925889918,0.99999974163,0.000352518005778,-0.000622239457047,-7.27278711271e-05,1793239817884710656
+253,4.216666667,POSE1_TO_POSE2_PRESS,764.289359944,745,713,683,653.710640056,631,880.289359944,785,804.710640056,652,631,653,0.45125581336,0.00482046504538,0.0795916596158,0.999999741616,0.000350028901061,-0.000623704464055,-7.23925591427e-05,1793239817901377280
+254,4.233333333,POSE1_TO_POSE2_PRESS,764.292050789,745,713,683.292050789,653.707949211,631,880.292050789,785,804.707949211,652,630.707949211,653,0.45125592866,0.00481964942628,0.0795916138988,0.999999742083,0.000348717579059,-0.000623690545584,-7.2386642668e-05,1793239817918044160
+255,4.250000000,POSE1_TO_POSE2_PRESS,764.878982491,745,713,683.878982491,653.121017509,631,880.878982491,785,804.121017509,652,630.121017509,653,0.451256302661,0.00482069678254,0.0795924604039,0.999999743041,0.000348595453257,-0.000622183369981,-7.27133137394e-05,1793239817934710784
+256,4.266666667,POSE1_TO_POSE2_PRESS,765,745,713,683.538009341,653.461990659,631,881,785,804,651.538009341,630,652.538009341,0.451257338155,0.00482323628446,0.0795929289399,0.999999742812,0.000351138557918,-0.00062107290304,-7.31123909115e-05,1793239817951377408
+257,4.283333333,HOLD_POSE2,765,745,713,684,654,631,881,785,804,652,630,653,0.451255493077,0.00482009601576,0.0795909791699,0.999999740849,0.000351168363218,-0.000624337246208,-7.20059080674e-05,1793239817995897088
+258,4.300000000,HOLD_POSE2,765.571400326,745.571400326,713,684,653.428599674,631,881,785,804,652.571400326,630.571400326,653,0.451255342683,0.00482229584656,0.079590825952,0.999999740039,0.000353029972035,-0.00062453529231,-7.24460768019e-05,1793239818012562944
+259,4.316666667,HOLD_POSE2,765.85089033,745.85089033,713,684,653,631,880.85089033,785,804,652.70178066,631,653,0.451255833775,0.00482342415079,0.0795912461871,0.999999740062,0.000353803782702,-0.000624027538848,-7.27239411321e-05,1793239818029229056
+260,4.333333333,HOLD_POSE2,765.254245056,745.254245056,713,684,653,631,880.254245056,785,804,651.508490113,631,653,0.45125825021,0.00482133639121,0.0795933875756,0.999999742591,0.0003513126922,-0.000621401408845,-7.25146674785e-05,1793239818045895680
+261,4.350000000,HOLD_POSE2,765,745,713,683.668156331,653.331843669,631,880.331843669,785,804.331843669,651.331843669,631,653,0.45125784959,0.00481994674006,0.0795926430127,0.999999742675,0.00034931284929,-0.000622446775971,-7.20432569774e-05,1793239818062562304
+262,4.366666667,HOLD_POSE2,765,745,713,683.089906276,653.910093724,631,880.910093724,785,804.910093724,651.910093724,631,653,0.451255357202,0.00481907546078,0.0795897555225,0.999999740938,0.000347677776316,-0.000626218367756,-7.13772000344e-05,1793239818079228928
+263,4.383333333,HOLD_POSE2,765,745.48180605,713,683,653.51819395,631,881,785,804.51819395,652,631,653,0.451256534629,0.00481888378909,0.0795907950845,0.999999742223,0.000347751768892,-0.000624084195889,-7.16996937398e-05,1793239818095895808
+264,4.400000000,HOLD_POSE2,765,745.945527653,713.054472347,683.054472347,653,631,881,785,804,652.054472347,631,653,0.451258364279,0.00481881146382,0.0795925082389,0.999999744033,0.00034796720827,-0.000621001731986,-7.21760113514e-05,1793239818112562432
+265,4.416666667,HOLD_POSE2,765,745.351489666,713.648510334,683.648510334,653,631,881,785,804,652.648510334,631,653,0.451259962089,0.00481868196141,0.0795937321156,0.999999745598,0.000346467049316,-0.000619295962751,-7.23732696476e-05,1793239818129229312
+266,4.433333333,HOLD_POSE2,765,745,713.763303873,684.236696127,653,631,881,785.236696127,804.236696127,652.763303873,631,653,0.451260589081,0.00481886294576,0.0795941121271,0.999999745859,0.000346071044602,-0.000619104681987,-7.22943448583e-05,1793239818145895936
+267,4.450000000,HOLD_POSE2,765,745,713.183598859,684.816401141,653,631,881,785.816401141,804.816401141,652.183598859,631,653,0.451259809207,0.0048194938729,0.079593269249,0.999999744234,0.000347275128382,-0.000621108126793,-7.18151885217e-05,1793239818162562304
+268,4.466666667,HOLD_POSE2,765,745,713,684.212857512,653.393571244,631,881,785.606428756,805,652,631,653,0.451258616913,0.00482008842172,0.0795920399101,0.999999742789,0.000347644519204,-0.000623197071117,-7.2047163288e-05,1793239818179229184
+269,4.483333333,HOLD_POSE2,765,745,713,683.060867116,653.969566442,631,881,785.030433558,805,652,631,653,0.451257233458,0.00482066610891,0.079590631443,0.999999741426,0.000347627022135,-0.000625325645444,-7.26087539316e-05,1793239818195896064
+270,4.500000000,HOLD_POSE2,765,745,713,683,653.455268257,631,881,785,804.455268257,652,631,653,0.451258298666,0.00482118031386,0.0795918707613,0.999999741821,0.000349056095769,-0.0006239183885,-7.2411255862e-05,1793239818212562688
+271,4.516666667,HOLD_POSE2,765,745,713,683.122326557,653,631,881,785,804,652,631,653,0.451259361862,0.00482135374933,0.0795929354604,0.999999742413,0.000349851600248,-0.000622539488977,-7.226325376e-05,1793239818229229312
+272,4.533333333,HOLD_POSE2,765,745,713,683.709326208,653,631,881,785,804,652,631,653,0.451259898536,0.00482024618046,0.0795927757748,0.999999743393,0.000347933879931,-0.000622017559084,-7.24641210084e-05,1793239818245896192
+273,4.550000000,POSE2_TO_POSE3_RETREAT,765,745,713,683,653,631,881,785,804,652,631,653,0.451259596384,0.00481865128696,0.079592972608,0.99999974422,0.000346219587436,-0.000621747121432,-7.15669938806e-05,1793239818283299328
+274,4.566666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.582963621,653,631,881,785,804,652,631,653,0.451259794447,0.00481891522159,0.0795931033263,0.99999974468,0.000344852107407,-0.000621715421798,-7.20235668497e-05,1793239818299966976
+275,4.583333333,POSE2_TO_POSE3_RETREAT,765,745.167473334,713,683.832526666,653,631,881,784.832526666,804.167473334,652,631,653,0.451260166111,0.0048190238101,0.0795933730871,0.999999745058,0.00034423323806,-0.000621431807815,-7.21762945694e-05,1793239818316633856
+276,4.600000000,POSE2_TO_POSE3_RETREAT,765,745.755869071,713,683.244130929,653,631,881,784.244130929,804.755869071,652,631,653,0.4512609741,0.00481874195647,0.0795939923128,0.999999745236,0.000345495903841,-0.000620515039937,-7.15653469403e-05,1793239818333299712
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764.661003156,745.661003156,713,683.338996844,653,631,881,784.338996844,804.661003156,652,631,653,0.451260921754,0.00481869185419,0.0795939625753,0.999999744908,0.000346565211662,-0.000620471635596,-7.1357049665e-05,1793239818349966336
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764.081611125,745.081611125,713,683.918388875,653,631,881,784.918388875,804.081611125,652,631,653,0.451260259312,0.00481880609537,0.079593472634,0.999999744221,0.000347497402134,-0.000621047565659,-7.14342866678e-05,1793239818366633472
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764.496379674,745,713,684,653.496379674,631,880.503620326,785.496379674,804.992759348,652,631,653,0.451262049482,0.0048187993602,0.0795945635604,0.99999974513,0.000348014998715,-0.000619292468673,-7.14281913677e-05,1793239818383299840
+280,4.666666667,POSE2_TO_POSE3_RETREAT,765,745.073738089,713,684,653.926261911,631,880.073738089,785.926261911,805.852523821,652.073738089,631,653,0.451263507474,0.00481877370884,0.0795954833514,0.999999745892,0.000348346682199,-0.000617877322518,-7.1398096952e-05,1793239818399966464
+281,4.683333333,POSE2_TO_POSE3_RETREAT,765,745.648361386,713,684,653.351638614,631,880.648361386,785.351638614,804.703277228,652.648361386,631,653,0.451259977657,0.00481875429231,0.0795934800923,0.9999997439,0.000347877224258,-0.000621367381563,-7.12977871695e-05,1793239818416633088
+282,4.700000000,POSE2_TO_POSE3_RETREAT,765.228967586,746,713,683.771032414,653.228967586,631,881,785,804,652.771032414,631,653,0.451256265245,0.00481898629501,0.0795914168451,0.999999741883,0.000348131830553,-0.00062446586108,-7.12815660939e-05,1793239818433299712
+283,4.716666667,POSE2_TO_POSE3_RETREAT,765.819008549,746,713,683.180991451,653.819008549,631,881,785,804,652.180991451,631,653,0.451252264887,0.00481961477649,0.0795892589989,0.999999739835,0.000349528259297,-0.000626946833903,-7.13979497956e-05,1793239818449966080
+284,4.733333333,POSE2_TO_POSE3_RETREAT,765.598270398,745.598270398,713,683.401729602,653.598270398,631,881.401729602,785,804,652,631,653,0.451235235268,0.00481989162201,0.0795801132185,0.99999973146,0.000348074325107,-0.00064091005558,-7.18235706778e-05,1793239818466632192
+285,4.750000000,POSE2_TO_POSE3_RETREAT,765.018788125,745.018788125,713,683.981211875,653.018788125,631,881.981211875,785,804,652,631,653,0.451212440612,0.00482001287978,0.0795678754976,0.999999719974,0.000345359195275,-0.000659953810074,-7.23860192424e-05,1793239818483298816
+286,4.766666667,POSE2_TO_POSE3_RETREAT,765,745,712.444616359,684,653,631.555383641,881.444616359,785,804.555383641,652,631,653,0.451157540434,0.00481884763968,0.0795448132773,0.999999692918,0.000345180119557,-0.00069990681038,-7.17322058604e-05,1793239818499965696
+287,4.783333333,POSE2_TO_POSE3_RETREAT,765,745,712.259586863,684,653,631.870206568,881,785,805,652,631,653,0.451098712024,0.00481813325035,0.0795232225818,0.999999666307,0.000345709559168,-0.000736775686658,-7.09381880006e-05,1793239818516632320
+288,4.800000000,POSE2_TO_POSE3_RETREAT,765,745,713.411265811,684,653,631.294367095,881,785,805,652,631,653,0.451030081028,0.00481911639449,0.0795079353984,0.999999647594,0.000348381832471,-0.000760637912413,-6.98024049604e-05,1793239818533298944
+289,4.816666667,POSE2_TO_POSE3_RETREAT,765,745,713.710369752,683.710369752,653.289630248,631,881,785,805,652.289630248,631,653,0.450956802463,0.00481940629067,0.0794985419974,0.999999636079,0.000350830645299,-0.000774648401894,-6.84137518703e-05,1793239818549965824
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,745,713.117840849,683.117840849,653.882159151,631,881,785,805,652.882159151,631,653,0.450878663422,0.00481897118008,0.079495312383,0.999999632532,0.000353045760583,-0.000778355830872,-6.6760644465e-05,1793239818566632448
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.461665705,654,631,881,785,805,652.538334295,631,653,0.450786058162,0.00481853757109,0.0794980405794,0.999999635569,0.000356525386778,-0.000773077811297,-6.40463810181e-05,1793239818583299328
+292,4.866666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,653.962201963,631,881,785,805,652,631,653,0.450687794122,0.00481788886541,0.0795018484819,0.999999639735,0.000359884110592,-0.000766345995125,-6.105225132e-05,1793239818599965952
+293,4.883333333,POSE2_TO_POSE3_RETREAT,765,745,713,684,653.388076455,631,881,785,805,652,631,653,0.450560192902,0.00481418279993,0.0794999903917,0.999999637637,0.000357073103161,-0.000770636880775,-5.78249160281e-05,1793239818616632576
+294,4.900000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.808324106,653,631,881,785,805,652,631,653,0.450422448461,0.00481156860131,0.0794991216739,0.999999636059,0.000356552675138,-0.000773180269999,-5.42649669674e-05,1793239818633298944
+295,4.916666667,POSE2_TO_POSE3_RETREAT,765,745,713,683.216834899,653,631,881,785,805,652,631,653,0.45026354647,0.00481123190866,0.0795003166705,0.999999635605,0.000360810126006,-0.000772078587253,-5.00112252161e-05,1793239818649965568
+296,4.933333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.365902076,653.365902076,631,881,785.365902076,805,652,631,653,0.450083967178,0.0048095178918,0.0794997032158,0.999999634073,0.00036540828682,-0.000772207268278,-4.50167046522e-05,1793239818666632448
+297,4.950000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.943573664,653.943573664,631,881,785.943573664,805,652,631,653,0.449892420673,0.00480700673465,0.0794980431019,0.999999631889,0.00037020363734,-0.000773048034607,-3.95934504824e-05,1793239818683299072
+298,4.966666667,POSE2_TO_POSE3_RETREAT,765,745,713,684,654,631,881,785.477753841,805,652,631,653,0.449670321877,0.0048058058434,0.0794992517965,0.999999631207,0.000374032885597,-0.000772344824934,-3.41927456357e-05,1793239818699965952
+299,4.983333333,POSE2_TO_POSE3_RETREAT,765,745,713,683.899790493,654,631,881,785.100209507,804.899790493,652,631,652.899790493,0.449438891185,0.00480441225037,0.0795000499812,0.999999629596,0.000378273349012,-0.000772601195722,-2.83689814227e-05,1793239818716633088
+300,5.000000000,POSE2_TO_POSE3_RETREAT,765,745,713,683.325692875,654,631,881,785.674307125,804.325692875,652,631,652.325692875,0.449178970616,0.00480143661695,0.0794974382595,0.999999622908,0.0003849530116,-0.000778185797384,-2.05330352104e-05,1793239818733299200
+301,5.016666667,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.254548411,631,880.745451589,785.745451589,803.745451589,652,631,652.254548411,0.448900486408,0.00479806193575,0.079497855998,0.999999620123,0.000389824271435,-0.000779504614122,-1.27591859369e-05,1793239818749965824
+302,5.033333333,POSE2_TO_POSE3_RETREAT,765,745,713,683,654.842844858,631,880.157155142,785.157155142,803.157155142,652,631,652.842844858,0.448597662729,0.00479416404809,0.0795022457765,0.999999622537,0.000392324465759,-0.000775230398868,-5.06675477704e-06,1793239818766632448
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764.57484982,745,713,683,655,631.42515018,880,785,803.850300361,652,631,653,0.448265143008,0.00479112686831,0.0795008562961,0.999999619858,0.000394095035265,-0.000777799209245,8.19582653945e-07,1793239818783299072
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764.00522933,745,713.00522933,683.00522933,655.00522933,632,880.00522933,785.00522933,804.99477067,652,631,653,0.447921576415,0.00478836750034,0.079497476354,0.999999615512,0.0003954348686,-0.000782669411748,6.00683234039e-06,1793239818799965696
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.580691679,745,713.580691679,683.580691679,655.580691679,632,880.580691679,785.580691679,804.419308321,652,631,653,0.447553759468,0.00478169073665,0.0795067602057,0.99999963447,0.000378806148165,-0.000766498673939,6.7505866212e-06,1793239818816632320
+306,5.100000000,POSE2_TO_POSE3_RETREAT,765,745,713.840875728,683.840875728,656,632,881,786,804,652,631,653,0.447177461413,0.0047752350073,0.0795162294535,0.999999653593,0.00035897542511,-0.000750939062961,6.47371492833e-06,1793239818833298944
+307,5.116666667,POSE2_TO_POSE3_RETREAT,765,745,713.254467463,683.254467463,656,632,881,786,804,652,631,653,0.446778389758,0.0047693728053,0.0795261965298,0.999999673764,0.000330546617154,-0.00073702046626,3.45623582116e-06,1793239818849965824
+308,5.133333333,POSE2_TO_POSE3_RETREAT,765,745.32796257,713,683,656,632.32796257,881,785.67203743,804,652,631,652.67203743,0.446340471887,0.00476197319799,0.0795415371953,0.999999693986,0.000311094716495,-0.000717789259449,5.06851813268e-06,1793239818866632448
+309,5.150000000,POSE2_TO_POSE3_RETREAT,765,745.907342933,713,683,656,632.907342933,881,785.092657067,804,652,631,652.092657067,0.445872774263,0.00475339500724,0.0795609972831,0.999999714234,0.000298524556126,-0.000694485376926,1.02299990373e-05,1793239818883299072
+310,5.166666667,POSE2_TO_POSE3_RETREAT,765,745.514612254,713.485387746,683.485387746,656.485387746,632.514612254,880.514612254,785.485387746,804,652,631,652.485387746,0.445372583305,0.00474609758334,0.0795755522947,0.999999729193,0.000293302174476,-0.000674867448176,1.19417550285e-05,1793239818899965696
+311,5.183333333,POSE2_TO_POSE3_RETREAT,765,745.062713287,713.937286713,684,657,632,880.062713287,786,804.062713287,652,631,653,0.44486221484,0.00473885633312,0.0795889307657,0.999999741133,0.000294261191871,-0.000656485696844,1.30572631013e-05,1793239818916632064
+312,5.200000000,POSE2_TO_POSE3_RETREAT,765,745.636251337,713.363748663,684,657,632,880.636251337,786,804.636251337,652,631,653,0.444319331453,0.00473008663779,0.0796003318203,0.99999973768,0.000334176468442,-0.000642457535912,1.46653488443e-05,1793239818933299456
+313,5.216666667,POSE2_TO_POSE3_RETREAT,765,745.783724859,713.216275141,683.783724859,657.216275141,632.216275141,880.783724859,786,804.783724859,652,631,653,0.443764100557,0.00472044401851,0.0796090043097,0.999999739992,0.000347365655141,-0.000631734604253,1.62733234924e-05,1793239818949967104
+314,5.233333333,POSE2_TO_POSE3_RETREAT,765,745.192455598,713.807544402,683.192455598,657.807544402,632.807544402,880.192455598,786,804.192455598,652,631,653,0.443187460654,0.00470928785851,0.0796129458065,0.999999754071,0.000314215133607,-0.000626742529888,1.7881105445e-05,1793239818966633984
+315,5.250000000,POSE2_TO_POSE3_RETREAT,765,745,714,683.390652106,658,633,880.390652106,786,804.390652106,652,631.390652106,653,0.442582770486,0.00469893762523,0.0796282253845,0.999999779788,0.000285935725222,-0.000598587321458,1.89072154335e-05,1793239818983300608
+316,5.266666667,POSE2_TO_POSE3_RETREAT,765,745,714,683.969821268,658,633,880.969821268,786,804.969821268,652,631.969821268,653,0.441964544115,0.00468897630849,0.0796489763821,0.999999809622,0.000260006971313,-0.000559254274532,1.96526278033e-05,1793239818999966976
+317,5.283333333,POSE2_TO_POSE3_RETREAT,765,745,714,683.454873794,658.545126206,633,881,786,804.454873794,652,631.454873794,653,0.441308340915,0.00467497249902,0.0796632726105,0.999999828275,0.000232719348989,-0.00053743149242,2.14113167242e-05,1793239819016633600
+318,5.300000000,POSE2_TO_POSE3_RETREAT,765.122935036,745.122935036,714,683,659,633.122935036,881,786,804,652,631,652.877064964,0.440635300343,0.00466203647786,0.0796675595732,0.999999835587,0.000216219933946,-0.000530613536255,2.28965528498e-05,1793239819033300224
+319,5.316666667,POSE2_TO_POSE3_RETREAT,765.711021487,745.711021487,714,683,659,633.711021487,881,786,804,652,631,652.288978513,0.4399064511,0.0046539814913,0.0796353168673,0.999999804312,0.000240822690991,-0.000576927540574,2.31363631007e-05,1793239819049966080
+320,5.333333333,POSE2_TO_POSE3_RETREAT,765.705278134,745.705278134,714,683,659.294721866,634,880.705278134,786,804,652,631.294721866,652,0.439186674493,0.00464407389288,0.0796319746105,0.999999805403,0.00023775265211,-0.000576272597044,2.40408838207e-05,1793239819066632448
+321,5.350000000,POSE2_TO_POSE3_RETREAT,765.125815222,745.125815222,714,683,659.874184778,634,880.125815222,786,804,652,631.874184778,652,0.438475663189,0.00463237642077,0.0796565540793,0.999999837475,0.000207946965349,-0.000530239324527,2.55876044667e-05,1793239819083299072
+322,5.366666667,POSE2_TO_POSE3_RETREAT,765,745.451317032,714.451317032,683.451317032,660,634.451317032,880,786.451317032,804,652,631.548682968,652,0.437766859401,0.00462131239147,0.0797282770696,0.999999892561,0.000179394713383,-0.00042650197529,2.81232517181e-05,1793239819099965440
+323,5.383333333,POSE2_TO_POSE3_RETREAT,765,746,714.972324809,684,660,635,880,787,804,652,631.027675191,652.027675191,0.437056494434,0.00461042381424,0.0798110121014,0.999999939978,0.000153566055358,-0.000309040790309,3.08992599274e-05,1793239819116632320
+324,5.400000000,POSE2_TO_POSE3_RETREAT,765,746,714.398486209,684,660,635,880,787,804,652,631.601513791,652.601513791,0.436303236767,0.00459953072874,0.0798530383236,0.999999956225,0.000174626514531,-0.000236572568349,3.3006088603e-05,1793239819133299456
+325,5.416666667,POSE2_TO_POSE3_RETREAT,765,745.818996538,714,683.818996538,660,635,880,787,804,652,631.818996538,653,0.435524143808,0.00458964813247,0.0798753041733,0.999999963279,0.00018108505525,-0.000198606614646,3.47169637018e-05,1793239819149966336
+326,5.433333333,POSE2_TO_POSE3_RETREAT,765,745.226664911,714,683.226664911,660,635,880,787,804,652,631.226664911,653,0.434686340504,0.00458206186129,0.0798526648141,0.999999958884,0.0001543609143,-0.000239046652419,3.55280392987e-05,1793239819166632960
+327,5.450000000,POSE2_TO_POSE3_RETREAT,765,745.357107931,714,683,660,635,880,787,804,652,631,653,0.433813358916,0.00457259732581,0.079823229671,0.999999947007,0.000148565980761,-0.000287324155355,3.68725366698e-05,1793239819183299584
+328,5.466666667,POSE2_TO_POSE3_RETREAT,765,745.935575439,714,683,660,635,880,787,804,652,631,653,0.432918571484,0.00456196851575,0.0797895820437,0.999999929172,0.000155744382113,-0.000340459845807,3.85476847477e-05,1793239819199965952
+329,5.483333333,POSE2_TO_POSE3_RETREAT,765.511481842,745.488518158,714,682.488518158,660,635,880,787,804,652,631,653,0.431956083103,0.00455190824694,0.0797425502791,0.999999897631,0.000138167574258,-0.000428960849114,4.0500040565e-05,1793239819216632576
+330,5.500000000,POSE2_TO_POSE3_RETREAT,765.913266475,745.086733525,714,682,660,635,880,787,804,652,631.086733525,652.913266475,0.431010409722,0.00454169675209,0.0797084982917,0.999999869939,0.000120041152274,-0.000493886866365,4.22828249211e-05,1793239819233299200
+331,5.516666667,POSE2_TO_POSE3_RETREAT,765.339887559,745.660112441,714,682,660,635,880,787,804,652,631.660112441,652.339887559,0.430206689672,0.00453023696319,0.0797566850957,0.999999911654,0.000116238778556,-0.000401669258713,4.29192447351e-05,1793239819249965824
+332,5.533333333,POSE2_TO_POSE3_RETREAT,765.240702044,746,714,682,660.481404089,635,880,787.240702044,804,652,631.759297956,652.240702044,0.429398451832,0.00451831990532,0.0798096569317,0.999999944565,0.0001061254641,-0.000312447627682,4.45307863089e-05,1793239819266632448
+333,5.550000000,POSE2_TO_POSE3_RETREAT,765.831788152,746,714,682,661.663576303,635,880,787.831788152,804,652,631.168211848,652.831788152,0.428583637439,0.00450573721053,0.0798695942287,0.999999969202,8.68254679674e-05,-0.000227587154795,4.75617890003e-05,1793239819283299328
+334,5.566666667,POSE2_TO_POSE3_RETREAT,766,746,714,682,661.171617337,635,880,787.585808669,804.414191331,652,631.414191331,653,0.42768163507,0.00449525309942,0.079863287105,0.999999967542,8.26164738406e-05,-0.000236135578903,4.82667049436e-05,1793239819299966208
+335,5.583333333,POSE2_TO_POSE3_RETREAT,766,746,714,682,660.013718874,635,880,787.006859437,804.993140563,652,631.993140563,653,0.426744950932,0.0044856037681,0.0798306291325,0.999999955566,8.44104114289e-05,-0.000281840395774,4.80463450289e-05,1793239819316632832
+336,5.600000000,POSE2_TO_POSE3_RETREAT,766,746,714,682.568045131,660.568045131,635,880,787,804.431954869,652,631.431954869,653,0.425790781039,0.00447255310293,0.0797913160526,0.999999940298,6.01642479162e-05,-0.000336849312628,4.81303474272e-05,1793239819333299200
+337,5.616666667,POSE2_TO_POSE3_RETREAT,766,745.85375154,714.14624846,682.85375154,661,635,880,787,804,652,631.14624846,652.85375154,0.424843093106,0.00446162470886,0.0797573151685,0.999999922565,4.41838613293e-05,-0.000387992493141,4.87744777839e-05,1793239819349965824
+338,5.633333333,POSE2_TO_POSE3_RETREAT,766,745.265430319,714.734569681,682.265430319,661,635,880,787,804,652,631.734569681,652.265430319,0.423915632325,0.0044572346891,0.0797396129369,0.999999906016,5.41326437844e-05,-0.000427113302253,5.11007051352e-05,1793239819366632704
+339,5.650000000,POSE2_TO_POSE3_RETREAT,765.681847259,745,714.681847259,682,660.681847259,635,879.681847259,787,804.318152741,652,631.681847259,652.318152741,0.423037298157,0.00445513583345,0.0797442744552,0.999999910427,5.45291446956e-05,-0.000416474892648,5.21733386456e-05,1793239819383299072
+340,5.666666667,POSE2_TO_POSE3_RETREAT,765.102159201,745,714.102159201,682,660.102159201,635,879.102159201,787,804.897840799,652,631.102159201,652.897840799,0.422199348237,0.00445492041404,0.0797673199441,0.999999930941,4.70732563826e-05,-0.000364932250222,5.22154636129e-05,1793239819399965440
+341,5.683333333,POSE2_TO_POSE3_RETREAT,765,745,714.475175183,682,660.475175183,635,879.950350366,787,804.524824817,652,631,653,0.421389458178,0.00448222982614,0.0798220437217,0.999999959811,7.75978757873e-05,-0.000267917083448,5.07713905906e-05,1793239819416632320
+342,5.700000000,POSE2_TO_POSE3_RETREAT,765,745,714.948473511,682,661,635,880.896947021,787,804.051526489,652,631,653,0.420577731397,0.00451258338292,0.079877003117,0.999999977368,0.000113288125742,-0.000173214636376,4.92526562866e-05,1793239819433299200
+343,5.716666667,POSE2_TO_POSE3_RETREAT,765,745,714.376962049,682,661,635,879.753924098,787,804.623037951,652,631,653,0.419686890543,0.00451423309852,0.0798659490915,0.999999971642,0.000119110686754,-0.000200023244408,5.0189070713e-05,1793239819449966080
+344,5.733333333,POSE2_TO_POSE3_RETREAT,765.202167518,745,714,682,660.797832482,635,879,787,804.797832482,652,631,652.797832482,0.41880073141,0.00450984112068,0.079845163391,0.999999963684,0.000114062125468,-0.000239020784897,4.99105501328e-05,1793239819466632704
+345,5.750000000,POSE2_TO_POSE3_RETREAT,765.796058151,745,714,682,660.203941849,635,879,787,804.203941849,652,631,652.203941849,0.417923643502,0.00449374265836,0.0798055214349,0.999999949523,8.7949499212e-05,-0.000301635806134,4.72779515256e-05,1793239819483299072
+346,5.766666667,POSE2_TO_POSE3_RETREAT,765.62022045,745.37977955,714,682,660.37977955,635,879,787,804,652,631.37977955,652.37977955,0.4170909747,0.00448507865539,0.079803594198,0.999999947185,7.77598296904e-05,-0.000311921548271,4.78353051251e-05,1793239819499965696
+347,5.783333333,POSE2_TO_POSE3_RETREAT,765.041817559,745.958182441,714,682,660.958182441,635,879,787,804,652,631.958182441,652.958182441,0.416281536984,0.00448030284892,0.0798213916262,0.999999952402,7.58978110377e-05,-0.00029483926204,5.00609924952e-05,1793239819516632320
+348,5.800000000,POSE2_TO_POSE3_RETREAT,765,745.465120624,714.534879376,682,661,635,879.534879376,787,804,652,631.465120624,653,0.415458815978,0.00448183331609,0.0798026326771,0.999999942223,7.69964250382e-05,-0.000327285194698,5.01035922527e-05,1793239819533298944
+349,5.816666667,POSE2_TO_POSE3_RETREAT,765,745.110647711,715,682,661,635,879.889352289,787,803.889352289,652,631,652.889352289,0.414651376137,0.00448546784689,0.0797874887228,0.999999933996,8.04573454448e-05,-0.000350791451821,4.97915819292e-05,1793239819549965824
+350,5.833333333,POSE2_TO_POSE3_RETREAT,765,745.683095295,715,682,661,635,879.316904705,787,803.316904705,652,631,652.316904705,0.413912034408,0.00449583272728,0.0797993226747,0.999999943025,9.28146239469e-05,-0.000320877460917,4.87096413582e-05,1793239819566632704
+351,5.850000000,POSE2_TO_POSE3_RETREAT,765.263748689,746,715,682,661.263748689,635,879,787,803.263748689,652,631.263748689,652.263748689,0.413187564461,0.00450136738941,0.0798107123565,0.999999949397,0.00010368306367,-0.000296820136931,4.85186106204e-05,1793239819583299328
+352,5.866666667,POSE2_TO_POSE3_RETREAT,765.854578258,746,715,682,661.854578258,635,879,787,803.854578258,652,631.854578258,652.854578258,0.412481537413,0.00450091198484,0.0798215510879,0.99999995322,0.000112705158972,-0.000280025804169,4.94324179891e-05,1793239819599965952
+353,5.883333333,POSE2_TO_POSE3_RETREAT,766,745.564673646,714.564673646,681.564673646,661.564673646,635,879,787,804,652.435326354,631.564673646,653,0.41176658473,0.00449411552194,0.079813523358,0.999999949915,9.33065653767e-05,-0.00029830410452,4.9783509098e-05,1793239819616632320
+354,5.900000000,POSE2_TO_POSE3_RETREAT,766,745,714,681,660.987199237,635,879.012800763,787,804,652.987199237,631,653,0.411049987104,0.00448543274242,0.0797996710782,0.999999943029,6.54523968922e-05,-0.000327360060328,4.99310312856e-05,1793239819633299200
+355,5.916666667,POSE2_TO_POSE3_RETREAT,766,745,714,681,660.408939477,635,879.591060523,787,804,652.408939477,631,653,0.410389457337,0.00448487724159,0.0798006252137,0.999999942695,7.39768400135e-05,-0.000326675838005,4.92018371829e-05,1793239819649965824
+356,5.933333333,POSE2_TO_POSE3_RETREAT,766,745,714.17168655,681,660.17168655,635,879.82831345,787,803.82831345,652,631.17168655,653,0.409751744167,0.00448689667993,0.079809620792,0.99999994666,8.39320963597e-05,-0.000311842814724,4.88738894378e-05,1793239819666632448
+357,5.950000000,POSE2_TO_POSE3_RETREAT,766,745,714.758027663,681,660.758027663,635,879.241972337,787,803.241972337,652,631.758027663,653,0.409169137132,0.00449513506935,0.0798380379321,0.999999959494,9.7343031173e-05,-0.000262837836743,4.95150251495e-05,1793239819683299328
+358,5.966666667,POSE2_TO_POSE3_RETREAT,766,745.340622392,714.659377608,681,660.659377608,635,879.340622392,787,803.340622392,652.340622392,632,652.659377608,0.408582190338,0.0044992896457,0.0798477169064,0.999999962596,0.000101937701826,-0.00024869445127,5.06738208688e-05,1793239819699965952
+359,5.983333333,POSE2_TO_POSE3_RETREAT,766,745.920584672,714.079415328,681,660.079415328,635,879.920584672,787,803.920584672,652.920584672,632,652.079415328,0.407992194226,0.00450057471157,0.0798442294207,0.999999960051,0.000100337583328,-0.000259046726971,5.21963527885e-05,1793239819716632832
+360,6.000000000,POSE2_TO_POSE3_RETREAT,765.502074662,746,714,680.502074662,660.497925338,635,879.502074662,787,804,652.502074662,632,652.497925338,0.407415633659,0.0044966801045,0.079813296227,0.999999943985,0.000101184514707,-0.000314878493667,5.14119108141e-05,1793239819733299968
+361,6.016666667,POSE2_TO_POSE3_RETREAT,765.071564449,746,714.071564449,680.071564449,661,635,879,787,804,652,632,653,0.406854373766,0.00449227054667,0.0797826622575,0.99999992579,0.000100987941105,-0.000368359373346,5.03264311707e-05,1793239819749966848
+362,6.033333333,POSE2_TO_POSE3_RETREAT,765.623164496,746,714.623164496,680.623164496,661,635,879,787,804,652,632,653,0.406381448273,0.00448991919883,0.07978324396,0.999999930644,9.11875868756e-05,-0.000357670472716,4.9676822356e-05,1793239819766633472
+363,6.050000000,POSE2_TO_POSE3_RETREAT,765.804375797,745.804375797,715,681,661.195624203,635,879,787,804,652.195624203,632,653,0.40592172239,0.00449029780731,0.0797901224472,0.999999937737,8.72901385286e-05,-0.000338362854583,4.91601690715e-05,1793239819783299840
+364,6.066666667,POSE2_TO_POSE3_RETREAT,765.186937589,745.186937589,715,681,661.813062411,635,879,787,804,652.813062411,632,653,0.405490458184,0.00449656287489,0.0798105783542,0.999999949042,9.61208115981e-05,-0.000300471158097,4.89302007385e-05,1793239819799965952
+365,6.083333333,POSE2_TO_POSE3_RETREAT,765,745,715,680.596243147,661.596243147,635,879,787,803.596243147,652.596243147,631.596243147,653,0.40508262312,0.00450169698191,0.0798254966387,0.999999954206,0.000105411087354,-0.000279460943864,4.8769441251e-05,1793239819816632576
+366,6.100000000,POSE2_TO_POSE3_RETREAT,765,745,715,680.017161681,661.017161681,635,879,787,803.017161681,652.017161681,631.017161681,653,0.404684961729,0.0045063399889,0.0798380103055,0.999999956896,0.000114900938612,-0.000265781225712,4.86387345283e-05,1793239819833299200
+367,6.116666667,POSE2_TO_POSE3_RETREAT,765.557776444,745.557776444,715,680,661,635,879,787,803.557776444,652,631,653,0.404314265716,0.00450379970427,0.0798389586591,0.999999954874,0.000119999229563,-0.000270739835209,5.05248081992e-05,1793239819849965824
+368,6.133333333,POSE2_TO_POSE3_RETREAT,766,745.864339911,715,680,661,635,878.864339911,787,803.864339911,652,631,653,0.403953087997,0.00450154459613,0.0798395219758,0.999999953582,0.000119864305059,-0.000275361289748,5.14307091023e-05,1793239819866632448
+369,6.150000000,POSE2_TO_POSE3_RETREAT,766,745.276209797,715,680,661,635,878.276209797,787,803.276209797,652,631,653,0.403620909937,0.00450097236557,0.0798399791663,0.999999955177,0.000102722269772,-0.000276959639988,4.886198061e-05,1793239819883299328
+370,6.166666667,POSE2_TO_POSE3_RETREAT,765.692482307,745.307517693,715,680,661,635,878.307517693,787,803.307517693,652,631.307517693,652.692482307,0.403316381996,0.00449766538499,0.0798423455687,0.999999956381,9.1261767747e-05,-0.000276693054683,4.8483009874e-05,1793239819899965952
+371,6.183333333,POSE2_TO_POSE3_RETREAT,765.112653437,745.887346563,715,680,661,635,878.887346563,787,803.887346563,652,631.887346563,652.112653437,0.403036338639,0.0044919367454,0.0798464026045,0.999999957399,8.48323431942e-05,-0.000274775043059,5.00431001356e-05,1793239819916632576
+372,6.200000000,POSE2_TO_POSE3_RETREAT,765.463856946,746,715,680.463856946,661,635,879,787,804,652,632,652.463856946,0.402785475394,0.00447608843499,0.079845251206,0.999999958445,6.14104139196e-05,-0.000276936733507,5.14310991873e-05,1793239819933299200
+373,6.216666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.960499755,661,635,879,787,804,652,632,653,0.402544815489,0.00445876118568,0.079843015809,0.999999958888,3.50815569634e-05,-0.000279671946697,5.27041985064e-05,1793239819949965824
+374,6.233333333,POSE2_TO_POSE3_RETREAT,766,746,715,680.3857625,661,635,879,787,804,652,632,653,0.402347068092,0.00445445964528,0.0798431103656,0.999999959964,2.48855824882e-05,-0.000276848242981,5.29826836168e-05,1793239819966632448
+375,6.250000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,635,879,787,804,652,632,653,0.402159291008,0.00445248430655,0.0798448390592,0.999999961224,1.99177180085e-05,-0.00027251354984,5.37777756094e-05,1793239819983299072
+376,6.266666667,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,635,879,787,804,652,632,653,0.401991866784,0.00445525754554,0.0798499035879,0.999999962987,2.56222242965e-05,-0.000265094408311,5.56274397906e-05,1793239819999965952
+377,6.283333333,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,635.368222586,879,787,804,652,631.631777414,653,0.401842758231,0.00445871493444,0.0798527940035,0.999999963837,3.35789559569e-05,-0.000260696997648,5.68846207637e-05,1793239820016632576
+378,6.300000000,POSE2_TO_POSE3_RETREAT,766,746,715,680,661,635.946472716,879,787,804,652,631.053527284,653,0.40170409659,0.00446256255041,0.0798544443444,0.999999964125,4.28203170195e-05,-0.000258023127242,5.78038601374e-05,1793239820033299456
+379,6.316666667,POSE2_TO_POSE3_RETREAT,766,746,715,680.521686621,661,635.478313379,879,787,803.478313379,652,631,652.478313379,0.401584181285,0.00447694282934,0.079851245589,0.999999958881,0.000104234222143,-0.000261302004569,5.56280721335e-05,1793239820049966336
+380,6.333333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,661,635,879,787,803.096672416,652,631.096672416,652,0.401469947362,0.00449072390092,0.0798475828352,0.999999951028,0.000156540831337,-0.000265839370333,5.26198275977e-05,1793239820066632704
+381,6.350000000,POSE2_TO_POSE3_RETREAT,766,746,715,681,661,635,879,787,803.672062583,652,631.672062583,652,0.401374377617,0.00449621713127,0.079844071911,0.999999952026,0.000137393447191,-0.000273601681215,4.70527530653e-05,1793239820083299328
+382,6.366666667,POSE2_TO_POSE3_RETREAT,766,746,715,681,661,635,879,787,804,652,631.744848435,652.255151565,0.401287979038,0.00449607359982,0.079839910951,0.999999952089,0.000122563305644,-0.000280727915878,4.46302041489e-05,1793239820099965952
+383,6.383333333,POSE2_TO_POSE3_RETREAT,766,746,715,681,661,635,879,787,804,652,631.151556615,652.848443385,0.401213734576,0.00448845993528,0.0798348885298,0.999999951301,0.000113454601943,-0.000287011188567,4.63749460889e-05,1793239820116632576
+384,6.400000000,POSE2_TO_POSE3_RETREAT,766,745.586683315,715,681,661,635,879,787,804,652,631,652.586683315,0.401160642055,0.00448967077895,0.0798338756822,0.99999995111,0.000114049779598,-0.00028733296137,4.70452517923e-05,1793239820133299200
+385,6.416666667,POSE2_TO_POSE3_RETREAT,766,745.031560245,715,681,661,635,879,787,804,652,631,652.031560245,0.401114806635,0.0044939092567,0.0798342384945,0.999999951134,0.000117974298812,-0.000285609380494,4.73469250665e-05,1793239820149965824
+386,6.433333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.436391645,661,635,879,787,804,652,631,652.563608355,0.401080972539,0.00449165792094,0.0798358787528,0.999999952037,0.000114185811504,-0.000283881151598,4.79401948772e-05,1793239820166632704
+387,6.450000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.841488549,652.158511451,631.158511451,653,0.401050996263,0.00448927912074,0.0798374773505,0.999999952794,0.000110721378411,-0.000282477557888,4.85624365326e-05,1793239820183299584
+388,6.466666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.253839592,652.746160408,631.746160408,653,0.401029505699,0.00448761434344,0.0798387546872,0.999999953057,0.000109392982583,-0.000281953606744,4.92155263043e-05,1793239820199966464
+389,6.483333333,POSE2_TO_POSE3_RETREAT,766,745,714.670626934,680,661,635,879,787,803,652.670626934,632,653,0.401013280021,0.00448753647592,0.0798390309644,0.999999953416,0.000108276812329,-0.000281097017139,4.92831811915e-05,1793239820216632832
+390,6.500000000,POSE2_TO_POSE3_RETREAT,766,745,714.09078772,680,661,635,879,787,803,652.09078772,632,653,0.401001057935,0.0044886653468,0.0798385460032,0.999999953849,0.000107322025264,-0.000279987478218,4.89056521452e-05,1793239820233299200
+391,6.516666667,POSE2_TO_POSE3_RETREAT,766,745,714.487114684,680.487114684,661,635,879,787,803,652,632,653,0.400994501358,0.00448794010492,0.0798390811236,0.999999954417,0.000107276050735,-0.000277968678674,4.88940793014e-05,1793239820249965824
+392,6.533333333,POSE2_TO_POSE3_RETREAT,765.935831771,745,715,681,661,635,878.935831771,787,803.064168229,652,631.935831771,653,0.400989355686,0.00448720073399,0.0798398554,0.999999954959,0.00010748236126,-0.000275921664495,4.89624481204e-05,1793239820266632448
+393,6.550000000,POSE2_TO_POSE3_RETREAT,765.36265929,745,715,681,661,635,878.36265929,787,803.63734071,652,631.36265929,653,0.400987058979,0.00448907958393,0.0798410246089,0.999999955114,0.000108351599167,-0.000274989784581,4.91260479204e-05,1793239820283299072
+394,6.566666667,POSE2_TO_POSE3_RETREAT,765.217060765,745,715,680.782939235,661,635,878.217060765,787,804,652,631,652.782939235,0.400984659012,0.00449023054961,0.0798415770333,0.999999955168,0.000108581126076,-0.000274715114013,4.90559864046e-05,1793239820299965952
+395,6.583333333,POSE2_TO_POSE3_RETREAT,765.808060545,745,715,680.191939455,661,635,878.808060545,787,804,652,631,652.191939455,0.400982081158,0.00449012756064,0.0798410668993,0.999999955049,0.000107708597938,-0.000275572643581,4.85833874497e-05,1793239820316632832
+396,6.600000000,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.609431427,652,631.390568573,652.390568573,0.4009819508,0.00449016726541,0.0798419573472,0.9999999554,0.000108079699188,-0.000274184944772,4.83921083441e-05,1793239820333299456
+397,6.616666667,POSE2_TO_POSE3_RETREAT,766,745,715,680,661,635,879,787,803.031007765,652,631.968992235,652.968992235,0.400982997633,0.00449027560281,0.0798435214448,0.999999955971,0.000109048959465,-0.000271717339348,4.83361380523e-05,1793239820349966080
+398,6.633333333,POSE2_TO_POSE3_RETREAT,766,745.544644077,715,680,661,635.544644077,879.544644077,787,803,652,631.455355923,653,0.400981739563,0.0044894562892,0.0798425712702,0.999999955826,0.000107535761431,-0.000272822445627,4.84969969844e-05,1793239820366632704
+399,6.650000000,POSE2_TO_POSE3_RETREAT,765.877128384,746,715,680.122871616,661,635.877128384,879.877128384,787,803.122871616,652,631,653,0.400980586768,0.00448874551747,0.0798418463591,0.999999955721,0.000106119060001,-0.000273748138595,4.85749555406e-05,1793239820383299328
+400,6.666666667,POSE2_TO_POSE3_RETREAT,765.288543368,746,715,680.711456632,661,635.288543368,879.288543368,787,803.711456632,652,631,653,0.400980327839,0.00448864530736,0.0798425150519,0.999999955932,0.000105601073927,-0.000273226770727,4.82921494428e-05,1793239820399965696
+401,6.683333333,POSE2_TO_POSE3_RETREAT,765,746,715,680.7046394,661,635,879,787,803.7046394,652,631,653,0.400980603125,0.00448849137884,0.0798431650355,0.999999956157,0.000106441397309,-0.000272062038965,4.83533828152e-05,1793239820416632320
+402,6.700000000,POSE2_TO_POSE3_RETREAT,765,746,715,680.125237022,661,635,879,787,803.125237022,652,631,653,0.400981392155,0.00448828579052,0.0798437970271,0.999999956391,0.00010858797689,-0.000270278598265,4.87454713282e-05,1793239820433299200
+403,6.716666667,POSE2_TO_POSE3_RETREAT,765.452964747,745.547035253,715,680.452964747,661,635,879,787,803.452964747,652,631,652.547035253,0.40098044707,0.00448940224717,0.0798435454636,0.999999956295,0.000108498283248,-0.000270698661259,4.85852452624e-05,1793239820449965824
+404,6.733333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.968818795,661,635,879,787,803.968818795,652,631.031181205,652.031181205,0.400979138665,0.00449078481957,0.0798431433966,0.999999956136,0.000107861834623,-0.000271588157834,4.83030881916e-05,1793239820466632960
+405,6.750000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.384467753,661,635,879,787,803.384467753,652,631.615532247,652.615532247,0.400979868012,0.00449042100477,0.079844393653,0.999999956482,0.000108465479324,-0.000270026149604,4.85597247842e-05,1793239820483299584
+406,6.766666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.198305,661,635,879,787,803.198305,652.198305,632,653,0.400980382985,0.00449014236295,0.079845143991,0.999999956753,0.000108362423869,-0.000269051155605,4.86151782315e-05,1793239820499965952
+407,6.783333333,POSE2_TO_POSE3_RETREAT,766,745,715,680.778041941,661,635,879,787,803.778041941,652.778041941,632,653,0.400980485617,0.00449002754807,0.0798449327551,0.999999956885,0.000106900058158,-0.000269205260706,4.82836637218e-05,1793239820516632576
+408,6.800000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.643671044,661,635,879,787,804,653,632,652.643671044,0.400980931796,0.004489140035,0.0798448658304,0.999999956987,0.000106446568657,-0.000269013089991,4.82478926269e-05,1793239820533298944
+409,6.816666667,POSE2_TO_POSE3_RETREAT,766,745,715,680.066283552,661,635,879,787,804,653,632,652.066283552,0.400981591105,0.00448777315722,0.0798448884333,0.999999957071,0.000106618963508,-0.000268606097479,4.83955941625e-05,1793239820549965568
+410,6.833333333,POSE2_TO_POSE3_RETREAT,765.489798158,745,715,680,661,635,878.489798158,787,804,653,631.489798158,652.510201842,0.400981674844,0.00448889990428,0.079845056979,0.999999957193,0.000106430092944,-0.000268260015264,4.81973448165e-05,1793239820566632448
+411,6.850000000,POSE2_TO_POSE3_RETREAT,765,745,714.911660714,680,660.911660714,635,878.088339286,787,804,652.911660714,631.088339286,653,0.400981537544,0.00449016412349,0.0798452782995,0.999999957298,0.000106240988657,-0.000267983301691,4.79748495506e-05,1793239820583299072
+412,6.866666667,POSE2_TO_POSE3_RETREAT,765,745,714.323514599,680,660.323514599,635,878.676485401,787,804,652.323514599,631.676485401,653,0.400980571967,0.00449037644986,0.0798456911238,0.999999957276,0.000106315638591,-0.000268054370205,4.78690151356e-05,1793239820599966208
+413,6.883333333,POSE2_TO_POSE3_RETREAT,765,745,714.260749631,680,660.260749631,635,879,787,804,652,631.739250369,653,0.400981167685,0.00449034280379,0.0798464722896,0.999999957463,0.000107284637771,-0.000266966154235,4.78887902865e-05,1793239820616633088
+414,6.900000000,POSE2_TO_POSE3_RETREAT,765,745,714.840268294,680,660.840268294,635,879,787,804,652,631.159731706,653,0.4009836721,0.00449000845396,0.0798477037567,0.999999957897,0.000109346987866,-0.000264460701393,4.80621243741e-05,1793239820633299456
+415,6.916666667,POSE2_TO_POSE3_RETREAT,765.417671002,745,715,680,661,635,878.582328998,787,803.582328998,652,631,653,0.400981784275,0.00449055612782,0.0798463619209,0.999999957204,0.000109775514202,-0.000266948515831,4.77479176289e-05,1793239820649966080
+416,6.933333333,POSE2_TO_POSE3_RETREAT,765.99426854,745,715,680,661,635,878.00573146,787,803.00573146,652,631,653,0.400978225174,0.00449143941745,0.0798440409266,0.999999956068,0.000109582359833,-0.000271336301136,4.72481984105e-05,1793239820666632448
+417,6.950000000,POSE2_TO_POSE3_RETREAT,766,745,715,680.568079505,661,635,878.568079505,787,803,652,631,653,0.400978968446,0.0044912576276,0.0798441115306,0.999999956193,0.000110879245889,-0.000270274042838,4.76731526001e-05,1793239820683299072
+418,6.966666667,POSE2_TO_POSE3_RETREAT,766,745.145430255,715,680.854569745,661,635,879,787,803.29086051,652,631,653,0.400979638209,0.0044913918857,0.07984443501,0.999999956389,0.000111835337265,-0.000269103370468,4.79340040108e-05,1793239820699965696
+419,6.983333333,POSE2_TO_POSE3_RETREAT,766,745.733643526,715,680.266356474,661,635,879,787,804.467287053,652,631,653,0.400979952643,0.00449252095397,0.0798454552981,0.999999956774,0.000111708283296,-0.000267769213186,4.76669558038e-05,1793239820716632320
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dafb5783237d3d0345fa623bb5fcd1a2a3aebb78
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_17.5/position_12/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,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+1,0.016666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+2,0.033333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+3,0.050000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+4,0.066666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+5,0.083333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+6,0.100000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+7,0.116666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+8,0.133333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+9,0.150000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+10,0.166666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+11,0.183333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+12,0.200000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+13,0.216666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+14,0.233333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+15,0.250000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+16,0.266666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+17,0.283333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+18,0.300000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+19,0.316666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+20,0.333333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+21,0.350000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+22,0.366666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+23,0.383333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+24,0.400000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+25,0.416666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+26,0.433333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+27,0.450000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+28,0.466666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+29,0.483333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+30,0.500000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+31,0.516666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+32,0.533333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+33,0.550000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+34,0.566666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+35,0.583333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+36,0.600000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+37,0.616666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+38,0.633333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+39,0.650000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+40,0.666666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+41,0.683333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+42,0.700000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+43,0.716666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+44,0.733333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+45,0.750000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+46,0.766666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+47,0.783333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+48,0.800000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+49,0.816666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+50,0.833333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+51,0.850000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+52,0.866666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+53,0.883333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+54,0.900000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+55,0.916666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+56,0.933333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+57,0.950000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+58,0.966666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+59,0.983333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+60,1.000000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+61,1.016666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+62,1.033333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+63,1.050000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+64,1.066666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+65,1.083333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+66,1.100000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+67,1.116666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+68,1.133333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+69,1.150000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+70,1.166666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+71,1.183333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+72,1.200000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+73,1.216666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+74,1.233333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+75,1.250000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+76,1.266666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+77,1.283333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+78,1.300000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+79,1.316666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+80,1.333333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+81,1.350000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+82,1.366666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+83,1.383333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+84,1.400000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+85,1.416666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+86,1.433333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+87,1.450000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+88,1.466666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+89,1.483333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+90,1.500000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+91,1.516666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+92,1.533333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+93,1.550000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+94,1.566666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+95,1.583333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+96,1.600000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+97,1.616666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+98,1.633333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+99,1.650000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+100,1.666666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+101,1.683333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+102,1.700000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+103,1.716666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+104,1.733333333,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+105,1.750000000,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+106,1.766666667,pose1_baseline,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
+107,1.783333333,pose1_to_pose2_press,0.57566445623,0.0100907823659,1.07003220599,0.546234906544,0.0187625177256,1.06970034009
+108,1.800000000,pose1_to_pose2_press,0.575664444316,0.0100907929951,1.07003213083,0.546234894396,0.0187625278388,1.06970027223
+109,1.816666667,pose1_to_pose2_press,0.575664431517,0.0100908100998,1.07003201626,0.546234881248,0.0187625441928,1.06970016895
+110,1.833333333,pose1_to_pose2_press,0.575664505797,0.0100908156719,1.07003205738,0.546234955768,0.0187625505019,1.06970020808
+111,1.850000000,pose1_to_pose2_press,0.575664694263,0.0100908298098,1.07003216173,0.546235144843,0.0187625665096,1.06970030735
+112,1.866666667,pose1_to_pose2_press,0.575664949464,0.0100908489536,1.07003230303,0.546235400866,0.0187625881855,1.06970044178
+113,1.883333333,pose1_to_pose2_press,0.575665238872,0.0100908466172,1.07003233996,0.546235690259,0.0187625857454,1.06970047739
+114,1.900000000,pose1_to_pose2_press,0.575666520357,0.0100908343136,1.07003244897,0.54623697154,0.0187625725898,1.06970058222
+115,1.916666667,pose1_to_pose2_press,0.575670876973,0.0100907857736,1.07003246486,0.54624132875,0.0187625259424,1.0697005948
+116,1.933333333,pose1_to_pose2_press,0.575681210518,0.0100908294977,1.07003220413,0.546251662221,0.0187625696802,1.06970034099
+117,1.950000000,pose1_to_pose2_press,0.575699751807,0.0100906922138,1.07003228238,0.54627020363,0.0187624326507,1.06970041518
+118,1.966666667,pose1_to_pose2_press,0.575729602384,0.0100908269734,1.07003240892,0.546300054914,0.0187625701609,1.0697005508
+119,1.983333333,pose1_to_pose2_press,0.575770616663,0.0100907105791,1.07003226645,0.546341069229,0.0187624537642,1.06970040507
+120,2.000000000,pose1_to_pose2_press,0.575822194266,0.0100906990682,1.07003229815,0.546392646198,0.0187624397289,1.06970042699
+121,2.016666667,pose1_to_pose2_press,0.575882329666,0.0100907072109,1.07003232438,0.546452781569,0.0187624479851,1.06970045862
+122,2.033333333,pose1_to_pose2_press,0.575951283992,0.0100907661936,1.07003219724,0.546521737743,0.0187625135834,1.0697003404
+123,2.050000000,pose1_to_pose2_press,0.576028098018,0.0100907628237,1.07003240272,0.546598549176,0.0187625010731,1.06970053695
+124,2.066666667,pose1_to_pose2_press,0.576113538066,0.0100908860439,1.07003225305,0.546683988717,0.0187626226602,1.06970038952
+125,2.083333333,pose1_to_pose2_press,0.576212239724,0.010090791339,1.07003238487,0.546782691334,0.0187625309769,1.06970051519
+126,2.100000000,pose1_to_pose2_press,0.576324283065,0.0100908071598,1.07003241863,0.546894733191,0.0187625414547,1.06970054089
+127,2.116666667,pose1_to_pose2_press,0.576451890778,0.0100907445841,1.07003236517,0.547022341849,0.0187624821902,1.06970049015
+128,2.133333333,pose1_to_pose2_press,0.576595104149,0.0100907110854,1.07003235952,0.547165556022,0.018762451471,1.06970048602
+129,2.150000000,pose1_to_pose2_press,0.576754591745,0.0100907852087,1.07003241614,0.547325043084,0.0187625238079,1.06970054319
+130,2.166666667,pose1_to_pose2_press,0.576927409936,0.0100908243163,1.07003246616,0.54749786179,0.0187625648215,1.0697005973
+131,2.183333333,pose1_to_pose2_press,0.577113540848,0.0100908071704,1.07003246229,0.547683993788,0.0187625513532,1.06970059312
+132,2.200000000,pose1_to_pose2_press,0.577315944269,0.0100907709677,1.07003241609,0.54788639763,0.0187625165326,1.06970054575
+133,2.216666667,pose1_to_pose2_press,0.57753628827,0.0100908392424,1.07003217061,0.54810673855,0.0187625747257,1.06970030992
+134,2.233333333,pose1_to_pose2_press,0.577778364363,0.0100908448031,1.07003209793,0.548348816031,0.0187625847843,1.06970023167
+135,2.250000000,pose1_to_pose2_press,0.578044467336,0.0100907271039,1.07003230032,0.548614920236,0.018762471419,1.06970043799
+136,2.266666667,pose1_to_pose2_press,0.578335143046,0.0100907306154,1.07003220718,0.548905594401,0.0187624696002,1.06970034243
+137,2.283333333,pose1_to_pose2_press,0.578650408636,0.0100908240181,1.07003199249,0.54922086006,0.0187625632689,1.06970012853
+138,2.300000000,pose1_to_pose2_press,0.578987757242,0.0100907370292,1.07003197056,0.549558209377,0.0187624786702,1.06970010597
+139,2.316666667,pose1_to_pose2_press,0.579345931038,0.0100908133032,1.07003245114,0.549916381525,0.0187625489741,1.06970057666
+140,2.333333333,pose1_to_pose2_press,0.579724013291,0.0100907657838,1.07003241839,0.550294465595,0.0187625077806,1.06970054798
+141,2.350000000,pose1_to_pose2_press,0.58012339099,0.0100908595707,1.07003225954,0.550693841734,0.0187625964061,1.06970039253
+142,2.366666667,pose1_to_pose2_press,0.580542607953,0.0100907495964,1.07003236165,0.551113059825,0.0187624902159,1.06970049346
+143,2.383333333,pose1_to_pose2_press,0.580981528706,0.010090700121,1.07003219754,0.551551980654,0.0187624412324,1.06970033541
+144,2.400000000,pose1_to_pose2_press,0.581440174662,0.0100907607868,1.07003217008,0.552010625524,0.0187624981569,1.06970030634
+145,2.416666667,pose1_to_pose2_press,0.581919036873,0.010090737191,1.07003244245,0.552489489251,0.018762479309,1.0697005684
+146,2.433333333,pose1_to_pose2_press,0.582422040349,0.0100907825686,1.07003238556,0.552992492853,0.0187625252291,1.06970051446
+147,2.450000000,pose1_to_pose2_press,0.582954084024,0.0100907991895,1.07003245475,0.553524535386,0.01876253812,1.06970058739
+148,2.466666667,pose1_to_pose2_press,0.583519584315,0.0100907290533,1.07003237674,0.554090036493,0.0187624708416,1.06970051154
+149,2.483333333,pose1_to_pose2_press,0.584109215136,0.0100908222243,1.07003211131,0.554679666033,0.0187625596213,1.06970024493
+150,2.500000000,pose1_to_pose2_press,0.584718092829,0.010090890948,1.07003226243,0.555288543909,0.0187626287987,1.06970039167
+151,2.516666667,pose1_to_pose2_press,0.585338094057,0.0100908698099,1.07003242871,0.555908544544,0.0187626058372,1.06970056287
+152,2.533333333,pose1_to_pose2_press,0.585963814846,0.0100907097491,1.07003234484,0.556534266854,0.0187624508098,1.06970047559
+153,2.550000000,pose1_to_pose2_press,0.586594536122,0.010090820474,1.07003242849,0.55716498649,0.018762556182,1.06970056478
+154,2.566666667,pose1_to_pose2_press,0.587248614739,0.0100908111178,1.07003217519,0.557819063609,0.0187625413234,1.06970030045
+155,2.583333333,pose1_to_pose2_press,0.58793038097,0.0100908756817,1.0700321864,0.558500829967,0.018762606671,1.06970032083
+156,2.600000000,pose1_to_pose2_press,0.588632432077,0.0100908622305,1.07003230193,0.559202882367,0.0187625975352,1.06970043448
+157,2.616666667,pose1_to_pose2_press,0.589353190341,0.0100907562648,1.0700324017,0.559923642178,0.0187624968986,1.06970053628
+158,2.633333333,pose1_to_pose2_press,0.590094413731,0.0100906334799,1.07003228791,0.56066486567,0.0187623743825,1.06970042043
+159,2.650000000,pose1_to_pose2_press,0.590845729831,0.0100906606157,1.07003229059,0.561416181893,0.0187624018479,1.06970042079
+160,2.666666667,pose1_to_pose2_press,0.591605761256,0.0100907238811,1.07003219568,0.562176212541,0.0187624626053,1.06970032925
+161,2.683333333,pose1_to_pose2_press,0.592379879024,0.0100908309366,1.07003213848,0.562950329514,0.0187625670928,1.06970027548
+162,2.700000000,pose1_to_pose2_press,0.593165364307,0.0100907944502,1.07003221527,0.563735815994,0.0187625345041,1.06970034801
+163,2.716666667,pose1_to_pose2_press,0.593960563329,0.0100907094476,1.07003223105,0.564531015853,0.0187624521964,1.06970035998
+164,2.733333333,pose1_to_pose2_press,0.594763165557,0.010090837901,1.07003226723,0.565333617257,0.0187625779053,1.06970039752
+165,2.750000000,pose1_to_pose2_press,0.595572299285,0.0100908892431,1.07003232924,0.566142751282,0.0187626303858,1.069700463
+166,2.766666667,pose1_to_pose2_press,0.596379754784,0.010090852885,1.07003227007,0.566950207036,0.0187625952148,1.06970041223
+167,2.783333333,pose1_to_pose2_press,0.597179273798,0.0100908280823,1.07003224901,0.567749724885,0.0187625660104,1.06970037953
+168,2.800000000,pose1_to_pose2_press,0.597986175182,0.010090831787,1.07003236234,0.568556626012,0.0187625686899,1.06970048883
+169,2.816666667,pose1_to_pose2_press,0.598797311128,0.0100907692268,1.07003233023,0.56936776283,0.0187625092912,1.06970046203
+170,2.833333333,pose1_to_pose2_press,0.599601951063,0.0100908213627,1.07003217936,0.570172400985,0.0187625557577,1.06970032091
+171,2.850000000,pose1_to_pose2_press,0.600411965906,0.0100906496963,1.07003236237,0.570982418522,0.0187623925733,1.06970048669
+172,2.866666667,pose1_to_pose2_press,0.601234157905,0.0100907505686,1.07003222557,0.571804608769,0.0187624877661,1.06970035688
+173,2.883333333,pose1_to_pose2_press,0.602056031687,0.0100908001245,1.07003240027,0.572626482303,0.0187625366007,1.06970053487
+174,2.900000000,pose1_to_pose2_press,0.602880624429,0.0100909298508,1.07003243783,0.573451073764,0.0187626619651,1.06970057204
+175,2.916666667,pose1_to_pose2_press,0.60369929969,0.0100907604237,1.07003217075,0.574269751791,0.0187625019484,1.06970030568
+176,2.933333333,pose1_to_pose2_press,0.604508169665,0.010090680924,1.07003226433,0.575078621079,0.0187624200315,1.06970039709
+177,2.950000000,pose1_to_pose2_press,0.605300304758,0.0100907931179,1.07003225612,0.575870756092,0.0187625319046,1.06970038768
+178,2.966666667,pose1_to_pose2_press,0.606073594339,0.0100908956336,1.07003221652,0.57664404509,0.0187626324708,1.06970034893
+179,2.983333333,pose1_to_pose2_press,0.606831708766,0.0100908795829,1.07003222945,0.577402158086,0.0187626114734,1.06970035957
+180,3.000000000,pose1_to_pose2_press,0.607584930825,0.0100907869894,1.07003234384,0.57815538109,0.018762522024,1.06970047243
+181,3.016666667,pose1_to_pose2_press,0.60833443665,0.0100907907095,1.07003241342,0.5789048882,0.0187625301691,1.06970054375
+182,3.033333333,pose1_to_pose2_press,0.609081714444,0.010090868382,1.07003242947,0.579652164997,0.0187626044655,1.06970056007
+183,3.050000000,pose1_to_pose2_press,0.609813313667,0.0100908618455,1.07003253416,0.580383764143,0.0187625976504,1.06970066434
+184,3.066666667,pose1_to_pose2_press,0.610515249086,0.0100908856727,1.07003246339,0.581085699843,0.018762622368,1.06970059208
+185,3.083333333,pose1_to_pose2_press,0.611185221881,0.0100908191309,1.07003246044,0.581755673747,0.0187625595044,1.06970058702
+186,3.100000000,pose1_to_pose2_press,0.611821446028,0.0100906630576,1.07003231195,0.582391899648,0.0187624098126,1.06970044978
+187,3.116666667,pose1_to_pose2_press,0.612425304115,0.0100907848552,1.0700322045,0.582995754205,0.0187625195495,1.06970034033
+188,3.133333333,pose1_to_pose2_press,0.613007667827,0.010090841462,1.07003218647,0.58357811827,0.0187625774541,1.06970032504
+189,3.150000000,pose1_to_pose2_press,0.613587935311,0.0100908812385,1.07003230825,0.584158385454,0.0187626158914,1.06970043841
+190,3.166666667,pose1_to_pose2_press,0.614170248423,0.0100908894999,1.07003234487,0.584740698159,0.0187626228254,1.06970047493
+191,3.183333333,pose1_to_pose2_press,0.614753170774,0.0100906856264,1.07003224812,0.58532362308,0.0187624279723,1.06970038391
+192,3.200000000,pose1_to_pose2_press,0.615324653494,0.0100906657713,1.0700322047,0.585895105829,0.0187624082039,1.0697003378
+193,3.216666667,pose1_to_pose2_press,0.615875929854,0.0100907241871,1.07003232656,0.586446382071,0.0187624663263,1.06970045928
+194,3.233333333,pose1_to_pose2_press,0.61639155339,0.0100906691517,1.07003239804,0.586962006908,0.0187624159134,1.06970053165
+195,3.250000000,pose1_to_pose2_press,0.616876174066,0.0100906473541,1.07003233951,0.587446627458,0.0187623938586,1.06970047171
+196,3.266666667,pose1_to_pose2_press,0.617333358831,0.0100906335346,1.0700323092,0.587903812743,0.0187623823221,1.06970044809
+197,3.283333333,pose1_to_pose2_press,0.617773788703,0.0100907784419,1.07003232914,0.588344241114,0.0187625223811,1.06970046776
+198,3.300000000,pose1_to_pose2_press,0.618200004121,0.0100908397736,1.07003242677,0.588770454211,0.0187625758258,1.0697005591
+199,3.316666667,pose1_to_pose2_press,0.618606609117,0.0100908010486,1.07003223551,0.589177060056,0.018762540179,1.06970036535
+200,3.333333333,pose1_to_pose2_press,0.618991534638,0.0100908842837,1.07003243854,0.589561984098,0.0187626186007,1.06970057164
+201,3.350000000,pose1_to_pose2_press,0.619348361739,0.0100907106991,1.07003226668,0.589918813544,0.0187624534155,1.06970039429
+202,3.366666667,pose1_to_pose2_press,0.619679695071,0.010090622484,1.07003211149,0.590250147628,0.0187623681392,1.06970024752
+203,3.383333333,pose1_to_pose2_press,0.619985900909,0.0100907585553,1.07003214415,0.590556351906,0.018762499196,1.069700284
+204,3.400000000,pose1_to_pose2_press,0.620275037882,0.0100907461623,1.070032215,0.590845488708,0.0187624861389,1.0697003474
+205,3.416666667,pose1_to_pose2_press,0.620548739822,0.0100907481834,1.07003220954,0.59111919008,0.0187624865253,1.06970034384
+206,3.433333333,pose1_to_pose2_press,0.620807927322,0.0100907575575,1.07003222639,0.59137837759,0.0187624964333,1.06970036798
+207,3.450000000,pose1_to_pose2_press,0.621051836568,0.0100907270809,1.07003230399,0.591622287776,0.0187624692843,1.06970044385
+208,3.466666667,pose1_to_pose2_press,0.621276779547,0.0100908675672,1.07003238745,0.59184722914,0.0187626043792,1.06970052415
+209,3.483333333,pose1_to_pose2_press,0.621482847071,0.0100909404689,1.07003249293,0.592053295983,0.0187626749654,1.06970062467
+210,3.500000000,pose1_to_pose2_press,0.621669466717,0.0100908527256,1.0700322497,0.592239916925,0.018762591777,1.0697003845
+211,3.516666667,pose1_to_pose2_press,0.621838230034,0.0100908435397,1.07003245452,0.592408680449,0.0187625832595,1.06970058087
+212,3.533333333,pose1_to_pose2_press,0.6219903286,0.0100909698208,1.07003220141,0.592560776804,0.0187627025309,1.06970033789
+213,3.550000000,pose1_to_pose2_press,0.622127247334,0.0100907875662,1.07003232475,0.592697697958,0.0187625285293,1.06970045817
+214,3.566666667,pose1_to_pose2_press,0.622249001786,0.0100908192662,1.07003222039,0.592819452419,0.0187625602741,1.06970035306
+215,3.583333333,pose1_to_pose2_press,0.622354345819,0.0100909383911,1.07003220957,0.592924793848,0.0187626707096,1.06970034331
+216,3.600000000,pose1_to_pose2_press,0.622446332778,0.0100908552528,1.07003230136,0.593016783156,0.0187625957435,1.06970043799
+217,3.616666667,pose1_to_pose2_press,0.622525421974,0.0100907846665,1.07003241403,0.593095872097,0.0187625245934,1.06970054841
+218,3.633333333,pose1_to_pose2_press,0.622593519605,0.0100907383815,1.07003236208,0.593163970115,0.0187624800517,1.06970049777
+219,3.650000000,pose1_to_pose2_press,0.622651423258,0.0100908551315,1.07003232721,0.593221873505,0.0187625956331,1.06970046403
+220,3.666666667,pose1_to_pose2_press,0.622698963918,0.0100907804743,1.07003212546,0.593269415154,0.0187625239729,1.06970026239
+221,3.683333333,pose1_to_pose2_press,0.622737913912,0.0100906885908,1.07003222677,0.593308365973,0.0187624347819,1.06970036219
+222,3.700000000,pose1_to_pose2_press,0.622768743555,0.0100907606517,1.07003248637,0.593339195115,0.0187625051996,1.06970062219
+223,3.716666667,pose1_to_pose2_press,0.622792891151,0.0100908012406,1.07003228474,0.593363342255,0.0187625444459,1.06970042493
+224,3.733333333,pose1_to_pose2_press,0.622811165916,0.0100907964583,1.07003219499,0.593381615781,0.0187625354539,1.06970033266
+225,3.750000000,pose1_to_pose2_press,0.622825249481,0.0100908311631,1.07003220722,0.593395698333,0.0187625669298,1.06970034295
+226,3.766666667,pose1_to_pose2_press,0.62283554954,0.0100907596395,1.07003221126,0.59340599964,0.0187624996916,1.06970034672
+227,3.783333333,pose1_to_pose2_press,0.622842325604,0.0100907308315,1.07003221416,0.593412776549,0.0187624736836,1.0697003487
+228,3.800000000,pose1_to_pose2_press,0.622846765187,0.010090830425,1.07003222259,0.593417215182,0.0187625698677,1.06970035392
+229,3.816666667,pose1_to_pose2_press,0.622849405329,0.0100908646349,1.07003222658,0.593419854917,0.0187626026077,1.06970035635
+230,3.833333333,pose1_to_pose2_press,0.62285111138,0.0100907852993,1.07003222503,0.593421561346,0.0187625245828,1.0697003552
+231,3.850000000,pose1_to_pose2_press,0.622852217218,0.010090733875,1.07003222402,0.593422667429,0.0187624740082,1.06970035446
+232,3.866666667,pose1_to_pose2_press,0.62285312574,0.0100906916265,1.07003222319,0.593423576153,0.0187624324576,1.06970035385
+233,3.883333333,pose1_to_pose2_press,0.622853731471,0.0100906634585,1.07003222264,0.593424182019,0.018762404755,1.06970035345
+234,3.900000000,pose1_to_pose2_press,0.622854023829,0.0100906498631,1.07003222237,0.593424474441,0.0187623913842,1.06970035325
+235,3.916666667,pose1_to_pose2_press,0.622854303839,0.0100906447903,1.07003222122,0.593424754531,0.018762386593,1.06970035235
+236,3.933333333,pose1_to_pose2_press,0.622854605202,0.0100906482505,1.07003221896,0.593425055998,0.0187623904308,1.06970035058
+237,3.950000000,pose1_to_pose2_press,0.622855115016,0.0100906541041,1.07003221514,0.593425565991,0.0187623969233,1.06970034759
+238,3.966666667,pose1_to_pose2_press,0.622855672752,0.0100906605079,1.07003221096,0.593426123921,0.0187624040261,1.06970034432
+239,3.983333333,pose1_to_pose2_press,0.622856010045,0.0100906643806,1.07003220843,0.593426461332,0.0187624083215,1.06970034234
+240,4.000000000,pose1_to_pose2_press,0.622856299287,0.0100906677016,1.07003220626,0.593426750674,0.018762412005,1.06970034065
+241,4.016666667,pose1_to_pose2_press,0.622856643446,0.0100906716532,1.07003220368,0.593427094953,0.0187624163878,1.06970033863
+242,4.033333333,pose1_to_pose2_press,0.62285697162,0.0100906754212,1.07003220122,0.593427423241,0.0187624205671,1.0697003367
+243,4.050000000,pose1_to_pose2_press,0.622857309772,0.0100906984198,1.070032243,0.593427761206,0.0187624429199,1.06970037823
+244,4.066666667,pose1_to_pose2_press,0.622857668112,0.0100907294934,1.0700323028,0.59342811924,0.0187624729343,1.06970043748
+245,4.083333333,pose1_to_pose2_press,0.622857986493,0.010090757102,1.07003235593,0.593428437349,0.0187624996017,1.06970049013
+246,4.100000000,pose1_to_pose2_press,0.622858237321,0.0100907788527,1.07003239779,0.593428687963,0.0187625206109,1.06970053161
+247,4.116666667,pose1_to_pose2_press,0.622858478663,0.0100907997808,1.07003243807,0.593428929098,0.0187625408256,1.06970057152
+248,4.133333333,pose1_to_pose2_press,0.622858721463,0.0100907857549,1.07003245863,0.593429172137,0.018762527566,1.06970059103
+249,4.150000000,pose1_to_pose2_press,0.622858860508,0.010090763859,1.07003246251,0.593429311494,0.0187625066953,1.06970059405
+250,4.166666667,pose1_to_pose2_press,0.622858909146,0.0100907561997,1.07003246387,0.593429360242,0.0187624993947,1.06970059511
+251,4.183333333,pose1_to_pose2_press,0.622858913054,0.0100907555843,1.07003246397,0.593429364159,0.0187624988081,1.06970059519
+252,4.200000000,pose1_to_pose2_press,0.622858998336,0.0100907421547,1.07003246636,0.593429449632,0.0187624860073,1.06970059705
+253,4.216666667,pose1_to_pose2_press,0.622859161682,0.0100907164318,1.07003247091,0.593429613346,0.0187624614889,1.0697006006
+254,4.233333333,pose1_to_pose2_press,0.622859183083,0.0100907087518,1.07003244887,0.593429634919,0.0187624543935,1.06970057882
+255,4.250000000,pose1_to_pose2_press,0.62285921731,0.0100906895442,1.07003237722,0.59342966962,0.0187624368068,1.06970050828
+256,4.266666667,pose1_to_pose2_press,0.622859290902,0.0100907512354,1.07003249334,0.59342974351,0.0187624992634,1.06970061828
+257,4.283333333,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992631,1.06970061828
+258,4.300000000,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992631,1.06970061828
+259,4.316666667,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992633,1.06970061828
+260,4.333333333,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992636,1.06970061828
+261,4.350000000,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992637,1.06970061828
+262,4.366666667,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992637,1.06970061828
+263,4.383333333,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992638,1.06970061828
+264,4.400000000,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992648,1.06970061828
+265,4.416666667,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992644,1.06970061828
+266,4.433333333,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992644,1.06970061828
+267,4.450000000,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992646,1.06970061828
+268,4.466666667,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992647,1.06970061828
+269,4.483333333,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992647,1.06970061828
+270,4.500000000,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992648,1.06970061828
+271,4.516666667,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992648,1.06970061828
+272,4.533333333,pose2_hold,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992649,1.06970061828
+273,4.550000000,pose2_to_pose3_retreat,0.622859290902,0.0100907512354,1.07003249334,0.593429743512,0.0187624992655,1.06970061828
+274,4.566666667,pose2_to_pose3_retreat,0.622859316149,0.0100906892447,1.07003233288,0.593429768347,0.0187624363423,1.06970047001
+275,4.583333333,pose2_to_pose3_retreat,0.622859215447,0.010090655225,1.07003231995,0.59342966775,0.0187624026492,1.06970045636
+276,4.600000000,pose2_to_pose3_retreat,0.622859153931,0.0100906404932,1.07003232609,0.593429606331,0.0187623881899,1.06970046104
+277,4.616666667,pose2_to_pose3_retreat,0.622858944678,0.010090590381,1.07003234699,0.593429397409,0.0187623390047,1.06970047694
+278,4.633333333,pose2_to_pose3_retreat,0.622858510403,0.0100906731393,1.07003229934,0.593428962555,0.0187624198789,1.06970043109
+279,4.650000000,pose2_to_pose3_retreat,0.622858379373,0.0100906997444,1.07003228416,0.593428831338,0.0187624458822,1.06970041656
+280,4.666666667,pose2_to_pose3_retreat,0.622857767051,0.0100908240735,1.07003221325,0.593428218148,0.0187625673989,1.06970034868
+281,4.683333333,pose2_to_pose3_retreat,0.622856670356,0.0100907771321,1.07003221585,0.593427120683,0.0187625177682,1.06970034949
+282,4.700000000,pose2_to_pose3_retreat,0.622852662724,0.0100907734052,1.07003222268,0.593423113289,0.0187625147638,1.06970035492
+283,4.716666667,pose2_to_pose3_retreat,0.622844282126,0.0100906417806,1.07003229126,0.593414734721,0.0187623902053,1.0697004305
+284,4.733333333,pose2_to_pose3_retreat,0.622826678182,0.0100906775292,1.07003188836,0.593397129104,0.0187624206464,1.06970003593
+285,4.750000000,pose2_to_pose3_retreat,0.62279882708,0.0100908104077,1.07003233424,0.593369276184,0.0187625470535,1.06970047593
+286,4.766666667,pose2_to_pose3_retreat,0.622758976948,0.0100907150368,1.07003226768,0.59332942863,0.0187624595459,1.06970038909
+287,4.783333333,pose2_to_pose3_retreat,0.622708234966,0.0100907386266,1.0700322968,0.593278685278,0.01876247884,1.06970042965
+288,4.800000000,pose2_to_pose3_retreat,0.622647157269,0.0100907731662,1.07003248449,0.593217607587,0.0187625137817,1.06970061904
+289,4.816666667,pose2_to_pose3_retreat,0.622578822008,0.0100907616502,1.07003225054,0.593149273297,0.0187625059781,1.06970039199
+290,4.833333333,pose2_to_pose3_retreat,0.622502971924,0.0100907761429,1.07003228853,0.593073422677,0.0187625182942,1.06970042124
+291,4.850000000,pose2_to_pose3_retreat,0.62241603305,0.0100908245838,1.07003245597,0.592986483172,0.018762564232,1.06970058161
+292,4.866666667,pose2_to_pose3_retreat,0.622316849956,0.0100909190415,1.07003236059,0.592887299911,0.018762657596,1.06970048752
+293,4.883333333,pose2_to_pose3_retreat,0.622202538184,0.0100906789388,1.07003228553,0.592772988364,0.0187624187326,1.06970042752
+294,4.900000000,pose2_to_pose3_retreat,0.622071915582,0.0100908441971,1.07003219046,0.592642365002,0.0187625811966,1.06970033004
+295,4.916666667,pose2_to_pose3_retreat,0.621923685509,0.0100909465273,1.07003206771,0.592494134612,0.0187626824527,1.06970021113
+296,4.933333333,pose2_to_pose3_retreat,0.621757692927,0.010090828619,1.0700321772,0.59232814272,0.0187625664995,1.06970031415
+297,4.950000000,pose2_to_pose3_retreat,0.621573998057,0.0100907831774,1.07003226894,0.592144447817,0.0187625209286,1.06970041001
+298,4.966666667,pose2_to_pose3_retreat,0.621371210855,0.0100907409659,1.07003221893,0.591941661492,0.0187624814946,1.06970035975
+299,4.983333333,pose2_to_pose3_retreat,0.621149917645,0.0100907740388,1.07003233568,0.59172036837,0.0187625145148,1.06970047224
+300,5.000000000,pose2_to_pose3_retreat,0.620907683124,0.0100907838814,1.07003239563,0.591478133461,0.0187625226065,1.06970052698
+301,5.016666667,pose2_to_pose3_retreat,0.620644602808,0.0100908691442,1.07003239137,0.591215051199,0.0187626010569,1.06970052312
+302,5.033333333,pose2_to_pose3_retreat,0.620360346418,0.0100909152701,1.07003236006,0.590930794017,0.0187626444507,1.06970049648
+303,5.050000000,pose2_to_pose3_retreat,0.620055717372,0.010090755019,1.07003223616,0.590626168158,0.0187624947195,1.06970037257
+304,5.066666667,pose2_to_pose3_retreat,0.619732792988,0.0100908297054,1.07003231247,0.590303244074,0.0187625701458,1.06970044732
+305,5.083333333,pose2_to_pose3_retreat,0.619391665001,0.0100907505921,1.07003220429,0.589962116683,0.0187624928883,1.06970034107
+306,5.100000000,pose2_to_pose3_retreat,0.619030532796,0.010090753136,1.07003237811,0.589600983817,0.0187624923295,1.06970049761
+307,5.116666667,pose2_to_pose3_retreat,0.618646023681,0.010090785762,1.07003243062,0.589216474553,0.0187625246973,1.06970056321
+308,5.133333333,pose2_to_pose3_retreat,0.618236650463,0.0100908768157,1.07003246899,0.588807100031,0.0187626109063,1.0697005977
+309,5.150000000,pose2_to_pose3_retreat,0.61780201234,0.0100909092792,1.07003236756,0.588372461571,0.0187626422649,1.06970050347
+310,5.166666667,pose2_to_pose3_retreat,0.61734032106,0.0100908819813,1.07003226222,0.587910770668,0.0187626159573,1.06970039739
+311,5.183333333,pose2_to_pose3_retreat,0.616856577735,0.0100909102015,1.07003228385,0.587427027902,0.0187626455329,1.06970041301
+312,5.200000000,pose2_to_pose3_retreat,0.616352281743,0.0100908938234,1.07003230717,0.586922732881,0.018762632145,1.06970043621
+313,5.216666667,pose2_to_pose3_retreat,0.615828210189,0.0100907749151,1.07003221903,0.586398662151,0.018762515877,1.06970035048
+314,5.233333333,pose2_to_pose3_retreat,0.615283792803,0.0100908676337,1.07003217945,0.585854244113,0.018762606355,1.069700317
+315,5.250000000,pose2_to_pose3_retreat,0.614718023146,0.0100908739519,1.07003207991,0.585288474741,0.0187626133314,1.06970021548
+316,5.266666667,pose2_to_pose3_retreat,0.614130159913,0.0100908087819,1.07003217042,0.584700610342,0.018762544378,1.06970031311
+317,5.283333333,pose2_to_pose3_retreat,0.613513609259,0.0100908483961,1.07003241896,0.584084060092,0.018762584999,1.06970055348
+318,5.300000000,pose2_to_pose3_retreat,0.612875369947,0.0100907745149,1.07003257284,0.583445821747,0.0187625137942,1.0697007005
+319,5.316666667,pose2_to_pose3_retreat,0.612219545491,0.0100908160208,1.07003250943,0.582789997326,0.0187625552065,1.06970063717
+320,5.333333333,pose2_to_pose3_retreat,0.611553832514,0.0100908254692,1.07003221131,0.582124283743,0.0187625636374,1.06970035043
+321,5.350000000,pose2_to_pose3_retreat,0.610881094736,0.0100907975946,1.07003225243,0.581451546346,0.0187625374371,1.06970039007
+322,5.366666667,pose2_to_pose3_retreat,0.610203737433,0.0100907722979,1.07003245582,0.580774190128,0.018762515615,1.06970058848
+323,5.383333333,pose2_to_pose3_retreat,0.609515203647,0.010090783799,1.07003245821,0.580085656321,0.0187625272255,1.0697005965
+324,5.400000000,pose2_to_pose3_retreat,0.608802806876,0.0100908761939,1.07003254766,0.579373257451,0.018762612312,1.06970068136
+325,5.416666667,pose2_to_pose3_retreat,0.608059609124,0.0100909280472,1.07003247002,0.578630058792,0.0187626609739,1.06970059856
+326,5.433333333,pose2_to_pose3_retreat,0.607281412492,0.0100907871748,1.07003232039,0.577851864088,0.0187625269803,1.06970045804
+327,5.450000000,pose2_to_pose3_retreat,0.606464091578,0.0100908407517,1.07003242022,0.577034542148,0.018762577041,1.06970055754
+328,5.466666667,pose2_to_pose3_retreat,0.60561538672,0.0100907014898,1.07003226965,0.576185838364,0.0187624409983,1.06970039647
+329,5.483333333,pose2_to_pose3_retreat,0.604773044925,0.0100908270043,1.07003222676,0.575343497111,0.0187625685853,1.06970035858
+330,5.500000000,pose2_to_pose3_retreat,0.603942911017,0.0100908121555,1.07003222306,0.574513361295,0.0187625472542,1.06970035447
+331,5.516666667,pose2_to_pose3_retreat,0.603127696292,0.0100907359082,1.07003230364,0.573698148255,0.0187624766626,1.06970043466
+332,5.533333333,pose2_to_pose3_retreat,0.602323924965,0.0100907971629,1.07003235938,0.572894375806,0.0187625338945,1.06970048547
+333,5.550000000,pose2_to_pose3_retreat,0.601521804489,0.0100907830493,1.07003228558,0.572092255755,0.0187625213926,1.06970041576
+334,5.566666667,pose2_to_pose3_retreat,0.600691329278,0.0100907850148,1.07003225286,0.571261781249,0.0187625259274,1.06970038705
+335,5.583333333,pose2_to_pose3_retreat,0.599834684562,0.010090846221,1.07003227121,0.570405134658,0.0187625805766,1.06970040059
+336,5.600000000,pose2_to_pose3_retreat,0.598956888819,0.010090727417,1.0700321815,0.569527339861,0.0187624651863,1.06970031623
+337,5.616666667,pose2_to_pose3_retreat,0.598083500494,0.0100908660728,1.07003245163,0.568653951276,0.0187626029237,1.06970058386
+338,5.633333333,pose2_to_pose3_retreat,0.597228642237,0.0100907813557,1.07003242758,0.567799093801,0.0187625207274,1.06970055657
+339,5.650000000,pose2_to_pose3_retreat,0.596401072084,0.0100908021383,1.07003220174,0.566971522336,0.018762537225,1.0697003363
+340,5.666666667,pose2_to_pose3_retreat,0.595599004909,0.0100908546946,1.07003218108,0.566169454342,0.018762587331,1.06970032157
+341,5.683333333,pose2_to_pose3_retreat,0.594803725796,0.0100908125338,1.07003234744,0.565374177644,0.0187625527933,1.06970047389
+342,5.700000000,pose2_to_pose3_retreat,0.594006970735,0.0100907619613,1.07003242849,0.56457742432,0.0187625083654,1.06970056163
+343,5.716666667,pose2_to_pose3_retreat,0.593203094659,0.0100907117083,1.07003229338,0.563773547892,0.0187624569382,1.0697004269
+344,5.733333333,pose2_to_pose3_retreat,0.59239484215,0.0100907247292,1.07003234889,0.562965294747,0.0187624678116,1.06970048244
+345,5.750000000,pose2_to_pose3_retreat,0.591587044397,0.0100907391658,1.07003239192,0.562157495326,0.0187624764728,1.06970052255
+346,5.766666667,pose2_to_pose3_retreat,0.590792081331,0.0100907681381,1.0700323429,0.561362531332,0.0187625022734,1.06970047293
+347,5.783333333,pose2_to_pose3_retreat,0.590011881834,0.0100907497478,1.07003227424,0.560582333757,0.0187624905587,1.06970040881
+348,5.800000000,pose2_to_pose3_retreat,0.589257644976,0.0100907079626,1.07003228839,0.559828098028,0.0187624526568,1.06970042404
+349,5.816666667,pose2_to_pose3_retreat,0.588523852688,0.0100907635946,1.07003241215,0.559094304286,0.0187625033373,1.06970054616
+350,5.833333333,pose2_to_pose3_retreat,0.58780956969,0.0100907687127,1.07003233053,0.558380022264,0.0187625118617,1.06970046869
+351,5.850000000,pose2_to_pose3_retreat,0.587115424268,0.0100908310557,1.07003240979,0.557685876276,0.0187625724679,1.06970055116
+352,5.866666667,pose2_to_pose3_retreat,0.586438503266,0.0100909439108,1.0700323613,0.557008953374,0.0187626782515,1.06970048692
+353,5.883333333,pose2_to_pose3_retreat,0.585776393664,0.0100907543714,1.07003219812,0.556346845112,0.0187624937008,1.06970033511
+354,5.900000000,pose2_to_pose3_retreat,0.585130523677,0.0100907365372,1.07003217871,0.555700974752,0.0187624747034,1.06970031764
+355,5.916666667,pose2_to_pose3_retreat,0.584508033513,0.0100907768514,1.07003199769,0.555078484313,0.0187625141009,1.06970013719
+356,5.933333333,pose2_to_pose3_retreat,0.583909708342,0.0100908135052,1.07003211369,0.554480159028,0.0187625503064,1.06970025156
+357,5.950000000,pose2_to_pose3_retreat,0.58333523352,0.0100908364329,1.07003206576,0.553905683392,0.0187625703207,1.06970019955
+358,5.966666667,pose2_to_pose3_retreat,0.582776551899,0.0100908169945,1.07003207267,0.553347001696,0.0187625507487,1.06970021024
+359,5.983333333,pose2_to_pose3_retreat,0.582232324346,0.0100908119962,1.0700321344,0.552802774265,0.0187625462091,1.06970027328
+360,6.000000000,pose2_to_pose3_retreat,0.58170878342,0.0100908314142,1.07003217576,0.552279233114,0.0187625647223,1.06970031004
+361,6.016666667,pose2_to_pose3_retreat,0.581209148165,0.0100907796648,1.07003232761,0.551779598808,0.0187625162023,1.06970046221
+362,6.033333333,pose2_to_pose3_retreat,0.580739413308,0.0100907558266,1.0700323648,0.551309864733,0.0187624949282,1.06970049712
+363,6.050000000,pose2_to_pose3_retreat,0.580301381228,0.0100909257214,1.07003244932,0.550871831417,0.0187626608728,1.06970058791
+364,6.066666667,pose2_to_pose3_retreat,0.579894256812,0.0100907948231,1.07003257102,0.550464709176,0.0187625370722,1.06970070212
+365,6.083333333,pose2_to_pose3_retreat,0.57950635512,0.0100908646538,1.07003238568,0.55007680455,0.0187625966866,1.06970051002
+366,6.100000000,pose2_to_pose3_retreat,0.579137087957,0.0100908835944,1.07003223236,0.549707537016,0.0187626146565,1.06970036441
+367,6.116666667,pose2_to_pose3_retreat,0.578786543946,0.0100908262509,1.07003231797,0.549356994813,0.0187625633691,1.06970044806
+368,6.133333333,pose2_to_pose3_retreat,0.57845537669,0.0100908757158,1.07003240482,0.54902582733,0.0187626122177,1.06970053898
+369,6.150000000,pose2_to_pose3_retreat,0.578146344642,0.0100908712601,1.07003228889,0.548716795466,0.0187626085031,1.06970042602
+370,6.166666667,pose2_to_pose3_retreat,0.5778599545,0.0100908968338,1.0700323258,0.54843040527,0.0187626338657,1.06970046222
+371,6.183333333,pose2_to_pose3_retreat,0.577596291322,0.010090883629,1.07003227587,0.548166741908,0.0187626200073,1.06970041152
+372,6.200000000,pose2_to_pose3_retreat,0.577357921418,0.0100908585433,1.07003221719,0.547928371815,0.0187625942218,1.06970035136
+373,6.216666667,pose2_to_pose3_retreat,0.577141561154,0.0100908810922,1.07003242118,0.547712011182,0.018762615396,1.06970055238
+374,6.233333333,pose2_to_pose3_retreat,0.576946382346,0.0100907186406,1.07003233011,0.54751683375,0.0187624576089,1.06970046108
+375,6.250000000,pose2_to_pose3_retreat,0.576770166875,0.0100906495382,1.07003233263,0.547340619965,0.0187623943022,1.06970046552
+376,6.266666667,pose2_to_pose3_retreat,0.576613389737,0.0100906847713,1.07003222268,0.54718384182,0.0187624261396,1.06970035616
+377,6.283333333,pose2_to_pose3_retreat,0.576471278044,0.0100907015114,1.07003242009,0.547041729453,0.0187624403879,1.06970054841
+378,6.300000000,pose2_to_pose3_retreat,0.576343016642,0.0100906918055,1.07003228478,0.546913468054,0.0187624309451,1.06970041981
+379,6.316666667,pose2_to_pose3_retreat,0.576228167992,0.0100908073654,1.07003223162,0.546798617919,0.0187625412578,1.06970036119
+380,6.333333333,pose2_to_pose3_retreat,0.576125147241,0.0100908488834,1.07003230181,0.546695598084,0.0187625857548,1.06970042899
+381,6.350000000,pose2_to_pose3_retreat,0.57603435065,0.010090843227,1.07003238643,0.546604802215,0.0187625827708,1.06970051985
+382,6.366666667,pose2_to_pose3_retreat,0.57595619677,0.0100908025822,1.07003241206,0.546526648414,0.0187625424003,1.06970054484
+383,6.383333333,pose2_to_pose3_retreat,0.575890897676,0.0100906984675,1.07003231634,0.546461350915,0.0187624435634,1.06970044541
+384,6.400000000,pose2_to_pose3_retreat,0.575837048111,0.0100908571895,1.0700322395,0.546407497291,0.0187625886866,1.0697003732
+385,6.416666667,pose2_to_pose3_retreat,0.575793711522,0.010090832297,1.07003226858,0.546364161355,0.0187625664036,1.06970041248
+386,6.433333333,pose2_to_pose3_retreat,0.575760329969,0.0100907411886,1.07003224151,0.546330780654,0.018762477538,1.06970036844
+387,6.450000000,pose2_to_pose3_retreat,0.575733822648,0.0100908047058,1.07003230496,0.546304272749,0.018762539372,1.06970043969
+388,6.466666667,pose2_to_pose3_retreat,0.575713525523,0.0100908984276,1.07003226072,0.546283975796,0.0187626334854,1.06970039044
+389,6.483333333,pose2_to_pose3_retreat,0.575698315203,0.0100908494628,1.07003236005,0.5462687668,0.0187625890292,1.06970049027
+390,6.500000000,pose2_to_pose3_retreat,0.575687640253,0.0100907930565,1.07003242386,0.546258092312,0.018762534311,1.06970055719
+391,6.516666667,pose2_to_pose3_retreat,0.575680403749,0.0100908264283,1.07003233076,0.546250854451,0.0187625631203,1.06970046539
+392,6.533333333,pose2_to_pose3_retreat,0.575675580616,0.0100908552388,1.07003233114,0.546246031301,0.0187625918492,1.06970046517
+393,6.550000000,pose2_to_pose3_retreat,0.575672390781,0.0100908752464,1.07003234045,0.546242841584,0.0187626122324,1.06970047387
+394,6.566666667,pose2_to_pose3_retreat,0.575670510164,0.0100908269381,1.07003234894,0.54624096131,0.0187625650072,1.06970048018
+395,6.583333333,pose2_to_pose3_retreat,0.575669574883,0.0100907977819,1.07003235342,0.546240026222,0.0187625364632,1.06970048341
+396,6.600000000,pose2_to_pose3_retreat,0.575668792387,0.0100907733885,1.07003235717,0.546239243888,0.0187625125822,1.06970048612
+397,6.616666667,pose2_to_pose3_retreat,0.575668193352,0.0100907547144,1.07003236004,0.546238644978,0.0187624943001,1.0697004882
+398,6.633333333,pose2_to_pose3_retreat,0.575667938436,0.0100907539221,1.07003234893,0.546238390026,0.0187624933978,1.06970047729
+399,6.650000000,pose2_to_pose3_retreat,0.575667746376,0.010090762688,1.07003232441,0.546238197826,0.0187625017183,1.06970045365
+400,6.666666667,pose2_to_pose3_retreat,0.575667517577,0.0100907731308,1.07003229521,0.546237968859,0.0187625116304,1.06970042548
+401,6.683333333,pose2_to_pose3_retreat,0.575667333382,0.0100907815378,1.07003227169,0.546237784529,0.0187625196102,1.06970040281
+402,6.700000000,pose2_to_pose3_retreat,0.575667127011,0.010090790957,1.07003224535,0.546237578006,0.0187625285508,1.0697003774
+403,6.716666667,pose2_to_pose3_retreat,0.57566706148,0.0100907939479,1.07003223699,0.546237512427,0.0187625313897,1.06970036934
+404,6.733333333,pose2_to_pose3_retreat,0.575667030107,0.0100907953798,1.07003223298,0.546237481031,0.0187625327489,1.06970036548
+405,6.750000000,pose2_to_pose3_retreat,0.575666900915,0.0100908012764,1.07003221649,0.546237351744,0.0187625383458,1.06970034957
+406,6.766666667,pose2_to_pose3_retreat,0.575666831836,0.0100908044293,1.07003220767,0.546237282614,0.0187625413385,1.06970034107
+407,6.783333333,pose2_to_pose3_retreat,0.575666482335,0.0100908203811,1.07003216306,0.546236932857,0.0187625564798,1.06970029804
+408,6.800000000,pose2_to_pose3_retreat,0.575666224841,0.0100908321336,1.07003213019,0.546236675173,0.0187625676351,1.06970026635
+409,6.816666667,pose2_to_pose3_retreat,0.575666060302,0.0100908396434,1.07003210918,0.546236510515,0.0187625747633,1.06970024609
+410,6.833333333,pose2_to_pose3_retreat,0.575666047997,0.0100908402051,1.07003210761,0.5462364982,0.0187625752964,1.06970024458
+411,6.850000000,pose2_to_pose3_retreat,0.57566601438,0.0100908417394,1.07003210332,0.546236464558,0.0187625767528,1.06970024044
+412,6.866666667,pose2_to_pose3_retreat,0.575665722358,0.0100908530204,1.07003207477,0.546236172354,0.0187625874548,1.06970021299
+413,6.883333333,pose2_to_pose3_retreat,0.575665710316,0.0100908519693,1.07003208006,0.546236160327,0.0187625864528,1.06970021816
+414,6.900000000,pose2_to_pose3_retreat,0.5756653458,0.0100908201552,1.07003224014,0.54623579629,0.0187625561213,1.06970037453
+415,6.916666667,pose2_to_pose3_retreat,0.575665169338,0.0100908047539,1.07003231763,0.546235620059,0.0187625414379,1.06970045023
+416,6.933333333,pose2_to_pose3_retreat,0.575665001024,0.0100907900638,1.07003239154,0.546235451966,0.0187625274324,1.06970052243
+417,6.950000000,pose2_to_pose3_retreat,0.575664577075,0.0100907861832,1.07003236413,0.546235027408,0.0187625218198,1.06970050379
+418,6.966666667,pose2_to_pose3_retreat,0.57566436652,0.0100907949179,1.07003226145,0.546234816144,0.0187625285007,1.0697004103
+419,6.983333333,pose2_to_pose3_retreat,0.575664365065,0.0100907068921,1.07003208233,0.546234816651,0.0187624466799,1.06970021941
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1fa863c186dcb8745f32c467ce14b3e9bc9e4d0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc2aa53c96e631b5a3d5e01bfc9d510ae887e7fb54a775a20053d5b8f16e25ef
+size 24845705
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d8af38a0202cef3764f5f6755803bc688039b7d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/franka_data.csv
@@ -0,0 +1,392 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,712,671,661,633,876,784,800,649,629,651,0.400855067968,-0.00543917450586,0.0598945373865,0.999999960307,-1.09551222659e-05,-0.000278962167237,-3.80349992454e-05,1793192649005270016
+1,0.016666667,BASELINE,764.578909027,742.578909027,712,671.578909027,661,633,876,783.421090973,799.421090973,649.578909027,629,650.421090973,0.400820987864,-0.00543920512037,0.0598791618969,0.999999950445,-1.18771429364e-05,-0.000312218398158,-3.85819219429e-05,1793192649021936640
+2,0.033333333,BASELINE,764.842941215,743,711.842941215,671.842941215,661,633,876,783.157058785,799.157058785,649.842941215,629,650.157058785,0.400790091391,-0.00543939641978,0.0598647621125,0.999999940386,-1.31390453293e-05,-0.000342813707398,-3.91642231138e-05,1793192649038603264
+3,0.050000000,BASELINE,764.266817215,743,711.266817215,671.266817215,661,633,876,783.733182785,799.733182785,649.266817215,629,650.733182785,0.400767689494,-0.00544001645964,0.0598529657073,0.999999931998,-1.53078224492e-05,-0.000366309137072,-3.98409215498e-05,1793192649055270400
+4,0.066666667,BASELINE,764.308398613,743,711.308398613,671.308398613,661.308398613,633,876,784,800,649,628.691601387,650.691601387,0.400756927507,-0.00543961097992,0.0598473994328,0.999999927914,-1.46370537616e-05,-0.000377291058499,-4.01170073838e-05,1793192649071937024
+5,0.083333333,BASELINE,764.88283099,743,711.88283099,671.88283099,661.88283099,633,876,784,800,649,628.11716901,650.11716901,0.400756206452,-0.00543832085664,0.059847207454,0.999999927887,-1.15168087606e-05,-0.000377478456365,-4.0047512913e-05,1793192649088603648
+6,0.100000000,BASELINE,765,743,711.529186007,671.529186007,661.529186007,633,876.470813993,783.529186007,799.529186007,649.470813993,628.470813993,650.470813993,0.400755612745,-0.00543976599424,0.0598478521994,0.999999927728,-1.19033998654e-05,-0.000377943031606,-3.95228472694e-05,1793192649105270272
+7,0.116666667,BASELINE,765,743,711.060758908,671.060758908,661.060758908,633,876.939241092,783.060758908,799.060758908,649.939241092,629,651,0.400755275533,-0.00544128923551,0.0598485487518,0.999999927557,-1.28120900576e-05,-0.000378416026312,-3.90211279464e-05,1793192649121936896
+8,0.133333333,BASELINE,765,743,711.637868823,671.637868823,661.637868823,633,876.362131177,783.637868823,799.637868823,649.362131177,629,651,0.400756840783,-0.00543751988047,0.0598478635146,0.999999927579,-1.05212212105e-05,-0.000378356986624,-3.97056029575e-05,1793192649138603776
+9,0.150000000,BASELINE,764.78465397,742.78465397,712,671.78465397,661.78465397,633,876.21534603,784,799.78465397,649,629,650.78465397,0.400757579347,-0.00543620599517,0.0598477108575,0.999999927708,-1.06874936121e-05,-0.00037797701349,-4.00439518547e-05,1793192649155270400
+10,0.166666667,BASELINE,764.206558118,742.206558118,712,671.206558118,661.206558118,633,876.793441882,784,799.206558118,649,629,650.206558118,0.400756925361,-0.00543902834253,0.0598484553303,0.99999992801,-1.49928142068e-05,-0.000377056428818,-3.97992521555e-05,1793192649171937024
+11,0.183333333,BASELINE,764.377009301,742.377009301,712,671,661,633,876.622990699,784,799,649,629,650,0.400755491694,-0.00543911139729,0.0598476944414,0.99999992741,-1.4567277718e-05,-0.000378669787219,-3.9712492215e-05,1793192649188603648
+12,0.200000000,BASELINE,764.963618719,742.963618719,712,671,661,633,876.036381281,784,799,649,629,650,0.400753624559,-0.00543767152955,0.0598460966396,0.999999926301,-1.15115991085e-05,-0.000381691903247,-3.9713539612e-05,1793192649205270272
+13,0.216666667,BASELINE,764.457631133,742.457631133,711.457631133,671.542368867,661,633,877.084737734,783.457631133,799,649.542368867,629,650,0.400754271468,-0.00543885513165,0.0598470450825,0.999999926717,-1.2825064003e-05,-0.000380552458239,-3.97613855077e-05,1793192649221936896
+14,0.233333333,BASELINE,764.120054703,742,711,671.879945297,661,633,877.759890595,783.120054703,799,649.879945297,629,650.120054703,0.400755185072,-0.00543974146456,0.0598480545396,0.999999927218,-1.38528111097e-05,-0.000379190824456,-3.98215536424e-05,1793192649238603520
+15,0.250000000,BASELINE,764.695673938,742,711,671.304326062,661,633,876.608652123,783.695673938,799,649.304326062,629,650.695673938,0.400756479907,-0.00543884153139,0.0598486566636,0.999999927669,-1.27001307882e-05,-0.000378030211861,-3.99167383836e-05,1793192649255270400
+16,0.266666667,BASELINE,765,742,711.270834349,671.270834349,661.270834349,633,876,783.729165651,799,649,628.729165651,651,0.400756514924,-0.00543865372884,0.0598483085682,0.999999927587,-1.21238528327e-05,-0.000378270990989,-3.98855810633e-05,1793192649271937280
+17,0.283333333,BASELINE,765,742,711.845480033,671.845480033,661.845480033,633,876,783.154519967,799,649,628.154519967,651,0.400755136724,-0.0054392647665,0.059846894554,0.999999926905,-1.21941604814e-05,-0.000380083796378,-3.97126981747e-05,1793192649288603648
+18,0.300000000,BASELINE,765,742.433547739,712,672,662,633,876,783,799.433547739,649,628.433547739,651,0.400755603001,-0.00543965700854,0.0598474811024,0.999999927197,-1.3376552747e-05,-0.000379291651859,-3.95596080255e-05,1793192649305270272
+19,0.316666667,BASELINE,765,743,712,671.974105598,661.974105598,633,876,783.025894402,799.974105598,649,629,651,0.400756685046,-0.00543988817091,0.0598487375454,0.999999927813,-1.48050358047e-05,-0.000377624825885,-3.943622881e-05,1793192649321936896
+20,0.333333333,BASELINE,765,743,712,671.395787503,661.395787503,633,876,783.604212497,799.395787503,649,629,651,0.400756431169,-0.00543839966914,0.0598485880632,0.999999927784,-1.27576624311e-05,-0.000377737338154,-3.97913918078e-05,1793192649338603776
+21,0.350000000,BASELINE,765,743,712,671.181426244,661,633,876,783.818573756,799,649,628.818573756,650.818573756,0.400756171003,-0.00543792590324,0.0598484013088,0.999999927704,-1.16776723704e-05,-0.000377972208682,-3.98987077211e-05,1793192649355270400
+22,0.366666667,BASELINE,765,743,712,671.75624532,661,633,876,783.24375468,799,649,628.24375468,650.24375468,0.400755897202,-0.0054396524246,0.0598481337359,0.99999992752,-1.26952934427e-05,-0.000378472392865,-3.94686081394e-05,1793192649371937024
+23,0.383333333,BASELINE,765,742.661049859,711.661049859,671.661049859,661,633,876,783.338950141,799,649,628.338950141,650.338950141,0.400755535633,-0.00543986769415,0.0598473882912,0.999999927148,-1.33922167311e-05,-0.00037941549896,-3.96047385009e-05,1793192649388603648
+24,0.400000000,BASELINE,765,742.072538895,711.072538895,671.072538895,661,633,876,783.927461105,799,649,628.927461105,650.927461105,0.400755109443,-0.00543897026558,0.0598462910007,0.999999926637,-1.38530180723e-05,-0.000380684717839,-4.01577702848e-05,1793192649405270528
+25,0.416666667,BASELINE,764.492935839,742,711,671,661,633,876,783.492935839,799.507064161,649,629,651,0.400755337518,-0.00543903421041,0.0598471685325,0.999999927058,-1.3898688404e-05,-0.000379611911973,-3.98288271277e-05,1793192649421937152
+26,0.433333333,BASELINE,764.085261859,742,711.085261859,671,661,633,876,783,799.914738141,649,629,651,0.400755596367,-0.00543923858869,0.0598481719943,0.999999927478,-1.40448134543e-05,-0.000378533924551,-3.94896182663e-05,1793192649438603776
+27,0.450000000,BASELINE,764.662576691,742,711.662576691,671,661,633,876,783,799.337423309,649,629,651,0.400755501977,-0.00543947342085,0.0598482999598,0.999999927149,-1.51074822246e-05,-0.000379326207007,-3.98067447866e-05,1793192649455270400
+28,0.466666667,BASELINE,765,742,712,671,661,633,876,783,799.239256331,649,629,650.760743669,0.400755282624,-0.00543935158598,0.0598484849455,0.999999926999,-1.46696405607e-05,-0.000379730142877,-3.98947022935e-05,1793192649471937280
+29,0.483333333,BASELINE,765,742,712,671,661,633,876,783,799.815042495,649,629,650.184957505,0.400754887503,-0.00543872807537,0.0598487501341,0.999999927097,-1.21212317898e-05,-0.000379587843571,-3.96603184258e-05,1793192649488603648
+30,0.500000000,BASELINE,764.599930559,742,712,671.400069441,661,633.400069441,876.400069441,783,799.599930559,649.400069441,629,650,0.400754385708,-0.00543875400578,0.0598480365042,0.999999926847,-1.33661765069e-05,-0.000380204429666,-3.96352308824e-05,1793192649505270272
+31,0.516666667,BASELINE,764.010530481,742,712,671.989469519,661,633.989469519,876.989469519,783,799.010530481,649.989469519,629,650,0.400753833431,-0.00543908728056,0.059846859654,0.999999926428,-1.6406304735e-05,-0.000381180154056,-3.97091916665e-05,1793192649521936640
+32,0.533333333,BASELINE,764.568713393,742,712,671.431286607,661,633.431286607,876.431286607,783,799.568713393,649.431286607,628.431286607,650,0.400753779795,-0.00543772335264,0.0598465737341,0.999999926096,-1.24158244696e-05,-0.000382207345508,-3.96406273046e-05,1793192649538603264
+33,0.550000000,BASELINE,764.853109725,742,712,671,661,633,876,783.146890275,799.853109725,649,628.146890275,650.146890275,0.400754047131,-0.00543702062762,0.0598466634805,0.999999926065,-9.69072978277e-06,-0.000382372669592,-3.95929740357e-05,1793192649555270144
+34,0.566666667,BASELINE,764.277507824,742,712,671,661,633,876,783.722492176,799.277507824,649,628.722492176,650.722492176,0.400755224776,-0.0054383377892,0.0598478023379,0.999999926947,-1.10320482685e-05,-0.000380019828537,-3.96139186953e-05,1793192649571937024
+35,0.583333333,BASELINE,764.298126238,742,712,671.298126238,661,633,876,783.701873762,799,649,629,650.701873762,0.400755541063,-0.00543866469007,0.0598482278327,0.999999927321,-1.18818122855e-05,-0.000378988429787,-3.98086109901e-05,1793192649588603648
+36,0.600000000,BASELINE,764.873790307,742,712,671.873790307,661,633,876,783.126209693,799,649,629,650.126209693,0.400755055476,-0.00543806971714,0.0598479892295,0.999999927227,-1.22739684246e-05,-0.000379187215115,-4.0165052023e-05,1793192649605270272
+37,0.616666667,BASELINE,764.539254344,742,711.539254344,671.539254344,661,633,876,783.460745656,799,649,628.539254344,650.460745656,0.400755862871,-0.00543944744861,0.059848819957,0.99999992739,-1.39024004025e-05,-0.000378744783892,-3.97462145973e-05,1793192649621936896
+38,0.633333333,BASELINE,764,742,711,671,661.049916125,633,876,784,799.049916125,649,628.049916125,650.950083875,0.400756738597,-0.00544110872846,0.0598496835083,0.999999927518,-1.55309502434e-05,-0.000378401390191,-3.91859156302e-05,1793192649638603264
+39,0.650000000,BASELINE,764,742,711,671,661.628957936,633,876,784,799.628957936,649,628.628957936,650.371042064,0.40075448992,-0.00543990369227,0.0598477119986,0.999999926545,-1.34808131566e-05,-0.00038101648852,-3.94338003688e-05,1793192649655269888
+40,0.666666667,BASELINE,764,742,711.206436519,671,661.793563481,633,876,784,799.793563481,649,628.793563481,650.206436519,0.40075365465,-0.00543934667937,0.0598468029425,0.999999926203,-1.25318444504e-05,-0.000381925869331,-3.96141364995e-05,1793192649671936768
+41,0.683333333,BASELINE,764,742,711.781126489,671,661.218873511,633,876,784,799.218873511,649,628.218873511,650.781126489,0.400755340701,-0.00543994564813,0.0598477891529,0.999999927,-1.35472039771e-05,-0.000379792492023,-3.96739754862e-05,1793192649688603648
+42,0.700000000,BASELINE,764.363843865,742,712,671.363843865,661.363843865,633,876.363843865,783.636156135,799,649,628.363843865,651,0.400755365136,-0.00543915640511,0.0598478751077,0.999999927154,-1.39328127666e-05,-0.00037935447348,-3.98393755566e-05,1793192649705270272
+43,0.716666667,BASELINE,764.95149912,742,712,671.95149912,661.95149912,633,876.95149912,783.04850088,799,649,628.95149912,651,0.400754367463,-0.00543751323092,0.0598474072878,0.999999926916,-1.39310427498e-05,-0.00037995932159,-4.00697094474e-05,1793192649721937408
+44,0.733333333,BASELINE,764.469403475,742,712,671.469403475,661.469403475,633,877,783.530596525,799,649,628.469403475,650.469403475,0.400754113194,-0.00543864206222,0.0598470128168,0.999999926741,-1.36012625153e-05,-0.000380441483392,-3.99590728929e-05,1793192649738603776
+45,0.750000000,BASELINE,764,742,712,671,661,633,877,784,799.108864362,649.108864362,628,650.108864362,0.400754093774,-0.00543956024386,0.0598468218408,0.999999926655,-1.30797413812e-05,-0.000380696604976,-3.98594284544e-05,1793192649755270400
+46,0.766666667,BASELINE,764,742,712,671,661,633,877,784,799.686874646,649.686874646,628,650.686874646,0.400754798229,-0.00543849602551,0.0598474793824,0.999999926924,-1.1859080527e-05,-0.000380020868557,-3.99393370172e-05,1793192649771937024
+47,0.783333333,BASELINE,764,742,712,671,661,633,876.738314309,783.738314309,799.738314309,649.738314309,628.261685691,651,0.400754786731,-0.00543821991587,0.0598475004114,0.999999926784,-1.21077499376e-05,-0.000380365524297,-4.00853876059e-05,1793192649788603648
+48,0.800000000,BASELINE,764,742,712,671,661,633,876.167285068,783.167285068,799.167285068,649.167285068,628.832714932,651,0.400753928891,-0.00543887544414,0.0598467690071,0.999999926158,-1.40933419813e-05,-0.00038191640461,-4.03096259311e-05,1793192649805270528
+49,0.816666667,BASELINE,764.419845299,742,711.580154701,671.419845299,661,633,876.419845299,783,799,649,628.580154701,650.580154701,0.40075377386,-0.00543979761038,0.0598471573519,0.99999992619,-1.58397190033e-05,-0.000381779591981,-4.01735694588e-05,1793192649821936896
+50,0.833333333,BASELINE,764.986715953,742,711,672,661,633,876.986715953,783,799,649,628,650,0.400753919731,-0.00544077342572,0.0598479782351,0.999999926483,-1.73812700628e-05,-0.000380972573724,-3.9890557132e-05,1793192649838603520
+51,0.850000000,BASELINE,764.40870184,742,711,672,661,633,876.40870184,783,799,649,628,650,0.40075447815,-0.00543933337114,0.059847463732,0.999999926374,-1.4428851483e-05,-0.000381401097189,-3.97064542285e-05,1793192649855270400
+52,0.866666667,BASELINE,764,742,711,672,661,633,876.16906056,783.16906056,799,649,628.16906056,650,0.400754158219,-0.00543826649839,0.0598466905311,0.999999926089,-1.21088660455e-05,-0.000382227552397,-3.97233073513e-05,1793192649871937024
+53,0.883333333,BASELINE,764,742,711,672,661,633,876.746215322,783.746215322,799,649,628.746215322,650,0.400751718044,-0.00543810044694,0.0598452928614,0.999999925393,-1.13155070857e-05,-0.000384014572462,-4.02252469469e-05,1793192649888603648
+54,0.900000000,BASELINE,764,742,711,672,661,633,877,783.671388943,799.328611057,649,629,650,0.400752010526,-0.00543811275668,0.0598458884181,0.999999925829,-1.18621948001e-05,-0.000382859626817,-4.02538101338e-05,1793192649905270016
+55,0.916666667,BASELINE,764,742,711,672,661,633,877,783.084880057,799.915119943,649,629,650,0.400754447628,-0.0054382650464,0.0598480482825,0.999999927142,-1.34605669677e-05,-0.000379395791735,-3.99108619145e-05,1793192649921936640
+56,0.933333333,BASELINE,764,742,711.49522531,671.50477469,661,633,876.50477469,783,799.50477469,649,629,650.49522531,0.400754181761,-0.00543817079764,0.0598472738813,0.999999926827,-1.33838514026e-05,-0.000380225364524,-3.99400188617e-05,1793192649938603264
+57,0.950000000,BASELINE,764,742,711.925867869,671,661,633,876,783.074132131,799.074132131,649,629,650.925867869,0.400753705711,-0.00543821952505,0.0598463179197,0.999999926357,-1.30983636027e-05,-0.00038146647675,-3.99618965195e-05,1793192649955270144
+58,0.966666667,BASELINE,764,742,711.347743262,671,661,633,876,783.652256738,799.652256738,649,629,650.347743262,0.400754910163,-0.00543952389854,0.0598475031223,0.999999926716,-1.3320508196e-05,-0.000380566423907,-3.95062236022e-05,1793192649971936768
+59,0.983333333,BASELINE,764.228467543,742,711.228467543,671,661,633,876,783.771532457,799.771532457,649,629,650,0.400755290696,-0.00544019293221,0.0598478749629,0.999999926802,-1.36136896762e-05,-0.000380352361282,-3.92781216934e-05,1793192649988603648
+60,1.000000000,BASELINE,764.801789694,742,711.801789694,671,661,633,876,783.198210306,799.198210306,649,629,650,0.400754427586,-0.00543990296831,0.0598470190948,0.999999926479,-1.4014096039e-05,-0.00038117374927,-3.93935210733e-05,1793192650005270528
+61,1.016666667,BASELINE,765,742,711.613839099,671.386160901,661,633,876,783.386160901,799,649,629,650.386160901,0.400755060317,-0.00543847467093,0.0598471872046,0.999999926639,-1.23748678671e-05,-0.000380787778733,-3.96088466499e-05,1793192650021937152
+62,1.033333333,BASELINE,765,742,711.023629571,671.976370429,661,633,876,783.976370429,799,649,629,650.976370429,0.400756483455,-0.00543644487461,0.0598478963875,0.999999927048,-9.65789040584e-06,-0.000379763836125,-3.9876973534e-05,1793192650038603776
+63,1.050000000,BASELINE,765,742,711,672,661,633,876,783.443642359,799.556357641,649,629,650.443642359,0.400756192844,-0.00543785310662,0.0598480121337,0.99999992719,-1.20110362626e-05,-0.000379347741035,-3.96259430171e-05,1793192650055270144
+64,1.066666667,BASELINE,764.865136165,742,711,672,661.269727671,632.865136165,876.134863835,783,799.865136165,649,629,650,0.400756024225,-0.00543893229566,0.0598482380055,0.99999992735,-1.37307928585e-05,-0.000378884805284,-3.94700595578e-05,1793192650071936768
+65,1.083333333,BASELINE,764.290072537,742,711,672,662.419854926,632.290072537,876.709927463,783,799.290072537,649,629,650,0.400756487087,-0.00543846946451,0.0598489041146,0.999999927619,-1.26929587824e-05,-0.00037818623482,-3.96954111971e-05,1793192650088603392
+66,1.100000000,BASELINE,764.290896088,742.290896088,711.290896088,671.709103912,662.418207824,632.290896088,876.709103912,783,799,649,628.709103912,650,0.400756036096,-0.00543821420701,0.0598484093839,0.99999992726,-1.28011746449e-05,-0.000379104775757,-3.99366739454e-05,1793192650105270016
+67,1.116666667,BASELINE,764.877874962,742.877874962,711.877874962,671.122125038,661.244250075,632.877874962,876.122125038,783,799,649,628.122125038,650,0.400754654958,-0.00543817022424,0.0598467331153,0.999999926257,-1.40758746607e-05,-0.000381669261344,-4.0194131485e-05,1793192650121936640
+68,1.133333333,BASELINE,764.541288182,742.541288182,711.541288182,671,661,633,876,783,799,649,628.458711818,650.458711818,0.400754149135,-0.00543770137408,0.0598464675689,0.999999926089,-1.34128703383e-05,-0.000382160805903,-3.99291905334e-05,1793192650138603520
+69,1.150000000,BASELINE,764.037815114,742,711,671,661,633,876,783,799.037815114,649,629,650.962184886,0.400753855846,-0.00543716460384,0.0598465735309,0.999999926128,-1.2269189306e-05,-0.000382134163671,-3.95795328726e-05,1793192650155270400
+70,1.166666667,BASELINE,764.615206287,742,711,671,661,633,876,783,799.615206287,649,629,650.384793713,0.400753313903,-0.0054372513781,0.0598466921574,0.999999925987,-1.15306190798e-05,-0.00038248436322,-3.99793624663e-05,1793192650171937024
+71,1.183333333,BASELINE,765,742,711,671,661,632.808064229,875.808064229,783,799.808064229,649,629,650,0.400752816483,-0.00543776148165,0.059846750982,0.999999925854,-1.19946355698e-05,-0.000382799246952,-4.01620110604e-05,1793192650188603648
+72,1.200000000,BASELINE,765,742,711,671,661,632.23265664,875.23265664,783,799.23265664,649,629,650,0.400752408018,-0.00543911736217,0.0598466903271,0.999999925732,-1.48613208604e-05,-0.00038304357266,-3.99107500269e-05,1793192650205270272
+73,1.216666667,BASELINE,764.649225643,742,711,671,661,632.350774357,875,783,799,649,628.649225643,650,0.400751515368,-0.00543949442518,0.0598460705885,0.99999992532,-1.5610895309e-05,-0.000384110229617,-3.96933109912e-05,1793192650221936640
+74,1.233333333,BASELINE,764.060348455,742,711,671,661,632.939651545,875,783,799,649,628.060348455,650,0.400750294057,-0.00543920707461,0.0598450713484,0.999999924713,-1.49233916596e-05,-0.00038573507844,-3.94988300725e-05,1793192650238603264
+75,1.250000000,BASELINE,764,742,711.518764846,671,661,633,875,783,799,649,628,650,0.400750842418,-0.00543945736755,0.0598452684536,0.999999924938,-1.38857173094e-05,-0.000385185943174,-3.95322855473e-05,1793192650255269888
+76,1.266666667,BASELINE,764,742,711.903240684,671,661,633,875.096759316,783,799,649,628.096759316,650.096759316,0.400751594826,-0.00543962141917,0.0598456730383,0.999999925309,-1.31197665748e-05,-0.000384241334215,-3.96076318634e-05,1793192650271936768
+77,1.283333333,BASELINE,764,742,711.325265974,671,661,633,875.674734026,783,799,649,628.674734026,650.674734026,0.400752357094,-0.00543905125647,0.0598464301245,0.999999925935,-1.39040346458e-05,-0.000382564433741,-3.97618780369e-05,1793192650288603648
+78,1.300000000,BASELINE,764,742,711,671,661,633,876,783,799,649,629,651,0.40075369503,-0.00543875347607,0.0598472311589,0.999999926476,-1.41740565302e-05,-0.000381136888612,-3.97668548774e-05,1793192650305270272
+79,1.316666667,BASELINE,764,742,711,671,661,633,876,783,799,649,629,651,0.400755773917,-0.00543880628382,0.0598480887598,0.99999992691,-1.37821829006e-05,-0.000380030293331,-3.95797044811e-05,1793192650321936896
+80,1.333333333,BASELINE,763.587403689,742,711,671,661,633,876,783.412596311,799,649,628.587403689,650.587403689,0.400755106826,-0.00543959164456,0.0598476414162,0.999999926534,-1.55180968623e-05,-0.000380931649751,-3.97748729831e-05,1793192650338603520
+81,1.350000000,BASELINE,763.00191078,742,711,671,661,633,875.99808922,784,799,649,628,650.00191078,0.40075327206,-0.00544068743412,0.059846640998,0.999999925806,-1.8153741084e-05,-0.000382683990184,-4.01321917314e-05,1793192650355270144
+82,1.366666667,BASELINE,763.580577163,742,711,671,661,633,875.419422837,784,799,649,628,650.580577163,0.400754057942,-0.00544075940849,0.0598474379248,0.999999926221,-1.72278356434e-05,-0.000381656763935,-3.9996740823e-05,1793192650371936768
+83,1.383333333,BASELINE,764,742,711,671,661,633,875.158195861,783.841804139,799,649,628.158195861,650.841804139,0.400754081471,-0.00544029825196,0.0598476371101,0.99999992629,-1.59248232098e-05,-0.00038153607949,-3.99456558013e-05,1793192650388603392
+84,1.400000000,BASELINE,764,742,711,671,661,633,875.733055244,783.266944756,799,649,628.733055244,650.266944756,0.400752097083,-0.00543843291078,0.0598462619365,0.99999992545,-1.36285688601e-05,-0.000383803086251,-4.01167774959e-05,1793192650405270272
+85,1.416666667,BASELINE,764,742,711.314943661,671,661,633,876,783,799,649,629,650.314943661,0.400752082149,-0.00543729924733,0.0598465224619,0.999999925616,-1.17529324994e-05,-0.000383444189663,-4.00064693342e-05,1793192650421936896
+86,1.433333333,BASELINE,764,742,711.902925823,671,661,633,876,783,799,649,629,650.902925823,0.400753774621,-0.00543679990755,0.0598482010468,0.999999926654,-1.02419484954e-05,-0.000380808781927,-3.96521772524e-05,1793192650438603520
+87,1.450000000,BASELINE,764,742,711.516581577,671,661.483418423,633,876.483418423,783.483418423,799,649,628.516581577,650.516581577,0.400753175376,-0.00543744554146,0.0598474963711,0.999999926149,-1.18244686892e-05,-0.000382065871975,-3.98523081333e-05,1793192650455270144
+88,1.466666667,BASELINE,764,742,711,671,661.937588116,633,876.937588116,784,799,649,628.062411884,650.062411884,0.40075236126,-0.00543820926051,0.0598465528148,0.999999925468,-1.37018319168e-05,-0.0003837571662,-4.00808869189e-05,1793192650471936768
+89,1.483333333,BASELINE,764,742,711,671,661.358744588,633,876.358744588,784,799,649,628.641255412,650.641255412,0.400753519,-0.00543807662247,0.0598475322286,0.999999925911,-1.29571546288e-05,-0.000382672221985,-3.96376864021e-05,1793192650488603392
+90,1.500000000,BASELINE,764,742.216603406,711,671.216603406,661.216603406,633,876,783.783396594,799,649,628.783396594,650.783396594,0.400753994897,-0.00543843893661,0.059847916636,0.999999926129,-1.31498595531e-05,-0.00038211943928,-3.94138202084e-05,1793192650505270016
+91,1.516666667,BASELINE,764,742.786253892,711,671.786253892,661.786253892,633,876,783.213746108,799,649,628.213746108,650.213746108,0.400753359443,-0.00543960798517,0.0598473312281,0.99999992598,-1.48704262658e-05,-0.000382434039477,-3.95474523236e-05,1793192650521936896
+92,1.533333333,BASELINE,764,742.628838215,711,671.628838215,661.628838215,633,876,783,799,649,628,650,0.400753534618,-0.0054394770667,0.0598472007871,0.999999926067,-1.48296608144e-05,-0.000382188350803,-3.97339178879e-05,1793192650538603520
+93,1.550000000,BASELINE,764,742.034767097,711,671.034767097,661.034767097,633,876,783,799,649,628,650,0.400754196633,-0.0054385654247,0.0598473435863,0.999999926296,-1.37310889514e-05,-0.000381606168419,-3.99521137491e-05,1793192650555270144
+94,1.566666667,BASELINE,764,742,711,671.545075938,661,633,876,783,799.545075938,649,628.545075938,650,0.400754071552,-0.00543914249694,0.0598477996876,0.999999926467,-1.28029923063e-05,-0.000381229893377,-3.95743292472e-05,1793192650571937024
+95,1.583333333,BASELINE,764,742,711,671.876790565,661,633,876,783,800,649,629,650,0.400753926429,-0.00543957160847,0.0598479957769,0.999999926466,-1.22543597503e-05,-0.000381281174805,-3.92754614509e-05,1793192650588603648
+96,1.600000000,BASELINE,764,742,711,671.301683148,661,633,876,783,800,649,629,650,0.40075388725,-0.00543911862856,0.0598471667849,0.99999992585,-1.30586290655e-05,-0.000382853669562,-3.9401916006e-05,1793192650605270272
+97,1.616666667,BASELINE,764,742,711.279517883,671,661,633,876,783,799.720482117,649,629,650,0.400754350516,-0.00543907016743,0.05984720516,0.999999925908,-1.3839871773e-05,-0.000382665895413,-3.94774785012e-05,1793192650621936896
+98,1.633333333,BASELINE,764,742,711.86744228,671,661,633,876,783,799.13255772,649,629,650,0.400755368155,-0.0054394680328,0.0598482005461,0.99999992671,-1.45957079873e-05,-0.000380535925593,-3.94968891507e-05,1793192650638603520
+99,1.650000000,BASELINE,764,742,711.551380904,671.448619096,661,633,876,783,799,649,629,650,0.400754289785,-0.00543916062565,0.0598478359235,0.999999926511,-1.39782341236e-05,-0.000381052229209,-3.97836699603e-05,1793192650655270144
+100,1.666666667,BASELINE,764,742,711,671.972205623,661,632.972205623,876,783,799,649,628.972205623,650,0.400752705585,-0.00543869748438,0.0598470944796,0.999999926035,-1.30721241374e-05,-0.000382295901315,-4.01179410617e-05,1793192650671937024
+101,1.683333333,BASELINE,764,742,711,671.393769268,661,632.393769268,876,783,799,649,628.393769268,650,0.400753188074,-0.00543921641669,0.0598467310089,0.999999925878,-1.43677572583e-05,-0.000382688392427,-3.98511096605e-05,1793192650688603648
+102,1.700000000,BASELINE,764,742,711,671,661,632.182796567,876,783,799,649,628,650.182796567,0.400753059601,-0.00543954253627,0.05984627784,0.999999925742,-1.540332477e-05,-0.000383020878719,-3.96746162099e-05,1793192650705270016
+103,1.716666667,BASELINE,764,742,711,671,661,632.755373786,876,783,799,649,628,650.755373786,0.400751628361,-0.00543945751747,0.0598456334063,0.999999925655,-1.5884349195e-05,-0.000383225415525,-3.96907521499e-05,1793192650721936640
+104,1.733333333,BASELINE,764,742,711,671.338319235,661,633,876,783.338319235,799.338319235,649,628.338319235,650.661680765,0.400752248437,-0.00543937730563,0.0598461059238,0.999999925804,-1.50288547736e-05,-0.000382885200819,-3.95514958888e-05,1793192650738603264
+105,1.750000000,BASELINE,764,742,711,671.928998647,661,633,876,783.928998647,799.928998647,649,628.928998647,650.071001353,0.400754398636,-0.00543930067941,0.0598474116012,0.999999926126,-1.31764199422e-05,-0.000382138643321,-3.9296328976e-05,1793192650755269888
+106,1.766666667,BASELINE,764,742,711,672,661,633,876,783.490112343,799.490112343,649,628.490112343,650,0.400752984047,-0.00543863469148,0.0598465666964,0.999999925403,-1.3580748194e-05,-0.000383968990532,-3.97180502898e-05,1793192650771936768
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875,784,800,649,629,650,0.400752062418,-0.00543916575175,0.0598463918528,0.999999925688,-1.30234960733e-05,-0.000383231058062,-3.9845166686e-05,1793192650815003392
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,632.424418196,875.575581804,784,799.424418196,649,628.424418196,650,0.400752727114,-0.00543943113088,0.0598460789533,0.999999925617,-1.48708902688e-05,-0.000383337016408,-3.99806006912e-05,1793192650831670016
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671.155156713,661,632.155156713,876,784,799,649,628,650.155156713,0.40075327875,-0.00543984663393,0.0598459686502,0.999999925606,-1.64533415012e-05,-0.00038329598243,-4.00140642598e-05,1793192650848336640
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671.745943097,661,632.745943097,876,784,799,649,628,650.745943097,0.40075351295,-0.0054406836363,0.059846427172,0.999999925776,-1.72919193386e-05,-0.000382842241763,-3.9761227982e-05,1793192650865003264
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.33058226,672.33058226,661,633,876.33058226,784,799,649,628.33058226,651,0.400753045171,-0.00544042391426,0.0598462680401,0.999999925561,-1.60388602111e-05,-0.000383467331349,-3.96693497263e-05,1793192650881670144
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.910583411,672.910583411,661,633,876.910583411,784,799,649,628.910583411,651,0.400752047761,-0.0054393367316,0.0598456428985,0.999999925048,-1.32076952632e-05,-0.000384906380684,-3.96989116718e-05,1793192650898337024
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.485101615,742,711.514898385,672.02979677,661,633,876.514898385,783.514898385,799,649,628.514898385,650.514898385,0.400756666536,-0.00543774527922,0.0598478869815,0.999999926544,-1.19688589285e-05,-0.000380993765544,-4.01636273096e-05,1793192650915003392
+114,1.900000000,POSE1_TO_POSE2_PRESS,764.939918561,742,711.060081439,671,661,633,876,783,799,649,628.060081439,650,0.400762482867,-0.00543647976047,0.0598504033494,0.999999928113,-1.14161731725e-05,-0.000376824368939,-4.05778225853e-05,1793192650931669760
+115,1.916666667,POSE1_TO_POSE2_PRESS,764.352106135,742,711.647893865,671,661,633,876,783,799,649,628.647893865,650,0.400769826841,-0.00543888441865,0.0598507178861,0.999999927295,-1.43411247308e-05,-0.000378967229993,-3.98516102723e-05,1793192650948336384
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783.231901385,799,649,629,650,0.400783326509,-0.00544058469654,0.0598505865585,0.999999926416,-1.58658046362e-05,-0.000381260040696,-3.94677201849e-05,1793192650965003264
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783.810224952,799,649,629,650,0.400806021762,-0.00544123274696,0.0598497891835,0.999999925457,-1.52987108118e-05,-0.000383776851102,-3.95952027581e-05,1793192650981670144
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.388208649,742.388208649,711.611791351,671,661,633,876,783.611791351,799,649,628.611791351,650,0.400837546205,-0.00544185857036,0.0598483903805,0.999999924352,-1.47451247038e-05,-0.000386627384576,-3.99743418775e-05,1793192650998336768
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.966026397,742.966026397,711.033973603,671,661,633,876,783.033973603,799,649,628.033973603,650,0.400873383008,-0.00544247353768,0.0598466978276,0.99999992317,-1.41981359921e-05,-0.00038964091549,-4.04763952479e-05,1793192651015003392
+120,2.000000000,POSE1_TO_POSE2_PRESS,764.460450528,742.460450528,711,671.539549472,661,632.460450528,876,783,799,649,628.539549472,650,0.400928438772,-0.00544300503538,0.0598447992754,0.999999922795,-1.51112985337e-05,-0.000390430973305,-4.17781889936e-05,1793192651031670016
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632.116388201,876,783,799,649,628.883611799,650.116388201,0.400990045552,-0.00544429917482,0.0598435522455,0.999999922928,-1.69369934504e-05,-0.00038988829562,-4.2948247842e-05,1793192651048336896
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632.707856227,876,783,799,649,628.292143773,650.707856227,0.401073491992,-0.00544872759182,0.059845017163,0.999999924905,-2.21151886729e-05,-0.000384472549826,-4.33766577108e-05,1793192651065003520
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,671.707162429,661,633,876,783,799,649,628.292837571,650.707162429,0.401170839718,-0.00545187884694,0.0598480213757,0.999999927747,-2.39058230285e-05,-0.000376797704158,-4.42470527528e-05,1793192651081670144
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742,711,671.128512193,661,633,876,783,799,649,628.871487807,650.128512193,0.401281755246,-0.00545378357787,0.0598525279574,0.999999931398,-2.23901607067e-05,-0.000366917952677,-4.55488301189e-05,1793192651098336768
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711.447768884,671.447768884,661,633,876.447768884,783.447768884,799,649,628.552231116,650,0.40142134878,-0.00545760524444,0.0598589462587,0.999999937146,-2.63088622368e-05,-0.000350442061596,-4.69747744335e-05,1793192651115003392
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,671.976149724,661.023850276,633,876.976149724,784,799,649,628.023850276,650,0.401569810991,-0.00546189370761,0.0598657469536,0.999999943068,-3.15686627971e-05,-0.000332444433972,-4.84616772076e-05,1793192651131670272
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671.388805496,661.611194504,633,876.388805496,784,799,649,628.611194504,650,0.401734368592,-0.00546428074907,0.0598686872792,0.999999946055,-3.18578431736e-05,-0.000322986030515,-5.05512739148e-05,1793192651148336640
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.804234645,671,661.804234645,633,876,783.804234645,799,649,629,650,0.401911501813,-0.00546792517289,0.059869730038,0.999999947948,-3.39416897899e-05,-0.000316473682909,-5.28792268154e-05,1793192651165003264
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.225095067,671,661.225095067,633,876,783.225095067,799,649,629,650,0.402113262294,-0.0054740319728,0.0598670567246,0.999999947826,-3.95400947992e-05,-0.000315730701906,-5.56739608472e-05,1793192651181669888
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783,799,649,629,650,0.402334538393,-0.00547853132658,0.0598621482433,0.999999946778,-4.38780042708e-05,-0.000317831788229,-5.91817765575e-05,1793192651198336768
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783,799,649,629,650,0.40256822219,-0.00548200869566,0.0598558186823,0.999999945124,-4.74145139284e-05,-0.000321741081259,-6.31429570302e-05,1793192651215003648
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876.504846882,783,799,649,629,650,0.402851536087,-0.00548473239093,0.0598610111342,0.99999994917,-5.28025823398e-05,-0.00030727485563,-6.67399211788e-05,1793192651231670016
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876.917949769,783,799,649,628.917949769,650.082050231,0.403143972219,-0.00548792592292,0.059866563837,0.99999995264,-6.22604142844e-05,-0.000293096265226,-7.02761453394e-05,1793192651248336640
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876.328470328,783,799,649,628.328470328,650.671529672,0.403450040126,-0.00549467480628,0.059864411911,0.999999948773,-9.52910460179e-05,-0.000296537136703,-7.37507052522e-05,1793192651265003520
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.256940088,742,711,671,661,633,876.256940088,783,799,649,628,650.743059912,0.403775848263,-0.00550008238711,0.0598579496538,0.999999941346,-0.000132474826367,-0.000306081941873,-7.79233798515e-05,1793192651281670144
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.837229752,742,711,671,661,633,876.837229752,783,799,649,628,650.162770248,0.404126498731,-0.00550380198802,0.0598460630047,0.999999929001,-0.000174885188257,-0.000323308321012,-8.29746056633e-05,1793192651298336512
+137,2.283333333,POSE1_TO_POSE2_PRESS,765,742,711,671,661,633,876.586423547,783,799,649,628,650.413576453,0.404492322739,-0.00549486208157,0.0598310643251,0.99999992018,-0.000173965084315,-0.000348758299456,-8.79994196848e-05,1793192651315003392
+138,2.300000000,POSE1_TO_POSE2_PRESS,765,742,711,671,661,633,876.011614026,783,799,649,628,650.988385974,0.404864062154,-0.00548098685731,0.0598148524186,0.999999912262,-0.000156152567159,-0.000377414253216,-9.30139368904e-05,1793192651331670272
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.422526389,742,711,671,661,633,876.577473611,783,799,649,628,650.422526389,0.405304561488,-0.00547369809856,0.0598192181854,0.999999918061,-0.000134995202511,-0.000370153840582,-9.29574620516e-05,1793192651348336896
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.164106178,742,711,671.164106178,661,633,876.835893822,783,799,649,628,650,0.405772612774,-0.00547210381848,0.0598320162127,0.999999927923,-0.000123113192783,-0.000347257898037,-9.16997175638e-05,1793192651365003520
+141,2.350000000,POSE1_TO_POSE2_PRESS,764.74377611,742,711,671.74377611,661,633,876.25622389,783,799,649,628,650,0.406306842773,-0.0054845856426,0.0598650925689,0.999999945977,-0.000134893704135,-0.000286643875219,-8.76648217082e-05,1793192651381670144
+142,2.366666667,POSE1_TO_POSE2_PRESS,764.679012807,742,711.320987193,671.679012807,661,633,876,783.320987193,799,649,628.320987193,650,0.406861908527,-0.00549414582845,0.0598940296612,0.999999957286,-0.000145484401774,-0.000238813922756,-8.50291530697e-05,1793192651398336512
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.103749486,742,711.896250514,671.103749486,661,633,876,783.896250514,799,649,628.896250514,650,0.407433479778,-0.00550139158417,0.0599196877603,0.999999964258,-0.000155132567188,-0.000201111109255,-8.35019086151e-05,1793192651415003392
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711.532167481,671.467832519,661,633,876.467832519,783.532167481,799,649,628.532167481,650,0.407975870248,-0.0055012333408,0.059917574002,0.999999962459,-0.000148769896514,-0.000214849496356,-8.24025698271e-05,1793192651431670016
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632.959704602,876.959704602,783,799,649,628,650,0.40851453158,-0.0054992862065,0.0599088462772,0.999999958073,-0.000139332464163,-0.000240404283414,-8.15205522189e-05,1793192651448336640
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661,632.363932044,876.363932044,783,799,649,628,650,0.409090298156,-0.005495136856,0.059893182014,0.999999950138,-0.000136073249711,-0.000272817774007,-8.23364070204e-05,1793192651465003520
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711.225246601,672,661.225246601,632.225246601,876.225246601,783,799.225246601,649,628,650,0.409705110761,-0.00549301949921,0.0598867574668,0.99999994831,-0.000132681740492,-0.000280829309176,-8.31307199339e-05,1793192651481670144
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711.804074408,672,661.804074408,632.804074408,876.804074408,783,799.804074408,649,628,650,0.410381215898,-0.00549409186797,0.059894836979,0.999999956766,-0.000129082561643,-0.000250535834837,-8.38912174432e-05,1793192651498336768
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,712,672,662,633,877,783,799.619946335,649,628,650,0.411078034583,-0.00549677567685,0.0599009728383,0.999999960472,-0.000131451048873,-0.000233974955358,-8.38645630642e-05,1793192651515003648
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,712,672,662,633,877,783,799.045424659,649,628,650,0.411785452073,-0.00550028403651,0.059906114158,0.999999961965,-0.000136873105414,-0.00022444084876,-8.34351343449e-05,1793192651531670272
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.459539056,672,661.459539056,633,877,783.540460944,799,649,628.540460944,650,0.412451016269,-0.00549990616433,0.0598908019348,0.999999956377,-0.000129066071111,-0.000252590639351,-8.23757120119e-05,1793192651548336896
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,672.125717771,661,633,877,783.874282229,799,649,629,650,0.413119243269,-0.00549881563899,0.0598710054793,0.999999947626,-0.000119532757465,-0.000289477203032,-8.16292477459e-05,1793192651565003776
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711,672.705183746,661,633,877,783.294816254,799,649,629,650,0.413810049795,-0.00549635717584,0.0598413621321,0.999999930869,-0.000107868105893,-0.000346220074031,-8.2207544981e-05,1793192651581670400
+154,2.566666667,POSE1_TO_POSE2_PRESS,764.282111691,742,711.282111691,672.717888309,661.282111691,632.717888309,877,783,799,649,628.717888309,650,0.414574736392,-0.00549788018746,0.0598493669057,0.999999936475,-0.000105283731386,-0.000330728843411,-8.1135152589e-05,1793192651598337024
+155,2.583333333,POSE1_TO_POSE2_PRESS,764.856411029,742,711.856411029,672.143588971,661.856411029,632.143588971,877,783,799,649,628.143588971,650,0.41541594186,-0.00550352687666,0.0598963644442,0.999999961745,-0.000112103945081,-0.000240423589835,-7.83531140079e-05,1793192651615003648
+156,2.600000000,POSE1_TO_POSE2_PRESS,764.567232483,742.432767517,712,672.432767517,662.432767517,632.432767517,877,783.432767517,799,649,628,650,0.416252422394,-0.00550725939744,0.0599313158343,0.999999974404,-0.00011532366313,-0.000179219068952,-7.59848109128e-05,1793192651631670272
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.98996368,712,672.98996368,662.979927359,632.98996368,877,784,799.01003632,649,628,650,0.41708633427,-0.00551034419964,0.0599614606555,0.999999982093,-0.00011719345008,-0.000128979544917,-7.37883428828e-05,1793192651648337152
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.399595352,712,672.399595352,661.799190704,632.399595352,877,784,799.600404648,649,628,650,0.417862803309,-0.00551287514281,0.0599458871637,0.999999979678,-0.000110412418569,-0.000151798230473,-7.3552372111e-05,1793192651665003776
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.187085938,742.187085938,711.812914062,672,661.187085938,632.187085938,876.812914062,783.812914062,800,649,628,650,0.418646282342,-0.00551545834641,0.05992824373,0.999999975311,-0.000109546211236,-0.000178679416236,-7.3830958893e-05,1793192651681670144
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.766044279,742.766044279,711.233955721,672,661.766044279,632.766044279,876.233955721,783.233955721,800,649,628,650,0.419444444544,-0.00551815101518,0.0599062645724,0.999999966932,-0.000121069264578,-0.000214069961317,-7.51873439958e-05,1793192651698337024
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,742.657473792,711.342526208,672,662,632.657473792,876.685052417,783,799.657473792,649,628,650,0.420238077132,-0.00551863605001,0.059881955332,0.999999959357,-0.000120386116479,-0.000246963247316,-7.6173709565e-05,1793192651715003648
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,742.08267121,711.91732879,672,662,632.08267121,877.834657581,783,799.08267121,649,628,650,0.421028638032,-0.0055176240279,0.0598560659997,0.999999952147,-0.000111425609434,-0.000278163072254,-7.69091547167e-05,1793192651731670272
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.512118372,742,712,672,662,632.487881628,877.512118372,783.487881628,799.487881628,649,628,650,0.421830066092,-0.00551625508683,0.0598376112529,0.999999941141,-0.000101824688707,-0.000318547546173,-7.66615788716e-05,1793192651748336896
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,672,662,632.939427438,876.939427438,783.939427438,800,649,628,650,0.422644253128,-0.00551540479276,0.0598281089558,0.999999933088,-9.40447852728e-05,-0.000345257513353,-7.60080438435e-05,1793192651765003776
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,712,672,662,632.341432918,876.341432918,783.341432918,800,649,628,650,0.423555445192,-0.00551968808998,0.0598869553241,0.999999963903,-0.000103376115354,-0.000236953111679,-7.32178187945e-05,1793192651781670400
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.248515188,711.751484812,672,662,632.248515188,876.248515188,783,800,649,628,650,0.424443645638,-0.0055257431814,0.0599373136992,0.999999980676,-0.000107994887117,-0.000148812807262,-6.95653527714e-05,1793192651798337024
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.827755183,711.172244817,672,662,632.827755183,876.827755183,783,800,649,628,650,0.425301248894,-0.00553415618282,0.0599763762341,0.99999998842,-0.000106342173493,-8.75069351981e-05,-6.476541402e-05,1793192651815003648
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.403841286,743,711.403841286,672,662.403841286,633,877,783,799.596158714,649,628,650,0.426126851964,-0.00553679553247,0.0599752557861,0.999999989081,-0.000106239976735,-7.98045013048e-05,-6.46718878773e-05,1793192651831670272
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.978592594,743,711.978592594,672,662.978592594,633,877,783,799.021407406,649,628,650,0.426938912156,-0.00553699140945,0.0599571294607,0.999999987589,-0.000106793975756,-9.47876287357e-05,-6.65701670407e-05,1793192651848336896
+170,2.833333333,POSE1_TO_POSE2_PRESS,765.565894386,742.434105614,711.434105614,672,663,633,877,783,799,649,628,650,0.427729691206,-0.00553857742982,0.0599368434782,0.999999984627,-0.000105864540904,-0.000122333929476,-6.76276791864e-05,1793192651865003520
+171,2.850000000,POSE1_TO_POSE2_PRESS,765.696979481,742.15151026,711.15151026,672,662.84848974,633,877,783,799.15151026,649,628.15151026,650,0.428510622267,-0.00554000946872,0.0599189401571,0.999999981428,-0.000104876820303,-0.000146611903445,-6.81941498654e-05,1793192651881670144
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.538015285,742.730992358,711.730992358,672,662.269007642,633,877,783,799.730992358,649,628.730992358,650,0.429266061236,-0.00554085463988,0.0599080031614,0.999999979482,-0.000103886570045,-0.000160284908089,-6.74654524728e-05,1793192651898336768
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.691130046,672.308869954,662,632.691130046,877,783.308869954,799.691130046,649,628.691130046,650,0.430012867518,-0.00554079080178,0.0598955476271,0.99999997637,-0.00010186763352,-0.000179797936802,-6.74995618311e-05,1793192651915003648
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711.114642684,672.885357316,662,632.114642684,877,783.885357316,799.114642684,649,628.114642684,650,0.430752194052,-0.0055399393613,0.0598817763701,0.999999971895,-9.89574016673e-05,-0.000204370997541,-6.81945977913e-05,1793192651931670528
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711.457128307,672.542871693,662,632.457128307,877,784,799,649,628,650,0.431547206442,-0.00554502579291,0.0599174053386,0.99999998327,-0.000102243493936,-0.000136581151348,-6.59684474068e-05,1793192651948336896
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.971100393,711.971100393,672,662.028899607,632.971100393,877.028899607,784,799,649,628.028899607,650,0.432351863849,-0.00555149139793,0.0599637021087,0.999999991038,-0.000107280287277,-4.94045734822e-05,-6.30393102943e-05,1793192651965003776
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.376403206,711.376403206,672,662.623596794,632.376403206,877.623596794,784,799,649,628.623596794,650,0.433074727714,-0.00555610155442,0.0599787775667,0.999999990886,-0.000116479402521,-3.15404440293e-05,-6.05435055861e-05,1793192651981670144
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711,672,662.807676553,632,878,783.807676553,799,649,629,650,0.433763504647,-0.00555857386136,0.0599766436578,0.999999990349,-0.000119154531571,-3.9522239169e-05,-5.9515673913e-05,1793192651998336768
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711,672,662.283730676,632,878,783.283730676,799,649,629,650,0.434393505759,-0.00555735988496,0.0599448357193,0.999999987786,-0.000110580382732,-9.20700396138e-05,-6.10190608674e-05,1793192652015003648
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.293652991,711.293652991,672.293652991,662.293652991,632.293652991,877.706347009,783.293652991,799,649,629,650,0.435023138701,-0.00555710218006,0.0599171982954,0.999999983274,-0.000104737677777,-0.000136416656224,-6.22226225321e-05,1793192652031670528
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.934154774,711.934154774,672.934154774,662.934154774,632.934154774,877.065845226,783.934154774,799,649,629,650,0.43565233674,-0.00555797397715,0.0598944868845,0.999999978163,-0.000102121223698,-0.00017107642586,-6.30720449956e-05,1793192652048336896
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.471726507,711.471726507,672.471726507,663,633,877,783.471726507,799,649,629,650,0.436269745997,-0.00556102918089,0.0598980657472,0.999999978385,-0.000110857384734,-0.000164566060579,-6.21146230647e-05,1793192652065003520
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742,711.1150673,672,663,633,876.8849327,783,799.1150673,649,629,650,0.436874832295,-0.00556425528354,0.0599054363499,0.999999979308,-0.000118879790399,-0.000153452012651,-6.08592915159e-05,1793192652081669888
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711.693761416,672,663,633,876.306238584,783,799.693761416,649,629,650,0.437435709697,-0.00556716195305,0.0599159470976,0.999999980995,-0.000118785174572,-0.000142795956313,-5.9237796244e-05,1793192652098336512
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.271670677,712,672.271670677,662.728329323,632.728329323,876.271670677,783,800,649,629,650,0.437967816069,-0.00556756971432,0.0599153142395,0.999999980078,-0.000116171132304,-0.000151430965051,-5.84522973626e-05,1793192652115003392
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.848697728,712,672.848697728,662.151302272,632.151302272,876.848697728,783,800,649,629,650,0.438467583921,-0.00556516871602,0.0599021560278,0.999999975636,-0.000110725268266,-0.000181749027326,-5.86064539811e-05,1793192652131670016
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742.574717931,711.574717931,672.574717931,662,632,877,783,800,649,629,650,0.438957022443,-0.00556823503528,0.0599035650743,0.99999997608,-0.000110277488304,-0.000179959503842,-5.73907583879e-05,1793192652148336896
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711.001747984,672,662,632.001747984,877,783,800.001747984,649,629,650,0.439442680378,-0.00557323954633,0.0599101440733,0.999999978313,-0.000111609680685,-0.000166779937257,-5.56888672547e-05,1793192652165003520
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711.591283201,672,662,632.591283201,877,783,800.591283201,649,629,650,0.439891486896,-0.00557659997488,0.0599142882716,0.999999979109,-0.000114171546382,-0.000160651925175,-5.42052318671e-05,1793192652181669888
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.177346567,711.822653433,672.177346567,661.822653433,633,877,783.177346567,800.645306866,649,629,650,0.44031337957,-0.0055786451271,0.059911524666,0.999999977836,-0.000116520196412,-0.000167048452362,-5.33418404134e-05,1793192652198336768
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.755562372,711.244437628,672.755562372,661.244437628,633,877,783.755562372,799.488875255,649,629,650,0.440674437028,-0.00557771726603,0.0598931468535,0.999999971188,-0.000118386900109,-0.000201755097876,-5.38804307409e-05,1793192652215003648
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,672.66815819,660.66815819,632.66815819,877,783.66815819,799.663683619,649,629,650,0.440997403032,-0.00557577824499,0.0598595085375,0.999999959149,-0.000116975478468,-0.000254807846508,-5.56052918898e-05,1793192652231670272
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,672.093296859,660.093296859,632.093296859,877,783.093296859,800.813406282,649,629,650,0.441292473292,-0.00557309871573,0.0598146944149,0.999999940288,-0.000113163368973,-0.000321296094068,-5.81989010259e-05,1793192652248336896
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711.478272563,672.478272563,660,632,877,783,800.043454875,649,629,650,0.441573976414,-0.00557257931214,0.0597891790066,0.999999928411,-0.000112244652378,-0.000356379099929,-5.97761625876e-05,1793192652265003264
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711.948544205,673,660,632,877,783.051455795,799,649,628.948544205,650,0.441851855792,-0.00557256043712,0.0597686520294,0.99999991819,-0.000111994897408,-0.0003838669955,-6.10242177334e-05,1793192652281669888
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711.351486793,673,660,632,877,783.648513207,799,649,628.351486793,650,0.44211918185,-0.00557341137566,0.0597613744778,0.99999991363,-0.000112894587323,-0.000395335917376,-6.08694313573e-05,1793192652298336512
+197,3.283333333,POSE1_TO_POSE2_PRESS,763.761908986,742.761908986,711,673,659.761908986,632,877,783.761908986,799.238091014,649,628.238091014,650,0.44237451841,-0.00557516360108,0.0597583433471,0.999999912489,-0.000114920936435,-0.00039769516989,-6.04497779075e-05,1793192652315003136
+198,3.300000000,POSE1_TO_POSE2_PRESS,763.183036835,742.183036835,711,673,659.183036835,632,877,783.183036835,799.816963165,649,628.816963165,650,0.442612694304,-0.0055782058439,0.0597613901457,0.999999916302,-0.000118559879737,-0.000387015695491,-5.96510185982e-05,1793192652331669760
+199,3.316666667,POSE1_TO_POSE2_PRESS,763.390312434,742,711,673,659,632,877,783,799.609687566,649,628.609687566,650,0.442817641052,-0.00557893727642,0.0597625153245,0.99999991763,-0.000119838855025,-0.000383217107177,-5.93590455488e-05,1793192652348336640
+200,3.333333333,POSE1_TO_POSE2_PRESS,763.961107936,742,711,673,659,632,877,783,799.038892064,649,628.038892064,650,0.443007222442,-0.00557860017512,0.0597627519338,0.999999917847,-0.000120026565713,-0.000382600285482,-5.93014137725e-05,1793192652365003520
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742,711,672.447406008,659.552593992,632,877,783,800.105187985,649,628,650.552593992,0.44315710272,-0.00558034252232,0.0597565731067,0.999999912665,-0.000120888817054,-0.000395696567061,-5.89904260329e-05,1793192652381670144
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742,711,672,659.857844153,632,877,783,800.715688307,649,628.142155847,650.857844153,0.443300314225,-0.00558144085082,0.0597504826258,0.999999908039,-0.000120835132704,-0.000407270003603,-5.87551811938e-05,1793192652398336768
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742,711,672,659.278844243,632,877,783,799.557688487,649,628.721155757,650.278844243,0.443431953233,-0.00558009287629,0.0597461051359,0.999999906836,-0.00011781521906,-0.000411082509244,-5.88096211419e-05,1793192652415003392
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.701750769,742.298249231,711.298249231,672.298249231,659,632,877,782.701750769,799.596498461,649,629,650,0.443547037885,-0.00558066598911,0.0597432546031,0.999999905767,-0.000117916105485,-0.000413676257325,-5.85936683161e-05,1793192652431670016
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.126428406,742.873571594,711.873571594,672.873571594,659,632,877,782.126428406,800.747143188,649,629,650,0.443646743554,-0.00558302378957,0.0597418226116,0.999999904831,-0.000120916211141,-0.000415137781056,-5.81265209658e-05,1793192652448336640
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.448994782,742.551005218,711.551005218,673,659,632,877,782.448994782,800.102010437,649,628.551005218,650,0.443730830137,-0.00558296400939,0.0597425459567,0.999999906007,-0.000120171937844,-0.000412539869783,-5.79201211684e-05,1793192652465003264
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.025113339,711,673,659,632,877,782.974886661,799.025113339,649,628.025113339,650,0.443809500855,-0.00558232786072,0.0597438294814,0.999999907696,-0.000118456292965,-0.000408950303941,-5.77506876709e-05,1793192652481670144
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742.616265221,711,673,659,632,877,782.383734779,799.616265221,649,628.616265221,650,0.443865252692,-0.00558404773338,0.0597440568465,0.999999907804,-0.000118616175814,-0.000408779101102,-5.6759204277e-05,1793192652498337024
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631.796609276,877.203390724,782.203390724,800,649,629,650,0.443915752436,-0.00558500097695,0.0597444143121,0.999999908062,-0.000118157818381,-0.000408378215191,-5.60495156518e-05,1793192652515003648
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631.216932892,877.783067108,782.783067108,800,649,629,650,0.443956535468,-0.00558453590821,0.0597450124719,0.999999908598,-0.000116555677441,-0.000407552401133,-5.5861165221e-05,1793192652531670016
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877.641767406,783,800,649,628.641767406,650,0.443984959799,-0.00558398243757,0.0597435248641,0.999999907593,-0.000115344977217,-0.000410355534165,-5.58412752871e-05,1793192652548336896
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877.069299536,783,800,649,628.069299536,650,0.444005993211,-0.00558337609952,0.0597407898964,0.999999905647,-0.000114368371702,-0.000415328900908,-5.59221304416e-05,1793192652565003776
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711.518149596,672.481850404,659,631,877,783,800,649,628.518149596,650,0.444021211452,-0.00558233615224,0.0597389168196,0.999999904974,-0.000114132291053,-0.000417024263241,-5.58191440346e-05,1793192652581670400
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.894395432,711.894395432,672.105604568,659.105604568,631,877,782.894395432,800,649,629,650,0.444034930902,-0.00558143697769,0.0597379170071,0.999999904736,-0.000113875801253,-0.000417693344833,-5.56044520094e-05,1793192652598336768
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.316148673,711.316148673,672.683851327,659.683851327,631,877,782.316148673,800,649,629,650,0.444045526902,-0.0055814351224,0.0597402942881,0.999999905654,-0.000113071504603,-0.000415789801753,-5.5003133009e-05,1793192652615003136
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.261142977,711.261142977,673,659.738857023,631,877,782,800,649.261142977,628.738857023,650,0.444053053217,-0.00558097957446,0.0597410541667,0.999999906231,-0.000111622883665,-0.000414826220742,-5.47495797302e-05,1793192652631670016
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.837282517,711.837282517,673,659.162717483,631,877,782,800,649.837282517,628.162717483,650,0.444056876806,-0.00557997677217,0.0597398630979,0.999999906397,-0.000109397064254,-0.000414996443345,-5.4915509363e-05,1793192652648336640
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.587791415,711.587791415,672.587791415,659,631,877.412208585,782.412208585,800,649.587791415,628,650,0.444057552093,-0.00557806152717,0.0597381879033,0.999999905778,-0.000106810434295,-0.000417133360766,-5.50989914567e-05,1793192652665003520
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.013342967,711.013342967,672.013342967,659,631,877.986657033,782.986657033,800,649.013342967,628,650,0.444056988249,-0.00557578715676,0.0597363221632,0.999999904836,-0.000104081794113,-0.000420044343325,-5.5289381963e-05,1793192652681670400
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.579090475,711,672,659,631,877.420909525,783,800,649,628,650,0.444058023948,-0.00557782095728,0.0597359621513,0.999999904234,-0.000105922240622,-0.000421096249761,-5.46893793513e-05,1793192652698337024
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.832207118,711.167792882,672,659,631.167792882,877.167792882,783,800,649.167792882,628.167792882,650,0.444059087988,-0.00557893477125,0.0597357367479,0.999999903838,-0.000107106242847,-0.000421784055848,-5.43199881416e-05,1793192652715003648
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,742.253684653,711.746315347,672,659,631.746315347,877.746315347,783,800,649.746315347,628.746315347,650,0.444060128293,-0.00557754583361,0.0597357531973,0.999999903938,-0.000106417414249,-0.000421688818592,-5.45611041037e-05,1793192652731670272
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.677967854,742.322032146,711.677967854,672.322032146,659,632,877.677967854,783,799.677967854,649.677967854,628.677967854,650,0.444059999623,-0.00557704397498,0.059735616878,0.999999903661,-0.000106152589911,-0.000422413412822,-5.45503690544e-05,1793192652748337152
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.1044421,742.8955579,711.1044421,672.8955579,659,632,877.1044421,783,799.1044421,649.1044421,628.1044421,650,0.444058958031,-0.00557723488775,0.0597353612528,0.999999903088,-0.000106218895054,-0.000423778261066,-5.43429489479e-05,1793192652765003776
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.482534589,743,711,673,659,631.517465411,877,782.517465411,799.482534589,649,628,650,0.44405911115,-0.00557739411857,0.0597352097883,0.999999903201,-0.000106301375814,-0.00042352954525,-5.40448972807e-05,1793192652781670144
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877,782.141946729,800,649,628,650,0.444059613172,-0.00557731785616,0.0597350822475,0.999999903499,-0.00010601985999,-0.000422925971218,-5.38012900727e-05,1793192652798336768
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877,783.296946387,800,649,628,650,0.444060706828,-0.00557561125682,0.0597349599321,0.999999904029,-0.000103114850591,-0.000422353827387,-5.40902610602e-05,1793192652815003648
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.774920712,743,711,673,659,631,877.225079288,783.774920712,799.774920712,649,628,650,0.444060673267,-0.00557499046325,0.0597345803438,0.999999904023,-0.000102109803792,-0.000422601584156,-5.41797461945e-05,1793192652831670272
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.199704956,743,711,673,659,631,877.800295044,783.199704956,799.199704956,649,628,650,0.444058886191,-0.00557605876431,0.0597338005384,0.999999903189,-0.000104060365382,-0.000424124789723,-5.39589083476e-05,1793192652848336640
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.376018034,743,711,673,659,631.376018034,877.623981966,783,799.376018034,649,628,650,0.444058536252,-0.0055757189168,0.0597332531727,0.999999902704,-0.00010444436705,-0.000425192231943,-5.38014048769e-05,1793192652865003264
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.952010764,743,711,673,659,631.952010764,877.047989236,783,799.952010764,649,628,650,0.444058950614,-0.00557463018474,0.0597328294236,0.999999902406,-0.000103995237488,-0.000426017289102,-5.36775840332e-05,1793192652881670144
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.456705095,743,711,673,659,631.456705095,877,782.456705095,800,649,628,650,0.444059794392,-0.00557423262225,0.0597328207121,0.99999990276,-0.000103882934006,-0.0004251593591,-5.41152644182e-05,1793192652898336768
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.131694534,743,711.131694534,673,659.131694534,631.131694534,877.131694534,782.263389068,800,649,628.131694534,650,0.444060573908,-0.0055743488129,0.0597330564522,0.999999903167,-0.000104056752258,-0.000424122959567,-5.43809022147e-05,1793192652915003392
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.705737044,743,711.705737044,673,659.705737044,631.705737044,877.705737044,783.411474088,800,649,628.705737044,650,0.444061006481,-0.00557597964329,0.0597339865753,0.999999903561,-0.000105088795647,-0.000423000888237,-5.38972500261e-05,1793192652931670016
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.718944165,711.718944165,673,659.718944165,631.718944165,877.718944165,783.718944165,800,649,629,650,0.444061043442,-0.00557709229099,0.0597343858838,0.999999903548,-0.000105146639828,-0.00042305699758,-5.35863299072e-05,1793192652948336896
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.142282951,711.142282951,673,659.142282951,631.142282951,877.142282951,783.142282951,800,649,629,650,0.444060664312,-0.0055776599312,0.0597342268991,0.999999903107,-0.000104179853123,-0.000424352278857,-5.34570836967e-05,1793192652965003520
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742,711.434257249,673,659,631,877.434257249,783,800,649,628.565742751,650,0.444060838576,-0.00557637267847,0.0597342643647,0.999999903059,-0.000102874907641,-0.000424773900332,-5.35431681432e-05,1793192652981670144
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.011087541,711.988912459,672.988912459,659,631,877.988912459,783,800.011087541,649,628,650.011087541,0.444061197577,-0.00557451618975,0.0597343630694,0.999999903142,-0.000101471197645,-0.000424896796861,-5.36941167396e-05,1793192652998336768
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.605259872,711.394740128,672.394740128,659,631,877.394740128,783,800.605259872,649,628,650.605259872,0.44406173904,-0.00557467618762,0.0597342982652,0.999999903456,-0.000100698617774,-0.000424359544473,-5.35469601982e-05,1793192653015003392
+240,4.000000000,HOLD_POSE2,763,743,711,673,659,632,877,782,801,649,628,650,0.444064423429,-0.00557381383735,0.0597356921386,0.999999905139,-9.84393668277e-05,-0.0004208911609,-5.36881892638e-05,1793192653055082752
+241,4.016666667,HOLD_POSE2,763.572592405,743,711,673,659,631.427407595,877.572592405,782,799.854815191,649,628,650,0.444062247049,-0.00557528101215,0.0597346684497,0.999999903466,-0.000101448772075,-0.000424203130418,-5.31816658704e-05,1793192653071749632
+242,4.033333333,HOLD_POSE2,764,743,711,672.850049125,659,631,877.850049125,782,799,649,628.149950875,650,0.444061124347,-0.00557631763724,0.0597340618761,0.999999902482,-0.000103593897297,-0.000426040506874,-5.28485911299e-05,1793192653088416256
+243,4.050000000,HOLD_POSE2,764,743,711,672.258659759,659,631,877.258659759,782,799,649,628.741340241,650,0.444063103558,-0.00557608677281,0.0597346832426,0.999999903578,-0.000103194680165,-0.000423536848202,-5.30261295753e-05,1793192653105082880
+244,4.066666667,HOLD_POSE2,764,742.673655801,711,672,659,631,877,782.326344199,799.326344199,648.673655801,628.673655801,650,0.444063857737,-0.0055754227898,0.0597351710235,0.999999904186,-0.00010230167533,-0.000422313103327,-5.30519942493e-05,1793192653121749760
+245,4.083333333,HOLD_POSE2,764,742.093615813,711,672,659,631,877,782.906384187,799.906384187,648.093615813,628.093615813,650,0.444063659592,-0.00557442210599,0.0597355549566,0.999999904417,-0.000101024806302,-0.000422084347149,-5.29599496713e-05,1793192653138416128
+246,4.100000000,HOLD_POSE2,764,742,711,672.481201037,659,631,876.518798963,782.518798963,800,648.481201037,628,650,0.444064604116,-0.00557362564155,0.0597358240847,0.999999904682,-0.000101377964135,-0.000421327670926,-5.33053386275e-05,1793192653155082752
+247,4.116666667,HOLD_POSE2,764,742.055166478,711,673,659,631,876.055166478,782,800.055166478,648.944833522,628.055166478,650,0.44406558719,-0.00557304837193,0.0597359626371,0.999999904867,-0.000102034200274,-0.000420684633275,-5.36666015973e-05,1793192653171749376
+248,4.133333333,HOLD_POSE2,764,742.630582575,711,673,659,631,876.630582575,782,800.630582575,648.369417425,628.630582575,650,0.444064859888,-0.00557416757453,0.0597350781592,0.999999904241,-0.000102590170714,-0.000422071430063,-5.33836343018e-05,1793192653188415744
+249,4.150000000,HOLD_POSE2,764,742.787247825,711,673,659,631,877,782,800.787247825,648.212752175,628.787247825,650,0.444064172062,-0.00557516868942,0.0597346018683,0.999999903745,-0.00010313283615,-0.000423151496493,-5.30657090367e-05,1793192653205082368
+250,4.166666667,HOLD_POSE2,764,742.192967231,711,673,659,631,877,782,800.192967231,648.807032769,628.192967231,650,0.44406355503,-0.00557595803752,0.0597348575794,0.999999903487,-0.00010365164167,-0.0004236815033,-5.26850936846e-05,1793192653221749248
+251,4.183333333,HOLD_POSE2,764,742.388349432,711,673,659,631.388349432,877,782,800,649,628.388349432,650,0.444063761155,-0.00557581094788,0.0597349428722,0.999999903584,-0.000103997977751,-0.000423367160696,-5.26898301147e-05,1793192653238416128
+252,4.200000000,HOLD_POSE2,764,742.96343258,711,673,659,631.96343258,877,782,800,649,628.96343258,650,0.444064363087,-0.00557521358214,0.0597349462212,0.999999903851,-0.000104261383773,-0.000422646821658,-5.28798588378e-05,1793192653255083008
+253,4.216666667,HOLD_POSE2,764,743,711,672.459447763,659,631.459447763,877.540552237,782.540552237,799.459447763,649,629,650.540552237,0.444063653287,-0.00557443428723,0.0597346329402,0.999999903772,-0.000103074069461,-0.000423073226321,-5.32941215821e-05,1793192653271749376
+254,4.233333333,HOLD_POSE2,764,743,711,672.120587729,659.120587729,631,878,782.879412271,799,649,629,650.879412271,0.444063066266,-0.00557406374096,0.0597343213194,0.999999903657,-0.000102198032872,-0.00042352146978,-5.35746742638e-05,1793192653288416000
+255,4.250000000,HOLD_POSE2,764,743,711,672.711455545,659.711455545,631,878,782.288544455,799,649,629,650.288544455,0.444063305443,-0.00557533545167,0.0597341000228,0.999999903502,-0.000102920126452,-0.000423751202804,-5.3274389729e-05,1793192653305082624
+256,4.266666667,HOLD_POSE2,764,743,711.295883669,673,659.704116331,631.295883669,877.704116331,782.295883669,799.591767338,649,629,650,0.444064153711,-0.00557560465351,0.0597345963748,0.999999903855,-0.00010327696728,-0.00042284827895,-5.3143046663e-05,1793192653321748992
+257,4.283333333,HOLD_POSE2,764,743,711.874165565,673,659.125834435,631.874165565,877.125834435,782.874165565,800.74833113,649,629,650,0.444065583312,-0.00557491703759,0.0597357776674,0.999999904689,-0.000103285202379,-0.000420864321121,-5.31729452662e-05,1793192653338415872
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631,877,782,799,649,628,650,0.444067783871,-0.00557543889884,0.0597365308219,0.999999905317,-0.000104528629332,-0.000419110752911,-5.27807144541e-05,1793192653370986240
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631.570373919,877.570373919,782.570373919,800.140747838,649,628.570373919,650,0.444066042136,-0.0055751556321,0.0597353049531,0.999999904538,-0.000102685298892,-0.000421413884425,-5.28181099779e-05,1793192653387652352
+260,4.333333333,POSE2_TO_POSE3_RETREAT,763.852896898,743,711,673,659,631.852896898,877.852896898,783,800.705793796,649,628.852896898,650,0.444065078688,-0.00557470730075,0.0597347697725,0.999999904162,-0.000100917433008,-0.000422735180481,-5.27889761243e-05,1793192653404318464
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763.256768431,743,711,673,659,631.256768431,877.256768431,783,799.513536861,649,628.256768431,650,0.444066490923,-0.00557375511725,0.0597363428848,0.999999905035,-9.93799187183e-05,-0.000421059470108,-5.25567644558e-05,1793192653420985088
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.328030072,743,711,673,659,631,877.328030072,783,798.671969928,649,628,650,0.444066886451,-0.00557330993563,0.0597367448316,0.999999905305,-0.000100032515154,-0.000420246834495,-5.26944558242e-05,1793192653437651968
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763.904256001,743,711,673,659,631,877.904256001,783,798.095743999,649,628,650,0.444066512712,-0.00557324836451,0.0597362606449,0.999999905116,-0.0001023422049,-0.000420087223191,-5.31120252082e-05,1793192653454318592
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.520060815,711,672.520060815,659,631,877.520060815,782.520060815,799.439817554,649,628.479939185,650,0.444063052959,-0.00557348622313,0.0597341365169,0.999999903962,-0.000101176074774,-0.000423126123291,-5.2941107097e-05,1793192653470985216
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.056697014,711,672.056697014,659,631,877,782,800.886605971,649,628.943302986,650,0.444057751644,-0.00557360969389,0.0597310683856,0.9999999022,-9.93852798118e-05,-0.00042770954911,-5.27881552598e-05,1793192653487652096
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.644535397,711,672.644535397,659,631,877,782,799.710929206,649,628.355464603,650,0.444040959246,-0.00557210261335,0.0597222181172,0.999999896574,-9.82310444351e-05,-0.000440791396384,-5.39020673322e-05,1793192653504318720
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.771095534,711,673,659,631,877,782,799.457808932,649.228904466,628.228904466,650,0.444013707972,-0.00557106029259,0.0597096364008,0.999999887733,-9.77998762256e-05,-0.00046040959288,-5.46956393609e-05,1793192653520985344
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.192033564,711,673,659,631,877,782,800.615932871,649.807966436,628.807966436,650,0.44397045765,-0.00557072891976,0.0596913466511,0.999999873576,-9.84747913274e-05,-0.000490026508274,-5.4999183823e-05,1793192653537651968
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.386103563,711,673,659.386103563,631,877,782.386103563,800.227792874,649.613896437,629,650,0.443912810171,-0.00556818405502,0.0596713167963,0.999999860057,-9.70440893749e-05,-0.000517004199005,-5.63539306428e-05,1793192653554318592
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.963781859,711,673,659.963781859,631,877,782.963781859,799.072436282,649.036218141,629,650,0.443848019186,-0.00556454091206,0.059650423544,0.999999846586,-9.45686340184e-05,-0.000542672376336,-5.82302572538e-05,1793192653570985216
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.459289407,742.459289407,711,672.459289407,659.459289407,631,877,783,799,649,628.459289407,650,0.443771731741,-0.00556298555841,0.0596417534864,0.999999840777,-9.3804251723e-05,-0.000553427207458,-5.80120205793e-05,1793192653587651584
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763,742,711.119895194,672.119895194,659,631,877,782.880104806,799.119895194,649,628,650,0.443690989823,-0.00556072339043,0.0596356114386,0.999999836638,-9.235431884e-05,-0.000561137844408,-5.7617587011e-05,1793192653604318464
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742,711.708086953,672.708086953,659,631,877,782.291913047,799.708086953,649,628,650,0.443595852843,-0.0055551550249,0.0596361500234,0.999999837239,-8.7779664559e-05,-0.000560854532961,-5.70821820187e-05,1793192653620984832
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.290787565,742.290787565,711.709212435,673,659,631,877,782.290787565,800,649,628,650.290787565,0.443483310762,-0.00555103839953,0.0596372415457,0.999999838322,-8.39093199352e-05,-0.000559622422875,-5.60091323487e-05,1793192653637651712
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.868077906,742.868077906,711.131922094,673,659,631,877,782.868077906,800,649,628,650.868077906,0.443353620051,-0.0055483521231,0.059638877858,0.999999839883,-8.07329071613e-05,-0.000557455494825,-5.44063602884e-05,1793192653654318592
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.557344975,711,672.557344975,659,631,877,783,799.557344975,649,628,650.557344975,0.443195408857,-0.00554282831384,0.0596356798161,0.999999836941,-7.67796797293e-05,-0.00056335827331,-5.33881239365e-05,1793192653670985216
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.016425166,711,672.016425166,659,631,877.016425166,783,799.016425166,649,628.016425166,650,0.44302786167,-0.00553650174308,0.0596312164539,0.999999832724,-7.25741740801e-05,-0.000571426491281,-5.25022625336e-05,1793192653687651840
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.590083778,711,672.590083778,659,631,877.590083778,783,799.590083778,649,628.590083778,650,0.442830189509,-0.00553145556581,0.0596324070975,0.999999832937,-6.76162406795e-05,-0.000571865514647,-5.02332612068e-05,1793192653704318464
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631.170308253,878,783,799.829691747,649,629,650,0.44262235863,-0.00552481364147,0.0596345763047,0.999999833601,-6.12926363856e-05,-0.00057160488643,-4.80595610874e-05,1793192653720985344
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631.76696976,878,783,799.23303024,649,629,650,0.442389096232,-0.00551417689114,0.0596391952687,0.99999983539,-5.15501836627e-05,-0.000569592735693,-4.61244403514e-05,1793192653737651712
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.647846607,711,672.647846607,659.352153393,632,877.647846607,783,799,649,629,650,0.442123625583,-0.00550507727471,0.0596432505365,0.999999838601,-4.21659700173e-05,-0.00056492057795,-4.34060442549e-05,1793192653754318080
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.070018421,711,672.070018421,659.929981579,632,877.070018421,783,799,649,629,650,0.441837514501,-0.00549696271766,0.0596469445643,0.999999842662,-3.30113301661e-05,-0.000558543774956,-4.01856919789e-05,1793192653770984960
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.504516408,711,672,659.495483592,632,877,783,799,649,628.495483592,650.504516408,0.441520134454,-0.00548517350061,0.0596516304151,0.999999845714,-1.91657308323e-05,-0.000553938675071,-3.68249834798e-05,1793192653787651584
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.080710367,659,632,877.080710367,783,799.080710367,648.919289633,628.080710367,650.919289633,0.441195574224,-0.00547375514484,0.0596585954445,0.99999985047,-5.62943788411e-06,-0.000545823334304,-3.32404643254e-05,1793192653804318208
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.670226566,659,632,877.670226566,783,799.670226566,648.329773434,628.670226566,650.329773434,0.440852929183,-0.00546786884821,0.0596790665141,0.999999867478,1.87944814222e-06,-0.000514039084234,-2.83670216883e-05,1793192653820985088
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764.254180412,742.745819588,711,673,659.254180412,632,877.491639177,783,800,648.254180412,629,650,0.440487123783,-0.00545891418804,0.0597016121746,0.99999988402,1.31096401565e-05,-0.00048088052379,-2.32950821548e-05,1793192653837651968
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764.831072171,742.168927829,711,673,659.831072171,632,876.337855657,783,800,648.831072171,629,650,0.440091913655,-0.00544606388684,0.0597267917664,0.999999899968,2.90644588547e-05,-0.000445977119747,-1.79711282137e-05,1793192653854318592
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764.590806448,742.409193552,711,673,660.409193552,632,876.409193552,783,799.590806448,649,629,650,0.439667821296,-0.00543575151546,0.0597612318107,0.9999999225,4.2429088363e-05,-0.000391227168854,-1.18359277332e-05,1793192653870984960
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.012175925,742.987824075,711,673,660.987824075,632,876.987824075,783,799.012175925,649,629,650,0.439231769527,-0.00542649003861,0.0597995063796,0.999999944611,5.47211838016e-05,-0.000328259251445,-5.36481014075e-06,1793192653887651840
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.439768318,662.120463363,632,877,783,799,649,629,650,0.438738921857,-0.00542211048224,0.0598201718378,0.999999954135,6.13210704559e-05,-0.000296593850691,-1.09951893173e-06,1793192653904318208
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.862394676,742.862394676,711,672.137605324,662.862394676,632,876.862394676,783,799.137605324,649,629,650,0.438225836758,-0.00542259204007,0.0598329978148,0.999999959775,6.14092759345e-05,-0.000276892625714,3.08629867893e-06,1793192653920985088
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.268095604,742.268095604,711,672.731904396,662.268095604,632,876.268095604,783,799.731904396,649,629,650,0.437649638186,-0.00543885871848,0.0598210618091,0.999999955749,4.02921535736e-05,-0.000294665825642,7.16571446692e-06,1793192653937651712
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.316056488,742,711.316056488,673,661.683943512,632,876.316056488,783,799.683943512,649,629,650,0.437031199385,-0.0054434869399,0.0597946560062,0.999999942989,3.35295932703e-05,-0.000335863578065,9.68117688655e-06,1793192653954318592
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.891869184,742,711.891869184,673,661.108130816,632,876.891869184,783,799.108130816,649,629,650,0.436378044695,-0.00543854990638,0.0597563579619,0.999999920665,3.85645627829e-05,-0.000396313184208,1.09112790087e-05,1793192653970985472
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,712,672.532209789,661.467790211,632.467790211,877,783.467790211,799,649,629,650,0.435733221939,-0.00542789981966,0.0597565000143,0.99999991622,0.000142998359938,-0.000383311134951,1.35860671555e-05,1793192653987652096
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,662.044806752,632.955193248,877,783.955193248,799,649,629,650,0.435088694127,-0.00541674716566,0.0597659783721,0.999999903877,0.000259245263463,-0.000353222150796,1.65206643873e-05,1793192654004318720
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,662.634849867,632.365150133,877,783.365150133,799,649,629,650,0.434424313318,-0.00541555238133,0.0597809171344,0.999999919329,0.000239587172857,-0.000321861858115,1.85522225042e-05,1793192654020985088
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711.780335939,672,662.780335939,632.219664061,877,783,799,649,628.780335939,650.219664061,0.433731035745,-0.00541480362279,0.0597895308516,0.999999931633,0.000207119658479,-0.000305872981101,1.66551371505e-05,1793192654037651712
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711.204011777,672,662.204011777,632.795988223,877,783,799,649,628.204011777,650.795988223,0.432990839646,-0.00541477905925,0.0597878748348,0.999999938567,0.000153853975775,-0.000314842083247,8.37926413261e-06,1793192654054318592
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.626723116,742,711.373276884,672.373276884,662,632.626723116,877,783,799,648.626723116,628.373276884,650.626723116,0.432227994968,-0.00541548773992,0.0597863706347,0.999999939598,0.00013354788301,-0.000320766491453,8.82706069313e-06,1793192654070984960
+301,5.016666667,POSE2_TO_POSE3_RETREAT,763.048905969,742,711.951094031,672.951094031,662,632.048905969,877,783,799,648.048905969,628.951094031,650.048905969,0.431452739832,-0.00541659820803,0.059784949624,0.999999938461,0.000131302281479,-0.000325022533605,1.40550669246e-05,1793192654087651584
+302,5.033333333,POSE2_TO_POSE3_RETREAT,763.516846957,742,711.483153043,672.483153043,662,632.516846957,876.483153043,783,799,648.516846957,629,650,0.430688707358,-0.00541678572325,0.0598118480356,0.999999948349,0.000157852445977,-0.000279372298002,1.82976549424e-05,1793192654104318208
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.087143798,711.087143798,672.087143798,662.087143798,632.912856202,876.087143798,783.087143798,799,649,629,650,0.429909871219,-0.00541590442667,0.0598334772335,0.999999953537,0.000181047728333,-0.000244309435978,2.14680999344e-05,1793192654120985088
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742.690997452,711.690997452,672.690997452,662.690997452,632.309002548,876.690997452,783.690997452,799,649,629,650,0.429037105642,-0.00540919174593,0.0598083366719,0.9999999408,0.000168562916712,-0.000299385094189,1.88216547531e-05,1793192654137651968
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,743,711.717592635,672.717592635,662.152777905,632.282407365,876.717592635,783.717592635,799,649,629,650,0.428175342356,-0.00540491975055,0.0597817153441,0.999999927673,0.000159877327055,-0.000344685729979,1.69049379372e-05,1793192654154318336
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,743,711.139223631,672.139223631,660.417670892,632.860776369,876.139223631,783.139223631,799,649,629,650,0.427325109311,-0.00540320558154,0.0597535421772,0.999999915734,0.000155173303539,-0.000379742193794,1.57529728473e-05,1793192654170984704
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.563356314,711.436643686,672,660.873287372,632.563356314,876.436643686,783,799,649,629,650,0.426490942773,-0.00540631170413,0.0597688569678,0.999999923098,0.000167621839117,-0.000354116895867,1.75611329217e-05,1793192654187651584
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.011673315,711.988326685,672,662,632,877,783.011673315,799,649,629,650,0.425660839442,-0.00541082891503,0.0597977946997,0.999999934728,0.000184874235293,-0.000309764773617,2.03019482042e-05,1793192654204318464
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.584561893,711.415438107,672,662,632,877,783.584561893,799,649,629,650,0.424781195039,-0.00540971616769,0.0598188391837,0.999999942962,0.000171642718182,-0.000289994407044,2.27638064228e-05,1793192654220985088
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.836960811,711.163039189,671.836960811,662,632.163039189,877,784,799.163039189,649,629,650,0.423910024568,-0.00540780912385,0.0598360064745,0.999999949109,0.000165509203086,-0.000271598664283,2.49380571423e-05,1793192654237651712
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742.243737537,711.756262463,671.243737537,662,632.756262463,877,784,799.756262463,649,629,650,0.423061212892,-0.0054038063035,0.0598429436665,0.999999950811,0.000178103992941,-0.000256829911646,2.6353446208e-05,1793192654254318336
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.660201024,742,712,671.339798976,662.339798976,632.660201024,876.660201024,784,800,649,628.660201024,650,0.422198181697,-0.00540165045887,0.0598448999554,0.999999951007,0.000182425954255,-0.000252919556124,2.71789336613e-05,1793192654270984960
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.083420251,742,712,671.916579749,662.916579749,632.083420251,876.083420251,784,800,649,628.083420251,650,0.421325233595,-0.00540078272782,0.0598433824745,0.999999950326,0.000180978298626,-0.000256582038813,2.75930132775e-05,1793192654287651840
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.493165906,742,711.506834094,672,662.506834094,632.493165906,876,783.506834094,800,649,628.493165906,650,0.420383507274,-0.00539635556955,0.0597894310351,0.999999920945,0.000185579479086,-0.000350800413915,2.46829527043e-05,1793192654304318464
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.071006636,672,661.857986729,633,876,783.071006636,799.857986729,649,629,650,0.419444411789,-0.00539221438713,0.0597339070536,0.999999883131,0.000189512640616,-0.000444260160255,2.13599769777e-05,1793192654320985088
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.658206584,672,660.683586833,633,876,783.658206584,798.683586833,649,629,650,0.418608983841,-0.00539452737896,0.0597314027969,0.999999894833,0.00018115435533,-0.000420894125511,1.91212708602e-05,1793192654337651712
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742.242798943,711.757201057,671.757201057,660.728396829,633,876,783.757201057,798.242798943,649,628.757201057,650,0.417783437687,-0.00539568074733,0.0597492654362,0.999999910968,0.000179222128054,-0.000381538901007,1.92979172876e-05,1793192654354318592
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742.82375963,711.17624037,671.17624037,662.47127889,633,876,783.17624037,798.82375963,649,628.17624037,650,0.416971654424,-0.00539521903366,0.0597954943645,0.999999931224,0.000186239884568,-0.000319914496757,2.28385805913e-05,1793192654370985216
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.599252983,742.599252983,711,671.400747017,662.599252983,633,876,783,799,649,628,650,0.416162231331,-0.0053947215104,0.0598211816465,0.999999937846,0.00018928402067,-0.000296274618093,2.64630237543e-05,1793192654387651840
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.023995851,742.023995851,711,671.976004149,662.023995851,633,876,783,799,649,628,650,0.415353836051,-0.00539420839346,0.0598379238185,0.999999939571,0.000190597795695,-0.000289175562444,3.01239496785e-05,1793192654404318720
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.551145807,742,711,671.448854193,661.448854193,633,876,783,799,649,628,650,0.414571398565,-0.00539537996059,0.0598410293012,0.999999942947,0.000188352040031,-0.000278857024589,2.94770551019e-05,1793192654420984832
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.129515527,661.129515527,633,876,783.129515527,799,649,628.129515527,650,0.413784948101,-0.00539589011717,0.0598394898519,0.999999943497,0.000188507287833,-0.000276831480868,2.88863705846e-05,1793192654437651456
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.719376802,661.719376802,633,876,783.719376802,799,649,628.719376802,650,0.412980217936,-0.00539378872668,0.0598235504505,0.999999933577,0.00019774730747,-0.000304780396475,2.91619748685e-05,1793192654454318080
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,661.392286211,633,875.696143106,784,799,649,628.696143106,650.303856894,0.412181322642,-0.00539115870034,0.0597905586299,0.999999915212,0.000199647779261,-0.000359126411622,2.7301746726e-05,1793192654470984704
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.233092576,633,875.116546288,784,799,649,628.116546288,650.883453712,0.411387722341,-0.00538804895484,0.0597420923127,0.999999885062,0.000194887856635,-0.000437426904789,2.35033222836e-05,1793192654487651584
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.540296531,742,711,672,660,633,875.459703469,784,799,649,628,650.540296531,0.410709075563,-0.00538841938947,0.0597505913854,0.999999894648,0.000196480495109,-0.000414203225609,2.31220083263e-05,1793192654504318208
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.035771457,742,711,672,660.107314372,633,876,784,799,649,628,650.035771457,0.410061235397,-0.00538965771276,0.0597748184286,0.999999913427,0.000199519580677,-0.000364380031283,2.37907146447e-05,1793192654520985088
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.622005244,742,711,672,661.866015731,633,876,784,799,649,628,650.622005244,0.409442228842,-0.0053907722179,0.0598204385232,0.999999935046,0.000200212808336,-0.00029845064528,2.7382578598e-05,1793192654537651968
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.793525785,742,711,671.793525785,662.58705157,633,875.793525785,784,799,649,628,650.793525785,0.408823253691,-0.00539128776359,0.0598522398995,0.999999947411,0.000201413240981,-0.000252408971594,3.00123608481e-05,1793192654554318592
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.212260202,742,711,671.212260202,661.424520404,633,875.212260202,784,799,649,628,650.212260202,0.408204335436,-0.00539071608012,0.0598589575881,0.999999949414,0.000203534351981,-0.000242467403652,3.08957760972e-05,1793192654570984960
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.365363894,742,711.365363894,671,661.365363894,633,875.730727787,783.634636106,799,649,628.365363894,650.365363894,0.407604416886,-0.00539096833134,0.0598496470205,0.999999945739,0.00020346429117,-0.000257284011213,3.04736889484e-05,1793192654587651584
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.94089329,742,711.94089329,671,661.94089329,633,876.88178658,783.05910671,799,649,628.94089329,650.94089329,0.407015427428,-0.00539169452829,0.0598311166402,0.999999938146,0.00020213381895,-0.00028634207679,2.93006474805e-05,1793192654604317952
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.48421292,671,661.48421292,633,876.48421292,783.51578708,799.51578708,649,628.48421292,650.48421292,0.406495964883,-0.00538824471151,0.0598267722295,0.999999936345,0.000211842365227,-0.000285764968384,2.77863702093e-05,1793192654620984832
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742.093553206,711.093553206,671.093553206,661,633,875.906446794,783.906446794,799.906446794,649,628,650.093553206,0.405989833926,-0.00538434140862,0.0598252082002,0.999999935834,0.000220946518276,-0.000280743627584,2.64032437889e-05,1793192654637651456
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742.687057947,711.687057947,671.687057947,661,633,875.312942053,783.312942053,799.312942053,649,628,650.687057947,0.405512421528,-0.00538056890601,0.0598298258213,0.999999938972,0.000220068792772,-0.000270098416239,2.59297078288e-05,1793192654654318592
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742.729183657,711.729183657,671.729183657,661,633,875.270816343,783,799,649,628.270816343,650.729183657,0.405046224976,-0.00537578970735,0.0598222689433,0.999999935435,0.000223910601312,-0.000279940477948,2.50409685981e-05,1793192654670985472
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742.156296458,711.156296458,671.156296458,661,633,875.843703542,783,799,649,628.843703542,650.156296458,0.404592538706,-0.00536988763159,0.0598011325249,0.999999923701,0.000233016618233,-0.000312634219103,2.3689108114e-05,1793192654687652352
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.420053822,660.579946178,633,875.579946178,783.420053822,799,649,629,650,0.404164891154,-0.00536741231092,0.0597761089371,0.999999907741,0.000235176428763,-0.000358801512712,2.17278442393e-05,1793192654704318976
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.997703427,660.002296573,633,875.002296573,783.997703427,799,649,629,650,0.403747012769,-0.00536622263966,0.0597496269594,0.9999998882,0.000234730162024,-0.000410023815391,1.95379442601e-05,1793192654720985344
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.411033848,660.588966152,633,875.588966152,783.411033848,799,649,628.411033848,650,0.403449942039,-0.00536539076092,0.0597631409532,0.99999990036,0.000237823387358,-0.000377259428006,1.98858625027e-05,1793192654737651968
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.823676184,742,711.176323816,671,661,633,875.823676184,783,799,648.823676184,628,650,0.403163467021,-0.00536796472288,0.0597801163789,0.999999913618,0.000235592390628,-0.000341814363908,2.05830276775e-05,1793192654754318336
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.245345572,742,711.754654428,671,661,633,875.245345572,783,799,648.245345572,628,650,0.402900050062,-0.00537830052312,0.0598046196601,0.999999929987,0.00022119030444,-0.000301021851849,2.20533575824e-05,1793192654770984960
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,712,671,661,632.668268007,875,783,799.331731993,648.331731993,628.331731993,650,0.402655245468,-0.0053856702684,0.0598236104021,0.999999940296,0.000212529449041,-0.000271463074942,2.34017574208e-05,1793192654787651584
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,661,632.092113729,875,783,799.907886271,648.907886271,628.907886271,650,0.402424154603,-0.00539085460451,0.059838539468,0.999999946748,0.000208098770732,-0.00025018138961,2.46603183206e-05,1793192654804318208
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.483446859,742,712,671.483446859,661,632.483446859,875,783.483446859,799.516553141,649,628.516553141,650,0.402206581277,-0.00538887272258,0.0598368101044,0.999999943543,0.000213678748989,-0.000258206002556,2.4206719263e-05,1793192654820985088
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711.93958619,671.93958619,661,633,875,783.93958619,799,649,628.06041381,650,0.401996129899,-0.0053855659583,0.0598321256902,0.999999938568,0.000220700375373,-0.000271299711326,2.34832984158e-05,1793192654837651712
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711.349293318,671.349293318,661,633,875,783.349293318,799,649,628.650706682,650,0.401825581713,-0.00538260003684,0.0598293276742,0.999999935536,0.000223657630841,-0.000279938350247,2.32510888171e-05,1793192654854318336
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711.236762849,671.236762849,661,633,875.236762849,783.236762849,799,649,629,650,0.401668707145,-0.00538137825317,0.0598279221362,0.999999933936,0.000223922535882,-0.000285399429301,2.31138171815e-05,1793192654870985216
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711.816678487,671.816678487,661,633,875.816678487,783.816678487,799,649,629,650,0.401531650482,-0.00538268433996,0.0598285347899,0.999999934499,0.00022028527629,-0.000286255103788,2.31141441271e-05,1793192654887651840
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,712,671.608177181,660.608177181,633,876,783.608177181,798.608177181,649,629,650.391822819,0.401422057887,-0.00538177852693,0.0598308185165,0.999999935916,0.000218555307706,-0.000282631650372,2.28434683976e-05,1793192654904317952
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,712,671.035238285,660.035238285,633,876,783.035238285,798.035238285,649,629,650.964761715,0.401325160263,-0.00537985028602,0.0598338746794,0.999999937703,0.00021770696449,-0.000276937766124,2.24475244627e-05,1793192654920984576
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764.528074497,741.471925503,711.471925503,671,660.528074497,633,876,783,798.528074497,649,629,650.471925503,0.401244410815,-0.00537794094564,0.0598323333499,0.999999936129,0.000219684482943,-0.000281050338445,2.21847568114e-05,1793192654937651456
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764.901984403,741.098015597,711.098015597,671,660.901984403,633,876,783.098015597,799.098015597,649,629,650,0.401168842561,-0.00537649016005,0.0598304865743,0.999999934669,0.000221128555248,-0.000285102871232,2.19291564254e-05,1793192654954318336
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764.294296041,741.705703959,711.705703959,671,660.294296041,633,876,783.705703959,799.705703959,649,629,650,0.401114713114,-0.00537741737872,0.0598286182244,0.999999935065,0.000218835764711,-0.000285501388998,2.16654416826e-05,1793192654970984960
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711.703876909,671,660.296123091,633,876,783.703876909,800,649,629,650.296123091,0.401068724863,-0.00537786504977,0.0598272215672,0.999999935235,0.000216841645805,-0.000286449552888,2.13419745138e-05,1793192654987651584
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.129674754,671,660.870325246,633,876,783.129674754,800,649,629,650.870325246,0.401030381735,-0.005377862394,0.0598262678607,0.999999935193,0.000215127999349,-0.000287913870625,2.09623959017e-05,1793192655004318464
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,632.553099629,876,783,799.553099629,649,629,650.553099629,0.401003635227,-0.00537790478954,0.0598267823085,0.999999935008,0.000214074248912,-0.000289350243205,2.08204754607e-05,1793192655020985088
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,741.975431801,711.024568199,671,661,632.024568199,876,783,799,649,628.975431801,650,0.400980845292,-0.00537796843217,0.0598277396711,0.999999934813,0.000213262025655,-0.000290624077636,2.07433099746e-05,1793192655037651968
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,741.388598524,711.611401476,671,661,632.611401476,876,783,799,649,628.388598524,650,0.400971184503,-0.00537821756518,0.0598290319472,0.999999935405,0.000213571815775,-0.000288364647917,2.05614827022e-05,1793192655054318592
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,741.195667626,711.804332374,671,661,633,876,783.195667626,799.195667626,649,628.195667626,650.195667626,0.400963252765,-0.00537865503037,0.0598300944361,0.999999936145,0.000213384286282,-0.000285930585889,2.05133453213e-05,1793192655070984960
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,741.77490138,711.22509862,671,661,633,876,783.77490138,799.77490138,649,628.77490138,650.77490138,0.400958710476,-0.00537946168204,0.0598307064745,0.999999937178,0.000212221863958,-0.000283154193406,2.07272794922e-05,1793192655087651584
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,876,784,799.648206846,649,629,651,0.400955500635,-0.00537920329339,0.0598310972031,0.999999937743,0.000211107008711,-0.00028199550507,2.06525534522e-05,1793192655104318464
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,876,784,799.072803648,649,629,651,0.400953137739,-0.00537826793397,0.0598313472608,0.999999938013,0.000210022388381,-0.000281865076657,2.03943465382e-05,1793192655120985088
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.496646388,633,877.006707223,783.496646388,799.503353612,649,628.496646388,651,0.400952353074,-0.00537944726204,0.0598321252741,0.99999993844,0.000209753148055,-0.000280550690051,2.03874664859e-05,1793192655137651968
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.082002094,671,660,633,877.835995811,783,799.917997906,649,628,651,0.4009520649,-0.00538062227965,0.059833051,0.999999938853,0.000209943682599,-0.000278927129221,2.0430516235e-05,1793192655154318592
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.675509005,671,660,633,876.648981989,783,799.324490995,649,628,651,0.40095344766,-0.00537985966865,0.0598344210767,0.99999993905,0.000212265413995,-0.000276444804744,2.05579250472e-05,1793192655170985216
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.73786608,671,660.26213392,633,876,783,799,649,628.26213392,650.73786608,0.400952767504,-0.00537966873586,0.0598347323561,0.999999938936,0.000212563226259,-0.000276627819691,2.05493010489e-05,1793192655187651584
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711.159542366,671,660.840457634,633,876,783,799,649,628.840457634,650.159542366,0.400949599027,-0.00538016736976,0.0598337664984,0.999999938447,0.000210419757334,-0.00028002580644,2.03765922643e-05,1793192655204318208
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.413659237,661,633,876,783,799.413659237,649,628.586340763,650.413659237,0.400949773308,-0.00538059417587,0.0598345065382,0.999999939083,0.000209120466213,-0.000278734854384,2.02602062394e-05,1793192655220984832
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.984909466,661,633,876,783,799.984909466,649,628.015090534,650.984909466,0.400951221074,-0.00538099361788,0.0598358964706,0.999999940141,0.000208142779991,-0.000275657565936,2.01652773956e-05,1793192655237651456
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.423545859,661,633,876,783.576454141,800,649,628.576454141,651,0.400951711383,-0.00538086964662,0.0598362038263,0.999999940106,0.000209231424365,-0.000274945810131,2.03785203698e-05,1793192655254318080
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.835417832,633,876,784,800,649,628.835417832,651,0.400952111846,-0.00538098492419,0.0598363471573,0.999999940169,0.000209449517933,-0.000274544610916,2.04469309148e-05,1793192655270984704
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.257259292,633,876,784,800,649,628.257259292,651,0.400952351821,-0.00538173709501,0.0598361521261,0.999999940555,0.000207339126374,-0.000274762515547,2.01303817405e-05,1793192655287651584
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.318179859,711.318179859,670.681820141,660.318179859,633,876,783.681820141,799.681820141,649,628,651,0.400951512566,-0.00538137062323,0.0598355149179,0.999999940239,0.000207291488168,-0.000275964897697,1.99077618921e-05,1793192655304318464
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.891438986,711.891438986,670.108561014,660.891438986,633,876,783.108561014,799.108561014,649,628,651,0.400949808111,-0.00538010735518,0.0598345232239,0.999999939356,0.000208897523277,-0.000277956518403,1.97604435188e-05,1793192655320985088
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.521477746,712,670.478522254,661.478522254,632.521477746,876,783.478522254,799,649,628.478522254,650.521477746,0.400948269536,-0.00538127917181,0.0598337817287,0.999999939273,0.000207493937048,-0.000279293332019,1.99010356824e-05,1793192655337651712
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.067472925,712,671.067472925,661.86505415,632.067472925,876.067472925,783.932527075,798.932527075,649,629,650.067472925,0.400947091783,-0.00538258405688,0.0598333300504,0.999999939346,0.000206073355931,-0.000280070687344,2.0032573116e-05,1793192655354318592
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742.646104653,712,671.646104653,660.707790694,632.646104653,876.646104653,783.353895347,798.353895347,649,629,650.646104653,0.400948353942,-0.00538058737423,0.059834631148,0.999999939212,0.000209850514856,-0.000277768611763,1.95859641313e-05,1793192655370984960
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742.777007029,712,671.777007029,660.222992971,633,876.777007029,783,798.445985942,649,628.777007029,651,0.400949257279,-0.00537991634499,0.0598356172545,0.999999939435,0.000210719365755,-0.000276312370329,1.94873720667e-05,1793192655387651584
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742.202864117,712,671.202864117,660.797135883,633,876.202864117,783,799.594271767,649,628.202864117,651,0.400949595573,-0.0053813328396,0.05983610734,0.999999940235,0.000207008465819,-0.000276188075107,1.99368068153e-05,1793192655404318464
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742.37361809,712,671,661,633,876,783.37361809,800,649,628.37361809,650.62638191,0.400949508243,-0.00538248379858,0.0598359802042,0.999999940661,0.000205393175828,-0.000275847852442,2.00042752437e-05,1793192655420985088
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.951378451,712,671,661,633,876,783.951378451,800,649,628.951378451,650.048621549,0.400949188356,-0.00538348967074,0.0598355158231,0.999999940886,0.000204922912352,-0.000275389648563,1.98630399724e-05,1793192655437651712
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.459481182,711.459481182,671.540518818,661,633,875.459481182,784,799.459481182,649,629,650,0.400948625355,-0.00538234245349,0.0598354318425,0.999999940063,0.000207369660889,-0.000276547330403,1.98140968334e-05,1793192655454318592
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.128325117,671.871674883,661,633,875,784,799.128325117,649,628.871674883,650,0.40094838454,-0.005381451238,0.0598354998908,0.999999939556,0.00020906137191,-0.000277110073747,1.97603787851e-05,1793192655470985216
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.707765466,671.292234534,661,633,875,784,799.707765466,649,628.292234534,650,0.400949354872,-0.00538215547353,0.0598359795043,0.999999940521,0.000207156551519,-0.00027505939472,1.96600623998e-05,1793192655487651840
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.715349204,671,661,633,875.284650796,783.715349204,800,649,628.284650796,650,0.400950619427,-0.00538247698264,0.0598367465585,0.9999999412,0.000206400303778,-0.000273150830725,1.96657931657e-05,1793192655504318464
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.14106356,671,661,633,875.85893644,783.14106356,800,649,628.85893644,650,0.400952183357,-0.00538240906414,0.0598378060864,0.999999941593,0.000206812739229,-0.000271386869859,1.97794278881e-05,1793192655520985088
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.567496546,742.432503454,711,671,661,633,876.432503454,783.432503454,800,649,629,650.432503454,0.400951197791,-0.00538201659186,0.0598379443765,0.999999941183,0.00020732668779,-0.00027250024909,1.98178966552e-05,1793192655537651712
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.006044358,742.993955642,711.006044358,671,661,633,876.993955642,784,799.993955642,649.006044358,628.993955642,651,0.40094941747,-0.00538153121896,0.0598377875134,0.999999940522,0.000207864069057,-0.000274510589023,1.98341637738e-05,1793192655554318336
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.599802079,742.400197921,711.599802079,671,661,633,876.400197921,784,799.400197921,649.599802079,628.400197921,651,0.400951079126,-0.00538228838038,0.059838098893,0.999999941112,0.000207465925075,-0.00027263704427,2.00714915881e-05,1793192655570984960
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94ae35b5ca5f1156d3ec55ae5bab0cd689e11867
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_01/simulation_data.csv
@@ -0,0 +1,392 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+1,0.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+2,0.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+3,0.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+4,0.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+5,0.083333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+6,0.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+7,0.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+8,0.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+9,0.150000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+10,0.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+11,0.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+12,0.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+13,0.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+14,0.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+15,0.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+16,0.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+17,0.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+18,0.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+19,0.316666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+20,0.333333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+21,0.350000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+22,0.366666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+23,0.383333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+24,0.400000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+25,0.416666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+26,0.433333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+27,0.450000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+28,0.466666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+29,0.483333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+30,0.500000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+31,0.516666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+32,0.533333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+33,0.550000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+34,0.566666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+35,0.583333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+36,0.600000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+37,0.616666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+38,0.633333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+39,0.650000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+40,0.666666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+41,0.683333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+42,0.700000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+43,0.716666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+44,0.733333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+45,0.750000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+46,0.766666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+47,0.783333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+48,0.800000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+49,0.816666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+50,0.833333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+51,0.850000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+52,0.866666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+53,0.883333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+54,0.900000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+55,0.916666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+56,0.933333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+57,0.950000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+58,0.966666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+59,0.983333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+60,1.000000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+61,1.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+62,1.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+63,1.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+64,1.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+65,1.083333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+66,1.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+67,1.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+68,1.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+69,1.150000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+70,1.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+71,1.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+72,1.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+73,1.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+74,1.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+75,1.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+76,1.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+77,1.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+78,1.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+79,1.316666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+80,1.333333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+81,1.350000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+82,1.366666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+83,1.383333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+84,1.400000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+85,1.416666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+86,1.433333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+87,1.450000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+88,1.466666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+89,1.483333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+90,1.500000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+91,1.516666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+92,1.533333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+93,1.550000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+94,1.566666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+95,1.583333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+96,1.600000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+97,1.616666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+98,1.633333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+99,1.650000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+100,1.666666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+101,1.683333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+102,1.700000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+103,1.716666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+104,1.733333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+105,1.750000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+106,1.766666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+107,1.783333333,pose1_to_pose2_press,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+108,1.800000000,pose1_to_pose2_press,0.575709283982,5.46784582972e-05,1.05002922696,0.546280012094,0.00872740080345,1.04969852005
+109,1.816666667,pose1_to_pose2_press,0.575709337684,5.46929338246e-05,1.05002924828,0.546280065951,0.0087274158722,1.0496985431
+110,1.833333333,pose1_to_pose2_press,0.575709339375,5.46924821417e-05,1.05002924806,0.546280067649,0.00872741544339,1.04969854287
+111,1.850000000,pose1_to_pose2_press,0.57570979389,5.45710814986e-05,1.05002919081,0.546280524048,0.00872730019016,1.04969847921
+112,1.866666667,pose1_to_pose2_press,0.575711002237,5.45114037319e-05,1.05002915289,0.546281733901,0.00872724572937,1.04969844399
+113,1.883333333,pose1_to_pose2_press,0.575713376448,5.45641560872e-05,1.05002915625,0.546284106986,0.0087272946277,1.04969844649
+114,1.900000000,pose1_to_pose2_press,0.575718391331,5.46517976432e-05,1.05002915104,0.546289121433,0.00872738086904,1.04969844335
+115,1.916666667,pose1_to_pose2_press,0.575727680718,5.43990163055e-05,1.0500290085,0.546298413382,0.00872713691016,1.04969830416
+116,1.933333333,pose1_to_pose2_press,0.575742213499,5.46911677769e-05,1.05002926279,0.546312943305,0.00872741932551,1.04969855738
+117,1.950000000,pose1_to_pose2_press,0.575762456905,5.46178456945e-05,1.0500292919,0.546333186864,0.00872734636037,1.04969858212
+118,1.966666667,pose1_to_pose2_press,0.575791899703,5.45748073064e-05,1.05002919167,0.546362630706,0.00872730690885,1.04969848306
+119,1.983333333,pose1_to_pose2_press,0.575830683131,5.44981307411e-05,1.050029031,0.546401414285,0.00872723074986,1.04969832243
+120,2.000000000,pose1_to_pose2_press,0.575880988172,5.45335123868e-05,1.05002902844,0.546451718958,0.00872726493011,1.04969832102
+121,2.016666667,pose1_to_pose2_press,0.575944097237,5.46689242498e-05,1.05002912211,0.546514826763,0.00872739599951,1.04969841289
+122,2.033333333,pose1_to_pose2_press,0.576021879587,5.46150233799e-05,1.05002923577,0.546592611303,0.00872734962275,1.04969852894
+123,2.050000000,pose1_to_pose2_press,0.576116120187,5.46249228415e-05,1.05002918099,0.546686849965,0.00872735275638,1.04969846913
+124,2.066666667,pose1_to_pose2_press,0.57622702159,5.4592129079e-05,1.05002899284,0.546797751809,0.00872732203306,1.04969829603
+125,2.083333333,pose1_to_pose2_press,0.576353804172,5.44912541666e-05,1.05002907636,0.546924534962,0.00872722238971,1.04969836095
+126,2.100000000,pose1_to_pose2_press,0.576496143715,5.44780609236e-05,1.05002925733,0.547066875185,0.00872721163166,1.04969854523
+127,2.116666667,pose1_to_pose2_press,0.576656156938,5.45215677399e-05,1.05002892684,0.547226888025,0.00872725412622,1.04969822223
+128,2.133333333,pose1_to_pose2_press,0.576832154212,5.44855754938e-05,1.05002917039,0.547402886338,0.00872722147665,1.0496984609
+129,2.150000000,pose1_to_pose2_press,0.577024585579,5.44909541307e-05,1.05002929343,0.547595317531,0.00872722605692,1.04969857841
+130,2.166666667,pose1_to_pose2_press,0.577240280462,5.46508562382e-05,1.05002915675,0.547811010661,0.00872738021523,1.04969844701
+131,2.183333333,pose1_to_pose2_press,0.577478289639,5.45681856566e-05,1.05002915628,0.548049020036,0.00872729813998,1.04969844455
+132,2.200000000,pose1_to_pose2_press,0.577736471948,5.45156923953e-05,1.05002906078,0.548307203279,0.00872724882834,1.0496983493
+133,2.216666667,pose1_to_pose2_press,0.578015154667,5.44977302936e-05,1.05002916921,0.548585884853,0.00872722708791,1.04969846046
+134,2.233333333,pose1_to_pose2_press,0.578316595259,5.45850386296e-05,1.05002940062,0.548887326835,0.0087273190113,1.04969868913
+135,2.250000000,pose1_to_pose2_press,0.578634002313,5.46250648581e-05,1.05002917766,0.54920473294,0.00872735577247,1.0496984649
+136,2.266666667,pose1_to_pose2_press,0.57896684125,5.46642753675e-05,1.05002926011,0.549537571357,0.00872739342536,1.04969855275
+137,2.283333333,pose1_to_pose2_press,0.579326035694,5.45835966138e-05,1.05002931395,0.549896764913,0.00872730935353,1.04969859657
+138,2.300000000,pose1_to_pose2_press,0.579712680371,5.45037445497e-05,1.05002918865,0.550283410331,0.00872723218589,1.04969847575
+139,2.316666667,pose1_to_pose2_press,0.580134856505,5.45354244067e-05,1.05002901354,0.550705588332,0.00872727070686,1.04969831375
+140,2.333333333,pose1_to_pose2_press,0.580593899333,5.44821499313e-05,1.05002901814,0.55116463062,0.00872721542051,1.04969831363
+141,2.350000000,pose1_to_pose2_press,0.581091790493,5.46269114403e-05,1.05002902018,0.551662519979,0.00872735406308,1.04969831546
+142,2.366666667,pose1_to_pose2_press,0.581609564022,5.46933183236e-05,1.05002918393,0.552180292509,0.0087274166733,1.04969846849
+143,2.383333333,pose1_to_pose2_press,0.582141067053,5.44842665752e-05,1.05002916981,0.552711798642,0.00872721832781,1.04969845904
+144,2.400000000,pose1_to_pose2_press,0.582680705079,5.44280574557e-05,1.05002914778,0.55325143765,0.0087271655322,1.04969843912
+145,2.416666667,pose1_to_pose2_press,0.583231914269,5.45559543492e-05,1.05002916892,0.553802644755,0.00872728621993,1.0496984567
+146,2.433333333,pose1_to_pose2_press,0.583803563764,5.45046164866e-05,1.05002950448,0.554374294639,0.00872723597018,1.04969878614
+147,2.450000000,pose1_to_pose2_press,0.584405060069,5.44774149907e-05,1.05002921192,0.554975791128,0.00872720972197,1.04969850218
+148,2.466666667,pose1_to_pose2_press,0.585039435954,5.46330867287e-05,1.05002893468,0.55561016478,0.00872735805577,1.04969823122
+149,2.483333333,pose1_to_pose2_press,0.585691330027,5.46911888129e-05,1.05002935525,0.556262059635,0.00872741823746,1.04969863663
+150,2.500000000,pose1_to_pose2_press,0.586353519394,5.46483173114e-05,1.05002931838,0.556924249376,0.00872737683992,1.04969860517
+151,2.516666667,pose1_to_pose2_press,0.587018574218,5.46882079902e-05,1.05002915128,0.557589303402,0.00872741447181,1.04969844987
+152,2.533333333,pose1_to_pose2_press,0.58769697369,5.46398233821e-05,1.05002916952,0.558267702804,0.0087273654439,1.04969845746
+153,2.550000000,pose1_to_pose2_press,0.588401339792,5.46508965902e-05,1.05002897198,0.558972068652,0.00872737592614,1.04969826698
+154,2.566666667,pose1_to_pose2_press,0.589138885748,5.44627925202e-05,1.05002909934,0.559709617713,0.00872719801777,1.04969838541
+155,2.583333333,pose1_to_pose2_press,0.589908538867,5.44637588449e-05,1.05002921946,0.560479269903,0.00872719547758,1.04969849627
+156,2.600000000,pose1_to_pose2_press,0.590694929888,5.46246919161e-05,1.05002918081,0.561265658144,0.00872734732337,1.04969846667
+157,2.616666667,pose1_to_pose2_press,0.591484909606,5.45925152007e-05,1.05002935167,0.562055640009,0.00872732245709,1.04969863825
+158,2.633333333,pose1_to_pose2_press,0.592266650239,5.45932915815e-05,1.05002955644,0.562837379819,0.00872731995726,1.04969883031
+159,2.650000000,pose1_to_pose2_press,0.593039969467,5.4700184153e-05,1.05002930819,0.563610699211,0.00872742772438,1.04969859044
+160,2.666666667,pose1_to_pose2_press,0.593804944235,5.46197382214e-05,1.05002909582,0.564375675461,0.00872735249977,1.04969838319
+161,2.683333333,pose1_to_pose2_press,0.59457477467,5.45448897564e-05,1.0500290321,0.565145505548,0.0087272766379,1.04969832387
+162,2.700000000,pose1_to_pose2_press,0.59535054703,5.45398122306e-05,1.05002908888,0.565921277069,0.00872726884608,1.04969838412
+163,2.716666667,pose1_to_pose2_press,0.596148281128,5.45003467305e-05,1.05002914191,0.566719011608,0.0087272308329,1.04969843601
+164,2.733333333,pose1_to_pose2_press,0.596964330712,5.44779168199e-05,1.05002909169,0.567535061518,0.00872720937583,1.04969838241
+165,2.750000000,pose1_to_pose2_press,0.597793446935,5.44997990056e-05,1.05002903501,0.56836417741,0.00872723017306,1.04969832676
+166,2.766666667,pose1_to_pose2_press,0.598627218804,5.45278546731e-05,1.05002896407,0.569197949281,0.0087272582768,1.04969825699
+167,2.783333333,pose1_to_pose2_press,0.599460567153,5.4586743429e-05,1.05002908907,0.570031297107,0.00872731508545,1.04969837408
+168,2.800000000,pose1_to_pose2_press,0.600270521212,5.45249742576e-05,1.05002902067,0.570841251561,0.00872725483401,1.04969831037
+169,2.816666667,pose1_to_pose2_press,0.60105966089,5.45114495069e-05,1.05002897551,0.571630391169,0.00872724127628,1.04969827068
+170,2.833333333,pose1_to_pose2_press,0.601829025378,5.454194181e-05,1.05002911983,0.572399755664,0.00872727154706,1.04969840862
+171,2.850000000,pose1_to_pose2_press,0.60258305292,5.45336643995e-05,1.05002917694,0.57315378424,0.00872726673823,1.04969846477
+172,2.866666667,pose1_to_pose2_press,0.603322965386,5.45991761269e-05,1.05002903242,0.573893695578,0.00872732862911,1.04969832566
+173,2.883333333,pose1_to_pose2_press,0.604063649772,5.46430835681e-05,1.05002900817,0.574634379495,0.00872737105267,1.0496983044
+174,2.900000000,pose1_to_pose2_press,0.604808876417,5.45271154865e-05,1.05002914107,0.575379607679,0.00872726022585,1.0496984352
+175,2.916666667,pose1_to_pose2_press,0.605547761419,5.4631521186e-05,1.05002909079,0.576118490239,0.00872735625438,1.04969838271
+176,2.933333333,pose1_to_pose2_press,0.6062752981,5.46953451536e-05,1.05002922404,0.576846026392,0.00872741818966,1.04969851347
+177,2.950000000,pose1_to_pose2_press,0.606981635174,5.46013912657e-05,1.05002928404,0.57755236546,0.00872733095486,1.04969857238
+178,2.966666667,pose1_to_pose2_press,0.607655870698,5.45417653494e-05,1.05002909688,0.578226601773,0.00872727412324,1.0496983883
+179,2.983333333,pose1_to_pose2_press,0.608296086428,5.45224239587e-05,1.05002917523,0.578866816953,0.00872725275144,1.04969846246
+180,3.000000000,pose1_to_pose2_press,0.608915791212,5.45900378963e-05,1.05002924043,0.579486521283,0.00872731882493,1.04969852775
+181,3.016666667,pose1_to_pose2_press,0.609519143945,5.4542536359e-05,1.05002908778,0.580089874673,0.00872727380362,1.04969838171
+182,3.033333333,pose1_to_pose2_press,0.610109051128,5.45458734538e-05,1.05002897035,0.580679780105,0.00872727117597,1.04969826384
+183,3.050000000,pose1_to_pose2_press,0.610679948425,5.45904514187e-05,1.05002902752,0.581250677167,0.0087273147886,1.04969831662
+184,3.066666667,pose1_to_pose2_press,0.611225687404,5.45785072387e-05,1.0500291817,0.581796417348,0.00872730677802,1.04969846703
+185,3.083333333,pose1_to_pose2_press,0.611746599533,5.4585961554e-05,1.05002922744,0.582317328491,0.00872731092022,1.04969851386
+186,3.100000000,pose1_to_pose2_press,0.612244314053,5.45466170299e-05,1.05002925575,0.582815044009,0.0087272749011,1.04969854054
+187,3.116666667,pose1_to_pose2_press,0.612720220137,5.44836811241e-05,1.05002928298,0.583290951946,0.00872721824065,1.04969856597
+188,3.133333333,pose1_to_pose2_press,0.61317461926,5.44777247666e-05,1.05002926482,0.583745350741,0.00872721146473,1.04969855302
+189,3.150000000,pose1_to_pose2_press,0.613601968175,5.44384692476e-05,1.05002907317,0.584172699944,0.00872717355296,1.04969836708
+190,3.166666667,pose1_to_pose2_press,0.613997120484,5.45861430632e-05,1.05002915875,0.584567850043,0.00872731383339,1.0496984501
+191,3.183333333,pose1_to_pose2_press,0.614355257144,5.46822533847e-05,1.05002921943,0.584925984455,0.00872740233697,1.04969850586
+192,3.200000000,pose1_to_pose2_press,0.614680928132,5.44264890028e-05,1.0500293127,0.585251658199,0.00872715597824,1.04969859486
+193,3.216666667,pose1_to_pose2_press,0.614978654861,5.44163866553e-05,1.05002933493,0.585549386371,0.00872715076278,1.04969861204
+194,3.233333333,pose1_to_pose2_press,0.615258083165,5.47492767659e-05,1.05002927564,0.585828811301,0.00872747298434,1.04969856734
+195,3.250000000,pose1_to_pose2_press,0.615524308006,5.45257267375e-05,1.05002919942,0.586095039239,0.00872725977693,1.04969848285
+196,3.266666667,pose1_to_pose2_press,0.615779475981,5.46554789352e-05,1.05002927284,0.586350205561,0.00872738451225,1.04969856248
+197,3.283333333,pose1_to_pose2_press,0.616019651227,5.45485588268e-05,1.05002928328,0.58659038161,0.00872728034257,1.04969857465
+198,3.300000000,pose1_to_pose2_press,0.6162426751,5.45898879102e-05,1.05002918336,0.586813404239,0.00872731770955,1.04969847228
+199,3.316666667,pose1_to_pose2_press,0.616442922955,5.45493764328e-05,1.0500291808,0.587013653458,0.00872728187006,1.04969846748
+200,3.333333333,pose1_to_pose2_press,0.616621400461,5.45583708752e-05,1.05002916973,0.587192131441,0.00872729265673,1.0496984578
+201,3.350000000,pose1_to_pose2_press,0.616779109622,5.44689925621e-05,1.05002927475,0.58734984092,0.008727204359,1.04969855949
+202,3.366666667,pose1_to_pose2_press,0.616919396141,5.45216578437e-05,1.050029202,0.587490125751,0.00872725161598,1.04969849306
+203,3.383333333,pose1_to_pose2_press,0.617042255614,5.45242906636e-05,1.05002909752,0.587612984576,0.00872725206123,1.04969838692
+204,3.400000000,pose1_to_pose2_press,0.617152229613,5.45383748565e-05,1.05002896402,0.587722958727,0.00872726688294,1.04969825569
+205,3.416666667,pose1_to_pose2_press,0.617249659277,5.4551105466e-05,1.0500290407,0.587820388609,0.00872728052175,1.04969833425
+206,3.433333333,pose1_to_pose2_press,0.617332394179,5.45006839699e-05,1.05002915369,0.587903123774,0.00872723060433,1.04969844656
+207,3.450000000,pose1_to_pose2_press,0.617402594663,5.46172842182e-05,1.05002928977,0.587973323626,0.00872734481273,1.04969857865
+208,3.466666667,pose1_to_pose2_press,0.617461427333,5.46220453169e-05,1.05002923103,0.588032155832,0.00872734898851,1.04969851997
+209,3.483333333,pose1_to_pose2_press,0.61750954327,5.45288260517e-05,1.05002917124,0.588080271127,0.00872725410879,1.04969845781
+210,3.500000000,pose1_to_pose2_press,0.61754650418,5.45626715358e-05,1.05002926957,0.588117232279,0.00872728820906,1.04969855205
+211,3.516666667,pose1_to_pose2_press,0.617575553892,5.45510697054e-05,1.05002913556,0.588146283514,0.00872728168298,1.0496984248
+212,3.533333333,pose1_to_pose2_press,0.617597577842,5.46289734937e-05,1.0500290697,0.588168306542,0.00872735641479,1.0496983595
+213,3.550000000,pose1_to_pose2_press,0.617613879499,5.47025270633e-05,1.05002915761,0.588184608183,0.00872743005295,1.04969844713
+214,3.566666667,pose1_to_pose2_press,0.617626094683,5.46037731869e-05,1.05002886346,0.588196822681,0.00872732894505,1.04969815285
+215,3.583333333,pose1_to_pose2_press,0.617635132702,5.46263391736e-05,1.05002899654,0.588205859664,0.00872734785582,1.04969828183
+216,3.600000000,pose1_to_pose2_press,0.617641359345,5.46279131298e-05,1.05002899528,0.588212086997,0.00872735170605,1.04969828131
+217,3.616666667,pose1_to_pose2_press,0.617644996345,5.45927848946e-05,1.05002899911,0.588215725054,0.00872732012441,1.04969828532
+218,3.633333333,pose1_to_pose2_press,0.617646984026,5.4539019283e-05,1.05002914454,0.58821771318,0.00872726780419,1.04969842678
+219,3.650000000,pose1_to_pose2_press,0.617647926787,5.45157302439e-05,1.05002918868,0.588218656143,0.00872724520446,1.04969847039
+220,3.666666667,pose1_to_pose2_press,0.617648388307,5.45104511666e-05,1.05002914157,0.588219117739,0.00872724027322,1.04969842675
+221,3.683333333,pose1_to_pose2_press,0.617648735713,5.45064773847e-05,1.0500291061,0.588219465202,0.00872723656126,1.04969839391
+222,3.700000000,pose1_to_pose2_press,0.617649015306,5.4503279269e-05,1.05002907756,0.588219744842,0.00872723357387,1.04969836748
+223,3.716666667,pose1_to_pose2_press,0.617649169625,5.45015141002e-05,1.0500290618,0.588219899186,0.008727231925,1.04969835289
+224,3.733333333,pose1_to_pose2_press,0.61764924417,5.45006614174e-05,1.05002905419,0.588219973744,0.0087272311285,1.04969834584
+225,3.750000000,pose1_to_pose2_press,0.617649326288,5.44997221145e-05,1.05002904581,0.588220055875,0.00872723025109,1.04969833808
+226,3.766666667,pose1_to_pose2_press,0.617649421906,5.44986283938e-05,1.05002903605,0.588220151509,0.00872722922943,1.04969832904
+227,3.783333333,pose1_to_pose2_press,0.617649432103,5.44985117552e-05,1.05002903501,0.588220161707,0.00872722912048,1.04969832807
+228,3.800000000,pose1_to_pose2_press,0.617649513705,5.44975783573e-05,1.05002902667,0.588220243323,0.00872722824858,1.04969832036
+229,3.816666667,pose1_to_pose2_press,0.61764960775,5.44965026357e-05,1.05002901707,0.588220337382,0.00872722724374,1.04969831147
+230,3.833333333,pose1_to_pose2_press,0.617649729683,5.45066856198e-05,1.05002902753,0.588220459145,0.00872723681783,1.04969832107
+231,3.850000000,pose1_to_pose2_press,0.617649742394,5.4508667396e-05,1.05002903044,0.588220471823,0.00872723868042,1.04969832375
+232,3.866666667,pose1_to_pose2_press,0.617650013635,5.45509578815e-05,1.05002909254,0.588220742362,0.00872727842771,1.04969838097
+233,3.883333333,pose1_to_pose2_press,0.617650334372,5.46009653249e-05,1.05002916597,0.588221062268,0.00872732542789,1.04969844862
+234,3.900000000,pose1_to_pose2_press,0.617650546077,5.46210728126e-05,1.05002919505,0.588221273628,0.00872734425277,1.04969847431
+235,3.916666667,pose1_to_pose2_press,0.617650637456,5.45629548393e-05,1.05002910719,0.588221365909,0.00872728921798,1.0496983872
+236,3.933333333,pose1_to_pose2_press,0.617650692035,5.45282422041e-05,1.05002905472,0.588221421026,0.00872725634686,1.04969833517
+237,3.950000000,pose1_to_pose2_press,0.617650756144,5.44874688879e-05,1.05002899309,0.588221485767,0.00872721773659,1.04969827406
+238,3.966666667,pose1_to_pose2_press,0.617650786665,5.44589302351e-05,1.05002902107,0.588221516809,0.00872719092218,1.04969830099
+239,3.983333333,pose1_to_pose2_press,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494564,0.00872717852358,1.04969849583
+240,4.000000000,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494566,0.00872717852231,1.04969849583
+241,4.016666667,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494566,0.00872717852263,1.04969849583
+242,4.033333333,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494566,0.00872717852224,1.04969849583
+243,4.050000000,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494566,0.00872717852194,1.04969849583
+244,4.066666667,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494567,0.00872717852209,1.04969849583
+245,4.083333333,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494567,0.00872717852146,1.04969849583
+246,4.100000000,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494566,0.00872717852169,1.04969849583
+247,4.116666667,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494566,0.00872717852153,1.04969849583
+248,4.133333333,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494567,0.00872717852107,1.04969849583
+249,4.150000000,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494568,0.00872717852046,1.04969849583
+250,4.166666667,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494567,0.00872717852088,1.04969849583
+251,4.183333333,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494568,0.00872717852141,1.04969849583
+252,4.200000000,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494567,0.0087271785212,1.04969849583
+253,4.216666667,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494568,0.00872717852092,1.04969849583
+254,4.233333333,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494568,0.00872717852064,1.04969849583
+255,4.250000000,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494568,0.00872717851984,1.04969849583
+256,4.266666667,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494568,0.00872717852094,1.04969849583
+257,4.283333333,pose2_hold,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494569,0.00872717851985,1.04969849583
+258,4.300000000,pose2_to_pose3_retreat,0.617650763964,5.44451511764e-05,1.05002922012,0.588221494569,0.00872717852092,1.04969849584
+259,4.316666667,pose2_to_pose3_retreat,0.617650763556,5.4439107124e-05,1.0500290242,0.588221494194,0.00872717271447,1.04969830314
+260,4.333333333,pose2_to_pose3_retreat,0.617650718873,5.44546465559e-05,1.05002898751,0.588221449285,0.00872718752469,1.04969826746
+261,4.350000000,pose2_to_pose3_retreat,0.61765060203,5.45004599901e-05,1.05002905533,0.588221331822,0.00872723122681,1.04969833521
+262,4.366666667,pose2_to_pose3_retreat,0.61765031774,5.45981912617e-05,1.05002920044,0.588221046226,0.00872732451984,1.04969848053
+263,4.383333333,pose2_to_pose3_retreat,0.617649352601,5.45561508616e-05,1.05002915218,0.588220082115,0.00872728642868,1.04969844316
+264,4.400000000,pose2_to_pose3_retreat,0.617645512974,5.4584005795e-05,1.05002922109,0.588216242378,0.00872731353525,1.04969850165
+265,4.416666667,pose2_to_pose3_retreat,0.617636705791,5.46075073715e-05,1.05002926331,0.588207434225,0.00872733370658,1.04969854279
+266,4.433333333,pose2_to_pose3_retreat,0.617619693902,5.44429320682e-05,1.05002907807,0.58819042501,0.00872717805163,1.0496983589
+267,4.450000000,pose2_to_pose3_retreat,0.617592252878,5.45320774465e-05,1.05002917553,0.588162981947,0.0087272609292,1.04969847126
+268,4.466666667,pose2_to_pose3_retreat,0.617553260354,5.4556891035e-05,1.05002913862,0.588123989744,0.00872728625026,1.0496984254
+269,4.483333333,pose2_to_pose3_retreat,0.617502737167,5.46525341821e-05,1.0500293719,0.588073465979,0.00872738036547,1.04969866177
+270,4.500000000,pose2_to_pose3_retreat,0.617441621057,5.46380479929e-05,1.05002918991,0.588012349853,0.00872736520565,1.04969847527
+271,4.516666667,pose2_to_pose3_retreat,0.617370056345,5.46065630608e-05,1.05002889317,0.587940784099,0.00872733159409,1.04969818995
+272,4.533333333,pose2_to_pose3_retreat,0.617287972078,5.46210876735e-05,1.05002911107,0.587858701278,0.00872734924976,1.049698414
+273,4.550000000,pose2_to_pose3_retreat,0.617193231386,5.45967402142e-05,1.05002937394,0.587763961698,0.00872732942891,1.04969867181
+274,4.566666667,pose2_to_pose3_retreat,0.617082377247,5.47180956142e-05,1.05002928455,0.587653104782,0.0087274412955,1.04969857925
+275,4.583333333,pose2_to_pose3_retreat,0.616954578347,5.46086915715e-05,1.05002893615,0.587525305986,0.00872733201433,1.04969823171
+276,4.600000000,pose2_to_pose3_retreat,0.616806946325,5.45003550092e-05,1.05002910898,0.587377675587,0.00872722925385,1.04969840435
+277,4.616666667,pose2_to_pose3_retreat,0.616640487545,5.44111994409e-05,1.05002915102,0.587211220313,0.0087271515176,1.0496984418
+278,4.633333333,pose2_to_pose3_retreat,0.616453948342,5.45752707651e-05,1.05002903886,0.587024678279,0.00872730601955,1.04969833524
+279,4.650000000,pose2_to_pose3_retreat,0.616246404307,5.45283090263e-05,1.05002893974,0.586817134255,0.00872725883203,1.04969823165
+280,4.666666667,pose2_to_pose3_retreat,0.616015743418,5.44664426239e-05,1.05002899511,0.586586474173,0.00872719947582,1.04969828729
+281,4.683333333,pose2_to_pose3_retreat,0.615761660027,5.45206525946e-05,1.05002907148,0.5863323913,0.00872725555005,1.04969837216
+282,4.700000000,pose2_to_pose3_retreat,0.615484778138,5.45088209489e-05,1.05002911812,0.586055509943,0.00872724523672,1.0496984166
+283,4.716666667,pose2_to_pose3_retreat,0.615186508964,5.45932725692e-05,1.05002897629,0.585757238731,0.00872732253354,1.04969827351
+284,4.733333333,pose2_to_pose3_retreat,0.614868546196,5.46081659078e-05,1.05002900618,0.585439274712,0.00872733317996,1.0496983085
+285,4.750000000,pose2_to_pose3_retreat,0.614529304173,5.45671098161e-05,1.05002906285,0.585100033524,0.00872729463961,1.04969836205
+286,4.766666667,pose2_to_pose3_retreat,0.614169220539,5.45443829762e-05,1.05002896473,0.584739950959,0.00872727523325,1.04969826103
+287,4.783333333,pose2_to_pose3_retreat,0.613787339216,5.45637498876e-05,1.05002902564,0.584358069214,0.00872729296684,1.04969832242
+288,4.800000000,pose2_to_pose3_retreat,0.613376186137,5.46103715504e-05,1.05002920165,0.583946915088,0.00872733563828,1.04969849359
+289,4.816666667,pose2_to_pose3_retreat,0.612936237647,5.45822036895e-05,1.05002904787,0.583506967728,0.00872731126613,1.04969834194
+290,4.833333333,pose2_to_pose3_retreat,0.612460994178,5.46409634698e-05,1.05002921231,0.583031724986,0.00872737236558,1.04969850445
+291,4.850000000,pose2_to_pose3_retreat,0.61194778724,5.46227814693e-05,1.05002935389,0.582518517889,0.00872735364305,1.04969864611
+292,4.866666667,pose2_to_pose3_retreat,0.611392129455,5.44749305205e-05,1.05002915518,0.581962862263,0.00872721303959,1.04969844542
+293,4.883333333,pose2_to_pose3_retreat,0.610806905081,5.4544818968e-05,1.0500291689,0.581377635555,0.00872727486446,1.04969845559
+294,4.900000000,pose2_to_pose3_retreat,0.610195967276,5.45360439452e-05,1.05002919533,0.580766697951,0.00872726691134,1.04969848525
+295,4.916666667,pose2_to_pose3_retreat,0.60956778883,5.45478425425e-05,1.05002924389,0.580138518937,0.00872727684008,1.04969853539
+296,4.933333333,pose2_to_pose3_retreat,0.608924855133,5.45414153922e-05,1.05002914816,0.579495585138,0.0087272701038,1.04969844079
+297,4.950000000,pose2_to_pose3_retreat,0.608265051404,5.44749059283e-05,1.05002917461,0.57883578117,0.00872720253922,1.04969846084
+298,4.966666667,pose2_to_pose3_retreat,0.607582097551,5.45612491368e-05,1.05002918831,0.578152827477,0.0087272896269,1.04969847936
+299,4.983333333,pose2_to_pose3_retreat,0.606873660512,5.46081707878e-05,1.0500292937,0.577444390846,0.0087273379683,1.04969858569
+300,5.000000000,pose2_to_pose3_retreat,0.606145793434,5.46840111755e-05,1.05002940584,0.576716522527,0.00872740951605,1.0496986956
+301,5.016666667,pose2_to_pose3_retreat,0.605401238704,5.44889523293e-05,1.05002937075,0.575971969751,0.00872722096617,1.04969865738
+302,5.033333333,pose2_to_pose3_retreat,0.604630703233,5.44331469503e-05,1.05002917391,0.575201435363,0.00872716892151,1.04969846222
+303,5.050000000,pose2_to_pose3_retreat,0.603840749978,5.46093717248e-05,1.05002911443,0.574411480082,0.00872733849542,1.04969840626
+304,5.066666667,pose2_to_pose3_retreat,0.603036270048,5.44691163608e-05,1.05002890826,0.573607002071,0.00872720491245,1.04969820542
+305,5.083333333,pose2_to_pose3_retreat,0.602218185961,5.46173268455e-05,1.05002902839,0.572788915576,0.00872734471436,1.04969832148
+306,5.100000000,pose2_to_pose3_retreat,0.601390031072,5.45350764705e-05,1.05002901721,0.571960763172,0.00872727098305,1.04969831197
+307,5.116666667,pose2_to_pose3_retreat,0.600560409721,5.45645315677e-05,1.05002905359,0.571131139746,0.00872729312276,1.0496983411
+308,5.133333333,pose2_to_pose3_retreat,0.599728975518,5.45005312466e-05,1.05002903676,0.570299706041,0.00872723101533,1.04969832935
+309,5.150000000,pose2_to_pose3_retreat,0.59889784288,5.46906301423e-05,1.05002903523,0.569468571717,0.00872741550211,1.04969832949
+310,5.166666667,pose2_to_pose3_retreat,0.598061049019,5.45451815256e-05,1.05002917524,0.568631778875,0.00872727333022,1.04969846486
+311,5.183333333,pose2_to_pose3_retreat,0.597215957338,5.44625186169e-05,1.05002925467,0.567786686957,0.00872718996447,1.04969854698
+312,5.200000000,pose2_to_pose3_retreat,0.596358730212,5.44526628768e-05,1.05002918677,0.566929461961,0.00872718705437,1.04969847263
+313,5.216666667,pose2_to_pose3_retreat,0.595488132316,5.45606404884e-05,1.05002911929,0.566058862715,0.00872729073931,1.04969841281
+314,5.233333333,pose2_to_pose3_retreat,0.594620363678,5.46623690007e-05,1.05002893512,0.56519109366,0.00872739094872,1.04969822583
+315,5.250000000,pose2_to_pose3_retreat,0.593759824944,5.45755429952e-05,1.05002909834,0.564330553057,0.00872729761275,1.04969838464
+316,5.266666667,pose2_to_pose3_retreat,0.592911241009,5.44878304448e-05,1.05002937615,0.563481970971,0.00872721626627,1.04969866478
+317,5.283333333,pose2_to_pose3_retreat,0.592088370144,5.47177306607e-05,1.05002908852,0.562659099889,0.00872744608674,1.04969839425
+318,5.300000000,pose2_to_pose3_retreat,0.591291051326,5.47090690387e-05,1.05002899625,0.561861780513,0.00872743549204,1.04969830064
+319,5.316666667,pose2_to_pose3_retreat,0.59050411686,5.47098842336e-05,1.05002916644,0.561074844345,0.00872742991361,1.04969845432
+320,5.333333333,pose2_to_pose3_retreat,0.589724762648,5.45004290787e-05,1.05002928509,0.560295494151,0.00872723416012,1.04969857413
+321,5.350000000,pose2_to_pose3_retreat,0.588946835343,5.4584878818e-05,1.05002889078,0.559517565362,0.00872731400976,1.04969819091
+322,5.366666667,pose2_to_pose3_retreat,0.588170999361,5.44394408324e-05,1.05002902627,0.558741730585,0.00872717237538,1.04969831878
+323,5.383333333,pose2_to_pose3_retreat,0.587398182863,5.45254760899e-05,1.05002904319,0.557968912016,0.00872725136794,1.0496983353
+324,5.400000000,pose2_to_pose3_retreat,0.586645535536,5.4598007855e-05,1.05002927318,0.557216265891,0.00872732798774,1.04969856553
+325,5.416666667,pose2_to_pose3_retreat,0.585920029495,5.46605245255e-05,1.05002913192,0.556490758492,0.00872738614807,1.04969843082
+326,5.433333333,pose2_to_pose3_retreat,0.58523069048,5.45011284436e-05,1.05002913355,0.555801423484,0.00872724023855,1.04969842958
+327,5.450000000,pose2_to_pose3_retreat,0.584576464972,5.45375716995e-05,1.05002914014,0.55514719621,0.00872727057544,1.04969843467
+328,5.466666667,pose2_to_pose3_retreat,0.583956409931,5.45340205327e-05,1.05002939945,0.554527142621,0.00872727159814,1.04969868367
+329,5.483333333,pose2_to_pose3_retreat,0.583351661369,5.45857735857e-05,1.05002922468,0.553922390257,0.00872731043284,1.04969850817
+330,5.500000000,pose2_to_pose3_retreat,0.58275848369,5.47456237628e-05,1.05002919486,0.553329211058,0.00872746512733,1.04969847908
+331,5.516666667,pose2_to_pose3_retreat,0.58218477727,5.44971811089e-05,1.05002927932,0.552755508195,0.00872722880288,1.04969856484
+332,5.533333333,pose2_to_pose3_retreat,0.581633160285,5.44964752698e-05,1.05002928204,0.552203890418,0.00872722561786,1.04969857307
+333,5.550000000,pose2_to_pose3_retreat,0.581108992505,5.45310634832e-05,1.0500291479,0.551679722115,0.00872725872947,1.0496984467
+334,5.566666667,pose2_to_pose3_retreat,0.580611190891,5.45338706377e-05,1.05002914268,0.551181922769,0.00872726902631,1.04969843619
+335,5.583333333,pose2_to_pose3_retreat,0.580139791385,5.45556520945e-05,1.0500291795,0.550710523438,0.00872729115052,1.04969846576
+336,5.600000000,pose2_to_pose3_retreat,0.579686267977,5.45537968852e-05,1.050029179,0.550256997941,0.00872728221931,1.04969846558
+337,5.616666667,pose2_to_pose3_retreat,0.579250126408,5.44329805343e-05,1.05002905699,0.549820858949,0.00872717034495,1.04969834881
+338,5.633333333,pose2_to_pose3_retreat,0.578849140663,5.4372358558e-05,1.05002915648,0.549419874595,0.00872711427132,1.04969844408
+339,5.650000000,pose2_to_pose3_retreat,0.578483269299,5.46128040663e-05,1.05002895551,0.549054000532,0.00872734566794,1.049698246
+340,5.666666667,pose2_to_pose3_retreat,0.578154542351,5.44806961752e-05,1.05002894537,0.5487252737,0.00872721373671,1.04969823017
+341,5.683333333,pose2_to_pose3_retreat,0.577861381107,5.45616139739e-05,1.05002923622,0.548432112305,0.00872729408618,1.04969851978
+342,5.700000000,pose2_to_pose3_retreat,0.577604666427,5.45317503479e-05,1.0500292456,0.548175396448,0.00872726009646,1.0496985256
+343,5.716666667,pose2_to_pose3_retreat,0.577363544421,5.46197089546e-05,1.05002915428,0.547934274378,0.00872734833239,1.04969844712
+344,5.733333333,pose2_to_pose3_retreat,0.577137293398,5.45705056298e-05,1.05002914297,0.547708024178,0.00872730199114,1.04969843775
+345,5.750000000,pose2_to_pose3_retreat,0.576929257071,5.45270447615e-05,1.05002923945,0.547499987958,0.00872725858446,1.04969852618
+346,5.766666667,pose2_to_pose3_retreat,0.57673840681,5.46025657734e-05,1.05002915864,0.547309137133,0.00872733241656,1.04969845119
+347,5.783333333,pose2_to_pose3_retreat,0.576565889796,5.45958935052e-05,1.0500290673,0.54713662038,0.00872732682219,1.04969836482
+348,5.800000000,pose2_to_pose3_retreat,0.576414466134,5.45923308977e-05,1.05002913007,0.54698519801,0.00872732768144,1.04969842861
+349,5.816666667,pose2_to_pose3_retreat,0.576285163971,5.45957055791e-05,1.05002914318,0.546855895718,0.00872733050434,1.0496984388
+350,5.833333333,pose2_to_pose3_retreat,0.57617343918,5.4607341459e-05,1.05002925267,0.546744169756,0.00872733757325,1.04969853402
+351,5.850000000,pose2_to_pose3_retreat,0.576077572843,5.46348433122e-05,1.05002924798,0.546648303667,0.00872736578471,1.04969852694
+352,5.866666667,pose2_to_pose3_retreat,0.575997786789,5.45441990739e-05,1.05002909447,0.546568518317,0.00872727790249,1.04969838175
+353,5.883333333,pose2_to_pose3_retreat,0.575930444277,5.45058710149e-05,1.05002919364,0.546501176297,0.00872724136315,1.04969848385
+354,5.900000000,pose2_to_pose3_retreat,0.575874503718,5.45462482623e-05,1.05002933852,0.546445234353,0.00872727676069,1.04969862139
+355,5.916666667,pose2_to_pose3_retreat,0.575829068582,5.43923548562e-05,1.05002934048,0.546399799978,0.00872712561084,1.04969862767
+356,5.933333333,pose2_to_pose3_retreat,0.575793886412,5.4507296997e-05,1.05002902938,0.546364617742,0.00872724038792,1.04969831828
+357,5.950000000,pose2_to_pose3_retreat,0.575767217122,5.45800065112e-05,1.05002893621,0.546337947741,0.00872731080494,1.0496982283
+358,5.966666667,pose2_to_pose3_retreat,0.575747989339,5.46978610537e-05,1.05002928602,0.546318718892,0.00872742482363,1.04969857261
+359,5.983333333,pose2_to_pose3_retreat,0.575735037042,5.48063059506e-05,1.05002908491,0.546305765402,0.00872752943879,1.04969837661
+360,6.000000000,pose2_to_pose3_retreat,0.575726543076,5.46071111659e-05,1.05002924016,0.546297273164,0.00872733601876,1.04969852937
+361,6.016666667,pose2_to_pose3_retreat,0.575721716732,5.44150537398e-05,1.05002940981,0.546292448549,0.00872714970254,1.0496986959
+362,6.033333333,pose2_to_pose3_retreat,0.575718529215,5.44057172027e-05,1.05002921756,0.546289261422,0.00872714179358,1.04969850621
+363,6.050000000,pose2_to_pose3_retreat,0.575716635491,5.440017031e-05,1.05002910335,0.546287367931,0.00872713709481,1.04969839351
+364,6.066666667,pose2_to_pose3_retreat,0.575715744677,5.43975610297e-05,1.05002904962,0.546286477226,0.0087271348845,1.0496983405
+365,6.083333333,pose2_to_pose3_retreat,0.57571528561,5.43975882486e-05,1.05002902513,0.546286018197,0.00872713504991,1.04969831631
+366,6.100000000,pose2_to_pose3_retreat,0.575714748136,5.44197200527e-05,1.05002904798,0.546285480458,0.00872715625772,1.04969833845
+367,6.116666667,pose2_to_pose3_retreat,0.57571435631,5.44358544191e-05,1.05002906463,0.54628508844,0.00872717171848,1.0496983546
+368,6.133333333,pose2_to_pose3_retreat,0.575714228147,5.44411318737e-05,1.05002907007,0.546284960213,0.0087271767756,1.04969835987
+369,6.150000000,pose2_to_pose3_retreat,0.575713964433,5.44519908932e-05,1.05002908128,0.54628469637,0.00872718718126,1.04969837074
+370,6.166666667,pose2_to_pose3_retreat,0.575713864849,5.44560915079e-05,1.05002908551,0.546284596737,0.00872719111068,1.04969837484
+371,6.183333333,pose2_to_pose3_retreat,0.575713446744,5.44733080256e-05,1.05002910328,0.546284178426,0.00872720760841,1.04969839207
+372,6.200000000,pose2_to_pose3_retreat,0.575713182578,5.44841856889e-05,1.05002911451,0.54628391413,0.00872721803193,1.04969840295
+373,6.216666667,pose2_to_pose3_retreat,0.575712967971,5.44930226387e-05,1.05002912363,0.546283699418,0.00872722649994,1.04969841179
+374,6.233333333,pose2_to_pose3_retreat,0.575712445209,5.451454863e-05,1.05002914585,0.546283176398,0.00872724712723,1.04969843332
+375,6.250000000,pose2_to_pose3_retreat,0.575711690994,5.45490738692e-05,1.05002917378,0.54628242175,0.00872728015368,1.04969846054
+376,6.266666667,pose2_to_pose3_retreat,0.575711139017,5.45950163682e-05,1.05002916966,0.546281869082,0.00872732379416,1.04969845748
+377,6.283333333,pose2_to_pose3_retreat,0.575710827635,5.4620933491e-05,1.05002916733,0.546281557311,0.00872734841267,1.04969845576
+378,6.300000000,pose2_to_pose3_retreat,0.57571079829,5.46233759178e-05,1.05002916711,0.54628152793,0.00872735073272,1.0496984556
+379,6.316666667,pose2_to_pose3_retreat,0.575710627265,5.46376107896e-05,1.05002916584,0.54628135669,0.00872736425433,1.04969845465
+380,6.333333333,pose2_to_pose3_retreat,0.575710337796,5.46617040158e-05,1.05002916368,0.54628106686,0.00872738714034,1.04969845305
+381,6.350000000,pose2_to_pose3_retreat,0.575710300322,5.46648230175e-05,1.0500291634,0.546281029339,0.00872739010306,1.04969845284
+382,6.366666667,pose2_to_pose3_retreat,0.575710179825,5.46748522882e-05,1.0500291625,0.546280908692,0.0087273996298,1.04969845217
+383,6.383333333,pose2_to_pose3_retreat,0.575710146592,5.46776183563e-05,1.05002916225,0.546280875417,0.00872740225727,1.04969845199
+384,6.400000000,pose2_to_pose3_retreat,0.575709993174,5.46903877697e-05,1.0500291611,0.546280721807,0.00872741438685,1.04969845114
+385,6.416666667,pose2_to_pose3_retreat,0.575709682871,5.46522854074e-05,1.05002922326,0.546280411741,0.00872737702506,1.04969851157
+386,6.433333333,pose2_to_pose3_retreat,0.575709417447,5.46187869095e-05,1.05002927734,0.546280146529,0.00872734418889,1.04969856414
+387,6.450000000,pose2_to_pose3_retreat,0.575709325229,5.46095274355e-05,1.05002928522,0.546280054298,0.008727334869,1.04969857169
+388,6.466666667,pose2_to_pose3_retreat,0.575709267916,5.46222726609e-05,1.05002920526,0.546279996293,0.00872734531746,1.04969849304
+389,6.483333333,pose2_to_pose3_retreat,0.575709252636,5.46256706333e-05,1.05002918394,0.546279980828,0.0087273481031,1.04969847208
+390,6.500000000,pose2_to_pose3_retreat,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966304,1.04969846034
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e70e3b7b351006aec7659b70e1478a21cb56a0ac
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d229e076d08ab786e5d04dc6d42899bfe4b7d7eaed116775d7aab72fddee88f9
+size 25042083
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d78c0632e6a47a6e4b894a4e0327bc67807960b
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/franka_data.csv
@@ -0,0 +1,395 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,765,742,711,671,661,633,876,784,799,649,629,650,0.400950158431,-0.00538166102536,0.0598388442263,0.999999941559,0.000206417715999,-0.000271848003365,1.92944603751e-05,1793192655726044672
+1,0.016666667,BASELINE,764.426512413,742,711,671,661,633,875.426512413,784,799,649,629,650,0.400951170654,-0.0053825153228,0.0598389256408,0.999999941833,0.000205805465097,-0.000271304804379,1.92893206332e-05,1793192655742711296
+2,0.033333333,BASELINE,764,742,711,671,661,633,875.151458983,783.848541017,799,649,629,650.151458983,0.400951914369,-0.00538309136778,0.059839178463,0.999999942017,0.00020579050485,-0.000270627913413,1.93863815117e-05,1793192655759377920
+3,0.050000000,BASELINE,764,742,711,671,661,633,875.742442243,783.257557757,799,649,629,650.742442243,0.400951878891,-0.00538285994212,0.0598399286995,0.999999941942,0.000207508843718,-0.00026956305675,1.97800220484e-05,1793192655776044544
+4,0.066666667,BASELINE,764,742,711,671,661,633,876,783.326812057,799,649,629,651,0.400952311066,-0.00538216822319,0.0598401906462,0.999999941984,0.00020833109043,-0.000268775233611,1.97450998234e-05,1793192655792710912
+5,0.083333333,BASELINE,764,742,711,671,661,633,876,783.906073216,799,649,629,651,0.400953104484,-0.00538112094634,0.0598400754087,0.999999942118,0.000208461142076,-0.000268201407732,1.93791301674e-05,1793192655809377280
+6,0.100000000,BASELINE,764,742,711.484878691,671,661,633,876,783.515121309,799.484878691,649,629,651,0.400950711621,-0.00538178148599,0.0598386736387,0.999999941586,0.00020752282469,-0.000270894687229,1.94487162488e-05,1793192655826044160
+7,0.116666667,BASELINE,764,742,712,671,661,633,876,783,799.936386923,649,628.936386923,650.936386923,0.400948254969,-0.00538245451334,0.059837303914,0.999999940963,0.000206882254902,-0.00027366008497,1.9576384277e-05,1793192655842710784
+8,0.133333333,BASELINE,764,742,712,671,661,633,876,783,799.357514002,649,628.357514002,650.357514002,0.400950276366,-0.00538055155972,0.0598382104883,0.999999940729,0.000210328160606,-0.000271888201472,1.94917443017e-05,1793192655859377664
+9,0.150000000,BASELINE,764,742,711.776743971,671,661,633,876,783.223256029,799,649,628,650.223256029,0.400951170341,-0.00537977957552,0.0598384882687,0.99999994056,0.000211932325174,-0.000271265032031,1.9485195445e-05,1793192655876044544
+10,0.166666667,BASELINE,764,742,711.192909997,671,661,633,876,783.807090003,799,649,628,650.807090003,0.400950243432,-0.00538083420567,0.059837750492,0.999999940512,0.000210561916951,-0.00027249713609,1.96047705594e-05,1793192655892711168
+11,0.183333333,BASELINE,764,742,711.388296652,671,661,632.611703348,876,784.388296652,799,649,628.388296652,651,0.400950323211,-0.00538117233876,0.0598379995935,0.999999940714,0.000209759284013,-0.000272378268461,1.9583039729e-05,1793192655909377536
+12,0.200000000,BASELINE,764,742,711.968206842,671,661,632.031793158,876,784.968206842,799,649,628.968206842,651,0.400950899761,-0.0053811569007,0.0598387356917,0.999999941039,0.000209236832174,-0.000271592734195,1.94915783771e-05,1793192655926044160
+13,0.216666667,BASELINE,764.5438816,742,711.4561184,671,661,632.5438816,876.5438816,783.912236801,799,649,628.4561184,650.4561184,0.400951455965,-0.0053812720437,0.0598394547937,0.99999994149,0.000208438436648,-0.000270541664498,1.94900289339e-05,1793192655942710784
+14,0.233333333,BASELINE,764.878413906,742,711,671,661,633,876.878413906,783,799,649,628.121586094,650.121586094,0.400951680184,-0.0053814910453,0.059839730247,0.999999941782,0.0002076155945,-0.000270097018816,1.94815911195e-05,1793192655959377408
+15,0.250000000,BASELINE,764.292010469,742,711,671,661,633,876.292010469,783,799,649,628.707989531,650.707989531,0.400950639754,-0.00538207813701,0.0598383134238,0.999999941436,0.000206760483784,-0.000272029582263,1.94268816763e-05,1793192655976044032
+16,0.266666667,BASELINE,764,742,711,671,661,633,876,783.292453413,799,649,629,651,0.400950424376,-0.00538291576174,0.0598382322961,0.999999941696,0.000205522884375,-0.000272013887469,1.9393053193e-05,1793192655992710912
+17,0.283333333,BASELINE,764,742,711,671,661,633,876,783.874993403,799,649,629,651,0.400951027374,-0.0053840018919,0.0598394760543,0.999999942556,0.000203905891821,-0.000270065701646,1.93799366827e-05,1793192656009377536
+18,0.300000000,BASELINE,764,742,711,671,661,633,876,783.549245938,799,649,629,651,0.400951568736,-0.00538396129004,0.0598398957177,0.999999942679,0.000204108960969,-0.000269451509912,1.9448392422e-05,1793192656026044160
+19,0.316666667,BASELINE,764,742,711,671,661,633,876,783.02468084,799,649,628.97531916,651,0.400952011959,-0.00538363540183,0.0598400354794,0.999999942583,0.000204773631971,-0.000269297509943,1.95327335276e-05,1793192656042710784
+20,0.333333333,BASELINE,764,742,711,671,661,633,876,783.599016597,799,649,628.400983403,651,0.400950644612,-0.00538381188539,0.0598389560737,0.999999942076,0.000204643853611,-0.000271275240344,1.94745058999e-05,1793192656059377408
+21,0.350000000,BASELINE,764,742,711.178204977,671,661,633,876,783.821795023,799,649,628.178204977,650.821795023,0.40094982058,-0.00538388442361,0.0598382190757,0.999999941774,0.000204731454933,-0.000272328819995,1.93446758171e-05,1793192656076044032
+22,0.366666667,BASELINE,764,742,711.768617934,671,661,633,876,783.231382066,799,649,628.768617934,650.231382066,0.400950253298,-0.00538371652464,0.0598382741047,0.999999941953,0.000205321879718,-0.000271244735655,1.90492212804e-05,1793192656092710656
+23,0.383333333,BASELINE,764,742,711.647005807,671,661,633,876.352994193,783,799,649,628.647005807,650.352994193,0.400949789115,-0.00538406843181,0.0598381094557,0.999999941798,0.00020567464246,-0.000271536937232,1.92067284927e-05,1793192656109377280
+24,0.400000000,BASELINE,764,742,711.06651992,671,661,633,876.93348008,783,799,649,628.06651992,650.93348008,0.400948746912,-0.00538475533479,0.0598378032325,0.999999941428,0.000205874240867,-0.000272716104048,1.96561527618e-05,1793192656126043904
+25,0.416666667,BASELINE,764,742,711,671,661,633,875.985324385,783.507337808,799,649,628.507337808,650.492662192,0.400949527529,-0.00538380876213,0.0598381432533,0.999999941823,0.000205206798833,-0.000271781147786,1.94584470055e-05,1793192656142710784
+26,0.433333333,BASELINE,763.918020036,742,711,670.918020036,661,633,875.081979964,783.918020036,799,649,628.918020036,650,0.400950535715,-0.00538263363171,0.0598386208537,0.999999942219,0.00020491521455,-0.000270558264604,1.92208183764e-05,1793192656159377664
+27,0.450000000,BASELINE,763.333306542,742,711,670.333306542,661,633,875.666693458,783.333306542,799,649,628.333306542,650,0.400951492699,-0.00538135335736,0.0598394292332,0.999999942015,0.000207616694045,-0.000269247644379,1.92519833747e-05,1793192656176044288
+28,0.466666667,BASELINE,763.250260262,742,711,670.250260262,661,633,876,783,799.250260262,649,628,650,0.400951672494,-0.00538092126615,0.0598397126131,0.999999941908,0.000208315565605,-0.000269114493387,1.91557065742e-05,1793192656192710912
+29,0.483333333,BASELINE,763.832306789,742,711,670.832306789,661,633,876,783,799.832306789,649,628,650,0.40095082192,-0.00538161366643,0.0598392999667,0.999999941933,0.000206359449743,-0.000270542389824,1.88904719115e-05,1793192656209377536
+30,0.500000000,BASELINE,764,742,711.413108555,671,661,633,875.586891445,783.413108555,799.586891445,649,628.413108555,650.413108555,0.40095047279,-0.00538257301054,0.0598389214372,0.999999942098,0.000205183232821,-0.000270824168018,1.89095365879e-05,1793192656226044160
+31,0.516666667,BASELINE,764,742,711.993406538,671,661,633,875.006593462,783.993406538,799.006593462,649,628.993406538,650.993406538,0.4009503266,-0.00538364038962,0.0598385567151,0.999999942321,0.000204322649345,-0.000270642099927,1.90436602384e-05,1793192656242710784
+32,0.533333333,BASELINE,764,742,712,671,661,633,875.568699098,784,799,649,628.431300902,650.431300902,0.400950494641,-0.00538426244244,0.0598389474478,0.999999942298,0.000204322413007,-0.000270698439752,1.94719766488e-05,1793192656259377408
+33,0.550000000,BASELINE,764,742,712,671,661,633,875.853394769,784,799,649,628.146605231,650,0.400950752368,-0.00538438483318,0.059839373698,0.99999994231,0.000204524254389,-0.000270483718196,1.97290356115e-05,1793192656276044032
+34,0.566666667,BASELINE,764,742,712,671,661,633,875.267484747,784,799,649,628.732515253,650,0.400951268021,-0.00538302531507,0.0598398803605,0.999999942435,0.000205301995826,-0.000269448546738,1.94627874664e-05,1793192656292710656
+35,0.583333333,BASELINE,764,742,711.685048488,670.685048488,661.314951512,633,875.314951512,783.685048488,799,649,629,650,0.40095159499,-0.00538291756139,0.0598402490079,0.999999942578,0.000205530816446,-0.000268732994166,1.95899664305e-05,1793192656309377536
+36,0.600000000,BASELINE,764,742,711.105530207,670.105530207,661.894469793,633,875.894469793,783.105530207,799,649,629,650,0.40095176346,-0.00538386131948,0.0598405017193,0.999999942737,0.000205298530597,-0.000268285928954,2.00476335035e-05,1793192656326044160
+37,0.616666667,BASELINE,764,742,710.528534229,670.942931542,661.528534229,633,875.528534229,783.471465771,799,649,629,650.471465771,0.400951100155,-0.00538525092741,0.0598400856129,0.999999943138,0.000202757917955,-0.000268737692831,1.98155515418e-05,1793192656342710784
+38,0.633333333,BASELINE,764,742,710.047776906,671.952223094,661.047776906,633,875,783.952223094,799,649,629,651,0.400950257063,-0.00538644156335,0.0598394987141,0.999999943468,0.000200238280059,-0.000269426799696,1.9430797317e-05,1793192656359377408
+39,0.650000000,BASELINE,764,742,710.622728285,671.377271715,661.622728285,633,875,783.377271715,799,649,629,651,0.400949473564,-0.00538434142338,0.0598386703366,0.999999942495,0.000203620859981,-0.000270526649006,1.90559254804e-05,1793192656376044032
+40,0.666666667,BASELINE,764,742,711,671,661.797269272,632.797269272,875,783,799,649,629,651,0.400949943059,-0.00538355591546,0.0598388564776,0.999999942372,0.000204831893623,-0.000270073311619,1.89861692809e-05,1793192656392710656
+41,0.683333333,BASELINE,764,742,711,671,661.207626906,632.207626906,875,783,799,649,629,651,0.400952803895,-0.00538527938321,0.0598409788277,0.999999943876,0.000201898530538,-0.000266655717035,1.94987263611e-05,1793192656409377280
+42,0.700000000,BASELINE,764,742,711.376602168,671,661,632.376602168,875.376602168,783,799,649,628.623397832,651,0.400953354539,-0.00538518566483,0.0598415988859,0.999999944053,0.00020203371089,-0.000265873526862,1.9704082868e-05,1793192656426043904
+43,0.716666667,BASELINE,764,742,711.957889078,671,661,632.957889078,875.957889078,783,799,649,628.042110922,651,0.400952649584,-0.00538410429867,0.0598414024428,0.999999943513,0.000203836656624,-0.000266523689343,1.97424746525e-05,1793192656442710528
+44,0.733333333,BASELINE,763.468436587,742,711.468436587,671,661,633,875.468436587,783,799,649,628,651,0.400952783275,-0.00538371124516,0.0598412093102,0.999999943643,0.000203751445552,-0.000266112322103,1.95761760686e-05,1793192656459377408
+45,0.750000000,BASELINE,763.106940383,742,711,671,661,633,875,783.106940383,799,649,628.106940383,651,0.40095264454,-0.00538351944661,0.0598407945341,0.999999943643,0.000203691812651,-0.000266170589806,1.9407060769e-05,1793192656476044032
+46,0.766666667,BASELINE,763.692600603,742,711,671,661,633,875,783.692600603,799,649,628.692600603,651,0.400950993067,-0.00538398791612,0.0598393864105,0.999999942822,0.000204406829782,-0.000268702322356,1.92969015678e-05,1793192656492710912
+47,0.783333333,BASELINE,764,742,711.275970876,671,661,633,875,783.724029124,799,649,629,650.724029124,0.400950767626,-0.00538390342595,0.0598388912323,0.999999942537,0.000204561501076,-0.000269650304236,1.92323861256e-05,1793192656509377792
+48,0.800000000,BASELINE,764,742,711.856811479,671,661,633,875,783.143188521,799,649,629,650.143188521,0.400952117545,-0.00538320807187,0.0598394046002,0.999999942848,0.000204097148867,-0.000268848690089,1.92182941077e-05,1793192656526044416
+49,0.816666667,BASELINE,764,742,712,671,661,633,875.434093247,783,799.434093247,649,628.565906753,650.434093247,0.400952153869,-0.00538289682189,0.0598399765841,0.999999943081,0.000203603455603,-0.000268369763669,1.90054237087e-05,1793192656542710784
+50,0.833333333,BASELINE,764,742,712,671,661,633,876,783.010171267,799.989828733,649,628,651,0.400951754383,-0.00538272289131,0.059840537045,0.999999943276,0.000203124338035,-0.000268025410482,1.87366022778e-05,1793192656559377408
+51,0.850000000,BASELINE,764,742,712,671,661,633,876,783.584068197,799.415931803,649,628,651,0.400951020347,-0.00538319466411,0.0598393959864,0.999999942757,0.000203985096837,-0.000269288227685,1.89712538542e-05,1793192656576044288
+52,0.866666667,BASELINE,764,742,712,671.163487303,661,633,876,784,799,649,628.163487303,650.836512697,0.400950639478,-0.00538360334071,0.059838812825,0.999999942554,0.000204096422022,-0.000269943703717,1.91332517596e-05,1793192656592711168
+53,0.883333333,BASELINE,764,742,712,671.757446602,661,633,876,784,799,649,628.757446602,650.242553398,0.400951188518,-0.00538384588118,0.0598396986411,0.999999943188,0.000202234442952,-0.000269000013499,1.91039481242e-05,1793192656609377792
+54,0.900000000,BASELINE,764,742.342431359,711.657568641,671.657568641,661,633,875.657568641,783.657568641,799,649,628.657568641,650,0.40095129178,-0.00538393298555,0.0598399342505,0.99999994323,0.000202299658063,-0.000268782410783,1.92592228559e-05,1793192656626044160
+55,0.916666667,BASELINE,764,742.921221531,711.078778469,671.078778469,661,633,875.078778469,783.078778469,799,649,628.078778469,650,0.400951087348,-0.00538391280215,0.0598397210631,0.999999942865,0.000203695094087,-0.000269065980607,1.95419004176e-05,1793192656642710528
+56,0.933333333,BASELINE,764,742.503895001,711,671,661,633,875.496104999,783.496104999,799,649,628.496104999,650.496104999,0.400950674777,-0.0053841193046,0.0598395312857,0.999999942617,0.000203696532268,-0.000269982451728,1.95506277287e-05,1793192656659377408
+57,0.950000000,BASELINE,764,742,711,671,661,633,875.927772562,783.927772562,799,649,628.927772562,651,0.400950423702,-0.00538425963764,0.059839431106,0.99999994244,0.000203683079208,-0.000270653613743,1.95014950112e-05,1793192656676044032
+58,0.966666667,BASELINE,764,742,711,671,661,633,875.33837165,783.33837165,799,649,628.33837165,651,0.4009515638,-0.00538367044234,0.0598399460673,0.999999942631,0.000205135618759,-0.000268854278442,1.93471175615e-05,1793192656692710656
+59,0.983333333,BASELINE,763.753482834,742,711.246517166,671,661,632.753482834,875.246517166,783,799,649,628.246517166,650.753482834,0.400951903372,-0.00538364060774,0.059840036909,0.999999942787,0.000205296687603,-0.000268158627427,1.92235028223e-05,1793192656709377536
+60,1.000000000,BASELINE,763.174675959,742,711.825324041,671,661,632.174675959,875.825324041,783,799,649,628.825324041,650.174675959,0.400951163884,-0.00538436475628,0.0598395560643,0.999999942899,0.000203716934968,-0.000268950673499,1.91413542694e-05,1793192656726044160
+61,1.016666667,BASELINE,763.400745172,742,711.599254828,671.400745172,661,632.400745172,876,783.400745172,799,649,629,650.400745172,0.400950114063,-0.00538455809608,0.0598391556096,0.999999942732,0.000203267522667,-0.000269905459801,1.92214050164e-05,1793192656742711040
+62,1.033333333,BASELINE,763.97470286,742,711.02529714,671.97470286,661,632.97470286,876,783.97470286,799,649,629,650.97470286,0.400948930108,-0.00538452200645,0.0598387899017,0.999999942444,0.000203306673039,-0.000270930586628,1.93715625367e-05,1793192656759377664
+63,1.050000000,BASELINE,764,742,711,671.449631346,661,633,876,783.449631346,799,649,629,650.449631346,0.400949175083,-0.00538417342786,0.0598391632316,0.999999942079,0.000205745088565,-0.000270413011594,1.96741914631e-05,1793192656776044288
+64,1.066666667,BASELINE,764,742,711,671,661,633,876,783,799.129793556,649,628.870206444,650.129793556,0.40094983822,-0.00538363823707,0.059839647104,0.999999941882,0.000207785509362,-0.000269569451635,1.98498792632e-05,1793192656792710656
+65,1.083333333,BASELINE,764,742,711,671,661,633,876,783,799.722339985,649,628.277660015,650.722339985,0.400951757335,-0.00538248908658,0.0598404036066,0.999999942311,0.000208012555136,-0.000267817255814,1.95479198396e-05,1793192656809377280
+66,1.100000000,BASELINE,764,742,711,670.692249277,661,633,875.692249277,783,799.692249277,649,628,651,0.400952136604,-0.0053824468346,0.0598406161406,0.999999942498,0.000207158062976,-0.000267804043635,1.92367563102e-05,1793192656826043904
+67,1.116666667,BASELINE,764,742,711,670.113130668,661,633,875.113130668,783,799.113130668,649,628,651,0.400951158071,-0.00538338062168,0.0598403490147,0.999999942469,0.000205349894201,-0.00026932422946,1.89174768168e-05,1793192656842710528
+68,1.133333333,BASELINE,764,742,711.462393418,670.462393418,661,633,875.462393418,783,799,649,628,650.537606582,0.400952569957,-0.00538384021419,0.0598407536559,0.999999943235,0.000203358016866,-0.000267979657686,1.90614832447e-05,1793192656859377408
+69,1.150000000,BASELINE,764,742,711.962117296,671,660.962117296,633,875.962117296,783,799.037882704,649,628.037882704,650,0.400954250089,-0.00538421503301,0.0598412202469,0.999999944079,0.000201507089862,-0.000266202710796,1.92914473602e-05,1793192656876044032
+70,1.166666667,BASELINE,764,742,711.374469292,671,660.374469292,633,875.374469292,783,799.625530708,649,628.625530708,650,0.400951401072,-0.00538503029039,0.0598402190768,0.999999943367,0.000202348928115,-0.000268244231002,1.91365885343e-05,1793192656892710912
+71,1.183333333,BASELINE,763.789642348,742,711,671,660.210357652,633,875.210357652,783,800,649,629,650.210357652,0.400950244098,-0.0053850521411,0.0598397739809,0.999999942954,0.000203350092108,-0.000269034181758,1.90078323753e-05,1793192656909377536
+72,1.200000000,BASELINE,763.209770775,742,711,671,660.790229225,633,875.790229225,783,800,649,629,650.790229225,0.400952059362,-0.00538368029503,0.059840305684,0.999999943072,0.000204631127586,-0.000267625627922,1.89249280947e-05,1793192656926044160
+73,1.216666667,BASELINE,763.368635272,742,711,671,661,633,875.631364728,783,799.631364728,649,629,651,0.400951683293,-0.00538314883904,0.0598400365765,0.999999942632,0.0002060159505,-0.000268199069637,1.90416182476e-05,1793192656942710528
+74,1.233333333,BASELINE,763.946210635,742,711,671,661,633,875.053789365,783,799.053789365,649,629,651,0.40095006519,-0.00538309371079,0.0598393135747,0.999999941873,0.000207459599386,-0.000269895893707,1.92714372409e-05,1793192656959377408
+75,1.250000000,BASELINE,764,742,711,671,661,633,875.521242632,783.521242632,799,649,629,651,0.400950141363,-0.005383752717,0.0598393405256,0.99999994212,0.00020677770764,-0.0002694972217,1.93269026858e-05,1793192656976044032
+76,1.266666667,BASELINE,764,742,711,671,661.098434009,632.901565991,876,783.901565991,799,649,629,651,0.400950611296,-0.00538425929973,0.0598397050708,0.999999942539,0.000205854424443,-0.000268649922009,1.93008401152e-05,1793192656992710656
+77,1.283333333,BASELINE,764,742,711,671,661.687695183,632.312304817,876,783.312304817,799,649,629,651,0.400952177082,-0.00538364016045,0.0598413689567,0.999999943297,0.000204815894289,-0.000266638636592,1.89575302321e-05,1793192657009377536
+78,1.300000000,BASELINE,764,742,711.272352004,671,661.727647996,632.272352004,875.727647996,783,799.272352004,648.727647996,629,651,0.40095265124,-0.00538414112843,0.0598416470382,0.999999943637,0.000203869365376,-0.000266093388011,1.89223620217e-05,1793192657026044160
+79,1.316666667,BASELINE,764,742,711.85181677,671,661.14818323,632.85181677,875.14818323,783,799.85181677,648.14818323,629,651,0.400951894446,-0.00538590516492,0.0598403624426,0.999999943507,0.000203026580052,-0.00026720128922,1.92346641621e-05,1793192657042711040
+80,1.333333333,BASELINE,764,742,711.571093991,671,661,633,875.428906009,783,799.571093991,648.428906009,629,650.571093991,0.40095207325,-0.00538592610428,0.0598407983892,0.999999943666,0.000202583235301,-0.000266932621246,1.93475211113e-05,1793192657059377664
+81,1.350000000,BASELINE,764,742,711.005167402,671,661,633,876,783.005167402,799,649,628.994832598,650.005167402,0.400952564768,-0.00538535059322,0.0598418094758,0.999999943916,0.00020230269498,-0.000266204759504,1.93927936966e-05,1793192657076044288
+82,1.366666667,BASELINE,764,742,711.580139627,671,661,633,876,783.580139627,799,649,628.419860373,650.580139627,0.400952091723,-0.0053850460312,0.0598410542518,0.999999943186,0.000204840787816,-0.000266996314336,1.95420102822e-05,1793192657092710912
+83,1.383333333,BASELINE,764,742,711.840652681,671,661,632.840652681,875.840652681,783.840652681,799,649,628.159347319,650.840652681,0.400952042803,-0.00538489425054,0.0598408187719,0.999999942837,0.00020624207033,-0.000267215418835,1.9625154475e-05,1793192657109377280
+84,1.400000000,BASELINE,764,742,711.249980198,671,661,632.249980198,875.249980198,783.249980198,799,649,628.750019802,650.249980198,0.400953141915,-0.00538515602209,0.0598419901481,0.999999943538,0.000204566207837,-0.000265885001149,1.95294523562e-05,1793192657126043904
+85,1.416666667,BASELINE,764,742,711,671,661,632.33309411,875,783,799,649,629,650,0.400951614208,-0.00538531138116,0.0598409016061,0.999999943125,0.000204276552033,-0.000267676569032,1.92390257363e-05,1793192657142710784
+86,1.433333333,BASELINE,764,742,711,671,661,632.910593284,875,783,799,649,629,650,0.400948159092,-0.00538538866092,0.0598381548678,0.999999941883,0.000205004014086,-0.000271758868224,1.88057216207e-05,1793192657159377408
+87,1.450000000,BASELINE,764,742,711,671,661,633,875.485494598,783.485494598,799,649,629,650,0.400948849785,-0.00538574387555,0.05983900327,0.999999942275,0.000204980897535,-0.000270304401868,1.91756481458e-05,1793192657176044032
+88,1.466666667,BASELINE,764,742,711,671,661,633,875.93999644,783.93999644,799,649,628.93999644,650.06000356,0.400950196281,-0.00538605391974,0.0598403318499,0.999999942889,0.00020480333249,-0.000268125420272,1.96311046534e-05,1793192657192710912
+89,1.483333333,BASELINE,764,742,711,671,661,633,875.36477036,783.36477036,799,649,628.36477036,650.63522964,0.400950653143,-0.00538553895798,0.059840128894,0.999999942874,0.000204480134081,-0.000268433837729,1.95576100356e-05,1793192657209377536
+90,1.500000000,BASELINE,764,742,711,671,661,633,875.217556699,783,799.217556699,649,628,651,0.400950965116,-0.00538484404576,0.0598401643997,0.999999942902,0.000204378382346,-0.000268419853909,1.93847117159e-05,1793192657226044160
+91,1.516666667,BASELINE,764,742,711,671,661,633,875.8121914,783,799.8121914,649,628,651,0.400951025963,-0.00538383723626,0.0598406132162,0.999999943005,0.000204660450911,-0.000267847071219,1.90395229177e-05,1793192657242710784
+92,1.533333333,BASELINE,763.606768667,742,711,671,661,633,875.606768667,783,799.606768667,649,628.393231333,651,0.400951272414,-0.00538419959658,0.0598406944882,0.999999943089,0.000204304561605,-0.000267797440758,1.91547098551e-05,1793192657259377408
+93,1.550000000,BASELINE,763.03200462,742,711,671,661,633,875.03200462,783,799.03200462,649,628.96799538,651,0.400951604549,-0.00538519402527,0.0598406060855,0.999999943164,0.000203654163178,-0.000267989320108,1.9482426258e-05,1793192657276044032
+94,1.566666667,BASELINE,763.542965585,742,711,671,661,633,875.542965585,783,799,649,629,651,0.400952083172,-0.00538483111224,0.0598410481033,0.999999942978,0.000205364351607,-0.000267374666414,1.95216773886e-05,1793192657292710656
+95,1.583333333,BASELINE,764.121417383,742,711.121417383,671,661,633,876,783.121417383,799,649,629,650.878582617,0.400952362306,-0.00538432508012,0.0598412534419,0.999999942735,0.000207034736064,-0.000266998717579,1.94539138547e-05,1793192657309377280
+96,1.600000000,BASELINE,764.713313013,742,711.713313013,671,661,633,876,783.713313013,799,649,629,650.286686987,0.400951834971,-0.00538357461468,0.0598404204818,0.999999942344,0.000208011518807,-0.000267732005508,1.90373918831e-05,1793192657326043904
+97,1.616666667,BASELINE,764.702741823,742,711.702741823,671,661,633,876,784,799.297258177,649,629,650,0.400951875213,-0.00538383545951,0.0598402485125,0.99999994243,0.000207498110673,-0.000267808483,1.90420855815e-05,1793192657342710784
+98,1.633333333,BASELINE,764.126264686,742,711.126264686,671,661,633,876,784,799.873735314,649,629,650,0.400952448589,-0.00538504624292,0.0598406974215,0.999999942962,0.000205584944354,-0.000267268008785,1.94424333559e-05,1793192657359377408
+99,1.650000000,BASELINE,764,742,711,671.449753325,661,633,875.550246675,783.550246675,799.550246675,649,628.550246675,650.449753325,0.400952870491,-0.00538455500767,0.0598417481342,0.999999943235,0.000205601545306,-0.000266234730574,1.94000810137e-05,1793192657376044288
+100,1.666666667,BASELINE,764,742,711,672,660.973763661,633,875.052472678,783,799,649,628.026236339,651,0.400953186848,-0.00538371095605,0.0598428775634,0.999999943437,0.000206009299479,-0.000265169600485,1.92465434234e-05,1793192657392710656
+101,1.683333333,BASELINE,764,742,711,672,660.384539214,633,876.230921572,783,799,649,628.615460786,651,0.400952149968,-0.0053855389946,0.0598420743959,0.999999943687,0.000203196991224,-0.000266386732264,1.93713752894e-05,1793192657409377280
+102,1.700000000,BASELINE,764,742,711,671.799112465,660.200887535,633,876.799112465,783,799,649.200887535,629,650.799112465,0.400952005637,-0.00538644158355,0.0598418753143,0.999999943954,0.00020196406383,-0.000266310023166,1.95402491693e-05,1793192657426043904
+103,1.716666667,BASELINE,764,742,711,671.220820462,660.779179538,633,876.220820462,783,799,649.779179538,629,650.220820462,0.400953538127,-0.00538560554369,0.0598428111204,0.999999944262,0.00020369829644,-0.000263802594033,1.97918641217e-05,1793192657442710528
+104,1.733333333,BASELINE,764,742,711.356137756,671,661,633,876,783.356137756,799,650,628.643862244,650,0.40095397341,-0.00538509999148,0.0598425178839,0.999999944338,0.000203434061729,-0.000263738780381,1.95159734743e-05,1793192657459377408
+105,1.750000000,BASELINE,764,742,711.932272112,671,661,633,876,783.932272112,799,650,628.067727888,650,0.400953730917,-0.00538479859099,0.0598414654324,0.999999944271,0.000201935316079,-0.000265184458495,1.89142273747e-05,1793192657476044288
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875,783,799,649,628,650,0.400950602707,-0.00538459353645,0.0598403032057,0.999999942722,0.000205624842063,-0.000268170206761,1.89520256562e-05,1793192657507322112
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,670.402061174,660.402061174,633,875.597938826,783.597938826,799,649,628,650,0.400951741591,-0.0053851222976,0.0598406952019,0.999999943417,0.000203954843728,-0.000266846356644,1.90140060125e-05,1793192657523988736
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,670.189856158,660.189856158,633,876,783.810143842,799,649,628.189856158,650,0.400952151726,-0.00538511830559,0.059840798947,0.999999943563,0.000203770703109,-0.000266426502755,1.91913819416e-05,1793192657540655360
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,670.769413795,660.769413795,633,876,783.230586205,799,649,628.769413795,650,0.400951066021,-0.00538402077693,0.0598403110243,0.999999942583,0.000206636455088,-0.000267862204275,1.96056204933e-05,1793192657557321984
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.345619683,742,711,671,661,633,875.654380317,783,799,649,629,650,0.400951292112,-0.00538520675375,0.0598407685277,0.999999942966,0.000204980193209,-0.00026768624682,1.98709820929e-05,1793192657573988608
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.919610837,742,711,671,661,633,875.080389163,783,799,649,629,650,0.400952384984,-0.00538790157846,0.0598418507303,0.999999944235,0.000200335967788,-0.000266445370386,2.00379718151e-05,1793192657590655232
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.507534922,742,711.492465078,671,661,633,875.492465078,783,799.492465078,649,628.507534922,650.492465078,0.400952461955,-0.00538680304232,0.0598415837774,0.999999943821,0.000202259268284,-0.000266579137252,1.96239168125e-05,1793192657607322368
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632.932301581,876,783,799.932301581,649,628.067698419,650.932301581,0.40095270877,-0.00538524980687,0.0598413765895,0.999999943294,0.000204913247309,-0.000266556765691,1.92206943575e-05,1793192657623988992
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632.337087149,876,783,799.337087149,649,628.662912851,650.337087149,0.400955568265,-0.00538496744109,0.0598433472415,0.999999944074,0.000204926281212,-0.00026357325354,1.96392538014e-05,1793192657640655616
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632.250222524,876,783,798.749777476,649,628.749777476,650.250222524,0.400961389122,-0.0053854741621,0.0598459838928,0.999999945215,0.000204453515294,-0.00025955370073,2.00188885416e-05,1793192657657322240
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,632.827209362,876,783,798.172790638,649,628.172790638,650.827209362,0.400971077208,-0.00538701134752,0.0598494902688,0.999999946814,0.000203346345867,-0.000254181187947,2.03476916774e-05,1793192657673988608
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,798.805052748,649,628.402526374,650.597473626,0.401003336849,-0.00538791952912,0.0598622789231,0.999999952319,0.000204133023003,-0.000230742315224,2.11859221446e-05,1793192657690655232
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799.954259194,649,628.977129597,650.022870403,0.401045245653,-0.00538855881669,0.0598790356786,0.999999958674,0.000205729304338,-0.00019958021552,2.22419287873e-05,1793192657707322112
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783.566310108,800,649.566310108,629,650.566310108,0.401108671188,-0.00539038957606,0.0598977912968,0.999999965103,0.000204086665581,-0.000166227207458,2.26132120991e-05,1793192657723988736
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.846594119,671,661,633,876,783.846594119,799.846594119,650,629,650.846594119,0.401175179739,-0.00539234773645,0.0599141144195,0.999999969634,0.000202368135199,-0.000138736514993,2.30301924938e-05,1793192657740655360
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711.266969242,671,661,633,876,783.266969242,799.266969242,650,629,650.266969242,0.401247776021,-0.00539452264439,0.0599234489554,0.999999971393,0.000200811772914,-0.000127785848562,2.36529955702e-05,1793192657757321984
+122,2.033333333,POSE1_TO_POSE2_PRESS,764.309568159,742,711,671,661,633,876,783.309568159,799,649.690431841,629,650,0.401327689011,-0.00539672979125,0.0599279347148,0.99999997237,0.000199542107276,-0.0001220471322,2.34034359067e-05,1793192657773988864
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.883469204,742,711,671,661,633,876,783.883469204,799,649.116530796,629,650,0.401413849561,-0.00539896446604,0.0599282802188,0.999999972753,0.000198517245191,-0.00012075877668,2.24089864167e-05,1793192657790655744
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.541028254,742.458971746,711.458971746,671,661,633,875.541028254,783.541028254,799,649,628.541028254,650,0.401529841599,-0.00540452266821,0.0599329443374,0.999999974857,0.000193411036838,-0.000111394394048,2.16533458309e-05,1793192657807322368
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.96422719,711.96422719,671,661,633,875.03577281,783,799.03577281,649,628.03577281,650,0.401654313575,-0.00541058156701,0.0599383093376,0.99999997714,0.000187585343647,-0.000100485966535,2.08557996727e-05,1793192657823988736
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.373614502,711.373614502,671,661,633,875.626385498,783,799.626385498,649,628.626385498,650,0.401792424233,-0.00541127263455,0.0599374790767,0.999999977638,0.000186728751702,-9.75435355325e-05,1.84645851448e-05,1793192657840655360
+127,2.116666667,POSE1_TO_POSE2_PRESS,763.78713356,742,711,671,661.21286644,633,876,783,799.78713356,649,628.78713356,650,0.401943909521,-0.00541380758422,0.0599373744312,0.999999978479,0.00018455666809,-9.3374976389e-05,1.618585695e-05,1793192657857321984
+128,2.133333333,POSE1_TO_POSE2_PRESS,763.207766469,742,711,671,661.792233531,633,876,783,799.207766469,649,628.207766469,650,0.402118422432,-0.00541951721933,0.0599385191065,0.999999979886,0.000180119650031,-8.70953437667e-05,1.41008012128e-05,1793192657873988608
+129,2.150000000,POSE1_TO_POSE2_PRESS,763.367433433,742,711,671,661.632566567,633.367433433,875.632566567,783,799,649,628.367433433,650.367433433,0.402317863011,-0.00542621390995,0.0599394035901,0.999999981528,0.000173878025189,-8.1051988719e-05,1.18970235595e-05,1793192657890655232
+130,2.166666667,POSE1_TO_POSE2_PRESS,763.940303461,742,711,671,661.059696539,633.940303461,875.059696539,783,799,649,628.940303461,650.940303461,0.402531240975,-0.00543346247609,0.0599401425974,0.999999983248,0.000166627421854,-7.51407388064e-05,9.62686681283e-06,1793192657907322112
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661.528605599,633.471394401,875.528605599,783,799,649,629,651,0.402780739591,-0.00544146340664,0.0599414689128,0.999999984926,0.000159097628195,-6.91823378605e-05,7.02113581978e-06,1793192657923988736
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671.116529723,661.883470277,633,876,783,799.116529723,649.116529723,628.883470277,650.883470277,0.403042170378,-0.00544993442433,0.0599430745672,0.999999986674,0.000150460468074,-6.32032646178e-05,4.26480687686e-06,1793192657940655360
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671.695823775,661.304176225,633,876,783,799.695823775,649.695823775,628.304176225,650.304176225,0.40333429999,-0.0054599246953,0.0599455182212,0.999999988905,0.000137554693721,-5.71638775979e-05,1.06544384896e-06,1793192657957321984
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.274148933,672,661,633,875.725851067,783.274148933,799.725851067,649.725851067,628.274148933,650.274148933,0.40363407532,-0.00546947303196,0.0599404736094,0.999999990184,0.000124424540553,-6.43660249771e-05,-2.82705663026e-06,1793192657973988608
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.851402824,672,661,633,875.148597176,783.851402824,799.148597176,649.148597176,628.851402824,650.851402824,0.403942303903,-0.00547853275593,0.0599271498094,0.99999999009,0.000111046310073,-8.62082980489e-05,-7.48590459704e-06,1793192657990655232
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671.573942067,661,633,875.426057933,784,799.426057933,649,629,650.573942067,0.404279320061,-0.00548913254122,0.0599138446229,0.999999989202,9.7558647946e-05,-0.000109229787612,-1.21025373764e-05,1793192658007321856
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671.000187859,661,633,875.999812141,784,799.999812141,649,629,650.000187859,0.404626315649,-0.00550026620047,0.0599005458893,0.99999998753,8.40330507217e-05,-0.000132660061176,-1.67045358312e-05,1793192658023988480
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.590593751,712,671,661,633,876,783.409406249,800,649.590593751,629,650.590593751,0.405031981819,-0.00551355034748,0.059893323733,0.999999986743,6.64107179242e-05,-0.000147161250649,-2.11253944481e-05,1793192658040655360
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.822563016,711.822563016,671,661,633,876,783,799.822563016,649.822563016,629,651,0.40546147659,-0.00552783880798,0.0598942695674,0.999999988521,2.25021826789e-05,-0.000147787105921,-2.473069972e-05,1793192658057322240
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.244622002,711.244622002,671,661,633,876,783,799.244622002,649.244622002,629,651,0.405944712945,-0.00554439257518,0.0599136473886,0.999999989534,-8.07355408222e-05,-0.000117100681353,-2.64953020784e-05,1793192658073989120
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,671.332151736,661,633,876,783,799.664303471,649,628.667848264,650.667848264,0.406461722054,-0.00554993676406,0.0599413605636,0.999999990059,-0.000119537134713,-6.95203330163e-05,-2.75822395467e-05,1793192658090655744
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,671.908068872,661,633,876,783,800.816137744,649,628.091931128,650.091931128,0.40700351696,-0.00554740105028,0.0599751910375,0.999999993392,-0.00011104921126,-9.54156982579e-06,-2.81718405671e-05,1793192658107322112
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.506191086,742,711,671.506191086,661,633,876,783,800.012382172,649,628,650.493808914,0.407553299823,-0.00553192900442,0.0599895304641,0.999999996304,-7.95920354642e-05,7.07516513887e-06,-3.17320082292e-05,1793192658123988736
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.080295772,742,711.080295772,671,661,633,876.080295772,783,799,649,628.080295772,650.919704228,0.408104833286,-0.00551687381539,0.0599963350909,0.999999998519,-4.19219775503e-05,8.89398612621e-06,-3.35536702336e-05,1793192658140655104
+145,2.416666667,POSE1_TO_POSE2_PRESS,763.659825538,742,711.659825538,671,661,633,876.659825538,783,799,649,628.659825538,650.340174462,0.408657817655,-0.00551968790442,0.0599793110402,0.9999999993,7.25015876965e-06,-3.00827679355e-05,-2.10581132449e-05,1793192658157321984
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.761940281,783,799,649,629,650,0.409237290482,-0.00552411554042,0.0599673718584,0.999999997897,2.49260647399e-05,-5.76612041778e-05,-1.60944833468e-05,1793192658173988608
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.185547435,783,799,649,629,650,0.409854408967,-0.00553083636719,0.0599626593497,0.999999997376,-2.1608258584e-06,-6.90402218691e-05,-2.18353130186e-05,1793192658190655488
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711.609997912,671,661,633,876,783,799,649.390002088,628.609997912,650,0.410513586727,-0.00553544122398,0.0599671268212,0.999999997994,-2.54318497024e-05,-5.20388039478e-05,-2.56531639153e-05,1793192658207322112
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.034848758,671,661,633,876,783,799,649.965151242,628.034848758,650,0.411192731416,-0.00553904155871,0.0599759523371,0.99999999826,-4.68913528799e-05,-2.15642414553e-05,-2.85581121354e-05,1793192658223988736
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661.554664095,633,876,783.554664095,799,649.445335905,628,650,0.41188421506,-0.00553510348829,0.0599702764538,0.999999998325,-3.44340486045e-05,-3.60677858121e-05,-2.93827208642e-05,1793192658240655360
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661.857582313,633,876,783.857582313,799,649,628,650,0.412569360541,-0.00553109316674,0.0599565894831,0.999999997084,-2.23993542088e-05,-6.63763742977e-05,-3.03973138927e-05,1793192658257322240
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661.278071509,633,876,783.278071509,799,649,628,650,0.413232610941,-0.00552835335042,0.0599211863371,0.999999990019,-1.83756250494e-05,-0.000136288558201,-3.24067956262e-05,1793192658273988864
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742,711.298938459,671,661,633,876,783,799,649,628,650.298938459,0.413947525824,-0.00552781497088,0.0599057940748,0.999999985648,-1.8521542294e-05,-0.000164991451045,-3.37354047316e-05,1793192658290655488
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,711.873641523,671,661,633,876,783,799,649,628,650.873641523,0.414710100211,-0.00552930737136,0.0599088614387,0.999999987036,-2.251387252e-05,-0.000155679625665,-3.44359231254e-05,1793192658307322112
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.458521588,712,671.458521588,661.458521588,633,876.458521588,783,799.458521588,649.458521588,628,650.541478412,0.415528758854,-0.00553360438374,0.0599524427556,0.999999996109,-2.77778063803e-05,-7.68869971924e-05,-3.31535312901e-05,1793192658323988480
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,712,671.954429467,662,633,877,783.045570533,799.954429467,649.954429467,628.045570533,650,0.416361688614,-0.00553828437799,0.0600033598688,0.99999999888,-3.26429557333e-05,1.36369438775e-05,-3.14475956469e-05,1793192658340655616
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,712,671.375564172,662,633,877,783.624435828,799.375564172,649.375564172,628.624435828,650,0.417176651979,-0.00553819612574,0.0600065023705,0.999999999024,-2.86472969637e-05,1.22871927027e-05,-3.13251029386e-05,1793192658357322240
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,712,671.203083748,661.796916252,633,877,784,799.203083748,649,629,650,0.41798700055,-0.00553716232329,0.0600005665817,0.999999999057,-2.88508981104e-05,6.16268229848e-07,-3.24495421557e-05,1793192658373988864
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,712,671.781330072,661.218669928,633,877,784,799.781330072,649,629,650,0.418788824024,-0.00553438177818,0.0599778602002,0.999999998225,-3.68119157036e-05,-3.01212628552e-05,-3.5877475342e-05,1793192658390655488
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.642574069,711.642574069,672,661.357425931,633,877,783.642574069,799.642574069,649,629,650,0.419589054294,-0.00553458550113,0.0599540091851,0.999999996408,-3.90316561623e-05,-6.4867209717e-05,-3.81162538564e-05,1793192658407322112
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.067785997,711.067785997,672,661.932214003,633,877,783.067785997,799.067785997,649,629,650,0.420388315657,-0.00553660405303,0.0599294620824,0.999999993295,-3.77599420583e-05,-0.000102050801239,-3.9631869231e-05,1793192658423988736
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.519201693,711,672,662,633,877,783,799,649,628.480798307,650.519201693,0.42115198099,-0.00553720611745,0.0598983904895,0.999999985372,-3.41775778681e-05,-0.000162386946414,-4.1446640817e-05,1793192658440655360
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.894107224,743,711.105892776,672,662,633,877.105892776,783.105892776,799.105892776,649,628,650.894107224,0.421934231716,-0.0055372758462,0.0598741634979,0.999999976607,-3.23811292376e-05,-0.000209490590944,-4.30279576753e-05,1793192658457321984
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.316012375,743,711.683987625,672,662,633,877.683987625,783.683987625,799.683987625,649,628,650.316012375,0.422820581417,-0.00553581626799,0.0598843481857,0.999999981373,-3.99261304259e-05,-0.000183783678894,-4.33898853461e-05,1793192658473988608
+165,2.750000000,POSE1_TO_POSE2_PRESS,763.260307798,743,712,672.260307798,662.260307798,633,877.739692202,784,800,649.260307798,628,650,0.423716176213,-0.00553766938699,0.0599193392441,0.999999990559,-4.34694793147e-05,-0.000123381833413,-4.20584240283e-05,1793192658490655488
+166,2.766666667,POSE1_TO_POSE2_PRESS,763.834488188,743,712,672.834488188,662.834488188,633,877.165511812,784,800,649.834488188,628,650,0.424622918632,-0.00554351687271,0.0599842412014,0.999999998138,-4.2187737263e-05,-2.11457059208e-05,-3.86851166349e-05,1793192658507322112
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742.588643258,711.588643258,672.177286516,662.588643258,632.588643258,877.411356742,783.588643258,799.588643258,649.588643258,628.411356742,650,0.425483857904,-0.00554707611436,0.0600082725997,0.999999998104,-4.52287373559e-05,1.74305020148e-05,-3.79897482208e-05,1793192658523988736
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742.010686025,711.010686025,671.02137205,662.010686025,632.010686025,877.989313975,783.010686025,799.010686025,649.010686025,628.989313975,650,0.426326246735,-0.00554970861119,0.0600157513173,0.999999997556,-5.0020458814e-05,3.02242801611e-05,-3.83789519659e-05,1793192658540655360
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.579366657,711,671.579366657,662,632.579366657,877.420633343,783.579366657,799,649,628.420633343,650,0.427132539919,-0.00555220988427,0.0599936643034,0.999999997525,-5.57138940568e-05,1.05629598274e-05,-4.16342338827e-05,1793192658557321984
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711.16647135,672,662,632.83352865,877,783.83352865,799,649,628.16647135,650,0.427939339297,-0.00555420220697,0.0599727375098,0.999999997172,-5.97891729849e-05,-1.14285901239e-05,-4.41625585271e-05,1793192658573988608
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,711.745701648,672,662,632.254298352,877,783.254298352,799,649,628.745701648,650,0.42874907964,-0.00555493873683,0.0599560683643,0.9999999965,-5.98101824033e-05,-3.76819666171e-05,-4.47545559324e-05,1793192658590655232
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,711.67681463,671.67681463,662,632,877,783,799,649,628.67681463,650,0.429518420073,-0.00555388629587,0.0599350085566,0.999999994423,-5.71475398176e-05,-7.63689772287e-05,-4.53431511761e-05,1793192658607322112
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.100697839,671.100697839,662,632,877,783,799,649,628.100697839,650,0.43025614268,-0.00555143377006,0.0599105125285,0.999999989787,-5.23846167027e-05,-0.000124786800536,-4.59290837253e-05,1793192658623988736
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,671.482266902,662,632,877,783,799.482266902,648.517733098,628,650,0.431034174456,-0.00555131104155,0.0599217533654,0.999999992951,-4.83551938263e-05,-9.79074061051e-05,-4.66195810062e-05,1793192658640655360
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711,672,662.066327629,632.066327629,877,783,800,648.066327629,628,650,0.431823070499,-0.00555250546472,0.059943437352,0.99999999636,-4.83306248772e-05,-5.22951610974e-05,-4.70129038953e-05,1793192658657322240
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,711,672,662.647635868,632.647635868,877,783,800,648.647635868,628,650,0.432630029009,-0.00556009510306,0.0599874338617,0.999999995822,-7.81942648028e-05,1.49345156636e-05,-4.49269477909e-05,1793192658673988864
+177,2.950000000,POSE1_TO_POSE2_PRESS,763.772773094,742.772773094,711,672,662.772773094,632.772773094,876.772773094,783.227226906,800,649,628.227226906,650,0.433396042856,-0.00556534475723,0.0600048550837,0.999999994071,-9.15302081431e-05,3.92615944185e-05,-4.40293828159e-05,1793192658690655232
+178,2.966666667,POSE1_TO_POSE2_PRESS,763.195824884,742.195824884,711,672,662.195824884,632.195824884,876.195824884,783.804175116,800,649,628.804175116,650,0.434099039547,-0.00556699298024,0.0599813747111,0.999999995832,-7.9428642359e-05,-2.44202052896e-06,-4.49608515899e-05,1793192658707321856
+179,2.983333333,POSE1_TO_POSE2_PRESS,763.379134772,742,711.379134772,672,662,632.379134772,876.379134772,783.620865228,799.620865228,649,629,650,0.434768950373,-0.00556749928179,0.0599534411639,0.999999995253,-7.13591376646e-05,-4.7350201135e-05,-4.64725328021e-05,1793192658723988736
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.953072656,742,711.953072656,672,662,632.953072656,876.953072656,783.046927344,799.046927344,649,629,650,0.435421861319,-0.00556741885297,0.0599232195339,0.999999992289,-6.53613455857e-05,-9.39049159907e-05,-4.82823326635e-05,1793192658740655360
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.542086779,711.457913221,672,662.542086779,633,877,783.542086779,799.542086779,649,628.457913221,650,0.436050506634,-0.00556930258968,0.0599158731347,0.999999988581,-9.09849934502e-05,-0.000110321917432,-4.88766981598e-05,1793192658757321728
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.869576429,711,672.130423571,663,632.869576429,877,783.869576429,799.869576429,649,628.130423571,650,0.43667569527,-0.00557015236602,0.0599142773428,0.999999985839,-0.000109770640568,-0.000117671688224,-4.92612640402e-05,1793192658773988608
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.288222927,711,672.711777073,663,632.288222927,877,783.288222927,799.288222927,649,628.711777073,650,0.437296403187,-0.00556682260323,0.0599255213818,0.999999988956,-9.51792808489e-05,-0.000102950506558,-4.92946523528e-05,1793192658790655488
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742.289184175,711,673,662.710815825,632,877,783,799,648.710815825,628.710815825,650,0.437884939401,-0.00556549226775,0.0599250147065,0.999999989125,-8.28454087469e-05,-0.000111975827316,-4.84482819708e-05,1793192658807322368
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742.862710915,711,673,662.137289085,632,877,783,799,648.137289085,628.137289085,650,0.438441842503,-0.00556612788477,0.0599129540505,0.999999985844,-7.27312295327e-05,-0.000144350080142,-4.67368820527e-05,1793192658823988736
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.564201867,711,673,661.564201867,632,877,783,799.435798133,648.435798133,628.435798133,650,0.438979945472,-0.00556775228305,0.0599152013912,0.999999986098,-7.2005548038e-05,-0.000143146826966,-4.61404052305e-05,1793192658840655104
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711.009041086,673,661,632,877,783,799.990958914,649,628.990958914,650,0.439511405042,-0.00556971204271,0.0599219202719,0.999999987548,-7.42669545857e-05,-0.00013145318203,-4.59146657823e-05,1793192658857321984
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711.601248361,673,661,632,877,783,799.398751639,649,628.398751639,650,0.439995983489,-0.00557323146857,0.0599266167523,0.999999988029,-7.86193789274e-05,-0.000124716010616,-4.69698072626e-05,1793192658873988608
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.189800322,711.810199678,673,660.810199678,632,877,783,799,649,628,650.189800322,0.440455762932,-0.00557811572317,0.0599213414265,0.999999986172,-8.44254341669e-05,-0.000134864713704,-4.83665207648e-05,1793192658890655488
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.770818042,711.229181958,673,660.229181958,632,877,783,799,649,628,650.770818042,0.44086442663,-0.00558581317039,0.0598955121638,0.999999978213,-9.32277215538e-05,-0.00017981866641,-5.04672844005e-05,1793192658907322112
+191,3.183333333,POSE1_TO_POSE2_PRESS,764.347039945,743,711,672.652960055,660,632,877,783,799.347039945,649,628.347039945,650.652960055,0.441236466321,-0.00559184800759,0.0598568015183,0.999999963999,-9.93528846161e-05,-0.00024347049444,-5.34178945855e-05,1793192658923988736
+192,3.200000000,POSE1_TO_POSE2_PRESS,764.920137872,743,711,672.079862128,660,632,877,783,799.920137872,649,628.920137872,650.079862128,0.441584649513,-0.00559679983855,0.0598097000841,0.999999942023,-0.000103734197607,-0.000319301908071,-5.69220850908e-05,1793192658940655616
+193,3.216666667,POSE1_TO_POSE2_PRESS,764.493749916,743,711.506250084,672.506250084,660,632,876.493749916,783,800,649,629,650.506250084,0.441904472325,-0.00559686313453,0.0597774450962,0.999999927018,-9.41966735053e-05,-0.000365774577598,-5.74443449916e-05,1793192658957322240
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711.906536728,673,659.906536728,632,876.093463272,783,800,649,628.906536728,650.906536728,0.442221038712,-0.00559355806236,0.0597525886994,0.999999915598,-7.80918332178e-05,-0.000399395124291,-5.64698857905e-05,1793192658973988864
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711.324582652,673,659.324582652,632,876.675417348,783,800,649,628.324582652,650.324582652,0.442544585358,-0.0055767849848,0.0597538375442,0.999999921644,-3.94414607271e-05,-0.000390688372467,-5.01962204573e-05,1793192658990655232
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711.25463662,672.74536338,659,632,877,783,799.74536338,649,628.25463662,650,0.442847415211,-0.00556242852252,0.0597559435374,0.999999924026,-4.21943434953e-05,-0.000384520229355,-4.80816413464e-05,1793192659007322112
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711.830406866,672.169593134,659,632,877,783,799.169593134,649,628.830406866,650,0.443124118166,-0.0055511197631,0.0597591305189,0.999999921177,-9.71627254138e-05,-0.000381553639614,-5.12122722604e-05,1793192659023988736
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.595301254,711.595301254,672.404698746,659.404698746,631.595301254,877,783,799.404698746,649,629,650,0.443370999509,-0.00555720436807,0.0597571766306,0.999999917603,-0.000118008336046,-0.000384958889212,-5.17077781711e-05,1793192659040655360
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.021626593,711.021626593,672.978373407,659.978373407,631.021626593,877,783,799.978373407,649,629,650,0.443605429308,-0.00557055131145,0.0597530762494,0.999999914481,-0.000124606498236,-0.000391024605136,-5.11030273226e-05,1793192659057321984
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,711,673,659.432869578,631.567130422,877,783,799.432869578,649,629,650,0.443796748607,-0.00557589324652,0.0597469697204,0.999999910711,-0.000125871090827,-0.000399940850135,-5.27478379035e-05,1793192659073988864
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.154101377,711.154101377,672.845898623,659,631.845898623,877,783,799.154101377,649,629,650,0.443978962095,-0.0055788128798,0.0597421293193,0.999999907817,-0.000124469025555,-0.000407349164596,-5.42212993643e-05,1793192659090655488
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.734497148,711.734497148,672.265502852,659,631.265502852,877,783,799.734497148,649,629,650,0.44414065794,-0.00557589915501,0.059741008846,0.999999907566,-0.00011626812586,-0.000410277140599,-5.497696606e-05,1793192659107322112
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711.688252948,672.311747052,659,631,877,782.688252948,800,649,629,650,0.444283199448,-0.0055758786939,0.0597380761305,0.999999905406,-0.000112461941257,-0.00041651599067,-5.52608651145e-05,1793192659123988736
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711.113655524,672.886344476,659,631,877,782.113655524,800,649,629,650,0.444409590916,-0.00557829769609,0.0597336154184,0.999999901622,-0.000112361173089,-0.000425546413006,-5.5146991957e-05,1793192659140655104
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.529459107,711.470540893,673,659,631,877,782,800,649,628.529459107,650,0.444510412524,-0.00557649012745,0.0597272648694,0.999999897353,-0.000109232575117,-0.000436219611059,-5.54439380235e-05,1793192659157321984
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,742.056699525,711.943300475,672.943300475,659,631,877.056699525,782.056699525,800,649,628,650,0.444602790318,-0.005573966816,0.0597203973112,0.999999892743,-0.00010590814076,-0.000447421324752,-5.57873484234e-05,1793192659173988864
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,742.639106526,711.360893474,672.360893474,659,631,877.639106526,782.639106526,800,649,628,650,0.444675335777,-0.00557446994195,0.0597130566329,0.999999886961,-0.000107690090373,-0.000459767669099,-5.56223637587e-05,1793192659190655488
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.781996196,742.781996196,711,672,659,631,877.781996196,783,799.781996196,649,628,650,0.444740701445,-0.0055756864019,0.0597075108409,0.999999882318,-0.000110214133026,-0.000469212626488,-5.52816086094e-05,1793192659207322112
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.208817072,742.208817072,711,672,659,631,877.208817072,783,799.208817072,649,628,650,0.444794369676,-0.00557806503709,0.0597048893075,0.999999879709,-0.000113947205496,-0.000473930596217,-5.4654485371e-05,1793192659223988992
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.374478277,742,711,672,659,631,877,782.625521723,799,649,628,650,0.444838829257,-0.00557732612091,0.0597033949577,0.999999877744,-0.000114441434325,-0.000477925340102,-5.47984413587e-05,1793192659240655616
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.963571323,742,711,672,659,631,877,782.036428677,799,649,628,650,0.444878011336,-0.00557480052571,0.0597025466003,0.999999876149,-0.000113079471246,-0.000481505601253,-5.53843054035e-05,1793192659257322240
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.543389966,711,672.543389966,659,631,877,782.543389966,800.086779933,649,628,650,0.444905055626,-0.00557169544137,0.059701439316,0.999999876268,-0.000107418229342,-0.000482615753447,-5.48303839685e-05,1793192659273989120
+213,3.550000000,POSE1_TO_POSE2_PRESS,763.877701926,742.877701926,711,673,659,631,877,782.877701926,800.877701926,649,628,650,0.444929196778,-0.00556997664629,0.0597004570007,0.999999876159,-0.000103452514547,-0.00048378173394,-5.4172605078e-05,1793192659290655232
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.299908075,742.299908075,711,673,659,631,877,782.299908075,800.299908075,649,628,650,0.444945505079,-0.00557356330909,0.0597000036948,0.999999874882,-0.00010685720285,-0.000485762050711,-5.34078260338e-05,1793192659307322112
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.277216312,742,711,673,659,631,877,782,800,649,628,650,0.444959043007,-0.00557405488185,0.0596999224877,0.999999874408,-0.000107566610031,-0.000486618938548,-5.305361536e-05,1793192659323988736
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.853618148,742,711,673,659,631,877,782,800,649,628,650,0.444969591011,-0.0055712060805,0.059700242868,0.999999874811,-0.000105367136627,-0.00048626336633,-5.31425103771e-05,1793192659340655360
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.437803068,711.437803068,673,659.437803068,631,877,782,800,649,628.437803068,650,0.444974230997,-0.00557103199394,0.0596993779921,0.999999874338,-0.000104796857658,-0.000487364266743,-5.3082274864e-05,1793192659357322240
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.975705823,743,711.975705823,673,659.975705823,631,877.024294177,782,800,649,628.975705823,650,0.444976788196,-0.00557171962456,0.0596981233589,0.999999873549,-0.00010477372652,-0.000488994722134,-5.29872259008e-05,1793192659373988864
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.397046546,743,711.397046546,673,659.397046546,631,877.602953454,782,800,649,628.397046546,650,0.444977710296,-0.00557129427337,0.059697181627,0.999999872379,-0.000104580788811,-0.000491395573642,-5.32561749143e-05,1793192659390655488
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.181292971,743,711,673,659,631,877.818707029,782.181292971,800,649,628,650,0.444978422061,-0.00557116752271,0.0596962348283,0.999999871523,-0.000104464447393,-0.000493159781195,-5.32373931692e-05,1793192659407322112
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.758933347,743,711,673,659,631,877.241066653,782.758933347,800,649,628,650,0.444978673988,-0.00557169358031,0.0596952769528,0.999999871368,-0.000104515562802,-0.000493532140877,-5.25895669288e-05,1793192659423988736
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,876.666320073,782.666320073,800,649,628,650,0.444979370415,-0.00557189361783,0.0596950550006,0.999999871209,-0.000105794488178,-0.000493607504365,-5.23580749327e-05,1793192659440655360
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,876.093646078,782.093646078,800,649,628,650,0.444980385211,-0.0055718601476,0.0596953601442,0.999999871043,-0.000107952817068,-0.000493470148085,-5.24247770571e-05,1793192659457321984
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.505203148,711,673,658.505203148,631,876.494796852,782,800,649,628,650,0.44497948186,-0.00556983761823,0.0596935852131,0.999999870231,-0.000105032304403,-0.000495696463041,-5.28385608757e-05,1793192659473988864
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.084872271,711,672.915127729,658,631,877,782,800,649,628,650.084872271,0.444978455957,-0.00556801458696,0.0596917540816,0.99999986939,-0.000102037205198,-0.000497977794467,-5.31683932504e-05,1793192659490655488
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.666460563,711,672.333539437,658,631,877,782,800,649,628,650.666460563,0.444978907411,-0.00556963483968,0.059691973887,0.999999869224,-0.000104416383706,-0.000497876790978,-5.26097962765e-05,1793192659507322368
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,672.244561419,658.244561419,631,877,782.244561419,800,649,628,650.755438581,0.444980213919,-0.0055700615211,0.059692901181,0.999999869769,-0.000105524553562,-0.000496562365103,-5.24636521395e-05,1793192659523988992
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711,672.81797285,658.81797285,631,877,782.81797285,800,649,628,650.18202715,0.444982670174,-0.00556888326435,0.0596947798009,0.999999871269,-0.000104923658888,-0.000493616308335,-5.28721135876e-05,1793192659540655616
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.599746412,711,673,658.599746412,631,877,783,800,649,628.400253588,650,0.444983830578,-0.00556763815562,0.0596953227187,0.999999871927,-0.000103301303886,-0.000492640408377,-5.27302389939e-05,1793192659557322240
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.013340706,711,673,658.013340706,631,877,783,800,649,628.986659294,650,0.444984388299,-0.00556636195504,0.0596952444209,0.999999872192,-0.000101203882568,-0.000492580799762,-5.23324111048e-05,1793192659573988608
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742,711.569056266,673,658,631.569056266,877,782.430943734,800,649,628.430943734,650.569056266,0.444983967835,-0.00556641401818,0.0596953296592,0.999999872248,-9.9535734331e-05,-0.000492825466244,-5.21536388828e-05,1793192659590655232
+232,3.866666667,POSE1_TO_POSE2_PRESS,763.850562213,742.149437787,711.850562213,673,658.149437787,631.850562213,877,782.149437787,799.850562213,649,628,650.850562213,0.444983527339,-0.00556673375641,0.0596951341915,0.999999872094,-9.91824403389e-05,-0.000493210577056,-5.21448144042e-05,1793192659607322112
+233,3.883333333,POSE1_TO_POSE2_PRESS,763.275653375,742.724346625,711.275653375,673,658.724346625,631.275653375,877,782.724346625,799.275653375,649,628,650.275653375,0.444983094644,-0.00556772756668,0.0596941286735,0.999999871353,-0.000102544274983,-0.000493975385752,-5.26053367476e-05,1793192659623988736
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.298250455,742.701749545,711,673,659,631,877.298250455,782.701749545,799,649,628.298250455,650,0.444983217039,-0.00556819575198,0.0596941253608,0.99999987112,-0.00010343184056,-0.00049427777274,-5.24477651245e-05,1793192659640655360
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.871228606,742.128771394,711,673,659,631,877.871228606,782.128771394,799,649,628.871228606,650,0.444983850744,-0.005568179768,0.0596950452103,0.999999871362,-0.000102040280941,-0.000494154208917,-5.17208481304e-05,1793192659657321984
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.542225904,742.457774096,711.457774096,672.542225904,659,631,877.542225904,782,799.457774096,649,629,650.457774096,0.444984425094,-0.0055676073225,0.0596952438418,0.999999871661,-9.97337569477e-05,-0.000494029518646,-5.16349419222e-05,1793192659673988608
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.04753117,743,711.95246883,672,659,631,877.04753117,782.04753117,800,649,629,651,0.444984981372,-0.00556707291293,0.0596952794587,0.999999871954,-9.77559232322e-05,-0.000493823049876,-5.17197036587e-05,1793192659690655232
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.629181469,743,711.370818531,672,659,631,877.629181469,782.629181469,800,649,629,651,0.444985527936,-0.00556877863448,0.0596958326605,0.999999872041,-0.000102452220098,-0.000492701285957,-5.16341639838e-05,1793192659707321856
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.791581208,711.208418792,672.208418792,658.791581208,631,877.791581208,782.791581208,799.791581208,649.208418792,628.791581208,650.791581208,0.444986297897,-0.00556902992426,0.059696003086,0.999999872168,-0.00010455461742,-0.000491978667185,-5.18519396973e-05,1793192659723988480
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.216587951,711.783412049,672.783412049,658.216587951,631,877.216587951,782.216587951,799.216587951,649.783412049,628.216587951,650.216587951,0.444987460776,-0.00556672310703,0.059695500271,0.999999872393,-0.000102094770669,-0.000491958079331,-5.26031974294e-05,1793192659740655360
+241,4.016666667,HOLD_POSE2,765,742,711,673,658,631,877,782,801,649,628,650,0.444985023835,-0.00556669284262,0.0596939547729,0.999999870778,-9.99530175389e-05,-0.0004957761029,-5.15788488991e-05,1793192659775887104
+242,4.033333333,HOLD_POSE2,763.823117576,742.588441212,711,673,658,631,877,782,799.234676364,649,628,650,0.444987357683,-0.0055653411264,0.0596947107381,0.999999871994,-9.92690252607e-05,-0.000493376880484,-5.23194897363e-05,1793192659792553984
+243,4.050000000,HOLD_POSE2,763.174302936,742.825697064,711,673,658.174302936,631.174302936,877,782,798.174302936,649,628.174302936,650,0.444988911393,-0.0055649141343,0.0596953264153,0.999999872866,-9.90715901574e-05,-0.000491620863819,-5.25488641179e-05,1793192659809220864
+244,4.066666667,HOLD_POSE2,763.754162989,742.245837011,711,673,658.754162989,631.754162989,877,782,798.754162989,649,628.754162989,650,0.444988649927,-0.0055666387319,0.0596956156795,0.999999872951,-0.000100006245571,-0.000491361417394,-5.15886559939e-05,1793192659825887488
+245,4.083333333,HOLD_POSE2,763.668803766,742.331196234,711,673,658.668803766,631.668803766,877,782,799,649,628.668803766,650,0.444988481046,-0.00556696492533,0.0596959451759,0.999999872985,-9.97875078971e-05,-0.000491358560857,-5.13648105487e-05,1793192659842554112
+246,4.100000000,HOLD_POSE2,763.093851053,742.906148947,711,673,658.093851053,631.093851053,877,782,799,649,628.093851053,650,0.444988380306,-0.00556626190988,0.0596963042827,0.999999872984,-9.87198866093e-05,-0.000491544551429,-5.16829193119e-05,1793192659859220736
+247,4.116666667,HOLD_POSE2,763.493276889,743,711,673,658.493276889,631,877,782,799.493276889,649,628.493276889,650,0.444988635995,-0.00556602665262,0.0596969022685,0.999999872989,-9.92162626181e-05,-0.000491434049438,-5.16766610739e-05,1793192659875887360
+248,4.133333333,HOLD_POSE2,764,743,711,672.918601197,658.918601197,631,877.081398803,782,799.918601197,649,629,650,0.444988845623,-0.00556600128363,0.0596972260617,0.999999872978,-9.97675453328e-05,-0.000491356265693,-5.15749770449e-05,1793192659892553728
+249,4.150000000,HOLD_POSE2,764,743,711,672.338933538,658.338933538,631,877.661066462,782,799.338933538,649,629,650,0.444988347686,-0.00556670215045,0.0596955861806,0.999999872856,-9.87873294086e-05,-0.000491832808841,-5.12764935133e-05,1793192659909220352
+250,4.166666667,HOLD_POSE2,764,743,711,672.238274204,658.238274204,631,877.761725796,782.238274204,799.238274204,649,629,650,0.444988531935,-0.00556727760394,0.0596951508792,0.99999987293,-9.89949346767e-05,-0.00049165951156,-5.10899130059e-05,1793192659925887232
+251,4.183333333,HOLD_POSE2,764,743,711,672.812018537,658.812018537,631,877.187981463,782.812018537,799.812018537,649,629,650,0.444989676646,-0.00556767648588,0.0596964115253,0.999999873278,-0.000100874892816,-0.000490571293325,-5.10608826122e-05,1793192659942554112
+252,4.200000000,HOLD_POSE2,764,743,711,673,659,631,877.395600211,782.604399789,800,649,629,650,0.444989182327,-0.00556667445214,0.0596961921735,0.999999872971,-9.9754141985e-05,-0.000491416387568,-5.11542889286e-05,1793192659959220736
+253,4.216666667,HOLD_POSE2,764,743,711,673,659,631,877.983975654,782.016024346,800,649,629,650,0.444987889312,-0.00556498975488,0.0596952516214,0.999999872338,-9.71711515334e-05,-0.000493203581214,-5.13073584186e-05,1793192659975887616
+254,4.233333333,HOLD_POSE2,763.436586361,743,711,672.436586361,658.436586361,630.436586361,877.436586361,782,799.436586361,649,628.436586361,650,0.444989396481,-0.0055675923153,0.0596959841819,0.999999872883,-9.99263191062e-05,-0.00049157720625,-5.09918200457e-05,1793192659992553984
+255,4.250000000,HOLD_POSE2,763,743,711,672.142281398,658.284562796,630.142281398,877,782,799,649,628,650,0.444990621685,-0.00556927448897,0.0596965842225,0.999999873403,-0.000101508975486,-0.000490220267086,-5.07325742577e-05,1793192660009220608
+256,4.266666667,HOLD_POSE2,763,743,711,672.720169588,659.440339177,630.720169588,877,782,799,649,628,650,0.444990743608,-0.0055677713311,0.0596966351294,0.99999987377,-9.90443201509e-05,-0.000489980827578,-5.06858404186e-05,1793192660025887232
+257,4.283333333,HOLD_POSE2,763.297127997,743,711,672.702872003,659.405744005,631,877,782,799.297127997,649,628,650,0.444990436704,-0.00556674173433,0.0596966292844,0.999999873881,-9.79810893138e-05,-0.000489958948128,-5.07762926716e-05,1793192660042554112
+258,4.300000000,HOLD_POSE2,763.873213449,743,711,672.126786551,658.253573101,631,877,782,799.873213449,649,628,650,0.444989727198,-0.00556615673864,0.0596965701583,0.999999873756,-9.82335805186e-05,-0.000490141324102,-5.09955415517e-05,1793192660059220736
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631,878,782,800,649,628,650,0.444990340122,-0.00556520212882,0.0596968359361,0.999999873963,-9.6062997497e-05,-0.00049012139657,-5.12532053803e-05,1793192660091307008
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631,877.421165926,782,799.421165926,649,628.578834074,650,0.444990829297,-0.0055651074675,0.059696831371,0.999999874161,-9.63507886543e-05,-0.00048966152807,-5.12497960551e-05,1793192660107973632
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631,877.157020296,782,799.157020296,649,628.842979704,650,0.444990766679,-0.00556519592929,0.0596965382259,0.999999873923,-9.70895455457e-05,-0.000489994603397,-5.13077702956e-05,1793192660124640512
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,631,877.733476094,782,799.733476094,649,628.266523906,650,0.444989230106,-0.00556577355286,0.0596954742209,0.999999872517,-9.90329304622e-05,-0.000492445804756,-5.15297134447e-05,1793192660141307136
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,673.308561321,658.691438679,631,877.691438679,782,799.691438679,649,628.308561321,650,0.44498957134,-0.00556677254175,0.0596957616225,0.999999872736,-0.00010039253147,-0.000491730690191,-5.14885307969e-05,1793192660157973760
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,673.882467899,658.117532101,631,877.117532101,782,799.117532101,649,628.882467899,650,0.44499152738,-0.00556813388091,0.0596972111571,0.999999874348,-0.000101250111267,-0.000488292723129,-5.12210748543e-05,1793192660174640384
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,673.529291677,658,631,877.470708323,782,799.470708323,649,628.529291677,650,0.444989669441,-0.00556681251017,0.059697156428,0.999999873889,-9.87212291615e-05,-0.000489745712608,-5.12387280003e-05,1793192660191307008
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.938690605,711,672.938690605,658.061309395,631,877.938690605,782.061309395,800,649,628,650,0.444985903808,-0.00556530517422,0.0596959858244,0.999999872444,-9.62360598937e-05,-0.000493168656197,-5.13337867744e-05,1793192660207973888
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.359334445,711,672.359334445,658.640665555,631,877.359334445,782.640665555,800,649,628,650,0.444974318281,-0.00556806430695,0.0596886598164,0.999999867225,-0.000101489501142,-0.000502593978725,-5.14624774995e-05,1793192660224640512
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.217750991,711,672,659,631,877.217750991,782.782249009,800,649,628,650,0.444953911576,-0.00556866216874,0.0596779207115,0.999999859012,-0.000103508018488,-0.000518225980114,-5.20021192122e-05,1793192660241306880
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.791127876,711,672,659,631,877.791127876,782.208872124,800,649,628,650,0.444919098327,-0.00556573029244,0.0596616074159,0.999999845595,-0.000100243332224,-0.0005439945851,-5.32129165654e-05,1793192660257973504
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.625780706,711,672,659,631,877.625780706,782,800,649,628,650,0.444866863568,-0.00556264060019,0.0596422485356,0.999999830089,-9.84875797465e-05,-0.000571967787349,-5.45456096429e-05,1793192660274640128
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.037122515,711,672,659,631,877.037122515,782,800,649,628,650,0.444804645757,-0.00555946047439,0.0596211444421,0.999999812949,-9.75964913092e-05,-0.000601204292238,-5.59481527226e-05,1793192660291307008
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.542663986,711,672.542663986,659,631,877,782,800,649,628.542663986,650,0.444731953649,-0.00555833906276,0.0596090734624,0.999999805081,-9.69625183601e-05,-0.000614237178335,-5.61073971469e-05,1793192660307973632
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711.121508698,673,659.121508698,631,877.121508698,782,800.121508698,649,628.878491302,650,0.444656242413,-0.00555642848067,0.059600568907,0.999999800038,-9.54500350229e-05,-0.000622630609124,-5.60719683573e-05,1793192660324640256
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711.699060018,673,659.699060018,631,877.699060018,782,800.699060018,649,628.300939982,650,0.444571845848,-0.00555103594324,0.0596031678262,0.999999803572,-9.05754023603e-05,-0.000617704688625,-5.5619976082e-05,1793192660341307136
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711.724313916,673,659.724313916,631,878,782.275686084,800.724313916,649,628,650,0.444474343901,-0.00554599463585,0.0596061029676,0.999999807468,-8.60282257731e-05,-0.00061207623134,-5.50154574252e-05,1793192660357973760
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711.148694516,673,659.148694516,631,878,782.851305484,800.148694516,649,628,650,0.444362583929,-0.00554133545031,0.0596094039026,0.999999811754,-8.18373060759e-05,-0.00060568344782,-5.42449973641e-05,1793192660374640384
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.56373256,711.43626744,673,658.56373256,631,877.56373256,782.56373256,800,649,628,650,0.444225611702,-0.00553806030311,0.059613435736,0.999999815593,-7.8383685016e-05,-0.000599933053521,-5.24380593121e-05,1793192660391307264
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.975943298,742,711.975943298,673,658,631,877.024056702,782.024056702,800,649,628,650,0.444078414636,-0.00553504449304,0.0596177464283,0.999999819327,-7.49564361363e-05,-0.000594305254938,-5.02879120762e-05,1793192660407973888
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.397977046,742,711.397977046,673,658,631,877.602022954,782.602022954,800,649,628,650,0.443897978085,-0.00552690069341,0.0596226164705,0.999999824726,-6.6223657531e-05,-0.000586348613039,-4.85473308687e-05,1793192660424640256
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.180432451,742.180432451,711,673,658.180432451,631,877.819567549,783,799.819567549,649,628,650,0.443705521375,-0.00551937968037,0.059627320627,0.999999829706,-5.83362018381e-05,-0.000578807632112,-4.65408513905e-05,1793192660441307136
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.759821938,742.759821938,711,673,658.759821938,631,877.240178062,783,799.240178062,649,628,650,0.443486486724,-0.00551323572164,0.0596316579903,0.999999833968,-5.23178541358e-05,-0.000572185726897,-4.39464402953e-05,1793192660457973504
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.664002566,711,673,659,631.335997434,876.664002566,783,799,649,628,650,0.443233560725,-0.0055041926976,0.0596322632499,0.999999834378,-4.47262708201e-05,-0.000572265183865,-4.18965604917e-05,1793192660474640128
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.090102672,711,673,659,631.909897328,876.090102672,783,799,649,628,650,0.442956637986,-0.00549309699425,0.0596302259998,0.999999832026,-3.60207598586e-05,-0.0005770895292,-4.02322349542e-05,1793192660491307008
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.503440699,742,711,672.503440699,659,631.503440699,876.496559301,782.503440699,799,649,628,650,0.442647446212,-0.00548409588288,0.0596321225318,0.999999832267,-2.45392508122e-05,-0.00057747792136,-3.71867542258e-05,1793192660507973632
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.084200528,742,711,672.168401056,659,631.084200528,877,782,799,649,628.084200528,650,0.442326151077,-0.00547507039262,0.0596351563309,0.999999833578,-1.22304677835e-05,-0.000575802306625,-3.38476913961e-05,1793192660524640512
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.663622304,742,711,673.327244607,659,631.663622304,877,782,799,649,628.663622304,650,0.441969016849,-0.0054636071733,0.0596405699853,0.999999838882,1.90316086641e-06,-0.000566846324031,-3.02948072768e-05,1793192660541307136
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.240949988,711,673.518100024,659,632,877,782.240949988,799.481899976,649,628.759050012,650,0.441594925289,-0.00545022766588,0.059646789869,0.999999843147,1.79587209685e-05,-0.000559154830894,-2.70197451727e-05,1793192660557973760
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.815379376,711,672.369241249,659,632,877,782.815379376,800.630758751,649,628.184620624,650,0.441197364478,-0.00543419597972,0.059654125589,0.999999846014,3.6674270167e-05,-0.000553213415952,-2.41291942745e-05,1793192660574640384
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.391754452,659.391754452,632,877,783,800.216491095,649,628.391754452,650,0.440775259296,-0.00541824143396,0.0596747270849,0.999999859565,5.52111135018e-05,-0.000526683439306,-2.06362847434e-05,1793192660591307008
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.969051027,659.969051027,632,877,783,799.061897945,649,628.969051027,650,0.440341529459,-0.00540232342378,0.0597016114963,0.999999876898,7.36633178464e-05,-0.000490402340212,-1.68580871274e-05,1793192660607973632
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.438953484,742.438953484,711.561046516,673,660,632,877,783,799,649,629,650,0.439883574012,-0.00539761895219,0.0597395771266,0.999999905663,8.00237875805e-05,-0.000426763326405,-1.20022298976e-05,1793192660624640256
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.149401984,742,711.850598016,673,660.149401984,632,877,783,799,649,629,650,0.439412018921,-0.00540161114994,0.0597782787849,0.999999931411,7.75865384759e-05,-0.000362108902264,-5.92463259856e-06,1793192660641306880
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.724998298,742,711.275001702,673,660.724998298,632,877,783,799,649,629,650,0.438905583377,-0.00542860000884,0.0598172894078,0.999999953948,5.20062800599e-05,-0.000298978772189,3.46403847838e-06,1793192660657973760
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742,711.298848908,672.701151092,661.298848908,632.298848908,877,783.298848908,799,649,629,650,0.438355439987,-0.00544421442328,0.0598374328862,0.999999963879,3.54824220806e-05,-0.000266217194287,1.05605132626e-05,1793192660674640384
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742,711.871102511,672.128897489,661.871102511,632.871102511,877,783.871102511,799,649,629,650,0.43776531001,-0.00544942282488,0.0598403155871,0.999999965385,2.72438931904e-05,-0.000261238561466,1.55599521181e-05,1793192660691307008
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.539477534,672.460522466,661.539477534,633,877,783.539477534,799,648.539477534,629,649.539477534,0.437077268014,-0.00543147459948,0.0598052832961,0.999999938585,0.000143178928312,-0.000319479622835,1.62201033295e-05,1793192660707973632
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.053324019,711,672.946675981,661,632.946675981,877,783,798.946675981,648,628.946675981,649.053324019,0.436364704323,-0.00540832995464,0.0597626631863,0.999999884866,0.000280581917391,-0.000388960342897,1.58482198244e-05,1793192660724640256
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.630322643,711,672.369677357,661,632.369677357,877,783,798.369677357,648,628.369677357,649.630322643,0.435690876521,-0.00540026913129,0.0597537793611,0.999999886833,0.00027427818042,-0.00038831921938,1.77304841908e-05,1793192660741307136
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,711,672,661.20664673,632,877,783,798.20664673,648.20664673,628.20664673,650,0.43500889804,-0.00539789275116,0.0597552250057,0.999999896654,0.000259771750768,-0.00037257289391,2.00150283635e-05,1793192660757973760
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,743,711,672,661.781768004,632,877,783,798.781768004,648.781768004,628.781768004,650,0.434312386015,-0.00540565237816,0.0597750892664,0.999999918723,0.000230638990121,-0.000329892280403,2.30168828866e-05,1793192660774640384
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.634331171,711,672,662,632,877,783,799,649,629,650,0.433583050357,-0.00541417384742,0.059786035271,0.999999936771,0.00017128840252,-0.000311245059394,1.56650948619e-05,1793192660791307008
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.045061816,711,672,662,632,877,783,799,649,629,650,0.432833643607,-0.00542316117053,0.0597915279065,0.999999948416,9.34601067992e-05,-0.000307293866417,1.98222304813e-06,1793192660807973632
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.465025285,742,711,672,661.465025285,632,877,783,798.465025285,649,629,650,0.432020151872,-0.00542377732014,0.0597915354577,0.99999994594,0.000103097156671,-0.000312145861619,7.42654106071e-06,1793192660824640256
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.113627593,742.113627593,711,672,661.113627593,632,876.886372407,783,798.113627593,649,628.886372407,650,0.431208405498,-0.0054218753502,0.0597962378027,0.999999944657,0.000126017926905,-0.000307591407833,1.39164702681e-05,1793192660841307136
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.689760156,742.689760156,711,672,661.689760156,632,876.310239844,783,798.689760156,649,628.310239844,650,0.430425362554,-0.00541254512209,0.059821898312,0.999999950513,0.000173529188728,-0.000261782343417,1.82158513398e-05,1793192660857974016
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.734289794,711,672,662,632,876,783,799,649,628,650,0.429592604307,-0.00540502780141,0.059823490125,0.999999946666,0.000190473819752,-0.000264590354543,1.95096610969e-05,1793192660874640384
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.158552624,711,672,662,632,876,783,799,649,628,650,0.428701838836,-0.00539962575461,0.0597969989221,0.999999932573,0.000171753738499,-0.000324124085852,1.72966127285e-05,1793192660891307008
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.572672046,742,711,672,661.145344092,632,876,783,799,648.572672046,628,650,0.427841165859,-0.00539953853043,0.0597714860091,0.999999922975,0.000157162006749,-0.000359296351465,1.59973250665e-05,1793192660907973632
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,660.033514218,632,876,783,799,648.016757109,628,650,0.426991361942,-0.00540155713739,0.0597479743309,0.999999915955,0.000145226572742,-0.000383106432486,1.51400910649e-05,1793192660924640256
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,661.191804241,632,876,783,799,648.595902121,628,650,0.426122503254,-0.00540645905225,0.0597791482186,0.999999928879,0.000169782229708,-0.000336320211068,1.74636238732e-05,1793192660941306880
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.172752277,742,711,672,662,632,876,783.172752277,799,649,628.172752277,650,0.425252949818,-0.00540957426464,0.0598064439659,0.999999937987,0.000183161756282,-0.000300117269432,2.01820588861e-05,1793192660957973504
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.744304706,742,711,672,662,632,876,783.744304706,799,649,628.744304706,650,0.424381792601,-0.0054085648584,0.0598247869899,0.999999943569,0.000170741086957,-0.000288345926858,2.3812129065e-05,1793192660974640384
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,711.326571892,672,661.673428108,632.326571892,876,783.673428108,799,649,629,650,0.423526265274,-0.00540581984116,0.0598372788301,0.999999948657,0.000171073467641,-0.000269722069422,2.58704552703e-05,1793192660991307264
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.91751295,672,661.08248705,632.91751295,876,783.08248705,799,649,629,650,0.422683390825,-0.00540166979788,0.0598450339709,0.999999952984,0.000181729802864,-0.000245550908235,2.6656410173e-05,1793192661007973888
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.502101642,742,711.502101642,672,661.497898358,633,876,783,799,649,629,650,0.421781940535,-0.00539893510887,0.0598388299001,0.999999948998,0.000184506120242,-0.000259355761732,2.63989449208e-05,1793192661024640256
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.923599059,661.923599059,633,876,783,799,649,628.923599059,650,0.420863112608,-0.00539636944111,0.0598230407073,0.999999940028,0.000186110299761,-0.000290952240008,2.55525508546e-05,1793192661041307136
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.346213907,661.346213907,633,876,783,799,649,628.346213907,650,0.419892647544,-0.00539340644636,0.0597592487479,0.999999902483,0.000188411165382,-0.000398814971289,2.19543604078e-05,1793192661057973760
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.770491984,633,876,783,799,649,628,650,0.418981562004,-0.00539213463349,0.0597251082454,0.999999882887,0.000186434894175,-0.000446197370258,1.93951922741e-05,1793192661074640384
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.197260914,633,876,783,799,649,628,650,0.418159406159,-0.00539339562147,0.0597353752861,0.999999902774,0.000178052964737,-0.000403001322074,1.83921173383e-05,1793192661091307008
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.387707917,742,711,671.387707917,661.163123751,632.612292083,876,783.387707917,799,649,628.387707917,650,0.417357487009,-0.00539438338633,0.0597678543726,0.99999992112,0.000181910701853,-0.000352472860715,2.07740742691e-05,1793192661107973888
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.978835184,742,711,671.978835184,662.936505552,632.021164816,876,783.978835184,799,649,628.978835184,650,0.416566185527,-0.00539522779867,0.0598119874891,0.99999993679,0.000192190245088,-0.000298097292039,2.49320614505e-05,1793192661124640768
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,661.882631902,632.558684049,876,783.441315951,799,649,629,650,0.415741535996,-0.00539424538149,0.0598265386604,0.999999938677,0.000190247664869,-0.000292700369353,2.78886819571e-05,1793192661141307392
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,661,633,876,783,799.137311509,648.862688491,629,650,0.414922368416,-0.00539380742641,0.059837424338,0.999999940492,0.000188589108496,-0.000287313026085,3.00291223192e-05,1793192661157974016
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,661,633,876,783,799.713374401,648.286625599,629,650,0.414124674208,-0.00539532595019,0.0598401076605,0.999999943516,0.000189288288699,-0.000276144814182,2.97041686996e-05,1793192661174640640
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.705569261,661.294430739,632.705569261,876.294430739,783.294430739,799.705569261,648.294430739,628.705569261,650,0.413330926562,-0.0053943843031,0.0598291955581,0.999999937897,0.000195224203787,-0.000291973190432,2.90562586775e-05,1793192661191307264
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.119568019,661.880431981,632.119568019,876.880431981,783.880431981,799.119568019,648.880431981,628.119568019,650,0.412541087186,-0.00539100638427,0.0598048201029,0.999999922359,0.000206345981381,-0.000334535897728,2.80885295808e-05,1793192661207973632
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.461203912,661.077592176,632.461203912,876.538796088,783.538796088,799,649,628,650,0.411769851863,-0.00538871529049,0.0597679445234,0.999999902102,0.000203788534811,-0.000391975723208,2.49369390111e-05,1793192661224640256
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.959794787,742,711,672,660.040205213,633,876,783.040205213,799,649,628,650,0.411012075535,-0.00538691807077,0.0597331086446,0.999999881294,0.000198428723974,-0.000444488041873,2.16485257036e-05,1793192661241306880
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.386497149,742,711,672,660.613502851,633,876,783.613502851,799,649,628,650,0.410369522247,-0.00538797519869,0.0597678051682,0.999999906611,0.000202406675046,-0.00038109840371,2.39687969115e-05,1793192661257973760
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.18805412,742.18805412,711.18805412,671.81194588,661.18805412,633,876,783.81194588,799.18805412,649,628,650,0.40972952338,-0.00538838468522,0.0598037440765,0.99999992676,0.000207406807242,-0.000320549536035,2.66379251875e-05,1793192661274640640
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.765199303,742.765199303,711.765199303,671.234800697,661.765199303,633,876,783.234800697,799.765199303,649,628,650,0.40909480959,-0.00538745417748,0.059842253532,0.999999941194,0.000214521872458,-0.000265878319848,3.00288524326e-05,1793192661291307264
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742.649396017,711.649396017,671,661.298792034,633,876,783,799.649396017,649,628,650,0.408479784856,-0.0053889651254,0.0598572968725,0.999999947164,0.00021254780912,-0.00024392120668,3.16039943263e-05,1793192661307973632
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742.058326505,711.058326505,671,660.116653011,633,876,783,799.058326505,649,628,650,0.407878264112,-0.00539215057209,0.0598562457224,0.999999948747,0.000204339868687,-0.000244401417995,3.19337600678e-05,1793192661324640256
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.521319338,660.521319338,632.478680662,876,783,799.521319338,649,628,650,0.407295214865,-0.00539050211324,0.0598389949278,0.999999941891,0.000202696018261,-0.000272492079333,2.96577681107e-05,1793192661341307136
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.900294749,660.900294749,632.099705251,876,783,800,649,628,650,0.406726530062,-0.00538823601412,0.0598233900464,0.999999934855,0.00020422370279,-0.000296366852463,2.73761671593e-05,1793192661357973760
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.321953155,660.321953155,632.678046845,876,783,800,649,628,650,0.406217093793,-0.0053855455115,0.0598242005446,0.999999935239,0.000217526451992,-0.000285491799428,2.64371650544e-05,1793192661374640128
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,711.254213197,671,660.254213197,633,875.745786803,783.254213197,799.745786803,649,628.254213197,650.254213197,0.405724663017,-0.0053826741229,0.0598259096164,0.999999935914,0.000225505704972,-0.000276833370157,2.61064467542e-05,1793192661391306752
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,711.827648003,671,660.827648003,633,875.172351997,783.827648003,799.172351997,649,628.827648003,650.827648003,0.405253586485,-0.00537957559163,0.0598287470486,0.999999937219,0.000226800115154,-0.000270958409392,2.65395650911e-05,1793192661407973632
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,711.587319615,671,660.587319615,633,875.412680385,783.587319615,799.412680385,649,629,650.587319615,0.404802607648,-0.00537473142937,0.0598145913195,0.999999930629,0.000227138591868,-0.000294198707567,2.44391657657e-05,1793192661424640768
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,632.997350528,876,783,799.997350528,649,628.997350528,650,0.404360445043,-0.00536913326777,0.059793117701,0.999999919538,0.000227109821118,-0.00032999090631,2.12595427059e-05,1793192661441307392
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,632.417622626,876,783,799.417622626,649,628.417622626,650,0.403957477708,-0.00536269174934,0.0597682372359,0.999999901645,0.00023656300853,-0.000374622572148,2.01429003237e-05,1793192661457974016
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711.161330884,671,660,632.161330884,876,783,799,649,628.161330884,650,0.403585799532,-0.00535832740403,0.0597552613131,0.999999891793,0.000243466593825,-0.000395908821727,1.98627623543e-05,1793192661474640384
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711.7382895,671,660,632.7382895,876,783,799,649,628.7382895,650,0.403294729782,-0.00535931436226,0.059772954391,0.999999906301,0.000243801784706,-0.00035705159235,2.1737663741e-05,1793192661491307008
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711.685606871,671,660.314393129,633,876,783,799,649,628.685606871,650,0.403022954323,-0.005363438412,0.0597938433281,0.999999920472,0.000238733360016,-0.00031855995021,2.41140386619e-05,1793192661507973632
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711.110213063,671,660.889786937,633,876,783,799,649,628.110213063,650,0.40276719648,-0.00537016679027,0.0598173853799,0.999999934072,0.000229178999643,-0.00028037181097,2.69067232365e-05,1793192661524640256
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.523573631,633,875.523573631,783.476426369,799,649,628.476426369,650,0.402534446234,-0.0053810367785,0.0598298304507,0.999999941876,0.00021437416418,-0.00026350770944,2.92495108488e-05,1793192661541306880
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.935449495,742,711,671,660,633,875.064550505,783.935449495,799,649,629,650,0.402309045204,-0.00539120774096,0.0598379262428,0.999999946992,0.000200569895233,-0.000254615441903,3.09716605489e-05,1793192661557974016
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.356721982,742,711,671,660,633,875.643278018,783.356721982,799,649,629,650,0.402098763764,-0.00538799445288,0.0598323203912,0.999999942476,0.000204644480596,-0.000268979493236,2.85991776268e-05,1793192661574640640
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.220085826,742,711,671,660,633,875.779914174,783,799,649,629,650.220085826,0.401905888654,-0.0053858335586,0.0598277519285,0.999999938151,0.00021088933682,-0.00028045568953,2.38559439449e-05,1793192661591307264
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.793808967,742,711,671,660,633,875.206191033,783,799,649,629,650.793808967,0.401740982326,-0.00538536366728,0.059824850359,0.999999934278,0.000220621417516,-0.000287291634273,1.53033514582e-05,1793192661607973888
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.622145493,742,711.377854507,671,660.377854507,633,875.377854507,783,799,649,629,651,0.401601562911,-0.00538608352416,0.0598251580562,0.999999933905,0.000221549963909,-0.000287962358339,1.35148530953e-05,1793192661624640512
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.032308878,742,711.967691122,671,660.967691122,633,875.967691122,783,799,649,629,651,0.401476442026,-0.00538747084777,0.0598272662003,0.999999935556,0.000217539594982,-0.000285174300768,1.55211133086e-05,1793192661641307136
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.547893115,742,711.452106885,671,660.452106885,633,875.452106885,783,799,649,628.452106885,650.452106885,0.401374535799,-0.0053814689507,0.0598289413072,0.999999934895,0.000221929998142,-0.000284070280055,1.61296735999e-05,1793192661657973760
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.126272134,633,875,783,799,649,628,650.126272134,0.401280111715,-0.00537716160591,0.0598301376389,0.99999993457,0.000224135403198,-0.000283448905545,1.67467456238e-05,1793192661674640384
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.700168254,633,875,783,799,649,628,650.700168254,0.40120744221,-0.00538037926157,0.0598297257119,0.999999935945,0.000216869416855,-0.000284192520966,1.76811189119e-05,1793192661691307008
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,875,783.275382168,799,649,628.275382168,650.724617832,0.40114292923,-0.00538144499544,0.0598275967749,0.99999993572,0.000213493434184,-0.000287499619906,1.80204429909e-05,1793192661707973632
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,875,783.85203774,799,649,628.85203774,650.14796226,0.401087339652,-0.00538015648518,0.0598235893958,0.999999933761,0.000214373191016,-0.000293611219232,1.77087716998e-05,1793192661724640256
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,875.439372023,783.560627977,799,649,629,650,0.401047251011,-0.00537935410236,0.0598228131823,0.999999933058,0.000216019531127,-0.000294785835296,1.79207392511e-05,1793192661741307136
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.970265944,633.029734056,876,783,798.970265944,649,629,650,0.401013147294,-0.00537870210716,0.0598230869664,0.999999932801,0.000217809494073,-0.000294317106622,1.82732864675e-05,1793192661757973760
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.392041126,633.607958874,876,783,798.392041126,649,629,650,0.400990753811,-0.00537772918127,0.0598221574835,0.999999932713,0.000217368141255,-0.000294966991244,1.7885153698e-05,1793192661774640128
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.184907924,633.630184153,876,783,798.369815847,649,628.815092076,650.184907924,0.400972688355,-0.00537671699996,0.0598219278663,0.999999932809,0.000217432768976,-0.000294614706987,1.75484500267e-05,1793192661791307008
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.759170555,632.48165889,876,783,799.51834111,649,628.240829445,650.759170555,0.400963736293,-0.00537562215993,0.0598231719345,0.999999933289,0.000218562823806,-0.000292152187657,1.73200390131e-05,1793192661807973632
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711.341903528,670.658096472,661,632.341903528,875.658096472,783,800,649,628.341903528,650.658096472,0.400958194266,-0.00537693625123,0.0598243089665,0.99999993416,0.000217154919087,-0.000290213294971,1.7332278751e-05,1793192661824640000
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.930754454,670.069245546,661,632.930754454,875.069245546,783,800,649,628.930754454,650.069245546,0.400955115213,-0.00537999024642,0.0598253686895,0.999999935307,0.000213913916982,-0.000288652602972,1.7518333801e-05,1793192661841306624
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,712,670.510727891,661,633,875.510727891,783,799.489272109,649,629,650,0.400952803102,-0.00537925385804,0.0598267246963,0.999999935606,0.00021416838903,-0.000287419804904,1.75914490549e-05,1793192661857973760
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711.910759042,671,661,633,875.910759042,783,799,649,628.910759042,650.089240958,0.400950930757,-0.0053781637093,0.0598279954517,0.999999935838,0.000214743237627,-0.000286179944935,1.76354354182e-05,1793192661874640640
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.333761396,671,661,633,875.333761396,783,799,649,628.333761396,650.666238604,0.400950903375,-0.00537790087679,0.0598285844489,0.999999936319,0.000214523112457,-0.000284662655938,1.76024774501e-05,1793192661891307264
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.757703088,742,711,671,660.757703088,633,875.242296912,783,799,649,628.242296912,651,0.400950819271,-0.00537770107724,0.0598291739409,0.999999936543,0.000214986398292,-0.000283518786824,1.76426912781e-05,1793192661907973888
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.182933743,742,711,671,660.182933743,633,875.817066257,783,799,649,628.817066257,651,0.400950657333,-0.00537758776961,0.0598297641117,0.999999936417,0.000216387439877,-0.000282887313174,1.77833092146e-05,1793192661924640256
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.403407865,742,711,671,660.806815729,633,876,783,799,649.403407865,629,651,0.400950639215,-0.00537851910802,0.0598300200538,0.99999993673,0.000215315624368,-0.000282589954337,1.79549219063e-05,1793192661941306880
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.995152123,742,711,671,661.990304247,633,876,783,799,649.995152123,629,651,0.40095068824,-0.0053799381535,0.0598301199567,0.999999937243,0.000213089322181,-0.000282448581519,1.81410049129e-05,1793192661957973504
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,661.426874661,632.426874661,876,783.573125339,799,649.426874661,629,650.426874661,0.400950011606,-0.005379181425,0.0598303551522,0.999999937271,0.000213514538212,-0.000282041441019,1.79296215446e-05,1793192661974640384
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,632.149771943,875.850228057,783.850228057,799,649,629,650,0.400949692899,-0.00537850471638,0.0598306701557,0.999999937351,0.000213955221206,-0.000281439016375,1.76803905727e-05,1793192661991307264
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,632.722989371,875.277010629,783.277010629,799,649,629,650,0.400950403096,-0.00537810505815,0.0598312076386,0.999999937589,0.000214377710403,-0.000280290677792,1.73334366446e-05,1793192662007973888
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.694572482,742,711,671,660.694572482,633,875,783,799,649,629,650.305427518,0.400950646452,-0.00537800809539,0.0598316815489,0.999999937648,0.000215042140753,-0.000279577163944,1.72674983841e-05,1793192662024640512
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.10351111,742,711,671,660.10351111,633,875,783,799,649,629,650.89648889,0.400950453221,-0.00537819421144,0.0598320960065,0.999999937538,0.000215932832966,-0.000279270295264,1.74643641318e-05,1793192662041307136
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.477194806,742,711,671,660,632.522805194,875,783,799,649,628.522805194,650.522805194,0.400950066508,-0.0053785089592,0.0598317957232,0.999999937767,0.000214425209399,-0.000279618419651,1.73440023498e-05,1793192662057973760
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.944397658,742,711,671,660,632,875.055602342,783,799,649,628,650,0.400949646694,-0.00537892562802,0.0598314640918,0.999999938064,0.000212507608047,-0.000280029409783,1.71872229167e-05,1793192662074640384
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.366926723,742,711,671,660,632,875.633073277,783,799,649,628,650,0.400949301754,-0.00538004257994,0.05983226248,0.999999938356,0.000211521119323,-0.000279725255335,1.73207672793e-05,1793192662091307008
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.213294132,632.213294132,875.786705868,783.213294132,799,649,628.213294132,650.213294132,0.400949409048,-0.00537995480931,0.0598328605342,0.999999938371,0.000212080036321,-0.000279244499295,1.73946415906e-05,1793192662107973632
+381,6.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.798307383,632.798307383,875.201692617,783.798307383,799,649,628.798307383,650.798307383,0.400950304475,-0.00537776750405,0.0598331094556,0.999999937896,0.000215332214789,-0.000278455970213,1.73645256958e-05,1793192662124640512
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.380013639,742,711,671,660.619986361,633,875.380013639,784,799,649,628.619986361,651,0.400949579103,-0.00537803898691,0.0598324651292,0.999999937826,0.000214652652873,-0.000279234814542,1.73183076108e-05,1793192662141307136
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.959979828,742,711,671,660.040020172,633,875.959979828,784,799,649,628.040020172,651,0.40094800091,-0.00537960421538,0.0598313508007,0.999999937964,0.000211904319022,-0.000280838366951,1.72636170043e-05,1793192662157973504
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.538352505,671,660,632.461647495,876,783.461647495,799.538352505,649,628,650.461647495,0.400947521137,-0.00537846322369,0.0598316531251,0.999999937064,0.00021608337029,-0.000280846972708,1.74536218565e-05,1793192662174640128
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.884252788,671,660.115747212,632.115747212,876,783.115747212,799.884252788,649,628,650,0.400947192337,-0.00537753508306,0.0598319742056,0.999999936426,0.00021908561774,-0.000280783961728,1.75855654224e-05,1793192662191307008
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.31026241,671,660.68973759,632.68973759,876,783.68973759,799.31026241,649,628,650,0.400947138926,-0.00537824372364,0.0598319538436,0.999999937197,0.000215396150862,-0.000280905435649,1.74158417601e-05,1793192662207973632
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711.270497503,671,661,632.729502497,876.270497503,783.729502497,799,649,628,650.270497503,0.400946963423,-0.00537890644836,0.059831957327,0.999999937789,0.000212729171273,-0.000280837039085,1.7273525479e-05,1793192662224640512
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.859221505,671,661,632.140778495,876.859221505,783.140778495,799,649,628,650.859221505,0.400946644286,-0.0053795151555,0.0598319888634,0.999999938183,0.000211265095283,-0.000280545269609,1.71634525605e-05,1793192662241306880
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.560241739,671,661,632.439758261,876.120483478,783,799,649,628,651,0.400948240813,-0.00538029025512,0.0598323756497,0.999999938536,0.000210973137492,-0.000279496229785,1.73470174964e-05,1793192662257973504
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.017714591,671,661,633,875.035429181,783,799.017714591,649,628,650.982285409,0.400950359569,-0.0053810820565,0.0598328796578,0.999999938875,0.000211029731651,-0.000278220778422,1.76047886738e-05,1793192662274640384
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711.595439023,671,661,633,876.190878046,783,799.595439023,649,628,650.404560977,0.400949955056,-0.00538074871213,0.0598335599212,0.999999939253,0.000210459865546,-0.000277311411902,1.72910914993e-05,1793192662291307264
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.825018954,671,661,633,876.825018954,783,799.825018954,649,628,650,0.40094938897,-0.00538061291596,0.0598337610789,0.999999939406,0.000210156169256,-0.000276996486833,1.71622599018e-05,1793192662307973888
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.241230537,671,661,633,876.241230537,783,799.241230537,649,628,650,0.400948445398,-0.00538093865076,0.0598328429042,0.999999939036,0.000210474324255,-0.00027807035251,1.74653288769e-05,1793192662324640512
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..53e4574aac354968f797bf68e96b49397700269f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_02/simulation_data.csv
@@ -0,0 +1,395 @@
+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,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+1,0.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+2,0.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+3,0.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+4,0.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+5,0.083333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+6,0.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+7,0.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+8,0.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+9,0.150000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+10,0.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+11,0.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+12,0.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+13,0.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+14,0.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+15,0.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+16,0.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+17,0.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+18,0.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+19,0.316666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+20,0.333333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+21,0.350000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+22,0.366666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+23,0.383333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+24,0.400000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+25,0.416666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+26,0.433333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+27,0.450000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+28,0.466666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+29,0.483333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+30,0.500000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+31,0.516666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+32,0.533333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+33,0.550000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+34,0.566666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+35,0.583333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+36,0.600000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+37,0.616666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+38,0.633333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+39,0.650000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+40,0.666666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+41,0.683333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+42,0.700000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+43,0.716666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+44,0.733333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+45,0.750000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+46,0.766666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+47,0.783333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+48,0.800000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+49,0.816666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+50,0.833333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+51,0.850000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+52,0.866666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+53,0.883333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+54,0.900000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+55,0.916666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+56,0.933333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+57,0.950000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+58,0.966666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+59,0.983333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+60,1.000000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+61,1.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+62,1.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+63,1.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+64,1.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+65,1.083333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+66,1.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+67,1.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+68,1.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+69,1.150000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+70,1.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+71,1.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+72,1.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+73,1.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+74,1.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+75,1.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+76,1.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+77,1.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+78,1.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+79,1.316666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+80,1.333333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+81,1.350000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+82,1.366666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+83,1.383333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+84,1.400000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+85,1.416666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+86,1.433333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+87,1.450000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+88,1.466666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+89,1.483333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+90,1.500000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+91,1.516666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+92,1.533333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+93,1.550000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+94,1.566666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+95,1.583333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+96,1.600000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+97,1.616666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+98,1.633333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+99,1.650000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+100,1.666666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+101,1.683333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+102,1.700000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+103,1.716666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+104,1.733333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+105,1.750000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+106,1.766666667,pose1_to_pose2_press,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+107,1.783333333,pose1_to_pose2_press,0.575709263026,5.46021245689e-05,1.05002918912,0.546279991738,0.00872732640081,1.04969847944
+108,1.800000000,pose1_to_pose2_press,0.575709291218,5.45642571756e-05,1.05002921458,0.546280020856,0.00872729178696,1.04969850787
+109,1.816666667,pose1_to_pose2_press,0.575709427144,5.4519140094e-05,1.05002923616,0.54628015796,0.00872725075425,1.04969853159
+110,1.833333333,pose1_to_pose2_press,0.575709508976,5.45234209641e-05,1.050029226,0.546280239752,0.00872725484008,1.04969851995
+111,1.850000000,pose1_to_pose2_press,0.575709572256,5.45267312809e-05,1.05002921814,0.546280303,0.00872725799957,1.04969851095
+112,1.866666667,pose1_to_pose2_press,0.575710127516,5.45569889825e-05,1.05002919759,0.546280857983,0.00872728708919,1.04969848443
+113,1.883333333,pose1_to_pose2_press,0.575711562795,5.46144920732e-05,1.05002929108,0.546282292727,0.00872734274252,1.049698577
+114,1.900000000,pose1_to_pose2_press,0.575714452288,5.44959886846e-05,1.05002918538,0.546285182881,0.00872722634121,1.04969846758
+115,1.916666667,pose1_to_pose2_press,0.575723100175,5.46060930029e-05,1.05002921948,0.546293830159,0.00872733461276,1.04969850773
+116,1.933333333,pose1_to_pose2_press,0.575739656026,5.45990199633e-05,1.05002916679,0.546310385687,0.00872732649638,1.0496984564
+117,1.950000000,pose1_to_pose2_press,0.57576774812,5.45510847928e-05,1.05002923102,0.546338478963,0.00872728248062,1.04969851812
+118,1.966666667,pose1_to_pose2_press,0.575807835779,5.44479963964e-05,1.05002905686,0.546378567654,0.00872718305586,1.04969834813
+119,1.983333333,pose1_to_pose2_press,0.575860194177,5.4546067687e-05,1.05002935164,0.546430924756,0.00872727666848,1.04969864132
+120,2.000000000,pose1_to_pose2_press,0.57592208322,5.45443735995e-05,1.05002919357,0.546492813921,0.0087272751117,1.04969847586
+121,2.016666667,pose1_to_pose2_press,0.575992610875,5.45835652237e-05,1.05002916172,0.54656334157,0.00872731455256,1.04969845102
+122,2.033333333,pose1_to_pose2_press,0.57607348985,5.45261667836e-05,1.05002914688,0.546644219933,0.00872725516416,1.04969843839
+123,2.050000000,pose1_to_pose2_press,0.576165750446,5.44992881604e-05,1.05002908976,0.546736481337,0.00872723106968,1.04969838239
+124,2.066666667,pose1_to_pose2_press,0.576270876483,5.4536250415e-05,1.05002915319,0.546841608237,0.00872727085229,1.04969844288
+125,2.083333333,pose1_to_pose2_press,0.576390020514,5.4594751412e-05,1.05002909404,0.546960751227,0.00872732579153,1.04969838294
+126,2.100000000,pose1_to_pose2_press,0.576526395266,5.46108925954e-05,1.05002891526,0.547097125073,0.00872733906017,1.04969820943
+127,2.116666667,pose1_to_pose2_press,0.576679106611,5.4573968786e-05,1.05002904011,0.547249837536,0.00872730610883,1.04969833889
+128,2.133333333,pose1_to_pose2_press,0.576849185464,5.45072320584e-05,1.05002894962,0.547419918437,0.0087272463703,1.04969824957
+129,2.150000000,pose1_to_pose2_press,0.577041186576,5.44675954554e-05,1.05002910996,0.547611918346,0.00872720237342,1.04969840267
+130,2.166666667,pose1_to_pose2_press,0.577254610018,5.4531839432e-05,1.05002906542,0.547825341362,0.00872726518611,1.04969835836
+131,2.183333333,pose1_to_pose2_press,0.577490934106,5.45330492563e-05,1.05002918042,0.548061665355,0.00872726606557,1.04969847311
+132,2.200000000,pose1_to_pose2_press,0.577747090866,5.46868342416e-05,1.05002926897,0.548317820069,0.00872741267213,1.04969855548
+133,2.216666667,pose1_to_pose2_press,0.578021791574,5.4613633966e-05,1.0500291431,0.548592520958,0.00872734018451,1.04969843206
+134,2.233333333,pose1_to_pose2_press,0.578313609489,5.47141879859e-05,1.05002907323,0.54888433793,0.00872743752318,1.04969836176
+135,2.250000000,pose1_to_pose2_press,0.578622211322,5.46389304356e-05,1.05002918951,0.549192940878,0.00872736603604,1.04969847763
+136,2.266666667,pose1_to_pose2_press,0.578953076543,5.4653254141e-05,1.05002935536,0.549523806428,0.00872738088815,1.04969862806
+137,2.283333333,pose1_to_pose2_press,0.579309243496,5.45085269223e-05,1.05002916434,0.549879973515,0.00872723719412,1.04969845218
+138,2.300000000,pose1_to_pose2_press,0.5796996826,5.45521694823e-05,1.05002914547,0.550270413113,0.00872728273558,1.04969843912
+139,2.316666667,pose1_to_pose2_press,0.580125283402,5.46609675421e-05,1.05002917271,0.550696013336,0.00872738932712,1.04969845992
+140,2.333333333,pose1_to_pose2_press,0.580589088726,5.45726868986e-05,1.05002928597,0.551159819583,0.00872730424758,1.04969857486
+141,2.350000000,pose1_to_pose2_press,0.581081035467,5.46714781408e-05,1.05002915697,0.551651763888,0.00872739486774,1.04969844834
+142,2.366666667,pose1_to_pose2_press,0.58159694879,5.46147556946e-05,1.05002921636,0.552167676991,0.00872733694829,1.04969849582
+143,2.383333333,pose1_to_pose2_press,0.582126320372,5.46332804684e-05,1.05002930516,0.552697048859,0.00872735669609,1.04969859128
+144,2.400000000,pose1_to_pose2_press,0.582668231288,5.44795267449e-05,1.05002932109,0.553238962434,0.00872721172903,1.04969860089
+145,2.416666667,pose1_to_pose2_press,0.583224679153,5.45314238515e-05,1.05002918668,0.553795408927,0.00872725913052,1.0496984707
+146,2.433333333,pose1_to_pose2_press,0.583802766329,5.46459267642e-05,1.05002918204,0.554373494957,0.00872736977823,1.0496984669
+147,2.450000000,pose1_to_pose2_press,0.584405568998,5.45724025214e-05,1.05002903293,0.554976299701,0.00872730352236,1.04969832369
+148,2.466666667,pose1_to_pose2_press,0.585035741615,5.46207115307e-05,1.0500292731,0.555606470717,0.00872734637609,1.04969856333
+149,2.483333333,pose1_to_pose2_press,0.585686420723,5.44531945451e-05,1.0500291627,0.556257151797,0.00872718561422,1.04969845453
+150,2.500000000,pose1_to_pose2_press,0.586346216229,5.45121297185e-05,1.05002912163,0.556916947087,0.0087272441236,1.04969842145
+151,2.516666667,pose1_to_pose2_press,0.587016946027,5.45339975234e-05,1.0500293207,0.557587676829,0.00872726496016,1.04969859853
+152,2.533333333,pose1_to_pose2_press,0.587703882829,5.44347319447e-05,1.05002902351,0.558274614697,0.00872717008983,1.04969832168
+153,2.550000000,pose1_to_pose2_press,0.58841583319,5.43909307629e-05,1.05002936731,0.558986565994,0.00872712889178,1.04969865043
+154,2.566666667,pose1_to_pose2_press,0.589156747457,5.44565073648e-05,1.05002923831,0.559727479547,0.00872719204007,1.04969852131
+155,2.583333333,pose1_to_pose2_press,0.589927240547,5.45502775819e-05,1.05002941629,0.560497970845,0.00872727965175,1.04969869728
+156,2.600000000,pose1_to_pose2_press,0.590716342376,5.4560831456e-05,1.05002919493,0.561287072979,0.00872729150686,1.04969848294
+157,2.616666667,pose1_to_pose2_press,0.591513169585,5.45022754092e-05,1.05002889882,0.562083900941,0.0087272359928,1.0496981995
+158,2.633333333,pose1_to_pose2_press,0.592306589582,5.4622311019e-05,1.05002926932,0.562877317774,0.00872734462974,1.04969855275
+159,2.650000000,pose1_to_pose2_press,0.593093318934,5.45710523385e-05,1.050029194,0.563664049376,0.00872730109316,1.04969847974
+160,2.666666667,pose1_to_pose2_press,0.593869964354,5.45655014658e-05,1.05002914139,0.56444069486,0.00872729608969,1.04969843574
+161,2.683333333,pose1_to_pose2_press,0.594641153848,5.4584368537e-05,1.05002913288,0.565211883771,0.00872731307812,1.04969842989
+162,2.700000000,pose1_to_pose2_press,0.59542897852,5.45989097668e-05,1.05002903082,0.565999707119,0.00872732322735,1.04969833055
+163,2.716666667,pose1_to_pose2_press,0.596235495613,5.46409306831e-05,1.05002909246,0.566806223638,0.0087273632329,1.04969839046
+164,2.733333333,pose1_to_pose2_press,0.597062775333,5.44986480824e-05,1.0500290484,0.567633506304,0.00872723086542,1.04969834428
+165,2.750000000,pose1_to_pose2_press,0.597909086268,5.46054373338e-05,1.05002920711,0.568479816661,0.00872733549041,1.04969849769
+166,2.766666667,pose1_to_pose2_press,0.598767293572,5.44644678673e-05,1.05002916923,0.569338024758,0.00872719730073,1.04969846224
+167,2.783333333,pose1_to_pose2_press,0.599609834206,5.4418672135e-05,1.05002914558,0.570180565061,0.00872715033028,1.0496984373
+168,2.800000000,pose1_to_pose2_press,0.600435017175,5.46268920131e-05,1.05002893946,0.571005745829,0.00872735126621,1.04969823604
+169,2.816666667,pose1_to_pose2_press,0.601241113905,5.4624689507e-05,1.05002898869,0.571811843428,0.00872735197943,1.04969828449
+170,2.833333333,pose1_to_pose2_press,0.60202942085,5.45803299266e-05,1.05002911737,0.572600151023,0.00872730978083,1.04969841206
+171,2.850000000,pose1_to_pose2_press,0.602797299921,5.45747808769e-05,1.05002917367,0.573368029815,0.00872730299998,1.04969846104
+172,2.866666667,pose1_to_pose2_press,0.60355953881,5.46424951563e-05,1.05002908713,0.574130268224,0.00872736913329,1.04969837574
+173,2.883333333,pose1_to_pose2_press,0.604318289754,5.45473322118e-05,1.05002906877,0.574889019937,0.00872727641808,1.0496983533
+174,2.900000000,pose1_to_pose2_press,0.605076541715,5.44936362076e-05,1.05002917925,0.575647271609,0.00872722143203,1.04969845569
+175,2.916666667,pose1_to_pose2_press,0.605833977839,5.45268109541e-05,1.05002927298,0.576404709095,0.00872725949737,1.04969855665
+176,2.933333333,pose1_to_pose2_press,0.606584676554,5.45295283161e-05,1.05002908178,0.577155407419,0.00872726132148,1.04969837683
+177,2.950000000,pose1_to_pose2_press,0.607314116545,5.45598419024e-05,1.05002893417,0.577884846703,0.00872728918392,1.04969822792
+178,2.966666667,pose1_to_pose2_press,0.608017114909,5.46165960043e-05,1.05002918957,0.578587844939,0.00872734544944,1.04969848197
+179,2.983333333,pose1_to_pose2_press,0.60868520151,5.45603215591e-05,1.05002924742,0.579255931749,0.00872729008262,1.0496985452
+180,3.000000000,pose1_to_pose2_press,0.609325691742,5.46119553602e-05,1.05002918011,0.579896421558,0.00872734006002,1.04969847211
+181,3.016666667,pose1_to_pose2_press,0.6099500317,5.44564245558e-05,1.05002920096,0.580520763724,0.00872719156338,1.04969848101
+182,3.033333333,pose1_to_pose2_press,0.610558394777,5.45442735938e-05,1.05002916188,0.58112912615,0.00872727755783,1.0496984514
+183,3.050000000,pose1_to_pose2_press,0.611147962231,5.45898540957e-05,1.0500289643,0.581718691083,0.00872731487071,1.04969826133
+184,3.066666667,pose1_to_pose2_press,0.611719899217,5.46173846539e-05,1.05002909606,0.582290627301,0.00872733946064,1.04969838441
+185,3.083333333,pose1_to_pose2_press,0.612273438266,5.45213210888e-05,1.05002917256,0.582844168013,0.00872724905893,1.04969846147
+186,3.100000000,pose1_to_pose2_press,0.612800351392,5.45795044447e-05,1.05002920606,0.583371081113,0.00872730690165,1.0496984866
+187,3.116666667,pose1_to_pose2_press,0.613302043069,5.44029119755e-05,1.05002934583,0.5838727761,0.00872714187215,1.04969863167
+188,3.133333333,pose1_to_pose2_press,0.613774664427,5.44985606883e-05,1.05002920652,0.584345396022,0.00872723322217,1.04969850234
+189,3.150000000,pose1_to_pose2_press,0.61421488106,5.45023407692e-05,1.05002921858,0.584785612982,0.00872723836313,1.04969851355
+190,3.166666667,pose1_to_pose2_press,0.614619240107,5.45075902071e-05,1.05002909727,0.585189971494,0.00872724209895,1.04969839436
+191,3.183333333,pose1_to_pose2_press,0.614991412701,5.4510825328e-05,1.05002896706,0.585562142854,0.0087272412818,1.04969826006
+192,3.200000000,pose1_to_pose2_press,0.615335541489,5.45638100491e-05,1.05002911077,0.585906271058,0.00872729252145,1.0496983976
+193,3.216666667,pose1_to_pose2_press,0.615662940959,5.45848942016e-05,1.05002925244,0.586233670977,0.00872731541491,1.04969853939
+194,3.233333333,pose1_to_pose2_press,0.615976780687,5.4503012941e-05,1.05002906478,0.586547511748,0.00872723729583,1.04969835885
+195,3.250000000,pose1_to_pose2_press,0.616276595355,5.45703066475e-05,1.05002902269,0.586847325205,0.00872730083936,1.04969832058
+196,3.266666667,pose1_to_pose2_press,0.616562159196,5.4591392331e-05,1.05002933288,0.587132887542,0.00872731651425,1.04969861643
+197,3.283333333,pose1_to_pose2_press,0.616831554911,5.44730956116e-05,1.05002911154,0.587402286055,0.00872720815613,1.04969840157
+198,3.300000000,pose1_to_pose2_press,0.617074980401,5.45254740867e-05,1.05002916465,0.587645709899,0.00872725524567,1.04969845636
+199,3.316666667,pose1_to_pose2_press,0.617294913175,5.45953007642e-05,1.05002898358,0.58786564062,0.00872731834837,1.04969827592
+200,3.333333333,pose1_to_pose2_press,0.617492394469,5.44816930212e-05,1.05002922359,0.588063124533,0.00872721344239,1.04969850567
+201,3.350000000,pose1_to_pose2_press,0.617669304521,5.45406225864e-05,1.05002926892,0.588240034158,0.00872727114688,1.049698554
+202,3.366666667,pose1_to_pose2_press,0.617825213819,5.44225387378e-05,1.05002921995,0.588395944212,0.00872715572891,1.04969850479
+203,3.383333333,pose1_to_pose2_press,0.617963485697,5.44303182944e-05,1.05002920071,0.588534215823,0.00872716288217,1.04969849065
+204,3.400000000,pose1_to_pose2_press,0.61808395959,5.4552722229e-05,1.05002894796,0.588654688514,0.00872728158589,1.04969824414
+205,3.416666667,pose1_to_pose2_press,0.618187214509,5.45696972321e-05,1.05002919934,0.588757942776,0.00872729625735,1.049698485
+206,3.433333333,pose1_to_pose2_press,0.618275367427,5.46366594618e-05,1.05002930818,0.588846095022,0.0087273619208,1.04969858846
+207,3.450000000,pose1_to_pose2_press,0.618349343655,5.4586553047e-05,1.05002914856,0.588920072456,0.00872731508058,1.04969844124
+208,3.466666667,pose1_to_pose2_press,0.618412221488,5.45884700015e-05,1.05002931302,0.588982950819,0.00872731766987,1.04969859311
+209,3.483333333,pose1_to_pose2_press,0.618464701589,5.45954776345e-05,1.05002917636,0.589035431791,0.00872732867481,1.04969846844
+210,3.500000000,pose1_to_pose2_press,0.618508476963,5.45556043844e-05,1.05002922816,0.589079206876,0.00872728828861,1.04969852308
+211,3.516666667,pose1_to_pose2_press,0.618544197246,5.44573416898e-05,1.05002923043,0.589114927729,0.00872719139009,1.04969851554
+212,3.533333333,pose1_to_pose2_press,0.618572557688,5.45227724899e-05,1.05002924203,0.589143287284,0.00872725375914,1.04969852718
+213,3.550000000,pose1_to_pose2_press,0.618594940033,5.45976355557e-05,1.05002919814,0.589165668636,0.00872732562197,1.04969848932
+214,3.566666667,pose1_to_pose2_press,0.618611892318,5.44847835678e-05,1.0500290766,0.58918262214,0.00872721681521,1.04969836446
+215,3.583333333,pose1_to_pose2_press,0.618624466776,5.44254461548e-05,1.05002919608,0.58919519771,0.00872716116117,1.04969847729
+216,3.600000000,pose1_to_pose2_press,0.618632944221,5.44507175431e-05,1.0500288844,0.58920367574,0.00872718862276,1.04969817376
+217,3.616666667,pose1_to_pose2_press,0.618638544167,5.45055255941e-05,1.05002888604,0.589209275302,0.00872724242121,1.04969818194
+218,3.633333333,pose1_to_pose2_press,0.618641852619,5.45553532401e-05,1.05002898354,0.589212583172,0.0087272905199,1.04969828381
+219,3.650000000,pose1_to_pose2_press,0.618643383803,5.45758691797e-05,1.05002897942,0.589214113875,0.0087273094163,1.04969827976
+220,3.666666667,pose1_to_pose2_press,0.61864424302,5.45864332463e-05,1.05002895875,0.589214972743,0.00872731876622,1.04969825841
+221,3.683333333,pose1_to_pose2_press,0.618644844375,5.45938269056e-05,1.05002894429,0.589215573854,0.00872732531012,1.04969824347
+222,3.700000000,pose1_to_pose2_press,0.618645140549,5.45974683529e-05,1.05002893716,0.589215869907,0.00872732853304,1.04969823611
+223,3.716666667,pose1_to_pose2_press,0.618645146216,5.45975380261e-05,1.05002893703,0.589215875572,0.00872732859471,1.04969823597
+224,3.733333333,pose1_to_pose2_press,0.61864518524,5.45980178268e-05,1.05002893609,0.58921591458,0.00872732901937,1.049698235
+225,3.750000000,pose1_to_pose2_press,0.618645326258,5.45997516481e-05,1.0500289327,0.589216055541,0.00872733055392,1.0496982315
+226,3.766666667,pose1_to_pose2_press,0.618645708262,5.46044483863e-05,1.05002892351,0.58921643739,0.00872733471085,1.04969822201
+227,3.783333333,pose1_to_pose2_press,0.618646435289,5.46133871701e-05,1.05002890602,0.589217164121,0.00872734262228,1.04969820394
+228,3.800000000,pose1_to_pose2_press,0.618647373844,5.45960045587e-05,1.05002889705,0.589218102467,0.00872732444805,1.04969819395
+229,3.816666667,pose1_to_pose2_press,0.618648137968,5.45609024583e-05,1.05002889958,0.589218866544,0.00872728908872,1.04969819546
+230,3.833333333,pose1_to_pose2_press,0.618648638295,5.45379186132e-05,1.05002890125,0.589219366841,0.00872726593645,1.04969819646
+231,3.850000000,pose1_to_pose2_press,0.61864870239,5.45349742377e-05,1.05002890146,0.589219430932,0.0087272629705,1.04969819658
+232,3.866666667,pose1_to_pose2_press,0.618648795035,5.45307183675e-05,1.05002890177,0.58921952357,0.00872725868344,1.04969819677
+233,3.883333333,pose1_to_pose2_press,0.618648876205,5.45269895674e-05,1.05002890204,0.589219604736,0.00872725492731,1.04969819693
+234,3.900000000,pose1_to_pose2_press,0.618648945252,5.45238177479e-05,1.05002890227,0.589219673778,0.00872725173225,1.04969819707
+235,3.916666667,pose1_to_pose2_press,0.618649164811,5.45137317132e-05,1.05002890299,0.589219893324,0.00872724157231,1.0496981975
+236,3.933333333,pose1_to_pose2_press,0.618649509131,5.45141210657e-05,1.05002891384,0.589220237833,0.00872724255437,1.04969820628
+237,3.950000000,pose1_to_pose2_press,0.618649938542,5.45195023502e-05,1.0500289303,0.589220667545,0.0087272488889,1.04969821966
+238,3.966666667,pose1_to_pose2_press,0.618650417318,5.45210038724e-05,1.05002895365,0.58922114674,0.00872725177185,1.04969824047
+239,3.983333333,pose1_to_pose2_press,0.618650623279,5.44835384412e-05,1.05002900612,0.589221353607,0.00872721759985,1.04969829918
+240,4.000000000,pose1_to_pose2_press,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420282,0.00872726925104,1.04969819242
+241,4.016666667,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420284,0.0087272692509,1.04969819242
+242,4.033333333,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420285,0.00872726924992,1.04969819241
+243,4.050000000,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420285,0.00872726925014,1.04969819242
+244,4.066666667,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420285,0.00872726925004,1.04969819242
+245,4.083333333,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420285,0.00872726924946,1.04969819242
+246,4.100000000,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420285,0.00872726924791,1.04969819241
+247,4.116666667,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420285,0.00872726924842,1.04969819242
+248,4.133333333,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420285,0.00872726924906,1.04969819241
+249,4.150000000,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420285,0.00872726924842,1.04969819242
+250,4.166666667,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420286,0.00872726924777,1.04969819241
+251,4.183333333,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420286,0.00872726924876,1.04969819242
+252,4.200000000,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420286,0.00872726924848,1.04969819242
+253,4.216666667,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420287,0.00872726924805,1.04969819242
+254,4.233333333,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420287,0.0087272692475,1.04969819242
+255,4.250000000,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420286,0.00872726924863,1.04969819242
+256,4.266666667,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420287,0.00872726924686,1.04969819242
+257,4.283333333,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420287,0.00872726924747,1.04969819242
+258,4.300000000,pose2_hold,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420287,0.00872726924725,1.04969819242
+259,4.316666667,pose2_to_pose3_retreat,0.618650690903,5.45383509174e-05,1.05002889583,0.589221420287,0.00872726924722,1.04969819242
+260,4.333333333,pose2_to_pose3_retreat,0.618650669916,5.44949016742e-05,1.05002897557,0.589221400053,0.00872722828959,1.04969827053
+261,4.350000000,pose2_to_pose3_retreat,0.618650637588,5.44753831335e-05,1.05002901089,0.589221368115,0.00872721005444,1.04969830497
+262,4.366666667,pose2_to_pose3_retreat,0.618650516987,5.44872423979e-05,1.05002898639,0.589221247587,0.00872722213888,1.04969828004
+263,4.383333333,pose2_to_pose3_retreat,0.61865039917,5.44988279496e-05,1.05002896246,0.589221129842,0.00872723394441,1.04969825568
+264,4.400000000,pose2_to_pose3_retreat,0.618649833719,5.44880255065e-05,1.05002895999,0.589220564295,0.00872722277667,1.04969825199
+265,4.416666667,pose2_to_pose3_retreat,0.618647851308,5.4503119451e-05,1.05002910277,0.589218580445,0.00872723293862,1.04969839213
+266,4.433333333,pose2_to_pose3_retreat,0.618642213627,5.45145170481e-05,1.05002929817,0.589212944045,0.00872724840943,1.04969858205
+267,4.450000000,pose2_to_pose3_retreat,0.618629595602,5.45047513459e-05,1.05002902004,0.589200324467,0.00872723368082,1.04969831472
+268,4.466666667,pose2_to_pose3_retreat,0.618607459943,5.45450411958e-05,1.05002918564,0.58917819059,0.00872728006356,1.04969848127
+269,4.483333333,pose2_to_pose3_retreat,0.618574013493,5.44036108793e-05,1.05002904621,0.589144744047,0.00872713810592,1.04969833766
+270,4.500000000,pose2_to_pose3_retreat,0.618528483721,5.45371454927e-05,1.050029185,0.58909921485,0.00872727375521,1.04969847862
+271,4.516666667,pose2_to_pose3_retreat,0.618472135581,5.44781106077e-05,1.05002911608,0.58904286547,0.00872721023424,1.04969840285
+272,4.533333333,pose2_to_pose3_retreat,0.618406006717,5.44783573494e-05,1.05002918046,0.588976736465,0.0087272097262,1.04969846639
+273,4.550000000,pose2_to_pose3_retreat,0.618330844848,5.45680187212e-05,1.05002915241,0.588901574266,0.00872729799762,1.04969844402
+274,4.566666667,pose2_to_pose3_retreat,0.618245979641,5.46280165682e-05,1.05002908033,0.588816707965,0.00872735450877,1.04969837425
+275,4.583333333,pose2_to_pose3_retreat,0.618148581958,5.45681088323e-05,1.05002903528,0.588719310631,0.00872729596298,1.04969832777
+276,4.600000000,pose2_to_pose3_retreat,0.618037111289,5.44862566733e-05,1.05002910381,0.588607841934,0.00872722047761,1.04969839103
+277,4.616666667,pose2_to_pose3_retreat,0.617906878985,5.44511833515e-05,1.05002918889,0.588477610028,0.00872718648511,1.04969847225
+278,4.633333333,pose2_to_pose3_retreat,0.617758058139,5.44500104904e-05,1.05002902845,0.588328788399,0.00872718282961,1.04969831882
+279,4.650000000,pose2_to_pose3_retreat,0.617588288465,5.45512095862e-05,1.05002877058,0.588159017304,0.00872727917029,1.04969806487
+280,4.666666667,pose2_to_pose3_retreat,0.617395967132,5.45914106846e-05,1.05002916021,0.587966696398,0.00872732034915,1.0496984471
+281,4.683333333,pose2_to_pose3_retreat,0.617178048077,5.45941030709e-05,1.05002906699,0.587748777597,0.00872732404455,1.04969836128
+282,4.700000000,pose2_to_pose3_retreat,0.616935123942,5.45936149904e-05,1.05002936949,0.587505853194,0.0087273219329,1.04969864873
+283,4.716666667,pose2_to_pose3_retreat,0.616666885355,5.46027615455e-05,1.05002948739,0.587237614906,0.00872733196965,1.04969877079
+284,4.733333333,pose2_to_pose3_retreat,0.616371735452,5.4524520827e-05,1.05002919007,0.586942465262,0.00872725455783,1.04969847782
+285,4.750000000,pose2_to_pose3_retreat,0.616052736355,5.46673641163e-05,1.05002929993,0.586623464801,0.00872739255499,1.04969859001
+286,4.766666667,pose2_to_pose3_retreat,0.615710206196,5.44930865986e-05,1.05002937333,0.58628093643,0.00872722364131,1.04969865373
+287,4.783333333,pose2_to_pose3_retreat,0.615345370449,5.45869124621e-05,1.05002897122,0.58591609957,0.00872731378017,1.0496982605
+288,4.800000000,pose2_to_pose3_retreat,0.614958684327,5.44903751833e-05,1.05002928759,0.585529414793,0.00872722139818,1.04969857013
+289,4.816666667,pose2_to_pose3_retreat,0.614552162874,5.44797095864e-05,1.05002901477,0.585122892797,0.00872720909392,1.04969831082
+290,4.833333333,pose2_to_pose3_retreat,0.614126411341,5.45408195293e-05,1.05002901545,0.584697142181,0.00872727304542,1.04969831169
+291,4.850000000,pose2_to_pose3_retreat,0.613679556277,5.43838334471e-05,1.05002927085,0.584250289071,0.00872712203206,1.04969855794
+292,4.866666667,pose2_to_pose3_retreat,0.613207326321,5.44912217472e-05,1.05002915174,0.583778059244,0.00872723010598,1.04969844787
+293,4.883333333,pose2_to_pose3_retreat,0.61270466489,5.46464202985e-05,1.05002910995,0.58327539466,0.00872737475016,1.04969841292
+294,4.900000000,pose2_to_pose3_retreat,0.612157071837,5.46973786557e-05,1.05002913672,0.582727800729,0.00872742242489,1.04969843216
+295,4.916666667,pose2_to_pose3_retreat,0.611562306686,5.45825320298e-05,1.05002929622,0.582133036324,0.00872730956682,1.04969857724
+296,4.933333333,pose2_to_pose3_retreat,0.610934769037,5.46780389094e-05,1.0500289578,0.581505498147,0.00872740384818,1.04969825421
+297,4.950000000,pose2_to_pose3_retreat,0.610281310369,5.46505054939e-05,1.05002913426,0.580852040811,0.00872738053051,1.04969842365
+298,4.966666667,pose2_to_pose3_retreat,0.609607245199,5.45470818013e-05,1.05002904823,0.580177975094,0.00872727535699,1.0496983398
+299,4.983333333,pose2_to_pose3_retreat,0.608924928162,5.45280958165e-05,1.05002930191,0.579495658503,0.00872725738734,1.04969858035
+300,5.000000000,pose2_to_pose3_retreat,0.608235302837,5.44973675494e-05,1.05002925505,0.578806034851,0.00872723298839,1.04969855078
+301,5.016666667,pose2_to_pose3_retreat,0.607518381422,5.45862009259e-05,1.05002917641,0.578089111195,0.00872731408243,1.04969846919
+302,5.033333333,pose2_to_pose3_retreat,0.606776074468,5.44285262511e-05,1.05002913804,0.577346806113,0.00872716290636,1.04969843374
+303,5.050000000,pose2_to_pose3_retreat,0.606016773441,5.44835045093e-05,1.05002906227,0.576587505048,0.00872721755112,1.0496983523
+304,5.066666667,pose2_to_pose3_retreat,0.605237329271,5.45714400722e-05,1.05002914471,0.57580805889,0.00872729872325,1.04969843429
+305,5.083333333,pose2_to_pose3_retreat,0.604430181525,5.45323192307e-05,1.05002913927,0.575000912554,0.0087272645997,1.04969843441
+306,5.100000000,pose2_to_pose3_retreat,0.603613817286,5.44162716558e-05,1.05002906566,0.574184549262,0.00872715157998,1.04969835592
+307,5.116666667,pose2_to_pose3_retreat,0.60279002907,5.4467135195e-05,1.0500291238,0.573360761542,0.00872720430915,1.04969841638
+308,5.133333333,pose2_to_pose3_retreat,0.601949307039,5.45983501659e-05,1.05002922446,0.572520036558,0.00872732555056,1.04969852073
+309,5.150000000,pose2_to_pose3_retreat,0.601101418389,5.4667587921e-05,1.05002905624,0.571672146808,0.00872739104548,1.04969835224
+310,5.166666667,pose2_to_pose3_retreat,0.600257455239,5.46520546709e-05,1.05002907417,0.57082818345,0.00872737429689,1.04969835653
+311,5.183333333,pose2_to_pose3_retreat,0.599414373595,5.46950713993e-05,1.05002893551,0.569985100809,0.00872741433406,1.04969822846
+312,5.200000000,pose2_to_pose3_retreat,0.598572642487,5.47039203593e-05,1.05002916933,0.569143371047,0.00872742781808,1.04969846275
+313,5.216666667,pose2_to_pose3_retreat,0.597724569635,5.45283992441e-05,1.05002917926,0.568295300607,0.00872726044627,1.0496984713
+314,5.233333333,pose2_to_pose3_retreat,0.596866891423,5.4495931474e-05,1.05002905614,0.567437621794,0.0087272259626,1.04969834906
+315,5.250000000,pose2_to_pose3_retreat,0.595989866591,5.45969670633e-05,1.0500290715,0.566560595716,0.00872732235989,1.0496983545
+316,5.266666667,pose2_to_pose3_retreat,0.595101768334,5.45041980874e-05,1.05002912844,0.565672498392,0.00872723297197,1.0496984175
+317,5.283333333,pose2_to_pose3_retreat,0.594217949796,5.4441540896e-05,1.05002913989,0.564788680944,0.00872717416597,1.04969843287
+318,5.300000000,pose2_to_pose3_retreat,0.593353497255,5.44792494081e-05,1.05002915001,0.56392423009,0.00872721757766,1.04969844248
+319,5.316666667,pose2_to_pose3_retreat,0.592514001874,5.45115790098e-05,1.05002918258,0.563084732689,0.0087272427792,1.04969846773
+320,5.333333333,pose2_to_pose3_retreat,0.591702989646,5.46993689521e-05,1.0500291759,0.562273718063,0.00872742254422,1.04969846388
+321,5.350000000,pose2_to_pose3_retreat,0.590910016019,5.46321512885e-05,1.05002917874,0.561480744172,0.00872735441514,1.04969846609
+322,5.366666667,pose2_to_pose3_retreat,0.590121684969,5.45891825395e-05,1.0500291456,0.560692414916,0.00872731778433,1.04969843939
+323,5.383333333,pose2_to_pose3_retreat,0.589335091521,5.46744600074e-05,1.05002912607,0.559905821704,0.00872740403681,1.04969842378
+324,5.400000000,pose2_to_pose3_retreat,0.588548905416,5.46810527819e-05,1.05002910531,0.559119632902,0.00872740103749,1.04969839104
+325,5.416666667,pose2_to_pose3_retreat,0.587773111871,5.45652780897e-05,1.05002913235,0.558343840113,0.00872728786734,1.04969841898
+326,5.433333333,pose2_to_pose3_retreat,0.58700934554,5.45104095371e-05,1.05002929609,0.557580075808,0.00872723950916,1.04969857307
+327,5.450000000,pose2_to_pose3_retreat,0.586275969666,5.45173409185e-05,1.05002933798,0.556846700226,0.00872724748865,1.04969861633
+328,5.466666667,pose2_to_pose3_retreat,0.585572531922,5.46040536753e-05,1.05002910522,0.556143260333,0.00872732760116,1.04969840174
+329,5.483333333,pose2_to_pose3_retreat,0.584899615194,5.45916372934e-05,1.05002909671,0.555470344094,0.00872731673737,1.04969839135
+330,5.500000000,pose2_to_pose3_retreat,0.584257286899,5.4367620172e-05,1.05002926112,0.554828019007,0.00872710308895,1.04969854229
+331,5.516666667,pose2_to_pose3_retreat,0.583645420666,5.4437562934e-05,1.05002925014,0.554216152682,0.00872717275012,1.04969853147
+332,5.533333333,pose2_to_pose3_retreat,0.58304521156,5.46220876508e-05,1.05002909887,0.553615941322,0.0087273500021,1.04969839033
+333,5.550000000,pose2_to_pose3_retreat,0.582459036423,5.45774691722e-05,1.05002894364,0.553029765289,0.00872730261612,1.04969824269
+334,5.566666667,pose2_to_pose3_retreat,0.581897434161,5.45429158197e-05,1.05002899052,0.552468163913,0.00872727104758,1.04969828893
+335,5.583333333,pose2_to_pose3_retreat,0.581359834329,5.45180049887e-05,1.05002922434,0.551930565029,0.00872724895247,1.0496985122
+336,5.600000000,pose2_to_pose3_retreat,0.58084776089,5.45001867327e-05,1.0500291806,0.55141849097,0.00872722906492,1.04969846941
+337,5.616666667,pose2_to_pose3_retreat,0.58036160241,5.45171948444e-05,1.05002901713,0.550932333115,0.00872724846785,1.04969831287
+338,5.633333333,pose2_to_pose3_retreat,0.57990024967,5.45537915266e-05,1.05002917053,0.55047098064,0.00872728556852,1.04969845552
+339,5.650000000,pose2_to_pose3_retreat,0.579459675454,5.45235970979e-05,1.05002919418,0.550030406413,0.00872725530163,1.04969847835
+340,5.666666667,pose2_to_pose3_retreat,0.579042761569,5.44781963321e-05,1.05002902953,0.549613494126,0.0087272156267,1.04969832186
+341,5.683333333,pose2_to_pose3_retreat,0.578661118511,5.44799690662e-05,1.05002915061,0.549231851822,0.00872721998608,1.04969844382
+342,5.700000000,pose2_to_pose3_retreat,0.578314617525,5.44759067588e-05,1.0500292291,0.548885349901,0.00872721253,1.04969851647
+343,5.716666667,pose2_to_pose3_retreat,0.578004484697,5.45003082287e-05,1.05002923927,0.548575216437,0.00872723466645,1.04969852391
+344,5.733333333,pose2_to_pose3_retreat,0.577727564951,5.45904060089e-05,1.05002930031,0.548298296046,0.0087273226357,1.04969858657
+345,5.750000000,pose2_to_pose3_retreat,0.577479268237,5.46793551423e-05,1.05002918996,0.548049997265,0.0087274046023,1.04969847688
+346,5.766666667,pose2_to_pose3_retreat,0.577246857171,5.45490025994e-05,1.05002891693,0.54781758676,0.00872727638999,1.04969821017
+347,5.783333333,pose2_to_pose3_retreat,0.577029885326,5.45585828592e-05,1.05002900875,0.547600615922,0.00872728925218,1.04969829849
+348,5.800000000,pose2_to_pose3_retreat,0.57683092794,5.4665959939e-05,1.05002935795,0.547401657398,0.00872739253597,1.04969864155
+349,5.816666667,pose2_to_pose3_retreat,0.576650023201,5.45959427426e-05,1.05002902158,0.547220752153,0.00872732089151,1.04969830759
+350,5.833333333,pose2_to_pose3_retreat,0.576488821837,5.4447105928e-05,1.05002951159,0.547059554913,0.0087271859753,1.04969879562
+351,5.850000000,pose2_to_pose3_retreat,0.576348906605,5.45181095455e-05,1.0500292679,0.54691963767,0.00872725041856,1.04969855897
+352,5.866666667,pose2_to_pose3_retreat,0.576228074091,5.46088493922e-05,1.05002916939,0.546798804352,0.00872733840642,1.0496984601
+353,5.883333333,pose2_to_pose3_retreat,0.576125273653,5.46211421081e-05,1.05002915886,0.546696004114,0.00872735127495,1.04969844997
+354,5.900000000,pose2_to_pose3_retreat,0.576037371004,5.45350253866e-05,1.05002918285,0.546608101503,0.00872726518119,1.04969846882
+355,5.916666667,pose2_to_pose3_retreat,0.575962709537,5.45375181098e-05,1.05002926786,0.546533440947,0.00872727097627,1.04969855917
+356,5.933333333,pose2_to_pose3_retreat,0.57590030494,5.44466638513e-05,1.05002912507,0.546471037371,0.00872718296626,1.04969840007
+357,5.950000000,pose2_to_pose3_retreat,0.575849713559,5.45575320082e-05,1.05002920871,0.546420443521,0.00872728554642,1.04969848612
+358,5.966666667,pose2_to_pose3_retreat,0.575808869737,5.45536330989e-05,1.0500291685,0.546379599237,0.00872728043346,1.04969845521
+359,5.983333333,pose2_to_pose3_retreat,0.575777125529,5.43916468429e-05,1.05002905674,0.546347856729,0.00872712426108,1.04969834476
+360,6.000000000,pose2_to_pose3_retreat,0.575754309722,5.45631655376e-05,1.05002908247,0.546325038619,0.00872728769218,1.0496983636
+361,6.016666667,pose2_to_pose3_retreat,0.575738100593,5.45059458711e-05,1.05002911306,0.546308831943,0.00872723936325,1.04969840874
+362,6.033333333,pose2_to_pose3_retreat,0.575727834917,5.44825983509e-05,1.05002898678,0.546298565557,0.00872721353549,1.04969828033
+363,6.050000000,pose2_to_pose3_retreat,0.575721224419,5.45187186016e-05,1.05002900893,0.546291954531,0.00872724769061,1.04969829788
+364,6.066666667,pose2_to_pose3_retreat,0.575717460002,5.45735555627e-05,1.050029144,0.546288190417,0.00872730348392,1.04969843085
+365,6.083333333,pose2_to_pose3_retreat,0.575715344232,5.46067037282e-05,1.05002917369,0.546286074524,0.00872733622173,1.04969846077
+366,6.100000000,pose2_to_pose3_retreat,0.57571416834,5.46260618493e-05,1.05002917162,0.546284898445,0.00872735497092,1.04969845939
+367,6.116666667,pose2_to_pose3_retreat,0.575713457561,5.46377630344e-05,1.05002917037,0.546284187553,0.00872736630402,1.04969845856
+368,6.133333333,pose2_to_pose3_retreat,0.575713112544,5.46434428737e-05,1.05002916977,0.546283842481,0.0087273718052,1.04969845815
+369,6.150000000,pose2_to_pose3_retreat,0.575713073877,5.464407944e-05,1.0500291697,0.546283803808,0.00872737242174,1.04969845811
+370,6.166666667,pose2_to_pose3_retreat,0.57571293169,5.46464201836e-05,1.05002916945,0.546283661598,0.00872737468885,1.04969845794
+371,6.183333333,pose2_to_pose3_retreat,0.575712752098,5.46493767206e-05,1.05002916913,0.546283481978,0.00872737755238,1.04969845773
+372,6.200000000,pose2_to_pose3_retreat,0.575712711561,5.465004405e-05,1.05002916906,0.546283441435,0.00872737819872,1.04969845768
+373,6.216666667,pose2_to_pose3_retreat,0.575712710408,5.46500630459e-05,1.05002916906,0.546283440281,0.00872737821712,1.04969845768
+374,6.233333333,pose2_to_pose3_retreat,0.575712672935,5.46506799312e-05,1.05002916899,0.546283402803,0.0087273788146,1.04969845764
+375,6.250000000,pose2_to_pose3_retreat,0.575712664182,5.46508240397e-05,1.05002916898,0.546283394047,0.00872737895418,1.04969845763
+376,6.266666667,pose2_to_pose3_retreat,0.575712656815,5.46509453201e-05,1.05002916896,0.546283386679,0.00872737907164,1.04969845762
+377,6.283333333,pose2_to_pose3_retreat,0.575712481213,5.46538361576e-05,1.05002916865,0.54628321105,0.00872738187154,1.04969845741
+378,6.300000000,pose2_to_pose3_retreat,0.575712303675,5.46421064171e-05,1.05002917499,0.54628303368,0.00872737070813,1.04969846361
+379,6.316666667,pose2_to_pose3_retreat,0.575712283972,5.46394537733e-05,1.0500291763,0.546283014014,0.00872736817903,1.04969846488
+380,6.333333333,pose2_to_pose3_retreat,0.575712219412,5.46307616953e-05,1.05002918061,0.546282949575,0.00872735989176,1.04969846907
+381,6.350000000,pose2_to_pose3_retreat,0.575712001417,5.46014118058e-05,1.05002919516,0.546282731987,0.00872733190877,1.04969848321
+382,6.366666667,pose2_to_pose3_retreat,0.575711765562,5.45696573883e-05,1.05002921091,0.546282496573,0.00872730163323,1.04969849851
+383,6.383333333,pose2_to_pose3_retreat,0.575711471944,5.45301259413e-05,1.05002923051,0.546282203504,0.00872726394285,1.04969851756
+384,6.400000000,pose2_to_pose3_retreat,0.575711052646,5.44736735068e-05,1.05002925849,0.546281784989,0.00872721011954,1.04969854475
+385,6.416666667,pose2_to_pose3_retreat,0.575710706181,5.44270270945e-05,1.05002928162,0.546281439172,0.00872716564556,1.04969856723
+386,6.433333333,pose2_to_pose3_retreat,0.575710526487,5.44028339048e-05,1.05002929362,0.546281259814,0.00872714257911,1.04969857888
+387,6.450000000,pose2_to_pose3_retreat,0.575710431161,5.43899996501e-05,1.05002929998,0.546281164666,0.00872713034258,1.04969858507
+388,6.466666667,pose2_to_pose3_retreat,0.575710045199,5.44233033296e-05,1.05002929114,0.546280778225,0.00872716208021,1.04969857778
+389,6.483333333,pose2_to_pose3_retreat,0.575709702185,5.44533518629e-05,1.05002928311,0.546280434779,0.00872719071589,1.04969857114
+390,6.500000000,pose2_to_pose3_retreat,0.575709441633,5.45091483257e-05,1.05002925233,0.546280172933,0.0087272421473,1.04969854103
+391,6.516666667,pose2_to_pose3_retreat,0.575709299326,5.45944557238e-05,1.05002919447,0.546280028313,0.00872731959618,1.0496984829
+392,6.533333333,pose2_to_pose3_retreat,0.575709283161,5.46041456343e-05,1.0500291879,0.546280011886,0.00872732839345,1.0496984763
+393,6.550000000,pose2_to_pose3_retreat,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c672bbb7bd39a7bf0d2031cb27f89469b939e1b0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e361446404b78ed5cfab529d0d3383e0a98b2be71311373e5f8b8a0372fa626
+size 25369507
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e946a210606f52e0a148a291a2ca6b10151e160a
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/franka_data.csv
@@ -0,0 +1,400 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,711,671,661,632,876,783,798,649,629,651,0.400949540734,-0.00538050287619,0.0598337835094,0.999999938994,0.000214539180609,-0.000275102884847,1.74134648958e-05,1793192662446319872
+1,0.016666667,BASELINE,764,742,711,671,661,632.578791579,876,783,798.578791579,649,628.421208421,650.421208421,0.40094744138,-0.00538047776581,0.059832718464,0.999999938458,0.00021320098852,-0.000278078635184,1.7353756786e-05,1793192662462986496
+2,0.033333333,BASELINE,764,742,711.157775255,671,661,633,876,783,799,649,628,650,0.400946650382,-0.00538006184428,0.0598324108999,0.999999938345,0.000212022118531,-0.000279395041011,1.71885240142e-05,1793192662479652864
+3,0.050000000,BASELINE,764,742,711.737272519,671,661,633,876,783,799,649,628,650,0.400949356528,-0.00537860131238,0.0598341280293,0.999999939378,0.000211269104867,-0.00027627613791,1.67412313297e-05,1793192662496319488
+4,0.066666667,BASELINE,764.313168492,742,712,671,660.686831508,632.686831508,876,783,799,649,628.313168492,650,0.400950143299,-0.00537889934834,0.0598347827505,0.999999939808,0.000210567241588,-0.000275249428529,1.68382824948e-05,1793192662512986368
+5,0.083333333,BASELINE,764.886077536,742,712,671,660.113922464,632.113922464,876,783,799,649,628.886077536,650,0.400949338148,-0.00538065593272,0.0598345563147,0.999999939742,0.000209907802255,-0.000275957975477,1.73868100485e-05,1793192662529652992
+6,0.100000000,BASELINE,764.52749291,742,711.52749291,670.52749291,660.47250709,632.47250709,876,783,799,649,628.52749291,650,0.400949783828,-0.00537921007636,0.0598346867569,0.999999939539,0.000211287332426,-0.000275667683868,1.69407510618e-05,1793192662546319616
+7,0.116666667,BASELINE,764,742,711,670.061176432,661,633,876,783,799,649,628.061176432,650,0.400950404389,-0.00537751337673,0.0598348695233,0.999999939324,0.000212924603111,-0.000275221167855,1.64075732705e-05,1793192662562986240
+8,0.133333333,BASELINE,764,742,711,670.640395014,661,633,876,783,799,649,628.640395014,650,0.400949876844,-0.00538042340935,0.0598347452862,0.999999939318,0.000212458925393,-0.000275551097042,1.72270901413e-05,1793192662579653120
+9,0.150000000,BASELINE,764,742,711,671,661.218298147,633,875.781701853,783,799,649,628.781701853,650,0.400948609437,-0.00538219653969,0.0598341811574,0.999999939015,0.000212421447851,-0.000276647942649,1.76846213288e-05,1793192662596320256
+10,0.166666667,BASELINE,764,742,711,671,661.79404725,633,875.20595275,783,799,649,628.20595275,650,0.400946130545,-0.00538210805613,0.0598328967308,0.999999938223,0.000213085124096,-0.000279000570792,1.75494212075e-05,1793192662612986880
+11,0.183333333,BASELINE,764,742,711,671,661.631328325,633,875.368671675,783,799,649,628.368671675,650,0.400946372934,-0.00537999361297,0.0598330359398,0.999999938211,0.000213733393991,-0.000278560716161,1.73151477741e-05,1793192662629653248
+12,0.200000000,BASELINE,764,742,711,671,661.057330218,633,875.942669782,783,799,649,628.942669782,650,0.400948130901,-0.00537675084051,0.0598339680223,0.999999938633,0.000214373083602,-0.000276565628296,1.702569686e-05,1793192662646319872
+13,0.216666667,BASELINE,764,742,711.534034393,671,661,633,876,783,799,649,629,650.534034393,0.400948955047,-0.00537887226456,0.0598343964262,0.99999993895,0.000213472115,-0.000276102750532,1.72269530837e-05,1793192662662986496
+14,0.233333333,BASELINE,763.876559714,742,711.876559714,671,661,633,876,783,799.123440286,649,629,650.876559714,0.400949168636,-0.00538085121854,0.059834526734,0.999999939148,0.000212400889212,-0.000276200824455,1.7411189691e-05,1793192662679653120
+15,0.250000000,BASELINE,763.301373978,742,711.301373978,671,661,633,876,783,799.698626022,649,629,650.301373978,0.400947527012,-0.00538013050605,0.0598337706541,0.999999938952,0.00021133221199,-0.000277729576297,1.73338757592e-05,1793192662696320000
+16,0.266666667,BASELINE,763,742,711,671,661,633,875.726394286,783.273605714,799.726394286,649,628.726394286,650.273605714,0.400947664857,-0.00538000852628,0.0598339902332,0.999999939283,0.000210067695802,-0.000277506439976,1.72060886283e-05,1793192662712986624
+17,0.283333333,BASELINE,763,742,711,671,661,633,875.151641413,783.848358587,799.151641413,649,628.151641413,650.848358587,0.400949761294,-0.00538054554835,0.0598352836821,0.999999940191,0.000208587627349,-0.000275355068444,1.70227476162e-05,1793192662729653504
+18,0.300000000,BASELINE,763.436729244,742,711,671,661,633,875,784,799,649,628,650.563270756,0.40094883897,-0.00538192337031,0.0598347085499,0.999999940139,0.000207890843315,-0.000276063523561,1.71104644233e-05,1793192662746320128
+19,0.316666667,BASELINE,764,742,711,671,661,633,875.029208286,783.970791714,799,649,628.029208286,650,0.400946995981,-0.00538345342821,0.0598335839073,0.999999939761,0.000207607550324,-0.000277631230746,1.72838241663e-05,1793192662762986752
+20,0.333333333,BASELINE,764,742,711,671,661,633,875.607179969,783.392820031,799,649,628.607179969,650,0.400948182481,-0.00538218214389,0.0598347172236,0.999999939728,0.000209818639713,-0.000276085813556,1.72410649261e-05,1793192662779653376
+21,0.350000000,BASELINE,764,742,711,671,661,633,876,783,799,649,629,650.184299988,0.400948857344,-0.00538098479328,0.059835234619,0.999999939496,0.000212014625912,-0.000275251295777,1.71740482901e-05,1793192662796320000
+22,0.366666667,BASELINE,764,742,711,671,661,633,876,783,799,649,629,650.759613032,0.400948446707,-0.0053799443015,0.0598344452688,0.999999938851,0.000214178568726,-0.00027592503088,1.70555668788e-05,1793192662812986624
+23,0.383333333,BASELINE,763.665333792,742,711,671,661,633,876,783.334666208,799,649,628.665333792,650.665333792,0.400947122188,-0.00537980560849,0.0598336035606,0.999999938269,0.000214824507914,-0.00027752441256,1.71293777782e-05,1793192662829652992
+24,0.400000000,BASELINE,763.090467073,742,711,671,661,633,876,783.909532927,799,649,628.090467073,650.090467073,0.400945141746,-0.00538031416484,0.0598327242732,0.999999937729,0.000214380928158,-0.000279788160105,1.73412029326e-05,1793192662846319616
+25,0.416666667,BASELINE,763.498315379,742,711,671,661.498315379,633,876,783.501684621,799,649,628,650.498315379,0.4009460704,-0.00538006782597,0.0598331347208,0.999999938522,0.000212435657538,-0.000278455354126,1.69927211991e-05,1793192662862986496
+26,0.433333333,BASELINE,763.912256658,742,711,671,661.824513316,633,876,783,799,649,628.087743342,650.912256658,0.400947396637,-0.00537981179379,0.0598337729417,0.999999939337,0.000210866103058,-0.000276735660628,1.66978387194e-05,1793192662879653376
+27,0.450000000,BASELINE,763.333754113,742,711,671,660.667508226,633,876,783,799,649,628.666245887,650.333754113,0.400947907835,-0.0053802900928,0.0598343378971,0.999999938917,0.000212966607554,-0.000276608939096,1.72880276371e-05,1793192662896320000
+28,0.466666667,BASELINE,763.243416553,742,711,671,660,633,876,783,799,649,629,650,0.400948108421,-0.00538009561173,0.0598347393552,0.999999938553,0.000214908803422,-0.000276408789709,1.75172804928e-05,1793192662912986624
+29,0.483333333,BASELINE,763.818770952,742,711,671,660,633,876,783,799,649,629,650,0.400947885438,-0.00537898368618,0.0598349178581,0.999999938268,0.000216635119738,-0.000276108509572,1.72543386067e-05,1793192662929652992
+30,0.500000000,BASELINE,764,742,711.403040396,671,660.403040396,633,876,783,799.403040396,649,628.596959604,650.403040396,0.40094848594,-0.00538064766918,0.0598348964528,0.999999938964,0.000214216478083,-0.000275480018203,1.71326693176e-05,1793192662946319616
+31,0.516666667,BASELINE,764,742,711.991409192,671,660.991409192,633,876,783,799.991409192,649,628.008590808,650.991409192,0.400949465102,-0.00538358808679,0.0598347831244,0.999999940097,0.000209891877471,-0.00027470060682,1.70759608302e-05,1793192662962986240
+32,0.533333333,BASELINE,763.429422799,742,712,671.570577201,660.429422799,633,876.570577201,783,799.429422799,649,628.570577201,650.429422799,0.400949013251,-0.00538145966331,0.0598348249855,0.999999939182,0.000213488720099,-0.000275244046295,1.7310406036e-05,1793192662979653120
+33,0.550000000,BASELINE,763,742,712,671.851490478,660.148509522,632.851490478,876.851490478,783.148509522,799,649,629,650,0.400948663303,-0.00537978757959,0.059834974535,0.999999938584,0.000215946915019,-0.000275488820326,1.74406415867e-05,1793192662996320000
+34,0.566666667,BASELINE,763,742,712,671.276713745,660.723286255,632.276713745,876.276713745,783.723286255,799,649,629,650,0.400948666715,-0.00537964090933,0.0598354265825,0.999999939019,0.000214799943752,-0.000274820072746,1.72593809955e-05,1793192663012986624
+35,0.583333333,BASELINE,763.304383006,742,712,671,661,632.304383006,875.695616994,783.695616994,799,649,629,650.304383006,0.400948582615,-0.005379536193,0.0598355131874,0.999999939349,0.000213259795375,-0.000274830365623,1.70575105645e-05,1793192663029653248
+36,0.600000000,BASELINE,763.891347161,742,712,671,661,632.891347161,875.108652839,783.108652839,799,649,629,650.891347161,0.400948417272,-0.00537947042559,0.0598352605251,0.999999939581,0.00021135463161,-0.000275471061662,1.68365064813e-05,1793192663046320128
+37,0.616666667,BASELINE,764,741.528877743,711.528877743,671,660.528877743,633,875.471122257,783.471122257,799,649,628.528877743,651,0.400948452337,-0.00538005103816,0.059835321724,0.999999939479,0.000212409259356,-0.000275018278626,1.70004457303e-05,1793192663062986752
+38,0.633333333,BASELINE,764,741.049406087,711,671,660,633,876.049406087,783.950593913,799,649,628.049406087,651,0.40094849067,-0.00538070879519,0.0598353674441,0.999999939323,0.000213883216632,-0.000274430141396,1.7211787359e-05,1793192663079653376
+39,0.650000000,BASELINE,764,741.629212583,711,671,660,633,876.629212583,783.370787417,799,649,628.629212583,651,0.400948075348,-0.00538061842896,0.0598344815864,0.99999993942,0.000212640931226,-0.000275055544373,1.69932672905e-05,1793192663096320000
+40,0.666666667,BASELINE,764,742,711,671,660.207184959,633,876.585630082,783,799,649,628.792815041,650.792815041,0.400948405372,-0.00538067946054,0.0598342036034,0.999999939663,0.000211473331977,-0.000275081083756,1.6857547933e-05,1793192663112986368
+41,0.683333333,BASELINE,764,742,711,671,660.781903684,633,875.436192633,783,799,649,628.218096316,650.218096316,0.400950057596,-0.00538100906283,0.0598350039538,0.999999940166,0.000210438221594,-0.000274042500848,1.68687121136e-05,1793192663129653248
+42,0.700000000,BASELINE,764,742,711.356854955,671,661,633,875.356854955,783.356854955,799,649,628,650.356854955,0.400949762707,-0.00538043678091,0.0598351442704,0.999999939988,0.000211041624637,-0.000274234054943,1.67940101389e-05,1793192663146319872
+43,0.716666667,BASELINE,764,742,711.931948421,671,661,633,875.931948421,783.931948421,799,649,628,650.931948421,0.400948277039,-0.00537931294193,0.0598348809363,0.99999993939,0.000212647078344,-0.000275177912682,1.66667957866e-05,1793192663162986752
+44,0.733333333,BASELINE,764,742,711.476641458,671.523358542,660.476641458,633,876,784,799.523358542,649,628,650.476641458,0.400948002118,-0.00537955506247,0.0598344908002,0.99999993906,0.000212957503471,-0.000276139908717,1.66137506051e-05,1793192663179653376
+45,0.750000000,BASELINE,764,742,711.114018241,671.885981759,660.114018241,633,876,783.885981759,799.885981759,649,628,650,0.400948223926,-0.00538002055012,0.0598344276255,0.999999938967,0.000213115195358,-0.000276352233645,1.66290919219e-05,1793192663196320256
+46,0.766666667,BASELINE,764,742,711.692695051,671.307304949,660.692695051,633,876,783.307304949,799.307304949,649,628,650,0.400949807826,-0.00538064920319,0.059835766272,0.999999939696,0.000213358779642,-0.000273499502532,1.68825613459e-05,1793192663212986880
+47,0.783333333,BASELINE,764,742,711.730972915,671.269027085,661.269027085,633,876,783.269027085,799,649,628.269027085,650.269027085,0.40094938626,-0.00538088938774,0.0598357347626,0.999999939779,0.000212870623386,-0.00027356172334,1.70628896846e-05,1793192663229653504
+48,0.800000000,BASELINE,764,742,711.157296063,671.842703937,661.842703937,633,876,783.842703937,799,649,628.842703937,650.842703937,0.40094669368,-0.00538068966558,0.0598341516712,0.999999939132,0.000211553834665,-0.000276924873209,1.71603921405e-05,1793192663246320128
+49,0.816666667,BASELINE,764,742,711,671.571621898,661.571621898,633,876,783.571621898,799,649,628.571621898,651,0.400947217813,-0.00538079022379,0.0598344546258,0.999999939034,0.000212324405213,-0.000276684178065,1.72056580039e-05,1793192663262986752
+50,0.833333333,BASELINE,764,742,711,671,661.018156507,633,876,783.018156507,799,649,628.018156507,651,0.400948862966,-0.00538098505289,0.0598354214562,0.999999939142,0.000213788810957,-0.000275160319158,1.72187681118e-05,1793192663279653120
+51,0.850000000,BASELINE,764,742,711,671,661.594772133,633,876,783.594772133,799,649,628.594772133,651,0.400947612067,-0.00538059037455,0.059834892979,0.999999939214,0.000212340246681,-0.000276043578632,1.6849790707e-05,1793192663296319744
+52,0.866666667,BASELINE,764,742,711,671,661.828849418,633,875.828849418,783.828849418,799,649,629,651,0.400946980067,-0.0053804067251,0.0598345830428,0.999999939332,0.000211358731527,-0.000276380982125,1.66242918947e-05,1793192663312986624
+53,0.883333333,BASELINE,764,742,711,671,661.253031784,633,875.253031784,783.253031784,799,649,629,651,0.400947811383,-0.00538072203069,0.0598347898236,0.999999939567,0.000211481503633,-0.000275427768094,1.67380327299e-05,1793192663329653504
+54,0.900000000,BASELINE,764,742,711,670.669951877,660.669951877,633,875.330048123,783,799,649,628.669951877,650.669951877,0.400948107014,-0.00538056085083,0.0598346794297,0.999999939462,0.000212033248149,-0.000275386806721,1.67515850482e-05,1793192663346320128
+55,0.916666667,BASELINE,764,742,711,670.081179105,660.081179105,633,875.918820895,783,799,649,628.081179105,650.081179105,0.400947982719,-0.00538002615411,0.0598343204025,0.999999939088,0.000212921264037,-0.000276060960047,1.6686599605e-05,1793192663362986752
+56,0.933333333,BASELINE,763.501796245,742,711.498203755,670.498203755,660.498203755,633,875.501796245,783.498203755,799,649,628,650.498203755,0.400948519987,-0.00538017689488,0.0598347587281,0.999999939366,0.000212645655445,-0.000275253041058,1.6905719801e-05,1793192663379653120
+57,0.950000000,BASELINE,763.076118089,742,711.923881911,670.923881911,661,632.923881911,875.076118089,783.923881911,799,649,628,650.923881911,0.400948925863,-0.00538022436038,0.0598352215436,0.999999939616,0.000212450613196,-0.000274481429807,1.70943560479e-05,1793192663396320000
+58,0.966666667,BASELINE,763.654251099,742,711.345748901,670.345748901,661,632.345748901,875.654251099,783.345748901,799,649,628,650.345748901,0.400947767391,-0.00537886772618,0.059835004853,0.999999939005,0.000214014276741,-0.000275512518228,1.67822786256e-05,1793192663412986624
+59,0.983333333,BASELINE,764,742,711.231294084,670.231294084,661,632.231294084,876,783,799,649,628,650,0.400947198279,-0.00537888305544,0.0598347871637,0.999999938919,0.000213849426527,-0.000275953965511,1.67147903655e-05,1793192663429653504
+60,1.000000000,BASELINE,764,742,711.80671538,670.80671538,661,632.80671538,876,783,799,649,628,650,0.400947506036,-0.00538093963845,0.0598345679883,0.999999939616,0.000211112834932,-0.000275518124789,1.7011210141e-05,1793192663446320128
+61,1.016666667,BASELINE,764,742.390761763,712,671,661,633,876,783,799.390761763,649,628,650,0.400948170446,-0.00538130963599,0.0598345910439,0.999999939796,0.000210948349982,-0.000274994079297,1.69406766302e-05,1793192663462986752
+62,1.033333333,BASELINE,764,742.979170677,712,671,661,633,876,783,799.979170677,649,628,650,0.40094901525,-0.00538082655912,0.0598347366198,0.999999939716,0.000212084835753,-0.000274425419893,1.66845382699e-05,1793192663479653376
+63,1.050000000,BASELINE,764,742.440699803,711.440699803,671,661.559300197,633,876,783.559300197,799.440699803,649,628,650,0.400948426684,-0.00538135743921,0.0598347734645,0.999999939731,0.00021140189339,-0.00027488322866,1.6936611077e-05,1793192663496320000
+64,1.066666667,BASELINE,764,742,711,671,661.862053893,633,876,783.862053893,799,649,628.137946107,650,0.40094790803,-0.00538152980262,0.0598348743426,0.99999993966,0.000211167496521,-0.000275311389681,1.7078703634e-05,1793192663512986624
+65,1.083333333,BASELINE,764,742,711,671,661.287145089,633,876,783.287145089,799,649,628.712854911,650,0.400947777459,-0.00538044864675,0.0598351906948,0.999999939309,0.000212565431194,-0.000275526313213,1.681334083e-05,1793192663529653248
+66,1.100000000,BASELINE,764,742,711.288172865,671,661,633,875.711827135,783,799.288172865,649,629,650.288172865,0.400948663262,-0.00538035581977,0.0598357783291,0.999999939315,0.000213904579523,-0.000274459296449,1.69142807353e-05,1793192663546320128
+67,1.116666667,BASELINE,764,742,711.863899057,671,661,633,875.136100943,783,799.863899057,649,629,650.863899057,0.400950563256,-0.00538124919697,0.0598366366622,0.999999939674,0.000215185067807,-0.000272113095399,1.73807358564e-05,1793192663562986752
+68,1.133333333,BASELINE,764,742,711.548945603,671,661,633,875,783.451054397,799.548945603,649,628.548945603,651,0.40095012008,-0.00538003290588,0.0598363554437,0.999999939682,0.000214914950848,-0.00027232470371,1.69526545985e-05,1793192663579653632
+69,1.150000000,BASELINE,763.959167873,742,711,671,661,633,875.040832127,783.959167873,799,649,628.040832127,650.959167873,0.40094893995,-0.00537840147807,0.0598357367897,0.99999993959,0.000214113668626,-0.000273327771448,1.63323800608e-05,1793192663596320000
+70,1.166666667,BASELINE,763.381433828,742,711,671,661,633,875.618566172,783.381433828,799,649,628.618566172,650.381433828,0.400947607993,-0.00537989929,0.0598353199926,0.999999939623,0.000212640174643,-0.000274325612322,1.6826364562e-05,1793192663612986880
+71,1.183333333,BASELINE,763.195423044,742,711,671,661,633,876.195423044,783.195423044,799,649,629,650,0.400947256985,-0.0053811257924,0.0598352451265,0.999999939849,0.000211135341679,-0.000274646942447,1.71333140796e-05,1793192663629653504
+72,1.200000000,BASELINE,763.770575572,742,711,671,661,633,876.770575572,783.770575572,799,649,629,650,0.400948812073,-0.00538182510943,0.0598358346718,0.999999940451,0.000209569613205,-0.000273653734444,1.70768331692e-05,1793192663646320384
+73,1.216666667,BASELINE,764,742,711,671,661.353971067,633,876.646028933,783.646028933,799,649,628.646028933,650,0.400949285188,-0.00538178793264,0.0598361111876,0.999999940559,0.000209173496057,-0.000273563970142,1.70770413112e-05,1793192663662986752
+74,1.233333333,BASELINE,764,742,711,671,661.942836541,633,876.057163459,783.057163459,799,649,628.057163459,650,0.400949040309,-0.00538126202017,0.0598361799776,0.999999940339,0.000209553530462,-0.000274073729115,1.71148681849e-05,1793192663679653120
+75,1.250000000,BASELINE,764,742,711,671,661.479631401,633,876,783,799,649,628.520368599,650.520368599,0.400948664864,-0.00538017912374,0.0598358781312,0.999999939846,0.000211255516924,-0.000274578990849,1.68890310242e-05,1793192663696320000
+76,1.266666667,BASELINE,764,742,711.092708494,671,661,633,876,783,799,649,628.907291506,650.907291506,0.400948489632,-0.00537936193925,0.0598356566498,0.999999939556,0.000212388055675,-0.000274777460891,1.66569201937e-05,1793192663712986624
+77,1.283333333,BASELINE,764,742,711.645335198,671,661,633,876,783,799,649,628.354664802,650.354664802,0.400949377277,-0.00538015999372,0.0598360315303,0.999999940426,0.000209990555816,-0.000273456364485,1.65343111586e-05,1793192663729653248
+78,1.300000000,BASELINE,763.785007481,742,711.785007481,671,661,633,876,783.214992519,799.214992519,649,628.214992519,650,0.400949781318,-0.00538084554504,0.0598360828727,0.999999940885,0.000208646735136,-0.000272805749714,1.65126674575e-05,1793192663746320128
+79,1.316666667,BASELINE,763.184838493,742,711.184838493,671,661,633,876,783.815161507,799.815161507,649,628.815161507,650,0.400949318946,-0.00538132953778,0.0598355545706,0.999999940619,0.000209190666104,-0.000273356357116,1.66719113243e-05,1793192663762986752
+80,1.333333333,BASELINE,763.410083553,742,711,671,661,633,876,783.589916447,799.589916447,649,628.589916447,650.410083553,0.400949109966,-0.00538155183878,0.0598357878867,0.999999940379,0.000210540615612,-0.000273183731625,1.68967466885e-05,1793192663779653376
+81,1.350000000,BASELINE,764,742,711,671,661,633,875.99739362,783,799,649,628.00260638,650.99739362,0.400949017248,-0.00538165515977,0.0598363588826,0.999999940151,0.000212240330644,-0.00027268823274,1.71491578444e-05,1793192663796320000
+82,1.366666667,BASELINE,764,742,711,671,661,633,875.419046352,783,799,649,628.580953648,650.419046352,0.400949695913,-0.00538120251704,0.0598366492186,0.999999940406,0.000211964180749,-0.000271970485533,1.70448117887e-05,1793192663812986624
+83,1.383333333,BASELINE,764,742,711,671,661,633,875,783.158159204,799,649,628.841840796,650.158159204,0.400949733942,-0.00538082313653,0.059836585043,0.999999940397,0.000212017014085,-0.000271973812422,1.68913119896e-05,1793192663829652992
+84,1.400000000,BASELINE,764,742,711,671,661,633,875,783.732361572,799,649,628.267638428,650.732361572,0.400948086755,-0.00538063647464,0.0598355883124,0.999999939688,0.000212935248934,-0.000273873949078,1.66085115745e-05,1793192663846319872
+85,1.416666667,BASELINE,763.692456132,742,711.307543868,671,661,633.307543868,875.307543868,784,799,649,628,650.692456132,0.400947263576,-0.00538036609502,0.0598349207088,0.9999999394,0.000212829117291,-0.000275012013976,1.65162346915e-05,1793192663862986496
+86,1.433333333,BASELINE,763.116418366,742,711.883581634,671,661,633.883581634,875.883581634,784,799,649,628,650.116418366,0.400947159775,-0.0053800226276,0.0598345404417,0.999999939481,0.00021182868666,-0.000275484770041,1.65902898876e-05,1793192663879653120
+87,1.450000000,BASELINE,763.473710938,742,711.526289062,671,661,633.526289062,876.473710938,784,799,649,628.473710938,650,0.40094760192,-0.00538036108636,0.0598347172763,0.999999939539,0.000212007547859,-0.000275127078474,1.67486766491e-05,1793192663896320000
+88,1.466666667,BASELINE,764,742,711.065652904,671,661,633,876.934347096,784,799.065652904,649,629,650,0.400948109426,-0.00538087432053,0.0598349897202,0.99999993962,0.000212267845584,-0.000274619480588,1.69272525229e-05,1793192663912986624
+89,1.483333333,BASELINE,764,742,711.64388033,671,661,633,876.35611967,784,799.64388033,649,629,650,0.400948047606,-0.00538140354654,0.0598349069257,0.999999939931,0.000210831844137,-0.000274583760091,1.70966822579e-05,1793192663929653248
+90,1.500000000,BASELINE,763.779386842,742,711.779386842,671.220613158,661,633,876,783.779386842,800,649,629,650,0.400947501137,-0.00538133739503,0.0598347564586,0.999999939853,0.000210802634241,-0.000274891523841,1.70768422595e-05,1793192663946320128
+91,1.516666667,BASELINE,763.205050457,742,711.205050457,671.794949543,661,633,876,783.205050457,800,649,629,650,0.400946177599,-0.00538031663652,0.0598344974877,0.99999993915,0.000213029023624,-0.000275750017925,1.67535339398e-05,1793192663962986496
+92,1.533333333,BASELINE,763.380093712,742,711.380093712,671.619906288,661.380093712,633,875.619906288,783,799.619906288,649,628.619906288,650,0.400946668901,-0.00538029997592,0.0598350083266,0.999999939326,0.000213113236115,-0.000275048762853,1.67215312821e-05,1793192663979653376
+93,1.550000000,BASELINE,763.971239087,742,711.971239087,671.028760913,661.971239087,633,875.028760913,783,799.028760913,649,628.028760913,650,0.400948167916,-0.00538084085282,0.0598359466118,0.999999939988,0.000212007979001,-0.000273481438142,1.68512796114e-05,1793192663996320000
+94,1.566666667,BASELINE,764,742,712,671,660.900737648,633,875.549631176,783,799,649,628.549631176,650,0.400949553245,-0.00538168075045,0.0598360193873,0.999999940686,0.000210112550682,-0.00027238990245,1.68840107048e-05,1793192664012986624
+95,1.583333333,BASELINE,764,742,711.873242092,671,660.126757908,633,876,783,799,649,628.873242092,650,0.400950338074,-0.00538245443868,0.0598359108348,0.999999941106,0.000208824822174,-0.000271833868551,1.6927698238e-05,1793192664029653248
+96,1.600000000,BASELINE,764,742,711.298283196,671,660.701716804,633,876,783,799,649,628.298283196,650,0.400949020165,-0.00538293994707,0.059835317637,0.999999940553,0.000209828733419,-0.000273085269193,1.70276699465e-05,1793192664046320128
+97,1.616666667,BASELINE,764,742,711,671,661,633,876,783.283177046,799.283177046,649,628,650,0.400948193271,-0.00538249110359,0.059835254974,0.999999939992,0.000211563740385,-0.000273791717757,1.71469986404e-05,1793192664062986752
+98,1.633333333,BASELINE,764,742,711,671,661,633,876,783.871646334,799.871646334,649,628,650,0.400947895739,-0.00538103493842,0.059835764279,0.99999993942,0.000214086939177,-0.000273910655207,1.72871960307e-05,1793192664079653376
+99,1.650000000,BASELINE,763.548045955,742,711,671,661,633,876,783.548045955,799.548045955,649,628,650.451954045,0.400947230292,-0.0053808612642,0.0598354183435,0.999999939705,0.000211968628654,-0.000274537520346,1.69784043905e-05,1793192664096320000
+100,1.666666667,BASELINE,763.02992308,742,711,671,661,633,875.97007692,783,799,649,628,650.97007692,0.400946478437,-0.00538100681843,0.0598348391178,0.999999940162,0.000208812840446,-0.000275314783669,1.65774898862e-05,1793192664112986368
+101,1.683333333,BASELINE,763.606760412,742,711,671,661,633,875.393239588,783,799,649,628,650.393239588,0.400946023156,-0.00538044806077,0.0598343565295,0.999999939576,0.000210360100381,-0.000276251185885,1.67820474222e-05,1793192664129652992
+102,1.700000000,BASELINE,763.816665158,742,711,670.816665158,660.816665158,633,875,783,799,649,628,650.183334842,0.400946529228,-0.00538029812111,0.0598345471287,0.999999939427,0.00021151554791,-0.000275899377709,1.69320655828e-05,1793192664146319872
+103,1.716666667,BASELINE,763.240653895,742,711,670.240653895,660.240653895,633,875,783,799,649,628,650.759346105,0.400949094379,-0.00538102380991,0.0598361795971,0.999999940213,0.000211831790371,-0.00027278841115,1.6965268351e-05,1793192664162986496
+104,1.733333333,BASELINE,763.685700046,742,711,670.342850023,660.342850023,633,875,783.342850023,799,649,628,650.657149977,0.400949480124,-0.00538181545477,0.0598367788882,0.999999940837,0.00020983812292,-0.000272040877464,1.69385969451e-05,1793192664179653120
+105,1.750000000,BASELINE,764.863461525,742,711,670.931730763,660.931730763,633,875,783.931730763,799,649,628,650.068269237,0.400948301919,-0.00538265443009,0.0598366367669,0.99999994134,0.000206186853765,-0.000272989353508,1.68689595657e-05,1793192664196319744
+106,1.766666667,BASELINE,764.487818133,742,711.512181867,671,661,633,875.512181867,784,799,649,628.512181867,650,0.400948385631,-0.00538237653105,0.059836266768,0.999999941012,0.000207657213829,-0.000273081880175,1.67451284868e-05,1793192664212986368
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,672,661,633,876,783,799,649,629,650,0.400947970157,-0.00538193833954,0.0598360981426,0.999999940429,0.000209967966194,-0.00027342676425,1.71324858855e-05,1793192664255979008
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.574557762,742,711.574557762,671.425442238,661,633,875.425442238,783.574557762,799,649,629,650,0.400949137133,-0.00538242045028,0.0598364751044,0.99999994109,0.000209137093807,-0.000271651168655,1.69723260348e-05,1793192664272645632
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711.846946307,671,661,633,875.153053693,783.846946307,798.846946307,649,628.846946307,650,0.400949713606,-0.00538262303864,0.0598366479831,0.999999941433,0.000208599660785,-0.000270803703912,1.69111809143e-05,1793192664289312512
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711.257214234,671,661,633,875.742785766,783.257214234,798.257214234,649,628.257214234,650,0.400948605308,-0.00538202812022,0.0598362385912,0.999999940877,0.000208899441128,-0.000272604294294,1.71325352586e-05,1793192664305979136
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660.672741265,633,876,783.327258735,798.327258735,649,628,650,0.40094878136,-0.0053816440363,0.0598364990577,0.999999940792,0.000209207654537,-0.000272677977959,1.71603990198e-05,1793192664322645760
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.092336434,633,876,783.907663566,798.907663566,649,628,650,0.400949950901,-0.0053814230403,0.059837277683,0.999999941072,0.000209522391201,-0.000271415838672,1.70385910232e-05,1793192664339312384
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660.48138798,633,876,783.51861202,799,649,628,650.48138798,0.400949798531,-0.00538178979035,0.0598366564894,0.999999940871,0.000209480291781,-0.000272175722078,1.72030346776e-05,1793192664355979264
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671,660.944525246,633,876.055474754,783.055474754,799,649,628,650.944525246,0.400949766088,-0.00538214808379,0.0598360587677,0.999999940679,0.00020938838962,-0.000272937962465,1.73958052867e-05,1793192664372645888
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.354776493,633,876.645223507,783.645223507,799,649,628,650.354776493,0.400953297259,-0.0053813540274,0.0598382376475,0.999999941451,0.000209467014631,-0.000270038669846,1.7339825341e-05,1793192664389312512
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.7684773,742,711,671,660.2315227,633,876.5369546,784,799,649,628.2315227,650,0.40096322241,-0.00538140710257,0.059842920957,0.999999943432,0.000209614294156,-0.000262467751095,1.75619119841e-05,1793192664405978880
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.187386533,742,711,671,660.812613467,633,875.374773065,784,799,649,628.812613467,650,0.400982801607,-0.00538273923227,0.0598513856176,0.999999947099,0.000209865232707,-0.00024784330684,1.8203841696e-05,1793192664422645504
+118,1.966666667,POSE1_TO_POSE2_PRESS,763.388346659,742,711,671,661,633,875.388346659,784,799,649,629,650,0.40102352772,-0.00538345438253,0.0598678745953,0.999999954199,0.000209517123317,-0.000217607643969,1.87625480447e-05,1793192664439312128
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.961529923,742,711,671,661,633,875.961529923,784,799,649,629,650,0.401074318873,-0.00538387587676,0.0598881828096,0.999999961808,0.000208883892199,-0.000179941698981,1.92816436241e-05,1793192664455979008
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.462641172,783.462641172,799,649,628.462641172,650,0.401140132463,-0.00538793087381,0.0599052610801,0.999999966315,0.00020771038329,-0.000154213885135,2.10825528906e-05,1793192664472645632
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.116718193,783,799,649,628,650.116718193,0.40120910634,-0.00539179663082,0.0599205992684,0.999999969717,0.000206538441985,-0.000131904724563,2.25678994661e-05,1793192664489312512
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.709707157,783,799,649,628,650.709707157,0.40128656565,-0.00539382348975,0.059929785251,0.999999971423,0.00020553150883,-0.000120040710901,2.23892800784e-05,1793192664505979136
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.295323898,742,711.295323898,671,661,633,876,783,799,649,628,650.704676102,0.401374364004,-0.00539606475436,0.0599353638927,0.999999972992,0.000202941083746,-0.000111180289052,2.16713443775e-05,1793192664522645760
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.873870467,742,711.873870467,671,661,633,876,783,799,649,628,650.126129533,0.401472077742,-0.00539851163903,0.0599374830079,0.999999974491,0.000198832052162,-0.000105200384194,2.04361914658e-05,1793192664539312128
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.552698329,742,712,670.552698329,660.552698329,632.552698329,876,783.447301671,799,649,628.447301671,650,0.401590237711,-0.00540214595118,0.0599403781361,0.999999975561,0.000197402071323,-9.76460520534e-05,1.93599987109e-05,1793192664555979008
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711.980053259,670.019946741,660.019946741,632.019946741,876,783.980053259,799,649,628.980053259,650,0.401714729464,-0.00540610994575,0.0599433611263,0.999999976465,0.000196600584268,-8.99042336501e-05,1.83008404794e-05,1793192664572645632
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.389087071,670.610912929,660.610912929,632.610912929,876,783.389087071,799,649,628.389087071,650,0.401857301367,-0.00541003498107,0.0599426660067,0.999999977361,0.000192409639555,-8.93606934393e-05,1.64606731472e-05,1793192664589312512
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876.197893282,783,799,649,628.197893282,650,0.402015821656,-0.00541468424262,0.059943480918,0.999999978629,0.000187998205316,-8.47819148474e-05,1.44815821552e-05,1793192664605979136
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876.777191563,783,799,649,628.777191563,650,0.402205079677,-0.00542072932422,0.0599472061518,0.999999980528,0.000183161816208,-7.24259138062e-05,1.22347401019e-05,1793192664622645760
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,670.648796534,661,633,876.297593069,783,799,649,629,650,0.402415940414,-0.00542559463154,0.0599485984369,0.999999981797,0.000179019365761,-6.53139144939e-05,9.60946569602e-06,1793192664639312640
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,670.078088596,661,633,875.156177192,783,799,649,629,650,0.40264030301,-0.00542972257277,0.0599485326139,0.99999998272,0.000175310631074,-6.14794495092e-05,6.74766836526e-06,1793192664655979520
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.49855129,670.49855129,661,633,875.49855129,783,799,649.49855129,629,650,0.402894065144,-0.00543845488196,0.0599469175311,0.999999984652,0.000164566343876,-5.99902082121e-05,3.79749041129e-06,1793192664672645888
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799,649.921955813,628.921955813,650,0.403156653155,-0.00544794047544,0.0599452430338,0.999999986621,0.000152632364739,-5.882690887e-05,7.35012696142e-07,1793192664689312256
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799,649.32986446,628.32986446,650,0.403446678148,-0.00545758028693,0.0599447947639,0.999999988521,0.000140208095822,-5.73618357448e-05,-2.9748644168e-06,1793192664705979136
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.743821202,742,711.743821202,671,661,633,876.256178798,783,799,649,628.256178798,650,0.403751853264,-0.0054664142922,0.0599394424989,0.999999989532,0.000128916973706,-6.53163366752e-05,-7.10224519015e-06,1793192664722645760
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.165386092,742,711.165386092,671,661,633,876.834613908,783,799,649,628.834613908,650,0.404076086234,-0.00547423464493,0.0599279213261,0.999999989222,0.00011905127749,-8.51200508967e-05,-1.17548182652e-05,1793192664739312384
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.411592548,742.411592548,711,671,661,632.588407452,876.588407452,783,799,649,629,650,0.40442986308,-0.00548532850211,0.0599156385445,0.999999988517,0.000105551403213,-0.000107474748744,-1.65449288932e-05,1793192664755979520
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.987988,742.987988,711,671,661,632.012012,876.012012,783,799,649,629,650,0.404795469377,-0.00549773308019,0.0599030508127,0.999999987106,9.05963932073e-05,-0.000130850867628,-2.13901098529e-05,1793192664772646912
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.441095064,711.558904936,671,661,632,875.441095064,783,799.558904936,649,628.441095064,650,0.405208027105,-0.00550895568248,0.059898802346,0.999999986809,7.6473720862e-05,-0.000141009267944,-2.55102965773e-05,1793192664789313536
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711.864456234,671,661,632.135543766,875,783,799.864456234,649,628,650,0.405640483171,-0.00552265901171,0.0599016558043,0.999999988294,5.89480982917e-05,-0.00013830104494,-2.84715537153e-05,1793192664805979904
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711.267962273,671,661,632.732037727,875,783,799.267962273,649,628,650,0.406137210064,-0.00554488421672,0.0599280575296,0.999999994872,2.97896581193e-05,-9.27933674302e-05,-2.75440571643e-05,1793192664822646272
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,632.682618855,875.317381145,783,799,649,628,650,0.406664945869,-0.00555278461065,0.0599569912869,0.999999997857,-3.94510477337e-05,-4.4405252106e-05,-2.75209617947e-05,1793192664839312384
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,632.10637016,875.89362984,783,799,649,628,650,0.407217973718,-0.00554900117252,0.059987990264,0.999999989587,-0.000141384303404,6.33225792848e-06,-2.8235528439e-05,1793192664855979264
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661.469336837,632.469336837,876.469336837,783,799,649,628,650,0.407767755353,-0.00553818515433,0.0599938279315,0.999999989853,-0.00013833190526,6.089752219e-06,-3.34990453505e-05,1793192664872645888
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,671,662,633,876.954008348,783,799,649,628,650,0.408317195922,-0.00552757361857,0.0599926658089,0.999999992688,-0.000114019778581,-7.46411102412e-06,-3.96042739381e-05,1793192664889312512
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,671,662,633,876.364707677,783,799,649,628,650,0.408871289017,-0.00553818454906,0.0599761013466,0.999999991057,-0.000119319953963,-4.19344993155e-05,-4.34877902294e-05,1793192664905979136
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,671.220735861,661.779264139,633,876,783,799,649,628,650,0.409456078706,-0.00554369262464,0.0599660210973,0.999999993625,-8.7172298758e-05,-6.0959629989e-05,-3.7886503895e-05,1793192664922645760
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,671.799915917,661.200084083,633,876,783,799,649,628,650,0.410090715339,-0.00554091437623,0.0599664703047,0.999999998334,5.78540175001e-06,-5.49038180057e-05,-1.68832229256e-05,1793192664939312640
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,671.622974726,661,633,876,783,799,649,628,650,0.410762862021,-0.00553746152956,0.0599711491179,0.999999998981,1.3914768158e-05,-4.05651732945e-05,-1.40899113023e-05,1793192664955979008
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,671.046958288,661,633,876,783,799,649,628,650,0.41145480621,-0.00553365263499,0.0599780602858,0.999999999284,-2.27276387256e-05,-2.18549107273e-05,-2.09076881607e-05,1793192664972645376
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.529617636,711.529617636,671,661.529617636,633,876.529617636,783,799.529617636,649,628,650,0.412152010444,-0.00553642624767,0.0599650475783,0.999999998299,-2.54886524141e-05,-4.58520902728e-05,-2.54824609111e-05,1793192664989312256
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.891661271,712,671,662,633,876.891661271,783,799.891661271,649,628.108338729,650,0.412841732512,-0.00553903782494,0.0599464029998,0.9999999959,-2.4609024321e-05,-8.21433920553e-05,-2.91035397628e-05,1793192665005978880
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.303662666,712,671,662,633,876.303662666,783,799.303662666,649,628.696337334,650,0.413496260733,-0.0055383452817,0.0599106532973,0.999999987168,-2.09251291645e-05,-0.000156083085854,-2.93836557649e-05,1793192665022645760
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661.722251399,633,876,783,799,649,628.722251399,650,0.414217955119,-0.00553847178923,0.059902737354,0.99999998458,-2.25248199794e-05,-0.000171577062681,-2.98909508957e-05,1793192665039312384
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661.14787515,633,876,783,799,649,628.14787515,650,0.415011381151,-0.00553947301969,0.0599245470735,0.999999991318,-2.97672307147e-05,-0.000124652677081,-3.06408670236e-05,1793192665055979008
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.569033643,742,711.569033643,671,661.861932714,633,876,783,798.569033643,649,628,650,0.415849684383,-0.00554216495565,0.0599662291032,0.999999997698,-3.36759877148e-05,-5.09251393217e-05,-2.95917599813e-05,1793192665072645632
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.011160084,742,711,671,662.977679832,633,876.011160084,783,798.011160084,649,628,650,0.416702574354,-0.00554543179976,0.0600136745097,0.999999998495,-3.63844868316e-05,3.00941768623e-05,-2.79545548152e-05,1793192665089312512
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.581536326,742,711,671,661.836927348,633,876.581536326,783,798.581536326,649,628,650,0.417506714072,-0.00554813302528,0.0600046632319,0.999999998867,-3.68669937415e-05,1.08299917982e-05,-2.81039073572e-05,1793192665105979136
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742,711,671.159118999,661,633,877,783,799,649,628.159118999,650,0.418311071929,-0.00554939538812,0.0599919363954,0.999999998705,-3.99142333933e-05,-1.1982308677e-05,-2.92232611227e-05,1793192665122645760
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742,711,671.756552725,661,633,877,783,799,649,628.756552725,650,0.419116030633,-0.00554669420963,0.0599689745521,0.999999997211,-5.00263749803e-05,-4.45683700283e-05,-3.301461397e-05,1793192665139312384
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742,711.341491824,672,661.682983648,632.658508176,877,783,799.341491824,649,628.658508176,650,0.419920866911,-0.0055457488851,0.0599459034544,0.999999995308,-4.85825639017e-05,-7.58719191789e-05,-3.55937660829e-05,1793192665155978752
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742,711.917837963,672,662.835675927,632.082162037,877,783,799.917837963,649,628.082162037,650,0.420725618958,-0.00554601111485,0.0599227572201,0.999999992886,-3.91913722211e-05,-0.000106293444303,-3.73392507104e-05,1793192665172645376
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711.510608072,672,662.021216143,632,876.510608072,783,799.510608072,649,628,650,0.421505112368,-0.00554536258656,0.0598916229007,0.999999983807,-3.63517648321e-05,-0.000172018856305,-3.83917635619e-05,1793192665189312256
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661.062558982,632.062558982,876.062558982,783,799,648.937441018,628,650,0.422296217114,-0.00554470523736,0.0598666596238,0.999999972626,-3.58941597085e-05,-0.000227853494358,-3.92752574647e-05,1793192665205978880
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742,711,672,661.656182772,632.656182772,876.656182772,783,799,648.343817228,628,650,0.423221539572,-0.00554525842253,0.059905356632,0.9999999869,-4.64107387019e-05,-0.000149898284773,-3.97019841193e-05,1793192665222645760
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742,711,672,662.243266616,633,877,783,799,648.243266616,628,650,0.424138723001,-0.00554753951476,0.0599511106666,0.999999995545,-5.10054708277e-05,-6.94744352287e-05,-3.84992330016e-05,1793192665239312384
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,742,711,672,662.821349394,633,877,783,799,648.821349394,628,650,0.425044704539,-0.00555219878464,0.0600065775334,0.999999998157,-4.74497641829e-05,1.43470985412e-05,-3.50537760392e-05,1793192665255979008
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671.600212579,662.600212579,633,877,783,799,649,628,650,0.425903528234,-0.00555511385304,0.0600176066859,0.999999997556,-5.0436845182e-05,3.35790455099e-05,-3.48734043122e-05,1793192665272645632
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671.021615698,662.021615698,633,877,783,799,649,628,650,0.426741259996,-0.00555724880726,0.0600087605633,0.999999997473,-5.63502624907e-05,2.39225620307e-05,-3.61533792742e-05,1793192665289312256
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.564704301,711,671.564704301,662,633,876.435295699,783.564704301,799,649,628.564704301,650,0.427569368505,-0.00556090291697,0.0599817274015,0.999999997387,-5.99235284831e-05,-8.67915464032e-06,-3.94898522278e-05,1793192665305978880
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.149290707,743,711,672,662.149290707,632.850709293,876,784,798.850709293,649,628.850709293,650,0.428387553924,-0.00556330686518,0.0599582518803,0.999999996342,-6.39763908841e-05,-3.80744373184e-05,-4.21047068981e-05,1793192665322645504
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.728028087,743,711,672,662.728028087,632.271971913,876,784,798.271971913,649,628.271971913,650,0.429178269041,-0.00556194503073,0.0599470405314,0.999999995123,-6.96700964203e-05,-5.56846345377e-05,-4.24141890095e-05,1793192665339312384
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.69381834,743,711.30618166,671.69381834,662.38763668,632.30618166,876.30618166,783.69381834,798.30618166,649,628,650,0.429958969102,-0.00556025978029,0.0599305520367,0.999999993292,-6.50605660723e-05,-8.56683493601e-05,-4.29488188542e-05,1793192665355979008
+174,2.900000000,POSE1_TO_POSE2_PRESS,764.116182389,743,711.883817611,671.116182389,661.232364778,632.883817611,876.883817611,783.116182389,798.883817611,649,628,650,0.430730789981,-0.00555828779604,0.0599093849349,0.999999989713,-5.13164007095e-05,-0.000126622166491,-4.36830599282e-05,1793192665372645632
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,711.54116053,671.45883947,661.91767894,632.54116053,877,783,799,649,628,650,0.431562593745,-0.00556231862516,0.0599398882368,0.999999995204,-5.64087895558e-05,-6.72383513213e-05,-4.34694772139e-05,1793192665389312512
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.965917309,711,672.034082691,663,632.034082691,877.034082691,783,799,649,628.034082691,650,0.432405396589,-0.00556773405894,0.0599819801607,0.999999996769,-6.6566795138e-05,1.37441784089e-05,-4.29269007672e-05,1793192665405979392
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.376339903,711,672.623660097,663,632.623660097,877.623660097,783,799,649,628.623660097,650,0.433181324247,-0.005571083616,0.0600009170852,0.999999995189,-8.19899507709e-05,3.50127786287e-05,-4.09116743025e-05,1793192665422645760
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711,672.790647438,662.581294875,632.790647438,877.790647438,783,799,649,629,650,0.433928214112,-0.00557323947788,0.0600000291944,0.999999995053,-8.67997991365e-05,2.7098010739e-05,-4.03052443213e-05,1793192665439312640
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711,672.211811354,661.423622708,632.211811354,877.211811354,783,799,649,629,650,0.434623855695,-0.00557328860377,0.0599641527569,0.999999995932,-7.28783666654e-05,-3.23220875646e-05,-4.21851799111e-05,1793192665455979008
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742,711,672,661.364149717,632.364149717,877,783,799,649,628.635850283,650,0.43530456432,-0.00557429148088,0.0599365765085,0.999999993539,-6.80240919207e-05,-7.98817787016e-05,-4.37433108607e-05,1793192665472645632
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661.938451574,632.938451574,877,783,799,649,628.061548426,650,0.435976655037,-0.00557584477131,0.0599137903319,0.999999989371,-6.8402508029e-05,-0.000120596781734,-4.51157270622e-05,1793192665489312256
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.483800181,742,711,672.516199819,662.516199819,633,877,783,799,649,628.516199819,650,0.436636672008,-0.00558002911987,0.059915406517,0.999999987329,-0.000100829184288,-0.000114170461053,-4.62622984798e-05,1793192665505978880
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.096012294,742,711,672.903987706,662.903987706,632.903987706,877,783,799,649,629,650,0.437286745344,-0.00558298235416,0.0599188558368,0.999999985041,-0.000127241503866,-0.000107385450624,-4.6865190441e-05,1793192665522645760
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.684287207,742,711,672.315712793,662.315712793,632.315712793,877,783,799,649,629,650,0.437893267399,-0.00557800433705,0.0599166858472,0.999999985518,-0.000103094292483,-0.000127773577211,-4.48195866377e-05,1793192665539312384
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672,661.732705461,632,877.267294539,783,799,649,628.732705461,649.732705461,0.438489261818,-0.00557271830145,0.0599145896127,0.999999985977,-8.20684407282e-05,-0.000139307214203,-4.36436331676e-05,1793192665555979008
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,711,672,661.155799689,632,877.844200311,783,799,649,628.155799689,649.155799689,0.439073061878,-0.0055670754838,0.05991257881,0.999999987083,-6.46581079363e-05,-0.000140584563064,-4.34750087665e-05,1793192665572645632
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672,661.42326781,632,877.57673219,783,799.42326781,649,628,649.42326781,0.43963895596,-0.00557200773739,0.0599207680712,0.999999988204,-6.99305018841e-05,-0.000129574326679,-4.37363316235e-05,1793192665589312256
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672.003098408,661.993803184,632,877,783,800,649,628,650,0.440197708133,-0.00558084248034,0.0599325702499,0.999999989001,-8.35814188563e-05,-0.000114290230042,-4.41667780249e-05,1793192665605978880
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672.57617089,660.84765822,632,877,783,800,649,628,650,0.440661327249,-0.00558782889413,0.0599147782571,0.99999998332,-9.473568431e-05,-0.000149091868034,-4.64465081264e-05,1793192665622645760
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.154932033,711,673,660,632,877,783,799.845067967,649,628,650,0.441108466935,-0.00559358325604,0.0598877021326,0.999999974078,-0.000104604504654,-0.000196118545249,-4.93988888883e-05,1793192665639312384
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.74984827,711,673,660,632,877,783,799.25015173,649,628,650,0.441508807572,-0.00559583877332,0.0598342604348,0.999999953783,-0.000110822852272,-0.000277862544841,-5.42614991375e-05,1793192665655979264
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.666418575,711,673,660,632,877,783,799,648.666418575,628,650,0.441890764008,-0.00559511424922,0.0597900170459,0.999999932559,-0.000111660802647,-0.000344975575834,-5.83513388684e-05,1793192665672645888
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.090799592,711,673,660,632,877,783,799,648.090799592,628,650,0.442259381345,-0.00559222748847,0.0597524477016,0.999999911599,-0.000108594883693,-0.000401472771509,-6.18804772042e-05,1793192665689312512
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.5195848,742,711,672.5195848,659.5195848,631.5195848,877,782.5195848,799,648.4804152,628,650,0.442630111212,-0.00558815940938,0.059744788793,0.999999912698,-8.79820892245e-05,-0.000404628610511,-5.60290327708e-05,1793192665705979136
+195,3.250000000,POSE1_TO_POSE2_PRESS,763,742,711,672,659,631.053056628,876.946943372,782.053056628,799,649,628,650,0.442997932685,-0.00558325493622,0.0597438145854,0.999999917552,-6.86257544231e-05,-0.000397267293958,-4.86425749916e-05,1793192665722645504
+196,3.266666667,POSE1_TO_POSE2_PRESS,763,742,711,672,659,631.648723963,876.351276037,782.648723963,799,649,628,650,0.443331963727,-0.00557205931323,0.0597539153412,0.999999920545,-9.57280004724e-05,-0.00038451533736,-4.35248036687e-05,1793192665739312128
+197,3.283333333,POSE1_TO_POSE2_PRESS,763,742.236293002,711,672.236293002,659,631.763706998,876.236293002,783,799.236293002,649,628,650,0.44364960828,-0.00556476409609,0.0597595691335,0.999999921897,-0.000108651320867,-0.000377744006647,-4.13454013239e-05,1793192665755979008
+198,3.300000000,POSE1_TO_POSE2_PRESS,763,742.8122219,711,672.8122219,659,631.1877781,876.8122219,783,799.8122219,649,628,650,0.443943699671,-0.00556307513071,0.0597588310791,0.999999921902,-0.000101194551257,-0.000379568933818,-4.33894659749e-05,1793192665772645632
+199,3.316666667,POSE1_TO_POSE2_PRESS,763,742.612848476,711,672.612848476,659,631,877,782.612848476,800,649,628,650,0.444196659507,-0.00556923365064,0.0597541388413,0.999999917558,-0.000103222646147,-0.000390184466574,-4.4545536861e-05,1793192665789312512
+200,3.333333333,POSE1_TO_POSE2_PRESS,763,742.038402225,711,672.038402225,659,631,877,782.038402225,800,649,628,650,0.444429720899,-0.00557918859773,0.0597475336634,0.999999910909,-0.000109839292879,-0.00040505268594,-4.52720175938e-05,1793192665805979392
+201,3.350000000,POSE1_TO_POSE2_PRESS,763.551477673,742,711,672.551477673,659,631.551477673,877,782,800,649,628,650,0.444619090628,-0.00557850322612,0.0597313976496,0.999999901531,-0.000105974702987,-0.000428323456968,-4.73904842416e-05,1793192665822646272
+202,3.366666667,POSE1_TO_POSE2_PRESS,763.860387152,742,711,672.860387152,659,631.860387152,877,782,799.860387152,649,628.139612848,650,0.444798857758,-0.00557786879738,0.059716372475,0.999999891598,-0.00010294560349,-0.000451417362076,-4.92766866149e-05,1793192665839312896
+203,3.383333333,POSE1_TO_POSE2_PRESS,763.281225819,742,711,672.281225819,659,631.281225819,877,782,799.281225819,649,628.718774181,650,0.444958247239,-0.00557979464717,0.0597069942466,0.999999881821,-0.000104910922409,-0.0004720592684,-5.01176846314e-05,1793192665855979520
+204,3.400000000,POSE1_TO_POSE2_PRESS,763,742,711,672,659,631,877,782,799,649,628.704214256,650,0.445108632955,-0.00558319995565,0.0597013183699,0.999999875528,-0.000107596641769,-0.000484573322066,-5.05505729326e-05,1793192665872645888
+205,3.416666667,POSE1_TO_POSE2_PRESS,763,742,711,672,659,631,877,782,799,649,628.129231929,650,0.445250519875,-0.00558800174719,0.0596991371991,0.9999998728,-0.00011096235778,-0.000489415373059,-5.05982403394e-05,1793192665889312256
+206,3.433333333,POSE1_TO_POSE2_PRESS,763,742,711,672.442770138,658.557229862,631,877,782,799.442770138,649,628,650,0.445366345788,-0.00558885386133,0.0596963057018,0.999999869809,-0.000109647363104,-0.000495818175336,-5.02470913144e-05,1793192665905978624
+207,3.450000000,POSE1_TO_POSE2_PRESS,763.014482806,742.014482806,711,672.985517194,658.014482806,631,877,782,799.985517194,648.985517194,628.014482806,649.985517194,0.445474195876,-0.00558854110019,0.0596933812594,0.999999866833,-0.000107028043087,-0.000502392767345,-4.97989054371e-05,1793192665922645504
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.609218644,742.609218644,711,672.390781356,658.609218644,631,877,782,799.390781356,648.390781356,628.609218644,649.390781356,0.445565209971,-0.00558743565252,0.059694286926,0.999999869209,-0.000106520386395,-0.000497721002355,-5.0095446189e-05,1793192665939312384
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.801697391,711,672,658.801697391,631,877,782,799,648.198302609,628.801697391,649.198302609,0.445646661016,-0.00558769419197,0.0596934902995,0.999999869617,-0.000107197550752,-0.000496745643417,-5.01916618725e-05,1793192665955979008
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.223442606,711,672,658.223442606,631,877,782,799,648.776557394,628.223442606,649.776557394,0.445709789036,-0.00559056616096,0.0596894320414,0.999999866258,-0.000110144858445,-0.000502852680571,-4.99040502706e-05,1793192665972645888
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.647450592,742,711,672,658,631,877,782,799,649,628.352549408,650,0.445762042544,-0.00558970696265,0.0596870800278,0.999999863537,-0.000110765743951,-0.000508085756585,-5.00640667091e-05,1793192665989312256
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.072883501,742,711,672,658,631,877,782,799,649,628.927116499,650,0.445807447844,-0.00558649806522,0.0596858025198,0.999999861217,-0.00010992156739,-0.000512768456925,-5.05059764903e-05,1793192666005978880
+213,3.550000000,POSE1_TO_POSE2_PRESS,763,742,711,672.501636466,658,631,877,782,799,649,628.498363534,650,0.445843328985,-0.00558850891351,0.0596854708392,0.999999861161,-0.000114165107772,-0.000511967713947,-5.03262250321e-05,1793192666022645760
+214,3.566666667,POSE1_TO_POSE2_PRESS,763,742,711,672.920830773,658,631,877.079169227,782.079169227,799,649,628,650,0.445875834378,-0.00559086598823,0.0596851010427,0.999999861296,-0.000118259418863,-0.000510798287149,-5.00697859189e-05,1793192666039312128
+215,3.583333333,POSE1_TO_POSE2_PRESS,763,742,711,672.323535602,658,631,877.676464398,782.676464398,799,649,628,650,0.445895302425,-0.00559052614648,0.0596835825255,0.999999860672,-0.00011653981589,-0.000512429521674,-4.99025221449e-05,1793192666055979008
+216,3.600000000,POSE1_TO_POSE2_PRESS,763,742,711,672,658,631,877.736555168,782.736555168,799,649,628,650,0.445909324156,-0.00558984404292,0.0596817005235,0.999999859306,-0.000115986939098,-0.000515208911325,-4.99444843104e-05,1793192666072645888
+217,3.616666667,POSE1_TO_POSE2_PRESS,763,742,711,672,658,631,877.161764971,782.161764971,799,649,628,650,0.445916909301,-0.00558875744626,0.0596793889467,0.999999857056,-0.00011681292715,-0.000519345217899,-5.0233714675e-05,1793192666089312768
+218,3.633333333,POSE1_TO_POSE2_PRESS,763,742,711,672.413644271,658,631,876.586355729,782,799,649,628,650,0.445923151449,-0.00558827629375,0.0596785958859,0.999999855862,-0.000117600776819,-0.000521495123342,-4.98868895017e-05,1793192666105979648
+219,3.650000000,POSE1_TO_POSE2_PRESS,763,742,711,672.989295953,658,631,876.010704047,782,799,649,628,650,0.445928867601,-0.00558803226879,0.0596783975652,0.999999855084,-0.000118373689238,-0.000522867037241,-4.92909475847e-05,1793192666122646784
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.580083917,742,711,673.580083917,658,631,876.580083917,782,799,649,628,650,0.44593407257,-0.00558752210346,0.0596786177348,0.999999856377,-0.000116191794666,-0.000520895381401,-4.9117316132e-05,1793192666139313152
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.833051234,742,711,673.666102468,658,631,877.166948766,782,799,649,628,650,0.44593778876,-0.00558756766679,0.0596786316569,0.999999856945,-0.000115151248625,-0.000520056451755,-4.89119938121e-05,1793192666155979520
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.256514935,742,711,672.51302987,658,631,877.743485065,782,799,649,628,650,0.445937876184,-0.00558898901095,0.059678120124,0.999999855647,-0.000117048207363,-0.000522151944302,-4.86092913387e-05,1793192666172646144
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.31864443,742,711,672,658.31864443,630.68135557,877.68135557,782,799,649,628,650,0.445937744498,-0.0055890228036,0.0596771959879,0.999999854529,-0.000118405218601,-0.000523984201346,-4.86116884017e-05,1793192666189312512
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.892700167,742,711,672,658.892700167,630.107299833,877.107299833,782,799,649,628,650,0.445937437184,-0.00558794439636,0.0596759411273,0.999999853556,-0.000119329431966,-0.000525605460655,-4.88586397513e-05,1793192666205979136
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.534733729,742,711,672,658.534733729,630,877,782,799,649,628,650,0.445937809778,-0.00558709812902,0.0596755721742,0.999999853676,-0.000117664203435,-0.000525733749748,-4.90537828881e-05,1793192666222645760
+226,3.766666667,POSE1_TO_POSE2_PRESS,763.039201765,742,711,672,658,630,877,782,799.039201765,649,628,650.039201765,0.445938310863,-0.00558641924841,0.0596753812476,0.999999854007,-0.000115561174074,-0.0005255560872,-4.92099901875e-05,1793192666239312384
+227,3.783333333,POSE1_TO_POSE2_PRESS,763.637554383,742,711,672,658,630,877,782,799.637554383,649,628,650.637554383,0.445938415309,-0.00558736670152,0.0596748247529,0.999999853816,-0.000115704217353,-0.000525909860618,-4.89807155176e-05,1793192666255979264
+228,3.800000000,POSE1_TO_POSE2_PRESS,763.773321474,742,711,672,658,630.226678526,877,782,800,649,628,650.773321474,0.445938380369,-0.0055869540881,0.0596744688193,0.999999853604,-0.000115172180153,-0.000526428717522,-4.89930227136e-05,1793192666272646144
+229,3.816666667,POSE1_TO_POSE2_PRESS,763.198375921,742,711,672,658,630.801624079,877,782,800,649,628,650.198375921,0.445938131279,-0.00558445187956,0.059674421026,0.999999853358,-0.000113602954837,-0.000527201207314,-4.93764943205e-05,1793192666289312512
+230,3.833333333,POSE1_TO_POSE2_PRESS,763.378226828,742,711,672,658,630.621773172,877,782,799.621773172,649,628,650,0.445938071082,-0.00558286976099,0.0596740816923,0.999999853023,-0.000113257436471,-0.000527903142249,-4.94490845593e-05,1793192666305979136
+231,3.850000000,POSE1_TO_POSE2_PRESS,763.955702565,742,711,672,658,630.044297435,877,782,799.044297435,649,628,650,0.445938110392,-0.0055817723435,0.0596735887759,0.999999852642,-0.000113556563794,-0.000528567909045,-4.93579032893e-05,1793192666322646016
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,742.542950734,711,672.542950734,658,630.542950734,877,782,799.542950734,649,628,650,0.445938097392,-0.00558488948333,0.0596731864305,0.999999852464,-0.00011450333308,-0.00052877602087,-4.85551329956e-05,1793192666339312384
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,673,658,631,876.870833559,782,800,649,628,650,0.445938577006,-0.00558720472152,0.0596731628624,0.999999852595,-0.000115303848921,-0.000528405248082,-4.79897316366e-05,1793192666355979008
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673,658,631,876.291052336,782,800,649,628,650,0.445940790333,-0.0055855008583,0.0596744344595,0.999999853751,-0.000115406425333,-0.000526147315133,-4.84586730811e-05,1793192666372646144
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.715087208,742.715087208,711,672.715087208,658,631,876.284912792,782,799.715087208,649,628,649.715087208,0.445941111058,-0.00558506027141,0.0596745903194,0.999999853883,-0.000115246519046,-0.000525929200315,-4.8477090579e-05,1793192666389312768
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.142968814,742.142968814,711,672.142968814,658,631,876.857031186,782,799.142968814,649,628,649.142968814,0.445939523952,-0.00558589312675,0.0596736214633,0.999999852985,-0.000114822017767,-0.000527767318609,-4.80413586357e-05,1793192666405979392
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.433349117,742.433349117,711,672.433349117,658,630.566650883,877,782,799,649,627.566650883,649.433349117,0.445939132716,-0.00558559872673,0.0596733732109,0.999999852492,-0.000113678159304,-0.000528942276647,-4.80930847932e-05,1793192666422646016
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.98866141,742.98866141,711,672.98866141,658,630.01133859,877,782,799.01133859,649,627.01133859,650,0.445939180372,-0.00558493164684,0.059673381128,0.999999852164,-0.000112352835303,-0.000529826085852,-4.83064284965e-05,1793192666439312896
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.396716903,742.396716903,711,672.396716903,658,630.603283097,877,782,799.603283097,649,627.603283097,650,0.445941301684,-0.00558441096468,0.0596742136932,0.999999853401,-0.00011400690461,-0.000527114166431,-4.84800148689e-05,1793192666455979520
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.191018271,742,711,672.191018271,658,631,877,782,800,649,628,650,0.445942819338,-0.00558401959262,0.0596749234236,0.999999854391,-0.000114283746516,-0.000525178228261,-4.84349009683e-05,1793192666472645888
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.770199736,742,711,672.770199736,658,631,877,782,800,649,628,650,0.445943110318,-0.00558389098823,0.0596753835441,0.999999854888,-0.000111761960825,-0.000524819141304,-4.79453719983e-05,1793192666489312512
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.345326706,711,672.654673294,658,630.654673294,877,782,800,649,628,649.654673294,0.445942774963,-0.00558597165176,0.0596746954337,0.999999853903,-0.000114907595877,-0.000526040084478,-4.76565382409e-05,1793192666505979392
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.917786868,711,672.082213132,658,630.082213132,877,782,800,649,628,649.082213132,0.445942027646,-0.00558950542811,0.0596732520916,0.999999851906,-0.000121780891947,-0.00052830026875,-4.74997087642e-05,1793192666522646016
+244,4.066666667,HOLD_POSE2,764,742,711,673,658,631,878,782,799,649,628,650,0.445944230771,-0.0055857144403,0.0596748851038,0.999999854878,-0.000113552829086,-0.000524470518906,-4.77438234725e-05,1793192666553294336
+245,4.083333333,HOLD_POSE2,763.45167485,742.54832515,711,673,658,630.45167485,877.45167485,782,799,649,628,650,0.445943556706,-0.00558650616745,0.0596754296001,0.999999854331,-0.000115604642195,-0.000525089877585,-4.74698903935e-05,1793192666569961728
+246,4.100000000,HOLD_POSE2,763.107940119,742.892059881,711,672.892059881,658,630.107940119,877,782,799,649,628,650,0.44594296744,-0.00558670866618,0.0596756818683,0.999999853829,-0.000116775975692,-0.000525802002019,-4.72953066667e-05,1793192666586628864
+247,4.116666667,HOLD_POSE2,763.72031589,742.27968411,711,672.27968411,658,630.72031589,877,782,799,649,628,650,0.445942774463,-0.00558415752895,0.05967456847,0.999999853552,-0.000113832571916,-0.000526947648105,-4.75850113402e-05,1793192666603294720
+248,4.133333333,HOLD_POSE2,763.689062394,742,711,672,658,631,877.310937606,782,799,649,628,650,0.445942724537,-0.00558277671375,0.0596740518066,0.999999853462,-0.000112393002463,-0.000527396396682,-4.79181423877e-05,1793192666619960832
+249,4.150000000,HOLD_POSE2,763.116728708,742,711,672,658,631,877.883271292,782,799,649,628,650,0.445942794868,-0.00558237975391,0.0596740368006,0.999999853537,-0.000112217662372,-0.000527259284003,-4.82877806907e-05,1793192666636627456
+250,4.166666667,HOLD_POSE2,763.469529995,742,711,672.469529995,658,631,877.530470005,782,799,649,628,650,0.445941949663,-0.00558280029599,0.0596736226461,0.999999852905,-0.000112340481904,-0.000528433786338,-4.82411325141e-05,1793192666653294336
+251,4.183333333,HOLD_POSE2,763.941630838,742.058369162,711,672.941630838,658,631,877,782,799,649.058369162,628,650,0.445941233001,-0.00558344699639,0.059673386114,0.999999852344,-0.000112655561876,-0.000529444850752,-4.80567099194e-05,1793192666669960704
+252,4.200000000,HOLD_POSE2,763.361614347,742.638385653,711,672.361614347,658,631,877,782,799,649.638385653,628,650,0.445943761458,-0.00558424303004,0.0596756509393,0.999999854035,-0.00011400617781,-0.000525992030898,-4.75941725985e-05,1793192666686627328
+253,4.216666667,HOLD_POSE2,763.216651113,743,711,672.216651113,658,630.783348887,877,782,799,649.783348887,628,650,0.445945554994,-0.00558450573226,0.0596770356638,0.99999985525,-0.000113891629423,-0.00052372519967,-4.7343377791e-05,1793192666703293952
+254,4.233333333,HOLD_POSE2,763.792017285,743,711,672.792017285,658,630.207982715,877,782,799,649.207982715,628,650,0.445946131701,-0.00558388538325,0.0596769631815,0.99999985569,-0.000111351169027,-0.000523422041975,-4.74431707889e-05,1793192666719960576
+255,4.250000000,HOLD_POSE2,764,742.624939342,711,672.624939342,658.375060658,630,877,782,799,649,628,650,0.445944411236,-0.00558352337737,0.0596754354973,0.999999854531,-0.000111875149857,-0.000525494468495,-4.77236698839e-05,1793192666736627200
+256,4.266666667,HOLD_POSE2,764,742.037549704,711,672.037549704,658.962450296,630,877,782,799,649,628,650,0.445941390298,-0.00558330762441,0.0596730839957,0.999999852456,-0.000114133968968,-0.000528911758434,-4.81064701499e-05,1793192666753293824
+257,4.283333333,HOLD_POSE2,764,742.54184524,711,672,658.45815476,630.54184524,877,782,799,649,628,650,0.445942268836,-0.00558446908491,0.0596729750235,0.999999852396,-0.000115712962693,-0.000528702499644,-4.78806867075e-05,1793192666769960448
+258,4.300000000,HOLD_POSE2,763.880237428,742.880237428,711,672,658,631,877,782,799.119762572,649,628,650,0.445943429984,-0.00558531606724,0.0596732806233,0.99999985271,-0.000116367400915,-0.000527981365156,-4.76880697752e-05,1793192666786627072
+259,4.316666667,HOLD_POSE2,763.305856429,742.305856429,711,672,658,631,877,782,799.694143571,649,628,650,0.445944653036,-0.00558461226757,0.0596745785917,0.999999853923,-0.000113688464711,-0.000526257285472,-4.77791198723e-05,1793192666803293952
+260,4.333333333,HOLD_POSE2,763.271364038,742,711,672,658,631,877,782,800.271364038,649,628,650,0.445945154514,-0.00558455564176,0.0596753039321,0.999999854468,-0.000113136445667,-0.000525348244641,-4.76860424409e-05,1793192666819960576
+261,4.350000000,HOLD_POSE2,763.851818696,742,711,672,658,631,877,782,800.851818696,649,628,650,0.445944834103,-0.00558523616368,0.0596753770343,0.999999854259,-0.000115007040146,-0.000525367554138,-4.73832390125e-05,1793192666836627200
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,673,658,631,877,782,800,649,628,650,0.445944040296,-0.0055846865304,0.0596731425323,0.999999853124,-0.000114144074954,-0.000527671305618,-4.78183207743e-05,1793192666869284608
+263,4.383333333,POSE2_TO_POSE3_RETREAT,763,742.580913385,711,673,658,630.419086615,877,782,799.419086615,649,628,650,0.445945560713,-0.00558468068119,0.0596745644254,0.999999854186,-0.000114061662734,-0.000525692227194,-4.75972669977e-05,1793192666885950976
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763,742.839634868,711,672.839634868,658,630,877,782,799.160365132,649,628,650,0.445945758389,-0.00558499737759,0.0596749645326,0.999999854321,-0.000114255673288,-0.00052541996895,-4.73045013219e-05,1793192666902617600
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,742.263968234,711,672.263968234,658,630,877,782,799.736031766,649,628,650,0.445942530532,-0.00558614937821,0.0596727184964,0.999999852051,-0.000115165542644,-0.000529567904219,-4.68260215398e-05,1793192666919284224
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,658,630,877,782,799.688534855,649,628,650,0.445942260618,-0.00558590173079,0.0596724751066,0.999999851953,-0.000115163437722,-0.000529756838011,-4.67972784739e-05,1793192666935950848
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,658,630,877,782,799.113299047,649,628,650,0.445944495701,-0.00558446876257,0.0596739276992,0.999999853696,-0.000114389008578,-0.000526593009747,-4.71494042226e-05,1793192666952617728
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.475653909,742.475653909,711,672.475653909,658,630.475653909,877,782,799.475653909,649,628,650,0.445945136409,-0.00558234292785,0.059675451727,0.999999855102,-0.000112332514168,-0.000524333867908,-4.74396973069e-05,1793192666969284352
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.933818112,711,672.933818112,658,631,877,782,800,648.933818112,628,650,0.445943736718,-0.00558045593999,0.0596758817358,0.999999855452,-0.000110559757569,-0.00052401646065,-4.77403840936e-05,1793192666985951232
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742.357093777,711,672.357093777,658,631,877,782,800,648.357093777,628,650,0.445929613579,-0.00558172242179,0.0596677370684,0.99999984824,-0.000113401573113,-0.000536966317422,-4.82382418497e-05,1793192667002617856
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.781309391,742,711,672.218690609,658,631,877.218690609,782,799.781309391,648.437381217,628,650,0.445906345841,-0.00558182483168,0.0596555899906,0.999999837764,-0.000113738683664,-0.000556007618766,-4.89068919739e-05,1793192667019284480
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.207053309,742,711,672.792946691,658,631,877.792946691,782,799.207053309,649.585893381,628,650,0.445868210053,-0.00558003459602,0.0596369354603,0.999999821622,-0.000110003435133,-0.000584952898459,-4.98532305416e-05,1793192667035951104
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763,742.36728097,711,672.63271903,658,630.63271903,878,782,799,649.63271903,628.36728097,650,0.445816236402,-0.005578198856,0.0596165833956,0.999999803557,-0.000108923144471,-0.000615156657183,-5.10230042179e-05,1793192667052617472
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742.941659396,711,672.058340604,658,630.058340604,878,782,799,649.058340604,628.941659396,650,0.445756460038,-0.00557633745741,0.0595952741462,0.999999783951,-0.000109339895361,-0.000646070032579,-5.23187655451e-05,1793192667069284352
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.535253711,742.464746289,711,672,658,630.535253711,878,782,799,649,628.464746289,650,0.445684391747,-0.00557230888746,0.0595818955225,0.999999774772,-0.000107761869074,-0.000660289703003,-5.34958477326e-05,1793192667085950976
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.126471323,658,631,877.873528677,782,799,649,628,650,0.445606770981,-0.00556853096291,0.0595721352747,0.999999768133,-0.000105728750511,-0.000670551771574,-5.39977662924e-05,1793192667102617856
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.701552664,658,631,877.298447336,782,799,649,628,650,0.445514384168,-0.00556651118817,0.0595720295256,0.999999766567,-0.000102881306763,-0.00067347023533,-5.21523858455e-05,1793192667119284480
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.277278729,711,672.722721271,658,631,877,782,799,649,628,650,0.445412870902,-0.00556438409557,0.059573991318,0.999999768506,-9.93311707186e-05,-0.00067124574814,-5.04927128577e-05,1793192667135951104
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,742.853700321,711,672.146299679,658,631,877,782,799,649,628,650,0.445301511546,-0.00556214122296,0.0595781836826,0.999999774185,-9.50229334689e-05,-0.000663472775037,-4.90333909431e-05,1793192667152617728
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,742.55938139,711,672.44061861,658,631,877,782,799,649,628,650,0.445171240854,-0.00555711984131,0.0595840456095,0.999999780053,-9.2736094859e-05,-0.000654964603281,-4.81256996425e-05,1793192667169284352
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.969574428,742,711,672.969574428,658.030425572,631,877,782,799.030425572,649,628,650,0.445032333802,-0.00555105767998,0.0595902483954,0.999999785873,-9.0788279265e-05,-0.000646350641337,-4.73454245872e-05,1793192667185950976
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.392024544,742,711,672.392024544,658.607975456,631,877,782,799.607975456,649,628,650,0.444853794511,-0.00554327441482,0.0595923688582,0.999999790545,-8.25731317548e-05,-0.000640331119571,-4.54823789013e-05,1793192667202617344
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742.184419111,711,672.184419111,659,631,877,782,800,649,628,650,0.444661686152,-0.00553610582677,0.0595945709982,0.999999794861,-7.49255442337e-05,-0.000634644979313,-4.34804859383e-05,1793192667219283968
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742.758525173,711,672.758525173,659,631,877,782,800,649,628,650,0.444440905685,-0.00553023608367,0.0595969457261,0.999999798569,-6.84772408615e-05,-0.000629663291969,-4.11852018661e-05,1793192667235950848
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,658.660094537,631,877,782,799.660094537,649,628,650,0.444202477925,-0.00552349118568,0.0596005320983,0.999999802448,-6.21629720645e-05,-0.000624292591328,-3.87037211665e-05,1793192667252617472
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711,673,658.073433436,631,877,782,799.073433436,649,628,650,0.443951239022,-0.00551611096514,0.0596049980684,0.999999806426,-5.59460054975e-05,-0.000618639484502,-3.60870700923e-05,1793192667269284352
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763,742.490714484,711,673,658,631,877,782,799.509285516,649,628,650.509285516,0.443667923489,-0.00550615369672,0.0596202066136,0.999999822518,-4.37896215632e-05,-0.000593287015477,-3.25261816029e-05,1793192667285951488
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.090439563,742.090439563,711,673,658.090439563,631,877,782.090439563,799.909560437,649,628.090439563,650.909560437,0.443369956823,-0.00549588803046,0.059635427605,0.999999837834,-3.05533158803e-05,-0.000567951451548,-2.88084960658e-05,1793192667302618624
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.666222738,742.666222738,711,673,658.666222738,631,877,782.666222738,799.333777262,649,628.666222738,650.333777262,0.443017994731,-0.00548594612265,0.0596424667421,0.99999984397,-1.60821723916e-05,-0.000557832695491,-2.49743882307e-05,1793192667319284736
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.758290082,743,711,673,659,631,877,782.758290082,799.241709918,649,629,650,0.442637453331,-0.00547575856302,0.0596451398986,0.999999844863,-2.04349324442e-06,-0.000556615942891,-2.11934655216e-05,1793192667335951360
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.183211176,743,711,673,659,631,877,782.183211176,799.816788824,649,629,650,0.442217495055,-0.00546523219831,0.0596417914461,0.999999838654,1.13987254354e-05,-0.000567676932443,-1.74858965595e-05,1793192667352617728
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.403595022,743,711,672.596404978,659,631.403595022,876.596404978,782.403595022,800,648.596404978,628.596404978,650,0.441780658854,-0.00545370275819,0.0596418277039,0.999999838389,2.35116675888e-05,-0.000567870763436,-1.38311457527e-05,1793192667369284608
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.9958841,743,711,672.0041159,659,631.9958841,876.0041159,782.9958841,800,648.0041159,628.0041159,650,0.441335931676,-0.00544170434736,0.059643446426,0.99999984086,3.50031285047e-05,-0.000562983837086,-1.02010892887e-05,1793192667385951488
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.42836149,711,672,659,632,876,783,799.42836149,648.57163851,628,650,0.440869382207,-0.00543230739624,0.0596694684637,0.999999859947,4.88412981989e-05,-0.000526974039395,-4.39503399366e-06,1793192667402617856
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.147538232,711,672,659.295076463,632,876,783,799,649.147538232,628,650,0.440392528734,-0.0054258218509,0.0596986617317,0.999999880563,5.84845610311e-05,-0.000485235909658,3.11450295285e-07,1793192667419284480
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.724197031,711,672,660.448394061,632,876,783,799,649.724197031,628,650,0.439886149909,-0.0054277512936,0.0597365819519,0.999999907072,5.58790118488e-05,-0.000427470167638,1.77550067632e-06,1793192667435951104
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.29984932,661,632,876,783.29984932,799.29984932,649.70015068,628.29984932,650,0.439357224125,-0.00543143757192,0.0597784729078,0.999999933714,4.95996483466e-05,-0.000360661251539,5.905300711e-06,1793192667452618240
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.874578979,661,632,876,783.874578979,799.874578979,649.125421021,628.874578979,650,0.438807628847,-0.00543673439129,0.0598240039539,0.999999958351,3.99523951014e-05,-0.000285562195007,1.24788688917e-05,1793192667469285376
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,661.461352294,632,876,783.538647706,799.538647706,649,629,650,0.438197216894,-0.00543208256377,0.0598386945344,0.999999961132,8.73786439371e-05,-0.00026416447007,1.78171131666e-05,1793192667485952000
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,743,711.050516206,673,661.949483794,632,876.050516206,783,799,649,628.949483794,650,0.437560187463,-0.00542416855061,0.0598401703005,0.999999952949,0.000152777971125,-0.000265062815702,2.24244932857e-05,1793192667502618624
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,743,711.629519093,673,661.370480907,632,876.629519093,783,799,649,628.370480907,650,0.436822296384,-0.00541117956999,0.0597934600143,0.999999912431,0.000239534464535,-0.000342392022518,2.29933051408e-05,1793192667519284992
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.79356807,711.79356807,672.79356807,661,632,876.79356807,783,799,649,628.20643193,650,0.436092601728,-0.00540194132593,0.0597594466065,0.999999881052,0.000288573455136,-0.000392536413381,2.31445585661e-05,1793192667535951360
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.220368656,711.220368656,672.220368656,661,632,876.220368656,783,799,649,628.779631344,650,0.435377469693,-0.00539936701397,0.0597479917376,0.999999885365,0.000270599781406,-0.000394381560691,2.25539366015e-05,1793192667552617984
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.363034801,672,661.363034801,632,876.363034801,783,799,649,628.636965199,650,0.434649066865,-0.00540478942009,0.0597550156112,0.999999910944,0.000204818128172,-0.000368788685002,1.25462919116e-05,1793192667569284608
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.952811408,672,661.952811408,632,876.952811408,783,799,649,628.047188592,650,0.433912375481,-0.00541520636206,0.0597735808125,0.999999940877,0.00010917689116,-0.000326058752202,-3.34297286073e-06,1793192667585951232
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.466390815,742.533609185,711.466390815,672,661.466390815,632,876.466390815,783,799,649,628,650,0.433118496229,-0.00542199495496,0.05978261213,0.999999943974,0.000103623494197,-0.000318278043018,3.67469219403e-06,1793192667602617856
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763,742.886840322,711,672,661,632,876,783,799.113159678,649,628,650,0.43231739293,-0.0054252790128,0.0597897340213,0.999999944767,0.000110654923493,-0.000313191516266,1.14882529386e-05,1793192667619284480
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763,742.309204371,711,672,661,632,876,783,799.690795629,649,628,650,0.431507052638,-0.00541547355391,0.0597924218264,0.999999943458,0.000137182978349,-0.000306687533097,1.43914349558e-05,1793192667635951104
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.266993799,742.266993799,711,672,661.266993799,632.266993799,876.266993799,783,799.466012401,649,628,650,0.430691663901,-0.0054090198079,0.0598064656696,0.99999994572,0.000163816232556,-0.000285303940177,1.80716409886e-05,1793192667652617728
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.841535875,742.841535875,711,672,661.841535875,632.841535875,876.841535875,783,798.31692825,649,628,650,0.429870459793,-0.00540642687508,0.0598335904536,0.999999951135,0.000190570668421,-0.000246780628518,2.26468958672e-05,1793192667669284608
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.57321829,743,711,672,662,632.57321829,877,783,798.42678171,649,628,650,0.428969372245,-0.00540203167783,0.0598099487835,0.999999939197,0.000180052694365,-0.000297965756363,2.00861152535e-05,1793192667685951232
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742.98415116,711,672,661.96830232,632,877,783,799,648.98415116,628.01584884,650,0.428039790174,-0.00539725872222,0.059768022405,0.999999915389,0.000155712051726,-0.000380462385077,1.49713412152e-05,1793192667702617856
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763,742.404168422,711,672,660.808336843,632,877,783,799,648.404168422,628.595831578,650,0.427178876877,-0.00540347160595,0.059763463119,0.999999924124,0.000144634093906,-0.000361367196032,1.56862535276e-05,1793192667719284480
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.172893935,742,711.172893935,672,660.518681806,632,876.827106065,783,799,648.172893935,628.827106065,650,0.426317072621,-0.00540788817829,0.0597681127371,0.999999931357,0.000144957017775,-0.000340566980333,1.69698404915e-05,1793192667735951104
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.743242778,742,711.743242778,672,662.229728333,632,876.256757222,783,799,648.743242778,628.256757222,650,0.425453220247,-0.00540817532387,0.0597939321213,0.999999935225,0.000171488706495,-0.00031584718813,1.956071752e-05,1793192667752617728
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.674547872,672,662.349095744,632,876,783,799,649,628.325452128,650,0.424565704609,-0.00540677249042,0.0598145309068,0.999999939108,0.000177768454583,-0.000299427590183,2.29139091714e-05,1793192667769284352
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.082627605,672,661.165255209,632,876,783,799,649,628.917372395,650,0.42365881441,-0.00540398596478,0.0598308552585,0.999999943623,0.000167466663171,-0.000289803885035,2.68912556641e-05,1793192667785950976
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,661,632,876,783,799,649,628.501762612,650,0.422789255332,-0.00540061885966,0.059843931443,0.99999994959,0.000182901553456,-0.000258100024919,2.7407396432e-05,1793192667802617856
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,661.153755918,632,876,783.076877959,799,649,628.076877959,650,0.421913695165,-0.00539754390364,0.0598496236396,0.999999951769,0.000198571890613,-0.000237257350765,2.72202853605e-05,1793192667819284736
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,662.305444256,632,876,783.652722128,799,649,628.652722128,650,0.420959876567,-0.00539697645248,0.0598108113448,0.999999933762,0.000188669714272,-0.000310158114672,2.61134499668e-05,1793192667835951104
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.772368032,742,711,672,662.317104096,632,876,783.772368032,799,649,629,650,0.420030271337,-0.00539488116668,0.0597707386534,0.999999911517,0.000183967676958,-0.000377579242411,2.35902527544e-05,1793192667852617728
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.198877702,742,711,672,660.596633107,632,876,783.198877702,799,649,629,650,0.419137455151,-0.00539046452678,0.059728750941,0.999999886963,0.000187166601096,-0.000436674759214,1.89150704917e-05,1793192667869284352
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,660.387119966,632,876,783,799,649,628.612880034,650,0.418280595865,-0.00539168899835,0.0597349175551,0.999999896305,0.000182627025466,-0.000416755726604,1.8788130135e-05,1793192667885950976
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,660.979757607,632,876,783,799,649,628.020242393,650,0.417442825749,-0.00539590827339,0.0597666487669,0.999999921671,0.000173979166027,-0.000354888746183,2.10758009476e-05,1793192667902617600
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.559520849,742,711,672,661.559520849,632.559520849,876,783,799,649,628.559520849,650,0.416626376157,-0.00539468976326,0.0598029537124,0.999999933461,0.000187673769279,-0.000311783738841,2.54378313087e-05,1793192667919284224
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.862954392,742,711,672,661.862954392,632.862954392,876,783,799,649,629,650.137045608,0.415813274339,-0.00539400167081,0.0598310725981,0.999999941022,0.000196271020613,-0.000280354485233,2.89056736033e-05,1793192667935951360
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.291087401,742,711,672,661.291087401,632.291087401,876,783,799,649,629,650.708912599,0.415008402188,-0.00539560664541,0.0598327053728,0.999999941948,0.000186188347033,-0.000283865144937,2.9303662632e-05,1793192667952617984
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.289758432,742,711,671.710241568,661.289758432,632.289758432,876,783,799,649,628.710241568,650.710241568,0.414222311434,-0.00539650693541,0.0598350672584,0.999999942892,0.000184782993179,-0.000281415570775,2.96050524577e-05,1793192667969284608
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.879912698,742,711,671.120087302,661.879912698,632.879912698,876,783,799,649,628.120087302,650.120087302,0.413455691617,-0.00539667667087,0.0598381850214,0.999999943846,0.00019237351512,-0.00027278695476,2.98062967756e-05,1793192667985951488
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,662,633,876,783.46231542,799,649,628,650,0.412624898837,-0.00539260324651,0.0598038857059,0.999999923654,0.000198671119348,-0.000335318491476,2.79832998829e-05,1793192668002618112
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.957661152,742,711,671,661.872983457,632.957661152,876,783.957661152,798.957661152,649,628.042338848,650,0.411788165327,-0.00538780291034,0.059762268046,0.999999894699,0.000203973132304,-0.000410294380521,2.56078411028e-05,1793192668019284480
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.382658339,742,711,671,660.147975016,632.382658339,876,783.382658339,798.382658339,649,628.617341661,650,0.411082947073,-0.00538749501692,0.0597488386113,0.999999894225,0.000200905137974,-0.00041312052725,2.27878752702e-05,1793192668035951104
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.192202802,742,711,671.192202802,659.384405603,632.192202802,876,783,798.192202802,649,629,650,0.410403295461,-0.00538767404554,0.0597552387619,0.999999902441,0.000199999946711,-0.000393209358081,2.2479492437e-05,1793192668052617984
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.766782194,742,711,671.766782194,660.533564388,632.766782194,876,783,798.766782194,649,629,650,0.409774507108,-0.00538882177793,0.0598010887473,0.999999925133,0.000203397528577,-0.000328063585668,2.71677612086e-05,1793192668069284608
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.647945628,742,711,671.647945628,661,632.647945628,876,783,799,649,629,650,0.409159296102,-0.00538909078789,0.0598358412744,0.999999939371,0.000209496625986,-0.000276535355606,2.99480588357e-05,1793192668085951232
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.055368187,742,711,671.055368187,661,632.055368187,876,783,799,649,629,650,0.408553361159,-0.00538875945582,0.0598630120303,0.999999948415,0.00021744139505,-0.00023431061609,3.14248329047e-05,1793192668102617856
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.52417257,742,711,671,660.47582743,632.52417257,876,783,799,649,629,650.52417257,0.407935590017,-0.00539147989197,0.0598550478205,0.999999948114,0.000207162917272,-0.000244717424527,3.11315644343e-05,1793192668119284736
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.101099496,633,876,783,799,649,629,651,0.407328986796,-0.0053934580352,0.0598427955069,0.999999945737,0.000198374265973,-0.000261253467787,3.0347289148e-05,1793192668135951360
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.672122402,633,876,783,799,649,629,651,0.40677996384,-0.00539052390876,0.0598274434885,0.999999939044,0.000205240648703,-0.000281065020242,2.81287176339e-05,1793192668152617984
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,711.245179321,671,661,633,876,783,799,649,628.754820679,650.754820679,0.406257693721,-0.00538807524841,0.0598209707453,0.999999935498,0.000212536585048,-0.000288311792476,2.6617109925e-05,1793192668169284608
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711.820979027,671,661,633,876,783,799,649,628.179020973,650.179020973,0.40577149942,-0.00538628123152,0.0598264715636,0.999999936557,0.000220411767075,-0.000278615158535,2.60588317621e-05,1793192668185951488
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711.588536305,671.411463695,661,633,876,783.411463695,799,649.411463695,628,650,0.405309237228,-0.00538134329812,0.0598252264953,0.999999936157,0.000223393779708,-0.000277706291178,2.56832218981e-05,1793192668202617856
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.991733221,742.008266779,711,671.991733221,660.991733221,633,876,783.991733221,799,649.991733221,628,650.008266779,0.404857814728,-0.00537501430814,0.0598206170532,0.999999934953,0.000224195454151,-0.000281402009416,2.53677158064e-05,1793192668219284480
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.416022582,742.583977418,711,671.416022582,660.416022582,633,876,783.416022582,799,649.416022582,628,650.583977418,0.404409268334,-0.00537056848322,0.0597939926179,0.999999919864,0.000226877274288,-0.000329005540459,2.35205736682e-05,1793192668235951104
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.160229238,742.839770762,711,671,660,633,875.839770762,783,799,649,628.160229238,650.839770762,0.403985860882,-0.00536536920253,0.0597720951704,0.999999905624,0.000231470577121,-0.000367000782724,2.20073501381e-05,1793192668252617728
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.737891076,742.262108924,711,671,660,633,875.262108924,783,799,649,628.737891076,650.262108924,0.403627945835,-0.00535820700193,0.0597625125654,0.999999898534,0.000241043716808,-0.000379964319743,2.13640581462e-05,1793192668269284352
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.321124431,633,875.321124431,783,798.678875569,649,629,650,0.403319915969,-0.00535512125526,0.0597690215254,0.999999902989,0.000246440127714,-0.000364397439608,2.24438848738e-05,1793192668285950976
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.908985642,633,875.908985642,783,798.091014358,649,629,650,0.403053322437,-0.00535542154908,0.0597888966825,0.99999991599,0.000248367206042,-0.000325132231893,2.49549921217e-05,1793192668302617856
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.51267979,742,711,671,660.51267979,633,876,783,798.48732021,649,628.51267979,650,0.40281306623,-0.00536166473488,0.0598132134161,0.999999929705,0.000242067921366,-0.000284982635279,2.78996227058e-05,1793192668319284480
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,741.936020858,711,671,660,633,876,783,799,649,628.063979142,650,0.402577892983,-0.00536977470612,0.0598358869329,0.999999941318,0.000233020355144,-0.000249225938965,3.08644759722e-05,1793192668335950848
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763,741.358804451,711,671,660,633,876,783,799,649,628.641195549,650,0.402344792486,-0.00538412690035,0.0598388517938,0.99999994529,0.000214014795333,-0.000250008458209,3.33544959538e-05,1793192668352617728
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763,741.217291001,711,671,660.217291001,633,876,783,799,649,628.782708999,650,0.402124744904,-0.00539142570804,0.0598370531358,0.999999944272,0.000208397174573,-0.000258477881477,3.48629972005e-05,1793192668369284352
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,741.791544906,711,671,660.791544906,633,876,783,799,649,628.208455094,650,0.401926140508,-0.00538713730019,0.0598274290292,0.999999935053,0.000224773092459,-0.000279575253277,3.47590716499e-05,1793192668385950976
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,661,633,876,783,799,649,628.37693218,650.37693218,0.401762730018,-0.00538240845816,0.0598244941681,0.999999922716,0.000267045595459,-0.000286505290729,3.41859090968e-05,1793192668402617344
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,661,633,876,783,799,649,628.968664002,650.968664002,0.401619375209,-0.00537742862865,0.0598253712585,0.999999906216,0.000324075600776,-0.000285361892165,3.33453457237e-05,1793192668419284224
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.451976803,633,876,783,799,649,629,651,0.401504027768,-0.00538552658203,0.0598292248022,0.999999927745,0.000255152228562,-0.000281066667335,2.02330891362e-05,1793192668435950848
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,876,783,799,649,628.873993444,650.873993444,0.401394768287,-0.00539174672947,0.0598322631211,0.999999942216,0.000196089131544,-0.000277534281765,9.60540097533e-06,1793192668452617728
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,876,783,799,649,628.298450101,650.298450101,0.401301640791,-0.005388658797,0.0598317993003,0.999999942015,0.000197329623783,-0.000277352137204,1.02896507046e-05,1793192668469284608
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,876,783,799,649,628,650,0.401221371471,-0.00538537838517,0.0598308552897,0.999999940816,0.00020070574465,-0.00027922175947,1.09957947775e-05,1793192668485951232
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660,633,876,783,799,649,628,650,0.401154951372,-0.00538189065893,0.0598293940788,0.999999938505,0.000206382096582,-0.000283301287477,1.17255206481e-05,1793192668502617856
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.452294306,742,711,671,660,633,876,783.452294306,799,649,628,650,0.401102962842,-0.00538213378288,0.0598259955348,0.999999937559,0.000205613988045,-0.000287148758392,1.22690108772e-05,1793192668519284480
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.031623501,633,876,783.968376499,799,649,628,650.031623501,0.401055969995,-0.0053832310502,0.059822274936,0.999999936976,0.000203346101682,-0.000290749944715,1.27471874468e-05,1793192668535950848
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.604796461,633,876,783.395203539,799,649,628,650.604796461,0.401024917846,-0.00538095989076,0.0598223838017,0.999999936184,0.000206479163398,-0.000291252846325,1.30051713082e-05,1793192668552617472
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.821545603,633,876,783,799,649,628,650.821545603,0.400998200943,-0.00538004101199,0.0598228540707,0.999999935748,0.000208329223591,-0.000291416192712,1.34198782342e-05,1793192668569284352
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.246810791,633,876,783,799,649,628,650.246810791,0.400981111003,-0.0053821250427,0.0598241268812,0.999999936117,0.000207330217251,-0.000290825513987,1.41826083873e-05,1793192668585950976
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,633,876,783,799,649,628.338792435,650,0.400970589193,-0.00538299298372,0.0598251724884,0.99999993688,0.000206647195608,-0.000288659974193,1.45796158458e-05,1793192668602617600
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,633,876,783,799,649,628.932575794,650,0.400965010862,-0.00538294563936,0.059826047092,0.999999937932,0.000206201998618,-0.000285309120736,1.4701363496e-05,1793192668619284224
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,633,876,783,798.48850903,649,629,650,0.400961918558,-0.00538330287677,0.0598269876218,0.999999938489,0.000206710340049,-0.000282979279273,1.46634570475e-05,1793192668635951104
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,633,876.088275075,783,798.17655015,649,628.911724925,650.088275075,0.400958825174,-0.00538358306854,0.0598277627301,0.999999938828,0.000207150754887,-0.000281456871923,1.46767344139e-05,1793192668652617728
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,633,876.663809037,783,799.327618074,649,628.336190963,650.663809037,0.400953968053,-0.00538315192263,0.0598275781346,0.999999938322,0.000206542022784,-0.000283669406212,1.50854198783e-05,1793192668669284352
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.755181115,742,711,671,660.244818885,633,876.755181115,783,800,649,628,650.755181115,0.400952047819,-0.00538299090996,0.0598282602684,0.999999938393,0.000206584259214,-0.00028337643019,1.52952108789e-05,1793192668685950976
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.166479648,742,711,671,660.833520352,633,876.166479648,783,800,649,628,650.166479648,0.400954252854,-0.00538320933747,0.0598301598455,0.999999939269,0.000207540872605,-0.00027956411216,1.52256265871e-05,1793192668702617856
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.412874274,742,711,671,661,633,876,783.412874274,799.587125726,649,628.412874274,650.412874274,0.400953255415,-0.00538366842357,0.0598304398894,0.999999939271,0.000207601954904,-0.000279511314452,1.52852483132e-05,1793192668719284480
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.988542499,742,711,671,661,633,876,783.988542499,799.011457501,649,628.988542499,650.988542499,0.400950995258,-0.00538422239998,0.0598300813607,0.999999938929,0.000207309934424,-0.00028094087407,1.53958152306e-05,1793192668735950848
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.430229715,633,875.430229715,784,799,649,629,650.430229715,0.400953641165,-0.00538186074893,0.059832087458,0.999999939685,0.000208806086003,-0.000277142586543,1.48840028307e-05,1793192668752617728
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.149806869,671,660.149806869,633,875.149806869,783.850193131,799,649,628.850193131,650,0.400955011126,-0.00538047984848,0.0598332715011,0.999999940203,0.000209487502493,-0.000274768752446,1.45286552708e-05,1793192668769284608
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711.726130428,671,660.726130428,633,875.726130428,783.273869572,799,649,628.273869572,650,0.400952464676,-0.00538205982548,0.0598319783501,0.999999940017,0.00020774589189,-0.000276752751763,1.46547643557e-05,1793192668785950976
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711.692260492,670.692260492,660.692260492,633,876,783,799.307739508,649,628.307739508,650.307739508,0.400951496534,-0.0053831098151,0.0598316519004,0.999999939896,0.000207444467348,-0.000277404153744,1.48727539769e-05,1793192668802617600
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711.105865349,670.105865349,660.105865349,633,876,783,799.894134651,649,628.894134651,650.894134651,0.400951957537,-0.00538367990562,0.0598322007906,0.999999939837,0.000208447119432,-0.000276848899849,1.51739406947e-05,1793192668819284224
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.474979143,660,633,876,783,800,649.474979143,629,651,0.400951488279,-0.00538254358834,0.0598320598691,0.999999939382,0.000209383550974,-0.0002777872516,1.50968455674e-05,1793192668835951104
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711.054051416,671,660.054051416,633,876,783.054051416,799.945948584,650,628.945948584,650.945948584,0.400950954549,-0.00538137646052,0.0598318176579,0.999999938977,0.000209956086909,-0.000278819466145,1.49661570474e-05,1793192668852617984
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711.627841634,671,660.627841634,633,876,783.627841634,799.372158366,650,628.372158366,650.372158366,0.40095177155,-0.00538352795302,0.0598320627911,0.999999939898,0.000207169818118,-0.000277590151558,1.51214927344e-05,1793192668869284608
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.797903055,671,661,633,876,784,799,649.797903055,628,650.202096945,0.40095179877,-0.00538478855255,0.0598323124155,0.999999940472,0.000205177251396,-0.000276998677025,1.51821132326e-05,1793192668885951232
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.222789342,671,661,633,876,784,799,649.222789342,628,650.777210658,0.400950368268,-0.00538440480242,0.0598325703297,0.999999940419,0.00020464964603,-0.000277584484274,1.50679148808e-05,1793192668902618112
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,876,783.634860131,798.634860131,649,628,650.634860131,0.400950356485,-0.0053848232902,0.0598325641223,0.99999994067,0.000203566438373,-0.000277477149616,1.50705446683e-05,1793192668919284480
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,876,783.038827172,798.038827172,649,628,650.038827172,0.400951241818,-0.00538574906633,0.0598323908999,0.999999941111,0.000202131900355,-0.000276931512548,1.51470497405e-05,1793192668935950848
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,876,783.535829032,798.535829032,649,628,650.535829032,0.400951317563,-0.0053842863091,0.0598326192,0.99999994019,0.000206986067489,-0.000276674738168,1.51166621231e-05,1793192668952617728
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711.109536562,671,660.890463438,633,876,783.890463438,799,649,628,651,0.40095129057,-0.00538291807545,0.0598329025053,0.999999939426,0.000211071969616,-0.000276348325616,1.5076470399e-05,1793192668969284608
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.685547427,671,660.314452573,633,876,783.314452573,799,649,628,651,0.400951066292,-0.00538266117605,0.0598333009056,0.999999939844,0.000210019958879,-0.000275639631223,1.502624701e-05,1793192668985951232
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742.267510705,711.732489295,671,660.267510705,633,876,783,799,649,628,650.732489295,0.400951249884,-0.00538240757556,0.0598338224072,0.999999940223,0.000208929938853,-0.000275097488389,1.49794681271e-05,1793192669002618112
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742.856630217,711.143369783,671,660.856630217,633,876,783,799,649,628,650.143369783,0.40095192383,-0.00538215794106,0.0598344919044,0.999999940554,0.000207794222863,-0.00027475557838,1.49368303185e-05,1793192669019284480
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742.560717814,711,671,661,633,875.560717814,783,799,649,628.439282186,650,0.400951895821,-0.00538365050151,0.0598338525896,0.999999940436,0.000207561086926,-0.000275348719058,1.51783494047e-05,1793192669035951360
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.980465264,661,633,875.019534736,783,799,649,629,650,0.400951680067,-0.0053855604623,0.0598328733183,0.999999940188,0.000207652722424,-0.000276159160882,1.54958049654e-05,1793192669052617728
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.409227037,661,633,875.590772963,783,799,649,629,650,0.400952538344,-0.0053834330747,0.0598341818408,0.999999940394,0.000208717807601,-0.00027461290392,1.53766650057e-05,1793192669069284352
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763.836853561,742,711,670.163146439,660.836853561,633,876,783,799,649,628.836853561,650.163146439,0.400952576845,-0.00538214364519,0.0598348661662,0.999999940432,0.00020928946023,-0.000274046395929,1.52545938452e-05,1793192669085950976
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.261612572,742,711,670.738387428,660.261612572,633,876,783,799,649,628.261612572,650.738387428,0.400950544659,-0.0053829708294,0.0598339738211,0.99999994005,0.000208614742566,-0.00027595465373,1.51251187187e-05,1793192669102617600
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.325822867,742,711,671,660,633,875.674177133,783,799,649,628,650.674177133,0.400949863035,-0.00538303761228,0.0598333298996,0.999999939797,0.000208657300153,-0.000276839172882,1.51009341394e-05,1793192669119284224
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763.923430252,742,711,671,660,633,875.076569748,783,799,649,628,650.076569748,0.400950307979,-0.00538247010782,0.0598328932002,0.999999939654,0.000209298171549,-0.000276869742311,1.51645774745e-05,1793192669135951104
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..001a0e7b1eae1a4188090e0881d7366446d75587
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_03/simulation_data.csv
@@ -0,0 +1,400 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+1,0.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+2,0.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+3,0.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+4,0.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+5,0.083333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+6,0.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+7,0.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+8,0.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+9,0.150000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+10,0.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+11,0.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+12,0.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+13,0.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+14,0.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+15,0.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+16,0.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+17,0.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+18,0.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+19,0.316666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+20,0.333333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+21,0.350000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+22,0.366666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+23,0.383333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+24,0.400000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+25,0.416666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+26,0.433333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+27,0.450000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+28,0.466666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+29,0.483333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+30,0.500000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+31,0.516666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+32,0.533333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+33,0.550000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+34,0.566666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+35,0.583333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+36,0.600000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+37,0.616666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+38,0.633333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+39,0.650000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+40,0.666666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+41,0.683333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+42,0.700000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+43,0.716666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+44,0.733333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+45,0.750000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+46,0.766666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+47,0.783333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+48,0.800000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+49,0.816666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+50,0.833333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+51,0.850000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+52,0.866666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+53,0.883333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+54,0.900000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+55,0.916666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+56,0.933333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+57,0.950000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+58,0.966666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+59,0.983333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+60,1.000000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+61,1.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+62,1.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+63,1.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+64,1.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+65,1.083333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+66,1.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+67,1.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+68,1.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+69,1.150000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+70,1.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+71,1.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+72,1.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+73,1.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+74,1.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+75,1.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+76,1.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+77,1.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+78,1.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+79,1.316666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+80,1.333333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+81,1.350000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+82,1.366666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+83,1.383333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+84,1.400000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+85,1.416666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+86,1.433333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+87,1.450000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+88,1.466666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+89,1.483333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+90,1.500000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+91,1.516666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+92,1.533333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+93,1.550000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+94,1.566666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+95,1.583333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+96,1.600000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+97,1.616666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+98,1.633333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+99,1.650000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+100,1.666666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+101,1.683333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+102,1.700000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+103,1.716666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+104,1.733333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+105,1.750000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+106,1.766666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+107,1.783333333,pose1_to_pose2_press,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+108,1.800000000,pose1_to_pose2_press,0.575709270672,5.4591855275e-05,1.05002919602,0.546279999634,0.00872731701385,1.04969848715
+109,1.816666667,pose1_to_pose2_press,0.575709304635,5.45462368597e-05,1.0500292267,0.546280034712,0.00872727531494,1.04969852139
+110,1.833333333,pose1_to_pose2_press,0.575709492518,5.45439903113e-05,1.05002923445,0.546280223226,0.00872727512797,1.04969852707
+111,1.850000000,pose1_to_pose2_press,0.575709569536,5.45580912748e-05,1.0500292279,0.54628030017,0.00872728889465,1.04969851836
+112,1.866666667,pose1_to_pose2_press,0.575709575648,5.45592101878e-05,1.05002922738,0.546280306275,0.00872728998704,1.04969851767
+113,1.883333333,pose1_to_pose2_press,0.575710155829,5.45853642881e-05,1.05002918796,0.546280886493,0.00872731600005,1.04969847137
+114,1.900000000,pose1_to_pose2_press,0.575712162711,5.44688696076e-05,1.05002912845,0.546282894374,0.00872720334084,1.04969842345
+115,1.916666667,pose1_to_pose2_press,0.575717585315,5.45206733417e-05,1.05002904857,0.546288315883,0.00872725143278,1.04969834358
+116,1.933333333,pose1_to_pose2_press,0.57573052117,5.45515748352e-05,1.05002916341,0.546301251604,0.00872728160013,1.04969845109
+117,1.950000000,pose1_to_pose2_press,0.575753217862,5.45856859827e-05,1.05002929553,0.546323948574,0.00872731643951,1.04969857748
+118,1.966666667,pose1_to_pose2_press,0.575787948023,5.4531754092e-05,1.05002913352,0.546358679256,0.00872726481388,1.04969842955
+119,1.983333333,pose1_to_pose2_press,0.575834404753,5.46423034297e-05,1.05002918694,0.546405133551,0.00872736658505,1.04969846944
+120,2.000000000,pose1_to_pose2_press,0.575892196865,5.44934099418e-05,1.05002921099,0.546462928316,0.00872722655373,1.04969848972
+121,2.016666667,pose1_to_pose2_press,0.57595936712,5.43872167978e-05,1.05002945414,0.546530099313,0.00872712275863,1.04969872969
+122,2.033333333,pose1_to_pose2_press,0.576035868802,5.45805718896e-05,1.05002930025,0.546606598092,0.00872730644181,1.04969858035
+123,2.050000000,pose1_to_pose2_press,0.576122527456,5.4773305706e-05,1.05002906284,0.546693255628,0.00872749575561,1.04969835266
+124,2.066666667,pose1_to_pose2_press,0.576220156853,5.46057800771e-05,1.05002918792,0.546790887047,0.00872733488237,1.04969847216
+125,2.083333333,pose1_to_pose2_press,0.576330641309,5.4597050489e-05,1.05002920791,0.546901370657,0.00872732313296,1.04969848838
+126,2.100000000,pose1_to_pose2_press,0.576454882673,5.4748216009e-05,1.05002920651,0.547025609634,0.00872746619279,1.04969848675
+127,2.116666667,pose1_to_pose2_press,0.576597094857,5.44827716742e-05,1.0500293159,0.547167826306,0.00872721607428,1.04969859861
+128,2.133333333,pose1_to_pose2_press,0.576757443044,5.46430836854e-05,1.05002903413,0.547328172322,0.00872736958701,1.04969833168
+129,2.150000000,pose1_to_pose2_press,0.576937320114,5.44446287413e-05,1.05002916066,0.547508051606,0.00872717820418,1.04969844657
+130,2.166666667,pose1_to_pose2_press,0.577139025824,5.45545436198e-05,1.05002903217,0.547709756536,0.00872728584407,1.0496983278
+131,2.183333333,pose1_to_pose2_press,0.577361160499,5.45851570801e-05,1.05002926986,0.547931889303,0.00872730957612,1.04969855473
+132,2.200000000,pose1_to_pose2_press,0.577603000763,5.45745827553e-05,1.05002916264,0.548173730609,0.00872730291667,1.04969845739
+133,2.216666667,pose1_to_pose2_press,0.577863332965,5.45903246521e-05,1.05002917619,0.548434062835,0.00872731838632,1.04969846164
+134,2.233333333,pose1_to_pose2_press,0.578143235792,5.45428224212e-05,1.05002917258,0.548713965965,0.00872727198726,1.04969845995
+135,2.250000000,pose1_to_pose2_press,0.578442790594,5.45407561973e-05,1.0500290906,0.549013520151,0.0087272678822,1.04969837925
+136,2.266666667,pose1_to_pose2_press,0.578762624234,5.4460913307e-05,1.0500292227,0.549333355007,0.00872719202355,1.0496985076
+137,2.283333333,pose1_to_pose2_press,0.579106448951,5.45215189139e-05,1.05002916933,0.549677180526,0.00872725535962,1.04969845437
+138,2.300000000,pose1_to_pose2_press,0.579475112923,5.45082030331e-05,1.05002897394,0.550045844308,0.0087272416271,1.0496982649
+139,2.316666667,pose1_to_pose2_press,0.579877631538,5.44772959782e-05,1.05002913199,0.55044836191,0.00872720706921,1.04969841727
+140,2.333333333,pose1_to_pose2_press,0.580314216166,5.45178571728e-05,1.0500291747,0.550884946446,0.00872724728791,1.04969845914
+141,2.350000000,pose1_to_pose2_press,0.580787406662,5.44074445124e-05,1.05002910908,0.551358138822,0.00872714344085,1.04969839836
+142,2.366666667,pose1_to_pose2_press,0.58128765475,5.44359768466e-05,1.05002926587,0.551858387008,0.00872717207739,1.04969854909
+143,2.383333333,pose1_to_pose2_press,0.581810774251,5.45307718856e-05,1.050029189,0.552381505802,0.00872726488759,1.0496984831
+144,2.400000000,pose1_to_pose2_press,0.582345186286,5.45607115156e-05,1.05002898199,0.552915917181,0.00872729268501,1.04969827823
+145,2.416666667,pose1_to_pose2_press,0.582890865609,5.4495472042e-05,1.05002900083,0.553461596369,0.00872722669323,1.04969828934
+146,2.433333333,pose1_to_pose2_press,0.583452484453,5.44584743256e-05,1.05002902351,0.554023215849,0.00872719207391,1.04969831766
+147,2.450000000,pose1_to_pose2_press,0.584038074786,5.44827944275e-05,1.05002899207,0.554608806445,0.00872721754178,1.04969829294
+148,2.466666667,pose1_to_pose2_press,0.58465166711,5.45773616266e-05,1.05002913123,0.555222396625,0.00872730469234,1.04969842832
+149,2.483333333,pose1_to_pose2_press,0.585293319432,5.45644731779e-05,1.05002929835,0.555864050249,0.00872729579725,1.04969858426
+150,2.500000000,pose1_to_pose2_press,0.585955508055,5.44834026389e-05,1.05002910188,0.556526241267,0.00872722300018,1.04969839164
+151,2.516666667,pose1_to_pose2_press,0.586621606952,5.44999546098e-05,1.05002884149,0.557192338412,0.00872723382425,1.04969813688
+152,2.533333333,pose1_to_pose2_press,0.587297447362,5.44985601141e-05,1.05002896732,0.557868177641,0.00872722814269,1.04969825547
+153,2.550000000,pose1_to_pose2_press,0.587993128831,5.4503726203e-05,1.05002915762,0.558563859264,0.00872723392867,1.0496984483
+154,2.566666667,pose1_to_pose2_press,0.588716437502,5.45505101331e-05,1.05002914658,0.559287167797,0.00872728036904,1.04969844049
+155,2.583333333,pose1_to_pose2_press,0.589471866895,5.45945806779e-05,1.05002927457,0.560042596188,0.00872732071924,1.0496985601
+156,2.600000000,pose1_to_pose2_press,0.590256508104,5.45870711902e-05,1.05002938477,0.560827237703,0.0087273141072,1.04969866658
+157,2.616666667,pose1_to_pose2_press,0.591057255095,5.45617897775e-05,1.05002918319,0.561627984511,0.00872728845389,1.04969847159
+158,2.633333333,pose1_to_pose2_press,0.591860349487,5.45154591738e-05,1.05002898327,0.562431078628,0.00872724127847,1.04969827399
+159,2.650000000,pose1_to_pose2_press,0.592656960437,5.44756133582e-05,1.05002900365,0.563227691464,0.00872720755201,1.049698287
+160,2.666666667,pose1_to_pose2_press,0.593444079331,5.46295876581e-05,1.0500289722,0.56401480916,0.0087273579201,1.04969826766
+161,2.683333333,pose1_to_pose2_press,0.594226331008,5.46793383076e-05,1.05002905501,0.564797060423,0.00872740639183,1.04969835368
+162,2.700000000,pose1_to_pose2_press,0.595006168696,5.46727312232e-05,1.0500293222,0.565576897573,0.00872739733741,1.04969860466
+163,2.716666667,pose1_to_pose2_press,0.595809573684,5.45728614344e-05,1.05002906594,0.566380302701,0.00872729828468,1.04969835742
+164,2.733333333,pose1_to_pose2_press,0.596634881202,5.45374363746e-05,1.05002917864,0.56720561216,0.00872726927916,1.04969846576
+165,2.750000000,pose1_to_pose2_press,0.59748005005,5.47267945322e-05,1.05002924685,0.568050779187,0.00872745211605,1.04969852507
+166,2.766666667,pose1_to_pose2_press,0.598340656207,5.46714711401e-05,1.05002920283,0.568911385107,0.00872739617938,1.04969848608
+167,2.783333333,pose1_to_pose2_press,0.599210406616,5.44571797965e-05,1.05002881931,0.569781136694,0.00872718629632,1.04969811336
+168,2.800000000,pose1_to_pose2_press,0.600061185605,5.45727766071e-05,1.05002871699,0.570631914874,0.00872729907159,1.04969800918
+169,2.816666667,pose1_to_pose2_press,0.600892554772,5.46653066821e-05,1.05002892808,0.571463282823,0.00872738744082,1.04969821954
+170,2.833333333,pose1_to_pose2_press,0.601701364991,5.46703368717e-05,1.05002919956,0.572272095182,0.00872739971521,1.04969849068
+171,2.850000000,pose1_to_pose2_press,0.602494969878,5.4522565076e-05,1.05002926553,0.573065701287,0.00872725548778,1.04969854135
+172,2.866666667,pose1_to_pose2_press,0.603275530904,5.45646812718e-05,1.0500291624,0.573846259529,0.00872728825794,1.04969844088
+173,2.883333333,pose1_to_pose2_press,0.604056797598,5.46540496518e-05,1.05002930178,0.574627526249,0.00872737796929,1.04969858701
+174,2.900000000,pose1_to_pose2_press,0.604842870795,5.46309912176e-05,1.05002923936,0.575413601351,0.00872736164206,1.04969853169
+175,2.916666667,pose1_to_pose2_press,0.605626027734,5.45149332701e-05,1.05002916493,0.576196759105,0.00872724817632,1.04969845273
+176,2.933333333,pose1_to_pose2_press,0.6064025961,5.46032693682e-05,1.05002913852,0.576973326396,0.00872733282584,1.04969842546
+177,2.950000000,pose1_to_pose2_press,0.607164143336,5.46431925027e-05,1.05002912324,0.577734873653,0.00872737296064,1.04969841394
+178,2.966666667,pose1_to_pose2_press,0.607896135674,5.45974954764e-05,1.05002923473,0.578466865385,0.00872732524038,1.04969852638
+179,2.983333333,pose1_to_pose2_press,0.608594742098,5.45426172376e-05,1.05002914116,0.579165472484,0.00872727280694,1.04969843699
+180,3.000000000,pose1_to_pose2_press,0.609270623996,5.46034224068e-05,1.0500290844,0.579841353081,0.00872732936115,1.04969838454
+181,3.016666667,pose1_to_pose2_press,0.609927544125,5.45644577192e-05,1.05002904718,0.580498273179,0.00872728990324,1.04969833731
+182,3.033333333,pose1_to_pose2_press,0.610566915388,5.4525400673e-05,1.05002904666,0.581137645969,0.00872725597653,1.04969833545
+183,3.050000000,pose1_to_pose2_press,0.611189648314,5.44965621525e-05,1.05002904881,0.58176038008,0.00872723115334,1.04969833752
+184,3.066666667,pose1_to_pose2_press,0.611795127101,5.45501094311e-05,1.05002908306,0.582365858309,0.00872728304373,1.049698378
+185,3.083333333,pose1_to_pose2_press,0.612382147256,5.4621063913e-05,1.05002924704,0.582952877654,0.00872735113454,1.0496985386
+186,3.100000000,pose1_to_pose2_press,0.612951166254,5.45898740862e-05,1.05002916824,0.583521896958,0.0087273211888,1.04969846314
+187,3.116666667,pose1_to_pose2_press,0.613492239585,5.46489347531e-05,1.05002917532,0.584062969235,0.00872737665332,1.04969846545
+188,3.133333333,pose1_to_pose2_press,0.614004110324,5.46238867482e-05,1.05002897997,0.584574839861,0.00872735161328,1.04969827345
+189,3.150000000,pose1_to_pose2_press,0.614480044884,5.46374665419e-05,1.05002915049,0.585050775402,0.00872736891009,1.04969844443
+190,3.166666667,pose1_to_pose2_press,0.614920003892,5.45778465609e-05,1.05002917638,0.585490733917,0.00872730795194,1.04969846905
+191,3.183333333,pose1_to_pose2_press,0.615322809433,5.45947985405e-05,1.05002925183,0.585893539159,0.00872732391284,1.04969854212
+192,3.200000000,pose1_to_pose2_press,0.615707354664,5.43560211606e-05,1.05002903335,0.58627808574,0.0087270902026,1.04969832734
+193,3.216666667,pose1_to_pose2_press,0.616076229673,5.45364964538e-05,1.05002913938,0.586646961116,0.00872727213455,1.04969843316
+194,3.233333333,pose1_to_pose2_press,0.616432025439,5.45451600622e-05,1.05002918294,0.587002755761,0.00872727689828,1.04969846789
+195,3.250000000,pose1_to_pose2_press,0.6167753514,5.45944156618e-05,1.05002905867,0.587346080206,0.00872732135193,1.04969834652
+196,3.266666667,pose1_to_pose2_press,0.617103955535,5.46656601862e-05,1.05002905766,0.587674685904,0.00872739820842,1.0496983444
+197,3.283333333,pose1_to_pose2_press,0.617409464271,5.44977340734e-05,1.05002924724,0.587980194429,0.00872723002564,1.04969853969
+198,3.300000000,pose1_to_pose2_press,0.617688509764,5.45771668467e-05,1.05002937635,0.588259240515,0.00872731174041,1.04969866989
+199,3.316666667,pose1_to_pose2_press,0.617939326365,5.46353842555e-05,1.0500293047,0.588510054568,0.0087273613157,1.04969859107
+200,3.333333333,pose1_to_pose2_press,0.618163082138,5.44853184971e-05,1.05002902902,0.588733811531,0.0087272159811,1.04969832791
+201,3.350000000,pose1_to_pose2_press,0.618360444055,5.46009772851e-05,1.05002921619,0.588931173176,0.00872733069209,1.049698511
+202,3.366666667,pose1_to_pose2_press,0.618537668406,5.4522619625e-05,1.05002887005,0.589108399417,0.00872725917191,1.04969817222
+203,3.383333333,pose1_to_pose2_press,0.618697192588,5.44101530576e-05,1.05002893617,0.589267923757,0.00872714709345,1.04969823058
+204,3.400000000,pose1_to_pose2_press,0.618842274487,5.44541516137e-05,1.05002920134,0.589413004535,0.00872718708822,1.04969848732
+205,3.416666667,pose1_to_pose2_press,0.618973223167,5.45675885787e-05,1.05002932293,0.589543951993,0.00872729630973,1.04969860464
+206,3.433333333,pose1_to_pose2_press,0.619090673657,5.46006934974e-05,1.05002924863,0.589661402649,0.00872733022037,1.04969853354
+207,3.450000000,pose1_to_pose2_press,0.619194611884,5.45681199442e-05,1.05002915701,0.589765342019,0.00872730100372,1.04969844831
+208,3.466666667,pose1_to_pose2_press,0.619283265769,5.45169274737e-05,1.0500291474,0.589853996004,0.00872725034189,1.04969844016
+209,3.483333333,pose1_to_pose2_press,0.619359436638,5.45514684352e-05,1.0500291766,0.589930165021,0.00872728004271,1.04969847224
+210,3.500000000,pose1_to_pose2_press,0.619423306556,5.46419252212e-05,1.05002911786,0.589994033709,0.00872736583993,1.04969841636
+211,3.516666667,pose1_to_pose2_press,0.619476438666,5.4618513937e-05,1.05002896905,0.590047166953,0.00872734591808,1.04969826241
+212,3.533333333,pose1_to_pose2_press,0.619520180358,5.47414753274e-05,1.05002913995,0.590090906788,0.00872746321916,1.04969842723
+213,3.550000000,pose1_to_pose2_press,0.619555300815,5.46481248169e-05,1.05002910717,0.590126027748,0.00872737133519,1.04969839057
+214,3.566666667,pose1_to_pose2_press,0.619582971215,5.46300265419e-05,1.05002930825,0.590153698053,0.00872735266782,1.04969858705
+215,3.583333333,pose1_to_pose2_press,0.61960329882,5.45705766167e-05,1.05002904881,0.590174027567,0.00872730028031,1.0496983387
+216,3.600000000,pose1_to_pose2_press,0.619617985995,5.45167967989e-05,1.05002928613,0.59018871529,0.00872724779217,1.04969856534
+217,3.616666667,pose1_to_pose2_press,0.619627581378,5.45145017684e-05,1.05002934166,0.590198310606,0.00872724498088,1.04969861708
+218,3.633333333,pose1_to_pose2_press,0.619634495037,5.45197375403e-05,1.05002928553,0.590205224448,0.00872725083861,1.04969856271
+219,3.650000000,pose1_to_pose2_press,0.619639451576,5.45165331618e-05,1.05002910187,0.590210181918,0.00872725119747,1.04969838804
+220,3.666666667,pose1_to_pose2_press,0.619643049997,5.45256543104e-05,1.0500290839,0.59021378038,0.00872726067989,1.04969837658
+221,3.683333333,pose1_to_pose2_press,0.619645532021,5.45369182677e-05,1.05002912162,0.590216262157,0.00872727122626,1.04969841878
+222,3.700000000,pose1_to_pose2_press,0.619646861596,5.45691904004e-05,1.05002913914,0.590217591432,0.00872730242296,1.04969843493
+223,3.716666667,pose1_to_pose2_press,0.61964741988,5.45875844154e-05,1.050029146,0.59021814956,0.00872732023786,1.04969844051
+224,3.733333333,pose1_to_pose2_press,0.619647497875,5.45901541333e-05,1.05002914696,0.590218227532,0.00872732272667,1.04969844129
+225,3.750000000,pose1_to_pose2_press,0.619647578412,5.45928076311e-05,1.05002914795,0.590218308047,0.00872732529662,1.0496984421
+226,3.766666667,pose1_to_pose2_press,0.619647673402,5.45959372992e-05,1.05002914912,0.59021840301,0.00872732832776,1.04969844305
+227,3.783333333,pose1_to_pose2_press,0.61964777709,5.45993535377e-05,1.05002915039,0.590218506669,0.00872733163644,1.04969844409
+228,3.800000000,pose1_to_pose2_press,0.619647816125,5.46006396395e-05,1.05002915087,0.590218545693,0.00872733288205,1.04969844448
+229,3.816666667,pose1_to_pose2_press,0.619647846072,5.46016263297e-05,1.05002915124,0.590218575632,0.00872733383767,1.04969844478
+230,3.833333333,pose1_to_pose2_press,0.619647893564,5.46031910727e-05,1.05002915182,0.590218623111,0.00872733535315,1.04969844525
+231,3.850000000,pose1_to_pose2_press,0.619647922939,5.46041588925e-05,1.05002915218,0.590218652477,0.0087273362905,1.04969844555
+232,3.866666667,pose1_to_pose2_press,0.619648320162,5.46172463843e-05,1.05002915706,0.590219049589,0.00872734896594,1.04969844952
+233,3.883333333,pose1_to_pose2_press,0.619648758936,5.46204853172e-05,1.05002915087,0.590219488151,0.00872735145816,1.04969844242
+234,3.900000000,pose1_to_pose2_press,0.619648943609,5.46072152109e-05,1.05002913314,0.59021967262,0.00872733749342,1.04969842444
+235,3.916666667,pose1_to_pose2_press,0.619649078867,5.45974958785e-05,1.05002912015,0.590219807729,0.00872732726532,1.04969841126
+236,3.933333333,pose1_to_pose2_press,0.619649157693,5.45918316471e-05,1.05002911258,0.590219886467,0.00872732130459,1.04969840359
+237,3.950000000,pose1_to_pose2_press,0.619649224498,5.45870312268e-05,1.05002910617,0.590219953198,0.00872731625289,1.04969839708
+238,3.966666667,pose1_to_pose2_press,0.619649447674,5.45709943715e-05,1.05002908474,0.590220176127,0.00872729937657,1.04969837535
+239,3.983333333,pose1_to_pose2_press,0.61964991621,5.45373265696e-05,1.05002903976,0.590220644145,0.0087272639464,1.04969832972
+240,4.000000000,pose1_to_pose2_press,0.619650379273,5.45244828685e-05,1.05002893366,0.590221107149,0.00872725109584,1.04969822845
+241,4.016666667,pose1_to_pose2_press,0.619650674949,5.44233724932e-05,1.05002897596,0.590221404116,0.00872715428299,1.04969826825
+242,4.033333333,pose1_to_pose2_press,0.619650727032,5.43643495356e-05,1.05002903345,0.590221456991,0.00872709783757,1.04969832268
+243,4.050000000,pose1_to_pose2_press,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467012,0.00872708713978,1.049698333
+244,4.066666667,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467015,0.00872708713616,1.049698333
+245,4.083333333,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467015,0.00872708713631,1.049698333
+246,4.100000000,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467016,0.00872708713572,1.049698333
+247,4.116666667,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467015,0.00872708713576,1.049698333
+248,4.133333333,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467015,0.00872708713582,1.049698333
+249,4.150000000,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467015,0.00872708713584,1.049698333
+250,4.166666667,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467016,0.00872708713575,1.049698333
+251,4.183333333,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467016,0.00872708713563,1.049698333
+252,4.200000000,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467016,0.00872708713553,1.049698333
+253,4.216666667,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467016,0.00872708713545,1.049698333
+254,4.233333333,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467016,0.00872708713536,1.049698333
+255,4.250000000,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467016,0.00872708713517,1.049698333
+256,4.266666667,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467016,0.00872708713562,1.049698333
+257,4.283333333,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467015,0.00872708713659,1.049698333
+258,4.300000000,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467015,0.00872708713671,1.049698333
+259,4.316666667,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467016,0.00872708713536,1.049698333
+260,4.333333333,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467015,0.00872708713678,1.049698333
+261,4.350000000,pose2_hold,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467015,0.00872708713681,1.049698333
+262,4.366666667,pose2_to_pose3_retreat,0.619650736904,5.43531608097e-05,1.05002904434,0.590221467016,0.00872708713627,1.049698333
+263,4.383333333,pose2_to_pose3_retreat,0.619650653178,5.44445500926e-05,1.05002889347,0.590221383107,0.0087271782824,1.04969819205
+264,4.400000000,pose2_to_pose3_retreat,0.61965048484,5.4431350419e-05,1.05002888416,0.590221214901,0.00872716549069,1.04969818196
+265,4.416666667,pose2_to_pose3_retreat,0.619650440534,5.44258386921e-05,1.05002888475,0.590221170636,0.00872716009562,1.04969818213
+266,4.433333333,pose2_to_pose3_retreat,0.619650399255,5.44207033778e-05,1.05002888531,0.590221129393,0.00872715506899,1.04969818229
+267,4.450000000,pose2_to_pose3_retreat,0.619650194317,5.440737014e-05,1.05002889431,0.59022092449,0.00872714178223,1.04969818978
+268,4.466666667,pose2_to_pose3_retreat,0.619648495051,5.46471711936e-05,1.0500291249,0.590219221759,0.00872736993426,1.04969842254
+269,4.483333333,pose2_to_pose3_retreat,0.619642902077,5.45073611515e-05,1.05002895115,0.59021363213,0.00872724139893,1.04969824839
+270,4.500000000,pose2_to_pose3_retreat,0.619629663366,5.44245667228e-05,1.05002894423,0.590200392457,0.00872715522454,1.04969823618
+271,4.516666667,pose2_to_pose3_retreat,0.619606367092,5.452822212e-05,1.05002902452,0.590177096065,0.00872725856342,1.04969831708
+272,4.533333333,pose2_to_pose3_retreat,0.619571638056,5.44846167207e-05,1.0500290488,0.590142367926,0.00872721791872,1.04969833684
+273,4.550000000,pose2_to_pose3_retreat,0.619525532985,5.45120931709e-05,1.05002914971,0.590096263536,0.00872724757592,1.04969843986
+274,4.566666667,pose2_to_pose3_retreat,0.619468683405,5.45700985496e-05,1.05002928545,0.590039412897,0.00872730190527,1.04969857502
+275,4.583333333,pose2_to_pose3_retreat,0.61940118248,5.45240270018e-05,1.05002921117,0.589971911938,0.00872725423695,1.04969849731
+276,4.600000000,pose2_to_pose3_retreat,0.619323699856,5.44615530284e-05,1.05002886611,0.589894430826,0.00872719710613,1.0496981621
+277,4.616666667,pose2_to_pose3_retreat,0.619236288234,5.44596175622e-05,1.05002906023,0.589807019106,0.00872719542578,1.04969834778
+278,4.633333333,pose2_to_pose3_retreat,0.619137342219,5.45405657187e-05,1.05002916647,0.589708072153,0.00872727347168,1.04969845581
+279,4.650000000,pose2_to_pose3_retreat,0.619026251135,5.46021138048e-05,1.05002907805,0.589596979856,0.00872733096121,1.04969837303
+280,4.666666667,pose2_to_pose3_retreat,0.618898373626,5.46149562566e-05,1.05002913118,0.589469102043,0.00872734264634,1.04969842592
+281,4.683333333,pose2_to_pose3_retreat,0.618752779338,5.45533523594e-05,1.05002912084,0.589323508776,0.00872728441256,1.04969841593
+282,4.700000000,pose2_to_pose3_retreat,0.618585741347,5.44174545018e-05,1.05002890484,0.589156471932,0.00872715218921,1.04969819846
+283,4.716666667,pose2_to_pose3_retreat,0.618397575935,5.44212448069e-05,1.05002901766,0.58896830623,0.00872715445141,1.04969830116
+284,4.733333333,pose2_to_pose3_retreat,0.618187344134,5.45962861969e-05,1.05002919408,0.588758072754,0.008727323651,1.04969847823
+285,4.750000000,pose2_to_pose3_retreat,0.617956652932,5.44590535776e-05,1.05002917088,0.588527382605,0.00872718985084,1.04969845859
+286,4.766666667,pose2_to_pose3_retreat,0.617705090793,5.45997908364e-05,1.05002917101,0.588275819203,0.00872732619374,1.04969846224
+287,4.783333333,pose2_to_pose3_retreat,0.617427861428,5.4547146716e-05,1.05002925572,0.587998590739,0.00872727645673,1.04969854828
+288,4.800000000,pose2_to_pose3_retreat,0.617122673501,5.46237946187e-05,1.05002913588,0.587693403109,0.00872735388719,1.04969842905
+289,4.816666667,pose2_to_pose3_retreat,0.61678451702,5.45620824149e-05,1.05002887348,0.587355245622,0.00872728896686,1.04969817736
+290,4.833333333,pose2_to_pose3_retreat,0.616416286225,5.46126629713e-05,1.05002917375,0.586987013869,0.0087273351836,1.04969845785
+291,4.850000000,pose2_to_pose3_retreat,0.61601921548,5.46361866091e-05,1.05002900932,0.586589945177,0.00872736586185,1.04969830674
+292,4.866666667,pose2_to_pose3_retreat,0.615599782451,5.45817628711e-05,1.05002903518,0.586170511429,0.00872730844219,1.04969832827
+293,4.883333333,pose2_to_pose3_retreat,0.615161342063,5.45378853006e-05,1.05002903128,0.585732071859,0.00872726689588,1.04969832051
+294,4.900000000,pose2_to_pose3_retreat,0.614705898781,5.44191188335e-05,1.05002878469,0.585276630064,0.00872715317792,1.04969807833
+295,4.916666667,pose2_to_pose3_retreat,0.614232448224,5.46113915344e-05,1.05002924437,0.584803178067,0.00872734005762,1.04969853393
+296,4.933333333,pose2_to_pose3_retreat,0.613738426082,5.45922381867e-05,1.05002908662,0.58430915585,0.00872732033128,1.04969837539
+297,4.950000000,pose2_to_pose3_retreat,0.613216158452,5.4446610888e-05,1.05002917534,0.583786889184,0.00872717739213,1.04969845573
+298,4.966666667,pose2_to_pose3_retreat,0.612662468814,5.44668292647e-05,1.05002919061,0.583233200463,0.00872720077055,1.04969847419
+299,4.983333333,pose2_to_pose3_retreat,0.612063368009,5.44161970181e-05,1.05002908933,0.582634100406,0.00872715273675,1.04969837468
+300,5.000000000,pose2_to_pose3_retreat,0.611425106366,5.45308581197e-05,1.05002912896,0.581995837129,0.00872726208614,1.04969842117
+301,5.016666667,pose2_to_pose3_retreat,0.610754243208,5.46036848926e-05,1.05002916634,0.581324972264,0.00872732905021,1.04969845629
+302,5.033333333,pose2_to_pose3_retreat,0.610060353768,5.46682052933e-05,1.05002897143,0.580631082351,0.00872739197682,1.04969826231
+303,5.050000000,pose2_to_pose3_retreat,0.609346860194,5.45315678605e-05,1.0500292246,0.579917591368,0.00872726405824,1.04969851296
+304,5.066666667,pose2_to_pose3_retreat,0.608622342806,5.45839458247e-05,1.05002930947,0.579193073457,0.00872731447053,1.04969859277
+305,5.083333333,pose2_to_pose3_retreat,0.607883834094,5.45246857913e-05,1.05002920327,0.578454564005,0.00872725278238,1.04969848887
+306,5.100000000,pose2_to_pose3_retreat,0.607126667893,5.45266374802e-05,1.05002904944,0.577697397505,0.00872725403904,1.04969834285
+307,5.116666667,pose2_to_pose3_retreat,0.606352440138,5.44441056712e-05,1.05002900813,0.576923171516,0.00872717759673,1.04969830405
+308,5.133333333,pose2_to_pose3_retreat,0.605561577597,5.46746688073e-05,1.05002912563,0.57613230698,0.00872740125789,1.04969841786
+309,5.150000000,pose2_to_pose3_retreat,0.60474985936,5.46082049582e-05,1.0500291601,0.575320589004,0.00872733566275,1.04969845198
+310,5.166666667,pose2_to_pose3_retreat,0.603912906134,5.4698058725e-05,1.05002917894,0.57448363479,0.0087274219905,1.04969846621
+311,5.183333333,pose2_to_pose3_retreat,0.603065860212,5.45540923274e-05,1.05002907063,0.573636590365,0.00872728323999,1.0496983592
+312,5.200000000,pose2_to_pose3_retreat,0.602209829609,5.44432421388e-05,1.05002914629,0.572780561367,0.00872717779603,1.04969843363
+313,5.216666667,pose2_to_pose3_retreat,0.601345474402,5.45971256012e-05,1.0500292666,0.571916205093,0.00872732800218,1.04969855494
+314,5.233333333,pose2_to_pose3_retreat,0.600483713736,5.44864286286e-05,1.050029288,0.571054446331,0.00872722372205,1.04969857521
+315,5.250000000,pose2_to_pose3_retreat,0.599626380596,5.46013663243e-05,1.05002924168,0.570197110164,0.00872732803129,1.04969851928
+316,5.266666667,pose2_to_pose3_retreat,0.598767297967,5.45489634667e-05,1.05002915187,0.569338028619,0.00872727985313,1.04969844375
+317,5.283333333,pose2_to_pose3_retreat,0.597905581697,5.44271653051e-05,1.05002897714,0.568476313858,0.00872716323164,1.04969826922
+318,5.300000000,pose2_to_pose3_retreat,0.597026311718,5.44479568269e-05,1.05002901888,0.567597043006,0.00872718083071,1.04969830464
+319,5.316666667,pose2_to_pose3_retreat,0.596138689101,5.43846223091e-05,1.0500290344,0.566709422096,0.0087271234967,1.04969832583
+320,5.333333333,pose2_to_pose3_retreat,0.595253990972,5.44186589008e-05,1.05002892967,0.565824723912,0.00872715755415,1.04969822558
+321,5.350000000,pose2_to_pose3_retreat,0.594371697055,5.44755417609e-05,1.05002928197,0.564942428515,0.00872720906731,1.0496985702
+322,5.366666667,pose2_to_pose3_retreat,0.593496714299,5.45354802826e-05,1.05002911985,0.564067444441,0.00872726471348,1.04969841343
+323,5.383333333,pose2_to_pose3_retreat,0.592648827401,5.45125965093e-05,1.05002903421,0.563219557471,0.00872724147532,1.04969832492
+324,5.400000000,pose2_to_pose3_retreat,0.59182362234,5.45023332787e-05,1.05002921638,0.562394352797,0.00872723248128,1.04969850581
+325,5.416666667,pose2_to_pose3_retreat,0.591015650715,5.44719822569e-05,1.0500290046,0.561586380235,0.00872719924435,1.04969830161
+326,5.433333333,pose2_to_pose3_retreat,0.590221582213,5.46235394389e-05,1.05002895383,0.560792310363,0.00872734626679,1.04969825359
+327,5.450000000,pose2_to_pose3_retreat,0.589441474664,5.46942557766e-05,1.0500291939,0.560012202978,0.00872741711465,1.04969848236
+328,5.466666667,pose2_to_pose3_retreat,0.588658593996,5.46348265314e-05,1.05002924365,0.559229323834,0.0087273626876,1.04969852708
+329,5.483333333,pose2_to_pose3_retreat,0.587871179796,5.46071767907e-05,1.05002925774,0.558441909844,0.00872733583162,1.04969854278
+330,5.500000000,pose2_to_pose3_retreat,0.587103170002,5.47286928105e-05,1.05002894788,0.557673898047,0.00872745107601,1.04969824653
+331,5.516666667,pose2_to_pose3_retreat,0.586356092327,5.46056491687e-05,1.0500290056,0.556926822162,0.0087273340118,1.04969830164
+332,5.533333333,pose2_to_pose3_retreat,0.585636101712,5.46440732043e-05,1.05002923006,0.556206830827,0.00872736982513,1.04969852168
+333,5.550000000,pose2_to_pose3_retreat,0.58495836094,5.46363918705e-05,1.05002926653,0.555529090766,0.00872736454957,1.04969855919
+334,5.566666667,pose2_to_pose3_retreat,0.584325682097,5.43388467824e-05,1.05002903681,0.554896415425,0.00872707908691,1.04969833455
+335,5.583333333,pose2_to_pose3_retreat,0.583710160138,5.43996351994e-05,1.05002907985,0.554280892048,0.00872713502728,1.04969837594
+336,5.600000000,pose2_to_pose3_retreat,0.583109090586,5.45552370978e-05,1.05002923461,0.553679820396,0.00872728318624,1.04969852274
+337,5.616666667,pose2_to_pose3_retreat,0.582523691377,5.4428323297e-05,1.05002905799,0.55309442297,0.00872716237604,1.04969834783
+338,5.633333333,pose2_to_pose3_retreat,0.581956566357,5.45137029095e-05,1.05002915539,0.552527296825,0.00872724389037,1.04969844405
+339,5.650000000,pose2_to_pose3_retreat,0.581412901236,5.46004977615e-05,1.05002931362,0.551983630381,0.00872732609571,1.04969859957
+340,5.666666667,pose2_to_pose3_retreat,0.580899648995,5.45102067815e-05,1.05002922683,0.551470380425,0.00872724366123,1.0496985155
+341,5.683333333,pose2_to_pose3_retreat,0.580416851062,5.45399321934e-05,1.05002923978,0.550987582137,0.00872727215853,1.0496985276
+342,5.700000000,pose2_to_pose3_retreat,0.579953831105,5.45142096597e-05,1.05002934947,0.550524562243,0.00872724649654,1.04969863282
+343,5.716666667,pose2_to_pose3_retreat,0.579510204308,5.45596855317e-05,1.05002946676,0.550080935455,0.00872729181591,1.04969874533
+344,5.733333333,pose2_to_pose3_retreat,0.5790917053,5.46286909079e-05,1.05002925387,0.549662435449,0.00872735764564,1.04969853817
+345,5.750000000,pose2_to_pose3_retreat,0.578703503574,5.45043324901e-05,1.05002902823,0.549274236264,0.00872724218532,1.04969831993
+346,5.766666667,pose2_to_pose3_retreat,0.578351518988,5.45259840774e-05,1.05002909715,0.548922251589,0.0087272635526,1.04969838928
+347,5.783333333,pose2_to_pose3_retreat,0.578040267799,5.45844386959e-05,1.05002918959,0.548610999139,0.00872731746444,1.04969847492
+348,5.800000000,pose2_to_pose3_retreat,0.577765847033,5.45314604735e-05,1.05002906964,0.548336577298,0.00872726080322,1.04969835407
+349,5.816666667,pose2_to_pose3_retreat,0.57751597422,5.45267988222e-05,1.05002911131,0.548086703092,0.00872725134639,1.04969839386
+350,5.833333333,pose2_to_pose3_retreat,0.577283394696,5.46100949142e-05,1.05002919625,0.547854122591,0.00872733129648,1.04969847795
+351,5.850000000,pose2_to_pose3_retreat,0.577064075499,5.4618686212e-05,1.0500292234,0.547634803919,0.0087273416117,1.04969850375
+352,5.866666667,pose2_to_pose3_retreat,0.576859935771,5.4709373551e-05,1.05002926919,0.547430662598,0.00872742704839,1.04969855352
+353,5.883333333,pose2_to_pose3_retreat,0.576673731,5.46198686346e-05,1.05002903109,0.547244460943,0.00872734829813,1.04969832011
+354,5.900000000,pose2_to_pose3_retreat,0.576510710407,5.44722660917e-05,1.05002892742,0.547081440309,0.00872720081036,1.04969822306
+355,5.916666667,pose2_to_pose3_retreat,0.576369318923,5.44179926629e-05,1.05002917404,0.546940049972,0.00872715023333,1.04969846459
+356,5.933333333,pose2_to_pose3_retreat,0.576248711896,5.46041540567e-05,1.05002928054,0.546819441875,0.00872733282128,1.0496985729
+357,5.950000000,pose2_to_pose3_retreat,0.576144168319,5.457014534e-05,1.05002927967,0.546714898671,0.00872729989804,1.04969857042
+358,5.966666667,pose2_to_pose3_retreat,0.576054767204,5.45015782914e-05,1.05002917517,0.546625497873,0.00872723244877,1.04969846483
+359,5.983333333,pose2_to_pose3_retreat,0.575977754534,5.44357341609e-05,1.0500291916,0.546548486251,0.00872716992648,1.04969847476
+360,6.000000000,pose2_to_pose3_retreat,0.575912957135,5.45330384457e-05,1.05002905409,0.54648368682,0.00872726064408,1.04969834541
+361,6.016666667,pose2_to_pose3_retreat,0.575860342817,5.44475734168e-05,1.0500291768,0.54643107414,0.00872718047634,1.04969846128
+362,6.033333333,pose2_to_pose3_retreat,0.575818138232,5.44815448532e-05,1.05002931288,0.5463888699,0.00872721543621,1.04969859261
+363,6.050000000,pose2_to_pose3_retreat,0.575785555525,5.45439426721e-05,1.05002931453,0.54635628676,0.00872727646122,1.04969859692
+364,6.066666667,pose2_to_pose3_retreat,0.575760920673,5.46567757757e-05,1.05002920892,0.546331651666,0.00872738859165,1.04969849461
+365,6.083333333,pose2_to_pose3_retreat,0.575744223324,5.45927243943e-05,1.05002916658,0.546314953929,0.00872732334331,1.04969845514
+366,6.100000000,pose2_to_pose3_retreat,0.575732883496,5.45729625562e-05,1.05002911988,0.546303613604,0.00872730186114,1.04969840734
+367,6.116666667,pose2_to_pose3_retreat,0.575725917383,5.4616725027e-05,1.05002906582,0.546296647069,0.00872734407234,1.0496983501
+368,6.133333333,pose2_to_pose3_retreat,0.575721266302,5.46096737876e-05,1.05002903288,0.546291995819,0.00872733671528,1.04969832398
+369,6.150000000,pose2_to_pose3_retreat,0.575718091452,5.46042877801e-05,1.05002901044,0.546288820856,0.00872733113205,1.04969830635
+370,6.166666667,pose2_to_pose3_retreat,0.575716306013,5.45693006869e-05,1.05002902469,0.546287036027,0.00872729810198,1.04969831766
+371,6.183333333,pose2_to_pose3_retreat,0.575714872232,5.45388851031e-05,1.05002903808,0.546285602784,0.00872726940805,1.04969832829
+372,6.200000000,pose2_to_pose3_retreat,0.575713576352,5.45113949109e-05,1.05002905019,0.546284307392,0.00872724347392,1.0496983379
+373,6.216666667,pose2_to_pose3_retreat,0.575713522251,5.45102472339e-05,1.05002905069,0.546284253311,0.00872724239121,1.0496983383
+374,6.233333333,pose2_to_pose3_retreat,0.575713044612,5.45032288243e-05,1.05002905757,0.546283775839,0.00872723592229,1.04969834471
+375,6.250000000,pose2_to_pose3_retreat,0.575712782459,5.45058905156e-05,1.05002906641,0.546283513753,0.00872723883527,1.04969835422
+376,6.266666667,pose2_to_pose3_retreat,0.575712524601,5.45085085985e-05,1.05002907509,0.54628325596,0.00872724170053,1.04969836357
+377,6.283333333,pose2_to_pose3_retreat,0.575712383528,5.45099409446e-05,1.05002907985,0.546283114923,0.0087272432681,1.04969836869
+378,6.300000000,pose2_to_pose3_retreat,0.575712067907,5.45131455013e-05,1.05002909048,0.546282799382,0.0087272467752,1.04969838014
+379,6.316666667,pose2_to_pose3_retreat,0.575711473199,5.45191836898e-05,1.05002911052,0.546282204825,0.00872725338345,1.04969840171
+380,6.333333333,pose2_to_pose3_retreat,0.575711371585,5.45202154033e-05,1.05002911395,0.546282103236,0.00872725451256,1.04969840539
+381,6.350000000,pose2_to_pose3_retreat,0.575711327276,5.45206652796e-05,1.05002911544,0.546282058938,0.00872725500491,1.049698407
+382,6.366666667,pose2_to_pose3_retreat,0.575711094284,5.45230308962e-05,1.05002912329,0.546281826005,0.00872725759386,1.04969841545
+383,6.383333333,pose2_to_pose3_retreat,0.575710928359,5.45247155642e-05,1.05002912888,0.546281660122,0.00872725943758,1.04969842147
+384,6.400000000,pose2_to_pose3_retreat,0.575710886244,5.45251431622e-05,1.0500291303,0.546281618018,0.00872725990555,1.049698423
+385,6.416666667,pose2_to_pose3_retreat,0.575710819688,5.45258189189e-05,1.05002913254,0.546281551479,0.0087272606451,1.04969842541
+386,6.433333333,pose2_to_pose3_retreat,0.575710745184,5.45265753713e-05,1.05002913505,0.546281476994,0.00872726147297,1.04969842811
+387,6.450000000,pose2_to_pose3_retreat,0.575710647945,5.45293390619e-05,1.05002913795,0.546281379748,0.00872726421817,1.04969843114
+388,6.466666667,pose2_to_pose3_retreat,0.575710542954,5.4539467115e-05,1.05002913954,0.546281274622,0.00872727387702,1.04969843241
+389,6.483333333,pose2_to_pose3_retreat,0.575710462805,5.4547198771e-05,1.05002914075,0.546281194371,0.00872728125049,1.04969843337
+390,6.500000000,pose2_to_pose3_retreat,0.575710394848,5.45537542157e-05,1.05002914178,0.546281126327,0.00872728750224,1.04969843419
+391,6.516666667,pose2_to_pose3_retreat,0.575710349075,5.45581697638e-05,1.05002914248,0.546281080495,0.00872729171323,1.04969843474
+392,6.533333333,pose2_to_pose3_retreat,0.575710176081,5.45748577395e-05,1.0500291451,0.54628090728,0.0087273076281,1.04969843682
+393,6.550000000,pose2_to_pose3_retreat,0.575710020139,5.45899008853e-05,1.05002914746,0.546280751137,0.00872732197435,1.04969843869
+394,6.566666667,pose2_to_pose3_retreat,0.57570985806,5.46055359119e-05,1.05002914992,0.546280588851,0.00872733688505,1.04969844064
+395,6.583333333,pose2_to_pose3_retreat,0.575709620265,5.46280594947e-05,1.05002915286,0.546280350708,0.00872735820574,1.04969844299
+396,6.600000000,pose2_to_pose3_retreat,0.575709479826,5.46337124813e-05,1.05002914247,0.546280209273,0.00872736056765,1.04969843491
+397,6.616666667,pose2_to_pose3_retreat,0.575709251539,5.46429015592e-05,1.05002912556,0.546279979368,0.00872736440698,1.04969842179
+398,6.633333333,pose2_to_pose3_retreat,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966301,1.04969846034
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15cb3f5b11b44f075088d9e5ab0127ec855734de
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cc96cf9a11a4426ebd46d4af35e7762f393fed059724c66f9a1d47fdec151d9
+size 25416126
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..36ff7dab8e5afd876ba10c040d2b5b4f982f51ba
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/franka_data.csv
@@ -0,0 +1,401 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,712,671,661,633,876,783,799,649,628,651,0.400954696451,-0.00538445808658,0.0598361324952,0.999999941633,0.000206625431986,-0.000271682447251,1.51415439236e-05,1793192669254174720
+1,0.016666667,BASELINE,764,742,711.398008385,671,661,633,875.398008385,783.601991615,799,649,628,650.398008385,0.400953300724,-0.00538280478996,0.0598349951863,0.999999940905,0.000208181504636,-0.000273186232812,1.47905574015e-05,1793192669270841344
+2,0.033333333,BASELINE,763.805907245,742,711,671,661,633,875,783.805907245,799,649,628,650,0.400951627951,-0.00538189842706,0.0598340073206,0.999999940395,0.000208662624148,-0.000274700102909,1.44915569232e-05,1793192669287507968
+3,0.050000000,BASELINE,763.233104118,742,711,671,661,633,875,783.233104118,799,649,628,650,0.400949414612,-0.00538244946778,0.0598333110455,0.999999940311,0.000207046314261,-0.000276233650043,1.42939906379e-05,1793192669304174848
+4,0.066666667,BASELINE,763,742,711,671,660.649664332,633,875,783,799.700671337,649,628.350335668,650,0.400948833612,-0.00538335876646,0.0598330107336,0.999999940449,0.000205445693649,-0.000276929535203,1.4284870326e-05,1793192669320841472
+5,0.083333333,BASELINE,763,742,711,671,660.058925622,633,875,783,800.882148757,649,628.941074378,650,0.400949372736,-0.00538451390446,0.0598329821348,0.999999940739,0.000203855839236,-0.000277050610155,1.44050631084e-05,1793192669337508096
+6,0.100000000,BASELINE,763.519711077,742,711,671.519711077,660.519711077,633,875.519711077,783,799.960577846,649,628.480288923,650.519711077,0.400950982338,-0.00538352781987,0.0598340663285,0.999999940909,0.000206039569809,-0.000274802331551,1.45883070643e-05,1793192669354174720
+7,0.116666667,BASELINE,764,742,711,671.903294383,660.903294383,633,875.903294383,783.096705617,799.096705617,649,628,651,0.4009523344,-0.00538253423114,0.0598350334826,0.999999941001,0.000208288785181,-0.000272754417118,1.47695998466e-05,1793192669370841344
+8,0.133333333,BASELINE,764,742,711,671.327791319,660.327791319,633,875.327791319,783.672208681,799.672208681,649,628,651,0.400951824108,-0.00538267813518,0.0598348107004,0.999999940828,0.000208792082564,-0.000272998318093,1.49066431685e-05,1793192669387507968
+9,0.150000000,BASELINE,764,742,711,671,660,633,875.246399311,783.753600689,799.753600689,649.246399311,628.246399311,650.753600689,0.400952075291,-0.00538328649942,0.0598351231136,0.999999941028,0.000208098039642,-0.000272787239922,1.5055033235e-05,1793192669404174592
+10,0.166666667,BASELINE,764,742,711,671,660,633,875.818853182,783.181146818,799.181146818,649.818853182,628.818853182,650.181146818,0.400953334114,-0.0053845094732,0.0598361437385,0.999999941718,0.000205819583701,-0.000271974098258,1.52184381778e-05,1793192669420841472
+11,0.183333333,BASELINE,764,742,711,671,660.407496136,633,875.592503864,783,799,649.592503864,629,650.407496136,0.400952618093,-0.00538365532108,0.0598356381439,0.999999941418,0.000206882423,-0.000272280969369,1.506057861e-05,1793192669437508096
+12,0.200000000,BASELINE,764,742,711,671,661,633,875.00352183,783,799.00352183,649,629,650.99647817,0.400951004136,-0.00538185529296,0.0598344383186,0.999999940661,0.000209475296143,-0.000273095605927,1.47561161797e-05,1793192669454174976
+13,0.216666667,BASELINE,764,742,711,671,661,633,875.581335151,783,799.581335151,649,629,650.418664849,0.400952043951,-0.00538261262899,0.0598352439447,0.999999940943,0.000209337783409,-0.000272162270009,1.47972497971e-05,1793192669470841344
+14,0.233333333,BASELINE,764,742,711,671,660.842826467,633,876.157173533,783,799.842826467,649,628.842826467,650,0.400952684861,-0.00538308753042,0.0598357737757,0.999999941162,0.000209033294326,-0.000271588562616,1.48659595871e-05,1793192669487507968
+15,0.250000000,BASELINE,764,742,711,671,660.272183343,633,876.727816657,783,799.272183343,649,628.272183343,650,0.400952276391,-0.0053828194436,0.0598355780847,0.999999941214,0.000208289547789,-0.00027196091417,1.50072128258e-05,1793192669504174592
+16,0.266666667,BASELINE,764,742,711,671,660.310278253,633,876.379443495,783,799,649.310278253,628,650,0.400952379698,-0.0053833220619,0.059835801209,0.999999941526,0.000207294454206,-0.000271566548401,1.51497532679e-05,1793192669520841216
+17,0.283333333,BASELINE,764,742,711,671,660.903517785,633,875.19296443,783,799,649.903517785,628,650,0.400952949725,-0.00538452753227,0.059836406276,0.999999942073,0.000206070142277,-0.000270472967267,1.5293467579e-05,1793192669537507840
+18,0.300000000,BASELINE,764,742.485042371,711.485042371,671,660.514957629,633,875.485042371,783,799,649.514957629,628,650.485042371,0.400952571067,-0.00538357081932,0.0598360162574,0.99999994166,0.000206991330884,-0.000271303789306,1.51238602675e-05,1793192669554174464
+19,0.316666667,BASELINE,764,742.936397073,711.936397073,671,660,633,876,783,799.063602927,649,628.063602927,651,0.400952073666,-0.00538250772582,0.0598355049496,0.999999941153,0.000208077347137,-0.000272350777653,1.49497099607e-05,1793192669570841088
+20,0.333333333,BASELINE,764,742.363352841,711.363352841,671,660,633,876,783,799.636647159,649,628.636647159,651,0.400952101031,-0.00538395621805,0.0598355701839,0.999999941401,0.000207145875298,-0.000272135442524,1.52265994823e-05,1793192669587507968
+21,0.350000000,BASELINE,764,742.215678628,711.215678628,671,660.215678628,633,876.215678628,783.215678628,800,649,629,650.784321372,0.400952423907,-0.00538511544349,0.0598355678251,0.999999941661,0.00020612474198,-0.000271950986959,1.5285187752e-05,1793192669604174592
+22,0.366666667,BASELINE,764,742.805084709,711.805084709,671,660.805084709,633,876.805084709,783.805084709,800,649,629,650.194915291,0.400953258846,-0.00538577342794,0.0598354483411,0.999999941943,0.000204948243545,-0.000271820039456,1.4965504063e-05,1793192669620840960
+23,0.383333333,BASELINE,764,743,712,670.612964761,661,633,876.612964761,784,799.612964761,649,629,650.387035239,0.400953342435,-0.00538502586819,0.05983572752,0.999999941921,0.000205911320008,-0.000271173584807,1.49140981707e-05,1793192669637507584
+24,0.400000000,BASELINE,764,743,712,670.034697918,661,633,876.034697918,784,799.034697918,649,629,650.965302082,0.400953054786,-0.00538358383822,0.0598362036755,0.999999941746,0.000207931546456,-0.000270272421403,1.49952465705e-05,1793192669654174208
+25,0.416666667,BASELINE,764,742.454777442,712,670.545222558,660.454777442,633,876,783.454777442,799.545222558,649,629,651,0.400953273694,-0.00538372987141,0.0598363186785,0.999999941891,0.000207009901296,-0.000270448994989,1.49035646836e-05,1793192669670841088
+26,0.433333333,BASELINE,764,742,711.876112853,671,660.123887147,633,875.876112853,783,800,649,628.876112853,650.876112853,0.400953713163,-0.0053839244463,0.0598365513477,0.999999942077,0.000206305214524,-0.000270302635919,1.4861176055e-05,1793192669687507456
+27,0.450000000,BASELINE,764,742,711.302391509,671,660.697608491,633,875.302391509,783,800,649,628.302391509,650.302391509,0.400954836083,-0.00538392719563,0.0598372949705,0.999999942339,0.000207070168813,-0.000268733911195,1.50378297222e-05,1793192669704174336
+28,0.466666667,BASELINE,764,742,711.278241883,671,661,633,875.278241883,783.278241883,799.721758117,649,628.278241883,650.278241883,0.400954435146,-0.00538413836,0.0598372126403,0.999999942289,0.000207126878866,-0.000268875909849,1.50191053804e-05,1793192669720840960
+29,0.483333333,BASELINE,764,742,711.866578576,671,661,633,875.866578576,783.866578576,799.133421424,649,628.866578576,650.866578576,0.400952335904,-0.00538458179861,0.0598362098024,0.999999941891,0.000206394265355,-0.00027092447433,1.4782636288e-05,1793192669737507584
+30,0.500000000,BASELINE,764,742,712,671,661,633,876,783.551166118,799,649,629,650.551166118,0.400951353256,-0.00538390846265,0.0598354252886,0.999999941148,0.0002080058818,-0.000272423808282,1.49035853256e-05,1793192669754174464
+31,0.516666667,BASELINE,764,742.029060516,712,671.029060516,661,633,876,783,799,649,629,650,0.400950752147,-0.00538300554828,0.059834757276,0.999999940371,0.000210111100665,-0.000273647139752,1.51134938398e-05,1793192669770841088
+32,0.533333333,BASELINE,764,742.604678107,712,671.604678107,661,633,876,783,799,649,629,650,0.400951167703,-0.00538394499753,0.0598350760818,0.999999940951,0.000208568910087,-0.000272709117927,1.50249800982e-05,1793192669787507712
+33,0.550000000,BASELINE,764,742.819806157,712,671.819806157,661,633,876,783.180193843,799,649,628.819806157,650,0.400951939394,-0.00538460387667,0.0598355469971,0.999999941575,0.000207130422669,-0.000271520034562,1.49443481429e-05,1793192669804174336
+34,0.566666667,BASELINE,764,742.244513825,712,671.244513825,661,633,876,783.755486175,799,649,628.244513825,650,0.400953491958,-0.00538464756915,0.0598363514322,0.999999942297,0.000205919318155,-0.000269780466169,1.48809980429e-05,1793192669820840960
+35,0.583333333,BASELINE,763.65926783,742,712,671,661,633,876,784,799,649,628.34073217,650.34073217,0.400953932358,-0.00538470887176,0.0598368214299,0.999999942484,0.000205550898964,-0.000269365823205,1.49256788159e-05,1793192669837507584
+36,0.600000000,BASELINE,763.066663953,742,712,671,661,633,876,784,799,649,628.933336047,650.933336047,0.400953550639,-0.00538478319191,0.0598370442093,0.999999942278,0.000205805398787,-0.000269930574606,1.50502167919e-05,1793192669854174208
+37,0.616666667,BASELINE,763,742,711.490456264,671,660.490456264,633,876,784,799,649.509543736,628.490456264,650.490456264,0.400952811316,-0.00538355709147,0.0598364397203,0.999999941719,0.000207393194091,-0.000270789292738,1.49638668769e-05,1793192669870841088
+38,0.633333333,BASELINE,763.083783891,742,711,671,660.083783891,633,876,784,799.083783891,649.916216109,628.083783891,650.083783891,0.400952469844,-0.00538230873146,0.0598360282901,0.999999941353,0.000208516491605,-0.000271284121481,1.4827378176e-05,1793192669887507712
+39,0.650000000,BASELINE,763.658673256,742,711,671,660.658673256,633,876,784,799.658673256,649.341326744,628.658673256,650.658673256,0.40095472609,-0.00538189606361,0.0598373631209,0.999999942396,0.000205926507987,-0.000269427578633,1.45536798428e-05,1793192669904174592
+40,0.666666667,BASELINE,764,742,711,671,661,633,876,783.759523129,799.759523129,649,628.759523129,651,0.400955188778,-0.005382336713,0.0598376299794,0.999999942731,0.000204899458405,-0.00026897281695,1.44140477009e-05,1793192669920841216
+41,0.683333333,BASELINE,764,742,711,671,661,633,876,783.167615111,799.167615111,649,628.167615111,651,0.400953030374,-0.00538402439402,0.0598363361107,0.999999942042,0.000206156469384,-0.000270566608156,1.44703389301e-05,1793192669937507840
+42,0.700000000,BASELINE,763.585046166,742,711,671,661,633,876,783,799,649,628.414953834,651,0.400952527447,-0.00538408916982,0.0598360161912,0.999999941671,0.00020731241003,-0.000271034376885,1.48631665502e-05,1793192669954174464
+43,0.716666667,BASELINE,763.006166596,742,711,671,661,633,876,783,799,649,628.993833404,651,0.400952678509,-0.00538351282383,0.0598360810263,0.999999941424,0.000208428423242,-0.000271057315218,1.53889414293e-05,1793192669970841344
+44,0.733333333,BASELINE,764.14085209,742.570426045,711.570426045,671,661,633,875.429573955,783,799,649,629,651,0.400952909828,-0.00538422878636,0.0598365108309,0.999999941905,0.000206616029291,-0.000270684863753,1.51508693628e-05,1793192669987507712
+45,0.750000000,BASELINE,764.85379242,743,711.85379242,671,661,633,875.14620758,783.14620758,799,649,628.85379242,650.85379242,0.400953130027,-0.0053851448587,0.0598369229777,0.999999942229,0.000205576228842,-0.000270282460171,1.51043941802e-05,1793192670004174336
+46,0.766666667,BASELINE,764.280309392,743,711.280309392,671,661,633,875.719690608,783.719690608,799,649,628.280309392,650.280309392,0.400953315206,-0.00538660506537,0.0598372720372,0.999999942079,0.000206886393917,-0.0002698049664,1.56418751837e-05,1793192670020841216
+47,0.783333333,BASELINE,764,742.697753205,711,671,661,633,876,783.697753205,799,649,628.302246795,650.302246795,0.400953123155,-0.00538655334127,0.0598370444021,0.999999942042,0.000206576828453,-0.000270189008238,1.54721364563e-05,1793192670037507840
+48,0.800000000,BASELINE,764,742.106521915,711,671,661,633,876,783.106521915,799,649,628.893478085,650.893478085,0.400952570425,-0.00538505602865,0.0598362653774,0.99999994211,0.000204718604822,-0.000271396782275,1.46262101836e-05,1793192670054174464
+49,0.816666667,BASELINE,764,742,711,671,661,632.524740364,876,783.475259636,799,648.524740364,629,650.524740364,0.400952671772,-0.00538430801954,0.0598366990801,0.999999941813,0.000206843871091,-0.000270865055365,1.4870940382e-05,1793192670070841088
+50,0.833333333,BASELINE,764,742,711,671,660.945340706,632.054659294,876,783.945340706,799,648.054659294,629,650,0.400952917105,-0.00538376637884,0.0598373367635,0.999999941478,0.000209515176621,-0.000270022958876,1.53160054787e-05,1793192670087507712
+51,0.850000000,BASELINE,764,742,711,671,660.368854162,632.631145838,876,783.368854162,799,648.631145838,629,650,0.400953164752,-0.00538362282561,0.0598373774435,0.999999941618,0.000209041824099,-0.000269867389344,1.53853744831e-05,1793192670104174336
+52,0.866666667,BASELINE,764,742,711,671,660.206818187,633,876,783,799.206818187,649,629,650,0.400953141621,-0.00538373680022,0.0598372236802,0.999999941668,0.000208634594086,-0.000269997183406,1.54081978482e-05,1793192670120840960
+53,0.883333333,BASELINE,764,742,711,671,660.781044101,633,876,783,799.781044101,649,629,650,0.400952637458,-0.00538430826709,0.0598367244928,0.999999941557,0.000208344829209,-0.00027063391931,1.53483339571e-05,1793192670137507840
+54,0.900000000,BASELINE,764,742,711.365151605,671,661,633,876,783,799.634848395,649,629,650.365151605,0.400952126721,-0.00538417111541,0.0598360276607,0.999999941341,0.000208339437893,-0.000271450488963,1.50885089841e-05,1793192670154174464
+55,0.916666667,BASELINE,764,742,711.955349193,671,661,633,876,783,799.044650807,649,629,650.955349193,0.400951611933,-0.00538359723618,0.0598352090186,0.999999941059,0.000208509308392,-0.000272377891634,1.47054463286e-05,1793192670170841088
+56,0.933333333,BASELINE,764,742,711.465175194,671.534824806,660.465175194,633,876,783.534824806,799,649,629,651,0.400951855456,-0.00538329666817,0.0598362206209,0.999999941374,0.000208224892903,-0.000271442229704,1.46255681735e-05,1793192670187507712
+57,0.950000000,BASELINE,764,742,711,672,660.112661463,633,875.887338537,783.887338537,799,649,629,651,0.4009523926,-0.00538346499825,0.0598371660478,0.999999941826,0.000207458243827,-0.000270361357434,1.46541408264e-05,1793192670204174336
+58,0.966666667,BASELINE,764,742,711,672,660.687375248,633,875.312624752,783.312624752,799,649,629,651,0.40095387941,-0.00538546465216,0.0598372257141,0.999999942638,0.000204866326863,-0.000269310317894,1.50257268144e-05,1793192670220840960
+59,0.983333333,BASELINE,763.732383445,742,711,671.732383445,661,633,875.267616555,783,799.267616555,649,629,651,0.400954053091,-0.00538575864423,0.0598372457093,0.999999942621,0.000205220128914,-0.000269093086059,1.52361637367e-05,1793192670237507840
+60,1.000000000,BASELINE,763.145548727,742,711,671.145548727,661,633,875.854451273,783,799.854451273,649,629,651,0.400952660444,-0.00538401809037,0.0598372183843,0.99999994161,0.000209087640798,-0.00026987043592,1.52543790092e-05,1793192670254174464
+61,1.016666667,BASELINE,763.43782019,742,711,671,661,633,876,783.43782019,799.56217981,649,628.56217981,651,0.400951090396,-0.00538355556392,0.0598358824016,0.999999940946,0.000209764550133,-0.000271804000616,1.5146250668e-05,1793192670270841088
+62,1.033333333,BASELINE,764,742,711,671,660.980184865,633.019815135,876,784,799,649,628,651,0.40094957533,-0.00538351583642,0.0598342225552,0.999999940445,0.000209360080694,-0.000273958848553,1.50039556282e-05,1793192670287507712
+63,1.050000000,BASELINE,764,742,711,671,660.404663046,633.595336954,876,784,799,649,628,651,0.400951243171,-0.00538351169717,0.0598355850444,0.999999941335,0.00020814156417,-0.000271624623878,1.50721357064e-05,1793192670304174336
+64,1.066666667,BASELINE,764,742,711.170575337,671,660.170575337,633.829424663,875.829424663,784,799,649,628.170575337,650.829424663,0.40095258318,-0.00538344488087,0.0598367997431,0.999999941965,0.000207433235194,-0.000269839347798,1.51278017027e-05,1793192670320840960
+65,1.083333333,BASELINE,764,742,711.745142394,671,660.745142394,633.254857606,875.254857606,784,799,649,628.745142394,650.254857606,0.400953146753,-0.00538322961984,0.059837664414,0.999999941991,0.000207933237743,-0.000269354205224,1.51538292635e-05,1793192670337507584
+66,1.100000000,BASELINE,764,742,712,671,661,633,875.655768127,783.672115937,799,649,629,650.327884063,0.400953433044,-0.00538286149955,0.0598376130336,0.999999942017,0.000208018528752,-0.000269199101009,1.50090964064e-05,1793192670354174464
+67,1.116666667,BASELINE,764,742,712,671,661,633,876.834284254,783.082857873,799,649,629,650.917142127,0.400953498299,-0.00538237152695,0.0598368314195,0.999999942044,0.00020777323089,-0.000269307088119,1.47282412459e-05,1793192670370841088
+68,1.133333333,BASELINE,764,742.498200674,711.501799326,671.498200674,661,633,876.501799326,783.498200674,799,649,629,651,0.40095291337,-0.00538188507865,0.0598366011239,0.99999994158,0.000208768519101,-0.000270254117128,1.48015695992e-05,1793192670387507712
+69,1.150000000,BASELINE,764,742.922665124,711.077334876,671.922665124,661,633,876,784,799.077334876,649,629,650.922665124,0.400952258481,-0.00538172204816,0.0598364769907,0.999999941141,0.00020963960638,-0.000271195675148,1.49106531842e-05,1793192670404174080
+70,1.166666667,BASELINE,764,742.347284034,711.652715966,671.347284034,661,633,876,784,799.652715966,649,629,650.347284034,0.40095183817,-0.00538363815501,0.0598364556083,0.999999941394,0.000208403566401,-0.000271217865413,1.48767869088e-05,1793192670420840704
+71,1.183333333,BASELINE,764,742,711.767682066,671,661,633,876.232317934,783.767682066,800,649,628.767682066,650.232317934,0.400951916067,-0.00538488376957,0.0598367305934,0.999999941673,0.000207439082615,-0.000270924879977,1.49107001776e-05,1793192670437507584
+72,1.200000000,BASELINE,764,742,711.181653606,671,661,633,876.818346394,783.181653606,800,649,628.181653606,650.818346394,0.400952752499,-0.00538510854121,0.0598374568061,0.999999941994,0.00020688805051,-0.000270152030757,1.50478096861e-05,1793192670454174720
+73,1.216666667,BASELINE,764,742,711,671,661,633,876.597765219,783,799.597765219,649,628.402234781,650.597765219,0.400952039142,-0.00538392070035,0.059836510813,0.999999941404,0.00020829962599,-0.000271256264838,1.49321136527e-05,1793192670470841088
+74,1.233333333,BASELINE,764,742,711,671,661,633,876.014838232,783,799.014838232,649,628.985161768,650.014838232,0.400950629589,-0.00538209828464,0.0598348136303,0.999999940397,0.000210592845528,-0.000273203723708,1.47028521189e-05,1793192670487507712
+75,1.250000000,BASELINE,764,742,711,671,660.439944988,633,876,783.560055012,799,649,629,650,0.400951752088,-0.00538307670769,0.0598362690024,0.999999941158,0.000209385274508,-0.000271319364308,1.50915651246e-05,1793192670504174336
+76,1.266666667,BASELINE,764,742,711.134772779,670.865227221,660.134772779,633,875.865227221,783.865227221,799,649,629,650.134772779,0.400952840388,-0.00538352380679,0.0598374621698,0.999999941685,0.000208923228193,-0.000269714575859,1.53112260414e-05,1793192670520840960
+77,1.283333333,BASELINE,764,742,711.709602704,670.290397296,660.709602704,633,875.290397296,783.290397296,799,649,629,650.709602704,0.400953601071,-0.00538199716876,0.0598375303259,0.999999941313,0.000211194018074,-0.000269349433287,1.49261977472e-05,1793192670537507840
+78,1.300000000,BASELINE,764,742,712,670.2930492,661,633,875.586098401,783,799,649,628.7069508,650.7069508,0.400953863868,-0.00538288406696,0.0598375016692,0.999999941577,0.000210521669742,-0.000268888671729,1.49845144895e-05,1793192670554174464
+79,1.316666667,BASELINE,764,742,712,670.885292923,661,633,876.770585847,783,799,649,628.114707077,650.114707077,0.400953618336,-0.00538623511398,0.0598373741694,0.999999942487,0.000206844464642,-0.000268330286047,1.54954733588e-05,1793192670570841344
+80,1.333333333,BASELINE,764,742,711.532775752,671,661,633,876.065551505,783,799,649,628.467224248,650.467224248,0.400952403077,-0.00538644745931,0.0598370615158,0.999999942537,0.000204948594308,-0.000269615085335,1.51675212574e-05,1793192670587507712
+81,1.350000000,BASELINE,764,742,711.046281499,671,661,633,875.092562998,783,799.046281499,649,628.953718501,651,0.400951193902,-0.00538576921298,0.0598368134582,0.999999942371,0.000203868164986,-0.000271072160092,1.46996893434e-05,1793192670604174592
+82,1.366666667,BASELINE,764,742,711.620807295,671,661,633,876.241614589,783,799.620807295,649,628.379192705,651,0.400952712809,-0.0053835311987,0.0598378103066,0.999999942121,0.000207211172192,-0.000269442182982,1.49353025939e-05,1793192670620841216
+83,1.383333333,BASELINE,764,742,711.800239895,671,661,633,876.800239895,783,799.800239895,649.199760105,628.199760105,650.800239895,0.400953763392,-0.00538245059602,0.0598382754213,0.999999942066,0.000209106346326,-0.000268170689666,1.50670716285e-05,1793192670637507840
+84,1.400000000,BASELINE,764,742,711.212692987,671,661,633,876.212692987,783,799.212692987,649.787307013,628.787307013,650.212692987,0.400953904834,-0.00538361683273,0.0598377083015,0.999999942412,0.000208190896978,-0.000267595107219,1.4997251821e-05,1793192670654174464
+85,1.416666667,BASELINE,764,742,711,671,661,633,876.369499034,783.369499034,799,650,628.630500966,650.369499034,0.400953189021,-0.00538416667188,0.0598371742903,0.999999942495,0.000206426431987,-0.000268657994034,1.48765939216e-05,1793192670670841088
+86,1.433333333,BASELINE,764,742,711,671,661,633,876.948652644,783.948652644,799,650,628.051347356,650.948652644,0.400951986799,-0.00538436676561,0.0598366590651,0.999999942421,0.000204180233677,-0.000270650552,1.47270903795e-05,1793192670687507712
+87,1.450000000,BASELINE,764,742,711,671,661,633,875.951749059,784,799,649.47587453,628,651,0.400952823822,-0.00538368591983,0.0598372705192,0.999999942491,0.000206350243763,-0.000268735308676,1.47647227161e-05,1793192670704174336
+88,1.466666667,BASELINE,764,742,711.099608231,671,661,633,875,783.900391769,799,649,628.099608231,650.900391769,0.400953615084,-0.00538315503518,0.0598378459327,0.999999942548,0.000208326161444,-0.000266993106594,1.480779909e-05,1793192670720840960
+89,1.483333333,BASELINE,764,742,711.676855685,671,661,633,875,783.323144315,799,649,628.676855685,650.323144315,0.400953235609,-0.005383754196,0.0598377229331,0.999999942515,0.000207311226021,-0.000267903643462,1.47896823764e-05,1793192670737507584
+90,1.500000000,BASELINE,763.741138864,742,711.741138864,671,661,633,875.258861136,783,799.258861136,649,628.741138864,650,0.400952714345,-0.00538424531767,0.0598372527041,0.99999994237,0.000206598339565,-0.000268991933902,1.48640145885e-05,1793192670754174464
+91,1.516666667,BASELINE,763.153082687,742,711.153082687,671,661,633,875.846917313,783,799.846917313,649,628.153082687,650,0.400952012767,-0.00538459904537,0.0598363409019,0.99999994208,0.000206269570413,-0.000270306274406,1.50559145773e-05,1793192670770841088
+92,1.533333333,BASELINE,763.427524411,742,711.427524411,671,660.572475589,633,876,783,799.572475589,649,628,650,0.400952807117,-0.00538547135556,0.0598369758967,0.999999942519,0.000205590865157,-0.000269193063356,1.51343158968e-05,1793192670787508224
+93,1.550000000,BASELINE,764,742,711.994502058,670.994502058,660.005497942,633,876,783,799,649,628,650,0.400954097862,-0.00538650914657,0.0598381332009,0.999999943197,0.000204802159944,-0.00026726640222,1.51716287231e-05,1793192670804176128
+94,1.566666667,BASELINE,764,742,711.41777709,670.41777709,660.58222291,633,876,783,799,649,628,650,0.400952263734,-0.00538577786806,0.0598369981328,0.999999942457,0.000205380248267,-0.000269588357721,1.50900542403e-05,1793192670820841728
+95,1.583333333,BASELINE,764,742,711.157924016,670.315848033,661,633,876,783,799.157924016,649,628.157924016,650.157924016,0.400951266116,-0.0053850382467,0.0598364106589,0.999999941986,0.000206057768882,-0.000270815628182,1.50414783707e-05,1793192670837507840
+96,1.600000000,BASELINE,764,742,711.73093414,671.46186828,661,633,876,783,799.73093414,649,628.73093414,650.73093414,0.400952467175,-0.00538427669694,0.0598372624767,0.999999942237,0.000206996636588,-0.000269165638542,1.50796357501e-05,1793192670854174720
+97,1.616666667,BASELINE,764,742,712,671.685020952,661,633,876,783,799.685020952,649,629,651,0.400953768135,-0.00538397555467,0.0598383230781,0.999999942705,0.000207159945422,-0.000267297906031,1.50792959774e-05,1793192670870841088
+98,1.633333333,BASELINE,764,742,712,671.091207566,661,633,876,783,799.091207566,649,629,651,0.400955157532,-0.00538408198691,0.0598395685045,0.999999943362,0.000206636692835,-0.000265237417337,1.50448767041e-05,1793192670887507712
+99,1.650000000,BASELINE,764,742,711.512256423,671,661,633,875.512256423,783,799,649,628.512256423,650.512256423,0.400952858152,-0.00538440118148,0.0598378560345,0.999999942542,0.000206892888648,-0.00026811992861,1.49338089738e-05,1793192670904174848
+100,1.666666667,BASELINE,763.936156299,742,711.063843701,671,661,633,875.063843701,783,799,649,628.063843701,650.063843701,0.400950296355,-0.00538461672022,0.0598358868941,0.999999941567,0.000207343360408,-0.000271393088012,1.48617778631e-05,1793192670920841984
+101,1.683333333,BASELINE,763.361288643,742,711.638711357,671,661,633,875.638711357,783,799,649,628.638711357,650.638711357,0.400950992177,-0.00538369352229,0.0598361597358,0.999999941591,0.000208216698648,-0.000270613231557,1.52135420096e-05,1793192670937508352
+102,1.700000000,BASELINE,763.219485941,742,712,671,661,633,876,783,799,649.219485941,629,650.780514059,0.40095111714,-0.00538336219431,0.0598362357346,0.999999941621,0.000208253405918,-0.000270469909254,1.52839203076e-05,1793192670954174976
+103,1.716666667,BASELINE,763.810252578,742,712,671,661,633,876,783,799,649.810252578,629,650.189747422,0.400950276443,-0.00538403206897,0.0598359787555,0.999999941661,0.000206874874715,-0.00027140334321,1.48783084759e-05,1793192670970841344
+104,1.733333333,BASELINE,764,742,711.607054266,671.392945734,661,633,876.392945734,783,799,649.607054266,628.607054266,650.392945734,0.400951553636,-0.00538412800138,0.0598367540114,0.999999942039,0.000206804326726,-0.000270073334775,1.46320258153e-05,1793192670987507712
+105,1.750000000,BASELINE,764,742,711.02818113,671.97181887,661,633,876.97181887,783,799,649.02818113,628.02818113,650.97181887,0.400953832935,-0.00538395236559,0.0598380176827,0.999999942574,0.000207352667943,-0.000267672349115,1.44611317955e-05,1793192671004174336
+106,1.766666667,BASELINE,763.45175548,742,711.54824452,671.45175548,661,633,875.903510959,783,799,649,628.54824452,650.45175548,0.400954291736,-0.00538408859353,0.0598384703792,0.99999994298,0.000207347575754,-0.000266126251123,1.49530963094e-05,1793192671020840960
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,784,799,650,629,650,0.400952984015,-0.00538351534591,0.0598376520418,0.999999941985,0.000209190758802,-0.000268414025112,1.49099911194e-05,1793192671062350592
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783.420656351,799,649.420656351,628.420656351,650,0.400953274565,-0.00538474754407,0.0598377676041,0.999999942643,0.000206905365013,-0.000267736033244,1.48913425887e-05,1793192671079016960
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.157927773,783.157927773,799,649,628,650,0.400953920246,-0.00538539151187,0.0598383295314,0.999999943161,0.000205663243952,-0.000266758349886,1.48643192419e-05,1793192671095683840
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876.734498636,783.734498636,799,649,628,650,0.400955507328,-0.00538447616854,0.0598400747065,0.999999943318,0.000207186683592,-0.000264986228711,1.48150954965e-05,1793192671112350464
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711.689194002,671,661,633,876.689194002,783.689194002,799,649,628.310805998,650.310805998,0.400954965803,-0.00538390985374,0.0598393410934,0.999999942886,0.000207743904495,-0.00026619009282,1.45963305871e-05,1793192671129016832
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711.113111577,671,661,633,876.113111577,783.113111577,799,649,628.886888423,650.886888423,0.40095260749,-0.00538364143879,0.0598364918065,0.999999941943,0.000207476446707,-0.000269933994067,1.42328603835e-05,1793192671145683200
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711.472500564,671,661,633,876.472500564,783,799,649,629,651,0.400952337504,-0.0053841265987,0.059836494185,0.999999942311,0.000205938369774,-0.000269736257265,1.4516264852e-05,1793192671162349824
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711.940370229,671,661,633,876.940370229,783.059629771,799.059629771,649,629,650.940370229,0.400953068247,-0.0053847172638,0.0598373698267,0.999999942979,0.000204413834769,-0.00026839361641,1.49177083894e-05,1793192671179016192
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711.360320773,671,661,633,876.360320773,783.639679227,799.639679227,649,629,650.360320773,0.400958079975,-0.00538462189522,0.0598397863404,0.999999943493,0.000205716801259,-0.000265463480039,1.49700224959e-05,1793192671195683328
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742.21831676,711.21831676,671,661,633,876,783.78168324,799.78168324,649,628.78168324,650.21831676,0.400969434803,-0.00538469687134,0.0598449780139,0.99999994543,0.000206771028835,-0.000257200706678,1.52887998228e-05,1793192671212350464
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.794638904,711.794638904,671,661,633,876,783.205361096,799.205361096,649,628.205361096,650.794638904,0.400991191324,-0.00538505118619,0.059854720516,0.999999949514,0.000207417363277,-0.000240193241875,1.60445352001e-05,1793192671229016832
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.631054681,712,671,661,633,876,783.368945319,799,649,628,651,0.401030320563,-0.00538630624092,0.0598702789356,0.999999955819,0.000207387661886,-0.00021227180852,1.71002647015e-05,1793192671245683200
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.057864103,712,671,661,633,876,783.942135897,799,649,628,651,0.401079067206,-0.00538805993827,0.0598890570028,0.999999962514,0.000206983712203,-0.000178308485332,1.83220686718e-05,1793192671262349824
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711.467889911,671,661,633,876,783.467889911,799,649,628.532110089,651,0.401145481364,-0.0053917419413,0.0599066155517,0.999999967281,0.000203727834237,-0.000153466977478,1.95283531107e-05,1793192671279016448
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876.121258803,783,799,649,628.878741197,650.878741197,0.401215909507,-0.00539503582186,0.0599219654308,0.999999970848,0.000200947467046,-0.000132314036963,2.04349420935e-05,1793192671295682816
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876.700179272,783,799,649,628.299820728,650.299820728,0.401294000033,-0.00539604761981,0.0599294960604,0.999999972214,0.000201170437223,-0.000121216884849,2.02169814588e-05,1793192671312349440
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.278091032,742.278091032,711.278091032,671,661,633,877,783,799,649,628.278091032,650,0.401381193564,-0.00539786932357,0.0599338512548,0.999999973383,0.000200097144384,-0.000113189139401,1.95638084729e-05,1793192671329016576
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.85491916,742.85491916,711.85491916,671,661,633,877,783,799,649,628.85491916,650,0.401478165923,-0.00540056106222,0.0599347952627,0.999999974419,0.000197631351233,-0.000108458680509,1.8443112069e-05,1793192671345683456
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.561272413,742.561272413,712,671,661.438727587,633,876.561272413,783,799,649,629,650.438727587,0.401597877653,-0.00540467511854,0.0599381365103,0.999999975591,0.000195691746706,-0.000101090245736,1.74234907882e-05,1793192671362350080
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,712,671,661.975397755,633,876,783,799.024602245,649,628.975397755,650.975397755,0.40172625422,-0.00540927368775,0.0599421042253,0.999999976762,0.000193807966087,-9.298391381e-05,1.63863039919e-05,1793192671379016704
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661.395824835,633,876,783,799.604175165,649,628.395824835,650.395824835,0.401877722801,-0.00541402043731,0.0599420322684,0.99999997811,0.000189194875661,-8.82284556832e-05,1.41867178272e-05,1793192671395683072
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.81686771,670.81686771,661.18313229,633,876,783,799.81686771,649,628,650.18313229,0.402039942171,-0.00541838097816,0.059942270178,0.999999979399,0.000184719769469,-8.33110913337e-05,1.18620993097e-05,1793192671412349696
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.239237184,670.239237184,661.760762816,633,876,783,799.239237184,649,628,650.760762816,0.402225320556,-0.00542190955886,0.0599431755932,0.999999980614,0.000180541905493,-7.80449539423e-05,9.26814003097e-06,1793192671429016064
+130,2.166666667,POSE1_TO_POSE2_PRESS,764.336941959,742,711,670.336941959,661.663058041,633,876,783,799.336941959,649,628.336941959,650.663058041,0.402432859734,-0.00542724898412,0.0599443931458,0.999999982057,0.000174897416678,-7.2483015351e-05,6.58684688131e-06,1793192671445682944
+131,2.183333333,POSE1_TO_POSE2_PRESS,764.912095062,742,711,670.912095062,661.087904938,633,876,783,799.912095062,649,628.912095062,650.087904938,0.402656066164,-0.00543386864019,0.0599458313732,0.999999983619,0.000168216053354,-6.67119507566e-05,3.84381018675e-06,1793192671462349568
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.501902713,742,711,671,661,633,876,783.498097287,799.501902713,649,629,650.498097287,0.40291352975,-0.00544182699555,0.0599464093225,0.999999985726,0.00015684406788,-6.28256868736e-05,8.09274139618e-07,1793192671479016448
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742.084846627,711,671,661,633,876,783.915153373,799,649,629,651,0.403182309606,-0.00544988427654,0.0599467092761,0.999999987653,0.000145375633568,-5.96199249845e-05,-2.37826474814e-06,1793192671495683328
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742.664538132,711,671,661,633,876,783.335461868,799,649,629,651,0.403481043317,-0.00545710994065,0.0599462930793,0.999999988715,0.000138280146976,-5.83998206006e-05,-6.15143726885e-06,1793192671512349952
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,743,711.241758625,671,661,633,876,783.241758625,799,649,629,650.758241375,0.403788620257,-0.00546543474897,0.0599401041405,0.999999989482,0.000128293951158,-6.68312545353e-05,-1.05356355227e-05,1793192671529016576
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,743,711.81558502,671,661,633,876,783.81558502,799,649,629,650.18441498,0.404108343806,-0.00547526928736,0.0599259860468,0.999999989421,0.00011433721952,-8.85195674295e-05,-1.57591084772e-05,1793192671545683200
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.607331807,742.607331807,711.607331807,671,661,633,876,783.607331807,799,649,629,650,0.404452587032,-0.00548228130645,0.05991258155,0.99999998796,0.000104069167691,-0.00011313075202,-2.12237582059e-05,1793192671562349824
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.028706327,742.028706327,711.028706327,671,661,633,876,783.028706327,799,649,629,650,0.404808442121,-0.00548795665467,0.0598995149944,0.999999985398,9.55479775712e-05,-0.0001391261308,-2.68026227282e-05,1793192671579016448
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.558403435,742.558403435,711,671,661,633,876,783.558403435,799,649,629,650,0.405232343315,-0.00550061490482,0.0598968865444,0.999999985535,8.18486921941e-05,-0.000145863214671,-3.08879155601e-05,1793192671595682816
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,743,711.144219203,671,661,633,876,783.855780797,799,649,629,650.144219203,0.405680224533,-0.00551259695779,0.0599027156594,0.999999987557,6.88516774927e-05,-0.000137648424033,-3.46266742054e-05,1793192671612349696
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,743,711.724779845,671,661,633,876,783.275220155,799,649,629,650.724779845,0.406189911313,-0.00552143029029,0.0599324849473,0.999999993761,5.87972252733e-05,-8.72376738659e-05,-3.75528671586e-05,1793192671629016576
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.698461792,742.698461792,711.698461792,671,661.301538208,633,876,783.301538208,799,649,629,651,0.406720928639,-0.00552582452555,0.0599623810422,0.999999998461,-1.34138284104e-05,-3.71108204127e-05,-3.8989945065e-05,1793192671645683200
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.125130569,742.125130569,711.125130569,671,661.874869431,633,876,783.874869431,799,649,629,651,0.407271172421,-0.00552621755866,0.0599923914385,0.999999989122,-0.000141650056129,1.27601475884e-05,-3.90848012948e-05,1793192671662350080
+144,2.400000000,POSE1_TO_POSE2_PRESS,763.460004708,742,711,671,662,633,876,783.539995292,799,649,628.539995292,651,0.407798493808,-0.00552119630802,0.0599958492413,0.999999987501,-0.000152422298227,1.02019931371e-05,-4.07696908259e-05,1793192671679016704
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742.047743968,711.047743968,671,661.952256032,633,876.047743968,783,799,649,628.047743968,650.952256032,0.408324651541,-0.00551683245138,0.0599908077098,0.999999990163,-0.000133195909012,-8.65325796843e-06,-4.31037214309e-05,1793192671695683072
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742.627774039,711.627774039,671,661.372225961,633,876.627774039,783,799,649,628.627774039,650.372225961,0.40890918365,-0.0055366499948,0.0599736556323,0.99999998727,-0.000145135467628,-4.60122423903e-05,-4.77257993609e-05,1793192671712349952
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,711.79301826,671,661,633,877,783,799,649.20698174,629,650.20698174,0.409515733637,-0.00555059300892,0.0599641215853,0.999999990815,-0.000111830760184,-6.50039772055e-05,-4.04681855814e-05,1793192671729016576
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,743,711.215283649,671,661,633,877,783,799,649.784716351,629,650.784716351,0.410161722772,-0.0055540133613,0.05996823322,0.99999999862,2.51704729461e-06,-5.10956548549e-05,-1.1931255437e-05,1793192671745683200
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.641012336,711.358987664,671,661.358987664,633,877,783.358987664,799,650,629,651,0.410831688067,-0.00554722939569,0.0599728310153,0.999999998971,2.48965061942e-05,-3.73819029127e-05,-6.40160181351e-06,1793192671762349824
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.068798126,711.931201874,671,661.931201874,633,877,783.931201874,799,650,629,651,0.411515894367,-0.00553438440978,0.0599777175735,0.999999999584,-7.35013108297e-06,-2.37837199399e-05,-1.45374942677e-05,1793192671779016704
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.520384703,712,671.520384703,661.479615297,632.479615297,877,784,799.520384703,649.479615297,628.479615297,650.479615297,0.412188524842,-0.00552954101778,0.059966442853,0.999999998765,-9.67546695246e-06,-4.3210395968e-05,-2.25539801779e-05,1793192671795683328
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,712,672,661,632.109601326,877,784,800,649,628.109601326,650,0.412862766734,-0.00552779072115,0.059947737238,0.999999996443,-8.94154721125e-06,-7.86606708573e-05,-2.90839691409e-05,1793192671812349952
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,712,672,661,632.689022075,877,784,800,649,628.689022075,650,0.413550697327,-0.0055346118564,0.0599066458044,0.999999986133,-1.26222727463e-05,-0.00016345140085,-2.93118564387e-05,1793192671829016576
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,712,671.733368271,661,633,877,783.733368271,799.733368271,649,629,650,0.414297800933,-0.00553948933643,0.0598988786945,0.999999983208,-2.03968325377e-05,-0.000179705224272,-2.95778280333e-05,1793192671845683200
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,712,671.157856608,661,633,877,783.157856608,799.157856608,649,629,650,0.415113453695,-0.00554211518697,0.0599297161934,0.999999992218,-3.29139014202e-05,-0.000116562374569,-2.98879185684e-05,1793192671862349824
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,711.574451177,671.425548823,661.425548823,633,877,783.425548823,799.425548823,649,628.574451177,650,0.415930068166,-0.00554341853496,0.0599688259441,0.999999997932,-3.34741897609e-05,-4.64887904593e-05,-2.92134570244e-05,1793192671879016448
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,672,662,633,877,784,799.98817532,649.01182468,628.01182468,650.01182468,0.416746807029,-0.00554415989183,0.0600100122437,0.99999999887,-2.95577062404e-05,2.42945146791e-05,-2.82036483001e-05,1793192671895682816
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,672,662,633,877,784,799.40734002,649.59265998,628.59265998,650.59265998,0.417552042884,-0.00554191108509,0.0600006708148,0.999999999192,-2.76817414313e-05,3.1766222669e-06,-2.89634003792e-05,1793192671912349440
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711.172407748,672,662,633,877,784,799.172407748,649.827592252,628.827592252,650.827592252,0.418368207064,-0.00554068545729,0.0599879098556,0.999999998871,-3.02689325656e-05,-2.04760775426e-05,-3.03747388407e-05,1793192671929016320
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,711.749602125,672,662,633,877,784,799.749602125,649.250397875,628.250397875,650.250397875,0.419210029204,-0.00554186209495,0.0599671203704,0.999999997252,-4.33349211505e-05,-5.0080110363e-05,-3.33159009415e-05,1793192671945683200
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.676160392,711.676160392,672,662,633,876.676160392,784,799.676160392,649,628,650.323839608,0.420030149417,-0.00554326805665,0.0599440896006,0.999999995089,-4.58499257336e-05,-8.02431868772e-05,-3.57788890074e-05,1793192671962349824
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.104188567,711.104188567,672,662,633,876.104188567,784,799.104188567,649,628,650.895811433,0.420833641152,-0.00554484973085,0.0599193415158,0.999999992329,-4.02805601834e-05,-0.000110834612179,-3.78754906686e-05,1793192671979016448
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,711.485996308,672,662,633,876.485996308,783.514003692,799,649,628,650.514003692,0.421613753127,-0.00554288468748,0.059888976063,0.999999982852,-3.61960936034e-05,-0.000177273310662,-3.94909987618e-05,1793192671995683072
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.077932645,742,711.922067355,672,661.922067355,633,877,783.077932645,799.077932645,649,628,650,0.42241031479,-0.00554055103701,0.0598674594262,0.999999972187,-3.36311415345e-05,-0.000229869023813,-4.06808868673e-05,1793192672012349696
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.655102232,742,711.344897768,672,661.344897768,633,877,783.655102232,799.655102232,649,628,650,0.423345611095,-0.00554091654056,0.0599106432202,0.999999988286,-3.8681558413e-05,-0.000142639627298,-3.98306749643e-05,1793192672029016320
+166,2.766666667,POSE1_TO_POSE2_PRESS,765,742.230548871,711.230548871,672,661.691646614,632.769451129,877.230548871,784,799.769451129,649,628.230548871,650,0.424275135282,-0.00554329318454,0.0599573940686,0.999999996608,-4.0953501231e-05,-6.04647785354e-05,-3.80922740781e-05,1793192672045683200
+167,2.783333333,POSE1_TO_POSE2_PRESS,765,742.803437213,711.803437213,672,663.410311639,632.196562787,877.803437213,784,799.196562787,649,628.803437213,650,0.425196088657,-0.00554865614877,0.0600094416031,0.999999998521,-3.90997195833e-05,1.42046403133e-05,-3.50350112705e-05,1793192672062349824
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.611269767,743,712,672,663.222539534,632.388730233,878,784,799.388730233,649,629,650,0.426064840148,-0.005554458438,0.0600191044029,0.999999997677,-4.74212631458e-05,3.4382079254e-05,-3.48572412364e-05,1793192672079016704
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.019497558,743,712,672,662.038995115,632.980502442,878,784,799.980502442,649,629,650,0.426906325443,-0.0055604901956,0.060006628761,0.999999997141,-6.10575932604e-05,2.6097206556e-05,-3.61834910845e-05,1793192672095683328
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,672.560269257,662,633,877.439730743,783.439730743,799.439730743,649,628.439730743,650,0.427737763699,-0.00556192229912,0.0599832378519,0.999999997555,-5.79061469271e-05,-5.60623463869e-06,-3.88014499813e-05,1793192672112349952
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,743,712,672.861149099,662,633,877,783.138850901,799,649,628,650,0.428559990379,-0.00556203245421,0.0599609116972,0.999999996915,-5.59908262504e-05,-3.6848461821e-05,-4.0942852137e-05,1793192672129016576
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,743,712,672.28501181,662,633,877,783.71498819,799,649,628,650,0.429354284815,-0.00555847290137,0.0599431099897,0.999999995299,-5.97697656932e-05,-6.4125401931e-05,-4.14448247417e-05,1793192672145683200
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711.709534904,672,661.709534904,633,877,783.709534904,799,649,628.290465096,650,0.430159895408,-0.00555609780808,0.0599256677274,0.999999993412,-5.39931959806e-05,-9.19420865342e-05,-4.25017100917e-05,1793192672162349824
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711.134704547,672,661.134704547,633,877,783.134704547,799,649,628.865295453,650,0.43097658447,-0.00555488230061,0.0599085773629,0.999999991038,-3.8861784815e-05,-0.00012028717924,-4.41018548497e-05,1793192672179016448
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.547473955,711,672.452526045,661.452526045,633,877,783,799.452526045,649,629,650,0.43182696932,-0.00556037978524,0.0599425905532,0.999999996044,-5.157945969e-05,-5.79074395842e-05,-4.35591562064e-05,1793192672195683328
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672.957483881,662.042516119,633,877.042516119,783,799.957483881,649,628.957483881,650,0.432680448772,-0.00556760502602,0.0599890230447,0.99999999618,-7.20029621341e-05,2.56655003859e-05,-4.23792698783e-05,1793192672212350464
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672.38051408,662.61948592,633,877.61948592,783,799.38051408,649,628.38051408,650,0.433443188884,-0.00557072197219,0.059994960373,0.999999995414,-8.21481987832e-05,2.65995369091e-05,-4.14338207837e-05,1793192672229017088
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711.196191329,672.196191329,662.803808671,632.803808671,878,783.196191329,799.196191329,649,628.196191329,650,0.434191922205,-0.00557221404726,0.0599871743711,0.99999999561,-8.3514417472e-05,8.54808618625e-06,-4.1623469959e-05,1793192672245683456
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742,711.772384742,672.772384742,662.227615258,632.227615258,878,783.772384742,799.772384742,649,628.772384742,650,0.434913525973,-0.00557055891753,0.0599528077151,0.999999995657,-6.78765982655e-05,-4.62762673419e-05,-4.40116855028e-05,1793192672262350080
+180,3.000000000,POSE1_TO_POSE2_PRESS,763.654733993,742.345266007,711.654733993,672.654733993,662,632.345266007,877.654733993,783.654733993,799.654733993,649,629,650,0.435622586208,-0.00557241420019,0.0599272493496,0.999999992367,-6.9207238287e-05,-9.15067568719e-05,-4.58629096614e-05,1793192672279016704
+181,3.016666667,POSE1_TO_POSE2_PRESS,763.084015536,742.915984464,711.084015536,672.084015536,662,632.915984464,877.084015536,783.084015536,799.084015536,649,629,650,0.436323455701,-0.00557656171868,0.0599074426403,0.999999987036,-8.16179758857e-05,-0.000130472623614,-4.73634880305e-05,1793192672295683072
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.509526618,743,711.509526618,672,662.509526618,633,877,783.509526618,799,649,629,650,0.43700095796,-0.0055762121585,0.0599106361923,0.999999985839,-0.000102075885726,-0.000124934836728,-4.78976474879e-05,1793192672312349952
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,712,672,662.896654448,633,877,783.896654448,799.103345552,649,629,650,0.437664152187,-0.00557486709914,0.0599148033012,0.999999985117,-0.000115069661158,-0.000119444307728,-4.7510689339e-05,1793192672329016320
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,712,672,662.319625254,633,877,783.319625254,799.680374746,649,629,650,0.438280254038,-0.0055725173136,0.0599052346443,0.999999984062,-8.74846163466e-05,-0.000149382159871,-4.36664360208e-05,1793192672345682944
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.74416735,743,712,672.25583265,661.74416735,632.74416735,876.74416735,783.25583265,799.74416735,649,628.74416735,650,0.43889883705,-0.00557123265429,0.0599049906681,0.999999984235,-7.04087740131e-05,-0.000157523237326,-4.19423405777e-05,1793192672362349824
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.170660602,743,712,672.829339398,661.170660602,632.170660602,876.170660602,783.829339398,799.170660602,649,628.170660602,650,0.43952050094,-0.0055712705903,0.059916325393,0.999999987274,-6.63824857091e-05,-0.000138598686963,-4.28509010206e-05,1793192672379016960
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.829686722,743,711.585156639,673,661,632,876.414843361,783.585156639,799,649,628,650,0.440109575531,-0.0055769225831,0.0599249537941,0.999999988016,-7.47817426394e-05,-0.000128188681328,-4.40788585239e-05,1793192672395683584
+188,3.133333333,POSE1_TO_POSE2_PRESS,764.99467035,742.99467035,711,673,660.99467035,632,877.00532965,783,799,649,628.00532965,650,0.440683787768,-0.00558489990521,0.0599319409715,0.999999987605,-8.83685181608e-05,-0.000122124871094,-4.54606893574e-05,1793192672412350208
+189,3.150000000,POSE1_TO_POSE2_PRESS,764.414981264,742.414981264,711,673,660.414981264,632,877.585018736,783,799,649,628.585018736,650,0.441144158986,-0.00558716617603,0.0598856132012,0.999999975263,-9.3721325613e-05,-0.000195713499071,-4.88431843249e-05,1793192672429016832
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.163073633,711,672.836926367,659.836926367,632,877.836926367,783,799,649,629,650,0.441592483959,-0.00558782885389,0.0598391128906,0.999999957702,-9.7929896827e-05,-0.000268782155339,-5.25445949975e-05,1793192672445683456
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.737011314,711,672.262988686,659.262988686,632,877.262988686,783,799,649,629,650,0.442010458511,-0.00558445127952,0.0597921778546,0.999999935463,-9.92555665491e-05,-0.000340540759867,-5.70495149683e-05,1793192672462349824
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,743,711,672.311973682,659,632,877,783,799.311973682,649,628.688026318,650,0.442430457866,-0.00558422645408,0.0597611597324,0.999999919727,-0.000100667870661,-0.000383253950345,-5.93982948307e-05,1793192672479016192
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711,672.887802657,659,632,877,783,799.887802657,649,628.112197343,650,0.442852169697,-0.00558666810212,0.0597436035241,0.999999912425,-0.000102153447005,-0.000401401648088,-5.99234945592e-05,1793192672495682816
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.523789394,711.476210606,673,659,632,877,783.476210606,800,649,628.476210606,650,0.443256180064,-0.00558978463406,0.059744856405,0.99999991513,-8.26861082404e-05,-0.000400216798178,-5.22391456804e-05,1793192672512349696
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.06612248,712,673,659.06612248,631.93387752,877,783.93387752,800,649,628.93387752,650,0.443651275339,-0.00559176749806,0.0597506370837,0.999999919728,-5.83787630257e-05,-0.000394035855882,-4.32740442122e-05,1793192672529016320
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.644111822,712,673,659.644111822,631.355888178,877,783.355888178,800,649,628.355888178,650,0.444010518108,-0.00558371013107,0.0597562324351,0.999999924301,-3.58559994863e-05,-0.000385395701572,-3.9773693538e-05,1793192672545682944
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711.77866322,673,660,631,877,783,800,649,628,650,0.444342218657,-0.00557522885815,0.0597561620998,0.999999923749,-4.03478622403e-05,-0.000386500648813,-3.86128485572e-05,1793192672562349568
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711.202663146,673,660,631,877,783,800,649,628,650,0.44462978636,-0.0055660683321,0.0597470132407,0.999999913975,-8.8127139217e-05,-0.000403220849585,-4.12007563446e-05,1793192672579016192
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659.620160213,631,877,783,799.620160213,649,628,650,0.444884205328,-0.00556513630403,0.0597295743839,0.999999898025,-0.000109822172731,-0.000435872209025,-4.36333959168e-05,1793192672595682816
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,673,659.034127198,631,877,783,799.034127198,649,628,650,0.445120629775,-0.00556867105458,0.0597076353621,0.99999987821,-0.00011735757141,-0.00047717168176,-4.59817494994e-05,1793192672612349440
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877.547034274,783,799.547034274,649,628,650,0.445333108079,-0.00557586232416,0.0596941364835,0.999999866159,-0.000120938332486,-0.000500838637694,-4.70851212618e-05,1793192672629016064
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877.873146558,783,800,649,628,650,0.445540383052,-0.00558208864041,0.0596841013953,0.999999857142,-0.000122976687693,-0.00051795668423,-4.81005714836e-05,1793192672645682944
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877.297014413,783,800,649,628,650,0.445734473641,-0.00558409658211,0.0596844856478,0.999999858551,-0.000120418358244,-0.000515741935448,-4.90772832728e-05,1793192672662349568
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877,782.721255773,799.721255773,649,628,650,0.445912855038,-0.00558672530469,0.0596857196661,0.99999985991,-0.000119704425457,-0.000513219768515,-4.95576222242e-05,1793192672679016192
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877,782.145894621,799.145894621,649,628,650,0.446074519979,-0.00559001461163,0.059687857936,0.999999861221,-0.000120953149673,-0.000510370472339,-4.95097615341e-05,1793192672695682816
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,673,658.560210245,631,877.439789755,782,799.439789755,649,628,650,0.446215985823,-0.00559063363191,0.0596893881768,0.99999986301,-0.000118662247612,-0.000507374519184,-4.97007737765e-05,1793192672712349440
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,673,658.028545125,631,877.971454875,782,800,649,628,650,0.446348877515,-0.00559036386203,0.0596905348517,0.999999864748,-0.000115354233679,-0.000504680346479,-4.99573255182e-05,1793192672729016064
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711,673,658.608874231,631,877.391125769,782,800,649,628,650,0.446448670269,-0.00559044853695,0.0596882598526,0.999999862639,-0.000115628866383,-0.000508782712225,-4.99121647098e-05,1793192672745683200
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742.813096892,711,673,658.813096892,630.813096892,877.186903108,782,800,649,628,650,0.446540036866,-0.00559118768425,0.0596857127323,0.999999860168,-0.000116675320672,-0.000513375458792,-4.99687724827e-05,1793192672762349568
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.239823173,711,673,658.239823173,630.239823173,877.760176827,782,800,649,628,650,0.446613984695,-0.00559327977262,0.0596826030769,0.999999856949,-0.000119317303108,-0.000518981931905,-5.02357587247e-05,1793192672779016192
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.342279847,711,673,658.342279847,630,877.657720153,782,800,649,628,650,0.446677808963,-0.0055936351934,0.0596796599183,0.999999855115,-0.000118273830458,-0.000522727692226,-5.03738188767e-05,1793192672795682816
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.930733109,711,673,658.930733109,630,877.069266891,782,800,649,628,650,0.446734352203,-0.00559274157388,0.0596768365067,0.999999854281,-0.000114579716882,-0.000525135197235,-5.0419153247e-05,1793192672812349440
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.489770148,711,673,658.489770148,630,877.510229852,782,800.510229852,649,628,650,0.446777087441,-0.00559212143365,0.0596745679983,0.999999852628,-0.000113922391113,-0.000528443922172,-5.01247719447e-05,1793192672829016320
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.088573019,711.088573019,673,658,630.088573019,877.911426981,782,800.911426981,649,628,650,0.446815592011,-0.00559179755355,0.0596727585255,0.999999851042,-0.000113825125563,-0.000531493036419,-4.9755757648e-05,1793192672845682944
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.667145169,711.667145169,673,658,630.667145169,877.332854831,782,800.332854831,649,628,650,0.446840883156,-0.00559291078214,0.0596730789496,0.999999850477,-0.00011458484109,-0.00053244078559,-4.92245955872e-05,1793192672862349568
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,711.755597682,673,658,631,877.244402318,782,800,649,628,650,0.446860722736,-0.00559298065351,0.0596717749173,0.999999848968,-0.000115150824406,-0.000535163764591,-4.90316657664e-05,1793192672879016192
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711.180121901,673,658,631,877.819878099,782,800,649,628,650,0.446873177488,-0.00559163716713,0.059668270356,0.999999846163,-0.000115454373199,-0.000540291514034,-4.9296913787e-05,1793192672895683584
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.596263094,743,711,672.596263094,658,631,878,782,799.596263094,649,628,650,0.446883512333,-0.0055913467785,0.0596663199532,0.999999845377,-0.000115277006563,-0.000541794393828,-4.915854715e-05,1793192672912350208
+219,3.650000000,POSE1_TO_POSE2_PRESS,763.008585024,743,711,672.008585024,658,631,878,782,799.008585024,649,628,650,0.446892881355,-0.00559153617765,0.0596650776199,0.999999845519,-0.000114880536486,-0.000541645795185,-4.88362950387e-05,1793192672929016320
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.572368993,743,711.572368993,672.572368993,658,630.427631007,877.427631007,782,799.572368993,649,628.572368993,650.572368993,0.446898187271,-0.00558976435461,0.0596648477687,0.999999845512,-0.000113620002702,-0.000541872598882,-4.9402047886e-05,1793192672945683712
+221,3.683333333,POSE1_TO_POSE2_PRESS,763.847773259,743,711.847773259,673,658.152226741,630.152226741,877,782,800,649,628.847773259,650.847773259,0.44690184167,-0.00558888874266,0.0596642096701,0.999999844854,-0.000113835084327,-0.000543005427452,-4.97824956214e-05,1793192672962350592
+222,3.700000000,POSE1_TO_POSE2_PRESS,763.270696979,743,711.270696979,673,658.729303021,630.729303021,877,782,800,649,628.270696979,650.270696979,0.44690105496,-0.00559059551159,0.0596623903026,0.999999842369,-0.000118204211087,-0.000546651348104,-4.96090341573e-05,1793192672979016960
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.303288813,743,711,673,659,631,877.303288813,782,799.696711187,649,628,650,0.446901686045,-0.0055908234775,0.0596619139711,0.999999841671,-0.000119204658834,-0.000547713530498,-4.95775988095e-05,1793192672995683584
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.874544113,743,711,673,659,631,877.874544113,782,799.125455887,649,628,650,0.446903569803,-0.00558974486835,0.0596626242597,0.999999842568,-0.000117228758976,-0.000546492888377,-4.96716485841e-05,1793192673012349952
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711.461204461,673,659,631,878,782,799.461204461,649,628.461204461,650,0.446904857418,-0.00558913930058,0.0596628084913,0.999999842818,-0.000115897420714,-0.000546346080285,-4.93725838006e-05,1793192673029016320
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658.948750371,630.948750371,877.948750371,782,799.948750371,649,628.948750371,650,0.446905891737,-0.00558884975537,0.0596628108705,0.999999842843,-0.000115061477215,-0.000546512951143,-4.8969876103e-05,1793192673045683200
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658.368514955,630.368514955,877.368514955,782,799.368514955,649,628.368514955,650,0.446906043223,-0.00559044806075,0.0596624642661,0.999999842424,-0.000117466599825,-0.000546798346175,-4.86392812071e-05,1793192673062350080
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,877,782,799.210098225,649.210098225,628,650,0.446906282889,-0.00559086213981,0.0596621328904,0.99999984215,-0.000118280818132,-0.000547136185765,-4.84971792327e-05,1793192673079016704
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,877,782,799.785887751,649.785887751,628,650,0.446906676038,-0.00558921498638,0.0596618280215,0.999999842135,-0.000116325951195,-0.000547565308923,-4.86831629711e-05,1793192673095683328
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711.631924149,673,658,630.368075851,877,782,799.631924149,649.631924149,628,650.368075851,0.446907599032,-0.00558798293332,0.0596623221227,0.999999842827,-0.000115093161137,-0.000546564359144,-4.86612553689e-05,1793192673112350208
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711.045948125,673,658,630.954051875,877,782,799.045948125,649.045948125,628,650.954051875,0.446908835693,-0.0055869966189,0.0596632892125,0.999999843934,-0.000114287839224,-0.000544716809011,-4.85162764995e-05,1793192673129016832
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,673,658,630.465688452,877,782,799,649,628,650.465688452,0.4469088647,-0.00558825570068,0.0596624919042,0.999999843285,-0.000115924321212,-0.000545571390164,-4.84143623449e-05,1793192673145683456
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711,673,658,630,877,782,799,649.113946564,628,650,0.446908714226,-0.0055893354486,0.0596616248998,0.999999842608,-0.000117051884096,-0.000546576677734,-4.8330928584e-05,1793192673162349824
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673,658,630,877,782,799,649.693016964,628,650,0.44690825055,-0.00558890331328,0.0596610861957,0.999999842445,-0.000115253999495,-0.000547258659798,-4.83079739731e-05,1793192673179016704
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673.26952824,658,630,877,782,799.26952824,649.73047176,628.26952824,650,0.446907861527,-0.00558800795869,0.0596608721477,0.999999842176,-0.000114196736715,-0.000547955071995,-4.85089935023e-05,1793192673195683328
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673.843152256,658,630,877,782,799.843152256,649.156847744,628.843152256,650,0.446907556731,-0.005586589976,0.0596610243934,0.999999841788,-0.000113975081752,-0.000548667765109,-4.8962712299e-05,1793192673212349952
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.569116175,711,673.569116175,658,630,877.430883825,782,800,649,628.569116175,650,0.44690814884,-0.0055873426803,0.0596611148042,0.999999842216,-0.000114296856701,-0.000547864069189,-4.84693744034e-05,1793192673229016832
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742,711,673,658,630.023307408,878,782,800,649,628,650,0.446909050136,-0.00558885895286,0.0596611756619,0.999999842912,-0.000114866256594,-0.000546544477886,-4.76432032508e-05,1793192673245683200
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742,711,673,658,630.601050885,878,782,800,649,628,650,0.446909277065,-0.00558910641253,0.059661087071,0.99999984275,-0.000116461226557,-0.000546527889504,-4.73779009265e-05,1793192673262349824
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.177623146,711,673,658,630.822376854,877.822376854,782,800,649,628,650,0.446909454889,-0.00558916823575,0.0596611538898,0.999999842639,-0.000117486139234,-0.000546522903168,-4.72487493985e-05,1793192673279016704
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.751582,711,673,658,630.248418,877.248418,782,800,649,628,650,0.446909523144,-0.00558881584291,0.059661567479,0.999999842648,-0.000117239066355,-0.000546543804822,-4.74233951322e-05,1793192673295683328
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.666050646,743,711,673,658,630.333949354,877.333949354,782,799.666050646,649,628,650,0.44691076257,-0.00558783452637,0.0596619621353,0.99999984334,-0.000115877581561,-0.000545545015611,-4.76833798242e-05,1793192673312349952
+243,4.050000000,POSE1_TO_POSE2_PRESS,763.07726685,743,711,673,658,630.92273315,877.92273315,782,799.07726685,649,628,650,0.446912895709,-0.00558637328253,0.059662342344,0.999999844546,-0.000113665696755,-0.000543768107352,-4.80084860762e-05,1793192673329016576
+244,4.066666667,POSE1_TO_POSE2_PRESS,763.503007646,743,711,673,658,630.496992354,878,782,799,649,628,650,0.446911527956,-0.0055864139468,0.059661290794,0.999999843375,-0.000113757123263,-0.000545886753444,-4.81259098153e-05,1793192673345683200
+245,4.083333333,HOLD_POSE2,764,743,711,673,658,631,877,782,801,650,628,650,0.446909521052,-0.00558605369195,0.0596606612801,0.999999842078,-0.000111373998513,-0.00054878215792,-4.7734546385e-05,1793192673388933632
+246,4.100000000,HOLD_POSE2,763.426621557,742.426621557,711,673,657.426621557,631,877,782,800.426621557,649.426621557,628,650.573378443,0.446910322421,-0.00558624109249,0.0596611961415,0.999999842945,-0.00011235955068,-0.000547000453127,-4.77044503724e-05,1793192673405601024
+247,4.116666667,HOLD_POSE2,763,742.151814445,711,673,657.151814445,630.848185555,877,782,800,649,628,650.848185555,0.446911273281,-0.00558660341983,0.0596618878788,0.99999984378,-0.000112937384829,-0.000545360795519,-4.7618854252e-05,1793192673422268160
+248,4.133333333,HOLD_POSE2,763,742.744952884,711,673,657.744952884,630.255047116,877,782,800,649,628,650.255047116,0.446912658709,-0.00558747425872,0.0596630356535,0.999999844528,-0.000112329984533,-0.000544134068104,-4.73719195298e-05,1793192673438934016
+249,4.150000000,HOLD_POSE2,763.328952149,743,711,673,658,630.328952149,877.328952149,782,799.671047851,649,628,650.328952149,0.446912493726,-0.00558759524135,0.0596627094135,0.99999984414,-0.000112127939351,-0.000544889078946,-4.73582534021e-05,1793192673455600384
+250,4.166666667,HOLD_POSE2,763.906057029,743,711,673,658,630.906057029,877.906057029,782,799.093942971,649,628,650.906057029,0.446911159153,-0.00558715055235,0.0596612712162,0.999999842892,-0.000112231683295,-0.000547139060362,-4.75205588972e-05,1793192673472267008
+251,4.183333333,HOLD_POSE2,764,743,711,673,658,631,878,782,799,649,628,651,0.446912419198,-0.00558771097974,0.0596621874383,0.999999843553,-0.000112818755542,-0.000545827618171,-4.73149606223e-05,1793192673488933632
+252,4.200000000,HOLD_POSE2,764,743,711.054253015,673,658,631,877.945746985,782,799.054253015,649,628,651,0.446914053868,-0.00558816785433,0.0596634510287,0.999999844495,-0.000113338023495,-0.000544011241201,-4.70707970499e-05,1793192673505600256
+253,4.216666667,HOLD_POSE2,764,743,711.630039537,673,658,631,877.369960463,782,799.630039537,649,628,651,0.446914440229,-0.00558575062546,0.0596636532469,0.999999844616,-0.000112302106199,-0.000543997549961,-4.71435506017e-05,1793192673522266880
+254,4.233333333,HOLD_POSE2,764,742.787690133,711.787690133,673,658,630.787690133,877,782,800,649.212309867,628.212309867,650.787690133,0.446914280678,-0.00558453087588,0.0596632644783,0.999999844454,-0.000111243638006,-0.000544498087834,-4.73039443277e-05,1793192673538933504
+255,4.250000000,HOLD_POSE2,764,742.193765596,711.193765596,673,658,630.193765596,877,782,800,649.806234404,628.806234404,650.193765596,0.446913139881,-0.0055854635261,0.0596618134453,0.999999843784,-0.000110144635994,-0.000545922922712,-4.76218661746e-05,1793192673555600384
+256,4.266666667,HOLD_POSE2,764,742,711,673,658,630,877.389003533,782,799.610996467,650,628.610996467,650,0.446913085154,-0.00558607948378,0.0596618016715,0.99999984372,-0.000111517426804,-0.000545771390569,-4.75146127581e-05,1793192673572267264
+257,4.283333333,HOLD_POSE2,764,742,711,673,658,630,877.966371023,782,799.033628977,650,628.033628977,650,0.446913556324,-0.00558654209215,0.0596624868181,0.999999843944,-0.000114087113272,-0.00054485654741,-4.72014802749e-05,1793192673588933632
+258,4.300000000,HOLD_POSE2,764,742.540058134,711,673,658,630,877.459941866,782,799.540058134,649.459941866,628,650,0.446912437548,-0.00558598943037,0.0596615528533,0.99999984319,-0.000113141919826,-0.000546415703633,-4.74176158522e-05,1793192673605600512
+259,4.316666667,HOLD_POSE2,764,743,711,673,658,630,877,782,800,649,628,650,0.446911349478,-0.00558539031851,0.0596606604252,0.999999842509,-0.000112080467212,-0.000547863599421,-4.75973335889e-05,1793192673622267136
+260,4.333333333,HOLD_POSE2,764,743,711,673,658,630,877,782,800,649,628,650,0.446910784239,-0.00558485741988,0.0596603420248,0.99999984238,-0.000111428757241,-0.000548240740203,-4.74968672002e-05,1793192673638933504
+261,4.350000000,HOLD_POSE2,764,743,711.291720463,672.708279537,658,630,877,781.708279537,800,649,628.291720463,650,0.446911717303,-0.00558555678024,0.0596609748253,0.99999984289,-0.000112181970658,-0.000547180769927,-4.72072839951e-05,1793192673655599872
+262,4.366666667,HOLD_POSE2,764,743,711.871704176,672.128295824,658,630,877,781.128295824,800,649,628.871704176,650,0.446914130914,-0.00558747379597,0.0596625475538,0.999999844024,-0.00011432345759,-0.000544700719939,-4.67308252246e-05,1793192673672266752
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,658,630,879,782,799,649,629,651,0.446915200179,-0.00558636928021,0.0596641997063,0.999999845304,-0.000111673953414,-0.000542838987288,-4.74055885788e-05,1793192673704961792
+264,4.400000000,POSE2_TO_POSE3_RETREAT,763.426379558,743,711.426379558,672.426379558,658,630,878.426379558,782,799.573620442,649,628.426379558,650.426379558,0.446916517537,-0.00558727062393,0.0596645491091,0.999999845469,-0.000115239009077,-0.000541794406998,-4.7345485616e-05,1793192673721628672
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763,743,711,672,658,630,877.847655433,782,799.847655433,649,628.152344567,650,0.446916857273,-0.00558770628618,0.0596643858909,0.999999845332,-0.000117015204738,-0.000541669894967,-4.72975429729e-05,1793192673738295296
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763,743,711,672,658,630,877.254151946,782,799.254151946,649,628.745848054,650,0.446914366019,-0.00558679342969,0.0596627382266,0.999999844346,-0.000113611226056,-0.000544209713487,-4.72848141324e-05,1793192673754960896
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.32756688,742.67243312,711,672,658,630,877,782,799.32756688,649,628.67243312,650,0.446914090881,-0.00558673498624,0.0596628744647,0.999999844384,-0.000112844153115,-0.000544297944376,-4.72995296507e-05,1793192673771627264
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.900459736,742.099540264,711,672,658,630,877,782,799.900459736,649,628.099540264,650,0.446915475467,-0.00558731644181,0.059664346728,0.999999845195,-0.000114051948763,-0.000542550097769,-4.73347991835e-05,1793192673788294144
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.4794908,711,672.4794908,658,630,877,782,800,649,628,650,0.446913338348,-0.00558604482754,0.0596627041214,0.999999844138,-0.000112258701205,-0.000544866818917,-4.73498690126e-05,1793192673804960768
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630.060420888,877.060420888,782,800,649,628,650,0.44690972915,-0.00558463541201,0.0596601952929,0.999999842475,-0.000110186740313,-0.000548329896363,-4.7367587493e-05,1793192673821627392
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630.646644061,877.646644061,782,800,649,628,650,0.446899754148,-0.00558541790946,0.0596558485081,0.999999839053,-0.000111181212549,-0.000554330810705,-4.7445320718e-05,1793192673838294016
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.231370464,743,711,673,658,631,877.768629536,782,799.768629536,649,628,650,0.446878959569,-0.00558484734372,0.0596456993897,0.999999830584,-0.000111218814308,-0.000569343610923,-4.80575551759e-05,1793192673854960640
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.813825595,743,711,673,658,631,877.186174405,782,799.186174405,649,628,650,0.446841747217,-0.00558222362156,0.0596267457324,0.999999813927,-0.000109804447731,-0.000598031167608,-4.94808489895e-05,1793192673871627264
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.609728476,743,711,672.609728476,658,631,877,782,799.390271524,649,628,650,0.446788578951,-0.00558128494749,0.0596054144028,0.999999795794,-0.000110481974556,-0.000627397778983,-5.07769740293e-05,1793192673888293888
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.036105644,743,711,672.036105644,658,631,877,782,799.963894356,649,628,650,0.446727914521,-0.00558113791631,0.0595829660305,0.99999977648,-0.000112142282072,-0.000657083415507,-5.20133547116e-05,1793192673904960768
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.53925298,658,631,877,782,800,649,628,650,0.446653251585,-0.00557572050633,0.0595680025643,0.999999764692,-0.00010763626978,-0.000675443039337,-5.29793126497e-05,1793192673921627392
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,658.118440939,630.881559061,877,782,800,649,628.118440939,650,0.446575451597,-0.00557041945994,0.0595572235386,0.999999756221,-0.00010321425534,-0.000688494611678,-5.36583981825e-05,1793192673938294016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,658.712539396,630.287460604,877,782,800,649,628.712539396,650,0.446488829434,-0.0055670074566,0.0595612300576,0.999999760063,-0.00010079299166,-0.000683284402369,-5.32583564671e-05,1793192673954960640
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,658.7047632,630,877,782,800.2952368,649,628.7047632,650,0.446388754156,-0.00556557936646,0.0595645467549,0.999999762845,-0.00010018530704,-0.000679398155062,-5.18756812374e-05,1793192673971627264
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,658.132753856,630,877,782,800.867246144,649,628.132753856,650,0.446276067131,-0.0055660111148,0.0595672167718,0.999999764645,-0.00010127777949,-0.000676753068834,-4.95718269073e-05,1793192673988294144
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,658.444391941,630,877,782,800.111216118,649,628,650,0.446135093811,-0.00556060790828,0.059569077921,0.99999976523,-9.539666007e-05,-0.000676859340036,-4.79673578449e-05,1793192674004961024
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.976454431,658.976454431,630,877,782,799.023545569,649,628,650,0.445984294062,-0.00555342177318,0.0595705137069,0.999999765285,-8.7420428032e-05,-0.000677950317571,-4.65854358343e-05,1793192674021627648
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.386340843,658.386340843,630,877,782,799.613659157,649,628,650,0.445802751601,-0.0055457673497,0.0595675964809,0.999999762728,-7.97444718636e-05,-0.000682727164234,-4.54724264171e-05,1793192674038294016
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.799904256,711,672,658,630,877,782,800,649,628,650,0.445604856351,-0.0055384403026,0.0595658992138,0.999999761101,-7.25511876021e-05,-0.000686002212888,-4.39825903752e-05,1793192674054960384
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.220439108,711,672,658,630,877,782,800,649,628,650,0.445375957225,-0.00553173394215,0.0595665149151,0.999999761338,-6.62730209075e-05,-0.000686429943044,-4.17783140189e-05,1793192674071627264
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.355804326,658,630.355804326,877,782,799.644195674,649,628,650,0.445129185128,-0.00552339097057,0.0595676591085,0.999999762514,-5.85794766743e-05,-0.000685551823279,-3.94893702837e-05,1793192674088293888
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.930069707,658,630.930069707,877,782,799.069930293,649,628,650,0.444871439145,-0.00551404313199,0.0595691277919,0.999999764219,-5.00169011607e-05,-0.00068387192195,-3.71484412285e-05,1793192674104960768
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,658,631,877,782,799,649,628.514818463,650,0.444597593311,-0.00550387490447,0.059579954534,0.999999781325,-3.80118764396e-05,-0.000659334343548,-3.43977082255e-05,1793192674121627648
+289,4.816666667,POSE2_TO_POSE3_RETREAT,763.899918309,742.100081691,711,672.899918309,658.100081691,631,877,782,799,649,629,650,0.444311350968,-0.00549391433331,0.0595923459446,0.999999798993,-2.57536776377e-05,-0.000632745900835,-3.13537923033e-05,1793192674138294016
+290,4.833333333,POSE2_TO_POSE3_RETREAT,763.319165342,742.680834658,711,672.319165342,658.680834658,631,877,782,799,649,629,650,0.443976292352,-0.00548549742386,0.0596060201614,0.99999981254,-1.45720217258e-05,-0.000611529584019,-2.71746874608e-05,1793192674154960640
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.260410132,742.739589868,711,672.260410132,658.739589868,631,877,782,799,649,629,650,0.443615546524,-0.0054763086692,0.0596216098921,0.999999827198,-3.12836957908e-06,-0.000587432887794,-2.27428611372e-05,1793192674171627520
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.838548903,742.161451097,711,672.838548903,658.161451097,631,877,782,799,649,629,650,0.443223459528,-0.00546617818007,0.0596395367571,0.9999998431,8.63494575046e-06,-0.000559821817121,-1.8002687413e-05,1793192674188293888
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.586598209,742,711,673,658.413401791,631,877,782.413401791,799.413401791,649,629,650,0.442795658804,-0.00545841694227,0.0596495140043,0.999999849824,1.96927707946e-05,-0.000547540061925,-1.27923250844e-05,1793192674204960512
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.013018493,742,711,673,658.986981507,631,877,782.986981507,799.986981507,649,629,650,0.442354020338,-0.0054515737021,0.059656411068,0.999999853061,3.04772441354e-05,-0.000541197851001,-7.39978214894e-06,1793192674221627392
+295,4.916666667,POSE2_TO_POSE3_RETREAT,763,742.556601403,711,672.443398597,659,631.556601403,876.443398597,783,799.443398597,649,629,650.556601403,0.441878297271,-0.00544231690757,0.0596506022651,0.999999848201,3.96698531319e-05,-0.000549544672074,-5.04370218026e-06,1793192674238294272
+296,4.933333333,POSE2_TO_POSE3_RETREAT,763,743,711.132895893,672,659,632,876.132895893,783,799,649,628.867104107,650.867104107,0.441384832405,-0.00543738082294,0.0596500864559,0.999999847144,4.46032764423e-05,-0.000551105493484,-2.46126048507e-06,1793192674254960896
+297,4.950000000,POSE2_TO_POSE3_RETREAT,763,743,711.732977603,672,659,632,876.732977603,783,799,649,628.267022397,650.267022397,0.440831780387,-0.00544783092915,0.0596692151184,0.999999860211,3.46938048384e-05,-0.000527611378544,1.16484296286e-06,1793192674271627264
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763,742.680150762,711.680150762,672.319849238,659.319849238,632,877,783,799,649,628,650,0.4402754422,-0.00544844328477,0.0596990483255,0.999999882177,3.18767463172e-05,-0.000484362333346,4.8496109219e-06,1793192674288293888
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763,742.103869927,711.103869927,672.896130073,659.896130073,632,877,783,799,649,628,650,0.439716469344,-0.00544116845657,0.0597374636514,0.99999990893,3.47458618675e-05,-0.000425275234201,8.58141215294e-06,1793192674304960512
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.466981498,742.466981498,711.466981498,673,660.933962996,632,877.466981498,783,799,649,628.466981498,650,0.439152780369,-0.00543071188885,0.0597868840566,0.999999939234,4.66801073323e-05,-0.000345170494535,1.45137719687e-05,1793192674321627136
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.961690825,712,672.961690825,662,632,877.92338165,783,799,649,628.961690825,650,0.438581237212,-0.00542014286253,0.0598358643047,0.999999962156,6.94391977332e-05,-0.000265388174131,2.08411173662e-05,1793192674338293760
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.366067414,712,672.366067414,662,632,876.732134827,783,799,649,628.366067414,650,0.437910517687,-0.00541811508409,0.0598432398445,0.999999942156,0.000220679778262,-0.00025752445063,2.58758160111e-05,1793192674354960640
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,711.776628516,672.223371484,661.553257032,632,876,783,799,649.223371484,628.223371484,650,0.437194001254,-0.00541500733989,0.0598271921952,0.999999910926,0.000308754030877,-0.000286289403873,2.92928092775e-05,1793192674371627520
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.197051949,672.802948051,660.394103898,632,876,783,799,649.802948051,628.802948051,650,0.436404453643,-0.00541017740063,0.0597737921546,0.999999885971,0.000296098469768,-0.000373465225454,3.01300873627e-05,1793192674388294144
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.37904682,632,876.37904682,782.62095318,799,649.62095318,628.62095318,650,0.435635234074,-0.0054107331674,0.0597543716568,0.999999897677,0.000224691254002,-0.000392312934489,1.5838395681e-05,1793192674404960768
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,673,660.953354034,632,876.953354034,782.046645966,799,649.046645966,628.046645966,650,0.434876486221,-0.00541406330157,0.0597524552224,0.99999992174,0.000123018986474,-0.000375962416074,-6.24676236895e-06,1793192674421627392
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742,711.523719306,673,662.047438613,632,877,782.523719306,799.523719306,649,628.523719306,650,0.434117976592,-0.00542197310171,0.0597704115944,0.999999936782,0.000108105913127,-0.000338745172917,-5.7381917409e-07,1793192674438294272
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742,711.901821622,672.901821622,662.803643244,632,876.901821622,783.098178378,799.901821622,649,629,650,0.433348762695,-0.00542783940827,0.0597873962851,0.999999947411,0.000103900196363,-0.000307134564151,7.0932256923e-06,1793192674454961152
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742,711.304791208,672.304791208,661.609582417,632,876.304791208,783.695208792,799.304791208,649,629,650,0.432525052829,-0.00542126549326,0.0597905174289,0.999999944191,0.000115129410608,-0.000313384512844,1.24242323456e-05,1793192674471627520
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.71712237,632,876,783.71712237,798.71712237,648.71712237,629,650,0.431699359953,-0.00541410511942,0.0597996369191,0.9999999449,0.000139251355088,-0.000300900711812,1.63846713612e-05,1793192674488293888
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.139217128,632,876,783.139217128,798.139217128,648.139217128,629,650,0.430871598793,-0.00540633309672,0.0598150123931,0.999999948041,0.000176819791472,-0.000268878520969,1.89156755988e-05,1793192674504960512
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.872473644,632,876,783,798,648.436236822,628.563763178,650,0.429990171602,-0.0054052283284,0.0598238688085,0.999999949274,0.000180023763107,-0.000261967067746,2.03987890543e-05,1793192674521627392
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,711.011232811,672,661.988767189,632,876,783,798.011232811,649,628.011232811,650,0.429091289486,-0.00540621222741,0.059829665434,0.999999949965,0.000172077864701,-0.000264569174043,2.14799413516e-05,1793192674538294016
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.6027597,672,661.3972403,632,876,783,798.6027597,649,628.6027597,650,0.428170496392,-0.00540579212018,0.0597842677073,0.999999928148,0.000151508667152,-0.000346971353346,1.89751093647e-05,1793192674554960896
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.810600311,672,661,632,876,783,799,648.810600311,629,650,0.427270088105,-0.00540577272971,0.0597571332793,0.999999913362,0.000144731746729,-0.000389893671675,1.76513897535e-05,1793192674571627520
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.233952161,672,661,632,876,783,799,648.233952161,629,650,0.426411358847,-0.00540657264871,0.0597673401736,0.999999924035,0.000166154654315,-0.000352095077915,1.87425844517e-05,1793192674588294144
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.657718537,742,711.342281463,672,661.342281463,632,876.342281463,783,799,648.342281463,628.657718537,650,0.42553099997,-0.00540838335305,0.0597909083874,0.999999933745,0.000174349831717,-0.000318818705985,2.15831724532e-05,1793192674604961024
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.081767926,742,711.918232074,672,661.918232074,632,876.918232074,783,799,648.918232074,628.081767926,650,0.424635874991,-0.00541088410159,0.0598235981235,0.999999942965,0.000173514684462,-0.000288629571873,2.56180384757e-05,1793192674621627648
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.490239967,742,711.509760033,672,661.509760033,632,877,783.490239967,799,649,628.490239967,650,0.423730584134,-0.00540844129608,0.0598353916971,0.999999948699,0.000166473913724,-0.000272294201028,2.7280094829e-05,1793192674638294272
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.935602174,661.064397826,632,877,783.935602174,799,649,629,650,0.422826377023,-0.00540518276144,0.0598434096377,0.999999953189,0.000161485215112,-0.000258339421261,2.83733145287e-05,1793192674654960896
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.338252757,661.661747243,632,877,783.338252757,799,649,629,650,0.421945060002,-0.00540194273302,0.0598487947159,0.999999953009,0.000181976939173,-0.000245115700064,2.80080724752e-05,1793192674671627520
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.24729424,662,632.24729424,877,783,799,649,629,650,0.421028747432,-0.00539807655983,0.0598255028372,0.999999940546,0.000191671047094,-0.000285407594578,2.67082590685e-05,1793192674688293888
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.817433163,662,632.817433163,877,783,799,649,629,650,0.42006674776,-0.00539339294901,0.0597647729542,0.999999903937,0.00018726877887,-0.000395564565326,2.4188354737e-05,1793192674704960512
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742.389975748,711,672,660.830072755,633,876.610024252,783,799,648.610024252,628.610024252,650,0.41917046264,-0.00539467297458,0.0597357496094,0.999999892037,0.000180644448856,-0.000427588615718,2.14667781697e-05,1793192674721627392
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742.963650552,711,672,659.109048345,633,876.036349448,783,799,648.036349448,628.036349448,650,0.418305132582,-0.00539876218632,0.0597216617126,0.999999895483,0.000172973412009,-0.00042280795291,1.86502036264e-05,1793192674738294272
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.439906192,742.439906192,711.560093808,672.560093808,660.680281423,632.439906192,876,783,799,648,628.560093808,650.560093808,0.417469459329,-0.00539717413427,0.0597639572718,0.999999917506,0.000179937244862,-0.000363480010989,2.21808235368e-05,1793192674754960896
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763,742,711.847054191,672.694108382,661.847054191,632.152945809,876,783,799,648.152945809,629,651,0.41663893619,-0.00539570654814,0.0598045249682,0.999999933856,0.000187363357739,-0.000310644417788,2.61261831004e-05,1793192674771627264
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763,742,711.268482477,671.536964954,661.268482477,632.731517523,876,783,799,648.731517523,629,651,0.415817162009,-0.00539564298542,0.0598296696957,0.999999939923,0.000193320814244,-0.000286144994644,3.00307993959e-05,1793192674788293888
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.308246687,742,711,671,660.691753313,633,875.691753313,783,799,649,629,651,0.415015107458,-0.00539638831091,0.0598422255494,0.999999944095,0.000192023911917,-0.000271932814584,3.14648840305e-05,1793192674804960512
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.883380499,742,711,671,660.116619501,633,875.116619501,783,799,649,629,651,0.414230126664,-0.00539783399055,0.0598438816632,0.999999946972,0.00018444601737,-0.00026662756934,3.07599249116e-05,1793192674821627136
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.914269694,632.542865153,875.457134847,783.457134847,799,649,628.542865153,651,0.413428599076,-0.00539644479713,0.0598324418231,0.999999939731,0.000193178421285,-0.000286883669647,3.03088774764e-05,1793192674838293760
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.031544616,661.968455384,632.031544616,876.031544616,783.968455384,799.031544616,649,628,650.968455384,0.412623033839,-0.00539427273047,0.0598158879764,0.999999928454,0.000205126831363,-0.000316434535313,2.97433181211e-05,1793192674854960384
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.623841693,661.376158307,632.623841693,876.623841693,783.376158307,799.623841693,649,628,650.376158307,0.411820507655,-0.00539100126875,0.0597676359361,0.999999901295,0.00020050061276,-0.000395642892695,2.59941266633e-05,1793192674871627264
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.788269253,633,877,783,799.788269253,649,628.211730747,650.211730747,0.411068203681,-0.00538864670487,0.0597445708011,0.999999888467,0.000198341608873,-0.000427978428111,2.36970220086e-05,1793192674888293888
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.208051633,633,877,783,799.208051633,649,628.791948367,650.791948367,0.410403304098,-0.00538788786912,0.0597653398396,0.999999907897,0.000200476437601,-0.000378738582989,2.39270648936e-05,1793192674904960512
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.632965205,660.73406959,632.632965205,876.632965205,783.367034795,799,649,629,650.632965205,0.409772166193,-0.00538600259222,0.0598009657464,0.999999925382,0.000208914899643,-0.000323874311142,2.63921931672e-05,1793192674921627392
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.060747296,661.878505407,632.060747296,876.060747296,783.939252704,799,649,629,650.060747296,0.409159902087,-0.00538348760206,0.059844897073,0.999999939811,0.000220877275295,-0.000265865823693,3.01067990389e-05,1793192674938294272
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742.527017057,711,671,660.945965886,632.527017057,876,784,799,649,628.472982943,650,0.408539481491,-0.00538946283708,0.0598578633361,0.999999946992,0.00021225092454,-0.000244863548641,3.17520853799e-05,1793192674954960640
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.885419633,742.885419633,711.114580367,671,660,633,876,783.885419633,799,649,628.114580367,650,0.407923865996,-0.00539501740345,0.0598613573392,0.99999995096,0.000201717543412,-0.0002373546782,3.24569911429e-05,1793192674971627008
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.306159923,742.306159923,711.693840077,671,660,633,876,783.306159923,799,649,628.693840077,650,0.407331666286,-0.00539477646765,0.0598413516385,0.999999945268,0.000193367191075,-0.000266743377986,3.03449231364e-05,1793192674988293888
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.271296137,742,711.728703863,671,660,633,876,783,799,649,629,650,0.406774134223,-0.00539405508615,0.0598294701278,0.999999940068,0.000200263916809,-0.000280978322595,2.84543924602e-05,1793192675004960768
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.846730168,742,711.153269832,671,660,633,876,783,799,649,629,650,0.406255466539,-0.00539279509861,0.0598266962825,0.999999935791,0.000224253456478,-0.000278225072119,2.68122174722e-05,1793192675021627648
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711.421190038,671.421190038,660.421190038,633,876,783,799,649,628.578809962,650.421190038,0.405775131319,-0.00538946213574,0.0598283338968,0.999999936408,0.000226489685153,-0.000274153305989,2.69528056373e-05,1793192675038294272
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711.995296279,671.995296279,660.995296279,633,876,783,799,649,628.004703721,650.995296279,0.405308712945,-0.00538537656353,0.0598315731244,0.99999993889,0.000220828213097,-0.00026960284266,2.77406392047e-05,1793192675054960896
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,660.413009626,633,876,783.586990374,799,649,628.586990374,650.413009626,0.404850340939,-0.0053748495794,0.0598145942199,0.999999930612,0.000228244545206,-0.000293272629659,2.59108336357e-05,1793192675071627520
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711.82541815,671.82541815,660,633,876,784,799,649,628.82541815,650.17458185,0.404404350197,-0.00536535266891,0.0597942662343,0.999999919171,0.000235158060403,-0.000325248241273,2.39222126888e-05,1793192675088294144
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711.247637159,671.247637159,660,633,876,784,799,649,628.247637159,650.752362841,0.403986800547,-0.00535835761736,0.0597665892272,0.999999900169,0.000240660810518,-0.000375867873474,2.16167455562e-05,1793192675104960512
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.670857141,742,711,671,660,633,876,783.670857141,799.329142859,649,628.329142859,650.341714282,0.403632382514,-0.00535355738049,0.0597618800794,0.999999896647,0.000246659141482,-0.000381306940393,2.16716839459e-05,1793192675121627136
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.094827976,742,711,671,660,633,876,783.094827976,799.905172024,649,628.905172024,649.189655951,0.40332531881,-0.00535040344951,0.0597743988626,0.999999905458,0.000253029201833,-0.00035285657768,2.34971357582e-05,1793192675138294016
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.479999687,742,711,671,660.479999687,633,876,783,799.520000313,649.479999687,629,649.479999687,0.403061671025,-0.00534719049809,0.0597945175761,0.999999915309,0.00025968699956,-0.000318199105103,2.63274153211e-05,1793192675154960896
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,876,783,799,649.943549286,628.943549286,650,0.402808709502,-0.00534472207535,0.0598157428864,0.99999992442,0.000265011892012,-0.000282968324,2.92831583618e-05,1793192675171628032
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,876,783,799,649.349379553,628.349379553,650,0.40257604196,-0.00534945641988,0.0598332429389,0.999999934212,0.000257100129197,-0.000253928106219,3.15478007852e-05,1793192675188294400
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.762452662,742,711,671,660.762452662,633,876,783,799.237547338,649,628,650,0.402349830869,-0.00536145292934,0.0598420373239,0.999999940893,0.000242207238306,-0.000241678539051,3.37861379379e-05,1793192675204960768
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.185863248,742,711,671,660.185863248,633,876,783,799.814136752,649,628,650,0.40213283484,-0.0053838144439,0.059838406447,0.999999943628,0.000217350455664,-0.000253393617017,3.59869304218e-05,1793192675221627648
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.38899308,742,711,671,660,633,876,783,799.61100692,649,628.38899308,650,0.401941086202,-0.00539311747132,0.0598325011745,0.999999930938,0.000254705189991,-0.000268117119392,3.69047107431e-05,1793192675238294272
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.963025052,742,711,671,660,633,876,783,799.036974948,649,628.963025052,650,0.401761347397,-0.00539620875011,0.0598255140016,0.999999907172,0.000321653121688,-0.000284271689733,3.72121791078e-05,1793192675254960896
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.553211384,633,876,783.553211384,799.553211384,649,628.446788616,650.553211384,0.401624134191,-0.00538574738981,0.0598245079823,0.999999903591,0.000329521528591,-0.00028803767456,3.56208549889e-05,1793192675271627264
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,876.14128237,783.85871763,799.85871763,649,628,650.85871763,0.401497135042,-0.0053789706521,0.0598246424607,0.999999908806,0.000312826960756,-0.000289152301519,3.03135839818e-05,1793192675288294144
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,876.719374772,783.280625228,799.280625228,649,628,650.280625228,0.401392663239,-0.00538647065024,0.0598270299329,0.999999932284,0.000232765371299,-0.00028470660782,1.39217014455e-05,1793192675304960768
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,741.703359978,711.296640022,671,660.703359978,633,876.703359978,783,799,649,628.296640022,650,0.401301740007,-0.00539199173408,0.0598300234056,0.999999942503,0.000190438960004,-0.000280493961272,7.08549326948e-06,1793192675321627392
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,741.126875083,711.873124917,671,660.126875083,633,876.126875083,783,799,649,628.873124917,650,0.40122359826,-0.00539564594526,0.0598335885682,0.999999944856,0.000183711244205,-0.000276501168803,9.26393778296e-06,1793192675338294272
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,741.895413567,711.552293217,671,660,633,876,783.447706783,799,649,629,650.447706783,0.401160760966,-0.00539235446618,0.0598314711249,0.999999943245,0.00018800217446,-0.000279410874,9.68722443584e-06,1793192675354961152
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.977552767,711,671,660,633,876,783.977552767,799,649,629,650.977552767,0.401102956328,-0.00538742933884,0.0598278675905,0.999999940598,0.000194905585225,-0.000284115806622,9.65885448679e-06,1793192675371628032
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742.385150272,711,671,660,633,876,783.385150272,799,649,629,650.385150272,0.401063278271,-0.0053907905603,0.0598272469609,0.999999941448,0.000189193188144,-0.000284946506682,1.07382938985e-05,1793192675388294400
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.797357745,742,711,671,660,633,876,783.202642255,799,649,629,650,0.401027951834,-0.00539127435588,0.0598265267314,0.999999941252,0.000188091113969,-0.000286335369718,1.13785464587e-05,1793192675404961024
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.218132284,742,711,671,660,633,876,783.781867716,799,649,629,650,0.401000712299,-0.0053864108445,0.0598256214089,0.999999939124,0.000195556701597,-0.000288761503012,1.12026295745e-05,1793192675421627392
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763.357780292,742.357780292,711,671,660,633,876,783.642219708,799,649,629,650.357780292,0.400983964447,-0.0053866221043,0.0598269456045,0.999999939342,0.000196692529003,-0.000287211715954,1.17535509545e-05,1793192675438294272
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.931691648,742.931691648,711,671,660,633,876,783.068308352,799,649,629,650.931691648,0.400973554502,-0.00538989897603,0.0598296166269,0.999999940982,0.000194004619935,-0.000283260120217,1.27435471652e-05,1793192675454961152
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.481590863,711,670.481590863,660,633,876,783.518409137,799,649,628.481590863,651,0.400968445788,-0.00539014052367,0.0598304056397,0.99999994201,0.000191826632434,-0.000281106495902,1.27268795101e-05,1793192675471627776
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.105209252,660.105209252,633,876,783.894790748,799,649,628,650.894790748,0.400964188188,-0.0053897040666,0.0598309770119,0.999999942718,0.000190721098594,-0.000279342261778,1.25803905943e-05,1793192675488294656
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.684584399,660.684584399,633,876,783.315415601,799,649,628,650.315415601,0.400960538576,-0.00538806010651,0.0598317134443,0.999999942369,0.000194138500942,-0.000278238192354,1.24617622221e-05,1793192675504961024
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.736964533,633,876.263035467,783.263035467,799,649,628.263035467,650.263035467,0.400957911525,-0.0053884676891,0.0598322674348,0.999999942532,0.000194433523076,-0.000277440310628,1.26023515276e-05,1793192675521627392
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.159617718,633,876.840382282,783.840382282,799,649,628.840382282,650.840382282,0.400956506373,-0.00539132674021,0.0598326034184,0.999999943308,0.000190997490984,-0.000277008304601,1.30526901633e-05,1793192675538294016
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.414480704,711.414480704,671,660.414480704,633,876.585519296,783.585519296,799,649,628.585519296,650.585519296,0.400955579039,-0.00539067692148,0.0598327761836,0.999999943221,0.000192073349542,-0.000276578541897,1.30414836084e-05,1793192675554960896
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.987337875,711.987337875,671,660.987337875,633,876.012662125,783.012662125,799,649,628.012662125,650.012662125,0.400954834284,-0.00538868633483,0.0598328865818,0.9999999428,0.000194873238499,-0.000276149636395,1.2853916851e-05,1793192675571627520
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.42268586,742.42268586,712,671,660.42268586,632.42268586,875.42268586,783,799,649,628,650,0.400955760391,-0.00539046052776,0.0598340471525,0.999999943449,0.000194317069631,-0.000274153105723,1.35287133457e-05,1793192675588294400
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.164565729,632.164565729,875,783,799,649,628,650.164565729,0.400956076788,-0.00539163929806,0.0598347863946,0.999999943928,0.0001934987465,-0.000272963327378,1.387102382e-05,1793192675604961024
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763,742,712,671,660.743973364,632.743973364,875,783,799,649,628,650.743973364,0.400954761005,-0.00539110259875,0.0598344037024,0.999999943929,0.000192210800594,-0.000273896554086,1.33260579842e-05,1793192675621627904
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.321316242,742,712,671,660.678683758,633,875.321316242,783.321316242,799,649.321316242,628.321316242,651,0.400954880749,-0.00539073167973,0.059834852159,0.999999944006,0.000192346177357,-0.000273525950345,1.32189626692e-05,1793192675638294528
+380,6.333333333,POSE2_TO_POSE3_RETREAT,763.897024475,742,712,671,660.102975525,633,875.897024475,783.897024475,799,649.897024475,628.897024475,651,0.400956137027,-0.00539049201195,0.0598359586513,0.999999944142,0.000193608424774,-0.000272123080099,1.34585374583e-05,1793192675654960896
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,633,876,784,799,649.526760391,629,650.526760391,0.400955490807,-0.00539148102086,0.0598359974894,0.999999944345,0.000191975253547,-0.000272532126739,1.35092486743e-05,1793192675671627520
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,633,876,783.949313262,799,649,628.949313262,650.050686738,0.400954621497,-0.0053924460919,0.0598358533533,0.999999944542,0.000190073403411,-0.00027313893713,1.3503335984e-05,1793192675688294144
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,633,876,783.359946011,799,649,628.359946011,650.640053989,0.400955785589,-0.00539031234613,0.0598362362761,0.999999944578,0.000192019088796,-0.000271652881466,1.3332868175e-05,1793192675704960768
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.774682828,670.774682828,660.225317172,633,876,783,799,649,628.225317172,650.774682828,0.400956350855,-0.00538882116365,0.0598366416805,0.999999944502,0.000193825622165,-0.000270653358298,1.32084289556e-05,1793192675721627136
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.19585868,670.19585868,660.80414132,633,876,783,799,649,628.80414132,650.19585868,0.400955976602,-0.00538833811843,0.0598370823569,0.999999944257,0.000195413835582,-0.00027041717088,1.31562054036e-05,1793192675738294016
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.620114715,742,711,670.379885285,661,633,876,783.379885285,799,649,629,650,0.400955727243,-0.00538894428985,0.0598367887721,0.99999994414,0.000195474312806,-0.000270799591821,1.32901952396e-05,1793192675754960896
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.045946055,742,711,670.954053945,661,633,876,783.954053945,799,649,629,650,0.400955541758,-0.00539010751546,0.0598361196667,0.999999944088,0.000194753465314,-0.000271498385432,1.35194195251e-05,1793192675771627776
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.470072202,633,876,783.470072202,799.529927798,649,628.470072202,650,0.400955228178,-0.0053905419248,0.0598359947405,0.999999943886,0.000195467628022,-0.000271730126944,1.35388059527e-05,1793192675788294400
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.108765489,633,876,783,799.891234511,649,628,650.108765489,0.400955083969,-0.00539081024264,0.0598361213182,0.999999943795,0.000196027267723,-0.000271662744131,1.35493206212e-05,1793192675804961024
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,660.70009472,633,876,783,799.29990528,649,628,650.70009472,0.400955740647,-0.00539062291945,0.0598371537443,0.999999944256,0.000195347533439,-0.00027044846938,1.36014538027e-05,1793192675821627392
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763.284610147,742,711.284610147,671.284610147,660.715389853,633,876,783.284610147,799,649,628,651,0.400956401592,-0.00539033415199,0.0598379713861,0.999999944538,0.000195026350676,-0.00026963834471,1.35353214725e-05,1793192675838293760
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763.862113538,742,711.862113538,671.862113538,660.137886462,633,876,783.862113538,799,649,628,651,0.400957066929,-0.00538994098786,0.0598385679929,0.999999944638,0.000195074154387,-0.000269244132074,1.33474817195e-05,1793192675854960640
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.56206606,671.56206606,660.43793394,633,876,783.56206606,799,649,628.43793394,650.56206606,0.400956767058,-0.00538992899948,0.0598382762275,0.999999944515,0.000195551707984,-0.000269350726577,1.33776270238e-05,1793192675871627264
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711.013617732,671,660.986382268,633,876,783,799,649,628.986382268,650,0.400956201523,-0.00539003393569,0.0598377369765,0.999999944329,0.000196181250297,-0.000269580949426,1.34778827177e-05,1793192675888294144
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711.605929986,671,660.394070014,633,876,783,799,649,628.394070014,650,0.400957211501,-0.00539002703535,0.0598385216181,0.999999944379,0.000197541594878,-0.000268389671409,1.36520416973e-05,1793192675904961024
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711.806406633,671,660,633,876,783,799,649,628.193593367,650.193593367,0.400956855051,-0.00539012847914,0.0598384713101,0.999999944177,0.000198383681029,-0.000268514715787,1.37977243843e-05,1793192675921628160
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742,711.227984411,671,660,633,876,783,799,649,628.772015589,650.772015589,0.400953782389,-0.00539044529162,0.0598367612725,0.999999943473,0.000198195562392,-0.000271256372814,1.3886801304e-05,1793192675938294528
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,633,876,783.347920249,799,649,628.652079751,650.652079751,0.400954363019,-0.00539025326374,0.0598373836186,0.999999943866,0.000197546503128,-0.000270282064311,1.3849594366e-05,1793192675954961152
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,633,876,783.922187036,799,649,628.077812964,650.077812964,0.400957320371,-0.00538973019949,0.059839523344,0.999999944965,0.000196597569645,-0.000266890259354,1.37302309132e-05,1793192675971627776
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fdf90b36a3a0f5db1a6b4f0d36add3980141e8d8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_04/simulation_data.csv
@@ -0,0 +1,401 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+1,0.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+2,0.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+3,0.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+4,0.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+5,0.083333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+6,0.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+7,0.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+8,0.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+9,0.150000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+10,0.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+11,0.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+12,0.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+13,0.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+14,0.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+15,0.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+16,0.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+17,0.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+18,0.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+19,0.316666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+20,0.333333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+21,0.350000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+22,0.366666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+23,0.383333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+24,0.400000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+25,0.416666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+26,0.433333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+27,0.450000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+28,0.466666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+29,0.483333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+30,0.500000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+31,0.516666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+32,0.533333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+33,0.550000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+34,0.566666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+35,0.583333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+36,0.600000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+37,0.616666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+38,0.633333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+39,0.650000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+40,0.666666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+41,0.683333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+42,0.700000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+43,0.716666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+44,0.733333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+45,0.750000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+46,0.766666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+47,0.783333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+48,0.800000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+49,0.816666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+50,0.833333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+51,0.850000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+52,0.866666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+53,0.883333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+54,0.900000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+55,0.916666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+56,0.933333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+57,0.950000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+58,0.966666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+59,0.983333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+60,1.000000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+61,1.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+62,1.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+63,1.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+64,1.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+65,1.083333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+66,1.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+67,1.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+68,1.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+69,1.150000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+70,1.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+71,1.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+72,1.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+73,1.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+74,1.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+75,1.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+76,1.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+77,1.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+78,1.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+79,1.316666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+80,1.333333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+81,1.350000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+82,1.366666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+83,1.383333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+84,1.400000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+85,1.416666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+86,1.433333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+87,1.450000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+88,1.466666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+89,1.483333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+90,1.500000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+91,1.516666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+92,1.533333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+93,1.550000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+94,1.566666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+95,1.583333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+96,1.600000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+97,1.616666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+98,1.633333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+99,1.650000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+100,1.666666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+101,1.683333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+102,1.700000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+103,1.716666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+104,1.733333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+105,1.750000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+106,1.766666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+107,1.783333333,pose1_to_pose2_press,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+108,1.800000000,pose1_to_pose2_press,0.57570939404,5.45255320474e-05,1.05002924283,0.546280124843,0.00872725709714,1.04969853821
+109,1.816666667,pose1_to_pose2_press,0.575709630084,5.45672018906e-05,1.05002922275,0.546280360659,0.00872729774247,1.04969851151
+110,1.833333333,pose1_to_pose2_press,0.57570967493,5.45751188514e-05,1.05002921894,0.546280405462,0.00872730546478,1.04969850644
+111,1.850000000,pose1_to_pose2_press,0.57570978654,5.45948218595e-05,1.05002920945,0.546280516964,0.00872732468336,1.04969849382
+112,1.866666667,pose1_to_pose2_press,0.575709888018,5.46127363209e-05,1.05002920082,0.546280618345,0.00872734215737,1.04969848235
+113,1.883333333,pose1_to_pose2_press,0.575710231867,5.45881826757e-05,1.0500291969,0.546280962587,0.00872731896554,1.04969847916
+114,1.900000000,pose1_to_pose2_press,0.575712337495,5.45200641929e-05,1.05002919872,0.546283068704,0.00872725251426,1.04969848114
+115,1.916666667,pose1_to_pose2_press,0.575718632825,5.46261153295e-05,1.05002902972,0.546289363293,0.00872735648793,1.04969832354
+116,1.933333333,pose1_to_pose2_press,0.575732423242,5.45358064619e-05,1.05002929528,0.546303154339,0.00872726803789,1.04969858187
+117,1.950000000,pose1_to_pose2_press,0.575755499894,5.44756742453e-05,1.05002907416,0.54632623059,0.00872720637336,1.04969835616
+118,1.966666667,pose1_to_pose2_press,0.57579052748,5.464941302e-05,1.05002915965,0.546361257187,0.00872737707714,1.04969844994
+119,1.983333333,pose1_to_pose2_press,0.575837127736,5.45373696566e-05,1.05002896997,0.546407858184,0.00872726753543,1.04969825997
+120,2.000000000,pose1_to_pose2_press,0.575894899296,5.4517730226e-05,1.05002902766,0.546465629782,0.00872724819531,1.04969832195
+121,2.016666667,pose1_to_pose2_press,0.575962125292,5.45470718736e-05,1.05002913013,0.546532856171,0.00872727903696,1.04969842873
+122,2.033333333,pose1_to_pose2_press,0.576038979476,5.46174640458e-05,1.05002927744,0.546609710032,0.00872734746284,1.04969855313
+123,2.050000000,pose1_to_pose2_press,0.576126387239,5.46215838329e-05,1.05002934921,0.546697116719,0.0087273479618,1.04969862569
+124,2.066666667,pose1_to_pose2_press,0.576224954243,5.43657078733e-05,1.0500290067,0.54679568545,0.00872709812031,1.04969828762
+125,2.083333333,pose1_to_pose2_press,0.576337942759,5.43642559648e-05,1.05002913112,0.54690867562,0.00872710291117,1.04969842861
+126,2.100000000,pose1_to_pose2_press,0.576465825416,5.46112084841e-05,1.05002912796,0.547036556143,0.00872734258556,1.04969842449
+127,2.116666667,pose1_to_pose2_press,0.576610988072,5.45323646727e-05,1.05002904339,0.547181719148,0.00872726470793,1.04969833408
+128,2.133333333,pose1_to_pose2_press,0.576773298635,5.44885382282e-05,1.05002903895,0.547344029648,0.00872722068166,1.04969832993
+129,2.150000000,pose1_to_pose2_press,0.576954252332,5.44377046421e-05,1.05002902509,0.547524983023,0.0087271689012,1.0496983199
+130,2.166666667,pose1_to_pose2_press,0.577156047005,5.44463994435e-05,1.05002914986,0.547726778189,0.00872717916053,1.04969844176
+131,2.183333333,pose1_to_pose2_press,0.5773786061,5.46302464617e-05,1.05002908186,0.547949336169,0.00872735980746,1.04969838897
+132,2.200000000,pose1_to_pose2_press,0.577623616275,5.47283677305e-05,1.05002906069,0.548194342876,0.0087274454102,1.04969834812
+133,2.216666667,pose1_to_pose2_press,0.577888188211,5.44960282112e-05,1.05002915258,0.548458920151,0.00872723128093,1.04969844242
+134,2.233333333,pose1_to_pose2_press,0.578171668812,5.47495980076e-05,1.05002916205,0.548742396394,0.00872747017062,1.04969845463
+135,2.250000000,pose1_to_pose2_press,0.578472370254,5.44905070694e-05,1.05002917326,0.549043101819,0.00872722436704,1.04969845978
+136,2.266666667,pose1_to_pose2_press,0.578789949432,5.44801837302e-05,1.05002914688,0.549360680991,0.008727214309,1.04969844085
+137,2.283333333,pose1_to_pose2_press,0.579132218962,5.45518790669e-05,1.05002894894,0.54970294932,0.00872728203916,1.04969824569
+138,2.300000000,pose1_to_pose2_press,0.579502031451,5.45476335808e-05,1.05002918162,0.550072761844,0.00872727776523,1.04969847448
+139,2.316666667,pose1_to_pose2_press,0.579908998172,5.44871928526e-05,1.050029178,0.550479729111,0.00872721915139,1.04969847014
+140,2.333333333,pose1_to_pose2_press,0.580352658713,5.45980595092e-05,1.05002895234,0.550923387836,0.0087273240027,1.04969824833
+141,2.350000000,pose1_to_pose2_press,0.580834476107,5.4489654668e-05,1.05002932016,0.55140520889,0.0087272276279,1.04969860581
+142,2.366666667,pose1_to_pose2_press,0.581336517159,5.45710352859e-05,1.05002911451,0.551907247012,0.00872729916534,1.04969840274
+143,2.383333333,pose1_to_pose2_press,0.581853847915,5.46118020821e-05,1.0500290275,0.552424576755,0.00872733666808,1.04969832023
+144,2.400000000,pose1_to_pose2_press,0.582385985347,5.44960657869e-05,1.05002890421,0.55295671563,0.00872722601784,1.04969820191
+145,2.416666667,pose1_to_pose2_press,0.582933023988,5.44350608163e-05,1.05002885146,0.553503756231,0.00872717198943,1.04969815766
+146,2.433333333,pose1_to_pose2_press,0.583498915591,5.45101362441e-05,1.05002890949,0.554069646017,0.00872724037424,1.04969820188
+147,2.450000000,pose1_to_pose2_press,0.58409274286,5.4564122702e-05,1.05002902336,0.554663472507,0.00872729158121,1.04969831218
+148,2.466666667,pose1_to_pose2_press,0.584717562957,5.45765521563e-05,1.05002921429,0.555288293532,0.00872730731148,1.04969850702
+149,2.483333333,pose1_to_pose2_press,0.585359694327,5.45943305368e-05,1.05002916083,0.555930425194,0.00872732626718,1.04969845838
+150,2.500000000,pose1_to_pose2_press,0.586015100083,5.45702005614e-05,1.05002926998,0.556585829876,0.00872729803239,1.04969855545
+151,2.516666667,pose1_to_pose2_press,0.58667873368,5.45579345318e-05,1.05002921006,0.557249463147,0.00872728473283,1.04969849744
+152,2.533333333,pose1_to_pose2_press,0.587357574737,5.46147786592e-05,1.05002907668,0.557928303509,0.00872733935646,1.04969836765
+153,2.550000000,pose1_to_pose2_press,0.58806214961,5.45324059887e-05,1.05002912818,0.558632880109,0.00872726271106,1.04969841567
+154,2.566666667,pose1_to_pose2_press,0.588795002291,5.45954401813e-05,1.05002901038,0.559365732163,0.00872732378893,1.04969830228
+155,2.583333333,pose1_to_pose2_press,0.589555816398,5.46103278833e-05,1.05002890541,0.560126546082,0.00872733813015,1.04969819971
+156,2.600000000,pose1_to_pose2_press,0.59033961224,5.45600164738e-05,1.05002906481,0.560910342362,0.00872728919855,1.04969835639
+157,2.616666667,pose1_to_pose2_press,0.591136924842,5.46693142498e-05,1.05002915646,0.561707652934,0.00872739161227,1.0496984481
+158,2.633333333,pose1_to_pose2_press,0.591939397131,5.46429524556e-05,1.05002914031,0.562510126143,0.00872736850613,1.04969843555
+159,2.650000000,pose1_to_pose2_press,0.592742595568,5.45377367503e-05,1.05002916424,0.563313327129,0.00872727167903,1.04969845266
+160,2.666666667,pose1_to_pose2_press,0.593543119489,5.45105872744e-05,1.05002901338,0.564113850264,0.00872724188096,1.04969830223
+161,2.683333333,pose1_to_pose2_press,0.594338892172,5.45638432695e-05,1.05002906733,0.564909622224,0.00872729269235,1.0496983564
+162,2.700000000,pose1_to_pose2_press,0.595130882563,5.45254233006e-05,1.05002912413,0.565701612711,0.0087272544082,1.04969840833
+163,2.716666667,pose1_to_pose2_press,0.59594112533,5.44710322758e-05,1.05002919058,0.566511855595,0.00872720040071,1.04969847442
+164,2.733333333,pose1_to_pose2_press,0.596772743567,5.45089609251e-05,1.05002923292,0.567343472991,0.0087272356598,1.04969852168
+165,2.750000000,pose1_to_pose2_press,0.597627334922,5.45387093543e-05,1.05002913781,0.56819806528,0.00872726883059,1.04969843317
+166,2.766666667,pose1_to_pose2_press,0.598499354038,5.4489948039e-05,1.05002907955,0.569070086285,0.00872722642046,1.04969837345
+167,2.783333333,pose1_to_pose2_press,0.599380187473,5.45919648409e-05,1.0500292023,0.569950917472,0.00872732046775,1.04969848736
+168,2.800000000,pose1_to_pose2_press,0.600240696734,5.46241250578e-05,1.05002915024,0.570811426176,0.00872735084888,1.04969843819
+169,2.816666667,pose1_to_pose2_press,0.601080115649,5.4533977141e-05,1.05002918457,0.571650847165,0.00872726783868,1.04969847518
+170,2.833333333,pose1_to_pose2_press,0.601894777086,5.45547432617e-05,1.05002921175,0.572465507828,0.0087272859185,1.04969850084
+171,2.850000000,pose1_to_pose2_press,0.602697059242,5.45508736301e-05,1.05002915792,0.5732677898,0.00872728147773,1.04969844854
+172,2.866666667,pose1_to_pose2_press,0.603494414997,5.44703726815e-05,1.05002930947,0.574065147097,0.00872720599971,1.04969859467
+173,2.883333333,pose1_to_pose2_press,0.604295472602,5.44845372203e-05,1.05002931895,0.574866204192,0.00872721828083,1.04969860019
+174,2.900000000,pose1_to_pose2_press,0.60510263167,5.46267954252e-05,1.05002917311,0.575673361105,0.00872735348417,1.04969846116
+175,2.916666667,pose1_to_pose2_press,0.605903658499,5.46088440727e-05,1.05002915237,0.576474387682,0.00872733481187,1.04969844409
+176,2.933333333,pose1_to_pose2_press,0.60669343928,5.45283457203e-05,1.05002923549,0.577264170436,0.00872726084661,1.04969852303
+177,2.950000000,pose1_to_pose2_press,0.60746453618,5.45728755163e-05,1.05002922873,0.578035267071,0.00872730444198,1.0496985154
+178,2.966666667,pose1_to_pose2_press,0.608208020014,5.4678273285e-05,1.05002926117,0.578778749739,0.00872740571879,1.04969854364
+179,2.983333333,pose1_to_pose2_press,0.608921545756,5.46182537562e-05,1.05002918438,0.579492275996,0.00872734748137,1.04969846782
+180,3.000000000,pose1_to_pose2_press,0.609618347304,5.44934034464e-05,1.05002912131,0.580189078357,0.00872722558348,1.04969840987
+181,3.016666667,pose1_to_pose2_press,0.610298353155,5.44957588115e-05,1.05002922078,0.580869084039,0.00872722747723,1.04969851246
+182,3.033333333,pose1_to_pose2_press,0.610957590071,5.44631744974e-05,1.05002916211,0.581528321473,0.00872719657529,1.04969845185
+183,3.050000000,pose1_to_pose2_press,0.611599093575,5.44784004946e-05,1.05002905509,0.58216982507,0.00872721198753,1.04969834152
+184,3.066666667,pose1_to_pose2_press,0.612225007029,5.44919533046e-05,1.05002917346,0.582795738171,0.00872722431492,1.04969845909
+185,3.083333333,pose1_to_pose2_press,0.612833558625,5.45663614731e-05,1.05002932147,0.58340428803,0.00872729270634,1.04969860223
+186,3.100000000,pose1_to_pose2_press,0.613424730669,5.46750490556e-05,1.0500292447,0.583995459499,0.00872739978566,1.04969853017
+187,3.116666667,pose1_to_pose2_press,0.61398524321,5.46961135029e-05,1.05002915051,0.584555972884,0.00872742423712,1.04969844312
+188,3.133333333,pose1_to_pose2_press,0.614512380401,5.46534974873e-05,1.05002909453,0.585083109081,0.00872737856941,1.04969838646
+189,3.150000000,pose1_to_pose2_press,0.614999643198,5.45031283896e-05,1.05002902908,0.585570373506,0.00872723402384,1.0496983215
+190,3.166666667,pose1_to_pose2_press,0.615453733381,5.45012084209e-05,1.05002908262,0.58602446426,0.00872723426492,1.04969837192
+191,3.183333333,pose1_to_pose2_press,0.615877986418,5.45484393002e-05,1.05002915417,0.58644871561,0.00872727605583,1.04969843811
+192,3.200000000,pose1_to_pose2_press,0.616291077046,5.45157870448e-05,1.0500290897,0.586861808003,0.00872724977229,1.04969837912
+193,3.216666667,pose1_to_pose2_press,0.616693558497,5.45433223076e-05,1.05002928747,0.587264289431,0.00872727752195,1.04969857642
+194,3.233333333,pose1_to_pose2_press,0.617084481927,5.46407167305e-05,1.05002925354,0.587655211883,0.00872737194422,1.04969854297
+195,3.250000000,pose1_to_pose2_press,0.617458125185,5.45216941333e-05,1.05002909807,0.58802885439,0.00872725042543,1.04969837971
+196,3.266666667,pose1_to_pose2_press,0.617805581574,5.45268574804e-05,1.05002920688,0.588376311388,0.00872725800149,1.04969849154
+197,3.283333333,pose1_to_pose2_press,0.618123612874,5.45731723089e-05,1.05002925814,0.5886943417,0.00872730162596,1.04969855052
+198,3.300000000,pose1_to_pose2_press,0.618410395579,5.46243827893e-05,1.05002917759,0.588981124525,0.0087273532102,1.04969846388
+199,3.316666667,pose1_to_pose2_press,0.618668540603,5.45637953294e-05,1.05002915814,0.589239270399,0.00872729596675,1.04969845001
+200,3.333333333,pose1_to_pose2_press,0.618902236921,5.44635072369e-05,1.05002916598,0.589472966251,0.00872719422814,1.04969845536
+201,3.350000000,pose1_to_pose2_press,0.619117578145,5.44163504492e-05,1.05002902297,0.589688310221,0.00872715684196,1.0496983195
+202,3.366666667,pose1_to_pose2_press,0.619317996708,5.44494749403e-05,1.05002923331,0.589888727036,0.00872718395582,1.04969852373
+203,3.383333333,pose1_to_pose2_press,0.619503824768,5.45741356955e-05,1.05002911684,0.590074552773,0.00872730075638,1.0496984032
+204,3.400000000,pose1_to_pose2_press,0.619675516967,5.45525320785e-05,1.05002901785,0.590246245739,0.00872728221257,1.04969831171
+205,3.416666667,pose1_to_pose2_press,0.619832620224,5.45478396171e-05,1.0500291843,0.590403349732,0.00872728025728,1.04969848121
+206,3.433333333,pose1_to_pose2_press,0.619971254215,5.4548895529e-05,1.05002917015,0.590541983861,0.00872728185351,1.04969846589
+207,3.450000000,pose1_to_pose2_press,0.62009294924,5.44957166561e-05,1.05002915734,0.590663678466,0.00872722721394,1.04969844882
+208,3.466666667,pose1_to_pose2_press,0.620197305084,5.45082942772e-05,1.0500292701,0.590768034065,0.00872723878805,1.04969855379
+209,3.483333333,pose1_to_pose2_press,0.620286459068,5.45722171794e-05,1.05002921043,0.590857187599,0.00872730085423,1.04969849732
+210,3.500000000,pose1_to_pose2_press,0.620360743354,5.46342130983e-05,1.05002907191,0.590931471766,0.0087273624348,1.04969836518
+211,3.516666667,pose1_to_pose2_press,0.620423846787,5.45387763857e-05,1.05002910868,0.590994576319,0.00872727146068,1.0496983986
+212,3.533333333,pose1_to_pose2_press,0.620476660192,5.4565040858e-05,1.05002928969,0.59104738946,0.00872729714338,1.04969857809
+213,3.550000000,pose1_to_pose2_press,0.620519943079,5.46377588095e-05,1.05002937204,0.591090671786,0.00872736753638,1.04969865565
+214,3.566666667,pose1_to_pose2_press,0.620554567387,5.45809201485e-05,1.05002917062,0.591125296492,0.00872731186268,1.0496984532
+215,3.583333333,pose1_to_pose2_press,0.62058068321,5.45796563615e-05,1.05002898436,0.591151411917,0.00872730959041,1.04969827502
+216,3.600000000,pose1_to_pose2_press,0.620600583792,5.46460560338e-05,1.05002917504,0.591171311697,0.00872737350343,1.04969845939
+217,3.616666667,pose1_to_pose2_press,0.620614781662,5.45976533563e-05,1.05002905296,0.59118550899,0.00872732302302,1.04969834486
+218,3.633333333,pose1_to_pose2_press,0.620625231395,5.46428468787e-05,1.05002919257,0.591195958502,0.00872736737176,1.04969848176
+219,3.650000000,pose1_to_pose2_press,0.620632627956,5.46113776579e-05,1.05002921247,0.591203355707,0.00872733810159,1.04969850159
+220,3.666666667,pose1_to_pose2_press,0.620637529853,5.44885060499e-05,1.05002906797,0.591208259024,0.00872722016903,1.04969836142
+221,3.683333333,pose1_to_pose2_press,0.620640666089,5.45179595649e-05,1.05002909568,0.591211395056,0.00872724898827,1.04969838881
+222,3.700000000,pose1_to_pose2_press,0.620642479243,5.45931234085e-05,1.05002917634,0.591213207494,0.00872732174425,1.04969846762
+223,3.716666667,pose1_to_pose2_press,0.620643610746,5.4640029553e-05,1.05002922667,0.59121433855,0.00872736714776,1.04969851681
+224,3.733333333,pose1_to_pose2_press,0.620644297786,5.46685106386e-05,1.05002925723,0.591215025319,0.00872739471645,1.04969854667
+225,3.750000000,pose1_to_pose2_press,0.620645124533,5.46549780856e-05,1.05002928159,0.591215852229,0.00872738167508,1.04969856968
+226,3.766666667,pose1_to_pose2_press,0.620645867069,5.45941675949e-05,1.05002929083,0.591216595411,0.00872732292313,1.04969857717
+227,3.783333333,pose1_to_pose2_press,0.620646368825,5.45530759951e-05,1.05002929708,0.591217097602,0.00872728322255,1.04969858223
+228,3.800000000,pose1_to_pose2_press,0.620646811682,5.45168078745e-05,1.05002930259,0.591217540845,0.00872724818217,1.0496985867
+229,3.816666667,pose1_to_pose2_press,0.620647287225,5.44778630226e-05,1.05002930851,0.5912180168,0.00872721055567,1.0496985915
+230,3.833333333,pose1_to_pose2_press,0.620647742983,5.44405384145e-05,1.05002931418,0.591218472954,0.00872717449457,1.0496985961
+231,3.850000000,pose1_to_pose2_press,0.620648131346,5.44147212392e-05,1.05002931376,0.591218861598,0.00872714956872,1.04969859496
+232,3.866666667,pose1_to_pose2_press,0.620648352888,5.44414668397e-05,1.05002927709,0.591219082898,0.00872717553919,1.04969855929
+233,3.883333333,pose1_to_pose2_press,0.620648389823,5.44459257364e-05,1.05002927098,0.591219119792,0.00872717986886,1.04969855334
+234,3.900000000,pose1_to_pose2_press,0.620648569779,5.44676509482e-05,1.0500292412,0.591219299552,0.00872720096444,1.04969852437
+235,3.916666667,pose1_to_pose2_press,0.620648670504,5.44798109734e-05,1.05002922453,0.591219400167,0.00872721277204,1.04969850815
+236,3.933333333,pose1_to_pose2_press,0.620648717769,5.44855169411e-05,1.05002921671,0.59121944738,0.00872721831264,1.04969850054
+237,3.950000000,pose1_to_pose2_press,0.620648862205,5.45029539375e-05,1.05002919281,0.591219591658,0.00872723524428,1.04969847728
+238,3.966666667,pose1_to_pose2_press,0.620649086399,5.45300197353e-05,1.0500291557,0.591219815608,0.00872726152567,1.04969844119
+239,3.983333333,pose1_to_pose2_press,0.620649363083,5.45634224001e-05,1.05002910991,0.59122009199,0.00872729396027,1.04969839664
+240,4.000000000,pose1_to_pose2_press,0.620649730848,5.46078207777e-05,1.05002904905,0.591220459354,0.0087273370719,1.04969833742
+241,4.016666667,pose1_to_pose2_press,0.620650227603,5.46792395145e-05,1.05002903152,0.591220954952,0.0087274048743,1.04969832347
+242,4.033333333,pose1_to_pose2_press,0.620650516212,5.4721338145e-05,1.05002902475,0.591221242857,0.0087274447726,1.04969831885
+243,4.050000000,pose1_to_pose2_press,0.620650711292,5.47056228026e-05,1.05002913979,0.591221438719,0.00872743148242,1.04969842656
+244,4.066666667,pose1_to_pose2_press,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514993,0.00872743057347,1.04969847723
+245,4.083333333,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514997,0.00872743057031,1.04969847724
+246,4.100000000,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514997,0.0087274305702,1.04969847724
+247,4.116666667,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514998,0.0087274305701,1.04969847724
+248,4.133333333,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514998,0.00872743057001,1.04969847724
+249,4.150000000,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514998,0.00872743056991,1.04969847724
+250,4.166666667,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514998,0.00872743057001,1.04969847724
+251,4.183333333,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514998,0.00872743056998,1.04969847724
+252,4.200000000,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514997,0.00872743057034,1.04969847724
+253,4.216666667,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514997,0.00872743057102,1.04969847724
+254,4.233333333,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514997,0.00872743057099,1.04969847724
+255,4.250000000,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514997,0.00872743057072,1.04969847724
+256,4.266666667,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514998,0.00872743057069,1.04969847724
+257,4.283333333,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514998,0.00872743057066,1.04969847724
+258,4.300000000,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514998,0.00872743057065,1.04969847724
+259,4.316666667,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514998,0.00872743057063,1.04969847724
+260,4.333333333,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514998,0.00872743057063,1.04969847724
+261,4.350000000,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514998,0.00872743057065,1.04969847724
+262,4.366666667,pose2_hold,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514998,0.00872743057067,1.04969847724
+263,4.383333333,pose2_to_pose3_retreat,0.620650787125,5.47034609547e-05,1.05002919399,0.591221514999,0.00872743057046,1.04969847724
+264,4.400000000,pose2_to_pose3_retreat,0.620650755393,5.46458457334e-05,1.05002918122,0.591221483374,0.00872737345368,1.04969846789
+265,4.416666667,pose2_to_pose3_retreat,0.620650693921,5.45994219279e-05,1.05002914578,0.591221421922,0.00872732724638,1.04969843636
+266,4.433333333,pose2_to_pose3_retreat,0.62065066853,5.46037836387e-05,1.05002912727,0.59122139647,0.00872733142706,1.04969841848
+267,4.450000000,pose2_to_pose3_retreat,0.620650375292,5.46541552602e-05,1.05002891353,0.59122110253,0.00872737970803,1.04969821202
+268,4.466666667,pose2_to_pose3_retreat,0.620649433038,5.45636567094e-05,1.05002918688,0.59122016143,0.00872729285243,1.04969847701
+269,4.483333333,pose2_to_pose3_retreat,0.620647311003,5.45381667512e-05,1.05002901519,0.591218039807,0.0087272686907,1.04969830679
+270,4.500000000,pose2_to_pose3_retreat,0.620641673724,5.45670199736e-05,1.0500291457,0.591212401928,0.0087272957877,1.04969844056
+271,4.516666667,pose2_to_pose3_retreat,0.620628764391,5.44725575386e-05,1.05002915028,0.591199494221,0.00872720653519,1.04969844162
+272,4.533333333,pose2_to_pose3_retreat,0.620606194964,5.46135359848e-05,1.050029178,0.591176921596,0.00872733645905,1.04969846493
+273,4.550000000,pose2_to_pose3_retreat,0.620572355782,5.45946340995e-05,1.05002917872,0.591143084475,0.0087273245926,1.04969846513
+274,4.566666667,pose2_to_pose3_retreat,0.62052597004,5.46249113215e-05,1.05002905976,0.591096698491,0.00872735484502,1.04969835994
+275,4.583333333,pose2_to_pose3_retreat,0.620468316531,5.44555206101e-05,1.05002903974,0.591039047216,0.00872719328296,1.04969833071
+276,4.600000000,pose2_to_pose3_retreat,0.620400769114,5.45946809067e-05,1.050029037,0.590971497125,0.00872732337536,1.04969832857
+277,4.616666667,pose2_to_pose3_retreat,0.620324104633,5.46134623386e-05,1.05002897179,0.590894831078,0.00872733657414,1.04969825649
+278,4.633333333,pose2_to_pose3_retreat,0.620237147609,5.44090063941e-05,1.05002925652,0.590807877706,0.00872714317921,1.04969853341
+279,4.650000000,pose2_to_pose3_retreat,0.620136914334,5.44796848702e-05,1.05002920448,0.590707645057,0.00872721609948,1.04969849244
+280,4.666666667,pose2_to_pose3_retreat,0.620022516298,5.4503755119e-05,1.05002911706,0.590593246258,0.00872723795595,1.04969841695
+281,4.683333333,pose2_to_pose3_retreat,0.619889593616,5.45794749239e-05,1.0500291243,0.590460322569,0.00872731008561,1.0496984235
+282,4.700000000,pose2_to_pose3_retreat,0.619737431243,5.45452356558e-05,1.05002916667,0.590308159733,0.00872727374498,1.04969845599
+283,4.716666667,pose2_to_pose3_retreat,0.619562519737,5.45116497561e-05,1.05002911171,0.590133248223,0.00872723987937,1.04969839813
+284,4.733333333,pose2_to_pose3_retreat,0.619366835271,5.44917454196e-05,1.05002911589,0.589937565368,0.00872722529896,1.04969840354
+285,4.750000000,pose2_to_pose3_retreat,0.619150075716,5.45296072722e-05,1.05002917584,0.589720806684,0.00872726591447,1.04969846342
+286,4.766666667,pose2_to_pose3_retreat,0.618915209836,5.45965040825e-05,1.05002903686,0.58948593931,0.00872732778088,1.04969833103
+287,4.783333333,pose2_to_pose3_retreat,0.618663054968,5.45038470898e-05,1.05002900252,0.589233784864,0.00872723628861,1.04969829606
+288,4.800000000,pose2_to_pose3_retreat,0.618390005585,5.4484484742e-05,1.05002915253,0.588960736263,0.00872721896711,1.04969843644
+289,4.816666667,pose2_to_pose3_retreat,0.618094495016,5.46311744959e-05,1.05002912433,0.588665223064,0.00872735665475,1.04969841164
+290,4.833333333,pose2_to_pose3_retreat,0.617772668082,5.45412413553e-05,1.05002927085,0.588343397318,0.00872727049969,1.04969855799
+291,4.850000000,pose2_to_pose3_retreat,0.617420688022,5.46238333259e-05,1.05002911896,0.587991417639,0.0087273540911,1.04969840928
+292,4.866666667,pose2_to_pose3_retreat,0.617038177588,5.45334851321e-05,1.05002893213,0.587608906128,0.00872726006518,1.04969822918
+293,4.883333333,pose2_to_pose3_retreat,0.616628035508,5.44036446307e-05,1.05002927219,0.587198766518,0.00872713788606,1.04969855873
+294,4.900000000,pose2_to_pose3_retreat,0.61619194761,5.45454845588e-05,1.05002917192,0.586762678837,0.00872728017834,1.04969845988
+295,4.916666667,pose2_to_pose3_retreat,0.615724124875,5.46392739008e-05,1.05002915376,0.586294854756,0.00872736915198,1.04969844796
+296,4.933333333,pose2_to_pose3_retreat,0.61523122607,5.46158648159e-05,1.05002926814,0.585801955387,0.00872734344264,1.04969855878
+297,4.950000000,pose2_to_pose3_retreat,0.614715148684,5.45445723572e-05,1.05002917426,0.58528588027,0.00872727928759,1.04969846015
+298,4.966666667,pose2_to_pose3_retreat,0.614181713969,5.46881272388e-05,1.05002888482,0.584752443048,0.00872741447768,1.04969818324
+299,4.983333333,pose2_to_pose3_retreat,0.61363297393,5.44555096463e-05,1.05002915326,0.584203705776,0.00872719066638,1.04969844321
+300,5.000000000,pose2_to_pose3_retreat,0.613061289227,5.45364695582e-05,1.05002937812,0.583632021544,0.00872727295912,1.04969866716
+301,5.016666667,pose2_to_pose3_retreat,0.61245799804,5.45500578059e-05,1.05002930091,0.58302872847,0.00872728009016,1.04969859033
+302,5.033333333,pose2_to_pose3_retreat,0.611809562412,5.46772371725e-05,1.0500293218,0.582380291757,0.00872740327053,1.04969860276
+303,5.050000000,pose2_to_pose3_retreat,0.611120836389,5.46989737231e-05,1.05002912604,0.581691564696,0.00872742141621,1.04969840553
+304,5.066666667,pose2_to_pose3_retreat,0.610395354593,5.44614502352e-05,1.05002904376,0.580966087048,0.00872719832084,1.04969833353
+305,5.083333333,pose2_to_pose3_retreat,0.609652589666,5.44518963254e-05,1.0500291268,0.580223322395,0.00872718984825,1.04969842024
+306,5.100000000,pose2_to_pose3_retreat,0.608899440483,5.45026608228e-05,1.05002928451,0.579470171642,0.00872723506792,1.04969857175
+307,5.116666667,pose2_to_pose3_retreat,0.608139621629,5.46396836888e-05,1.05002916008,0.578710350398,0.00872736420867,1.04969845322
+308,5.133333333,pose2_to_pose3_retreat,0.607368641917,5.44594813012e-05,1.05002912577,0.577939374494,0.00872719711775,1.04969842222
+309,5.150000000,pose2_to_pose3_retreat,0.606584231631,5.46141283373e-05,1.05002927957,0.577154961067,0.0087273407288,1.0496985673
+310,5.166666667,pose2_to_pose3_retreat,0.605775573331,5.461534259e-05,1.05002927958,0.576346302882,0.00872734246599,1.04969857103
+311,5.183333333,pose2_to_pose3_retreat,0.604941419582,5.46625495748e-05,1.05002918579,0.575512149625,0.00872739130018,1.04969847597
+312,5.200000000,pose2_to_pose3_retreat,0.604088338602,5.4613228192e-05,1.05002903436,0.574659067867,0.00872733957839,1.04969833087
+313,5.216666667,pose2_to_pose3_retreat,0.603220557299,5.45672644753e-05,1.05002891092,0.57379128709,0.00872729540395,1.0496982074
+314,5.233333333,pose2_to_pose3_retreat,0.602346726206,5.44283912063e-05,1.05002910014,0.572917457826,0.00872716277181,1.04969839511
+315,5.250000000,pose2_to_pose3_retreat,0.601473122,5.45211656542e-05,1.0500293046,0.572043853466,0.00872725436815,1.04969858523
+316,5.266666667,pose2_to_pose3_retreat,0.600600261832,5.45455069351e-05,1.05002898414,0.571170992235,0.00872727536977,1.04969827149
+317,5.283333333,pose2_to_pose3_retreat,0.599730273748,5.46061072515e-05,1.05002888583,0.570301004869,0.00872733886336,1.04969818487
+318,5.300000000,pose2_to_pose3_retreat,0.5988595918,5.45577787804e-05,1.05002899014,0.569430323133,0.00872729111955,1.04969828562
+319,5.316666667,pose2_to_pose3_retreat,0.59798456,5.46491059048e-05,1.05002906909,0.568555287745,0.00872736981067,1.04969835242
+320,5.333333333,pose2_to_pose3_retreat,0.597102329263,5.45615254889e-05,1.05002882246,0.567673059343,0.00872729070484,1.04969811924
+321,5.350000000,pose2_to_pose3_retreat,0.596207091517,5.46135515738e-05,1.05002925294,0.56677782076,0.00872733984806,1.04969854812
+322,5.366666667,pose2_to_pose3_retreat,0.595313651138,5.46336208274e-05,1.05002917453,0.565884381201,0.00872736277168,1.0496984716
+323,5.383333333,pose2_to_pose3_retreat,0.594427953378,5.4571603483e-05,1.05002915938,0.564998683857,0.00872730198053,1.04969845105
+324,5.400000000,pose2_to_pose3_retreat,0.593551030938,5.45276027801e-05,1.05002930351,0.564121761716,0.00872725851988,1.0496985842
+325,5.416666667,pose2_to_pose3_retreat,0.592690889006,5.45146426439e-05,1.05002928587,0.563261621851,0.00872725288093,1.04969857511
+326,5.433333333,pose2_to_pose3_retreat,0.591858397354,5.45104831123e-05,1.0500291998,0.56242912821,0.0087272418775,1.04969848632
+327,5.450000000,pose2_to_pose3_retreat,0.591044321106,5.44879930328e-05,1.0500292464,0.561615052353,0.00872722096555,1.04969853931
+328,5.466666667,pose2_to_pose3_retreat,0.590246026054,5.44974101048e-05,1.05002939994,0.560816758393,0.00872723374162,1.04969868385
+329,5.483333333,pose2_to_pose3_retreat,0.58945448302,5.45170814194e-05,1.050029272,0.560025214592,0.00872725079348,1.04969855385
+330,5.500000000,pose2_to_pose3_retreat,0.588667807533,5.45262071215e-05,1.05002916882,0.559238538422,0.00872725780731,1.04969845675
+331,5.516666667,pose2_to_pose3_retreat,0.587884942395,5.45315829742e-05,1.05002906947,0.558455673342,0.00872726356094,1.04969836208
+332,5.533333333,pose2_to_pose3_retreat,0.58711190691,5.46468567498e-05,1.05002922229,0.557682637835,0.00872737860643,1.04969851042
+333,5.550000000,pose2_to_pose3_retreat,0.586362470383,5.45803899273e-05,1.0500293215,0.556933200009,0.00872730738272,1.04969860185
+334,5.566666667,pose2_to_pose3_retreat,0.58564635208,5.4590868308e-05,1.05002917928,0.556217081925,0.00872731911793,1.04969847248
+335,5.583333333,pose2_to_pose3_retreat,0.58496820233,5.45913541977e-05,1.05002915751,0.555538933014,0.00872732241252,1.04969844974
+336,5.600000000,pose2_to_pose3_retreat,0.584325781808,5.45095156873e-05,1.0500292262,0.554896512536,0.00872724078734,1.04969852019
+337,5.616666667,pose2_to_pose3_retreat,0.583710166355,5.44715016091e-05,1.05002910578,0.554280898022,0.00872720603994,1.04969840086
+338,5.633333333,pose2_to_pose3_retreat,0.583108930602,5.45362590474e-05,1.05002918279,0.553679661619,0.00872726835039,1.04969847194
+339,5.650000000,pose2_to_pose3_retreat,0.582522131112,5.44844113157e-05,1.05002924074,0.553092862443,0.0087272173247,1.04969852397
+340,5.666666667,pose2_to_pose3_retreat,0.581953684375,5.44590443812e-05,1.05002911356,0.552524415899,0.00872719274164,1.04969840011
+341,5.683333333,pose2_to_pose3_retreat,0.581412713781,5.45921673469e-05,1.0500289671,0.551983443318,0.00872731935521,1.04969825968
+342,5.700000000,pose2_to_pose3_retreat,0.580901039086,5.46243705839e-05,1.05002887908,0.551471767748,0.00872734886838,1.04969817875
+343,5.716666667,pose2_to_pose3_retreat,0.580415747589,5.45936686162e-05,1.05002907438,0.550986476974,0.00872732062909,1.04969837415
+344,5.733333333,pose2_to_pose3_retreat,0.579952424428,5.44621655631e-05,1.05002920566,0.550523156208,0.00872719694576,1.04969849745
+345,5.750000000,pose2_to_pose3_retreat,0.579508979206,5.45331299609e-05,1.05002931605,0.550079709684,0.00872726328014,1.04969860229
+346,5.766666667,pose2_to_pose3_retreat,0.579090111617,5.46412588706e-05,1.05002915633,0.549660840623,0.00872736620064,1.04969843713
+347,5.783333333,pose2_to_pose3_retreat,0.578702575725,5.4613268986e-05,1.05002916768,0.549273304879,0.00872733890858,1.04969845365
+348,5.800000000,pose2_to_pose3_retreat,0.578353194801,5.46312321552e-05,1.0500291146,0.548923923925,0.00872735702521,1.04969840741
+349,5.816666667,pose2_to_pose3_retreat,0.578041762186,5.46066800277e-05,1.05002919475,0.548612492145,0.00872733514739,1.04969848326
+350,5.833333333,pose2_to_pose3_retreat,0.577766532533,5.45476615436e-05,1.05002918942,0.548337263362,0.00872727886611,1.04969847229
+351,5.850000000,pose2_to_pose3_retreat,0.577516343471,5.44655316915e-05,1.05002912012,0.54808707446,0.00872719728668,1.04969840337
+352,5.866666667,pose2_to_pose3_retreat,0.577283893325,5.44132830356e-05,1.05002918468,0.547854624564,0.00872714593647,1.0496984692
+353,5.883333333,pose2_to_pose3_retreat,0.57706569444,5.44269370779e-05,1.05002920259,0.547636426909,0.00872716361104,1.04969848302
+354,5.900000000,pose2_to_pose3_retreat,0.576861902619,5.4480531291e-05,1.05002920063,0.547432634231,0.00872721432227,1.04969848168
+355,5.916666667,pose2_to_pose3_retreat,0.576676788676,5.46651131342e-05,1.05002919802,0.54724751718,0.00872738872171,1.04969848873
+356,5.933333333,pose2_to_pose3_retreat,0.576511175127,5.4541554498e-05,1.05002924432,0.547081906183,0.00872727386559,1.04969853621
+357,5.950000000,pose2_to_pose3_retreat,0.57636763748,5.46147349965e-05,1.05002908776,0.546938367674,0.00872734414497,1.04969838031
+358,5.966666667,pose2_to_pose3_retreat,0.576243949779,5.45854887707e-05,1.05002898886,0.54681467985,0.0087273143661,1.04969827834
+359,5.983333333,pose2_to_pose3_retreat,0.576140000776,5.45561719589e-05,1.05002919625,0.546710731375,0.00872728652651,1.04969847848
+360,6.000000000,pose2_to_pose3_retreat,0.576050746993,5.45272697929e-05,1.05002920556,0.546621478072,0.00872725925187,1.04969849039
+361,6.016666667,pose2_to_pose3_retreat,0.575974985121,5.44594150527e-05,1.05002929502,0.546545715651,0.00872718978109,1.04969858339
+362,6.033333333,pose2_to_pose3_retreat,0.575911962671,5.45117292285e-05,1.05002929345,0.546482694641,0.00872724691808,1.04969857993
+363,6.050000000,pose2_to_pose3_retreat,0.575859717407,5.45075271024e-05,1.05002918181,0.54643044951,0.00872724314704,1.04969846773
+364,6.066666667,pose2_to_pose3_retreat,0.575817615383,5.46998892735e-05,1.05002915711,0.546388343581,0.00872742239744,1.04969844662
+365,6.083333333,pose2_to_pose3_retreat,0.575784207553,5.45792717474e-05,1.05002915402,0.546354938884,0.00872731247702,1.04969844531
+366,6.100000000,pose2_to_pose3_retreat,0.575760192377,5.4500599384e-05,1.05002903838,0.546330922528,0.00872722972861,1.04969832776
+367,6.116666667,pose2_to_pose3_retreat,0.575742849313,5.46620245328e-05,1.05002903042,0.546313578608,0.00872738841502,1.04969832424
+368,6.133333333,pose2_to_pose3_retreat,0.575731389023,5.44471448106e-05,1.05002894064,0.546302121569,0.00872718449433,1.04969823253
+369,6.150000000,pose2_to_pose3_retreat,0.575724319416,5.44633193239e-05,1.05002901652,0.546295051749,0.00872719986075,1.04969830629
+370,6.166666667,pose2_to_pose3_retreat,0.575719814666,5.45963814805e-05,1.05002915665,0.546290545119,0.00872732647839,1.04969844486
+371,6.183333333,pose2_to_pose3_retreat,0.575716910338,5.45190494965e-05,1.05002915615,0.546287641654,0.008727252174,1.04969844679
+372,6.200000000,pose2_to_pose3_retreat,0.575714726036,5.44315922756e-05,1.05002913946,0.546285458375,0.00872716828379,1.04969843254
+373,6.216666667,pose2_to_pose3_retreat,0.575713242818,5.44100205452e-05,1.05002914373,0.546283975482,0.00872714776838,1.04969843558
+374,6.233333333,pose2_to_pose3_retreat,0.575712549994,5.44250076276e-05,1.05002915607,0.546283282564,0.00872716234363,1.04969844543
+375,6.250000000,pose2_to_pose3_retreat,0.575712283962,5.44307623974e-05,1.05002916081,0.546283016497,0.00872716794026,1.04969844921
+376,6.266666667,pose2_to_pose3_retreat,0.575712030888,5.44362368556e-05,1.05002916531,0.546282763389,0.00872717326428,1.04969845281
+377,6.283333333,pose2_to_pose3_retreat,0.575711929638,5.44384270868e-05,1.05002916712,0.546282662125,0.00872717539433,1.04969845425
+378,6.300000000,pose2_to_pose3_retreat,0.575711740744,5.44425132234e-05,1.05002917048,0.546282473205,0.00872717936818,1.04969845694
+379,6.316666667,pose2_to_pose3_retreat,0.575711701655,5.44433587908e-05,1.05002917118,0.546282434111,0.00872718019051,1.04969845749
+380,6.333333333,pose2_to_pose3_retreat,0.575711490641,5.4447923404e-05,1.05002917493,0.546282223069,0.00872718462969,1.04969846049
+381,6.350000000,pose2_to_pose3_retreat,0.575711342079,5.44511370772e-05,1.05002917758,0.546282074487,0.00872718775505,1.0496984626
+382,6.366666667,pose2_to_pose3_retreat,0.575711128918,5.44557481585e-05,1.05002918138,0.546281861297,0.00872719223943,1.04969846563
+383,6.383333333,pose2_to_pose3_retreat,0.575711107233,5.44567338345e-05,1.05002918156,0.546281839593,0.00872719315823,1.04969846579
+384,6.400000000,pose2_to_pose3_retreat,0.57571107824,5.44590950657e-05,1.05002918141,0.546281810541,0.00872719532102,1.04969846568
+385,6.416666667,pose2_to_pose3_retreat,0.575710965396,5.44682854977e-05,1.05002918081,0.546281697468,0.00872720373908,1.04969846526
+386,6.433333333,pose2_to_pose3_retreat,0.575710897046,5.44738522314e-05,1.05002918044,0.546281628978,0.00872720883798,1.04969846501
+387,6.450000000,pose2_to_pose3_retreat,0.575710741698,5.44865043264e-05,1.05002917962,0.546281473314,0.00872722042678,1.04969846444
+388,6.466666667,pose2_to_pose3_retreat,0.575710712764,5.4488860754e-05,1.05002917946,0.546281444321,0.00872722258517,1.04969846433
+389,6.483333333,pose2_to_pose3_retreat,0.575710630075,5.44955953202e-05,1.05002917902,0.546281361463,0.00872722875375,1.04969846403
+390,6.500000000,pose2_to_pose3_retreat,0.575710443055,5.45108268472e-05,1.05002917803,0.546281174063,0.00872724270521,1.04969846334
+391,6.516666667,pose2_to_pose3_retreat,0.575710254355,5.45261952829e-05,1.05002917703,0.546280984979,0.00872725678206,1.04969846264
+392,6.533333333,pose2_to_pose3_retreat,0.575710117318,5.45373560341e-05,1.0500291763,0.546280847663,0.00872726700485,1.04969846214
+393,6.550000000,pose2_to_pose3_retreat,0.57570993696,5.455204511e-05,1.05002917534,0.546280666937,0.00872728045944,1.04969846147
+394,6.566666667,pose2_to_pose3_retreat,0.575709881356,5.45565736993e-05,1.05002917504,0.54628061122,0.00872728460744,1.04969846127
+395,6.583333333,pose2_to_pose3_retreat,0.575709494313,5.45452722747e-05,1.05002923623,0.546280224332,0.00872727399179,1.04969852675
+396,6.600000000,pose2_to_pose3_retreat,0.575709277926,5.45741653607e-05,1.05002922981,0.546280007234,0.00872730048836,1.04969852079
+397,6.616666667,pose2_to_pose3_retreat,0.575709244746,5.46265216982e-05,1.05002917314,0.54627997286,0.00872734869475,1.04969846153
+398,6.633333333,pose2_to_pose3_retreat,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+399,6.650000000,pose2_to_pose3_retreat,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966305,1.04969846034
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a78ce8c3d38be8ec5e82ce3d1775c8947b4d6a9
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9106233c5a245080c76fcad98958ea90147c0bd0db5ee43f97a89b23375e7a43
+size 25546952
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b9b8ac1f185c9f0891df726e3dea38af454a9dd
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/franka_data.csv
@@ -0,0 +1,403 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,712,671,660,633,876,783,800,649,629,651,0.400953844209,-0.00539066390814,0.0598375128287,0.999999943722,0.000199029319064,-0.000269690646503,1.44991728199e-05,1793192676117100288
+1,0.016666667,BASELINE,764,742,711.420970319,671,660,633,876,783,799.420970319,649,629,650.420970319,0.400953701457,-0.00539030872518,0.0598372893847,0.999999944023,0.000197157620836,-0.000269977181383,1.40000627651e-05,1793192676133766400
+2,0.033333333,BASELINE,764,742,711,671.156850689,660,633,876.156850689,783.156850689,799.156850689,649,628.843149311,650.156850689,0.400953684969,-0.00538997676527,0.0598373011523,0.99999994427,0.000195823044553,-0.000270053324349,1.35683189277e-05,1793192676150432768
+3,0.050000000,BASELINE,764,742,711,671.731452684,660,633,876.731452684,783.731452684,799.731452684,649,628.268547316,650.731452684,0.40095400477,-0.00538970665681,0.059837939375,0.999999944385,0.000195919021938,-0.000269569116021,1.33159960944e-05,1793192676167099136
+4,0.066666667,BASELINE,763.687228796,742,711,671.687228796,660.312771204,633,876.687228796,783.687228796,799.687228796,649,628.312771204,651,0.4009546178,-0.00538955237036,0.0598381202456,0.999999944414,0.000196520732446,-0.000269021574781,1.33544695552e-05,1793192676183765760
+5,0.083333333,BASELINE,763.100016905,742,711,671.100016905,660.899983095,633,876.100016905,783.100016905,799.100016905,649,628.899983095,651,0.400955488124,-0.00538949971181,0.0598378998132,0.999999944366,0.000197566197821,-0.000268418462187,1.36481018631e-05,1793192676200432896
+6,0.100000000,BASELINE,763.48064148,742,711,671,661,633,876,783,799,649,628.51935852,650.51935852,0.400957204895,-0.0053887054468,0.0598389339082,0.999999944719,0.0001982614087,-0.000266592902344,1.35243938132e-05,1793192676217099776
+7,0.116666667,BASELINE,764,742,711,671,661,633,875.940284854,783,799,649,628.059715146,650,0.400958681243,-0.00538811902903,0.0598399802948,0.999999945097,0.000198581808298,-0.000264935159099,1.34031770626e-05,1793192676233766656
+8,0.133333333,BASELINE,764,742,711,671,661,633,875.363284467,783,799,649,628.636715533,650,0.40095656965,-0.00539065193036,0.0598389021745,0.99999994502,0.000196278261275,-0.000266905068702,1.40457167305e-05,1793192676250433024
+9,0.150000000,BASELINE,764,742,711.212375355,671,661,633,875.212375355,783.212375355,799.212375355,649,629,650,0.400955372892,-0.00539209674605,0.0598386692955,0.999999945031,0.000195149575946,-0.000267671346824,1.43919120908e-05,1793192676267099648
+10,0.166666667,BASELINE,764,742,711.785756363,671,661,633,875.785756363,783.785756363,799.785756363,649,629,650,0.400955731211,-0.00539169198219,0.0598398731975,0.999999945205,0.000196017976205,-0.000266391635154,1.42343673456e-05,1793192676283765760
+11,0.183333333,BASELINE,764,742,711.630232528,670.630232528,661,633,876,783.630232528,799.630232528,649,629,650.369767472,0.400956444434,-0.00539118801669,0.0598403396923,0.999999945359,0.000196283083733,-0.000265635019529,1.38874901967e-05,1793192676300432384
+12,0.200000000,BASELINE,764,742,711.039879968,670.039879968,661,633,876,783.039879968,799.039879968,649,629,650.960120032,0.400957369374,-0.00539062487234,0.0598403662864,0.999999945502,0.000196188296572,-0.000265190457153,1.34276666325e-05,1793192676317099008
+13,0.216666667,BASELINE,764,742,711,670.539411059,661,633,876,783,799,649,629,651,0.400956889892,-0.0053905381742,0.0598396134411,0.999999945268,0.000196122783266,-0.000266106153863,1.36842462113e-05,1793192676333765376
+14,0.233333333,BASELINE,764,742,711.11714217,671,661.11714217,633,876,783,799,649,629,651,0.40095636358,-0.00539049843608,0.0598388974594,0.999999945058,0.000195991159651,-0.000266982490262,1.38848671028e-05,1793192676350432512
+15,0.250000000,BASELINE,764,742,711.691910142,671,661.691910142,633,876,783,799,649,629,651,0.400956051801,-0.00539050730764,0.0598385460848,0.999999945048,0.000195592985426,-0.000267320082754,1.36641246921e-05,1793192676367099136
+16,0.266666667,BASELINE,764,742,712,671,661.457718094,633,876,783.271140953,799,649,629,651,0.400955558689,-0.00539042204584,0.0598384249184,0.999999944698,0.000196934428501,-0.000267636817523,1.38297553848e-05,1793192676383765760
+17,0.283333333,BASELINE,764,742,712,671,660.288944819,633,876,783.855527591,799,649,629,651,0.400954856083,-0.00539022803297,0.0598385697086,0.999999943945,0.000200285629277,-0.00026792945561,1.44417580091e-05,1793192676400432384
+18,0.300000000,BASELINE,764,742,712,671,660.439426764,633,876,783.560573236,798.560573236,649,628.560573236,650.560573236,0.400955689928,-0.00539024422648,0.0598389166257,0.999999944499,0.000198859970337,-0.000266929355424,1.43321199639e-05,1793192676417098752
+19,0.316666667,BASELINE,764,742,711.977112997,671,660.977112997,633,876,783,798.022887003,649,628.022887003,650.022887003,0.40095694523,-0.00539028806804,0.0598393001814,0.999999945414,0.000196047275453,-0.000265597319043,1.39939374447e-05,1793192676433765376
+20,0.333333333,BASELINE,764,742,711.400400077,671,660.400400077,633,876,783,798.599599923,649,628.599599923,650.599599923,0.40095618896,-0.00538933044224,0.0598389640335,0.999999944862,0.000197632239748,-0.000266506344631,1.38602260548e-05,1793192676450432000
+21,0.350000000,BASELINE,764,742,711.176222587,671,660.352445174,633,876.176222587,783,799,649,629,650.823777413,0.4009555797,-0.00538874237852,0.0598388763757,0.999999944469,0.000198820254249,-0.000267103706925,1.37303236272e-05,1793192676467098880
+22,0.366666667,BASELINE,764,742,711.752640206,671,661.505280412,633,876.752640206,783,799,649,629,650.247359794,0.400955304298,-0.00538899357685,0.0598393530301,0.999999944443,0.000199106810115,-0.000266993293187,1.36090712318e-05,1793192676483765504
+23,0.383333333,BASELINE,764,742,712,671,661.664031056,633,876.664031056,783,799.335968944,649.335968944,628.664031056,650.335968944,0.400956033777,-0.00538940778627,0.0598400990811,0.999999944804,0.000198661487681,-0.000265963324058,1.37877923751e-05,1793192676500432128
+24,0.400000000,BASELINE,764,742,712,671,661.07550702,633,876.07550702,783,799.92449298,649.92449298,628.07550702,650.92449298,0.400957518646,-0.00538994453465,0.0598410476435,0.999999945451,0.000197665996595,-0.000264242105322,1.41920100759e-05,1793192676517098752
+25,0.416666667,BASELINE,764,742,712,671,661,633,875.495315436,783.504684564,799.495315436,649.495315436,628,650.495315436,0.400957492305,-0.00538935122728,0.0598405917106,0.999999945293,0.000199035245276,-0.000263833399443,1.38527079839e-05,1793192676533765376
+26,0.433333333,BASELINE,764,742,712,670.916641523,661,633,875.083358477,783.916641523,799.083358477,649,628,650.083358477,0.400957188794,-0.00538879549443,0.0598399750456,0.999999945005,0.000200542719422,-0.000263800382282,1.35073934481e-05,1793192676550432000
+27,0.450000000,BASELINE,764,742,712,670.339692135,661,633,875.660307865,783.339692135,799.660307865,649,628,650.660307865,0.400956561115,-0.00538944710754,0.0598396306695,0.999999944671,0.000200807772268,-0.000264848062692,1.37744630042e-05,1793192676567098880
+28,0.466666667,BASELINE,764,742,711.76319856,670.23680144,661,633,876,783,799.76319856,649,628,650.76319856,0.400955740891,-0.00538968907289,0.05983943175,0.999999944548,0.000199973780573,-0.000265938418533,1.38581451941e-05,1793192676583765504
+29,0.483333333,BASELINE,764,742,711.187357628,670.812642372,661,633,876,783,799.187357628,649,628,650.187357628,0.400954644989,-0.00538934452668,0.0598394410873,0.999999944722,0.000197566236348,-0.000267089874684,1.36792632584e-05,1793192676600431872
+30,0.500000000,BASELINE,764,742,711,671,661,633,875.603648832,783,799,649.396351168,628.396351168,650.396351168,0.400955049932,-0.00539011931079,0.0598396978681,0.999999945136,0.000196040394749,-0.000266669290355,1.35782876754e-05,1793192676617098752
+31,0.516666667,BASELINE,764,742,711,671,661,633,875.016145542,783,799,649.983854458,628.983854458,650.983854458,0.400956178702,-0.0053914339252,0.0598400739858,0.999999945665,0.000194939780501,-0.000265490542777,1.35148847501e-05,1793192676633765376
+32,0.533333333,BASELINE,764,742,711.564453776,671,661,633,875.564453776,783,799,649.435546224,628.435546224,650.435546224,0.400956245914,-0.00539091879183,0.0598403284639,0.999999945339,0.000197159687451,-0.00026506363247,1.38501306672e-05,1793192676650432000
+33,0.550000000,BASELINE,764,742,711.856338366,671.143661634,661,633,876.143661634,783.143661634,799,649,628.143661634,650,0.400956366686,-0.00539048425957,0.0598403691176,0.999999945064,0.000198819106879,-0.000264847511092,1.40942080101e-05,1793192676667098880
+34,0.566666667,BASELINE,764,742,711.280727738,671.719272262,661,633,876.719272262,783.719272262,799,649,628.719272262,650,0.400956738691,-0.0053904475348,0.0598397771979,0.999999945032,0.000198511176418,-0.000265201291871,1.40302968537e-05,1793192676683765504
+35,0.583333333,BASELINE,764.301254171,742,711,671.698745829,660.698745829,633,876.698745829,783.698745829,799,649,629,650.301254171,0.400956925494,-0.00539049762317,0.0598395608783,0.999999944954,0.000198429000688,-0.000265560472156,1.40199506082e-05,1793192676700432128
+36,0.600000000,BASELINE,764.889301592,742,711,671.110698408,660.110698408,633,876.110698408,783.110698408,799,649,629,650.889301592,0.400956935987,-0.00539063035742,0.0598397021289,0.99999994483,0.000198561742883,-0.000265924792799,1.4060598022e-05,1793192676717098752
+37,0.616666667,BASELINE,764.529075688,742.470924312,711.470924312,671.470924312,660.470924312,633,876,783.470924312,799,649.470924312,629,651,0.400955676894,-0.00539110812623,0.0598398588739,0.99999994474,0.000198183687177,-0.000266535598716,1.41969754605e-05,1793192676733765632
+38,0.633333333,BASELINE,764,743,712,671.949429302,661,633,876,783.949429302,799.050570698,649.949429302,629,651,0.400954367517,-0.00539142374199,0.0598400387162,0.999999944677,0.000197901785508,-0.000266976377222,1.43066666292e-05,1793192676750432256
+39,0.650000000,BASELINE,764,743,712,671.374823128,661,633,876,783.374823128,799.625176872,649.374823128,629,651,0.400955587963,-0.00538922991456,0.0598404206692,0.999999944805,0.000199843758287,-0.000265062936235,1.39097769141e-05,1793192676767098624
+40,0.666666667,BASELINE,764,742.799607208,711.799607208,671,661,633,876,783.200392792,799.799607208,649,629,651,0.400956596675,-0.00538816527554,0.0598407725386,0.999999944869,0.000200974706713,-0.000263976117754,1.37088806338e-05,1793192676783765248
+41,0.683333333,BASELINE,764,742.223247351,711.223247351,671,661,633,876,783.776752649,799.223247351,649,629,651,0.400957208142,-0.00538921916419,0.0598410679664,0.999999944822,0.000200584051158,-0.00026444016774,1.38756975872e-05,1793192676800432128
+42,0.700000000,BASELINE,764,742,711.36184169,671,661,633,876,783.63815831,799,649.36184169,628.63815831,650.63815831,0.400957883037,-0.00538960830562,0.0598416494031,0.999999945211,0.000199469055811,-0.00026381365082,1.3845301912e-05,1793192676817099008
+43,0.716666667,BASELINE,764,742,711.952449537,671,661,633,876,783.047550463,799,649.952449537,628.047550463,650.047550463,0.400958598034,-0.00538957717573,0.0598424116623,0.999999945872,0.000197896113161,-0.000262497647823,1.3690223043e-05,1793192676833765888
+44,0.733333333,BASELINE,764,742,711.469722888,670.469722888,661.530277112,633,876,783.530277112,799,650,628.530277112,650.530277112,0.400956804001,-0.00538876415036,0.0598410428596,0.999999945108,0.000198986782005,-0.000264577603595,1.37083311595e-05,1793192676850432512
+45,0.750000000,BASELINE,764,742,711.106741004,670.106741004,661.893258996,633,876,784,799,649.893258996,629,651,0.400955303235,-0.00538822123548,0.0598399562579,0.999999944521,0.000199668823,-0.000266271391227,1.37483031496e-05,1793192676867098880
+46,0.766666667,BASELINE,764,742,711.682130654,670.682130654,661.317869346,633,876,784,799,649.317869346,629,651,0.400956054629,-0.00538916483622,0.0598409279248,0.999999945292,0.000197532783712,-0.000264964166761,1.38176894584e-05,1793192676883765504
+47,0.783333333,BASELINE,763.742460053,742.257539947,712,671,661,633,876,783.742460053,799.257539947,649,629,651,0.400956775753,-0.00539069943841,0.0598411060491,0.999999945709,0.000196009426646,-0.000264512569012,1.39435129911e-05,1793192676900432128
+48,0.800000000,BASELINE,763.167026439,742.832973561,712,671,661,633,876,783.167026439,799.832973561,649,629,651,0.400957459515,-0.00539296354159,0.0598403046667,0.999999945697,0.000195242331775,-0.000265117111381,1.41389996528e-05,1793192676917098752
+49,0.816666667,BASELINE,763.421508747,742.578491253,712,671.421508747,660.578491253,633,876,783.421508747,799.578491253,649,629,651,0.400957050697,-0.00539239109626,0.0598401902703,0.999999945319,0.000196827097782,-0.000265364380712,1.42586513707e-05,1793192676933765632
+50,0.833333333,BASELINE,764,742,711.984997995,671.984997995,660.015002005,633,876,783.984997995,799,649,629,650.984997995,0.400956268036,-0.00539070517229,0.0598403951276,0.999999944827,0.000199285444969,-0.000265379475067,1.43439548989e-05,1793192676950432256
+51,0.850000000,BASELINE,764,742,711.406530267,671.406530267,660.593469733,633,876,783.406530267,799,649,629,650.406530267,0.40095822678,-0.00539076897319,0.0598420383864,0.999999945846,0.000198428798918,-0.000262162177907,1.43040378385e-05,1793192676967098880
+52,0.866666667,BASELINE,764.170451096,742,711,671,661,633,876.170451096,783.170451096,799,649,629,650.170451096,0.400959093012,-0.00539118472901,0.0598427236039,0.999999946451,0.000197336979337,-0.000260672812627,1.43366409228e-05,1793192676983765504
+53,0.883333333,BASELINE,764.743918047,742,711,671,661,633,876.743918047,783.743918047,799,649,629,650.743918047,0.400957376098,-0.0053924326497,0.0598411436211,0.999999946092,0.000195689113744,-0.000263268982713,1.45407111871e-05,1793192677000432384
+54,0.900000000,BASELINE,764.673735445,742,711,671,661.326264555,633,876.673735445,783.673735445,799.326264555,649,629,651,0.40095642481,-0.00539265720445,0.0598403743738,0.999999945913,0.00019506682643,-0.000264409978408,1.44838706081e-05,1793192677017099008
+55,0.916666667,BASELINE,764.0842245,742,711,671,661.9157755,633,876.0842245,783.0842245,799.9157755,649,629,651,0.400956091267,-0.00539205605684,0.0598402592683,0.999999945886,0.00019527202651,-0.000264376867259,1.42165142379e-05,1793192677033765632
+56,0.933333333,BASELINE,764.496404909,742,711.496404909,671,661.503595091,633,875.503595091,783.496404909,799.503595091,649,628.503595091,650.503595091,0.400956895485,-0.00539216627814,0.059840913274,0.999999946005,0.000196203311496,-0.000263228857442,1.43424592332e-05,1793192677050432512
+57,0.950000000,BASELINE,764.924804437,742,711.924804437,671,661,633,875.075195563,784,799,649,628.075195563,650.075195563,0.400957676702,-0.00539226624604,0.0598414762702,0.999999946075,0.000197146535587,-0.000262247293771,1.45028828393e-05,1793192677067098880
+58,0.966666667,BASELINE,764.348402407,742,711.348402407,671,661,633,875.651597593,784,799,649,628.651597593,650.651597593,0.400957040515,-0.00539150751991,0.0598405781486,0.999999945673,0.000197362636668,-0.0002636138407,1.44561500832e-05,1793192677083765760
+59,0.983333333,BASELINE,764,742,711,671,661.226671309,633,876,783.773328691,799.226671309,649,629,651,0.400956619105,-0.00539128496783,0.0598401303844,0.99999994556,0.000196814395984,-0.000264457854295,1.43890871424e-05,1793192677100432384
+60,1.000000000,BASELINE,764,742,711,671,661.799715339,633,876,783.200284661,799.799715339,649,629,651,0.400956525893,-0.00539188173445,0.0598403708041,0.999999945885,0.000195098177182,-0.000264503393453,1.42909579717e-05,1793192677117099008
+61,1.016666667,BASELINE,764,742,711,671,661.615032787,633,875.615032787,783.384967213,799.615032787,649,629,651,0.400956512657,-0.00539126407842,0.0598404596833,0.999999945823,0.000195284212388,-0.000264608587537,1.41260707424e-05,1793192677133765632
+62,1.033333333,BASELINE,764,742,711,671,661.023221641,633,875.023221641,783.976778359,799.023221641,649,629,651,0.400956542393,-0.00538999390974,0.0598404671393,0.999999945553,0.000196492333967,-0.000264745834373,1.3925314232e-05,1793192677150432256
+63,1.050000000,BASELINE,764,742,711.555570471,671,661.555570471,633,875.555570471,784,799,649,628.444429529,651,0.400956909345,-0.00539062697713,0.0598412874951,0.999999945978,0.000196182784958,-0.00026337020113,1.38696078105e-05,1793192677167098880
+64,1.066666667,BASELINE,764,742,712,671,661.866568434,633,876,784,799,649,628.133431566,650.866568434,0.400957178932,-0.00539105749968,0.0598419901754,0.999999946208,0.000196372982514,-0.000262350003213,1.38989492345e-05,1793192677183765760
+65,1.083333333,BASELINE,764,742,712,671,661.290033406,633,876,784,799,649,628.709966594,650.290033406,0.400957079448,-0.00539055727848,0.0598421918259,0.999999945703,0.000198428587645,-0.000262715330216,1.41910475866e-05,1793192677200432384
+66,1.100000000,BASELINE,764,742,711.708506643,671,661,633,876,783.708506643,799,649,628.708506643,650.291493357,0.400956887974,-0.00539085811422,0.0598419837532,0.999999945658,0.000198148975338,-0.000263090939044,1.42840887681e-05,1793192677217099264
+67,1.116666667,BASELINE,764,742,711.121926645,671,661,633,876,783.121926645,799,649,628.121926645,650.878073355,0.400956603374,-0.00539196988168,0.0598413609065,0.999999946078,0.000195505358883,-0.000263476956417,1.41756189525e-05,1793192677233765888
+68,1.133333333,BASELINE,764,742,711,671.458598979,661,633,876,783.458598979,799,649,628,651,0.400956208962,-0.00539117213264,0.0598415553543,0.999999945894,0.000196877856454,-0.000263147993422,1.428144127e-05,1793192677250432512
+69,1.150000000,BASELINE,764,742,711.03731905,672,661,633,875.96268095,784,799,649,628.03731905,650.96268095,0.400955818061,-0.00539000593115,0.0598418736623,0.999999945563,0.00019909490542,-0.000262731081508,1.44252704289e-05,1793192677267099136
+70,1.166666667,BASELINE,764,742,711.612910554,672,661,633,875.387089446,784,799,649,628.612910554,650.387089446,0.400955893409,-0.00539075245386,0.0598408851899,0.999999945455,0.000198293239525,-0.00026375168273,1.43062427645e-05,1793192677283765760
+71,1.183333333,BASELINE,764,742,711.81122835,671.81122835,661,633,875.18877165,784,799,649,629,650.18877165,0.400956339199,-0.0053913728312,0.0598405018184,0.999999945557,0.000197589112935,-0.000263894143432,1.42627249728e-05,1793192677300432384
+72,1.200000000,BASELINE,764,742,711.234813542,671.234813542,661,633,875.765186458,784,799,649,629,650.765186458,0.400957545693,-0.00539173416877,0.0598413610232,0.999999946092,0.000197085283461,-0.000262233340084,1.43742669134e-05,1793192677317099008
+73,1.216666667,BASELINE,764,742,711.349371105,671,661,633,876,784,799,649,629,650.650628895,0.400958132685,-0.00539101783999,0.0598419157137,0.999999946176,0.000197574543218,-0.000261546722638,1.4327176365e-05,1793192677333765632
+74,1.233333333,BASELINE,764,742,711.938896632,671,661,633,876,784,799,649,629,650.061103368,0.400958293838,-0.00538956073344,0.059842261084,0.999999945951,0.000198746443231,-0.000261529751549,1.41710433241e-05,1793192677350432256
+75,1.250000000,BASELINE,764,742,712,671.519572128,661,633,876.519572128,784,799,649,629,650.519572128,0.400957766545,-0.00538914233624,0.0598419460318,0.999999945701,0.000199690092436,-0.000261784087612,1.38135129684e-05,1793192677367098880
+76,1.266666667,BASELINE,764,742,712,671.902019539,661,633,877,784,799.097980461,649,629,650.902019539,0.40095729896,-0.00538931975439,0.0598416851354,0.999999945645,0.000199579994843,-0.000262094852358,1.35537629255e-05,1793192677383765504
+77,1.283333333,BASELINE,764,742,712,671.32963351,661,633,877,784,799.67036649,649,629,650.32963351,0.400957505918,-0.0053918004624,0.0598420562093,0.999999946529,0.000194495618288,-0.000262526936405,1.38802075715e-05,1793192677400432128
+78,1.300000000,BASELINE,764,742,711.754408729,671,661,633,876.754408729,783.754408729,800,649,629,650.245591271,0.400957668802,-0.00539235256712,0.0598421070139,0.999999946669,0.000193666871279,-0.000262597047049,1.40792684736e-05,1793192677417099008
+79,1.316666667,BASELINE,764,742,711.175329255,671,661,633,876.175329255,783.175329255,800,649,629,650.824670745,0.400957771837,-0.0053902858227,0.059841722925,0.999999945808,0.000198616840845,-0.000262175634252,1.41053550594e-05,1793192677433765632
+80,1.333333333,BASELINE,764,742.413509732,711,671,661,633,876.413509732,783.413509732,799.586490268,649,629,650.586490268,0.400957810107,-0.00538968849771,0.0598416178838,0.999999945679,0.000199459227601,-0.000262033422078,1.40246746976e-05,1793192677450432000
+81,1.350000000,BASELINE,764,742.993626278,711.006373722,671,661,633,876.993626278,784,799.006373722,649,629,650.006373722,0.400957811138,-0.00538973367354,0.0598416272177,0.999999945872,0.000198511134219,-0.000262023069463,1.38993244829e-05,1793192677467098880
+82,1.366666667,BASELINE,764,742.419739683,711.580260317,671,661,633,876.419739683,784,799.580260317,649,629,650.580260317,0.400957000603,-0.00539017087386,0.0598410309236,0.999999945933,0.000196961590784,-0.0002629579767,1.39247978828e-05,1793192677483765504
+83,1.383333333,BASELINE,764,742,712,671,661,633,876,784,799.845337976,649,629,651,0.400956635002,-0.00539033035242,0.0598408486191,0.999999945931,0.000196510805383,-0.000263300061894,1.39226167789e-05,1793192677500432128
+84,1.400000000,BASELINE,764,742,712,671,661,633,876,784,799.269533496,649,629,651,0.400957480952,-0.00538973359875,0.0598417936021,0.999999945764,0.000199051921872,-0.000262027901451,1.38451328669e-05,1793192677517098752
+85,1.416666667,BASELINE,764,742,712,671,661,633,876,784,799,649,629,651,0.40095741194,-0.00539006294502,0.0598420362088,0.999999945702,0.000199713770855,-0.000261754440299,1.39971035892e-05,1793192677533765376
+86,1.433333333,BASELINE,764,742,712,671,661,633,876,784,799,649,629,651,0.400956537717,-0.00539120730462,0.0598416606899,0.999999945735,0.000198721772271,-0.000262359883498,1.43510056289e-05,1793192677550432000
+87,1.450000000,BASELINE,764,742,711.51672926,671,661,633,875.51672926,784,799,649,629,651,0.400956154049,-0.00539100760287,0.059841291213,0.999999945702,0.000198163071606,-0.000262922177858,1.41432346175e-05,1793192677567098880
+88,1.466666667,BASELINE,764,742.063605913,711.063605913,671,661,633,875.063605913,784,799,649,629,650.936394087,0.400955981149,-0.00539063533607,0.0598410225632,0.9999999457,0.0001976266727,-0.000263344901306,1.38889024995e-05,1793192677583765248
+89,1.483333333,BASELINE,764,742.639271478,711.639271478,671,661,633,875.639271478,784,799,649,629,650.360728522,0.400956707107,-0.0053910600812,0.0598415557946,0.999999946071,0.000196565012652,-0.000262714194401,1.41733462631e-05,1793192677600432128
+90,1.500000000,BASELINE,764,742.785820326,712,671,661,633,876,783.785820326,799,649,629,650.214179674,0.400956985221,-0.00539131471291,0.0598415938293,0.99999994606,0.000196731340608,-0.000262625735307,1.4326196422e-05,1793192677617098752
+91,1.516666667,BASELINE,764,742.21218328,712,671,661,633,876,783.21218328,799,649,629,650.78781672,0.400956511715,-0.00539128384353,0.0598408007765,0.999999945404,0.000198958598785,-0.000263447329827,1.42581932364e-05,1793192677633765376
+92,1.533333333,BASELINE,764,742,711.627970229,671,661,633,876,783,799,649,629,651,0.400956665476,-0.0053904712779,0.0598407145248,0.999999945292,0.000199353143371,-0.000263594103648,1.38965568716e-05,1793192677650432000
+93,1.550000000,BASELINE,764,742,711.037548717,671,661,633,876,783,799,649,629,651,0.40095718746,-0.005389199835,0.0598410431848,0.9999999455,0.000198671834724,-0.000263344739179,1.3362549722e-05,1793192677667098624
+94,1.566666667,BASELINE,764,742,711,671.543325967,661,633,876,783,799,649,629,651,0.400956273221,-0.00538930886573,0.059840655944,0.999999945343,0.000198577856762,-0.000264012112882,1.3339286979e-05,1793192677683765504
+95,1.583333333,BASELINE,764,742.122150862,711,671.877849138,661,633,876,783,799,649,629,651,0.400955726982,-0.00538968838875,0.059840619047,0.999999945335,0.000198324056138,-0.000264224928371,1.34866369667e-05,1793192677700432384
+96,1.600000000,BASELINE,764,742.695796023,711,671.304203977,661,633,876,783,799,649,629,651,0.400956901475,-0.00539072116574,0.0598420568038,0.99999994597,0.000197332080989,-0.000262527476166,1.41363939593e-05,1793192677717100032
+97,1.616666667,BASELINE,764,742.730036468,711.269963532,671,661,633,876,783.269963532,799,649,629,651,0.400957195937,-0.00539139775766,0.0598421896566,0.999999946308,0.000196115881611,-0.000262135655727,1.43868252277e-05,1793192677733766912
+98,1.633333333,BASELINE,764,742.155279254,711.844720746,671,661,633,876,783.844720746,799,649,629,651,0.400956496829,-0.00539167221018,0.0598408492495,0.999999946314,0.000194646529107,-0.000263217917134,1.41864105331e-05,1793192677750432768
+99,1.650000000,BASELINE,764,742,712,671,660.565670111,633,876,783.565670111,799,649.434329889,629,650.565670111,0.400957083465,-0.00539078862396,0.059841400211,0.99999994613,0.000196526901917,-0.000262527938862,1.39859351692e-05,1793192677767099136
+100,1.666666667,BASELINE,764,742.028496546,711.971503454,671,660,633,876,783,799.028496546,649.971503454,629,650.028496546,0.400958091962,-0.00538956614007,0.059842573318,0.999999945901,0.000199377510959,-0.000261257362774,1.37930906134e-05,1793192677783765760
+101,1.683333333,BASELINE,764,742.604594922,711.395405078,671,660,633,876,783,799.604594922,649.395405078,629,650.604594922,0.400958061108,-0.00539006884058,0.0598422477861,0.999999946318,0.000197044675025,-0.000261436411806,1.37473144257e-05,1793192677800432640
+102,1.700000000,BASELINE,764,742.820179063,711.179820937,671.179820937,660.179820937,633,876,783.179820937,800,649,629,651,0.400958040963,-0.00539004185156,0.0598420089882,0.999999946426,0.000196314337913,-0.000261571834891,1.37785600614e-05,1793192677817099264
+103,1.716666667,BASELINE,764,742.246862079,711.753137921,671.753137921,660.753137921,633,876,783.753137921,800,649,629,651,0.400958044254,-0.00538885576089,0.0598419599877,0.999999945863,0.000199090694828,-0.000261611792775,1.39783499418e-05,1793192677833766144
+104,1.733333333,BASELINE,764,742.337413181,711.662586819,671.662586819,661,633,876,783.662586819,799.662586819,649,629,651,0.400957889074,-0.00538979374341,0.0598420821747,0.999999945927,0.000198811639051,-0.000261564631045,1.4259515542e-05,1793192677850433024
+105,1.750000000,BASELINE,764,742.929975046,711.070024954,671.070024954,661,633,876,783.070024954,799.070024954,649,629,651,0.400957614061,-0.00539233793005,0.0598423338122,0.999999946463,0.000196222109133,-0.000261451590282,1.46022167196e-05,1793192677867099392
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,877,784,799,649,629,650,0.400958909087,-0.00539155027814,0.059842933051,0.9999999467,0.000196916359709,-0.000260020326878,1.45853956676e-05,1793192677897931264
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711.423804595,671,661,633,876.423804595,783.423804595,799,649,628.423804595,650,0.400957514818,-0.00539150168114,0.0598416643245,0.999999946441,0.000195621326033,-0.00026201188009,1.4176715119e-05,1793192677914598400
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783.151047759,799,649,628.151047759,650.151047759,0.400956772708,-0.00539119264316,0.0598411041355,0.999999946311,0.000194982622364,-0.000262998907014,1.38610873849e-05,1793192677931265024
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783.722165171,799,649,628.722165171,650.722165171,0.400957844274,-0.0053901593087,0.0598425144163,0.999999946553,0.000196169197501,-0.000261192307989,1.38042430295e-05,1793192677947931648
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783.693650367,799,649,629,650.693650367,0.40095736864,-0.00538991678665,0.059842171482,0.999999946214,0.000197189413933,-0.000261721384393,1.37696241384e-05,1793192677964598016
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783.097087158,799,649,629,650.097087158,0.400955427298,-0.00539042342337,0.0598401676778,0.999999945323,0.000198052034043,-0.000264463111567,1.37560600545e-05,1793192677981264384
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783,799,649,629,650,0.400955923304,-0.00539086072289,0.0598409901959,0.999999945509,0.000198178685243,-0.000263649160068,1.39781832447e-05,1793192677997931520
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783.05761736,799,649.05761736,629,650,0.400956998468,-0.00539108712924,0.059842319459,0.999999945865,0.000198346441635,-0.000262158143087,1.42031700538e-05,1793192678014598400
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783.632451231,799,649.632451231,629,650,0.400959019708,-0.00538954138605,0.0598432660441,0.999999945861,0.0002001673681,-0.000260793520829,1.40426162979e-05,1793192678031265024
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.786897624,784,799,649.786897624,628.786897624,650,0.400963206285,-0.00538911334263,0.0598448432928,0.999999946513,0.000200155378969,-0.000258286165382,1.41293299176e-05,1793192678047931648
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.19593161,784,799,649.19593161,628.19593161,650,0.40097123234,-0.00539066715478,0.059847538806,0.999999948314,0.000196893345373,-0.0002537525665,1.46544870478e-05,1793192678064598272
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711.386793867,671,661,633,875.386793867,783.613206133,799,649,628,650.386793867,0.401001342387,-0.00539181559771,0.0598602572992,0.999999953896,0.000196829167736,-0.000230704447701,1.55276251949e-05,1793192678081264640
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711.965432204,671,661,633,875.965432204,783.034567796,799,649,628,650.965432204,0.401042405794,-0.00539276298319,0.0598779470537,0.999999960495,0.000198351082473,-0.000198473379537,1.65733572028e-05,1793192678097931264
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.459568795,742,711.459568795,671,661,633,876,783,799,649,628,651,0.401101321104,-0.00539465051329,0.0598961133807,0.999999966087,0.000197938798702,-0.000168336386748,1.7563803208e-05,1793192678114597888
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.115207382,742,711.115207382,671,661,633,876,783.115207382,799,649,628.115207382,651,0.401163512907,-0.0053969085836,0.0599125213543,0.999999970348,0.000196842972067,-0.000142186971129,1.84099613687e-05,1793192678131265024
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.69001726,742,711.69001726,671,661,633,876,783.69001726,799,649,628.69001726,651,0.401234250966,-0.00540040657481,0.0599217938524,0.999999972467,0.000193510506824,-0.000131414609877,1.86945183436e-05,1793192678147931392
+122,2.033333333,POSE1_TO_POSE2_PRESS,763.726897066,742,712,671,660.726897066,633,875.726897066,784,799,649,629,651,0.401311696427,-0.00540337905133,0.0599279120698,0.999999974059,0.000191205873589,-0.000122419051495,1.83378497803e-05,1793192678164598016
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.134124526,742,712,671,660.134124526,633,875.134124526,784,799,649,629,651,0.401396992962,-0.00540573640765,0.0599303381708,0.999999975111,0.000190104327801,-0.000115503258579,1.72306205548e-05,1793192678181264640
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.445776026,742,711.554223974,671,660.445776026,633,875.445776026,784,799,649,628.554223974,650.554223974,0.401507315112,-0.00540801529268,0.0599357931216,0.99999997654,0.000188567555717,-0.000105321566404,1.64433099275e-05,1793192678197931520
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.978110162,783.978110162,799,649,628,650.021889838,0.401625862404,-0.00541037377287,0.0599419281193,0.999999977982,0.000186755764016,-9.44028771373e-05,1.56973541757e-05,1793192678214598144
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,875.40256588,783.40256588,799,649,628,650.59743412,0.401767344899,-0.00541532584641,0.0599428605649,0.999999979529,0.000181207108058,-8.89996420946e-05,1.36311065357e-05,1793192678231264768
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,671,660.823194542,633,875,783.176805458,799,649,628.176805458,651,0.401915302794,-0.0054203672018,0.0599434416229,0.999999980819,0.000176452044824,-8.42002733639e-05,1.16669658247e-05,1793192678247931648
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671,660.234916728,633,875,783.765083272,799,649,628.765083272,651,0.402078330611,-0.00542561633865,0.0599432049106,0.999999981627,0.000173543879369,-8.08062596028e-05,9.94045482426e-06,1793192678264598784
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711.348616914,671,660.348616914,633,875.348616914,783.651383086,799,649,629,651,0.40226576512,-0.00543037853788,0.0599429115433,0.999999982663,0.000169001813181,-7.78041715616e-05,7.62194220219e-06,1793192678281265408
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.928996657,671,660.928996657,633,875.928996657,783.071003343,799,649,629,651,0.402469425374,-0.00543481701827,0.0599425805113,0.999999983825,0.000163373518688,-7.50626379896e-05,4.90986281532e-06,1793192678297931776
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.494348402,671,661,633,876,783,799,649,629,650.494348402,0.402712884432,-0.00544138404973,0.0599448390319,0.999999985834,0.000155110726521,-6.53440220503e-05,1.79161079835e-06,1793192678314598144
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783,799,649,629,650.083114646,0.402966060203,-0.00544849993007,0.0599473839537,0.999999987781,0.000146060679788,-5.57022929017e-05,-1.37122554697e-06,1793192678331264512
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711,671,661,633,876,783,799,649,629,650.668600667,0.403244435154,-0.00545713985453,0.0599494781919,0.999999989576,0.000134471865539,-5.24037149e-05,-4.46133095723e-06,1793192678347931136
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.251398022,671,661,633,876,783,799.251398022,649,629,651,0.40353193191,-0.00546532947733,0.0599440342692,0.999999990418,0.000123783507652,-6.14026408597e-05,-8.427603532e-06,1793192678364598016
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711.830688576,671,661,633,876,783,799.830688576,649,629,651,0.403831326003,-0.0054729317817,0.0599287585005,0.999999989644,0.000114269594485,-8.6440912394e-05,-1.35366401591e-05,1793192678381264896
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799.590116884,649,628.590116884,651,0.404163875481,-0.0054809479212,0.0599187806018,0.999999989014,0.000104877508681,-0.000103183302923,-1.80734845753e-05,1793192678397931776
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671,661,633,876,783,799.010962012,649,628.010962012,651,0.404510117318,-0.00548913496435,0.0599109905948,0.9999999884,9.55357348481e-05,-0.000116499695746,-2.23740273975e-05,1793192678414598656
+138,2.300000000,POSE1_TO_POSE2_PRESS,764.565046461,742,711.434953539,671,661,633,876.565046461,783.565046461,799,649,628,651,0.404895275099,-0.00549880075827,0.0599008823312,0.999999986875,8.41407879924e-05,-0.00013565468732,-2.77066726707e-05,1793192678431265024
+139,2.316666667,POSE1_TO_POSE2_PRESS,764.856427535,742.143572465,711.143572465,671,661,633,877,783.856427535,799,649,628.143572465,650.856427535,0.405300874004,-0.00550892949328,0.0598964268084,0.99999998625,7.25969065797e-05,-0.000145494019856,-3.2570177715e-05,1793192678447931392
+140,2.333333333,POSE1_TO_POSE2_PRESS,764.269948038,742.730051962,711.730051962,671,661,633,877,783.269948038,799,649,628.730051962,650.269948038,0.405767215571,-0.00552039834477,0.0599095474153,0.999999989542,6.07157761108e-05,-0.000126247958912,-3.59250030808e-05,1793192678464598016
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.687325559,743,712,671,661.312674441,633,876.687325559,783,799,649,629,650.312674441,0.40627258622,-0.00553240495522,0.0599330617684,0.999999994534,4.62655314227e-05,-8.53070698024e-05,-3.89192853779e-05,1793192678481264896
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.107992402,743,712,671,661.892007598,633,876.107992402,783,799,649,629,650.892007598,0.406811242165,-0.00554487018488,0.0599654402406,0.999999998361,2.9624262904e-05,-2.58641382815e-05,-4.16060853413e-05,1793192678497931520
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.469511893,742.530488107,711.530488107,671.469511893,662,633,876,783,799.469511893,649,628.530488107,651,0.407353259251,-0.00554733206916,0.0599856389571,0.999999995418,-8.69967029138e-05,7.0173306881e-07,-3.99488849228e-05,1793192678514597888
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,671.907323575,661.953661787,633,876,783,800,649,628,650.953661787,0.407895879169,-0.00554665848582,0.0600002923727,0.999999976436,-0.000213201131254,1.50201228057e-05,-3.80405352611e-05,1793192678531264512
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,670.759566193,661.379783097,633,876,783,800,649,628,650.379783097,0.40843659524,-0.00553638171994,0.0599835846655,0.999999981089,-0.000187721889667,-2.43371177223e-05,-4.46038701973e-05,1793192678547931392
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,670.398543779,661.19927189,633,876,783,799.80072811,649,628.19927189,650.19927189,0.408997035153,-0.00553394985523,0.0599682819961,0.999999982591,-0.00016945855936,-6.01136530455e-05,-4.98875742165e-05,1793192678564598272
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,671.576910395,661.788455198,633,876,783,799.211544802,649,628.788455198,650.788455198,0.409596068292,-0.00554686795618,0.0599557285376,0.999999980998,-0.00016531446398,-8.88838900651e-05,-5.26674491293e-05,1793192678581265152
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.371367974,711.371367974,671.628632026,662,633,876.371367974,783,799,649,629,651,0.410250919311,-0.00554921088369,0.0599586082529,0.999999992704,-8.6695266355e-05,-7.60862011282e-05,-3.58777482416e-05,1793192678597931776
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.950768116,711.950768116,671.049231884,662,633,876.950768116,783,799,649,629,651,0.410937038259,-0.00554562983126,0.0599701332929,0.999999998601,3.36432461336e-05,-4.00030726032e-05,-8.12560094857e-06,1793192678614598144
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,743,712,671,661.475301302,633,877,783,799.524698698,649,629,651,0.41162058044,-0.00553827789809,0.0599697808624,0.99999999903,1.77970192002e-05,-3.82178239085e-05,-1.27887605029e-05,1793192678631264768
+151,2.516666667,POSE1_TO_POSE2_PRESS,763.901079947,742.901079947,712,671,661.098920053,632.901079947,876.901079947,783,799.901079947,649,628.901079947,651,0.412301985566,-0.00553142920743,0.0599633793525,0.999999998551,-5.00087189733e-06,-4.96249799384e-05,-2.02790966706e-05,1793192678647931392
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.322989951,742.322989951,712,671,661.677010049,632.322989951,876.322989951,783,799.322989951,649,628.322989951,651,0.41297419763,-0.00552871444654,0.0599330187422,0.999999993643,-2.14193533702e-07,-0.000109508461225,-2.68832819716e-05,1793192678664598016
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.262456203,742.262456203,712,671,661.475087594,632.262456203,876,783,799.262456203,649,628.262456203,650.737543797,0.413682100768,-0.00553124835069,0.0599103988637,0.999999987829,-9.21434861111e-06,-0.000152702646745,-3.06566864235e-05,1793192678681264896
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.857216293,742.857216293,712,671,660.285567414,632.857216293,876,783,799.857216293,649,628.857216293,650.142783707,0.414435193568,-0.00554042775103,0.05989757976,0.999999983616,-3.56704377268e-05,-0.00017476600902,-3.08459529776e-05,1793192678697931776
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.562128462,712,671,660.875743077,633,876,783,799.562128462,649,628.562128462,650,0.415271203021,-0.00554486342439,0.0599380464522,0.999999993677,-3.89853250671e-05,-0.000101161807871,-2.986091002e-05,1793192678714598144
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,712,671.013949366,662,633,876.013949366,783.013949366,799,649,628.013949366,650.013949366,0.416131798427,-0.00554767321472,0.0599942373826,0.999999998982,-3.49708957287e-05,4.9056575907e-07,-2.851793515e-05,1793192678731264768
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742,712,671.585172283,662,633,876.585172283,783.585172283,799,649,628.585172283,650.585172283,0.416928147994,-0.00554539765602,0.060006113824,0.999999999043,-3.02059183151e-05,1.52870196752e-05,-2.76960646604e-05,1793192678747931392
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.162740764,711.837259236,672,661.837259236,633,877,784,799.162740764,649,629,651,0.417733761834,-0.00554363444405,0.0600087014499,0.999999999014,-2.97416945195e-05,1.75017424392e-05,-2.79527634285e-05,1793192678764598016
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.757140392,711.242859608,672,661.242859608,633,877,784,799.757140392,649,629,651,0.418563948488,-0.00554323019728,0.0599866511206,0.999999998596,-4.06849289645e-05,-1.36557262194e-05,-3.10702942159e-05,1793192678781264384
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.342237664,743,711.342237664,672,661.342237664,633,877,784,800,649,629,650.657762336,0.419386685828,-0.00554414979381,0.0599619424604,0.999999997114,-4.53650996014e-05,-5.08420676559e-05,-3.36017458625e-05,1793192678797931264
+161,2.683333333,POSE1_TO_POSE2_PRESS,764.920908427,743,711.920908427,672,661.920908427,633,877,784,800,649,629,650.079091573,0.420204276815,-0.00554598396058,0.0599353973071,0.999999994067,-4.57184648976e-05,-9.21934229521e-05,-3.57283076448e-05,1793192678814597888
+162,2.700000000,POSE1_TO_POSE2_PRESS,764.010072818,742.505036409,712,672,661.505036409,633,877,783.505036409,799.505036409,649,629,650,0.4209984792,-0.00554444171305,0.0599039977887,0.999999987398,-3.68514358737e-05,-0.000149717304891,-3.78145602589e-05,1793192678831265024
+163,2.716666667,POSE1_TO_POSE2_PRESS,763.068313616,742,712,672,661,633,877,783,799.068313616,649,629,650,0.421797388142,-0.00554258204409,0.0598759324129,0.999999978384,-2.95399537783e-05,-0.000201929391848,-3.98105240001e-05,1793192678847931904
+164,2.733333333,POSE1_TO_POSE2_PRESS,763.641852573,742,712,672,661,633,877,783,799.641852573,649,629,650,0.422658489552,-0.00554232812742,0.0598782090573,0.999999978968,-4.45285581793e-05,-0.000195921428664,-4.1185936577e-05,1793192678864598528
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.223712742,712,672,661.447425485,633,877,783.223712742,799.776287258,649,629,650.223712742,0.423560943413,-0.00554386128491,0.0599055161554,0.99999998665,-5.0177368766e-05,-0.000150135821615,-4.05147430781e-05,1793192678881265152
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.819409302,712,672,662.638818604,633,877,783.819409302,799.180590698,649,629,650.819409302,0.424532157205,-0.00554836594352,0.0599744432513,0.999999997794,-4.02962114054e-05,-3.82089648412e-05,-3.6440505296e-05,1793192678897931776
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,671.597918339,662.597918339,633,877,784,799,649,628.597918339,650.597918339,0.425436681899,-0.00555161969417,0.0600032462647,0.999999998411,-4.3580828451e-05,8.60692154875e-06,-3.47004420065e-05,1793192678914598144
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,671.020912159,662.020912159,633,877,784,799,649,628.020912159,650.020912159,0.426312193626,-0.00555432924048,0.0600145934025,0.999999997673,-5.25931801235e-05,2.70964527772e-05,-3.39758552627e-05,1793192678931264768
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,742.448852825,711.448852825,671.551147175,662,633,877,784,799.551147175,649,628.551147175,650,0.427170875958,-0.00555987400701,0.0599973638328,0.99999999773,-5.39950675172e-05,1.59353458125e-05,-3.70234390338e-05,1793192678947931392
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.123921007,742.123921007,711.123921007,672,662,633,877,784,799.876078993,649.123921007,629,650,0.428019814149,-0.00556397242555,0.0599790904976,0.999999997507,-5.82063237053e-05,1.86616899434e-07,-3.9976154728e-05,1793192678964597760
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.699980475,742.699980475,711.699980475,672,662,633,877,784,799.300019525,649.699980475,629,650,0.42883550891,-0.00556240468253,0.0599609298107,0.999999996,-7.37120601003e-05,-2.82322354504e-05,-4.20651651155e-05,1793192678981264640
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.714442226,743,712,672,661.714442226,633,877,783.714442226,799.285557774,649.714442226,629,650,0.429647061367,-0.00555944685751,0.0599377480069,0.999999994105,-7.02000162092e-05,-7.05103402302e-05,-4.34870472915e-05,1793192678997931776
+173,2.883333333,POSE1_TO_POSE2_PRESS,764.118520319,743,712,672,661.118520319,633,877,783.118520319,799.881479681,649.118520319,629,650,0.430454111626,-0.00555497819438,0.0599091089036,0.999999989792,-4.60181194032e-05,-0.000127851646444,-4.41838477135e-05,1793192679014598400
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,712,672,661.92265505,633,877.461327525,783.461327525,800,649,629,650,0.43131862463,-0.00555839135406,0.0599281710326,0.99999999434,-4.13945677436e-05,-8.77211290203e-05,-4.37113514092e-05,1793192679031265024
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,672,663,633,877.96294218,784,799.96294218,649,629,650,0.432193910847,-0.0055637587534,0.0599590002343,0.999999997806,-4.38998410309e-05,-2.49030151444e-05,-4.29045595283e-05,1793192679047931392
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,743,712,672,663,633,877.389052029,784,799.389052029,649,629,650,0.433018601676,-0.00556908976306,0.0599887386499,0.999999995865,-7.93361335756e-05,1.60278798024e-05,-4.14603059911e-05,1793192679064598272
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.189241383,743,712,672,662.621517234,633,877.189241383,784,799.189241383,649,628.810758617,650,0.433814251532,-0.00557275048601,0.0600004588077,0.999999994093,-9.64839942348e-05,2.90743062787e-05,-4.07301276412e-05,1793192679081265152
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.776802997,743,712,672,661.446394005,633,877.776802997,784,799.776802997,649,628.223197003,650,0.43454877534,-0.00557289554667,0.0599742536688,0.999999996179,-7.51378900586e-05,-1.65712210791e-05,-4.15029533742e-05,1793192679097931520
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.639368267,743,711.639368267,672,661.360631733,633,877.639368267,784,800,649,628.360631733,650,0.43529138809,-0.00557337871878,0.0599464617083,0.999999994719,-6.64120436578e-05,-6.54442251887e-05,-4.32283619775e-05,1793192679114598400
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.057826196,743,711.057826196,672,661.942173804,633,877.057826196,784,800,649,628.942173804,650,0.436038955798,-0.00557406900608,0.0599176977181,0.999999990061,-6.54169252467e-05,-0.000116294265398,-4.55372893073e-05,1793192679131265280
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711,672.519390888,662.519390888,633,877,784,799.480609112,649,629,650,0.436753917773,-0.00557645887118,0.059917485523,0.999999987931,-9.55351672392e-05,-0.000113248596739,-4.67476901938e-05,1793192679147931904
+182,3.033333333,POSE1_TO_POSE2_PRESS,764.094584543,743,711,673,662.905415457,632.905415457,877.094584543,784,799.094584543,649,629,650,0.437453059575,-0.0055782842313,0.0599180534567,0.999999985444,-0.000120053337851,-0.000111704864233,-4.71209370077e-05,1793192679164598528
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.662049443,743,711,673,662.337950557,632.337950557,877.662049443,784,799.662049443,649,629,650,0.438091106812,-0.00557634910707,0.0599067603339,0.999999983229,-9.93982565516e-05,-0.0001474220048,-4.39152042758e-05,1793192679181264896
+184,3.066666667,POSE1_TO_POSE2_PRESS,765,743,711.242801703,673,661.757198297,632.242801703,877.757198297,783.757198297,799.757198297,649,629,650,0.438739309333,-0.00557432414738,0.0599037699322,0.999999982749,-8.14837948492e-05,-0.000161552391885,-4.19957328601e-05,1793192679197931264
+185,3.083333333,POSE1_TO_POSE2_PRESS,765,743,711.843119009,673,661.156880991,632.843119009,877.156880991,783.156880991,799.156880991,649,629,650,0.439402465039,-0.0055721669088,0.0599130049493,0.999999986481,-6.76047856834e-05,-0.000143897162228,-4.19702291127e-05,1793192679214597888
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.574521699,743,712,672.574521699,661,633,877.425478301,783.425478301,799.425478301,649,629,650,0.440043548554,-0.00557434220164,0.0599244990304,0.9999999885,-6.8863382894e-05,-0.000128242909635,-4.25571214317e-05,1793192679231264512
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,712,672.001476812,660.998523188,632.998523188,877.998523188,783.998523188,800,649,629,650,0.440676476558,-0.00557805100014,0.0599366484156,0.999999989767,-7.5487726481e-05,-0.000113516014793,-4.33689872198e-05,1793192679247931136
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,712,672.574550851,660.425449149,632.425449149,877.425449149,783.425449149,800,649,629,650,0.441175192715,-0.00558203923391,0.059893094138,0.999999978293,-8.60956046793e-05,-0.000183724461553,-4.73999482298e-05,1793192679264598016
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.152786237,783,800,649.152786237,629,650,0.44166126393,-0.0055845733665,0.0598466791558,0.99999996105,-9.50511813816e-05,-0.000257295154507,-5.16194614295e-05,1793192679281264896
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,632,877.74589656,783,800,649.74589656,629,650,0.442110893027,-0.0055829168361,0.0597920197226,0.999999935497,-9.92448915532e-05,-0.000340555730056,-5.63823761481e-05,1793192679297931520
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.669967964,712,673,660,632,877.669967964,783,800,649.669967964,629,650,0.442568753675,-0.00558254906299,0.059756337105,0.999999917266,-0.000102571754063,-0.000389223795128,-5.87591196725e-05,1793192679314598400
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.092559643,712,673,660,632,877.092559643,783,800,649.092559643,629,650,0.443032784274,-0.00558314728103,0.0597348786073,0.999999907844,-0.000105248868958,-0.000411962959154,-5.93473028947e-05,1793192679331264768
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.482591578,712,673,659.517408422,632,877,783,800,649,629,650,0.44348859241,-0.00558597177107,0.0597398505893,0.999999910822,-0.000100451034167,-0.000406110665322,-5.77970956135e-05,1793192679347931648
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711.941339735,673,659,631.941339735,877.058660265,783,799.941339735,649,629,650,0.443936794765,-0.00558913985904,0.0597495529921,0.999999916124,-9.38017735315e-05,-0.000394762134267,-5.58213373732e-05,1793192679364598016
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711.353098146,673,659,631.353098146,877.646901854,783,799.353098146,649,629,650,0.444330503805,-0.00559157301229,0.0597564091701,0.999999921716,-8.33208146322e-05,-0.000383070467414,-5.36891857728e-05,1793192679381264640
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,743,711.232221877,673,659,631,878,783,799.232221877,649,628.767778123,650,0.444694128442,-0.00559012999488,0.0597525816311,0.999999920557,-5.93180451931e-05,-0.000391165543194,-4.85474613459e-05,1793192679397931520
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,743,711.813154741,673,659,631,878,783,799.813154741,649,628.186845259,650,0.445012577449,-0.00558286640898,0.0597327111176,0.999999907122,-1.50105406675e-05,-0.000428972955578,-3.88864767168e-05,1793192679414598400
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,743,711.609315099,673,659,631,878,783,799.609315099,649,628.390684901,650,0.445299305901,-0.00557282806072,0.0597095670403,0.999999888061,-2.38187516844e-05,-0.000470965609865,-3.87455050621e-05,1793192679431265024
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,711.033398182,673,659,631,878,783,799.033398182,649,628.966601818,650,0.445570994991,-0.005561474138,0.0596848708952,0.999999864816,-5.78102485119e-05,-0.000514942578905,-4.31181730035e-05,1793192679447931392
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,711,673,659,631,877.458466675,782.458466675,799.541533325,649.541533325,628.458466675,650,0.445836334484,-0.00556689932402,0.0596742319344,0.999999854111,-9.66245978549e-05,-0.00052951778671,-4.52982964875e-05,1793192679464598016
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711,673,658.880340368,631,877,782.119659632,800,649.880340368,628,650,0.446095859688,-0.00557353184931,0.0596680332303,0.999999846615,-0.000128368350147,-0.000536731943124,-4.70127313577e-05,1793192679481264896
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,673,658.289391997,631,877,782.710608003,800,649.289391997,628,650,0.446334024494,-0.00558085124401,0.059675914456,0.999999853997,-0.000131094651184,-0.000522082906657,-4.74246297236e-05,1793192679497931264
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711.295331165,673,658,631,877,783,800.295331165,649.295331165,628,650,0.446554579213,-0.00558578654339,0.0596832357179,0.999999859612,-0.000131360409524,-0.000511106178695,-4.78550728933e-05,1793192679514597888
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711.874080201,673,658,631,877,783,800.874080201,649.874080201,628,650,0.446758234201,-0.00558843391846,0.0596900196037,0.999999863645,-0.000129264880274,-0.000503653623785,-4.8303312773e-05,1793192679531264768
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,743,711.55086014,673,658,631,877.44913986,782.55086014,801,649.55086014,628,650,0.446926409207,-0.00559193944893,0.0596875695898,0.999999862762,-0.000128384058531,-0.000505581472131,-4.87892218919e-05,1793192679547931648
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711,673,658.023166606,630.976833394,877.976833394,782.023166606,800.976833394,649,628.023166606,650.023166606,0.447083395759,-0.00559547730036,0.0596823797456,0.999999860325,-0.000127666198646,-0.000510508861771,-4.93103148088e-05,1793192679564598272
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711,673,658.597027241,630.402972759,877.402972759,782.597027241,800.402972759,649,628.597027241,650.597027241,0.447208947268,-0.00559411096946,0.0596730982482,0.999999853518,-0.000122792780716,-0.000524733101597,-5.04187657939e-05,1793192679581264896
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711.17712813,673.17712813,658.82287187,630.17712813,877.17712813,783,800,649,628.82287187,650.82287187,0.447325409901,-0.00559345547578,0.0596647941451,0.999999846638,-0.000119694784844,-0.000538308295284,-5.11947639072e-05,1793192679597931776
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711.771944151,673.771944151,658.228055849,630.771944151,877.771944151,783,800,649,628.228055849,650.228055849,0.447420439935,-0.00559447621577,0.0596587948483,0.999999839951,-0.000120783432992,-0.000550352963944,-5.11868009208e-05,1793192679614598144
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.645719997,743,711.645719997,673.291439994,658.354280003,631,878,782.645719997,800.354280003,649.354280003,628.354280003,650.354280003,0.44750909595,-0.00559496648164,0.0596581848303,0.99999983943,-0.000121146508492,-0.000551250935101,-5.08573039671e-05,1793192679631264768
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.071144408,743,711.071144408,672.142288815,658.928855592,631,878,782.071144408,800.928855592,649.928855592,628.928855592,650.928855592,0.447593788533,-0.00559512689238,0.0596609259304,0.999999842775,-0.000121058414261,-0.000545217756276,-5.03278733088e-05,1793192679647931392
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.504404032,743,711.504404032,673.008808064,658.495595968,630.495595968,878.504404032,782,800.495595968,649.495595968,628.495595968,650.495595968,0.447658872168,-0.00559614699715,0.0596612839327,0.999999843298,-0.000118963945498,-0.000544748965935,-5.00001878958e-05,1793192679664598016
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,673.920314402,658,630.079685598,878.840628805,782,800,649,628.079685598,650,0.447718764609,-0.00559693394168,0.0596615271293,0.999999843605,-0.000116800849376,-0.000544677987792,-4.97276361174e-05,1793192679681264640
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,712,673.34753474,658,630.65246526,877.695069481,782,800,649,628.65246526,650,0.447763681654,-0.0055955263059,0.0596631438837,0.999999845053,-0.000115967623788,-0.000542202715142,-4.96198283839e-05,1793192679697931776
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630.765078965,877,782,800,649.234921035,629,650,0.447800237371,-0.00559513658785,0.0596631108364,0.99999984479,-0.00011644038184,-0.000542599935232,-4.94711262878e-05,1793192679714598400
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630.167693763,877,782,800,649.832306237,629,650,0.447823892234,-0.00559631743466,0.0596605322786,0.999999841875,-0.000118928167125,-0.000547429179558,-4.92593275019e-05,1793192679731265024
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,711.585717141,673,658,630.414282859,877.414282859,782,800.414282859,649.585717141,628.585717141,650,0.447841620771,-0.00559685525193,0.0596580117524,0.999999840133,-0.00011848236781,-0.000550720595182,-4.90127434608e-05,1793192679747931904
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,711.009753971,673,658,630.990246029,877.990246029,782,800.990246029,649.009753971,628.009753971,650,0.447857036466,-0.00559714211691,0.0596555138741,0.999999838847,-0.000116891691546,-0.000553411849188,-4.8752583939e-05,1793192679764598528
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711.564578529,673,658,630.435421471,878,782,800.435421471,649,628.564578529,650.564578529,0.447869587858,-0.00559513041147,0.0596563389755,0.999999840381,-0.000114485267139,-0.000551142962149,-4.87050619007e-05,1793192679781264896
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,878,782,800,649,629,650.856831404,0.447880086558,-0.00559307658941,0.0596569352847,0.999999841483,-0.000112163298652,-0.000549621567633,-4.86722701488e-05,1793192679797931264
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,878,782,800,649,629,650.264805187,0.447884304414,-0.00559101486835,0.0596566348212,0.999999841107,-0.000110150171802,-0.000550711580105,-4.86741760138e-05,1793192679814598144
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711.681386896,673,658,630,877.681386896,782,800,649.318613104,628.681386896,650,0.447887324689,-0.00559172801192,0.059656276372,0.999999840606,-0.000111352630671,-0.000551415660847,-4.82672862918e-05,1793192679831265024
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.104934547,673,658,630,877.104934547,782,800,649.895065453,628.104934547,650,0.447889375815,-0.00559468672833,0.0596558709977,0.999999839994,-0.000115157318109,-0.000551807424524,-4.75295767006e-05,1793192679847931648
+224,3.733333333,POSE1_TO_POSE2_PRESS,764.471204626,743,711.471204626,672.528795374,658,630,877.471204626,782.471204626,800,649.528795374,628,650,0.447888732979,-0.00559304126736,0.059654420703,0.999999838712,-0.000114476009621,-0.000554231441008,-4.79404555681e-05,1793192679864598272
+225,3.750000000,POSE1_TO_POSE2_PRESS,765,743,711.951774077,672,658,630,878,782.951774077,800,649,628,650.048225923,0.447887686287,-0.00559069992873,0.0596528396503,0.999999837363,-0.000113043138214,-0.00055689837296,-4.85700468932e-05,1793192679881265152
+226,3.766666667,POSE1_TO_POSE2_PRESS,765,743,711.36410556,672,658,630,878,782.36410556,800,649,628,650.63589444,0.447888828364,-0.00559203606799,0.0596523971371,0.999999837021,-0.000114370670283,-0.000557223517803,-4.87868662877e-05,1793192679897931520
+227,3.783333333,POSE1_TO_POSE2_PRESS,764.779320424,743,711,672.220679576,658,630,877.779320424,782,800,649,628.220679576,650.779320424,0.447889433652,-0.00559305340496,0.0596518646835,0.999999836724,-0.000114912310581,-0.000557650632829,-4.87114008547e-05,1793192679914598144
+228,3.800000000,POSE1_TO_POSE2_PRESS,764.199231338,743,711,672.800768662,658,630,877.199231338,782,800,649,628.800768662,650.199231338,0.447889164701,-0.00559355152494,0.0596511857488,0.999999836504,-0.00011417400916,-0.000558243821446,-4.81599060961e-05,1793192679931264768
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711.37817219,673,658,630,877,782,800,649,628.62182781,650,0.447890086147,-0.00559381326639,0.0596517908728,0.999999836958,-0.000114078637857,-0.000557472234914,-4.7910287313e-05,1793192679947931392
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711.954170852,673,658,630,877,782,800,649,628.045829148,650,0.447891630306,-0.00559395135535,0.0596530677034,0.999999837762,-0.000114319591139,-0.000555986717883,-4.78185835408e-05,1793192679964598272
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,877.52977364,782,800,649,628,650,0.447891597273,-0.00559270982402,0.0596532461097,0.999999837741,-0.000114909890004,-0.000555884419493,-4.80332600833e-05,1793192679981265152
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,877.891968323,782,800.108031677,649,628,650,0.447891763642,-0.0055916262946,0.0596533148149,0.999999837699,-0.000115202139395,-0.000555886562767,-4.81634881314e-05,1793192679997931776
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,877.301705206,782,800.698294794,649,628,650,0.447893428676,-0.00559178039633,0.0596533176767,0.999999837888,-0.000114029157357,-0.000555821181579,-4.77985348357e-05,1793192680014598400
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.717376224,743,711.717376224,673,658,630,877.282623776,782,800.434752449,649,628.282623776,650.282623776,0.447894086324,-0.00559175898118,0.0596533189934,0.999999837937,-0.000113390239079,-0.000555877740591,-4.76359781902e-05,1793192680031265024
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.139251677,743,711.139251677,673,658,630,877.860748323,782,799.278503355,649,628.860748323,650.860748323,0.447893690688,-0.0055915540522,0.0596533186945,0.999999837841,-0.000113309717605,-0.000556061795676,-4.76850398114e-05,1793192680047931648
+236,3.933333333,POSE1_TO_POSE2_PRESS,763,743,711,673.437957831,658,630,877.562042169,782,799.437957831,649,628.562042169,650.562042169,0.447893795514,-0.00559046906176,0.0596536657599,0.999999838496,-0.000112456860282,-0.000555065915376,-4.75658021042e-05,1793192680064598272
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.015115889,743,711.015115889,673.984884111,657.984884111,630,877,782,799.984884111,649,628,650,0.447894045923,-0.00558914526112,0.0596540787661,0.999999839339,-0.000111402994318,-0.000553772262851,-4.74051854146e-05,1793192680081264896
+238,3.966666667,POSE1_TO_POSE2_PRESS,763.601300253,743,711.601300253,673.398699747,657.398699747,630,877,782,799.398699747,649,628,650,0.447893797203,-0.00558934879816,0.0596528190643,0.999999838369,-0.000112013260914,-0.000555373036525,-4.76987277062e-05,1793192680097931520
+239,3.983333333,POSE1_TO_POSE2_PRESS,763.814729509,743,712,673,657.185270491,630,877.185270491,782,799,649,628,650.185270491,0.4478942104,-0.0055896867075,0.0596523569085,0.999999837999,-0.000112771939987,-0.000555869571807,-4.78974711819e-05,1793192680114598400
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.235467806,743,712,673,657.764532194,630,877.764532194,782,799,649,628,650.764532194,0.447896031214,-0.00559031036935,0.0596535907923,0.999999838905,-0.000113846228976,-0.000554017863521,-4.78946180439e-05,1793192680131265024
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.340389464,743,712,673,658,630,877.659610536,782,799,649,628,650.659610536,0.44789702531,-0.00559115676963,0.0596542298017,0.999999839216,-0.000115107684886,-0.000553205785067,-4.7756696486e-05,1793192680147931648
+242,4.033333333,POSE1_TO_POSE2_PRESS,763.91391498,743,712,673,658,630,877.08608502,782,799,649,628,650.08608502,0.447897453178,-0.0055921557256,0.0596544613757,0.999999839122,-0.000116497333192,-0.00055310575927,-4.75262652543e-05,1793192680164598528
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,712,673,658,630,877.484555874,782,799,649,628,650,0.447896604308,-0.00559147466384,0.059654277925,0.999999839016,-0.000115759689317,-0.000553449325232,-4.75624606379e-05,1793192680181265152
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711.942524052,673,658,630,878,782,799.057475948,649,628,650,0.447895759886,-0.00559074744565,0.0596540788099,0.999999838958,-0.000114854016857,-0.000553737046001,-4.76194624447e-05,1793192680197931520
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,711.343320781,673,658,630,878,782,799.656679219,649,628,650,0.447897082607,-0.00559238168806,0.0596544228884,0.999999839386,-0.000115905642042,-0.000552760022501,-4.74287535689e-05,1793192680214597888
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,711,673,658,630,878,782,800,649.246725931,628,650,0.447897766272,-0.00559275454501,0.0596545317617,0.999999839587,-0.000115990534074,-0.000552387489162,-4.73213978143e-05,1793192680231264512
+247,4.116666667,POSE1_TO_POSE2_PRESS,764,743,711,673,658,630,878,782,800,649.824487253,628,650,0.447897592509,-0.0055914349849,0.0596543250573,0.999999839485,-0.000114778347805,-0.000552826007996,-4.73258780006e-05,1793192680247931392
+248,4.133333333,HOLD_POSE2,764,743,711,672,658,630,877,782,800,649,628,651,0.447896031332,-0.005591198887,0.0596532397127,0.999999838302,-0.000112378735425,-0.00055548439219,-4.69546896304e-05,1793192680282092544
+249,4.150000000,HOLD_POSE2,764,743,711.579892354,672.579892354,657.420107646,630,877.579892354,782.579892354,799.420107646,649,628,650.420107646,0.4478968036,-0.00559060746194,0.0596537284498,0.999999838726,-0.00011315168172,-0.000554562632688,-4.69470459929e-05,1793192680298758912
+250,4.166666667,HOLD_POSE2,764,743,711.837268359,673,657.162731641,630,878,782.837268359,799.162731641,649,628,650,0.447897471435,-0.00558981450227,0.059654042381,0.999999839054,-0.000113338477362,-0.000553918143003,-4.71337456795e-05,1793192680315425280
+251,4.183333333,HOLD_POSE2,764,743,711.246680833,673,657.753319167,630,878,782.246680833,799.753319167,649,628,650,0.447897864694,-0.00558849166535,0.0596538967107,0.999999839126,-0.000111984159198,-0.00055400265408,-4.78314150462e-05,1793192680332091648
+252,4.200000000,HOLD_POSE2,764,743,711,673,657.6627642,630,878,782,800,649,628,650,0.44789770501,-0.00558844517141,0.0596538510279,0.999999838865,-0.000112319773451,-0.000554394096177,-4.79655740853e-05,1793192680348758528
+253,4.216666667,HOLD_POSE2,764,743,711,673,657.083632565,630,878,782,800,649,628,650,0.447897148706,-0.00558931418546,0.0596538770653,0.999999838364,-0.000113867559241,-0.000555005696792,-4.76955328148e-05,1793192680365425152
+254,4.233333333,HOLD_POSE2,764,743,711.49076276,673,657.49076276,630,877.50923724,782,800,649,628,650.49076276,0.447897284708,-0.00558961309068,0.0596539670881,0.99999983873,-0.000112737302861,-0.000554606213697,-4.73518665298e-05,1793192680382092032
+255,4.250000000,HOLD_POSE2,763.933956555,743,711.933956555,672.933956555,658,630,877,782,800,649,628.066043445,650.933956555,0.447897681022,-0.00558977210027,0.0596541083809,0.999999839256,-0.000111320375506,-0.000553972517495,-4.70091484723e-05,1793192680398758656
+256,4.266666667,HOLD_POSE2,763.345345093,743,711.345345093,672.345345093,658,630,877,782,800,649,628.654654907,650.345345093,0.447899212468,-0.00558958557078,0.0596545698954,0.999999839908,-0.000111211707307,-0.000552835920571,-4.67722598608e-05,1793192680415425792
+257,4.283333333,HOLD_POSE2,763.239345091,742.760654909,711,672.239345091,658,630,877.239345091,781.760654909,799.760654909,649,628.760654909,650,0.447900298853,-0.00558973893594,0.0596550043634,0.999999840352,-0.000111419023777,-0.000552001598679,-4.66383832392e-05,1793192680432092672
+258,4.300000000,HOLD_POSE2,763.81846851,742.18153149,711,672.81846851,658,630,877.81846851,781.18153149,799.18153149,649,628.18153149,650,0.447900753424,-0.00559037482129,0.0596554004356,0.999999840502,-0.000112074917423,-0.000551596391619,-4.66507441967e-05,1793192680448759040
+259,4.316666667,HOLD_POSE2,764,742.395484699,711,673,658,629.604515301,877.604515301,781.395484699,799,649,628,650,0.447899242004,-0.00558919417254,0.0596542356218,0.999999839723,-0.000110785209857,-0.00055323923959,-4.69738239948e-05,1793192680465425664
+260,4.333333333,HOLD_POSE2,764,742.971538825,711,673,658,629.028461175,877.028461175,781.971538825,799,649,628,650,0.447896832959,-0.00558718413519,0.0596523581425,0.999999838511,-0.000108607184548,-0.000555817183428,-4.74387710345e-05,1793192680482092032
+261,4.350000000,HOLD_POSE2,763.454002064,743,711,672.454002064,658,629.545997936,877.545997936,782,799,649,628,650,0.447898917988,-0.00558852250031,0.0596534855911,0.999999839592,-0.000109225182475,-0.000553787770631,-4.69530075685e-05,1793192680498758656
+262,4.366666667,HOLD_POSE2,763,743,711.123897064,672,658,630,877.876102936,782,799,649.123897064,628,650,0.447900359769,-0.00558958632369,0.0596543516114,0.999999840237,-0.00011022722652,-0.000552455882586,-4.65770433807e-05,1793192680515425280
+263,4.383333333,HOLD_POSE2,763,743,711.71508337,672,658,630,877.28491663,782,799,649.71508337,628,650,0.447898494511,-0.00558895830482,0.059653642579,0.999999838796,-0.000112129635362,-0.000554657947371,-4.68015637603e-05,1793192680532091904
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,658,630,878,782,800,649,629,650,0.447900452565,-0.00558898545464,0.0596561858921,0.999999840777,-0.0001112117261,-0.000551260719729,-4.6798856712e-05,1793192680569250304
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.417438412,742.417438412,711,673,658,630,878,782,800,649,628.417438412,650,0.447899802996,-0.00558861696454,0.0596549904236,0.999999840284,-0.000109912905629,-0.000552421362042,-4.67133496084e-05,1793192680585916928
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.166268516,742.166268516,711,673,657.833731484,630,877.833731484,782,799.833731484,649.166268516,628,650,0.447899476669,-0.00558866600789,0.0596541151247,0.999999839877,-0.000109815310818,-0.000553178534885,-4.66857663268e-05,1793192680602583808
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.752871038,742.752871038,711,673,657.247128962,630,877.247128962,782,799.247128962,649.752871038,628,650,0.447899967513,-0.00558977059376,0.0596540492287,0.99999983969,-0.000112754466192,-0.000552915719686,-4.68046169566e-05,1793192680619250688
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,657.335467297,630,877.335467297,782,799.335467297,650,628.335467297,650.335467297,0.447899223637,-0.00559054202177,0.059653142041,0.999999838773,-0.0001143761193,-0.000554233724836,-4.68785985496e-05,1793192680635917312
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,657.915147054,630,877.915147054,782,799.915147054,650,628.915147054,650.915147054,0.447897580913,-0.00559107091847,0.0596516224125,0.999999837323,-0.000115038660949,-0.000556702530778,-4.6919916511e-05,1793192680652583680
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711.491960517,673,657.508039483,630,877.508039483,782,800,650,628.508039483,650.508039483,0.447899111216,-0.00559069648562,0.0596533177464,0.99999983862,-0.000114911193471,-0.000554390713788,-4.69757070881e-05,1793192680669250048
+271,4.516666667,POSE2_TO_POSE3_RETREAT,763.932033348,743,712,673,657,630,877.067966652,782,800,649.932033348,628,650,0.447900118596,-0.00559013080267,0.0596548675349,0.99999983984,-0.000114441130461,-0.00055228041267,-4.70011823978e-05,1793192680685916928
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.358376947,743,712,673,657,630,877.641623053,782,800,649.358376947,628,650,0.447893186964,-0.00558929468803,0.0596512325952,0.999999837032,-0.000112430005311,-0.000557768833402,-4.67826391692e-05,1793192680702583552
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.223079072,743,711.776920928,673,657.223079072,630,877.776920928,782,799.776920928,649,628.223079072,650,0.447880254686,-0.00558810671642,0.0596447619098,0.999999831624,-0.000110512616174,-0.000567740217614,-4.70139391982e-05,1793192680719250688
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763.817519101,743,711.182480899,673,657.817519101,630,877.182480899,782,799.182480899,649,628.817519101,650,0.4478573331,-0.00558633300665,0.059633570543,0.99999982172,-0.000108751270073,-0.000585174415132,-4.79940957848e-05,1793192680735917568
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,657.600973961,630,877.399026039,782,799.399026039,649.399026039,628.600973961,650,0.44781415892,-0.00558514777546,0.0596142099844,0.999999803851,-0.000109797529932,-0.000614663302892,-4.93047746299e-05,1793192680752584192
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,657.025195799,630,877.974804201,782,799.974804201,649.974804201,628.025195799,650,0.447762013671,-0.00558422321592,0.0595912308089,0.99999978151,-0.000112087443499,-0.000649491923553,-5.07618612796e-05,1793192680769250560
+277,4.616666667,POSE2_TO_POSE3_RETREAT,763.449150512,743,711,673,657.550849488,630,878,782,800,649.449150512,628,650,0.447696060785,-0.00558240561949,0.0595735846826,0.999999770835,-0.000110338985662,-0.000665926202923,-5.19320022863e-05,1793192680785917184
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,630,877.873467403,782,800,649.126532597,628,650,0.447624518823,-0.00557969212274,0.0595579265311,0.999999760492,-0.000107468023987,-0.000681673208369,-5.27950186644e-05,1793192680802583808
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763,743,711,673,658,630,877.299109226,782,800,649.700890774,628,650,0.447535432233,-0.00557395248284,0.0595484404879,0.999999749908,-0.000101278345194,-0.000697966989478,-5.26175306716e-05,1793192680819250432
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.284648882,743,711,673,657.715351118,630,877,782,800,650,628,650.284648882,0.447443063854,-0.00557072472232,0.0595450813034,0.999999746956,-9.87888303767e-05,-0.000702594545467,-5.18567731902e-05,1793192680835917056
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.878621727,743,711,673,657.121378273,630,877,782,800,650,628,650.878621727,0.447347129207,-0.00557022658638,0.0595483800913,0.999999752499,-0.00010032023246,-0.000694544576727,-5.04621849236e-05,1793192680852583680
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.541249278,657.458750722,630,877,782,799.541249278,649.541249278,628,650.541249278,0.447223188449,-0.00556615755943,0.0595510790869,0.999999755456,-9.65469401771e-05,-0.000690894396099,-4.93085592848e-05,1793192680869250560
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.964737385,743,711,672.035262615,658,630,877,782,799.035262615,649,628,650.035262615,0.447089667024,-0.0055610968731,0.0595534240819,0.999999757422,-9.13931792339e-05,-0.00068882345154,-4.82177741222e-05,1793192680885917440
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.389168218,743,711,672.610831782,658,630,877,782,799.610831782,649,628,650.610831782,0.446919559591,-0.00555489415231,0.0595527053157,0.999999754629,-8.59629452241e-05,-0.000693635643528,-4.71415928669e-05,1793192680902584064
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,743,711,672.809015286,658,630,877,782,800,649,628,651,0.446738240853,-0.00554835379555,0.0595519623896,0.999999752374,-8.00190501621e-05,-0.000697676533567,-4.57871112662e-05,1793192680919250432
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763,743,711,672.219292436,658,630,877,782,800,649,628,651,0.44653351516,-0.00554110852274,0.0595511690224,0.999999751299,-7.30027335626e-05,-0.000700107097815,-4.38515939744e-05,1793192680935916800
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.363594318,743,711.363594318,672.363594318,658,630.363594318,877.363594318,782,800,649,628,651,0.446304227033,-0.00553385099816,0.0595531998198,0.999999750983,-6.69155199554e-05,-0.000701313899475,-4.14153412876e-05,1793192680952583680
+288,4.800000000,POSE2_TO_POSE3_RETREAT,763.942434201,743,711.942434201,672.942434201,658,630.942434201,877.942434201,782,800,649,628,651,0.446060398081,-0.00552658621993,0.0595569025049,0.999999751109,-6.1378328847e-05,-0.000701796241552,-3.86826561887e-05,1793192680969250304
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.481402723,711.481402723,673,658,630.481402723,878,782,800,649,628,650.481402723,0.445785818029,-0.00551610704888,0.059561701326,0.999999756153,-4.87035287801e-05,-0.000695721376434,-3.59786804029e-05,1793192680985916928
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.094217777,711,672.905782223,658,630.094217777,877.905782223,782,799.905782223,649,628,650,0.44549900999,-0.00550505514623,0.0595656349038,0.999999760574,-3.51556063609e-05,-0.000690294390258,-3.3325754748e-05,1793192681002584064
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.668579913,711,672.331420087,658,630.668579913,877.331420087,782,799.331420087,649,628,650,0.445167192708,-0.00549289352579,0.0595645422245,0.999999759963,-2.11750414008e-05,-0.000691859320213,-3.09168283501e-05,1793192681019250688
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.749860464,711,672.250139536,658.250139536,631,877,782,799.250139536,649.250139536,628,650.250139536,0.444824617562,-0.00548267941998,0.059568725094,0.999999767326,-8.83221433737e-06,-0.000681544308121,-2.77002788528e-05,1793192681035917312
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742.158482108,711,672.841517892,658.841517892,631,877,782,799.841517892,649.841517892,628,650.841517892,0.444467366625,-0.00547512210241,0.0595801048346,0.999999785198,1.27641989622e-06,-0.000655022751611,-2.3381975011e-05,1793192681052583936
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.423295663,711,673,658.576704337,631.423295663,877,782,800,649.576704337,628,650.576704337,0.444083424313,-0.00546604732673,0.0595991293716,0.99999980642,1.22301198974e-05,-0.000621817348925,-1.88252361476e-05,1793192681069250304
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.99846387,711,672.99846387,658.00153613,631.99846387,877,782,800,649,628,650,0.44368959351,-0.00545642688395,0.0596209552235,0.999999827828,2.34901986993e-05,-0.000586166564924,-1.41773403831e-05,1793192681085916672
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.428564443,711,672.428564443,658.571435557,631.428564443,877,782,800,649,628,650,0.443252524467,-0.00545045826339,0.0596437344486,0.99999984755,3.36413379713e-05,-0.000551091488183,-8.09881916914e-06,1793192681102583552
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.147234612,711,672,659,631,877,782,799.852765388,649,628.147234612,650,0.442791585088,-0.00544641204051,0.0596607970084,0.999999860628,4.08935330908e-05,-0.000526368427528,-2.90321563983e-06,1793192681119250432
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742.740922769,711,672,659,631,877,782,799.259077231,649,628.740922769,650,0.442258264738,-0.00544819502721,0.0596605251517,0.999999857162,3.93553756955e-05,-0.000533035373805,-3.84848734885e-07,1793192681135917056
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.326142678,659,631.326142678,877,782.326142678,799.326142678,649,628.673857322,650,0.441701047142,-0.00545300319915,0.0596609791908,0.999999854813,3.07717952721e-05,-0.00053798063401,1.8269149693e-06,1793192681152583936
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.904805987,659,631.904805987,877,782.904805987,799.904805987,649,628.095194013,650,0.441125326704,-0.00546015366418,0.059661995265,0.999999853191,1.67331951738e-05,-0.000541592854792,3.80128702966e-06,1793192681169250560
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.518913419,659,632,877,783,800,649,628.481086581,650,0.440541368938,-0.00544371844223,0.059684326214,0.999999868042,3.22657251676e-05,-0.00051266374415,7.08516174114e-06,1793192681185917184
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,711,672,659.112629193,632,877.056314596,783,800,649,629,650,0.439957065107,-0.00542408323419,0.059713725222,0.999999887519,5.26705062036e-05,-0.000471241259827,1.09626161388e-05,1793192681202583808
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,711,672,660.252444134,632,877.626222067,783,800,649,629,650,0.43938439673,-0.00541761722931,0.0597693098565,0.99999992771,6.44090692842e-05,-0.000374313493976,1.79020582729e-05,1793192681219250432
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742.794926237,711.205073763,672,661.205073763,632,877.794926237,783,800,649,629,650,0.438773591924,-0.00541473977645,0.0598181982819,0.99999994938,0.000122619851568,-0.000292551788669,2.48687690092e-05,1793192681235917056
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742.199028933,711.800971067,672,661.800971067,632,877.199028933,783,800,649,629,650,0.438090107868,-0.0054187012808,0.0598543252658,0.999999934478,0.000269396020342,-0.000239693121365,3.18874469402e-05,1793192681252583680
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.385955329,711.614044671,672.385955329,661.614044671,632.385955329,876.614044671,783,799.614044671,649,629,650,0.437323308615,-0.00541960315123,0.0598343964671,0.999999916406,0.000300247103568,-0.000275515229078,3.36211461141e-05,1793192681269250304
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.965466698,711.034533302,672.965466698,661.034533302,632.965466698,876.034533302,783,799.034533302,649,629,650,0.436514726932,-0.00541897061955,0.0597863557733,0.999999898911,0.000272961920217,-0.000355810619146,3.27044359418e-05,1793192681285917184
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.45993856,711,673,659.919877119,633,876,783,799,649,629,650,0.435733734017,-0.00542013122273,0.0597610783524,0.999999909113,0.000189398216559,-0.000381691133439,1.464793997e-05,1793192681302583808
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.882988266,742,711,673,659.351035201,632.882988266,876.117011734,783,799,649,629,650,0.43495767139,-0.00542146056163,0.0597461133231,0.999999917027,0.000118375101133,-0.000389786530274,2.18916978171e-07,1793192681319250432
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763.29531001,742,711,673,661.114069969,632.29531001,876.70468999,783,799,649,629,650,0.434194408552,-0.00542301157881,0.0597668267339,0.999999935829,0.000112139624928,-0.000340212793495,4.74966210211e-06,1793192681335917056
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763.290000002,742,711.290000002,673,661.709999998,632,876.709999998,783,799,649,629,650,0.433377456664,-0.00542220509813,0.0597834644895,0.999999945015,0.000112703585423,-0.00031172814886,9.6403152793e-06,1793192681352583680
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763.872918012,742,711.872918012,673,661.127081988,632,876.127081988,783,799,649,629,650,0.432506275409,-0.00541901739844,0.0597959855829,0.999999946299,0.000120135398604,-0.000304544791318,1.4894498493e-05,1793192681369250048
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,711.550476968,672.550476968,660.550476968,632.449523032,876.449523032,783,799,649,629,650,0.431655769028,-0.00541460716916,0.0598054193178,0.999999948171,0.000141785970989,-0.000288517210436,1.77041199858e-05,1793192681385916672
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.975651554,742.024348446,711,672,660.048696892,632.975651554,877,783,799.024348446,649,629,650,0.430809633454,-0.00541009263949,0.0598142246603,0.999999949375,0.000166706958569,-0.000270302033455,1.98832011501e-05,1793192681402583552
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.401268397,742.598731603,711,672,661.197463207,632.401268397,877,783,799.598731603,649,629,650,0.42993202598,-0.00541092128475,0.0598282783515,0.999999950873,0.000175959106755,-0.000258368576802,2.32138439345e-05,1793192681419250176
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.178488712,743,711.178488712,672,661.821511288,632,876.821511288,783,799.821511288,649,629,650,0.429034614,-0.00541070113093,0.0598239222346,0.999999946299,0.000174389992519,-0.000276414452982,2.4205940172e-05,1793192681435916544
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763.770702243,743,711.770702243,672,661.229297757,632,876.229297757,783,799.229297757,649,629,650,0.428091296563,-0.00540804993142,0.059776893421,0.999999922661,0.000147737918954,-0.000363950404081,1.97774426058e-05,1793192681452583168
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763.645569318,742.645569318,711.645569318,672,660.645569318,632,876.354430682,783,799,649,629,650,0.427172185647,-0.00540675082487,0.0597617702458,0.999999918359,0.000143740855347,-0.000377194399368,1.85591389854e-05,1793192681469250048
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.06720196,742.06720196,711.06720196,672,660.06720196,632,876.93279804,783,799,649,629,650,0.42626836895,-0.00540630599887,0.0597668057184,0.99999992895,0.000154057699608,-0.000343499189536,1.93691028847e-05,1793192681485916416
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,661.521986894,632,876.492671035,783.507328965,799,649,628.492671035,650,0.425370116385,-0.00540817006955,0.0597934272321,0.999999935584,0.000167454615354,-0.000316680332233,2.24766353489e-05,1793192681502583296
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,662.755366644,632.081544452,876,784,799,649,628.081544452,650,0.424472184332,-0.00540976763557,0.0598204524031,0.999999941278,0.000177446617976,-0.000292053391222,2.57125659844e-05,1793192681519250176
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,661.029288507,632.656903831,876,784,799,649,628.656903831,650,0.423571763756,-0.00540791309964,0.0598327364762,0.999999948228,0.000164367051854,-0.000275225666048,2.78968560839e-05,1793192681535916800
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.239276744,742.239276744,711,672,660.478553487,632.760723256,876.239276744,783.760723256,799,649,629,650,0.422680607692,-0.00540493154966,0.0598435388204,0.999999952633,0.000166728049601,-0.000257075379496,2.91093819788e-05,1793192681552583168
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.832010044,742.832010044,711,672,661.664020089,632.167989956,876.832010044,783.167989956,799,649,629,650,0.421803136911,-0.00540028518862,0.0598521523756,0.999999953093,0.000191897649627,-0.000236971419582,2.88864304883e-05,1793192681569250048
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742.587500949,711.412499051,672,662,632.412499051,876.587500949,783.412499051,799,649,629,650,0.42083627203,-0.00539649695407,0.0598129136615,0.999999933746,0.000193618555562,-0.000307055843936,2.71386910145e-05,1793192681585916672
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742.011854709,711.988145291,672,662,632.988145291,876.011854709,783.988145291,799,649,629,650,0.419834051008,-0.00539304811676,0.0597547489319,0.999999897176,0.000186065282862,-0.000412810606425,2.47878835543e-05,1793192681602583296
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.435038568,742,711.435038568,672,660.305115704,633,876,783.435038568,799.564961432,649,629,650,0.418956848309,-0.00539416868451,0.0597358666685,0.999999895173,0.000182396312403,-0.000419431982192,2.14959956834e-05,1793192681619250176
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.144744789,742,711,672.144744789,659.289489577,633,876.144744789,783,799.855255211,649,628.855255211,650.144744789,0.418099909974,-0.0053956198566,0.0597327942757,0.999999900513,0.000178995147324,-0.000408093554461,1.98737540065e-05,1793192681635916800
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.73355584,742,711,672.73355584,660.467111681,633,876.73355584,783,799.26644416,649,628.26644416,650.73355584,0.417297076499,-0.00539779053254,0.0597756913382,0.999999923639,0.000176165018344,-0.00034805073197,2.34345707234e-05,1793192681652583424
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.36622408,661.31688796,632.68311204,877,783.31688796,799,649,628.31688796,651,0.416479990477,-0.0053968264335,0.0598098399029,0.99999993631,0.000183336683407,-0.0003050095476,2.71278473596e-05,1793192681669250048
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.208616841,661.895691579,632.104308421,877,783.895691579,799,649,628.895691579,651,0.415651124415,-0.00539327136607,0.0598367576179,0.999999941672,0.000198775076548,-0.000276020636922,3.09306052169e-05,1793192681685916672
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.472155492,661.055689017,632.472155492,877.472155492,783.527844508,799.472155492,649,629,650.527844508,0.414834657232,-0.00539387349741,0.0598433414372,0.999999945196,0.000192766854014,-0.00026736279331,3.10902320028e-05,1793192681702583552
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.095866887,632.952066557,877.952066557,783.047933443,800,649,629,650,0.414022090313,-0.00539525931338,0.0598441962061,0.999999947331,0.00018415866201,-0.000265504116022,3.05262172641e-05,1793192681719250176
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,661.24365553,632.378172235,877.378172235,783.621827765,800,649,629,650,0.413222412783,-0.00539521654843,0.0598312358178,0.999999937953,0.000198753929338,-0.000289209515684,3.08096169135e-05,1793192681735916800
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,661.596226229,632,876.798113114,783.798113114,800,649,628.798113114,650.201886886,0.412427327822,-0.00539457671636,0.0598054026496,0.999999923052,0.000205914572586,-0.000332594811435,2.95834777479e-05,1793192681752583168
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.412284653,632,876.206142327,783.206142327,800,649,628.206142327,650.793857673,0.411641116442,-0.00539278323694,0.0597546968174,0.999999894233,0.000198710108435,-0.000414005416664,2.54406221237e-05,1793192681769250048
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742.37734813,711.37734813,672,660,632.37734813,876,783.37734813,799.62265187,649,628.37734813,650.62265187,0.410926875642,-0.00538986649938,0.0597473038279,0.999999893377,0.000197915147127,-0.000416539641256,2.38608465946e-05,1793192681785916928
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742.956307638,711.956307638,672,660,632.956307638,876,783.956307638,799.043692362,649,628.956307638,650.043692362,0.410251087678,-0.00538634962216,0.0597630522359,0.999999908573,0.00020054468656,-0.000376931408403,2.36504861363e-05,1793192681802583296
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742.469331198,711.469331198,672,661.061337603,633,876,783.469331198,799.530668802,649,628.469331198,650.530668802,0.409617309432,-0.00538590395657,0.059809532248,0.999999927915,0.000213119955517,-0.000313056009548,2.73268507815e-05,1793192681819250176
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,741.892690425,711,671.892690425,661.678071274,632.892690425,876,783,799.892690425,649,628.107309575,650.892690425,0.408991929949,-0.00538690153834,0.059851103296,0.999999941999,0.000221562954741,-0.000256827809761,3.0854764693e-05,1793192681835916800
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,741.304143314,711,671.304143314,659.912429942,632.304143314,876,783,799.304143314,649,628.695856686,650.304143314,0.408388837141,-0.00539324720976,0.0598594100322,0.999999948167,0.000207833730675,-0.000243777348023,3.22941542491e-05,1793192681852583424
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.720132271,741.279867729,711.279867729,671,659.559735458,632,876,783.279867729,799,649,629,650.279867729,0.407793330747,-0.0053963852264,0.0598545641562,0.999999948877,0.000196628853269,-0.000250102456043,3.21321368288e-05,1793192681869249792
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.140972165,741.859027835,711.859027835,671,660.718055669,632,876,783.859027835,799,649,629,650.859027835,0.407205937352,-0.00539609295568,0.0598356527902,0.999999943442,0.00018812352948,-0.0002771479256,3.02575642317e-05,1793192681885916416
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.43564002,742,711.56435998,671,660.56435998,632.43564002,876,784,799.43564002,649,629,651,0.406665731317,-0.00539447412109,0.0598285126254,0.999999939142,0.000203230581545,-0.000282143342178,2.84496451212e-05,1793192681902583296
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.011351667,633,876,783.988648333,800,649.011351667,629,651,0.406141659007,-0.00539234155552,0.0598253141634,0.999999935043,0.000225460389104,-0.000279945084523,2.67076550102e-05,1793192681919250176
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.58307086,633,876,783.41692914,800,649.58307086,629,651,0.405664622467,-0.00538591657669,0.05982975319,0.99999993726,0.000224304808656,-0.000272819554841,2.71616690965e-05,1793192681935916800
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,876,783,799.839209717,649.839209717,629,650.839209717,0.405195770271,-0.00537853808888,0.059828176472,0.999999936554,0.000225456902143,-0.000274458709576,2.70684731536e-05,1793192681952583424
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,661,633,876,783,799.245328459,649.245328459,629,650.245328459,0.404748962623,-0.00536859130926,0.059810396259,0.999999927659,0.00023282474874,-0.000299705668105,2.55013590983e-05,1793192681969249792
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742.339196871,711.339196871,671,660.660803129,633,876.339196871,783,799,649,629,650.339196871,0.404319962665,-0.00536220225011,0.0597877720637,0.99999991412,0.000238774516531,-0.000337891856352,2.39840909398e-05,1793192681985916928
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742.917137009,711.917137009,671,660.082862991,633,876.917137009,783,799,649,629,650.917137009,0.403903496653,-0.00535831728838,0.059761738439,0.999999895862,0.000243726170652,-0.000385185302186,2.25019068086e-05,1793192682002584064
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742.506149412,712,671,660,633,876.012298824,783,799,649,628.506149412,651,0.403576079842,-0.00535397149365,0.0597667138866,0.999999900511,0.000246943338421,-0.000370739635627,2.34473872615e-05,1793192682019250688
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.071568367,711.928431633,671,660.071568367,633,875,783.071568367,799.071568367,649,628.071568367,651,0.403269785875,-0.00534962481087,0.0597782866341,0.99999990892,0.00025029689462,-0.000344800014588,2.50004709876e-05,1793192682035916800
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.657987037,711.342012963,671,660.657987037,633,875,783.657987037,799.657987037,649,628.657987037,651,0.403008225491,-0.00534582660941,0.0597999824643,0.999999918446,0.000256720028822,-0.000310512401275,2.80014961406e-05,1793192682052583680
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.757243554,711,671,660.757243554,633,875.242756446,783.757243554,799.757243554,649,628.757243554,651,0.402761446414,-0.00534307993472,0.0598214535615,0.999999927207,0.000261938157459,-0.000275714540261,3.09053391482e-05,1793192682069250304
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742.174782113,711,671,660.174782113,633,875.825217887,783.174782113,799.174782113,649,628.174782113,651,0.402535351812,-0.00534180473065,0.0598426101732,0.999999935347,0.000265470042453,-0.000240202659252,3.36731885735e-05,1793192682085916928
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711.402861642,671,660,633,876,783,799,649.402861642,628.402861642,651,0.40231424679,-0.00534158299792,0.0598448667935,0.999999934922,0.000267441943404,-0.00023962792728,3.47704872691e-05,1793192682102583552
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711.978439987,671,660,633,876,783,799,649.978439987,628.978439987,651,0.402095280904,-0.00534181291418,0.059839020524,0.999999931004,0.000268745041147,-0.000254031608123,3.51515799876e-05,1793192682119250176
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.446966519,742,712,671,660,633,876.553033481,783.553033481,799.553033481,650,628.446966519,650.446966519,0.401910854891,-0.00536102923243,0.0598323220564,0.999999920471,0.0002920860808,-0.00026920721347,3.56548112952e-05,1793192682135916800
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.131376398,742.131376398,711.868623602,671,660,632.868623602,876.868623602,783.868623602,799.868623602,649.868623602,628.131376398,650.131376398,0.40173752757,-0.00537961275917,0.0598267828158,0.999999911179,0.000311116670161,-0.000282028723812,3.61676889976e-05,1793192682152583424
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.722988662,742.722988662,711.277011338,671,660,632.277011338,876.277011338,783.277011338,799.277011338,649.277011338,628.722988662,650.722988662,0.401598372192,-0.0053933911097,0.0598254207402,0.999999909601,0.000312042551925,-0.00028649817231,3.66977090118e-05,1793192682169250048
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,743,711.307293803,671.307293803,660.307293803,632.307293803,876,783.307293803,799.307293803,649,629,650.692706197,0.401477649208,-0.00539485948806,0.0598257389622,0.99999991951,0.00027912096878,-0.000286991434368,2.65801804936e-05,1793192682185916928
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,743,711.885164868,671.885164868,660.885164868,632.885164868,876,783.885164868,799.885164868,649,629,650.114835132,0.40137315626,-0.0053854887321,0.0598275367142,0.999999936238,0.0002163961336,-0.000283983597482,7.08730977568e-06,1793192682202583552
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.538694542,712,671.538694542,660.538694542,633,876,784,799.538694542,649,629,650.461305458,0.401292680217,-0.005393858745,0.0598334904309,0.999999943609,0.000191333645133,-0.000275915426158,6.71515230776e-06,1793192682219250176
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.963237998,671,660,633,876,784,799.036762002,649,628.963237998,651,0.401218982256,-0.00540527924301,0.0598397728482,0.999999948452,0.000177166744257,-0.000267569159892,1.07258796112e-05,1793192682235916544
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711.391490538,671,660,633,876,784,799.608509462,649,628.391490538,651,0.401157243315,-0.00539706366409,0.0598358393091,0.999999945341,0.000185631358865,-0.000273439286005,9.51010457214e-06,1793192682252583424
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.187790794,632.812209206,876,783.812209206,799.812209206,649,628.187790794,651,0.401102292686,-0.00539189819829,0.0598331609553,0.999999943345,0.000190889348208,-0.000277107490462,9.09120160739e-06,1793192682269250048
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.783434471,632.216565529,876,783.216565529,799.216565529,649,628.783434471,651,0.401062085243,-0.00539335711277,0.0598332086724,0.999999943965,0.000189183036852,-0.00027599345715,1.04029830697e-05,1793192682285916672
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.633270419,742,711.366729581,671,660.633270419,632.366729581,876,783,799,649,629,650.633270419,0.401030899386,-0.00539503518209,0.0598333109006,0.999999944391,0.000187052780347,-0.000275861229346,1.13695439319e-05,1793192682302583296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.057029932,742,711.942970068,671,660.057029932,632.942970068,876,783,799,649,629,650.057029932,0.401004867514,-0.00539683845369,0.0598334442707,0.999999944705,0.000184680325785,-0.000276289902364,1.21388819914e-05,1793192682319250176
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.517282704,742,712,671,660,633,876,783,799,649,629,650.517282704,0.400988583043,-0.00539467268808,0.0598323695442,0.999999943476,0.000188712761243,-0.000278017352367,1.19268097931e-05,1793192682335917056
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,633,875.906021686,783.093978314,799,649,629,650.906021686,0.400974918498,-0.00539296540471,0.0598314499667,0.999999942486,0.000192038385053,-0.000279302482467,1.17947945313e-05,1793192682352584448
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,660,633,875.315619667,783.684380333,799,649,629,650.315619667,0.400969437707,-0.00539598284087,0.0598320508841,0.999999943762,0.000187914231399,-0.000277497575544,1.26550883861e-05,1793192682369250816
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.730290848,742,711.730290848,671,660,633,875.269709152,783.730290848,799,649,628.730290848,650.269709152,0.400965233969,-0.00539633984453,0.0598330883118,0.999999944363,0.000187442410496,-0.000275627668639,1.29922302587e-05,1793192682385917184
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.150789226,742,711.150789226,671,660,633,875.849210774,783.150789226,799,649,628.150789226,650.849210774,0.400962497075,-0.0053936410305,0.0598346271225,0.999999944196,0.000191165720683,-0.00027368310177,1.27284709116e-05,1793192682402583552
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.42592863,742,711.42592863,671,660.42592863,633,876,783.42592863,799,649,628.42592863,650.57407137,0.400961368627,-0.00539334570814,0.0598357223296,0.999999944537,0.000191508400143,-0.000272193233221,1.27174806009e-05,1793192682419250432
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,660.998334452,633,876,784,799.003331095,649.001665548,628.998334452,650.001665548,0.400960804635,-0.00539390033283,0.0598366573606,0.999999945058,0.000190659040624,-0.000270868495134,1.27959342489e-05,1793192682435917312
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,660.423218378,633,876,784,800.153563245,649.576781622,628.423218378,650.576781622,0.400959801415,-0.00539603080402,0.0598361638108,0.999999945284,0.000188782343782,-0.000271334568351,1.30598148255e-05,1793192682452583936
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,660.155863907,633,876,783.844136093,800.688272186,649.844136093,628.155863907,650.844136093,0.400959620563,-0.00539724469494,0.0598363454672,0.999999945636,0.000187686892868,-0.000270786963806,1.32842284204e-05,1793192682469250304
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,660.745996775,633,876,783.254003225,799.50800645,649.254003225,628.745996775,650.254003225,0.400961730994,-0.00539590480399,0.0598384083873,0.999999946338,0.000188768154399,-0.000267415044069,1.3398678828e-05,1793192682485917440
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742.329972874,712,671,660.670027126,633,876,783.329972874,799,649.329972874,629,650.329972874,0.400962052736,-0.00539594242194,0.0598392712681,0.999999946803,0.000188243615938,-0.000266042894341,1.34301631722e-05,1793192682502584320
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742.909296546,712,671,660.090703454,633,876,783.909296546,799,649.909296546,629,650.909296546,0.40096102282,-0.00539702098274,0.0598392273147,0.999999947092,0.000186505621754,-0.000266181911654,1.33989525139e-05,1793192682519250944
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.516166723,711.516166723,671,660,633,876,784,799.483833277,649.516166723,629,651,0.400960683825,-0.00539505280758,0.0598391757187,0.999999946159,0.000190260596047,-0.000267032949224,1.32805876668e-05,1793192682535917312
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.058720962,671,660,633,875.941279038,783.941279038,799.941279038,649.058720962,629,651,0.400960404214,-0.00539312182633,0.0598391186559,0.9999999452,0.00019410642666,-0.000267858059856,1.32061770072e-05,1793192682552583936
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.644739924,671,660,633,875.355260076,783.355260076,799.355260076,649.644739924,629,651,0.400959506135,-0.00539660350657,0.0598390252419,0.999999946215,0.000189611773233,-0.000267263471965,1.36717419752e-05,1793192682569250560
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,660.228978088,633,875.228978088,783.228978088,799,649.771021912,629,651,0.400959270418,-0.00539718532787,0.0598391088569,0.999999946483,0.000189037123875,-0.00026665950271,1.38202276984e-05,1793192682585917184
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,712,671,660.810474628,633,875.810474628,783.810474628,799,649.189525372,629,651,0.400960054425,-0.00539330273145,0.0598394650135,0.999999945606,0.000194497435503,-0.000266041090607,1.34805606393e-05,1793192682602583808
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,633,876,784,799,649,629,651,0.40095965052,-0.00539371575771,0.0598394333173,0.999999945802,0.000193167352698,-0.000266278349948,1.33815114712e-05,1793192682619250432
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,712,671,661,633,876,784,799,649,629,651,0.400958672236,-0.00539620579761,0.0598392140871,0.999999946508,0.000188553987637,-0.000266929342376,1.33988055416e-05,1793192682635917312
+389,6.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.461284981,671,660.461284981,633,876,783.461284981,799.538715019,649.538715019,629,651,0.400959453153,-0.00539577968797,0.059839855618,0.999999946445,0.000190229330033,-0.000265962916185,1.36246983114e-05,1793192682652584192
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711.116499132,671.116499132,660.116499132,633,876,783.116499132,799.883500868,649.883500868,629,651,0.400960277681,-0.00539522467597,0.0598404617712,0.99999994645,0.000191737706445,-0.000264855297644,1.37369722623e-05,1793192682669250816
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711.708106986,671.708106986,660.708106986,633,876,783.708106986,799.291893014,649.291893014,629,651,0.400960804897,-0.00539493163213,0.0598406911523,0.999999946951,0.000190866562329,-0.000263608735405,1.33295409118e-05,1793192682685916928
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711.706520143,671.706520143,660.706520143,633,876,783.706520143,799.293479857,649,629,650.706520143,0.400960495568,-0.00539518811432,0.0598405670856,0.999999946965,0.000190573779413,-0.000263771842546,1.32877010603e-05,1793192682702583808
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711.127219466,671.127219466,660.127219466,633,876,783.127219466,799.872780534,649,629,650.127219466,0.400959371527,-0.00539597978133,0.0598400987951,0.999999946503,0.000190844263915,-0.00026530783032,1.36019117e-05,1793192682719250432
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,660,633,876,783,799.550479465,649,628.550479465,650,0.400960242049,-0.00539489007924,0.0598408773659,0.999999946285,0.000192869244011,-0.000264657876481,1.36721840593e-05,1793192682735917056
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.025966038,633,876,783,799.025966038,649,628.025966038,650.025966038,0.40096149167,-0.00539330718869,0.0598418902625,0.999999946109,0.000195278150899,-0.00026355530324,1.36685650776e-05,1793192682752583936
+396,6.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,660.611596316,633,876,783,799.611596316,649,628.611596316,650.611596316,0.400958814469,-0.00539250550292,0.0598403910427,0.999999945467,0.000195320398659,-0.000265955700751,1.3551895828e-05,1793192682769250816
+397,6.616666667,POSE2_TO_POSE3_RETREAT,764,742.196394376,711,671.196394376,660.803605624,633,876,783,799.803605624,649,629,650.803605624,0.400957275034,-0.00539241743895,0.0598395013127,0.999999945292,0.000194572411472,-0.000267163271743,1.34726051054e-05,1793192682785917696
+398,6.633333333,POSE2_TO_POSE3_RETREAT,764,742.779553493,711,671.779553493,660.220446507,633,876,783,799.220446507,649,629,650.220446507,0.400957976229,-0.00539373472971,0.0598398118672,0.999999946042,0.000192268193287,-0.000266021777161,1.34669249308e-05,1793192682802584320
+399,6.650000000,POSE2_TO_POSE3_RETREAT,764,742.642240243,711,672,660,633,876,783,799.357759757,649,629,650,0.40095867069,-0.00539414561403,0.0598407164607,0.999999946315,0.000192398606633,-0.000264892393855,1.35698111697e-05,1793192682819250688
+400,6.666666667,POSE2_TO_POSE3_RETREAT,764,742.067044205,711,672,660,633,876,783,799.932955795,649,629,650,0.40095936106,-0.00539400561007,0.0598419820943,0.999999946299,0.000194008720375,-0.000263770371483,1.37386810099e-05,1793192682835916800
+401,6.683333333,POSE2_TO_POSE3_RETREAT,764,742,711.50687206,671.49312794,660,633,876,783,799.49312794,649,628.49312794,650.50687206,0.400959750204,-0.0053951017247,0.0598414693541,0.999999946822,0.000191628531741,-0.000263531804157,1.36409508997e-05,1793192682852583424
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0090db6dcd1b34936a8802f8355b2f546283e82d
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_01/depth_05/simulation_data.csv
@@ -0,0 +1,403 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+1,0.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+2,0.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+3,0.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+4,0.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+5,0.083333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+6,0.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+7,0.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+8,0.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+9,0.150000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+10,0.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+11,0.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+12,0.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+13,0.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+14,0.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+15,0.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+16,0.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+17,0.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+18,0.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+19,0.316666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+20,0.333333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+21,0.350000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+22,0.366666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+23,0.383333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+24,0.400000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+25,0.416666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+26,0.433333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+27,0.450000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+28,0.466666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+29,0.483333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+30,0.500000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+31,0.516666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+32,0.533333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+33,0.550000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+34,0.566666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+35,0.583333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+36,0.600000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+37,0.616666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+38,0.633333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+39,0.650000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+40,0.666666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+41,0.683333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+42,0.700000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+43,0.716666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+44,0.733333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+45,0.750000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+46,0.766666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+47,0.783333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+48,0.800000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+49,0.816666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+50,0.833333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+51,0.850000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+52,0.866666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+53,0.883333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+54,0.900000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+55,0.916666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+56,0.933333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+57,0.950000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+58,0.966666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+59,0.983333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+60,1.000000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+61,1.016666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+62,1.033333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+63,1.050000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+64,1.066666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+65,1.083333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+66,1.100000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+67,1.116666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+68,1.133333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+69,1.150000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+70,1.166666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+71,1.183333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+72,1.200000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+73,1.216666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+74,1.233333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+75,1.250000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+76,1.266666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+77,1.283333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+78,1.300000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+79,1.316666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+80,1.333333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+81,1.350000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+82,1.366666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+83,1.383333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+84,1.400000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+85,1.416666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+86,1.433333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+87,1.450000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+88,1.466666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+89,1.483333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+90,1.500000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+91,1.516666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+92,1.533333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+93,1.550000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+94,1.566666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+95,1.583333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+96,1.600000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+97,1.616666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+98,1.633333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+99,1.650000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+100,1.666666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+101,1.683333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+102,1.700000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+103,1.716666667,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+104,1.733333333,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+105,1.750000000,pose1_baseline,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+106,1.766666667,pose1_to_pose2_press,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966302,1.04969846034
+107,1.783333333,pose1_to_pose2_press,0.575709290702,5.45649514973e-05,1.05002921412,0.546280020322,0.00872729242163,1.04969850734
+108,1.800000000,pose1_to_pose2_press,0.575709401794,5.45054336023e-05,1.05002925438,0.546280132709,0.00872723739957,1.04969855024
+109,1.816666667,pose1_to_pose2_press,0.575709779751,5.44612368786e-05,1.05002928535,0.546280510924,0.00872719380758,1.04969857419
+110,1.833333333,pose1_to_pose2_press,0.575709986572,5.44591406554e-05,1.05002929304,0.546280717971,0.00872719241529,1.04969858025
+111,1.850000000,pose1_to_pose2_press,0.575710018229,5.44600757946e-05,1.05002929369,0.546280749666,0.00872719347939,1.04969858078
+112,1.866666667,pose1_to_pose2_press,0.57571018305,5.44649446571e-05,1.05002929709,0.546280914693,0.00872719901967,1.04969858351
+113,1.883333333,pose1_to_pose2_press,0.575711001613,5.44891252495e-05,1.05002931394,0.546281734275,0.00872722653479,1.04969859712
+114,1.900000000,pose1_to_pose2_press,0.575713334755,5.45213704037e-05,1.05002905705,0.546284065802,0.00872725368401,1.0496983503
+115,1.916666667,pose1_to_pose2_press,0.575721128322,5.45258457774e-05,1.05002909939,0.546291859612,0.00872725899255,1.04969839279
+116,1.933333333,pose1_to_pose2_press,0.575736413411,5.46776856475e-05,1.05002941546,0.546307143165,0.00872740523381,1.04969869877
+117,1.950000000,pose1_to_pose2_press,0.575762622277,5.44464175078e-05,1.05002897903,0.5463333523,0.00872717518318,1.04969827018
+118,1.966666667,pose1_to_pose2_press,0.575800124341,5.44618748551e-05,1.05002888726,0.54637085535,0.0087271941918,1.04969818369
+119,1.983333333,pose1_to_pose2_press,0.575850113377,5.46038432288e-05,1.05002914423,0.546420842557,0.0087273297122,1.04969843427
+120,2.000000000,pose1_to_pose2_press,0.575909428403,5.44824830549e-05,1.05002905871,0.546480160049,0.00872721691347,1.04969835381
+121,2.016666667,pose1_to_pose2_press,0.575977544018,5.44556320193e-05,1.05002917147,0.54654827461,0.0087271862115,1.04969845928
+122,2.033333333,pose1_to_pose2_press,0.57605573968,5.44785997605e-05,1.05002910378,0.546626470973,0.0087272116301,1.04969839342
+123,2.050000000,pose1_to_pose2_press,0.576145071367,5.45765206965e-05,1.05002908994,0.546715802276,0.00872730844571,1.0496983847
+124,2.066666667,pose1_to_pose2_press,0.576248341395,5.4605637599e-05,1.05002910039,0.546819070812,0.00872733242486,1.04969839319
+125,2.083333333,pose1_to_pose2_press,0.576365435428,5.45960522254e-05,1.05002904941,0.546936164538,0.00872732166976,1.04969833877
+126,2.100000000,pose1_to_pose2_press,0.57649778319,5.45806899344e-05,1.05002910678,0.547068513247,0.00872730951053,1.04969839588
+127,2.116666667,pose1_to_pose2_press,0.576645263408,5.45528428429e-05,1.0500292197,0.547215993803,0.00872728281585,1.04969850888
+128,2.133333333,pose1_to_pose2_press,0.576809497783,5.45468867503e-05,1.05002920158,0.547380228233,0.00872727695337,1.04969848825
+129,2.150000000,pose1_to_pose2_press,0.576993781422,5.44893132039e-05,1.05002911978,0.547564513372,0.0087272243327,1.04969840282
+130,2.166666667,pose1_to_pose2_press,0.577198619835,5.4412243023e-05,1.05002908952,0.547769351592,0.00872714675423,1.04969837634
+131,2.183333333,pose1_to_pose2_press,0.577426085241,5.44892979566e-05,1.05002897121,0.547996815878,0.00872722039954,1.04969826816
+132,2.200000000,pose1_to_pose2_press,0.577673353045,5.45663480839e-05,1.05002916167,0.548244082409,0.00872729290151,1.04969845259
+133,2.216666667,pose1_to_pose2_press,0.577939265622,5.46271741884e-05,1.05002908366,0.548509994839,0.00872735358008,1.04969838383
+134,2.233333333,pose1_to_pose2_press,0.57822274158,5.4494720914e-05,1.05002901573,0.548793471997,0.00872722501099,1.04969831082
+135,2.250000000,pose1_to_pose2_press,0.578524535252,5.45629540591e-05,1.05002906487,0.549095263754,0.00872728668449,1.04969835832
+136,2.266666667,pose1_to_pose2_press,0.578847353318,5.44892249652e-05,1.05002924475,0.54941808442,0.00872722159084,1.04969853327
+137,2.283333333,pose1_to_pose2_press,0.579193371249,5.44708247463e-05,1.05002894699,0.549764103022,0.00872720561799,1.04969823938
+138,2.300000000,pose1_to_pose2_press,0.579572143797,5.45258880942e-05,1.0500292795,0.550142876972,0.0087272653327,1.04969856905
+139,2.316666667,pose1_to_pose2_press,0.579984803698,5.46072199807e-05,1.05002912229,0.550555534874,0.0087273400968,1.04969841737
+140,2.333333333,pose1_to_pose2_press,0.580435240384,5.44721445824e-05,1.05002891729,0.551005972255,0.00872720735475,1.04969821176
+141,2.350000000,pose1_to_pose2_press,0.580916481261,5.44311156904e-05,1.05002916982,0.551487213935,0.00872716854925,1.04969845105
+142,2.366666667,pose1_to_pose2_press,0.581424527679,5.46059773848e-05,1.05002889597,0.551995257658,0.00872733483309,1.04969819207
+143,2.383333333,pose1_to_pose2_press,0.581947391392,5.46540415691e-05,1.05002898732,0.552518119197,0.00872737517776,1.0496982743
+144,2.400000000,pose1_to_pose2_press,0.5824809619,5.4472577618e-05,1.05002928644,0.553051693274,0.00872720558068,1.04969856698
+145,2.416666667,pose1_to_pose2_press,0.58302650901,5.44522347692e-05,1.05002902125,0.553597239175,0.00872718164599,1.04969831523
+146,2.433333333,pose1_to_pose2_press,0.583594160682,5.45724415962e-05,1.0500290694,0.554164890292,0.00872729967688,1.04969835561
+147,2.450000000,pose1_to_pose2_press,0.5841900221,5.46505081282e-05,1.05002918008,0.554760750257,0.00872737291512,1.04969846898
+148,2.466666667,pose1_to_pose2_press,0.584814013453,5.4557901381e-05,1.0500292709,0.55538474504,0.00872729201032,1.04969856143
+149,2.483333333,pose1_to_pose2_press,0.585461702507,5.45134142707e-05,1.05002929356,0.556032433375,0.00872724506797,1.04969858359
+150,2.500000000,pose1_to_pose2_press,0.586123687313,5.46412087152e-05,1.05002942708,0.556694416356,0.00872736634798,1.04969870868
+151,2.516666667,pose1_to_pose2_press,0.586796104006,5.43791294897e-05,1.05002902811,0.557366835713,0.00872711371444,1.04969832035
+152,2.533333333,pose1_to_pose2_press,0.587481888122,5.45490307744e-05,1.05002932182,0.558052618623,0.00872727901274,1.04969860062
+153,2.550000000,pose1_to_pose2_press,0.58819744418,5.46767908159e-05,1.05002941079,0.558768173408,0.00872740270778,1.04969869625
+154,2.566666667,pose1_to_pose2_press,0.588948063292,5.47074320384e-05,1.05002942228,0.559518793025,0.00872743506635,1.0496987079
+155,2.583333333,pose1_to_pose2_press,0.589723191997,5.46755304787e-05,1.05002907151,0.560293920767,0.00872739998225,1.04969835925
+156,2.600000000,pose1_to_pose2_press,0.590517578144,5.45867373088e-05,1.0500290457,0.561088307038,0.00872731171268,1.04969833613
+157,2.616666667,pose1_to_pose2_press,0.591326963365,5.46631753805e-05,1.05002903558,0.561897692151,0.00872738784744,1.04969832772
+158,2.633333333,pose1_to_pose2_press,0.592133813668,5.45101244786e-05,1.0500291489,0.562704546289,0.00872724783023,1.04969844152
+159,2.650000000,pose1_to_pose2_press,0.592932224582,5.46322862043e-05,1.05002892947,0.563502953966,0.00872735890155,1.04969821938
+160,2.666666667,pose1_to_pose2_press,0.593730255766,5.46251015199e-05,1.05002892996,0.564300984571,0.00872734961291,1.0496982162
+161,2.683333333,pose1_to_pose2_press,0.594527021437,5.44999297215e-05,1.05002891662,0.565097752687,0.00872723297972,1.04969820921
+162,2.700000000,pose1_to_pose2_press,0.595329834638,5.44569239967e-05,1.05002909861,0.565900566895,0.00872719355946,1.04969839569
+163,2.716666667,pose1_to_pose2_press,0.596148243922,5.44965246268e-05,1.05002906222,0.566718974014,0.00872722556887,1.04969835293
+164,2.733333333,pose1_to_pose2_press,0.596996794857,5.45448709801e-05,1.0500291433,0.567567525212,0.00872727480995,1.04969843407
+165,2.750000000,pose1_to_pose2_press,0.597866999405,5.45774652578e-05,1.05002917453,0.568437729986,0.00872730808332,1.04969846304
+166,2.766666667,pose1_to_pose2_press,0.598752309942,5.45376379053e-05,1.05002902532,0.56932304186,0.00872727310076,1.04969832202
+167,2.783333333,pose1_to_pose2_press,0.599637118215,5.47258132258e-05,1.05002951855,0.570207845476,0.00872744492816,1.049698801
+168,2.800000000,pose1_to_pose2_press,0.600511346702,5.44004514663e-05,1.05002902947,0.571082079083,0.00872713760155,1.04969832927
+169,2.816666667,pose1_to_pose2_press,0.60135504068,5.46096214228e-05,1.0500290859,0.571925771382,0.00872734127369,1.04969839101
+170,2.833333333,pose1_to_pose2_press,0.602180677164,5.45517804312e-05,1.05002890355,0.572751408354,0.0087272848525,1.04969820253
+171,2.850000000,pose1_to_pose2_press,0.602992773899,5.46536513696e-05,1.05002889059,0.573563503545,0.0087273813732,1.04969818667
+172,2.866666667,pose1_to_pose2_press,0.603806021947,5.46064445663e-05,1.05002924158,0.574376752023,0.0087273352615,1.04969852822
+173,2.883333333,pose1_to_pose2_press,0.60462448524,5.45654338411e-05,1.05002894119,0.575195215655,0.00872729581728,1.04969823889
+174,2.900000000,pose1_to_pose2_press,0.605444489662,5.45725564029e-05,1.05002925774,0.576015220031,0.00872730224905,1.04969854149
+175,2.916666667,pose1_to_pose2_press,0.606261499086,5.45328759255e-05,1.05002890996,0.576832230174,0.00872726567908,1.04969821126
+176,2.933333333,pose1_to_pose2_press,0.607064292234,5.4623508496e-05,1.05002946154,0.577635022027,0.0087273514233,1.04969875005
+177,2.950000000,pose1_to_pose2_press,0.607843033958,5.45810476172e-05,1.05002904592,0.578413763794,0.00872730952595,1.04969834544
+178,2.966666667,pose1_to_pose2_press,0.608596767106,5.44906379202e-05,1.05002911077,0.579167498959,0.00872722583815,1.04969840713
+179,2.983333333,pose1_to_pose2_press,0.609329000041,5.44788297883e-05,1.05002918971,0.579899732134,0.00872721440465,1.04969847468
+180,3.000000000,pose1_to_pose2_press,0.610042297837,5.45038911148e-05,1.05002907165,0.580613029122,0.00872723682148,1.04969835925
+181,3.016666667,pose1_to_pose2_press,0.610736647015,5.45055020633e-05,1.0500291568,0.581307377456,0.00872723555669,1.04969844416
+182,3.033333333,pose1_to_pose2_press,0.611412300185,5.46122245356e-05,1.05002914808,0.581983030935,0.00872734357707,1.04969844203
+183,3.050000000,pose1_to_pose2_press,0.612071527901,5.46284386864e-05,1.05002925768,0.582642257787,0.00872735669497,1.04969854738
+184,3.066666667,pose1_to_pose2_press,0.612716100309,5.45548209996e-05,1.05002919497,0.583286830761,0.00872728494701,1.04969848197
+185,3.083333333,pose1_to_pose2_press,0.613347722065,5.45154551035e-05,1.05002926573,0.583918453463,0.0087272490209,1.04969855489
+186,3.100000000,pose1_to_pose2_press,0.613952060948,5.44724345618e-05,1.05002930508,0.584522793028,0.00872720837675,1.04969858883
+187,3.116666667,pose1_to_pose2_press,0.614524473756,5.45963712887e-05,1.05002920732,0.585095203004,0.00872732299402,1.04969848969
+188,3.133333333,pose1_to_pose2_press,0.615054920756,5.45961157038e-05,1.05002896995,0.585625648777,0.0087273192556,1.04969826108
+189,3.150000000,pose1_to_pose2_press,0.615549561178,5.45197775451e-05,1.05002898071,0.586120291658,0.00872725182262,1.04969827576
+190,3.166666667,pose1_to_pose2_press,0.616011048885,5.45606974092e-05,1.05002895379,0.586581778718,0.00872729089832,1.04969824718
+191,3.183333333,pose1_to_pose2_press,0.616463927765,5.46274736079e-05,1.05002911919,0.587034656545,0.00872735425915,1.04969840837
+192,3.200000000,pose1_to_pose2_press,0.616909374708,5.46399095958e-05,1.05002922263,0.587480102807,0.0087273646705,1.04969851178
+193,3.216666667,pose1_to_pose2_press,0.617343897172,5.46847202446e-05,1.05002901725,0.58791462472,0.0087274082862,1.04969831381
+194,3.233333333,pose1_to_pose2_press,0.617759880227,5.46426124129e-05,1.05002900826,0.588330608746,0.00872736990644,1.04969830601
+195,3.250000000,pose1_to_pose2_press,0.618147244342,5.44857065114e-05,1.05002905869,0.588717974022,0.00872721686472,1.04969834571
+196,3.266666667,pose1_to_pose2_press,0.618501352579,5.44446142946e-05,1.05002911161,0.589072083195,0.00872717912059,1.04969839384
+197,3.283333333,pose1_to_pose2_press,0.618820833467,5.45194892888e-05,1.05002918502,0.589391563166,0.0087272515378,1.04969847681
+198,3.300000000,pose1_to_pose2_press,0.619115215188,5.45639705213e-05,1.05002911538,0.589685943304,0.00872729106758,1.04969841209
+199,3.316666667,pose1_to_pose2_press,0.619389289497,5.44533915456e-05,1.05002933663,0.589960019778,0.00872718757578,1.04969861965
+200,3.333333333,pose1_to_pose2_press,0.619647294052,5.44854322707e-05,1.05002896861,0.590218023252,0.00872721654491,1.04969826089
+201,3.350000000,pose1_to_pose2_press,0.61989237152,5.45750778187e-05,1.05002936331,0.59046310149,0.00872730883848,1.04969865347
+202,3.366666667,pose1_to_pose2_press,0.620123983809,5.462525715e-05,1.05002891408,0.590694712146,0.00872735406089,1.04969821183
+203,3.383333333,pose1_to_pose2_press,0.620336635267,5.44241760529e-05,1.05002933053,0.590907365722,0.00872715959288,1.04969860865
+204,3.400000000,pose1_to_pose2_press,0.620529059567,5.46979373999e-05,1.05002928518,0.591099785506,0.00872741860017,1.04969857381
+205,3.416666667,pose1_to_pose2_press,0.620699355013,5.45442075694e-05,1.05002928242,0.591270083634,0.00872727412336,1.04969856986
+206,3.433333333,pose1_to_pose2_press,0.620849287206,5.43674507036e-05,1.05002917739,0.591420017502,0.00872710304415,1.0496984618
+207,3.450000000,pose1_to_pose2_press,0.620977992337,5.45526915066e-05,1.05002899988,0.591548720393,0.00872728170536,1.04969829974
+208,3.466666667,pose1_to_pose2_press,0.621091119588,5.44607091512e-05,1.05002940294,0.591661849637,0.00872719557955,1.04969868408
+209,3.483333333,pose1_to_pose2_press,0.621189890422,5.46072532185e-05,1.05002889304,0.591760618194,0.00872733492696,1.04969818573
+210,3.500000000,pose1_to_pose2_press,0.621276835039,5.45535891829e-05,1.05002898522,0.591847562183,0.008727279076,1.04969827358
+211,3.516666667,pose1_to_pose2_press,0.621352761787,5.45759222948e-05,1.05002934053,0.591923489743,0.00872730333908,1.04969862099
+212,3.533333333,pose1_to_pose2_press,0.621418844341,5.45156781912e-05,1.05002916067,0.591989572709,0.0087272446293,1.04969844822
+213,3.550000000,pose1_to_pose2_press,0.621474671431,5.46884303526e-05,1.05002913467,0.59204539711,0.00872740951085,1.04969842327
+214,3.566666667,pose1_to_pose2_press,0.621518496683,5.46109555661e-05,1.05002917101,0.592089223419,0.00872733549201,1.04969845921
+215,3.583333333,pose1_to_pose2_press,0.621553109585,5.44754883528e-05,1.05002908623,0.592123837792,0.0087272044701,1.04969837685
+216,3.600000000,pose1_to_pose2_press,0.621579170337,5.45526277069e-05,1.05002909357,0.592149898219,0.00872728081611,1.04969838372
+217,3.616666667,pose1_to_pose2_press,0.621598989755,5.46846707796e-05,1.05002920288,0.592169716918,0.00872741088612,1.04969849143
+218,3.633333333,pose1_to_pose2_press,0.621613793426,5.4700352092e-05,1.05002928717,0.592184520252,0.00872742523805,1.04969857704
+219,3.650000000,pose1_to_pose2_press,0.62162492367,5.47965679218e-05,1.05002928224,0.592195649328,0.00872751761784,1.0496985714
+220,3.666666667,pose1_to_pose2_press,0.621633124216,5.48074929503e-05,1.05002943535,0.592203849898,0.00872752848811,1.04969872278
+221,3.683333333,pose1_to_pose2_press,0.621638812016,5.47377008116e-05,1.05002944669,0.592209538514,0.00872746138627,1.04969873365
+222,3.700000000,pose1_to_pose2_press,0.621642106567,5.46110386572e-05,1.05002924859,0.592212834315,0.00872733904103,1.04969853684
+223,3.716666667,pose1_to_pose2_press,0.621643414351,5.45607596306e-05,1.05002916995,0.592214142596,0.00872729047562,1.04969845872
+224,3.733333333,pose1_to_pose2_press,0.621644162272,5.45752778102e-05,1.05002920189,0.59221489026,0.00872730406757,1.04969848941
+225,3.750000000,pose1_to_pose2_press,0.621644506785,5.45880809666e-05,1.05002922747,0.592215234578,0.00872731617467,1.04969851419
+226,3.766666667,pose1_to_pose2_press,0.621644541272,5.45893626038e-05,1.05002923003,0.592215269045,0.00872731738663,1.04969851667
+227,3.783333333,pose1_to_pose2_press,0.62164476232,5.4597577457e-05,1.05002924644,0.592215489969,0.00872732515487,1.04969853258
+228,3.800000000,pose1_to_pose2_press,0.621645406601,5.46215209268e-05,1.05002929428,0.592216133886,0.00872734779663,1.04969857893
+229,3.816666667,pose1_to_pose2_press,0.62164585892,5.46383305033e-05,1.05002932786,0.592216585949,0.00872736369234,1.04969861147
+230,3.833333333,pose1_to_pose2_press,0.621646239539,5.46524754771e-05,1.05002935612,0.592216966352,0.0087273770683,1.04969863885
+231,3.850000000,pose1_to_pose2_press,0.621646936086,5.46783613454e-05,1.05002940784,0.592217662506,0.00872740154686,1.04969868897
+232,3.866666667,pose1_to_pose2_press,0.621647576099,5.46809834472e-05,1.05002942728,0.592218302444,0.00872740387977,1.04969870757
+233,3.883333333,pose1_to_pose2_press,0.621647882695,5.46451742085e-05,1.05002938741,0.592218609504,0.00872736969028,1.04969866841
+234,3.900000000,pose1_to_pose2_press,0.621648209805,5.46069689938e-05,1.05002934487,0.59221893711,0.00872733321318,1.04969862664
+235,3.916666667,pose1_to_pose2_press,0.62164854942,5.45673031721e-05,1.05002930071,0.59221927724,0.00872729534155,1.04969858327
+236,3.933333333,pose1_to_pose2_press,0.621648604259,5.45608982087e-05,1.05002929358,0.592219332162,0.0087272892263,1.04969857626
+237,3.950000000,pose1_to_pose2_press,0.621648622722,5.45587417799e-05,1.05002929118,0.592219350653,0.00872728716741,1.04969857391
+238,3.966666667,pose1_to_pose2_press,0.621648971004,5.45180636657e-05,1.05002924589,0.592219699464,0.00872724832927,1.04969852943
+239,3.983333333,pose1_to_pose2_press,0.621649451615,5.44619301255e-05,1.05002918339,0.592220180803,0.00872719473479,1.04969846805
+240,4.000000000,pose1_to_pose2_press,0.621649877341,5.45200608993e-05,1.05002922179,0.592220605955,0.00872725097497,1.04969850867
+241,4.016666667,pose1_to_pose2_press,0.621650222601,5.45758628115e-05,1.05002926046,0.59222095065,0.0087273049113,1.04969854925
+242,4.033333333,pose1_to_pose2_press,0.621650403407,5.45950859374e-05,1.05002927904,0.592221131283,0.00872732356545,1.04969856875
+243,4.050000000,pose1_to_pose2_press,0.621650486807,5.45615866049e-05,1.05002928055,0.592221215122,0.00872729153229,1.04969857034
+244,4.066666667,pose1_to_pose2_press,0.621650545582,5.45379781802e-05,1.05002928161,0.592221274207,0.00872726895715,1.04969857146
+245,4.083333333,pose1_to_pose2_press,0.621650556634,5.45335388359e-05,1.05002928181,0.592221285317,0.0087272647121,1.04969857167
+246,4.100000000,pose1_to_pose2_press,0.621650635022,5.45020529177e-05,1.05002928323,0.592221364117,0.00872723460424,1.04969857316
+247,4.116666667,pose1_to_pose2_press,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410616,0.00872730507218,1.04969853974
+248,4.133333333,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.59222141062,0.00872730507125,1.04969853974
+249,4.150000000,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.59222141062,0.00872730507121,1.04969853974
+250,4.166666667,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410621,0.00872730507101,1.04969853974
+251,4.183333333,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410621,0.00872730507055,1.04969853974
+252,4.200000000,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410621,0.00872730507053,1.04969853974
+253,4.216666667,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410622,0.00872730507051,1.04969853974
+254,4.233333333,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410622,0.00872730507058,1.04969853974
+255,4.250000000,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410621,0.00872730507097,1.04969853974
+256,4.266666667,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410622,0.0087273050704,1.04969853974
+257,4.283333333,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410621,0.00872730507062,1.04969853974
+258,4.300000000,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410622,0.00872730507009,1.04969853974
+259,4.316666667,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410623,0.00872730507007,1.04969853974
+260,4.333333333,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410623,0.00872730506992,1.04969853974
+261,4.350000000,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410623,0.00872730506974,1.04969853974
+262,4.366666667,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410623,0.00872730506995,1.04969853974
+263,4.383333333,pose2_hold,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410623,0.00872730506993,1.04969853974
+264,4.400000000,pose2_to_pose3_retreat,0.621650682765,5.45764062368e-05,1.05002924109,0.592221410623,0.00872730507003,1.04969853974
+265,4.416666667,pose2_to_pose3_retreat,0.621650683101,5.45921549585e-05,1.05002921039,0.592221410831,0.00872732033047,1.04969850773
+266,4.433333333,pose2_to_pose3_retreat,0.621650670014,5.4634567829e-05,1.05002914811,0.59222139735,0.00872736129258,1.04969844243
+267,4.450000000,pose2_to_pose3_retreat,0.621650422948,5.47726852521e-05,1.0500292434,0.592221148321,0.00872749270203,1.04969853524
+268,4.466666667,pose2_to_pose3_retreat,0.62165036343,5.48059576928e-05,1.05002926635,0.59222108833,0.00872752435852,1.0496985576
+269,4.483333333,pose2_to_pose3_retreat,0.62165029824,5.48161835152e-05,1.05002928042,0.592221023026,0.00872753417609,1.049698571
+270,4.500000000,pose2_to_pose3_retreat,0.621649453796,5.4601086136e-05,1.05002931588,0.592220182471,0.0087273318421,1.0496985975
+271,4.516666667,pose2_to_pose3_retreat,0.621646671954,5.44704916241e-05,1.05002930632,0.592217402789,0.00872720855091,1.04969858991
+272,4.533333333,pose2_to_pose3_retreat,0.621639901768,5.47528465403e-05,1.05002921263,0.592210628398,0.00872747705438,1.04969850691
+273,4.550000000,pose2_to_pose3_retreat,0.621624978112,5.46801419541e-05,1.05002915607,0.592195704686,0.00872740375966,1.0496984412
+274,4.566666667,pose2_to_pose3_retreat,0.621599806458,5.47120609595e-05,1.05002934417,0.592170534062,0.00872743910363,1.04969863117
+275,4.583333333,pose2_to_pose3_retreat,0.621563047528,5.45923539379e-05,1.05002913315,0.59213377488,0.00872731879278,1.04969841878
+276,4.600000000,pose2_to_pose3_retreat,0.621514669137,5.44993135428e-05,1.05002918248,0.592085398532,0.00872723287171,1.0496984675
+277,4.616666667,pose2_to_pose3_retreat,0.621453268665,5.4503177226e-05,1.05002889226,0.592023999395,0.00872724182345,1.04969819113
+278,4.633333333,pose2_to_pose3_retreat,0.621382274957,5.4521453148e-05,1.05002930349,0.591953004653,0.00872725553075,1.04969858386
+279,4.650000000,pose2_to_pose3_retreat,0.62130242039,5.44565118912e-05,1.05002920119,0.591873150671,0.0087271927901,1.04969848668
+280,4.666666667,pose2_to_pose3_retreat,0.621211143373,5.45428814369e-05,1.05002926239,0.591781872388,0.00872727452628,1.04969855177
+281,4.683333333,pose2_to_pose3_retreat,0.621107712317,5.45027361714e-05,1.05002902432,0.591678441389,0.00872723489104,1.04969831986
+282,4.700000000,pose2_to_pose3_retreat,0.620988336361,5.45206081466e-05,1.05002914655,0.591559065241,0.00872725178058,1.04969843713
+283,4.716666667,pose2_to_pose3_retreat,0.620851459982,5.43977361216e-05,1.05002877216,0.591422190498,0.0087271346344,1.04969807107
+284,4.733333333,pose2_to_pose3_retreat,0.620693525431,5.45828705243e-05,1.05002939877,0.591264253503,0.00872731059942,1.04969867959
+285,4.750000000,pose2_to_pose3_retreat,0.620514678581,5.46442107456e-05,1.05002931134,0.591085405913,0.00872736943944,1.04969859753
+286,4.766666667,pose2_to_pose3_retreat,0.620314209837,5.45824155775e-05,1.05002908552,0.590884938714,0.00872731269131,1.04969837169
+287,4.783333333,pose2_to_pose3_retreat,0.620093132014,5.45621045207e-05,1.05002901907,0.590663862054,0.00872729645815,1.04969831424
+288,4.800000000,pose2_to_pose3_retreat,0.619851441841,5.46236258719e-05,1.05002900247,0.590422171002,0.00872735492433,1.0496983021
+289,4.816666667,pose2_to_pose3_retreat,0.619584797865,5.45950092717e-05,1.05002925916,0.590155526096,0.00872732228114,1.04969854212
+290,4.833333333,pose2_to_pose3_retreat,0.619295834434,5.44457721576e-05,1.05002919096,0.589866566048,0.00872718455243,1.04969848109
+291,4.850000000,pose2_to_pose3_retreat,0.61898460042,5.45240682191e-05,1.05002934032,0.589555330228,0.00872725633014,1.04969862779
+292,4.866666667,pose2_to_pose3_retreat,0.61865180561,5.45185256415e-05,1.05002897489,0.589222536312,0.00872725388249,1.04969827165
+293,4.883333333,pose2_to_pose3_retreat,0.618297993722,5.45773922525e-05,1.05002906961,0.588868723188,0.00872730820383,1.04969836622
+294,4.900000000,pose2_to_pose3_retreat,0.617923515211,5.46049563025e-05,1.05002937164,0.588494243422,0.00872733068873,1.04969865663
+295,4.916666667,pose2_to_pose3_retreat,0.617525697922,5.45680792486e-05,1.05002929592,0.588096426936,0.00872729644507,1.04969858445
+296,4.933333333,pose2_to_pose3_retreat,0.61709334568,5.45574691905e-05,1.05002914084,0.587664075256,0.00872728766363,1.04969843568
+297,4.950000000,pose2_to_pose3_retreat,0.616627001188,5.45317294037e-05,1.05002910527,0.587197731235,0.00872726286543,1.04969839682
+298,4.966666667,pose2_to_pose3_retreat,0.616124885499,5.45399694143e-05,1.05002911981,0.586695616701,0.00872727463617,1.04969841395
+299,4.983333333,pose2_to_pose3_retreat,0.615594026861,5.45947017903e-05,1.05002923073,0.586164758371,0.0087273299024,1.04969852355
+300,5.000000000,pose2_to_pose3_retreat,0.615038849302,5.45975414691e-05,1.05002909562,0.585609579841,0.00872732922302,1.0496983916
+301,5.016666667,pose2_to_pose3_retreat,0.614475839709,5.46692127601e-05,1.05002901624,0.585046568861,0.0087273957307,1.04969831104
+302,5.033333333,pose2_to_pose3_retreat,0.613902331441,5.46107239896e-05,1.05002898469,0.584473060845,0.00872733770542,1.0496982796
+303,5.050000000,pose2_to_pose3_retreat,0.613307664667,5.45250600213e-05,1.05002898015,0.583878394111,0.00872725169979,1.04969827338
+304,5.066666667,pose2_to_pose3_retreat,0.61267704348,5.46661529643e-05,1.05002923373,0.583247771984,0.00872738906561,1.0496985241
+305,5.083333333,pose2_to_pose3_retreat,0.612002388016,5.46077169846e-05,1.05002906325,0.582573117933,0.00872733497256,1.04969835338
+306,5.100000000,pose2_to_pose3_retreat,0.611286902003,5.45879741619e-05,1.05002919643,0.581857633728,0.00872732114121,1.04969848845
+307,5.116666667,pose2_to_pose3_retreat,0.610539113375,5.45610144072e-05,1.05002931236,0.581109844751,0.00872729322751,1.04969860299
+308,5.133333333,pose2_to_pose3_retreat,0.60977534713,5.46273223792e-05,1.05002891622,0.580346077093,0.00872735533042,1.04969821482
+309,5.150000000,pose2_to_pose3_retreat,0.609001856588,5.45123936701e-05,1.05002901365,0.57957258723,0.00872724341472,1.04969831043
+310,5.166666667,pose2_to_pose3_retreat,0.608216034312,5.43914968941e-05,1.05002905405,0.578786766969,0.00872712913344,1.04969834475
+311,5.183333333,pose2_to_pose3_retreat,0.607416544935,5.44711915354e-05,1.05002915291,0.577987276153,0.00872720379622,1.04969843891
+312,5.200000000,pose2_to_pose3_retreat,0.60660333113,5.45657128475e-05,1.05002904625,0.5771740617,0.00872729614451,1.04969833351
+313,5.216666667,pose2_to_pose3_retreat,0.60576756326,5.45949677544e-05,1.05002906539,0.57633829243,0.00872732050039,1.04969834899
+314,5.233333333,pose2_to_pose3_retreat,0.604916042637,5.44938018612e-05,1.05002904009,0.575486773559,0.00872722554109,1.04969832966
+315,5.250000000,pose2_to_pose3_retreat,0.604050287741,5.46114616942e-05,1.05002906483,0.574621016675,0.00872733636638,1.04969835291
+316,5.266666667,pose2_to_pose3_retreat,0.603171152956,5.46326350882e-05,1.05002917697,0.573741881007,0.00872735449396,1.04969846348
+317,5.283333333,pose2_to_pose3_retreat,0.602280583089,5.46223631824e-05,1.05002911419,0.57285131231,0.00872734857346,1.04969841073
+318,5.300000000,pose2_to_pose3_retreat,0.601386052984,5.44511249425e-05,1.05002902333,0.571956784397,0.00872718476997,1.04969831955
+319,5.316666667,pose2_to_pose3_retreat,0.600491409752,5.44017049209e-05,1.05002902705,0.57106214219,0.00872713872591,1.04969832053
+320,5.333333333,pose2_to_pose3_retreat,0.599605143801,5.45254563298e-05,1.05002902744,0.570175874898,0.00872725803229,1.04969832413
+321,5.350000000,pose2_to_pose3_retreat,0.598724379145,5.45565271694e-05,1.05002919543,0.569295109837,0.00872728743748,1.04969848382
+322,5.366666667,pose2_to_pose3_retreat,0.597848800367,5.45259911369e-05,1.05002938353,0.568419530541,0.00872725503443,1.04969866766
+323,5.383333333,pose2_to_pose3_retreat,0.59695953642,5.46038605655e-05,1.05002901961,0.5675302661,0.00872733180841,1.04969831718
+324,5.400000000,pose2_to_pose3_retreat,0.596050105696,5.46216868236e-05,1.05002918041,0.566620835056,0.00872734806144,1.04969846547
+325,5.416666667,pose2_to_pose3_retreat,0.595145175135,5.46075678456e-05,1.05002917852,0.565715905226,0.00872733650419,1.04969846677
+326,5.433333333,pose2_to_pose3_retreat,0.594246972652,5.44807710712e-05,1.0500292401,0.564817704775,0.00872721655879,1.04969852774
+327,5.450000000,pose2_to_pose3_retreat,0.593363466559,5.45916010331e-05,1.05002896438,0.563934196735,0.00872732088674,1.04969825463
+328,5.466666667,pose2_to_pose3_retreat,0.592509131473,5.46689791073e-05,1.05002915241,0.563079860858,0.0087273957853,1.04969844783
+329,5.483333333,pose2_to_pose3_retreat,0.591688994933,5.46926013348e-05,1.05002915158,0.562259724514,0.00872742018413,1.04969844953
+330,5.500000000,pose2_to_pose3_retreat,0.590880846768,5.46996928063e-05,1.05002926157,0.561451576661,0.00872742810283,1.04969855315
+331,5.516666667,pose2_to_pose3_retreat,0.590081243472,5.4574240534e-05,1.05002919195,0.560651971921,0.00872729742305,1.04969847458
+332,5.533333333,pose2_to_pose3_retreat,0.5892823688,5.44289262811e-05,1.05002919408,0.559853100517,0.00872716326906,1.04969847861
+333,5.550000000,pose2_to_pose3_retreat,0.58848777457,5.44804644622e-05,1.05002906058,0.559058505649,0.00872721275884,1.04969834886
+334,5.566666667,pose2_to_pose3_retreat,0.587701817337,5.4623286605e-05,1.05002926448,0.558272546255,0.00872734836513,1.04969855733
+335,5.583333333,pose2_to_pose3_retreat,0.586935844104,5.46022759636e-05,1.05002892421,0.557506573725,0.00872732977389,1.0496982153
+336,5.600000000,pose2_to_pose3_retreat,0.586196587067,5.45040769793e-05,1.05002893897,0.556767316755,0.00872723175832,1.04969822959
+337,5.616666667,pose2_to_pose3_retreat,0.585490115844,5.45341305287e-05,1.05002927417,0.556060846141,0.00872726373756,1.04969856162
+338,5.633333333,pose2_to_pose3_retreat,0.584816771938,5.44226239435e-05,1.05002892072,0.555387504541,0.00872716019546,1.04969821317
+339,5.650000000,pose2_to_pose3_retreat,0.584179458345,5.46290159619e-05,1.05002924362,0.554750188891,0.00872735976072,1.04969854002
+340,5.666666667,pose2_to_pose3_retreat,0.583565459786,5.45882455552e-05,1.05002915766,0.554136188523,0.00872731264363,1.04969844848
+341,5.683333333,pose2_to_pose3_retreat,0.582968963939,5.44052357753e-05,1.05002909446,0.553539694245,0.00872713451328,1.04969837378
+342,5.700000000,pose2_to_pose3_retreat,0.582390718878,5.44696959029e-05,1.05002890715,0.552961450625,0.00872720456065,1.04969820323
+343,5.716666667,pose2_to_pose3_retreat,0.581832433456,5.44929422103e-05,1.05002912284,0.552403165545,0.0087272287777,1.04969841504
+344,5.733333333,pose2_to_pose3_retreat,0.58129901976,5.44301800157e-05,1.05002919136,0.551869752039,0.00872716627515,1.04969847367
+345,5.750000000,pose2_to_pose3_retreat,0.580790348243,5.45482492176e-05,1.0500288038,0.551361081107,0.00872728699255,1.04969810347
+346,5.766666667,pose2_to_pose3_retreat,0.580309479584,5.46884611747e-05,1.05002910442,0.550880209915,0.00872741827474,1.04969839523
+347,5.783333333,pose2_to_pose3_retreat,0.57985044352,5.44890444265e-05,1.05002941365,0.550421175182,0.00872722295526,1.0496986939
+348,5.800000000,pose2_to_pose3_retreat,0.579412379474,5.45438638779e-05,1.05002896119,0.549983109729,0.00872727342879,1.04969825255
+349,5.816666667,pose2_to_pose3_retreat,0.579003957431,5.45539716956e-05,1.050029118,0.549574688253,0.00872728562779,1.04969841367
+350,5.833333333,pose2_to_pose3_retreat,0.578627347379,5.46101982991e-05,1.05002918361,0.549198078167,0.00872734132777,1.04969846844
+351,5.850000000,pose2_to_pose3_retreat,0.578287093036,5.46979127755e-05,1.05002920871,0.548857821749,0.00872742183498,1.04969848906
+352,5.866666667,pose2_to_pose3_retreat,0.577982701021,5.44549814763e-05,1.05002918349,0.548553432203,0.00872718746148,1.04969846837
+353,5.883333333,pose2_to_pose3_retreat,0.577715495986,5.45307055213e-05,1.05002903861,0.548286227822,0.00872726576002,1.04969833277
+354,5.900000000,pose2_to_pose3_retreat,0.57746916745,5.44259365629e-05,1.0500289283,0.548039899751,0.00872716256838,1.04969822248
+355,5.916666667,pose2_to_pose3_retreat,0.577240113253,5.45374880341e-05,1.05002906322,0.547810843897,0.00872726841464,1.04969835544
+356,5.933333333,pose2_to_pose3_retreat,0.577026259098,5.46139817229e-05,1.05002923391,0.547596989598,0.00872734433535,1.04969852406
+357,5.950000000,pose2_to_pose3_retreat,0.576826845834,5.46399162624e-05,1.05002913724,0.547397575383,0.00872736708138,1.04969842819
+358,5.966666667,pose2_to_pose3_retreat,0.576644595074,5.45568122581e-05,1.0500291082,0.547215325539,0.00872728712264,1.04969840004
+359,5.983333333,pose2_to_pose3_retreat,0.576482002726,5.45549308812e-05,1.05002908608,0.547052732505,0.00872728291722,1.04969837801
+360,6.000000000,pose2_to_pose3_retreat,0.576341858799,5.44579562088e-05,1.05002906729,0.546912589727,0.00872718957921,1.04969835239
+361,6.016666667,pose2_to_pose3_retreat,0.576222166103,5.45102084754e-05,1.0500291463,0.546792897518,0.00872724343394,1.04969843017
+362,6.033333333,pose2_to_pose3_retreat,0.576121972089,5.45401181865e-05,1.05002916891,0.546692703442,0.00872727327318,1.04969845815
+363,6.050000000,pose2_to_pose3_retreat,0.576036904952,5.4493305048e-05,1.05002916331,0.546607636505,0.0087272271377,1.04969845266
+364,6.066666667,pose2_to_pose3_retreat,0.575964771808,5.4496949401e-05,1.05002927704,0.546535503092,0.00872722987648,1.0496985653
+365,6.083333333,pose2_to_pose3_retreat,0.575905222275,5.4524539031e-05,1.05002922348,0.546475953183,0.00872725622915,1.04969851278
+366,6.100000000,pose2_to_pose3_retreat,0.575855283543,5.45868227731e-05,1.05002901994,0.546426013388,0.00872731479549,1.04969830615
+367,6.116666667,pose2_to_pose3_retreat,0.575814690891,5.45627592049e-05,1.05002922733,0.546385420689,0.00872729045283,1.04969851044
+368,6.133333333,pose2_to_pose3_retreat,0.575782912889,5.4486248582e-05,1.05002919019,0.546353644147,0.00872721907587,1.04969847802
+369,6.150000000,pose2_to_pose3_retreat,0.575759274416,5.45285225936e-05,1.05002901079,0.546330006211,0.00872726335059,1.04969830335
+370,6.166666667,pose2_to_pose3_retreat,0.575742387122,5.4487933149e-05,1.05002943076,0.546313118523,0.00872722095287,1.04969871098
+371,6.183333333,pose2_to_pose3_retreat,0.575730478338,5.44117742871e-05,1.05002931831,0.546301210757,0.00872714834019,1.04969860102
+372,6.200000000,pose2_to_pose3_retreat,0.575723002526,5.45281042252e-05,1.05002913239,0.546293733178,0.00872725870675,1.04969841584
+373,6.216666667,pose2_to_pose3_retreat,0.575718292044,5.45620417227e-05,1.05002908082,0.5462890221,0.00872729091568,1.04969837203
+374,6.233333333,pose2_to_pose3_retreat,0.575715892421,5.45533146909e-05,1.05002909352,0.546286622521,0.00872728264158,1.04969839267
+375,6.250000000,pose2_to_pose3_retreat,0.575714295462,5.4552297827e-05,1.05002910482,0.546285025687,0.00872728215215,1.04969840667
+376,6.266666667,pose2_to_pose3_retreat,0.575713431002,5.4559562434e-05,1.05002911561,0.546284161452,0.00872729007093,1.04969841468
+377,6.283333333,pose2_to_pose3_retreat,0.575713313026,5.45605538601e-05,1.05002911709,0.546284043506,0.00872729115163,1.04969841577
+378,6.300000000,pose2_to_pose3_retreat,0.575713207674,5.45614392019e-05,1.0500291184,0.546283938181,0.00872729211669,1.04969841675
+379,6.316666667,pose2_to_pose3_retreat,0.575713174074,5.45617215667e-05,1.05002911882,0.54628390459,0.00872729242449,1.04969841706
+380,6.333333333,pose2_to_pose3_retreat,0.575713038184,5.45628635404e-05,1.05002912052,0.546283768735,0.00872729366929,1.04969841832
+381,6.350000000,pose2_to_pose3_retreat,0.575712917502,5.45638777047e-05,1.05002912202,0.546283648084,0.00872729477478,1.04969841943
+382,6.366666667,pose2_to_pose3_retreat,0.575712574876,5.4566757013e-05,1.0500291263,0.546283305547,0.00872729791337,1.04969842261
+383,6.383333333,pose2_to_pose3_retreat,0.575712146401,5.45703577585e-05,1.05002913165,0.546282877184,0.00872730183836,1.04969842657
+384,6.400000000,pose2_to_pose3_retreat,0.575711997269,5.45716110099e-05,1.05002913351,0.54628272809,0.00872730320447,1.04969842796
+385,6.416666667,pose2_to_pose3_retreat,0.575711838141,5.45729482648e-05,1.0500291355,0.546282569003,0.00872730466214,1.04969842943
+386,6.433333333,pose2_to_pose3_retreat,0.575711571418,5.45751897096e-05,1.05002913883,0.546282302349,0.00872730710543,1.0496984319
+387,6.450000000,pose2_to_pose3_retreat,0.575711563259,5.45752582764e-05,1.05002913893,0.546282294192,0.00872730718017,1.04969843197
+388,6.466666667,pose2_to_pose3_retreat,0.57571141667,5.45803713846e-05,1.05002914326,0.546282147536,0.00872731206848,1.0496984364
+389,6.483333333,pose2_to_pose3_retreat,0.575711315964,5.45879829477e-05,1.05002914887,0.546282046672,0.00872731917105,1.04969844268
+390,6.500000000,pose2_to_pose3_retreat,0.575711202567,5.45965537354e-05,1.05002915518,0.546281933098,0.0087273271687,1.04969844975
+391,6.516666667,pose2_to_pose3_retreat,0.575711108729,5.46036462019e-05,1.05002916041,0.546281839113,0.00872733378688,1.0496984556
+392,6.533333333,pose2_to_pose3_retreat,0.575711002866,5.46116474754e-05,1.05002916631,0.546281733085,0.0087273412531,1.0496984622
+393,6.550000000,pose2_to_pose3_retreat,0.575710839961,5.46239601984e-05,1.05002917539,0.546281569925,0.00872735274246,1.04969847236
+394,6.566666667,pose2_to_pose3_retreat,0.575710572864,5.46441478513e-05,1.05002919027,0.546281302411,0.00872737158015,1.04969848901
+395,6.583333333,pose2_to_pose3_retreat,0.575710140699,5.46768116919e-05,1.05002921434,0.54628086957,0.00872740205973,1.04969851595
+396,6.600000000,pose2_to_pose3_retreat,0.575709953464,5.46909633174e-05,1.05002922478,0.546280682042,0.00872741526502,1.04969852763
+397,6.616666667,pose2_to_pose3_retreat,0.575709781883,5.46740124306e-05,1.0500292433,0.546280510571,0.00872739853713,1.04969854221
+398,6.633333333,pose2_to_pose3_retreat,0.575709556745,5.46447424653e-05,1.05002926971,0.546280285666,0.00872736981587,1.04969856224
+399,6.650000000,pose2_to_pose3_retreat,0.575709457867,5.46318874937e-05,1.05002928131,0.54628018689,0.00872735720188,1.04969857105
+400,6.666666667,pose2_to_pose3_retreat,0.575709283453,5.46221876483e-05,1.05002922751,0.546280012019,0.00872734585716,1.04969851487
+401,6.683333333,pose2_to_pose3_retreat,0.57570924408,5.4627573316e-05,1.05002917201,0.546279972169,0.00872734966304,1.04969846034
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..483bac8f95b82eaf56a49bc60433e6c859078039
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e87bd638b9d1d2e0f2e1396905a699b354a9e6cf463ee4c16cd61cee6d6a19b
+size 24691673
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f577c0e3f1b1d9869450d27c72151a425cc08ba
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/franka_data.csv
@@ -0,0 +1,390 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,711,671,663,633,876,783,800,649,629,651,0.400929344871,-0.00544780305164,0.049919837303,0.999999974409,2.08138338936e-06,-0.000223238557361,-3.66407707715e-05,1793192684187843328
+1,0.016666667,BASELINE,764,742,711,671,663,633,876,783.572405958,799.427594042,649.572405958,629,651,0.400929095092,-0.00544995610314,0.049919261953,0.999999974149,-9.41690005762e-07,-0.000224443796434,-3.6406546671e-05,1793192684204509952
+2,0.033333333,BASELINE,764,742,711,671,663.149600995,633,875.850399005,784,799.149600995,650,629,651,0.400929058101,-0.00545141731033,0.0499190181756,0.999999974014,-2.86568871563e-06,-0.000225066192344,-3.61816903886e-05,1793192684221176576
+3,0.050000000,BASELINE,764,742,711,671,663.74093715,633,875.25906285,784,799.74093715,650,629,651,0.400929649425,-0.00545083567094,0.0499197534509,0.999999974271,-1.54438934093e-06,-0.000223967595198,-3.59844949276e-05,1793192684237843200
+4,0.066666667,BASELINE,764,742,711,671.325282165,664,633,875.325282165,783.674717835,799.674717835,650,629,651,0.400929385842,-0.00545021527306,0.0499198434352,0.999999974306,-6.7043264012e-07,-0.000223842412707,-3.58104036239e-05,1793192684254509824
+5,0.083333333,BASELINE,764,742,711,671.904176378,664,633,875.904176378,783.095823622,799.095823622,650,629,651,0.400928455715,-0.00544956465646,0.0499194303069,0.99999997417,-1.45254722178e-07,-0.000224476170399,-3.56543259012e-05,1793192684271176448
+6,0.100000000,BASELINE,764.479943597,742,710.520056403,672,664,633,876,783.479943597,799,650,629,651,0.400929373454,-0.00545081171835,0.0499200526882,0.999999974379,5.64346528491e-07,-0.000223578665114,-3.54282079234e-05,1793192684287843072
+7,0.116666667,BASELINE,764.943742864,742,710.056257136,671.943742864,663.943742864,633,876,784,799.056257136,650,628.943742864,651,0.400930558734,-0.00545229959871,0.0499207865094,0.999999974633,1.01526913431e-06,-0.000222466664286,-3.5240196912e-05,1793192684304509440
+8,0.133333333,BASELINE,764.356416539,742,710.643583461,671.356416539,663.356416539,633,876,784,799.643583461,650,628.356416539,651,0.400930809369,-0.00545250729881,0.0499206332745,0.999999974682,-1.321086532e-06,-0.000222197198518,-3.55430713785e-05,1793192684321176320
+9,0.150000000,BASELINE,764,742,711,671,663.227683368,633,876,784,799.772316632,650,628,651,0.40093063929,-0.00545205357367,0.049920306823,0.999999974609,-1.97270678682e-06,-0.00022250914686,-3.55949535688e-05,1793192684337842944
+10,0.166666667,BASELINE,764,742,711,671,663.806803145,633,876,784,799.193196855,650,628,651,0.400929819824,-0.00545057891796,0.0499197130062,0.999999974353,-2.3884957257e-08,-0.000223718526115,-3.52594212925e-05,1793192684354509568
+11,0.183333333,BASELINE,764,742,711,670.615131035,664,633,875.615131035,783.615131035,799,650,628.384868965,650.615131035,0.400929274146,-0.00545002342885,0.0499193126223,0.99999997421,7.68297114593e-07,-0.000224333842189,-3.5421980087e-05,1793192684371176448
+12,0.200000000,BASELINE,764,742,711,670.037592784,664,633,875.037592784,783.037592784,799,650,628.962407216,650.037592784,0.400928865529,-0.00544992808368,0.0499190090728,0.999999974123,9.81453830986e-07,-0.000224651764349,-3.58338882659e-05,1793192684387843328
+13,0.216666667,BASELINE,764,742,711,670.53845073,664,633,875,783,799,650,628.46154927,650.53845073,0.400929467364,-0.00545214444263,0.04991912645,0.999999974201,-3.00943173552e-06,-0.000224335618324,-3.55306585922e-05,1793192684404510208
+14,0.233333333,BASELINE,764,742,711,670.882606598,663.882606598,633,875.117393402,783.117393402,799.117393402,650,628.117393402,651,0.400929919584,-0.0054539749059,0.0499192629692,0.999999974248,-6.5079479154e-06,-0.000224086300452,-3.53206236782e-05,1793192684421176576
+15,0.250000000,BASELINE,764,742,711,670.291546127,663.291546127,633,875.708453873,783.708453873,799.708453873,650,628.708453873,651,0.400929484261,-0.00545359892506,0.049919358476,0.999999974188,-6.83881566436e-06,-0.000224284748395,-3.56875145519e-05,1793192684437843200
+16,0.266666667,BASELINE,764,742,711,670.29306562,663.29306562,633,876,783.70693438,799.70693438,650,629,651,0.400930087911,-0.00545261852208,0.0499197561876,0.999999974427,-4.77741730561e-06,-0.000223235413469,-3.58964744153e-05,1793192684454509824
+17,0.283333333,BASELINE,764,742,711,670.871400171,663.871400171,633,876,783.128599829,799.128599829,650,629,651,0.400931702894,-0.00545104977697,0.0499204480639,0.999999974939,-3.87396442677e-07,-0.000220971491556,-3.59517048275e-05,1793192684471176192
+18,0.300000000,BASELINE,764,742.447455771,711,671,664,632.552544229,875.552544229,783.447455771,799,650,629,650.552544229,0.400930632663,-0.00545154341325,0.0499199911264,0.999999974643,-6.03391644432e-07,-0.00022235705948,-3.56600188326e-05,1793192684487842560
+19,0.316666667,BASELINE,764,742.977232944,711,671,664,632.022767056,875.022767056,783.977232944,799,649.977232944,629,650.022767056,0.400928883691,-0.00545256553953,0.0499192313824,0.999999974133,-2.08805779674e-06,-0.000224684798074,-3.52923783061e-05,1793192684504509440
+20,0.333333333,BASELINE,764,742.404161107,711,671,664,632.595838893,875.595838893,783.404161107,799,649.404161107,629,650.595838893,0.400929287982,-0.00545210743663,0.0499190926435,0.999999974153,-2.40282490953e-06,-0.000224561921015,-3.54865903885e-05,1793192684521176320
+21,0.350000000,BASELINE,764,742,711,671.175036568,663.824963432,633,875.824963432,783.175036568,799.175036568,649.175036568,629,651,0.400929261904,-0.00545221027469,0.0499187761762,0.999999974095,-3.0698270577e-06,-0.000224793170273,-3.56240466056e-05,1793192684537843200
+22,0.366666667,BASELINE,764,742,711,671.768891756,663.231108244,633,875.231108244,783.768891756,799.768891756,649.768891756,629,651,0.400928206058,-0.0054536553039,0.0499180344494,0.999999973846,-4.57963928115e-06,-0.000225871755032,-3.56257002399e-05,1793192684554510080
+23,0.383333333,BASELINE,764,742,711,671.646663225,663.353336775,633,875.353336775,784,799.646663225,650,629,651,0.400928699939,-0.00545346397339,0.0499181385697,0.999999973988,-4.27439963058e-06,-0.000225228874228,-3.57513297584e-05,1793192684571176704
+24,0.400000000,BASELINE,764,742,711,671.068213425,663.931786575,633,875.931786575,784,799.068213425,650,629,651,0.400930181159,-0.00545223010821,0.0499187815843,0.999999974376,-2.81277945406e-06,-0.000223489237268,-3.59559450728e-05,1793192684587843072
+25,0.416666667,BASELINE,763.494203483,742,711,671,663.494203483,633,875.494203483,783.494203483,799,649.494203483,629,650.494203483,0.400929195808,-0.00545211415736,0.0499183479986,0.999999974124,-2.6732619919e-06,-0.000224641761116,-3.58024451481e-05,1793192684604509696
+26,0.433333333,BASELINE,763.081443291,742.081443291,711,671,663.081443291,633,875,783.081443291,799,649.081443291,629,650.081443291,0.400928046606,-0.00545216212419,0.0499179126901,0.999999973841,-2.78189547303e-06,-0.000225922102017,-3.56196836652e-05,1793192684621176320
+27,0.450000000,BASELINE,763.671005598,742.671005598,711,671,663.671005598,633,875,783.671005598,799,649.671005598,629,650.671005598,0.400927932462,-0.00545230033019,0.0499183646058,0.999999973918,-3.33598377514e-06,-0.000225587586966,-3.55530586282e-05,1793192684637842688
+28,0.466666667,BASELINE,764,742.743882325,711.256117675,671,664,633,875,784,799.51223535,650,629,651,0.400928509417,-0.00545255281264,0.0499189415333,0.999999974107,-3.66681062325e-06,-0.000224752332553,-3.54820629284e-05,1793192684654509312
+29,0.483333333,BASELINE,764,742.164389166,711.835610834,671,664,633,875,784,800.671221669,650,629,651,0.400929958954,-0.0054529495811,0.0499196763012,0.999999974438,-3.71574638556e-06,-0.000223284842079,-3.54055488117e-05,1793192684671176192
+30,0.500000000,BASELINE,764,742,711.588686349,671,664,633,875.411313651,783.588686349,800.588686349,649.588686349,629,650.588686349,0.400932144191,-0.00545253725395,0.0499206337107,0.999999974988,-3.18353940584e-06,-0.00022080296442,-3.54828652766e-05,1793192684687842816
+31,0.516666667,BASELINE,764,742,711.014484595,671,664,633,875.985515405,783.014484595,800.014484595,649.014484595,629,650.014484595,0.400934620778,-0.00545180450939,0.0499216792904,0.999999975618,-2.42118874054e-06,-0.000217919369993,-3.56211016071e-05,1793192684704509440
+32,0.533333333,BASELINE,764,742,711,671,663.427431741,633,875.427431741,783,799.427431741,649,629,650,0.400932862402,-0.00545312060888,0.0499208319143,0.999999975277,-2.5986796562e-06,-0.000219512536518,-3.53953203267e-05,1793192684721176320
+33,0.550000000,BASELINE,764,742,711,671,663.157916925,633,875,783.157916925,799.157916925,649.157916925,629,650.157916925,0.400931175502,-0.00545393066588,0.0499199955778,0.999999974908,-2.78682963036e-06,-0.000221211108836,-3.52477660972e-05,1793192684737843200
+34,0.566666667,BASELINE,764,742,711,671,663.737822837,633,875,783.737822837,799.737822837,649.737822837,629,650.737822837,0.400929972461,-0.00545324678164,0.0499193196447,0.999999974533,-2.93847019825e-06,-0.000222881767639,-3.53344247681e-05,1793192684754509568
+35,0.583333333,BASELINE,764,742,711,671,664,633,875.31683385,784,800,650,629,650.68316615,0.400929892632,-0.00545252779485,0.0499189691432,0.999999974457,-1.34243455274e-06,-0.00022323805234,-3.53382407429e-05,1793192684771176192
+36,0.600000000,BASELINE,764,742,711,671,664,633,875.895106492,784,800,650,629,650.104893508,0.400930739634,-0.00545177984274,0.049918887175,0.999999974621,1.69571452136e-06,-0.000222509767579,-3.52736982033e-05,1793192684787842816
+37,0.616666667,BASELINE,764,742,711,671,664,633,876,784,799.529854349,649.529854349,629,650.470145651,0.400931090845,-0.00545217143377,0.0499193200812,0.99999997477,-2.89906159929e-07,-0.00022180914147,-3.55139415222e-05,1793192684804509440
+38,0.633333333,BASELINE,764.045615161,742,711,671.045615161,663.954384839,633,875.954384839,783.954384839,799.045615161,649.045615161,629,651,0.400931326656,-0.00545285538827,0.0499198191656,0.999999974894,-3.35177954164e-06,-0.000221180066934,-3.57715288272e-05,1793192684821176064
+39,0.650000000,BASELINE,764.634750083,742,711,671.634750083,663.365249917,633,875.365249917,783.365249917,799.634750083,649.634750083,629,651,0.400931496445,-0.00545401426827,0.0499197473874,0.999999974861,-5.97353721711e-06,-0.000221330526764,-3.54310637794e-05,1793192684837842944
+40,0.666666667,BASELINE,764.779759435,742,711,671.779759435,663.44048113,633,875.220240565,783.220240565,799.779759435,650,628.779759435,651,0.400931214977,-0.00545398514037,0.0499196431552,0.999999974797,-6.459236288e-06,-0.000221608508582,-3.54049028835e-05,1793192684854509568
+41,0.683333333,BASELINE,764.200214589,742,711,671.200214589,664.599570822,633,875.799785411,783.799785411,799.200214589,650,628.200214589,651,0.400930197323,-0.00545201787572,0.0499194859771,0.999999974687,-3.46013212028e-06,-0.000222094531974,-3.58915032562e-05,1793192684871176192
+42,0.700000000,BASELINE,764,742,711,671,664.622602326,633,875.622602326,784,799.377397674,649.622602326,628.377397674,651,0.400929572986,-0.00545152761775,0.0499186848348,0.999999974446,-1.83712343118e-06,-0.000223165063244,-3.60897889919e-05,1793192684887842816
+43,0.716666667,BASELINE,764,742,711,671,664.04601012,633,875.04601012,784,799.95398988,649.04601012,628.95398988,651,0.400929156245,-0.00545181693979,0.0499175438014,0.999999974137,-9.40432764793e-07,-0.000224544104016,-3.61358991596e-05,1793192684904509440
+44,0.733333333,BASELINE,764,742,711,671,663.473080132,633,875,783.473080132,799.473080132,649,628.473080132,651,0.400929808604,-0.00545175013129,0.0499177329878,0.999999974255,-8.24289407606e-07,-0.000224067428036,-3.58188064175e-05,1793192684921176064
+45,0.750000000,BASELINE,764,742,711,671,663.102851538,633,875.102851538,783.102851538,799.102851538,649.102851538,628.102851538,650.897148462,0.40093077801,-0.00545184278295,0.0499182037104,0.999999974475,-1.16440977193e-06,-0.000223133168182,-3.54985237622e-05,1793192684937842688
+46,0.766666667,BASELINE,764,742,711,671,663.694559557,633,875.694559557,783.694559557,799.694559557,649.694559557,628.694559557,650.305440443,0.40093281371,-0.00545284013827,0.0499194643118,0.999999974997,-3.35145099462e-06,-0.000220788860445,-3.53127790772e-05,1793192684954509312
+47,0.783333333,BASELINE,764,742.280341708,711,671,664,633,875.719658292,783.719658292,799.719658292,649.719658292,629,650,0.400933186519,-0.00545241207873,0.0499200896077,0.999999975158,-3.0159245387e-06,-0.000220049350838,-3.53895801558e-05,1793192684971175936
+48,0.800000000,BASELINE,764,742.859801175,711,671,664,633,875.140198825,783.140198825,799.140198825,649.140198825,629,650,0.400931785063,-0.00545046313646,0.0499200370482,0.999999974936,1.11197795332e-08,-0.00022102212137,-3.57465111322e-05,1793192684987842816
+49,0.816666667,BASELINE,764,742.56378618,711,671,663.56378618,633,875,783,799,649.43621382,629,650.43621382,0.400929282742,-0.00545148032514,0.0499181921633,0.999999974195,-1.10104742466e-06,-0.000224371896397,-3.55925507954e-05,1793192685004509440
+50,0.833333333,BASELINE,764,742,711,671,663,633,875,783.011644232,799.011644232,650,629,651,0.400926542636,-0.00545339593582,0.0499158534893,0.999999973305,-3.47576665753e-06,-0.000228325947948,-3.52850359326e-05,1793192685021176064
+51,0.850000000,BASELINE,764,742,711,671,663,633,875,783.586603286,799.586603286,650,629,651,0.400929297115,-0.00545297599773,0.0499173011667,0.999999974098,-3.01751888611e-06,-0.000224810964386,-3.54374253728e-05,1793192685037842688
+52,0.866666667,BASELINE,764,742,711,671.166069227,663.166069227,633,875,783.833930773,800,649.833930773,629,651,0.400931025098,-0.00545317135594,0.049918234989,0.999999974593,-3.26901315114e-06,-0.000222585820856,-3.54846357764e-05,1793192685054509312
+53,0.883333333,BASELINE,764,742,711,671.7570671,663.7570671,633,875,783.2429329,800,649.2429329,629,651,0.400930126538,-0.00545494109987,0.0499178539874,0.999999974352,-5.33655565517e-06,-0.000223661048047,-3.52627199376e-05,1793192685071175936
+54,0.900000000,BASELINE,764,742,711,671.65961287,664,633,875.34038713,783.34038713,799.65961287,649.34038713,628.65961287,651,0.400930453133,-0.00545605133753,0.0499180090419,0.999999974415,-7.04392355081e-06,-0.000223347259394,-3.51716227458e-05,1793192685087842816
+55,0.916666667,BASELINE,764,742,711,671.081651634,664,633,875.918348366,783.918348366,799.081651634,649.918348366,628.081651634,651,0.400931634827,-0.00545670127094,0.0499185382381,0.999999974689,-8.49990653155e-06,-0.000222064003382,-3.51718307868e-05,1793192685104509440
+56,0.933333333,BASELINE,764,742,711,671.493436149,664,633,876,784,799,649.506563851,628.493436149,650.506563851,0.400932215543,-0.00545511161654,0.0499190506109,0.999999974845,-6.17794848599e-06,-0.000221422223849,-3.52759315151e-05,1793192685121176064
+57,0.950000000,BASELINE,764,742,711,671.930227632,664,633,876,784,799,649,629,650.069772368,0.400932751222,-0.00545331179282,0.0499195471633,0.999999974985,-3.5441153752e-06,-0.00022082639065,-3.54021212385e-05,1793192685137842688
+58,0.966666667,BASELINE,764,742,711,671.34107957,664,633,876,784,799,649,629,650.65892043,0.400933687633,-0.00545269020028,0.0499199465534,0.999999975209,-3.21536783893e-06,-0.000219786994564,-3.55655065693e-05,1793192685154509312
+59,0.983333333,BASELINE,764.243835225,742,711,671,664,633,876,783.756164775,799,649.243835225,629,651,0.40093350437,-0.00545271343021,0.0499199898785,0.999999975199,-3.4768331113e-06,-0.000219830287893,-3.55733786751e-05,1793192685171175936
+60,1.000000000,BASELINE,764.822929608,742,711,671,664,633,876,783.177070392,799,649.822929608,629,651,0.400931781623,-0.00545362325321,0.049919543635,0.999999974864,-4.5498063928e-06,-0.000221362215632,-3.53674292251e-05,1793192685187842816
+61,1.016666667,BASELINE,764.599494311,742,711,671,664,633,875.599494311,783.400505689,799,649.599494311,629,651,0.400930823003,-0.0054540427108,0.0499188017798,0.999999974638,-4.8629945559e-06,-0.000222373268789,-3.53643288648e-05,1793192685204509440
+62,1.033333333,BASELINE,764.022586995,742,711,671,664,633,875.022586995,783.977413005,799,649.022586995,629,651,0.400930200941,-0.00545424618824,0.0499179297233,0.999999974461,-4.84153739502e-06,-0.000223154904079,-3.54505728392e-05,1793192685221176064
+63,1.050000000,BASELINE,764,742.551161547,711,671,664.551161547,633,875,784,799,649.551161547,628.448838453,651,0.400931975817,-0.00545419851219,0.0499192328664,0.999999974934,-5.12926453312e-06,-0.000221045143625,-3.52798032326e-05,1793192685237842944
+64,1.066666667,BASELINE,764.128602989,742.871397011,711,671,664.871397011,633,875,783.871397011,799.128602989,650,628.128602989,650.871397011,0.40093319894,-0.00545383216026,0.0499200853568,0.999999975193,-4.96213985422e-06,-0.000219890942829,-3.51873744645e-05,1793192685254509312
+65,1.083333333,BASELINE,764.719790728,742.280209272,711,671,664.280209272,633,875,783.280209272,799.719790728,650,628.719790728,650.280209272,0.400932086089,-0.00545235634272,0.0499189980362,0.999999974593,-3.11359750027e-06,-0.000222597673599,-3.54144074358e-05,1793192685271175936
+66,1.100000000,BASELINE,764.695976434,742,711,671,663.695976434,633,875,783,799.695976434,650,629,650.304023566,0.400931073912,-0.00545251623401,0.0499182740264,0.999999974321,-3.48281279964e-06,-0.000223799424211,-3.54888595973e-05,1793192685287842560
+67,1.116666667,BASELINE,764.118010388,742,711,671,663.118010388,633,875,783,799.118010388,650,629,650.881989612,0.400930152447,-0.00545414999185,0.0499178773804,0.999999974347,-5.85035365569e-06,-0.000223645102179,-3.54258277812e-05,1793192685304509184
+68,1.133333333,BASELINE,763.541916645,741.541916645,711,670.541916645,663.458083355,633,875,783,799.458083355,650,629,651,0.400930890023,-0.00545440208041,0.0499181988203,0.999999974504,-5.96875487811e-06,-0.000222932172008,-3.5462415837e-05,1793192685321176064
+69,1.150000000,BASELINE,763.033455619,741.066911239,711,670.033455619,663.966544381,633,875,783,799.966544381,649.966544381,628.966544381,651,0.400932023248,-0.00545420730488,0.0499186873913,0.999999974692,-5.45179724726e-06,-0.000222091891387,-3.55201101958e-05,1793192685337842432
+70,1.166666667,BASELINE,763.604949738,742.209899476,711,670.604949738,663.395050262,633,875,783,799.395050262,649.395050262,628.395050262,651,0.400932673852,-0.0054525270126,0.049918900834,0.999999974829,-3.99726291728e-06,-0.000221508461727,-3.55061894543e-05,1793192685354509312
+71,1.183333333,BASELINE,764,742.815180233,711,670.815180233,663.184819767,633,875,783.184819767,799.184819767,649.184819767,628.184819767,650.815180233,0.400932770223,-0.00545194765757,0.04991892458,0.999999974868,-3.62254894447e-06,-0.000221356319051,-3.53911542008e-05,1793192685371175936
+72,1.200000000,BASELINE,764,742.216556782,711,670.216556782,663.783443218,633,875,783.783443218,799.783443218,649.783443218,628.783443218,650.216556782,0.400931625691,-0.00545383325443,0.0499185236031,0.99999997469,-5.66550705059e-06,-0.000222169809681,-3.50497278049e-05,1793192685387842816
+73,1.216666667,BASELINE,764,742,711,670.366462001,663.633537999,633,875.366462001,783.633537999,799.633537999,649.633537999,629,650.366462001,0.400930708568,-0.0054536237907,0.0499178994037,0.999999974535,-4.93939107081e-06,-0.00022286812381,-3.51386669304e-05,1793192685404509440
+74,1.233333333,BASELINE,764,742,711,670.940635968,663.059364032,633,875.940635968,783.059364032,799.059364032,649.059364032,629,650.940635968,0.400929920341,-0.00545222683906,0.0499171486812,0.999999974391,-2.64375393206e-06,-0.00022350115544,-3.54715387839e-05,1793192685421176064
+75,1.250000000,BASELINE,764,742,711,671.525124677,663,633,876,783,799,649,629,650.474875323,0.400931173775,-0.00545352019224,0.0499179803459,0.99999997465,-4.84402388393e-06,-0.000222294618529,-3.55330328532e-05,1793192685437842688
+76,1.266666667,BASELINE,764,742,711,671.780065929,663.109967036,633,876,783.109967036,799,649.109967036,628.890032964,650.109967036,0.400931875823,-0.00545476926418,0.0499186209607,0.999999974783,-7.02221171981e-06,-0.000221629606146,-3.55566098292e-05,1793192685454509312
+77,1.283333333,BASELINE,764,742,711,670.617545091,663.691227455,633,876,783.691227455,799,649.691227455,628.308772545,650.691227455,0.400929205756,-0.00545449900045,0.0499176607594,0.999999974213,-6.88387023156e-06,-0.000224194563332,-3.55517985682e-05,1793192685471175936
+78,1.300000000,BASELINE,764,742,711,670.270761881,663.729238119,633,876,783.729238119,799.270761881,650,628,651,0.400928686834,-0.00545402654843,0.0499174423819,0.999999974083,-6.14997817597e-06,-0.000224782485289,-3.56357650234e-05,1793192685487842560
+79,1.316666667,BASELINE,764,742,711,670.848340441,663.151659559,633,876,783.151659559,799.848340441,650,628,651,0.400930605502,-0.00545332498463,0.0499180646101,0.999999974454,-4.74123172805e-06,-0.000223130108768,-3.58203308839e-05,1793192685504509184
+80,1.333333333,BASELINE,764,742,711,671,663,633,876,783,800,649.576582133,628.423417867,651,0.400931189563,-0.00545313428448,0.0499182744876,0.999999974589,-4.83051063097e-06,-0.00022251294793,-3.58674536444e-05,1793192685521176832
+81,1.350000000,BASELINE,764,742,711,671,663,633,876,783,800,649.002395255,628.997604745,651,0.400931298402,-0.00545312549064,0.0499183375369,0.999999974641,-5.45320054523e-06,-0.000222264402592,-3.58656362075e-05,1793192685537844224
+82,1.366666667,BASELINE,764,742,711,671,664.173557846,632.413221077,875.413221077,783,800,649.586778923,629,651,0.40093237958,-0.00545433187699,0.0499191493057,0.999999974937,-7.63773819976e-06,-0.000220905199633,-3.56218113685e-05,1793192685554510336
+83,1.383333333,BASELINE,764,742,711,671,664.826919274,632.173080726,875.173080726,783,800,650,629,651,0.40093297745,-0.00545474329818,0.0499196464853,0.999999975101,-8.30169216642e-06,-0.000220165010416,-3.54456169061e-05,1793192685571176704
+84,1.400000000,BASELINE,764,742,711,671,664.247508033,632.752491967,875.752491967,783,800,650,629,651,0.400932431127,-0.00545327648039,0.0499193977608,0.999999974962,-5.38051008783e-06,-0.000220888962348,-3.5430573871e-05,1793192685587843072
+85,1.416666667,BASELINE,764,742.329701012,711,671,664,633,876,783.329701012,800,650,629,651,0.400932724046,-0.00545274530953,0.0499195186513,0.99999997511,-3.63220134085e-06,-0.000220265427208,-3.53676626404e-05,1793192685604509696
+86,1.433333333,BASELINE,764,742.905267793,711,671,664,633,876,783.905267793,800,650,629,651,0.400933642806,-0.00545291187258,0.0499199151724,0.999999975473,-2.75853189448e-06,-0.000218637039343,-3.52690549757e-05,1793192685621176320
+87,1.450000000,BASELINE,764,742.519781995,711,671,664,633,875.519781995,784,799.519781995,650,629,651,0.400931361779,-0.00545368024948,0.0499186790014,0.999999974851,-4.66498101772e-06,-0.000221413109048,-3.54019677748e-05,1793192685637842944
+88,1.466666667,BASELINE,764,742,711,671,664,633,875,783.943405495,799,650,629,651,0.400928773641,-0.00545434001152,0.0499172619899,0.999999974101,-6.74515591013e-06,-0.000224694492651,-3.55721997619e-05,1793192685654509568
+89,1.483333333,BASELINE,764,742,711,671,664,633,875,783.35241414,799,650,629,651,0.400929238279,-0.00545285459518,0.0499171747384,0.999999974138,-5.29378939407e-06,-0.000224553557104,-3.56641142801e-05,1793192685671176192
+90,1.500000000,BASELINE,764,742.232890779,711,671,663.767109221,633,875.232890779,783.232890779,799,650,629,650.767109221,0.400930518532,-0.00545186455275,0.0499180355048,0.999999974456,-4.06370192891e-06,-0.000223155405135,-3.56843459948e-05,1793192685687842816
+91,1.516666667,BASELINE,764,742.809795932,711,671,663.190204068,633,875.809795932,783.809795932,799,650,629,650.190204068,0.400933003569,-0.00545160625151,0.0499202966348,0.999999975183,-3.16047671447e-06,-0.000219900157232,-3.55986915216e-05,1793192685704509952
+92,1.533333333,BASELINE,764,742.613363991,711,671,663.773272018,633,876,784,799,650,629,650.386636009,0.400931086131,-0.00545276363294,0.0499190653136,0.999999974746,-2.99949894728e-06,-0.000221932976093,-3.52844346915e-05,1793192685721176576
+93,1.550000000,BASELINE,764,742.036555871,711,671,664.926888257,633,876,784,799,650,629,650.963444129,0.400927003277,-0.00545461733685,0.0499161161835,0.999999973721,-3.20360546842e-06,-0.000226566801272,-3.48577367157e-05,1793192685737842688
+94,1.566666667,BASELINE,764,742,711,671,664.450297258,633,876,783.450297258,799.549702742,650,629,651,0.4009280754,-0.00545427407612,0.0499164413692,0.999999973875,-2.27444799577e-06,-0.000225898788906,-3.48546179829e-05,1793192685754509312
+95,1.583333333,BASELINE,764,742,711,671,664,633,876,783.134902148,799.865097852,649.865097852,629,651,0.40092920957,-0.00545378973076,0.0499168828993,0.999999974067,-1.75390514447e-06,-0.000225025779567,-3.50046855669e-05,1793192685771176192
+96,1.600000000,BASELINE,764,742,711,671,664,633,876,783.71450213,799.28549787,649.28549787,629,651,0.400929398449,-0.00545333034524,0.0499169776096,0.999999974128,-2.83311577609e-06,-0.000224659595291,-3.5565243466e-05,1793192685787842816
+97,1.616666667,BASELINE,764.293501747,742,711,671.293501747,664,633,876,783.706498253,799,649.293501747,629,651,0.400930577445,-0.00545330566181,0.0499177445145,0.999999974478,-4.67978695021e-06,-0.000223014720313,-3.58734708208e-05,1793192685804509440
+98,1.633333333,BASELINE,764.871918529,742,711,671.871918529,664,633,876,783.128081471,799,649.871918529,629,651,0.400932717592,-0.00545370296283,0.0499191639483,0.9999999751,-7.27146570837e-06,-0.00022012856414,-3.59367498024e-05,1793192685821176064
+99,1.650000000,BASELINE,764.553117729,742,711,671.553117729,664,633,876,783,799.446882271,650,629,651,0.400933273078,-0.00545345596293,0.0499196308204,0.999999975278,-7.15807577907e-06,-0.000219357150291,-3.57210772862e-05,1793192685837842688
+100,1.666666667,BASELINE,764,742,711,671,664,633,875.978595229,783,800,649.978595229,629,651,0.400933294847,-0.00545305247434,0.0499197689048,0.999999975307,-6.26397563545e-06,-0.000219297893201,-3.54345463843e-05,1793192685854509312
+101,1.683333333,BASELINE,764,742,711,671,664,633,875.389734166,783,800,649.389734166,629,651,0.400931115758,-0.00545335839242,0.0499183729142,0.999999974681,-5.0689255317e-06,-0.000222173251836,-3.53728053206e-05,1793192685871175936
+102,1.700000000,BASELINE,764,742,711,671,664,633,875.196634853,783,799.803365147,649.196634853,629,651,0.400930752841,-0.00545378125184,0.0499181413445,0.999999974575,-4.48902352417e-06,-0.000222670768678,-3.53248318778e-05,1793192685887842816
+103,1.716666667,BASELINE,764,742,711,671,664,633,875.778126335,783,799.221873665,649.778126335,629,651,0.400933944563,-0.00545443299054,0.0499201887968,0.999999975489,-5.11309856751e-06,-0.000218514338213,-3.53038046327e-05,1793192685904509696
+104,1.733333333,BASELINE,764.354657429,742,711,671.354657429,664,633,876,783.354657429,799.354657429,649.645342571,628.645342571,650.645342571,0.400933256188,-0.00545410741713,0.0499194353051,0.999999975211,-4.54194457061e-06,-0.000219802307771,-3.52872018176e-05,1793192685921176064
+105,1.750000000,BASELINE,764.928128164,742,711,671.928128164,664,633,876,783.928128164,799.928128164,649.071871836,628.071871836,650.071871836,0.400930173905,-0.00545317887067,0.0499169537128,0.999999974184,-3.23336912297e-06,-0.00022444931319,-3.52733287446e-05,1793192685937842688
+106,1.766666667,BASELINE,765,742.503734312,711,671.496265688,664,633,876,783.496265688,800,649.503734312,628,650.503734312,0.400930968873,-0.00545448499342,0.0499176952318,0.999999974417,-5.71164237866e-06,-0.000223363528419,-3.52566463864e-05,1793192685954509312
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783,799,650,629,651,0.400930266852,-0.00545413799049,0.0499173336163,0.999999974491,-5.79978496232e-06,-0.000223040092783,-3.51700742481e-05,1793192685997003776
+108,1.800000000,POSE1_TO_POSE2_PRESS,764.577298934,742,711,671.577298934,664,633,875,783.577298934,799.577298934,650,629,651,0.400929027887,-0.00545341917269,0.0499164807644,0.999999974108,-3.7523215772e-06,-0.000224754676526,-3.5422219829e-05,1793192686013670400
+109,1.816666667,POSE1_TO_POSE2_PRESS,764.845652836,742,711,671.845652836,664,633,875.154347164,784,799.845652836,650,629,651,0.400928500194,-0.00545261204901,0.0499160467408,0.999999973907,-2.4918735784e-06,-0.000225622822032,-3.5680986204e-05,1793192686030337024
+110,1.833333333,POSE1_TO_POSE2_PRESS,764.269289955,742,711,671.269289955,664,633,875.730710045,784,799.269289955,650,629,651,0.400929917259,-0.00545156347945,0.0499167578763,0.99999997422,-3.3832810705e-06,-0.000224176638128,-3.59578551984e-05,1793192686047003648
+111,1.850000000,POSE1_TO_POSE2_PRESS,764.313035029,742,711,671,664,633,876,783.686964971,799.313035029,650,628.686964971,651,0.40093153836,-0.00545122083842,0.0499177091747,0.99999997456,-4.0286471115e-06,-0.00022262178366,-3.60893999576e-05,1793192686063670016
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.900588489,742,711,671,664,633,876,783.099411511,799.900588489,650,628.099411511,651,0.400933338393,-0.00545149726682,0.0499188710858,0.999999974924,-4.45824519214e-06,-0.000220971629806,-3.60935015157e-05,1793192686080336640
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.518553712,742,711,671,664.481446288,633,875.518553712,783,799.518553712,649.518553712,628.481446288,651,0.400941593856,-0.00545422006356,0.0499214386103,0.999999976291,-5.8205289264e-06,-0.000214807740514,-3.52397498234e-05,1793192686097003264
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664.939371581,633,875.060628419,783,799,649.060628419,629,651,0.400952213798,-0.00545685491024,0.0499244598368,0.99999997794,-6.85580250883e-06,-0.000207100010739,-3.43835450816e-05,1793192686113669888
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.362844949,633,875.637155051,783,799,649.637155051,629,651,0.400971766776,-0.00545450201535,0.0499289058814,0.999999980549,-3.49221858135e-06,-0.000194077401101,-3.4993057261e-05,1793192686130336512
+116,1.933333333,POSE1_TO_POSE2_PRESS,764.213046369,742,711.213046369,671,663.786953631,633,876,783,799,649.786953631,629,651,0.400997070976,-0.00545413296924,0.0499337420204,0.999999983456,-3.2405164557e-06,-0.000178399052488,-3.53728723043e-05,1793192686147003392
+117,1.950000000,POSE1_TO_POSE2_PRESS,764.787858823,742,711.787858823,671,663.212141177,633,876,783,799,649.212141177,629,651,0.401032141112,-0.00545713262297,0.0499392405639,0.999999986825,-8.27298500148e-06,-0.000158211093978,-3.53626471514e-05,1793192686163670016
+118,1.966666667,POSE1_TO_POSE2_PRESS,764.627626327,742,711.627626327,671,663.372373673,632.627626327,876,783,799,649,629,651,0.401077894232,-0.00545852663128,0.049945043417,0.999999990295,-9.27257236076e-06,-0.000134391310108,-3.55479164397e-05,1793192686180336896
+119,1.983333333,POSE1_TO_POSE2_PRESS,764.037436096,742,711.037436096,671,663.962563904,632.037436096,876,783,799,649,629,651,0.40112989627,-0.00545898143234,0.0499510242737,0.999999993446,-7.91316339942e-06,-0.000108447121397,-3.58475383909e-05,1793192686197003520
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632.541862217,875.458137783,783.541862217,799.541862217,649.541862217,629,651,0.401191698082,-0.0054603672853,0.0499538905448,0.999999994411,-9.39514467607e-06,-9.90235999097e-05,-3.58380167127e-05,1793192686213670144
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783.880400642,799.880400642,650,629,651,0.401257580155,-0.00546237659968,0.0499562165778,0.999999995055,-1.104278338e-05,-9.22019574256e-05,-3.5587238302e-05,1793192686230336768
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783.30579627,799.30579627,650,629,651,0.401336460228,-0.00546651792322,0.0499572898265,0.999999995183,-1.258854064e-05,-9.10222232971e-05,-3.4498274067e-05,1793192686247003136
+123,2.050000000,POSE1_TO_POSE2_PRESS,764.275037049,742,711,671,664,633,875.275037049,783.275037049,799.550074097,650,629,651,0.401424382949,-0.00547123454716,0.0499574940532,0.999999995151,-1.43381835269e-05,-9.1591401598e-05,-3.32087310649e-05,1793192686263670016
+124,2.066666667,POSE1_TO_POSE2_PRESS,764.862956385,742,711,671,664,633,875.862956385,783.862956385,800.72591277,650,629,651,0.401522592585,-0.00547660563288,0.0499567096799,0.999999994933,-1.63197667151e-05,-9.41501436484e-05,-3.16910096195e-05,1793192686280336640
+125,2.083333333,POSE1_TO_POSE2_PRESS,765,742,711,671.444488965,664,633,876,784,800.11102207,650,629,650.555511035,0.401650009614,-0.00548070571988,0.0499562744108,0.999999994926,-1.76636608281e-05,-9.4223354848e-05,-3.09433782067e-05,1793192686297003008
+126,2.100000000,POSE1_TO_POSE2_PRESS,765,742,711,672,664,632.976045328,876,783.976045328,799,650,628.976045328,650.023954672,0.401787465108,-0.00548451727322,0.049956016893,0.999999994986,-1.89432888634e-05,-9.35203421485e-05,-3.03846537021e-05,1793192686313669888
+127,2.116666667,POSE1_TO_POSE2_PRESS,765,742,711,672,664,632.399477332,876,783.399477332,799,650,628.399477332,650.600522668,0.401951701199,-0.00549058467065,0.0499574120738,0.999999995053,-2.32117400873e-05,-9.23387109985e-05,-2.87840845439e-05,1793192686330336768
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.823306506,742,711,671.823306506,664,632.176693494,876,783,799,650,628,651,0.402123952027,-0.00549738568216,0.0499568287917,0.99999999481,-2.81310343742e-05,-9.40247466746e-05,-2.73429857287e-05,1793192686347003392
+129,2.150000000,POSE1_TO_POSE2_PRESS,764.248031689,742,711,671.248031689,664,632.751968311,876,783,799,650,628,651,0.402314282299,-0.00550584156346,0.0499517825363,0.999999993839,-3.45184856494e-05,-0.000102179602703,-2.62616168469e-05,1793192686363670016
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875.664456247,783,799,650,628.335543753,651,0.402529120279,-0.00551475326194,0.0499503922417,0.999999993691,-3.92544371626e-05,-0.000102331987177,-2.46076855865e-05,1793192686380336640
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875.074589341,783,799,650,628.925410659,651,0.402762533733,-0.00552401044491,0.0499517729575,0.999999994185,-4.27386461092e-05,-9.6418952514e-05,-2.25197843728e-05,1793192686397003520
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875.506102771,783,799.506102771,650,628.493897229,651,0.403047513786,-0.00553617952842,0.0499573655439,0.99999999501,-4.94791360143e-05,-8.45888071006e-05,-1.94296160155e-05,1793192686413670144
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.08480993,741.91519007,711,671,664,633,875.91519007,783,799.91519007,650,628,650.91519007,0.403345913785,-0.00554842092106,0.0499641906538,0.99999999583,-5.58356558287e-05,-7.04334995017e-05,-1.61717776928e-05,1793192686430336768
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.659721505,741.340278495,711,671,664,633,875.340278495,783,799.340278495,650,628,650.340278495,0.403678729048,-0.00555864432506,0.0499746150001,0.999999997138,-5.7249347366e-05,-4.77912504726e-05,-1.27834168099e-05,1793192686447003392
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.765494156,741.234505844,711.234505844,671,664,633,875.234505844,783,799.234505844,650,628.234505844,650.234505844,0.404026713385,-0.00556805878403,0.0499832980373,0.999999997845,-5.80052249124e-05,-2.93097913026e-05,-9.32675585592e-06,1793192686463670016
+136,2.266666667,POSE1_TO_POSE2_PRESS,764.190894374,741.809105626,711.809105626,671,664,633,875.809105626,783,799.809105626,650,628.809105626,650.809105626,0.404396696772,-0.00557630006354,0.0499894557265,0.99999999817,-5.78071025121e-05,-1.68625515799e-05,-5.77104239872e-06,1793192686480336640
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,712,671,664,633,876,783,800,650,629,651,0.404792894359,-0.00557921757869,0.049994501659,0.999999998716,-5.01456702426e-05,-7.10000294471e-06,-1.49351819068e-06,1793192686497003264
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742,712,671,664,633,876,783,800,650,629,651,0.405202133564,-0.00557948650809,0.0499989944896,0.999999999243,-3.87712234704e-05,1.32690508532e-06,3.14310848544e-06,1793192686513669888
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742,711.434586226,671.565413774,664,633,876,783,799.434586226,650,629,651,0.405622592135,-0.00557006536447,0.0499777703897,0.999999999024,-1.71439403027e-05,-4.04530627291e-05,4.62206601811e-06,1793192686530336768
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876,783,799,650,628.857192825,651,0.406053752352,-0.0055623508226,0.0499566126799,0.999999996766,2.94919448636e-06,-8.01351133535e-05,6.16282417233e-06,1793192686547003392
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876,783,799,650,628.281664268,651,0.406516582362,-0.00556046153369,0.049937391986,0.999999993753,1.77016411115e-05,-0.000110071371438,8.10398123242e-06,1793192686563670016
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876,783,799.300086436,650,628,651,0.407004014784,-0.00556091141872,0.0499259859907,0.999999991531,2.92404281756e-05,-0.000126323246791,1.11687213808e-05,1793192686580336640
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,633,876,783,799.887801041,650,628,651,0.407515028287,-0.00556360336526,0.0499220702597,0.999999990792,3.76989744287e-05,-0.00012945885836,1.53103986269e-05,1793192686597003264
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,671.531223292,664,633,876,783,800,650,628.468776708,650.531223292,0.408111286936,-0.0055665244681,0.0499418165923,0.99999999475,4.59889876852e-05,-8.93480516147e-05,2.00273917797e-05,1793192686613670144
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,671.047996112,664,633,876,783,800,649.952003888,628.952003888,650,0.408730629115,-0.00556936824163,0.0499668086517,0.99999999751,5.21670162364e-05,-4.07515078357e-05,2.4443557902e-05,1793192686630336768
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,671.625382825,664,633,876,783,800,649.374617175,628.374617175,650,0.409382727688,-0.00557076270165,0.0499880793754,0.99999999902,3.54887580855e-05,-1.11080989375e-05,2.40443752203e-05,1793192686647003648
+147,2.450000000,POSE1_TO_POSE2_PRESS,764.205193643,742.205193643,711,671.794806357,664,633,876,783,799.794806357,649.205193643,628.205193643,650,0.410017125996,-0.0055707782064,0.0499986262396,0.999999999374,2.60035766039e-05,5.47246066244e-07,2.40015020549e-05,1793192686663670528
+148,2.466666667,POSE1_TO_POSE2_PRESS,764.789482967,742.789482967,711,671.210517033,664,633,876,783,799.210517033,649.789482967,628.789482967,650,0.410618822988,-0.00556824608833,0.0499893607501,0.999999999032,2.98076202622e-05,-2.10303961343e-05,2.46169115196e-05,1793192686680337408
+149,2.483333333,POSE1_TO_POSE2_PRESS,764.629214297,743,711,671,664,633,876,783,799,649.629214297,628.629214297,650,0.411237500086,-0.00556051965465,0.0499639894079,0.999999996362,3.80576904781e-05,-7.290619269e-05,2.26464275241e-05,1793192686697004032
+150,2.500000000,POSE1_TO_POSE2_PRESS,764.049593694,743,711,671,664,633,876,783,799,649.049593694,628.049593694,650,0.411865740742,-0.00554986766494,0.0499295468854,0.999999988564,4.88118631973e-05,-0.000141846594461,1.92195097026e-05,1793192686713670400
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,743,711,671.529235407,664,633,876,783,799,649.529235407,628.529235407,650.529235407,0.412613628421,-0.00554140386558,0.0499402985251,0.99999999243,5.98178496997e-05,-0.000105845101386,1.89613565312e-05,1793192686730337024
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,743,711,671.892431131,664,632.892431131,876,783.107568869,799.107568869,650,629,651,0.413375838565,-0.00553519131369,0.0499549298048,0.999999995352,6.77804297781e-05,-6.57598259678e-05,1.94064278111e-05,1793192686747003648
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,743,711,671.315935633,664,632.315935633,876,783.684064367,799.684064367,650,629,651,0.414151681384,-0.0055379001132,0.049968039248,0.999999996537,6.23731254184e-05,-5.06771905174e-05,2.16245577536e-05,1793192686763670272
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,743,711,671,664,632.265277029,876,783.734722971,799.734722971,649.734722971,629,651,0.41489546836,-0.00554015434729,0.0499598794708,0.999999995912,5.50263148831e-05,-6.84162114491e-05,2.16253015555e-05,1793192686780336896
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,743,711,671,664,632.852209455,876,783.147790545,799.147790545,649.147790545,629,651,0.415600386881,-0.00554185740918,0.0499259302044,0.999999990861,4.53278010893e-05,-0.000125952354653,1.89374063985e-05,1793192686797003520
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,743,711,671,664,632.566855074,876,783,799,649.433144926,628.566855074,650.566855074,0.41637180628,-0.00554514315076,0.0499184068033,0.999999990598,3.11307586176e-05,-0.00013242568729,1.72681272671e-05,1793192686813669888
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,743,711,671.011996913,664.011996913,632.011996913,876.011996913,783,799,650,628,650.011996913,0.417166648359,-0.00554894410083,0.0499204235927,0.999999992453,1.57553624143e-05,-0.000120784255049,1.60532738444e-05,1793192686830336512
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,671.587784444,664.587784444,632.587784444,876.587784444,783,799,650,628,650.587784444,0.418010471034,-0.00555192581427,0.0499528330119,0.999999997526,1.61512693342e-05,-6.54431868981e-05,2.00838004116e-05,1793192686847003392
+159,2.650000000,POSE1_TO_POSE2_PRESS,764.16353026,743,711.16353026,672,664.83646974,633,877,783,799,650,628.16353026,650.83646974,0.418841889961,-0.00555267093252,0.0499728433699,0.999999998947,1.85016512207e-05,-3.48405429942e-05,2.34273644218e-05,1793192686863670016
+160,2.666666667,POSE1_TO_POSE2_PRESS,764.739170912,743,711.739170912,672,664.260829088,633,877,783,799,650,628.739170912,650.260829088,0.419642050325,-0.00554777963734,0.0499616070199,0.999999997138,2.57774790787e-05,-6.65808707858e-05,2.50397232709e-05,1793192686880336896
+161,2.683333333,POSE1_TO_POSE2_PRESS,765,743,712,672,664,633,876.677017125,783,799,650,629,650,0.420457732336,-0.00554558826622,0.0499557720505,0.999999996756,2.59049469824e-05,-7.21676503036e-05,2.4656009887e-05,1793192686897003264
+162,2.700000000,POSE1_TO_POSE2_PRESS,765,743,712,672,664,633,876.086435061,783,799,650,629,650,0.421286274368,-0.00554563384828,0.0499544122571,0.999999997969,2.01098239842e-05,-5.60855757122e-05,2.26185019095e-05,1793192686913669888
+163,2.716666667,POSE1_TO_POSE2_PRESS,765,743,711.505280572,672,664.494719428,633,876.494719428,783.494719428,799.494719428,650,628.505280572,650,0.422137980632,-0.00555193567196,0.0499683848528,0.999999999343,9.53414290268e-06,-2.58460435744e-05,2.35720661527e-05,1793192686930336512
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.926552608,743,711,671.926552608,665,633,877,783.926552608,799.926552608,650,628.073447392,650,0.422987252544,-0.00555831110581,0.0499804284563,0.999999999691,-4.18120594271e-07,-1.72186460255e-06,2.48063106618e-05,1793192686947003136
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.353337763,743,711,671.353337763,665,633,877,783.353337763,799.353337763,650,628.646662237,650,0.423792936129,-0.00555788883981,0.0499614595004,0.999999999063,-5.51349334188e-07,-3.57253585657e-05,2.44610192126e-05,1793192686963670272
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,711,671.220597036,664.779402964,633,876.779402964,783,799.220597036,650,629,650,0.424619816823,-0.00555738043305,0.0499541019294,0.999999998446,-1.18917284977e-06,-4.99692269362e-05,2.46804337674e-05,1793192686980337152
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711,671.795688875,664.204311125,633,876.204311125,783,799.795688875,650,629,650,0.425480760953,-0.00555673359981,0.049965403607,0.999999999137,-2.6378695936e-06,-3.24597973512e-05,2.58073189876e-05,1793192686997003776
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.382328287,743,711,672,664.382328287,632.617671713,876,783.382328287,800,650,629,650.382328287,0.426314373126,-0.00555768330706,0.0499823017362,0.999999999541,-5.58785905866e-06,-1.1366504143e-05,2.75377816645e-05,1793192687013670400
+169,2.816666667,POSE1_TO_POSE2_PRESS,764.975330718,743,711,672,664.975330718,632.024669282,876,783.975330718,800,650,629,650.975330718,0.427132924534,-0.00555951275517,0.0500022836742,0.99999999945,-9.36510492917e-06,1.17016023991e-05,2.96008332151e-05,1793192687030337024
+170,2.833333333,POSE1_TO_POSE2_PRESS,765,743,711,672,664.448246762,632,876,784,799.448246762,649.448246762,629,650.448246762,0.427868771824,-0.00555952844515,0.0499709296269,0.999999998024,-7.93590255875e-06,-5.48722271872e-05,2.96205966143e-05,1793192687047003904
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.872382097,743,711,671.872382097,664,632.127617903,876.127617903,783.872382097,799.127617903,649,629,650.127617903,0.428617534597,-0.00555913610287,0.049943931698,0.999999993748,-6.46189047474e-06,-0.000107734894202,2.92589822359e-05,1793192687063670272
+172,2.866666667,POSE1_TO_POSE2_PRESS,764.295948365,743,711,671.295948365,664,632.704051635,876.704051635,783.295948365,799.704051635,649,629,650.704051635,0.429424344609,-0.00555758564198,0.0499400903594,0.999999994726,-5.62507717477e-06,-9.869289496e-05,2.78680289426e-05,1793192687080336896
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,743,711,671.284447412,664.284447412,633,877,783,799.715552588,649,628.715552588,650.715552588,0.430213852058,-0.00555758107351,0.0499436033164,0.99999999606,-4.37150615632e-06,-8.42350421592e-05,2.76483487346e-05,1793192687097003520
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,743,711,671.869023622,664.869023622,633,877,783,799.130976378,649,628.130976378,650.130976378,0.430985103015,-0.00555920762153,0.0499548760063,0.999999997534,-2.67820191233e-06,-6.40627641666e-05,2.86645131519e-05,1793192687113670400
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.5465457,711,672,664.5465457,632.5465457,877,783,799,649.4534543,628.4534543,650,0.431710564598,-0.00555788550784,0.0499406790376,0.999999995291,1.5657873088e-05,-9.15336278617e-05,2.82018232822e-05,1793192687130336768
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.037189901,877,783.037189901,799.037189901,649.962810099,628.962810099,650.037189901,0.432423124814,-0.00555610613137,0.0499211443599,0.99999999068,3.73145969157e-05,-0.000128438403915,2.74072819959e-05,1793192687147003392
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632.611493138,877,783.611493138,799.611493138,649.388506862,628.388506862,650.611493138,0.43314030955,-0.00556001938768,0.0499307346806,0.999999993609,3.75252632888e-05,-0.000102908641897,2.79871711747e-05,1793192687163670016
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742.186375619,711.186375619,672,664,633,876.813624381,784,799.627248762,649,628.186375619,650.813624381,0.433853109572,-0.00556267284849,0.049945240642,0.99999999613,3.73462735827e-05,-7.41913277481e-05,2.9006180318e-05,1793192687180336640
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.762469429,711.762469429,672,664,633,876.237530571,784,798.475061141,649,628.762469429,650.237530571,0.434556741131,-0.00556269203185,0.0499700253886,0.999999998107,3.63524989077e-05,-3.8808721578e-05,3.09434053788e-05,1793192687197003776
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.65339447,712,672.34660553,664.34660553,632.65339447,876.34660553,784,798.69321106,649,629,650.34660553,0.435207166995,-0.0055616712486,0.0499770356182,0.999999998105,3.67973199441e-05,-3.73297420522e-05,3.22746695942e-05,1793192687213670400
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,742.063616061,712,672.936383939,664.936383939,632.063616061,876.936383939,784,799.872767877,649,629,650.936383939,0.435820264554,-0.00555992084145,0.0499715755306,0.99999999694,3.82514367147e-05,-5.96370050724e-05,3.31808012949e-05,1793192687230336768
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.517793532,711.482206468,672.482206468,665,632,877,784,800,649,629,650.482206468,0.436399126022,-0.00555608894267,0.0499486078797,0.999999993322,4.13089057007e-05,-0.000102982433746,3.23191956364e-05,1793192687247003392
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632.097154717,877,784,799.902845283,649,629,650,0.436976935901,-0.00555316440243,0.0499313169884,0.999999989755,4.32202983509e-05,-0.000132781449041,3.14733771668e-05,1793192687263670272
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632.671425407,877,784,799.328574593,649,629,650,0.437569909364,-0.00555593169432,0.049952299229,0.999999995261,3.85514403039e-05,-8.35640295711e-05,3.17546904846e-05,1793192687280336896
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,743,711,672,665,633,877.251742971,783.748257029,799,649,629,650,0.438145543719,-0.00555828001605,0.0499714009945,0.999999997921,3.50002798808e-05,-4.34082591343e-05,3.23812592197e-05,1793192687297003264
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,743,711,672,665,633,877.8401471,783.1598529,799,649,629,650,0.43869799007,-0.00556006803999,0.0499879879594,0.999999998779,3.29438404021e-05,-1.53708262659e-05,3.34695453121e-05,1793192687313670144
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,633,877.57817064,783.42182936,799.42182936,649,629,650,0.439166729712,-0.00556009059484,0.0499740578381,0.999999998164,3.09411915347e-05,-4.04166412212e-05,3.28869964531e-05,1793192687330337024
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,672,664.998999639,633,876.998999639,783.998999639,800,649,629,650,0.43960416892,-0.00555945037065,0.0499487335467,0.999999995444,2.8965277814e-05,-8.52662329649e-05,3.16789835658e-05,1793192687347003648
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,743,711,672,664.422129908,633,876.422129908,783.422129908,800,649,629,650,0.439997152362,-0.00555636620431,0.0499170421771,0.999999990384,3.0829628047e-05,-0.000132023590456,2.91874709159e-05,1793192687363670272
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632.846593445,876.153406555,783,799.846593445,649.153406555,629,650,0.440385318667,-0.00555443130921,0.0498918227874,0.999999984688,3.18813476324e-05,-0.000169854359707,2.75038972001e-05,1793192687380336896
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632.274694003,876.725305997,783,799.274694003,649.725305997,629,650,0.440760343918,-0.00555563162388,0.0498842589436,0.99999998233,3.07162124151e-05,-0.000183333418685,2.80243794624e-05,1793192687397003520
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.691959257,711.308040743,672,664,632,877,783,799,649.691959257,629,650,0.441125244364,-0.00555683737702,0.0498836371337,0.999999981882,2.86138972161e-05,-0.000186051614527,2.8312702731e-05,1793192687413669888
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.099209949,711.900790051,672,664,632,877,783,799,649.099209949,629,650,0.441480786874,-0.00555804815662,0.0498894315421,0.999999983279,2.56453876871e-05,-0.000178824015176,2.83864515829e-05,1793192687430336512
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742.482384822,711.517615178,672.482384822,664,632,876.517615178,783,799,649.482384822,629,650,0.441793120251,-0.00555795314478,0.0498866291072,0.999999982944,2.43802393394e-05,-0.000180946876881,2.78682140893e-05,1793192687447003392
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.938749179,711,672.938749179,664,632,876,783,799.061250821,649.938749179,628.938749179,650,0.442091066514,-0.00555733210404,0.0498815364315,0.999999982058,2.37293587204e-05,-0.000185956357241,2.72078558627e-05,1793192687463670528
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.363962193,711,672.363962193,664,632,876,783,799.636037807,649.363962193,628.363962193,650,0.442341211963,-0.00555450148521,0.0498717308017,0.999999979449,2.5357815822e-05,-0.000199408797553,2.63536456618e-05,1793192687480337152
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.21508595,711,672.21508595,664,632,876.21508595,783,800,649,628.21508595,650,0.442572444648,-0.00555230259747,0.0498607405792,0.999999975851,2.62595485955e-05,-0.000216705102309,2.54422219051e-05,1793192687497003520
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.801490377,711,672.801490377,664,632,876.801490377,783,800,649,628.801490377,650,0.442771026829,-0.00555119431323,0.0498477053095,0.999999970413,2.59066842773e-05,-0.000240637347639,2.44320263227e-05,1793192687513670144
+199,3.316666667,POSE1_TO_POSE2_PRESS,764.383928038,743,711,672.616071962,664,632,876.616071962,783,799.616071962,649.383928038,629,650,0.44295946174,-0.00555227085053,0.0498370287838,0.999999966427,2.48825152839e-05,-0.000256805527006,2.4018730297e-05,1793192687530336768
+200,3.333333333,POSE1_TO_POSE2_PRESS,764.964335714,743,711,672.035664286,664,632,876.035664286,783,799.035664286,649.964335714,629,650,0.443142703686,-0.00555446549556,0.0498275593716,0.999999963257,2.35147982883e-05,-0.00026900035754,2.39109044693e-05,1793192687547003392
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.460017876,743,711,672,663.460017876,631.460017876,876.539982124,783,799,649.460017876,629,650,0.443284447578,-0.00555348896481,0.0498178686445,0.999999958322,2.1642849626e-05,-0.000286987210942,2.29444315058e-05,1793192687563670016
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,672,663,631.115728156,876.884271844,783,799,649,629,650.115728156,0.443419029903,-0.00555252292308,0.0498092048604,0.999999953643,1.98057792396e-05,-0.000303044564526,2.20427130588e-05,1793192687580336640
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,672,663,631.693115269,876.306884731,783,799,649,629,650.693115269,0.443535881648,-0.00555242694041,0.0498046955215,0.999999951583,1.82395339191e-05,-0.000309892122301,2.16235640574e-05,1793192687597003264
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.724306576,711,672,663,632,876,783,799.275693424,649,629,650.724306576,0.443642997231,-0.00555308336582,0.0498017767924,0.999999950298,1.76743378244e-05,-0.000314059004691,2.1431338361e-05,1793192687613670144
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.13583922,711,672,663,632,876,783,799.86416078,649,629,650.13583922,0.443739067141,-0.00555459339749,0.0498006626088,0.999999949932,1.82448312304e-05,-0.000315184662976,2.1496556967e-05,1793192687630337024
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.445548129,742.445548129,711,672,663,632,876.445548129,783,800,649,629,650,0.443819667778,-0.00555405396815,0.0498008921851,0.999999950153,1.7769768936e-05,-0.000314508148309,2.14913370879e-05,1793192687647003392
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.975357198,743,711,671.975357198,663,632,877,783,800,649,629,650,0.443894516843,-0.0055529226079,0.0498013590334,0.999999950456,1.70968884933e-05,-0.000313584195791,2.14452570258e-05,1793192687663670272
+208,3.466666667,POSE1_TO_POSE2_PRESS,764.400013981,743,711,671.400013981,663,632,877,783,800,649,629,650,0.443944581577,-0.00555230830402,0.0497981160753,0.99999994865,1.90155331626e-05,-0.000319217306856,2.09584715203e-05,1793192687680336896
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,711,671.357552823,663,632,876.821223588,783,800,649,629,650,0.443989176559,-0.00555190359081,0.0497949356073,0.999999946751,1.99008224891e-05,-0.000325078798517,2.06457374739e-05,1793192687697003520
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,711,672.530862924,663,632,876.234568538,783,800,649,629,650,0.44402129229,-0.00555197705912,0.0497918977108,0.999999944682,1.84285098629e-05,-0.000331461340077,2.07301021475e-05,1793192687713670144
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,711,672.652510289,663,632,876,783,799.652510289,649,628.652510289,650,0.444048096865,-0.00555192167701,0.0497897447773,0.999999943554,1.74890364778e-05,-0.000334896644602,2.07501613771e-05,1793192687730336768
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,672.073514482,663,632,876,783,799.073514482,649,628.073514482,650,0.444071363023,-0.00555178045163,0.0497881814274,0.99999994307,1.69045534055e-05,-0.00033636842879,2.07273787649e-05,1793192687747003392
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.495246169,711,672.504753831,663,632,877.009507663,783,799.504753831,649,628.504753831,650,0.444084825144,-0.00555121007018,0.0497859600581,0.999999941864,1.55577780338e-05,-0.000340046109469,1.99502263499e-05,1793192687763670272
+214,3.566666667,POSE1_TO_POSE2_PRESS,763.917486585,742.082513415,711,673,662.917486585,632,877.83497317,783,799.917486585,649,629,650,0.444096089678,-0.00555033514501,0.0497838757712,0.999999940649,1.47464763377e-05,-0.000343686544653,1.90931986686e-05,1793192687780337408
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.342133383,742.657866617,711,673,662.342133383,632,876.684266767,783,799.342133383,649,629,650,0.444102744732,-0.0055480140173,0.0497831818493,0.999999940095,1.77956465338e-05,-0.000345188349622,1.8414377695e-05,1793192687797003520
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.232927627,743,711,672.767072373,662.232927627,631.767072373,876.232927627,783,799,649,629,650,0.444107636085,-0.00554738623067,0.0497822136899,0.999999939641,1.84326417369e-05,-0.000346483776759,1.81016441838e-05,1793192687813670144
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.807559957,743,711,672.192440043,662.807559957,631.192440043,876.807559957,783,799,649,629,650,0.444109940092,-0.00554924257463,0.0497808432241,0.999999939342,1.5530977333e-05,-0.000347476447639,1.83259608247e-05,1793192687830336768
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.605856119,711,672,663,631,877,783.394143881,799,649,628.605856119,650,0.444111280507,-0.00555030041156,0.0497802988518,0.999999938914,1.45071038467e-05,-0.000348736161612,1.85575061215e-05,1793192687847003648
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.013254391,711,672,663,631,877,783.986745609,799,649,628.013254391,650,0.444112135738,-0.00555095618719,0.0497801704312,0.999999938424,1.44287286766e-05,-0.000350130336091,1.87926911571e-05,1793192687863670272
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.563990267,711,672.563990267,663,631.563990267,877,783.436009733,799,649,628.563990267,650.563990267,0.444112863564,-0.00554856250011,0.0497796450063,0.999999937994,1.62174438312e-05,-0.000351315114004,1.80822773454e-05,1793192687880336896
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,672.859250956,663,632,877,783,799.140749044,649,629,651,0.444113747724,-0.00554665054734,0.0497793492576,0.999999937815,1.78444907183e-05,-0.00035177048858,1.7560976442e-05,1793192687897003520
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,672.282908663,663,632,877,783,799.717091337,649,629,651,0.444115124727,-0.00554644539048,0.0497797924256,0.999999938422,1.88390056834e-05,-0.000349983315461,1.76918984536e-05,1793192687913670144
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.700637975,743,711,672.299362025,663,632,877,783,800,649.299362025,629,650.700637975,0.444115349424,-0.00554661151872,0.0497796934359,0.999999938559,1.8492215692e-05,-0.00034960690946,1.77537263439e-05,1793192687930336768
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.112651463,743,711,672.887348537,663,632,877,783,800,649.887348537,629,650.112651463,0.444114463147,-0.00554713561476,0.0497790717348,0.999999938244,1.68522308854e-05,-0.000350590668869,1.77489384013e-05,1793192687947003392
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.470069763,743,711,673,663,632,876.529930237,783,799.529930237,650,629,650,0.44411374532,-0.00554601263441,0.0497776818614,0.999999937734,1.87488104734e-05,-0.000351950795481,1.76202429878e-05,1793192687963670272
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,743,711,672.949125167,663,632,876.050874833,783,799.050874833,649.949125167,629,650,0.444113104001,-0.00554474050014,0.0497762105691,0.999999937188,2.09153634426e-05,-0.000353386882627,1.74246211709e-05,1793192687980336896
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711,672.375190866,663,632,876.624809134,783,799.624809134,649.375190866,629,650,0.444112838848,-0.0055459481425,0.0497757739166,0.999999936808,1.7240386489e-05,-0.00035468688582,1.68428222711e-05,1793192687997003520
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.79607346,711,672,663,631.79607346,877,783,799.79607346,649,628.79607346,650,0.444113322153,-0.00554687952887,0.0497757923608,0.999999936775,1.54863728924e-05,-0.000354867788427,1.67054165343e-05,1793192688013670400
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.207171344,711,672,663,631.207171344,877,783,799.207171344,649,628.207171344,650,0.444115218406,-0.00554728939499,0.0497766699434,0.999999937416,1.73587828956e-05,-0.000352936036132,1.74069428978e-05,1793192688030337024
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.37522664,711,672.37522664,663,631,876.62477336,783,799,649,628.37522664,650,0.444116610438,-0.00554643297759,0.0497777628976,0.999999937833,1.8901592795e-05,-0.000351664762049,1.75584174782e-05,1793192688047003648
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.954094709,711,672.954094709,663,631,876.045905291,783,799,649,628.954094709,650,0.44411772882,-0.00554488932809,0.0497789727371,0.99999993813,2.02655234462e-05,-0.000350751939997,1.74113702369e-05,1793192688063670272
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,672.468287817,663,631.531712183,876,783,799,649,628.468287817,650,0.444115550374,-0.00554325716486,0.0497775298512,0.9999999372,2.05181365524e-05,-0.000353405809822,1.68190176397e-05,1793192688080337152
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.107843844,743,711,672.107843844,663,632,876.107843844,783,799.107843844,649,628,650,0.444114390872,-0.00554260491561,0.0497766446258,0.999999936701,2.00771945216e-05,-0.000354852787533,1.65418264656e-05,1793192688097003776
+234,3.900000000,POSE1_TO_POSE2_PRESS,764.67806678,743,711,672.67806678,663,632,876.67806678,783,799.67806678,649,628,650,0.444118817569,-0.00554618672271,0.0497791299912,0.999999938513,1.70730432659e-05,-0.000349808082928,1.77803332565e-05,1793192688113670144
+235,3.916666667,POSE1_TO_POSE2_PRESS,764.741439715,743,711,673,663,632,877,783,799.741439715,649,628.258560285,650,0.444119806414,-0.00554703886707,0.0497796122228,0.999999938853,1.61406932606e-05,-0.000348864955684,1.8073049473e-05,1793192688130336768
+236,3.933333333,POSE1_TO_POSE2_PRESS,764.147629277,743,711,673,663,632,877,783,799.147629277,649,628.852370723,650,0.444116337731,-0.00554435172186,0.0497774971844,0.999999937304,1.78946474567e-05,-0.000353239947043,1.71394505542e-05,1793192688147003392
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,742.565132893,711.434867107,673,663,632,877,783,799.434867107,649,629,650,0.444115952162,-0.00554412875267,0.0497775525708,0.999999937247,1.82515420385e-05,-0.000353391791549,1.69584448627e-05,1793192688163670016
+238,3.966666667,HOLD_POSE2,764,743,712,673,664,631,877,783,799,650,629,651,0.444117888929,-0.00554564336971,0.0497790642337,0.999999937636,1.88108855426e-05,-0.000352237280271,1.74155562307e-05,1793192688209179136
+239,3.983333333,HOLD_POSE2,764,743,711.408006461,673,663.408006461,631.591993539,877,783,799,649.408006461,628.408006461,650.408006461,0.444118834352,-0.00554502999584,0.0497789582822,0.999999938163,1.90197383372e-05,-0.000350739459715,1.71606092889e-05,1793192688225846272
+240,4.000000000,HOLD_POSE2,764,743,711,673,663,632,877,783.180170815,799,649,628.180170815,650,0.444118624547,-0.00554486483205,0.0497783650753,0.999999938148,1.8852905543e-05,-0.000350796120045,1.70275002302e-05,1793192688242512896
+241,4.016666667,HOLD_POSE2,764,743,711,673,663,632,877,783.759885326,799,649,628.759885326,650,0.444115852928,-0.00554569361109,0.0497766913392,0.999999936929,1.78529588929e-05,-0.000354299970145,1.71645767151e-05,1793192688259179264
+242,4.033333333,HOLD_POSE2,764,742.662067352,711,673,663,632,877,784,799.337932648,649,629,650,0.444115269972,-0.00554535081338,0.0497764718499,0.999999936625,1.75834396115e-05,-0.000355176334232,1.70369137844e-05,1793192688275845632
+243,4.050000000,HOLD_POSE2,764,742.085198854,711,673,663,632,877,784,799.914801146,649,629,650,0.444116234513,-0.00554417965028,0.0497772805883,0.999999936974,1.78303702938e-05,-0.000354194929689,1.67220663952e-05,1793192688292512000
+244,4.066666667,HOLD_POSE2,764,742.489159528,711.489159528,672.510840472,663,632,876.510840472,783.510840472,800,649,629,650,0.444116715062,-0.00554456204915,0.049777405613,0.999999937129,1.67872526166e-05,-0.000353820977985,1.64844168437e-05,1793192688309178624
+245,4.083333333,HOLD_POSE2,764,743,712,672.06488737,663,632,876.12977474,783,799.93511263,649,629,650,0.444117084191,-0.00554510429963,0.0497773806077,0.999999937224,1.59599175147e-05,-0.000353596618623,1.63311231742e-05,1793192688325845504
+246,4.100000000,HOLD_POSE2,764,743,712,672.655227307,663,632,877.310454614,783,799.344772693,649,629,650,0.444117230214,-0.00554476098614,0.0497771000906,0.999999937122,1.86902265998e-05,-0.000353731240152,1.67526089373e-05,1793192688342512640
+247,4.116666667,HOLD_POSE2,764,743,712,673,663,631.757538091,877.515076182,783,799,649,629,650,0.444117244531,-0.00554416331752,0.0497766208874,0.999999936927,1.97285202613e-05,-0.000354220156456,1.68696583572e-05,1793192688359179264
+248,4.133333333,HOLD_POSE2,764,743,712,673,663,631.174663381,876.349326762,783,799,649,629,650,0.444117073934,-0.0055432085382,0.0497758627317,0.999999936608,1.839124999e-05,-0.000355206497178,1.65592837848e-05,1793192688375845888
+249,4.150000000,HOLD_POSE2,764,743,712,672.601279331,663,631.398720669,876.398720669,783,799,649,629,650.398720669,0.444116156891,-0.00554438219835,0.0497752108129,0.999999936262,1.71926229091e-05,-0.000356229097274,1.6772690494e-05,1793192688392512256
+250,4.166666667,HOLD_POSE2,764,743,712,672.031956047,663,631.968043953,876.968043953,783,799,649,629,650.968043953,0.44411492046,-0.00554646656449,0.0497746043501,0.999999935903,1.60533176716e-05,-0.000357267211934,1.72102101034e-05,1793192688409178880
+251,4.183333333,HOLD_POSE2,764,743,711.452601225,672.547398775,663,632,877,783,799.547398775,649.547398775,629,650.452601225,0.444115559239,-0.00554423363403,0.0497755430627,0.999999936276,1.95612327963e-05,-0.000356059602977,1.6937330345e-05,1793192688425845248
+252,4.200000000,HOLD_POSE2,764,743,711,673,663,632,876.87008149,783,799.87008149,649.87008149,629,650,0.444116756831,-0.00554286190465,0.0497765068994,0.999999936773,2.17654802021e-05,-0.000354539976197,1.67664010698e-05,1793192688442511872
+253,4.216666667,HOLD_POSE2,764,743,711,673,663,632,876.278433671,783,799.278433671,649.278433671,629,650,0.444119544121,-0.00554546332837,0.0497772334576,0.999999937597,1.83543233353e-05,-0.000352386069646,1.71079444142e-05,1793192688459178496
+254,4.233333333,HOLD_POSE2,764,743,711,672.694930338,663,632,876.305069662,783.305069662,799.305069662,649,629,650,0.444118708744,-0.00554613446216,0.0497766619309,0.999999937186,1.78682165092e-05,-0.000353582109926,1.70106640818e-05,1793192688475845376
+255,4.250000000,HOLD_POSE2,764,743,711,672.118667132,663,632,876.881332868,783.881332868,799.881332868,649,629,650,0.444114652976,-0.00554508965273,0.0497749364639,0.999999935669,1.99823510318e-05,-0.000357756106079,1.65232887344e-05,1793192688492512256
+256,4.266666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,663,632,877,783,800,649,629,650,0.44411522317,-0.00554684577557,0.0497742290506,0.999999935718,1.37306084965e-05,-0.000357885558359,1.7132752041e-05,1793192688524841472
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764.572287813,743,711.572287813,673,663,632,877,783,799.427712187,649,629,650.572287813,0.444116129551,-0.00554455742345,0.0497752700642,0.999999936292,1.63758506083e-05,-0.000356202753967,1.63702843794e-05,1793192688541508096
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764.84951444,743,712,673,663,632,877,783,799.15048556,649.15048556,629,650.84951444,0.444117007275,-0.00554284760475,0.0497762364392,0.999999936788,1.84408758077e-05,-0.00035472854758,1.58870592415e-05,1793192688558174976
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764.253832614,743,712,673,663,632,877,783,799.746167386,649.746167386,629,650.253832614,0.444117800218,-0.00554284931798,0.0497769820033,0.999999937079,1.87893887472e-05,-0.000353871456849,1.62299446081e-05,1793192688574841344
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,743,711.672211101,673,663,632,877,783,799.672211101,649.672211101,628.672211101,650,0.4441177795,-0.00554291950539,0.0497773701722,0.999999937173,1.87396069267e-05,-0.000353599647174,1.64220546447e-05,1793192688591507968
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,743,711.101029799,673,663,632,877,783,799.101029799,649.101029799,628.101029799,650,0.444117154615,-0.00554304053677,0.0497774929652,0.999999937121,1.83940801134e-05,-0.000353762425065,1.65022097717e-05,1793192688608174592
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.522077663,711.477922337,672.522077663,663,632,877,783,799,649,628.477922337,650,0.444116077742,-0.00554348180271,0.0497764869161,0.999999936842,1.89773217118e-05,-0.000354521217484,1.64699815558e-05,1793192688624841216
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,742.059487629,712,672,663,632,877,783,799.059487629,649,629,650,0.444113930388,-0.00554372973772,0.0497748809901,0.999999936251,1.98117605402e-05,-0.000356144312033,1.63577403321e-05,1793192688641507840
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,742.649464957,712,672,663,632,877,783,799.649464957,649,629,650,0.444103102994,-0.00554163995252,0.0497700887656,0.999999933284,2.11064951578e-05,-0.000364332809708,1.57473307479e-05,1793192688658174720
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711.765770033,672,663,632,877,783,800,649,628.765770033,650,0.44408312366,-0.00554114312546,0.04976147927,0.99999992771,2.07497844236e-05,-0.000379367807271,1.51723656588e-05,1793192688674841088
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711.188635722,672,663,632,877,783,800,649,628.188635722,650,0.444049746211,-0.00554297833269,0.0497472814256,0.999999917951,1.79754162871e-05,-0.000404425836402,1.46492900986e-05,1793192688691507712
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711,672,663,631.612363089,876.612363089,783,799.612363089,649,628.387636911,650,0.443995831131,-0.00554063335821,0.0497276532308,0.999999904041,1.84762541381e-05,-0.00043749686689,1.31578277838e-05,1793192688708174336
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,663,631.036508793,876.036508793,783,799.036508793,649,628.963491207,650,0.443931943985,-0.00553625869362,0.0497053883242,0.99999988717,2.05673703877e-05,-0.000474458617869,1.11961645127e-05,1793192688724840960
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.550958197,663,631.550958197,876.550958197,783,799,649,629,650.550958197,0.443864095879,-0.00553272195676,0.0496942880329,0.99999988293,2.48028992413e-05,-0.000483153581313,9.35955797721e-06,1793192688741507840
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,663,632,877,783,799.137065847,649,629,650.862934153,0.44379033406,-0.00552891838428,0.0496864164894,0.99999987984,2.88340511391e-05,-0.000489313801878,7.84656446408e-06,1793192688758174464
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,663,632,877,783,799.716253365,649,629,650.283746635,0.443698361712,-0.00552407114473,0.0496865219051,0.999999877713,3.17377412861e-05,-0.000493469826788,7.35011605644e-06,1793192688774841344
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.70564883,663,632,877,783,799.70564883,649,629,650,0.443598077418,-0.0055202243628,0.0496894964209,0.999999879261,3.37620759039e-05,-0.000490189982103,7.22592315473e-06,1793192688791507968
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.12859764,663,632,877,783,799.12859764,649,629,650,0.443489810192,-0.00551733843818,0.0496952264707,0.999999884273,3.4941861887e-05,-0.000479768597685,7.45925099284e-06,1793192688808174592
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,663,632,877,783,799.447340672,649,629,650.447340672,0.443356906436,-0.00551146066744,0.0497003991972,0.999999888307,3.84769166147e-05,-0.000471024563787,6.44405981095e-06,1793192688824841472
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.023489437,663,632,877,783,800,649,629,650.976510563,0.443215490453,-0.00550468491628,0.0497052399488,0.999999891893,4.2776096161e-05,-0.000462989179336,5.07339775753e-06,1793192688841508352
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.612385726,663,632,877,783,800,649,629,650.387614274,0.443039231973,-0.00549694526109,0.0497059367407,0.999999892782,4.92111336919e-05,-0.000460433623336,3.76416211253e-06,1793192688858174720
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.80194604,663,632,877,783,799.80194604,649,628.80194604,650,0.442847722453,-0.00548949629968,0.049708109076,0.99999989449,5.52298833542e-05,-0.000456028367571,2.72777626711e-06,1793192688874841088
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.222494228,663,632,877,783,799.222494228,649,628.222494228,650,0.44262684361,-0.00548260713604,0.0497131229054,0.999999897791,6.0446975498e-05,-0.000448061095389,2.2168247909e-06,1793192688891507712
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711,672,663,632,877,783,799,649.355177857,628.355177857,650,0.442389469796,-0.00547237036135,0.0497226779197,0.999999904389,6.86495536568e-05,-0.000431866583312,1.02871395199e-06,1793192688908174336
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,663,632,877,783,799,649.931740682,628.931740682,650,0.442141814524,-0.00546004699541,0.0497350634885,0.999999912629,7.87130076695e-05,-0.000410543971192,-5.81475344395e-07,1793192688924841216
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,742.484645768,711.515354232,672,663,632,877,783,799,650,629,650,0.441863127281,-0.00544924119614,0.0497485165253,0.999999920603,8.68982748222e-05,-0.000388898137679,-1.225846708e-06,1793192688941508096
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.09923768,712,672.09923768,663.09923768,632,877,783.09923768,799.09923768,649.90076232,629,650,0.441567463822,-0.00543847158211,0.0497607410911,0.999999927221,9.48754840616e-05,-0.000369531350446,-2.02311951821e-06,1793192688958174720
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.679837801,712,672.679837801,663.679837801,632,877,783.679837801,799.679837801,649.320162199,629,650,0.441209669011,-0.0054268889719,0.049766311511,0.999999929364,0.000103066903622,-0.000361429841609,-4.19117100131e-06,1793192688974841088
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,742.740744626,711.740744626,672.740744626,664,632,877,784,800,649,629,650,0.440826624723,-0.00541434478675,0.0497713057471,0.999999931877,0.000109524887143,-0.000352421949884,-7.02588791603e-06,1793192688991507712
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,742.162780819,711.162780819,672.162780819,664,632,877,784,800,649,629,650,0.440412540711,-0.0054006185167,0.0497755916672,0.999999934877,0.000113851918466,-0.000342299821889,-1.06801514334e-05,1793192689008174336
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742.413669621,711,672.413669621,664,632,876.586330379,784,799.586330379,649,629,650,0.439971408344,-0.00539162686406,0.0497784047147,0.999999936596,0.000115453389717,-0.000336540695356,-1.48098226867e-05,1793192689024841216
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.989526703,711,672.989526703,664,632,876.010473297,784,799.010473297,649,629,650,0.439519671137,-0.00538449151332,0.0497806402929,0.999999937815,0.000115986250451,-0.000332492171171,-1.91258869785e-05,1793192689041508096
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711.57654244,673,664,632,876,784,799,649.57654244,629,650,0.439037942756,-0.00540219477545,0.0497806898404,0.999999941307,8.99535456082e-05,-0.000329977469964,-2.02113748305e-05,1793192689058174720
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742.838488807,711.838488807,673,664,632.161511193,876.161511193,783.838488807,799.161511193,649.838488807,629,650,0.438534627664,-0.0054167263145,0.0497812062007,0.999999943731,6.62324241981e-05,-0.000328143372107,-2.17591739828e-05,1793192689074841344
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742.259347659,711.259347659,673,664,632.740652341,876.740652341,783.259347659,799.740652341,649.259347659,629,650,0.437976931044,-0.00542186676887,0.0497830343383,0.999999944667,4.97609898898e-05,-0.000327995686251,-2.46571436009e-05,1793192689091507968
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.318356393,711,672.681643607,664,633,876.681643607,783,800,649,629,650,0.437402557469,-0.00541867838885,0.049797779816,0.999999950133,4.33673921311e-05,-0.000311623505162,-2.72877798398e-05,1793192689108174592
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742.894895046,711,672.105104954,664,633,876.105104954,783,800,649,629,650,0.436814659073,-0.00540873544963,0.0498230010632,0.999999958751,4.51467668364e-05,-0.000282093501627,-2.9701613019e-05,1793192689124840960
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,743,711.478981359,672,664,633,876,783.478981359,799.521018641,649,629,650,0.436197219587,-0.00540256313042,0.0498362167768,0.999999963867,3.99704177791e-05,-0.000263729345493,-3.33950685176e-05,1793192689141507840
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.936029777,711.936029777,672,664,633,876,784,799.063970223,649,629,650,0.435562121212,-0.00539778653727,0.0498416773887,0.999999965913,3.26611186179e-05,-0.000256304053639,-3.76172249743e-05,1793192689158174464
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.357318385,711.357318385,672,664,633,876,784,799.642681615,649,629,650,0.434837924567,-0.00539747640038,0.0498062734924,0.999999948625,2.06671883979e-05,-0.000316868016529,-4.37980194694e-05,1793192689174841088
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632.778669436,876,784,799.778669436,649,629,650,0.434119464414,-0.0053981662821,0.0497832994433,0.999999936862,8.05647634255e-06,-0.000351815009768,-4.93728836796e-05,1793192689191507968
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632.200121301,876,784,799.200121301,649,629,650,0.433410262745,-0.00540047014888,0.0497803866105,0.999999938872,-5.54969302958e-06,-0.000345417364501,-5.39698035173e-05,1793192689208174848
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632.376862851,876,784,799,649,628.623137149,650,0.432677879483,-0.00540096676342,0.0497982522965,0.999999947122,-1.55305632661e-05,-0.000319908279264,-5.63308740175e-05,1793192689224841216
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,632.953019912,876,784,799,649,628.046980088,650,0.431933237256,-0.0054005076591,0.0498271061669,0.999999957657,-2.3594287004e-05,-0.000284292601231,-5.75095729934e-05,1793192689241508096
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.526312118,632.473687882,876,783.473687882,799,649,628.526312118,650,0.431139110836,-0.00539596268485,0.0498124974332,0.99999995171,-2.71588292268e-05,-0.000303236920513,-6.23632677845e-05,1793192689258174464
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.103200103,711,672,664.896799897,632.103200103,876,783,799,649.103200103,628.896799897,650.103200103,0.430334284937,-0.00539075607021,0.0497923808093,0.999999943022,-1.87148199748e-05,-0.000330851213183,-6.43602874981e-05,1793192689274841088
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.698444779,711,672,664.301555221,632.698444779,876,783,799,649.698444779,628.301555221,650.698444779,0.429499391694,-0.00538412434709,0.0497644005442,0.99999992672,4.50799357287e-05,-0.000376708137039,-5.11814668365e-05,1793192689291507712
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,743,711,671.716616912,664,632.716616912,876,783.283383088,799.283383088,649.716616912,628.283383088,650.716616912,0.428674010303,-0.00538133722094,0.0497632724628,0.999999924309,7.02693888657e-05,-0.000379884678534,-4.6161926432e-05,1793192689308174336
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,743,711,671.142260932,664,632.142260932,876,783.857739068,799.857739068,649.142260932,628.857739068,650.142260932,0.427858395417,-0.00538249766018,0.0497897157396,0.999999939675,5.58195877156e-05,-0.000339237742728,-4.95201935581e-05,1793192689324840960
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,743,711,671.433962847,664,632.433962847,876,784,799.566037153,649.433962847,628.566037153,650,0.426978666735,-0.00537937103482,0.0497880220205,0.999999936578,5.02583323111e-05,-0.000348538722217,-5.32870726419e-05,1793192689341507584
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764,742.988917339,711,672,664,633,876.011082661,783.988917339,799,649.988917339,628.011082661,650,0.426079597534,-0.00537495557318,0.0497775348249,0.999999927702,4.76316396875e-05,-0.000372908113549,-5.71551662416e-05,1793192689358174464
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764,742.397065554,711,672,664,633,876.602934446,783.397065554,799,649.397065554,628.602934446,650,0.425273174837,-0.00537696562393,0.0497916884614,0.999999944347,4.54315019148e-05,-0.000325159835639,-5.92774560484e-05,1793192689374841344
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,633,876.809868764,783,799,649.190131236,628.809868764,650,0.424457762918,-0.00537833402429,0.0498125774389,0.999999959034,4.64719613879e-05,-0.000276100144498,-5.94992260329e-05,1793192689391507968
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,633,876.232161067,783,799,649.767838933,628.232161067,650,0.423624026802,-0.0053783944407,0.0498471961934,0.999999971806,5.4118275206e-05,-0.000224367182909,-5.58468469762e-05,1793192689408174592
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,633,876,783.344280983,799,649.655719017,628.344280983,650.344280983,0.422742940563,-0.00537783156267,0.0498454929821,0.999999970005,5.99099995307e-05,-0.00023094630471,-5.53582166813e-05,1793192689424841216
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,633,876,783.919872666,799,649.080127334,628.919872666,650.919872666,0.421830041418,-0.00537684991427,0.0498193862742,0.999999958016,6.44556878287e-05,-0.000276703336815,-5.69952018512e-05,1793192689441508096
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,664,633,875.509096307,784,799.490903693,649,629,651,0.420931759192,-0.00537385561455,0.04980773796,0.999999952254,6.78767859163e-05,-0.000295547236491,-5.94616327792e-05,1793192689458174720
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.064097578,664,633,875,784,800,649,629,650.935902422,0.420038768598,-0.00537051835413,0.0498007359042,0.999999947867,7.15718941885e-05,-0.000308791909298,-6.15669389896e-05,1793192689474841344
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.661419528,664,633,875,784,800,649,629,650.338580472,0.419170134391,-0.00536703575268,0.0498129341721,0.999999946534,7.9059449086e-05,-0.000311664597485,-5.95521678242e-05,1793192689491507968
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742,711,672.501299563,664,633,875,784,799.750649781,649,629,650,0.418307934458,-0.00536403702459,0.049811025793,0.999999941292,8.51763210641e-05,-0.000326560326546,-5.93307609084e-05,1793192689508174592
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.3500162,664,633,875,784,799.1750081,649,629,650,0.417454154084,-0.00536167147672,0.049790657923,0.999999930314,8.94995636177e-05,-0.000357189010108,-6.14560909196e-05,1793192689524841472
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.399567427,664,633,875.399567427,784,799.399567427,649,629,650,0.416642190465,-0.00536563733211,0.0497987121068,0.999999937619,8.76383652865e-05,-0.000336605668701,-6.14679848955e-05,1793192689541508096
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.973677192,664,633,875.973677192,784,799.973677192,649,629,650,0.415848493636,-0.00537236892345,0.0498191818477,0.9999999516,8.30756281015e-05,-0.000293651465844,-6.05566701014e-05,1793192689558174464
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763.434844349,742.565155651,711,671.434844349,664,633,876,784,800,649,628.434844349,650,0.415042433253,-0.00537018479809,0.0498248555671,0.999999955377,9.00436041754e-05,-0.000278295769965,-6.07384072326e-05,1793192689574841088
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763.153728486,742.846271514,711,671,664,633,876,783.846271514,799.846271514,649,628.153728486,650.153728486,0.414229321841,-0.00536785376754,0.049819322284,0.999999952714,9.64564215494e-05,-0.000285450401523,-6.15333206201e-05,1793192689591507712
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763.731972743,742.268027257,711,671,664,633,876,783.268027257,799.268027257,649,628.731972743,650.731972743,0.413398379904,-0.00536630014947,0.0497848046426,0.999999931342,9.98061000451e-05,-0.000351104275955,-6.3876454045e-05,1793192689608174336
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875.692012838,783,799,649.307987162,628.692012838,651,0.412627807647,-0.00536682006901,0.0497756211494,0.999999925193,0.000100815800053,-0.000367723686293,-6.50367452827e-05,1793192689624840960
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875.117925028,783,799,649.882074972,628.117925028,651,0.411909394786,-0.0053691315234,0.0497883263406,0.999999934421,9.980376067e-05,-0.000341977358398,-6.51750618897e-05,1793192689641507840
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875.916373387,783,799,649.541813306,628.458186694,651,0.411200337368,-0.00537177713594,0.0498064548708,0.999999942134,0.000101740751178,-0.000318438256524,-6.30682579616e-05,1793192689658174720
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.964213725,742,711,671.035786275,664,633,876.964213725,783.035786275,799,649.035786275,629,650.964213725,0.410493827402,-0.00537412137409,0.0498234050286,0.999999947872,0.000104495460861,-0.000299423416539,-6.06832692509e-05,1793192689674841344
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763.371605233,742,711,671.628394767,664,633,876.371605233,783.628394767,799,649.628394767,629,650.371605233,0.409789324341,-0.00537043220566,0.0498002052027,0.999999933715,0.00010811139534,-0.000341926209701,-6.30006162569e-05,1793192689691507968
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.214433246,742,711,671.785566754,663.785566754,633,875.785566754,783.785566754,799.428866493,649.785566754,629,650.214433246,0.409125786468,-0.00536917958546,0.0497907853504,0.999999928814,0.00011020099918,-0.000355050451741,-6.45593099698e-05,1793192689708174592
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.789424693,742,711,671.210575307,663.210575307,633,875.210575307,783.210575307,800.578849386,649.210575307,629,650.789424693,0.408531129285,-0.00537202389206,0.0498045357935,0.999999941069,0.000109724159259,-0.000318776216084,-6.48423686341e-05,1793192689724841216
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.362567674,632.637432326,875.362567674,783,800.274864653,649,629,651,0.407961343204,-0.00537602536343,0.0498224362803,0.999999949916,0.000110100406955,-0.000289961576436,-6.29971217693e-05,1793192689741508096
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.934642497,632.065357503,875.934642497,783,799.130715006,649,629,651,0.407405928747,-0.00538069549406,0.0498427348395,0.999999956814,0.000110969605288,-0.000265457413432,-5.99220486897e-05,1793192689758174720
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,632.523692089,875.476307911,783.523692089,799,649,629,651,0.406827649703,-0.0053821281045,0.0498264045886,0.999999946693,0.000116032362125,-0.00029944588185,-5.90171225039e-05,1793192689774841344
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875.113242919,783.886757081,799,649,629,651,0.406255649898,-0.00538303594032,0.0498041935059,0.999999932653,0.00012036042644,-0.00034166918425,-5.89014630812e-05,1793192689791507968
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875.695797324,783.304202676,799,649,629,651,0.405721895126,-0.00538349954045,0.0497771900992,0.999999916228,0.0001194020895,-0.000386753402278,-6.0896724939e-05,1793192689808174592
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.725551063,633,875.725551063,783.274448937,799,649.274448937,628.725551063,651,0.405234018873,-0.00538690754841,0.0497660025874,0.999999909717,0.00010774061596,-0.000406438817724,-6.13657090601e-05,1793192689824841216
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.151164738,633,875.151164738,783.848835262,799,649.848835262,628.151164738,651,0.404796281973,-0.00539353341538,0.0497720998163,0.999999915282,8.43819910236e-05,-0.000398366606406,-6.0166667878e-05,1793192689841507840
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,875,783.575747911,799.424252089,650,628.424252089,650.575747911,0.404421959345,-0.00539979930217,0.0497955997787,0.999999933689,3.53236476268e-05,-0.000357724800611,-5.83793639785e-05,1793192689858174464
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.000037847,633,875,783,800,650,629,650.000037847,0.404070287925,-0.00540593649522,0.0498253152022,0.999999951498,-2.29104389057e-05,-0.000305451105062,-5.63819397522e-05,1793192689874841088
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.588462356,633,875,783,800,650,629,650.588462356,0.403736652061,-0.00541024163039,0.0498490304561,0.999999961239,-2.52832369162e-05,-0.000271910420644,-5.42860149315e-05,1793192689891507712
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.825635301,742,711,671,664,633,875,783,799.825635301,650,629,651,0.403407087211,-0.00541336286586,0.0498628237844,0.9999999658,-2.62237387771e-05,-0.000254768239965,-5.29694647508e-05,1793192689908174592
+340,5.666666667,POSE2_TO_POSE3_RETREAT,763.24560081,742,711,671,664,633,875,783,799.24560081,650,629,651,0.403086993753,-0.00541372968944,0.0498535331697,0.99999996026,-2.38319193842e-05,-0.000275778142788,-5.34661754932e-05,1793192689924841472
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.331154673,742,711,671,664,633,875.331154673,783,799.331154673,650,629,651,0.40278572568,-0.0054131898335,0.0498388237738,0.999999952131,-2.02824212655e-05,-0.000303949170399,-5.42438407548e-05,1793192689941508352
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763.905502088,742,711,671,664,633,875.905502088,783,799.905502088,650,629,651,0.402498282578,-0.00541198413195,0.0498201349441,0.999999941436,-1.58827493637e-05,-0.000337379169826,-5.52278327993e-05,1793192689958174976
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,876,783,800,649.520547577,629,651,0.402262432111,-0.00541076725835,0.0498102995041,0.999999935169,-9.35540063225e-06,-0.000355674445263,-5.5403485223e-05,1793192689974841344
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.944915732,742,711,671,663.944915732,633,876,783,800,649,629,651,0.402041826238,-0.00540967425006,0.049803539565,0.9999999307,-1.94417438354e-06,-0.000368170736831,-5.51898975201e-05,1793192689991507968
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.35210581,742,711,671,663.35210581,633,876,783,800,649,629,651,0.401870852968,-0.00540981187649,0.0498097822612,0.999999936201,1.00050448318e-05,-0.000353153516986,-5.27305726278e-05,1793192690008174592
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763.235366456,742,711,671.235366456,663.235366456,633,875.764633544,783,799.764633544,649,629,651,0.401716943403,-0.00541039256189,0.049817066268,0.999999941791,1.75841643805e-05,-0.000336888771383,-5.11324425967e-05,1793192690024841216
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.815030662,742,711,671.815030662,663.815030662,633,875.184969338,783,799.184969338,649,629,651,0.40158799491,-0.00541162136091,0.0498258735198,0.999999947717,1.87706323933e-05,-0.000318799126885,-5.07940821731e-05,1793192690041507840
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.609680833,664,633,875,783.390319167,799,649.390319167,629,651,0.401476065547,-0.00541432247149,0.0498320183855,0.999999951505,1.63377383215e-05,-0.000306852620646,-5.06458176315e-05,1793192690058174208
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.036442901,664,633,875,783.963557099,799,649.963557099,629,651,0.401372112001,-0.00541771356473,0.0498369155541,0.999999954308,1.2208670312e-05,-0.000297785026677,-5.05866393953e-05,1793192690074840832
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711.550958464,671,664,633,875.550958464,783.449041536,799,650,629,651,0.401292238504,-0.00542163294409,0.0498389308226,0.999999955671,7.62999601174e-06,-0.000293310437654,-5.06927438278e-05,1793192690091507712
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711.862260375,671,663.862260375,633,876,783,799.137739625,649.862260375,628.862260375,651,0.401217656176,-0.00542578075955,0.049839805149,0.999999956584,2.69349459033e-06,-0.000290247269931,-5.08078840999e-05,1793192690108174592
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742,711.280577169,671,663.280577169,633,876,783,799.719422831,649.280577169,628.280577169,651,0.401154858573,-0.00543054924418,0.0498376327447,0.999999956437,-3.29792783536e-06,-0.000290728192155,-5.09159814764e-05,1793192690124841216
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.702525926,663,633,876,783,799.702525926,649.297474074,628,651,0.401103704629,-0.00543188450655,0.049836713569,0.999999956335,-3.73864906041e-06,-0.000291058167344,-5.10076830456e-05,1793192690141507840
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.127859061,663,633,876,783,799.127859061,649.872140939,628,651,0.401063400502,-0.00543002061768,0.0498369621791,0.999999956282,9.92893807518e-07,-0.000291247486786,-5.10841066399e-05,1793192690158174208
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.444231699,663.444231699,633,875.555768301,783.444231699,799,650,628,651,0.401037898983,-0.00542801988519,0.0498385645882,0.999999957319,5.08054408403e-06,-0.000287550819268,-5.14826287929e-05,1793192690174841088
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875,783.983714202,799,650,628,650.983714202,0.401016823278,-0.00542606819019,0.0498405210719,0.999999958616,8.80628483116e-06,-0.000282828932736,-5.19525201226e-05,1793192690191507712
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875,783.386679354,799,650,628,650.386679354,0.401002518673,-0.00542726157927,0.0498412890074,0.999999959108,6.19696874248e-06,-0.000281202308152,-5.16805822684e-05,1793192690208174336
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.797038958,742,711,671,664,633,875,783,799.202961042,649.797038958,628,650.202961042,0.400990838469,-0.00542856843323,0.0498422115254,0.999999959681,4.43408611358e-06,-0.000279269703184,-5.12562321969e-05,1793192690224840960
+359,5.983333333,POSE2_TO_POSE3_RETREAT,763.220991243,742,711,671,664,633,875,783,799.779008757,649.220991243,628,650.779008757,0.400983982486,-0.00543008386026,0.0498434181996,0.999999960411,4.22713313133e-06,-0.0002767746397,-5.05517152502e-05,1793192690241507840
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.354146749,742,711,671,663.645853251,633,875,783,799.645853251,649.354146749,628.354146749,651,0.400979602051,-0.00542947469381,0.0498443475631,0.999999960744,4.46082619718e-06,-0.000275560980068,-5.0587298238e-05,1793192690258174720
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763.928718575,742,711,671,663.071281425,633,875,783,799.071281425,649.928718575,628.928718575,651,0.400976762426,-0.0054275431557,0.0498451043254,0.999999960831,4.96878249418e-06,-0.000275144880932,-5.10835280083e-05,1793192690274841088
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.504373773,633,875,783.504373773,799,650,629,651,0.400975650166,-0.00542735664939,0.0498453786012,0.999999961228,5.39802763195e-06,-0.000273670992904,-5.11844521217e-05,1793192690291507712
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.082773931,711,671,664,633,875,783.917226069,799,650,629,651,0.400974881691,-0.00542740696503,0.0498456672694,0.999999961651,6.12331625097e-06,-0.000272105580128,-5.11815920354e-05,1793192690308174336
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742.677193141,711,671,664,633,875,783.322806859,799,650,629,651,0.400974726008,-0.00542739343889,0.0498464672954,0.999999961974,8.74742790352e-06,-0.000270900475567,-5.08832889903e-05,1793192690324840960
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742.736815901,711,671.263184099,664.263184099,633,875,783,799,649.736815901,628.736815901,651,0.400975466752,-0.00542730989989,0.0498476252311,0.999999962538,1.02932461277e-05,-0.000268789762351,-5.06881682375e-05,1793192690341507584
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742.160841817,711,671.839158183,664.839158183,633,875,783,799,649.160841817,628.160841817,651,0.400977272884,-0.00542714315174,0.0498492085367,0.999999963391,1.05575301443e-05,-0.000265602748177,-5.06156779647e-05,1793192690358174208
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,664.172451369,633,875,783.413774315,799.413774315,649.413774315,628,650.586225685,0.400977274759,-0.00542598855803,0.0498498047599,0.999999963448,1.18425082878e-05,-0.000265285142865,-5.08671890953e-05,1793192690374841088
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.024271399,633,875,783.987864301,799.987864301,649.987864301,628,650.012135699,0.400976577579,-0.0054244512264,0.0498500185406,0.999999963196,1.35229514331e-05,-0.00026607928185,-5.12442336407e-05,1793192690391507968
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.578868118,711,671.421131882,663.578868118,633,875.578868118,784,799.421131882,649.421131882,628,650.578868118,0.400975480559,-0.00542587392846,0.0498493002248,0.99999996314,1.2266429013e-05,-0.000266353021793,-5.1231726631e-05,1793192690408174592
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742.833415517,711,671,663.833415517,633,875.833415517,783.833415517,799,649,628,651,0.400974700361,-0.00542665451981,0.0498489823907,0.999999963219,1.13056266505e-05,-0.000266100204913,-5.1237661371e-05,1793192690424841216
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742.254735311,711,671,663.254735311,633,875.254735311,783.254735311,799,649,628,651,0.400974725274,-0.00542568852765,0.0498497050614,0.999999963621,1.12332762386e-05,-0.000264572596011,-5.13100281776e-05,1793192690441507840
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.678715667,663,632.678715667,875.321284333,783,799,649.321284333,628,651,0.40097456279,-0.00542496467642,0.0498499571227,0.999999963707,1.20742361784e-05,-0.000264226007786,-5.12419545797e-05,1793192690458174464
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.104788105,663,632.104788105,875.895211895,783,799,649.895211895,628,651,0.400974252946,-0.00542443123358,0.0498498391184,0.999999963542,1.36333813841e-05,-0.00026480811976,-5.10634451118e-05,1793192690474841088
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.468086041,670.468086041,663.468086041,632.468086041,875.531913959,783,799,649.531913959,628,650.531913959,0.400975061576,-0.00542521466731,0.0498508342732,0.999999963734,1.4421965097e-05,-0.000264086013274,-5.0821500328e-05,1793192690491507712
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.957659144,671,663.957659144,633,875.042340856,783,799,649,628,650,0.400975933586,-0.00542595564313,0.049851888076,0.999999963947,1.51516100469e-05,-0.000263271407291,-5.06477694079e-05,1793192690508174336
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.362297521,671,663.362297521,633,875.637702479,783,799,649,628,650,0.400974370394,-0.00542230025101,0.0498504603898,0.999999963394,1.73594614633e-05,-0.000265053540236,-5.15500550127e-05,1793192690524841216
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.225825928,633,876,783,799,649.225825928,628.225825928,650,0.400973202985,-0.00542069710728,0.0498495896795,0.99999996302,1.82065145275e-05,-0.00026631995444,-5.19861814349e-05,1793192690541508096
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.802697621,633,876,783,799,649.802697621,628.802697621,650,0.400972650821,-0.00542228417804,0.0498495847867,0.999999962933,1.69382102866e-05,-0.000266784685223,-5.16976646787e-05,1793192690558174720
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.621955694,633,875.621955694,783,799,649.621955694,628.621955694,650.378044306,0.400972946822,-0.00542195740739,0.0498499773072,0.999999963143,1.78125854636e-05,-0.000265927917926,-5.17504001733e-05,1793192690574841344
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.047401735,633,875.047401735,783,799,649.047401735,628.047401735,650.952598265,0.400973683705,-0.00542063581067,0.0498505764056,0.999999963503,1.98007380446e-05,-0.00026438422814,-5.19805206037e-05,1793192690591507968
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.540764967,633,875,783,799,649,628.540764967,651,0.400974157333,-0.00541961996553,0.049850553991,0.999999963575,2.12013838644e-05,-0.000263981875248,-5.20890442281e-05,1793192690608174336
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.872117515,633,875,783,799.127882485,649.127882485,628.872117515,651,0.400974642579,-0.0054191056378,0.0498507085442,0.999999963681,2.19049591819e-05,-0.000263518050026,-5.2125202698e-05,1793192690624840960
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.293020939,633,875,783,799.706979061,649.706979061,628.293020939,651,0.400975252337,-0.00542026383294,0.0498516846893,0.999999963997,2.03354244912e-05,-0.000262475216415,-5.1944610683e-05,1793192690641507840
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.284907954,711,671,663.569815908,633,875,783.284907954,799.715092046,649.715092046,628,651,0.400975835703,-0.00541993661135,0.0498522201212,0.999999964186,2.07540454083e-05,-0.000261713552677,-5.19966194859e-05,1793192690658174720
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742.861640885,711,671,664.723281769,633,875,783.861640885,799.138359115,649.138359115,628,651,0.400976392035,-0.00541808791007,0.0498523041403,0.999999964241,2.3209090379e-05,-0.000261239884955,-5.22868761899e-05,1793192690674841600
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742.563423242,711,671,664.563423242,633,875,783.563423242,799.436576758,649.436576758,628,651,0.400976797883,-0.00541740154521,0.0498525184927,0.999999964489,2.29641418957e-05,-0.00026027275712,-5.24664553258e-05,1793192690691508224
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742.01124886,711,671,664,633,875,783,799.98875114,649.98875114,628.01124886,651,0.400977098465,-0.00541707672258,0.0498527430854,0.999999964776,2.19294469218e-05,-0.000259229564394,-5.26085364005e-05,1793192690708174848
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742.601541287,711,671,664,633,875,783,799.398458713,649.398458713,628.601541287,651,0.400974425279,-0.00541647839591,0.0498513773191,0.999999963928,2.41080095868e-05,-0.00026228798245,-5.26185252179e-05,1793192690724841216
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5af38484cc5deb66be2b3bb1d65212bd58888bf8
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_01/simulation_data.csv
@@ -0,0 +1,390 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+1,0.016666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+2,0.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+3,0.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+4,0.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+5,0.083333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+6,0.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+7,0.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+8,0.133333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+9,0.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+10,0.166666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+11,0.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+12,0.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+13,0.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+14,0.233333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+15,0.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+16,0.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+17,0.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+18,0.300000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+19,0.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+20,0.333333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+21,0.350000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+22,0.366666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+23,0.383333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+24,0.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+25,0.416666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+26,0.433333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+27,0.450000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+28,0.466666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+29,0.483333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+30,0.500000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+31,0.516666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+32,0.533333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+33,0.550000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+34,0.566666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+35,0.583333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+36,0.600000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+37,0.616666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+38,0.633333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+39,0.650000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+40,0.666666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+41,0.683333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+42,0.700000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+43,0.716666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+44,0.733333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+45,0.750000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+46,0.766666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+47,0.783333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+48,0.800000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+49,0.816666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+50,0.833333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+51,0.850000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+52,0.866666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+53,0.883333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+54,0.900000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+55,0.916666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+56,0.933333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+57,0.950000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+58,0.966666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+59,0.983333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+60,1.000000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+61,1.016666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+62,1.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+63,1.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+64,1.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+65,1.083333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+66,1.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+67,1.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+68,1.133333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+69,1.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+70,1.166666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+71,1.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+72,1.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+73,1.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+74,1.233333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+75,1.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+76,1.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+77,1.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+78,1.300000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+79,1.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+80,1.333333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+81,1.350000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+82,1.366666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+83,1.383333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+84,1.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+85,1.416666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+86,1.433333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+87,1.450000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+88,1.466666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+89,1.483333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+90,1.500000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+91,1.516666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+92,1.533333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+93,1.550000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+94,1.566666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+95,1.583333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+96,1.600000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+97,1.616666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+98,1.633333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+99,1.650000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+100,1.666666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+101,1.683333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+102,1.700000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+103,1.716666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+104,1.733333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+105,1.750000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+106,1.766666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+107,1.783333333,pose1_to_pose2_press,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+108,1.800000000,pose1_to_pose2_press,0.575709310105,5.46199241642e-05,1.04002905738,0.54628004019,0.00872734903431,1.03969835224
+109,1.816666667,pose1_to_pose2_press,0.575709346002,5.46001215738e-05,1.04002912543,0.546280075504,0.00872732723526,1.03969841981
+110,1.833333333,pose1_to_pose2_press,0.575709651389,5.451181666e-05,1.04002916778,0.546280381282,0.00872724011757,1.03969845851
+111,1.850000000,pose1_to_pose2_press,0.575711345625,5.44960355922e-05,1.04002922007,0.546282076019,0.0087272255859,1.03969849893
+112,1.866666667,pose1_to_pose2_press,0.575714936225,5.47403861044e-05,1.04002923023,0.546285663519,0.00872745948582,1.03969851088
+113,1.883333333,pose1_to_pose2_press,0.575721906988,5.45731046744e-05,1.04002916849,0.546292634957,0.00872729476902,1.0396984564
+114,1.900000000,pose1_to_pose2_press,0.575733288832,5.46160821079e-05,1.04002902546,0.546304018233,0.00872734268652,1.03969831557
+115,1.916666667,pose1_to_pose2_press,0.5757511444,5.45958936696e-05,1.04002918833,0.546321874553,0.008727325323,1.03969848536
+116,1.933333333,pose1_to_pose2_press,0.575776169901,5.45186642211e-05,1.04002917727,0.546346901103,0.00872725135191,1.03969846632
+117,1.950000000,pose1_to_pose2_press,0.575809065866,5.44585982382e-05,1.04002905839,0.546379797129,0.00872719160123,1.03969835023
+118,1.966666667,pose1_to_pose2_press,0.575850108445,5.45855426898e-05,1.04002889606,0.546420839031,0.00872731662097,1.03969819759
+119,1.983333333,pose1_to_pose2_press,0.575899204365,5.44914708159e-05,1.04002911155,0.546469935544,0.00872722432221,1.03969840679
+120,2.000000000,pose1_to_pose2_press,0.575956729461,5.44801435224e-05,1.04002917111,0.546527459609,0.00872720922769,1.03969845923
+121,2.016666667,pose1_to_pose2_press,0.57602238238,5.45804457779e-05,1.04002917225,0.546593111804,0.00872730715164,1.03969846231
+122,2.033333333,pose1_to_pose2_press,0.576097028183,5.45633408602e-05,1.0400291017,0.546667759492,0.00872729642233,1.03969839123
+123,2.050000000,pose1_to_pose2_press,0.57618435931,5.45249975381e-05,1.04002904361,0.546755090561,0.00872725796796,1.03969833528
+124,2.066666667,pose1_to_pose2_press,0.576285500835,5.45417006751e-05,1.04002906608,0.546856231114,0.00872727164445,1.03969836495
+125,2.083333333,pose1_to_pose2_press,0.576403096519,5.45876760179e-05,1.04002914058,0.546973826917,0.00872731798651,1.03969843842
+126,2.100000000,pose1_to_pose2_press,0.576537006131,5.45770135571e-05,1.04002913865,0.5471077367,0.00872730759087,1.0396984282
+127,2.116666667,pose1_to_pose2_press,0.576688766171,5.45540744431e-05,1.04002900722,0.547259496123,0.0087272827485,1.03969830172
+128,2.133333333,pose1_to_pose2_press,0.576857482969,5.46568836764e-05,1.04002896967,0.54742821117,0.0087273795784,1.0396982631
+129,2.150000000,pose1_to_pose2_press,0.577044855102,5.4520697661e-05,1.04002912472,0.547615586071,0.00872725269494,1.03969841568
+130,2.166666667,pose1_to_pose2_press,0.577255323568,5.45815815871e-05,1.04002892305,0.547826053435,0.0087273101374,1.03969822183
+131,2.183333333,pose1_to_pose2_press,0.577490309323,5.47242043132e-05,1.04002911682,0.548061037823,0.00872744829901,1.03969842024
+132,2.200000000,pose1_to_pose2_press,0.577752825404,5.45596445421e-05,1.04002932606,0.548323554513,0.00872728484887,1.03969860432
+133,2.216666667,pose1_to_pose2_press,0.578041118588,5.466427921e-05,1.04002919749,0.548611847695,0.00872738984991,1.03969848538
+134,2.233333333,pose1_to_pose2_press,0.578355894858,5.44919319827e-05,1.04002930443,0.548926626274,0.00872722518864,1.03969858835
+135,2.250000000,pose1_to_pose2_press,0.578692175643,5.45139227852e-05,1.04002917755,0.549262906762,0.00872724641081,1.03969846775
+136,2.266666667,pose1_to_pose2_press,0.579049988106,5.46237437479e-05,1.04002915931,0.549620718718,0.00872735461007,1.03969845196
+137,2.283333333,pose1_to_pose2_press,0.579424662462,5.4527372093e-05,1.04002917137,0.549995392776,0.00872725707622,1.0396984601
+138,2.300000000,pose1_to_pose2_press,0.579815567973,5.4620975492e-05,1.04002920685,0.55038629728,0.0087273470708,1.0396984905
+139,2.316666667,pose1_to_pose2_press,0.580224374118,5.45667411742e-05,1.04002910426,0.550795105599,0.00872730098004,1.03969840794
+140,2.333333333,pose1_to_pose2_press,0.580651070444,5.44853217564e-05,1.04002880078,0.551221800371,0.00872721394804,1.03969809553
+141,2.350000000,pose1_to_pose2_press,0.581097276166,5.46361390664e-05,1.04002934333,0.551668004914,0.00872736066134,1.03969863533
+142,2.366666667,pose1_to_pose2_press,0.581577636758,5.46711529824e-05,1.04002920169,0.552148365644,0.0087273961622,1.03969849413
+143,2.383333333,pose1_to_pose2_press,0.582094423878,5.45983252032e-05,1.04002919184,0.552665154152,0.0087273278485,1.03969847909
+144,2.400000000,pose1_to_pose2_press,0.582647530969,5.46211930899e-05,1.04002875297,0.553218260921,0.00872734986607,1.03969804655
+145,2.416666667,pose1_to_pose2_press,0.583229264078,5.4616293305e-05,1.04002887359,0.553799994801,0.00872734765621,1.0396981691
+146,2.433333333,pose1_to_pose2_press,0.583828607225,5.45478362677e-05,1.04002904131,0.554399338784,0.0087272817962,1.03969833044
+147,2.450000000,pose1_to_pose2_press,0.584432309264,5.46373761e-05,1.0400291795,0.555003039176,0.00872736561088,1.03969846508
+148,2.466666667,pose1_to_pose2_press,0.58503776686,5.43998213936e-05,1.04002927101,0.555608499134,0.00872713619219,1.03969855978
+149,2.483333333,pose1_to_pose2_press,0.585661767359,5.43803606495e-05,1.04002923236,0.556232499445,0.00872711588582,1.0396985155
+150,2.500000000,pose1_to_pose2_press,0.586310500917,5.45599449846e-05,1.0400291218,0.556881230495,0.008727286893,1.03969840323
+151,2.516666667,pose1_to_pose2_press,0.586992935743,5.46352579268e-05,1.04002907065,0.557563663874,0.00872735744654,1.03969835603
+152,2.533333333,pose1_to_pose2_press,0.587699552886,5.46082484905e-05,1.04002913854,0.558270282454,0.00872733550523,1.03969842893
+153,2.550000000,pose1_to_pose2_press,0.588421007828,5.45643614714e-05,1.04002910937,0.558991738435,0.00872729503232,1.03969839681
+154,2.566666667,pose1_to_pose2_press,0.58914701642,5.44764287577e-05,1.04002904542,0.559717747886,0.00872721012276,1.03969833579
+155,2.583333333,pose1_to_pose2_press,0.589879372969,5.45271700494e-05,1.04002895816,0.560450103512,0.00872725785303,1.0396982517
+156,2.600000000,pose1_to_pose2_press,0.590624962861,5.45142256281e-05,1.04002908202,0.561195694764,0.00872724933304,1.03969837055
+157,2.616666667,pose1_to_pose2_press,0.591387467826,5.44495895668e-05,1.04002918497,0.561958199564,0.00872718410047,1.03969847248
+158,2.633333333,pose1_to_pose2_press,0.592168366769,5.4515816976e-05,1.04002911573,0.562739097593,0.00872724724799,1.03969840395
+159,2.650000000,pose1_to_pose2_press,0.592957834638,5.45755108297e-05,1.04002918517,0.563528565616,0.00872730752478,1.03969847499
+160,2.666666667,pose1_to_pose2_press,0.593753803956,5.45532207257e-05,1.04002908058,0.564324534375,0.00872728338657,1.03969837173
+161,2.683333333,pose1_to_pose2_press,0.594551305367,5.4551454909e-05,1.04002906523,0.56512203595,0.00872728209003,1.03969835407
+162,2.700000000,pose1_to_pose2_press,0.595352386463,5.46098884896e-05,1.04002916261,0.56592311565,0.0087273358859,1.03969845404
+163,2.716666667,pose1_to_pose2_press,0.596154438567,5.46442203053e-05,1.04002908473,0.566725167581,0.00872736977096,1.03969837996
+164,2.733333333,pose1_to_pose2_press,0.596958565198,5.46272806942e-05,1.04002908147,0.567529295453,0.00872735710693,1.03969837835
+165,2.750000000,pose1_to_pose2_press,0.597769096568,5.46165364639e-05,1.04002915216,0.568339826363,0.00872734468298,1.0396984461
+166,2.766666667,pose1_to_pose2_press,0.598576129177,5.46020866937e-05,1.04002904361,0.56914685889,0.00872732983932,1.03969833456
+167,2.783333333,pose1_to_pose2_press,0.599377204397,5.45180302177e-05,1.04002894328,0.569947934892,0.00872724831743,1.03969823119
+168,2.800000000,pose1_to_pose2_press,0.600164778382,5.45338394756e-05,1.04002920183,0.570735508628,0.00872726305189,1.03969848381
+169,2.816666667,pose1_to_pose2_press,0.600937192231,5.45993413275e-05,1.04002920478,0.571507921716,0.0087273262117,1.03969849307
+170,2.833333333,pose1_to_pose2_press,0.601699117822,5.45724801216e-05,1.04002896153,0.572269847003,0.00872729851586,1.03969825513
+171,2.850000000,pose1_to_pose2_press,0.602452522578,5.45994616958e-05,1.04002905555,0.573023251089,0.00872732302806,1.03969834399
+172,2.866666667,pose1_to_pose2_press,0.603196825491,5.45604709337e-05,1.04002905006,0.573767555055,0.00872728766467,1.03969834004
+173,2.883333333,pose1_to_pose2_press,0.603939086174,5.44850689458e-05,1.04002901388,0.574509816766,0.00872721572201,1.03969830314
+174,2.900000000,pose1_to_pose2_press,0.604674223889,5.45612984258e-05,1.04002904974,0.575244952675,0.00872728580897,1.03969833875
+175,2.916666667,pose1_to_pose2_press,0.605392097049,5.45845156214e-05,1.04002917996,0.575962826675,0.00872731185022,1.03969846828
+176,2.933333333,pose1_to_pose2_press,0.606095185131,5.45779437473e-05,1.04002905135,0.576665915956,0.00872730934268,1.03969833968
+177,2.950000000,pose1_to_pose2_press,0.606785042419,5.45632946579e-05,1.04002931004,0.577355773734,0.00872729629288,1.03969859689
+178,2.966666667,pose1_to_pose2_press,0.607460353594,5.44827621913e-05,1.04002927239,0.578031083946,0.00872721242016,1.03969855737
+179,2.983333333,pose1_to_pose2_press,0.60811650523,5.45789464877e-05,1.04002919515,0.57868723327,0.00872730100854,1.03969848677
+180,3.000000000,pose1_to_pose2_press,0.608745912848,5.45524193594e-05,1.04002919314,0.579316641911,0.00872727779132,1.03969848054
+181,3.016666667,pose1_to_pose2_press,0.609349084163,5.4540262608e-05,1.04002898239,0.579919814371,0.00872726947595,1.03969826875
+182,3.033333333,pose1_to_pose2_press,0.609930734669,5.45326450483e-05,1.04002896508,0.580501465264,0.00872726347514,1.03969825943
+183,3.050000000,pose1_to_pose2_press,0.610498089427,5.44496890041e-05,1.04002896748,0.581068820661,0.0087271825294,1.03969825782
+184,3.066666667,pose1_to_pose2_press,0.611053688387,5.45803466829e-05,1.04002939922,0.581624419097,0.0087273112149,1.03969868449
+185,3.083333333,pose1_to_pose2_press,0.611587860297,5.46427707154e-05,1.04002924464,0.582158589597,0.00872736908432,1.03969853621
+186,3.100000000,pose1_to_pose2_press,0.612094827838,5.47039118234e-05,1.04002906536,0.58266555656,0.00872742840243,1.03969836049
+187,3.116666667,pose1_to_pose2_press,0.612563176728,5.45773410988e-05,1.04002900582,0.583133906946,0.00872730680141,1.03969829647
+188,3.133333333,pose1_to_pose2_press,0.612995250774,5.45792338206e-05,1.04002910384,0.583565980748,0.00872730795337,1.03969839395
+189,3.150000000,pose1_to_pose2_press,0.613393033309,5.45661694056e-05,1.04002901317,0.583963762557,0.00872729238267,1.03969829805
+190,3.166666667,pose1_to_pose2_press,0.61377069624,5.45526588565e-05,1.04002918799,0.584341426815,0.00872728357478,1.03969847301
+191,3.183333333,pose1_to_pose2_press,0.614132279823,5.45007973061e-05,1.04002914708,0.584703010929,0.0087272339471,1.0396984377
+192,3.200000000,pose1_to_pose2_press,0.614478436639,5.45653558218e-05,1.04002907219,0.585049167582,0.0087272978724,1.03969835359
+193,3.216666667,pose1_to_pose2_press,0.614807109365,5.44269988237e-05,1.04002893073,0.58537784026,0.00872716006193,1.03969822671
+194,3.233333333,pose1_to_pose2_press,0.615111492638,5.46190043843e-05,1.04002916102,0.585682223125,0.00872735075942,1.0396984568
+195,3.250000000,pose1_to_pose2_press,0.61539010764,5.45429383071e-05,1.04002930739,0.585960838147,0.00872727475869,1.03969859328
+196,3.266666667,pose1_to_pose2_press,0.615638343721,5.45956963234e-05,1.0400292924,0.586209073168,0.00872732416358,1.03969857881
+197,3.283333333,pose1_to_pose2_press,0.615862641878,5.45975259738e-05,1.04002913183,0.586433371134,0.00872732574809,1.03969842562
+198,3.300000000,pose1_to_pose2_press,0.616064711094,5.45055229628e-05,1.04002882467,0.586635440858,0.00872723538402,1.0396981132
+199,3.316666667,pose1_to_pose2_press,0.616245768714,5.42894173697e-05,1.04002913986,0.586816500108,0.00872702506133,1.03969843081
+200,3.333333333,pose1_to_pose2_press,0.616408067883,5.45211244098e-05,1.04002919064,0.586978796845,0.00872724840264,1.03969847497
+201,3.350000000,pose1_to_pose2_press,0.616554647231,5.46955667364e-05,1.04002916492,0.587125374952,0.00872741907801,1.03969845735
+202,3.366666667,pose1_to_pose2_press,0.616685498127,5.47211648798e-05,1.0400291479,0.587256226034,0.00872744548116,1.03969844293
+203,3.383333333,pose1_to_pose2_press,0.616799598673,5.46228802704e-05,1.04002916559,0.587370327525,0.0087273503719,1.03969845769
+204,3.400000000,pose1_to_pose2_press,0.616901701708,5.46051557984e-05,1.04002919463,0.587472430188,0.008727331212,1.03969847992
+205,3.416666667,pose1_to_pose2_press,0.616992204402,5.46011314633e-05,1.04002917782,0.587562933495,0.00872732944927,1.03969846764
+206,3.433333333,pose1_to_pose2_press,0.617069854765,5.45120832955e-05,1.04002921292,0.587640584663,0.00872724358444,1.03969850844
+207,3.450000000,pose1_to_pose2_press,0.61713538902,5.45004457853e-05,1.04002917365,0.587706118133,0.00872722920248,1.03969846045
+208,3.466666667,pose1_to_pose2_press,0.617188592766,5.45457217869e-05,1.04002914573,0.587759321601,0.00872727345937,1.03969842832
+209,3.483333333,pose1_to_pose2_press,0.617231509954,5.45648934539e-05,1.04002923405,0.58780223922,0.00872729414692,1.03969852121
+210,3.500000000,pose1_to_pose2_press,0.617264562922,5.45816117566e-05,1.04002920559,0.587835292032,0.00872731026104,1.03969849591
+211,3.516666667,pose1_to_pose2_press,0.617290540387,5.4583546885e-05,1.0400290625,0.587861269305,0.00872731167853,1.03969835506
+212,3.533333333,pose1_to_pose2_press,0.61731019269,5.45870206327e-05,1.04002917751,0.587880922147,0.00872731696943,1.03969846588
+213,3.550000000,pose1_to_pose2_press,0.617324954175,5.45299311432e-05,1.04002896414,0.587895683421,0.00872725913859,1.03969825456
+214,3.566666667,pose1_to_pose2_press,0.617335568003,5.46464410546e-05,1.04002899694,0.587906295943,0.00872737129287,1.03969829005
+215,3.583333333,pose1_to_pose2_press,0.617342309628,5.46527938444e-05,1.04002897378,0.587913037321,0.00872737699342,1.03969827201
+216,3.600000000,pose1_to_pose2_press,0.617346826104,5.45587721824e-05,1.04002887934,0.587917554441,0.00872728540861,1.03969818429
+217,3.616666667,pose1_to_pose2_press,0.617349543732,5.45124948989e-05,1.04002897382,0.587920272869,0.00872724154512,1.03969827086
+218,3.633333333,pose1_to_pose2_press,0.617351248881,5.44875692326e-05,1.04002909351,0.587921978683,0.00872721851221,1.0396983808
+219,3.650000000,pose1_to_pose2_press,0.617352278767,5.4472514464e-05,1.04002916581,0.587923008971,0.00872720460063,1.0396984472
+220,3.666666667,pose1_to_pose2_press,0.617353152443,5.44597431795e-05,1.04002922713,0.587923882988,0.00872719279915,1.03969850354
+221,3.683333333,pose1_to_pose2_press,0.61735376775,5.44815388629e-05,1.04002921518,0.587924498157,0.00872721427084,1.03969849532
+222,3.700000000,pose1_to_pose2_press,0.617354119372,5.44941560939e-05,1.04002920807,0.587924849698,0.00872722669762,1.03969849038
+223,3.716666667,pose1_to_pose2_press,0.617354252587,5.44989362245e-05,1.04002920537,0.587924982882,0.0087272314056,1.0396984885
+224,3.733333333,pose1_to_pose2_press,0.61735434984,5.45024259428e-05,1.0400292034,0.587925080113,0.00872723484265,1.03969848714
+225,3.750000000,pose1_to_pose2_press,0.617354695187,5.45148180334e-05,1.04002919641,0.587925425381,0.00872724704769,1.03969848228
+226,3.766666667,pose1_to_pose2_press,0.617355001465,5.45258081715e-05,1.04002919021,0.587925731588,0.00872725787195,1.03969847797
+227,3.783333333,pose1_to_pose2_press,0.617355115569,5.4529902543e-05,1.0400291879,0.587925845666,0.00872726190452,1.03969847637
+228,3.800000000,pose1_to_pose2_press,0.617355548427,5.45454347745e-05,1.04002917914,0.587926278425,0.0087272772023,1.03969847028
+229,3.816666667,pose1_to_pose2_press,0.617356213024,5.45670794236e-05,1.04002918113,0.587926942744,0.0087272980478,1.03969847585
+230,3.833333333,pose1_to_pose2_press,0.61735656146,5.457562917e-05,1.04002920179,0.587927290877,0.00872730562071,1.03969849771
+231,3.850000000,pose1_to_pose2_press,0.617356698792,5.45789989612e-05,1.04002920993,0.587927428089,0.00872730860549,1.03969850633
+232,3.866666667,pose1_to_pose2_press,0.617357161291,5.45903475269e-05,1.04002923735,0.587927890186,0.00872731865745,1.03969853535
+233,3.883333333,pose1_to_pose2_press,0.617357543684,5.46279518895e-05,1.04002923299,0.587928272452,0.00872735567549,1.03969852674
+234,3.900000000,pose1_to_pose2_press,0.617357698533,5.46555978377e-05,1.04002921933,0.587928427341,0.00872738329773,1.0396985089
+235,3.916666667,pose1_to_pose2_press,0.617357743258,5.46635828123e-05,1.04002921539,0.587928472077,0.00872739127586,1.03969850375
+236,3.933333333,pose1_to_pose2_press,0.617357917052,5.46946112673e-05,1.04002920006,0.587928645916,0.00872742227771,1.03969848374
+237,3.950000000,pose1_to_pose2_press,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894931,0.00872730582727,1.03969859333
+238,3.966666667,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894933,0.00872730582707,1.03969859333
+239,3.983333333,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.00872730582654,1.03969859333
+240,4.000000000,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.0087273058267,1.03969859333
+241,4.016666667,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.008727305827,1.03969859333
+242,4.033333333,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.00872730582654,1.03969859333
+243,4.050000000,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.00872730582653,1.03969859333
+244,4.066666667,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.00872730582652,1.03969859333
+245,4.083333333,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.00872730582653,1.03969859333
+246,4.100000000,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.00872730582653,1.03969859333
+247,4.116666667,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.00872730582661,1.03969859333
+248,4.133333333,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.00872730582695,1.03969859333
+249,4.150000000,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.00872730582659,1.03969859333
+250,4.166666667,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.00872730582659,1.03969859333
+251,4.183333333,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.0087273058266,1.03969859333
+252,4.200000000,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894934,0.0087273058267,1.03969859333
+253,4.216666667,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894935,0.00872730582661,1.03969859333
+254,4.233333333,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894935,0.00872730582661,1.03969859333
+255,4.250000000,pose2_hold,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894935,0.00872730582662,1.03969859333
+256,4.266666667,pose2_to_pose3_retreat,0.617358165528,5.45762060253e-05,1.04002930651,0.587928894935,0.00872730582672,1.03969859333
+257,4.283333333,pose2_to_pose3_retreat,0.617357956783,5.45847225461e-05,1.04002908269,0.587928685349,0.00872731155132,1.03969837145
+258,4.300000000,pose2_to_pose3_retreat,0.617357772912,5.4585383794e-05,1.04002915179,0.587928501885,0.00872731356368,1.03969843975
+259,4.316666667,pose2_to_pose3_retreat,0.617357582885,5.45822248561e-05,1.04002919168,0.587928312173,0.00872731146789,1.0396984795
+260,4.333333333,pose2_to_pose3_retreat,0.617357575693,5.45819901589e-05,1.04002919224,0.58792830499,0.00872731126344,1.03969848008
+261,4.350000000,pose2_to_pose3_retreat,0.617357148573,5.4568051719e-05,1.0400292258,0.587927878386,0.00872729912163,1.03969851454
+262,4.366666667,pose2_to_pose3_retreat,0.61735508271,5.4588635225e-05,1.04002925278,0.587925813119,0.00872732165453,1.03969853923
+263,4.383333333,pose2_to_pose3_retreat,0.617349723223,5.45015659269e-05,1.04002917417,0.587920453423,0.00872723400505,1.03969846399
+264,4.400000000,pose2_to_pose3_retreat,0.617338134634,5.44665308744e-05,1.04002903657,0.587908866433,0.0087272044417,1.039698327
+265,4.416666667,pose2_to_pose3_retreat,0.617316716907,5.46085613545e-05,1.04002903379,0.5878874469,0.00872734057651,1.03969833133
+266,4.433333333,pose2_to_pose3_retreat,0.617283526913,5.45807222523e-05,1.0400291958,0.587854255,0.00872730573362,1.03969847869
+267,4.450000000,pose2_to_pose3_retreat,0.617239229828,5.4503652222e-05,1.04002918629,0.587809960038,0.00872723584949,1.03969847226
+268,4.466666667,pose2_to_pose3_retreat,0.61718429473,5.44706654264e-05,1.04002906981,0.587755025002,0.00872720334937,1.03969836389
+269,4.483333333,pose2_to_pose3_retreat,0.617117995073,5.45671951e-05,1.04002905263,0.587688723783,0.0087272948189,1.03969835044
+270,4.500000000,pose2_to_pose3_retreat,0.617042731567,5.46496840396e-05,1.04002923703,0.58761346035,0.00872737744321,1.03969853036
+271,4.516666667,pose2_to_pose3_retreat,0.616958738548,5.45232714639e-05,1.04002917109,0.587529468715,0.00872725536203,1.03969846261
+272,4.533333333,pose2_to_pose3_retreat,0.616862133807,5.45497957402e-05,1.04002918061,0.587432864446,0.00872728352254,1.03969847718
+273,4.550000000,pose2_to_pose3_retreat,0.616752332097,5.45993075104e-05,1.04002923768,0.587323060973,0.00872732690193,1.03969853272
+274,4.566666667,pose2_to_pose3_retreat,0.616626283565,5.45246825719e-05,1.04002915461,0.587197013632,0.00872725610218,1.03969844666
+275,4.583333333,pose2_to_pose3_retreat,0.616482521996,5.45072666804e-05,1.04002913784,0.587053254149,0.00872724572193,1.03969843302
+276,4.600000000,pose2_to_pose3_retreat,0.616317053058,5.47439819528e-05,1.04002918425,0.586887780241,0.00872746508237,1.03969846897
+277,4.616666667,pose2_to_pose3_retreat,0.616131340374,5.45849672334e-05,1.04002890217,0.586702069631,0.00872731354845,1.03969820246
+278,4.633333333,pose2_to_pose3_retreat,0.615924959102,5.46566321351e-05,1.04002934107,0.586495688862,0.00872738653033,1.03969863497
+279,4.650000000,pose2_to_pose3_retreat,0.615698749175,5.46397336792e-05,1.04002901461,0.586269478781,0.00872736889809,1.03969830802
+280,4.666666667,pose2_to_pose3_retreat,0.615452286977,5.46051304097e-05,1.040029212,0.586023017386,0.00872733661864,1.03969849954
+281,4.683333333,pose2_to_pose3_retreat,0.615179366392,5.45428985125e-05,1.04002920416,0.585750096018,0.00872727162592,1.0396984943
+282,4.700000000,pose2_to_pose3_retreat,0.614878217927,5.46063552856e-05,1.04002916896,0.585448946474,0.00872733128735,1.03969845994
+283,4.716666667,pose2_to_pose3_retreat,0.614544803398,5.45328870279e-05,1.04002911402,0.585115533946,0.00872726422512,1.03969840104
+284,4.733333333,pose2_to_pose3_retreat,0.614179959479,5.44230629017e-05,1.04002896727,0.584750691958,0.00872716091811,1.03969825936
+285,4.750000000,pose2_to_pose3_retreat,0.613784846803,5.44050239709e-05,1.04002897859,0.584355578978,0.00872714172255,1.03969827478
+286,4.766666667,pose2_to_pose3_retreat,0.613365760942,5.45502600561e-05,1.04002906606,0.583936490565,0.00872727763379,1.0396983534
+287,4.783333333,pose2_to_pose3_retreat,0.612923275377,5.45462340472e-05,1.04002907524,0.583494005141,0.00872727389847,1.03969836078
+288,4.800000000,pose2_to_pose3_retreat,0.612452939817,5.44435784861e-05,1.04002910472,0.583023671146,0.00872717685908,1.03969839905
+289,4.816666667,pose2_to_pose3_retreat,0.611956751437,5.44227007648e-05,1.04002898381,0.582527483423,0.0087271583896,1.03969828342
+290,4.833333333,pose2_to_pose3_retreat,0.611434201636,5.44340514197e-05,1.04002896938,0.582004933579,0.00872716942281,1.03969826474
+291,4.850000000,pose2_to_pose3_retreat,0.610885371034,5.4544021068e-05,1.04002911738,0.581456101181,0.00872727309125,1.03969840764
+292,4.866666667,pose2_to_pose3_retreat,0.610311001359,5.45108986407e-05,1.04002918757,0.580881732173,0.00872724211797,1.03969847515
+293,4.883333333,pose2_to_pose3_retreat,0.609704343627,5.45056715577e-05,1.04002911225,0.580275074308,0.00872723647689,1.03969840043
+294,4.900000000,pose2_to_pose3_retreat,0.609069751594,5.45239512807e-05,1.04002925175,0.57964048189,0.00872725345196,1.03969853977
+295,4.916666667,pose2_to_pose3_retreat,0.608411596655,5.45639707181e-05,1.04002929831,0.578982327437,0.00872729507248,1.03969858506
+296,4.933333333,pose2_to_pose3_retreat,0.607731164465,5.46508692837e-05,1.04002917488,0.578301893781,0.00872737709618,1.03969846457
+297,4.950000000,pose2_to_pose3_retreat,0.607029426888,5.46986463992e-05,1.04002917028,0.577600155618,0.00872742290713,1.03969846041
+298,4.966666667,pose2_to_pose3_retreat,0.606314151167,5.45962503996e-05,1.04002921122,0.576884881845,0.0087273273359,1.03969850597
+299,4.983333333,pose2_to_pose3_retreat,0.605582262929,5.45426742578e-05,1.04002906515,0.576152993838,0.00872727469843,1.0396983639
+300,5.000000000,pose2_to_pose3_retreat,0.604825989196,5.45917238884e-05,1.04002917273,0.575396718801,0.00872731906334,1.03969846505
+301,5.016666667,pose2_to_pose3_retreat,0.604051627206,5.45272955498e-05,1.04002949685,0.574622358088,0.00872725871445,1.03969878245
+302,5.033333333,pose2_to_pose3_retreat,0.603263449954,5.45070418981e-05,1.04002930901,0.573834181144,0.00872723959052,1.03969859566
+303,5.050000000,pose2_to_pose3_retreat,0.602458676922,5.45587132209e-05,1.04002897296,0.573029406874,0.00872728737662,1.03969826812
+304,5.066666667,pose2_to_pose3_retreat,0.60163572699,5.46134319974e-05,1.04002903094,0.572206456243,0.00872733967064,1.03969832588
+305,5.083333333,pose2_to_pose3_retreat,0.600818285627,5.4530913821e-05,1.04002918841,0.57138901516,0.008727257747,1.03969847369
+306,5.100000000,pose2_to_pose3_retreat,0.600002669044,5.44669713377e-05,1.04002913566,0.570573399379,0.00872719653526,1.0396984211
+307,5.116666667,pose2_to_pose3_retreat,0.599183531394,5.45765969366e-05,1.04002908039,0.569754261186,0.00872730473019,1.03969837567
+308,5.133333333,pose2_to_pose3_retreat,0.598364171209,5.45633936819e-05,1.04002912578,0.568934901091,0.00872729205644,1.03969842593
+309,5.150000000,pose2_to_pose3_retreat,0.59754208209,5.44506863016e-05,1.04002913598,0.568112812954,0.00872718254784,1.03969843316
+310,5.166666667,pose2_to_pose3_retreat,0.596702257743,5.44934600754e-05,1.04002911107,0.567272987839,0.00872722258643,1.03969840531
+311,5.183333333,pose2_to_pose3_retreat,0.595847466102,5.45788023452e-05,1.04002907217,0.5664181962,0.00872730762087,1.03969835886
+312,5.200000000,pose2_to_pose3_retreat,0.594985875391,5.44855105383e-05,1.0400290648,0.565556607206,0.00872722017342,1.03969835187
+313,5.216666667,pose2_to_pose3_retreat,0.594127938282,5.45304543201e-05,1.04002907046,0.56469866914,0.00872726216408,1.03969836515
+314,5.233333333,pose2_to_pose3_retreat,0.593281492663,5.46301451179e-05,1.04002915718,0.563852221253,0.00872735411534,1.03969845068
+315,5.250000000,pose2_to_pose3_retreat,0.592451783539,5.46552027664e-05,1.04002913862,0.563022511498,0.00872737692962,1.03969842865
+316,5.266666667,pose2_to_pose3_retreat,0.591641165999,5.45587977553e-05,1.0400291261,0.562211895722,0.00872728653308,1.03969841587
+317,5.283333333,pose2_to_pose3_retreat,0.590842728876,5.4485050287e-05,1.04002927975,0.561413460326,0.00872721865854,1.03969857136
+318,5.300000000,pose2_to_pose3_retreat,0.590053926925,5.44940230019e-05,1.04002933002,0.560624659376,0.00872723066701,1.03969861183
+319,5.316666667,pose2_to_pose3_retreat,0.589269490815,5.45717181657e-05,1.04002927675,0.559840222073,0.00872730434695,1.03969855861
+320,5.333333333,pose2_to_pose3_retreat,0.588493072719,5.46421905175e-05,1.04002907074,0.559063802154,0.00872736902952,1.03969836274
+321,5.350000000,pose2_to_pose3_retreat,0.587731203592,5.4468639174e-05,1.04002917971,0.558301935419,0.00872720343315,1.03969846725
+322,5.366666667,pose2_to_pose3_retreat,0.58698810592,5.46108887352e-05,1.04002913229,0.557558837147,0.00872734407555,1.03969843116
+323,5.383333333,pose2_to_pose3_retreat,0.586265905667,5.45316645541e-05,1.0400291863,0.556836636336,0.00872726255635,1.03969847463
+324,5.400000000,pose2_to_pose3_retreat,0.585567964402,5.44236493609e-05,1.04002914565,0.556138697219,0.00872716203115,1.03969843919
+325,5.416666667,pose2_to_pose3_retreat,0.584890909066,5.44262552219e-05,1.04002903832,0.555461642302,0.0087271660534,1.03969833189
+326,5.433333333,pose2_to_pose3_retreat,0.584237823157,5.45134403838e-05,1.04002900428,0.554808554541,0.00872724711795,1.03969830333
+327,5.450000000,pose2_to_pose3_retreat,0.583611712856,5.45259905033e-05,1.04002894023,0.554182443583,0.00872725726426,1.03969823375
+328,5.466666667,pose2_to_pose3_retreat,0.58301491553,5.4693109844e-05,1.04002914257,0.553585645599,0.00872742220919,1.03969843747
+329,5.483333333,pose2_to_pose3_retreat,0.582442478158,5.44593428787e-05,1.04002890653,0.553013210102,0.00872719480575,1.0396982022
+330,5.500000000,pose2_to_pose3_retreat,0.581887924281,5.45304250638e-05,1.04002907758,0.552458653072,0.0087272547607,1.03969836201
+331,5.516666667,pose2_to_pose3_retreat,0.581345149148,5.46720515884e-05,1.04002929518,0.551915877831,0.00872739621779,1.03969858473
+332,5.533333333,pose2_to_pose3_retreat,0.580818300418,5.45002040862e-05,1.04002906084,0.551389031578,0.00872723266046,1.03969834733
+333,5.550000000,pose2_to_pose3_retreat,0.580314322368,5.45041690679e-05,1.04002893039,0.550885052017,0.00872723166718,1.03969822146
+334,5.566666667,pose2_to_pose3_retreat,0.579849860882,5.45142077271e-05,1.04002916762,0.550420592533,0.00872724854626,1.03969845904
+335,5.583333333,pose2_to_pose3_retreat,0.579428087533,5.46029268539e-05,1.04002930422,0.549998818446,0.00872733454441,1.03969859025
+336,5.600000000,pose2_to_pose3_retreat,0.579044955455,5.45403400873e-05,1.04002915746,0.549615684867,0.00872726717336,1.03969845157
+337,5.616666667,pose2_to_pose3_retreat,0.578692394912,5.4501874553e-05,1.0400290186,0.549263126327,0.00872723560068,1.03969831544
+338,5.633333333,pose2_to_pose3_retreat,0.578362962171,5.45488652838e-05,1.04002915948,0.548933692651,0.00872727920059,1.03969845062
+339,5.650000000,pose2_to_pose3_retreat,0.578047623066,5.4441789799e-05,1.04002903595,0.548618354825,0.00872717666144,1.03969833233
+340,5.666666667,pose2_to_pose3_retreat,0.577744832645,5.45394171048e-05,1.04002892313,0.548315562112,0.00872726650178,1.03969821938
+341,5.683333333,pose2_to_pose3_retreat,0.577460881228,5.44424838595e-05,1.04002914051,0.548031612646,0.00872717601787,1.03969843211
+342,5.700000000,pose2_to_pose3_retreat,0.577198377401,5.45561942669e-05,1.04002952808,0.547769109785,0.00872729285413,1.03969881571
+343,5.716666667,pose2_to_pose3_retreat,0.576964566315,5.465597906e-05,1.04002906555,0.547535295213,0.00872738079823,1.03969835308
+344,5.733333333,pose2_to_pose3_retreat,0.576759316297,5.44385152132e-05,1.04002937019,0.547330047223,0.00872716956948,1.03969864075
+345,5.750000000,pose2_to_pose3_retreat,0.576584665137,5.4513004797e-05,1.04002907237,0.547155395564,0.00872724292173,1.03969835732
+346,5.766666667,pose2_to_pose3_retreat,0.576434120332,5.44631068684e-05,1.04002906327,0.547004851928,0.00872719706634,1.03969835018
+347,5.783333333,pose2_to_pose3_retreat,0.576305937722,5.4436715431e-05,1.04002917104,0.546876668937,0.00872716943618,1.03969845935
+348,5.800000000,pose2_to_pose3_retreat,0.576195504293,5.46121859549e-05,1.04002903284,0.546766234731,0.00872734267436,1.03969833192
+349,5.816666667,pose2_to_pose3_retreat,0.576100394547,5.45598988637e-05,1.04002914306,0.546671125104,0.00872729036395,1.03969843342
+350,5.833333333,pose2_to_pose3_retreat,0.576018150282,5.43962912557e-05,1.04002909576,0.546588883199,0.00872713467878,1.03969838299
+351,5.850000000,pose2_to_pose3_retreat,0.575947726114,5.44440762848e-05,1.04002905659,0.546518457676,0.00872717787026,1.03969834316
+352,5.866666667,pose2_to_pose3_retreat,0.575889413963,5.45287635786e-05,1.04002894377,0.546460144012,0.00872725780338,1.03969824026
+353,5.883333333,pose2_to_pose3_retreat,0.575841691671,5.45769246318e-05,1.0400291884,0.546412421402,0.00872730472303,1.03969848057
+354,5.900000000,pose2_to_pose3_retreat,0.575804308188,5.45683829797e-05,1.04002915085,0.546375038363,0.00872729772664,1.03969844414
+355,5.916666667,pose2_to_pose3_retreat,0.575776184429,5.45538002127e-05,1.04002896246,0.546346914835,0.00872728395533,1.03969825669
+356,5.933333333,pose2_to_pose3_retreat,0.575755596696,5.45663455925e-05,1.04002910718,0.546326326456,0.00872729394286,1.03969839193
+357,5.950000000,pose2_to_pose3_retreat,0.575741210085,5.45352859659e-05,1.04002914799,0.546311939243,0.00872726115011,1.03969844112
+358,5.966666667,pose2_to_pose3_retreat,0.575730865177,5.44881238297e-05,1.04002909725,0.546301595504,0.00872721769097,1.03969838255
+359,5.983333333,pose2_to_pose3_retreat,0.575723878909,5.45238813148e-05,1.04002906761,0.546294609853,0.00872725559242,1.03969835418
+360,6.000000000,pose2_to_pose3_retreat,0.575719255328,5.45823643423e-05,1.04002905037,0.54628998659,0.00872731531058,1.03969834116
+361,6.016666667,pose2_to_pose3_retreat,0.575716727325,5.45627102343e-05,1.04002912176,0.54628745813,0.00872729393661,1.03969840803
+362,6.033333333,pose2_to_pose3_retreat,0.575715274653,5.45478601885e-05,1.04002916835,0.546286005152,0.0087272779333,1.03969845156
+363,6.050000000,pose2_to_pose3_retreat,0.575714625678,5.45412259827e-05,1.04002918916,0.54628535604,0.00872727078388,1.03969847101
+364,6.066666667,pose2_to_pose3_retreat,0.575714545568,5.45404070616e-05,1.04002919173,0.546285275914,0.00872726990136,1.03969847341
+365,6.083333333,pose2_to_pose3_retreat,0.575714290612,5.45378007484e-05,1.04002919991,0.546285020904,0.00872726709264,1.03969848104
+366,6.100000000,pose2_to_pose3_retreat,0.575714024467,5.45350800576e-05,1.04002920844,0.546284754702,0.00872726416066,1.03969848902
+367,6.116666667,pose2_to_pose3_retreat,0.575713906051,5.45338695414e-05,1.04002921224,0.546284636261,0.00872726285614,1.03969849257
+368,6.133333333,pose2_to_pose3_retreat,0.575713789628,5.45340975172e-05,1.04002920921,0.546284519841,0.00872726310499,1.03969848982
+369,6.150000000,pose2_to_pose3_retreat,0.57571341022,5.45377318207e-05,1.04002918555,0.546284140499,0.00872726703834,1.03969846815
+370,6.166666667,pose2_to_pose3_retreat,0.575713006334,5.45416005911e-05,1.04002916037,0.546283736684,0.00872727122544,1.03969844509
+371,6.183333333,pose2_to_pose3_retreat,0.575712660133,5.45449168058e-05,1.04002913879,0.546283390543,0.00872727481453,1.03969842532
+372,6.200000000,pose2_to_pose3_retreat,0.575712597735,5.45455145078e-05,1.0400291349,0.546283328156,0.00872727546141,1.03969842175
+373,6.216666667,pose2_to_pose3_retreat,0.575712414075,5.45472737699e-05,1.04002912345,0.546283144527,0.00872727736543,1.03969841127
+374,6.233333333,pose2_to_pose3_retreat,0.575712361223,5.45477800254e-05,1.04002912015,0.546283091685,0.00872727791335,1.03969840825
+375,6.250000000,pose2_to_pose3_retreat,0.575712158712,5.45497198608e-05,1.04002910752,0.546282889209,0.0087272800128,1.03969839668
+376,6.266666667,pose2_to_pose3_retreat,0.575711920112,5.45520053788e-05,1.04002909265,0.54628265065,0.00872728248638,1.03969838306
+377,6.283333333,pose2_to_pose3_retreat,0.575711605168,5.45550221898e-05,1.04002907301,0.546282335761,0.00872728575142,1.03969836507
+378,6.300000000,pose2_to_pose3_retreat,0.5757112701,5.45582317667e-05,1.04002905212,0.546282000751,0.0087272892251,1.03969834594
+379,6.316666667,pose2_to_pose3_retreat,0.575711238369,5.45585357097e-05,1.04002905014,0.546281969026,0.00872728955405,1.03969834412
+380,6.333333333,pose2_to_pose3_retreat,0.575711023975,5.45605893684e-05,1.04002903677,0.546281754669,0.00872729177669,1.03969833188
+381,6.350000000,pose2_to_pose3_retreat,0.575710730475,5.45996662051e-05,1.04002910499,0.546281460608,0.00872732883488,1.03969839707
+382,6.366666667,pose2_to_pose3_retreat,0.575710411977,5.46458537621e-05,1.04002918803,0.546281141438,0.00872737259719,1.03969847635
+383,6.383333333,pose2_to_pose3_retreat,0.575710113385,5.46891546617e-05,1.04002926589,0.546280842216,0.00872741362442,1.03969855068
+384,6.400000000,pose2_to_pose3_retreat,0.575709815003,5.4696817857e-05,1.04002931275,0.546280543789,0.00872742107218,1.03969859578
+385,6.416666667,pose2_to_pose3_retreat,0.575709503283,5.45412203903e-05,1.04002921956,0.546280234718,0.00872727469917,1.03969850885
+386,6.433333333,pose2_to_pose3_retreat,0.575709398306,5.44888205112e-05,1.04002918817,0.546280130633,0.00872722540577,1.03969847957
+387,6.450000000,pose2_to_pose3_retreat,0.575709272589,5.44632017062e-05,1.04002912653,0.5462800054,0.00872720153972,1.03969842078
+388,6.466666667,pose2_to_pose3_retreat,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502787,1.03969833366
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfb70d3812adc206efea2fc145f96107a2abe919
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab2267fdaaa8f49613762c47e453e1b408b5e9ccf6847fcb9c28de476da9532c
+size 24882117
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6808d8cd8d6fb2a4c6ddfac4cc09acefd2772db5
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/franka_data.csv
@@ -0,0 +1,393 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,743,711,671,664,633,875,784,799,649,629,650,0.400974524321,-0.00541406546189,0.049852363317,0.999999964263,2.70185211101e-05,-0.000260572002036,-5.33474753956e-05,1793192690879924224
+1,0.016666667,BASELINE,763.425537117,742.425537117,711,671,663.425537117,633,875,784,799,649.574462883,628.425537117,650.574462883,0.400974996715,-0.00541541730508,0.0498522935037,0.999999964398,2.51885498499e-05,-0.000260255571947,-5.32503395886e-05,1793192690896590592
+2,0.033333333,BASELINE,763.153751668,742,711.153751668,671,663,633,875.153751668,783.846248332,799,649.846248332,628,651,0.40097521026,-0.00541628345455,0.049852346459,0.999999964486,2.44326378162e-05,-0.000260026113214,-5.30842959474e-05,1793192690913256960
+3,0.050000000,BASELINE,763.746830017,742,711.746830017,671,663,633,875.746830017,783.253169983,799,649.253169983,628,651,0.400974684176,-0.00541576179366,0.0498527502104,0.999999964441,2.67457188865e-05,-0.000260045164472,-5.27213565337e-05,1793192690929923328
+4,0.066666667,BASELINE,764,742,711.668912657,671,663,633,875.668912657,783.331087343,799.331087343,649.331087343,628.331087343,651,0.400974066077,-0.00541473302657,0.0498525606919,0.999999964279,2.71066073032e-05,-0.00026058404322,-5.29496795479e-05,1793192690946590208
+5,0.083333333,BASELINE,764,742,711.091225425,671,663,633,875.091225425,783.908774575,799.908774575,649.908774575,628.908774575,651,0.400973379444,-0.00541332655755,0.0498519292951,0.99999996403,2.60134669046e-05,-0.000261510098958,-5.36183856187e-05,1793192690963257088
+6,0.100000000,BASELINE,764,742.484363179,711,671.484363179,663.484363179,633,875.484363179,783.515636821,799.515636821,650,629,651,0.400971969129,-0.00541566291493,0.0498515653847,0.999999963819,2.4928966058e-05,-0.000262516514939,-5.31526321575e-05,1793192690979923968
+7,0.116666667,BASELINE,764,742.939040542,711,671.939040542,664,633,875.939040542,783,799,649.939040542,628.939040542,651,0.400970903739,-0.00541810613331,0.049851389251,0.999999963697,2.41377960022e-05,-0.000263171979564,-5.25668024375e-05,1793192690996590336
+8,0.133333333,BASELINE,764,742.350312853,711,671.350312853,664,633,875.350312853,783,799,649.350312853,628.350312853,651,0.400973999548,-0.00541539780492,0.0498524045495,0.999999964301,2.58721667896e-05,-0.000260658545383,-5.27832565477e-05,1793192691013257216
+9,0.150000000,BASELINE,764,742,711,671,664,633,875,783,799,649.2344094,628,651,0.400975318621,-0.00541420757039,0.0498526563614,0.999999964508,2.7083681961e-05,-0.000259710270987,-5.29291535137e-05,1793192691029923840
+10,0.166666667,BASELINE,764,742,711,671,664,633,875,783,799,649.813246248,628,651,0.400974027062,-0.00541524793432,0.0498517863507,0.999999964142,2.75269435521e-05,-0.000261061750962,-5.29713779249e-05,1793192691046590464
+11,0.183333333,BASELINE,764,742.39185221,711,671,663.60814779,633,875,783.39185221,799,650,628.39185221,651,0.40097404233,-0.00541546336129,0.0498522171906,0.999999964291,2.67946538124e-05,-0.000260556769401,-5.30143195063e-05,1793192691063257088
+12,0.200000000,BASELINE,764,742.970348249,711,671,663.029651751,633,875,783.970348249,799,650,628.970348249,651,0.400974680056,-0.00541528586115,0.0498532676409,0.999999964683,2.55024351471e-05,-0.000259167533434,-5.30576026879e-05,1793192691079923712
+13,0.216666667,BASELINE,764,742.461961695,711,670.461961695,663.538038305,633,875,783.461961695,799,649.461961695,628.461961695,651,0.400975564391,-0.00541525536137,0.0498536763249,0.999999964844,2.7635134273e-05,-0.00025836000083,-5.28961607103e-05,1793192691096590592
+14,0.233333333,BASELINE,764,742.110483534,711,670.110483534,663.889516466,633,875,783,799,649,628.110483534,651,0.400975970117,-0.00541535614472,0.0498537704878,0.999999964875,2.93337513735e-05,-0.000258088127397,-5.27339827605e-05,1793192691113257472
+15,0.250000000,BASELINE,764,742.706386201,711,670.706386201,663.293613799,633,875,783,799,649,628.706386201,651,0.400974214493,-0.00541599883902,0.0498526351093,0.999999964407,2.83122288295e-05,-0.00026003164218,-5.26171662149e-05,1793192691129924096
+16,0.266666667,BASELINE,764,742.70617943,711,671,663.29382057,633,875,783,799.29382057,649.29382057,629,650.70617943,0.400974318734,-0.00541569387967,0.0498526859553,0.999999964468,2.77551877477e-05,-0.000259865182287,-5.25734467524e-05,1793192691146590720
+17,0.283333333,BASELINE,764,742.126970369,711,671,663.873029631,633,875,783,799.873029631,649.873029631,629,650.126970369,0.400976229465,-0.00541446846246,0.0498538889838,0.999999965043,2.76492984739e-05,-0.000257649299775,-5.26007266355e-05,1793192691163257088
+18,0.300000000,BASELINE,764,742,711,671,664,633,875.448477189,783,800,650,628.551522811,650.448477189,0.400976121458,-0.00541450749155,0.0498539208512,0.999999965016,2.63386463511e-05,-0.000257839305722,-5.28415817433e-05,1793192691179923456
+19,0.316666667,BASELINE,764,742,711,671,663.97712329,633,875.97712329,783,799.97712329,649.97712329,628.02287671,651,0.400975464224,-0.00541484069667,0.0498536326056,0.999999964827,2.49241404335e-05,-0.000258652597152,-5.31318339464e-05,1793192691196590080
+20,0.333333333,BASELINE,764,742,711,671,663.402529669,633,875.402529669,783,799.402529669,649.402529669,628.597470331,651,0.400975230337,-0.00541370688016,0.0498535542195,0.999999964826,2.91625303854e-05,-0.000258207203015,-5.31672613757e-05,1793192691213256960
+21,0.350000000,BASELINE,764,742,711,671,663.177215339,633,875,783.177215339,799.177215339,649,629,651,0.400975072737,-0.00541310120797,0.0498534045775,0.999999964762,3.16725687849e-05,-0.000258153456456,-5.31896863893e-05,1793192691229923840
+22,0.366666667,BASELINE,764,742,711,671,663.769011517,633,875,783.769011517,799.769011517,649,629,651,0.400975093604,-0.00541373108652,0.0498530882384,0.999999964587,3.01392690148e-05,-0.00025901593755,-5.31816933077e-05,1793192691246590720
+23,0.383333333,BASELINE,764,742,711,671,664,633,875.35254814,784,800,649.35254814,629,651,0.400975029996,-0.00541393251329,0.0498529581796,0.999999964514,2.91633471443e-05,-0.000259430620474,-5.30856090793e-05,1793192691263257600
+24,0.400000000,BASELINE,764,742,711,671,664,633,875.930797067,784,800,649.930797067,629,651,0.400974912307,-0.00541385964594,0.0498529473773,0.999999964506,2.8544257612e-05,-0.000259558623769,-5.29331290312e-05,1793192691279923968
+25,0.416666667,BASELINE,764,742,711,671,664,633,876,783.493795045,800,650,629,651,0.400975029867,-0.00541621380826,0.0498529912381,0.999999964808,2.50357651607e-05,-0.00025880725903,-5.26817370049e-05,1793192691296590336
+26,0.433333333,BASELINE,764,742,711,670.916907254,664,633,875.916907254,783,799.916907254,650,629,650.916907254,0.40097492032,-0.00541843618786,0.0498529357466,0.999999964978,2.18337916613e-05,-0.000258485018522,-5.24634211276e-05,1793192691313256704
+27,0.450000000,BASELINE,764,742,711,670.328674578,664,633,875.328674578,783,799.328674578,650,629,650.328674578,0.40097323572,-0.00541785161493,0.0498522310938,0.999999964168,2.28831599767e-05,-0.000261498275495,-5.2527928371e-05,1793192691329923584
+28,0.466666667,BASELINE,764,742,711,670.255471203,664,633,875,783,799,649.744528797,629,650.255471203,0.40097285551,-0.0054166610273,0.0498520790369,0.999999963891,2.44727630975e-05,-0.000262369252294,-5.27487784985e-05,1793192691346589952
+29,0.483333333,BASELINE,764,742,711,670.834441773,664,633,875,783,799,649.165558227,629,650.834441773,0.40097412703,-0.00541470305237,0.0498526267241,0.999999964292,2.67464574185e-05,-0.000260527491538,-5.31676032807e-05,1793192691363256576
+30,0.500000000,BASELINE,763.587977866,742.412022134,711,671,664,633,875.412022134,783,799.412022134,649.412022134,629,650.587977866,0.400974512003,-0.00541466852807,0.0498532167983,0.999999964558,2.71573502971e-05,-0.000259465325601,-5.3141417688e-05,1793192691379923456
+31,0.516666667,BASELINE,763.010954251,742.989045749,711,671,664,633,875.989045749,783,799.989045749,649.989045749,629,650.010954251,0.400974541941,-0.00541540428332,0.0498538238472,0.999999964772,2.68222516562e-05,-0.00025871536211,-5.29370198863e-05,1793192691396590592
+32,0.533333333,BASELINE,763.564646407,742.435353593,711,671,664,632.435353593,876,783,800,650,629,650.564646407,0.400974760143,-0.00541537640171,0.0498539158105,0.999999964919,2.81178045799e-05,-0.000258053512546,-5.27232947726e-05,1793192691413257216
+33,0.550000000,BASELINE,764,742,711,671,663.856423525,632.143576475,875.856423525,783,799.856423525,650,629,651,0.400974922007,-0.0054152808689,0.0498539416998,0.999999964965,2.93015077793e-05,-0.000257777547435,-5.25487014742e-05,1793192691429923584
+34,0.566666667,BASELINE,764,742,711,671,663.267070925,632.732929075,875.267070925,783,799.267070925,650,629,651,0.400974897638,-0.00541502117376,0.04985379339,0.999999964709,3.00399664946e-05,-0.000258694382108,-5.24961650525e-05,1793192691446590208
+35,0.583333333,BASELINE,764,742,711,671,663.31725903,633,875,783,799,649.68274097,629,650.68274097,0.400975119877,-0.00541515480166,0.0498539094685,0.999999964727,2.97217618581e-05,-0.000258677709701,-5.24162393591e-05,1793192691463256832
+36,0.600000000,BASELINE,764,742,711,671,663.897426843,633,875,783,799,649.102573157,629,650.102573157,0.400975546477,-0.00541561437164,0.0498542446424,0.999999964972,2.85279129571e-05,-0.000257887451184,-5.23136164964e-05,1793192691479923456
+37,0.616666667,BASELINE,764,742,711,671,664,633,875,783.471851103,798.528148897,649.471851103,629,650.471851103,0.400974775213,-0.00541481202261,0.0498536710738,0.999999964695,2.94628690613e-05,-0.000258797352297,-5.25964368602e-05,1793192691496590080
+38,0.633333333,BASELINE,764,742,711.046402726,671,664,632.953597274,875,784,798.092805452,650,629,651,0.400973853342,-0.00541385678578,0.0498529736153,0.999999964355,3.06451729221e-05,-0.000259904497769,-5.29234735739e-05,1793192691513256704
+39,0.650000000,BASELINE,764,742,711.636912453,671,664,632.363087547,875,784,799.273824906,650,629,651,0.400974182117,-0.00541428676964,0.04985311198,0.999999964623,2.93667533926e-05,-0.0002590428962,-5.27983019586e-05,1793192691529923584
+40,0.666666667,BASELINE,764,742.223153274,711.776846726,671,663.776846726,632.223153274,875,784,800,650,629,651,0.400974682936,-0.00541452909785,0.0498535093386,0.999999964833,2.87241750575e-05,-0.000258319796009,-5.27320204341e-05,1793192691546590464
+41,0.683333333,BASELINE,764,742.8025786,711.1974214,671,663.1974214,632.8025786,875,784,800,650,629,651,0.400975458426,-0.00541447182719,0.0498543201901,0.99999996495,2.90967396374e-05,-0.000257817818196,-5.27597590193e-05,1793192691563257088
+42,0.700000000,BASELINE,764,742.620281769,711,671,663.379718231,633,875,784,800,650,629,651,0.400974758183,-0.00541481258529,0.0498536912488,0.999999964688,2.791521859e-05,-0.000258946550718,-5.28399651889e-05,1793192691579923712
+43,0.716666667,BASELINE,764,742.044323416,711,671,663.955676584,633,875,784,800,650,629,651,0.400973295274,-0.00541535904649,0.0498523182158,0.999999964223,2.59305389507e-05,-0.000260918041833,-5.29472868458e-05,1793192691596590336
+44,0.733333333,BASELINE,764.529489501,742,711,671,663.470510499,633,875,783.470510499,800,650,629,651,0.400974492092,-0.00541494701685,0.0498533441205,0.999999964625,2.83588650403e-05,-0.000259145745958,-5.28050604394e-05,1793192691613256704
+45,0.750000000,BASELINE,764.89366656,742.10633344,711,671,663.10633344,633,875,783,800,649.89366656,628.89366656,650.89366656,0.400975382398,-0.00541458310607,0.049854196498,0.999999964936,3.0467678645e-05,-0.000257732693371,-5.26717532267e-05,1793192691629923328
+46,0.766666667,BASELINE,764.302177375,742.697822625,711,671,663.697822625,633,875,783,800,649.302177375,628.302177375,650.302177375,0.400973862478,-0.00541480334394,0.0498533446063,0.99999996454,2.94400166845e-05,-0.000259382826219,-5.26740666853e-05,1793192691646589952
+47,0.783333333,BASELINE,764,742.716683078,711,671,664,633,875,783,800,649.283316922,628.283316922,650.283316922,0.400973315714,-0.00541476856726,0.049853039739,0.999999964478,2.84002558467e-05,-0.000259706862139,-5.28275558044e-05,1793192691663256832
+48,0.800000000,BASELINE,764,742.137450189,711,671,664,633,875,783,800,649.862549811,628.862549811,650.862549811,0.400973785381,-0.00541446743561,0.049853306222,0.999999964765,2.73478579708e-05,-0.000258645830076,-5.31389433344e-05,1793192691679923712
+49,0.816666667,BASELINE,764,742,711,671,664,633,875,783.437284159,799.562715841,650,629,651,0.400973138995,-0.00541481310899,0.0498528891995,0.999999964547,2.66420615572e-05,-0.00025958389194,-5.3023759542e-05,1793192691696590592
+50,0.833333333,BASELINE,764,742,711,671,664,633,875.010513955,783.989486045,799,649.989486045,629,651,0.400972176885,-0.00541535378035,0.0498522747713,0.999999964178,2.60662215308e-05,-0.000261107871476,-5.27854473954e-05,1793192691713257216
+51,0.850000000,BASELINE,764,742,711,671,664,633,875.578184713,783.421815287,799,649.421815287,629,651,0.400972884537,-0.00541556378123,0.0498524685169,0.999999964249,2.66625430161e-05,-0.000260721336328,-5.30552852944e-05,1793192691729923584
+52,0.866666667,BASELINE,764,742.154492554,711,671.154492554,664,633,876,783.154492554,799.154492554,649.154492554,629,651,0.400973691643,-0.00541582476356,0.0498528958199,0.999999964456,2.67263498616e-05,-0.000259894174317,-5.31832102245e-05,1793192691746590208
+53,0.883333333,BASELINE,764,742.755778879,711,671.755778879,664,633,876,783.755778879,799.755778879,649.755778879,629,651,0.400974786371,-0.00541623318466,0.0498539985725,0.999999965053,2.525011984e-05,-0.00025779271572,-5.29007216346e-05,1793192691763256832
+54,0.900000000,BASELINE,764,742.656706265,711,671.656706265,663.656706265,633,875.656706265,784,800,649.656706265,628.656706265,651,0.400975167292,-0.00541539061739,0.0498542454215,0.999999965238,2.61798034738e-05,-0.000257028534403,-5.26829218923e-05,1793192691779923200
+55,0.916666667,BASELINE,764,742.078610674,711,671.078610674,663.078610674,633,875.078610674,784,800,649.078610674,628.078610674,651,0.400975059992,-0.00541369241437,0.04985390686,0.999999965137,2.87550546021e-05,-0.00025717900775,-5.25093672492e-05,1793192691796589824
+56,0.933333333,BASELINE,764,742,711,671,663.495816241,633,875,784,800,649.495816241,628.495816241,650.504183759,0.4009751572,-0.00541329193225,0.0498538947257,0.999999964927,2.96723861118e-05,-0.000257834195324,-5.27851429378e-05,1793192691813256960
+57,0.950000000,BASELINE,764,742,711.071473365,671,663.928526635,633,875.071473365,783.928526635,799.928526635,650,629,650,0.400975206204,-0.00541329349206,0.0498539259388,0.999999964728,2.99666899162e-05,-0.00025851481855,-5.30675521571e-05,1793192691829923840
+58,0.966666667,BASELINE,764,742,711.660212112,671,663.339787888,633,875.660212112,783.339787888,799.339787888,650,629,650,0.400974673415,-0.00541472658071,0.0498538990591,0.99999996473,2.76404221769e-05,-0.000258804648112,-5.28861765679e-05,1793192691846590464
+59,0.983333333,BASELINE,764,742,712,671,663.245152059,633,875.754847941,783,799,650,629,650.245152059,0.400974408481,-0.00541576347098,0.0498539480861,0.999999964778,2.53399813897e-05,-0.000258891424155,-5.26958230925e-05,1793192691863256832
+60,1.000000000,BASELINE,764,742,712,671,663.824907184,633,875.175092816,783,799,650,629,650.824907184,0.400974509136,-0.00541625959833,0.0498541007166,0.999999964893,2.30747909551e-05,-0.000258701056617,-5.24932158572e-05,1793192691879923456
+61,1.016666667,BASELINE,764,742,711.598244557,671,664,633,875.401755443,783,799,649.598244557,628.598244557,651,0.400973789931,-0.00541664996811,0.049853437913,0.999999964758,2.33133637944e-05,-0.000259163695541,-5.26659337233e-05,1793192691896590080
+62,1.033333333,BASELINE,764,742,711.022654102,671,664,633,875.977345898,783,799,649.022654102,628.022654102,651,0.400972715982,-0.00541699457775,0.0498524222803,0.999999964516,2.46352866756e-05,-0.00025990888295,-5.30010505063e-05,1793192691913256704
+63,1.050000000,BASELINE,764,742,711,671,664,633,875.446010687,783.553989313,799.553989313,649.553989313,628.553989313,650.446010687,0.400974929804,-0.00541476307805,0.0498535129442,0.999999965052,2.89978427295e-05,-0.000257369414475,-5.30733002813e-05,1793192691929923584
+64,1.066666667,BASELINE,763.866550014,742,711,671,664,633,875,784,799.866550014,649.866550014,629,650,0.40097669659,-0.0054134443732,0.0498544299882,0.999999965438,3.15551359051e-05,-0.000255565570318,-5.30561825503e-05,1793192691946590208
+65,1.083333333,BASELINE,763.277621013,742,711,671,664,633,875,784,799.277621013,649.277621013,629,650,0.400976477841,-0.00541560136942,0.0498544599112,0.999999965273,2.75256819083e-05,-0.000256731806298,-5.27708024894e-05,1793192691963257088
+66,1.100000000,BASELINE,763.306814443,742,711,671,664,633,875,783.693185557,799,649,628.693185557,650,0.400975626185,-0.00541563721271,0.0498539980858,0.999999965088,2.69378665143e-05,-0.000257508836975,-5.27913036548e-05,1793192691979923712
+67,1.116666667,BASELINE,763.887242574,742,711,671,664,633,875,783.112757426,799,649,628.112757426,650,0.400974210109,-0.00541378143545,0.0498530977245,0.999999964892,2.94192661366e-05,-0.000257938778658,-5.3084586291e-05,1793192691996590592
+68,1.133333333,BASELINE,764,742,711,671,664,633,875.923936685,783,799,649.461968342,628.461968342,650,0.400974340673,-0.00541424489586,0.04985296793,0.999999964748,2.93587970029e-05,-0.000258491337514,-5.31350109909e-05,1793192692013256960
+69,1.150000000,BASELINE,764,742,711,670.96378239,663.96378239,633,876.927564779,783,799,650,629,650.03621761,0.400974905695,-0.00541519801275,0.0498531257599,0.999999964677,2.862059693e-05,-0.000258857695137,-5.31030102299e-05,1793192692029923584
+70,1.166666667,BASELINE,764,742,711,670.375848666,663.375848666,633,875.751697332,783,799,650,629,650.624151334,0.400976408428,-0.00541509207862,0.0498548349174,0.999999965497,2.68941267585e-05,-0.000255937228488,-5.2707368252e-05,1793192692046590208
+71,1.183333333,BASELINE,763.791080911,742,711,670.208919089,663.208919089,633,875,783,799.208919089,650,629,651,0.40097691132,-0.00541532603306,0.0498554936461,0.999999965876,2.55174063779e-05,-0.000254637578754,-5.2503319561e-05,1793192692063256832
+72,1.200000000,BASELINE,763.211923664,742,711,670.788076336,663.788076336,633,875,783,799.788076336,650,629,651,0.400975642336,-0.0054161623246,0.0498542908464,0.999999965486,2.47604984788e-05,-0.000256210276268,-5.26388048626e-05,1793192692079923712
+73,1.216666667,BASELINE,763.366450256,742,711,671,664,633,875,783,800,650,629,650.633549744,0.400975677037,-0.0054147726591,0.049854104639,0.999999965386,2.69836550226e-05,-0.000256314617279,-5.29347771301e-05,1793192692096590336
+74,1.233333333,BASELINE,763.944372096,742,711,671,664,633,875,783,800,650,629,650.055627904,0.400976464071,-0.00541209843539,0.0498545050881,0.999999965442,3.0926551033e-05,-0.000255571597131,-5.33233634135e-05,1793192692113256960
+75,1.250000000,BASELINE,764,742,711,671,664,633,875.520589035,783,800,650,629,650.520589035,0.400977679965,-0.00541382128536,0.0498554813519,0.999999965852,2.80394032791e-05,-0.000254345237414,-5.30948203004e-05,1793192692129924096
+76,1.266666667,BASELINE,764.098639919,742.098639919,711,671,664,633,875.901360081,783.098639919,800,650,629,651,0.400978543628,-0.0054154805,0.0498562812388,0.999999966171,2.52714576486e-05,-0.000253430613202,-5.28422122831e-05,1793192692146590720
+77,1.283333333,BASELINE,764.686691019,742.686691019,711,671,664,633,875.313308981,783.686691019,800,650,629,651,0.400977433029,-0.00541450037518,0.049855901729,0.999999965911,2.6704239574e-05,-0.000254318111757,-5.27963222709e-05,1793192692163257344
+78,1.300000000,BASELINE,764.728338055,742.728338055,711,671.271661945,663.728338055,633,875,783.728338055,799.728338055,649.728338055,628.728338055,651,0.400976267219,-0.00541467321061,0.0498554530344,0.999999965676,2.76429747552e-05,-0.000255157947569,-5.27135510824e-05,1793192692179923712
+79,1.316666667,BASELINE,764.146879721,742.146879721,711,671.853120279,663.146879721,633,875,783.146879721,799.146879721,649.146879721,628.146879721,651,0.400975038448,-0.00541616085273,0.0498549254432,0.999999965471,2.80183114671e-05,-0.000255943429935,-5.25887215399e-05,1793192692196590080
+80,1.333333333,BASELINE,763.571696499,742,711,671.571696499,663.428303501,633,875.428303501,783,799.428303501,649,628.428303501,650.571696499,0.400975037876,-0.00541627643549,0.0498546887573,0.999999965399,2.72889623695e-05,-0.000256292622277,-5.26427933071e-05,1793192692213256704
+81,1.350000000,BASELINE,763.001406418,742,711,671,664,633,876,783,800,649.001406418,629,650,0.400975449041,-0.00541593055845,0.0498545490338,0.99999996537,2.61893813247e-05,-0.000256496891677,-5.27571203775e-05,1793192692229923328
+82,1.366666667,BASELINE,763.59147082,742,711,671,664,633,876,783,800,649.59147082,629,650,0.400974448746,-0.00541653542604,0.0498538407664,0.999999965038,2.6400698814e-05,-0.000257762268563,-5.27835026953e-05,1793192692246590208
+83,1.383333333,BASELINE,764,742,711,671,664,633,875.821862602,783.178137398,800,649.821862602,629,650.178137398,0.400974202157,-0.00541666644985,0.0498537254232,0.99999996498,2.64324348076e-05,-0.00025797838893,-5.2812879546e-05,1793192692263257344
+84,1.400000000,BASELINE,764,742,711,671,664,633,875.242842416,783.757157584,800,649.242842416,629,650.757157584,0.40097565172,-0.00541573112941,0.0498549444044,0.999999965539,2.60600382376e-05,-0.000255833248609,-5.28489953387e-05,1793192692279923968
+85,1.416666667,BASELINE,764,742,711,670.66525976,664,632.66525976,875.669480479,783.66525976,799.66525976,649.33474024,629,651,0.400976401154,-0.00541507806053,0.0498555305062,0.999999965732,2.66331801833e-05,-0.00025502885417,-5.28003326748e-05,1793192692296590592
+86,1.433333333,BASELINE,764,742,711,670.088715558,664,632.088715558,876.822568884,783.088715558,799.088715558,649.911284442,629,651,0.400976644843,-0.00541462887978,0.0498556594391,0.999999965661,2.78893441867e-05,-0.000255192965074,-5.26904291886e-05,1793192692313256960
+87,1.450000000,BASELINE,764,742,711,670.485216558,664,632.485216558,876.029566885,783,799,649.514783442,629,651,0.40097577933,-0.00541382579541,0.0498547731246,0.999999965402,2.83896756857e-05,-0.000256079175238,-5.30408438192e-05,1793192692329923584
+88,1.466666667,BASELINE,764,742,711,671,664,633,875,783,799,649.060532189,629,651,0.400974841342,-0.00541334383827,0.0498538808279,0.999999965168,2.85144291522e-05,-0.000256913569845,-5.33469245947e-05,1793192692346590208
+89,1.483333333,BASELINE,764,742,711,671,664,633,875,783,799,649.652154098,629,651,0.400975037289,-0.00541624402247,0.0498545559374,0.999999965464,2.65499617453e-05,-0.000256141196666,-5.25295679223e-05,1793192692363256832
+90,1.500000000,BASELINE,764,742,711,671,664,633,875.23859174,783,799,650,629,650.76140826,0.400975218068,-0.00541764143041,0.0498548571559,0.999999965603,2.5923964705e-05,-0.000255737241267,-5.21639102499e-05,1793192692379923968
+91,1.516666667,BASELINE,764,742,711,671,664,633,875.817631862,783,799,650,629,650.182368138,0.400975377203,-0.00541689451514,0.0498546248664,0.999999965523,2.72078414504e-05,-0.000255858984088,-5.24427854105e-05,1793192692396591104
+92,1.533333333,BASELINE,764,742.393338679,711,671,663.606661321,633,876,783,799,649.606661321,629,650.393338679,0.400975415037,-0.0054164289892,0.049854554353,0.999999965319,2.68682562763e-05,-0.000256645903705,-5.26571514679e-05,1793192692413257472
+93,1.550000000,BASELINE,764,742.967513076,711,671,663.032486924,633,876,783,799,649.032486924,629,650.967513076,0.400975397101,-0.00541609283071,0.0498545582154,0.999999965057,2.57822917808e-05,-0.000257738635423,-5.28418597751e-05,1793192692429923584
+94,1.566666667,BASELINE,764,742.445049277,711,671,663,633,875.445049277,783,799,649,628.445049277,651,0.400975893591,-0.00541649617281,0.0498547511773,0.999999965507,2.84400279252e-05,-0.000255765133258,-5.25426697814e-05,1793192692446590208
+95,1.583333333,BASELINE,764,742,711,671,663.140974401,633,875,783,799.140974401,649,628,650.859025599,0.400976170523,-0.00541663203469,0.0498548557355,0.999999965805,3.00439229649e-05,-0.000254449666689,-5.2377020319e-05,1793192692463256576
+96,1.600000000,BASELINE,764,742,711,671,663.720130844,633,875,783,799.720130844,649,628,650.279869156,0.400975669124,-0.00541579865256,0.0498546502631,0.999999965523,2.76743582345e-05,-0.000255751114211,-5.27166510826e-05,1793192692479923200
+97,1.616666667,BASELINE,764,742,711,671,664,633,875.298330503,783.298330503,799.701669497,649,628.298330503,650.298330503,0.400975171701,-0.00541589263673,0.0498541919379,0.999999965332,2.65529241002e-05,-0.000256631666521,-5.26441875154e-05,1793192692496590080
+98,1.633333333,BASELINE,764,742,711,671,664,633,875.875635422,783.875635422,799.124364578,649,628.875635422,650.875635422,0.400974677996,-0.00541685381846,0.0498534971653,0.99999996523,2.65986402974e-05,-0.000257118631796,-5.21863668366e-05,1793192692513256704
+99,1.650000000,BASELINE,764,742,711,671,664,633,875.549761326,783.549761326,799,649,629,651,0.400974337876,-0.00541751012326,0.0498534064659,0.999999965163,2.50797743065e-05,-0.000257524112773,-5.22196318273e-05,1793192692529923328
+100,1.666666667,BASELINE,763.975209167,742,711,671,664,633,875,783,799.024790833,649.024790833,629,651,0.400974092734,-0.0054179670278,0.0498534960605,0.999999965115,2.33290374365e-05,-0.000257836973106,-5.24079981915e-05,1793192692546589952
+101,1.683333333,BASELINE,763.384900656,742,711,671,664,633,875,783,799.615099344,649.615099344,629,651,0.400975052201,-0.00541578486949,0.0498539148857,0.999999965344,2.60885803909e-05,-0.000256547381297,-5.30585992045e-05,1793192692563256576
+102,1.700000000,BASELINE,763.201610156,742,711,671,664,633,875,783,799.798389844,649.798389844,628.798389844,651,0.400974753733,-0.0054148565591,0.0498538842037,0.999999965288,2.730833434e-05,-0.000256585624457,-5.33056827378e-05,1793192692579923200
+103,1.716666667,BASELINE,763.781004638,742,711,671,664,633,875,783,799.218995362,649.218995362,628.218995362,651,0.400972098099,-0.00541627775406,0.0498530112191,0.999999964708,2.56427762247e-05,-0.000259112012454,-5.27966407011e-05,1793192692596589824
+104,1.733333333,BASELINE,764,742,711,671,664,633,875.356899393,783,799,649.356899393,628,650.643100607,0.4009731946,-0.0054171136113,0.0498535822403,0.999999965072,2.50064972098e-05,-0.000257818413725,-5.25321240074e-05,1793192692613256704
+105,1.750000000,BASELINE,764,742,711,671,664,633,875.930667606,783,799,649.930667606,628,650.069332394,0.400976571073,-0.00541759379002,0.0498550307072,0.999999966004,2.49956563165e-05,-0.000254203612042,-5.24161923376e-05,1793192692629923584
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,784,799,650,629,650,0.400975021917,-0.00541624132839,0.0498543532092,0.999999965372,2.52948048368e-05,-0.000256651638542,-5.23966468447e-05,1793192692660806400
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742.590390474,711,671,664.590390474,633,875.590390474,783.409609526,799.590390474,650,629,650.590390474,0.400973836819,-0.00541575735922,0.0498538603589,0.999999965085,2.5468759778e-05,-0.000257682917553,-5.2733824712e-05,1793192692677473024
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.82314837,711,671,664.82314837,633,876,783,800,649.82314837,629,651,0.400973784653,-0.00541563741126,0.0498539458027,0.999999965083,2.61429099964e-05,-0.000257602065704,-5.28366822877e-05,1793192692694139648
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.245590065,711,671,664.245590065,633,876,783,800,649.245590065,629,651,0.40097629946,-0.00541634225473,0.049855341533,0.999999965723,2.79503921068e-05,-0.000255001371526,-5.24086219787e-05,1793192692710806272
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.329696749,711,671,663.670303251,633,875.670303251,783,799.670303251,649.329696749,629,651,0.400976557524,-0.00541617541308,0.0498553985515,0.999999965802,2.84236864546e-05,-0.00025466868754,-5.22661030715e-05,1793192692727472896
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.903303081,711,671,663.096696919,633,875.096696919,783,799.096696919,649.903303081,629,651,0.400975146051,-0.00541536369895,0.0498544651913,0.999999965469,2.79099488815e-05,-0.00025601387715,-5.2334827656e-05,1793192692744139520
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.509003085,711,671.490996915,663.490996915,633,875.490996915,783,799.490996915,650,629,651,0.40097485056,-0.00541459518481,0.0498544362167,0.999999965365,2.86129273931e-05,-0.000256277726909,-5.26662609816e-05,1793192692760806144
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742,711,671.919999661,663.919999661,633,875.919999661,783.080000339,799.919999661,649.919999661,628.919999661,650.919999661,0.400975124079,-0.00541400341747,0.0498547834306,0.999999965368,2.93646587974e-05,-0.000256122282726,-5.29400129267e-05,1793192692777473024
+114,1.900000000,POSE1_TO_POSE2_PRESS,764,742,711,671.340650811,663.340650811,633,875.340650811,783.659349189,799.340650811,649.340650811,628.340650811,650.340650811,0.400977536902,-0.00541446020063,0.0498563341795,0.999999965763,2.88808492407e-05,-0.000254718196235,-5.25212492974e-05,1793192692794139648
+115,1.916666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.237753965,633,875,783.762246035,799,649.237753965,628,650.237753965,0.400985761029,-0.00541551543119,0.0498599730325,0.999999967433,2.78629506231e-05,-0.000248296075513,-5.20340066311e-05,1793192692810806272
+116,1.933333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.814811383,633,875,783.185188617,799,649.814811383,628,650.814811383,0.401002278583,-0.00541742471801,0.0498665918604,0.999999970791,2.60828428273e-05,-0.000234712617537,-5.14490361858e-05,1793192692827472896
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742.389605434,711,670.610394566,664,633,875,783,799,650,628.389605434,651,0.401033468905,-0.0054177078132,0.0498774097662,0.999999975899,2.74652844327e-05,-0.000211791172547,-5.09038913157e-05,1793192692844139520
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742.963329918,711,670.036670082,664,633,875,783,799,650,628.963329918,651,0.40107159326,-0.0054172224058,0.0498902120655,0.999999981259,3.03422778875e-05,-0.000184456796789,-5.03775670647e-05,1793192692860806144
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742.447201801,711,670.552798199,664,633,875,783,799,650,629,651,0.40113314754,-0.00542088548926,0.0499073674519,0.999999987531,2.69227860588e-05,-0.000147666315805,-4.90651951469e-05,1793192692877472768
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783,799.140653331,649.859346669,629,651,0.401198521417,-0.00542460940323,0.0499228087398,0.99999999172,2.38575098991e-05,-0.000117155653952,-4.75959965777e-05,1793192692894139648
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783,799.720122065,649.279877935,629,651,0.401270820725,-0.00542763937758,0.0499319750188,0.999999992822,2.32386208016e-05,-0.000108251355741,-4.58049701509e-05,1793192692910806272
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742.297368198,711,671.297368198,664,633,875.297368198,783,800,649.297368198,629,651,0.401352630551,-0.00543156405447,0.0499374752721,0.999999993616,2.12327197551e-05,-0.00010178985556,-4.42320183458e-05,1793192692927472896
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742.87253794,711,671.87253794,664,633,875.87253794,783,800,649.87253794,629,651,0.401443325104,-0.00543632456283,0.0499395507214,0.999999994157,1.79310713762e-05,-9.76104192606e-05,-4.28627920882e-05,1793192692944139520
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,743,711,671.542952503,664,633,875.542952503,783,799.542952503,650,628.542952503,651,0.401546709344,-0.00544044107507,0.0499393146413,0.999999994023,1.63206665119e-05,-9.96270788636e-05,-4.19683147721e-05,1793192692960806144
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742.956399071,711.043600929,671.043600929,664,633,875.043600929,783,799.087201858,650,628.043600929,651,0.401656365878,-0.00544439410178,0.0499386204851,0.99999999373,1.50674631331e-05,-0.000103041581654,-4.11640780442e-05,1793192692977473024
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742.377399477,711.622600523,671.622600523,664,633,875.622600523,783,800.245201046,650,628.622600523,651,0.40179868041,-0.00544859099689,0.0499403824137,0.999999993934,1.22879841535e-05,-0.000101959557405,-3.98082437583e-05,1793192692994139648
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711.798785386,671.798785386,664,633,876,783,800.798785386,650,629,651,0.401950448561,-0.0054540233987,0.0499407067359,0.999999993821,9.00288323846e-06,-0.000103934739447,-3.83878499022e-05,1793192693010806272
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711.220893027,671.220893027,664,633,876,783,800.220893027,650,629,651,0.402119914061,-0.00546176869306,0.04993833983,0.999999993079,4.77124835442e-06,-0.000111633072358,-3.68465994024e-05,1793192693027472896
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.644730755,633,875.644730755,783,800,650,629,650.644730755,0.402319177523,-0.00547022658151,0.0499383812058,0.999999993232,8.99650734431e-07,-0.000110954509639,-3.50027788569e-05,1793192693044139520
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.069638916,633,875.069638916,783,800,650,629,650.069638916,0.40253687847,-0.0054791253878,0.0499399127039,0.99999999393,-2.74917449399e-06,-0.000105092749417,-3.29717431596e-05,1793192693060805888
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.517639114,633,875,783,799.482360886,649.482360886,629,650.517639114,0.402778215297,-0.00548802835645,0.0499436326821,0.999999994503,-8.35341716543e-06,-9.99556571063e-05,-3.05434905837e-05,1793192693077472512
+132,2.200000000,POSE1_TO_POSE2_PRESS,764.10477086,742,711,671,664,632.89522914,874.89522914,783,799.10477086,649.10477086,629,650.89522914,0.403032804958,-0.00549697226593,0.0499480568911,0.999999995169,-1.35737821582e-05,-9.32134748251e-05,-2.80896031041e-05,1793192693094139136
+133,2.216666667,POSE1_TO_POSE2_PRESS,764.683643353,742,711,671,664,632.316356647,874.316356647,783,799.683643353,649.683643353,629,650.316356647,0.403332629675,-0.00550609884581,0.0499543034266,0.999999996441,-1.58379464639e-05,-7.87562572227e-05,-2.57673587719e-05,1793192693110806016
+134,2.233333333,POSE1_TO_POSE2_PRESS,764.738917508,742,711,671.261082492,664,632.261082492,874.261082492,783,799.738917508,650,628.738917508,650.261082492,0.403654407364,-0.00551640203389,0.0499623488422,0.999999997668,-1.93446615943e-05,-6.13747352068e-05,-2.28705802411e-05,1793192693127472896
+135,2.250000000,POSE1_TO_POSE2_PRESS,764.163205729,742,711,671.836794271,664,632.836794271,874.836794271,783,799.163205729,650,628.163205729,650.836794271,0.404002640459,-0.00552812314643,0.0499725620795,0.999999998699,-2.43487687514e-05,-4.04691485311e-05,-1.92814333812e-05,1793192693144139520
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,671.582785405,664,633,875,783.417214595,799,649.582785405,628,651,0.404373489743,-0.00553736875817,0.0499801163337,0.999999999176,-2.55277068583e-05,-2.74622270224e-05,-1.55540275791e-05,1793192693160806144
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,671.000502184,664,633,875,783.999497816,799,649.000502184,628,651,0.404753286987,-0.00554563495155,0.0499866185758,0.999999999459,-2.51932380677e-05,-1.75803687875e-05,-1.17719204843e-05,1793192693177472768
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.58309603,711,671,664.58309603,633,875.58309603,783.41690397,799,649.58309603,628,651,0.405173816164,-0.00553939468137,0.0499812734816,0.999999999605,-4.30939569434e-06,-2.67928379694e-05,-7.26869002131e-06,1793192693194139392
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.834830791,711,671,664.834830791,633,875.834830791,783,799.165169209,650,628.165169209,651,0.405594304252,-0.00553078362707,0.0499709669164,0.99999999875,1.88134174994e-05,-4.61759951925e-05,-3.80867859487e-06,1793192693210806272
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.256574642,711,671,664.256574642,633,875.256574642,783,799.743425358,650,628.743425358,651,0.406014601578,-0.00551627457744,0.0499482773266,0.999999994732,4.74915142508e-05,-9.09547436019e-05,-2.95930752883e-06,1793192693227472896
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742,711,671.319855831,664,633,875.319855831,783,799.680144169,650,629,651,0.406470670129,-0.00551214879117,0.0499290791905,0.999999990342,6.39617689719e-05,-0.000123386713022,-9.86367465969e-07,1793192693244139520
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742,711,671.894830199,664,633,875.894830199,783,799.105169801,650,629,651,0.406955270023,-0.00551630474373,0.0499126658522,0.999999986846,7.0694993805e-05,-0.000145970837563,1.88273667691e-06,1793192693260806144
+143,2.383333333,POSE1_TO_POSE2_PRESS,764.480444089,742.480444089,711,671.519555911,664,633,876,783,799.480444089,650,629,650.519555911,0.407504755743,-0.00552336136577,0.049918592031,0.999999988599,7.65192197973e-05,-0.000129991122591,6.97675351737e-06,1793192693277473280
+144,2.400000000,POSE1_TO_POSE2_PRESS,764.932693584,743,711,671,664,633,876,783,799.932693584,650,628.932693584,650.067306416,0.408075885094,-0.00553019243579,0.0499315602074,0.999999991202,8.3162884968e-05,-0.000102560214361,1.26772734613e-05,1793192693294140160
+145,2.416666667,POSE1_TO_POSE2_PRESS,764.354434426,743,711,671,664,633,876,783,799.354434426,650,628.354434426,650.645565574,0.408701053505,-0.00553038181897,0.0499600233137,0.999999993612,9.75720395695e-05,-5.3733988403e-05,1.92009911534e-05,1793192693310806784
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711,671,664,633,876,783.222317092,799,650,628,651,0.409326974209,-0.00553005163426,0.0499816302107,0.999999993444,0.000110088005911,-1.91926693597e-05,2.49677703972e-05,1793192693327474432
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,743,711,671,664,633,876,783.796681173,799,650,628,651,0.409954086158,-0.00552889869539,0.0499923800559,0.999999992385,0.000119606041041,-7.27200943784e-06,2.95359104709e-05,1793192693344143104
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.626434313,711,671,664,633,876,783.626434313,799,650,628,651,0.410572610875,-0.00552832606545,0.0499787065386,0.999999995789,7.93085486508e-05,-4.14522338971e-05,2.03408151019e-05,1793192693360808960
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742.048168714,711,671,664,633,876,783.048168714,799,650,628,651,0.411186430093,-0.00552807142295,0.0499516499393,0.999999994835,1.17140245869e-05,-0.000100894004903,3.60398535612e-06,1793192693377473280
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742.54030453,711,671,664,633,875.45969547,783,799.54030453,650,628.54030453,651,0.411864652054,-0.0055327708783,0.0499317904025,0.999999992168,1.46523193623e-05,-0.000124159473664,5.7322239259e-06,1793192693394139648
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742.872669938,711,671,664,633,875.127330062,783.127330062,799.872669938,650,628.872669938,651,0.412570084368,-0.00553775192894,0.0499231472637,0.999999991465,2.34085002091e-05,-0.000128144578741,1.00115462464e-05,1793192693410806528
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.294062818,711,671,664,633,875.705937182,783.705937182,799.294062818,650,628.294062818,651,0.413351213298,-0.00554213553208,0.0499519389376,0.999999996576,3.00691183236e-05,-7.54476909779e-05,1.58391563887e-05,1793192693427473408
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.283239039,711,671,664,633,876,783.716760961,799.283239039,650,628,650.716760961,0.41410609748,-0.00554318708288,0.0499619557158,0.999999997527,3.37786582231e-05,-5.87229849999e-05,1.88780221185e-05,1793192693444139776
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.859192039,711,671,664,633,876,783.140807961,799.859192039,650,628,650.140807961,0.414833859068,-0.00554079511795,0.0499525695431,0.999999996092,3.44384012108e-05,-7.91737971534e-05,1.9034855006e-05,1793192693460806400
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.56607264,711,671,664,632.56607264,876,783,800,649.56607264,628.43392736,650.43392736,0.415583172144,-0.005540804872,0.0499325839386,0.99999999337,2.59214174935e-05,-0.000110951962172,1.66706346756e-05,1793192693477473024
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.008535486,711.008535486,671,664,632.008535486,876,783,799.991464514,649.008535486,628.991464514,650.991464514,0.416340566821,-0.00554163203492,0.0499097919066,0.999999989244,1.45138790137e-05,-0.000145314998138,1.35702898901e-05,1793192693494139648
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.601413452,711.601413452,671,664,632.601413452,876,783,799.398586548,649.601413452,628.398586548,650.398586548,0.417173804172,-0.00554521405077,0.049929679848,0.99999999425,8.50981107886e-06,-0.000105704645831,1.59234551988e-05,1793192693510806272
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.810945051,711.810945051,671,664,633,876.189054949,783,799,650,628.189054949,650,0.418008093486,-0.00554841309022,0.04995086274,0.99999999758,4.91390638283e-06,-6.68036050955e-05,1.88105885604e-05,1793192693527472896
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.234046143,711.234046143,671,664,633,876.765953857,783,799,650,628.765953857,650,0.418844540839,-0.00555082645801,0.0499747022061,0.99999999929,6.25832006051e-06,-2.93577111241e-05,2.27931508638e-05,1793192693544139520
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.342840672,711,671.342840672,664,632.657159328,877,783,799,650,629,650,0.419645728758,-0.00554914393588,0.0499685844462,0.999999998737,7.94054869372e-06,-4.36294424498e-05,2.36309338006e-05,1793192693560806400
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.919719208,711,671.919719208,664,632.080280792,877,783,799,650,629,650,0.420422847029,-0.00554466538215,0.049942016588,0.999999995359,9.85338435346e-06,-9.32058619875e-05,2.23219542019e-05,1793192693577473280
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.494261862,711.505738138,672,664,632.505738138,877,783,799,650,629,650,0.421305994141,-0.00554542187245,0.0499579664041,0.999999998439,2.00157383945e-06,-5.15180883927e-05,2.15347395598e-05,1793192693594139904
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742,712,672,664.091975969,632.908024031,876.908024031,783.091975969,799.091975969,650,628.908024031,650,0.422195565512,-0.0055477548162,0.0499769986299,0.999999999739,-6.89309923779e-06,-4.79326248548e-06,2.12586334207e-05,1793192693610806528
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742,712,672,664.67154062,632.32845938,876.32845938,783.67154062,799.67154062,650,628.32845938,650,0.423028325394,-0.00555395846383,0.0499759334136,0.9999999996,-1.29478517296e-05,-9.58009861743e-06,2.32448897004e-05,1793192693627473152
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.249531266,712,672,664.750468734,632.249531266,876,784,799.750468734,650,628.249531266,650,0.42385667913,-0.00555780960852,0.0499679358954,0.999999999273,-1.78091307506e-05,-2.34080162958e-05,2.42764948945e-05,1793192693644139776
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.82546311,712,672,664.17453689,632.82546311,876,784,799.17453689,650,628.82546311,650,0.424679269503,-0.00555858355124,0.049950870546,0.999999998284,-2.11092818711e-05,-4.90621649702e-05,2.40593643946e-05,1793192693660806400
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711.599056179,672,664.400943821,633,876.400943821,783.599056179,799.400943821,650,629,650.400943821,0.425523590882,-0.00556072843084,0.0499616641383,0.999999998675,-2.74818093117e-05,-3.54052477155e-05,2.53113692531e-05,1793192693677473280
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,711.023771666,672,664.976228334,633,876.976228334,783.023771666,799.976228334,650,629,650.976228334,0.426377361413,-0.00556346942904,0.0499845715165,0.999999999,-3.51902848296e-05,-4.65486573346e-06,2.72021919706e-05,1793192693694139904
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,633,877,783,799.433997353,649.433997353,629,651,0.427189050531,-0.00556076592248,0.0499849300269,0.999999998633,-3.22222568269e-05,-2.86317668706e-05,2.95802902641e-05,1793192693710806528
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,742.847073813,711,672,665,633,876.847073813,783.152926187,799,649,628.847073813,650.847073813,0.427989153764,-0.00555838178568,0.0499752760894,0.999999997268,-3.03087427012e-05,-6.00048597068e-05,3.0750907689e-05,1793192693727473408
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.269793949,711,672,665,633,876.269793949,783.730206051,799,649,628.269793949,650.269793949,0.428762140531,-0.00555753505681,0.049940535651,0.999999993512,-3.25983564823e-05,-0.000105355917299,2.85126151136e-05,1793192693744140032
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.306584822,711.306584822,672,664.693415178,633,876.306584822,783.693415178,799.306584822,649.306584822,628.306584822,650.306584822,0.429566909202,-0.00555909268586,0.0499337475004,0.999999993402,-3.81018794408e-05,-0.000104799328566,2.75796978752e-05,1793192693760806656
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.882172927,711.882172927,672,664.117827073,633,876.882172927,783.117827073,799.882172927,649.882172927,628.882172927,650.882172927,0.430399563873,-0.00556275994374,0.049951485214,0.999999996491,-4.64253465648e-05,-6.39625061169e-05,2.77921415992e-05,1793192693777473280
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.53187913,711.53187913,672,664.46812087,632.53187913,876.53187913,783,800,649.53187913,628.53187913,650.53187913,0.431149197853,-0.00556293960389,0.0499451437457,0.999999995322,-5.00747268366e-05,-7.79359384736e-05,2.78342899587e-05,1793192693794139648
+175,2.916666667,POSE1_TO_POSE2_PRESS,764.055810561,742,711,672,664.944189439,632.055810561,876,783,799.944189439,649,628,650.055810561,0.431879992614,-0.00556223838131,0.0499325393589,0.999999992737,-5.25586737453e-05,-0.000104851260419,2.77331709345e-05,1793192693810806016
+176,2.933333333,POSE1_TO_POSE2_PRESS,764.63482954,742,711,672,664.36517046,632.63482954,876,783,799.36517046,649,628,650.63482954,0.432634506736,-0.00556169484417,0.0499193259096,0.999999990809,-5.53957676079e-05,-0.000120833799655,2.66998899248e-05,1793192693827472896
+177,2.950000000,POSE1_TO_POSE2_PRESS,764.786971596,742,711,672,664.213028404,632.786971596,876.213028404,783,799,649.213028404,628.213028404,650.786971596,0.433386532501,-0.00556279459894,0.0499223264859,0.99999999158,-6.01929175533e-05,-0.000111809502339,2.67408284633e-05,1793192693844139776
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.210173078,742,711,672,664.789826922,632.210173078,876.789826922,783,799,649.789826922,628.789826922,650.210173078,0.434134309237,-0.00556670046055,0.0499530143439,0.999999995451,-6.83370855049e-05,-6.00832033265e-05,2.86161182711e-05,1793192693860806144
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.366093577,711,672,665,632,876.633906423,783,799.366093577,649.633906423,629,650,0.434839109161,-0.00556641028957,0.0499708181302,0.999999996276,-7.23539280726e-05,-3.65733277277e-05,2.95769435017e-05,1793192693877472768
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.942055299,711,672,665,632,876.057944701,783,799.942055299,649.057944701,629,650,0.435519271995,-0.00556371468534,0.0499812359444,0.999999996384,-7.40047245417e-05,-2.92389056219e-05,3.00135393333e-05,1793192693894139648
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,632,876.529952753,783,799.470047247,649,629,650,0.436112371868,-0.00556191112311,0.0499564251151,0.999999993341,-7.03758615573e-05,-8.6162646295e-05,3.06706200111e-05,1793192693910806784
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.882835302,711,672.117164698,665,632.117164698,876.882835302,783,799,649,629,650,0.436709415189,-0.00556014242682,0.0499347373264,0.999999988614,-6.65862246085e-05,-0.000131782182789,3.11802614406e-05,1793192693927473408
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.303592382,711,672.696407618,665,632.696407618,876.303592382,783,799,649,629,650,0.437360418813,-0.00555811770978,0.0499409074872,0.999999991982,-6.44916559701e-05,-0.000104472176053,3.10111598404e-05,1793192693944139776
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711,672.725688543,665,633,876,783,799.274311457,649,629,650,0.437989749979,-0.00555915163873,0.0499554581676,0.999999995,-6.44594679696e-05,-6.92912821614e-05,3.2316171658e-05,1793192693960806656
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711,672.149259561,665,633,876,783,799.850740439,649,629,650,0.438595211777,-0.00556355425889,0.0499792388736,0.999999996831,-6.66987175776e-05,-2.54416563854e-05,3.52447230086e-05,1793192693977473280
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742.43346073,711,672,665,633,876,783,799.56653927,649,629,650,0.439107334111,-0.00556304219266,0.0499705201842,0.999999996387,-6.47517830324e-05,-4.18064434148e-05,3.58636132827e-05,1793192693994139904
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,743,711,672,665,633,876,783.01819991,799,649,628.98180009,650,0.439585763744,-0.00556085486748,0.0499499919682,0.999999994308,-6.13051437922e-05,-7.97129889161e-05,3.5670657948e-05,1793192694010806784
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,743,711,672,665,633,876,783.597407979,799,649,628.402592021,650,0.440030948919,-0.00555996243579,0.0499154774187,0.999999988911,-5.67183794861e-05,-0.000133090928733,3.53292969971e-05,1793192694027473408
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.823840564,711.176159436,672,664.823840564,632.823840564,876.352318872,783.823840564,799.176159436,649,628,650,0.440474694479,-0.00555833931284,0.049888305919,0.999999982678,-5.26183220034e-05,-0.000175096851287,3.48784307226e-05,1793192694044140032
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.246129829,711.753870171,672,664.246129829,632.246129829,877.507740342,783.246129829,799.753870171,649,628,650,0.440915158557,-0.00555505059614,0.0498778727221,0.999999979909,-4.96277007014e-05,-0.000191180538674,3.41779497559e-05,1793192694060806656
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.330880997,712,672,664,632,877.338238006,783,799.669119003,649,628.330880997,650,0.44133241906,-0.00555405503032,0.0498764549515,0.999999979237,-5.69657053624e-05,-0.000193051596046,3.18116527079e-05,1793192694077473280
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.907372252,712,672,664,632,876.185255495,783,799.092627748,649,628.907372252,650,0.441732455713,-0.00555476165184,0.0498817292586,0.999999980016,-7.19705647801e-05,-0.000184372733406,2.82088340449e-05,1793192694094139904
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,743,711.507251604,672,664.492748396,632.492748396,876,783,799,649.492748396,629,650,0.442087793792,-0.00555702692889,0.0498799141004,0.99999997836,-9.75739501379e-05,-0.000182565230984,2.07289279035e-05,1793192694110806272
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,743,711,672,664.921254309,632.921254309,876.078745691,783,799,649.921254309,629,650.078745691,0.442426528424,-0.00556019889539,0.0498751893954,0.999999975141,-0.000121807095535,-0.000186243251932,1.39588774542e-05,1793192694127472896
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,743,711,672,664.342118066,632.342118066,876.657881934,783,799,649.342118066,629,650.657881934,0.4427141306,-0.00556723637837,0.0498606000412,0.999999968704,-0.000124440270229,-0.000216420318691,1.6415965731e-05,1793192694144140032
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.764160556,711.235839444,672,663.764160556,632,877,783,799.235839444,649,629,650.764160556,0.442988268702,-0.00557016120219,0.0498448187391,0.999999967449,-7.29070507897e-05,-0.000243882051689,1.75656746709e-05,1793192694160806656
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.187904508,711.812095492,672,663.187904508,632,877,783,799.812095492,649,629,650.187904508,0.443242972396,-0.0055671497094,0.0498273169509,0.999999962487,5.68113098845e-05,-0.000267424398163,1.68282788821e-05,1793192694177473280
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,711.61296507,672,663.38703493,632,877,783,800,649,629,650,0.443465467567,-0.00555936372135,0.0498102815366,0.999999950798,0.000103830966186,-0.000295539596606,1.67143168935e-05,1793192694194139648
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711.038662626,672,663.961337374,632,877,783,800,649,629,650,0.443672378612,-0.0055492675853,0.0497934717766,0.99999994062,0.000110836724468,-0.00032586738073,1.69020044324e-05,1793192694210806528
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.551788809,711,672,663.448211191,632,877,783,799.448211191,649,628.448211191,650,0.44385784031,-0.00554279485972,0.0497869689751,0.999999936421,0.00012051861322,-0.0003351825318,1.6911441617e-05,1793192694227473152
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711,672.14029459,663,632,876.85970541,783,799.14029459,649,628,650,0.444037319831,-0.00554010548831,0.0497826727909,0.999999933659,0.000125327668413,-0.000341585272894,1.71820683877e-05,1793192694244139520
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,672.71907626,663,632,876.28092374,783,799.71907626,649,628,650,0.444202941177,-0.00554842345753,0.0497829481057,0.99999993426,0.000114303083543,-0.000343625753029,1.83092492359e-05,1793192694260806144
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,672.703535496,662.703535496,631.703535496,876.296464504,783,800,649,628.296464504,650,0.444352806711,-0.00555563019868,0.0497820602776,0.999999934423,0.000105624344045,-0.000345879358492,1.90938366239e-05,1793192694277472768
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,743,711,672.127461494,662.127461494,631.127461494,876.872538506,783,800,649,628.872538506,650,0.444487812192,-0.0055617888883,0.049780075435,0.999999934224,9.91580813864e-05,-0.000348333972285,1.95553080757e-05,1793192694294139392
+205,3.416666667,POSE1_TO_POSE2_PRESS,764.456479112,742.543520888,711,672.456479112,662.456479112,631,877,783,799.543520888,649.456479112,629,650,0.444591696405,-0.00556099770851,0.049775314305,0.999999931968,9.89991018464e-05,-0.00035482652562,1.90070400022e-05,1793192694310806272
+206,3.433333333,POSE1_TO_POSE2_PRESS,764.957622383,742,711,672.957622383,662.957622383,631,877,783,799,649.957622383,629,650,0.444685301216,-0.00555832128959,0.0497700083664,0.999999929236,0.000100549666373,-0.000362056479995,1.82212391754e-05,1793192694327473152
+207,3.450000000,POSE1_TO_POSE2_PRESS,764.375255819,742,711,672.375255819,662.375255819,631,877,783,799,649.375255819,629,650,0.444760593926,-0.00555678383195,0.049767811561,0.99999992846,0.000101048923679,-0.000364063695791,1.80643770352e-05,1793192694344139776
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,742,711,672.204900374,662.204900374,631,877,782.795099626,799,649,628.795099626,650,0.444829931209,-0.00555454907922,0.0497656599217,0.999999927615,0.000102407608513,-0.000366015407835,1.77452602596e-05,1793192694360806400
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,742,711,672.781051619,662.781051619,631,877,782.218948381,799,649,628.218948381,650,0.444888478079,-0.00555105092529,0.0497635901171,0.999999926644,0.000105323455996,-0.000367866554612,1.71321607534e-05,1793192694377473024
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,742.356441155,711,673,662.643558845,631.356441155,877,782.356441155,799.356441155,648.643558845,628,650,0.444936966028,-0.00555038505927,0.0497622645029,0.999999926456,0.000105082337682,-0.000368450705082,1.69953403721e-05,1793192694394139648
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,742.931363855,711,673,662.068636145,631.931363855,877,782.931363855,799.931363855,648.068636145,628,650,0.44497928834,-0.00555145525125,0.0497613950419,0.999999926751,0.000102906149145,-0.000368258247008,1.71504564764e-05,1793192694410806528
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,711,673,662.517656811,632,876.482343189,783,800,648.517656811,628.517656811,650,0.445004659983,-0.00555356672312,0.0497592625498,0.999999925733,0.000100140055183,-0.000371774283788,1.70344723295e-05,1793192694427473152
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,711,673,662.896130878,631.896130878,876.103869122,783,799.896130878,649,628.896130878,650,0.445025616629,-0.00555489285639,0.0497568728019,0.999999924316,9.82676451847e-05,-0.000376069721721,1.68181437666e-05,1793192694444139776
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711,673,662.317335118,631.317335118,876.682664882,783,799.317335118,649,628.317335118,650,0.445036893461,-0.00555198269041,0.0497540896958,0.999999921961,0.000100847137021,-0.000381630097611,1.63110500696e-05,1793192694460806656
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,742.739988898,711,673,662,631,877,783,799,649,628.260011102,650.260011102,0.445047127777,-0.00554979309833,0.0497519378151,0.999999920316,0.00010338986722,-0.000385260971611,1.58839739982e-05,1793192694477473536
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,742.16440202,711,673,662,631,877,783,799,649,628.83559798,650.83559798,0.44505609679,-0.00554847806779,0.0497505520535,0.999999919562,0.000105887979624,-0.000386550006619,1.55540154425e-05,1793192694494140160
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,742.419765232,711.419765232,672.580234768,662,631.419765232,876.580234768,783,799,649,629,650.580234768,0.445061341856,-0.00554821274969,0.0497500473165,0.999999919653,0.000104538972266,-0.000386703509881,1.50474499604e-05,1793192694510806528
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,742.992745095,711.992745095,672.007254905,662,631.992745095,876.007254905,783,799.007254905,649,629,650,0.445065078539,-0.00554837592201,0.0497498966466,0.999999920069,0.000101670063605,-0.000386414086592,1.44839870453e-05,1793192694527472896
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,742.413782972,711.413782972,672.586217028,662,631.413782972,876.586217028,783,799.586217028,649,629,650,0.445067282071,-0.00554923169684,0.0497498887156,0.999999919979,0.000100241167683,-0.000386998391506,1.50012605348e-05,1793192694544139264
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,742.164974148,711,673,662,631,877,783,800,649.164974148,629,650,0.44506883037,-0.00554963373238,0.0497496690608,0.99999991981,9.92269826038e-05,-0.000387684957363,1.53240797835e-05,1793192694560805888
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,742.743217638,711,673,662,631,877,783,800,649.743217638,629,650,0.445068737276,-0.00554889912586,0.0497489190263,0.999999919444,9.92516712808e-05,-0.000388627692438,1.51597803538e-05,1793192694577472768
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,672.680424577,662,631,876.680424577,783,800,649.680424577,629,650.319575423,0.445068836691,-0.00554862171833,0.0497479533753,0.99999991909,9.83476010071e-05,-0.000389780121708,1.48107336834e-05,1793192694594139648
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711,672.105573026,662,631,876.105573026,783,800,649.105573026,629,650.894426974,0.445069089882,-0.00554870952027,0.0497468154903,0.999999918742,9.67016401774e-05,-0.00039110005433,1.43141113156e-05,1793192694610806528
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.519555737,711,672.480444263,662,631,876.480444263,783,800,649,629,651,0.44507036389,-0.00554978097808,0.0497468575083,0.999999918872,9.69707822248e-05,-0.000390704926011,1.42587502859e-05,1793192694627473152
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.06823942,711,673,662,631,877.06823942,782.93176058,800,649,629,651,0.445071817142,-0.00555071712887,0.0497472050167,0.999999919136,9.76477897542e-05,-0.00038985776415,1.43064421184e-05,1793192694644139520
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.650505329,711,673,662,631,877.650505329,782.349494671,800,649,629,651,0.445072890675,-0.00554896713082,0.0497478542029,0.999999919609,9.8151749798e-05,-0.000388511950199,1.43826288573e-05,1793192694660806144
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711.229408305,673,662.229408305,631.229408305,877.770591695,782.229408305,800,649.229408305,629,650.770591695,0.445073048659,-0.00554751921146,0.0497480015432,0.999999919527,9.92825458612e-05,-0.000388434655303,1.44099363587e-05,1793192694677472768
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711.803261966,673,662.803261966,631.803261966,877.196738034,782.803261966,800,649.803261966,629,650.196738034,0.445071831989,-0.00554652484862,0.0497473953864,0.999999918608,0.000101354505535,-0.000390261979835,1.43638540696e-05,1793192694694139392
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.621816252,711.621816252,673,662.621816252,631.621816252,877,783,800,649.621816252,629,650.378183748,0.445071020526,-0.00554602963288,0.0497465600346,0.999999917981,0.000102248181843,-0.00039164960437,1.39322020924e-05,1793192694710806016
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,742.046337257,711.046337257,673,662.046337257,631.046337257,877,783,800,649.046337257,629,650.953662743,0.445070420456,-0.00554579481796,0.0497456051138,0.999999917507,0.000102527157671,-0.000392807841097,1.32994016882e-05,1793192694727472896
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,742.541607315,711.541607315,673,662,631,876.458392685,783,800,649,629,650.458392685,0.445071748691,-0.0055467935583,0.0497466357239,0.999999918454,0.000100702933268,-0.000390842811439,1.38563678714e-05,1793192694744139520
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711.871213946,673,662.128786054,631,876.257572108,783,800,649,629,650,0.445072677598,-0.00554759047164,0.0497472618706,0.999999919075,9.90216720298e-05,-0.000389665850163,1.42974537144e-05,1793192694760806144
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711.290552636,673,662.709447364,631,877.418894728,783,800,649,629,650,0.445071612876,-0.00554730020474,0.0497458587875,0.999999918137,9.84882624158e-05,-0.000392213666392,1.39663774258e-05,1793192694777472768
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711,673,663,631,877.426074923,783,799.713037462,649,629,650,0.445071380051,-0.00554673846489,0.0497454925729,0.999999917647,9.92235512767e-05,-0.000393276215592,1.39211278894e-05,1793192694794139392
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,711,673,663,631,876.277346336,783,799.138673168,649,629,650,0.445071980396,-0.00554590483655,0.0497461648136,0.99999991761,0.000101229480381,-0.000392851224764,1.41621425434e-05,1793192694810806272
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,711,673,662.555243738,631,876.444756262,783,799,649.444756262,629,650,0.445072617866,-0.00554706153014,0.0497464427952,0.999999917958,9.96590666396e-05,-0.00039236447256,1.41984641241e-05,1793192694827472896
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,673,662,631,877,783,799,649.969135811,629,650.030864189,0.445073275628,-0.00554868929438,0.049746592016,0.9999999184,9.71476967645e-05,-0.000391869440247,1.41511985346e-05,1793192694844139520
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,673,662,631,877,783,799,649.386722508,629,650.613277492,0.44507408484,-0.00554741466563,0.0497466827152,0.999999918421,9.81627164119e-05,-0.000391577725597,1.3774463632e-05,1793192694860806400
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711.193647917,673.193647917,662,631,877,783,799,649,629,650.806352083,0.445074926416,-0.00554641029845,0.0497470898608,0.999999918598,9.90084551865e-05,-0.000390918651084,1.35880881928e-05,1793192694877473024
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711.769981187,673.769981187,662,631,877,783,799,649,629,650.230018813,0.445075831945,-0.00554594001995,0.0497481223651,0.999999919085,9.95196624923e-05,-0.000389533603175,1.37778995148e-05,1793192694894139392
+241,4.016666667,HOLD_POSE2,764,743,712,673,662,631,877,783,800,649,629,651,0.445073103425,-0.00554597461729,0.0497468217683,0.999999917922,9.99887101554e-05,-0.000392393279351,1.36018007497e-05,1793192694929254400
+242,4.033333333,HOLD_POSE2,764.57943626,743,711.42056374,673,662,631,877,783,799.42056374,649,628.42056374,651,0.445073599512,-0.0055458177812,0.0497470328326,0.999999918326,9.87261847579e-05,-0.000391691512183,1.34121617146e-05,1793192694945921024
+243,4.050000000,HOLD_POSE2,764.841426997,743,711,672.841426997,662.158573003,631,876.841426997,783,799.158573003,649.158573003,628.158573003,650.841426997,0.445073621847,-0.00554553135161,0.0497468697959,0.999999918404,9.81823748902e-05,-0.000391633226285,1.32463371981e-05,1793192694962587904
+244,4.066666667,HOLD_POSE2,764.263083,743,711,672.263083,662.736917,631,876.263083,783,799.736917,649.736917,628.736917,650.263083,0.445072390078,-0.00554490186487,0.0497457164476,0.999999917625,9.95411328214e-05,-0.000393278349814,1.31435539142e-05,1793192694979254528
+245,4.083333333,HOLD_POSE2,764,743,711.312257485,672.312257485,663,631,876.312257485,783,799.687742515,649.687742515,629,650,0.445072673877,-0.00554567706625,0.0497458277046,0.999999917754,9.88783628563e-05,-0.000393116400559,1.32034134616e-05,1793192694995921664
+246,4.100000000,HOLD_POSE2,764,743,711.885091526,672.885091526,663,631,876.885091526,783,799.114908474,649.114908474,629,650,0.445074222407,-0.0055476244695,0.0497469942653,0.999999918636,9.65286427677e-05,-0.000391446462361,1.33989972522e-05,1793192695012589312
+247,4.116666667,HOLD_POSE2,764,743,711.528487564,673,662.528487564,631.471512436,877.471512436,783,799.471512436,649.471512436,629,650,0.445075215348,-0.00554689474926,0.0497471019321,0.999999918661,9.86187164776e-05,-0.000390856490009,1.35234681966e-05,1793192695029255936
+248,4.133333333,HOLD_POSE2,764,743,711,673,662,632,877.879487982,783,799.939743991,649.939743991,628.939743991,650.060256009,0.44507573269,-0.00554556661124,0.0497468176027,0.999999918372,0.000101505871042,-0.0003908544244,1.36110997892e-05,1793192695045922304
+249,4.150000000,HOLD_POSE2,764,743,711,673,662,632,876.720725754,783,799.360362877,649.360362877,628.360362877,650.639637123,0.445073353717,-0.00554487049241,0.0497454452865,0.999999917287,0.000101661895865,-0.00039358262473,1.35350848639e-05,1793192695062588928
+250,4.166666667,HOLD_POSE2,764,743,711.217780865,673,662,631.782219135,876.217780865,782.782219135,799,649,628.217780865,651,0.445072386413,-0.00554454892368,0.0497450305079,0.999999917022,0.00010065016492,-0.000394523071332,1.33416339573e-05,1793192695079255040
+251,4.183333333,HOLD_POSE2,764,743,711.793888635,673,662,631.206111365,876.793888635,782.206111365,799,649,628.793888635,651,0.445073741807,-0.00554484362301,0.0497461912191,0.999999918105,9.77170607992e-05,-0.000392522027572,1.29549591421e-05,1793192695095921408
+252,4.200000000,HOLD_POSE2,764,743,712,672.631496013,662.368503987,631,877,782.368503987,799,649,628.631496013,650.631496013,0.44507318349,-0.00554531795233,0.049745685575,0.999999917746,9.76876397434e-05,-0.000393443016127,1.29220735782e-05,1793192695112588032
+253,4.216666667,HOLD_POSE2,764,743,712,672.057711977,662.942288023,631,877,782.942288023,799,649,628.057711977,650.057711977,0.445071559114,-0.00554589234696,0.0497442516656,0.999999916582,9.92757536881e-05,-0.000395991761465,1.30862709867e-05,1793192695129254400
+254,4.233333333,HOLD_POSE2,764,743,712,672,662.467844468,631,877,783,799,649,628.532155532,650,0.445073368068,-0.00554667683729,0.0497459461297,0.999999917758,9.78857039109e-05,-0.000393354197747,1.32479208147e-05,1793192695145921024
+255,4.250000000,HOLD_POSE2,764,743,712,672,662.121252561,631.121252561,877.121252561,783,799.242505121,649,629,650,0.445075241263,-0.00554704745287,0.0497474923101,0.999999918881,9.66967689035e-05,-0.000390780902821,1.33414276238e-05,1793192695162587648
+256,4.266666667,HOLD_POSE2,764,743,712,672,662.700642793,631.700642793,877.700642793,783,800.401285586,649,629,650,0.445075906491,-0.00554576552221,0.0497471563788,0.999999918857,9.75260931048e-05,-0.000390641825642,1.31785410215e-05,1793192695179254528
+257,4.283333333,POSE2_TO_POSE3_RETREAT,764,743,711,672,662,631,877,783,799,649,628,650,0.445077923912,-0.00554567951534,0.0497480792409,0.999999919387,9.99952832304e-05,-0.000388642068031,1.35429905664e-05,1793192695217153792
+258,4.300000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.593512977,662,631,877,783,799,649,628,650,0.445076052967,-0.00554572565013,0.049746717086,0.999999918165,9.99718384112e-05,-0.000391793918591,1.3163932075e-05,1793192695233819904
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764.18251763,743,711.18251763,673,661.81748237,631,877,783,799.18251763,649.18251763,628,650.18251763,0.445074875378,-0.00554533212989,0.0497459505238,0.999999917353,0.000100452775608,-0.000393742489304,1.30048865486e-05,1793192695250486016
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764.761723887,743,711.761723887,673,661.238276113,631,877,783,799.761723887,649.761723887,628,650.761723887,0.445075204746,-0.00554398305184,0.049746478438,0.999999917452,0.000102029949967,-0.000393075820497,1.3324022926e-05,1793192695267152640
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764.659684705,743,711.659684705,672.659684705,661.340315295,631.340315295,877,783,799.659684705,650,628.340315295,651,0.445074921943,-0.00554412421758,0.0497466720985,0.999999917534,0.000101373614077,-0.00039303667899,1.33192975584e-05,1793192695283819264
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764.081523051,743,711.081523051,672.081523051,661.918476949,631.918476949,877,783,799.081523051,650,628.918476949,651,0.445074211293,-0.0055453069148,0.0497466321489,0.999999917602,9.91562777808e-05,-0.000393436116351,1.30882251983e-05,1793192695300485888
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.492565485,661.507434515,631.507434515,876.507434515,783,799.492565485,650,629,650.507434515,0.445073890428,-0.00554379429284,0.0497462101251,0.999999917565,9.97736987395e-05,-0.000393383381099,1.28335138586e-05,1793192695317152512
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,672.932136031,661,631,876.067863969,783,799.932136031,649.932136031,629,650,0.445073039689,-0.00554225301241,0.0497455056095,0.999999917365,0.000100459829508,-0.000393724206773,1.26131261948e-05,1793192695333819648
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.342391306,661,631,876.657608694,783,799.342391306,649.342391306,629,650,0.445067622136,-0.00554389372058,0.0497431110067,0.99999991604,9.80959541182e-05,-0.000397662345457,1.26865311812e-05,1793192695350486528
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,743,711.242983177,672,661,631,876.757016823,783,799,649.242983177,629,650,0.445052711334,-0.00554435412049,0.0497364451783,0.999999911459,9.73160622754e-05,-0.000409220760248,1.2243779146e-05,1793192695367153152
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,743,711.822308239,672,661,631,876.177691761,783,799,649.822308239,629,650,0.445024659797,-0.00554318071538,0.0497238670394,0.999999902043,9.87287504154e-05,-0.000431327304091,1.10865528433e-05,1793192695383819520
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711.600893419,672,661,631,876.399106581,783,799,650,628.600893419,650,0.444976658935,-0.00554126611973,0.0497048051992,0.999999886695,0.00010005095312,-0.000465293894741,1.00238446317e-05,1793192695400486144
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711.025212906,672,661,631,876.974787094,783,799,650,628.025212906,650,0.44491983203,-0.00553902360425,0.0496828748192,0.999999867561,0.000101333122991,-0.000504507644297,9.00295328598e-06,1793192695417152768
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,672,661,631,876.452629075,783,799.547370925,649.452629075,628.547370925,650,0.444851688788,-0.00553655746828,0.0496679015827,0.999999859138,0.0001009118303,-0.000521049231572,7.0226201226e-06,1793192695433819392
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742.875719904,711,672.248560192,661,631,876.124280096,783,800,649.124280096,629,650,0.444780145436,-0.00553350403611,0.0496556049428,0.999999851796,0.000101380053156,-0.000534886673944,5.21322649191e-06,1793192695450485760
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.281934472,711,673.436131057,661,631,876.718065528,783,800,649.718065528,629,650,0.444697715236,-0.00552827060953,0.049652216127,0.99999984731,0.000105503443715,-0.000542431445391,4.21562317513e-06,1793192695467152640
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764.304368432,742.304368432,711,673.391263135,661,631,877,783,800,649.695631568,629,650,0.444603915925,-0.00552265048417,0.0496528432688,0.999999845982,0.000110412615177,-0.000543906133064,3.46293458582e-06,1793192695483819520
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764.883906588,742.883906588,711,672.232186825,661,631,877,783,800,649.116093412,629,650,0.444499838168,-0.00551668075718,0.0496571011089,0.999999847522,0.000116032185668,-0.000539893052538,2.93166559424e-06,1793192695500486400
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764.541530224,743,711.458469776,672.458469776,661.458469776,631,877,783,800,649,629,650.458469776,0.444370686596,-0.00551265487031,0.0496611960429,0.999999850801,0.000119757857291,-0.000532961922427,2.61754536466e-06,1793192695517153024
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,631.032613067,876.967386933,783,800,649,629,650.967386933,0.444233595278,-0.00550891978176,0.0496651275676,0.999999854328,0.0001231646341,-0.000525516949456,2.33431424456e-06,1793192695533819904
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,631.620834269,876.379165731,783,800,649,629,650.379165731,0.444068245249,-0.00550184325222,0.0496669704165,0.999999855527,0.00012922105907,-0.000521771111118,1.65061107364e-06,1793192695550486016
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,632,876.206842957,783,800,649,629,650.206842957,0.443886773588,-0.00549433209968,0.0496695147563,0.999999856545,0.000135375301254,-0.000518249707098,8.55401290083e-07,1793192695567152640
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,632,876.788838727,783,800,649,629,650.788838727,0.443676062007,-0.00548603266852,0.0496733313958,0.999999857277,0.000141706954688,-0.000515135361921,-1.42048901335e-07,1793192695583819520
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,632,876.634557195,783,800,649,629,650.634557195,0.443446072972,-0.00547618305652,0.0496795821052,0.999999860942,0.000148535693641,-0.000506014254998,-1.5501570429e-06,1793192695600486144
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,632,876.061023212,783,800,649,629,650.061023212,0.443205106912,-0.00546545073664,0.0496872188281,0.999999866124,0.000155647484605,-0.000493472765321,-3.19210295606e-06,1793192695617153024
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,743,712,673,662,632,876,783,800,649,629,650,0.442925677658,-0.00545595513921,0.049692787039,0.999999870567,0.000161911655736,-0.000482317665919,-4.40994676748e-06,1793192695633819648
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.886436124,743,711.886436124,673,662.113563876,632,876.113563876,783,799.886436124,649.113563876,629,650,0.442635878969,-0.00544611738974,0.0497008949445,0.999999876883,0.000168086244439,-0.000466850074649,-5.59641877307e-06,1793192695650486528
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.306956086,743,711.306956086,673,662.693043914,632,876.693043914,783,799.306956086,649.693043914,629,650,0.442322326785,-0.00543427176523,0.0497204328611,0.999999891035,0.000174307364597,-0.00043301246496,-6.86135419863e-06,1793192695667153152
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.271376433,742.728623567,711.271376433,673,663,632,876.728623567,783,799.271376433,649.728623567,629,650,0.441985706353,-0.00542281545866,0.0497388106694,0.999999902885,0.000180805201039,-0.000401831672742,-8.45600130329e-06,1793192695683819520
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.848416415,742.151583585,711.848416415,673,663,632,876.151583585,783,799.848416415,649.151583585,629,650,0.441623103129,-0.00541179765918,0.049755881794,0.999999912541,0.000187614715241,-0.000373643376413,-1.04220175104e-05,1793192695700486144
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.423280168,711.576719832,673,663.423280168,632,876.423280168,783,799.576719832,649,629,650,0.44121157514,-0.00540843028641,0.049770185647,0.999999920272,0.000184515437285,-0.00035390725065,-1.26472386546e-05,1793192695717152768
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.997368551,711.002631449,673,663.997368551,632,876.997368551,783,799.002631449,649,629,650,0.440782616017,-0.00540778864327,0.0497835035634,0.99999992722,0.000177885808864,-0.000337182503877,-1.49648104892e-05,1793192695733819392
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764.587803993,743,711.587803993,672.412196007,663.412196007,632,877,783,799.587803993,649,629,650,0.440301300144,-0.00541732078627,0.0497867532594,0.999999935247,0.00015851501531,-0.000322594839158,-1.76374482469e-05,1793192695750486272
+290,4.833333333,POSE2_TO_POSE3_RETREAT,765,743,712,672,663.174855319,632,876.825144681,783.174855319,799.825144681,649,629,650,0.43980128973,-0.00542543422636,0.0497885272017,0.999999940358,0.000140537430225,-0.000314831679011,-2.03312426391e-05,1793192695767152896
+291,4.850000000,POSE2_TO_POSE3_RETREAT,765,743,712,672,663.753909764,632,876.246090236,783.753909764,799.246090236,649,629,650,0.439258622016,-0.00543015986693,0.049786996933,0.9999999397,0.000125916041337,-0.000322821437089,-2.30701632614e-05,1793192695783819776
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764.672259217,743,712,672,664,632,876,784,799.327740783,649,629,650,0.438697730767,-0.00542547553501,0.0497837116603,0.999999937781,0.000120142123731,-0.00033055193196,-2.71848439713e-05,1793192695800486400
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764.102288716,743,712,672,664,632,876,784,799.897711284,649,629,650,0.43812337064,-0.00541383639327,0.0497791292826,0.999999935016,0.00012090727629,-0.000338090809021,-3.23163345788e-05,1793192695817153024
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.524561642,711.524561642,672,664,632.475438358,876.475438358,783.524561642,799.524561642,649,629,650.475438358,0.437515259305,-0.00540520675439,0.0497915979655,0.9999999403,0.000120586641486,-0.000321838468481,-3.57532944278e-05,1793192695833819648
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764.056109088,742,711.056109088,672.056109088,664,633,876.943890912,783.056109088,799,649,629,650.943890912,0.43689525517,-0.00539834425501,0.0498085923561,0.999999947384,0.000118561993987,-0.000299466303072,-3.86773737063e-05,1793192695850486528
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.648705105,742,711.648705105,672.648705105,664,633,876.351294895,783.648705105,799,649,629,650.351294895,0.436232119425,-0.0054020846681,0.0498332014956,0.999999957934,0.000102515071008,-0.000268332501591,-4.02412135665e-05,1793192695867153152
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.76473564,742.23526436,711.76473564,672.76473564,664.23526436,632.76473564,876.23526436,784,799.23526436,649,629,650,0.435531401845,-0.00540404298646,0.0498349513602,0.99999995793,8.89850459188e-05,-0.000272668440716,-4.32946320534e-05,1793192695883819776
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.186964959,742.813035041,711.186964959,672.186964959,664.813035041,632.186964959,876.813035041,784,799.813035041,649,629,650,0.434775971319,-0.00540340686696,0.049803421868,0.99999994169,7.91192122531e-05,-0.000328642506346,-4.85166325793e-05,1793192695900486144
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.610659112,711,672,664.610659112,632,876.610659112,784,800,649,628.610659112,650,0.434040850559,-0.00540202474774,0.0497888805063,0.999999936733,6.94885945193e-05,-0.000344661261542,-5.39766295885e-05,1793192695917152768
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.03505407,711,672,664.03505407,632,876.03505407,784,800,649,628.03505407,650,0.433315446195,-0.00540028573561,0.0497824664187,0.999999938095,5.99705065378e-05,-0.000341565038645,-5.9550486134e-05,1793192695933819392
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.53902265,711,672,664,632,876,784,799.46097735,649,628.53902265,650,0.432564692487,-0.00540126057099,0.049806222295,0.999999949422,4.8013625431e-05,-0.000308409895986,-6.11127325423e-05,1793192695950486016
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.882912365,711,672.117087635,664,632.117087635,876,783.882912365,799,649,629,650,0.431796115283,-0.00540152334417,0.0498240358113,0.999999956941,3.72607869482e-05,-0.000284141507942,-6.31961945951e-05,1793192695967152640
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.28817335,711,672.71182665,664,632.71182665,876,783.28817335,799,649,629,650,0.430961534558,-0.00539816336715,0.0498096264968,0.99999995091,3.20649391341e-05,-0.000304078044849,-6.84671787308e-05,1793192695983819520
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,672.703456164,663.703456164,633,876.296543836,783.296543836,799.296543836,649,629,650.296543836,0.430109789031,-0.00539584257012,0.0497878309205,0.99999993818,6.80656878641e-05,-0.000339490631871,-6.12554800899e-05,1793192696000486400
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,672.128159483,663.128159483,633,876.871840517,783.871840517,799.871840517,649,629,650.871840517,0.429241908397,-0.00539449860761,0.0497590922158,0.999999913074,0.000142791464006,-0.000389450791812,-4.23099908966e-05,1793192696017153024
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.552567413,742,711,672,663.447432587,632.552567413,876.552567413,784,799.552567413,649,628.552567413,650.552567413,0.428407607259,-0.00538850743403,0.0497723792687,0.999999918548,0.00015905593978,-0.000368751022042,-4.03570276069e-05,1793192696033819648
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.023693858,742,711,672,664,632.023693858,876.023693858,783.976306142,799.023693858,649,628.023693858,650,0.427579466807,-0.00538132751285,0.0497961644873,0.999999931923,0.000158150990784,-0.000330544315941,-4.339769084e-05,1793192696050486016
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.613932873,742,711,672,664,632.613932873,876.613932873,783.386067127,799.613932873,649,628.613932873,650,0.426668498563,-0.00537757275917,0.0497829509063,0.999999923843,0.000147368059808,-0.000357991898624,-4.93839614287e-05,1793192696067152896
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742,711.200267434,672,663.799732566,633,876.799732566,783,799.799732566,649,629,650,0.425785774016,-0.00537654558039,0.0497809755143,0.999999925461,0.000136126329472,-0.000357222968539,-5.42117215771e-05,1793192696083819520
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742,711.779219059,672,663.220780941,633,876.220780941,783,799.220780941,649,629,650,0.424956455321,-0.00538067595276,0.0498002503302,0.999999944759,0.000124017059427,-0.000303099643916,-5.68488626132e-05,1793192696100485888
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742,712,672,663.355029947,633,876,783,799,649,629,650,0.424111492871,-0.00538282489197,0.0498252703149,0.999999957612,0.000124724924263,-0.000257149708196,-5.56236278348e-05,1793192696117152512
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,663.928904824,633,876,783,799,649,629,650,0.423256887446,-0.00538375245066,0.0498538316934,0.999999966379,0.000133333432888,-0.000216237954331,-5.20175758596e-05,1793192696133819136
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.484394962,742,711.484394962,672,663.484394962,633,876,783.515605038,799,649,628.484394962,650.515605038,0.422362414053,-0.00538166421564,0.0498343046018,0.999999957459,0.000136548279464,-0.000252139850929,-5.34944600589e-05,1793192696150486016
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.102428094,742,711,671.897571906,663,633,876,784,799,649,628.102428094,650.897571906,0.421460439869,-0.00537940337598,0.0498116288402,0.999999946267,0.000138215324967,-0.000292041105743,-5.54528997385e-05,1793192696167152896
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.681385203,742,711,671.318614797,663,633,876,784,799,649,628.681385203,650.318614797,0.42054979733,-0.00537832349014,0.0498059398648,0.999999944131,0.000136229761426,-0.000300016138514,-5.63078387775e-05,1793192696183819520
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.259394003,633,876,784,799,649,629,650.259394003,0.419649482385,-0.00537692650909,0.0498054417962,0.999999941104,0.000136527874509,-0.000309841676987,-5.61316016256e-05,1793192696200486400
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.83624231,633,876,784,799,649,629,650.83624231,0.418761806542,-0.00537514145711,0.0498112965173,0.999999936937,0.00013962082052,-0.000321931921899,-5.46933796696e-05,1793192696217153024
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.588713073,633,876,784,799.411286927,649,628.588713073,651,0.417902100654,-0.00537479055556,0.0498018376332,0.9999999358,0.00010539290156,-0.000337889069947,-5.58927415752e-05,1793192696233819392
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.01438351,633,876,784,799.98561649,649,628.01438351,651,0.417053482688,-0.00537500818096,0.0497863081193,0.999999933574,5.6370220214e-05,-0.000355379136794,-5.81376961769e-05,1793192696250486272
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.576184453,663.576184453,633,876,784,799.423815547,649,629.152368906,651,0.416271519888,-0.005378226946,0.0498083279117,0.999999948246,5.31171682396e-05,-0.000311946466718,-5.81062694255e-05,1793192696267152896
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742,711.163876109,672,664.163876109,633,876,784,799.163876109,649,629.836123891,650.836123891,0.415476247566,-0.00538014925231,0.0498240914847,0.999999957727,5.39703034396e-05,-0.000279753523745,-5.8068763141e-05,1793192696283819520
+322,5.366666667,POSE2_TO_POSE3_RETREAT,764,742,711.743218092,672,664.743218092,633,876,784,799.743218092,649,629.256781908,650.256781908,0.41464289158,-0.00537858927458,0.0498215486696,0.999999957164,6.22529410358e-05,-0.000280023539894,-5.81640901593e-05,1793192696300486144
+323,5.383333333,POSE2_TO_POSE3_RETREAT,764,742,711.679493594,671.679493594,664.358987189,633,876.320506406,784,800.320506406,649,629,650.320506406,0.413816951311,-0.00537694728182,0.0498020896643,0.999999946545,6.83672899419e-05,-0.000314133243077,-5.96403399345e-05,1793192696317152768
+324,5.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.103840183,671.103840183,663.207680365,633,876.896159817,784,800.896159817,649,629,650.896159817,0.412996914544,-0.00537523999904,0.04976916411,0.999999925037,7.27555187216e-05,-0.000375181860452,-6.22159070561e-05,1793192696333819392
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.480904409,663.480904409,633,876.519095591,784,800.519095591,649,629,651,0.412276132509,-0.0053767788727,0.0497780686931,0.99999993038,7.53632963723e-05,-0.000360207457318,-6.17385533408e-05,1793192696350486016
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,742.066815684,711.066815684,672,664,633,876,784,800,649,629,651,0.411575694861,-0.00537908965173,0.0497960172833,0.999999940745,7.74888631571e-05,-0.000329921002602,-6.04821693535e-05,1793192696367152640
+327,5.450000000,POSE2_TO_POSE3_RETREAT,764,742.646325804,711.646325804,672,664,633,876,784,800,649,629,651,0.410863745126,-0.00538184138896,0.0498127206279,0.999999946966,7.89211043764e-05,-0.000310528017403,-5.84038212053e-05,1793192696383819264
+328,5.466666667,POSE2_TO_POSE3_RETREAT,764,742.775601614,711.775601614,671.775601614,663.775601614,633,876,783.775601614,799.775601614,649.224398386,629,651,0.410155901458,-0.00538257908771,0.0498146130992,0.999999946038,8.14179813661e-05,-0.000312915404918,-5.81304764686e-05,1793192696400486144
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742.199780225,711.199780225,671.199780225,663.199780225,633,876,783.199780225,799.199780225,649.800219775,629,651,0.409454488057,-0.00538016266681,0.0497933107468,0.999999933452,8.55821499472e-05,-0.000349412321709,-6.06838884462e-05,1793192696417153024
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764.375871384,742.375871384,711,671,663.375871384,632.624128616,876,783.375871384,799.375871384,650,628.624128616,651,0.408826543479,-0.00538104108133,0.0497970782255,0.999999937307,8.55679761404e-05,-0.00033805432513,-6.15041355274e-05,1793192696433819648
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764.951432759,742.951432759,711,671,663.951432759,632.048567241,876,783.951432759,799.951432759,650,628.048567241,651,0.408237630879,-0.00538366995023,0.049814164608,0.99999994926,8.33339651665e-05,-0.000301272344362,-6.14036002089e-05,1793192696450486272
+332,5.533333333,POSE2_TO_POSE3_RETREAT,764.459775293,743,711,671,664,632.540224707,876,783.459775293,799.459775293,650,628.540224707,651,0.407685347579,-0.00538556602696,0.0498316824692,0.999999955275,9.18335883241e-05,-0.000278592313603,-5.83260053197e-05,1793192696467152896
+333,5.550000000,POSE2_TO_POSE3_RETREAT,764,742.872952738,711,671,664,633,876.127047262,783,799,650,629,651,0.407131015578,-0.0053863996938,0.0498400706289,0.99999995618,0.00010206663372,-0.000272233375737,-5.57874668336e-05,1793192696483819520
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742.297387388,711,671,664,633,876.702612612,783,799,650,629,651,0.406557533638,-0.00538372112341,0.0498160875948,0.999999940971,0.000114927022258,-0.000318905111394,-5.61205622932e-05,1793192696500486144
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,876.446101646,783.276949177,799,650,629,651,0.406005055368,-0.00538207729392,0.049791437991,0.999999925044,0.000120170215002,-0.000363492194772,-5.78273381453e-05,1793192696517153024
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875.300055866,783.849972067,799,650,629,651,0.4054750312,-0.00538153965884,0.0497660757898,0.999999908906,0.000117270210958,-0.000405850668797,-6.10026529559e-05,1793192696533819648
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.575023409,742,711,671,663.575023409,632.575023409,875.424976591,783.575023409,799.424976591,650,628.575023409,650.575023409,0.405025444627,-0.00538298058371,0.0497680429454,0.999999910451,0.000116882493749,-0.000402075062743,-6.14245196766e-05,1793192696550486272
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.000708523,742,711,671,663.000708523,632.000708523,875.999291477,783,799.999291477,649.999291477,628.000708523,650.000708523,0.404604476633,-0.00538512731573,0.0497797270164,0.999999918335,0.00011737429264,-0.000381900347846,-6.08689052767e-05,1793192696567152896
+339,5.650000000,POSE2_TO_POSE3_RETREAT,763.597048261,742,711,671,663.597048261,632.597048261,875.402951739,783,799.402951739,649.402951739,628.597048261,650.597048261,0.404258320296,-0.00539067953614,0.0498113626029,0.999999937516,0.000108162851857,-0.000331240757817,-5.95671348145e-05,1793192696583819520
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742.18671678,711,671,664,632.81328322,875,783,799.18671678,649.18671678,629,650.81328322,0.403917948036,-0.00539605543605,0.0498387481716,0.999999951872,9.96364347193e-05,-0.000287957914564,-5.83775697746e-05,1793192696600486144
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742.762484957,711,671,664,632.237515043,875,783,799.762484957,649.762484957,629,650.237515043,0.403589627671,-0.00540106394774,0.0498572782199,0.999999960258,9.25373620974e-05,-0.000260045581416,-5.74218009522e-05,1793192696617152768
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742.662436888,711.337563112,671,663.662436888,632.337563112,875.337563112,783,799.662436888,650,628.662436888,650.337563112,0.403262065013,-0.00540341410002,0.0498579785837,0.999999959348,8.88736670862e-05,-0.000264624605743,-5.81281456653e-05,1793192696633819648
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742.087843287,711.912156713,671,663.087843287,632.912156713,875.912156713,783,799.087843287,650,628.087843287,650.912156713,0.40293503442,-0.00540389760186,0.0498461592763,0.999999951724,8.76222302298e-05,-0.000292018453697,-6.00015953846e-05,1793192696650486272
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711.499395052,671,663.500604948,633,875.499395052,783,799,649.499395052,628,650.499395052,0.402653140076,-0.00540140423078,0.0498319882023,0.99999994356,8.83613482738e-05,-0.000318142298207,-6.21140595329e-05,1793192696667152896
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742.089767415,711,671,664,633,875,783.089767415,798.910232585,649,628,650,0.402387225498,-0.00539893513058,0.0498182268984,0.999999935278,8.95887162613e-05,-0.000342537520025,-6.39171695164e-05,1793192696683819520
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742.669187282,711,671,664,633,875,783.669187282,798.330812718,649,628,650,0.402164043299,-0.00539952885359,0.0498090158381,0.999999929425,9.15198292817e-05,-0.00035875385156,-6.37975661365e-05,1793192696700486144
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742.752066151,711,671,664,633,875,783.752066151,798.247933849,649.247933849,628.247933849,650.247933849,0.401965583189,-0.00539855933158,0.049806761989,0.999999926675,0.000114220173389,-0.000360721775581,-5.90185767429e-05,1793192696717153024
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742.174215568,711,671,664,633,875,783.174215568,798.825784432,649.825784432,628.825784432,650.825784432,0.4018000199,-0.00539550965509,0.0498137658534,0.999999926231,0.000164557392539,-0.00034372984972,-4.80395083852e-05,1793192696733819648
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.599076245,633,875.400923755,783.400923755,799.80184751,650,628.599076245,651,0.401661090177,-0.00539367196628,0.0498225433235,0.999999930275,0.000176520838846,-0.000325897022845,-4.56222762006e-05,1793192696750486272
+350,5.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.025107097,633,875.974892903,783.974892903,800.949785805,650,628.025107097,651,0.401533655933,-0.00539235739133,0.049832086312,0.999999936782,0.000171921527976,-0.00030770124776,-4.6900474659e-05,1793192696767152896
+351,5.850000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,876,783.435755559,801,650,628.564244441,651,0.401432184765,-0.00539574880603,0.0498350879367,0.999999940674,0.000163147052194,-0.000299597542884,-4.77157024538e-05,1793192696783819520
+352,5.866666667,POSE2_TO_POSE3_RETREAT,764,742.151457532,711,671,663,633,875.848542468,783,800.848542468,650,628.848542468,651,0.401337068193,-0.00540027538168,0.0498370227297,0.999999947596,0.000127434272632,-0.000293610944685,-4.85820160572e-05,1793192696800486144
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742.730644426,711,671,663,633,875.269355574,783,800.269355574,650,628.269355574,651,0.401256543499,-0.00540739980985,0.0498367897422,0.999999955917,1.61847236249e-05,-0.000292299495288,-4.96524090726e-05,1793192696817152768
+354,5.900000000,POSE2_TO_POSE3_RETREAT,764,742.691824696,711,671,663.308175304,632.691824696,875,783,800,649.691824696,628,651,0.401186937824,-0.00541340377132,0.0498355665818,0.999999955083,-3.83067890837e-05,-0.000292997876843,-5.01966759358e-05,1793192696833819648
+355,5.916666667,POSE2_TO_POSE3_RETREAT,764,742.115733529,711,671,663.884266471,632.115733529,875,783,800,649.115733529,628,651,0.401126824732,-0.00541843364133,0.049833482603,0.999999954148,-4.34550219158e-05,-0.00029544353119,-5.02835491048e-05,1793192696850486272
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.540216178,742,711,671,664,632.459783822,875.459783822,783,800,649.459783822,628.459783822,651,0.401084696878,-0.0054172647721,0.0498342371087,0.999999954641,-4.20592260764e-05,-0.000293895247209,-5.07447614589e-05,1793192696867152640
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763.036047389,742,711,671,663.963952611,633,875.963952611,783.036047389,799.963952611,650,628.963952611,651,0.401048203394,-0.00541470589808,0.049835743527,0.99999995554,-3.91026020515e-05,-0.000291137701713,-5.12781463483e-05,1793192696883819520
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.625993955,742,711,671,663.374006045,633,875.374006045,783.625993955,799.374006045,650,628.374006045,651,0.401028810523,-0.00541473391411,0.0498378387657,0.999999957297,-3.74418604397e-05,-0.000285227254209,-5.14744654103e-05,1793192696900486144
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.211596797,633,875.211596797,784,799.211596797,649.788403203,628.211596797,651,0.401011287114,-0.00541506528283,0.0498395839835,0.999999958586,-3.66702003756e-05,-0.000280772690546,-5.14703331142e-05,1793192696917152768
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.789676307,633,875.789676307,784,799.789676307,649.210323693,628.789676307,651,0.400997001592,-0.00541592205416,0.0498407229701,0.999999959117,-3.74384173715e-05,-0.00027883969809,-5.11190218336e-05,1793192696933819392
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875.635308572,784,799.635308572,649,629,651,0.400987906272,-0.00541606164809,0.0498416558416,0.999999959556,-3.8043754684e-05,-0.000277192933373,-5.1038309014e-05,1793192696950486016
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875.062045955,784,799.062045955,649,629,651,0.400981779286,-0.00541579108018,0.0498424708337,0.999999959943,-3.85559393198e-05,-0.000275709865382,-5.11123545082e-05,1793192696967152896
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.473235224,633,875,784,799,649.526764776,629,650.473235224,0.400979339667,-0.00541598931928,0.0498437297781,0.999999960551,-3.74568845462e-05,-0.000273699014432,-5.08305681638e-05,1793192696983819520
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.115813468,633,875,783.884186532,799,650,629,650.115813468,0.400977555552,-0.00541629760945,0.0498447105831,0.999999961053,-3.62571951997e-05,-0.000272071307267,-5.05704636254e-05,1793192697000486144
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.698218407,633,875,783.301781593,799,650,629,650.698218407,0.400976609318,-0.0054168200408,0.0498443537336,0.999999961035,-3.54399219722e-05,-0.000272245288748,-5.05717037472e-05,1793192697017152768
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.276614506,664,633,875,783.276614506,799,649.723385494,629,651,0.40097583371,-0.00541678386599,0.0498446097349,0.999999961256,-3.51460833186e-05,-0.000271464278459,-5.05940722534e-05,1793192697033819648
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.850699473,664,633,875,783.850699473,799,649.149300527,629,651,0.400975241593,-0.00541614696764,0.0498455247944,0.999999961733,-3.5415144784e-05,-0.00026965627269,-5.06391621648e-05,1793192697050486272
+368,6.133333333,POSE2_TO_POSE3_RETREAT,764,742.423537135,711,671.576462865,664,632.576462865,875,783.576462865,799,649.423537135,628.576462865,651,0.400975207788,-0.00541516580009,0.0498467675621,0.999999962158,-3.42587280897e-05,-0.000268204615962,-5.07595817136e-05,1793192697067152896
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764,742.995936389,711,671.004063611,664,632.004063611,875,783.004063611,799,649.995936389,628.004063611,651,0.400975370215,-0.00541406363101,0.0498481255105,0.999999962561,-3.26012934557e-05,-0.000266878206551,-5.09064776398e-05,1793192697083819520
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764,742.408391845,711.591608155,670.408391845,663.408391845,632.591608155,875,783.591608155,799.591608155,650,628.591608155,650.408391845,0.400975654596,-0.00541527341412,0.0498481419251,0.999999962649,-3.25986558131e-05,-0.000266574245833,-5.07715729368e-05,1793192697100486144
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764,742,711.818418793,670.363162413,663.181581207,633,875,783.818418793,799.818418793,650,628.818418793,650.181581207,0.400975235234,-0.00541610422616,0.0498477276004,0.999999962526,-3.27419774863e-05,-0.000267029297817,-5.07084878896e-05,1793192697117152768
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711.241224221,671.517551557,663.758775779,633,875,783.241224221,799.241224221,650,628.241224221,650.758775779,0.400973280717,-0.00541607335357,0.0498463957166,0.999999961946,-3.31775244746e-05,-0.000269122093259,-5.08062671353e-05,1793192697133819648
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.666266157,742,711.333733843,671.666266157,664.333733843,633,875,783,799,650,628.333733843,651,0.400971769161,-0.00541587776652,0.0498460835001,0.999999961704,-3.41126513247e-05,-0.000269879256601,-5.09210024239e-05,1793192697150486016
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763.09291383,742,711.90708617,671.09291383,664.90708617,633,875,783,799,650,628.90708617,651,0.400970575647,-0.00541556391569,0.0498465033972,0.999999961707,-3.54064729458e-05,-0.000269677445975,-5.10479120385e-05,1793192697167152896
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.491809198,742,711.508190802,671,664.016381605,633,875,783.491809198,799,650,629,651,0.400972337144,-0.00541610631803,0.0498475745702,0.9999999624,-3.52079099207e-05,-0.000267189087756,-5.07051544225e-05,1793192697183819520
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.078225184,633,875,784,799.078225184,650,629,651,0.40097424934,-0.0054166301652,0.0498485263792,0.999999963062,-3.45709434921e-05,-0.000264856792664,-5.03170808259e-05,1793192697200486144
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.66137491,633,875,784,799.66137491,650,629,651,0.400973445497,-0.00541596537419,0.0498478947297,0.999999962715,-3.29671481458e-05,-0.000266386166038,-5.02227937016e-05,1793192697217152768
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875.241201272,783.758798728,799.758798728,650,629,651,0.400972700491,-0.00541572141329,0.0498475415602,0.999999962528,-3.17945128008e-05,-0.000267223443908,-5.02393708201e-05,1793192697233819392
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875.816425307,783.183574693,799.183574693,650,629,651,0.400972036964,-0.00541606023059,0.0498475740381,0.99999996257,-3.12189608652e-05,-0.000267102287058,-5.04094760765e-05,1793192697250486272
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742.390675364,711.390675364,671,664,633,875.609324636,783,799.390675364,650,629,650.609324636,0.400971334583,-0.00541659215634,0.0498471648405,0.99999996234,-3.26372852665e-05,-0.000267772969545,-5.05283910264e-05,1793192697267152896
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742.964468881,711.964468881,671,664,633,875.035531119,783,799.964468881,650,629,650.035531119,0.40097061399,-0.00541721459627,0.04984654862,0.999999961976,-3.49901834627e-05,-0.000268814804582,-5.06233119465e-05,1793192697283819776
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742.447509995,711.447509995,671,664,633,875.552490005,783.552490005,799.447509995,649.447509995,628.447509995,650.552490005,0.400972421638,-0.00541653948684,0.0498486279268,0.999999962912,-3.47598924502e-05,-0.000265324983107,-5.06989364285e-05,1793192697300486144
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742.139711486,711,671,664,633,875.860288514,783.860288514,799,649,628.139711486,651,0.400974011496,-0.00541584289052,0.0498501716283,0.999999963599,-3.43061826209e-05,-0.000262779053814,-5.07232882589e-05,1793192697317152768
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742.721431703,711,671,664,633,875.278568297,783.278568297,799,649,628.721431703,651,0.400974384327,-0.00541534929585,0.0498494578877,0.999999963261,-3.36851102577e-05,-0.000264165731572,-5.05894573704e-05,1793192697333819392
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.700896834,742.700896834,711,671,664,633,875.299103166,783,799.299103166,649.299103166,629,651,0.40097471407,-0.00541524827118,0.0498493169073,0.999999963164,-3.32274691004e-05,-0.000264594984001,-5.05756534307e-05,1793192697350486016
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.126945733,742.126945733,711,671,664,633,875.873054267,783,799.873054267,649.873054267,629,651,0.40097500422,-0.00541550798169,0.0498497022403,0.999999963288,-3.29200059189e-05,-0.000264144451936,-5.06721430562e-05,1793192697367152640
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763,742,711.44777228,671,664,633,875.55222772,783,799.55222772,650,629,651,0.400973577433,-0.00541471897154,0.0498494129489,0.999999963085,-3.15474472314e-05,-0.000265061101904,-5.07717066257e-05,1793192697383819520
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.023320308,742,711.976679692,671,663.976679692,633,875,783.023320308,799,650,629,651,0.400971781592,-0.0054137714548,0.049848973658,0.999999962813,-3.00709782849e-05,-0.000266235623952,-5.08689630103e-05,1793192697400486144
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.613757486,742,711.386242514,671,663.386242514,633,875,783.613757486,799,650,629,651,0.400972868517,-0.00541621203037,0.0498495457269,0.999999963235,-3.34233953028e-05,-0.000264239101426,-5.08888825922e-05,1793192697417153024
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.199958391,633,875.199958391,783.800041609,799,650,628.800041609,651,0.400973555685,-0.00541746151603,0.0498497717688,0.999999963546,-3.49150466815e-05,-0.000262890663633,-5.07731912373e-05,1793192697433819392
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.77814618,633,875.77814618,783.22185382,799,650,628.22185382,651,0.400973486699,-0.00541645800674,0.0498493432867,0.999999963666,-3.2886984276e-05,-0.000262768104494,-5.04009863019e-05,1793192697450486016
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f0850999fb364f628decf814ad43866e4f43f75
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/simulation_data.csv
@@ -0,0 +1,393 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+1,0.016666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+2,0.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+3,0.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+4,0.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+5,0.083333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+6,0.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+7,0.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+8,0.133333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+9,0.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+10,0.166666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+11,0.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+12,0.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+13,0.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+14,0.233333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+15,0.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+16,0.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+17,0.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+18,0.300000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+19,0.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+20,0.333333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+21,0.350000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+22,0.366666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+23,0.383333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+24,0.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+25,0.416666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+26,0.433333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+27,0.450000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+28,0.466666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+29,0.483333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+30,0.500000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+31,0.516666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+32,0.533333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+33,0.550000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+34,0.566666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+35,0.583333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+36,0.600000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+37,0.616666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+38,0.633333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+39,0.650000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+40,0.666666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+41,0.683333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+42,0.700000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+43,0.716666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+44,0.733333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+45,0.750000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+46,0.766666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+47,0.783333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+48,0.800000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+49,0.816666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+50,0.833333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+51,0.850000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+52,0.866666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+53,0.883333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+54,0.900000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+55,0.916666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+56,0.933333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+57,0.950000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+58,0.966666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+59,0.983333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+60,1.000000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+61,1.016666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+62,1.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+63,1.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+64,1.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+65,1.083333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+66,1.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+67,1.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+68,1.133333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+69,1.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+70,1.166666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+71,1.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+72,1.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+73,1.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+74,1.233333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+75,1.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+76,1.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+77,1.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+78,1.300000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+79,1.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+80,1.333333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+81,1.350000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+82,1.366666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+83,1.383333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+84,1.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+85,1.416666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+86,1.433333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+87,1.450000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+88,1.466666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+89,1.483333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+90,1.500000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+91,1.516666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+92,1.533333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+93,1.550000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+94,1.566666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+95,1.583333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+96,1.600000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+97,1.616666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+98,1.633333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+99,1.650000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+100,1.666666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+101,1.683333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+102,1.700000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+103,1.716666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+104,1.733333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+105,1.750000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+106,1.766666667,pose1_to_pose2_press,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+107,1.783333333,pose1_to_pose2_press,0.575709337236,5.46049572625e-05,1.04002910882,0.546280066881,0.00872733255847,1.03969840331
+108,1.800000000,pose1_to_pose2_press,0.575709444781,5.45687114016e-05,1.04002915794,0.546280174225,0.00872729558104,1.03969845111
+109,1.816666667,pose1_to_pose2_press,0.575709459338,5.45646926843e-05,1.04002915863,0.546280188814,0.00872729166512,1.03969845163
+110,1.833333333,pose1_to_pose2_press,0.575709578216,5.45318738071e-05,1.04002916434,0.546280307956,0.00872725968575,1.03969845592
+111,1.850000000,pose1_to_pose2_press,0.575709735286,5.44885111954e-05,1.04002917188,0.546280465374,0.00872721743234,1.03969846158
+112,1.866666667,pose1_to_pose2_press,0.575709880397,5.44484502163e-05,1.04002917885,0.546280610806,0.00872717839612,1.03969846681
+113,1.883333333,pose1_to_pose2_press,0.575711138809,5.44702329079e-05,1.04002930941,0.546281868836,0.00872719864836,1.03969859117
+114,1.900000000,pose1_to_pose2_press,0.575715221426,5.46811275747e-05,1.0400290696,0.546285950828,0.00872740793054,1.0396983647
+115,1.916666667,pose1_to_pose2_press,0.575725174337,5.45492030102e-05,1.04002922034,0.546295904679,0.00872727862057,1.03969850027
+116,1.933333333,pose1_to_pose2_press,0.575742463702,5.45745508941e-05,1.04002920675,0.546313193946,0.00872730393935,1.03969849458
+117,1.950000000,pose1_to_pose2_press,0.57577088752,5.45159036576e-05,1.0400290667,0.546341618032,0.00872724646593,1.03969836147
+118,1.966666667,pose1_to_pose2_press,0.575810421339,5.45337965289e-05,1.04002925603,0.546381151775,0.00872726405826,1.03969854962
+119,1.983333333,pose1_to_pose2_press,0.575860961308,5.45953725723e-05,1.04002939435,0.546431691771,0.00872732515795,1.03969867302
+120,2.000000000,pose1_to_pose2_press,0.575921189073,5.44331886293e-05,1.04002907998,0.546491920328,0.00872716614424,1.0396983712
+121,2.016666667,pose1_to_pose2_press,0.575991738125,5.45833295028e-05,1.04002914422,0.546562467902,0.00872731143857,1.03969843976
+122,2.033333333,pose1_to_pose2_press,0.576070464264,5.45735640346e-05,1.04002910009,0.546641193963,0.00872730137323,1.03969839459
+123,2.050000000,pose1_to_pose2_press,0.576157861429,5.44846527427e-05,1.04002910451,0.546728591756,0.00872721432567,1.03969839201
+124,2.066666667,pose1_to_pose2_press,0.576258955119,5.45401942177e-05,1.04002922354,0.546829685737,0.00872727081413,1.03969850988
+125,2.083333333,pose1_to_pose2_press,0.576373461748,5.4525589958e-05,1.0400292213,0.546944192249,0.00872725600335,1.03969851275
+126,2.100000000,pose1_to_pose2_press,0.576503341824,5.45918271073e-05,1.04002910465,0.5470740708,0.00872731683811,1.03969839002
+127,2.116666667,pose1_to_pose2_press,0.576651811053,5.45704458817e-05,1.04002914976,0.547222541194,0.00872729981531,1.03969844567
+128,2.133333333,pose1_to_pose2_press,0.576821166168,5.45887818511e-05,1.04002917828,0.547391895333,0.00872731461112,1.03969846815
+129,2.150000000,pose1_to_pose2_press,0.577009789243,5.45703397961e-05,1.04002911223,0.54758052004,0.00872730202744,1.03969841045
+130,2.166666667,pose1_to_pose2_press,0.57721833648,5.46058501887e-05,1.04002894511,0.547789067079,0.00872733670237,1.03969823894
+131,2.183333333,pose1_to_pose2_press,0.577452095181,5.45078871905e-05,1.04002924547,0.548022826028,0.00872723967754,1.03969854181
+132,2.200000000,pose1_to_pose2_press,0.577709867389,5.44394682357e-05,1.04002905595,0.54828059871,0.00872717267105,1.03969834707
+133,2.216666667,pose1_to_pose2_press,0.577992686288,5.45453291673e-05,1.04002913246,0.548563417611,0.00872727874641,1.03969842902
+134,2.233333333,pose1_to_pose2_press,0.578300864798,5.45732513596e-05,1.04002911474,0.548871595231,0.00872730378125,1.03969841467
+135,2.250000000,pose1_to_pose2_press,0.578633200019,5.4445626698e-05,1.04002908677,0.549203932841,0.00872718381199,1.03969837476
+136,2.266666667,pose1_to_pose2_press,0.578989094851,5.45839634712e-05,1.04002928289,0.549559825249,0.0087273140054,1.03969857305
+137,2.283333333,pose1_to_pose2_press,0.579364080701,5.44811417615e-05,1.04002920008,0.549934812832,0.008727216805,1.03969848336
+138,2.300000000,pose1_to_pose2_press,0.57975314419,5.46176734825e-05,1.04002915564,0.550323873715,0.00872734494334,1.03969845075
+139,2.316666667,pose1_to_pose2_press,0.580158843638,5.4622548666e-05,1.0400293325,0.550729572893,0.00872734830831,1.03969861192
+140,2.333333333,pose1_to_pose2_press,0.580584652422,5.44931635406e-05,1.04002897098,0.551155382932,0.00872722337275,1.03969825538
+141,2.350000000,pose1_to_pose2_press,0.581035763691,5.46048575953e-05,1.04002904328,0.551606492009,0.00872732777969,1.03969833157
+142,2.366666667,pose1_to_pose2_press,0.581516078923,5.44093909798e-05,1.04002916035,0.55208681182,0.00872714791514,1.03969845032
+143,2.383333333,pose1_to_pose2_press,0.582036032015,5.45446551946e-05,1.04002906529,0.552606760966,0.00872726978546,1.03969835515
+144,2.400000000,pose1_to_pose2_press,0.582588937241,5.47801838879e-05,1.04002938202,0.553159664059,0.00872749801067,1.03969867003
+145,2.416666667,pose1_to_pose2_press,0.583169558164,5.4572446653e-05,1.0400292982,0.553740286586,0.00872729577018,1.03969858753
+146,2.433333333,pose1_to_pose2_press,0.583763532004,5.4645233453e-05,1.0400291479,0.554334262254,0.00872737505362,1.039698445
+147,2.450000000,pose1_to_pose2_press,0.584365835113,5.45700602404e-05,1.04002926509,0.554936566036,0.00872730203677,1.03969855879
+148,2.466666667,pose1_to_pose2_press,0.584978510669,5.45031872752e-05,1.04002907725,0.555549242087,0.00872723681318,1.03969837012
+149,2.483333333,pose1_to_pose2_press,0.585606664124,5.44512901956e-05,1.04002905075,0.556177394208,0.00872718026346,1.03969834031
+150,2.500000000,pose1_to_pose2_press,0.586264645297,5.46988832194e-05,1.04002891678,0.556835373473,0.00872742176747,1.03969821643
+151,2.516666667,pose1_to_pose2_press,0.586949140113,5.46719239121e-05,1.04002911421,0.557519866998,0.00872739008918,1.03969840496
+152,2.533333333,pose1_to_pose2_press,0.587655621122,5.45665695981e-05,1.04002927306,0.558226351064,0.00872729498801,1.03969856066
+153,2.550000000,pose1_to_pose2_press,0.588376068257,5.44393531803e-05,1.0400290268,0.558946799053,0.00872717070675,1.03969831531
+154,2.566666667,pose1_to_pose2_press,0.589106524704,5.46101252911e-05,1.04002892553,0.559677254457,0.00872733811799,1.03969821875
+155,2.583333333,pose1_to_pose2_press,0.589847091374,5.45312914807e-05,1.04002908834,0.560417822463,0.0087272638505,1.03969838244
+156,2.600000000,pose1_to_pose2_press,0.590603056773,5.43436598687e-05,1.04002915195,0.561173790109,0.00872708377432,1.03969844424
+157,2.616666667,pose1_to_pose2_press,0.591380225124,5.44214834187e-05,1.04002918739,0.561950956878,0.00872715597911,1.03969847317
+158,2.633333333,pose1_to_pose2_press,0.592167257843,5.45784758917e-05,1.04002909435,0.562737987587,0.00872730631437,1.0396983844
+159,2.650000000,pose1_to_pose2_press,0.592958270806,5.45656872265e-05,1.04002923943,0.563529000432,0.00872729288859,1.03969852333
+160,2.666666667,pose1_to_pose2_press,0.593759018565,5.44112126906e-05,1.04002925361,0.564329750844,0.00872714726307,1.03969853351
+161,2.683333333,pose1_to_pose2_press,0.594570307279,5.43467106317e-05,1.0400290152,0.565141040575,0.00872708655011,1.03969830392
+162,2.700000000,pose1_to_pose2_press,0.595381074132,5.44350456612e-05,1.04002912515,0.56595180618,0.00872717030388,1.03969840486
+163,2.716666667,pose1_to_pose2_press,0.596197009015,5.4495906393e-05,1.04002919607,0.566767739744,0.00872722680015,1.03969847873
+164,2.733333333,pose1_to_pose2_press,0.597021702838,5.45798955273e-05,1.04002901668,0.5675924331,0.00872730949333,1.03969830698
+165,2.750000000,pose1_to_pose2_press,0.597838989295,5.44777582429e-05,1.04002900219,0.568409721577,0.00872721424853,1.03969829348
+166,2.766666667,pose1_to_pose2_press,0.598649316766,5.45018423915e-05,1.0400290882,0.569220048996,0.00872723835442,1.03969838487
+167,2.783333333,pose1_to_pose2_press,0.599455558912,5.45667581998e-05,1.04002909409,0.570026289128,0.00872729620823,1.03969838481
+168,2.800000000,pose1_to_pose2_press,0.600256303887,5.4597171687e-05,1.04002913365,0.570827033781,0.00872732541864,1.03969842151
+169,2.816666667,pose1_to_pose2_press,0.601047406963,5.4620523349e-05,1.04002924383,0.57161813661,0.00872734798135,1.03969853303
+170,2.833333333,pose1_to_pose2_press,0.60183078513,5.45595764338e-05,1.04002917873,0.572401514553,0.00872728615373,1.03969846485
+171,2.850000000,pose1_to_pose2_press,0.602610110819,5.45979128099e-05,1.04002913349,0.573180839724,0.00872732273837,1.0396984198
+172,2.866666667,pose1_to_pose2_press,0.603377440268,5.46081022502e-05,1.0400292507,0.573948169992,0.00872733570714,1.03969853711
+173,2.883333333,pose1_to_pose2_press,0.604131275653,5.45431609297e-05,1.04002926633,0.574702006124,0.00872727312818,1.03969854834
+174,2.900000000,pose1_to_pose2_press,0.604881495434,5.4536928147e-05,1.04002914374,0.57545222531,0.00872726492361,1.03969842701
+175,2.916666667,pose1_to_pose2_press,0.605621469198,5.46378610743e-05,1.04002906422,0.576192197528,0.00872736079574,1.03969835248
+176,2.933333333,pose1_to_pose2_press,0.606344956731,5.46941681854e-05,1.0400292174,0.576915685334,0.00872741812249,1.03969850825
+177,2.950000000,pose1_to_pose2_press,0.607059754794,5.45961763323e-05,1.04002930537,0.577630485461,0.00872732709441,1.03969859519
+178,2.966666667,pose1_to_pose2_press,0.607764699688,5.46027932614e-05,1.04002915617,0.578335429263,0.00872733016631,1.03969845025
+179,2.983333333,pose1_to_pose2_press,0.608438313387,5.4522732361e-05,1.04002908644,0.579009044362,0.00872725492602,1.03969838244
+180,3.000000000,pose1_to_pose2_press,0.609081941593,5.44538655213e-05,1.04002905931,0.579652673432,0.00872718866742,1.03969834695
+181,3.016666667,pose1_to_pose2_press,0.609706752354,5.44775685739e-05,1.04002911075,0.580277483339,0.00872720953367,1.0396984001
+182,3.033333333,pose1_to_pose2_press,0.610316816056,5.45109482763e-05,1.04002915292,0.58088754758,0.00872724498278,1.03969844867
+183,3.050000000,pose1_to_pose2_press,0.610912396692,5.45330956972e-05,1.04002915436,0.581483127724,0.00872726541828,1.03969844908
+184,3.066666667,pose1_to_pose2_press,0.611492223108,5.44945089365e-05,1.04002923588,0.582062953831,0.00872722552758,1.03969852391
+185,3.083333333,pose1_to_pose2_press,0.612048928401,5.44615129064e-05,1.04002928516,0.58261966046,0.00872719717894,1.03969857613
+186,3.100000000,pose1_to_pose2_press,0.612565879064,5.44879236366e-05,1.04002934804,0.58313661062,0.00872722184374,1.03969863631
+187,3.116666667,pose1_to_pose2_press,0.613046843337,5.45888176181e-05,1.04002931709,0.583617572729,0.00872731547244,1.039698604
+188,3.133333333,pose1_to_pose2_press,0.613495680143,5.45822824587e-05,1.04002917718,0.584066409466,0.00872730895503,1.03969846544
+189,3.150000000,pose1_to_pose2_press,0.613926107241,5.46244558717e-05,1.04002916558,0.584496837023,0.00872735304281,1.03969845662
+190,3.166666667,pose1_to_pose2_press,0.614341307088,5.45760562556e-05,1.04002909899,0.584912037194,0.00872730624261,1.03969839681
+191,3.183333333,pose1_to_pose2_press,0.614739078111,5.44769135605e-05,1.04002909964,0.585309809939,0.00872721285389,1.03969838791
+192,3.200000000,pose1_to_pose2_press,0.615116519007,5.44341468618e-05,1.04002922651,0.585687251683,0.00872717320557,1.0396985128
+193,3.216666667,pose1_to_pose2_press,0.615464142136,5.44846625821e-05,1.04002926535,0.586034872941,0.00872721777222,1.03969855263
+194,3.233333333,pose1_to_pose2_press,0.61578402959,5.46601539105e-05,1.04002918698,0.58635475732,0.00872738285674,1.03969847355
+195,3.250000000,pose1_to_pose2_press,0.616075699814,5.46222394587e-05,1.04002915361,0.586646427053,0.00872734379614,1.03969844688
+196,3.266666667,pose1_to_pose2_press,0.616341706469,5.45918543951e-05,1.04002914341,0.586912434652,0.00872731672204,1.03969843515
+197,3.283333333,pose1_to_pose2_press,0.616582152809,5.46543157616e-05,1.04002908638,0.587152879299,0.00872737330059,1.03969837124
+198,3.300000000,pose1_to_pose2_press,0.616802561016,5.45356681657e-05,1.04002921602,0.587373291298,0.00872726763898,1.03969849736
+199,3.316666667,pose1_to_pose2_press,0.617004772846,5.44837853429e-05,1.04002920608,0.587575504069,0.00872721918054,1.03969848906
+200,3.333333333,pose1_to_pose2_press,0.61718965471,5.44937338629e-05,1.04002915055,0.587760383928,0.00872722303117,1.03969844317
+201,3.350000000,pose1_to_pose2_press,0.617360383369,5.45195412636e-05,1.04002916055,0.587931111949,0.00872724664564,1.03969845185
+202,3.366666667,pose1_to_pose2_press,0.617517113271,5.45215277373e-05,1.04002922587,0.588087841936,0.00872724930411,1.03969852451
+203,3.383333333,pose1_to_pose2_press,0.617658098422,5.44213303288e-05,1.04002931533,0.588228829573,0.00872715703178,1.039698599
+204,3.400000000,pose1_to_pose2_press,0.617782294806,5.4443030377e-05,1.04002910531,0.588353024921,0.00872717564205,1.03969839593
+205,3.416666667,pose1_to_pose2_press,0.61788901748,5.44653741295e-05,1.04002912997,0.588459746567,0.00872719465806,1.03969842125
+206,3.433333333,pose1_to_pose2_press,0.617980173902,5.44838712678e-05,1.04002915545,0.588550904105,0.00872721775392,1.03969844882
+207,3.450000000,pose1_to_pose2_press,0.618056524046,5.44010552263e-05,1.04002902214,0.588627255818,0.00872713949788,1.03969831099
+208,3.466666667,pose1_to_pose2_press,0.618122141457,5.4500610694e-05,1.04002908945,0.588692872093,0.00872723487586,1.03969837625
+209,3.483333333,pose1_to_pose2_press,0.618177758742,5.46071521259e-05,1.04002925125,0.588748488247,0.00872733754236,1.03969853947
+210,3.500000000,pose1_to_pose2_press,0.618223761867,5.44729564013e-05,1.04002930592,0.588794492393,0.00872720668328,1.03969859245
+211,3.516666667,pose1_to_pose2_press,0.618260494987,5.44600955555e-05,1.04002910815,0.588831225574,0.00872719436249,1.03969839924
+212,3.533333333,pose1_to_pose2_press,0.618288131347,5.46285836468e-05,1.04002897202,0.588858860479,0.00872735801143,1.03969826491
+213,3.550000000,pose1_to_pose2_press,0.618308448477,5.46931598627e-05,1.04002905606,0.588879176718,0.00872741959352,1.03969834645
+214,3.566666667,pose1_to_pose2_press,0.618322467992,5.46470555862e-05,1.04002898974,0.58889319626,0.00872737436806,1.03969829344
+215,3.583333333,pose1_to_pose2_press,0.618332708543,5.45482736325e-05,1.04002913581,0.588903437627,0.00872727785489,1.03969842595
+216,3.600000000,pose1_to_pose2_press,0.618339737064,5.4536185285e-05,1.04002922313,0.588910466053,0.00872726535034,1.03969850993
+217,3.616666667,pose1_to_pose2_press,0.61834505901,5.45796586696e-05,1.04002927421,0.588915787306,0.00872730665521,1.03969856435
+218,3.633333333,pose1_to_pose2_press,0.618348665641,5.45769283959e-05,1.04002916986,0.5889193948,0.00872730684913,1.03969846211
+219,3.650000000,pose1_to_pose2_press,0.618350730945,5.45691882419e-05,1.04002908345,0.588921460854,0.00872730162654,1.03969837687
+220,3.666666667,pose1_to_pose2_press,0.618351954105,5.45670321144e-05,1.04002902766,0.588922684337,0.00872730055186,1.03969832163
+221,3.683333333,pose1_to_pose2_press,0.618352604468,5.45733044339e-05,1.04002898389,0.588923334497,0.00872730614775,1.03969827773
+222,3.700000000,pose1_to_pose2_press,0.618353104126,5.45781233071e-05,1.04002895027,0.588923833999,0.00872731044694,1.03969824401
+223,3.716666667,pose1_to_pose2_press,0.618353588373,5.45827935605e-05,1.04002891768,0.588924318096,0.00872731461354,1.03969821132
+224,3.733333333,pose1_to_pose2_press,0.618354261767,5.45892880053e-05,1.04002887236,0.58892499128,0.0087273204076,1.03969816586
+225,3.750000000,pose1_to_pose2_press,0.618354944657,5.45958740313e-05,1.04002882641,0.588925673958,0.00872732628336,1.03969811977
+226,3.766666667,pose1_to_pose2_press,0.618355381086,5.46006317135e-05,1.04002879614,0.588926110227,0.00872733051301,1.03969808957
+227,3.783333333,pose1_to_pose2_press,0.618355465163,5.4602949144e-05,1.04002878801,0.588926194212,0.00872733253945,1.03969808185
+228,3.800000000,pose1_to_pose2_press,0.618355643996,5.46078783938e-05,1.04002877071,0.588926372851,0.00872733684977,1.03969806543
+229,3.816666667,pose1_to_pose2_press,0.618355790218,5.46119087373e-05,1.04002875656,0.588926518914,0.00872734037406,1.039698052
+230,3.833333333,pose1_to_pose2_press,0.618355837729,5.46132183032e-05,1.04002875196,0.588926566373,0.00872734151919,1.03969804764
+231,3.850000000,pose1_to_pose2_press,0.618355865784,5.46139916071e-05,1.04002874925,0.588926594398,0.00872734219539,1.03969804506
+232,3.866666667,pose1_to_pose2_press,0.618355911818,5.46152604596e-05,1.0400287448,0.588926640382,0.00872734330493,1.03969804084
+233,3.883333333,pose1_to_pose2_press,0.618356111555,5.4620765873e-05,1.04002872547,0.588926839902,0.00872734811907,1.0396980225
+234,3.900000000,pose1_to_pose2_press,0.618356222846,5.46238334062e-05,1.04002871471,0.588926951071,0.00872735080143,1.03969801228
+235,3.916666667,pose1_to_pose2_press,0.618356299418,5.46259440017e-05,1.0400287073,0.588927027561,0.00872735264701,1.03969800525
+236,3.933333333,pose1_to_pose2_press,0.618356615932,5.46346681731e-05,1.04002867668,0.58892734373,0.00872736027576,1.03969797619
+237,3.950000000,pose1_to_pose2_press,0.618357095077,5.46315304402e-05,1.04002871714,0.588927822811,0.00872735690042,1.03969801594
+238,3.966666667,pose1_to_pose2_press,0.618357701938,5.45741079795e-05,1.0400290523,0.588928431085,0.00872730382279,1.03969834014
+239,3.983333333,pose1_to_pose2_press,0.618358070501,5.46264742296e-05,1.04002914401,0.588928798386,0.00872735170033,1.03969842691
+240,4.000000000,pose1_to_pose2_press,0.618358066709,5.46394005668e-05,1.04002906761,0.588928793328,0.00872736046007,1.03969835445
+241,4.016666667,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.58892879333,0.00872736045953,1.03969835445
+242,4.033333333,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.58892879333,0.00872736045949,1.03969835445
+243,4.050000000,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.58892879333,0.00872736045927,1.03969835445
+244,4.066666667,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.58892879333,0.00872736045896,1.03969835445
+245,4.083333333,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.58892879333,0.00872736045924,1.03969835445
+246,4.100000000,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.58892879333,0.00872736045925,1.03969835445
+247,4.116666667,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.58892879333,0.00872736045881,1.03969835445
+248,4.133333333,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.58892879333,0.00872736045904,1.03969835445
+249,4.150000000,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.588928793331,0.00872736045905,1.03969835445
+250,4.166666667,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.588928793331,0.00872736045858,1.03969835445
+251,4.183333333,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.588928793331,0.00872736045897,1.03969835445
+252,4.200000000,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.588928793331,0.0087273604588,1.03969835445
+253,4.216666667,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.588928793331,0.00872736045876,1.03969835445
+254,4.233333333,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.588928793331,0.00872736045851,1.03969835445
+255,4.250000000,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.588928793331,0.00872736045874,1.03969835445
+256,4.266666667,pose2_hold,0.618358066709,5.46394005668e-05,1.04002906761,0.588928793331,0.00872736045845,1.03969835445
+257,4.283333333,pose2_to_pose3_retreat,0.618358066709,5.46394005668e-05,1.04002906761,0.588928793331,0.0087273604587,1.03969835445
+258,4.300000000,pose2_to_pose3_retreat,0.618357885599,5.46115726613e-05,1.04002884242,0.588928612984,0.00872733568965,1.03969814156
+259,4.316666667,pose2_to_pose3_retreat,0.618357624095,5.45178869691e-05,1.04002865518,0.588928351523,0.00872724229624,1.03969795799
+260,4.333333333,pose2_to_pose3_retreat,0.618357202408,5.45691979053e-05,1.04002876834,0.588927929682,0.00872729294204,1.03969806768
+261,4.350000000,pose2_to_pose3_retreat,0.618356949315,5.46117885837e-05,1.04002886045,0.588927676484,0.00872733506727,1.03969815716
+262,4.366666667,pose2_to_pose3_retreat,0.618356734474,5.46479420309e-05,1.04002893863,0.588927461554,0.00872737082562,1.03969823311
+263,4.383333333,pose2_to_pose3_retreat,0.618355689139,5.46008600718e-05,1.04002899977,0.588926417786,0.00872732901781,1.03969829302
+264,4.400000000,pose2_to_pose3_retreat,0.618352277976,5.4429994646e-05,1.04002894242,0.588923009585,0.00872716831078,1.03969823753
+265,4.416666667,pose2_to_pose3_retreat,0.618344020874,5.45498362662e-05,1.04002910129,0.588914750113,0.00872728002383,1.03969839366
+266,4.433333333,pose2_to_pose3_retreat,0.618327043166,5.46316804356e-05,1.04002913972,0.58889777116,0.00872735795691,1.03969843834
+267,4.450000000,pose2_to_pose3_retreat,0.618299091959,5.45555618458e-05,1.0400291101,0.58886982082,0.00872728454056,1.03969840231
+268,4.466666667,pose2_to_pose3_retreat,0.618259173284,5.44762699716e-05,1.04002914125,0.588829904002,0.0087272113113,1.0396984293
+269,4.483333333,pose2_to_pose3_retreat,0.618208244337,5.46072917498e-05,1.04002930124,0.588778973827,0.00872733801728,1.03969858855
+270,4.500000000,pose2_to_pose3_retreat,0.618146692435,5.43642637141e-05,1.04002909415,0.588717424258,0.00872710384166,1.0396983957
+271,4.516666667,pose2_to_pose3_retreat,0.618076081864,5.44305068772e-05,1.04002895131,0.588646813132,0.00872716797132,1.03969824581
+272,4.533333333,pose2_to_pose3_retreat,0.61799618849,5.45209797714e-05,1.04002945023,0.588566917339,0.00872724992662,1.03969872782
+273,4.550000000,pose2_to_pose3_retreat,0.617904502925,5.45607228651e-05,1.04002916632,0.588475230688,0.00872728523904,1.03969845543
+274,4.566666667,pose2_to_pose3_retreat,0.617800113918,5.43930585511e-05,1.04002907638,0.58837084588,0.00872713172498,1.03969836263
+275,4.583333333,pose2_to_pose3_retreat,0.61767953716,5.44540013635e-05,1.04002928894,0.58825026783,0.00872718803161,1.03969857159
+276,4.600000000,pose2_to_pose3_retreat,0.617541964524,5.44340967326e-05,1.04002902565,0.58811269538,0.0087271688333,1.03969831316
+277,4.616666667,pose2_to_pose3_retreat,0.617383710037,5.44120452411e-05,1.04002907947,0.587954441423,0.00872714867678,1.03969837345
+278,4.633333333,pose2_to_pose3_retreat,0.61720590336,5.445735117e-05,1.04002916391,0.587776633524,0.00872718953356,1.03969845489
+279,4.650000000,pose2_to_pose3_retreat,0.617008023546,5.45351011e-05,1.04002917848,0.587578752335,0.00872726237794,1.03969846748
+280,4.666666667,pose2_to_pose3_retreat,0.616787984026,5.45761095467e-05,1.04002911578,0.587358712254,0.00872730129378,1.03969840497
+281,4.683333333,pose2_to_pose3_retreat,0.616546842144,5.45384812619e-05,1.04002906558,0.58711757127,0.00872726649308,1.03969835366
+282,4.700000000,pose2_to_pose3_retreat,0.616285715258,5.45090022185e-05,1.0400291107,0.58685644488,0.00872723855119,1.03969839969
+283,4.716666667,pose2_to_pose3_retreat,0.616003917016,5.4463236469e-05,1.04002914029,0.586574646867,0.00872719326154,1.03969842732
+284,4.733333333,pose2_to_pose3_retreat,0.615698489439,5.44197544359e-05,1.04002911541,0.58626922038,0.00872715311286,1.03969839921
+285,4.750000000,pose2_to_pose3_retreat,0.615367325256,5.45581648706e-05,1.04002915969,0.585938055156,0.00872728808299,1.03969845227
+286,4.766666667,pose2_to_pose3_retreat,0.61500924499,5.45756974717e-05,1.04002919414,0.585579974118,0.00872730272776,1.03969848566
+287,4.783333333,pose2_to_pose3_retreat,0.614618651039,5.46602779248e-05,1.04002927714,0.585189379705,0.00872738536347,1.03969856675
+288,4.800000000,pose2_to_pose3_retreat,0.614196235405,5.45788051625e-05,1.04002919015,0.584766965756,0.0087273093181,1.03969847932
+289,4.816666667,pose2_to_pose3_retreat,0.613738944276,5.45614155442e-05,1.04002927655,0.584309674028,0.00872728988431,1.03969857321
+290,4.833333333,pose2_to_pose3_retreat,0.613252745982,5.44960789386e-05,1.04002938737,0.58382347583,0.00872722428103,1.03969867457
+291,4.850000000,pose2_to_pose3_retreat,0.612738231858,5.45421101967e-05,1.04002915131,0.583308962741,0.00872727371397,1.03969844285
+292,4.866666667,pose2_to_pose3_retreat,0.612199099457,5.44039692176e-05,1.04002905791,0.582769831083,0.00872713813135,1.03969835002
+293,4.883333333,pose2_to_pose3_retreat,0.611636560082,5.44600826418e-05,1.04002915082,0.582207290284,0.00872718933167,1.0396984402
+294,4.900000000,pose2_to_pose3_retreat,0.611050670742,5.44598873599e-05,1.04002905502,0.581621401557,0.00872719119689,1.03969834402
+295,4.916666667,pose2_to_pose3_retreat,0.610437585583,5.45905956868e-05,1.04002898972,0.5810083166,0.0087273230757,1.03969829159
+296,4.933333333,pose2_to_pose3_retreat,0.609789522712,5.45365977732e-05,1.04002894494,0.580360254374,0.00872727096976,1.03969823905
+297,4.950000000,pose2_to_pose3_retreat,0.609116642421,5.4381203615e-05,1.040029165,0.579687375659,0.00872712082009,1.03969845643
+298,4.966666667,pose2_to_pose3_retreat,0.608423335831,5.45015337089e-05,1.04002911972,0.578994066206,0.00872723166637,1.03969841779
+299,4.983333333,pose2_to_pose3_retreat,0.607713070925,5.4586900259e-05,1.04002903974,0.578283800874,0.00872731531627,1.03969833076
+300,5.000000000,pose2_to_pose3_retreat,0.606989542393,5.44851201861e-05,1.04002895205,0.577560275246,0.00872722324065,1.03969823812
+301,5.016666667,pose2_to_pose3_retreat,0.60625062307,5.44679473196e-05,1.04002893083,0.576821354453,0.00872720150886,1.03969822813
+302,5.033333333,pose2_to_pose3_retreat,0.605489067349,5.44922086541e-05,1.04002924768,0.57605980064,0.00872723214357,1.03969854225
+303,5.050000000,pose2_to_pose3_retreat,0.604699840825,5.44203893632e-05,1.0400290435,0.575270573657,0.00872715867659,1.03969833575
+304,5.066666667,pose2_to_pose3_retreat,0.603894499016,5.45045258454e-05,1.04002907417,0.574465229755,0.0087272354736,1.03969836085
+305,5.083333333,pose2_to_pose3_retreat,0.603077430198,5.46354598693e-05,1.04002916485,0.573648161197,0.00872736757048,1.03969845855
+306,5.100000000,pose2_to_pose3_retreat,0.602245705852,5.45389437661e-05,1.04002918622,0.572816436755,0.00872727050101,1.03969847343
+307,5.116666667,pose2_to_pose3_retreat,0.601407840648,5.46748138453e-05,1.04002917002,0.571978569742,0.00872740028535,1.03969845857
+308,5.133333333,pose2_to_pose3_retreat,0.600577497371,5.44270641436e-05,1.04002916702,0.571148229811,0.00872716399625,1.03969845825
+309,5.150000000,pose2_to_pose3_retreat,0.599745029088,5.45007468356e-05,1.04002932725,0.570315758938,0.00872722846475,1.03969860734
+310,5.166666667,pose2_to_pose3_retreat,0.598907444862,5.45605069586e-05,1.04002917595,0.569478175807,0.00872729229699,1.03969846533
+311,5.183333333,pose2_to_pose3_retreat,0.598072975628,5.46005070829e-05,1.04002915233,0.568643706185,0.00872733121383,1.03969844647
+312,5.200000000,pose2_to_pose3_retreat,0.597234883353,5.45905566356e-05,1.04002900589,0.567805614473,0.00872732348461,1.03969830763
+313,5.216666667,pose2_to_pose3_retreat,0.596380945628,5.44997496279e-05,1.0400287967,0.566951677125,0.00872723382827,1.03969809537
+314,5.233333333,pose2_to_pose3_retreat,0.595516386428,5.45476612864e-05,1.04002891108,0.566087116107,0.00872727526314,1.03969820289
+315,5.250000000,pose2_to_pose3_retreat,0.594645342049,5.46051883097e-05,1.04002878704,0.565216070125,0.00872732755872,1.03969808449
+316,5.266666667,pose2_to_pose3_retreat,0.59378115934,5.45468461477e-05,1.04002890476,0.564351889435,0.00872727598198,1.03969819987
+317,5.283333333,pose2_to_pose3_retreat,0.592927191008,5.46004540445e-05,1.04002917119,0.56349792149,0.00872733055344,1.03969845703
+318,5.300000000,pose2_to_pose3_retreat,0.592098194328,5.44705050054e-05,1.04002907744,0.562668924866,0.00872720088929,1.0396983657
+319,5.316666667,pose2_to_pose3_retreat,0.591289605341,5.45424073806e-05,1.04002894201,0.561860335458,0.00872727155872,1.0396982329
+320,5.333333333,pose2_to_pose3_retreat,0.590491531984,5.46106019126e-05,1.04002913075,0.56106226278,0.00872734202351,1.03969842266
+321,5.350000000,pose2_to_pose3_retreat,0.589700067272,5.46092577423e-05,1.040029304,0.560270796859,0.00872733620536,1.03969858647
+322,5.366666667,pose2_to_pose3_retreat,0.588914123175,5.46690051117e-05,1.04002907368,0.559484850126,0.00872738751752,1.03969836874
+323,5.383333333,pose2_to_pose3_retreat,0.588140069742,5.46694353095e-05,1.04002907624,0.55871079968,0.00872739768977,1.03969836059
+324,5.400000000,pose2_to_pose3_retreat,0.587384464535,5.44919099282e-05,1.04002893242,0.5579551951,0.00872722266384,1.03969822626
+325,5.416666667,pose2_to_pose3_retreat,0.586652532033,5.45105110784e-05,1.04002922163,0.557223263054,0.00872724254674,1.03969851025
+326,5.433333333,pose2_to_pose3_retreat,0.585943412288,5.45894238341e-05,1.04002928765,0.556514142876,0.00872732009145,1.03969857814
+327,5.450000000,pose2_to_pose3_retreat,0.585257230353,5.44908189295e-05,1.04002899819,0.555827962044,0.00872722542197,1.03969829309
+328,5.466666667,pose2_to_pose3_retreat,0.584589194621,5.45208875366e-05,1.04002902561,0.555159925045,0.00872725096104,1.03969831508
+329,5.483333333,pose2_to_pose3_retreat,0.58394286972,5.45254823465e-05,1.04002915882,0.554513601005,0.00872725832866,1.03969844455
+330,5.500000000,pose2_to_pose3_retreat,0.583327408539,5.44567717612e-05,1.04002917959,0.553898141308,0.00872719472364,1.03969846724
+331,5.516666667,pose2_to_pose3_retreat,0.582741832532,5.44916230162e-05,1.04002917577,0.553312564904,0.00872722824013,1.03969846359
+332,5.533333333,pose2_to_pose3_retreat,0.582181086493,5.46042676783e-05,1.04002927683,0.552751817251,0.00872733518619,1.03969855873
+333,5.550000000,pose2_to_pose3_retreat,0.58163506103,5.46049977311e-05,1.04002924344,0.552205790683,0.00872733229129,1.03969852858
+334,5.566666667,pose2_to_pose3_retreat,0.581100473506,5.45420040136e-05,1.04002917933,0.551671203444,0.0087272704001,1.03969846771
+335,5.583333333,pose2_to_pose3_retreat,0.580585790275,5.44923403817e-05,1.04002907588,0.551156521604,0.00872722564613,1.03969836906
+336,5.600000000,pose2_to_pose3_retreat,0.580097142877,5.44947198704e-05,1.04002915095,0.550667874264,0.00872722794375,1.03969843693
+337,5.616666667,pose2_to_pose3_retreat,0.579652507627,5.45027538968e-05,1.04002936554,0.550223239296,0.00872723679907,1.03969864807
+338,5.633333333,pose2_to_pose3_retreat,0.579249048,5.46117140313e-05,1.04002923817,0.549819778989,0.0087273439261,1.03969853327
+339,5.650000000,pose2_to_pose3_retreat,0.578884679732,5.4604388935e-05,1.04002914987,0.549455410084,0.00872733452634,1.03969844725
+340,5.666666667,pose2_to_pose3_retreat,0.578543972999,5.4599330946e-05,1.0400291215,0.549114702185,0.00872732517446,1.0396984101
+341,5.683333333,pose2_to_pose3_retreat,0.578221563938,5.46340135712e-05,1.04002910732,0.54879229239,0.00872735732839,1.03969839492
+342,5.700000000,pose2_to_pose3_retreat,0.577911738293,5.45397168993e-05,1.04002914831,0.548482468657,0.00872726971715,1.03969844117
+343,5.716666667,pose2_to_pose3_retreat,0.577616459564,5.44963518414e-05,1.04002909381,0.548187191475,0.00872723168346,1.03969838882
+344,5.733333333,pose2_to_pose3_retreat,0.577341620519,5.45359129384e-05,1.04002903711,0.54791235068,0.00872726530223,1.0396983318
+345,5.750000000,pose2_to_pose3_retreat,0.577091827507,5.45726567703e-05,1.04002917357,0.547662557369,0.00872730096984,1.03969846675
+346,5.766666667,pose2_to_pose3_retreat,0.576873346508,5.45690964875e-05,1.04002906103,0.54744407675,0.00872729868209,1.03969835376
+347,5.783333333,pose2_to_pose3_retreat,0.576682549947,5.46415270011e-05,1.0400290067,0.5472532788,0.00872736630745,1.03969829699
+348,5.800000000,pose2_to_pose3_retreat,0.576518634409,5.45851990599e-05,1.04002897227,0.547089363156,0.00872730968497,1.03969826423
+349,5.816666667,pose2_to_pose3_retreat,0.57637828927,5.4503643445e-05,1.04002890102,0.546949019247,0.00872723245247,1.03969819701
+350,5.833333333,pose2_to_pose3_retreat,0.576258043039,5.45001117825e-05,1.04002905209,0.5468287742,0.00872723269698,1.03969834182
+351,5.850000000,pose2_to_pose3_retreat,0.576154294538,5.45579499959e-05,1.04002914854,0.546725024896,0.00872728755189,1.03969843335
+352,5.866666667,pose2_to_pose3_retreat,0.576063896214,5.4567219104e-05,1.04002915897,0.546634625293,0.00872729242535,1.03969844364
+353,5.883333333,pose2_to_pose3_retreat,0.575986532297,5.44332859749e-05,1.04002929094,0.546557262997,0.0087271640043,1.0396985734
+354,5.900000000,pose2_to_pose3_retreat,0.575920647661,5.44929635963e-05,1.04002914986,0.546491379433,0.00872722787445,1.03969844667
+355,5.916666667,pose2_to_pose3_retreat,0.57586619307,5.45762556831e-05,1.04002910286,0.546436924362,0.00872730941862,1.0396983965
+356,5.933333333,pose2_to_pose3_retreat,0.575823521078,5.44890679899e-05,1.04002895764,0.546394252458,0.00872722257504,1.03969825244
+357,5.950000000,pose2_to_pose3_retreat,0.575790781201,5.44949712725e-05,1.04002916624,0.546361513803,0.00872723237093,1.03969845438
+358,5.966666667,pose2_to_pose3_retreat,0.575766852915,5.46216984033e-05,1.04002907372,0.546337583388,0.00872735178864,1.03969835957
+359,5.983333333,pose2_to_pose3_retreat,0.575749282173,5.46636089455e-05,1.04002902387,0.546320012196,0.00872739259873,1.03969832098
+360,6.000000000,pose2_to_pose3_retreat,0.575737327743,5.47006415954e-05,1.04002908538,0.546308057438,0.00872742851252,1.03969838242
+361,6.016666667,pose2_to_pose3_retreat,0.575728541554,5.46794726118e-05,1.0400291489,0.546299271374,0.00872740767817,1.03969844361
+362,6.033333333,pose2_to_pose3_retreat,0.575722749858,5.45324902655e-05,1.04002913862,0.546293480767,0.00872726444392,1.03969843485
+363,6.050000000,pose2_to_pose3_retreat,0.575719313441,5.45494723823e-05,1.04002911093,0.546290043782,0.00872727949865,1.03969840711
+364,6.066666667,pose2_to_pose3_retreat,0.575717328927,5.46408701156e-05,1.04002907803,0.546288057991,0.00872736653254,1.03969837344
+365,6.083333333,pose2_to_pose3_retreat,0.575716254247,5.46903650216e-05,1.04002906021,0.546286982619,0.00872741366428,1.03969835521
+366,6.100000000,pose2_to_pose3_retreat,0.57571557504,5.47216462339e-05,1.04002904895,0.546286302974,0.00872744345195,1.03969834368
+367,6.116666667,pose2_to_pose3_retreat,0.575715215809,5.47381907626e-05,1.040029043,0.546285943512,0.00872745920655,1.03969833759
+368,6.133333333,pose2_to_pose3_retreat,0.57571505887,5.47454186755e-05,1.04002904039,0.546285786472,0.00872746608937,1.03969833492
+369,6.150000000,pose2_to_pose3_retreat,0.575714960491,5.47499495572e-05,1.04002903876,0.54628568803,0.00872747040392,1.03969833326
+370,6.166666667,pose2_to_pose3_retreat,0.57571465481,5.47463550426e-05,1.04002904292,0.546285382432,0.00872746708917,1.03969833723
+371,6.183333333,pose2_to_pose3_retreat,0.57571414207,5.47142395324e-05,1.04002906349,0.546284870249,0.00872743684804,1.03969835743
+372,6.200000000,pose2_to_pose3_retreat,0.575713427143,5.46694600325e-05,1.04002909218,0.546284156098,0.00872739468205,1.03969838559
+373,6.216666667,pose2_to_pose3_retreat,0.575712932471,5.46384762522e-05,1.04002911203,0.546283661964,0.0087273655066,1.03969840508
+374,6.233333333,pose2_to_pose3_retreat,0.575712785463,5.46292683652e-05,1.04002911793,0.546283515115,0.00872735683613,1.03969841087
+375,6.250000000,pose2_to_pose3_retreat,0.575712760892,5.46277293807e-05,1.04002911891,0.546283490571,0.00872735538696,1.03969841184
+376,6.266666667,pose2_to_pose3_retreat,0.57571262202,5.46190311014e-05,1.04002912449,0.54628335185,0.00872734719635,1.03969841731
+377,6.283333333,pose2_to_pose3_retreat,0.57571240412,5.46053829386e-05,1.04002913323,0.546283134186,0.00872733434475,1.03969842589
+378,6.300000000,pose2_to_pose3_retreat,0.575712254627,5.4596019388e-05,1.04002913923,0.546282984855,0.00872732552769,1.03969843178
+379,6.316666667,pose2_to_pose3_retreat,0.575711712553,5.45620665574e-05,1.04002916098,0.54628244337,0.00872729355648,1.03969845314
+380,6.333333333,pose2_to_pose3_retreat,0.575711560777,5.4552534185e-05,1.04002916744,0.546282291754,0.00872728455951,1.03969845943
+381,6.350000000,pose2_to_pose3_retreat,0.575711404192,5.45415996777e-05,1.04002918965,0.546282135114,0.00872727335162,1.03969847933
+382,6.366666667,pose2_to_pose3_retreat,0.575711123824,5.45220213711e-05,1.04002922944,0.546281854648,0.00872725328381,1.03969851496
+383,6.383333333,pose2_to_pose3_retreat,0.575710720181,5.44938345791e-05,1.04002928671,0.546281450864,0.00872722439229,1.03969856626
+384,6.400000000,pose2_to_pose3_retreat,0.575710195815,5.44572176311e-05,1.04002936112,0.546280926315,0.00872718685984,1.03969863291
+385,6.416666667,pose2_to_pose3_retreat,0.575710048261,5.44688368242e-05,1.04002934505,0.546280778602,0.00872719800475,1.0396986186
+386,6.433333333,pose2_to_pose3_retreat,0.575709749713,5.45222690403e-05,1.04002926202,0.546280479584,0.0087272501816,1.03969854453
+387,6.450000000,pose2_to_pose3_retreat,0.575709546771,5.45585903741e-05,1.04002920558,0.546280276322,0.00872728564958,1.03969849417
+388,6.466666667,pose2_to_pose3_retreat,0.575709391682,5.45863472092e-05,1.04002916244,0.546280120989,0.00872731275428,1.0396984557
+389,6.483333333,pose2_to_pose3_retreat,0.575709327802,5.46101618622e-05,1.04002909093,0.546280057599,0.00872733828783,1.03969838555
+390,6.500000000,pose2_to_pose3_retreat,0.575709325462,5.46114524377e-05,1.04002908649,0.546280055298,0.00872733970852,1.03969838115
+391,6.516666667,pose2_to_pose3_retreat,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502784,1.03969833366
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7478e74ead0201b3c4215e1ee5d41405f83f6de7
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a243785f83a468fdc094aec38e3a9b509f88aa6987c29a38be11a9220bd17b89
+size 25133029
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..79e1b1dd4b60118ebc28d7ee2249b792259466ef
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/franka_data.csv
@@ -0,0 +1,397 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,711,671,664,633,875,784,799,650,630,651,0.400972678208,-0.00541816414466,0.0498494505533,0.999999963495,-3.59500788527e-05,-0.000263069329887,-5.01304731145e-05,1793192697601048576
+1,0.016666667,BASELINE,763.402236127,742,711,671,663.402236127,633,874.402236127,784,799,650,629.402236127,651,0.400974966348,-0.00541761556051,0.0498508975272,0.999999964103,-3.40280982776e-05,-0.000260999167034,-5.01493341854e-05,1793192697617715200
+2,0.033333333,BASELINE,763.187476757,742,711,671,663.187476757,633,874.187476757,783.812523243,799,650,629,651,0.400975918551,-0.00541735913505,0.0498517054579,0.999999964378,-3.28331729854e-05,-0.000260092948883,-5.01671876051e-05,1793192697634381568
+3,0.050000000,BASELINE,763.760627399,742,711,671,663.760627399,633,874.760627399,783.239372601,799,650,629,651,0.400974122491,-0.00541770373317,0.0498511987603,0.99999996398,-3.3133932669e-05,-0.000261581176903,-5.01829681065e-05,1793192697651048448
+4,0.066666667,BASELINE,764,742,711,671,663.664511488,633,875,783,799,649.664511488,628.664511488,650.664511488,0.400973270873,-0.00541806696809,0.0498506120037,0.999999963673,-3.42838379374e-05,-0.000262582994631,-5.02900959944e-05,1793192697667715072
+5,0.083333333,BASELINE,764,742,711,671,663.088423726,633,875,783,799,649.088423726,628.088423726,650.088423726,0.400973096572,-0.00541844356857,0.0498499678319,0.999999963431,-3.60427172156e-05,-0.000263235977815,-5.04627346572e-05,1793192697684381696
+6,0.100000000,BASELINE,764,742.499113369,710.500886631,671,663.499113369,633,875.499113369,783,799,649.499113369,628.499113369,650.499113369,0.40097247028,-0.00541777156886,0.0498492064519,0.999999963248,-3.55241719694e-05,-0.000263975197531,-5.05908866412e-05,1793192697701048320
+7,0.116666667,BASELINE,764,742.91267345,710.08732655,671.08732655,664,633,875.91267345,783,799,650,629,651,0.400972089557,-0.00541692942842,0.0498487953515,0.999999963211,-3.43536104366e-05,-0.000264250545695,-5.06832648039e-05,1793192697717715200
+8,0.133333333,BASELINE,764,742.332363217,710.667636783,671.667636783,664,633,875.332363217,783,799,650,629,651,0.400973557804,-0.00541620015141,0.0498504816564,0.999999963938,-3.18334214562e-05,-0.000261818931977,-5.06192263666e-05,1793192697734381824
+9,0.150000000,BASELINE,764,742.242933333,711,671.514133334,664,633,875,783,799.242933333,650,629,650.757066667,0.400974221944,-0.00541576763948,0.0498512528194,0.999999964342,-2.97819568051e-05,-0.00026054643617,-5.04352375271e-05,1793192697751048448
+10,0.166666667,BASELINE,764,742.811509192,711,670.376981616,664,633,875,783,799.811509192,650,629,650.188490808,0.400973808209,-0.00541573292948,0.0498507972708,0.999999964328,-2.83587987853e-05,-0.000260827692285,-5.00904599227e-05,1793192697767715328
+11,0.183333333,BASELINE,764,742.613752791,711,670.386247209,663.613752791,633,875,783,800,650,628.613752791,650.386247209,0.400973644169,-0.00541507539531,0.0498506326038,0.999999964347,-2.8104365238e-05,-0.000260767419578,-5.01713857397e-05,1793192697784381952
+12,0.200000000,BASELINE,764,742.0359588,711,670.9640412,663.0359588,633,875,783,800,650,628.0359588,650.9640412,0.400973603957,-0.00541410899169,0.04985061219,0.999999964383,-2.84295225764e-05,-0.00026053777675,-5.04634253367e-05,1793192697801048320
+13,0.216666667,BASELINE,764,742,711,671,663.557505597,632.442494403,875,783,800,649.442494403,628,650.442494403,0.400974756108,-0.00541528745453,0.0498513803878,0.999999964503,-3.0926989303e-05,-0.000259772760724,-5.05630345321e-05,1793192697817715200
+14,0.233333333,BASELINE,764,742,711,671,663.852166453,632.147833547,875.147833547,783,799.852166453,649.147833547,628.147833547,650.147833547,0.400975704408,-0.00541643375749,0.0498520058117,0.999999964629,-3.26446227328e-05,-0.00025907840148,-5.05484918603e-05,1793192697834381568
+15,0.250000000,BASELINE,764,742,711,671,663.273995718,632.726004282,875.726004282,783,799.273995718,649.726004282,628.726004282,650.726004282,0.400975828964,-0.00541707208825,0.0498520632789,0.999999964775,-3.16725370955e-05,-0.000258693147126,-5.02388326728e-05,1793192697851048192
+16,0.266666667,BASELINE,764,742,711,670.697760555,663.302239445,633,875.697760555,783,799,649.697760555,628.697760555,651,0.400975680807,-0.00541700541798,0.0498518701911,0.999999964776,-3.11878684331e-05,-0.00025878285162,-5.00652424553e-05,1793192697867715072
+17,0.283333333,BASELINE,764,742,711,670.123268955,663.876731045,633,875.123268955,783,799,649.123268955,628.123268955,651,0.400975286995,-0.00541630369473,0.0498514514076,0.999999964646,-3.11422567542e-05,-0.000259300390996,-5.00142208715e-05,1793192697884381696
+18,0.300000000,BASELINE,764,742,711,670.451271149,664,633,875,783,799,649,628.451271149,651,0.400972669623,-0.00541749341298,0.0498500307075,0.99999996396,-3.31023606813e-05,-0.000261709543722,-4.99261386964e-05,1793192697901048576
+19,0.316666667,BASELINE,764,742,711,671,663.973304715,633,875,783,799,649.026695285,629,651,0.400969664609,-0.00541905507499,0.0498484739562,0.99999996317,-3.53495511892e-05,-0.000264435532483,-4.98399684526e-05,1793192697917715456
+20,0.333333333,BASELINE,764,742,711,671,663.379377716,633,875,783,799,649.620622284,629,651,0.400971330205,-0.00541754046438,0.0498498422826,0.999999963674,-3.20540505581e-05,-0.000262913301205,-5.00095537129e-05,1793192697934382080
+21,0.350000000,BASELINE,764,742,711,671,663,633,875,783.208457753,799,650,628.791542247,651,0.400972603273,-0.00541678536451,0.0498509005487,0.999999964109,-2.98389757606e-05,-0.000261496176851,-5.01045872654e-05,1793192697951048448
+22,0.366666667,BASELINE,764,742,711,671,663,633,875,783.785521785,799,650,628.214478215,651,0.400973182252,-0.00541737327279,0.0498514105489,0.999999964442,-2.95343687411e-05,-0.000260264908414,-5.00677944369e-05,1793192697967715072
+23,0.383333333,BASELINE,763.640579839,742,711,671,663.359420161,633,875.359420161,783.640579839,799.359420161,650,628,651,0.400974473742,-0.00541724862084,0.0498520603973,0.999999964728,-3.04831359601e-05,-0.000259067351209,-4.99928673521e-05,1793192697984381696
+24,0.400000000,BASELINE,763.06855397,742,711,671,663.93144603,633,875.93144603,783.06855397,799.93144603,650,628,651,0.4009761867,-0.00541670247236,0.0498527929692,0.999999964984,-3.21733042933e-05,-0.000257889734895,-4.98953829296e-05,1793192698001048320
+25,0.416666667,BASELINE,763.521631085,742.521631085,711,671,663.478368915,633,875.478368915,783,799.478368915,650,628.521631085,651,0.400974667218,-0.00541796322935,0.049852052677,0.999999964437,-3.25835365339e-05,-0.000260016521588,-4.95500359406e-05,1793192698017714944
+26,0.433333333,BASELINE,764,742.889089467,711,671,663.110910533,633,875,783,799,650,629,650.889089467,0.400973034571,-0.00541925552603,0.0498512688956,0.999999963911,-3.31095932779e-05,-0.000262012999725,-4.93013701211e-05,1793192698034381824
+27,0.450000000,BASELINE,764,742.313949721,711,671,663.686050279,633,875,783,799,650,629,650.313949721,0.40097277051,-0.0054196500372,0.0498511425055,0.99999996395,-3.48499137827e-05,-0.000261580797709,-4.95986375633e-05,1793192698051048192
+28,0.466666667,BASELINE,763.737926184,742,711,671,663.737926184,633,875,783,799,650,628.737926184,650.262073816,0.40097212078,-0.00541937931012,0.0498508414572,0.999999963947,-3.49333989219e-05,-0.000261550315771,-4.97646753303e-05,1793192698067715072
+29,0.483333333,BASELINE,763.160840368,742,711,671,663.160840368,633,875,783,799,650,628.160840368,650.839159632,0.400971007476,-0.00541830896851,0.0498503304702,0.999999963893,-3.30253724377e-05,-0.00026200270028,-4.97729753735e-05,1793192698084381696
+30,0.500000000,BASELINE,763.415835073,742,711,671,663,633,875,783,799,650,628.415835073,651,0.400971159146,-0.00541805570632,0.04985008918,0.999999963805,-3.20997145526e-05,-0.000262439093192,-4.98454509733e-05,1793192698101048320
+31,0.516666667,BASELINE,763.992351928,742,711,671,663,633,875,783,799,650,628.992351928,651,0.400971799612,-0.00541811816975,0.0498499521026,0.999999963705,-3.1553651285e-05,-0.00026286930682,-4.9942724488e-05,1793192698117715200
+32,0.533333333,BASELINE,764,742.584461022,711,670.415538978,663.584461022,633,875.584461022,783.584461022,799,650,629,651,0.400972016093,-0.00541608943138,0.0498507870538,0.999999963992,-3.05361397566e-05,-0.000261877543121,-5.00405974325e-05,1793192698134381568
+33,0.550000000,BASELINE,764,742.827620748,711,670.344758504,664,633,875.827620748,783.827620748,799,649.827620748,629,651,0.400972347335,-0.00541514596612,0.0498513789749,0.999999964232,-3.02280983639e-05,-0.000260977720444,-5.01284501585e-05,1793192698151048192
+34,0.566666667,BASELINE,764,742.250046411,711,671.499907178,664,633,875.250046411,783.250046411,799,649.250046411,629,651,0.400972961731,-0.00541681963362,0.0498513689103,0.999999964353,-3.16026381873e-05,-0.000260338952493,-5.01927303772e-05,1793192698167715072
+35,0.583333333,BASELINE,764,742,711.326117755,671.673882245,663.673882245,632.673882245,875,783,799,649.326117755,628.673882245,650.673882245,0.40097252351,-0.00541788185407,0.0498509114978,0.999999964065,-3.18930025056e-05,-0.000261429203275,-5.00791698357e-05,1793192698184381952
+36,0.600000000,BASELINE,764,742,711.901205407,671.098794593,663.098794593,632.098794593,875,783,799,649.901205407,628.098794593,650.098794593,0.400971281682,-0.00541847727428,0.0498501125638,0.999999963461,-3.13556688136e-05,-0.000263839448406,-4.98298393368e-05,1793192698201048576
+37,0.616666667,BASELINE,763.52488282,742.47511718,711.52488282,671,663.47511718,632.47511718,875,783,799,650,628.47511718,650.47511718,0.400972807303,-0.0054184484363,0.0498509395498,0.999999963995,-3.22577566545e-05,-0.000261700355215,-4.98282163254e-05,1793192698217715200
+38,0.633333333,BASELINE,763,742.949454582,711,671,664,633,875.050545418,783,799,649.949454582,628.949454582,651,0.400974588616,-0.00541826367979,0.0498519682309,0.999999964656,-3.3271372517e-05,-0.000259027953322,-4.98574704373e-05,1793192698234381824
+39,0.650000000,BASELINE,763,742.35508593,711,671,664,633,875.64491407,783,799,649.35508593,628.35508593,651,0.400972944839,-0.00541779453392,0.0498515384131,0.999999964245,-3.22725802224e-05,-0.000260770364091,-4.96661270388e-05,1793192698251048704
+40,0.666666667,BASELINE,763.23252637,742,711,671,664,633,875.76747363,783.23252637,799,649.23252637,628,651,0.400972974445,-0.00541754642628,0.0498518488489,0.999999964315,-3.15117425114e-05,-0.000260612605731,-4.95732162692e-05,1793192698267715584
+41,0.683333333,BASELINE,763.810112482,742,711,671,664,633,875.189887518,783.810112482,799,649.810112482,628,651,0.400975487286,-0.00541762633046,0.0498532577911,0.999999965097,-3.11040198504e-05,-0.000257635073031,-4.96263755565e-05,1793192698284381952
+42,0.700000000,BASELINE,764,742,711,671.385597771,664,633,875,783.614402229,799.385597771,650,628,651,0.400975127123,-0.00541741083122,0.0498532046989,0.999999965091,-3.13745217357e-05,-0.000257621575708,-4.9653053462e-05,1793192698301048576
+43,0.716666667,BASELINE,764,742,711,671.9600541,664,633,875,783.0399459,799.9600541,650,628,651,0.400973359817,-0.00541705064893,0.0498524355296,0.999999964699,-3.19772052978e-05,-0.000259059807416,-4.96667612816e-05,1793192698317715200
+44,0.733333333,BASELINE,764,742,711,671.45198874,664,633,875,783,800,649.45198874,628,651,0.400973538833,-0.00541735945496,0.0498521965717,0.999999964658,-3.29485041184e-05,-0.000259043991492,-4.99522296457e-05,1793192698334381824
+45,0.750000000,BASELINE,764,742,711,671,664,633,875,783,799.864973194,649.135026806,628.135026806,650.864973194,0.400973784963,-0.00541742500881,0.049851916174,0.999999964634,-3.33395572655e-05,-0.000259050327572,-5.01407113903e-05,1793192698351048192
+46,0.766666667,BASELINE,764,742,711,671,664,633,875,783,799.284394168,649.715605832,628.715605832,650.284394168,0.40097377259,-0.00541652292256,0.049851368285,0.999999964583,-3.17250543529e-05,-0.00025948832879,-4.99421468619e-05,1793192698367714816
+47,0.783333333,BASELINE,763.706770104,742,711,671,663.706770104,633,875,783.293229896,799.293229896,650,629,650.293229896,0.400974126204,-0.00541699257654,0.0498515379107,0.999999964686,-3.14622015312e-05,-0.000259156182436,-4.97577553271e-05,1793192698384381952
+48,0.800000000,BASELINE,763.131983302,742,711,671,663.131983302,633,875,783.868016698,799.868016698,650,629,650.868016698,0.400974831235,-0.00541877936399,0.0498523964878,0.999999964939,-3.24971916956e-05,-0.00025808454684,-4.95869725595e-05,1793192698401048832
+49,0.816666667,BASELINE,763,742,711,671,663.451953403,633,875,784,799.548046597,649.548046597,628.548046597,651,0.400974787151,-0.0054186240844,0.0498522838771,0.99999996497,-3.054389241e-05,-0.000258219705989,-4.94941207045e-05,1793192698417715456
+50,0.833333333,BASELINE,763.038352098,742.038352098,711,671,663.961647902,633,875,783.961647902,799,649.038352098,628.038352098,651,0.400974510922,-0.00541789987729,0.04985197675,0.99999996494,-2.79562082022e-05,-0.000258638317454,-4.94486741972e-05,1793192698434382080
+51,0.850000000,BASELINE,763.620986899,742.620986899,711,671,663.379013101,633,875,783.379013101,799,649.620986899,628.620986899,651,0.400974108928,-0.00541731660256,0.0498530172505,0.999999965066,-2.90060516403e-05,-0.000257974831956,-4.97463416e-05,1793192698451048704
+52,0.866666667,BASELINE,764,742.800153228,711,671,663.199846772,633,875.199846772,783,799.199846772,650,629,651,0.400974109439,-0.00541706847537,0.0498535127971,0.999999965142,-2.97835293406e-05,-0.000257552809628,-4.99585996644e-05,1793192698467715328
+53,0.883333333,BASELINE,764,742.228319887,711,671,663.771680113,633,875.771680113,783,799.771680113,650,629,651,0.400974859159,-0.00541744417807,0.0498529939887,0.999999965124,-3.00540365842e-05,-0.000257580236962,-5.00118802773e-05,1793192698484381696
+54,0.900000000,BASELINE,764,742,711,671,664,633,875.652482528,783,800,649.652482528,629,650.652482528,0.400974177276,-0.00541780081607,0.0498521574529,0.999999964837,-3.04334578489e-05,-0.000258639009728,-5.00524078474e-05,1793192698501048320
+55,0.916666667,BASELINE,764,742,711,671,664,633,875.073983878,783,800,649.073983878,629,650.073983878,0.400972543861,-0.00541814478251,0.0498511097361,0.999999964369,-3.08852699636e-05,-0.000260383277183,-5.008445897e-05,1793192698517714944
+56,0.933333333,BASELINE,764,742,711,670.487570897,663.487570897,632.487570897,875,783,799.487570897,649.512429103,629,650.512429103,0.400973804327,-0.00541824097383,0.0498521490145,0.99999996465,-3.24728419415e-05,-0.000259163381842,-4.98058293144e-05,1793192698534382080
+57,0.950000000,BASELINE,763.901403527,742,711.098596473,670.098596473,663.098596473,632.098596473,875,783,799,649.901403527,629,650.901403527,0.400974944907,-0.00541835136788,0.0498531755897,0.999999964897,-3.39399269006e-05,-0.000258066270191,-4.95532264554e-05,1793192698551048704
+58,0.966666667,BASELINE,763.32209238,742,711.67790762,670.67790762,663.67790762,632.67790762,875,783,799,649.32209238,629,650.32209238,0.400973431925,-0.00541870816083,0.0498526480851,0.999999964471,-3.40075307307e-05,-0.000259687094665,-4.96496474987e-05,1793192698567715584
+59,0.983333333,BASELINE,763.256472328,742.256472328,711.743527672,671,664,633,875,783,799,649.256472328,628.743527672,650.256472328,0.400972887007,-0.00541877107316,0.0498520350993,0.999999964282,-3.37062004078e-05,-0.00026043935224,-4.9702349117e-05,1793192698584381952
+60,1.000000000,BASELINE,763.834102413,742.834102413,711.165897587,671,664,633,875,783,799,649.834102413,628.165897587,650.834102413,0.40097355431,-0.00541846598468,0.0498513150728,0.999999964395,-3.29428862751e-05,-0.000260103980036,-4.97003047545e-05,1793192698601048320
+61,1.016666667,BASELINE,764,742.58942257,711,670.58942257,664,633,875,783,799,649.58942257,628.41057743,650.58942257,0.400973553814,-0.00541921292233,0.0498514148253,0.999999964449,-3.43021342161e-05,-0.000259732663354,-4.96358472357e-05,1793192698617714944
+62,1.033333333,BASELINE,764,742.013412994,711,670.013412994,664,633,875,783,799,649.013412994,628.986587006,650.013412994,0.400973284244,-0.00542038374824,0.0498518448877,0.999999964475,-3.65166167387e-05,-0.000259346863743,-4.95462418599e-05,1793192698634381568
+63,1.050000000,BASELINE,764,742,711,670.573440894,664,633,875,783,798.426559106,649,628.426559106,650,0.40097327209,-0.00541919123824,0.0498519115431,0.99999996452,-3.4096581854e-05,-0.000259434918532,-4.99118423741e-05,1793192698651048448
+64,1.066666667,BASELINE,764,742,711,671,664,633,875,783,798.158969354,649,628.158969354,650.158969354,0.400973323977,-0.0054181794401,0.049851852004,0.999999964544,-3.22097908171e-05,-0.000259540437753,-5.01281522661e-05,1793192698667715072
+65,1.083333333,BASELINE,764,742,711,671,664,633,875,783,798.74028948,649,628.74028948,650.74028948,0.400973529707,-0.0054177974557,0.0498514802094,0.999999964529,-3.20332829098e-05,-0.000259662341928,-4.99189924458e-05,1793192698684381952
+66,1.100000000,BASELINE,764,742,711,671,664,632.682496795,875,783,799,649,629,650.682496795,0.400973459938,-0.00541678103464,0.0498514907668,0.999999964653,-2.92093556818e-05,-0.000259542713597,-4.97769835236e-05,1793192698701048576
+67,1.116666667,BASELINE,764,742,711,671,664,632.108599154,875,783,799,649,629,650.108599154,0.400973167692,-0.00541525228482,0.0498518100863,0.999999964872,-2.42475489904e-05,-0.000259228039697,-4.96892012023e-05,1793192698717715200
+68,1.133333333,BASELINE,764,742,711.475684546,671,664,632.475684546,875.475684546,783,799,649,628.524315454,650.475684546,0.400973171344,-0.00541643095975,0.049851626077,0.999999964725,-2.72152748359e-05,-0.00025948090532,-4.97984235693e-05,1793192698734381824
+69,1.150000000,BASELINE,764,742,711.938073244,671,663.938073244,633,875.938073244,783,799,649.061926756,628,651,0.400973241366,-0.00541796469865,0.049851364961,0.999999964505,-3.13670287614e-05,-0.000259830133517,-4.99496717641e-05,1793192698751048192
+70,1.166666667,BASELINE,764,742,711.355743759,671,663.355743759,633,875.355743759,783,799,649.644256241,628,651,0.400973288767,-0.00541717200464,0.0498514430829,0.999999964531,-2.99161612135e-05,-0.00025987600028,-5.00676887749e-05,1793192698767714816
+71,1.183333333,BASELINE,764,742,711,671,663,633,875.224232985,783,799.224232985,650,628.224232985,651,0.400973811177,-0.00541721483422,0.0498519640005,0.999999964717,-3.00514154171e-05,-0.000259150404506,-5.00325348204e-05,1793192698784381696
+72,1.200000000,BASELINE,764,742,711,671,663,633,875.800515972,783,799.800515972,650,628.800515972,651,0.400975079364,-0.00541856945141,0.0498531801156,0.999999965149,-3.26769103634e-05,-0.000257213598049,-4.97568995888e-05,1793192698801048320
+73,1.216666667,BASELINE,763.624481372,742,711,671,663,633,876,783,799.624481372,650,628.624481372,651,0.400975358192,-0.00541769918098,0.0498532455681,0.99999996526,-3.09489781423e-05,-0.000256987807355,-4.97991356284e-05,1793192698817714944
+74,1.233333333,BASELINE,763.050156579,742,711,671,663,633,876,783,799.050156579,650,628.050156579,651,0.400975113237,-0.00541565101584,0.0498527018394,0.999999965191,-2.69162648718e-05,-0.000257667858605,-5.0009658324e-05,1793192698834381568
+75,1.250000000,BASELINE,763.539533403,742,711,671,663.539533403,633,875.460466597,783,799.539533403,649.460466597,628,651,0.400975187964,-0.00541685116048,0.0498531223898,0.999999965257,-2.96202566035e-05,-0.000257130263789,-4.9927247837e-05,1793192698851048448
+76,1.266666667,BASELINE,764,742,711,671,664,633,875,783.128085196,799.871914804,649.128085196,628,650.871914804,0.400975347328,-0.00541791579419,0.0498534789702,0.999999965304,-3.21944714657e-05,-0.000256653138836,-4.98417717208e-05,1793192698867714816
+77,1.283333333,BASELINE,764,742,711,671,664,633,875,783.707446733,799.292553267,649.707446733,628,650.292553267,0.400975697115,-0.00541740787742,0.0498532850784,0.999999965271,-3.2040286254e-05,-0.000256799572725,-4.98442519775e-05,1793192698884381440
+78,1.300000000,BASELINE,763.716172391,742,711,671,663.716172391,632.716172391,875,783.716172391,799,649.716172391,628,650.283827609,0.400974640677,-0.00541752435015,0.0498525310612,0.999999964905,-3.19846441705e-05,-0.000258204172714,-4.9967287244e-05,1793192698901048320
+79,1.316666667,BASELINE,763.142831918,742,711,671,663.142831918,632.142831918,875,783.142831918,799,649.142831918,628,650.857168082,0.400972149845,-0.00541827771935,0.049851205699,0.999999964194,-3.20295191091e-05,-0.000260892140695,-5.02132923168e-05,1793192698917715200
+80,1.333333333,BASELINE,763.442093743,742,711,670.557906257,663,632,875,783,799.442093743,649,628,651,0.40097229629,-0.00541781955711,0.0498513631668,0.999999964289,-3.1183492928e-05,-0.000260637550462,-5.01720889533e-05,1793192698934381568
+81,1.350000000,BASELINE,764,742,711,670.030361861,663,632.030361861,875,783,799.969638139,649,628,650.969638139,0.400973292285,-0.00541710544146,0.0498520116201,0.999999964643,-3.01986462176e-05,-0.000259420626855,-5.00245531837e-05,1793192698951048448
+82,1.366666667,BASELINE,764,742,711,670.609568722,663,632.609568722,875,783,799.390431278,649,628,650.390431278,0.400973828543,-0.00541903057951,0.0498526423524,0.999999964853,-3.20474839253e-05,-0.000258455577529,-4.96773799539e-05,1793192698967714816
+83,1.383333333,BASELINE,764,742.188120874,711,671,663.376241748,633,875,783.188120874,799,649.188120874,628,650.188120874,0.400974227144,-0.00541986408836,0.0498528754547,0.999999964958,-3.30837672857e-05,-0.000257959854688,-4.94487266026e-05,1793192698984381696
+84,1.400000000,BASELINE,764,742.765319044,711,671,664.530638088,633,875,783.765319044,799,649.765319044,628,650.765319044,0.400974341037,-0.00541843985696,0.0498522861669,0.999999964856,-3.2439501447e-05,-0.000258434806936,-4.94651995943e-05,1793192699001048576
+85,1.416666667,BASELINE,764,742.660739346,711,671,664.660739346,633,875,783.660739346,799,649.660739346,628.339260654,651,0.40097416342,-0.00541811498061,0.0498522655505,0.999999964964,-3.22665481157e-05,-0.000258004104087,-4.96406669106e-05,1793192699017715200
+86,1.433333333,BASELINE,764,742.089029052,711,671,664.089029052,633,875,783.089029052,799,649.089029052,628.910970948,651,0.400973786071,-0.00541854334432,0.049852634568,0.999999965216,-3.24165218145e-05,-0.000256952877734,-4.99250716255e-05,1793192699034381824
+87,1.450000000,BASELINE,764,742,711,671,664,633,875,783,799.500539944,649,628.499460056,651,0.400973460085,-0.00541774888495,0.0498522048062,0.999999964941,-3.12718822594e-05,-0.000258157283263,-4.99525814745e-05,1793192699051048448
+88,1.466666667,BASELINE,764,742,711,671,663.908773701,633,875,783,800,649.091226299,628,651,0.400973224231,-0.00541686924816,0.0498517778437,0.99999996465,-2.9730497347e-05,-0.000259474080143,-4.98856721695e-05,1793192699067714816
+89,1.483333333,BASELINE,764,742,711,671,663.329726553,633,875,783,800,649.670273447,628,651,0.400973419688,-0.00541674021366,0.0498521536906,0.999999964814,-2.73444525722e-05,-0.000259167132253,-4.95672455567e-05,1793192699084381440
+90,1.500000000,BASELINE,763.752332174,742.247667826,711,671,663.247667826,633,875,783,800,650,628.247667826,651,0.400973291374,-0.00541681721968,0.0498523830232,0.999999964847,-2.75210860401e-05,-0.00025903816413,-4.94712364107e-05,1793192699101048320
+91,1.516666667,BASELINE,763.17712363,742.82287637,711,671,663.82287637,633,875,783,800,650,628.82287637,651,0.400972734873,-0.00541716671432,0.0498524185908,0.999999964705,-3.10868618741e-05,-0.000259144574283,-4.96693744072e-05,1793192699117714944
+92,1.533333333,BASELINE,763.406371106,742.593628894,711.406371106,671,664,632.593628894,875,783,799.593628894,650,628.593628894,651,0.400972936413,-0.00541783230102,0.0498518502339,0.99999996462,-3.13233133112e-05,-0.000259416855224,-4.98085690861e-05,1793192699134381568
+93,1.550000000,BASELINE,763.993552746,742.006447254,711.993552746,671,664,632.006447254,875,783,799.006447254,650,628.006447254,651,0.400973475234,-0.00541863852957,0.0498510131672,0.999999964563,-3.00784173176e-05,-0.000259762938629,-4.99215375755e-05,1793192699151048192
+94,1.566666667,BASELINE,763.427177575,742,711.427177575,671,664,632,875,783,799,649.427177575,628.572822425,651,0.400972644635,-0.00541857803134,0.0498514271833,0.999999964471,-2.87978395906e-05,-0.000260333197835,-4.95610961019e-05,1793192699167714816
+95,1.583333333,BASELINE,763,742.151717882,711.151717882,671,664,632.151717882,875,783,799,649.151717882,629,651,0.40097198846,-0.00541863111767,0.0498517252223,0.999999964404,-2.83949243839e-05,-0.000260677742576,-4.9315934125e-05,1793192699184381440
+96,1.600000000,BASELINE,763,742.72980864,711.72980864,671,664,632.72980864,875,783,799,649.72980864,629,651,0.400971865193,-0.00541903045237,0.0498516582975,0.999999964416,-3.04596177832e-05,-0.000260380967703,-4.94095123578e-05,1793192699201048320
+97,1.616666667,BASELINE,763.30654841,743,711.69345159,671,664,633,875,783,799,649.69345159,628.69345159,651,0.400972629093,-0.00541842882783,0.0498518604453,0.999999964569,-3.15579727646e-05,-0.000259639031434,-4.9540660487e-05,1793192699217714944
+98,1.633333333,BASELINE,763.88210261,743,711.11789739,671,664,633,875,783,799,649.11789739,628.11789739,651,0.40097417151,-0.00541694883034,0.0498522987128,0.999999964846,-3.18083355213e-05,-0.000258506452176,-4.97047773667e-05,1793192699234381568
+99,1.650000000,BASELINE,764,742.532809599,711,671,664,633,875,783,799,649.467190401,628.467190401,651,0.400974538981,-0.00541656442016,0.04985307942,0.999999965065,-3.1178332847e-05,-0.00025774245622,-4.96712082408e-05,1793192699251048192
+100,1.666666667,BASELINE,764,742,711,671,663.94602339,632.94602339,875,783,799.05397661,650,629,651,0.400974534264,-0.00541658676238,0.0498538102295,0.999999965245,-3.05904731785e-05,-0.000257122558735,-4.96274962915e-05,1793192699267715072
+101,1.683333333,BASELINE,764,742,711,671,663.366611399,632.366611399,875,783,799.633388601,650,629,651,0.400973852899,-0.00541782121684,0.0498531965686,0.999999965199,-3.26205591554e-05,-0.00025698108652,-4.99807889385e-05,1793192699284381696
+102,1.700000000,BASELINE,764,742.211707088,711,671,663.211707088,632.211707088,875,783,799.788292912,650,629,651,0.40097321973,-0.00541884021574,0.0498526200866,0.999999965008,-3.43554370431e-05,-0.000257481667584,-5.00729977432e-05,1793192699301048320
+103,1.716666667,BASELINE,764,742.788141633,711,671,663.788141633,632.788141633,875,783,799.211858367,650,629,651,0.400972669592,-0.00541948802923,0.0498521076562,0.999999964568,-3.55817323371e-05,-0.000259088373461,-4.97154131356e-05,1793192699317714944
+104,1.733333333,BASELINE,764,742.636139111,711,670.636139111,663.636139111,633,875,783,799.363860889,650,629,651,0.400972095977,-0.00541901673344,0.0498517178911,0.999999964377,-3.43160721084e-05,-0.000260002633521,-4.96760286837e-05,1793192699334381568
+105,1.750000000,BASELINE,764,742.06083546,711,670.06083546,663.06083546,633,875,783,799.93916454,650,629,651,0.400971508721,-0.00541789511348,0.0498513994079,0.999999964326,-3.16023147317e-05,-0.000260514507382,-4.98215531058e-05,1793192699351048192
+106,1.766666667,POSE1_TO_POSE2_PRESS,764,743,711,671,664,633,875,783,800,649,628,651,0.4009745898,-0.00541725041307,0.0498538700944,0.999999965236,-3.11498935377e-05,-0.000257123098451,-4.94590037223e-05,1793192699381089792
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,743,711.573044404,670.426955596,664,633,875,783,800,649,628,651,0.40097507969,-0.00541736704368,0.0498532166533,0.999999965158,-3.14311471589e-05,-0.000257320020498,-4.98189486416e-05,1793192699397756672
+108,1.800000000,POSE1_TO_POSE2_PRESS,764,742.852032631,711.852032631,670.147967369,664.147967369,632.852032631,875,783,800,649,628,651,0.400975492522,-0.00541735877958,0.0498529722894,0.999999965169,-3.15370608366e-05,-0.000257230110268,-4.99978529186e-05,1793192699414423552
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.271619296,711.271619296,670.728380704,664.728380704,632.271619296,875,783,800,649,628,651,0.400975680146,-0.00541698550116,0.0498539234851,0.999999965438,-3.11305301687e-05,-0.000256301910791,-4.96476521394e-05,1793192699431089920
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664.687006378,632.312993622,875.312993622,783,799.687006378,649.312993622,628.312993622,650.687006378,0.400975994481,-0.0054171184398,0.0498541391277,0.999999965587,-3.11186183818e-05,-0.000255761133991,-4.94398750826e-05,1793192699447756544
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664.098699486,632.901300514,875.901300514,783,799.098699486,649.901300514,628.901300514,650.098699486,0.400976420274,-0.00541769665358,0.0498537077682,0.999999965632,-3.14538185314e-05,-0.000255561139284,-4.93573758096e-05,1793192699464423168
+112,1.866666667,POSE1_TO_POSE2_PRESS,764.482217416,742,711,671,664,633,875.517782584,783,799,650,629,650.482217416,0.400975315809,-0.00541697778522,0.0498532196745,0.999999965366,-3.1153898927e-05,-0.00025655026842,-4.97941621189e-05,1793192699481089792
+113,1.883333333,POSE1_TO_POSE2_PRESS,764.877158328,741.938579164,711,671,663.938579164,633,875,783,799.061420836,649.938579164,628.938579164,651,0.400974281008,-0.00541624660415,0.0498528789703,0.999999965108,-3.09155150931e-05,-0.000257500255139,-5.02200965306e-05,1793192699497756160
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.722510055,741.361255027,711,671,663.361255027,633,875,783,799.638744973,649.361255027,628.361255027,651,0.400976422435,-0.00541760827905,0.0498538723264,0.99999996545,-3.22694125243e-05,-0.000256107989251,-4.96756035327e-05,1793192699514422784
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.2152551,741.2152551,711,671,663,633,875,783,799.7847449,649,628.2152551,651,0.400982940415,-0.00541846134406,0.0498564805839,0.999999966615,-3.27703017371e-05,-0.000251535329924,-4.9246391903e-05,1793192699531089664
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.790404194,741.790404194,711,671,663,633,875,783,799.209595806,649,628.790404194,651,0.400996775734,-0.00541846404279,0.0498617888625,0.999999969096,-3.1845010738e-05,-0.000241645238072,-4.90099240606e-05,1793192699547756288
+117,1.950000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663,633,875,783,799,649,628.625997261,651,0.401028387675,-0.005420053594,0.049873427721,0.999999974573,-3.19732289821e-05,-0.000217961692539,-4.82108306063e-05,1793192699564423168
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663,633,875,783,799,649,628.037554034,651,0.401070192129,-0.00542255299261,0.04988869632,0.99999998099,-3.27054935904e-05,-0.000186369447287,-4.70891466443e-05,1793192699581090048
+119,1.983333333,POSE1_TO_POSE2_PRESS,763.476337737,742,711,671,663.523662263,633,875,783,799,649.523662263,628.523662263,650.476337737,0.401134222977,-0.00542388438605,0.0499068985677,0.999999987391,-3.2954849238e-05,-0.000148376803015,-4.60129878797e-05,1793192699597756416
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.088838436,742,711,671,664,633,875.088838436,783,799,649.911161564,628.911161564,650,0.401200489924,-0.00542558200427,0.049923886572,0.999999991898,-3.35244911685e-05,-0.000114338638282,-4.48029043102e-05,1793192699614422784
+121,2.016666667,POSE1_TO_POSE2_PRESS,763.687383483,742,711,671,664,633,875.687383483,783,799,649.312616517,628.312616517,650,0.401270893201,-0.00542983765349,0.0499327605025,0.999999992867,-3.61206379355e-05,-0.000105492444812,-4.28066270986e-05,1793192699631089408
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671.274054855,664,633,875.725945145,783,799,649.274054855,628,650,0.401348105045,-0.00543327893544,0.0499378718826,0.999999993403,-3.75907256055e-05,-0.000100303272355,-4.14816700489e-05,1793192699647756288
+123,2.050000000,POSE1_TO_POSE2_PRESS,764,742,711,671.847744251,664,633,875.152255749,783,799,649.847744251,628,650,0.40143276095,-0.00543582983859,0.0499388695236,0.999999993537,-3.78296501077e-05,-9.91124598735e-05,-4.08906928543e-05,1793192699664422912
+124,2.066666667,POSE1_TO_POSE2_PRESS,764,742.436943004,711,671.126113991,664,633,875,783,799.436943004,650,628,650.436943004,0.401535163816,-0.00543989839183,0.049937672323,0.999999993102,-4.04772617892e-05,-0.000102833143396,-3.97937793999e-05,1793192699681089536
+125,2.083333333,POSE1_TO_POSE2_PRESS,764.03071281,742.96928719,711,670.06142562,664,633,875,783,800,650,628,651,0.401645839804,-0.0054445352902,0.049935893096,0.99999999247,-4.39226267373e-05,-0.000107925145146,-3.85143914317e-05,1793192699697756160
+126,2.100000000,POSE1_TO_POSE2_PRESS,764.606175218,742.393824782,711,671.212350437,664,633,875,783,800,650,628,651,0.401789532875,-0.00544952777547,0.0499378550557,0.999999992641,-4.60828067238e-05,-0.00010586724354,-3.72405082421e-05,1793192699714422784
+127,2.116666667,POSE1_TO_POSE2_PRESS,764.818290865,742,711,671.818290865,664,633,875.181709135,783,800,650,628,651,0.401940445534,-0.00545536566128,0.0499391768059,0.99999999258,-4.85715095464e-05,-0.000105834457837,-3.57678791595e-05,1793192699731089408
+128,2.133333333,POSE1_TO_POSE2_PRESS,764.242601981,742,711,671.242601981,664,633,875.757398019,783,800,650,628,651,0.402107011605,-0.00546303653463,0.0499391104609,0.999999992015,-5.17725116919e-05,-0.000110192506445,-3.38643315809e-05,1793192699747756032
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.660267159,633,876,783,799.660267159,650,628.339732841,650.660267159,0.402299581023,-0.00547019853413,0.0499396191317,0.999999991957,-5.51934590303e-05,-0.000109547109304,-3.22420536102e-05,1793192699764422912
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.073091747,633,876,783,799.073091747,650,628.926908253,650.073091747,0.402511089856,-0.00547698989893,0.0499405466121,0.999999992258,-5.87746025886e-05,-0.000105257480033,-3.08246366355e-05,1793192699781089536
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.50806618,671,663,632.49193382,875.49193382,783,799.50806618,650,629,650,0.40275190043,-0.00548535126998,0.0499416145835,0.999999992354,-6.07049102533e-05,-0.000103885507324,-2.85260406944e-05,1793192699797756160
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,711.912262951,671,663,632.087737049,875,783.087737049,799.912262951,650,628.912262951,650,0.403005449844,-0.00549466384996,0.0499437556955,0.999999992622,-6.33210870636e-05,-0.000100350916606,-2.59965819657e-05,1793192699814423040
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.336107304,671,663,632.663892696,875,783.663892696,799.336107304,650,628.336107304,650,0.403306722569,-0.0055080290271,0.0499517596201,0.999999993813,-7.10620069918e-05,-8.24680783808e-05,-2.28793863701e-05,1793192699831089664
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.2392844,633,875,783.7607156,799,650,628.2392844,650.2392844,0.403623974647,-0.00551950274511,0.0499604943222,0.999999994927,-7.51707718525e-05,-6.4114004605e-05,-1.96080932202e-05,1793192699847756288
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.813606422,633,875,783.186393578,799,650,628.813606422,650.813606422,0.403963600438,-0.00552832810763,0.049970252233,0.999999996101,-7.419392015e-05,-4.51001244315e-05,-1.6121038272e-05,1793192699864422912
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632.601480553,875,783,799,649.601480553,629,651,0.404334080342,-0.00553731055992,0.049977340939,0.99999999663,-7.45084874937e-05,-3.2260236292e-05,-1.21572817492e-05,1793192699881089536
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632.011478733,875,783,799,649.011478733,629,651,0.404719385156,-0.00554636849114,0.0499831471335,0.999999996872,-7.54435615577e-05,-2.23868554883e-05,-7.96447766318e-06,1793192699897756160
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.56853514,711,671,664,632.56853514,875,783,799,649.56853514,628.43146486,651,0.405135383428,-0.00553523257798,0.0499792954389,0.999999998326,-4.99477929407e-05,-2.88446623342e-05,-4.62078174156e-06,1793192699914422784
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.853274023,742.853274023,711,671,664,632.853274023,875,783,799,649.853274023,628.146725977,650.853274023,0.405551845563,-0.00552293085629,0.0499703771889,0.999999998691,-2.31717281271e-05,-4.55674764858e-05,-2.01911436478e-06,1793192699931089920
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.27980905,742.27980905,711,671,664,632.27980905,875,783,799,649.27980905,628.72019095,650.27980905,0.405967885495,-0.00550840381627,0.0499472806576,0.999999995823,5.8027107324e-06,-9.12026942354e-05,-1.52656980672e-06,1793192699947756544
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.301120913,742,711,671,664,632,875,783,799,649.301120913,629,650,0.406413437167,-0.00550539428274,0.049927746908,0.99999999202,2.19952370527e-05,-0.000124398965307,4.34584586911e-07,1793192699964423168
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.889163936,742,711,671,664,632,875,783,799,649.889163936,629,650,0.406887109054,-0.00551335916711,0.049911607941,0.999999989034,2.60085618837e-05,-0.000145742830924,3.79509926863e-06,1793192699981089792
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632.471264762,875.471264762,783.471264762,799,649.528735238,629,650.471264762,0.407439475426,-0.00552108918376,0.0499150803971,0.999999990397,3.10222641279e-05,-0.000134811290007,8.32070798773e-06,1793192699997756160
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876,783.948388597,799.103222805,649.051611403,629,651,0.408014880767,-0.00552819226863,0.049925154879,0.999999992823,3.69511385085e-05,-0.000113185987916,1.33082031527e-05,1793192700014423040
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876,783.371845976,800.256308048,649.628154024,629,651,0.408638713837,-0.00552947376003,0.0499560498613,0.999999996811,4.98249141729e-05,-5.90396536515e-05,2.02411973969e-05,1793192700031089664
+146,2.433333333,POSE1_TO_POSE2_PRESS,763.796102097,742,711,671.203897903,664,633,876,783,800.796102097,650,628.796102097,651,0.409263956769,-0.00552852512265,0.0499791292938,0.999999997285,6.54914229323e-05,-2.08992727602e-05,2.65196415674e-05,1793192700047756288
+147,2.450000000,POSE1_TO_POSE2_PRESS,763.221809225,742,711,671.778190775,664,633,876,783,800.221809225,650,628.221809225,651,0.409891760778,-0.00552352529846,0.0499880112254,0.999999995712,8.62311284337e-05,-1.18348423316e-05,3.16090488828e-05,1793192700064422912
+148,2.466666667,POSE1_TO_POSE2_PRESS,763.361539218,742,711,672,664,633,876,783,800,650,628.361539218,651,0.410501315939,-0.00552172434375,0.0499778781601,0.99999999352,0.000100696590557,-3.94191355288e-05,3.55792077436e-05,1793192700081089792
+149,2.483333333,POSE1_TO_POSE2_PRESS,763.950586085,742,711,672,664,633,876,783,800,650,628.950586085,651,0.411099387529,-0.00552193635833,0.0499557794293,0.999999989005,0.00011121382619,-9.00655604507e-05,3.88450510924e-05,1793192700097756416
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,671.467999613,664,632.467999613,875.467999613,783.532000387,799.467999613,650,628.467999613,650.467999613,0.411787110134,-0.00552189531035,0.0499309731987,0.999999991821,2.23058452425e-05,-0.000125061058167,1.48428176704e-05,1793192700114423040
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711,671.111625983,664,632,875.111625983,784,799,649.888374017,628,650,0.412498719388,-0.00552532081426,0.049916749144,0.999999988464,-5.64522970173e-05,-0.000140942115232,-4.5111121771e-06,1793192700131089920
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742,711,671.686726554,664,632,875.686726554,784,799,649.313273446,628,650,0.413275421305,-0.00554323576467,0.0499474920128,0.999999994977,-5.52665543651e-05,-8.3409883446e-05,5.80217478487e-06,1793192700147756544
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.262019759,711,672,664,632.262019759,876,784,799,649,628,650,0.414033664466,-0.00555101380303,0.0499603431818,0.999999996983,-4.74133901506e-05,-6.01912382952e-05,1.2803975848e-05,1793192700164423168
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.837543526,711,672,664,632.837543526,876,784,799,649,628,650,0.414769822012,-0.00554666313039,0.0499517871157,0.999999996332,-3.15827230559e-05,-7.80284472439e-05,1.58436187006e-05,1793192700181089792
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.576728219,711.423271781,671.576728219,664,633,876,783.576728219,799.423271781,649,628,650,0.415506343143,-0.00554241320051,0.0499307941752,0.999999993052,-2.80560181847e-05,-0.000113484906051,1.51828133166e-05,1793192700197756416
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742.012781873,711.987218127,671,664.012781873,633,876,783,799.987218127,649,628,650,0.416245599751,-0.00553840998116,0.0499059278165,0.999999987622,-2.94557291918e-05,-0.000154001255715,1.3150244063e-05,1793192700214423040
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.592033102,711.407966898,671,664.592033102,633,876,783,799.407966898,649,628,650,0.417099752466,-0.00554358456257,0.0499261736432,0.999999993053,-3.47268010104e-05,-0.000111658828867,1.4822515472e-05,1793192700231089664
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,743,711,671,664.83036456,633,876.16963544,783,799,649,628,650.16963544,0.41794767998,-0.00554834642317,0.0499476357776,0.99999999665,-3.75786335488e-05,-7.06354346878e-05,1.72925109637e-05,1793192700247756288
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711,671,664.256689598,633,876.743310402,783,799,649,628,650.743310402,0.418780780189,-0.00555212526059,0.0499719949255,0.999999998628,-3.46682956634e-05,-3.27537296086e-05,2.16625342166e-05,1793192700264422912
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.674766482,711,671,663.674766482,633,876.674766482,783,799,649,628.325233518,651,0.419576912859,-0.00555165463424,0.0499678243246,0.999999998229,-3.20847623973e-05,-4.44853987674e-05,2.30962923534e-05,1793192700281089536
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.086164172,711,671,663.086164172,633,876.086164172,783,799,649,628.913835828,651,0.420343109779,-0.00554774286133,0.0499405507977,0.999999994666,-2.9765870277e-05,-9.63931699097e-05,2.21523107111e-05,1793192700297756416
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.497095023,711.497095023,671,663.497095023,633,876,783,799,649,629,650.502904977,0.421233680569,-0.00554799277633,0.049957017655,0.999999997806,-3.10239348742e-05,-5.43318728637e-05,2.17637278748e-05,1793192700314423040
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.921468668,711.921468668,671.078531332,664.078531332,633,876.078531332,783,799,649,629,650,0.422138860951,-0.00554958370359,0.0499775640045,0.999999999203,-3.31862938438e-05,-4.45283139807e-06,2.17351132981e-05,1793192700331089664
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,742.345772008,711.345772008,671.654227992,664.654227992,633,876.654227992,783,799,649,629,650,0.423001500907,-0.00555514603375,0.0499764486736,0.99999999901,-3.71901180187e-05,-7.10169640208e-06,2.33823968734e-05,1793192700347756288
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,742.229013734,711.229013734,672,664.770986266,633,876.770986266,783,799.229013734,649,628.770986266,650,0.423850608148,-0.00555926393283,0.0499696625412,0.999999998711,-4.10525326238e-05,-1.73922474396e-05,2.42842792083e-05,1793192700364422912
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,742.802429678,711.802429678,672,664.197570322,633,876.197570322,783,799.802429678,649,628.197570322,650,0.424679364351,-0.00556120962564,0.0499543483759,0.999999997944,-4.47022890936e-05,-3.91747453073e-05,2.40651904302e-05,1793192700381089536
+167,2.783333333,POSE1_TO_POSE2_PRESS,764.388495127,742.611504873,711.611504873,672,664,632.611504873,876,783,800,649,628,650,0.425527830075,-0.00556228667959,0.0499645148091,0.999999998162,-4.85528392432e-05,-2.64663514845e-05,2.48759030488e-05,1793192700397756160
+168,2.800000000,POSE1_TO_POSE2_PRESS,764.98120999,742.01879001,711.01879001,672,664,632.01879001,876,783,800,649,628,650,0.426386656429,-0.00556290711714,0.0499880755968,0.999999998268,-5.25089400998e-05,4.37282658772e-06,2.6227950048e-05,1793192700414422784
+169,2.816666667,POSE1_TO_POSE2_PRESS,765,742,711,672,664.560183291,632.560183291,876,783,799.439816709,649,628.560183291,650.560183291,0.427200164288,-0.00556201739423,0.0499853256697,0.999999997986,-5.08908706886e-05,-2.49510299344e-05,2.85471890327e-05,1793192700431089408
+170,2.833333333,POSE1_TO_POSE2_PRESS,764.863105489,742.136894511,711,672,664.863105489,633,876.136894511,783.136894511,799,649.136894511,628.863105489,650.863105489,0.428010277462,-0.00556069615903,0.0499745217448,0.999999996519,-5.01088197497e-05,-5.96945556193e-05,2.9796868593e-05,1793192700447756032
+171,2.850000000,POSE1_TO_POSE2_PRESS,764.292140466,742.707859534,711,672,664.292140466,633,876.707859534,783.707859534,799,649.707859534,628.292140466,650.292140466,0.428814331177,-0.00555816343998,0.0499409112459,0.999999992687,-5.25563133122e-05,-0.000105377354374,2.7554741044e-05,1793192700464422912
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.710892906,711,672,664,633,876.710892906,783.710892906,799.289107094,649.710892906,628.289107094,650.289107094,0.429635058874,-0.00555824479421,0.0499324860955,0.99999999221,-5.66707289982e-05,-0.000107951850161,2.67415028423e-05,1793192700481089792
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.118871778,711,672,664,633,876.118871778,783.118871778,799.881128222,649.118871778,628.881128222,650.881128222,0.430473256805,-0.00556106506262,0.0499504490769,0.999999995533,-6.25316741614e-05,-6.53593092607e-05,2.74253938595e-05,1793192700497756416
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.462432877,711,672.462432877,664,632.537567123,876,783.462432877,799.537567123,649,629,650.537567123,0.431243869072,-0.00556119277806,0.0499418455334,0.999999993834,-6.65428033939e-05,-8.46166549698e-05,2.72930049188e-05,1793192700514423040
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.959360366,711.040639634,672.959360366,664,632,876,783.959360366,799.040639634,649.040639634,629,650,0.431997918428,-0.00556082509487,0.0499270444888,0.999999990305,-7.00530654436e-05,-0.000117284169264,2.6971989685e-05,1793192700531089664
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.386465546,711.613534454,672.386465546,664,632,876,783.386465546,799.613534454,649.613534454,629,650,0.432757428315,-0.00556282881744,0.0499184899884,0.999999989517,-7.30901544259e-05,-0.000122072165094,2.68664457434e-05,1793192700547756544
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711.807905147,672,664.192094853,632.192094853,876.192094853,783,800,649.807905147,629,650,0.433523961554,-0.00556455875911,0.0499237938177,0.999999990872,-7.80266039455e-05,-0.000106959659067,2.69893649019e-05,1793192700564423424
+178,2.966666667,POSE1_TO_POSE2_PRESS,764,742,711.217599967,672,664.782400033,632.782400033,876.782400033,783,800,649.217599967,629,650,0.434305054255,-0.00556572115661,0.0499578257965,0.999999994564,-8.69004054921e-05,-5.0593651875e-05,2.75858852525e-05,1793192700581089792
+179,2.983333333,POSE1_TO_POSE2_PRESS,764,742.365845228,711,672,665,633,877,783,799.634154772,649.365845228,629,650.365845228,0.435033334875,-0.00556427626126,0.0499735132042,0.999999995149,-8.83577426978e-05,-3.28047430077e-05,2.86048725309e-05,1793192700597756160
+180,3.000000000,POSE1_TO_POSE2_PRESS,764,742.94528526,711,672,665,633,877,783,799.05471474,649.94528526,629,650.94528526,0.435730781682,-0.00556130912595,0.0499784903291,0.999999995195,-8.54850564983e-05,-3.75386617632e-05,2.98705125836e-05,1793192700614423040
+181,3.016666667,POSE1_TO_POSE2_PRESS,764,743,711,672,664.47553516,633,876.47553516,783,799,649.47553516,628.47553516,650.47553516,0.436358204693,-0.00555815987444,0.04994925136,0.999999991411,-8.09116096167e-05,-9.85699616694e-05,3.02647516592e-05,1793192700631089664
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742.897361514,711,672,664,633,876,783.102638486,799,649,628.102638486,650,0.436987628059,-0.00555610377935,0.0499253725076,0.999999986061,-7.74295056933e-05,-0.000144719691627,3.06463778064e-05,1793192700647756288
+183,3.050000000,POSE1_TO_POSE2_PRESS,764,742.323679819,711,672,664,633,876,783.676320181,799,649,628.676320181,650,0.437659741266,-0.00555915170486,0.0499424670129,0.999999991753,-7.97698409632e-05,-9.56319591133e-05,3.138712403e-05,1793192700664422912
+184,3.066666667,POSE1_TO_POSE2_PRESS,764,742,711.256405365,672,664.256405365,633,876.256405365,783.743594635,799.256405365,649,628.743594635,650,0.438309095272,-0.00556121854195,0.049959067128,0.999999994489,-8.09950373282e-05,-5.81154686776e-05,3.29204559345e-05,1793192700681089536
+185,3.083333333,POSE1_TO_POSE2_PRESS,764,742,711.844781161,672,664.844781161,633,876.844781161,783.155218839,799.844781161,649,628.155218839,650,0.438928982677,-0.00556201515443,0.0499750271503,0.999999995475,-8.07764528747e-05,-3.5580377928e-05,3.54799559641e-05,1793192700697756160
+186,3.100000000,POSE1_TO_POSE2_PRESS,764,742,712,672,664.573430394,632.573430394,877,783,799.573430394,649,628.426569606,650,0.439475876517,-0.00556224307336,0.0499579728752,0.999999994409,-7.89097808195e-05,-6.04969652603e-05,3.59856865429e-05,1793192700714422784
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711.994076029,672.005923971,664,632.005923971,877,783,799,649,629,650,0.43999601871,-0.00556225777162,0.0499291011623,0.999999991184,-7.64440004448e-05,-0.000102511506971,3.57644377739e-05,1793192700731089664
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711.42175811,672.57824189,664,632.57824189,877,783,799,649,629,650,0.440459278012,-0.00556137055643,0.0499014735956,0.999999984878,-7.31629428046e-05,-0.000153510195255,3.64012920388e-05,1793192700747757568
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711,672.847671444,664,632.847671444,876.847671444,783,799,649.152328556,628.847671444,650,0.440924446144,-0.00556002155121,0.0498810438429,0.9999999788,-6.90345770043e-05,-0.000190410416444,3.71105138101e-05,1793192700764425216
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742,711,672.268629914,664,632.268629914,876.268629914,783,799,649.731370086,628.268629914,650,0.441394961521,-0.00555737894859,0.0498807770834,0.999999979684,-6.25326744465e-05,-0.000187817078214,3.80224566719e-05,1793192700781091584
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.31614659,711,672.31614659,664,632,876,783,799.31614659,649.68385341,628.31614659,650,0.441845295387,-0.00555534312755,0.0498810288631,0.999999980724,-5.95944662467e-05,-0.000183219067711,3.78345426472e-05,1793192700797758208
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.905886098,711,672.905886098,664,632,876,783,799.905886098,649.094113902,628.905886098,650,0.442278164167,-0.00555383241479,0.0498817293862,0.999999981898,-5.97402757088e-05,-0.00017688621613,3.66948135988e-05,1793192700814424832
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.513613157,711,673,663.513613157,632,876,783,799.513613157,649,629,650,0.442648035783,-0.00555904812364,0.0498709741632,0.999999973777,-0.000114647124374,-0.000196929303645,2.28208166187e-05,1793192700831091200
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711.064714387,672.935285613,663,632,876.064714387,783,799.064714387,649,629,650,0.442999648579,-0.0055652711754,0.0498570911387,0.99999996021,-0.00017249288072,-0.000223050983344,8.57253683353e-06,1793192700847757312
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742,711.639738988,672.360261012,663,632,876.639738988,783,799.639738988,649,629,650,0.443301611075,-0.00556936566388,0.0498356972594,0.999999952055,-0.000171515266919,-0.000257610936947,1.04409229812e-05,1793192700864423936
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742,711.780467705,672,662.780467705,632,877,783,800,649,629,650,0.443590475955,-0.00556877637529,0.0498128831719,0.999999942882,-0.000165777143866,-0.000294320826026,1.13290214341e-05,1793192700881090304
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742,711.192675062,672,662.192675062,632,877,783,800,649,629,650,0.443857369855,-0.00556033015857,0.0497876867201,0.999999932393,-0.000152053376806,-0.00033463717874,1.05727097656e-05,1793192700897756928
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742,711,672.389388436,662,631.610611564,876.610611564,783,800,649,629,650,0.44411348764,-0.00555540343943,0.0497739802857,0.999999926622,-0.000143196897897,-0.000355146934951,1.1013420309e-05,1793192700914423808
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742,711,672.968658226,662,631.031341774,876.031341774,783,800,649,629,650,0.444364350585,-0.00555219296714,0.0497658768406,0.999999923605,-0.000136713901952,-0.000365998207313,1.20378466337e-05,1793192700931090688
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742,711,672.453337301,662,631,876.546662699,783,800,649,629,650.546662699,0.444589125814,-0.00555143781084,0.049767839663,0.999999925125,-0.000131601279094,-0.000363648361215,1.38273273489e-05,1793192700947757056
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,742.123956893,711,672,662,631,876.876043107,782.876043107,799.876043107,649,629,650.876043107,0.444803952463,-0.00555066507526,0.0497697937379,0.999999926906,-0.000127202088795,-0.000360247623225,1.51730535053e-05,1793192700964423680
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,742.698930249,711,672,662,631,876.301069751,782.301069751,799.301069751,649,629,650.301069751,0.444988010797,-0.00554931736771,0.0497696209557,0.999999928778,-0.000125113510197,-0.000355770687243,1.47449556583e-05,1793192700981090048
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,742.719906654,711,672.280093346,661.719906654,631,876.280093346,782.280093346,799,649,628.719906654,649.719906654,0.445153117884,-0.0055522205763,0.0497656376986,0.999999927585,-0.000127201914385,-0.000358369345497,1.48470572578e-05,1793192700997756672
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.131939946,711,672.868060054,661.131939946,631,876.868060054,782.868060054,799,649,628.131939946,649.131939946,0.445297394105,-0.00555979631244,0.0497574660389,0.999999922931,-0.000133881579977,-0.000368745364726,1.55319441885e-05,1793192701014423296
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.450310392,711.450310392,673,661.450310392,631,877,783,799,649,628,649.450310392,0.4454198868,-0.00556257635651,0.0497491433805,0.999999918636,-0.000137484674961,-0.000378941899608,1.51152242841e-05,1793192701031089920
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,712,672.96932117,661.96932117,631,877,782.96932117,799,649,628,650,0.445534663817,-0.0055638666369,0.0497409079962,0.999999914446,-0.000140041748293,-0.000388958413749,1.43833877691e-05,1793192701047756800
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,712,672.393007869,661.393007869,631,877,782.393007869,799,649,628,650,0.445624307282,-0.00556333836246,0.0497350018171,0.999999911446,-0.000139826209964,-0.00039669677682,1.37156815046e-05,1793192701064423936
+208,3.466666667,POSE1_TO_POSE2_PRESS,763.818336092,742.818336092,711.818336092,672.181663908,661,631,876.818336092,782.181663908,799,649,628,650,0.445707351508,-0.00556298851332,0.0497298831689,0.999999908897,-0.000139579482411,-0.00040317484625,1.31842591667e-05,1793192701081090816
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.247183822,742.247183822,711.247183822,672.752816178,661,631,876.247183822,782.752816178,799,649,628,650,0.44577624692,-0.00556302120901,0.0497264529921,0.999999907414,-0.000139265885039,-0.00040695083863,1.29450303604e-05,1793192701097756928
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.338300337,742.338300337,711,672.661699663,661.338300337,631,876.338300337,783,799,649.338300337,628.338300337,650,0.445836961493,-0.00556265553444,0.0497250476408,0.999999907408,-0.000136776079469,-0.000407799988718,1.32709227089e-05,1793192701114423552
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.93471961,742.93471961,711,672.06528039,661.93471961,631,876.93471961,783,799,649.93471961,628.93471961,650,0.445891434195,-0.00556198590833,0.0497251872057,0.99999990852,-0.000132625854161,-0.000406415995051,1.40279954221e-05,1793192701131090432
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,742.48674363,711.51325637,672.51325637,661.48674363,631,877,783,799.51325637,649.48674363,628.48674363,650,0.445928298826,-0.00556157474154,0.0497242366011,0.999999907304,-0.000134328517814,-0.00040885283229,1.36944257302e-05,1793192701147757056
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.089223688,711.910776312,673,661,631,877,782.910776312,799.910776312,649.089223688,628.089223688,650,0.445960724878,-0.00556074362854,0.0497229096587,0.999999905884,-0.0001360064274,-0.000411777679802,1.31633606341e-05,1793192701164423424
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,742.663172615,711.336827385,673,661,631,877,782.336827385,799.336827385,649.663172615,628.663172615,650,0.445980794635,-0.00555745849825,0.0497202661076,0.999999904964,-0.000133641804029,-0.000414802520177,1.22875992973e-05,1793192701181090048
+215,3.583333333,POSE1_TO_POSE2_PRESS,763.756921833,743,711,673,661.243078167,631,876.756921833,782,799,649.756921833,628.756921833,650,0.445998440919,-0.00555585612871,0.0497184213803,0.999999904193,-0.000132838931592,-0.000416932354412,1.16436077381e-05,1793192701197756928
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.168555024,743,711,673,661.831444976,631,876.168555024,782,799,649.168555024,628.168555024,650,0.4460126447,-0.00555664409404,0.0497177113695,0.999999903649,-0.000134254501479,-0.000417790846594,1.13288414867e-05,1793192701214423808
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.415506508,743,711,672.584493492,661.584493492,631,876.831013016,782.415506508,799.415506508,649,628,650,0.446022839894,-0.00555580291868,0.0497183809598,0.999999904395,-0.000132428139865,-0.000416586889363,1.13235412517e-05,1793192701231090176
+218,3.633333333,POSE1_TO_POSE2_PRESS,763.997839452,743,711,672.002160548,661.002160548,631,877.995678903,782.997839452,799.997839452,649,628,650,0.446031425636,-0.00555430764109,0.0497196044617,0.999999905647,-0.000129300138249,-0.000414554855825,1.14424920562e-05,1793192701247756544
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,711,672,660.428104569,631,877.428104569,782.428104569,800,649,628,650,0.446032259698,-0.00555550497485,0.0497174978416,0.999999904215,-0.000131485323659,-0.000417314665283,1.14454716397e-05,1793192701264423424
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711.145468755,672,660,631,876.854531245,782,799.854531245,649.145468755,628.145468755,650,0.446032906855,-0.00555606023712,0.049715668051,0.999999902955,-0.000132587791204,-0.000419976855333,1.13680667467e-05,1793192701281090048
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711.717716385,672,660,631,876.282283615,782,799.282283615,649.717716385,628.717716385,650,0.446033090357,-0.00555470236016,0.0497146868116,0.999999902261,-0.000130455711968,-0.000422300294176,1.10560954564e-05,1793192701297756416
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711.698109462,672,660,631,876.603781077,782,799.301890538,649.698109462,629.301890538,650,0.446034013143,-0.00555337039917,0.049714324627,0.999999902175,-0.000128039243849,-0.000423249132915,1.08030030514e-05,1793192701314423040
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.102324615,672,660,631,877.795350769,782,799.897675385,649.102324615,629.897675385,650,0.446035655633,-0.00555206366754,0.0497145651,0.999999902683,-0.000125345919255,-0.000422859781113,1.06072299589e-05,1793192701331089920
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,742.523067778,711.476932222,672,660,631,877.046135556,782,799.523067778,649,629.523067778,650,0.446036683716,-0.00555175182764,0.0497141984986,0.999999910676,-2.35807102968e-06,-0.000422535331777,1.02694888054e-05,1793192701347757056
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,742.052681862,711.947318138,672.052681862,660,631,876,782.052681862,799,649,628.947318138,650,0.446037478532,-0.00555164238078,0.0497136799928,0.999999902102,0.000131407690866,-0.000422408262165,9.94349381406e-06,1793192701364423680
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.627639508,711.372360492,672.627639508,660,631,876,782.627639508,799,649,628.372360492,650,0.446037223847,-0.00555149417972,0.0497129035238,0.999999902239,0.000124729850609,-0.000424104626698,1.00257976983e-05,1793192701381090304
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,743,711.207138253,672.792861747,660,631,876.207138253,783,799.207138253,649,628.207138253,650,0.446036919474,-0.0055518756306,0.0497122215052,0.999999902383,0.00011911456681,-0.000425373023604,1.02104399442e-05,1793192701397756928
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,743,711.794983209,672.205016791,660,631,876.794983209,783,799.794983209,649,628.794983209,650,0.446036523778,-0.0055532305475,0.0497117130804,0.999999902603,0.000115452193412,-0.00042585484364,1.05831734706e-05,1793192701414423296
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,743,711.620819734,672,660,631,877,783,799.620819734,649,629,650,0.446037301313,-0.00555168645602,0.0497120785664,0.999999902617,0.000115818495609,-0.000425722543132,1.05851437841e-05,1793192701431089920
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711.038576261,672,660,631,877,783,799.038576261,649,629,650,0.446038707151,-0.00554858985243,0.0497129120597,0.99999990252,0.000118342283042,-0.000425261361341,1.03885584821e-05,1793192701447756544
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711.536384486,672,660,631,876.463615514,782.463615514,799,649.536384486,629,650,0.446038016296,-0.00555013489509,0.0497131309499,0.999999902963,0.000115845084867,-0.000424901467045,1.05674848858e-05,1793192701464423424
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,712,672.110488264,660,631,876.110488264,782.110488264,799,649.889511736,628.889511736,650.110488264,0.446037435194,-0.00555137051669,0.049713329876,0.999999903412,0.000113504462218,-0.000424474878645,1.06457595677e-05,1793192701481090048
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,712,672.683168693,660,631,876.683168693,782.683168693,799,649.316831307,628.316831307,650.683168693,0.446037935552,-0.00554993403995,0.0497136277152,0.999999903751,0.000113309153605,-0.000423739232812,1.01915305922e-05,1793192701497756928
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,742.734216744,711.734216744,672.734216744,660,631,877,782.734216744,799,649,628,650.734216744,0.446038671335,-0.00554934206547,0.0497139395993,0.9999999039,0.000113645354561,-0.000423303256066,9.96247744018e-06,1793192701514423808
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,742.139300147,711.139300147,672.139300147,660,631,877,782.139300147,799,649,628,650.139300147,0.446039698658,-0.00554979588222,0.0497142688759,0.999999903813,0.000114639751656,-0.000423238375167,1.00122712556e-05,1793192701531090688
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,742.44203638,711,672,660,631,877,782.44203638,799.44203638,649,628,650,0.446039344087,-0.00554946324125,0.0497137685522,0.99999990326,0.000115936774778,-0.000424192987607,9.96419993878e-06,1793192701547757056
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711,672.019154226,660,631,876.980845774,783,799.980845774,649,628,650,0.446038583506,-0.00554897192381,0.0497130236013,0.999999902589,0.000117190468839,-0.000425430635702,9.8943440903e-06,1793192701564423168
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,743,711,672.594336527,660,631,876.405663473,783,799.405663473,649,628,650,0.446038301618,-0.00555085445381,0.0497125403352,0.999999902726,0.000114500461521,-0.000425836193579,1.00606897873e-05,1793192701581089792
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,743,711,673,660,631,876.173745905,783,799,649.173745905,628,650.173745905,0.446038452474,-0.00555161922253,0.0497121580136,0.999999902962,0.000112533389989,-0.000425808148038,9.97065272809e-06,1793192701597756672
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,743,711,673,660,631,876.763270765,783,799,649.763270765,628,650.763270765,0.446039638898,-0.00554970915621,0.0497120172548,0.999999903449,0.000112296324766,-0.000424742477013,9.26708434208e-06,1793192701614423296
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.653451957,711,672.653451957,660,631,876.653451957,783,799,650,628,650.653451957,0.446040144404,-0.0055495997545,0.049712204558,0.999999903563,0.000112062094871,-0.000424535954037,9.21082480087e-06,1793192701631090176
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.07436689,711,672.07436689,660,631,876.07436689,783,799,650,628,650.07436689,0.446040193008,-0.0055506986159,0.049712611994,0.999999903429,0.000111829767517,-0.000424905927595,9.58891566355e-06,1793192701647757056
+243,4.050000000,HOLD_POSE2,764,742,711,672,660,631,877,782,799,649,629,650,0.446040348546,-0.00554946482158,0.0497137857549,0.999999903897,0.000111948022452,-0.000423769702976,9.66373676381e-06,1793192701678968064
+244,4.066666667,HOLD_POSE2,764,742,711.578308598,672,660,631,876.421691402,782,799,649.578308598,628.421691402,650,0.446040539329,-0.0055496996063,0.0497135294262,0.999999903851,0.000111483073998,-0.000423997513581,9.82190424335e-06,1793192701695634432
+245,4.083333333,HOLD_POSE2,764,742.159785162,711.840214838,672.159785162,660.159785162,631,876.159785162,782,799,649.840214838,628.159785162,650,0.446040815029,-0.005549972113,0.0497132408907,0.999999903745,0.000111508259641,-0.000424236968346,9.93580909037e-06,1793192701712300544
+246,4.100000000,HOLD_POSE2,764,742.749791598,711.250208402,672.749791598,660.749791598,631,876.749791598,782,799,649.250208402,628.749791598,650,0.446041319364,-0.00555034618611,0.0497128656386,0.999999903479,0.000112853130393,-0.000424507775043,9.93053691064e-06,1793192701728966912
+247,4.116666667,HOLD_POSE2,764,743,711,673,660.666683277,631,877,782,799,649.333316723,629,650.333316723,0.446041514864,-0.00554945113335,0.0497132646711,0.999999903589,0.000113843615423,-0.000423988899531,9.78071581621e-06,1793192701745633792
+248,4.133333333,HOLD_POSE2,764,743,711,673,660.087930664,631,877,782,799,649.912069336,629,650.912069336,0.446041482955,-0.00554762156691,0.0497142338439,0.999999903974,0.000114573150446,-0.000422888545962,9.52445694361e-06,1793192701762300672
+249,4.150000000,HOLD_POSE2,764,743,711,673,660,631,877,782.485684359,799.485684359,649.514315641,628.514315641,650.514315641,0.446040804202,-0.0055469237071,0.049713338185,0.999999903454,0.000115415787303,-0.000423892801476,9.26690300222e-06,1793192701778967552
+250,4.166666667,HOLD_POSE2,764,743,711.060177356,673,660,631,877,783,800,649.060177356,628,650,0.446040030775,-0.00554666304456,0.0497122184826,0.999999902806,0.000115954507904,-0.000425275892,9.07101486292e-06,1793192701795634176
+251,4.183333333,HOLD_POSE2,764,743,711.650513947,673,660,631,877,783,800,649.650513947,628,650,0.446039444201,-0.00554846789346,0.0497120682321,0.999999902473,0.000113637234197,-0.000426674793547,9.42044308623e-06,1793192701812300800
+252,4.200000000,HOLD_POSE2,764,743,712,673,660,631,877,782.763710731,799.763710731,649.763710731,628,650.236289269,0.446039640778,-0.00554877150151,0.0497123274701,0.999999902518,0.000113152980991,-0.00042669613108,9.53631502574e-06,1793192701828967168
+253,4.216666667,HOLD_POSE2,764,743,712,673,660,631,877,782.184554087,799.184554087,649.184554087,628,650.815445913,0.446040973748,-0.00554689673495,0.0497131808964,0.999999903113,0.000115328531083,-0.000424718555214,9.31328525584e-06,1793192701845633536
+254,4.233333333,HOLD_POSE2,764,743,711.607828067,672.607828067,660,631,877,782,799.392171933,649,628,650.607828067,0.446040598552,-0.00554701898907,0.0497125908104,0.999999902909,0.000115903963017,-0.000425043694835,9.23121847313e-06,1793192701862300160
+255,4.250000000,HOLD_POSE2,764,743,711.032238789,672.032238789,660,631,877,782,799.967761211,649,628,650.032238789,0.446039424454,-0.00554807524212,0.0497113255991,0.999999902333,0.000115731025872,-0.000426445805693,9.21507953208e-06,1793192701878967040
+256,4.266666667,HOLD_POSE2,764,743,711.544600937,672,660,631,876.455399063,782,799.455399063,649,628,650,0.446040996259,-0.00554972771907,0.0497126989407,0.999999903178,0.000112799194772,-0.000425241506392,9.46641434151e-06,1793192701895633408
+257,4.283333333,HOLD_POSE2,764,743,711.875999528,672.124000472,660,631,876,782.124000472,799,649,628,650.124000472,0.446042416878,-0.00555056441423,0.0497139296376,0.999999903899,0.000110815399415,-0.000424062572791,9.65872215362e-06,1793192701912300288
+258,4.300000000,HOLD_POSE2,764,743,711.28728453,672.71271547,660,631,876,782.71271547,799,649,628,650.71271547,0.446042660317,-0.00554821124005,0.0497140390326,0.999999903869,0.000112998015697,-0.000423558269333,9.57033940275e-06,1793192701928967424
+259,4.316666667,POSE2_TO_POSE3_RETREAT,764,743,711,673,660,631,876,782,799,649,628,650,0.446041843503,-0.00555133436635,0.0497121341729,0.999999903871,0.00010905461645,-0.000424592950978,9.25688429087e-06,1793192701966172928
+260,4.333333333,POSE2_TO_POSE3_RETREAT,764,742.420276011,711,672.420276011,659.420276011,631,876.579723989,782.579723989,799.579723989,649,628.579723989,650,0.446043036409,-0.00554884755485,0.0497138839302,0.999999904225,0.000112368721609,-0.000422887880952,9.47620320196e-06,1793192701982840064
+261,4.350000000,POSE2_TO_POSE3_RETREAT,764,742.158420741,711.158420741,672,659.158420741,631,877,783,800,649,628.841579259,650.158420741,0.446043641992,-0.00554741065001,0.049714945762,0.9999999043,0.000114589694455,-0.000422106708653,9.759953066e-06,1793192701999507200
+262,4.366666667,POSE2_TO_POSE3_RETREAT,764,742.734410007,711.734410007,672,659.734410007,631,877,783,800,649,628.265589993,650.734410007,0.4460426995,-0.00554874110941,0.049714194346,0.999999903671,0.000113929368242,-0.000423760763916,1.02135313591e-05,1793192702016173312
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711.681136188,672.318863812,660,631,877,782.681136188,799.681136188,649,628,650.681136188,0.446042512529,-0.00554929235573,0.0497138446633,0.999999903605,0.000112400957088,-0.000424327981942,1.00428090684e-05,1793192702032839680
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711.089439821,672.910560179,660,631,877,782.089439821,799.089439821,649,628,650.089439821,0.446042972013,-0.00554917687626,0.0497138387195,0.999999904019,0.000110129777988,-0.000423965258718,9.33791035064e-06,1793192702049506048
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.509838204,711,672.509838204,660,631,877,782.490161796,799,649.490161796,628,650,0.446041114494,-0.00554887004463,0.049712343999,0.999999903217,0.000109431799641,-0.000426040153639,9.0210696157e-06,1793192702066172928
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,660,631,877,782.933106973,799.066893027,649.933106973,628,650,0.446038882423,-0.00554851139288,0.0497107217388,0.999999902247,0.000109305546413,-0.000428344704677,8.85954657899e-06,1793192702082840064
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,672,660,631,877,782.361779566,799.638220434,649.361779566,628,650,0.446036937284,-0.00554801892845,0.049710136924,0.999999901687,0.000111378040957,-0.000429107704298,9.34815489158e-06,1793192702099506432
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,742.217461107,711.217461107,672,660,631,877,782.217461107,800,649,628.217461107,650,0.446028783133,-0.00554775995421,0.0497066336663,0.999999899081,0.00011208096383,-0.000434960243857,9.26297372077e-06,1793192702116173312
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.810363792,711.810363792,672,660,631,877,782.810363792,800,649,628.810363792,650,0.446009909262,-0.00554790409545,0.0496980917843,0.9999998928,0.000110419352622,-0.000449599756402,8.1871582103e-06,1793192702132839936
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764.394044849,743,711.605955151,672.394044849,660,631,877,783,799.605955151,649,629,650,0.445970907609,-0.00554688267648,0.0496827420775,0.999999879788,0.000110332848273,-0.000477703860994,6.98870230618e-06,1793192702149506304
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764.973389485,743,711.026610515,672.973389485,660,631,877,783,799.026610515,649,629,650,0.445922440854,-0.00554531315225,0.0496641909868,0.999999862681,0.000110987038457,-0.000512139697522,5.73257459468e-06,1793192702166172928
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764.450659826,743,711.549340174,672.450659826,660,631,877.549340174,782.450659826,799,649,628.450659826,650,0.445856290242,-0.0055420742238,0.0496463744721,0.99999984789,0.000113585319094,-0.000539723219535,4.19565051168e-06,1793192702182839552
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,631,877.750681167,782,799,649,628,650.124659416,0.445786765251,-0.00553863079282,0.0496311191855,0.999999835096,0.000116161093415,-0.00056241225014,2.71758337405e-06,1793192702199506176
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,743,712,672,660,631,876.603413827,782,799,649,628,650.698293087,0.445708153318,-0.00553474028731,0.0496249610609,0.999999831311,0.000118318716752,-0.000568661402193,1.50018374308e-06,1793192702216173056
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.719474021,711.719474021,672.280525979,660,631,876,782.280525979,799.280525979,649,628.280525979,650.719474021,0.445621407155,-0.00553079955511,0.0496228689771,0.999999830228,0.000121408307617,-0.000569914728953,8.05940479199e-07,1793192702232839936
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.127700193,711.127700193,672.872299807,660,631,876,782.872299807,799.872299807,649,628.872299807,650.127700193,0.445525635945,-0.00552680309587,0.049625288228,0.999999832155,0.000125531930523,-0.000565625111071,6.92147247777e-07,1793192702249506816
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.454403954,711,672.545596046,660,631,876,783,799.545596046,649,628.545596046,650,0.445404420363,-0.00552066104046,0.0496276462474,0.999999832777,0.000130520179576,-0.000563391293918,-3.67466017319e-08,1793192702266173184
+278,4.633333333,POSE2_TO_POSE3_RETREAT,763.966387946,742.966387946,711.033612054,672,660,631,876.033612054,783,799.033612054,649,628.033612054,650,0.445274340557,-0.00551407451315,0.0496301998921,0.999999833095,0.000135534854081,-0.000561640805685,-8.75923810843e-07,1793192702282839296
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.390971333,742.390971333,711.609028667,672,660,631,876.609028667,783,799.609028667,649,628.609028667,650,0.445114236216,-0.00550984038889,0.0496361784895,0.9999998346,0.000137140356104,-0.00055856255934,-7.64457996276e-07,1793192702299505920
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.188046035,742,711.811953965,672,660.188046035,631,877,782.811953965,799.811953965,649,629,650,0.444944529386,-0.00550396203698,0.0496417652678,0.999999835735,0.000140913079332,-0.000555583480279,-1.03621232852e-06,1793192702316172800
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763.774695903,742,711.225304097,672,660.774695903,631,877,782.225304097,799.225304097,649,629,650,0.444754468047,-0.00549459839308,0.049646521501,0.999999836054,0.000149279691694,-0.000552814607878,-2.12028382236e-06,1793192702332839424
+282,4.700000000,POSE2_TO_POSE3_RETREAT,764,742.358620713,711.358620713,672,661,631,876.641379287,782.358620713,799.358620713,649,628.641379287,650,0.444530212699,-0.0054857058988,0.0496499471711,0.999999835606,0.00015675492565,-0.000551549244555,-2.9916970708e-06,1793192702349506304
+283,4.716666667,POSE2_TO_POSE3_RETREAT,764,742.94084647,711.94084647,672,661,631,876.05915353,782.94084647,799.94084647,649,628.05915353,650,0.44428463689,-0.005477107172,0.0496525432168,0.999999834676,0.000163674373488,-0.000551221339952,-3.73051502691e-06,1793192702366173184
+284,4.733333333,POSE2_TO_POSE3_RETREAT,764,743,711.484028661,672,661,631.515971339,876.515971339,783,799.484028661,649,628.515971339,650,0.44401572138,-0.00546542366607,0.0496594925016,0.999999840402,0.000171791675657,-0.000538193816925,-5.54134893113e-06,1793192702382839808
+285,4.750000000,POSE2_TO_POSE3_RETREAT,764,743,711,672,661.090532442,632,876.909467558,783,799,649,628.909467558,650,0.443735926798,-0.00545355310933,0.0496666137869,0.999999845985,0.000179888386725,-0.000524990814114,-7.45945834993e-06,1793192702399506688
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,661.666376372,632,876.333623628,783,799,649,628.333623628,650,0.443411962522,-0.00544254991338,0.049672018056,0.999999847999,0.000187148547992,-0.00051854597596,-9.30274840747e-06,1793192702416173056
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,743,711.248620291,672.248620291,662,632,876.248620291,783,799,649.248620291,628.248620291,650,0.443078208106,-0.00543301636609,0.0496791032998,0.99999985287,0.000192235871906,-0.000507131862868,-1.10407576341e-05,1793192702432839424
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,743,711.839679238,672.839679238,662,632,876.839679238,783,799,649.839679238,628.839679238,650,0.4427309692,-0.0054255070489,0.0496885038439,0.999999861539,0.000194330424735,-0.000488873289319,-1.2633757562e-05,1793192702449506304
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711.57913558,672.57913558,662,632,877,783,799,649.57913558,629,650,0.442350229761,-0.00541986830837,0.0497107535559,0.999999879672,0.000193995577196,-0.000450348247858,-1.44611916922e-05,1793192702466173184
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711.001625425,672.001625425,662,632,877,783,799,649.001625425,629,650,0.441957021431,-0.00541492579663,0.0497377857278,0.999999899567,0.000192756506472,-0.000404280026827,-1.63758821696e-05,1793192702482840064
+291,4.850000000,POSE2_TO_POSE3_RETREAT,764,742.427491101,711,672,663.145017798,632,876.427491101,783,799,649,628.427491101,650,0.441520234788,-0.005421758766,0.0497613800672,0.999999916822,0.000177259748333,-0.000366933497746,-1.71689741065e-05,1793192702499506944
+292,4.866666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.853407502,663.853407502,632,876,783,799,649,628.146592498,650,0.441065105748,-0.00542728422425,0.0497818356443,0.999999930549,0.000163515443721,-0.000334412259493,-1.82791151561e-05,1793192702516174336
+293,4.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.279444106,663.279444106,632,876,783,799,649,628.720555894,650,0.440556860557,-0.00542890091139,0.0497931688625,0.999999937889,0.000154997507752,-0.000315886754623,-2.03227997381e-05,1793192702532841728
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.305543213,711,671.305543213,663.305543213,632,876,783.305543213,799.305543213,649,629,650,0.440020294432,-0.00542613155008,0.0497975833754,0.999999940937,0.000149187678235,-0.000308712272951,-2.37937382692e-05,1793192702549508352
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.900990258,711,671.900990258,663.900990258,632,876,783.900990258,799.900990258,649,629,650,0.439456856933,-0.00541920064259,0.0497954333216,0.999999940172,0.000145947338445,-0.000312307804652,-2.86188762941e-05,1793192702566174208
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.481194435,742.518805565,711,672.481194435,664,632.481194435,876,784,800,649.481194435,629,650,0.438829049159,-0.0054163349667,0.0497849956514,0.999999935852,0.000137795764408,-0.000328967537862,-3.29903639503e-05,1793192702582840064
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.942118959,742,711,672.942118959,663.942118959,632.942118959,876,783.942118959,799.942118959,650,629,650,0.438188808318,-0.00541402464077,0.0497751514879,0.999999931614,0.000128547851418,-0.000344753309366,-3.73072710661e-05,1793192702599506176
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.36967718,742,711,672.36967718,663.36967718,632.36967718,876,783.36967718,799.36967718,650,629,650,0.437552167335,-0.00540944361795,0.049785277691,0.999999937807,0.000118261233209,-0.000329606498741,-4.19432929909e-05,1793192702616172800
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.203834055,711.203834055,672,663.203834055,632.203834055,876,783.203834055,799,649.796165945,629,650,0.436900952249,-0.00540622214617,0.0498028379232,0.999999946191,0.000109483489109,-0.00030594123109,-4.5080943785e-05,1793192702632839680
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.779295073,711.779295073,672,663.779295073,632.779295073,876,783.779295073,799,649.220704927,629,650,0.436223165934,-0.0054054793862,0.0498339517566,0.999999958037,0.000103456700515,-0.000266745250698,-4.54867881939e-05,1793192702649506816
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,743,711.633882721,672,664,632.633882721,876,783.633882721,799,649,629,650,0.435488401432,-0.00540473081495,0.0498291127233,0.999999954596,9.57420082462e-05,-0.000281551606876,-4.86884081977e-05,1793192702666173696
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,743,711.039992384,672,664,632.039992384,876,783.039992384,799,649,629,650,0.434718189036,-0.00540397862835,0.0498019062812,0.999999940344,8.69772181937e-05,-0.000329954513751,-5.36293679253e-05,1793192702682840576
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742.46242636,711,672,663.46242636,632,876.53757364,783,799,649,629,650,0.433935434036,-0.00540210245249,0.0497873744075,0.99999993702,7.67932173507e-05,-0.000341407287133,-5.91933575201e-05,1793192702699506688
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.886283036,742,711,672,663.113716964,632,877,783.113716964,799.113716964,649,629,650,0.433154718723,-0.00540071579223,0.0497819710552,0.999999937602,6.62135148837e-05,-0.00034105465441,-6.39765672805e-05,1793192702716172800
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.311130191,742,711,672,663.688869809,632,877,783.688869809,799.688869809,649,629,650,0.432385954865,-0.0054016447712,0.0498098956763,0.999999950285,5.44439499955e-05,-0.000303624084228,-6.54090267092e-05,1793192702732839424
+306,5.100000000,POSE2_TO_POSE3_RETREAT,763.27170418,742.27170418,711,672,664,632,876.72829582,784,799.72829582,649,629,650,0.431592398589,-0.00540063472889,0.0498199487994,0.999999954537,4.75976047979e-05,-0.000290083600978,-6.7172439123e-05,1793192702749506048
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.863590708,742.863590708,711,672,664,632,876.136409292,784,799.136409292,649,629,650,0.430769626265,-0.00539733970019,0.049808941749,0.999999950094,4.65528915305e-05,-0.00030469573183,-6.93258542862e-05,1793192702766172928
+308,5.133333333,POSE2_TO_POSE3_RETREAT,764,742.555335643,711,672,664,632,876,784,799,649,629,650.444664357,0.42989041337,-0.00539013686253,0.0497844276714,0.999999933214,0.000107090944353,-0.000344734143166,-5.71074748394e-05,1793192702782839808
+309,5.150000000,POSE2_TO_POSE3_RETREAT,764,742.022437045,711,672,664,632,876,783.977562955,799.022437045,649,629,651,0.428995150625,-0.00538198722663,0.049757869284,0.999999906746,0.000182388108757,-0.000389267913585,-4.13959735289e-05,1793192702799506176
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,742.598664324,711,672,664,632,876,783.401335676,799.598664324,649,629,651,0.428120948623,-0.00537935493016,0.0497806960621,0.999999921396,0.000166754692097,-0.000356807211548,-4.57024362455e-05,1793192702816173312
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,742.821606494,711,672,664,632,876,783.178393506,799.821606494,649,629,650.821606494,0.427241168514,-0.00537724925805,0.049792497195,0.999999928519,0.00015256471656,-0.000342355900038,-4.97882828895e-05,1793192702832840192
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742.233841291,711,672,664,632,876,783.766158709,799.233841291,649,629,650.233841291,0.426348587994,-0.00537635206678,0.0497789970294,0.999999920372,0.00014168710472,-0.000369231963228,-5.33678666751e-05,1793192702849506560
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,711.348605779,672,663.651394221,632,876,783.651394221,799,649,629,650,0.425492068353,-0.00537880195657,0.0497878937146,0.999999931271,0.000132466461859,-0.000341794024975,-5.55630371361e-05,1793192702866173184
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.927539077,672,663.072460923,632,876,783.072460923,799,649,629,650,0.424659374551,-0.00538346329819,0.0498115882362,0.999999951881,0.000124340595954,-0.000278470250267,-5.68435107905e-05,1793192702882839808
+315,5.250000000,POSE2_TO_POSE3_RETREAT,764,742.503746272,711.496253728,671.496253728,664.007492545,632,875.496253728,783.503746272,800.007492545,649,628.496253728,650,0.423791313472,-0.00538483518956,0.049838243832,0.999999962123,0.000130809765652,-0.000236210642618,-5.33515076883e-05,1793192702899506176
+316,5.266666667,POSE2_TO_POSE3_RETREAT,764,742.920576668,711,671.079423332,664.920576668,632,875.079423332,783.920576668,800.841153337,649,628.079423332,650,0.422907023538,-0.00538501596533,0.0498570603279,0.999999967185,0.000137036089592,-0.000210548728448,-5.01997683227e-05,1793192702916172800
+317,5.283333333,POSE2_TO_POSE3_RETREAT,764,742.345773769,711,671.654226231,664.345773769,632,875.654226231,783.345773769,799.691547538,649,628.654226231,650,0.421953071486,-0.00538070286939,0.0498243404107,0.999999953942,0.000128723766065,-0.000269613308976,-5.34290732084e-05,1793192702932839680
+318,5.300000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.764675305,663.764675305,632.235324695,876,783,799,649,629,650,0.421033135518,-0.00537869421935,0.0498053184853,0.999999946665,0.000104631733997,-0.000304372607307,-5.54935300331e-05,1793192702949506816
+319,5.316666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.174072104,663.174072104,632.825927896,876,783,799,649,629,650,0.420164554762,-0.00538016467695,0.0498069769263,0.999999951101,5.67164840235e-05,-0.000302437320358,-5.57993727403e-05,1793192702966173184
+320,5.333333333,POSE2_TO_POSE3_RETREAT,764,742.408208257,711,671,663.408208257,632.591791743,876,783,799.408208257,649,629,650,0.419273144247,-0.00537953697748,0.049806748306,0.999999946984,5.0329559654e-05,-0.000317072143644,-5.44494295994e-05,1793192702982839808
+321,5.350000000,POSE2_TO_POSE3_RETREAT,764,742.987010395,711,671,663.987010395,632.012989605,876,783,799.987010395,649,629,650,0.418372193025,-0.00537803243933,0.0498057310658,0.999999939412,6.12976966607e-05,-0.000338631764267,-5.24075187401e-05,1793192702999506432
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.437700606,743,711,671.562299394,663.437700606,632.562299394,876,783,799.437700606,649,629,650,0.417522679128,-0.00537701637188,0.0497925911899,0.999999935599,6.15212141713e-05,-0.000349196662097,-5.54919979263e-05,1793192703016172800
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.14041316,743,711,672,663.14041316,633,876,783.14041316,799,649,628.85958684,650.14041316,0.416688573792,-0.005377480352,0.0497896581532,0.999999937528,6.11600991212e-05,-0.000343351444797,-5.75639842148e-05,1793192703032839424
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.727775127,743,711,672,663.727775127,633,876,783.727775127,799,649,628.272224873,650.727775127,0.415899756631,-0.00538261977283,0.0498201003549,0.999999955727,5.97232126837e-05,-0.000286074674198,-5.60384915303e-05,1793192703049506048
+325,5.416666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,664,633,875.689356785,784,799.310643215,649,628,650.689356785,0.415093293474,-0.00538316802975,0.0498295979791,0.999999960533,6.38109787184e-05,-0.000267861272239,-5.57859624927e-05,1793192703066172672
+326,5.433333333,POSE2_TO_POSE3_RETREAT,764,743,711,672,664,633,875.110370673,784,799.889629327,649,628,650.110370673,0.41427158722,-0.00537975030177,0.0498210030497,0.9999999556,7.26711049019e-05,-0.000283391979389,-5.66330576899e-05,1793192703082839552
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.532519795,742.532519795,711,672,663.532519795,633,875,783.532519795,799.532519795,649,628.467480205,650,0.4134554293,-0.00537921314722,0.0497949468822,0.999999941343,7.65734477875e-05,-0.000328657737771,-5.86034215177e-05,1793192703099506432
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.044908667,742,711,671.955091333,663,633,875,783.044908667,799,649.044908667,629,650.044908667,0.412648421932,-0.0053796838782,0.0497688979754,0.999999925098,7.89818705556e-05,-0.000374032423152,-6.05408940837e-05,1793192703116173312
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.620504524,742,711,671.379495476,663,633,875,783.620504524,799,649.620504524,629,650.620504524,0.411934105478,-0.00538404759265,0.0497915331381,0.999999938156,7.75351281066e-05,-0.000337935457235,-5.89633998206e-05,1793192703132839936
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.799485643,742,711,671.200514357,663.200514357,633,875.200514357,784,799,649.799485643,629,651,0.411219511951,-0.00538614678814,0.0498085403014,0.999999946043,7.97181520911e-05,-0.000313444647483,-5.75455246548e-05,1793192703149506560
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763.210933738,742,711,671.789066262,663.789066262,633,875.789066262,784,799,649.210933738,629,651,0.410504382103,-0.00538386366281,0.0498146561037,0.999999945964,8.89255391821e-05,-0.000311414190816,-5.6436545932e-05,1793192703166172928
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.372912152,742.372912152,711,671.627087848,663.627087848,633,875.627087848,783.627087848,799.372912152,649,629,650.627087848,0.409813965041,-0.0053828697215,0.0498062916989,0.999999940852,9.20171203099e-05,-0.000326394637197,-5.7405821105e-05,1793192703182839808
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.954129273,742.954129273,711,671.045870727,663.045870727,633,875.045870727,783.045870727,799.954129273,649,629,650.045870727,0.409137352336,-0.00538259590553,0.0497898387959,0.999999932467,9.16924732641e-05,-0.000350877202561,-5.95359880007e-05,1793192703199506688
+334,5.566666667,POSE2_TO_POSE3_RETREAT,764,742.471127931,711,671,663.528872069,633,875.528872069,783,800,649,629,650,0.408551096249,-0.00538462928819,0.0498067806859,0.999999943386,9.2203968056e-05,-0.000318101895128,-5.94812484239e-05,1793192703216173312
+335,5.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.103052716,664,633,875.896947284,783.103052716,799.896947284,649.103052716,629,650,0.407975878105,-0.00538682509993,0.0498253882871,0.99999995325,9.49713576803e-05,-0.000284700444324,-5.85262205163e-05,1793192703232839936
+336,5.600000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.677199505,664,633,875.322800495,783.677199505,799.322800495,649.677199505,629,650,0.407415726398,-0.00538885971802,0.0498385299006,0.999999956039,0.000107723807832,-0.000270864320917,-5.43114432912e-05,1793192703249506816
+337,5.616666667,POSE2_TO_POSE3_RETREAT,764,742.258754714,711,671.741245286,664,633,875,783.741245286,799,649.741245286,629,650.258754714,0.40685008396,-0.00538957597668,0.0498338822933,0.999999950896,0.000115930453644,-0.000286326339289,-5.27698346785e-05,1793192703266173696
+338,5.633333333,POSE2_TO_POSE3_RETREAT,764,742.849824408,711,671.150175592,664,633,875,783.150175592,799,649.150175592,629,650.849824408,0.406277389898,-0.005388599085,0.0498063882431,0.999999933907,0.000118298986772,-0.000339415542798,-5.46613385274e-05,1793192703282840576
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742.567492863,711,671,664,632.567492863,875.432507137,783,799,649.432507137,629,651,0.405750399326,-0.00538804107185,0.0497837782486,0.99999991999,0.000118736211939,-0.000377710939288,-5.70576638838e-05,1793192703299506688
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.012249108,663.987750892,632.012249108,875.987750892,783.012249108,799,650,628.987750892,650.987750892,0.405241124943,-0.00538764739702,0.0497635504993,0.999999907238,0.00011852403172,-0.000409788227391,-5.95782517071e-05,1793192703316173056
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.588122704,663.411877296,632.588122704,875.411877296,783.588122704,799,650,628.411877296,650.411877296,0.404830728503,-0.00538825044927,0.049776390793,0.99999991604,0.000118699703732,-0.000387610827465,-5.99045466348e-05,1793192703332839680
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.832532639,663.167467361,632.832532639,875.167467361,783.832532639,799,649.832532639,628.167467361,650.167467361,0.404438602809,-0.00539024998126,0.0497957023483,0.999999928136,0.000116833150567,-0.000355698215776,-5.96348082768e-05,1793192703349506304
+343,5.716666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.244470279,663.755529721,632.244470279,875.755529721,783.244470279,799,649.244470279,628.755529721,650.755529721,0.404092364089,-0.00539575677825,0.0498312665075,0.999999947493,0.000109837539963,-0.000299335572641,-5.78681297537e-05,1793192703366172928
+344,5.733333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.661602505,632,876,783,799.338397495,649.338397495,628.661602505,650.661602505,0.403757441236,-0.0054016302611,0.0498533485441,0.999999957925,0.000102655241258,-0.000265282950162,-5.68896851157e-05,1793192703382839808
+345,5.750000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.082430781,632,876,783,799.917569219,649.917569219,628.082430781,650.082430781,0.403430569792,-0.00540776464539,0.0498658378726,0.99999996333,9.53401121032e-05,-0.000247104201923,-5.64720793424e-05,1793192703399506944
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,632.494303755,876,783.494303755,799.505696245,650,628.494303755,650.494303755,0.403110406915,-0.00540929514335,0.0498551111691,0.999999957048,9.08341918178e-05,-0.000272611400062,-5.77650128064e-05,1793192703416173312
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763.928187433,742,711,671,663,633,875.928187433,783.928187433,799,650,629,651,0.402798128426,-0.00540956322101,0.0498406370582,0.999999948119,8.76807409651e-05,-0.000304207599788,-5.94280330734e-05,1793192703432839936
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763.34223975,742,711,671,663,633,875.34223975,783.34223975,799,650,629,651,0.402534327297,-0.0054062627895,0.049826915652,0.99999994034,9.0872671923e-05,-0.000327496144063,-6.17084409045e-05,1793192703449506304
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.240761537,663,632.759238463,875,783,799,649.759238463,628.759238463,651,0.402288159529,-0.00540514311793,0.0498163462533,0.999999934108,9.0388330067e-05,-0.000345831323787,-6.33601670282e-05,1793192703466172672
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.819625143,663,632.180374857,875,783,799,649.180374857,628.180374857,651,0.402066754359,-0.00540708589365,0.0498102032283,0.999999930554,8.474138825e-05,-0.000357210478639,-6.41290335889e-05,1793192703482839296
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.397850375,742,711,671.602149625,663,632,875,783.397850375,799,649,628.397850375,651,0.401888578162,-0.00540668199935,0.0498122559919,0.99999993257,8.61352599261e-05,-0.000351152787871,-6.42878414086e-05,1793192703499506176
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.975786699,742,711,671.024213301,663,632,875,783.975786699,799,649,628.975786699,651,0.401729969429,-0.00540521589107,0.0498180185576,0.999999936974,9.07161372178e-05,-0.000337202354723,-6.41705077668e-05,1793192703516172800
+353,5.883333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,632,875,783.449305978,799,649.550694022,628.449305978,651,0.401613601098,-0.00540468063459,0.0498316769895,0.9999999396,0.000152321265939,-0.000308427861731,-4.9711954756e-05,1793192703532839424
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.871431659,742,711,671,663,632.128568341,875,783,799,650,628.128568341,650.871431659,0.4015017758,-0.00540320032492,0.049842699925,0.999999937959,0.000202617535482,-0.000285575588266,-3.84043676344e-05,1793192703549506304
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.282458002,742,711,671,663,632.717541998,875,783,799,650,628.717541998,650.282458002,0.401399604665,-0.00539819000096,0.0498430486847,0.999999937501,0.000203487113646,-0.000286252195155,-4.06261477301e-05,1793192703566172928
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799.301345278,650,628.698654722,650,0.401308500627,-0.00540092135815,0.0498413437215,0.999999938737,0.000196169670203,-0.000286810169677,-4.2231686071e-05,1793192703582839296
+357,5.950000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799.880383957,650,628.119616043,650,0.401227595063,-0.00541078677054,0.0498377462272,0.999999941369,0.000181307785025,-0.000287258822918,-4.32693498746e-05,1793192703599505664
+358,5.966666667,POSE2_TO_POSE3_RETREAT,763.457041629,742.457041629,711,671,663,633,875,783,799.542958371,649.542958371,628.457041629,650.457041629,0.401164570574,-0.00541657704081,0.0498364356901,0.999999942258,0.000171500297078,-0.00029008785913,-4.38285652404e-05,1793192703616172544
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742.966875335,711,671,663,633,875,783,799.033124665,649.033124665,628.966875335,651,0.401107659653,-0.0054209832796,0.0498359001444,0.999999942735,0.000163520378838,-0.000292971386615,-4.42695382799e-05,1793192703632839424
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742.390048864,711,671,663,633,875,783,799.609951136,649.609951136,628.390048864,651,0.401074680425,-0.00542008752084,0.0498383117871,0.999999944495,0.000163937735875,-0.000286576696256,-4.4814366606e-05,1793192703649506304
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.190484847,633,875,783,799.809515153,649.809515153,628,650.809515153,0.401045723506,-0.00541893663175,0.0498401762494,0.999999945769,0.000164561553096,-0.000281639952873,-4.53825333814e-05,1793192703666173184
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.778760335,633,875,783,799.221239665,649.221239665,628,650.221239665,0.401025166402,-0.00541725295259,0.0498408980311,0.999999946098,0.000165616522313,-0.000279747849685,-4.5999437915e-05,1793192703682840320
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.638703053,633,875,783.361296947,799,649,628,650,0.401008946411,-0.0054175803607,0.0498423074699,0.999999946924,0.000164663923499,-0.000277351484112,-4.59697553846e-05,1793192703699506944
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.059625632,633,875,783.940374368,799,649,628,650,0.400995340718,-0.00541912000015,0.0498441314107,0.999999948043,0.000162501214591,-0.000274651162002,-4.55503269191e-05,1793192703716173312
+365,6.083333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,875.517704416,783.482295584,799,649,628,650,0.400985867489,-0.00541948284991,0.0498430518525,0.999999947846,0.00016093362177,-0.000276218404066,-4.59442141661e-05,1793192703732839680
+366,6.100000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.096173012,633,876,783,799.096173012,649.096173012,628.096173012,650.096173012,0.400978120949,-0.00541954171909,0.04984197147,0.99999994758,0.00015987555707,-0.000277721233534,-4.63780036756e-05,1793192703749506048
+367,6.116666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.681452176,633,876,783,799.681452176,649.681452176,628.681452176,650.681452176,0.400976743427,-0.00541874160525,0.0498425818538,0.999999947747,0.000161061386424,-0.000276405228924,-4.65399390993e-05,1793192703766172672
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763.734431646,742,711,671.265568354,663.734431646,633,875.734431646,783,799.734431646,649.734431646,629,650.734431646,0.400976488465,-0.00541856757906,0.0498438804124,0.999999948441,0.000161105982516,-0.000273827824232,-4.66940351492e-05,1793192703782839296
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763.151704416,742,711,671.848295584,663.151704416,633,875.151704416,783,799.151704416,649.151704416,629,650.151704416,0.400977574135,-0.00541914126723,0.0498460008338,0.999999949756,0.000159787644084,-0.000269743974191,-4.68387689028e-05,1793192703799505920
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.575023419,663,633,875,783,799.424976581,649.424976581,628.575023419,650,0.400976437362,-0.0054190751526,0.0498462479324,0.999999949817,0.000159798343258,-0.000269522465459,-4.67756627496e-05,1793192703816172800
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.00047049,663,633,875,783,799.99952951,649.99952951,628.00047049,650,0.400974518369,-0.00541878385058,0.0498458356893,0.99999994944,0.000160276815513,-0.000270660360926,-4.66394044816e-05,1793192703832839680
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.575277539,742,711,671,663,633,875,783,800,649.424722461,628.575277539,650.575277539,0.400974667987,-0.00541855055012,0.0498457292282,0.999999949845,0.000159252594018,-0.000269692174842,-4.70652512663e-05,1793192703849506304
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742.154085712,711,671,663,633,875,783,799.845914288,649,629,651,0.400974685292,-0.00541858770508,0.0498456558707,0.999999950133,0.000158542273051,-0.000268985700766,-4.73716070379e-05,1793192703866172928
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742.74149688,711,671,663,633,875,783,799.25850312,649,629,651,0.400974325734,-0.00541938531097,0.0498456749036,0.999999950098,0.000158718178137,-0.00026902007694,-4.73406302312e-05,1793192703882839552
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742.675885336,711,671,663,633,875.324114664,783,799.324114664,649.324114664,629,651,0.400974886522,-0.00541933335802,0.0498466242108,0.999999950327,0.000159154558824,-0.00026795716259,-4.70633451509e-05,1793192703899506176
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742.097034817,711,671,663,633,875.902965183,783,799.902965183,649.902965183,629,651,0.400976170649,-0.0054186136998,0.049848304661,0.999999950761,0.000159795658669,-0.00026603183975,-4.65924756502e-05,1793192703916172800
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.521235964,742,711.478764036,671,663.478764036,633,875.521235964,783,799.521235964,649.521235964,629,650.521235964,0.40097443077,-0.00541956915245,0.0498477905084,0.999999950619,0.000158360513779,-0.000267447758097,-4.64230902875e-05,1793192703932839424
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.053784174,742,711.946215826,671,663.946215826,633,875.053784174,783,799,649.053784174,629,650.053784174,0.400972408341,-0.00542083971032,0.0498469722107,0.999999950427,0.000156701205796,-0.000269158661834,-4.63016152254e-05,1793192703949506048
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.6272189,742,711.3727811,671,663.3727811,633,875.6272189,783,799,649.6272189,629,650.6272189,0.400973540166,-0.00542189527362,0.0498474856411,0.999999950925,0.000156916090059,-0.000267218182196,-4.6056403563e-05,1793192703966172928
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.208685944,633,875.791314056,783,799,649.791314056,629,651,0.400974526561,-0.00542194376755,0.0498479736889,0.999999951319,0.000157129245985,-0.00026560755299,-4.60957059192e-05,1793192703982839296
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.805075666,633,875.194924334,783,799,649.194924334,629,651,0.400975242773,-0.00542012129402,0.0498484145801,0.999999951524,0.000157339190937,-0.000264609731144,-4.66635880183e-05,1793192703999505920
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875,783,799,649.386840981,628.613159019,651,0.400974109164,-0.00542033970025,0.0498480602975,0.999999951068,0.000158482269145,-0.000265654299041,-4.66471395231e-05,1793192704016172544
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,664,633,875,783,799,649.961505662,628.038494338,651,0.400972077408,-0.0054215490191,0.0498473199327,0.999999950284,0.00016007841346,-0.00026769051267,-4.63469797728e-05,1793192704032839168
+384,6.400000000,POSE2_TO_POSE3_RETREAT,764,742,711.536615403,671,664,633,875,783,799.536615403,649.463384597,628.536615403,651,0.400972308686,-0.00542164905797,0.0498478432339,0.999999950615,0.000159122913611,-0.000267070045153,-4.60892415094e-05,1793192704049506048
+385,6.416666667,POSE2_TO_POSE3_RETREAT,764,742,711.885539147,671,664,633,875,783.114460853,799.885539147,649.114460853,629,651,0.400972859561,-0.00542157632124,0.0498485042719,0.999999951044,0.000158065126412,-0.000266110929662,-4.5966404762e-05,1793192704066172672
+386,6.433333333,POSE2_TO_POSE3_RETREAT,764,742,711.29648312,671,664,633,875,783.70351688,799.29648312,649.70351688,629,651,0.400974061917,-0.00542111741433,0.0498493602375,0.999999951555,0.000157342812236,-0.000264538520542,-4.6390289135e-05,1793192704082839296
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.711847783,742,711,671,664,633,875,783.711847783,799,649.711847783,628.711847783,651,0.400974499105,-0.00542119013248,0.0498495787244,0.999999951752,0.000157296669116,-0.000263796234037,-4.65393235299e-05,1793192704099505920
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.131692147,742,711,671,664,633,875,783.131692147,799,649.131692147,628.131692147,651,0.400974160897,-0.0054218015809,0.0498491512127,0.999999951631,0.000157935734099,-0.000263895164677,-4.64098345839e-05,1793192704116172544
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.445368534,742,711,671,664,633,875,783.445368534,799,649.445368534,628,651,0.400973918675,-0.00542168757342,0.0498490007511,0.999999951378,0.000158771737389,-0.000264380040225,-4.62554980514e-05,1793192704132839168
+390,6.500000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.021492146,664,633,875.021492146,783.978507854,799.042984293,650,628.021492146,651,0.400973683241,-0.0054213544296,0.049848940007,0.999999951102,0.00015957672553,-0.000264963159085,-4.61050099356e-05,1793192704149505792
+391,6.516666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.596889107,664,633,875.596889107,783.403110893,800.193778214,650,628.596889107,651,0.40097289634,-0.00542086394847,0.0498490947534,0.99999995128,0.000158091926175,-0.000265157369407,-4.62417541767e-05,1793192704166172416
+392,6.533333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.822705646,664,633,876,783.177294354,800.645411292,650,629,651,0.400972585646,-0.00542097616838,0.0498493052585,0.999999951503,0.000156973201331,-0.000264979633193,-4.62409201109e-05,1793192704182839296
+393,6.550000000,POSE2_TO_POSE3_RETREAT,764,742,711,671.230582165,664,633,876,783.769417835,799.461164331,650,629,651,0.400973389172,-0.00542249857393,0.0498496462265,0.999999951837,0.000156711009039,-0.000263931625279,-4.59181835763e-05,1793192704199505920
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.647083618,633,875.647083618,784,799,649.647083618,629,651,0.400972795828,-0.00542222448963,0.0498493933728,0.999999951536,0.000157568632218,-0.000264545052169,-4.59943423053e-05,1793192704216172288
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.069085862,633,875.069085862,784,799,649.069085862,629,651,0.400971311595,-0.00542080464832,0.0498487617944,0.999999950828,0.000159140446123,-0.000266218101277,-4.63249066167e-05,1793192704232838912
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a51099cd806ca48d0a02e0e6bdb68196ab93a68
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/simulation_data.csv
@@ -0,0 +1,397 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+1,0.016666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+2,0.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+3,0.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+4,0.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+5,0.083333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+6,0.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+7,0.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+8,0.133333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+9,0.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+10,0.166666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+11,0.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+12,0.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+13,0.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+14,0.233333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+15,0.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+16,0.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+17,0.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+18,0.300000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+19,0.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+20,0.333333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+21,0.350000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+22,0.366666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+23,0.383333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+24,0.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+25,0.416666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+26,0.433333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+27,0.450000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+28,0.466666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+29,0.483333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+30,0.500000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+31,0.516666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+32,0.533333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+33,0.550000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+34,0.566666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+35,0.583333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+36,0.600000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+37,0.616666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+38,0.633333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+39,0.650000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+40,0.666666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+41,0.683333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+42,0.700000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+43,0.716666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+44,0.733333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+45,0.750000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+46,0.766666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+47,0.783333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+48,0.800000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+49,0.816666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+50,0.833333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+51,0.850000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+52,0.866666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+53,0.883333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+54,0.900000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+55,0.916666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+56,0.933333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+57,0.950000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+58,0.966666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+59,0.983333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+60,1.000000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+61,1.016666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+62,1.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+63,1.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+64,1.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+65,1.083333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+66,1.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+67,1.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+68,1.133333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+69,1.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+70,1.166666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+71,1.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+72,1.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+73,1.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+74,1.233333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+75,1.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+76,1.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+77,1.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+78,1.300000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+79,1.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+80,1.333333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+81,1.350000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+82,1.366666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+83,1.383333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+84,1.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+85,1.416666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+86,1.433333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+87,1.450000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+88,1.466666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+89,1.483333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+90,1.500000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+91,1.516666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+92,1.533333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+93,1.550000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+94,1.566666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+95,1.583333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+96,1.600000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+97,1.616666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+98,1.633333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+99,1.650000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+100,1.666666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+101,1.683333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+102,1.700000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+103,1.716666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+104,1.733333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+105,1.750000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+106,1.766666667,pose1_to_pose2_press,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+107,1.783333333,pose1_to_pose2_press,0.575709332573,5.46075295888e-05,1.04002909998,0.546280062294,0.00872733539014,1.03969839453
+108,1.800000000,pose1_to_pose2_press,0.575709414492,5.4577073446e-05,1.04002915648,0.546280143868,0.00872730372919,1.03969845002
+109,1.816666667,pose1_to_pose2_press,0.575709634246,5.45164054848e-05,1.04002916703,0.54628036411,0.0087272446131,1.03969845794
+110,1.833333333,pose1_to_pose2_press,0.575709662593,5.45085797204e-05,1.04002916839,0.546280392519,0.00872723698752,1.03969845896
+111,1.850000000,pose1_to_pose2_press,0.575709808039,5.44684261402e-05,1.04002917537,0.546280538288,0.00872719786106,1.0396984642
+112,1.866666667,pose1_to_pose2_press,0.575709897154,5.44438242283e-05,1.04002917965,0.5462806276,0.00872717388846,1.03969846741
+113,1.883333333,pose1_to_pose2_press,0.575710829207,5.44016056993e-05,1.04002919234,0.546281560534,0.0087271345514,1.03969847731
+114,1.900000000,pose1_to_pose2_press,0.575713797201,5.45916959398e-05,1.04002903611,0.546284526444,0.00872731790244,1.03969832979
+115,1.916666667,pose1_to_pose2_press,0.575722739953,5.45163476833e-05,1.04002905359,0.546293470867,0.00872724812912,1.03969834465
+116,1.933333333,pose1_to_pose2_press,0.575739692089,5.44678812717e-05,1.04002914922,0.546310422335,0.00872719749316,1.03969844281
+117,1.950000000,pose1_to_pose2_press,0.575768619662,5.46378956809e-05,1.04002902337,0.546339349407,0.00872736585872,1.03969831819
+118,1.966666667,pose1_to_pose2_press,0.575809114137,5.44648302218e-05,1.04002917272,0.546379844633,0.00872719503678,1.03969845951
+119,1.983333333,pose1_to_pose2_press,0.575860636463,5.45739641745e-05,1.04002931878,0.546431367667,0.00872730648026,1.03969860301
+120,2.000000000,pose1_to_pose2_press,0.575921182854,5.4498880992e-05,1.04002919728,0.546491913664,0.00872723023241,1.03969848595
+121,2.016666667,pose1_to_pose2_press,0.575990195055,5.45288888592e-05,1.04002910687,0.546560924703,0.00872725633914,1.03969839663
+122,2.033333333,pose1_to_pose2_press,0.576066669101,5.45243536033e-05,1.04002914304,0.54663739891,0.0087272522168,1.03969842921
+123,2.050000000,pose1_to_pose2_press,0.576151752114,5.44788311697e-05,1.04002910585,0.546722482979,0.008727210412,1.03969839549
+124,2.066666667,pose1_to_pose2_press,0.576251123726,5.45568640927e-05,1.04002916727,0.546821854048,0.00872728665527,1.03969845825
+125,2.083333333,pose1_to_pose2_press,0.57636482405,5.45813712441e-05,1.04002925395,0.546935554464,0.00872731128752,1.03969854006
+126,2.100000000,pose1_to_pose2_press,0.576494492495,5.44355107743e-05,1.04002935622,0.547065225596,0.008727174446,1.03969863958
+127,2.116666667,pose1_to_pose2_press,0.576641630006,5.43780902416e-05,1.04002903432,0.547212363017,0.00872711705306,1.03969832637
+128,2.133333333,pose1_to_pose2_press,0.576808280718,5.45037090644e-05,1.04002904789,0.547379012122,0.00872723716984,1.03969833872
+129,2.150000000,pose1_to_pose2_press,0.576993829773,5.46298256795e-05,1.04002903793,0.547564559706,0.00872735857577,1.03969833601
+130,2.166666667,pose1_to_pose2_press,0.577199349798,5.46242555499e-05,1.04002916415,0.547770079465,0.00872735172626,1.03969845228
+131,2.183333333,pose1_to_pose2_press,0.577430990924,5.45395957237e-05,1.04002901828,0.54800172145,0.00872727033289,1.03969831559
+132,2.200000000,pose1_to_pose2_press,0.577686920971,5.44177926564e-05,1.04002903244,0.54825765201,0.00872714998627,1.03969832223
+133,2.216666667,pose1_to_pose2_press,0.577967785789,5.45080675005e-05,1.04002890289,0.548538515871,0.00872723723071,1.03969819833
+134,2.233333333,pose1_to_pose2_press,0.578273732875,5.44745112035e-05,1.04002890527,0.548844464866,0.00872721025825,1.03969820336
+135,2.250000000,pose1_to_pose2_press,0.578605412687,5.46789961612e-05,1.0400290696,0.549176141993,0.00872740515241,1.03969835511
+136,2.266666667,pose1_to_pose2_press,0.578959249772,5.45136301658e-05,1.04002903906,0.549529980281,0.00872724417517,1.03969833248
+137,2.283333333,pose1_to_pose2_press,0.57933264031,5.46173137243e-05,1.04002907254,0.549903371511,0.00872735008121,1.03969836262
+138,2.300000000,pose1_to_pose2_press,0.579720809998,5.46144379431e-05,1.04002919561,0.550291541611,0.00872734825733,1.03969847663
+139,2.316666667,pose1_to_pose2_press,0.580123491127,5.45366437001e-05,1.04002902464,0.550694222814,0.00872727128281,1.0396983205
+140,2.333333333,pose1_to_pose2_press,0.580543420219,5.45002753117e-05,1.04002903264,0.551114150904,0.00872723147151,1.0396983273
+141,2.350000000,pose1_to_pose2_press,0.58099008133,5.46158947588e-05,1.04002918408,0.551560811064,0.0087273435559,1.03969847071
+142,2.366666667,pose1_to_pose2_press,0.581467398535,5.45505604114e-05,1.04002920139,0.552038127784,0.00872727644943,1.03969848461
+143,2.383333333,pose1_to_pose2_press,0.581985066573,5.44425947331e-05,1.04002933651,0.55255579941,0.00872718047615,1.03969861483
+144,2.400000000,pose1_to_pose2_press,0.582537611466,5.44815969974e-05,1.04002930702,0.553108343857,0.00872721821677,1.03969859193
+145,2.416666667,pose1_to_pose2_press,0.583120333394,5.4579427756e-05,1.04002918432,0.553691063656,0.00872730896375,1.03969847291
+146,2.433333333,pose1_to_pose2_press,0.583713985329,5.45561005915e-05,1.04002902859,0.554284715504,0.0087272855919,1.03969832367
+147,2.450000000,pose1_to_pose2_press,0.584312223043,5.45165641185e-05,1.0400291977,0.55488295418,0.00872724882644,1.0396984799
+148,2.466666667,pose1_to_pose2_press,0.584922873365,5.45209402477e-05,1.04002915106,0.555493603945,0.00872725185773,1.03969844742
+149,2.483333333,pose1_to_pose2_press,0.585550148608,5.45851097682e-05,1.04002911372,0.55612087912,0.00872731608009,1.03969841755
+150,2.500000000,pose1_to_pose2_press,0.586206642148,5.45671446471e-05,1.04002906075,0.556777372803,0.00872729817949,1.03969835351
+151,2.516666667,pose1_to_pose2_press,0.586891937494,5.46219400548e-05,1.04002905691,0.557462667419,0.008727350389,1.03969834683
+152,2.533333333,pose1_to_pose2_press,0.587603943284,5.44739296648e-05,1.04002913631,0.558174674633,0.00872720734666,1.03969842977
+153,2.550000000,pose1_to_pose2_press,0.588325584187,5.44641817653e-05,1.04002920171,0.55889631449,0.00872719371839,1.03969848649
+154,2.566666667,pose1_to_pose2_press,0.589052611712,5.45053397437e-05,1.04002928202,0.559623342789,0.00872723759518,1.03969856918
+155,2.583333333,pose1_to_pose2_press,0.589794436925,5.45266660062e-05,1.04002919026,0.560365167711,0.00872725815781,1.03969848326
+156,2.600000000,pose1_to_pose2_press,0.590553988305,5.46133478669e-05,1.04002918269,0.561124718159,0.00872734146729,1.03969847023
+157,2.616666667,pose1_to_pose2_press,0.591332427216,5.45196745756e-05,1.04002919652,0.561903158952,0.00872725401819,1.03969847981
+158,2.633333333,pose1_to_pose2_press,0.592122260677,5.44904672715e-05,1.04002898563,0.562692991775,0.00872722297531,1.03969827763
+159,2.650000000,pose1_to_pose2_press,0.592917404574,5.4467927372e-05,1.04002922008,0.563488135232,0.00872719855863,1.03969850196
+160,2.666666667,pose1_to_pose2_press,0.593719607181,5.46485787357e-05,1.04002901318,0.564290337036,0.0087273769528,1.03969830741
+161,2.683333333,pose1_to_pose2_press,0.594532943587,5.46211072002e-05,1.04002893371,0.565103673821,0.00872735057715,1.03969822293
+162,2.700000000,pose1_to_pose2_press,0.595352051729,5.4618446695e-05,1.04002900702,0.565922780668,0.00872734360465,1.03969829851
+163,2.716666667,pose1_to_pose2_press,0.596181411167,5.46173743897e-05,1.04002905744,0.56675213988,0.00872734166868,1.03969834642
+164,2.733333333,pose1_to_pose2_press,0.597022849467,5.45466864724e-05,1.04002915996,0.567593580056,0.0087272772037,1.03969844528
+165,2.750000000,pose1_to_pose2_press,0.597856246672,5.45111076696e-05,1.0400290914,0.568426976973,0.00872724075192,1.03969837942
+166,2.766666667,pose1_to_pose2_press,0.598680586614,5.45755882904e-05,1.04002922951,0.569251317206,0.00872730616902,1.03969851632
+167,2.783333333,pose1_to_pose2_press,0.599495378902,5.46369256501e-05,1.04002928385,0.570066109016,0.00872736607195,1.03969857556
+168,2.800000000,pose1_to_pose2_press,0.600302632628,5.45877661811e-05,1.04002929969,0.570873363307,0.00872731867339,1.03969858731
+169,2.816666667,pose1_to_pose2_press,0.601105114437,5.46736663789e-05,1.04002923453,0.571675843259,0.00872739820028,1.03969852045
+170,2.833333333,pose1_to_pose2_press,0.601902166722,5.46153573774e-05,1.04002918966,0.57247289546,0.0087273395609,1.03969847439
+171,2.850000000,pose1_to_pose2_press,0.602695123371,5.44893910535e-05,1.04002924241,0.573265853773,0.00872721934746,1.03969852998
+172,2.866666667,pose1_to_pose2_press,0.6034797711,5.45246688487e-05,1.04002914968,0.574050502545,0.00872725829964,1.03969844097
+173,2.883333333,pose1_to_pose2_press,0.60425357252,5.4482442426e-05,1.0400291909,0.574824304418,0.00872721752013,1.03969847986
+174,2.900000000,pose1_to_pose2_press,0.605018684608,5.45609815456e-05,1.04002923229,0.575589414914,0.00872729071818,1.03969852294
+175,2.916666667,pose1_to_pose2_press,0.605773253405,5.45451227078e-05,1.04002918539,0.576343983963,0.00872727560713,1.03969847329
+176,2.933333333,pose1_to_pose2_press,0.60651669478,5.4494774317e-05,1.0400291912,0.577087425921,0.00872722717025,1.03969847743
+177,2.950000000,pose1_to_pose2_press,0.607251915803,5.4546822751e-05,1.04002909763,0.577822645771,0.00872727548869,1.03969839053
+178,2.966666667,pose1_to_pose2_press,0.607976160601,5.45220981116e-05,1.04002904496,0.578546891615,0.00872725426589,1.03969833667
+179,2.983333333,pose1_to_pose2_press,0.608674686712,5.45651946695e-05,1.04002910183,0.579245417692,0.00872729728885,1.03969839472
+180,3.000000000,pose1_to_pose2_press,0.609346567965,5.46702658639e-05,1.04002915922,0.579917296756,0.00872739493315,1.03969845222
+181,3.016666667,pose1_to_pose2_press,0.609997250765,5.46003117076e-05,1.04002913428,0.580567980536,0.00872732804467,1.0396984205
+182,3.033333333,pose1_to_pose2_press,0.6106325807,5.44359008606e-05,1.04002901748,0.581203312439,0.00872717024568,1.03969830216
+183,3.050000000,pose1_to_pose2_press,0.61125285174,5.44665599254e-05,1.04002899893,0.581823583563,0.00872720132007,1.0396982873
+184,3.066666667,pose1_to_pose2_press,0.611857459118,5.45176615064e-05,1.04002911159,0.582428190398,0.00872725068341,1.03969840231
+185,3.083333333,pose1_to_pose2_press,0.612440753395,5.45353437957e-05,1.04002909556,0.58301148392,0.00872726594199,1.03969838842
+186,3.100000000,pose1_to_pose2_press,0.612983515419,5.45111274204e-05,1.04002905807,0.583554246478,0.00872724348744,1.03969834654
+187,3.116666667,pose1_to_pose2_press,0.613490512903,5.45390533983e-05,1.04002919954,0.584061243977,0.00872727148897,1.03969848336
+188,3.133333333,pose1_to_pose2_press,0.613968417937,5.45770513203e-05,1.04002923279,0.584539147943,0.00872730641144,1.03969852405
+189,3.150000000,pose1_to_pose2_press,0.614427539548,5.45102378125e-05,1.04002902052,0.584998269708,0.0087272407765,1.03969832164
+190,3.166666667,pose1_to_pose2_press,0.614869730022,5.45162028222e-05,1.04002908066,0.585440460436,0.00872724785247,1.03969837953
+191,3.183333333,pose1_to_pose2_press,0.615293777534,5.46017944459e-05,1.04002938716,0.585864506677,0.00872732897104,1.03969867213
+192,3.200000000,pose1_to_pose2_press,0.615695676794,5.45453885663e-05,1.04002929921,0.586266407003,0.00872727617666,1.03969857705
+193,3.216666667,pose1_to_pose2_press,0.616064813071,5.44733695846e-05,1.04002918846,0.586635544513,0.00872720886409,1.03969847429
+194,3.233333333,pose1_to_pose2_press,0.616402585969,5.44940676816e-05,1.04002917508,0.586973316769,0.00872722779004,1.03969846413
+195,3.250000000,pose1_to_pose2_press,0.616708193344,5.44191256734e-05,1.04002909572,0.587278924037,0.00872715266612,1.03969838355
+196,3.266666667,pose1_to_pose2_press,0.616991582005,5.44553559948e-05,1.04002881493,0.587562312823,0.00872719006789,1.0396981152
+197,3.283333333,pose1_to_pose2_press,0.617255543489,5.46419919302e-05,1.04002915179,0.587826270641,0.00872736419392,1.0396984462
+198,3.300000000,pose1_to_pose2_press,0.617504446374,5.44634021137e-05,1.04002920721,0.588075177154,0.00872719762783,1.03969848782
+199,3.316666667,pose1_to_pose2_press,0.617738839632,5.45003999842e-05,1.04002923343,0.588309569614,0.00872723188837,1.03969850862
+200,3.333333333,pose1_to_pose2_press,0.617956959177,5.44538914817e-05,1.04002906164,0.588527690419,0.00872719042094,1.03969835137
+201,3.350000000,pose1_to_pose2_press,0.618157564448,5.46319223082e-05,1.04002937405,0.588728294406,0.00872736417103,1.03969866584
+202,3.366666667,pose1_to_pose2_press,0.618337527109,5.45824978193e-05,1.04002905042,0.588908257467,0.00872731660044,1.03969834842
+203,3.383333333,pose1_to_pose2_press,0.618497455335,5.45672324514e-05,1.04002913683,0.589068184696,0.00872729801197,1.03969843191
+204,3.400000000,pose1_to_pose2_press,0.618637933947,5.46896532373e-05,1.04002902118,0.589208661203,0.00872741365619,1.03969832263
+205,3.416666667,pose1_to_pose2_press,0.618760304388,5.45906329187e-05,1.04002911861,0.589331032416,0.00872731716702,1.03969841553
+206,3.433333333,pose1_to_pose2_press,0.618866640107,5.45515830013e-05,1.04002925415,0.589437360491,0.00872727695216,1.03969854879
+207,3.450000000,pose1_to_pose2_press,0.618958264464,5.47374248942e-05,1.04002929991,0.589528988444,0.0087274601987,1.03969858835
+208,3.466666667,pose1_to_pose2_press,0.619037932365,5.46734376889e-05,1.04002922557,0.589608659692,0.00872739726427,1.03969851299
+209,3.483333333,pose1_to_pose2_press,0.619105952015,5.45939233713e-05,1.04002919076,0.589676680888,0.00872732305305,1.03969847635
+210,3.500000000,pose1_to_pose2_press,0.61916369017,5.46393145049e-05,1.04002926098,0.589734418744,0.00872736786596,1.03969854563
+211,3.516666667,pose1_to_pose2_press,0.619211527163,5.4629810818e-05,1.04002922616,0.589782255555,0.00872735793321,1.03969851777
+212,3.533333333,pose1_to_pose2_press,0.61924992494,5.45716467357e-05,1.04002921047,0.589820654665,0.00872730421521,1.03969850341
+213,3.550000000,pose1_to_pose2_press,0.61928008779,5.44858752493e-05,1.04002915514,0.589850818512,0.00872722180734,1.03969844463
+214,3.566666667,pose1_to_pose2_press,0.619302574821,5.44082348209e-05,1.04002902611,0.589873305859,0.00872714504797,1.03969831611
+215,3.583333333,pose1_to_pose2_press,0.619319933473,5.45280483906e-05,1.04002933275,0.589890663477,0.00872726106881,1.03969861404
+216,3.600000000,pose1_to_pose2_press,0.619332641578,5.46239324103e-05,1.04002929294,0.589903369999,0.00872735197886,1.03969858295
+217,3.616666667,pose1_to_pose2_press,0.619341831615,5.45983585745e-05,1.04002918883,0.58991255953,0.00872732487596,1.03969848047
+218,3.633333333,pose1_to_pose2_press,0.619347817373,5.44865544422e-05,1.04002911642,0.589918547293,0.00872721960768,1.03969840194
+219,3.650000000,pose1_to_pose2_press,0.619351286719,5.44426971917e-05,1.04002914951,0.589922017654,0.00872717909384,1.03969843315
+220,3.666666667,pose1_to_pose2_press,0.619353114686,5.44911826909e-05,1.04002929192,0.589923844984,0.00872722561277,1.03969858012
+221,3.683333333,pose1_to_pose2_press,0.619353806722,5.45095384544e-05,1.04002934584,0.589924536779,0.00872724322402,1.03969863576
+222,3.700000000,pose1_to_pose2_press,0.619354530501,5.45287361579e-05,1.04002940222,0.589925260306,0.00872726164307,1.03969869396
+223,3.716666667,pose1_to_pose2_press,0.619355155532,5.45084045915e-05,1.04002933676,0.589925885172,0.00872724073995,1.03969862937
+224,3.733333333,pose1_to_pose2_press,0.61935571075,5.44867846011e-05,1.04002926759,0.589926440248,0.00872721862198,1.03969856092
+225,3.750000000,pose1_to_pose2_press,0.619356101134,5.44715831979e-05,1.04002921896,0.589926830532,0.00872720307044,1.03969851279
+226,3.766666667,pose1_to_pose2_press,0.619356217745,5.44670424136e-05,1.04002920444,0.589926947113,0.00872719842507,1.03969849841
+227,3.783333333,pose1_to_pose2_press,0.619356300702,5.44638121067e-05,1.0400291941,0.589927030049,0.00872719512035,1.03969848818
+228,3.800000000,pose1_to_pose2_press,0.619356465732,5.44573858832e-05,1.04002917354,0.589927195037,0.00872718854611,1.03969846783
+229,3.816666667,pose1_to_pose2_press,0.619356572176,5.44532410226e-05,1.04002916029,0.589927301453,0.00872718430578,1.03969845471
+230,3.833333333,pose1_to_pose2_press,0.619356648178,5.44626090547e-05,1.04002916078,0.589927377376,0.00872719338251,1.03969845468
+231,3.850000000,pose1_to_pose2_press,0.619356862144,5.4498850137e-05,1.04002917017,0.589927591066,0.00872722862486,1.03969846206
+232,3.866666667,pose1_to_pose2_press,0.619357069781,5.45340194205e-05,1.04002917928,0.589927798438,0.00872726282496,1.03969846922
+233,3.883333333,pose1_to_pose2_press,0.619357220052,5.45594719977e-05,1.04002918587,0.589927948515,0.00872728757612,1.0396984744
+234,3.900000000,pose1_to_pose2_press,0.619357421289,5.45935571862e-05,1.04002919469,0.589928149494,0.00872732072199,1.03969848134
+235,3.916666667,pose1_to_pose2_press,0.619357595325,5.46230350415e-05,1.04002920233,0.589928323307,0.0087273493875,1.03969848734
+236,3.933333333,pose1_to_pose2_press,0.619357650805,5.46324321745e-05,1.04002920476,0.589928378716,0.00872735852567,1.03969848926
+237,3.950000000,pose1_to_pose2_press,0.619357683976,5.46380504671e-05,1.04002920622,0.589928411843,0.00872736398914,1.0396984904
+238,3.966666667,pose1_to_pose2_press,0.619357693033,5.4639584542e-05,1.04002920661,0.589928420889,0.00872736548093,1.03969849071
+239,3.983333333,pose1_to_pose2_press,0.619357797181,5.46467433721e-05,1.04002921012,0.589928524984,0.00872737244021,1.03969849345
+240,4.000000000,pose1_to_pose2_press,0.619357901222,5.45788496533e-05,1.04002920597,0.589928629553,0.00872730639892,1.03969849007
+241,4.016666667,pose1_to_pose2_press,0.619358020811,5.44967665436e-05,1.04002919762,0.589928749834,0.00872722673437,1.03969848262
+242,4.033333333,pose1_to_pose2_press,0.619358016625,5.43606433999e-05,1.04002907445,0.589928748544,0.0087271004713,1.03969836028
+243,4.050000000,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.589928748549,0.0087271004697,1.03969836028
+244,4.066666667,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.589928748548,0.00872710046968,1.03969836028
+245,4.083333333,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.589928748549,0.00872710046957,1.03969836028
+246,4.100000000,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.589928748549,0.00872710046938,1.03969836028
+247,4.116666667,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.589928748549,0.00872710046945,1.03969836028
+248,4.133333333,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.589928748549,0.00872710046922,1.03969836028
+249,4.150000000,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.589928748549,0.00872710046898,1.03969836028
+250,4.166666667,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.58992874855,0.00872710046886,1.03969836028
+251,4.183333333,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.589928748549,0.00872710046888,1.03969836028
+252,4.200000000,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.58992874855,0.00872710046849,1.03969836028
+253,4.216666667,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.58992874855,0.00872710046873,1.03969836028
+254,4.233333333,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.58992874855,0.00872710046884,1.03969836028
+255,4.250000000,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.58992874855,0.00872710046843,1.03969836028
+256,4.266666667,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.58992874855,0.00872710046839,1.03969836028
+257,4.283333333,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.58992874855,0.00872710046833,1.03969836028
+258,4.300000000,pose2_hold,0.619358016625,5.43606433999e-05,1.04002907445,0.58992874855,0.008727100469,1.03969836028
+259,4.316666667,pose2_to_pose3_retreat,0.619358016625,5.43606433999e-05,1.04002907445,0.589928748551,0.00872710046872,1.03969836028
+260,4.333333333,pose2_to_pose3_retreat,0.61935798757,5.44914287664e-05,1.04002912736,0.58992871798,0.00872722620075,1.03969841559
+261,4.350000000,pose2_to_pose3_retreat,0.619357964861,5.45936473613e-05,1.04002916872,0.589928694088,0.00872732446979,1.03969845883
+262,4.366666667,pose2_to_pose3_retreat,0.619357891828,5.4594002293e-05,1.04002917579,0.589928620903,0.00872732431702,1.03969846622
+263,4.383333333,pose2_to_pose3_retreat,0.619357760167,5.4558522437e-05,1.04002917468,0.589928489369,0.00872728926317,1.03969846508
+264,4.400000000,pose2_to_pose3_retreat,0.619357187536,5.45105137363e-05,1.04002914372,0.589927917458,0.00872724391847,1.03969844009
+265,4.416666667,pose2_to_pose3_retreat,0.619356365983,5.44731284991e-05,1.04002909156,0.589927096987,0.0087272105956,1.03969839831
+266,4.433333333,pose2_to_pose3_retreat,0.619354487984,5.45555421415e-05,1.04002905457,0.58992521695,0.00872728574985,1.03969835132
+267,4.450000000,pose2_to_pose3_retreat,0.619349143639,5.45576223502e-05,1.04002913241,0.589919874525,0.0087272943796,1.03969842846
+268,4.466666667,pose2_to_pose3_retreat,0.619337221888,5.46030181209e-05,1.04002902059,0.589907949889,0.00872733006417,1.03969831718
+269,4.483333333,pose2_to_pose3_retreat,0.619316304981,5.45602320254e-05,1.04002923,0.589887033761,0.00872728931481,1.03969851592
+270,4.500000000,pose2_to_pose3_retreat,0.61928308362,5.45827755147e-05,1.04002943436,0.589853811217,0.00872730775028,1.03969871808
+271,4.516666667,pose2_to_pose3_retreat,0.619238033338,5.45938203215e-05,1.04002916665,0.589808760565,0.00872731828884,1.03969845749
+272,4.533333333,pose2_to_pose3_retreat,0.619181331773,5.45375469033e-05,1.04002916215,0.589752060659,0.00872726727509,1.03969845392
+273,4.550000000,pose2_to_pose3_retreat,0.61911516499,5.46532410659e-05,1.04002917491,0.589685892798,0.00872737902475,1.0396984633
+274,4.566666667,pose2_to_pose3_retreat,0.619039706386,5.45556851586e-05,1.04002918128,0.589610435605,0.00872728647983,1.03969846882
+275,4.583333333,pose2_to_pose3_retreat,0.618953605403,5.45309649361e-05,1.040029197,0.589524335006,0.00872726275535,1.03969848251
+276,4.600000000,pose2_to_pose3_retreat,0.618855599787,5.45552459726e-05,1.0400292492,0.589426329027,0.00872728550193,1.03969853694
+277,4.616666667,pose2_to_pose3_retreat,0.618741708457,5.45472627639e-05,1.04002927126,0.589312437597,0.00872727739869,1.03969856678
+278,4.633333333,pose2_to_pose3_retreat,0.61861178565,5.45388688528e-05,1.04002922272,0.58918251477,0.00872726885895,1.03969851823
+279,4.650000000,pose2_to_pose3_retreat,0.618463593262,5.45859532022e-05,1.04002918455,0.589034321963,0.00872731403727,1.03969847252
+280,4.666666667,pose2_to_pose3_retreat,0.618295401996,5.47211860803e-05,1.0400291778,0.588866129776,0.0087274460493,1.03969846753
+281,4.683333333,pose2_to_pose3_retreat,0.61810468458,5.4637247052e-05,1.0400291424,0.588675412866,0.00872736385488,1.03969843252
+282,4.700000000,pose2_to_pose3_retreat,0.617892855891,5.45355559328e-05,1.04002904027,0.588463585278,0.00872726544534,1.03969832671
+283,4.716666667,pose2_to_pose3_retreat,0.617659650017,5.44830094016e-05,1.04002895206,0.588230379591,0.00872721352282,1.03969824258
+284,4.733333333,pose2_to_pose3_retreat,0.617400355502,5.45127202651e-05,1.04002903352,0.587971085176,0.00872724365114,1.03969833308
+285,4.750000000,pose2_to_pose3_retreat,0.617119753879,5.46440509692e-05,1.04002918031,0.587690482132,0.00872736964449,1.03969847235
+286,4.766666667,pose2_to_pose3_retreat,0.616819320744,5.46686435785e-05,1.04002932299,0.587390048402,0.00872739139025,1.03969860018
+287,4.783333333,pose2_to_pose3_retreat,0.616497262087,5.45843833285e-05,1.04002903127,0.587067990822,0.00872731128335,1.03969832748
+288,4.800000000,pose2_to_pose3_retreat,0.61615307534,5.47373548689e-05,1.04002930316,0.586723803512,0.00872746171892,1.03969858847
+289,4.816666667,pose2_to_pose3_retreat,0.615786866736,5.46120597332e-05,1.04002921543,0.586357595699,0.00872733873867,1.03969849951
+290,4.833333333,pose2_to_pose3_retreat,0.615397033346,5.46087545255e-05,1.0400291049,0.585967761786,0.00872733336897,1.03969838711
+291,4.850000000,pose2_to_pose3_retreat,0.614976069796,5.44178082927e-05,1.04002917967,0.585546803293,0.00872715918769,1.03969845991
+292,4.866666667,pose2_to_pose3_retreat,0.614524726362,5.44449046452e-05,1.0400291713,0.585095457841,0.00872717953404,1.03969846165
+293,4.883333333,pose2_to_pose3_retreat,0.614040360218,5.44933161967e-05,1.04002909585,0.584611091032,0.00872722535412,1.03969838527
+294,4.900000000,pose2_to_pose3_retreat,0.613518748161,5.45129936881e-05,1.04002905096,0.584089479041,0.00872724500736,1.03969834088
+295,4.916666667,pose2_to_pose3_retreat,0.61296121636,5.45582964286e-05,1.04002892596,0.583531946722,0.00872728858159,1.03969822522
+296,4.933333333,pose2_to_pose3_retreat,0.612378766846,5.4637554509e-05,1.04002917088,0.582949495613,0.00872736204103,1.03969846234
+297,4.950000000,pose2_to_pose3_retreat,0.611774052847,5.46023339604e-05,1.04002919023,0.58234478298,0.00872733150288,1.03969848343
+298,4.966666667,pose2_to_pose3_retreat,0.611146999583,5.46023214435e-05,1.0400291466,0.581717728912,0.00872732884403,1.0396984418
+299,4.983333333,pose2_to_pose3_retreat,0.610499163698,5.45124188178e-05,1.04002899905,0.581069893449,0.00872724026819,1.03969829184
+300,5.000000000,pose2_to_pose3_retreat,0.609825985159,5.4553232019e-05,1.04002889147,0.580396715506,0.00872728335618,1.03969819115
+301,5.016666667,pose2_to_pose3_retreat,0.60912440549,5.44293923724e-05,1.04002906031,0.579695138011,0.0087271667193,1.03969835568
+302,5.033333333,pose2_to_pose3_retreat,0.608397717949,5.44442654545e-05,1.04002923888,0.578968449956,0.00872717980358,1.03969853174
+303,5.050000000,pose2_to_pose3_retreat,0.607653320629,5.45938493532e-05,1.04002919573,0.578224050158,0.00872732097431,1.0396984892
+304,5.066666667,pose2_to_pose3_retreat,0.606897517071,5.46567142395e-05,1.04002908362,0.577468246773,0.00872738442981,1.0396983756
+305,5.083333333,pose2_to_pose3_retreat,0.606131387746,5.44618074344e-05,1.04002905229,0.576702120659,0.00872720027339,1.03969834111
+306,5.100000000,pose2_to_pose3_retreat,0.605346507938,5.44605170343e-05,1.04002929462,0.575917240549,0.0087271978271,1.03969858032
+307,5.116666667,pose2_to_pose3_retreat,0.604539345468,5.46149384942e-05,1.04002917499,0.575110076303,0.00872734651617,1.03969846705
+308,5.133333333,pose2_to_pose3_retreat,0.603711743634,5.46094717321e-05,1.04002895747,0.574282473863,0.0087273390181,1.03969825114
+309,5.150000000,pose2_to_pose3_retreat,0.602867470017,5.45729478395e-05,1.04002918011,0.573438199582,0.00872729988676,1.03969846523
+310,5.166666667,pose2_to_pose3_retreat,0.602009584092,5.45677918089e-05,1.04002932423,0.57258031356,0.00872729432827,1.03969860601
+311,5.183333333,pose2_to_pose3_retreat,0.601156048728,5.45079855187e-05,1.0400292243,0.5717267792,0.00872723805877,1.03969851064
+312,5.200000000,pose2_to_pose3_retreat,0.600314600497,5.45385361091e-05,1.04002917736,0.570885330377,0.00872726665187,1.0396984656
+313,5.216666667,pose2_to_pose3_retreat,0.599474354902,5.45576609698e-05,1.04002900315,0.57004508445,0.008727284984,1.03969829975
+314,5.233333333,pose2_to_pose3_retreat,0.598633239116,5.45531295049e-05,1.04002903379,0.569203969049,0.00872728174183,1.03969832991
+315,5.250000000,pose2_to_pose3_retreat,0.597780220227,5.45755834023e-05,1.04002925341,0.56835095105,0.00872730691278,1.03969854038
+316,5.266666667,pose2_to_pose3_retreat,0.59691488984,5.45178557166e-05,1.04002909944,0.567485621447,0.00872725213348,1.03969839322
+317,5.283333333,pose2_to_pose3_retreat,0.596042573964,5.45978842676e-05,1.0400291227,0.566613304036,0.00872732708521,1.03969842044
+318,5.300000000,pose2_to_pose3_retreat,0.595165685568,5.46647334021e-05,1.04002933993,0.565736415708,0.00872739393957,1.03969863239
+319,5.316666667,pose2_to_pose3_retreat,0.59428563213,5.45785568955e-05,1.0400292265,0.56485636286,0.0087273097207,1.03969851826
+320,5.333333333,pose2_to_pose3_retreat,0.59342590911,5.46173737394e-05,1.04002917088,0.563996638463,0.00872734379193,1.0396984607
+321,5.350000000,pose2_to_pose3_retreat,0.592582818013,5.45908163204e-05,1.04002915066,0.563153547817,0.0087273189133,1.03969844429
+322,5.366666667,pose2_to_pose3_retreat,0.591755219607,5.45898749455e-05,1.04002903483,0.562325949888,0.00872731968305,1.03969833079
+323,5.383333333,pose2_to_pose3_retreat,0.590944095502,5.46343176245e-05,1.04002902188,0.561514825874,0.00872736439505,1.0396983158
+324,5.400000000,pose2_to_pose3_retreat,0.590148397354,5.45409366518e-05,1.04002911869,0.560719128015,0.00872727194546,1.03969841085
+325,5.416666667,pose2_to_pose3_retreat,0.589359265395,5.45145268859e-05,1.04002914725,0.55992999534,0.00872724295297,1.03969843672
+326,5.433333333,pose2_to_pose3_retreat,0.588575448533,5.45654091425e-05,1.04002912261,0.559146177874,0.0087272917373,1.03969841038
+327,5.450000000,pose2_to_pose3_retreat,0.587806016017,5.44611759597e-05,1.04002886933,0.558376746365,0.00872719092359,1.03969815638
+328,5.466666667,pose2_to_pose3_retreat,0.587054405206,5.4536545773e-05,1.04002902697,0.557625135748,0.0087272669899,1.03969831491
+329,5.483333333,pose2_to_pose3_retreat,0.58632355761,5.45843851876e-05,1.04002916898,0.556894287376,0.0087273122728,1.03969845869
+330,5.500000000,pose2_to_pose3_retreat,0.585617244998,5.45423142146e-05,1.04002916225,0.556187976005,0.00872727443531,1.03969845263
+331,5.516666667,pose2_to_pose3_retreat,0.584936235963,5.44667324478e-05,1.04002919831,0.555506967575,0.00872720091904,1.03969848952
+332,5.533333333,pose2_to_pose3_retreat,0.584280091321,5.45900369492e-05,1.0400292681,0.554850820913,0.00872731719896,1.03969855569
+333,5.550000000,pose2_to_pose3_retreat,0.583651125009,5.46690821952e-05,1.04002928519,0.554221854888,0.00872739696585,1.03969856519
+334,5.566666667,pose2_to_pose3_retreat,0.583052263323,5.45961836343e-05,1.04002941085,0.55362299389,0.00872732626442,1.0396986873
+335,5.583333333,pose2_to_pose3_retreat,0.582477658841,5.45772174199e-05,1.04002917797,0.553048390507,0.00872731149775,1.0396984674
+336,5.600000000,pose2_to_pose3_retreat,0.581923224503,5.45404885787e-05,1.04002921072,0.552493955258,0.00872727155602,1.03969849684
+337,5.616666667,pose2_to_pose3_retreat,0.581380329518,5.44938075864e-05,1.04002922743,0.551951060065,0.00872722426029,1.03969851595
+338,5.633333333,pose2_to_pose3_retreat,0.580850567277,5.44842381873e-05,1.04002902453,0.551421297524,0.0087272133987,1.03969830585
+339,5.650000000,pose2_to_pose3_retreat,0.580349591832,5.47737935308e-05,1.04002914091,0.550920319718,0.00872749530163,1.03969843155
+340,5.666666667,pose2_to_pose3_retreat,0.579882552717,5.44437599466e-05,1.04002909561,0.550453284697,0.00872717910101,1.0396983841
+341,5.683333333,pose2_to_pose3_retreat,0.579459468186,5.4468409487e-05,1.04002916954,0.550030199668,0.00872720208506,1.03969845889
+342,5.700000000,pose2_to_pose3_retreat,0.579073681222,5.45716518221e-05,1.04002920655,0.549644411394,0.00872730076388,1.03969849285
+343,5.716666667,pose2_to_pose3_retreat,0.578723358557,5.45679350361e-05,1.04002930745,0.549294086691,0.0087272898923,1.03969858759
+344,5.733333333,pose2_to_pose3_retreat,0.578390536588,5.45208339832e-05,1.04002916922,0.548961265393,0.00872724534195,1.03969845664
+345,5.750000000,pose2_to_pose3_retreat,0.57807322692,5.45361692059e-05,1.04002912365,0.548643956754,0.00872726449745,1.03969841977
+346,5.766666667,pose2_to_pose3_retreat,0.577772077406,5.45548114209e-05,1.04002889166,0.548342809891,0.00872729230254,1.0396981923
+347,5.783333333,pose2_to_pose3_retreat,0.577488301813,5.4599042217e-05,1.04002931972,0.548059031032,0.0087273247227,1.03969860107
+348,5.800000000,pose2_to_pose3_retreat,0.577225086379,5.45299080513e-05,1.04002918039,0.547795817897,0.00872726365969,1.03969846889
+349,5.816666667,pose2_to_pose3_retreat,0.576989416027,5.44413712562e-05,1.04002923371,0.547560148164,0.00872717712871,1.03969851985
+350,5.833333333,pose2_to_pose3_retreat,0.576783622278,5.45870506611e-05,1.04002931794,0.547354352273,0.00872731565057,1.03969860671
+351,5.850000000,pose2_to_pose3_retreat,0.576606431157,5.46139979409e-05,1.04002891985,0.547177159494,0.0087273373748,1.03969821931
+352,5.866666667,pose2_to_pose3_retreat,0.576455291547,5.46507537449e-05,1.04002906911,0.547026020187,0.00872737470859,1.0396983568
+353,5.883333333,pose2_to_pose3_retreat,0.576327134529,5.45873434993e-05,1.04002903484,0.546897863854,0.008727313858,1.03969832877
+354,5.900000000,pose2_to_pose3_retreat,0.576216046427,5.45999785836e-05,1.04002906182,0.546786775334,0.00872732484468,1.03969834969
+355,5.916666667,pose2_to_pose3_retreat,0.576119879765,5.45134236146e-05,1.04002901813,0.546690611327,0.00872724753744,1.03969831536
+356,5.933333333,pose2_to_pose3_retreat,0.57603435667,5.45568964716e-05,1.04002924772,0.546605086166,0.00872728386449,1.03969853962
+357,5.950000000,pose2_to_pose3_retreat,0.575959348665,5.44517889504e-05,1.04002894116,0.546530080024,0.00872718539486,1.03969824091
+358,5.966666667,pose2_to_pose3_retreat,0.575897866509,5.45180945848e-05,1.04002921884,0.546468597921,0.0087272516253,1.03969851179
+359,5.983333333,pose2_to_pose3_retreat,0.575848285163,5.45467891179e-05,1.0400290773,0.546419016588,0.00872728043302,1.03969837214
+360,6.000000000,pose2_to_pose3_retreat,0.575810397912,5.45911526894e-05,1.04002912422,0.546381128092,0.0087273205818,1.03969841936
+361,6.016666667,pose2_to_pose3_retreat,0.575781564003,5.45789385616e-05,1.04002917104,0.546352294141,0.0087273080517,1.03969846172
+362,6.033333333,pose2_to_pose3_retreat,0.57576087164,5.45332636789e-05,1.04002911489,0.546331601891,0.00872726276751,1.03969840595
+363,6.050000000,pose2_to_pose3_retreat,0.57574462792,5.45247088099e-05,1.04002900198,0.546315357864,0.00872725332734,1.03969829715
+364,6.066666667,pose2_to_pose3_retreat,0.57573248883,5.46104260763e-05,1.04002892308,0.546303218422,0.00872733792984,1.03969821996
+365,6.083333333,pose2_to_pose3_retreat,0.575724126896,5.46649590082e-05,1.04002928968,0.54629485752,0.00872739610269,1.03969859011
+366,6.100000000,pose2_to_pose3_retreat,0.57571865362,5.46092172465e-05,1.04002942964,0.546289383562,0.00872733746797,1.03969871467
+367,6.116666667,pose2_to_pose3_retreat,0.575715702617,5.45708109058e-05,1.04002946971,0.546286431863,0.00872729630418,1.03969874431
+368,6.133333333,pose2_to_pose3_retreat,0.575714241528,5.46230606411e-05,1.04002940347,0.546284970204,0.00872734683103,1.03969868356
+369,6.150000000,pose2_to_pose3_retreat,0.575713683349,5.46430215442e-05,1.04002937817,0.546284411808,0.00872736613375,1.03969866035
+370,6.166666667,pose2_to_pose3_retreat,0.575713361783,5.46545209853e-05,1.04002936359,0.546284090118,0.00872737725401,1.03969864698
+371,6.183333333,pose2_to_pose3_retreat,0.575713082403,5.466451187e-05,1.04002935092,0.546283810628,0.00872738691545,1.03969863536
+372,6.200000000,pose2_to_pose3_retreat,0.5757125791,5.46825103649e-05,1.04002932811,0.546283307129,0.00872740432047,1.03969861443
+373,6.216666667,pose2_to_pose3_retreat,0.575712338815,5.4691103142e-05,1.04002931721,0.546283066751,0.00872741262991,1.03969860444
+374,6.233333333,pose2_to_pose3_retreat,0.575712090397,5.46945196915e-05,1.04002930631,0.546282818338,0.00872741608352,1.03969859404
+375,6.250000000,pose2_to_pose3_retreat,0.575712058938,5.46918274227e-05,1.04002930514,0.546282786938,0.00872741358457,1.03969859268
+376,6.266666667,pose2_to_pose3_retreat,0.575711756975,5.46659854128e-05,1.04002929389,0.546282485543,0.00872738959813,1.0396985796
+377,6.283333333,pose2_to_pose3_retreat,0.575711652796,5.46570696935e-05,1.04002929001,0.546282381559,0.0087273813226,1.03969857509
+378,6.300000000,pose2_to_pose3_retreat,0.575711605059,5.46529843549e-05,1.04002928823,0.546282333912,0.00872737753061,1.03969857302
+379,6.316666667,pose2_to_pose3_retreat,0.575711482006,5.46424535263e-05,1.04002928365,0.546282211091,0.00872736775594,1.03969856769
+380,6.333333333,pose2_to_pose3_retreat,0.575711439356,5.46388034937e-05,1.04002928206,0.54628216852,0.008727364368,1.03969856584
+381,6.350000000,pose2_to_pose3_retreat,0.575711395469,5.46350476052e-05,1.04002928042,0.546282124715,0.0087273608818,1.03969856394
+382,6.366666667,pose2_to_pose3_retreat,0.575711232153,5.46210710557e-05,1.04002927434,0.546281961707,0.00872734790883,1.03969855687
+383,6.383333333,pose2_to_pose3_retreat,0.575711011081,5.46021516189e-05,1.0400292661,0.54628174105,0.00872733034789,1.0396985473
+384,6.400000000,pose2_to_pose3_retreat,0.575710854479,5.45887496211e-05,1.04002926027,0.546281584742,0.00872731790822,1.03969854052
+385,6.416666667,pose2_to_pose3_retreat,0.575710802766,5.45843240277e-05,1.04002925834,0.546281533126,0.0087273138004,1.03969853828
+386,6.433333333,pose2_to_pose3_retreat,0.57571052646,5.45606776939e-05,1.04002924805,0.546281257339,0.00872729185198,1.03969852631
+387,6.450000000,pose2_to_pose3_retreat,0.575710313004,5.45424537496e-05,1.04002924002,0.546281044282,0.00872727493039,1.03969851702
+388,6.466666667,pose2_to_pose3_retreat,0.57571020949,5.45380014939e-05,1.0400292291,0.546280940653,0.00872727017059,1.03969850823
+389,6.483333333,pose2_to_pose3_retreat,0.575710063009,5.45317011747e-05,1.04002921364,0.54628079401,0.00872726343507,1.03969849577
+390,6.500000000,pose2_to_pose3_retreat,0.57570982254,5.45213583125e-05,1.04002918825,0.546280553275,0.00872725237776,1.03969847533
+391,6.516666667,pose2_to_pose3_retreat,0.575709725555,5.45171868903e-05,1.04002917801,0.546280456183,0.00872724791819,1.03969846709
+392,6.533333333,pose2_to_pose3_retreat,0.575709584444,5.45111175406e-05,1.04002916312,0.546280314916,0.00872724142959,1.03969845509
+393,6.550000000,pose2_to_pose3_retreat,0.575709409993,5.45189557345e-05,1.04002916228,0.546280140304,0.00872724874724,1.03969845484
+394,6.566666667,pose2_to_pose3_retreat,0.575709362378,5.45357179696e-05,1.04002917881,0.546280092678,0.00872726536525,1.03969846866
+395,6.583333333,pose2_to_pose3_retreat,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502785,1.03969833366
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38a4b77f085963bbf35986e3853b0f2457908a21
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5237bf1b3cc73a79065c6fe52e9ff9a171bb40b7e2a54987a17ff3b0e916ad5c
+size 25267227
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5c32c10ab96caa6650793e693da9598e3cda524f
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/franka_data.csv
@@ -0,0 +1,399 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,763,742,711,671,663,633,875,783,799,650,629,651,0.400975195598,-0.0054221415346,0.0498511623446,0.999999952776,0.000154823085035,-0.000261472448185,-4.5925824156e-05,1793192704349880576
+1,0.016666667,BASELINE,763.573743839,742,711.573743839,671,663.573743839,632.426256161,875,783,799.573743839,650,628.426256161,651,0.400973299724,-0.00542196926872,0.0498501140847,0.999999952308,0.000155382580175,-0.000262903942372,-4.60728700281e-05,1793192704366546688
+2,0.033333333,BASELINE,763.848075921,742,712,671,664,632.151924079,875,783,800,649.848075921,628,651,0.400972488467,-0.00542191659947,0.0498497493187,0.999999952128,0.000155885239482,-0.000263268691416,-4.61963683029e-05,1793192704383213056
+3,0.050000000,BASELINE,763.257073843,742,712,671,664,632.742926157,875,783,800,649.257073843,628,651,0.400974811874,-0.00542220957812,0.0498513599286,0.999999952784,0.000156223636849,-0.000260550425064,-4.62518113576e-05,1793192704399879680
+4,0.066666667,BASELINE,763.328167044,742,711.671832956,671,663.671832956,633,875.328167044,783,800,649,628.328167044,650.671832956,0.400975611801,-0.00542153769188,0.0498521549214,0.999999952867,0.000157587848316,-0.00025938135653,-4.64109703515e-05,1793192704416546304
+5,0.083333333,BASELINE,763.908972656,742,711.091027344,671,663.091027344,633,875.908972656,783,800,649,628.908972656,650.091027344,0.400975238879,-0.00542012300681,0.0498523220133,0.999999952508,0.000159741780154,-0.000259404934178,-4.66499747955e-05,1793192704433212672
+6,0.100000000,BASELINE,763.515262577,742,711,671,663,632.515262577,875.515262577,783,799.515262577,649,628.515262577,650.484737423,0.400973795178,-0.00541951721456,0.0498512415802,0.999999952016,0.000159932822666,-0.000261211449073,-4.64615787832e-05,1793192704449879040
+7,0.116666667,BASELINE,763.060764613,742,711,671,663.060764613,632.060764613,875,783,799,649,628,650.939235387,0.400972329976,-0.00541937468972,0.0498500694483,0.999999951588,0.000159559628942,-0.000263118182273,-4.61938786971e-05,1793192704466545664
+8,0.133333333,BASELINE,763.647166096,742,711,671,663.647166096,632.647166096,875,783,799,649,628,650.352833904,0.400972400278,-0.0054219391388,0.0498501097444,0.999999951957,0.000157461333363,-0.000263025397502,-4.59273039519e-05,1793192704483212800
+9,0.150000000,BASELINE,763.769394588,742,711,671,664,633,875,783,799,649.230605412,628,650.230605412,0.400972750076,-0.00542327316194,0.0498501475065,0.999999952242,0.000156446951107,-0.00026256380573,-4.58299873223e-05,1793192704499879680
+10,0.166666667,BASELINE,763.190430057,742,711,671,664,633,875,783,799,649.809569943,628,650.809569943,0.400973522089,-0.00542274846832,0.0498501814407,0.999999952404,0.000157069959451,-0.00026154508358,-4.59883568583e-05,1793192704516545792
+11,0.183333333,BASELINE,763.388646455,742,711,671,664,633,875,783,799,649.611353545,628.388646455,650.611353545,0.40097420535,-0.00542198359319,0.0498505743555,0.999999952518,0.000157496777879,-0.000260834093329,-4.60844143985e-05,1793192704533212160
+12,0.200000000,BASELINE,763.967777903,742,711,671,664,633,875,783,799,649.032222097,628.967777903,650.032222097,0.400974845113,-0.00542110099927,0.0498511432154,0.999999952609,0.000157827438958,-0.000260273929806,-4.61499313422e-05,1793192704549878528
+13,0.216666667,BASELINE,764,742,711,671,663.457576658,633,875,783.542423342,799.542423342,649.542423342,628.457576658,650.542423342,0.40097403108,-0.00542153933816,0.0498513740443,0.999999952578,0.000157162550205,-0.000260811366729,-4.60643093402e-05,1793192704566545920
+14,0.233333333,BASELINE,764,742,711,671.119536584,663.119536584,633,875,784,800,649.880463416,628.119536584,651,0.400973627491,-0.00542193649538,0.0498515524483,0.999999952589,0.000156623964655,-0.000261097158601,-4.60385007934e-05,1793192704583212800
+15,0.250000000,BASELINE,764,742,711,671.707352901,663.707352901,633,875,784,800,649.292647099,628.707352901,651,0.400975167342,-0.00542186744886,0.0498516034988,0.999999952797,0.000156809943277,-0.000260143810976,-4.62818924546e-05,1793192704599879168
+16,0.266666667,BASELINE,764,742,711,671.709173122,663.709173122,633,875,783.709173122,799.709173122,649.290826878,628.709173122,651,0.400974662461,-0.0054225437676,0.0498509405818,0.999999952737,0.000155716269191,-0.000261055257869,-4.61450083478e-05,1793192704616545280
+17,0.283333333,BASELINE,764,742,711,671.130004417,663.130004417,633,875,783.130004417,799.130004417,649.869995583,628.130004417,651,0.40097213032,-0.00542395908262,0.049849569798,0.999999952401,0.000153353876732,-0.000263815565081,-4.56310978295e-05,1793192704633211904
+18,0.300000000,BASELINE,764,742,711,671,663.446717556,633,875.446717556,783.446717556,799,649.553282444,628,651,0.400972283365,-0.00542428246099,0.0498500031118,0.999999952482,0.000154692405331,-0.000262724764373,-4.56219260695e-05,1793192704649878784
+19,0.316666667,BASELINE,764,742.022671144,711,671,664,633,875.977328856,784,799.022671144,649,628.022671144,651,0.400973202121,-0.00542426672213,0.0498509448675,0.99999995268,0.000156950038024,-0.000260601597186,-4.57595597358e-05,1793192704666545408
+20,0.333333333,BASELINE,764,742.597159358,711,671,664,633,875.402840642,784,799.597159358,649,628.597159358,651,0.400973841482,-0.00542368942894,0.0498515524536,0.99999995293,0.000155506119062,-0.000260481219027,-4.59146147035e-05,1793192704683212544
+21,0.350000000,BASELINE,763.823565822,743,711,671,663.823565822,633,875,783.823565822,799.823565822,649,628.823565822,651,0.400974331607,-0.00542286570307,0.049851847683,0.999999952966,0.000155147840012,-0.000260538421017,-4.60084169896e-05,1793192704699879680
+22,0.366666667,BASELINE,763.233057371,743,711,671,663.233057371,633,875,783.233057371,799.233057371,649,628.233057371,651,0.400974471488,-0.00542146362321,0.0498514098405,0.999999952503,0.000157337455009,-0.000261012386784,-4.59584650232e-05,1793192704716546304
+23,0.383333333,BASELINE,763.35221515,743,711,671,663,633,875,783,799.35221515,649.35221515,628.35221515,651,0.40097389354,-0.00542210738959,0.0498512928224,0.999999952773,0.000155525519324,-0.000261083094943,-4.5846399474e-05,1793192704733212928
+24,0.400000000,BASELINE,763.934073914,743,711,671,663,633,875,783,799.934073914,649.934073914,628.934073914,651,0.40097284757,-0.00542408504373,0.0498513849811,0.999999953508,0.000151104580358,-0.000260890879944,-4.56938359807e-05,1793192704749879296
+25,0.416666667,BASELINE,764,742.491919398,711,671,663.508080602,633,875,783,799.491919398,649.491919398,629,651,0.40097379624,-0.00542346725596,0.0498519130456,0.999999953427,0.000153758984236,-0.000259637304047,-4.57443187011e-05,1793192704766545920
+26,0.433333333,BASELINE,763.919182881,742,711,671,663.919182881,633,875.080817119,783,799,649.080817119,628.919182881,650.919182881,0.400974761565,-0.00542285444728,0.0498523226625,0.999999953259,0.00015651764852,-0.000258626343823,-4.57898890878e-05,1793192704783212288
+27,0.450000000,BASELINE,763.348064921,742,711,671,663.348064921,633,875.651935079,783,799,649.651935079,628.348064921,650.348064921,0.400974281656,-0.00542428387704,0.0498516757606,0.999999953258,0.000154423911633,-0.000259910067891,-4.56482524263e-05,1793192704799878656
+28,0.466666667,BASELINE,763.233796784,742,711,671,663,633,876,783,799.233796784,649.766203216,628,650.233796784,0.400973936742,-0.00542463773402,0.0498512564377,0.999999953168,0.000153404893142,-0.000260854389468,-4.5672966607e-05,1793192704816545536
+29,0.483333333,BASELINE,763.832423618,742,711,671,663,633,876,783,799.832423618,649.167576382,628,650.832423618,0.400973802485,-0.00542331320481,0.0498511922424,0.999999952946,0.000154062927637,-0.000261269087659,-4.59572642899e-05,1793192704833212416
+30,0.500000000,BASELINE,764,742,711,671,663,632.584622574,876,783,800,649.415377426,628.415377426,651,0.400973509884,-0.00542303757663,0.0498511034915,0.999999952914,0.00015456148921,-0.000261086788174,-4.59970635738e-05,1793192704849879040
+31,0.516666667,BASELINE,764,742,711,671,663,632.007761868,876,783,800,649.992238132,628.992238132,651,0.400973155724,-0.00542316972216,0.0498510051942,0.999999952957,0.000154998053633,-0.000260672398207,-4.59418109759e-05,1793192704866545920
+32,0.533333333,BASELINE,763.434191159,742,711,671,663.565808841,632.565808841,876,783.565808841,800,650,629,651,0.400973282131,-0.00542317178711,0.0498512404281,0.999999952667,0.000156367493187,-0.00026098938238,-4.58204486838e-05,1793192704883212544
+33,0.550000000,BASELINE,763.143562193,742,711,670.856437807,664,633,875.856437807,784,799.712875614,650,629,651,0.400973629918,-0.00542294619245,0.0498515170202,0.999999952448,0.000157657755098,-0.000261060351162,-4.57680083226e-05,1793192704899879168
+34,0.566666667,BASELINE,763.734489108,742,711,670.265510892,664,633,875.265510892,784,798.531021783,650,629,651,0.400974647144,-0.00542201669941,0.0498519083164,0.999999952472,0.000158661637237,-0.000260333609002,-4.59331504247e-05,1793192704916545792
+35,0.583333333,BASELINE,764,742.31885743,711,670.31885743,664,632.68114257,875,784,798.63771486,649.68114257,629,651,0.400975181297,-0.00542180145934,0.0498520994817,0.999999952641,0.000159066010164,-0.000259424035572,-4.59862746253e-05,1793192704933212416
+36,0.600000000,BASELINE,764,742.897874579,711,670.897874579,664,632.102125421,875,784,799.795749157,649.102125421,629,651,0.400975321305,-0.00542216898699,0.0498521273578,0.999999952931,0.000158981236222,-0.000258365287769,-4.59480020532e-05,1793192704949878784
+37,0.616666667,BASELINE,763.525764999,743,711,671,663.525764999,632.474235001,875.474235001,783.525764999,800,649.474235001,628.525764999,650.525764999,0.400975022715,-0.00542245724523,0.0498525516837,0.999999953147,0.000157687610304,-0.000258362090812,-4.57199873146e-05,1793192704966545408
+38,0.633333333,BASELINE,763,742.9490889,711,671,663,633,875.9490889,783.0509111,799.9490889,649.9490889,628.0509111,650,0.400974633335,-0.00542269857738,0.0498529266002,0.999999953292,0.000156310600033,-0.000258671241821,-4.55156601455e-05,1793192704983212032
+39,0.650000000,BASELINE,763,742.36311539,711,671,663,633,875.36311539,783.63688461,799.36311539,649.36311539,628.63688461,650,0.400974276897,-0.00542262513565,0.0498518899705,0.999999952882,0.000156777931459,-0.000259887423868,-4.59873242892e-05,1793192704999878912
+40,0.666666667,BASELINE,763.220338237,742,711,671,663.220338237,632.779661763,875,784,799,649,629,650.220338237,0.400974128862,-0.00542234170603,0.0498513832312,0.999999952644,0.000157142289339,-0.000260541316219,-4.62274384977e-05,1793192705016545792
+41,0.683333333,BASELINE,763.79968604,742,711,671,663.79968604,632.20031396,875,784,799,649,629,650.79968604,0.40097432039,-0.00542171613126,0.0498517398721,0.999999952687,0.000157338866566,-0.000260279038057,-4.6090275258e-05,1793192705033212672
+42,0.700000000,BASELINE,764,742,711.377962409,671,664,632.377962409,875,783.622037591,799.377962409,649,629,650.622037591,0.400974364661,-0.00542256060223,0.0498514636204,0.999999952772,0.000157447037025,-0.00025991828259,-4.59212141484e-05,1793192705049878784
+43,0.716666667,BASELINE,764,742,711.955672523,671,664,632.955672523,875,783.044327477,799.955672523,649,629,650.044327477,0.400974331109,-0.00542418197127,0.0498508528939,0.999999952878,0.000157508485771,-0.000259505483292,-4.5735295477e-05,1793192705066545408
+44,0.733333333,BASELINE,764,742.531273037,711.468726963,671,663.468726963,633,875.531273037,783,799.468726963,649,629,650.531273037,0.400974487201,-0.00542318057026,0.0498516774051,0.99999995308,0.00015721159441,-0.000258876518987,-4.58973674213e-05,1793192705083212032
+45,0.750000000,BASELINE,763.890919435,742.890919435,711,671,663.109080565,633,875.890919435,783,799.109080565,649,629,651,0.400974847646,-0.00542238642322,0.0498525532296,0.999999953332,0.000156716032483,-0.000258184476919,-4.60019248449e-05,1793192705099878912
+46,0.766666667,BASELINE,763.302646438,742.302646438,711,671,663.697353562,633,875.302646438,783,799.697353562,649,629,651,0.400976036577,-0.00542346028605,0.0498531304873,0.999999953768,0.000155478533525,-0.000257294252652,-4.57267731809e-05,1793192705116545536
+47,0.783333333,BASELINE,763,742.281162434,711,671,664,632.718837566,875,783,800.281162434,649,629,651,0.400976109982,-0.00542363528839,0.0498530328567,0.999999953777,0.000155003657596,-0.000257537460211,-4.57531192236e-05,1793192705133212416
+48,0.800000000,BASELINE,763,742.860241243,711,671,664,632.139758757,875,783,800.860241243,649,629,651,0.400975001388,-0.00542285786897,0.0498522201228,0.999999953337,0.000155336847818,-0.000258981638563,-4.60989286222e-05,1793192705149879808
+49,0.816666667,BASELINE,763.437855162,742.562144838,711,671,664,632.437855162,875,783,800.124289675,649,628.562144838,651,0.400974444896,-0.00542334444034,0.0498521046011,0.999999953264,0.000155521694119,-0.000259162409069,-4.6039902071e-05,1793192705166546432
+50,0.833333333,BASELINE,764,742,711.014867825,671,664,633,875,783.014867825,799,649,628.014867825,651,0.400974063434,-0.0054241782913,0.0498522034491,0.999999953304,0.000155660649438,-0.000258956740808,-4.58617682304e-05,1793192705183212800
+51,0.850000000,BASELINE,764,742,711.586814625,671,664,633,875,783.586814625,799,649,628.586814625,651,0.400973659184,-0.00542295781956,0.0498520238616,0.999999953169,0.000155848350026,-0.000259331202403,-4.604637678e-05,1793192705199879168
+52,0.866666667,BASELINE,763.836174852,742.163825148,711.836174852,671,664,632.836174852,875,783.836174852,799.163825148,649,628.836174852,651,0.400973311718,-0.00542238971022,0.0498517942688,0.999999953084,0.00015577782668,-0.000259673079149,-4.62137191967e-05,1793192705216545536
+53,0.883333333,BASELINE,763.245985743,742.754014257,711.245985743,671,664,632.245985743,875,783.245985743,799.754014257,649,628.245985743,651,0.400973112036,-0.00542351941002,0.0498514345346,0.999999953127,0.000155035261325,-0.000259930152009,-4.63361255415e-05,1793192705233212160
+54,0.900000000,BASELINE,763,742.662157686,711,671,663.662157686,632,875,783,799.662157686,649,628,651,0.400973919759,-0.00542355593678,0.0498518277544,0.999999953271,0.000155523129721,-0.000259114159968,-4.61635731709e-05,1793192705249879040
+55,0.916666667,BASELINE,763,742.082875593,711,671,663.082875593,632,875,783,799.082875593,649,628,651,0.400975447427,-0.00542281122488,0.0498527590746,0.999999953484,0.000156890330423,-0.000257531299644,-4.57802278786e-05,1793192705266545664
+56,0.933333333,BASELINE,763.492763206,742,711,671,663.492763206,632,875,783,799,649,628.492763206,651,0.400974647248,-0.00542231640455,0.0498524555593,0.999999953294,0.000157199284692,-0.000258049225359,-4.59531393962e-05,1793192705283212288
+57,0.950000000,BASELINE,764,742.069596384,711,671.069596384,663.930403616,632.069596384,875,783.069596384,799.069596384,649.069596384,629,651,0.400973763039,-0.00542200234563,0.0498520761507,0.9999999531,0.000157354291774,-0.000258665731532,-4.61600580073e-05,1793192705299878912
+58,0.966666667,BASELINE,764,742.659916638,711,671.659916638,663.340083362,632.659916638,875,783.659916638,799.659916638,649.659916638,629,651,0.400975157919,-0.00542272860474,0.049852671383,0.999999953388,0.000157679352276,-0.00025739565235,-4.59265785195e-05,1793192705316545536
+59,0.983333333,BASELINE,763.754729799,743,711,671.754729799,663.245270201,633,875,783.754729799,800,650,628.754729799,651,0.400975865981,-0.00542295144043,0.0498531112793,0.999999953524,0.000157524721152,-0.000256983411365,-4.57900635369e-05,1793192705333212160
+60,1.000000000,BASELINE,763.176126113,743,711,671.176126113,663.823873887,633,875,783.176126113,800,650,628.176126113,651,0.400975640628,-0.00542249010062,0.0498533400669,0.999999953457,0.000156718167094,-0.00025773701176,-4.5785327743e-05,1793192705349878784
+61,1.016666667,BASELINE,763.399111509,742.600888491,711,671,664,633,875,783.399111509,799.600888491,650,628,651,0.400975437233,-0.00542192215161,0.0498531596146,0.999999953352,0.000157002462417,-0.000257928702988,-4.60322721311e-05,1793192705366545664
+62,1.033333333,BASELINE,763.972876093,742.027123907,711,671,664,633,875,783.972876093,799.027123907,650,628,651,0.400975243447,-0.00542130754992,0.0498528000769,0.99999995323,0.000157764118607,-0.000257874500074,-4.63893529508e-05,1793192705383212544
+63,1.050000000,BASELINE,764,742,711,671,664,633,875,783.449677319,799,650,628.550322681,651,0.400974220983,-0.00542377280728,0.0498523340616,0.999999953356,0.000156343220596,-0.000258359096788,-4.57653559679e-05,1793192705399878912
+64,1.066666667,BASELINE,764,742,711,671,663.869109607,632.869109607,875.130890393,783,799,650,629,651,0.400973511385,-0.00542531256367,0.0498520112979,0.999999953442,0.000155350554501,-0.000258695511035,-4.53674687638e-05,1793192705416545536
+65,1.083333333,BASELINE,764,742,711,671,663.278215054,632.278215054,875.721784946,783,799,650,629,651,0.400974045838,-0.00542306264314,0.0498522105485,0.999999953349,0.000156243476897,-0.000258417191924,-4.5935310265e-05,1793192705433212160
+66,1.100000000,BASELINE,764,742.306673242,711,671.306673242,663.306673242,632.306673242,876.306673242,783,799,650,628.693326758,650.693326758,0.400973271398,-0.00542284604232,0.0498515686762,0.999999953156,0.000155729262946,-0.000259443490262,-4.60964036146e-05,1793192705449878784
+67,1.116666667,BASELINE,764,742.886217276,711,671.886217276,663.886217276,632.886217276,876.886217276,783,799,650,628.113782724,650.113782724,0.400971332336,-0.0054244386427,0.0498501783922,0.999999952869,0.000153963011414,-0.000261630607191,-4.58955817901e-05,1793192705466545408
+68,1.133333333,BASELINE,764,742.538090062,711,671.538090062,664,633,876.076180124,783,799,650,628.461909938,650.461909938,0.400971336898,-0.00542431575452,0.0498507998111,0.999999953022,0.000153710561049,-0.000261185271022,-4.59415124844e-05,1793192705483212032
+69,1.150000000,BASELINE,764,742,711,671,663.962529056,633,875.037470944,783,799,649.962529056,629,651,0.400971896777,-0.0054237533822,0.0498518508817,0.999999953267,0.000153971311889,-0.000260074995694,-4.60459869677e-05,1793192705499878656
+70,1.166666667,BASELINE,764,742,711,671,663.375091759,633,875.624908241,783,799,649.375091759,629,651,0.400973638167,-0.00542289158979,0.0498519949706,0.999999953267,0.000156336596827,-0.000258644077538,-4.61249761372e-05,1793192705516545280
+71,1.183333333,BASELINE,763.790527374,742,711,671,663,633,875.790527374,783,799,649,629,651,0.400974829338,-0.00542239511677,0.0498524461958,0.99999995331,0.000157898539025,-0.00025752917742,-4.61123642057e-05,1793192705533212160
+72,1.200000000,BASELINE,763.211037665,742,711,671,663,633,875.211037665,783,799,649,629,651,0.400975048592,-0.00542254395187,0.049853439953,0.999999953439,0.000158041439222,-0.000256972498322,-4.59379460759e-05,1793192705549878784
+73,1.216666667,BASELINE,763.367181936,742,711,671,663.367181936,633,875,783.367181936,799,649,628.632818064,651,0.400974350729,-0.00542283458216,0.0498527033935,0.999999953324,0.0001568740224,-0.000258131333979,-4.59409751895e-05,1793192705566545408
+74,1.233333333,BASELINE,763.944674026,742,711,671,663.944674026,633,875,783.944674026,799,649,628.055325974,651,0.400973127571,-0.00542320642823,0.0498509757634,0.999999953063,0.000154956097585,-0.000260272762048,-4.60456404599e-05,1793192705583212032
+75,1.250000000,BASELINE,763.480960593,742,711.519039407,671,664,633,875,783.480960593,799.519039407,649,628.519039407,651,0.400973435448,-0.00542436864034,0.0498516593965,0.999999953363,0.000154370530364,-0.000259485012802,-4.59461807237e-05,1793192705599878656
+76,1.266666667,BASELINE,763,742,711.904243536,671,663.904243536,633,875.095756464,783,800,649,629,651,0.400973923077,-0.00542522274154,0.049852408374,0.999999953651,0.000154113275874,-0.000258535123298,-4.58894670747e-05,1793192705616545536
+77,1.283333333,BASELINE,763,742,711.313662178,671,663.313662178,633,875.686337822,783,800,649,629,651,0.400974501295,-0.00542405192367,0.0498521747947,0.999999953577,0.000154823090128,-0.000258351165651,-4.61654088486e-05,1793192705633211904
+78,1.300000000,BASELINE,763,742,711.271612155,671,663,633,875.728387845,783,799.728387845,649,629,651,0.40097458428,-0.00542363667328,0.0498519519154,0.999999953444,0.000155415537403,-0.000258514007277,-4.6139873613e-05,1793192705649878528
+79,1.316666667,BASELINE,763,742,711.850875262,671,663,633,875.149124738,783,799.149124738,649,629,651,0.400974106319,-0.00542407724274,0.049851741156,0.999999953245,0.000155875044841,-0.000259069663166,-4.57728599424e-05,1793192705666545408
+80,1.333333333,BASELINE,763.426972699,742,711.573027301,671,663.426972699,633,875,783,799,649,629,651,0.400974249373,-0.00542244012586,0.0498521272337,0.999999953218,0.000156931015735,-0.000258486808349,-4.60562283285e-05,1793192705683212032
+81,1.350000000,BASELINE,764,742,711,670.997984801,663.997984801,633,875,783,799.004030399,649.002015199,629,651,0.400974603708,-0.00542009624728,0.0498527164273,0.999999953247,0.000158190390739,-0.000257515746829,-4.65622149291e-05,1793192705699878656
+82,1.366666667,BASELINE,764,742,711,670.410589822,663.410589822,633,875,783,800.178820356,649.589410178,629,651,0.400973790297,-0.0054216889556,0.0498522012689,0.999999952981,0.000158466773379,-0.000258433933389,-4.6236584627e-05,1793192705716545536
+83,1.383333333,BASELINE,764,742,711,670.17440718,663.17440718,633,875,783,800.651185639,650,628.82559282,651,0.400973386213,-0.00542227020673,0.0498519517191,0.999999952754,0.000158970540643,-0.000259028675946,-4.60934826075e-05,1793192705733211904
+84,1.400000000,BASELINE,764,742,711,670.753835543,663.753835543,633,875,783,799.492328913,650,628.246164457,651,0.400973932702,-0.00542050257793,0.0498523189851,0.999999952617,0.000160002357264,-0.000258872293233,-4.6374261127e-05,1793192705749878528
+85,1.416666667,BASELINE,764,742,711,671,664,633,875,783.332020353,799,650,628,651,0.40097362957,-0.00542168780095,0.049852270713,0.999999952831,0.000158464326779,-0.000259040291944,-4.60950827129e-05,1793192705766545152
+86,1.433333333,BASELINE,764,742,711,671,664,633,875,783.90928658,799,650,628,651,0.400972698868,-0.00542505413957,0.0498519155049,0.999999953296,0.000155028086086,-0.000259447894067,-4.54022937098e-05,1793192705783211776
+87,1.450000000,BASELINE,763.514233524,742,711,671,663.514233524,633,875,783.514233524,799,650,628,651,0.400973600144,-0.00542364020711,0.0498524305319,0.99999995348,0.000155312320485,-0.000258502110099,-4.57624284247e-05,1793192705799878656
+88,1.466666667,BASELINE,763.063327881,742.063327881,711,671.063327881,663,633,875,783.063327881,799,649.936672119,628.063327881,651,0.40097457313,-0.00542166498999,0.0498529158012,0.999999953533,0.000156290377824,-0.000257620376642,-4.62395011668e-05,1793192705816545280
+89,1.483333333,BASELINE,763.65105903,742.65105903,711,671.65105903,663,633,875,783.65105903,799,649.34894097,628.65105903,651,0.40097331158,-0.00542242204524,0.0498518111211,0.999999952939,0.000157269872999,-0.000259358488604,-4.60593281301e-05,1793192705833211904
+90,1.500000000,BASELINE,764,742.764622095,711,671.529244189,663.235377905,633,875.235377905,783.764622095,799,649,629,651,0.400972734847,-0.00542283629265,0.0498512072875,0.999999952772,0.000157365130137,-0.000259958702458,-4.59814010183e-05,1793192705849878528
+91,1.516666667,BASELINE,764,742.185289582,711,670.370579164,663.814710418,633,875.814710418,783.185289582,799,649,629,651,0.400973158828,-0.00542274959945,0.0498513353343,0.999999953232,0.000156168261891,-0.00025889612077,-4.60528845343e-05,1793192705866545152
+92,1.533333333,BASELINE,763.608535508,742,711,670.391464492,664,633,875.608535508,783.391464492,799.391464492,649,629,651,0.400974090112,-0.00542260949839,0.0498519894979,0.999999953389,0.000156543973601,-0.000258104346945,-4.58102543152e-05,1793192705883212032
+93,1.550000000,BASELINE,763.032993835,742,711,670.967006165,664,633,875.032993835,783.967006165,799.967006165,649,629,651,0.400975259945,-0.0054224442835,0.049852891056,0.999999953403,0.000157659154795,-0.000257439914201,-4.54199193363e-05,1793192705899878656
+94,1.566666667,BASELINE,763,742,711,671,663.446917959,632.446917959,875,783.446917959,799.446917959,649.553082041,629,650.446917959,0.400975433432,-0.00542319179684,0.0498529125544,0.999999953709,0.000157026823101,-0.00025658690099,-4.56875281266e-05,1793192705916545280
+95,1.583333333,BASELINE,763,742,711,671,663,632,875.138052844,783,799.138052844,650,629,650.138052844,0.400975559941,-0.00542380988032,0.0498529389995,0.999999953932,0.000156403908765,-0.000256064651858,-4.58752648974e-05,1793192705933212160
+96,1.600000000,BASELINE,763,742,711,671,663,632,875.717443056,783,799.717443056,650,629,650.717443056,0.400975729968,-0.00542383674913,0.0498531523512,0.999999953834,0.000156150835497,-0.000256636475213,-4.56797497771e-05,1793192705949878784
+97,1.616666667,BASELINE,763.296557391,742,711,671,663,632.296557391,875.703442609,783,799.703442609,650,629,650.703442609,0.400975489727,-0.00542309963375,0.0498532242682,0.999999953636,0.000156670837579,-0.00025707155961,-4.5777279558e-05,1793192705966545152
+98,1.633333333,BASELINE,763.87540908,742,711,671,663,632.87540908,875.12459092,783,799.12459092,650,629,650.12459092,0.40097485895,-0.00542163527842,0.0498531615531,0.999999953343,0.00015792673354,-0.000257376481549,-4.61537600954e-05,1793192705983211776
+99,1.650000000,BASELINE,764,742,711,671,663.450253121,633,875,783,799,650,628.549746879,650,0.400974917329,-0.00542164940585,0.0498530685707,0.999999953402,0.000157767119042,-0.000257252353774,-4.6107761938e-05,1793192705999878400
+100,1.666666667,BASELINE,764,742,711,671,664,633,875,783,799.024616047,649.975383953,628.024616047,650.024616047,0.400975163951,-0.00542207032013,0.0498529704142,0.999999953562,0.000157183644229,-0.000257016746782,-4.59531228707e-05,1793192706016545280
+101,1.683333333,BASELINE,764,742,711,671,664,633,875,783,799.613137928,649.386862072,628.613137928,650.613137928,0.400975392848,-0.00542252057322,0.0498529438989,0.999999953805,0.000155784053344,-0.000256923101482,-4.59641796357e-05,1793192706033211904
+102,1.700000000,BASELINE,763.801575951,742,711,671,663.801575951,633,875,783,799.801575951,649,628.801575951,651,0.400975315312,-0.00542269430701,0.0498528327609,0.999999953766,0.000155723230159,-0.000257107312317,-4.59875468689e-05,1793192706049878784
+103,1.716666667,BASELINE,763.222497342,742,711,671,663.222497342,633,875,783,799.222497342,649,628.222497342,651,0.400974649918,-0.00542233756909,0.0498525592835,0.999999953185,0.000158230684674,-0.000257824559382,-4.60345303706e-05,1793192706066545408
+104,1.733333333,BASELINE,763.353029332,742,711,671,663.353029332,633,875,783,799,649,628.353029332,651,0.400973938745,-0.00542201388987,0.0498521896322,0.99999995293,0.00015867718172,-0.000258516303022,-4.61539402519e-05,1793192706083212288
+105,1.750000000,BASELINE,763.926339749,742,711,671,663.926339749,633,875,783,799,649,628.926339749,651,0.400973199007,-0.00542171083838,0.049851759971,0.999999952881,0.000157837695363,-0.000259192133262,-4.63185423073e-05,1793192706099878912
+106,1.766666667,BASELINE,764,742,711,671,663.501251721,633,875.498748279,783,799,649.498748279,628.501251721,651,0.400974406487,-0.00542151373511,0.0498524057157,0.999999953239,0.00015798077269,-0.000257741076035,-4.61817955041e-05,1793192706116545792
+107,1.783333333,POSE1_TO_POSE2_PRESS,763,742,711,671,664,633,875,783,799,650,629,651,0.400975220593,-0.00542288974155,0.0498535828149,0.99999995392,0.000156235210459,-0.000256291070979,-4.5444010257e-05,1793192706159097600
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.579103015,742,711,671,663.420896985,633,875,783.579103015,799,649.420896985,629,651,0.400975166406,-0.0054231070237,0.0498537752448,0.999999953935,0.000156934913441,-0.000255710937605,-4.59631406332e-05,1793192706175764224
+109,1.816666667,POSE1_TO_POSE2_PRESS,764,742.15654803,711,670.84345197,663,633,875,783.84345197,799,649.15654803,629,651,0.400974975767,-0.00542336652762,0.049853688643,0.999999953919,0.000156830752338,-0.000255782055382,-4.62842807187e-05,1793192706192431104
+110,1.833333333,POSE1_TO_POSE2_PRESS,764,742.729582169,711,670.270417831,663,633,875,783.270417831,799,649.729582169,629,651,0.400974422104,-0.00542373835993,0.0498528596951,0.999999953814,0.00015458796196,-0.000257585785435,-4.60786803019e-05,1793192706209097984
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,743,711,670.622698282,663.311349141,632.688650859,875.311349141,783,799,649.688650859,629,651,0.400973990928,-0.00542326043965,0.0498524985486,0.99999995362,0.000154355458089,-0.000258495138719,-4.59745526366e-05,1793192706225764608
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,743,711,671.801839467,663.900919734,632.099080266,875.900919734,783,799,649.099080266,629,651,0.400973669206,-0.00542202318082,0.0498525554293,0.99999995335,0.000155919345463,-0.000258605277222,-4.59611009888e-05,1793192706242430976
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.518010065,711,671.518010065,664,632,875.518010065,783,799.481989935,649.481989935,628.518010065,650.518010065,0.400974648701,-0.00542441376518,0.0498532326613,0.999999953751,0.00015589458786,-0.000257143153444,-4.55225897448e-05,1793192706259097600
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.939086664,742.060913336,711,671,663.939086664,632.060913336,875,783,799.939086664,650,628.060913336,650,0.400976159402,-0.00542688163792,0.049854080152,0.999999954265,0.000155632217832,-0.000255368431197,-4.51170473776e-05,1793192706275763968
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.363791825,742.636208175,711,671,663.363791825,632.636208175,875,783,799.363791825,650,628.636208175,650,0.400979936243,-0.00542381377383,0.0498553071889,0.99999995461,0.000156073254571,-0.000253635951757,-4.57149793132e-05,1793192706292430848
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.211359346,742.788640654,711,671,663,633,875,783,799.211359346,650,629,650.211359346,0.400990184265,-0.00542297033233,0.0498592226265,0.999999956558,0.000154965673013,-0.000246524127267,-4.57694587102e-05,1793192706309097472
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.786263345,742.213736655,711,671,663,633,875,783,799.786263345,650,629,650.786263345,0.401011562918,-0.0054259529672,0.049867762197,0.999999961076,0.000151194419716,-0.000230159662021,-4.48891827585e-05,1793192706325764352
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,671,663.371643163,633,875,783,800,649.628356837,629,650.628356837,0.401049703629,-0.00542760794063,0.0498811568514,0.999999967019,0.000151897422002,-0.000202425161198,-4.3751262826e-05,1793192706342430976
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.963222562,633,875,783,800,649.036777438,629,650.036777438,0.401097764029,-0.00542847721213,0.0498974247166,0.999999972942,0.00015524826193,-0.000167961938476,-4.24608705797e-05,1793192706359097600
+120,2.000000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.455167144,633,875,783,799.455167144,649.544832856,628.455167144,650.544832856,0.40116685073,-0.0054311424574,0.049914443227,0.999999978503,0.000153340281697,-0.000133346780682,-4.12241811092e-05,1793192706375763968
+121,2.016666667,POSE1_TO_POSE2_PRESS,764,742,711,671.124337143,663,632.875662857,875.124337143,783,799.124337143,649.875662857,628.124337143,651,0.401237825326,-0.00543400886857,0.0499287825746,0.999999982168,0.000151098834148,-0.000106030415311,-3.98822950299e-05,1793192706392430592
+122,2.033333333,POSE1_TO_POSE2_PRESS,764,742,711,671.698612003,663,632.301387997,875.698612003,783,799.698612003,649.301387997,628.698612003,651,0.401310587848,-0.00543717241863,0.0499332467995,0.999999982655,0.000148912159848,-0.000105162562429,-3.81468524727e-05,1793192706409097216
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.7201165,742.2798835,711,671.7201165,663,632.2798835,875.7201165,783,800,649.2798835,628.7201165,651,0.401390918853,-0.00543912034377,0.0499350505558,0.999999982726,0.000148460435015,-0.000105437458103,-3.72955030303e-05,1793192706425763840
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.131117652,742.868882348,711,671.131117652,663,632.868882348,875.131117652,783,800,649.868882348,628.131117652,651,0.401479608808,-0.00543972568039,0.0499339159762,0.999999982339,0.000149924862967,-0.00010697445438,-3.74205840707e-05,1793192706442430464
+125,2.083333333,POSE1_TO_POSE2_PRESS,763.450449687,742.549550313,711,671,663,632.549550313,875.450449687,783,799.549550313,650,628.450449687,651,0.401589972168,-0.00544431468999,0.0499345212112,0.99999998234,0.000149291531383,-0.000108286660309,-3.61437404525e-05,1793192706459097600
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,671.029683998,663,632.029683998,875.970316002,783,799.029683998,650,628.970316002,651,0.40170855609,-0.00545007049942,0.0499358422877,0.999999982525,0.000147866812875,-0.000109069917605,-3.44790859543e-05,1793192706475764224
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,671.605149983,663,632.605149983,875.394850017,783,799.605149983,650,628.394850017,651,0.401864174363,-0.00545630519813,0.0499411648489,0.999999984106,0.000142936210597,-0.000101311251614,-3.30652319895e-05,1793192706492430848
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671.819317494,663.361365013,633,875,783.180682506,799.819317494,649.819317494,628.180682506,651,0.402027052771,-0.00546188617673,0.0499439271916,0.999999984839,0.000140038701312,-9.85539312356e-05,-3.15917881014e-05,1793192706509097216
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671.243639585,664.512720829,633,875,783.756360415,799.243639585,649.243639585,628.756360415,651,0.402205802758,-0.00546603803755,0.0499410925636,0.999999983831,0.000141585797757,-0.000106730202299,-2.99880730985e-05,1793192706525763840
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664.319475781,633,875,783.659737891,799.340262109,649.340262109,629,651,0.402403051144,-0.00547272496636,0.0499384877808,0.999999983813,0.000138511335318,-0.000111193587795,-2.87277029993e-05,1793192706542430720
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.139603542,633,875,783.069801771,799.930198229,649.930198229,629,651,0.402613873112,-0.00548127205154,0.0499360516509,0.999999984521,0.000132045713377,-0.000112932571384,-2.77192688045e-05,1793192706559097088
+132,2.200000000,POSE1_TO_POSE2_PRESS,763.489058926,742,711,671,663.510941074,632.489058926,875,783,799.489058926,650,629,651,0.40287138856,-0.00549162385607,0.0499408772372,0.999999986252,0.000127052641329,-0.000103578987827,-2.49934648843e-05,1793192706575763968
+133,2.216666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663.910358088,632.089641912,875,783,799.089641912,650,629,651,0.403142585894,-0.0055022538056,0.0499471791725,0.999999988073,0.000122445139566,-9.15347923406e-05,-2.19899346822e-05,1793192706592430592
+134,2.233333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663.336027324,632.663972676,875,783,799.663972676,650,629,651,0.403453879305,-0.00551307815271,0.049956194479,0.999999990098,0.000118853897327,-7.29914727076e-05,-1.87308921423e-05,1793192706609097216
+135,2.250000000,POSE1_TO_POSE2_PRESS,763.242799203,742,711,670.757200797,663,633,875,783.242799203,800,649.757200797,628.757200797,650.757200797,0.403780628314,-0.00552347052849,0.0499641952607,0.999999991615,0.000115148547666,-5.71941279441e-05,-1.54993665306e-05,1793192706625763840
+136,2.266666667,POSE1_TO_POSE2_PRESS,763.827965086,742,711,670.172034914,663,633,875,783.827965086,800,649.172034914,628.172034914,650.172034914,0.404129170961,-0.00553325378885,0.0499707654792,0.999999992708,0.000111282297481,-4.52688328547e-05,-1.23066422334e-05,1793192706642430464
+137,2.283333333,POSE1_TO_POSE2_PRESS,764,742.41065867,711,670.41065867,663.41065867,633,875,783.58934133,799.58934133,649,628.41065867,650,0.40451054535,-0.00553810133976,0.0499763098108,0.999999992502,0.000117483299638,-3.35756491485e-05,-8.15804610114e-06,1793192706659097344
+138,2.300000000,POSE1_TO_POSE2_PRESS,764,742.992322733,711,670.992322733,663.992322733,633,875,783.007677267,799.007677267,649,628.992322733,650,0.404905591437,-0.00554089357542,0.0499814269451,0.999999991576,0.000127876480329,-2.19791209398e-05,-3.61140843872e-06,1793192706675763968
+139,2.316666667,POSE1_TO_POSE2_PRESS,764,742.429885101,711,671,664,633,875.570114899,783,799,649.570114899,628.429885101,650.570114899,0.405314863019,-0.00552529487224,0.0499703464356,0.999999986978,0.000156193437689,-4.05331587323e-05,-1.96264116382e-06,1793192706692430592
+140,2.333333333,POSE1_TO_POSE2_PRESS,764,742.146919662,711,671,664,633,876,783,799.146919662,650,628,650.853080338,0.405729724019,-0.0055123092538,0.0499558641763,0.999999981363,0.000181357571324,-6.62062676155e-05,-3.41542370241e-07,1793192706709097216
+141,2.350000000,POSE1_TO_POSE2_PRESS,764,742.721004052,711,671,664,633,876,783,799.721004052,650,628,650.278995948,0.406160282815,-0.00550763630195,0.049932121329,0.999999974456,0.000196657927846,-0.000111405361586,1.31180439803e-06,1793192706725763840
+142,2.366666667,POSE1_TO_POSE2_PRESS,764,742.697105243,711.302894757,671.302894757,663.697105243,633,876,783,799.697105243,650,628,650,0.406626156127,-0.0055095881821,0.0499146180144,0.999999968673,0.000205006652599,-0.000143568308998,3.89475895051e-06,1793192706742430720
+143,2.383333333,POSE1_TO_POSE2_PRESS,764,742.107833867,711.892166133,671.892166133,663.107833867,633,876,783,799.107833867,650,628,650,0.407125418155,-0.00551780361349,0.0499030139614,0.999999965243,0.000206782849611,-0.000163406031685,7.35662602385e-06,1793192706759097600
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.473210296,711.526789704,671.526789704,663,633,875.526789704,783,799,649.526789704,628.473210296,650,0.407696712712,-0.00552432255797,0.04991681807,0.999999968743,0.000212050125227,-0.000131851642396,1.27675960269e-05,1793192706775764224
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,743,711,671,663.052075816,633,875.052075816,783,799.052075816,649.052075816,628.947924184,650.052075816,0.408287823992,-0.00552970742255,0.0499372316099,0.999999971957,0.000218996762496,-8.81967076599e-05,1.86607641104e-05,1793192706792430592
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,743,711,671,663.62756572,633,875.62756572,783,799.62756572,649.62756572,628.37243428,650.62756572,0.40891595002,-0.00552751287625,0.0499668763277,0.999999971338,0.000234963366776,-3.8615868727e-05,2.50125831593e-05,1793192706809097728
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742.796314849,711.203685151,671,664,632.796314849,876,783,799.796314849,649.796314849,628,650.796314849,0.409544824731,-0.00552450831811,0.0499865296998,0.999999967776,0.00025186278026,-7.92694168284e-06,3.08175913018e-05,1793192706825764352
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742.219040803,711.780959197,671,664,632.219040803,876,783,799.219040803,649.219040803,628,650.219040803,0.4101750726,-0.00552001807775,0.0499878574545,0.999999962717,0.000270473104666,-1.18885969373e-05,3.56196665462e-05,1793192706842430720
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711.635131798,671,663.635131798,632.364868202,875.635131798,783,799,649.364868202,628.364868202,650,0.410794465315,-0.005518586521,0.0499692758914,0.999999958532,0.000279946040245,-5.55518314321e-05,3.84759171445e-05,1793192706859097344
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711.047165884,671,663.047165884,632.952834116,875.047165884,783,799,649.952834116,628.952834116,650,0.411407220651,-0.00551902518854,0.0499385208277,0.999999951289,0.000283831941555,-0.000123490492733,4.0142398021e-05,1793192706875763968
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.53298797,671,663.53298797,633,875.53298797,783,799,649.46701203,629,650.53298797,0.412110979007,-0.00552898851372,0.0499268457618,0.999999975335,0.000180093609553,-0.0001287977997,1.75572111049e-05,1793192706892430336
+152,2.533333333,POSE1_TO_POSE2_PRESS,764,742.111527217,712,671,664,633,876,783.111527217,799.111527217,649.111527217,628.888472783,650.888472783,0.412835555828,-0.00553908078027,0.0499248706102,0.999999988796,9.07709427343e-05,-0.00011903131066,-6.21442509514e-07,1793192706909097472
+153,2.550000000,POSE1_TO_POSE2_PRESS,764,742.686190709,712,671,664,633,876,783.686190709,799.686190709,649.686190709,628.313809291,650.313809291,0.413613625692,-0.00554625889678,0.0499562657418,0.999999992532,0.000100290758062,-6.93518023576e-05,8.28217416545e-06,1793192706925765376
+154,2.566666667,POSE1_TO_POSE2_PRESS,764,742.733543017,711.733543017,671,664,633,876.266456983,783.733543017,799.733543017,649.733543017,628.266456983,650.266456983,0.414374884141,-0.00554813077626,0.0499639272315,0.999999991867,0.000113071625954,-5.72862932644e-05,1.41426717809e-05,1793192706942432256
+155,2.583333333,POSE1_TO_POSE2_PRESS,764,742.146536481,711.146536481,671,664,633,876.853463519,783.146536481,799.146536481,649.146536481,628.853463519,650.853463519,0.415115918444,-0.00554361921768,0.0499430369937,0.999999987353,0.000129775563524,-9.04706730408e-05,1.63422777823e-05,1793192706959098368
+156,2.600000000,POSE1_TO_POSE2_PRESS,763.562941074,742,711.437058926,671,664,633,877,783,799,649,628.562941074,650.562941074,0.415882946028,-0.00554026610371,0.0499228211542,0.99999998464,0.000124895218877,-0.000122155088006,1.40918227161e-05,1793192706975764736
+157,2.616666667,POSE1_TO_POSE2_PRESS,763.019325889,742,711.980674111,671,664,633,876.980674111,783.019325889,799,649,628,650,0.416661069234,-0.00553762876745,0.0499045519359,0.999999982229,0.00011313438814,-0.000150429404153,1.06505984782e-05,1793192706992431616
+158,2.633333333,POSE1_TO_POSE2_PRESS,763.596009809,742,711.403990191,671,664,633,876.403990191,783.596009809,799,649,628,650,0.417509797702,-0.00554451968953,0.0499359526319,0.999999989337,0.000110031792733,-9.47481071105e-05,1.55639109257e-05,1793192707009097984
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,742.171708709,711.171708709,671.171708709,664.171708709,633,876.171708709,784,799,649,628.171708709,650,0.41834689886,-0.00554884476676,0.0499605660843,0.999999992415,0.000108879833221,-5.40748876597e-05,1.97998188997e-05,1793192707025764608
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,742.745103273,711.745103273,671.745103273,664.745103273,633,876.745103273,784,799,649,628.745103273,650,0.41915679968,-0.00554716744806,0.0499693018327,0.999999992267,0.0001122910843,-4.85107387237e-05,2.24510441194e-05,1793192707042431232
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.671310019,712,672,664.342620038,632.671310019,876.671310019,783.671310019,799.328689981,649.328689981,629,650,0.419981591395,-0.00554502816205,0.0499605172348,0.999999991675,0.000112012767273,-6.00751935296e-05,2.22361538658e-05,1793192707059097856
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.079566474,712,672,663.159132949,632.079566474,876.079566474,783.079566474,799.920433526,649.920433526,629,650,0.420818300388,-0.0055425191595,0.0499377109449,0.999999990247,0.000108781655317,-8.53478250105e-05,1.97274853483e-05,1793192707075764480
+163,2.716666667,POSE1_TO_POSE2_PRESS,764.499620721,742.499620721,712,672,663.499620721,632.499620721,876.499620721,783,800,649.500379279,629,650,0.421714464997,-0.00554810501962,0.0499592228365,0.999999994349,9.67121624644e-05,-3.89592653887e-05,2.076560782e-05,1793192707092431104
+164,2.733333333,POSE1_TO_POSE2_PRESS,764.923368316,743,712,672,664.076631684,633,877,783,800,649,629,650.076631684,0.4226098734,-0.00555424331648,0.0499819722676,0.99999999614,8.47280191088e-05,6.92655665505e-06,2.22138501586e-05,1793192707109097472
+165,2.750000000,POSE1_TO_POSE2_PRESS,764.347826444,743,712,672,664.652173556,633,877,783,800,649,629,650.652173556,0.423440224561,-0.0055557910832,0.0499679551644,0.999999996097,8.22387109621e-05,-2.29390207656e-05,2.27449424887e-05,1793192707125764352
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,712,672,664.767177332,632.767177332,877,783.232822668,799.767177332,649.232822668,629,650.767177332,0.424276302456,-0.00555669137465,0.04995812144,0.999999995743,7.91479480556e-05,-4.14750759866e-05,2.30174713198e-05,1793192707142430976
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,712,672,664.17872702,632.17872702,877,783.82127298,799.17872702,649.82127298,629,650.17872702,0.425121127843,-0.00555660267282,0.0499546776631,0.999999996003,7.51384859174e-05,-4.2705727655e-05,2.28950544858e-05,1793192707159097344
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,712,672,664,632.403088837,877,783.596911163,799,650,629,650.403088837,0.426006595956,-0.00555883559287,0.0499708999404,0.999999997008,6.89982383739e-05,-2.43623842474e-05,2.5090130535e-05,1793192707175764224
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,712,672,664,632.982010619,877,783.017989381,799,650,629,650.982010619,0.426909792939,-0.0055620812366,0.0499957008237,0.999999997679,6.19285128654e-05,2.51940750761e-06,2.82961291277e-05,1793192707192430848
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,711.44194087,672,664,633,876.44194087,783.55805913,799.55805913,649.44194087,629,650.44194087,0.427701892909,-0.00556025456484,0.0499722228909,0.999999996317,6.20717046173e-05,-5.19092707019e-05,2.86166275326e-05,1793192707209097984
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.86585614,711,672,664,632.86585614,876,783.86585614,799.86585614,649,629,650.13414386,0.428502159626,-0.00555814690307,0.0499497679321,0.999999992871,6.18132492915e-05,-9.81508868646e-05,2.83516415777e-05,1793192707225764608
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.289348134,711,672,664,632.289348134,876,783.289348134,799.289348134,649,629,650.710651866,0.429341107095,-0.00555564906482,0.0499357923103,0.999999991964,5.94674626098e-05,-0.000108794887405,2.64610789437e-05,1793192707242430976
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.293396481,711.293396481,672.293396481,664.293396481,632.293396481,876,783,799,649,629,651,0.430172708131,-0.00555796616803,0.0499348710217,0.999999993308,5.11311217372e-05,-0.000100508874865,2.58467212561e-05,1793192707259097600
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.882425194,711.882425194,672.882425194,664.882425194,632.882425194,876,783,799,649,629,651,0.4309969067,-0.00556513490387,0.0499471035442,0.999999996297,3.67585772992e-05,-7.31485972236e-05,2.65182936059e-05,1793192707275764224
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,743,712,672.536473167,664.536473167,632.536473167,876.463526833,783,799,649,629,650.536473167,0.431794176532,-0.00556539688084,0.0499332157141,0.999999994169,3.39680072775e-05,-9.8989195692e-05,2.66383923692e-05,1793192707292430848
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742.957680152,711.957680152,672,664,632,877,783,799,649,629,650,0.432584815563,-0.00556404486155,0.0499153812076,0.999999990253,3.3678014195e-05,-0.000132860011502,2.65983985998e-05,1793192707309097472
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742.383059932,711.383059932,672,664,632,877,783,799,649,629,650,0.433376521662,-0.00556405711269,0.049929839788,0.999999994163,2.85099461759e-05,-0.000100854272947,2.62746221569e-05,1793192707325764352
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.195235805,742,711.195235805,672,664.195235805,632.195235805,877,783,799.195235805,649.195235805,629,650,0.434153672706,-0.00556463233903,0.0499473922842,0.999999997012,2.18610747526e-05,-6.93189195847e-05,2.63325997963e-05,1793192707342430976
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.780881516,742,711.780881516,672,664.780881516,632.780881516,877,783,799.780881516,649.780881516,629,650,0.434901718384,-0.00556633333785,0.0499711316369,0.999999998807,1.22510636252e-05,-3.87241822991e-05,2.7153964918e-05,1793192707359097600
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.635845636,742.364154364,712,672,665,632.635845636,876.635845636,783,800,649.635845636,629,650,0.435603690735,-0.00556547861623,0.0499665809447,0.999999997679,1.10885544265e-05,-6.08470507761e-05,2.85813946674e-05,1793192707375764480
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.053991376,742.946008624,712,672,665,632.053991376,876.053991376,783,800,649.053991376,629,650,0.436278119342,-0.00556309602576,0.0499451178084,0.999999992873,1.49761576827e-05,-0.000114485724152,3.03711437547e-05,1793192707392431360
+182,3.033333333,POSE1_TO_POSE2_PRESS,763.478137306,742.478137306,711.478137306,672,664.478137306,632,876.521862694,783.521862694,799.478137306,649,629,650,0.436975795619,-0.00555970442269,0.0499339514682,0.999999992006,2.07063008902e-05,-0.000121112072913,2.98388782987e-05,1793192707409097472
+183,3.050000000,POSE1_TO_POSE2_PRESS,763.096965941,742.096965941,711.096965941,672,664.096965941,632,877,784,799.096965941,649,629,650.096965941,0.437673906926,-0.00555728805903,0.0499304455836,0.999999992775,2.55843924515e-05,-0.000113615788404,2.97834078634e-05,1793192707425764096
+184,3.066666667,POSE1_TO_POSE2_PRESS,763.671394061,742.671394061,711.671394061,672,664.671394061,632,877,784,799.671394061,649,629,650.671394061,0.438362451769,-0.00556018197573,0.0499594740198,0.999999997311,2.53389820458e-05,-6.02568230427e-05,3.32451523396e-05,1793192707442430976
+185,3.083333333,POSE1_TO_POSE2_PRESS,763.746784461,743,711.746784461,672,664.746784461,632.253215539,876.746784461,784,800,649,629,650.746784461,0.439000848546,-0.00556225467695,0.0499699585695,0.999999998228,2.47096364087e-05,-4.09378300763e-05,3.54730579253e-05,1793192707459097856
+186,3.100000000,POSE1_TO_POSE2_PRESS,763.155079866,743,711.155079866,672,664.155079866,632.844920134,876.155079866,784,800,649,629,650.155079866,0.43957220921,-0.0055632296078,0.0499556543435,0.99999999682,2.35670606049e-05,-6.71222028174e-05,3.605161366e-05,1793192707475764736
+187,3.116666667,POSE1_TO_POSE2_PRESS,763.426894594,742.573105406,711,672.426894594,664,632.573105406,876,784,800,649,629,650,0.440109615478,-0.00556220441974,0.0499271730994,0.999999992472,2.54347957352e-05,-0.000114616822584,3.56700126206e-05,1793192707492431360
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742.005377017,711.005377017,673,664,632,876.005377017,783.994622983,799.994622983,649,629,650,0.440634940272,-0.0055604701409,0.0498939030461,0.99999998466,2.83707709526e-05,-0.000169272128766,3.49630632297e-05,1793192707509098240
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742.580032564,711.580032564,673,664,632,876.580032564,783.419967436,799.419967436,649,629,650,0.44115797462,-0.00555887447948,0.0498867380439,0.999999982541,3.12052310151e-05,-0.000180703204132,3.59161072634e-05,1793192707525764608
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,743,711.846201671,673,663.846201671,632,877,783,799,649,629,650,0.44166997841,-0.00555799869245,0.0498819149936,0.999999981397,3.2369230447e-05,-0.000186604022694,3.6556212935e-05,1793192707542430976
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,743,711.274851471,673,663.274851471,632,877,783,799,649,629,650,0.442152035115,-0.00555907731445,0.04988345018,0.999999983168,2.89980449592e-05,-0.000177490577529,3.63467127294e-05,1793192707559097600
+192,3.200000000,POSE1_TO_POSE2_PRESS,764,742.690450885,711,672.690450885,663,632,877,783,799,649,629,650,0.4425942323,-0.00555971416917,0.0498765877067,0.999999982133,2.6991944945e-06,-0.000186855505662,2.84887337492e-05,1793192707575764224
+193,3.216666667,POSE1_TO_POSE2_PRESS,764,742.093952754,711,672.093952754,663,632,877,783,799,649,629,650,0.442999480071,-0.00555994150985,0.0498619406844,0.999999976143,-4.48533780677e-05,-0.000213349706109,1.35406893283e-05,1793192707592430848
+194,3.233333333,POSE1_TO_POSE2_PRESS,764,742,711.486000152,672,663,631.513999848,877,783,799,649,628.513999848,650,0.44336186187,-0.0055633011134,0.0498374449575,0.99999996542,-6.37103355701e-05,-0.000254971400348,9.54580616761e-06,1793192707609097472
+195,3.250000000,POSE1_TO_POSE2_PRESS,764,742.06263917,711.93736083,672,662.93736083,631.06263917,876.93736083,782.93736083,799,649.06263917,628.06263917,650,0.443712223529,-0.00556633748771,0.0498106560067,0.999999952214,-7.42697058152e-05,-0.000299991561979,7.87628275745e-06,1793192707625763840
+196,3.266666667,POSE1_TO_POSE2_PRESS,764,742.637473596,711.362526404,672,662.362526404,631.637473596,876.362526404,782.362526404,799,649.637473596,628.637473596,650,0.444029826961,-0.00556194253668,0.0497801713227,0.999999936976,-6.08475405072e-05,-0.000349675230683,8.47687525811e-06,1793192707642430720
+197,3.283333333,POSE1_TO_POSE2_PRESS,764,742.782265442,711,672,662,631.782265442,876.217734558,782.217734558,799.217734558,649.782265442,629,650,0.444343190167,-0.00555926949657,0.049760357425,0.999999926372,-5.15561390366e-05,-0.000380142187948,9.4394718258e-06,1793192707659097856
+198,3.300000000,POSE1_TO_POSE2_PRESS,764,742.192738461,711,672,662,631.192738461,876.807261539,782.807261539,799.807261539,649.192738461,629,650,0.444649312949,-0.00555953670417,0.0497587644208,0.999999927358,-4.93182207234e-05,-0.000377795665473,1.10202080376e-05,1793192707675764480
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,742.38942043,711.38942043,672.38942043,662.38942043,631,877,783,799.61057957,649,629,650,0.444936437055,-0.00555945617843,0.0497618865561,0.999999931263,-4.63205373722e-05,-0.000367670111139,1.21613677491e-05,1793192707692431104
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,742.968000354,711.968000354,672.968000354,662.968000354,631,877,783,799.031999646,649,629,650,0.445214332654,-0.00555920674256,0.0497672990523,0.999999936417,-4.29538008356e-05,-0.00035376592139,1.30890049861e-05,1793192707709097472
+201,3.350000000,POSE1_TO_POSE2_PRESS,764.544903242,742.455096758,711.455096758,672.455096758,661.910193516,631,877,783,799,649.544903242,629,650.544903242,0.445446339638,-0.00555942339596,0.0497627631737,0.999999935443,-4.17261345208e-05,-0.000356642695135,1.33577717096e-05,1793192707725763840
+202,3.366666667,POSE1_TO_POSE2_PRESS,764.878293523,742,711,672,661,631,877,782.878293523,799.121706477,649.878293523,629,651,0.445667187202,-0.00555947748229,0.0497560219379,0.999999933083,-4.04318460354e-05,-0.000363339042618,1.35625952407e-05,1793192707742430464
+203,3.383333333,POSE1_TO_POSE2_PRESS,764.301495624,742,711,672,661,631,877,782.301495624,799.698504376,649.301495624,629,651,0.445856352648,-0.0055588216551,0.0497432121621,0.999999926723,-3.84201647457e-05,-0.000380644137035,1.367255586e-05,1793192707759097600
+204,3.400000000,POSE1_TO_POSE2_PRESS,764,742.280711867,711,672.280711867,660.719288133,631,877,782.280711867,799.719288133,649,629,650.719288133,0.446026786079,-0.00555957078277,0.049732711858,0.999999921268,-3.82948317341e-05,-0.00039472814539,1.36627450801e-05,1793192707775764480
+205,3.416666667,POSE1_TO_POSE2_PRESS,764,742.868843606,711,672.868843606,660.131156394,631,877,782.868843606,799.131156394,649,629,650.131156394,0.446176705249,-0.00556185853814,0.0497247407585,0.999999916971,-4.02353215424e-05,-0.00040528460022,1.35217673861e-05,1793192707792431360
+206,3.433333333,POSE1_TO_POSE2_PRESS,764,743,711.451724607,673,660.451724607,630.548275393,876.548275393,782.548275393,799,649,628.548275393,650,0.446304653116,-0.00556249619994,0.049717252597,0.999999912408,-4.14397173551e-05,-0.000416287760215,1.31178635414e-05,1793192707809097728
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660.967410007,630.032589993,876.032589993,782.032589993,799,649,628,650,0.446424565175,-0.00556277912338,0.0497098808976,0.999999907627,-4.25554588313e-05,-0.000427522456466,1.26345225802e-05,1793192707825764096
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660.394969442,630.605030558,876.605030558,782.605030558,799,649,628,650,0.446515822792,-0.0055650308643,0.0497021423513,0.999999901876,-4.57022557239e-05,-0.000440468767429,1.20853402988e-05,1793192707842430720
+209,3.483333333,POSE1_TO_POSE2_PRESS,763.821155335,743,711.821155335,672.821155335,660.178844665,631,877,783,799,649,628,650.178844665,0.446600620535,-0.00556711014435,0.0496944749032,0.999999896196,-4.89777403403e-05,-0.000452849114602,1.1694510156e-05,1793192707859097344
+210,3.500000000,POSE1_TO_POSE2_PRESS,763.244284427,743,711.244284427,672.244284427,660.755715573,631,877,783,799,649,628,650.755715573,0.446671041549,-0.00556880560525,0.0496869656884,0.999999890918,-5.25396244314e-05,-0.000463969884195,1.16560993622e-05,1793192707875764224
+211,3.516666667,POSE1_TO_POSE2_PRESS,763.340398933,742.659601067,711.340398933,672.340398933,660.659601067,631,877,783,799.340398933,649,628.340398933,650.659601067,0.446728873673,-0.00556962105557,0.0496799149477,0.99999988574,-5.46567246241e-05,-0.000474770927904,1.11859969094e-05,1793192707892430848
+212,3.533333333,POSE1_TO_POSE2_PRESS,763.930820591,742.069179409,711.930820591,672.930820591,660.069179409,631,877,783,799.930820591,649,628.930820591,650.069179409,0.446777459275,-0.00556979013906,0.0496732009551,0.999999880618,-5.57126326475e-05,-0.000485337134373,1.03988172975e-05,1793192707909097728
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,742.508845689,712,673.508845689,660,631,877,783,800,649,629,650,0.446816067394,-0.00556806304636,0.0496699591148,0.999999878958,-5.4431060664e-05,-0.000488907638424,9.55126993718e-06,1793192707925764352
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,712,673.914769711,660,631,877,783,800,649,628.914769711,650,0.446851811773,-0.00556693241352,0.0496676614139,0.999999877838,-5.39255940975e-05,-0.000491259934798,8.88983803716e-06,1793192707942431232
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,712,673.338357355,660,631,877,783,800,649,628.338357355,650,0.446878683879,-0.00557068949955,0.0496681490524,0.999999877172,-5.96806823182e-05,-0.000491942482792,9.347162277e-06,1793192707959097856
+216,3.600000000,POSE1_TO_POSE2_PRESS,764,743,712,672.756609987,660,631,877,783,800,649.243390013,628,650,0.446900399198,-0.00557195663548,0.0496676576102,0.999999876241,-6.1951091703e-05,-0.000493551250814,9.34720805376e-06,1793192707975764224
+217,3.616666667,POSE1_TO_POSE2_PRESS,764,743,712,672.167279782,660,631,877,783,800,649.832720218,628,650,0.446914784963,-0.00556968470316,0.0496657745606,0.999999874961,-5.92685840361e-05,-0.000496476493256,8.69730520073e-06,1793192707992430848
+218,3.633333333,POSE1_TO_POSE2_PRESS,764,743,712,672.414942583,660,631,877,783,799.585057417,649.585057417,628,650,0.44692509629,-0.00556896222044,0.0496649077112,0.999999874516,-6.00620356618e-05,-0.000497284327547,8.26281248057e-06,1793192708009097728
+219,3.650000000,POSE1_TO_POSE2_PRESS,764,743,712,672.994347741,660,631,877,783,799.005652259,649.005652259,628,650,0.446933792711,-0.00556885386243,0.0496644436329,0.999999874402,-6.22331845036e-05,-0.000497252926628,7.9136976246e-06,1793192708025764608
+220,3.666666667,POSE1_TO_POSE2_PRESS,764,743,711.429204603,673,660,631,877,783,799,649,628,650,0.446935908344,-0.00556853446658,0.0496621928424,0.999999872534,-6.10109066479e-05,-0.000501144403955,7.95754866392e-06,1793192708042430976
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,673,660,630.853122759,877,782.853122759,799.146877241,649.146877241,628,650,0.44693832067,-0.00556789187086,0.049660745682,0.999999871289,-5.9815963425e-05,-0.000503767790801,7.8991099882e-06,1793192708059097600
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,673,660,630.278022606,877,782.278022606,799.721977394,649.721977394,628,650,0.446941787024,-0.00556631304224,0.0496616928361,0.999999871949,-5.87981805136e-05,-0.0005025813668,7.53115731394e-06,1793192708075764224
+223,3.716666667,POSE1_TO_POSE2_PRESS,763.69509513,743,711.30490487,672.69509513,660,630.30490487,877,782,799.390190261,649.69509513,628,650,0.446943263297,-0.00556490528807,0.049661229322,0.999999871642,-5.84247996211e-05,-0.000503246307951,6.77970522674e-06,1793192708092430848
+224,3.733333333,POSE1_TO_POSE2_PRESS,763.104842319,743,711.895157681,672.104842319,660,630.895157681,877,782,798.209684639,649.104842319,628,650,0.446942877136,-0.00556365763529,0.0496594456215,0.999999870426,-5.86544879854e-05,-0.00050564386555,5.6693517516e-06,1793192708109097472
+225,3.750000000,POSE1_TO_POSE2_PRESS,763.475290593,743,711.524709407,672.475290593,660,631,877,782,798.950581185,649,628,650,0.446943798546,-0.00556335540835,0.0496597074118,0.999999870649,-5.80793538806e-05,-0.000505270263221,5.61427667001e-06,1793192708125764096
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.946997097,711,673,660,631,877,782,800,649,628.053002903,650,0.446944893906,-0.00556344166643,0.049660331768,0.999999871096,-5.77142893031e-05,-0.000504423886253,5.80245063601e-06,1793192708142430720
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.371598944,711,673,660,631,877,782,800,649,628.628401056,650,0.446944920193,-0.00556534423657,0.0496601752027,0.999999870692,-6.11329392284e-05,-0.000504816992726,6.14164497138e-06,1793192708159097344
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.208251729,711,672.791748271,660,631,876.791748271,782,800,649,628.791748271,650,0.446945023818,-0.00556617324232,0.0496597551428,0.999999870277,-6.28498293876e-05,-0.000505427092028,6.26269166589e-06,1793192708175763968
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.796220906,711,672.203779094,660,631,876.203779094,782,800,649,628.203779094,650,0.44694526846,-0.00556504475576,0.0496588546378,0.999999869856,-6.14638021318e-05,-0.000506432846911,5.98597710327e-06,1793192708192431104
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711,672.378519974,660,631,876.378519974,782,800,649,628,650,0.446945725209,-0.00556503983254,0.049658901332,0.999999869879,-6.13904133806e-05,-0.000506395711094,6.02564707472e-06,1793192708209097728
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711,672.957811529,660,631,876.957811529,782,800,649,628,650,0.446946294461,-0.00556563086098,0.0496594504322,0.999999870138,-6.20132640448e-05,-0.000505805413376,6.23313124626e-06,1793192708225764352
+232,3.866666667,POSE1_TO_POSE2_PRESS,764,743,711,672.465044098,660,631,877,782,799.465044098,649.534955902,628,650,0.446946106651,-0.0055657774067,0.0496595718429,0.99999986991,-6.21557675152e-05,-0.000506239995205,6.20128871497e-06,1793192708242430976
+233,3.883333333,POSE1_TO_POSE2_PRESS,764,743,711.111190776,672,660,630.888809224,877,782,799.111190776,649.888809224,628,650,0.446945901422,-0.00556582264727,0.0496594903764,0.999999869596,-6.21453745038e-05,-0.000506861069498,6.17806337004e-06,1793192708259097600
+234,3.900000000,POSE1_TO_POSE2_PRESS,764,743,711.684347508,672,660,630.315652492,877,782,799.684347508,649.315652492,628,650,0.44694587088,-0.00556559204865,0.0496587055877,0.999999869087,-6.16564992414e-05,-0.000507922502029,6.26874313183e-06,1793192708275764224
+235,3.916666667,POSE1_TO_POSE2_PRESS,764,743,712,672.265910294,660,630,877.265910294,782,799.734089706,649,628,650,0.446945847387,-0.00556512104298,0.0496582844785,0.999999868785,-6.13222552909e-05,-0.000508559864405,6.07549131941e-06,1793192708292430848
+236,3.933333333,POSE1_TO_POSE2_PRESS,764,743,712,672.857777422,660,630,877.857777422,782,799.142222578,649,628,650,0.446945832536,-0.0055643553427,0.0496583091731,0.999999868737,-6.11775606609e-05,-0.000508677395354,5.53419192824e-06,1793192708309097472
+237,3.950000000,POSE1_TO_POSE2_PRESS,764,743,711.560404547,673,660,630.439595453,877.120809094,782,799.439595453,649,628,650,0.446947420087,-0.00556488826681,0.0496590435557,0.999999869426,-6.27365136857e-05,-0.00050712593113,5.96656154915e-06,1793192708325763840
+238,3.966666667,POSE1_TO_POSE2_PRESS,764,742.981848799,711,673,660,630.981848799,876.036302403,782.018151201,799.981848799,649,628,650,0.446949411187,-0.00556576003813,0.0496599511618,0.999999870294,-6.47148965731e-05,-0.000505152686086,6.66098178698e-06,1793192708342430720
+239,3.983333333,POSE1_TO_POSE2_PRESS,764,742.405865922,711,673,660,630.405865922,877.188268155,782.594134078,799.405865922,649,628,650,0.446948227945,-0.00556442190845,0.0496592837033,0.999999869755,-6.30227813651e-05,-0.000506440842488,5.94413945166e-06,1793192708359097344
+240,4.000000000,POSE1_TO_POSE2_PRESS,764,742.173382344,711.173382344,673,660,630,877.826617656,783,799.173382344,649.173382344,628.173382344,650,0.446947673367,-0.00556363427856,0.0496589831183,0.999999869573,-6.13973466928e-05,-0.000507003108559,5.59123315261e-06,1793192708375764224
+241,4.016666667,POSE1_TO_POSE2_PRESS,764,742.76042116,711.76042116,673,660,630,877.23957884,783,799.76042116,649.76042116,628.76042116,650,0.446948618658,-0.00556416003394,0.0496595578219,0.999999870252,-5.99309988818e-05,-0.000505833541738,6.10660733062e-06,1793192708392430848
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,742.657083465,712,673,659.657083465,630.342916535,877,782.657083465,799.657083465,649.657083465,629,650,0.446948662671,-0.00556479827003,0.0496587252508,0.999999869888,-6.09846443185e-05,-0.000506429015683,5.8869773444e-06,1793192708409097728
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,742.077720886,712,673,659.077720886,630.922279114,877,782.077720886,799.077720886,649.077720886,629,650,0.446948085241,-0.00556551406322,0.049656922343,0.999999868798,-6.37758625918e-05,-0.000508241511499,5.16055104772e-06,1793192708425764352
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,742,711.501668587,672.501668587,659.498331413,631,877.498331413,782,799,649.498331413,629,650,0.446949024739,-0.00556553281856,0.0496577831793,0.999999869435,-6.29648357231e-05,-0.000507086113915,5.45261211105e-06,1793192708442430976
+245,4.083333333,HOLD_POSE2,764,743,712,673,660,631,877,783,800,649,628,650,0.446946446577,-0.00556419463466,0.0496565253843,0.999999868389,-6.08196339014e-05,-0.000509403346134,5.65186272026e-06,1793192708485885696
+246,4.100000000,HOLD_POSE2,764,743,712,673,660,630.410484718,877,782.410484718,800,649,628,650.589515282,0.446947626796,-0.00556315093401,0.0496579828505,0.999999869258,-6.09710611521e-05,-0.000507680097706,5.24983889436e-06,1793192708502552576
+247,4.116666667,HOLD_POSE2,764,743,712,673,660,630,877,782.176051906,800,649,628,650.823948094,0.446948445838,-0.0055624399097,0.0496588972407,0.99999986968,-6.10832015669e-05,-0.000506837585835,5.01760340907e-06,1793192708519218944
+248,4.133333333,HOLD_POSE2,764,743,712,673,660,630,877,782.755759119,800,649,628,650.244240881,0.44694843677,-0.00556249165213,0.0496585664557,0.99999986908,-6.11052643748e-05,-0.0005080144439,5.174661924e-06,1793192708535885568
+249,4.150000000,HOLD_POSE2,764,743,711.668362135,672.668362135,659.668362135,630,876.668362135,783,799.668362135,649,628,650,0.446949601114,-0.00556301834263,0.0496590019243,0.999999869646,-6.13714767846e-05,-0.000506865574814,5.38306269682e-06,1793192708552552192
+250,4.166666667,HOLD_POSE2,764,743,711.095270789,672.095270789,659.095270789,630,876.095270789,783,799.095270789,649,628,650,0.446951619776,-0.00556389082557,0.0496599952743,0.999999871054,-6.18154456471e-05,-0.000504023428221,5.62884389267e-06,1793192708569218816
+251,4.183333333,HOLD_POSE2,764,743,711,672.480044901,659,630,876.480044901,782.519955099,799,649.480044901,628,650,0.446950511854,-0.00556517869353,0.0496592457087,0.999999870383,-6.22997012735e-05,-0.000505290243727,5.82572600746e-06,1793192708585885184
+252,4.200000000,HOLD_POSE2,764,742.943015564,711,672.943015564,659,630,877,782,799.056984436,649.943015564,628,650,0.446948954077,-0.0055664828213,0.0496582467716,0.999999869353,-6.28737427149e-05,-0.000507251854748,5.9947646532e-06,1793192708602552064
+253,4.216666667,HOLD_POSE2,764,742.355078164,711,672.355078164,659,630,877,782,799.644921836,649.355078164,628,650,0.446949013279,-0.00556716675519,0.04965816227,0.999999868861,-6.42095202603e-05,-0.000508053673505,5.99521537709e-06,1793192708619218944
+254,4.233333333,HOLD_POSE2,764,742.229870437,711,672,659,630.229870437,876.770129563,782.229870437,799.770129563,649,628,650,0.446948564025,-0.00556681958398,0.049657610397,0.999999868282,-6.41729831914e-05,-0.000509198055919,5.89168350699e-06,1793192708635885312
+255,4.250000000,HOLD_POSE2,764,742.810261478,711,672,659,630.810261478,876.189738522,782.810261478,799.189738522,649,628,650,0.446947339445,-0.00556490012011,0.0496563458472,0.999999867568,-6.2043856135e-05,-0.000510864800427,5.62959257171e-06,1793192708652552192
+256,4.266666667,HOLD_POSE2,764,743,711,672,659.387332297,630.612667703,876.387332297,782.612667703,799.387332297,649,628,650,0.446948874168,-0.00556427172271,0.0496577274384,0.999999868829,-6.0807619333e-05,-0.00050853960284,5.60228949688e-06,1793192708669219072
+257,4.283333333,HOLD_POSE2,764,743,711,672,659.962790548,630.037209452,876.962790548,782.037209452,799.962790548,649,628,650,0.446951749074,-0.00556427039163,0.049660394251,0.999999871037,-6.00050560396e-05,-0.000504275532967,5.68902204799e-06,1793192708685885440
+258,4.300000000,HOLD_POSE2,764,743,711,672.551736307,660,630,877,782,799.448263693,649,628,650,0.446950476121,-0.00556366656886,0.0496596095127,0.999999870103,-6.15384171293e-05,-0.000505944534472,5.16719443489e-06,1793192708702552064
+259,4.316666667,HOLD_POSE2,764,743,711.139553875,673,659.860446125,630,877,782,799.27910775,649,628,650.139553875,0.446949484395,-0.00556379768752,0.0496586595441,0.999999869254,-6.33213398681e-05,-0.000507403114093,4.9560953217e-06,1793192708719218688
+260,4.333333333,HOLD_POSE2,764,743,711.720849036,673,659.279150964,630,877,782,800.441698073,649,628,650.720849036,0.446950290517,-0.00556638701626,0.0496579418426,0.999999869373,-6.53830630173e-05,-0.000506897326222,5.86173836554e-06,1793192708735885568
+261,4.350000000,POSE2_TO_POSE3_RETREAT,763,742,712,673,659,630,876,782,800,650,628,650,0.446953863536,-0.00556446083368,0.049661472002,0.999999872168,-6.05049884279e-05,-0.000501964621574,5.82068338233e-06,1793192708773115648
+262,4.366666667,POSE2_TO_POSE3_RETREAT,763.580728785,742.580728785,712,672.419271215,659.580728785,630,876.580728785,782.580728785,800,649.419271215,628.580728785,650,0.446951570411,-0.00556392327063,0.0496598842198,0.999999870374,-6.23778776697e-05,-0.000505305049767,5.3250866932e-06,1793192708789782784
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711.836263458,672,659.836263458,630.163736542,877,782.836263458,799.836263458,649.163736542,629,650,0.446950582977,-0.00556336511038,0.0496592012195,0.999999869449,-6.33197969934e-05,-0.000507018282606,4.96330151318e-06,1793192708806449664
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711.247337563,672,659.247337563,630.752662437,877,782.247337563,799.247337563,649.752662437,629,650,0.446952986149,-0.0055627534634,0.0496608677469,0.999999870812,-6.18441837155e-05,-0.0005045060322,4.94899656245e-06,1793192708823116032
+265,4.416666667,POSE2_TO_POSE3_RETREAT,764,742.663294733,711,672.336705267,659,630.663294733,877,782,799,649.663294733,628.663294733,650,0.44695270195,-0.0055640293821,0.0496606753242,0.999999870624,-6.24497854005e-05,-0.000504800645034,5.39478118387e-06,1793192708839782144
+266,4.433333333,POSE2_TO_POSE3_RETREAT,764,742.082787671,711,672.917212329,659,630.082787671,877,782,799,649.082787671,628.082787671,650,0.446950471878,-0.00556667205078,0.0496591368715,0.999999869308,-6.45623548229e-05,-0.0005071276536,6.17370779922e-06,1793192708856448256
+267,4.450000000,POSE2_TO_POSE3_RETREAT,764,742.492019457,711,673,659.492019457,630,877,782,799,649,628.492019457,650,0.446950069993,-0.00556612093591,0.0496589637379,0.999999869361,-6.59627854975e-05,-0.000506849042431,5.55662169268e-06,1793192708873115136
+268,4.466666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.934413083,660,630,877,782.065586917,799,649,628.934413083,650,0.446949366278,-0.00556496013278,0.0496587893988,0.999999869435,-6.66989281576e-05,-0.000506615342006,4.77457686462e-06,1793192708889781760
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.363093921,660,630,877,782.636906079,799,649,628.363093921,650,0.446943990401,-0.00556319438571,0.0496568546329,0.999999867905,-6.32262068157e-05,-0.00051006985881,4.51105491421e-06,1793192708906448384
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,743,711,672,659.781829443,630,877,782.781829443,799.218170557,649,628,650.218170557,0.446932195474,-0.00556216408528,0.049651768947,0.999999863302,-6.13183365367e-05,-0.000519246843268,4.23367247636e-06,1793192708923115264
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,743,711,672,659.183222826,630,877,782.183222826,799.816777174,649,628,650.816777174,0.446909207292,-0.00556241622398,0.0496411888283,0.999999853123,-6.21391838926e-05,-0.000538402410372,3.93212076715e-06,1793192708939782144
+272,4.533333333,POSE2_TO_POSE3_RETREAT,763.602748846,742.602748846,711,672.397251154,659.397251154,630.397251154,877,782,799.602748846,649,628,650.602748846,0.446865982452,-0.00556121936739,0.0496246159384,0.999999836144,-6.12108018627e-05,-0.000569170051029,3.20350869074e-06,1793192708956448768
+273,4.550000000,POSE2_TO_POSE3_RETREAT,763.030272992,742.030272992,711,672.969727008,659.969727008,630.969727008,877,782,799.030272992,649,628,650.030272992,0.446813831363,-0.00555938336916,0.0496053996782,0.999999815178,-5.95108470221e-05,-0.000605059697031,2.28652325054e-06,1793192708973115136
+274,4.566666667,POSE2_TO_POSE3_RETREAT,763,742,711.54686786,673,660,630.45313214,876.45313214,782,799.54686786,649,628,650,0.446745267634,-0.00555704166533,0.0495896655732,0.999999803602,-6.02997212673e-05,-0.000623826492787,2.10518330369e-07,1793192708989782016
+275,4.583333333,POSE2_TO_POSE3_RETREAT,763.127450555,742.127450555,712,673,660,630.127450555,876.127450555,782.127450555,799.872549445,649,628,650,0.446673831172,-0.00555390248674,0.0495765725213,0.999999793819,-6.02852985604e-05,-0.000639315154372,-1.7401408278e-06,1793192709006448896
+276,4.600000000,POSE2_TO_POSE3_RETREAT,763.719633927,742.719633927,712,673,660,630.719633927,876.719633927,782.719633927,799.280366073,649,628,650,0.446595261066,-0.00554795836985,0.0495724008119,0.999999789505,-5.68350531635e-05,-0.000646336538004,-2.99777856483e-06,1793192709023115264
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,631,877,782.697967973,799,649,628,650,0.44650807692,-0.00554340440574,0.0495729882699,0.999999790323,-5.29634350014e-05,-0.000645395119637,-3.63790915778e-06,1793192709039781888
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,743,712,673,660,631,877,782.124368196,799,649,628,650,0.446413147591,-0.00554010037786,0.0495778548651,0.999999795735,-4.87129457862e-05,-0.000637294061983,-3.72281701115e-06,1793192709056448768
+279,4.650000000,POSE2_TO_POSE3_RETREAT,764,743,711.548063289,673,660,631,877,782.451936711,799,649,628,650,0.446298647723,-0.00553480598294,0.049587601846,0.999999806108,-4.39956979819e-05,-0.00062115541657,-3.89786200232e-06,1793192709073115392
+280,4.666666667,POSE2_TO_POSE3_RETREAT,764,743,711.029688811,673,660.029688811,630.970311189,877,782.970311189,799,649,628.029688811,650,0.446176711227,-0.00552902340522,0.0495985506293,0.99999981729,-3.9269484283e-05,-0.000603208503689,-4.09235819871e-06,1793192709089782272
+281,4.683333333,POSE2_TO_POSE3_RETREAT,764,743,711.620642133,673,660.620642133,630.379357867,877,782.379357867,799,649,628.620642133,650,0.446016613361,-0.00552442887448,0.049606676623,0.999999823404,-3.6816672715e-05,-0.000593143250989,-4.18282171339e-06,1793192709106448896
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763.792647474,742.792647474,711.792647474,672.792647474,660.792647474,630,876.792647474,782,799,649,629,650.207352526,0.445841039004,-0.00551809877464,0.049613168277,0.9999998282,-3.21540323944e-05,-0.000585272427279,-4.64381196816e-06,1793192709123115520
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763.213544057,742.213544057,711.213544057,672.213544057,660.213544057,630,876.213544057,782,799,649,629,650.786455943,0.445637717717,-0.00550865706931,0.0496167298126,0.999999830731,-2.352951243e-05,-0.000581335875236,-5.76909914004e-06,1793192709139781888
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763.363555861,742,711,672,660,630.363555861,876.363555861,782.363555861,799.363555861,649,628.636444139,650.636444139,0.445408535863,-0.00549946918276,0.0496193744248,0.999999831449,-1.65540948297e-05,-0.000580327964235,-6.89948498896e-06,1793192709156448512
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763.939485476,742,711,672,660,630.939485476,876.939485476,782.939485476,799.939485476,649,628.060514524,650.060514524,0.445164247354,-0.00549042956538,0.04962148341,0.999999831114,-1.05420113348e-05,-0.000581030839448,-8.03284937347e-06,1793192709173115136
+286,4.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,660.5128749,631,876.4871251,783,799.4871251,649.5128749,628.5128749,650.5128749,0.444883222278,-0.00547912913412,0.0496309164302,0.999999835127,-1.98931880091e-06,-0.000574165106628,-8.72390931507e-06,1793192709189782016
+287,4.783333333,POSE2_TO_POSE3_RETREAT,764,742.088797493,711.088797493,672.088797493,661,631,876.088797493,783,799,649.911202507,628.911202507,651,0.444590846461,-0.00546755081033,0.0496406913597,0.999999839632,6.79005173994e-06,-0.000566215412879,-9.50575241774e-06,1793192709206448640
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.680764454,711.680764454,672.680764454,661,631,876.680764454,783,799,649.319235546,628.319235546,651,0.444258592515,-0.005455901923,0.049647531053,0.99999984461,1.51636313084e-05,-0.000557158848478,-1.10962811638e-05,1793192709223115264
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,743,711.733065737,673,661.266934263,631,877,783,799,649,628.266934263,650.733065737,0.443905781852,-0.00544422918914,0.0496551172514,0.999999850656,2.24249097719e-05,-0.000545908835648,-1.30245416706e-05,1793192709239782144
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,743,711.153681602,673,661.846318398,631,877,783,799,649,628.846318398,650.153681602,0.443528909317,-0.00543252854332,0.0496635772431,0.999999857919,2.83842254687e-05,-0.000532091364707,-1.53481213033e-05,1793192709256449024
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.577265797,743,711,673,661.577265797,631.422734203,877,783,799,649,628.577265797,650,0.443125439786,-0.0054226696447,0.0496693716513,0.999999863634,3.19049713748e-05,-0.000520943508882,-1.8211312731e-05,1793192709273115392
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.001921592,743,711,673,661.001921592,631.998078408,877,783,799,649,628.001921592,650,0.442712368563,-0.00541347562994,0.0496742037652,0.99999986874,3.45453764166e-05,-0.000510759403039,-2.12693077359e-05,1793192709289781760
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.584686961,742.415313039,711,672.415313039,662.169373922,632,877,783,799,649,628,650,0.442277662111,-0.00541651381532,0.0497051587832,0.999999894946,2.64296334236e-05,-0.000457034319291,-2.29861634665e-05,1793192709306448640
+294,4.900000000,POSE2_TO_POSE3_RETREAT,764,742.169216877,711.169216877,672,663,632,876.830783123,783,799,649,628.169216877,650,0.44182953096,-0.00542208994686,0.0497374497769,0.99999991865,1.48835238312e-05,-0.000402365400224,-2.40745293747e-05,1793192709323115520
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.748616576,711.748616576,672,663,632,876.251383424,783,799,649,628.748616576,650,0.441349034058,-0.0054337187131,0.0497727669815,0.999999939933,-4.89044270717e-06,-0.000345762314215,-2.3650325826e-05,1793192709339782144
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764.325927602,743,711.674072398,672,663,632,876,783,799.325927602,649,629,650,0.440822983829,-0.00543533837648,0.0497964781359,0.999999951841,-1.55259110289e-05,-0.000308928712836,-2.53075457712e-05,1793192709356449280
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764.901637984,743,711.098362016,672,663,632,876,783,799.901637984,649,629,650,0.440262022616,-0.0054292873145,0.0498112947069,0.999999958154,-1.9157864542e-05,-0.000287245945527,-2.85599167178e-05,1793192709373116928
+298,4.966666667,POSE2_TO_POSE3_RETREAT,764.521638789,742.521638789,711,672,663.478361211,632,876,783,799.521638789,649,628.521638789,650,0.439645590557,-0.00542125785305,0.0498054213762,0.999999955277,-2.23886791533e-05,-0.000296320504414,-3.37510677475e-05,1793192709389783296
+299,4.983333333,POSE2_TO_POSE3_RETREAT,764,742.056405008,711,672,663.943594992,632,876,783,799,649,628.056405008,650,0.439011589091,-0.00541336723186,0.0497946348443,0.999999949931,-2.57662205788e-05,-0.000312945174895,-3.92250131329e-05,1793192709406449664
+300,5.000000000,POSE2_TO_POSE3_RETREAT,764,742.644938562,711,672,663.355061438,632,876,783,799,649,628.644938562,650,0.438319670278,-0.00541063239454,0.0497777175125,0.999999940417,-3.13077987701e-05,-0.000341006602748,-4.35979208005e-05,1793192709423116032
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.770119028,711.229880972,672,663.229880972,632,876,783,799.229880972,649,629,650,0.437630635029,-0.00540832648952,0.0497758326454,0.999999938219,-3.76525935803e-05,-0.0003462857772,-4.72333224731e-05,1793192709439782400
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.190638018,711.809361982,672,663.809361982,632,876,783,799.809361982,649,629,650,0.436945985105,-0.00540667289942,0.0497968089591,0.999999947522,-4.52189096151e-05,-0.00031691799088,-4.97471342262e-05,1793192709456448768
+303,5.050000000,POSE2_TO_POSE3_RETREAT,764,742,711.615304214,672,664,632,876,783,799.615304214,649,628.615304214,650,0.436226381557,-0.00540613800444,0.0498163860937,0.999999955169,-5.20753810826e-05,-0.000290361439562,-5.13819183541e-05,1793192709473115392
+304,5.066666667,POSE2_TO_POSE3_RETREAT,764,742,711.042003677,672,664,632,876,783,799.042003677,649,628.042003677,650,0.435489641321,-0.00540615157201,0.0498352772523,0.99999996174,-5.85838369133e-05,-0.000265183152838,-5.258574164e-05,1793192709489781760
+305,5.083333333,POSE2_TO_POSE3_RETREAT,764.522890519,742,711,672,663.477109481,632,876,783,799,649,628.522890519,650,0.434703116421,-0.00540412312261,0.0498084769738,0.999999947538,-6.53973829156e-05,-0.000312029013079,-5.73218683273e-05,1793192709506448896
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.90661885,742,711,671.90661885,663,632,876.09338115,783,799.09338115,648.90661885,629,650,0.433908822855,-0.00540211628814,0.0497846238105,0.999999933288,-7.22837999935e-05,-0.000352623028812,-6.20939804472e-05,1793192709523115520
+307,5.116666667,POSE2_TO_POSE3_RETREAT,764.301840187,742,711,671.301840187,663,632,876.698159813,783,799.698159813,648.301840187,629,650,0.433093539677,-0.00540111194271,0.0497966930381,0.999999940973,-7.94371982041e-05,-0.000327795399772,-6.5533812088e-05,1793192709539782144
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.709847456,742,711,671.290152544,663.580305087,632,876.709847456,783,800,648.290152544,629,650,0.432275076862,-0.00540045154925,0.0498113729624,0.999999950086,-5.6812302912e-05,-0.000305059423937,-5.94972263965e-05,1793192709556448768
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.130594235,742,711,671.869405765,664.73881153,632,876.130594235,783,800,648.869405765,629,650,0.431453445838,-0.00540013386074,0.0498286541205,0.999999958577,-4.51706761281e-06,-0.000284407515012,-4.40185777255e-05,1793192709573115136
+310,5.166666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,664.555745731,632,876.444254269,783,799.555745731,649,628.555745731,650.444254269,0.430571474573,-0.00539109523326,0.0498068977387,0.999999948168,2.75898054412e-05,-0.000318130638193,-4.11782732537e-05,1793192709589781760
+311,5.183333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,663.981708941,632,876.981708941,783,799,649,628,650.981708941,0.429673300394,-0.00537992860084,0.049774810651,0.999999930802,5.24807487623e-05,-0.000365874778242,-4.21650708378e-05,1793192709606448384
+312,5.200000000,POSE2_TO_POSE3_RETREAT,763,742,711,672,663.39300145,632,876.39300145,783,799,649,628,650.39300145,0.428817559651,-0.00538156230749,0.0497749137521,0.999999934397,3.55966868452e-05,-0.00035728876172,-4.7778961171e-05,1793192709623115008
+313,5.216666667,POSE2_TO_POSE3_RETREAT,763.19345088,742,711,672,663.19345088,632,876,783.19345088,799,649,628,650,0.427931513699,-0.00538280925615,0.0497771034759,0.999999934897,2.23591000031e-05,-0.000356418305655,-5.1692444225e-05,1793192709639781632
+314,5.233333333,POSE2_TO_POSE3_RETREAT,763.775374538,742,711,672,663.775374538,632,876,783.775374538,799,649,628,650,0.42698461127,-0.00538327954786,0.0497834833906,0.999999929667,1.6444077457e-05,-0.000371041629455,-5.21913033576e-05,1793192709656448512
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.648113016,742,711,672,663.648113016,632,876,783.648113016,799,649,628.351886984,650.351886984,0.426090642916,-0.00538267873364,0.0497869582945,0.999999934614,1.35199230687e-05,-0.00035723704194,-5.45004398651e-05,1793192709673115648
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.075002502,742,711,672,663.075002502,632,876,783.075002502,799,649,628.924997498,650.924997498,0.425229953076,-0.00538140453889,0.0497886068825,0.999999945248,1.24760612793e-05,-0.000325560457143,-5.79476574956e-05,1793192709689782784
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,663.501459894,632,876.501459894,783,799,649,629,650.498540106,0.424375694317,-0.00538210149198,0.0498245972153,0.99999996389,2.26205259253e-05,-0.000262017307503,-5.52771680174e-05,1793192709706449152
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742.080392298,711.080392298,672,664.080392298,632,876.919607702,783.080392298,799,649,629,650,0.423514815389,-0.00538288698681,0.0498588143849,0.999999976938,3.34225361e-05,-0.000205633108489,-5.21731311512e-05,1793192709723115264
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742.67181734,711.67181734,672,664.67181734,632,876.32818266,783.67181734,799,649,629,650,0.422605698557,-0.00538234860543,0.0498488893103,0.999999972558,3.76953190773e-05,-0.000225258056191,-5.21688013294e-05,1793192709739781632
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,743,711.742378497,671.742378497,664.227135492,632.257621503,876,783.742378497,799,649,629,650.257621503,0.421676685502,-0.00538010311405,0.0498311307493,0.999999964666,4.24358494037e-05,-0.000256877328276,-5.3674412495e-05,1793192709756448512
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,743,711.163581773,671.163581773,662.490745318,632.836418227,876,783.163581773,799,649,629,650.836418227,0.420722867819,-0.00537572937851,0.0498036062252,0.999999951191,4.77595181434e-05,-0.000303449856846,-5.70624582048e-05,1793192709773115392
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763.410867292,742.589132708,711,671.410867292,662.821734583,633,876,783.410867292,799,649,628.589132708,651,0.419824224139,-0.00537531289531,0.049807858002,0.999999949015,5.14619254836e-05,-0.00031011493346,-5.61320822971e-05,1793192709789782272
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763.983603479,742.016396521,711,671.983603479,663.967206957,633,876,783.983603479,799,649,628.016396521,651,0.418947317352,-0.00537645544635,0.0498246286517,0.999999951764,5.45256061132e-05,-0.000301057716312,-5.35003828138e-05,1793192709806448896
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.426978222,742,711,671.426978222,663.426978222,632.426978222,875.426978222,783.426978222,799,649,628,651,0.418075316344,-0.005375912962,0.0498067040916,0.999999940757,5.90577048698e-05,-0.000334717637456,-5.44224237828e-05,1793192709823115520
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763,742.16008793,711,671,663,632.16008793,875.320175859,783,799,649,628.16008793,650.83991207,0.417219431353,-0.00537612216213,0.0497969666814,0.999999935516,6.19175981679e-05,-0.000349377951615,-5.54054243671e-05,1793192709839782144
+326,5.433333333,POSE2_TO_POSE3_RETREAT,763,742.739701584,711,671,663,632.739701584,876.479403167,783,799,649,628.739701584,650.260298416,0.416405401079,-0.0053784313663,0.0498113641504,0.999999948255,6.02819044166e-05,-0.000310948738399,-5.62737038967e-05,1793192709856448512
+327,5.450000000,POSE2_TO_POSE3_RETREAT,763.317880416,742.682119584,711,671,663.317880416,632.682119584,876.682119584,783.317880416,799.317880416,649,628.682119584,650.317880416,0.415584995329,-0.00538168905461,0.049822900511,0.999999957248,6.02322201254e-05,-0.000280614385543,-5.59663349749e-05,1793192709873115136
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.894889588,742.105110412,711,671,663.894889588,632.105110412,876.105110412,783.894889588,799.894889588,649,628.105110412,650.894889588,0.414759392479,-0.00538571992512,0.0498321045616,0.999999963621,6.14754141293e-05,-0.000256878777441,-5.47006046391e-05,1793192709889781760
+329,5.483333333,POSE2_TO_POSE3_RETREAT,764,742,711.467805493,671,664,632.467805493,876,783.532194507,799.532194507,649,628,651,0.413931572781,-0.00538601935704,0.0498075056226,0.99999994941,6.49548004957e-05,-0.000306361351691,-5.57146416299e-05,1793192709906448640
+330,5.500000000,POSE2_TO_POSE3_RETREAT,764,742.041205167,711.958794833,671,663.958794833,632.958794833,875.958794833,783,799,649,628,650.958794833,0.413110487127,-0.00538556602619,0.0497781374255,0.999999928959,6.88540122095e-05,-0.000366162233366,-5.71535289975e-05,1793192709923115264
+331,5.516666667,POSE2_TO_POSE3_RETREAT,764,742.633259986,711.366740014,671,663.366740014,632.366740014,875.366740014,783,799,649,628,650.366740014,0.412386027169,-0.00538616045357,0.0497856661694,0.99999993596,7.17069723126e-05,-0.000345882495312,-5.74835912312e-05,1793192709939781888
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763.779603102,743,711,671.220396898,663.220396898,632,875.220396898,783,799,649,628.220396898,650.220396898,0.411665746137,-0.00538659927941,0.0497995998068,0.999999943685,7.63001218905e-05,-0.000321875185915,-5.66112377051e-05,1793192709956448512
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763.200470869,743,711,671.799529131,663.799529131,632,875.799529131,783,799,649,628.799529131,650.799529131,0.410952266942,-0.00538678483602,0.0498239585538,0.999999952475,8.37257412421e-05,-0.000291800584829,-5.37817377093e-05,1793192709973115392
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763.376008761,742.623991239,711,671.623991239,663.623991239,632,876,783,799.376008761,649,628.623991239,650.623991239,0.410235918096,-0.00538572530551,0.0498185557222,0.999999947327,8.84052455022e-05,-0.000307557183495,-5.42157468427e-05,1793192709989782016
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763.951084016,742.048915984,711,671.048915984,663.048915984,632,876,783,799.951084016,649,628.048915984,650.048915984,0.409518050041,-0.00538400660117,0.0497973965193,0.999999933808,9.1630901446e-05,-0.000347577729604,-5.63775225378e-05,1793192710006448640
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763.462417064,742,711,671.537582936,663,632,876,783,799.462417064,649,628.537582936,650.537582936,0.40891464324,-0.00538858788071,0.0498019337094,0.999999940303,8.67522309482e-05,-0.000329459782911,-5.7656021617e-05,1793192710023115264
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763.123257353,742,711,671.876742647,663.123257353,632.123257353,875.876742647,783,799,649,629,651,0.408327825019,-0.00539300211929,0.0498125084899,0.999999948386,8.46128187504e-05,-0.000304532604735,-5.76959828624e-05,1793192710039781632
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.701960833,742,711,671.298039167,663.701960833,632.701960833,875.298039167,783,799,649,629,651,0.407762982749,-0.00539463492851,0.0498365653255,0.99999995637,9.53792279562e-05,-0.000274416751323,-5.34628714255e-05,1793192710056448512
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.719435994,632.719435994,875,783.280564006,799,649.280564006,628.719435994,651,0.407197169573,-0.0053950335015,0.04984287361,0.999999956329,0.0001044226004,-0.000271664210129,-5.13486913163e-05,1793192710073115136
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.140939372,632.140939372,875,783.859060628,799,649.859060628,628.140939372,651,0.40663032542,-0.00539412143146,0.0498303345992,0.999999948051,0.000111636269026,-0.000297968937652,-5.14846174831e-05,1793192710089782016
+341,5.683333333,POSE2_TO_POSE3_RETREAT,763.56539535,742,711,671,663,632.43460465,875.43460465,783.56539535,799,649.56539535,628.43460465,650.56539535,0.406080086664,-0.00539400021434,0.0498044941601,0.999999934287,0.000113320803073,-0.000340100409469,-5.40014297288e-05,1793192710106449664
+342,5.700000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,876,783.009423595,799,649,629,650,0.405536768294,-0.00539413298907,0.0497748450118,0.999999917192,0.000113231885171,-0.000386674726745,-5.72424013364e-05,1793192710123117056
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,876,783.598130441,799,649,629,650,0.405090067781,-0.00539421991636,0.0497744409358,0.999999914655,0.000113604623712,-0.000392983259854,-5.78563187316e-05,1793192710139783168
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.183687686,633,876,783.816312314,799,649.183687686,629,650,0.404672108223,-0.00539534696784,0.0497837059546,0.999999919835,0.000112199575852,-0.000379967184895,-5.8015233836e-05,1793192710156449280
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.762470542,633,876,783.237529458,799,649.762470542,629,650,0.404315967707,-0.00539871122995,0.0498137682995,0.999999939705,0.000106970674245,-0.000325385671433,-5.7195481235e-05,1793192710173115392
+346,5.766666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.660021636,633,875.660021636,783,799,650,629,650,0.403975479546,-0.00540375966485,0.04984136401,0.999999954163,0.00010048614928,-0.000280058563955,-5.60624797559e-05,1793192710189781760
+347,5.783333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.083401337,633,875.083401337,783,799,650,629,650,0.403645886226,-0.00540998036799,0.0498672428181,0.999999965085,9.31276480358e-05,-0.000241172989022,-5.47114414623e-05,1793192710206448384
+348,5.800000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875.491017323,783,799,649.508982677,628.508982677,650.491017323,0.403318954241,-0.00541334999433,0.0498658024058,0.99999996308,8.73189502257e-05,-0.000251352259383,-5.51082972856e-05,1793192710223115264
+349,5.816666667,POSE2_TO_POSE3_RETREAT,763.066942986,742,711,671,663,632.933057014,875.933057014,783,799,649,628.066942986,651,0.402996859112,-0.00541575095682,0.0498585719631,0.999999958267,8.23543237273e-05,-0.00027120573554,-5.59630510439e-05,1793192710239781888
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.657570053,742,711,671,663,632.342429947,875.342429947,783,799,649,628.657570053,651,0.402709081465,-0.0054143456533,0.0498421851988,0.999999949403,8.19426338636e-05,-0.00030183547076,-5.8087733677e-05,1793192710256448512
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.756177983,742,711,671,663.243822017,632.243822017,875,783,799,649,629,650.756177983,0.40244276831,-0.0054128012234,0.0498282201725,0.999999941111,8.2472673338e-05,-0.000327696262953,-5.99233067817e-05,1793192710273115392
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.175962262,742,711,671,663.824037738,632.824037738,875,783,799,649,629,650.175962262,0.402206069077,-0.00541106484526,0.0498175963444,0.999999934367,8.43019877839e-05,-0.000346977489472,-6.13600042696e-05,1793192710289782016
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.599119352,633,875,783,799,649,628.599119352,650,0.402012028786,-0.00540938846321,0.0498164922968,0.999999934541,8.61634503414e-05,-0.000345876492306,-6.21617635428e-05,1793192710306448896
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.0237445,633,875,783,799,649,628.0237445,650,0.40183655694,-0.00540773819595,0.0498195319917,0.999999937744,8.8038906398e-05,-0.000335903579651,-6.26871488156e-05,1793192710323115520
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.548305872,742.548305872,711,671,663,633,875,783,799,649.548305872,628.548305872,650.548305872,0.401699943968,-0.00540792887982,0.0498275423391,0.999999939898,0.000127523945965,-0.000318040897981,-5.28302394417e-05,1793192710339781888
+356,5.933333333,POSE2_TO_POSE3_RETREAT,764,742.874534916,711,671,663,633,875,783.125465084,799,649.874534916,629,650.874534916,0.401570722349,-0.00540718726184,0.0498351105992,0.999999939797,0.000166441287772,-0.000301312659789,-4.37451717306e-05,1793192710356448512
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742.277641666,711,671,663,633,875,783.722358334,799,649.277641666,629,650.277641666,0.401462988402,-0.00540264482229,0.0498402138083,0.999999937712,0.000197142713899,-0.000290123089583,-3.92394480517e-05,1793192710373115136
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,875,783.694787425,799,649,628.694787425,650.305212575,0.401368046719,-0.00540299299096,0.0498426403452,0.999999937507,0.000207140405952,-0.000283993668469,-3.77766064958e-05,1793192710389782016
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,875,783.12414244,799,649,628.12414244,650.87585756,0.401284230015,-0.00540759434613,0.0498427390761,0.999999939577,0.000199132802709,-0.000282264878054,-3.89600504785e-05,1793192710406448896
+360,6.000000000,POSE2_TO_POSE3_RETREAT,763.546583652,742,711,671,663,633,875,783,799,649,628,650.546583652,0.401211980932,-0.00541391231207,0.0498400447505,0.999999940594,0.0001888839814,-0.000285566162144,-3.98450656188e-05,1793192710423115264
+361,6.016666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649,628,650.033579649,0.401144446893,-0.00542051355654,0.0498368257674,0.999999941301,0.000178174320304,-0.000289831295323,-4.0613557362e-05,1793192710439781888
+362,6.033333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649,628,650.625078455,0.401101816142,-0.00542389159957,0.0498377921249,0.999999943541,0.000170161119477,-0.000286874348554,-4.08246172916e-05,1793192710456448512
+363,6.050000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.211703453,632.788296547,875.211703453,783,799,649,628,650.788296547,0.401065184977,-0.0054259013053,0.0498386154925,0.999999945164,0.000165141077164,-0.000284077943507,-4.1236682775e-05,1793192710473115392
+364,6.066666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.789891236,632.210108764,875.789891236,783,799,649,628,650.210108764,0.401038939824,-0.005425542253,0.0498391913273,0.999999945818,0.000165302555794,-0.000281559455966,-4.19967132124e-05,1793192710489782016
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.634035661,632.365964339,875.634035661,783,799,649,628,650,0.401022670831,-0.00542634120169,0.0498426382452,0.999999947926,0.000162893961706,-0.000275381729449,-4.21763969426e-05,1793192710506448640
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.059169616,632.940830384,875.059169616,783,799,649,628,650,0.40101209648,-0.00542780116663,0.0498477240501,0.999999950798,0.00015901830507,-0.000267115216464,-4.20248041542e-05,1793192710523115264
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649.527256188,628.527256188,650.527256188,0.401000046524,-0.00542606712562,0.0498473808438,0.999999950351,0.000159920091112,-0.000268171280477,-4.25138127128e-05,1793192710539782144
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763,742,711,670.886581828,663,632.886581828,875,783,799,649.886581828,628.886581828,650.886581828,0.400989419923,-0.00542462707513,0.0498465480351,0.999999949717,0.000160971078165,-0.000269833983638,-4.29482078867e-05,1793192710556449024
+369,6.150000000,POSE2_TO_POSE3_RETREAT,763,742,711,670.306956024,663,632.306956024,875,783,799,649.306956024,628.306956024,650.306956024,0.400985339985,-0.00542590186667,0.0498462631895,0.99999994988,0.000160382174419,-0.000269593483288,-4.28559870721e-05,1793192710573115392
+370,6.166666667,POSE2_TO_POSE3_RETREAT,763.270726874,742,711,670.270726874,663,632,875,783,799,649,628.270726874,650,0.400982741317,-0.00542665074114,0.0498465994217,0.999999950119,0.000160239414818,-0.000268797903976,-4.28086555685e-05,1793192710589781760
+371,6.183333333,POSE2_TO_POSE3_RETREAT,763.846222526,742,711,670.846222526,663,632,875,783,799,649,628.846222526,650,0.400981810178,-0.00542680756829,0.0498476348279,0.999999950442,0.000160598898725,-0.000267377448638,-4.28118578808e-05,1793192710606448384
+372,6.200000000,POSE2_TO_POSE3_RETREAT,763.577968184,742,711,671,663,632.422031816,875,783.422031816,799,649,629,650.422031816,0.400980096613,-0.005425741576,0.0498471795003,0.999999950346,0.000160982678922,-0.000267439064553,-4.3220884143e-05,1793192710623115264
+373,6.216666667,POSE2_TO_POSE3_RETREAT,763.00204454,742,711,671,663,632.99795546,875,783.99795546,799,649,629,650.99795546,0.400978097741,-0.0054242296886,0.0498461805839,0.999999950098,0.000161375318631,-0.0002680411105,-4.37778921148e-05,1793192710639781888
+374,6.233333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783.412382231,799,649,628.412382231,650.412382231,0.400978125045,-0.00542384735458,0.0498477261532,0.999999950285,0.000162360935244,-0.000266784589876,-4.35382530938e-05,1793192710656448512
+375,6.250000000,POSE2_TO_POSE3_RETREAT,763.17407637,742,711,670.82592363,663,632.82592363,875,783,799.17407637,649.17407637,628,650.17407637,0.400978128756,-0.0054240888742,0.0498487560601,0.99999995055,0.000162507215424,-0.000265732520473,-4.33281683521e-05,1793192710673115392
+376,6.266666667,POSE2_TO_POSE3_RETREAT,763.752970779,742,711,670.247029221,663,632.247029221,875,783,799.752970779,649.752970779,628,650.752970779,0.400978060816,-0.00542577181946,0.0498485657026,0.999999950998,0.000160696689165,-0.000265171304927,-4.31934129676e-05,1793192710689782784
+377,6.283333333,POSE2_TO_POSE3_RETREAT,764,742.329974635,711,670.329974635,663.329974635,632.329974635,875.329974635,783.329974635,799.670025365,649.670025365,628.329974635,651,0.400979521938,-0.00542637184545,0.0498494148857,0.999999951624,0.000159804535777,-0.000263365361758,-4.30391725382e-05,1793192710706449408
+378,6.300000000,POSE2_TO_POSE3_RETREAT,764,742.905571287,711,670.905571287,663.905571287,632.905571287,875.905571287,783.905571287,799.094428713,649.094428713,628.905571287,651,0.400982121243,-0.00542616578294,0.0498510378678,0.999999952381,0.000159595988071,-0.00026063288516,-4.28704280824e-05,1793192710723115520
+379,6.316666667,POSE2_TO_POSE3_RETREAT,764,742.518747163,711,671,663.518747163,633,875.518747163,783.518747163,799,649.481252837,629,651,0.400980539823,-0.0054257317435,0.0498499506396,0.999999952054,0.000160190316777,-0.000261449586604,-4.33045570461e-05,1793192710739782144
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,874.941576811,783,799.058423189,649.941576811,628.941576811,651,0.400978253272,-0.0054254303343,0.0498485379217,0.999999951584,0.000160692216566,-0.000262863228074,-4.37394570566e-05,1793192710756448256
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,874.350996882,783,799.649003118,649.350996882,628.350996882,651,0.400977017231,-0.00542674453137,0.0498490051035,0.999999951762,0.000158917020329,-0.000263369807639,-4.31037055501e-05,1793192710773115136
+382,6.366666667,POSE2_TO_POSE3_RETREAT,764,742,711,671.23418073,663,633,874.23418073,783,799.76581927,649.23418073,628,650.76581927,0.400977152571,-0.00542767218617,0.0498497255485,0.99999995208,0.000157931183462,-0.000262814861304,-4.27435177652e-05,1793192710789782016
+383,6.383333333,POSE2_TO_POSE3_RETREAT,764,742,711,671.811443739,663,633,874.811443739,783,799.188556261,649.811443739,628,650.188556261,0.400979297028,-0.00542803354407,0.0498508170319,0.999999952603,0.00015810178349,-0.000260704745455,-4.27870397066e-05,1793192710806448640
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.612320335,742,711,671.612320335,663,632.612320335,875,783,799,650,628.387679665,650.387679665,0.400978987619,-0.0054271210099,0.0498506294804,0.999999952308,0.000159425883712,-0.000261006827534,-4.29230239276e-05,1793192710823115264
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.036582648,742,711,671.036582648,663,632.036582648,875,783,799,650,628.963417352,650.963417352,0.400977487872,-0.00542559052838,0.0498498214867,0.999999951613,0.000161309530854,-0.00026247903339,-4.31038603149e-05,1793192710839782144
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.550803042,742,711,671,663,632,875,783,799,649.449196958,628.449196958,651,0.400977792887,-0.00542519630193,0.0498505871861,0.999999952014,0.000160119648577,-0.000261650958777,-4.32812761509e-05,1793192710856449024
+387,6.450000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.863095791,663,632.136904209,875.136904209,783.136904209,799,649.136904209,628.136904209,650.863095791,0.400978299967,-0.00542516161802,0.0498513226088,0.999999952428,0.000159075305391,-0.000260679646868,-4.34093710585e-05,1793192710873115648
+388,6.466666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.283700947,663,632.716299053,875.716299053,783.716299053,799,649.716299053,628.716299053,650.283700947,0.400979064354,-0.00542603983172,0.0498516150544,0.999999952656,0.000159175402813,-0.000259749838513,-4.33788049857e-05,1793192710889782016
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763.705816415,742,711,670,663,632.705816415,875.705816415,783.705816415,799,649.705816415,629,650,0.400979748452,-0.00542611909342,0.0498519447123,0.999999952746,0.000159762265733,-0.000259047064041,-4.33544642113e-05,1793192710906448384
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763.129380874,742,711,670,663,632.129380874,875.129380874,783.129380874,799,649.129380874,629,650,0.400980355518,-0.00542543180746,0.0498523100731,0.999999952703,0.000160816151713,-0.000258562115202,-4.33360962435e-05,1793192710923115008
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763,742.445702053,711,670.445702053,663,632.445702053,875,783,799,649.445702053,628.554297947,650.445702053,0.400979711906,-0.00542449374867,0.0498517926956,0.999999952368,0.000161383515713,-0.000259485176481,-4.34393117042e-05,1793192710939781888
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763,742.979048391,711,671,663,633,875,783,799,649.979048391,628.020951609,650.979048391,0.400978741574,-0.00542356316499,0.0498510694858,0.999999951982,0.000161710973972,-0.000260743621124,-4.35780087539e-05,1793192710956448512
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763,742.388629034,711,671,663,633,875,783,799,649.388629034,628.611370966,650.388629034,0.400978728953,-0.00542480836622,0.04985169546,0.999999952538,0.000159344806242,-0.00026004224343,-4.37247095102e-05,1793192710973115392
+394,6.566666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649.198052162,629,650,0.400978617247,-0.00542570256771,0.0498521169315,0.999999952743,0.000158897970404,-0.000259542344288,-4.36308639816e-05,1793192710989782016
+395,6.583333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875,783,799,649.777533978,629,650,0.400978314713,-0.00542592077694,0.0498521445505,0.999999952274,0.000162147585636,-0.000259430473745,-4.30737491462e-05,1793192711006448896
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.353546391,742,711,671,663.353546391,633,875,783,799,649.646453609,628.646453609,650.353546391,0.40097811948,-0.00542584093398,0.0498519675928,0.999999952329,0.000161638141065,-0.000259521617113,-4.31685441676e-05,1793192711023115264
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.927396905,742,711,671,663.927396905,633,875,783,799,649.072603095,628.072603095,650.927396905,0.400977991109,-0.00542557536679,0.0498516631579,0.999999952708,0.000158786326617,-0.000259739263833,-4.36695615132e-05,1793192711039781632
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f14c4d1240271790aabb746f616dd05f231a9d3e
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/simulation_data.csv
@@ -0,0 +1,399 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+1,0.016666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+2,0.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+3,0.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+4,0.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+5,0.083333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+6,0.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+7,0.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+8,0.133333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+9,0.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+10,0.166666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+11,0.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+12,0.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+13,0.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+14,0.233333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+15,0.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+16,0.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+17,0.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+18,0.300000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+19,0.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+20,0.333333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+21,0.350000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+22,0.366666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+23,0.383333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+24,0.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+25,0.416666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+26,0.433333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+27,0.450000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+28,0.466666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+29,0.483333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+30,0.500000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+31,0.516666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+32,0.533333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+33,0.550000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+34,0.566666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+35,0.583333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+36,0.600000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+37,0.616666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+38,0.633333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+39,0.650000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+40,0.666666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+41,0.683333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+42,0.700000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+43,0.716666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+44,0.733333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+45,0.750000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+46,0.766666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+47,0.783333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+48,0.800000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+49,0.816666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+50,0.833333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+51,0.850000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+52,0.866666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+53,0.883333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+54,0.900000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+55,0.916666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+56,0.933333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+57,0.950000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+58,0.966666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+59,0.983333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+60,1.000000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+61,1.016666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+62,1.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+63,1.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+64,1.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+65,1.083333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+66,1.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+67,1.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+68,1.133333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+69,1.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+70,1.166666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+71,1.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+72,1.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+73,1.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+74,1.233333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+75,1.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+76,1.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+77,1.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+78,1.300000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+79,1.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+80,1.333333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+81,1.350000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+82,1.366666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+83,1.383333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+84,1.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+85,1.416666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+86,1.433333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+87,1.450000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+88,1.466666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+89,1.483333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+90,1.500000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+91,1.516666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+92,1.533333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+93,1.550000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+94,1.566666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+95,1.583333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+96,1.600000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+97,1.616666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+98,1.633333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+99,1.650000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+100,1.666666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+101,1.683333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+102,1.700000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+103,1.716666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+104,1.733333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+105,1.750000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+106,1.766666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+107,1.783333333,pose1_to_pose2_press,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+108,1.800000000,pose1_to_pose2_press,0.575709324501,5.46119826664e-05,1.04002908467,0.546280054353,0.00872734029216,1.03969837934
+109,1.816666667,pose1_to_pose2_press,0.575709364443,5.45908905826e-05,1.04002915408,0.546280093708,0.00872731719288,1.03969844821
+110,1.833333333,pose1_to_pose2_press,0.575709555235,5.45382182507e-05,1.04002916324,0.546280284923,0.0087272658679,1.03969845509
+111,1.850000000,pose1_to_pose2_press,0.575709618903,5.45206412505e-05,1.04002916629,0.546280348733,0.00872724874052,1.03969845738
+112,1.866666667,pose1_to_pose2_press,0.575709764469,5.44804547492e-05,1.04002917328,0.546280494621,0.00872720958198,1.03969846263
+113,1.883333333,pose1_to_pose2_press,0.57571045752,5.44806360911e-05,1.04002918161,0.546281187656,0.00872720966319,1.03969846973
+114,1.900000000,pose1_to_pose2_press,0.57571281599,5.45930049768e-05,1.04002917521,0.546283545068,0.00872731846767,1.03969846397
+115,1.916666667,pose1_to_pose2_press,0.575719018928,5.44369758813e-05,1.04002930348,0.546289749969,0.0087271690043,1.03969858976
+116,1.933333333,pose1_to_pose2_press,0.575732186829,5.45855789132e-05,1.04002914387,0.546302915988,0.0087273116268,1.03969844066
+117,1.950000000,pose1_to_pose2_press,0.57575424625,5.44011784966e-05,1.04002916708,0.546324979787,0.00872714183504,1.03969845746
+118,1.966666667,pose1_to_pose2_press,0.575788942962,5.46424011361e-05,1.04002902503,0.54635967316,0.00872737165675,1.03969831337
+119,1.983333333,pose1_to_pose2_press,0.575835492342,5.45274374366e-05,1.04002916307,0.546406223491,0.00872726001745,1.03969845398
+120,2.000000000,pose1_to_pose2_press,0.575892001388,5.45210129907e-05,1.04002904276,0.546462731656,0.00872725068758,1.03969833574
+121,2.016666667,pose1_to_pose2_press,0.575956976391,5.46031122487e-05,1.04002912774,0.546527707103,0.0087273344865,1.03969842574
+122,2.033333333,pose1_to_pose2_press,0.576029963543,5.45570717997e-05,1.04002902462,0.546600693382,0.00872728556808,1.03969832477
+123,2.050000000,pose1_to_pose2_press,0.576110955638,5.45720618973e-05,1.04002917703,0.546681686171,0.00872730252151,1.03969846685
+124,2.066666667,pose1_to_pose2_press,0.576201240004,5.45581746218e-05,1.04002921605,0.546771970064,0.00872728661887,1.039698495
+125,2.083333333,pose1_to_pose2_press,0.576307742491,5.44403277196e-05,1.04002881837,0.54687847424,0.00872717505085,1.03969811175
+126,2.100000000,pose1_to_pose2_press,0.576430267344,5.4569631063e-05,1.04002910568,0.547000997387,0.00872729859927,1.03969839996
+127,2.116666667,pose1_to_pose2_press,0.5765704213,5.45890888829e-05,1.04002904405,0.547141151393,0.00872731824974,1.03969833881
+128,2.133333333,pose1_to_pose2_press,0.576727408806,5.45765826336e-05,1.0400291432,0.547298139112,0.00872730636382,1.03969843528
+129,2.150000000,pose1_to_pose2_press,0.576902328122,5.46450659271e-05,1.04002906097,0.547473058231,0.00872737428758,1.0396983558
+130,2.166666667,pose1_to_pose2_press,0.577097207066,5.46271894401e-05,1.04002913047,0.547667937163,0.00872735631455,1.03969842379
+131,2.183333333,pose1_to_pose2_press,0.57731306502,5.45720651677e-05,1.04002899047,0.547883795613,0.0087273028906,1.03969828411
+132,2.200000000,pose1_to_pose2_press,0.577554780288,5.46236133717e-05,1.04002911904,0.548125510677,0.00872735346376,1.03969840527
+133,2.216666667,pose1_to_pose2_press,0.577821851228,5.47007508535e-05,1.04002930283,0.54839258006,0.00872742506534,1.03969858237
+134,2.233333333,pose1_to_pose2_press,0.578115604385,5.44863306956e-05,1.04002910467,0.548686335113,0.00872721751129,1.0396983955
+135,2.250000000,pose1_to_pose2_press,0.578433485594,5.44770052458e-05,1.04002921142,0.549004216852,0.0087272100535,1.03969850397
+136,2.266666667,pose1_to_pose2_press,0.578775534776,5.45557517583e-05,1.04002908862,0.549346264182,0.00872728251834,1.03969838117
+137,2.283333333,pose1_to_pose2_press,0.57913673051,5.44592727587e-05,1.04002893652,0.549707460926,0.00872718954113,1.03969823104
+138,2.300000000,pose1_to_pose2_press,0.579515075692,5.44908266224e-05,1.04002892421,0.55008580765,0.00872722623828,1.03969821629
+139,2.316666667,pose1_to_pose2_press,0.579909489935,5.45228393667e-05,1.04002909128,0.550480220569,0.00872725371723,1.0396983822
+140,2.333333333,pose1_to_pose2_press,0.580320411564,5.44591863807e-05,1.04002907076,0.550891142379,0.00872719079692,1.03969836478
+141,2.350000000,pose1_to_pose2_press,0.580751665889,5.45112477503e-05,1.04002909921,0.551322396452,0.00872724198454,1.03969839274
+142,2.366666667,pose1_to_pose2_press,0.581214456652,5.45936962422e-05,1.04002917865,0.551785186549,0.00872732196415,1.03969846658
+143,2.383333333,pose1_to_pose2_press,0.581711544079,5.46039673627e-05,1.04002913868,0.552282273792,0.00872733201125,1.03969843713
+144,2.400000000,pose1_to_pose2_press,0.582247156027,5.46002938778e-05,1.04002913339,0.552817885672,0.00872732817033,1.03969843342
+145,2.416666667,pose1_to_pose2_press,0.582814592459,5.45413117088e-05,1.04002916125,0.553385322806,0.0087272712827,1.03969845372
+146,2.433333333,pose1_to_pose2_press,0.583407501797,5.44250170333e-05,1.04002924971,0.553978233613,0.00872715976584,1.03969853664
+147,2.450000000,pose1_to_pose2_press,0.584009762846,5.44909231227e-05,1.04002915848,0.554580493066,0.00872722023892,1.03969844498
+148,2.466666667,pose1_to_pose2_press,0.584616258048,5.46475445886e-05,1.04002909469,0.555186986391,0.00872737077808,1.0396983887
+149,2.483333333,pose1_to_pose2_press,0.585237610617,5.45346886779e-05,1.04002917177,0.555808341457,0.00872726617298,1.03969845984
+150,2.500000000,pose1_to_pose2_press,0.585877700961,5.44184744935e-05,1.04002926201,0.556448432583,0.0087271523101,1.03969854218
+151,2.516666667,pose1_to_pose2_press,0.586546435144,5.4454120992e-05,1.0400292559,0.557117165797,0.00872718480288,1.03969853961
+152,2.533333333,pose1_to_pose2_press,0.58724276746,5.44450293467e-05,1.04002912478,0.557813498638,0.00872717766241,1.03969841293
+153,2.550000000,pose1_to_pose2_press,0.587964226405,5.43810411494e-05,1.0400290794,0.558534958021,0.0087271149821,1.03969836281
+154,2.566666667,pose1_to_pose2_press,0.588697980693,5.43879031935e-05,1.04002913693,0.559268712647,0.00872712292238,1.03969841848
+155,2.583333333,pose1_to_pose2_press,0.589442181073,5.45835577966e-05,1.04002918715,0.560012911081,0.00872731214904,1.03969847335
+156,2.600000000,pose1_to_pose2_press,0.590200127995,5.45438257261e-05,1.04002929788,0.560770858605,0.00872727440944,1.03969858281
+157,2.616666667,pose1_to_pose2_press,0.5909727806,5.44194273996e-05,1.04002930309,0.561543513259,0.00872715725167,1.03969859553
+158,2.633333333,pose1_to_pose2_press,0.591758886998,5.45584518827e-05,1.04002898578,0.562329618324,0.00872729203222,1.0396982855
+159,2.650000000,pose1_to_pose2_press,0.592556288414,5.44754872018e-05,1.04002888903,0.563127019523,0.00872720808638,1.03969818233
+160,2.666666667,pose1_to_pose2_press,0.59336518297,5.44766514923e-05,1.04002916554,0.563935914112,0.00872720900852,1.03969844958
+161,2.683333333,pose1_to_pose2_press,0.594183202392,5.46305367594e-05,1.04002916988,0.564753931957,0.00872735763117,1.03969845633
+162,2.700000000,pose1_to_pose2_press,0.595012677804,5.46112606171e-05,1.0400289683,0.565583407315,0.00872733834143,1.03969825927
+163,2.716666667,pose1_to_pose2_press,0.595846085557,5.46767868713e-05,1.04002898536,0.566416814271,0.00872740131034,1.03969828015
+164,2.733333333,pose1_to_pose2_press,0.596681691229,5.45717788797e-05,1.04002891163,0.567252421742,0.00872730231789,1.03969820414
+165,2.750000000,pose1_to_pose2_press,0.59751897591,5.4430248199e-05,1.04002898797,0.568089707866,0.00872716539594,1.039698273
+166,2.766666667,pose1_to_pose2_press,0.598354138349,5.44955947859e-05,1.0400291582,0.568924869936,0.0087272294935,1.03969844338
+167,2.783333333,pose1_to_pose2_press,0.599190696858,5.44720266316e-05,1.04002920823,0.56976142899,0.00872720796006,1.03969849828
+168,2.800000000,pose1_to_pose2_press,0.600019930913,5.45432762907e-05,1.04002907905,0.570590661648,0.00872727455839,1.03969837153
+169,2.816666667,pose1_to_pose2_press,0.600842219773,5.45308251837e-05,1.04002910878,0.571412950801,0.00872726321892,1.03969840434
+170,2.833333333,pose1_to_pose2_press,0.601663270831,5.45539035483e-05,1.04002900813,0.57223400112,0.00872728400768,1.03969830952
+171,2.850000000,pose1_to_pose2_press,0.60247379825,5.46022493366e-05,1.04002900134,0.573044527843,0.00872732976521,1.03969829691
+172,2.866666667,pose1_to_pose2_press,0.60326893761,5.45470596922e-05,1.04002896976,0.573839669318,0.00872728178633,1.03969826624
+173,2.883333333,pose1_to_pose2_press,0.604065256477,5.4365710039e-05,1.04002913854,0.574635988453,0.00872710087821,1.03969842275
+174,2.900000000,pose1_to_pose2_press,0.604859500935,5.44312611583e-05,1.04002903365,0.575430232388,0.00872716466258,1.03969831817
+175,2.916666667,pose1_to_pose2_press,0.605644633122,5.46069700486e-05,1.04002929348,0.576215362978,0.00872733488099,1.03969857623
+176,2.933333333,pose1_to_pose2_press,0.606419088639,5.45798948525e-05,1.04002928777,0.576989819005,0.00872730950664,1.03969856987
+177,2.950000000,pose1_to_pose2_press,0.607178689855,5.44889794733e-05,1.04002948031,0.577749421582,0.00872722322405,1.0396987629
+178,2.966666667,pose1_to_pose2_press,0.607919756739,5.46323819202e-05,1.04002915925,0.578490486602,0.00872736061724,1.03969845015
+179,2.983333333,pose1_to_pose2_press,0.608638088809,5.45987466238e-05,1.04002919355,0.579208819479,0.00872732989198,1.03969848903
+180,3.000000000,pose1_to_pose2_press,0.609338246578,5.44771871708e-05,1.04002935283,0.579908978189,0.00872721115654,1.03969863874
+181,3.016666667,pose1_to_pose2_press,0.610022800013,5.44320349566e-05,1.0400291015,0.58059353184,0.0087271668575,1.03969839068
+182,3.033333333,pose1_to_pose2_press,0.61069592774,5.4538677227e-05,1.04002920517,0.581266661007,0.0087272785638,1.0396984991
+183,3.050000000,pose1_to_pose2_press,0.611356656152,5.4408100919e-05,1.04002894511,0.581927387835,0.00872714258098,1.03969823818
+184,3.066666667,pose1_to_pose2_press,0.611997117546,5.44266381528e-05,1.04002902723,0.582567848998,0.00872716035591,1.03969832064
+185,3.083333333,pose1_to_pose2_press,0.612606436932,5.45337163495e-05,1.0400290863,0.583177167185,0.00872726322285,1.03969837451
+186,3.100000000,pose1_to_pose2_press,0.613182135138,5.46003100172e-05,1.04002918852,0.58375286543,0.00872733011081,1.03969847622
+187,3.116666667,pose1_to_pose2_press,0.61372560135,5.45898878692e-05,1.04002913772,0.584296330248,0.00872731520025,1.03969842512
+188,3.133333333,pose1_to_pose2_press,0.614244338275,5.4522139195e-05,1.04002898629,0.584815068999,0.00872725401117,1.03969827491
+189,3.150000000,pose1_to_pose2_press,0.614745661634,5.45786162015e-05,1.04002916208,0.585316392418,0.00872731121424,1.03969845524
+190,3.166666667,pose1_to_pose2_press,0.615228432543,5.46706155009e-05,1.04002914167,0.585799161983,0.00872739912283,1.03969843849
+191,3.183333333,pose1_to_pose2_press,0.615687820253,5.46437022705e-05,1.04002910353,0.586258549093,0.00872737068804,1.03969840456
+192,3.200000000,pose1_to_pose2_press,0.616115915935,5.46652835587e-05,1.04002906912,0.586686644707,0.00872739198137,1.0396983613
+193,3.216666667,pose1_to_pose2_press,0.616512469915,5.4518245401e-05,1.04002914939,0.587083200652,0.00872725200828,1.03969844391
+194,3.233333333,pose1_to_pose2_press,0.616877050685,5.46641398978e-05,1.04002903274,0.587447777493,0.00872738489624,1.03969832827
+195,3.250000000,pose1_to_pose2_press,0.617216421683,5.44022145228e-05,1.04002898312,0.587787151738,0.00872713460952,1.03969828635
+196,3.266666667,pose1_to_pose2_press,0.617536661374,5.46811882479e-05,1.04002904628,0.588107389039,0.00872740518275,1.03969833612
+197,3.283333333,pose1_to_pose2_press,0.617842056154,5.45093300293e-05,1.04002892283,0.588412785563,0.00872723973472,1.03969821904
+198,3.300000000,pose1_to_pose2_press,0.618133384982,5.45199531267e-05,1.04002911886,0.588704113909,0.00872724880617,1.03969841034
+199,3.316666667,pose1_to_pose2_press,0.618407813489,5.44550597036e-05,1.04002893998,0.588978544989,0.00872719308482,1.03969823725
+200,3.333333333,pose1_to_pose2_press,0.618664328633,5.44515935424e-05,1.04002912043,0.58923505907,0.00872718600337,1.03969841241
+201,3.350000000,pose1_to_pose2_press,0.618898088809,5.45072020907e-05,1.0400290758,0.589468817506,0.00872723576064,1.03969836542
+202,3.366666667,pose1_to_pose2_press,0.619109099569,5.45990145046e-05,1.04002918373,0.589679827207,0.008727324077,1.03969846833
+203,3.383333333,pose1_to_pose2_press,0.619295033045,5.45605114652e-05,1.04002913481,0.589865762159,0.00872729112501,1.03969843398
+204,3.400000000,pose1_to_pose2_press,0.619460824744,5.4459935516e-05,1.04002897585,0.590031553156,0.0087271880068,1.03969826263
+205,3.416666667,pose1_to_pose2_press,0.619606844392,5.45097946357e-05,1.04002921531,0.590177573042,0.00872723907201,1.03969850829
+206,3.433333333,pose1_to_pose2_press,0.619733917143,5.44472982883e-05,1.04002941214,0.590304648854,0.00872718670597,1.03969869562
+207,3.450000000,pose1_to_pose2_press,0.619844410798,5.45066817428e-05,1.04002924602,0.590415140289,0.00872723871396,1.03969853129
+208,3.466666667,pose1_to_pose2_press,0.619939303372,5.44576065304e-05,1.04002906839,0.590510033243,0.0087271912889,1.0396983608
+209,3.483333333,pose1_to_pose2_press,0.620020599979,5.45363809862e-05,1.04002885595,0.590591329003,0.00872726830354,1.03969815611
+210,3.500000000,pose1_to_pose2_press,0.620088064929,5.45767463933e-05,1.0400289777,0.590658793101,0.00872730548525,1.03969827491
+211,3.516666667,pose1_to_pose2_press,0.620145297824,5.44851052732e-05,1.04002923234,0.590716027238,0.00872721737986,1.03969851984
+212,3.533333333,pose1_to_pose2_press,0.620193007292,5.43913371594e-05,1.04002927183,0.590763738327,0.0087271289934,1.03969855691
+213,3.550000000,pose1_to_pose2_press,0.620232267703,5.44154696433e-05,1.04002907798,0.5908029982,0.0087271511404,1.03969837043
+214,3.566666667,pose1_to_pose2_press,0.620264609479,5.45116881226e-05,1.04002881044,0.590835338053,0.00872724114713,1.03969810415
+215,3.583333333,pose1_to_pose2_press,0.620290220098,5.45300012938e-05,1.04002894158,0.590860948881,0.00872726035709,1.03969822837
+216,3.600000000,pose1_to_pose2_press,0.620310396082,5.45432169887e-05,1.04002905903,0.590881122939,0.00872726672047,1.03969834375
+217,3.616666667,pose1_to_pose2_press,0.620325478732,5.45116786715e-05,1.04002934384,0.590896207056,0.00872724010502,1.03969862888
+218,3.633333333,pose1_to_pose2_press,0.620335753013,5.45249858184e-05,1.0400293167,0.590906481952,0.00872725547263,1.03969860039
+219,3.650000000,pose1_to_pose2_press,0.620342430748,5.45492517829e-05,1.04002923887,0.590913160019,0.00872728088187,1.0396985221
+220,3.666666667,pose1_to_pose2_press,0.620347125972,5.4553584543e-05,1.04002937065,0.590917856542,0.00872728978572,1.03969865754
+221,3.683333333,pose1_to_pose2_press,0.62035019286,5.45450511997e-05,1.04002927714,0.590920923497,0.00872728159075,1.03969856733
+222,3.700000000,pose1_to_pose2_press,0.62035166863,5.45335928636e-05,1.04002911595,0.590922398794,0.00872726858237,1.03969840832
+223,3.716666667,pose1_to_pose2_press,0.620352950398,5.45236408207e-05,1.04002897595,0.590923680151,0.00872725728405,1.03969827021
+224,3.733333333,pose1_to_pose2_press,0.620353977313,5.45325176944e-05,1.04002890919,0.5909247067,0.00872726497722,1.03969820484
+225,3.750000000,pose1_to_pose2_press,0.62035444318,5.45466597642e-05,1.04002890615,0.590925172378,0.00872727851921,1.03969820236
+226,3.766666667,pose1_to_pose2_press,0.620354704949,5.45546061632e-05,1.04002890444,0.590925434042,0.00872728612842,1.03969820097
+227,3.783333333,pose1_to_pose2_press,0.620355060512,5.45653997945e-05,1.04002890213,0.590925789461,0.00872729646405,1.03969819908
+228,3.800000000,pose1_to_pose2_press,0.620355346985,5.45740961025e-05,1.04002890026,0.590926075818,0.00872730479135,1.03969819756
+229,3.816666667,pose1_to_pose2_press,0.620355555231,5.45804177362e-05,1.0400288989,0.59092628398,0.00872731084473,1.03969819645
+230,3.833333333,pose1_to_pose2_press,0.620355731644,5.4585773008e-05,1.04002889775,0.590926460322,0.00872731597277,1.03969819552
+231,3.850000000,pose1_to_pose2_press,0.620355862134,5.4589734217e-05,1.0400288969,0.590926590759,0.00872731976589,1.03969819482
+232,3.866666667,pose1_to_pose2_press,0.620355951707,5.4592453338e-05,1.04002889631,0.590926680295,0.00872732236963,1.03969819435
+233,3.883333333,pose1_to_pose2_press,0.620355969873,5.45930048084e-05,1.0400288962,0.590926698455,0.0087273228977,1.03969819425
+234,3.900000000,pose1_to_pose2_press,0.620356038556,5.45950897823e-05,1.04002889575,0.59092676711,0.00872732489421,1.03969819389
+235,3.916666667,pose1_to_pose2_press,0.620356230155,5.45815131462e-05,1.04002893164,0.590926958937,0.00872731208357,1.03969822942
+236,3.933333333,pose1_to_pose2_press,0.620356737691,5.45217257832e-05,1.04002907234,0.590927467457,0.00872725556949,1.03969836845
+237,3.950000000,pose1_to_pose2_press,0.620357078538,5.44815741774e-05,1.04002916682,0.590927808965,0.00872721761613,1.03969846181
+238,3.966666667,pose1_to_pose2_press,0.620357342588,5.445046938e-05,1.04002924002,0.590928073526,0.00872718821428,1.03969853414
+239,3.983333333,pose1_to_pose2_press,0.620357643046,5.44900045636e-05,1.04002923227,0.590928373636,0.00872722646358,1.03969852398
+240,4.000000000,pose1_to_pose2_press,0.620357756627,5.45249801817e-05,1.040029205,0.590928486836,0.00872726009134,1.03969849542
+241,4.016666667,pose1_to_pose2_press,0.620357877827,5.45623022307e-05,1.0400291759,0.590928607631,0.00872729597511,1.03969846495
+242,4.033333333,pose1_to_pose2_press,0.620357931828,5.455300667e-05,1.04002923902,0.59092866145,0.00872728586969,1.03969852308
+243,4.050000000,pose1_to_pose2_press,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737013,0.0087272645552,1.03969862428
+244,4.066666667,pose1_to_pose2_press,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737013,0.00872726455521,1.03969862428
+245,4.083333333,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737016,0.00872726455292,1.03969862428
+246,4.100000000,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737017,0.00872726455285,1.03969862428
+247,4.116666667,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737017,0.00872726455276,1.03969862428
+248,4.133333333,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737017,0.00872726455268,1.03969862428
+249,4.150000000,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737017,0.0087272645527,1.03969862428
+250,4.166666667,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737017,0.00872726455271,1.03969862428
+251,4.183333333,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737018,0.00872726455264,1.03969862428
+252,4.200000000,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737018,0.00872726455257,1.03969862428
+253,4.216666667,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737019,0.008727264552,1.03969862428
+254,4.233333333,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737019,0.00872726455136,1.03969862428
+255,4.250000000,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737019,0.00872726455129,1.03969862428
+256,4.266666667,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737019,0.00872726455126,1.03969862428
+257,4.283333333,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737019,0.00872726455126,1.03969862428
+258,4.300000000,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737019,0.00872726455121,1.03969862428
+259,4.316666667,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.590928737019,0.00872726455116,1.03969862428
+260,4.333333333,pose2_hold,0.620358007648,5.45328754215e-05,1.04002934843,0.59092873702,0.00872726455153,1.03969862428
+261,4.350000000,pose2_to_pose3_retreat,0.620358007648,5.45328754215e-05,1.04002934843,0.59092873702,0.00872726455134,1.03969862428
+262,4.366666667,pose2_to_pose3_retreat,0.620357975579,5.45886404699e-05,1.04002933441,0.590928704435,0.00872731873282,1.03969861458
+263,4.383333333,pose2_to_pose3_retreat,0.620357912315,5.46172324738e-05,1.04002929399,0.590928640917,0.00872734662707,1.03969857852
+264,4.400000000,pose2_to_pose3_retreat,0.620357624278,5.4476089103e-05,1.04002906741,0.590928354259,0.00872721039207,1.03969835799
+265,4.416666667,pose2_to_pose3_retreat,0.620357456211,5.44610741132e-05,1.04002903439,0.590928186329,0.00872719591718,1.03969832684
+266,4.433333333,pose2_to_pose3_retreat,0.62035730663,5.44644108614e-05,1.04002902961,0.590928036705,0.00872719915832,1.0396983233
+267,4.450000000,pose2_to_pose3_retreat,0.620356161936,5.44922646166e-05,1.04002902288,0.590926891491,0.00872722547448,1.0396983224
+268,4.466666667,pose2_to_pose3_retreat,0.620353154612,5.45515660392e-05,1.04002919515,0.590923882739,0.00872727953592,1.03969848528
+269,4.483333333,pose2_to_pose3_retreat,0.620346325901,5.45289360967e-05,1.04002935548,0.590917056436,0.00872726496565,1.03969864066
+270,4.500000000,pose2_to_pose3_retreat,0.620331546146,5.46058101473e-05,1.04002925256,0.590902275156,0.00872733649644,1.03969853744
+271,4.516666667,pose2_to_pose3_retreat,0.620306932721,5.45430216354e-05,1.0400291895,0.590877662136,0.00872727531656,1.03969847544
+272,4.533333333,pose2_to_pose3_retreat,0.620270110172,5.446650509e-05,1.04002920033,0.590840840343,0.00872720085171,1.03969848428
+273,4.550000000,pose2_to_pose3_retreat,0.620221735505,5.44132640593e-05,1.04002921844,0.590792465208,0.00872714574585,1.03969849703
+274,4.566666667,pose2_to_pose3_retreat,0.620162352097,5.45636308524e-05,1.04002915302,0.590733081122,0.00872729422278,1.0396984471
+275,4.583333333,pose2_to_pose3_retreat,0.620094411694,5.46761948689e-05,1.04002930316,0.590665139592,0.00872740289989,1.03969859046
+276,4.600000000,pose2_to_pose3_retreat,0.620017869927,5.4631979295e-05,1.04002928823,0.590588598006,0.00872735861717,1.03969857819
+277,4.616666667,pose2_to_pose3_retreat,0.619932443611,5.47777798275e-05,1.04002920259,0.590503171184,0.0087275032268,1.0396984893
+278,4.633333333,pose2_to_pose3_retreat,0.619837064906,5.46994077264e-05,1.04002935528,0.590407792965,0.0087274266234,1.03969864573
+279,4.650000000,pose2_to_pose3_retreat,0.619725757998,5.46575433004e-05,1.04002923582,0.590296486165,0.00872738516469,1.03969852906
+280,4.666666667,pose2_to_pose3_retreat,0.619597374103,5.46345982603e-05,1.04002915217,0.590168101011,0.0087273578719,1.0396984461
+281,4.683333333,pose2_to_pose3_retreat,0.619447938903,5.45486715112e-05,1.04002916993,0.59001866673,0.00872727479837,1.0396984606
+282,4.700000000,pose2_to_pose3_retreat,0.619276160717,5.45037782396e-05,1.04002926652,0.589846889732,0.00872723341529,1.03969854791
+283,4.716666667,pose2_to_pose3_retreat,0.619080537651,5.45361900338e-05,1.04002926285,0.589651265782,0.00872726269152,1.03969854519
+284,4.733333333,pose2_to_pose3_retreat,0.618861303689,5.46011990379e-05,1.04002926254,0.589432032025,0.00872732861836,1.03969855564
+285,4.750000000,pose2_to_pose3_retreat,0.618619299906,5.45844764844e-05,1.04002923402,0.589190029557,0.00872731617072,1.03969852882
+286,4.766666667,pose2_to_pose3_retreat,0.618352234829,5.45886068803e-05,1.04002908777,0.588922963759,0.00872731762295,1.03969838272
+287,4.783333333,pose2_to_pose3_retreat,0.618061142524,5.47292409231e-05,1.04002915356,0.588631870119,0.00872745353475,1.03969844921
+288,4.800000000,pose2_to_pose3_retreat,0.617744125219,5.46439323953e-05,1.04002923952,0.588314853593,0.00872737021277,1.03969852563
+289,4.816666667,pose2_to_pose3_retreat,0.617403133763,5.45301473945e-05,1.04002924512,0.587973862173,0.00872725595955,1.03969852313
+290,4.833333333,pose2_to_pose3_retreat,0.617038633802,5.45499650415e-05,1.04002912531,0.587609362301,0.0087272759751,1.03969840812
+291,4.850000000,pose2_to_pose3_retreat,0.616654160141,5.45514228106e-05,1.04002920871,0.587224888929,0.00872727796598,1.03969848955
+292,4.866666667,pose2_to_pose3_retreat,0.616251016015,5.45576161993e-05,1.04002922166,0.586821745107,0.00872728515828,1.03969850682
+293,4.883333333,pose2_to_pose3_retreat,0.615827706885,5.46235160388e-05,1.04002927457,0.586398436787,0.008727353592,1.03969856349
+294,4.900000000,pose2_to_pose3_retreat,0.615380413707,5.45763665144e-05,1.04002917284,0.585951143076,0.00872730411967,1.03969845785
+295,4.916666667,pose2_to_pose3_retreat,0.614904368623,5.44065500744e-05,1.04002904712,0.585475101124,0.00872714487529,1.03969833792
+296,4.933333333,pose2_to_pose3_retreat,0.614392969018,5.45274296326e-05,1.04002912808,0.584963699922,0.00872726031263,1.03969842764
+297,4.950000000,pose2_to_pose3_retreat,0.613845288211,5.45185728912e-05,1.04002916913,0.584416018406,0.0087272483236,1.03969845805
+298,4.966666667,pose2_to_pose3_retreat,0.613256400375,5.45663284606e-05,1.04002894199,0.583827131057,0.00872729741094,1.03969823057
+299,4.983333333,pose2_to_pose3_retreat,0.612635626607,5.44661878262e-05,1.04002888023,0.583206357994,0.00872719991853,1.03969818162
+300,5.000000000,pose2_to_pose3_retreat,0.611990862761,5.46017192628e-05,1.04002889682,0.582561591938,0.00872732807342,1.03969820153
+301,5.016666667,pose2_to_pose3_retreat,0.611326032411,5.45177694213e-05,1.04002931194,0.581896763329,0.00872724911066,1.03969859386
+302,5.033333333,pose2_to_pose3_retreat,0.610641129268,5.44532424137e-05,1.0400290537,0.581211861278,0.00872718873477,1.03969834552
+303,5.050000000,pose2_to_pose3_retreat,0.609937719044,5.45359922224e-05,1.04002928933,0.580508449924,0.00872726757486,1.0396985798
+304,5.066666667,pose2_to_pose3_retreat,0.60921387759,5.44629436957e-05,1.04002931044,0.579784610475,0.00872720100877,1.03969859276
+305,5.083333333,pose2_to_pose3_retreat,0.608464426497,5.45310518958e-05,1.040029154,0.579035157139,0.00872726186902,1.03969844547
+306,5.100000000,pose2_to_pose3_retreat,0.607695752927,5.44766078157e-05,1.0400290245,0.578266484708,0.00872721133017,1.03969831716
+307,5.116666667,pose2_to_pose3_retreat,0.606910642477,5.43936369198e-05,1.04002892105,0.577481375921,0.00872713404505,1.03969821583
+308,5.133333333,pose2_to_pose3_retreat,0.606106787902,5.44614332706e-05,1.04002931238,0.57667752098,0.00872720029899,1.03969859797
+309,5.150000000,pose2_to_pose3_retreat,0.605282713087,5.47353197791e-05,1.04002924997,0.575853440526,0.00872745546475,1.03969854629
+310,5.166666667,pose2_to_pose3_retreat,0.604450645215,5.45011607585e-05,1.04002903101,0.575021375184,0.00872722994125,1.03969832753
+311,5.183333333,pose2_to_pose3_retreat,0.603605562684,5.4547700118e-05,1.04002925929,0.57417629352,0.00872727939968,1.03969855407
+312,5.200000000,pose2_to_pose3_retreat,0.60273600904,5.46606042109e-05,1.04002905915,0.573306738807,0.00872738849084,1.03969835127
+313,5.216666667,pose2_to_pose3_retreat,0.601864193113,5.45821831382e-05,1.04002931534,0.572434922421,0.00872730810361,1.03969859657
+314,5.233333333,pose2_to_pose3_retreat,0.600999407745,5.45372924225e-05,1.04002903247,0.571570138455,0.00872726851687,1.03969832812
+315,5.250000000,pose2_to_pose3_retreat,0.600135259801,5.46037823429e-05,1.04002916816,0.570705987495,0.00872732452516,1.03969845721
+316,5.266666667,pose2_to_pose3_retreat,0.599275733159,5.46245424933e-05,1.04002914481,0.569846463169,0.00872735334382,1.03969843892
+317,5.283333333,pose2_to_pose3_retreat,0.598423558235,5.44957897406e-05,1.04002905451,0.56899428858,0.00872722552837,1.03969834347
+318,5.300000000,pose2_to_pose3_retreat,0.597564615116,5.46420104249e-05,1.04002913648,0.568135343191,0.00872736430576,1.03969843226
+319,5.316666667,pose2_to_pose3_retreat,0.59668770088,5.43955436661e-05,1.04002917202,0.567258431412,0.00872712601354,1.03969846138
+320,5.333333333,pose2_to_pose3_retreat,0.595801939813,5.46038140232e-05,1.04002916112,0.566372669211,0.00872733054324,1.03969845387
+321,5.350000000,pose2_to_pose3_retreat,0.594913258324,5.44877440065e-05,1.04002906171,0.565483989616,0.00872722082814,1.03969835265
+322,5.366666667,pose2_to_pose3_retreat,0.594031743893,5.45292652e-05,1.04002922672,0.564602473205,0.00872725504371,1.03969850327
+323,5.383333333,pose2_to_pose3_retreat,0.593164333343,5.45834990015e-05,1.04002895218,0.563735062946,0.00872731072222,1.03969824081
+324,5.400000000,pose2_to_pose3_retreat,0.592324168505,5.46113102477e-05,1.0400290152,0.56289489885,0.00872734132214,1.03969831082
+325,5.416666667,pose2_to_pose3_retreat,0.59149936691,5.45041449891e-05,1.04002903487,0.562070098097,0.00872723693786,1.03969832844
+326,5.433333333,pose2_to_pose3_retreat,0.590684554521,5.44460516517e-05,1.04002905723,0.561255287549,0.00872718493755,1.03969834671
+327,5.450000000,pose2_to_pose3_retreat,0.589878376533,5.45478680708e-05,1.04002916541,0.560449106811,0.00872727732612,1.0396984524
+328,5.466666667,pose2_to_pose3_retreat,0.589078936526,5.44688007948e-05,1.04002929227,0.55964966786,0.0087272018805,1.0396985785
+329,5.483333333,pose2_to_pose3_retreat,0.588296901756,5.46212763311e-05,1.04002932062,0.558867631891,0.00872735012643,1.03969860382
+330,5.500000000,pose2_to_pose3_retreat,0.58753449628,5.46128868292e-05,1.04002911011,0.558105224521,0.00872733542989,1.03969839598
+331,5.516666667,pose2_to_pose3_retreat,0.58679394122,5.45831170822e-05,1.04002918781,0.55736467196,0.00872731401309,1.03969846996
+332,5.533333333,pose2_to_pose3_retreat,0.586075164436,5.44952496698e-05,1.04002908334,0.556645896054,0.00872722937886,1.039698372
+333,5.550000000,pose2_to_pose3_retreat,0.585376508349,5.46022930895e-05,1.04002908091,0.555947237969,0.00872732944323,1.03969836597
+334,5.566666667,pose2_to_pose3_retreat,0.584701392044,5.44880567013e-05,1.04002930429,0.555272123601,0.00872722139649,1.03969857845
+335,5.583333333,pose2_to_pose3_retreat,0.584052350322,5.46267321218e-05,1.04002918827,0.554623079933,0.0087273541905,1.03969848089
+336,5.600000000,pose2_to_pose3_retreat,0.583432149577,5.47394217254e-05,1.04002907056,0.554002877543,0.00872746136118,1.0396983654
+337,5.616666667,pose2_to_pose3_retreat,0.582841436678,5.47515786372e-05,1.04002923114,0.553412164148,0.00872747167786,1.03969852198
+338,5.633333333,pose2_to_pose3_retreat,0.582280113573,5.46623493238e-05,1.04002929861,0.55285084289,0.00872738866874,1.03969858821
+339,5.650000000,pose2_to_pose3_retreat,0.581729171133,5.45985451727e-05,1.04002930385,0.552299901034,0.00872732675344,1.03969859098
+340,5.666666667,pose2_to_pose3_retreat,0.5811867674,5.47377584226e-05,1.04002920179,0.551757495818,0.00872746112748,1.03969849388
+341,5.683333333,pose2_to_pose3_retreat,0.580667448688,5.47471062386e-05,1.04002922566,0.551238178125,0.00872747414198,1.03969852312
+342,5.700000000,pose2_to_pose3_retreat,0.580177007686,5.46194746283e-05,1.04002899584,0.550747737141,0.00872734659169,1.03969829361
+343,5.716666667,pose2_to_pose3_retreat,0.579727534009,5.45950414707e-05,1.04002890595,0.550298263136,0.0087273209897,1.03969820217
+344,5.733333333,pose2_to_pose3_retreat,0.579318944005,5.44985601484e-05,1.04002908098,0.549889674697,0.00872722968921,1.039698374
+345,5.750000000,pose2_to_pose3_retreat,0.578952026945,5.45872939788e-05,1.04002910641,0.549522756456,0.00872731418695,1.03969839349
+346,5.766666667,pose2_to_pose3_retreat,0.578608431419,5.4680010485e-05,1.04002921506,0.549179160007,0.00872740365093,1.0396984991
+347,5.783333333,pose2_to_pose3_retreat,0.578283523635,5.45642189393e-05,1.04002938044,0.548854253324,0.00872729156229,1.03969866377
+348,5.800000000,pose2_to_pose3_retreat,0.577971975123,5.44354396852e-05,1.04002935761,0.548542706033,0.00872716710137,1.03969864539
+349,5.816666667,pose2_to_pose3_retreat,0.577674941812,5.45870981521e-05,1.04002913993,0.548245671301,0.00872731426613,1.03969843624
+350,5.833333333,pose2_to_pose3_retreat,0.577396116999,5.45412780176e-05,1.0400289563,0.547966847643,0.0087272723385,1.03969825203
+351,5.850000000,pose2_to_pose3_retreat,0.577143286633,5.45033305825e-05,1.04002925611,0.547714018327,0.00872723749039,1.03969853959
+352,5.866666667,pose2_to_pose3_retreat,0.576918892102,5.45355345161e-05,1.04002919042,0.547489624199,0.00872727116734,1.03969847666
+353,5.883333333,pose2_to_pose3_retreat,0.576724017516,5.45924316279e-05,1.04002893608,0.547294748626,0.00872732515421,1.03969823384
+354,5.900000000,pose2_to_pose3_retreat,0.576555883569,5.46092683053e-05,1.04002917303,0.547126614249,0.00872734020395,1.03969846225
+355,5.916666667,pose2_to_pose3_retreat,0.576412668839,5.45477263773e-05,1.04002913816,0.546983400374,0.00872728157503,1.03969842771
+356,5.933333333,pose2_to_pose3_retreat,0.576288750782,5.45589578939e-05,1.04002924962,0.546859482675,0.00872729403028,1.03969853941
+357,5.950000000,pose2_to_pose3_retreat,0.576182684757,5.45510847719e-05,1.04002924996,0.546753416346,0.00872728495052,1.03969853716
+358,5.966666667,pose2_to_pose3_retreat,0.57608918916,5.45082707209e-05,1.04002910562,0.546659920651,0.00872724182762,1.03969839431
+359,5.983333333,pose2_to_pose3_retreat,0.576007732921,5.45156601303e-05,1.04002918077,0.546578464687,0.00872725020877,1.03969846898
+360,6.000000000,pose2_to_pose3_retreat,0.575938915594,5.44815340307e-05,1.04002919488,0.546509647679,0.00872721706019,1.03969848014
+361,6.016666667,pose2_to_pose3_retreat,0.575881474766,5.44285921668e-05,1.04002912913,0.546452206773,0.00872716407857,1.03969842029
+362,6.033333333,pose2_to_pose3_retreat,0.57583515631,5.4560400638e-05,1.04002900045,0.546405886242,0.00872728923459,1.03969830177
+363,6.050000000,pose2_to_pose3_retreat,0.575799710762,5.4715167838e-05,1.04002901154,0.54637043907,0.00872743841075,1.03969831085
+364,6.066666667,pose2_to_pose3_retreat,0.575775012433,5.45883932833e-05,1.04002904827,0.546345742011,0.00872731560492,1.03969833867
+365,6.083333333,pose2_to_pose3_retreat,0.575756392284,5.46561528811e-05,1.04002916734,0.546327120726,0.00872737939957,1.03969845498
+366,6.100000000,pose2_to_pose3_retreat,0.575742677271,5.46443221243e-05,1.04002926314,0.546313406637,0.00872737064097,1.03969854925
+367,6.116666667,pose2_to_pose3_retreat,0.575733060166,5.45876385069e-05,1.0400292529,0.546303790589,0.0087273175497,1.03969853907
+368,6.133333333,pose2_to_pose3_retreat,0.575725975904,5.44891713013e-05,1.04002909752,0.546296706924,0.00872722119399,1.03969838559
+369,6.150000000,pose2_to_pose3_retreat,0.575720847032,5.45051681118e-05,1.04002918973,0.546291578072,0.00872723717572,1.03969847551
+370,6.166666667,pose2_to_pose3_retreat,0.57571754034,5.45423178059e-05,1.04002931211,0.546288271268,0.00872727384106,1.0396985953
+371,6.183333333,pose2_to_pose3_retreat,0.57571568453,5.45820301099e-05,1.04002927111,0.546286414868,0.00872731164879,1.03969855677
+372,6.200000000,pose2_to_pose3_retreat,0.575714505219,5.46102725208e-05,1.04002922757,0.546285235099,0.00872733842067,1.03969851543
+373,6.216666667,pose2_to_pose3_retreat,0.575713751277,5.46283280893e-05,1.04002919973,0.546284480864,0.00872735553612,1.03969848901
+374,6.233333333,pose2_to_pose3_retreat,0.575713138429,5.46430047218e-05,1.0400291771,0.546283867777,0.00872736944857,1.03969846753
+375,6.250000000,pose2_to_pose3_retreat,0.575713044496,5.46452542495e-05,1.04002917364,0.546283773808,0.00872737158097,1.03969846423
+376,6.266666667,pose2_to_pose3_retreat,0.575712443647,5.4621892226e-05,1.04002914642,0.546283173261,0.00872734926472,1.0396984375
+377,6.283333333,pose2_to_pose3_retreat,0.575712109234,5.45898342603e-05,1.04002912874,0.546282839288,0.00872731869486,1.03969841977
+378,6.300000000,pose2_to_pose3_retreat,0.57571209199,5.45881812182e-05,1.04002912783,0.546282822067,0.00872731711855,1.03969841885
+379,6.316666667,pose2_to_pose3_retreat,0.575711947468,5.45743268547e-05,1.04002912019,0.546282677735,0.00872730390729,1.03969841119
+380,6.333333333,pose2_to_pose3_retreat,0.575711619345,5.45428717536e-05,1.04002910284,0.546282350042,0.0087272739123,1.03969839378
+381,6.350000000,pose2_to_pose3_retreat,0.575711228231,5.45053782086e-05,1.04002908216,0.546281959442,0.00872723815916,1.03969837304
+382,6.366666667,pose2_to_pose3_retreat,0.575711013272,5.44847715513e-05,1.04002907079,0.546281744766,0.00872721850905,1.03969836164
+383,6.383333333,pose2_to_pose3_retreat,0.575710907275,5.44746102996e-05,1.04002906519,0.546281638908,0.00872720881947,1.03969835601
+384,6.400000000,pose2_to_pose3_retreat,0.575710799858,5.4464312892e-05,1.04002905951,0.546281531631,0.00872719900006,1.03969835032
+385,6.416666667,pose2_to_pose3_retreat,0.575710640959,5.44490803606e-05,1.04002905111,0.546281372942,0.0087271844746,1.03969834189
+386,6.433333333,pose2_to_pose3_retreat,0.575710608756,5.44461227465e-05,1.04002904949,0.546281340779,0.00872718165469,1.03969834026
+387,6.450000000,pose2_to_pose3_retreat,0.575710507224,5.44624122809e-05,1.04002906108,0.546281239048,0.0087271972707,1.03969835193
+388,6.466666667,pose2_to_pose3_retreat,0.575710124541,5.4523808958e-05,1.04002910478,0.546280855614,0.00872725612881,1.03969839587
+389,6.483333333,pose2_to_pose3_retreat,0.575709868451,5.45648954066e-05,1.04002913402,0.546280599021,0.00872729551646,1.03969842529
+390,6.500000000,pose2_to_pose3_retreat,0.575709809519,5.45743502704e-05,1.04002914074,0.546280539974,0.0087273045804,1.03969843205
+391,6.516666667,pose2_to_pose3_retreat,0.57570976476,5.45815312498e-05,1.04002914586,0.546280495127,0.00872731146446,1.03969843719
+392,6.533333333,pose2_to_pose3_retreat,0.575709613802,5.46057504973e-05,1.04002916309,0.546280343873,0.00872733468232,1.03969845453
+393,6.550000000,pose2_to_pose3_retreat,0.575709465237,5.45840661212e-05,1.04002917488,0.546280195316,0.0087273130022,1.03969846564
+394,6.566666667,pose2_to_pose3_retreat,0.57570938562,5.45479681971e-05,1.04002917842,0.546280115866,0.00872727743878,1.0396984684
+395,6.583333333,pose2_to_pose3_retreat,0.575709348929,5.45532400578e-05,1.04002915297,0.546280079217,0.00872728288436,1.03969844369
+396,6.600000000,pose2_to_pose3_retreat,0.575709314556,5.4604156291e-05,1.04002907228,0.546280044814,0.00872733381093,1.03969836602
+397,6.616666667,pose2_to_pose3_retreat,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502785,1.03969833366
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/fem_node.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e09dbdd6c2d4d84565f4ba5a440015179cc68762
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aae2a3c2387811873b1e16bcb36c3b925bf9483091a52387c7ce2af49126b0e0
+size 25460594
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/franka_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..979236a4d03846694c5a30a16a138e1f56933ce0
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/franka_data.csv
@@ -0,0 +1,402 @@
+aligned_frame,aligned_time_s,alignment_phase,channel_01_raw,channel_02_raw,channel_03_raw,channel_04_raw,channel_05_raw,channel_06_raw,channel_07_raw,channel_08_raw,channel_09_raw,channel_10_raw,channel_11_raw,channel_12_raw,ee_x_m,ee_y_m,ee_z_m,ee_qx,ee_qy,ee_qz,ee_qw,unix_time_ns
+0,0.000000000,BASELINE,764,742,711,671,663,633,875,783,799,649,628,651,0.400979362238,-0.00542574077079,0.0498532847972,0.999999953207,0.000160548318834,-0.00025667227375,-4.39260260206e-05,1793192711185175040
+1,0.016666667,BASELINE,764,742,711,671,663,632.420589605,875,783.579410395,799,649.579410395,628.579410395,651,0.400978925132,-0.00542664923009,0.0498522377355,0.999999953055,0.000159923841777,-0.000257685775837,-4.37296436706e-05,1793192711201841152
+2,0.033333333,BASELINE,764,742,711,671,663.158118407,632,875.158118407,783.841881593,799,649.841881593,628.841881593,650.841881593,0.40097848339,-0.00542710040444,0.0498516682197,0.999999952938,0.000159621140369,-0.000258350753065,-4.3582255895e-05,1793192711218507520
+3,0.050000000,BASELINE,764,742,711,671,663.734966494,632,875.734966494,783.265033506,799,649.265033506,628.265033506,650.265033506,0.400978029367,-0.00542634059551,0.0498523633424,0.999999952918,0.000160170566146,-0.000258092765857,-4.35646156677e-05,1793192711235174144
+4,0.066666667,BASELINE,763.690492692,742,711,671,663.690492692,632.309507308,876,783.309507308,799,649,628,650,0.400977939018,-0.0054257695671,0.0498525278643,0.999999952804,0.000161008152591,-0.000258016437589,-4.35407578242e-05,1793192711251840768
+5,0.083333333,BASELINE,763.117913029,742,711,671,663.117913029,632.882086971,876,783.882086971,799,649,628,650,0.400978157781,-0.00542535899676,0.0498522413905,0.99999995261,0.000162090667325,-0.000258094514236,-4.3511615186e-05,1793192711268507648
+6,0.100000000,BASELINE,763,742,711,671,663,633,875.529575786,783.529575786,799,649,628.470424214,650.470424214,0.400978775228,-0.00542622608481,0.0498522092823,0.999999953122,0.000159840440057,-0.000257495392617,-4.36159712151e-05,1793192711285174528
+7,0.116666667,BASELINE,763.061450088,742,711,671,663,633,875.061450088,783.061450088,799,649.061450088,629,651,0.400979354122,-0.00542724314487,0.0498521820411,0.999999953655,0.000157361702445,-0.000256936061317,-4.37147341822e-05,1793192711301841152
+8,0.133333333,BASELINE,763.640696611,742,711,671,663,633,875.640696611,783.640696611,799,649.640696611,629,651,0.400978736922,-0.00542673188358,0.0498516399545,0.999999952885,0.000160240413306,-0.000258191876463,-4.34746376483e-05,1793192711318507776
+9,0.150000000,BASELINE,764,742,711,671,663.217581653,633,875.782418347,784,799.217581653,650,629,650.782418347,0.400978993087,-0.00542649203932,0.0498519330713,0.999999952735,0.000161416149555,-0.000258057597996,-4.33746599161e-05,1793192711335174144
+10,0.166666667,BASELINE,764,742,711,671,663.790608877,633,875.209391123,784,799.790608877,650,629,650.209391123,0.400980675996,-0.0054266955872,0.0498535905925,0.999999953605,0.00015980987346,-0.00025565243576,-4.35035829758e-05,1793192711351840768
+11,0.183333333,BASELINE,764,742,711,671,664,633,875.373642756,783.626357244,799.626357244,650,629,650.373642756,0.400980650755,-0.00542663820667,0.0498542011072,0.99999995377,0.000159802324536,-0.000255042389335,-4.33272111021e-05,1793192711368507392
+12,0.200000000,BASELINE,764,742,711,671,664,633,875.962438783,783.037561217,799.037561217,650,629,650.962438783,0.400979641917,-0.00542643057677,0.0498542087284,0.99999995353,0.000160715364376,-0.000255466017315,-4.29750424337e-05,1793192711385174016
+13,0.216666667,BASELINE,763.457957038,742,711,671,664,633,875.457957038,783,799.542042962,649.457957038,628.457957038,651,0.400977902753,-0.00542692397405,0.0498523793553,0.999999952818,0.000160902243912,-0.000258082975761,-4.32246559612e-05,1793192711401840896
+14,0.233333333,BASELINE,763,742,711,671,663.879124456,632.879124456,875,783,800,649,628.120875544,650.879124456,0.400976648091,-0.00542738596056,0.0498509184312,0.999999952383,0.00016031496858,-0.00026009000034,-4.34411975989e-05,1793192711418507520
+15,0.250000000,BASELINE,763,742,711,671,663.300841402,632.300841402,875,783,800,649,628.699158598,650.300841402,0.400977415151,-0.00542754832494,0.0498513254315,0.999999953139,0.000156985439456,-0.000259223411811,-4.33774215316e-05,1793192711435174400
+16,0.266666667,BASELINE,763.275840215,742,711,670.724159785,663,632.275840215,875,783.275840215,799.724159785,649.275840215,629,650,0.400977736726,-0.00542743996409,0.0498517496695,0.999999953443,0.00015605900687,-0.000258608925697,-4.33744929951e-05,1793192711451841280
+17,0.283333333,BASELINE,763.850785292,742,711,670.149214708,663,632.850785292,875,783.850785292,799.149214708,649.850785292,629,650,0.400977575243,-0.00542703804474,0.049852192599,0.999999953265,0.000157738350657,-0.000258267804628,-4.34375439371e-05,1793192711468507648
+18,0.300000000,BASELINE,764,742,711,670.43560933,663,633,875,784,799,649.56439067,629,650,0.400977859089,-0.00542699746191,0.04985252669,0.999999953449,0.000157844875343,-0.000257473536712,-4.35327595473e-05,1793192711485174016
+19,0.316666667,BASELINE,764,742,711,670.976351515,663.023648485,633,875,783.976351515,799,649,629,650.023648485,0.400978285358,-0.00542708699448,0.049852805604,0.999999953738,0.000157428010185,-0.000256585905765,-4.36316431276e-05,1793192711501840384
+20,0.333333333,BASELINE,764,742,711,670.394154735,663.605845265,633,875,783.394154735,799,649,629,650.605845265,0.400978388979,-0.00542725848801,0.0498526822928,0.999999953535,0.000157669382754,-0.000257244381076,-4.35508950898e-05,1793192711518507264
+21,0.350000000,BASELINE,763.815641066,742,711,670.184358934,663.815641066,633,875,783,799,649.184358934,629,651,0.400978513481,-0.00542710878282,0.0498526424808,0.999999953415,0.000157857745229,-0.000257589964444,-4.35648942627e-05,1793192711535173888
+22,0.366666667,BASELINE,763.244847636,742,711,670.755152364,663.244847636,633,875,783,799,649.755152364,629,651,0.400978681753,-0.0054262858134,0.0498527776912,0.999999953474,0.000157934993297,-0.000257279695381,-4.37774929374e-05,1793192711551841024
+23,0.383333333,BASELINE,763.32937797,742,711,671,663.65875594,632.67062203,875.32937797,783,799,649.67062203,629,651,0.400978463286,-0.00542733360001,0.0498527123993,0.999999953505,0.000157076148718,-0.000257719210656,-4.35632747863e-05,1793192711568507904
+24,0.400000000,BASELINE,763.906181857,742,711,671,664.812363715,632.093818143,875.906181857,783,799,649.093818143,629,651,0.400977954306,-0.00542978668249,0.0498524964917,0.999999953513,0.000155514119349,-0.000258721957489,-4.30284355036e-05,1793192711585174272
+25,0.416666667,BASELINE,764,742.49488951,711,671,664.01022098,632.49488951,875.50511049,783,799,649,629,651,0.400976527575,-0.00542691983307,0.0498518385183,0.999999952783,0.00015837522378,-0.000259742535751,-4.34097653619e-05,1793192711601840896
+26,0.433333333,BASELINE,764,742.915650612,711,671,663,633,875.084349388,783.084349388,799,649,629,651,0.400975627946,-0.00542366942186,0.0498513720543,0.999999952142,0.000161559384119,-0.000260174429447,-4.38726455456e-05,1793192711618507264
+27,0.450000000,BASELINE,764,742.335362832,711,671,663,633,875.664637168,783.664637168,799,649,629,651,0.400978875601,-0.0054242396422,0.0498525364601,0.99999995293,0.000161591383431,-0.000257124744663,-4.37686643114e-05,1793192711635174144
+28,0.466666667,BASELINE,763.758035204,742,711,671,663,633,875.758035204,783.758035204,799,649.241964796,629,650.758035204,0.400979902907,-0.00542516136572,0.0498529610055,0.999999953324,0.000160798035698,-0.000256111498848,-4.36219165368e-05,1793192711651841024
+29,0.483333333,BASELINE,763.18476079,742,711,671,663,633,875.18476079,783.18476079,799,649.81523921,629,650.18476079,0.400977890006,-0.00542656438396,0.0498523724991,0.999999953184,0.000158874583845,-0.000257886641557,-4.34166108033e-05,1793192711668507648
+30,0.500000000,BASELINE,763.387919172,742,711,671,663,633,875,783,799,650,629,650,0.400977876825,-0.00542699795294,0.0498528595095,0.999999953447,0.000158241458018,-0.00025726052141,-4.33906060459e-05,1793192711685174784
+31,0.516666667,BASELINE,763.960316421,742,711,671,663,633,875,783,799,650,629,650,0.400978814626,-0.00542697049249,0.0498538579906,0.999999953901,0.000158221957151,-0.000255492461376,-4.34498693134e-05,1793192711701842688
+32,0.533333333,BASELINE,763.443176389,742,711,671,664.113647223,632.443176389,875,783,799,649.443176389,629,650.556823611,0.400979171857,-0.00542751261012,0.0498534748944,0.999999954033,0.000156561279423,-0.000255976885497,-4.35729468042e-05,1793192711718509056
+33,0.550000000,BASELINE,763.148117117,742,711,671.148117117,664.703765766,632.148117117,875.148117117,783,799,649.148117117,629,651,0.400979277084,-0.00542775471434,0.0498531314074,0.999999954092,0.000155638896193,-0.000256288385134,-4.3695181343e-05,1793192711735175168
+34,0.566666667,BASELINE,763.719384713,742,711,671.719384713,663.561230573,632.719384713,875.719384713,783,799,649.719384713,629,651,0.400978785924,-0.00542701850497,0.0498531951014,0.999999954016,0.000157174990915,-0.000255626495688,-4.38014268997e-05,1793192711751841280
+35,0.583333333,BASELINE,764,742,711,671.70557899,663,633,875.70557899,783,799.29442101,650,628.70557899,651,0.400978774928,-0.00542616955607,0.0498532051139,0.999999953826,0.0001589978538,-0.00025522105478,-4.39196849348e-05,1793192711768507648
+36,0.600000000,BASELINE,764,742,711,671.126904068,663,633,875.126904068,783,799.873095932,650,628.126904068,651,0.400979227514,-0.00542521176076,0.0498531632987,0.999999953525,0.000161097582204,-0.000255063206517,-4.40495406395e-05,1793192711785174272
+37,0.616666667,BASELINE,764,742,711,671,663,633,875,783,799.53810222,649.53810222,628.46189778,651,0.400978919921,-0.00542615487909,0.0498531807356,0.999999953743,0.000159533522257,-0.00025522819746,-4.38380224039e-05,1793192711801840896
+38,0.633333333,BASELINE,764,742,711,670.94761424,663.05238576,633,875.05238576,783,799,649,628.94761424,651,0.400978530457,-0.00542736157415,0.0498532574774,0.999999954032,0.000157444280089,-0.000255442062211,-4.35585407914e-05,1793192711818507776
+39,0.650000000,BASELINE,764,742,711,670.368768989,663.631231011,633,875.631231011,783,799,649,628.368768989,651,0.400979464188,-0.00542585087239,0.0498537629452,0.999999953611,0.000160419960083,-0.000255235721465,-4.35597441713e-05,1793192711835174400
+40,0.666666667,BASELINE,764,742,711.208296326,670.208296326,663.791703674,633,875.791703674,783,799,649,628.208296326,651,0.400979624847,-0.00542465624878,0.0498539370977,0.999999953369,0.000161796382556,-0.000255289876651,-4.37205590322e-05,1793192711851841024
+41,0.683333333,BASELINE,764,742,711.782237095,670.782237095,663.217762905,633,875.217762905,783,799,649,628.782237095,651,0.400978428452,-0.00542401647046,0.0498535296576,0.999999953449,0.000160365459957,-0.000255801307757,-4.41615567097e-05,1793192711868507392
+42,0.700000000,BASELINE,764,742,711.634573058,671,663,633,875,783,799.365426942,649.365426942,628.634573058,650.634573058,0.400977794964,-0.00542440855866,0.0498526829151,0.999999953234,0.000159668933872,-0.000257044878218,-4.43426554859e-05,1793192711885174272
+43,0.716666667,BASELINE,764,742,711.045728458,671,663,633,875,783,799.954271542,649.954271542,628.045728458,650.045728458,0.40097750563,-0.00542543151771,0.0498515675883,0.999999952836,0.00015942140908,-0.000258736069901,-4.43648551676e-05,1793192711901840896
+44,0.733333333,BASELINE,764,742,711,671,663,633,875,783,800,650,628.534406536,650.534406536,0.400978081482,-0.00542362787347,0.0498526406695,0.999999952723,0.000162378581491,-0.00025736679105,-4.41448246172e-05,1793192711918507520
+45,0.750000000,BASELINE,763.886883737,742,711,671.113116263,663.113116263,633,875.113116263,783,799.886883737,650,628.886883737,651,0.400978729359,-0.00542220032178,0.0498536758814,0.999999952704,0.00016456081637,-0.000256077882871,-4.39879419207e-05,1793192711935174144
+46,0.766666667,BASELINE,763.311004947,742,711,671.688995053,663.688995053,633,875.688995053,783,799.311004947,650,628.311004947,651,0.400979373877,-0.00542328500352,0.0498538023697,0.999999953014,0.000162468894341,-0.000256171955302,-4.41728356882e-05,1793192711951840768
+47,0.783333333,BASELINE,763.262592386,742,711,671.737407614,663.737407614,633,875.737407614,783,799.262592386,649.737407614,628.262592386,651,0.400979752846,-0.00542382393869,0.0498538290811,0.999999953295,0.000161555961236,-0.000255640476927,-4.42440384578e-05,1793192711968507648
+48,0.800000000,BASELINE,763.833510992,742,711,671.166489008,663.166489008,633,875.166489008,783,799.833510992,649.166489008,628.833510992,651,0.400979820016,-0.00542372207867,0.0498537386382,0.999999953544,0.000162027352835,-0.000254374500058,-4.41817495077e-05,1793192711985174272
+49,0.816666667,BASELINE,764,742,711,670.578902075,663,633,875,783.421097925,800,649,629,651,0.400979175162,-0.0054230975942,0.0498537217542,0.999999953346,0.000162146817939,-0.000255048739015,-4.43526931426e-05,1793192712001841152
+50,0.833333333,BASELINE,764,742,711,670,663,633,875,783.984854133,799.984854133,649.015145867,629,651,0.400978264957,-0.00542233153206,0.0498537236108,0.999999952976,0.000162084271285,-0.000256490995105,-4.46010685732e-05,1793192712018507776
+51,0.850000000,BASELINE,764,742,711,670,663,633,875,783.405726931,799.405726931,649.594273069,629,651,0.400978388591,-0.00542430488903,0.0498532957234,0.999999953152,0.000160638890418,-0.00025679011156,-4.41575278438e-05,1793192712035174144
+52,0.866666667,BASELINE,763.827853763,742,711.172146237,670.172146237,663.172146237,633,875.172146237,783.172146237,799.172146237,649.827853763,629,651,0.400978774455,-0.00542523725735,0.0498532637794,0.9999999533,0.000160400020884,-0.000256404391369,-4.39138469787e-05,1793192712051840768
+53,0.883333333,BASELINE,763.252914854,742,711.747085146,670.747085146,663.747085146,633,875.747085146,783.747085146,799.747085146,649.252914854,629,651,0.400979773892,-0.00542373389068,0.0498541582754,0.99999995338,0.000162984181033,-0.000254416270854,-4.41378039469e-05,1793192712068507392
+54,0.900000000,BASELINE,763.328922448,742,711.671077552,671,664,633,875.671077552,783.671077552,799.671077552,649.328922448,629,651,0.400979696963,-0.00542310112566,0.0498544010744,0.999999953359,0.000163369621091,-0.000254240763994,-4.41933177064e-05,1793192712085174016
+55,0.916666667,BASELINE,763.916177659,742,711.083822341,671,664,633,875.083822341,783.083822341,799.083822341,649.916177659,629,651,0.400978774666,-0.0054231521235,0.0498541320363,0.999999953263,0.000162028205835,-0.000255488867862,-4.41165376585e-05,1793192712101840640
+56,0.933333333,BASELINE,764,742,711,671,663.503035563,633,875,783.496964437,798.503035563,649.503035563,629,650.503035563,0.400979143377,-0.00542232207501,0.0498543313445,0.999999953394,0.000162759651902,-0.000254493534385,-4.42168812947e-05,1793192712118507520
+57,0.950000000,BASELINE,764,742,711,671,663.075737011,633,875,783.924262989,798.075737011,649.075737011,629,650.075737011,0.400979671734,-0.00542191310317,0.0498545338314,0.999999953568,0.000163448676934,-0.000253346562878,-4.43079510573e-05,1793192712135174400
+58,0.966666667,BASELINE,764,742,711,671,663.648360656,633,875,783.351639344,798.648360656,649.648360656,629,650.648360656,0.400979837229,-0.00542522910607,0.049854245568,0.999999953799,0.00016159507144,-0.000253655392866,-4.41446942709e-05,1793192712151841280
+59,0.983333333,BASELINE,764,742,711,671,663.775922798,633,875.448154405,783,799,649.775922798,628.775922798,650.775922798,0.400979585601,-0.00542661094144,0.0498540644801,0.999999953868,0.000160564147787,-0.000254049249458,-4.40607676334e-05,1793192712168507904
+60,1.000000000,BASELINE,764,742,711,671,663.195284609,633,876.609430781,783,799,649.195284609,628.195284609,650.195284609,0.400978670228,-0.00542491504933,0.0498540539344,0.999999953687,0.00016084230949,-0.00025457840398,-4.41030744105e-05,1793192712185174272
+61,1.016666667,BASELINE,764,742,711,671.390377656,663.390377656,633,876.219244688,783,799,649,628,650,0.400979024434,-0.00542382121646,0.0498542188813,0.999999953811,0.000160392138422,-0.000254337462444,-4.43348990066e-05,1793192712201840896
+62,1.033333333,BASELINE,764,742,711,671.978585924,663.978585924,633,875.042828152,783,799,649,628,650,0.400980022021,-0.00542303248761,0.0498544727622,0.999999954087,0.000159572872138,-0.000253706261411,-4.46627650248e-05,1793192712218507520
+63,1.050000000,BASELINE,763.442271618,742.557728382,711,671.442271618,663.442271618,633,875,783,799.557728382,649,628,650.557728382,0.400979088022,-0.00542260630293,0.0498536962445,0.999999953352,0.000162472711147,-0.000254795408401,-4.44737492062e-05,1793192712235174144
+64,1.066666667,BASELINE,763.135961698,742.864038302,711,671,663.135961698,633,875,783,800,649.135961698,628.135961698,651,0.400978287259,-0.00542270614778,0.0498531270348,0.999999952842,0.000164048527521,-0.000255810783143,-4.43296725064e-05,1793192712251840768
+65,1.083333333,BASELINE,763.712359447,742.287640553,711,671,663.712359447,633,875,783,800,649.712359447,628.712359447,651,0.400978154511,-0.00542446564819,0.0498533554896,0.999999953209,0.000160880112685,-0.000256376628449,-4.43944325066e-05,1793192712268507392
+66,1.100000000,BASELINE,764,742,711,671,663.713724943,633,875,783.286275057,799.713724943,649.713724943,629,651,0.400978121412,-0.00542453764937,0.0498535413773,0.99999995316,0.000160787122817,-0.000256628993517,-4.43686753815e-05,1793192712285174272
+67,1.116666667,BASELINE,764,742,711,671,663.142281907,633,875,783.857718093,799.142281907,649.142281907,629,651,0.400978187576,-0.00542292867709,0.0498536848623,0.999999952699,0.000163757664861,-0.000256569090599,-4.4252751174e-05,1793192712301841408
+68,1.133333333,BASELINE,764,742,711,671,663,633,875,783.55386698,799,649.44613302,628.55386698,651,0.40097894674,-0.00542287825984,0.0498539424545,0.999999953339,0.000162691255507,-0.000254707998727,-4.44609517581e-05,1793192712318507776
+69,1.150000000,BASELINE,764,742,711,671,663.039061504,633,875,783,799,649.960938496,628,651,0.40097980561,-0.00542332137132,0.0498541680548,0.999999954222,0.000160532647832,-0.00025255330872,-4.47461992321e-05,1793192712335174144
+70,1.166666667,BASELINE,764,742,711,671,663.616642026,633,875,783,799,649.383357974,628,651,0.400978871605,-0.00542344481999,0.0498534310517,0.999999953514,0.000161768155025,-0.000254583617914,-4.46121759301e-05,1793192712351840512
+71,1.183333333,BASELINE,764,742,711,671,663.805713268,633,875,783,799.194286732,649,628.194286732,651,0.400978369578,-0.00542342328388,0.0498531099773,0.999999952996,0.000163218775401,-0.00025571794908,-4.44565302874e-05,1793192712368507136
+72,1.200000000,BASELINE,764,742,711,671,663.227941771,633,875,783,799.772058229,649,628.772058229,651,0.400978720192,-0.0054231155756,0.0498536098664,0.999999952859,0.000165093988188,-0.000255083791743,-4.42582062656e-05,1793192712385173760
+73,1.216666667,BASELINE,763.645486086,742,711,671,663,633,875,783,800,649,629,650.645486086,0.400979423631,-0.00542322910976,0.0498539582866,0.999999953064,0.00016495267899,-0.000254343507756,-4.44110710132e-05,1793192712401840384
+74,1.233333333,BASELINE,763.059978317,742,711,671,663,633,875,783,800,649,629,650.059978317,0.400980356964,-0.00542361711669,0.0498542080127,0.999999953491,0.00016349744611,-0.000253534073899,-4.47927630329e-05,1793192712418507264
+75,1.250000000,BASELINE,763.523131068,742,711,670.476868932,663.523131068,633,875,783,799.476868932,649.523131068,629,650.523131068,0.400980432871,-0.00542292268172,0.0498546023093,0.999999953682,0.000164061281569,-0.000252423918714,-4.47372897418e-05,1793192712435174144
+76,1.266666667,BASELINE,763.895256782,742,711,670.104743218,663.895256782,632.895256782,875,783,799,649.895256782,628.895256782,651,0.400980397095,-0.00542247924093,0.0498549022336,0.999999953847,0.00016421424315,-0.000251691169031,-4.46255999112e-05,1793192712451841024
+77,1.283333333,BASELINE,763.31915066,742,711,670.68084934,663.31915066,632.31915066,875,783,799,649.31915066,628.31915066,651,0.400980299106,-0.00542372126248,0.0498547032141,0.999999954016,0.000161481202445,-0.000252811261601,-4.4485454747e-05,1793192712468507392
+78,1.300000000,BASELINE,763,742,711,670.743945461,663,632.256054539,875,783,799.256054539,649,628.256054539,650.743945461,0.400979998472,-0.00542406870416,0.0498545565679,0.999999953909,0.000160962584679,-0.000253593069931,-4.43087386403e-05,1793192712485174272
+79,1.316666667,BASELINE,763,742,711,670.169859292,663,632.830140708,875,783,799.830140708,649,628.830140708,650.169859292,0.400979446142,-0.00542330503602,0.0498544749718,0.999999953465,0.000163194383245,-0.000253954713444,-4.40865997355e-05,1793192712501841152
+80,1.333333333,BASELINE,763.4163877,742,711,670.4163877,663.4163877,633,875,783,799.5836123,649,629,650,0.400979160951,-0.00542270431829,0.0498544010808,0.999999953374,0.000163993257179,-0.000253764379494,-4.42865508407e-05,1793192712518507520
+81,1.350000000,BASELINE,764,742,711,670.992447091,663.992447091,633,875,783,799.007552909,649.007552909,629,650.007552909,0.400979007292,-0.00542219125999,0.0498543428123,0.999999953441,0.000164148636629,-0.000253334678722,-4.46569962184e-05,1793192712535174144
+82,1.366666667,BASELINE,764,742,711,670.415742977,663.415742977,633,875,783,799.584257023,649.584257023,629,650.584257023,0.400980306325,-0.00542312400102,0.0498552177991,0.99999995418,0.000161186692751,-0.000252345725827,-4.45096547319e-05,1793192712551841024
+83,1.383333333,BASELINE,764,742,711,670.16035095,663.16035095,632.83964905,875,783,799.83964905,649.83964905,628.83964905,651,0.400981062139,-0.00542360510628,0.0498557726955,0.999999954593,0.000159534618119,-0.000251776809496,-4.44009908687e-05,1793192712568508160
+84,1.400000000,BASELINE,764,742,711,670.734868962,663.734868962,632.265131038,875,783,799.265131038,649.265131038,628.265131038,651,0.400980414884,-0.00542291969132,0.0498555008374,0.999999954186,0.0001612657763,-0.000252292796475,-4.43922265865e-05,1793192712585174528
+85,1.416666667,BASELINE,763.682421531,742,711,671,663.682421531,632.317578469,875.317578469,783,799,649,628.317578469,650.682421531,0.400979864396,-0.00542304498605,0.0498550883057,0.999999953836,0.000162336642338,-0.000253005084365,-4.43115119472e-05,1793192712601840640
+86,1.433333333,BASELINE,763.09269231,742,711,671,663.09269231,632.90730769,875.90730769,783,799,649,628.90730769,650.09269231,0.400979396832,-0.00542386502329,0.0498545552229,0.999999953537,0.000162841667003,-0.000253885593455,-4.41691390233e-05,1793192712618507264
+87,1.450000000,BASELINE,763,742.488305452,711,671,663,633,876,783.488305452,799,649,629,650.488305452,0.400979972444,-0.00542324932134,0.0498547547774,0.999999953431,0.00016433033421,-0.000253331530646,-4.42238070173e-05,1793192712635174144
+88,1.466666667,BASELINE,763,743,711,671,663,633,875.932667895,783.932667895,799,649.067332105,629,651,0.400980543253,-0.00542247512573,0.049854972268,0.99999995337,0.000165602099796,-0.000252731399921,-4.43007054392e-05,1793192712651840768
+89,1.483333333,BASELINE,763,743,711,671,663,633,875.356233006,783.356233006,799,649.643766994,629,651,0.400979606808,-0.00542252703028,0.049854292311,0.999999953389,0.000163846859626,-0.000253805782356,-4.42678496989e-05,1793192712668507136
+90,1.500000000,BASELINE,763,742.780506325,711,671,663,633,875.219493675,783,799,649.780506325,629,651,0.400979028022,-0.00542248482628,0.0498538729645,0.999999953408,0.000162663418268,-0.000254470971106,-4.43706151564e-05,1793192712685173760
+91,1.516666667,BASELINE,763,742.205925407,711,671,663,633,875.794074593,783,799,649.205925407,629,651,0.400979027843,-0.00542229037757,0.0498538752225,0.999999953435,0.000162405008122,-0.000254474184151,-4.46927826435e-05,1793192712701840640
+92,1.533333333,BASELINE,763,742,711,671,663,633,875.621504742,783,799,649.378495258,629,651,0.400978787269,-0.00542308491522,0.0498535849013,0.999999953536,0.000161946824026,-0.000254347023882,-4.48172840471e-05,1793192712718507776
+93,1.550000000,BASELINE,763,742,711,671,663,633,875.031587686,783,799,649.968412314,629,651,0.400978412416,-0.00542443188585,0.0498531311497,0.999999953678,0.000161377049161,-0.000254147039027,-4.48313721594e-05,1793192712735174912
+94,1.566666667,BASELINE,763,742,711,671,663.548668131,633,875,783,799.548668131,650,628.451331869,651,0.400978908848,-0.0054245907144,0.0498538582427,0.99999995357,0.000162343364413,-0.000254038951863,-4.43725893467e-05,1793192712751841280
+95,1.583333333,BASELINE,763,742,711,671,664,632.872507432,875,783,800,649.872507432,628.127492568,650.872507432,0.400979535618,-0.00542434653587,0.0498546950128,0.999999953551,0.000163261386803,-0.000253575718293,-4.40802851625e-05,1793192712768507392
+96,1.600000000,BASELINE,763,742,711,671,664,632.296793471,875,783,800,649.296793471,628.703206529,650.296793471,0.400980447312,-0.00542292184038,0.0498556825008,0.999999953899,0.000163704099354,-0.0002518456298,-4.44673183259e-05,1793192712785174016
+97,1.616666667,BASELINE,763.283952618,742,711,671,663.716047382,632.283952618,875,783,799.432094764,649,629,650.283952618,0.400980153012,-0.00542242109225,0.0498555699695,0.999999953847,0.000163589931682,-0.000252099738982,-4.46193193911e-05,1793192712801840640
+98,1.633333333,BASELINE,763.870053255,742,711,671,663.129946745,632.870053255,875,783,798.259893491,649,629,650.870053255,0.400978575439,-0.00542290349718,0.0498542869308,0.999999953367,0.000162883199429,-0.000254465191355,-4.45212277119e-05,1793192712818507520
+99,1.650000000,BASELINE,764,742,711,671,663.450654243,633,875,783,798.450654243,649,628.549345757,651,0.400978961707,-0.00542298802734,0.0498543265422,0.999999953349,0.000163740055586,-0.000253986952698,-4.45192008084e-05,1793192712835174144
+100,1.666666667,BASELINE,764,742.029681816,711,671,663.970318184,633,875.029681816,783,799.029681816,649.029681816,628,651,0.400979843468,-0.00542299147711,0.049854714382,0.999999953457,0.00016490410382,-0.000252802220942,-4.45431466564e-05,1793192712851840512
+101,1.683333333,BASELINE,764,742.60858548,711,671,663.39141452,633,875.60858548,783,799.60858548,649.60858548,628,651,0.400979541837,-0.00542359193064,0.0498545737341,0.9999999535,0.000163510303579,-0.000253534518361,-4.45413043174e-05,1793192712868507648
+102,1.700000000,BASELINE,763.814647656,742.814647656,711,671,663,633,875.814647656,783,799.814647656,649.814647656,628.185352344,651,0.400979122051,-0.0054240192865,0.0498542984322,0.999999953451,0.000163032549366,-0.000254039193949,-4.45231586996e-05,1793192712885174528
+103,1.716666667,BASELINE,763.242341784,742.242341784,711,671,663,633,875.242341784,783,799.242341784,649.242341784,628.757658216,651,0.400978455599,-0.00542408527242,0.0498537420177,0.999999953211,0.000164467192191,-0.000254068671404,-4.44709773041e-05,1793192712901841152
+104,1.733333333,BASELINE,763,742,711,671,663,633,875,783.340513282,799,649.340513282,629,650.659486718,0.400978741361,-0.00542423187739,0.0498539793647,0.99999995336,0.000164187940637,-0.000253680698569,-4.437501982e-05,1793192712918507776
+105,1.750000000,BASELINE,763,742,711,671,663,633,875,783.931116252,799,649.931116252,629,650.068883748,0.400979726475,-0.00542443769294,0.0498547996891,0.999999953793,0.000162649920968,-0.000252986129725,-4.42469110194e-05,1793192712935174144
+106,1.766666667,BASELINE,763.493830169,742,711,671.493830169,663,633,875,783.506169831,799,650,628.506169831,650.493830169,0.400980064885,-0.00542275492681,0.0498548971995,0.999999953651,0.000163160066856,-0.000253162877192,-4.45555805244e-05,1793192712951840768
+107,1.783333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,632,875,784,799,650,629,650,0.400978490861,-0.00542349673454,0.0498536453329,0.999999953262,0.000162748218953,-0.000254954376584,-4.45788004531e-05,1793192712994907136
+108,1.800000000,POSE1_TO_POSE2_PRESS,763.423950115,742,711,671,664,632.576049885,875,783.423950115,799.576049885,650,629,650.576049885,0.40097734499,-0.00542293826222,0.0498531584821,0.99999995291,0.00016292358463,-0.000256215641784,-4.45965880302e-05,1793192713011573760
+109,1.816666667,POSE1_TO_POSE2_PRESS,763.15602957,742,711,671,663.84397043,633,875,783,799.84397043,649.84397043,629,650.84397043,0.40097697485,-0.00542231744053,0.0498530953446,0.999999952699,0.000163647983694,-0.000256573057554,-4.46258960453e-05,1793192713028240640
+110,1.833333333,POSE1_TO_POSE2_PRESS,763.746962981,742,711,671,663.253037019,633,875,783,799.253037019,649.253037019,629,650.253037019,0.400978766918,-0.00542152283128,0.0498542132298,0.999999952877,0.000165902712775,-0.000254411158912,-4.46873151746e-05,1793192713044907776
+111,1.850000000,POSE1_TO_POSE2_PRESS,764,742.331333826,711,671,663,632.668666174,875,783.331333826,799,649.331333826,628.668666174,650.331333826,0.400979503733,-0.00542249104501,0.0498548235085,0.999999953291,0.000164874368703,-0.000253460123991,-4.4645727635e-05,1793192713061574144
+112,1.866666667,POSE1_TO_POSE2_PRESS,764,742.910790197,711,671,663,632.089209803,875,783.910790197,799,649.910790197,628.089209803,650.910790197,0.400979450311,-0.00542477936585,0.049855053661,0.999999953876,0.000161387463377,-0.000253415856223,-4.45270025503e-05,1793192713078240256
+113,1.883333333,POSE1_TO_POSE2_PRESS,764,742.517109677,711,671.482890323,663,632.482890323,874.517109677,784,799,649.517109677,628.482890323,651,0.400980734257,-0.00542382914316,0.0498557175864,0.999999953925,0.000162581333613,-0.000252485676599,-4.43671446207e-05,1793192713094906880
+114,1.900000000,POSE1_TO_POSE2_PRESS,763.944385304,742,711,671.944385304,663,633,874.111229392,783.944385304,799,649.055614696,629,650.944385304,0.400982819799,-0.00542263012232,0.0498566333201,0.999999954058,0.000164182018188,-0.00025094795082,-4.4198998011e-05,1793192713111573504
+115,1.916666667,POSE1_TO_POSE2_PRESS,763.352742393,742,711,671.352742393,663,633,875.294515214,783.352742393,799,649.647257607,629,650.352742393,0.400990285757,-0.00542471309058,0.0498592152664,0.999999955952,0.000161494232874,-0.000245108314281,-4.40231044885e-05,1793192713128240128
+116,1.933333333,POSE1_TO_POSE2_PRESS,763.233358132,742,711,671,663,633,875.766641868,783,799,649.766641868,628.766641868,650,0.40100651075,-0.00542577505898,0.0498653228383,0.999999959054,0.000160455619313,-0.00023290375039,-4.36014129438e-05,1793192713144907008
+117,1.950000000,POSE1_TO_POSE2_PRESS,763.811275137,742,711,671,663,633,875.188724863,783,799,649.188724863,628.188724863,650,0.401035668666,-0.0054253294964,0.0498766360806,0.999999963661,0.000161852047558,-0.00021130121918,-4.28167947319e-05,1793192713161573888
+118,1.966666667,POSE1_TO_POSE2_PRESS,764,742,711,670.610159839,663,633,875,783.389840161,799,649.389840161,628.389840161,650,0.401082884538,-0.00542662934662,0.0498921818633,0.999999970073,0.000161636612766,-0.000178875487493,-4.16183114721e-05,1793192713178240512
+119,1.983333333,POSE1_TO_POSE2_PRESS,764,742,711,670.03128053,663,633,875,783.96871947,799,649.96871947,628.96871947,650,0.401138856978,-0.00542877557277,0.0499097800673,0.99999997632,0.00016063956217,-0.000141201426833,-4.02191389357e-05,1793192713194907136
+120,2.000000000,POSE1_TO_POSE2_PRESS,763.455498973,742,711,670.544501027,663.544501027,633,875,783.455498973,799,649.455498973,628.455498973,650.544501027,0.401209118145,-0.00543185714506,0.0499230619652,0.999999979406,0.00015997478793,-0.00011871698443,-3.87714220277e-05,1793192713211573760
+121,2.016666667,POSE1_TO_POSE2_PRESS,763,742,711,671,663.87743492,633,875.12256508,783,799,649.12256508,628.12256508,651,0.40128100311,-0.00543486596371,0.049933787848,0.999999981443,0.00015938586247,-0.000101545093382,-3.73933359343e-05,1793192713228240384
+122,2.033333333,POSE1_TO_POSE2_PRESS,763,742,711,671,663.290043275,633,875.709956725,783,799,649.709956725,628.709956725,651,0.401355950844,-0.00543739623393,0.0499357551568,0.999999981575,0.000159012608734,-0.000101230324854,-3.62898400748e-05,1793192713244907008
+123,2.050000000,POSE1_TO_POSE2_PRESS,763.292866834,742,711,671.292866834,663,633,875.707133166,783,799.292866834,650,628.707133166,650.707133166,0.401441794379,-0.00544044681578,0.0499353500156,0.999999981531,0.000157373859095,-0.000104461244531,-3.55001224681e-05,1793192713261573376
+124,2.066666667,POSE1_TO_POSE2_PRESS,763.87140547,742,711,671.87140547,663,633,875.12859453,783,799.87140547,650,628.12859453,650.12859453,0.401538266029,-0.00544400492632,0.0499326307097,0.999999981274,0.000154500703743,-0.000111150743434,-3.50164744053e-05,1793192713278240000
+125,2.083333333,POSE1_TO_POSE2_PRESS,764,742,711,671.552120337,663.447879663,633,875,783,799.552120337,650,628.447879663,650,0.401661536446,-0.00544818487227,0.0499350049592,0.999999981944,0.000152345266131,-0.000108435492707,-3.38279959915e-05,1793192713294906624
+126,2.100000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783,799,650,628.976231978,650.023768022,0.401793530164,-0.00545259701219,0.0499386822268,0.999999982817,0.000150448746293,-0.000103347771848,-3.24225984976e-05,1793192713311573760
+127,2.116666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875,783,799,650,628.400246151,650.599753849,0.401950248798,-0.00545827475301,0.0499388111187,0.999999982735,0.000149802038982,-0.000105588356153,-3.06575953956e-05,1793192713328240384
+128,2.133333333,POSE1_TO_POSE2_PRESS,764,742,711,671,663.819915275,633,875.180084725,783.180084725,799,650,628.180084725,651,0.402116276622,-0.00546429905848,0.0499379023684,0.999999982703,0.000147392055178,-0.000109628020813,-2.91879180657e-05,1793192713344907008
+129,2.150000000,POSE1_TO_POSE2_PRESS,764,742,711,671,663.229688656,633,875.770311344,783.770311344,799,650,628.770311344,651,0.402303506048,-0.00547111266208,0.0499346303943,0.999999982727,0.00014096621968,-0.000117765080016,-2.83908436725e-05,1793192713361573632
+130,2.166666667,POSE1_TO_POSE2_PRESS,764,742,711.354111568,671,663,633,875.645888432,783.645888432,799,649.645888432,629,651,0.402518281595,-0.00547980167539,0.049935407503,0.999999983657,0.000136208400241,-0.000115904296719,-2.64324851973e-05,1793192713378240256
+131,2.183333333,POSE1_TO_POSE2_PRESS,764,742,711.933817773,671,663,633,875.066182227,783.066182227,799,649.066182227,629,651,0.40275060603,-0.00548968546074,0.0499387641695,0.999999985142,0.000132513226829,-0.000107674166702,-2.37343048381e-05,1793192713394906880
+132,2.200000000,POSE1_TO_POSE2_PRESS,764,742,712,671.509173224,663.509173224,633,875.509173224,783,799.509173224,649,629,650.490826776,0.403018460043,-0.00549844482196,0.0499422918917,0.99999998644,0.000129177601631,-9.98463486387e-05,-2.15231928868e-05,1793192713411573504
+133,2.216666667,POSE1_TO_POSE2_PRESS,764,742,711.914317921,671.914317921,664,633,876,783,800,649.085682079,628.914317921,650.085682079,0.40329774037,-0.00550729613932,0.0499468846823,0.999999987844,0.000125852006516,-9.00255939138e-05,-1.92112873368e-05,1793192713428240384
+134,2.233333333,POSE1_TO_POSE2_PRESS,764,742,711.327789076,671.327789076,664,633,876,783,800,649.672210924,628.327789076,650.672210924,0.403617046157,-0.00551753206394,0.0499575743702,0.999999990063,0.000122314175124,-6.82522260062e-05,-1.59432692171e-05,1793192713444907264
+135,2.250000000,POSE1_TO_POSE2_PRESS,764,742.255776034,711,671,663.744223966,633,875.744223966,783,799.744223966,650,628.255776034,650.744223966,0.403960433047,-0.00552681917283,0.0499668028165,0.999999991345,0.000120970654653,-5.02585535304e-05,-1.22946025601e-05,1793192713461573888
+136,2.266666667,POSE1_TO_POSE2_PRESS,764,742.835586448,711,671,663.164413552,633,875.164413552,783,799.164413552,650,628.835586448,650.164413552,0.404334327488,-0.00553490425715,0.0499741800625,0.999999991788,0.000122407035934,-3.70532562097e-05,-8.16370479149e-06,1793192713478240256
+137,2.283333333,POSE1_TO_POSE2_PRESS,763.588959089,743,711,671,663.822081821,633,875,783,799,650,629,650.411040911,0.40472798698,-0.0055345453578,0.0499788319884,0.999999990572,0.000134124645141,-2.9161058814e-05,-3.93127881647e-06,1793192713494907136
+138,2.300000000,POSE1_TO_POSE2_PRESS,763.01522872,743,711,671,664.96954256,633,875,783,799,650,629,650.98477128,0.405129469444,-0.00553084434049,0.0499824052362,0.99999998849,0.000149911550951,-2.33717797789e-05,3.41331793492e-07,1793192713511573760
+139,2.316666667,POSE1_TO_POSE2_PRESS,763.558529571,742.441470429,711,671,664.441470429,633,875.558529571,783,799.558529571,649.441470429,629,650.441470429,0.405534338335,-0.00551598517665,0.0499626393377,0.999999982539,0.000177984098025,-5.69519210953e-05,6.7627385137e-07,1793192713528240384
+140,2.333333333,POSE1_TO_POSE2_PRESS,763.863058644,742,711,671,664,633,876,783,799.863058644,649.136941356,629,650,0.40594895571,-0.00550460600897,0.0499424454375,0.999999975455,0.000201612936843,-9.187150289e-05,1.37921838102e-06,1793192713544907008
+141,2.350000000,POSE1_TO_POSE2_PRESS,763.26911999,742,711,671,664,633,876,783,799.26911999,649.73088001,629,650,0.406395797258,-0.00550585553783,0.0499229469725,0.99999996994,0.000209294404687,-0.000127678601515,3.66856008654e-06,1793192713561573632
+142,2.366666667,POSE1_TO_POSE2_PRESS,763.315596637,742.315596637,711,671,663.684403363,633,875.684403363,783,799.315596637,650,628.684403363,650.315596637,0.406885250644,-0.00551149042388,0.0499097260077,0.999999965903,0.000213620568998,-0.000150039481332,7.0252149642e-06,1793192713578240512
+143,2.383333333,POSE1_TO_POSE2_PRESS,763.892672657,742.892672657,711,671,663.107327343,633,875.107327343,783,799.892672657,650,628.107327343,650.892672657,0.40741000901,-0.00552075868368,0.0499017061004,0.999999963786,0.00021516678484,-0.000161259850362,1.12661646596e-05,1793192713594907136
+144,2.400000000,POSE1_TO_POSE2_PRESS,764,742.53193867,711,671,663.46806133,633,875,783,800.46806133,650,628.46806133,650.53193867,0.407999536588,-0.00552498580457,0.0499211689004,0.999999967898,0.00022253343035,-0.000120063916551,1.63780671758e-05,1793192713611573760
+145,2.416666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875.043123023,783.043123023,800.956876977,649.956876977,628.956876977,650.043123023,0.408606212525,-0.00552763803861,0.0499467667029,0.999999970534,0.000231999153394,-6.80705980353e-05,2.17934445542e-05,1793192713628240896
+146,2.433333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,875.618908307,783.618908307,800.381091693,649.381091693,628.381091693,650.618908307,0.409241916553,-0.00552506412309,0.0499705833753,0.999999967633,0.000250966613624,-3.06354780851e-05,2.8499393523e-05,1793192713644907264
+147,2.450000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.200180083,783.799819917,799.799819917,649.200180083,628,650.799819917,0.409871662112,-0.0055221390575,0.049985258168,0.999999963489,0.000267844767334,-1.01822815227e-05,3.43013087815e-05,1793192713661573632
+148,2.466666667,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.792191039,783.207808961,799.207808961,649.792191039,628,650.207808961,0.410489744571,-0.00551852665375,0.0499820387179,0.999999959624,0.000280633328913,-2.2969366687e-05,3.83336754476e-05,1793192713678240256
+149,2.483333333,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.625957425,783,799.374042575,649.625957425,628,650,0.41111931739,-0.00552014106975,0.0499564014505,0.999999974969,0.000207288387489,-8.15843370592e-05,2.09223428139e-05,1793192713694907136
+150,2.500000000,POSE1_TO_POSE2_PRESS,764,742,711,671,664,633,876.049600981,783,799.950399019,649.049600981,628,650,0.411755105148,-0.00552458259217,0.0499186387312,0.999999982541,8.73551565234e-05,-0.000164986902946,-8.08755705808e-06,1793192713711573760
+151,2.516666667,POSE1_TO_POSE2_PRESS,764,742,711.526568599,671,663.473431401,633,876,783,800,649.526568599,628,650,0.412493353738,-0.00553636903081,0.0499253220515,0.999999987972,8.17857507866e-05,-0.000131698593452,-4.66726073521e-06,1793192713728240384
+152,2.533333333,POSE1_TO_POSE2_PRESS,763.894491501,742,711.894491501,671,663.105508499,633,875.894491501,783,799.894491501,649.894491501,628,650.105508499,0.413244588346,-0.00554691337852,0.0499387388161,0.999999992067,8.89738325506e-05,-8.91371705214e-05,2.1300609038e-06,1793192713744907008
+153,2.550000000,POSE1_TO_POSE2_PRESS,763.302702489,742,711.302702489,671,663.697297511,633,875.302702489,783,799.302702489,649.302702489,628,650.697297511,0.414011207208,-0.00554854539442,0.0499639003234,0.999999992915,0.000105327325464,-5.44794779656e-05,1.04174186937e-05,1793192713761573632
+154,2.566666667,POSE1_TO_POSE2_PRESS,763.281812244,742,711,671.281812244,663.718187756,633,875.281812244,783,799.563624488,649,628.281812244,650.718187756,0.414762793832,-0.00554542587212,0.0499606763685,0.999999990713,0.000120591113239,-6.18350964509e-05,1.44501572708e-05,1793192713778240512
+155,2.583333333,POSE1_TO_POSE2_PRESS,763.858710149,742,711,671.858710149,663.141289851,633,875.858710149,783,800.717420297,649,628.858710149,650.141289851,0.415498640288,-0.00553733101336,0.0499277299932,0.999999984423,0.000134713872423,-0.000113182857574,1.40278841654e-05,1793192713794907136
+156,2.600000000,POSE1_TO_POSE2_PRESS,764,742,711,671.56538129,663.43461871,633,876.43461871,783,800.130762579,649,628.56538129,650,0.416297514327,-0.00553752751024,0.0499192090034,0.999999983989,0.000127156197182,-0.000125203453365,1.33438793729e-05,1793192713811573504
+157,2.616666667,POSE1_TO_POSE2_PRESS,764,742.010248345,711,671.010248345,664,633,876.989751655,783,799.010248345,649.010248345,628,650.010248345,0.41711751118,-0.00554047085955,0.0499191624058,0.999999985935,0.000112760239542,-0.000123511288845,1.266824207e-05,1793192713828240128
+158,2.633333333,POSE1_TO_POSE2_PRESS,764,742.588204711,711,671.588204711,664,633,876.411795289,783,799.588204711,649.588204711,628,650.588204711,0.41797516632,-0.00554660187421,0.049949693741,0.999999991534,0.000109098988344,-6.88082322446e-05,1.71587697011e-05,1793192713844907008
+159,2.650000000,POSE1_TO_POSE2_PRESS,764,743,711.169022901,672,664,633,876,783,799.830977099,649.830977099,628,650.830977099,0.418810525581,-0.00555020652051,0.0499679334346,0.999999993239,0.00010722397593,-3.99895649276e-05,2.06525097086e-05,1793192713861573632
+160,2.666666667,POSE1_TO_POSE2_PRESS,764,743,711.756933486,672,664,633,876,783,799.243066514,649.243066514,628,650.243066514,0.419590629149,-0.00554755009422,0.0499557108801,0.999999990903,0.000109775781214,-7.53199121208e-05,2.16759212151e-05,1793192713878240256
+161,2.683333333,POSE1_TO_POSE2_PRESS,764,742.661411303,711.661411303,672,664,633,876,783,799,649,628,650,0.420425514875,-0.00554534603891,0.0499502557361,0.999999990919,0.000107847253881,-7.80309414042e-05,2.1021498816e-05,1793192713894906880
+162,2.700000000,POSE1_TO_POSE2_PRESS,764,742.084165275,711.084165275,672,664,633,876,783,799,649,628,650,0.421299014273,-0.00554346084153,0.0499495706638,0.999999992869,0.000102760723147,-5.7749945352e-05,1.91844398421e-05,1793192713911573760
+163,2.716666667,POSE1_TO_POSE2_PRESS,764,742.488218743,711,671.511781257,664.488218743,633,876,783,799,649,628.488218743,650,0.42220047919,-0.00554919027016,0.0499660576557,0.999999995169,9.30109951391e-05,-2.40382376701e-05,2.07888388035e-05,1793192713928240128
+164,2.733333333,POSE1_TO_POSE2_PRESS,764,743,711,671.062432322,664.937567678,632.937567678,876,783,799.062432322,649,628.937567678,650,0.423099848789,-0.00555542804285,0.0499816891405,0.999999996257,8.33275924937e-05,5.07258154829e-06,2.27254347943e-05,1793192713944907008
+165,2.750000000,POSE1_TO_POSE2_PRESS,764,743,711,671.659416202,664.340583798,632.340583798,876,783,799.659416202,649,628.340583798,650,0.423940406282,-0.00555488962391,0.0499648989288,0.999999996156,8.10272841775e-05,-2.48386840562e-05,2.24766860534e-05,1793192713961573632
+166,2.766666667,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632.248244608,876,783,800,649.248244608,628.248244608,650.248244608,0.424801087288,-0.0055562561356,0.0499597811752,0.999999996318,7.57068369112e-05,-3.33792930936e-05,2.27730043839e-05,1793192713978240256
+167,2.783333333,POSE1_TO_POSE2_PRESS,764,743,711,672,664,632.826239938,876,783,800,649.826239938,628.826239938,650.826239938,0.425688499073,-0.00556015302343,0.0499701682935,0.999999997423,6.63746486669e-05,-1.35326253816e-05,2.37933515517e-05,1793192713994906880
+168,2.800000000,POSE1_TO_POSE2_PRESS,764,743,711.401144684,672,664,632.598855316,876,783,799.598855316,649.598855316,628.598855316,650.598855316,0.426555282827,-0.00556202581343,0.0499835874198,0.999999997763,6.11553363257e-05,-7.46583463438e-06,2.60499378796e-05,1793192714011573504
+169,2.816666667,POSE1_TO_POSE2_PRESS,764,743,711.974720912,672,664,632.025279088,876,783,799.025279088,649.025279088,628.025279088,650.025279088,0.427413199595,-0.00556302854725,0.0499983098503,0.999999997893,5.77039391485e-05,-7.32230806979e-06,2.8837920016e-05,1793192714028240384
+170,2.833333333,POSE1_TO_POSE2_PRESS,764,743,712,672,664,632.56420691,876.56420691,783,799.56420691,649.56420691,628.56420691,650,0.428213687381,-0.00555803044936,0.0499582435682,0.999999994958,6.06439681172e-05,-7.52406405777e-05,2.72973969185e-05,1793192714044907264
+171,2.850000000,POSE1_TO_POSE2_PRESS,764,742.84838924,711.84838924,672,664,633,877,783,799.84838924,649.84838924,629,650.15161076,0.429035901747,-0.00555485516465,0.0499290552818,0.999999990649,6.05361930478e-05,-0.000119860649885,2.59099441196e-05,1793192714061573888
+172,2.866666667,POSE1_TO_POSE2_PRESS,764,742.268931258,711.268931258,672,664,633,877,783,799.268931258,649.268931258,629,650.731068742,0.429926900688,-0.00555760463535,0.0499376932722,0.999999994335,5.09959062884e-05,-8.98771387509e-05,2.5517631096e-05,1793192714078240256
+173,2.883333333,POSE1_TO_POSE2_PRESS,764,742.308577057,711.308577057,672,664.308577057,632.691422943,877,783,799,649,628.691422943,650.691422943,0.43077456615,-0.00556009329392,0.0499405770715,0.999999995283,4.38825208517e-05,-8.26474835099e-05,2.60518443265e-05,1793192714094906880
+174,2.900000000,POSE1_TO_POSE2_PRESS,764,742.884396834,711.884396834,672,664.884396834,632.115603166,877,783,799,649,628.115603166,650.115603166,0.431584702668,-0.00556235607636,0.0499384774614,0.999999994345,3.8870950377e-05,-9.51237744334e-05,2.73884743358e-05,1793192714111573504
+175,2.916666667,POSE1_TO_POSE2_PRESS,764,742.540890596,711.540890596,672,664.540890596,632,876.540890596,783,799.459109404,649,628.459109404,650,0.432382886799,-0.00556269633542,0.0499279041637,0.999999992995,3.48498438214e-05,-0.000109838385215,2.70542048211e-05,1793192714128240128
+176,2.933333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664.033280129,632.033280129,876.033280129,783,799.966719871,649.033280129,628.966719871,650,0.433179980784,-0.0055625875261,0.0499176955936,0.999999991834,3.09191888878e-05,-0.000121165713882,2.63539208971e-05,1793192714144906752
+177,2.950000000,POSE1_TO_POSE2_PRESS,764,742,711,672,664.603197675,632.603197675,876.603197675,783,799.396802325,649.603197675,628.396802325,650,0.434007907941,-0.00556302463918,0.049947690479,0.999999996983,2.4435232735e-05,-6.88073702688e-05,2.65196035375e-05,1793192714161573632
+178,2.966666667,POSE1_TO_POSE2_PRESS,764.182020558,742,711,672,665,633,876.817979442,783,799,649.817979442,628.182020558,650,0.434810636316,-0.00556337845599,0.0499709298953,0.999999998934,1.77578152877e-05,-3.29842927906e-05,2.70121030406e-05,1793192714178240512
+179,2.983333333,POSE1_TO_POSE2_PRESS,764.781255735,742,711,672,665,633,876.218744265,783,799,649.218744265,628.781255735,650,0.435555605994,-0.00556354134708,0.04997868491,0.99999999893,1.06369584242e-05,-3.50621702079e-05,2.82537091644e-05,1793192714194907136
+180,3.000000000,POSE1_TO_POSE2_PRESS,764.634900025,742,711,672,664.634900025,632.634900025,876.365099975,783,799.365099975,649,629,650,0.436254139807,-0.00556276934927,0.0499594368958,0.999999996402,9.68698194221e-06,-7.91634459255e-05,2.88845878141e-05,1793192714211573760
+181,3.016666667,POSE1_TO_POSE2_PRESS,764.05990407,742,711,672,664.05990407,632.05990407,876.94009593,783,799.94009593,649,629,650,0.436925977595,-0.00556145988381,0.0499246648394,0.999999988632,1.22846450518e-05,-0.000147423973396,2.91643590483e-05,1793192714228240640
+182,3.033333333,POSE1_TO_POSE2_PRESS,764,742,711,672,664,632,876.4743282,783,800,649,629,650,0.437659376674,-0.00556133887397,0.0499378953771,0.999999993676,1.69926969054e-05,-0.000106861054173,3.06635333279e-05,1793192714244907008
+183,3.050000000,POSE1_TO_POSE2_PRESS,764.111040382,742,711,672,664.111040382,632.111040382,876.111040382,783,800,649,629,650,0.43838501385,-0.00556109683247,0.0499543253973,0.999999997269,2.12925550421e-05,-6.29727333008e-05,3.22895728512e-05,1793192714261573632
+184,3.066666667,POSE1_TO_POSE2_PRESS,764.690346017,742,711,672,664.690346017,632.690346017,876.690346017,783,800,649,629,650,0.439047726617,-0.00555976152996,0.049960705649,0.999999997459,2.28360197518e-05,-5.84319264601e-05,3.38525729118e-05,1793192714278240000
+185,3.083333333,POSE1_TO_POSE2_PRESS,764.730331319,742,711,672,664.730331319,632.730331319,877,783,799.730331319,649,629,650,0.439669034658,-0.00556059254861,0.0499480863759,0.999999995909,2.21861998962e-05,-8.05614283511e-05,3.46479578051e-05,1793192714294906880
+186,3.100000000,POSE1_TO_POSE2_PRESS,764.15098914,742,711,672,664.15098914,632.15098914,877,783,799.15098914,649,629,650,0.440242795619,-0.00556391125799,0.0499136490353,0.999999990335,1.90177258872e-05,-0.000133317726796,3.45618531584e-05,1793192714311573504
+187,3.116666667,POSE1_TO_POSE2_PRESS,764,742,711,672.424728464,663.575271536,632,877,783,799,649,629,650,0.440801764642,-0.00556339565412,0.0498951923975,0.999999985604,1.89749194047e-05,-0.000165046414058,3.45233282599e-05,1793192714328240384
+188,3.133333333,POSE1_TO_POSE2_PRESS,764,742,711,672.999168498,663.000831502,632,877,783,799,649,629,650,0.441355519736,-0.00556152850216,0.0498823687585,0.999999981275,2.00338720984e-05,-0.000189363130809,3.4501574635e-05,1793192714344907264
+189,3.150000000,POSE1_TO_POSE2_PRESS,764,742,711.587517257,673,663,632,876.412482743,783,799.587517257,649,629,650,0.441901955145,-0.00556131940741,0.0498860149755,0.999999983634,1.68040854877e-05,-0.000176822576906,3.44128802688e-05,1793192714361573888
+190,3.166666667,POSE1_TO_POSE2_PRESS,764,742.17387523,711.82612477,673,663,632,876,783,799.82612477,649,629,650,0.442427196509,-0.0055609625801,0.0498851773914,0.999999984292,1.25169955593e-05,-0.000173570627021,3.3650618709e-05,1793192714378240768
+191,3.183333333,POSE1_TO_POSE2_PRESS,764,742.755517308,711.244482692,673,663,632,876,783,799.244482692,649,629,650,0.442902759247,-0.00556025365823,0.0498737685453,0.999999981018,5.76492952317e-06,-0.000192227321662,3.13089556137e-05,1793192714394907136
+192,3.200000000,POSE1_TO_POSE2_PRESS,763.667010922,743,711,673,663,632,876,783,799.332989078,649,628.667010922,650.332989078,0.443331707479,-0.0055594363112,0.0498515858426,0.999999972769,-2.30090701716e-05,-0.000231196604211,2.19055823922e-05,1793192714411573504
+193,3.216666667,POSE1_TO_POSE2_PRESS,763.092563181,743,711,673,663,632,876,783,799.907436819,649,628.092563181,650.907436819,0.443726854347,-0.00555854034244,0.0498215907491,0.999999957095,-6.77517212101e-05,-0.000284895047478,7.38158757258e-06,1793192714428240384
+194,3.233333333,POSE1_TO_POSE2_PRESS,763.478915384,743,711,672.521084616,662.521084616,632,876,783,800,649,628.478915384,650.521084616,0.444089088466,-0.00556013863896,0.0497866210566,0.999999939193,-7.23964820784e-05,-0.000341090757911,5.37996583168e-06,1793192714444907008
+195,3.250000000,POSE1_TO_POSE2_PRESS,764.051925946,743,711.051925946,672.051925946,662,632,876.051925946,783,800,649,628.948074054,650.051925946,0.444446516882,-0.00556198866337,0.0497536973879,0.999999920727,-6.91594116842e-05,-0.000392083908262,5.82687480647e-06,1793192714461573376
+196,3.266666667,POSE1_TO_POSE2_PRESS,764.646924,743,711.646924,672.646924,662,632,876.646924,783,800,649,628.353076,650.646924,0.444819804398,-0.00556146056125,0.0497521659406,0.999999924333,-6.40440222255e-05,-0.000383648759201,6.72518370039e-06,1793192714478240256
+197,3.283333333,POSE1_TO_POSE2_PRESS,764.763631595,743,712,673,662,632,876.763631595,783,800,649,628,651,0.445175294783,-0.00556184107857,0.0497522741658,0.999999927981,-6.08762671758e-05,-0.000374529563063,7.76748304818e-06,1793192714494907136
+198,3.300000000,POSE1_TO_POSE2_PRESS,764.182292577,743,712,673,662,632,876.182292577,783,800,649,628,651,0.445504810905,-0.00556354769111,0.0497547754305,0.999999931728,-6.05510102179e-05,-0.000364412027233,9.01993085647e-06,1793192714511573504
+199,3.316666667,POSE1_TO_POSE2_PRESS,764,743,712,672.606455012,661.606455012,631.606455012,876.393544988,783,799.606455012,649.393544988,628,650.606455012,0.445795658325,-0.00556440015852,0.0497510633878,0.999999930821,-5.96380572424e-05,-0.00036701232157,1.01190286129e-05,1793192714528240128
+200,3.333333333,POSE1_TO_POSE2_PRESS,764,743,712,672.033130573,661.033130573,631.033130573,876.966869427,783,799.033130573,649.966869427,628,650.033130573,0.446068841114,-0.005564862435,0.0497445129786,0.999999927758,-5.84566325996e-05,-0.000375422381589,1.11480730186e-05,1793192714544907264
+201,3.350000000,POSE1_TO_POSE2_PRESS,764,743,711.457996635,672.542003365,660.457996635,631,877,783,799,649.457996635,628.542003365,650,0.446296662293,-0.00556140803769,0.0497322807954,0.999999921763,-5.21179202705e-05,-0.000391965854179,1.09458186524e-05,1793192714561574400
+202,3.366666667,POSE1_TO_POSE2_PRESS,764,743,711,673,660.12119984,631,877,783,799.12119984,649,629,650,0.446511809165,-0.00555859535184,0.0497178297018,0.999999913566,-4.7312429525e-05,-0.000412939066594,1.05264941309e-05,1793192714578241280
+203,3.383333333,POSE1_TO_POSE2_PRESS,764,743,711,673,660.715832123,631,877,783,799.715832123,649,629,650,0.446688314906,-0.00555922765049,0.049696072259,0.999999897797,-4.97315670134e-05,-0.00044926725894,9.55423134617e-06,1793192714594907392
+204,3.400000000,POSE1_TO_POSE2_PRESS,763.699273299,742.699273299,711,673,661,631,877,783,800,649,629,650,0.446850514275,-0.00556200418611,0.0496773140462,0.999999884379,-5.42263863964e-05,-0.000477730265133,8.72708424922e-06,1793192714611574016
+205,3.416666667,POSE1_TO_POSE2_PRESS,763.123291672,742.123291672,711,673,661,631,877,783,800,649,629,650,0.446999619022,-0.0055667433402,0.0496613010277,0.999999873633,-6.06210757572e-05,-0.00049899427033,8.03276149705e-06,1793192714628240384
+206,3.433333333,POSE1_TO_POSE2_PRESS,763.450151179,742.450151179,711,673,660.549848821,630.549848821,877,782.549848821,799.549848821,649,628.549848821,650,0.447135433154,-0.00557015589233,0.0496555603282,0.999999869629,-6.49147616257e-05,-0.000506427195462,7.74166466616e-06,1793192714644907008
+207,3.450000000,POSE1_TO_POSE2_PRESS,764,743,711.023589321,673,660.023589321,630.023589321,877,782,799.023589321,649,628.023589321,650,0.447266870574,-0.00557309731829,0.0496529328611,0.999999867732,-6.85492905518e-05,-0.000509685240295,7.57270949216e-06,1793192714661573632
+208,3.466666667,POSE1_TO_POSE2_PRESS,764,743,711.613514922,673,660.613514922,630.613514922,877,782,799.613514922,649,628.613514922,650,0.447380134618,-0.00557340213154,0.0496578807126,0.999999870934,-7.00965174243e-05,-0.000503149445135,7.69957530371e-06,1793192714678240256
+209,3.483333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660.79940543,631,877,782.20059457,800,649,628.79940543,650,0.447485489792,-0.00557364671285,0.0496610069027,0.999999872883,-7.11157946235e-05,-0.000499111823246,7.94009644609e-06,1793192714694907136
+210,3.500000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660.217732436,631,877,782.782267564,800,649,628.217732436,650,0.447575820122,-0.00557377686884,0.0496606724009,0.999999872525,-7.11321021797e-05,-0.000499820092992,8.39653366067e-06,1793192714711573760
+211,3.516666667,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631,877,782.640815313,799.640815313,649,628,650,0.447647125826,-0.00557050363861,0.0496600687075,0.999999871688,-6.83823524421e-05,-0.000501872326699,8.4515479144e-06,1793192714728240128
+212,3.533333333,POSE1_TO_POSE2_PRESS,764,743,712,673,660,631,877,782.066743402,799.066743402,649,628,650,0.447707049794,-0.00556519428535,0.0496593039665,0.999999870544,-6.39777705285e-05,-0.000504728605562,8.26640535259e-06,1793192714744907008
+213,3.550000000,POSE1_TO_POSE2_PRESS,764,743,712,673,660,630.491059703,877,782,799.508940297,649.508940297,628,650.508940297,0.447749769684,-0.00556025003099,0.0496565316643,0.999999868003,-5.95325864646e-05,-0.000510273825634,8.3362567007e-06,1793192714761573888
+214,3.566666667,POSE1_TO_POSE2_PRESS,764,743,711.913241711,673,660,630,877,782.086758289,800,649.913241711,628.086758289,650.913241711,0.447788999805,-0.00555506385499,0.049653823844,0.999999865771,-5.46018262141e-05,-0.000515176880925,8.33015215662e-06,1793192714778240768
+215,3.583333333,POSE1_TO_POSE2_PRESS,764,743,711.324296858,673,660,630,877,782.675703142,800,649.324296858,628.675703142,650.324296858,0.447821130968,-0.00554819932712,0.0496530180349,0.999999866611,-4.68913023742e-05,-0.000514315225836,7.69020972486e-06,1793192714794907392
+216,3.600000000,POSE1_TO_POSE2_PRESS,763.739472344,743,711,673,660,630,877,782.739472344,800,649.260527656,628.739472344,650,0.447849126001,-0.00554338347088,0.0496530523959,0.999999867647,-4.12132228474e-05,-0.000512791370117,7.2731820537e-06,1793192714811573760
+217,3.616666667,POSE1_TO_POSE2_PRESS,763.159696884,743,711,673,660,630,877,782.159696884,800,649.840303116,628.159696884,650,0.447872052664,-0.00554107803538,0.0496541162926,0.999999868969,-3.80256793142e-05,-0.000510456060905,7.1293117854e-06,1793192714828240128
+218,3.633333333,POSE1_TO_POSE2_PRESS,763,743,711,672.583326064,660,630,876.583326064,782.416673936,800,649.583326064,628,650,0.44788487709,-0.00554095371082,0.0496537287746,0.999999868312,-3.85334773318e-05,-0.000511705541326,6.98457365708e-06,1793192714844906752
+219,3.650000000,POSE1_TO_POSE2_PRESS,763,743,711,672.008249564,660,630,876.008249564,782.991750436,800,649.008249564,628,650,0.447893861054,-0.00554165855641,0.0496527894874,0.999999866897,-4.0446094702e-05,-0.000514317813711,6.83950560675e-06,1793192714861573632
+220,3.666666667,POSE1_TO_POSE2_PRESS,763.566361292,743,711,672,660,630,876,782.433638708,800.566361292,649,628,650,0.447896721072,-0.00553973093005,0.0496500676094,0.999999864593,-3.95894202603e-05,-0.00051884615723,6.75181079945e-06,1793192714878240000
+221,3.683333333,POSE1_TO_POSE2_PRESS,764,743,711,672.145073966,659.854926034,630,876.145073966,782,800.854926034,649,628,650,0.447899847705,-0.00553798860471,0.0496483415666,0.999999862967,-3.84279814297e-05,-0.000522058122328,6.64136518303e-06,1793192714894906880
+222,3.700000000,POSE1_TO_POSE2_PRESS,764,743,711,672.736425415,659.263574585,630,876.736425415,782,800.263574585,649,628,650,0.447904068669,-0.00553693416209,0.0496497587272,0.999999863524,-3.64530083019e-05,-0.000521134850402,6.45836474216e-06,1793192714911573760
+223,3.716666667,POSE1_TO_POSE2_PRESS,764,743,711.320020264,673,659,630,876.679979736,782.320020264,800,649,628.320020264,650.320020264,0.447906490362,-0.0055374711516,0.0496499536809,0.999999863457,-3.6115181564e-05,-0.000521286273218,6.53467302853e-06,1793192714928240640
+224,3.733333333,POSE1_TO_POSE2_PRESS,764,743,711.897377874,673,659,630,876.102622126,782.897377874,800,649,628.897377874,650.897377874,0.447907465212,-0.00553928785657,0.0496491658237,0.999999862889,-3.70938303324e-05,-0.000522301888376,6.81949877739e-06,1793192714944907264
+225,3.750000000,POSE1_TO_POSE2_PRESS,764,743,711.526339161,672.526339161,659,630,876.473660839,782.526339161,799.526339161,649,629,650.526339161,0.4479074813,-0.00553940238741,0.0496483621312,0.999999862152,-3.97640345084e-05,-0.000523517947031,6.68863877126e-06,1793192714961573632
+226,3.766666667,POSE1_TO_POSE2_PRESS,764,742.949233998,711,672,659,630,876.949233998,782.050766002,799,649,628.949233998,650,0.447907221968,-0.00553912607484,0.0496475836661,0.99999986138,-4.23062178367e-05,-0.000524793553295,6.50072054606e-06,1793192714978240000
+227,3.783333333,POSE1_TO_POSE2_PRESS,764,742.360963492,711,672,659,630,876.360963492,782.639036508,799,649,628.360963492,650,0.447906240897,-0.00553860740954,0.0496471085469,0.999999860728,-3.96213851804e-05,-0.000526240878458,6.66007739618e-06,1793192714994906624
+228,3.800000000,POSE1_TO_POSE2_PRESS,764,742.224727727,711,672,659,630,876.224727727,782.775272273,799,649,628,650,0.44790669563,-0.00553853106288,0.049646977519,0.999999860739,-3.84315853992e-05,-0.000526309213627,6.6161706938e-06,1793192715011573248
+229,3.816666667,POSE1_TO_POSE2_PRESS,764,742.806323006,711,672,659,630,876.806323006,782.193676994,799,649,628,650,0.447909430423,-0.00553915711809,0.0496473929078,0.999999861809,-3.96158974653e-05,-0.000524187713083,6.24948153124e-06,1793192715028239872
+230,3.833333333,POSE1_TO_POSE2_PRESS,764,743,711.382229024,672.382229024,659,630,876.617770976,782.382229024,799.382229024,649,628,650,0.44791029846,-0.00553937462167,0.0496473116788,0.999999861887,-4.09848782144e-05,-0.000523936078765,6.05133545823e-06,1793192715044906752
+231,3.850000000,POSE1_TO_POSE2_PRESS,764,743,711.95529453,672.95529453,659,630,876.04470547,782.95529453,799.95529453,649,628,650,0.447910234475,-0.00553938814661,0.0496469825021,0.999999861469,-4.24460589439e-05,-0.000524618017508,5.93733834491e-06,1793192715061573632
+232,3.866666667,POSE1_TO_POSE2_PRESS,764.528768205,743,712,673,659,630,876,782.471231795,800,649,628,650,0.447909250485,-0.00553745771615,0.0496467397298,0.999999860883,-4.13369701592e-05,-0.000525824197121,5.85883049922e-06,1793192715078240256
+233,3.883333333,POSE1_TO_POSE2_PRESS,764.786990199,742.893495099,712,673,659,630,876.106504901,782,800,649,628,650.106504901,0.447908612552,-0.00553569598159,0.0496465905314,0.999999860498,-4.00103990758e-05,-0.000526659095125,5.75123693068e-06,1793192715094906880
+234,3.900000000,POSE1_TO_POSE2_PRESS,763.592552247,742.296276124,712,673,659,630,876.703723876,782,800,649,628,650.703723876,0.447909927712,-0.00553546933969,0.0496468387844,0.99999986112,-3.86837948208e-05,-0.000525578966442,5.49579765907e-06,1793192715111573504
+235,3.916666667,POSE1_TO_POSE2_PRESS,763.290395827,742.290395827,712,673,659,630,877.290395827,782,800,649,628,650.709604173,0.447910357394,-0.00553511794196,0.0496468900326,0.999999861234,-3.76823191075e-05,-0.000525435704402,5.37868005365e-06,1793192715128239872
+236,3.933333333,POSE1_TO_POSE2_PRESS,763.866684373,742.866684373,712,673,659,630,877.866684373,782,800,649,628,650.133315627,0.447909915328,-0.00553464372295,0.0496467473309,0.99999986085,-3.70009300775e-05,-0.000526214781083,5.39773915899e-06,1793192715144906752
+237,3.950000000,POSE1_TO_POSE2_PRESS,763.558666051,743,712,672.558666051,659,630,877.117332102,782,799.558666051,649.441333949,628,650,0.44790973096,-0.00553555574396,0.0496465058615,0.999999860897,-3.84303270729e-05,-0.000526021237208,5.52039687857e-06,1793192715161573376
+238,3.966666667,POSE1_TO_POSE2_PRESS,763,742.984066487,712,672,659,630,876,782,799,649.984066487,628.015933513,650,0.447909654128,-0.00553682521965,0.0496462546946,0.999999861067,-4.04090456588e-05,-0.000525547568548,5.65155129016e-06,1793192715178240000
+239,3.983333333,POSE1_TO_POSE2_PRESS,763,742.393479652,712,672,659,630,876,782,799,649.393479652,628.606520348,650,0.447910658566,-0.00553594000992,0.0496467258199,0.999999861126,-3.92885199455e-05,-0.000525528030892,4.96466395166e-06,1793192715194906880
+240,4.000000000,POSE1_TO_POSE2_PRESS,763.193362044,742.193362044,712,672.193362044,659,630,876,782,799.193362044,649,628.806637956,650,0.447910996884,-0.00553550788529,0.0496467661485,0.999999861015,-3.84930113166e-05,-0.000525800419316,4.72464904688e-06,1793192715211573504
+241,4.016666667,POSE1_TO_POSE2_PRESS,763.772727388,742.772727388,712,672.772727388,659,630,876,782,799.772727388,649,628.227272612,650,0.447910005447,-0.00553598024197,0.0496459464898,0.999999860567,-3.83463253698e-05,-0.000526655571699,5.37671326111e-06,1793192715228240128
+242,4.033333333,POSE1_TO_POSE2_PRESS,764,743,711.651242488,673,659,630,876.348757512,782,799.651242488,649,628,650,0.447910629064,-0.00553580039782,0.0496465328197,0.999999860944,-3.84074652132e-05,-0.000525934437686,5.49813466843e-06,1793192715244906752
+243,4.050000000,POSE1_TO_POSE2_PRESS,764,743,711.07736524,673,659,630,876.92263476,782,799.07736524,649,628,650,0.447912295184,-0.00553519956407,0.0496480267021,0.99999986185,-3.86027546803e-05,-0.000524195825406,5.27703104542e-06,1793192715261573376
+244,4.066666667,POSE1_TO_POSE2_PRESS,764,743,711,673,659,630,876.490312035,782,799.509687965,649.509687965,628,650,0.447913692259,-0.00553508784703,0.0496484214395,0.999999862409,-3.88591965953e-05,-0.000523112507714,4.97330177193e-06,1793192715278240000
+245,4.083333333,POSE1_TO_POSE2_PRESS,764,743,711,672.902832006,659,630,876.097167994,782,800,649.902832006,628,650,0.447914404134,-0.00553474209812,0.0496483378716,0.999999862553,-3.88242218409e-05,-0.00052284397601,4.62696644707e-06,1793192715294906880
+246,4.100000000,POSE1_TO_POSE2_PRESS,764,743,711,672.323423041,659,630,876.676576959,782,800,649.323423041,628,650,0.447911923449,-0.00553285661632,0.04964673048,0.999999860899,-3.72956672449e-05,-0.000526112446,4.13307479306e-06,1793192715311573504
+247,4.116666667,HOLD_POSE2,763,743,711,672,659,629,877,782,799,649,628,651,0.447912019947,-0.00553499633407,0.0496476200468,0.999999861671,-3.95177750796e-05,-0.000524470539121,5.1321893422e-06,1793192715349891584
+248,4.133333333,HOLD_POSE2,763.573849506,743,711.573849506,672.573849506,659,629.573849506,877,782,799.573849506,649,628,651,0.447911690647,-0.00553594025874,0.0496473947578,0.999999861016,-4.0892608914e-05,-0.000525609948789,5.47214909112e-06,1793192715366558976
+249,4.150000000,HOLD_POSE2,764,743,711.848225088,672.848225088,659,630,877,782,800,649,628,650.848225088,0.447911654824,-0.00553636440229,0.0496471557896,0.999999860634,-4.1507124439e-05,-0.000526286466307,5.61153174497e-06,1793192715383226112
+250,4.166666667,HOLD_POSE2,764,743,711.258539502,672.258539502,659,630,877,782,800,649,628,650.258539502,0.447912465758,-0.00553528884037,0.0496468773532,0.999999861047,-3.99279213245e-05,-0.000525627418092,5.17219662935e-06,1793192715399891712
+251,4.183333333,HOLD_POSE2,764,743,711.327306862,672.327306862,659,630,877,782,799.672693138,649,628.327306862,650,0.447912813272,-0.00553450913697,0.0496462369015,0.999999861056,-3.95611460977e-05,-0.000525643701484,4.62672102122e-06,1793192715416558080
+252,4.200000000,HOLD_POSE2,764,743,711.910155752,672.910155752,659,630,877,782,799.089844248,649,628.910155752,650,0.447912798974,-0.00553396042265,0.0496453138095,0.99999986075,-4.01409636488e-05,-0.00052618724428,3.9983771595e-06,1793192715433224960
+253,4.216666667,HOLD_POSE2,764,743,711.514178807,673,659,630,877,782,799,649,628.514178807,650.485821193,0.447913364677,-0.005534683339,0.0496465055558,0.999999861329,-4.05925903697e-05,-0.000525047170416,4.53944455433e-06,1793192715449891584
+254,4.233333333,HOLD_POSE2,764,742.94023045,711.05976955,673,659,630,877.05976955,782.05976955,799.05976955,649.05976955,628,651,0.447913880582,-0.00553555574227,0.0496477714632,0.999999861914,-4.07723432633e-05,-0.000523911021591,5.18305056445e-06,1793192715466558208
+255,4.250000000,HOLD_POSE2,764,742.36976805,711.63023195,673,659,630,877.63023195,782.63023195,799.63023195,649.63023195,628,651,0.447913067863,-0.00553572534854,0.049646377995,0.999999861196,-3.88287140788e-05,-0.000525429984642,4.881882963e-06,1793192715483225088
+256,4.266666667,HOLD_POSE2,764,742.208902544,712,672.791097456,659,630,877.582194912,783,799.791097456,649.791097456,628,650.791097456,0.44791359198,-0.00553554298087,0.0496463485995,0.999999861361,-3.80443985409e-05,-0.00052517504901,4.69838186725e-06,1793192715499891712
+257,4.283333333,HOLD_POSE2,764,742.802696206,712,672.197303794,659,630,876.394607589,783,799.197303794,649.197303794,628,650.197303794,0.44791657914,-0.00553471212111,0.0496488324309,0.999999863152,-3.93960530191e-05,-0.000521651805253,4.73167468411e-06,1793192715516558592
+258,4.300000000,HOLD_POSE2,763.612566346,742.612566346,712,672,659,630,876.387433654,783,799,649,628,650,0.447916858811,-0.00553454732096,0.0496490868188,0.999999863189,-3.94251017105e-05,-0.000521576471494,5.13032228609e-06,1793192715533224960
+259,4.316666667,HOLD_POSE2,763.032335455,742.032335455,712,672,659,630,876.967664545,783,799,649,628,650,0.447915791163,-0.00553471396963,0.0496482317769,0.999999862353,-3.8795986892e-05,-0.000523216908654,5.71078009826e-06,1793192715549891584
+260,4.333333333,HOLD_POSE2,763,742,711.458351356,672.541648644,659,630,877,782.458351356,799,649,628,650,0.447916739459,-0.00553302692592,0.0496490059501,0.99999986298,-3.68089985155e-05,-0.000522169468309,4.90859051647e-06,1793192715566558208
+261,4.350000000,HOLD_POSE2,763.118152215,742.118152215,711.118152215,672.881847785,659,630,877,782,799,649,628,650,0.447917399738,-0.00553196628007,0.0496493960046,0.999999863358,-3.55658927829e-05,-0.000521537078873,4.2608980773e-06,1793192715583224832
+262,4.366666667,HOLD_POSE2,763.706140759,742.706140759,711.706140759,672.293859241,659,630,877,782,799,649,628,650,0.447916441594,-0.00553383156069,0.0496478762453,0.999999862421,-3.75995343008e-05,-0.000523185958763,4.55205566673e-06,1793192715599891456
+263,4.383333333,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,630,877,782,799,649,628,650,0.447915959958,-0.00553546525607,0.0496477333078,0.99999986254,-4.17200430836e-05,-0.000522649433366,4.13841982566e-06,1793192715636990464
+264,4.400000000,POSE2_TO_POSE3_RETREAT,764,743,711,673,659,630,876.423119707,782.576880293,799.576880293,649,628.576880293,650,0.447916288331,-0.00553424617269,0.0496482069841,0.999999862837,-4.02312315033e-05,-0.000522197000061,4.29651892549e-06,1793192715653657344
+265,4.416666667,POSE2_TO_POSE3_RETREAT,763.846198485,743,711,673.153801515,659,630,876.153801515,782.846198485,799.846198485,649,628.846198485,650,0.44791637128,-0.00553351574935,0.0496484877348,0.999999862869,-3.93479054351e-05,-0.00052220097965,4.45048987366e-06,1793192715670324224
+266,4.433333333,POSE2_TO_POSE3_RETREAT,763.269164501,743,711,673.730835499,659,630,876.730835499,782.269164501,799.269164501,649,628.269164501,650,0.44791577887,-0.0055341300251,0.0496482375913,0.999999862179,-4.01307598037e-05,-0.000523460920468,4.5931009706e-06,1793192715686991104
+267,4.450000000,POSE2_TO_POSE3_RETREAT,763.313809986,743,711.313809986,673.686190014,659,630,876.686190014,782,799,649,628,650,0.447915382708,-0.0055342702359,0.0496478870842,0.999999861724,-4.03125848e-05,-0.000524314200863,4.72879094415e-06,1793192715703657472
+268,4.466666667,POSE2_TO_POSE3_RETREAT,763.901978108,743,711.901978108,673.098021892,659,630,876.098021892,782,799,649,628,650,0.447915158122,-0.00553399598064,0.0496474488312,0.999999861476,-3.99689411337e-05,-0.000524811945665,4.85842990188e-06,1793192715720323584
+269,4.483333333,POSE2_TO_POSE3_RETREAT,764,742.516038264,712,672.516038264,659,630,876.483961736,782,799,649,628,650,0.447914047631,-0.00553409707408,0.0496471579668,0.999999861243,-3.99721796539e-05,-0.000525255488181,4.78067121765e-06,1793192715736989696
+270,4.500000000,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.936117701,630,876.936117701,782,799,649,628,650,0.447911867107,-0.00553428677739,0.0496463542347,0.999999860557,-4.00552602842e-05,-0.000526554148431,4.63298339671e-06,1793192715753656064
+271,4.516666667,POSE2_TO_POSE3_RETREAT,764,742,712,672,658.362786374,630,876.362786374,782,799,649,628,650,0.447902566155,-0.00553458450555,0.0496412254206,0.999999856199,-4.02218441472e-05,-0.000534758651948,4.25839060878e-06,1793192715770322944
+272,4.533333333,POSE2_TO_POSE3_RETREAT,764,742.215905042,711.784094958,672,658.215905042,630,876.215905042,782,799,649,628.215905042,650,0.447886158525,-0.00553388574565,0.0496336029049,0.999999849281,-3.94775524675e-05,-0.000547600272409,3.70481004479e-06,1793192715786989312
+273,4.550000000,POSE2_TO_POSE3_RETREAT,764,742.803832274,711.196167726,672,658.803832274,630,876.803832274,782,799,649,628.803832274,650,0.447857505502,-0.00553146995463,0.0496216835365,0.999999837748,-3.71637470982e-05,-0.00056843202675,2.84281882249e-06,1793192715803655936
+274,4.566666667,POSE2_TO_POSE3_RETREAT,764,742.613652037,711,672,659,630,877.386347963,782.386347963,799.386347963,649,628.613652037,650,0.447808734533,-0.00552951294585,0.0496037292751,0.999999818225,-3.57907922325e-05,-0.000601884613422,1.9206641875e-06,1793192715820322560
+275,4.583333333,POSE2_TO_POSE3_RETREAT,764,742.033846046,711,672,659,630,877.966153954,782.966153954,799.966153954,649,628.033846046,650,0.447749889799,-0.00552778566528,0.0495827531292,0.999999793529,-3.48889540911e-05,-0.000641656896391,9.68383533577e-07,1793192715836989440
+276,4.600000000,POSE2_TO_POSE3_RETREAT,764,742.543811524,711.543811524,672.543811524,659,630,877.456188476,782.456188476,799.456188476,649,628,650,0.447679361363,-0.00552379208672,0.0495693986021,0.999999784257,-3.34990466424e-05,-0.000656020390455,-1.08511888945e-06,1793192715853656064
+277,4.616666667,POSE2_TO_POSE3_RETREAT,764,742.879796908,711.879796908,673,659,630,877.120203092,782,799,649,628,650,0.447605013377,-0.00551986897287,0.0495588779769,0.999999776941,-3.15531911354e-05,-0.000667168778466,-2.79305610678e-06,1793192715870322688
+278,4.633333333,POSE2_TO_POSE3_RETREAT,764,742.307664235,711.307664235,673,659,630,877.692335765,782,799,649,628,650,0.447519028167,-0.00551673901061,0.0495572355808,0.99999977372,-2.76308864921e-05,-0.000672151525745,-2.9450954752e-06,1793192715886989312
+279,4.650000000,POSE2_TO_POSE3_RETREAT,763.726232327,742,711,673,659,630,877.726232327,782,799,649.273767673,628,650,0.447425153863,-0.00551273934463,0.0495576216952,0.999999773868,-2.37565572732e-05,-0.000672076738935,-3.4399957787e-06,1793192715903655680
+280,4.666666667,POSE2_TO_POSE3_RETREAT,763.133982368,742,711,673,659,630,877.133982368,782,799,649.866017632,628,650,0.447322101941,-0.00550772792599,0.0495603676379,0.999999777935,-1.99380395646e-05,-0.000666118368123,-4.33375665882e-06,1793192715920322304
+281,4.683333333,POSE2_TO_POSE3_RETREAT,763,742,711.448703373,673,659,630,877,782,799.448703373,649.551296627,628,650,0.447189187967,-0.00550237702472,0.0495614642012,0.999999779647,-1.57265246934e-05,-0.000663650707968,-5.1797192125e-06,1793192715936989184
+282,4.700000000,POSE2_TO_POSE3_RETREAT,763,742,712,672.971704065,659,630,877,782,800,649,628,650,0.447045755237,-0.00549682306689,0.0495618861313,0.999999780376,-1.14226693459e-05,-0.000662631399782,-6.04954834546e-06,1793192715953655808
+283,4.716666667,POSE2_TO_POSE3_RETREAT,763,742,712,672.397836178,659,630,877,782,800,649,628,650,0.446867846751,-0.00548926768905,0.0495585982371,0.999999775586,-7.55377065389e-06,-0.00066986014574,-7.64899198765e-06,1793192715970323456
+284,4.733333333,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,630,877,782,800,649,628,650,0.446682711926,-0.00548114339839,0.0495571025078,0.999999772904,-2.77058393238e-06,-0.000673870342923,-9.08155942995e-06,1793192715986990592
+285,4.750000000,POSE2_TO_POSE3_RETREAT,763,742,712,672,659,630,877,782,800,649,628,650,0.446481245416,-0.00547173335142,0.0495596571173,0.999999775084,4.07891626224e-06,-0.000670606537808,-1.01369822368e-05,1793192716003656448
+286,4.766666667,POSE2_TO_POSE3_RETREAT,763.351648883,742.351648883,711.648351117,672.351648883,659.351648883,630,877,782.351648883,800,649,628,650,0.446260414096,-0.00546267808994,0.0495684053538,0.999999783872,1.14028356722e-05,-0.000657273769567,-1.0815046165e-05,1793192716020322816
+287,4.783333333,POSE2_TO_POSE3_RETREAT,763.930663778,742.930663778,711.069336222,672.930663778,659.930663778,630,877,782.930663778,800,649,628,650,0.446027062029,-0.00545385222159,0.0495811582109,0.999999796597,1.90335015199e-05,-0.00063743069999,-1.12491208401e-05,1793192716036989184
+288,4.800000000,POSE2_TO_POSE3_RETREAT,764,742.491158149,711,673,660,630.508841851,877.508841851,783,800,649,628,650,0.44575090508,-0.00544358553753,0.0495994988715,0.99999981392,2.67390896316e-05,-0.000609346432767,-1.18749399243e-05,1793192716053655808
+289,4.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,673,660,631,877.913604057,782.913604057,800,649,628,650,0.44546158302,-0.00543305608528,0.0496178476747,0.99999982978,3.4299285491e-05,-0.000582326382012,-1.2603312441e-05,1793192716070322944
+290,4.833333333,POSE2_TO_POSE3_RETREAT,764,742,711,673,660,631,877.338932838,782.338932838,800,649,628,650,0.44513076695,-0.00542214932274,0.0496319463869,0.999999837948,4.09801826272e-05,-0.00056765699712,-1.37638557307e-05,1793192716086989568
+291,4.850000000,POSE2_TO_POSE3_RETREAT,763.758251116,742.241748884,711.241748884,672.758251116,660,631,876.758251116,782,800,649,628,650,0.444779935939,-0.00541277134791,0.0496427514192,0.999999843514,4.58214912673e-05,-0.000557337006843,-1.57590493992e-05,1793192716103656192
+292,4.866666667,POSE2_TO_POSE3_RETREAT,763.168927829,742.831072171,711.831072171,672.168927829,660,631,876.168927829,782,800,649,628,650,0.444400328473,-0.00540559138792,0.0496488209635,0.999999845613,4.8017931589e-05,-0.000553270358693,-1.89542613884e-05,1793192716120323328
+293,4.883333333,POSE2_TO_POSE3_RETREAT,763.413226922,742.586773078,712,672,660.413226922,631,876.413226922,782.413226922,800,649,628,650.413226922,0.443979365013,-0.00541549131535,0.0496545298509,0.999999850926,3.03906749028e-05,-0.00054479436294,-2.05800950449e-05,1793192716136990208
+294,4.900000000,POSE2_TO_POSE3_RETREAT,763.992501122,742.007498878,712,672,660.992501122,631,876.992501122,782.992501122,800,649,628,650.992501122,0.443541783454,-0.00543225446666,0.0496600938152,0.999999856886,4.7976474081e-06,-0.000534546555545,-2.15753041624e-05,1793192716153656576
+295,4.916666667,POSE2_TO_POSE3_RETREAT,764,742.566945939,711.433054061,672.566945939,661,631,877,782.433054061,799.433054061,649,628.566945939,650.433054061,0.443056122397,-0.00543683047739,0.0496652732377,0.999999861036,-8.99483502943e-06,-0.000526594311763,-2.33744078151e-05,1793192716170323200
+296,4.933333333,POSE2_TO_POSE3_RETREAT,764,742.85888221,711,673,661.14111779,631,876.85888221,782.14111779,799,649,629,650,0.442570994577,-0.00543766275892,0.0496766387118,0.9999998707,-1.80396987791e-05,-0.000507565840855,-2.55051891804e-05,1793192716186989568
+297,4.950000000,POSE2_TO_POSE3_RETREAT,764,742.285352805,711,673,661.714647195,631,876.285352805,782.714647195,799,649,629,650,0.442089432962,-0.00542751331056,0.049706974871,0.999999896218,-1.30111873558e-05,-0.000454505462903,-2.86199872825e-05,1793192716203655936
+298,4.966666667,POSE2_TO_POSE3_RETREAT,763.701453219,742,711,672.701453219,662.298546781,631.298546781,876,783,799,649,628.701453219,650,0.441586624259,-0.00542119085346,0.0497413660894,0.999999921036,-1.28457816289e-05,-0.000395998788405,-3.08030952835e-05,1793192716220323328
+299,4.983333333,POSE2_TO_POSE3_RETREAT,763.107284997,742,711,672.107284997,662.892715003,631.892715003,876,783,799,649,628.107284997,650,0.441062776603,-0.00541865788725,0.0497797726368,0.999999944188,-1.74958293719e-05,-0.000332099176765,-3.20636427791e-05,1793192716236990976
+300,5.000000000,POSE2_TO_POSE3_RETREAT,763.472468143,742,711,672,663,632,876,783,799.472468143,649,628.472468143,650,0.440469138125,-0.00541714829766,0.0498024265707,0.999999955475,-2.4991852417e-05,-0.000295377581977,-3.43023182068e-05,1793192716253657600
+301,5.016666667,POSE2_TO_POSE3_RETREAT,764,742.049043379,711,672,663.049043379,632,876,783,800,649,628.950956621,650,0.439851609784,-0.00541575486792,0.0498184353041,0.99999996232,-3.33827964453e-05,-0.000269952544913,-3.70380230912e-05,1793192716270324224
+302,5.033333333,POSE2_TO_POSE3_RETREAT,764,742.625602555,711,672,663.625602555,632,876,783,800,649,628.374397445,650,0.439142531316,-0.00541318534566,0.0498003030601,0.9999999526,-4.46543251386e-05,-0.000301619459554,-4.2801556595e-05,1793192716286990080
+303,5.050000000,POSE2_TO_POSE3_RETREAT,763.79362087,742.79362087,711,672,663.79362087,632,876,783,799.79362087,649,628.20637913,650,0.438432080917,-0.00541108486758,0.0497835579058,0.999999943182,-5.45639445122e-05,-0.000329171333015,-4.80055741235e-05,1793192716303656192
+304,5.066666667,POSE2_TO_POSE3_RETREAT,763.205033832,742.205033832,711,672,663.205033832,632,876,783,799.205033832,649,628.794966168,650,0.437719089788,-0.00540985304528,0.0497693816008,0.999999935784,-6.19513483996e-05,-0.000349102273193,-5.2173384702e-05,1793192716320322816
+305,5.083333333,POSE2_TO_POSE3_RETREAT,763.755172283,742,711,671.622413858,663.377586142,632,876,783,799.377586142,649,629,650,0.436996222695,-0.00540758872861,0.0497836174058,0.999999940796,-6.65466176799e-05,-0.000333238019834,-5.41525918489e-05,1793192716336989440
+306,5.100000000,POSE2_TO_POSE3_RETREAT,764.914032635,742,711,671.042983682,663.957016318,632,876,783,799.957016318,649,629,650,0.436268076288,-0.00540477247745,0.0498130413082,0.999999951591,-6.96493114606e-05,-0.000298238936516,-5.49618497713e-05,1793192716353655808
+307,5.116666667,POSE2_TO_POSE3_RETREAT,763.937489904,742,711,672.062510096,664,632,876,783.531255048,799.468744952,649,629,650,0.435462714653,-0.00540068431911,0.0498112066152,0.999999947556,-7.27043861935e-05,-0.000310241032454,-5.79035555096e-05,1793192716370322432
+308,5.133333333,POSE2_TO_POSE3_RETREAT,763.105136921,742.105136921,711,672.894863079,663.894863079,632.105136921,876.105136921,784,799,649,629,650,0.434647004392,-0.00539744701667,0.0498043952187,0.999999942005,-7.64000508512e-05,-0.000326185313208,-6.12812273244e-05,1793192716386989056
+309,5.150000000,POSE2_TO_POSE3_RETREAT,763.679282341,742.679282341,711,672.320717659,663.320717659,632.679282341,876.679282341,784,799,649,629,650,0.43381272965,-0.00539845995446,0.049786556155,0.999999935595,-8.29703627272e-05,-0.000342915319362,-6.58414913429e-05,1793192716403655936
+310,5.166666667,POSE2_TO_POSE3_RETREAT,764,743,711,672.262576111,663.262576111,633,876.737423889,783.737423889,799.262576111,649,629,650,0.432989753422,-0.00539932659946,0.0497879919304,0.99999994021,-5.15397152252e-05,-0.000337050347195,-5.76265879014e-05,1793192716420322816
+311,5.183333333,POSE2_TO_POSE3_RETREAT,764,743,711,672.857447373,663.857447373,633,876.142552627,783.142552627,799.857447373,649,629,650,0.43218107557,-0.00540000810821,0.0498138203853,0.999999953275,2.79818816491e-05,-0.000302590992843,-3.32444629536e-05,1793192716436989440
+312,5.200000000,POSE2_TO_POSE3_RETREAT,764,742.562608908,711,672.562608908,664,632.562608908,876.437391092,783,799.562608908,649,629,650,0.431320114045,-0.00539521799544,0.0498098681263,0.99999995144,3.96280710487e-05,-0.000307315592215,-3.32805901315e-05,1793192716453656064
+313,5.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.987377153,632,876.987377153,783,799,649,628.987377153,650,0.430441827154,-0.00538884791983,0.0497962707602,0.999999945921,2.98669610643e-05,-0.000324942429881,-4.0956474817e-05,1793192716470322432
+314,5.233333333,POSE2_TO_POSE3_RETREAT,764,742,711,672,663.41247357,632,876.41247357,783,799,649,628.41247357,650,0.429525779231,-0.00538891328646,0.0497711173617,0.999999931328,1.94063267826e-05,-0.000367203996093,-4.61426599148e-05,1793192716486989312
+315,5.250000000,POSE2_TO_POSE3_RETREAT,763.83284126,742,711,671.83284126,663.16715874,632,876,783,799,649,628.16715874,650,0.428615073635,-0.0053893755459,0.0497595654981,0.999999923142,1.00651586179e-05,-0.000388720501852,-5.01060787881e-05,1793192716503655936
+316,5.266666667,POSE2_TO_POSE3_RETREAT,763.24120089,742,711,671.24120089,663.75879911,632,876,783,799,649,628.75879911,650,0.427717934357,-0.00539084567191,0.0497825532698,0.999999934771,3.5667548765e-06,-0.000357557157985,-5.09644142833e-05,1793192716520322816
+317,5.283333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.342664581,664,632,876,783,799,649,629,650,0.426803313894,-0.00538861295908,0.0497848827956,0.999999936491,5.12064517738e-06,-0.000352486748234,-5.23978512263e-05,1793192716536989440
+318,5.300000000,POSE2_TO_POSE3_RETREAT,763,742,711,671.921178712,664,632,876,783,799,649,629,650,0.425876661499,-0.00538383165224,0.0497729936405,0.999999931705,1.22167774466e-05,-0.00036537561295,-5.42271195999e-05,1793192716553656064
+319,5.316666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.505221905,663.505221905,632,875.505221905,783,799,649,629,650,0.425019533639,-0.005385884115,0.0497963468479,0.999999950448,1.16181359847e-05,-0.000309866418925,-5.43380767137e-05,1793192716570322944
+320,5.333333333,POSE2_TO_POSE3_RETREAT,763,742,711,671.068080527,663.136161054,632,875.136161054,783,799,649,628.931919473,650,0.424166332423,-0.00538908901801,0.0498241758787,0.999999967575,1.10347761905e-05,-0.000248685305459,-5.37015560967e-05,1793192716586989312
+321,5.350000000,POSE2_TO_POSE3_RETREAT,763,742,711,671.644957206,664.289914411,632,876.289914411,783,799,649,628.355042794,650,0.423260517693,-0.00539285057901,0.0498439089957,0.999999973101,1.96366660168e-05,-0.000225747014212,-4.9504446605e-05,1793192716603655936
+322,5.366666667,POSE2_TO_POSE3_RETREAT,763,742,711,672,664.544520894,632,876.772260447,783,799,649,628.227739553,650,0.422332474483,-0.00539442341505,0.0498419833131,0.999999970406,2.49951804123e-05,-0.000237151990853,-4.81977968521e-05,1793192716620322560
+323,5.383333333,POSE2_TO_POSE3_RETREAT,763,742,711,672,663.360052094,632,876.180026047,783,799,649,628.819973953,650,0.421368854675,-0.00539249321952,0.0498053929442,0.999999952293,2.51627065696e-05,-0.000303523015781,-5.15172978699e-05,1793192716636989184
+324,5.400000000,POSE2_TO_POSE3_RETREAT,763.401751149,742,711,672,663,632.401751149,876,783,799,649,629,650,0.420454592239,-0.00538937220844,0.0498005528676,0.999999946934,3.09186929202e-05,-0.000320034974705,-5.24678373725e-05,1793192716653656064
+325,5.416666667,POSE2_TO_POSE3_RETREAT,763.978961279,742,711,672,663,632.978961279,876,783,799,649,629,650,0.419561885975,-0.00538573112608,0.0498095792721,0.999999948322,3.91153581192e-05,-0.000314771707057,-5.23837672006e-05,1793192716670322944
+326,5.433333333,POSE2_TO_POSE3_RETREAT,762.885856784,742,711,672,663.557071608,633,875.442928392,783,799,649,628.442928392,650,0.418644759912,-0.00538328546638,0.0497959030966,0.999999935784,5.0604192103e-05,-0.000350980829607,-5.180728456e-05,1793192716686989824
+327,5.450000000,POSE2_TO_POSE3_RETREAT,762.267498591,742,711,671.866250704,663.866250704,632.866250704,875.133749296,783,799,649,628,650,0.417748857101,-0.00538208279503,0.0497850317187,0.999999926431,5.81372074516e-05,-0.000375580841488,-5.19263776114e-05,1793192716703656960
+328,5.466666667,POSE2_TO_POSE3_RETREAT,763.411244974,742,711,671.294377513,663.294377513,632.294377513,875.705622487,783,799,649,628,650,0.416925501483,-0.00538480366491,0.0497861611853,0.999999933424,5.23041662089e-05,-0.000357013814357,-5.43849913131e-05,1793192716720322816
+329,5.483333333,POSE2_TO_POSE3_RETREAT,763.712750944,742,711,671.287249056,663.287249056,632.287249056,875.712750944,783,799.287249056,649,628.287249056,650,0.416115303334,-0.00538695789492,0.049800737869,0.999999945903,5.11263961939e-05,-0.000320260302055,-5.48922734391e-05,1793192716736989184
+330,5.500000000,POSE2_TO_POSE3_RETREAT,763.120777675,742,711,671.879222325,663.879222325,632.879222325,875.120777675,783,799.879222325,649,628.879222325,650,0.415319063158,-0.00538851101262,0.0498295798481,0.999999962167,5.48871069477e-05,-0.000264213907425,-5.33295120131e-05,1793192716753656064
+331,5.516666667,POSE2_TO_POSE3_RETREAT,763,742.461256398,711,672,664,632.538743602,875.461256398,783,799.538743602,649,628.538743602,650,0.414485954443,-0.00538704450587,0.04981616896,0.999999954932,6.06920166781e-05,-0.000288959397446,-5.43520072041e-05,1793192716770322688
+332,5.533333333,POSE2_TO_POSE3_RETREAT,763,742.959606946,711.040393054,671.959606946,663.959606946,632.040393054,875.959606946,783,799,649,628,650.040393054,0.413647910501,-0.00538488213805,0.0497925699036,0.999999940914,6.69520971074e-05,-0.000332486895632,-5.60460629395e-05,1793192716786989312
+333,5.550000000,POSE2_TO_POSE3_RETREAT,763,742.385096083,711.614903917,671.385096083,663.385096083,632.614903917,875.385096083,783,799,649,628,650.614903917,0.412869569047,-0.00538375294353,0.0497774621641,0.999999934274,7.23024034296e-05,-0.000350537466315,-5.7857843287e-05,1793192716803656192
+334,5.566666667,POSE2_TO_POSE3_RETREAT,763,742,711.806126281,671.193873719,663.387747438,632.806126281,875.193873719,783,799,649,628.193873719,651,0.412111347548,-0.00538342060126,0.0497765826128,0.999999933236,7.75141591864e-05,-0.000352343519427,-5.80803758062e-05,1793192716820323072
+335,5.583333333,POSE2_TO_POSE3_RETREAT,763,742,711.218090976,671.781909024,664.563818047,632.218090976,875.781909024,783,799,649,628.781909024,651,0.41139403147,-0.00538470832644,0.0498046301627,0.999999943525,8.24442309513e-05,-0.00032112310454,-5.50718340751e-05,1793192716836990464
+336,5.600000000,POSE2_TO_POSE3_RETREAT,763,742,711,671.63559296,664.63559296,632,875.63559296,783,799.36440704,649,629,651,0.410678448804,-0.00538553665269,0.0498106436195,0.999999944021,8.59619397228e-05,-0.000318743138565,-5.45081350256e-05,1793192716853657088
+337,5.616666667,POSE2_TO_POSE3_RETREAT,763,742,711,671.056359341,664.056359341,632,875.056359341,783,799.943640659,649,629,651,0.409963888068,-0.00538609415232,0.0498036674549,0.999999938971,8.86470267907e-05,-0.000333365302049,-5.53857288183e-05,1793192716870322944
+338,5.633333333,POSE2_TO_POSE3_RETREAT,763.521393793,742,711,671,663.478606207,632.521393793,875,783,799.478606207,649,629,650.478606207,0.409316946465,-0.00538603556847,0.0497974482409,0.999999937683,9.0186230938e-05,-0.000336460313538,-5.7400751065e-05,1793192716886989568
+339,5.650000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.097972414,633,875.097972414,783.097972414,799.097972414,649.097972414,629,650,0.408689460852,-0.00538640484292,0.0497962183263,0.999999938895,9.20587799203e-05,-0.000332076032695,-5.88259874045e-05,1793192716903655680
+340,5.666666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.669643783,633,875.669643783,783.669643783,799.669643783,649.669643783,629,650,0.408120805357,-0.00538916389769,0.0498187173033,0.999999949501,9.61402420777e-05,-0.000297536632625,-5.68068177601e-05,1793192716920322304
+341,5.683333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.749654009,633,876,783.749654009,799.749654009,650,629,650,0.407551489798,-0.00539059872714,0.0498329393394,0.999999954178,0.000103059062648,-0.000279380618376,-5.4484457203e-05,1793192716936989440
+342,5.700000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.156588787,633,876,783.156588787,799.156588787,650,629,650,0.40698127067,-0.00539022071535,0.0498358303878,0.999999951949,0.000113862176444,-0.000283653172512,-5.1747033887e-05,1793192716953656320
+343,5.716666667,POSE2_TO_POSE3_RETREAT,763.575465355,742.424534645,711,671,663,633,875.575465355,783,799,650,629,650.424534645,0.406425918852,-0.00539118849793,0.0498153385353,0.999999940179,0.000115311158502,-0.000321747420877,-5.31384755794e-05,1793192716970323456
+344,5.733333333,POSE2_TO_POSE3_RETREAT,763.001371709,742.998628291,711,671,663,632.998628291,875,783,799,650,629,651,0.405876064031,-0.00539263348752,0.0497865011398,0.999999922847,0.00011341097477,-0.000371896974084,-5.60085342891e-05,1793192716986990336
+345,5.750000000,POSE2_TO_POSE3_RETREAT,763.577279591,742.422720409,711,671,663,632.422720409,875,783,799,650,629,651,0.40539460533,-0.00539173055515,0.049775769918,0.999999916064,0.000114313206775,-0.000389186556249,-5.7772615173e-05,1793192717003656704
+346,5.766666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.843327014,663,632.156672986,875,783,799,649.843327014,629,650.843327014,0.404940213314,-0.00539163742549,0.0497731426706,0.999999914921,0.000114596934514,-0.000391847742529,-5.90000753015e-05,1793192717020323072
+347,5.783333333,POSE2_TO_POSE3_RETREAT,764,742,711,670.254315224,663,632.745684776,875,783,799,649.254315224,629,650.254315224,0.404560511653,-0.00539377894463,0.0497928783226,0.999999929162,0.000113173901112,-0.0003541419024,-5.87467318771e-05,1793192717036989440
+348,5.800000000,POSE2_TO_POSE3_RETREAT,764,742,711,670.329100882,663.329100882,633,875.329100882,783,799.329100882,649.329100882,629,650.329100882,0.404199759334,-0.00539799103398,0.0498201389152,0.999999943927,0.000109161005355,-0.000311358050936,-5.7322874201e-05,1793192717053656064
+349,5.816666667,POSE2_TO_POSE3_RETREAT,764,742,711,670.908265139,663.908265139,633,875.908265139,783,799.908265139,649.908265139,629,650.908265139,0.403853405469,-0.00540377642123,0.0498531172429,0.999999958127,0.000103180233594,-0.000264715735175,-5.50096152092e-05,1793192717070322688
+350,5.833333333,POSE2_TO_POSE3_RETREAT,763.517068844,742,711,671,663.517068844,633,875.517068844,783.482931156,800,649.517068844,628.517068844,650.517068844,0.403528230798,-0.00540872829405,0.0498618262672,0.999999961326,9.55759408086e-05,-0.000255295079503,-5.51133366579e-05,1793192717086989312
+351,5.850000000,POSE2_TO_POSE3_RETREAT,763.057038157,742,711,671,663,633,875,783.942961843,799.942961843,649,628,650,0.403208604846,-0.00541299842144,0.049864076049,0.999999961748,8.82411405803e-05,-0.000256137206247,-5.5785158835e-05,1793192717103655936
+352,5.866666667,POSE2_TO_POSE3_RETREAT,763.633765206,742,711,671,663,633,875,783.366234794,799.366234794,649,628,650,0.40290321763,-0.00541248626453,0.0498490898304,0.99999995355,8.61456853251e-05,-0.000286660288893,-5.7488572927e-05,1793192717120322816
+353,5.883333333,POSE2_TO_POSE3_RETREAT,763.783898443,742,711,671,663,633,875.216101557,783,799,649.216101557,628.216101557,650.216101557,0.402617385863,-0.00541126454432,0.0498353410518,0.999999945353,8.58573130018e-05,-0.00031374436251,-5.90562676336e-05,1793192717136989440
+354,5.900000000,POSE2_TO_POSE3_RETREAT,763.191802546,742,711,671,663,633,875.808197454,783,799,649.808197454,628.808197454,650.808197454,0.402365578584,-0.00540880825746,0.0498237452924,0.999999938181,8.871307822e-05,-0.000334844913523,-6.03878245399e-05,1793192717153656064
+355,5.916666667,POSE2_TO_POSE3_RETREAT,763.391590828,742,711,671,663,633,875.608409172,783,799,649.608409172,629,651,0.402147724011,-0.00540649012063,0.0498177293668,0.999999935153,9.31026195238e-05,-0.000342440318979,-6.13252432942e-05,1793192717170322432
+356,5.933333333,POSE2_TO_POSE3_RETREAT,763.970814396,742,711,671,663,633,875.029185604,783,799,649.029185604,629,651,0.401946138028,-0.00540423817887,0.049814387046,0.999999934231,9.82270777193e-05,-0.000343564667031,-6.20738088698e-05,1793192717186989056
+357,5.950000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,632.4550858,875,783,799,649,629,651,0.401795345199,-0.00540580400838,0.0498202015672,0.999999938576,0.000100185019307,-0.000330316012774,-6.08433620952e-05,1793192717203655936
+358,5.966666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,632.121837935,875,783,799,649.121837935,629,650.878162065,0.401654847279,-0.00540692811527,0.04982706604,0.999999942067,0.000114916047012,-0.000315329993581,-5.68114534846e-05,1793192717220322560
+359,5.983333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,632.710626682,875,783,799,649.710626682,629,650.289373318,0.401543475867,-0.00540558291529,0.0498360923823,0.999999939047,0.000179244595073,-0.000296608307362,-4.24452337357e-05,1793192717236989440
+360,6.000000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,875.294497127,783,799.294497127,650,628.705502873,650.294497127,0.401439309771,-0.0054029591003,0.0498405902052,0.999999935933,0.000210790553304,-0.000286990978717,-3.65687192582e-05,1793192717253656064
+361,6.016666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,875.873614193,783,799.873614193,650,628.126385807,650.873614193,0.401342107338,-0.00539909955407,0.049840711391,0.999999936109,0.000210653419369,-0.000286172657156,-3.88971733736e-05,1793192717270322944
+362,6.033333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663.452627759,633,875.547372241,783,799.547372241,650,628.452627759,651,0.401264124149,-0.00540648445235,0.0498409358937,0.999999939258,0.000198722719034,-0.000283635053125,-3.92962168053e-05,1793192717286989568
+363,6.050000000,POSE2_TO_POSE3_RETREAT,764,742.031106193,711,671,663.968893807,633,875.031106193,783.031106193,799.031106193,649.968893807,628.968893807,650.968893807,0.401192717033,-0.00541657817905,0.0498411733658,0.999999942883,0.000184029605584,-0.00028076686164,-3.92158242868e-05,1793192717303656192
+364,6.066666667,POSE2_TO_POSE3_RETREAT,764,742.60081917,711,671,663.39918083,633,875.60081917,783.60081917,799.60081917,649.39918083,628.39918083,650.39918083,0.401142274514,-0.00541922288034,0.0498411359971,0.999999943924,0.000178512002475,-0.000280485071034,-4.01602100994e-05,1793192717320322560
+365,6.083333333,POSE2_TO_POSE3_RETREAT,763.822857357,742.822857357,711,671,663,633,875.822857357,783.822857357,799.822857357,649,628,650.177142643,0.401097684216,-0.00542088602632,0.0498417064489,0.99999994516,0.000174206803012,-0.000278664410271,-4.09705974746e-05,1793192717336989184
+366,6.100000000,POSE2_TO_POSE3_RETREAT,763.231060149,742.231060149,711,671,663,633,875.231060149,783.231060149,799.231060149,649,628,650.768939851,0.401066792772,-0.00542025155243,0.0498436996838,0.99999994689,0.000172739592398,-0.000273241570399,-4.14673218831e-05,1793192717353655808
+367,6.116666667,POSE2_TO_POSE3_RETREAT,763,742.352064107,711,671,663,633,875.352064107,783.352064107,799,649,628.352064107,650.647935893,0.401042549635,-0.00541995182496,0.0498446614286,0.999999947557,0.000173310516402,-0.000270394338681,-4.1680364679e-05,1793192717370322432
+368,6.133333333,POSE2_TO_POSE3_RETREAT,763,742.929633199,711,671,663,633,875.929633199,783.929633199,799,649,628.929633199,650.070366801,0.401022564886,-0.00541986651006,0.0498449624809,0.999999947551,0.000175186911368,-0.00026919684144,-4.17117030649e-05,1793192717386989056
+369,6.150000000,POSE2_TO_POSE3_RETREAT,764.01200197,742.493999015,711,671,663,632.493999015,875.493999015,783.493999015,799,649,629,650.506000985,0.401011299659,-0.00542146495739,0.0498459825913,0.999999948779,0.000172419747369,-0.000266423958874,-4.16178324829e-05,1793192717403655936
+370,6.166666667,POSE2_TO_POSE3_RETREAT,764.918189658,742,711,671,663,632.081810342,875.081810342,783,799.081810342,649,629,651,0.401001861058,-0.00542317847986,0.0498470290353,0.999999950071,0.000169029951234,-0.000263740216772,-4.15740216005e-05,1793192717420322816
+371,6.183333333,POSE2_TO_POSE3_RETREAT,764.344734392,742,711,671,663,632.655265608,875.655265608,783,799.655265608,649,629,651,0.400996129883,-0.00542417973755,0.049847634228,0.999999950821,0.000165769917387,-0.000262905628899,-4.19354394695e-05,1793192717436989440
+372,6.200000000,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,632.762244051,875.762244051,783,799.762244051,649.237755949,629,651,0.400991269111,-0.0054240668251,0.0498480164512,0.999999951066,0.000164916664269,-0.000262438506333,-4.23848503382e-05,1793192717453655808
+373,6.216666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,632.166135832,875.166135832,783,799.166135832,649.833864168,629,651,0.400987720237,-0.00542227460488,0.0498480626086,0.999999950557,0.000167690977108,-0.000262525237584,-4.29668866421e-05,1793192717470322432
+374,6.233333333,POSE2_TO_POSE3_RETREAT,764,742,711.415540314,671,663.415540314,632.415540314,875,783,799,649.584459686,629,651,0.400986241912,-0.00542145282079,0.0498484818046,0.999999950628,0.000167422457807,-0.000262420101693,-4.30062865897e-05,1793192717486989056
+375,6.250000000,POSE2_TO_POSE3_RETREAT,764,742,711.991640078,671,663.991640078,632.991640078,875,783,799,649.008359922,629,651,0.400985563621,-0.00542100600082,0.049849045138,0.999999950923,0.000165978227109,-0.000262240830798,-4.28360187918e-05,1793192717503655680
+376,6.266666667,POSE2_TO_POSE3_RETREAT,764,742,711.435280787,671,663.435280787,632.435280787,875.564719213,783.564719213,799,649.564719213,629,651,0.400985691933,-0.00542282573576,0.0498492973975,0.999999951422,0.000164913169614,-0.000261026124062,-4.27121507153e-05,1793192717520322560
+377,6.283333333,POSE2_TO_POSE3_RETREAT,763.861891138,742,711,671,663.138108862,632,875.861891138,783.861891138,799,650,628.861891138,651,0.400985424137,-0.0054245507602,0.0498495875744,0.999999951911,0.000163437250874,-0.000260115067335,-4.2499700674e-05,1793192717536989440
+378,6.300000000,POSE2_TO_POSE3_RETREAT,763.287379879,742,711,671,663.712620121,632,875.287379879,783.287379879,799,650,628.287379879,651,0.400983867173,-0.00542587105464,0.0498500120384,0.999999952359,0.000160645432743,-0.000260211674578,-4.20051865983e-05,1793192717553656064
+379,6.316666667,POSE2_TO_POSE3_RETREAT,763.595915712,742,711,671,664,632.297957856,875,783.297957856,799,650,628.297957856,651,0.400983364496,-0.00542582714983,0.0498503472509,0.999999952442,0.000161012495165,-0.000259683303594,-4.18886651477e-05,1793192717570322688
+380,6.333333333,POSE2_TO_POSE3_RETREAT,764.788263017,742,711,671,664,632.894131509,875,783.894131509,799,650,628.894131509,651,0.400983917017,-0.00542441786495,0.0498505931348,0.999999952156,0.000164541172428,-0.000258529413354,-4.21504634887e-05,1793192717586989312
+381,6.350000000,POSE2_TO_POSE3_RETREAT,764.052910528,742,711.473544736,671,664,633,875.473544736,783.526455264,799,649.526455264,629,650.526455264,0.40098552862,-0.0054248545275,0.049851853244,0.999999952803,0.000164211898689,-0.000256234977024,-4.20973416104e-05,1793192717603655936
+382,6.366666667,POSE2_TO_POSE3_RETREAT,763.049279376,742.049279376,711.950720624,671,664,633,875.950720624,783,799,649,629,650.049279376,0.400987200058,-0.00542558869469,0.0498532259254,0.999999953556,0.000163220946162,-0.000253935658263,-4.19958265184e-05,1793192717620322560
+383,6.383333333,POSE2_TO_POSE3_RETREAT,763.624378319,742.624378319,711.375621681,671,664,633,875.375621681,783,799,649,629,650.624378319,0.400987069886,-0.00542524433074,0.0498534630565,0.999999953344,0.000164058265021,-0.000254211994909,-4.21035056379e-05,1793192717636989184
+384,6.400000000,POSE2_TO_POSE3_RETREAT,763.79559404,742.79559404,711,671,663.79559404,633,875.20440596,783,799.20440596,649.20440596,629,651,0.400986274324,-0.00542574543254,0.049853231818,0.999999953224,0.000163418971206,-0.00025508235125,-4.21725112172e-05,1793192717653656064
+385,6.416666667,POSE2_TO_POSE3_RETREAT,763.206285548,742.206285548,711,671,663.206285548,633,875.793714452,783,799.793714452,649.793714452,629,651,0.400984225812,-0.00542783857164,0.0498521186257,0.999999953268,0.000159999171549,-0.000257071264407,-4.2168693358e-05,1793192717670322688
+386,6.433333333,POSE2_TO_POSE3_RETREAT,763.376063478,742,711,671,663,633,876,783,799.623936522,649.623936522,629,651,0.40098397332,-0.00542798818558,0.0498520946881,0.999999953503,0.000158722705248,-0.000256933584569,-4.22671889551e-05,1793192717686989312
+387,6.450000000,POSE2_TO_POSE3_RETREAT,763.954664311,742,711,671,663,633,876,783,799.045335689,649.045335689,629,651,0.400984688113,-0.00542709107075,0.049852657393,0.999999953845,0.000158600578931,-0.000255650580691,-4.2420787741e-05,1793192717703655936
+388,6.466666667,POSE2_TO_POSE3_RETREAT,763.469404197,742,711,671,663.530595803,633,875.469404197,783,799,649,629,651,0.400984160557,-0.00542694566916,0.0498526390411,0.999999953881,0.000159040238013,-0.000255238370387,-4.23921665595e-05,1793192717720322560
+389,6.483333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.891432062,633,875.108567938,783,799,649.108567938,629,651,0.400983680848,-0.00542689785526,0.0498526220701,0.999999953853,0.000159596454008,-0.000255017027892,-4.23034374981e-05,1793192717736989184
+390,6.500000000,POSE2_TO_POSE3_RETREAT,763,742,711,671,663.303446857,633,875.696553143,783,799,649.696553143,629,651,0.400983878822,-0.005426998769,0.0498528293332,0.999999953652,0.000160456463607,-0.000255311617706,-4.20176901435e-05,1793192717753655808
+391,6.516666667,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875.719786117,783,799.280213883,649.719786117,629,651,0.400983828932,-0.00542668400252,0.0498527456316,0.999999953486,0.000161265150895,-0.000255430848496,-4.21495710761e-05,1793192717770322688
+392,6.533333333,POSE2_TO_POSE3_RETREAT,763,742,711,671,663,633,875.140737144,783,799.859262856,649.140737144,629,651,0.400983514707,-0.00542592593241,0.0498523516297,0.999999953357,0.000162019105428,-0.000255363067071,-4.27268331423e-05,1793192717786989568
+393,6.550000000,POSE2_TO_POSE3_RETREAT,763.436282331,742,711,671,663,633,875,783,799.563717669,649.436282331,629,651,0.40098282568,-0.00542631986575,0.0498522176351,0.999999953536,0.000160254735701,-0.000255786302797,-4.26503251058e-05,1793192717803656192
+394,6.566666667,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,875,783,799,649.987351808,629,650.987351808,0.400982053783,-0.00542705248446,0.0498521799945,0.999999953791,0.000157824382053,-0.000256350931642,-4.23623641522e-05,1793192717820322560
+395,6.583333333,POSE2_TO_POSE3_RETREAT,764,742,711,671,663,633,875,783,799,649.41107185,629,650.41107185,0.400982951887,-0.0054263943019,0.0498527157993,0.999999953219,0.000161749599658,-0.000256190662493,-4.20060228349e-05,1793192717836989184
+396,6.600000000,POSE2_TO_POSE3_RETREAT,763.831524539,742,711.168475461,671,663,633,875,783,799,649.168475461,628.831524539,650.168475461,0.400984273777,-0.00542604868259,0.0498534819187,0.999999953177,0.000164201189078,-0.000254819188923,-4.1849352946e-05,1793192717853655808
+397,6.616666667,POSE2_TO_POSE3_RETREAT,763.243847417,742,711.756152583,671,663,633,875,783,799,649.756152583,628.243847417,650.756152583,0.400986650135,-0.00542648078507,0.0498548211085,0.999999954469,0.000162986087688,-0.000250433989192,-4.21895067381e-05,1793192717870322688
+398,6.633333333,POSE2_TO_POSE3_RETREAT,763,742,711.659716401,671,663.340283599,633,875.340283599,783.340283599,799,649.659716401,628,651,0.400986885341,-0.00542661162243,0.0498551059249,0.999999954763,0.000162245745517,-0.000249723394846,-4.23021002123e-05,1793192717886989312
+399,6.650000000,POSE2_TO_POSE3_RETREAT,763,742,711.078100345,671,663.921899655,633,875.921899655,783.921899655,799,649.078100345,628,651,0.40098560202,-0.0054265287996,0.0498546429692,0.999999954355,0.000161842107286,-0.00025161886679,-4.22533056681e-05,1793192717903655936
+400,6.666666667,POSE2_TO_POSE3_RETREAT,763.497199569,742,711,671,663.502800431,633,875.502800431,784,799.497199569,649.497199569,628.497199569,651,0.400985107268,-0.00542628098075,0.0498548694908,0.999999954413,0.000161180626913,-0.000251828679785,-4.21522541353e-05,1793192717920322816
diff --git a/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/simulation_data.csv b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98309883ddabf495490667520be3adec671cf5fa
--- /dev/null
+++ b/Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/simulation_data.csv
@@ -0,0 +1,402 @@
+frame,time_s,phase,isaac_x_m,isaac_y_m,isaac_z_m,ipc_x_m,ipc_y_m,ipc_z_m
+0,0.000000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+1,0.016666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+2,0.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+3,0.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+4,0.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+5,0.083333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+6,0.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+7,0.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+8,0.133333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+9,0.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+10,0.166666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+11,0.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+12,0.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+13,0.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+14,0.233333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+15,0.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+16,0.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+17,0.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+18,0.300000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+19,0.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+20,0.333333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+21,0.350000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+22,0.366666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+23,0.383333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+24,0.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+25,0.416666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+26,0.433333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+27,0.450000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+28,0.466666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+29,0.483333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+30,0.500000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+31,0.516666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+32,0.533333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+33,0.550000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+34,0.566666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+35,0.583333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+36,0.600000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+37,0.616666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+38,0.633333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+39,0.650000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+40,0.666666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+41,0.683333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+42,0.700000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+43,0.716666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+44,0.733333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+45,0.750000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+46,0.766666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+47,0.783333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+48,0.800000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+49,0.816666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+50,0.833333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+51,0.850000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+52,0.866666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+53,0.883333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+54,0.900000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+55,0.916666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+56,0.933333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+57,0.950000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+58,0.966666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+59,0.983333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+60,1.000000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+61,1.016666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+62,1.033333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+63,1.050000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+64,1.066666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+65,1.083333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+66,1.100000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+67,1.116666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+68,1.133333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+69,1.150000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+70,1.166666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+71,1.183333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+72,1.200000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+73,1.216666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+74,1.233333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+75,1.250000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+76,1.266666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+77,1.283333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+78,1.300000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+79,1.316666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+80,1.333333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+81,1.350000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+82,1.366666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+83,1.383333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+84,1.400000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+85,1.416666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+86,1.433333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+87,1.450000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+88,1.466666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+89,1.483333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+90,1.500000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+91,1.516666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+92,1.533333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+93,1.550000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+94,1.566666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+95,1.583333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+96,1.600000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+97,1.616666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+98,1.633333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+99,1.650000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+100,1.666666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+101,1.683333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+102,1.700000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+103,1.716666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+104,1.733333333,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+105,1.750000000,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+106,1.766666667,pose1_baseline,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+107,1.783333333,pose1_to_pose2_press,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502781,1.03969833366
+108,1.800000000,pose1_to_pose2_press,0.575709308818,5.46206344855e-05,1.04002905494,0.546280038924,0.00872734981624,1.03969834982
+109,1.816666667,pose1_to_pose2_press,0.575709340305,5.46032641091e-05,1.04002911463,0.5462800699,0.00872733069462,1.03969840909
+110,1.833333333,pose1_to_pose2_press,0.57570939236,5.45852998118e-05,1.04002916093,0.546280121645,0.00872731166816,1.03969845511
+111,1.850000000,pose1_to_pose2_press,0.575709754871,5.45097050009e-05,1.04002924203,0.546280484462,0.00872723711668,1.03969853637
+112,1.866666667,pose1_to_pose2_press,0.575710592352,5.44903117896e-05,1.0400292531,0.546281322123,0.00872721797364,1.03969853789
+113,1.883333333,pose1_to_pose2_press,0.575712302089,5.45732144178e-05,1.04002920935,0.546283031442,0.00872729932367,1.0396984907
+114,1.900000000,pose1_to_pose2_press,0.57571657023,5.4592828676e-05,1.04002934258,0.546287300531,0.00872732217984,1.03969862452
+115,1.916666667,pose1_to_pose2_press,0.575726259085,5.45249698388e-05,1.04002926421,0.546296990101,0.00872725733949,1.03969856161
+116,1.933333333,pose1_to_pose2_press,0.57574456169,5.46592262091e-05,1.04002910456,0.546315290707,0.00872738514392,1.03969841061
+117,1.950000000,pose1_to_pose2_press,0.575773351349,5.46058113666e-05,1.04002906187,0.54634408146,0.00872733494093,1.0396983547
+118,1.966666667,pose1_to_pose2_press,0.575814432134,5.45468563588e-05,1.04002918753,0.546385162885,0.00872727792677,1.03969847429
+119,1.983333333,pose1_to_pose2_press,0.575866275231,5.44324632234e-05,1.04002911945,0.546437007574,0.00872716903039,1.03969840863
+120,2.000000000,pose1_to_pose2_press,0.575927222813,5.43524027557e-05,1.04002911954,0.546497956829,0.00872709476692,1.0396984117
+121,2.016666667,pose1_to_pose2_press,0.57599585914,5.44048323425e-05,1.04002916643,0.546566592583,0.00872714521416,1.03969845757
+122,2.033333333,pose1_to_pose2_press,0.576072346351,5.45916556235e-05,1.04002924628,0.546643077333,0.0087273236673,1.03969853685
+123,2.050000000,pose1_to_pose2_press,0.576159272341,5.46273020325e-05,1.04002904599,0.54673000226,0.00872735581752,1.03969833942
+124,2.066666667,pose1_to_pose2_press,0.576257938158,5.46002158863e-05,1.04002907245,0.546828668393,0.00872732961214,1.03969836082
+125,2.083333333,pose1_to_pose2_press,0.576372475417,5.4614095822e-05,1.04002920823,0.546943205281,0.00872734197345,1.03969848974
+126,2.100000000,pose1_to_pose2_press,0.576502649743,5.45993195427e-05,1.04002918416,0.54707337986,0.00872732825951,1.03969847108
+127,2.116666667,pose1_to_pose2_press,0.576650550036,5.46240536495e-05,1.0400291652,0.547221279897,0.00872735232437,1.03969845724
+128,2.133333333,pose1_to_pose2_press,0.576816306896,5.47144027444e-05,1.0400291879,0.547387034936,0.00872743630857,1.03969847498
+129,2.150000000,pose1_to_pose2_press,0.577001633517,5.46507607045e-05,1.0400291286,0.547572362115,0.00872737463693,1.03969841767
+130,2.166666667,pose1_to_pose2_press,0.577208625935,5.45294903694e-05,1.04002898472,0.547779356387,0.00872725992641,1.03969828076
+131,2.183333333,pose1_to_pose2_press,0.577437683877,5.45190308619e-05,1.04002904325,0.548008415284,0.00872725264972,1.03969833776
+132,2.200000000,pose1_to_pose2_press,0.577692553207,5.4608896459e-05,1.04002919672,0.548263283362,0.00872733819163,1.03969848914
+133,2.216666667,pose1_to_pose2_press,0.57797254524,5.46956769855e-05,1.04002904846,0.548543273624,0.00872741889551,1.03969833911
+134,2.233333333,pose1_to_pose2_press,0.578280138027,5.46136198923e-05,1.04002916152,0.548850867259,0.00872733957843,1.03969844847
+135,2.250000000,pose1_to_pose2_press,0.578612289626,5.46704846058e-05,1.04002922125,0.549183018734,0.00872739588226,1.0396985045
+136,2.266666667,pose1_to_pose2_press,0.5789682689,5.46171297069e-05,1.04002911811,0.549538997618,0.00872734127208,1.03969840307
+137,2.283333333,pose1_to_pose2_press,0.57934095483,5.45212650493e-05,1.0400290645,0.54991168421,0.00872724785989,1.03969835482
+138,2.300000000,pose1_to_pose2_press,0.579727629084,5.45139641914e-05,1.04002898712,0.550298359056,0.00872724252792,1.03969827626
+139,2.316666667,pose1_to_pose2_press,0.580128548186,5.45064278149e-05,1.04002907165,0.550699278861,0.00872723725515,1.03969835753
+140,2.333333333,pose1_to_pose2_press,0.580548143868,5.45673444247e-05,1.04002909285,0.551118875142,0.00872730034172,1.0396983823
+141,2.350000000,pose1_to_pose2_press,0.580991925223,5.46133313896e-05,1.04002910366,0.551562655739,0.00872734391558,1.0396983973
+142,2.366666667,pose1_to_pose2_press,0.58147166097,5.45406984237e-05,1.0400289692,0.552042391579,0.00872727160936,1.03969826307
+143,2.383333333,pose1_to_pose2_press,0.581988809373,5.45998852173e-05,1.04002917173,0.552559539362,0.00872732875433,1.03969846717
+144,2.400000000,pose1_to_pose2_press,0.582542876685,5.45163846997e-05,1.04002928169,0.553113607312,0.00872724707648,1.03969856809
+145,2.416666667,pose1_to_pose2_press,0.583124323091,5.45507583463e-05,1.04002910685,0.553695053894,0.00872728221377,1.03969839762
+146,2.433333333,pose1_to_pose2_press,0.583723896708,5.45659665077e-05,1.04002903017,0.554294627831,0.00872729872016,1.03969832639
+147,2.450000000,pose1_to_pose2_press,0.584331470082,5.45611947864e-05,1.0400293431,0.554902201176,0.00872729346885,1.03969862937
+148,2.466666667,pose1_to_pose2_press,0.584944614551,5.45364653832e-05,1.04002908084,0.555515345647,0.00872726885801,1.03969837001
+149,2.483333333,pose1_to_pose2_press,0.585577799013,5.46590777258e-05,1.04002920051,0.556148527946,0.00872738408872,1.03969848861
+150,2.500000000,pose1_to_pose2_press,0.586234827529,5.46606062292e-05,1.04002931316,0.556805556615,0.00872738604566,1.03969859878
+151,2.516666667,pose1_to_pose2_press,0.586920660889,5.46003486367e-05,1.04002927465,0.557491391164,0.00872733001363,1.03969856526
+152,2.533333333,pose1_to_pose2_press,0.587630339112,5.44231690782e-05,1.04002921524,0.558201069945,0.00872715444641,1.03969849846
+153,2.550000000,pose1_to_pose2_press,0.588359598625,5.44807409707e-05,1.04002928528,0.558930329998,0.00872721399797,1.03969857242
+154,2.566666667,pose1_to_pose2_press,0.58910077959,5.46362151655e-05,1.04002918052,0.55967150843,0.00872736103461,1.03969847167
+155,2.583333333,pose1_to_pose2_press,0.58985530083,5.47569288878e-05,1.04002932624,0.560426027946,0.0087274756742,1.03969861159
+156,2.600000000,pose1_to_pose2_press,0.59062753756,5.45708946831e-05,1.04002937737,0.561198268197,0.00872730165996,1.0396986645
+157,2.616666667,pose1_to_pose2_press,0.591416143448,5.44968315055e-05,1.04002897492,0.561986874782,0.00872722993378,1.03969826139
+158,2.633333333,pose1_to_pose2_press,0.592213398595,5.46267336717e-05,1.04002930492,0.562784128418,0.00872735462587,1.03969858927
+159,2.650000000,pose1_to_pose2_press,0.593017809968,5.45475459807e-05,1.04002918977,0.563588539706,0.00872727513472,1.03969847369
+160,2.666666667,pose1_to_pose2_press,0.593832462088,5.46210387752e-05,1.04002904641,0.564403192628,0.008727351576,1.03969833639
+161,2.683333333,pose1_to_pose2_press,0.594655765114,5.46013944184e-05,1.04002894277,0.565226495089,0.0087273300166,1.03969823273
+162,2.700000000,pose1_to_pose2_press,0.595491614288,5.46135737342e-05,1.04002916097,0.566062344025,0.00872734149118,1.03969845369
+163,2.716666667,pose1_to_pose2_press,0.596339267636,5.46065322926e-05,1.04002902743,0.566909997639,0.00872733547474,1.03969832337
+164,2.733333333,pose1_to_pose2_press,0.597191810333,5.45417922947e-05,1.04002918824,0.567762540761,0.00872727182316,1.03969847497
+165,2.750000000,pose1_to_pose2_press,0.598047140022,5.46545174256e-05,1.04002918833,0.568617870121,0.0087273834707,1.03969847611
+166,2.766666667,pose1_to_pose2_press,0.598895699092,5.4520206069e-05,1.0400293234,0.569466429188,0.00872724895888,1.03969860624
+167,2.783333333,pose1_to_pose2_press,0.599736219427,5.44508405355e-05,1.04002919439,0.570306949901,0.00872718098145,1.03969848011
+168,2.800000000,pose1_to_pose2_press,0.600568909789,5.43838515708e-05,1.040029029,0.571139641138,0.00872711727951,1.03969832306
+169,2.816666667,pose1_to_pose2_press,0.601394103125,5.44352065564e-05,1.04002916563,0.571964835875,0.0087271731332,1.03969845306
+170,2.833333333,pose1_to_pose2_press,0.602220061604,5.4513758362e-05,1.04002919803,0.572790792226,0.00872724436529,1.03969848293
+171,2.850000000,pose1_to_pose2_press,0.603042060568,5.46575042668e-05,1.0400289412,0.573612790647,0.0087273865876,1.03969823456
+172,2.866666667,pose1_to_pose2_press,0.603854839611,5.46096970072e-05,1.04002901368,0.574425568569,0.0087273350682,1.03969830949
+173,2.883333333,pose1_to_pose2_press,0.60466721384,5.45256834502e-05,1.04002918273,0.575237945541,0.0087272600149,1.03969846948
+174,2.900000000,pose1_to_pose2_press,0.605474652901,5.45343932139e-05,1.04002938676,0.576045385152,0.00872727074886,1.03969867782
+175,2.916666667,pose1_to_pose2_press,0.606269799495,5.45048651534e-05,1.04002921607,0.576840531123,0.0087272388823,1.03969850125
+176,2.933333333,pose1_to_pose2_press,0.607056110231,5.45433546118e-05,1.04002909484,0.577626840615,0.00872727311105,1.0396983791
+177,2.950000000,pose1_to_pose2_press,0.607829704495,5.46827135845e-05,1.04002911043,0.57840043369,0.00872740909757,1.03969841207
+178,2.966666667,pose1_to_pose2_press,0.608583867786,5.45173374805e-05,1.04002902817,0.579154598758,0.0087272495632,1.039698325
+179,2.983333333,pose1_to_pose2_press,0.609313587907,5.45297304754e-05,1.04002904685,0.579884319167,0.00872726267359,1.03969833689
+180,3.000000000,pose1_to_pose2_press,0.610024984584,5.45015339106e-05,1.04002918998,0.580595715401,0.00872723276525,1.03969847468
+181,3.016666667,pose1_to_pose2_press,0.610721076764,5.45232598901e-05,1.04002916987,0.581291809054,0.00872725964198,1.03969845874
+182,3.033333333,pose1_to_pose2_press,0.611401254742,5.46125360969e-05,1.04002915153,0.581971983905,0.00872733850055,1.03969844511
+183,3.050000000,pose1_to_pose2_press,0.612066341017,5.45221978071e-05,1.04002913609,0.5826370727,0.00872725682399,1.03969843396
+184,3.066666667,pose1_to_pose2_press,0.612712176001,5.44345335057e-05,1.04002895467,0.583282907741,0.00872716912081,1.03969824296
+185,3.083333333,pose1_to_pose2_press,0.613324161551,5.45429924881e-05,1.04002916102,0.583894892495,0.00872727510345,1.03969844982
+186,3.100000000,pose1_to_pose2_press,0.613902606266,5.45488723482e-05,1.04002919975,0.584473336815,0.00872727980419,1.03969848508
+187,3.116666667,pose1_to_pose2_press,0.614458212525,5.45639952879e-05,1.04002906121,0.585028941558,0.00872729030102,1.03969835086
+188,3.133333333,pose1_to_pose2_press,0.614995077508,5.45768001717e-05,1.04002904364,0.58556580755,0.00872730703273,1.03969833471
+189,3.150000000,pose1_to_pose2_press,0.61551280774,5.44848108358e-05,1.04002907683,0.586083538113,0.00872721624879,1.03969836201
+190,3.166666667,pose1_to_pose2_press,0.616005283498,5.45491068104e-05,1.04002906355,0.586576012329,0.00872727582348,1.03969835146
+191,3.183333333,pose1_to_pose2_press,0.616466651559,5.4552858256e-05,1.04002915318,0.587037380609,0.00872728077716,1.03969844108
+192,3.200000000,pose1_to_pose2_press,0.616892061402,5.45531227939e-05,1.04002909189,0.587462791528,0.00872728497371,1.03969837988
+193,3.216666667,pose1_to_pose2_press,0.61728476059,5.45670092926e-05,1.04002910331,0.587855490236,0.00872729786893,1.03969840189
+194,3.233333333,pose1_to_pose2_press,0.617657541241,5.46965886728e-05,1.04002916026,0.588228267828,0.00872741715994,1.03969845234
+195,3.250000000,pose1_to_pose2_press,0.618016006322,5.46697241647e-05,1.04002932509,0.58858673378,0.00872739333405,1.03969861078
+196,3.266666667,pose1_to_pose2_press,0.618361559544,5.44372469844e-05,1.04002923993,0.588932290814,0.00872717401166,1.03969852427
+197,3.283333333,pose1_to_pose2_press,0.618693132175,5.43967296501e-05,1.04002904919,0.58926386366,0.00872713477249,1.03969834031
+198,3.300000000,pose1_to_pose2_press,0.619008205535,5.45201631317e-05,1.04002910853,0.589578934338,0.00872724943785,1.03969840111
+199,3.316666667,pose1_to_pose2_press,0.619294923922,5.44993933925e-05,1.04002917903,0.589865652617,0.00872722834975,1.03969846638
+200,3.333333333,pose1_to_pose2_press,0.619554280074,5.4552883872e-05,1.04002939875,0.590125009218,0.00872728344222,1.03969868283
+201,3.350000000,pose1_to_pose2_press,0.619783839937,5.45606269322e-05,1.04002928166,0.59035456927,0.00872729221187,1.03969857034
+202,3.366666667,pose1_to_pose2_press,0.619988311398,5.459496347e-05,1.04002909938,0.590559039723,0.00872732345501,1.03969839077
+203,3.383333333,pose1_to_pose2_press,0.620168567649,5.46042524207e-05,1.04002914052,0.590739295131,0.00872732986005,1.03969842642
+204,3.400000000,pose1_to_pose2_press,0.620330926251,5.44736867223e-05,1.04002912377,0.590901655214,0.008727204266,1.03969840452
+205,3.416666667,pose1_to_pose2_press,0.620477001036,5.45476672412e-05,1.04002922046,0.591047730758,0.00872728086448,1.03969849953
+206,3.433333333,pose1_to_pose2_press,0.620610602601,5.45276082794e-05,1.04002914538,0.591181333016,0.00872726393802,1.03969844206
+207,3.450000000,pose1_to_pose2_press,0.620733184789,5.47476841833e-05,1.0400291693,0.591303912022,0.00872747314322,1.03969846063
+208,3.466666667,pose1_to_pose2_press,0.620844186382,5.45127987502e-05,1.04002904708,0.591414914269,0.00872724070536,1.03969834175
+209,3.483333333,pose1_to_pose2_press,0.620942607967,5.44718017875e-05,1.04002930031,0.591513336884,0.00872720288598,1.0396985838
+210,3.500000000,pose1_to_pose2_press,0.621027032546,5.45422619176e-05,1.04002919914,0.591597760934,0.00872727228298,1.03969848436
+211,3.516666667,pose1_to_pose2_press,0.62109782828,5.45283914107e-05,1.04002915191,0.591668556336,0.00872725781324,1.03969844401
+212,3.533333333,pose1_to_pose2_press,0.621155766703,5.44459025665e-05,1.04002926751,0.591726495368,0.0087271777463,1.03969855727
+213,3.550000000,pose1_to_pose2_press,0.62120235298,5.45159322777e-05,1.04002888452,0.591773082339,0.00872724961362,1.03969818379
+214,3.566666667,pose1_to_pose2_press,0.621240662912,5.44898587414e-05,1.04002895605,0.591811392819,0.00872722490788,1.03969824861
+215,3.583333333,pose1_to_pose2_press,0.621271700001,5.44324080546e-05,1.0400288991,0.591842430389,0.00872716918345,1.03969819055
+216,3.600000000,pose1_to_pose2_press,0.621296883094,5.44338291273e-05,1.04002886198,0.591867613314,0.00872716987939,1.03969815449
+217,3.616666667,pose1_to_pose2_press,0.621316235614,5.44443037416e-05,1.04002903803,0.591886966072,0.0087271810299,1.03969832826
+218,3.633333333,pose1_to_pose2_press,0.621329997042,5.44759241189e-05,1.04002913508,0.591900727188,0.00872721177092,1.03969842474
+219,3.650000000,pose1_to_pose2_press,0.621339128874,5.45823655749e-05,1.04002906437,0.591909856553,0.00872730969047,1.03969835437
+220,3.666666667,pose1_to_pose2_press,0.621344753339,5.45789189017e-05,1.04002915465,0.591915480544,0.00872730452715,1.03969844062
+221,3.683333333,pose1_to_pose2_press,0.621348487439,5.45404928769e-05,1.04002918599,0.591919215703,0.00872726977789,1.03969847242
+222,3.700000000,pose1_to_pose2_press,0.621350765437,5.44747325771e-05,1.04002917164,0.591921495954,0.00872721190083,1.039698462
+223,3.716666667,pose1_to_pose2_press,0.621352567032,5.44228753992e-05,1.04002916023,0.591923299328,0.00872716626699,1.03969845369
+224,3.733333333,pose1_to_pose2_press,0.621353705106,5.44666395693e-05,1.04002911836,0.591924436906,0.00872720824259,1.03969841087
+225,3.750000000,pose1_to_pose2_press,0.621354040348,5.44795311296e-05,1.04002910603,0.591924772001,0.0087272206073,1.03969839826
+226,3.766666667,pose1_to_pose2_press,0.621354072027,5.44807493372e-05,1.04002910487,0.591924803666,0.00872722177572,1.03969839707
+227,3.783333333,pose1_to_pose2_press,0.621354375319,5.449241231e-05,1.04002909371,0.591925106826,0.00872723296205,1.03969838566
+228,3.800000000,pose1_to_pose2_press,0.621354810093,5.45091313597e-05,1.04002907772,0.591925541411,0.00872724899781,1.0396983693
+229,3.816666667,pose1_to_pose2_press,0.621355275015,5.45270097387e-05,1.04002906062,0.59192600613,0.00872726614553,1.03969835181
+230,3.833333333,pose1_to_pose2_press,0.62135573366,5.45438197145e-05,1.0400290671,0.591926464422,0.00872728172114,1.03969835807
+231,3.850000000,pose1_to_pose2_press,0.621356016524,5.45528551868e-05,1.0400291087,0.59192674682,0.00872728916826,1.03969839981
+232,3.866666667,pose1_to_pose2_press,0.621356089905,5.45551991742e-05,1.04002911949,0.591926820079,0.00872729110019,1.03969841064
+233,3.883333333,pose1_to_pose2_press,0.621356098601,5.45554769615e-05,1.04002912077,0.591926828761,0.00872729132915,1.03969841193
+234,3.900000000,pose1_to_pose2_press,0.621356145695,5.4556981271e-05,1.0400291277,0.591926875778,0.00872729256901,1.03969841888
+235,3.916666667,pose1_to_pose2_press,0.621356216595,5.4559246005e-05,1.04002913813,0.59192694656,0.00872729443563,1.03969842934
+236,3.933333333,pose1_to_pose2_press,0.621356370291,5.45641555064e-05,1.04002916073,0.591927100004,0.00872729848209,1.03969845202
+237,3.950000000,pose1_to_pose2_press,0.621356478137,5.45676004097e-05,1.04002917659,0.591927207672,0.00872730132141,1.03969846793
+238,3.966666667,pose1_to_pose2_press,0.621356572501,5.4570614666e-05,1.04002919047,0.591927301881,0.00872730380578,1.03969848186
+239,3.983333333,pose1_to_pose2_press,0.621356585799,5.45710394448e-05,1.04002919243,0.591927315157,0.00872730415589,1.03969848382
+240,4.000000000,pose1_to_pose2_press,0.621356718325,5.45752726863e-05,1.04002921192,0.591927447464,0.00872730764497,1.03969850337
+241,4.016666667,pose1_to_pose2_press,0.621357108043,5.45877213871e-05,1.04002926924,0.59192783654,0.0087273179053,1.03969856088
+242,4.033333333,pose1_to_pose2_press,0.621357457957,5.45941940569e-05,1.04002923608,0.591928186582,0.00872732491443,1.03969852995
+243,4.050000000,pose1_to_pose2_press,0.62135780015,5.45973953097e-05,1.04002914738,0.59192852937,0.00872733030371,1.03969844479
+244,4.066666667,pose1_to_pose2_press,0.621357946498,5.46092857561e-05,1.04002915125,0.591928674743,0.00872733885567,1.03969844756
+245,4.083333333,pose1_to_pose2_press,0.621358087395,5.46121292257e-05,1.04002937426,0.591928815907,0.00872734229101,1.03969866187
+246,4.100000000,pose1_to_pose2_press,0.621358113966,5.46117140269e-05,1.04002943751,0.59192884264,0.00872734240266,1.03969872275
+247,4.116666667,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842644,0.00872734240005,1.03969872275
+248,4.133333333,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842644,0.00872734239995,1.03969872275
+249,4.150000000,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842644,0.00872734239994,1.03969872275
+250,4.166666667,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842644,0.00872734239984,1.03969872275
+251,4.183333333,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842645,0.00872734239977,1.03969872275
+252,4.200000000,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842645,0.00872734239967,1.03969872275
+253,4.216666667,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842645,0.00872734239956,1.03969872275
+254,4.233333333,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842646,0.00872734239915,1.03969872275
+255,4.250000000,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842645,0.00872734239939,1.03969872275
+256,4.266666667,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842645,0.0087273423993,1.03969872275
+257,4.283333333,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842646,0.00872734239912,1.03969872275
+258,4.300000000,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842646,0.00872734239898,1.03969872275
+259,4.316666667,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842646,0.00872734239908,1.03969872275
+260,4.333333333,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842646,0.00872734239879,1.03969872275
+261,4.350000000,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842646,0.00872734239891,1.03969872275
+262,4.366666667,pose2_hold,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842647,0.00872734239859,1.03969872275
+263,4.383333333,pose2_to_pose3_retreat,0.621358113966,5.46117140269e-05,1.04002943751,0.591928842647,0.00872734239835,1.03969872275
+264,4.400000000,pose2_to_pose3_retreat,0.62135810027,5.46122615323e-05,1.04002940443,0.591928828836,0.00872734261126,1.03969869104
+265,4.416666667,pose2_to_pose3_retreat,0.62135805661,5.46140068026e-05,1.04002929898,0.591928784809,0.00872734328993,1.03969858995
+266,4.433333333,pose2_to_pose3_retreat,0.621357995964,5.46164310911e-05,1.04002915251,0.591928723654,0.00872734423265,1.03969844954
+267,4.450000000,pose2_to_pose3_retreat,0.621357786597,5.45469952626e-05,1.04002924478,0.591928515408,0.00872727831242,1.03969853513
+268,4.466666667,pose2_to_pose3_retreat,0.621357298448,5.44829324745e-05,1.04002924305,0.591928028797,0.00872721932574,1.03969853057
+269,4.483333333,pose2_to_pose3_retreat,0.621355523313,5.4483103423e-05,1.04002914175,0.591926254551,0.008727222694,1.03969843368
+270,4.500000000,pose2_to_pose3_retreat,0.621350955058,5.46412590761e-05,1.04002921649,0.591921683033,0.00872736961005,1.03969850485
+271,4.516666667,pose2_to_pose3_retreat,0.621341115134,5.44717198262e-05,1.040029463,0.591911845082,0.00872720624746,1.03969874105
+272,4.533333333,pose2_to_pose3_retreat,0.621322284971,5.46087608241e-05,1.04002932226,0.591893014119,0.00872734090509,1.03969861054
+273,4.550000000,pose2_to_pose3_retreat,0.621292601175,5.45104107912e-05,1.04002913845,0.591863330306,0.00872724319891,1.03969843624
+274,4.566666667,pose2_to_pose3_retreat,0.621250949362,5.44181765776e-05,1.04002913906,0.591821679707,0.00872715431477,1.03969843119
+275,4.583333333,pose2_to_pose3_retreat,0.621197921877,5.4420185984e-05,1.04002908591,0.591768651494,0.00872715429745,1.03969837594
+276,4.600000000,pose2_to_pose3_retreat,0.62113365603,5.44865484648e-05,1.04002904919,0.591704384787,0.00872721782623,1.03969834023
+277,4.616666667,pose2_to_pose3_retreat,0.621060461423,5.46135289493e-05,1.04002903645,0.591631189327,0.00872734153049,1.03969832946
+278,4.633333333,pose2_to_pose3_retreat,0.620978643692,5.45932394724e-05,1.04002918753,0.591549372326,0.00872732361218,1.03969847396
+279,4.650000000,pose2_to_pose3_retreat,0.620884573066,5.45287763583e-05,1.04002923048,0.591455302559,0.00872726183326,1.03969851796
+280,4.666666667,pose2_to_pose3_retreat,0.620776955332,5.44744111749e-05,1.04002927847,0.591347686069,0.00872721179191,1.03969857134
+281,4.683333333,pose2_to_pose3_retreat,0.620651499313,5.45464446812e-05,1.040029321,0.591222229007,0.00872728007058,1.0396986117
+282,4.700000000,pose2_to_pose3_retreat,0.620508238913,5.45859727237e-05,1.04002936554,0.591078966439,0.00872731192188,1.039698651
+283,4.716666667,pose2_to_pose3_retreat,0.62034575997,5.45559356444e-05,1.04002917327,0.590916489217,0.00872728751607,1.03969845738
+284,4.733333333,pose2_to_pose3_retreat,0.620166128095,5.44892914274e-05,1.04002907208,0.590736857176,0.00872722054852,1.03969836723
+285,4.750000000,pose2_to_pose3_retreat,0.619968897287,5.46868474843e-05,1.04002925436,0.590539624648,0.00872741213481,1.03969855067
+286,4.766666667,pose2_to_pose3_retreat,0.619752498241,5.45565778509e-05,1.0400291792,0.590323228444,0.00872729094667,1.03969846703
+287,4.783333333,pose2_to_pose3_retreat,0.619515763782,5.4553403651e-05,1.04002906181,0.590086493934,0.00872728754402,1.03969835233
+288,4.800000000,pose2_to_pose3_retreat,0.619253846861,5.44889468011e-05,1.04002925112,0.589824576571,0.00872722141866,1.03969854319
+289,4.816666667,pose2_to_pose3_retreat,0.618966375081,5.46153524496e-05,1.04002896692,0.58953710077,0.00872733399768,1.03969826192
+290,4.833333333,pose2_to_pose3_retreat,0.618650499485,5.44917455943e-05,1.04002911699,0.589221228795,0.0087272223226,1.03969840952
+291,4.850000000,pose2_to_pose3_retreat,0.618306408136,5.45706397863e-05,1.04002930204,0.588877137864,0.00872730189312,1.03969858339
+292,4.866666667,pose2_to_pose3_retreat,0.617933309616,5.45377780742e-05,1.04002928432,0.588504039798,0.00872727075117,1.03969857554
+293,4.883333333,pose2_to_pose3_retreat,0.617529948738,5.46758915494e-05,1.04002902079,0.588100676513,0.00872740027665,1.03969831249
+294,4.900000000,pose2_to_pose3_retreat,0.617100414686,5.46262747315e-05,1.04002882836,0.587671143096,0.00872735256209,1.03969812347
+295,4.916666667,pose2_to_pose3_retreat,0.616650977675,5.4523121456e-05,1.04002912082,0.587221708228,0.00872725637879,1.03969841744
+296,4.933333333,pose2_to_pose3_retreat,0.616185494065,5.44341845366e-05,1.04002920941,0.58675622644,0.00872717295293,1.03969849939
+297,4.950000000,pose2_to_pose3_retreat,0.615703185515,5.44900917854e-05,1.04002902579,0.586273916874,0.0087272250775,1.03969831582
+298,4.966666667,pose2_to_pose3_retreat,0.61519971012,5.4391963751e-05,1.04002896615,0.585770443044,0.00872713209481,1.03969826051
+299,4.983333333,pose2_to_pose3_retreat,0.61467034435,5.43651807908e-05,1.0400291737,0.585241077628,0.00872710580493,1.03969845896
+300,5.000000000,pose2_to_pose3_retreat,0.614096662527,5.45352341324e-05,1.04002929221,0.584667392239,0.00872726308107,1.03969856995
+301,5.016666667,pose2_to_pose3_retreat,0.613482508916,5.45589454548e-05,1.04002919648,0.584053237697,0.00872728350377,1.03969848208
+302,5.033333333,pose2_to_pose3_retreat,0.612831383648,5.45440759074e-05,1.04002912547,0.583402113597,0.00872727250221,1.03969841553
+303,5.050000000,pose2_to_pose3_retreat,0.61215505625,5.45768374785e-05,1.04002917099,0.582725786929,0.00872730772036,1.03969846109
+304,5.066666667,pose2_to_pose3_retreat,0.611457196095,5.45232787157e-05,1.04002926984,0.582027927883,0.00872725765604,1.03969855295
+305,5.083333333,pose2_to_pose3_retreat,0.610740423657,5.45954157086e-05,1.04002917199,0.581311154223,0.00872732589413,1.03969846174
+306,5.100000000,pose2_to_pose3_retreat,0.610003122855,5.47133244873e-05,1.04002926719,0.580573851693,0.00872743810283,1.03969856112
+307,5.116666667,pose2_to_pose3_retreat,0.609242104265,5.46023052488e-05,1.04002932673,0.579812834075,0.00872733001503,1.0396986102
+308,5.133333333,pose2_to_pose3_retreat,0.608461484216,5.45710238056e-05,1.04002912945,0.579032215283,0.00872730315884,1.03969841707
+309,5.150000000,pose2_to_pose3_retreat,0.607665194141,5.44837886051e-05,1.04002908675,0.578235926892,0.00872722184711,1.03969838118
+310,5.166666667,pose2_to_pose3_retreat,0.606858084041,5.44261350741e-05,1.04002903712,0.577428815894,0.00872716120393,1.03969833158
+311,5.183333333,pose2_to_pose3_retreat,0.606038749878,5.45859491248e-05,1.04002898989,0.576609479012,0.00872731165816,1.03969827998
+312,5.200000000,pose2_to_pose3_retreat,0.605203409543,5.45869783586e-05,1.04002911972,0.575774138838,0.00872731303852,1.03969840558
+313,5.216666667,pose2_to_pose3_retreat,0.604350952209,5.44714531055e-05,1.04002924786,0.5749216833,0.0087272035644,1.03969853128
+314,5.233333333,pose2_to_pose3_retreat,0.603481238419,5.44226318521e-05,1.04002931502,0.57405197098,0.00872715970698,1.03969859804
+315,5.250000000,pose2_to_pose3_retreat,0.602601024171,5.44221181844e-05,1.04002911997,0.573171755904,0.00872715661616,1.03969841048
+316,5.266666667,pose2_to_pose3_retreat,0.601711463275,5.4475386558e-05,1.04002902887,0.572282193574,0.00872720512176,1.03969832202
+317,5.283333333,pose2_to_pose3_retreat,0.600833348533,5.45316074607e-05,1.04002904671,0.571404078957,0.00872726181671,1.03969834115
+318,5.300000000,pose2_to_pose3_retreat,0.599966363415,5.45299421322e-05,1.04002901426,0.570537094533,0.00872726252193,1.03969830905
+319,5.316666667,pose2_to_pose3_retreat,0.599097661339,5.45889973449e-05,1.04002914888,0.569668392703,0.00872732243342,1.0396984441
+320,5.333333333,pose2_to_pose3_retreat,0.598226417794,5.46281860906e-05,1.04002918565,0.568797148478,0.00872735936837,1.03969848218
+321,5.350000000,pose2_to_pose3_retreat,0.597348024758,5.46126404076e-05,1.0400293036,0.567918754458,0.00872734018143,1.03969859159
+322,5.366666667,pose2_to_pose3_retreat,0.596458390222,5.46318804338e-05,1.04002926866,0.567029118523,0.00872735471957,1.03969855662
+323,5.383333333,pose2_to_pose3_retreat,0.595561028287,5.45831983453e-05,1.04002920796,0.566131758263,0.00872731185911,1.03969849986
+324,5.400000000,pose2_to_pose3_retreat,0.59466159776,5.46395334466e-05,1.04002923018,0.565232326973,0.00872736565067,1.03969852379
+325,5.416666667,pose2_to_pose3_retreat,0.593768410476,5.45929781234e-05,1.04002926464,0.564339140591,0.00872732189198,1.03969855207
+326,5.433333333,pose2_to_pose3_retreat,0.592902520918,5.45800092269e-05,1.04002930625,0.563473251666,0.0087273109607,1.0396985907
+327,5.450000000,pose2_to_pose3_retreat,0.592057016102,5.45942503717e-05,1.04002915489,0.5626277451,0.00872731934691,1.03969844146
+328,5.466666667,pose2_to_pose3_retreat,0.59123026399,5.45174232553e-05,1.0400293587,0.56180099494,0.00872724899555,1.03969864131
+329,5.483333333,pose2_to_pose3_retreat,0.590419910842,5.44623764617e-05,1.04002938967,0.560990643189,0.00872719908204,1.03969868261
+330,5.500000000,pose2_to_pose3_retreat,0.589620843134,5.45372542847e-05,1.04002926369,0.560191574738,0.00872727173881,1.03969856386
+331,5.516666667,pose2_to_pose3_retreat,0.588830574924,5.45329724585e-05,1.04002902806,0.559401307316,0.00872727023932,1.03969833004
+332,5.533333333,pose2_to_pose3_retreat,0.588050555288,5.43885038149e-05,1.04002915695,0.558621288976,0.00872712979345,1.0396984502
+333,5.550000000,pose2_to_pose3_retreat,0.587285889565,5.44988511579e-05,1.0400291611,0.557856621475,0.00872723411797,1.0396984539
+334,5.566666667,pose2_to_pose3_retreat,0.586544152748,5.45209891906e-05,1.04002909789,0.557114883659,0.00872725292202,1.03969839191
+335,5.583333333,pose2_to_pose3_retreat,0.585826618174,5.45806511276e-05,1.04002898062,0.556397349252,0.0087273131222,1.03969827435
+336,5.600000000,pose2_to_pose3_retreat,0.585134757691,5.45786878876e-05,1.04002921268,0.555705488547,0.00872731013538,1.03969850053
+337,5.616666667,pose2_to_pose3_retreat,0.584468380184,5.45552645935e-05,1.04002929188,0.555039110367,0.00872728434506,1.03969857625
+338,5.633333333,pose2_to_pose3_retreat,0.583830896872,5.44783883638e-05,1.04002919284,0.554401628178,0.00872721130633,1.03969847788
+339,5.650000000,pose2_to_pose3_retreat,0.58322203789,5.44038636164e-05,1.04002924607,0.553792769733,0.00872713851524,1.03969852949
+340,5.666666667,pose2_to_pose3_retreat,0.582641420109,5.44353707272e-05,1.04002945862,0.553212151739,0.00872716904567,1.03969873532
+341,5.683333333,pose2_to_pose3_retreat,0.582078649566,5.45509284745e-05,1.0400292717,0.552649380588,0.00872728302951,1.03969856121
+342,5.700000000,pose2_to_pose3_retreat,0.581531102877,5.45907798113e-05,1.04002902066,0.552101831221,0.00872731408549,1.03969831776
+343,5.716666667,pose2_to_pose3_retreat,0.581000562722,5.45783949226e-05,1.04002907071,0.551571294198,0.00872731228467,1.03969836664
+344,5.733333333,pose2_to_pose3_retreat,0.580492535625,5.46020202875e-05,1.04002934835,0.551063266375,0.00872733294421,1.03969863098
+345,5.750000000,pose2_to_pose3_retreat,0.580021546226,5.45187062288e-05,1.04002887557,0.550592277152,0.008727250832,1.03969817378
+346,5.766666667,pose2_to_pose3_retreat,0.579588781849,5.44518321915e-05,1.04002939795,0.55015951483,0.00872719035105,1.03969868095
+347,5.783333333,pose2_to_pose3_retreat,0.579195604108,5.44448394299e-05,1.04002925039,0.549766336364,0.00872718053254,1.03969852401
+348,5.800000000,pose2_to_pose3_retreat,0.57883281934,5.45810528235e-05,1.04002919693,0.5494035496,0.00872731037128,1.03969848103
+349,5.816666667,pose2_to_pose3_retreat,0.578496413556,5.46017726798e-05,1.04002920067,0.549067143295,0.00872732928828,1.03969848392
+350,5.833333333,pose2_to_pose3_retreat,0.578174443652,5.46315881388e-05,1.04002892162,0.54874517272,0.00872735731457,1.03969821791
+351,5.850000000,pose2_to_pose3_retreat,0.577867366342,5.44524335104e-05,1.040028902,0.548438098332,0.00872718810167,1.03969819899
+352,5.866666667,pose2_to_pose3_retreat,0.577578762093,5.44378542566e-05,1.04002889952,0.548149494181,0.00872717385083,1.03969819599
+353,5.883333333,pose2_to_pose3_retreat,0.577311049044,5.47332010782e-05,1.0400291605,0.547881776625,0.00872745369615,1.03969845181
+354,5.900000000,pose2_to_pose3_retreat,0.577066588832,5.45309618793e-05,1.04002908499,0.547637319943,0.00872726318998,1.03969836967
+355,5.916666667,pose2_to_pose3_retreat,0.576852047044,5.46779517325e-05,1.04002918593,0.547422777414,0.00872740780258,1.03969847421
+356,5.933333333,pose2_to_pose3_retreat,0.576665855557,5.46453605228e-05,1.04002917861,0.547236585246,0.00872737295158,1.03969846831
+357,5.950000000,pose2_to_pose3_retreat,0.576507093384,5.45066884458e-05,1.04002912625,0.547077825619,0.00872724326055,1.03969842496
+358,5.966666667,pose2_to_pose3_retreat,0.576370505397,5.46484364244e-05,1.04002920349,0.546941235046,0.008727375469,1.03969848228
+359,5.983333333,pose2_to_pose3_retreat,0.576254190182,5.4457697673e-05,1.04002889108,0.546824922652,0.00872719509264,1.03969819045
+360,6.000000000,pose2_to_pose3_retreat,0.576152033545,5.44952852812e-05,1.04002903464,0.54672276436,0.0087272265464,1.03969832425
+361,6.016666667,pose2_to_pose3_retreat,0.576063514975,5.45790008336e-05,1.04002917706,0.546634245765,0.00872731010447,1.03969846249
+362,6.033333333,pose2_to_pose3_retreat,0.575986770249,5.44551188215e-05,1.04002915986,0.546557501198,0.00872718708437,1.03969845297
+363,6.050000000,pose2_to_pose3_retreat,0.575921762151,5.43488185702e-05,1.04002921203,0.546492493899,0.00872708301295,1.03969849235
+364,6.066666667,pose2_to_pose3_retreat,0.575869531002,5.44420032736e-05,1.04002919995,0.546440262947,0.00872717694491,1.03969848236
+365,6.083333333,pose2_to_pose3_retreat,0.575827625353,5.44802102191e-05,1.04002901963,0.54639835609,0.00872721129709,1.0396983084
+366,6.100000000,pose2_to_pose3_retreat,0.575795714456,5.45301909041e-05,1.04002892053,0.546366444281,0.00872725831047,1.03969821274
+367,6.116666667,pose2_to_pose3_retreat,0.5757713613,5.46134825853e-05,1.04002895414,0.546342090287,0.00872733887354,1.03969824944
+368,6.133333333,pose2_to_pose3_retreat,0.57575366447,5.466057755e-05,1.04002901808,0.546324392642,0.00872738332331,1.03969831659
+369,6.150000000,pose2_to_pose3_retreat,0.575740841309,5.46078465101e-05,1.04002901418,0.546311570844,0.00872733523879,1.03969831336
+370,6.166666667,pose2_to_pose3_retreat,0.575731716367,5.46297352014e-05,1.04002922519,0.54630244592,0.00872735707259,1.03969852117
+371,6.183333333,pose2_to_pose3_retreat,0.575725580545,5.46455075024e-05,1.04002938402,0.546296309857,0.00872737191276,1.03969867687
+372,6.200000000,pose2_to_pose3_retreat,0.575721290709,5.45699853562e-05,1.0400292656,0.546292019765,0.00872729542817,1.03969855596
+373,6.216666667,pose2_to_pose3_retreat,0.57571850062,5.45208661189e-05,1.04002918858,0.54628922951,0.00872724568297,1.03969847733
+374,6.233333333,pose2_to_pose3_retreat,0.575716781423,5.45396437572e-05,1.04002910932,0.546287510488,0.00872726504654,1.03969839774
+375,6.250000000,pose2_to_pose3_retreat,0.5757158251,5.45548907487e-05,1.04002906213,0.546286554291,0.0087272807146,1.03969835042
+376,6.266666667,pose2_to_pose3_retreat,0.575715194683,5.45649417146e-05,1.04002903102,0.546285923956,0.00872729104313,1.03969831922
+377,6.283333333,pose2_to_pose3_retreat,0.575714723896,5.45724476397e-05,1.04002900778,0.546285453231,0.00872729875635,1.03969829593
+378,6.300000000,pose2_to_pose3_retreat,0.575714454488,5.45767429124e-05,1.04002899449,0.546285183858,0.00872730317024,1.0396982826
+379,6.316666667,pose2_to_pose3_retreat,0.575714427768,5.45771689249e-05,1.04002899317,0.546285157141,0.00872730360801,1.03969828127
+380,6.333333333,pose2_to_pose3_retreat,0.575714137201,5.45818015293e-05,1.04002897883,0.546284866613,0.00872730836855,1.0396982669
+381,6.350000000,pose2_to_pose3_retreat,0.575713613191,5.45901560126e-05,1.04002895297,0.546284342671,0.00872731695376,1.03969824097
+382,6.366666667,pose2_to_pose3_retreat,0.57571316351,5.45882428228e-05,1.04002895268,0.546283893136,0.00872731555864,1.03969824132
+383,6.383333333,pose2_to_pose3_retreat,0.575713117798,5.45873170558e-05,1.04002895441,0.546283847445,0.00872731471131,1.03969824318
+384,6.400000000,pose2_to_pose3_retreat,0.57571288756,5.45826542687e-05,1.04002896315,0.546283617316,0.00872731044358,1.03969825253
+385,6.416666667,pose2_to_pose3_retreat,0.575712515705,5.45751234614e-05,1.04002897726,0.546283245638,0.00872730355082,1.03969826762
+386,6.433333333,pose2_to_pose3_retreat,0.575712085023,5.45664012974e-05,1.04002899361,0.546282815162,0.00872729556764,1.03969828511
+387,6.450000000,pose2_to_pose3_retreat,0.575711701099,5.45586260602e-05,1.04002900818,0.54628243142,0.00872728845116,1.0396983007
+388,6.466666667,pose2_to_pose3_retreat,0.575711649732,5.45575857847e-05,1.04002901013,0.546282380078,0.00872728749902,1.03969830278
+389,6.483333333,pose2_to_pose3_retreat,0.575711628358,5.45571529097e-05,1.04002901094,0.546282358714,0.00872728710282,1.03969830365
+390,6.500000000,pose2_to_pose3_retreat,0.575711454653,5.45536350403e-05,1.04002901753,0.546282185092,0.00872728388301,1.03969831071
+391,6.516666667,pose2_to_pose3_retreat,0.575711257045,5.4549633081e-05,1.04002902503,0.546281987578,0.00872728022011,1.03969831873
+392,6.533333333,pose2_to_pose3_retreat,0.575711016183,5.45447551426e-05,1.04002903417,0.546281746831,0.00872727575546,1.03969832851
+393,6.550000000,pose2_to_pose3_retreat,0.575710878964,5.45419761928e-05,1.04002903938,0.546281609677,0.00872727321196,1.03969833408
+394,6.566666667,pose2_to_pose3_retreat,0.575710816848,5.45432870671e-05,1.04002904314,0.54628154753,0.00872727442163,1.03969833796
+395,6.583333333,pose2_to_pose3_retreat,0.575710400552,5.45677627356e-05,1.04002907696,0.546281130654,0.00872729694996,1.03969837228
+396,6.600000000,pose2_to_pose3_retreat,0.575709861544,5.45994531195e-05,1.04002912075,0.546280590897,0.00872732611899,1.03969841672
+397,6.616666667,pose2_to_pose3_retreat,0.575709475766,5.45327178658e-05,1.04002914338,0.546280206662,0.00872726459822,1.0396984387
+398,6.633333333,pose2_to_pose3_retreat,0.575709291873,5.44363459827e-05,1.04002914788,0.546280025007,0.00872717577987,1.0396984421
+399,6.650000000,pose2_to_pose3_retreat,0.575709276879,5.44883649922e-05,1.0400291129,0.546280009292,0.00872722535626,1.03969840726
+400,6.666666667,pose2_to_pose3_retreat,0.575709300236,5.46253687599e-05,1.04002903867,0.546280030481,0.00872735502787,1.03969833366